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]: [-0.0212, 0.7933, 0.609, -0.3767, -0.0257, -0.0288, 0.9988, -0.0154, 0.7883, 0.6033, -0.3862, -0.0227, -0.0345, 0.9986]\nstate[eef_state]: left_x=0.2958 left_y=0.0019 left_z=0.1832 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2935 right_y=0.0031 right_z=0.1799 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9986\nstate[joint_eff]: [-0.4855, -1.3607, 9.6479, 1.7851, -0.022, 0.105, -0.1294, -0.9504, -0.8821, 10.3043, 1.8388, -0.0513, 0.1832, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52377391fdafae505007a1b5790769ef594840f82173a897e51584fc3d34dc55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4e4acc4241f2b1db247b2f81a3463b0a7a23e45c7363306e2040175d6c67445",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1852efcb9d92861d7010915f5d12e379c4f87a1384b2cf6d1b079f62ea699ecf",
      "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_0a686eaa751242d7016ab471e4cbfc87d0bd38954b37691298",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.115,\"left_z\":0.14,\"left_yaw\":0.85,\"left_gripper\":1,\"right_x\":0.2935,\"right_y\":0.0031,\"right_z\":0.20},\"note\":\"All three bottles are lying on their sides. I’m moving the left gripper above the neck of the leftmost bottle, with the jaws arranged to lift its neck and let the bottom swing downward.\"}",
  "call_id": "call_SLjHKnzAQnwCYj8p7ltRRlcj",
  "id": "fc_0a686eaa751242d7016ab471ee368087d09b408d8180d3791a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SLjHKnzAQnwCYj8p7ltRRlcj",
  "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]: [-0.6678, 1.9186, 1.4441, -0.8707, -0.9543, -1.33, 0.999, -0.0135, 0.7982, 0.6491, -0.4774, -0.0265, -0.0429, 0.9986]\nstate[eef_state]: left_x=0.4006 left_y=-0.1278 left_z=0.1339 left_yaw=0.7476 left_pitch=-0.0379 left_roll=-0.0175 left_gripper=0.999 right_x=0.287 right_y=0.0044 right_z=0.1795 right_yaw=0.0097 right_pitch=-0.0552 right_roll=-0.0037 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -10.6325, 5.7231, 0.0073, -0.8816, 0.0366, -0.1197, -0.4855, -1.2376, 10.1675, 2.0195, 0.0171, 0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbb00b73f5d81c5e3e5b1cf112d609aa60070879e698c29463d6951402e80006",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e60ade9ed806cb7574b9d4816b7ecf2bb4d4f46c0f2b64a99a47e7c38657c92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d523efac5740edd1353cdfb519de57bbc2e8df2343076a43efdbb8adf03f7d5d",
      "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]: [-0.0212, 0.7933, 0.609, -0.3767, -0.0257, -0.0288, 0.9988, -0.0154, 0.7883, 0.6033, -0.3862, -0.0227, -0.0345, 0.9986]\nstate[eef_state]: left_x=0.2958 left_y=0.0019 left_z=0.1832 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2935 right_y=0.0031 right_z=0.1799 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9986\nstate[joint_eff]: [-0.4855, -1.3607, 9.6479, 1.7851, -0.022, 0.105, -0.1294, -0.9504, -0.8821, 10.3043, 1.8388, -0.0513, 0.1832, -0.1636]",
      "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]: [-0.6678, 1.9186, 1.4441, -0.8707, -0.9543, -1.33, 0.999, -0.0135, 0.7982, 0.6491, -0.4774, -0.0265, -0.0429, 0.9986]\nstate[eef_state]: left_x=0.4006 left_y=-0.1278 left_z=0.1339 left_yaw=0.7476 left_pitch=-0.0379 left_roll=-0.0175 left_gripper=0.999 right_x=0.287 right_y=0.0044 right_z=0.1795 right_yaw=0.0097 right_pitch=-0.0552 right_roll=-0.0037 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -10.6325, 5.7231, 0.0073, -0.8816, 0.0366, -0.1197, -0.4855, -1.2376, 10.1675, 2.0195, 0.0171, 0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbb00b73f5d81c5e3e5b1cf112d609aa60070879e698c29463d6951402e80006",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e60ade9ed806cb7574b9d4816b7ecf2bb4d4f46c0f2b64a99a47e7c38657c92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d523efac5740edd1353cdfb519de57bbc2e8df2343076a43efdbb8adf03f7d5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHH5sZ3xy3CNroaMEa-IcVhDGMcXrcWMvEI9W5shVetb3gfuvoLNS0BwsbMI3Ownos2QUW5cJxGG8-3DYn6Gra3BchOUnHud6S63lk0MDKT9d-gNZl2ooPIQf6nVAsp03oTntqufDBUcqYJMNdLyHyKfociVShITQveEK7TrzYQ3CTUAntOR9RWceDRElAntPpLuXISAwA5sIcntyaBnSPXb3juJmfDhP8J8IphCgl17VZ_xNjWqv8P38JDxi3fjcHqIJ5WgjGFkkYCVp8cJmPk0iVUtIaQ5yRfRbxWbjIcHTjgDDr4NtcpUDj9Tr25dQdFo6UuU0iqLOsZgG8-v1gK4SwGklljm_RSmcAe6ZUMhf7kebV27VBdIpdhXenDjjbORAJLhpjUWZm-NrzSr-EMn3VqYCi4_4sxWqSecJJ36f_ztgLezcsBJgQH9vDGoXNASkQTmC3IxUOyX_3TeqG9znB_ExMUKIMBkb7xx1hQ3iLTQldU2tcQ6S9z7jkX8j3_jsc7cwagxtc3FO6qk7Jg0j8sbH386g1bqbsC675Ekukks31KCNWkB1l4gSulmOsgv8M3rfDftDMFHXyqivEg88Y4hsrmJn7P1ODCkUtcVsCkQyeIA785Oyl8xNLXTyOlpbMsSfL7Hpqr8u0t7F8tlPA0I3jkqEA7L3r0zrzjIR6nALe0QAYQlDjVmGMzfKGNc4Sfe0RB8UnPqQnNhAhp5XWU3B3yRwTExer0pUslzJQzMdrVVkk21cmulegoK0ugKVegPbxxQh76Cr3lxUQiLwqTxVRFtXTYpxy758-0xAl6zVQJUVfUD9XKV117jJL2VNztyeJeyOm6r4k_EFvHbzit-4SInu_NFMJezjVNDCCr5aPtd3eqUh8PdJa7nl1PYjsmPRxP4M1Hl77OHJrRQ3gtQCXavBnBbFmu2NnniiXmaSU02MlvmbtRtik1Mw6fYux03lQVyDHa8MNnx-7ds7zdKNr2WF9Stn4G6rdU7ouZDo_RNDLokaSAhFAHSJSOPsrcBR5QspWkOb9_eewmzVKQ5-4_VeELSESw4_iijY96sDpTMBllLNMucNpxJlFUGBU6yfMCeY1aFKAE5MyqwyibHLDHmepdpQUykHIjlFc3uTf_aiK71r9F5IZ9rVJA0m8W-_EGx3zPtZT4_UIQYsQ3pGezJ1g_8KiSDvGfDPs0p1RPN_s8zKgIRNXRqEtEohQDSnYchtc_JM64SorwIvh2P9Xa5KRsokbOSFUinCxQGztrhuK6LTGUclIogoK9F4ac5yl9c21hPrrzALR47-RbyuGITmjW2NmYKFNK249mIbTiRmU_Cl4Sdom4Y97S50HXBkrNmO-jsjY_AqqWAGx_n3E2iSR0FadwF9nKlsJCcr9E3N6_-UGMqAbCfe3xy1R5O82kyXsZqam-aL2znqt_4Zlw66D5ESA_m4ZJ2krVwqx1yp1LKtLj-grLT2ckDiiwIbpWvsIEBa12F9KsooeDFtZl0VvPijFvwOEtVQpUe9Mn4dN2pu8TjE4YLCRxQptH85PEbjFUS6S7zrymJyCTuMzYbtadkxuRQ4upv253dt6-NUOKs1jEGE4hqvEqnjkC15ORNri60piESRC4RLiWkJ2aeK5UDuGrcKutExgv72ifJTL1tU2bXP0fySpQG57H75lOioNLWo13IoJmqBb2HOAbouXAIyYfSFC4Fzz2Q2oooAdNHnh5Ybnqwdp7OjPq_j5mpbfd68nzvWhRQ-8cM4jqFQRxZCMAht4InaFlH3n82QZhY09b_ijTM6S22P7K6rbAiHaeLY2Z_S_oOJ2qfHhIodAdC8E5J_zD-dFS30lpfKS-N77GFpe0Rwpj5nCmnHJkSttQygki5DI_ShZc3Dv8vLRHoyv5savILrPCicMJ7B-R2DB6mmzmwnvQcWGJ3e3haDUeZiXORuAxqcS5uzrk5Hxexb7xtJCkfqJUgZdhgsjtAMUD3kgosB5iT4HoIDDYp3RQ1SnBxKL4S6pA15_fFyqcAjIYQWLuhx4RU2D0QxivgHA1wGCJflg8MZhGq4-L0Fyk3f7qwYoWvMCdP-xrOWD9vA5wP40LS18mwj4v9AGLSz0aprhzHeLMNKo9T9ZRTz2kQSVmAtR_WM-7e8V0KxUsspFHC00670Wc171ZqoJJ7r0wO7IIK70UFNHj99LJT1CBdsYDFA94dX9LcanlJgqpS8FtIQfyBAuN_Q6wXyAenSCRm0okWLCVmvfXXoF4BISWe04ZG1jUOtfOFOP6TemBps7yQGUdby_oJ8P6EYyijDuX_SaO5prAkThliO7saAcN4D6xpWlU_va0LVGLoxDewkqS5EC_E2UwabYPegOMre02VAELGYtR0fSHl-LIx6gxpnZIqx47TnWnfU_CtYOTY9nK0N_1ssLosquUvyBOwV6AOgZbOVax-t_kJoHH-4aWntgy_RxDxAcQn99iZdw0nyp0_lnPFptx5HFdyXePTAFToe36mH8eCTZNxkRguH7Oi__UBn711wA1vXqGpGcOFSYo1m5m2c8aBvjWd11FniwdGN_969p8RExLB0I0YDpNiAhLAg_gV7J5qlmogho0XwMBABFuh5iRDS491T3bSQF5fK9adbJC7u-Uh8dIDUXs7Du_T-OkOw6sk8cjQLantC2UV1y-FvrnUhOkZQ-Y6G954JxLyHbRoUXMt-evJxJKwhXnwJwQmEIXWpU_N-1GVGpByUSdy6AactvCbxtv7x08FVCJ62ico0V8d5XyXHip6-cEU8FW4G9bWlJnBdwffFgodt8altaHFBWN0AWHJM2ASfETMMeBN",
  "id": "rs_0a686eaa751242d7016ab471f2ae3487d0a78e3416d1137f92",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.075,\"left_z\":0.055,\"left_yaw\":0.85},\"note\":\"The left wrist view shows the bottle’s cap ahead and slightly left of the jaw centre. I’m moving toward the neck while lowering to a pre-grasp height.\"}",
  "call_id": "call_G6th4vxCpZss4OleIbGNB5SM",
  "id": "fc_0a686eaa751242d7016ab471f893b087d08144282d065cad71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G6th4vxCpZss4OleIbGNB5SM",
  "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]: [-0.5278, 2.0563, 1.3243, -0.5793, -0.9768, -1.2644, 0.9988, -0.0135, 0.7635, 0.5953, -0.4469, -0.0296, -0.0429, 0.9986]\nstate[eef_state]: left_x=0.4287 left_y=-0.0763 left_z=0.0632 left_yaw=0.8574 left_pitch=-0.0109 left_roll=0.0075 left_gripper=0.9988 right_x=0.2825 right_y=0.005 right_z=0.1705 right_yaw=0.0122 right_pitch=-0.0437 right_roll=-0.0022 right_gripper=0.9986\nstate[joint_eff]: [0.4444, -9.7709, 4.7248, 0.569, -0.5299, -0.0122, -0.0317, -0.4991, -1.6752, 6.8581, 2.0635, -0.0611, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e4d15550527c7a95f9996f73a1fa2ab0ddc8ad71870c93b9e42cf9f933c11bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fe685b58cee72d107828765253e323884aaab952a274c5e5cf64928c7afe7a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dfe2c524142a5ec9cec4d476adc729b8164d9f09ae1ef76478905e3ca75d01e",
      "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]: [-0.6678, 1.9186, 1.4441, -0.8707, -0.9543, -1.33, 0.999, -0.0135, 0.7982, 0.6491, -0.4774, -0.0265, -0.0429, 0.9986]\nstate[eef_state]: left_x=0.4006 left_y=-0.1278 left_z=0.1339 left_yaw=0.7476 left_pitch=-0.0379 left_roll=-0.0175 left_gripper=0.999 right_x=0.287 right_y=0.0044 right_z=0.1795 right_yaw=0.0097 right_pitch=-0.0552 right_roll=-0.0037 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -10.6325, 5.7231, 0.0073, -0.8816, 0.0366, -0.1197, -0.4855, -1.2376, 10.1675, 2.0195, 0.0171, 0.0073, -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]: [-0.5278, 2.0563, 1.3243, -0.5793, -0.9768, -1.2644, 0.9988, -0.0135, 0.7635, 0.5953, -0.4469, -0.0296, -0.0429, 0.9986]\nstate[eef_state]: left_x=0.4287 left_y=-0.0763 left_z=0.0632 left_yaw=0.8574 left_pitch=-0.0109 left_roll=0.0075 left_gripper=0.9988 right_x=0.2825 right_y=0.005 right_z=0.1705 right_yaw=0.0122 right_pitch=-0.0437 right_roll=-0.0022 right_gripper=0.9986\nstate[joint_eff]: [0.4444, -9.7709, 4.7248, 0.569, -0.5299, -0.0122, -0.0317, -0.4991, -1.6752, 6.8581, 2.0635, -0.0611, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e4d15550527c7a95f9996f73a1fa2ab0ddc8ad71870c93b9e42cf9f933c11bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fe685b58cee72d107828765253e323884aaab952a274c5e5cf64928c7afe7a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dfe2c524142a5ec9cec4d476adc729b8164d9f09ae1ef76478905e3ca75d01e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHIBaKW_Sv6Jys_DiERN_JM4Waq8fIu0hUndPIhEdpY8suqOzz5V0VVW2JawtSn6s-TwyGIpEsBg53Q5M6d-pBb9Wy7-0p5ydYteT66kOyxOJz-FJdcesbEuRLw6PJ0bYrXnaES98ey9lGRPFvsklG0Kos6O4ca51XT9b9I2gz9nvxzbvyx9epZ4lwiNkN03iS2nLYmWLmQ3j6f8HJpi5afP3bPn6ETH3T1I_XvxiIhUzSzhgBahfcAUdFFBpFXpWTVVb3Jd-AXGEZNqaFYulo4z8nVz9lKWXZXbbo0nfegF3rO1oQTBqEtH3kEcz2JztFil6-HSz9lHMpQAdTZ55wCbHbWswxvfGdf0luKm6B43PwhMLrGORuk95RmLyNNA-zk1CuWudPjnwYDQ0PTWs6WNHBU_57uAjZK_50K4dSdCvLheKzVSH8RxZs_NTDyCNH1sJS8_rCzmRyRIPYiINeLSFeGDiecDkMKzJg4y1dMMEi15gZlv1msAWSY_54sQ6m9QphYrHIhZbCBhngNEnrgwbyg6_2vIUnfm6btasXif7O1q3onNZm4mBIQL3b-CAN10mIYZ30W-R5iuz3NpOscmPf67AhzniVjlciKAwbYPr-kZ4WEKPF7Xg-0z24rfgnQlAwy38zLVM5CiRGHTP1IntByFpgjqWk1tLaR00bku2cQ8rX63tpH89G0O6iXzUqNahyA1Re_Z84kaNpcHV3vE49ZQ1aCTkwT7X66fokAq4R8w_OZAUGTahqSsSULjUasoAl_Cn8rqpuzDtryc6f6uKBF26FDKSQ8tkxfpR5jNyJvzuG5OS5pjBgBcm5VWcOHCb8ewhg8bPJfBJtfMpE5rZijhaurJzmrHqEM9FCakY059bCkcc9L1ckJ74C1vB4AGseR4L3-_Xd9cFelHFCP73u_ZBfFvh-yLCiD0XGBNnoxJTI4kG7vyoWluatfYcA3y72C33aB9UAGlQwfgEd6ZbSJJfJ8eMbZDDqWdwu8dZyf5emysdMkfq5eS-C7WGfo3wkQdqt889zIoHIEyKMbjE4on6YkzUmsyE80N5goJycOzA8Bnhr1jugxvKWtAe3SLMck_706PoUSH7SuF65bzQi8oMvkTz858wTQksnKOPv1jeHw4zsei6h6TUNHml0M7vdJOr7LaO3nVFNbvykg8dl0eoqypVylvLILpUVVi3GtKL0eC5JyUTMo1z4JJFgI0X364wwXDKlIbuxSThDcYeIP-7pFlPJUG6FHWrihxPC6yV4hIV8jXx_VJHABFpaR55Ol0CC165SE_b9HV7M7HMNmgOhyi5JbDRR6ChpYLG_mV4A1GwLCFRyyh-X5XOZCpb7AbRrY6QeGxK052vrhRotUttOUFNdM8gJEBge_ywE9es-BTiveB3nZ5NU2mwQ1dMiW8j2sUiZuGYJEZpQwmsvcEUgbbB4pkYNSwUniBMmD5ICOwq4rQJuLPdDin_bxVwYtREYMSLSPtk2XozS-t-aKi-Hdpr9Ezndq1fm1Rr211U6UKGWusLDH5zAAXqv0oHCVhGwhph78KHl9TILmfHjy3kX-rfRFXY6BmPI90ziGP0p9msY2NTGq2Che99CxiwPFlEe-x-M9jsK-ZtIHkSgUMO_n2TH6MbVZOp7vbCnsDPpEuvQ5-IbElzO1_vFSbGb9Jm_Z6fkq-3QIRE81EPqzxBjQdX5W0Yla4DTkzIqoDwQOOQIpipy4-Hf7b0TFBtHnnQwrscJqNe4l_DhgDYO_Ki9EZOLVOcU212QPzg4y1_EDUEtexMrgwUMzaNjkfBODu7a3n_m45XKMfeetu4fiuFfZq8w76HASOPCuYns7UKL7QzxUWO-CmBKb1xz19W3NwlKjIhIV_mJq4iJBiKovGHiSP3Kzf1vI3vS7RBKj8JV6NN3PCklm_2Kk4LoISTriIY4NSD38l0uYzKm_L_BvZhclZJ4Ezhx4fOTPnFb0ffE3WJO1hYbv9oE_wV2mkfOR0jz8ODAvYdSIdyrik4h-bdZZSa9riaVAD-J5c7qk2b6HfhJWx6DIkxa5cuCxNli7NITTyrzKLwobETdGyMKNbvBTq7KZYfj4ygXkFWV9VzEdB_xJwYWhxJZHACYEntjivNBYk9TxBo8dnXVqXZg==",
  "id": "rs_0a686eaa751242d7016ab471fc46d087d099e511916c4e5fac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.035,\"left_z\":0.025},\"note\":\"The cap is still visible ahead of the fingertips, so the gripper has not reached the neck yet. I’m advancing a few centimetres and lowering to the neck’s centre height.\"}",
  "call_id": "call_AOU86HO1yyA8b5fcgDhvGF8J",
  "id": "fc_0a686eaa751242d7016ab4720091e087d0a4550c6227d0219c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AOU86HO1yyA8b5fcgDhvGF8J",
  "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]: [-0.4034, 2.1273, 1.2812, -0.3222, -0.9501, -1.1179, 0.9985, -0.0135, 0.7391, 0.5522, -0.4252, -0.0296, -0.0425, 0.9986]\nstate[eef_state]: left_x=0.4574 left_y=-0.0351 left_z=0.0336 left_yaw=0.8939 left_pitch=-0.0039 left_roll=-0.0141 left_gripper=0.9985 right_x=0.2789 right_y=0.005 right_z=0.1617 right_yaw=0.012 right_pitch=-0.0407 right_roll=-0.002 right_gripper=0.9986\nstate[joint_eff]: [-0.6769, -9.9761, 4.3419, 0.9011, -0.3004, 0.2711, -0.0366, -0.5538, -1.6342, 6.9538, 2.0537, -0.105, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50849229da10917d6f77884ba65586e4809f6eb7dd92edcab92cc9d95c1e999d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c9317ec4ee79bbadf2fb9933b9228ffeb5a2fefb2d62c7da6c89ddbed1df3cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f395812162875eacf3b06e4906c464338a042a1966caf424db53900cea2c788",
      "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]: [-0.0212, 0.7933, 0.609, -0.3767, -0.0257, -0.0288, 0.9988, -0.0154, 0.7883, 0.6033, -0.3862, -0.0227, -0.0345, 0.9986]\nstate[eef_state]: left_x=0.2958 left_y=0.0019 left_z=0.1832 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2935 right_y=0.0031 right_z=0.1799 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9986\nstate[joint_eff]: [-0.4855, -1.3607, 9.6479, 1.7851, -0.022, 0.105, -0.1294, -0.9504, -0.8821, 10.3043, 1.8388, -0.0513, 0.1832, -0.1636]",
      "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]: [-0.5278, 2.0563, 1.3243, -0.5793, -0.9768, -1.2644, 0.9988, -0.0135, 0.7635, 0.5953, -0.4469, -0.0296, -0.0429, 0.9986]\nstate[eef_state]: left_x=0.4287 left_y=-0.0763 left_z=0.0632 left_yaw=0.8574 left_pitch=-0.0109 left_roll=0.0075 left_gripper=0.9988 right_x=0.2825 right_y=0.005 right_z=0.1705 right_yaw=0.0122 right_pitch=-0.0437 right_roll=-0.0022 right_gripper=0.9986\nstate[joint_eff]: [0.4444, -9.7709, 4.7248, 0.569, -0.5299, -0.0122, -0.0317, -0.4991, -1.6752, 6.8581, 2.0635, -0.0611, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4034, 2.1273, 1.2812, -0.3222, -0.9501, -1.1179, 0.9985, -0.0135, 0.7391, 0.5522, -0.4252, -0.0296, -0.0425, 0.9986]\nstate[eef_state]: left_x=0.4574 left_y=-0.0351 left_z=0.0336 left_yaw=0.8939 left_pitch=-0.0039 left_roll=-0.0141 left_gripper=0.9985 right_x=0.2789 right_y=0.005 right_z=0.1617 right_yaw=0.012 right_pitch=-0.0407 right_roll=-0.002 right_gripper=0.9986\nstate[joint_eff]: [-0.6769, -9.9761, 4.3419, 0.9011, -0.3004, 0.2711, -0.0366, -0.5538, -1.6342, 6.9538, 2.0537, -0.105, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50849229da10917d6f77884ba65586e4809f6eb7dd92edcab92cc9d95c1e999d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c9317ec4ee79bbadf2fb9933b9228ffeb5a2fefb2d62c7da6c89ddbed1df3cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f395812162875eacf3b06e4906c464338a042a1966caf424db53900cea2c788",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHIHpv8cN5k5w3FtvyTa_bYeJeh8_7ZfvSGc2T_75rN2yv3RC_1E1eEJtn2SQ6BIchDS7e4IT6ecCe-nNeYPZrQ9obmqU77avtZp-EVzAtJ6nbbbE6-4qxEgjQPoXe_aG4I_2Pz5DmTilLFVe0LO9oLQOdvMQL1PK7uQc2qBKDNEZUZzOtos4Q7c_uOb4Qk9sA2W5qsG2IR29xDZN0lkANwInO3lh-Llv6uw9QP1ILjITVZVTrvFfCmLmWMtVhz5V8w26XkW3QTmJEB0WF9BrVaKClToXXF3jyLuBjCmFK_zt8jQC6BGvMgfFZFk5lXsx9Vtzj6okuT6DahSeIt0wV4IoC3fKoaVphSSCvx_1MrLeyHrnVwIDoIVRXl41wQVsfHVmE_EApBPGlh5BR6hQFH0jtpnohwTnyDlcN6l__d9u-aKvoHEvKcuL1__FeDqHj9-I-14TdS35kdWWLhssMOUrV5DLelrrZ2Qj0KoTNIlESyZeavZOyh8DHQWrGRhyDdaT6cpzjN6AfUAh7Bj-HxNARhCQBxSg5ir5CKYnD7_UK9feAgVx8hnG1uwxK7-rFzxLoyGFAgOKoEDBODqZKciRMTX9LZOBdTbPB_aACgJSWMQ_tmyzbfViJXZzdCdMngR3X616pQfuNVTC81KWExkvJynoFIX40Emo9W0mRp5hjNgFqmH7z4U1bDPsERQkLf8dbW2LTVfmPXjD7RJFmIrjDr0UfJsgsSR_e52kz-5rxeUXJXPjoweKeBcPHfhF5I0LOaXIFS1p_Eu_QVolSCVMX0Hzw5mvWwIFGduA0ZSjbdClXdSNylHyPr3RpixmN-2zXsPOQeNQhcBfTWzDAFrAqdTXmFdAPX8UoLcbxVRGs9en78J9aonBSRptEZmqi-tN-03-ofmK9lbxr38hpk_WE6tQj5hzRtWq6hb9UuAmfKwrGvnBy_WqDJJI3Mc9G-DSTaJfQOUewSIF2IQfJPt8g9UlnkSbWkCe4dJHXkHSDJwp0IBExehJ_aYfHF2UoSwU-vRqwUSR9bV35VHWeFtfrt-ASbzeemOwwwhoTHgloJHsxHYsJxhLsBn0NlFGm3811v58QthX0lyQ6nCx8l-yS4Fw2LLY4nLPaCmd4igO5cj_WuR9wE_zTMWlyMdnfzWFYfGQJj-oZH2_N9hAcxBAXMibe72Qfsg4_bEYFC3JCyB02zT-P9c2TnGDos32bECjsDqwH4umMVsO0rkiZqyuBOX5XozkPX9e0OmnyxW87tfakJs9rswKqCzrLrMcG39PsdW-DapCnAfem0jLJ2Khk1_sPK_AdaadKyGx9eoTdZEeH5JMT1i-VQ4Jcjp5kyCF5iG5SvMzUHNIpQ7jiOK8aiVEDepRFznVKqOKhbsC3fZeUO5DHd4SnTbQW1u4jblA8t8C659yr40LxyETd731dqkHpBQvR_qsDMlo3z-opgNF88ygZSWtEB38aCGRpPAvVeVv3-zMQo0its6tSgZys0O20zwuyly6gcZk2O8uJBLFVYJmc-yZHESCoJQGXxLaJ8DJQcGED-xvv2kftDTRAgN_VOAF1v-dYoMGlEBfClzeqPk6v_4l4iRJiWnGsGZYWUouGaydPs1MCw0GiJ6nqBiLq6b-mEBq78j-LSUd1-rPVn4u7pEkrA3ZZApqZyAagaExR8R6_6kNSetR5tSRWL3F6Mbnd35OR87jsWzwevCCeZLfZKdruNYqXjmMjUZjU2IBNUGKHijsteb0GLcotPcisgchiPAY3V29foVDhcmJVmvk7QG0t8UHk_I27PpIp8LJy-eiOZJcBCPIiFZ16Iq_BTnmLYHcdfuWI7_ZNFcdHSRJPz-pEGLwzZtzT_tqeyIPRbe6xTWm0MRl83N3_3mbAwVhbDDHuIPV4GiKCDeULgsPHB_ErdPI97zyydaMEeVbEtKfPmT19ywmDlJIlMKT3w-SdUATnb45-abH0ES9SHoIqaL_nqdb9RsAZjU",
  "id": "rs_0a686eaa751242d7016ab472038fb087d0950d90b0d3d7b45f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.442,\"left_y\":-0.012,\"left_z\":0.025,\"left_gripper\":0.48},\"note\":\"The neck has reached the bottom of the wrist view but is left of the jaw centre. I’m shifting sideways to centre it and narrowing the jaws without fully squeezing.\"}",
  "call_id": "call_Yrgt1STlXA9PV6xiGUDFtQxn",
  "id": "fc_0a686eaa751242d7016ab47206577487d0a05296194b46fcaa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Yrgt1STlXA9PV6xiGUDFtQxn",
  "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]: [-0.3622, 2.0827, 1.1767, -0.1928, -0.9806, -1.0611, 0.4855, -0.0135, 0.7132, 0.5167, -0.4011, -0.0299, -0.0429, 0.9985]\nstate[eef_state]: left_x=0.4499 left_y=-0.0097 left_z=0.0365 left_yaw=0.9189 left_pitch=0.0422 left_roll=-0.0244 left_gripper=0.4855 right_x=0.2765 right_y=0.0051 right_z=0.1571 right_yaw=0.0125 right_pitch=-0.0262 right_roll=-0.0025 right_gripper=0.9985\nstate[joint_eff]: [-0.4171, -10.7692, 3.8769, 0.8669, -0.1099, -0.0611, 0.2173, -0.4991, -1.1556, 6.653, 1.9707, -0.0855, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d8112a8c43d9bed1ee7ac8f1e24a575736e6c10aa91ae169eed8ec5c2913bc2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dbaed73a5655e58b07b1a7dc07a36588580ec9abba6e936ea74598eeeac29fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:988d89e06ebf9e5e11cc1a688a33e865ca0b97bd0f869417785f89b90e936cb7",
      "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]: [-0.6678, 1.9186, 1.4441, -0.8707, -0.9543, -1.33, 0.999, -0.0135, 0.7982, 0.6491, -0.4774, -0.0265, -0.0429, 0.9986]\nstate[eef_state]: left_x=0.4006 left_y=-0.1278 left_z=0.1339 left_yaw=0.7476 left_pitch=-0.0379 left_roll=-0.0175 left_gripper=0.999 right_x=0.287 right_y=0.0044 right_z=0.1795 right_yaw=0.0097 right_pitch=-0.0552 right_roll=-0.0037 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -10.6325, 5.7231, 0.0073, -0.8816, 0.0366, -0.1197, -0.4855, -1.2376, 10.1675, 2.0195, 0.0171, 0.0073, -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]: [-0.4034, 2.1273, 1.2812, -0.3222, -0.9501, -1.1179, 0.9985, -0.0135, 0.7391, 0.5522, -0.4252, -0.0296, -0.0425, 0.9986]\nstate[eef_state]: left_x=0.4574 left_y=-0.0351 left_z=0.0336 left_yaw=0.8939 left_pitch=-0.0039 left_roll=-0.0141 left_gripper=0.9985 right_x=0.2789 right_y=0.005 right_z=0.1617 right_yaw=0.012 right_pitch=-0.0407 right_roll=-0.002 right_gripper=0.9986\nstate[joint_eff]: [-0.6769, -9.9761, 4.3419, 0.9011, -0.3004, 0.2711, -0.0366, -0.5538, -1.6342, 6.9538, 2.0537, -0.105, -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]: [-0.3622, 2.0827, 1.1767, -0.1928, -0.9806, -1.0611, 0.4855, -0.0135, 0.7132, 0.5167, -0.4011, -0.0299, -0.0429, 0.9985]\nstate[eef_state]: left_x=0.4499 left_y=-0.0097 left_z=0.0365 left_yaw=0.9189 left_pitch=0.0422 left_roll=-0.0244 left_gripper=0.4855 right_x=0.2765 right_y=0.0051 right_z=0.1571 right_yaw=0.0125 right_pitch=-0.0262 right_roll=-0.0025 right_gripper=0.9985\nstate[joint_eff]: [-0.4171, -10.7692, 3.8769, 0.8669, -0.1099, -0.0611, 0.2173, -0.4991, -1.1556, 6.653, 1.9707, -0.0855, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d8112a8c43d9bed1ee7ac8f1e24a575736e6c10aa91ae169eed8ec5c2913bc2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dbaed73a5655e58b07b1a7dc07a36588580ec9abba6e936ea74598eeeac29fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:988d89e06ebf9e5e11cc1a688a33e865ca0b97bd0f869417785f89b90e936cb7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHILvxCmtTFk3wLtjwR-EbUkTETzQ3RgAGqvnluum_bWqrCty81o52UsT33xE_NgxZb3UsS6bILy0dG3MmVCrHJjQBTBJcCi0exEA6_vN9z5_-iKN4KSxqSSZL4gVqLucdxMCPDugqVtDqw0ukgkT29tEEbOYTebPV75BLlrWNjFLqJZHj89OEIgnJO1vmK1wQPuJ7nB4-N6To5ATAsuRruDgj7ogVlNgTF-5qfXmiw9ov-HtGKvFzgGUDmTxGestdZEsQNRuPGG6SbwmfHeJ4oCHtHSajZzjJm6L7qS6GGNninsd2VWLi6Ny0vInMbEdvksSsnIWMlzHlZHiKhO3faiqj8wEa2AjeFve5LjKsIrkDdpkV_NHI2U4782HPUTf3KZd23bAwWI9vmHNiInmC0Ipwo_7BVbWpaYNOEX--IK-LyFvs6951fhgVyw6ymKhGs5zqqdRXWm7-e_16Y7J2xb-Dm5tB3VjFmzI78P_I8UV2iq3A6N1cUYgrs7VFnRHfj_lX5zjy6Xr8LXD4K7bzm4vHG6plSiDeXo-fpukkID_Bux8gtgTSouEz2FEE5snYGVkut6OJbSFqfRZG1BqSdPhV5BOTL8UU3dvj5CHHvDO7cpGPe-hoTfxN-KMuRN9tAk9CG_14QVehWO9pwZxsso4o66VuAUtuwcMW7agXNdAe1mhfdkjN54KOilf2X-eYPAdaLcDt6pRG4DPMAnEJHIfbQZfM9dB2TVfSBb3of8ogRPgoNldjV0rPgPKT1Dwe-Z-SjAROoAacADb7bgsaiTy7wp84yg0nQjXlWQPMTy5JQ8xVZdHKtEC4zysISoUycqeNgHPagbYF4qVJxs1isNOBCcAB68ddsj1NfOaPB-xKLXbOIZ_coNPgHDhw-Ji09FBxhjOlLxfr88xkbQLkWcL2exLS6y0u74XeBHvgsfwWnkqWvlt1xfcmAWa4p3l_XCxJnxokhpaOh_JVwBVA5VxJxu3F3iaHyhrF1tiRVh2NyfUBsTEwpkmhfWA55VYYyEg3TFo5kMp9MqG_fEtkshV33QhwI9SYw6cFpiqM7-XBadQkKy4J0WrgFsNOxJktv0DSpFlS9fXJSWL-WNucJY7T0wGZcO_X2WcrDNObK4eu836awcnE8SBnI1hdgZ8LyXO3ihssyKrXUWd_-JCa79rPpEdzPM1RbK3owTExzL4qbRWq4U2iVtoz0qI-9gJLe4gizGQJ2n2szcnqgRhekKR9J4QbstrIpxWkToaG7_3DxKBR_8VSZzfxiVy44zqnGi",
  "id": "rs_0a686eaa751242d7016ab47209e42087d0ab69427764f90477",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.018,\"left_gripper\":0},\"note\":\"The jaws are positioned over the left bottle’s neck. I’m closing for a secure neck grasp before testing a lift.\"}",
  "call_id": "call_DpmkoWALfdXZJzrOShUQlIpc",
  "id": "fc_0a686eaa751242d7016ab4720a703c87d0859e08e20db1c3d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DpmkoWALfdXZJzrOShUQlIpc",
  "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]: [-0.3576, 2.1029, 1.1904, -0.2161, -0.9562, -1.0733, 0.0104, -0.0135, 0.7036, 0.4919, -0.3958, -0.0296, -0.0429, 0.9985]\nstate[eef_state]: left_x=0.4497 left_y=-0.0102 left_z=0.0271 left_yaw=0.9186 left_pitch=0.0126 left_roll=-0.0128 left_gripper=0.0104 right_x=0.2736 right_y=0.0051 right_z=0.1494 right_yaw=0.0122 right_pitch=-0.0361 right_roll=-0.0024 right_gripper=0.9985\nstate[joint_eff]: [-0.0889, -8.2667, 5.7368, 0.9304, -0.3932, -0.0366, 0.8669, -0.5538, -1.5385, 7.0359, 1.9463, -0.0855, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6953be52fb115f36695bf8dac8193ce09c94b12c125b36c964bc95509ff78afa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d32b099af94ea832c9458b62835106e33071e389c66741fe92af688ab13d779b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5da0420784a0cd666f69ad1b951a11b23d23020e3c309311ebe503975b5350d5",
      "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]: [-0.5278, 2.0563, 1.3243, -0.5793, -0.9768, -1.2644, 0.9988, -0.0135, 0.7635, 0.5953, -0.4469, -0.0296, -0.0429, 0.9986]\nstate[eef_state]: left_x=0.4287 left_y=-0.0763 left_z=0.0632 left_yaw=0.8574 left_pitch=-0.0109 left_roll=0.0075 left_gripper=0.9988 right_x=0.2825 right_y=0.005 right_z=0.1705 right_yaw=0.0122 right_pitch=-0.0437 right_roll=-0.0022 right_gripper=0.9986\nstate[joint_eff]: [0.4444, -9.7709, 4.7248, 0.569, -0.5299, -0.0122, -0.0317, -0.4991, -1.6752, 6.8581, 2.0635, -0.0611, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3622, 2.0827, 1.1767, -0.1928, -0.9806, -1.0611, 0.4855, -0.0135, 0.7132, 0.5167, -0.4011, -0.0299, -0.0429, 0.9985]\nstate[eef_state]: left_x=0.4499 left_y=-0.0097 left_z=0.0365 left_yaw=0.9189 left_pitch=0.0422 left_roll=-0.0244 left_gripper=0.4855 right_x=0.2765 right_y=0.0051 right_z=0.1571 right_yaw=0.0125 right_pitch=-0.0262 right_roll=-0.0025 right_gripper=0.9985\nstate[joint_eff]: [-0.4171, -10.7692, 3.8769, 0.8669, -0.1099, -0.0611, 0.2173, -0.4991, -1.1556, 6.653, 1.9707, -0.0855, -0.0269, -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]: [-0.3576, 2.1029, 1.1904, -0.2161, -0.9562, -1.0733, 0.0104, -0.0135, 0.7036, 0.4919, -0.3958, -0.0296, -0.0429, 0.9985]\nstate[eef_state]: left_x=0.4497 left_y=-0.0102 left_z=0.0271 left_yaw=0.9186 left_pitch=0.0126 left_roll=-0.0128 left_gripper=0.0104 right_x=0.2736 right_y=0.0051 right_z=0.1494 right_yaw=0.0122 right_pitch=-0.0361 right_roll=-0.0024 right_gripper=0.9985\nstate[joint_eff]: [-0.0889, -8.2667, 5.7368, 0.9304, -0.3932, -0.0366, 0.8669, -0.5538, -1.5385, 7.0359, 1.9463, -0.0855, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6953be52fb115f36695bf8dac8193ce09c94b12c125b36c964bc95509ff78afa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d32b099af94ea832c9458b62835106e33071e389c66741fe92af688ab13d779b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5da0420784a0cd666f69ad1b951a11b23d23020e3c309311ebe503975b5350d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHIXmeFtih27il1i-JdZiyuYqwg0ODLQVdU6kE_reClt_IEnx6qw2MujhN-lKkyUBsnl6WsCAY894zf-096F3p4ViRqbBkpH6QIGaHgkivSvXUGVXApe3OlFSBztFx-SYcGvp2R6cmkmAegQU_jCFyi1Mr4q4VUrPYK4UiCpBAk0WOJzwoZ2ubVaR7UucUza2knsH5ZzPShc8EttqQQu93HEwJHxHZvaTD0nKOQDQH6aoNNvG9PNhJ4Orr895QybSvgPAChBK2HdfsurOjTH7XlMsh3qwnkOKfPSgICCtOpicyHlCpvpaK1odJ3cJ7u-vzltPSMLdWM3jHmrIxgCYkx9DwxC5hogUE7x3CfXCGaE2U3mXaeWvS2oChfBaehdlJ3smqT6P_D2b9i5mZKSOMHsFcOr0qRNZWYWGsZ5IrWu8rUWX9JFRy-6JXFf90ShYrmqlPJ16Vi3yRTWLyJUmyqN8An6uSje9RoKFpXsPus2cwgBlyZGzkpqDLvNmIgU6o7prxz-GjXmZL3dPPCtEae4al1MSaTPtckO0BEEnvecZ2Ift7VL-EmeLPUtFSCp9z33qnLgaaTPFzipbwwjqAcRS8w1q_xQWXSfYfnBnXFi4HMmEaYWzAHJhIThFK5hrGe2g_4P7gbQ-q8-HpCY3GEcZrIMN25tWfNx44dCn6v-QU11ScaAiNuRwb2dBqSZOwnfTlV1R2hecoqE8DHc7S5M9fUQYvfZRYMkiA18gVL1dNm042rXcobDhp3z8kIboYRTSvVP_IXlPnAI0_KleD-48CTBUZ_VZeHFtA-rxkYBHGQC_F8n40ciGCTynO4NedoewrDPQc5Mtifld9bvm9q8ZZWXXaGsbPSXZd9lJu2C3_8o6h4cw6bk7NZ5ikUiTfch7HxKEUQRK5WN3XJhEqOhRkZH2mf-ymm4WdzNQzTiMTA5jMK3xG0C2w_KVbYamxR3bHFmdjepL7SOErBzBb0TXvlfSqIQqqr5QRMn5F_vhUo4JORqb2Yp13XEcbBT19ZIaW55Bz-JZpkGhWA3FI1vDo-4qTGg4HdrabqgqmxbbPN3gk6TncJGHbO45_9GKTdiySSa64266VLaaDr6zujUIuiHKlDD_lc6ZKE0dBYY-E_zruZWtunx4g1lzZ8db5A2SPTW6blSA0j2y76gTAwL8kQoFlWlZ6tvhJFnlLC-pEJOmEauIwEvDnboYCCuB6p5w2L2Af23NeX5LkbfjuEuWMisGSg4NSv26mxkC5vkmrueoT0DIo0DIUkAeKoBo0yPsGOxe3vhV7jBGZA1hURSsDY9ZnvuQcr0LiM0ZGQkO54t_s8OiCe7SfZx0WwwrbKBsScXyd72JCxujqG0o_6OVBMIk7ZXYeoSGfQfG9CEMaW79hz5qzIdcgeepK8RUMUUbflRU70GS_rEuWUz-RLb2l9UrHmHGIEg87LgUSH4M03xZRmEYg_1cOaf0eRpDBuM1L-KYDTWQK17hsuAV6ECNVESv38R4KsQJDnnnvtJMPLFGWtMHBeDdcdtjO-2CEs9vV0Gd0CMIaZPoe1RR6KFsx4TGfi6xLVuGpE5aDulVmwliHemY47-tvKX2KNAd1E-L-3AcUJDG6hlVOTWaDSF25KBgM3TCQ3Q5XZ2g5uLuFk_jn-2N5aXguYxNZIxVKCw72_YBZTVx9Pj8qbW2vnzL4fmgPZtnfSVnfhhZTeGrVPBI29otvkY217-42XKInKVpQjvZ2cnqmGlkyQLN6Q3_JiUUuqXJYyBKo61u1NYbjVPQQdTpxJOxOXx2N5YOO_dmT5AXJ3ugJoT7eVFHZIWTmQ14MNXB05zNiAlPEe_fR7aakX_uCoJTZv5LR5gUlOrrwUnXZRqOQgJ2yBECrcehShba5GHVavBw3ibthuUFN_0Uhivux4kYgJ_gpZIPJa0kJTc319q2bEXY1kE7UNowbIpcZ6g7K3AxrjPhr-nDJqgLqGTnzgfnVDKsG4QG2wwhgmaa7utAx-soqmn5K7U9YVdzmSSXFUt_KOyjBHPU4nqz-FhLHDFq-JUBuStXh9RYwqK8_Ef7IVz5wuXg-i4MmQxTqg05QvDts9OOHcHGnBYv3YyRbqyfNqwCRdIAUQsrFFbwRmjGLw_LmaGtv7v3qATdO-pagPHULJ_6nalw-n05_C6cGB9C0QaK9Fsv_g2G_qK6sNCnx-CDWbShYPc-SSjKj48_5yrLKdFopWlsdtfLz9-9ZC-mNZVmza6zOjWJcZg9A0E4C0uNNV41mAuOqr-RPCaxxpjVnb2P7u8laKVVHftTUEALZekJGbQFRMZztCaG7z7hGWZXKJmSSVUYhsshzigV6CkFQedFz3oR9OKOQ1KJpUB0cWy_XIFnn0kUPhH6K_u1dJNfdIgBdL0YU4dkTQ-qY4FCJU2RXqtIjF21CV4g-nQxuyw0Ldvxzf1mwHjLFfuNHvMyDjtptmtoccJU3lMPqTSmW5ZX54NOkaDLIE920V4KG6H0T488Gopckq1eIiv-X_8jPmJyT--Mh8YXQMqzB-Dwbj81BCRUUYmJ_LzwmO4ah4E7T_Ht5ayWs4d3nvQDw17lKwVsMevgot6DkgOYQigtW05OqNzZYNP0GIPao6uNYUW8cXTEgz-pOY4MKc3RC38W3KdM4f08fWZeZ2kzSenjOOAEMnG-e8wyV3Hi0AtI9AHUxo2ZLmT5Qhj-2yUURvNPV5_y4kpE5iJ5dGEtgvhAELLRClrsze2mVilTk2kDYxDqWamCOPIOij00xXnaP-nq4i41pTWG0cGaJVrv_HtmHik-U9A1nt_4iqF4m-Y6fFsZZogDfyhIyFxOE0PdYU63q-szdL4AS61qadtzhntwnIVdwsPdj2txJR7nTE074UMn1jsE98wQw8MpzLzwkPtmTFIwMB34OTYEhpadfZpVqrOpO0dILlevUvNvgyGtvWfcLVZ3-tV-luNQIJ-b8cH1XeiM7FUTkxjZFhIGJ2a1uazrxhIB2qkAVG_TmZoahN0kkj97BR57bqeGcI2jhH4j0Xd8gAuvIJCff5yB13Y8PrBtglrRbTvIGvaePEC9NnutN65h1srOd1sBPXW5URQGUMxMfljBan7LFjNui1n3HiwAPoYnVI6Yfmk5wUBkOkpPqq5l8QAW5bpfwARwiI_a-QDreFlYGM7C7yb6O925iZ1IeWW4X43JYMP_J7m3POnVEOBIuH5sYifq0tTRyAk6itY3YvmMxvoVGvVSRiRRN8wesL-a_vwTUTonmiA_4MAxpX2BhQR3BhBZlnYnP4FpjAaKlgUD8cSLABYtzgTmjWWpEfMv3Y6YsR5BK7YFYTA_BSc6Nml02yLjBv6al9t5iJvPchEq8jJSml5NSrr3ka1xJeR6RMpVCcKS5mfJt189AXfpYQWRmkO_RhoYEMO9i3n64R44ZjMdu1uWvsSDYrh3HkMeAL3GIOBKuE_k7IOo8_Y1-S9KS7i2XTt52SQSB5hXRcZpr1yxZJYaP8yaoVXnTtxcTkTIF6UjdJ6GrsedAZmDlKWnTWme2qXFGZBGMYYu4yMBeXCmIWzUAurJY9kJsxhr7ECu_gucJFbwZiZBfGWTEpp_5FxDKPy8jXhhx6djrvY1Q==",
  "id": "rs_0a686eaa751242d7016ab4720d7fcc87d082ded281314d1a1f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.418,\"left_y\":-0.045,\"left_z\":0.02,\"left_gripper\":0.65,\"right_x\":0.2935,\"right_y\":0.0031,\"right_z\":0.2},\"note\":\"The gripper closed empty, so I missed the neck. I’m reopening and shifting back along the bottle toward its shoulder for one corrected attempt.\"}",
  "call_id": "call_ARf0t91rImlm6TXiXlcGH5hp",
  "id": "fc_0a686eaa751242d7016ab472160d5887d0b4554e2097312a04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ARf0t91rImlm6TXiXlcGH5hp",
  "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]: [-0.3576, 2.1098, 1.1908, -0.2142, -0.9493, -1.0767, 0.6448, -0.0212, 0.7921, 0.6388, -0.4648, -0.0307, -0.0582, 0.9985]\nstate[eef_state]: left_x=0.4497 left_y=-0.0109 left_z=0.0237 left_yaw=0.9175 left_pitch=0.0053 left_roll=-0.0131 left_gripper=0.6448 right_x=0.2871 right_y=0.0029 right_z=0.179 right_yaw=0.0138 right_pitch=-0.0467 right_roll=-0.0139 right_gripper=0.9985\nstate[joint_eff]: [0.0205, -9.2786, 5.6957, 0.906, -0.4371, -0.0171, -0.2173, -0.8821, -0.9504, 9.9077, 1.8144, -0.1587, 0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:584039a0e8c3674366d14df44201c90d75cabd160fe67ec94d05a0630076a1e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf3092feaf7ef733899388319e767f338cc2f458595e9746f85839c57c8d9a1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b5d590d362c9e28de4adc0309fdfe48dc40c7d1fd2024f25dfca7e1109753f7",
      "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]: [-0.4034, 2.1273, 1.2812, -0.3222, -0.9501, -1.1179, 0.9985, -0.0135, 0.7391, 0.5522, -0.4252, -0.0296, -0.0425, 0.9986]\nstate[eef_state]: left_x=0.4574 left_y=-0.0351 left_z=0.0336 left_yaw=0.8939 left_pitch=-0.0039 left_roll=-0.0141 left_gripper=0.9985 right_x=0.2789 right_y=0.005 right_z=0.1617 right_yaw=0.012 right_pitch=-0.0407 right_roll=-0.002 right_gripper=0.9986\nstate[joint_eff]: [-0.6769, -9.9761, 4.3419, 0.9011, -0.3004, 0.2711, -0.0366, -0.5538, -1.6342, 6.9538, 2.0537, -0.105, -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]: [-0.3576, 2.1029, 1.1904, -0.2161, -0.9562, -1.0733, 0.0104, -0.0135, 0.7036, 0.4919, -0.3958, -0.0296, -0.0429, 0.9985]\nstate[eef_state]: left_x=0.4497 left_y=-0.0102 left_z=0.0271 left_yaw=0.9186 left_pitch=0.0126 left_roll=-0.0128 left_gripper=0.0104 right_x=0.2736 right_y=0.0051 right_z=0.1494 right_yaw=0.0122 right_pitch=-0.0361 right_roll=-0.0024 right_gripper=0.9985\nstate[joint_eff]: [-0.0889, -8.2667, 5.7368, 0.9304, -0.3932, -0.0366, 0.8669, -0.5538, -1.5385, 7.0359, 1.9463, -0.0855, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3576, 2.1098, 1.1908, -0.2142, -0.9493, -1.0767, 0.6448, -0.0212, 0.7921, 0.6388, -0.4648, -0.0307, -0.0582, 0.9985]\nstate[eef_state]: left_x=0.4497 left_y=-0.0109 left_z=0.0237 left_yaw=0.9175 left_pitch=0.0053 left_roll=-0.0131 left_gripper=0.6448 right_x=0.2871 right_y=0.0029 right_z=0.179 right_yaw=0.0138 right_pitch=-0.0467 right_roll=-0.0139 right_gripper=0.9985\nstate[joint_eff]: [0.0205, -9.2786, 5.6957, 0.906, -0.4371, -0.0171, -0.2173, -0.8821, -0.9504, 9.9077, 1.8144, -0.1587, 0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:584039a0e8c3674366d14df44201c90d75cabd160fe67ec94d05a0630076a1e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf3092feaf7ef733899388319e767f338cc2f458595e9746f85839c57c8d9a1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b5d590d362c9e28de4adc0309fdfe48dc40c7d1fd2024f25dfca7e1109753f7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHIcwh3T6jx31R0Vl01gGZuDAwcHXcJ9jhU2ZDhmG7hNa-8aLhvXFwBkKsMsU0npwAL_FFYMeklgwgPlmcb7w4lNWB9nzd61_OaQnOirqyjiQ_7orOZ6J3EDL_CYjyO9f-FYF2xbcvRTWjjkQstfeE_o01XW1J_JXpuZcAutVposQpZXNCtPGSwDZQfe0h8fJxuIIM_S5lPfOoSNEjr66ulPwVic7WRa-0J1-CKFW7IMVS5Pfjn7VdCubjH57xI6fwl5SzLr-DJVOCj8XoI3j1Wkyon8yAkHG8B6Zxjj1ENEEC3FlucTX9u3bYAmydI7haJ6msOjC2gAkZ4pq4ZIdoqNL_Q0uNERD3az4nXZBF5vq_NBS1QrYfsTxULO1fvtHQlxaIpORQEMxdQzKhnctrrulgKlvHkxupdtU5-IDCq06BJFE-u7c7MJWB6RVsRfrFn4_OQgbKFkxA5dtQcqJtnq0HpyWTR05m_6Ncsh9WWXLSPvnlZKKpRJkFwTgFBWHSmClMoC2DGxgTga67gORJ4w7WV9M9OSXb-3MFF_eoVTq6CkTiTmZxUthJg4JsA-bj4XQB4yaQIm0u8aaeECqBRJrohNWU83ipnR46-2QJdUiyClptZBM8Gvas8kG9OuLaBuGDurYI8o1N9xiqF3cUtEI3LZO7v7gkg8H_B1lpYhog70u-js4dNNMt9y1XHmYTjEAhD9MTWhLqGFnaVGa1tDA3WJR9hRGwoN0bymSOdnD4oW2E90AbLKYdRtAQ-80YsTwWkRZCmleJlu0LOEPqxprvUIlIDl-t4lzMAFT0vpbK6BiaylgovRiXL4rUsLxf9JCjJrymwiOpbEPmXwASLUeDytDWjipJUYOu2m1EU6dSUR5_8NGgXQsT8mb9B5YPW1Jijeo5QxtF11sd1Rpu2J6TcPwWmmVJNBcM7VUCdv-8qEsOrwTywPElQtICquTIuKKEZhySq3LO5VAjG2a2yfD-dHO9LLJ4eGd5hziUAujaQlEhLMSodRb92h_6yCbjdRmWpKY0UXDzCO7AiqYFNGo19NSsFsGZbRQhTMMrgHL9KFT8McqKr7WQUBMRpv1M6sY808kY6op9uM3qHLT0xvn2j2_gqfqSJ9PcqN-W8SHiGV_6HiO9Pdo9k4mNt8lNxKeMcdaDNk3zdXvqIrF6hWICxlHtQsXNXSgsNA6kg-MHPn7C2b2Qo86wpT4y7W1sN3EMfhE2-0bI53pWtFmUPaoIWvmU3_gaWuzvVBBbxOpKFf8GjUNHRIzyPNup1b4TQXfnnjZB8sa_cyLUYQsCZej-zMKLfrser4P36ecAlKcrlWTivC_kKTnmgUYpOKZ7nc6Kj78nXu6dzra60KE3NMc5V2m8lb1ZFs82fOtAmWuNBZ5hNKY-Ko9WgeuhUq1b50sF_ZwDFIxpEjMNFzctRYred_weIO0wdllBGdPG2syLwtsA17qSldSwrQRCEUVnP9",
  "id": "rs_0a686eaa751242d7016ab4721a24b087d08aef403b5b5c0824",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.07,\"left_z\":0.085,\"left_gripper\":0.75},\"note\":\"The arm did not track the low sideways adjustment. I’m lifting clear while moving back toward the bottle so I can realign without dragging against the table.\"}",
  "call_id": "call_LlTMx5n6pdjYSrH5dXeJmPVC",
  "id": "fc_0a686eaa751242d7016ab4721b0c8487d0afe99ac261dfc86c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LlTMx5n6pdjYSrH5dXeJmPVC",
  "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]: [-0.5152, 2.0762, 1.3281, -0.4366, -0.9703, -1.2671, 0.749, -0.0284, 0.7647, 0.5919, -0.445, -0.038, -0.0578, 0.9986]\nstate[eef_state]: left_x=0.4496 left_y=-0.083 left_z=0.0631 left_yaw=0.8691 left_pitch=0.0064 left_roll=-0.1204 left_gripper=0.749 right_x=0.2825 right_y=0.0023 right_z=0.1691 right_yaw=0.0125 right_pitch=-0.0461 right_roll=-0.0094 right_gripper=0.9986\nstate[joint_eff]: [2.1812, -13.8598, 6.2974, 0.3639, -0.7937, 0.0073, -0.0122, -0.4444, -1.7026, 7.0222, 2.083, -0.1441, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4f76dfd682b2f19043157ecdb8a4d28312061e0085cf16e2f857a151e88cca7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:774c1237e02599b1b2d30e5ac54122797c231799de5c84a92562c090ac3dc2a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5532db2905cf100ae557daec16596217d1bf5a0e4cc795fa7809bacdafa023f6",
      "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]: [-0.3622, 2.0827, 1.1767, -0.1928, -0.9806, -1.0611, 0.4855, -0.0135, 0.7132, 0.5167, -0.4011, -0.0299, -0.0429, 0.9985]\nstate[eef_state]: left_x=0.4499 left_y=-0.0097 left_z=0.0365 left_yaw=0.9189 left_pitch=0.0422 left_roll=-0.0244 left_gripper=0.4855 right_x=0.2765 right_y=0.0051 right_z=0.1571 right_yaw=0.0125 right_pitch=-0.0262 right_roll=-0.0025 right_gripper=0.9985\nstate[joint_eff]: [-0.4171, -10.7692, 3.8769, 0.8669, -0.1099, -0.0611, 0.2173, -0.4991, -1.1556, 6.653, 1.9707, -0.0855, -0.0269, -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]: [-0.3576, 2.1098, 1.1908, -0.2142, -0.9493, -1.0767, 0.6448, -0.0212, 0.7921, 0.6388, -0.4648, -0.0307, -0.0582, 0.9985]\nstate[eef_state]: left_x=0.4497 left_y=-0.0109 left_z=0.0237 left_yaw=0.9175 left_pitch=0.0053 left_roll=-0.0131 left_gripper=0.6448 right_x=0.2871 right_y=0.0029 right_z=0.179 right_yaw=0.0138 right_pitch=-0.0467 right_roll=-0.0139 right_gripper=0.9985\nstate[joint_eff]: [0.0205, -9.2786, 5.6957, 0.906, -0.4371, -0.0171, -0.2173, -0.8821, -0.9504, 9.9077, 1.8144, -0.1587, 0.0562, -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]: [-0.5152, 2.0762, 1.3281, -0.4366, -0.9703, -1.2671, 0.749, -0.0284, 0.7647, 0.5919, -0.445, -0.038, -0.0578, 0.9986]\nstate[eef_state]: left_x=0.4496 left_y=-0.083 left_z=0.0631 left_yaw=0.8691 left_pitch=0.0064 left_roll=-0.1204 left_gripper=0.749 right_x=0.2825 right_y=0.0023 right_z=0.1691 right_yaw=0.0125 right_pitch=-0.0461 right_roll=-0.0094 right_gripper=0.9986\nstate[joint_eff]: [2.1812, -13.8598, 6.2974, 0.3639, -0.7937, 0.0073, -0.0122, -0.4444, -1.7026, 7.0222, 2.083, -0.1441, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4f76dfd682b2f19043157ecdb8a4d28312061e0085cf16e2f857a151e88cca7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:774c1237e02599b1b2d30e5ac54122797c231799de5c84a92562c090ac3dc2a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5532db2905cf100ae557daec16596217d1bf5a0e4cc795fa7809bacdafa023f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHIghRG4-_318wm650nQfMGsY47sGCo2olsEMXwChwMkV3gZdYAL8_tbLjEAhNO35kTtj16PgQq7oRKkTgmBFWyiRcuxesIG2dhprP1kEkGujDU0FDqisAFh1jClc6H_p8Qk9I3y581oSCQxtSrgSB54Z0iTng_4lpJNjPKakytEGDERl4X2mDThl-R4HPemzV00CtEFvOHsWe0ntEOoaCmD0OBGsidOlXBEG_aaz_WyC500oyFUpHOTVmcA4z6C5yPibcygLpigj1HssBSYSZE8Qy9p-y3v-vGyRFeW9tUD35_1bVerOfTb1Qt4hZXuej5Rm3EsuSzdOgTXCUKxHH21aFA1GGfW-Z0ZvRlM4l8yQfXNVdbVMdH_3xgOAdG5fy0bA7OeO4tG9YQX1IEQKk79EDCpfOvFYKOCZu200eBjFSAnXiOIm36l90c0MWXOGahKkgf2f_A42_JLtk7XvBV9YyFTUPxU1bthLqY6sM3LQrVfsY71pCuCTbu0Cx1fPflrG4Ex9QfUSNjYCij8n3P3VGMSQtiXq6h_wd2_GtkJIG5zkBiG2smNq0tHlYH395JcPan8y5TAc5289JIO3eN7B98cyo9QalhwG4Z59NlPJ8eyoz0Ny7sUc1-1AzeZ6StnK6pS3xDxtC8lP7todWQQdMWl47HVYQUGKXHJPAvgt8zfDWjMqIhZ9NthxQLnIbXHh8_trsVebbOLL3f0dTs2ZbJNzfOevflkymH_UAk8zdJYObyWaB7hH7SeO7D_hqHKrVKE--S7HTyv708KElDWN-KnLeF88h-N3fgolaJ-DcZ4mdQbU7XLXFUnJPH-1STFzbR2VoV9rLD3v4-2KfwJLRqBqta7wFmfS0k64HfuJApw126snfpjGj-xDlq-DJwEMP699R5QYTZSfVcmZuqGtsBm8RodQet6rcDq6Dlehz_oV7P4hZryA3qWsXVb-V4mvL-dEWy0nI9Cz-f5Sy_Q95Y1VxqT6AjlT-r-Ye2Nqr0nO9tFQuAsR0pWW_qwg2K2Yqvsw-hmpOmonTsjmXcMPxKrUKjqt0S3J4EsgU_9ERntUbKAddczpYgoZvngKzUSJbWjqB6n-5_mDvXQ_hoM7R33j5G-JHzgz0OBcmqScM7RDvjaD-s2806ZE2LyiqYFm6A1Kw97YZ2QB3OCaFCvzA_-p0h5Ha9ci4Iwoub7yu1Ss89S14gGbxKFVcn3ETK65ZtfTlm7kSR7ESr5sVPASOoC0WOdAVaEMOO0Lcb8P9b-TCqFNa6Rj8jpk-qCgnr9ZK9Mz67rrgrQrmC-Rsz5SHPoOdyc_acXMaw9iEkm0VFXFH1b0JxHFeAdGtuRZc3Hm4VV6UoziR0YRWJ8zSR2nsBX0i4ZfdprWWPvIgGGmfSqN6D4uOb0FPr7XM1dFCrygdkFUzbnQBGqKtcZDxoYn_pwmu4AuGTPPorHkcIrs-fAus9v2OrpVkw-U_qmED5LnJhTRIsjdB7zYTK_yx-Z2WCc329CkVrAYJ5y6uyVULzYqoeM_IDRP1S7c-vchafM",
  "id": "rs_0a686eaa751242d7016ab4721e643c87d0887fdb0b0fbf5104",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.13,\"left_z\":0.12},\"note\":\"The wrist view still shows only bare tabletop ahead of the jaws, indicating the bottle is behind the grasp point. I’m backing away farther at a safe height to bring its neck back into view.\"}",
  "call_id": "call_2TDWizKSsOPL31e1KB1WygNX",
  "id": "fc_0a686eaa751242d7016ab4721f94cc87d09642ce0ceef20761",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2TDWizKSsOPL31e1KB1WygNX",
  "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]: [-0.7296, 2.0369, 1.446, -1.0248, -0.9852, -1.607, 0.7495, -0.0284, 0.7376, 0.5449, -0.4194, -0.049, -0.0578, 0.9985]\nstate[eef_state]: left_x=0.3747 left_y=-0.1327 left_z=0.0938 left_yaw=0.8456 left_pitch=-0.0247 left_roll=0.0251 left_gripper=0.7495 right_x=0.2787 right_y=0.0043 right_z=0.16 right_yaw=0.0218 right_pitch=-0.0401 right_roll=-0.0033 right_gripper=0.9985\nstate[joint_eff]: [-0.6769, -12.9162, 7.6103, 0.0269, -0.7839, -0.2125, 0.0415, -0.8547, -1.5932, 7.2821, 1.9902, -0.0513, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da9641f07caa7672a91754aedc29b8211bec782bfc6fdaad4ecd5b82a8cd5eec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33b287fe0daefc1c749ff3260c4ac5ccbe66896c43eacdb235abc541ebc8cb85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e62562aaf4fab79c4410dc66334f4c938611d0f53942375b395c09cc9969a805",
      "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]: [-0.3576, 2.1029, 1.1904, -0.2161, -0.9562, -1.0733, 0.0104, -0.0135, 0.7036, 0.4919, -0.3958, -0.0296, -0.0429, 0.9985]\nstate[eef_state]: left_x=0.4497 left_y=-0.0102 left_z=0.0271 left_yaw=0.9186 left_pitch=0.0126 left_roll=-0.0128 left_gripper=0.0104 right_x=0.2736 right_y=0.0051 right_z=0.1494 right_yaw=0.0122 right_pitch=-0.0361 right_roll=-0.0024 right_gripper=0.9985\nstate[joint_eff]: [-0.0889, -8.2667, 5.7368, 0.9304, -0.3932, -0.0366, 0.8669, -0.5538, -1.5385, 7.0359, 1.9463, -0.0855, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5152, 2.0762, 1.3281, -0.4366, -0.9703, -1.2671, 0.749, -0.0284, 0.7647, 0.5919, -0.445, -0.038, -0.0578, 0.9986]\nstate[eef_state]: left_x=0.4496 left_y=-0.083 left_z=0.0631 left_yaw=0.8691 left_pitch=0.0064 left_roll=-0.1204 left_gripper=0.749 right_x=0.2825 right_y=0.0023 right_z=0.1691 right_yaw=0.0125 right_pitch=-0.0461 right_roll=-0.0094 right_gripper=0.9986\nstate[joint_eff]: [2.1812, -13.8598, 6.2974, 0.3639, -0.7937, 0.0073, -0.0122, -0.4444, -1.7026, 7.0222, 2.083, -0.1441, 0.0024, -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]: [-0.7296, 2.0369, 1.446, -1.0248, -0.9852, -1.607, 0.7495, -0.0284, 0.7376, 0.5449, -0.4194, -0.049, -0.0578, 0.9985]\nstate[eef_state]: left_x=0.3747 left_y=-0.1327 left_z=0.0938 left_yaw=0.8456 left_pitch=-0.0247 left_roll=0.0251 left_gripper=0.7495 right_x=0.2787 right_y=0.0043 right_z=0.16 right_yaw=0.0218 right_pitch=-0.0401 right_roll=-0.0033 right_gripper=0.9985\nstate[joint_eff]: [-0.6769, -12.9162, 7.6103, 0.0269, -0.7839, -0.2125, 0.0415, -0.8547, -1.5932, 7.2821, 1.9902, -0.0513, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da9641f07caa7672a91754aedc29b8211bec782bfc6fdaad4ecd5b82a8cd5eec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33b287fe0daefc1c749ff3260c4ac5ccbe66896c43eacdb235abc541ebc8cb85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e62562aaf4fab79c4410dc66334f4c938611d0f53942375b395c09cc9969a805",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHInVP2HcOznZBbNoSGUXQBwuONDm-wJTH7PF5KCsGaYu-xnOWLh-qampylnOqoiUm1gtEyoNWCPeElSGV-rd792w5dGtCdOdv-n-8aA5Pmg_L6s2l-Uz7uf6kaKTfgVFSjf9wDyL0o5hw1hLhmVB-p2wNh-PbUsablEbqpWNgezkrVOSDzTgveBHORMvFHCB353w2Zm6L2xpH0_oWtOYeRTy4D_EJyp4SIxDbHTFL0ltHxHqpZrHI0H_lN_UV3uwnR3DynRlrOIq8s3oB1XcgNId1P5_jTrXieYhmDGfwZsmkzGuqUj51CBfIwZWF7CTzJwLKa8JNdVJG3VG5JfHL0XoyYDbZHejwHY524k1KeFL5Gp_iU3GdIN4cEXe5hGOq0DfpePIcuouzh7D4V1PE7YyjkjOH7BmOG3SYbM_d9AP-A8vLNXDXbo3Mc_LAK8QKMRKoMgxOcs15Wn3AT3fNhO01JQU5_zRz-7TF7CprMCKPgsB2NMUOChZjzG2gdkrKKuFvSkq_JdXsjMLQlO7UUmNtTPOVZvCc1hv1Mkl1vBEr1JutOrVFTn_IsIUhJ8y6tS6Us9DTo7uycfPjfeXUqJlBubCW7W7veJtzTpFi1Oym0Jhuki_D_YK192q4vfSCityPg4dABhagaiDadSdzI3jhf8QC5HL5Be0QlgohOvBE55lG-JJCUgWbGpbyEG3-93omqIihEEmzadqoTMZUkXdmmc78NTkU7qkwvNnZCQETeFgss9yPUqBMeqeS1qMHOpzs8gPCFGHGqhBQXBEZwzVEmt03jn6Ru1uXTW4UlY351vGpeTH2vL_ZyTDGDNBdC58bGKt9gV38t8EhiqpUW5UFKtlMo-pzp7CXFdX2bHDGxv_eD4Fk7cKcacsGdkmIFJimmwOuubIRQTVuTqwGliBN9G56p1GSmGvLKQ7DPztoiWhU5K-razZafziA1vKFzWE5EgK_6lJUk0or-x8_WSiK88kLZzSyUGixryiTnDQ4t3Z2E3Tm5qlTolRtT7b4Lx0ClfDESFkPpcHRTkj2usOpBhg6LCKge84Fk1e45JFSXskamtq8Ff6T7XKUR6kZm8kgfJgCIytgwgCIdnT65qDio5JakXtQpt6HwSH-Ig-5xDWv0n-JIQ40j8OtBchDJJV-N0cCbkhDMRXRBCI1UB9DLjbgvsGC3zrg3AC2ZPWt_kb02WEtGOHYMOAWSYtGNRIFcU81WjdlyTK7kZ0NoYXpjM9dpm1df0pZgWLmZGuDhGzBsKR1Z5I55m82ESgDFdzArgv-hqaEhtn-az6nP0WkZvNfRbRgqg-Sj2mNT2LCZalrEtT2K4-KZS4loAGmzrktQymB8u22beRrbts3PA3I0AKKccBD7X4t6_dmAn3CV2_Qik19fsm8sRpdRUyKhguyYf0KPvbPjegoYXAsT7i6KtDHKZ59Z9aHKa_yHw_iw2O1epWLNxxjdcPgcFo54uy7E5lIrT1H7Prm1UrSRNEUx58QhC11coUvaF4zMquvMLgtC3W4mhLGM5Nyuh5__kK8x2_c0A2mppC3HPGcy-VrOt0wq2KCpFjFDoT-cAANzVwcdNtgaxqv6cKilyiE_irNyo5YhqbC0b4EPkaBln1ve4uEL7VLZkj-cgdP236Lj0gHlMzXZqaDVtu4N2dv5Jd6pWThbiMShwzX-C-BVLwO8C1LdpQPG6lCiOdlWHMj0sYlViWcdWBuDrup0u28c8lnDj95j24m7Tgfuov7J0FvPBa9992P6SDKPOb5yQuPSVz9j0BDSzhCWOERdBPbbEbG8ns7ijobKfWEJZprVtC5toUgxBZPLpwm_28m5SL1dtEitmr0s7XOgHfLSVyUmqtPs3J9IobNY4wjHk8EhihIyFaPVj76gitc_zrYZtPtxqMvylTlYTJ3D0B1PSIxaGLrFbrbHiy4VMYr5MSD4bf_hHGi8LXQJKLpF4rdOFWIJlLvEIlocJXrhWjFMGvDGhgIm9i8vTz1NNYbgc1q-Dg_oBogVulX85ypSCpktlpu1qNd_haOPEspfb_xWMZEvh",
  "id": "rs_0a686eaa751242d7016ab472232fac87d0a3bc0227b03054bf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.085,\"left_z\":0.03,\"left_gripper\":0.55},\"note\":\"The bottle is visible again, with its neck left of the jaw centre. I’m centring the neck while descending, keeping the jaws wide enough to straddle it.\"}",
  "call_id": "call_RlbJjphNU9kJUxYpGQeDNxEz",
  "id": "fc_0a686eaa751242d7016ab4722640d887d08349b2447742a1af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RlbJjphNU9kJUxYpGQeDNxEz",
  "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]: [-0.6388, 2.0098, 1.1481, -0.6277, -1.047, -1.494, 0.5528, -0.0284, 0.7136, 0.5056, -0.4019, -0.0532, -0.0578, 0.9985]\nstate[eef_state]: left_x=0.3743 left_y=-0.083 left_z=0.0463 left_yaw=0.8783 left_pitch=0.0389 left_roll=-0.0035 left_gripper=0.5528 right_x=0.275 right_y=0.0052 right_z=0.1519 right_yaw=0.0253 right_pitch=-0.0377 right_roll=-0.001 right_gripper=0.9985\nstate[joint_eff]: [0.7863, -8.9641, 2.8103, 0.2369, 0.2418, 0.2466, 0.0708, -0.4855, -1.306, 6.9812, 1.9902, -0.0708, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:935fd5d865bd1a78b51cef7128be550fe26f4b49364dd1076268886533cee8bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a286c85d2974292380483ae64a0a746d41511f76e6a4b2fc6d285aa11199f867",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78faa58794da756f205e6c6caee0e62b254831bf44580e88b671086b2fbeb1d1",
      "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]: [-0.3576, 2.1098, 1.1908, -0.2142, -0.9493, -1.0767, 0.6448, -0.0212, 0.7921, 0.6388, -0.4648, -0.0307, -0.0582, 0.9985]\nstate[eef_state]: left_x=0.4497 left_y=-0.0109 left_z=0.0237 left_yaw=0.9175 left_pitch=0.0053 left_roll=-0.0131 left_gripper=0.6448 right_x=0.2871 right_y=0.0029 right_z=0.179 right_yaw=0.0138 right_pitch=-0.0467 right_roll=-0.0139 right_gripper=0.9985\nstate[joint_eff]: [0.0205, -9.2786, 5.6957, 0.906, -0.4371, -0.0171, -0.2173, -0.8821, -0.9504, 9.9077, 1.8144, -0.1587, 0.0562, -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]: [-0.7296, 2.0369, 1.446, -1.0248, -0.9852, -1.607, 0.7495, -0.0284, 0.7376, 0.5449, -0.4194, -0.049, -0.0578, 0.9985]\nstate[eef_state]: left_x=0.3747 left_y=-0.1327 left_z=0.0938 left_yaw=0.8456 left_pitch=-0.0247 left_roll=0.0251 left_gripper=0.7495 right_x=0.2787 right_y=0.0043 right_z=0.16 right_yaw=0.0218 right_pitch=-0.0401 right_roll=-0.0033 right_gripper=0.9985\nstate[joint_eff]: [-0.6769, -12.9162, 7.6103, 0.0269, -0.7839, -0.2125, 0.0415, -0.8547, -1.5932, 7.2821, 1.9902, -0.0513, 0.022, -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]: [-0.6388, 2.0098, 1.1481, -0.6277, -1.047, -1.494, 0.5528, -0.0284, 0.7136, 0.5056, -0.4019, -0.0532, -0.0578, 0.9985]\nstate[eef_state]: left_x=0.3743 left_y=-0.083 left_z=0.0463 left_yaw=0.8783 left_pitch=0.0389 left_roll=-0.0035 left_gripper=0.5528 right_x=0.275 right_y=0.0052 right_z=0.1519 right_yaw=0.0253 right_pitch=-0.0377 right_roll=-0.001 right_gripper=0.9985\nstate[joint_eff]: [0.7863, -8.9641, 2.8103, 0.2369, 0.2418, 0.2466, 0.0708, -0.4855, -1.306, 6.9812, 1.9902, -0.0708, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:935fd5d865bd1a78b51cef7128be550fe26f4b49364dd1076268886533cee8bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a286c85d2974292380483ae64a0a746d41511f76e6a4b2fc6d285aa11199f867",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78faa58794da756f205e6c6caee0e62b254831bf44580e88b671086b2fbeb1d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHIsaqbRHOdCnvpQip42Zd46rsfHbHhNWptpim2Nq6MAr8CJlqPE0hEWszSETNjVieswWgGkwSEv9QQeV-Ez9Zunri3PkhlDmRspuZt857Wh6KzIEqivGN7lVwNl7mgZ14zbgJ3EHbhHhf6Hxo8wskfd7mIzS_At9xESnuSjdMpl821AxBXjozV8CT3KqBPuchsZwhdotG4gFWsceNDAgjA5k9klcfL8Ht9kD3lpCzCRHsmhSeI2yLV4hGFRnuF4vm3GkxJC1Lr68IcTxn60kfxOoHcoSWjfG6I6PsgRGqnKgvF3qSoKbBHuWaRFRW1KIfLEnVBzrEZbOCk-qwW1iHWisSn7UO3TUQD9ppcFK1B4f8TJtGuikY091sEI-N0MDvXPjzDlYYeyHbWFK85I6epAgMT8b-E29sqqD56J7mOnnOrl7WJCIh2GWELgnLKpGtmRfqLgWfRqY6Ypk03gaSfsEvtUJCOocbLmTqAOGZPnqeAjwyNxEs34xCEBE9y4N18VGTjLzalGoj7bhzSMp3h_12HVo6vhqmTUv9hHeFJSJRii7QhX_a7EFCSGNh2RNweIP4LB7QBXfNXOlZ8pe5RnWhO1jvhlf9-4hMITL1DWKEO4bni8cLZrIo2c1kPNdv360SxyjEuCIyMa8Bu1Xst3n_6XogqyY4VDxfWWs8ZcdSbCd1VrQLl4i7klyqy_CZxMgGd2iAmCW4GWBRWy8qHU0kr3cKrmp8I7LuvFnI5XBXF5nfbS2PE5QctuWLkjxlzx-G_GkL2ZndG9n0MBj1uPfRxbGpX3o3TG_eUKl_XCUvU1mTOQWdbbKyXouv-umyUwljL181NIAyLscoAYVQ6Y1uYUOtFSYraxs_po7nYSibisc2_ZcXCIdr-1ox_Hk2IcgU-huY22bYXYQGqabn2jmX9C96ONkbst8CPLIKLiNn7GaoTBvlJ-yqfN_SnLI-NQuQ874MJNSg2MUJ5q74jAmWD51HEGFcLDjjpdmVQLkfL4CTMZb6VI8BfDlaeiTqn2OYDcijnliYfYiJ5hrClbCeBMAiwmvNDeCLzEbXdKbGPQL8N-hUs_YZf_q82DSAWZpgzdpyBWp8G7wlANzgiMr94RlgHzj1rKxpxKGC3QgAOhrN_l2Yjg0gykh2kc2k6OjGVQKL9CUGhk42PpVciw77Ovkqv6ZmD7xDFuPTE0ntqImCUSCxNHN1iy9WdZipdzKLrPmExYZZJx6vJ2xQ4aVN6QIYkB7ngZb_bfFWV-Fbm8DRtvhXhBYNQradEDVOqNGlFlYQWGju_tMQPhqhIsyvovgOB2BnoBY3YX4V70pcpxp7WCQHKKrbV-QRTEDWjI0eCc_T3XV3HgCnoijOuVhE2WuAUIr7R855GO5asO2YHktinXI1lVIvAPG551eojETA00KNN31PPEhnVqebTZ-97MUE-2w9xLvIwH6xguQj49wztsXUXhuSm1-nMFr_MQd61VOG2YMum3aCXIO_acXO5YvzSj8CuR7GMA6c4nwiuSws6A9n_JG08FuTJ0gGAhc6s5LRUa-5vafymrQbEHtkNFVDqkS-1DwuJJAUdD6r_YBrNSN_Wcy0sYYToFkHYw",
  "id": "rs_0a686eaa751242d7016ab4722990ac87d0bb28af3466b275aa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.058,\"left_z\":0.018,\"left_gripper\":0.32},\"note\":\"The neck is now between the approaching fingers but remains slightly left. I’m making a small centring adjustment and gently narrowing onto the neck.\"}",
  "call_id": "call_Z8uMrFk8d3cJt2ChtUTQgrgN",
  "id": "fc_0a686eaa751242d7016ab4722b2c7c87d0a613bd25690888cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Z8uMrFk8d3cJt2ChtUTQgrgN",
  "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]: [-0.5747, 1.9942, 1.084, -0.4377, -1.0847, -1.4025, 0.325, -0.0284, 0.6914, 0.4717, -0.3862, -0.0536, -0.0582, 0.9985]\nstate[eef_state]: left_x=0.3888 left_y=-0.0615 left_z=0.0474 left_yaw=0.9079 left_pitch=0.0871 left_roll=-0.0617 left_gripper=0.325 right_x=0.2718 right_y=0.0053 right_z=0.1453 right_yaw=0.0258 right_pitch=-0.0339 right_roll=-0.0013 right_gripper=0.9985\nstate[joint_eff]: [0.2803, -7.2821, 2.3726, 0.359, 0.3834, 0.2076, 0.1343, -0.4718, -1.265, 6.9265, 2.0, -0.0708, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d0d33e3494ebae0d44318c972894bc21755d0b1f89c2aa87fc882e9353502b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53c758880ffaa960207f074f25d57a94f6452ce1768758d2d65f6921f1acd3df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc4f5be0f1488d0715481740875daf0ca19970588fd2ffe7af28396072c5df77",
      "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]: [-0.5152, 2.0762, 1.3281, -0.4366, -0.9703, -1.2671, 0.749, -0.0284, 0.7647, 0.5919, -0.445, -0.038, -0.0578, 0.9986]\nstate[eef_state]: left_x=0.4496 left_y=-0.083 left_z=0.0631 left_yaw=0.8691 left_pitch=0.0064 left_roll=-0.1204 left_gripper=0.749 right_x=0.2825 right_y=0.0023 right_z=0.1691 right_yaw=0.0125 right_pitch=-0.0461 right_roll=-0.0094 right_gripper=0.9986\nstate[joint_eff]: [2.1812, -13.8598, 6.2974, 0.3639, -0.7937, 0.0073, -0.0122, -0.4444, -1.7026, 7.0222, 2.083, -0.1441, 0.0024, -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]: [-0.6388, 2.0098, 1.1481, -0.6277, -1.047, -1.494, 0.5528, -0.0284, 0.7136, 0.5056, -0.4019, -0.0532, -0.0578, 0.9985]\nstate[eef_state]: left_x=0.3743 left_y=-0.083 left_z=0.0463 left_yaw=0.8783 left_pitch=0.0389 left_roll=-0.0035 left_gripper=0.5528 right_x=0.275 right_y=0.0052 right_z=0.1519 right_yaw=0.0253 right_pitch=-0.0377 right_roll=-0.001 right_gripper=0.9985\nstate[joint_eff]: [0.7863, -8.9641, 2.8103, 0.2369, 0.2418, 0.2466, 0.0708, -0.4855, -1.306, 6.9812, 1.9902, -0.0708, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5747, 1.9942, 1.084, -0.4377, -1.0847, -1.4025, 0.325, -0.0284, 0.6914, 0.4717, -0.3862, -0.0536, -0.0582, 0.9985]\nstate[eef_state]: left_x=0.3888 left_y=-0.0615 left_z=0.0474 left_yaw=0.9079 left_pitch=0.0871 left_roll=-0.0617 left_gripper=0.325 right_x=0.2718 right_y=0.0053 right_z=0.1453 right_yaw=0.0258 right_pitch=-0.0339 right_roll=-0.0013 right_gripper=0.9985\nstate[joint_eff]: [0.2803, -7.2821, 2.3726, 0.359, 0.3834, 0.2076, 0.1343, -0.4718, -1.265, 6.9265, 2.0, -0.0708, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d0d33e3494ebae0d44318c972894bc21755d0b1f89c2aa87fc882e9353502b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53c758880ffaa960207f074f25d57a94f6452ce1768758d2d65f6921f1acd3df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc4f5be0f1488d0715481740875daf0ca19970588fd2ffe7af28396072c5df77",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHIyASRkFfmpIBNiasq5pUFvvGONLff-bMc-CytmMXkIp74uIq5b2he5V7-Q_JwyaGGyKMo4aR0nBJMOk377_rcUUpp7RICRe_9jacJ4MB47DrmnA2_xzgTZPHRVNQUUOlDNw5EJvG6OAJgueqMusBEEcjJQ4y4TcjnOrM2aoPDs4-O3ZfHDgVcNnciCSsRTxozI3B10suQ4Ac7Thrsa7gJNv7qHB_xX7Yaz8iEa5ddMD3gZhw-lbqY4oVPVjokVOI4Dk9DK3bacFJeJyDG7LYCoBP0aJbblpNIv_l3P8rY2thJ50RffdvNJc6bfKMbn_9UfKy0uzZC7CQRdgswUFg6QTR7MBqTIFTVFzQbezcGsXosN9FbnwHP_zCHlDUQ2lDqv5tLUOrPyuXLFoKY2gNVICTZgbf1i8jGsSsxKTe-64RhgaVTWSoJtLIdafQvbcx5C6abP_riNGLiI-RcmY_KMl84Wdby3QlQINdK8wGJfe-VS1Ulysk8eYDjeG9B1RyHBeyzli5x0NELHYM5iiGUdfCQCFU7J9KgZy_LjwHZ-3dxmnkAwBkTI0gRP99pQDAYONYKG97wNY8YczRVyw2an5JEyNBcmcavCYOrdMhHsvwMFr2qc16PFQ9V046_h50tyAbbt-H-Xe6o6bObBos2D6RRzjrYSSk2ppk9cl879aXhyKCQfePCPn_5h1OWTRFaNcJiYZ7vMZRLi0oK5qzEvmlCEZ7e-JXwVJPQOfP5lubsKmh9QYhv4arNpD5cCsAYRa9-hhxha2OlXWwcaGsLdAwoc0cCIvEL-7-MVtO1wWpdPmBOuqCSnVCkMZDUViaRddJOV0FKnOKz6jO0eTHHHEhSS-BjhMiWH9jEGcd9ncxOn6VAg7R7Cp_jgsoRo03xzPIB_I8ZUvkFfFpBJ-1EzMu88hdkY_2O8y1TasZ-4dKAmt7O6hLPa6K0EXIwgcplr7mCZklyrZzkDFmEygT4OZmVHGqDjvD0qG8GZMTEJ1YRJkS_GUxS6b6je_KGW7fCH23t2_RkuhOq5CSQQVW6gDrmjONBDkePpw2afbxyq-cTBEvWNApMcx6SPgMWMP-hLiCuSniYHvSP6fbxg9IpMbrxB-dWDy49SHaAhl_H2gCQy1v49PGjuz5HthBoEuf7wQQppYnCsBoivC8KWqHBNZ1Tav_1cOwJcG06kKIlca40-3FHsvUvbY6qjhInJ1Ys88hEmWAxLxOBFaqRrJRvDDuCDEERrSvMyS9KKHXso3R89g2ajkTgZ_HaDOWAgQB4ADmKt0aK12VBqPHZSlk-lm692yP5H6Wf3gAD5HbObL6-w_27c0o3-mrQZhrNSVvTb0pF3hV7dFSrt1nKOoTxbOtL100qvhm3-QvvKTKfJ1ZrBCipG4-N96926y7iZo7dhhtlvTeH5uSyod9Qlqxfsb9GTB2MD8Fx9ZInpCZHoULK28xn7jzdS15RTwxXs5oRF",
  "id": "rs_0a686eaa751242d7016ab4723074f087d0ac916b63966e2091",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are straddling the neck, and the descent stopped against the bottle rather than the table. I’m closing in place to test whether the neck is securely captured.\"}",
  "call_id": "call_mPRvLWhNvGvUzhnhCtwPukFl",
  "id": "fc_0a686eaa751242d7016ab4723170a887d09ae259e595cc8b01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mPRvLWhNvGvUzhnhCtwPukFl",
  "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]: [-0.5594, 1.9884, 1.0702, -0.3698, -1.1084, -1.3613, 0.0101, -0.0284, 0.672, 0.4435, -0.374, -0.0559, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.3951 left_y=-0.0567 left_z=0.0523 left_yaw=0.913 left_pitch=0.1168 left_roll=-0.0824 left_gripper=0.0101 right_x=0.2691 right_y=0.0058 right_z=0.1398 right_yaw=0.0278 right_pitch=-0.0304 right_roll=-0.0002 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -7.0906, 2.5504, 0.4078, 0.5495, 0.0562, 0.8962, -0.4308, -1.1419, 6.6803, 1.9609, -0.0366, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:932273bcf07ee20c39d4f01af440ed1068effac9ec12e93e993091d740b0bbd1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:299532ec42ffb90c266cc3f24a5a49b0a9196be25b297644c4ac37b681c75ecf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c395d48265ba915c37f9c8318dfb2a9ec4c6cb8df884e1309d876e9f3d241b8",
      "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]: [-0.7296, 2.0369, 1.446, -1.0248, -0.9852, -1.607, 0.7495, -0.0284, 0.7376, 0.5449, -0.4194, -0.049, -0.0578, 0.9985]\nstate[eef_state]: left_x=0.3747 left_y=-0.1327 left_z=0.0938 left_yaw=0.8456 left_pitch=-0.0247 left_roll=0.0251 left_gripper=0.7495 right_x=0.2787 right_y=0.0043 right_z=0.16 right_yaw=0.0218 right_pitch=-0.0401 right_roll=-0.0033 right_gripper=0.9985\nstate[joint_eff]: [-0.6769, -12.9162, 7.6103, 0.0269, -0.7839, -0.2125, 0.0415, -0.8547, -1.5932, 7.2821, 1.9902, -0.0513, 0.022, -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]: [-0.5747, 1.9942, 1.084, -0.4377, -1.0847, -1.4025, 0.325, -0.0284, 0.6914, 0.4717, -0.3862, -0.0536, -0.0582, 0.9985]\nstate[eef_state]: left_x=0.3888 left_y=-0.0615 left_z=0.0474 left_yaw=0.9079 left_pitch=0.0871 left_roll=-0.0617 left_gripper=0.325 right_x=0.2718 right_y=0.0053 right_z=0.1453 right_yaw=0.0258 right_pitch=-0.0339 right_roll=-0.0013 right_gripper=0.9985\nstate[joint_eff]: [0.2803, -7.2821, 2.3726, 0.359, 0.3834, 0.2076, 0.1343, -0.4718, -1.265, 6.9265, 2.0, -0.0708, -0.0562, -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]: [-0.5594, 1.9884, 1.0702, -0.3698, -1.1084, -1.3613, 0.0101, -0.0284, 0.672, 0.4435, -0.374, -0.0559, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.3951 left_y=-0.0567 left_z=0.0523 left_yaw=0.913 left_pitch=0.1168 left_roll=-0.0824 left_gripper=0.0101 right_x=0.2691 right_y=0.0058 right_z=0.1398 right_yaw=0.0278 right_pitch=-0.0304 right_roll=-0.0002 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -7.0906, 2.5504, 0.4078, 0.5495, 0.0562, 0.8962, -0.4308, -1.1419, 6.6803, 1.9609, -0.0366, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:932273bcf07ee20c39d4f01af440ed1068effac9ec12e93e993091d740b0bbd1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:299532ec42ffb90c266cc3f24a5a49b0a9196be25b297644c4ac37b681c75ecf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c395d48265ba915c37f9c8318dfb2a9ec4c6cb8df884e1309d876e9f3d241b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHI5JOsaH2beNVyFiQt25_2tJXKsBdu3sjlBPceDbjWGbaEckpDb686-mtIWGQwfFScGhJtFdmbe0AFseUe7AZWGiJlZJQdt8NYYRkET6af27h64F7e4-VQglUwak-PpfnNuuopyBXfh9Tw752zEOJfI9KBfxLrUz3eRnAiH-ivaZtMmlQfse95kd0-q4Dw6cYC2fitAjMP9HLuxkVNio9xXBtt4tjM40cbdF1Ay3KJO6zgXeymXcwKct3PjBHexlWPYtEs3lay1NOO_5zBt0c-xyTC5JS7eBUb57KrlU6E0z2ynhzUznD-S8Q6n1psmBNqjv_cUmIX_d-tw4geqMNYCKMUkQJlZQK1kgI16H-_DYXwuUuNK1jTf_7CkcIoFS-GLwZl2y9GIsJqNirDHbuR4nwN_mK16I_A-2_J9KY8UYm6rYDUYKARqgTPiN0n10VrT5PttVvv86cte3tonrzfrisKqyewxwfBEqzpqx9Mom2voxL2zXkqmk-xA7Qj3pqi365NwA6BfBlp6wz64VRQ1-mxpSBPWugY2lDBAI5dXuxwoXCFUtagrZpguKGxRbwjliJmmdAAZhgSSf6c2ExOo8vpUT9RSVdnb9YYUbTamr49zSmN1gXMNuknO-Moe9s930TjgCFPeD4tyFVBycTL6BJ7VvVs0JnzGRbZTrmsBDS4Mab7MAuRgNhjspQXnotxvwXp57_5Ey4tnJ6st_K2-3i5Ip2nLb1wq_NZQWVRhfxRivFaf3wPyKXR7GavKmfi7CVjkJVKGN5Cyjs731AmVr11zyelovgZtGn2-NBP27uDkHopsp1yAs66dRM7fzHIWrZ55978fAgMuY1pXaYsLWVat2mg2s7vsiNONyKastXHbTyxz-tSpEx9xU4BCnTaeMBlSTywENqT1lXiePacmlbT9ZWHJTHjmj85c-YbDEib7iLMaRmf7FZz-KWi0UL6D_TKxbr4Lslp-x74YEOvTnGX55v6BnFMCvyVZkvb2B-iPSCgABDTYKpoZXJJYS-6OUJhG2OS1GvTJliIVeeJqpdaFOV1x-rtTlq_CrNH_r0A-1QbE3re7xxVfVBm6-SpajX44NUl2dgtYeRtBbKSug371axDlqCL1Epm9-TVAj7OUf4r_c_PYArcmWxqFRzKwHVusLEtH00OKztUglnqQ5GKToTUPOVSelVqFOlk5pPOBfjwB-T9f2canAiG-8GLTD6eN6T4zuDnH7qrPR7yxhlGbQ7LJWnFHGPa1HhbJjALbpsgozKy2l4YaVgmUnIKDX7zS4VSPDlpSqmZ5Y2jiKEb5bZoiaJEOYDcsEEi1EgQHVu8fs_Q_3GS1CE5vqur6OcTTHQGU-wfBXvWfdHXFxJMeZ3KagM3BiSckO0HABHmEfl-1OqK91jvEaCcp1xvRLbwBLI9g7Xfkz7yv_X7h6v1EzuQcd0z1AKC-NVKhuq_MNhtellMwepwIbRTYXekMdi-t2xngDIPdCR3EmZTGoUew_HOBjIXlIwoXJkPwqKIbsXvqbaG6wmHLAKHtkpqFxGHgtHFEMGc-gOUhdD8N_BuRoO-mg3MnGWoHkP8dLjCKOqLcso8uDkqjSFublSz1upBpZXMG7Dk_aQvKRIXpAYSUBH6bGRiytkKj65u-nPW7HWq_xQ_P4cVBb3ahlHn4ArOQbK98Ju7_zgrG4-o8Yg_K_0oDx_PBdWJytREO0er78BCQ4E6a1-_rrfwvmeC-2DBQWmRgNUo-rKpk9Wkb0iM0YK7u_v_eorZpmacMdHOecCoojAOYbcJH2eEyQMPsyKCkESa_fUohNU89AZsjcohQcTYuf3po4BCcASfWexnNOmxK5ovhkqRNaX0Iv3-SO7p1JomcwjlVsBxC8xlaEOOjrOZjDciBy5EiIIdqsf1lCiCBrkmWZSBHi3RFzzlwtIkuzaNG2syu_USbDi_K32BTVDnxw7DujQqjlxGfxDKc_b6CdB8kdcYlm-Ss9W0pJZVSKWwi6EIjsg2Mol-N2n3piuWrn6MarpcJQKED7izuvsC-2CEODStf2_QkF05qvFFrDyE-obL9zM-vUimsEKbX_N79dElrEBIsDDTo1hAOrZyEGSzNtAQKXJOBqhgFsHeK1GrgLdJzOLtur9fw-f8NHFeO4H8p1I-Y0HDmNjKBz9fWLI6FEUGS_qCKgZ6ZpF-i8vO9cr0B56ebIQNbtWMHFeDLNJQznXr20tfApSsS2TnUChKqR7NPhWjhoa7XNu_-NPPVsq5MMJHIT6wRskRUTgDudSedIWdMXPUDZgHr9watrwPA5pGy3gSPWC466F7UlGRwaNGuInLxIoxZlpDMLKLtyP57CuDGLuN3PS2j5qye26fg8oEnMFJlHdwlQ-cxBPXW6af-BwyqhRIakgKB6Ztsvo8EKZapMXpa5EO9yp7AAdhLkklk-3p3jXP9jgbX3w0Q6k2vITZomY_0qebWyinjvdObZ_nD9Vqyp2Q=",
  "id": "rs_0a686eaa751242d7016ab472345d0087d0b2772770d3dd4e07",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.095,\"left_z\":0.1,\"left_gripper\":0.8,\"right_x\":0.2935,\"right_y\":0.0031,\"right_z\":0.2},\"note\":\"The second close was also empty; the cap is visible just behind the closed fingertips. I’m lifting and repositioning over the neck farther toward the bottle’s body, rather than repeating the same grasp.\"}",
  "call_id": "call_dsitvZXXyFtZo3gjJvumKa8j",
  "id": "fc_0a686eaa751242d7016ab47237f63087d0b1dd67084f89d503",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dsitvZXXyFtZo3gjJvumKa8j",
  "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]: [-0.6132, 1.9816, 1.1473, -0.4847, -1.0382, -1.4483, 0.795, -0.0349, 0.7933, 0.638, -0.4644, -0.0647, -0.0731, 0.9986]\nstate[eef_state]: left_x=0.3956 left_y=-0.0879 left_z=0.0583 left_yaw=0.8849 left_pitch=0.0423 left_roll=-0.1346 left_gripper=0.795 right_x=0.2872 right_y=0.005 right_z=0.1786 right_yaw=0.0367 right_pitch=-0.0471 right_roll=-0.0063 right_gripper=0.9986\nstate[joint_eff]: [-2.7009, -13.7504, 7.8838, 0.7399, -0.4957, -0.1245, -0.149, -0.7863, -0.9641, 9.9487, 1.8974, -0.1343, 0.0562, -0.0171]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6a3b914e0a1e397770e31b64f0cc0521ba1b63c827a5d3500058cffc416e7f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:720389f6c3e5abd892e0b4fb793c1df8777dd0ec71a86eecab1281fd414f1652",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d4d3dfe9e36cb7e67ba1a6e17f872eee8566e06f5fc7cd49be023d62b5b4e3e",
      "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]: [-0.6388, 2.0098, 1.1481, -0.6277, -1.047, -1.494, 0.5528, -0.0284, 0.7136, 0.5056, -0.4019, -0.0532, -0.0578, 0.9985]\nstate[eef_state]: left_x=0.3743 left_y=-0.083 left_z=0.0463 left_yaw=0.8783 left_pitch=0.0389 left_roll=-0.0035 left_gripper=0.5528 right_x=0.275 right_y=0.0052 right_z=0.1519 right_yaw=0.0253 right_pitch=-0.0377 right_roll=-0.001 right_gripper=0.9985\nstate[joint_eff]: [0.7863, -8.9641, 2.8103, 0.2369, 0.2418, 0.2466, 0.0708, -0.4855, -1.306, 6.9812, 1.9902, -0.0708, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5594, 1.9884, 1.0702, -0.3698, -1.1084, -1.3613, 0.0101, -0.0284, 0.672, 0.4435, -0.374, -0.0559, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.3951 left_y=-0.0567 left_z=0.0523 left_yaw=0.913 left_pitch=0.1168 left_roll=-0.0824 left_gripper=0.0101 right_x=0.2691 right_y=0.0058 right_z=0.1398 right_yaw=0.0278 right_pitch=-0.0304 right_roll=-0.0002 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -7.0906, 2.5504, 0.4078, 0.5495, 0.0562, 0.8962, -0.4308, -1.1419, 6.6803, 1.9609, -0.0366, -0.0464, -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]: [-0.6132, 1.9816, 1.1473, -0.4847, -1.0382, -1.4483, 0.795, -0.0349, 0.7933, 0.638, -0.4644, -0.0647, -0.0731, 0.9986]\nstate[eef_state]: left_x=0.3956 left_y=-0.0879 left_z=0.0583 left_yaw=0.8849 left_pitch=0.0423 left_roll=-0.1346 left_gripper=0.795 right_x=0.2872 right_y=0.005 right_z=0.1786 right_yaw=0.0367 right_pitch=-0.0471 right_roll=-0.0063 right_gripper=0.9986\nstate[joint_eff]: [-2.7009, -13.7504, 7.8838, 0.7399, -0.4957, -0.1245, -0.149, -0.7863, -0.9641, 9.9487, 1.8974, -0.1343, 0.0562, -0.0171]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6a3b914e0a1e397770e31b64f0cc0521ba1b63c827a5d3500058cffc416e7f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:720389f6c3e5abd892e0b4fb793c1df8777dd0ec71a86eecab1281fd414f1652",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d4d3dfe9e36cb7e67ba1a6e17f872eee8566e06f5fc7cd49be023d62b5b4e3e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHI_RYNAlV9BtkiIdZfooqQE-VGtrjuQPmPSsu-7KpVyVII5WAJRrDMq9NxDSe9LN1JqRJKQDZA2LFLwbcgKAwnLrEUhtAXxUhp8ajIZn5LpPD2fh8A7tw_yaLzC5QEbMOcXBEMlk2X5bZ2pCiY-LyQq3o0I3V3kc7g2K6SwjGR-sf-dM3ksM3UfiT3nms01DnM548-zuuDZ_s0Xr3ui1CHnOQ4fGDJdDOiouOwTy4QGFbl8EruXo4H4sSXmQQK6M7O0yIWFGdGTIwKpJv-Cff2x1KNMiYhvXk9g2cP3eJTIHdMxpmSJfrNDq6H4Pgsr_cVzSS33Xv6YWMudhCGIuk7IpLthZKf-j_0o_Cj3ClSkEMizxhsOAdd2PV6Xg9UCyvguVncQhl47SK5ruF0JgvjQ4GTWjuqJ1v2rRhLOMtwqPWIcSluHi7ggv-LFFixbtEZ1OWuzM6FMTDLxXrxlo2ugDAcuBKp9l15N_nOIvC8FVBgbQy3BfQ6lv8eINoXoFTXIhV8zNt79BWuOYSoNy6_bziFLI5LSLjVEVyrp8VXBufQwjwYnIXeswFnLVTOjRh-hCKfACHsVnWf1sY6WpLUX8bynDfeGFB2MHcxXr-YBZZW4_lLrmay4Kf93-a7VGSoJiVD0x1nW_SIl7Wk_eAuqe6T5EDQj5qiONHmpIy9G96ZkN9Gsc7loyAaeUSkN1Ta8-xjs7MPMKUX3lkwmw14SVluU5qMdVEGlE686mj__g5joddYSTqCiTmMuCgZIUuAPAgMtIEWq6D2Y5Q7fcpLcCzadpC1Sc-cw0nGs-SpMcv5peSJEMRYTpQe0_R4QgVGbSDyLkQ5eoQqB92_uamkDVanGRdUXRahcnaj8bdnQS7jYyyAJSskLJ1j_663qKz_3rvTe1B7cRXDXz-VsrV0F7qSwfTfbSkHB50WN-tbCftE2lnMecFUjAFs6GGEqKgF0Q99mUF0oIVPAOXekzE6CnV61XvJF4tFin-n_DZHwefrlS6FtiUtjv-jrVaRR52H2Kj8rkBmJ33ROMqXO6qufr853h7A_INDjAM64qakt0JubI0NbgTZ6CNN_9OhHxEjnnOVGy2iDw3H2n_mvPNiw3i6HP0nZhHH3mz8cUKys3YgYXaFtq5LUT5FVgIpWwEvQ0BJrVzYiLkMUfjNaCB7Sioti8ElFWBSQR3kKKdO6qmlCrcz_WrBTUMeiL_ACCHGCPOUb0mwWUL1vdjmG7MwLJUd_hEfPF8gS62_9Zn-ANIxRV_DCnyCjyCKp1dBKILurRV_-NEQtuPvVHdL8_jrQwxUgA_W9hF7ignZnuza2NeJfG7EQCPvRU9CyYgr63UNYVowTrTa82zog9htG07adzlNnsaJkppbw4p0EzA1lWUJ-a6HVS-1qU0BQs0CB_-SuWX29Ip24G_lfSihYf4F2nR1eGWrbSWJ3FAZ5VWaD5XihDSHm3EJZMPv0_LJ6XqoGN3JhllT_8vy8vY-X3tXDP1m8OU0lr-v7p6c81_Ur8lQiRZHi5obEag1noR-ZoCvDAR-q2XLQ6lH-oRLi6D3X1WTKzfcTjKMjsg_ZgdPlsibyMvqQeDevq2OD1hLR0NYLfGOT44H1nHSsld42BCvCR-4L9iR5jcwb08wLfdt1CLGVJpeDFNFhNmYw6mhj9PH9XzAD0WxjWENaBAxkPKmpJQ==",
  "id": "rs_0a686eaa751242d7016ab4723ccb8087d090acd5165da21bfb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.015},\"note\":\"The latest wrist view shows the cap and neck centred between the open jaws. I’m making a straight downward approach, with no sideways motion, to get the fingertips around the neck.\"}",
  "call_id": "call_38PlO7F7uf1Wq970bQF8vBzO",
  "id": "fc_0a686eaa751242d7016ab4723ee63887d0b3708a3e2e2c24f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_38PlO7F7uf1Wq970bQF8vBzO",
  "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]: [-0.6029, 2.0739, 1.2472, -0.6037, -1.0092, -1.4841, 0.7955, -0.0349, 0.7654, 0.5934, -0.448, -0.0662, -0.0769, 0.9986]\nstate[eef_state]: left_x=0.4 left_y=-0.0895 left_z=0.0413 left_yaw=0.906 left_pitch=0.0049 left_roll=-0.0562 left_gripper=0.7955 right_x=0.2823 right_y=0.0054 right_z=0.1691 right_yaw=0.0401 right_pitch=-0.0474 right_roll=-0.0085 right_gripper=0.9986\nstate[joint_eff]: [-2.2906, -11.6171, 5.3265, 0.525, -0.5201, 0.1929, 0.0366, -0.5538, -1.2513, 7.159, 2.0977, -0.1392, 0.0415, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:595a5d56398fb0e804fbca4cc131595ad6284f97d70bb582afb8ed057ac1371f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dc8f5d2a0b60bf65534ab3b9ee0202f96dcd330406f1dc4e0fe5ef2dfce5f09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4192715a88f49cc8ccb527cf9da20c0a0ddb844f9392670f65b9eb1ea84cd823",
      "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]: [-0.5747, 1.9942, 1.084, -0.4377, -1.0847, -1.4025, 0.325, -0.0284, 0.6914, 0.4717, -0.3862, -0.0536, -0.0582, 0.9985]\nstate[eef_state]: left_x=0.3888 left_y=-0.0615 left_z=0.0474 left_yaw=0.9079 left_pitch=0.0871 left_roll=-0.0617 left_gripper=0.325 right_x=0.2718 right_y=0.0053 right_z=0.1453 right_yaw=0.0258 right_pitch=-0.0339 right_roll=-0.0013 right_gripper=0.9985\nstate[joint_eff]: [0.2803, -7.2821, 2.3726, 0.359, 0.3834, 0.2076, 0.1343, -0.4718, -1.265, 6.9265, 2.0, -0.0708, -0.0562, -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]: [-0.6132, 1.9816, 1.1473, -0.4847, -1.0382, -1.4483, 0.795, -0.0349, 0.7933, 0.638, -0.4644, -0.0647, -0.0731, 0.9986]\nstate[eef_state]: left_x=0.3956 left_y=-0.0879 left_z=0.0583 left_yaw=0.8849 left_pitch=0.0423 left_roll=-0.1346 left_gripper=0.795 right_x=0.2872 right_y=0.005 right_z=0.1786 right_yaw=0.0367 right_pitch=-0.0471 right_roll=-0.0063 right_gripper=0.9986\nstate[joint_eff]: [-2.7009, -13.7504, 7.8838, 0.7399, -0.4957, -0.1245, -0.149, -0.7863, -0.9641, 9.9487, 1.8974, -0.1343, 0.0562, -0.0171]\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]: [-0.6029, 2.0739, 1.2472, -0.6037, -1.0092, -1.4841, 0.7955, -0.0349, 0.7654, 0.5934, -0.448, -0.0662, -0.0769, 0.9986]\nstate[eef_state]: left_x=0.4 left_y=-0.0895 left_z=0.0413 left_yaw=0.906 left_pitch=0.0049 left_roll=-0.0562 left_gripper=0.7955 right_x=0.2823 right_y=0.0054 right_z=0.1691 right_yaw=0.0401 right_pitch=-0.0474 right_roll=-0.0085 right_gripper=0.9986\nstate[joint_eff]: [-2.2906, -11.6171, 5.3265, 0.525, -0.5201, 0.1929, 0.0366, -0.5538, -1.2513, 7.159, 2.0977, -0.1392, 0.0415, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:595a5d56398fb0e804fbca4cc131595ad6284f97d70bb582afb8ed057ac1371f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dc8f5d2a0b60bf65534ab3b9ee0202f96dcd330406f1dc4e0fe5ef2dfce5f09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4192715a88f49cc8ccb527cf9da20c0a0ddb844f9392670f65b9eb1ea84cd823",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHJCoWgKW8wRxx0cj-HaYyxYwCay2k3Shu7R83qAL2tNM8GorNJc_AafAMlxVXDEpYX2yE3tcp9boMz_v7ZmJOVadD7UfqJihZ8pWAK5H1okVGyOGXbcWwWemKCE2IodUIhe7YDD65fjg65Bx9yQoMUiA0pbMKtGlYhqiSxa3c2w5Eonrye4y5b_i412S5aPmat5xa3nKbBngYp-uu-eG9mS-uEPMSwTpdKK_uCIkAKE7DofLvonx7l-0hzP47DEA7R2uY7iNbO4SsCCweaJtzIBXMwDEViGQXrXFPOv-21yAl5BajVmMN0Nuq-Nhq9ua5k7PBiz-0EICkPeZwIFyp4QujvnBE_XsAFibzXBN-qMUHaIfNGRBrPRliA6-qSvvSBPXlv3YfA9hLc7AQNdBVS_cdM1LfKdBIEBICeeeUECR4SERJRTNaWPz5SYbEQ7e-AfGZOnDrEPpJ_3XtVLfcajdpr5gJd3-zR9bKtshFDYHmeRiHAKQyX0agwshAsyK6GpaeFDWUEV62LHbn5RocyV0TstnSl6Mb3qWcB7OU8UCrqrdXFWa_JA4X64qDXkpvP9Aahnszw2XwfdabFkQ7AXtthuXkPACQfa-JKxiDdq8tlb5rff2-4FL_MWZIvTspJK0x7Ox9Y3_nvCN05rwtMEThvKsmnFQrNjDGSI6MPMVdZTYdMTqYh4XprlpeqTpSYwlvOLVgiP33l0o3qu7kYwVADYxa_SnGeAH4O8SM8uDD36dnoEwrmNtYPCO1PtAByi4jmTA35FCEazTXph7__GjmkDI4JY3za-7w9VOjMe_DMs7Y2djZb_xaxz9FoNy1X75J1xsa_DgpCo16_bJJPRfDrEfxA1tKDVI3SX2TwFhNdfW0-hC8qXfkPL7drJMzIN_C5lKs2VH65u2JQTUkIdOmK7-8bPW6X90GPnf9duDUGmL3pQITUuvnQSS6O3Pi4VK_sU6yiw11To-3PmNtKcC_Ic3UlkY_jKrxF3JZuE8C-wR6-se2VSBH358dNS7GCLE1nqB6AfjoH2Mk2uQ5fZCW5lc-7KWudg4HQbXsMyq28ZArNr83rPYNJ6H08SgNLpwEgZfgSqrsPKmlup6HDRG0H5a-_QWSQNh612cDXVMoOc5dV2ldIj11Mztc0OtiTDkF4FmrARu6Uvok6woEzbIs54LiOhK8UAwM4WkDlzb1DLjjz6bSqNNkgPYSPMuLruPvVDRTnB8-pY-p1iHEAwsGhIVFlcKlGW5Kk6KgHTyfYyk0TMM-7n_0L6jllJNXlw3nmm7FBXd-42H905zx0AFExtb4FnyTs1zYihzJBSWn9N57ASwFPDwtgvlQFR9eTJ",
  "id": "rs_0a686eaa751242d7016ab47241622c87d09407b50b702eeafc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.18},\"note\":\"The bottle’s neck now lies between the open fingertips. I’m closing gently to a neck-sized gap so the bottle can pivot as it is lifted.\"}",
  "call_id": "call_VI1geUxbMJthnUQv8QWzLfHz",
  "id": "fc_0a686eaa751242d7016ab472420eb887d09d87ec3271b8e21b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VI1geUxbMJthnUQv8QWzLfHz",
  "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]: [-0.609, 2.067, 1.2453, -0.6067, -1.0786, -1.4658, 0.1862, -0.0353, 0.7376, 0.5465, -0.4202, -0.0757, -0.0772, 0.9985]\nstate[eef_state]: left_x=0.4012 left_y=-0.0857 left_z=0.0538 left_yaw=0.8998 left_pitch=0.0739 left_roll=-0.038 left_gripper=0.1862 right_x=0.2787 right_y=0.0071 right_z=0.1608 right_yaw=0.0479 right_pitch=-0.0382 right_roll=-0.004 right_gripper=0.9985\nstate[joint_eff]: [0.253, -9.347, 5.3812, 0.3443, 0.2418, 0.149, 0.0562, -1.0188, -1.5658, 6.9949, 2.0147, -0.0952, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5194d664dee0c0f987b1c1a6be423ae438ada1ce6130746a32dc214023893cc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d6e21ad217e416c56a24dcb5d529d51d1cbbce8b38f3e672dd99c99a49d54ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adb9f800210869afb67f3553ca9852dd4e057cb99a7e0b67a8fd0087fc948537",
      "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]: [-0.5594, 1.9884, 1.0702, -0.3698, -1.1084, -1.3613, 0.0101, -0.0284, 0.672, 0.4435, -0.374, -0.0559, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.3951 left_y=-0.0567 left_z=0.0523 left_yaw=0.913 left_pitch=0.1168 left_roll=-0.0824 left_gripper=0.0101 right_x=0.2691 right_y=0.0058 right_z=0.1398 right_yaw=0.0278 right_pitch=-0.0304 right_roll=-0.0002 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -7.0906, 2.5504, 0.4078, 0.5495, 0.0562, 0.8962, -0.4308, -1.1419, 6.6803, 1.9609, -0.0366, -0.0464, -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]: [-0.6029, 2.0739, 1.2472, -0.6037, -1.0092, -1.4841, 0.7955, -0.0349, 0.7654, 0.5934, -0.448, -0.0662, -0.0769, 0.9986]\nstate[eef_state]: left_x=0.4 left_y=-0.0895 left_z=0.0413 left_yaw=0.906 left_pitch=0.0049 left_roll=-0.0562 left_gripper=0.7955 right_x=0.2823 right_y=0.0054 right_z=0.1691 right_yaw=0.0401 right_pitch=-0.0474 right_roll=-0.0085 right_gripper=0.9986\nstate[joint_eff]: [-2.2906, -11.6171, 5.3265, 0.525, -0.5201, 0.1929, 0.0366, -0.5538, -1.2513, 7.159, 2.0977, -0.1392, 0.0415, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.609, 2.067, 1.2453, -0.6067, -1.0786, -1.4658, 0.1862, -0.0353, 0.7376, 0.5465, -0.4202, -0.0757, -0.0772, 0.9985]\nstate[eef_state]: left_x=0.4012 left_y=-0.0857 left_z=0.0538 left_yaw=0.8998 left_pitch=0.0739 left_roll=-0.038 left_gripper=0.1862 right_x=0.2787 right_y=0.0071 right_z=0.1608 right_yaw=0.0479 right_pitch=-0.0382 right_roll=-0.004 right_gripper=0.9985\nstate[joint_eff]: [0.253, -9.347, 5.3812, 0.3443, 0.2418, 0.149, 0.0562, -1.0188, -1.5658, 6.9949, 2.0147, -0.0952, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5194d664dee0c0f987b1c1a6be423ae438ada1ce6130746a32dc214023893cc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d6e21ad217e416c56a24dcb5d529d51d1cbbce8b38f3e672dd99c99a49d54ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adb9f800210869afb67f3553ca9852dd4e057cb99a7e0b67a8fd0087fc948537",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHJH1mh99cpDMR1TlhNAHUiP96QMQ7zocsfucOj4Qv7-FaZE1JQ4B-CTs116oGSNBpPLOFfcsFTABcbn2JCVlmsw7_lmN8OElVm3e9YFv8dkB3WAtRIfhBbFEiaaVouvbawHKTevBO1Om71cjBoqr7eODeus7yewRsIiM30tupZNyaIKX16uvXPc9Aguk3WIbqetR1DF91v6xSxLVuxbgZ2o3Ns3U1yrtBIRv6Lrw9tjyvOmJQtpNdgjOS5lMdUjI7PdpRBc6P7tIcvVih45hoyiHDTwU1Ak-5SkbtbrX8ILIgCc4c5T_IHf5haR6CTU8G93xGWcDvSbgLwghkcajCs3dHmwHlIRwHGIF2n0UlUFn4v2HcD0eh6WMM5vef0QvEVePSXlVlQUGAPyNtFqG1rS8Qk8TikAgqgREMaeIDKDYxATT_USCf2gZ9ubmCHjvZY-6rzVwVc_EXoEitkNECKqX7JpxqAF_1Nl_YbHVxgW1lPgdzrrjWZzXhKuO47KwKaJXufkkKixdDg4NHIYMvegp0iINJ8FXfI1SN_vV8GzH858TDvnz2Ev8OU0GdVtlDJbQBitbRCCwaiF2u-o748dnVHw7SS0T-ReIjHQ4piaKBFoo5Lgzl9DXKO474V-xdeo6FUlhiYUZv_xVtje3DsEKE2U3DdCUpqhoTOq-YFnpChwgXAapKYk-Gn76EQcSvES2YiBnkJjujl6ZQv6cV7mvkyskZywrH9J-yKsREMVexn1qvrsUMOdHs8NRDss-sp2h1uymaKcYR2_yp4NfJwCnae4QoK60RMRu1_MvvGqRrytN3nwpcp117-Fz5fqmj2cfMYziilx46LJ_x4Q2WHFntbdtJIXakQjtXMmHP0tYBt2OJ_HVZdLBPFytsa45rV9zRW1AFwbrt-61HZ4vaNaPefJKrpkksMN1YGqGqQVArnJ1TeNEknVlzjL-8yBExk1ornJZoZwZSokYGANA6mlAFSO12mYRi_lg4AXpA97j_oNZh6MotqOM5z6xNmAZiQQDotQoZH36A9bucrUgh32dFr4tEsbJn5yCrP4nVyxkeX6c2pd96hjC8tMNmtAt2v2VcyiVUqaVNGV-6p9eRDR_W4kAXhDwOO4hSKNGYHXnpFhUPToCqR3iJ9bHYRKBlamXKlQqYUA36mM4YB1LzOPVaHpc93cFp6gkXaAsYH1IpvIYKkM8hOllaU2nhhTHStZBRu4Tt-Z0ezWq497suBMFyVKWNBQDIUf1gkjvVAUvHwJxAd863ChEEYWN2mG9nOThBFe1PkahuY7JZyV0Wo7c0kUDejhBXYlCxgFksrLBLv9sL-D2xhc1V3QXe-4emccr2AI73hBcoZMqlYcAXFJQZwfOk9m-8XdhH1rroG3jFDZZPq9K9UINLSBogPmaHti",
  "id": "rs_0a686eaa751242d7016ab4724540e487d09414e641b7a3ac0e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.13,\"left_gripper\":0.1},\"note\":\"The neck is centred and the jaws are narrowed around it. I’m testing a short lift with a slightly firmer grip to see whether the bottle rises with the gripper.\"}",
  "call_id": "call_9mi0bu9rKOFeAmdEj3QIl0va",
  "id": "fc_0a686eaa751242d7016ab472461bac87d09b41e5939f06a179",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9mi0bu9rKOFeAmdEj3QIl0va",
  "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]: [-0.5941, 2.0098, 1.4273, -0.8078, -1.0233, -1.467, 0.1018, -0.0349, 0.717, 0.5106, -0.4023, -0.083, -0.0803, 0.9985]\nstate[eef_state]: left_x=0.4169 left_y=-0.0953 left_z=0.1071 left_yaw=0.9084 left_pitch=0.0219 left_roll=-0.0806 left_gripper=0.1018 right_x=0.2756 right_y=0.0086 right_z=0.1534 right_yaw=0.056 right_pitch=-0.0351 right_roll=-0.0026 right_gripper=0.9985\nstate[joint_eff]: [0.1162, -12.5607, 5.7368, 0.0757, -0.525, 0.0952, 0.105, -0.7453, -1.4974, 6.8855, 1.9512, -0.0708, 0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:514765b06e5e8eacd16006bc277bae7104c4bab07ce53af0e117c8767f2e55c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb75656fa24735f5891aa7c7f8f9a371216377800dff35a6713d2ba3d8157604",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:694b10df2692e9490d58a7688b2c4ae7d5a5a605ede794bf368ed4d2672e2eee",
      "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]: [-0.6132, 1.9816, 1.1473, -0.4847, -1.0382, -1.4483, 0.795, -0.0349, 0.7933, 0.638, -0.4644, -0.0647, -0.0731, 0.9986]\nstate[eef_state]: left_x=0.3956 left_y=-0.0879 left_z=0.0583 left_yaw=0.8849 left_pitch=0.0423 left_roll=-0.1346 left_gripper=0.795 right_x=0.2872 right_y=0.005 right_z=0.1786 right_yaw=0.0367 right_pitch=-0.0471 right_roll=-0.0063 right_gripper=0.9986\nstate[joint_eff]: [-2.7009, -13.7504, 7.8838, 0.7399, -0.4957, -0.1245, -0.149, -0.7863, -0.9641, 9.9487, 1.8974, -0.1343, 0.0562, -0.0171]\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]: [-0.609, 2.067, 1.2453, -0.6067, -1.0786, -1.4658, 0.1862, -0.0353, 0.7376, 0.5465, -0.4202, -0.0757, -0.0772, 0.9985]\nstate[eef_state]: left_x=0.4012 left_y=-0.0857 left_z=0.0538 left_yaw=0.8998 left_pitch=0.0739 left_roll=-0.038 left_gripper=0.1862 right_x=0.2787 right_y=0.0071 right_z=0.1608 right_yaw=0.0479 right_pitch=-0.0382 right_roll=-0.004 right_gripper=0.9985\nstate[joint_eff]: [0.253, -9.347, 5.3812, 0.3443, 0.2418, 0.149, 0.0562, -1.0188, -1.5658, 6.9949, 2.0147, -0.0952, 0.0269, -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]: [-0.5941, 2.0098, 1.4273, -0.8078, -1.0233, -1.467, 0.1018, -0.0349, 0.717, 0.5106, -0.4023, -0.083, -0.0803, 0.9985]\nstate[eef_state]: left_x=0.4169 left_y=-0.0953 left_z=0.1071 left_yaw=0.9084 left_pitch=0.0219 left_roll=-0.0806 left_gripper=0.1018 right_x=0.2756 right_y=0.0086 right_z=0.1534 right_yaw=0.056 right_pitch=-0.0351 right_roll=-0.0026 right_gripper=0.9985\nstate[joint_eff]: [0.1162, -12.5607, 5.7368, 0.0757, -0.525, 0.0952, 0.105, -0.7453, -1.4974, 6.8855, 1.9512, -0.0708, 0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:514765b06e5e8eacd16006bc277bae7104c4bab07ce53af0e117c8767f2e55c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb75656fa24735f5891aa7c7f8f9a371216377800dff35a6713d2ba3d8157604",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:694b10df2692e9490d58a7688b2c4ae7d5a5a605ede794bf368ed4d2672e2eee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHJMkuQtcyrJTjNHEuPeJZ9nUqPeedyoKg8ImIQbT-TjWC-fI_EaW_p6Xkx70mrBtJNhtXhXUwQGajUYF50Q0I9hwGY7z-KmRgZ--Kf7TDsfnTUEZyZAfItiRBheaKG3S22DY8jHNsECAAx1VxNjH_bTWXQzF94Ybl1qlPng7NcNirV4YcpOMaj61n6dTF3lu0kw5OCTlEo0728ARD_xci5GYI9xgbK-IFbp7z0t6qHf-zMM3GkuNYRKjrEoq9nbiUldYa7Wenhb4apIb1nhVlfAH1BBrT4YUrkPVuZpgJZZ_REXs8ZSa2N5OtKVaocvV2yeoczzsBnqbNDBKufiucktbz6AXHU85qqO7cCq0Y94B-NBQgplMvE4UPlm4ErgC6_W7FXluuRfCEZTclKq5l3nYePrvRdrZKC6GhmcQFs5DGwhGZafqgh0BnZrENq37564DPeZiapJ8_PhjE_NG3YbR79ZpPvD7896W2SW8CkMePPporPgd7Unw5Pke2Y4YSqQ52apNmdN5GZzQlj69q_nwPCh19RvgGutjELz6WDZFz8AOlPAeLKK2IoceoUBxRl5FQoAiQwmsmLEPsabXXbvtUZQgre-tpHwBsf_lfQZHA_zNurK2JEFP6e3tE19n0GiVg7Js_NOFziJ7SLxmYcQOvFjpqPyvW93CNMP7rk6LQYV7CxvpMn0ijOA9I10nRv1FCTt6moF_zuD8n3yzvqG3fWSJi_b9iHB8OYcH_htAF4DZ2oyYLxfag96UTkm9eMObBDhJlvkcncb2MWzgLhBgEUzjS4KleB2RUiZFcQe2FA5WBosUQZW3w7HmLEK7pBvuLxyrink94T4g0QsnAj4-__4ssaeHcWPHlGBixezLXa_SDLMeO71xWdMV0ouV_RuvPAxr7PrSg-WHPDt4WLV2ze5p5eyXFO6XSlx4UZrg-burrpJI0LkG_nodVi0Cq3PrKxQX00vKDrQp29mTu6Km0LJa_FH39Kjv181q1aHC_FAv6FfxNEnb8vXBkL8Hpea6wFjIsskuh83CIuuHkri1NOIWudKCHl9XcthFAV2Y7MErLp6Tw799lIx1Hvs-f8HRcfcYf8DqMRV5QJ-XMDsutkpW_67e1R0xtV-e0BVybgtmdyW4iDaD9geXQ-zarXD3VqGCqK5K5MV7v-IuKHFNpSeESJwGuBRMCgC1big5Sf8NcH4nWYHoOrAFaPYQ7pxY1--6NcO8xSzDqWiP8GQwoWi-Kp4As1-_oAUk9R5CRNBjFx_glL93arqwXPc0FP7MfO_-K9VlxMVBd9fDRebQG68NrgS88G3MGqzYYIamqIx7cGimIintODKypdwDhfbpWmflK53uzqOZw1VQxVVi2WRtp6Pqy5yZMPl2hCaFGgQ_ZEfY1hJBm5JyynWcky4IVgeRJwH0OG_9KcJK4McQ7RxpLQMzxpYCaYsZrNYxjAToD1FJvgLtFGWJkgeuKvqv8Dtz-QZzDC7srqyQrE55P1NDWW9owrOZekG0hSJEIJU9HKHeaapKA3lDusMlfy6LJKzHuS4SjzC0PQuOTMRSQrmjCgHhVBdA_t3NphE8HUFBUVfhDziEFz0scgTIq0CPeCtO8eObf4pzvr6OzWweBCKagQVtmRxMi6C7gp5ygXoDCWaxSSjGXuYFLQnauYOtpY4gV4OsWv5u7h7kZWyRea8l3vvVAfunXRQxdmBW4BLCJWCWahZNCM4SSuxhcrUWgZ3sfSW7SNQBRCDdXUi8g==",
  "id": "rs_0a686eaa751242d7016ab47249880c87d08be7ee5046c3b6d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.125,\"left_z\":0.23,\"left_gripper\":0},\"note\":\"The bottle appears to be tipping upward, but the grip still needs confirmation. I’m raising the neck farther and bringing it toward the bottle’s base so it can swing upright.\"}",
  "call_id": "call_haIHngZuyz9pwLUl2D3Q9MCx",
  "id": "fc_0a686eaa751242d7016ab4724b67a087d0a9b9c12c3fae7bf5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_haIHngZuyz9pwLUl2D3Q9MCx",
  "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]: [-0.6891, 2.0312, 1.9217, -1.4582, -0.9981, -1.6554, 0.0113, -0.0349, 0.6979, 0.4774, -0.392, -0.0834, -0.0807, 0.9985]\nstate[eef_state]: left_x=0.3959 left_y=-0.1292 left_z=0.2158 left_yaw=0.9107 left_pitch=-0.0126 left_roll=-0.0637 left_gripper=0.0113 right_x=0.2719 right_y=0.0088 right_z=0.1453 right_yaw=0.0566 right_pitch=-0.0389 right_roll=-0.0023 right_gripper=0.9985\nstate[joint_eff]: [-0.5402, -10.1128, 7.2684, -0.1197, -0.652, 0.0317, 0.6911, -0.4444, -1.1556, 6.9538, 1.9756, -0.1587, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6199295d086bcc8c913fbd646665fa522e18d72d053708c0648b3b12a15a47dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaefe0fcc2936e0c60dea2609d63354b65fe4ff90c519ebe89ce7d7d27fbe27c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17eb2753f7d96bc659d785e4af676f0b794b9a37018144614efb77c21223779a",
      "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]: [-0.6029, 2.0739, 1.2472, -0.6037, -1.0092, -1.4841, 0.7955, -0.0349, 0.7654, 0.5934, -0.448, -0.0662, -0.0769, 0.9986]\nstate[eef_state]: left_x=0.4 left_y=-0.0895 left_z=0.0413 left_yaw=0.906 left_pitch=0.0049 left_roll=-0.0562 left_gripper=0.7955 right_x=0.2823 right_y=0.0054 right_z=0.1691 right_yaw=0.0401 right_pitch=-0.0474 right_roll=-0.0085 right_gripper=0.9986\nstate[joint_eff]: [-2.2906, -11.6171, 5.3265, 0.525, -0.5201, 0.1929, 0.0366, -0.5538, -1.2513, 7.159, 2.0977, -0.1392, 0.0415, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5941, 2.0098, 1.4273, -0.8078, -1.0233, -1.467, 0.1018, -0.0349, 0.717, 0.5106, -0.4023, -0.083, -0.0803, 0.9985]\nstate[eef_state]: left_x=0.4169 left_y=-0.0953 left_z=0.1071 left_yaw=0.9084 left_pitch=0.0219 left_roll=-0.0806 left_gripper=0.1018 right_x=0.2756 right_y=0.0086 right_z=0.1534 right_yaw=0.056 right_pitch=-0.0351 right_roll=-0.0026 right_gripper=0.9985\nstate[joint_eff]: [0.1162, -12.5607, 5.7368, 0.0757, -0.525, 0.0952, 0.105, -0.7453, -1.4974, 6.8855, 1.9512, -0.0708, 0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6891, 2.0312, 1.9217, -1.4582, -0.9981, -1.6554, 0.0113, -0.0349, 0.6979, 0.4774, -0.392, -0.0834, -0.0807, 0.9985]\nstate[eef_state]: left_x=0.3959 left_y=-0.1292 left_z=0.2158 left_yaw=0.9107 left_pitch=-0.0126 left_roll=-0.0637 left_gripper=0.0113 right_x=0.2719 right_y=0.0088 right_z=0.1453 right_yaw=0.0566 right_pitch=-0.0389 right_roll=-0.0023 right_gripper=0.9985\nstate[joint_eff]: [-0.5402, -10.1128, 7.2684, -0.1197, -0.652, 0.0317, 0.6911, -0.4444, -1.1556, 6.9538, 1.9756, -0.1587, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6199295d086bcc8c913fbd646665fa522e18d72d053708c0648b3b12a15a47dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaefe0fcc2936e0c60dea2609d63354b65fe4ff90c519ebe89ce7d7d27fbe27c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17eb2753f7d96bc659d785e4af676f0b794b9a37018144614efb77c21223779a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHJaak32xBWbFutz3chMVszwfZjiBOAsvX9okFPK3n2b6tvYYI4LJkHRV22c9ggFPbHbhnig68Bvlk2dsr736IVjgSA71yj2QCxRJNSpTAFiFy7FfHEPKqwvSWlOta7WkS8vOQxERvkW6sdcQifmO4ueONpLTo1tpqeC0V4HKYIsyeceChFlUS7py9KbVtflKbZB-5d_KUAo-c0S8cglCGNYXoyRf0NZpPkoTV_fJlsmY4EEp4fyyC7bYKvR4IpDdVAcTGEteF0bNpJi9-B4F4OaELrc9yaLxQND4YsEDvQFcgydjhB8Pr8DMusF6IVn-82Ew5ZwlAPPDSihYNpoWNQUV3FR2YGmZGXgBI_YXxIxgC6u1eMyxbCuyVVJaJqTjvfnL7z_dfiaU8V_S3y5QdX5DRNkTv6C4mYd5fx8SPw11TrrzzN6LsLyT8q54fZoFabLgULRIk1d8RpnuA7R8lQcoEILlAz2HptduR84b3Bdw6-Ddf5m9wW-NXAjQs1NMTKpMxLJyQPtnkGnkdcjMShPj8NuuvujhnzDoiinM2yYJHqFS-1X1IJGkYYFUBG6LUJ15SCw7WQOxWE6t2Ob1zEwcFGJ4x9NpjuNPgk_2MLl_O7S-KjxVosfQSIlTskMx0yLOaSGyCz3t_8ugtMCo5RKhHY7F6R-wy0p5hTrrcKNiwDLIAq3-yQxkkdaxnWXtFxzxJNvGsWgMvksktZNSX6CxzeA9GUzi_qoq057G-6CQx4ve4JtL8wXEyLUX8wFl_7eCzRVVAP-u7k2wiPHwlTJ7yO0T23odcHJmKY-YK3Iqjq4Ze91QZwGoOQJxVc1G5z33kxWLE0PRXI7A5DlMFhJIg0i5rvlf3Ub6v6u3ukyMqDsBJV6t8c5VRdojuNnCfGrTWnXfFhIe4S_OIIKZNSH3w72SQyFjYJ_IJqC3bo1ytng-r7wDYtss0NCVPZVtBLDXuvtIixsPOfPwrfuNgMPHx6YzwC70FDPWjCcvwnHr8of3fMLAxlN7QXHq1zkFHEUxjFwGewdkgWFmGXNaTmRJQu-DuOTmKYeDjWYvj3o_AenARN_gbKN_ap0KA9A7Dq-dleaL2RcK9KSveBW8Z-7PGpdMmOgvSHwf02-ZxlMM8yE-KvHz2Aw7zwGdGJQS6las5dZyVFEEAQ-fNqrQEP2qEQna2_VQhe_PZG-8PyB5BOPpuNrHEP3T0phV8hmHeYnk_HPV2SW4BZtzoWeUpqDN9xmniFvX77RSp-k1ms3rln2QQ4YcnFnB1eAewiqhLLRxUp2aaMxE__9hXhxGSayS0yvyisxZq8dVSuocqLtjUCVVmSk4S-tKf2q7U3JiNZOv9Eantrkvxx1IJwPafchzBfV0rerBmQO_WRAVnBN4qCDHBlQ0nNDg-D0ZVOPL7zkmcrKgBW0z785UltdYgoPmt70S5-hNZahErZh3wQXm-aHuEFOWQwWbLCz4wXeTOXCUQxFfizqDpNOHuX4AnH5HKItr5PmscTyhmJ7dNdHW7JpGRQ_RGCR5vGN-iZiHbr4ebpmaey1Pkm6cbBC19RWodeaz-sTAFUdgEz-teMgRKCLAFwOAQlQcNriI5P6jiFAjUJ_TdeuWQHy5soZDvUDySeymRV8zWl9WBdwDXKX2XqHhcVc7GXXLivJHTmTXXR4bjUVj47-DPrsy_YYWr7DSfTFbGHz9wBg5T-UyTA16CFSh5khiIshr4I8TN2quzHNNfgoQ-oXdiB6xI1MXOnLutq-vd-OJcMcVRE4mROKM5rbT_J1qQqOcAb2M6vOPNOkJ6Otr2oak2gtmhfjcVVYYBXS_sj5Oo7l3sQSbjGnTqz7EmZgJfdmUJUTzTNo6e97KDaiWKOZ3aC11uZYHIk1K4_imu6GTUYxDbuXiKoN4wkYAgLQHBxqNfw51DX2QWNBFAts7O07ZCTW74p65KH__Pu0qu0E1kDEVdHz0qd_ywHLmNwuYA0A_HUdLxYRP9xrEBeiTxp3wRGk668xFr9a-ragDBDU7x2E4eYyZi1deQPOl-NdfFkSBKVFnuV3wDzXVmr5sS-cEIKuk2Hs0jhTqLooW7TLJM74MQw-59jrEcxWjvF_5MZGEpWKgaI1MmyEGR8dTTRNIKhfv_0jCOm_Wuq-xyfJeAPcZVvs7z8lxMXyakyxemDz_EcmNSbI8o9ZImcP8tte4s4EOaa9Rt0q8F3F1axGJOk8UhX9ufR9wEZFQKqwinPxIM-iyKLTYXI6P3Vz-Pe_gnF8JBq2-SohhZ2zLe4vz76eGzodR20rcvwgcpZhGPSb5gEhGDRi7SnhztV3NDZd6T58gZAM2MCc6u0rVB9yGuGEjgWPmkvfWpZ7Fo7CkbA8pG6x1qOhCtydzs48LVPDGnsye6ugYW5pEIjgGMu_9dr0ieT0j-ifspjEGOzDeGpsWpQrqQ2bVDzTyyUJOqZgwwK0untDZG73aFvSY4ZC38DSBEHHuetqicn-Yjz1_s_3R5AywQSxecCAojiXb7UXPVtOdYBXC2gP7lMMLGu7Kgpz-ZQzzrrJUVLpADC72cNnUr3h2bA64_7SQ0m8uAh6RsB_gQ75tMa25BGGNpwA1oLcZo7wmG4R2MAec0edKamVzzuvUuU0cLSLr-Y6IoZsvlFpnKFM6aNaKo695hpXHazpgOEaHJTIgixDSrNjLKQ34vybo2myCv6Jc5pp4UzGWgJxTlDZG15DHqVXzTJ_0wclHE8ebqtIQGu9nFIK33EcyMY1fc95WZLjWtcRmMLl0mpTE3IT6vtsNJylkjxe3taOKclHVEaUEaldSEn2nS9xidMOq5rzlcgEqnjVEKOd2m84_W-8hMtpFxVE0r2TbjC15XFEjhoTzyprdFF19Qyh3lfhsuyuFr8Yv2XF4lLiAmZhlpAkL5w9bl4_Lu9301x1A2S4krbsK16u8tL78wU7noHOcuObVehYVHirq1JsenMY-rbilSP8GEC0eF4vbjE5zx-sww-Xlpr99ilJS8veQbSSnLVOQo4Xc8fwyajXHfDkTxQjypJUBwp7j3PHDLTzzTaR2H9VdUjggIa25oxsICB9GArKSYXd9nm5ENH9IQfpbcesYQGgKhkvOgHm1u2GyDxR8uz6ALI9LcnnKAWIDoUBSnbK7pXYwXhUtpmPVxaJHMed-TblBaMmsIwmA39D1qRuf21N0aaIDrNNpheRkD10GhBfR3w-4KnbP3hPve5A3WjTznt8kAdP4bKGo5S3aUqdpZ8zrMpLvTZo_GlTw_x4-EH376kAyo3mq1ot41DJMIa3i4VX9fzGKvRy73Vh42OqxkIYMBSHbg5OsDD_VC_ytim5n3m81VQooQVu-lBpxEVB4xdPY24PxjmRbS8iYXfouDjjxJAdXooEa1NPoCcdygL_6z2ySs0RCgYaOvfr0X-BPVgJHG9q5Y5keB3y9_vUCCqY4ce49XLe0oKx4_XKOlucq449bhpMpNXTWJmhItbi7dzvocrSyQGjtK2lRbywJ4fZlVsPK2Y74pejFD8-atFX-5Q0tA_Q7VAtJE0oDAgYJI2nLLoaEocWpaizW-kOuaEzC2XDXvmwzmQUkdCOhRmL0L8KVCF4t0kzXyvNALa-Q24-9D-s3SLrU7KxbBNjJkukOnjwC-Q72CadeB9NTVsJkbY5lymCcpre6sVVAWy0yQ5tNy-QKzSmF_sEY1B5nYklcpVMxlu7Vov6NosJbFtAXMJm10WYQ8dO5Q0sSlm69MOKaDTTSsahPkDufJggCYV4Vjy9fx-ndXpwcYG8j-_ZLRaJaNMjcfbzwtp52HbN3AG0DoZkAULftyktd-rr0XU7vuQ=",
  "id": "rs_0a686eaa751242d7016ab4724f226487d086fbda2c83794470",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.22,\"left_yaw\":0,\"left_gripper\":1,\"right_x\":0.44,\"right_y\":0.27,\"right_z\":0.14,\"right_gripper\":1},\"note\":\"The left gripper is empty, so that lift did not capture the bottle. I’m parking it clear and switching to the right arm for a simpler, straight-on approach to the rightmost bottle’s upper body.\"}",
  "call_id": "call_NOktpMNmYbyKrkiSd47CiaYd",
  "id": "fc_0a686eaa751242d7016ab47258ddfc87d0b7cedc6c0a8266c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NOktpMNmYbyKrkiSd47CiaYd",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0628, 0.8284, 0.7723, -0.5083, -0.1551, -0.1272, 0.9974, 0.7185, 1.8496, 1.2304, -0.112, 0.4973, 0.334, 0.9986]\nstate[eef_state]: left_x=0.2977 left_y=0.0122 left_z=0.222 left_yaw=0.1201 left_pitch=0.004 left_roll=-0.0145 left_gripper=0.9974 right_x=0.4256 right_y=0.265 right_z=0.1222 right_yaw=0.1043 right_pitch=-0.0561 right_roll=-0.0415 right_gripper=0.9986\nstate[joint_eff]: [0.1573, -1.7026, 6.3111, 1.7265, 0.1197, 0.2418, -0.0269, -0.294, -9.4974, 9.347, 1.7021, 0.4713, 0.3346, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e5f7bf81b2dd122babcb3d104373fc3a2d72668095be156ff587966378badcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2415ed1a86c69fe0f17f1c3848aa9acf6d13e03e36559172367c961dca4fbb52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd5a2418a067c7718f226f0976e75c783c16fed425bf2ba878174b6da11fd60c",
      "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]: [-0.609, 2.067, 1.2453, -0.6067, -1.0786, -1.4658, 0.1862, -0.0353, 0.7376, 0.5465, -0.4202, -0.0757, -0.0772, 0.9985]\nstate[eef_state]: left_x=0.4012 left_y=-0.0857 left_z=0.0538 left_yaw=0.8998 left_pitch=0.0739 left_roll=-0.038 left_gripper=0.1862 right_x=0.2787 right_y=0.0071 right_z=0.1608 right_yaw=0.0479 right_pitch=-0.0382 right_roll=-0.004 right_gripper=0.9985\nstate[joint_eff]: [0.253, -9.347, 5.3812, 0.3443, 0.2418, 0.149, 0.0562, -1.0188, -1.5658, 6.9949, 2.0147, -0.0952, 0.0269, -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]: [-0.6891, 2.0312, 1.9217, -1.4582, -0.9981, -1.6554, 0.0113, -0.0349, 0.6979, 0.4774, -0.392, -0.0834, -0.0807, 0.9985]\nstate[eef_state]: left_x=0.3959 left_y=-0.1292 left_z=0.2158 left_yaw=0.9107 left_pitch=-0.0126 left_roll=-0.0637 left_gripper=0.0113 right_x=0.2719 right_y=0.0088 right_z=0.1453 right_yaw=0.0566 right_pitch=-0.0389 right_roll=-0.0023 right_gripper=0.9985\nstate[joint_eff]: [-0.5402, -10.1128, 7.2684, -0.1197, -0.652, 0.0317, 0.6911, -0.4444, -1.1556, 6.9538, 1.9756, -0.1587, -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]: [-0.0628, 0.8284, 0.7723, -0.5083, -0.1551, -0.1272, 0.9974, 0.7185, 1.8496, 1.2304, -0.112, 0.4973, 0.334, 0.9986]\nstate[eef_state]: left_x=0.2977 left_y=0.0122 left_z=0.222 left_yaw=0.1201 left_pitch=0.004 left_roll=-0.0145 left_gripper=0.9974 right_x=0.4256 right_y=0.265 right_z=0.1222 right_yaw=0.1043 right_pitch=-0.0561 right_roll=-0.0415 right_gripper=0.9986\nstate[joint_eff]: [0.1573, -1.7026, 6.3111, 1.7265, 0.1197, 0.2418, -0.0269, -0.294, -9.4974, 9.347, 1.7021, 0.4713, 0.3346, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e5f7bf81b2dd122babcb3d104373fc3a2d72668095be156ff587966378badcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2415ed1a86c69fe0f17f1c3848aa9acf6d13e03e36559172367c961dca4fbb52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd5a2418a067c7718f226f0976e75c783c16fed425bf2ba878174b6da11fd60c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHJjwAKe2-UMOoCYqHWCYaO-SMm19FshF-sCfc32jv5bmdaasPU7X9uLDyGMoF38dyUpWTdTWNzmyc70HiCGh-c0jznEHFrutGAQDBYfKyx8iX8yfcdBpAFgsmp8vhmIfAfcumNAykcU4APp8sCTW9ZTW6BebWoAYR0cMj6JFpLgGHg3jyb_30hp7SXmAma4mdP4kdj3n5fruzBhsjwuCD0uNCWQcRrPJjeYJtEQs-oey09remNxzB6MKrGL8RbNSNChVvzzhozGvMXF8jof8Eyb4SO6c9gs_4LAeKoQkBtDwqtHHxNjUNrZbjIb6wgzgf_ZBnX-2bNrSdoWo77kMCnp9IA1MCRppAZt0HbxWyUpHry15sZjGe3D0fbiIhdDg7IQ8dsEKSb0yL4XK86LRulaY8nJgJhZcgr671Syi-ZMwgiYnr46UJQBq-YCpuMScK1QovEH3JsPpk-zHUsg0x28QmoWBz57JU8yAHT_0LH79xCZZWZcULXNTlsP3w3zle7qdWDvNcOBtvZv7pPY9onArZ13VYCyp5rNQrzMWnXiKDCgL8Fh0A1F7yO6c663yU-TFhYUMBuNJo9YQ87BLsg2etp1VcJE7wJPV5eb12xKzm50DvbprahLbpMWpngHE0o3_1nnSHTHLFvKSeh5QPEXEUv0MFGPeMpVecR0cgOP7lQpJzDeXWdtGDOCZL8RNej86uFNmdq2FrWTfGJgalA8OXYRt0e2qGDyPBj9FVGU8ihMTxv77mb0dxLaaRyRliq-CNzEcV53d0SWAn1C1fmV4NtOtO0LRkiCUn5RbIMvxR0OMk5nwalx5vNtFtfQIKDmnzsbVeT8sQH8YAOw-B3I_R6NcOIBkP8Q5ZJT4c_EBjynBC7bD-XucKf99lllkKh-PPt2rehpKvUixsW_4Iu9px-_jwF7T2YZ4vD-qN_xbHHxJHgTreCAFasdwjhP5wfLnMG6cCnR-mlzwcGAN9YArPxu9BMejVp2rfT6fVMfjj0d5X5PfZxPtMkwldmdOOIcKNhhH1tFch-7d78J83vt9ETJ2RzNikY1cIA8rkKHFo2rNZhpghnp95OLmmD4XawFc3IvaUDJHsFAVR7NH9-MIGz-RNLVKCidSB-QWEavEVslvzAOzyhSjKrauF-HORp5jGBvDohQ--ssyh8W0uMqF7xXpgEnR3pEHvq8dc3ykX4hy8KhLIgNjv9Dzz0nLfXbASpxPFE35yL_JiBHMk6aPCF7JH9rSlA3nntMPX3AeztUoIOz7tmVPxtguOifdhLhEAtU9y3c5v0lGeGiEe3QkkOnKIVvMmHQ7-ysgsxXSIuICQe3wUFXNQFi8QdStUtQv-TpR9xGkb2XfGD2xQZVlJBL5Th_O2CK5iKlSeHX3d90SI4UDuhE67O5Z5Ee_ooa37F5WsYcTcIMq-3gsXEzDYqWfcXMRZ_PoT3cJdwCqfU_YcZrivoRGiPNb01zNrIwqnZ0LLsAWiAppuBrxciBd9VhZFeHyFzrT1W-vzcGC5gA08E7YVHtczWiaYVT5bQZt6FaYc63XEjpgCwhONa8s3dVnD-sSh5imXMiaYYHT2PNsq0jkkvXBbWBCWjtkLOm7N_SK8ckILzdjuMF9tLFu5uMID5MixZQZZ5T1PG90IFYQaMVENdmC3gAsHWDpbScl3NgOuxjOODxYrF-wLYinN8WL-AtAaCzKxWZ8y7D6mpiUWB1VAEFiMAQjEYlsNpUEFQmF4GGUeKyl-jw64GNDuq3YI6tW5wmPMUIc_-foBa8SZ0oJwJQu2Eu7fu_mLZNlQjm4ytyazLcTFnBB1JhyxOXvHqXojqpOMMKWdZwrc6iyZRunTj2orQV5LyOGILOxO5z2RzaJTDKjX39DpP5OQPY45Ox6pF1ktqhcl7XHX0a7pLt75PrsUrAR6aIiYZLtOXwbXCe4_2NveC0FvnMUUesdz4c7u1i5kekiKdWFIwYAEZ6gDAbU3v5qka78A9cxVIOcABdV7pCt8PfSa8JVKxyXNgxW3o5acyYhHg6RYQnB2bwtUbk4lAk-Ojtim7TXD4OSk2HQ7qz88-MWR68G_0LDAwj0Qm9QIWePoEs9TQLspk2pDedhdz7AIp76O0s1BR9uEfqq7DbqsQiFAERQqY3xyS7bPWmyjlklCnpGmYE4-R91_vtk--34UYOxfmG7lshTzoTJW1SWjq69JCf-Q==",
  "id": "rs_0a686eaa751242d7016ab4725eb39087d0bceb063336bc17f5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.245,\"right_z\":0.035},\"note\":\"The rightmost bottle is clearly visible in the right wrist camera. I’m advancing over its upper body and lowering with the jaws open, aiming above its centre so the heavier bottom can swing down.\"}",
  "call_id": "call_7rv5ubMk0qTu0bmk1buRG8ji",
  "id": "fc_0a686eaa751242d7016ab472626dec87d08c50b406dc5c5a73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7rv5ubMk0qTu0bmk1buRG8ji",
  "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]: [-0.0727, 0.8375, 0.7635, -0.5129, -0.1593, -0.1123, 0.9976, 0.6006, 2.096, 1.1484, 0.2356, 0.4, 0.2565, 0.9986]\nstate[eef_state]: left_x=0.2973 left_y=0.01 left_z=0.2146 left_yaw=0.1058 left_pitch=-0.0178 left_roll=0.0043 left_gripper=0.9976 right_x=0.4662 right_y=0.2403 right_z=0.0245 right_yaw=0.1056 right_pitch=-0.0747 right_roll=-0.0391 right_gripper=0.9986\nstate[joint_eff]: [0.0752, -1.7983, 7.9932, 1.6679, -0.1978, -0.1392, 0.0024, -1.1692, -9.5385, 8.1162, 1.8046, 0.3053, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0e861b7d0a11ce3734beab4dfe64fb2e20494b0e5dfd7e6e764666098d32f8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fa98cfbcee52c2de171eff6ceff9c515ac1e483a1b22bdb819fa02096b8a9d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb806080f1604472dd3e2f01611c9adebfc94c5afb9d63a8605ea2725e45d882",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5941, 2.0098, 1.4273, -0.8078, -1.0233, -1.467, 0.1018, -0.0349, 0.717, 0.5106, -0.4023, -0.083, -0.0803, 0.9985]\nstate[eef_state]: left_x=0.4169 left_y=-0.0953 left_z=0.1071 left_yaw=0.9084 left_pitch=0.0219 left_roll=-0.0806 left_gripper=0.1018 right_x=0.2756 right_y=0.0086 right_z=0.1534 right_yaw=0.056 right_pitch=-0.0351 right_roll=-0.0026 right_gripper=0.9985\nstate[joint_eff]: [0.1162, -12.5607, 5.7368, 0.0757, -0.525, 0.0952, 0.105, -0.7453, -1.4974, 6.8855, 1.9512, -0.0708, 0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0628, 0.8284, 0.7723, -0.5083, -0.1551, -0.1272, 0.9974, 0.7185, 1.8496, 1.2304, -0.112, 0.4973, 0.334, 0.9986]\nstate[eef_state]: left_x=0.2977 left_y=0.0122 left_z=0.222 left_yaw=0.1201 left_pitch=0.004 left_roll=-0.0145 left_gripper=0.9974 right_x=0.4256 right_y=0.265 right_z=0.1222 right_yaw=0.1043 right_pitch=-0.0561 right_roll=-0.0415 right_gripper=0.9986\nstate[joint_eff]: [0.1573, -1.7026, 6.3111, 1.7265, 0.1197, 0.2418, -0.0269, -0.294, -9.4974, 9.347, 1.7021, 0.4713, 0.3346, -0.1636]",
      "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]: [-0.0727, 0.8375, 0.7635, -0.5129, -0.1593, -0.1123, 0.9976, 0.6006, 2.096, 1.1484, 0.2356, 0.4, 0.2565, 0.9986]\nstate[eef_state]: left_x=0.2973 left_y=0.01 left_z=0.2146 left_yaw=0.1058 left_pitch=-0.0178 left_roll=0.0043 left_gripper=0.9976 right_x=0.4662 right_y=0.2403 right_z=0.0245 right_yaw=0.1056 right_pitch=-0.0747 right_roll=-0.0391 right_gripper=0.9986\nstate[joint_eff]: [0.0752, -1.7983, 7.9932, 1.6679, -0.1978, -0.1392, 0.0024, -1.1692, -9.5385, 8.1162, 1.8046, 0.3053, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0e861b7d0a11ce3734beab4dfe64fb2e20494b0e5dfd7e6e764666098d32f8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fa98cfbcee52c2de171eff6ceff9c515ac1e483a1b22bdb819fa02096b8a9d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb806080f1604472dd3e2f01611c9adebfc94c5afb9d63a8605ea2725e45d882",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHJn6GwQM27cnv2je295bS58qLYa_3knGWjw8yw_1dIiu1SXpU2fXU-3Zsu1pUG5jx3y3gzt8G1wSlNMmJdb8l0Y6O0q07PiZmV0P5Pbo203YFf4AjxwE5W1Dbtk05RwTZL-Sp4gHUGr2EGygwBgz6ODWdPwba2J2LUEh5vJHpfTroJS5vUrkjeuktR_DTFA2PQ2qWKqWupePshE1EAMNuQ1gbfGYTYNU_QZqLv5WiB4hGgeqwX9yyzoJvPBFIjxWbByjOOhZhAsar6wh-wbiELZOSjQGJK-2ea8vaBsgT_uga9CwcxjrG61HvEYWosvqz2RUrO5Y7D-7go8TVBU_vK6BdNtYFxQbipv8WeV_esKUsbKTOpvh7B3bQhxrTX1DJlgysXp7FNmPXU2gCz3oB60ChNlIOs86zIFCo2BhOhJ1xSXZYUKJxEL1xELP6KoZpdt4eeYNSkmmNNfUTydCnP1F9WSzsqdUB9V8WYdzp5QNjN5GypxexmWcZWqU_wTtiayuUEg-3vrHlMImSMdoorQr4iAcVVQkRe05g-0kSG_EZ39fkAGhoUD3ZoT5NqAlRu59PAp_Cxexl5ljotRM3QVNproJgx3_RmxZnYGYCgoz97CyjLkgYzuT_r-fhRRvdHYEFgI_lMx2nUCMHVlOw2GYb8ql_BuD8ID7dGclGuzwYv96Xgx9rtPxfIiDVDu2HpKUPvGawyc8SYYq-UYCKtDMgw_etlJSks1c1ZDrIuqEv6Nx4wur9rckGRKD7cLbhweYE6fF-AF6W5RkQeP2hcLJwQsAdrfz3rvi4xHzhDeiaiDgAmRFIIP2TLJfX8dkxOJlEinNavTMgLIid644aU7bPRdVjweWUgInDbu5oteZK62lvtVU0SXVF6WWOkIKjGvXZAWv-LOiRC_tworGF6vTwW_j_k3luJvnwPIWviA2fOUeHjoKNZR4cyRZschRS3zxDXSk0Cl6Q8w_zd3hyBpWm4hddB0IRUJjETt3D6FzNpr16ATdLBLHV-86iFp4GhEEZC8O24rvVsbN0bmwwyq7C0hvKqEKUeLVx0szquwFbWUMRlYhmHX45NKSClESbbSN08fIOLGAvWHyYhci3sF8kWrxupOvS77civmeaC4jAD_liLFbMspqBz9o0S72bZj4yDzudkzDkd7wjVJBMd8B9llYAXkekND-3SMrgubHwPEciW8Txga3xlaEBSpN7GC2XOgvJ9X318oGER-XQ-0yElMVAQwvu28hkWeo40S1pWQ_EH2p8wdfjhNDD-kUX_hoT3clCYXS--3uyOYuLwlGgxMCoE5GsPCCvLc-yu-PLAA_6k4nR28t1oDC2y-jXcCeKLe4EQ9nBVkzQJmVDXOdXtpQfTeuYpsjVh_Y7JJxhofY2Utdi5iBkzTEoc2Acl8",
  "id": "rs_0a686eaa751242d7016ab47265faa087d0b8ac6d89908eb0be",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bottle’s upper body is centred between the right fingers at table height. I’m closing the gripper to capture it before lifting.\"}",
  "call_id": "call_QtmKyPjbB7lZtVUsPvhnNjji",
  "id": "fc_0a686eaa751242d7016ab47266faf487d093dbffc4b95d297f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QtmKyPjbB7lZtVUsPvhnNjji",
  "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]: [-0.0727, 0.8337, 0.7479, -0.5045, -0.1654, -0.112, 0.9976, 0.609, 2.0861, 1.0935, 0.4892, 0.4026, 0.2413, 0.0131]\nstate[eef_state]: left_x=0.2965 left_y=0.0112 left_z=0.2104 left_yaw=0.1108 left_pitch=-0.0206 left_roll=0.0086 left_gripper=0.9976 right_x=0.479 right_y=0.254 right_z=0.0573 right_yaw=0.1184 right_pitch=0.1102 right_roll=0.0452 right_gripper=0.0131\nstate[joint_eff]: [-0.0068, -2.0444, 6.694, 1.8926, -0.0122, -0.0317, -0.0122, -0.9504, -9.6615, 4.2325, 0.9109, 0.0952, 0.1587, 1.1258]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41200291772ed59cc42e36d268e7261a75db1b56761974fe188e6a656053395b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cbbf8623d08f043ce98e25001bc1ab1a2a80dc0a121c6ca3f61bf116d533ad2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ab2dc0cec72c04bdb4b00a03146b9ed8f1280cbd7f482cca4a8f67a7de90b9c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6891, 2.0312, 1.9217, -1.4582, -0.9981, -1.6554, 0.0113, -0.0349, 0.6979, 0.4774, -0.392, -0.0834, -0.0807, 0.9985]\nstate[eef_state]: left_x=0.3959 left_y=-0.1292 left_z=0.2158 left_yaw=0.9107 left_pitch=-0.0126 left_roll=-0.0637 left_gripper=0.0113 right_x=0.2719 right_y=0.0088 right_z=0.1453 right_yaw=0.0566 right_pitch=-0.0389 right_roll=-0.0023 right_gripper=0.9985\nstate[joint_eff]: [-0.5402, -10.1128, 7.2684, -0.1197, -0.652, 0.0317, 0.6911, -0.4444, -1.1556, 6.9538, 1.9756, -0.1587, -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]: [-0.0727, 0.8375, 0.7635, -0.5129, -0.1593, -0.1123, 0.9976, 0.6006, 2.096, 1.1484, 0.2356, 0.4, 0.2565, 0.9986]\nstate[eef_state]: left_x=0.2973 left_y=0.01 left_z=0.2146 left_yaw=0.1058 left_pitch=-0.0178 left_roll=0.0043 left_gripper=0.9976 right_x=0.4662 right_y=0.2403 right_z=0.0245 right_yaw=0.1056 right_pitch=-0.0747 right_roll=-0.0391 right_gripper=0.9986\nstate[joint_eff]: [0.0752, -1.7983, 7.9932, 1.6679, -0.1978, -0.1392, 0.0024, -1.1692, -9.5385, 8.1162, 1.8046, 0.3053, -0.0513, -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]: [-0.0727, 0.8337, 0.7479, -0.5045, -0.1654, -0.112, 0.9976, 0.609, 2.0861, 1.0935, 0.4892, 0.4026, 0.2413, 0.0131]\nstate[eef_state]: left_x=0.2965 left_y=0.0112 left_z=0.2104 left_yaw=0.1108 left_pitch=-0.0206 left_roll=0.0086 left_gripper=0.9976 right_x=0.479 right_y=0.254 right_z=0.0573 right_yaw=0.1184 right_pitch=0.1102 right_roll=0.0452 right_gripper=0.0131\nstate[joint_eff]: [-0.0068, -2.0444, 6.694, 1.8926, -0.0122, -0.0317, -0.0122, -0.9504, -9.6615, 4.2325, 0.9109, 0.0952, 0.1587, 1.1258]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41200291772ed59cc42e36d268e7261a75db1b56761974fe188e6a656053395b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cbbf8623d08f043ce98e25001bc1ab1a2a80dc0a121c6ca3f61bf116d533ad2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ab2dc0cec72c04bdb4b00a03146b9ed8f1280cbd7f482cca4a8f67a7de90b9c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHJ_fwkP0385Wgcw90Ika1fHP-rn0USthVfn_1RQt9VeZF6uaxGY2OHHYQZoiZ3t3y4IkOtN9Xk4EmnpwPdF8FQKq9ygwzskeCBkvHeEQUghYQKnf8OQikQkvX3U2Kn7s5R-XI-W39QCbGh-Bsco9hJU8PXDJhwHDPvOuRtMorPK5sivy8UKTAEkLXHFwXPMcrzmKeHLgD5FqR6pRSkzdtjjm0fl-4ULrB_MtMx5g-4zxOc9QzkhvQdb3zG16bZ08Fv7U4uv2XsZYC_-KRUCPKLYmoQhNoVrIfQOABNZ89L8lWQjlPY71izAvVmirPk7QohmoMWb4nLbJUFcpQ8GBYkX_0sgU-YBpnR_AlNVuFeGElayD0pTjV5AHqz6UObxbBn49kLQ21taBTSMsCn9okxFEH5P3_S06Jn_NvSQUIVBT_sINipkJgQoGUwOy3QL5nda-vftnXKOmwm19cqpYVfFgn-qi6fX5vj2xQQaoDUj6nPCa7mLvRFQ4kcM8pKyY8LPH-SnzT8gIKXGMT-1-F88Z4oTYKXf7JR6iqmnSU9qI6ZVKYfW78rA7uP1FQpSoJXrtC8WvxxT8Y90E3f5rToX5D5LMuhFuk8VuYsUMBmweCSeSNo5H2OoVoNK6pFSPkB-_ew5NyFehOWeyvnDJmqrWxvT37VnGzntkR52eAwOco2ljl1TZfJiPf4ZT8XSr9UPI-6qwtYMes9X9riSs1F_L6mfDNoEBQDVVyXpmgDtdH5NDG-MHJE1eXnnGjCt1vPnie1KHJUJULOgM-1lheHuz_oM9RN4kSRBqZ3bxKWDwY8XAyapUbLjFuzguf11D7G9iOpwNaLkCk5se5Q2I3vHktLOFNuSz0jkY3uHyxRBrxbSOgr7IrZshd1vwB5QePBGuRP6_0-9HjpMsPQGx1gWq94HMCR_nX_t_GV1cKrgERD0IwUGKq08suoLWt-Pt7qMefxvp8GDwe8NhKIjUnVmYs8dIi6g-6ChvIgqS4rjufO2DyoiMbwKTCpwFQ6T8d-nW8qFhN_UJzGUSQUlaHOMkMD0JjO158I_y0P2TvlldFbyeTIY3LEqUOxhE0qhYL_colToaLpv7L5n8UgtlovazSVKNZPD67fR8sbnM9NydsLXBy08rYhx7kHCgEPA0Xi-9gw_C2iA0bAD-jUgudHUNY6kq7zmR0LVzK9DrsXFQp5xYWsKA6Sd32ngvVSB_ujIxoSL5_iMcoX_1bx8JEMcWfkz4y28z9C6ODsPkYoadMIwywA83LhH54A1vUnVjpcNQdXNr3hVcsDyw-pPHwCzgvTeMlZAN5f3UTsytg_RarbTsGh8lEd2sQOZR3Qv1BlTy-mbgfaV6N_1GUyA0qnpp46BRB41Pcftg24elbBbMBG9typXrnVqCikL481uAg2ZO9P0mFu187I-62pRdOsObtFRt2bzcSX6azAEN5THprx1QKzYy7Wnq54n-bAA4nOOITzn0OpOHL_XhXiOo5yiAHN3Y4UgIZ2oT-f76SPA00iWOY61sPCOrepecWKV-aahsQqdh7S6Df0fICDv2g3MBtGyflVZWOVtDnguJyzO_p1bA53OX8mwtrPHiHzvUJyk5Fsr76E-BaDkpKB-PNTVXzSRfDjZozKmo8pvJ1aunwAGUVPN3elyHxd0jl52V7j-GhnUJeYmAVpWdirZZnS9RfMObZzMLGEolzja8MKG5OdTkx9r-paCBa_ODazoFUGa5LJ_3TSG6naJ_M5luL4cjDwGKoHCkaH08MYwI4nrorTs4yTjZODzvvcPIoEKPEbJ2PAN1J_RkscESRT6BpIkAErR4T2zJgNo7EmvZN6LlFYNvOhSPJ4J1ivO80llxYbefBCKL9d4IBkZLeYPW4s8ROhjEAPLkc3AVQRYAz0v6F4Tc1TT_6RBhUFPWJXHUu2pwoodpMYThsOS08DGUmrSADcCVsr9YLZZ5dJ0pOAeRW_wfE9CO_pSzA1YK_eLbVD_hKTzv0wFc1qfJAjr93G-8lDW537vgNy0TsKDNsbs9m_M-4q62ujUaV73eW_cF8Stu3BBCJK6aci9pPyDlkLRzaqZ3k4iR1XziWwSPLL3CszrZlHAkLMyelUF2m-BP-tAKTU00smcL51jq7n8D-kdnAVfbGiWJUSK--ElkVjg7lM0ELnuaOdakIxS4GDPcIqQYFNKQpRAL0YlPC2pouWInyQYx9ryvIXXpGAsKdOkL9cjrWB9So3pGPOxde6SgCHjvOVlSjZvQNLJdmYJpYvYnDWDscOjgry8vpnYI_uifZ2EwGqQN_fyS7OHXXA56Q2P5lOQ9wGps-NKLsTzoqZMIFFPlFXEnGFKiiMKn1jrBFLXzz9lpCBorKOoCbg1boTcNIkplIaaJmuVFlTOQP0lsrsKlF2UPL0NfELgShbyepMH898BBIRuWokj1LztHRdLvDJLcibs9z3s0aC7-LM4qBD2FCfb8zQN5IU8OxHezXxVn6U4Whz4Koakp4pKURRPEJWdXMIyn6iKReHz1o4pMFpCygj7uYOxzGQ05ZqgmShFWpy1nn-gnMBK0glGZIXiPAMsDT8F2sX-M5HUkO-56lBSJjUKIX1VdVNPORX5AJYecSSjGlKrHD2agRA952EwpSDgCY11NNt21XPlVsiyn8War5a_lgvp1lwE0iDKksjfhG36r-wDia_lKagCM8Eke3cRFc1pgnp_fPgDjE7uvF4JuSZZKEioSsjbKijmrkeIoFcxGajx0aDKTjg2Ya1VDiWJJRn8RTi51dPnPbKxjCnIh4mVy6DvJ60YfPTzKKVlTNSWD-IhV-CTfEnYq2PKsMXLzMew-Fvochn4TJTTEZbILVb8G2OECe2crgsKuGIoSNk-KmndIGfusMWr6g6rdJI-oeoO4OCXQfvSKLx_sJEsrL13hjj5X4reUGmpRw-zk4WnGz4Kl7L9yjYTNY48ep-usaj0pI6rlmrlV__Z5Gzb9_HO7nxmhAW8DQTXIBX7Oxd03eCcbEIM1QeaM7MPpBr0yHNIN6I_9TlVR-d-R1OvgBala0gJ0KW4kcDjV1HNrIjATs104TvA2T9ZfY2v4r6fb9GLBmg6EamB-oVO1JEqAa4wU6n3bXyNlEPrmqChpqJ1Io94m4MqpVQxquR4Ed9f4PNtyIrM96RlsXvE-Xnya4rd51DL44uxwwD_iK7ajuZsVJ2kCk4DUpyKtTMDEtGa4ee8m4MvLPo0nv-ZfmUVIbj1gE09E43-ro41rq_K0gNVO-TJif9nLPwL8YClGKlHahhPjFTUy7hpKRG-eLd0kSm-HsqieSCekJIUka9yO5ISU9JN60m9RXUb28wT_EksNRccHpaH786baI_9ZC2EK1F9tl6uAK_sa7Mgr6bAjZ7g_y6ZdAaXPFUSOeJt-J0PrDYL-DcjjuQtTvsPdEkHXrXgZc2aX8mfpo374jEO30tfJNBVYTGKgPs6T3tq7a0Ds6mDghCg102d_aKpp3Rw9VcTWB_YgXD0aLuvgyyjr2vKS1Up0qA11EElxmgN7k41QfKd3A9Nigp-6I4ZDsVIi9VM2rkqDyZhD6m6MDpg-iw4Wm2G7eLMWP4ClUAFlZbc7QkMTjcCbvY5cdoW2ZLmXtcKz787dO_ariH8rj7uF-BQzfSIOADVvCp78-t65ZMwvnwoUKP71Kk84yXgaL4wc1AciyfwtoCzCTeBZwPDKBeWxCd-dMtmASnGd1e1GeQjKF4_fYStKsALKc9AG6uQWhhMSmzqvKudUueuY67ukNLGaSZQJ0i1QxhRZTu-0v-6kSHVE0bgcKgreenZP9hiuaiNSdfGMXCOo_WbwIH8iILFBXuZgUmbQR9pT4CqyNscox6zAYx_lQwtun_E-1Veb49D62wIA6RvaDb5CDbvRlXOQ8Ax0i4K7HwSSkySilOd-d3TBYutY_UfdU1s-h7Y8hzOR-2qQ_Qvis1BrDwvVmkZ5I_jH-YT3G3_A0XN6ypEAg_uprHFPH6I-aFWgQqxPN1w4q5rUzLhYf-aMDtSkvzTw0tuJF6YHQdasWSvqE2yoN4DoCIgEwd-Fru-uHZJErAbB12-zLGa0Gskr_vyzwA37giSU2zE2M97M0xdMvauczJWjEUwsSjX9gQZO084mT4QHaiOp4l8CH3ZBtEMteTx1IMSxpkKi8Au6mB_qX628b2TmHe_Lj5sFRa8fhV-N2zqh_OJO6kMO12rKJ3XVZoXaXxDa1l76FnL_rZ-",
  "id": "rs_0a686eaa751242d7016ab4726b093887d0928254c28d0eb30a",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHJ_My4WuKxfU58duqNdXfAjG0wXVAK7QRZ4aZBGkIYlKoQUyZ_CegdO_WdXsCVUMYn696Tc_OKsHFkX1C-oFEW4PuE-GX3xgtsGnSMdzFsxchW4ymHbuxIMLm8CIxE-1OXBTjcK16t_XfE49XsJxCs95aeAXi1Yann3L8xocnv7U9Rc8JBmYj_MBMxQ--6J-rP7cNcvZb8qrRLqKAjWHOYERLFaSx-BhLJxv-NXMzsbz0YpTwi1sFRkVEt2gBK7NCjT3J8XQ4cJyPcXmS9Ky0k0aCCEjAQw07BSlsYcUjKt6V41AU_UV4U6E7YMkKj58vH3LpZHajh11XC8peAPVxq6AWbpL5GEGK1faHEF5UpHhbN9MaH82ftk9NUsLxPWdbn-XUz3-q1B_esQzImYyxizITXBVOspT7PNs3XeMcmEdUwjpeSGQjUw7JNG02CQm0sQ6CTrqzmC0czeBZBtPDeQun0n6ZvZ08WjD6sGiKIfZAIxngf5MvwCRcN-ug2fuTtQA8od6rRc5Jg7NZJNMGeELimgaF1OkeAx5NQ9pu5NDk5ILSOe5wZ0_vmBqwYt5SNd-jm3UxV_PnbyZ85fHd0uYQNXl5HEhL2mJNKavtSAvZJb4XFFrA06jm8xX_PTaT0d7U_hUKq97phyrL01_wlEjXfxMLPLhU6rRqllLM4VTIEENe_T8eJpRu7nZvtGDBEWxKjSuj-g7VIrTNbz3GuXzBPqEOMQDGFqMXVC1cE0XFj9JxdYNPvv4_qADcK2zmsAiTSNQj3OGJgT4BRF9XMg8se1VkIASuGkmjCzU-RNt7YQtT8VGKrvYBGXHjHXCfvfjHbxku1BTHXr7JuaBB_BCxOrmC2mtKraVANutyfvLsH5xx0VQD2H7VxtmH9rD5IJtlP3TL5HRzEDOBYl0BSR2ZJX516xc2mNJ1w7RB2tfDYQsGCrKxQgmzJkFhmvIj22EicJmQfPbZ6FNZyJerG4Cg3gJPqOoRhY7GgnJY2Y_IMonCaRSlCFhAM-w4N1GaoFz-fyDg8VUDE1Uh5Oi3z4ymhEa-ZcvvJp9rJO863d7L0SmC2LZE5ILIr-4hs5Qi25w2km-yahFaR4Ha3vIfbnYJumhSiT7uli8Dpw_wgV8qdBDvqUWq7OX27ke4Rc801uLoePgYcb7KPc1CO9DBssj1XVcGg34qRQr7oUo810jyBLow9Y2jomVlgO-m9A6BFZhF3ff_wplm9QHg0OpBk72BESXejPHLca4kIzJqQrm6YFhtikZDUGn4_DnmpUW7gMUQ4gN6t6G4Uts_u2M0xkRv7LtrkGuSE3OJoMCzFP_7tpiagRRY4FhirB9QoJ4z0Wdnl7aghzA1PASghQ3Zfn7hFrXW0v7T37dkvlprbfV8H_W94z632LnrdYOQcGCBj0g2YbzElO7AofJKS_1hcLxYnibTo2XwJQVNoET3QRxTsK94ySYYud8hDze2sodXsqMyPKQ4qseXa6J-uHiGg-79M2k9KZSrReE1bA_hKAPazeAvffdm1flmpOSa_nCM2kM3pkE4dClVbwgXSRP45lVHFdeobhtJ9svdRYvJlSogdG-pRoeNDLb0id27uQQUY1MUHwuRB6xMwflY_PFbWvSqxVX7IlP-KUu1wCcZzYxjXWR2kak0L34NTPxjCVobO81BVEXaL_UGkPaBt_p518BEvDRaZ4DIWduRfqEclo3-amvTXU9frVZ1eSwKalOne1slQTc8ynfwGx7XxNj2IrHDczEROjwI2sMMSrA0PTgA74GoOoORc8OOCGxY5KyvInvQNA8aC_CEdZ252KCiiMKfJOW7TRZ_R_LW6_VtcZcRIYGwgNS08ti9dFT5npWwG0RlH6hmO0lds1ED7vl9hlJazdXJSphARr1ZE4Xy2GESg_ju014Vs4wtXT9IZbxZ4Q1EsKJaMAvAs-vkcC57yfn1bN1k5jA8EDdys4aoarp_TgEZhRbHPknfnWpgm2NVeXBa9fr4U6cTdINPB1Ydi6HFkpqeag8z-qQSlLf0zCrqW1bWwVJCPpo1ftAXAPpres2yNRUIBRrhV_HsLDh_8ZAm7T1mj5KtykAuICYdLvAjU1S3Sa1l8LB9_7DE4WF8IIsD-MqRI0o1Qlt94t74zpj5AwhDkrIcaZLBnDtrRYIhbJ1Sfz3wjSm9Mai5GbDGBO7WY__7qS1O7PlcyA8MkmN8EPFEHchZGg7SF5LaqVbjMHGlaCeO6bMgOYUfI6sZxxheLxgcwoc7x1pZ5jXBhui8jJu-282bemB4wld9R4VOMIjGrI74XI8uwbNlq5tIhQAARRfedhO_Nzv75ISzmuCE0aJ_Bm8ChSS24-mBsVJ20mbYD2t1NlDKtK1gXz0ULVVwd3IK3fqSeKiZi96O6TccAueIHmWUdUmMgbqTMShNLmVoiN7wfhXWcMEb0yuQzhTw7a3nvjhF-qFQnoWK7UUxkX4fgmtkLl45jO8lryTQw6oOD5yzcYgSWYZyDOUskBpN5r7aL2n9GcmGeExKeX7QnKzXue9enYp2JoYCWD69mIUKFTut_-KTKjsbPXML6r921q4rxN-7vWAdSFHripu2Q2s6-Xk9F6e9E3mv29tVYV939_OybaVj6TBa0r-cc_lzIyw4rLF3k0GoOQRMGrxDv4cOlSqzKBBnsUe6pV0kYWX-l6YfWcGK9WCD3Al1s6P5AGoI3xAH26SPqCGx31YmqgK52IjmyC4aUCzH-blVI_uZJSVro6kbLJLA3gDniMy27tpnbov6mRHRopyuyUsiIJLznRm2VLyIS_sILV0U_eSg3_5CV-QjBRQ3zp5XePYjqyXQmTRZQh9U304pUg4kOj7oGzikv-PU22XYys679EkoC-yJ2FYxhm70NBEFqxTlUf0kLK7KrPmnc5A9_5VO5ThdIcTWpN-nj9G4HvsJBYywQDByEvNT--HJ1Yhkav1_bQzZq7Fy268GIaOa_VZkeNp_Z6-M3yKtA9ljuaPArAwwkW2plymuHJhycxN5UsRBPmPKvc10UgyilOEBZr8CMggvkYS0_ULdOzbZ9jiI-Lf0YukiUsxNawgZeSs2sTVyIki_8NL0STtFUOKlCk1X87tINgrPYue7y7-byTdbNOzd7rL_Jthz3vQ3XSalhvVyyrA-PtPy9P8LjIHRBsF4AXHq8nV2eeAYWHy-kRdMZfaE91YD39L9szMoAoo9X4MGwSPXGuSLjYlqH2FWx1Nq1R9eK-aDqQjZnbmu-1tld7D01ItxUOAjD9JjpbZhqS6LbJUHYsYupYJCPyobhPusH9OUhkooS51otOOw3om6SOS34IevSLFS47ss48RUaY2BIFanIovHFJ_f3g215VfTpkEbm22slBqW9KqswaCTzlhMfY4MhZe8NpjrMz-2lnm8FWY1XqMBUXZaE82x-PBCXH4kapORRXaxSKnpnm2IzTc_4int6JVhRYSd39w2INalyoYJiVb1FRsWi9wW1a0X7KL-NUQUuD5dNnzqhvh16-RehCJdNHE9ZM3sT8UH-HHkaPkyw8mOznBEBdPGDx-QQ0vLZX-hFOxc5wk308Ttrxk2ag8rhgwUbo3jDuty3MlqBJOQSe0t9jYYJSbcOh5y6_7VLw3or-tjHytmLtt_QyyRHUcs4NdrEgci0xptA2xKTw5q-BscT1eQ7SVGO40tfFnbqvwX-il2A0S3sbKUp3BbnJVaQ85yseFwrryZSSSfQtVEmUftJkLHP0Jt7WGl-hNUCBsg5mJlZJDZT37Hr_hHzZDubQanIm9z9I1eXp9JrpUb6HI_TW50x-u1-Qr1xx4BUBRRo_XPi2vXLqNrsuGLpiDAs6NK1IhgmDI_PfxRqckVtDRiYNe5FnEPfWHQIafbz1EKo_Vi52a3YfZ3hlzf3TbHH8XKoO8Yfi1JvIgesGk9q_l3BKds5ml6pdbluaXaC1TVd_ZkBKJ9nVe1GZoRh3jRsL7aQFFAWdFu8B",
  "id": "rs_0a686eaa751242d7016ab47274115087d0afa72a017a6c15db",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.2935,\"right_y\":0.0031,\"right_z\":0.22,\"right_gripper\":1,\"left_x\":0.455,\"left_y\":-0.14,\"left_z\":0.055,\"left_yaw\":0,\"left_gripper\":1},\"note\":\"The right gripper also closed empty, with the bottle still ahead of the fingertips. Its neck is near the arm’s low-height reach limit, so I’m parking that arm and returning to the more accessible left bottle with a straight wrist orientation.\"}",
  "call_id": "call_VeKWgG8CcPIFwSpeYzFMaSPl",
  "id": "fc_0a686eaa751242d7016ab4727dbc2887d0bdf8265bfdada706",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VeKWgG8CcPIFwSpeYzFMaSPl",
  "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]: [-0.4366, 1.8408, 0.8299, 0.3622, -0.3916, -0.2661, 0.9979, -0.1032, 0.8474, 0.7338, -0.4866, -0.144, -0.1238, 0.9981]\nstate[eef_state]: left_x=0.4446 left_y=-0.1291 left_z=0.0499 left_yaw=0.0172 left_pitch=-0.0321 left_roll=0.0231 left_gripper=0.9979 right_x=0.2991 right_y=-0.0019 right_z=0.2035 right_yaw=0.0624 right_pitch=-0.022 right_roll=-0.0052 right_gripper=0.9981\nstate[joint_eff]: [-0.6222, -7.8427, 6.6803, 1.5507, -0.0513, -0.0366, -0.232, -0.0889, -2.1402, 10.2496, 1.79, -0.2173, 0.1001, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93f37ba90d3f7afddf714813367778dcf488f34a1db487f8a1cb642c518323f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed495ec23961da3fa0f391f71dfa52f0144cfe904f07e4f594071193d9322170",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd2d0d78cb397221c3870a428e67a2b9341210cd01b78b1e13054a4fca2a1b05",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 70 changed as sent

message 78 changed as sent

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0628, 0.8284, 0.7723, -0.5083, -0.1551, -0.1272, 0.9974, 0.7185, 1.8496, 1.2304, -0.112, 0.4973, 0.334, 0.9986]\nstate[eef_state]: left_x=0.2977 left_y=0.0122 left_z=0.222 left_yaw=0.1201 left_pitch=0.004 left_roll=-0.0145 left_gripper=0.9974 right_x=0.4256 right_y=0.265 right_z=0.1222 right_yaw=0.1043 right_pitch=-0.0561 right_roll=-0.0415 right_gripper=0.9986\nstate[joint_eff]: [0.1573, -1.7026, 6.3111, 1.7265, 0.1197, 0.2418, -0.0269, -0.294, -9.4974, 9.347, 1.7021, 0.4713, 0.3346, -0.1636]",
      "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]: [-0.0727, 0.8337, 0.7479, -0.5045, -0.1654, -0.112, 0.9976, 0.609, 2.0861, 1.0935, 0.4892, 0.4026, 0.2413, 0.0131]\nstate[eef_state]: left_x=0.2965 left_y=0.0112 left_z=0.2104 left_yaw=0.1108 left_pitch=-0.0206 left_roll=0.0086 left_gripper=0.9976 right_x=0.479 right_y=0.254 right_z=0.0573 right_yaw=0.1184 right_pitch=0.1102 right_roll=0.0452 right_gripper=0.0131\nstate[joint_eff]: [-0.0068, -2.0444, 6.694, 1.8926, -0.0122, -0.0317, -0.0122, -0.9504, -9.6615, 4.2325, 0.9109, 0.0952, 0.1587, 1.1258]",
      "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]: [-0.4366, 1.8408, 0.8299, 0.3622, -0.3916, -0.2661, 0.9979, -0.1032, 0.8474, 0.7338, -0.4866, -0.144, -0.1238, 0.9981]\nstate[eef_state]: left_x=0.4446 left_y=-0.1291 left_z=0.0499 left_yaw=0.0172 left_pitch=-0.0321 left_roll=0.0231 left_gripper=0.9979 right_x=0.2991 right_y=-0.0019 right_z=0.2035 right_yaw=0.0624 right_pitch=-0.022 right_roll=-0.0052 right_gripper=0.9981\nstate[joint_eff]: [-0.6222, -7.8427, 6.6803, 1.5507, -0.0513, -0.0366, -0.232, -0.0889, -2.1402, 10.2496, 1.79, -0.2173, 0.1001, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93f37ba90d3f7afddf714813367778dcf488f34a1db487f8a1cb642c518323f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed495ec23961da3fa0f391f71dfa52f0144cfe904f07e4f594071193d9322170",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd2d0d78cb397221c3870a428e67a2b9341210cd01b78b1e13054a4fca2a1b05",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0a686eaa751242d7016ab47283478087d0838bea5ebf33caa3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.105,\"left_z\":0.018,\"left_gripper\":0.65},\"note\":\"The straight wrist view shows the left bottle’s shoulder at the lower edge, indicating the gripper is now slightly beyond it. I’m backing up and shifting left to put the neck inside the jaw opening.\"}",
  "call_id": "call_lcULByPZ3z3IgnMGrDRZPxwf",
  "id": "fc_0a686eaa751242d7016ab4728bf86c87d0b60e4c6492d3dcea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lcULByPZ3z3IgnMGrDRZPxwf",
  "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]: [-0.4049, 1.8324, 0.6537, 0.6601, -0.392, -0.2626, 0.6554, -0.1112, 0.831, 0.7132, -0.5049, -0.1684, -0.1398, 0.9985]\nstate[eef_state]: left_x=0.4326 left_y=-0.1081 left_z=0.048 left_yaw=0.0489 left_pitch=0.0849 left_roll=-0.0308 left_gripper=0.6554 right_x=0.2928 right_y=0.0007 right_z=0.1955 right_yaw=0.0837 right_pitch=-0.0415 right_roll=-0.0005 right_gripper=0.9985\nstate[joint_eff]: [0.0479, -5.7778, 3.0427, 0.696, 0.1392, 0.0904, 0.0366, 0.1436, -1.3197, 6.7897, 2.0879, 0.0073, 0.1832, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06af86120d1ef2983717a9f6256e6f446ab6ff938c9719b3e0865ece168ea568",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd0f16c304e96f7994d083110e7f667997e410fe077788f358ffdba5d2866e99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:044d17d137f23be41f3d389ff595ecd52345ca8986ce43ac874d6fb5a21ab5bf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 74 changed as sent

message 83 changed as sent

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0727, 0.8375, 0.7635, -0.5129, -0.1593, -0.1123, 0.9976, 0.6006, 2.096, 1.1484, 0.2356, 0.4, 0.2565, 0.9986]\nstate[eef_state]: left_x=0.2973 left_y=0.01 left_z=0.2146 left_yaw=0.1058 left_pitch=-0.0178 left_roll=0.0043 left_gripper=0.9976 right_x=0.4662 right_y=0.2403 right_z=0.0245 right_yaw=0.1056 right_pitch=-0.0747 right_roll=-0.0391 right_gripper=0.9986\nstate[joint_eff]: [0.0752, -1.7983, 7.9932, 1.6679, -0.1978, -0.1392, 0.0024, -1.1692, -9.5385, 8.1162, 1.8046, 0.3053, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4366, 1.8408, 0.8299, 0.3622, -0.3916, -0.2661, 0.9979, -0.1032, 0.8474, 0.7338, -0.4866, -0.144, -0.1238, 0.9981]\nstate[eef_state]: left_x=0.4446 left_y=-0.1291 left_z=0.0499 left_yaw=0.0172 left_pitch=-0.0321 left_roll=0.0231 left_gripper=0.9979 right_x=0.2991 right_y=-0.0019 right_z=0.2035 right_yaw=0.0624 right_pitch=-0.022 right_roll=-0.0052 right_gripper=0.9981\nstate[joint_eff]: [-0.6222, -7.8427, 6.6803, 1.5507, -0.0513, -0.0366, -0.232, -0.0889, -2.1402, 10.2496, 1.79, -0.2173, 0.1001, 0.0611]\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]: [-0.4049, 1.8324, 0.6537, 0.6601, -0.392, -0.2626, 0.6554, -0.1112, 0.831, 0.7132, -0.5049, -0.1684, -0.1398, 0.9985]\nstate[eef_state]: left_x=0.4326 left_y=-0.1081 left_z=0.048 left_yaw=0.0489 left_pitch=0.0849 left_roll=-0.0308 left_gripper=0.6554 right_x=0.2928 right_y=0.0007 right_z=0.1955 right_yaw=0.0837 right_pitch=-0.0415 right_roll=-0.0005 right_gripper=0.9985\nstate[joint_eff]: [0.0479, -5.7778, 3.0427, 0.696, 0.1392, 0.0904, 0.0366, 0.1436, -1.3197, 6.7897, 2.0879, 0.0073, 0.1832, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06af86120d1ef2983717a9f6256e6f446ab6ff938c9719b3e0865ece168ea568",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd0f16c304e96f7994d083110e7f667997e410fe077788f358ffdba5d2866e99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:044d17d137f23be41f3d389ff595ecd52345ca8986ce43ac874d6fb5a21ab5bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHKVHBg0Si2xGDjfB63DQbxhbe9G4mBDgnDXnwvaHlpYtrVSgn2aCjutNMWsSyqzggiSptuK1qNYtZXqRgL05Lf7KMX_l33WC5N4zfNDJpZb5p5S45Ynd9jqgbtjUVmoBPMGIqsEXGUbfMyuPegEC99_ELjfnHl4GyhOlNtD_iUMlvuNFcPvgLp2OBdyfss9_71o0z4QTwVIhEs_idil5S3lqomMi5qPt27NoSqfd6ldunhtCKjZb8Lbij1qzP4sSZZ83qVbxFlQa9FKkI99-KsebzvF9Zigidf41HqD5JDsk_SPWiZIhJn0uCccYwKj2sy85pIHVY8pqwklYyWDATCQDHQok6y9t4t5VsTVYmtAhxb1rg1AvWU7Kldpi6E9WSF_yAD2swuUiVe-69E8HidVLW22dUSKyupKr1h66cpnQ0_KCrR7-H1nFDv21tQ7VJSWdhXbLae4UIGxk53DIiYkp5ghXbot14MvqxEfov9kL8bP88wdDz7xh_sDv0khAnkpORfg66pYArRKdcKwNr4rW7gyjVrnlviTmIPtEE0I8OuypsICFvQJuMz2CzXkCNpulFURlU5kW8r4VZttn6mNDx-Z-tBi7m38k_LeTdwm_ksW5JFexSVa8w8E3Kgm4xuy1m5p1TA0qWK0oatgLmCJ5kRggOB2YfM0b4NDBSsBOKJS6LFS_vH3v-TISl7lqPSbHbKd37lfWfGYexDU5-XBrHQbM4ejsOawlFFC5VLGad-JwZsKCZj5rk7nWY8glwf-xiCY-tN5zlmCvYlh2AYjinsNoqQb53edcGy0537mGfm3raQU4uEt6KEYynXmdRywWu4ooLpk1wiM60RnFEJfENEK3Wu6I8rcOPIueb2bNrJtIHyojgvAKHLfSMNXMc37GQ5cHoWN4BvGNx-7U2cWJlV6yT7KZXmZ7T2TyPTKFRGH6i_pwIi2w3hsYpVJK4HKZjnJmC4cA1wTik0C2bpcNR99DxfWK-NUXQr_2tM_DmA3sUeji8bLqTccoBytlieJSdPz5b49yz30EEA2kX42sEn88fB8IZvFIuLHs1CT1D_vIjhIjpM4zg_M742VfuWjA0EqcVsq4UUqZ3m4uk2OqrgvjxP8q5QCkR2CwPUzkEpasD3BuumIPVyxFRBIG-dXMn05icmSIV_BNgHsDqwGxhflzLHH9Qs4QNnD2usWpNvyONsfX0R2gGh60Ss1sxO5tIAMECBwogddKFpwYY6ocCAuOhUaiYBe8bot3qkv7m9O1yRqx6TTt6IIYH87bAPC864GeNnsOOaBzKo19E1yldH0dCGpMqjr8wIjOpMn1G0pkL2X3LpqFc84-0QVwnbzdD19KVHZlfze8CYOzlTN61Wt6enY8lOjCqiqryjz9bB0aKpsdVUN4uZHJFmbb_yTi04qnwvxcXyprSDwEoh7Qxao6zKmRSSi_PbsuwhGrD9y7CUM6614sqsdD_P72CBn41VNQtWYTXugXEPIwM64-h_CCoNXhO2fVO_zi9poNu_idbbalF_UogvW5cozuofg3aoVxlgT-J7oQrPFeXMFq10O_2Qv_uJmdhBUNBNAcsdsoVPPfTqw8sFrSMXPV50M96JhDf0-CrtEJ_W8PhHGGrh4H2q6Z6xaGxf65fFKdaZqBEm91BtBC1vb541j4dcsjGXIe21puS-Ee-SXw7NMR9t68eUk4mWlsBhu3WTuMCh2CV-ze1xkCjQY3WIsp1A_Z1TYeW61ZFnjL-J1pot7oEIWClSnlZ1oTUPpS2ZCRDXCjcuRlBAvRiHSl7DVtRWnYSj1iuqqxyHyt6OTIfCmo-RmuKWy39zwbRm6OGgUUVmlKvOuMrXFeADM47INTUn-rs_4TytVJYF7L3IAZlhMKrz00ROUvmNMccUmstNbnkut74hJBlC-7gtpgtZhOvChdZ9HffjG8alZeZe2Oi0JC7I_1WY-Mr4zC9-ysR7CuBfI5eV_xv_CxGM2b4y3lnMGVRpXcaKVcx9ScVM-sBX0EHaltljN25teLQR-I0WTvdMxgUW6k7KSNb6WRsP08OvR4FAl2JMB8UrdKAvjFx-wzVxDxYrFTTbYQnF_TvkvhOMBpD8IXHM9vQBN-OyMY_jCskXMKK6CeX6LW-VwOZ6aEQVSaSB41LBagT-58rIXMzYxVt6itQ3WqMka4rFSZPOjjC2iVYrJ-t2Luvv1LBYMStpQg7sYJ-k5Bl1KVPnMD45GhfagkpB3Jaf-V1CSpxfnmB0lnMx8kjjlndHnchWpwKHLg6r6gJHOG7kFG_kNl5cL-ELymQT_zZrs4gL-mkcOWea0QxatLDHRRx-wb7nAECdLWyo0juvF3dITA1wosMSOElCKOThAsjDjH-uZ76gddnEMBbKwUtdF6GpbvQKJko9orb9k2KMeNL0bSV9JpNY=",
  "id": "rs_0a686eaa751242d7016ab47290050487d09e3a5af3e5faac2d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.115,\"left_z\":0.04,\"left_gripper\":1},\"note\":\"The arm stopped above the requested height, suggesting a fingertip is resting on the bottle. I’m reopening fully and moving a little farther toward the neck-to-shoulder junction before another straight descent.\"}",
  "call_id": "call_Peq5seuyXcX1iXkIsAacY2wJ",
  "id": "fc_0a686eaa751242d7016ab47294bf6487d0905ec68ca3f37f10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Peq5seuyXcX1iXkIsAacY2wJ",
  "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]: [-0.4221, 1.7962, 0.6735, 0.5419, -0.4061, -0.2821, 0.9954, -0.1123, 0.8104, 0.672, -0.477, -0.1654, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.4256 left_y=-0.1107 left_z=0.0472 left_yaw=0.0521 left_pitch=0.0325 left_roll=-0.0134 left_gripper=0.9954 right_x=0.2905 right_y=0.0001 right_z=0.188 right_yaw=0.0801 right_pitch=-0.0348 right_roll=-0.004 right_gripper=0.9985\nstate[joint_eff]: [-0.3214, -9.265, 6.2427, 1.2234, -0.1197, -0.022, -0.0024, -0.3897, -2.0855, 7.1453, 1.9853, -0.2076, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9c327946289ac14fcb8f517a0d0da141694fca2fa493a37ef5a35b26a033884",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff63fa2df21160f03fd651896b62ad3c66dab81093dc1a4d96e993023f11c774",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80a99c46ea7c046afc3f2bce289da1998c69f92b6df840ca8abc1ff40ffd8133",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 78 changed as sent

message 87 changed as sent

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0727, 0.8337, 0.7479, -0.5045, -0.1654, -0.112, 0.9976, 0.609, 2.0861, 1.0935, 0.4892, 0.4026, 0.2413, 0.0131]\nstate[eef_state]: left_x=0.2965 left_y=0.0112 left_z=0.2104 left_yaw=0.1108 left_pitch=-0.0206 left_roll=0.0086 left_gripper=0.9976 right_x=0.479 right_y=0.254 right_z=0.0573 right_yaw=0.1184 right_pitch=0.1102 right_roll=0.0452 right_gripper=0.0131\nstate[joint_eff]: [-0.0068, -2.0444, 6.694, 1.8926, -0.0122, -0.0317, -0.0122, -0.9504, -9.6615, 4.2325, 0.9109, 0.0952, 0.1587, 1.1258]",
      "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]: [-0.4049, 1.8324, 0.6537, 0.6601, -0.392, -0.2626, 0.6554, -0.1112, 0.831, 0.7132, -0.5049, -0.1684, -0.1398, 0.9985]\nstate[eef_state]: left_x=0.4326 left_y=-0.1081 left_z=0.048 left_yaw=0.0489 left_pitch=0.0849 left_roll=-0.0308 left_gripper=0.6554 right_x=0.2928 right_y=0.0007 right_z=0.1955 right_yaw=0.0837 right_pitch=-0.0415 right_roll=-0.0005 right_gripper=0.9985\nstate[joint_eff]: [0.0479, -5.7778, 3.0427, 0.696, 0.1392, 0.0904, 0.0366, 0.1436, -1.3197, 6.7897, 2.0879, 0.0073, 0.1832, 0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4221, 1.7962, 0.6735, 0.5419, -0.4061, -0.2821, 0.9954, -0.1123, 0.8104, 0.672, -0.477, -0.1654, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.4256 left_y=-0.1107 left_z=0.0472 left_yaw=0.0521 left_pitch=0.0325 left_roll=-0.0134 left_gripper=0.9954 right_x=0.2905 right_y=0.0001 right_z=0.188 right_yaw=0.0801 right_pitch=-0.0348 right_roll=-0.004 right_gripper=0.9985\nstate[joint_eff]: [-0.3214, -9.265, 6.2427, 1.2234, -0.1197, -0.022, -0.0024, -0.3897, -2.0855, 7.1453, 1.9853, -0.2076, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9c327946289ac14fcb8f517a0d0da141694fca2fa493a37ef5a35b26a033884",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff63fa2df21160f03fd651896b62ad3c66dab81093dc1a4d96e993023f11c774",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80a99c46ea7c046afc3f2bce289da1998c69f92b6df840ca8abc1ff40ffd8133",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHKdgbZu5884_jIP1K_e74gWj5ZrXUk20IQDW22sof2fsNbcBay1j522L9zU1OfA8zsv8GfQcKWTx7bkZrwsbfLc8fmqODi9THoGYT2AxuIlT0B3GKG6iPIg-ETT2mGub2J--GxzrgQ-M_3wLr29NHqlfmvR_LgZbuZt3YN9t5ltzSNMZiY_3SN9EEAISMSUgCbW-m5f661BD81eIN0yC9uIoj5j36uLvekPcmi9TY6xkp5aDtrJnVcf9cz3At-fsf0PF83w6HXM33lsgBxydk5aDPXrXII5_86k1_rS2-AZItT532WM4_IwPl-YJ1zNbY0RwCEUmy8WNJWQVyroD_YxZA0ekVxc8CDdZnmZr-AD0SdMDDO8t7_iomz8T0-idkXld6NE82WW8G2_Pwywo4wEY14q54N7UO3S85E7F6Fdgc313Ucp2vDmGCs1Ft0pBRz0JClpyXMpf0y-ElJ92RiytReGyY1HUPPe6QHh_2kNQ9y4uleNDXyd3Tze4_EyZ1oHHxSngW5B1RHOGyHSvdkgsC-Zrz8tVv-y_X6YAFkGQtv3BKWL_XiioszkyuwveY4tBov1fmytJmMuXDZP86fjZ0P7p40AbjApC1X_fYhhLyucNLZgz40nB9rebngejo6zbjovEalG7HLazLBWGyCvtQTe2OMoh0v3HTCGvBRwgdpgQ3E6Jaa6gPRTm7B0DGyIUw6HA4kVCgYXvtLQwGw1AeWCd0S832xFymsL_PQy3DYnb7amsnZU_OkYF72BCKJ7j-3FXBi2h50XAIye-qWvGKPbPzfytUoy584YSmj5M0YjU19vkGPiOykkKxXqNpV6rsoaeFpj7rG95TcnuGYsiGLczu24eS8uk77beDGrVb032bfYfXCOEnQ4QOx5AAEKe23gj4IdAeHDMkYgjNlCj5JbiufLvReKyEdhkzZ_wZrxQVhGVRJPFtCBLocQAS_e8aVleTlG8_HZDQk1JeggQdx_a2k2qC1rrhT1u_cRN2CU8bKGdSMwasbNLuhdPQuRlxjEHDWVE7au5jpwShc6tVlbvMf2DyTyd2Oa2iQo4A91qLlKc4jz5zkeYrJVJso61mtqKlEFgFy3uveQh_CMmD7_91GHMzprsfOW4Oy1Vx6p4hI7Oz7sU6wIz62yntbg8_oFV6D9pkwqRskVzlJY2HoXpzSSqg3Mt2Lth_2Z1OvuRjjZaaXqaabv8KJV63ntKHudgzXZiDaGttFaq3lfA9xu6xDeMbGjnI2oPFUEu7pzKReKoIaFGnnMmR7JQpjDXv_Qe4Rjc2txBTtxw4g4nC15cerN9XsqVX9jICukZAkXRQnlaK60Q6N2v47GAEhtvF0KUvbu2bj5VlCl-XNX7AcHhM22sGXkfFL7qFbDhnI1xiazL1m7PEFHYHIOnHgR6Erp8K8X2QorYF8ycCxWoaSpfmHz3tdlIgEhVMKaemlqLTmrvTzzIglw33g-q_9FykN4qpRNj_AWolt1SMVwDjRjMATq1jWlVtw6ZDnhQc9BkRbdLZ5kFiJGl2XQjx-XfLPKwuX8OpYK1PawH0zRkberv4MAKo2_CrH9q1IDTbxbwU7MDWh557VkoEJ3rT4IWBuSW-Om3Jucm8LZMo6KEHK-OABnYiNsu3OutpC4eumB6mgmUNXD0swFUxM9l3Ig-peKLPSqjtAJnPUUl-ZQsqtXgrI67qiR4urBFb8Hk59Z29jE6iR59z-17QXqdLtmsd2cdyBE1o82ayJGzDF8n7u_kUynikR6PfAkKArow0C_uBaPavwvvqD0VrmGq2-MBbVQ2AmZPGWo7K4aZvTHH4yMLWgg3XpxDh3QoWtKlCV04fe2o0z7u6_aOMPG6NYy1LLv4HS4tHIBRjYLlupeeoJ1iAXiFrnS5uodh_aIT0uv9uEde80ws-8bjs2Ma6KBDITxjhaOigX49K-nnpoAUgR83JwK3qCblNDXNe-etiXISiTyvvV5HU4LUDaHqk76M40neMQ8Q7G4lq-k0ie0LPGYFY0kAU8EhjrLETnooHomb_AHVGAMCeAJjcPCo6kwoi5jq2c5XTaaLMdiutMslaRWUaLWV5BS86DdhtTVzoo=",
  "id": "rs_0a686eaa751242d7016ab47298c5dc87d0b44f1a1c9fe36f8d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.423,\"left_y\":-0.085,\"left_z\":0.005},\"note\":\"The cap and shoulder are now visible just inside the lower wrist view. I’m shifting left to centre the narrow shoulder and lowering the open fingers around it.\"}",
  "call_id": "call_SHjWfQRq3CcpdXrYXy58Raxk",
  "id": "fc_0a686eaa751242d7016ab4729c3eb887d09e249826b4293da4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SHjWfQRq3CcpdXrYXy58Raxk",
  "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]: [-0.4221, 1.7927, 0.6743, 0.5285, -0.4088, -0.2817, 0.9968, -0.1127, 0.7956, 0.6373, -0.4637, -0.1654, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.4245 left_y=-0.1098 left_z=0.0464 left_yaw=0.054 left_pitch=0.025 left_roll=-0.0075 left_gripper=0.9968 right_x=0.2872 right_y=0.0004 right_z=0.179 right_yaw=0.0798 right_pitch=-0.0411 right_roll=-0.0028 right_gripper=0.9985\nstate[joint_eff]: [-0.1436, -9.1009, 5.9692, 1.1648, -0.0904, -0.0611, 0.1197, -0.5675, -2.0581, 7.2821, 1.9658, -0.1929, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:186a5ad2f76141a2d208a757e8270f670a904ef4369b71b848fae7daddde7775",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa0775feab8767d9f7d88f6e1c56a7f34c93a2ee4ec1c5075771c4a538110c5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dae6d48e400c62f613e14b95bf840aa9d92b29b807d6b7eb9c77d8509dc7c860",
      "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 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4366, 1.8408, 0.8299, 0.3622, -0.3916, -0.2661, 0.9979, -0.1032, 0.8474, 0.7338, -0.4866, -0.144, -0.1238, 0.9981]\nstate[eef_state]: left_x=0.4446 left_y=-0.1291 left_z=0.0499 left_yaw=0.0172 left_pitch=-0.0321 left_roll=0.0231 left_gripper=0.9979 right_x=0.2991 right_y=-0.0019 right_z=0.2035 right_yaw=0.0624 right_pitch=-0.022 right_roll=-0.0052 right_gripper=0.9981\nstate[joint_eff]: [-0.6222, -7.8427, 6.6803, 1.5507, -0.0513, -0.0366, -0.232, -0.0889, -2.1402, 10.2496, 1.79, -0.2173, 0.1001, 0.0611]\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]: [-0.4221, 1.7962, 0.6735, 0.5419, -0.4061, -0.2821, 0.9954, -0.1123, 0.8104, 0.672, -0.477, -0.1654, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.4256 left_y=-0.1107 left_z=0.0472 left_yaw=0.0521 left_pitch=0.0325 left_roll=-0.0134 left_gripper=0.9954 right_x=0.2905 right_y=0.0001 right_z=0.188 right_yaw=0.0801 right_pitch=-0.0348 right_roll=-0.004 right_gripper=0.9985\nstate[joint_eff]: [-0.3214, -9.265, 6.2427, 1.2234, -0.1197, -0.022, -0.0024, -0.3897, -2.0855, 7.1453, 1.9853, -0.2076, -0.0269, -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]: [-0.4221, 1.7927, 0.6743, 0.5285, -0.4088, -0.2817, 0.9968, -0.1127, 0.7956, 0.6373, -0.4637, -0.1654, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.4245 left_y=-0.1098 left_z=0.0464 left_yaw=0.054 left_pitch=0.025 left_roll=-0.0075 left_gripper=0.9968 right_x=0.2872 right_y=0.0004 right_z=0.179 right_yaw=0.0798 right_pitch=-0.0411 right_roll=-0.0028 right_gripper=0.9985\nstate[joint_eff]: [-0.1436, -9.1009, 5.9692, 1.1648, -0.0904, -0.0611, 0.1197, -0.5675, -2.0581, 7.2821, 1.9658, -0.1929, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:186a5ad2f76141a2d208a757e8270f670a904ef4369b71b848fae7daddde7775",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa0775feab8767d9f7d88f6e1c56a7f34c93a2ee4ec1c5075771c4a538110c5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dae6d48e400c62f613e14b95bf840aa9d92b29b807d6b7eb9c77d8509dc7c860",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHKlCbORR_VbgIuOREu4vHNvakAErLJPPSqeUF25c9rncWPh7eFFfDS8h4lLERweSovsC6I8bzcYpsuY-AdNRrU5qntqPOmWRDmE_8j-PeqEc-jQgmMY8zzCPDH0iwbhLRYfEVBoXsJFk5ciGaoCBL_U6pZuaoVCk6cynkCxy1OnuFMff0Bdh6KNqewBe3LlG7Wf0dF-pSUoQz-68aFA5ybq6A4q0aTQ2cunS7hzfVzD3kIr2XjDZG9Zl5mMvghveQVtgRc6gnjUrhQC6y6i_JobgSYTHCe5jWjdEtDKm9KyF4i56ishN9LOXRid4Unx3Tc5829-Wf5A8k3TNWMz-80eQfz16egHRBpddQ44I7doVl8emKu_E8GUooGPe-vPLAGwPBvThqLNvdrzQ89KGaZLqjPT2qrka3i7Fs9vJEePBBAaaXDFVd1SA7wIHZK-bD3iZwNbhUcDcP97f5S2cP9PGvKVIQUvXdq29wpGM_nW0N8F61Dp9qRmXAriARPA08gJQDpzJYOZqI1LanAR_275GNtJaNsX939SOG9bEq-vUxhkjYhJh2lD_3ntoql46mdC9H5fXawlUjADwz4_iqAI3diiuDKetuqxhMeSOogef96gNqFKGnjC40ys-MsqxG7hqb0TGsMmRc2uLnDbOALXZzEk5TCh7_d5aKqkO92ps4ljULqvwuQCcjEcZxGQWSzffaXOA4pj3CGf2FZBVzowaI1nlK8aZDphc2T_zACmPlYts1NpKzSVdxSgvm-XtXalaUrrCrMg9UVZSfE85AmZi300ZPjES2d7Q4cCvu0akrMChPApKHntpKkCn3ks98CRe_Gwx5L3L96RU7HwctEkELKX7UAwjX2HslagiQu0HaAneWxEh_0A_DoUwDGroqngQ5t8WNsi-qFIpTs5YJHCSMaSB5uCOPY_wgUzCiK3C8iEzAg5XI8UB4Ht4Zv2Pe0WAmfd0_OLVdIayPVeIw0grglhJ6PAI0p7PLcdZX98f0PpqizA3gdOOlW1BbXm8bB2eibw4Wqx33rbxFppriAGkXTRjGQQmRMtCrork6HBGCUXT2DrHVFQXejYXA6vwZiFx2q3On42ItPacMDtWGqPDioTQfxm58qMgxPjBngve3FZczOrAogQh3Nk7vJCT30SKFQ-6A2xfc5Ncwalj9VkqidYJlhWwgFtgupMe_J6yTqNvK5SqiHy601g-M7Pfw74JebXrr1iwmL8_jgI701V6DDXdBy2SD76Efe4MrxGPWXV1ITKEnrYQ_D9QNm0Jhs9OD5e4hc7BjoZBnDKwhDQM0pFxt3q5TDO8mlD_SRrcfqbZCtfOpFHqizXmmLAHHf2D0-SISHXqHgjLX2zIjTAhfzgsHIlaG2P0hPV-reYngXBN0d7IxGn-U7JXFR93ENs1KX-_Y41atMt-mKl6PCZZVso9AYsaA2nDUBgiX8WR5zGLiJu3Pj9ZZHl4NJ1iAdQpZa_PZ13kc_9hcLBEkBTWm6A3DKZu4l0Xz26-J3Qn9Vk-yvjZjsMjdDumBAc8kXABElOPdQjc5EGbXh9QAB7sF21BNJuc57CKmCBsxI1uPqwZKeuijsEERB_dOr2SSzcJHTRmqRIVPNghliwlBBZcABN-2IeeRLaxuv4sPRMXPWjqy_f3laJ7DIRHpmwXYyRRCXpHrHjhecFn5zRmRB6gVwKugxJ_wI-RyNmDZgF6S1HZS0OJkjY-SVDA8nzLrRm4nj5WPmsrYiPtJAUXyvy8KWULPe9OmbTnBuUTBFaxIyREN9mKjN-Xe8-S-ueBg9i5oKYN7rfOYKlW1DcNPoxgJAmX0L33eIk9dxmOCdhLmKoKtV5E7FxLOzkNGer1atQMhbXbe9mUawxk1Umx6P8f8p1qVU1wlbyjnCjiU5bzmgQ0ANlWormynzAX4_PA7q1hS40_JOtI-tTiX8y2IWhhxsn5sBDBehgM_vN49Yz1znVu548Xr4B5ri7Zb8yp2zluNIPZmpFpdE6E-BPESFgkS3NEVrCFYq3MsZlEcCuupw-IVeoztYnuu3aXqJIS3mLhNeEQ1En8lG6zlDzXej91pjoPY2KXN1b0bE2T2iWcTbsHObFJcjRtCN-YXNm3AN8I__seUkXBujgpCdBDo8iGt3SwU5-P75vZeOcDjZxiHMKrpfczmQ_9ZCKZDa5c21RlUqFNELj2oTXmg5ST3uncQRusTliBIr-h8qMKSUIoOsq5EBRFG38RiTJmeLw1tNB62je4APcPQgkLgiT8PWQOdJA8nosS1_SNmTHaBwt_qaxjyEPe8RW7z4i_TSfh_fRbBpG34r63MEDZIUcXPMfsrj0wU669vwjPjXQrFWM8cdv5h5NT7r3EGfxBS_eJZgRtExsSWD2OF7ce3Br7Lq-TBnnqldQcwdsUbtA4d6g0uFm36TiK57iyXHQdwTGutGc1DfQYrRzxNGVPYcYIrjCYADqZe3vSpdAdvGwi44onjwN4Ki8y0Swc2i2OFFXaRE0YbhwGTTRiYGFmV6xA9EnegkbjVKstJA_OTTpnzNbWDWyFYyoQlGyJQS4J3BTQppR3jD70jjFkSuz2TlR3_ZfPg==",
  "id": "rs_0a686eaa751242d7016ab472a036dc87d094d9e28acd382410",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.075,\"left_z\":0.13,\"left_gripper\":1},\"note\":\"The low adjustment was blocked and the gripper barely moved. I’m lifting clear first, then repositioning above the visible neck so the next approach can be vertical.\"}",
  "call_id": "call_dvzPUIvOJyLjIT4Wi2p4aPoD",
  "id": "fc_0a686eaa751242d7016ab472a407b487d0a6839d0dc4935492",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dvzPUIvOJyLjIT4Wi2p4aPoD",
  "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]: [-0.3557, 1.7222, 0.7593, 0.3641, -0.3542, -0.2562, 0.9979, -0.1127, 0.7757, 0.5972, -0.4454, -0.1654, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.4387 left_y=-0.0938 left_z=0.0734 left_yaw=0.0619 left_pitch=0.0039 left_roll=-0.0094 left_gripper=0.9979 right_x=0.2836 right_y=0.0008 right_z=0.1698 right_yaw=0.0798 right_pitch=-0.043 right_roll=-0.0024 right_gripper=0.9985\nstate[joint_eff]: [1.1282, -14.2154, 10.7419, 2.674, -0.1538, 0.3394, -0.232, -0.7453, -1.9624, 7.0496, 1.9951, -0.2271, 0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5111780ff0a74fa1a60f3d8d45d7dbae37bac92289896303e7c05404952d49a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7585796a5b61b22038c34778150a65f983ee381c650e9f0558d12a665a4cdbda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:018f6128485c7570b36a42f7a21699ae879f0fa550f5808c63be7b0fd9ceaffb",
      "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 95 changed as sent

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4049, 1.8324, 0.6537, 0.6601, -0.392, -0.2626, 0.6554, -0.1112, 0.831, 0.7132, -0.5049, -0.1684, -0.1398, 0.9985]\nstate[eef_state]: left_x=0.4326 left_y=-0.1081 left_z=0.048 left_yaw=0.0489 left_pitch=0.0849 left_roll=-0.0308 left_gripper=0.6554 right_x=0.2928 right_y=0.0007 right_z=0.1955 right_yaw=0.0837 right_pitch=-0.0415 right_roll=-0.0005 right_gripper=0.9985\nstate[joint_eff]: [0.0479, -5.7778, 3.0427, 0.696, 0.1392, 0.0904, 0.0366, 0.1436, -1.3197, 6.7897, 2.0879, 0.0073, 0.1832, 0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4221, 1.7927, 0.6743, 0.5285, -0.4088, -0.2817, 0.9968, -0.1127, 0.7956, 0.6373, -0.4637, -0.1654, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.4245 left_y=-0.1098 left_z=0.0464 left_yaw=0.054 left_pitch=0.025 left_roll=-0.0075 left_gripper=0.9968 right_x=0.2872 right_y=0.0004 right_z=0.179 right_yaw=0.0798 right_pitch=-0.0411 right_roll=-0.0028 right_gripper=0.9985\nstate[joint_eff]: [-0.1436, -9.1009, 5.9692, 1.1648, -0.0904, -0.0611, 0.1197, -0.5675, -2.0581, 7.2821, 1.9658, -0.1929, 0.0024, -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]: [-0.3557, 1.7222, 0.7593, 0.3641, -0.3542, -0.2562, 0.9979, -0.1127, 0.7757, 0.5972, -0.4454, -0.1654, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.4387 left_y=-0.0938 left_z=0.0734 left_yaw=0.0619 left_pitch=0.0039 left_roll=-0.0094 left_gripper=0.9979 right_x=0.2836 right_y=0.0008 right_z=0.1698 right_yaw=0.0798 right_pitch=-0.043 right_roll=-0.0024 right_gripper=0.9985\nstate[joint_eff]: [1.1282, -14.2154, 10.7419, 2.674, -0.1538, 0.3394, -0.232, -0.7453, -1.9624, 7.0496, 1.9951, -0.2271, 0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5111780ff0a74fa1a60f3d8d45d7dbae37bac92289896303e7c05404952d49a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7585796a5b61b22038c34778150a65f983ee381c650e9f0558d12a665a4cdbda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:018f6128485c7570b36a42f7a21699ae879f0fa550f5808c63be7b0fd9ceaffb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHKrCfHzqLywtypPgn8Po9-NH6bXXrHm8myGve5rSiO-I2MjAYGh7kx8cxzAx2ymCNRweC3z4b0LQ5UirP_58KMlOZ-mzK5JrUqQH_JhE5u-pxlE_gnQRbDaaQFXcZkRx-kMhg0mWccuKO37rrEQp06eMMemQBphufOyozO6HYpYUVUimEaqjXlUo5a1CCbHvCQ9PPegUKL74GxiPoOs58prtEE3CYY1nFzKHOHUgnO5r4KO9QT0nUhUcWuVp1V6Ary1VIgm3zvvRMwWucDeM7OOh4SoZzubMT_0OhqUok0Vmoj5A3BB6k5elifEwHb-wdDivaLFH9vOdZnKuXPoEpyLkHnH2OvVFCHktCGTJAZcSfutXCakU8c6nfYS79Uv0fd9uqxfItUR0oFlWhePhuDEVbj0jtWDSD9ucufZJ53U1264Y9RdVsp1itmbmXDf9XaIcZzunluqhQA9UY-fPMGgAD4CpVIHhRtSE5vC-uqn2ICbxn3fNWKBnzAtOwgQa8oj-N6Lm5OWXgX2qjFcqg_GgXt3B2OcB4q6hgZpDam0Cgp1lvXp-9VBt8ymy4Zy3L0uS_ADFjYBmTwaJnD_15Mn-rqRp-oZIu1lDRvyx_AHoH8yigisBzJZ0j7AOjfxTVaFu1WCwNdpTdd_81KOQ_ORyWp38ClJWBgTt38MDlg5vzBV-_rRhfo-M4KM_iachXFcky_QVUgUB5lNAUdGgJXDy4BMNhHxv1G_3gWCsx9C7qB5g9eYXadoa3LhRmuaP1uj0jJOLfBfZHvfboGCDYrO3IOZRf9S_4_a72Ap4_QWcM8y3O9FQdxh2d2BNDjELDqOviUQh7u3WzTEQ9mjoT6tMV_NhweARhxWWN8NWx78GlJzHXz49ilRZ8lI-bFzZQ_6KAJQE8DsiMheJzdsJ6CSQm81UZ6ro3cpqbWwnwTqHatJkuP1l-zDSazmmcZ0vZE6P5zmw9OovOeEYUUV_i-JUmkslsIGzogmDO7FBBNL99q-P0ZISjttTqMxa4jzf3rmjdGGhym3umqiBarjxkTRkJn2Y7KadfYmWg0kbprKPmneV3geX1OOVAGGoXAlPd8apouI702Zp-7KaGy-h8dAvGxFnwSDmpiYS01mUIbpV0H8yVd4x_4t-IhUDOcqEjLRJ9fuVLX-AuARF2pgkwhSe9KbCiq4lyl0Woqut19SCe4ejGwv756J0GhxJylgYBUFvS40ITIeQFJfYm7wuO4tQoGpoBWECbal9KnJaGJLBHVztVe-M6n6UOVos2n2YRFqBwLLF3BscPzLpacOi5297gWDsn1keN15iq9Yrb9sKYCwFU8s-qKTd9CiIGSDZ9gJyl1WWGQ8eSgLwTDKlC98XuzKq7qF1ELb26rCcNovoLc2JAnfM3_PEBkFBZA-L3LzyrsqPivoMtaS_CGQiWEGloXYVb88LEQW7mN_hUNIABmZehJXdUQ-Zl1nRueqitLUpsgNmVGSu3PASkRwcOLX2NxFqWLfeXQ0HGjVTWlCKY3nwKjZ7glsddMnSbijdcS4",
  "id": "rs_0a686eaa751242d7016ab472a84bac87d08a508db5aa577dba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.075,\"left_z\":0.22},\"note\":\"The arm rose only partway and still appears close to the bottle. I’m moving upward and slightly inward to clear the contact region before deciding whether a safe grasp remains possible.\"}",
  "call_id": "call_jY61kgXYyyyqxaWqHlN0D2ZT",
  "id": "fc_0a686eaa751242d7016ab472a9df6c87d0a4a9e372df52b54f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jY61kgXYyyyqxaWqHlN0D2ZT",
  "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]: [-0.3538, 1.338, 0.963, -0.2386, -0.3489, -0.2481, 0.9976, -0.1135, 0.7506, 0.5541, -0.421, -0.1654, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.3995 left_y=-0.0794 left_z=0.1992 left_yaw=0.0552 left_pitch=-0.011 left_roll=0.0005 left_gripper=0.9976 right_x=0.2802 right_y=0.0009 right_z=0.1618 right_yaw=0.079 right_pitch=-0.0366 right_roll=-0.0036 right_gripper=0.9985\nstate[joint_eff]: [0.1709, -7.3641, 9.812, 1.6972, -0.232, 0.0122, -0.0366, -0.8957, -1.5521, 7.0359, 1.9707, -0.2027, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bfc6ff7ebf59f5b302770798ca238b0c1b6b54512865eb766e1672e6e175ff9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc52100a8577a2bac55c8c46feb5f07555dbafc49300685307b8ba97b30ebb50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b12c07aab91ad4d0b0eb8cddc0dbe257690f34fedb9c20eb54b5ce08871d07f",
      "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 99 changed as sent

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4221, 1.7962, 0.6735, 0.5419, -0.4061, -0.2821, 0.9954, -0.1123, 0.8104, 0.672, -0.477, -0.1654, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.4256 left_y=-0.1107 left_z=0.0472 left_yaw=0.0521 left_pitch=0.0325 left_roll=-0.0134 left_gripper=0.9954 right_x=0.2905 right_y=0.0001 right_z=0.188 right_yaw=0.0801 right_pitch=-0.0348 right_roll=-0.004 right_gripper=0.9985\nstate[joint_eff]: [-0.3214, -9.265, 6.2427, 1.2234, -0.1197, -0.022, -0.0024, -0.3897, -2.0855, 7.1453, 1.9853, -0.2076, -0.0269, -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]: [-0.3557, 1.7222, 0.7593, 0.3641, -0.3542, -0.2562, 0.9979, -0.1127, 0.7757, 0.5972, -0.4454, -0.1654, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.4387 left_y=-0.0938 left_z=0.0734 left_yaw=0.0619 left_pitch=0.0039 left_roll=-0.0094 left_gripper=0.9979 right_x=0.2836 right_y=0.0008 right_z=0.1698 right_yaw=0.0798 right_pitch=-0.043 right_roll=-0.0024 right_gripper=0.9985\nstate[joint_eff]: [1.1282, -14.2154, 10.7419, 2.674, -0.1538, 0.3394, -0.232, -0.7453, -1.9624, 7.0496, 1.9951, -0.2271, 0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3538, 1.338, 0.963, -0.2386, -0.3489, -0.2481, 0.9976, -0.1135, 0.7506, 0.5541, -0.421, -0.1654, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.3995 left_y=-0.0794 left_z=0.1992 left_yaw=0.0552 left_pitch=-0.011 left_roll=0.0005 left_gripper=0.9976 right_x=0.2802 right_y=0.0009 right_z=0.1618 right_yaw=0.079 right_pitch=-0.0366 right_roll=-0.0036 right_gripper=0.9985\nstate[joint_eff]: [0.1709, -7.3641, 9.812, 1.6972, -0.232, 0.0122, -0.0366, -0.8957, -1.5521, 7.0359, 1.9707, -0.2027, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bfc6ff7ebf59f5b302770798ca238b0c1b6b54512865eb766e1672e6e175ff9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc52100a8577a2bac55c8c46feb5f07555dbafc49300685307b8ba97b30ebb50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b12c07aab91ad4d0b0eb8cddc0dbe257690f34fedb9c20eb54b5ce08871d07f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0a686eaa751242d7016ab472ae224087d096006a6dfe738f2c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.18,\"left_z\":0.055,\"left_yaw\":0.75,\"left_gripper\":1,\"right_x\":0.2935,\"right_y\":0.0031,\"right_z\":0.22},\"note\":\"The left bottle has shifted and is still lying down. I’m trying a wider grasp around its shoulder rather than its small cap, approaching from above with the jaws across the bottle.\"}",
  "call_id": "call_xisCfrdSQ7J5ioA8JQSlDsBc",
  "id": "fc_0a686eaa751242d7016ab472b7ce2487d08e8ea3bcd80adef0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xisCfrdSQ7J5ioA8JQSlDsBc",
  "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]: [-0.8619, 2.0731, 1.3373, -0.7547, -0.9676, -1.4815, 0.9979, -0.0978, 0.8154, 0.7296, -0.5377, -0.1604, -0.1398, 0.9985]\nstate[eef_state]: left_x=0.3621 left_y=-0.1933 left_z=0.0538 left_yaw=0.642 left_pitch=-0.0403 left_roll=0.0035 left_gripper=0.9979 right_x=0.2886 right_y=0.0036 right_z=0.2004 right_yaw=0.0903 right_pitch=-0.0432 right_roll=-0.005 right_gripper=0.9985\nstate[joint_eff]: [-0.3761, -10.865, 5.7368, -0.1099, -0.8767, -0.0708, -0.2222, 0.2667, -0.9641, 9.9897, 1.8144, -0.0269, 0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bef993a3dfd23ce7cbd5847a4ceb9ff1587747cbaaaba6d2427a21c0da0c5b70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c458cfec3d2b200441f3c042e76408e24f8c43c03028ce6287d3a34dee6884a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e0bc8138a70009ab039f34bb1dd694363b52e1f7ac8cd613c64c9c32e7f09fb",
      "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 95 changed as sent

message 103 changed as sent

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4221, 1.7927, 0.6743, 0.5285, -0.4088, -0.2817, 0.9968, -0.1127, 0.7956, 0.6373, -0.4637, -0.1654, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.4245 left_y=-0.1098 left_z=0.0464 left_yaw=0.054 left_pitch=0.025 left_roll=-0.0075 left_gripper=0.9968 right_x=0.2872 right_y=0.0004 right_z=0.179 right_yaw=0.0798 right_pitch=-0.0411 right_roll=-0.0028 right_gripper=0.9985\nstate[joint_eff]: [-0.1436, -9.1009, 5.9692, 1.1648, -0.0904, -0.0611, 0.1197, -0.5675, -2.0581, 7.2821, 1.9658, -0.1929, 0.0024, -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]: [-0.3538, 1.338, 0.963, -0.2386, -0.3489, -0.2481, 0.9976, -0.1135, 0.7506, 0.5541, -0.421, -0.1654, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.3995 left_y=-0.0794 left_z=0.1992 left_yaw=0.0552 left_pitch=-0.011 left_roll=0.0005 left_gripper=0.9976 right_x=0.2802 right_y=0.0009 right_z=0.1618 right_yaw=0.079 right_pitch=-0.0366 right_roll=-0.0036 right_gripper=0.9985\nstate[joint_eff]: [0.1709, -7.3641, 9.812, 1.6972, -0.232, 0.0122, -0.0366, -0.8957, -1.5521, 7.0359, 1.9707, -0.2027, -0.0024, -0.0171]\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]: [-0.8619, 2.0731, 1.3373, -0.7547, -0.9676, -1.4815, 0.9979, -0.0978, 0.8154, 0.7296, -0.5377, -0.1604, -0.1398, 0.9985]\nstate[eef_state]: left_x=0.3621 left_y=-0.1933 left_z=0.0538 left_yaw=0.642 left_pitch=-0.0403 left_roll=0.0035 left_gripper=0.9979 right_x=0.2886 right_y=0.0036 right_z=0.2004 right_yaw=0.0903 right_pitch=-0.0432 right_roll=-0.005 right_gripper=0.9985\nstate[joint_eff]: [-0.3761, -10.865, 5.7368, -0.1099, -0.8767, -0.0708, -0.2222, 0.2667, -0.9641, 9.9897, 1.8144, -0.0269, 0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bef993a3dfd23ce7cbd5847a4ceb9ff1587747cbaaaba6d2427a21c0da0c5b70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c458cfec3d2b200441f3c042e76408e24f8c43c03028ce6287d3a34dee6884a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e0bc8138a70009ab039f34bb1dd694363b52e1f7ac8cd613c64c9c32e7f09fb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHLCg3MVyyB_TnhsRbkNY7e2_GJ6GJKuibUcDBz5wSPjpLFfml_TznbZchCPa1i1JABfWzCuFIG4krkqPJkQKiF67j8_3K2jZtbsMK32-ANAngl8EAzGucyNeo57yA4BMn01QspipBUwdbFK0yjUkhCKjfnajPlA3DCE6Xt_rQpgTnhsJ_f_u5Y5c_Xhw9hVHJ-khg_CpmT8rgLHt6iMAMJ5Eog-H0h5QU2H7WKOW3kka9F43fCAmOqzn7XceU5iu6UINe3Mt3PsfQ4igYiwaS5IBx3oCej_UJtesG8KNQRCWf2l2Tt2UatGEQ_Ix98QVdro46zN3BBQjZC7pQPPSIAxU_swJyO6HRDeVP-NGgPSqLDPKBs7sY-L-tC78hOr1IntKEJUDSg7HmXC67cqUF5BphEidZGZcKghIIzTM85MiH0XzXzKh8DeLbnOV0q84h00zE_y4apLGqU328wx_sHUpilvdhDBaKKladnaArOziAtwuvN3pf24cEuTVd1uJJwcERQUZBmLLjhYFIKkGMX2Yn-90HqI-ZN-nP-QLYGL84TnS9DZJSaRDA6YBzgVxO7HPLw0VE2SF2G5TxiJqGrGYUzlfVQJe-gYzn5uXTC8toWmyvh8mbvODtq_bKYi7YX1gszg68r3Gnix30tAa0lhTZAHpbqlZHoTh6VGdKBsdv92ydfCXOlVY9XZJ69AveiFKEm4WGXkDCKKfLLJLr9gnzteLoaleuBAO-SjM4EBqLWRsIOqzLaTqPN3O8TIwXIOiAaEA1NLCtMT34JmMASSueAIVbOhxquuTb9TiUDgd2A2uyjzhEr5uk2t7eeHiCyyqGQqb7tHAJx0sVY8WaM51bqeKEm4uu2NWG4vu_HiJVKbk4L41LiJzObhnSmp2s9uI7QNgRlGX0UgWfUKRH_s6DOmQIta1qmJc5q3Fp7PAq0MPkFev1tiJfhqO0FmmlLkiHx2CmU8tLbQgLWhOXiLDGYpexIkWAl67LnHqBaWznDKCHnBhKZFT3omBMosddzibJVVJZ_UuPp77OiNwExh6VbFGqGDVA3YtJvhvIvxVr8UHK0aGiYLHDIdEGltHPZOEsoZQshvNu7X_HKAIgFf9Dvtjm5K79Ri1GtjPgQIsLxrDWeKClzy-iu74gj2L20xslEMrzKjI8s8NeHmlyQob3saj4LG5dWVhtr5tHIYXk9YQ6m1M9sCLDjgywwAcGPlbsUg1Cz8_2J4nAevpDb945elMT_RwslfTvw6tJPGU_4Uuqk6lnwvts8V5HAFuMC1d2DlurueaWDGfmVPukgQNjSsbgnfiHAUZBmv90pZ_hDbI1fzxYdfurx0uNsrKy-NQB-KL61_byVHQmzv_JiC4F1waw6dCSErSXvPYu7tl3PyKQfKRaz6hjsKrV7_qphIl8pPcrUJuk1EwsCAh29mquqdQ8mSAsV6QrdVdf40hJRmCcWq9jYNy_QoQT7Wgxp8gb_8N7jGYWJLdgjx0vn8_21imgAFq_UlxXpR2ltC1XCMljDBoieHf14JDUUBYQTWln9r55UOI1O6P0o4QyB8GyNJOrgygdZRyZziY47KA9yjKftQxDgbLXVzHaFh49RT5MdonMya15gMr7_a4BsUgQTY6RWxn76Q2uFcJBobFRREnbX6vg3Fyte7KsIAkzpbEfvaU8XrsOnFbJ7YDV1yyY2dBZuc2z54yBPpHcVDvdeMJdR00MFzLDu8Cwx5yCYvILJKO3rDlv9Vco0AY5gct3Lc2hP9FYsFVle7dUEY3_oImfUwCIIMY84lDRH7rpi_MbtH0F1WSve7mgq1AuPHooIAJSujS7L_3hnFnB4ONRqRydAL5LYSAWCInvy2GgBR4xWhnZboywHRE3zWmLEJlPu3VrhDiCrZOTWDr0Oa9F9iG-VGDj_J0ybOeNQxSfz_I7UzmWaUCezhjN3Ac4gmUCw3t48UMJdlWrG7LZKSuIcYHrMIZ5pUiivlMD5nabozBk4MZQrg_qWNk5e8X8ZTSBzlBsvwlX46F9b68LyqKNEcF36P-CLz-1FDJhEa-SRFIRk7l7tKuZpyy-nvYQ6K1-HUuXFyqbyZuMskz4-xyzGhABZXEhDmPrAr-WHG9AMwZHrWlDdnpYPGiZUSJ1HPWyDZ9r46LGSduk5qcLFFapTCiaHrnacwZulh1Lw33SwejTA-NXps3KDooZIBRuZgdu7a5tgGrn7akxuhw71gbWxOY2PpJ6b1lRBFtvljIL9XNvnv0s-Psk1ArP-fZB0ZtYCDBGrjszhimURWtl44VqP2kLtHQPXfhco8gV247aFl",
  "id": "rs_0a686eaa751242d7016ab472bce69887d0832e6c78c3e7635b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.419,\"left_y\":-0.14,\"left_z\":0.025,\"left_yaw\":0.75},\"note\":\"The bottle is now clearly aligned lengthwise in the wrist view, with its shoulder ahead of the fingers. I’m advancing along it to place the jaws around the upper body.\"}",
  "call_id": "call_f6ZSOMeQ9QqtuwSuSU3rmQ5l",
  "id": "fc_0a686eaa751242d7016ab472c114e887d098208e4ca13595be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f6ZSOMeQ9QqtuwSuSU3rmQ5l",
  "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]: [-0.6857, 2.1464, 1.3304, -0.5732, -0.9882, -1.396, 0.9976, -0.1051, 0.7918, 0.6868, -0.5156, -0.165, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.4094 left_y=-0.1397 left_z=0.0318 left_yaw=0.7729 left_pitch=-0.011 left_roll=-0.0246 left_gripper=0.9976 right_x=0.2852 right_y=0.0027 right_z=0.192 right_yaw=0.0871 right_pitch=-0.0397 right_roll=-0.0033 right_gripper=0.9985\nstate[joint_eff]: [0.1709, -8.7863, 6.1744, 0.3883, -0.5983, 0.1978, -0.0415, -0.3761, -1.6752, 7.0496, 1.9756, -0.1832, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2155a6f1d72823a1f7d65a220fc756a33f9404dfd8fdd49525c90083d5a52d24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c87ee555c71f1572740b153fa6c699d66f5e6ad5413ad3b5f139bc6ceea5825f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de856c8c62ce8d4e66282f4ae5d4f913e6d96c46e50ed385816f5fb2099b07c8",
      "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 99 changed as sent

message 107 changed as sent

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3557, 1.7222, 0.7593, 0.3641, -0.3542, -0.2562, 0.9979, -0.1127, 0.7757, 0.5972, -0.4454, -0.1654, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.4387 left_y=-0.0938 left_z=0.0734 left_yaw=0.0619 left_pitch=0.0039 left_roll=-0.0094 left_gripper=0.9979 right_x=0.2836 right_y=0.0008 right_z=0.1698 right_yaw=0.0798 right_pitch=-0.043 right_roll=-0.0024 right_gripper=0.9985\nstate[joint_eff]: [1.1282, -14.2154, 10.7419, 2.674, -0.1538, 0.3394, -0.232, -0.7453, -1.9624, 7.0496, 1.9951, -0.2271, 0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8619, 2.0731, 1.3373, -0.7547, -0.9676, -1.4815, 0.9979, -0.0978, 0.8154, 0.7296, -0.5377, -0.1604, -0.1398, 0.9985]\nstate[eef_state]: left_x=0.3621 left_y=-0.1933 left_z=0.0538 left_yaw=0.642 left_pitch=-0.0403 left_roll=0.0035 left_gripper=0.9979 right_x=0.2886 right_y=0.0036 right_z=0.2004 right_yaw=0.0903 right_pitch=-0.0432 right_roll=-0.005 right_gripper=0.9985\nstate[joint_eff]: [-0.3761, -10.865, 5.7368, -0.1099, -0.8767, -0.0708, -0.2222, 0.2667, -0.9641, 9.9897, 1.8144, -0.0269, 0.149, -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]: [-0.6857, 2.1464, 1.3304, -0.5732, -0.9882, -1.396, 0.9976, -0.1051, 0.7918, 0.6868, -0.5156, -0.165, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.4094 left_y=-0.1397 left_z=0.0318 left_yaw=0.7729 left_pitch=-0.011 left_roll=-0.0246 left_gripper=0.9976 right_x=0.2852 right_y=0.0027 right_z=0.192 right_yaw=0.0871 right_pitch=-0.0397 right_roll=-0.0033 right_gripper=0.9985\nstate[joint_eff]: [0.1709, -8.7863, 6.1744, 0.3883, -0.5983, 0.1978, -0.0415, -0.3761, -1.6752, 7.0496, 1.9756, -0.1832, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2155a6f1d72823a1f7d65a220fc756a33f9404dfd8fdd49525c90083d5a52d24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c87ee555c71f1572740b153fa6c699d66f5e6ad5413ad3b5f139bc6ceea5825f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de856c8c62ce8d4e66282f4ae5d4f913e6d96c46e50ed385816f5fb2099b07c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHLJT08kW0aUCpeVR4cF69XUCOCS4nEXzL8jgAn-W7SdRWOz5iSidjj70S-pRMhne_563XlF4VOEjv9BXyqUdIJs0GtnL-OnEwOssp6yjWOkMAn1NeAMwsvpWHnPNZx1zAdJ6sO-wjxUvZsW5LqUB4FcQQT4rrnwwkN0N9Q4pOOh1Y7CsZKFH3BIoMd2t-asy1Vhn8_JQ5T0yEzVtwXAm3SXj9yDbUs3sBw0XGFSmKbxhCN8Xeocnns-9n7B7IQnlkoDfg6IgP1ZTRj__N49idcQ61fF1eNoonuqe0ffXUP_tu2XkYp9kHc7Ib94vXsbzeKdoV-hdpv-iXoejvGmxSV6pL5G4a_0rHwyIRJiNTxUZIEgP2QjlYo7Au9q59J6X2HAmHyPuJjnl9ZVOOJcx9_oX63LiohuSil3dzDIYO3D8zKgZWWjxU06EvuCyQqHR5VHf92knCsqbU02uYp7J1D6bt_QBzSKBkOLxP5PGrixEtaDaMMswbkymexN3V_4BIPtHE1ed7-b21klnV_2Aqm3I6cJsNMNaE5g1h8xEPJuM305_nIdslVOhhAk1CVv4dJziEBfvDwLsJlB84pFEhibbx5STVKyNNa9psBHOskp9ThyJ29OHy9XmWadupGGQDy7g6c47IjEz6Uk8mwvgsApZTy6Jl_4E6q7c2mal3XAdi5Y7ahw1MNqDcRBPGjtBNEUmyLJYN3UY58X69deUwDohp5PMswz05CMGpRRarq16ea4F23nZvAW_E3ND8PQThFVKEbEMwGwtiWHXrwcSmtvq9ERTjotu1UawfcpngNE_B3oJ8EaD6YqBCqYk1RJYpqCkxL2hFaGYALXU77MG0gM8fys1EmWoVe9V6r0aC_0eGCjn-bXTeX2gROhetzK72TXRkS7ZEur85OXOlOqlqc1XNP6hJfVmhSU-QV3FMOZ1Y4R9Fpu2-Fj-tLPTTiXX59wespgp0cgPhcclbwRo6D0RBaa5B1SBFaDEqlKMUuBDh9NfMpJoAb8ClbNoLhKiL5nPBzTzmZZ1h_AruRF3ktHDcnXFovIuvZylXJRK8_4TmB3srqMII37aZCo7Pxs-pZADIxAqqSlx7bkFs-DfK3FydkqzNxFvKaoAZFeyekmD0n49M3FlKC-_FcmPDKkdmnoMYTbPI2SxJ30d2pTppMk2nJ6MofIvRiLEoNowX3KZoZQhDfvwSFcT4df5XQp3gBbLRUK7KvO7fwIusP9JJL9bGWWv8Qnh5mWU3VYH3IXFSwd33ZT1lYJkaWTBhrRbiLNB4i4Qy8qoFhKZyxr7KSpMxGoEFhHtDENkmMdF4R3ZVUGUKLM8M2zltlXy22kc03XpOyGwQN2a5pniME-SEbE78xtoeTY4jIhlYYEYxVTryUU7dXsF1948dBSBkH-Ag_8c-0WCZgO9JbDZi7HfwQ7bT2BsmwwxMrxEDJh4IId8-zL9B8OB04luyc06E8HZ7cjrsKTsCw4PNyL9S6v0olePyFFOau0OOUB2pPriIoZgAcyTVZQOZ0vgOcUjV3sdU-HcA8JozCg_AiQflDoiGV2QrO1z3rm0V_AoiDj1Jg00dHAcMm0xhh0P4lwkddyXtLRuB8c8ZOlggZ-a82T88Tdl5D5oITxw5KdSSqunuIcb8JT4ElMQhgVFxB3dslndUrpiZxvbQO2IB_0Svu4Ev7XS1hXES5NXsKvmZ2653Ub0hjzLJ-bJLwsLFCBrbpsIE8yqWKuLaX7QbMrvfgx9OPsyWFVe0iwuEAbRT_6s9X2pcAL7nBU1g58XHYVx4OB81-cBZSm2p6pqwRlgnhmRjNK0XwmpX3wdg36m5bWdV28oyfqrybjBtw086SonMZ04T-FGa_0_BVk8QoWTSKjGZWQLmvJrhbX5sT3sO_2k6blpE5AQoUANCArPP9wkgsHnd59vr9AoHASq6RCeM-65UI6I_WFrU7meCyIoy7O2uE1wIu3Qz9cjT3AG8mROdBbRFgYB0LcfzVvGGj2qgXms9Z3uzD1VHss3nisVR_H62leqvj5CJAEtEd_MPvJ8WiSuBxKqSIxK5ZGv6Svyvh3zecZqxXnow-_etxgSpi4MrfVU99Bw7UTRNfiE6NW5uLm3r-GXUJwhT2bb03PA8XeDkCrHiPWeRCKzCxQy8eih0yKMJGJCu04jTbWOdFCiG8gmYwNrrskfqUe0EGa_XvOVEbAd0U0yaWNEKwEaYORWeqzLOcMm-D2w-kiKVSG7wiMc46tvaupIF6PpayvrTypvMZvMXhhYeqdovkVx10A9pl6uEGZ0Cwi8MaFVWpOxAl4aDNm2xDMKoMi-_r4HSLUalRF0AUO3E42qsrew3sicNqybVM10xSG_NJl6oA7YplQnxfUcoqtdtF4PhDc4x8A6PgbbA==",
  "id": "rs_0a686eaa751242d7016ab472c493d887d0bf5a080d3c7e8010",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":-0.005,\"left_gripper\":0.35},\"note\":\"The bottle’s body is centred in the jaw opening, although it slid forward during the approach. I’m lowering slightly and closing only partway to capture its wider body without ejecting it.\"}",
  "call_id": "call_noSJP3m6b7JvbMf88ho9MBGA",
  "id": "fc_0a686eaa751242d7016ab472c8733887d09852f5043330790b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_noSJP3m6b7JvbMf88ho9MBGA",
  "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]: [-0.6678, 2.1605, 1.33, -0.5198, -0.9863, -1.335, 0.5468, -0.107, 0.7712, 0.6487, -0.4992, -0.1654, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.4177 left_y=-0.1372 left_z=0.0277 left_yaw=0.7576 left_pitch=-0.0077 left_roll=-0.012 left_gripper=0.5468 right_x=0.2818 right_y=0.0026 right_z=0.1835 right_yaw=0.0855 right_pitch=-0.0408 right_roll=-0.0028 right_gripper=0.9985\nstate[joint_eff]: [-0.4991, -9.4564, 6.2427, 0.6129, -0.6081, 0.0366, 1.0085, -0.6222, -1.7846, 6.8171, 2.0049, -0.2466, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c07e3aa13a5e3e6c1e167b923c69e3cc07f4ece753522d1e1c87d0800f3f9aad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:919d2afe2d0b0d735d0ba12f089ea74080b0498c7214c9acb8527640fe06d7c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:091871308aaee7a55d06ffcfcb08b10ec35b0aaca35edcf9611290bf3b802e01",
      "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 103 changed as sent

message 111 changed as sent

message 115 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3538, 1.338, 0.963, -0.2386, -0.3489, -0.2481, 0.9976, -0.1135, 0.7506, 0.5541, -0.421, -0.1654, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.3995 left_y=-0.0794 left_z=0.1992 left_yaw=0.0552 left_pitch=-0.011 left_roll=0.0005 left_gripper=0.9976 right_x=0.2802 right_y=0.0009 right_z=0.1618 right_yaw=0.079 right_pitch=-0.0366 right_roll=-0.0036 right_gripper=0.9985\nstate[joint_eff]: [0.1709, -7.3641, 9.812, 1.6972, -0.232, 0.0122, -0.0366, -0.8957, -1.5521, 7.0359, 1.9707, -0.2027, -0.0024, -0.0171]\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]: [-0.6857, 2.1464, 1.3304, -0.5732, -0.9882, -1.396, 0.9976, -0.1051, 0.7918, 0.6868, -0.5156, -0.165, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.4094 left_y=-0.1397 left_z=0.0318 left_yaw=0.7729 left_pitch=-0.011 left_roll=-0.0246 left_gripper=0.9976 right_x=0.2852 right_y=0.0027 right_z=0.192 right_yaw=0.0871 right_pitch=-0.0397 right_roll=-0.0033 right_gripper=0.9985\nstate[joint_eff]: [0.1709, -8.7863, 6.1744, 0.3883, -0.5983, 0.1978, -0.0415, -0.3761, -1.6752, 7.0496, 1.9756, -0.1832, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6678, 2.1605, 1.33, -0.5198, -0.9863, -1.335, 0.5468, -0.107, 0.7712, 0.6487, -0.4992, -0.1654, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.4177 left_y=-0.1372 left_z=0.0277 left_yaw=0.7576 left_pitch=-0.0077 left_roll=-0.012 left_gripper=0.5468 right_x=0.2818 right_y=0.0026 right_z=0.1835 right_yaw=0.0855 right_pitch=-0.0408 right_roll=-0.0028 right_gripper=0.9985\nstate[joint_eff]: [-0.4991, -9.4564, 6.2427, 0.6129, -0.6081, 0.0366, 1.0085, -0.6222, -1.7846, 6.8171, 2.0049, -0.2466, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c07e3aa13a5e3e6c1e167b923c69e3cc07f4ece753522d1e1c87d0800f3f9aad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:919d2afe2d0b0d735d0ba12f089ea74080b0498c7214c9acb8527640fe06d7c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:091871308aaee7a55d06ffcfcb08b10ec35b0aaca35edcf9611290bf3b802e01",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0a686eaa751242d7016ab472cb751c87d08d8fee66739565c8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.20,\"left_z\":0.10},\"note\":\"The jaws stopped at about a 5 cm gap, confirming contact with the bottle’s body. I’m lifting slightly and drawing it inward so its neck will be reachable for a better upright-setting grasp.\"}",
  "call_id": "call_QwJOgfRD8fSna1PSYjxrOezY",
  "id": "fc_0a686eaa751242d7016ab472d5c5b087d0ae8647c3627b85c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QwJOgfRD8fSna1PSYjxrOezY",
  "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]: [-0.9684, 2.1532, 1.507, -0.8795, -0.907, -1.6871, 0.5465, -0.1108, 0.7483, 0.6086, -0.477, -0.1661, -0.1406, 0.9985]\nstate[eef_state]: left_x=0.347 left_y=-0.2527 left_z=0.0543 left_yaw=0.6437 left_pitch=-0.1066 left_roll=-0.1283 left_gripper=0.5465 right_x=0.2789 right_y=0.002 right_z=0.1758 right_yaw=0.0825 right_pitch=-0.0358 right_roll=-0.0037 right_gripper=0.9985\nstate[joint_eff]: [4.6017, -15.2957, 6.8991, -0.2906, -1.7509, -0.1587, 0.8083, -0.4991, -1.4701, 6.9265, 1.9609, -0.1978, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff571c189eb187b026cd5780425360d81e9102dee13dd61f0ba14660fab24261",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d8ea04f18f2f9cead0023c54c70e41c07db92b788dd382ac482b014e79424d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30e38f647b2dc2a6800ba7bb1b5e7410a476fe80f2d3bf587dbfc2c63a3f76e9",
      "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 107 changed as sent

message 115 changed as sent

message 119 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8619, 2.0731, 1.3373, -0.7547, -0.9676, -1.4815, 0.9979, -0.0978, 0.8154, 0.7296, -0.5377, -0.1604, -0.1398, 0.9985]\nstate[eef_state]: left_x=0.3621 left_y=-0.1933 left_z=0.0538 left_yaw=0.642 left_pitch=-0.0403 left_roll=0.0035 left_gripper=0.9979 right_x=0.2886 right_y=0.0036 right_z=0.2004 right_yaw=0.0903 right_pitch=-0.0432 right_roll=-0.005 right_gripper=0.9985\nstate[joint_eff]: [-0.3761, -10.865, 5.7368, -0.1099, -0.8767, -0.0708, -0.2222, 0.2667, -0.9641, 9.9897, 1.8144, -0.0269, 0.149, -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]: [-0.6678, 2.1605, 1.33, -0.5198, -0.9863, -1.335, 0.5468, -0.107, 0.7712, 0.6487, -0.4992, -0.1654, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.4177 left_y=-0.1372 left_z=0.0277 left_yaw=0.7576 left_pitch=-0.0077 left_roll=-0.012 left_gripper=0.5468 right_x=0.2818 right_y=0.0026 right_z=0.1835 right_yaw=0.0855 right_pitch=-0.0408 right_roll=-0.0028 right_gripper=0.9985\nstate[joint_eff]: [-0.4991, -9.4564, 6.2427, 0.6129, -0.6081, 0.0366, 1.0085, -0.6222, -1.7846, 6.8171, 2.0049, -0.2466, -0.0122, -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]: [-0.9684, 2.1532, 1.507, -0.8795, -0.907, -1.6871, 0.5465, -0.1108, 0.7483, 0.6086, -0.477, -0.1661, -0.1406, 0.9985]\nstate[eef_state]: left_x=0.347 left_y=-0.2527 left_z=0.0543 left_yaw=0.6437 left_pitch=-0.1066 left_roll=-0.1283 left_gripper=0.5465 right_x=0.2789 right_y=0.002 right_z=0.1758 right_yaw=0.0825 right_pitch=-0.0358 right_roll=-0.0037 right_gripper=0.9985\nstate[joint_eff]: [4.6017, -15.2957, 6.8991, -0.2906, -1.7509, -0.1587, 0.8083, -0.4991, -1.4701, 6.9265, 1.9609, -0.1978, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff571c189eb187b026cd5780425360d81e9102dee13dd61f0ba14660fab24261",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d8ea04f18f2f9cead0023c54c70e41c07db92b788dd382ac482b014e79424d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30e38f647b2dc2a6800ba7bb1b5e7410a476fe80f2d3bf587dbfc2c63a3f76e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHLbvUuY6f0HidHXmwaGQr31KQlffMpPbEKtYSJxbdshnJv0NdCifGoLCQRSrkXY00IMW9Mzef4oRpC3tOWeGvuwBEKSMk22U6F4IJtheO88d1HGCuy69Qm8WsUoBe3rf5VppnlqabSFTRsnnfERpzIei51T1CqYDjsfoV0D0pKdNigWE4B_jpiP2DdR4Crkqhbnvueee1enjQUvldN8GQnd1xcSH7LqbZEnBSr4zj9guWmrxh_UWZMXGK8tVJngbkTSC7Bb5DJP9Cif7YBtGWfjciuAYDNywn9bsMZUW8PZqEnLWXPuBWOhGygEVhBAIoxNsuKyGsrQXdtCQ6G43sc6gqMMyj75cs6yS4LXre3065FaAcuiyvU-nFOvum5gK7MVhXqyCFTmb2A5Nmo7R2PJyIz7RhD0q7L9JT4Rn4Mtu7rQoBdsV6vHrBnN22Yx_pH7-9C_5Wyc5T98a9FS2Z62CrXcBKAQSoUJhfkgkymP5SwAU6M_M4rLjNfEcXsGmLxGFoFdlk41UaiJSh13xOZpv9NZymRMxyMZc0D6bQr2cRqewFpvg3h8JVvWoVsj3ezPMgUtXFY3m1UJ8MCiiNRmNlS246pd-6cQhINR_MaO4YxPnY8SzgsB_eS5ETHwNLImkQIzRmgMQlY5lpxiEWG9ix1xgWF6_NFBT5qXmxFUBuKja2RaQA9dAtyF-xDnFb-psLnQDy8b0JzNkLSxjOgKli04L1LW_6WSsjLFIGyRptzEJZCvpjk4uzbcL_GqvU4sD4Ic4N1ZwUHuxMxTzHf-EToSPbQDF3ohI_Djiwj_AWwaakcoRM_GFQtJzF2YMhk2PO6xkf3DFDaBLc9qENypgyIUxOx02N10krCON6ot-kl12dWXsnwJ6u4Xk-DiJ0yidu-s3v6Y9X2aUKT2xnoqoU1ZRRoPRINAeDHVraUcjIQkS2Xn0t9vvL0MyIXCud-8SAKL-iU8awsv_NxaKURDg0aqdLJF9tSFeyz77LnOlslIkngXOA5vNQZReiBFtt1kAgVamRHkTi6WSZWJJUVnFx2-BN0B1TMmrtnTqnU8EJG5guKdA1COHvJs4kDP7zFXv8s1m0ioMsSPQNBuTzTbLr3xCslEN7BdkJHcFCLJeja8pZ3F-9jjxf3_Go6LtWhKVGYy5ZII4cZ1OPTXjgPjNxpaq6GKp0-D0VgxBdwzqJn2kvqjKJnkVBMg9a-K8uB6jEegSyjW8S3MqOw7t5qRI5J2t8OUkOJWSX-JfrJ_LBmxRCGqFpE9QB33BkAFgRItvTxi3CqBpYNtFR7e6XEtgPktZhR04Ciwx0KFuwin-CqpV8zV219aE--oK4fnVXMRmFRduXbMR9WdPhrFPVEaWbgcxU_zqyaZ7qnOjJ-xlk8=",
  "id": "rs_0a686eaa751242d7016ab472d979f887d0b7286a51767557e9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.2,\"left_z\":0.16},\"note\":\"The bottle moved with the left gripper, so this grasp is secure. I’m bringing it farther inward and raising it clear of the other two bottles before changing the grasp.\"}",
  "call_id": "call_PVU7kmFLnfCRj2tTAalQNOon",
  "id": "fc_0a686eaa751242d7016ab472da5cb887d09349f3a2fd45ad90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PVU7kmFLnfCRj2tTAalQNOon",
  "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]: [-0.9997, 2.1601, 1.5215, -1.0821, -0.8917, -1.7546, 0.5493, -0.1127, 0.73, 0.5743, -0.4629, -0.1658, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.3197 left_y=-0.2367 left_z=0.0548 left_yaw=0.6708 left_pitch=-0.1096 left_roll=0.0151 left_gripper=0.5493 right_x=0.2757 right_y=0.0017 right_z=0.1678 right_yaw=0.0801 right_pitch=-0.0377 right_roll=-0.0032 right_gripper=0.9985\nstate[joint_eff]: [0.1436, -11.5897, 8.6496, -0.3346, -1.6239, 0.105, 0.5348, -0.7863, -1.5521, 6.9812, 1.956, -0.2125, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bd74f1a9089599931e46a3b3e354122cc6ce57c5dd66af2263884f269f2069a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aecc06aad217156f51ab5a626f42677a223378179f16e546bce9f166c3a84b41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62825722b234c2cbce4d5c7d8fd6d11b8340a3bef44cb57e87ff7aa87fcc430e",
      "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 111 changed as sent

message 119 changed as sent

message 123 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6857, 2.1464, 1.3304, -0.5732, -0.9882, -1.396, 0.9976, -0.1051, 0.7918, 0.6868, -0.5156, -0.165, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.4094 left_y=-0.1397 left_z=0.0318 left_yaw=0.7729 left_pitch=-0.011 left_roll=-0.0246 left_gripper=0.9976 right_x=0.2852 right_y=0.0027 right_z=0.192 right_yaw=0.0871 right_pitch=-0.0397 right_roll=-0.0033 right_gripper=0.9985\nstate[joint_eff]: [0.1709, -8.7863, 6.1744, 0.3883, -0.5983, 0.1978, -0.0415, -0.3761, -1.6752, 7.0496, 1.9756, -0.1832, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9684, 2.1532, 1.507, -0.8795, -0.907, -1.6871, 0.5465, -0.1108, 0.7483, 0.6086, -0.477, -0.1661, -0.1406, 0.9985]\nstate[eef_state]: left_x=0.347 left_y=-0.2527 left_z=0.0543 left_yaw=0.6437 left_pitch=-0.1066 left_roll=-0.1283 left_gripper=0.5465 right_x=0.2789 right_y=0.002 right_z=0.1758 right_yaw=0.0825 right_pitch=-0.0358 right_roll=-0.0037 right_gripper=0.9985\nstate[joint_eff]: [4.6017, -15.2957, 6.8991, -0.2906, -1.7509, -0.1587, 0.8083, -0.4991, -1.4701, 6.9265, 1.9609, -0.1978, -0.0073, -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]: [-0.9997, 2.1601, 1.5215, -1.0821, -0.8917, -1.7546, 0.5493, -0.1127, 0.73, 0.5743, -0.4629, -0.1658, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.3197 left_y=-0.2367 left_z=0.0548 left_yaw=0.6708 left_pitch=-0.1096 left_roll=0.0151 left_gripper=0.5493 right_x=0.2757 right_y=0.0017 right_z=0.1678 right_yaw=0.0801 right_pitch=-0.0377 right_roll=-0.0032 right_gripper=0.9985\nstate[joint_eff]: [0.1436, -11.5897, 8.6496, -0.3346, -1.6239, 0.105, 0.5348, -0.7863, -1.5521, 6.9812, 1.956, -0.2125, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bd74f1a9089599931e46a3b3e354122cc6ce57c5dd66af2263884f269f2069a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aecc06aad217156f51ab5a626f42677a223378179f16e546bce9f166c3a84b41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62825722b234c2cbce4d5c7d8fd6d11b8340a3bef44cb57e87ff7aa87fcc430e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHLhqGTaRZO-3W8OB7qU4crfscF5E4tKWCx0j5xyPOL_3d08_nhnRPuYcpGxl7uU5JkyfYqcr-HJDrKdSPuQVDVZg0S_rykqtnJZccsaY2Gi5Vbuz5qzysSWfArkgd_i4v4pggnsVwmVz7OIfGR0w-0Hs6RJUEH8eVVVXMQO6nRWaygFBMFhoSblnBt3MpAm6PthGDEjY1ctvlQYWdx_yw1JWmra0yhIZ8RDfF4tTSSZuTQRItuUyKDaFcGRs8eea1uDQNZP_vZuw0FJE8gJmLS15Hg3toRya4of417xarqdXlShXbLshjYSa4RWAIb7pb-kKCxGjNiOmDJR9VjG2XJz4ZJ4dso4AsRJ7yviR8rk5c_HPLWEvlOWrxTPn41KqBfHwxq2yPhJeocSEhcv3HTg_AGr_9Ri9XN7USUsQPh1syH436V18MVCUA8PCdLEiAAIstoQofLmuF-kZg3fPjoWdlMpfo7Uejqwf7iZ-PIwNh-8sFFZ7ZL31WbZiwwCmnwBjHLuwUbS8uhkdu8bNceR3zadblt4LoT5SyUaFHJKjOgk-m7k6epjhq9-Gt_CRprex99UEPM9QRgQ24D7CSOtydurGcHXfYOl6YruIGh1uK9p7y10rnr4Nfg-WabINkiqi0yZbKuPkWimmYUrg0BU2cfzwgwmSd6KyGtBsCJss6zwNbMXoDldV7plGJSs_ZKwwBii6oO-rjdF7h6G3DrERhU8ub3DeMJVZmPnOJrG79-EbHYmn5eq61Kyhlcw-E4UYlXpKEsBvmDG16YFZAKrDWkQs3LQVubMro7au3C1bbhkeE0l9hdANu0yHjDXaIDrMM5-Rg4BT6QfZwd27QL6sYPk3Het7A7QRBRx4Iqx1LijX_eLw-ZxvLwwoKBLXpbzZHTb7BgSclpH-ksiMUUV3P3d8TZM51yQ4V2OGH_clczsCj3CfNi3I5MOYMimPjc_iLeDYPP3Ip1kSIU_LTgHyrTmz-j_L5Jwy4jT4YwHCAQ151NL2p58nahSWNu8tB15KVctq2-qY-iEB2RXLxNpwIQ-D0EnndlSeHfjkFYm2elW8DZQwisGOvyCmH9oLCGPxvN3JmAxjfqPtOSqIshiUsH8pDaPxYW6Q2cdgNmis44gNPn3p7t98Amfgrus_e5IuT-3enA051CINMO-yRMkkwojWmzrsb82zFqayq7t8sRQ0SVYBS9ufMGUdzsn4Y_ZdbeLS4bYOj2io-T5r5SNgr5J93k4IgZTrWbWAUOBWqj4XpujW31Z-CoAxbr8aKyaiOgLqwAZinG6guG8qBt0ZvBuQK7_yjch_9L74x_CFFI-4b7pzt5NFEwy_uvsov-3pfOt1RUT5mK2TFq1g7IKlur_yvwsOsDEjn041NIiOD4ITGtE2RManUh5VGOupsHBo_0eJGbr6i7-JIa2RraG2HIaVt0_tVv2pjPc9_-PIdAnu1IWP32QCnEWCCbQx_RNnODaTgs7EpXkK_O9S0pD4lNshdAzamRjS8xE7_qDYN8AT7Ij7YOui7oLz5HF-h7n2jCQ28t04pVJUnKtQfR-KxUdtK9G_BZnV74JAeApvaxyyqFMzvUDTzXYDuH_bPg8-tScEtDgvQ7HXLHmUEnttbI95YPch4MmDmsVZd0cC9Q70Zk1xYkYPTmchrlyykrMhoWMqcCnWZ3WJaPxhYL43bI7Obldd4NYyr7fM581nN5dqHnLNP4EJmiZZNZ0nj1Jqsji9OYxjLHiBRhhcQZKfNcLW_uKpt-j9CLnPYrKeCSbNwMhYFPdfrUb0tZEJ9OKbPL72p73FSwfP6uFtxYYqbsMAzaRtBuMyIQe3eGUe1BwQ_HC8aubSG57ca-93gtTYqU1tCo5DoMGfgPRqQP_tK0p1jlic2kA5hyFh_PkmWFjWzCcRKL7C2q8LFtLccQngu0U8istAMzPC6ADzzI7QSngl5U_RNefHnCV6FqCBJVZs-ZuoyoeqcNdaeCkMm-YlP119qAdGbM5vzCoAm4y4A==",
  "id": "rs_0a686eaa751242d7016ab472ddf76487d082d54ce7c6d2c681",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.21,\"left_z\":0.24,\"left_yaw\":0},\"note\":\"The bottle is still held, but the arm is not tracking the requested lift in this rotated pose. I’m reducing the wrist rotation and raising at a more neutral reach to clear the table safely.\"}",
  "call_id": "call_F3McHqK0wqZvguK82hl3gsfU",
  "id": "fc_0a686eaa751242d7016ab472e06ed887d0be883c57316d32bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_F3McHqK0wqZvguK82hl3gsfU",
  "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]: [-0.865, 1.4391, 1.2022, -0.5896, -0.7403, -0.8093, 0.5492, -0.1135, 0.7055, 0.5385, -0.4461, -0.1696, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.3357 left_y=-0.2046 left_z=0.2272 left_yaw=0.1458 left_pitch=-0.0181 left_roll=-0.1382 left_gripper=0.5492 right_x=0.2725 right_y=0.0026 right_z=0.1612 right_yaw=0.0825 right_pitch=-0.0321 right_roll=-0.0021 right_gripper=0.9985\nstate[joint_eff]: [0.4855, -6.2974, 8.4581, 1.3407, -0.2857, 0.2857, -0.0171, -0.5265, -0.7863, 6.8991, 1.9219, -0.1978, -0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67582954729d5e63760ee420772a3e01c06f61d91a4720aa25c2e9098aaee484",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd70742c2f2373f7c9a32d5bea76d9b20054c38c7232f82fa2f7fbc5839bb4ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52aa108ce9971d2f50e492ba22de2055d16a70090b006a105b27a1b506941644",
      "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 115 changed as sent

message 123 changed as sent

message 127 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6678, 2.1605, 1.33, -0.5198, -0.9863, -1.335, 0.5468, -0.107, 0.7712, 0.6487, -0.4992, -0.1654, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.4177 left_y=-0.1372 left_z=0.0277 left_yaw=0.7576 left_pitch=-0.0077 left_roll=-0.012 left_gripper=0.5468 right_x=0.2818 right_y=0.0026 right_z=0.1835 right_yaw=0.0855 right_pitch=-0.0408 right_roll=-0.0028 right_gripper=0.9985\nstate[joint_eff]: [-0.4991, -9.4564, 6.2427, 0.6129, -0.6081, 0.0366, 1.0085, -0.6222, -1.7846, 6.8171, 2.0049, -0.2466, -0.0122, -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]: [-0.9997, 2.1601, 1.5215, -1.0821, -0.8917, -1.7546, 0.5493, -0.1127, 0.73, 0.5743, -0.4629, -0.1658, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.3197 left_y=-0.2367 left_z=0.0548 left_yaw=0.6708 left_pitch=-0.1096 left_roll=0.0151 left_gripper=0.5493 right_x=0.2757 right_y=0.0017 right_z=0.1678 right_yaw=0.0801 right_pitch=-0.0377 right_roll=-0.0032 right_gripper=0.9985\nstate[joint_eff]: [0.1436, -11.5897, 8.6496, -0.3346, -1.6239, 0.105, 0.5348, -0.7863, -1.5521, 6.9812, 1.956, -0.2125, -0.0024, -0.0171]\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]: [-0.865, 1.4391, 1.2022, -0.5896, -0.7403, -0.8093, 0.5492, -0.1135, 0.7055, 0.5385, -0.4461, -0.1696, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.3357 left_y=-0.2046 left_z=0.2272 left_yaw=0.1458 left_pitch=-0.0181 left_roll=-0.1382 left_gripper=0.5492 right_x=0.2725 right_y=0.0026 right_z=0.1612 right_yaw=0.0825 right_pitch=-0.0321 right_roll=-0.0021 right_gripper=0.9985\nstate[joint_eff]: [0.4855, -6.2974, 8.4581, 1.3407, -0.2857, 0.2857, -0.0171, -0.5265, -0.7863, 6.8991, 1.9219, -0.1978, -0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67582954729d5e63760ee420772a3e01c06f61d91a4720aa25c2e9098aaee484",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd70742c2f2373f7c9a32d5bea76d9b20054c38c7232f82fa2f7fbc5839bb4ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52aa108ce9971d2f50e492ba22de2055d16a70090b006a105b27a1b506941644",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHLniU2FzXIny1PY9PtU2r6UPSNMEd11XNiwFcEOgwFmoYSYKG8f6pS-SBh5Xzl9G_Eromk0i7HKGxolb4yCN7PyuqypzVQYa8kzvT8pfI6QCyPH5BKR1b72TbmNOT_Bc7jouiYJ1DDvxzvrdDpmZNWclojoKlkmepss6rMpmHh61hcLPG5NeHOt4lBYm_T5Oojy3Gjkg6gLNP-pAVDC0993Rcek2JEUFgYRxVZJdco2DQsMrwQu9JRSfavAY7nN2dSVAJNWPBoCYtu7M1DFAHc2WVKHAoTXzRytmEiWrCHZ11oJVY76PBgas-BQrw16og4uG_64GNJqg4UgbTuHDTUUDHlTU1JQgY6MkLZuAayuDjf__vIna587As0uM_vqp_tIdIQLz51tO8tGMd_lB_hYXabT4dVc-TOZYJ63j6Lu8kdzpHVVREmnJKvdal5_Mqt2aJ4rXBwqoxcbgqSYQRHiJBERWT8zs7SDMl2nw99FHDkdlanj_Wb75MzRh2QK46BVpmDmnpazzOkFkRUIpPC7aw0PCK76WDafYKVnhDw34gYQNVNylfev4_BzXEr-Ux-W5qXaMv1kuerQQnT9FiRKROGla4UELG3VJZznGVMuUS60Ak6qH30X6mCVAZN5CF-OeuL6blD2qCpgv5c48Zt9ZllLBM8TzYeStczyHNKXLmgOSoSRwCSp0v8AKqSusmeGeSp6Nrh-3C7UBA6ejxrAT7f_rTHxv1iTclBmOCViThGiQABtv0VaY6t5vOUf4_wrvbEAeEsgx_8Tcgv7wI0yDUeUFeAJC4YjWsrA3omLCxlCHsdWZkLAc86usAttJ_hkrEUjQ035w7XjUN4ZMvozfXP0c0c_495OeRhL-_O7Kqk2kyTMc_Y2RrSyUKAR3JBiCe80kKvt1CktThZzdbSbpWl83qfxTT8RNCHW7BlxFNVcWpRKw7nWycPupwM6M-U8VF1heRKQGhE7aPml8MzlI2Je8zPUozrAl5Fa6RdF0D4URnXIFYpFwlLScpG3VVltOAUVroqzVnWfJl167uIcW5svIIen4Uu72fi0uLHPEYAlmW656TWudeeUAKxk3yNQdyCqC7uQVF6d6FQCAYDTgFfo424V0ITZyd4-bjAoMIT7XoSLM37zlIQv5X_uVLu3MuYDauieeadA8NQSS8ruJQZPtg_RDFfIenXaK5ij6itMZQmKwjK2cUPP3BbJ-DfCcT14exoR3xKlhWSvLMLpFjh4_aGxPsDNS__oSLS04z57G2DYJI17krv7VNUhP0HmY5LcEzO4bNOFo9xo0O437Mm6FUE7pZNKUubgD4uvi-NiE8SMpum1e4DZPJfDk22fSj_W5wSAuLFbWJ8k8fRwAQh4duW77YhnepQuKKae3R-A4VWbPUC6vGuAP5qJc7LD_pIGc4KIbUAgjCNHCbyImlwbA6y2veNeVwHJvgZdCkSR7bXLlJUeu28xq8fIwUdyOfRk-sJHeTAc6fmIq-cNKDS3fuQPjI3ZIixfg-YExvWcmJSHOGcfzLKV-OF8eS6BHp3kf_-5iANPE9UMIkbVSsG9wZXbQVyDpkp1JAZuVoWexLVB_DrozIjD3qFwuTm7Ii7yYiMNtmMLiEwmweB-UW2x5QTTr-2ytGPe2Dlf04q7UpcRhBOqmVlSjjODq_iPCj3A99ydv2zDnz5lyMTsBLL2u940J8h5J5f55oFFhS8tvTfI4PlJMghKXSVhDsdMMPAYuj71ITuHYc3XIVk76xwyAa7enAY2T4UwonxSpDO8tMTQin8UhSB41P-_N_qExkKiiL4dYHPVivecSjHldZTF8McYvZWZtf1ZMcKGFrWxDaWNEWMyvfOMniZiow4PdTXAOgajaovlQ0P5JPTb9aaVWcZFlKm5qSg90rQEgpievIXbwahS4TMgtZ0SBOcOcuhDGrKkE-nDKJlYxLC1fA==",
  "id": "rs_0a686eaa751242d7016ab472e46d6c87d0953ba1ca29a83451",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.15},\"note\":\"The bottle has lifted and is hanging with its body below the gripper, which is the orientation needed for standing it. I’m lowering it toward the tabletop while keeping the neck supported.\"}",
  "call_id": "call_OKpeXTmUl9bBVM1kUnSfGUEl",
  "id": "fc_0a686eaa751242d7016ab472e6e75887d0bf19fd756d4c30cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OKpeXTmUl9bBVM1kUnSfGUEl",
  "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]: [-0.8951, 1.5356, 1.0012, -0.4282, -0.7952, -0.7422, 0.5492, -0.1135, 0.6888, 0.5091, -0.4366, -0.1692, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.3281 left_y=-0.202 left_z=0.1438 left_yaw=0.1193 left_pitch=-0.0529 left_roll=0.0556 left_gripper=0.5492 right_x=0.2694 right_y=0.0028 right_z=0.1541 right_yaw=0.0822 right_pitch=-0.0351 right_roll=-0.0017 right_gripper=0.9985\nstate[joint_eff]: [0.1709, -6.653, 6.8171, 1.5067, -0.652, -0.1929, -0.0122, -0.5265, -1.0325, 6.8444, 1.9463, -0.1783, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9e2a557e56818bb09aa16376c15ffc2e0927fb86f1e58805ef56e71c4f74f9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35a1cb9631467c83fdd7a80597b9b991ae3d52e5602b0f5a7fdadf21c8e12e6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7d297c698f7408f5aa3017bb90e7f58d9dcd297b922c81b7ba29d2ec5dcb4df",
      "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 119 changed as sent

message 127 changed as sent

message 131 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9684, 2.1532, 1.507, -0.8795, -0.907, -1.6871, 0.5465, -0.1108, 0.7483, 0.6086, -0.477, -0.1661, -0.1406, 0.9985]\nstate[eef_state]: left_x=0.347 left_y=-0.2527 left_z=0.0543 left_yaw=0.6437 left_pitch=-0.1066 left_roll=-0.1283 left_gripper=0.5465 right_x=0.2789 right_y=0.002 right_z=0.1758 right_yaw=0.0825 right_pitch=-0.0358 right_roll=-0.0037 right_gripper=0.9985\nstate[joint_eff]: [4.6017, -15.2957, 6.8991, -0.2906, -1.7509, -0.1587, 0.8083, -0.4991, -1.4701, 6.9265, 1.9609, -0.1978, -0.0073, -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]: [-0.865, 1.4391, 1.2022, -0.5896, -0.7403, -0.8093, 0.5492, -0.1135, 0.7055, 0.5385, -0.4461, -0.1696, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.3357 left_y=-0.2046 left_z=0.2272 left_yaw=0.1458 left_pitch=-0.0181 left_roll=-0.1382 left_gripper=0.5492 right_x=0.2725 right_y=0.0026 right_z=0.1612 right_yaw=0.0825 right_pitch=-0.0321 right_roll=-0.0021 right_gripper=0.9985\nstate[joint_eff]: [0.4855, -6.2974, 8.4581, 1.3407, -0.2857, 0.2857, -0.0171, -0.5265, -0.7863, 6.8991, 1.9219, -0.1978, -0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8951, 1.5356, 1.0012, -0.4282, -0.7952, -0.7422, 0.5492, -0.1135, 0.6888, 0.5091, -0.4366, -0.1692, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.3281 left_y=-0.202 left_z=0.1438 left_yaw=0.1193 left_pitch=-0.0529 left_roll=0.0556 left_gripper=0.5492 right_x=0.2694 right_y=0.0028 right_z=0.1541 right_yaw=0.0822 right_pitch=-0.0351 right_roll=-0.0017 right_gripper=0.9985\nstate[joint_eff]: [0.1709, -6.653, 6.8171, 1.5067, -0.652, -0.1929, -0.0122, -0.5265, -1.0325, 6.8444, 1.9463, -0.1783, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9e2a557e56818bb09aa16376c15ffc2e0927fb86f1e58805ef56e71c4f74f9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35a1cb9631467c83fdd7a80597b9b991ae3d52e5602b0f5a7fdadf21c8e12e6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7d297c698f7408f5aa3017bb90e7f58d9dcd297b922c81b7ba29d2ec5dcb4df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHL0Iivgy9japMa4MYIij7njuAjyokGQsVMWn49FsQErUu4N5_n3LdShk9AQYTgCIMF7w36Az2vLKJSa4ApIwyI5p0mslszynpY_-Sl24zb3ossLFksPJMGbhB-nH5O0tLuoggaTc-FKJsOJ5qZlkktfM32O-BW3sL7s1hfmQ_6JB0oKzk2rdMtXPqFl1Tx-JzjOEpHWjMdtxQRMnTMrY1WyYWecb2YHp7CGkAbOAd8kU2kUZCu-c9g8TmQBCPKl8LwB1gOqabFQr33md4nUQZav1WUKahmG4lD3I5ZsFx6Ppj66HidwfSkq2bl5nRjIe72O0IoFjnClbxXjm6OwY3NmNCKfIG030OCP7EbLuMGXMAQrkixGdG5ZcCjgWd_umXy7Zj5EYu4qlLQZkRZvtyzFDMf1RIv3VVE3NFWuigSCvj2z90IOpTGZHkyipItBJtBgpdOBRjdwZ_FjibOoucK7TKL7NpqyFQr4EPJSStQLMB8dy4I8lbjSEpNtw_PrRJKIjGi7xbeGXcBQbDWPaLMWUc04nJuqEX-RkaaT32F_44DRl2L4ZDi1u1e8vMyKbs_1lwFxpc6f6kxoK7KTVnIavfl66Uadx4r0vugeZzRxxqvRw01eychjV8bzH0ax08SX9ZDiIH1UTl25MRQKFgvhLFrR0jW8ElMeHbNLjUugSmF6xxeOc99nrPZ0cWQ0xICNnIKoQncwy28pNHyYjOOxWmiPToro3e5fSAvI2K-OFBiwzEpq5tHPm938m2mm0xynahUwkCgVTURtQEONaF6CMLZceCn28jYtR0pJbq_qPjrlN8VAmMVc9fvmajDuxCVVlvRNf_jHSwVDoJH9TjuYM-AU0YIAcLxAANkM_R9kWE8hcyc8kJtoCaOWUJUA9mHvA-OnBVJe2iHPckx6VBFckusOoX2sQtTyLznHYIsIJaGCtEFkqXghLm8moqqh1iInKdiC6BNunDQ-w0R4izYyhG1WXYIzvFTCUTAP6ercw3euaCzhmo2KkVsPcf0zVks4Hgo6FTJJUKMaQANeYYk8Sm2u9SVnDwsdZUnQMiNxWz4FtXmlGe93UCLLlBsuYQ7ZB5sGdJdgHlSwXhdQV2gJaiBkVqz6YqbYab6Ar5A2Y5uOrwmx7wTOcFKmWqvytLYsA8dMOZ335oDKzESxZN3KJWnnwIyYDxwrl2m9YobH63zZ6_L9b0zzJql5dH_lEvGUUFgilFIUVEGqAM91SDn2oraBF27UFFUgPkDnW7K_J5Xihk4Y-W8UIt5kFBMVE_sQb20iIqqNDZA0Y5BZ7xD8SulTLCCwiWmapNJmQVOo7FHHNG7gxa55PmVuJGrTld1wdIcQd14MGllfY0uYtUaOxeGCTlgQiPrQ5kbzzvN_RQQjNe-yn2QA6d3RXmMcoO3Tb0qmD8oY43QXTBZDJxWYtRpLVndN2lPAubYzG3dKh6-dpYlDcqeZ0uH--ZxMUv1w6cZRmGiQuZoLQGDjZ2gCGxFxolPNHgskDjQwb3Sg51vIaMDwuuyIkPaTyuFdH67ZbKx3MtWrOMdMEAkZBFXERPN2aFftxwmXeIQa7ldNsTAv-fWMfcI8NIl2yA5L5LyYfmB1q2fzL5I1p2QwOyJcKEgY9uKB-bmiwXU_Ncxp10yJYVvmFiPU3QnCpUsMGnrzpbjmKiPlDrxcpse30VVkRMcgWs-ejcto87vp4XTiAIJQbHiQpz-v3ZaCb5BY66sxAZ8iY_Zmxkgm9MjHktpzKmhrcMR1vGkXydapAu6vJe_pskjvlWr6Nb3JrgyFRMEaInGARrlLdD4CtJhmCQZ0spwDnxKhB6pA6-P7rKfDEScLhbukzq_M5oOFW0501Vc4EA-2C9OrKN1hG6TSEmHTbkREhpWk9GcGrQi0_nzkxfgW9RyM-Dgw9GO3dQ-CBUqWkc4KaDVvWZylJMPORUkn3wuBTdbOrWb3T5KT0jQDnNsD-moI811BjGT2KkWlBw1TdeJdu8SFjxUR7rVinsnX_L5YAMnjPptQVKEcSPobDMthIJ0TTAA17s8cZ05Z04wbIdcNgfWHK_GSqzkz2hqKLnzGs7jhVcNRZEIeBDUU8e2IDG3WzsP8mjvpx1VRKuBfv9KhtwLxDdqt1daQwnD1nHmkHsZd93dE8Ryhbunbes_RIRWE3SSdu7Siyq_X710cfY3Hl4K5nDyTjJzjP_WVXGO-kzPDgt3-LyaN3inkxbUPNBoyULioyjsYkjOvYJxijKESmb8k4K1JjZU5ROD5OMD72XAoRKEelHZ1I3B2u4k6yN_hnTYoTbF9XVurt0UHTDON3493fksUkwCbMRbDuJoLBIEYx-S03DeOt7w1h9SX_VvI811F5BIjeJBAk6ym91QV8_Rgf_bHgzMVuKdqNVJOFXKhCdOgvSbHnMYH3v-aracV7Q-k_qto7eb_8vXvrxd1i7xFNIOgc1r7l5yl4tH9vECTloMpKn70KCnLffeM8kdqGSnC6-KThf_KK5_F8PQvsCes-U781MMVF-iHIMfnqpNiyJ4ApHDAKEHDszHwRUmpxUv_FCnPxd_XPRyDmufAYYCFHVssAvI95gB3_WevYfYbMn3CitDLW66tJ6hPHXlMsAuPKB22VjRr--l3vka-53G83LNVko87FfgbeZ4EjZDD5D4d_ZVsvd1qxtpJJ0xSnGIXHI-H99PxlRjkbA22B7s5__OQck4QX-vECY5ns4cculPn38akkwnoDLlhHNpmDf3KZBDk-L1tiAb6KzukouCIQ2jT9Ps35ic8xBFDEqDoy9kGMvx7aj12Z5ESss6wWL9CE6c6DcILP3bMkXhICIVKJqV356QcOdzx1QaMSxvMc7V36uUrPgVLN5IjMEc7L2YblYptWGnlbyHGsn3HBmaiA_1rbbuMOGjazmhB4gW-X5jJSkL06ewY4Mrhelt__A8uOEO2qWC1G5MkAkOUFV7oxTDUhkfEyS8xu_3PYe3tPRtoo-gNJTaRTLmmYuh9Km8J6Z65ic8hNg_ZFnjd0RNxXgytk5e5KxcgFm6AIaSf-kILhv0Ef06WIQYqDLgqvgeHkcMLZdQNxWQv7ieUxYrUcDNN0882aP8lT2jOT_TdU07GxowGpxZoCOWHSElHhFEKJcWnLQcomeGgAV68xoJbQetIRlR-3sir9K40Ilzhr3YKEQ3oUjbRPAukVfyrDxOm2XE0Jmn1AGmFnk3pzhB3TvKBjyOSKBrftH_im_a6lUmaya0HeTdPFwTi_f1Jc8lUASa9v4wou9jjrjLzYYQUFBVZWviGaJIXIf1TNmSkvYQg9zugYDgHKm1NhpGo8JVGmSGRXhKtEzYwaEDtxLfvhz7w4E6eMqV-kA0BI2u_Cjh1-BMeMBVbeqhC3Lj__TsslcGcDKymBcmRkNMXDDueXyRqx0uMT6e12MGMb2W4mVtYbfYsIN2JbFJS14pEewRMhFI5ge7_JE0LsFKbDeUKodZwZHrdriitCOqP72fM5bPoNzBwqEj_kxWVCe921QTOpL9Zdh1Mjh-XZh0TKMvijNdDqUO1ljSk-0HZvNbs8qHoUQVht6FBuEP4_2YmrgN1L71yIc5HfQLyw1k6Z9P-4pLnRH0Wb9YTK_qfAGRUhi4rIHLU8rFPkqi0bWABpD3Vj4TxEmgFXIFU7aNoJVwY9c8uiknCcWaL1pnVoBlIZpeUiLFSjfuhxAHY1LLNV0dOWo3qm3tuKbx59EQ0uaazD7-TUkJ9vnLLz_idDXGCSyZoh4Up938c8EOVj37NcyC53hTN1U1HCmi9mX2ebaKTO6WW7NOIeY7YwAvWV5d-LeScvnAjEP0z3Fj44kiuCHR7I6N3jIfXKY9vkdjBQd2alxpkWzg-yeqTnFpzZb---ye71k9EhiLV5z2F-Xvjq1xZK2F_4JyjFOmc",
  "id": "rs_0a686eaa751242d7016ab472ea005c87d0a114f4a0f3ac8126",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.22,\"left_yaw\":0,\"left_gripper\":1,\"right_x\":0.2935,\"right_y\":0.0031,\"right_z\":0.22,\"right_gripper\":1},\"note\":\"The bottle slipped free during lowering and is now on the right side of the table; none of the three is confirmed upright. I’m opening and parking both arms clear rather than risking another uncontrolled slip.\"}",
  "call_id": "call_NQ6JEOPe2pQJ6zZjDDsgpYuB",
  "id": "fc_0a686eaa751242d7016ab472f2f74887d0bbdcfddde168fdc2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NQ6JEOPe2pQJ6zZjDDsgpYuB",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.065, 0.823, 0.7284, -0.4927, -0.1253, -0.1062, 0.9974, -0.099, 0.8158, 0.7341, -0.5507, -0.1684, -0.1402, 0.9985]\nstate[eef_state]: left_x=0.2955 left_y=0.0065 left_z=0.2064 left_yaw=0.0816 left_pitch=-0.0213 left_roll=-0.0091 left_gripper=0.9974 right_x=0.2872 right_y=0.0048 right_z=0.1999 right_yaw=0.0962 right_pitch=-0.0509 right_roll=0.001 right_gripper=0.9985\nstate[joint_eff]: [0.1709, -2.1128, 9.5521, 1.7802, 0.0464, 0.1441, -0.1392, -0.0205, -0.7043, 9.935, 1.8193, -0.0415, 0.0952, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5886aa4574b39ee3ed737b7816ace8f40296b83a59407c5ba85dd0d6f3a0c15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc93bfe0b46750f7272fcd38bda8900f0307acafecffdb915c63e803fa82094d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
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    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}