adhoc

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6079, -0.3767, -0.0223, -0.0288, 0.9988, -0.0154, 0.7883, 0.6029, -0.3866, -0.0265, -0.0341, 0.9999]\nstate[eef_state]: left_x=0.2957 left_y=0.0016 left_z=0.1825 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2934 right_y=0.0037 right_z=0.1797 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.5812, -1.4974, 9.7709, 1.7851, -0.0611, 0.0855, -0.1392, -1.0325, -0.9231, 10.2906, 1.8828, 0.0024, 0.1587, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:875335a4bbf1b8c25dd09345c6ee554745425894d03ad03fc45f10586a615b3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:117ca0cc8a6a92ccccd768c398216939c894051fb62583d3e70b61ccaaa51507",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef2ca064ac72324856f7c7338f09f3f6496c477d69b4a19a3e12179bb8a04793",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

{
  "content": [],
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  "id": "rs_07a246c207bf8d39016ab45e43265887d08e6458da850dd238",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.115,\"left_z\":0.14,\"left_yaw\":0.65,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.18},\"note\":\"All three bottles are lying on their sides. I’ll approach the leftmost bottle near its cap so I can lift its top and let the heavier body swing downward.\"}",
  "call_id": "call_w83zBgl5M19JvITr6Pz8evFl",
  "id": "fc_07a246c207bf8d39016ab45e4bf57c87d09e4667e233106e64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_w83zBgl5M19JvITr6Pz8evFl",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6979, 1.6802, 1.1263, -0.6048, -0.907, -1.0653, 0.9989, -0.0143, 0.7921, 0.6033, -0.4046, -0.0265, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.3678 left_y=-0.1222 left_z=0.1328 left_yaw=0.5556 left_pitch=-0.0377 left_roll=0.011 left_gripper=0.9989 right_x=0.2912 right_y=0.0041 right_z=0.1751 right_yaw=0.0018 right_pitch=-0.0213 right_roll=-0.0006 right_gripper=0.9999\nstate[joint_eff]: [-0.4991, -8.5265, 6.9949, 0.4078, -0.7839, -0.0513, -0.1245, -0.294, -1.5521, 7.0769, 1.8681, -0.0269, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64917476abb5f145741253a09aca9d03c1c369a6964c77d75b1a27184196bccc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:337041adfe0a746c7cd730eab3d5191834cafa0794ddbab50e7353500d34ef78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d8a83d6c1276fef8032a2a7d51ff368828b0ec4a8bd99eccea6354b6018cc7f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6079, -0.3767, -0.0223, -0.0288, 0.9988, -0.0154, 0.7883, 0.6029, -0.3866, -0.0265, -0.0341, 0.9999]\nstate[eef_state]: left_x=0.2957 left_y=0.0016 left_z=0.1825 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2934 right_y=0.0037 right_z=0.1797 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.5812, -1.4974, 9.7709, 1.7851, -0.0611, 0.0855, -0.1392, -1.0325, -0.9231, 10.2906, 1.8828, 0.0024, 0.1587, -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]: [-0.6979, 1.6802, 1.1263, -0.6048, -0.907, -1.0653, 0.9989, -0.0143, 0.7921, 0.6033, -0.4046, -0.0265, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.3678 left_y=-0.1222 left_z=0.1328 left_yaw=0.5556 left_pitch=-0.0377 left_roll=0.011 left_gripper=0.9989 right_x=0.2912 right_y=0.0041 right_z=0.1751 right_yaw=0.0018 right_pitch=-0.0213 right_roll=-0.0006 right_gripper=0.9999\nstate[joint_eff]: [-0.4991, -8.5265, 6.9949, 0.4078, -0.7839, -0.0513, -0.1245, -0.294, -1.5521, 7.0769, 1.8681, -0.0269, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64917476abb5f145741253a09aca9d03c1c369a6964c77d75b1a27184196bccc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:337041adfe0a746c7cd730eab3d5191834cafa0794ddbab50e7353500d34ef78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d8a83d6c1276fef8032a2a7d51ff368828b0ec4a8bd99eccea6354b6018cc7f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF5U5LinCDpBYEY2QjPXeEGiBFrqKnZ2YsxjikZl8TtLU47dpkXZ0H1WOPqJF-KArT8qUfJe1O11hIoQpMufSva_UPz0bS_yTpMi4D8sZKOemylCE48ivhJSpdmAZFrmxTZT67-y46hpqtwLsN20-2_HAfQHhiAdTPPZVGAECjo5vezQorAK3Sso5NKNqEsQNqJURm9irqW3Qw_AJaNL4VH0f7g5lXR20qRc3fF6Oj1z8-9U5KCaACxeoSv2XK6jquHZevyWN2u5aMhF_7F-9YDkcz058yTk50uSW-AjfvEQajhUxALKY_gH38JVWdmKYqwycmrxNXz3nV0LgOza40e8sfg2vLji-LiENp4JrCRuEdS_i-QrXIPC56byol-C20KWpj2qQyiGMvZizm8l5qjC59jv6S0BSnxyAGpNrYC99D5VwA7biGUqfNdnlEw3maTlvT5eo3rZD4FH7wJZD_WNZMqEAeIvnG1PsDZd7mg9vy8x_byk3H87Y4ETie7bnAuDVaIxNW0H_Z3MMrvqkqgOOHtEdmfp9z1d3qk_E9-zRXCQGego3XYNpBigjJig8RMY9O3DG5N00KQmFseCn979bej0L8LJgY8RM85mf1S3AUajVknJPRcMx6Y3NwxrTmsDJzMftNEv0ohkrdjN-B1sF0buz5EOgPEPVnuQuWIRIY3-rSHJp1ymhy-JFIkUWL1CaADKWXI_vJA8gZvmrL6Icn5eAEBR1we1sM06GlFP9A1fVOW_vlmS4LoHqgdYWpbVhI8dG6DgXbn1uHTKpu-WwRhkoDI0yoqxFysv3IA46BiR1KFYrbo6jQoMUyYOe-rvSmm0gdNq3jd_XXiWxtvnH4bxZO_dJTvIO-tKm0CxvPx8ZGfgK8jMvTBJJy4CzMy7OebWd5bD_Ll_yr9Y31Jlq7ikWj6EKG44v1HessSh38t15SsxjgvsYL-VqRBPkhbxHPdA1d5Wcgsgc7KoxysJBOF-dLxbs3CuD5JdEHdif7kYS1asZfddRBuq2xa2sEfv9zz_xHwWsuF7D6UzKoLEubjb6SP517GVXk4anZcY6R3X1_iA0qWrgv5aznHTZQrmyVaJTNtQeKDZV9QpYFZq4QIBWYnbIbaEYxnGMar7XB7adjd4ji3MfbepWMoslzsKRPqLzjXGResazt1P8R0WD7mW4KmLqKev9tIVCWx3INl9hQXFMzDDX73EsTQiRXlnnHzlTIOTeKX781yBJyL_2Ix4e8ejcyILQbUlpjaBwJ1uZ7aOFC4nvOXwEQdkfN5jpYushgednznaMC8V9WaHya3z0wuv8bloi30FhWEV2LvT-cWpwEr84sxhkE0k7Gp63fsk6S-XcyQ9WVzt_VYREyHfabsF8XXD7MF_Vy56h9F5RmssJawpSPtGuOI_0TwOOe4_0Ug9zd71AL5DHxbgNklCTnkhC8l-oaPz6ESy-iWOfVKvbJOhsqbf39t3lpEOEm6BX-w0qi-Gb_zqkqXTINrOsF6fH65t7nGW959ZwDALtHXrYv4eLbAW_X0CJAI8Kg8WmM8Gc4xHyNJSR0BJqF3Jl4gTHhilPt03fKs70xYjg7dap3yQVONcEKPYxPeLByRQrAu8EnaE7_TmRrIL8iPnnLuRLn0doamdEsuROrRplPDpbiWx9RlM40J5o2kW8SYY3-sw8535nBmgohYToJ7_PzW-Xo4k5WS78x6N4N_7lMdXCGw3vI4NBngHyUYtIoMe_XDf8j9JgHLqLhuzMiiD7qaG0q6YuVQ37t9vKIHDFsE3OmIllv3lgbvjJnPEDNz5YKlD1sshFixxKG1MdGLVKRrvdQtY8uaitUUHkQ35bdgjduq6wn3mxc27NaxubhSB4f_m0u1pRhBVrlgyP8i075Dbh6pWnqcFbbjF41CgzeRbx8qCmUShKAcyD7nzV4TEh2Sj8Iqwpzrnm1epOXFdXZTBGY4Q90S7JgSFsNKCgmrG93t9wRLFiQuF89QWzdYdFTVSYoNbXYEGpZHxtD5Xlmq9y-dG62ah7ZSztic=",
  "id": "rs_07a246c207bf8d39016ab45e5044bc87d0bbc91d23217327e8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.1,\"left_z\":0.04,\"left_yaw\":0.65},\"note\":\"The leftmost bottle’s cap is visible just left of the jaw centerline. I’m lowering beside its neck and shifting slightly toward the cap before closing.\"}",
  "call_id": "call_ddzqRNmCaT1LPMHC1hyTJHse",
  "id": "fc_07a246c207bf8d39016ab45e5315d487d096eb48088fb52858",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ddzqRNmCaT1LPMHC1hyTJHse",
  "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]: [-0.6327, 1.8969, 0.992, -0.2764, -0.9405, -1.0912, 0.9987, -0.0143, 0.7868, 0.5842, -0.403, -0.0269, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.3842 left_y=-0.1003 left_z=0.0455 left_yaw=0.6486 left_pitch=-0.0146 left_roll=0.0202 left_gripper=0.9987 right_x=0.2887 right_y=0.0042 right_z=0.1682 right_yaw=0.0021 right_pitch=-0.0335 right_roll=-0.0002 right_gripper=0.9999\nstate[joint_eff]: [0.8274, -8.4171, 4.4513, 0.8718, -0.4908, 0.149, -0.0366, -0.3487, -1.8256, 7.0906, 2.0195, -0.0366, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de036348b44c7a477339317a77a8c363ed6bc04576872b17f62e0fbbdffacc70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b590884c6336b27aec982f8e9808859e5cbf4258d538e275a522a4d8ca1199a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fe954a53c40869f07e2b7dddfbf9a980f4f5042ca60fc864ff58ed2a8572c8f",
      "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]: [-0.6979, 1.6802, 1.1263, -0.6048, -0.907, -1.0653, 0.9989, -0.0143, 0.7921, 0.6033, -0.4046, -0.0265, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.3678 left_y=-0.1222 left_z=0.1328 left_yaw=0.5556 left_pitch=-0.0377 left_roll=0.011 left_gripper=0.9989 right_x=0.2912 right_y=0.0041 right_z=0.1751 right_yaw=0.0018 right_pitch=-0.0213 right_roll=-0.0006 right_gripper=0.9999\nstate[joint_eff]: [-0.4991, -8.5265, 6.9949, 0.4078, -0.7839, -0.0513, -0.1245, -0.294, -1.5521, 7.0769, 1.8681, -0.0269, -0.0024, -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]: [-0.6327, 1.8969, 0.992, -0.2764, -0.9405, -1.0912, 0.9987, -0.0143, 0.7868, 0.5842, -0.403, -0.0269, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.3842 left_y=-0.1003 left_z=0.0455 left_yaw=0.6486 left_pitch=-0.0146 left_roll=0.0202 left_gripper=0.9987 right_x=0.2887 right_y=0.0042 right_z=0.1682 right_yaw=0.0021 right_pitch=-0.0335 right_roll=-0.0002 right_gripper=0.9999\nstate[joint_eff]: [0.8274, -8.4171, 4.4513, 0.8718, -0.4908, 0.149, -0.0366, -0.3487, -1.8256, 7.0906, 2.0195, -0.0366, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de036348b44c7a477339317a77a8c363ed6bc04576872b17f62e0fbbdffacc70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b590884c6336b27aec982f8e9808859e5cbf4258d538e275a522a4d8ca1199a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fe954a53c40869f07e2b7dddfbf9a980f4f5042ca60fc864ff58ed2a8572c8f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF5eGstBVzcirFB12N0O2C6cJvI6EFthcoXNdEJ1v6YTdUhoDv8IVbLUxBdk7A2vncDzptZ5G6s6LEDEGM_TYAy4N4cbJogZLyITfOFkKUWXkA-Yyw1ldQnSmJe0pvG8KkRdQ5Oza2sJutobHODbVd0YUREwaqA2ZPoirsjCGCYobZ7aDle5iggyQhyEevtjK4yWZimbd1myR3uXWNzL7TptlYyImEuOjJEZTJ2wncVkGVtWW80TkLqATc9HKzJBHLSKzOE2JSSa3DHhkI28LzAwQpt7dEwZ30LIbzFDMAcW7tMkg4Uh-FYaqoQFEZESCRor0xT90REvLI6784ez3Grq0r753h15RUpMxnMkRic29_dT5LSlCLSo8tiMzqJmdAyjZWlTmd9HN_Aw2lJwHoZO4q8TT6dsRv3olqbxwDnXCDQ1UEVe24jgL-0VdLph1_-SaGoL5o2iKK6UF9ESF_Mhn_MXOA5t0vuyxlcXWsi1BE8nvvJsrV2YA7xWgOcfmjWL-XQYvfuAPa7L6Yt_F_hl7h4HSZhC2P4i3RXSozhJuYQdPrj2UbNyGGkKX3k7NcgR6i2ROTV8mnEyvlFqLg5IkwnSqVwT_5NBkmbC7R_CTOGVJaN1Jiv_zZj3VqzRdA5kRboHlF6DtCnIxau43mGq2NIitoNY-Y1lmRTQQAYRMP9S402UYSWSuKd499kdyLLmEIozME62QDkXeAF8zkLNjC97A9oKpyTw_kIgM3Bp0bv3Fd6vNB8lQ3c3e3qqPJ4qgQRhysGu0HLN5lNvDPF45kNQxbv0A-t1ODCCYbCfjaZKwgIdOhSeahcsbAh4G9oTek3m95P4lOITQNSbJCO0Et921pRD2EaHWORKkIxv9zP7e6FkvcmWlCzpnNf2TXqwbRVF4btMbD-PEYzlmhktBmXSI8ZVyxujDwi5taXSgFn7vgvBG_GKQoexHrdQGZPKWosxvZvr8urP2P4093FZUdXW9B3Z9oK_lGPBhTrcgfGv-7FevN5a_Wu7OYesEiQIoYmCqkht8zkJPENVhbdzuC9ORLETYu3q5MbftcJxPdnuA76NYgZJ-Bf5urU5CO3yD3c6OBbMU8_l_orIrbpIPeZlW62Z7OQlToTCJc7H4F3R-ce0xiDaYJlMc0DGEqsCUX0o8VNBCp17mSnpPTPu6UtCtyIiBeqHH6vbpHTkFwtDKk7C8UONUr8nJgNA2EX6B_KQOa_AMAg22pASalHt9DNMSg1T7VlQ9dC0DrWRvTLi8NMuOOOyEf7tZPvRy28yv7wm5I1SlJB5oTXZZTKpyeEOnkP-UX5Denr5-nh2FWyR06LVV-FOgsyCIpfWonztm9n7Kp4WEDOlskD1lduGOrT3xeaYibDoz64TKudWmO4udEFRCUwYd0G3hlCVsEN-ySJ94XZC-6z1slxRzXEZWKeoaXECGN2sdvM_pNR8aiHW9RlGtVhV0JWUFcyI02BEQGHwnwQ3PDhgZK5HJ3U_zsgiy3aqDUkAq4jsyeUYJH737hIpXo-KXT3d7qyyS7cNL5UCJJUABBGgE0jFdJN9UmUksX4C8ONkxhYi_f7aIaFQNNDwM1Uvj5AyQNeJhtTznHiXE1Qn69_ubixIHnVMMykwdlvtwn2gH6GmXGkMJJwEuOG-so7nWknSFVzepLjC-9PUu6DLN0uGTzdXckWSdmlAul6gMHi1GFrPENFCTLSXOzRa9cl4ocQ34jwyz8j3ZaygxViHTcf-JLDJBuNn-7dSWhQCC9V2S7mt8zSqXKc9mr9IJ4W7SfKIiSl87bCKXCH-pyIPZtzij8e0aFzIQeDC41CW6K-sJsfodLlbGhisyTJmX71Ap-AxSeh8frJwoXrEi-QGrP0mbI5vXD4eTKSCmWeeI0CWnAMXm70jBlIoswV_njRFm4lTKjRJCgM7AvvCbJjeAnRqwkwebZFqT2UOWyz1eaTUpQVA7c2Y6a7R9rezK4P9GyjSnDV4wIPmfQ-GpEiisMLCIWq_52gz3r9p5V9V7JRop-wPW-6iYHVz87VpiS2R_D-KJ97jfjdZs8LTOIdFt9wWZxzl58x2GPltAOFsJQmS5ViP1e26HFBasZQrBhsuAs60VQCKcta7x3fv18iP3z_40i65jxs8BrVhL5cDVZhBQQhoyzqJ7IldKiPnO4cLZuLBeFWZIBVQAkTnfFz6RnBHYsMsUfvW7CXgMWlBIii-iV_IGQoI38ktiqCVIdEVvM8mZH3LGNtFk9kQashh3aTZKY-5pV4IWfly4_FenoKxPjFnyrDhc2D9XsNLYf5UcMG1YfDH0QQHkcNTpGxirF3lboEG--lTmnwae_3GBUJHZgGl4fYFlG1GODE43ufUMtF3_9nVlb8NZ_T_5of0qf_7e-iPirmf0w5FgYXdaYBXTx50s2zN_rEsJuiq_6bLXzgPOEDLM_k9PLWT3EOQA25QAI1hEW4XGizM3JOfJxcckdTtJAOtN7nDc8BP4d4yhlDv1o2fVytcKnWsdvq84mAi8Jtvr2m9CPezrm_44X5Dae7jx0anUXo8smIlAFvvWk7-bDlcXquhM9E2Vln8wd0fEPcPxbBQsxJFE3_jIxzHQylVhwzY2ax8vi9B7I3YB-EvRfoGp0SKb8z7NSc4MH47daNMioR_f5-0kAl8dnXhpqKl4NIlbYuqa9oRBDTRBVp4cRf1MEl1ex_Wg3nrgbW99IKkQ69IxIBt7afrLCzL4fReIu2lVZjuWC_zW-d7ISm3TqqJvVoQAdURNpASNSTTQl_ca7bMziO8ptiitrFKKhGWjAHcVGZjSMx5gZkra5VXCXUUFMHYlOfdjexlLwJnFe-EEAuZUBQ6088mfmOm-i9S-7AW-PTlBX57KVFzmvEw2YlvQWrlXyrGnKB7e-5gv_uaNRabOxyixAraab5fuDc2aylNKjwVfhg5SS6MGfk3_iFT3r1tJSn8XY6TGY6ucEvGNjdqOQ==",
  "id": "rs_07a246c207bf8d39016ab45e569b6c87d0b3c7c257a4aac884",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.05,\"left_z\":0.04},\"note\":\"The wrist view shows the jaws are still beside the bottle’s body, with the cap farther ahead. I’m moving along the bottle toward its neck while keeping the fingers above the table.\"}",
  "call_id": "call_3rvwVdWCxAHwR5S0PD9wdisc",
  "id": "fc_07a246c207bf8d39016ab45e5e40bc87d0bfe3c191902ec5a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3rvwVdWCxAHwR5S0PD9wdisc",
  "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]: [-0.4446, 1.9167, 0.9676, -0.0185, -0.8711, -0.8871, 0.9985, -0.0143, 0.7712, 0.5514, -0.3882, -0.0269, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4255 left_y=-0.0491 left_z=0.0449 left_yaw=0.6928 left_pitch=0.0032 left_roll=-0.0293 left_gripper=0.9985 right_x=0.2856 right_y=0.0043 right_z=0.1604 right_yaw=0.0021 right_pitch=-0.0358 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -6.8171, 6.2427, 1.0623, -0.2076, 0.3248, -0.0366, -0.4034, -1.8393, 6.9675, 1.9707, -0.0122, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03ba34a6a2ef98e8a94686c4f6070182b99cd704c14a22144eef6919ebe18966",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54e3c8e29f8fe9d9e8fc5cd870c8d496e1a6b0a7a91459f0620df79e6bcbe8d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:547952318d89b6799c5e4de977f767d11c4c23330a6fc37421fa2b049ef12774",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6079, -0.3767, -0.0223, -0.0288, 0.9988, -0.0154, 0.7883, 0.6029, -0.3866, -0.0265, -0.0341, 0.9999]\nstate[eef_state]: left_x=0.2957 left_y=0.0016 left_z=0.1825 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2934 right_y=0.0037 right_z=0.1797 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.5812, -1.4974, 9.7709, 1.7851, -0.0611, 0.0855, -0.1392, -1.0325, -0.9231, 10.2906, 1.8828, 0.0024, 0.1587, -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]: [-0.6327, 1.8969, 0.992, -0.2764, -0.9405, -1.0912, 0.9987, -0.0143, 0.7868, 0.5842, -0.403, -0.0269, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.3842 left_y=-0.1003 left_z=0.0455 left_yaw=0.6486 left_pitch=-0.0146 left_roll=0.0202 left_gripper=0.9987 right_x=0.2887 right_y=0.0042 right_z=0.1682 right_yaw=0.0021 right_pitch=-0.0335 right_roll=-0.0002 right_gripper=0.9999\nstate[joint_eff]: [0.8274, -8.4171, 4.4513, 0.8718, -0.4908, 0.149, -0.0366, -0.3487, -1.8256, 7.0906, 2.0195, -0.0366, -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]: [-0.4446, 1.9167, 0.9676, -0.0185, -0.8711, -0.8871, 0.9985, -0.0143, 0.7712, 0.5514, -0.3882, -0.0269, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4255 left_y=-0.0491 left_z=0.0449 left_yaw=0.6928 left_pitch=0.0032 left_roll=-0.0293 left_gripper=0.9985 right_x=0.2856 right_y=0.0043 right_z=0.1604 right_yaw=0.0021 right_pitch=-0.0358 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -6.8171, 6.2427, 1.0623, -0.2076, 0.3248, -0.0366, -0.4034, -1.8393, 6.9675, 1.9707, -0.0122, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03ba34a6a2ef98e8a94686c4f6070182b99cd704c14a22144eef6919ebe18966",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54e3c8e29f8fe9d9e8fc5cd870c8d496e1a6b0a7a91459f0620df79e6bcbe8d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:547952318d89b6799c5e4de977f767d11c4c23330a6fc37421fa2b049ef12774",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF5leEK_DYnWLpMjtn7EKMWX2q4WERENsY_J9vTclb1ueWociNJZ-rAh5jccSPSKrpQoztyq9VtOYg9GAuePdMeXXxODtdkLgjqzRhuVS8SnExgHL3d5YJyBqlf3Od53ewGyf78BFf9lenwbiovT5S9yhh_10pHLYhixiPCHovwTu-ZCB8vbEE5PnI2pyekYup9hwEnrQ2CK6FpIarDrh7BKDFF8F8ylTe3C6ea5-_UFCGtnxkQyUFpJvMih4DTrzUQrum4S1Hjf-TMU_TwMsJC3jBkxkzamuRaecwm0YWJmPVvs8wBwzxcC2RRzItmzZ1p4Wl0QiO-AkpRM-4mghLxS4hmDJKO733qT2AEm6MKRMdcqi9ffcnuSfWrgD7toPQlXmU1MjX7C4o13fUCFdQ6x6U5E-zoYmQOWrJvI0VCEnCN_X1e-4sCfcwRC_ZsZnPTTiG5hpdcOiO4K1gxCLo2OZ92uzA-Q79iJecFMYc1xx0SaO7oBAaGfWno5NQOb8RPUpWQ-PZxCvH9iNQFubixnU7giYKSNE2Rw7jYjrFF4bHEUqJ7iwA0HfW5cWywlmgTdopKb_Ly8fNOiB1tPthTAez3T09c4TyxZ6P1KsulVKs3MVkc5RQiAPp6JdGBsNlJA_yk9cYc6zAxS6kOmlW4nXC_T6Pp19P1Muf-2oUBeXG2j6NpIpl0m9YFgyJNMbl4uBcFkVc3eeAhTcv5AJtgg2ECviTxBmpJS-NzQk87FVSHr0yCo7fB5tv4YWfOzOnGighvxGSwKJtH8TM5GiPv7zuE4mox1Y_yIZMsJag35aW-fm2vDwPTTNr_xSJtyG7FtestJd1agKDMN-dIkVo7uAJaQtltPthJnTYF1gmldLyoLmRm6E8t44f7Z3wCDQmqKf1DGx3GIrMSqZac3ZKhP3fKhPLEi4lZ5weDB-Y9kg-X5hkqNQuz6dhzjzHBDVqOiqMm9CtKen0aWmrZhjqrjxeQcCGIvTEzVDRjM_UF7KcmxQzv_Lp0jSnoHENydYAZlCxHcv9ci9C85FvqFOdZVVU83SR2OSoOOOGaOeXtM3ej3CIYKe_jLwQ4tith2D4HCbD3cXSDC-WxpFT1Yk1NKM6IsKDStX0UxG_i1ra86tTJIkvjq4Egfjj8St6RfzvYvvP5DENXHpfzBuLePO5ycwYDAE_sood2Ap1avJn_Ik8YtAk8xF6hbnGLBHJbl_cvpevmwz01RZpv1pIERqGz738qO75k368eoqi5hhaYD0cF99eJAvDcJuy7tSszQrQAVutRSb9Yl_OffU6QUn2xR-Lw7yVxQotyKYOQASL5414XJSB74coddV_dKHu6sfDxg5KB7rqd2gD_reFRnNSU23qcn2X3MzHdj-fbxsXfss4-7PA0SVz6mMiIH4BDZKXf-_EA4vtbMi1IZc5tgyvAsmKa1GbrHzUqrPHN4ttZJdeaI_JOj5WafHzum7cMbueYT0XLCZx3SW0igchmQ2xOfmnTinEVzt3uMqlK2rToLgGak_mmBCBshCQsuk4QWKxsyJGI5x1X0177x0KmgQ05Ja_8Q-2vp3f7nloesgucEfuvXtJrrN1EV0Kwvz3366z2cVFrBARGNktfiNHD6Q43aoKJV2WOBCV6ZH-QoQuntz1AbTYSFmJiRgBx_0FTRhbvkrt4akwsbiWuvGoa5Ug35KyY12YArgcnpC63sdxnNHQLDwH453bFTgMST9Lm2-2TyinohupebRUl72J23CGPZjvgjfzn5wJp9Vt0pmDfzB1A0fpzxk8jC9l7daGX3-PxN5QPOUuENrJ4bWOwaDHKLQommgCcAZTReV7KQg_t88tJaer_6I-zcwNwtQqMBV4xecW5yWRSI8blbcz-8kw8l7LCmo_BW637_4kB3J2lmx28=",
  "id": "rs_07a246c207bf8d39016ab45e61292487d0aaf122b4a5d0af21",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.035,\"left_z\":0.023,\"left_gripper\":0.2},\"note\":\"The neck is now between the open fingers, just below the cap in the wrist view. I’m making a small final adjustment and gently closing around the narrow neck.\"}",
  "call_id": "call_iWZAnQvWh14X90hSyYaSG8Pv",
  "id": "fc_07a246c207bf8d39016ab45e64393887d0bb45ea163568689c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iWZAnQvWh14X90hSyYaSG8Pv",
  "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]: [-0.4301, 1.9251, 0.9703, 0.0654, -0.8803, -0.8135, 0.2064, -0.0143, 0.7544, 0.5186, -0.374, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4374 left_y=-0.0469 left_z=0.0526 left_yaw=0.6751 left_pitch=0.0447 left_roll=-0.0334 left_gripper=0.2064 right_x=0.2823 right_y=0.0047 right_z=0.1528 right_yaw=0.0042 right_pitch=-0.0377 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.6513, 5.9692, 0.8962, -0.0513, 0.0562, -0.0806, -0.2667, -1.7983, 6.8171, 1.9756, -0.0611, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdaca7d4e2bcadc864b8a0336294156b4b5ad53d6b2213e40da5fb531eb42298",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fd27a0947eb11499a8f099e8d4b5d9d67d720ca4e0a0343370fbffe1ff0fde1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2f81387b8fd48f1559616252d2267cb2e14bdaf872de0a96f7c9122544a4ff5",
      "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]: [-0.6979, 1.6802, 1.1263, -0.6048, -0.907, -1.0653, 0.9989, -0.0143, 0.7921, 0.6033, -0.4046, -0.0265, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.3678 left_y=-0.1222 left_z=0.1328 left_yaw=0.5556 left_pitch=-0.0377 left_roll=0.011 left_gripper=0.9989 right_x=0.2912 right_y=0.0041 right_z=0.1751 right_yaw=0.0018 right_pitch=-0.0213 right_roll=-0.0006 right_gripper=0.9999\nstate[joint_eff]: [-0.4991, -8.5265, 6.9949, 0.4078, -0.7839, -0.0513, -0.1245, -0.294, -1.5521, 7.0769, 1.8681, -0.0269, -0.0024, -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]: [-0.4446, 1.9167, 0.9676, -0.0185, -0.8711, -0.8871, 0.9985, -0.0143, 0.7712, 0.5514, -0.3882, -0.0269, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4255 left_y=-0.0491 left_z=0.0449 left_yaw=0.6928 left_pitch=0.0032 left_roll=-0.0293 left_gripper=0.9985 right_x=0.2856 right_y=0.0043 right_z=0.1604 right_yaw=0.0021 right_pitch=-0.0358 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -6.8171, 6.2427, 1.0623, -0.2076, 0.3248, -0.0366, -0.4034, -1.8393, 6.9675, 1.9707, -0.0122, -0.0513, -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]: [-0.4301, 1.9251, 0.9703, 0.0654, -0.8803, -0.8135, 0.2064, -0.0143, 0.7544, 0.5186, -0.374, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4374 left_y=-0.0469 left_z=0.0526 left_yaw=0.6751 left_pitch=0.0447 left_roll=-0.0334 left_gripper=0.2064 right_x=0.2823 right_y=0.0047 right_z=0.1528 right_yaw=0.0042 right_pitch=-0.0377 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.6513, 5.9692, 0.8962, -0.0513, 0.0562, -0.0806, -0.2667, -1.7983, 6.8171, 1.9756, -0.0611, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdaca7d4e2bcadc864b8a0336294156b4b5ad53d6b2213e40da5fb531eb42298",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fd27a0947eb11499a8f099e8d4b5d9d67d720ca4e0a0343370fbffe1ff0fde1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2f81387b8fd48f1559616252d2267cb2e14bdaf872de0a96f7c9122544a4ff5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF5q1aqy-uFg5o-RxjrQrJe-pBZUFnABvC0530vxoAjTlPBdtro1V-B5yRe4v0vEjX9CM0DwhVDJmu9ZvMMfVGxISAm9-HNWwfAChsQhXME6osIqIuqWW-jM3j0aSglOZT0BmBtC6OCYEhRilBtmWRIBo0-Z_4DGmFdX4dQtOaiy8HWsKWdPrPRsRjyN4VQ_AX62xBTpnlXk5sXrNK5jSTTidu1nOyGSj9I7xykh0Fk8YU1vfyd1goV8TYC0ucPJc_Yh8YVJjV3c9Z_Xmfg--sV3VPnt-57snY8G9ggCzaRdSnpE8PYfyjsE0K7Zr_F_jxcn1cfL78aSTa3KfrnZ35wLTC4Q_W2acM6skqHo6dC2FNL6gXaFLHsbjt7jEtl0UEguKayQursVsU9MjU0m6f3ueH_czWKTPIb6AP4MlqTDyfcdhELYfi8mBaBlCe9IsE_v2708qhh-e_n-Uc0PTe2jpbQqYyENbxmF5LeuMncKnTjvHALlLa0oJgg6g9Lv8vfw_UtpzRj3RB1t3p-3JEps0Z0w8zt6_wUds8hEVG2gCGNdyF733fgxdtYlqtQD2pbBt_PR2IOemJBqpw9Jz7SbQ9h8VAZ0yqfRMrSLzcsNQl-gMvugFbbrW8_lhv_ZswekWvkEKpDhs7Lyvv9uCcl7G5pyWELXGjguiQlMRgS3zIxeTHWzwhI2Yky2aZ33KfQsttK1A3kSIq_QuQftpbIulgHLALyPVZJBuGnsYDrt10HRV9_r7G4427JCCt8GQ1uUBzjFLqmC31TwYMasEHjMchp9R1GyfBpNxgNa1EuPmDgV3VEG82YDXDbgYP6IrfVsf86WfHXFJTZlO1av5GjaU1qKFaO4xw2lkuXVK5OcaiB_c0ArTVPTRTUOTJL1aWkdaeZtXoSkCcvEgJKrbJexEznh0sZwF5BmFncMky8IHpS9VqzHZ8GTtxrO__G-DzU4TmraukDnG7rK80EbFCB_P4tlPHQCBNFeKOsvw01zVwjUFTlQGLRiGAf6q82tMTPMTxDJyT0Kip7GeAmHSqq17pd28saY6eSF7WEnrEw193OdO5prI2PyO5rxhM801wTtROmJgMbPP1XN3O5oVYQLIpsCaTC9k3F7tE0-c6kJYtowRw0nDi-fUmdlhlVpkSEqYY5VpGNwVxSn-xUbnnFrUzZsp_TtM0agwpuZFbpVDCg0CjhcfWurMoZx71aldecbE0FPSjLkTbRlfONE0pgFI2oprVD6S_5yoCdCROhlmI7FQN6eWUrtPWZMWQVoZwP_sLWQi9PqGGFI_tEq1iOPwTHEQvs_ylvPiCCdDQIP8a_vrxjyRTxPGqnX_VtJ_s8N0XvYUe4PqYVVwsm5mOliQgt2TuR11jK7TGL5iW1g8nV2odmOdRrFIMVEWgsKSqy9",
  "id": "rs_07a246c207bf8d39016ab45e68086c87d0bfeb01181a8a7194",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.18},\"note\":\"The fingers have closed around the neck area, but the opening alone does not yet confirm a hold. I’ll snug the grip before a short test lift and return the idle arm to its parked height.\"}",
  "call_id": "call_ydO8QkOR273P57Cajc1RXGyH",
  "id": "fc_07a246c207bf8d39016ab45e68eb1087d0a10bb08e632b0ebf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ydO8QkOR273P57Cajc1RXGyH",
  "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]: [-0.4301, 1.9251, 0.9707, 0.075, -0.8909, -0.8116, 0.0115, -0.0143, 0.7826, 0.5457, -0.3992, -0.0296, -0.0387, 0.9999]\nstate[eef_state]: left_x=0.4384 left_y=-0.0461 left_z=0.055 left_yaw=0.6811 left_pitch=0.0565 left_roll=-0.0369 left_gripper=0.0115 right_x=0.2837 right_y=0.0048 right_z=0.1526 right_yaw=0.0062 right_pitch=-0.064 right_roll=-0.0009 right_gripper=0.9999\nstate[joint_eff]: [-0.1299, -7.6786, 5.8735, 0.8376, 0.0806, 0.0513, 1.0476, -0.6359, -1.1692, 10.8239, 1.9463, -0.0708, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fdd7645e80f6d595a5cedc4701c2165d487d5a25b03086656b03d134ecbf83c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deb7f151a833baa232557659250bef3d30e1e0c110db39adb4f70489d20746f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5f9e17515e382d680b85bdd743b0a5f48823ee9b17af0553610741a8e330302",
      "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]: [-0.6327, 1.8969, 0.992, -0.2764, -0.9405, -1.0912, 0.9987, -0.0143, 0.7868, 0.5842, -0.403, -0.0269, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.3842 left_y=-0.1003 left_z=0.0455 left_yaw=0.6486 left_pitch=-0.0146 left_roll=0.0202 left_gripper=0.9987 right_x=0.2887 right_y=0.0042 right_z=0.1682 right_yaw=0.0021 right_pitch=-0.0335 right_roll=-0.0002 right_gripper=0.9999\nstate[joint_eff]: [0.8274, -8.4171, 4.4513, 0.8718, -0.4908, 0.149, -0.0366, -0.3487, -1.8256, 7.0906, 2.0195, -0.0366, -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]: [-0.4301, 1.9251, 0.9703, 0.0654, -0.8803, -0.8135, 0.2064, -0.0143, 0.7544, 0.5186, -0.374, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4374 left_y=-0.0469 left_z=0.0526 left_yaw=0.6751 left_pitch=0.0447 left_roll=-0.0334 left_gripper=0.2064 right_x=0.2823 right_y=0.0047 right_z=0.1528 right_yaw=0.0042 right_pitch=-0.0377 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.6513, 5.9692, 0.8962, -0.0513, 0.0562, -0.0806, -0.2667, -1.7983, 6.8171, 1.9756, -0.0611, -0.0806, -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]: [-0.4301, 1.9251, 0.9707, 0.075, -0.8909, -0.8116, 0.0115, -0.0143, 0.7826, 0.5457, -0.3992, -0.0296, -0.0387, 0.9999]\nstate[eef_state]: left_x=0.4384 left_y=-0.0461 left_z=0.055 left_yaw=0.6811 left_pitch=0.0565 left_roll=-0.0369 left_gripper=0.0115 right_x=0.2837 right_y=0.0048 right_z=0.1526 right_yaw=0.0062 right_pitch=-0.064 right_roll=-0.0009 right_gripper=0.9999\nstate[joint_eff]: [-0.1299, -7.6786, 5.8735, 0.8376, 0.0806, 0.0513, 1.0476, -0.6359, -1.1692, 10.8239, 1.9463, -0.0708, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fdd7645e80f6d595a5cedc4701c2165d487d5a25b03086656b03d134ecbf83c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deb7f151a833baa232557659250bef3d30e1e0c110db39adb4f70489d20746f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5f9e17515e382d680b85bdd743b0a5f48823ee9b17af0553610741a8e330302",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF5xLzFt_SrpS2d2AIXGbyL7J-fXdGU9cXuofCZTCcpl26xTmYpdi7FUVz1TMBfU6S3jEvxbE_eIUSTXXuW2wnm3zaXkOoeSfnXsItuy8ez7MC5ZQfQg4Xks1dGnvbkBtQwgrIOncn4Qphq9vicV588swBHNJu3knmQWmhklKin9GvPrneZUaskt9EIAIom-VGIbdhUTwRqIhy2c6It56fH7sEnHJJFxeAdblpWGO6GkuMovGgph_vxxgRHCF6xDTZ0NcbN_uSqcKDyp1dT5CyoCJR247DwYLoghKiRLIwMI2N6v4aLAS65WfTKLHlYniAuto2s5XxpybV7dX1XY_dCk_1zEpSWZGV57xaazKGl-ghqeLhest6H8LiSZjehZsxdQpHwJlkxswQL2vCGn9kSWp88VAZJT-uH_5NSmboZ7QPkpexjLwJP-2kiP-mYJWnWtGgi6zAKFd4IlY8TrPJwvPjuU8YjqV_BHDwxcv49NCn-n2JEsvxiYtQvz0Elc2HiJV0Qcv_bk0-RdBOBc0AsqjUl_BM5OHNQslZKrqYRvjFXSZGIu-SX_lWPaw43KuzpKxLU9A95WPBJMhFllz2k-VFZztil0a2cwKLt6gghUChvgDSzjAZ9W2i4qWx7w2rcvk-aRqXRf8DuyJ8aE2Z8PD-vx00H5zmlEDwUpFiIL-nUT4OcJpZYjuPeyyW7pEg1fkW6by_htkTl7pFTSeRtGm-mcDX8kqr_sWs_v4DXeP9pdFSCE8qAAft57IpCU3gR3m6_cjck-Ew7svh6BTvRUx66WHj0dIUSvtzvqRZEZdgD2yVK_xNQfCsxlhUDc9d0HqcoP-FOP-HLGnHB1yLhNkmj88igV5owEYoGoIwToE2YRzdkLeZHMXYFNCyH77lpViRFN1WPASb3tnsyUrfh74iYhhjq9BPppp-q5jm8puLS2UJgtTZCaeeh3BQMC6w6VXnbWgILtSwgUaTnU4c-EjcBN8MQQ3v2pxogBy91GMbn0NVbyaIXIN9BSyu8qt6dvMFXoeqAF6P8fDQPV-We45iN7B38rdrmP5sqVL_Z_me-lrAHlD546f-mlsG53hb3bwrokR7FMydihze4VmQUAkYEvHNIAkfQMcsK3PxDiq8kZZMiX395jaEQ0-Fu1RpqfhrvGyN_i6X3ErpujuviFzIig7wevK6OWeVU3edLauKgnA2LEuTlH5pTHXojNerH_sRFCOBuwACSgoktvw1JhJ4vK55ks_aWZDeDcoXLx54AbbTuQC1pAVIiQ7CbuGAgRi5NKFi_t5iYFvUN5RkFbfpjRDvdDwPy_lTrV9YeZwZ_2ngCjWKOdoZIFhD-Pxwb3-dLPpsWEC9XXiQTwV5MNGmHhfgyFK3WPQiQl7hq6IJ5gwE7YZv8Uz9S_HQrQjzFrV82f-FLDGzRSjOOhTKXbwUUGESvHgKkQMrqAoatSAlWUibO-GTJjajBTGFjVIUxsVz-zKkunjg9Jp83RWvmIPSxYbjyjtsXJc8ecYFfjqKC3mtCs5-kGe9rifckmzrGQOhGiKiGEG400b17_RVke_zZsHVwv8-Zbtp7jdQhYkKB4_Nuc0lDrTye3OjFntJ9RLclOVHKyBkxhBKF00XeitqgfNw_TzygQXmVMksL9zcd583erGqP7IoObaL3_YyivdjD9igS-Ab_XDImaKjxPfYwQLpw6rmYCHqJxpmQIKoRRGuNFMB_M1tqrJ4tDNR4f9VsFPoraxpB3_qMWlCh9_iAhI0OsEy9NjWtnzG-ufFHHvgtRivRl1DGmRjbkdNTUquH9_OKWDECSrRy5p4JQuh5ntYoyxvLis4hOrpPEvQsMEcgMiPSF1rLTLci7T8gUdTEFtK73h5vRiVqUgpYrp38cQrP4UJbOJxj_NVfm6YU9BTPRlTyadfYZ8rxier647CRLpFhTZti6_5Ob5X9_9xaE058fEEtZQsOIuaJLo_I_cwgP-s7spUt-jbyQjWKR9l5R9-XpFvBPIp24g8EPAmm2CIYbRBCyx_aHXo67y94Qx9sEnTxAs0NBxtZyLHIiGo4IzU5t_Lrh8gn7atAAnurD8nutOFLfh3gPNZlVZB6foS6wVKuuigpd0jc0UMuZKpAyimeZbUm6ZoYQm7cIVr2UbqCLC8r7qki7TNdQKDSFTS8H5i7uzNbfA0M7bfd0YWHaUtDe05YQiW3G0D9r8RbvPFL9djOGd4w8aTuEnp6Rve0I1WLsrk35iS0PRAY2",
  "id": "rs_07a246c207bf8d39016ab45e6d156c87d0a6f80bd68f3b0573",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.035,\"left_z\":-0.005,\"left_gripper\":0.65},\"note\":\"The fully closed opening is empty, so the neck was not captured. I’m reopening, moving about two centimeters farther along the bottle, and lowering the fingers for one corrected attempt.\"}",
  "call_id": "call_5VSh3T7ww4BH4nLROVz8orPG",
  "id": "fc_07a246c207bf8d39016ab45e70ba6087d0bd11833acfd3b881",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5VSh3T7ww4BH4nLROVz8orPG",
  "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]: [-0.3843, 2.0598, 1.0542, 0.2272, -0.8875, -0.8028, 0.646, -0.0143, 0.7391, 0.4786, -0.3576, -0.0296, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4748 left_y=-0.0404 left_z=0.0429 left_yaw=0.7271 left_pitch=0.0994 left_roll=-0.1211 left_gripper=0.646 right_x=0.2783 right_y=0.0048 right_z=0.1419 right_yaw=0.0083 right_pitch=-0.046 right_roll=-0.0044 right_gripper=0.9998\nstate[joint_eff]: [1.1692, -4.7795, 3.535, 0.3932, 0.2369, 0.2271, -0.1392, -0.4855, -1.347, 7.5419, 2.0537, -0.0855, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f42b92528f2c78e90252838397bff0738c6920a7c7c3de629e798ad5adf8559f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed8973d5dd00e12fc3d0512aab960f1388d81f878be39a10ab99b8f8e63bbfc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3f859367b209e0b86186724a56bff5d7ef9db4b15527d25ec178426639f3c8d",
      "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]: [-0.4446, 1.9167, 0.9676, -0.0185, -0.8711, -0.8871, 0.9985, -0.0143, 0.7712, 0.5514, -0.3882, -0.0269, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4255 left_y=-0.0491 left_z=0.0449 left_yaw=0.6928 left_pitch=0.0032 left_roll=-0.0293 left_gripper=0.9985 right_x=0.2856 right_y=0.0043 right_z=0.1604 right_yaw=0.0021 right_pitch=-0.0358 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -6.8171, 6.2427, 1.0623, -0.2076, 0.3248, -0.0366, -0.4034, -1.8393, 6.9675, 1.9707, -0.0122, -0.0513, -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]: [-0.4301, 1.9251, 0.9707, 0.075, -0.8909, -0.8116, 0.0115, -0.0143, 0.7826, 0.5457, -0.3992, -0.0296, -0.0387, 0.9999]\nstate[eef_state]: left_x=0.4384 left_y=-0.0461 left_z=0.055 left_yaw=0.6811 left_pitch=0.0565 left_roll=-0.0369 left_gripper=0.0115 right_x=0.2837 right_y=0.0048 right_z=0.1526 right_yaw=0.0062 right_pitch=-0.064 right_roll=-0.0009 right_gripper=0.9999\nstate[joint_eff]: [-0.1299, -7.6786, 5.8735, 0.8376, 0.0806, 0.0513, 1.0476, -0.6359, -1.1692, 10.8239, 1.9463, -0.0708, -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]: [-0.3843, 2.0598, 1.0542, 0.2272, -0.8875, -0.8028, 0.646, -0.0143, 0.7391, 0.4786, -0.3576, -0.0296, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4748 left_y=-0.0404 left_z=0.0429 left_yaw=0.7271 left_pitch=0.0994 left_roll=-0.1211 left_gripper=0.646 right_x=0.2783 right_y=0.0048 right_z=0.1419 right_yaw=0.0083 right_pitch=-0.046 right_roll=-0.0044 right_gripper=0.9998\nstate[joint_eff]: [1.1692, -4.7795, 3.535, 0.3932, 0.2369, 0.2271, -0.1392, -0.4855, -1.347, 7.5419, 2.0537, -0.0855, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f42b92528f2c78e90252838397bff0738c6920a7c7c3de629e798ad5adf8559f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed8973d5dd00e12fc3d0512aab960f1388d81f878be39a10ab99b8f8e63bbfc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3f859367b209e0b86186724a56bff5d7ef9db4b15527d25ec178426639f3c8d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF526acFk2sYH7Wa5T184hnBiMxa7kAh2HKXYnWhOg6KPBu49WFAXsgQnj54UBcJ56QKIvLnlmnnmRxw1Wt76USTbXhq1V85O8tEn4BvzNSJFL0MPdPBJSgXe8N9zyTlUB41JiGAEGZlrPUkVRobA2_geQwRUwWmNmUTUeKbhrHG984O-eEn2P_cpIl-vz_Njj7xihRN3AkDhTSVY3iSW86Uj14WKd5UD9lWBoho50Z40oCAB6LZ9KWzmosHcHMJPQRmiwroyBr6wI80kKhLNZi9Potz0rMA1rtyAYz2XPbSEeecqtXaxxwMqg1FW20QYBpclGewn4vYsvzHbPN4FLdx9wFR6Q86A8D-SSS_owKFxDqQy7DrYhQ_u_Irb_HA8sPWXvS_WEqNNfEKamKp7fC2ebQ8692fQZeIV42JQLTSM8kIOQBkWu3FTb9BQ1VI0I2h_qgp3Ak4LJW231bingftAJPDgXZ5LKie8_y2zvKgElDoBS2M1QyQqMiR472ZxLTr0tsJbFBN9ozhpjSfJmTlbg1QUqLAgqxa_Vr3kt9eX2MB9hpmdyURtjHlWL7ma7dxmogeOOMxiouWvDINimGzxI-gXtAVh91Wr7sqMNs2Z5bbtHNcXxAm8154f38itrMPmYOGGcagv2eoF3rbiUe6piaPz3yZugtzBSnrwB2q9r4tNZUqQ1pe_kR4dm5sN1LoMqlTjlBRssUh2TVFsvAUoxFfc6J8epItJjtt80zTdfarxmwMxxbJ0wN7hhzi7yt8fSfem_Jjr6tuO4zy845dryhYIZlAhYa7xwit8i8AmKRxYRExf1G-pwQHuO-eQ-ngxtKGl1NOgI_B96CWyVMiPOTgDHLMnVagRVPLEFSfqOCMjIeQ-rWl34wj-jd8oVBS86GRd0prBGIj3eyREqS1GylZLyFhQmEGlOot8GKTebmh2Py9kE_ACzTZ73rYsOKD8hrDiA-BVGaVbcR1z-E_HZXS091XVEbOY_CMnkSbrx1_bPkVDLxi8vFmC6a6KQ7VWoYMhzvSVcVTPWMcfauwQUl0Rf_q5Bf3q1-4tKPCqze3Tqfbmkd2ofhhztX_Vbc90msnJKNrU6HNb3eKQlO31Qpo-vn0TdNgHMv2frrp0fe83RWKDzZWLtyWZCFgzUPUHBeV3Auh5kiUhUTf3IufN0L_GgMWDAGWlc_OiV9Oe5pFYEy407UDOQjsSTFpIQ6_FL2SyGrcI-AQRUjybn9WjwIiIYXjG6xYFIEeDrYEZNDO4SguPVDx7nv_erPJczMHES2577zeqowDryyyj3afPciPd1E8yXPZTXeHkYuPao1NmZXUXu1LIDEbO2Ykvi3-ZLw92ZlKfDv4HduSsy5Twm84Uyt52Jjvob3MUgKiY4jzacAULVuZ1Mnu5jQSgdGeM1EyQl6i9w3BBzJNrD6PgEhEzpoI9x9wO3nDSBbm3iifOcGBzsaDY1VsTzZishT5ycanyof7RDT4r0djN39yofYojsQeKybhfEcYNgdhTUGjX6uD4WLTNx8anSUAY27_VP7kJz49D4bV7E_8p4P41A==",
  "id": "rs_07a246c207bf8d39016ab45e74463087d0bdf3084ccd8d63f8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap is now visible at the bottom edge between the fingers. I’ll close at this corrected position, then check whether the opening indicates a real grasp.\"}",
  "call_id": "call_DmrDHBvN2MiX3A4vACUcscHg",
  "id": "fc_07a246c207bf8d39016ab45e75aa9c87d0a2eb417667d4c31a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DmrDHBvN2MiX3A4vACUcscHg",
  "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]: [-0.3798, 2.0663, 1.1946, -0.0357, -0.8764, -0.8387, 0.0119, -0.0143, 0.712, 0.4381, -0.3351, -0.0296, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4807 left_y=-0.0418 left_z=0.0512 left_yaw=0.7359 left_pitch=0.0337 left_roll=-0.0404 left_gripper=0.0119 right_x=0.2748 right_y=0.0049 right_z=0.135 right_yaw=0.0083 right_pitch=-0.0369 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -10.4684, 5.7231, 0.7497, -0.2466, -0.0415, 0.8425, -0.6222, -1.4701, 6.6803, 2.0342, -0.1197, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc0cc8fbfa66b576c0188525b5486ae0e3939a125e06ee8fcf0b056088a1c099",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16d7f52dcc4e8638dcaf09587037e7833fc950bfb9095099bff063e671cd7861",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92df4aebea6b8f36550a7160431e95ec88ae0224c85cdf1cb6ed1018d28e42f3",
      "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]: [-0.4301, 1.9251, 0.9703, 0.0654, -0.8803, -0.8135, 0.2064, -0.0143, 0.7544, 0.5186, -0.374, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4374 left_y=-0.0469 left_z=0.0526 left_yaw=0.6751 left_pitch=0.0447 left_roll=-0.0334 left_gripper=0.2064 right_x=0.2823 right_y=0.0047 right_z=0.1528 right_yaw=0.0042 right_pitch=-0.0377 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.6513, 5.9692, 0.8962, -0.0513, 0.0562, -0.0806, -0.2667, -1.7983, 6.8171, 1.9756, -0.0611, -0.0806, -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]: [-0.3843, 2.0598, 1.0542, 0.2272, -0.8875, -0.8028, 0.646, -0.0143, 0.7391, 0.4786, -0.3576, -0.0296, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4748 left_y=-0.0404 left_z=0.0429 left_yaw=0.7271 left_pitch=0.0994 left_roll=-0.1211 left_gripper=0.646 right_x=0.2783 right_y=0.0048 right_z=0.1419 right_yaw=0.0083 right_pitch=-0.046 right_roll=-0.0044 right_gripper=0.9998\nstate[joint_eff]: [1.1692, -4.7795, 3.535, 0.3932, 0.2369, 0.2271, -0.1392, -0.4855, -1.347, 7.5419, 2.0537, -0.0855, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3798, 2.0663, 1.1946, -0.0357, -0.8764, -0.8387, 0.0119, -0.0143, 0.712, 0.4381, -0.3351, -0.0296, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4807 left_y=-0.0418 left_z=0.0512 left_yaw=0.7359 left_pitch=0.0337 left_roll=-0.0404 left_gripper=0.0119 right_x=0.2748 right_y=0.0049 right_z=0.135 right_yaw=0.0083 right_pitch=-0.0369 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -10.4684, 5.7231, 0.7497, -0.2466, -0.0415, 0.8425, -0.6222, -1.4701, 6.6803, 2.0342, -0.1197, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc0cc8fbfa66b576c0188525b5486ae0e3939a125e06ee8fcf0b056088a1c099",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16d7f52dcc4e8638dcaf09587037e7833fc950bfb9095099bff063e671cd7861",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92df4aebea6b8f36550a7160431e95ec88ae0224c85cdf1cb6ed1018d28e42f3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF5_oQ8xyGnlYb47AqTrS2RUM8G1bfhqVFEgRzC7GJ8mRBRmzHXoOJ8xYZbtg71wPK_VsNy-7qtXcYGPInYw_Iqlzw3ftpNzZLflUWaA1SFsMfotIlbI1xCzRE_UjVcPfjtZwM62V7Zpi6T-ppHke_vFJEVpKPW-F4lOWrTiPM9BTFF5F4vCF9_hP0_wCYFLm1rXRQpdfm-shHJdQcsUJSvFRksK9vsJXL57hZ1i0vcTSnVHwAnDJi-1bv-gcoDgV2UD6TA-l4WmoDX86vpcQZxUFvA-K3uVRnvEqnW1M9Cyojd7nLbB6Cgw1pGSrek4K7AjnDEf-zKPvlZs003Fo_8RrGMA9rZWAmKv4Q3dw8YwEs8QulBWIorasddhMUkz8GNnHvcWli-Xe5lBUA5g3SfyH_sQFrW-rJgkwcxU4u_kavY2y2jCWfODMGn7WIGgjrxCeVRg9TX5hYJbyNUBV7T-Elrl2aWADM3oA2u-P3vDU6GcwCU2MOI4YkzbrRtU8mMxd7YsQuR9O2NJP6TwJAVCaontFA3KId6-8lQaspL5pTwPTdO8qCDmnDLXZJYP8FagK2Rqnz0GCxasRHktQSetTg3Iv_fk8kcDOwIyBPQqBWVkaCQR8wUlJ7SyE63VANG5Lb4iKSAZDFhPtOJEQUgq8Peg-CxJOE-o2bZ1yp61Rv11aNdOPuRgHALumQ7uHo2PkzxncGRgE0ZQf5HaVsv311LqoeRRQD-iiDtkn_oZc2lB7iq6NNjKnP_krsD5nDUcrmXaY5q1qwOuw6IfMD-R3f7PSNQJ3T7sDhRv_AYQ69IFfP6B2Y_xTz8_fno_AdeXIqUfcotYhspF8V86zaafCGC15PR0_Fajr0GlKnOHB5yS6V7vEK1pRQAbLZkWUIDyglwK0OKTmiG08Ruz_FhtXCUgwzHfER9suMMNBUCcD70zXB1VXUOGoAj4g2YrEZgeHSnBvWdeMdDFTAxbIVhedSGuzKO69vd7uprE4EZxYeQ3jf8W1atgVoWifnHHZKoWTaSF8l_KTnEJhdpoqMMB-qVXlN_n5g4vbqccK0sPP5jgJH2ibRV8Zxs0wKqhEJSW19_bveJ_kXsRgo0SchGbuWTWqf76Ajhc0-PGQpvh89ZIVUINZEECUDEYA6fV5_7FVhkMHqaQPb0YdMd5JW_zaXKp48f_GMHBWe6VRfGbCrjbGIOJB4JgbHprtZ49Z1Kzua3vhB4fqklHL552E8J1boI2Wd9TgaSx_d2GoT-tWLncJNL24jO_Up29l4uvQyUL2g7oHtcjLkK8Q6w6KejFHql7qLtakcoqSyKfmUpz6qNmvUL31VIF54YbklN6tVveNyUSB_Ub3VBUBX0Sv6DPqUaANitNcGyCA4MdZzscUpfRlyLLgtou-g-T3rPUNmdmWW-FSewPPRWSd780giOtvrS2tzPzAru8IP5rmKl9vwPFfM_h5TFZYJZce-ap5UqcmFObP7BMRWN1yPK6RLHUyU1leEYR9xGdj1K2e03t_x1LjEC8vgrCUb-SeXyXeMKLqCodcHesMTmA4uhpr_H_oJ4sDE--FDQCSvcD2Ke1BAgrLfXcnJDC8MzmjvBUc7BZIALjT6FNujzfrG2o7V6bM13TnS1EQtfQ_ixTT5a0BA5XmQB7IDNFaIniozr1doYptegE4U_VCy8p51Ruh8AJdJufZixjWZvMQfrJaeoQgwAP-IznkDNzEsVbHUREY7-d2WYqG69DtpGBsw0x0fO6oUyq84ig-RNjBfSOeekngMhTA7Eq6d8zDzwScQG0_4EbACHaJcONi4etDHcGwSsvqIArCNvMZLqg3Z1jtId3dnWThzhDDHNORa7NKXXPNny4CtX0T9j4I0B3PrWO6Y025u6RbS7DUK273r-5TA9anngf5eaK9_jDbuC7-CgQyc_dmngjDaoguXOwxpsJbwCnN0DHcCX5IxoEND6Po-3U8XSB4fUTaFB-SJeKM-9lir3LAlFLLACODvgYusv7jM3j6O3ZJPCLdyDma09_7mKGH_fLEX65n866JKgeWNVnXYw9dXEHMVhArHKD-30FSGpZCEnc3nmT9S1gpFLx-V-zFYYIPqyc_i6DYA-Bgtdq1f2pBlOeo64pgoGOK-A7SZme6YWouMWXgllOLeBoNhby_uEfGEN6sc4lCZiSh891DULvM3hBmnF7YpoEcJXyQYY1He38JnRfp6mfnwsfyO_6RPimAS3X4pc-68nB2Vd03XvpOR1qQjRR2ZpTQ0E-T8HFVMJl9UPiwaT0KWWlk7RKTrdwG7dhhaDvdXzWtwtGP8Lde_si_XwDX0JeEMwxeDNAeRia5qacn9LjnMsZK1Uoz5AfBXu4nebJyojAWrztIvi9-z9h_4ljVbVLGqtSZpdZav5ksupkIG_CzZkwO99Df4XwHkEj8Ypkiqt9cTbGBeRLkQtqgQJCpKpOG2Aop9DKmKa1JGtekUDMbN2xkbPiN24Xdqcj1aOGeLzzKy6DypPsQz4CKrl9bQcHsbUe3WvuEaQfNz8m2IfweYaNGja-yX0plsFvNvNsL1RA8R79LABV6AB5Kbgpx51Al-D_nEL08dLownjnbs9pU1fur6GLVV596idI-q9d0KyuFdOhREfKDKLd9fhAnydbPCJ10f_apw==",
  "id": "rs_07a246c207bf8d39016ab45e792ed887d085f0839db0d848fe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":0.005,\"left_z\":0.18,\"left_gripper\":1,\"left_yaw\":0,\"right_x\":0.29,\"right_y\":0.005,\"right_z\":0.2},\"note\":\"The second neck grasp was also empty, and the arm stayed higher than requested. I’m clearing the bottle to recheck its position and will use its wider shoulder rather than repeat the same cap grasp.\"}",
  "call_id": "call_qPjhbm5FPmnzwjck391J0jwH",
  "id": "fc_07a246c207bf8d39016ab45e7e884887d09afd151e1e9e7f8c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qPjhbm5FPmnzwjck391J0jwH",
  "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]: [-0.0219, 0.9974, 0.6476, -0.1753, -0.1307, -0.1135, 0.9961, -0.0143, 0.7788, 0.6365, -0.4828, -0.0299, -0.0444, 0.9998]\nstate[eef_state]: left_x=0.3404 left_y=0.0191 left_z=0.1834 left_yaw=0.1349 left_pitch=0.0422 left_roll=-0.0201 left_gripper=0.9961 right_x=0.2834 right_y=0.0048 right_z=0.1779 right_yaw=0.0096 right_pitch=-0.0529 right_roll=-0.0055 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -2.5778, 7.8291, 1.8779, 0.1734, 0.2027, -0.0171, -0.4718, -0.6496, 10.2496, 1.8828, -0.0659, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35289fa97d1d9501766d95b1a38fb730b6e1cfb57911c7d65a53c99f530d0c9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e6c7f74aee63beace7450bb6be6b9971bd8444782db1d5d610410e06e4105a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f36042803c0d8680573fd4c2bee9d472840758b0e31dd6d45c6a07423f74b46",
      "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]: [-0.4301, 1.9251, 0.9707, 0.075, -0.8909, -0.8116, 0.0115, -0.0143, 0.7826, 0.5457, -0.3992, -0.0296, -0.0387, 0.9999]\nstate[eef_state]: left_x=0.4384 left_y=-0.0461 left_z=0.055 left_yaw=0.6811 left_pitch=0.0565 left_roll=-0.0369 left_gripper=0.0115 right_x=0.2837 right_y=0.0048 right_z=0.1526 right_yaw=0.0062 right_pitch=-0.064 right_roll=-0.0009 right_gripper=0.9999\nstate[joint_eff]: [-0.1299, -7.6786, 5.8735, 0.8376, 0.0806, 0.0513, 1.0476, -0.6359, -1.1692, 10.8239, 1.9463, -0.0708, -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]: [-0.3798, 2.0663, 1.1946, -0.0357, -0.8764, -0.8387, 0.0119, -0.0143, 0.712, 0.4381, -0.3351, -0.0296, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4807 left_y=-0.0418 left_z=0.0512 left_yaw=0.7359 left_pitch=0.0337 left_roll=-0.0404 left_gripper=0.0119 right_x=0.2748 right_y=0.0049 right_z=0.135 right_yaw=0.0083 right_pitch=-0.0369 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -10.4684, 5.7231, 0.7497, -0.2466, -0.0415, 0.8425, -0.6222, -1.4701, 6.6803, 2.0342, -0.1197, -0.0513, -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]: [-0.0219, 0.9974, 0.6476, -0.1753, -0.1307, -0.1135, 0.9961, -0.0143, 0.7788, 0.6365, -0.4828, -0.0299, -0.0444, 0.9998]\nstate[eef_state]: left_x=0.3404 left_y=0.0191 left_z=0.1834 left_yaw=0.1349 left_pitch=0.0422 left_roll=-0.0201 left_gripper=0.9961 right_x=0.2834 right_y=0.0048 right_z=0.1779 right_yaw=0.0096 right_pitch=-0.0529 right_roll=-0.0055 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -2.5778, 7.8291, 1.8779, 0.1734, 0.2027, -0.0171, -0.4718, -0.6496, 10.2496, 1.8828, -0.0659, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35289fa97d1d9501766d95b1a38fb730b6e1cfb57911c7d65a53c99f530d0c9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e6c7f74aee63beace7450bb6be6b9971bd8444782db1d5d610410e06e4105a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f36042803c0d8680573fd4c2bee9d472840758b0e31dd6d45c6a07423f74b46",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF6LorGhS7IsrBhbi5C4rhmQhDm60v44W5zmMCCosyb2TcV4cBbZ2rB38azd33SoTHz9HzQVcHV97qN1sCwSrIDcMEHW_9VjxTFtni_rWYEquVOP5LWx4DWJ5Sp9-ZoFw1AA16bA8Ar9RULcSbMJ_Gb3vi-jieafdMhs8GYNwEzdbaxU0UpbPrXmWUkfG_zEaCBm8L3bTsWMpsZkNJI4QL_MASbV7SWeocD5Pxpb8O-EqCIrhcb6kNnHoLKRhiXUGCnaWesCERgP-22ytraQ7JfjsbrYDUtpYJwoogoqCfDvbt6myvSBAxlJ7C6dTM9DmHEAFM5VQYuC1N3aK8yh2XF8E0IwzoXMa8gmEzLXV3uQYYntcs_vspKVFTj8FvvAQYsnFDM3ZxOscDQHwrG_m_VwTyXv8XPYrvDpfUc5kal4WJ3bcmMcSvotatzNMpeAY7KvyAFfPHhTqW-V1fXu9uGNSGvKiRtBE1W3ShpOui3kdSIBJMViH6MKa99OwMRQiEgXePkEuwdk3_XcCrMzhYhnKkTs0SImtxDkpmJvZ1jW7chVb2Gjmq-ZyfzfzA2y4kc00EdU-_pMRFiOc7f-km5xmbhWZgLVa8mKNqsDzzNv_CR3ru2_ZUPV8fVAQAg4M1PynkpGkoZj16WVunOQltG68cNNwxPsjG1NhhWWeit0TX2c2LvSE_lqolQfdaB4n4p0_3g9VjYvn8suUbGIrrzqNTZzl7qiA_mHKnZyPWJOOcVS583vlqkU_HF3ZgWucKB0ICfbTELJGV5nXeiIz8LZdo8b_yhNJ7Yt4NxtFs8I0WzGjQnDJ8x7G7-MeXk400GIcg67kswGc-Sig5klkHmHYt0lm8KxUGVBgPwVGhOc_wj_7Nb4tRRdEM0VcO2w_PY7kYZWYwf1F8MXSiwxBjN4iM1YgZQUA8CqUReKzIQ6m3cNReuczkYLpDZJoXozXJiCoVdfvQbXYyutvLkigTSpFVjKoM20ej4Wto8oVjjbi2XNH0VLV1N3pNW5aj8lKrHU1fyptolwEki-VRitTg8oVRHoXJ_9Eaj6XSx-VK_HA_bnPnpa7zbu0jzNu8Swd59XI_kkfpI6dA0gGT-OFPV4kN2NxItR7GPB4nS27nz1ikmXEr9qcL2INv6HhJZy4dUDba5hn2A7u4EFqUv3B12qjwD1L39gNSWLGjrQ0CnM0j4AziYz2ciZjUK2PJdqEwydHcvj_uSSKDM3umUYQYQJLdgZoyH0srkpgrUw3HJuc4nwtonntfsnzVk_HSyDYRcbjLuMECKSJC0NCyANOnNymaWH-pYfZH-q_g282njcc7wZ9YrUCAhkxk5-yVeDhFa5DIfzcdvXkSlelum1MdL2tssC37U8yCQ3W07Pn_ptIMWJcj0QdbATz8vyHcxciPl05tECXWzzdqGoNUBNwdXSEog458VPorGM_89StDE1r3emYh4MUvEzWmVGUWCE_0UuL-EBSAF9kNq0Y18y97IJMHhxmYmn73Eilqg1FsenNfvsRcCeWamDwgkmdkAYEUJRRR1KWYuxDTaKVuh5js_hynSBCLv_NOaaqHJ71vKRlwBJP_5txHjZ0UV5wDqVSbUJQV9QACKSMX-4sF0AG3BLapYj2Nuosiw3TMfTaF34mfhykJ0qxfJ9uediexjU5rY82FEHDQPX2Iqc64yoLN0cVMsZnS46W7FC1d1TRY20G3zqPLX4PWvu4SXQAJOap148iQWFdebk4apoo3M81TTlR2yuM1d9fyFBFJkgZVl1osW63uqKdSDCljVJMl4e0OoloqUVpt2WPQb3H8mUURbT1ANtqVq99tsEnb-DHluQ5hZDjF85vBIJez6qzihI-2Rqh8hF-hUB9h2Jzgx9o2-zhxPqxzjSec1R21td45OC9Y3XnbZdnQUAe5WwddNtftOlfSscyds2T1HmgX5m1Hxwab4BNI-0W9HslJuucNr9P8udmlnTL4cSBJmK7vzJvD4k-gKy5spppLG1_7j_X70sgrBgdGeHyU40cAFt6teaUz3cYX3_X74wSa079WxeCgbyhO2ghjIEWxlq4uN78p6emyaU--CI9mKX11Gz-ErVR_XB0qS-mxosqrvA2RoEJAttCmEdGkn2WYkIGAVnGX6rBluQ6KfF6reagO5zg0xjeut1Im6SYWEbfuIp99uHduFjq0zOoYb2xiXtfyFhXEbnZ0UUfc3CEePauBRkF6fpM_uWRF2doAdiq0tgxkQR-8h-4BQ_WMfklKj4z4YzevgOO33tzj4wXMpAsOBr1ZNUkrjz4HR0skTPQtWjaVNkHBfFqSW6WVmOw24knfUaTo3i2OeutAB1o1DtbL_gKOCVMWibXeDy7gO2EhlPo1v5TiUqO2h309a7b9W3B_zQ8CLeMjZxeVFEb5ucpiPoQnb3-J1BKfdt0R9ujVrPzVoZtRQBwoI6wsCMGUTyFJGzbg-TpXXVm9q5q14dBI6ZydkPRqDRvOU48mJnmQDGbh7nQpySW1OK7mofPOKB9E-a80RlMRQq-1E-NmwYUnbp1OnpJYAlSYLCRwKoXebDq4PdH7Oc9eN2jwvbX_neKtmUJiPRo8iGIj79rBrboLI-sHUkP78_LRGh-iJ8a0R5ZlT7BJ4FAOWRmQkGR8v7mU_uzCuKu7ry8yy7LxfSGraf91TFAGL6YWuFJjT8dAEhwjxKetSacSCu0TK_jncP111pr46EXZrsRQlXBW_pmu6H9hIFgGeFGSX2mM2TlMEWRLZ3PNcVktu24Q6f4SkBeHR-MslBXW5CHNyRDdC7FNgv7URihU9zyCw2wfEC4ov_Sw6KdSV7lSvTPqLve9za2xvG5p2f6CerL3obTtZAsFdTighk6hYE91qa4EUnMzwew7a8ia6fyJfpxwLtLlZ4CG4CuA6KkV1Ml2gmxM0zTfkTGa3aP9E=",
  "id": "rs_07a246c207bf8d39016ab45e82d2b887d08b0eee2a8e28cf40",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.09,\"left_z\":0.018,\"left_yaw\":0.65,\"left_gripper\":0.85},\"note\":\"With the arm clear, the left bottle’s shoulder is easier to locate below and inward from the cap. I’m approaching that wider section at a shorter reach, where the fingers can get lower.\"}",
  "call_id": "call_ZGuWI6oQQOmA3HQk5B0sv2GC",
  "id": "fc_07a246c207bf8d39016ab45e8a293887d0ac2ed79aab7c5905",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZGuWI6oQQOmA3HQk5B0sv2GC",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5438, 1.9625, 0.9699, 0.0154, -0.9039, -0.8528, 0.8514, -0.0143, 0.7448, 0.5831, -0.4507, -0.0299, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.4205 left_y=-0.0878 left_z=0.0351 left_yaw=0.5935 left_pitch=0.0237 left_roll=0.02 left_gripper=0.8514 right_x=0.2794 right_y=0.0049 right_z=0.1691 right_yaw=0.0129 right_pitch=-0.0402 right_roll=-0.0108 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -8.4308, 4.6974, 0.7692, 0.0611, -0.5104, 0.0415, -0.7316, -1.5111, 7.0222, 1.9902, -0.149, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d88cc5d265e0852238b390ba6b65ceacac4a74b67d8b754aec31628af963834a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a93253b96e2c4b601808dc59a9aaad3a67596021d1a6f9d2168aa0f38f9d4a10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb2ab61e0b748992ca21a014e1d0f3e56f0685948de74bbc7e33bd53b2b36657",
      "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]: [-0.3843, 2.0598, 1.0542, 0.2272, -0.8875, -0.8028, 0.646, -0.0143, 0.7391, 0.4786, -0.3576, -0.0296, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4748 left_y=-0.0404 left_z=0.0429 left_yaw=0.7271 left_pitch=0.0994 left_roll=-0.1211 left_gripper=0.646 right_x=0.2783 right_y=0.0048 right_z=0.1419 right_yaw=0.0083 right_pitch=-0.046 right_roll=-0.0044 right_gripper=0.9998\nstate[joint_eff]: [1.1692, -4.7795, 3.535, 0.3932, 0.2369, 0.2271, -0.1392, -0.4855, -1.347, 7.5419, 2.0537, -0.0855, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0219, 0.9974, 0.6476, -0.1753, -0.1307, -0.1135, 0.9961, -0.0143, 0.7788, 0.6365, -0.4828, -0.0299, -0.0444, 0.9998]\nstate[eef_state]: left_x=0.3404 left_y=0.0191 left_z=0.1834 left_yaw=0.1349 left_pitch=0.0422 left_roll=-0.0201 left_gripper=0.9961 right_x=0.2834 right_y=0.0048 right_z=0.1779 right_yaw=0.0096 right_pitch=-0.0529 right_roll=-0.0055 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -2.5778, 7.8291, 1.8779, 0.1734, 0.2027, -0.0171, -0.4718, -0.6496, 10.2496, 1.8828, -0.0659, 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]: [-0.5438, 1.9625, 0.9699, 0.0154, -0.9039, -0.8528, 0.8514, -0.0143, 0.7448, 0.5831, -0.4507, -0.0299, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.4205 left_y=-0.0878 left_z=0.0351 left_yaw=0.5935 left_pitch=0.0237 left_roll=0.02 left_gripper=0.8514 right_x=0.2794 right_y=0.0049 right_z=0.1691 right_yaw=0.0129 right_pitch=-0.0402 right_roll=-0.0108 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -8.4308, 4.6974, 0.7692, 0.0611, -0.5104, 0.0415, -0.7316, -1.5111, 7.0222, 1.9902, -0.149, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d88cc5d265e0852238b390ba6b65ceacac4a74b67d8b754aec31628af963834a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a93253b96e2c4b601808dc59a9aaad3a67596021d1a6f9d2168aa0f38f9d4a10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb2ab61e0b748992ca21a014e1d0f3e56f0685948de74bbc7e33bd53b2b36657",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF6P97_snbaQfjeORldbj_Etm45y3aV7dxC6ooKcPEDgiCPbq-e751Q329iuzdQI5ojJZBduvCGYytIA2ilEPuS40CAxJ2JfuVn-pz-Za1YVqy3h2FPthp-CHWXfaxYXDnDIXVixIlIIEuwf8Y7cAU1XektxLvjfn8gbhKV9qNqCuGdgNu7iXKmj-ZkEoBgbMcPT6WTrAZUowRKm7vrMjef1LTeqhQvaR_bzHzMy2RUAgHI1kvknB5dipcfC8STnYs3kmK6rpb4gvEfR0qGKKfDUOeKk1g9qHP7sVhuYIMvOI3xxDUBEwbBSiT0CFSwcrmS7f0SrEjjSUDbWfxOcbWWYamvFS_kcHMcd1kBSKA8bE2rsDrw6mzofIrJ0OsLGoeGPVTk_jczsea3vDOBjtB9HTG4juxBgDnwO-Myf3evSNewfUECN8pWjAHMF4QijabStOfQ7b3cR61DPjYDXAjkixXLWjKXgsqTxhXHKA6SMjt3wMPPtCVgBVLDnmLEFcE180MflKxNUu8CJ1cZF1gGh9lTer4I8KtEB3xigh7uNzf8UkZ75SpzP-yxmfzGG5ZJT0Yt5Pa7lFMR6pn4jS_MVwL6s822SE_kF6tKxez7DRynlDgTlTwvLaLB0oh7Hjmb83zoSULrRPspYpdeid88nrzBPPUdbg1IxmYEohAn905GFk_mWritkptDme0UkjjWePKt-uV_W2h2Ay6rAlP18oj9FOhhIjQgE865tUuPbUu9BgR9T3GCGsCaEyD23Sj94SOTqUbQiyRM8QEcj8dXsahN_A9RTAf4vthc7cQGxGXRK02OTTgrejMFx10HlPB_osu7v4qGI1a_XTAY-oa02oJE6TS61JVPccEqzOtL4FzKbdSbFJ7dxYqNQTfb2opBDcTv9Kc-wslDYbMGzl2pYW3an4WN8IkgTZmAyL_4ew5TV47KVYPsK2wHwb9sMyPsbmSA_M11DftyTvYnr1tPybBCOFXhrtf09dRTYD5OpVL-tReWAOn_ZnhwgEormBqIXUvl2Jilg5iaP8XW1WjdsBmDWDY7AaVEYVTUeZ1YBTd4r8rmkcjaJ3gEG2wbMdkmKqP-eLG9j5_k2ZaVXa2TU6hyMUTB1gFyrY2Zq5rsq8y5ijY4XrhFJAu-GqrnJpYlX5912lcgKeeNvii9PKQTSyLxRND6lbTQ-_htXRmDuYpUX_q_KMG3wDP5pWQGZ6Iz2CDdL7J1Dzcae4rc3I0PKu0schs69__aW2JF6rg5vGEpGT0rBh8ffOmrnd5iqw8iwXw7rF8iJyHsDisw4znJHkytMetQSPINymr7DHKD9a5oDBzHQpMBRLNHFYnhstrWYg46x6D_o1zCKbMqt4Sf9Y98mfqMQ16i654jCdu23X6l_0Wgj9IhN2ezY_nR0sDc0iVha-RhmskmQGY402KQuAA==",
  "id": "rs_07a246c207bf8d39016ab45e8df6a887d0a6acc42230f5c434",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap and neck are now centered between the fingers, and the hand is lower than before. I’ll close here to capture the upper part of the bottle.\"}",
  "call_id": "call_R9MT7oRmJ8BdgjQkj4fM4V9M",
  "id": "fc_07a246c207bf8d39016ab45e8f06a087d0ab7eb605844de8bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_R9MT7oRmJ8BdgjQkj4fM4V9M",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.535, 1.9469, 0.9897, 0.0422, -0.9245, -0.868, 0.0115, -0.0147, 0.7235, 0.5434, -0.4263, -0.0303, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.4305 left_y=-0.0871 left_z=0.0521 left_yaw=0.6247 left_pitch=0.0645 left_roll=-0.0432 left_gripper=0.0115 right_x=0.2768 right_y=0.0049 right_z=0.1615 right_yaw=0.0131 right_pitch=-0.0341 right_roll=-0.0111 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -9.1419, 3.8769, 0.7937, 0.1099, -0.0464, 1.0134, -1.0188, -1.5521, 7.0085, 1.9463, -0.188, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b5a6716c45bbc66580acc05df88750424d66f0b1a9a0f858f748e64a50e00eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1be8e49953c9df8672098b450a31f103c3ac209db7a968dad732ee9ac8c520e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cbe95d6d3897d3ab8038afb4234561bcd4aac36469d57217555af6bab36bc77",
      "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]: [-0.3798, 2.0663, 1.1946, -0.0357, -0.8764, -0.8387, 0.0119, -0.0143, 0.712, 0.4381, -0.3351, -0.0296, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4807 left_y=-0.0418 left_z=0.0512 left_yaw=0.7359 left_pitch=0.0337 left_roll=-0.0404 left_gripper=0.0119 right_x=0.2748 right_y=0.0049 right_z=0.135 right_yaw=0.0083 right_pitch=-0.0369 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -10.4684, 5.7231, 0.7497, -0.2466, -0.0415, 0.8425, -0.6222, -1.4701, 6.6803, 2.0342, -0.1197, -0.0513, -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]: [-0.5438, 1.9625, 0.9699, 0.0154, -0.9039, -0.8528, 0.8514, -0.0143, 0.7448, 0.5831, -0.4507, -0.0299, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.4205 left_y=-0.0878 left_z=0.0351 left_yaw=0.5935 left_pitch=0.0237 left_roll=0.02 left_gripper=0.8514 right_x=0.2794 right_y=0.0049 right_z=0.1691 right_yaw=0.0129 right_pitch=-0.0402 right_roll=-0.0108 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -8.4308, 4.6974, 0.7692, 0.0611, -0.5104, 0.0415, -0.7316, -1.5111, 7.0222, 1.9902, -0.149, 0.0659, -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]: [-0.535, 1.9469, 0.9897, 0.0422, -0.9245, -0.868, 0.0115, -0.0147, 0.7235, 0.5434, -0.4263, -0.0303, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.4305 left_y=-0.0871 left_z=0.0521 left_yaw=0.6247 left_pitch=0.0645 left_roll=-0.0432 left_gripper=0.0115 right_x=0.2768 right_y=0.0049 right_z=0.1615 right_yaw=0.0131 right_pitch=-0.0341 right_roll=-0.0111 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -9.1419, 3.8769, 0.7937, 0.1099, -0.0464, 1.0134, -1.0188, -1.5521, 7.0085, 1.9463, -0.188, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b5a6716c45bbc66580acc05df88750424d66f0b1a9a0f858f748e64a50e00eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1be8e49953c9df8672098b450a31f103c3ac209db7a968dad732ee9ac8c520e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cbe95d6d3897d3ab8038afb4234561bcd4aac36469d57217555af6bab36bc77",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF6a9g831aIBHgLgnP-lyw1wju14aAJPK60hijSNHXMWFkVkWD43sWFCwo-dSjQ8LugAXK-Syg429_k_W1Z0Dq3Ke3V-Ze-VqlKtzwXjeoU6Mglwcb3RBSiX8X8K1MFe7wTWgEnulef_w0WR6sHj1vgYTqTCLRio3SiX4S9qOw8FLHaSHVItNvOQ2iaHxpsxTGQLZ7qsJzUQeGlnn8g2B2qgAM8gshda7qpYPnTq1rhRIW9F2h5C-gf6fbSY0BZGArZYKBDguLkNfobb86rtq6LDjVyLb84xuFLjxHJ537HwACGpicQLeo2xWQ4-FRE0hrRQ6MNiitW84acqSO_Lcy3MgTTTSGzDvwul9UH_tKiU9LY3tWqGcat1IHiiwgq398RvJkfN9lEeOnUpIYlTjn3ilI2BjzdBo_YC1-065UElu1tzlVMM7DvzSVh8Oxs_778x6hWG7I9_N5e0f-HR3C8DRCJ085ysFsgRNrjpGuVLs4zDYSogKoMC8pFyDzdE3xfb-RoNDNOGuhKxFoq4lpCdJfL6AHdh6wdoqqsboGymuGy1APOrK8eItAHt9O1MkilQkU3FfhCRPmotdDl1iRpqCEE4O_3phageQfV0zyLv8xgJpWu-eaL4M4L_KY8vQsWnBmfUO7aRlUsuV751iKZOvJO9RaK2XH9Q5JQz2bNYmYJrpJv164H93OmDQHELwT0DjCGUkgxuqVwoo_IUvWLKpdTvYLw_XWD45s8wpbLmq68SGOgBqv7rt0gSpWLHAu6W2aRBStWNsP1sck9_hU6TdHWuXGLTHdNFGTUJqom6vIHr8SOAmUpFo-A6GmYYzGhdVlNKHljlxrIXNvilgW5koNenX8dzlEoFNcMq3byxeOPkNyAGZ0pyX8SDwUxBjKyh65Dso7VPDiCdY_GtnnmU_LOrKWPz9KQeaHtQqnbTeO4De-_MUbEYczdZ9KJcwTS0_d-wqdgYfNpMz08qXO970XS5Cjh_kInWbgxvSuzKL3dDqvD7mJAEVg77ciDcwRSVYTOQDR34lnXQ4XUZvchEUl7gBpTlHc6Eq7d5RCBiCniltgpP6WpfHz7h9XdnGxRX7fEKoFgPR2-lzROxhpLGwkXtfFCHQsEjA6hjdUbHcpSCSnDJ_Bnx1ZFGcYyBBiEKmtG7AdM-JdwTWenbdRHt-Npe-Ln2bVVqF5JZika9HM_8g8O7JcHeKuh_o7hgW-KMAbBX6b9Mup4pF0CEiTJUrpHFqg7YqT8ey5J2OLJjXtvelB3KPvVzKC9sD__cjApvpBNhZY2n4l_XROrfZfTRTnXyoRVjl72o04T9RBRxQncZCNjfhI2XmBwEg6AEiOi0amruZjPXAyxgurIHF8GEsDtpnrFOaYbQKh96LLL0MI6w9ugaVSU4qArybCMYpKBlzvik0G0ji_rXH7KuIiitjuiescbZAWkmbFl-hxyOE4XtkzKpx6ro27OghbHBT1Unp2IOm_KPUN-E86vFzOkgxeJU9sds4eqaRpbRYiOtSHIY6BUtjlPH9YvZmpHz4ic_q8CEw5z02a1qSJSm7BE7NjSyITAQk4ILEdfJolJrHzd5kViAZ6zK1PMK72RT8bk18XAGUwMvFUanWJlyXVLqRTi8cPD_r3PpXIpQS26IDO7et1txiSYmVppun7_FAIZHDJcw4yAUjTkJRfeVIs_Lr1cRQKKi6i8stUtHlhFeEk_-BacXSc1tksodYjvKSCmPVEC5eUJL8euycnojZqUgyqHObRwZ4KxEPPsUfNeXOmb5uhu71IMK_YQ5c_YJ1Ohcri8H-1NHEC7v5HluZ2i2H7WZYFfkvev_1MNtwYCV16kD9aM8Py3lW3KaDVjn0cHAzdr69A3aFQGxi7FaXOEpKLy91o1WxQKfby2sr1FiwHSDicCVUGpjdKXqXY89FsN2lE9EzRPfok6_ZQ7-JWJCQjW3yKv6CtYFCz4Lw4wUJ9lpWkNHz4OIY-_7DaCQJm3Q6v7jn-yfcfnAPh5QDrOsyR2vFE3oHoGytPeBwWAIjVPM4ZuOYaxmTlsF_-UY0gbrFkcm0fIQ-gQHyMwAPRrVgALieDpM-TRebQnxbF6Ae3mk7IORglmsRo-ZAn0jb0u2Wm7oFxmqX77E1TfuO_XOwFeHIGqjKJmjk-9Yvvl_6Cytq9Sv0cKfeu2_kDL2kcUWZwivAz1P1iABfyim2q_L825k7gQrQF6GrFjouXaPBO_dPkgLcK8qm0taFnvC-ErX4TZmtMUuKQHNF0-jUERAT4qrSDXFKb3VOmk34vpxdOyy1UShfQKmWCcAho_ctuzjDvXdB4oHoa5ELku3fcb_YXerWGIwUEFg2LFY4UH6jR2fywQdav-YLLd3oF2wYZ4KnjNhJrLPX_u8kYfgPNFduiB83d2HWqzIGJn0cyu3Gn8jIHq2orZLbHQ5BYTA9B-rmPiSKQ8KXVDGjVQ495kmiRpxF8_OAZwxphdF-3InbNHGju1nVDgI7udQks021Tvqr4YPvAeFIX539u1BqqT5_5GtWuAHRvfsxDz2LnfeKWlydlM2AxqITpNUp6mQgBjbJd7zGdDyyX96Kw4HjGPrajj47Z10Q2G6hTbSIrlDNuVfpsDObl8Xk0ZAtKycvWM7rFX0n7UUhOetuY2FbAovT9g3pdwCR66p_wq0qravlSU9enFEovwEC0jNfPX7nv_qH5nFYjWVzKW2XePUsbm7HT3jL7Oebe_XKvDmpv2ZzoaXz7gy6grXin3h5QfQLI8dhAybfK0O1SNpNu2ikG9tdQ526-WKyYdoNSM8_6BgRG9OiVqKScC2PcmwbAmBv3Ot44SfuKA0h8s0a3wEma9_eVcPyUrMvpcJfxtWI3bYmCnhaWUggBoNQWr8qe8_x1d6QT0iVYist5J3kWxZdmRuzZKmT3H0WFq1GvO4k7XeOKMSPWGZO_JjlPW-ngfQNoHwvODaOzHFr857gMeQKUo9MLRONNAQ6H0FxMPlG-IzK7ToQBR6P9XYUqBdeK6TIU-pplqfIoCfEmLXFRP4mWOnsvrTO6536Zeob7s2TlO-A4Ki4vntXdPnzO_DK5YOWn3GHHwfKrwlH4-iFMVGB1p7BIflVQPfQ9fe4m0mVzl_zxTLrdIzsm9SzFj4UuggZCD_JMBASci0yGatC6jqgNGQfk8Pe8MCTZeKelJ008RwsQFoXqQ_pWUnV9UhvdKlf51W",
  "id": "rs_07a246c207bf8d39016ab45e928a7487d0ab9d8a62b731cb0f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.12,\"left_z\":0.02,\"left_yaw\":0,\"left_gripper\":0.8},\"note\":\"The narrow cap slipped away as the fingers closed. I’m switching to the broader bottle body, which offers a more reliable grip, and aligning the jaws across it.\"}",
  "call_id": "call_hTW9daeelQFAQ9IvrNufHvZU",
  "id": "fc_07a246c207bf8d39016ab45e98968887d0905be821d9aa6757",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hTW9daeelQFAQ9IvrNufHvZU",
  "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]: [-0.5266, 1.7214, 0.4984, 0.6422, -0.5533, -0.4145, 0.7953, -0.0154, 0.7052, 0.5114, -0.4179, -0.0303, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.3803 left_y=-0.1096 left_z=0.0424 left_yaw=0.1395 left_pitch=0.0759 left_roll=-0.0595 left_gripper=0.7953 right_x=0.2731 right_y=0.0047 right_z=0.1533 right_yaw=0.0121 right_pitch=-0.0394 right_roll=-0.0106 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -5.5453, 3.1111, 0.8523, 0.3541, 0.3004, -0.0317, -1.0051, -1.3744, 6.9128, 2.0147, -0.2027, -0.0073, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34fb0b69c2f9de48a3b488bf4ea21624399d0fdca108168ec7c6fa3f3b80b1e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ddfdb72de95ffb8e8d7f25c5f4b75783cd071344300c84ca141ed2ad1e695b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecd227356185cc62c800a0f4dc0c0fa427a9120f6a41fcb2148f0228585fa3ee",
      "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]: [-0.0219, 0.9974, 0.6476, -0.1753, -0.1307, -0.1135, 0.9961, -0.0143, 0.7788, 0.6365, -0.4828, -0.0299, -0.0444, 0.9998]\nstate[eef_state]: left_x=0.3404 left_y=0.0191 left_z=0.1834 left_yaw=0.1349 left_pitch=0.0422 left_roll=-0.0201 left_gripper=0.9961 right_x=0.2834 right_y=0.0048 right_z=0.1779 right_yaw=0.0096 right_pitch=-0.0529 right_roll=-0.0055 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -2.5778, 7.8291, 1.8779, 0.1734, 0.2027, -0.0171, -0.4718, -0.6496, 10.2496, 1.8828, -0.0659, 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]: [-0.535, 1.9469, 0.9897, 0.0422, -0.9245, -0.868, 0.0115, -0.0147, 0.7235, 0.5434, -0.4263, -0.0303, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.4305 left_y=-0.0871 left_z=0.0521 left_yaw=0.6247 left_pitch=0.0645 left_roll=-0.0432 left_gripper=0.0115 right_x=0.2768 right_y=0.0049 right_z=0.1615 right_yaw=0.0131 right_pitch=-0.0341 right_roll=-0.0111 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -9.1419, 3.8769, 0.7937, 0.1099, -0.0464, 1.0134, -1.0188, -1.5521, 7.0085, 1.9463, -0.188, 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]: [-0.5266, 1.7214, 0.4984, 0.6422, -0.5533, -0.4145, 0.7953, -0.0154, 0.7052, 0.5114, -0.4179, -0.0303, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.3803 left_y=-0.1096 left_z=0.0424 left_yaw=0.1395 left_pitch=0.0759 left_roll=-0.0595 left_gripper=0.7953 right_x=0.2731 right_y=0.0047 right_z=0.1533 right_yaw=0.0121 right_pitch=-0.0394 right_roll=-0.0106 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -5.5453, 3.1111, 0.8523, 0.3541, 0.3004, -0.0317, -1.0051, -1.3744, 6.9128, 2.0147, -0.2027, -0.0073, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34fb0b69c2f9de48a3b488bf4ea21624399d0fdca108168ec7c6fa3f3b80b1e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ddfdb72de95ffb8e8d7f25c5f4b75783cd071344300c84ca141ed2ad1e695b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecd227356185cc62c800a0f4dc0c0fa427a9120f6a41fcb2148f0228585fa3ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF6hgitzW4yabXuYgPg1rFNTerJzTfde2o4R9U5g8sS8p24EJ0K5iQI_En_1uh0gtDZKSllrGdxEus4m1S4R3FvssSOW5BzfI2dTyZKuy7LwfHLbvRosr70Irzk2v0Z0Aq12QSJmqFrbZyAF6jXfVLERBjHxUgKsL3MI4GVp0en__JzAXrl9Zqrq9k1EDzQtN5djp4h_-sa-UxwqMcz6woSrV8VVpBcIoEDEuDKBIX4o9SddDUFidHO6zKZPjxMN4nix1qfHQg71fztzMsL52XJjqf2AYUvPVcUiMzDzq_7dVU5JLfK4QAi5Yuow5rIq6qcH7u3wGZ8v97C3vLZKfYJlSHV6rkoXwUYBWaqu3Itauo5zBl4ooPInxw5xPPWpuvE3vGJx9y3QOmg9xJLFRHDez5FNF3moldTIMDYDBIyxNQNu2mSINWgWkg6htlTQycXpwI6oo5U6t6cdJ0LrKdAjrbbdkrri4mG-7BxRI4IY3DHoA-70DwZbPU6-L1kbD-Akc-5W2gP8BHaMIT62eYEPwLj1sQ4q90Ow76nfNr1q6-QrHZebrb80zQVn74wkYyvZ-okYzJKDrH0RY1X3NfAECIhT4fKcLn0HEAHwTDu7ZD2a42_VmyJ1BoLZlLYLyJws_uT410m8gXCqd0opcUOdvkg4TZyDQr_GJCJQwApPwPMcHnHsuRuKP8iTCSypIPvmp8mIxAZXsKArvX7se37xJYadr614E_6ELP_kNNSP865xA8WD-iFUBkNPBtaRLIO9M1MvbRx8eKgVUyvEplqHH0wT6IUZY5dVgwRYEmazQ89juB1vOZzM2LcLUf3rdzJnUyHgETY03PCUfw7zLzssjqE80Yu--lz7uaUzAFwBcUgB2KCT5cKPDhjqF0Go6n0HkQOdaxyYTH9fFQ8TwdrZbvM3rxuuSDdbAkPfnGVYozRJMpkKKAU-KZbE-LmI4jwM-1ASmO0I2XUTQLp9dTnU_f4koUEhTE3G1fmSuWAIGBNZnhipU-G6qoz95BuCKA1SY7x0SOJH07gFPrFLFMmKEBvYAuBKemcunh7gZC9t1_TMeuTo6OzUXpWgb9mt3jHZCLWdD6n9dXFYVH7BLn4fCLFauXp0x11YDNcSpcuhQolZtW6LHX1TehPmu60-fVwBdLFGlcW7yXND5dJf4p5X90nRy3SSuCvzNCuDl4Smrdhlf5OTlH1sy5bTnI7OYPB69rcUi-2lxU9b-aYswqPLxCE5wHOwJx5abjughPiObX4w1mtae2ql9yRrMRRxZjS0BkeObLaA33HTaiJkRpSSvfUWryrv3h-yIrssb7gIP3ZOwFfbuUSY6uSO1CJw5kwfg2xOu87tMg8QTeD-YTIAUJSMSCAyRCphh5_wpQDwShevmhL364fYAh8ZkbtBh2XeJGZpXP2DQUxm97Zt4ZQX1vg3thjoa4mrQrqhJigBrm5_Mn6f3I2hxL1kGNvGQlQJj5PSN9YaH-4869PoIfL29e8LBortSIkdfW4pCqCn76pYblh5iqAjEN2MaVbBeCWcJINP93Qsid7bLFYXL8JUm2urh7w8anDxnAwjZ23s7HQDIJq2DA_Hdsytls_kB3qH6tH4MoriwRim1y5Obyv15519-5pEYTVI_kd8Daawm6bZknP3uTCwB4Mk8nf9V-q_jdytK2BdmzYa3-CKMYCHbFV-c8FPdViJwiTgY8hlMM5k8B54fJxQ7veTT8HLk492YfOdBVWAimuY9uT31HoGZcjHqaVZlUuRYwvYNHa1nwWTWl6L8bgDr25PtQSabWwSL68i6xdCqk3UB0noVDD5FpTimqZ8GKYixKYYB60SClSL1tNQ2LXYI7GtcLOLks-Zz8qrr5rZKeMxZ2-WHCMfglvuoHg2uOYkteNqOgQABZbNC0sOSE7U9xJ-79yq8SI-LqCmti7vKyjQhQELaODU9WhGbNgkc_Kav4StB5zQunLz8eLWXgHjhRV8iF7Xl49ModwYvFkxqXz-uvI_jqqm_w5EJ9VM6nbKk2yh4GCKeMTMk66TPiHxZrTjK87EqOnIsqHynAjHPWhfOUXT8G_64gP7mviPX9zJNQCSNga8lX7GoVQtGyAqWXw4hdqsGYCmvfKWtZVi8Ap7toALiLXjBBMsFlFrEwtKUdKQEAnlMch1UKEaTQFkLuzc0ZekknvH9ZLOCDfAsn7J53QtCdnNdfV7ENkqSeIvCf3U0PKsoKUwO-rb3k0ayz8NOpnudODUUvQnpxHlTbqNRfAvGmZuww==",
  "id": "rs_07a246c207bf8d39016ab45e9c70e887d093336aa7b11e9046",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.16,\"left_z\":0.065,\"left_yaw\":0,\"left_gripper\":1},\"note\":\"The bottle has slid toward the front of the table, and its body is now behind the neck relative to the hand. I’m lifting slightly and moving back over the broad body instead of chasing the cap.\"}",
  "call_id": "call_MzlRpFaw6aOpPt7ODwtAR9lP",
  "id": "fc_07a246c207bf8d39016ab45e9fea2087d09deaceb6e1c21573",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MzlRpFaw6aOpPt7ODwtAR9lP",
  "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]: [-0.8173, 1.4441, 0.4686, 0.2546, -0.6476, -0.5255, 0.9979, -0.0212, 0.6796, 0.4728, -0.4015, -0.0303, -0.0505, 0.9999]\nstate[eef_state]: left_x=0.3077 left_y=-0.167 left_z=0.0656 left_yaw=-0.0224 left_pitch=0.008 left_roll=-0.0199 left_gripper=0.9979 right_x=0.2694 right_y=0.0032 right_z=0.1456 right_yaw=0.0064 right_pitch=-0.036 right_roll=-0.0107 right_gripper=0.9999\nstate[joint_eff]: [-0.0479, -5.6957, 4.9709, 1.6288, -0.4567, 0.0708, -0.1636, -0.4991, -1.0735, 7.2137, 2.0049, -0.1734, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c06f1f15ae4be4d0ae7cdaa44353118f30f55a512ea820e17c490009c32c2762",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da0124fa2368690478b86a68598d8000f34f915ae765d34d56a8b709369d3f53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebb4152cd1e113019cc4fe134ec16200e4b929bf4eafe034795fd805c18f1d01",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5438, 1.9625, 0.9699, 0.0154, -0.9039, -0.8528, 0.8514, -0.0143, 0.7448, 0.5831, -0.4507, -0.0299, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.4205 left_y=-0.0878 left_z=0.0351 left_yaw=0.5935 left_pitch=0.0237 left_roll=0.02 left_gripper=0.8514 right_x=0.2794 right_y=0.0049 right_z=0.1691 right_yaw=0.0129 right_pitch=-0.0402 right_roll=-0.0108 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -8.4308, 4.6974, 0.7692, 0.0611, -0.5104, 0.0415, -0.7316, -1.5111, 7.0222, 1.9902, -0.149, 0.0659, -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]: [-0.5266, 1.7214, 0.4984, 0.6422, -0.5533, -0.4145, 0.7953, -0.0154, 0.7052, 0.5114, -0.4179, -0.0303, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.3803 left_y=-0.1096 left_z=0.0424 left_yaw=0.1395 left_pitch=0.0759 left_roll=-0.0595 left_gripper=0.7953 right_x=0.2731 right_y=0.0047 right_z=0.1533 right_yaw=0.0121 right_pitch=-0.0394 right_roll=-0.0106 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -5.5453, 3.1111, 0.8523, 0.3541, 0.3004, -0.0317, -1.0051, -1.3744, 6.9128, 2.0147, -0.2027, -0.0073, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "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]: [-0.8173, 1.4441, 0.4686, 0.2546, -0.6476, -0.5255, 0.9979, -0.0212, 0.6796, 0.4728, -0.4015, -0.0303, -0.0505, 0.9999]\nstate[eef_state]: left_x=0.3077 left_y=-0.167 left_z=0.0656 left_yaw=-0.0224 left_pitch=0.008 left_roll=-0.0199 left_gripper=0.9979 right_x=0.2694 right_y=0.0032 right_z=0.1456 right_yaw=0.0064 right_pitch=-0.036 right_roll=-0.0107 right_gripper=0.9999\nstate[joint_eff]: [-0.0479, -5.6957, 4.9709, 1.6288, -0.4567, 0.0708, -0.1636, -0.4991, -1.0735, 7.2137, 2.0049, -0.1734, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c06f1f15ae4be4d0ae7cdaa44353118f30f55a512ea820e17c490009c32c2762",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da0124fa2368690478b86a68598d8000f34f915ae765d34d56a8b709369d3f53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebb4152cd1e113019cc4fe134ec16200e4b929bf4eafe034795fd805c18f1d01",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF6nsfHal4_Nv8NaBBvnlo2hmxkYuUX_SohkRWmNUHVH1gDj65iDpd2Rs4LxR2L--No5gSMCcb-I265xNEVd_flsd0lNwZ4BVV6tVfe1hc41Px80OZBScsff9jFysRYf9WSS8jjO4oJS5l8jge4FtxlDBC6vhKy58wbRnFJ9mk7bOjfwgvdUFDs2pP_ra9JgvnbPJwBGDvOybgJ2jSjrk9DLJ5IxUHrlSsJqMTHBhFlW6VkZfPphy2dcurzANF35Iczk7hObPZB2Zl-sf0ylD6v29u6j4vX8kM3pWGeInzY76j-nmQ4shs9M6-N11V0zT2_nPTfQKemhqGCfXSznAijYCNWPh1dxk6icAd24p_xVx3D5NvAc7FR5k0AOHLftuJWwdZxET374llvksiZA5w1TS4CWJbjvL8atIgCRKe9xe6GiGea6geyNJjIF-4otrMW4p8h6ir-rK4EKzYMAIjXVDA6_EJ_9rwBQu0wtvLZfcY1_uZHLY1DmuOlTfi3KoDm464_vie6suOQKeFhl5m_SB0hkuFxst3QhVPPzPQG9xolCC9Le0MCh7dJidq3fT2ekPM3ppnz4NCMAqUVAwc2cjZLmDBpvVkf_WwgtTJUahasaxgo5cNnl6_szFkmoOHg7c5WAhIsWwRQQ70tT0QVw0C8dWb4lz1arOSq7Tz40vnW3TMgLMOPAd2lJK628ZfqqHc85iFRog9vFBjWeeVd2uoLlt2v_wrxWtGuAt8XGrUzE3qzQlrZmFofBAFRgsQJKAllddUjLrhsXBLE8LpcLSCc4uzn-4lLwnZyOcF1gChkNS2-WR57FcZ3sDeddjWEAIgGxQGeQPyV8ZrA2l3RTM__Bu3NBQXvrjMBsIp-AsW6JJhoDQ_55MvsiV7VkKuzg0FZlNL38v4LBpqfW2fQ_ePoMTwv0mPKHUHpeUKRy1hRfNkUkLQbE2Bhjhgbbey5zOzoafZfz3rbv5atdaQAo5xtwebbd6PFjNfDYLPPtIMoLIOC-iqPmumY4kFCuhjX2lFUQdgeMo2BXZGQPX4Xa3T2jAHZl5it7b5PWzE1ytwNVIn206YCujulh6TpHLmbWvT4Q5TdG6uVJcmuHSOfUTUxxvhgMb9D-MZchoq4FyiEqesRBGbguwgGoQA03jnoYwsWfaj6adaq-VUFPnagaAi2PfAHdMsnzEcokMYWjBEvf4-lV4TrX3Jk8S3v25jKr2BKSUJMG2cnMtAtxBwjuuF52xo3jSZu10peQwZEAsigj1GYJ6ymxl3JvasKlC5hFzU9kNSZgwpfcl2TrZFMe81YT4xqf7oiPoxxCXLMmQmSNcirJtk5j-uUf31wPJN-ej07kIWjv5KbNDNq0CrBOGNCDMqJbR43X_j8gWt7n5FIlGztAkigQBmnSi1imFdv_xrVrdfcgkxPrJAQE_J9JhR1GRwY0vpRJ2cY-3dAyMazaSMQ1PHeBLnejLpvNQJeRfWzlNS1vcc_9UXX6yUJrwqgo6ipJhecGZd5xH05mbM0C2_rKifgOfMaVzB8i-D2fZ5wbTxMdw4uMApy8zNDEe55TasRym0deMSfTy22G4YjvyH4qbioss20-EOcmucdZ2--HI_GlGtNK3lAo9szddYN3cDqjVBVMh7FW-v8qxD-Cq2FbekVOadYySw2KkzQNZB9HibQxNJLHbiDzpPEpNxk7o_gn9vjGiIlY51C_k4Vr0tXb7zxwMCcPt06SV1Lbv_W_EUEgYoiPU5SHBYeni1w8x9ANpnEa7N2qOFT6UvpLefv16jifOBwUEeZmQbVOWJIMl_B1VTR1DVhPf-Szxf7wudRoGyNWcBJqzAfM39c=",
  "id": "rs_07a246c207bf8d39016ab45ea3a85487d09b3eaec785037c29",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.14,\"left_z\":0.012,\"left_gripper\":0.4},\"note\":\"The broad labeled body is visible between the fingers now. I’m centering on it, lowering, and closing only to about four centimeters to avoid squeezing the rounded bottle out.\"}",
  "call_id": "call_QH7zBl7touH743iAr3uW7zG2",
  "id": "fc_07a246c207bf8d39016ab45ea5b7e487d096937f703e3df52d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QH7zBl7touH743iAr3uW7zG2",
  "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]: [-0.7235, 1.6119, 0.3725, 0.6598, -0.627, -0.4675, 0.4081, -0.0277, 0.6579, 0.4404, -0.3912, -0.0303, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.3301 left_y=-0.1485 left_z=0.0471 left_yaw=0.0299 left_pitch=0.1015 left_roll=-0.0769 left_gripper=0.4081 right_x=0.2659 right_y=0.0016 right_z=0.1383 right_yaw=-0.0001 right_pitch=-0.0364 right_roll=-0.0107 right_gripper=0.9998\nstate[joint_eff]: [0.5812, -1.9761, 1.5248, 0.1538, 0.2564, 0.3101, 0.188, -0.5128, -1.1009, 6.9128, 2.0, -0.1734, 0.0171, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81d3b47d0a8fb748604045a6852e76202ce11686278ddad33d5abcce9975a91d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25113bbbfc7ee4e879af0f06d5115dfb27391afd093d3ebaa325597a0266eca8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a66887b86f6fa801191f3b8321a72227b08e7dd2cf8038ff2b831fff1a5fe53",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.535, 1.9469, 0.9897, 0.0422, -0.9245, -0.868, 0.0115, -0.0147, 0.7235, 0.5434, -0.4263, -0.0303, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.4305 left_y=-0.0871 left_z=0.0521 left_yaw=0.6247 left_pitch=0.0645 left_roll=-0.0432 left_gripper=0.0115 right_x=0.2768 right_y=0.0049 right_z=0.1615 right_yaw=0.0131 right_pitch=-0.0341 right_roll=-0.0111 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -9.1419, 3.8769, 0.7937, 0.1099, -0.0464, 1.0134, -1.0188, -1.5521, 7.0085, 1.9463, -0.188, 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]: [-0.8173, 1.4441, 0.4686, 0.2546, -0.6476, -0.5255, 0.9979, -0.0212, 0.6796, 0.4728, -0.4015, -0.0303, -0.0505, 0.9999]\nstate[eef_state]: left_x=0.3077 left_y=-0.167 left_z=0.0656 left_yaw=-0.0224 left_pitch=0.008 left_roll=-0.0199 left_gripper=0.9979 right_x=0.2694 right_y=0.0032 right_z=0.1456 right_yaw=0.0064 right_pitch=-0.036 right_roll=-0.0107 right_gripper=0.9999\nstate[joint_eff]: [-0.0479, -5.6957, 4.9709, 1.6288, -0.4567, 0.0708, -0.1636, -0.4991, -1.0735, 7.2137, 2.0049, -0.1734, 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]: [-0.7235, 1.6119, 0.3725, 0.6598, -0.627, -0.4675, 0.4081, -0.0277, 0.6579, 0.4404, -0.3912, -0.0303, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.3301 left_y=-0.1485 left_z=0.0471 left_yaw=0.0299 left_pitch=0.1015 left_roll=-0.0769 left_gripper=0.4081 right_x=0.2659 right_y=0.0016 right_z=0.1383 right_yaw=-0.0001 right_pitch=-0.0364 right_roll=-0.0107 right_gripper=0.9998\nstate[joint_eff]: [0.5812, -1.9761, 1.5248, 0.1538, 0.2564, 0.3101, 0.188, -0.5128, -1.1009, 6.9128, 2.0, -0.1734, 0.0171, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81d3b47d0a8fb748604045a6852e76202ce11686278ddad33d5abcce9975a91d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25113bbbfc7ee4e879af0f06d5115dfb27391afd093d3ebaa325597a0266eca8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a66887b86f6fa801191f3b8321a72227b08e7dd2cf8038ff2b831fff1a5fe53",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF6r3czcSjuprPC2K6LeXxOLV44kOMwiLlKXSr99kiY_rTud7Jm-HKrkQoin9iCY7e7qmyoCmyr0H3KZ1vvYO4NnJSMcjJtcThsrv5eOuq24cfBLD11g0jUOJrrdLGywqTVEy4jrLfGy_W8n0XCdBAVJqCmaPYBjW_FEsKBR-t87R7Vll7JyHtgLwj-ejBWohtZbU-cONQbzCi4sIufYBTOIC6yPWXaPjIlc9bbRE8skgPINTWFsY61Q_EyYH0P4S6gM1ELLZQcz60gAo7NJkotON1d7xgf8de54-kjcrWYD48gm9JdKcI7gdzrx7LUB2LkOq7kQZ-h48MlxU5CtKkVlHgE6mrQVGH9YNOybAieK9FLT4uMYQgpUAyy8qvfV_NHZhslXiTfN2e9btpnvw5s0i_sxI71nDskTIFVjLqKwYYNdaaTU1tQxxTL3jyihtGghU97Gy2XPVBM7zDBCSFO5Q2ZaDEgcubByaP-ApnbIgDM4RqIAQerCceDofnjj1gfxISFP9afHyoYDTzUoDB69DzrgVe2CVx--qrV-_Sx5OaoVzJb3Xz5nBWL99lptTOs-DPZ2Ra6Jp6l1XUUJYw1ROJ_yld5tXK4ORgeGFMdmrVI6sso0QGmk3q6ZWnqLu4XRO1BrDCnebOrtlNhoU2T2ww5o7Sr8TAMM2a9j4hr06mlOCKZ46MYjvNkXpX8st6aHS8mENiUtYz8JxJ0rIdLfecMgufEXmbcawGqPn264R0YpEVjgZ2KEib1-iee7gsX_--YD0YdddRvAwytiHXpvF1adQG31jlOnjaw-DxP7NS3iOgn5k9H5pPVfLFEz1twWenV7NNSVdJkENm4l17VNX1VwvAQb8RRb6R4fSsZHKhxHjyVtDqn1DhfS4E-LpkBGvf8FbfqW0MqkFygTL7l5RDpFy9C2B0XgW3izT78gLg1YRspAZfaVn1j9UXvCAPDqm7umip7Im8AxZ2fLGwZx6WiKLQlEJvwJLZcfke71dlh-jauzKxT0O3ozam7slIGbgL4X6xYBubC82OycILgJWZNOfaqncCfREz8oMXzeSUZa1pu6bNAqi8ZzVtaq53yWXhHkM5XpjRSboZljGg6F-DEA1qmiSl-7IixBw_m8XIHn258fjZ5eMIKWBdyK076MNMnMADt41sq27rRVZYELxBaoMLfUTRAyQ1zExRUowy_T0LkaGcY4Jxu8jC4dBhU4JAfwmdgJV4lg3ma72MT3cwC9xzLvG-V3NVkhJCQKzkXCWX657F4eKwWSewTOA7mKlH3K1OpyM1BOSuySUN8cBcXjvblw1wTQgaRCVUCeWZmk5JkbAB2RRHSYqzPVohzkUgQ5p0BCfup9Dpq7j7YJOFb7YIx9XiBS8P5RpUqNREkfely_-u4Iwr1_18roYeCqAdNA8drjZNsfJnsAIsfvUpPR2QoQ5Eb3K8HLLWrhC8U=",
  "id": "rs_07a246c207bf8d39016ab45ea9a67c87d0b4231a2b6c25d502",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.15},\"note\":\"The bottle body is centered, and the partially closed fingers appear to straddle it. I’ll tighten the grip gently before lifting.\"}",
  "call_id": "call_2Q4yCsUMNit79mvWNDRGd8En",
  "id": "fc_07a246c207bf8d39016ab45eaacdc487d09c01942b62aae9a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2Q4yCsUMNit79mvWNDRGd8En",
  "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]: [-0.7147, 1.5627, 0.4732, 0.5205, -0.6323, -0.4755, 0.1546, -0.0322, 0.6334, 0.408, -0.3767, -0.0307, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.3455 left_y=-0.1568 left_z=0.0722 left_yaw=0.048 left_pitch=0.1109 left_roll=-0.0894 left_gripper=0.1546 right_x=0.263 right_y=0.0005 right_z=0.1324 right_yaw=-0.0044 right_pitch=-0.0299 right_roll=-0.0107 right_gripper=0.9998\nstate[joint_eff]: [-0.8137, -5.9419, 5.3949, 1.0867, -0.1148, -0.0611, 0.0562, -0.4581, -0.8821, 7.0769, 2.0, -0.188, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2256f4600425ccd9af53c5f02664c6bac5e5d19898bf9777cbc5823db677ff1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dce3c0f84aa1b32a3adad741faef69e55d7111c8fbaaccc49b5fe01d9cf3d3dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c46e8784f25af044b93474e1570ec38040e147decc71606f2cbad6a0e342adc1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5266, 1.7214, 0.4984, 0.6422, -0.5533, -0.4145, 0.7953, -0.0154, 0.7052, 0.5114, -0.4179, -0.0303, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.3803 left_y=-0.1096 left_z=0.0424 left_yaw=0.1395 left_pitch=0.0759 left_roll=-0.0595 left_gripper=0.7953 right_x=0.2731 right_y=0.0047 right_z=0.1533 right_yaw=0.0121 right_pitch=-0.0394 right_roll=-0.0106 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -5.5453, 3.1111, 0.8523, 0.3541, 0.3004, -0.0317, -1.0051, -1.3744, 6.9128, 2.0147, -0.2027, -0.0073, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "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]: [-0.7235, 1.6119, 0.3725, 0.6598, -0.627, -0.4675, 0.4081, -0.0277, 0.6579, 0.4404, -0.3912, -0.0303, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.3301 left_y=-0.1485 left_z=0.0471 left_yaw=0.0299 left_pitch=0.1015 left_roll=-0.0769 left_gripper=0.4081 right_x=0.2659 right_y=0.0016 right_z=0.1383 right_yaw=-0.0001 right_pitch=-0.0364 right_roll=-0.0107 right_gripper=0.9998\nstate[joint_eff]: [0.5812, -1.9761, 1.5248, 0.1538, 0.2564, 0.3101, 0.188, -0.5128, -1.1009, 6.9128, 2.0, -0.1734, 0.0171, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.7147, 1.5627, 0.4732, 0.5205, -0.6323, -0.4755, 0.1546, -0.0322, 0.6334, 0.408, -0.3767, -0.0307, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.3455 left_y=-0.1568 left_z=0.0722 left_yaw=0.048 left_pitch=0.1109 left_roll=-0.0894 left_gripper=0.1546 right_x=0.263 right_y=0.0005 right_z=0.1324 right_yaw=-0.0044 right_pitch=-0.0299 right_roll=-0.0107 right_gripper=0.9998\nstate[joint_eff]: [-0.8137, -5.9419, 5.3949, 1.0867, -0.1148, -0.0611, 0.0562, -0.4581, -0.8821, 7.0769, 2.0, -0.188, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2256f4600425ccd9af53c5f02664c6bac5e5d19898bf9777cbc5823db677ff1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dce3c0f84aa1b32a3adad741faef69e55d7111c8fbaaccc49b5fe01d9cf3d3dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c46e8784f25af044b93474e1570ec38040e147decc71606f2cbad6a0e342adc1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF61ZblCP5pTwCx_0DldPwlrBTBl1rB13fu18q_IEhVNB0_RnwIhUNPrq3Apiwol3SIh09A_s8oYqHGtg3bV3voEUk8iQZOfQJGig8pdbSY4oYEHwUKPLzRta4HiD3lILda-zQfNMpaKkn6cn23Lf_GASvL0HBlhQdWWoCu_BQiHRqlgSWf-zms1-hb-ulr59UG9XUWchdgTZqGxsS6SoNXhjYqMVQJJVscG_wu4G9XRpteqap4hX8HMC9mVLbIjntGoT0yHJVG7FFvhyFP3Y4TDUMH6-2vWazFev8feeEhRRbh9G2rXM6RQ2Zgr3YVGzSaGYYCdlZqYD6UlGNKf5Xrr_bduJDO9l9XdDr1Q-41v49YOid5_QMFzfDdiLPrtEytUtN2SNB7Pkru0hoUEvLfZFjwGGJBsivD07EU138Z6omPtLvUEN1jJfnd_egWqtGr84iIbSEPtDkIfa8FbpUzojOUrK-x3FGjT1tUkntfOGVPCMcTx3NzmQXuZJ5n0am6Obxcm4rQ-4JSFU3IiHHlSuvthr2cgF5DdY8gtxoyFTV1JPomZpqGBawnez7YVbe-9eNNSy3V74BXMST8Q8-VhOEFiXNW7o73r3b7edM7nfCtXAbjCOh3ItcsP_kyjsiko-JCtdR3l9pQQrCTYAeI9u4R0T9mU89C6lSyv6h3tTlzECW3xDCTQDrDQ8-bQmknmoZFuGiFRfCtiTw_3lscgkUZWRbn4NR4W6d-K2raoKEWcvBhsseNLK65EZ6Zw9bpv_bFU5xPUlJP2AqQpsmt5T6Rj7kLxIBT2CMpyVlKKYiEyBikKGPyv7B-VKM7VjU84ITfAA1-GpUclg7C9ShGmNTmhK_x4QixY93xWykkP17FJ5pd-G9QdIJZS23hcYMQwTEW3OlBxenxENFkCX7Bx9zFD1lXzYYGDkHDv1LhvsLEcdxqqHAp11HO7_XZeWR3m0koFdo-WOP5jURjYp8Seo4CDhMG5aSqoV5gKdFeFCwKWDxrjGfyOHsrP3TzQoCFeAnbhOm0C-jP03JcNmLoceWurC7DaV_hBNxQ7w9TdCrxH4Ad4OmS82KjDod-3riTN4Ij_D614Hkcfip2abYe1t54q1diTCmwHAQmMReNrmUrOUh0z4WGboY-EnCZRhbws8EXOmGdu9x0hQzf1rsqtha4-ICF7hdHgTVmnW3Wi8vCNS9oRU5hAjuB8_VUObYJNAfTWk40suVLFE0uOaq9DpfG_9ZJnQmSQgl3MsXTSRdRMtCoBMx_FkBjF1o9sLIHyfWfHdZOzMbMpCnICmCFvBNxjQQhXwmShGvbHPb_j_Bx7SEAKqO5JPNkZ4xlAGY1eW6afzUijtGsuKeIVWIni9P3hZWJ3lZB7YlVfOOGUWsoMjLPu2pM4GsZCZO26GZqbqKX39BkhHwsb3ykSYPsBfdP_oU-f9E1mZM_zDXDzHKdO7jNBOw0D0EFQTMyYgo5Rl_mQQukAR9GzD3YXH3seRP2uBuXGzNTnNwjTAqPqdsI97Hk0LF948MURnL7PESuV1fZ4OZ9EunmSK4uRDfzW-3lcTADzp8LvkbcPM8Hns82LT8hGzNows-aFSbCjJw3rzSEUoV8E-slk31ps-9qwpoXL7P2GQBMDlr4yzI6bZJkET4uSrAOlgYaiQ93XXxl4f1pTZEivtbHZZaxsy-6E4Dk_WgTZyeBtZVLkJquHDYpA-2H7Pox2YLm1c77DMB6At7HDuWPXenlKnwB2enCnIPyW-Zw6O7wNlssMMiDC9UrdPpuK7bQMXvVZKLbn5MB-Ctc-cKkMd3yajrn8tBHBvnN9r1y6FHPXqJY8h6TDc--T5C-5f4xp_ee2rvwS7RbaHwtczVJW8_dqEncOJg3u9Uq88kILtz52QwYFnoaz5mRPocNMLFEOaINIOXajT3wsCUmHXDZMot74-m9TGYDBApsBE19llfHRx3YrsPU4na_8W7bSn1_slYZUpo4WJ1Y2nOtqPgzvkybQvLe66WZs6IDJiiP4N0yREEcOE2Nb7cq5M7-JaJfPSHSTjGesdgRQu6pLRTFuBbhtLr4X__epUBmpW_-4Y5RWH-XSYu1dOc4W5jB1_w1YrPwwq2xInVZaa3PmlTNkN2zXzhJzpoyuC-Y8qxXn26DmEo8Z9FxWTcpSiKid3t0Ei9YbA5Re-NAMHwX5OtDOA5YJ4CAIprMG1kvB9ABZjD9lm9BsYOzQVMR780NEYGBEsk5Tjteb1sioIZGtzjyNK9e4BPktpu5eYvBEtG5sCHGDheqZoWMJNe6AQpwC4pmoPyS8eASRnKn0xRvQceh4xMnWUTg4SQXgdC_cp8ODauH6pfnuRxqIu7go7RVsvayzfWFLAXkNvXaJ3uHzz2-r971juLUwFc8Lev0UFUT0iUo4WFRVEFq_Jqr1_H2ar5NiikRWEMp92P2pnl6xbbunuIOHBmo2yLipAMSBedsr0CaJywJeSVaXKmQv3uQShXzmSW45i7dM8gYjDH3zH_vMH8-3bbYZi2jynM2_jGgFM9ScdRtTWvlxJQ5zqs77ay1NDtknAZShjZgjhLKDX78_02gFcpfnhelY5Y95dTSQGgh4_CF3k-njb7W1GrBDukpYn5mhL_KnSxLH9vfsi8HK6Wj7LyadFqim2ewAMox-3s1AC6MbpFa6QQOPMkEqGnMXLiGacjhwb--7q-T7ZmKzlpWVlG_YP2qvdDqFvqQuQS0l5m755Zld54IM43tvzFgFcKoMFX_d4iwS7JTEVNaKvYBL32iEZtVZDe4suQWK1x_lsBso-uReqKWEbnOrT_SYdoTOl7L7814BDLf33CACVh5t2kSk7mUvkENoCUE1KQ_DJsuOv_l_zj9NcWFWFzBcGYRIjtybPFdeuBv0CBI6OdpywI6Opt-iqx76SXtnYmQts6tJPJOEObr7Xq37tsDWap6qyVFuG8nBhcwQi_6xxvBLZ4S6Y6QhX50ZNX4y7cNmpjTtlvyOEjmjDR2xLgsliHBV4Tnda8fbq10NZNMSy4UhrVW_I-MqmUMBTbNLofxnOgYayuDPW4CA2FJS6sY9pFznlf_Dx2Re8fmxHTi2ViMCsdRFMntycma-6BbqWLH-w-m1U1wnAZ73iKLo7_JWexpZRXy3O6KuGB5XJuYISjDB1ky9mROTSVpb4EEC0k5QYlYllMmiyUPcAoqw_zKQzUHgVf310P1Ts6mhJqzHwvtSBS01fMicOMmA_VUqq7U1C5BpyBiqLuM=",
  "id": "rs_07a246c207bf8d39016ab45eada2cc87d0b626ee616658db75",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.155,\"left_z\":-0.02,\"left_gripper\":0.85},\"note\":\"The hand rose during closure and did not retain the bottle. I’m reopening and completing the downward approach first, so the next close happens with the fingers alongside rather than above the body.\"}",
  "call_id": "call_ZBHZqgd877xXSu9vtgzmD9sx",
  "id": "fc_07a246c207bf8d39016ab45eb498c887d080cce2bf20cfd22b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZBHZqgd877xXSu9vtgzmD9sx",
  "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]: [-0.7246, 1.8477, 0.5106, 0.8223, -0.6956, -0.5011, 0.8458, -0.0341, 0.614, 0.3805, -0.366, -0.0303, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.3668 left_y=-0.1687 left_z=0.0404 left_yaw=0.1083 left_pitch=0.1707 left_roll=-0.129 left_gripper=0.8458 right_x=0.2604 right_y=0.0001 right_z=0.1268 right_yaw=-0.0066 right_pitch=-0.0272 right_roll=-0.011 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -1.8667, 0.8957, -0.5641, 0.4811, 0.0171, -0.0513, -0.4991, -0.7179, 6.9675, 1.9267, -0.1685, -0.0122, -0.0073]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3e64cbdd36c03a1199d450d4deeb54a8922c58f43aecf96d65c11f2b2a3f4ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a699b323a6f5a96a419f80c09b66f0a16e63b932ab4d62ff2d131c3e9c45868c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:681db43b4b89c9e79fc7ce31c78a20a2f233ffeae34e6ee923347274d7fc1909",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8173, 1.4441, 0.4686, 0.2546, -0.6476, -0.5255, 0.9979, -0.0212, 0.6796, 0.4728, -0.4015, -0.0303, -0.0505, 0.9999]\nstate[eef_state]: left_x=0.3077 left_y=-0.167 left_z=0.0656 left_yaw=-0.0224 left_pitch=0.008 left_roll=-0.0199 left_gripper=0.9979 right_x=0.2694 right_y=0.0032 right_z=0.1456 right_yaw=0.0064 right_pitch=-0.036 right_roll=-0.0107 right_gripper=0.9999\nstate[joint_eff]: [-0.0479, -5.6957, 4.9709, 1.6288, -0.4567, 0.0708, -0.1636, -0.4991, -1.0735, 7.2137, 2.0049, -0.1734, 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]: [-0.7147, 1.5627, 0.4732, 0.5205, -0.6323, -0.4755, 0.1546, -0.0322, 0.6334, 0.408, -0.3767, -0.0307, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.3455 left_y=-0.1568 left_z=0.0722 left_yaw=0.048 left_pitch=0.1109 left_roll=-0.0894 left_gripper=0.1546 right_x=0.263 right_y=0.0005 right_z=0.1324 right_yaw=-0.0044 right_pitch=-0.0299 right_roll=-0.0107 right_gripper=0.9998\nstate[joint_eff]: [-0.8137, -5.9419, 5.3949, 1.0867, -0.1148, -0.0611, 0.0562, -0.4581, -0.8821, 7.0769, 2.0, -0.188, 0.0317, -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]: [-0.7246, 1.8477, 0.5106, 0.8223, -0.6956, -0.5011, 0.8458, -0.0341, 0.614, 0.3805, -0.366, -0.0303, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.3668 left_y=-0.1687 left_z=0.0404 left_yaw=0.1083 left_pitch=0.1707 left_roll=-0.129 left_gripper=0.8458 right_x=0.2604 right_y=0.0001 right_z=0.1268 right_yaw=-0.0066 right_pitch=-0.0272 right_roll=-0.011 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -1.8667, 0.8957, -0.5641, 0.4811, 0.0171, -0.0513, -0.4991, -0.7179, 6.9675, 1.9267, -0.1685, -0.0122, -0.0073]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3e64cbdd36c03a1199d450d4deeb54a8922c58f43aecf96d65c11f2b2a3f4ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a699b323a6f5a96a419f80c09b66f0a16e63b932ab4d62ff2d131c3e9c45868c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:681db43b4b89c9e79fc7ce31c78a20a2f233ffeae34e6ee923347274d7fc1909",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF69VHTTVJ6BzEON6905_uXRDLZEgTH9cNsB9egvHbakhgD-2MM0zW6PQ6BF-okQl4WJ1UjZceJnuMaLCuyreoUK4QGDIVnqTjgb-E3KmFXNfK5BqGx1sybEF5wyxzplXDtb2mOOWUvj1Rjm4RJLl_CtJ7ySCu5TEGEVwfFvi3xAxIb7-rgc3cDdHX2UwYVe6ww6l67NXqcz4vk_wLL_qb75rPtxjCOZAb3EmZx2UnOi4PyxEnI-lR1tw5zvq-8sJWxhyZYlMzMHxRZaYiKU433eQ7qHgwik0hh7Nu-ndc0d5CSdWBqn87eyFjpMQ2WCHSqsXiGEasALB5TlEWLgTK6l9PDRxtvqZkgQykmaOq-teWMm_WTCX7jxw1T4cExgUPY0n9hZdtY5PgdK7WkOnnK6X1k7wFc0OdqmRPs6r0I9UuI_0H7_s1PtyeizzTz6pXYzPg6kRnAgGlScLxQDfwyQoJgJT60ZVOrVsLPcbvy6jZflkPgp-ouLlTeQQNIDA5uUn_URrPMajcMbz_02aRxiZw9BaOU-qZ_hL3_6dw59RP_El71zVo-WESCuHNd5iWPbJV6IOOLfWVWf96EOgNDOn43l0yt3PwtHOlDEfDe3SmLixCBkrYMxPDqjA8UQbRd5hLUM9lYl9TB5ifDJtOqcV8VgCpqMIdm2ChjcLorjaNII4-S7pirP6Op32tQyJ3ElS6TqsV2q7uXgRXBPXBGbLodJbH9TdKdns07tN6TZ160raLq3F1ak3RngQ2q8QxdBimLosQo_gA0vthmiyQ7ErCGEIvlOpEj1CgF69VCu7xK9e5twWEOfL2K_xc3fk8mir9a2LiPcEafcK_Hc16WU1qBHkUyA7DxVPkBFyXXZOJPm89yjWj6qmu8NGD4wU6PPxXDrjptPKUwgJUmh6ig22eEut_MNluUeyRHmVJkNfUKtBLt-wPcphQ8v2alPG1KrH7OU5EpI8Rm8DHn_JFuO-bz523Idr4GSbPj9CFGupUaGOuP5xwd5SfuTUuE_l6ADO8Alh6luUBUk4uN8I6tL5a2pDrMbLXVeERUBZByA57sEKD7OnbKBasU4DUuVwJv8ZuLQ7eZ2Q6HBQ4BfKYhsovt9B-Mbm1tMoxM48EpI3HLSdnhyKg0jTFFc-IkiJEi5-tImx0nx9jk-8ALaA7gR2MAlScUxYqQP3E-fDtG-xaFIGjuAF5eEJbLpC-LwbrFlB5bsvr6h54CnvwqxQWFHVBYTMBUe_bWjs-huKEQVNmqSO4YsB2yBTvd4zsASFEpu8dkvyRmcgLdxNSvr-5DPmUYkMFd77OW3Sbp0U0dTwtG9xx0-3MzqSiwdvuDppi_iXKGDeytQAiC_UPjP6JlOTxYo-Cd_4FT9n0okyq1eYU7iUpMjl2s-r_f5EC5EmOMNyZkOgBQg5xJWmM-vZUDGuT9kOx5kltXqlUczdJA3UgJ1SZTTOBPQvDb_nPGORad1MGn6Av2S4mVlzGasgB8e2CenCp7ALqtggd-AkqnZyEgp4vBKM4kqsZkCt8EtJb5I6wthq1pJpWUNDt9sP3kogxBt_rQ-usY-BXBC-VkUL4jYGebTD8sR6sZoBkTp355a9XtETVaJPanFtXDSFutIvwAiV8Pu1BpQHfL5_ajHACGQor24_n-wIUdXaeECk9GMxOd2yzuex_SZLF0N8E73zjZpmZnf4Fbu0NAdB72zJuLud5N8e0skIbjIjJcprUtWBqZXg_GsfizJm_tayQWX4upYxi_SJZK-yyBOtV2h8rVDwW94SaCQNKmaMfXVt9wHqzZ_YKr-8yWyMSYJb1LnTcA9IWXV5pRtxfWFiQxKzCkwmu1z8JEPYJM8Op2CI0tKDlhfByZaNChm74se1zQNR1wCsMhwRJpqQPY4dVqarpMAwXliJciyWriSMsehUNjj9OPByeUPefty9N3hTaJdWOOxEqf88UOaCZIjd-N5_egLhHMT4Yg-xWfLTMDAuYj0YL27bGAl-Q43dE0MCPyA7_J4oY2o9B96wGkFOkj4itgTUftKieJtra-7WFDwmNVZjC0o53-h6EFRTKU7boq1UQ==",
  "id": "rs_07a246c207bf8d39016ab45eb8350c87d0b301f6a179db72d6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.45},\"note\":\"The bottle’s wide body fills the space between the open jaws. I’ll close only to a body-sized opening, avoiding the over-tight closure that let it slip before.\"}",
  "call_id": "call_NA1GUfekEYmGuZ5KybE2YpUj",
  "id": "fc_07a246c207bf8d39016ab45ebceeec87d0bbce9235dab1e17b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NA1GUfekEYmGuZ5KybE2YpUj",
  "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]: [-0.7136, 1.7485, 0.6796, 0.5709, -0.6918, -0.543, 0.4551, -0.0406, 0.5995, 0.3576, -0.3599, -0.0307, -0.0502, 0.9998]\nstate[eef_state]: left_x=0.3924 left_y=-0.1859 left_z=0.0876 left_yaw=0.1409 left_pitch=0.1773 left_roll=-0.1824 left_gripper=0.4551 right_x=0.2579 right_y=-0.0015 right_z=0.1211 right_yaw=-0.013 right_pitch=-0.0295 right_roll=-0.0104 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.0359, 4.5333, 1.5018, -0.0855, 0.0073, 0.0513, -0.6222, -0.3487, 6.8171, 1.9463, -0.1929, 0.0171, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b66cd4f8399238c799f1dd989b0a970f957a74a0e9f0ee39a72f4498f773bdb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7065fecba3eaa3ee424a502c13f448090db04295c8a91c86ddb3842501098ae8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:734782dae64b785e2151d22b2b9b41e2f3463a55384815429d0bc8b05f3e1efe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7235, 1.6119, 0.3725, 0.6598, -0.627, -0.4675, 0.4081, -0.0277, 0.6579, 0.4404, -0.3912, -0.0303, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.3301 left_y=-0.1485 left_z=0.0471 left_yaw=0.0299 left_pitch=0.1015 left_roll=-0.0769 left_gripper=0.4081 right_x=0.2659 right_y=0.0016 right_z=0.1383 right_yaw=-0.0001 right_pitch=-0.0364 right_roll=-0.0107 right_gripper=0.9998\nstate[joint_eff]: [0.5812, -1.9761, 1.5248, 0.1538, 0.2564, 0.3101, 0.188, -0.5128, -1.1009, 6.9128, 2.0, -0.1734, 0.0171, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.7246, 1.8477, 0.5106, 0.8223, -0.6956, -0.5011, 0.8458, -0.0341, 0.614, 0.3805, -0.366, -0.0303, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.3668 left_y=-0.1687 left_z=0.0404 left_yaw=0.1083 left_pitch=0.1707 left_roll=-0.129 left_gripper=0.8458 right_x=0.2604 right_y=0.0001 right_z=0.1268 right_yaw=-0.0066 right_pitch=-0.0272 right_roll=-0.011 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -1.8667, 0.8957, -0.5641, 0.4811, 0.0171, -0.0513, -0.4991, -0.7179, 6.9675, 1.9267, -0.1685, -0.0122, -0.0073]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.7136, 1.7485, 0.6796, 0.5709, -0.6918, -0.543, 0.4551, -0.0406, 0.5995, 0.3576, -0.3599, -0.0307, -0.0502, 0.9998]\nstate[eef_state]: left_x=0.3924 left_y=-0.1859 left_z=0.0876 left_yaw=0.1409 left_pitch=0.1773 left_roll=-0.1824 left_gripper=0.4551 right_x=0.2579 right_y=-0.0015 right_z=0.1211 right_yaw=-0.013 right_pitch=-0.0295 right_roll=-0.0104 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.0359, 4.5333, 1.5018, -0.0855, 0.0073, 0.0513, -0.6222, -0.3487, 6.8171, 1.9463, -0.1929, 0.0171, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b66cd4f8399238c799f1dd989b0a970f957a74a0e9f0ee39a72f4498f773bdb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7065fecba3eaa3ee424a502c13f448090db04295c8a91c86ddb3842501098ae8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:734782dae64b785e2151d22b2b9b41e2f3463a55384815429d0bc8b05f3e1efe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF7D8eON0mVPfm8gxyGf87GfIGQhZ7FEF69pgNgO9dZdKAtsBVTjMWmyrnRPnh2QGSjdc4xVLZAYPiHkHwAgQWREgwdYIuKfohAcbKqdptfxgsV2VsYYNSGXr-qInB0UgTF9vIPJnW-50V2lS1jGl89gPhLDUbpvhp8GpBYpgyHwJmKzw2_vsvnGF8kMZz1BTEhKG1hDCH-zowlPt-zrQDzgwnV3YD4JrM71L0yCMq59f8n4ZNKkJiIPGzbpj1g-0U-APRRxWzrLA9_aZzI_obXAwtXpGDy5qp6X7cR4LJGRByJ9apFR3QKQT5dy3tqwHJVHxm5jVnrAxGgGCQXhPoEyID-If6km6sr76C0PVMub5QCspWRCWd_5zzzL5Asv0_heZk362i55mnqMbjVxuXuLZWvfD7udHIgfESWg1It5ds8uZIPz-XiIOvFy_dq4vHgDuAfIxLYKJwkBA0DhAf6au4Mv1ZU784oKshsbrZ9mGq8pFZm3v0RL3biLSqeTd7SlaHb8ugjhmb8acdjevJe1AjGlXtDs6uBnCFCcmtPLpgtxE959rOoO6Dmhs9Zr8YVyySmhX1lLuqhbviOiRK3qZ9UNovLFVeqtf9gr1zgDwXWLAISwQbL2phj_lETqndcPnFo0FuVU2WiINCB6bwEHdYVBP0fXQOVPNgHWxFcGrOH0QpWIZkoQDkRSSm-NzTYIbxXLGcqqkxk8O2r7nmVB3Ur8QWjCk0uZ8ZupaMy7iKY4QJZM1xHZsAa-_EZZCKseHhf6EnyADPPa9iROpzANsc9kdviXuBWwJKqxPP5t6bwPfvA7P2gGgJKsdfI3kkNMaeXBZZMp9d-7mCWX8H4uNRMtUGJWNWe2PLHsbj8LDyoFcXtZDXd5x_kMCx3vlnZRyRNlr6x9qp-jmbdD34OdUKPgSvS7KFpIlBvWm_71N9lP19TyVRtXN36ojcqov5GykRkQLQ8YCuC1tesOgZJCdBVdZfR_mKFnOBEUXpIpa0Dwukr4ZoiK8i6aKK9mubUf7ML9jv8Y8tGNE5i0EGWBaqPRxwOtrk8_IjaYo64S9zFIIkA2kAc25VoMZlbO6lL11I3OmVKS1bErzJUDJU334CJe5paOnNGwhUkztVs9WZ69UBdZ_aqlaYpGFxSwFhHU3RwXOmq_JrN_c3rcycRuY-tf1C2iDAQG0Z7s8CgnMriQKHfpclhmGQrnRFbmmIVa1AjbrB2N02RbMxDlz7uejy6P2Ski--vhUDO00tS2AiKi1OjZc2ImawmNCdTiSGJS8q0mikZKBY_LjR0_XRud95J0ecXcD5AvhGMFm_JKthC2YRhbjwheDjxkkww1S-Hpzoua613I_zhWogysPbY_W3AuKooqgqoN6eGSU5zr9uWSIkj3Wew_UvzzQVPQ0gGLjmXUpqjjMqODIzCDDdvm8x-1oqbyRrbHh6zxtmW2usK4bmIxGlstTySLm-7Uh2BezjKVoShd3_o-mvE4AH6cNr-GR--7LM0vaxgWMZR6fOenzJsSjWrqtJ8uKhf0ogaf8NPmpekOOt8KAHsIW2ab1rSrqVsyWxFGaHjJPiKaXs_I3J4j-GT3CJvthNAVZUif",
  "id": "rs_07a246c207bf8d39016ab45ec038a087d09d878ea43c9470cf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.145,\"left_z\":0.21,\"left_yaw\":0,\"left_gripper\":0.45,\"right_x\":0.29,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The bottle is partly occluded by the hand after the gentler close. I’m lifting to check whether it follows and to give its lower end room to swing downward if it is held.\"}",
  "call_id": "call_smJNACGYtoQrextQR4RiX7tw",
  "id": "fc_07a246c207bf8d39016ab45ec24eb887d0a9dc98ec7255d93d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_smJNACGYtoQrextQR4RiX7tw",
  "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]: [-0.6743, 1.2797, 0.8967, -0.3157, -0.5816, -0.4629, 0.4503, -0.0055, 0.7757, 0.6323, -0.4759, -0.0219, -0.049, 0.9999]\nstate[eef_state]: left_x=0.3446 left_y=-0.1466 left_z=0.1891 left_yaw=0.0373 left_pitch=-0.0051 left_roll=-0.0134 left_gripper=0.4503 right_x=0.2836 right_y=0.0059 right_z=0.1782 right_yaw=0.0141 right_pitch=-0.0472 right_roll=-0.0141 right_gripper=0.9999\nstate[joint_eff]: [0.1026, -6.0103, 9.8803, 1.6777, -0.0708, 0.398, 0.022, 0.3897, -0.9915, 9.7162, 1.8584, 0.1148, 0.2418, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aa32a8ee423629a1fd1a1b7381ecd8a56729722fa406d0b6110519d7add0819",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d00d9de9498aeae45e49b3aaf3344c66482245a22cd7fec0e04d98585d247efb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24f4cf25d4a20e6a855aa43dc9238cd5c71b07ffa869feb75b47696be8707f36",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7147, 1.5627, 0.4732, 0.5205, -0.6323, -0.4755, 0.1546, -0.0322, 0.6334, 0.408, -0.3767, -0.0307, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.3455 left_y=-0.1568 left_z=0.0722 left_yaw=0.048 left_pitch=0.1109 left_roll=-0.0894 left_gripper=0.1546 right_x=0.263 right_y=0.0005 right_z=0.1324 right_yaw=-0.0044 right_pitch=-0.0299 right_roll=-0.0107 right_gripper=0.9998\nstate[joint_eff]: [-0.8137, -5.9419, 5.3949, 1.0867, -0.1148, -0.0611, 0.0562, -0.4581, -0.8821, 7.0769, 2.0, -0.188, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7136, 1.7485, 0.6796, 0.5709, -0.6918, -0.543, 0.4551, -0.0406, 0.5995, 0.3576, -0.3599, -0.0307, -0.0502, 0.9998]\nstate[eef_state]: left_x=0.3924 left_y=-0.1859 left_z=0.0876 left_yaw=0.1409 left_pitch=0.1773 left_roll=-0.1824 left_gripper=0.4551 right_x=0.2579 right_y=-0.0015 right_z=0.1211 right_yaw=-0.013 right_pitch=-0.0295 right_roll=-0.0104 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.0359, 4.5333, 1.5018, -0.0855, 0.0073, 0.0513, -0.6222, -0.3487, 6.8171, 1.9463, -0.1929, 0.0171, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6743, 1.2797, 0.8967, -0.3157, -0.5816, -0.4629, 0.4503, -0.0055, 0.7757, 0.6323, -0.4759, -0.0219, -0.049, 0.9999]\nstate[eef_state]: left_x=0.3446 left_y=-0.1466 left_z=0.1891 left_yaw=0.0373 left_pitch=-0.0051 left_roll=-0.0134 left_gripper=0.4503 right_x=0.2836 right_y=0.0059 right_z=0.1782 right_yaw=0.0141 right_pitch=-0.0472 right_roll=-0.0141 right_gripper=0.9999\nstate[joint_eff]: [0.1026, -6.0103, 9.8803, 1.6777, -0.0708, 0.398, 0.022, 0.3897, -0.9915, 9.7162, 1.8584, 0.1148, 0.2418, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aa32a8ee423629a1fd1a1b7381ecd8a56729722fa406d0b6110519d7add0819",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d00d9de9498aeae45e49b3aaf3344c66482245a22cd7fec0e04d98585d247efb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24f4cf25d4a20e6a855aa43dc9238cd5c71b07ffa869feb75b47696be8707f36",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_07a246c207bf8d39016ab45ec6509087d09573fee26ef64514",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF7aHt98orAkdvnMyHcG_o0sy530qxkS1ks-5RNMTd3gmKifQI2n4Fpq4h2RBiE1iLDUWw118c-vJNOGe-mFl3qFN35w9IB_bRWW-J7ia9oK30orsVlVTprblomP59OCWc7lCAYlU9vdN-FkUi3x21Sc6nfdPHYWMaJ43_qlJ1ji1s2Jl2-wuwWQ_JOBgGWAul8MYKVPs3ca-BkDR-aIh40LRdoEhHt7Rw9c5iEpqWv6Jo_gltR_XlolFi4Fsxmq6aosXy6_TVzdtyFGUGf6FoJStmy42MVwqVjyRkEbq8aR-6088_hb3eJBMkIwX5YU_PvJFACrGLfo5K9LgvWZc7ltF0pcHvoTfEx4OrkVPIYNmFQRjUj_YlGm-dgtmeLMCnzFEn2qraWNTCSJZP5l66FK9pgTKb6kkwdJbQ3MPQEyjCJ1R3wX4ifAtxU_Iol-26khF9HkT9maCB5XKJnhKM-FnKvFst5BbKJ5OVbpkiDHyW-4iYqekmJXo8TsFIF8Hx4fBSCacUhDAbIJxRJFQef1qbRE6FpAzZhRpRMsQH1SiCO9YG_jbeDW5iq-llLlWhc_AFP7Lo7n6SB62aMS5y4_Dc3p63GTbb9XUGZGyvNMNqaafd5p4hqE4uP5Fs-qPiDETJaLkV55RnDS-WIwIlKSVNzW2Q2KDM4M8H9BlNY74U5B7cOwuTyjOt0Kh1AiM6BBh7bZGMVGpAzbVbzBkb8IU2J3ES0Hh7UMiWfv1FWAJQwTjtyUgYJDzi5u8ARuQNSXDrXLP2ZNf8d--_QuXWNNxB17hOwAql1rP8MwQwK1d3y8uLzRkyA7RV94XNFsZNSbEZwbNx2dcwKGsbI6K4OWLvlBjmAn1Pn2YXzni2j6mpUOCYAfp7T0EXNlolsuWuD6TwGPGX6zOjqK-m8U8geQtLFBcViuvLZIvSrm3tr0vb4PVr33eDIsCnYi3c9UkwnqlaDhNPq7NDyIGfN4iR-3DyWsYH3esHxc_ADNQkUwsxTYvf0BwTIypURiXPwaUSdQJbPYrzuOjtkWao6llcCAkUiIuj-jsT_NVz1sjLFYQA-s4NK-JPM6AiRK3q0-17yMWlh2aBmXbZKHVyHdYaZRVFttAz-kmqGasNsy_MWjkAmorSWCm2n1A8BWJjtvDxbJbD1W6I0K2gHO4BLKLJS2aQLOxt23HyxG2MSpMSKz4hsnuM6rdskarONOzBPmdEEyauF0Xc2P2H2GGLZI3U2h-ALLouRTPlf9_I9IsJ_wYMPvFAsgP1U8WsjK0yV-UMPGITWSd7Gn3_fxqZZc9-EwDyBLmSTe9yIqWbFVRD_kR4VxFbXu_HizHKK-EkRVu6Tez3WXzaa_39EdrdvMr2X4u6EIYFZUtI8QSLCRB8rNpcsct7eJeJVGOu6Q8nQ0_MrVZNQEXa2abRPW-8Mf3wuX7l8p5B-rG2W_92zXnPTtCy54R1UQvGG_U3kwJuoyNUwl1pvM7Bq149hGEtcZpSUbHGdxans-xzPGhMrXaXHwikl4YlNXkwN0mX4_qjI_21kOR0rFyMJomzAObw5qqDdOm4j2_ohVVY8gKg-n5PsAS6yNDrJTLF6D-VKANpzQiZXUFRI_wDRN88dvXB8fuEn6Y34alpQmzEFTmpruH431IGzz3HPmpQHj4sNfGftu3IOfgYw9dC91R66LDzmSNPnoo1eFsznNcmAl9z0_QjkD47kwbU0VmWHA2ZPN0kT_BlSeDqKq3l409WscevJuu-yjDa_sJ0XsT5iHOVYay-GQ55qTyAVw_2V1rtvBR8wYhh6ROibqIGKAFMHLzQ2iZv70ySwLpbNqQ9K28CzoGh9uauuhH8vTtLGfsAOQ9aJNBJU_YrtS6baB2jgYcfv7mPuJpXDm2OTZ_Xsat0SlEngnh37ZxYJWPvxQwnBPh2LFKGxPtrkaJj5tp1c_GbvaEqjalmQ3Zm08jZY_GLZIyKos3V4qJ01Jp6G6druh3QANEr8o7VYZkxQWn92-S1gfZ2dR0MBueqRUkvy4t2VCIBcuJgCuaFPbYgUk4LsZZalj7mvRtfDTFNoeMol-gXwhmdJ8CdRCXQEyPykL3yKrfuH2t-aygD5NPBO3ChcBV4-4KgZ-tBIyRLIzbJse8UjWerkN5wcbFFqns7OmwrkYbs5BJRJW7Aau45qGN4epu1jPcqmCrpS2rlBzvysTfIrANrI8cUTxlRwxmnHJ-pNWMEfJ1U3Zs4mmrdu1FHlj3LA7zfqPGb19RdZRXyjaBSEeFmBPMsj5JENs3IF1LYN0DWUB3iTziiI1n5ayMUW7mjyEX9PBhecVd7PPBMLipzI_AX7XuXsxoGLPTc4CuXWF6NYGYJJ8sYwPB3DSVgasl9crENizC1wcLYw9A13AFv0PtrMD0KgSdmLS6xBK4y7QORJ_p0rBbvz9st9w5RNMLM2Izu6yuX9J1rNyD6aTy-IFT_ZvKRmn03dpBhPJ0MWuwsyRmKa2adlg4ySjpUNs8DK7t1J-Rgf-qV6M74xtlKJ-r3Cxep70JxrNBP42jT_loo6FwlFU_DN2d3NwIKdj07FvJ6-MiXg43ouKcGkHabaHyVnOGb6xaea8z5510gQTZC72JjybMjaa8mfD6xkR2AlruwKs-swNTBnmGV8dP39AOB8xhh-TVAf5CxmijwhxnM5s6aZtXHS_8PCvtOdztaNcnSNK8IqVeT5c-ao9WwHFjedmkz_ICdrH1emVD8KmjNf7_GPoQt_h0nYRfS1SPhYiXQpAD8iOjRRinT8VsTtYSz3zksHOP8EugiPha87lQjFQfOa9BmQ4wtW2eA22B4ncTdlHnpTfx24S_1r_os2uzULnofj9yUbiQJUCRuCyVhrRevcHGJMfRkvugNSnGArQqAOdSMQixywlFOGNYbIgHghQtqYZ3nVgHigg8pZAUgMEw3iSr9tvgbgvs93ijXfb_S6t9zLaEw3gTojZW6aTvJTW6p-PZ3a3VSAMX1GgSz_R4X_s_BiDWRkVpAO4qnn1gfl62htCyN3hi-MSkkcdXYODTgB_1QjDF0M35pdGtiCSWKz8BUurOr512SFoAOLtGkC6VazygCl1uJOXMkTbgV5PB9YUXWJn3JrtjWkToyhJNZwxJ-g98YzQ3J-X-urNkFsiI2-rbstPM59-FL-Ie2PEf83duCIcNkZTBsPqakV_qd1gXeFkbYbbcHC4u8Z-6xwgpzUOrJ7Zz09uRwVw5tgh4YZOiclBiJQiDpJjOJK9fcSEVbMlMEkBrcddvGRdSui4X-SMs8bSuQI1731lFTzUZo_VGwA2HdwSRTsvQsv2oMAmb9Fmty5Y9Ly4zvWjD-Hpfq09ngBOUft3ZNwopL9zaiXxDevmja2l32PqsJ4T01ydfiWIvMUqRorc6MRDyANKSqNHOQ4skM7mx79PKz76mvAHs1uu2QgcnURmkLwGQIYNxs4I5oCgM38MgeZ386HiUpvaD-9RFMmYK20SESgT6SUfRUpOGPdcLUNBU6gkqkXqzDkvXWlr2bXKD5o56m7c56JvRc380adinUYY99m4jCTa5HDrTUb3sJnIbyiXsbRIGuDwjptcwo0g2a35xAL0vzLDLFjutlneyGY0bv8xAOvDXfNmAUyMXXT-7RVCAzcBIhCjAt7D3y25DjFcGYKCQ41VPINmksREXntz689ohvLcdbizduGtfn-Fg7tKdg7_bgDU-0-7fXbKFlP9_0kWDoOE5acOV-uxkDfFdv6WrnBaIJ8G-9uk9ZDhOiiT6W0BKCkTKR9RBfC2CAEe3KOp1dMG0HZvG5UHTHTrvuebPK-hwhAFSdIDPN9DRfmSB5-eyNhQK5ddWKHoa_UZsLZof1V1I9U9Xa7Q7AsqJ11zCNFeA7mhh3aCCDt4xE8r1q1afOUb_5Ze6pyah74KRgHI5XXErad01PYLSGldXc969WP_ynA7YwkZ8R3nMdMl186t2szLmYY31DNb22BtxtapFpEO5bFY7GeCmm28i4zWrPYdbkyID5vO4XQ-7IQoCO58D9gavDjmJKTfQTBfcQNyoPvqREkhJe6_X-zbiGPRiIAWdgDUaCFn5_H18lfBXWKoQbfirpFJkxJIZSbTCeLVc8Wm4dYLuKZJ5Qwr7x-lOs_MwvHZnMmDCKv5F8GxndWynCKf1vz5w1YadLcwd2RgF1fOkiOqtkfAD2vGQEjT1MPkoqKFcn1SIsbpDI2cOPDD1JaPfbxO4j6JxsVUCXqD4J8JTw2975f-ASJoo8Z1O7AbgGucTYZuFaLnWmMHvgBmkEwDVKZ8dxSWrKDIjCuo1np-NubYK69MWIcF8qDn4njLIbjhhbCYl1BFnIikhZQ=",
  "id": "rs_07a246c207bf8d39016ab45ecfba1887d08c5ad7967ddd20cb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0.002,\"left_z\":0.2,\"left_gripper\":1,\"right_x\":0.47,\"right_y\":0.255,\"right_z\":0.14,\"right_gripper\":1},\"note\":\"The left bottle did not lift, so I’m parking that arm and changing approach. The rightmost bottle is straighter; I’ll approach its upper body with the right hand and use the wrist view to align carefully.\"}",
  "call_id": "call_W1BCHlFwC1Yh8aXftUkeBwak",
  "id": "fc_07a246c207bf8d39016ab45ed91a1087d081dcf1c54cbf6ba2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_W1BCHlFwC1Yh8aXftUkeBwak",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0711, 0.8127, 0.6945, -0.4404, -0.1322, -0.1078, 0.998, 0.6506, 1.9099, 1.3151, -0.1303, 0.4774, 0.3218, 0.9999]\nstate[eef_state]: left_x=0.2981 left_y=0.0057 left_z=0.2046 left_yaw=0.0838 left_pitch=0.0091 left_roll=-0.0092 left_gripper=0.998 right_x=0.4563 right_y=0.2498 right_z=0.123 right_yaw=0.0556 right_pitch=-0.0579 right_roll=-0.0396 right_gripper=0.9999\nstate[joint_eff]: [0.1709, -1.8393, 5.8051, 1.7314, 0.1294, 0.1245, -0.1734, -0.0342, -10.0991, 8.9504, 1.79, 0.5153, 0.2711, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:773ac11661a212c71365165befbb80ee72962ecdb310bc57a2f399676b2909bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a897fc92bfddf4b2d73092791adc16599e4076ef8ed98df151a0237d08970a85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:463512df4f22aa20f590414a24edef04225e9701529ae1e8d32ebd62d8f955b0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 62 changed as sent

message 70 changed as sent

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7246, 1.8477, 0.5106, 0.8223, -0.6956, -0.5011, 0.8458, -0.0341, 0.614, 0.3805, -0.366, -0.0303, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.3668 left_y=-0.1687 left_z=0.0404 left_yaw=0.1083 left_pitch=0.1707 left_roll=-0.129 left_gripper=0.8458 right_x=0.2604 right_y=0.0001 right_z=0.1268 right_yaw=-0.0066 right_pitch=-0.0272 right_roll=-0.011 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -1.8667, 0.8957, -0.5641, 0.4811, 0.0171, -0.0513, -0.4991, -0.7179, 6.9675, 1.9267, -0.1685, -0.0122, -0.0073]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.6743, 1.2797, 0.8967, -0.3157, -0.5816, -0.4629, 0.4503, -0.0055, 0.7757, 0.6323, -0.4759, -0.0219, -0.049, 0.9999]\nstate[eef_state]: left_x=0.3446 left_y=-0.1466 left_z=0.1891 left_yaw=0.0373 left_pitch=-0.0051 left_roll=-0.0134 left_gripper=0.4503 right_x=0.2836 right_y=0.0059 right_z=0.1782 right_yaw=0.0141 right_pitch=-0.0472 right_roll=-0.0141 right_gripper=0.9999\nstate[joint_eff]: [0.1026, -6.0103, 9.8803, 1.6777, -0.0708, 0.398, 0.022, 0.3897, -0.9915, 9.7162, 1.8584, 0.1148, 0.2418, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0711, 0.8127, 0.6945, -0.4404, -0.1322, -0.1078, 0.998, 0.6506, 1.9099, 1.3151, -0.1303, 0.4774, 0.3218, 0.9999]\nstate[eef_state]: left_x=0.2981 left_y=0.0057 left_z=0.2046 left_yaw=0.0838 left_pitch=0.0091 left_roll=-0.0092 left_gripper=0.998 right_x=0.4563 right_y=0.2498 right_z=0.123 right_yaw=0.0556 right_pitch=-0.0579 right_roll=-0.0396 right_gripper=0.9999\nstate[joint_eff]: [0.1709, -1.8393, 5.8051, 1.7314, 0.1294, 0.1245, -0.1734, -0.0342, -10.0991, 8.9504, 1.79, 0.5153, 0.2711, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:773ac11661a212c71365165befbb80ee72962ecdb310bc57a2f399676b2909bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a897fc92bfddf4b2d73092791adc16599e4076ef8ed98df151a0237d08970a85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:463512df4f22aa20f590414a24edef04225e9701529ae1e8d32ebd62d8f955b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF7gjDqd9Gu3qiUBFxS0-8YxB9iPy6oyKJNcKP5zQ0bvuk92svTdDDJyx8BkrnUS6_1HT48r3oH6m6HrR4rqEl2SzScltc4mQ-jiMf-ZWeFLXqiKwaXvhTP57n9HpnpYpuBUd7T2OB-1ThVispdLJPhNbNe1TLttt_KVk6s5Mfuca91T00BPnft2SM2_BJ34qG9ij2I31DUVk8gxpPCOiXBryziEx49d3LtWKmqfQlcpsgVdMmxSfZu3cXb8qmbSXBN0x4LBBw8A1EXFCmOpbfbJyOliBqGEEoN5qkflr4yOOCMIx9PVEl80Wcg75cLOE_OKA40HVQvX_2i737tGjjpGq5BwBAE_o4_YsoYZ6mDly49bK3BEDlEC3e9BZqKwwkYELl4HygiuVpDGLqYCMjEjGBUg9vttFuMS16nbcPlhtLBcMoS37oGUv7GyFN8zWmN9YofFE8mi29NkESVGcInA-2h1r1mR-YEbf3I9tgRL2p3VkHOqSjnhT16PY8Yvm040avE0IeX_wDfDj8IYNqnBviMy36aysRLRVfSrsQevaGuB41vvdovDbknVtax1hq28EgEs9qumgpvBr5NMROj5PMjJyTnzDcel28MRls5xnCdXpwiKA_6xaOSJ3Ns9XYcUaNakhyFzbdIt3KCADAnSMjXtmLyBJb13Dy2kx9M6exMDzqBzVNPJC70ctgP0ZlJJddi37lUHl6E0l8yNyygZVT-9DYhFQ7TgvAQ-_9hv23XeKK0Mrl_vOi5vvLMtpNUTJc86r6gzg8DpwWonKVEupuOELk8GCNFyb9B3nbcKR8dkIAU9QQHOWwLE-fhHnOllaScafTiCd1TrSyMOGG_S8R0a5YRjQrVTjjzdohqmJWN59_z-Djdz0f5rYORLOg5-KioY3aU00Unk9gL0JNcBtHh2F1lcoNFjM90tJyX1UOuKl8MgMEzsNEV2Qecb6lJmAfIA_Fk6NiUK-MsIlpTGmKmhU7-tMB_ZrcFBts8knx0SYPo4yDXbfc_kIUnDA6SsAuT7XGSMTdfYDpV7j_jjocNsNaXMc-cdsZEkzCItR6wnEY3I9Ea-rxOPUc55DQl3reVy74NoFafbjcfVwDNNEg_Is3EY7yj4q7-c91fFemxoqRS5DkNBENjq-UyICKEQeJd7FrXrarBm2TNLZScAfnGSzvX62CZXWSe9PcUOJr5owpmUUbP2YKgdgQon5UaSB2_tDX-WM0aRDx0dZQMBX1bDM373UQvo4V-50YdAwlgfQjgrOAh9u8hRhyBFTeAdjm_WSYr73DdmXXGjYAdhYVC_Y5ytCObqx04y0BDf5GfDITJvRO9uiO0Vm3eqZqd_2xOYeENRwX-OWXi6liiy98JAYjqLGNh24SIGnW6-u3TDh7EhlSjQb1xpmQuIK3P7L7VsffVtKUSjGkzduwZEA-03g0IMTImyklYuxcJgj38=",
  "id": "rs_07a246c207bf8d39016ab45ede973c87d0bd200fb2f5962ed6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.495,\"right_y\":0.215,\"right_z\":0.055,\"right_gripper\":0.9},\"note\":\"The rightmost bottle is to the right of the jaw centerline in the wrist view. I’m shifting right and lowering toward its shoulder, keeping the jaws open.\"}",
  "call_id": "call_Vd6euKTvUgTc6r3my04NHeDg",
  "id": "fc_07a246c207bf8d39016ab45ee05fb087d09671f7af518f6c9a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Vd6euKTvUgTc6r3my04NHeDg",
  "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]: [-0.075, 0.8246, 0.6838, -0.4538, -0.1326, -0.1047, 0.9977, 0.5293, 2.0422, 1.1717, 0.1635, 0.4095, 0.2485, 0.9012]\nstate[eef_state]: left_x=0.2962 left_y=0.0048 left_z=0.1937 left_yaw=0.0787 left_pitch=-0.0263 left_roll=-0.0009 left_gripper=0.9977 right_x=0.4828 right_y=0.2051 right_z=0.0479 right_yaw=0.0282 right_pitch=-0.0666 right_roll=-0.0512 right_gripper=0.9012\nstate[joint_eff]: [-0.1162, -1.6205, 8.6496, 1.7167, -0.1587, -0.0415, -0.0464, -0.0889, -9.6752, 5.9556, 2.0391, -0.1636, 0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f91df4357152b781627a326f6aa846b7544e95f0f59000631435874ed20e0ee1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b8cd0e8284ed4a3dbfbaa5598cf5b12cbd245fe46d0d8a6f362ba76176d1d97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec2723c68f32444d8584448dc67cc0f5f01400cc7c09b49322d155df543ce29e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 66 changed as sent

message 75 changed as sent

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7136, 1.7485, 0.6796, 0.5709, -0.6918, -0.543, 0.4551, -0.0406, 0.5995, 0.3576, -0.3599, -0.0307, -0.0502, 0.9998]\nstate[eef_state]: left_x=0.3924 left_y=-0.1859 left_z=0.0876 left_yaw=0.1409 left_pitch=0.1773 left_roll=-0.1824 left_gripper=0.4551 right_x=0.2579 right_y=-0.0015 right_z=0.1211 right_yaw=-0.013 right_pitch=-0.0295 right_roll=-0.0104 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.0359, 4.5333, 1.5018, -0.0855, 0.0073, 0.0513, -0.6222, -0.3487, 6.8171, 1.9463, -0.1929, 0.0171, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0711, 0.8127, 0.6945, -0.4404, -0.1322, -0.1078, 0.998, 0.6506, 1.9099, 1.3151, -0.1303, 0.4774, 0.3218, 0.9999]\nstate[eef_state]: left_x=0.2981 left_y=0.0057 left_z=0.2046 left_yaw=0.0838 left_pitch=0.0091 left_roll=-0.0092 left_gripper=0.998 right_x=0.4563 right_y=0.2498 right_z=0.123 right_yaw=0.0556 right_pitch=-0.0579 right_roll=-0.0396 right_gripper=0.9999\nstate[joint_eff]: [0.1709, -1.8393, 5.8051, 1.7314, 0.1294, 0.1245, -0.1734, -0.0342, -10.0991, 8.9504, 1.79, 0.5153, 0.2711, -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]: [-0.075, 0.8246, 0.6838, -0.4538, -0.1326, -0.1047, 0.9977, 0.5293, 2.0422, 1.1717, 0.1635, 0.4095, 0.2485, 0.9012]\nstate[eef_state]: left_x=0.2962 left_y=0.0048 left_z=0.1937 left_yaw=0.0787 left_pitch=-0.0263 left_roll=-0.0009 left_gripper=0.9977 right_x=0.4828 right_y=0.2051 right_z=0.0479 right_yaw=0.0282 right_pitch=-0.0666 right_roll=-0.0512 right_gripper=0.9012\nstate[joint_eff]: [-0.1162, -1.6205, 8.6496, 1.7167, -0.1587, -0.0415, -0.0464, -0.0889, -9.6752, 5.9556, 2.0391, -0.1636, 0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f91df4357152b781627a326f6aa846b7544e95f0f59000631435874ed20e0ee1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b8cd0e8284ed4a3dbfbaa5598cf5b12cbd245fe46d0d8a6f362ba76176d1d97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec2723c68f32444d8584448dc67cc0f5f01400cc7c09b49322d155df543ce29e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF7o6_neUEtnytdC1AM31LMrWqcnqk6kJujnUWkgEticmWWrTmTQvff3k7FpA2XW9UXq5HIyXy6Om_6MqnguWfBBjn_mQhf4DT1_DhYEyJVleP4FxUDQxzC_F0uu6GOqEGtLJwzSAF0EpKr4FBzAU6367viU7JC-XbVW-h5SIHwEeeweU7e3gc8PpXOmf_EqEzTbw6piknAtLp6MG5D1a8q3wYa56yLqe6yUwYAGSp_V3lzNUew-sUSwZQXPEbQMtd_qM59JW-WdrTlYpKencIyILtbYPY3AlrveLhs_6h_eK7fuVzyYNhgFqqYsiW7isd5YE8XPD_pVFjvB1FuuLS8bzoZkQiD3THtqef7VFBL9ck6ahcPzz6KufS3WBkW-x8KRYcnafdvEo-M692UC2sOd7EjOQaqmUljc_bo03pcLiUup6SkAK8Qzj8rHlVEMbxF72WDURdP7m-USbshFdOq9LnlLyHaHeeeA5Tu0D0-TUwmSz4b34MAnDmWQTgoUCsCnsEfyONDORVv2VuoWGBfKwosYRyYdc9ILhC3rLK5-JhpGyU-PLjBWd6jsXgII6_4Rn89ncgFXe3QC0MQDRHOegCYquRmXzUajYuyvw2tYzzf2z23w-v18bN33qyOKPx3qlS4sZNqADHqJTIAEsHZV5yXDCNQKIGwmfphoBQzCdI9w0SYtLWu19iBc5MvArOthpaN9K7tv5Gx--CI2f3-QoLEOVz3vsefbr4YQJ1Z1aVlT2z7wsyCtU9HDMJInpIcO68szL54y4WxzaLGFOKXPXeJ9JZLKo90_TNVMcasE39UyL9hRAr5llz6fRNqacW7qV7Ph64bRsu0pHpdC1X6BsVK78fUekjCmE9xbx8s7HlnqL6f8JfE_zs_KPVDhnG8X7ME9PddJAkwsBm9KLWBrXBTm1SnC_PIms_LC7LNYPeo11cN6Yg21oQ3r62_jCxDcmVlxifCtXQTEJ5lKFGBiHrwNtKq5SLTDumRfeBW-SvgCR7708SKQfudj0luO-n6iUNnPN3ZDK_vjuTGA0a3_6feKMRUBUAdppXFKxY8KkBSTaXg5KrSDx5r7sVKQF4LpCfS6fgiv50tNs2YQy6jta-jBMBhFMn2X5iN1q_4PWBSQagyUWWDBnECRGRI2kwo7OviZIVKooBb0ICgB1drQV15_BJ4QiSyWRE2TZ9RPrhyyNvC9DNRrR8Ir5jUKwWQAF3a7tFR3xI9UxeFF_LReayFK0iFhBK4Ogd8dLiiS8-AoCVNqt_-izwQ0LUML69VHPdfPUaC20jhLESkOIPl6B_GJ9__Z5VpENEM0eG6H2Y6XiLPUXQPgbBFzPP7G1q9DKPpKjDgzLSUQGM14Jyh1nuO9eVKjhGHG6ALzRCJBBcVPfpZ-rjEyHAYOAy9AKr8FbNXarB9kfQgyk1xUR4UpvIkwZlOafQVGJA6FIqLcBmQj6IqHmNyqU4k6Wao0BTF3YLPbJvnDU3lzNfet2-wBTyDizTEli5DADb8f4p6lPUSjW9CKczuC-9NZ_hs8G9nLoETfmGi48tbd7YHabViyjWnQ5RbCvfYQX5u0l5jyQP3N_4yvrjakncSKzA4KYHEftYQx9ohE8oF23s69b14chqW2UkPMbXsV-ojcM8eEte0kpxjl7YZe24gbbcPvmVIm2G9OK6PktyU0jIDRHYWciX5iqPj65SJTp1ULcGPpl-_vmbAAZyobg4M2goCQD-785ZW8v9WMR90nBSR3YTwYfomggaHUisxMzDMjkPRJJrVmLZ3hM9aeemjQbHhOii7y-7kQRRKm5-aJXSl5lKgm9hU4LYmQIzCxYHTjzDqieb6byZit_ixC6-HL6Iathco1GrV-ehgghoH2iOAgKuYoW6hLtXz1nHFOS1eru99TNKZbOFXB4IAhLucgs7AdWk9GWZQNuD1ivOCWJvF55m1QWiaYOjEnOsA_E7Xew6kHBpn04aQbvRwNpApc_-lCPMBwVA-iwK8xH-C9N3RNothLpKSR05vFkhLRBoD_p7O70hbg761dWo8AfjXBicesckSdTZowcdK_mgMtbwzbsTox2Go6Uc7Oc4j6eeaEdbTiZvzASJcqiZLLrROtNuiKkKQftiH5wtShqQTeK4A_YxKVEC3ptHsMWKdXAWbq2klTJM32z92iW-VmOyD2dPQUlfdr5-6PaoawOndQPPn7n7FDx9tKzc1Hu99-XKWUH71X1mC-ZXkQrpoJIerinna1dH3-9ebtTFV4tRmey92T17DLpQp7qDMRdhmxb-7gmdg5GG-jucTibiVvx8lxtgDuEMoOC8pZ9bqc98k-lknt4jEDd-nMOLOtJOxeAcX4iURNWnc=",
  "id": "rs_07a246c207bf8d39016ab45ee31aa887d0a8a4561bf66705da",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.225,\"right_z\":-0.01,\"right_gripper\":0.9},\"note\":\"The bottle is still slightly left of the jaw centerline, and its neck is beyond a comfortable low reach. I’m lowering around the body first so I can draw it inward before attempting to stand it.\"}",
  "call_id": "call_tvgUK1tT8zEsiqKUPPSHL0LN",
  "id": "fc_07a246c207bf8d39016ab45ee700ac87d08e7f5f64005c2312",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tvgUK1tT8zEsiqKUPPSHL0LN",
  "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]: [-0.0753, 0.8127, 0.6601, -0.4427, -0.1387, -0.1047, 0.9977, 0.5591, 2.1456, 1.1339, 0.4747, 0.4416, 0.2417, 0.9007]\nstate[eef_state]: left_x=0.2941 left_y=0.0059 left_z=0.1885 left_yaw=0.0835 left_pitch=-0.0265 left_roll=0.0026 left_gripper=0.9977 right_x=0.4976 right_y=0.2265 right_z=0.0403 right_yaw=0.0348 right_pitch=0.0909 right_roll=0.0101 right_gripper=0.9007\nstate[joint_eff]: [-0.4444, -1.7573, 6.8444, 1.8828, -0.0659, -0.022, -0.0171, 0.335, -5.2718, 4.7385, 0.7302, -0.2662, 0.359, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:081ec2152d0f1051e9be112a099520c19ea802fcbae92c23947250f62ea43fcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a5e65265e63eae9e4e4d0e5f732e7860963e06b5d51869e4b40749ef095c559",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50f40df47c40cd8ab2f77ba89886b7552cc4d0a040d18e2e96426d2f975edc38",
      "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 79 changed as sent

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6743, 1.2797, 0.8967, -0.3157, -0.5816, -0.4629, 0.4503, -0.0055, 0.7757, 0.6323, -0.4759, -0.0219, -0.049, 0.9999]\nstate[eef_state]: left_x=0.3446 left_y=-0.1466 left_z=0.1891 left_yaw=0.0373 left_pitch=-0.0051 left_roll=-0.0134 left_gripper=0.4503 right_x=0.2836 right_y=0.0059 right_z=0.1782 right_yaw=0.0141 right_pitch=-0.0472 right_roll=-0.0141 right_gripper=0.9999\nstate[joint_eff]: [0.1026, -6.0103, 9.8803, 1.6777, -0.0708, 0.398, 0.022, 0.3897, -0.9915, 9.7162, 1.8584, 0.1148, 0.2418, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.075, 0.8246, 0.6838, -0.4538, -0.1326, -0.1047, 0.9977, 0.5293, 2.0422, 1.1717, 0.1635, 0.4095, 0.2485, 0.9012]\nstate[eef_state]: left_x=0.2962 left_y=0.0048 left_z=0.1937 left_yaw=0.0787 left_pitch=-0.0263 left_roll=-0.0009 left_gripper=0.9977 right_x=0.4828 right_y=0.2051 right_z=0.0479 right_yaw=0.0282 right_pitch=-0.0666 right_roll=-0.0512 right_gripper=0.9012\nstate[joint_eff]: [-0.1162, -1.6205, 8.6496, 1.7167, -0.1587, -0.0415, -0.0464, -0.0889, -9.6752, 5.9556, 2.0391, -0.1636, 0.0855, -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]: [-0.0753, 0.8127, 0.6601, -0.4427, -0.1387, -0.1047, 0.9977, 0.5591, 2.1456, 1.1339, 0.4747, 0.4416, 0.2417, 0.9007]\nstate[eef_state]: left_x=0.2941 left_y=0.0059 left_z=0.1885 left_yaw=0.0835 left_pitch=-0.0265 left_roll=0.0026 left_gripper=0.9977 right_x=0.4976 right_y=0.2265 right_z=0.0403 right_yaw=0.0348 right_pitch=0.0909 right_roll=0.0101 right_gripper=0.9007\nstate[joint_eff]: [-0.4444, -1.7573, 6.8444, 1.8828, -0.0659, -0.022, -0.0171, 0.335, -5.2718, 4.7385, 0.7302, -0.2662, 0.359, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:081ec2152d0f1051e9be112a099520c19ea802fcbae92c23947250f62ea43fcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a5e65265e63eae9e4e4d0e5f732e7860963e06b5d51869e4b40749ef095c559",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50f40df47c40cd8ab2f77ba89886b7552cc4d0a040d18e2e96426d2f975edc38",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF7uz4qvf7-9KZsbwWXCNeAk3FFgMwSYKXvnwto4uSx2lgc6ql1umpXGPgD3aPOBKtxfIZVe-1K4Rc3yMZDvrKSqtN1c0e_c6wuuePBdN6pXJD7qYb0Vaq2Tv3cERSzYhRVAtA4VI5s6V5aEZMbAm-3EoXIMDQbco4efIoQlRx1kVD7uLIHt1kpSPbTqWzGF90-ugUs7fG0tKidlxyuI7VfCkVmms1QPjVajUR5xiUfb1QMXI6ssP1JlBJw0hFd-OJDZ_SxpJR-tijsBIJHvPZgahXfP_6M8-5BErVwzsokat_s7Q5nYM3vXHHZ8EHqSzg_QKMPrbUgwllS-e3FvVSZ4eywwERPX5AhTB0Oa2a3h6deKT0qZiWg2t-lgQ0K_4c0YrEKLVn0Vw9c949QiDOrD2AELJHo5eUcj4y2u3lOSQNDClN48FscILIyXzn-l_EqSY3jFxfapk-_DYSKv9e5KFOuqXEC1Fk4vtwNNKmgDhyEzc5ZNMVXSLUCFDhX1SjGAT1UuQRmuU1gzJguWs3U7r82nApldXpj7w6p0pZOqS5EFZyOTPUJufZbaNPU8gYFp12AplYdkOzcnC7RhnJxAb5IiGtrxrdLEEmXSRx-jBZCzbcjlB8HmIvH7H3CPlSOamAOlcjvSjlgeG7IojjrxUJMcmDmGC2_GkhB0hBo-uqrP0atXF8AgGtgYyVvPI5Q8DPhvU4tzkaMmQAaol6Guu3THAnVad0i_3IDtvc6oSa6xCFA4kMB6fuZevdlxXjToIepzZrMy0J1ZjqoU-7WhiRnzKRxP5838hRa7dya7jCvrbTft0x1ABvDdivxc-pl2rGI4_DGOSX7tA_GaVxQBftHk6RomWy0Vzf63rih_z8PAwevvqiMT_IXGgCo_wXVvVeTybOj9MPIkejdEqHguf1TXT-td_SGbFl5wr3_tKNuNg7pEgaq4YT2HLhzZK3mqRyCeQCXmxxnZwjy4JRq0KbVWBanSSLLfLGzLvGisK9jGGoZWwobfu2N_Zto3dZFjNXVR_ECRjlK43IEmbojTQxgY4K0lPVtWwlHf7T9jqzLqJqOiZRKqL-LGTSHEbH1bB-EAfXf2mTSNqEp31ZPv3iM1LUfr0908BoaqIn8iyLCkY2tkQ7vkV4fU3jKm_nnHZAKpf3yXAgBUPcxn31KSb1M0XcvXX2V7uMJdbgXL79RZhtF2cq2wJSS5i9jP2wGukwAtB1psB50RnRF1SVaDYHB_Gu0b5_3KI-ExwQemENQeM3WtMyApgl_wxU7Pa4Y5o7VmjNuUnDYnQTDI_P2L4FQpcJYgAD3d8ISCWvV8PBHWQD0mFP4l5jjxGLOTi029yC5rIcC1XnWT8PTaRYhhUOVm1nFUWePVBGYb372s69b3TFiPReSWHX2BOfG7WY9nShrPGr0N9vVFS30OCdlhYhHHMRjiystXWL_H0oi5YTVZ9olIy0uFN1YQpdfh4z5LbV0UF1ZwonOIeDyg4Fb0-msUF0lc1mAmYhrKjBRcYmWmEOuVqpklFLSaJ7HhKPdrtkvYnYkeFe2JLM5NAqMp1g8qEl3QMlUN806yD05Ie9hiP2Q_PrXtNH3csM4hpSY104oQJcRLrjwJcMo_vBja6j_Jff6pFNUzztU4Hva7DM5chygJHWaXgtIdEzEqulu9sJ8reBTbMtNsvlNWvSeUPNx9gY9KOMecbAbS91RYrBVRbovmje81FZdasKHf9YtDpN4rnGKcbUisqfgQ41ThPrAo6zDB4R5I-GGLuPgJ6-XdCothHlNy-ueK2sjEaNG9dnDGrpnkIPV2t_w3K-617iLTLV5e69H7_z_Cv0A4v1gk7ewq3-XH0dxnmckMAJrAiL0t_XcCfgdQzD2dDhBsQxIqF9Y_xmiaS1Wr8ly3gWJ8PfisZHQKpVSB75-SyMq8duYDgmvswd1pnOA41rlRgRRYui6Biwq9AlIMx_GYRPIb7L5k5eo_5s4uQxB1YChYvcJGXPr2j8UVgpjwOxsVOUSxv7hk2d8q54PEXq3jyDS2vuUk_VLtVmpT1cfwYT7ARl2zIL6EJ_SyRqpWipb4KKCtfO09IRuTGWQMIGKaOP5s5dKenPU_tG9SnPo7_Zm4rWBXvezUFTmjsGJVvlDcCdS9aU3lQFIJGjoUbUG_srHP9nMjNjB_Qp0aRLMXxUdL1o8I-rAcCnYfpEvq4qgu2LBxItZXVpDFthHYvjVIA5Y=",
  "id": "rs_07a246c207bf8d39016ab45eea7b1087d0ae5955bd744dde75",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.225,\"right_z\":0.025,\"right_gripper\":0.35},\"note\":\"The fingers are down beside the centered bottle body, with contact limiting further descent. I’ll close to a moderate opening while maintaining this low position.\"}",
  "call_id": "call_7oqWcZJEDwLvVZlnuH1lUtHV",
  "id": "fc_07a246c207bf8d39016ab45eed4c7087d09b9e3c837d9b95a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7oqWcZJEDwLvVZlnuH1lUtHV",
  "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]: [-0.0753, 0.8036, 0.6373, -0.4244, -0.139, -0.1051, 0.9977, 0.5636, 2.1223, 1.1641, 0.4263, 0.4332, 0.2607, 0.3565]\nstate[eef_state]: left_x=0.2932 left_y=0.006 left_z=0.1843 left_yaw=0.084 left_pitch=-0.0219 left_roll=0.0018 left_gripper=0.9977 right_x=0.5001 right_y=0.2326 right_z=0.0542 right_yaw=0.0356 right_pitch=0.0925 right_roll=0.0333 right_gripper=0.3565\nstate[joint_eff]: [-0.1573, -2.0991, 6.7487, 1.8632, -0.0952, -0.0073, -0.0171, -0.0752, -10.0718, 3.7675, 1.0134, -0.0024, 0.1148, 0.3346]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c2d5f149f48d2e0f6e73718d4a234d991fe62d489843f98a675aca25aabad2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb641ff273f10d1be11c781c7a405636efbd2c6ebc923941a6cf727f7bbf3192",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5bed39bf902e2c60984f272e88ab7a3e41ec9533a3cabdcbed53bad15e86385",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0711, 0.8127, 0.6945, -0.4404, -0.1322, -0.1078, 0.998, 0.6506, 1.9099, 1.3151, -0.1303, 0.4774, 0.3218, 0.9999]\nstate[eef_state]: left_x=0.2981 left_y=0.0057 left_z=0.2046 left_yaw=0.0838 left_pitch=0.0091 left_roll=-0.0092 left_gripper=0.998 right_x=0.4563 right_y=0.2498 right_z=0.123 right_yaw=0.0556 right_pitch=-0.0579 right_roll=-0.0396 right_gripper=0.9999\nstate[joint_eff]: [0.1709, -1.8393, 5.8051, 1.7314, 0.1294, 0.1245, -0.1734, -0.0342, -10.0991, 8.9504, 1.79, 0.5153, 0.2711, -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]: [-0.0753, 0.8127, 0.6601, -0.4427, -0.1387, -0.1047, 0.9977, 0.5591, 2.1456, 1.1339, 0.4747, 0.4416, 0.2417, 0.9007]\nstate[eef_state]: left_x=0.2941 left_y=0.0059 left_z=0.1885 left_yaw=0.0835 left_pitch=-0.0265 left_roll=0.0026 left_gripper=0.9977 right_x=0.4976 right_y=0.2265 right_z=0.0403 right_yaw=0.0348 right_pitch=0.0909 right_roll=0.0101 right_gripper=0.9007\nstate[joint_eff]: [-0.4444, -1.7573, 6.8444, 1.8828, -0.0659, -0.022, -0.0171, 0.335, -5.2718, 4.7385, 0.7302, -0.2662, 0.359, 0.0611]",
      "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]: [-0.0753, 0.8036, 0.6373, -0.4244, -0.139, -0.1051, 0.9977, 0.5636, 2.1223, 1.1641, 0.4263, 0.4332, 0.2607, 0.3565]\nstate[eef_state]: left_x=0.2932 left_y=0.006 left_z=0.1843 left_yaw=0.084 left_pitch=-0.0219 left_roll=0.0018 left_gripper=0.9977 right_x=0.5001 right_y=0.2326 right_z=0.0542 right_yaw=0.0356 right_pitch=0.0925 right_roll=0.0333 right_gripper=0.3565\nstate[joint_eff]: [-0.1573, -2.0991, 6.7487, 1.8632, -0.0952, -0.0073, -0.0171, -0.0752, -10.0718, 3.7675, 1.0134, -0.0024, 0.1148, 0.3346]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c2d5f149f48d2e0f6e73718d4a234d991fe62d489843f98a675aca25aabad2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb641ff273f10d1be11c781c7a405636efbd2c6ebc923941a6cf727f7bbf3192",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5bed39bf902e2c60984f272e88ab7a3e41ec9533a3cabdcbed53bad15e86385",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF70-hmKUafToZrUgeNNFB8E-u6aZtuA18DRPwG8vd72e57rAKgBNpKxacTno-TuJ6MxQGR3B-F-y2lPsf1891M31yCWqxmB73m98ZgsH6ivG4MUFd2nzmMUwtW5rRwaCQjYOXGhiD8Ct0ZzrHzxSQL3v02RX7eXckp4b4MAuofWoQtW3yr6KaZ3AoADEIHqGqwieFJ6FOID9Ti0iTx0Sn9Z-P5xybo8qkryQiqfdTPipcmaK4g9YzNMgOFJIVSP6OoxcFut5133cSFuSIhB1Kf7ZxM2Uwkryu7UY4-DQuX6auR4Fh86CQcUDbIvYCeW0YGRBoyfxP5JfckP0InZpXYuZKSAQbDUEp851VVdE2hhxi-wME5HBUrlQUSViaGH_cE1MEHk_K4E1lPEnu8TS9K46l6g3F7BtVbHOf-zIlSlULWWstIH3GATKNxuCx-xJhEUiypWIglDa3RjbHNhYXtPg6lYYQwZ3Yb2sD1MjTNn5Y9yqxjjooy9lWzzVNFpKZlUW00gV0dPKncKhimpQPo67HaUMCZXx1cJgNlj9uWeXLeWkAsBxmbIaBLCzyq51_MDMVrsYYYKuPelexzpaNHPFEcmKq8FE6T5Kms_NI8aSScdbtTovxqPw7AtnZDfsfFLk_nk-72bM0FRBjwmyertmrFAB8HdeWu3ShhQ4a_jyd2kZadkheyz-X5gS54otItwOTgxeS-WEUGsTahFzUaXdbD7w8MFif85EyOZMVtjZiV0OOnV-WeS3gfmD69PGEu20_T2O6x7qxH0RkwUxX4moB-eKS_n_pLBkvZ8WaXhIzaA33M9uC9Fj0G4fVqKMPMHfjAqFflOyREIaWANtUkFFswHBBk8iGPeekz-fyRMM79vtOVs-aGCoyG4bWpzzVwzLf6XAWgTb4Rw1agbLcOv26pZY_0I4PxRfDYJndqSMne83g0qJE3ke8bgXWPtGVqzr1Te_jghn_mx1wiy0RkW4AltmUEIO4LyhO8vdl9QnIy5v0a4Tj7KSFT1AFXDDzCSvKeX-OJv2OlgRuyhaJKS1pD32L1nE75t6kt5ntNPBRFQJ95_aSgb_Q8p3oin7KlAzTAnx4bZBgAleES-uLz_jxZ8vD_IIMiuUv7iEOpyUqgeETaZHscZXRdZQB3CRc1a1_kvwemfH7jF4myh52iCyrxtuarx-648vZGXPW3Pumqob4kncFTCwOafEATsGExiBYCd3q2Ip0Z1zUSn9fusNj0vtC4ysL4PEKuiiIgpN_jwjO6RrjgERkPjJYALQm8PIOWSc7SQnnQWJ2z8CuatOa5-_zTzlvlscLISp3fR0NEamICufRf9LTy8sHWRpA7aMxkTUtV0lonViTYS3U3VPtQRjUvZF4qSKAuQ0j761fwMObuY2JE1jd-9xSgycSDYxEi8aeDRc2CJDRjV4_fhB6Q4c7BQ3jGlmRHSNSxRluLCfH26vWG7q82JqzSy1LUOqne_sOqEWaqq6D-Zy0tPj0qsk85zJUcpVqbGh56948rGSD4A3nnDav2Y63erqGZ_f-iiVznyXtrip98yXl9xfLBO_nd3gQiG2H557No2oIzvxsYLUHFZdY38ziTB2LePMTrT-AoCLEhw2GVGe-bgrfW6G6wqFGdexjPj_efGE_rggf-XHAnrBSB-4ML_LlaxYBT8hMJyeP-Jc48Qcx_wTa5gVy-5EaSMBtb0GfwbjxoyLZ9zOhLe5qK2KYqvlaKI1sJx3a5ZWWbYsj93j0RjtTacNzL5EWAdSGJGhx72Ec0Eyphh5yQy8Gnhks_KKZce1Mv3gH9aFKCqwCwaAA0oZkgOW8Z-APdvCY7b0bjEFo5Ed9GqzdauZ7rsdtSL3m8WSR5GMsB6uTHJLHF0-Fq8uA==",
  "id": "rs_07a246c207bf8d39016ab45ef0977487d0b28ae516c3c98bb3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.225,\"right_z\":0.13,\"right_gripper\":0.35},\"note\":\"The jaws appear to contact the bottle’s labeled body. I’m making a short upward and inward test move to see whether the bottle follows before transporting it farther.\"}",
  "call_id": "call_AU7iGsCJHMKN8yyle8f1u5Vp",
  "id": "fc_07a246c207bf8d39016ab45ef3001c87d0b6a448150c0dd30b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AU7iGsCJHMKN8yyle8f1u5Vp",
  "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]: [-0.0753, 0.7956, 0.6193, -0.4168, -0.139, -0.1051, 0.9977, 0.6254, 1.8305, 1.1461, 0.0769, 0.45, 0.2981, 0.3514]\nstate[eef_state]: left_x=0.2916 left_y=0.0061 left_z=0.1799 left_yaw=0.084 left_pitch=-0.0242 left_roll=0.0022 left_gripper=0.9977 right_x=0.4513 right_y=0.2356 right_z=0.1281 right_yaw=0.0659 right_pitch=0.0315 right_roll=0.019 right_gripper=0.3514\nstate[joint_eff]: [-0.1983, -1.306, 6.6667, 1.9414, -0.1392, -0.0366, -0.0171, 0.1026, -10.2222, 6.1197, 1.5702, 0.4371, 0.1587, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4911423a1ff7a2b2c462f97bbf2a6930baa961238696b44d60df106f6b8230d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68a2d57186eca09df08db9e31c724b5934c1ed49c76389c1a6761a0290692b25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:355fba7a70412151a9ce62588c7d624843367a76da6582e66d431c4d27163ed4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.075, 0.8246, 0.6838, -0.4538, -0.1326, -0.1047, 0.9977, 0.5293, 2.0422, 1.1717, 0.1635, 0.4095, 0.2485, 0.9012]\nstate[eef_state]: left_x=0.2962 left_y=0.0048 left_z=0.1937 left_yaw=0.0787 left_pitch=-0.0263 left_roll=-0.0009 left_gripper=0.9977 right_x=0.4828 right_y=0.2051 right_z=0.0479 right_yaw=0.0282 right_pitch=-0.0666 right_roll=-0.0512 right_gripper=0.9012\nstate[joint_eff]: [-0.1162, -1.6205, 8.6496, 1.7167, -0.1587, -0.0415, -0.0464, -0.0889, -9.6752, 5.9556, 2.0391, -0.1636, 0.0855, -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]: [-0.0753, 0.8036, 0.6373, -0.4244, -0.139, -0.1051, 0.9977, 0.5636, 2.1223, 1.1641, 0.4263, 0.4332, 0.2607, 0.3565]\nstate[eef_state]: left_x=0.2932 left_y=0.006 left_z=0.1843 left_yaw=0.084 left_pitch=-0.0219 left_roll=0.0018 left_gripper=0.9977 right_x=0.5001 right_y=0.2326 right_z=0.0542 right_yaw=0.0356 right_pitch=0.0925 right_roll=0.0333 right_gripper=0.3565\nstate[joint_eff]: [-0.1573, -2.0991, 6.7487, 1.8632, -0.0952, -0.0073, -0.0171, -0.0752, -10.0718, 3.7675, 1.0134, -0.0024, 0.1148, 0.3346]\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]: [-0.0753, 0.7956, 0.6193, -0.4168, -0.139, -0.1051, 0.9977, 0.6254, 1.8305, 1.1461, 0.0769, 0.45, 0.2981, 0.3514]\nstate[eef_state]: left_x=0.2916 left_y=0.0061 left_z=0.1799 left_yaw=0.084 left_pitch=-0.0242 left_roll=0.0022 left_gripper=0.9977 right_x=0.4513 right_y=0.2356 right_z=0.1281 right_yaw=0.0659 right_pitch=0.0315 right_roll=0.019 right_gripper=0.3514\nstate[joint_eff]: [-0.1983, -1.306, 6.6667, 1.9414, -0.1392, -0.0366, -0.0171, 0.1026, -10.2222, 6.1197, 1.5702, 0.4371, 0.1587, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4911423a1ff7a2b2c462f97bbf2a6930baa961238696b44d60df106f6b8230d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68a2d57186eca09df08db9e31c724b5934c1ed49c76389c1a6761a0290692b25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:355fba7a70412151a9ce62588c7d624843367a76da6582e66d431c4d27163ed4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF8BtsoorX6NY05aaVuL_-r3OAZWmNEUJg87SH9yCPNHFjncTn9UCfieL90GpKPVsxen_ri9xzBcyPLgHdYtIbN3Hx-8V-lxrdrDpU_3xsqYgPZ2kwl5vFKmTZMvtYTh77W5ncJGQWXnTM_RpJwWWyF21SGpKHmyt5EJuhdoY2WZ7nxJSLecTktGxPNm8AKhpVi3xwUe1S0oYWXnMgtKPvlo77K711qQwq-I5hTG8URYDhJSyvtfE4ZMz6zJbO7btboGUXQB3c-I_Lr8M6G2foPDCYwlLpquq6h3bCytRSDW3xSn9FJUx5p4edj5BUSYmiKdaJ0twbtiYR46xF5u8bdgoqHs6rWIos0FWEP6eZM9kpx1eR2BShFY4U_6ttPHVApqYqompiadCghi0jWsOA3SBMLN4jSryashVbWMW51eAtPU-VlcX3wzmgkDB4VniEYyYMMHzDarZsYj6l4ADQJ5qZhxY8DgcHRJxGwL-JEkV5Wb0ThoOwINABskkjC8nO_3kETsfslVGTXlJ3y3Hk7mGuP8O76-KSwX9OvBRLG3aGXrE2kJSuHKwUY6QoPgqnWd8CetWu97ppvBldJqI_5lqyNdgSVdiURXyjdd3qvZvGQLHAt4rW0_qo4g3SsiSuZJItvXSNzGFbY7Kt5H0jcEU75hz-3iVrj_JspHRn3fEOmG4ahanvla8YWCHRWErWFBxyVSQKJk4bhw6h2GV94mS18fc1gpfZu4mQJ00UPIB_aAEEB8opeGwdiDm6TYmzy_D9so9fFyMzPeJxuCSsf6GZH0x0TGvTqwBe-KpnTfys2xA1U2ZuseKYmK4W1Uk2Y4J749Fnh_gj0LJbODqx0V-chgforw1LaXDruo25rSpSUUF7u672DphQVCfr59DeN-cDXvhfYQ3e-UgrAAHHHS6sRzCjd9Vh9xNYozVEhn0jddE9gcwyMEMb1LunGeN1_lyAtRTMXG07T7BdlXHew_7N2PTVtlaOkTmppRtP6ks0FmPnfGXDfBM17ktm9YSfIjfr1hNcgtjoH7GSV38UN7_Jqrt3kahvUgn83AfODRi0PPnG-HtMFqADwgD7Oa3ZPsgemP1S_XIHk8uW7WNaKibj_9OmzbZJq7xibkJL-PH_Mr4lpClCrD_BKbSu2vmVSKUPmJq-PR9WhpLewrzrQoO0jSRLw5LZo05agZoOP_seLsZg6FrBd6yjAdmE7ighMQqfPWBQx7AoC6hTacRPSY72vWKe6T9XMp1PAHigZmSQ5Zm8jIHxJfIowlDtWGrWke4KgEyYbDuj3oIZewX8pnHrh9gJIJHpXsHNBvI4MHE865KIlwWV3RTTwSruzay9uyaKKpdumuSYHYOHl03pPnLmPlX3e-RXilp0rrm2vp9U1ol_zQJgaL165d-tKlWBNBikfJtDSCtYul_bhffL8m62TFGw8tjEO6Mhu0OmRtPgL9Dcclji9FVBYMe8rSaJaCBM7y4rwlWxeHcDuBHD-9tAEwRHvQRpDuG55PGbJUsYDAJoO4EsBDMrJxNzq9xOFxzT04xt-oyK8wXCSUK5Jw0W_qZ16a7UDpTkqSCI0UkH8KzCe0NftUlK-0w2eyzj1iIboYHdvNBCQkKdd6Spa1706gghv1ahrIg6STwVeHx4DKrmc3o2H07qoalc7MWMxrbAP14EZZhyl3qgIa75kQ962svvA9MAf1hh5Uw4hLkPgfr4-2ksuH_6fYAx8-jpUaQXOKxuoaFgdXRaKtiF-E_OKPn6ZK-kQktvdFkolMiSlXuzgfm97bqpLzsF5JsRG9kxC6_2P8TQfQ5HNvke_p1n_UTNzavG2NP-pzKuCX7d-dax3iyexKxJ_V_bHyHydQiykvZ0nnp0Mkt-256l5UDC4sn_igtox1_qOkfnBZ41hnJyQuglzQOaCo4qajnHcZaKx2bRlbzD4w9C3zjkliV8X_2Pgf2KCd-5Mt1Pts_f8L6s8mJZyrw74gPskoJU5wZ8FVpMsJGdqYADA5xkB0QKzQ76dKl-YjfIc8COYZm8r-LK8QdAEbDViTGKQf-3-1Lw7IUtIEXrcfFkGcJObyqHMDpY_VeSce6XgiHWjEldRZSuFS8XGfHoML4XSzN46PaMk7jSQuXe4EOMkDwQjPWYvikboIAGhf8ngxn891V0nHNqMMaCd8kRpWuIHE0-hSuCMUt5CKAb4aWvYQ2xxHkqFeEK2qYp5wsNSG7lsw8n8ZLjYfoQVMDcr6a8BMGFcW3RMa_zXoiJ-qqE8ezNeIskUa3lYQ5_JhmPx_jQ5xfJVCJmDP5a0hXSfHkhIx-LBNa70LHLAzmOERxyj3RO9Zde0vf0VLGdM-YZjkMXxvEo36x30K1uvPwRDUJpLmm7KIe7IFW7fSqnjH7skSzrCzPvtRxuZ6f5lIadIUT99hMTjwooApJ1vMiacYZeIITtDq79ZgNDOtBDme0qrw69U0zLykBB6rdbcfSB5PImeBQLVTRx-lisx1ZsQjhe1-gvD12Zv1xeEuJfBc81o_qUToz8fykiZTXdhat6DnlWaL-z28614uw5E3BDnkcNKG0eUDaxSS1ps2boM7jUl-Gzaui23Vnlgjzpr-37VmnbmRXxpHuH_2LRZz7-o5eEj4u7uKr7Ye0RW-BTeB25DaMD-zgaBW6mqvVJAtTKLOdpm727fq5rg5o0G5Aqc54m_w2G6OS8mbxY4kkL5WXFfiHwVw2eyhc4EfSFocgdIehV5G0QYfCKdxyHF8ZkdfnfFGPV2qUU3Og0pwfClVhbkXf0laQbNbtEe2LxU4ejZgDVwY_HbqRuAd_2w44WG8_oWxOndkRBEHKekVBcFt3w3wQxpv7ggg7DuIll4SredR0TNKEt-Dmk-aQ3U_c8ZsodvyPV5DbfAS8MRydGoVJ-MyBLxD3EFiQ0QPTOq5AMCsdvNmUMgo-j61iSrHv4njMxykQFfO-7jF93QT4_DU-X6_otqfHWJiRNf9cY6czayWDDA0Dr_faanQT3g7Rq4hp1Lj2XOSREqmN_v6ECEnPvbIR7Zt0GhPoGWaFszMG1fynKdr4mhE-0v-qHgv1CH1Esyt9_PEzKgqaQhBgiKN69PANvQrORDvyd8NP7nLL-7FqiZfcQy_qSY-1CWj9wUEij-OR5Yx5uUpeQ4MZ4_VXJacn5WM1ets2SBJ8OhH-qJWG0SpPHxe7lxEPqcaREmWtZcPJGmAwqK8qnNF3szIRzRAzOV2sr003WF2g-i_ZpapiEwg9RlExwxwFgjLDo_KUD-PD-M0pT02eAC0SaSUSXgF-2YBrFIgWAmrd-gyybdgQDOOrrPa_gvbuH39dyj1eV-EzdvY1-ggY6iMfu1DUtim99NMebr_PSFJ3gZkVKFAtGMy_J0gUf5cenbzN4iGa8i5Iy3REVTVwwT-ML99W6X6WzgB6qoa4KFl7TEKpGIFjY1zRMaRQOa3Z-4rNVKelQ8mgMfRRlrIslzv9aZ4VllbE6y9OQqwjvhJ8R7JmpCRztn5EQAAAXehAhbdemWj8PAUH918P5_BgAbhj5709Dl1XDHrNwCPas4LjuNiBs_uzE5y6yXa5ThTddB0KMiwAUHD1xy4kIyH3y-pPEHmKznppxCUKE1IFmzfIaHOayRqNDMS-f2RsDnb4geuzus1TdcjuUYk2M6GPfkIZLCosweiyDXPLGhhz_HcLTuk9fBhBJPuxBKjsrFidAbTYauWn8rEh2pOTFpr91PnZqQgAQ7pslzzekdWQl56kog71MAmKwSuL3gXnztBEktOc81j_9o3ZuXBeCzIVo_4eeHU1D-Y_SME0nDRw-6GszNWdT_MncnSzxrQXNlcSdJZJLDs2m-qWkE1jK7_-d4J1qSxumDz97yZPNO3y-3ijNMYqHPuEZg3jcfJ4HC7IuErDiJUbH689-dzE_H5qD-JdYV-HxgmxwHA0fUzyB6Q9nHgR7rrfXncu-Sd2Te0umHVR3OXhosEjM_v1f0s4WupIw7zcdrfylx5S4HiT4BYka5HG0xdgHbZ_SBJBRZcnIOCtOz8UaKTAl8nhB4Btr8SWVryPPXY4C0emNeooNlZE_v_W1ItFxYSw3Vw1N_tVAk53H4AoS4AAsjyGmDCpXuIwhGdQGQVtjbPupds5dwmnmfP7a7OCXabR7U=",
  "id": "rs_07a246c207bf8d39016ab45ef659d487d08ff1f84a3e958643",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF8B7_LWUbUIZXbdTNmE20vmGK70eVDntaRowQ6NlW1J57vX9jzO_N8ZYTroox5EWrmVuYY1o0ya1-T8iVl2jPjZvZNF_mvUU6z4VEELnFZzGDv3BeTvCdS4WaKkWzpzPq-XVwcVTFxtxi1nHOrpti4kX6XaLUpkzmUCD1Nt3Jv_a1YfqdNIzqqRtnVItqyqkeyhZHIK22dYYVDviheC8WPquPy9PJTiFPwxIUmXu3hWFiAJa6bB3_n3-Z2j6xi6LHooczRhKQwh2HXPykgNd0jSwIM40ePikfyBe5yAjSfObAbaIFyaBuuvo6neaVNkSrVRq38JUwYK-wX4-DQE66k-WZXfOPg9XWiMvXCdkHXJdb7LQFHFsRx7yY_0-VPN4D5RUnsSKhj0Mv1BhXMpWdhQycosVgL5emE0uGKv8LnKRCTtBvZQ1JBznq7BfdADlWoh9e5l31yLcXhQMU7pnb-aQlAbNqydWz5GCwSIS_5p3D1mhO56vXIahwcGztu2hp4OZoBqYXo3ECSfITCwGJfJsUISkJA37Ievd6BAVSTVnWD-EMDWKURXCbMB0DQUfdKnc1NhLkOF7JctGLvBnX0rrYJ3mE9Xi9r5uULZElnFdMDdyZvuz6UhnXK1YA-kQAo9u34AM9WnnUMEeKnmur5DB846FDLr8vXzr1pWNP_Zp4vnX_H5EzdcIIWkofsiwG7nkIS5UsfwUxNStLU3k9I_eMuVZAEngpqVeczQQS6Yr6rkpB3fT1TB8Ls4p834grdMBx7vYvFPROOZKqqR7mIaCxtxlLtkW6vVkox6FFyZI8betMHSD2Vszk6HrgwtW5-85D_4tJIVcCxY8yX814iVLmRxhZNym1La5Ni5_S8S5YVYRcGu85ozldcZ1ZloFBnE-KA_LSyc_RwpZwdQuaGTd_GXpIc8cr5aoLRF_msxDk88wJPWfJYrGksGQGxCr6IXdRFgAO11Pc3OqsvAuGrYB_SAbd2Om0RDEiK_asGBuqRReSFzdBllfogrhgi01X1yNkYK8d_DGf8o7Zkr5ZrMBeOk763JPRDO9sDbsAhW3SiaemhQoq8joxItJTm2uwbOuQtzAB_BoFXsZIveeUC6fq1dkWeYsLYv_n1RebTv6sF0vTgcMFUy4YjZqVpMAX4RihG54fDLUkJM58kIl8Re_f-MIjd8knKs0iUTxPaHoR9X7vTAlW9TfKp43HvZLijqVNKe8q_jx7ung7JP99t6BPyWAMTMAPf89TAX7UkGz3WsVN6lsiV_cYmatIXjCv9ci5kQ8iT1OWQTuz9yDykUyTzQS5eZmPvM9_tpMdMIDPV5BU6sv-7BGAGAghHjlYuaoae9LtLrTPu58fa8x-lZ4ALXcSw5_IJrsnoBFCtYhZk=",
  "id": "rs_07a246c207bf8d39016ab45eff707887d08c927863f37f3c01",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.2,\"right_gripper\":1,\"left_x\":0.42,\"left_y\":-0.205,\"left_z\":0.12,\"left_yaw\":-0.3,\"left_gripper\":1},\"note\":\"The right bottle also stayed on the table, so I’m clearing that arm. The left bottle is now farther inward; I’ll make one carefully aligned attempt at its upper end rather than continue closing around the wrong section.\"}",
  "call_id": "call_LGxoKpK1afTGDMQV7WDRE600",
  "id": "fc_07a246c207bf8d39016ab45f002eac87d0b473fbeea39ef36f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LGxoKpK1afTGDMQV7WDRE600",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5335, 1.6375, 0.8654, 0.1287, -0.2264, -0.1822, 0.998, -0.0517, 0.8223, 0.683, -0.4301, -0.0624, -0.0643, 0.9979]\nstate[eef_state]: left_x=0.4085 left_y=-0.1911 left_z=0.1023 left_yaw=-0.2592 left_pitch=-0.062 left_roll=-0.0009 left_gripper=0.998 right_x=0.2993 right_y=-0.0009 right_z=0.1982 right_yaw=0.0102 right_pitch=0.0038 right_roll=-0.0061 right_gripper=0.9979\nstate[joint_eff]: [-0.4171, -7.5692, 8.5675, 1.917, -0.1001, 0.2857, -0.2271, 0.0889, -1.6889, 7.4462, 1.9414, -0.2515, -0.0806, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c21f0f861a9f52d712c0b0a9817739e189c243774a9e6f4faca5c98debe76569",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4fc7c439d90d1300bd03644a853595ac40c99af0d64d10dd976136419e9894c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28222c8e41de2b133eae0894acc2564ac08e031bd6f93b4501566d5858acfa64",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 83 changed as sent

message 91 changed as sent

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0753, 0.8127, 0.6601, -0.4427, -0.1387, -0.1047, 0.9977, 0.5591, 2.1456, 1.1339, 0.4747, 0.4416, 0.2417, 0.9007]\nstate[eef_state]: left_x=0.2941 left_y=0.0059 left_z=0.1885 left_yaw=0.0835 left_pitch=-0.0265 left_roll=0.0026 left_gripper=0.9977 right_x=0.4976 right_y=0.2265 right_z=0.0403 right_yaw=0.0348 right_pitch=0.0909 right_roll=0.0101 right_gripper=0.9007\nstate[joint_eff]: [-0.4444, -1.7573, 6.8444, 1.8828, -0.0659, -0.022, -0.0171, 0.335, -5.2718, 4.7385, 0.7302, -0.2662, 0.359, 0.0611]",
      "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]: [-0.0753, 0.7956, 0.6193, -0.4168, -0.139, -0.1051, 0.9977, 0.6254, 1.8305, 1.1461, 0.0769, 0.45, 0.2981, 0.3514]\nstate[eef_state]: left_x=0.2916 left_y=0.0061 left_z=0.1799 left_yaw=0.084 left_pitch=-0.0242 left_roll=0.0022 left_gripper=0.9977 right_x=0.4513 right_y=0.2356 right_z=0.1281 right_yaw=0.0659 right_pitch=0.0315 right_roll=0.019 right_gripper=0.3514\nstate[joint_eff]: [-0.1983, -1.306, 6.6667, 1.9414, -0.1392, -0.0366, -0.0171, 0.1026, -10.2222, 6.1197, 1.5702, 0.4371, 0.1587, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5335, 1.6375, 0.8654, 0.1287, -0.2264, -0.1822, 0.998, -0.0517, 0.8223, 0.683, -0.4301, -0.0624, -0.0643, 0.9979]\nstate[eef_state]: left_x=0.4085 left_y=-0.1911 left_z=0.1023 left_yaw=-0.2592 left_pitch=-0.062 left_roll=-0.0009 left_gripper=0.998 right_x=0.2993 right_y=-0.0009 right_z=0.1982 right_yaw=0.0102 right_pitch=0.0038 right_roll=-0.0061 right_gripper=0.9979\nstate[joint_eff]: [-0.4171, -7.5692, 8.5675, 1.917, -0.1001, 0.2857, -0.2271, 0.0889, -1.6889, 7.4462, 1.9414, -0.2515, -0.0806, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c21f0f861a9f52d712c0b0a9817739e189c243774a9e6f4faca5c98debe76569",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4fc7c439d90d1300bd03644a853595ac40c99af0d64d10dd976136419e9894c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28222c8e41de2b133eae0894acc2564ac08e031bd6f93b4501566d5858acfa64",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF8K3e_cX6OLn1kMxww34PwDjQJJlXKJXCPT4BKQjAQgV2p9amfKDY6hIpQcBe0E-p_WUVvdDwBpyLJJJNtb7ACrB4a2Qb9YKqsJr1QRC9teuV-vvLqrrkJH7-zQTjPjiTsNWwzcrykL3KRHjoaLMnNn_r80o37TbBrWX3enlMFUj6jR4pJpEKMyZj6hcM7yIVGf6jc96fF6CN3QE5ruSQN6w3w5G4_yjV-gqk-aqS9KRQtsR71lAucVTAwtP-Si4JJRuLsXaQRjMvzpZmksZBtXEfQL79FwdKlSaGLRsQYTdGmzFo-J6vr9-03WbIgpBYYSRfwaesKKWXRgCA9FJxTp4zp6HMsneabt_Yzi1GUHb_pek1d7jQuxulQrUmArBwHO32twpCIKrUxLa8Kga8xGZRCvTN5Q-e0kRx8FfgrCEs82cK06lmBKajQDbGpa_O7Z2yiG8Y9go_zLjgzPTM8zlCyEm5QGSq2DoT_yebl02VDNiZDy7iFV99NedDWzWl6UER-q7j0dWxZ3zJChGEvDD6X83oFY1GtgsLagz_IU0a-mXV3dnW7rReRAGYTR6-NQQ1-NsCHAu48u1mFm_HabuL7SS192n-hKUBD_YwBZj4Wik33dnwpydmg9Ly2xo6paVAUN8xnUc2VZ5JdCcRxMiO4H9V4YljRtcx3Wc_1d-a3rkgBF16ouLWOnpoHaojenDFCLn8bEEKrjT4ekivEZzuzfqsAW5FoslAexnE54Y8Q8C4vxAqAl7jQppnDzwMWc4cRoiken9yJ-517aKrd8ZXalfNUm4ZAyX95mhilOs-p98zhWAgc0ysEr7bOhguT6BzK7hyAdCuXL_-oE4pyeL7QYn9IqsbkTiMZ_hRUkK5Qy57BZOrsl9OBEi2fV7V4CYR5-irHEdBGnt8BEoJtDcwRYqTKL-urLFvskB-B3f5j3JRF8MtFOj9tT50oWXO_so8OhmJ3RbwmlDubSSOZ1CXb1wQy_dvhoastWSlNYBVr0xEYFYJUnw2TwVy5RQkUZq6X7FV9LdG19srrSzqtc_rmNcNxIXyjt0WUagaT2qWcPhGH_m59oKNIX2S5Sivn7kxTm91WAlC88sYtBstYuoPQvS5jh7rBeRZczpNj2ymBK6COhkWeFMn3Nh6eVWCUJ8-rjyqY0RQO12nCchAJQU_eSfx4bMRMllKRu5nXGzxI_RREGqi8iUzA6JvtrBBam4Bawq4Hf3JEekkIM7cWEfZct7IPf2vbeaK3hklzCO0WYf0YDAADUoD6Hh-HbxSwsEtrScOi9a-_tHyL11NIdK9nbcu1nI64yQC0-oGy8botiF-v3wY2SBc9qhmT86Rmn45jLQt0VzrJWsAunyw8URBlqeeNRk_3D9zU61ohNPmWao6R4fhHAPzYmp51HQZv-5vs90kvEZQvLznjTtiYimIgjHpqnwqVPqcBktooQEpByuw8ax3DIQGPrZSn05fcecxdqF8CQpL9x_gD6FiVND6hAqgTBMDkaV7eeEP_LydupaGpI7dN49JznS9pA9BnI05TWvP0EoMr3GEP7bsyqglgH4sNqQPDd5aQFFHO8WGtoyjy8mcEl8mPGnrjNhwG1Oxz-0s1c0tj7jgIoPH2AFOUPK1IVRxCgDRhoZSzBvccXjyhY81Pyp2E8Rtf6ylbC3nb65RAc98MrYxZMtZVRactQAPPGckTnfyt8McKyJekH7wdZ5Fxg16dNh4FFeNaLjdXCcsprSefjjCfb_pkeBi5SoQXEGgDF3q30dJT8qocm8porB_zGkH-PurXinwdwcjIBiTTLIl3BCR52t9SUW3ZKLhoswgEGlxJj2Uk2rbnPwzXt-5lf3Sc3trxS5HHQSoaHJNOJub5jgozfBUHElobqXg-k65xkSoj2-HmiBq8qTE7aomHqUwJnQ675KZNKl7QxECdmCTnDJNXnhaYZyCdN-6NI4_o3HDxEScVY7s5PJADXdoCU7YUn3Iwnw9tCgOdtO81nlKmZVkcF5HJjJt6AoGn-C8pOZQZ4ieZWfJE=",
  "id": "rs_07a246c207bf8d39016ab45f05491887d0a2fc9ee90b860880",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.22,\"left_z\":0.02,\"left_gripper\":0.75},\"note\":\"The left bottle’s cap is centered in the wrist view, with the body extending toward the hand. I’m advancing along its axis and lowering beside the neck, leaving ample space between the jaws.\"}",
  "call_id": "call_Fh4AJlnifuk1GcZB1v5ekO2L",
  "id": "fc_07a246c207bf8d39016ab45f0907d487d09826d586245d0806",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Fh4AJlnifuk1GcZB1v5ekO2L",
  "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]: [-0.5236, 2.0174, 0.9684, 0.49, -0.242, -0.1829, 0.7528, -0.0574, 0.8276, 0.683, -0.4717, -0.0822, -0.0803, 0.9992]\nstate[eef_state]: left_x=0.4673 left_y=-0.2168 left_z=0.0396 left_yaw=-0.2362 left_pitch=0.0214 left_roll=-0.0164 left_gripper=0.7528 right_x=0.294 right_y=0.0012 right_z=0.1884 right_yaw=0.0299 right_pitch=-0.042 right_roll=-0.0049 right_gripper=0.9992\nstate[joint_eff]: [0.0479, -7.4188, 5.0803, 1.0085, 0.0562, 0.2466, 0.0415, -0.0615, -1.5521, 7.2821, 2.0342, 0.0757, 0.1441, 0.1197]\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,$blob:9dc9ff1709309028ea128eace8323e9ad9df71b6cd5a5901a125b6293e377054",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:721a6ba76a0268498f3ad9b2faa00ce1e01561ad1acf54b1871cc3c1c4b006a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:359e09d9a77616b94b8b41a851b57da5e523a7899a34b28536de9836e5d01714",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 87 changed as sent

message 96 changed as sent

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0753, 0.8036, 0.6373, -0.4244, -0.139, -0.1051, 0.9977, 0.5636, 2.1223, 1.1641, 0.4263, 0.4332, 0.2607, 0.3565]\nstate[eef_state]: left_x=0.2932 left_y=0.006 left_z=0.1843 left_yaw=0.084 left_pitch=-0.0219 left_roll=0.0018 left_gripper=0.9977 right_x=0.5001 right_y=0.2326 right_z=0.0542 right_yaw=0.0356 right_pitch=0.0925 right_roll=0.0333 right_gripper=0.3565\nstate[joint_eff]: [-0.1573, -2.0991, 6.7487, 1.8632, -0.0952, -0.0073, -0.0171, -0.0752, -10.0718, 3.7675, 1.0134, -0.0024, 0.1148, 0.3346]\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]: [-0.5335, 1.6375, 0.8654, 0.1287, -0.2264, -0.1822, 0.998, -0.0517, 0.8223, 0.683, -0.4301, -0.0624, -0.0643, 0.9979]\nstate[eef_state]: left_x=0.4085 left_y=-0.1911 left_z=0.1023 left_yaw=-0.2592 left_pitch=-0.062 left_roll=-0.0009 left_gripper=0.998 right_x=0.2993 right_y=-0.0009 right_z=0.1982 right_yaw=0.0102 right_pitch=0.0038 right_roll=-0.0061 right_gripper=0.9979\nstate[joint_eff]: [-0.4171, -7.5692, 8.5675, 1.917, -0.1001, 0.2857, -0.2271, 0.0889, -1.6889, 7.4462, 1.9414, -0.2515, -0.0806, -0.0855]",
      "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]: [-0.5236, 2.0174, 0.9684, 0.49, -0.242, -0.1829, 0.7528, -0.0574, 0.8276, 0.683, -0.4717, -0.0822, -0.0803, 0.9992]\nstate[eef_state]: left_x=0.4673 left_y=-0.2168 left_z=0.0396 left_yaw=-0.2362 left_pitch=0.0214 left_roll=-0.0164 left_gripper=0.7528 right_x=0.294 right_y=0.0012 right_z=0.1884 right_yaw=0.0299 right_pitch=-0.042 right_roll=-0.0049 right_gripper=0.9992\nstate[joint_eff]: [0.0479, -7.4188, 5.0803, 1.0085, 0.0562, 0.2466, 0.0415, -0.0615, -1.5521, 7.2821, 2.0342, 0.0757, 0.1441, 0.1197]\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,$blob:9dc9ff1709309028ea128eace8323e9ad9df71b6cd5a5901a125b6293e377054",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:721a6ba76a0268498f3ad9b2faa00ce1e01561ad1acf54b1871cc3c1c4b006a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:359e09d9a77616b94b8b41a851b57da5e523a7899a34b28536de9836e5d01714",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF8RJssvIqZGIU00NAGiIiVq2Sm9wgkkJnl3mxZjW6Cv6bw6R1dlz5TnGS-olLwXob98nS1ZxhzKs1dqFp3FfoInuyzXhMBn_VSaFkEFy38_xyILrfWh2vzTNJm0azATTewiDXHGJ7ePKzT4gu6gtVtviyy8REQKQrAoPVO6JIiZYEZHOA3KzktW-r38GjoI2Y0lbVzpwwlHibBVdfyne2t5Ws4cMdE-6KmW2NKLaR-38EmzkPs7jJIIU1AOJA0L-TRm5PGUI7iPKJIKS6PIaxteUrk6lGg6gVhpmG-SzTwCi6f7fLTGuDHlFgPo_DGCw2g08J21GSBaTXbB-KGSjWiyf32NcbFqoWUvnKyYhEp6HuxCwmY31KMSh85SefUP7cnA9eDHnvQ7KY_NUVcyGLfjmmcJRTX5lL1kWB2u_9R2f3wPhOT-1DusU4J_035pt6awAkFP_j8UxdozlKrs5QEMec-43sRnLo5JFKKeh4fJ7u8BQXRL2eqXcK1FRj8JDW94xBGC86-4LxjC5Y93PqRH4XvIXO1m4daGDw9nBcHqv-uGZFKmCXM-fs52JewBmiwwOrhZnehQMD6nJ8gEiBxGUXDh4ahoNiaQtIcIMIIpiCpsR8BYKUPqhjs6coqxA4S9mVnyqunvfqnT--WqDaWxuB7DFDYE5JxrjuYfEtiyuTcJswWt7rR9wrpkrfvStHh49nXgf3ebNzUtbVMEbaM4Uo9HuM7x3zw_jcg_QB390trgByGoFXnBLwvzZrfuorRITO9DxhRK1uS7w2J9-32cZlSdEOG3Jz5xQ5BZYT-JrbrURDuhHEMGo25xZ_gAh_Cjel3He8W-y82SDPuKIwRw8PCgTUeQUH42Ku0832FoU3SakFrNci18gSfVhIKzMDesABjIjn0uoulWA91fABqfCYz2wEIgO0Iu1iKc8a5lY2GcE7RRZ7ewpL8zmR1hh4FpiHq3gycoT-x2M9HtUE2OUINWF3joFzniqVUp5D8ffV11s6Lz2jTLgNOrVLCuu92e1pagqG4kKkc8LrEb9MVEW0gHOCtX0zKZLOfW8rBLwxBwLaWd0h-eNWVIhMskQ3B1m0E1Gyik8O98cgPuxDwyvs0CQZVc9NV2ADkJy6aV3_xcpi1snymt0V93hgpWYd6wX5ts2wo1AEb3nYDAyYL877pSYwh0uwmCGdSPWLOjJ-n9UVaOt80AD9qN4nllkyvFBiugsB-gCzGXD7SKN4vwi9dCPCRKUsVzHxQi-i5_Dezm6T2kJvaH9T1uh-RSyKDpV05NMGcWLix4AqBHa89nVrHyARLLf2yEcWfki7HX4lPRa0z2flEYbe7bzSK9YamIFvVn9yh8Mwz9hK5Hu2ot8TbEUU08NbzOdM2MXLQXb9WdB3EVUptd66F87ksOYbEbTGK8arStu4VHgveFxGitB-0l9pksM5nFuGhoWOVWyGoMXg-ClUaNOPiKfPGssg51uHIILZQVX6VCFRkVWb04IpJtwdrm1nEDkDVCcDE50yZjCNnauRXlt0X_pizYg6uxDGPE05RFKaJ79x0rsVWR4-B13Vqco3Q82h5WDZsbXwRXmiZsduCvU_VVerTBSWISIvW92_hDtV_Vw90esp3klL96HG-jWvjLVSxV1tzbpTOgWwpFIKIHS43_urJoZxl9dzPmrLEAW6TYEr804g5aQF_i35UwIe00zeZ96-h-jRvnTTe4eB8l5wQnmQPaKu8Ql3Blp9xpgYWJhopLp09A_S2P1PDjDIxHQOKQm-480qtmmx17WL16RS3cgVxC3lzUTv8KWldNKBvTiNrOvqUtQD4AOMIbghkhJdHOAhT9cst2C7l4W6MR03Lum4MEEsqvBeVJ60_Ku-oi7dpYAKHaJKwQripuocgBUu4fvU0kR3P8PfGkwKvZ7gLfTnsqX0SRhPiXjZ_XCC0Q77ZmnTHvZZ-l-Kc2lPaIDHB3QCZWZieVzfFE8rsN-1--n_lD1e0MtD1AdkAvzAIMPPBRuRKEFvHLRFAi33zSTtAj162jipXeNYTEZUC_8PBeAY4JQ4EE",
  "id": "rs_07a246c207bf8d39016ab45f0ca6b487d081dff4837abf352f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.467,\"left_y\":-0.217,\"left_z\":0.005,\"left_yaw\":-0.3,\"left_gripper\":0.18},\"note\":\"The narrow neck is centered directly between the finger tips. I’m holding the position explicitly while closing gently around it, rather than allowing the hand to rise during closure.\"}",
  "call_id": "call_gAf7soB5NPEuITwOJ9FRcOmp",
  "id": "fc_07a246c207bf8d39016ab45f106b8487d0ae8a3ea40d0fac05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gAf7soB5NPEuITwOJ9FRcOmp",
  "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]: [-0.5041, 2.0598, 0.9791, 0.6624, -0.2218, -0.1539, 0.1861, -0.0601, 0.8066, 0.6384, -0.448, -0.0834, -0.0814, 0.9994]\nstate[eef_state]: left_x=0.488 left_y=-0.2208 left_z=0.0589 left_yaw=-0.2461 left_pitch=0.1547 left_roll=-0.0378 left_gripper=0.1861 right_x=0.2905 right_y=0.0009 right_z=0.1786 right_yaw=0.0288 right_pitch=-0.0419 right_roll=-0.0051 right_gripper=0.9994\nstate[joint_eff]: [0.1299, -5.9966, 3.1248, 0.6862, 0.3834, 0.2515, 0.2173, -0.4444, -2.0991, 7.3368, 1.9853, -0.1294, 0.022, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f33f67e36d657625f472e40434b9896f41b032161fd37e5a9866cf33b28b26d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ac59d00fdde0a3fe7d434d57b92ca64e90faff610b62e5adb242fc0ad06e8b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47072f3e852582cfb64e700aed305f5913bcb8cd01f6ba8bbe0c7da07a046f9e",
      "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 91 changed as sent

message 100 changed as sent

message 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0753, 0.7956, 0.6193, -0.4168, -0.139, -0.1051, 0.9977, 0.6254, 1.8305, 1.1461, 0.0769, 0.45, 0.2981, 0.3514]\nstate[eef_state]: left_x=0.2916 left_y=0.0061 left_z=0.1799 left_yaw=0.084 left_pitch=-0.0242 left_roll=0.0022 left_gripper=0.9977 right_x=0.4513 right_y=0.2356 right_z=0.1281 right_yaw=0.0659 right_pitch=0.0315 right_roll=0.019 right_gripper=0.3514\nstate[joint_eff]: [-0.1983, -1.306, 6.6667, 1.9414, -0.1392, -0.0366, -0.0171, 0.1026, -10.2222, 6.1197, 1.5702, 0.4371, 0.1587, 0.1197]\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]: [-0.5236, 2.0174, 0.9684, 0.49, -0.242, -0.1829, 0.7528, -0.0574, 0.8276, 0.683, -0.4717, -0.0822, -0.0803, 0.9992]\nstate[eef_state]: left_x=0.4673 left_y=-0.2168 left_z=0.0396 left_yaw=-0.2362 left_pitch=0.0214 left_roll=-0.0164 left_gripper=0.7528 right_x=0.294 right_y=0.0012 right_z=0.1884 right_yaw=0.0299 right_pitch=-0.042 right_roll=-0.0049 right_gripper=0.9992\nstate[joint_eff]: [0.0479, -7.4188, 5.0803, 1.0085, 0.0562, 0.2466, 0.0415, -0.0615, -1.5521, 7.2821, 2.0342, 0.0757, 0.1441, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5041, 2.0598, 0.9791, 0.6624, -0.2218, -0.1539, 0.1861, -0.0601, 0.8066, 0.6384, -0.448, -0.0834, -0.0814, 0.9994]\nstate[eef_state]: left_x=0.488 left_y=-0.2208 left_z=0.0589 left_yaw=-0.2461 left_pitch=0.1547 left_roll=-0.0378 left_gripper=0.1861 right_x=0.2905 right_y=0.0009 right_z=0.1786 right_yaw=0.0288 right_pitch=-0.0419 right_roll=-0.0051 right_gripper=0.9994\nstate[joint_eff]: [0.1299, -5.9966, 3.1248, 0.6862, 0.3834, 0.2515, 0.2173, -0.4444, -2.0991, 7.3368, 1.9853, -0.1294, 0.022, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f33f67e36d657625f472e40434b9896f41b032161fd37e5a9866cf33b28b26d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ac59d00fdde0a3fe7d434d57b92ca64e90faff610b62e5adb242fc0ad06e8b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47072f3e852582cfb64e700aed305f5913bcb8cd01f6ba8bbe0c7da07a046f9e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF8Vfl3qIN12wu5I95Dh_JEK7I93XwGnRnMPiqmZkkBX0-dXI_hw7AwVdsEn6oVn7T3kmTD-eaD7jbwDjtPdo-qmDlCmKoNxG_VX7RW9Aijh3PUNWV3yaogppRSGxKd3XH1TnE0sogjH2_QAswDs-gvhmEs9xcCXt13q7SW5e4kUBrLS0Yq4dSE5pERgwcVhR4vA009oSHQo9Pn5B5SYDTaebWThIi2tclGgQziW-uZySuIzPyw0Ta19qe3a0so6Lb0Dirzkcck8WN588S63IVixpbLNz4FgzaviTll-QiwIPD8iS4dJ7dDLwDC6Bmj_m-vmNyDgiwU3o6Bw35tmjyi7sesqN0CBmz09PViyJ5rS0SLCUrX6Ja00-UV8Cuy8Lh6bxZYaYX-_sU9mm2ZUa42TJbLLKVgLWWBSNm0kGziloCHyopb6RCkPrQbV9rwb-j4heWMXIbxMaRJvYqFjTVUJRNKwq4lymHzLb1CC2WZSwQ-NH9qpSh0cNpypTvN0kCLZoioJM-urDDYm9FIT4doZWYWmq0Hni-dnIuXYI-95fdIL5cSH2GnXxc28hVij9wvBvgGWnrQPuSzcioNgJhvnxEuC8dtLecvx7qrlu9rf_fq3BBd0UBYJInB_PNyrAD4MtxAdGl-caqsD8lrjB78rh1q-9mW9AMfaLrlr-L2jfm4ZYaPPoCM5ldbYNaeRr62F57eIT1rFe2GG073QCLFQlscE4oSKB_UiBx9sHaoekptSNjbUUkN3ZfZnTHCjinN2nN8a7f9YWTZISeyqf4DzeLNrZVQxZk3-pJazHxizLzQORyEq7CliozEDAw7mA1ZZehYZTkfC_ZdimnW6CKyuwlaZJKHBiRhZCGQaaOSULdH37g8msL1N004SGq6TcC0T600LOsAM-ZJGkuMXVmvo1oKAy56YgGBHdFcMgaTPxuvf1HRyIKIPi10Je9v4fKSvrHBDzBYPXUFT0_i--tSFsFd8Nj2t7zxOWrH165jXsxh4xUhdAKfsq7cBOGLQTIqdJ6tN-e-JwRHAmsh1HAfIH72sEtFKnwHXQ2oaElDu5r4ahIdgePEoM_lCXFl569qnHmJXMrhcRy_ABEr42hK0CCrjzfx-vViGEFFwJ7e6Q8r34fRn8N0F5Y7g_lMXyTqzCCYe0lKRD2_c72vh2jOhuW8_EvPPBoQAHPk62bIxS9zysygQHBgaD3_cHtVH_HtPSNy5FpaaZOhotV1mD69jcUq-gzHJA6NNNPXDDpws9-acnCyutepMfvIkwiCOoDj7UuGtZ_ZlVDyx2YWP1HkbMgh4gJOj2xivSufVRCB-ZS3eciyc7YUaiXK4V1tfiGBkgqt-_GAkyOOgRUWivoSFIirEim4DqqLkm-FH2LcQP5ULWjtHBaoffl23eJJGPbjxDwUYhmK0p4EBC5K6z4R4qQ==",
  "id": "rs_07a246c207bf8d39016ab45f13d18487d0807f5abd142002b8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.217,\"left_z\":0.2,\"left_gripper\":0.18},\"note\":\"The cap remains between the nearly closed jaws after this attempt. I’m lifting its upper end to check for a hold and allow the bottle body to rotate downward under gravity.\"}",
  "call_id": "call_RZxufQ12D9fQH3ZBs9O22ECb",
  "id": "fc_07a246c207bf8d39016ab45f14e2fc87d0a76effcbbe3c3b00",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RZxufQ12D9fQH3ZBs9O22ECb",
  "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]: [-0.5575, 1.6897, 1.1896, -0.1242, -0.263, -0.1917, 0.1815, -0.0601, 0.7841, 0.5964, -0.4252, -0.0837, -0.0837, 0.9996]\nstate[eef_state]: left_x=0.4424 left_y=-0.2175 left_z=0.1688 left_yaw=-0.2478 left_pitch=-0.0375 left_roll=0.0065 left_gripper=0.1815 right_x=0.287 right_y=0.0011 right_z=0.1703 right_yaw=0.0304 right_pitch=-0.0385 right_roll=-0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -11.2068, 9.7299, 1.7216, -0.149, 0.0073, 0.149, -0.5675, -1.7436, 6.9538, 2.0195, -0.1538, 0.0366, 0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:495e99209f99caca39a6528b37cf7c9f25daa33d61d54c13f1d3b5d30776d061",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e333979db89086967923c7067806a44c88569d22cfdcf83526422299be5ed729",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f82916b3d3c026677848aa1bcd85799cb0d99b96aa1c355d962ad989b068d763",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5335, 1.6375, 0.8654, 0.1287, -0.2264, -0.1822, 0.998, -0.0517, 0.8223, 0.683, -0.4301, -0.0624, -0.0643, 0.9979]\nstate[eef_state]: left_x=0.4085 left_y=-0.1911 left_z=0.1023 left_yaw=-0.2592 left_pitch=-0.062 left_roll=-0.0009 left_gripper=0.998 right_x=0.2993 right_y=-0.0009 right_z=0.1982 right_yaw=0.0102 right_pitch=0.0038 right_roll=-0.0061 right_gripper=0.9979\nstate[joint_eff]: [-0.4171, -7.5692, 8.5675, 1.917, -0.1001, 0.2857, -0.2271, 0.0889, -1.6889, 7.4462, 1.9414, -0.2515, -0.0806, -0.0855]",
      "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]: [-0.5041, 2.0598, 0.9791, 0.6624, -0.2218, -0.1539, 0.1861, -0.0601, 0.8066, 0.6384, -0.448, -0.0834, -0.0814, 0.9994]\nstate[eef_state]: left_x=0.488 left_y=-0.2208 left_z=0.0589 left_yaw=-0.2461 left_pitch=0.1547 left_roll=-0.0378 left_gripper=0.1861 right_x=0.2905 right_y=0.0009 right_z=0.1786 right_yaw=0.0288 right_pitch=-0.0419 right_roll=-0.0051 right_gripper=0.9994\nstate[joint_eff]: [0.1299, -5.9966, 3.1248, 0.6862, 0.3834, 0.2515, 0.2173, -0.4444, -2.0991, 7.3368, 1.9853, -0.1294, 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]: [-0.5575, 1.6897, 1.1896, -0.1242, -0.263, -0.1917, 0.1815, -0.0601, 0.7841, 0.5964, -0.4252, -0.0837, -0.0837, 0.9996]\nstate[eef_state]: left_x=0.4424 left_y=-0.2175 left_z=0.1688 left_yaw=-0.2478 left_pitch=-0.0375 left_roll=0.0065 left_gripper=0.1815 right_x=0.287 right_y=0.0011 right_z=0.1703 right_yaw=0.0304 right_pitch=-0.0385 right_roll=-0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -11.2068, 9.7299, 1.7216, -0.149, 0.0073, 0.149, -0.5675, -1.7436, 6.9538, 2.0195, -0.1538, 0.0366, 0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:495e99209f99caca39a6528b37cf7c9f25daa33d61d54c13f1d3b5d30776d061",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e333979db89086967923c7067806a44c88569d22cfdcf83526422299be5ed729",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f82916b3d3c026677848aa1bcd85799cb0d99b96aa1c355d962ad989b068d763",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF8fuBBx-QZKe9oW3onIXtg8J-uzqBXXRyNSrCS-3avELQiKHnJDGlMgvi_VkV5eAFUubEvsRGj-fJgJ9pqmLlCCj3vWCqNo16BrR8_OsvwuVv3CC_2d3Y_6zby0HNUEFy7pkGqEqYVWkbQjIqWsa0ym5WKz_QdZGa7T8GGpHG7ne9NLMPvLiMVeToG7YcMdNpN5sjr_K9DhlgZIR6qyULmu4vksTqsXdnp6KcLlZ8DTFI0EmGc5UNZCCB-pmEIL3QL0iPLEAotCXq5bp3trcHOT7OYgCXxlxyf_Hdn7f2ZmA70fZ8ESK5vpxWsrUvN9a9pwwoRyZi1DANwoCxJZD3ioshOuO6SOnSeaYmELk5Gr4i8kT7cNZA_W_1RgS2uey8oVtzjoFzni8g6zyPnZ-cthAKTqCfv14mXAtLg0RXf5wkuo1uyA90Qc4dqjlnOXUFnc0w3Z98y8DWQJdVImNmFC6IWSsPMbg5hPS3do-2D0-ZaFKcNUJsGcXN2ZOca8KukrtMikfaxaJhuqSRV6bzIdmSC_ict9bk3Oo0o0xPUdlCgqb53lZvMA6guIxeuz09fqTt_JWMIvxdGuTrt-wYnIOBi1stB_O_QwBQ7b5LpqxZZlqYhkgCKcINZKuG8vQ-_7KaVlSqxrjOq9UAHLu6cYyCng7T-fuWdhBXoqq8IbMqb8rWsPu_Eo1aW1GA-P7VMm3lGIzQNiqa9WLBsfcZuBdxfmH7tPdO5P8JEAsl6aki2cIr3k6KAqAf2qhG2G5qSCmjNh3ZEIbxPNO9VHLHFBEKg7czezIpNKxmS_mU-PFd-1UzL36ukbr1grRKA-q3FBkwEcA1_nwEnAY_zliA5jdVoluchU70wWXzzV2xnytPhYCKX4a5j7ESFWBVt5-oPEkV4Mvd6H8X_dx9JnuQZJHAqTkqstxIrGArxzDmLKHzYtknzgY2OQnKJIh4_aHNuiHbs2-e4fZePDWqq8WACQ_f2Lfn4yiYZUU14H7HbXB3PolghixcxmsIlsk_4voLDCywWVbU2_oJ8Q9tLI42smOdiFCyDf5PBWo5_qs526yxJmEWvWyoG_Bt67fzdQ_bKKm4FW0MwviThRsIInLufkiHgwf9sCZEz5SE0tprXdy7bohc2RpAUb3M1JzH8vKNEuSndDaZXxdFCqHm-wDAPtsyGKolUaifOsXFxhSMr3p_wWZWOQIk44KXdph0WsVyWs5JAMAlb61krexryzhFBTKnIpq3yxyBxuU-tT6S5_b8yEzGLWA52z5UudD1nH5IhEuT7YMDnNRcszn_phSO0x6826dQBTtFz_sfl4F0IYeFwt_wRxLIe_B2P_Pb6D4lktWKzWD4-jtMsQUlkTbIOCdFDbSnR5fP46F0zXPZYE94phUK6OoqRjQLepCzx8L1nIRNzVfozS_sl_h_75-31ngmZhPtQTLNPzdsd-4kv-gJTGQTINPJ--unrzLmSwJ4hOONV9JaipElI6Yk7Ogn2ug0K8pPNeAxK_j0knweMlNVqQ3W9vaS93UCwGOXjjoon63S3_k1NYaZAh0iWo87NRdaSc5g_GxHlVg386UZhZsdHuV7aRbAafdmhkeZJnuBh55CmMQknAWIyXUhEcybRyTskXtFQm94ThfRxRIDrzU1mmuSIEOVxyY66TPbht8IXsf7DaShSbBDKm_hJ023Mu-x9F0oVq-apmuzoYBJo8vtu-EyaciKbP3NBGvD3uOxV87TjxKuCqvfa0YQPiWgZ_Ghs3A0JFmSVWIpjKi50PTKeSOJr418GBZwSUC5m-NcL8TYqoiwfT9-KLmUVvv9Dlt4yw8BkKQx5da9hRV55GKG388hS4ZXgUaDNim6qTT3izBalzEPMANVJfQK4bdInqdNp-K7RAt6L3JqIuOpsUMHVTfN1HLgUw_6pGoPwvlkJOU2VxJ1Lm-H8ppove8OcfYB5TXdUzRFHHPsu_eF_DSTwMrMFVi932z61Y_bTz5nMHXiecpGA46eM3g60HrmpCcr06Jba6rfL2RMR1ouZ92PIcWHW5DvQroi3ECrUgX7avhZcLff6UL1WHKC6z0BJ5dEj9zRLa91VciWIkFSI-Xp-Rda4mEUpTjpuS2VUTS9iZ2N0STKb5V7-TTeMCcUDbzITjOlRx8DHjaiET2-cWSiU=",
  "id": "rs_07a246c207bf8d39016ab45f1bd5a087d0bf715b04915e0fd7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.217,\"left_z\":0.3,\"left_gripper\":0.18},\"note\":\"The left bottle’s body has moved upward with the hand, suggesting the neck is finally held. I’m raising it farther and bringing it inward so the base can hang below the cap.\"}",
  "call_id": "call_7BY87LliXliN1iRwAQ4vRP7k",
  "id": "fc_07a246c207bf8d39016ab45f1ea72487d0be4c5b1e5cbeeac3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7BY87LliXliN1iRwAQ4vRP7k",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6243, 1.5631, 1.4677, -0.5316, -0.3092, -0.2401, 0.1803, -0.0658, 0.7654, 0.5575, -0.4026, -0.0906, -0.0841, 0.9996]\nstate[eef_state]: left_x=0.4073 left_y=-0.2228 left_z=0.2727 left_yaw=-0.2504 left_pitch=-0.0307 left_roll=-0.0072 left_gripper=0.1803 right_x=0.2841 right_y=0.0009 right_z=0.1622 right_yaw=0.0306 right_pitch=-0.0358 right_roll=-0.0037 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -10.1128, 9.5932, 1.746, -0.3297, 0.0611, 0.0122, -0.4991, -1.853, 7.0632, 1.9707, -0.1294, 0.0073, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d08d9e5cb943600486ae1bbbc3acbaf9a6c39c8377e11d0874f987f2af05292",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2fc98293926ec0eca1669e3008ec89d4652d16f3493ed1f36c7dd002a48c6cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e44c6f1b3b5ea5c1afd9b35c54f7b6da5d18130117272e2988fb908c506a7a22",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5236, 2.0174, 0.9684, 0.49, -0.242, -0.1829, 0.7528, -0.0574, 0.8276, 0.683, -0.4717, -0.0822, -0.0803, 0.9992]\nstate[eef_state]: left_x=0.4673 left_y=-0.2168 left_z=0.0396 left_yaw=-0.2362 left_pitch=0.0214 left_roll=-0.0164 left_gripper=0.7528 right_x=0.294 right_y=0.0012 right_z=0.1884 right_yaw=0.0299 right_pitch=-0.042 right_roll=-0.0049 right_gripper=0.9992\nstate[joint_eff]: [0.0479, -7.4188, 5.0803, 1.0085, 0.0562, 0.2466, 0.0415, -0.0615, -1.5521, 7.2821, 2.0342, 0.0757, 0.1441, 0.1197]\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]: [-0.5575, 1.6897, 1.1896, -0.1242, -0.263, -0.1917, 0.1815, -0.0601, 0.7841, 0.5964, -0.4252, -0.0837, -0.0837, 0.9996]\nstate[eef_state]: left_x=0.4424 left_y=-0.2175 left_z=0.1688 left_yaw=-0.2478 left_pitch=-0.0375 left_roll=0.0065 left_gripper=0.1815 right_x=0.287 right_y=0.0011 right_z=0.1703 right_yaw=0.0304 right_pitch=-0.0385 right_roll=-0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -11.2068, 9.7299, 1.7216, -0.149, 0.0073, 0.149, -0.5675, -1.7436, 6.9538, 2.0195, -0.1538, 0.0366, 0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6243, 1.5631, 1.4677, -0.5316, -0.3092, -0.2401, 0.1803, -0.0658, 0.7654, 0.5575, -0.4026, -0.0906, -0.0841, 0.9996]\nstate[eef_state]: left_x=0.4073 left_y=-0.2228 left_z=0.2727 left_yaw=-0.2504 left_pitch=-0.0307 left_roll=-0.0072 left_gripper=0.1803 right_x=0.2841 right_y=0.0009 right_z=0.1622 right_yaw=0.0306 right_pitch=-0.0358 right_roll=-0.0037 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -10.1128, 9.5932, 1.746, -0.3297, 0.0611, 0.0122, -0.4991, -1.853, 7.0632, 1.9707, -0.1294, 0.0073, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d08d9e5cb943600486ae1bbbc3acbaf9a6c39c8377e11d0874f987f2af05292",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2fc98293926ec0eca1669e3008ec89d4652d16f3493ed1f36c7dd002a48c6cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e44c6f1b3b5ea5c1afd9b35c54f7b6da5d18130117272e2988fb908c506a7a22",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_07a246c207bf8d39016ab45f22d58487d0a8939188b566e74a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0.002,\"left_z\":0.2,\"left_yaw\":0,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.2,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The higher lift confirms the bottle stayed on the table; the neck was not securely held. Repeated closures have slid the bottles rather than captured them, so I’m clearing both hands and stopping instead of risking further uncontrolled movement.\"}",
  "call_id": "call_2pKKAdtLUYEX9vAbPz69MRdS",
  "id": "fc_07a246c207bf8d39016ab45f25cd4887d090888ed6cf6e8a19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2pKKAdtLUYEX9vAbPz69MRdS",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0387, 0.8169, 0.6926, -0.4419, -0.0689, -0.0685, 0.9975, -0.0139, 0.7883, 0.6502, -0.4789, -0.0452, -0.057, 0.9997]\nstate[eef_state]: left_x=0.2982 left_y=0.0042 left_z=0.2016 left_yaw=0.0418 left_pitch=-0.0024 left_roll=-0.0085 left_gripper=0.9975 right_x=0.2861 right_y=0.0076 right_z=0.1824 right_yaw=0.0297 right_pitch=-0.0444 right_roll=-0.0072 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -1.7162, 6.694, 1.9072, 0.1099, 0.2466, -0.0855, 0.0479, -0.212, 10.1538, 1.873, 0.1538, 0.2125, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73e77c5d5f832eb1565ea9045083d60e720ad83e9a1011083b741e5227b37b6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ba08586cec993c95eed4f7b86d631a211260a7898e7b25adfc9e42ac331460e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96c782e494c7c77e3c54fe80b3006a140986da5dce9b48268c43f3e25ade77c6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}