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: Stack the bowls on the table.",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.606, -0.3779, -0.0227, -0.0406, 0.9996, -0.02, 0.794, 0.6029, -0.3798, -0.0166, -0.0341, 0.9967]\nstate[eef_state]: left_x=0.2954 left_y=0.0018 left_z=0.1809 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9996 right_x=0.2947 right_y=0.0006 right_z=0.1795 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9967\nstate[joint_eff]: [-0.3761, -1.5521, 9.8667, 1.8388, -0.0366, 0.232, -0.0611, -0.3897, -1.4701, 10.3179, 1.873, -0.0952, 0.1783, -0.3541]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50d65b5c3cb467f03873be215e3f5f1b884f49364ee805f89c58699198ab9399",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30351008e94f7a930bd3ea9e6ab6edc51a85c110f1e907910595cf5ba2999b30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8c92761f3c18700daa64c969812c084ed69472d2fa1040e7e4dc53f02b190a1",
      "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_0b44ef360268022d016ab49bd5b0c887d0baaf471daeaf0979",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.16,\"right_z\":0.18,\"right_gripper\":1},\"note\":\"I see three upright bowls in a row: teal, blue, and pink. I’m moving the right gripper above the pink bowl to line up a rim grasp and place it onto the blue bowl.\"}",
  "call_id": "call_QuLGESVEYP2zpGhYBtsXP5qd",
  "id": "fc_0b44ef360268022d016ab49bdb363087d095e6358a27290579",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QuLGESVEYP2zpGhYBtsXP5qd",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3862, -0.0227, -0.0422, 0.9995, 0.5488, 1.47, 0.9615, -0.2153, 0.4187, 0.2642, 0.9967]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0118 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3855 right_y=0.1557 right_z=0.1546 right_yaw=0.0442 right_pitch=-0.0802 right_roll=-0.0457 right_gripper=0.9967\nstate[joint_eff]: [-0.1573, -1.6342, 6.9265, 1.7851, -0.0513, -0.0317, -0.022, 0.1846, -6.9265, 9.7436, 1.79, 0.398, 0.2711, -0.3492]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e52743672e137413b98d94f544286e1ff8bdb4467f50b684bfc5a83c300bac7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:341435854d3287d43b84516ee55ef9874c02d32c09fa11acef5f94d7a511a927",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:324aece010a8ec71a5c6b927268e90e371fbaf40580533c4366768f8fd8ea89d",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.606, -0.3779, -0.0227, -0.0406, 0.9996, -0.02, 0.794, 0.6029, -0.3798, -0.0166, -0.0341, 0.9967]\nstate[eef_state]: left_x=0.2954 left_y=0.0018 left_z=0.1809 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9996 right_x=0.2947 right_y=0.0006 right_z=0.1795 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9967\nstate[joint_eff]: [-0.3761, -1.5521, 9.8667, 1.8388, -0.0366, 0.232, -0.0611, -0.3897, -1.4701, 10.3179, 1.873, -0.0952, 0.1783, -0.3541]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3862, -0.0227, -0.0422, 0.9995, 0.5488, 1.47, 0.9615, -0.2153, 0.4187, 0.2642, 0.9967]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0118 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3855 right_y=0.1557 right_z=0.1546 right_yaw=0.0442 right_pitch=-0.0802 right_roll=-0.0457 right_gripper=0.9967\nstate[joint_eff]: [-0.1573, -1.6342, 6.9265, 1.7851, -0.0513, -0.0317, -0.022, 0.1846, -6.9265, 9.7436, 1.79, 0.398, 0.2711, -0.3492]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e52743672e137413b98d94f544286e1ff8bdb4467f50b684bfc5a83c300bac7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:341435854d3287d43b84516ee55ef9874c02d32c09fa11acef5f94d7a511a927",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:324aece010a8ec71a5c6b927268e90e371fbaf40580533c4366768f8fd8ea89d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJvroCbfXGdiyCG1xxCT_EZLMVk0vNsEYFMgyEF54X6Zumnw3I6rHYXutm8p7J8WcQp_weB1o3m8NFJLPYX2Nf1flZ1FmACk29_GGsubLGzfHwws8nmxy_Bc-0CW033Jwn_C2Ein3D25VNZCuDRURkrF2fPdZRj0CLCAKQBUg-KVWOqCtXmL8Isb6SfWRuRxIvXwxpBujGqeWtk8D0hZaKmqKpuZ8JZ2SXkS0kRIk8pq8kdk7JG7JjBbIaDe8eu6la3ulerR2GpFEbSZP5YvSWMM6Qxq1tKCujDbxRZwhYk8UFWDDex3z1Mj76vYDqw6uXIrZ5cF9fPzmbmebExEfRjH_uxXiLgzHVxMhV47zag0L8kj2jBsjrbY5NHBEdyq0MBW1nA2o3LbXXFGfAZQgsp3o0Tc_dUhhXl-U29rUA2W1q-wX_pAIN0uRlaWYC1fEY58wQ-c_GLkawVjn9ejYnANZIBWJABFbU18vxMBGKXLeBKZ8siInDsnm8kS6WxE8qQrJi1Nk3mdEHy_yj6fNvvDoGT27OJEkI2-srtWHfg7bvMe7QX-6XmeBR67pZ0ptdWZPlV0OBfXi2D6CH_BPDoRNmC1nE6UlvQmp_YVBU3XjuyY5Raduj9GpORyUCT-iL0vfxJdKnc0K_oloppZVAA1WzjorMr3aCAGf1OnvuTvlJBqKwkLS1DLD4FrnL3Y9Cd2EGVZ3xl5D_V1fO9hCVTU91VLTc88IRsb5rpaEEKLkl523e8SLKWyETPkp-yP3mhtOspWhx2Fuad-TD43pmT1PaImF09NdWOOfzOEb7nYoxbM28cbyMYvu6VeGR1uYyj_JErRPCPYfkAGQbgpMsn77hb1lI9dFZajqi3FpLNCmqBsa-u8xyxTzBUylejTXwU_UUo5GKxK3_pW0Hg1B77bE_HWkOAStBw8tfZnc_jSuUxFooxClgngQsqoFCjCwMl5PfWBarII82K4oG8T3HYCMolVyQvG0sYpxyz-mhcSLSJa1BQThO4gVB2G6jM_zwRWwVg_nsPcE7r_sXaQTmptSqXRSNq1FDcbny4rFY2WCkDmApCD3zXW-FsD27nIXB9QoA4ImlhIzD4qoJ4hNVDYN06jAH3WSx16ULxlHF1uSshAX7hK7FazMErlrTlJRRUOlglEH53OCMMQYITV4LIfQt1yR7ZRB1IoFirYa_QQdYLtGKMDBNagKywrwQQtmDPTykgDzSWgq1lTN9ujVOtMOM-XFcuC1U6r4kZAy-ngCEP0-5JiE7nlvFUQLhs88KClEdih-JPgflMgdxTVX9XpQAj6yRL9MLdtdBWCmYkeCf_NYW3FXARhGMfwhIGv1cctU8219dQ4OVkrBT8qjKsjC4-hGQbWWnHj0dCzzx42s8elM2kXuFIgvAop6L_MuWnhqDuiHcQh7fH44XK4gEDJvZm4DPOJC0ktnPn3yUyuwwF9Q7SKlu4n_b-f_Y5p4vPgYL6Mu9HSzd42eG2NpQKW10X-k-a0lt4N_z-_bjbwoBeQaa0JhPdu4Z0yWp6zxG9Ap-nYKuMiwlP5y2adpEQZxQ72gaDZKZQfxmYZvHPYSnL5fj3MWcHcvRVADlXxniRY75CAcmK6esc22a_7VO98TrMX71M-WIOkDUbum6JvjSmfAzJv_zzbYuihKoVpZJcGT3aFq-ABL4Y8c0jnjDYAbWgugMGtFAzsBMlFDacjG7VseXgZ5VGFEDCoB-_Mh05zpdXJs7GUOC5sXGvmkz1upgGYUwk3UbsabNrA3efuSPbCqp3HKZSFIdlB4yxGZF_HOEig_m4W-jgmH6wZRyLk-_HnCdp81r7RN9GNPfAiK6gmlWo8Le0rFdGg0EsGdzMR0q0g3UhjdkzF4hzbB2BTZN2BxYRHyExeGxpK5JBjudRPVrEQh0B1Xoen7xWXqQwFE9eMLnrBc612PhybAlFEdvw-eld6hKQb3m-cTtf-G0nQ6ncMFaytgYKDuEDE3c6sWm-50YWdgXrFj7VT7GCXvcZQoDEOhw2h02AGcfRyttNsQvN05Q8EvCQvc3cch9GFLRxOLmIU7cuN64rmrLz9TX_7HcvPyzdmoZ7IP9zQ3sBfIZJCufoXNkhH7Lowfz-Y8reIH9f7A8ld9vXfMlclV1YA0iS-O14JR9GcInDLF6etHvr3mBx-2zb_Y_GF1Bo85OxwdHN8zsQF2D4F_Uj-hwjtZA8j1UXcBq15_Wrk4yf-ZyhMesZui_N6VifM1z3fkS_e42r4_h1uto8HiNJNuLVMnfZi14AElHMa7--imISjXv8RoT9bSO0FVZKl-b8M7dU1jgyXmskFN7fYmyjQazjhfVMg9Wdf3toXVbfOjQPok0-tSzxyJjlpAiNXlP7r1U83TY6-qTZb4ZoYkRRz-qyuGwkGVkWQdGbkANzDnKFKTnQqtN9FeMoJktooQEnUX1B-3XU95gtk5bla8kwXh0rNR6v0-2htPstznK64CjDhgzQX2aIN1nrACjHSwKFNzTG5uhT93ybnB_3OoPxHad4Ju-t--73-N8hZLLqG0kdnt_1pWZw3YStzsvut0AQToIuYLEwNuBDCZqQ16pEIBvyFLu_pvLh1VpmS2o41NlWHq9V9cEmTOqnYRV_d6qGiP1D3DRwX_ZW2o_1XPAEuVYabSnLCoV7sv8RGBg0rYMGBzQdJNf_VhRXFeJiK9VeTGKKmjZHSFoEleNSOLQ6IoMLaEECcpzHL2Uk9DOXARtPtT8rzfSaeZoGXeW-2KVAUnmEqkFCWk6MSIOMeN1g6k9ejAHzP47vv_V6vonDbTzt59L_RWjJ0pksjzpBurHYZfpHCynpryY5pRQQp58xQFK46HaXgOT-XyoHRC06hqL99PjPJbOHrVljVZbpIjvEbUUM1TH1TSJaK-WYCUwRb0d_lw2zUjjFhaR-Bpgl9X9Ba7NvYZDzYLahI3MYnXq_K2WWY1-qDAdEogwbQVKKwE04rWvvrnhqYh29CQOSmXt1t6PeVCH3kb_hs7BJIitIyF4_2Sr0CMgVC8f5OLiInYR7cY05QE-AHMzlSTge9xCXuVspAKcQfPmj4doGwLkq64MEZdNt1JQD_o8OYAZnSec80SZZ5iLOsyx_3TPBvgA6cVCNJoGgfj160wa1ibV30N4SdZ5CGV3lr4-Q3oLr5_PmGJl8EXXlJOqVe8VqNEl2OqKem_WrG-noF9QlfS04J0qzcmV49BNmjDh18I9zXlzxaZKFYatZuzLe05MR5Lxy3-0duSZPNNgsUZgUq5rtzJp4krvGDJtM_DabuIuTVEUoaODmG4l9XwFgD0WAfhO4Cr6mBOr6nDpnqVmfGMsqh9Q9D6954No-B3QeyIKdm9m4GIQ7ebUQgnmf4leVwNNNJ5_UyuXZVprtBA7Oe0wf2Y3CNcBcYG7Y5o8iar26v3lp5W8MtUhWY7XFHgYKJBliMe21Wh6vC96r83wZmFs5_GmNM7g9fPwrwustZvJ211Q2fVGqDXt-ARCm_FGa1EDMlAbQdQNcRfWXMsGLhNwEGjYBTi2gblCBkdVYS3Dqe0_aWXkJworfCDqsaGA5RxFvSYEuyiuuFGv1-ZlOaAcdrnfy_pRKa0YXtvDTcQM5K3pdLcf8wztEMiFt3gQ33yi9a92c1tov2sFKf7wjagmOOYWnxGwFUKsl0o75q-QQ9gjYHXrJff0Y8VgvDQ1oR-AVflX9SVqX34Px8mR-s4wYn4gkf-xaAu_6CQxtjuVftCG_NvSXjAlwK2wnbTRMiIDqtf94XfmyLTBw0Ccz0QwRZ3xn8cBwhUMXvoysnpbMnPrxOL5A_dQfIGH1i9MdE2Ic4-bUA4qpiB2nvTSh_nEJo0b-TZu-91XXvPhWSlIW9joblfgJ28czdzkjr-5Qnwwwr03PDSSv6zMqjGyWzsZNnLfCW5H3gzaWCyferiTM51MCgts1vx0NtpWWzT3ms6midFP20yeDpgBcvotSnnX65",
  "id": "rs_0b44ef360268022d016ab49be0a6c087d0a73ecc6ee136fce5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.12,\"right_z\":0.085,\"right_gripper\":0.75},\"note\":\"The pink bowl is centered in the right wrist view, with its near edge partly below the image. I’m lowering toward its right-hand rim, offset so one finger can go inside and the other outside.\"}",
  "call_id": "call_GlXbPLhWdRPUeG4kTP2t95Lm",
  "id": "fc_0b44ef360268022d016ab49be9fab487d08869409501a6361a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GlXbPLhWdRPUeG4kTP2t95Lm",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.387, -0.0227, -0.0422, 0.9995, 0.3859, 1.6653, 0.8536, 0.036, 0.3187, 0.1703, 0.753]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1773 left_yaw=0.0006 left_pitch=-0.0164 left_roll=-0.0006 left_gripper=0.9995 right_x=0.415 right_y=0.1127 right_z=0.072 right_yaw=0.0102 right_pitch=-0.1593 right_roll=-0.0788 right_gripper=0.753\nstate[joint_eff]: [-0.0479, -1.6068, 7.2, 1.7021, -0.0611, -0.0415, -0.0122, -0.3077, -8.2803, 6.3248, 1.9072, 0.022, -0.0415, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6060423780eb0a1d2a7c8bc9da886444b46b18ef42f1f2eb8956e36a2ceee2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2d1b6e2c2ce13323bca2cd70524e21e18e35b51ec423d11e9a5fae27c6e17b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec3d0d225af7f60908ab1072b32394bb60bad99128715bb9b80acad3f58a9c38",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3862, -0.0227, -0.0422, 0.9995, 0.5488, 1.47, 0.9615, -0.2153, 0.4187, 0.2642, 0.9967]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0118 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3855 right_y=0.1557 right_z=0.1546 right_yaw=0.0442 right_pitch=-0.0802 right_roll=-0.0457 right_gripper=0.9967\nstate[joint_eff]: [-0.1573, -1.6342, 6.9265, 1.7851, -0.0513, -0.0317, -0.022, 0.1846, -6.9265, 9.7436, 1.79, 0.398, 0.2711, -0.3492]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.387, -0.0227, -0.0422, 0.9995, 0.3859, 1.6653, 0.8536, 0.036, 0.3187, 0.1703, 0.753]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1773 left_yaw=0.0006 left_pitch=-0.0164 left_roll=-0.0006 left_gripper=0.9995 right_x=0.415 right_y=0.1127 right_z=0.072 right_yaw=0.0102 right_pitch=-0.1593 right_roll=-0.0788 right_gripper=0.753\nstate[joint_eff]: [-0.0479, -1.6068, 7.2, 1.7021, -0.0611, -0.0415, -0.0122, -0.3077, -8.2803, 6.3248, 1.9072, 0.022, -0.0415, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6060423780eb0a1d2a7c8bc9da886444b46b18ef42f1f2eb8956e36a2ceee2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2d1b6e2c2ce13323bca2cd70524e21e18e35b51ec423d11e9a5fae27c6e17b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec3d0d225af7f60908ab1072b32394bb60bad99128715bb9b80acad3f58a9c38",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJvv_wmB50bNHkQ_U_BhYEzSb3PhFSwx9D1FyHpmXxperZgvgO8iGZNvtvyB9Ly3yNzBuXi2cS9HeYvsz_E0tSzSt-NtnBeCJaSu_IHex-mmOfThzVf3p73dSiVhNjgpJLnbN05KgQq2VWtkEwKAHWCOTTxbcx55VXUfcwNXr8I09x2HvBGwlyBBWcvAzWyZChP5STPA5yhkL3hO2bFj9IMBSnQKT2WLPXTlh4bBsgVzG9MM2ik9-wk_yaAZA-asZrVChDiF-8mp_RzbAAE-xmvzt-TmJrj7aMv37P6aJZt6DdMVENsrLM8UI0jEm_S3AU1cuKtBKGIe-8y5CnKL9KrCugPY44tOGKZH2tvmjMoIn7eU90hgxiMxb3QcO8eFUKzqUVYQjCeHbGEFh_gn05RGQI6dwysEQEhY7WtxYwQgv6wLclrW5aahpfxYdZ-GnixOLjvOM3cFtnqGX6WzFMk1ZUJx_kBjyF0ndAEKwtibDFX1oOnfpJeLeLyglPFc2F2_8-n2V-TJLjIU2-OAnntnuKqx5cL-jkdF15Y9QnaQ585PmERr3ArGKRsegPVJZ96ZTeIvc0Ar6exQBSMP6MjxXZKHj7STmfGz-SzTSlBvDvzIcP-FhZ37A_ZX69yGMEW8nWcwgvb64-ZRheUx_gjnDjc4O7mVhQNh-DRsXk4idySOFeOSjS0cDlqn8bkwfAcJ_Kt1aUKztusFfCJWYvzE0RbuEuBfp3bXNTduq65ORDNxJJF_3qOx5hq0lzj4z894deP-jDObmvpCA7IlLhkMqZBgqwRsTEOGYL9b1I3jzWgb9ZOvrzEdALp0pe0hbysugTJGifT6cL8JO55pAHGbo-fQz8IGCt2IUVI4S9YfEFRnZTlJv6yaF17TFyWMO2czxpcdL8q7nEteTHaYBtxWC1vj70t31s40FQ5CrrOmOIbI3aFpwBfbSsq-rs-8FDMLp9Nzw6WqxB5jtEw3oPSZXdPIDXYhPcRzSsXtO17vd0gLmLePQpKJqIjQICB6QLRuKaBW1_MMSv29vnCfBnpnRPkRsZxNRmzRokFTZeARynxHPuvrg6lNGUlTvHJHs4LFUJcZe2rzdw9oA24zg2nPTRrQQRV60NfT3CgX-kpJeZrKiHLqXtCzOObcgAONlrBAxG-PQdo1rbVkk9nzTLDc2_GNl_Dm9nhWcbdUNzVMzHbIqYP2okO5Hwd8osH7eBdUO_NJ32oDLIfspaHaH1G83kZwYGmLW9loFpBpnZGXLLYgIklBlcJrj7qNHgoyAj1Ai5_M0T7pbRNM44275IaTZxnrWpk28KKZEkegG93DFVxPtWmInu2TGqQudbEz9VQiQRMvojVM9wbES9eaD3izkZY-PnwoWiDyr2Qu9RoEnD8UtAhe6Rdhe0FjfkJSq6Wpkfdxpx7WpbJFTfqaumzW1a7UkvXN11QSSY6tUvodzEYq56EnBKfc2zga5Iko5c_ure3kEZZqXGx0nxSrpzn5xjV51BsqkJ3UKQBbHuOtp4EkGaHCDBAj-IxOnl-Sc1czC_2EeJGMiRf0nR1FzHKieQ==",
  "id": "rs_0b44ef360268022d016ab49beced5487d0ab4abbd3850e981a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.12,\"right_z\":0.035},\"note\":\"The wrist view shows the right rim just ahead of the fingers. I’m advancing slightly and lowering the fingertips below the rim before closing.\"}",
  "call_id": "call_MFZKOeR30wMPGaNcWQWvKOQy",
  "id": "fc_0b44ef360268022d016ab49bee38a487d0b5674cc8675be4e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MFZKOeR30wMPGaNcWQWvKOQy",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.807, 0.6075, -0.3897, -0.0227, -0.0425, 0.9995, 0.3634, 1.8973, 0.931, 0.1097, 0.2867, 0.1375, 0.7518]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.176 left_yaw=0.0008 left_pitch=-0.0217 left_roll=-0.0008 left_gripper=0.9995 right_x=0.4373 right_y=0.1167 right_z=0.0137 right_yaw=0.0264 right_pitch=-0.2449 right_roll=-0.1093 right_gripper=0.7518\nstate[joint_eff]: [-0.0615, -1.4974, 7.0359, 1.7167, -0.0904, -0.0757, -0.0122, -0.5402, -10.0308, 8.7316, 1.9414, 0.2369, 0.0708, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:770ab906d522e8a1e1e684f6670b0a22eeead18095a3cfb688f7ff2cb0f095ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb01ca4b16c9784f898e54f875bb70130fbc11f0f1f784a9e5ec619903bf4f48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37d25fa37aa64cd838ac0daba832cc76f2bb0a0343f0eabd5fbe45b34ccab77f",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.606, -0.3779, -0.0227, -0.0406, 0.9996, -0.02, 0.794, 0.6029, -0.3798, -0.0166, -0.0341, 0.9967]\nstate[eef_state]: left_x=0.2954 left_y=0.0018 left_z=0.1809 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9996 right_x=0.2947 right_y=0.0006 right_z=0.1795 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9967\nstate[joint_eff]: [-0.3761, -1.5521, 9.8667, 1.8388, -0.0366, 0.232, -0.0611, -0.3897, -1.4701, 10.3179, 1.873, -0.0952, 0.1783, -0.3541]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.387, -0.0227, -0.0422, 0.9995, 0.3859, 1.6653, 0.8536, 0.036, 0.3187, 0.1703, 0.753]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1773 left_yaw=0.0006 left_pitch=-0.0164 left_roll=-0.0006 left_gripper=0.9995 right_x=0.415 right_y=0.1127 right_z=0.072 right_yaw=0.0102 right_pitch=-0.1593 right_roll=-0.0788 right_gripper=0.753\nstate[joint_eff]: [-0.0479, -1.6068, 7.2, 1.7021, -0.0611, -0.0415, -0.0122, -0.3077, -8.2803, 6.3248, 1.9072, 0.022, -0.0415, 0.1538]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.807, 0.6075, -0.3897, -0.0227, -0.0425, 0.9995, 0.3634, 1.8973, 0.931, 0.1097, 0.2867, 0.1375, 0.7518]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.176 left_yaw=0.0008 left_pitch=-0.0217 left_roll=-0.0008 left_gripper=0.9995 right_x=0.4373 right_y=0.1167 right_z=0.0137 right_yaw=0.0264 right_pitch=-0.2449 right_roll=-0.1093 right_gripper=0.7518\nstate[joint_eff]: [-0.0615, -1.4974, 7.0359, 1.7167, -0.0904, -0.0757, -0.0122, -0.5402, -10.0308, 8.7316, 1.9414, 0.2369, 0.0708, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:770ab906d522e8a1e1e684f6670b0a22eeead18095a3cfb688f7ff2cb0f095ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb01ca4b16c9784f898e54f875bb70130fbc11f0f1f784a9e5ec619903bf4f48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37d25fa37aa64cd838ac0daba832cc76f2bb0a0343f0eabd5fbe45b34ccab77f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJvy6QMNvvqqwkUJg6_mtEYvjGsLc0hzeHPQgbdaV4FDFJ3tA5aSf4M69OTF_ujDjgzzqPoc1J0mixRUjHANmcA58qzawvb-WErVtOAe0UeGWvoNmNXtq5gUfxx210ca3OyoUKglrq5bRH1kW3RC1fBsLPLPJdNyWJF4IbynWFEX8qInuDcaehYsTTEfjdXK9Jzw6nWcmYvwfNmJLnA-1XAxwSAatXPSVGQpmdXPKGCTsuQH9qStMftY_3Lub_w9QDBJGjpnZ2TAkaUF5a-I0LgjSr9ludwWzhmZgjWjTwBhGitaW4f4aGRoL0p0kE86oEYXnPMMqdqTMpi-kRbTG4idR1ojZXoA9oHcuRi7sZlp--j758Pzhr_dvkosq0O_bkIGdejAM-hVUTRaO4te7_Od56VbRxl-L_Q2neA1s9cntrGwqBzUOb5TZVGsKw6P6lJSO5rDRAsj3XoIotT_4vXVHWtDXhOq4820P39ff7W-9YJLENVPUQk2FBzSV_my6pCIgmA4wEskl2uSXThA5HfO_f9-i3TXJ2TlcgGV5YaQuXlA12iW4tqjItdd7Y_hr-JKrZzfE_tquci80kInpNqdmAs_qLeLdm18DDuhcHEe8yciddXCr0O9mg0rZbvTimpFtTEDoUKe7qU0eF5nbCaZaDrZke5Bt3FHZcU6_YaNRMMY3KO62VwpEfS0R9-MVCDaOM2g1iEcLcyiK8apmVwMxRdF3ngz6bYSW8ArzYucXffeZGW6rUtvyP03l1rVcVpY5limvKjxJkdMvHzla7J95Zy7ib7d2oWkhDwfO2vCglGCx1gaJ2wMfMJDqPSRAgkiCWW6WRPJHL8DojAHfEqsExuQ0luxiBQRqRVSTPt-4ocE1YYdVXJOvdjtPXHWws--hLuC8a70pFs-5fCGkm8EXE_efFoib4hFuJIwWR_vehENRj8fQTRDVdWTiZzJqdAgufLLRTBHFpsDBbhui6kVMFx0ppr9RSPPwmZZhTmtCK65x1wjbBkYKCgDsiUoafxvdNEVFd-AY96RgIV1JuD4Gfp7mUipwgKxf-uCAlBjXaSja2RqqexJE-NyYv3_VuqcbfjgHH4VuZ1qn8CtOqXFB2STQG7-AVbc_nvwwHLHjFsUWtxFvwo18OZv_q6tiH1mnQ94GFwOi3gwhYhSmNgXZDPkWVUSMR7pPJp6QlARKaLjzpD40Y-2YjIiiKSFExGmIuJpJKlRClm4CQcnYdCDApHJDD4oBWDVMbV608RN9S4rvkN2Q9KKWI5ZTVwG3fWeaFRSPiVSvyQRJC0oWoHLzPBq-eBb9acw7VQgK0Mt8aL-6tOs47Bad0c3bi-PG6NF",
  "id": "rs_0b44ef360268022d016ab49bf1404087d08c233bbeb4a526c5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips are down alongside the pink bowl’s right rim. I’m closing on that rim, then I’ll check the jaw opening and test the lift.\"}",
  "call_id": "call_PUmPdI7x0TWtg5XcpEQNMJY0",
  "id": "fc_0b44ef360268022d016ab49bf1e93087d098958a7a6889dd18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PUmPdI7x0TWtg5XcpEQNMJY0",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8093, 0.6075, -0.3897, -0.0227, -0.0456, 0.9995, 0.3695, 1.8755, 0.9127, 0.2081, 0.2714, 0.1448, 0.0976]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1754 left_yaw=0.0025 left_pitch=-0.024 left_roll=-0.0033 left_gripper=0.9995 right_x=0.448 right_y=0.1266 right_z=0.0325 right_yaw=0.0478 right_pitch=-0.1517 right_roll=-0.0598 right_gripper=0.0976\nstate[joint_eff]: [-0.0068, -1.5111, 7.0359, 1.6923, -0.0611, -0.0366, -0.0122, -0.1573, -7.4325, 5.094, 1.0281, 0.3199, -0.1245, 0.4371]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fadd2ca4bb45d2241bf78becc35e2d9a0e7813fa0d114afdf0322a37e688d40e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a8456c818cdeca9e5059899fe715821d8abc5bbf347997e6d824c7e3686f502",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d21ab7441d69b56db1b7a40e5d770d6843b4aa4d9b90318563b36938742de5df",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3862, -0.0227, -0.0422, 0.9995, 0.5488, 1.47, 0.9615, -0.2153, 0.4187, 0.2642, 0.9967]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1785 left_yaw=0.0006 left_pitch=-0.0118 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3855 right_y=0.1557 right_z=0.1546 right_yaw=0.0442 right_pitch=-0.0802 right_roll=-0.0457 right_gripper=0.9967\nstate[joint_eff]: [-0.1573, -1.6342, 6.9265, 1.7851, -0.0513, -0.0317, -0.022, 0.1846, -6.9265, 9.7436, 1.79, 0.398, 0.2711, -0.3492]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.807, 0.6075, -0.3897, -0.0227, -0.0425, 0.9995, 0.3634, 1.8973, 0.931, 0.1097, 0.2867, 0.1375, 0.7518]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.176 left_yaw=0.0008 left_pitch=-0.0217 left_roll=-0.0008 left_gripper=0.9995 right_x=0.4373 right_y=0.1167 right_z=0.0137 right_yaw=0.0264 right_pitch=-0.2449 right_roll=-0.1093 right_gripper=0.7518\nstate[joint_eff]: [-0.0615, -1.4974, 7.0359, 1.7167, -0.0904, -0.0757, -0.0122, -0.5402, -10.0308, 8.7316, 1.9414, 0.2369, 0.0708, -0.1392]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8093, 0.6075, -0.3897, -0.0227, -0.0456, 0.9995, 0.3695, 1.8755, 0.9127, 0.2081, 0.2714, 0.1448, 0.0976]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1754 left_yaw=0.0025 left_pitch=-0.024 left_roll=-0.0033 left_gripper=0.9995 right_x=0.448 right_y=0.1266 right_z=0.0325 right_yaw=0.0478 right_pitch=-0.1517 right_roll=-0.0598 right_gripper=0.0976\nstate[joint_eff]: [-0.0068, -1.5111, 7.0359, 1.6923, -0.0611, -0.0366, -0.0122, -0.1573, -7.4325, 5.094, 1.0281, 0.3199, -0.1245, 0.4371]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fadd2ca4bb45d2241bf78becc35e2d9a0e7813fa0d114afdf0322a37e688d40e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a8456c818cdeca9e5059899fe715821d8abc5bbf347997e6d824c7e3686f502",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d21ab7441d69b56db1b7a40e5d770d6843b4aa4d9b90318563b36938742de5df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJv3fpnkb2edY6crsyasoNaDa32p4k3-O1kiV-7Fku3DXYM86CMQ8vMtJbCPo3fORVoP0YbBnzxTuNqfu2O6oPzDNFoJlQrCi3Q8HOZdFAa6jRskpZcGfaztyDBJ3SzXfVuWMg23zcy2AiIUsX1IjYojow3LwpJCEtmixNPdZh8-EZ59Shj2VnB3BkYsjuroQwcYdLdlVPHvxgcbRUH9OK4nHsjDCtbGRuFd_AdZ1tyw0qlHMnZ0Afi-RVcuvtFoLtuOMGlNcBk1N-MRPmgxBMTtpdVp7_WmWmc2lXNcrvT8jo-nIbwNT4d4PhsK_9KfQZ7wUWzItsHJW5JOkOsFkDyvQMBlBSKxbF8QfYir98OmZPVZpW3iloAvUPYH6RCHnCDlXtqeT1nZdtfH5jD8M-AUcmKrsKs2YIKg5GLqZoSWPkHWhDtSjCBKRtSiRduZlogL5j8bURoZfo7v7o2oNpc9vrIFsUiTDK5lzzQl0Bh1DrM6xaFuZg2TkPGGtMQI0xbfp7f1w5c85W7OaQXraaRKEyEcF6HAxdjy8SESAHKziyS1EuGMto3PEncNNd0A8tM8PNtDRfdEaZcy8WrkGX5CFBFpgLoo-gvKpc-LRDOD3E_mRJpEmer78uK7RWnvesaYwsQYtl56ZvF47VhoCHzS0nvfRD6qp3STCyxUZDQpZgGUvvkYdN6H0UmAxLctLmLV92CuOfmMIq21kF6_DosL3VuqtVts-TOYCpBFpdoRuFaO6-skQsx0-elST2LzbW28GwvVkESvFYSX0EqdviJaXaNSuOqUkkTYu9sd1irRIzP358BIHr9kMt92mOYBo_fIKW23r7n2MJLmpyPjK3iMG4ELhiV49Kp0WtzELDoL_yBZ2t3P0zpLb9XJJnbKMkKfqSBFjfSsidEDl4cn4qVSOXPSNSp8msSAZIF3uh9BQ2jzPo9WSHSBaxpapmMmFh6CGYrfYjpyP93sWQCQVq9Fgs5Bs2Hxbf3Rf4bMcCU0_Ly_BhbFBbBdXQW5gaQkzfTP2-Xj4Uivqi0hOqfKRDlXzI6vbz0lxgwhgL27ahlEJRqDCs5CKPnFsJt4vlfA62kt2Yp6E3uVgJiBmxXE3Utdq99POMwHHejQDgcEgVKqTEQsHXix9If-tCdh2laKk-w-aS8kihpPI6BaweeyWD9aQXvMoimHwdBM1W_uRs1LS5yqbRy--A9q7gdF35D6iDcbYzT6dLwc2Vzme_4Xr6fVGvwdhUwx691rIjahgrdlgkuGEBD670jCYtZg27UsZfPDm3SwzBxWVn4GFjATkESkdRomYPjKgxmirtxtAXgFaayca4jNWm-z8UvaA79x3sdIW-TcyxM6vvhX_q0cDsKYxLDD_fNdP7jNjsyF_40qKQseh_QOk7Y7-97eezCn_Tx4bEXaLEjfdktAxIp9AHw9QHWXfko0cnDmxidGvHi1yq1yEvmIAwdejST5gJS9_5aFlEfi94VVYQ47-9sgyu4A9Q==",
  "id": "rs_0b44ef360268022d016ab49bf4e5ac87d09b71981fc44c28aa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.448,\"right_y\":0.127,\"right_z\":0.105,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The gripper has stopped at about a 9 mm opening, and the pink bowl shifted with the closure. I’m lifting it a few centimeters to verify that the rim is securely held.\"}",
  "call_id": "call_e0dqV4YkOAHeOAgXGIa04RYy",
  "id": "fc_0b44ef360268022d016ab49bf634cc87d0804dc02e04d060c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_e0dqV4YkOAHeOAgXGIa04RYy",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.3664, 1.729, 0.8803, 0.1833, 0.2684, 0.1444, 0.0992]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=0.0045 left_pitch=-0.0263 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4429 right_y=0.1236 right_z=0.0802 right_yaw=0.0506 right_pitch=-0.0676 right_roll=-0.03 right_gripper=0.0992\nstate[joint_eff]: [-0.0615, -1.5521, 7.0359, 1.7802, -0.0855, -0.0269, -0.0122, 0.1983, -8.3214, 6.4068, 1.7607, 0.0708, 0.0317, 0.149]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80fdec8bd6871f871781fb766b1f8f0ae7772daba4c84178dc743b397e79e602",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30e3a66efab5565ceaafb4cc3b6834a6bc09834be4bc14e4df9f86a6e6531090",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d7cf79d9f4118342e520216196614fda1968b45f847e2bb5cdf7da054376439",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.387, -0.0227, -0.0422, 0.9995, 0.3859, 1.6653, 0.8536, 0.036, 0.3187, 0.1703, 0.753]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1773 left_yaw=0.0006 left_pitch=-0.0164 left_roll=-0.0006 left_gripper=0.9995 right_x=0.415 right_y=0.1127 right_z=0.072 right_yaw=0.0102 right_pitch=-0.1593 right_roll=-0.0788 right_gripper=0.753\nstate[joint_eff]: [-0.0479, -1.6068, 7.2, 1.7021, -0.0611, -0.0415, -0.0122, -0.3077, -8.2803, 6.3248, 1.9072, 0.022, -0.0415, 0.1538]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8093, 0.6075, -0.3897, -0.0227, -0.0456, 0.9995, 0.3695, 1.8755, 0.9127, 0.2081, 0.2714, 0.1448, 0.0976]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1754 left_yaw=0.0025 left_pitch=-0.024 left_roll=-0.0033 left_gripper=0.9995 right_x=0.448 right_y=0.1266 right_z=0.0325 right_yaw=0.0478 right_pitch=-0.1517 right_roll=-0.0598 right_gripper=0.0976\nstate[joint_eff]: [-0.0068, -1.5111, 7.0359, 1.6923, -0.0611, -0.0366, -0.0122, -0.1573, -7.4325, 5.094, 1.0281, 0.3199, -0.1245, 0.4371]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.3664, 1.729, 0.8803, 0.1833, 0.2684, 0.1444, 0.0992]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=0.0045 left_pitch=-0.0263 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4429 right_y=0.1236 right_z=0.0802 right_yaw=0.0506 right_pitch=-0.0676 right_roll=-0.03 right_gripper=0.0992\nstate[joint_eff]: [-0.0615, -1.5521, 7.0359, 1.7802, -0.0855, -0.0269, -0.0122, 0.1983, -8.3214, 6.4068, 1.7607, 0.0708, 0.0317, 0.149]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80fdec8bd6871f871781fb766b1f8f0ae7772daba4c84178dc743b397e79e602",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30e3a66efab5565ceaafb4cc3b6834a6bc09834be4bc14e4df9f86a6e6531090",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d7cf79d9f4118342e520216196614fda1968b45f847e2bb5cdf7da054376439",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJv6JbkYRdezMFgFCLSGBcQeiz7xMKWrf6FtRsKtEu7_S5EmSyz_-VDU4S4_TQFI-4rcTLIXYaq-t55o4XYUWAHjvRV3iqquOtPQHtVDbdKM3iuLd83Nefy8SSafTAWRqkFTQmkIDe5h-G9gbHPbYzEJ2Bqf6ZbJRnDCbqog-O84u8ybWcLGUVkppqXsMU1H5m2D7Gjy7-hGDnPuHGkmz2_pmKX0baNrfAc6G6GgpNEJgQ5ATd4FXNXUWLcBuM11gs65gMTnH0zibACXPzrGBK8DxdKTVrpPh7z896UeyZfem0mt6pnK_LUjimKnDq4yBygdNcly9zDDAFddFD5EsWhdEKMMujicG8c0OU0TJA-4qBs6ivMdYgUjLSzDmm-Y_GaGOeI2wt7yLBRbG19lJBXmFvnHkFI2sFx8JBZEGEEA8C1v3gkgam1XzasoZ_XMtkRfPuse2uuee2U5SOD8DBUzlaMEx1Ik2MJ9yatpzcttldbDw1hyP3nCOyvFgprXRgQ9w6__9_0NxRin6QVTFytaX-mDwfLtOz2BMFLeVJnzqDXV5mzHP_WLo8EGjAKgDJLKmsQU6aJmW6ov6fk-TWwrqIu337Hw4QEbYhPv1V31UNC4vuXEDpKGFGnJbbVrB4w0tRdcp78FkwbeH77lgmH7qx-LGIWMJzXlYNpHQ5J0LSqdOuSBY4_l-NggCHERC9t54A2Q6WhcVXO4dY68Ro53lhBEJlBta4_vpaRMNuZVf5u46gAVnirczrBM3A-4qZ9LxOpm6y_-492eoFmpWfiDwzV-nZNmsZ4E8s6z5Lu8Npnh5kIL1xbjxi3i4hNz546ztRQbfqhJbeb8bGe2k0P04-DYQHCpMX1IWbTb46bPSqUqoUEFzHnFN0DlglUcf9NLcCZCnEzUSEvbfkzQEROrGOnc3WZ5j1_7DZ4YHJGDGG26qtdEUE7mc8EEcoPLOf-OzEuI7tgJr3YCrgDw8vQQUMyw0NFcbVO2vGR9MBSaq74keUm1wirGb-fLMbwNl9oLx5DstDVoRiY9mrxiLrY4NlKEoxSIaI7vpooY8Xa9YRUf5TnJ31lkoKEyzwEZfc4833L8lpluZ7fsWj4DwTnFtzyHtmoO3zgSTjgqn3oteAUi8W6E3W9RWv8trbrXbp92Fprn6XTsL32K2AdOYq6JPwowL7HzGlMr1LN0PdYPZOBZ6PX4SCwOWyPHOXvt6WWzZ_-UIab_KMNUJXFFjPcFOt8i8KB3a7gUbi00SUDhLShdkb3x7eZbS-u-eY0uUir5NIh4uUQtvNow5F_p4-wWx2pmjRgReqyBKtU8y81_spfyAqD7hDzwS53NXzm6tzT12zNH8jk7TKKmMh1bIj1F-A==",
  "id": "rs_0b44ef360268022d016ab49bf9174487d095fbdba61109dd6c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.127,\"right_z\":0.2},\"note\":\"The rim remains between the jaws, but the bowl is only just clearing the tabletop. I’m raising it to transport height before moving over the blue bowl.\"}",
  "call_id": "call_rInKyUm6tQxrO5AmoNWRJ2er",
  "id": "fc_0b44ef360268022d016ab49bf9e15487d08e020e41687a2735",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rInKyUm6tQxrO5AmoNWRJ2er",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3901, -0.0227, -0.0494, 0.9995, 0.3908, 1.5551, 1.1213, -0.2848, 0.2718, 0.1375, 0.0994]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=0.0045 left_pitch=-0.0267 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4275 right_y=0.1287 right_z=0.1695 right_yaw=0.0744 right_pitch=-0.1175 right_roll=-0.0541 right_gripper=0.0994\nstate[joint_eff]: [-0.0068, -1.3744, 7.0085, 1.7118, -0.0757, -0.0464, -0.0122, 0.1709, -9.7162, 9.9897, 1.8926, 0.1978, 0.1734, 0.0073]\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,$blob:cff48db4449d9ee3b9ccc7c332211e4266292aba438c7f265147b0becb556088",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc5ed13b01a7be58456b5f106de4e525d349e2d957fac277ec72d8f08f6dd260",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10f617d88cbcaa14e700847aee408b7180f995fe87a2ae979649c8c7ad68fbe7",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.807, 0.6075, -0.3897, -0.0227, -0.0425, 0.9995, 0.3634, 1.8973, 0.931, 0.1097, 0.2867, 0.1375, 0.7518]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.176 left_yaw=0.0008 left_pitch=-0.0217 left_roll=-0.0008 left_gripper=0.9995 right_x=0.4373 right_y=0.1167 right_z=0.0137 right_yaw=0.0264 right_pitch=-0.2449 right_roll=-0.1093 right_gripper=0.7518\nstate[joint_eff]: [-0.0615, -1.4974, 7.0359, 1.7167, -0.0904, -0.0757, -0.0122, -0.5402, -10.0308, 8.7316, 1.9414, 0.2369, 0.0708, -0.1392]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.3664, 1.729, 0.8803, 0.1833, 0.2684, 0.1444, 0.0992]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=0.0045 left_pitch=-0.0263 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4429 right_y=0.1236 right_z=0.0802 right_yaw=0.0506 right_pitch=-0.0676 right_roll=-0.03 right_gripper=0.0992\nstate[joint_eff]: [-0.0615, -1.5521, 7.0359, 1.7802, -0.0855, -0.0269, -0.0122, 0.1983, -8.3214, 6.4068, 1.7607, 0.0708, 0.0317, 0.149]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3901, -0.0227, -0.0494, 0.9995, 0.3908, 1.5551, 1.1213, -0.2848, 0.2718, 0.1375, 0.0994]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=0.0045 left_pitch=-0.0267 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4275 right_y=0.1287 right_z=0.1695 right_yaw=0.0744 right_pitch=-0.1175 right_roll=-0.0541 right_gripper=0.0994\nstate[joint_eff]: [-0.0068, -1.3744, 7.0085, 1.7118, -0.0757, -0.0464, -0.0122, 0.1709, -9.7162, 9.9897, 1.8926, 0.1978, 0.1734, 0.0073]\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,$blob:cff48db4449d9ee3b9ccc7c332211e4266292aba438c7f265147b0becb556088",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc5ed13b01a7be58456b5f106de4e525d349e2d957fac277ec72d8f08f6dd260",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10f617d88cbcaa14e700847aee408b7180f995fe87a2ae979649c8c7ad68fbe7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJwCvNYfwhCjK9NBdBMIqSiAnD7bXNJmsmSppe0HNsr-So1IzaZRoCaeVd2k6JWOtpcbo2UeOPdgVpRDipsonJYOLXoMGu29FxKa3hC8WhK3inyeK9uKZrUDZ0Mztd5smLib7NsCPH3ge63cmd-WhWE46nKMyh_Hy89ohKYa-2aoG2pG8wXxzhEpBlHoiNpCN4i6CFptAddHhe8wE2L6SF8HBgaGk2e3T9vvtAavwX_78c3gC_AszMamokNfKDmPlKaoDtMH665J9o-SjdqAlJjlicPYoAjS8ZOMsomZsXCVx6uVP1t2e7E0_zIWERGUTWnrYOh3HUEfmADTaybSrNp1nJjXNgTFcGilpGDP1WsUWzYBEaMUg9vivmJ4PPSFeNK_84tgfLFiMYgwllMMHvh-HcwDg8JxSa8-Qf6Ri0kcc1imU0pLN_ApbP32VUt7cGrZDKddxUwA-10IpjX8mIKYztYpeZrAyRvtSUm6WMCysnJtvYFR0xFocmo6V8UeEmZOvhgWXHQPcr9uhiaPG__JG9UY50ZgX6-O26fHon-bUcNrgv3CJSpjiDZFOeGe4D4TiyYmhBqGk-ZjLHtQeIdA36Q1vGJrQnMhvdY4Q7Kb1Aiwz8qRIYQJlWQcOjm3lVAYkcNMajFEy5eNgpYZE47MWNXvA0nq6TDI4rzuddCpsoJwtzEVgkdfUQmpweO1Ugr99AD490Gi7pEIE3KTffSKPucuDSo1tOAz0OEE8TPK_W9QYNdYzSAanB3edom6QADqFVWPgGMdSfTLXUTDj4eta8f2FkuY-gymHQ6QHpAZiGQeQaThvzahOJAuR5iGMZBGLgLugR9LyyUUOIhVeAM97qw21iA2N-QD9L9sm1-dmxx9vePh28VCWpB7dVHeR2mNszqVk1hWkuSmuyu33ga8fmQK0ucWPi75gnElmv2KassgNdB0YCM9yu7KquD5BtUSWqZllo5tkpn2PvWUiYhJZA_8-Bj7nZXxBortFPxea3idl_TMDbXj4CdecPgDaLEUCwVXUtVCwQMalIB-p0UuwniBHCHddI7z60FsJXsUfe5Ve-O-NTTYOIbeJtWyPcUq6gTE-lsSwJ4vtCZVZWj_b4YZNmLhSCA3I7oSMMIirnJToAs36S2ipx0-G_OjkvOump370Y0FfXClAbkWYmcxxtQQlpAE6jReklhVu_BrcxuCxydLnchXEgsQ0Agga1CTtCexrFX6RkpW1eF1QJxN9xXmDDc_EOlcxN_QcZqs0P9io2Fiz6HqSCViwgCPMYKukRq9NF8K_qZiBrQFD1IdtWYg2PAUG-8VdeLTsFpmNUjdoak6ZZaTHyvnfuoBwGhGXU-FaO8KU-sVNk3uwBPWZPYanKVYH52V6_LucleDc0I5CkdPRPenSUvOYBUghqrCb4oa6CCtm2QsJhJATj51h4p6xtdTfC3DsAjApCS6WomSOkFLoWKjZlU8l5t4ss2faWuBumOwOGTP8ovrB7Mqh_a0QLpmAEX14qwzW_VxOQw8KyajsnqYn6h8rq6GFFH-OB6mGE8e9D8pJQsuPfvBMvxL7XqyFEURHlNl4kDigivxG4luJH4RhRc0AeCKMFeEb7r9BkkFTYd-xKybg23dp46ffd-KgEi_q2vSICLA_BnnpDztzAXQvTNhjgkUU662R7POdCv7p1Xtb50cr0oJZSiQ17K-G-AXyN-6OQIR2wN0-EXHH05muTem3oKkKTa1J9VufaEcXuCHxSaZ78FYJcsoV7fS0jhyUVVdC_E_hjPy4Z_Z6EGUNZITEtyX6gE0CiNNvdgILSTh2dHJbTPmFf4nh31X8_L1n_D8WapEYesQQaLqu282VpgLudPPqGSqtFSAbe76Z1tn-lh3Hj1oaw==",
  "id": "rs_0b44ef360268022d016ab49bff424087d0b34b4eca8a73727e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.265,\"right_z\":0.2},\"note\":\"The pink bowl is now visibly off the table and held by its rim. I’m carrying it leftward over the blue bowl while maintaining clearance.\"}",
  "call_id": "call_vtkj1Yc6TmwIbvp9PIemI52m",
  "id": "fc_0b44ef360268022d016ab49c01474487d0a78699d980e4ffcb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vtkj1Yc6TmwIbvp9PIemI52m",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3935, -0.0227, -0.0494, 0.9995, 0.7086, 1.8347, 1.5383, -0.5621, 0.4686, 0.3355, 0.0994]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1739 left_yaw=0.0045 left_pitch=-0.0305 left_roll=-0.0063 left_gripper=0.9995 right_x=0.4213 right_y=0.2607 right_z=0.1805 right_yaw=0.1171 right_pitch=-0.174 right_roll=-0.0919 right_gripper=0.0994\nstate[joint_eff]: [-0.0615, -1.3607, 7.0359, 1.7265, -0.0464, -0.0806, -0.0122, 0.2393, -9.4427, 9.9897, 1.5946, 0.4469, 0.2662, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:166073c9a66fa3c07e899c96328fb88290ca62aa1a8683bb879cdbfb430881ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a88ba491dc6e616563ca0339fd2263fdc11c2285b420ac01057ef1f77661c8d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2a85467e2effccf70d01d1b3a0022236a7c4a98a8b907e4f6c6e76453cb722a",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8093, 0.6075, -0.3897, -0.0227, -0.0456, 0.9995, 0.3695, 1.8755, 0.9127, 0.2081, 0.2714, 0.1448, 0.0976]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1754 left_yaw=0.0025 left_pitch=-0.024 left_roll=-0.0033 left_gripper=0.9995 right_x=0.448 right_y=0.1266 right_z=0.0325 right_yaw=0.0478 right_pitch=-0.1517 right_roll=-0.0598 right_gripper=0.0976\nstate[joint_eff]: [-0.0068, -1.5111, 7.0359, 1.6923, -0.0611, -0.0366, -0.0122, -0.1573, -7.4325, 5.094, 1.0281, 0.3199, -0.1245, 0.4371]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3901, -0.0227, -0.0494, 0.9995, 0.3908, 1.5551, 1.1213, -0.2848, 0.2718, 0.1375, 0.0994]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=0.0045 left_pitch=-0.0267 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4275 right_y=0.1287 right_z=0.1695 right_yaw=0.0744 right_pitch=-0.1175 right_roll=-0.0541 right_gripper=0.0994\nstate[joint_eff]: [-0.0068, -1.3744, 7.0085, 1.7118, -0.0757, -0.0464, -0.0122, 0.1709, -9.7162, 9.9897, 1.8926, 0.1978, 0.1734, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3935, -0.0227, -0.0494, 0.9995, 0.7086, 1.8347, 1.5383, -0.5621, 0.4686, 0.3355, 0.0994]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1739 left_yaw=0.0045 left_pitch=-0.0305 left_roll=-0.0063 left_gripper=0.9995 right_x=0.4213 right_y=0.2607 right_z=0.1805 right_yaw=0.1171 right_pitch=-0.174 right_roll=-0.0919 right_gripper=0.0994\nstate[joint_eff]: [-0.0615, -1.3607, 7.0359, 1.7265, -0.0464, -0.0806, -0.0122, 0.2393, -9.4427, 9.9897, 1.5946, 0.4469, 0.2662, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:166073c9a66fa3c07e899c96328fb88290ca62aa1a8683bb879cdbfb430881ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a88ba491dc6e616563ca0339fd2263fdc11c2285b420ac01057ef1f77661c8d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2a85467e2effccf70d01d1b3a0022236a7c4a98a8b907e4f6c6e76453cb722a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0b44ef360268022d016ab49c04baa487d087734b6a44803905",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.24,\"right_z\":0.24},\"note\":\"The wrist view shows both colored bowls, so I’m not yet confident the pink bowl followed the gripper. I’m drawing the hand back at height to expose the bowls and verify the grasp before lowering anything.\"}",
  "call_id": "call_G1JLLxNQpoAgLubGfkqxzxJA",
  "id": "fc_0b44ef360268022d016ab49c09d0c087d0874914b48403cea2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G1JLLxNQpoAgLubGfkqxzxJA",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.4015, -0.0227, -0.0494, 0.9995, 0.7982, 1.6257, 1.5009, -0.7643, 0.5014, 0.3923, 0.0994]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1717 left_yaw=0.0045 left_pitch=-0.0404 left_roll=-0.0061 left_gripper=0.9995 right_x=0.3562 right_y=0.2489 right_z=0.2301 right_yaw=0.1478 right_pitch=-0.1814 right_roll=-0.0884 right_gripper=0.0994\nstate[joint_eff]: [-0.0752, -1.388, 7.1726, 1.7802, -0.0659, -0.0806, -0.0122, 0.1026, -8.4171, 7.6103, 1.3944, 0.4567, 0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:243cad1a5b5b114f07730a263476810403f4015708049bdba6364b971dc61b03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17c136bfe1b1d796cf182e6336e3fde75d8e9c3bd59d61f6456ba73ce85a690e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d220fb8d050fd4640bf12ec5a4cc74d1d9b3e486c2366cbcfc87b140e4bf1421",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.3664, 1.729, 0.8803, 0.1833, 0.2684, 0.1444, 0.0992]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=0.0045 left_pitch=-0.0263 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4429 right_y=0.1236 right_z=0.0802 right_yaw=0.0506 right_pitch=-0.0676 right_roll=-0.03 right_gripper=0.0992\nstate[joint_eff]: [-0.0615, -1.5521, 7.0359, 1.7802, -0.0855, -0.0269, -0.0122, 0.1983, -8.3214, 6.4068, 1.7607, 0.0708, 0.0317, 0.149]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3935, -0.0227, -0.0494, 0.9995, 0.7086, 1.8347, 1.5383, -0.5621, 0.4686, 0.3355, 0.0994]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1739 left_yaw=0.0045 left_pitch=-0.0305 left_roll=-0.0063 left_gripper=0.9995 right_x=0.4213 right_y=0.2607 right_z=0.1805 right_yaw=0.1171 right_pitch=-0.174 right_roll=-0.0919 right_gripper=0.0994\nstate[joint_eff]: [-0.0615, -1.3607, 7.0359, 1.7265, -0.0464, -0.0806, -0.0122, 0.2393, -9.4427, 9.9897, 1.5946, 0.4469, 0.2662, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.4015, -0.0227, -0.0494, 0.9995, 0.7982, 1.6257, 1.5009, -0.7643, 0.5014, 0.3923, 0.0994]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1717 left_yaw=0.0045 left_pitch=-0.0404 left_roll=-0.0061 left_gripper=0.9995 right_x=0.3562 right_y=0.2489 right_z=0.2301 right_yaw=0.1478 right_pitch=-0.1814 right_roll=-0.0884 right_gripper=0.0994\nstate[joint_eff]: [-0.0752, -1.388, 7.1726, 1.7802, -0.0659, -0.0806, -0.0122, 0.1026, -8.4171, 7.6103, 1.3944, 0.4567, 0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:243cad1a5b5b114f07730a263476810403f4015708049bdba6364b971dc61b03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17c136bfe1b1d796cf182e6336e3fde75d8e9c3bd59d61f6456ba73ce85a690e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d220fb8d050fd4640bf12ec5a4cc74d1d9b3e486c2366cbcfc87b140e4bf1421",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJwTbmLCpb6_es2WOMseEn-bpOmkD7Jq2H25zejMMFxuvAV4f06EwaX07khBq_FydhnVGYUGnAArfRVGPu4l0rbl6WkkOJ3iY4jJjZalR3rhxwO2VgBvhcjqeLV-7FnHxQMowUMpdofHtWAZRX_NZWtqzLoWxESS2pgXt-brQJjUcjATAWP7ph2Ny-VUKHR3jawA1d2mrb0ypGNZn4yZb2_rOsJ0WwZCRDLwGlSHwamcZEAXbGKSxRE96dw5_F4C-kmKYuc4tg6uyj3tgUcZ6Srupn75z5cL91M6PuslitCk6vgAHXuEYdiQcrN1e1h1pHNE5vwk5XeYXgZhPafhLvahtoaWfynwFEc5SOiH8eMC_VTGXLJMEp4rBg4Z8Vuf2ghNGQtDpIrvoP9wMJhGW74twGl0GZTDPKmu_aJ8cbbnyEdpo8ARfLzzf8FLNiVt6_P6_fl81u-uoBRzNSeaz1o_p4vbzpbzGAEQoNU9Wx9eYSV5kOsykIuJIhrn5H7C6i4ZG2kpnbgrUfkoiaNy8nD4zRdGTW2Rh4tOLbgX7L1nQAuqodiQ_rAFZyu1KvajEuHmV-RHiooheD7scsVJJX2up5-PG9WOP095bQey8iXHNNZTcxhm443pUNvZV3x0GRWgRgMptlzludO56sUA2p-c97LyJcD4yCZ7uJo5TFadKNqprRHLcQUkWk8glURv5CsGGwS-lYqX0XAjhQMhsGMVCjIAGgmbJL1lYsAC6aSEAKMVYuNkoZWcmlXXtmBz4y5yCCbz970uZh_8mYaVy9aSsJX_sQdjXEK5fiC2HG2hwf81CHHxPmIMrqxAWnN3n_PJPP39SVZlAsvLfHsJzxogetowNSBdadnbxrC_CgZw-OFgAF5-z7-cszwE8znCADAnYh61NlZp29wap0NpKMvg940zerjB_LOg2--4H-ZatH-QOPz5ogevZyse9Fswg86WMifl1-jyiSLWw-zG3sBPZxSPMfqsofUtDgLpJvhw7qEL44-164ZIbVujs5NvWiMx1n0B_UpD3Mhk5NuArcbelaqs2G0i-g0PNb1y1Boylt-JGRNvqwPZE_9mDFLSrayP-w8fBU1ezHHVlacZsQOKno1utbsah4u7M5iQzo5nd9i-E9o-8p90riWOs3K__qHIWF3uA3o51B6OaxjUceA29rAhI2-ChFMWbPLzxdYrFPSxRVI778bRPP-HDS0GXbkIanVMQVEX2XgezgqGsfAaHiVQuBxSTRHsa14DAwxYybc-83u3rWCV8VA-CiAMZesDhdqHJzQ7k0xJGg9FjAQFXjy7iYR8eCRXw9sq76Er6hcquvzfj7NIRNoSpdcwv6rdy9UB5zOxg-fp65xGirfbiHY4jqStO25vx_NRErj_oYgZTBS96FEu4Nkvra80GK-lQC4YlBGoDPEu7JbaKxR9jHz2zBu0H9rOm-mQ54_rh7olZzAeLaQ3VlkNpmtw1zX2-8msaiXiKNPHssmhvC2Gs0yz-Fm6MfhgQG2arPKKnWAaYsx3wejigvI0Nk1_7gH3J3V1Nmeg9KNR2sUSwSyYmvs2SUa0cLu-Bg0DMTZs-6BFeRHhKrOkgsG4KYKFiUdVjjEBhETs1VAXhRGd7fE8MsIr7wjxat6yw79dw9qx2YTykZB2CS8r9nvWGPPSQas7h-jIJzEJcODB3jAqNq2w6TkKlseEeZOLxkR0Q61_c7VdsZkP5u2XcyVOzh6mtSdSiiuswEd0WJdSVH5N3MFvmb8IHUl-q4JLfbanawQsrNH08fCrZAb4LW-ouoVnL-Cb6CWCUMugVmjzsKNHaA78Nccd1rAgeYyWrgDn8AH1qU5qwGjMvpc_qZvzp-C7ogH9EwduYXvNZqe6Eu0v72h88ndhKU5s60d1062a9cZDzoDKFCxqBIpaudFksl5mVLC4kRdbI-0dNX3k9rDw1sxKf0y_u2zKmESoO3GMzJlQ2VZ8KbGVdsMia3_6hFbHybCLFTvaYhhszAsE8TOKfOiL3qYeDvn4Y4QT2xlhQofoqzGrh9Pogv10453cdZGuAmihKfqEDnMu0xOwjqu5VYOXPPleHM8ZGNkuyV6q2naPHv61JR-0vcTZkf7ST4gaEJBBZjkspMVWiF6XBR_njPYT3NUEQX_pjTaaWF3gib3KNHhtcpnckaPOm2tMEsu-DG6DJVLLwAU3xWJ5QTRo91-CZlYZRe-Qw3bndcyFIlTABW9yGk6K7OjnLk6YUTrBf5uJkbsMYQwHhWcJH5nviJrawD3QelMvMWKzZ3KYToBmc1_wki2ek0-ruo8f1G3mowT2QUabaojKqT3a-66N-4ZSeKImJfNetfnJW_XtWVynb92jXL9DFYDxaWxaM7O60K5cgitHRRBI3XMnKXSakaARiamepqbyaTIUfcYbusCsVlijsEZ1RJ2WjAI6KGSf4Z-GawA-W-Sx9KADKOqXwJ8w_hQr7JLlGIbk8cvzm-i0nV6ryVrz-EE1omvVZ0zKxJWvG6lMjSI-yjb5REeVrvpwraeI-BqJvTMyaaTJxODCps73-En5XXrGhfaWf3zWJTpVhnI5Psyr4r86_DbJ7ahXphvXsL_4pExQjq_f-VcRZNpk-TUSRsV86mihopruYWi4lmusjkRa-U6dIhH8YXScyArb6i6OFq9Xr64n0kySCCuwVNxMFcS9lQ6APzAvoFuHkr9pIzCwpIrO5SYnjnzOwBAbiQ9NesO8tzaMf_kdU98WLQGi3b65GXHLqEzWCiGQqFNd7IpZzPnLudEJqltLMxa5agx_MeWDstMVeDJOppmjgJiXpNVgdt6oJMTn09Zt0qbh2S-kHZ55ch3qpcClkSH7u1Czbgkgv3qfdinQowldaZtszYYgp3GnwFHYl7u4sfDpp1m6rYBqI_2ivzW7CuNKGSUiORhkuHaA_AiI6mxFhiDSQSJfL4nWVbs9u0DOEfukPfP5BrFODGVv_kWGpQ==",
  "id": "rs_0b44ef360268022d016ab49c0cab0487d0bedbbb6a22daea03",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.165,\"right_z\":0.13,\"right_yaw\":1.57,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0.7},\"note\":\"The pink bowl is still on the table, slightly farther back than before, so the first grasp did not carry it. I’m turning the jaws to pinch its near rim instead, with one fingertip inside the bowl.\"}",
  "call_id": "call_hgWdRazz46nUebLRk9MbZZKl",
  "id": "fc_0b44ef360268022d016ab49c12272c87d0b46caf621d3caafc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hgWdRazz46nUebLRk9MbZZKl",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4091, -0.0227, -0.0494, 0.9995, 0.041, 2.1441, 1.7222, -0.7918, -0.8764, -1.1263, 0.6968]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1692 left_yaw=0.0045 left_pitch=-0.0514 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4691 right_y=0.1587 right_z=0.1168 right_yaw=1.3202 right_pitch=-0.0725 right_roll=0.0128 right_gripper=0.6968\nstate[joint_eff]: [-0.1846, -1.5111, 7.0496, 1.7851, -0.0659, -0.0171, -0.0122, -0.253, -13.053, 5.2444, -0.2857, -0.6471, 0.0708, -0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9565b77d425cb3e4c9212052f16fbb8025fc4f0b15608453291f018d1228ef9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eca05b51dc279ac05e83a248928206783520a7e99915c1f98d46f6b38da8b24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7338b8eab96bdbda43ab2f7cbae0e042ce7602d47c5d94a3d6d17fa94363e9f",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3901, -0.0227, -0.0494, 0.9995, 0.3908, 1.5551, 1.1213, -0.2848, 0.2718, 0.1375, 0.0994]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=0.0045 left_pitch=-0.0267 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4275 right_y=0.1287 right_z=0.1695 right_yaw=0.0744 right_pitch=-0.1175 right_roll=-0.0541 right_gripper=0.0994\nstate[joint_eff]: [-0.0068, -1.3744, 7.0085, 1.7118, -0.0757, -0.0464, -0.0122, 0.1709, -9.7162, 9.9897, 1.8926, 0.1978, 0.1734, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.4015, -0.0227, -0.0494, 0.9995, 0.7982, 1.6257, 1.5009, -0.7643, 0.5014, 0.3923, 0.0994]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1717 left_yaw=0.0045 left_pitch=-0.0404 left_roll=-0.0061 left_gripper=0.9995 right_x=0.3562 right_y=0.2489 right_z=0.2301 right_yaw=0.1478 right_pitch=-0.1814 right_roll=-0.0884 right_gripper=0.0994\nstate[joint_eff]: [-0.0752, -1.388, 7.1726, 1.7802, -0.0659, -0.0806, -0.0122, 0.1026, -8.4171, 7.6103, 1.3944, 0.4567, 0.1197, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4091, -0.0227, -0.0494, 0.9995, 0.041, 2.1441, 1.7222, -0.7918, -0.8764, -1.1263, 0.6968]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1692 left_yaw=0.0045 left_pitch=-0.0514 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4691 right_y=0.1587 right_z=0.1168 right_yaw=1.3202 right_pitch=-0.0725 right_roll=0.0128 right_gripper=0.6968\nstate[joint_eff]: [-0.1846, -1.5111, 7.0496, 1.7851, -0.0659, -0.0171, -0.0122, -0.253, -13.053, 5.2444, -0.2857, -0.6471, 0.0708, -0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9565b77d425cb3e4c9212052f16fbb8025fc4f0b15608453291f018d1228ef9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eca05b51dc279ac05e83a248928206783520a7e99915c1f98d46f6b38da8b24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7338b8eab96bdbda43ab2f7cbae0e042ce7602d47c5d94a3d6d17fa94363e9f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJwbBRn048VEIb1iaJWVlWh20ZthSbCDduA1-tzvZSaT24XZGwjPSZvxjVmXRA0z2Ut9GDbOloUN5O41rFfqJri6Q9VlDMEKvEVE6OlL7rDW69LbenxU8rZI58-35dwzKsppPv3MAzbBPsSvh816pBhA1mwpew9zxSWLZK8J0T1HPdKzH_ZgRNdVVDdtCNNTJozSg4dmat4bu_cyeWmVmX2iAH_6hRQ6cJmDJ2dgCnVv9rz80FEOpiDwslZe-HDCmeHf03zcTRlV8PysxZMfdJxHwopBcGruyMgzKtLeQjUtjjrU7hYqWdH71waxPdR-w6QzddycoH31iAi632PAgtNXcOH6H9CfSbqFyLFWzfNQS0IUFJhXD6A8fo7LuHPTTFAmL7IT7v4Cu96u3bgvConpU6yRshoSb29VqU2UFLyzK9l_AEL10z8ahglzw74QyXbDVm1yC49doQyX0fy8Ic3EOn9XMG22TuruU8JA0hallE2IXNa_HpVi4hepun1LAYX1I1HHUeGyDyW_VPUkhsFVdJuDgWbRHtyyeIf1JsRQtaKTjTzzHFAJ9be39OyP9gh-6ceRG1x3aS1lTNA3b9utG_Guo1dJ7CItB6JCF3HZ-4Gt73wlHeEynQiR7j3vX4dutLqi5elkaY2gxeD8RhV4AQvF4GfMUyVjXwOjEaS4S5vDowjQu9bN6lWbEs7o89yhQ9XEBr-SvbTs23qaohrGmpxQkb6kgyY-aGNtgHfZ96Ns1sA1z28xAgSupXq18b07LMWP8eJt2f1r0WzllQtBzfl9xnjR_Cyt9LY_5lA6IozYX3NVVS8jrhAnHRMlAlhPlaHk4GNqtFd7dRUSnHz7YAKegpFNIRGb7vixNDA_7A6_DDXvciad4Cd3wK8ELSAfNvjCBlDMV51jtE3IquRuJFT18BcrWAySJlIEqEkShFBe0Fix7iGPpQ-N-fWLVb7oGupinawaqtpACB3i5FtJVsfuWRffoqB9hwvNFL0LyciwtEJzHR9C2zlg1zaLQmN0N6YM05QPVQX8cRzGNX9c2Sjd9yAY5wIZSS0GivFot0rYs8zlxtHRDnkDRKCPD3jNB0xOcWl5MLgP0wtpUKxMnvRJbqRmS-NQFCTHKmYwphd3NvO53MRtPa9009tJNkIhlGOTOoY7LhD8ZZ-X3FYdptjICk74mwio-eownKvpHr2-ZhcVo68PZkh8u9pvhDJ-MFRwpQML3g2i1qhl3pAPgr9ppkbWgCQx6M3otofRykx7HgJitMAbVMQ6DnkWZ-j7T83FcvZ_3-bVDvm-tvgZrxm20vtF-TGClKlf6UbC6ft1bRzPoN6xeG4awe0NB47jXX6CsOoILUAOUDdDJUudsCHTIEtqxEWcQgmjw0yZu-jFsFuPiE2wwGRrLoa2UmdLM_HkzidR7sadwb64jsamcG8A5M9Z2k4lGNknC8xVJ9_t1A_F_TlhsP3qAyp4qCP6WIDnEbUNXwx6GDS78qs98unPu4Yqn1U8x6iqcPPTs6oAxEAEj2d7gBojQ7NGfC5R9OX8H8mLagas5JD7Pfj1z4CyXC-4wpSDRp3tCqqhu7FSbFSlrDp65uM1-iGnTIsN45eFsmtAxLTkOpGDoUpvoXgAp9yZS0iFJjCBS4439N-9gUQAmXc8JtRygsExti8q_BFTrSbR_E3yHhfLOqXifRyd_XSptoZkvWBqDYo91MJYqDEin7NtuD_NiReVzbYmzXthOiIvRscNW8RNSjUWQhKATW4_u6z6I9j1ZdTCO9-yVBsMSR7QhNtm0p5SBnhp7TlIGeIFaWmUc3LeMJQNs92vancVnZEXoA2HE5FheqzWPJHsYcmcSUmvnRkvcg0uanUibfhfEQzvtBi_ybBuJmHrD4K_5tckDdT07CSFiLiK5eLheqJZa3P2j6u36G0f1L_scpxiT9bXNe9Q0-n5QyAFoyJ7zt3ngZ-CRg58Nu1u-msc1qMM8tk1UokeGmx-ByMQaeOHkKDzxJTWquHpSSgLqeftxLjkyfYytqE4NJJZemLL2JKPXKeqN-KcE_AkBgSjhyB5So4FBK8Y-r9lHYA7nWYEJgptg1DOPHN290Y5AWm4bPZLN2DIC07hiVW9SebY0a49gTTRGsbIU_6Y5TOlYn-_-VQV5OvO5gLIWAW7Vi2ZIt9bEdLajVE_V20SRyaawbDCI4OXmYmPnDRmrEYl1xFTBDt61NqO74qukhgIelcrYVZ2jVSwVfBIoY-3Uc5wXRoFnfqkFiQbhu0gwc5f2WlqEIzq59pP_4T9jXCKt5yq_0i7Yc7D30RJf-hmXRY3z7i8u__mQxk6yY7G78Bn2ZabClb0AKCnjj9UG5NAs-agqgy5OQWsqiAJf0Ufm8C3xXID_riQ_wl6DYsgD3dBvoVoqc765_vbvbHSwF5mS0dpRm_1JcMHzdp5aS2qYxheKIKi5h5LLUjOKj4xZFncAt9pGNObNTwnKuXLwm-kBKRM5nWhR6erXatGpd61zlb1GMJJH90CWRBuGWIxYXHMuponWj156kG1Ai6SzI9QQd3TxElwdjkRwBDf4Xs21mGJn6vSB5mE2KPA83fBhkEO46Lb4Y3hx3lZIvTqhklv34DclLiysbLvxTnzkgdG5shx54Bqh2GDBVjNYCCfkT_6uejtIuL5ilIPQNdCZp0=",
  "id": "rs_0b44ef360268022d016ab49c15675087d0bdde8599c551a844",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.17,\"right_z\":0.045,\"right_yaw\":1.57,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The rotated jaws are aligned with the pink bowl’s near edge. I’m lowering carefully to straddle that rim without pressing on the bowl’s bottom.\"}",
  "call_id": "call_DJ0Y4Uo71WA2WLJ2q5yHrvZz",
  "id": "fc_0b44ef360268022d016ab49c19ea0c87d0a829e587453f377f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DJ0Y4Uo71WA2WLJ2q5yHrvZz",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8204, 0.6075, -0.4084, -0.0227, -0.0494, 0.9995, 0.0326, 2.3806, 1.8206, -0.9123, -0.9661, -1.4391, 0.6978]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1686 left_yaw=0.0045 left_pitch=-0.0537 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4621 right_y=0.1641 right_z=0.0453 right_yaw=1.5166 right_pitch=-0.0312 right_roll=0.0294 right_gripper=0.6978\nstate[joint_eff]: [-0.0342, -1.4564, 6.9949, 1.6825, -0.0806, -0.0611, -0.0122, 0.3897, -13.094, 7.4598, 0.2125, -0.6276, -0.0073, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85a6b6b762daf87c928f5770ea12cb7e8d3edd1686366ebd7bcd269c268a9aa7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f49c7222038d9f0c22307b46bb9dd4ac743ac22ef63568fc3a2b829477974f9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2b44f1d47de119fbb487abd1a710e0e755f69596d89b0430a12a73d6eb15798",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3935, -0.0227, -0.0494, 0.9995, 0.7086, 1.8347, 1.5383, -0.5621, 0.4686, 0.3355, 0.0994]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1739 left_yaw=0.0045 left_pitch=-0.0305 left_roll=-0.0063 left_gripper=0.9995 right_x=0.4213 right_y=0.2607 right_z=0.1805 right_yaw=0.1171 right_pitch=-0.174 right_roll=-0.0919 right_gripper=0.0994\nstate[joint_eff]: [-0.0615, -1.3607, 7.0359, 1.7265, -0.0464, -0.0806, -0.0122, 0.2393, -9.4427, 9.9897, 1.5946, 0.4469, 0.2662, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4091, -0.0227, -0.0494, 0.9995, 0.041, 2.1441, 1.7222, -0.7918, -0.8764, -1.1263, 0.6968]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1692 left_yaw=0.0045 left_pitch=-0.0514 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4691 right_y=0.1587 right_z=0.1168 right_yaw=1.3202 right_pitch=-0.0725 right_roll=0.0128 right_gripper=0.6968\nstate[joint_eff]: [-0.1846, -1.5111, 7.0496, 1.7851, -0.0659, -0.0171, -0.0122, -0.253, -13.053, 5.2444, -0.2857, -0.6471, 0.0708, -0.1978]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8204, 0.6075, -0.4084, -0.0227, -0.0494, 0.9995, 0.0326, 2.3806, 1.8206, -0.9123, -0.9661, -1.4391, 0.6978]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1686 left_yaw=0.0045 left_pitch=-0.0537 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4621 right_y=0.1641 right_z=0.0453 right_yaw=1.5166 right_pitch=-0.0312 right_roll=0.0294 right_gripper=0.6978\nstate[joint_eff]: [-0.0342, -1.4564, 6.9949, 1.6825, -0.0806, -0.0611, -0.0122, 0.3897, -13.094, 7.4598, 0.2125, -0.6276, -0.0073, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85a6b6b762daf87c928f5770ea12cb7e8d3edd1686366ebd7bcd269c268a9aa7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f49c7222038d9f0c22307b46bb9dd4ac743ac22ef63568fc3a2b829477974f9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2b44f1d47de119fbb487abd1a710e0e755f69596d89b0430a12a73d6eb15798",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJwfJLCCXoDAOBEpyNtdv0XrkW4R8TlPJUu9-ZkmQ-9OCnlxtm_hSbKNNztJI6eMIYA44oSHEd59oqtlydfX82r_QIKwzKQCnb7R-YRTGQNqJbPKhJE9Rhk5pGowuLFeirNGMGIvtOHzHHA26CX0md1tYry0xRrebnAYTZkiRmjyvIEnpXpZn-JPqGBurdxU3thNJrfQykrlvuXEoDRB1C-e-f1u6gTUQhu9fFt310HERHfn6f5VfJByynieITkvu15W3okz5CW9N0c17wGBizzKeb--vSbC0VGKk2wC8g9BJ-nF7IjkgcvpQqrLCx2Ymve5oA5LpDoY9AV5QsCqkuia2AhFESeXfL4jrxgswH-fRV9Io5lBQnu6bun1YSwAFZXDUpYrjUi3hxN2iO57lD2KRmiaB63JZJaAeTq8X0hR4uPLDeWjZhuI4ZvGFL3CyKipxPL15Ef0GATZM0w1wv8ciboFYRaDgp_uXxsoI61B0gV9bp8xBAzuKzkyGy7hYBtV6wuiHLmogmvChrN2XCxRzykBnXE3ASaNostFqQfTpetLYHJ-okMWPfraB5f-DqlYh5D3eSYQJrnXpzC64HM4jraodXL7YlXn33aIFdNm27pYup1PoXKbajYDwAYpc39VMbJ62vKXMw9g0sJblVyIk9eAGZ4xEQmNLMRmfjkYbj2XRAPqWtqyvlrem9dNalfhbVgTUJEVDfzgYuuj9SfhkfhPlAyMgX0MG9ZOziGkLKTQCeNd9UTB9O4zY0r8wLadS7g2e-l0vuyvOCFiHn1v0P02TJcR4J-njpDigLMGxE16IOnswIy9zYK-egHpgshIyTnRDEq1dbHTw3Rxru9F-hvf5P3NZ1oRty0sXyuty0gYTckpjCoL6vDU-tAS4skErZFTOpS6uOt2RVHtDKXmMx6lIsjI_IdBQJXOWnoEr0tyTZTsVSLqxFfItkd81rrxHIJenKp0DYtZsQTbU8q2pn_5Xt8PGQCswxZXfq8dEhXIyj2I2FnFXX-UaJezpVSFNiZKLjlcdZz2ApCKpoIytjwSzoFNcHqrAwMUtyxqnFV8VcLgXDXrEg7Y_IDiVznXtI1JmoozPdZAGW8sfP5H-TOgjRoO6g9iJVcKdQZjwoJ_Eq_-MkqWvJZNKgJjCo5c7FyiWzmvQ43goBJqqydzSGBJ-QoHqIENwxzFowF1Vqzg6vuUJCI4BPiJz97NC7eG9L45f82lTmP9BlduWQjbN2YE-HnsyepBgzwouAZSdBEKPRbaDcX2LizLtJif67D8LAEbEFSEaWEytX1epd9JBAGwOAHCOngtl_BKoKBtl9kiASONNF_sL_M-JgWAYNqLd6V6JDKVAPpwxVoyV-zvFNnwAjvhLnfLJBvprwcqzAKJcRpUsHTH0ALX192dJi09Buj-Fgez9E3gIhnuz5nzZMy_1Z9RVbf0F2btgELJAeNB6MRN5M7vT9Spi6hr6tYoqrq762rO2oTLvopEKz5Qj01IX9vUsH9Sw-_kY8qMjY_ndLNsytIYk4m6-WRFBDjY",
  "id": "rs_0b44ef360268022d016ab49c1cc35087d0841eaa20c028ff42",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips are at rim height with the bowl between their paths. I’m closing the jaws fully to secure the near rim.\"}",
  "call_id": "call_QbO7kAd0rvxlK61xIXsFBbow",
  "id": "fc_0b44ef360268022d016ab49c1e2d7c87d0abd728e9fd796c72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QbO7kAd0rvxlK61xIXsFBbow",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.0326, 2.4165, 1.8328, -0.944, -0.9813, -1.5227, 0.0089]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1684 left_yaw=0.0045 left_pitch=-0.0541 left_roll=-0.0058 left_gripper=0.9995 right_x=0.457 right_y=0.1654 right_z=0.0342 right_yaw=1.5642 right_pitch=-0.0185 right_roll=0.0164 right_gripper=0.0089\nstate[joint_eff]: [-0.0479, -1.4154, 7.159, 1.6825, -0.0806, -0.0513, -0.0122, 0.4444, -13.6274, 7.1863, 0.2613, -0.5983, 0.0171, 0.7204]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eec27a78f9d778aaec3c77ae9e02830fe40bd6d80a28e37fb520bed6b5e16170",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9800c339e8157e17e79fba21af1aef68d124309ca3cf75d0c14e3b463bacfb8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abec43cfaee91e646495143755b20d09c7aa77ae7a00fbb87cfe641b2b8facdb",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.4015, -0.0227, -0.0494, 0.9995, 0.7982, 1.6257, 1.5009, -0.7643, 0.5014, 0.3923, 0.0994]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1717 left_yaw=0.0045 left_pitch=-0.0404 left_roll=-0.0061 left_gripper=0.9995 right_x=0.3562 right_y=0.2489 right_z=0.2301 right_yaw=0.1478 right_pitch=-0.1814 right_roll=-0.0884 right_gripper=0.0994\nstate[joint_eff]: [-0.0752, -1.388, 7.1726, 1.7802, -0.0659, -0.0806, -0.0122, 0.1026, -8.4171, 7.6103, 1.3944, 0.4567, 0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8204, 0.6075, -0.4084, -0.0227, -0.0494, 0.9995, 0.0326, 2.3806, 1.8206, -0.9123, -0.9661, -1.4391, 0.6978]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1686 left_yaw=0.0045 left_pitch=-0.0537 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4621 right_y=0.1641 right_z=0.0453 right_yaw=1.5166 right_pitch=-0.0312 right_roll=0.0294 right_gripper=0.6978\nstate[joint_eff]: [-0.0342, -1.4564, 6.9949, 1.6825, -0.0806, -0.0611, -0.0122, 0.3897, -13.094, 7.4598, 0.2125, -0.6276, -0.0073, 0.0855]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.0326, 2.4165, 1.8328, -0.944, -0.9813, -1.5227, 0.0089]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1684 left_yaw=0.0045 left_pitch=-0.0541 left_roll=-0.0058 left_gripper=0.9995 right_x=0.457 right_y=0.1654 right_z=0.0342 right_yaw=1.5642 right_pitch=-0.0185 right_roll=0.0164 right_gripper=0.0089\nstate[joint_eff]: [-0.0479, -1.4154, 7.159, 1.6825, -0.0806, -0.0513, -0.0122, 0.4444, -13.6274, 7.1863, 0.2613, -0.5983, 0.0171, 0.7204]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eec27a78f9d778aaec3c77ae9e02830fe40bd6d80a28e37fb520bed6b5e16170",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9800c339e8157e17e79fba21af1aef68d124309ca3cf75d0c14e3b463bacfb8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abec43cfaee91e646495143755b20d09c7aa77ae7a00fbb87cfe641b2b8facdb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJwrm4VyS8R1F2p8OYvVPALozWz451DF15O13lgpG06XJwXuFs1vtkXuk_3er2NmiAFWhFILlTrpzjXw-oWeUg8_Y93p4tB5BV9jP9A5Sut1lEDoZm0JCNNjrj0buRsk86FcVzZfmvJL2QOSc7b5WBdxKxQyuAysUzENMvoXsqbNiX981_8lu39ywd-UhcPkDXZJWq3W-nLVPqtcLZiHKFdnqZ7JCWlerAnaSx72i4NLgzWIxsvhVdzt6lNq4U0BpF7SRJ40Pt1tvQV9KJtu26q89eNJM8OjapooenKKDtoFyGeZiJh0DHtNz3VSPQerOQkHiqPRn3mwBUeqVXYW8B6rbuV2RrIc0hDJKsVpAQhFDz-QK1Tr6etTWUtVvyMxp2xKPrbmJp5EPb89WXNBAzztlCii_rpgZoAteN62GUxOes4IRfjlmxTPi1LWxo2Fc-tT0b5aOMid86A7XZsMXu9YOtdZWIH4YKorR0ilFdf9zsDHoKD5AVJ11KJUCREMU0VAfJOXkzW_Xhg2uk0LauqL1xJWekBHcdu_xIbdKtvx73BZhHbDjzYi_evrzTjaAHRevTMIKA3sOtK24cDafwujR2I8Uq1lrCuxxNzAgACFJUPWdtste5i0PxA8T8rlOoTEsnJWCQplrjIiVRvwoyB1tlOgDN0tkNf7Xd14IRt8H3s768VRSuWXsTiIRZZWoqANAmKkxp7wEHe-ESjZJWDaOe3Ikc40H-6hWAbGjTvRBleyIi4fq7jLQ2dSAObWiKtA4qvLW0iuFgr1DYxgA86UC_jL3hJ_9jzOW_B4lCp2nySsW4Hq7djIJMFHR0wVFcgEfQxg2ocPE5p3TheTFciEEkXU4ymGTsgPj2EkqmppAmFhaZ_cqtvI2JaSgS_1oxKQ9_gZ0LslK8j_DBlTKp7-UpqOlE99HtD6NsXZTLkJ0I4sL-qn8uDfH0xa8-VPkQqAXU6YER7uiBoeTHMQ_ChtKc-stZ_KM0np5j66DFBEQk4nXxgMnAAmG2JFGgDEIjigOoJgE9Kaegnl9X_-b8RfhM3y_RJWDRRJB9OQ6tPHYc9QtEik_lmxbjmWSGucLFr9Tw51hYv4IL6y0ebmXxFo1VWSlSdWP5wYoR1erZ7qWrFe5uBai5ITDVY8yBo6VfUdCjHTekVUz00rPQIs1dqnMsLL2jGsLXpv7x9P0zA41oMtZ0HwbjfFlQk_hamsgLmyt6sDxpFCjkXxRyShlpnOu_hrDv0F1LXuAZsNsgaapT1R5_GUGqgiOym71fYRP0G5-PgbyJ-XHudqY40DgmGQAOVy3IDZFWkAYb2H56s9fdBJeyv6Aeeiuvih8B4cCFk_ibL5nmu5jNui9oRJL8jGlopac_3rGUN9IU7uSwJZVVgQVjmES9XN_ZtCaZoo8LimwEjQMnqxsGqXERcSMatlW9AyhmdAfT5OSLzeP2abRPdn_7YHL6tiR8Nu9ul4XdZa5RzhHiQ7RacwzOSMm6Dg7tqgH1lsU6XQb4SgxJBBZsMDXii8PbxHCvRliTjrQdwWszPdKVphSqqUyCh8oyzA7y1xHFccEer-oIxTcuPdzU5e5c5wN942cQcHvIA7FOyA0jg1felHmPm-xvR43yLvECMzS8ABQTxSV8Q1aNCk3P5ceAPlFi6NY_qoUWWjwlKxrxW1YbZtJhILvJq15H6fvKdd_Ns4ByRYRUfoUcLzQxlaQyPyL1C7RcgTT8nvPRpLhH_EvS89tUkXZMxvsmo_CAiucbhmJVRJwwJcSrmqMS_zXM4hyUjtaghqGoVw4ATRXq3K0RnnseOqUfxlcDu-xfcKtkW2gHqFFvKUSYw1qhn9kz8HGn6WcCLszfJ-UELQe2M3mBHhp2QOq3SfyPkGV7V5lHKBV37lXbBTQ4yXTGwXQmgOophYW_AvGfB_7torJfrAtWooqPeVefvMVDtk0rD5gt6l2f-_VjVTVh0vt96_nBmPKigSpx1ykVS0SOdCR9UeGK4hQ-rSLR8IRAPwfkwY4xEXiNZHKx9Dt5keuZ49VfzI6JCnBqCoJgJOa-GEo7VHniw0BknHxupIGYKPyq8IgOpdJPzrECKC_DIqvrebwHVR8FkRlIIeCr25r4HVPe2U22KLuPokCcMMK8tUkjqj7I4msL5mo0_xmLh2f9Y4UyD588t4h_scVdgNPC7Zylj00t0CyTqnLIItXJ_TF2LD657gGDs_z4eOCuu0rp6Bj4S8P9xmqYp2sm_NvvigeiL3cThKBQwDhqcA9lClTIoBhCNcl2-6-3fY3n6pgihobxItdccpMQn2d2oj93Jpe5fegk7cBRibmGLLqZ_4XXKC6Bl8HuAP3KoeckEtPe-f4Tnxunl5rwZgenzCownCfBxvdAmMjQQv5jelyN1s3NlYGOieoMHVfpT6cpQ6U-H706vWyCVmTi_7ZaollFuLxy0uhu7X2TWvuqnqq6ZS-tyV9XxtqjSmjPJ-VZnBYT2RcskJoHMx-_JvF3IjEsy_fwT4t6gGkVOqEe5p_Hky_Vao94IhucXuZF5VuGQGJL95v9mLtU_3MKRZhFYEjpofSQewNI1qSOwv4xp7gmoVDaLwGZgdXkmIKvScF2fCzh5DHIsVQGH3H3lhgPf-L7huox8mmKGmju9U5MQV_HdzUIaB5DJlGGL7dM6g0k-1IZ_vGNHpHjIPxELhJgSUPBcEqRM6Mr5c1BsdlLDvcCM_Ii5JnnmvFv8FXw3sVkLiNRQc-9Tn4TAlHvKL_u8dPMWNe9fhpvJBcifFoXt1mTUb2p7R7mOlSBdImm6bsLkGM1Rr82hN2EyCSbYak7kvG_1Y53ZywOw1qWfu16zD2fVtJ6TU7KUJr7vB3-1OfS7zG5Q7L-HKvqReh8IQSLE4UewiAvmTkj3qpEeDq6lHySlD_9ZrjIw17nT4qJ5lQbqYbT9BDWP_ByzmyTyAKTe1MaZLn8n_a7VVmOUFmqrWEoRm9fm5e4ar7RHDIXvEqG9q2ZlLkbkKy7YdVI3F-_Ltjy5hPWgpM6HomKZrT-n_FHuP3PRMrpXF6TonpQs2_rbiKYqN5Dva6SDawqEEDM2hNkTkdH6IBwPO92V8fJr_uxl1tJ4C-sxJw_LDjyTR3s8T6zkLAK54jXidhyp-xbTVjiAQ2WT7sQb5Mh-zpXQoXi5viNszJGp4FULnkj-MhQp-FBn69GZ9v90YDptZy3L6L-mQzEjFdfs38Q_nt-m7oebRGG_rHMJAa-1pirpPUJl5bxo4vMSVWF3tukyfLoE75_qIjEvuIlq8601sW1osxgEwzkux_WAPnhkzK0xw3UIRGfbWTCQsiko1-lEhlJacHYD40fFDpZizeuuFE9bdHvH7y18RkZNwoLL4BIRpx5-1zpaYhzl2Tf231r_J8P-5_bFfO_Eb9YTWhaFDcIuX3i8zUt5uNUP_A6_JWp1TfWmG9rH90NZmLABJmRXscJa24aY8pWOT2KYedksiYs2uFe3pwfQAT9ocF1APRup8UNw_W4NepTBukb5x2CIKsfknKF4LnKtN1GUejiJaknG9tprUKittNWigy1D80YQ9OCIFirasUxjSgrq6npmm7JxncC4B70STem_sdtQ8MAhcFm_ya3T9xhBODA2YcZjwaEQhcjH1Is9Rw5V0fYA3GWNxtK4ZM65PqlzaVJa0BFo8O-mfeYkzam5wDxlwvSha5GhCRXSLGuq5spW_bzum0fVnYkcGiLsCO2yWA24c7sYalbJAwdH_zlQbXQq8y3va4JXZgslKPgegp7977D2B16B0wOZ_NLN8MgfCglUZ23sagNJh8WwqSmYkX_yVbuAGHsJF2Zf6Jg1xGSeu_WT2KqFc9w56asWddwpZHA5mZmL98wkdDBNh2XuQmmgp1dU0VttsLy4WRGzQlBrU3J2e3ICwBiUl",
  "id": "rs_0b44ef360268022d016ab49c211cd887d0a1361ba4a563a061",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.13,\"right_z\":0.11,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0.7},\"note\":\"The jaws closed empty inside the bowl rather than on its rim. I’m reopening above the right-hand rim, using the bowl’s now-visible position to correct the grasp.\"}",
  "call_id": "call_wNy6sUoPa9UEiLwfQrYIUe9t",
  "id": "fc_0b44ef360268022d016ab49c296bb087d093b0420d4fe26b3f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wNy6sUoPa9UEiLwfQrYIUe9t",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.4187, -0.0227, -0.0494, 0.9995, 0.3618, 1.742, 0.9298, -0.0639, -0.0502, -0.5755, 0.6965]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1647 left_yaw=0.0046 left_pitch=-0.0705 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4024 right_y=0.1656 right_z=0.0464 right_yaw=0.7151 right_pitch=-0.3476 right_roll=-0.3279 right_gripper=0.6965\nstate[joint_eff]: [-0.1026, -1.6342, 7.0222, 1.8632, -0.0513, -0.0366, -0.0122, 0.212, -11.3299, 8.8684, 2.5861, 0.188, 0.2173, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59479d7e026f63b3ffa3ddcfb4804ca98a05e51af54c1ee5a903b964107eeafd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:982479e2f18f98e6844c76669d7646d0a4c805ffa21dcb7c5f04c74e70c4445d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e9b7617d3ea6ab53e638e208f683ce15367e0f5171dbc328d408ffd4cd9e478",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4091, -0.0227, -0.0494, 0.9995, 0.041, 2.1441, 1.7222, -0.7918, -0.8764, -1.1263, 0.6968]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1692 left_yaw=0.0045 left_pitch=-0.0514 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4691 right_y=0.1587 right_z=0.1168 right_yaw=1.3202 right_pitch=-0.0725 right_roll=0.0128 right_gripper=0.6968\nstate[joint_eff]: [-0.1846, -1.5111, 7.0496, 1.7851, -0.0659, -0.0171, -0.0122, -0.253, -13.053, 5.2444, -0.2857, -0.6471, 0.0708, -0.1978]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.0326, 2.4165, 1.8328, -0.944, -0.9813, -1.5227, 0.0089]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1684 left_yaw=0.0045 left_pitch=-0.0541 left_roll=-0.0058 left_gripper=0.9995 right_x=0.457 right_y=0.1654 right_z=0.0342 right_yaw=1.5642 right_pitch=-0.0185 right_roll=0.0164 right_gripper=0.0089\nstate[joint_eff]: [-0.0479, -1.4154, 7.159, 1.6825, -0.0806, -0.0513, -0.0122, 0.4444, -13.6274, 7.1863, 0.2613, -0.5983, 0.0171, 0.7204]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.4187, -0.0227, -0.0494, 0.9995, 0.3618, 1.742, 0.9298, -0.0639, -0.0502, -0.5755, 0.6965]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1647 left_yaw=0.0046 left_pitch=-0.0705 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4024 right_y=0.1656 right_z=0.0464 right_yaw=0.7151 right_pitch=-0.3476 right_roll=-0.3279 right_gripper=0.6965\nstate[joint_eff]: [-0.1026, -1.6342, 7.0222, 1.8632, -0.0513, -0.0366, -0.0122, 0.212, -11.3299, 8.8684, 2.5861, 0.188, 0.2173, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59479d7e026f63b3ffa3ddcfb4804ca98a05e51af54c1ee5a903b964107eeafd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:982479e2f18f98e6844c76669d7646d0a4c805ffa21dcb7c5f04c74e70c4445d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e9b7617d3ea6ab53e638e208f683ce15367e0f5171dbc328d408ffd4cd9e478",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJwvr3Z9effEUJwg7Y6o4m-bLL-7FKy_OfpigEiXEwP4wdSTmhgpzs8m66fxqddmy7SZul_6vMRa-FZd6xCMiMzf3FFuJV9xM0v_rBmTLkvN70cJNpaMKxDQYCKZ_xSMPPOvnGGCnj_clCnv7Nssbofsp9RYxa4hsSBY7JdhR1ZmM-dPCBcV6rqvn2iYtD4MV-DJjYxjB3V3pAYla-875UtOvIWjl9uCk2nGjvFsAjH_-Im-soFBGBUO0zHsMnxi9ZiasCy2XjMI0sQTbAla6bvKsPuAOIaU62M-CXz4A9BsBhGOH62JiFV0fOAk_gFwzEPOPejrnE3BT75e-AGYh5g0mn3vu-VwilKcBi8zNRNucDKsDxbdfSnNmHydTdwdXrUd9mwpegyqXcO0moRlV2g6wHGy6dYpN-IzzYrUk1htQf17K_pW3QuM4mY6QAc9JYeiAvjbOOVhd6GKNbNnC6u2x68tJPkcy0F6Wg-iIsrm4ZW-_-5z1XOesyYv0fsnZH9ltu5FGMnp7h4EGqRDjfYw-ciZ1k2UH_rkippHKwWYEHAzmZnLgmk35lG0zK7NtjdGZ6Xxkx4xAgYNCV7Gil3B_Bwpk33NdJKjqGLuPh6xKXDgnSqyRQPRt9nilV12Iosx12fa_mlU4hMroQPgEGtK2Lfyh_ggdJM8jAXGYfsNJH-TBU4s5XVG03pKUayEQe9r4NcYu6VilvTxV-uQIIqxIjinYv2cu3ZjzEfBldDpcjER5A4n3q_zkWgG15b99qUhE_qHsXYPCxPj7OW2dHOLSnW3KgtDGF1W4ub-zzC3UNmLicRhZ4e5LzBjrD5TAUJ85jBHUcSdn6a9eHItgVmPsjm0mnzVGAeHQXzdDe54wjxeE9P7gyxQZRc_9-SVUr5wd073h7CP7RX1JC2q2IolOE8Ly8dAm8dIxzU8FysjEAAmAcxjC_QlqfCreUEYcP08P9Jpmz8-eKzE3TuLJYX5vH5LdPS-EHORB2ohsn59xrIi-_eFFZHx80XHqTUHN546vMb-zlbblM0kKtP0xlP3crfZ7MaS-TEx7ywkrFxQa2xe3mQazOXADaOxvsAQTiSdEFHQho2KVssnX65XHqcVW0Ihb0ItnS_virPLUJVyVBj82-NxC-litFYGfhdtTDfnB21Z1viEzIDZJi8gN4K7F-42uLaE10e_U2LrVKPB3CQWvgoDSTwoBe5DP0lOofiRkH2xY27qXBw3O89gRVBUW3yZZyrF2p1bD1aJ83uM37UW7WfnTZE3C_eLqLyUEkFr8xC4OAtR5LMyIGFzwqb8ZRZ3c0WkopgBOhSbVIrWb0l5QqNQzkbIFTw_3AvD47xo4JIF_UUXaZRJ3dJP2u53FA==",
  "id": "rs_0b44ef360268022d016ab49c2d74b887d0bc19aab55194afcf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.14,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0.8,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.19},\"note\":\"The arm did not track the large wrist turn cleanly and nudged the pink bowl. I’m lifting clear and straightening the wrist before another approach; I’m also restoring the idle arm’s parked height.\"}",
  "call_id": "call_hukvUrYxf140gLEJ4whE9S73",
  "id": "fc_0b44ef360268022d016ab49c2e2d2087d0836c5e4a20846ec0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hukvUrYxf140gLEJ4whE9S73",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0265, 0.8513, 0.6823, -0.5045, -0.0265, -0.0528, 0.9995, 0.3466, 1.6714, 0.7593, 0.1932, -0.0395, -0.3325, 0.7995]\nstate[eef_state]: left_x=0.2907 left_y=0.0006 left_z=0.1748 left_yaw=0.0029 left_pitch=-0.1059 left_roll=-0.0048 left_gripper=0.9995 right_x=0.4005 right_y=0.1559 right_z=0.0554 right_yaw=0.5482 right_pitch=-0.1633 right_roll=-0.2083 right_gripper=0.7995\nstate[joint_eff]: [-0.5675, -1.0735, 9.7846, 1.6825, -0.1245, -0.1148, -0.0122, 0.0479, -8.6906, 7.0632, 1.8242, -0.1538, 0.0513, -0.0513]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e461077f0a0895605900cc81edfbbf019780c35793b2a28df23ece7101b32d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2fa716646c76721d439e94385391844b92e8728cbab59aa531d6cc904332aca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6698f39d9d4bee7eb028b789be5bc172aded8647c62439aba695c708a8192d3c",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8204, 0.6075, -0.4084, -0.0227, -0.0494, 0.9995, 0.0326, 2.3806, 1.8206, -0.9123, -0.9661, -1.4391, 0.6978]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1686 left_yaw=0.0045 left_pitch=-0.0537 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4621 right_y=0.1641 right_z=0.0453 right_yaw=1.5166 right_pitch=-0.0312 right_roll=0.0294 right_gripper=0.6978\nstate[joint_eff]: [-0.0342, -1.4564, 6.9949, 1.6825, -0.0806, -0.0611, -0.0122, 0.3897, -13.094, 7.4598, 0.2125, -0.6276, -0.0073, 0.0855]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.4187, -0.0227, -0.0494, 0.9995, 0.3618, 1.742, 0.9298, -0.0639, -0.0502, -0.5755, 0.6965]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1647 left_yaw=0.0046 left_pitch=-0.0705 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4024 right_y=0.1656 right_z=0.0464 right_yaw=0.7151 right_pitch=-0.3476 right_roll=-0.3279 right_gripper=0.6965\nstate[joint_eff]: [-0.1026, -1.6342, 7.0222, 1.8632, -0.0513, -0.0366, -0.0122, 0.212, -11.3299, 8.8684, 2.5861, 0.188, 0.2173, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0265, 0.8513, 0.6823, -0.5045, -0.0265, -0.0528, 0.9995, 0.3466, 1.6714, 0.7593, 0.1932, -0.0395, -0.3325, 0.7995]\nstate[eef_state]: left_x=0.2907 left_y=0.0006 left_z=0.1748 left_yaw=0.0029 left_pitch=-0.1059 left_roll=-0.0048 left_gripper=0.9995 right_x=0.4005 right_y=0.1559 right_z=0.0554 right_yaw=0.5482 right_pitch=-0.1633 right_roll=-0.2083 right_gripper=0.7995\nstate[joint_eff]: [-0.5675, -1.0735, 9.7846, 1.6825, -0.1245, -0.1148, -0.0122, 0.0479, -8.6906, 7.0632, 1.8242, -0.1538, 0.0513, -0.0513]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e461077f0a0895605900cc81edfbbf019780c35793b2a28df23ece7101b32d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2fa716646c76721d439e94385391844b92e8728cbab59aa531d6cc904332aca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6698f39d9d4bee7eb028b789be5bc172aded8647c62439aba695c708a8192d3c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJw0UPFeVL5MwN9NW9AnmDfwuSpjAjHUNBDPV-0VpjqgVWKZKyodYd7hfMvbFF2RmOoSnKCaow5P_uQbBgSmBN6qxnqxRuhBbN-cqqJl1zhjE7Fqnt5kUV-KpnqyDhRLgnCR2oyBUVFg976cC06owpwt-VQnijz65IgZKuVywfD7kLVI6KLwK2_4ejNpNIvZMemB-v8PQRpfaM1E4VJaTvRnbAxqvFEOiFXcAJ1H9EoQJOvJ4hqYCwO4EZuZN-3zjbqqMZQuTcsZ0k13g7M2ZLhBvqsr5UboyYwjz8p4Jkx4tv_zjJEv7kFWGfLqZGQSA8z7LvgZxweUsCNb9EPfx6oVbjD7-0I2ffJMARDfVV4vyihJqGzYwK82Ip4m493Iru0QmIa6WyLLAM1IyKrDv4KaHnwkKQd5Lr5qeq0HbqWaUFucjiU8k8uWLVF4cPKJriuBaub2gKyNmE8uV8_sm0QljCtW_kGcHmtYRfKwovGuOcoxlqmBjmbmQ1qZ4Z4g03B9NTDFtvFKQ3Xi9uNW1cvMwQbQJDdxPQCj_IwoME-x5KqIbucUuQDZeVcDaIc-R-T_YCKu7PClLlyaw-0Tl6Ong8x-wgSPVaRHRCecAOpefmjwU-YA9dKf4sseu94nOrReCglK24VqESp15nZqRuOBabwT3Tra0axAd5Z3hjOubpjvHX1q6m0WRd8fFzlHvmHJLrJtrSujm7NkwRV74j2qd8Q0s7CkB73iwPIhYAELMnvwmHTL54u49h-yBiKKdU9bpe4xszfzcXBPUOOu2yBPoGJcUnyJ6rwq0xVfGPI6Ivauh2Myu6MJAF4Ropzo3zIr7o7orSw41kjXjphoGoX8b0U7dbPbvcncqqnDza-UNQ-slo5NQH-ikXzoSxQYvQWshVU5q8BDDxg4WNP6TSOL7T0wjJnMuEUvnBMYvq5RDDBRZRBSgPliyXCzqjXAs33JZJZDrpOItKgVv5tWVwB_JyjaOpEHCkTmTQqhQA2XO0JfYA9h66r7gWvSOw-ifNTrRw7DzhHTB_E5gvCmYh9T0TonHXtgPRuyCPU6RqCjSDwdfpLTw8iJJY1BLV2YfnOTV2GKW16LUklyNUpvr5rhhARhYS34XEOl9sO_AiiLJtKgMXII8vwu0X_IaKyP_DNo-U0ehzyZ3xqkyAz06-5_YHL9Sut1dE3e_NvaPJjFKEkKuFQM4frfJb8iz0LXlb27VzSq8D4Qwh3dStHXoQxdYQq4qIFmDZgEgArNAqfkgMvD9i9jmI43BJ0rkFgmDDX72QDfWX6KrYsYTBL03cWr-YJJKtTHHGOeIsJwXecMTpYks9D_9W6kgTjdHRvDfh998nfeMn6KWjzqLLltMREq9kHqcckw6LOuFKQroKTrjD_rRFU40vCgk9J7OPWAuzshAOL8iAg0eS1l444fLm8KTHggtQQUpCXQThvgQzIs6UHbRJq0dB8BZpm8zGclgDkMvoTmnxkepQqsl8REc3W-YvdGJJAjWt2DoGXD-o1C9Kn50sFX6MU3SVfsF1aZBRg6T6U4fZBXIEQK4r9vhdtTTQDVUb2Lbnd3Z8gi_1YQi5cpL6UeA9qm2hceJfvt0rczKjKLQ0Se6tivZwTa8D0yh9IrgkY64W9D9wJzrI774lHGsENY710hhAfqwnBBBkjBBpA2iOX2BJh6K4mUY1ehy7TQy1G1ogR-vPP2-K0mXBI=",
  "id": "rs_0b44ef360268022d016ab49c32109487d0a86d228f90fe8ed6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.14,\"right_z\":0.14,\"right_yaw\":0.3,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The right hand is still low despite the lift command, so I won’t repeat that target. I’m shortening the reach and making a smaller wrist adjustment to get clear of the bowl.\"}",
  "call_id": "call_TxbAxFqHfOcuYlDxRMxMg9jO",
  "id": "fc_0b44ef360268022d016ab49c33951487d08a628ff39db0c4a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TxbAxFqHfOcuYlDxRMxMg9jO",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8558, 0.6827, -0.5125, -0.0261, -0.0525, 0.9995, 0.4107, 1.2819, 0.6308, 0.0319, 0.0582, -0.0406, 0.7999]\nstate[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1722 left_yaw=0.0028 left_pitch=-0.1181 left_roll=-0.0044 left_gripper=0.9995 right_x=0.3482 right_y=0.1443 right_z=0.1214 right_yaw=0.3712 right_pitch=-0.0485 right_roll=-0.0478 right_gripper=0.7999\nstate[joint_eff]: [-0.2667, -1.8393, 7.1043, 1.7558, -0.022, -0.0855, -0.0122, 0.2803, -5.5179, 7.747, 2.0342, 0.1978, 0.188, 0.0317]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0df1e9454b4d882d078cd093d29a648caf8dc4362ae9f2d63c0146146944084",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97e6fa9cd89cf1c8db4e0eb26ea565d8a4f724964b779bff361d9da5fd175ebc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df6fdf0b5785831fd09bdb64aa3c3955e823e5ea8850db5da4029c7ded7ae6f2",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.0326, 2.4165, 1.8328, -0.944, -0.9813, -1.5227, 0.0089]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1684 left_yaw=0.0045 left_pitch=-0.0541 left_roll=-0.0058 left_gripper=0.9995 right_x=0.457 right_y=0.1654 right_z=0.0342 right_yaw=1.5642 right_pitch=-0.0185 right_roll=0.0164 right_gripper=0.0089\nstate[joint_eff]: [-0.0479, -1.4154, 7.159, 1.6825, -0.0806, -0.0513, -0.0122, 0.4444, -13.6274, 7.1863, 0.2613, -0.5983, 0.0171, 0.7204]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0265, 0.8513, 0.6823, -0.5045, -0.0265, -0.0528, 0.9995, 0.3466, 1.6714, 0.7593, 0.1932, -0.0395, -0.3325, 0.7995]\nstate[eef_state]: left_x=0.2907 left_y=0.0006 left_z=0.1748 left_yaw=0.0029 left_pitch=-0.1059 left_roll=-0.0048 left_gripper=0.9995 right_x=0.4005 right_y=0.1559 right_z=0.0554 right_yaw=0.5482 right_pitch=-0.1633 right_roll=-0.2083 right_gripper=0.7995\nstate[joint_eff]: [-0.5675, -1.0735, 9.7846, 1.6825, -0.1245, -0.1148, -0.0122, 0.0479, -8.6906, 7.0632, 1.8242, -0.1538, 0.0513, -0.0513]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8558, 0.6827, -0.5125, -0.0261, -0.0525, 0.9995, 0.4107, 1.2819, 0.6308, 0.0319, 0.0582, -0.0406, 0.7999]\nstate[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1722 left_yaw=0.0028 left_pitch=-0.1181 left_roll=-0.0044 left_gripper=0.9995 right_x=0.3482 right_y=0.1443 right_z=0.1214 right_yaw=0.3712 right_pitch=-0.0485 right_roll=-0.0478 right_gripper=0.7999\nstate[joint_eff]: [-0.2667, -1.8393, 7.1043, 1.7558, -0.022, -0.0855, -0.0122, 0.2803, -5.5179, 7.747, 2.0342, 0.1978, 0.188, 0.0317]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0df1e9454b4d882d078cd093d29a648caf8dc4362ae9f2d63c0146146944084",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97e6fa9cd89cf1c8db4e0eb26ea565d8a4f724964b779bff361d9da5fd175ebc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df6fdf0b5785831fd09bdb64aa3c3955e823e5ea8850db5da4029c7ded7ae6f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJw5AtChfjkf1EKS8IchvXwaLBhE-ftg4N3fuOVJYztaJShInaVLFtQvVvxqsK4UHwNFNXRxdf6RXyaRv61pB07p8Vn9NYXAuk9GEQYgjvIpeu8SuKH8Oqtvs7_uZLIyCqADS3xCZfja_uD-7oMLChtHsH53Bo95Aik1Rm4bBZ66LvTc4o7YDy1PKjwRwd4ab-UH17iWbnlPOInpOmZxKgXQgAaTNuSxeQc7ngk9mjBbzDInDxmDVAiptKBOVOK38EI0xpMKL4uPAqTpW2j9uAj6Gu_jqUv9XZNK-09IIVB1LR0DQxvjbfWwfpuLF6iwUjcOW6knumjGUP7UVDlx-U2-vG3UGllgqzGmyA5W0xsnRabMDiW3Fk3cV55rxbbndrPPVbUxE4Be7FIERsxqspP9bpTcqsyAIX3xDEj74bxYFbd8nmhLM9YQPpnDSIdWnef-R8KwFTS_vd_-MrTMh5qSXnmD4GmH1MPe9-YEchOONWN92s38TdvbTorA72SSbuTXcXRckH4MMk129g8PeGF4_9dRx0xLCpQkf0HHNR6jy-SoI8zE9ij5fiSSDa0lARX76gGyD5UHubvhjj_DwqDcb37FXQXndxE2tDi9ueaTSAISv531Z5UDxGKhZ4L3lBbovNlj3c8w6ZqbiHTKIM8D60c-GyoJCnwlkFGjcqXGIh5p1LjAONriIpvPnn5I-q5jMTiK1vt7SM56vNHu6chocXwlNSLLgBxByWI3Me5yoEuItFQEiLExyiuqGbUzHO0Lngo7W01BgftaadAW2aBjN7DIvCkCuJK2kt3uqeFZLoen0jeBSwAUq3Gs-0zCcWMXIGi-d2LMMr2OdI0W53X4YQ07AOUl93VNvYi3wNHNQkJdmKX4tjr3X1t9RmodvI0PWVLwIEkHxKnElTe8dDypohRfpV8C3pR7YP8h7oE0oibfWMBOYQd6FssWAa1udLnBUl-JvcpgPIELBLS6ety4iiJbl8HV_XRMnTFyy_D65IPR5I_jTsHYhEJJ3fTr71grn6k2BU69RBte5ek8raaDKBqphI_OsCzwQIEIPzHKBn3LDj5212t_fpwzscRMvt7KR1KZCpl_PmQ0-0QRjA2IMiGEfB2k6oKu1tChyDZRpsfiSqZAn5YSgvbWDUefxhDt59r8KL9EG6239kmaySeVEfdXYqR2YK3w-zSGtS6qKpouTeolDyipm8zTitjwmcVbDUAN2zmSwfp3DLbq49RlIYoYiBZVDp9trR151zOJfQN1bhwmdeGbJxTXaXiLtQFwOLHaexEdruH-UL455pAzUhsGOKDPQPrYJfdPv0ZTmFNiqBlevlSf9iOHMKVqYV5RIXFGiKHN0qusYhL7WanIZhC3M2vyYvwN6IkCKiiZxwfpcEwjHNkqejTX61O1fG3O0q2hOUVQCfZ6vNzoO1cLU6gh4Ltgon-nc7zNoqByyzHnS6wl01dt-Xm118HK86eRgAfZGuV-a8MbOf8Bk_4QSlj4CeS-qF2ybx052VI8BmxTMBTssWjB9g-nFd4e6mv8yF2lgHwBL5jqQnzIYU6JVR5ETXu9Li_oYqwLjzrkTrhVxqXSLMHCeGntJgaHE3LLQqZEoqbHzCNy9tEpf6409Q==",
  "id": "rs_0b44ef360268022d016ab49c37031487d0bd1d411b6d19f3de",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.15,\"right_z\":0.065,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0.65},\"note\":\"The hand is clear now, and the pink bowl is upright beside the blue one. I’m approaching its right rim again with a smaller, nearly straight-down motion.\"}",
  "call_id": "call_CudP2InGd41A68QJEA2aL0R9",
  "id": "fc_0b44ef360268022d016ab49c38551887d09175186447fd6ed6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CudP2InGd41A68QJEA2aL0R9",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8566, 0.6827, -0.5129, -0.0261, -0.0525, 0.9995, 0.4168, 1.2427, 0.63, 0.0036, 0.0898, 0.0273, 0.6516]\nstate[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1719 left_yaw=0.0028 left_pitch=-0.1193 left_roll=-0.0044 left_gripper=0.9995 right_x=0.3449 right_y=0.1393 right_z=0.1295 right_yaw=0.314 right_pitch=-0.0358 right_roll=-0.0096 right_gripper=0.6516\nstate[joint_eff]: [-0.0479, -1.4291, 7.2, 1.6142, -0.0659, -0.0708, -0.0122, -0.0479, -4.7932, 7.6786, 1.8974, 0.0659, 0.0855, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14357264fcc24c0a68cbdce98ede5217d4e82d96c166233f90dc02f20a13539e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a407b5a03d7432c3fb3dd5e5487d372cf4dcbac7e81311cc9420ceea3e66a67f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13709fa21a6e72c2c39d13ff374d85818510955b95f8ee5067729c0099e80cf7",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.4187, -0.0227, -0.0494, 0.9995, 0.3618, 1.742, 0.9298, -0.0639, -0.0502, -0.5755, 0.6965]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1647 left_yaw=0.0046 left_pitch=-0.0705 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4024 right_y=0.1656 right_z=0.0464 right_yaw=0.7151 right_pitch=-0.3476 right_roll=-0.3279 right_gripper=0.6965\nstate[joint_eff]: [-0.1026, -1.6342, 7.0222, 1.8632, -0.0513, -0.0366, -0.0122, 0.212, -11.3299, 8.8684, 2.5861, 0.188, 0.2173, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8558, 0.6827, -0.5125, -0.0261, -0.0525, 0.9995, 0.4107, 1.2819, 0.6308, 0.0319, 0.0582, -0.0406, 0.7999]\nstate[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1722 left_yaw=0.0028 left_pitch=-0.1181 left_roll=-0.0044 left_gripper=0.9995 right_x=0.3482 right_y=0.1443 right_z=0.1214 right_yaw=0.3712 right_pitch=-0.0485 right_roll=-0.0478 right_gripper=0.7999\nstate[joint_eff]: [-0.2667, -1.8393, 7.1043, 1.7558, -0.022, -0.0855, -0.0122, 0.2803, -5.5179, 7.747, 2.0342, 0.1978, 0.188, 0.0317]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8566, 0.6827, -0.5129, -0.0261, -0.0525, 0.9995, 0.4168, 1.2427, 0.63, 0.0036, 0.0898, 0.0273, 0.6516]\nstate[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1719 left_yaw=0.0028 left_pitch=-0.1193 left_roll=-0.0044 left_gripper=0.9995 right_x=0.3449 right_y=0.1393 right_z=0.1295 right_yaw=0.314 right_pitch=-0.0358 right_roll=-0.0096 right_gripper=0.6516\nstate[joint_eff]: [-0.0479, -1.4291, 7.2, 1.6142, -0.0659, -0.0708, -0.0122, -0.0479, -4.7932, 7.6786, 1.8974, 0.0659, 0.0855, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14357264fcc24c0a68cbdce98ede5217d4e82d96c166233f90dc02f20a13539e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a407b5a03d7432c3fb3dd5e5487d372cf4dcbac7e81311cc9420ceea3e66a67f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13709fa21a6e72c2c39d13ff374d85818510955b95f8ee5067729c0099e80cf7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJw99KZ5FSyasYPPrzb5WuY7LyZMvrdwh1hbym-aeSuVs47twC-OBpj6xjl4m1g37PpkYFwqCwwa2ucznZ2HC3JxPxL1D9ldSk9S1W4b2uCLK6lqwHhcG8w5dYI-FyWgUy4doLuWYIc4XScPWFSftFfCGzvtIWVHxBRZE7uMty28b29mod23ES5Re7IJFkHreBAL-GohQai3hdHetgB161RWt37Z9fYd7c1Ew6kckAW_kMz33Q5J6corjQpGIgnibhBGJhJ4rg1eudthpeS4GFuqLuwnoTpVcGmoJQMsg1Lfr6FobESmi3pi365PyEXq1TSvKce6s5Kao_yj-y8YCK9eOSbcpdOI3PUt0BzqHSfOPId7InKF5yXLlv8bvELNMAV7UUpkqVw-ooHHSnfdkwctqkH6gWkzLP5akK0zx71s1y9ERJ6P4g8JZHze5y0_TJEM2uxwOeTKnTaZZcI2ytl4x0lzqXMPPbOoFmW4br4ic-IZ6R0pEhCF01oqSazD2uKNmLAESmSCBwjk31ZIIJF0zEZ8kXsrt1IZUBNQZ2DgkVNnwz3fwgRl4-yhyHdwKo6xyoRoWG60N7u9XmXw9KnwJr3CdjKfVHsrfJXGHFNQLfoaiJwhXfKNEVAkVS8-QnJh_5hfVLGU8oTPH41TEbEhjIvzgW1ViTOr-fR_TbEX3k90-GJsw7eBxPA9uRTJ6Vn1GNBoimSUnBBxiIZpZ7SkmSl564l6kt7uthr_BzLPLnnzXsKEWBfxXkAvNY-zUyRvoZNBDOr4aAZJfLpiC_gKe9Ek4mGTvUpQytN7xQkrD7AJr9YvPt0zHgmlEDPApZ5Y-5Ubh0FKe0lIcsG68LSYRoZL6mWRN2JszQaoMbBD4cR4dzUF6ycz5kBBA9G3F1Zgrrufa6EYK4RlpMdLsR6XRPXCsVFsUStmibGzfIOIggV_g442SNvs2P6OOlVEFEFNnagWc2_TR7XlOQoS_rFQexc4WutVn90COXkSH9tRJun2Dw8JTLOOE3xMsUs88rAej2bE0INjNhW5UFNZAaZ_mPkC6st7niYUmy7m5NbZ7Q5ps-A_SflczhHILC98Cuka6suGJrzjNezye-iP36U0TX_jNrlOrmUfvA_dv7SBO8v_u_gdLMaFIvx8tF5tAbvwPdb-F6AWacRLdgq_RIhBCGVK3Br0SYyXS41EoxkD0dHB65n_pMrUjaUpMgWFXUiILKTsggNcjCuAT95OPDzxuYEKjwmg-RB6ZOKIGt1yogUHFhRdR53MjOxhH1Vf59Y0G_2srj0cYups8ZvrzynQiEaYhQTdz4o10wF_G2HyPgk=",
  "id": "rs_0b44ef360268022d016ab49c3bc10087d0ad6ae4803e6b58bc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.15,\"right_z\":0.09,\"right_yaw\":0.3,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The hand held its position rather than following the combined turn and descent. I’m keeping its current wrist angle and taking a shorter approach step.\"}",
  "call_id": "call_4ul3rpWoKxD1WQwGJLYzSZBZ",
  "id": "fc_0b44ef360268022d016ab49c3c1df487d088fe521bb0802e10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4ul3rpWoKxD1WQwGJLYzSZBZ",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8566, 0.6827, -0.5129, -0.0261, -0.0525, 0.9995, 0.4168, 1.2427, 0.63, 0.0036, 0.0898, 0.0269, 0.651]\nstate[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1719 left_yaw=0.0028 left_pitch=-0.1193 left_roll=-0.0044 left_gripper=0.9995 right_x=0.3449 right_y=0.1393 right_z=0.1295 right_yaw=0.3142 right_pitch=-0.0358 right_roll=-0.0099 right_gripper=0.651\nstate[joint_eff]: [-0.1709, -1.5111, 6.9265, 1.6825, -0.0611, -0.0562, -0.0122, -0.1573, -4.4513, 7.5282, 1.9023, 0.0952, 0.0708, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2afd333d89c02847e1da2280bb47f1c7eaec621bbd462e64c0b16d51aed7002f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc02cb2b93758f77b5319b3fb6c8c0cd890a4fd8dc02aa40f70e6df5e500c7ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08ec771abaf79cbd0bada69371d371fbcb6168a3773a2239f59b73b2e7ac6833",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0265, 0.8513, 0.6823, -0.5045, -0.0265, -0.0528, 0.9995, 0.3466, 1.6714, 0.7593, 0.1932, -0.0395, -0.3325, 0.7995]\nstate[eef_state]: left_x=0.2907 left_y=0.0006 left_z=0.1748 left_yaw=0.0029 left_pitch=-0.1059 left_roll=-0.0048 left_gripper=0.9995 right_x=0.4005 right_y=0.1559 right_z=0.0554 right_yaw=0.5482 right_pitch=-0.1633 right_roll=-0.2083 right_gripper=0.7995\nstate[joint_eff]: [-0.5675, -1.0735, 9.7846, 1.6825, -0.1245, -0.1148, -0.0122, 0.0479, -8.6906, 7.0632, 1.8242, -0.1538, 0.0513, -0.0513]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8566, 0.6827, -0.5129, -0.0261, -0.0525, 0.9995, 0.4168, 1.2427, 0.63, 0.0036, 0.0898, 0.0273, 0.6516]\nstate[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1719 left_yaw=0.0028 left_pitch=-0.1193 left_roll=-0.0044 left_gripper=0.9995 right_x=0.3449 right_y=0.1393 right_z=0.1295 right_yaw=0.314 right_pitch=-0.0358 right_roll=-0.0096 right_gripper=0.6516\nstate[joint_eff]: [-0.0479, -1.4291, 7.2, 1.6142, -0.0659, -0.0708, -0.0122, -0.0479, -4.7932, 7.6786, 1.8974, 0.0659, 0.0855, 0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8566, 0.6827, -0.5129, -0.0261, -0.0525, 0.9995, 0.4168, 1.2427, 0.63, 0.0036, 0.0898, 0.0269, 0.651]\nstate[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1719 left_yaw=0.0028 left_pitch=-0.1193 left_roll=-0.0044 left_gripper=0.9995 right_x=0.3449 right_y=0.1393 right_z=0.1295 right_yaw=0.3142 right_pitch=-0.0358 right_roll=-0.0099 right_gripper=0.651\nstate[joint_eff]: [-0.1709, -1.5111, 6.9265, 1.6825, -0.0611, -0.0562, -0.0122, -0.1573, -4.4513, 7.5282, 1.9023, 0.0952, 0.0708, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2afd333d89c02847e1da2280bb47f1c7eaec621bbd462e64c0b16d51aed7002f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc02cb2b93758f77b5319b3fb6c8c0cd890a4fd8dc02aa40f70e6df5e500c7ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08ec771abaf79cbd0bada69371d371fbcb6168a3773a2239f59b73b2e7ac6833",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJxAPgzE38PcDWZuO4rBAyXf2miw3a9DqFV7r3I9Xl7k92ryR0SqypZGDiXdCoWs3JlwSjVJlIBdWGQ0_-lAq66c_KbnIipHJDNu0kpkInZEhhySWgcLYUl842oI3TIhYBzTd1ojGkb3nJRgpXWDMDDgzmsxLhrlglqi_2yJHCq-ni5TIZStnih5nqeSiSr6MLaLOj08AU_wd0G6kddu9lZ_b2AQ1PTyVqQO_Mwuog2E8ElBbrqnga6VrcmOUKWEG0oYqpBKX57_NXGJlfzKeK7bn_4xnXrhdJXYdz320nWhvrQHklUdbk121j7lgCtWfEtF5eHhrnpuQOc-IwC3bkRMB_NmCQdbPL63bwnYn9xa1ol2QJC3n-hXdIkNOevZGdpFu-skprRJBr1S8zA_SbihLuC7UG5do-ZwaG4ctQhAz4_L0YBBUXRnDaM_RMsBl78YYIc0mQyAuO1K6YUiHDmOVz_aJT01pRM4tsjLUZSEwVk8Kxt-HhuoxnMPUPQ6dc9U2qznv3g4APCfZYQ0bWLV723uLVyhUVtv6kqRLFzXHmBwC-lv2pzd8-k4_LS-0tMC67hurrjI0-LBX1rY9WLpao9tBhD6CiSh5Y_tN78c-xmNSdvNdQJxDkKba4SvdmqWvE6vXLepBKfWUHC8UH27gZXr-clJ6oR4zssju9VL-vWj8vmGDEYupBPXDdlQbUUMgEg29wlfgt6AkKLsWvNtyWDl6hQd9G5_gcYAczyHpU9VXulPFQUwyG7q04FW99NExCsVrY4AJ9x_qsxlnFJtyc1PHtupfxZJodupHSaXGLsioNd0OIBXQQrVPEK30Iy10i3CSGMuxrFJGKtGaKbmtyt6e4cu2N6P1CQ0jiOHGAiuSVrH6-7MNYQYcz8znNj62bNZ5uavgHRGHGTwb5L5j_oPe58bdkkG3_Jk-BL1kpYJ7sELp0k6csGKmgXKqYC8bsBdf4zlOaSuXR-w-AQsfVJ-O1DSeHcf77AUpPALnf1FxghKpVg_uk36DfSAnhgSvmiY_daeVSCcZrp2G5zAGRhpvPzEWxT7AAzvnzi9j54G_Zan3ssZxlrz6FN9OwGud8MF87eSLC3_ls7VyUxWVz-3DvVxlLzRiH962Z6hOxijeNRX0-31lW7s0ycG3MmA_Mqj2sxrXUyVD9vMd5Lyev9N5H4rOhJAaRBAzYj04qqBe1LcM-bU6b3Uqeu9VmiMPJ_iPPOsMEnVVDDRNfjdId38cSEruKhCi_cORvqoA5VqeFAZrADPezXV7Y3Gs8-vU44KlkZPKLXEU8LJ-Kkr4DIW9270XE7VG4UIlVDFf-5OpeZymh3sCJXEm28Xyi_k",
  "id": "rs_0b44ef360268022d016ab49c3ed8e887d0b6d950b370fc23f1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.19},\"note\":\"The right arm is not advancing even on the shorter step. I’m trying a straight vertical clearance move before deciding whether to switch arms.\"}",
  "call_id": "call_RpujuDsQfwYRPk1UsOINhI4M",
  "id": "fc_0b44ef360268022d016ab49c3f51b087d09ba58447a74f9153",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RpujuDsQfwYRPk1UsOINhI4M",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8566, 0.6827, -0.5129, -0.0261, -0.0525, 0.9995, 0.4171, 1.2098, 0.7769, -0.1894, 0.0891, 0.0227, 0.6509]\nstate[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1719 left_yaw=0.0028 left_pitch=-0.1193 left_roll=-0.0044 left_gripper=0.9995 right_x=0.3472 right_y=0.1406 right_z=0.1674 right_yaw=0.3175 right_pitch=-0.0492 right_roll=-0.0143 right_gripper=0.6509\nstate[joint_eff]: [-0.1026, -1.5932, 6.9265, 1.6093, -0.0464, -0.0415, -0.0122, -0.1709, -5.5863, 8.9504, 1.6728, -0.0073, -0.0073, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce0ae86d02a6a0c932a12cbbeb81396cc9f8bd9281507f72b677739cae2a0be4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:251d88a7104a80a8b2da692f59772663aa59cd43797ccae82596268ae6b828b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b289ae619e936ac4d75e46c358eb73db4ebaac8613ff4757f021957e7f2f5dc",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8558, 0.6827, -0.5125, -0.0261, -0.0525, 0.9995, 0.4107, 1.2819, 0.6308, 0.0319, 0.0582, -0.0406, 0.7999]\nstate[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1722 left_yaw=0.0028 left_pitch=-0.1181 left_roll=-0.0044 left_gripper=0.9995 right_x=0.3482 right_y=0.1443 right_z=0.1214 right_yaw=0.3712 right_pitch=-0.0485 right_roll=-0.0478 right_gripper=0.7999\nstate[joint_eff]: [-0.2667, -1.8393, 7.1043, 1.7558, -0.022, -0.0855, -0.0122, 0.2803, -5.5179, 7.747, 2.0342, 0.1978, 0.188, 0.0317]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8566, 0.6827, -0.5129, -0.0261, -0.0525, 0.9995, 0.4168, 1.2427, 0.63, 0.0036, 0.0898, 0.0269, 0.651]\nstate[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1719 left_yaw=0.0028 left_pitch=-0.1193 left_roll=-0.0044 left_gripper=0.9995 right_x=0.3449 right_y=0.1393 right_z=0.1295 right_yaw=0.3142 right_pitch=-0.0358 right_roll=-0.0099 right_gripper=0.651\nstate[joint_eff]: [-0.1709, -1.5111, 6.9265, 1.6825, -0.0611, -0.0562, -0.0122, -0.1573, -4.4513, 7.5282, 1.9023, 0.0952, 0.0708, -0.0708]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8566, 0.6827, -0.5129, -0.0261, -0.0525, 0.9995, 0.4171, 1.2098, 0.7769, -0.1894, 0.0891, 0.0227, 0.6509]\nstate[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1719 left_yaw=0.0028 left_pitch=-0.1193 left_roll=-0.0044 left_gripper=0.9995 right_x=0.3472 right_y=0.1406 right_z=0.1674 right_yaw=0.3175 right_pitch=-0.0492 right_roll=-0.0143 right_gripper=0.6509\nstate[joint_eff]: [-0.1026, -1.5932, 6.9265, 1.6093, -0.0464, -0.0415, -0.0122, -0.1709, -5.5863, 8.9504, 1.6728, -0.0073, -0.0073, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce0ae86d02a6a0c932a12cbbeb81396cc9f8bd9281507f72b677739cae2a0be4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:251d88a7104a80a8b2da692f59772663aa59cd43797ccae82596268ae6b828b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b289ae619e936ac4d75e46c358eb73db4ebaac8613ff4757f021957e7f2f5dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJxDSD1VP1a1FdP6gjMsGn5cJ-l4kgalhiLZmkWD4cTQFHRQJ2KLiSmbCfQ-nogyHfHtcl9iVCTlSfvAyZaPFCUo5jE3IQLG688YZnhhJKyFoibLesNYz-5wmm8ERnxccZiR-W8nD_ziCaHRbvVDmHzxmDLZGAZVT3mgfHW_QOmlZzvNuRm6SWuRrDQ9qBfEyAq3MU36jpS4fZnLIYpvjz5VTkVTBLdW_8r1xX_4cs7GLMEWqdzMk1eNrgVpaiLWedyAm2mtGtUTexy_d-1dxiSSuQwUI2Kx66JKDIYuEHsqdX9EhKsOhpnyxHa2hCsxzEq8yiX60mnTWkCPK2tXJqXRyk_UCO_jdJLrVgcj4teQ8AoxKYfm3DNqB4wtRyw4ucEESDCCn4iCygsf0vyDumhpZeYTBy68g-zGI7Tvz1ktvzisG5Qq8JSwAeF20IaVTXNC5lGiU_RXgHzjbAu4j-cOw9U5GBEQjfK410Xzvicq-46AxWdNFHgib4L4GN1z4rozH79f3-QVOV971Jk7Z5sD2qwfLEiNFIlA1YrXBeVot3u2A8M-65Lz0rDMroDf5Fd-9zbiNn7J8x3NI9Ul8uJP2uqyBmW6gLw8R2MnnDV8PlmUhMJ-X-FiV2c8-GC7V67tHCpmn3mBGowx-rDkCYv1MlUp2Qckccpoe-SetZVyhGC2bNgDcN62LUb8MMFcI1c4AKE3850sJ8n4DN1MBV3S8ni-iKpjPWXAsO_KOqp87jPJVZxMv_OPWNFhtwJkocxoRmg3BShURNixvezqtixjUSHD0GOpVK-qdwDqR1CmKofhiuZ-qqDttG--qtwboCEiuTBYLtht9ZIY0pB4oAfAkILktL0aP2Lntg3k9Aw6SJPn8HKJW1yRK86-Y50vd8hm0k81dAhDKwgt7NIGzSGvLgauu8R6xNaqALrwOKwARwH4SOTt1r93le8VQQDWvFDqKjqoYdDpGh4Cq3WiHvQahcphp8bh1kH7IukXw1kBh2VQel2XwLDkyuQ41BbDDEBDuc2bjPNnvHB9cTAXCCN2BTbEQw7ULBkS-nOkkHjk4GjXwzbDvx4WlUGKraqmBYtHZNm3RhTNdY46keZ7j0jgr5eN0UkRVjrvPArXdcm2vIzh5KT264qCdOac94RWlVjgnLd9NiTHerkBKxe4V3EjbOvEin4XnPNdsdVaPv4nPI7CB6ThzdENMu9suJ2AU1KkRt7XvtQxtB4iE5H6xjdVog==",
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  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.15},\"note\":\"The straight lift worked. I’m advancing above the pink rim while leaving the wrist angle unchanged, separating the reach from the descent.\"}",
  "call_id": "call_VOltFfjya8OrNTAmNvSEtd04",
  "id": "fc_0b44ef360268022d016ab49c4244e887d09935621052e89c69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VOltFfjya8OrNTAmNvSEtd04",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8612, 0.6827, -0.5137, -0.0261, -0.0521, 0.9995, 0.3393, 1.5379, 1.0065, -0.1551, 0.028, -0.0303, 0.651]\nstate[eef_state]: left_x=0.2899 left_y=0.0006 left_z=0.1705 left_yaw=0.0026 left_pitch=-0.1246 left_roll=-0.0039 left_gripper=0.9995 right_x=0.419 right_y=0.1464 right_z=0.1473 right_yaw=0.3196 right_pitch=-0.1159 right_roll=-0.0232 right_gripper=0.651\nstate[joint_eff]: [-0.0752, -1.3744, 7.0632, 1.6288, -0.0513, -0.0171, -0.0122, -0.5265, -7.1863, 9.1419, 1.7802, 0.0171, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91c997f530b965fe96e97f9c6b2af011ca2e0dcba10166aa5e860238f571ad5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47ddc5a1bfdb9ec303a63d8742c29f2b29882617bac7f3aa3e9f1551a98c08fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c77cc4333d129dfee1a6c9633c574542a3dd914a78a6f7fcf33104238598be31",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8566, 0.6827, -0.5129, -0.0261, -0.0525, 0.9995, 0.4168, 1.2427, 0.63, 0.0036, 0.0898, 0.0273, 0.6516]\nstate[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1719 left_yaw=0.0028 left_pitch=-0.1193 left_roll=-0.0044 left_gripper=0.9995 right_x=0.3449 right_y=0.1393 right_z=0.1295 right_yaw=0.314 right_pitch=-0.0358 right_roll=-0.0096 right_gripper=0.6516\nstate[joint_eff]: [-0.0479, -1.4291, 7.2, 1.6142, -0.0659, -0.0708, -0.0122, -0.0479, -4.7932, 7.6786, 1.8974, 0.0659, 0.0855, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8566, 0.6827, -0.5129, -0.0261, -0.0525, 0.9995, 0.4171, 1.2098, 0.7769, -0.1894, 0.0891, 0.0227, 0.6509]\nstate[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1719 left_yaw=0.0028 left_pitch=-0.1193 left_roll=-0.0044 left_gripper=0.9995 right_x=0.3472 right_y=0.1406 right_z=0.1674 right_yaw=0.3175 right_pitch=-0.0492 right_roll=-0.0143 right_gripper=0.6509\nstate[joint_eff]: [-0.1026, -1.5932, 6.9265, 1.6093, -0.0464, -0.0415, -0.0122, -0.1709, -5.5863, 8.9504, 1.6728, -0.0073, -0.0073, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8612, 0.6827, -0.5137, -0.0261, -0.0521, 0.9995, 0.3393, 1.5379, 1.0065, -0.1551, 0.028, -0.0303, 0.651]\nstate[eef_state]: left_x=0.2899 left_y=0.0006 left_z=0.1705 left_yaw=0.0026 left_pitch=-0.1246 left_roll=-0.0039 left_gripper=0.9995 right_x=0.419 right_y=0.1464 right_z=0.1473 right_yaw=0.3196 right_pitch=-0.1159 right_roll=-0.0232 right_gripper=0.651\nstate[joint_eff]: [-0.0752, -1.3744, 7.0632, 1.6288, -0.0513, -0.0171, -0.0122, -0.5265, -7.1863, 9.1419, 1.7802, 0.0171, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91c997f530b965fe96e97f9c6b2af011ca2e0dcba10166aa5e860238f571ad5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47ddc5a1bfdb9ec303a63d8742c29f2b29882617bac7f3aa3e9f1551a98c08fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c77cc4333d129dfee1a6c9633c574542a3dd914a78a6f7fcf33104238598be31",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJxHVNJAI2VW78UPDhJz2pLw4-I-ShGHPweGknkYEbUcuT5x-X7AV-HkqQ8J1w97ddSGTsin-8jOznnJTZKX4rsXF4vwnG4J2DhXkXtAs2mKOg1VfNypSuxY1qv9LSw1A24BPdK39KokmcXrYXE9xkLa0sCpXVCkUJoIuQOWQKCBseQ_LyN6VOwpAdPaszuDzBktFItudaAkd5bGjjUyi4RnmMtFo_DG9UtPrQpG-jjE49l-cqjl60JdBemSjJmhrdr13aAE_e1Ll19uzTTyy42J8zorNQgMYvIGKJJpi4h1b1sK1EpAXCWkrMQj25gzqLMEZ3RuJuCS5Xcgmzx6kB6RTsXtKYqjUaB_RQse8Bcg0NIHavoag_TMDiJK53JlRcrIklz_Fa1BeFPjVYm0Z6Z2HffKXmHoA_aL9oWrHcIHpsrtYSk_8eQM9HOMkI82M7jvuI3zTAM5HMOWAjOFpeMbBbwoHcIQ9_f5XSVbszSGkuOptKFWxVLJIuVt4xSvXHENJkiaaPXbgOBGYivgZe1pvRS_SgwhIRJwbVxvqltjYaDZEXphuQToJecdxGTUDNpX2XAokJRWQIH2qV-XmmpnJULcWl6i-hMK-VUy1NKD04RI1mwUFOt7Q-l_CRSft0XyIfAzQepJAcwT0Wd56Qto4GsdCHE-_W-wDSg8iQ7qpsMkurwl1kdMfHsGnVBJFt7PLqrE3ah2JFX_OjXruLQ65AX0dtHWZusZBYLc4XNZloscMo49QE5irzOxYR03xtHPqgwTb8Ebkt3CLZLR0nie5byVbxnAJkmqktWOHOg7iTMfACKKkCcH89InherF9wwenpuM1pOr6Ki5Cami1kmho-xxzBf0kKUUm8iKCzjYRbk_dYdMNjfLoA1ypvAozIdV3CzflLYhSDBpvlCv6Td6RKvBQLwXEG0d96X1gTNz2AjQiFNyimjEolrFRTFc0Ze0M2Ys6iuU-g8hJneTP9RzOdnOyCbiNb95QxVgqHjGu53gofDOnTY_SofKeDjJPw3L04D6rkezwg2AK3rbHQf6QeIFm1EJsczLTPP9owRyAp2_ah4N_GTGsk8yqHxkPd30XhZckg3OIyuqUsr146AuAdU5G8kW8TXBTscmd77mlrCYwqAYAhHe6v41nGQqsFqcTwqp9fQ_aKAZ2LhBFAWv_HkNPPmfYgu3hMWx4qG2KKasDnFi3sRbkCdVwS-QUWk7omnx1OQSFl4Q56y1DgVESWTe2nACPGZ-uCepd_nSzcHhMioTS4vTW_TM29Si9Np3HpYaM5o9plDQ70adhPwRbgfCJBddwlTw_9QMmCvvMSA=",
  "id": "rs_0b44ef360268022d016ab49c45168087d09cd8d7b42e1b0066",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.045},\"note\":\"The pink bowl’s right rim is just under the jaw path. I’m descending vertically at this alignment to avoid another sweeping contact.\"}",
  "call_id": "call_ZEKLPH7mCtIeVBCORwCKOlSH",
  "id": "fc_0b44ef360268022d016ab49c458f5087d09703b8af047990be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZEKLPH7mCtIeVBCORwCKOlSH",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8616, 0.6827, -0.5137, -0.0261, -0.0525, 0.9995, 0.3382, 1.7313, 0.7807, 0.2016, 0.0208, -0.0338, 0.6509]\nstate[eef_state]: left_x=0.2899 left_y=0.0006 left_z=0.1704 left_yaw=0.0028 left_pitch=-0.125 left_roll=-0.0042 left_gripper=0.9995 right_x=0.4096 right_y=0.144 right_z=0.0403 right_yaw=0.3263 right_pitch=-0.1786 right_roll=-0.022 right_gripper=0.6509\nstate[joint_eff]: [-0.1709, -1.5111, 6.9265, 1.6044, -0.0806, -0.0464, -0.0122, -0.0615, -7.4872, 5.5043, 1.7167, 0.0611, 0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec4192a079fa0a8753ab3cf6300bbcf6b1d7a0ce669967a2ae1d6016dd0d52de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6e7153109ec27653fb9398e35d4c4c5238e6694ccdbb07af380ca983919d193",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf4d8790c0831f730da1215ac908d1ed77698e3c63754a67c3087c7ea6afb64a",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8566, 0.6827, -0.5129, -0.0261, -0.0525, 0.9995, 0.4168, 1.2427, 0.63, 0.0036, 0.0898, 0.0269, 0.651]\nstate[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1719 left_yaw=0.0028 left_pitch=-0.1193 left_roll=-0.0044 left_gripper=0.9995 right_x=0.3449 right_y=0.1393 right_z=0.1295 right_yaw=0.3142 right_pitch=-0.0358 right_roll=-0.0099 right_gripper=0.651\nstate[joint_eff]: [-0.1709, -1.5111, 6.9265, 1.6825, -0.0611, -0.0562, -0.0122, -0.1573, -4.4513, 7.5282, 1.9023, 0.0952, 0.0708, -0.0708]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8612, 0.6827, -0.5137, -0.0261, -0.0521, 0.9995, 0.3393, 1.5379, 1.0065, -0.1551, 0.028, -0.0303, 0.651]\nstate[eef_state]: left_x=0.2899 left_y=0.0006 left_z=0.1705 left_yaw=0.0026 left_pitch=-0.1246 left_roll=-0.0039 left_gripper=0.9995 right_x=0.419 right_y=0.1464 right_z=0.1473 right_yaw=0.3196 right_pitch=-0.1159 right_roll=-0.0232 right_gripper=0.651\nstate[joint_eff]: [-0.0752, -1.3744, 7.0632, 1.6288, -0.0513, -0.0171, -0.0122, -0.5265, -7.1863, 9.1419, 1.7802, 0.0171, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8616, 0.6827, -0.5137, -0.0261, -0.0525, 0.9995, 0.3382, 1.7313, 0.7807, 0.2016, 0.0208, -0.0338, 0.6509]\nstate[eef_state]: left_x=0.2899 left_y=0.0006 left_z=0.1704 left_yaw=0.0028 left_pitch=-0.125 left_roll=-0.0042 left_gripper=0.9995 right_x=0.4096 right_y=0.144 right_z=0.0403 right_yaw=0.3263 right_pitch=-0.1786 right_roll=-0.022 right_gripper=0.6509\nstate[joint_eff]: [-0.1709, -1.5111, 6.9265, 1.6044, -0.0806, -0.0464, -0.0122, -0.0615, -7.4872, 5.5043, 1.7167, 0.0611, 0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec4192a079fa0a8753ab3cf6300bbcf6b1d7a0ce669967a2ae1d6016dd0d52de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6e7153109ec27653fb9398e35d4c4c5238e6694ccdbb07af380ca983919d193",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf4d8790c0831f730da1215ac908d1ed77698e3c63754a67c3087c7ea6afb64a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0b44ef360268022d016ab49c49253c87d095144825944bde88",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"One finger is inside the pink bowl and the other is outside its right wall. I’m closing on the rim and will keep the close command active during the lift.\"}",
  "call_id": "call_LuKOwYBE2OHnbRfypufRHISE",
  "id": "fc_0b44ef360268022d016ab49c49ade087d09eef92728fdf3d96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LuKOwYBE2OHnbRfypufRHISE",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8616, 0.6827, -0.5137, -0.0261, -0.0521, 0.9995, 0.3382, 1.7367, 0.765, 0.2153, 0.0013, -0.0322, 0.0385]\nstate[eef_state]: left_x=0.2899 left_y=0.0006 left_z=0.1704 left_yaw=0.0026 left_pitch=-0.125 left_roll=-0.0039 left_gripper=0.9995 right_x=0.4053 right_y=0.1461 right_z=0.0347 right_yaw=0.3422 right_pitch=-0.1859 right_roll=-0.0073 right_gripper=0.0385\nstate[joint_eff]: [-0.0615, -1.4291, 6.9402, 1.619, -0.0806, -0.0366, -0.0122, -0.1846, -7.3778, 6.8581, 1.4139, 0.2418, 0.0513, 1.1355]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95a8b3f20c573e47766f5d47dbb250b5a53bcd25ba1801056834cc6a9e168acb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df0471f806c8f7a1f028157d13995b36d63f749ad036e7289cffaac5095d04cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0b888ecf7949672c9b2eb8f3a4b2190f22f33db548537b13a288fc06c2388e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8566, 0.6827, -0.5129, -0.0261, -0.0525, 0.9995, 0.4171, 1.2098, 0.7769, -0.1894, 0.0891, 0.0227, 0.6509]\nstate[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1719 left_yaw=0.0028 left_pitch=-0.1193 left_roll=-0.0044 left_gripper=0.9995 right_x=0.3472 right_y=0.1406 right_z=0.1674 right_yaw=0.3175 right_pitch=-0.0492 right_roll=-0.0143 right_gripper=0.6509\nstate[joint_eff]: [-0.1026, -1.5932, 6.9265, 1.6093, -0.0464, -0.0415, -0.0122, -0.1709, -5.5863, 8.9504, 1.6728, -0.0073, -0.0073, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8616, 0.6827, -0.5137, -0.0261, -0.0525, 0.9995, 0.3382, 1.7313, 0.7807, 0.2016, 0.0208, -0.0338, 0.6509]\nstate[eef_state]: left_x=0.2899 left_y=0.0006 left_z=0.1704 left_yaw=0.0028 left_pitch=-0.125 left_roll=-0.0042 left_gripper=0.9995 right_x=0.4096 right_y=0.144 right_z=0.0403 right_yaw=0.3263 right_pitch=-0.1786 right_roll=-0.022 right_gripper=0.6509\nstate[joint_eff]: [-0.1709, -1.5111, 6.9265, 1.6044, -0.0806, -0.0464, -0.0122, -0.0615, -7.4872, 5.5043, 1.7167, 0.0611, 0.0073, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8616, 0.6827, -0.5137, -0.0261, -0.0521, 0.9995, 0.3382, 1.7367, 0.765, 0.2153, 0.0013, -0.0322, 0.0385]\nstate[eef_state]: left_x=0.2899 left_y=0.0006 left_z=0.1704 left_yaw=0.0026 left_pitch=-0.125 left_roll=-0.0039 left_gripper=0.9995 right_x=0.4053 right_y=0.1461 right_z=0.0347 right_yaw=0.3422 right_pitch=-0.1859 right_roll=-0.0073 right_gripper=0.0385\nstate[joint_eff]: [-0.0615, -1.4291, 6.9402, 1.619, -0.0806, -0.0366, -0.0122, -0.1846, -7.3778, 6.8581, 1.4139, 0.2418, 0.0513, 1.1355]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95a8b3f20c573e47766f5d47dbb250b5a53bcd25ba1801056834cc6a9e168acb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df0471f806c8f7a1f028157d13995b36d63f749ad036e7289cffaac5095d04cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0b888ecf7949672c9b2eb8f3a4b2190f22f33db548537b13a288fc06c2388e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJxNCNKWQoWbJnT5v4wj_7SLtmswjtaN0r7LNyY_-fMrjSjq3VCgKF7KYCDMljzW0ZHzW9UD7CszhaZqDiuyLyq7S4tNtKtvqRGccVexynqAf0keLnjEiZmhWsJumbLVvdaCEWItftkfd68QP37e3yBQoVnw3fIMa3RTsQoi3SEgiceEoPd7mO9RsEo0-pCsF-qJAt2x5_LK92IYQu40zwK4y60udzNUAP0ddjbtDkvXZQRQM9ChVpEwvt7lX5h0z5jHe-8hAb8dL9lA-CbCxt9CUj151xuVHASBsSCiUyHAZUXHDsmwnk_31upcMT8fzfI1UC2TahVgx9iTwd0NHW6xzZVOtz_iQIucMKVSGLpKa3pyq5OqmRIg8NIZZ-sFvm8rcSI5FLNhC9XbTnI3z-kRxFXbtY9wUPnyBT3rPbgVChwqOvODAVcrN7FTKsTP7gKMp-NJzNhI6tc3NBvTFfRbPJJbB83Q7OrgcTpdGkasaT4zAMDD3_xkhoN_auEZe-cV9RSEg_or_JnG9b-JYRTDKSRLRBjnHq2WipFcCJYpsYlqlNYNDkdJFlo4_cabKfqEap3sMmo-tw-WTkGQAo5fAz7PjwpbvQ0rbUVwhYBubBphn9a_HJbYIbBs-Mqi8BNAjobaRIYSrXe12jCT4nXM_QOXjlfKPUe3iHAn6D0Gs47U9_hrjPCmkeJvgmO6FHTTnZCtKRR59BqxAYglwX49Onx_d7d812-LhKbVydMTtNLlfGgZfS6q5thv2e6tMEfASdHYQiy9SuZa6iMYapIsnq3Y7o7bOU_O6dWnS2TIk3Ur6-rrMhWNMm-FjEqFGxC_0AlOHHJYltzS7GSC1o-qwK8S-UcjHeYGMkH-dzPtbSeWyI9pl5UePlVpJpbxN_CMotgubKK00lM8KYmmhaJldJfcTn-GCuiyqhcWxR-Z4tLrt6Z2bJGzE1kz7-Ka3RIvMiZ0YYKk9wUEMfuPsa_FAQpsFYcvqXnmrm_FlbQ1gp_tIUAKCVtne6DndLY_6LTa-T2NsHwV3qWqsNTip4LXWFdPl9iLcXRozYafY3A8H6i_ujWZwqNRRxSIpSt4xEKfqY4EgUqmXv7YD22Fh525gVguPXowRRx0JDWHvVUWI8w3cOzHK2ZPBX4ZBCYmu81u3O8zgz9lAT_3lwoim5pk1B6O7ZWbWcFmjqEGbLogdZqAxxGQbnX3EkVBawYPNZE46LGr46hSoqJmRcbjheQ2eaBLqfYoGiDJYpSWDMEzykxs-85A7Bze0Ml3HrsASHFs",
  "id": "rs_0b44ef360268022d016ab49c4c60a087d0a964ca3b5986aa62",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.105,\"right_gripper\":0},\"note\":\"The jaw gap is very small, so this may be only a thin rim grip or an empty close. I’m testing a short vertical lift while maintaining closure.\"}",
  "call_id": "call_d2lUNLChxOKrp6N1bpXWkSHq",
  "id": "fc_0b44ef360268022d016ab49c4cabf487d08bf4667b3b5c23b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_d2lUNLChxOKrp6N1bpXWkSHq",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8623, 0.6827, -0.5137, -0.0261, -0.0521, 0.9995, 0.3382, 1.61, 0.8711, -0.0483, -0.0082, -0.0418, 0.0369]\nstate[eef_state]: left_x=0.2899 left_y=0.0006 left_z=0.1702 left_yaw=0.0026 left_pitch=-0.1257 left_roll=-0.0039 left_gripper=0.9995 right_x=0.4003 right_y=0.1461 right_z=0.0805 right_yaw=0.3557 right_pitch=-0.2168 right_roll=-0.0072 right_gripper=0.0369\nstate[joint_eff]: [-0.0479, -1.5385, 7.159, 1.6239, -0.0513, -0.0464, -0.0122, -0.1846, -9.4017, 9.1419, 1.7021, 0.0562, 0.0611, 0.9206]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e77b17fd62f3868e1cafeb4017e20221c705e100ee3f6363ac854998d8fb3fde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12e3f7b75c6899c5cecff5a7136c0a03b039b234dd6381ca151d8ae1f2c4393b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc49981fff2bcb506e8cbf046b683deca231d0c0472f88930a17b58e2141e597",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8612, 0.6827, -0.5137, -0.0261, -0.0521, 0.9995, 0.3393, 1.5379, 1.0065, -0.1551, 0.028, -0.0303, 0.651]\nstate[eef_state]: left_x=0.2899 left_y=0.0006 left_z=0.1705 left_yaw=0.0026 left_pitch=-0.1246 left_roll=-0.0039 left_gripper=0.9995 right_x=0.419 right_y=0.1464 right_z=0.1473 right_yaw=0.3196 right_pitch=-0.1159 right_roll=-0.0232 right_gripper=0.651\nstate[joint_eff]: [-0.0752, -1.3744, 7.0632, 1.6288, -0.0513, -0.0171, -0.0122, -0.5265, -7.1863, 9.1419, 1.7802, 0.0171, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8616, 0.6827, -0.5137, -0.0261, -0.0521, 0.9995, 0.3382, 1.7367, 0.765, 0.2153, 0.0013, -0.0322, 0.0385]\nstate[eef_state]: left_x=0.2899 left_y=0.0006 left_z=0.1704 left_yaw=0.0026 left_pitch=-0.125 left_roll=-0.0039 left_gripper=0.9995 right_x=0.4053 right_y=0.1461 right_z=0.0347 right_yaw=0.3422 right_pitch=-0.1859 right_roll=-0.0073 right_gripper=0.0385\nstate[joint_eff]: [-0.0615, -1.4291, 6.9402, 1.619, -0.0806, -0.0366, -0.0122, -0.1846, -7.3778, 6.8581, 1.4139, 0.2418, 0.0513, 1.1355]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8623, 0.6827, -0.5137, -0.0261, -0.0521, 0.9995, 0.3382, 1.61, 0.8711, -0.0483, -0.0082, -0.0418, 0.0369]\nstate[eef_state]: left_x=0.2899 left_y=0.0006 left_z=0.1702 left_yaw=0.0026 left_pitch=-0.1257 left_roll=-0.0039 left_gripper=0.9995 right_x=0.4003 right_y=0.1461 right_z=0.0805 right_yaw=0.3557 right_pitch=-0.2168 right_roll=-0.0072 right_gripper=0.0369\nstate[joint_eff]: [-0.0479, -1.5385, 7.159, 1.6239, -0.0513, -0.0464, -0.0122, -0.1846, -9.4017, 9.1419, 1.7021, 0.0562, 0.0611, 0.9206]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e77b17fd62f3868e1cafeb4017e20221c705e100ee3f6363ac854998d8fb3fde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12e3f7b75c6899c5cecff5a7136c0a03b039b234dd6381ca151d8ae1f2c4393b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc49981fff2bcb506e8cbf046b683deca231d0c0472f88930a17b58e2141e597",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJxUd725sn1-a-omfKUaT9t6HHtvpW0BRLHKSMIqKbDi25fCavkmV0mI8CueQdFnKIztL4lU6pPctxcmfDCopOas9aaparp2YjKAxf9qOb9fFWv4czX9F80ZXRz7MXWnXF0x4stU6IgrVY6ymN7scHo-PXiWkLiEPBcjZYxH5hxN-PH_UgiKOVLzGhT0pIMeP16qRvioqwqpe3k02ujFEBTYrHleyZJ4tHtFuJ1gGgNsytFsfAJh2jtsf29XuLwToJsy3oBcChkVkVzXR7b162TDrhfB4H12b6rJEQ2dzWdTxE7n32zqjJsgKmdWhKVtH99PcWVgvuTmEGEg-TgJM5YofdeKxby2-YLbmQRR8ua7MM8xFaDHBjR8nfbpaLSZTzGg3uAMv-SFDSM7owPAvlGm45EntiYo9VHj96TqyU4KRCOnudI09bc87XsrurBV6wAbv7u8gF2FRtAOhH88_9DkhMWFmOowUC2Sca4f_2Re_N2RG2kvbR2_qG20qDMwuJY9E8xiS1VKdfBU890sMTAWFhhSNP7LVGMqXl-SU2nkjIGXQPeNpD8TE2j_WFWDrWPu9V6FsKbIyNwLOzwuat5ur1hYe03kegMinpr1kzbZdS4oWvAVelyzhoZSSbrnBOzn6SEjOiDc40eaz9oKYKM5QYrENsBooRVdwGXhl99wc7IC83YZItwbR7UBMTX5Ly3P5eb4FkPBWqceiwLKuIYswW_Mt92YVoUjkA5KX87eMHhKQeeaVIhQycdArXXf0sZPQRsY4Gx7YIzQr3uV51dGTWMrrBxw_V8dcfxUANqaiOSD8ODguwXVLUJ2r2LskeFvD3gfMoxJXjF5xTE-AbqGNX8xZ1gWbH9OLBWnE8dAC-fhuBkpg85bERK_5IUnHDAjD0TMHYzpQQLLQs7dALfE5PQwHKaf6w-asnfqcfxtMRWyPn00BzXT3qNQUSBOFG51aXYpOSbX1UdmazfieC8gWH75jSB62Acik7m1PixEFCY3i3H8Z94m8BLLVWqBgUZXlgArbSv3ZBl_4dxJb7bmN6AY2olzM31op7JBY99TQ70NUR55T0gBJE-E2J7zdElP_BXJ5AaOn06LPGTKJ4YO9Oz7UMYEhEvrdx7K35pENXLOdTPYVwfHLKi1H_2OE28FkQSe4sZtbQEngv5ij7O6O8eMQbLnwQWAmj3It_WYYRKEB7v9Q0I4PFZRdrV4v8SgbsGH0k5QvlsyxhllAuFSPL8SsEZk2RK2e8XQ17k1VVb5wQbOAZ2haXi3zppDB_Z9Zy4ZD5723A4Otkm-ivkxDm8aAwBI8ph6tOGTe47-oL9lv0o52toCciWNmBZM2pf8Txov6uS9g14nn0bPI2tmtOAEuLbDjVGUbz8BZCjMbpY1yhWovcRia6BPNDfbk1M1Qln634R8hnO5prjHtNE29b-WGv2KnC8tJfec5PSbbo7yD2nyAVe8z2BwOslTyPyY_fs_so5h4ncZMidyi_mbr3s0DbZexxMaKrZh03MXZw9AE1U5NGG-ejPZ0b7S4pj3_Be2nfFuWz8JnVSd8SYtmMjGNoaYlpeYmBE1qD1err5jv93mTguqW9EVoi1RD4Mpd7weAF5PvyVvWkSvdbT_jbl-J8o82tNZgza2WWUyCgzsH3MfJSIHttsX8fSRba7p954dZaB-yLaLWc2b69SLC_sopZTPkOjnwFBuLqxzTdvCU0qql5ZUYv8B6J2V1TZranjmxg6afttLtHVFP3rbupdr1gJsBCY6f4SFt2rPCM9f5A2CY53KYIc_gAxLFSMdE_0O54ZRXw6eRn0yErt9NQdVhjSFt071t10ydTT6WU_PSYmD4ZmBvTsv-HTwbldhuPSDl8fldT-_D5dP8Xn7Rm3RAgFJNkdVwQlMAy2XZzaLFsg205yOLhTDNZIYBLQAg3q4TO2unaOXuII7dJ_wBEN5Au1fgYvsSAXLuLrPNv9VCtQbnMahbmQGeC4kzLq7o21eL-RO-SsWuHuDLAN6tp-4WMbtoPoTDSK9K5MYybu_ZxDD3uPItD0snBbthaFlIKuk7T2yTm9adwE1b0biFHIrQWswv_Kq6tRJJcrEkfn2wnU7aTAfi46HSfXBudXWboKNXeeIAFeXSLmznYJXB1Ztoh0UGLW2NjHQalpXO2EmAVmXkY_m3gGVmW8QvRm23QFXLbRIBxR_LCEkRYRoh6ZRo6vX08tMrAkdw0xDnHmASKlWoaoczTK34aWzX3LWcRV0PpKliqimJGlz6IdM8nTKL_V_QbHR74131gqZwSmdjdu6ds4chOajUKsLmceQ",
  "id": "rs_0b44ef360268022d016ab49c4f2e4887d099c8e0f8e200e1c9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.165,\"right_z\":0.07,\"right_gripper\":0.65},\"note\":\"The bowl did not rise with the hand, confirming that close was empty. I’m opening and shifting a little forward and inward so the fingers straddle the wall rather than meet outside it.\"}",
  "call_id": "call_JOSdS0kPwffG29JobM7vn1qL",
  "id": "fc_0b44ef360268022d016ab49c52c56487d0a5ea2e20e6cc6c5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JOSdS0kPwffG29JobM7vn1qL",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8635, 0.6827, -0.5137, -0.0261, -0.0521, 0.9995, 0.3599, 1.7443, 0.9504, -0.0528, -0.0078, -0.0441, 0.6458]\nstate[eef_state]: left_x=0.29 left_y=0.0006 left_z=0.1699 left_yaw=0.0026 left_pitch=-0.1269 left_roll=-0.0038 left_gripper=0.9995 right_x=0.4135 right_y=0.1609 right_z=0.0547 right_yaw=0.3786 right_pitch=-0.2763 right_roll=-0.008 right_gripper=0.6458\nstate[joint_eff]: [-0.0752, -1.7026, 6.9402, 1.5995, -0.0464, -0.0171, -0.0122, 0.335, -7.7607, 9.1145, 1.6239, 0.105, 0.1636, -0.1392]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b54f915d4e9d73896529d4aa32103326c8f34c348e671694df64cbcb163e658d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06422752970aee81d6d96afd6e8bd6f7a71e126bcdc378c8c4c1705f8ce995fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:794ff2afb3116dd6ce118db4ec1fd8d6f5c23c1584dbce2be6dd3102b2292443",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8616, 0.6827, -0.5137, -0.0261, -0.0525, 0.9995, 0.3382, 1.7313, 0.7807, 0.2016, 0.0208, -0.0338, 0.6509]\nstate[eef_state]: left_x=0.2899 left_y=0.0006 left_z=0.1704 left_yaw=0.0028 left_pitch=-0.125 left_roll=-0.0042 left_gripper=0.9995 right_x=0.4096 right_y=0.144 right_z=0.0403 right_yaw=0.3263 right_pitch=-0.1786 right_roll=-0.022 right_gripper=0.6509\nstate[joint_eff]: [-0.1709, -1.5111, 6.9265, 1.6044, -0.0806, -0.0464, -0.0122, -0.0615, -7.4872, 5.5043, 1.7167, 0.0611, 0.0073, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8623, 0.6827, -0.5137, -0.0261, -0.0521, 0.9995, 0.3382, 1.61, 0.8711, -0.0483, -0.0082, -0.0418, 0.0369]\nstate[eef_state]: left_x=0.2899 left_y=0.0006 left_z=0.1702 left_yaw=0.0026 left_pitch=-0.1257 left_roll=-0.0039 left_gripper=0.9995 right_x=0.4003 right_y=0.1461 right_z=0.0805 right_yaw=0.3557 right_pitch=-0.2168 right_roll=-0.0072 right_gripper=0.0369\nstate[joint_eff]: [-0.0479, -1.5385, 7.159, 1.6239, -0.0513, -0.0464, -0.0122, -0.1846, -9.4017, 9.1419, 1.7021, 0.0562, 0.0611, 0.9206]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8635, 0.6827, -0.5137, -0.0261, -0.0521, 0.9995, 0.3599, 1.7443, 0.9504, -0.0528, -0.0078, -0.0441, 0.6458]\nstate[eef_state]: left_x=0.29 left_y=0.0006 left_z=0.1699 left_yaw=0.0026 left_pitch=-0.1269 left_roll=-0.0038 left_gripper=0.9995 right_x=0.4135 right_y=0.1609 right_z=0.0547 right_yaw=0.3786 right_pitch=-0.2763 right_roll=-0.008 right_gripper=0.6458\nstate[joint_eff]: [-0.0752, -1.7026, 6.9402, 1.5995, -0.0464, -0.0171, -0.0122, 0.335, -7.7607, 9.1145, 1.6239, 0.105, 0.1636, -0.1392]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b54f915d4e9d73896529d4aa32103326c8f34c348e671694df64cbcb163e658d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06422752970aee81d6d96afd6e8bd6f7a71e126bcdc378c8c4c1705f8ce995fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:794ff2afb3116dd6ce118db4ec1fd8d6f5c23c1584dbce2be6dd3102b2292443",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJxYMPMN4DOxyDdhIy1cxAMNqJcKt9qo_4DL8UvLZPOkqEJjZ74v4h_5zu647osSHuPPAOBGLK-gCAHm19UgJLWsI4qs-ym1NFJS_hqWEnw3co0YbBmWJOqPjuhE-D8-s9jDvzcnXRkt0-evX_RO9zs_lCKEerPxjHqfpA5rQ9H_i1C1lfMTMd4410UdYE_YZ6isjjsnB4UXFMpcOyP9k0PqoKJyu3u1SxyoVdrqje6uj1KR6fhErsr64EwARTMUPc_yLjrN1YLt4ZWnQSm7YN5_JoAtl2vf7I1rl6H1wyXzg5YQp9OhLulQ_tlPgkTyKfszL-N865u7f0eKhx1DlEhv174KWgKbHSihTxtzZAvYUiMuC7aLJsxjoCxtzZat5RRhuwGMw0SOlaFsYir1EiIeb3sEsZUvMyeYH_eRGQNC1ErS77paIK-UfEnLQ6dRfXSLNgMrIvnctklkS8OEEJeL0VCkRKQrmW8Udp9qYEijgnWGhMpM3zRZP4WWZ1fPNJS0UiA46ZMFmvyGDdSAAA7VvKIVWQqrZhr7obYevrwOrNMRWc3D0kAup-s9smcOfzroFvxGPg-7h2ib0QdQI7gLCnDE9YWCh1yYPPtag175_s-VwF4-A4NRszPRSNtHysRLDa_hsnUbW_Est9Fg9Hl_NeTiw3mhuett8t3G1zdAHrh_4bmHKUUmI1PMMv7pSnjU6fSNSEMenqOXiYARQEfn_3cj9-_--0fIcJgyH8tqq_PGZm3-Qq4UndQJk7lBuMdMRB8z-1twnbuBMvasFOakFr1wBkIo1aUKtSeAFyByh7Za30VQgw5mzLh4fEYt-Z1FA57gZTXNvVl5X54TzPuMZ6NjikfAS8jjJaxjZc3PNb3e07Q_6BmPm8Wy6onOXFdQkZdtg9LvSP6YXuVmpbecp-g-mMz_sGHS6Uj6ph4SWOYZryV5UMzN8nUod5X3_6FDbBI-Eapn9OTWOMbVBZ-9ms9mqPwTwQ8RKD7dNc9lVpnM6XdXR_LlJyi7PZcilLWmlcdrzqX2c-jDEvuc3XJ4b7uYj9GxKB_-Nh3dYDEDLEBciWerzqzzrTbpEJiLpPW_NmJocHHIBw2zXN8HZPqLSg7ETiJ4cpGzB562VYOiKEqSCPEC1vOswyBE989NJ0QkPmRjpkdz9k77t7lryLbOxMM1o1x5Cj0YlQlpw8qv3jp6zE_c17LIAR20i-q48yVCj2Z5UH5pTJwrj7kycfnaxsno2jB8FfET8tAKK-YW2Iak3KGzCZzx4MbaKpbVnipyGsBYRsH1t4lJ4hi4t5XpS3JPCEIB3mCMRbexlCkAyDp0QuBEZ2FJMTEALgsgPEMpA2BVMz_36zrxE-1AhjTo3L75gh7qR2Y0EE22uWE7Poc=",
  "id": "rs_0b44ef360268022d016ab49c55e6cc87d0accfffc30a9b3d36",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.025},\"note\":\"The right wall now runs between the open fingertips. I’m lowering just enough to get a firm bite below the lip.\"}",
  "call_id": "call_ZyHNc0y8QZcc0iF1fBlHNeRC",
  "id": "fc_0b44ef360268022d016ab49c566b1887d08e9d830cac68969b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZyHNc0y8QZcc0iF1fBlHNeRC",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8642, 0.6823, -0.5137, -0.0261, -0.0525, 0.9995, 0.3595, 1.7737, 0.9241, 0.0158, -0.0086, -0.0456, 0.6467]\nstate[eef_state]: left_x=0.29 left_y=0.0006 left_z=0.1695 left_yaw=0.0028 left_pitch=-0.128 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4156 right_y=0.1617 right_z=0.0437 right_yaw=0.3797 right_pitch=-0.2633 right_roll=-0.0087 right_gripper=0.6467\nstate[joint_eff]: [-0.0342, -1.5385, 7.0222, 1.5995, -0.0562, -0.0464, -0.0122, -0.1573, -6.4752, 4.9299, 1.37, -0.0269, 0.0122, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66a10dbfd1b620ae246978b90ac00527896189aaf02bfba4feaf2fd462dcee66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8656ad0b2883ff930f52ec7911eaa59e3e75a73e414b16b3ac8bb08324f00cdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fbe729d0ad5fa48c26fa6c178e8179a4fbf708c23f2eb475e707380d909e4bb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8616, 0.6827, -0.5137, -0.0261, -0.0521, 0.9995, 0.3382, 1.7367, 0.765, 0.2153, 0.0013, -0.0322, 0.0385]\nstate[eef_state]: left_x=0.2899 left_y=0.0006 left_z=0.1704 left_yaw=0.0026 left_pitch=-0.125 left_roll=-0.0039 left_gripper=0.9995 right_x=0.4053 right_y=0.1461 right_z=0.0347 right_yaw=0.3422 right_pitch=-0.1859 right_roll=-0.0073 right_gripper=0.0385\nstate[joint_eff]: [-0.0615, -1.4291, 6.9402, 1.619, -0.0806, -0.0366, -0.0122, -0.1846, -7.3778, 6.8581, 1.4139, 0.2418, 0.0513, 1.1355]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8635, 0.6827, -0.5137, -0.0261, -0.0521, 0.9995, 0.3599, 1.7443, 0.9504, -0.0528, -0.0078, -0.0441, 0.6458]\nstate[eef_state]: left_x=0.29 left_y=0.0006 left_z=0.1699 left_yaw=0.0026 left_pitch=-0.1269 left_roll=-0.0038 left_gripper=0.9995 right_x=0.4135 right_y=0.1609 right_z=0.0547 right_yaw=0.3786 right_pitch=-0.2763 right_roll=-0.008 right_gripper=0.6458\nstate[joint_eff]: [-0.0752, -1.7026, 6.9402, 1.5995, -0.0464, -0.0171, -0.0122, 0.335, -7.7607, 9.1145, 1.6239, 0.105, 0.1636, -0.1392]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8642, 0.6823, -0.5137, -0.0261, -0.0525, 0.9995, 0.3595, 1.7737, 0.9241, 0.0158, -0.0086, -0.0456, 0.6467]\nstate[eef_state]: left_x=0.29 left_y=0.0006 left_z=0.1695 left_yaw=0.0028 left_pitch=-0.128 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4156 right_y=0.1617 right_z=0.0437 right_yaw=0.3797 right_pitch=-0.2633 right_roll=-0.0087 right_gripper=0.6467\nstate[joint_eff]: [-0.0342, -1.5385, 7.0222, 1.5995, -0.0562, -0.0464, -0.0122, -0.1573, -6.4752, 4.9299, 1.37, -0.0269, 0.0122, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66a10dbfd1b620ae246978b90ac00527896189aaf02bfba4feaf2fd462dcee66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8656ad0b2883ff930f52ec7911eaa59e3e75a73e414b16b3ac8bb08324f00cdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fbe729d0ad5fa48c26fa6c178e8179a4fbf708c23f2eb475e707380d909e4bb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The descent stopped slightly high, consistent with a fingertip touching the bowl. I’m closing at this height rather than pushing farther down.\"}",
  "call_id": "call_j8YVkoqKYLTrCcUHEUkU9rFD",
  "id": "fc_0b44ef360268022d016ab49c599b6087d0b11c69e5c57a901b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j8YVkoqKYLTrCcUHEUkU9rFD",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8642, 0.6827, -0.5137, -0.0261, -0.0525, 0.9995, 0.3595, 1.7969, 0.8974, 0.004, -0.009, -0.0528, 0.0084]\nstate[eef_state]: left_x=0.29 left_y=0.0006 left_z=0.1697 left_yaw=0.0028 left_pitch=-0.1277 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4033 right_y=0.1571 right_z=0.0223 right_yaw=0.3845 right_pitch=-0.3251 right_roll=-0.0119 right_gripper=0.0084\nstate[joint_eff]: [-0.0068, -1.6205, 7.159, 1.6386, -0.0464, -0.0415, -0.0122, -0.1026, -10.3453, 7.9932, 1.5507, -0.0171, 0.0464, 0.6813]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5dbb6a8dfda707dbb838f4c8d6977e3e3c5349e26d53f5f32ec387f6016c38c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70285397aab3db225973754e0384c2732ed99973da88d547d1ac7df0096d4885",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b49c6e44300f8c9253cdce5df27617606f137e761e0049d392dbb8ee357d199c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 86 changed as sent

message 94 changed as sent

message 97 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8623, 0.6827, -0.5137, -0.0261, -0.0521, 0.9995, 0.3382, 1.61, 0.8711, -0.0483, -0.0082, -0.0418, 0.0369]\nstate[eef_state]: left_x=0.2899 left_y=0.0006 left_z=0.1702 left_yaw=0.0026 left_pitch=-0.1257 left_roll=-0.0039 left_gripper=0.9995 right_x=0.4003 right_y=0.1461 right_z=0.0805 right_yaw=0.3557 right_pitch=-0.2168 right_roll=-0.0072 right_gripper=0.0369\nstate[joint_eff]: [-0.0479, -1.5385, 7.159, 1.6239, -0.0513, -0.0464, -0.0122, -0.1846, -9.4017, 9.1419, 1.7021, 0.0562, 0.0611, 0.9206]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8642, 0.6823, -0.5137, -0.0261, -0.0525, 0.9995, 0.3595, 1.7737, 0.9241, 0.0158, -0.0086, -0.0456, 0.6467]\nstate[eef_state]: left_x=0.29 left_y=0.0006 left_z=0.1695 left_yaw=0.0028 left_pitch=-0.128 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4156 right_y=0.1617 right_z=0.0437 right_yaw=0.3797 right_pitch=-0.2633 right_roll=-0.0087 right_gripper=0.6467\nstate[joint_eff]: [-0.0342, -1.5385, 7.0222, 1.5995, -0.0562, -0.0464, -0.0122, -0.1573, -6.4752, 4.9299, 1.37, -0.0269, 0.0122, 0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8642, 0.6827, -0.5137, -0.0261, -0.0525, 0.9995, 0.3595, 1.7969, 0.8974, 0.004, -0.009, -0.0528, 0.0084]\nstate[eef_state]: left_x=0.29 left_y=0.0006 left_z=0.1697 left_yaw=0.0028 left_pitch=-0.1277 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4033 right_y=0.1571 right_z=0.0223 right_yaw=0.3845 right_pitch=-0.3251 right_roll=-0.0119 right_gripper=0.0084\nstate[joint_eff]: [-0.0068, -1.6205, 7.159, 1.6386, -0.0464, -0.0415, -0.0122, -0.1026, -10.3453, 7.9932, 1.5507, -0.0171, 0.0464, 0.6813]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5dbb6a8dfda707dbb838f4c8d6977e3e3c5349e26d53f5f32ec387f6016c38c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70285397aab3db225973754e0384c2732ed99973da88d547d1ac7df0096d4885",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b49c6e44300f8c9253cdce5df27617606f137e761e0049d392dbb8ee357d199c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0b44ef360268022d016ab49c5c785487d091529a480a1e8b07",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.2,\"right_z\":0.12,\"right_yaw\":0.35,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"That close was also empty. From the overhead view the hand is still near the bowl’s front-right edge, so I’m repositioning over the bowl’s center with the jaws fully open to grasp both sides.\"}",
  "call_id": "call_cmFpy3grJA399Jog9aBK9Nwv",
  "id": "fc_0b44ef360268022d016ab49c6218d887d09286546ed5f42f2e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cmFpy3grJA399Jog9aBK9Nwv",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8642, 0.6827, -0.5137, -0.0261, -0.0525, 0.9995, 0.424, 1.7893, 0.9989, 0.0959, 0.0402, -0.0067, 0.9951]\nstate[eef_state]: left_x=0.29 left_y=0.0006 left_z=0.1697 left_yaw=0.0028 left_pitch=-0.1277 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4406 right_y=0.195 right_z=0.0802 right_yaw=0.381 right_pitch=-0.1235 right_roll=-0.0129 right_gripper=0.9951\nstate[joint_eff]: [-0.0889, -1.6342, 6.9538, 1.5897, -0.0269, -0.0562, -0.0122, 0.1983, -10.8103, 9.3607, 2.0537, 0.1978, 0.2222, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b321211e738ac43060955ca3f753c82d25d02b39bc6abae2054debb2629710b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dff3cbe2cd2907eb3e67b8311254e5bce4e6eb148a2c78445ce7b71017653ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c43eae4c873919ea6117ceadf1457fb3e9876059d4b082a84379e79abb638b28",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 90 changed as sent

message 97 changed as sent

message 101 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8635, 0.6827, -0.5137, -0.0261, -0.0521, 0.9995, 0.3599, 1.7443, 0.9504, -0.0528, -0.0078, -0.0441, 0.6458]\nstate[eef_state]: left_x=0.29 left_y=0.0006 left_z=0.1699 left_yaw=0.0026 left_pitch=-0.1269 left_roll=-0.0038 left_gripper=0.9995 right_x=0.4135 right_y=0.1609 right_z=0.0547 right_yaw=0.3786 right_pitch=-0.2763 right_roll=-0.008 right_gripper=0.6458\nstate[joint_eff]: [-0.0752, -1.7026, 6.9402, 1.5995, -0.0464, -0.0171, -0.0122, 0.335, -7.7607, 9.1145, 1.6239, 0.105, 0.1636, -0.1392]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8642, 0.6827, -0.5137, -0.0261, -0.0525, 0.9995, 0.3595, 1.7969, 0.8974, 0.004, -0.009, -0.0528, 0.0084]\nstate[eef_state]: left_x=0.29 left_y=0.0006 left_z=0.1697 left_yaw=0.0028 left_pitch=-0.1277 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4033 right_y=0.1571 right_z=0.0223 right_yaw=0.3845 right_pitch=-0.3251 right_roll=-0.0119 right_gripper=0.0084\nstate[joint_eff]: [-0.0068, -1.6205, 7.159, 1.6386, -0.0464, -0.0415, -0.0122, -0.1026, -10.3453, 7.9932, 1.5507, -0.0171, 0.0464, 0.6813]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8642, 0.6827, -0.5137, -0.0261, -0.0525, 0.9995, 0.424, 1.7893, 0.9989, 0.0959, 0.0402, -0.0067, 0.9951]\nstate[eef_state]: left_x=0.29 left_y=0.0006 left_z=0.1697 left_yaw=0.0028 left_pitch=-0.1277 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4406 right_y=0.195 right_z=0.0802 right_yaw=0.381 right_pitch=-0.1235 right_roll=-0.0129 right_gripper=0.9951\nstate[joint_eff]: [-0.0889, -1.6342, 6.9538, 1.5897, -0.0269, -0.0562, -0.0122, 0.1983, -10.8103, 9.3607, 2.0537, 0.1978, 0.2222, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b321211e738ac43060955ca3f753c82d25d02b39bc6abae2054debb2629710b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dff3cbe2cd2907eb3e67b8311254e5bce4e6eb148a2c78445ce7b71017653ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c43eae4c873919ea6117ceadf1457fb3e9876059d4b082a84379e79abb638b28",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJxnPVAcBDdZhEyQndQJQ5oe6dwAHOnBY0gVv8v0fRrYCF02UmQ_6P2oE4UdNG-7W4Jh7_lN9NwLSAIMmoEoOtk56rKWI9bxkSa_izsqK4-jOYAOTZCVUslhEvTPfc_p-Xrdk-ZW9K6nCZejmgOJUjs36o0dISYw2bpe2zoXy7fHoDzszBo3colQqdPRGFrtdUm7LuQA59jcQuc-9S5aUszlJKjC9ynHwYZrMRcCnikJKxmGVIQCr19CQHDIQGwJFxlY2bW6udM88vG8S-jxesjbg0rjKLSPh2ZwY8cAmr-djwzqljMbMWKBgkJ1Er6-MNvddSdJXi2m87utjdaRsmHeMuI__SuDD2TaEX_XFGwnUIPtg1nQOB4Kg6NDjyHwHhAPKVQIieDmNru9C9MMts99GiOCOk_CGSNVM0yQiF2eGOwwf1FUeyniEejcu0j4FrK3_KKrMrdRjFdf6OUqG2wud5ZwXJeWb_CbJH9KcLp3CuBDSa61QWnWiAXtKOWAtG6HuNC6wth98v9wFE6Zy0GikcJb_bJzxd2fzkpiH1bmMcqBbSgPYFcW2Scd_qsYy1jMl4cFwel4xwRHRlXTrJVvBFZYyxBeiJt4Sf-SYyWIJGV7tjceRrrnyr5dFPqU2gBGSJwFN_1Dl8CrPyH277vUgiKu6Gyfm1eCT2tOxEbHZdtw2t2TzC8trSIdB_VaBuVKiH2uh2MO3abk8W3pdOAIdwrJTA6ZTFkP3K9lpGZaHrjVOdJS1NxtIME_IUXaeVCVIARRYDTccFqtWjQB2OH8mENYnQuNgYIZDLnDuS-0InAg7Xuq6B59WF9VGp5I677xA6GlwJ8581gLA4dNIGZocdU6HtVF1tAwYwdgV996z9bWVqfbDevM2hHkTqdYFSLnuNqrgDLbAKSQg9hLk8nrscMcDqRxgkUYB7UkxQlo1bKp4qC8eqlDPl4UXRZ_CPWw5VMNBm_zQNAked9aLack0wAJ2PD9P9gML3gdnxyzfQk_2e18gGqiMj-pk6R8OQAQP-5hP2dOEQLJy-Ce23P96rpusT3RmIdpw6qJIdkBW9cxLII3FGrjPpSNmQtTbAe1njZYQOn4M-wb3dl3qFfn4QK5ShTjYSA1WlviUqvWHuKyQ1bcjOjJTFi7YRhDD_XvmaxxgOd0gmC2-B1nucT-KZKC2-GQ4QhDP5mT6awEWM8wl3-S865plcF6ThEm_m7L9gBB0B0eqVzlFSMQSErhiXwqfde8cAZ1sljjNABotOw7UPUoS40yvpCoEAn8ogUNrBP5won74PfvS5OLTnmIQq02gIP33wa7MrDCO8AXJRM80JL8K6XWnBmt3x8KRrnSCBN2xolFvoLKrdSLi6W9Cb7DznXMEwHtdLDP7GVBNEQTR3zuW8z3dGQmqtxuOYBh",
  "id": "rs_0b44ef360268022d016ab49c65949c87d09a35897816db3cdb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.025},\"note\":\"The pink bowl is now directly under the hand rather than ahead of it. I’m lowering the open jaws around its sides.\"}",
  "call_id": "call_0KjJhqGNys3qlvj0X3GHpB6s",
  "id": "fc_0b44ef360268022d016ab49c664fdc87d093a146145a0ff797",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0KjJhqGNys3qlvj0X3GHpB6s",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8661, 0.6827, -0.5133, -0.0261, -0.0525, 0.9995, 0.4252, 1.9141, 0.9218, 0.268, 0.0437, -0.0109, 0.995]\nstate[eef_state]: left_x=0.2902 left_y=0.0006 left_z=0.1693 left_yaw=0.0028 left_pitch=-0.1292 left_roll=-0.0041 left_gripper=0.9995 right_x=0.437 right_y=0.1933 right_z=0.0251 right_yaw=0.3814 right_pitch=-0.1531 right_roll=-0.0197 right_gripper=0.995\nstate[joint_eff]: [-0.1846, -1.6889, 6.9949, 1.663, -0.0464, -0.0757, -0.0122, -0.2667, -9.1419, 5.6547, 1.3407, -0.0171, 0.0611, -0.0269]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0019ea599faa07db733fc0df74c52bde19bd180266afcfe59385b550c1522c45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:346652082764220ae1fdd1a304c17b8198e0761eaa39286d22768be668743674",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:467bfa644c42ddd2474b6c5faac575ee7556e1c9c7cb60151162036eb9c9e28f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 94 changed as sent

message 101 changed as sent

message 105 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8642, 0.6823, -0.5137, -0.0261, -0.0525, 0.9995, 0.3595, 1.7737, 0.9241, 0.0158, -0.0086, -0.0456, 0.6467]\nstate[eef_state]: left_x=0.29 left_y=0.0006 left_z=0.1695 left_yaw=0.0028 left_pitch=-0.128 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4156 right_y=0.1617 right_z=0.0437 right_yaw=0.3797 right_pitch=-0.2633 right_roll=-0.0087 right_gripper=0.6467\nstate[joint_eff]: [-0.0342, -1.5385, 7.0222, 1.5995, -0.0562, -0.0464, -0.0122, -0.1573, -6.4752, 4.9299, 1.37, -0.0269, 0.0122, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8642, 0.6827, -0.5137, -0.0261, -0.0525, 0.9995, 0.424, 1.7893, 0.9989, 0.0959, 0.0402, -0.0067, 0.9951]\nstate[eef_state]: left_x=0.29 left_y=0.0006 left_z=0.1697 left_yaw=0.0028 left_pitch=-0.1277 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4406 right_y=0.195 right_z=0.0802 right_yaw=0.381 right_pitch=-0.1235 right_roll=-0.0129 right_gripper=0.9951\nstate[joint_eff]: [-0.0889, -1.6342, 6.9538, 1.5897, -0.0269, -0.0562, -0.0122, 0.1983, -10.8103, 9.3607, 2.0537, 0.1978, 0.2222, 0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8661, 0.6827, -0.5133, -0.0261, -0.0525, 0.9995, 0.4252, 1.9141, 0.9218, 0.268, 0.0437, -0.0109, 0.995]\nstate[eef_state]: left_x=0.2902 left_y=0.0006 left_z=0.1693 left_yaw=0.0028 left_pitch=-0.1292 left_roll=-0.0041 left_gripper=0.9995 right_x=0.437 right_y=0.1933 right_z=0.0251 right_yaw=0.3814 right_pitch=-0.1531 right_roll=-0.0197 right_gripper=0.995\nstate[joint_eff]: [-0.1846, -1.6889, 6.9949, 1.663, -0.0464, -0.0757, -0.0122, -0.2667, -9.1419, 5.6547, 1.3407, -0.0171, 0.0611, -0.0269]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0019ea599faa07db733fc0df74c52bde19bd180266afcfe59385b550c1522c45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:346652082764220ae1fdd1a304c17b8198e0761eaa39286d22768be668743674",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:467bfa644c42ddd2474b6c5faac575ee7556e1c9c7cb60151162036eb9c9e28f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are down around the pink bowl’s body. I’m closing for a centered two-sided grasp.\"}",
  "call_id": "call_VQ64dVRXsNTRYw6uCyfuLUsL",
  "id": "fc_0b44ef360268022d016ab49c68fe5c87d0a2b70aa988bae551",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VQ64dVRXsNTRYw6uCyfuLUsL",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8665, 0.6827, -0.5133, -0.0261, -0.0525, 0.9995, 0.4252, 1.9282, 0.9089, 0.2657, 0.0433, -0.0185, 0.0093]\nstate[eef_state]: left_x=0.2902 left_y=0.0006 left_z=0.1692 left_yaw=0.0028 left_pitch=-0.1296 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4314 right_y=0.1909 right_z=0.0135 right_yaw=0.3857 right_pitch=-0.1826 right_roll=-0.0264 right_gripper=0.0093\nstate[joint_eff]: [-0.1026, -1.6615, 7.0769, 1.6484, -0.0757, -0.0806, -0.0122, -0.2667, -10.3316, 6.4342, 1.6728, -0.0171, 0.0366, 0.696]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68e3f273603d6dc324eb5019839e532e06ec96ecb05f2b7a5709801350ecdba1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b56b463502af29734efd99185904598d5f8b3373d58e120acbb49e1c66c6f9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c5c93d5c72251c8cd7d2eedc5f899d221c051d1761438d5b7b74cf509676111",
      "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 97 changed as sent

message 105 changed as sent

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8642, 0.6827, -0.5137, -0.0261, -0.0525, 0.9995, 0.3595, 1.7969, 0.8974, 0.004, -0.009, -0.0528, 0.0084]\nstate[eef_state]: left_x=0.29 left_y=0.0006 left_z=0.1697 left_yaw=0.0028 left_pitch=-0.1277 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4033 right_y=0.1571 right_z=0.0223 right_yaw=0.3845 right_pitch=-0.3251 right_roll=-0.0119 right_gripper=0.0084\nstate[joint_eff]: [-0.0068, -1.6205, 7.159, 1.6386, -0.0464, -0.0415, -0.0122, -0.1026, -10.3453, 7.9932, 1.5507, -0.0171, 0.0464, 0.6813]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8661, 0.6827, -0.5133, -0.0261, -0.0525, 0.9995, 0.4252, 1.9141, 0.9218, 0.268, 0.0437, -0.0109, 0.995]\nstate[eef_state]: left_x=0.2902 left_y=0.0006 left_z=0.1693 left_yaw=0.0028 left_pitch=-0.1292 left_roll=-0.0041 left_gripper=0.9995 right_x=0.437 right_y=0.1933 right_z=0.0251 right_yaw=0.3814 right_pitch=-0.1531 right_roll=-0.0197 right_gripper=0.995\nstate[joint_eff]: [-0.1846, -1.6889, 6.9949, 1.663, -0.0464, -0.0757, -0.0122, -0.2667, -9.1419, 5.6547, 1.3407, -0.0171, 0.0611, -0.0269]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8665, 0.6827, -0.5133, -0.0261, -0.0525, 0.9995, 0.4252, 1.9282, 0.9089, 0.2657, 0.0433, -0.0185, 0.0093]\nstate[eef_state]: left_x=0.2902 left_y=0.0006 left_z=0.1692 left_yaw=0.0028 left_pitch=-0.1296 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4314 right_y=0.1909 right_z=0.0135 right_yaw=0.3857 right_pitch=-0.1826 right_roll=-0.0264 right_gripper=0.0093\nstate[joint_eff]: [-0.1026, -1.6615, 7.0769, 1.6484, -0.0757, -0.0806, -0.0122, -0.2667, -10.3316, 6.4342, 1.6728, -0.0171, 0.0366, 0.696]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68e3f273603d6dc324eb5019839e532e06ec96ecb05f2b7a5709801350ecdba1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b56b463502af29734efd99185904598d5f8b3373d58e120acbb49e1c66c6f9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c5c93d5c72251c8cd7d2eedc5f899d221c051d1761438d5b7b74cf509676111",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJxxaAa_Zccm9l2DxZoPwFIIDdGi62PZEQzueYNr9WiVo1PbfiB3gLK1UWkbng7E5vd5aT2TMzCghnDw6pEDXY5PKamLuyS8HO2sn7S5Z4Lc8RupJYXBMKMYAoSluLOWBPkI6Kube5rgqgR7YVQzHOaq8q-eLYmU6does76bB7jRys5ynNuShNgm8muVyccSb7JjG9zdoqAhh6mPWJoorKXsY9bzsiTxAAVW6J3o12f4KfC27wpxwNoECQw0gHA7gfDbbQGvG2Ltx0ps7ppZYFXomi4S7wcfE8aOz6iScP9w1CiiAPaKvSUA13l6DK0oX8zoXbiN-iiZPDcqiYXf32lsF1jT6O1RAMAerSJUM8f54Nmb3pJW4ubJmwRvdvJ-nmhv4vIw5KK642IUqtoM9kVWDlrWY-AQk4LhMoXJiyvfvTbVZ5PKvFOgY5vV9SiNfht2DU_gsgxUW0zwoDIwhA74XaDJgNX_thEgEcfuzAR7gEZRg7bJB6iYnZeHPYnvgdk2WLLbU2QaN_O2_vJrsaGI5oj1qBNwUkvduvyf99uacwrISWFt4IwnQlhK6KluyaBl5jPT9fp5DlzbBcgvx0lmHift3FythicotwocQ-0XYR_DmjXZQGg6i1wshAcM1vBLMe05HoGUctVzjzRyqZbJEkF5VU-FHOolpicBeIYeaXv9uw70zND08a2jnRcp1nSWQ6ZDGkbNcjDY5IwALXQ6MyLfZLZZ-dhxVJWUrtWfiI2ywPWdOyAuo_vkT6BXfiOBPfco4_fqH6LrBw241Vc-j5E_0JEOjZVTvKvMYfh1pUaOJ-KwqsDXY7G-u6YJrHIeFeN41F8U0kCC-17x6Ui_3DJuON3uOGUn6jT-ZyJv4I-4ICjQFmyHEyj1kuXic1Prblh7pSumI4lS_xFKMJgQh78LIrxz7mTQr1iilkCHzFuoNNA8B2b_VO0WRm24_0JYxyEAR2W9keSPm8XF666Yb5ld4l32PseBtMZxMEBLxU1ZCImRAaqtVLHCcmlBKlbDA3JsekYHuiuAJprypjx2i_SnJkURCPsxWmn59njN3JFjceeqyuhhzav9bhqbEGJ0Rh5fpPp5iE6berCu7CTz1KGAupENP-KnK6enq67Ioi8QqVwAcsAucdoqOs0nFQrmYoD7fX4wCe0zIr5JtReJcz054jI45Ldmm32HPo-Bz4ePbvuN5_JqpIjlP2wR8Zc04MuI-vsbVkJBulE6GLUXTTKzEWD6sZEqWDqB90RXncRNIQ1oc4HTeppllUSt_ZePdyw7VG_6RsLDutzQH7Xc56iyZHAvmfGhI4XB7wFK-EBQLPsU8Lk5UQaeoNY6Vw3oVZIIUiJbfsQnSdiwLps5mA6FxVZssNP_Ozzmoe8M5O3fxPqJp35SR_QhQZLnHLFwdc_4tFIMIJC3kOez-8VuGBoC4PMJ7QyChncmGlT8Gm25RKnXke2BKAX6Pma7SE-8tYlyK9iSQrt5NbDnNPqDtnykHoFxmWR8jlAcZDb6mhDP-RCvpKsJEcYtsZ5ZFq1RrR-xlpCDzmx7sWzgKlKwjkCWRL63f0jwvmRSxvb8tQ_q03iHI8J9aqDRNfDYVeoY56PSMttvtX2PK1OW4CWhuJwR_LYUIq6-Rk_mCHErQI3tkSlPaIeWztQcJbFf5_2JWzBhOW-citvF4XbJSD0T5R0RoYNw7RtyY5D1UUHug1PlC5EXJQspmoRky-8wz9F8EzsKzhJzDxlhYTb7sunYFyjgo8FoQEXiyCnlFVFm3nNr27pupS0waM9cdgrAqlzKq6WQQ2jzc6rnPD6IioHy6lDumYZ6vFWXHfA1vUDpla7rBx-e_1MLt7KKOWRfeNXqPNwiaOzIVSqh5k03OIBoCQpRyWDK11xDJIx1CvFWoXl4aRHmHiqu07N-OPhX_8DQf2gKVAJoUGcJ1u5w_sY5iZ1HnQXFZ_WD3GJTyDslLJHzcupLf4JzRxrQjkXbPTeZlyVnBGoqr3cj8BBpPWdvutM3JD73mg3SwAfX5wjQqLIVAEsaE878I_FFeGGFxtmE2e10pJ1MXKQhI_1h6Eh_R219mKsI8g6wJNh6P3TS6jW48zBgxQWOjtyhT_AAD3MgXAgT_AFcV2iyKOp3D-minsWNndlHcUj_MSMuROrbNFgH4Nq0HvH-aLMk0fIwjhX26To14H57NJdCyYqWz3NYp7vU0Npz7VB8Yq_e1kTraNObhXLbUMdsCSvEp48SGdJLzMJ4kqQD6k7qAnySz5ZtgGfj44h6MO8tpMyxOsoLjmQ7DutvEjEsk3f3BmKZIMCwv1pWbEJW3Gr5WqT_JBbnFsxU5XbaMT-U7JbuQIHRfOUXT2ODA0TlmTp_m6j0D6kJ",
  "id": "rs_0b44ef360268022d016ab49c6c1b6c87d0b5e1b14444cbd000",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.16,\"right_z\":0.09,\"right_gripper\":0.85},\"note\":\"The bowl slid toward the front of the table, and the jaws closed empty again. It is now clearly visible behind the fingertips, so I’m moving back toward its new center for a lower-reach grasp.\"}",
  "call_id": "call_xwb2HdOF65GAa5lym3vWYgVw",
  "id": "fc_0b44ef360268022d016ab49c701c0487d0a240948906adfe6a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xwb2HdOF65GAa5lym3vWYgVw",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8707, 0.6823, -0.5171, -0.0261, -0.0525, 0.9995, 0.4397, 1.4548, 0.7136, 0.0013, 0.0448, -0.0151, 0.8455]\nstate[eef_state]: left_x=0.2898 left_y=0.0006 left_z=0.1671 left_yaw=0.0028 left_pitch=-0.1379 left_roll=-0.0038 left_gripper=0.9995 right_x=0.3573 right_y=0.1633 right_z=0.087 right_yaw=0.3971 right_pitch=-0.1688 right_roll=-0.0243 right_gripper=0.8455\nstate[joint_eff]: [-0.0479, -1.8803, 7.1316, 1.6239, -0.0464, -0.0513, -0.0122, 0.5538, -6.3658, 6.5573, 1.7314, 0.1929, 0.0269, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1304d82a2b3b6c838447c5fd08a11c7270323631dc82ae9b59f8f2f6acdb910e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2efaf8cf7c4906b46a90e90a6a98119b910ad85a52b1741c9573fb4c9dcf6e6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14af038c9d7fdd523584f9cef3e487a2140bbcf58ddf6f555c983e251583f46a",
      "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 101 changed as sent

message 108 changed as sent

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8642, 0.6827, -0.5137, -0.0261, -0.0525, 0.9995, 0.424, 1.7893, 0.9989, 0.0959, 0.0402, -0.0067, 0.9951]\nstate[eef_state]: left_x=0.29 left_y=0.0006 left_z=0.1697 left_yaw=0.0028 left_pitch=-0.1277 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4406 right_y=0.195 right_z=0.0802 right_yaw=0.381 right_pitch=-0.1235 right_roll=-0.0129 right_gripper=0.9951\nstate[joint_eff]: [-0.0889, -1.6342, 6.9538, 1.5897, -0.0269, -0.0562, -0.0122, 0.1983, -10.8103, 9.3607, 2.0537, 0.1978, 0.2222, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8665, 0.6827, -0.5133, -0.0261, -0.0525, 0.9995, 0.4252, 1.9282, 0.9089, 0.2657, 0.0433, -0.0185, 0.0093]\nstate[eef_state]: left_x=0.2902 left_y=0.0006 left_z=0.1692 left_yaw=0.0028 left_pitch=-0.1296 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4314 right_y=0.1909 right_z=0.0135 right_yaw=0.3857 right_pitch=-0.1826 right_roll=-0.0264 right_gripper=0.0093\nstate[joint_eff]: [-0.1026, -1.6615, 7.0769, 1.6484, -0.0757, -0.0806, -0.0122, -0.2667, -10.3316, 6.4342, 1.6728, -0.0171, 0.0366, 0.696]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8707, 0.6823, -0.5171, -0.0261, -0.0525, 0.9995, 0.4397, 1.4548, 0.7136, 0.0013, 0.0448, -0.0151, 0.8455]\nstate[eef_state]: left_x=0.2898 left_y=0.0006 left_z=0.1671 left_yaw=0.0028 left_pitch=-0.1379 left_roll=-0.0038 left_gripper=0.9995 right_x=0.3573 right_y=0.1633 right_z=0.087 right_yaw=0.3971 right_pitch=-0.1688 right_roll=-0.0243 right_gripper=0.8455\nstate[joint_eff]: [-0.0479, -1.8803, 7.1316, 1.6239, -0.0464, -0.0513, -0.0122, 0.5538, -6.3658, 6.5573, 1.7314, 0.1929, 0.0269, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1304d82a2b3b6c838447c5fd08a11c7270323631dc82ae9b59f8f2f6acdb910e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2efaf8cf7c4906b46a90e90a6a98119b910ad85a52b1741c9573fb4c9dcf6e6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14af038c9d7fdd523584f9cef3e487a2140bbcf58ddf6f555c983e251583f46a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJx2zOGNNEkIuicM7doErnNHtH7ZWxPVeM-r--AD4Bip6Sz-pcLeR8tQQef1PPo8QNAps7zQ6encUzD5nSVtf_2UaMob2at7Hb4hcgEjepvGYbRqr4MHboojWfZshsz07j0CAbAEtPbBHFkv_wpRTbTsp44lILCB17bUcVcMS5so8Y8hfcrtby_M6fCo8otLbk587LzLVyWG26Z2vTusfDCzkekuqx2rYqA1UEP9gux38k-DGmHfkaFXI8d0pKhEDnUM6pa7nWeGMHCr02i6l_ZBcBckneE_JUeMiWbBqMcOi5FU1TQX2yRwvYfAN_sUjrClKUqtPZoxtb_vWMiRaB4HgPunKYH9QrTCEMbB_9Lm2k2m8sSoBREd08A77dlwpuqaQbcfTqmS4nslyZ4JRl4KoVJ4MjpLl56DP4QC4vRKqv_MlPY3d807iyG6FLimaAsC5I93g8oivkisnUcp_fQ0wxG5wFsImeVM9RXUwrfTehHr-VlLz7XL4uK-TGhg2qlmEhbSUUJoawP6J_k5SQiYdRwpB_PlVYAx7rfTVUbwCluo9Xk4aIIMoHHDXwR-wi6UCHRAFULNBAdQxsOiCx_qFPrRiaZN2CJRiXSbwOPFl5fQIzi0hDjmm9T3ZyGIKcmRz8dSObbN7LgM_RE54avE0Nb9vcxI9G1XHjs0V_zATZesNOeyCQ4YQTxMBO_v5-zyOdOfvd0NWoZNz2IOW1IELwGVKdDlXJ6UQUnaZgsyAao1i8ods6C1DJpZJD8IRMmMNGk3LrPrUN0nL3MQ2X2wtZoQobwnab-H9WYuU3xwjbqLQTh2E0TNQM1wvOKDnE4Y1FwhMd3Qgga4RAnIbIIw8zcYyDp13L34MoFushfjj7UI9aIj-yD_O19wvIKmBVhv0Ku6_Uc-bBSY8B8tzg8K4H1dsxiD-frevGcfww8wP6MA4-BXU7CdDj7ss_YLlOorFOZinzKlYw6OQrgr9lqhw-P847vbo-_xBs4-b0HlNGQkWjLvTOLWZ9pALKM1HEE2vuzgVT8RTdCyFvbNJd--U9qAVsIiSTFKcPA9B1eqgITj4gxKxk5nd0X4RpNMUl5XoaI-XGK__zv2geGq7Rv-wasNCqIxPOefQsysN0toMN7tCF9_I8PsIZAUxlZUR93cep6Wt55qnkp4jaqvxnIiyn5Y1an6I9UikarZdoyNfxMcgitgFVNGA51Mm2T256oJNkwPpdT2W7KSbEH7U6QQD8CtMsLQq81MSgRIHfG2uTCTSAiBEO2WiVfYnrfTyCkS9etKntk4CA8eB2y5rTOlqOwBgBmWwt2aBUDjbbeMN96Pp7DfWfQaEHaURlTtktTpDojmxzJtbUJNapF1HCvqz2Q9riz6ulkBkr6RQel67m-ApJ1TMZp2AbWSdDydJNHIheKpvZGd_0SjCtpAzE-sw6NURioW6XLkXSxI0wzD1tk7sx-dIXbbdHqWi2XA57F3GLp8RpkTKcu-7VrNNV9IlXotXF8Ay1NMvI22_NgfHufAoM3Bkwy16LwM4VoV8AnbMTo0FFQ8_qITIrBdCXE8wU_oAn6mV7TxZjlMZrcWLMjmNtZhrsA8RRvsA53Cm8iCOdAN_sLl92IgHKaa_TZmKQ==",
  "id": "rs_0b44ef360268022d016ab49c73b87c87d097870f95611376ca",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.03},\"note\":\"At this shorter reach, the hand is aligned with the pink bowl’s right side. I’m lowering vertically while keeping that alignment.\"}",
  "call_id": "call_us2YsTfcgLSbZnIrenqSPj7C",
  "id": "fc_0b44ef360268022d016ab49c75cd5887d0b62ba58b558f24f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_us2YsTfcgLSbZnIrenqSPj7C",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8734, 0.6827, -0.5198, -0.0261, -0.0525, 0.9995, 0.4423, 1.6093, 0.5949, 0.1921, 0.0441, -0.0185, 0.8462]\nstate[eef_state]: left_x=0.2896 left_y=0.0006 left_z=0.1661 left_yaw=0.0029 left_pitch=-0.1429 left_roll=-0.0037 left_gripper=0.9995 right_x=0.3437 right_y=0.1582 right_z=0.0189 right_yaw=0.4016 right_pitch=-0.2512 right_roll=-0.0297 right_gripper=0.8462\nstate[joint_eff]: [-0.0615, -1.9077, 6.8991, 1.6581, -0.0659, -0.0513, -0.0122, -0.212, -6.694, 6.2291, 1.8486, -0.0122, 0.0073, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c22ca6416d4417a7de0988e91ffe8c516722bfbd5c64a86e16f04c57e5906100",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41eb7b6926b97873a109435d22c013c8c7cdc46f538621f66f1506d4bf66f0cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30c35fa352b75fa5bf2ef4ac1902318f22ea0418e595f878dbea2819eda981be",
      "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 105 changed as sent

message 112 changed as sent

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8661, 0.6827, -0.5133, -0.0261, -0.0525, 0.9995, 0.4252, 1.9141, 0.9218, 0.268, 0.0437, -0.0109, 0.995]\nstate[eef_state]: left_x=0.2902 left_y=0.0006 left_z=0.1693 left_yaw=0.0028 left_pitch=-0.1292 left_roll=-0.0041 left_gripper=0.9995 right_x=0.437 right_y=0.1933 right_z=0.0251 right_yaw=0.3814 right_pitch=-0.1531 right_roll=-0.0197 right_gripper=0.995\nstate[joint_eff]: [-0.1846, -1.6889, 6.9949, 1.663, -0.0464, -0.0757, -0.0122, -0.2667, -9.1419, 5.6547, 1.3407, -0.0171, 0.0611, -0.0269]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8707, 0.6823, -0.5171, -0.0261, -0.0525, 0.9995, 0.4397, 1.4548, 0.7136, 0.0013, 0.0448, -0.0151, 0.8455]\nstate[eef_state]: left_x=0.2898 left_y=0.0006 left_z=0.1671 left_yaw=0.0028 left_pitch=-0.1379 left_roll=-0.0038 left_gripper=0.9995 right_x=0.3573 right_y=0.1633 right_z=0.087 right_yaw=0.3971 right_pitch=-0.1688 right_roll=-0.0243 right_gripper=0.8455\nstate[joint_eff]: [-0.0479, -1.8803, 7.1316, 1.6239, -0.0464, -0.0513, -0.0122, 0.5538, -6.3658, 6.5573, 1.7314, 0.1929, 0.0269, -0.0904]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8734, 0.6827, -0.5198, -0.0261, -0.0525, 0.9995, 0.4423, 1.6093, 0.5949, 0.1921, 0.0441, -0.0185, 0.8462]\nstate[eef_state]: left_x=0.2896 left_y=0.0006 left_z=0.1661 left_yaw=0.0029 left_pitch=-0.1429 left_roll=-0.0037 left_gripper=0.9995 right_x=0.3437 right_y=0.1582 right_z=0.0189 right_yaw=0.4016 right_pitch=-0.2512 right_roll=-0.0297 right_gripper=0.8462\nstate[joint_eff]: [-0.0615, -1.9077, 6.8991, 1.6581, -0.0659, -0.0513, -0.0122, -0.212, -6.694, 6.2291, 1.8486, -0.0122, 0.0073, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c22ca6416d4417a7de0988e91ffe8c516722bfbd5c64a86e16f04c57e5906100",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41eb7b6926b97873a109435d22c013c8c7cdc46f538621f66f1506d4bf66f0cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30c35fa352b75fa5bf2ef4ac1902318f22ea0418e595f878dbea2819eda981be",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips are now low beside the pink bowl, and the bowl has stayed in place during descent. I’m closing on its side.\"}",
  "call_id": "call_93OZk4Rp43wwJjwEvt6zW7Cu",
  "id": "fc_0b44ef360268022d016ab49c789c3887d0808d90a3963c4de1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_93OZk4Rp43wwJjwEvt6zW7Cu",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8738, 0.6827, -0.5198, -0.0261, -0.0521, 0.9995, 0.4423, 1.6272, 0.5869, 0.1841, 0.0429, -0.0227, 0.0082]\nstate[eef_state]: left_x=0.2896 left_y=0.0006 left_z=0.166 left_yaw=0.0026 left_pitch=-0.1433 left_roll=-0.0034 left_gripper=0.9995 right_x=0.3381 right_y=0.1557 right_z=0.0085 right_yaw=0.4046 right_pitch=-0.2852 right_roll=-0.0331 right_gripper=0.0082\nstate[joint_eff]: [-0.0889, -1.4564, 7.1179, 1.58, -0.0708, -0.0464, -0.0122, 0.0068, -7.8701, 5.8325, 1.5507, 0.0366, 0.0464, 0.652]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a776f008a0b1ab814106357d141d857b2284c02d74cfdc775385fcfaef8c49b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff8d7b02c83cdec1656fea8fd866f333d48fc9529b18e7d0520e20a51f83aa8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:334a828520b5762cf906b3226ef79d7488a6796e31c4dc6a54b8d67cb6878a46",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 108 changed as sent

message 116 changed as sent

message 119 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8665, 0.6827, -0.5133, -0.0261, -0.0525, 0.9995, 0.4252, 1.9282, 0.9089, 0.2657, 0.0433, -0.0185, 0.0093]\nstate[eef_state]: left_x=0.2902 left_y=0.0006 left_z=0.1692 left_yaw=0.0028 left_pitch=-0.1296 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4314 right_y=0.1909 right_z=0.0135 right_yaw=0.3857 right_pitch=-0.1826 right_roll=-0.0264 right_gripper=0.0093\nstate[joint_eff]: [-0.1026, -1.6615, 7.0769, 1.6484, -0.0757, -0.0806, -0.0122, -0.2667, -10.3316, 6.4342, 1.6728, -0.0171, 0.0366, 0.696]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8734, 0.6827, -0.5198, -0.0261, -0.0525, 0.9995, 0.4423, 1.6093, 0.5949, 0.1921, 0.0441, -0.0185, 0.8462]\nstate[eef_state]: left_x=0.2896 left_y=0.0006 left_z=0.1661 left_yaw=0.0029 left_pitch=-0.1429 left_roll=-0.0037 left_gripper=0.9995 right_x=0.3437 right_y=0.1582 right_z=0.0189 right_yaw=0.4016 right_pitch=-0.2512 right_roll=-0.0297 right_gripper=0.8462\nstate[joint_eff]: [-0.0615, -1.9077, 6.8991, 1.6581, -0.0659, -0.0513, -0.0122, -0.212, -6.694, 6.2291, 1.8486, -0.0122, 0.0073, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8738, 0.6827, -0.5198, -0.0261, -0.0521, 0.9995, 0.4423, 1.6272, 0.5869, 0.1841, 0.0429, -0.0227, 0.0082]\nstate[eef_state]: left_x=0.2896 left_y=0.0006 left_z=0.166 left_yaw=0.0026 left_pitch=-0.1433 left_roll=-0.0034 left_gripper=0.9995 right_x=0.3381 right_y=0.1557 right_z=0.0085 right_yaw=0.4046 right_pitch=-0.2852 right_roll=-0.0331 right_gripper=0.0082\nstate[joint_eff]: [-0.0889, -1.4564, 7.1179, 1.58, -0.0708, -0.0464, -0.0122, 0.0068, -7.8701, 5.8325, 1.5507, 0.0366, 0.0464, 0.652]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a776f008a0b1ab814106357d141d857b2284c02d74cfdc775385fcfaef8c49b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff8d7b02c83cdec1656fea8fd866f333d48fc9529b18e7d0520e20a51f83aa8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:334a828520b5762cf906b3226ef79d7488a6796e31c4dc6a54b8d67cb6878a46",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJyC1tTGlruZcazio7l5pwaKOKKMny6oPD3mgNHsPC0r-pzWCC_H4OHESB7xjWBx5Hs1dYeCvgXGc9jDfJyXRdDWjs4KfSX11aOPJMyBYXLTbrdJcOnC8OH75dDF85TvMimqixdTLvtlbGFVMWU0KWTnYvtUyxdG8ntBC9gMSQx5QNL3XFDBxub9n4xIZSd-QglL-Xs9_R61w1UGk5i1-301QunQFVk336AknlgiDRse_TCJmoKXpc_GZPi_vNHBc1K079HQvxeDk4hwJ1w-Gb62zi_gDNlZ6Wufq0DiUGrC2OoAyKr72pZLo4KM4aIv5FQlEm1K-VwP7UhpqdmgcOjbsgIWXJ6Y7_5Pqml6FX41DtzNqF5LKaAz7JlmerOB_AVh3NnKjPRy0yKnKhGpKgHBfRteyOVyJcCHD8YEyfLxAdNEphxprPu-AnNjIfbWubVZAc8TPjLz1AsD4XtOe0YfC881QGj3qwF17yRWz-YOiZwKGzeg1zXRiwBu6Il-qA_wFDoxioW6H5h0bcBWZe-sQ1P7NtyVwoT4Yxrc03HqYNRM4rRA35EkczgdRAPUsd-eoIwqobF_2sgb9fEIlH-ZJSO5iiqWSVoZl6jlfQ9Q1Kfk17YBwoi1CSq-9wnq1N6XDgrH_Siq8G_l2zEcAy_HVsF3XCG3yfWfyIq8cQMXLu-iMD9cv9uUzHdGGQD1CCx0kcXDoq0iWa1c1EZsY4MRR8GB5MYTKspRzDQIoZ5dtYjr00hZzyEzRCYm_dnouXTOSgQmF-l8nlGVmzSnr03e38h8ULUKfysk7uQSr-lRPqDoqTqAt3k0EbaHTV5Ym0FLA3voPWhPclLswhtKgRfCmAiPjRuL6YZ3Uyeh9OwCTbVOqUYqhHJb0PEz18AYry5EdFO-SC69OmFFhzE1bIWD_BKnjkCigXsdiSJ6mIwM51OkAGPPD-eA4xU-5TuFhlt7Mjy9pp1Br9zCYlocPm4U6BOGtlO5NtpQDGTx6HOJD4Ki6dh1A8en_JGtzjmckEKJos3aHFmL-fWnvokf-_tywKNYueOLjJv3x5WWlrkMkz0EjOCbzrn1gRxlZ1Q1R0m2Blos-UKqG1-XGoe5kIR-UdT_KKv-Dx0c6T2iNkhQWTWdgVAiz7wVPB4E_-zBZ6U8OY4dWcoW8vP-fHEhrEMWlOCG_JfgQwAsGokn4R9doWJ7WOxZz75Ko7oadtTEQ_zB96Im5PCQTYgJ_Run95weQQGvgCuHOoVgX9ZN3XPa3pJ2_ZgJWhQNdALf603yxB_ixzkTwWbt9YCm3yAUFmejYYX77dYDjM0nJDjl_ZfZ8VbUukKwLuEUdKbNMFszVgztq8wkX49zVcXZ14ZS61PdOQ7PPmRoUhteQk33kPYSzJamdVJub0IUMHg--WSwDoIGwa-jMNPu2HeHo0gRLRYH9xIJDo1KEPvvyb7SokrduP8j1QNDuytdPjWV1H5-01RCIEyOcLRhiVr30khuo7vgHFqyf3166Sf8Vgr9YQVBqpPdOevpFGtQ-_FHzRCR7JIv3SI8y0d8XZ283wnWLZ8c1elYzQ6BOl366XTJ1hDkScuts2ERCIdIj9xefwwdcruPKuuhQ4gC8AeftHwy-XB2Uk4goc1Sb1dfcHhwNektfscTv0lhOO_IvBLdMsadok-Z6rHZdLJD77IqeiEpIWwszA5C_BCp7OsAqwKDkPySU5UM5McRC72arHgSXkwQ0cJHimr6jGcVNDsEiMdpxCrsBgpUIF9CaNd-sL-RfjDY11DB9S9_xN3uruMamNx5wrGjF9bXrH81PsDsg1vCKgxh9v8-CK1jDw6m6KaTSj9Nq569nOQFCuQeWbq8Ksk3-wQCYCQ9_YP6fbqjQZ07uYO4CLYCTwq4e6ylXA7HmstF8pyC24WN2XebzEx7BaAXEeDVJ8PvcohW1CG2KzFvDYDWpzBaPyow-P1yLxarZcVdghUINgskWeoXoG8CC81PmSs1fMNIM15MNsyebmQkF2dUEfNjNWAqWCjL1QNmcYwT18dKZueQ253p5T9tRi34Bm9duocKKcXCzK_D52gMu4V-yHSQdbqH0u-r0N4YyGh5naOb_fw6mRs_qjMYZtiXGGqcjjTbmtqg6NHwi1ykDadCWZMmISNgQkxGfi-e6yjmE_8LAE8IhNXd4S96zp33jadYXzbcKAgVODHVEM2hFkeufDrGIY2vDi9W0XALrzuGv7udUETjhMPSedrIp6KsiUGgjlA6KkP7W9UQCZCmyi017PxcQVmAZHuNJjbONzKcif3-tVrj5zfhKLzBDr362b89RpDjqVNCzCcdUwX4grk9QtRrTQYiyQP_7i3A4gG1Xi4VLd8JCSY_l15cCQKwuSmhJYzF8Ou8i0Hxeb9Ue6Btz6F-R7gb0a272PZU3uOgA3MFuIXcKhUChiqgFiPm7dxXgEJL0FST2BC7vOJwJfWAT7w8LiWglzTpdFUMqYl7K9M7aWDM9hvlTrQbpPoyOxgPpDTAG7R6iAd0u5QRJQu6bXskBX_gFmWp9LMKnsHukkIzxi_Bzz1xRFGjhvtsA1l-9qAugwCYEMcQPmH-g6VKjjS9qmeKy3ERit-2j3xLOhK0c5KzA62BjayKt5xdwJ7KwLqM6nkNSRy1euUU39uXO4PuM9jwQFa7ORfy3qz5GBj4kyHfT0uCMFrU5junWXsmPcCNqTilAHwvcaaoFcdWu5QeO7kcvwTS-_TZ2INUpxfjqK3qFaAZC9ZTxxbT0FkAcksfe92baoHl8FnEhoLTCOm1vLVgrm16YAt4820mj03RR6nzmXmTb6Xton6GPwmuq6hc3BwDyHgJhVRTgkUVUVs3Uw5rBSCaqiZlznYg_OT2kJRSxgbJRmon2wZ9nbrQ",
  "id": "rs_0b44ef360268022d016ab49c7c467c87d0a1d58493dccd911a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.1,\"right_z\":0.075,\"right_gripper\":0.65},\"note\":\"The jaws appear to be meeting inside the bowl rather than around its wall. I’m making a larger sideways offset to put only the right rim between the fingertips.\"}",
  "call_id": "call_UDBwUtb5voKzrpOxlW2vcgda",
  "id": "fc_0b44ef360268022d016ab49c81b00487d0837d748e90c8cc69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UDBwUtb5voKzrpOxlW2vcgda",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8772, 0.6823, -0.5194, -0.0261, -0.0525, 0.9995, 0.2703, 1.261, 0.5632, -0.1474, -0.049, -0.1387, 0.6458]\nstate[eef_state]: left_x=0.2898 left_y=0.0006 left_z=0.165 left_yaw=0.0029 left_pitch=-0.1467 left_roll=-0.0036 left_gripper=0.9995 right_x=0.3142 right_y=0.0998 right_z=0.0677 right_yaw=0.378 right_pitch=-0.2741 right_roll=-0.0413 right_gripper=0.6458\nstate[joint_eff]: [-0.1026, -1.8393, 6.9675, 1.6825, -0.0904, -0.0708, -0.0122, -0.294, -4.465, 8.1846, 1.5556, -0.2271, 0.0122, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d5659ae40d7de0092b96bf5c6b10894580c2b7ab76840928be309a45a718f6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24564580d6bc295af4c80849d3ca7766183d69c26aa3a287222168f74e3a3ce6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e4f7d9c5ff460b42c9baac9a8e144e3c277eb0f489c861721f770698890089a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 112 changed as sent

message 119 changed as sent

message 123 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8707, 0.6823, -0.5171, -0.0261, -0.0525, 0.9995, 0.4397, 1.4548, 0.7136, 0.0013, 0.0448, -0.0151, 0.8455]\nstate[eef_state]: left_x=0.2898 left_y=0.0006 left_z=0.1671 left_yaw=0.0028 left_pitch=-0.1379 left_roll=-0.0038 left_gripper=0.9995 right_x=0.3573 right_y=0.1633 right_z=0.087 right_yaw=0.3971 right_pitch=-0.1688 right_roll=-0.0243 right_gripper=0.8455\nstate[joint_eff]: [-0.0479, -1.8803, 7.1316, 1.6239, -0.0464, -0.0513, -0.0122, 0.5538, -6.3658, 6.5573, 1.7314, 0.1929, 0.0269, -0.0904]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8738, 0.6827, -0.5198, -0.0261, -0.0521, 0.9995, 0.4423, 1.6272, 0.5869, 0.1841, 0.0429, -0.0227, 0.0082]\nstate[eef_state]: left_x=0.2896 left_y=0.0006 left_z=0.166 left_yaw=0.0026 left_pitch=-0.1433 left_roll=-0.0034 left_gripper=0.9995 right_x=0.3381 right_y=0.1557 right_z=0.0085 right_yaw=0.4046 right_pitch=-0.2852 right_roll=-0.0331 right_gripper=0.0082\nstate[joint_eff]: [-0.0889, -1.4564, 7.1179, 1.58, -0.0708, -0.0464, -0.0122, 0.0068, -7.8701, 5.8325, 1.5507, 0.0366, 0.0464, 0.652]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8772, 0.6823, -0.5194, -0.0261, -0.0525, 0.9995, 0.2703, 1.261, 0.5632, -0.1474, -0.049, -0.1387, 0.6458]\nstate[eef_state]: left_x=0.2898 left_y=0.0006 left_z=0.165 left_yaw=0.0029 left_pitch=-0.1467 left_roll=-0.0036 left_gripper=0.9995 right_x=0.3142 right_y=0.0998 right_z=0.0677 right_yaw=0.378 right_pitch=-0.2741 right_roll=-0.0413 right_gripper=0.6458\nstate[joint_eff]: [-0.1026, -1.8393, 6.9675, 1.6825, -0.0904, -0.0708, -0.0122, -0.294, -4.465, 8.1846, 1.5556, -0.2271, 0.0122, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d5659ae40d7de0092b96bf5c6b10894580c2b7ab76840928be309a45a718f6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24564580d6bc295af4c80849d3ca7766183d69c26aa3a287222168f74e3a3ce6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e4f7d9c5ff460b42c9baac9a8e144e3c277eb0f489c861721f770698890089a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJyIoREgvb0vSLzkvIUIlsOmk_dckdH3N0WzJkZfAyZmMSskhEyUVmLV2mVjik3DNfefhAgBsOGLhq4dgAdPi1mBIYLXkETj-HGfAJ75ZUFPlifYjkr8jAcEbCrF1ES7UyXIomm0oy_mQg2dvwoYEvA7VriMHaSOOb33hKU2P6hNtXO5BA127KQxG62pueIMTeepo0fcvUJH4KzKOcZvtXRBwP7e1Aq8IZ0hBm6evfMyoqh6y1MwG89LyBY-i7bS8TSpzFZ48ZiX9Epm2ewRo5TrZEZWUf4YwOcq-swvC7F28Fdn0aV578SshjnIH89Do0EhDlvafi6tbjAVl0bokujq99NYabwipS0Y1XwdSvvsmSaAlzcZ50d_jXx7l2CdrQrN6LOQtYTgAaq5C2VnoB2K2JZ0Y3Jp8tkkXm59S61dIZ4DzGcJMzOtFYSAmWMILEMB30QXr0DJCCNCbsnox7Z4eD6WUaPt3N6gX-Al8LRBRWNoaW2ArBDQjuXZdXKyYxdXYPhYk6AZcYMAg51v5S13q5abiABFUNPnGhwsMJuefUhCACKNs4HlRDvJ4yq9P9SywdJ7J6iWjm_rSUYa17XNhivpDZfsyhpJYGWzAAVeyKyJrZNATuvTvejIFDN2pB4Ib81Ar6f164SY47QFarxb6jB6H4K9e8rLbb-HySIaejcQAKMNZ1F6yaJbEvAnxydnfFrsz26cT2jFaBeHx_bi8leu2ls86y1ocg93Pj6V4KiKtAwfm7gzAOnIabSKAC16z3RM2F1imXEVTzzzbaaEDMxS0Vz4peqrc_HHSqvrzQYDHqZW851W2_LgiRjt42n_l5T5Vb6xLpRmslOAepMlXTd37UapCXYi5kLp54hd2jjRAanVOD6n-NyksxzubX9J1XgemX1tPJi7LCjPIDl9d5MQ9REkwHVqTR4PQ88n1mjz8QUIRZ-zUjLW4DTbplCON0yZ0CueLCyS8QJhzK1M3BqH5CZwtXUdf3WhnMszUzuC8sXa40MI6oCrZTZYaMmFmT7HcN_wRChKb94Yv0L9Nm3SfNxm_RiOA8dtnwKEPk-g5GMMFubWrN7T-QwGedGSpJdJ-QDkAADr6MwfHDr2mI2QmfSTUTTiPQUbOWi4BSwlRgYG2OUW0tCgM5zbd6-moH4wSz6pvNeVH_OkqubZjM2A-RPWMQssjB8JhTh3bHHoacOLhU5TvMrgpHh31SubJ2hrJyGfOeZ6OFprBhMZHe4S4KARClNVRqX4wlAvH7NQ2Hp05ouhDp5TZLkov53u9P12xTUfnqQ1UGmvqi03vevyVmC8bUL4YxyOoGGVzEYEHTLbZxq7u1bN5bgfqzExXoBntIO3HcGDHEwwL5Tz_EQKh2PcGY2YXSrsppqZtq_QOQKhBhA10ZO-uGbxp1lH9Ycz8VSlfDubgUUohxrc7mx092NrFcNkLvnDahdxjOZy4KLxRnK2Wf2w589vn6ditkl994Ik7c1jTDC1ktY7T749l2_eHyfizs_9_e-4Yvkaqky4gnfmtMV28RKhdQJv00TzDMUoXip2hqng5c9Fl8S9mx5d14PQVEZavsHTWgQbcWuoy_deW7dV6XmrP-89aOzFf3xrxAEUFiGffr0eZYB4QevjWF-xvEYfQzP7gHStxzpSwd4cBLfFmrtwhIV4MHfurGrJeBm_5uRaBkvsPQ==",
  "id": "rs_0b44ef360268022d016ab49c84d9f887d0add862559a94fe7f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.035},\"note\":\"The open fingers now straddle the pink bowl’s outer right edge in the overhead view. I’m lowering to the rim’s sidewall before closing.\"}",
  "call_id": "call_eJBTRpWiAyu8HJPMkwBLRf7u",
  "id": "fc_0b44ef360268022d016ab49c876aac87d09ed5a9062a6b7112",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eJBTRpWiAyu8HJPMkwBLRf7u",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8791, 0.6823, -0.5201, -0.0261, -0.0525, 0.9995, 0.268, 1.3441, 0.4881, -0.0505, -0.0612, -0.1493, 0.6461]\nstate[eef_state]: left_x=0.2898 left_y=0.0006 left_z=0.1643 left_yaw=0.0029 left_pitch=-0.1494 left_roll=-0.0035 left_gripper=0.9995 right_x=0.3033 right_y=0.0982 right_z=0.0297 right_yaw=0.3948 right_pitch=-0.3342 right_roll=-0.0312 right_gripper=0.6461\nstate[joint_eff]: [-0.0205, -1.2923, 7.0085, 1.6044, -0.0659, -0.0562, -0.0122, 0.0068, -4.8752, 6.2427, 1.5995, 0.0073, 0.1636, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdbdfd56d4d100d0ecd949bf47366f80fe03048ae5615de430142ee47f9e1121",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:829dbabd0be7d826d1e72d08fa0c2158d9e6339f0465d4038aa8e9ad7cccb918",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a35b57096d256568690dc06ab6e11cc4c4d5e6b74ffe2024722ba2f0eb059c15",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 116 changed as sent

message 123 changed as sent

message 127 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8734, 0.6827, -0.5198, -0.0261, -0.0525, 0.9995, 0.4423, 1.6093, 0.5949, 0.1921, 0.0441, -0.0185, 0.8462]\nstate[eef_state]: left_x=0.2896 left_y=0.0006 left_z=0.1661 left_yaw=0.0029 left_pitch=-0.1429 left_roll=-0.0037 left_gripper=0.9995 right_x=0.3437 right_y=0.1582 right_z=0.0189 right_yaw=0.4016 right_pitch=-0.2512 right_roll=-0.0297 right_gripper=0.8462\nstate[joint_eff]: [-0.0615, -1.9077, 6.8991, 1.6581, -0.0659, -0.0513, -0.0122, -0.212, -6.694, 6.2291, 1.8486, -0.0122, 0.0073, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8772, 0.6823, -0.5194, -0.0261, -0.0525, 0.9995, 0.2703, 1.261, 0.5632, -0.1474, -0.049, -0.1387, 0.6458]\nstate[eef_state]: left_x=0.2898 left_y=0.0006 left_z=0.165 left_yaw=0.0029 left_pitch=-0.1467 left_roll=-0.0036 left_gripper=0.9995 right_x=0.3142 right_y=0.0998 right_z=0.0677 right_yaw=0.378 right_pitch=-0.2741 right_roll=-0.0413 right_gripper=0.6458\nstate[joint_eff]: [-0.1026, -1.8393, 6.9675, 1.6825, -0.0904, -0.0708, -0.0122, -0.294, -4.465, 8.1846, 1.5556, -0.2271, 0.0122, -0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8791, 0.6823, -0.5201, -0.0261, -0.0525, 0.9995, 0.268, 1.3441, 0.4881, -0.0505, -0.0612, -0.1493, 0.6461]\nstate[eef_state]: left_x=0.2898 left_y=0.0006 left_z=0.1643 left_yaw=0.0029 left_pitch=-0.1494 left_roll=-0.0035 left_gripper=0.9995 right_x=0.3033 right_y=0.0982 right_z=0.0297 right_yaw=0.3948 right_pitch=-0.3342 right_roll=-0.0312 right_gripper=0.6461\nstate[joint_eff]: [-0.0205, -1.2923, 7.0085, 1.6044, -0.0659, -0.0562, -0.0122, 0.0068, -4.8752, 6.2427, 1.5995, 0.0073, 0.1636, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdbdfd56d4d100d0ecd949bf47366f80fe03048ae5615de430142ee47f9e1121",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:829dbabd0be7d826d1e72d08fa0c2158d9e6339f0465d4038aa8e9ad7cccb918",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a35b57096d256568690dc06ab6e11cc4c4d5e6b74ffe2024722ba2f0eb059c15",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The inner fingertip is against the bowl’s inside wall and the outer fingertip is clear of it. I’m closing on that section of rim.\"}",
  "call_id": "call_ZvQcQc0MZiZhguwwTGGVARkK",
  "id": "fc_0b44ef360268022d016ab49c89d43c87d08603ed4371944794",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZvQcQc0MZiZhguwwTGGVARkK",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8791, 0.6827, -0.5198, -0.0261, -0.0521, 0.9995, 0.268, 1.3579, 0.4671, -0.0528, -0.0612, -0.1535, 0.0088]\nstate[eef_state]: left_x=0.2899 left_y=0.0006 left_z=0.1645 left_yaw=0.0027 left_pitch=-0.1486 left_roll=-0.0032 left_gripper=0.9995 right_x=0.2947 right_y=0.0958 right_z=0.0179 right_yaw=0.3989 right_pitch=-0.371 right_roll=-0.0288 right_gripper=0.0088\nstate[joint_eff]: [-0.212, -1.7162, 6.8991, 1.6484, -0.0415, -0.0513, -0.0122, -0.0479, -5.4769, 7.2957, 1.3651, -0.0513, 0.0024, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:098bb86674207ed33a40e70a15d444e1f5750977911cfce7498b7813817eee95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b2857869a7d7457eba35344d4e5f4478c06121ab6e2660adfd3cd2cd328b0fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18f1000809714e28fb79c96e3b5af4e7a2bcd5cd32fbc00ec8ad30bcf49d4231",
      "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 130 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8738, 0.6827, -0.5198, -0.0261, -0.0521, 0.9995, 0.4423, 1.6272, 0.5869, 0.1841, 0.0429, -0.0227, 0.0082]\nstate[eef_state]: left_x=0.2896 left_y=0.0006 left_z=0.166 left_yaw=0.0026 left_pitch=-0.1433 left_roll=-0.0034 left_gripper=0.9995 right_x=0.3381 right_y=0.1557 right_z=0.0085 right_yaw=0.4046 right_pitch=-0.2852 right_roll=-0.0331 right_gripper=0.0082\nstate[joint_eff]: [-0.0889, -1.4564, 7.1179, 1.58, -0.0708, -0.0464, -0.0122, 0.0068, -7.8701, 5.8325, 1.5507, 0.0366, 0.0464, 0.652]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8791, 0.6823, -0.5201, -0.0261, -0.0525, 0.9995, 0.268, 1.3441, 0.4881, -0.0505, -0.0612, -0.1493, 0.6461]\nstate[eef_state]: left_x=0.2898 left_y=0.0006 left_z=0.1643 left_yaw=0.0029 left_pitch=-0.1494 left_roll=-0.0035 left_gripper=0.9995 right_x=0.3033 right_y=0.0982 right_z=0.0297 right_yaw=0.3948 right_pitch=-0.3342 right_roll=-0.0312 right_gripper=0.6461\nstate[joint_eff]: [-0.0205, -1.2923, 7.0085, 1.6044, -0.0659, -0.0562, -0.0122, 0.0068, -4.8752, 6.2427, 1.5995, 0.0073, 0.1636, 0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8791, 0.6827, -0.5198, -0.0261, -0.0521, 0.9995, 0.268, 1.3579, 0.4671, -0.0528, -0.0612, -0.1535, 0.0088]\nstate[eef_state]: left_x=0.2899 left_y=0.0006 left_z=0.1645 left_yaw=0.0027 left_pitch=-0.1486 left_roll=-0.0032 left_gripper=0.9995 right_x=0.2947 right_y=0.0958 right_z=0.0179 right_yaw=0.3989 right_pitch=-0.371 right_roll=-0.0288 right_gripper=0.0088\nstate[joint_eff]: [-0.212, -1.7162, 6.8991, 1.6484, -0.0415, -0.0513, -0.0122, -0.0479, -5.4769, 7.2957, 1.3651, -0.0513, 0.0024, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:098bb86674207ed33a40e70a15d444e1f5750977911cfce7498b7813817eee95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b2857869a7d7457eba35344d4e5f4478c06121ab6e2660adfd3cd2cd328b0fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18f1000809714e28fb79c96e3b5af4e7a2bcd5cd32fbc00ec8ad30bcf49d4231",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0b44ef360268022d016ab49c8cac2887d0b78cae754b21a1a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.04,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The bowl keeps sliding out as the jaws close, and I have not established a secure grasp. I’m opening and lifting both hands clear rather than continuing to push the bowls around.\"}",
  "call_id": "call_vmo25uRCtQfP3zrFEP6LVH7A",
  "id": "fc_0b44ef360268022d016ab49c95382c87d0bb7a210cdaf00d07",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vmo25uRCtQfP3zrFEP6LVH7A",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0265, 0.815, 0.6823, -0.4889, -0.0273, -0.0525, 0.9995, -0.1341, 0.8215, 0.6613, -0.5156, -0.3958, -0.3313, 0.9954]\nstate[eef_state]: left_x=0.2905 left_y=0.0007 left_z=0.1877 left_yaw=0.0032 left_pitch=-0.054 left_roll=-0.0056 left_gripper=0.9995 right_x=0.2807 right_y=0.0345 right_z=0.1798 right_yaw=0.3622 right_pitch=-0.0448 right_roll=-0.0066 right_gripper=0.9954\nstate[joint_eff]: [-0.7043, -2.1402, 7.0496, 2.083, -0.1587, -0.0415, -0.0122, -0.1846, -1.6615, 9.853, 1.5946, -0.3004, 0.105, -0.2662]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeda5a649f6cb3956bdde0437429d4546e043e7eaff603d728b8740538f2656a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10a97a8a71c66301927fe6b924d8ede00de38147d26b03849d82c5a892fff9ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6a72dfb2a9f1abed2a24ed74652a9257da0c3a8cc031bc9322700a88f59e15a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}