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]: [-0.02, 0.794, 0.6048, -0.3809, -0.0227, -0.041, 0.9996, -0.0219, 0.7925, 0.6029, -0.3771, -0.0151, -0.0334, 0.9967]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1802 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0002 right_z=0.1805 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9967\nstate[joint_eff]: [-0.4171, -1.4291, 10.1675, 1.7802, -0.0269, 0.2564, -0.0611, -0.4171, -1.2376, 10.1265, 1.9316, -0.0806, 0.1294, -0.359]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c0eacaa20ce76588fdcc3f6524f7fa1045c9917a4ae2bd451d366ed988f6f8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a0dfac7327b3d82fd7e9c2128c6c973286c532e68538a97420e5ed6b6ad829b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:254b2316a21b1b151a2c3ee22bbb549a492ef9aedd52ae3ae1d014e4a8d79b63",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqtJNW0w4623e2iNkk06BvsH-BONFWvXzjqOVKiz6yl4tjpeyydj9SlYkZgDVG4KgYklEoHKvG2-fTN5O9sFirwp3GWUZzmGdirzyQj6LC7-YMfigiAZ4JTzcdXZlekzrcUEyqe4DJV6O31sNGb8lajDcaJ85loMyaXtbxXiXIaCpNAh2Xkrpo70Q90X1p2JqhIpgJE6atEIaDy7cXbSJ4V-sUkVgDiYdjMopGCB42chkxuljMdBELXRg6jyosndgNNtiXhE7TeI-TSX3RHuawRrv2PXtK-hyMwVSdklou6BpiS_-dJAlHjujFmKEU8fIDXYDoiZSI6t5AsvIgGAziad7lP9CW0VqJXDbIvpDbArTOSsSzU0jrQ8VAvxAldKAMwMQgoiBZmEWHUEgxAYUeDihy5ppqL994lJrwe9aX6lTB8daEN5-5q9KyJUmjFfpZAdS1LTHZF1o9wIw6E1IWPjf6koJW-AaT2GnlcUQQlSYuTs04Xh6RAFEkilacL8WzIHFS4jAbyaIcdsiWGyQ0adEiuXvwooXsB7ennkXKwn1No6oH6gd-8ofBk4WrEG7RrK37vAQQl2MScDXL65xgG702Z2O5bGDyUb0qIQFzCOqhW62fH4B84PbIT53bmYL10xbFyYJVJDGnEqy3d2YRUX2h79DclZFYv_ga-LKGPkJPt0qu47slDRh6xLu2FT2K5B7BkYln3rg9w_n-vV33cnjW3b2z5TrR0WVGmVKrp47VlwbWm66fO1Pl_YL9ispKxjUcx_cGntFFJCajuNj8iHaY-GS4_N1Mkcs-arm-jUh7yhOoCm5cfyexK7FePzXrKCiM2iTQ_XwPoInYtJ_7eD7DkbmI0DrMGXjZp_GirS1DKCgdZupJciWQMUNN8GSzBNF6JxhwA0AS0H_YbE7L996bOUi7_Zl9wf5W6U9B5sJBCMYSLAf5JYrHZ0IBIV12lo3iPHMvswxm63jCPfCk-Qji6IkQGU7Bqou-hexlAvCdthDqLRPsJHwEceoY0Cd5cFWFbBJDoqjbAnJKUSLtYRoxb2TpzpqcW3WhZEdomvFchjHOidg23z2U4KkBm7lY-h1ArYEGYmA-5UgRa8JNOEbAraCNRsSYeLCyfzEQZ54YKigb4E1QsvFqPt-gOw5XjZ6p6ZYkNZrGoJqE-ae-iSntAXWXEcPJTJPK51v0KzluPSzhzQtDiN13DlAXvUiKEu4OlmsKcGF7RJkpG5PA3UYUy5d6B43y3cHofn0o9pXq70AA9jyPJw5VbPxDAvlZKIyphQzwwslT-z9vn2aZoF_RN4ZkW35FtHygpTMmRb0l4A-mKbo6LHC0EHQV6lEN9CxDGxE6LyZXSpRR69t0WfL_RiMCcxr8kh-SSICQMpPhUVACvO-WzjGMuIy17hwaRQPdALGf670NkdFPerofhQs2hqrvpmQfUMU5vKZ_Eppvi-htuNLevdRiK-QgC1QUFxdGq7TYVEyn2XqAKNKvTleuuHQ2r6dl9ECfaatKM6Lbc3s2Vghc8-7oQxRghOQOCwzFjFgKzJupRqy3d5CZiyqj2Axj4tc_8NJevQ4nCXtIHrdqfzelaKHVfM__hQ_g5n64Sq6m27KLepos0Ax4YznysptW8e1ZeqpOrfYirWaihbMi5yYMzr2CfD8uP0OqOH0lhTocoHr6w2bnS60tsU-Px3A_Hyay5gH7o4i3lyXtrgdni9KP-GyACujwaRWkmZAgAzVstT1orGf832rU0_4UUpb3FEzbuVCAtOZW144EIQtF225r9qtNONavQImNfksPJJytlIskSFezAr4tjJANp-mXD81PbEfE0ZnWgqJT3IjU8SxougP3GH0MJp2-tDyUJtG9qSxjtENWinz9DWSGZgYQP1hSePwuLn_Mw41eywG64uPiSEkLnw7lTbkKhJ-LwG4yhPoABgEn6PfjCAiKkGxuKiXzt00mz0f--9xZ6VlUgVy2LPXGKv9fXeTSPY6rwm3ytAm6kybJ4FajeayGGGwKaZSApP3J5ACfybxIg82k-nvpVVh82_M79c6ynmPDmUVcbQgm0DtCE9Wyf7kJpUhnRy9LzByo6ycgekcrAhbwxx5hNDUG1evQT8Rmcg98Wisk1rpuo1l4eiLWIlbrAsspdhyFDTfvBC1r8oOK6urW8Qki5dFGPm-w3D7lNCzafKX1bVBQ0jUMF5q5mCqO4nMHbaCKy9re8qe0YPkQKbM09cZAV9Q-V5Mj1skwxItWDM2oi3WEI4ZPPku4Ca7zkYanji-csGCOV7Yk2RRlHIJ_emOypZAdRRTiiLsXHEGZhFtprd5OsxvCTSd0-cdScJYafR5g_jwZ5FbV9k9TNL1YJUqbODjukPh4fs2bo8FaFP9wS6_5-ifmpDBcgySG-Owg85ji-fon0C2PhymUht8KjDbxBATVCnZnnZCmDzwxAPGTLwDHryuzWXAwIORl1_gJfqLPP6q5BpYw3_i1TaY=",
  "id": "rs_018d3969b3c5199e016ab49350db5c87d0a60710b44c7a667b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.18,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18},\"note\":\"I see three separate bowls: turquoise on the left, blue in the middle, and tan on the right. I’m bringing the left gripper above the turquoise bowl to line up a rim grasp.\"}",
  "call_id": "call_x3WO9R0z3lcFK5x2jRqVpJvq",
  "id": "fc_018d3969b3c5199e016ab493554f4087d0a5e19b720546fb0f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_x3WO9R0z3lcFK5x2jRqVpJvq",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6685, 1.4929, 0.8761, -0.1314, -0.5346, -0.429, 0.9996, -0.0216, 0.7967, 0.6003, -0.3882, -0.0151, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.3694 left_y=-0.1725 left_z=0.1315 left_yaw=-0.0171 left_pitch=-0.056 left_roll=0.0315 left_gripper=0.9996 right_x=0.2934 right_y=-0.0001 right_z=0.1758 right_yaw=0.0008 right_pitch=-0.0179 right_roll=-0.0002 right_gripper=0.9962\nstate[joint_eff]: [-0.4718, -6.7214, 9.1282, 1.7363, -0.442, -0.0513, -0.0611, -0.1026, -1.5385, 7.1179, 1.8339, -0.0464, -0.0611, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf12848211993391c238d02d6c4ffa0ec89f9333a0b4fd921755493b80e3d592",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35402f75ed79a351500ba1ded9b49b241588a694451518e3f4b3f44bed87c163",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:532580957dcc2040a52e9f1cacc36ab8a9918b6c24bae6629f27751bbedc1e5d",
      "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]: [-0.02, 0.794, 0.6048, -0.3809, -0.0227, -0.041, 0.9996, -0.0219, 0.7925, 0.6029, -0.3771, -0.0151, -0.0334, 0.9967]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1802 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0002 right_z=0.1805 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9967\nstate[joint_eff]: [-0.4171, -1.4291, 10.1675, 1.7802, -0.0269, 0.2564, -0.0611, -0.4171, -1.2376, 10.1265, 1.9316, -0.0806, 0.1294, -0.359]",
      "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]: [-0.6685, 1.4929, 0.8761, -0.1314, -0.5346, -0.429, 0.9996, -0.0216, 0.7967, 0.6003, -0.3882, -0.0151, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.3694 left_y=-0.1725 left_z=0.1315 left_yaw=-0.0171 left_pitch=-0.056 left_roll=0.0315 left_gripper=0.9996 right_x=0.2934 right_y=-0.0001 right_z=0.1758 right_yaw=0.0008 right_pitch=-0.0179 right_roll=-0.0002 right_gripper=0.9962\nstate[joint_eff]: [-0.4718, -6.7214, 9.1282, 1.7363, -0.442, -0.0513, -0.0611, -0.1026, -1.5385, 7.1179, 1.8339, -0.0464, -0.0611, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf12848211993391c238d02d6c4ffa0ec89f9333a0b4fd921755493b80e3d592",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35402f75ed79a351500ba1ded9b49b241588a694451518e3f4b3f44bed87c163",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:532580957dcc2040a52e9f1cacc36ab8a9918b6c24bae6629f27751bbedc1e5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJNfClYcSaCRhe0a_m5L0q5rPQAU1bzAT70gzjpHkC0nXYknXHaOOabbfrnNIbKDaCxplVS7xLfG_lFh5v2h_ylzMl5uPGx9OMteQlkH-0CW4aadgTr-H-tJJigzXqcKAyYZ4VdMLcxvje04TDsT9zWCC09vtQeLx0vJvrZeAjhgQUMgLEt4_mm4KgV2Ru8Npx3a1cq_13jwnrWIVTAbHx14q1NQi7oX9ipVc-7dm2PUeq9fFai7NBP5ruEwQMY_BY-4SSu76yJqURedPtFMce3358Z93SnblyTrQ9W7DOfYMRvRS2F9wtavW0jZ_VmSlEZHyhSHL3MsjxOSVjpngPccMrnjerUjh6wLVfNE195SqEl7HB4MiHdl5Vf0OvYisqsFZirvNzbs5B5riL6VDPp6fuTp-SCUszf3ENAf8xTGz4eAavTMh-NO3ARXnfsv4tv6IoGOznSjE9DAaQFZb9T4T_7NHDlyDojqCnOinGUEvF_tRWcjvwk3R-JN16bEQcWmOlCof9WMwGPr5x-Om9ZeuYcSQgYhYPNW4rpIstw587CtZU-masQLyuSjUKI3x1V7yg0rlY6hi4bLWge45D7rBmbSTyblnCksXbp-OW4Iby_-ku0AJ3jS5hkf7ToEyYO7G8B2XGw1g-mFgyYI_cMOGXG2uY0lGAXiJhFpws5umjV2phdKLTzQzIqAtyoy0Hg6LNO54D2jvTrAU0vVLVNh73lUmaowbRCtJpLKRpljL0NUY9v5LHCXrFHWpzyvz_SNN51cAa0hoOZgx3LSULdsD76m5DfjUMwIj4c3ztpFxHfAnbwRg0OZbOCOpO3dggDrccPqXpjXPr0_4zIMsjyKRoJIlovIeqgLiw9GtSgy5aj90ycjx3ZDIXwUQNppH3bu_Woz0sDCl-DK9nECPhq0I1qNl4Jf8YFvAcd_guCZJhU2AHoOY53zL1dRe-GYZTEnfCo8RzaZnMZ7dwdHmoCOAqJ48cCrZs-zHj5Bi9P5XSrBjs5RslVn2q0B8cSdTTzwmIseImMhE4WpZkln2jJGKOlSIWdKr9mFsJ5fMeondBMpVYDC1l5__giSzYfOxdq0z7RL50L-19NP04KJWrM2eVOEH4d13eJkkjj6p2UbByi10qHPsqvsKkNfNKrRxQlvCOnYwd4gyuIISHMm-BkOAzlsLQQw83CRXVulTdVqrDNSmIsnlTp-imFDfgyLJZboN5pMmODmE-QjXMfeX94WBuwgjJ8uV_5h79CV0p_7SA-lAt-G_J3IjwCmG4K3QAUSskv7ri74SXHqxF2skfu31GLYirIYEyWLvmZfd5JpPnq1gqpXOhIWDklp4QkyfwqosBIBS7woEm5iehoYqFVN_nVDpMcc5DC9dCCFuIt5RyNXK104rn8xZuIQX-FOTOrNPCnyLu-Sml9kdRwMikMJshHcdbGduZJ_RvEKgyyA2dwaJHW601J4jjxF_pBQTKfJNOjoW5lV2yzi74_xAtBVLQgLgC4Ey5ds_YPKpHSOqp6JFnDM8yT8c4f2AW9Emj-I7_SqAek820HWJxfPNewfnvyT_h_CYansJ3dlwN-LdQsuNv33FhOU3eATnfFy-wawk7JZb_H1PCSkFATfYLt331yU319HjTh1kSkvPj29Jp5rD6Zfvz-R6588GUX__z_m0s1mBoXVhY-oc_eBQB_xakXrbLXw_rSSyCbmmNN2Ip8ZFUJe7pJfngBOO8WVEfuxFMID1rjPEOiIVbN08Z-az3FTSV26CHqw0qgPl5Pp4AhiSZd3tQ6F4fElKb9pJ1jNBNtdvEzp3p-3WtnSZEXccTPJ1gh_ylfs1PDtk2ag6ZN78sIy5Xp8El4Xi0EZDnnEkfeB3WLGq0ujbVfqyQBVTVfefhoYk_iRpFG1v5YKPFcOqC2HkWwZQQ8gsZx9DkVNuvaQ-A-y-BTiLuuO7UOI-eg6aZVusUn5vIcII0hi3G5K51bh_imK2-BjUKLmtscY-0TmN649AjJU3P2fJKNxjsqwZ6zUbJ_VvrZyiNvBANq431dqhRtdOxpg6-_mwpAFr6BULr0QSPozm1FFriYzeVwJOlk7U0tJnjPSJ-zvYJQiJSxRH2UZcgGHVLEPa2qIlg9UnQiqwM_pWFkfGMtiy0I79gCkB73wY5C1JvhXD1xDxMobQwtuPkA4YUdI9LWl-jFEoD7DgY2nyjdVJTn1xsQKI6u6H1Bix0qDRtR4HTCGd1xlLuKeSNaU36aUQ8ga-j-pBdZqXeyEjSEyOjUVZRodhxmAvlYFAXvc3pvvyt-7l-L9mTGyT6GwRQ7m7YOI3uQ9rigH9eu7WPPi2D9h2Abh7GefFDdFBrkitRvQX-xyOO0sBbj0RULRkH1x_TZPCLxKDxVqkLpCeSfz9U87XQXyvgGE2-gKUuNtjyY3fcNqVy7Y2xU1L39qrHe0GWDjpC--2v-Ihz5sAdyYDRQWM94MkYMKqLwJTibU32D7PnVV3nkG0vh2alBHvx9N-hErjvZEZnc3_hU5duVotUe6MA==",
  "id": "rs_018d3969b3c5199e016ab4935970a087d09dd89ea8411aa872",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.055},\"note\":\"The turquoise bowl’s side rim is just left of the gripper’s centerline in the wrist view. I’m lowering toward rim height so one jaw can go inside and the other outside the bowl.\"}",
  "call_id": "call_hoIO3GgDEem7UbSfkDCxjsPL",
  "id": "fc_018d3969b3c5199e016ab4935e6a5087d0af9899ab3106ffb3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hoIO3GgDEem7UbSfkDCxjsPL",
  "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]: [-0.6735, 1.6577, 0.7086, 0.1188, -0.5323, -0.4431, 0.9995, -0.0216, 0.7982, 0.5995, -0.3931, -0.0151, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.3586 left_y=-0.1669 left_z=0.0469 left_yaw=-0.0117 left_pitch=-0.1215 left_roll=0.0693 left_gripper=0.9995 right_x=0.2927 right_y=-0.0001 right_z=0.174 right_yaw=0.0008 right_pitch=-0.0252 right_roll=-0.0001 right_gripper=0.9962\nstate[joint_eff]: [0.0615, -7.0632, 5.6137, 1.6825, -0.2222, 0.1197, -0.0171, -0.1436, -1.3744, 7.0632, 1.79, -0.0464, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:908e0367b6ff4da6474711900d20137a9e240058ac73fe1039cc34b3ab28ab60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b770a1e0af21bacf1e375615ff2989f2256435ffaa20b7d09c8635aa309cc24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:014969e460a022330756680d1ba88a1f7ab62c5573334a65ff44c8a7a9e7b743",
      "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]: [-0.6685, 1.4929, 0.8761, -0.1314, -0.5346, -0.429, 0.9996, -0.0216, 0.7967, 0.6003, -0.3882, -0.0151, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.3694 left_y=-0.1725 left_z=0.1315 left_yaw=-0.0171 left_pitch=-0.056 left_roll=0.0315 left_gripper=0.9996 right_x=0.2934 right_y=-0.0001 right_z=0.1758 right_yaw=0.0008 right_pitch=-0.0179 right_roll=-0.0002 right_gripper=0.9962\nstate[joint_eff]: [-0.4718, -6.7214, 9.1282, 1.7363, -0.442, -0.0513, -0.0611, -0.1026, -1.5385, 7.1179, 1.8339, -0.0464, -0.0611, -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]: [-0.6735, 1.6577, 0.7086, 0.1188, -0.5323, -0.4431, 0.9995, -0.0216, 0.7982, 0.5995, -0.3931, -0.0151, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.3586 left_y=-0.1669 left_z=0.0469 left_yaw=-0.0117 left_pitch=-0.1215 left_roll=0.0693 left_gripper=0.9995 right_x=0.2927 right_y=-0.0001 right_z=0.174 right_yaw=0.0008 right_pitch=-0.0252 right_roll=-0.0001 right_gripper=0.9962\nstate[joint_eff]: [0.0615, -7.0632, 5.6137, 1.6825, -0.2222, 0.1197, -0.0171, -0.1436, -1.3744, 7.0632, 1.79, -0.0464, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:908e0367b6ff4da6474711900d20137a9e240058ac73fe1039cc34b3ab28ab60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b770a1e0af21bacf1e375615ff2989f2256435ffaa20b7d09c8635aa309cc24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:014969e460a022330756680d1ba88a1f7ab62c5573334a65ff44c8a7a9e7b743",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJNjlgGhtXHpesFxPVSYKPztNL5tNNFojoFD1wxPdr1ZEkFz9nsn0N3k3FFFSHAAlyz6CSHSW6tCJ3oqKopCpUVIdkLUwZGtFN5jnbG6MCcOP61Y-QxbH0fdw8l-tc9_T-pMBW-Eljo40HHs4RwpK46MhI39BU4alCsseNLrrj3tiQK_eptiMUd0ErjDtc0km9ylYqgZl3EiUacEyMum_KHD83AiJXnzaxywXZHR5odCVTpVXL9-EknLbQ8IuGroQ009Skx9bL892DWmSOOS-EleidcLSDy0ikPTBgJkm5n_jtCycnDuyALkaF9RE8xnO3FvuVMbB-fdvR0laqqqUNDnWFrQ1M_oHyBTukAG_uf_IiObH7WVZ-kJD2aY_dAfplRGKCroX37wBLRBZgh_sd8N_fq6km-5lUTawei9NDXeiZZSX5w0qJUPdeFYaMZ0TlTah6a4mCswOOM73HeW44JLPBm1DK_YYe7OGVD23gutRn7w3nk9AeS8PB2Y0iQnxWfKG7gMTXLWbkBshVPwHYwMR5zIbUYozjWhIvli4rPyKBddI7a5ZB_5Ospt2Zl06SZnRsMaL1NJUvdBykfHBAnvhUG6OfHhQncQ3udSLxWLKahZmZVvT0__cyqgmkTaQRs8IuvCqZV3ivqnSTmM0sZB29xs37d9E3ASFPVgS2Cos3smJtN2kvE21szYg5aoqJVQwBvfpmPpQpVz4Xcpm32p3Pl3WDnZDIdygsvonkCpMHJwDFYKx9rTbTZ_ZMgGm9GyeuN1xvfWEHR05FciECC3BRM5hQKDXAjeww1pBGReF0S5ooVjlNNPsHgLvvsrgH_951d1DqYF5-X1Q7CM9JT7RvjgyuKlNyZRHcc5RfR2BgF83gYF6flMoqrzHiP2KW85AtrAdWZxP90MfEGDpGHqiEiPNR8SdIDGrHwHH-fUFvsa7H5rfl7zheNOPQoARn9hXu0GCMF7svcbNKUwJQj4YLqsjOVPkMkWkyqDPMeCcryXduzEGoGSTHdk0KDea5eYdKNyWLr6codnSGu4GzU6hFocxXxOQS7cQv1YydO8-c7uoTaxcll92MZg-pO8nm0wW59gHyeGqVgx27GNoAQdGYanv4KiliXGQY_ros25tW2tV9CqbAg18lG_QWYjlDX_mnbl2d0JyOmUsVafU7cgo-iM_5w5-4ipgJJ61V2GlGyT35joCl1GCQxSyojp9ojhQ-Nf_xrTkxBUXsSBY5tfryc3t_gvFh_W2MbuN8BsOxZ6mrEytT9M3MIUMutl3HybFv0DQAoSyP7aoOMRlv0IQenYMS001JEz_VJA6khmqnB3OhPT4cm8frlqG5UtdqzdQ_tlU7r9VE2lS-ZikW-3kTfree2j77PCveG14aB5u-vfIIZqY9EReBJCG1Fh1iN3-Tan0jDCsqh_EZSumkEaen5RVCGq2A4ujh3Jlt0_j4qPVv39hd_1NOiZv4tFYgN5zdxji-MGDNvTzuFwT7UoEf42osyrdJch2ZAwqCUZoJi0UpZNWnvnzzknOSreNmJA6xuvbqs2ZMCsFwrMwpS_D6PZ9WEiKBrX3BiVzY_m2VSmk3hmH3d6BTiSpe6shudr",
  "id": "rs_018d3969b3c5199e016ab493610ab487d0a119912c01b8ff2a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open jaws now straddle the turquoise bowl’s right-hand rim. I’m closing gently on that rim before attempting a short lift.\"}",
  "call_id": "call_CfIBkntCfK9KuCC1OyOYFFG4",
  "id": "fc_018d3969b3c5199e016ab49362c66087d0bb27d24eff18677e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CfIBkntCfK9KuCC1OyOYFFG4",
  "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]: [-0.6735, 1.6676, 0.6994, 0.144, -0.532, -0.4515, 0.0196, -0.0216, 0.7986, 0.598, -0.3931, -0.0151, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.359 left_y=-0.1672 left_z=0.0439 left_yaw=-0.0079 left_pitch=-0.1165 left_roll=0.0588 left_gripper=0.0196 right_x=0.2925 right_y=-0.0001 right_z=0.1732 right_yaw=0.001 right_pitch=-0.0271 right_roll=-0.0004 right_gripper=0.9962\nstate[joint_eff]: [-0.3214, -7.6786, 6.7487, 1.116, -0.2125, 0.1197, 0.8669, -0.1299, -1.2923, 7.1453, 1.7363, -0.0415, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc04985e7b46e3e676a208d423a8ae95b36f9952a31f1af1a72f2e8746d4406a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c1ac6051a3144eaf8fe7eb90bcb0b2811b3612cb72f208c481871ea585ec968",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0012b2b7acfd4ea6843fd6f867a54ac0d9004eb31b4f0ef3a6a6560e968cc437",
      "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]: [-0.02, 0.794, 0.6048, -0.3809, -0.0227, -0.041, 0.9996, -0.0219, 0.7925, 0.6029, -0.3771, -0.0151, -0.0334, 0.9967]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1802 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0002 right_z=0.1805 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9967\nstate[joint_eff]: [-0.4171, -1.4291, 10.1675, 1.7802, -0.0269, 0.2564, -0.0611, -0.4171, -1.2376, 10.1265, 1.9316, -0.0806, 0.1294, -0.359]",
      "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]: [-0.6735, 1.6577, 0.7086, 0.1188, -0.5323, -0.4431, 0.9995, -0.0216, 0.7982, 0.5995, -0.3931, -0.0151, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.3586 left_y=-0.1669 left_z=0.0469 left_yaw=-0.0117 left_pitch=-0.1215 left_roll=0.0693 left_gripper=0.9995 right_x=0.2927 right_y=-0.0001 right_z=0.174 right_yaw=0.0008 right_pitch=-0.0252 right_roll=-0.0001 right_gripper=0.9962\nstate[joint_eff]: [0.0615, -7.0632, 5.6137, 1.6825, -0.2222, 0.1197, -0.0171, -0.1436, -1.3744, 7.0632, 1.79, -0.0464, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6735, 1.6676, 0.6994, 0.144, -0.532, -0.4515, 0.0196, -0.0216, 0.7986, 0.598, -0.3931, -0.0151, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.359 left_y=-0.1672 left_z=0.0439 left_yaw=-0.0079 left_pitch=-0.1165 left_roll=0.0588 left_gripper=0.0196 right_x=0.2925 right_y=-0.0001 right_z=0.1732 right_yaw=0.001 right_pitch=-0.0271 right_roll=-0.0004 right_gripper=0.9962\nstate[joint_eff]: [-0.3214, -7.6786, 6.7487, 1.116, -0.2125, 0.1197, 0.8669, -0.1299, -1.2923, 7.1453, 1.7363, -0.0415, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc04985e7b46e3e676a208d423a8ae95b36f9952a31f1af1a72f2e8746d4406a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c1ac6051a3144eaf8fe7eb90bcb0b2811b3612cb72f208c481871ea585ec968",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0012b2b7acfd4ea6843fd6f867a54ac0d9004eb31b4f0ef3a6a6560e968cc437",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJNpawqmVBZqWNoGFWLJKoqxknnavq3jJ_rHmGT9ZN8D0zlzcfdXRCmSKlu_a2wndpPz0bw5Y5a6Vmi9e5H826n510rpjhWwdHRT7ZI4gvzISlZXDMxYIRQ6FawqRvAaGyyfSIHE36vvlc1cOR8yg9CSrFknrnTZauViLAHlJBB_6tHF-SfZiX39ZLMIa6-feIRUPb3vuGXdOnKzAeJQVrbERjpAM0HOOtbraXLAySCv_thPhCEiwxQKyrxPThrJkv2xifEYnLnPHJDrzJJ4DpzYaHDd60XFCBvVzFhkbpGgg1V3FaWlUDERqoULQDlomWU9zr3ykkhknvbx3gGXANV54bB-pT-LtMqIWfUUNF8i1aErC94YespKQ3pMGV09aJxsr6J3pSeWHY-eOdN19Cl0QTTV4RW9ftcmI6ZMpfgzL5MQvku6r5mOUoIW-lQwcxEJ0igs8nUKtUCTyy8-lK5Yzc4tMi4Db4jiqcG3c2b7ZLcKWoJ1wJdoi4VmE3u3dXrKqTDvxoUuYjuNI9EhmfeUeEO3RJZjWvUp0AvhNzbV4XODt4r8PG3xY-cNype8d4QbY4jLRZhB_yb0LzQQCtB7LaU-s5VHjtcv86LijQt7PCCJTpnpryU12639s3Y_-l5kTsJLGuRAUscl2m3w5bl5ierUGvswuvcD3w6KBcZhTqxqHI3S9OgyyCHAykgdc9wPvzLbffpQuECM0-rr-fde9u936CXd-gNjC7gBmCFjEiQ6nPxVWAtj2b-atXneEhzizf1BcNW3DqIqVYXrP3FD_7_VBS9ObZeJ8XMvp4xGVFz0zQ6DHrJtg1efGDFFdR7nSyZclsR3VzFWPQfgSyWv1qXjSjYfHv7kRge_60OR8HtmTqVOHkdr6eW8PB6NKj79GatNaWidORUPkHxQNIvJgBOT70THv1-uuaQsdjamxwAg36wMCGx6sEmHbFWqB7KNsFvm_YGkAaOGBYOtEwYP-wPYraythNFYZiJg5NX9X4lbLoRtXrT7I27jZ-zVMuOELmSDgcFmyob1T7uUZJJ7FvEEUiIrgW3H3QON8zGEQmIqzB34-Ock9GaT7VQPG62N1DOldJmiTo1vCPjhBU9GXIMuWGSDx2e0VHZF-mqHy4MgpNwR-fXTODkuDPP_oQPa3blQnS8CE-rooEXpVmP9X1EIC-SPL9Aca_iMX_H0ATHmm6-UlrovY7QG-Yvyyr-hW32z5kl4m76DYSzB3oYT18Ph2Abjl3HN07YB_58kVKOjiX1a7M23mflxxvNvA6sVXWg6GHldZUVswUph-kZai3hiOabaUbq_pMqchiHpMdimWfRjwgvqv1EOsY3kmF0VNIhbYHwl2X62okzwqiV9oEQdxn1FM7KdgN6wZtZaeKV0sDw-7y4hOa5AoF4qAQC8IJpVbVKdqRz7x3zhTUcdq51ldcM38JHgmc69_dw_NMO4mY-2DhMkBL5pusIAaXcAAYrryupVyqxjRDqMAhuJnY0Z6Kky08e-5VlXHevzDUkV1Wzqi_6ugKP19EZcCk6Kejoi8RmyTvvUHVpUqzmSB2h01pMDrnmdCdN8hFwiLFIg-GSu-k_w5a-tBhR0lnUxRwFL3SiFZJwnct_8I1IdlCASwn8cc_uTHL-8zlRohTG2FI_upPpiZjLBuHiyHuK9XQcchH-SrN-WhuS-FscjdEo4OoLnQcSG5b9kLnmt5RodgOhtLQXDS7aEAYgeYlJ3",
  "id": "rs_018d3969b3c5199e016ab4936668c487d09cb6d94ec9ede61a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.379,\"left_y\":-0.15,\"left_z\":0.085},\"note\":\"The gripper closed almost completely, so that attempt missed the rim. I’m reopening and shifting slightly forward and left to put the turquoise rim between the jaws.\"}",
  "call_id": "call_khv6dUlb3VEDds9O7PAf3MUy",
  "id": "fc_018d3969b3c5199e016ab49368184087d0b4dbc9a41ab64aff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_khv6dUlb3VEDds9O7PAf3MUy",
  "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]: [-0.5877, 1.6009, 0.7673, 0.0044, -0.4824, -0.403, 0.9944, -0.0216, 0.8032, 0.5953, -0.3935, -0.0151, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3721 left_y=-0.1451 left_z=0.0679 left_yaw=0.0146 left_pitch=-0.1441 left_roll=0.0695 left_gripper=0.9944 right_x=0.2924 right_y=-0.0001 right_z=0.1707 right_yaw=0.001 right_pitch=-0.0347 right_roll=-0.0002 right_gripper=0.9962\nstate[joint_eff]: [0.2803, -8.3897, 8.7043, 1.4432, -0.1148, 0.2613, 0.0611, 0.0068, -1.4291, 7.2821, 1.707, -0.0806, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08055a720114ab91d7d66f77ea1e7b0fa1b0b5cd3253c6ad00278005dbd7c0f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c4b2fc8ec6df3f50536f78345d15166a1e5227debcb0de78c314a21c08bacfa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4274ae9840fb06a4a13861b770823650012633c34b41f129ed2a87100217b086",
      "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]: [-0.6685, 1.4929, 0.8761, -0.1314, -0.5346, -0.429, 0.9996, -0.0216, 0.7967, 0.6003, -0.3882, -0.0151, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.3694 left_y=-0.1725 left_z=0.1315 left_yaw=-0.0171 left_pitch=-0.056 left_roll=0.0315 left_gripper=0.9996 right_x=0.2934 right_y=-0.0001 right_z=0.1758 right_yaw=0.0008 right_pitch=-0.0179 right_roll=-0.0002 right_gripper=0.9962\nstate[joint_eff]: [-0.4718, -6.7214, 9.1282, 1.7363, -0.442, -0.0513, -0.0611, -0.1026, -1.5385, 7.1179, 1.8339, -0.0464, -0.0611, -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]: [-0.6735, 1.6676, 0.6994, 0.144, -0.532, -0.4515, 0.0196, -0.0216, 0.7986, 0.598, -0.3931, -0.0151, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.359 left_y=-0.1672 left_z=0.0439 left_yaw=-0.0079 left_pitch=-0.1165 left_roll=0.0588 left_gripper=0.0196 right_x=0.2925 right_y=-0.0001 right_z=0.1732 right_yaw=0.001 right_pitch=-0.0271 right_roll=-0.0004 right_gripper=0.9962\nstate[joint_eff]: [-0.3214, -7.6786, 6.7487, 1.116, -0.2125, 0.1197, 0.8669, -0.1299, -1.2923, 7.1453, 1.7363, -0.0415, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5877, 1.6009, 0.7673, 0.0044, -0.4824, -0.403, 0.9944, -0.0216, 0.8032, 0.5953, -0.3935, -0.0151, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3721 left_y=-0.1451 left_z=0.0679 left_yaw=0.0146 left_pitch=-0.1441 left_roll=0.0695 left_gripper=0.9944 right_x=0.2924 right_y=-0.0001 right_z=0.1707 right_yaw=0.001 right_pitch=-0.0347 right_roll=-0.0002 right_gripper=0.9962\nstate[joint_eff]: [0.2803, -8.3897, 8.7043, 1.4432, -0.1148, 0.2613, 0.0611, 0.0068, -1.4291, 7.2821, 1.707, -0.0806, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08055a720114ab91d7d66f77ea1e7b0fa1b0b5cd3253c6ad00278005dbd7c0f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c4b2fc8ec6df3f50536f78345d15166a1e5227debcb0de78c314a21c08bacfa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4274ae9840fb06a4a13861b770823650012633c34b41f129ed2a87100217b086",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJNvdXbE437vq_zGdnInI5KJIqDfv9YeoL8EAmqcsWFBaHawhPJWi_vxjqKzugT60_hZGSpoG9ZaCoK95KdrKDThSKEL6PAyN0xVAJ-lwuZ-Bt7ASA5cFMlPhqzl_OJlS3YQgAmKWQuhWwK1qwzNWHNxQA6cwbHIEIcAPia8Jd5UT0OlnLdpoig2OsdCy0TGD_r3ONXDiUyeqihPNY9t6Bpy84qbbIEPR2CWUZN5W5YeR8v8lpQWnm4UCUPHpqwaTpYkYR6XRvMaDpviNRZa8TkITbgAUP_XbS_c2cjvhTiOColyjyVB-veVUwiqrLvuUJkpd9lzSPtaDNp_NJn0Saij8zcAoosWzWe5FeHzpiWV7UMt5eF7mRSW0GFQU2yVIlsY-hHXMUFNvSVhGVjUSyLUYsoUqxsOzGFF66hBYQuVwSAW8bpxsyDoekL1ruz-fTY4g8T2MsJVEmv-_BL3JI6L5ZKLhrGLQBlrOsXdKcYhrUuKMqp1b_FEnul8XDhJWl-O1ubWdDl6DvONpa7PJo7IbNPElfvbO5_6gcbtuWHh6hqEPqYDB7w8gdqUnWMh14Hcv-VsxIbZx_MvipiRaVMqEUjqmmVCjVyjNnFIT0JLlQiRhEV27EDtIYsAAYQZMJw4Y4QYKqPpiNcZOBv9nU0JT0jSwSWRnp0FzKTDcsefUTbV-WCKe-reuFY4LNd79mGJcEEPTUyzk7pA6G_EVh4lgn2JgPjByYRuKtnngciR9w-6IuMNFbCu-uR5vbcIrT3tFlm2OJFssTb6sMsakRjWoW_QJVy3UqI1f-aayY3jJhH79M_pdTzvS0Taoqwf6nZAraenLp64nW_H2XHXTR1ktgOf6zOVb5LYi1-3DyifXnMaJ37Q-dGYG6YLJynDUSSZFchM2p7LzXR84q2hvUmx2VmGdSXyrMYo2k5AFNeXrP5-dSN0J2bZBRmwGAAeieSQzlS0__Bvk5T29gDvpkyMyq6r61bD2u7ju-lGWb26asRPj3YNhLDUl-z1MBpNJG_lclTSjVRGiGaomhJcHd6unfxALLa0m4-LvAb6aMXMkuqKh6TeeVFAXXGpm9lWLNJ_9OsjaHVbwb2CC_sYMKTu6I0xmbr1AOn7ORVz86P5tASOy6fKtxvABebJAbFUZD7h7S2AA1XJAJGgWpzEhMq0kkH9TiAscPgbs_5HubDy_J4IEfbq0fmaRlIk9pZz3gV_WLPeYE4HBHxfOIxEuPM1Dos2t89uursiT6gWm6KMmMX2pvrV4xpk7yFUiD-AO8sV74OT_Ge8ukPYMP8z8M8RiQj_6Po1Z_s6-sccek9dSpZInJgm47nx2_lV0P5vA7VBsj3swy7NBabC5BNgXuVvRGVqLI_Pyx7lvnJb4uBOqmDUg9CDoSZL35HLfqRmd3PVql80bdAfE0XJrsPQ1G_QYCqKqu5iUBp_8GpGyVR0YZjqp3pIHRGK4OL7nYyVt3l_xxsOZqAjO1kN7vickLOI0oFOszQJv8wxfn7DAAsMfNdkkUriD4WHPWainu3HBl0FW8Wci74ZkSeDeNeaCoU1SJzt6sktoK28BXNsTpSGQaONDF7cHzgA6CJBJqaPuSqvnZg1VrrYLhglQOLmqOQhMIDQU5PI1yl07YiPKpvC3PVVvdIxxAfsCy1IKdWYU1JmeIcpe84q2Vh2Umuv3cVZNs1PSjqbIWFXxNwrsSZD5CVIosHVYrCwjuWhX6BKBIQD2w_lnJYz2Z-z_B-Ly-WbwJigBkNkpqT9EB-yYNYUX0dVw18mMokOTLhwPAkCRHg5XEvHMD4XgoW210okslL-Lsm-zTmhnE22EsccA_-h9WMOk152G-fjZkfY7qJEo25Bur9TtQNsnm9vxGVCMjxdESoYZgpPck6l96MzCSjOVAmOdwDelhf0_DJ2TJ8sG166DHWn6hWXRwlKwX9BwcuLvPtEGxnsjWwtn3RC9_vweqpHqPgAeEVuRTYhwreHPADcoOxXirp4gO0OI00C8CPQPSJM7Zr2pDc__n1GybU81swZhG1V5OsN2Ff4rvvJTqyM",
  "id": "rs_018d3969b3c5199e016ab4936bd0e487d0afa6cc62930e1860",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.10,\"left_z\":0.035},\"note\":\"The turquoise bowl has slid left, leaving its rim outside the jaw centerline. I’m following it left and lowering again, keeping clear of the blue bowl.\"}",
  "call_id": "call_qBCetc2fuDiWpqNfeU8agahi",
  "id": "fc_018d3969b3c5199e016ab4936ecb8487d0bf6fb1b02599e6ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qBCetc2fuDiWpqNfeU8agahi",
  "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]: [-0.4519, 1.6173, 0.6254, 0.1623, -0.4046, -0.3218, 0.9951, -0.0216, 0.8043, 0.5953, -0.3931, -0.0151, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.368 left_y=-0.0973 left_z=0.0321 left_yaw=0.0456 left_pitch=-0.1782 left_roll=0.0814 left_gripper=0.9951 right_x=0.2925 right_y=-0.0001 right_z=0.1704 right_yaw=0.001 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9962\nstate[joint_eff]: [0.3624, -5.4906, 5.5726, 1.6239, -0.2027, 0.1197, 0.0562, -0.1162, -1.3744, 7.0769, 1.7314, -0.0269, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8e5904de8bfff4fb1160643ae92b6632e4deb395b7a85eb676de1641c66db78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:501be53d5fa4587b3552876e7757642beacf6b92e2ac609d82e816b09a94fe26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0056b17154607f6cec3fe21e4e96b9c72a083a5252835a249b6171752c7c794d",
      "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]: [-0.6735, 1.6577, 0.7086, 0.1188, -0.5323, -0.4431, 0.9995, -0.0216, 0.7982, 0.5995, -0.3931, -0.0151, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.3586 left_y=-0.1669 left_z=0.0469 left_yaw=-0.0117 left_pitch=-0.1215 left_roll=0.0693 left_gripper=0.9995 right_x=0.2927 right_y=-0.0001 right_z=0.174 right_yaw=0.0008 right_pitch=-0.0252 right_roll=-0.0001 right_gripper=0.9962\nstate[joint_eff]: [0.0615, -7.0632, 5.6137, 1.6825, -0.2222, 0.1197, -0.0171, -0.1436, -1.3744, 7.0632, 1.79, -0.0464, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5877, 1.6009, 0.7673, 0.0044, -0.4824, -0.403, 0.9944, -0.0216, 0.8032, 0.5953, -0.3935, -0.0151, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3721 left_y=-0.1451 left_z=0.0679 left_yaw=0.0146 left_pitch=-0.1441 left_roll=0.0695 left_gripper=0.9944 right_x=0.2924 right_y=-0.0001 right_z=0.1707 right_yaw=0.001 right_pitch=-0.0347 right_roll=-0.0002 right_gripper=0.9962\nstate[joint_eff]: [0.2803, -8.3897, 8.7043, 1.4432, -0.1148, 0.2613, 0.0611, 0.0068, -1.4291, 7.2821, 1.707, -0.0806, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4519, 1.6173, 0.6254, 0.1623, -0.4046, -0.3218, 0.9951, -0.0216, 0.8043, 0.5953, -0.3931, -0.0151, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.368 left_y=-0.0973 left_z=0.0321 left_yaw=0.0456 left_pitch=-0.1782 left_roll=0.0814 left_gripper=0.9951 right_x=0.2925 right_y=-0.0001 right_z=0.1704 right_yaw=0.001 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9962\nstate[joint_eff]: [0.3624, -5.4906, 5.5726, 1.6239, -0.2027, 0.1197, 0.0562, -0.1162, -1.3744, 7.0769, 1.7314, -0.0269, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8e5904de8bfff4fb1160643ae92b6632e4deb395b7a85eb676de1641c66db78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:501be53d5fa4587b3552876e7757642beacf6b92e2ac609d82e816b09a94fe26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0056b17154607f6cec3fe21e4e96b9c72a083a5252835a249b6171752c7c794d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJNz_XHmgrcOKoSrM3SyucoBDpy0NSjU3Uz0608uT_0_lqfiMZ1tpMZxQRqyHwZMnK45jYtzA1WcqUTEf293A9XmSxu6K-AKIFyszrLKApUsHWN5x8ztLPDW0PrYdDfkOaC66YpzWvDNkvM3NAsrn5CePa9xotereccyeTwoSXt-65sSsudH5_H_j7rUiBoXRVaw21Bp_dIm-v6uPbHXzdE1B_dkdE9JO4VZUqXJSjLbGDDl0F5kanRTPyGksDaeMohEL6CWYkdTmdSi-rNMOzyL16KtesyCIr5MYfol7RmakdW3LBgzdae1XC9NjOm8L57TJCf7eAO0O5R4d8nHbn8CmIQJj-JsO-3AsYXugK0GhitOHpHb8OJwKuB_8ElLzT86TpAer1-0lniX3A3tJZcSEDzNkjWYoE9m7NukytfvEx7WsQTcR4P64A0NVIwIIDMiLz-YDhrWl2ry1EfQc5Wvri5XveUUpBrO55-SdtMQQEjKz4dCpKkDNyFn7x3k2gBPJ1pv4FwJK5bQOPxmqRjyQyvYANffgZidR8Pa3HpvdMsCixsVbdTB34csFuB5sXGQz1qMF5m1UKi2-4Aaw83RtIAVsUMb_1kNQE0ICMPKJQ5BHpASajJ-XLaNSqD6ueU1V1ns_cpJp-EEMtsNbT7v-ltSN6juOMg-DDCuJ1oYf4i2s05zj-tyaV49VKcVfK0UYCt99eyiCBwMQWusX-NUjow98UfvNim5jw4V-V2gzgq5Ta7T8d9rHenuID0lS-sLkNbNn0c4m6Yiu51SUuBIfuOgM_ADExBFhbWt0ARqf5gP0wzUZun7GxjrKGePa5rGzN90G7MHrRiGODmsEQkuEcizbZv_ZNKEyc2jqCZvIglKqx6dkzzY4efA1-YUSYf3H7PNQ3gF6k7o6V5_HN0bly3Urn4v8mIq8otrDs0O1ChNnUdthiCPICESygTscCCkNSr4o7xu0ZS3MQw9ZPx7SQCcufqxfekKAinhSZjD4EeleW_exUTTZRDUweViajaJh9lP4aDlsJyMe6xA0C5-zLzucIhtJd_gnzu07dRRykeg8QMVJfFX8sLzgx5B3uDGer81390b-GtYs6sVumDcr5OQzSne0hgFxYhpFuPt8dHhlblN5Hk9X3GIKh9g8vXoOr51nudM68mZSqecOBGxKFSDsVlICg-otp6q0oX-G_u0h5Ak5cTSfndDduYZycBN2sxNG-oSUF_bTjICtlxiKu_ehhgI7FB5nxQ6nFVcZzzU06Xai-HD4EoBCVNfsEjkSaGGgjD49Zdgb-HUmv3EgTqYl3AB7QaUam-gAof1Gdp2z3JzAewW8jy8BgtfeKLsQSm6x-Zsc85PB2JXHd5XMRa-C-MXSODiUTarO4hHAyB1aoXnKaL74laMMUPt2-2FnqAMurqjR5u8tlOcpeLuDUbLyyWiFtcfyDZA7Ys8Rcc=",
  "id": "rs_018d3969b3c5199e016ab4937174b887d0a9cdbec065e46276",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The turquoise bowl’s wall is now clearly between the open jaws. I’m closing for the second rim-grasp attempt.\"}",
  "call_id": "call_OSd8eLc9TPaswcoaTRqBTpAl",
  "id": "fc_018d3969b3c5199e016ab49372e2b887d0aabb73d4c6a27838",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OSd8eLc9TPaswcoaTRqBTpAl",
  "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]: [-0.4515, 1.6043, 0.6277, 0.2016, -0.4107, -0.3294, 0.1156, -0.0216, 0.8047, 0.5953, -0.3935, -0.0151, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3757 left_y=-0.0998 left_z=0.0442 left_yaw=0.051 left_pitch=-0.1279 left_roll=0.053 left_gripper=0.1156 right_x=0.2925 right_y=-0.0001 right_z=0.1703 right_yaw=0.001 right_pitch=-0.0362 right_roll=-0.0001 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -5.3675, 5.9009, 1.1453, -0.1099, 0.0317, 0.8571, -0.0615, -1.306, 7.0496, 1.7558, -0.022, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ae2f1dea89338a47c9e7bc09c3be9a50c567304a4e4e162e195286af9333acd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5ea2a16aa3c457404b3ebb7a49b729e3899202cc839bddfbcbcc14350d590e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a09540e388ac1187760521e1ef8fd8e0b4004a22942c5a0d8f6a79bd0f430ad0",
      "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]: [-0.6735, 1.6676, 0.6994, 0.144, -0.532, -0.4515, 0.0196, -0.0216, 0.7986, 0.598, -0.3931, -0.0151, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.359 left_y=-0.1672 left_z=0.0439 left_yaw=-0.0079 left_pitch=-0.1165 left_roll=0.0588 left_gripper=0.0196 right_x=0.2925 right_y=-0.0001 right_z=0.1732 right_yaw=0.001 right_pitch=-0.0271 right_roll=-0.0004 right_gripper=0.9962\nstate[joint_eff]: [-0.3214, -7.6786, 6.7487, 1.116, -0.2125, 0.1197, 0.8669, -0.1299, -1.2923, 7.1453, 1.7363, -0.0415, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4519, 1.6173, 0.6254, 0.1623, -0.4046, -0.3218, 0.9951, -0.0216, 0.8043, 0.5953, -0.3931, -0.0151, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.368 left_y=-0.0973 left_z=0.0321 left_yaw=0.0456 left_pitch=-0.1782 left_roll=0.0814 left_gripper=0.9951 right_x=0.2925 right_y=-0.0001 right_z=0.1704 right_yaw=0.001 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9962\nstate[joint_eff]: [0.3624, -5.4906, 5.5726, 1.6239, -0.2027, 0.1197, 0.0562, -0.1162, -1.3744, 7.0769, 1.7314, -0.0269, -0.0562, -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]: [-0.4515, 1.6043, 0.6277, 0.2016, -0.4107, -0.3294, 0.1156, -0.0216, 0.8047, 0.5953, -0.3935, -0.0151, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3757 left_y=-0.0998 left_z=0.0442 left_yaw=0.051 left_pitch=-0.1279 left_roll=0.053 left_gripper=0.1156 right_x=0.2925 right_y=-0.0001 right_z=0.1703 right_yaw=0.001 right_pitch=-0.0362 right_roll=-0.0001 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -5.3675, 5.9009, 1.1453, -0.1099, 0.0317, 0.8571, -0.0615, -1.306, 7.0496, 1.7558, -0.022, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ae2f1dea89338a47c9e7bc09c3be9a50c567304a4e4e162e195286af9333acd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5ea2a16aa3c457404b3ebb7a49b729e3899202cc839bddfbcbcc14350d590e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a09540e388ac1187760521e1ef8fd8e0b4004a22942c5a0d8f6a79bd0f430ad0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJN2zLPUPA64dhinYg8A7e6C3WdFO3TFhuLovgZxjHul9ljHOSHN4yVoc9uM6l4D_xtmlnnopDGCTNECcT0v1NPgDnlA9fRonsxXaF7kpYBArCFJ-9WkYf8yWcwlF7VPk2I7kzEOx3RtQN6n1bhD2ZxVvdFCh-M3CtdDi4dehQQOOIUcVRDKAGwIv92ntV3Sh0u-9TrCsu9v2MBvK8BuCQv4KWup9nMqy8j32UFZRZmUsUsqRIUYnaVMu7_hRqC1HNpx2-S9QQq_yi7WV7UQmAJ0zlrxG6PAU24zuh89ZhuKdbHheJ9iikv5aDt5nQt81DC4L30yhGYlgf-H6He4x-q9k6_nJCZxJA_i45KJ6GWwE9uSEWyL159Sm2hesRhSKMLU8u0Qn87BIajUf5MxoZfj-9l-xMq5H135Vv1cC2qhyY7QiZH6J_lNEV7_TPrKaExKJB5PqNScKcWeuZ5DA5nveSPlRYhNVs_AT8WDD4meNV9Bdh4NrUkQt5OTwZwOQH12KmyR7tvXIu5oKfwDCyGrxP8PvtX9phe0hmtm3PaB3UVxTwJ_1LFx1lz_9KOhfQvlM4tDZEOBz_1OS-jslXGjug7eDPk0_qTCvs84ol_En_Plpf5jVak3N0Xl1ZCszpmAuA25_q_8IOEPjjoBKwD_ELNma5OZDQPKxOa4jO6XhkYtmINs5lBamGPk838W4PErF4TmcjelajNwpraO2iBJoUk0TGk_Sw5JyLdOVKU9geS1TtlvY-KFUPw8jsBw1bFvd7QwODO5r4koP_1jRRwuEwniN920y4tLEnvSlHoj54HZXFAF-pdmasiUFUM248PtVO0-es34fqGzzFGMDpqHjKB6J5ayVROEDNLiSUq_0cDoseposJoGSBlNCqdS24d9pqmLTVsduhNJH7eib4Gr_oeidzMC-wcgmro5NyUI9Dhiar573UqkvA2T6PVRYH_Ds6gl2QOtBPtslkBUbAq6vkZ8qnkn1STzIxgBf8xoPGAvS3i09BOQAfPcJGAQnol_YF9KifYom9xpqIjX1itWknkoCMxjoYS85HY0z0T2fTCEJyl36TduMjhBkVpZHWI1uve6Q6FgTLW3WJNg0ZzSq6bOIDrXiISe2GCSQbs34mxK5CC-URKUIq2PGfAKS-GP0nib8E6m2ro4BkJIrwW3EL6WVsIPheSC8c2s8ahGa-2d5S6DHh2pGeNp9w-y50B_mu_525mYAC48Z6FKIHWXqbYqKjcRCTv7_4mByTj1SKo5EwJp1B8C9-gMfkEyU6Kk",
  "id": "rs_018d3969b3c5199e016ab49375dc5487d08b75dad5bc9cb12b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.11},\"note\":\"The gripper remains open by about a centimeter, consistent with holding the bowl’s rim. I’m lifting a few centimeters to check that the turquoise bowl follows.\"}",
  "call_id": "call_2oJVyBOH1pMfSzS1kKhPHy46",
  "id": "fc_018d3969b3c5199e016ab49376346887d080515d70730fbac7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2oJVyBOH1pMfSzS1kKhPHy46",
  "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]: [-0.4515, 1.4708, 0.7368, -0.065, -0.4152, -0.3374, 0.1174, -0.0216, 0.8051, 0.5953, -0.3927, -0.0151, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3723 left_y=-0.0973 left_z=0.0892 left_yaw=0.0605 left_pitch=-0.1471 left_roll=0.0615 left_gripper=0.1174 right_x=0.2926 right_y=-0.0001 right_z=0.1703 right_yaw=0.001 right_pitch=-0.0359 right_roll=-0.0002 right_gripper=0.9962\nstate[joint_eff]: [-0.0615, -7.7197, 9.1282, 1.6972, -0.1343, 0.0464, 0.1783, 0.0068, -1.1966, 7.0085, 1.7411, -0.0464, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0452bcbcac0e51395ed855713bc70a326dcbe2c9b13853da274825e6f3ab6ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d19399b961601f325df56885cc75c7beea53c8db1de4ecf10742e1063ccc2a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd2381823d675d08603546a0d0a3dcd79b13cff785ba3aaf595cff497bb88b5e",
      "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]: [-0.5877, 1.6009, 0.7673, 0.0044, -0.4824, -0.403, 0.9944, -0.0216, 0.8032, 0.5953, -0.3935, -0.0151, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3721 left_y=-0.1451 left_z=0.0679 left_yaw=0.0146 left_pitch=-0.1441 left_roll=0.0695 left_gripper=0.9944 right_x=0.2924 right_y=-0.0001 right_z=0.1707 right_yaw=0.001 right_pitch=-0.0347 right_roll=-0.0002 right_gripper=0.9962\nstate[joint_eff]: [0.2803, -8.3897, 8.7043, 1.4432, -0.1148, 0.2613, 0.0611, 0.0068, -1.4291, 7.2821, 1.707, -0.0806, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4515, 1.6043, 0.6277, 0.2016, -0.4107, -0.3294, 0.1156, -0.0216, 0.8047, 0.5953, -0.3935, -0.0151, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3757 left_y=-0.0998 left_z=0.0442 left_yaw=0.051 left_pitch=-0.1279 left_roll=0.053 left_gripper=0.1156 right_x=0.2925 right_y=-0.0001 right_z=0.1703 right_yaw=0.001 right_pitch=-0.0362 right_roll=-0.0001 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -5.3675, 5.9009, 1.1453, -0.1099, 0.0317, 0.8571, -0.0615, -1.306, 7.0496, 1.7558, -0.022, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4515, 1.4708, 0.7368, -0.065, -0.4152, -0.3374, 0.1174, -0.0216, 0.8051, 0.5953, -0.3927, -0.0151, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3723 left_y=-0.0973 left_z=0.0892 left_yaw=0.0605 left_pitch=-0.1471 left_roll=0.0615 left_gripper=0.1174 right_x=0.2926 right_y=-0.0001 right_z=0.1703 right_yaw=0.001 right_pitch=-0.0359 right_roll=-0.0002 right_gripper=0.9962\nstate[joint_eff]: [-0.0615, -7.7197, 9.1282, 1.6972, -0.1343, 0.0464, 0.1783, 0.0068, -1.1966, 7.0085, 1.7411, -0.0464, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0452bcbcac0e51395ed855713bc70a326dcbe2c9b13853da274825e6f3ab6ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d19399b961601f325df56885cc75c7beea53c8db1de4ecf10742e1063ccc2a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd2381823d675d08603546a0d0a3dcd79b13cff785ba3aaf595cff497bb88b5e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJN8i0HXvRH2oy3nL9YhcqB1dToK17I5-jl9AJxE_ULpHVG_Fz5Q9Shm8k8KOW9mRbvWMEiC7nYMkcIvLh45IRJwMbS8GRlEcDHc86jyLmL7B035H293VQ1y9v4mChcjw-4biEjt1XMFa90P_LKB5TInOoPGbBMihQzca2R1WEvgn2gDCWotNLo-lTWquHYkVA5nkI6gCdfKT9hpTp1k56hza1nXfZC4WsrIl-FF5MZVjaE80_fWRjIs-OAQ1E3h6XKNv2LbVymvgCBW7nPA3Xuso5xjdBgQhOmaYPcQCS_PL45asDiX2HJPLEW_CgvIFt0QkownHYBCisA95YUvDQJ_A3vIiLS9CL7i3PFFvLnPmX3kQ_4BApq_YGQKdDk3hopRzA2oli5aBsK1Lbb3GAlWR90pLAFp7OXHE7jyCT3NvCd3k-X1x7d-kIvZN8KzaHFVtKkHlIm5iPQOc_BurFSWyVs42A---0pWYlNvP3UcxBviTNd4EpRiW6ebFSTuLXx3WhOUMafpeb1mMX2a6IF1uaoe5m0oxWDmTCn1jHyk-TNJ6MWDdUQIXtDIxaHu2Oh76JBxmb9ETWpJ_EUv5-EmJjsFQpoO6kIn3wueD_qNw9u0eOhRotqny78O7ErxykZkvtOhRWrOG7NLXsFrmIbQUdKC5wBmrTJbQgjJpw21OlVTk1l1Qvzz9bziyu71qjUBl4Bk6COegnp4WU1TY5N3FpgBnEYV1fLqqg5nl5S8nmoxhUjC1vbgdLCOovA3WuDyPtvzTnVobUP_D1Sxk4I4wYJ7JJp8OK0i8kB71LFCVp_ARow0tylYIpoSBL7HFFovtnHBfNtmk6fWU2n49kkJF8mqg6jdsEnArZ9cj9sjqB4U7GpS_Gn8D2PHU7BQ5uakoLbozf6lbgwHGgC1wWfcKj7MWP2ZqpQXyI-4PeP6gamJ_llMMrSANqcoGIEIJiVGEkxpUSJkqzVJPw3-dyAV4mE6NpT84yvFssPvCe9v2FNDZ6cUn75eKfjzFXyrxtYwUO5Sr3L0b71dFs59-txnMA66cpLF4tVdnRTmb3ThhQGN8JR2AI4laXCESYGtkG0wjmN3ZG3T4KSP16yn9P4r5YJmGcrEu1gde4v4JrchE3sgRBUqFuK-8lfNn8Pter0Pn0pRYFSgL4hcnBYgGGFWDeRVNXJVIzHkHSURl9T8wxA5OLegi0N3s7daYauFgpnfBoMkFL_gU6BO2jHxX7s5LBanAtJMslkxDw_y4s0hQgWTrjMiGnTwmpq5VhAE3pW5ycQzlkz7W4d6djbTucCKhmrpzUiLY3MDtrfVys59MNnMHAiRMU2dVJgHnTowz-MRb5uIbCQWOsI8o8CSkuxlmx4PRHHo0igKdaiFaNBmd9DEQjbsgomoGl4Vf12Y-mtYzNZoLUd1l18UrgQkR_zwf9CfvCCrNvDVKcpJnNjTwoe-vSPPZLZHMO76hkpVQkBLt3qBf8o5wJiS_hoXTqcjW34CwyVP1ZRl2E3U7Ia4r6OXsEwKtelHJnR6yCihOpYyAotx8SduA_FryLPp202XZRZVSdebk4sZceJsfQNu7GAYYkrgKQig_k2nyMOf-oYZF2t-Xn-apk7XeNfo4z9sCAtqRlOGBzLNO8sygSqC4UnVoIQwsj8p5OpbycWe185J5fkeRRwnTBr-vMjzmHr3vZAFCQIbpfRMsQNH9L0InAn_Lxp86HCc_ZTt-WqS6tsf8jfh6cS0NpG9zgrqmHSJCK--Cn7fKol7-YNiKB-KFcA41D467qXQhsCU4I7W9Oufz0PIWw26aQ0NwX219N3EOKXQjnxPCiPAN5YJja2tg0_NgMvlFXQKB1FqS1ChMjSxjpGxZIlA_b0ZZB66cwSympxDmgKnkAH_SUX_e8VSCgiKiBSG8WnPCbkHcdY0GWTIYfF5X6EzyXpYES7HdDLaMibBivIn9y97C8vGdUu4b96iaXeSQYJDMxdU7ajj3v8Tm2hStuowlcUyfnA1AmXn7LBYAvLCknxj-wWhvxhHBSJ7NMtFkcXVJQfONTQaL1o8FYCLDqxlsVn9sbbQabuxk42bD0U3pSlivH7ATT87Yx_ofGhnf2WzwPvFNLZ3AhijiCkCKGk2_a4zR0OO23YD1w==",
  "id": "rs_018d3969b3c5199e016ab49379a14087d0a5f8d8bba6bb9440",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.21,\"right_z\":0.18},\"note\":\"The turquoise bowl appears to rise, but the blue bowl is very close to the gripping point. I’m raising to transport height to check clearance before moving sideways.\"}",
  "call_id": "call_WYX7SNWNumkxVEAsUrjsjgnD",
  "id": "fc_018d3969b3c5199e016ab4937bee3c87d0aab43bbda98743c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WYX7SNWNumkxVEAsUrjsjgnD",
  "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]: [-0.4515, 1.3777, 1.0855, -0.5331, -0.4129, -0.3408, 0.1186, -0.0216, 0.8051, 0.5968, -0.4221, -0.0151, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3731 left_y=-0.0982 left_z=0.1877 left_yaw=0.0627 left_pitch=-0.1707 left_roll=0.0706 left_gripper=0.1186 right_x=0.2886 right_y=0.0 right_z=0.1651 right_yaw=0.001 right_pitch=-0.0637 right_roll=0.0005 right_gripper=0.9962\nstate[joint_eff]: [-0.1162, -7.3368, 9.5658, 1.5702, -0.2369, -0.0024, 0.1099, -0.0342, -1.0051, 10.5641, 1.6679, -0.0659, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91c7661c23ac91cfab3e0955e3e963ba22fa48974e59858126d813fa825ffab9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9ce8fd07a0b9de72b0bdfebe1eeb0a6e5df39085597e9fb6ac2c76c0eb407cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e9bec207ee1f5423e3961dfcec10644e6cb9c971993d91deb1844b11f3ecf9b",
      "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]: [-0.4519, 1.6173, 0.6254, 0.1623, -0.4046, -0.3218, 0.9951, -0.0216, 0.8043, 0.5953, -0.3931, -0.0151, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.368 left_y=-0.0973 left_z=0.0321 left_yaw=0.0456 left_pitch=-0.1782 left_roll=0.0814 left_gripper=0.9951 right_x=0.2925 right_y=-0.0001 right_z=0.1704 right_yaw=0.001 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9962\nstate[joint_eff]: [0.3624, -5.4906, 5.5726, 1.6239, -0.2027, 0.1197, 0.0562, -0.1162, -1.3744, 7.0769, 1.7314, -0.0269, -0.0562, -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]: [-0.4515, 1.4708, 0.7368, -0.065, -0.4152, -0.3374, 0.1174, -0.0216, 0.8051, 0.5953, -0.3927, -0.0151, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3723 left_y=-0.0973 left_z=0.0892 left_yaw=0.0605 left_pitch=-0.1471 left_roll=0.0615 left_gripper=0.1174 right_x=0.2926 right_y=-0.0001 right_z=0.1703 right_yaw=0.001 right_pitch=-0.0359 right_roll=-0.0002 right_gripper=0.9962\nstate[joint_eff]: [-0.0615, -7.7197, 9.1282, 1.6972, -0.1343, 0.0464, 0.1783, 0.0068, -1.1966, 7.0085, 1.7411, -0.0464, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4515, 1.3777, 1.0855, -0.5331, -0.4129, -0.3408, 0.1186, -0.0216, 0.8051, 0.5968, -0.4221, -0.0151, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3731 left_y=-0.0982 left_z=0.1877 left_yaw=0.0627 left_pitch=-0.1707 left_roll=0.0706 left_gripper=0.1186 right_x=0.2886 right_y=0.0 right_z=0.1651 right_yaw=0.001 right_pitch=-0.0637 right_roll=0.0005 right_gripper=0.9962\nstate[joint_eff]: [-0.1162, -7.3368, 9.5658, 1.5702, -0.2369, -0.0024, 0.1099, -0.0342, -1.0051, 10.5641, 1.6679, -0.0659, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91c7661c23ac91cfab3e0955e3e963ba22fa48974e59858126d813fa825ffab9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9ce8fd07a0b9de72b0bdfebe1eeb0a6e5df39085597e9fb6ac2c76c0eb407cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e9bec207ee1f5423e3961dfcec10644e6cb9c971993d91deb1844b11f3ecf9b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_018d3969b3c5199e016ab4937f2a4887d0b491995310c0962d",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJOJtumy6dAZSCz96PCucmJAHmlKBTUtXazpAJsFL_ooOnSSVDsPQvtr6sdMvwFiZzlE8MBmSc-LvEUr7iEdFoN_8RT9CRPfPbmQN1qz957YeQ7epT83sS1Tjz230GKoOn2CK-zDPI3l8spiG5P22mBXN3XjFMkIH_QY_V-4RG3pV9IXspEXdZPet0pIdbCtbodQ8Y-vns4Z3C5242xSRcxhPQbyehBWxA3Eak371iboX2tqQaLIpq_jAnIleVdw2I__6ky3G4gzImbiFxI3TG2cFkZ9A93L13fFHiOCyBgksThPWMOoqaClahWcQ8mnJk13mH8csC17V4w_E8Cr_QaPnjL6dThoJN2w6mTJx5dUNLfXpfXiZFJ2fsYQd73am_GWaKuggyMxudHFtDsA0uCTduM1x9rfwdd_W-qnwNPNSthj8-TuM_Dw6AYyfpnG7vhY9jI_DLteE7YxWOTLfAC5w_22N6CXsufQ2GLHhz575ricmH4GPsXxLUt0JyvaNbCWJanZjFPUwfnL5sVd0xZIigEujwnF2OmadMcIvjWQufbe-cZAVBn9z4GALxlQBiwyRL3gKnpieb4cMEXaqVED309l9UDv4Iv20p6xcvCc6s9GOW2CovwZcOTnibQnd5uvMi8W4BCZ3aK9y6rHSqZXPa4rdAl55n22-wbpVepDZ6_y7xgFQnG6JjmSGxpZ8MICJ9IKr2Y3lhvkoReZDqRwWLiuFyMr1k99yt5IA4CGTH31hRbX1AkTFg04xd_WMYgBneZccMW4CLm88lwV2FSM424zQU_iH0E7MYFvzm46NPPAWtV6RQwlwJ3zBNE0bBpuRQbiTpOXJnuenhj6RwataPK1De3y24VbcsGJGf5lSXLppFQhSTtwHpidZ-egmV4cpAbUiTxHZrGTzhD0vnSzc5ST5wiGDprLZV9SIoj4KKyAujVPCzAHWhxCwQP4UuUK-rWRhCVn5rHyJ7CwEDSB6cZR61YeJyQScBFo9hqMINg7psyA55dZisCnxVOO6GRqHOE2AsVAWqrFtj6dQ4I8XTKBlXDEWjlNO-9hswMAp_SyTZuLGgyLSpXIPW89-Cvb3WRb2aEb5rM1V2KjHQlpQtJeCPZREJV_N6qT2aUcMhFluaK2H5YnXFcbHODgtR2Gmq4p0D0EfSrkTSkqobLQeamAob-JUSQ_v-Qvk38y_g_SmIHPpKu-BEOZ9gW-xMvzyh_Fvw6dkoSn0-voFdVmQnM-MgLBL_T5CUptqoZD2IX1uAhfobXcBm-3BpFej_KVaHmY_iJItRJ7bztKzCsDGAS2vtp_gRf7ETGO2UvTUVH5M1JrsnrD8b9usChfHHGpEpiYOKHNxA_QLqrXttp1Aw==",
  "id": "rs_018d3969b3c5199e016ab49387f41087d09b5e7e052e7b814f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.28,\"left_z\":0.21},\"note\":\"Both neighboring bowl rims were caught together, so both bowls are lifted. I’ll align the blue bowl over the tan bowl, then set them down carefully and separate the remaining turquoise bowl afterward.\"}",
  "call_id": "call_yRR7g9Hd8Ev4oattORj5c9U0",
  "id": "fc_018d3969b3c5199e016ab493886b2887d0a09390ce5069160f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yRR7g9Hd8Ev4oattORj5c9U0",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8783, 1.858, 1.6798, -0.8841, -0.638, -0.7372, 0.12, -0.0216, 0.8097, 0.5949, -0.4374, -0.0151, -0.0376, 0.9962]\nstate[eef_state]: left_x=0.3709 left_y=-0.2767 left_z=0.1958 left_yaw=0.045 left_pitch=-0.2105 left_roll=0.0769 left_gripper=0.12 right_x=0.2863 right_y=0.0001 right_z=0.16 right_yaw=0.0027 right_pitch=-0.0854 right_roll=-0.0015 right_gripper=0.9962\nstate[joint_eff]: [-0.5402, -9.5521, 9.0735, 1.0574, -0.5397, 0.0073, 0.1441, -0.1846, -1.6342, 7.1453, 1.7851, -0.0562, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b93eed1ee1e081cc03e2b8807c956e449623756cde567f046534d156695bfbe9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d85e5b12ae263293e3293156b8328fc1cf432bee172d41a2695d45e54d02c928",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88d063ef5cf82d06b9637ddf9b4c5643608150c10195e3064fa5caec546e2917",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 26 changed as sent

message 34 changed as sent

message 39 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4515, 1.6043, 0.6277, 0.2016, -0.4107, -0.3294, 0.1156, -0.0216, 0.8047, 0.5953, -0.3935, -0.0151, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3757 left_y=-0.0998 left_z=0.0442 left_yaw=0.051 left_pitch=-0.1279 left_roll=0.053 left_gripper=0.1156 right_x=0.2925 right_y=-0.0001 right_z=0.1703 right_yaw=0.001 right_pitch=-0.0362 right_roll=-0.0001 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -5.3675, 5.9009, 1.1453, -0.1099, 0.0317, 0.8571, -0.0615, -1.306, 7.0496, 1.7558, -0.022, -0.0269, -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]: [-0.4515, 1.3777, 1.0855, -0.5331, -0.4129, -0.3408, 0.1186, -0.0216, 0.8051, 0.5968, -0.4221, -0.0151, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3731 left_y=-0.0982 left_z=0.1877 left_yaw=0.0627 left_pitch=-0.1707 left_roll=0.0706 left_gripper=0.1186 right_x=0.2886 right_y=0.0 right_z=0.1651 right_yaw=0.001 right_pitch=-0.0637 right_roll=0.0005 right_gripper=0.9962\nstate[joint_eff]: [-0.1162, -7.3368, 9.5658, 1.5702, -0.2369, -0.0024, 0.1099, -0.0342, -1.0051, 10.5641, 1.6679, -0.0659, -0.0611, -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]: [-0.8783, 1.858, 1.6798, -0.8841, -0.638, -0.7372, 0.12, -0.0216, 0.8097, 0.5949, -0.4374, -0.0151, -0.0376, 0.9962]\nstate[eef_state]: left_x=0.3709 left_y=-0.2767 left_z=0.1958 left_yaw=0.045 left_pitch=-0.2105 left_roll=0.0769 left_gripper=0.12 right_x=0.2863 right_y=0.0001 right_z=0.16 right_yaw=0.0027 right_pitch=-0.0854 right_roll=-0.0015 right_gripper=0.9962\nstate[joint_eff]: [-0.5402, -9.5521, 9.0735, 1.0574, -0.5397, 0.0073, 0.1441, -0.1846, -1.6342, 7.1453, 1.7851, -0.0562, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b93eed1ee1e081cc03e2b8807c956e449623756cde567f046534d156695bfbe9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d85e5b12ae263293e3293156b8328fc1cf432bee172d41a2695d45e54d02c928",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88d063ef5cf82d06b9637ddf9b4c5643608150c10195e3064fa5caec546e2917",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJOPUq1CqO_cCHW2uax2b6beKkr7iDpcbCmhGOeTXUi1tqmfPKJbHhas-iImVi5VNbfSGq4X-M7jK7UyP61GE3n_O8Yr8MX784Omq2plpulCNm0EE-h56VxH0MKr01ZDmAq0xo1B8ffftFwD6rZAALg5UUF4BirRCNcUhM8XELgpyBRURNZ3I9S4nJn2mM_h7_WXbzwX4w8trrmAWdOiTmZZdk7qjbHiFHovF6w2RqRWU9gmuVgTJhDTns2citi8Ot9mKjRq5Dr94jN7TXe4NA9arj-EUMFx2VtJWxRkrKdt1pdRMP5wCAeFKZQPmVNCb869MaMboiwUhzMdR_zZSAoaOq6NmDOG4nv5njnvGJXuMdCxXcLC1d85x7verntPX2B42G-vb25gTU0KbTiOQTSHYiNZpA9S8E-yZtRyVLUJ8rhnqnG1NsSEwLCAbKhIQ8pkNJMa3Vn-reZeOAefuDOx_5G61E6XmyYP-DDruZXIKdvUjI6FQYOUbLuRAq9LI_dO1nBfcqetdtjEUCAdz2vI4k2yI4DoBh7Bgsc3oRKbJ4Mss1LJXPOnJ3yBauh52XqWhtqW98C6aiqdFia7JOSQ9eJeLA3g5KgVm-syDSh8E5H0Gpa8W2bJ-ipeQ_bNzLaQ65heug92sBA11u44dL6PT9b_HnuRPJKyjKF7yLkgFiwWKcN1CIREUil2MbTHT-5BiUeGoEj74E6sGls-mZd8IK-VwBClmEdamc0yNlBtRwQJVik-K7Cmx8DWxhxt7IYWxe1ITprc5y7bPFCQMjTztvMEEfCkj9ZUc0D05b_Wr2Hqi77-9Mih0Jq2Hoj_I8fc2OWRgbNIiaTo3GwTuIn3yVA8sJYCs8DlT2-Pq_5kKhtcjVQKPonVa9wyHcHbplXpBDwyWLoM7kWYMX5hzNPfTy31OjmLEKWf70TMFET9dzZsLSt262l0bV3VXexpj9szLYhn98TaBo0huB3wYd1KSG1ipN2GCAs9PD-qHh3w3qjnv0ObIGipa5yx-rhYgHTdqv5hIefltBWP-zGLjDjF1VvuzJlGEmMx-LB2iWu0_ytinqZ8ShiKDBojWm1MAUf0nFHnyE-1axdvdaYecNrk8QRnUO46gcA3mqnNgwTpeFdCHsM3Sh-vE976z74nycbtbrd0aT6767zo_vRYSdthJ9vc-wcjstg4urV_wFMO_lZlQHQzyEYT43vrqxRxdlBBybIO-fe19x5CIpJIRAVG-jpfwYFhg390aIhPTI3-54_mS0mtV3AtaC38xtE1EqI82A2opIBomCGUXvGXMrv25aRxHIFQzZ6nOFrFEEY25XXZ9vtSBAbyKw97VVHMSIumg9m3MP6tzx0f7RRqWoVYANlnoKq8Vt0xkDr-i_2DZjZKebq3Pw31dkjYPQzjttlYSXSrC1BycwSSIaUVzv52JYGa3asu3V0WcpocH5ujHq4SCzR2IREo2q8KYLfPthH2NLi0hPhcAS9X9N5UO34zUppvGEBG9hi_p6fHoP41oEdDWHFvV2kS0Y6IrNTzhoxB78rXw5yNUhFYc_ZiISGH2cdWu_jN4kDq-Fxs062XlWMph8aXNcUz3Qb7eqEUcKEPq5Et5uV69UCAF_P7l6AW7YTz6154iFjhHFUtbs0l2O7HEOrSgwDtkLqS8oKefupDUMyrFQz-UOMz_ILaLb8wFzctTpRaTZQRF-LYSrhUzyheFfsUVGDEF1x03ZBHubisTYIiygd0Qmvl3VlkTbRhfKkmc4Ak7Fwa1hhDNU7Zn5SAyuXjr7Wb7k27Oi_T4QYvEkd11CKsvcnF15V8fBYqA_DYgnGRhayeA436i2d52yF8U_7irGsu7DdLQK59118_jBjuQ2JLtkSGU5Yg39yFwA==",
  "id": "rs_018d3969b3c5199e016ab4938c736487d0b652fa3ab5756068",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.3,\"left_z\":0.11},\"note\":\"The lifted blue bowl is over the tan bowl, with the turquoise bowl beside it. I’m lowering slowly toward the tan bowl’s opening while making a small centering correction.\"}",
  "call_id": "call_lUoJoMKsblwCWiORzjzVnLcR",
  "id": "fc_018d3969b3c5199e016ab4938edb9c87d0bbb7142889d73798",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lUoJoMKsblwCWiORzjzVnLcR",
  "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]: [-0.9009, 1.9583, 1.5036, -0.6712, -0.6365, -0.7605, 0.1214, -0.0216, 0.8101, 0.5949, -0.4423, -0.0151, -0.038, 0.9962]\nstate[eef_state]: left_x=0.3692 left_y=-0.2912 left_z=0.1114 left_yaw=0.0464 left_pitch=-0.2481 left_roll=0.1121 left_gripper=0.1214 right_x=0.2856 right_y=0.0001 right_z=0.1589 right_yaw=0.0029 right_pitch=-0.0908 right_roll=-0.0016 right_gripper=0.9962\nstate[joint_eff]: [-0.4855, -9.4564, 6.3385, 1.1502, -0.4713, -0.0269, 0.1343, -0.0889, -1.3333, 7.2, 1.7021, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4056fa545dc57023f18f481eedaa234d4b8f9ed37101e7b012beed370c10c1bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb7f73b626d2eb94ec9aa12e9d3d3af712c51aa7dbf27debf7f922c73975f3d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f1302e5f873fc5da989d3510dff8656d32cbee6f7fc08ee67c02f45b92d8fe2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 30 changed as sent

message 39 changed as sent

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4515, 1.4708, 0.7368, -0.065, -0.4152, -0.3374, 0.1174, -0.0216, 0.8051, 0.5953, -0.3927, -0.0151, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3723 left_y=-0.0973 left_z=0.0892 left_yaw=0.0605 left_pitch=-0.1471 left_roll=0.0615 left_gripper=0.1174 right_x=0.2926 right_y=-0.0001 right_z=0.1703 right_yaw=0.001 right_pitch=-0.0359 right_roll=-0.0002 right_gripper=0.9962\nstate[joint_eff]: [-0.0615, -7.7197, 9.1282, 1.6972, -0.1343, 0.0464, 0.1783, 0.0068, -1.1966, 7.0085, 1.7411, -0.0464, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8783, 1.858, 1.6798, -0.8841, -0.638, -0.7372, 0.12, -0.0216, 0.8097, 0.5949, -0.4374, -0.0151, -0.0376, 0.9962]\nstate[eef_state]: left_x=0.3709 left_y=-0.2767 left_z=0.1958 left_yaw=0.045 left_pitch=-0.2105 left_roll=0.0769 left_gripper=0.12 right_x=0.2863 right_y=0.0001 right_z=0.16 right_yaw=0.0027 right_pitch=-0.0854 right_roll=-0.0015 right_gripper=0.9962\nstate[joint_eff]: [-0.5402, -9.5521, 9.0735, 1.0574, -0.5397, 0.0073, 0.1441, -0.1846, -1.6342, 7.1453, 1.7851, -0.0562, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9009, 1.9583, 1.5036, -0.6712, -0.6365, -0.7605, 0.1214, -0.0216, 0.8101, 0.5949, -0.4423, -0.0151, -0.038, 0.9962]\nstate[eef_state]: left_x=0.3692 left_y=-0.2912 left_z=0.1114 left_yaw=0.0464 left_pitch=-0.2481 left_roll=0.1121 left_gripper=0.1214 right_x=0.2856 right_y=0.0001 right_z=0.1589 right_yaw=0.0029 right_pitch=-0.0908 right_roll=-0.0016 right_gripper=0.9962\nstate[joint_eff]: [-0.4855, -9.4564, 6.3385, 1.1502, -0.4713, -0.0269, 0.1343, -0.0889, -1.3333, 7.2, 1.7021, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4056fa545dc57023f18f481eedaa234d4b8f9ed37101e7b012beed370c10c1bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb7f73b626d2eb94ec9aa12e9d3d3af712c51aa7dbf27debf7f922c73975f3d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f1302e5f873fc5da989d3510dff8656d32cbee6f7fc08ee67c02f45b92d8fe2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJOUm6Oxkp8iN0gss00Ca-MWbnkyKOXWdDlzb6l9I1rjGV-aW2YgwxIbkzNprNEUaeMoPKjaGrw_YcLGm20_PT77cj4zyge8F-MIKE4sbN3hAzns2NFmjAf6WKArAOrhlgmdeHoKsEQfNfyRRcfeunkmRikt4z50mMbYHIF-kwFjbJy8HBqLmCBCrLg5-ZhWkuBF0EQT13MBLHI82S6VrfuCFX0RJgNA3Ndenq0BGVUsbG778yqOsBrPDzoLnkZWMCO3sdnnto96hLOsLzOgtEYvoykhuufaL7jJKYhHWUKXFO7hU4I5h7J-2zrjGlnSzOhleWuOEod9vqLg2n93iDHcY0WIxIkzHqnTKUWwzpq0eqrGZ1ftubyDqlbKaMSzpKO9B-v2RLoDAxEXShK-SWsuJ9api48k-GBKfV5RjLTnAl1NqpMDZssFuCld08Aam9LEqbFVsUkjyzLuXybIpC-b0T9yWdhjoXh05IA2VhY5bvG-dJyY2plFDnLMfwJWDLvr__GPnuPZYwY4T7LKdezGbWTNBKyTxxNDqBLZldFdqe20bQJ2rZDysBc9tM9r14GWof0e9RpJV2VQhqpHCPbBUtHR2524M516a1_65OnCfrEuFBzsjabFXFJvEcxK2_7ZyZmV0AE4Jkz2LCkU8LXHz-owQUS1chjZ1lhOKL2skvqR5drnwrwKceZvEOgfpFk0wDPk4STYqbPeyYKlfGRxNp8FS9jaxCo__FPpHfMQOAZvvBAJwiHhQPM0Z9PfHxl5J1wq8Jrv4Zdt0_-NME2jchjVeSZq-H1SZoP2eAq15BDCh3vJ8kHd2St0YFfRquLF1yiwIkDU-gYnNtHKMmPA_eEViigs7577xuMqH17lk-465vBSbBQFsxLQbgEaoqItWwPK_AbYSEq1NyuSOsvjBOwXPDFmde_VEzALkADu2w7xy4Z1lHajnXuBHnk7SJS4lBNVnm2aPuRqrFN7QCK_8TlFET047XAioJ0wWr6twRPGgY75AZORW6mbvLIV9kS3Gy0kLA9NnisshtvXW96EzsyIu3TCWAiDxY917io9JsokRbCiIQbryGLfebspH_0FDcJ_MGbMFZ9BZXVIeDpP61FcjVeiHJudcI5N6pBSxHGlG7VQ-SGHFR1TUrmuT_YycEtVHGCM1AivIjMuessLYO6l74dCSce3KxYa08cudQ26LUEQwQ3gjc_nKRBSNJHZOMFQ3WlaoWD0MdR0E9sCwyP5FKfye3Fk5MWRm0pQyQkW5Vnn-rKU645w8lDyztAH0yHUWcJJAwj8ocEe71OicHynVwYR1IWiBBEiaLOPwUoOsggF96DX_MMQiX9EmeypWhYZB5b730bS8Jz4yw8lrTKQNmc4c8OLtJBDvm0CUxGMi7qaZdQ0RmYvS5FLu7ezmiJ1Bfemua9YeG-F5bTgMYO9EdBOX8nu91q8ctgg6VKsJL4IaEw-eByMQgR2preZ8vVlK1duAspJxIT5jS-aeVYxHVijCSgeaCGxgZW-DSQSsRmBaRGBbak9v3AWLOkyaPgcu2bSfQSGlmi_NrF7z1FEjTM5ufnwS6eQy7ldRx51FEPHMWPtmefUK1xMS8lnJyZyxAG5Vi6gNj6oEby0YKucoV5yI-oJfD5ct6NNvsGlwR98icA-VHKhGeGd57YfDq0a6tCWpzvO8jGZnMIa57aAFDH62Q6fZc_xlGA5v1DNMV3PP8GOV9PZE9_my7CUkdKHHRO6As0fGUw-41ZeN9iHlSdBNc8XIEY84T40jrI=",
  "id": "rs_018d3969b3c5199e016ab4939196dc87d0aec614248aca0c56",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.065},\"note\":\"The blue bowl remains aligned above the tan bowl, and the grasp is steady. I’m lowering the last few centimeters so the blue bowl can settle into it before release.\"}",
  "call_id": "call_tv6Faar1MtahLSSBx0i4miFA",
  "id": "fc_018d3969b3c5199e016ab49393bbac87d09eac19511de0dd33",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tv6Faar1MtahLSSBx0i4miFA",
  "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]: [-0.9051, 1.9881, 1.4033, -0.5457, -0.6376, -0.7746, 0.1223, -0.0216, 0.8154, 0.5945, -0.4461, -0.0151, -0.0422, 0.9962]\nstate[eef_state]: left_x=0.3664 left_y=-0.2904 left_z=0.0765 left_yaw=0.0516 left_pitch=-0.249 left_roll=0.1066 left_gripper=0.1223 right_x=0.2852 right_y=0.0001 right_z=0.1566 right_yaw=0.0052 right_pitch=-0.1003 right_roll=-0.0047 right_gripper=0.9962\nstate[joint_eff]: [0.2803, -9.388, 6.735, 1.3455, -0.232, 0.1245, 0.0708, 0.0068, -1.1556, 6.9812, 1.7314, -0.0562, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29ee894b400a594603eab27ecc8e432e18841e52ed579206d333701674a39dfa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38c98c21224d506a6b13e6f4c27462a6a307ae64b20abe2cbcce06fcc139f457",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0fc95f7b9435a9bc77a1b092f8ec4bbb16c88c37ae5358a5d1ea4f448017c04",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 34 changed as sent

message 43 changed as sent

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4515, 1.3777, 1.0855, -0.5331, -0.4129, -0.3408, 0.1186, -0.0216, 0.8051, 0.5968, -0.4221, -0.0151, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3731 left_y=-0.0982 left_z=0.1877 left_yaw=0.0627 left_pitch=-0.1707 left_roll=0.0706 left_gripper=0.1186 right_x=0.2886 right_y=0.0 right_z=0.1651 right_yaw=0.001 right_pitch=-0.0637 right_roll=0.0005 right_gripper=0.9962\nstate[joint_eff]: [-0.1162, -7.3368, 9.5658, 1.5702, -0.2369, -0.0024, 0.1099, -0.0342, -1.0051, 10.5641, 1.6679, -0.0659, -0.0611, -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]: [-0.9009, 1.9583, 1.5036, -0.6712, -0.6365, -0.7605, 0.1214, -0.0216, 0.8101, 0.5949, -0.4423, -0.0151, -0.038, 0.9962]\nstate[eef_state]: left_x=0.3692 left_y=-0.2912 left_z=0.1114 left_yaw=0.0464 left_pitch=-0.2481 left_roll=0.1121 left_gripper=0.1214 right_x=0.2856 right_y=0.0001 right_z=0.1589 right_yaw=0.0029 right_pitch=-0.0908 right_roll=-0.0016 right_gripper=0.9962\nstate[joint_eff]: [-0.4855, -9.4564, 6.3385, 1.1502, -0.4713, -0.0269, 0.1343, -0.0889, -1.3333, 7.2, 1.7021, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9051, 1.9881, 1.4033, -0.5457, -0.6376, -0.7746, 0.1223, -0.0216, 0.8154, 0.5945, -0.4461, -0.0151, -0.0422, 0.9962]\nstate[eef_state]: left_x=0.3664 left_y=-0.2904 left_z=0.0765 left_yaw=0.0516 left_pitch=-0.249 left_roll=0.1066 left_gripper=0.1223 right_x=0.2852 right_y=0.0001 right_z=0.1566 right_yaw=0.0052 right_pitch=-0.1003 right_roll=-0.0047 right_gripper=0.9962\nstate[joint_eff]: [0.2803, -9.388, 6.735, 1.3455, -0.232, 0.1245, 0.0708, 0.0068, -1.1556, 6.9812, 1.7314, -0.0562, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29ee894b400a594603eab27ecc8e432e18841e52ed579206d333701674a39dfa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38c98c21224d506a6b13e6f4c27462a6a307ae64b20abe2cbcce06fcc139f457",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0fc95f7b9435a9bc77a1b092f8ec4bbb16c88c37ae5358a5d1ea4f448017c04",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJOYpuKpDHb0Sz1tgMeb9AJ-jgvaV54fHuMF_tjAqU51hBEanwdhT4p4Ryw8eZ2Q_i_af-y9zMKbt0vVZLQcGxnKu_RgQpyyzuqhW5jMJFLeFprvPA-vxeIQ0mfaTqphEHHYpiICVmYAsTyLeIFYutvyHXO1o5U9eGrSq7IluGAmGxNtIkNpdIm-gbepGRozi9M5cC5Nz-V26MR1T7ERGTU5PkJsJ38wk2wSwFdUANJ7bM51RUzge7r4YrlaMAnb3umfwGXPJbQD7-2VTaJ_Yv12A1X_5ZY9iELUdu7VSLZAh-_y9H9zjLfHzYCyaMFEi3EH6zRRz5y0oVQ6l7dLKuXiMz8wKKnhzlgoenanloj3Yp1MomOqf-WRVN451NGhqD1Ie3FYCLflAKDWjt8HitQM6H7OjbN3eMD6UAK3eTLQs5V8gCMrqriIenIzrjz8CV6ZPICUJjpsA6kmNfqIdAxrEn3YzI7ON-OgJRwbRNCcPIWYRhnQvZjyzbm8CGB7hRW_yVT4lQ2lZmwCSoaRfMv9Vt6lu5h5An-8s9uRfdM8ZGO2rbAj67xM6NIbwIP68m_3DfcoKJ2RNKAAF4mqo5q8tcAUqHnOGRbgbpQsHK2JEgsFnuBZOcqTWHa9tkRsIRkS3_NJYdzXL4Dnuydxg-2t6_6MdSxI07kf9Bv6r-dWcTLaTaF4cctMAmEJAfwXUqQrzJUaLnnAicZAqF865eUIP1rLwKbcPhVWqbc6g7iMT92UkUccfSBA0wOOPhpYVEvS9POEwhcyEUVV6fAsbmJi2bWKhMm612u6XSE-RJipOfXSV9o-Mf1GLTrU2BMrZmCeA8tyUTHc4g3LWvsXLKg81__iBUCUZL4sLxOmpOm8cyEBHEAtDeAMg2JDRASyyCCsWwTmVSG7skOfWH3b2AgteZzLFI_o5A5NdnUj-qUjSdbv2c4h70d71aSPV3t-1_UmBbMzsWeOkgkc__yi7TDcukEGNJ_R3i0311vVgyHEEzuhEZB-HsBkCdtwqTX-GcJp7YWFhHp0fMwcRW82lYZ1p5lv5tF1K7GRhrZYfi9f680G9ilJ8uHaKGcp18Od8u8UbmTx3iWi0R5u1JIsAf8eWSh4JV1SNEdjJ9VFfiV8InWqpVAsmR7r_7zgSh90zgLfbFHr9W48mKEYaKD0g34BgvqmsNBWgWS5iu0Ee84sYUaoVJTovuMpAkKxzajd6nMQS9sYnqo3UHlR_kAQVJBp-lhXTXpe1KOaGaLlkZ9rVOwPIGASI_KRY6lSzg6wWJE5-MC3z58rkinDQgau_u0YTfYnlLhoV7mB9X5Y0vDNqZvN7EYFrklkcv-UtuFhA5C1zjye59rQVh3NSEYjCwP9JWPs4d9UMDmujUYlhDn0NgaNJBls1bd8NX_Xuqfi8xwdpr72VB9JJRg03oVQsrHENjljZLFsFkqgI5Vgpm3J4xA=",
  "id": "rs_018d3969b3c5199e016ab4939656fc87d08581ab4c69197fc6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.6},\"note\":\"The bowls have reached support and the downward motion has slowed at contact. I’m opening the jaws to release them, leaving the blue bowl in the tan bowl and the turquoise bowl alongside.\"}",
  "call_id": "call_FDiraI489x9SlPFJqpOCn7JK",
  "id": "fc_018d3969b3c5199e016ab4939747e087d0af5f7ca17c958f4d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FDiraI489x9SlPFJqpOCn7JK",
  "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]: [-0.9024, 2.0056, 1.3819, -0.5079, -0.6361, -0.7742, 0.5951, -0.0216, 0.8173, 0.5945, -0.4458, -0.0151, -0.0448, 0.9962]\nstate[eef_state]: left_x=0.3673 left_y=-0.29 left_z=0.0651 left_yaw=0.0534 left_pitch=-0.2508 left_roll=0.107 left_gripper=0.5951 right_x=0.2854 right_y=0.0001 right_z=0.1562 right_yaw=0.0067 right_pitch=-0.1019 right_roll=-0.0068 right_gripper=0.9962\nstate[joint_eff]: [-0.0889, -10.3043, 6.4342, 1.0427, -0.3736, 0.105, -0.1392, -0.0889, -1.1009, 6.9949, 1.663, -0.0464, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c9612fbf39f288f3449215222c8a4cc8de9d59e06d1b499b9f0f89af1a1d5d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce8244699ef324603b4f31f281e1ca925eab2f915bb17f90860267b612384866",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8f5a40829d0ce26a28a85d3cd3dc3cc64c23b27be99455ae14fd89beccf7ac6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8783, 1.858, 1.6798, -0.8841, -0.638, -0.7372, 0.12, -0.0216, 0.8097, 0.5949, -0.4374, -0.0151, -0.0376, 0.9962]\nstate[eef_state]: left_x=0.3709 left_y=-0.2767 left_z=0.1958 left_yaw=0.045 left_pitch=-0.2105 left_roll=0.0769 left_gripper=0.12 right_x=0.2863 right_y=0.0001 right_z=0.16 right_yaw=0.0027 right_pitch=-0.0854 right_roll=-0.0015 right_gripper=0.9962\nstate[joint_eff]: [-0.5402, -9.5521, 9.0735, 1.0574, -0.5397, 0.0073, 0.1441, -0.1846, -1.6342, 7.1453, 1.7851, -0.0562, -0.0171, -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]: [-0.9051, 1.9881, 1.4033, -0.5457, -0.6376, -0.7746, 0.1223, -0.0216, 0.8154, 0.5945, -0.4461, -0.0151, -0.0422, 0.9962]\nstate[eef_state]: left_x=0.3664 left_y=-0.2904 left_z=0.0765 left_yaw=0.0516 left_pitch=-0.249 left_roll=0.1066 left_gripper=0.1223 right_x=0.2852 right_y=0.0001 right_z=0.1566 right_yaw=0.0052 right_pitch=-0.1003 right_roll=-0.0047 right_gripper=0.9962\nstate[joint_eff]: [0.2803, -9.388, 6.735, 1.3455, -0.232, 0.1245, 0.0708, 0.0068, -1.1556, 6.9812, 1.7314, -0.0562, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9024, 2.0056, 1.3819, -0.5079, -0.6361, -0.7742, 0.5951, -0.0216, 0.8173, 0.5945, -0.4458, -0.0151, -0.0448, 0.9962]\nstate[eef_state]: left_x=0.3673 left_y=-0.29 left_z=0.0651 left_yaw=0.0534 left_pitch=-0.2508 left_roll=0.107 left_gripper=0.5951 right_x=0.2854 right_y=0.0001 right_z=0.1562 right_yaw=0.0067 right_pitch=-0.1019 right_roll=-0.0068 right_gripper=0.9962\nstate[joint_eff]: [-0.0889, -10.3043, 6.4342, 1.0427, -0.3736, 0.105, -0.1392, -0.0889, -1.1009, 6.9949, 1.663, -0.0464, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c9612fbf39f288f3449215222c8a4cc8de9d59e06d1b499b9f0f89af1a1d5d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce8244699ef324603b4f31f281e1ca925eab2f915bb17f90860267b612384866",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8f5a40829d0ce26a28a85d3cd3dc3cc64c23b27be99455ae14fd89beccf7ac6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJOc3I3R8gOfQkY3b6qkznC7D19FLKNcNGgBin4l9MFTJE8BOHxoCLo0uwaYxN2U87wSACTc0BlbwyGrhWV55xvteF3YB_QXWNlik6Jn26JsMuHkyAOaDB1PDufb0zlebGBC0X06JhibBvcZrKbdUhrF_4sH34bQo-SSpVg4evXNX7h4vBC_gedkRq7PBPuCRadoUr4GTALfYoFM-IDikv5FKpkf7ftn3zQzSVhW8GpGFE89pEBkOggYAaBsKtl8tRSj5gIjmLDS5EOXVwgB8xBSjw_jFj4dSOwqR0WLZZcxJve_BQqDUtqDssQcAxaxbBCv1TBKz1gtbLeXz1_-ZU-QX1qAuBZKv4gLV7Bic58sp7cTORT0FBBxJexLlQBkHR_26IpdFbeskoFTV3eysNknPai2a8MVPsevGs3eYDB0bGFoQqBeyafBk2OHDxyGyeloin-SfApSorORJL59TplnDh7eCt4qdYdJxm97Mlz0Wtdub-5Y9I2OPbCDwBjsF-XtGIqgNX3xRQiAatzzZc5TDUFWI1NV3BeV9PPJaho6qKL3iLGSnnnkKDdMAlZLvzX7sBCdVcNoHML-hPOSpGzeCT9X7BVe7uH_XO1wrH3VhkLLBwyuRpMqFKBIejdkiKlbw5NXDBD4lWIKhdLlkAyZ7P8DSMv1QdaTo3Yn2uDYd9pHhPmsXXU_bl-Ndx9GN3HHMBX4UWiUCUIODEiyhWkbCtbAqOcQoABAJuxAXBh8SQSixtkNKIbF4lC0_xYUnU0U-NcH_U7WWMKOr4-E7Ci0Y520duH6f_zdGmhNT6wUBghphaJM2ix8tDNyQGD1r0PvIUVGKrTkglPBWLNf5OrHkBRmdJ9TvVxytavQKv2CLoOL9jzVesGvaA5w5MQTYgt8Z9DM3wkf0UX7YF3Jiycyrz9_8fsxzPTb6pOiQzPH_u2bVzID-XMvBOsOexV-TWTVLyGG8YNgcrl2djFoh-nzxrPPLAH_7gBDNARYZ3AM38TlVt_WL6j0pq_0PwfoIK3TfUCVJlvyR_y19BG6XjoJEaerRlif9g17UgSBfbTYTDTH4wFbO3QkK-FXNDM-n5Lznd75vmGMqAaa1eMAZi-IHorzvdwoN0QalDt1Csb1dRLG8q9OOSguYxSpiaKGeE4FuLJZSM0RnXku_rgYKW5CLQjy6fNnIv1TG3bG7grWM51gsuD-GSXNAdxCK7SbhQU-QB9BXrvffJkYS2Au4SJ0Av0mXJlHny25AMggX2ICL5DHmTFmcbTPauxdkQENXcAJTUnNCe9_V7buoorizR1mLcx-TZ7sp-ihA10gRNnijod-EZG1zX8_JUznQ2epDZuPJY-VboZAlOys4FbCHOwk7l6hrm17TBtmaGWGseEm-EiFMiiKQ9ZC3MRvaZOj0m-X9VMLAIqGUuoXWEaTooH4PpjL89ezvijf53QlI7iHmLMUrvtMaRP3i0uz5BNQA12ObOUitJHWAildR9QstVpqrrEIXkv6zTfS0jeQLvJkSdRSN8HdyoE0tomcK2cvUmCkaiIPte4f3_Tho_YY666VGQPNonazGuR1T6TVYrhouxFy71tXN6hjJBZY3XHG83cDtrrLnwTrM_6TdkL4jGsUVct8IxYXA-E13G-IN203BQXWlLoXgItxL8KqowAGOQQr",
  "id": "rs_018d3969b3c5199e016ab49399c04887d0bd8a705479d45656",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.08,\"left_z\":0.21,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2},\"note\":\"The jaws are open and the bowls are no longer held. I’m lifting away to verify the placement and find an isolated rim on the turquoise bowl.\"}",
  "call_id": "call_iDZra4ZJH17mYPiQ5awgQKXx",
  "id": "fc_018d3969b3c5199e016ab4939b6fc087d09a91bb8fb10a374f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iDZra4ZJH17mYPiQ5awgQKXx",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4839, 1.2461, 1.0935, -0.7818, -0.4301, -0.3977, 0.5961, -0.0216, 0.8818, 0.7437, -0.588, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3229 left_y=-0.0824 left_z=0.1989 left_yaw=0.0871 left_pitch=-0.2544 left_roll=0.0985 left_gripper=0.5961 right_x=0.2877 right_y=0.0 right_z=0.1778 right_yaw=0.0092 right_pitch=-0.1595 right_roll=-0.0083 right_gripper=0.9962\nstate[joint_eff]: [0.2393, -5.0393, 8.7179, 1.3504, -0.1929, 0.1197, 0.0855, -0.1709, -1.4564, 10.3863, 1.8095, -0.0122, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f3a0c1c4b562c2989af4a94674214efb1132a881c7c477c4f7d53f216729362",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ac51c254dd54edbc1b696bb5216e2fe6a5d4717bc018a3554527ad7ce6ffe2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7abece5302136aa5869528b639085436b1045b6f053547903769dccfdacaf1f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9009, 1.9583, 1.5036, -0.6712, -0.6365, -0.7605, 0.1214, -0.0216, 0.8101, 0.5949, -0.4423, -0.0151, -0.038, 0.9962]\nstate[eef_state]: left_x=0.3692 left_y=-0.2912 left_z=0.1114 left_yaw=0.0464 left_pitch=-0.2481 left_roll=0.1121 left_gripper=0.1214 right_x=0.2856 right_y=0.0001 right_z=0.1589 right_yaw=0.0029 right_pitch=-0.0908 right_roll=-0.0016 right_gripper=0.9962\nstate[joint_eff]: [-0.4855, -9.4564, 6.3385, 1.1502, -0.4713, -0.0269, 0.1343, -0.0889, -1.3333, 7.2, 1.7021, -0.0562, -0.0464, -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]: [-0.9024, 2.0056, 1.3819, -0.5079, -0.6361, -0.7742, 0.5951, -0.0216, 0.8173, 0.5945, -0.4458, -0.0151, -0.0448, 0.9962]\nstate[eef_state]: left_x=0.3673 left_y=-0.29 left_z=0.0651 left_yaw=0.0534 left_pitch=-0.2508 left_roll=0.107 left_gripper=0.5951 right_x=0.2854 right_y=0.0001 right_z=0.1562 right_yaw=0.0067 right_pitch=-0.1019 right_roll=-0.0068 right_gripper=0.9962\nstate[joint_eff]: [-0.0889, -10.3043, 6.4342, 1.0427, -0.3736, 0.105, -0.1392, -0.0889, -1.1009, 6.9949, 1.663, -0.0464, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4839, 1.2461, 1.0935, -0.7818, -0.4301, -0.3977, 0.5961, -0.0216, 0.8818, 0.7437, -0.588, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3229 left_y=-0.0824 left_z=0.1989 left_yaw=0.0871 left_pitch=-0.2544 left_roll=0.0985 left_gripper=0.5961 right_x=0.2877 right_y=0.0 right_z=0.1778 right_yaw=0.0092 right_pitch=-0.1595 right_roll=-0.0083 right_gripper=0.9962\nstate[joint_eff]: [0.2393, -5.0393, 8.7179, 1.3504, -0.1929, 0.1197, 0.0855, -0.1709, -1.4564, 10.3863, 1.8095, -0.0122, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f3a0c1c4b562c2989af4a94674214efb1132a881c7c477c4f7d53f216729362",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ac51c254dd54edbc1b696bb5216e2fe6a5d4717bc018a3554527ad7ce6ffe2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7abece5302136aa5869528b639085436b1045b6f053547903769dccfdacaf1f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJOqDC6th4Ynz7dPB-2awz9beNMfyuPwKLk3snmJi3XPHbTz9mbrgbJZDtFjnvII7Of0wmnJj95e0eWv8_1eu81YNh-kNEu5RE10p0x7s1hCGehQp-Uo-NNv9RR6pPPciGz_PaU6oaACI39gQvYA470yet0rkULcm-WrJC4pBRgYttwJ2gjAdhGvqH4CUDcMX1-nNdo2AYYPNudNPK8wz65EO7xjOUo_rpDfGeBGzwxvo5vJjd2Ggpb0kbDXaZ0XbDTy8DV6TP-soZKrhFJS9Zt-FCk2ny9mJF_qaVFG0FwsMGDV3mb_hO3VdizsjkAqAaflfNpf_VsjGIU7QYwICJceEMgcJKL4UrkbBdKYzwf9eR_2FfT24sRvD4exXI6p4w91Vf9d2b_WHE58l0_dS2xSv_-lFFZmnFbG1yxz9vlMhiXl9DWFsaw52oiKQLZYJ2dbdRE4ufdjdHcpBdhcDfxArUHfSMXHm6UyNX7MbqCk_YVKZplXw0GbXo2IrH1AxryjZENqTvbY8DWb4JipRpmXaxfvvsZl3TLYsS4Ufn8Y7XtfjAMiKqGqTftX80EgdvF3YuBZMUs3Cqkkounz7jSnpgA1akEf7r2RhiyQzxFS07pZjg9Zs4mCAeerge7VK1oFx2_e6pDTdz4Q3tSwx69ymGXDwN0B_JuA1uGHSqQQ7zUoGMeqii1n45GtaShGAyVtiWq72MPhGZL8Va7bT1iBeDWleFwGJ8uQzyjn_xN3Kt3mLM7IL667Pi0QcDbU3E5oR7vw7JlUkazFd9F0A3XQcVhEaSpw_eqqdXmruYXAWv1YdS337V_FRhxO4iGrppXJa7wlcM0iYbluyKRphGsPgpVphZEx6F9gIRN7SCIYqrTbKxEprLxrSekHtrTR7bLdrud1RfOcbCzsCOsTp2szJ-2A_CpLq27xrpar56tqqWlVUjGO5A3Q_Xsv0RFSKiAiwQqoN_d2NGddiD9_zdJh5ES54BK-ol-1x3aLMdDP1nxpBMfQh7EtPNgc2fnTF4TDnO96VRHDciBBGZlm0t9Lf5bMPj4lf0OjtCX6H3dVjxfOt2rz962ygFM8YKOBXIm6KV_DOXE2XwVH_pBYb7HNuNth-sPw4mc7LiD4FhkivotOFq9i0jQnd5gJca8oOdmxmAwu8gkYL05ive8K8zUOnxPpQIqXHNWqS1X4K9r3EPLe5Ll4FTICB6KA7Djx0jlvH9dsp7OXnMzBA50DL7U59TE4G3fhq9rA8TESWmKugb7wYsYOLFGh7CM1vZ92z8UnSUJE6lyQ3IqMy6q6auk-PGAzSpPnA6XfK08oQvzt8wk7TuAP_VkryloA1oXhRldHNWPvNKEd4awSHm9tflHpWsTX0m6jjwZ9dgmUoG7nRYGYKv4NHVNmJ2gDFmZrUa8N8-p2ensYv2NdrH66jw2D-zoRhDMyeTK6g8gnBSMsUi0NbhlypDpZYZQnqxj90s9u43GOyJ2lXJXNmDCQyW2c_oxBoHNffcBBxOwSbn0pHR13zukQ0ZNd4TKESyFJ9Mjp2a-4jur5nUl_zzgtAoZgb0VYPPgRsaEYDPScLLWb3Zn8FK0YaM29JoG9OqI5ku4pBexvKWkl6MsehsbHt9_pVvMyMQ2PasG_Ofdl_jgVf9nS02nNn5fnZZpqOL1GoNeL9u3fqLWJM4CfAenCvHLUaj4-pIqQB4VWx-oUNXg7H4TI2sTrKLOEkqS9-Jai0TJrumHRcWNGnQmZwtV5NPdAodhIu_PKfyf3Y00Rq64zecAmDiSiOwZ4eYW0Bkp0xx9sZGW-2IbyaNgDq6Yt5SEr6iVVLWcSYiIlUtwmsYyyRtCoOehsra7Adr8gPFYdx7aKAwdvsi-k15A3fy8SgNrRZ0Exb737bd3r_z6LrkrXglXTpPfnex8pUxBkgG5MJ2FGqEPPS9wcy2CVQ-AvPp0xf-AJyyvFhMVQ5S1nKgelzKk5TM2vcFOhSbb91sWwToYoFTZ8DjE68j6wn4twvo8mLeJUuLdx4iadLPGCZk1UH2qntv0AhPImsFuAFPVpfDg_98Y36EbsJtkcHlJjZ6kVZhSeu2rZ3Uwfhon3U4MMKyaPTq2Sf1UcnbLXwRKwgOqMRvnNXYY2dOCROIt356lzCzaEM6Tv2imHeiFMxnQxyMbUF6bsBx1GoxzHqgYJz0LnRXwkzumo3n6PLWLMFNgXDDX7XF_nqP9y2sU_GPtg1zZQfh0xDlfWeXhVDDSlpHqWI5iAsqWhRKIGcjyaujva-mefUfEfcG9C8mapZXq0WSXHq9-MwRVWZyZxHJ7i2AlZAVoOlLQjp-m4Jx8ab6mriCoQIO1z23GlVTg70GB_Y68NB52n-XrrxZRKpvXEesaSi2Vw3w17NWLhND9p_EU82GVEB1AILRaFeMQXkPsCrwUf0tpUQ-gufqMAXtyKO4ChWwuUaKb1OqRVnECL6172uaGgkKs6rIj2uxEY3--9nAUWjl4vUGPoLTgrZjxINY-Yc6CRoKE75wgMzeD2Y1TWcZTZzTbJYe77hrabXVoxM-QJVrZUqbd-g_9dZjkOx1aFd4CvtMqViAX5XclYeTWPZNF7oR5MDMfk-nYkpSzY4hqsmaksnodhJGAS2Oargr7jqlfDSLF_pK65GIL7RWKioF-rek3T4uppPfQdd1dNf4PvTGlorrqZJXnnaqxRMfYpjGhhdU5qRZP6vLoKkzmTRjhGsbqnQB-PmGbnyJbmX-QpZLWPZ-HS6jjyxMjOBWzJBwY8bxxq2burHkDPQWc0OntHGqUn40bRIi94eNSF9YJtABdsfZdMV0hgZCMh17xky2JXQrxabJ4qy6A2mHSpD6cPihtXVyK_1chXoIoDT4K_e1zk_HJyLEff8GY3BLAGyPk5PRngIDu050PFvKRf1nprZbTQ9BQuleEIuzS_9RCuni6KyV4h8Gka3LnEPkgHnu7WV5KNw15_1YR8aXrRCWj41ay8ljtAFj1rZN0OWuNQvrGqa8tyMR2wrV_6fXqCOI3Re1LnyTbw4EeVKlyNtgCQrTcIknv_WsAhsAgheuvmkhSdTglC_HQUJkC_9bF2wy_qj4jK1f10a9V4X-3CbvpySV2PrwRH0TJAnWu02x0WJdr-QiBr4QcXoreEofjMxb1byKhdEbBySAug7kXaRdDaqUhVtuUO88wSLeVV3cBE2eCO1Y466SsTMa2wfZ29LfZgGXRlYzoJaoD_NCICtgsBMbAae8sXK8GX1MEZZZO_JTl9OKitk7GE4UgD4AaH_cTT7nhzc7KgjwFM2v81vla0QDyEe86yH0OlA29_pL_HdW1iZvVdR82nH8Q99wFlIErEHaxk1wWoZJBjyc65MIgzgEjccVC7LILS8spfBAT4iDtynD3_RKRzz4NqsULft5hyX7VrCKtGMMKwS2UsPfmHVdNAfE-CwQ9NOGgxF-65PjZMX6DMxtLzjE7kPF1YUc23Qtk8Xz-9UHSxCm5srajeLyGUvC42A_2UxwP9nG7IonQPFHMVgksevw-ymI12LsDUCyZ0TucQHETzYZv-dE-4D7PnouQkEb_h6wukTuZH5TwZsDgcaBY32fFiNdHrGNlnrH41utWrViJX5jykot8UcfiVgdOYq2PEcjcIlGV_ahs7wSMpy0hbKfPH2Oo0Zu2fzg6KZPVn5cj-k-ZglXl_7eYyKf80S-AgqpoIuY5MlVv3YuJ8h2h91rug57AyqyY3AnksKSRKFKNQKJEXAfgm-ICVcCPAL9Mxl3O4-0wv9PqrzB8E4w9fs8np9hP4NOuLhtco7s8cXSssO25IJMk9WYHcehY9mhUwllkRvgRk_hIWuENoCb0cxW6u4ohlOQGZ8aADJAAvAtUiRlG8AAN3xLa4p3DPcUez-TjE2o0vE7yWgUQ0_NB7FLv2EK49yr2rsy27C2gO0U7iZmyf4DVxK_tWlwwa6aLmfDDH1wvssdyIilTzgj9h_EA81oNf",
  "id": "rs_018d3969b3c5199e016ab4939fbf0087d0ac49c749fc3e1df4",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJOqXVvJZgasRumF4taQA4B3S3n1EQPA32_zyBXmfInJTSkphz33DbjXJvRtwxn5JQMx7mYbn6w-8FrBWsBFk2fO_odiZMhpnncXvM6wOuzoeyO6dQ-VoKhdLNx8IaDwi0ZwXogxXXrciTW0cHi4G239nTOR20vzua6iZ5P3Gvj0c09omsPP0hKg2CVVa0cg7vtl7JG6vI309rs0L7qRi2UnaVuN-6_S9XH-625huO1oRbXGiA-EAECaOc0uLuyL_3eUepc5EPYc1z7X3o0yWqVfkJkHpUFb8aU7yU-NgjH9OKFbTufMmcxk6m0Jxtq50sYcLQB1Cd7b321dcLbHj9QAgJhfONWas9sgrJyavYmuZ4QefG8bD1mGdwLkXH4eC1f5rp1TcaxFvDDJnjyb5HMO84dArX264ubIqT1FT83Za0AQbrGhBOLQSTnCrxzm049pZxhDGw-2ED0zsrm3TJZXUMBcB3gcfbpsJlKAOfPAkpmSgY2o90APE7FaOI8QHbURIgvoiaeVwZNjFY_nECSTFdGDmJqJ9i3MJp1mfJqWVaUQ6HOmOPNoUuHFUIVrApCR2rcpYciVcmoLJuejIwAPw4GT00FYT0TExItZ0rfVgoD4WHLyyZFVv-IaHwJHSz6TJomtinuOq6F7gfaEgE3o1Egj2kW2wGuA6q8cLzBj_T6BtZ51VGC0cKXttlVfSRYcOg5GSQbsqHj28I85nXV59MKGqw_6uU46rsQ_fuoEGUbjomBCUwak7JoDzMlU6YYajTx7Ax_rIHHPOi-ekAC40G282pH3pmJojvjHKY8wRZ3XQRscWA-HKZdf0bPvhMkuRVXSiqJGbp0vMQLClXYiFZynhEP044EzknjpmABpSHKO2Qsbj9mk6Q2TGDAy7d3_KH1tCtybRFksjYZR3UlH4p4tR2sq4s0vwhYaDzfUoVJV90Ag9VfDIBSDsVcsLO3lCYDA8hYjC1Kx6cVr-dctg1zG_UesY55dq16JjD8Lm8KAzuMqN9XdF8Xfn77sha_rkT4Q5lmy5MA-nxWjlOshh05u_3CWZyMt4jYz5BEyKdate0HjQQunO8w7roLhjAgQPWedZeeqKvxVdZmQJxvJZ8Obzm6EGBwimLhbDHrQ6j7XKuqujTK7rt-FwsCxIn1QcAeJ7iyi4CTiz8oKozxaR9fnAZaDn7p03uKXxR1wloRtVhPyaLZB1hon_7-FOxDJW4hz0ZV7y2ByF74umpRE5jdtKMWmp-6bQy0x-Hw8rCu6V873J3s-g-8ONuc89NfLKTWDmvfPwAsR7N7vZsYApO-ZWHiBUwM1iiv01wbjIfAHr9fZ-YPeDqMiD1cskUVULkbdG23339JTagToeK5Rx-9o-U6KXP0j8rwo9G8lExhrBqS3Fr23QkY6Qio0rPg2Xs7p8NS8CtxQe4pikfdk0IopIFzeLOk-wqIAVZVO9yjtQVNV8YsYwfq29ow1fnY_XrrSrBnbZTO1KCiO3nVjaJRSdD6yVMneSXYfSADvo-RtJAHGJ0X1oVSfhl7q5KPi4dnpXtQON3F4uBNJQ8jYkw==",
  "id": "rs_018d3969b3c5199e016ab493a8010887d080a97309276e3ae0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.045,\"left_z\":0.11,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0.75},\"note\":\"After moving clear, I can see that the bowls are still separate; the blue bowl did not seat in the tan bowl. I’m switching to the turquoise bowl’s outer left rim so only one bowl is grasped this time.\"}",
  "call_id": "call_t1Nrejl3NN8F249nMpVPWfeQ",
  "id": "fc_018d3969b3c5199e016ab493a8c6f887d09e2fcf3bfac0c56a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_t1Nrejl3NN8F249nMpVPWfeQ",
  "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]: [-0.2108, 1.3838, 0.6334, 0.0418, -0.2165, -0.1761, 0.7487, -0.0216, 0.8829, 0.7444, -0.5961, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3757 left_y=-0.0379 left_z=0.0905 left_yaw=0.0466 left_pitch=-0.1192 left_roll=0.0244 left_gripper=0.7487 right_x=0.2866 right_y=0.0001 right_z=0.1764 right_yaw=0.0092 right_pitch=-0.1679 right_roll=-0.0081 right_gripper=0.9962\nstate[joint_eff]: [0.3624, -5.6684, 6.6393, 1.9365, -0.0659, 0.1441, -0.0855, -0.212, -1.7573, 6.8308, 1.6728, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25fc6ea48f022257bf83ff0f390220ff0c75aee7d46d29ce039545df9a1d03f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:661b24286a0b84f579f5b9be6b01bce37e723da4b96b67d59af6b2503245edf8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67d67911988b598b506bb999b1e9fb22fc2dd40d0dc9b83c1808bcd13e49dbf1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 47 changed as sent

message 55 changed as sent

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9051, 1.9881, 1.4033, -0.5457, -0.6376, -0.7746, 0.1223, -0.0216, 0.8154, 0.5945, -0.4461, -0.0151, -0.0422, 0.9962]\nstate[eef_state]: left_x=0.3664 left_y=-0.2904 left_z=0.0765 left_yaw=0.0516 left_pitch=-0.249 left_roll=0.1066 left_gripper=0.1223 right_x=0.2852 right_y=0.0001 right_z=0.1566 right_yaw=0.0052 right_pitch=-0.1003 right_roll=-0.0047 right_gripper=0.9962\nstate[joint_eff]: [0.2803, -9.388, 6.735, 1.3455, -0.232, 0.1245, 0.0708, 0.0068, -1.1556, 6.9812, 1.7314, -0.0562, -0.0171, -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]: [-0.4839, 1.2461, 1.0935, -0.7818, -0.4301, -0.3977, 0.5961, -0.0216, 0.8818, 0.7437, -0.588, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3229 left_y=-0.0824 left_z=0.1989 left_yaw=0.0871 left_pitch=-0.2544 left_roll=0.0985 left_gripper=0.5961 right_x=0.2877 right_y=0.0 right_z=0.1778 right_yaw=0.0092 right_pitch=-0.1595 right_roll=-0.0083 right_gripper=0.9962\nstate[joint_eff]: [0.2393, -5.0393, 8.7179, 1.3504, -0.1929, 0.1197, 0.0855, -0.1709, -1.4564, 10.3863, 1.8095, -0.0122, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2108, 1.3838, 0.6334, 0.0418, -0.2165, -0.1761, 0.7487, -0.0216, 0.8829, 0.7444, -0.5961, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3757 left_y=-0.0379 left_z=0.0905 left_yaw=0.0466 left_pitch=-0.1192 left_roll=0.0244 left_gripper=0.7487 right_x=0.2866 right_y=0.0001 right_z=0.1764 right_yaw=0.0092 right_pitch=-0.1679 right_roll=-0.0081 right_gripper=0.9962\nstate[joint_eff]: [0.3624, -5.6684, 6.6393, 1.9365, -0.0659, 0.1441, -0.0855, -0.212, -1.7573, 6.8308, 1.6728, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25fc6ea48f022257bf83ff0f390220ff0c75aee7d46d29ce039545df9a1d03f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:661b24286a0b84f579f5b9be6b01bce37e723da4b96b67d59af6b2503245edf8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67d67911988b598b506bb999b1e9fb22fc2dd40d0dc9b83c1808bcd13e49dbf1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJOvFS4_3a0Iia9pgAv1vvA9kjRs9r2hFMkR9F9ZJxEiZhLWLX2yMhmPDMv3upQWmu09mQX5Ui-Wl3jaAV2kzsk94N6HSdtqDwgA6iLElXRiGnjByTEmqIBaixpGHpIFnAx6378JWMdlt0osZw5mgvRB4De-xnFKvXBo1DWpGJEKLpQe16Xy3Yo0gjw98pE4i0ZYsU8eFb5yMn7cGXeyOoDxCkvh9CoP9Qhy59ZiYhfLVzTpk_peVI_TGK7WM3msHTi_hU0cIuP5RnSouJK75_B-68ycUqGxN7d_dtk3xIhA9rHXiUmGCmAVLCfPUx3pF0wVfoxo0k8nPSXrqcdYFWiErVqe_Yvd3GVYiuLdekKHn0ZdguEa7bh4E4WgP5A3h9LJaBktmr8BBFyVK0YRp1bKmlze41TcKuqWHbvm3SMAZiXhq-iGhxEqytW-xlEnvTVlW-q2Miwe0_ibDny5dM09tPVAjFNwg470PIgcxaUy0s0y536TXR2qm7ZMQDwrDUvSZoXvo-XCEZRft55WweMiEw4yzBYtZjRB0Iph12F_ruE-qsU3lvpJ8xMu2vd7vD-idTHiFvA98dIlS6Hx5DuzMhv7JWsLwrUiNF-1G82VVG_rTkqwylU6fjN_fj7kfJ8MpLYwaliGAjB4tabWf9s3MiYzM_PnOVDs1L2za5szhV5ThHu1_1COmgEfaYaq7Ude8cx1paPk3-Xsh9acF707ZnOZvHvhzGpl7ahf4gIxU5ukkQTBbzaOprCDuN_Ec5OP3Khvmrkmi0vAFs_pXs052HKvpCwg8G58l0LwCQ0nRsTyM33I12bxfjy8BbbYI6N-Hfzr0DYwgXiurUEerJcn07tZSP4KaRiynxOWl3AJCKPBMa2Pp1TAqYpmX6I1FUgGnHgoJhx55d5FgJiL1zXxf9lbMw_EGy0CaxjbWh0eKeV_ax_-ML-riPZfSctdctdSmyb_wkxBzgedgAxMBIElO7GpND4opIlL4ccmRFIcnX4HpD8lyCqFjyPCOncqf0dxvQlcilS6vjO-ca89KipVCUt9qJneJPdrw6r4A4CQXp_Kc67LVkan2dXKnqAd-yy6Wh9YzJSAZwf0KneiUOhm7QGe3gds-RYdZRcgTz5i4I46erKtPqPmpj0ExOkoWO-3L3-Gm-jXoJZGhbnx2zPVir3sx-H-acm-DABkGmF9xOT14sreFBe6vE9hBMi8uRf-A3rQpRlt9iuf1PC-Ig0kNfXLd0FhKQ0_-rFgMWtMc9H2r0zHtFgdNb_Co4oJIyeTLPXURLJ_p8-jv-YFbA496ZHOUxe0gmdP-NXUxLgoIkePVgciaE64RpOS6zniTF_1wfmH6iYba4u-5kuSvDfOiOeQzG2Sho0ImsaGMdTwJkGqZqjTircYVb8OcLM6vFtLZF6MRtRZijxvJfhTsmde2D9jMeKyJ0nF87HByS95W3sMxw0P97oR7cGa_WqLBqoFKi5SpKkwodrViQMjGeLzg1IO1b7V0CDMOgMYu8U2JFs7qqEwtCTaYvZV4QBhWHy6P5K6xuXyoV59E99DvjJjVkEN9lih4ESkCGkuUbNh6TBetkBiuP9oM2SLvIDayzZOvXnZIET_--nOguO6XjtPOhaGZvFNBB0SKQcynm1Mx32GEf5PY-HroCV46e7Iava41VwRCEvJYPrtOC-BvAMJ5PwQdAl8_BnImRWiC2ilkAR-oFnm6F0BzIdXvpDnkjjxQf2gSVxhdPfU1xdaV5wOf-Ul1X0t4ANKtCn4ZDJHP2v0YGziUTvtdNxMvp62XcsvYH71JX7hZw__LmY4Bhgx1ScVLtc4dI7StH9rFHcebW9DWgjknyhOKz_1styzZJ6h",
  "id": "rs_018d3969b3c5199e016ab493ac361087d0935b763e1c5a6140",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.075,\"left_z\":0.035,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The turquoise bowl’s left wall is slightly to the right of the jaw centerline. I’m shifting a few centimeters toward it and lowering to grasp only that outer wall.\"}",
  "call_id": "call_u7yGGqKHW6yqHDmn6LqgeXhK",
  "id": "fc_018d3969b3c5199e016ab493ae67dc87d0a97eba732cdf7a4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_u7yGGqKHW6yqHDmn6LqgeXhK",
  "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]: [-0.297, 1.7012, 0.5476, 0.4343, -0.2359, -0.1905, 0.7487, -0.0216, 0.886, 0.7444, -0.6022, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3865 left_y=-0.0714 left_z=0.0149 left_yaw=-0.0152 left_pitch=-0.1258 left_roll=0.0284 left_gripper=0.7487 right_x=0.2858 right_y=0.0001 right_z=0.1744 right_yaw=0.0093 right_pitch=-0.177 right_roll=-0.0078 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -8.2667, 5.135, 1.8095, -0.2662, 0.1929, -0.0122, -0.0479, -1.935, 7.0496, 1.6435, -0.0757, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4846e95596c5f31f9b7b8bc75a7ace9adf3de1f341638cbed90e8fab3a269e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea55e8929f599a987c0616b03d35c0a0e604c862144cfac26fad2411ccdae098",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcb6a380c92bed3a8b0a8df63b7a411912737281b6f562a7099bfe60ce8ccd32",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 51 changed as sent

message 60 changed as sent

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9024, 2.0056, 1.3819, -0.5079, -0.6361, -0.7742, 0.5951, -0.0216, 0.8173, 0.5945, -0.4458, -0.0151, -0.0448, 0.9962]\nstate[eef_state]: left_x=0.3673 left_y=-0.29 left_z=0.0651 left_yaw=0.0534 left_pitch=-0.2508 left_roll=0.107 left_gripper=0.5951 right_x=0.2854 right_y=0.0001 right_z=0.1562 right_yaw=0.0067 right_pitch=-0.1019 right_roll=-0.0068 right_gripper=0.9962\nstate[joint_eff]: [-0.0889, -10.3043, 6.4342, 1.0427, -0.3736, 0.105, -0.1392, -0.0889, -1.1009, 6.9949, 1.663, -0.0464, -0.0024, -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]: [-0.2108, 1.3838, 0.6334, 0.0418, -0.2165, -0.1761, 0.7487, -0.0216, 0.8829, 0.7444, -0.5961, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3757 left_y=-0.0379 left_z=0.0905 left_yaw=0.0466 left_pitch=-0.1192 left_roll=0.0244 left_gripper=0.7487 right_x=0.2866 right_y=0.0001 right_z=0.1764 right_yaw=0.0092 right_pitch=-0.1679 right_roll=-0.0081 right_gripper=0.9962\nstate[joint_eff]: [0.3624, -5.6684, 6.6393, 1.9365, -0.0659, 0.1441, -0.0855, -0.212, -1.7573, 6.8308, 1.6728, -0.0269, -0.0611, -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]: [-0.297, 1.7012, 0.5476, 0.4343, -0.2359, -0.1905, 0.7487, -0.0216, 0.886, 0.7444, -0.6022, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3865 left_y=-0.0714 left_z=0.0149 left_yaw=-0.0152 left_pitch=-0.1258 left_roll=0.0284 left_gripper=0.7487 right_x=0.2858 right_y=0.0001 right_z=0.1744 right_yaw=0.0093 right_pitch=-0.177 right_roll=-0.0078 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -8.2667, 5.135, 1.8095, -0.2662, 0.1929, -0.0122, -0.0479, -1.935, 7.0496, 1.6435, -0.0757, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4846e95596c5f31f9b7b8bc75a7ace9adf3de1f341638cbed90e8fab3a269e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea55e8929f599a987c0616b03d35c0a0e604c862144cfac26fad2411ccdae098",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcb6a380c92bed3a8b0a8df63b7a411912737281b6f562a7099bfe60ce8ccd32",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJOyfhbQ6HNKR6h3Yu3KLoYoSYdAsvBzkCpxPQq_GZO-SHvHrZW0Fqt7_3zw4tYasw1Rrko3zmRqm08bmjO8FFTXdwRBGHK4czhoMo-Bpp81HHI5ThN8ycgDKFCz754ay-OIM_5Gnb4zzZjigBivtk151VRDQmUOk20lXGCMUY2Ce0M3n0yFm-Ojkx08Z_Y3KeT1CHreDscAvAp9GwneNRizMlukHcb8Di5w_tLgK1hZsLfbi5gFW7pVFBq2_LN27610kbv-6UoLaJDM61ulKNQWEExTp-kyBpe4FZTkl9JbS56Hb130AqqsDIpHfbuYDp6RaSn1f3JAObB_wu3H3DcJ8l2ctsyk3WkXeqTMZxgpjr7PqCIgkXYp_7bPHEA7hSVTu3c7Tsg6rYd9LkHhSp1WY7GtEfqezggF5AhVTySOXlYiOF9lgxz_3ubNfMcp1ZcbFZUNeZmjfhq8dfJobDgsH87p4C7fdAWh0e2Y9vLhZvvkahiLtE1lMayJwZbsscTkaWre6f8YH1Wm8vvXEJsh0ufXSflBJFtn70pmxfZnM8w_TbozxBvLFQe2PZ7PDSqHfQ4Y5WpgHehXOC20wnby1kVq2aiHFPwHtdTxraoPt30ySQCoVlUvNnCmz8O7NoAbz5ww6p0j-fJ4qhUO0sY7dDR0nHWE4UyZPps1Urib8-t4xuhKb0dBk1t1m7DQ7Pr0WXDUKCyL8PN6ieIkiFEYrSQIanE-nnZ-gkmPWXY_3TMUM3iyXm66QNhMFbHep6a9M2tCYKlTD57JuXhww1eVIe0uESMoI7RI-Q2_iYURF4GoLjvwQYsGehpllfI-SMXhPAu--F0gRppkotbXJw9hCUbwN6p1-C2RxEXbGz0gMl5NqlMLx5fsz0eKaGSEMdCLbyE0P7KanQlmGfp6D7hSIiuq4GpJp6oHNPr1Z3qbrkxh08DJyrik-a4HC52H4Ym5tXcJU7AFTI9STaDdtGU3ggnAbiuykItxGkls9pH6CTJe95QCDBoAlGB1qaZ5hxe-xaXnDeD7LBxwUGQQdZIzPKKhigFiMgM9-NXsxmclIQIIUf6Xyunthc5LJ1yxax7Uja_wekckleixFp6IUAhg8jWUBDrTK3OQIRiecIrAJ_xswECh2U6WoKZvbWnFQ4EUMM111sS3iO0VB4mk6fnpZezGEmFwCPFRgW0BDY4KeOQVcrR0HHzycw91hv9KcoeP9AD3QB_wHh38GHuyT5B3lZZpIauP4auF0tFtdatkeAUHBThUoLLClz4L35TMofjXCTp1yt2oleVVHl7yIO2FrLWHv9kI67PfgMundOAmNP8ZsG_lzTGAgLKszHxE3xI_VMcyVq5VKWrgURKq1an0ZZo_1FbuvTjT0PcNDykEf9Y=",
  "id": "rs_018d3969b3c5199e016ab493b10d5087d08719e1630b8a8d36",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"One jaw is inside the turquoise bowl and the other is outside its left wall, away from the other bowls. I’m closing on that single wall.\"}",
  "call_id": "call_Vt0ll9d6joT770Q6N6dqepAZ",
  "id": "fc_018d3969b3c5199e016ab493b1bdc487d086e9dd43e204577e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Vt0ll9d6joT770Q6N6dqepAZ",
  "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]: [-0.3004, 1.6867, 0.5514, 0.4908, -0.2306, -0.2134, 0.095, -0.0216, 0.8886, 0.7444, -0.6029, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3969 left_y=-0.0769 left_z=0.0321 left_yaw=-0.0126 left_pitch=-0.0548 left_roll=-0.0141 left_gripper=0.095 right_x=0.2858 right_y=0.0001 right_z=0.1736 right_yaw=0.0093 right_pitch=-0.1805 right_roll=-0.0077 right_gripper=0.9962\nstate[joint_eff]: [0.212, -5.2718, 4.8752, 1.1502, -0.1636, 0.1929, 0.4713, 0.0205, -1.9214, 6.8581, 1.5995, -0.0317, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a70a37970960218e916abbccb37ce2923b619c38c49cab978089ad7b4c5c478",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e990feec36d75087cfd42b87b77c00c07c653416b63e309055d5c14f1150341",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b657c66751074b2cf30a6c723ef678686458315e893f52e44702bb7cff16d8f5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 55 changed as sent

message 64 changed as sent

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4839, 1.2461, 1.0935, -0.7818, -0.4301, -0.3977, 0.5961, -0.0216, 0.8818, 0.7437, -0.588, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3229 left_y=-0.0824 left_z=0.1989 left_yaw=0.0871 left_pitch=-0.2544 left_roll=0.0985 left_gripper=0.5961 right_x=0.2877 right_y=0.0 right_z=0.1778 right_yaw=0.0092 right_pitch=-0.1595 right_roll=-0.0083 right_gripper=0.9962\nstate[joint_eff]: [0.2393, -5.0393, 8.7179, 1.3504, -0.1929, 0.1197, 0.0855, -0.1709, -1.4564, 10.3863, 1.8095, -0.0122, 0.0122, -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]: [-0.297, 1.7012, 0.5476, 0.4343, -0.2359, -0.1905, 0.7487, -0.0216, 0.886, 0.7444, -0.6022, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3865 left_y=-0.0714 left_z=0.0149 left_yaw=-0.0152 left_pitch=-0.1258 left_roll=0.0284 left_gripper=0.7487 right_x=0.2858 right_y=0.0001 right_z=0.1744 right_yaw=0.0093 right_pitch=-0.177 right_roll=-0.0078 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -8.2667, 5.135, 1.8095, -0.2662, 0.1929, -0.0122, -0.0479, -1.935, 7.0496, 1.6435, -0.0757, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3004, 1.6867, 0.5514, 0.4908, -0.2306, -0.2134, 0.095, -0.0216, 0.8886, 0.7444, -0.6029, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3969 left_y=-0.0769 left_z=0.0321 left_yaw=-0.0126 left_pitch=-0.0548 left_roll=-0.0141 left_gripper=0.095 right_x=0.2858 right_y=0.0001 right_z=0.1736 right_yaw=0.0093 right_pitch=-0.1805 right_roll=-0.0077 right_gripper=0.9962\nstate[joint_eff]: [0.212, -5.2718, 4.8752, 1.1502, -0.1636, 0.1929, 0.4713, 0.0205, -1.9214, 6.8581, 1.5995, -0.0317, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a70a37970960218e916abbccb37ce2923b619c38c49cab978089ad7b4c5c478",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e990feec36d75087cfd42b87b77c00c07c653416b63e309055d5c14f1150341",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b657c66751074b2cf30a6c723ef678686458315e893f52e44702bb7cff16d8f5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJO2ZVtyd1tZlCqSNf_BIwiKUwIw0M7ElWE0HxkWqyTtN2hTlp3F9uxF9BrUigPpwBqqiz-dLBwun1cLhK0Yl1DEIQfakQrPfTTF7qFbyru3DNIWpN-9cKTi8zS_PvIXltgg0aEMGqWZaQLWfM2IDYQCfy-0SrNGdDzSqHQqgmFu6yjj9wvfJs1o8NCSd0eNO5jaYYjBWM8Q0G2VmM21y_fAlmZ35h4NOSImDKmgAMj_erkZaGi3d6QTGl0Fv9MKKFQXk4sihakcUh2qCPSUGzRx1Mnp_1XUiF-sNz4cQjsYgmoiV2WC6Mv5DwMNuP7flw8WfMKOtmBJQ2bTeAfTqE1474qRS6_It4yJCCOsvVbde9aN9t10sdiemxQ7jqPaaYdGUANeO2nk9Wz9KvRQtJZ7ugUH0s3A3wuxKuJ_z5wscjVyEMqWZKvBTGXvrroID-OAlfQX__kEw-I8TXFB1htK8m0sSrVM7jYRgCzXOOZvOni0K5wg_a8xSQneWalRq61r4GSIbDry14xs4JdKCtBlc-6_CIuVIIhzNqDncozNU0npUGxF4LTmN3K-v8EYj5JPeCjm-upUXDr5HgXcrHK1aH6arJF72rkpjOGUw3qs0AeMUP-0BpW9PDVKqU-2Jrc8tNFtdMCQzuDn1md5BK3E8v_ACHdAS7mQoYv78p7YIY5APHWSBDM70mn65BKZd9Ege5RPgNd2UmBaejKPSwffWnt7j2nphfzVxuhLGjK1qZhK8jT85VX-y1Rt6X0nPMUvsdIV3_uagZl_0OyhrAgHWh5ja7-zc3asFEOrzT9dIXmApuWMTTMBxPqu45FQs6A0mW7o8DXdUkwBqkS4TU6f8AOj129WkId6xe3EnkvK5vbbqCgKNDk8orYChsXd1KvqhjXqup-Zsp9iGIu95yofhxHMlMO1H_-lU4ReqIhSlfFDrb-2syRhYgGBe1VOUjykSTS5GNyrChCXvQN0uWOSkOroARJJ1XXvFaxcTdrRC6byui1vHfvb0qHSzJOOffvWhItQNBlNHSzLXWsy1i9Y4xXeLjdnGURZFV-Ja5tkZJkoogTS9kpO3RcM3j5AX3xb8rtp-2iz91Q3i2z0J0fxYM1bV3xuSAIegAEx4vkCXQRlEZ68Fdrv0_FK5QYAyQb5CzkV4xyvwb70ZnnXMTA5X9QeNVTXwJejvyeKbXRD39-nbY1nQCR5A0hu0Kb2CnZelTRi4wtCMUBH5KewIj1jdQ==",
  "id": "rs_018d3969b3c5199e016ab493b49fa887d0ba7c32429e8f2d25",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.397,\"left_y\":-0.077,\"left_z\":0.105,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The jaw opening indicates a firm rim grasp. I’m lifting straight up to confirm that only the turquoise bowl moves.\"}",
  "call_id": "call_ensFdQQLO7imvsp8ETcssVOL",
  "id": "fc_018d3969b3c5199e016ab493b4ecb887d08da918fbec77105e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ensFdQQLO7imvsp8ETcssVOL",
  "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]: [-0.3145, 1.4891, 0.6067, 0.2577, -0.2626, -0.2173, 0.0944, -0.0216, 0.8902, 0.7444, -0.6025, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3917 left_y=-0.0754 left_z=0.0835 left_yaw=0.0017 left_pitch=-0.0302 left_roll=-0.0049 left_gripper=0.0944 right_x=0.2859 right_y=0.0001 right_z=0.1733 right_yaw=0.0093 right_pitch=-0.1816 right_roll=-0.0076 right_gripper=0.9962\nstate[joint_eff]: [-0.6222, -7.3915, 9.0051, 1.7802, -0.1978, 0.0708, -0.0757, -0.1162, -1.8667, 7.159, 1.6239, -0.0659, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eb2d8ee8927f6fdc210eabc60244016a31a2d0553bee49b7d1584b2bab15341",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79d8a211c534f2d905f416d318fb541f83b6af59beb5a1dbf0ad8896eab20be3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a2dee4a9d82bdb9f7e1fa791a6ddaf876ead24b3db43603f380b93ff7ee6907",
      "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 60 changed as sent

message 68 changed as sent

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2108, 1.3838, 0.6334, 0.0418, -0.2165, -0.1761, 0.7487, -0.0216, 0.8829, 0.7444, -0.5961, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3757 left_y=-0.0379 left_z=0.0905 left_yaw=0.0466 left_pitch=-0.1192 left_roll=0.0244 left_gripper=0.7487 right_x=0.2866 right_y=0.0001 right_z=0.1764 right_yaw=0.0092 right_pitch=-0.1679 right_roll=-0.0081 right_gripper=0.9962\nstate[joint_eff]: [0.3624, -5.6684, 6.6393, 1.9365, -0.0659, 0.1441, -0.0855, -0.212, -1.7573, 6.8308, 1.6728, -0.0269, -0.0611, -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]: [-0.3004, 1.6867, 0.5514, 0.4908, -0.2306, -0.2134, 0.095, -0.0216, 0.8886, 0.7444, -0.6029, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3969 left_y=-0.0769 left_z=0.0321 left_yaw=-0.0126 left_pitch=-0.0548 left_roll=-0.0141 left_gripper=0.095 right_x=0.2858 right_y=0.0001 right_z=0.1736 right_yaw=0.0093 right_pitch=-0.1805 right_roll=-0.0077 right_gripper=0.9962\nstate[joint_eff]: [0.212, -5.2718, 4.8752, 1.1502, -0.1636, 0.1929, 0.4713, 0.0205, -1.9214, 6.8581, 1.5995, -0.0317, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3145, 1.4891, 0.6067, 0.2577, -0.2626, -0.2173, 0.0944, -0.0216, 0.8902, 0.7444, -0.6025, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3917 left_y=-0.0754 left_z=0.0835 left_yaw=0.0017 left_pitch=-0.0302 left_roll=-0.0049 left_gripper=0.0944 right_x=0.2859 right_y=0.0001 right_z=0.1733 right_yaw=0.0093 right_pitch=-0.1816 right_roll=-0.0076 right_gripper=0.9962\nstate[joint_eff]: [-0.6222, -7.3915, 9.0051, 1.7802, -0.1978, 0.0708, -0.0757, -0.1162, -1.8667, 7.159, 1.6239, -0.0659, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eb2d8ee8927f6fdc210eabc60244016a31a2d0553bee49b7d1584b2bab15341",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79d8a211c534f2d905f416d318fb541f83b6af59beb5a1dbf0ad8896eab20be3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a2dee4a9d82bdb9f7e1fa791a6ddaf876ead24b3db43603f380b93ff7ee6907",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJO7YULY84us5JdnIh_-VywebWPwcxz30OrDJiG-RsEO8qMcE2a_DVj3xl_QbzrEvE5odCwf8ma-6JeCcHTVN_Gkc5P-90e8tDqfFQ4WEMXFcdDe4Ja0Hu3t6wqGKJ7WSoMfc5TgDZTglzmGofEf4cl9mwGyT_LnhOLeY3sw2bjeksxtsxkPNUgwhv1gan6s4a5IDkPKjDjl621eX1yHufOO2zCKVcjWaNq5DgCjfU-vziQ_DDe9ldbjLc2twXFWanTx5q2qQ7-6DJI2Ed1XydaZYeqqW0OGo9eTgbvyiTiMF0w6JSgODhS7Pon13BWgpI8q3s595N-ZbK-uqch7Nmu4eMuDOnAny5f2IhxMZZHWS3BhwfNaDxCcuLwFhLXD9T1c4lUEy2NOQr7b2Zi5CbOoVVDk3sBcjiWHaXAJ26JqLYVWUfXDOMpmKEDjElurx07N78JxLC7dpy7_Yu9s3V5hhw8k5v38T6s4MIJVKYPU7X6c27t6b10BGHAMuFlZ4uUgR-1xwUivLJNKDawOpd0GZdOR_v0d-LL1C3FJTyNbKjzqVyeAg2kB9oyNm3yrcz7ZprH20Izgmzey-Dman-LyPU1HPm-S56xl7oU1S7UV_jtTiN-mxn3CDXcamsGC1LZoWBg8uPIz0pvYVvhOxJwPR5Qk0PUnxpRsvHZdwtihkQgECjzw3G-C8q9I5GDuiLvMTPtAwkwM6CyOs-5kIKEPSD8b5HboVHyahlZ-N-X_qPErWB1TOcxZptFdtDNB1zai6XS1pmsipuHLzRGQYHJKAEnNlzS_TOCKEFbYbt5P_8uHFwV8j1cmfAhztuGi8aCvJ0dUfTT-wwtNx9snAo-A-BGydGHZvYOAJofPZkufNF43osuHXVRhTH9PhUX7GRJBqEfb4leH6f83BShR809PzjsZqg0G1aM37OHl4DdgThohEMVxqUh2jjB2Nmtua1z-ZL7o58vERBn5cR1_pAt8x9486iyRuGYqk9MkF467pk6tR0QUH47VAqVicesJ0Uk4MXBmU4yG0cqSucAJmimsOYt1ZL1aAhedZVcdVY01u5Buz3s7Ol6qDKzikZzACQM1CC_0oAMai_apsFA3JeGJ6KJHQEHwVdvYysFaZboazmWqKIEwbTQnUdDTNKB_UvULJhpBFpJ-AzdJPQ-gj-1qAAIrMVAtUMMi-btwcjcjMG9I8nCSaceTY_ogb9yPhuRFhCuZOIFBfFC6I9_za8cAYznViun8_kew9cMR8IZMqfYvvZEU-Z3pj4eZ7Decb0_5hFQEDYnP8iFDTo8m3XVExkUCkzfILQKL0sudT6hfmdPNWFddPsCF_-mH1YCBCC7F3J0VEwAn5BEMqMz2WCgW0Qmtb2SmWMAh4hU9Qrvyf48H5WZy-cfVd24lPVSb9whg5GNmOPJ-oZq9VXdMWex-rM8iGsnKlpQQv8Sr4tryMWpXpkq3GzfSxEI6zwHJffQYYDHoR7jKkf8jVshXvVdN67UUjAjRy59xEZtNmHmI5_2jhLp7pn7w452iIYq0GeyDftrNjSHfh4--q_95ueQHgrjROIRgYXzziRV3IIfEWNiBtwmf12MQWpSEzoaSj_U1HMO2PVI22S4pG4I9XHdZ7v5Ch-m69GjHmRRE9KElmQMlCB3BjGmd-zN2ihnAviwzwjmL5TajMWlDce61uJMbvg2ZZg2LkAb3OYuauIInRvWDEmn00Z6qVDxzHqb3HqaQH5sd-YV5o4cFlKL6nB_F4hrz9YwV9LXnRM4Sdsw1fAgI-THvemjnJYuO7bT5TVyVJxVSo_PsdCJ0276YFrLvijGGJy3AoVEi1jpMfVjua6rC7dqwGw_iqea_DN5tcCoBoXRda29ypUFQDEE5QdxxKe7yv12ScBYpctENNIALOCdvGEnwapvv2HNOUW9jYi0IhqrSkpdt2I6i-r6YNV3_1GxIaopkcNq4F4q5hh6TBjmhGEJLaAK8EJ-fT85-4itMaYUfKvzoROpk8_Pu3q7vK3TrG9G2WUHoKYISg8PeZZA=",
  "id": "rs_018d3969b3c5199e016ab493b7efb887d095780134aa867698",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.19,\"left_z\":0.195,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"Only the turquoise bowl lifted; the blue and tan bowls stayed on the table. I’m carrying the turquoise bowl above the blue bowl to make the first nested pair.\"}",
  "call_id": "call_etjYMJIDEsTb160pF3IvE70A",
  "id": "fc_018d3969b3c5199e016ab493ba4e2487d0a9b666524c03481d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_etjYMJIDEsTb160pF3IvE70A",
  "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]: [-0.6804, 1.4876, 1.0534, -0.2596, -0.535, -0.4358, 0.0948, -0.0216, 0.8906, 0.7444, -0.6033, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3826 left_y=-0.1891 left_z=0.1846 left_yaw=-0.0261 left_pitch=-0.0124 left_roll=-0.0071 left_gripper=0.0948 right_x=0.2858 right_y=0.0001 right_z=0.173 right_yaw=0.0093 right_pitch=-0.1828 right_roll=-0.0076 right_gripper=0.9962\nstate[joint_eff]: [-0.2803, -6.0513, 8.8684, 1.58, -0.4274, -0.0122, 0.0317, -0.1162, -1.3744, 6.8581, 1.5556, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c418f7f913ad1bb613b87a3193e4d16e28722e0aa3a3871fbcf97b9929ca95e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3796896ee9566d2730074ef4818526b42e4fb267f40ab003802a43df85264fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41b76f95cf2847f4948520ded219643b39740b4ae8acda2fe7256ab0950b23f9",
      "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 64 changed as sent

message 72 changed as sent

message 76 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.297, 1.7012, 0.5476, 0.4343, -0.2359, -0.1905, 0.7487, -0.0216, 0.886, 0.7444, -0.6022, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3865 left_y=-0.0714 left_z=0.0149 left_yaw=-0.0152 left_pitch=-0.1258 left_roll=0.0284 left_gripper=0.7487 right_x=0.2858 right_y=0.0001 right_z=0.1744 right_yaw=0.0093 right_pitch=-0.177 right_roll=-0.0078 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -8.2667, 5.135, 1.8095, -0.2662, 0.1929, -0.0122, -0.0479, -1.935, 7.0496, 1.6435, -0.0757, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3145, 1.4891, 0.6067, 0.2577, -0.2626, -0.2173, 0.0944, -0.0216, 0.8902, 0.7444, -0.6025, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3917 left_y=-0.0754 left_z=0.0835 left_yaw=0.0017 left_pitch=-0.0302 left_roll=-0.0049 left_gripper=0.0944 right_x=0.2859 right_y=0.0001 right_z=0.1733 right_yaw=0.0093 right_pitch=-0.1816 right_roll=-0.0076 right_gripper=0.9962\nstate[joint_eff]: [-0.6222, -7.3915, 9.0051, 1.7802, -0.1978, 0.0708, -0.0757, -0.1162, -1.8667, 7.159, 1.6239, -0.0659, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6804, 1.4876, 1.0534, -0.2596, -0.535, -0.4358, 0.0948, -0.0216, 0.8906, 0.7444, -0.6033, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3826 left_y=-0.1891 left_z=0.1846 left_yaw=-0.0261 left_pitch=-0.0124 left_roll=-0.0071 left_gripper=0.0948 right_x=0.2858 right_y=0.0001 right_z=0.173 right_yaw=0.0093 right_pitch=-0.1828 right_roll=-0.0076 right_gripper=0.9962\nstate[joint_eff]: [-0.2803, -6.0513, 8.8684, 1.58, -0.4274, -0.0122, 0.0317, -0.1162, -1.3744, 6.8581, 1.5556, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c418f7f913ad1bb613b87a3193e4d16e28722e0aa3a3871fbcf97b9929ca95e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3796896ee9566d2730074ef4818526b42e4fb267f40ab003802a43df85264fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41b76f95cf2847f4948520ded219643b39740b4ae8acda2fe7256ab0950b23f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJPBfy4HUW_3wz_uItlBOHRnYX6bSTLvO3312HKTNdEd2OguDmuCq7aK0PCa2B1TXY87ny0MUW07ZZYLn0vroCrgoFypjpulGmuZj_sYm3kf7AZD_-ARP6gayYTk9dIKSTW9G8PLDsn6PQUk7Vvlf1YlRLnXLXUNuGqwVugjQbmKfRXDQ_JpZKB4yk33Edxcq4pRHlXFKIs6t5otn7km5Sf1FQAJc12iSaShvwSa_NinxM-7bjSKSQS4rmwgMOweHM2FzwGQ2O8g3D0Im434PY8qwK8EEbY0UopqIzwYMs_BZkPz59RB3LKpjRAFKVcoKIR5Fwuy9q-VnaqNQepe3lXwH0cDucFZbuOngMB9UAta403OlGimGHeGApnMDcv-gCHELZ1sf9zBv_JycD0RMn_K6K9hKkDl-mlu625QSZkFfzXqurAlOiVKKtHB2bOA3qDhEqfbY0s8LLRH2HErcAruDTdX6w9xzpdy9pYs_s3rjUURpbMJbDth4y0PVqPop8S0tmJwQFJvLZ8ArUGwOCpXKAsO7ai0yXMXqQT77mFmbDNAZOHISdUzU7yz-gqwpLTeQB92QsY2nvtwksTmqnMeEjNtGp4PK6qREpX0_7dX04xhjCFdzFm1FyRVNo8JHz_yYWuDuybANbCsHdQWeB9aEqhuTGtWHcjm2naMfCkYbG92krTz8HRfU4DxqVyayZkX2MAXqD0GF4R_CdJVOx9W2uwAYpGF2QeamsGsFJfLis4wiH83a8jsecuYf2WAFgzRMKgUdkiiDtnXoOCYt8SJdCnM_haF3Z42MWLUsa-uK-5xti1t9CA3LYfA2QigxWtI3_YHgza6WZRqz-HtRwbKmkqrVO6jhGcIjlcrz4Nu3W0JLrOjk0tzJT5pjeBdoQLNXewn3qSKEGkJNtiVMTDUczLxEbYh7PxOO9Gj3th4yamyvGIjQJgWE5ZVeksVOb_pQPGbjFAPwCNvJmRUmhUyoaA49Tb4tIZNmJw-Z-zvQrcEJkZSbayZ_A4EMqlbcKLsUCWyGkeIyPgi7d7gprqSP1iBUYUwKIlWdbHGe5NiQ9V1mScdjA1kEY-tXId5NHjWklbZAQH4D6b641dzRJyd_E7U7jQu5gN45qVGVR06b1QMCRkk9rVNHY9ZJJu2l25G2xe1RBrGYhNniZMNBG15_PID3Ps0XpIDBp7UxCPv5Op1GpSgvqOCK0d2nFDd2vqUxFWbXoZ9YwM_iJqD3TDM70uHI1vYUBdq2ysX3qOL6247XBHSEEqbh7-lKSbUCOUMK7EMV0gfb1859OqdxGcU2cZKvS9-Q8qNv060UeipTwlaCZrbq7XS0tJb7HKwkJC-k9d9LooKAUaufFMNqcXRAu1PsAUuEWatvlagOEJKVDzVEvNsNW6pV_DP3UUB5GZzhg2TRjgHUy3A5CvRM-YMpLJnodsLH-PlShypzj2TONoKVav_ns4yGkg2MwkqtFLomDFC6ddyxs-nVuMNkBlMw2RVITs1jwHMaH0gr4BmBu_La6DIvHLygvFJ2vyNFZKI9Ocg3E5Szdb89l6d4lHS5qv0UMUKLakODd7fGYeEY2pm-uTXs0FC_pd40b6NE2bdmx2MjlHuCTtYC9rLlskHXZr7K-F7Ji8Nzw3inaxBLdPxrGSZXHhBVxusjYS70A-M",
  "id": "rs_018d3969b3c5199e016ab493be471c87d0b91d26a567414bb0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.383,\"left_y\":-0.205,\"left_z\":0.09,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The turquoise bowl is above the blue bowl and slightly left of its center. I’m correcting that offset while lowering toward the opening.\"}",
  "call_id": "call_xVGotwkrgx7DFvb40YwBFhqL",
  "id": "fc_018d3969b3c5199e016ab493c0333087d0bda54777120c969d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xVGotwkrgx7DFvb40YwBFhqL",
  "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]: [-0.7269, 1.6695, 0.86, 0.0509, -0.5797, -0.4717, 0.0948, -0.0216, 0.8906, 0.7444, -0.6029, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3781 left_y=-0.2019 left_z=0.089 left_yaw=-0.0181 left_pitch=-0.0437 left_roll=0.0272 left_gripper=0.0948 right_x=0.2859 right_y=0.0001 right_z=0.1731 right_yaw=0.0093 right_pitch=-0.1824 right_roll=-0.0076 right_gripper=0.9962\nstate[joint_eff]: [-0.7863, -7.241, 5.6137, 1.6484, -0.4713, -0.1197, -0.0122, 0.0205, -1.7299, 6.8581, 1.5263, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56f29125a4da42aad913c4e7c5567a9943e1bf5c3c1a33fc590b5418726c2996",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1144e944808ec72204719da67b0fc5c896b8a598302c20b0ed277a19e2e4b4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3a1e4d5ce3d9d7cb220f6c54d2896f8d3c3ef29ccca5aa7d4288eed96d4a43d",
      "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 68 changed as sent

message 76 changed as sent

message 80 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3004, 1.6867, 0.5514, 0.4908, -0.2306, -0.2134, 0.095, -0.0216, 0.8886, 0.7444, -0.6029, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3969 left_y=-0.0769 left_z=0.0321 left_yaw=-0.0126 left_pitch=-0.0548 left_roll=-0.0141 left_gripper=0.095 right_x=0.2858 right_y=0.0001 right_z=0.1736 right_yaw=0.0093 right_pitch=-0.1805 right_roll=-0.0077 right_gripper=0.9962\nstate[joint_eff]: [0.212, -5.2718, 4.8752, 1.1502, -0.1636, 0.1929, 0.4713, 0.0205, -1.9214, 6.8581, 1.5995, -0.0317, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6804, 1.4876, 1.0534, -0.2596, -0.535, -0.4358, 0.0948, -0.0216, 0.8906, 0.7444, -0.6033, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3826 left_y=-0.1891 left_z=0.1846 left_yaw=-0.0261 left_pitch=-0.0124 left_roll=-0.0071 left_gripper=0.0948 right_x=0.2858 right_y=0.0001 right_z=0.173 right_yaw=0.0093 right_pitch=-0.1828 right_roll=-0.0076 right_gripper=0.9962\nstate[joint_eff]: [-0.2803, -6.0513, 8.8684, 1.58, -0.4274, -0.0122, 0.0317, -0.1162, -1.3744, 6.8581, 1.5556, -0.0317, -0.0317, -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]: [-0.7269, 1.6695, 0.86, 0.0509, -0.5797, -0.4717, 0.0948, -0.0216, 0.8906, 0.7444, -0.6029, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3781 left_y=-0.2019 left_z=0.089 left_yaw=-0.0181 left_pitch=-0.0437 left_roll=0.0272 left_gripper=0.0948 right_x=0.2859 right_y=0.0001 right_z=0.1731 right_yaw=0.0093 right_pitch=-0.1824 right_roll=-0.0076 right_gripper=0.9962\nstate[joint_eff]: [-0.7863, -7.241, 5.6137, 1.6484, -0.4713, -0.1197, -0.0122, 0.0205, -1.7299, 6.8581, 1.5263, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56f29125a4da42aad913c4e7c5567a9943e1bf5c3c1a33fc590b5418726c2996",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1144e944808ec72204719da67b0fc5c896b8a598302c20b0ed277a19e2e4b4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3a1e4d5ce3d9d7cb220f6c54d2896f8d3c3ef29ccca5aa7d4288eed96d4a43d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
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  ],
  "role": "user"
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{
  "arguments": "{\"targets\":{\"left_x\":0.383,\"left_y\":-0.205,\"left_z\":0.045,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The turquoise bowl is centered over the blue bowl. I’m lowering it into the blue bowl until the nested pair supports its weight.\"}",
  "call_id": "call_ZkbDrcNfOxGHOUPgd7WdzBGk",
  "id": "fc_018d3969b3c5199e016ab493c4474887d0aa0dbb52695b6534",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZkbDrcNfOxGHOUPgd7WdzBGk",
  "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]: [-0.7315, 1.7885, 0.7898, 0.2535, -0.6033, -0.4877, 0.0948, -0.0216, 0.8909, 0.7444, -0.6029, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3809 left_y=-0.2024 left_z=0.0502 left_yaw=0.0034 left_pitch=-0.0227 left_roll=0.0173 left_gripper=0.0948 right_x=0.2859 right_y=0.0001 right_z=0.173 right_yaw=0.0093 right_pitch=-0.1828 right_roll=-0.0076 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -8.212, 5.1214, 1.707, -0.3297, 0.0171, -0.0122, -0.0205, -1.6342, 7.1043, 1.536, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a014d97f5fbc932612304bd69d4cf1353301d2122caad6e9795931616399baeb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb5e6a43a7e09ce894560993fc9e5ac5907911d15439f31de8a5b0ff8a9495fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:996516ffdcffa529153efa7a225f4497a9172c4f63f830a79f37db0da97d1eee",
      "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 72 changed as sent

message 80 changed as sent

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3145, 1.4891, 0.6067, 0.2577, -0.2626, -0.2173, 0.0944, -0.0216, 0.8902, 0.7444, -0.6025, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3917 left_y=-0.0754 left_z=0.0835 left_yaw=0.0017 left_pitch=-0.0302 left_roll=-0.0049 left_gripper=0.0944 right_x=0.2859 right_y=0.0001 right_z=0.1733 right_yaw=0.0093 right_pitch=-0.1816 right_roll=-0.0076 right_gripper=0.9962\nstate[joint_eff]: [-0.6222, -7.3915, 9.0051, 1.7802, -0.1978, 0.0708, -0.0757, -0.1162, -1.8667, 7.159, 1.6239, -0.0659, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7269, 1.6695, 0.86, 0.0509, -0.5797, -0.4717, 0.0948, -0.0216, 0.8906, 0.7444, -0.6029, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3781 left_y=-0.2019 left_z=0.089 left_yaw=-0.0181 left_pitch=-0.0437 left_roll=0.0272 left_gripper=0.0948 right_x=0.2859 right_y=0.0001 right_z=0.1731 right_yaw=0.0093 right_pitch=-0.1824 right_roll=-0.0076 right_gripper=0.9962\nstate[joint_eff]: [-0.7863, -7.241, 5.6137, 1.6484, -0.4713, -0.1197, -0.0122, 0.0205, -1.7299, 6.8581, 1.5263, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7315, 1.7885, 0.7898, 0.2535, -0.6033, -0.4877, 0.0948, -0.0216, 0.8909, 0.7444, -0.6029, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3809 left_y=-0.2024 left_z=0.0502 left_yaw=0.0034 left_pitch=-0.0227 left_roll=0.0173 left_gripper=0.0948 right_x=0.2859 right_y=0.0001 right_z=0.173 right_yaw=0.0093 right_pitch=-0.1828 right_roll=-0.0076 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -8.212, 5.1214, 1.707, -0.3297, 0.0171, -0.0122, -0.0205, -1.6342, 7.1043, 1.536, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a014d97f5fbc932612304bd69d4cf1353301d2122caad6e9795931616399baeb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb5e6a43a7e09ce894560993fc9e5ac5907911d15439f31de8a5b0ff8a9495fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:996516ffdcffa529153efa7a225f4497a9172c4f63f830a79f37db0da97d1eee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJPIV56IeEMOkxA9ZahKHHrXu7hijvIuFd0zQwyRkbyKWzsrzxKDE9GfqbK9UVE1OzsrtFEndpELAPVUidvfz5O9mPE48EwNR0fxT4a5lZvvSfymAlU6FpkCN6nXtYNRuwp1FqbSWDA_9Pn2KvuCeQmaMuRt2XwPoSr5zLEpMdqZtXNh3L_QstYrQJZsIZ0OnMLTg18BuUPOK3MUf8lMlDUIBznxPb66u3rbyOa0Pl3NyoD61931Ha-oymj-Rc47Y9xwdDCDW0zcqShItlCnHJqa2MeaPzrr94OMDCgetDenTczIE290puGUipNX0lBc-yBDfv_RzwQKvOitZqSJceIudZD67ed983KI-ebB7ZzAwJ9hxZvJ3vf9gT2xiX8W4b8r_xpVq9wKsaruCCD0x64qdzR_doO6k75FSDMGc7PMVo0BksDS70YTgEezQIx1DzYhZRuOBfdeeAd-tigGmVGI5GXRE8MrDNLmSJo_F8CWCKP1XDZiqqP1nd9ZRach_ovFhN9BpOUO06RkA-VaFbRJYibhc1N8lKjaO99O5RWUUZmkwhsOUd1fcxJYUsgOp3Xy0xVe5NfnuFZG9wgzrsXrEiZccvaXnft46_rDSu-OqEMJfW_nOjRZ4E7cpUqt2hlGOB_9K9qt-T4UFBXxVa85obitQ7jw30iPbuICeXeLTvla1CnyXjBXswBRvLbYOcneNmWqmNCUDdF_F4OZC9nRdp1TM5rVSvgREa66BJLXHXks3XzAopMQeqEoSfPTvqBjJO96zW6PlAdKMNczGtCk_TVYWM1orRSNTRFHF1VQnL7NSe2jQRjm0RJ3bF3rpu7Fm9TTussjCv6InTg7GBExVqKNgAX406n6stTLgidDr0vdcl0TgyePuk-xRs-ORtre3IydiTuuQ1H-XhjlZFdpLvBlbU9CTL4Pt3FBfsPzRcMJHuddW2Q8RQCl7smnCIoUkOuNs9HHaPIH0AwpKoKYONOAt59FWt92-cH97GOMcy5-N-re0LvOHjCQRJFAH2timj3R1WrPAGANOrIRU6NdrRFZ7_YyyWNn-8Agm1ZYs_WwuJ2-K82DH5udRJ3EMRYW-s0-GfWp0bUmT5vP_6L6TUSduxHbyMzNRZxenT9urFWMCquchsQnTrF_mbuisLZNC_jXqOWxB3LclmJZkSN_egeiKp5ZAG8zhMsi4b9zt4kbqASxZ7wTaQGbJp-Ud-lRm-XFF99a-D8vmnkX0v0fIFUas0Cm7f-fE_EY13-nsskcg8uCgS2NKVxgWUFeWfn2l8wGuQ_3U3vGvO8bxpgwn1_u-6ktzWUgaJAtA3KxBK8=",
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  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.65},\"note\":\"The turquoise bowl has settled into the blue bowl. I’m releasing the rim without moving sideways, so the nested pair stays in place.\"}",
  "call_id": "call_oumrGVB3bEdtWP7vyK44BNgm",
  "id": "fc_018d3969b3c5199e016ab493c7748087d085405237b8b02285",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oumrGVB3bEdtWP7vyK44BNgm",
  "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]: [-0.7315, 1.8141, 0.7666, 0.2573, -0.5999, -0.4953, 0.6448, -0.0216, 0.8925, 0.7444, -0.6029, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3741 left_y=-0.197 left_z=0.0327 left_yaw=0.0062 left_pitch=-0.0575 left_roll=0.0395 left_gripper=0.6448 right_x=0.286 right_y=0.0001 right_z=0.1726 right_yaw=0.0093 right_pitch=-0.1843 right_roll=-0.0075 right_gripper=0.9962\nstate[joint_eff]: [-0.1026, -10.1675, 7.0085, 1.3944, -0.3297, 0.0366, -0.0855, -0.0068, -1.8667, 6.8581, 1.5409, -0.0659, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb3590a8ad95ceda6fd79b8db14d884402af1e3f41e048bdad197b31498c4cf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:295f207f1fb3a7def7eaad1ddd979417b8783ebfd3519e2aad4b706967bf5e8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40b37669f00a1e9730937531b04a448734b63e1d45588a9414033a1bb38ecaf6",
      "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 76 changed as sent

message 84 changed as sent

message 88 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6804, 1.4876, 1.0534, -0.2596, -0.535, -0.4358, 0.0948, -0.0216, 0.8906, 0.7444, -0.6033, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3826 left_y=-0.1891 left_z=0.1846 left_yaw=-0.0261 left_pitch=-0.0124 left_roll=-0.0071 left_gripper=0.0948 right_x=0.2858 right_y=0.0001 right_z=0.173 right_yaw=0.0093 right_pitch=-0.1828 right_roll=-0.0076 right_gripper=0.9962\nstate[joint_eff]: [-0.2803, -6.0513, 8.8684, 1.58, -0.4274, -0.0122, 0.0317, -0.1162, -1.3744, 6.8581, 1.5556, -0.0317, -0.0317, -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]: [-0.7315, 1.7885, 0.7898, 0.2535, -0.6033, -0.4877, 0.0948, -0.0216, 0.8909, 0.7444, -0.6029, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3809 left_y=-0.2024 left_z=0.0502 left_yaw=0.0034 left_pitch=-0.0227 left_roll=0.0173 left_gripper=0.0948 right_x=0.2859 right_y=0.0001 right_z=0.173 right_yaw=0.0093 right_pitch=-0.1828 right_roll=-0.0076 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -8.212, 5.1214, 1.707, -0.3297, 0.0171, -0.0122, -0.0205, -1.6342, 7.1043, 1.536, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7315, 1.8141, 0.7666, 0.2573, -0.5999, -0.4953, 0.6448, -0.0216, 0.8925, 0.7444, -0.6029, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3741 left_y=-0.197 left_z=0.0327 left_yaw=0.0062 left_pitch=-0.0575 left_roll=0.0395 left_gripper=0.6448 right_x=0.286 right_y=0.0001 right_z=0.1726 right_yaw=0.0093 right_pitch=-0.1843 right_roll=-0.0075 right_gripper=0.9962\nstate[joint_eff]: [-0.1026, -10.1675, 7.0085, 1.3944, -0.3297, 0.0366, -0.0855, -0.0068, -1.8667, 6.8581, 1.5409, -0.0659, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb3590a8ad95ceda6fd79b8db14d884402af1e3f41e048bdad197b31498c4cf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:295f207f1fb3a7def7eaad1ddd979417b8783ebfd3519e2aad4b706967bf5e8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40b37669f00a1e9730937531b04a448734b63e1d45588a9414033a1bb38ecaf6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJPLyxmGcHajWYLU8hSw-rf2IfF32_ZK_eB6srhXS_B8ENfhIzB4tJJgtTQlW96IfnWsg5QfjM6xuXH4F89n957OtTqum0gBf5Cv0I8iE5Ss5g9CcQQhmZyCDJ7ThgLPX9Du6xYdHsvISE0fdEUZN6I9zI8OoMY7RKQAx3UPAwf4CtZMroSSzshiT3xG8FXITEbGYXwnapVS0YOoLTa0D5mjg9ySeahXewWSE8gJ4j1jA4fdFBYSuUH1WkAl3W5YScEgqhhfQsU-La25fpKOvA4Zdd8oag_DslM7uLmvt7vwOfpdpNnjlZk4skwPvL0pWZHmowdB95P1q6O8z1oH4wAQLC2jQxVuGuWHH4kb3fGDNPxw53hIM8shhx8tartwNLkWjp4sIPlBDXtPdAw2HHksEVq_twKfovd-R92QzwoGZF6NKVXDy9OonOOJviWi_uUAZxWSC5Ios6jDwzt7Y4XYeBUT1NizvqXtTb9NGYCWqUCJRq7_-FK0qY4HkcES8i5817pUgkJEjwPq5RkZNz2_0DW4rby8STCHmDawa7aUoedr2PSJILvvP0fHtLPVstoU4fvAGn2BjJPLf1aICnXM62mDuNxRN6CSssam5mkb5PbthABNRlAhME3O7VqM2kZCK2oXy-7ki0YQcbR66uuFK4RebORkrtdfGjTVxRMjinMCLOHbAsBQLSCV-MA45ibwI0t6XnwMTp2aG1t_LbQfrlhKgD5E2lMiKHrFEri1OlWgqetEvVLS_cofadn5_rQoxtWzuKQOF-z8I8-zgKjhmAAktL7lhgE9F531dtEnBgDb-Jjt9JVs0PX-oumfamHKuI0Geq_AZKD9FAwV7zCul-62ccjaB94KMy6MlfA34SjNAqjFqCXEyJ6SBBk6VGnVbZU-RXFO5fk2XQX4h9gD9AAhucnMRTIy3niz5dWWJkP-MlKBYxr8fb01LZGrPbneGbfKbU5chfgbF4LL3U2LXlyJR0uz-nP87sokuNaBlQ1K46vW_F1MNuTjsaurJfpN2ZFrei_bITzgWA5-C09MXUAknPvvSUfEj42bVG92_NfltASItEITFBSxGGPkR8Ppk77tAkIpaPMjbt2IWhu_pdJQ2BjNI3MbVucL8FPJnaErC5zqxyagAWpRkUBil_B4cBR2REoGYt1Mj0SnyFMX240W4V_XHf-_1IHNMwMVEoYzv7-RUUBC-qNT2ZK9d26vghEdFUISMJx3TEc2nxgZUq1BFDM1t9EY2T1EkS99sup1e4jR02KZWsqAlttyzO17AtqQ16Ljr-4hQ7ZtahhODxoYpZyF07KtVT1VqBn5oXRVV7QoZ_D-sIEfXhcPiaGK",
  "id": "rs_018d3969b3c5199e016ab493ca3fe087d082ed0267d0b5b08f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.374,\"left_y\":-0.197,\"left_z\":0.19,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The gripper is open. I’m lifting straight up before retracting, to avoid dragging a jaw across either bowl.\"}",
  "call_id": "call_I0MNpQzTGV7rEcH6EgU0etcX",
  "id": "fc_018d3969b3c5199e016ab493cadf2087d0a3ecd6c5c0570c04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I0MNpQzTGV7rEcH6EgU0etcX",
  "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]: [-0.7315, 1.5173, 1.0313, -0.2531, -0.5999, -0.4984, 0.6457, -0.0216, 0.894, 0.7444, -0.6029, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3743 left_y=-0.1971 left_z=0.169 left_yaw=0.0065 left_pitch=-0.0197 left_roll=0.0026 left_gripper=0.6457 right_x=0.2861 right_y=0.0001 right_z=0.1722 right_yaw=0.0093 right_pitch=-0.1858 right_roll=-0.0075 right_gripper=0.9962\nstate[joint_eff]: [-0.4718, -8.4308, 9.1282, 1.4774, -0.2808, 0.0904, 0.0708, -0.1436, -1.7436, 7.0496, 1.5995, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdc0d2aec767bb12db69414b22bfdd3084e6df20acda5d6cedc6b9945ceb6441",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6220f014be01ee55ed2e0c17a610dde55f4476fee814ccee4bfde84e61a4048a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:346dcf4677838bc22ad8d5b873a2e3930f675ef7f641871e80bca9662bce95f1",
      "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 80 changed as sent

message 88 changed as sent

message 92 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7269, 1.6695, 0.86, 0.0509, -0.5797, -0.4717, 0.0948, -0.0216, 0.8906, 0.7444, -0.6029, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3781 left_y=-0.2019 left_z=0.089 left_yaw=-0.0181 left_pitch=-0.0437 left_roll=0.0272 left_gripper=0.0948 right_x=0.2859 right_y=0.0001 right_z=0.1731 right_yaw=0.0093 right_pitch=-0.1824 right_roll=-0.0076 right_gripper=0.9962\nstate[joint_eff]: [-0.7863, -7.241, 5.6137, 1.6484, -0.4713, -0.1197, -0.0122, 0.0205, -1.7299, 6.8581, 1.5263, -0.0317, -0.0415, -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]: [-0.7315, 1.8141, 0.7666, 0.2573, -0.5999, -0.4953, 0.6448, -0.0216, 0.8925, 0.7444, -0.6029, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3741 left_y=-0.197 left_z=0.0327 left_yaw=0.0062 left_pitch=-0.0575 left_roll=0.0395 left_gripper=0.6448 right_x=0.286 right_y=0.0001 right_z=0.1726 right_yaw=0.0093 right_pitch=-0.1843 right_roll=-0.0075 right_gripper=0.9962\nstate[joint_eff]: [-0.1026, -10.1675, 7.0085, 1.3944, -0.3297, 0.0366, -0.0855, -0.0068, -1.8667, 6.8581, 1.5409, -0.0659, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7315, 1.5173, 1.0313, -0.2531, -0.5999, -0.4984, 0.6457, -0.0216, 0.894, 0.7444, -0.6029, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3743 left_y=-0.1971 left_z=0.169 left_yaw=0.0065 left_pitch=-0.0197 left_roll=0.0026 left_gripper=0.6457 right_x=0.2861 right_y=0.0001 right_z=0.1722 right_yaw=0.0093 right_pitch=-0.1858 right_roll=-0.0075 right_gripper=0.9962\nstate[joint_eff]: [-0.4718, -8.4308, 9.1282, 1.4774, -0.2808, 0.0904, 0.0708, -0.1436, -1.7436, 7.0496, 1.5995, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdc0d2aec767bb12db69414b22bfdd3084e6df20acda5d6cedc6b9945ceb6441",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6220f014be01ee55ed2e0c17a610dde55f4476fee814ccee4bfde84e61a4048a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:346dcf4677838bc22ad8d5b873a2e3930f675ef7f641871e80bca9662bce95f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJPRcu6UBOa88gNshRs89KJWHJa9AZRW522faFrmk8i6-Xgigg2j0v7ynHYhRTKADPd9IdC-TGYlyqLTWsYyhC9VVA3C4-1W-0N1ivsSw0nlADrlv0UAioGccuRQ-CP5EFvusuWIoQ-kQrh_9LU3P0JoFyKbUJHcbva9DaEuBRf-9N0ZIXm9WvpV0pF_WpUh4f-GiJ6BAsdHlzJEaZCkZxFRISE9GmFjJi4Kvdu5TMR5SplAn5J8aeVwMRht2aOSmKk9rSOAZcO3mNzNB516jp9PJ33OPgYHI9EBbk8IONYrRZ5bm4sNuriDC3SmzJ2urRmtqUd4itnGxp0pZPvGwnitxTdi7anCt2ReJC-ttrzp-ZrRQnlSvo9q9KfACEACrx-rIcgpjyb5x-6aGvnSK5j_IVx-jwsaAKBvnzrhGe048PKVwBioRgYIHFbXigTpkdqBnd-wxMbRu3Ki00r4eJ_HiZTi2c7GJ1usf96-JsAUtyP8wSH6w6DC5LlR9AY3wQvT524kp2OZS_q5Fecn1M9iaAAL74HDwhxqDAvmDQFxcb2Tk79P3JaSOGnvu07fT0XABXXuUAkD4Ox57k6xgwL2iytcvWXtpifWByUvn3oE5P9jD9bmxeXSLHEmUYioHQ21MP41wQVj9tfC4BcSbmNLmMsRbaxta92qXRvL6NNH84hcIK3pFeltlM3gxiqnQtBl2XIcBGq5cibO9NX4QMudZSVzX-B_TWkEpLOvhtmQanfv73k19U2k_vqVFRgBXG_zzqRUVMK8GB-GsFOX5UL48i_ViS-N3XW9u75CS3t804mQAccYPEja8orXXFgPzf9NkeQPPvQ75lUZCUIjAbu_R2O8gybELHA5rfvjDlRYuoAxiGS7XNtCF26MigyIiPN1UPSv4Nc7Kah3L3G47FUNWhqHWHyDI4dznPDUQfV_MOdUg9nvGl1SpWLo7L8d-R4vJFSUafAgU8-WFdHLdLGg9Cj-AnprtGtesJvhkVBZI9AwiRE1_LDlkW-qi_VOZcBOI8FXZ3zvilbxrYLAOulj1Jn5oby7XNRzC8JGkUWt4XRzvJ4_GCy7xj9F-8WZlwBjohacaA6lXRT3krEEaVggGJeuBXE7NCZBnT8alqI5pdibkuU7rrk-ZFGOI5azhlUxCF6yohBPoHDM4kVAXRNroEOvhPzbJHA1CBiUuP0lyKQLW1cnUHMk_IYRyPG-9tOzVba4yQEUN-n-A5EOViYFQtRhkCvC4ESrFRi9FAIeaptV2oGBFxy4ud5LDACuk5owUQW9U9Ody4FYeZTah38O1L3duonfsuDjhkVa5INFSbItJAj4YPFal9k5i3fRbexbpocj5X9Cw5POCKgWDYvv-mzlZs4CH9MS0WWCOzB856Y35S5IJG2Q37MJ3jCkcIEig7kx1SmM2jssyxRIMBYSx05x0GRQaNOsXlFP8H1SVCQ2QL0zmxp2utmoee9jPbaI4OJCKa86GItdBSPYAmnrMomd9Gj-nZaJZpacmNjBo7g7NtPt6rjhnjJQfm0pUq3TCdMVTd9sbhyj1FQrxgaR0kiz65wMAoUnsPLvoDA6bBQQIKwRE8x6Fs4xr9QzZU_NXxLyIxI24pRFjThShtWoHzWHFWOjxJxgUiF4XXbgUeUlYZApzDAAsrm7UFcLRgTujE7f909w3XKgyu57BNwPlA==",
  "id": "rs_018d3969b3c5199e016ab493ce9b5087d0bf18dfa9a3f87879",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.395,\"right_y\":0.16,\"right_z\":0.11,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0.75},\"note\":\"The turquoise and blue bowls now form a nested pair. I’m parking the left arm and bringing the right gripper to the tan bowl’s outer rim for the final bowl.\"}",
  "call_id": "call_gvQqDcousnpKYp0QIWsWVzUQ",
  "id": "fc_018d3969b3c5199e016ab493d0112887d0a9951e8d50928ff8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gvQqDcousnpKYp0QIWsWVzUQ",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0578, 0.82, 0.6914, -0.437, -0.102, -0.102, 0.6457, 0.5594, 1.5623, 0.7559, 0.0574, 0.4339, 0.2813, 0.751]\nstate[eef_state]: left_x=0.299 left_y=0.0043 left_z=0.2016 left_yaw=0.0619 left_pitch=0.0077 left_roll=-0.0093 left_gripper=0.6457 right_x=0.376 right_y=0.1521 right_z=0.084 right_yaw=0.0358 right_pitch=-0.1005 right_roll=-0.0529 right_gripper=0.751\nstate[joint_eff]: [0.2256, -1.6889, 6.7214, 1.8095, -0.0122, 0.0952, -0.0073, 0.3214, -7.1316, 9.0188, 1.7851, 0.3199, 0.149, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9027354056ea6856bbbcf57c1cd48df00da8fbd2ae98b04ec5fcbc3d56484617",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6384118ebd208300cac443d12ee0599b33378746d6d4c31103f758954aea5e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83c475073d26ce1a99adc8b866bc856a7f4c1b017d9f2e46555177989a5e33c5",
      "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 84 changed as sent

message 92 changed as sent

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7315, 1.7885, 0.7898, 0.2535, -0.6033, -0.4877, 0.0948, -0.0216, 0.8909, 0.7444, -0.6029, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3809 left_y=-0.2024 left_z=0.0502 left_yaw=0.0034 left_pitch=-0.0227 left_roll=0.0173 left_gripper=0.0948 right_x=0.2859 right_y=0.0001 right_z=0.173 right_yaw=0.0093 right_pitch=-0.1828 right_roll=-0.0076 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -8.212, 5.1214, 1.707, -0.3297, 0.0171, -0.0122, -0.0205, -1.6342, 7.1043, 1.536, -0.0464, -0.0464, -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]: [-0.7315, 1.5173, 1.0313, -0.2531, -0.5999, -0.4984, 0.6457, -0.0216, 0.894, 0.7444, -0.6029, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3743 left_y=-0.1971 left_z=0.169 left_yaw=0.0065 left_pitch=-0.0197 left_roll=0.0026 left_gripper=0.6457 right_x=0.2861 right_y=0.0001 right_z=0.1722 right_yaw=0.0093 right_pitch=-0.1858 right_roll=-0.0075 right_gripper=0.9962\nstate[joint_eff]: [-0.4718, -8.4308, 9.1282, 1.4774, -0.2808, 0.0904, 0.0708, -0.1436, -1.7436, 7.0496, 1.5995, -0.0415, -0.0708, -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]: [-0.0578, 0.82, 0.6914, -0.437, -0.102, -0.102, 0.6457, 0.5594, 1.5623, 0.7559, 0.0574, 0.4339, 0.2813, 0.751]\nstate[eef_state]: left_x=0.299 left_y=0.0043 left_z=0.2016 left_yaw=0.0619 left_pitch=0.0077 left_roll=-0.0093 left_gripper=0.6457 right_x=0.376 right_y=0.1521 right_z=0.084 right_yaw=0.0358 right_pitch=-0.1005 right_roll=-0.0529 right_gripper=0.751\nstate[joint_eff]: [0.2256, -1.6889, 6.7214, 1.8095, -0.0122, 0.0952, -0.0073, 0.3214, -7.1316, 9.0188, 1.7851, 0.3199, 0.149, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9027354056ea6856bbbcf57c1cd48df00da8fbd2ae98b04ec5fcbc3d56484617",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6384118ebd208300cac443d12ee0599b33378746d6d4c31103f758954aea5e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83c475073d26ce1a99adc8b866bc856a7f4c1b017d9f2e46555177989a5e33c5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJPZPriNpPx3yBnLm5RrdCXFwqMU-tTqA2zRK5FqnlQOPtdJDbViT6oMXTeHCrtsJm9BrQWfVILEXju03xzUcegJaZduB_0U10xNuxkAFpywpBJ-nFD8jhWMM_bmQld1lhf2NIrtB99-kLEvbiYNyNKKSQj87ZvIvnub1dLqNkAHRWIKhBKFpEiwPcpGmqnnUBK40EwgOudt3UIbIT-5EL7WXrwZb-zEsx5E4CDqmyny_7_NvUPhdtPW2NDklzJLNPhRYHZlIOTkqk0Z5tQbIEjxFVAz90YFN8r5Tsu8itsg-uA2Iki5POcfRq-A-Bk12AsA3njQ-vwWobGgM_2YMq40RIWtnY4-qcrqepYDl3ttru2Bhw7hTFYnsVFSG-nMxnAypjyHZjFIqVCKo6Tns9AA0tA761IN34pfC3eY29LD_HUVfOw-eBXrYFGjKRwATwHa_Rd8-VB_gkplSgISC6bQ40MgiKbgVrED6bTWgrnzjagtxJU8Ro2gIon56Ft_JVmrh79zIUCj74K6iw22xWfZvUAVdua7HE-JN4idAHvkuTbrcevxZdb3MRZvtoYPODAPiT-Jdija4YtkhB5P34XljSVO3PDHm8s6n2JoSygc4xDvZ50n0-7tFnMIU9w00QqrkEj_gAr1NMINzVlo6uGD28b_NGNPSLx_9b5xijIVcGlChYSeGqmA_WiV7Mvt4tIeJS1RxuhG8kiuaBh7vYgrLpf9DOx9j-kacN_5zu2LmLQahz9nhslLNsYx-u_8erO6KDSQPMfhT7e0anvLlbOhcxZRBliogWKlfuo761eNG-swJitMB_RG1VQO_iaPi6ld_0_MSedjOjY6S8oO0cENQleISYfiIn5UR3aMoAPpKnXFlWnMGOXyHSx_h0XvuDr9xWXeTki2fRMFoPuKMhMUNx99dMLWmzTxtciREvT_Uqm2V3P6XCCsPfRaQAu-ogO3NMxSodVnRr70wJpFjBAPKrQIemiNmxjRJsV-lPQCWk-zZjqL6c0nPS7jAwc2VFMzvEVLbGiL6RT8JyE3TO8IVJwm2qcaBd_IhuDBFVpO34yijI8mPyyDNN1rdd-1JUddF0urSknLSxHoguXkPSt636YfpyMSBu4dZSXR3yANkIPsKShCKnvaAHZVFy22MezOqdab2wXyJ_HuYX3Vjb51h4YmQfonb6399GATqyWzThs34-aV3YpkenDwp-Y8l8Yq8k8mAE7-Az9FpjanADBpB0tlqdFq5ek1HxtFd8GWIEC6IzORba_1GTXPiqAY5iMrxJe8LUKSIq9nqbtWo0E_PaUYqVf3mF_CeZwnuRTdB2zYwj9vsdFJziVFVFatUmLMb33APHeBdnbiuS4xJ_-UVAXjKMEUTYuZn3MO7-2Vcjt9bS5Lum3A_v6uzGFMF2frcPntI1HxYZC3-89mGT8u8zsiyR1sxkbimmRmv5zjtpqDr7zfP8_tLdbXP-d4m9R8M84tWEECJu0Ml8fz_YNfs6eys-Nkq1Vz6krxhbiCiSytA_Wz8NiJwNMaZiF9Q4KgaGSE1Nn_ZFdSpPq5Feq5PWO952kOi991zNw0z0WdQooa2nmdERQLIiYff9gAkDxf3DsG-PP8v7HttxsdttgBqpQpzcD6Q5zOv2UYrRSmT0jKkJjH4a0VC8Jobu4vE919LFF8qxmtBui4pHkFt00KLe9B6_CdRCgKXIA614eA61_RS-HUnY4eV9XeL_iBynF8bosno8yqvVNNlQt4vaW5JTrw-HCyAD7iZuzgJNdigRR0wmnOZ81PdSZ53zke3F-uPxYWlRyyQniin-F2vXGM5jmVNd19Qm3m2IsZixExNWsklYIcmLJX3SHSPr5P1899807kN8bAgjhGoT8bMRoM2a7nsD9wJD2mjGfGRFQovrkvqBX9HCkRsHx0KP0QbnYvgaUaNHwBASBxLFX_Tm2Rci2PWMDMTytkbvTokZTNSJ8zlgPCWVhXkiQhlWNKeyCf8J-zfyvbEJqJUoN4vskcKjKzjJ8QIVuvLedVnwdK4Z9fA5nf4LmdL2H248_FT90caMElvWLusmTjGvrJaDFzlqPyxA_u2MdsGt0aaok34X9hM4EuOuBznY5hBs53ODGW",
  "id": "rs_018d3969b3c5199e016ab493d4a45487d08c8d973d370833cd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.1,\"right_z\":0.035,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The right wrist view shows the tan bowl centered between the jaws, so I’m moving outward to its right-hand wall. This avoids trying to span the bowl’s full width.\"}",
  "call_id": "call_pRdWFJnUoSmytiuF9DbkRtec",
  "id": "fc_018d3969b3c5199e016ab493d80e8487d0a68e6b5993ee4c74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pRdWFJnUoSmytiuF9DbkRtec",
  "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]: [-0.0582, 0.8246, 0.6876, -0.4564, -0.0914, -0.0978, 0.6457, 0.3763, 1.7336, 0.5838, 0.429, 0.3367, 0.2012, 0.7505]\nstate[eef_state]: left_x=0.2964 left_y=0.0025 left_z=0.1944 left_yaw=0.0503 left_pitch=-0.0206 left_roll=-0.0084 left_gripper=0.6457 right_x=0.3881 right_y=0.0945 right_z=0.0173 right_yaw=-0.0245 right_pitch=-0.1068 right_roll=-0.0447 right_gripper=0.7505\nstate[joint_eff]: [-0.0068, -1.7573, 7.3641, 1.8877, -0.1685, -0.0952, -0.0171, -0.4581, -7.2957, 4.8889, 1.8339, 0.1148, -0.0464, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea5cc926fc0b0923d295675dbd211ed67ac975e8f544e97ce753c9e2e905fc1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd90ff1bb9005840c9bfe63db1b30c3407d66906f2f58599252667acdef06341",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92bc79a4f65e897ca283c37cdde8b268e5369216888af7da49607f21864e14e8",
      "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 88 changed as sent

message 96 changed as sent

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7315, 1.8141, 0.7666, 0.2573, -0.5999, -0.4953, 0.6448, -0.0216, 0.8925, 0.7444, -0.6029, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3741 left_y=-0.197 left_z=0.0327 left_yaw=0.0062 left_pitch=-0.0575 left_roll=0.0395 left_gripper=0.6448 right_x=0.286 right_y=0.0001 right_z=0.1726 right_yaw=0.0093 right_pitch=-0.1843 right_roll=-0.0075 right_gripper=0.9962\nstate[joint_eff]: [-0.1026, -10.1675, 7.0085, 1.3944, -0.3297, 0.0366, -0.0855, -0.0068, -1.8667, 6.8581, 1.5409, -0.0659, -0.0513, -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]: [-0.0578, 0.82, 0.6914, -0.437, -0.102, -0.102, 0.6457, 0.5594, 1.5623, 0.7559, 0.0574, 0.4339, 0.2813, 0.751]\nstate[eef_state]: left_x=0.299 left_y=0.0043 left_z=0.2016 left_yaw=0.0619 left_pitch=0.0077 left_roll=-0.0093 left_gripper=0.6457 right_x=0.376 right_y=0.1521 right_z=0.084 right_yaw=0.0358 right_pitch=-0.1005 right_roll=-0.0529 right_gripper=0.751\nstate[joint_eff]: [0.2256, -1.6889, 6.7214, 1.8095, -0.0122, 0.0952, -0.0073, 0.3214, -7.1316, 9.0188, 1.7851, 0.3199, 0.149, 0.0024]",
      "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]: [-0.0582, 0.8246, 0.6876, -0.4564, -0.0914, -0.0978, 0.6457, 0.3763, 1.7336, 0.5838, 0.429, 0.3367, 0.2012, 0.7505]\nstate[eef_state]: left_x=0.2964 left_y=0.0025 left_z=0.1944 left_yaw=0.0503 left_pitch=-0.0206 left_roll=-0.0084 left_gripper=0.6457 right_x=0.3881 right_y=0.0945 right_z=0.0173 right_yaw=-0.0245 right_pitch=-0.1068 right_roll=-0.0447 right_gripper=0.7505\nstate[joint_eff]: [-0.0068, -1.7573, 7.3641, 1.8877, -0.1685, -0.0952, -0.0171, -0.4581, -7.2957, 4.8889, 1.8339, 0.1148, -0.0464, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea5cc926fc0b0923d295675dbd211ed67ac975e8f544e97ce753c9e2e905fc1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd90ff1bb9005840c9bfe63db1b30c3407d66906f2f58599252667acdef06341",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92bc79a4f65e897ca283c37cdde8b268e5369216888af7da49607f21864e14e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJPcSB9yozN0IOvQnMnSI4qY6XRnTf_6k05DWb4XCnaCf2zLmlw1sBEocV6orHRn9ynkKhL6TcKJf-dqBDOIYv2iMvM9BjK1Gota1jKO2X7eDAb7OTWoSk6v7cEg8nj0pehATUZJOFQfIYtn_en2Gzy6YjLk3Gek7YJ9sEnWyHVPjLdvQWIObPaUvtCyc0ChWyoWM97ZNwEoi8mXCICvro7xe8N1sgTkyjufuv_w7mlLOOVciRzeUQzwTDDcyylT5KLlYKNxL_0P5XdPUZ-YfP0tqelfLcV5XCcJ-PY47udnD9V5CBvJX0DLf-ZGcpJcWwbe4wP_1coJy8VAhoGc8XRf8VecBZbnbPpRH4UF8TGU-ra4trR1uILM_yB9cfJNxkswHznWFtt2lSx9ZV59AM0XpkEwDdtdj_6Z4042nIpqEAHnClbrJriNyn_ZjzAau3yVBVp4K1fvbeDd2pEPNmRHB9x8mx15nJnn_JQpFDjR_r5OQ9Gb8urNIcqZcjLzTIsIGQCUlRsY_Wto-c1aGqa6u8kJT0trZEVDazmUPeUNWojh46VOO6mHVK7qglEUsKNPIEtzRPFWM14Qc1JomX9ddV_ravu3NSx697gycf_cA8TELgzzoXxpGSPoZ7jYxh7OCV1vhGQobRHLVuZ88Ezzp6anuxBdttjCqHQa_qxz3Hhr0yRO5EfokAhVKhfNaWqmmjuWW1wbKad6EU2yYs_SLmpsSNFe2GUvczOzsgHGj99rszXg6YTxlRjNw5TsKJfBQcoePINkIUjaLTqZ74y9Al7-5PWXd5oUHsn1V44cytOQdTtLmQ3szQ8DSQekt1sp7xpwXoIBizk2L30ac0C4MylreN94HsYD9YI71dsZOqcFtcWhcVLRQ705e3vX0CY3wXoPeRN8Z7BcPzU4NyyhzPp7fMAOdu7vFLEkGhEQ_pPgmOS4Zo381LMSei6OFTpS4cQUlhBGCqrwrVYk9ucjtra2DVeJnL4s35FYcGiuh6JH3QHygjbAIHh1SIMQ12XbpTW6o9_4IWy9FHDloTUpbp-CJxgxjJFjwz_BCqxQAjb7u1vAT9_dBWvE0v8c29qYiZE0kJX5L5DmBWB42XHejfvjiyEuD15EstDDVCSo_P9zfnjx11pxcenMLrIlu2akZR6i5jsw-klUu8PyMPj-AIbL9UVDKojvsYvhvtY97cJEOP2kvvG4mtziGf_4kcFDEdOrcfRJbwEYEWv3_ZzlVSy9nzruT_B8qCtKevf24mGDSTFHj4HundOvhI5g_vqexaHsy2ChHeueQfzWknl9uW9w4QoKlTs462fnzry6q-EZsoVEMwLV4TuC2ObW9WnKHc7_mD_dEYi189JIOt0sBw==",
  "id": "rs_018d3969b3c5199e016ab493db54e087d0b225a5f67f838e0c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right jaw is outside the tan bowl and the left jaw is inside it. I’m closing on the rim for a single-bowl grasp.\"}",
  "call_id": "call_OjiBmsIZ1makaGR2wbFn3DsW",
  "id": "fc_018d3969b3c5199e016ab493dbddbc87d0a527fd5cb26bc10f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OjiBmsIZ1makaGR2wbFn3DsW",
  "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]: [-0.0582, 0.8284, 0.6876, -0.4599, -0.102, -0.1013, 0.6457, 0.3782, 1.7168, 0.5842, 0.4797, 0.313, 0.2092, 0.094]\nstate[eef_state]: left_x=0.2962 left_y=0.0044 left_z=0.1928 left_yaw=0.0612 left_pitch=-0.0271 left_roll=-0.0044 left_gripper=0.6457 right_x=0.3961 right_y=0.1027 right_z=0.0323 right_yaw=-0.0055 right_pitch=-0.0496 right_roll=0.0016 right_gripper=0.094\nstate[joint_eff]: [-0.0342, -1.4838, 7.1726, 1.7802, -0.0073, -0.0269, -0.0122, -0.4991, -5.1897, 5.1897, 1.2186, 0.2857, -0.0952, 0.4567]\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,$blob:24ab90c928820ff361ac91805a57a51f690e081659a1b1eefefdace825463ace",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27ba646ca57d4d64a40086f45a6f34c5d62df6ecc75891b65f330bc7619b34f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fccd1f63412eb8932f3a6e990f078eeb4602d9f6691f22e660c05d719788c816",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7315, 1.5173, 1.0313, -0.2531, -0.5999, -0.4984, 0.6457, -0.0216, 0.894, 0.7444, -0.6029, -0.0151, -0.049, 0.9962]\nstate[eef_state]: left_x=0.3743 left_y=-0.1971 left_z=0.169 left_yaw=0.0065 left_pitch=-0.0197 left_roll=0.0026 left_gripper=0.6457 right_x=0.2861 right_y=0.0001 right_z=0.1722 right_yaw=0.0093 right_pitch=-0.1858 right_roll=-0.0075 right_gripper=0.9962\nstate[joint_eff]: [-0.4718, -8.4308, 9.1282, 1.4774, -0.2808, 0.0904, 0.0708, -0.1436, -1.7436, 7.0496, 1.5995, -0.0415, -0.0708, -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]: [-0.0582, 0.8246, 0.6876, -0.4564, -0.0914, -0.0978, 0.6457, 0.3763, 1.7336, 0.5838, 0.429, 0.3367, 0.2012, 0.7505]\nstate[eef_state]: left_x=0.2964 left_y=0.0025 left_z=0.1944 left_yaw=0.0503 left_pitch=-0.0206 left_roll=-0.0084 left_gripper=0.6457 right_x=0.3881 right_y=0.0945 right_z=0.0173 right_yaw=-0.0245 right_pitch=-0.1068 right_roll=-0.0447 right_gripper=0.7505\nstate[joint_eff]: [-0.0068, -1.7573, 7.3641, 1.8877, -0.1685, -0.0952, -0.0171, -0.4581, -7.2957, 4.8889, 1.8339, 0.1148, -0.0464, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8284, 0.6876, -0.4599, -0.102, -0.1013, 0.6457, 0.3782, 1.7168, 0.5842, 0.4797, 0.313, 0.2092, 0.094]\nstate[eef_state]: left_x=0.2962 left_y=0.0044 left_z=0.1928 left_yaw=0.0612 left_pitch=-0.0271 left_roll=-0.0044 left_gripper=0.6457 right_x=0.3961 right_y=0.1027 right_z=0.0323 right_yaw=-0.0055 right_pitch=-0.0496 right_roll=0.0016 right_gripper=0.094\nstate[joint_eff]: [-0.0342, -1.4838, 7.1726, 1.7802, -0.0073, -0.0269, -0.0122, -0.4991, -5.1897, 5.1897, 1.2186, 0.2857, -0.0952, 0.4567]\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,$blob:24ab90c928820ff361ac91805a57a51f690e081659a1b1eefefdace825463ace",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27ba646ca57d4d64a40086f45a6f34c5d62df6ecc75891b65f330bc7619b34f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fccd1f63412eb8932f3a6e990f078eeb4602d9f6691f22e660c05d719788c816",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJPh4jsv3MKzvbsF65mduqdGxFOcTXRRvYPBn4F4bQThmBe-tQPbTTflGJMeHjPFPgAx8pcvzpNO8-3-JglAEum8NY4qoOVG4OIKwPvXi-rmeeTGhhT4DszIsUYUTfqTtu2LSNUAmkSXMN7IUr4oQ--hxYOGiaAiTKjmPIKpb6pQ_cQQ2vIynLa7Ky3OzIAp2genA-JUGyFd5aGtn1nQXbR40oW7ac5w-0Fz-l8D_9cN-kJ3CeYWNwPA34-Edm8pNOn4E0O-Zmc_j_QBJ6Lho9kH-hlgEJGP8_vGu_PJD9sun5Y5DdchQt8plLE0qLmLdHfG7bymeRsxABriHoRVhMG1ZEjRqwhwP2Nl6apllnbJiuS9vDtStVFZoRTM2g4YJFUgTSQB7FjftzJNBOPKqhtEGS6rCHhN3YgFsk-rrj5XC-b1hQLQM1ZIW9eVdCOsweigLSwEdVwo9hfLrlni-qCPrD-DPoxBP1KqpeK6RZGIm369HNUP6VNdAwi9IU2s0lSlVy3pNlAPmmhaj_CMJU0HQQ3UBtRKIPq8esN4lV32LPO6YQHWiBE4xIp45-HhRLnlfCk28uc7nYhUNDw4zjVXZVVhp_L-8-zIOyk-g5vJVqEkfJxq0-_s8b4nc76wfjU8gvvF6nU7WgxOpqEpVzJttPOa7UivKSSlZWnU1xhNux5H5PdolUAtd-sg8CFwdrjdPxeBME4-4YzENAm1rzwucG13OMhlkGmTnALjPusmPuHfbuHRAGA-5RCt0aYk9GQ-8f1Z1iljhtxT6IY5MhOVZ1-k1YYspMUJjpvVHRiIi2BtlsOyiv6t866cT3-zRZuZrHsugcXUjVZ68JuMIUwcJ2pNn9jjZPi5GVrCSQSKtoiBW-Cjer1psjbx09GgcSgGX8GImI88XFFnZvICwnkQSyOBd_3kBOm30n4WJG6KeHJ-Q2SV821omkJkD-ObfzFdWLma7O4GENTMp9qpexfXNjjNbWzhXz3Gk02CzWfnEo9DyUFgt6bdQ_Cp1kTRPdmF9xVfpjy0lSFUpIgaX7ru5M8Zmlz2ec-zgS_sILXSNNJjSn9jHB3SWUVVaX4VW8qdMB-_EvVQtQbXPufy5XQvexRuE2TerL4MyLDZ6U8Cr80ixBKO3n1O3Zro9ZsRF7aBKiRX8zOrHc21VBT31mY1fHh_78C78cnJp4aki1hxOfW_1LRam0OpZbCuNCY4ZWdNmwuJAuy5xn7QN-m7sGVWe4bhlRKoaWQKmRU3fmT_hZpiJOJlRMDuFkdQQFd7ASiivOtMnODty9_crbGrgmcPo845evvF9DLwcKMX2jx24FMuSIp4V6eFPPwzVzqRS6wN_ejus0JtEqbkKM1h3WFiX5-zmOKs9rgFcJW7CqSEnpVABVi-3E0r2J1C2mZluev0enG7nhg4F7IEZE7-k3-Soaj0bWuuGWQ_3ohurJyMUKhsVTcZc50fl_zFfTQKb7o9jTzY7zS8fHglNzzXRGmmiuAzzGxCd2Azk916d5RQgkaDM6zCrykTUSFdLlC3PABJRZ-34C-gR2tGjXD2IaU-hkRfv8iCT4WtAGP-Vd5hx2OsTtNBW72yhj1F-O8LhWfpvBaYNuZjA-WCRjeYj88kXg==",
  "id": "rs_018d3969b3c5199e016ab493df589c87d09d3e4cb08c659fe0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.396,\"right_y\":0.103,\"right_z\":0.105,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The gripper has a small, stable rim-width opening. I’m lifting the tan bowl straight up to verify the grasp before moving it over the stack.\"}",
  "call_id": "call_704dYBr8zfCYiY1p6abT1KoI",
  "id": "fc_018d3969b3c5199e016ab493e0cc8087d09cf30bb1588fcfe3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_704dYBr8zfCYiY1p6abT1KoI",
  "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]: [-0.0582, 0.8307, 0.6876, -0.4599, -0.1024, -0.1013, 0.6457, 0.3798, 1.5185, 0.6334, 0.2432, 0.3092, 0.186, 0.094]\nstate[eef_state]: left_x=0.2964 left_y=0.0044 left_z=0.1922 left_yaw=0.0615 left_pitch=-0.0293 left_roll=-0.004 left_gripper=0.6457 right_x=0.389 right_y=0.1013 right_z=0.0815 right_yaw=0.0118 right_pitch=-0.0403 right_roll=-0.0112 right_gripper=0.094\nstate[joint_eff]: [-0.1709, -1.4154, 6.9949, 1.7509, -0.0708, -0.0513, -0.0122, 0.3077, -7.3368, 9.0598, 1.8877, 0.2027, 0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d170698b3dd9f99e7dda7885726fb738de031f16d017d5939ba8458478972f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cf14d4b6ba581cbd1cfffef192697020010324eafce89ddf6c189234b51638d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4963a9ff36d91ccb881cff90a0e6e78b34f67e9be5073cb338cdbd89153d29e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0578, 0.82, 0.6914, -0.437, -0.102, -0.102, 0.6457, 0.5594, 1.5623, 0.7559, 0.0574, 0.4339, 0.2813, 0.751]\nstate[eef_state]: left_x=0.299 left_y=0.0043 left_z=0.2016 left_yaw=0.0619 left_pitch=0.0077 left_roll=-0.0093 left_gripper=0.6457 right_x=0.376 right_y=0.1521 right_z=0.084 right_yaw=0.0358 right_pitch=-0.1005 right_roll=-0.0529 right_gripper=0.751\nstate[joint_eff]: [0.2256, -1.6889, 6.7214, 1.8095, -0.0122, 0.0952, -0.0073, 0.3214, -7.1316, 9.0188, 1.7851, 0.3199, 0.149, 0.0024]",
      "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]: [-0.0582, 0.8284, 0.6876, -0.4599, -0.102, -0.1013, 0.6457, 0.3782, 1.7168, 0.5842, 0.4797, 0.313, 0.2092, 0.094]\nstate[eef_state]: left_x=0.2962 left_y=0.0044 left_z=0.1928 left_yaw=0.0612 left_pitch=-0.0271 left_roll=-0.0044 left_gripper=0.6457 right_x=0.3961 right_y=0.1027 right_z=0.0323 right_yaw=-0.0055 right_pitch=-0.0496 right_roll=0.0016 right_gripper=0.094\nstate[joint_eff]: [-0.0342, -1.4838, 7.1726, 1.7802, -0.0073, -0.0269, -0.0122, -0.4991, -5.1897, 5.1897, 1.2186, 0.2857, -0.0952, 0.4567]\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]: [-0.0582, 0.8307, 0.6876, -0.4599, -0.1024, -0.1013, 0.6457, 0.3798, 1.5185, 0.6334, 0.2432, 0.3092, 0.186, 0.094]\nstate[eef_state]: left_x=0.2964 left_y=0.0044 left_z=0.1922 left_yaw=0.0615 left_pitch=-0.0293 left_roll=-0.004 left_gripper=0.6457 right_x=0.389 right_y=0.1013 right_z=0.0815 right_yaw=0.0118 right_pitch=-0.0403 right_roll=-0.0112 right_gripper=0.094\nstate[joint_eff]: [-0.1709, -1.4154, 6.9949, 1.7509, -0.0708, -0.0513, -0.0122, 0.3077, -7.3368, 9.0598, 1.8877, 0.2027, 0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d170698b3dd9f99e7dda7885726fb738de031f16d017d5939ba8458478972f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cf14d4b6ba581cbd1cfffef192697020010324eafce89ddf6c189234b51638d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4963a9ff36d91ccb881cff90a0e6e78b34f67e9be5073cb338cdbd89153d29e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJPlCFHV-gQI0f2dTGnrIxhl2MPIC7YXFsMsdA8HN20mhhrRbszizW3qfhPQsAkgKzr4RRRubIl9_B8sG_BXbg3lggVgQpPk-4JUFRgEa2s-6dD7wbbtyHy5rPON4z1bnEW_pF0Ac3ze9xRB90u-fJt6jJ5TTwxnlS54o8O1u0WbpFXPae8os-YJHJk9ozjiuBMo603y8i1OgL6aNlhMlJ8tR756I0Ob9KoMnIoaU9ZmHW55FTbnUHFtht7luAmLqwo3iMHB7k_BmjAfhlA3De7d58QTfMZC0bJ9IWhTwbDZWDEDn_AL5NZiABenokSqcTwbrsSJe8qyBrXFAylwaMkfJFvbJs59pS6jekd6Sx5kVwv00F8IcQ01eK9f3wT7SAtCIPwnod0jDLSI_d34tNSUsUgISQvy-U5ZxsHZDCoaA7g66RF5GEXp4vT9Eu3TvTjmt-gASAj35Py4cZpdGV1iUY6lue5lC6sBlzEZBDva4OUjnoYL-1dRwdzttLM1vY1uMWPvVNdj4EQcaT1mpC6WuPAVlwuz7aidzqpkmXWOFVK6Dyu4Gy-GO9vhoQ4yKSSBud8rsveklYalItLLRsrTlmrjgr0hWwe-YShZBoY4A1aGCB-xhSBLyh_fjLDaO4fg0XFFrmJM857mEcOIf1H5Tiy8as5B0pTGl2nwcjn8ihaiOQ46EvweWISU5CVSof9gGfK-dqYbpNH0Gcp2UJeB_2s1bOQ8-9UeLLbIFJOkGBX2OTLcWr8wCta71bJJywCtYCY8QJTsFie01W3zYIpLn_nbsr_juCIVKl91sF8N6k3outsRr5pUAb_RzKAnVzhN2PAXO4ijbaPcW381gSFEqgFrxMiH4UtVaOiObWz5lVG_QxtP_Y97XjOY9yQQMwNMTCIG7P8OEvLwS4rtVurtcBV62FeXAH_0W3NgVCh6iXTRTFwtJ8pVsji_H8dPaLmom9hX1bGCa3ZAUDwLXsEsQwQew4esX0jROxmAi_5bQ00ZMDAz9radqNEoDhrAAEc-DMydb8eZ2RoFiAcQn8aXhmfIYmKTkxKQR5MztWq7CuRgRwdrrBVTbB4VoirNV-iyKXejzCBmE9XMKovpNk3veNZtJNGrn559LWihjKb_JVmnTxJC0YW5ZFF_Rv_3H93zE1Ptc3SPag8GSOUzgy6AtUZ5QFIfimhFxH29EoXEzVF-vRmA37s2Wyh5Y-itajnaopNELmOIQS4Kh20cYrnkTnwLZC9DhM9jVAEw3b7VGGvqiuJwBT-enBbJCKDkZzQn",
  "id": "rs_018d3969b3c5199e016ab493e3c93c87d0b9f7b6ad525c91d7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.397,\"right_y\":0.216,\"right_z\":0.21,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The tan bowl lifted cleanly. I’m moving it above the turquoise-and-blue pair with enough height to clear both rims.\"}",
  "call_id": "call_7jSa1oY0HER3dRbhlOFUSPrl",
  "id": "fc_018d3969b3c5199e016ab493e4229887d0950aa64a3cf8b0b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7jSa1oY0HER3dRbhlOFUSPrl",
  "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]: [-0.0582, 0.833, 0.6876, -0.4606, -0.1024, -0.1013, 0.6457, 0.7002, 1.5833, 1.1862, -0.3256, 0.535, 0.3645, 0.0939]\nstate[eef_state]: left_x=0.2964 left_y=0.0044 left_z=0.1914 left_yaw=0.0615 left_pitch=-0.0324 left_roll=-0.0036 left_gripper=0.6457 right_x=0.3915 right_y=0.2168 right_z=0.1898 right_yaw=0.0539 right_pitch=-0.039 right_roll=-0.028 right_gripper=0.0939\nstate[joint_eff]: [-0.0068, -1.0735, 6.9812, 1.7118, -0.1001, -0.0659, -0.0122, 0.1026, -7.4872, 9.3744, 1.6142, 0.3101, 0.1832, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e551fe717b984d71ae86a896d562382da4d96b49a8e6ae01a7938b909ba3c079",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:244378744a743ed7698c9d20cf91471bacd9a549524b2e7e3aee208da659f2d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd151ad7a6edaeb8059942f9f354db411ba667f4fc6ef34e6ab97185ff2d2104",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8246, 0.6876, -0.4564, -0.0914, -0.0978, 0.6457, 0.3763, 1.7336, 0.5838, 0.429, 0.3367, 0.2012, 0.7505]\nstate[eef_state]: left_x=0.2964 left_y=0.0025 left_z=0.1944 left_yaw=0.0503 left_pitch=-0.0206 left_roll=-0.0084 left_gripper=0.6457 right_x=0.3881 right_y=0.0945 right_z=0.0173 right_yaw=-0.0245 right_pitch=-0.1068 right_roll=-0.0447 right_gripper=0.7505\nstate[joint_eff]: [-0.0068, -1.7573, 7.3641, 1.8877, -0.1685, -0.0952, -0.0171, -0.4581, -7.2957, 4.8889, 1.8339, 0.1148, -0.0464, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8307, 0.6876, -0.4599, -0.1024, -0.1013, 0.6457, 0.3798, 1.5185, 0.6334, 0.2432, 0.3092, 0.186, 0.094]\nstate[eef_state]: left_x=0.2964 left_y=0.0044 left_z=0.1922 left_yaw=0.0615 left_pitch=-0.0293 left_roll=-0.004 left_gripper=0.6457 right_x=0.389 right_y=0.1013 right_z=0.0815 right_yaw=0.0118 right_pitch=-0.0403 right_roll=-0.0112 right_gripper=0.094\nstate[joint_eff]: [-0.1709, -1.4154, 6.9949, 1.7509, -0.0708, -0.0513, -0.0122, 0.3077, -7.3368, 9.0598, 1.8877, 0.2027, 0.0366, -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]: [-0.0582, 0.833, 0.6876, -0.4606, -0.1024, -0.1013, 0.6457, 0.7002, 1.5833, 1.1862, -0.3256, 0.535, 0.3645, 0.0939]\nstate[eef_state]: left_x=0.2964 left_y=0.0044 left_z=0.1914 left_yaw=0.0615 left_pitch=-0.0324 left_roll=-0.0036 left_gripper=0.6457 right_x=0.3915 right_y=0.2168 right_z=0.1898 right_yaw=0.0539 right_pitch=-0.039 right_roll=-0.028 right_gripper=0.0939\nstate[joint_eff]: [-0.0068, -1.0735, 6.9812, 1.7118, -0.1001, -0.0659, -0.0122, 0.1026, -7.4872, 9.3744, 1.6142, 0.3101, 0.1832, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e551fe717b984d71ae86a896d562382da4d96b49a8e6ae01a7938b909ba3c079",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:244378744a743ed7698c9d20cf91471bacd9a549524b2e7e3aee208da659f2d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd151ad7a6edaeb8059942f9f354db411ba667f4fc6ef34e6ab97185ff2d2104",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJPpOLq2u1ZhTwgUYiqMXwV7atsPWg8p_d-yN_aOxuvMfC2mzuXUmeXBTt13NqHFORcPif1ES35MMy1hkgl3Y0aOMMdr30h2R9_lXjVUhd754ZPGUp1ai1lfQvr9O0h3pNjs-V_d-enYNjdffadcwRziDm8JZyHWqOW60bADELAwT_ytWfcoG-zzsySpK1ARFB9uX7nN5Ubh2dKwySoM8nYb_Wy1lqToAX-fApxY7hztH3tK2QUyhpdzliQ8VADttp2mm-6D7WzWIT9KhbqsSORx0EEnfyE8I9ipob5ce4vurE3MYmWvZ_QXmvA38S_q_d864NZVBxH2AWE6SpQJuM_tmshHyxkU2VOyGt5GiyDpZDOR-L7kdPQvF_WtmAdiw27kyGfofUAgoNgkQiTpiR_nqIH6VVYbPu6-EdjI3D46Qb-H6jGWw6mYw4nMY34wGKZv1WtQpTrFcl7lw0guStdRwdrmwY771TT2rLdb7TqQyLzzj_yb5QQkU4mxfBu-UBvbofPtWeXZZaBEEQ4wbvPQXW96qrwNt2JbHwt8fzfVlWXzJIp1WIXfMzY-e897mWmErUChHEmwP7v_1z0mvDN9X9K747-IDWxXeuhOPWadaWQVUcgkVZDCo_KEy57_549AuIeIoEDB0ruwPbrTNVirNsm5TwsV94o5KaZQq_FTT1wzyALpPxzFsJTupysNt-eni6_vqVpMfSXIqLLBSapHxQAoua5_RCKp-WOwat_QMhi5X6X_o7ZRzlDX6zPPoCb1KSrayrJQPrh2l6Tt4xkGF-HviI3UeWUwPMx4vtl-Y1DIALPP0Ubeam6FKerttYgjuzWhGtOAF2z192vegQEiwg-vqZFLVbOdv1xq6qLxo7zUWiUrpc5qdX1jEdw7d7npzuf_uZUOYJyx2lf8KeIUG71OxEY3d31HumwHq1QhywwSiTdLWk-UGQyimjg0tMqs5Oi9vVUhvyRtrJBljTM1CRuWaSXMI1pm3HCb5I7ppB6uvhuU1CEVXDIx4HXQj46q9LWQ65CvXsjy3-1D4DGPwsuFAc_5ewSOZmGRn3q_TCBdyIE4CwJMe0CnMiCp1xu4a_Qad9ZdCJSnVID0FAY-Ev26vQEdySAWCtDr9eKwDShDfjv_TY9E1Z0htqi8LmHpl6u0n9Dx6xltREIfaouYDED5t0YEXThsce4H_XuI4Muf_UpnvSupfopR5UxGIcS2yMQa0swsXa2nQC5mR9xORjOK3rgML4bTqS230cd59RHuFlSQCJPAyGbSHY_o5I9OeAdGUV77wt53XuTB0UIgDRpxkiqBAZIPaKASpf9tOawX5ERgNVv_0CuKreSpvUlHUCLEmaH0mdJ7pIqZeCOeHzUfH_ZbuFGxUl49pGs_svh-pT6GLkq_o7Y4H2gDJgUp",
  "id": "rs_018d3969b3c5199e016ab493e7c8bc87d0aaf778c817e16a41",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.25,\"right_z\":0.115,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The tan bowl is above the pair but a little to the right. I’m shifting it left and lowering toward the turquoise bowl’s opening.\"}",
  "call_id": "call_OVY2jSLl3hpLThGSlVfC32a2",
  "id": "fc_018d3969b3c5199e016ab493e87f4487d0949bfebf18400caa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OVY2jSLl3hpLThGSlVfC32a2",
  "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]: [-0.0582, 0.8341, 0.6876, -0.4606, -0.1024, -0.1013, 0.6457, 0.7879, 1.7599, 1.0527, -0.1234, 0.6086, 0.4465, 0.0939]\nstate[eef_state]: left_x=0.2965 left_y=0.0044 left_z=0.1911 left_yaw=0.0615 left_pitch=-0.0335 left_roll=-0.0035 left_gripper=0.6457 right_x=0.3793 right_y=0.2431 right_z=0.0991 right_yaw=0.0381 right_pitch=-0.0861 right_roll=-0.0707 right_gripper=0.0939\nstate[joint_eff]: [-0.2667, -1.5521, 6.9675, 1.6679, -0.0659, -0.0757, -0.0122, 0.253, -9.0598, 7.0222, 1.6728, 0.3101, 0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a6cd90b7ae58a34e925c458b6d80fd452f643eedc8bd95b4c0135f4141cac85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1f93e52cfc2c7350c31c44c90f0cf62c8ca2bde490e3998cc3cdf25b2491318",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc0a080d3aeea74b7b4344ac872e2002addc58feefa22ebfa5c92202ef552a09",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8284, 0.6876, -0.4599, -0.102, -0.1013, 0.6457, 0.3782, 1.7168, 0.5842, 0.4797, 0.313, 0.2092, 0.094]\nstate[eef_state]: left_x=0.2962 left_y=0.0044 left_z=0.1928 left_yaw=0.0612 left_pitch=-0.0271 left_roll=-0.0044 left_gripper=0.6457 right_x=0.3961 right_y=0.1027 right_z=0.0323 right_yaw=-0.0055 right_pitch=-0.0496 right_roll=0.0016 right_gripper=0.094\nstate[joint_eff]: [-0.0342, -1.4838, 7.1726, 1.7802, -0.0073, -0.0269, -0.0122, -0.4991, -5.1897, 5.1897, 1.2186, 0.2857, -0.0952, 0.4567]\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]: [-0.0582, 0.833, 0.6876, -0.4606, -0.1024, -0.1013, 0.6457, 0.7002, 1.5833, 1.1862, -0.3256, 0.535, 0.3645, 0.0939]\nstate[eef_state]: left_x=0.2964 left_y=0.0044 left_z=0.1914 left_yaw=0.0615 left_pitch=-0.0324 left_roll=-0.0036 left_gripper=0.6457 right_x=0.3915 right_y=0.2168 right_z=0.1898 right_yaw=0.0539 right_pitch=-0.039 right_roll=-0.028 right_gripper=0.0939\nstate[joint_eff]: [-0.0068, -1.0735, 6.9812, 1.7118, -0.1001, -0.0659, -0.0122, 0.1026, -7.4872, 9.3744, 1.6142, 0.3101, 0.1832, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8341, 0.6876, -0.4606, -0.1024, -0.1013, 0.6457, 0.7879, 1.7599, 1.0527, -0.1234, 0.6086, 0.4465, 0.0939]\nstate[eef_state]: left_x=0.2965 left_y=0.0044 left_z=0.1911 left_yaw=0.0615 left_pitch=-0.0335 left_roll=-0.0035 left_gripper=0.6457 right_x=0.3793 right_y=0.2431 right_z=0.0991 right_yaw=0.0381 right_pitch=-0.0861 right_roll=-0.0707 right_gripper=0.0939\nstate[joint_eff]: [-0.2667, -1.5521, 6.9675, 1.6679, -0.0659, -0.0757, -0.0122, 0.253, -9.0598, 7.0222, 1.6728, 0.3101, 0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a6cd90b7ae58a34e925c458b6d80fd452f643eedc8bd95b4c0135f4141cac85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1f93e52cfc2c7350c31c44c90f0cf62c8ca2bde490e3998cc3cdf25b2491318",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc0a080d3aeea74b7b4344ac872e2002addc58feefa22ebfa5c92202ef552a09",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJPsQZYdEjFaJG94JsEPBQSfVNVHYaLrcK2ahP1CC-kV8N9PqfxlybgchEe1CC3TJRYcuuQG0rq4v7umXAW0gzzf8y7oarv-7cwLqaX7lNHwAEZ6B34w9_gCpxou7Sc3jy8cXKznfwVVbu8fPAADOJr0D-ZAHuV7499BKVU6NXkOiAg40wrYv763YQyYCMh0JL3owD6GkPXuCuAqNISshr1Irest-6X9oJaGMrGqXiP38GQ3WUmArKSbio918dyJvXPpdMTUdKju-Dq1gUhr3tJ6sgMIlWIKcez-Pb2-U6f2P2HvUdp3ikN7s9OTHwRYndZ0iMOYhzfOSye2ygvkIgkaZqiFLFPJwbDhHFMnJ-LiP5nOWJtTqKp8OZfJfNj3Ndw6_qZKU56T5vfRH-0KqGGKBmNVWufUmC5Q1DAgJrV7cy6aDcp6bzkine8OPqx2dJempv-uNvX-CNnE_vA1gIDbJV_xXPUNngEeiAw2gOxyXTui95XGm499i11vb8-fpO2x2u9LOHI7ba5kzzc6Mqj9roMPfK4Q8cDHE_UBTLfdx_aO_bpzdator_iM9qSWB-jIXWTeVA9NdYFnp6_-82C2UVUkC1mctXlXyhCeTfbQBz8xWT0vhbk2pJFA-IBw39u-zDVnymuuSAsnhsbGStaz_GjBIVY7LsUo4dSXQ-TC1-Sa6m3QEAzBjPO-vDVkyjeC1uOuUhy56pmJzqNDezI5z7DTzItnP8gjLwIhZIaEcOZ6h5Y5_zCrRbJ5ZaXT3FXrK3afumCsm_fz9INM8qfI1qcQjWnZ3O--YwisTt1Oduid61SzBmVjjd_J20KqRZzTWddu3b1i0aW48bDAyM3hDZyebh7igj0WxRbseyOGVgiG00umVA9KO17dOKX5oGnNZOu-tpbk0XXnKL80shqHuB64mXlllXEQTo4esQNnLh_5Xleop7XBRCgRwyNVwAYAHe-azr_x-rbNYvcjOi_EYArNq2Wj0EhM6MsXPoSP4F1VvKkddZkbTzfg3ONDXKdq9wLJ8SpQW_vUYBOSQoxTIeM6BNzKDBG31nZMMMc8BEpqwaizsiXWevmHixtGiBmVXYl8OlkVqmfyYyemMjQ5BJG9WwWI9KQpxUJ8rSyc8kX2WTvwJUp7_2DwFRKOt_lv4sVIcoA0zuBZ0ZbzDvPl1QCIL8MxOaGaspeBtyEXKcpSi3cIt5wWCOtVLMkfuG39d5E9gRKJydjekdBiryZ8v01HDYsPDsV8L374PPzyMEcmMpCw22FzA5R5056gdGqTLbCWhTLRD5jMSQLkMvfwgN4ZSA2Z5XPE_i-rcbRDJgo=",
  "id": "rs_018d3969b3c5199e016ab493eb758887d0a9083321f928bfa6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.25,\"right_z\":0.06,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The tan bowl is now centered over the nested pair. I’m lowering the final few centimeters so it can seat inside the turquoise bowl.\"}",
  "call_id": "call_9lz3wSPeGlqZXQUAWhMrba0I",
  "id": "fc_018d3969b3c5199e016ab493ec0acc87d0927c4d383cfc61cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9lz3wSPeGlqZXQUAWhMrba0I",
  "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]: [-0.0582, 0.8341, 0.6876, -0.4603, -0.1024, -0.1013, 0.6457, 0.7921, 1.7695, 1.0496, -0.0696, 0.6247, 0.4572, 0.0939]\nstate[eef_state]: left_x=0.2966 left_y=0.0044 left_z=0.1911 left_yaw=0.0615 left_pitch=-0.0331 left_roll=-0.0035 left_gripper=0.6457 right_x=0.3844 right_y=0.2476 right_z=0.1031 right_yaw=0.0269 right_pitch=-0.0479 right_roll=-0.0421 right_gripper=0.0939\nstate[joint_eff]: [-0.0615, -1.4017, 6.9812, 1.6777, -0.0952, -0.022, -0.0122, -0.0205, -8.9641, 6.6256, 1.8046, 0.442, 0.1832, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7c90d9731b93e9cf11b93cdf55f18ac8d7df96945a59c4dca7657d4df6c17f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fb808c65abbb885ae834a18a4212d37718c4b7af1ae825faae641cb7ad6e203",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fafc1a9e01c0330cdbfc7eed77d79aec8b7d6f437066ff03d548afb6df2baba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8307, 0.6876, -0.4599, -0.1024, -0.1013, 0.6457, 0.3798, 1.5185, 0.6334, 0.2432, 0.3092, 0.186, 0.094]\nstate[eef_state]: left_x=0.2964 left_y=0.0044 left_z=0.1922 left_yaw=0.0615 left_pitch=-0.0293 left_roll=-0.004 left_gripper=0.6457 right_x=0.389 right_y=0.1013 right_z=0.0815 right_yaw=0.0118 right_pitch=-0.0403 right_roll=-0.0112 right_gripper=0.094\nstate[joint_eff]: [-0.1709, -1.4154, 6.9949, 1.7509, -0.0708, -0.0513, -0.0122, 0.3077, -7.3368, 9.0598, 1.8877, 0.2027, 0.0366, -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]: [-0.0582, 0.8341, 0.6876, -0.4606, -0.1024, -0.1013, 0.6457, 0.7879, 1.7599, 1.0527, -0.1234, 0.6086, 0.4465, 0.0939]\nstate[eef_state]: left_x=0.2965 left_y=0.0044 left_z=0.1911 left_yaw=0.0615 left_pitch=-0.0335 left_roll=-0.0035 left_gripper=0.6457 right_x=0.3793 right_y=0.2431 right_z=0.0991 right_yaw=0.0381 right_pitch=-0.0861 right_roll=-0.0707 right_gripper=0.0939\nstate[joint_eff]: [-0.2667, -1.5521, 6.9675, 1.6679, -0.0659, -0.0757, -0.0122, 0.253, -9.0598, 7.0222, 1.6728, 0.3101, 0.0855, -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]: [-0.0582, 0.8341, 0.6876, -0.4603, -0.1024, -0.1013, 0.6457, 0.7921, 1.7695, 1.0496, -0.0696, 0.6247, 0.4572, 0.0939]\nstate[eef_state]: left_x=0.2966 left_y=0.0044 left_z=0.1911 left_yaw=0.0615 left_pitch=-0.0331 left_roll=-0.0035 left_gripper=0.6457 right_x=0.3844 right_y=0.2476 right_z=0.1031 right_yaw=0.0269 right_pitch=-0.0479 right_roll=-0.0421 right_gripper=0.0939\nstate[joint_eff]: [-0.0615, -1.4017, 6.9812, 1.6777, -0.0952, -0.022, -0.0122, -0.0205, -8.9641, 6.6256, 1.8046, 0.442, 0.1832, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7c90d9731b93e9cf11b93cdf55f18ac8d7df96945a59c4dca7657d4df6c17f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fb808c65abbb885ae834a18a4212d37718c4b7af1ae825faae641cb7ad6e203",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fafc1a9e01c0330cdbfc7eed77d79aec8b7d6f437066ff03d548afb6df2baba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJPw8BOCyoayuMjKd7vVmVL9IKUJFSoGH40hAWfnRhpCCR_Ym0-G5CbkTRqUj8YfXNiemKTruflHfKcGIiGo4bQV1RRJ0tCDqKz2jaNhubyGp1e2XfThX_NUqFWb522BbM0EIm5DP8qSQfB72t6nk0QTO979KtFitzvaArUAY9wT0iNbOBxosWtvGni6tjMntGesk8ZZIn7tRZDeLwbGkKDSNQcK1VJtkifBxpJSc0_YNt74g1lUbX-qxwz0dgeUGZ5M5kHqke5BdJ78gyrf-fKJYXAvLh7bdV7wm88YnG3dEpViz3RhcJe2BCS9UTx9R17uhqSyG8EDHKMOwDJa2wLaBzDua82Us9GEPTB7koWflZrQqyboQzPF39UVj8zmRgBK2KetLz7MdBbyKGB827EzxRARgvUCRCmIGvCclCY4Uh0TL76yBqMKLeZtXym4J45LoNT3moNElIS2eSGcygKyyqcw7pDdsqnMh3hsIRzdMWZ31QeOsS0LiiJf9MiRFppOQB6LKKyhpxukehVc-0U8ImI_jVfeiX-7tU2Ovg5cweMgeW9gc2m5c2OGSW-5LT84vjV_f6S21Eiu0JJNeF6N3gfJg17oD406b6r5Vso6GF3IiZN8kfpHonFNQyv7rFZqLe_dFDEnwj0dKcY6YWkhca996aUsDRTY59h2KEKZVoKXSPy2w_VhRwpo4B78rFsiM5pEuIub98zdZqPBEw0LX3UDYo3VSP2m5iQQXrCg_PDAM6C9JW5TzsUqBH3Yy1TvLHSxzv6wPFNyJcJOLulu0vbaNg2RDnDnuj70WEv-8deQTbG_Pe5GbWOXSBq7OBnTzUJRN2KbdeQZjuhLqKAIxB11Rg39GY_8BbeiueCpaHJhJMwW4ftMO-IxToPJdLmqt28VSh958_PQhUfn1KgdxXAFdZ5FlcIZw0_gdt2V5eoy3ksLe1u5X8La3vQHO5vrJH_KgD2BzxSKcEpohUpvRLwAmrMvOz00HhmecumWXEFOr66FINIdtx7BxDLDhMmSobuyXj1lvlhKAff-fy1CA9n0gOqE93uoA7YMVBQi9w4IubPWWjEQ1BRxrl7dA50o68QrSj2rfS-qJP3sAe-MhT_7dR5QPj0F2yIYsuJ9-H_vGuz4mqLXMcQv6cVQM4uXAXpfAlf0S1qVsyetvC1fIIxbThtpWfsEJBXkK6s8btcpts-U5nNraA4RKKiBb2spAeiiZJVfQNs0OV9zeZi4-4JuRVvX046QxU3KGW5vlosFiyxJO_hhVCLnijUBM3aO-nN1pOP7VHty0lnrsMoAdNU9lkWJl5vAoNR44E3vN2Zd5pl7d6a6_LxLC_c2hgbUo0DWAVoLc4dZV9BCC_Zn9n0zR0MATfVs2Ebos0q6JOjV0JLDrzTWT9lD0L-LsgOGbpImJqHLoc8oXG6yQUn6pwg-jWxE8VEEwAm4x3Qh9NIX1mAQzSKt1GX7CRjj4jiQ",
  "id": "rs_018d3969b3c5199e016ab493ee927087d0995a4184cc32a31c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.6},\"note\":\"The descent stopped above the target height, indicating that the bowl or jaws have reached the stack. I’m releasing the rim so the tan bowl can settle freely into place.\"}",
  "call_id": "call_0CyGQFV46Bb0H4yVB0oJ03GO",
  "id": "fc_018d3969b3c5199e016ab493ef615c87d09b9c1af9149a9db8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0CyGQFV46Bb0H4yVB0oJ03GO",
  "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]: [-0.0582, 0.8341, 0.6876, -0.4606, -0.1024, -0.1013, 0.6457, 0.7921, 1.7695, 1.0496, -0.0696, 0.625, 0.4717, 0.5963]\nstate[eef_state]: left_x=0.2965 left_y=0.0044 left_z=0.1911 left_yaw=0.0615 left_pitch=-0.0335 left_roll=-0.0035 left_gripper=0.6457 right_x=0.3844 right_y=0.2475 right_z=0.1031 right_yaw=0.0188 right_pitch=-0.0473 right_roll=-0.0305 right_gripper=0.5963\nstate[joint_eff]: [-0.1026, -1.2239, 7.1863, 1.6825, -0.0855, -0.0171, -0.0122, 0.0068, -8.9231, 6.653, 1.8046, 0.4371, 0.0513, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c485bf70f725dbc500abecbf43f31529d84cfef6d76966dbdc4e1be688cbb6fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f6463ee8ab36322bad3b3702533fc3c155782bea5c5d8dd8cd281dea45bc504",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36a36b387a4be04a1ca342998d055dd1e83b888da5bec35cf65547c4abea8e48",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.833, 0.6876, -0.4606, -0.1024, -0.1013, 0.6457, 0.7002, 1.5833, 1.1862, -0.3256, 0.535, 0.3645, 0.0939]\nstate[eef_state]: left_x=0.2964 left_y=0.0044 left_z=0.1914 left_yaw=0.0615 left_pitch=-0.0324 left_roll=-0.0036 left_gripper=0.6457 right_x=0.3915 right_y=0.2168 right_z=0.1898 right_yaw=0.0539 right_pitch=-0.039 right_roll=-0.028 right_gripper=0.0939\nstate[joint_eff]: [-0.0068, -1.0735, 6.9812, 1.7118, -0.1001, -0.0659, -0.0122, 0.1026, -7.4872, 9.3744, 1.6142, 0.3101, 0.1832, -0.022]",
      "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]: [-0.0582, 0.8341, 0.6876, -0.4603, -0.1024, -0.1013, 0.6457, 0.7921, 1.7695, 1.0496, -0.0696, 0.6247, 0.4572, 0.0939]\nstate[eef_state]: left_x=0.2966 left_y=0.0044 left_z=0.1911 left_yaw=0.0615 left_pitch=-0.0331 left_roll=-0.0035 left_gripper=0.6457 right_x=0.3844 right_y=0.2476 right_z=0.1031 right_yaw=0.0269 right_pitch=-0.0479 right_roll=-0.0421 right_gripper=0.0939\nstate[joint_eff]: [-0.0615, -1.4017, 6.9812, 1.6777, -0.0952, -0.022, -0.0122, -0.0205, -8.9641, 6.6256, 1.8046, 0.442, 0.1832, -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]: [-0.0582, 0.8341, 0.6876, -0.4606, -0.1024, -0.1013, 0.6457, 0.7921, 1.7695, 1.0496, -0.0696, 0.625, 0.4717, 0.5963]\nstate[eef_state]: left_x=0.2965 left_y=0.0044 left_z=0.1911 left_yaw=0.0615 left_pitch=-0.0335 left_roll=-0.0035 left_gripper=0.6457 right_x=0.3844 right_y=0.2475 right_z=0.1031 right_yaw=0.0188 right_pitch=-0.0473 right_roll=-0.0305 right_gripper=0.5963\nstate[joint_eff]: [-0.1026, -1.2239, 7.1863, 1.6825, -0.0855, -0.0171, -0.0122, 0.0068, -8.9231, 6.653, 1.8046, 0.4371, 0.0513, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c485bf70f725dbc500abecbf43f31529d84cfef6d76966dbdc4e1be688cbb6fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f6463ee8ab36322bad3b3702533fc3c155782bea5c5d8dd8cd281dea45bc504",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36a36b387a4be04a1ca342998d055dd1e83b888da5bec35cf65547c4abea8e48",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJPzbEkqLIzJCIGSsPT-V7bKWlqU4W_aLlDG5gaX8eesJQFVgg62T5qMQDXVfT8I78PlrUMQlq08BoXt7w4hOoigYXWGcna4bMaLXJMnAivUiHWdNynAVxWU2ycJpJeg5DuV50Eqwsm9MAXzsafS9YohHCRTJn0sxENWMHHwPxH08IrCe8Rj1F3KS9TiCNMSA_CVZP6OsMu4QhvI3h5byOR3iIL5hzfjIvq5d9gK_xsCdZIM3Ng5lSBUTuDUF5UDP2Hcm6CeBYYU8N1hp786BQfzc9TUV4oQokvsFo-2JJEH6xIbPXPivu7QDkdqyZMxW7rvwAIkGX413YnGVgIn2cnATyuOqb9OCzLafE-b9xlBWZs2JHdiK9LEEFlPRfNxIVWLQBrx069p0P2K_chB-d1PfqB_EtCWvzYuEA4QxS_7Y8Hd8SIWN-P65JlasAgoxjksbfgTATZGejqSmu-fcOFmrvyAwoGXSLBD6eofsxgKKlTarhyeAPh5KOqP5QER6UUBXzOCd7JWrC2EsjXq9mjv2OQHsLp1p6ji3S9RyZNB71oQXi0BbJfB8xFWzLtG-0ZkLEHK9EewIhCY7EBszTlwtGbJdjV8MqOj-OmSkZtsMBcv9aM1dRPc1p93J5HIPVQ5P-3MxVJYHSfV-WBeaTGGYmk6lKyx4ynE0vu28B6aTnSo7p_zsdYRvrnt9KWvxaOv48O-8f90PPCZd_Xh_iqjH6TPlrvJXtnQXTOcsQOiY34YhUGKk-bVhcjd63yjxiuAhDd0kp4RlYDMlGWK-pCmc_X9c3PViJ5nhcDaXp6ORuNVsvdunzKdBv0eyrAVefN1yKPElHi_Jp78HLVOifQ8oJVHSqsI_2JfWCxby25P07wmJ0kET2obORydYhdwk4fOSZs7LbJoXifV6K2CE4sIiqZDEityTpwhA2aZGNJfU9l9NwZlHoxj50ZB-Ug3doWAX4HbXwkQjr9efWs9A9khS16XDnhTzc065EpKX6-34lfPZwvGQtGW1aWiQa8RtyC5BiTOHF4pNt5bIf6--lt7j8svq0Z-yKzzvYAe2sOUdhavT_z7pCyPUAdjF4haLx6F-GADfMlyVp8UN_kwJSHD5c6pZHrpjPRWyibq0p0vmn0kjBJhlgf-BZUU4GagG82LhcTu9HigbeGxMy8Hv5sXgJ7D0TXx92GiR-VQIXqCA3io_KfKiEOON1RrgazGLUDTPpZsuGNCDp4hc3AvZZzK5QaQtnUYXy0qxQ6vIXTQShj4CkcuURiEJtSbt31JaUvoT1GVcgxV89l_66-V0Oj-KbUwRlsUBRnHywrxiPrsOVg=",
  "id": "rs_018d3969b3c5199e016ab493f24bf887d0ae7d791d3954eb43",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.384,\"right_y\":0.248,\"right_z\":0.23,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The tan bowl has been released. I’m lifting the open gripper straight up to clear the rims without disturbing the stack.\"}",
  "call_id": "call_NpIfQxTnLPhVzoc1K45ybC6j",
  "id": "fc_018d3969b3c5199e016ab493f2d24c87d0ad593c503988e937",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NpIfQxTnLPhVzoc1K45ybC6j",
  "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]: [-0.0582, 0.8341, 0.6876, -0.4603, -0.1024, -0.1013, 0.6457, 0.8032, 1.6787, 1.3315, -0.4725, 0.6258, 0.4717, 0.5964]\nstate[eef_state]: left_x=0.2966 left_y=0.0044 left_z=0.1911 left_yaw=0.0615 left_pitch=-0.0331 left_roll=-0.0035 left_gripper=0.6457 right_x=0.3808 right_y=0.2507 right_z=0.1918 right_yaw=0.0281 right_pitch=-0.0685 right_roll=-0.052 right_gripper=0.5964\nstate[joint_eff]: [-0.1709, -1.4427, 7.1726, 1.707, -0.0708, -0.0757, -0.0122, 0.0068, -11.1932, 10.1812, 1.6239, 0.569, 0.1245, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:506c920f54ebc4f139a3badfc1c704f948845d3edd0929184199c0c77e16f1d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6e2ef21602356d07e80f466f809534c8d3562cfe1f9ef04826e001a901b648a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3927a1e31dbc028fb2917c7403bace6d5f307faaad99327737236683c7edfc3a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8341, 0.6876, -0.4606, -0.1024, -0.1013, 0.6457, 0.7879, 1.7599, 1.0527, -0.1234, 0.6086, 0.4465, 0.0939]\nstate[eef_state]: left_x=0.2965 left_y=0.0044 left_z=0.1911 left_yaw=0.0615 left_pitch=-0.0335 left_roll=-0.0035 left_gripper=0.6457 right_x=0.3793 right_y=0.2431 right_z=0.0991 right_yaw=0.0381 right_pitch=-0.0861 right_roll=-0.0707 right_gripper=0.0939\nstate[joint_eff]: [-0.2667, -1.5521, 6.9675, 1.6679, -0.0659, -0.0757, -0.0122, 0.253, -9.0598, 7.0222, 1.6728, 0.3101, 0.0855, -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]: [-0.0582, 0.8341, 0.6876, -0.4606, -0.1024, -0.1013, 0.6457, 0.7921, 1.7695, 1.0496, -0.0696, 0.625, 0.4717, 0.5963]\nstate[eef_state]: left_x=0.2965 left_y=0.0044 left_z=0.1911 left_yaw=0.0615 left_pitch=-0.0335 left_roll=-0.0035 left_gripper=0.6457 right_x=0.3844 right_y=0.2475 right_z=0.1031 right_yaw=0.0188 right_pitch=-0.0473 right_roll=-0.0305 right_gripper=0.5963\nstate[joint_eff]: [-0.1026, -1.2239, 7.1863, 1.6825, -0.0855, -0.0171, -0.0122, 0.0068, -8.9231, 6.653, 1.8046, 0.4371, 0.0513, -0.1587]\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]: [-0.0582, 0.8341, 0.6876, -0.4603, -0.1024, -0.1013, 0.6457, 0.8032, 1.6787, 1.3315, -0.4725, 0.6258, 0.4717, 0.5964]\nstate[eef_state]: left_x=0.2966 left_y=0.0044 left_z=0.1911 left_yaw=0.0615 left_pitch=-0.0331 left_roll=-0.0035 left_gripper=0.6457 right_x=0.3808 right_y=0.2507 right_z=0.1918 right_yaw=0.0281 right_pitch=-0.0685 right_roll=-0.052 right_gripper=0.5964\nstate[joint_eff]: [-0.1709, -1.4427, 7.1726, 1.707, -0.0708, -0.0757, -0.0122, 0.0068, -11.1932, 10.1812, 1.6239, 0.569, 0.1245, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:506c920f54ebc4f139a3badfc1c704f948845d3edd0929184199c0c77e16f1d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6e2ef21602356d07e80f466f809534c8d3562cfe1f9ef04826e001a901b648a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3927a1e31dbc028fb2917c7403bace6d5f307faaad99327737236683c7edfc3a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJP3eFwkFiEwMoNtBS-ECnBRJiFLSko9jWLUd0RE7mUKRM0epvU9y6Jvyd46oo_75l_CIwFgcOTZrrjp-_wVS3LiOd3C1-KeasoUF3f5PMrv3NVrD7V0bvQRGbgmII-qSTfm54Ql37Lw4a5GtvLqpHWJ_9QGcUrv1TZK7QyNFXNYhdVgcVucbIS81kq0D5fjBnS-bvxT5uvB9Bz06oBRbenXqosvOGTKcsy4pup0cdJF9cLT5AIvn9w71V307xgWW4SIYKZqsDgn0O4kxwk3co65PolH_FJIqwDopuY-eC3zRTXvBy4ZphWINyqLth9Y-lgDK4xcDD9xeaVA6Dz_1_izcyjnLpgzjjhlt0dTwhwbs5h0iA2FAUSJClHjfL2wm6jFbNLkKn0eKA-tltesJYP2ONf9Qiy34e_Sn6ewefR_aARIo9S2N_wGhTRD7XNTuWgpXM0oGijpWqorbkrCE-34j9NzB994-nYMv0PfYbwgaIS08lmtwvQk5KxMUvOQ_7Wd0c_rrHg3IMSh1skLhPctLaMKs1M5AO2m5JroXuw90vH9oqC-l_OfECnNgvwu8H_WbgZRVpITHRz8U8NwErxE-yHMRsR6BqPv9hm-hN8I6G_73IjFzo4A6pDjEisTGio4i6beJZNIUgiHgFH9CQOw6usXMYjpd7yK9IFlV-9WWwAjV-MuZbW37FyWr-YtcA_cajmpWYJV3BclNAt9eXpXbq37FZYyTG3wzZhOIYmviMgPA9ukduUEm7iqPjTZCg-yIzPNXDyv3hliAH-g6xMLzaQvEMpJT-ccCwx-eZ5_IL0gx7MG8KjSYjE_EiAGWM_BPZenHsyq2swvBevmxnqgir67Yzgr2iNQ4LCOA_hJCFkNiK6JKicmnHA0XxuaDwk_e3A5_2QbnW-3DGx6ssfTRbehOElt-kz4riBEu9md-QwflyFn-P9KyaNhy8VaqHsJhxXUSuksjCjG_JsO6vUfYA1BiCPzsIqKXsm9VfMxZ4x0HIpxCQVDp9s0ReO19bPtugvkW0eDCGvfh1aGky1l9Qjf5gU46nsfB8IHhUATFPiQsdVHXE_6kzrZ7DiUtMZc5kMPTYPHK0-fg4Isjp51ggUUWEUpG3zRP129023rBbM8lgyW1-iN-ST24L1shkhLy3-cwcHcKr7NdbHSKIjeQJe45J9tl7s9lWOZ6cOvymo=",
  "id": "rs_018d3969b3c5199e016ab493f5ed9487d0951c91e1550755cd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The open jaws are clear of the bowls. I’m parking the right arm so the overhead view can confirm the final stack.\"}",
  "call_id": "call_PP8Aa5FzFi6Cymp3kjvjGQ9s",
  "id": "fc_018d3969b3c5199e016ab493f60cc887d09eb1ac1ae54f2e01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PP8Aa5FzFi6Cymp3kjvjGQ9s",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8379, 0.6876, -0.4606, -0.1024, -0.1013, 0.6457, 0.0048, 0.8154, 0.6842, -0.4374, 0.0628, 0.0113, 0.5964]\nstate[eef_state]: left_x=0.2968 left_y=0.0044 left_z=0.19 left_yaw=0.0615 left_pitch=-0.0373 left_roll=-0.003 left_gripper=0.6457 right_x=0.2975 right_y=-0.0061 right_z=0.1991 right_yaw=-0.0629 right_pitch=-0.0007 right_roll=-0.0042 right_gripper=0.5964\nstate[joint_eff]: [-0.1026, -1.7709, 7.0085, 1.7802, -0.0659, -0.022, -0.0122, 0.1573, -1.4974, 7.1726, 1.873, -0.1392, -0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e99682fb95612a51f02156942fdbc882beb0a690fa012a850755b91c8b77240",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80e9ecd521cc8492b7960adab5d10f690033b0d535e0c60c87c3de23807ead95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6caa4357f999e36f872a952ba78467c91c553ca9848bf60f2ce2f90b91f9c9ae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}