adhoc

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

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

{
  "content": [
    {
      "text": "Goal: Stack the bowls on the table.",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6048, -0.382, -0.0227, -0.0414, 0.9995, -0.0219, 0.7933, 0.6029, -0.3801, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1795 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2946 right_y=0.0001 right_z=0.1796 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9969\nstate[joint_eff]: [-0.4444, -1.5658, 10.0444, 1.79, -0.022, 0.2515, -0.0611, -0.3897, -1.4291, 10.2906, 1.8632, -0.0611, 0.1538, -0.3346]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99f8009f2f0e50f9ebc30772308ab7d52e01c622cd820e06cff6e3a0a932f603",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b59ecf8d7857f69c995cefdd174c6fb6f19f63761aa4c1dc3213341f1048b36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7703b5c30f31cab1d7e3f0211d48f1a7050ba9c4aa01f7d2e52a20f83a31c21e",
      "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": "gAAAAABqtFkvutSRq1Lep_je9lsBRU2oKoj4RpavA4jYr0gzPjWNnqvF470ESgGZgkAwgvaa4ASgrWdJLVg53XdtIY0IUs8WIwLJSS6o5d9jOmMbr397KENlF8LFSZ4tQZaBcSQZe0F-fhTHzjb_JRi_YAUNYjxmCCudaHpFiDlix6EAGf-ZA74hy7YEDb1L7u9lGkVQcm6fZJTgLaYfae3NZXHxNLbeQj41bAFHpnexzoi2cd0-XnsKv2hGxekRBO1JRGaGMd7RzmjOuli1LBrdGi0Adpyp5of0IgZ15m7EuWcYPUwV5pw7EOMmFLN4VHKAXYyyyRK_b6lfO6zP1UceasZWPh7qJ1PB5Kci4T5YuPl-1R7xVt8-dgCLTL1btYyA9n-u5cWb25c62Uhi7vD_R_Tg7OrsF-DRbtgbWRaAMhtxI2CkFyvex892I6UPkLLpGN8LV7Jd39Yt8gdf2HwPpdl0-lbDwvQ1KvFXfRuwLw3y_T2oCLVGc_NLFF8NoC7Y2ekDpZEdAy6N1DHHLUdft6TGQFl8ibLnbzNEdS9ELJQa7vvVzvvK159WCl503w7yq8Q41Drzic0XWovnW9NrMjRH6n-GYRI8Ml-1JzMiXOPUzsgE-5aXKs72RDEzDf9gh2L369P5p-tcHR8c8KLQ4gD4Raeami3OsGYQ6yXNCH-1nYzvLI3ZqX51vphbCfajp03RQ8gKL59o1GEm_1wIyQtDO4ZIZ0el4tZ1ScRbv7TE7KcBAaF8lUWjcdhd__Ve9y_GeoqwdZXi075pjGtnCMM7RhWRdQgo09maWc8zXoaN2D9yV3u8UoIKstcAVPvbYf38sMzF4NSAcdn5pl2uO8K74purL0rRPEvis052xNO2B0cCGRsDDU-Uay98nAUNt1u5kQeJJt5Q0TX7mYKIC_X4YRYOfDSal21eicT7BK7pALpClhTyfb3RBeT0qMhE-EMhguXA-JKWVeOWehS89mc8Ekg_VMSYq9S97slMBwr1xR7ShFN9eyOiwvfHdGQ119S9j9ozADsdf8X9zQBGletBp-c8JncphuvgFRm7n0mXpDpPFsyhquWMzeZqwrUk3S-doWYGD7U7ScdqmF-8GFWALdbqtE32UcznAGiPSxZH-9seQVCcpc50t6vpSMQjqI0nLigVA1IdOJgIlJlGhuaJGmNoAO1u4zyHUNY8s7s_q9e263rWGUc5wV7LuceZRZWL9FgJr4TFYXXKppoxhCI0vwEpW98KPDQQzJhdf0JPdHtZBcVH9_qMOZeV0NkFvk_iC6yCTQJ6y1x0UFeUTXMpoOscok2G2Uok5K7q6ZcK-pNnxuCkQg4h_YM9nsbelt6hSP_LkElEoIXcss6OFjSXwckEGUdJo65vPJN3mqacHPvI8H41yiqVtpsAdUOfAmzbspTxAprJ7MVZAsT8hQSkLPDhPX0BL5zIaMoAuohh4R1JK81diOfzfGs_28TzCHOfQ8xGquagivvsBjYslnDOyt5UpNTbKG54EWuxCh376EOdwM1ElJhrQtg9QU3--lmSqEb2YfRmjEX8RxViSHmFAiq7Kqj1FIOqQOVfl76JdXsEk76WVBFeyijOSmnF5bcCLX2bt13o6o3-k0nGR5phZZ4nt8aYwOipt_-sMKzod4YblB0ggcW7_6SVwejurQ67KrcTv7ovv5jG_Opsa7juGk12OEyEzv0lASs-ugPvmKp57SX8uCEBUYYYu-3YD9dUYmVQ-4tMuhoodRCNLznvQ4_ZB_mS84j5PBrsyrcKvmjB5VF4yoEv9Iy5vwmIy0NuKV4buL3xdc82Z5hiIWylKcqb_eIJdkuQ3uecfpB3VF3_n6qoDHyFkgaZhOIe0affwPqPibXlX0TDMhf4EoXKT-nioedOIxsaL-B-kPHilZlPQPXP49bvgYtsQFAhjPTavUD84q4ADK0VcfVJmiM4BFXYoWI8sPOxUnYDca76Lp7bHEr6v5YuQCDwTKdD8Jd9HD9iVdqFwVOlreHfbMawP3l8C7sYdzk3lt_VS_tF6x_vXmrlKmnY0c2dVvtsEMInWM4oA0_2lczfhrCUwCJVcFfn8uXc1qZbYSnc1zOIZmftmHsa4K5knspssvLaQ1v9-z7y1_VfwdcPNYM3YQClwd5_v6e3Xv0V1aT5Exd91C5par8aaFvpeCSWb5PmBpN1r9Nwsg9c6wnDjdCjPWh_BP33Gt6dkoIgOO4t12TdF0k9FjYnekxIsYTbO-e4ew2n_1kYIC26e20zHnMLjKD-B0wXcKYklgRuSkQdl2f3ccrkd4s2XYvxMzf7GSqR2uVGcaoNRdHUZshuPA7KFOLwSyMySGnBqvGNn8sibMgAo4A0GddB-473WAsIT69ch9oHGXTRe4mX3wvIxpvFkU5Dbyu3HbIn4a-fVpPNCbcj9FUXMWDvTNKGI3GQWJESvP_E8vrvFOwy7le47BXmqJ3m7t2QV_htognAcM0KLYKJTP5dk0MO7G4EFT1kHVimiVJyeHgwfNbMV5l4nI1jLR5DJ1cN1fEIgFdNH0uncjcT7dGd-1yqNfmStEVlXQ7FZrMYgu-YQyfsfnUmlBGyQjdNo9jTm6fsCLGk8-EyxptkMnQcX50SgOWwC1MwB4LkGoweMuB0P7YvLrH5KCe_6HhtiwXcv_lxspRZyXAMTbtok-J-_YMehJgi0sWMhQnJgKerBTIlZIoZk0p7xgrl8v14lO3I4A==",
  "id": "rs_0e783dccab644782016ab45928414c87d0a6a7383f54bf60dc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.13,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2},\"note\":\"I see three upright bowls in a row. I’ll start with the left bowl, approaching its side rim so the gripper can hold the rim rather than trying to span the whole bowl.\"}",
  "call_id": "call_Tn1QIU7WzAyFbaRwDLMMEtwE",
  "id": "fc_0e783dccab644782016ab4592e46f087d096663f81ab648b2e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Tn1QIU7WzAyFbaRwDLMMEtwE",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5476, 1.3201, 0.7311, -0.1299, -0.4332, -0.3412, 0.9996, -0.0219, 0.8062, 0.6441, -0.4637, -0.0166, -0.0422, 0.9966]\nstate[eef_state]: left_x=0.3521 left_y=-0.1237 left_z=0.1299 left_yaw=-0.0243 left_pitch=-0.069 left_roll=0.0297 left_gripper=0.9996 right_x=0.2889 right_y=0.0002 right_z=0.1778 right_yaw=0.0044 right_pitch=-0.0557 right_roll=-0.0053 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -5.3265, 9.1556, 1.7753, -0.3053, -0.0659, -0.0611, -0.0889, -1.388, 10.7009, 1.9121, -0.0366, 0.0122, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:776a4c6d170b47aeec87eba31da92a357e46e3a106df703ad1e5f462050656af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b41f5327b24643ac1899366f103a947a139d8ab8eedfc7c792f6f3163d06117",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9a87d195f6d742adf2c3c6b403e468512584e3c1284d07142e38bab53b89809",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6048, -0.382, -0.0227, -0.0414, 0.9995, -0.0219, 0.7933, 0.6029, -0.3801, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1795 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2946 right_y=0.0001 right_z=0.1796 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9969\nstate[joint_eff]: [-0.4444, -1.5658, 10.0444, 1.79, -0.022, 0.2515, -0.0611, -0.3897, -1.4291, 10.2906, 1.8632, -0.0611, 0.1538, -0.3346]",
      "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]: [-0.5476, 1.3201, 0.7311, -0.1299, -0.4332, -0.3412, 0.9996, -0.0219, 0.8062, 0.6441, -0.4637, -0.0166, -0.0422, 0.9966]\nstate[eef_state]: left_x=0.3521 left_y=-0.1237 left_z=0.1299 left_yaw=-0.0243 left_pitch=-0.069 left_roll=0.0297 left_gripper=0.9996 right_x=0.2889 right_y=0.0002 right_z=0.1778 right_yaw=0.0044 right_pitch=-0.0557 right_roll=-0.0053 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -5.3265, 9.1556, 1.7753, -0.3053, -0.0659, -0.0611, -0.0889, -1.388, 10.7009, 1.9121, -0.0366, 0.0122, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:776a4c6d170b47aeec87eba31da92a357e46e3a106df703ad1e5f462050656af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b41f5327b24643ac1899366f103a947a139d8ab8eedfc7c792f6f3163d06117",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9a87d195f6d742adf2c3c6b403e468512584e3c1284d07142e38bab53b89809",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFk5sfkXAoEBWO3ZZEzPQB1KQ3veNTnCjAktKbA_epOkGEJSoILFAN9I4_DODjn0KxWqBqCQ621EmxmnKaG4MWmAJEfXRn3Qfcx1xSjZZ0mz_HUDIXtiEwu8LU7qcod_UnNa6ZpcqzIlpb8-38hbx9icI5WdR9VJIuL52ZMv0XQa2rgwHDfgzmrgVWUNp9eP591diVBvfDpiMDRuIbdHSrbJgbpU6GyeTG5L-qs-kMd1wC1Zzzy3yMsqUHYZBXIFuChdisH8vIpH1idO-o_paesnWZ3F2lh_NaivDwwuYe2iKTjwgTki8smiJe4DouZBxZh3X_4Yu3JaudLX6-JFsmnnGzET72_W6XwrZjZ7m4PpAvrv-QWNh5n1FD44D3_XXS1E_qRC9tUl8782YNiAW13fE7SMcpaWprPRisV2bJNnhJTkan6cg2FMhAZAVf27JPsix8waem6UE7AnYQ7Ngh0A9ENFPbDc7ga4-CosRtBq1ubKlwMZouxa6vBwEnMtNfrVOu3oCiKCz22zDtYDc2MZ5nKzXEbGA1c9HfwrQMCWi-huENR5lv3mhCFo1TparQj2Xoy71NLL2eoV3b6aWCFB2hecOQWmhYspuRIoYnLhW_CSaHo_qiHsAbaqmzhDVLu20uBdtB-_d56SSYeE2vFlrFjrOSMEO3PfczOPduvE-Hc4bqETeoTXeTjcQw2LB3bDAzH0Op_u0SnXNfBTk_VuUeR0L8Rm3jjCM2p7b_-CaCwGBg4folDT384YGW0-Y83S7BneP5sD35qumKURaD6HIg8qtuaA4COlhNA9VlNv21HrnETfz2VM1ZYuwl3QOsYNEs0UhE1O3d_nBBtShMM92UKodV52pvkbnRceT-MX6L8WiAugr0IDd9LhIraAceZxyjqumq2k4uddUMMxDd2W4Y5uyOOR3MQSYVqmIY8U8K8XBSZnjxfanpVUBUsyOK640LcR7jka18HoFOHL4WmOa4UDFMQ3bikI_GdVWjAeggIdC7aKbnZ2L-NC8E5eoi2lMGYzGowwUGYt_D81Cpbuo0Png4vdsBNsSDzxu4MHblr9m8rLSWGnm7OCIAFPEY7YD3hRM0vEM_uA-6Dg8BUG7hT6cnGoxs-scp215-uXvNiANpe9m8T4DSKT5ym-r1id3cjoQaSp67C8sRJoyhznPhnI1HkjQXMQsPv4UsoW6M-Kls9HJqP_kZm-gUAVZ_74EkZ7IQFZmx49Ma1yL2ZGChR_9kxbbYG0dakUaEcaF4zn4v6CT0QASIIAAJmuFCPLd3KjAQUEO0s6v5a-6aVtvmMJsuAgw_Zn8VCOHONb1vxf5UrosAuYqE9LEZdmni9yVTrZ9Me7riiHY23Uwua-UTonUCbhprXaf1pB16EF2r1KXVRsRv3Wh1-jPYqnpOChEvJchmkFdn2IMIvxCyODF4raorfg5BJNUi6SJfI2zy_aSshGWF29TOZsSBqXgHdTVDPsdHcWJwJFAcso9NdB-253G2GTW2hoL-azaGgKCFStcaxxt99Suhnr53SNSh5iZIjqrtgX_5fQCK_AP45IHXtqS_DO47wTQqiH4bnBXSzpHok3iBSla6hrDkA29zCSSKPsMuTbeQd8qNfmcd7MVhzprYnjsHIO3xx7IOG-YEMP5yZcbGYvEf9tD2THCiAo8hLHtlBPNlZssqSy9GQ5R5N_13WI8OVPbJczgaa_naJPJqXLFpwWVS4RXRWtf0iFDHPzqBCvJMLU7RDuRDCvXj9pSg294PzO8sLeDsWHlbudcfE3BlOuQIKYSgOoF0LePgufnxnvCBK6TV0ilkjxOG7aS1Xt_hjz2Llw9zfqPosxPzX8_IqPtyTVD3rvTlYWQ5sFgseQgxH4TdeMiMP9Wl3U2YG0r66YT-YrKKhOsrPUgvf5xKgq2xsk_2FFgjuTXL2B8MJgZ2mzmGWVb-d88gRiq3Ouev1jpv5CfdHmxSVsqf5Y3st2-s82LYuSxsfwKYPCwBOwzyuF5k-jHJPN3JxKx-SKw-66dULL5T5KREFBhxhQZSPp2VUocmXpBsEpD9T4g8ysPHc7buFsbfat0BEecd_lai17BRT8UnzYQMl4AGDzjb1_cw83QPYLwwGODco1cpXsuH_jtVWDbMz90yi8KhGvMLVih1mn-MJHjh7a7oLQeX0PKK2V_88CBY5CnnbDaDSYtxVqx_3_VQi0EuRWo6pmcP3Phj2lDC_tRNRnsbNcUYmUfCZZ29d7nZwHXPSr8htfw0cKctqq78zWviKRDH3rCxItxvJgW3c-RsDNxxkOpVpwbIEPkG92FxOo2zCfpi_W9wYd_q5X1eKP18qZa1fFAMA8ZT7owI_Ps5E84Aifpv8mXPaT8bklmjT2t0RHIwm3QrWl821nYSRronxSKUk7o8sFWO6ZvAufemIT5m9o79BV5c1PQ7kuEsjWufYqe3Gm4AfJTApycsh7K5lbTHPrcQtFQaJ6XNQoaN8T1ycKnKSfUvhUMxYFf-5L2xVEAJUO7RhFMD-hP4CxyqqaM_hlyrEu1MwhRTXi0HLK2mTtFqdPfD1HS8qJk6puxUCkwppKuwAsKwJ1zwaS27F9m1g6mCjEkhUzUTmR9coqSkUqVhi1IRxTAZIiarVUOtXAtX5owxRKdJIk-fU5qPxEk-f26ObWRNpytdXRWbhHYbGyuP5S_V4tQvQU8O-WFMlIH0VV4_2wiCr2VebdXuP3JMTghbhBZaX0F55bZW8ouX-hsU6OomYKqI1Ok929Um9xKkz124Ar8QSCm0Q3SKdYsHobwwcXGmEYDTeMw5u5jxTzaMRBUo4OlV7u0QVwDedjh36qdrSiM1NLfoMlUrLpSIGImxqg01bmMxOMdpoZB-f5WE5WpGk0VXG-TSpkXK5UpwNjwqdJ8gNefjMXPJr8ufbhwFjoBunHedtbHRxjqsd1uWAhg1zSjvhWKteTP2DuKzo3FvyjQ1pZzhLhehvq1rXW3A2C-rReb4gIM9cUdU7hBnkSh6fTnoUUB6KiQjGttm4UtUGjsDVqcTjFkap394tZQRDcGkxmooLyJUj9IhiFpjlmqBcHnoga0A56g-LS2Q-xsgcPHYNZyQlevDPu5hhsqIigiqzc2NmDqLHDxPQd11M4xgMMeF40cNo7u5M7OTlvUt-Oo16Zl_OioBcNmI_l3dMnuFIqUTb1i0Tu9xLtqI3wfjkJJeohnrmSp0300Q3tq3lwIgIoweBZCZBlndjk1_ME-ZI5Ud0k6aoGikMNnPYJTqmQCA1sth8QKxSljseCj9JKwSTz7f_OtOUqljZs8oVrdgM8AGxYODSmCEMCqgFuiGFF8Loh2OJvH0kpNVz8VLKOATcMmm9qyniM2Fg5dzIhsixaC1By7dE1P0kSM9bxtPdVQuXleRwy",
  "id": "rs_0e783dccab644782016ab45931de2887d0a771de94d32d5741",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.124,\"left_z\":0.065,\"left_gripper\":0.6},\"note\":\"The left bowl is beside the jaw line, with its rim visible in the wrist camera. I’ll lower toward rim height and narrow the open jaws to prepare a rim grasp.\"}",
  "call_id": "call_1ObpvIVp4hvZsTHUIIWL9oyB",
  "id": "fc_0e783dccab644782016ab45938a6bc87d0a4b89b98af30c44e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1ObpvIVp4hvZsTHUIIWL9oyB",
  "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]: [-0.5358, 1.4925, 0.5903, 0.1047, -0.4278, -0.3397, 0.6043, -0.0216, 0.8097, 0.6449, -0.4709, -0.0166, -0.046, 0.9966]\nstate[eef_state]: left_x=0.3485 left_y=-0.1175 left_z=0.0551 left_yaw=-0.0134 left_pitch=-0.1389 left_roll=0.0671 left_gripper=0.6043 right_x=0.2881 right_y=0.0003 right_z=0.1758 right_yaw=0.0068 right_pitch=-0.0656 right_roll=-0.0081 right_gripper=0.9966\nstate[joint_eff]: [0.0752, -5.8051, 5.9556, 1.8095, -0.1392, 0.0366, 0.0464, -0.0889, -1.5248, 6.9128, 1.7314, -0.0122, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2559fb5b34d3677eda76eedc9d83992de388a02310bef183704ab6c26098cba9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:836a81eef385e13e4412572cd767fd56b4b0cc2b4e9c76500d9e73969a95d877",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b477fb2ac326a4be49722b7fbce91416e8d7b7af80004666ef5616485f06720",
      "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]: [-0.5476, 1.3201, 0.7311, -0.1299, -0.4332, -0.3412, 0.9996, -0.0219, 0.8062, 0.6441, -0.4637, -0.0166, -0.0422, 0.9966]\nstate[eef_state]: left_x=0.3521 left_y=-0.1237 left_z=0.1299 left_yaw=-0.0243 left_pitch=-0.069 left_roll=0.0297 left_gripper=0.9996 right_x=0.2889 right_y=0.0002 right_z=0.1778 right_yaw=0.0044 right_pitch=-0.0557 right_roll=-0.0053 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -5.3265, 9.1556, 1.7753, -0.3053, -0.0659, -0.0611, -0.0889, -1.388, 10.7009, 1.9121, -0.0366, 0.0122, -0.0415]",
      "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]: [-0.5358, 1.4925, 0.5903, 0.1047, -0.4278, -0.3397, 0.6043, -0.0216, 0.8097, 0.6449, -0.4709, -0.0166, -0.046, 0.9966]\nstate[eef_state]: left_x=0.3485 left_y=-0.1175 left_z=0.0551 left_yaw=-0.0134 left_pitch=-0.1389 left_roll=0.0671 left_gripper=0.6043 right_x=0.2881 right_y=0.0003 right_z=0.1758 right_yaw=0.0068 right_pitch=-0.0656 right_roll=-0.0081 right_gripper=0.9966\nstate[joint_eff]: [0.0752, -5.8051, 5.9556, 1.8095, -0.1392, 0.0366, 0.0464, -0.0889, -1.5248, 6.9128, 1.7314, -0.0122, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2559fb5b34d3677eda76eedc9d83992de388a02310bef183704ab6c26098cba9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:836a81eef385e13e4412572cd767fd56b4b0cc2b4e9c76500d9e73969a95d877",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b477fb2ac326a4be49722b7fbce91416e8d7b7af80004666ef5616485f06720",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFk-Ncvnpd6ZThjWQSfnY_lblfWlw3LQXkHC0G9d4qD9ShAwsf-3DFmKm5b3BN9NdFyO42KvO8B-FY9g78XZX8ErWyckgmZ0nJ6li7zm4uAT53wBtNh6RwJ8HkxzhSHhk8zmJqJneHFssDJv7ZgzSoTgG2depV5aLJfPqJsgdTU2nswAeNhNpcorFpt137UWcki2M49i4RXfw6nEtCZtnRT6szDwKa1OmUHX8zczJa5KvuWYVaRDzqywqmcRHFp8x14_CYnLhl8qfLPfkNpX2ssCzGyeMGK4I5HrVXyBWcn4qTr0agbeZNNFk0J45nEBDftxYI0AL8DRb2EmyeIVsRGmL4LuVmxs2sLKBObL9YRlmn1YOfOOKPEI9oNusiLDCg5aoT-aCZYNmj2tBDxmecq4mApbnDT8zkJxeLPFm7EH8vdexUokvuFW5zEwLCudFqNW_on2tX4BBRbasnFt-8Sj8d1xy0OgF54czhVYGPDgHoqw7XulSgoBFP4-Rsz9ZkNcYu-mnhHv7Sl0fr95VfuZawMTocdzSSpaPzFMd7z95Ubrwo3cMfXIFpHucsfEzW1ZifEPZTUxL1dL4evZbXxnV6PXkxnEhftRF9FksotJIl1hoZXSLeZJ2LwyXem-ULdwS-gymT1CjLAYSfzoM0wexBvn0Mf0oDN94dzvWayMV_s7vuSSo3L8odNYZ8v2kqwVOTw9TAYz0j2i_q0VPrCadyp3WIa2G_Tco_G53SshL9YOX_MO4kpuV9oNFT9ZjmHTtTAGv3wQMf5bEJKCmX_aAMYQCf7gKLME4ocaH_LSGU3Jse_XPwYi3KrhLN7yAzil9Jc4d0UPt3PKXoCQY3x2bmn5g6H7-drolJXTHGSD98q7F5WVUFCxXY-Nhdkr4__3V-npLoQ46YyCzfHhJjZiWVDk0rnCemn623x9dYwwMmp2KnpOW9KITkoyzQEp0WeAeBjTxYBP6y7W_6Z_vh_XJEHgEjlDfG1KonjM9YalIOf9aDn3VlJTBuJ3tEmXIH1bLet16V4eZ1oyXxB5pJHv570coCBnHytEr4ufK00eVF9Qr7LBpCgb_9FO0p-3PKZp1JMbrNO8et8pogWCS2igiKmSZbxs0zZNUIItUlXSNah-WJYoz0UNo-rOwWIRczD0bKhpre9M20G1v0SNIg84_0TedgbYCOgQ0J4-H2wSdyIqYkI3D0gI7MTlQ7CzTyVEYZpqz155JKL-brQWomK-WzRUlxGo39KK6TBcJmHZoGyJf6cpe7Dv8SQHjVKQyUDY6JWcIomQrYC2Xv_uvaI4A2gsMsnK_kB6df7q6Zk7NC2MCc7yG6QD9k5nu9xc7Rnjpc587cECkOfPAorhhSqS6EKpFJ2K84W-eBdM_X30IpxLXIKJk_tXdbZPXdpkGnpFvgXJk1yoZy-w9s0iXfC6Sy5-7nmLDm5dPTMTBT_tKr9oCBFdJQ2j3KztkkyYjkHqFxmvuT9wO1B8Xm3Gp61-wHVw7VjkNm5d3s0ij9QayW4I0gFKtVKpKrc0oWfwglMmc6IVvKjNKgXViQQhSsXoj1EbeM3sB6w2hlAz_72iuFvyuBceIQIyqxpAjhYqP9ZBWdjgg-nzhNzkzPH9sgDKQMyKKTDcWxqKJ_ImNKwvG0klxY-KlM3o7SLU0fktq22WZudwCsICtkFSc1EVUf0nbsl9eUQZ6otdkI5iUU-SRMptOlXW9sgOJZh3ykIgQC7i2jN3GINo5hJWFQrAznIpl8tQCTs7m8WymneoT9Ff0ClSWLnYIPAvRiIQR1kkTGhv",
  "id": "rs_0e783dccab644782016ab4593bb2b487d0a95b6d9e7d159f6d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.124,\"left_z\":0.045},\"note\":\"The bowl’s near rim is just ahead of the fingertips. I’ll advance a few centimetres and lower slightly so the jaws straddle the rim instead of closing behind it.\"}",
  "call_id": "call_mHtCvK8WWtYsgSKqitixjUho",
  "id": "fc_0e783dccab644782016ab4593ddd7887d0a6f95c6ed650e9d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mHtCvK8WWtYsgSKqitixjUho",
  "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]: [-0.498, 1.6432, 0.6621, 0.1692, -0.4118, -0.3302, 0.6039, -0.0216, 0.812, 0.6437, -0.4732, -0.0166, -0.0463, 0.9966]\nstate[eef_state]: left_x=0.3736 left_y=-0.1186 left_z=0.0369 left_yaw=0.0076 left_pitch=-0.1576 left_roll=0.0714 left_gripper=0.6039 right_x=0.2878 right_y=0.0003 right_z=0.1742 right_yaw=0.007 right_pitch=-0.0714 right_roll=-0.0082 right_gripper=0.9966\nstate[joint_eff]: [0.335, -7.8291, 7.5692, 1.536, -0.0415, 0.105, -0.0611, -0.0615, -1.347, 7.0496, 1.7021, -0.0757, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c47033b0338080c42b3ebeb2dfd21571ddaa2e5e2bf87b8eb3b2578ce69f9dcb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c833454d17d5bc7cfd5524c11bca64481eb7b2c33465bac1c4affb28265627be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4091dcc2cf217ee04ac0cd29f28a923d54742ba6e31008280513058661aac2b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6048, -0.382, -0.0227, -0.0414, 0.9995, -0.0219, 0.7933, 0.6029, -0.3801, -0.0166, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1795 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2946 right_y=0.0001 right_z=0.1796 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9969\nstate[joint_eff]: [-0.4444, -1.5658, 10.0444, 1.79, -0.022, 0.2515, -0.0611, -0.3897, -1.4291, 10.2906, 1.8632, -0.0611, 0.1538, -0.3346]",
      "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]: [-0.5358, 1.4925, 0.5903, 0.1047, -0.4278, -0.3397, 0.6043, -0.0216, 0.8097, 0.6449, -0.4709, -0.0166, -0.046, 0.9966]\nstate[eef_state]: left_x=0.3485 left_y=-0.1175 left_z=0.0551 left_yaw=-0.0134 left_pitch=-0.1389 left_roll=0.0671 left_gripper=0.6043 right_x=0.2881 right_y=0.0003 right_z=0.1758 right_yaw=0.0068 right_pitch=-0.0656 right_roll=-0.0081 right_gripper=0.9966\nstate[joint_eff]: [0.0752, -5.8051, 5.9556, 1.8095, -0.1392, 0.0366, 0.0464, -0.0889, -1.5248, 6.9128, 1.7314, -0.0122, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.498, 1.6432, 0.6621, 0.1692, -0.4118, -0.3302, 0.6039, -0.0216, 0.812, 0.6437, -0.4732, -0.0166, -0.0463, 0.9966]\nstate[eef_state]: left_x=0.3736 left_y=-0.1186 left_z=0.0369 left_yaw=0.0076 left_pitch=-0.1576 left_roll=0.0714 left_gripper=0.6039 right_x=0.2878 right_y=0.0003 right_z=0.1742 right_yaw=0.007 right_pitch=-0.0714 right_roll=-0.0082 right_gripper=0.9966\nstate[joint_eff]: [0.335, -7.8291, 7.5692, 1.536, -0.0415, 0.105, -0.0611, -0.0615, -1.347, 7.0496, 1.7021, -0.0757, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c47033b0338080c42b3ebeb2dfd21571ddaa2e5e2bf87b8eb3b2578ce69f9dcb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c833454d17d5bc7cfd5524c11bca64481eb7b2c33465bac1c4affb28265627be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4091dcc2cf217ee04ac0cd29f28a923d54742ba6e31008280513058661aac2b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFlCDgyw2_n8CD7BCDPWJVQO2vtzSk95SkSGBjmd69OYwzxxpuADRfWAK9SynVcE9wdDZ3q8kMvRLPFmEX5ZDBeREXQwVvwrn8LhsOzB4d2LgJjgyJj4c5Fime5q72oWyxJU7p8MbYI1faGqHVV6wb8h-d6OG2wYk8YYb8HaRvCSBpnrXij7B8KhRHcLZO5-VKK6zvsZzTU5vjo1QDk_jlksUvda3OLWYXd1sGWMsPsBrKqTVnru9IZpUdUGamwUNANLumk1PFS6kglDJnHGpbVi4Ekjrh_RaY4JuhectOu7sVKCZHpmiYQ9I9JKbVPA72ud1qdH4PVunplvwZvjED2h7kfy6bk6jc1nGvWx2JUAWJpaEjetVOLRba-w2q5zp1wR3JQ66B7_0nrjuucUCAGLLQe_b8w7u5i5GSpsZIajR3HmGOpQwgVsO_NS9c84gCOz9PMCkc_so-5qF6IikdeHPzIvLs1jDSB6Scnq63LQA9EoZKq47i_zEXVACJD6lzLQFjGAVWR8nQTvDaz1GGx9ODQLSjhPJ3rGBZj6ifybxeOLPnChZlqAzP8dfsoqYqrRswsCN-Ce_1I_DKOo_4PNRSwih5ZFoKluI5rwHQiDwSoF1T3JkpEMdfEs2MhTHvjDlssDCdS0PVqH5iXQGJBL8b6AOIslDcHB-krG-23HF8mTr8xqal76v2j2X2nra7lic0gAJtyB_39zmQ5j7OQGehQac2veMPg5F-7_yvHRxdzdzQesegi3UA1d1_s2a3vTUztmiPN_Jf7q-al0cqfL4cZ8rpAMNN4XaT_gkPQVrSu0yfGq_3knxkWB2bcBb6zlDZFC5u-8git8jQATslLexGtEqA3Mh5AWDt-qFlmgGf3pMvvs-eYPfUIuF-FJvBPc-EytclFU5LcOeVEhqaEd3oTQF_1aBdQ1Wb6cxd6yIhUUWfBSidilKVYZtltDRG9l-lytQUDqRLmKB7mND2oqHdm_LrYtMLkA-wuGobhtDTmn_Rdm2jMfE0s8qlLTixbHwjZgIbup3_VP_pIBNyoRBDgnEjL_0cP12lQKVeXP1xdz--07iEUexvuFnlvz87uIQ2BO8vegH3dji1QMSMp5ybOB0z0ij5-KS7U9UpFo295jLP13pa0qD8Vm_--JkpLr8OLViFsIzUqaY9S1YdXXkat4cwsf0xR4V0b9avgMo0fof-XJn8wfS7QBnQuS3PVk-O15j_duRmp_5j2crrpiG9W3FRTtAVUp0TRpc-bZlpWdvQrHJZNHY-s5-pxgTkl7L485FtwoY485SlBOKq-EbtuLtKZ-1rjNXwVnON8UKFHPHE2hZOe9YRBkN3d49mIG",
  "id": "rs_0e783dccab644782016ab45940838087d095c61e1626ff23e3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"One finger is inside the bowl and the other is outside its side wall. I’ll close gently on that rim, then check the grip before carrying it.\"}",
  "call_id": "call_zg0SaNHTsoEm6U6oT7SBnGHo",
  "id": "fc_0e783dccab644782016ab45941388887d09e09b85ad455f771",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zg0SaNHTsoEm6U6oT7SBnGHo",
  "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]: [-0.4957, 1.6531, 0.6666, 0.1734, -0.421, -0.3275, 0.0373, -0.0219, 0.812, 0.6434, -0.4747, -0.0166, -0.049, 0.9966]\nstate[eef_state]: left_x=0.3755 left_y=-0.1169 left_z=0.036 left_yaw=0.0157 left_pitch=-0.1555 left_roll=0.0799 left_gripper=0.0373 right_x=0.2875 right_y=0.0002 right_z=0.1738 right_yaw=0.0081 right_pitch=-0.0733 right_roll=-0.0103 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -7.2, 5.053, 1.409, -0.0366, -0.0659, 0.9011, 0.1162, -1.2376, 7.0222, 1.6581, -0.0171, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a311f4cb9aa882c280517ee4a544632578aa01b309fee44a529ba880b8396cdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b67b3cd13b320debb82414df66709ee58e346b0f1cd5fd00712454535ea715f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:589f0a3379ed936377a6f9900f7fba86785caf19ada3b3f9d6b59f7ee2310f86",
      "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]: [-0.5476, 1.3201, 0.7311, -0.1299, -0.4332, -0.3412, 0.9996, -0.0219, 0.8062, 0.6441, -0.4637, -0.0166, -0.0422, 0.9966]\nstate[eef_state]: left_x=0.3521 left_y=-0.1237 left_z=0.1299 left_yaw=-0.0243 left_pitch=-0.069 left_roll=0.0297 left_gripper=0.9996 right_x=0.2889 right_y=0.0002 right_z=0.1778 right_yaw=0.0044 right_pitch=-0.0557 right_roll=-0.0053 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -5.3265, 9.1556, 1.7753, -0.3053, -0.0659, -0.0611, -0.0889, -1.388, 10.7009, 1.9121, -0.0366, 0.0122, -0.0415]",
      "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]: [-0.498, 1.6432, 0.6621, 0.1692, -0.4118, -0.3302, 0.6039, -0.0216, 0.812, 0.6437, -0.4732, -0.0166, -0.0463, 0.9966]\nstate[eef_state]: left_x=0.3736 left_y=-0.1186 left_z=0.0369 left_yaw=0.0076 left_pitch=-0.1576 left_roll=0.0714 left_gripper=0.6039 right_x=0.2878 right_y=0.0003 right_z=0.1742 right_yaw=0.007 right_pitch=-0.0714 right_roll=-0.0082 right_gripper=0.9966\nstate[joint_eff]: [0.335, -7.8291, 7.5692, 1.536, -0.0415, 0.105, -0.0611, -0.0615, -1.347, 7.0496, 1.7021, -0.0757, -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]: [-0.4957, 1.6531, 0.6666, 0.1734, -0.421, -0.3275, 0.0373, -0.0219, 0.812, 0.6434, -0.4747, -0.0166, -0.049, 0.9966]\nstate[eef_state]: left_x=0.3755 left_y=-0.1169 left_z=0.036 left_yaw=0.0157 left_pitch=-0.1555 left_roll=0.0799 left_gripper=0.0373 right_x=0.2875 right_y=0.0002 right_z=0.1738 right_yaw=0.0081 right_pitch=-0.0733 right_roll=-0.0103 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -7.2, 5.053, 1.409, -0.0366, -0.0659, 0.9011, 0.1162, -1.2376, 7.0222, 1.6581, -0.0171, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a311f4cb9aa882c280517ee4a544632578aa01b309fee44a529ba880b8396cdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b67b3cd13b320debb82414df66709ee58e346b0f1cd5fd00712454535ea715f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:589f0a3379ed936377a6f9900f7fba86785caf19ada3b3f9d6b59f7ee2310f86",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFlFvgKC81lKC4ZKwT4k7WRypqarHRIHecwT6hmM9oYr2be4vnuBH5Hu8ObZQEv0Rl51DBdPbZRbTYrHSxkQLfNQ3JRRTFf3d_LVvtwg-7_uGQoqXspe51DcxCrc5idYubzdZbtkkbGWBQ64ttheewDLTZJffZy8KZaBbq2eKOBwpNyk5QG2kGq8v3lYpJY5Zv5F6FNaVbhYhOghbofJnx3hzc3qvlqSJGdiqMAe7G260Mgxlrv1lmkUDUsZSXtIr_a2aRv03OgEpzGxds_ATAp1E0tym8VIVVK89WGbMlK_H9zm3t33_miMTwVyIyDSx3BJOzwRQWcomY_z8Yb-yWJbU3hBsAMG81dRWDbjyJ9LEGtg8lQKcV3-pIWGZ5STcwOCSbYtcPqDOawtdc5CdvTEi8VFeGz-w8glBPdFC4ICbv3ECFP06dAY1YZso019-k7iphMHUG1okzxeZD71IlwhInf6u7KG4q8g_EYmfsHELKKlbkDEI-MrZpn88X5VKzMmk-clz6UU0I93b6DFvK0nDitu7-9s2ml6RRnazFwlP_Cxq7Ec4iePa_CZ6Ox7HwAF1J8Ox_0PgUrXDR0Ok3RFH5fnAdD8NxUsPup94o8oHMRnXYlp9QNyDFCIovhgh0RHNvBSwwSAv_sAFzMhDl6tXTrAxCNec8TzJMirGML64srRki9zzM8Hpc_Ujvq42TNqVem5TeErDoL7fq9Qvu88Fle0caqlwif6qAc6o9d96jVybbKtkClRn62nlSV4tXeCCd3OmKQ9bQvM8_7CSokAo1Zm_f6gA--1PIIeNER9RPhWiWi8hAHU8MrUAwdY8-GTVoPyN_SwVqB5y-xbl5YZ5YD3lRW3b7F_RibZW9RdPTPS1KYfg-yX-xjjpmxtcgx2NIzmGM2c4TloKCwEqCPPoNn_GzHdmDpQ23SlYuczwKKCf5dCcbnJkrTmkGX9D77bbI7je1d9GJP4yV_G_f1LKpLbh3H6LdzXC8TGKROToLdaUzkgr4FidjA0ndHCV86ZWWruu_Ik1KKtqxwiU4uI-3tLVSVZnmsJk1o8HEhj-JUnm4SAzLMMc8KNoQP6LXJk-pYycxrlQ8iY-Fv8WcKftTFPoAbpqU8xl9jc3I_Y9NfAuNsoj8wEdRmhsxmEWKk8pe9vyF3sndqTixq5L4udCm78rvTmMJsy3tdvsOxLWH05wDbrfxnNdGUfdu0APCq4xxNjEv9J0pmcSQicUk4tq6ICBETG6ekITvGN0j37fjLy31Abv4isIx6OEcMwfsCqxps_gnXFLCp5Bph5LqjUoKvaBNuJdF0H2g_rNo_wAuYsEMQoasPG0NB0-dwAV0iH69TBbfT8cXqrctyk8mAcfV09u-vluuQrt-A8oFE1Yos=",
  "id": "rs_0e783dccab644782016ab45943dd3887d093a22d3caef1448c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The jaws have closed to a very thin gap, which could be either the rim or an empty grasp. I’ll lift about five centimetres to see whether the bowl follows.\"}",
  "call_id": "call_dj1lKcmJDGkdksupFcraccVZ",
  "id": "fc_0e783dccab644782016ab4594470ec87d0b28ae830dea3ce56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dj1lKcmJDGkdksupFcraccVZ",
  "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]: [-0.4957, 1.5116, 0.7841, -0.0937, -0.4202, -0.3344, 0.0373, -0.0219, 0.812, 0.6434, -0.4747, -0.0166, -0.0494, 0.9966]\nstate[eef_state]: left_x=0.3746 left_y=-0.1166 left_z=0.0882 left_yaw=0.0195 left_pitch=-0.1625 left_roll=0.0782 left_gripper=0.0373 right_x=0.2875 right_y=0.0002 right_z=0.1738 right_yaw=0.0083 right_pitch=-0.0733 right_roll=-0.0106 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -7.665, 8.6496, 1.4286, -0.2515, 0.0611, 1.0037, -0.0752, -1.2923, 7.1453, 1.6532, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ddd81be3eb7f4d4edde31a97fe9023b1f401553a01aeca3536761dfe088c9ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f860174cc67f8e41c37b055f6f936fc17ec2a72fc6d9637ac588be89b9271740",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d18fa2ef0fc5a18c89e6a2c6c16c3951dc8912ece2ca2c60f00c22e244945161",
      "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]: [-0.5358, 1.4925, 0.5903, 0.1047, -0.4278, -0.3397, 0.6043, -0.0216, 0.8097, 0.6449, -0.4709, -0.0166, -0.046, 0.9966]\nstate[eef_state]: left_x=0.3485 left_y=-0.1175 left_z=0.0551 left_yaw=-0.0134 left_pitch=-0.1389 left_roll=0.0671 left_gripper=0.6043 right_x=0.2881 right_y=0.0003 right_z=0.1758 right_yaw=0.0068 right_pitch=-0.0656 right_roll=-0.0081 right_gripper=0.9966\nstate[joint_eff]: [0.0752, -5.8051, 5.9556, 1.8095, -0.1392, 0.0366, 0.0464, -0.0889, -1.5248, 6.9128, 1.7314, -0.0122, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4957, 1.6531, 0.6666, 0.1734, -0.421, -0.3275, 0.0373, -0.0219, 0.812, 0.6434, -0.4747, -0.0166, -0.049, 0.9966]\nstate[eef_state]: left_x=0.3755 left_y=-0.1169 left_z=0.036 left_yaw=0.0157 left_pitch=-0.1555 left_roll=0.0799 left_gripper=0.0373 right_x=0.2875 right_y=0.0002 right_z=0.1738 right_yaw=0.0081 right_pitch=-0.0733 right_roll=-0.0103 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -7.2, 5.053, 1.409, -0.0366, -0.0659, 0.9011, 0.1162, -1.2376, 7.0222, 1.6581, -0.0171, -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]: [-0.4957, 1.5116, 0.7841, -0.0937, -0.4202, -0.3344, 0.0373, -0.0219, 0.812, 0.6434, -0.4747, -0.0166, -0.0494, 0.9966]\nstate[eef_state]: left_x=0.3746 left_y=-0.1166 left_z=0.0882 left_yaw=0.0195 left_pitch=-0.1625 left_roll=0.0782 left_gripper=0.0373 right_x=0.2875 right_y=0.0002 right_z=0.1738 right_yaw=0.0083 right_pitch=-0.0733 right_roll=-0.0106 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -7.665, 8.6496, 1.4286, -0.2515, 0.0611, 1.0037, -0.0752, -1.2923, 7.1453, 1.6532, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ddd81be3eb7f4d4edde31a97fe9023b1f401553a01aeca3536761dfe088c9ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f860174cc67f8e41c37b055f6f936fc17ec2a72fc6d9637ac588be89b9271740",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d18fa2ef0fc5a18c89e6a2c6c16c3951dc8912ece2ca2c60f00c22e244945161",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFlO_xy1CbSE4u-EBleFWhErN8ExtfvmgnhPtMNn3SaQZMZYckyX0xGKA7EaL5_33sozpJHdARcH_CZqIgYW15G6q_gWOkx5ktSTNhV0_LkPkWsrljI1zsCmDC4AltZjGsb2Evqo8i8HEDcIeVaIAv8nxFwxEzuDjPAXJD4XrZDq2-XtKYGaqhCu--DAMlhz1QTmHJmIF_M-Kd9KTH3sxCobP2hdDnYwQCwNIu5AYA0rTdzyEEqscKhpumc9dpGScwcsaTYf1aQ6bHSrx0X1pCiVGpPe_RF5lJzKlkVe15u-Im-f2DBxr2k_W9mcse6zNy3xVZwbF8MySo4AdgPQXKySWkIFVubdNbwa2j4tsw7Q501yI9UMbM138U4u3Qs_XY4XSmvwFY-hrvi6_MZm3lXRVhv143Dgj3DPvfpIuQUjMYKRz8mx32xc2yzIAUC4eTjcQdZz4EEL0__kiyJY7o3Kyd0_zyeXIVhgvlxyih7Qyr0bQMHmPlS79WsatgFJMjTiJCEsW2EzgJArTIzLML4s9G1aPKwAzDKgJ4etBML0SBXviGLJjquZWVtCdVBRY5xdnY1_z4B7vg4dj85L5AfGumxa5p7nNMiQfQW_5ngaFh-l-CcVQkGAKiSeSGlBWPSxCvFb7ST2To1sUEoXFl3JA_lygonS87lO0PFJMpvBFDZlBGZj5p38t4OhiSC2ew8O3sww_iWafN4_atp-hMJN2NzSgLXkJPuOHlzpW1H7HyVrc_oMcx79d-CmJ9WOKYAkXKll6DG8gjGvZB1835QVbzvUT3bobXUn2PIGCu3KaWJ4DUg4rgVH9LAH5KyO0tYAS8hOFFW780aYylEZALu0IPebGtwQ4I2P1DoBt6QFy2RwcEfdtIcIFh5dxfdQ752fCa5fti-8AOZ4S12XfJFaAGtEpse7waWjowyTucMPA3TtoW31JHrXv5rYEub7m6-dCuV4dL8ao7KXZwTzz1_fwCKnFkr-w3g2pRvTuf97lqCcsvG6mRCZ4TL_okz_ASgkkbz127aSjee24BryDOH1z8Y3rzTyW6J4hdQk3Q0xrKra2tN5RngFk3IokHzwV-b-X6UyjXUuNWz4R3ooMI-LR9iIMI1BWh0DcESjgmVMOY0WZbqeRXZ0Fk5u7odEg2WdK9TwCOJvf-Ra2khkp__b_lk7vxCXgWAEoSTG-xIksF4F_1dKoCbXKkkWgzv4_v1FrcVMyfYP4cesYMQL4chDEfYMdrEBRPgP7PXnnmtoEhX6L7jSLL2XgJ9xzWLiQC0eIXvMet3_iws5p8GfQeWt4t8NOPK1Ks6y8gkmddMgntv_-wZc84XFHswIb6YFmvQD-VXyJL6_pzjYpJPK3pELUO2w-NRHK3iFIjIZnT43VDloWS4X3KkKCBRUxA2ojw6NqZ2IdUwJ4frIIM03buzBc4IsQ8i2bhB0J8rhw5K0NvqhFKKaK0GZrrl1mG531kaZufKe3M39Vi11x8DlDf7DOWXe5HUX7w9HFCrgngpN4q5Nz2pCkOPPu1S-y_YNe4Yk1Br4UrHEigHJupRNR8TxL50PbeLuVLzxm6Ibnm126YN_eqoVIeeX-UlCvtwi1DlDVnC1JwekyakZzvrrLaQWcu2qUImFRMyNTmiPHuOknGyVdgkk_ltANCen39VYbW5cWLhICpBY6Z1pED_yVDr20rkfBsU_44VZvvBOuEQW-6cO0TIpIwpFM8Zcvhaum0-BsLFKEzkVqMiIla2ZywboZG57hUkCGnDOe5CbRG-oCPGTcivaXUOpRnS70sWBwd-gn4slHeJ5AlmvLiBWvhYiScNlWO0KpNWXOkLTLFD80bReiJVZdzPNRX0i06K5SywFEgBYO3Uw7uzt8SLC8Lqa4S2GEA9HZ-3cfFahiE7BEOSl3PCF786bzxMIIffIkoF6KF2vraRijnsHdQdbtluHybICVefR2x-1BHbcLiUYd6UzYcCzTElx_S2MAt1pcq-xYGwMXZMo1qQkLWnawT_dmK7kKriLPSFLpdaqtwmMueUWaftpnlRcQGJKfQRSF_VnBKgi3JCmbtqXVkZeAcHPGjQ2DKOI4h-LzVkyhemcClwfM_5YQzM2hLGtS1jgUcO5Yn_laO4QSVR1zdwVW2ORAl7MnDb_YZmgx2z6JKbkU8FPUiscZ2jKFhGOkWSUl_hgwui4_qg1bHcAypnzR7RphLm34e0LmuuWXamfq2VNlv0PVJzeuBkPN2FWf9lxrNIfE9BvnDjoahWxhOAb7ivuYrxKyN5JtzseAXkrZiVCaBV2OFk9OoputydCDgmQZwx22YwsY0BM_S2fq2loh23vO4lCpsGM6K4ZsEBMOHnWucsgxuVKE3nrdOih93rJa6Z5oizx0sqmhjwD1qSZIPtFoJN2eLbcRC2WkOovO_bcrxZgXl7UFWhfAL80ryJ5wx7HAXjfavbANth-Y741imsHlTXhWtYTFXMIbUp3ADgOHZkGLLJWoxJnSDi_M9mwoEpmhAighZ6I3RSU2d2R08IiKJKgLioEyv2IxVAxF3tOxEPomNr94KzQ8g3Ast-AmTASy2k5y4rLcuqPkoTa-x5hgIHlrcwGlLeMzmZsEVSiKlddma7F1XKgHXkCU465lGc1jE1bQjt9HtoePOg8LrxyDPGu6Jkwg510OpAVMVA98tK4Tp3qMQXrYiAHmuoCm2YA_QZTDT13lovbGpUyzGtoMfqoHOdKX5sCtQlf02p1IFf6nPmc-nFXiFL51Qh56A5Th3LQvn6VdkkNZVZiTfAIFTCx5nM_kpHJ66jDfy5LrqTZmq6oXhtj9dSPR5ScPezWs4GGQVIo8FBTR65PdycFs-0pQHpexvzOqTqDeJM8Z_pQguM3JtlkdeeDlHRdZwEFAqjUR3f9p-gmjpGTXychKFuAgqpQE1PGsXKoK-IY5OFYh5FjTjlRYF2Eg8iSR3_4",
  "id": "rs_0e783dccab644782016ab4594797b487d0ba6635adc5c3bfe5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The bowl stayed fixed beside the fingers during the test lift, so the thin rim is held. I’ll raise it clear of the other bowls before moving it over the middle bowl.\"}",
  "call_id": "call_6SiNzzO2JhVya3ClJzJzB3CQ",
  "id": "fc_0e783dccab644782016ab4594d666887d095486a428fc12554",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6SiNzzO2JhVya3ClJzJzB3CQ",
  "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]: [-0.4957, 1.425, 1.0611, -0.4751, -0.4171, -0.3412, 0.0373, -0.0219, 0.8146, 0.643, -0.4744, -0.0166, -0.0494, 0.9966]\nstate[eef_state]: left_x=0.3759 left_y=-0.1179 left_z=0.1699 left_yaw=0.0224 left_pitch=-0.1788 left_roll=0.08 left_gripper=0.0373 right_x=0.2877 right_y=0.0002 right_z=0.173 right_yaw=0.0083 right_pitch=-0.076 right_roll=-0.0106 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -7.9111, 9.0735, 1.453, -0.2613, 0.0464, 1.0037, -0.2256, -0.9504, 7.159, 1.6874, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4a038db23de61516fe0d6db62d7755775449388e40996a2933539924732f344",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ac66500e4ed831342cfff3008109402d3d3fc86bfcbb0dd54bbca8dfaece725",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:085c6fcd2e29a7da8c8b335b9488466e787a18cbddf69f66ca3d27df47d238a1",
      "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]: [-0.498, 1.6432, 0.6621, 0.1692, -0.4118, -0.3302, 0.6039, -0.0216, 0.812, 0.6437, -0.4732, -0.0166, -0.0463, 0.9966]\nstate[eef_state]: left_x=0.3736 left_y=-0.1186 left_z=0.0369 left_yaw=0.0076 left_pitch=-0.1576 left_roll=0.0714 left_gripper=0.6039 right_x=0.2878 right_y=0.0003 right_z=0.1742 right_yaw=0.007 right_pitch=-0.0714 right_roll=-0.0082 right_gripper=0.9966\nstate[joint_eff]: [0.335, -7.8291, 7.5692, 1.536, -0.0415, 0.105, -0.0611, -0.0615, -1.347, 7.0496, 1.7021, -0.0757, -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]: [-0.4957, 1.5116, 0.7841, -0.0937, -0.4202, -0.3344, 0.0373, -0.0219, 0.812, 0.6434, -0.4747, -0.0166, -0.0494, 0.9966]\nstate[eef_state]: left_x=0.3746 left_y=-0.1166 left_z=0.0882 left_yaw=0.0195 left_pitch=-0.1625 left_roll=0.0782 left_gripper=0.0373 right_x=0.2875 right_y=0.0002 right_z=0.1738 right_yaw=0.0083 right_pitch=-0.0733 right_roll=-0.0106 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -7.665, 8.6496, 1.4286, -0.2515, 0.0611, 1.0037, -0.0752, -1.2923, 7.1453, 1.6532, -0.0317, -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]: [-0.4957, 1.425, 1.0611, -0.4751, -0.4171, -0.3412, 0.0373, -0.0219, 0.8146, 0.643, -0.4744, -0.0166, -0.0494, 0.9966]\nstate[eef_state]: left_x=0.3759 left_y=-0.1179 left_z=0.1699 left_yaw=0.0224 left_pitch=-0.1788 left_roll=0.08 left_gripper=0.0373 right_x=0.2877 right_y=0.0002 right_z=0.173 right_yaw=0.0083 right_pitch=-0.076 right_roll=-0.0106 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -7.9111, 9.0735, 1.453, -0.2613, 0.0464, 1.0037, -0.2256, -0.9504, 7.159, 1.6874, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4a038db23de61516fe0d6db62d7755775449388e40996a2933539924732f344",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ac66500e4ed831342cfff3008109402d3d3fc86bfcbb0dd54bbca8dfaece725",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:085c6fcd2e29a7da8c8b335b9488466e787a18cbddf69f66ca3d27df47d238a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFlUA9sdJ7lloRPqcRfHkc-0l_Ldv8Dg-VrGcHBp8_bIjaJuKjspJtJGLTbOVLj3P7NRUM_FZtA5CQ6pctA3m2m3Por5h6RbhNWy-XV2a36eWE8VN8ILVO9QXW07RDqjjwk8bPplBYVYWxUD0jmM1-2BqwJhRshQARZ2tsXo0HsbF0pW8Ip9ZL091nZ0cF8UVrSfQLdxL9anYF8rjNMkIdoTa3XAV0ZVAY3G8OcjzZ0xDuKAefjv4GzGm6QjOH0dcVt6fFTrVwiVjhqbGR1jvbcPGyWhvdYe2usoFUYq8De0Epc9H23tqRvjUWpgBuZZtpd5i5YZErtmsmwJBW1mKJkdb87FLGMpyLpaTC83rN27xBUUcmVWITRXTxOoXkztBw62UdV2Kcsrf4Tm2-mJWw3aSqRv3MQ5JBrutkYfO5aLsCbFAthP_npzd5y2y2VQw4huipn7QHIJ1EELvVZlHib0phuVZ3L1B2nsRu7k6jHzBvcOeWlGNFqVieunXHfSSh84KJ46o7OG0xPEa506m89trEjy3PrcitQOMg9sSXOnlkoW8mWJbJ0cPBnFgUqpYHqr5pIm95LL7hwfGWVN44tJ1SukNk0X5e2zwEbPVdD7bvH1VyCAFsYcnzd0LrEPzhI79or_JpRwLH-6leg9uAxkOH3S1_m4HEj7MAYPu6f-WaPmoZKHmPmnLmuf6D3DsisFgUetim8CtF1Ebfq38r3_arjsXfrG_Z-OpZqQKAkQiEahgLFck0qNohc5nRtpsR62SrLtPJzh-aWrubJE4KpUGCaMQGMuQUCcUWoPNQIo38a22CX2oBfc2XSVDwDyPLPVVacD08avmW4a8ZedVsKl5BB1xQmG46zD1oqah5MFoMCrlavPQFkkKJRgvDFRs7e24F5qq1Kh_gFsivKxnwSi5Rx86cHA9ozK3um7Br4PBodQTXqWC1r8wSYwsnELFx3MwEFMOQSbz2fqi__VFCbJ3oZY8EX_YN5AtKqRelCUeojeRK-q9iBz_YAxh6d2hPLbJVRjO444Z30lW92NAltHYuDVeGsPjg58bFhZ5M19kaRY9rqMJTqZt3kV-uBt3sG5EHJ02SPdul0xHi3s_YdgWFtNTuBk_J6K3UubA7LQh-6iU8XGestenZffg3mfaJn5bxrxbpnTX-5B85XyzPn0glz71yBCXagvPTsoXuQOKSd630r0evA1WvM5H7Y04022jkKVV7xYmLQgt6PjGfnS9Qgp_F1Nn-vILfLWxdLMYAcn1rqCY6B93SOpRuciTPxv_98kTDLBW2M_OWEy_-PeB1uOVjQAGuIeN2fiJ-DULODOtFh09xKVX8l9fRV0nhFgFEBtMxSk86a522Cpn-dGxyVg3UL4cCMAYbkj5RlgB1KsnOHu2g2aXLqbulV-CDkxZLpRC6sysZjI03hRbAkykP1fbeFyQ8z1klxGo9gT04O1YoOFakaA2ldU-LenPamnO3ZK1rbOU2y9IAyvQ2yGitX0GlhraKDxJyP8bakiogILji28cFT_4yslrAkAfEUTXBbhL1V7buLO1oc_I_drUlF16mBsxx2oM4MlUckUsNWLVBwmfao_DhOq_uD2H9zqSC7Nue7dytVnz_qt-zZncN9weX0eidXUrpBzmYxALDzRbOtWrfr1eeI7t5yCRrKGkD1I_wY0h6_pNctK8d-VpyaRXkOJo8cKxNK32MnKKQyYed_eGOjK82A8OW_eZxNEXbJQxGyAwW0lPoorOxNgkhgP0nvpP09ruHqbOsRtPeoNVGvJJZQuu3n21Kxc3fntHKOWyd-FllqKns8CdHdP8Fs9BGreNWGeWJ7H0Ujz0elpzUzl5tJ_-AYYxUQuU_Ah7v9SOzjjzmYgV6Hh7B2UdyZ2cal1WydBw1mkJ29d5DltwlZXOdieiBghXk3wz1BYD6VUZHeInZPATGCmhMopqsQcRC-0zgf9sLo0v59mireYzQR7UOMBBGAV8f8eJFATtc1m3umH6eneFwPomYv0GgmNMU6wm9l2QrhNdSn-Td4=",
  "id": "rs_0e783dccab644782016ab45950a30087d0b2633d9e3f2ef3dc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.265,\"left_z\":0.19},\"note\":\"The lifted bowl is clear of the table. I’ll move it sideways toward the middle bowl while keeping the same front-to-back position.\"}",
  "call_id": "call_gYVis7eUyPIZSCfzlysj9rTU",
  "id": "fc_0e783dccab644782016ab459537e5087d095bf38a24c10feb5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gYVis7eUyPIZSCfzlysj9rTU",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8253, 1.8133, 1.5433, -0.7448, -0.5934, -0.6418, 0.039, -0.0216, 0.8173, 0.6411, -0.4751, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.3803 left_y=-0.2611 left_z=0.1769 left_yaw=0.0089 left_pitch=-0.2124 left_roll=0.0839 left_gripper=0.039 right_x=0.2875 right_y=0.0003 right_z=0.1712 right_yaw=0.0089 right_pitch=-0.0813 right_roll=-0.0107 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -9.1282, 9.265, 1.0379, -0.5104, 0.0855, 0.9304, -0.0752, -1.5385, 7.1043, 1.6435, -0.0659, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5642c73d19ca524ac41871db4581236ddac0b5cf5e0c820772c49efa3132268",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d10343ac124736699ce45a9249d160eba7641434de04da9eec27c8f1ee929e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4373b81e69569efa1b3c443ba69ffb9aa5bd05aa3fd0c53d95aedb2b5136560",
      "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]: [-0.4957, 1.6531, 0.6666, 0.1734, -0.421, -0.3275, 0.0373, -0.0219, 0.812, 0.6434, -0.4747, -0.0166, -0.049, 0.9966]\nstate[eef_state]: left_x=0.3755 left_y=-0.1169 left_z=0.036 left_yaw=0.0157 left_pitch=-0.1555 left_roll=0.0799 left_gripper=0.0373 right_x=0.2875 right_y=0.0002 right_z=0.1738 right_yaw=0.0081 right_pitch=-0.0733 right_roll=-0.0103 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -7.2, 5.053, 1.409, -0.0366, -0.0659, 0.9011, 0.1162, -1.2376, 7.0222, 1.6581, -0.0171, -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]: [-0.4957, 1.425, 1.0611, -0.4751, -0.4171, -0.3412, 0.0373, -0.0219, 0.8146, 0.643, -0.4744, -0.0166, -0.0494, 0.9966]\nstate[eef_state]: left_x=0.3759 left_y=-0.1179 left_z=0.1699 left_yaw=0.0224 left_pitch=-0.1788 left_roll=0.08 left_gripper=0.0373 right_x=0.2877 right_y=0.0002 right_z=0.173 right_yaw=0.0083 right_pitch=-0.076 right_roll=-0.0106 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -7.9111, 9.0735, 1.453, -0.2613, 0.0464, 1.0037, -0.2256, -0.9504, 7.159, 1.6874, -0.0366, -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]: [-0.8253, 1.8133, 1.5433, -0.7448, -0.5934, -0.6418, 0.039, -0.0216, 0.8173, 0.6411, -0.4751, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.3803 left_y=-0.2611 left_z=0.1769 left_yaw=0.0089 left_pitch=-0.2124 left_roll=0.0839 left_gripper=0.039 right_x=0.2875 right_y=0.0003 right_z=0.1712 right_yaw=0.0089 right_pitch=-0.0813 right_roll=-0.0107 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -9.1282, 9.265, 1.0379, -0.5104, 0.0855, 0.9304, -0.0752, -1.5385, 7.1043, 1.6435, -0.0659, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5642c73d19ca524ac41871db4581236ddac0b5cf5e0c820772c49efa3132268",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d10343ac124736699ce45a9249d160eba7641434de04da9eec27c8f1ee929e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4373b81e69569efa1b3c443ba69ffb9aa5bd05aa3fd0c53d95aedb2b5136560",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0e783dccab644782016ab45956d03c87d0a2d7cc01612a3a56",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.335,\"left_z\":0.13},\"note\":\"The wrist view shows the held bowl still to the left of the middle bowl. I’ll shift it farther across and lower to just above the receiving rim for a closer alignment check.\"}",
  "call_id": "call_uZrJGGGJfCWrVhvLZ4m1p4HA",
  "id": "fc_0e783dccab644782016ab4595dbdec87d0be77b35f8efa1bc4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uZrJGGGJfCWrVhvLZ4m1p4HA",
  "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]: [-0.9241, 2.0579, 1.6909, -0.7521, -0.6151, -0.7494, 0.039, -0.0219, 0.8177, 0.6411, -0.4751, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.3778 left_y=-0.3253 left_z=0.1207 left_yaw=0.0025 left_pitch=-0.2581 left_roll=0.1024 left_gripper=0.039 right_x=0.2875 right_y=0.0002 right_z=0.1711 right_yaw=0.0085 right_pitch=-0.0817 right_roll=-0.0107 right_gripper=0.9966\nstate[joint_eff]: [-0.6359, -10.5641, 8.7863, 1.0623, -0.4957, 0.0757, 0.9548, -0.212, -1.3197, 6.9949, 1.6679, -0.0562, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98b64f94b3526c4e7647333061acbbaf4ac4f69347162a11d8c0aa976167c25b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1c3748cd5da4b7afe3b6a88c186ddb079fd9d9bbf4a1f9b74e6a766194e3cef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b51bafb5ec7b257fea49925cac7d9a0667a275f752bb1d1ec38ed269d1eb5070",
      "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]: [-0.4957, 1.5116, 0.7841, -0.0937, -0.4202, -0.3344, 0.0373, -0.0219, 0.812, 0.6434, -0.4747, -0.0166, -0.0494, 0.9966]\nstate[eef_state]: left_x=0.3746 left_y=-0.1166 left_z=0.0882 left_yaw=0.0195 left_pitch=-0.1625 left_roll=0.0782 left_gripper=0.0373 right_x=0.2875 right_y=0.0002 right_z=0.1738 right_yaw=0.0083 right_pitch=-0.0733 right_roll=-0.0106 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -7.665, 8.6496, 1.4286, -0.2515, 0.0611, 1.0037, -0.0752, -1.2923, 7.1453, 1.6532, -0.0317, -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]: [-0.8253, 1.8133, 1.5433, -0.7448, -0.5934, -0.6418, 0.039, -0.0216, 0.8173, 0.6411, -0.4751, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.3803 left_y=-0.2611 left_z=0.1769 left_yaw=0.0089 left_pitch=-0.2124 left_roll=0.0839 left_gripper=0.039 right_x=0.2875 right_y=0.0003 right_z=0.1712 right_yaw=0.0089 right_pitch=-0.0813 right_roll=-0.0107 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -9.1282, 9.265, 1.0379, -0.5104, 0.0855, 0.9304, -0.0752, -1.5385, 7.1043, 1.6435, -0.0659, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9241, 2.0579, 1.6909, -0.7521, -0.6151, -0.7494, 0.039, -0.0219, 0.8177, 0.6411, -0.4751, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.3778 left_y=-0.3253 left_z=0.1207 left_yaw=0.0025 left_pitch=-0.2581 left_roll=0.1024 left_gripper=0.039 right_x=0.2875 right_y=0.0002 right_z=0.1711 right_yaw=0.0085 right_pitch=-0.0817 right_roll=-0.0107 right_gripper=0.9966\nstate[joint_eff]: [-0.6359, -10.5641, 8.7863, 1.0623, -0.4957, 0.0757, 0.9548, -0.212, -1.3197, 6.9949, 1.6679, -0.0562, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98b64f94b3526c4e7647333061acbbaf4ac4f69347162a11d8c0aa976167c25b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1c3748cd5da4b7afe3b6a88c186ddb079fd9d9bbf4a1f9b74e6a766194e3cef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b51bafb5ec7b257fea49925cac7d9a0667a275f752bb1d1ec38ed269d1eb5070",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFlnkvIVOKZhFxiiNWRuvrxR2fNFaIVLx9M0LQX3cdZGjxkWTVokz0HhunLd_KihOtGInmY6fDCC25TwW-Gb4KQYbn_bhbXdIfeLlpkDcXdAxSpFZYfWUKQFBV1OIlzUgUPnKIXV-uetimComwd8SoQlt46_uUxXYzaV0zZ0C2d_jIpQXkCBZtZTDx_6SzvLaDXP3-Ng2G0T7uyHWijGrUAv_xC8NSSTkKJx4pwKBm3QvGFm8CiJBDCMrO7j1Z9ubOt4YQaZf6cooTX6O-xAnlr96wbFI2oI44zii4r9BGw-mXC9brLxoZyh39pa5PYp-xO_7QQtNGl_NwfJEU2wcT7OoY7rb8PsNxqm8any6kKTbE6wUi_JZ4wR0gc6X0xEnYHxZ9n6OCGD4DU_IuaSvwnMZkqXHM2oNzPiaVTIDis8OSMeJktnSmM7vbv-Qhfr6eUW4jXCNFkeyKj3axs2b1AoxdPYwaC5nM_2I0zcMWn7_HShKjyxb45pcApBhmAo3lTlfrWiGLRN7Eem9V8N90k9sVyk379la4uqV3PijBPlz8SnpoeFpwuWyJu8Vdgc9oCZb2a1U_8MdGwtG6nAy3TINhZNKvItuEoVGeGMdMApyuHuHAqMUAIXjP_eetTfgkJsQ5LJ5_GFRP1wwTCgcuDvbGiEQj127vHFs31-SsIQ043_NHW3tm85cMqay5CIp3EW2kxjqDjhQdm4teKvWOxcJP94iatamNQA1bsms3EHjEKMvFJiC_QIAxyiZg9SvBarsN1dIPCjZpfju5pWsP3tm_RzTPK25SQrBrTydy_TKx7uIjR2UzDLeDr99tsYoTZUc-_gafpg3KKL3GUErD9SoPT0rfLHRi3BEr9n-6Yz72ggBhwXjsrz3r9yqwRIy-Phkb7vFfmJoenHqpYsmpViXvfFa9ZdtuFw6crKqR9pOTH_UiqCcl_693BMJAC3-PTcxqmPUonIoFxqR4mIxBKhu_mO5j7rQPXPaFkOGo60yGUywVRZpQ5CVTzyvKOkdeRProcGtWfaxdX9WfCogCN60UWv41hjlxrEU2-6hfup9vYeZDhJyvTS5EJGroWCIA8OhjxTq6ep7oFhd6QGhf3XE4SVg3L3jegQGC6dmZpWbxbIjv488hlTiGcgfYjqYIfTSbTRfEB3BHZIsq53yrtIxY6X7TcvLB818dsMyfem6ngV-RkDM2U3UKOj45pbiiqvUbrxY9vbG2Hkpb6l_FkfWu1TaIc6fuQ_LQKUqakOZvMCYpAV0RZ_wsTH_vJf-nIW2rG23fBVeFdqhr9KIRjE8FwspRE4H6Z_Wdp_V4Bihn7nqYxm5l2GzNpZIZE8oeCuYCYAVvmgLbgrOixD7825zknePzXD-fGOx3rBjt_fYPVTydFU1GCc_bCKuu9vnLxfoKvJyq_kVq9mxF1p1IribpnEjYsp0qdve16VS_rZwA6DQy5KGwdqFTYLmHMBwADOS-RwhoinHYIiKgPb08eBwVxWj7CnqcCNzcuRiRmLZEOFy0EI7_UL5We9qK-GO1Xs4BHDkau77hMys_OhJlaQPxH8fuW9aU2z11SWSIk8VNgvew0jC-SZiBZtRivvpGdE-IcjzlPnpj53kEBITgpnr60cZGoyvSLPYI-Ui4dzgIJ5sOA13i6spqKlMVWnC1OL1bRPIV7aZIs4qPKgT4jZTSerJFWISr4W3hYEMS0e9w8italoDn6nhyK8RD7BaTT6CUrUYRqJqBK4gGFHr4AXyl1RdWnXGwTlKAsY75K0dTOXz0pCN-agC06T45HgI51_1eM-eSY6m3X2UqE9MjSboIpL_mUTmccZdzhxaLE6FH1ncqGlif9VhYydiXrP8bdb4o42VC41EwEOo3a5e6X_Bn_ug7q5qdyulbrfy2xV0vo6vbaNN2XWmOkWSGPtFRoZVPyPHnVnp8ixCjHBaQV9IEFdX_VjnbuScYPMS-hqH_b37vi76xj79jAUcvmGPQKpB4cf9--9ihLvcJGtGEL1r_cdcDj73PE3oHjSRlIKOXRmD7BvKA0LMUbsAsxrSDG9PJRlH5QRoJRZy-GKeoca9rd4D_AC51GWLXjGioOXLsnxadAJOrgbUsE_CWaU0Ffw53Ndtgcn1kYkl6lnTsD_GDJT4sddoQsS1VLHkF6gNMo5F0pj3g0fZLNKQ3K7VI-MH0f17HzCO4Om-2dcmJDW_7BhrgI5Rrk5cJMYlQlQ1IJVIEGtsOCVoBFXD90o77j0m2jL0rP3R65bcc_SkpE-Au5dDBERWNZX2GjUIq9mUxqZYtvHBEkgu03jNYgeKmZ4UI5bgPt2-3IoXAXjE_BroKPIpP5XQmjfB7xS91JnyOHd25juxpCJk57pJI00akytAscsxIROebaJAgixSYlJCXYIq6feGd9Qdn5Vqnj9nP4g4NJpcKhywZigejWJqquGF_pGzEHQB3rC14lZ1r4za4tHaytXODs0ERiMAMp1lvHCu8QVayS0HCe_bXfRlTINpFs6CNr0lSQkpUeg0yHRtXIvsmiYGsY5s9wJSIAbdEpyVfivGe3elYZPSv6McX2BJduyw438nanfhSWoIZoyE13Us_mCJ1iS0lD84uxSEGrtaZFCNSmyBog4uQ-QXPdVkkEZrsyvgpKZ51193VQKfqPJ7HAnjyGux9ym7H-BMtINZp-ctfmePXV_USy2Q8CSTiyMy299OwvZP3HJzH5Y1vvOXTASMGDarwqRHcYk4l3iIQM2C3k2XcMunOpaqIq0AfEPR5UlUs07LA5qLGjQ0lRqFF-pO0blwTS-8onNyu1hqmKUg1Y5lJAKjrplohPjE7AfIWJWV9pnCA2Zbh6oPa4CpOzwJc4hFk5tJJcFjGV4NQDeDW16-xfCItHAREcjBNn7-3SGjhNr4IHqhWE32Z9GhBi0JC5TNq_NzhmrCtZ2HLZNmINRUUDAPYOyZ4642rgR7xnKsFm9Y-kvgROowKC_Nduz50YI2f6ROTMGQWxbHaio8cmyJngbfTYQvacNoVO6A2Iqyjw7L4RO3c60l0bKqrLSHx0zYU0FiQrA-JB8PvmleTPeT_78tJ6SbQs4n7WXSvmpJIEXd2Sn_gw1lTZ1OCCI7P_mO7mwuI9gorms1kzZ5N-1n87WtEv670EbG19I4xddX6Tl70jErDRlFN97w9OGiNEZLIiD7IJVtMs=",
  "id": "rs_0e783dccab644782016ab4596081a087d09a5512250c114f8f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.385,\"left_z\":0.125},\"note\":\"The two rims now overlap in the wrist view, but the receiving bowl is still offset sideways. I’ll make one smaller lateral correction before lowering the held bowl into it.\"}",
  "call_id": "call_iXUqFIni4A5M7cG1kZc2eB9m",
  "id": "fc_0e783dccab644782016ab4596660e087d0aed4710e0aea4a69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iXUqFIni4A5M7cG1kZc2eB9m",
  "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]: [-0.9943, 2.2715, 2.0258, -0.9314, -0.6266, -0.836, 0.0399, -0.0219, 0.8173, 0.6407, -0.4751, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.3756 left_y=-0.381 left_z=0.1157 left_yaw=-0.0 left_pitch=-0.2775 left_roll=0.0979 left_gripper=0.0399 right_x=0.2874 right_y=0.0002 right_z=0.1711 right_yaw=0.0085 right_pitch=-0.0817 right_roll=-0.0107 right_gripper=0.9966\nstate[joint_eff]: [-0.3897, -12.588, 8.6632, 0.8425, -0.525, 0.188, 0.8962, -0.0342, -1.306, 6.9949, 1.6728, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44dc1b136e8371c01cccc312ba5963ba951c120f1be144bbd79bcaa60d8db789",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce20170eba4eb21fcaf9a15bd2c25a3f90d6dde8683e10627d7a1b7073ddf653",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c981bcacb75e9d2d8ac5c26e8d3d9e2780f6d5a4ee648f990241ddac8e16372c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4957, 1.425, 1.0611, -0.4751, -0.4171, -0.3412, 0.0373, -0.0219, 0.8146, 0.643, -0.4744, -0.0166, -0.0494, 0.9966]\nstate[eef_state]: left_x=0.3759 left_y=-0.1179 left_z=0.1699 left_yaw=0.0224 left_pitch=-0.1788 left_roll=0.08 left_gripper=0.0373 right_x=0.2877 right_y=0.0002 right_z=0.173 right_yaw=0.0083 right_pitch=-0.076 right_roll=-0.0106 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -7.9111, 9.0735, 1.453, -0.2613, 0.0464, 1.0037, -0.2256, -0.9504, 7.159, 1.6874, -0.0366, -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]: [-0.9241, 2.0579, 1.6909, -0.7521, -0.6151, -0.7494, 0.039, -0.0219, 0.8177, 0.6411, -0.4751, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.3778 left_y=-0.3253 left_z=0.1207 left_yaw=0.0025 left_pitch=-0.2581 left_roll=0.1024 left_gripper=0.039 right_x=0.2875 right_y=0.0002 right_z=0.1711 right_yaw=0.0085 right_pitch=-0.0817 right_roll=-0.0107 right_gripper=0.9966\nstate[joint_eff]: [-0.6359, -10.5641, 8.7863, 1.0623, -0.4957, 0.0757, 0.9548, -0.212, -1.3197, 6.9949, 1.6679, -0.0562, -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]: [-0.9943, 2.2715, 2.0258, -0.9314, -0.6266, -0.836, 0.0399, -0.0219, 0.8173, 0.6407, -0.4751, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.3756 left_y=-0.381 left_z=0.1157 left_yaw=-0.0 left_pitch=-0.2775 left_roll=0.0979 left_gripper=0.0399 right_x=0.2874 right_y=0.0002 right_z=0.1711 right_yaw=0.0085 right_pitch=-0.0817 right_roll=-0.0107 right_gripper=0.9966\nstate[joint_eff]: [-0.3897, -12.588, 8.6632, 0.8425, -0.525, 0.188, 0.8962, -0.0342, -1.306, 6.9949, 1.6728, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44dc1b136e8371c01cccc312ba5963ba951c120f1be144bbd79bcaa60d8db789",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce20170eba4eb21fcaf9a15bd2c25a3f90d6dde8683e10627d7a1b7073ddf653",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c981bcacb75e9d2d8ac5c26e8d3d9e2780f6d5a4ee648f990241ddac8e16372c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFlryF5YvZjCv16jPsUZRrjbggqvC2kJr4tD8CPHWJlhvITKSar9shSwbddWM2lBPsXlWiXzSOlXW7pBKzpwX32SkeVLvWzT6e1LN5gYIJeWXwnRGdZj80N2bHEEhIpos-or0l_zFr3_ZJA3qLthggPvyqyG6MfXHBh0OAuILPRuJB38k0FnWyhCXBT761-Cjg3O5jcbxk9xuw__lXSRDthCIqoRgOg72coV27X4qzY3NeUX-J4ZCedU_J8jzShpnZ9jEuTsgfRe8dkICvZ5KL9ws3l_qr_Ws9rECjoCTVJ8hbod8aWFp6EoSF3SLqrwHYCVZkgrR0evtYAJTd5fqNraOwLcV-Qj0oTarKL-9Djw3Y0Yc7ejYWOBVThMj016d4fJaWey6kaWOMKUtt3g2b6U3neiulzr6cY45Cv0Y88SMayGcFNjyLpbDp9H98nL7mXJctJXH49YZZAhx5Pp_Ft6c3zUwrFNjBTdZOQsTGqc8boX8QTWyY1VF0hypSG5vZywd6kxiXG1ALNsKMfIgYAoc8x0kTCHsKvZaxIca6eE0xF-dIirv0egWL805mE1hL48JLyOxwHe7rgBFwbP3anAfYUHivdAmPTeZxODD3RTAi1kzw2Sl2iSL_o92OxXhkP_Wptjf4-GFmUVLdGpbe2BiLhqy41Q618lUtkFVWxXZHlc1Kf8FprmDaTC9R5QYCYyI11NNYUB0TKgzyCiiVf3m-gBaat-XBuX5c9tqN_TJjgRUq1kwVWNW81Q1_OzYZxh24ABql3iGN11ANlla4Ap6qVQv86srNGCHfKb43szMYI_-PmhTKgRDWsNSn5nIBlBLxakf9_JpuAGXxnZJ5Nkp4dVVHnG6rUd2sfyjRwDMhX8ImfJh1fMN6i3hDKaK0FM8Wkto7qFDasrn_GDB8rNmJZwt3z8dJ6pSuUcjh6oQm6tj-Vtgqc48sbbu8jsePI3qBpGRccOvooTqiKAkj21eAW0Oth-iWnwMONiXl9WZOleAalcd3Hxd_8PV-3_cc-6omWJfg2wQdNi1LSAj67EuS-pFGbtzel6PzIVKyBwUVu8l7cB0H3krKG0hKQ4WcuOOxvU_nlliUmF9bdWiiIhaEOYKmejlGFpY29pb1XT7N9NXpr1EfqJL7NUPOd_WCsed52fT8SwD9D2DrFQQ674-Htdo3p2qi_3GGPsibTeykLsSNqNwKyetL86sVZwWOg9DDOGeD9b-sbsHJKo1G96EuFoGdCg6gK_KtRK74L88LVv_LX8FPMNo3i4McbbWQJiRH96y8CgVLexrBacBdEa7Q76z-WKIyPQnTwngkdsjzJ7nPQeils0PQsBBoxHJsFLG3O59ihx3syTRPBWGMkMnTUS2DeczPLzTHVp86qn4vH5PMPUo1RECCFGUN40uz3STHTtXgUSmGb2YSoYJ5f0sUFwebTZE4CnZJdnrzGXRwjFk9Mv2HPPyy3A8dmhJaZln1BMzLNunRBP7r6zFYNDueF2d2m5DYOn_u6j1ipz3FAdvRQN472KFDxvzErliCEkcH_Eu9_cKN-gOKbGlgb5IqVElQFI8arHhM_Lfp1gEONqohCXsarm4IvG4lCMjwccHRrUxfmimjU6bY6BnxZlIgmEnZvldV_Fl32heBqusJCLA8TkbnK3Ob_WJDW1zX3BeQBwxhLpcjIfSJk23K0MsEhnscKluZEhLOEYzfhKdZM=",
  "id": "rs_0e783dccab644782016ab45968e80887d0ad8dc4683ce26baf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.075},\"note\":\"The bowl rims appear closely aligned now. I’ll lower slowly so the held bowl can settle inside the middle bowl.\"}",
  "call_id": "call_BFn8d9QUbYfhamJdM8FZbel9",
  "id": "fc_0e783dccab644782016ab4596acd5c87d0b5fcb59efa839ac1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BFn8d9QUbYfhamJdM8FZbel9",
  "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]: [-0.9989, 2.2787, 1.9087, -0.8459, -0.6243, -0.8349, 0.0433, -0.0219, 0.823, 0.6395, -0.4862, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.369 left_y=-0.3759 left_z=0.0799 left_yaw=0.0033 left_pitch=-0.3005 left_roll=0.1316 left_gripper=0.0433 right_x=0.2859 right_y=0.0002 right_z=0.1669 right_yaw=0.0086 right_pitch=-0.0996 right_roll=-0.0101 right_gripper=0.9966\nstate[joint_eff]: [0.0205, -12.1915, 6.7761, 1.1697, -0.4469, -0.0024, 0.6813, -0.0889, -1.7846, 7.0906, 1.7656, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f10d965620318df5ac5c5c7e78cd8b40e9b12c35c0f741f990ffd9b080ccc1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87f2da90601a7f533290e3ea7f9d7567508b903ba705c03fca25d7d7f41ba74d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79c247dea55dd7e27a51939e4d78fdfb9acda7949293548e3d74280d193c4a12",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8253, 1.8133, 1.5433, -0.7448, -0.5934, -0.6418, 0.039, -0.0216, 0.8173, 0.6411, -0.4751, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.3803 left_y=-0.2611 left_z=0.1769 left_yaw=0.0089 left_pitch=-0.2124 left_roll=0.0839 left_gripper=0.039 right_x=0.2875 right_y=0.0003 right_z=0.1712 right_yaw=0.0089 right_pitch=-0.0813 right_roll=-0.0107 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -9.1282, 9.265, 1.0379, -0.5104, 0.0855, 0.9304, -0.0752, -1.5385, 7.1043, 1.6435, -0.0659, -0.0366, -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]: [-0.9943, 2.2715, 2.0258, -0.9314, -0.6266, -0.836, 0.0399, -0.0219, 0.8173, 0.6407, -0.4751, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.3756 left_y=-0.381 left_z=0.1157 left_yaw=-0.0 left_pitch=-0.2775 left_roll=0.0979 left_gripper=0.0399 right_x=0.2874 right_y=0.0002 right_z=0.1711 right_yaw=0.0085 right_pitch=-0.0817 right_roll=-0.0107 right_gripper=0.9966\nstate[joint_eff]: [-0.3897, -12.588, 8.6632, 0.8425, -0.525, 0.188, 0.8962, -0.0342, -1.306, 6.9949, 1.6728, -0.0366, -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]: [-0.9989, 2.2787, 1.9087, -0.8459, -0.6243, -0.8349, 0.0433, -0.0219, 0.823, 0.6395, -0.4862, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.369 left_y=-0.3759 left_z=0.0799 left_yaw=0.0033 left_pitch=-0.3005 left_roll=0.1316 left_gripper=0.0433 right_x=0.2859 right_y=0.0002 right_z=0.1669 right_yaw=0.0086 right_pitch=-0.0996 right_roll=-0.0101 right_gripper=0.9966\nstate[joint_eff]: [0.0205, -12.1915, 6.7761, 1.1697, -0.4469, -0.0024, 0.6813, -0.0889, -1.7846, 7.0906, 1.7656, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f10d965620318df5ac5c5c7e78cd8b40e9b12c35c0f741f990ffd9b080ccc1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87f2da90601a7f533290e3ea7f9d7567508b903ba705c03fca25d7d7f41ba74d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79c247dea55dd7e27a51939e4d78fdfb9acda7949293548e3d74280d193c4a12",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFlzi4KkHoaifEs5VJK7JwMkJDvWeTDtUl3-O_WeuKJonB0aTzySAYalZ9_3mmCnqazqFqtypdp0ZxP-JeBPmLMRrJUy9WyZ9p-jpneHj0Uwo1dnbP8yy58llNhWzVRuEbXXwSSs3xwJlWzXZmqVp4zSZQappYOhrCeGOrV5M_mXsRFXOh2NDESViZZc4TwGGqPvus75DBYdivG0COpXteTn8-NhlB6v1ZWLD3TA2sa3YrpSX8W0gRwm6pefmmLYTar9DgTI5MJdH483G3QDO9Xw1TFcs0gbsdHlIEDJr9Ejl-00oPkSs-ZXUt0VByiedRaFVvbtHcBbHYtv08sj2axdoGlAXj_xssev6Nkre5CwlPaSu_PSicxjINBNcl6wyniPg_ChRlHP6dTQX92UVrWF50tuXVmiVdvui-Bk_ZFU7CRlGv2fQAl6XQiUMXJBvv-FGMHLkhn-qTNgJPBjH_ju0dGiFJkvUId9VBnqJwyJ9Yub5FYfefD_g7TXaGAWvPcq7hkZQyUc_VqFq-MCCllUhBtyusLGCN6dcnFEXFVhhAHc8jT0fG-6vcQhESkWBswf-edPdCw2SlztzAvh6ZX0p0Gegg3oI2rLbXDXbnkQHzh30uor5a5mMxd7UNWSFV5gZ8cq8IMNTDFXF2Cp0C5tSoyjPaNEUJXMBv3wSkfuhHLqqGhG7md2JK7a9RO2hnVKo5j6Bwq4dp97jt0_jZvTK8DUHZOHWS7WQAB_vADzYGRSCzofZ15QI25gU57qgV8eVoD38_9cky2-79tk7kLD7ZTa1PKK1TpksTECvgEvmFBQ72IOQMzytJ5YFF-bpFjAJL_Cv9_Kmvs_w6UY93ugFcNEf2Ov2Il5YM2h_gsYKdKSkh5ay5iBxLINhFES1nbMWsqK91juOlcFSe3sEwkILeYbkX32qxxY6WF6xtrx7xLHFWYCXSWCLMH4AlL5M08XFwUnFCKI0EfEWHwAN8fTZBrSEdfdGhr5xPlBTCmO5SMrDKKggEIUSgzm_gmB2ks2ENflKeKtEC8L7asEbajhxy1Q1Tai7C8l2Ag7HAc4QqKpVIPjQ2-Kqmb2pWh6S3E4sieLzSdnYYM3aVHkaXnLJOejsO2QIPlaiDyGoC5t6MCaoTIs3C4koDUZHpCIIbsWJQjVB0zvOVwldSshL-ThOOJzF0ypwoJzSwYl6hHFl-4jVjhsna-Ib9zmMDaB53HwIXLcISxMyUBJvizqqWtnvq3VuJIt6KRswX6SYP6_B7o7Jybv3MxLrg70zoY3eB7YrwiPEbfoeLabU-VMoLlUDCX3o1BUC1VRsN5_-Fbjhfaxhci6CoXGF2VFuJvfeWEbd3DJ2vajX_cUBeV_toOwNny6aWmy2_13JnA04uBiZd7srhmxku0agE5ANqhJVK0FRTJC2E5e6eZUuUp4Jf2RQZIA5m8n2nw8bLOsoCnixcnCaH5yto-smoBEkQLB9_0pP2qMpoIcdbjrq1tYLz6XD1c2vWa3EbOAkt8LcCWA4GFqNKlcjuShxB96mjaOYIoAIPiuG5LWH8SviIrj5kEzS0fGw1AKGzPSmFK8VBnWEC5ALEnd5KeTW_1G3QYeC7IAGpP5GO9NHYOURlk8sKhdJxixcjvKhgRDEdKSz-MWXI4y23enFsc4OB4WSiG3VCficyBv68wEm82gvFC1AuFZoQ4ZlFF57gJMaYoibdLaZ6t3X9NGSXwdUsD6l8RMn1qTiUP1SHiagCXN9Be9jfZDP35vsRc4xoei62tY21BjfvxLHIriEYs7xscZv3WOOOXa-AQu6mfnVyTlPUpP8tMwDbJOmbQcH9dI6G65XLqJkOw1wSO--j4oDQdOUkvIiHsU1L50kk3YSZmfMEuNCJ0ZtwgUuDmW0VIfi1ehgsusex1j_WFzvA7fScss49xvwDd58OjcvmtLBB6XGXfhFGODC9QERvkxtljUBdarGrikQqv5ZitRhuI71s6_sopXABDOpytljL3dbKVuci_TVpWWjqwvFfoaLzuUvxpPs8lxTx0MDOb9rh5iGGm2zDmlOlnuFidkND18K8eAFdJchvtjsGvKGrPQdaKdK3CVNrurVxRbPiQQbgpYXw-hXExNLMl7CJEQBGlAEK0khC9jab5_m5h-E1RNdwZ7ohwsqLsntHljypG13QsQpe4D3Rr9r8lVyZ7obmZLcWsSspm1JJWASjyETWqc7YZLAtjl1rL_ZTQNuvEJkSGrBEk1V-5tXW6mzOKtn4tEyHW1MvwGr-nY6GAhDalX07f67YXEuhyIVUuOKCB6TNCciYiht4US7Ty7W4n5U8bun7PaKXXU_KkzMtsVwUPtWqRxSj1HHvZGj4Cqd9mEVv9LYpbRi0prLoNMwlAe-bw2eA3C3DfH_coDDM778OSiO7CMcOgpCxwXWjGpF9qO-8lO7K9spiHyJyy4g23Lv4UTKDNwY3r4xBuHX2sQHS2nIsUr02QqOYOrYznvMl_V18VuK9Uwo0vlr8ACCQHbM0-bxziAMwwGC2mekbOPhaoU7YsfcNlLhPyXLWJNf2gjxXJusri5NUXKdye9qHTG4WX2XMtbN4RGc5QrlOG-QdnFAxVQwxFoK5QO-K1VJAptqDkKUNv4uvWxG7QsPuofrxmpzgxh5A-wV94mIHnIK96sxS9cbvt2o_XFJWIMP1EsOIu1uaAlCYufWSzJC7qPdLunhZRpEBwgj0gZsD7PYazlDS3WbjFFMsIx5cVhho8uqQtbgx5OdAbLZKzg-BpeFCh-4LgaKCmP69g88g==",
  "id": "rs_0e783dccab644782016ab4596cd73887d08b01b537e29be49d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.375,\"left_z\":0.075},\"note\":\"As the bowls came closer, the lower rim appeared slightly forward of the held bowl. I’ll make a small forward correction while keeping the bowl supported in the gripper.\"}",
  "call_id": "call_m2wMEoMcMKKI69GRERyFtSSp",
  "id": "fc_0e783dccab644782016ab45972212087d0b95a06ab60c883ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_m2wMEoMcMKKI69GRERyFtSSp",
  "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]: [-0.9565, 2.3352, 1.9884, -0.8417, -0.6094, -0.8078, 0.0434, -0.0219, 0.8234, 0.6395, -0.4942, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.3931 left_y=-0.3758 left_z=0.0764 left_yaw=0.0156 left_pitch=-0.2989 left_roll=0.1179 left_gripper=0.0434 right_x=0.2847 right_y=0.0003 right_z=0.1652 right_yaw=0.0086 right_pitch=-0.108 right_roll=-0.0099 right_gripper=0.9966\nstate[joint_eff]: [0.6496, -11.6855, 8.335, 0.8864, -0.2857, 0.3101, 0.6911, -0.1162, -1.306, 6.9265, 1.6972, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f583605171f67b530534c7da5541a937e99b8c4a12b359bfbaa3098daa08419",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddcc33df0e034a692ba89b6fafeff374d03721d1d48169728a1fd3b9dc4e452b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38af65cc907bbfe3ab5d6485ca48fbb6ceb3e6e09467e8cac7e6b934864a6f04",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9241, 2.0579, 1.6909, -0.7521, -0.6151, -0.7494, 0.039, -0.0219, 0.8177, 0.6411, -0.4751, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.3778 left_y=-0.3253 left_z=0.1207 left_yaw=0.0025 left_pitch=-0.2581 left_roll=0.1024 left_gripper=0.039 right_x=0.2875 right_y=0.0002 right_z=0.1711 right_yaw=0.0085 right_pitch=-0.0817 right_roll=-0.0107 right_gripper=0.9966\nstate[joint_eff]: [-0.6359, -10.5641, 8.7863, 1.0623, -0.4957, 0.0757, 0.9548, -0.212, -1.3197, 6.9949, 1.6679, -0.0562, -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]: [-0.9989, 2.2787, 1.9087, -0.8459, -0.6243, -0.8349, 0.0433, -0.0219, 0.823, 0.6395, -0.4862, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.369 left_y=-0.3759 left_z=0.0799 left_yaw=0.0033 left_pitch=-0.3005 left_roll=0.1316 left_gripper=0.0433 right_x=0.2859 right_y=0.0002 right_z=0.1669 right_yaw=0.0086 right_pitch=-0.0996 right_roll=-0.0101 right_gripper=0.9966\nstate[joint_eff]: [0.0205, -12.1915, 6.7761, 1.1697, -0.4469, -0.0024, 0.6813, -0.0889, -1.7846, 7.0906, 1.7656, -0.0415, -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]: [-0.9565, 2.3352, 1.9884, -0.8417, -0.6094, -0.8078, 0.0434, -0.0219, 0.8234, 0.6395, -0.4942, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.3931 left_y=-0.3758 left_z=0.0764 left_yaw=0.0156 left_pitch=-0.2989 left_roll=0.1179 left_gripper=0.0434 right_x=0.2847 right_y=0.0003 right_z=0.1652 right_yaw=0.0086 right_pitch=-0.108 right_roll=-0.0099 right_gripper=0.9966\nstate[joint_eff]: [0.6496, -11.6855, 8.335, 0.8864, -0.2857, 0.3101, 0.6911, -0.1162, -1.306, 6.9265, 1.6972, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f583605171f67b530534c7da5541a937e99b8c4a12b359bfbaa3098daa08419",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddcc33df0e034a692ba89b6fafeff374d03721d1d48169728a1fd3b9dc4e452b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38af65cc907bbfe3ab5d6485ca48fbb6ceb3e6e09467e8cac7e6b934864a6f04",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFl2EXLiub__wUi30h3p2x-1x76VWrm4OlLXC65Q5bJp2IL_vIv9F3cOr8L4oCGtgesWXTmxEZKLyQX4U7hmS7f0pAQLDqBZ5y5xGsWR1ldKYslEoCLMluaHI4WqP4HVuPSh8c3dK8G8njXLMTOA2YcIHNLItfuuxlOLamsyqHmJh13uKQ4BahGRDMQxD-j4u0Zef4tiOQpRfxERasY0bbZRFiPXfjb3WUY_KdIwViILmRpgnKmSyvkm8DztRznbQEg_qBd_GmNNAss8Ja_itSJ48nmWMUJYoSP4bHgW8q5n20JSjdR9Sg6ZpHprjML7pp0zGOJVjTGMo8ajf3rnPn5xPyhe4ZsCkvE5JOVilK7JSG5JvqKy9tCHLAUVmxIaGIDlJshcAX9Tl36zUFJMRNZ9VO3kBzp60wtD6plq6hxaoNSgYUOXN3eCVJv4gdydDx6etcsAIz_19IYo3WJBJcCkURA3j50qkLwsJP-ZmpjGZqCWNbMl02msfv7i2RERaS3wLCqeDPUBxNwUG1UviMgI3C54qBsY-GLh5aBqCp0nD_bW4iQ2uxWo1zyAJjBG6Gb6MAbZDlT18o1MzMMZuFOZYTuURIPUArS1IlSOjCWx3zy5l3hh6SfOR6GfYP0Xal2eYdDpdBFsg_FqSet4zl9HH5IFTJkcsb15Tf9roGXUHD0xhkNPHO8O-okwhlzpX8EmdIx6Bbw9swO-Hlk1i-8wJfqgh_3HtiPoEJ18Y_LYxryzUR5uVFCEDyGnfYuTdUBA0Vwjy3Q6lYLE3P5zCad6AMMard0YFtfVryazQs1IFudGxmL0I8YoTO3kK7yC3iDc66YmhQE46Fr9NT4Bcl_YUF5e9tz-DvDPbPNDHkO-4ywNNrx4TXsO_2wCMCDgjebEKQIW8Zv2U37BkygVlUDBCOE41HQnXyarOwGf9D3sobxxaW7LnmeUJxfFiYk9HRSaxJHWqdP7mATBeuWAA9f-Tc8wW9pDw4lcTUfFU0bepmv_57J1g_aLko2hWsRINWwZDD7KSNgPocmwQZKTchaiSK8VCdGEmjyDMm2LJzk7vrTgOau4qI2aKJ8kbdAM86ttyQz4rzuQFB9AkVfT9DNTQsUCwTj1w_OyuIf1oqgwfLHZCbg6TAqAgaWrtbRheNnngiOEXo7wQkOEEoN6lL3FnEA7EjZTRHphgwv4ldXoaK241_Jr0SeXs5a2NKRsBkYGm6bGkD0dE6wP3FLsGo5Qi-3SCLWaukB7IDv6Eiggy2HsiekdRwIGcnrfK_-LxG8K_823lTXXeBVRjK8vzeZ0JV-yAkG10mupFOUzDIB2pJtLwEe6h1JwJGlTwt-ETutu5lmBPJSdjYCv8uFk4vM_L_8zCZsntyoNH6xzc9csqSsZfaKxkDAxSF0eoQS7KGWT",
  "id": "rs_0e783dccab644782016ab45974b76487d08deb08f7796e6aba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.05},\"note\":\"The front edges of the rims are now nearly aligned. I’ll lower the last couple of centimetres to seat the upper bowl before opening the gripper.\"}",
  "call_id": "call_mhfT47JckEo725XKkPF6TkEp",
  "id": "fc_0e783dccab644782016ab459757fc487d08a955daf1c1fa824",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mhfT47JckEo725XKkPF6TkEp",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9382, 2.3451, 1.9541, -0.7986, -0.6163, -0.7864, 0.0448, -0.0219, 0.8242, 0.6395, -0.4965, -0.0166, -0.0494, 0.9966]\nstate[eef_state]: left_x=0.4007 left_y=-0.3679 left_z=0.0641 left_yaw=0.0259 left_pitch=-0.2959 left_roll=0.1371 left_gripper=0.0448 right_x=0.2844 right_y=0.0003 right_z=0.1646 right_yaw=0.0084 right_pitch=-0.111 right_roll=-0.0095 right_gripper=0.9966\nstate[joint_eff]: [-1.0325, -12.7658, 5.012, 0.9206, 0.0464, -0.3004, 0.7595, -0.1983, -1.3744, 6.9402, 1.707, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6abb500168345e86898e01f18a54d14f9ecd0667c22447f0d039277876b6adc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:332dbf545f1378ab2bee1cb5066110c7c707ef032209bb04c7d33d21406ddacd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97ed40d37168de51b264ed24281fb2fb2e1fcf3ab9ea6250cfaeeecfecaab1b9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9943, 2.2715, 2.0258, -0.9314, -0.6266, -0.836, 0.0399, -0.0219, 0.8173, 0.6407, -0.4751, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.3756 left_y=-0.381 left_z=0.1157 left_yaw=-0.0 left_pitch=-0.2775 left_roll=0.0979 left_gripper=0.0399 right_x=0.2874 right_y=0.0002 right_z=0.1711 right_yaw=0.0085 right_pitch=-0.0817 right_roll=-0.0107 right_gripper=0.9966\nstate[joint_eff]: [-0.3897, -12.588, 8.6632, 0.8425, -0.525, 0.188, 0.8962, -0.0342, -1.306, 6.9949, 1.6728, -0.0366, -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]: [-0.9565, 2.3352, 1.9884, -0.8417, -0.6094, -0.8078, 0.0434, -0.0219, 0.8234, 0.6395, -0.4942, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.3931 left_y=-0.3758 left_z=0.0764 left_yaw=0.0156 left_pitch=-0.2989 left_roll=0.1179 left_gripper=0.0434 right_x=0.2847 right_y=0.0003 right_z=0.1652 right_yaw=0.0086 right_pitch=-0.108 right_roll=-0.0099 right_gripper=0.9966\nstate[joint_eff]: [0.6496, -11.6855, 8.335, 0.8864, -0.2857, 0.3101, 0.6911, -0.1162, -1.306, 6.9265, 1.6972, -0.0366, -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]: [-0.9382, 2.3451, 1.9541, -0.7986, -0.6163, -0.7864, 0.0448, -0.0219, 0.8242, 0.6395, -0.4965, -0.0166, -0.0494, 0.9966]\nstate[eef_state]: left_x=0.4007 left_y=-0.3679 left_z=0.0641 left_yaw=0.0259 left_pitch=-0.2959 left_roll=0.1371 left_gripper=0.0448 right_x=0.2844 right_y=0.0003 right_z=0.1646 right_yaw=0.0084 right_pitch=-0.111 right_roll=-0.0095 right_gripper=0.9966\nstate[joint_eff]: [-1.0325, -12.7658, 5.012, 0.9206, 0.0464, -0.3004, 0.7595, -0.1983, -1.3744, 6.9402, 1.707, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6abb500168345e86898e01f18a54d14f9ecd0667c22447f0d039277876b6adc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:332dbf545f1378ab2bee1cb5066110c7c707ef032209bb04c7d33d21406ddacd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97ed40d37168de51b264ed24281fb2fb2e1fcf3ab9ea6250cfaeeecfecaab1b9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0e783dccab644782016ab45977d02887d0b8e617168e2ca2d7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.6},\"note\":\"The descent has slowed at the nested bowls, indicating support underneath. I’ll release the rim and let the upper bowl settle.\"}",
  "call_id": "call_eX2Xw2FFLZlgeT7ydvNnpdZq",
  "id": "fc_0e783dccab644782016ab459782cd487d0a06a91c8ffe2badb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eX2Xw2FFLZlgeT7ydvNnpdZq",
  "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]: [-0.955, 2.3482, 1.919, -0.7536, -0.6022, -0.8116, 0.5948, -0.0219, 0.8242, 0.6395, -0.4984, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.3933 left_y=-0.3764 left_z=0.0533 left_yaw=0.014 left_pitch=-0.301 left_roll=0.1064 left_gripper=0.5948 right_x=0.2841 right_y=0.0003 right_z=0.1642 right_yaw=0.0086 right_pitch=-0.1129 right_roll=-0.0097 right_gripper=0.9966\nstate[joint_eff]: [-0.3761, -12.7658, 5.9282, 1.0183, -0.4029, 0.0269, -0.022, -0.1162, -1.3607, 7.0085, 1.663, -0.0806, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89efe77eca70e0e4463a99723b414b4caee1637bf3939f1a6e595b78a920c974",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bb3ba850bf6d419a3961877d995faf4cc51150146a4c9b84e7bc40a31cb91b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ada5a181e6dc1b89223bc5af16c662f9866cbcc20554fa1410277c900738ed7b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9989, 2.2787, 1.9087, -0.8459, -0.6243, -0.8349, 0.0433, -0.0219, 0.823, 0.6395, -0.4862, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.369 left_y=-0.3759 left_z=0.0799 left_yaw=0.0033 left_pitch=-0.3005 left_roll=0.1316 left_gripper=0.0433 right_x=0.2859 right_y=0.0002 right_z=0.1669 right_yaw=0.0086 right_pitch=-0.0996 right_roll=-0.0101 right_gripper=0.9966\nstate[joint_eff]: [0.0205, -12.1915, 6.7761, 1.1697, -0.4469, -0.0024, 0.6813, -0.0889, -1.7846, 7.0906, 1.7656, -0.0415, -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]: [-0.9382, 2.3451, 1.9541, -0.7986, -0.6163, -0.7864, 0.0448, -0.0219, 0.8242, 0.6395, -0.4965, -0.0166, -0.0494, 0.9966]\nstate[eef_state]: left_x=0.4007 left_y=-0.3679 left_z=0.0641 left_yaw=0.0259 left_pitch=-0.2959 left_roll=0.1371 left_gripper=0.0448 right_x=0.2844 right_y=0.0003 right_z=0.1646 right_yaw=0.0084 right_pitch=-0.111 right_roll=-0.0095 right_gripper=0.9966\nstate[joint_eff]: [-1.0325, -12.7658, 5.012, 0.9206, 0.0464, -0.3004, 0.7595, -0.1983, -1.3744, 6.9402, 1.707, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.955, 2.3482, 1.919, -0.7536, -0.6022, -0.8116, 0.5948, -0.0219, 0.8242, 0.6395, -0.4984, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.3933 left_y=-0.3764 left_z=0.0533 left_yaw=0.014 left_pitch=-0.301 left_roll=0.1064 left_gripper=0.5948 right_x=0.2841 right_y=0.0003 right_z=0.1642 right_yaw=0.0086 right_pitch=-0.1129 right_roll=-0.0097 right_gripper=0.9966\nstate[joint_eff]: [-0.3761, -12.7658, 5.9282, 1.0183, -0.4029, 0.0269, -0.022, -0.1162, -1.3607, 7.0085, 1.663, -0.0806, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89efe77eca70e0e4463a99723b414b4caee1637bf3939f1a6e595b78a920c974",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bb3ba850bf6d419a3961877d995faf4cc51150146a4c9b84e7bc40a31cb91b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ada5a181e6dc1b89223bc5af16c662f9866cbcc20554fa1410277c900738ed7b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.34,\"left_z\":0.2},\"note\":\"The rim is released. I’ll lift the fingers clear so I can verify the first two bowls are nested before handling the last one.\"}",
  "call_id": "call_A9nJbedfVmG1rfAhswhxafRK",
  "id": "fc_0e783dccab644782016ab4597b056c87d09b99ba77784cae10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_A9nJbedfVmG1rfAhswhxafRK",
  "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]: [-0.9546, 2.1746, 2.1601, -1.1381, -0.5926, -0.8127, 0.5959, -0.0219, 0.8249, 0.6395, -0.5014, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.3745 left_y=-0.3519 left_z=0.188 left_yaw=0.0022 left_pitch=-0.2909 left_roll=0.0745 left_gripper=0.5959 right_x=0.2837 right_y=0.0003 right_z=0.1634 right_yaw=0.0086 right_pitch=-0.1168 right_roll=-0.0096 right_gripper=0.9966\nstate[joint_eff]: [0.1983, -13.3538, 7.5145, 0.8474, -0.4127, 0.0611, 0.0952, -0.0752, -1.4427, 6.9402, 1.6337, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:800adbebfc87088dc79e396f9a006ac4c67fb0b2c6533932db9cc54796940da5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee0e42ad6cf0298118f2c689d7d99386a31b1b53c2c3b79773eecfb89c05736e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:815ebcb115006d57691fdad29a91e007ce2c54ccb3032b79f922f2f7c431df21",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 46 changed as sent

message 54 changed as sent

message 57 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9565, 2.3352, 1.9884, -0.8417, -0.6094, -0.8078, 0.0434, -0.0219, 0.8234, 0.6395, -0.4942, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.3931 left_y=-0.3758 left_z=0.0764 left_yaw=0.0156 left_pitch=-0.2989 left_roll=0.1179 left_gripper=0.0434 right_x=0.2847 right_y=0.0003 right_z=0.1652 right_yaw=0.0086 right_pitch=-0.108 right_roll=-0.0099 right_gripper=0.9966\nstate[joint_eff]: [0.6496, -11.6855, 8.335, 0.8864, -0.2857, 0.3101, 0.6911, -0.1162, -1.306, 6.9265, 1.6972, -0.0366, -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]: [-0.955, 2.3482, 1.919, -0.7536, -0.6022, -0.8116, 0.5948, -0.0219, 0.8242, 0.6395, -0.4984, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.3933 left_y=-0.3764 left_z=0.0533 left_yaw=0.014 left_pitch=-0.301 left_roll=0.1064 left_gripper=0.5948 right_x=0.2841 right_y=0.0003 right_z=0.1642 right_yaw=0.0086 right_pitch=-0.1129 right_roll=-0.0097 right_gripper=0.9966\nstate[joint_eff]: [-0.3761, -12.7658, 5.9282, 1.0183, -0.4029, 0.0269, -0.022, -0.1162, -1.3607, 7.0085, 1.663, -0.0806, -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]: [-0.9546, 2.1746, 2.1601, -1.1381, -0.5926, -0.8127, 0.5959, -0.0219, 0.8249, 0.6395, -0.5014, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.3745 left_y=-0.3519 left_z=0.188 left_yaw=0.0022 left_pitch=-0.2909 left_roll=0.0745 left_gripper=0.5959 right_x=0.2837 right_y=0.0003 right_z=0.1634 right_yaw=0.0086 right_pitch=-0.1168 right_roll=-0.0096 right_gripper=0.9966\nstate[joint_eff]: [0.1983, -13.3538, 7.5145, 0.8474, -0.4127, 0.0611, 0.0952, -0.0752, -1.4427, 6.9402, 1.6337, -0.0269, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:800adbebfc87088dc79e396f9a006ac4c67fb0b2c6533932db9cc54796940da5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee0e42ad6cf0298118f2c689d7d99386a31b1b53c2c3b79773eecfb89c05736e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:815ebcb115006d57691fdad29a91e007ce2c54ccb3032b79f922f2f7c431df21",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmC4hRWYTmriF3T4kNxqRrC95dJMbfTVsP763vBhOAY9HWGqo-lW2sHLWbdFPUg_MY8hi7EexW_Bsuu04pnOflzjkaYZwc6qWSV5RjanSCwW9g-ew14MBmcl7CY8ybG_ebIgLsPF_zO8lWjmmIgIVrf7oIUzvwlnW3JLv6EnAEkLHDnmJ2213_lMKP5xgsJDzI7J_mUz7dGJ2zXNh38IdGvyYsrjhdLToE7KY_fNMNlCjyglHNTq8beKtz3eha14nnKuQPJJ945Tq1Yk_ZpKykWTJqD6nAsacLhXykEjL5cDyIROPYX4Po4QD60ntcAxJtG3_s7oU5C8vXsOk7aboyoef8atE1B7Dkp7JMHm7iSc6rD6imuEIfOxxe_TTQfUsqzD3gOZZQJsgYI0VAhS53XElA05FXhDLzkcJ3jXiNg8PMB6CWq5O3B7KSpVfT7ZtENnvdD8StPK5757UZq05jXdoGd18XbDZyF2SCJjUn1oWzs9Agt3rNhGaxJ9XY5aBn0OfXjgq4Awy3Mqo8aOAtinXAD0ffJ1boS2-F1BgSrpbm4BViJn2ryvRGleNxTaQfl_wU8NNt0Hb5QnHeUt1Z4WydLmRBECDchjX-gzsxseFd4wkYWa6nL5poh0IkoYshrAl_riPmY7MllBmBvHs9T0JiJkB8wUn5eslbFKiKS-ebUd2el1N5O5MRZ7v1l5vzPeEQodat9A01hmPPrPV7am0o39t_EXfjZNQsiZ017o1RF8zg1DzW2zu40IHMdqo_DZddfvM_938_xgXl3_lkCk2dtGxf3hPES5RXVfr0WhDstklTj5B1uujENrb1klNFGk4g4_pCH3ld28R9hxeIh3Q_gQ6fPR0-v6_HpaC7mGTLjzxaStZdIMjHME8F8-obQO0CDaHbqU9stwCgltbT8PqFqjwioeZqgS-lqTyjd_WwXX-zjfyGNRWEU19Q3Q-1fi6brAF8BJ-f04cypgh6EF13ox6rq-B21h8cHeFcKClEAW0DDlsV8EbGXkqbrJ1VnvKd3zR3QsJy6oEZy0FYQKbbfiz5b_oaDRgfhx_PRO1R59Y-t28HJhYY0AC6xRmzNdW7oyhWUgn5Ttb4poWpn4zZ-5bqeHGdgtORLWZ1Dp9n0-_ZYSKDkD33m5JHS4l4j0rvxMpCwm0SFlsVppc_DJZPHVxYMJvTgFlZnNVr6XiUEWn8zaANskshnMkFJDAF8Gmf8uWLTWQX8SbT8SoqLlwDUEmd4UjPF_TcKbxJjX1UAbD4xhFjenpAv7TclW_s4iKeAgDX0jF-EnzgUSfZ7txAaYyTo1VeV3OtbJevDV92CJ9S0Lhj3geC3wC7eNIp6UDaEduBRJdK7DRHZOskV6iVyqM5MubRYKfryNjyqqNZHxhuX1ZfseoOJ8iWqIQ60EA2a5ZgTeKbkBQB2knXsV6z3ZQy-2COvz0SAGx0YvqzYPbBn8ALPtua9dw7O5d8wPyTGqNspN2heNhGFUrOD694y9_ySND5CmgaUKnWvrbi-HrQ_JBHaSLY9ajHf36rzqh-sgdVWK7NQzChzZ_eDnZigg5IrQmN4bwgwe9mn8v8juP4pXv3fiKAVT0QXGUmwi1j8FDLYfo7wAwAWWH1orTD2cq8JID3C6-Bq8yIbK3En-DK5HrWLt0xdmPCdGUSE-5smQrX8gZlgocLNsVMledXYKAk1uQhsYElSPfKYcdWBnml7FAxZ4wiJ4-c8TcRr-45wTNaD_4_hKDVITXFBOhfe-yc8s-l6XJkmt_yiZKYHOhvnvOLjRw2wKT59-HFqZBUNbYOCAcbH9Daw-twLvaiQXRzRNXK14Jxk6NHc7Kfni5kVq0t2Oqew1dCM7xJ2zOvCjxGFCOicUGgzsIw96SYxszeVcfo3rxKqmeYSlPJOo-8945LJ030aTi_ictmjR3VygzskrBNyxKMzMO5Z6P_pP1Y5CsDvJXrVnwAVPiNfre2DVaupDPQcfb5pYEiFBr6AaTLOLE2LLO0vFWvvKqEaVZZ3TOzQcBufxLKkq8y9AQKIbUYhy9QdVknqGpqz1fErPrI0HI1Qo2_xDYhB0TbV8fZgqZGx2MvBVLjMxmUleExKmYvJdEcSPYgp_ctGD9RjvzLcPmmn6VoZ9yqbVs6V6bsS3cuQb-Xo1B1NG24P-TE3BgzebKV5GejlA5bV7VGvF4C3wDE4ztciYBtnvQ==",
  "id": "rs_0e783dccab644782016ab4597e061c87d0b7e37a27af97d4de",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_gripper\":1,\"right_x\":0.365,\"right_y\":0.09,\"right_z\":0.15,\"right_gripper\":0.6},\"note\":\"The light bowl is resting at the middle bowl’s location. I’ll park the left arm and bring the right gripper toward the pink bowl’s side rim.\"}",
  "call_id": "call_lXRJ1UFVAyX0CMm0Fk0d6y1g",
  "id": "fc_0e783dccab644782016ab45980f99887d0aae5fa4c93aefb04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lXRJ1UFVAyX0CMm0Fk0d6y1g",
  "output": [
    {
      "text": "executing move_to over 32 steps (3.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0883, 1.0588, 0.9962, -0.8078, -0.1371, -0.0841, 0.9987, 0.3599, 1.2888, 0.7807, -0.2874, 0.2543, 0.1696, 0.6008]\nstate[eef_state]: left_x=0.2982 left_y=0.0014 left_z=0.1995 left_yaw=0.0566 left_pitch=-0.2895 left_roll=0.0682 left_gripper=0.9987 right_x=0.35 right_y=0.0881 right_z=0.1268 right_yaw=0.0386 right_pitch=-0.194 right_roll=-0.0424 right_gripper=0.6008\nstate[joint_eff]: [0.253, -3.535, 6.3795, 1.3944, 0.0122, 0.1783, -0.0806, 0.1709, -4.7248, 10.0991, 1.8095, 0.3101, 0.2906, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f45a713c7b7261944de226f78c7f07c43d377a72468152eda9cfc2b2b922e87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91fe2a5995aae4f840ee5fe3a36974b2aaf61ebe56f0b7111246eb9f80ad847f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:941b9e452eaa9ef668fd079e3fc772c98bbbc3dd6e76ce80ee327860f2dfa57e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 50 changed as sent

message 57 changed as sent

message 61 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9382, 2.3451, 1.9541, -0.7986, -0.6163, -0.7864, 0.0448, -0.0219, 0.8242, 0.6395, -0.4965, -0.0166, -0.0494, 0.9966]\nstate[eef_state]: left_x=0.4007 left_y=-0.3679 left_z=0.0641 left_yaw=0.0259 left_pitch=-0.2959 left_roll=0.1371 left_gripper=0.0448 right_x=0.2844 right_y=0.0003 right_z=0.1646 right_yaw=0.0084 right_pitch=-0.111 right_roll=-0.0095 right_gripper=0.9966\nstate[joint_eff]: [-1.0325, -12.7658, 5.012, 0.9206, 0.0464, -0.3004, 0.7595, -0.1983, -1.3744, 6.9402, 1.707, -0.0366, -0.0366, -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]: [-0.9546, 2.1746, 2.1601, -1.1381, -0.5926, -0.8127, 0.5959, -0.0219, 0.8249, 0.6395, -0.5014, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.3745 left_y=-0.3519 left_z=0.188 left_yaw=0.0022 left_pitch=-0.2909 left_roll=0.0745 left_gripper=0.5959 right_x=0.2837 right_y=0.0003 right_z=0.1634 right_yaw=0.0086 right_pitch=-0.1168 right_roll=-0.0096 right_gripper=0.9966\nstate[joint_eff]: [0.1983, -13.3538, 7.5145, 0.8474, -0.4127, 0.0611, 0.0952, -0.0752, -1.4427, 6.9402, 1.6337, -0.0269, -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]: [-0.0883, 1.0588, 0.9962, -0.8078, -0.1371, -0.0841, 0.9987, 0.3599, 1.2888, 0.7807, -0.2874, 0.2543, 0.1696, 0.6008]\nstate[eef_state]: left_x=0.2982 left_y=0.0014 left_z=0.1995 left_yaw=0.0566 left_pitch=-0.2895 left_roll=0.0682 left_gripper=0.9987 right_x=0.35 right_y=0.0881 right_z=0.1268 right_yaw=0.0386 right_pitch=-0.194 right_roll=-0.0424 right_gripper=0.6008\nstate[joint_eff]: [0.253, -3.535, 6.3795, 1.3944, 0.0122, 0.1783, -0.0806, 0.1709, -4.7248, 10.0991, 1.8095, 0.3101, 0.2906, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f45a713c7b7261944de226f78c7f07c43d377a72468152eda9cfc2b2b922e87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91fe2a5995aae4f840ee5fe3a36974b2aaf61ebe56f0b7111246eb9f80ad847f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:941b9e452eaa9ef668fd079e3fc772c98bbbc3dd6e76ce80ee327860f2dfa57e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmK9AHtOpWkjM9WHutCAvD3HbFSbjVQlOyj0LczRUqatC6oyaNFxFKwQTxCP3few2Qx6K18bxeW7-vaw15eDILpg2N322ftfpVkFgdo02RUK0Q42BHBCUbFt7dCN6JvjyiSshRBpWjueCwLjMq0_ArGPKli2NciEwT9ioGlsc1-v_uaBIFSBf7qqWFJPSl2S6gtDkzche4xvWIcir5nOPmnbzkVP80cssv9KHrh96HXC_NgRGhc6rKGtpkZwGqaaPHjWjDKEe3qBXVq7MGeRuWngZti2XgEQtcaK19OvYTApXrKoJAeIfwJoDiKFQ2LLOQL02hMtsSOdG0WhLEtNhwJ1Xtkm9E2OI_tORiv0Yu6Kdn5ZkWQwO2wIIEAjQ1BlghM7eV8uvy5l-CmAeLyVcIw9-3ynUghEl18I6t8eUeTK_Kgzfo6TN34R5j6Lz6iwFGIJvsB0cjlpfwIEcSBHJXCz_WC8WhkW2Bnj-ph0-Z5qwHY11FUjVBBojmPhUbqCTkP6vHneb3iSHG2lileHvZFrWMNPC4IJ6X0b5Wl3DWgTeD5xYw5UhIHIlbvtq_340_3TINUKdylgQpUxSvIZVk16vmPPGIvzueobIegtHY92QRnhXMQ2utDfJs7Tv3PpPmAueCeIWBAVUXA4PuJ6cN2CdrhMLIPbiATs_b-1Wwa88oQWVCbwk4b2RZJV6D861zLrhV7tb9Ik_67S-g0zPokodcRUuAnzI0FXTgyCPRGYPgokpVEQrWlgHqQkUdMhfBZOTbZJTDhneurgSChqrD2veFUijhJbQ1iFDlHtTNg9MACabUgDwzcYG7s4kPa8GtCk6SwFABt1lDzdLFKlYYyluFbvn94Cnrsj88orup-lV4QadLDw0fCqwmaNhZBKTOfoGeOn3fBKNpJrE3JYudSpN_PTLAkr1LmPkd-5OqCajHttI0Inqcs8wJWzri_Gu8OzCm07CWs5TOqNEZ5erpuxmpLg8EdEwY2QPykPzupd_C9Ie6ZnEMfa7WZVJURm6x6zkEV01eKNU9By_7NLYbAg-P852ibKqGKyB6r4kC9auRZ1YEHJE5_y58IR24p3CG2ikF72wJuiah0hZ178to5rloi0LWfVDck4G5s4ws-4oZX5tFuzzAN9x-zfdB76A1lH-j_vC26OV_mjaCSLakvgVolzfWGq2l261voSAJDDlf_BBiITQ1hHRbCoDxUD8XhQEtE6U4JfgoV99h-QSq09jMlBXVnqMaEzRwJhDwUIwUKpU5vdFFzLMPLAapynT_Sz1dv88syrQu6_HDTUo1Ck5NoCC3xoM8Lxgu3wcY7xk4OQfp2r1Qi4k0x6OlLvoOxcKkYdJHt3-zmQgjZp3MhIVvgRw-0u1DwGNjfbcAXi6lE5gx_NNusNOjbnkdjkwA9l8vxuM-XuskM3wMkIDtBxpRNy7DyreJ_EzmHlVXerHwV6ChaL0judWds2z3EXsq3c8rGdqQ9xvlQc-nOjZ-erOLmzmi-4Hj1akAiwVkeCZioPZyhm9cRrxk9EGVn1AAC6XmES3nXlTkGcwprA4j0wH_PsqpcbFphnBr4ncptr43wzmjabIcXj5L9TzHlpOrGOjd4LuG2lpr73zcJaIZHZZ5_X_04CZe1b9Ik260pkp6nDzbn-GAwj7LPg4fFey9bTyHmhgvg3wbhEGT6uWapmZsvmFrkiGQ75Q5db_t5l3GjUUPe1nU7wRsDrlo6widC-XqUGV-rvHVxIyd4PvC2ohsHGQeS5o10DljC4D19yIGWHwt0oLWiU7XzstEBafEC4j3WL9XDwT3CNXX2-RdDmrVLY1Yjpcb_mQ5p3l4u-6gjS1Vr4dkYtD2F_32vmSlZxHlj0R93kvahK_hEGt0HGyBiJhGVcd_G-IQeHogwKz4Y4AoCyvcqbEXN6fPUqRx2krEaaU9hWeLQP5nvDdOuXnMQg9MUXKWTyeaZx27wzbaTxnlbHaPJlJlZMqzaJY8DaAsY8sVz4qzdVE7wCJ-ReDrRAdNn00jO2-coYqaqru-SP0PoZX9KD3T-A3wZAQLXy93wvWy0CAnnfgBT9aYJnQ==",
  "id": "rs_0e783dccab644782016ab4598664bc87d09564ffeba75d8cbd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.09,\"right_z\":0.045},\"note\":\"The two bowls at the centre are nested, and the pink bowl’s side rim is between the open fingers in the wrist view. I’ll advance slightly and lower to the same rim-grasp height used for the first bowl.\"}",
  "call_id": "call_6F9pZx6LCJV2zPgZ5EIajWlD",
  "id": "fc_0e783dccab644782016ab45988fdec87d0b9d430fba8528cfe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6F9pZx6LCJV2zPgZ5EIajWlD",
  "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]: [-0.0898, 1.0603, 0.9943, -0.8185, -0.1287, -0.0788, 0.9988, 0.3161, 1.6112, 0.7094, 0.0341, 0.2226, 0.1349, 0.6008]\nstate[eef_state]: left_x=0.2961 left_y=-0.0003 left_z=0.1965 left_yaw=0.0453 left_pitch=-0.3046 left_roll=0.0672 left_gripper=0.9988 right_x=0.3783 right_y=0.0865 right_z=0.0361 right_yaw=0.0356 right_pitch=-0.2709 right_roll=-0.0662 right_gripper=0.6008\nstate[joint_eff]: [-0.1983, -2.906, 6.7761, 1.5263, -0.1636, -0.0952, -0.0073, -0.5128, -6.9402, 5.9145, 1.619, 0.0659, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f8773fd79b7af62874387339735e643942ff3f472b9a3438a24328c7644dd95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba4edda5403e58dd70caed39c9a23762ffa0f3195e437d9f633c729b2ac6eae3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f7bb9b7f133537587a13e0d5115a78b758c8260724110e778ceaabcc1161f95",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 54 changed as sent

message 61 changed as sent

message 65 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.955, 2.3482, 1.919, -0.7536, -0.6022, -0.8116, 0.5948, -0.0219, 0.8242, 0.6395, -0.4984, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.3933 left_y=-0.3764 left_z=0.0533 left_yaw=0.014 left_pitch=-0.301 left_roll=0.1064 left_gripper=0.5948 right_x=0.2841 right_y=0.0003 right_z=0.1642 right_yaw=0.0086 right_pitch=-0.1129 right_roll=-0.0097 right_gripper=0.9966\nstate[joint_eff]: [-0.3761, -12.7658, 5.9282, 1.0183, -0.4029, 0.0269, -0.022, -0.1162, -1.3607, 7.0085, 1.663, -0.0806, -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]: [-0.0883, 1.0588, 0.9962, -0.8078, -0.1371, -0.0841, 0.9987, 0.3599, 1.2888, 0.7807, -0.2874, 0.2543, 0.1696, 0.6008]\nstate[eef_state]: left_x=0.2982 left_y=0.0014 left_z=0.1995 left_yaw=0.0566 left_pitch=-0.2895 left_roll=0.0682 left_gripper=0.9987 right_x=0.35 right_y=0.0881 right_z=0.1268 right_yaw=0.0386 right_pitch=-0.194 right_roll=-0.0424 right_gripper=0.6008\nstate[joint_eff]: [0.253, -3.535, 6.3795, 1.3944, 0.0122, 0.1783, -0.0806, 0.1709, -4.7248, 10.0991, 1.8095, 0.3101, 0.2906, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0898, 1.0603, 0.9943, -0.8185, -0.1287, -0.0788, 0.9988, 0.3161, 1.6112, 0.7094, 0.0341, 0.2226, 0.1349, 0.6008]\nstate[eef_state]: left_x=0.2961 left_y=-0.0003 left_z=0.1965 left_yaw=0.0453 left_pitch=-0.3046 left_roll=0.0672 left_gripper=0.9988 right_x=0.3783 right_y=0.0865 right_z=0.0361 right_yaw=0.0356 right_pitch=-0.2709 right_roll=-0.0662 right_gripper=0.6008\nstate[joint_eff]: [-0.1983, -2.906, 6.7761, 1.5263, -0.1636, -0.0952, -0.0073, -0.5128, -6.9402, 5.9145, 1.619, 0.0659, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f8773fd79b7af62874387339735e643942ff3f472b9a3438a24328c7644dd95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba4edda5403e58dd70caed39c9a23762ffa0f3195e437d9f633c729b2ac6eae3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f7bb9b7f133537587a13e0d5115a78b758c8260724110e778ceaabcc1161f95",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmSvFsZm8juIhg9B-ryr8WtPa51nm7imfYHaTGvIi_izfZo1Tv8G56KVu1Wo0nYXJNbTsusEuy6NaiELoTqrEHXjgWTPSykNOnxiHpCPOU8DcxgKvXj97-puDnd7I3TLygGQ0-pKn1YM6hkGWNBuRJ546eqnsRihrSw_v7TSVffY3qip0q4Zj4nuRE2WetDJs_aR-t8CzkzslwMgLOixgdADtTq9HxPVRUxruhVLWLd5lBhHJ4Ao1_MjMPYWHRdyEG2mhePNa97YDj8FqhEyDTZ-jDfgmwj2E3heMMVjUY95ScXbiUFPdYN4m7tX9pMhHANTkmxKBfrSN3EcksfrMD6Q25eDYl1j1SwU3eFeZonxF6IJ3Cte1Vj9P-j4riaj294TrgHgyNrv4VaaiY4V3VcSMsibtjxVymBqTClGcqwpQ3wMXezemKpZsq2Ll5rXEaauOEo3fO0LPCrlIHxk93WPghyAX00eMgVBCwIhQxB_8UxNaF8XsQLrQlxWMWInYpm9Y-tllVZ7ZZGPZDwni1JQf57WrEyt1OWvqjoFnVyceW0F7r5BK4CjB0nJldTtQqjdbLW_6oPFRyEK1zoOcB5Wj7lUEdXhzHGMbIwee0oFpu0GsZCmLfuzsh_9mbgFObPEF0_2nkt5BprmnBBLQ5Z0rqH-3lkXjBjkxuEMAfusfXz2VLdd6Sssg4P7M4wYU78Tjv7hrsRPweJYv5Nx5zeIJi0B99UGdUDVREhk6-tqN0Kh5My6bEHUmHpRvIraBIciV8HCr1eK8FLVqqbfdzLRJo6GZ4ZrerQcA1NVkiC2IM3ZjjOozgPjqbGjbDXhe9dM_fO8X3gc1MsHGP0TUdv21wUMoqlAny2DwTMp9QAPs1EA2Q2O-PjxOMnrjMBtoBcrR6T0RVnUYYnW0hN0Yo84UvKroqNuc6Iz2T2gpuonyJKf61LbslpqpYrEYsIfXPA3CLD7vPQlAiuFozwvY1hSqTeZOYSHVOfQzAijM0eWa_6wpOZQzIegL-CBeeNpQnQfc9ppvSD1OFRnQARGi9McJZK5oCaST8FKb8p35wsfS9SF_-r92SJ9SmO7C0d_Op5OrCUW7GNX2ZK1HxL6Pc1ntZQU9iC1I5IrOpGSulX-RxngmOymEsKDcPzUDySQyxOBJobaxdPYD6YO0cV9pCDDZ3yAdputIlutgLCKWQqVU0T9z-hFWVvvB_cSnUeCfiBFgDCsGEVIMDGVgAbSJyrUtEa4h5GKryzn4b6ST0fn3tEpkMF-rWxzw8GexK15sIjlKDGR8CxiB2VO9lzXLocJfynBJPpM3PbpOe07YKYpfWoz0lHnIUplxBArxvWBMhCwt6WDdrcIqMwkJwa_rG-jXR35fPz12v_XExgCj1Un4yz4IEbwuxl45MpH9dDF02DzqRC7sRx3xhSTtQqx0eYf0AgHQ8SFMEzbPVZHtgcLVgVuhf2NmBtE8PKcfzXa5tR4wPtqxzK4GcHB7dsNaL-gCJbkAJ5NpH6osNCk0u9jdQqVrCE4hmhYhA7nDLg4hxMXMAleBo-9DkmSzT0TC4ieAdf-bbVC5DALnXUoB8gR0XuHY-FAIBcR-4_NSbmVSulC57cChwHQMyLsREogfQl7unubSt4AEdqsvws7Uy1mbkE-AQzX3Sm1NwxXh95axHsxybMHC-dscbCp_ngbZahbCaKGb69pbjfgFIkXsetPWQnbhSwfEjbXwxjSrx2KHdHoXsraEIxzPqsk4gVOX9ndJL_2IQ-rE-K6AYycYk0E82WhwMNqHKdqj-ZY351GyVCEBAdHWkdtZtfYe0fdyPMhWHKgYzoWSp6eX4A6rFpNM1ECFgO8-qXm2XinWJZMref8ReJnszxD_IsMI9UdFluhF8WMvKBo3fP7cYw9kvPar5W6rywNKmYHqa2MwTfZND0FHu23lzKTw1i9eZaqDdXR0wyPwf9Xs5wCqkl15HmSlzFANhGOc2xu0ALzWlJDevbyJ_FXX10xxAEpE0OARvUrbMpMU_W1yEhhl0zTEKRVC8WhKlqt6-7wn52E8PkHNcF6K5HogzmgTZBGWaJ-aMF1FADVf_Lov2AquTW4Rma2iVHV3qKRA_B2rmJgIcFq-SC_lM7tFRSDy-P027_G0xE4yZTm5-Evs8tvngVKWQ2Is5BhHRSzasAmP4uLRIcEPg5S-UREA1RTyb9tACSRl3vHMC350c19jzeBEWkj8TmMX6acZDBVwcluAAgXxB-zTN7IcOcGkT41154fdJOyQFEC1GxE77EqdaWv4YQyK9OYVD7QtkkdUtj4rI-MoAM-zIzvZ4iYX1QHc2Lx0ANkdZN4JzS_ipqiEY8khKMSOtOmE8CQz3o9OkZ6xkk1pWSJybMRuTzPEPByXOH8-hYSWnh6Ids-rT0Kon8A3-OeaEmRaU8rRdqrVaFACMu_cv5BARWNKqBtxvPpLivn5kY7K5RYTyH93VPXswscEnfFsLm3G8PIUMmSYrE3OP9AN1Rk94AGKT1mW-mlnAhKpypvAxTFRU6PTBGcVGJEvAlkGN_TvfshKlsps1ssEBwL1z3GNTT3ily-ClG4B7PMoivWoJzQ1LxZnygZwMjdFRZw7tTBSetH1gbC4SwU4pi0hfemLfNJKXg6uEjx8NrCcxYgzB85lNRg-FrdR6LIMdqUm93vsG95XAQKBj5yuGVVnI7hd7xBGtIfde1gl0__f13AFYV-QtsMANG_7WRo2K31d6xbAqSmclVSnjxkV8ImrkZsP0wEaPKN7K3Yqg9CTMKCmS_Mt7wWtVSSfG2poVE8Lv-x4_80WSkJon1mt4QP4eesIjltCvltIFnrM_OlzIT0wfeWdTgSq8znZLnOwmqrPE6P0UyqxDD1wwH84-XIUothqB4-gAv1LJBu79DWlcIvlCeVxNn1bRTzXSDItvcURuiJa3PKpxecyqwr5QA5b8RYKTNeeUKuHEKWcwunQq2ekjkfQ4pAMDQOLwjT2wobQ-9D5kWmVO0R-lq3DmAGjDkaUp6IJDLAxztlqf5ras7IH9uJPBiETIbWhLKaSKyvstulBwwCZ8xKkdV2NBZJLkUQadS",
  "id": "rs_0e783dccab644782016ab4598c377087d0b53e0b811617bc26",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.075,\"right_z\":0.045},\"note\":\"The pink rim is slightly ahead and to the side of the grasp point. I’ll make a small forward and sideways adjustment so the fingers close on the wall without pushing the bowl.\"}",
  "call_id": "call_Lkjm6aPYE9Sg2CRZmLxo31DX",
  "id": "fc_0e783dccab644782016ab45991f8a087d0a02cdf143cf1ca57",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Lkjm6aPYE9Sg2CRZmLxo31DX",
  "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]: [-0.0898, 1.0622, 0.9943, -0.8246, -0.1307, -0.0784, 0.9988, 0.247, 1.705, 0.8276, -0.0036, 0.1833, 0.0837, 0.6008]\nstate[eef_state]: left_x=0.2951 left_y=0.0001 left_z=0.195 left_yaw=0.0471 left_pitch=-0.3124 left_roll=0.0701 left_gripper=0.9988 right_x=0.4077 right_y=0.0733 right_z=0.0356 right_yaw=0.0279 right_pitch=-0.2933 right_roll=-0.0743 right_gripper=0.6008\nstate[joint_eff]: [-0.1299, -2.9744, 6.5983, 1.5067, -0.1001, -0.0464, -0.0122, -0.2256, -7.3915, 7.8017, 1.4823, 0.0904, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d88a637ee12e4a4edef9b3b391cff97df527250f499280f35363308ec8487b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f604e494d45e2062d9f204d19cd3a3bb162b84c95373100daf4fa5b24be8fee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:875707cc53500ad8f95d50b13c38595c54134407f9d1157c7c3a21f4393bb7b0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9546, 2.1746, 2.1601, -1.1381, -0.5926, -0.8127, 0.5959, -0.0219, 0.8249, 0.6395, -0.5014, -0.0166, -0.0498, 0.9966]\nstate[eef_state]: left_x=0.3745 left_y=-0.3519 left_z=0.188 left_yaw=0.0022 left_pitch=-0.2909 left_roll=0.0745 left_gripper=0.5959 right_x=0.2837 right_y=0.0003 right_z=0.1634 right_yaw=0.0086 right_pitch=-0.1168 right_roll=-0.0096 right_gripper=0.9966\nstate[joint_eff]: [0.1983, -13.3538, 7.5145, 0.8474, -0.4127, 0.0611, 0.0952, -0.0752, -1.4427, 6.9402, 1.6337, -0.0269, -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]: [-0.0898, 1.0603, 0.9943, -0.8185, -0.1287, -0.0788, 0.9988, 0.3161, 1.6112, 0.7094, 0.0341, 0.2226, 0.1349, 0.6008]\nstate[eef_state]: left_x=0.2961 left_y=-0.0003 left_z=0.1965 left_yaw=0.0453 left_pitch=-0.3046 left_roll=0.0672 left_gripper=0.9988 right_x=0.3783 right_y=0.0865 right_z=0.0361 right_yaw=0.0356 right_pitch=-0.2709 right_roll=-0.0662 right_gripper=0.6008\nstate[joint_eff]: [-0.1983, -2.906, 6.7761, 1.5263, -0.1636, -0.0952, -0.0073, -0.5128, -6.9402, 5.9145, 1.619, 0.0659, -0.0269, -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]: [-0.0898, 1.0622, 0.9943, -0.8246, -0.1307, -0.0784, 0.9988, 0.247, 1.705, 0.8276, -0.0036, 0.1833, 0.0837, 0.6008]\nstate[eef_state]: left_x=0.2951 left_y=0.0001 left_z=0.195 left_yaw=0.0471 left_pitch=-0.3124 left_roll=0.0701 left_gripper=0.9988 right_x=0.4077 right_y=0.0733 right_z=0.0356 right_yaw=0.0279 right_pitch=-0.2933 right_roll=-0.0743 right_gripper=0.6008\nstate[joint_eff]: [-0.1299, -2.9744, 6.5983, 1.5067, -0.1001, -0.0464, -0.0122, -0.2256, -7.3915, 7.8017, 1.4823, 0.0904, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d88a637ee12e4a4edef9b3b391cff97df527250f499280f35363308ec8487b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f604e494d45e2062d9f204d19cd3a3bb162b84c95373100daf4fa5b24be8fee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:875707cc53500ad8f95d50b13c38595c54134407f9d1157c7c3a21f4393bb7b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmVBqdte9tVnWm34EG2CdEmxFCkE5c6DkqP-f_aAYIogipjN131LEugX3SePEMP7HdWofH7tf36etPc5G1yd6IkJXRi8zx1kBagTaYoEKtEF2hQL6k_pKWV7LFskIUVZDPhcQDVRrfVZJAPjIPqwimujKpSdGIEK-zrjWCztIXeuWBOmnlyX_Rm8OenxI28nZ2ffFSCmf2WL4vfcyZbVPr-oywT2LIpPhpD1wSExCQ7IoHbXXzfOLTigFpq31x-JaCEfVdubMbE642jwwRiSYOJV70TYW-VtnGyJb5CxARW36BAjX6TdshBfn29d31TIRLPdcS6-aGmb4zssmbR4Hgrh0PM209mx5iwodsTrIw3fFBVV34asQ1evq2ECsUkOw5G8yF8qrisWP1BikSDK__H982Rh26_No2xusHgF5wccBF83DBuF4hyRNoeycmrOVj_0WJVO5MsvAjUMLk74Fv24YbrtdVpsXt0q3-YeMQRGKHq1Xk8iV3ijHV7GnV0-09alhf0duFqkfGqgPsxmxD703mHAih_PBiMh6EOQdkyCiPG9bzCb3Fpi9czc2-5mqcnLDEwgG-ZapPCs7Sq0bbaF9PMHsBjWu17xprw9f1xAnboGmHMejo_43M8AN5fxoSPEXgWpkEpyHSt8bUYTwWOqxSYjabET4vVQnbN5aW-HRa783UorbdVTEg7Z6y_TN8c7WSbnR-s5SHs0GYJudG7sQL3GQRrLxJG0w13eFSN96FZ8Re_3tPkC9Z82mUl6TNhyyAU6xq5p9GFU2jfwGFrwVCAvhhzzc5fsyd2Vh8teE55oGjUpGx8gD7BkRrWYP5ssEAkwBxxRrnQCLoWuGyKqZ6cjZ2QNu3aPOuFVBnk_5WInROcgQ932h7URC8NNXT6cYe5rSshox78P97XhMBLK49jG2mvHIj16Hrw5iK6Pw14doSrmbtc6r52Nie3JnEh5GxbiL7Lcvtgtw4NvWORTaYKSU9yBQK0MVRsDEj7_1bKGtQ9UxEf1pJ61B_QR1ogOHWHc24sgeH8x4B2oEwI43jLyJZiC1oaUq3943-0SIU6S82_W5vkXCfV1oSs-cUz5kB_7IdCgS-yJUShf2kweAYNju_udfhnO3-s2bTrkLawtem_YqhzxifgxSXB9qxZZfCm2aStumBq07E3zCUtHl9M5JTjMPglKE43Uuazh66K4Kk4p9CJMbL1hinva9DVJzOZK0MISx1K5zDDCfXgeA==",
  "id": "rs_0e783dccab644782016ab45994972087d09eff8a1eef74c563",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingers now straddle the pink bowl’s side rim. I’ll close on the thin wall.\"}",
  "call_id": "call_SzlUSVLu4OP4LanbjXjy7Ria",
  "id": "fc_0e783dccab644782016ab45994e35087d09dfba094ad8c1fc2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SzlUSVLu4OP4LanbjXjy7Ria",
  "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]: [-0.0898, 1.0622, 0.9943, -0.8257, -0.1287, -0.0784, 0.9988, 0.2447, 1.705, 0.8265, 0.0051, 0.1623, 0.086, 0.0373]\nstate[eef_state]: left_x=0.2948 left_y=-0.0002 left_z=0.1948 left_yaw=0.0455 left_pitch=-0.3137 left_roll=0.0687 left_gripper=0.9988 right_x=0.4086 right_y=0.0763 right_z=0.0361 right_yaw=0.0429 right_pitch=-0.2891 right_roll=-0.0546 right_gripper=0.0373\nstate[joint_eff]: [-0.0889, -2.8376, 6.6667, 1.4188, -0.1441, -0.0562, -0.0122, 0.0752, -7.1726, 6.2564, 1.033, 0.2711, -0.0562, 0.8278]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d4443441b0a0c13607a16908bfd52ff7c5ed0f0f8f4e262cdcf8640dd246656",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9472bb49cddfd0a59c59e011e496ee1ff5434e5e9eb8ab416e0b7680896f5eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84c66852bf25d305694b37c92244d2ae2dff8de49d5b789c0c4c6bf27af75a6a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0883, 1.0588, 0.9962, -0.8078, -0.1371, -0.0841, 0.9987, 0.3599, 1.2888, 0.7807, -0.2874, 0.2543, 0.1696, 0.6008]\nstate[eef_state]: left_x=0.2982 left_y=0.0014 left_z=0.1995 left_yaw=0.0566 left_pitch=-0.2895 left_roll=0.0682 left_gripper=0.9987 right_x=0.35 right_y=0.0881 right_z=0.1268 right_yaw=0.0386 right_pitch=-0.194 right_roll=-0.0424 right_gripper=0.6008\nstate[joint_eff]: [0.253, -3.535, 6.3795, 1.3944, 0.0122, 0.1783, -0.0806, 0.1709, -4.7248, 10.0991, 1.8095, 0.3101, 0.2906, -0.0073]",
      "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]: [-0.0898, 1.0622, 0.9943, -0.8246, -0.1307, -0.0784, 0.9988, 0.247, 1.705, 0.8276, -0.0036, 0.1833, 0.0837, 0.6008]\nstate[eef_state]: left_x=0.2951 left_y=0.0001 left_z=0.195 left_yaw=0.0471 left_pitch=-0.3124 left_roll=0.0701 left_gripper=0.9988 right_x=0.4077 right_y=0.0733 right_z=0.0356 right_yaw=0.0279 right_pitch=-0.2933 right_roll=-0.0743 right_gripper=0.6008\nstate[joint_eff]: [-0.1299, -2.9744, 6.5983, 1.5067, -0.1001, -0.0464, -0.0122, -0.2256, -7.3915, 7.8017, 1.4823, 0.0904, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0898, 1.0622, 0.9943, -0.8257, -0.1287, -0.0784, 0.9988, 0.2447, 1.705, 0.8265, 0.0051, 0.1623, 0.086, 0.0373]\nstate[eef_state]: left_x=0.2948 left_y=-0.0002 left_z=0.1948 left_yaw=0.0455 left_pitch=-0.3137 left_roll=0.0687 left_gripper=0.9988 right_x=0.4086 right_y=0.0763 right_z=0.0361 right_yaw=0.0429 right_pitch=-0.2891 right_roll=-0.0546 right_gripper=0.0373\nstate[joint_eff]: [-0.0889, -2.8376, 6.6667, 1.4188, -0.1441, -0.0562, -0.0122, 0.0752, -7.1726, 6.2564, 1.033, 0.2711, -0.0562, 0.8278]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d4443441b0a0c13607a16908bfd52ff7c5ed0f0f8f4e262cdcf8640dd246656",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9472bb49cddfd0a59c59e011e496ee1ff5434e5e9eb8ab416e0b7680896f5eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84c66852bf25d305694b37c92244d2ae2dff8de49d5b789c0c4c6bf27af75a6a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The gripper has closed to a thin-rim gap. I’ll make a short test lift to confirm the pink bowl is securely held.\"}",
  "call_id": "call_VRz5she7OTZlb8syoz0c86rk",
  "id": "fc_0e783dccab644782016ab4599815e887d0941f38597679f148",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VRz5she7OTZlb8syoz0c86rk",
  "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]: [-0.0898, 1.063, 0.9943, -0.8257, -0.1284, -0.0784, 0.9988, 0.2466, 1.61, 0.9436, -0.2501, 0.152, 0.0772, 0.041]\nstate[eef_state]: left_x=0.2949 left_y=-0.0003 left_z=0.1946 left_yaw=0.0452 left_pitch=-0.3145 left_roll=0.0685 left_gripper=0.9988 right_x=0.4022 right_y=0.0774 right_z=0.0775 right_yaw=0.0561 right_pitch=-0.3333 right_roll=-0.061 right_gripper=0.041\nstate[joint_eff]: [-0.3624, -2.8513, 6.7897, 1.4188, -0.1245, -0.0415, -0.0122, -0.4444, -9.8393, 9.388, 1.5018, 0.1343, 0.0806, 0.6813]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:197eec02dcf52f3ac48ec15024c50bc1d8cbf8a83c4c471fbfed502131639016",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6403aabe40fc6245b7b596056d1234032c3a465b1d6f776679aad38225c227b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69162b60653b5b67840e85cf4194798b2695d8c53139c8f05ad5663c4defe9a8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 65 changed as sent

message 73 changed as sent

message 76 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0898, 1.0603, 0.9943, -0.8185, -0.1287, -0.0788, 0.9988, 0.3161, 1.6112, 0.7094, 0.0341, 0.2226, 0.1349, 0.6008]\nstate[eef_state]: left_x=0.2961 left_y=-0.0003 left_z=0.1965 left_yaw=0.0453 left_pitch=-0.3046 left_roll=0.0672 left_gripper=0.9988 right_x=0.3783 right_y=0.0865 right_z=0.0361 right_yaw=0.0356 right_pitch=-0.2709 right_roll=-0.0662 right_gripper=0.6008\nstate[joint_eff]: [-0.1983, -2.906, 6.7761, 1.5263, -0.1636, -0.0952, -0.0073, -0.5128, -6.9402, 5.9145, 1.619, 0.0659, -0.0269, -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]: [-0.0898, 1.0622, 0.9943, -0.8257, -0.1287, -0.0784, 0.9988, 0.2447, 1.705, 0.8265, 0.0051, 0.1623, 0.086, 0.0373]\nstate[eef_state]: left_x=0.2948 left_y=-0.0002 left_z=0.1948 left_yaw=0.0455 left_pitch=-0.3137 left_roll=0.0687 left_gripper=0.9988 right_x=0.4086 right_y=0.0763 right_z=0.0361 right_yaw=0.0429 right_pitch=-0.2891 right_roll=-0.0546 right_gripper=0.0373\nstate[joint_eff]: [-0.0889, -2.8376, 6.6667, 1.4188, -0.1441, -0.0562, -0.0122, 0.0752, -7.1726, 6.2564, 1.033, 0.2711, -0.0562, 0.8278]",
      "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]: [-0.0898, 1.063, 0.9943, -0.8257, -0.1284, -0.0784, 0.9988, 0.2466, 1.61, 0.9436, -0.2501, 0.152, 0.0772, 0.041]\nstate[eef_state]: left_x=0.2949 left_y=-0.0003 left_z=0.1946 left_yaw=0.0452 left_pitch=-0.3145 left_roll=0.0685 left_gripper=0.9988 right_x=0.4022 right_y=0.0774 right_z=0.0775 right_yaw=0.0561 right_pitch=-0.3333 right_roll=-0.061 right_gripper=0.041\nstate[joint_eff]: [-0.3624, -2.8513, 6.7897, 1.4188, -0.1245, -0.0415, -0.0122, -0.4444, -9.8393, 9.388, 1.5018, 0.1343, 0.0806, 0.6813]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:197eec02dcf52f3ac48ec15024c50bc1d8cbf8a83c4c471fbfed502131639016",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6403aabe40fc6245b7b596056d1234032c3a465b1d6f776679aad38225c227b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69162b60653b5b67840e85cf4194798b2695d8c53139c8f05ad5663c4defe9a8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmevcQLN8J-g6hnG6bEvXZvEGDZSUD-4eiCPh8EhTix1UOOMSi2OAZKk1B1nc_TQ9HKp5n5IiM7IDWo_KsUmrLYgyrzN2Zek6QkdxhLgmex_-PomRusejHMb8YpOcJOPVLv6Ltv4fEC8qkV5NPUAU4UkoE8uq-leKlCT_OxhjxLZoKjIHR0osk_iMOAzuGKbBaQIbowYgS01Ff051dpBhaKfAbk3-cpIel9SVtQbQRbH-qGAYDsT-Th5nLbgxm97vnzPmgyb2MZsDQX2wNSvMgwRaJV8DBF0gssHBaR-wGE-phLL7dGmAju0T4t6lejPEd46kxeftl3kkee7DnfZxYSWYtEM5WMTm2jqRS_oqM1JiveJVldfj_SYyNeLcIKD7HQGDXwVd5Y5LBu4OweAhgM_n4KObbdSugI7xtXAqKLSbRSjVox3uyxiFXWaR0AKVUAdj0e3LzvHFU1nmoB6zC_9-7ISLQ2dUwwBE6ZGxgLbVDCFnzSV5a8QQIDwBBqVWsE-yVhHCnZboWo3whVioc9sBTZNxvUWPsbOG2kOlzYZslR80Uy5ofk4UGkpm33i4FvC5-l3zgzt115ydenjpBwdD8yO6a_1KevGqrDPiakEXK9kWDULyJAmOK0hHcddTmPWzLnEJkXYWwqPtUOZnE4Z8PvLb6rpJFX9YdI9-7rbva54Gxwy7bQYsfkq8UzqUIPbpvXCCkSkYv_rjVXSUSvXST7VIAuzSgbvbmosBXI9WTpyqx1X0CRo3npZxo4d2JT3dDBETQAlRRDqWW9e-S_1o-ny_IeDl8jPZL_p4VlRtsvF6cBfmVP-DCpKzejNvOsZNS9WFRdgPwWWaTM-Aq_Ds8-yMeavrqIDaycbD5C1EnslPplNvnnzYochJLTZZ3SDuGaelXYLEe0iwwi_iNDbjuQso2WZbkkPRr3fuQql7QoohP1n5evfElWhfAGpdPvrq-OoeCGABAK_giLrSnF45SyOG9ky-XiphMZOe6Tqv3ZWWP7z0GFDSF4bYAafG818Wk35zIXureZwsqw_Yy10CiUmsy6mcM3sCyYo3RCmBtslojF3SphEH09soh_aQ4svX7Ets6AysFTZ6gBXeQHx8p2-PEnxBIfhRiH4GZiRmHzOw0qwOZbHmPbkwLJFKUmwU9VQvvT302h4stpWmLgOKsMd0fyDVUbmYnLPA3Fw9e--Of7V2iPieWu82z-MSgTEmYnoULFmNdJ2JnnArAc46rDXcpdIKZKVY9XtViJ_134sAKoFHPAwnAcj9_8xqxXdyJd7eCDz8H2C8yf8B4MfxdfGBIYadOFZuHg2EImoVJnHenPGy5jtG2ZvEfXKkE1b6M8kv_fCwZ1XOHuyi9XzrC3NsFURKoAVCJyGi1ddj8v8RYI0yjT-ppC_ARV8-VPE_1w1-RvO7_nsOAS9iCXYZHEabDGQrlaEKsyBA5UJZFXRchtTxQN9BZr8HgPY2CV67ictOWyQ8oKxMdiagQt4M2fFYLxY1PtFxTKWJSPYgOR2oEg9E_rZbsubb3zqozq7DpGm2T5oXSly9UrsrAaciEiTg6FOsxkZQFoULy04_eXWazFYIXc7K8HunQRsHQXwwrF0SgshbXbeDjLepnW4tEb2jJKMiKKqnuInqk7Gfh41sjZ1f6jVLndRLckwvecFWesX3H5fZ7c1dW2w4hX26rEfiwnmK3oQGk1RQKYZDDjsBZtgs614QRrU1VbrNI-6C8xSNNr5Bo0XhTrnHFjN9YNcU1s5mjDQTkSO_pvLpRtuKkXQJlUZh5LbB0Bx3mpgMl65PQwQfgldy19phNh6A-GkwQf26V3rUlJCiyR0r3TayvsD3MT8d7XaXndnLrhbMzRGS_zTbiOzb70-mvbiqmcRdllGU07kkjtgnkz83DyXfvGhu5ocV065OZVVxHYrU5FIy8GKBwXevqFJ5sHvsuwciMik9N60ccEB54ssvFCs8VoWL-XESeJe-i2zcE34VZjTdtWHpnPJQWg7agDcDYKFnBds6ayD5Mj0RopiPDMvMdC4A6Vnp0GCaxtrL2nWuti6vfayASsoqS4TTNCCKoK5t5wqMNv1y5ivfLvaM95SUxjrxaTRtKIGtAqQgEeIozGoLLLOArK5w6aG8O6YzFiw-l0wJIzx5tLzuonA91vaFzyXAsgOFu1MYzOTF7w1Bz68MGceXQyNerWoFkcMxu-kJ1z-GiWnIXId6i4iS8=",
  "id": "rs_0e783dccab644782016ab4599ae43c87d08e29253cb3b14367",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The pink bowl followed the lift. I’ll raise it above the stack and bring the gripper back toward its starting orientation to keep the bowl level during transport.\"}",
  "call_id": "call_6CdDaBp8uuO6aBkt57yyp7Np",
  "id": "fc_0e783dccab644782016ab4599db0f487d0a4a49edaeaaae1fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6CdDaBp8uuO6aBkt57yyp7Np",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0898, 1.0641, 0.9943, -0.8261, -0.1284, -0.0784, 0.9988, 0.2817, 1.3602, 0.9268, -0.2714, 0.2089, 0.1055, 0.044]\nstate[eef_state]: left_x=0.2949 left_y=-0.0003 left_z=0.1942 left_yaw=0.0453 left_pitch=-0.316 left_roll=0.0687 left_gripper=0.9988 right_x=0.391 right_y=0.0788 right_z=0.1645 right_yaw=0.0373 right_pitch=-0.1169 right_roll=-0.0352 right_gripper=0.044\nstate[joint_eff]: [-0.2256, -2.8513, 6.612, 1.4286, -0.1197, -0.0611, -0.0122, 0.0615, -7.2821, 9.1419, 2.1465, 0.3492, 0.2857, 0.652]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f846106bce9798226bf999a2c298f0c1772d0ef7367ffdf899aaf7981bb120b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ca7219216c4cd3de56324c844787ccba8666cf704b76173b526889ba5cb7db4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0de2223259504565642929d8f1bf9577051bbcd41ada487d5b7e65d5551fb4bc",
      "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 69 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]: [-0.0898, 1.0622, 0.9943, -0.8246, -0.1307, -0.0784, 0.9988, 0.247, 1.705, 0.8276, -0.0036, 0.1833, 0.0837, 0.6008]\nstate[eef_state]: left_x=0.2951 left_y=0.0001 left_z=0.195 left_yaw=0.0471 left_pitch=-0.3124 left_roll=0.0701 left_gripper=0.9988 right_x=0.4077 right_y=0.0733 right_z=0.0356 right_yaw=0.0279 right_pitch=-0.2933 right_roll=-0.0743 right_gripper=0.6008\nstate[joint_eff]: [-0.1299, -2.9744, 6.5983, 1.5067, -0.1001, -0.0464, -0.0122, -0.2256, -7.3915, 7.8017, 1.4823, 0.0904, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0898, 1.063, 0.9943, -0.8257, -0.1284, -0.0784, 0.9988, 0.2466, 1.61, 0.9436, -0.2501, 0.152, 0.0772, 0.041]\nstate[eef_state]: left_x=0.2949 left_y=-0.0003 left_z=0.1946 left_yaw=0.0452 left_pitch=-0.3145 left_roll=0.0685 left_gripper=0.9988 right_x=0.4022 right_y=0.0774 right_z=0.0775 right_yaw=0.0561 right_pitch=-0.3333 right_roll=-0.061 right_gripper=0.041\nstate[joint_eff]: [-0.3624, -2.8513, 6.7897, 1.4188, -0.1245, -0.0415, -0.0122, -0.4444, -9.8393, 9.388, 1.5018, 0.1343, 0.0806, 0.6813]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0898, 1.0641, 0.9943, -0.8261, -0.1284, -0.0784, 0.9988, 0.2817, 1.3602, 0.9268, -0.2714, 0.2089, 0.1055, 0.044]\nstate[eef_state]: left_x=0.2949 left_y=-0.0003 left_z=0.1942 left_yaw=0.0453 left_pitch=-0.316 left_roll=0.0687 left_gripper=0.9988 right_x=0.391 right_y=0.0788 right_z=0.1645 right_yaw=0.0373 right_pitch=-0.1169 right_roll=-0.0352 right_gripper=0.044\nstate[joint_eff]: [-0.2256, -2.8513, 6.612, 1.4286, -0.1197, -0.0611, -0.0122, 0.0615, -7.2821, 9.1419, 2.1465, 0.3492, 0.2857, 0.652]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f846106bce9798226bf999a2c298f0c1772d0ef7367ffdf899aaf7981bb120b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ca7219216c4cd3de56324c844787ccba8666cf704b76173b526889ba5cb7db4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0de2223259504565642929d8f1bf9577051bbcd41ada487d5b7e65d5551fb4bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmmBEqcM2-Y7jHonndEhPimcSrQN5rW8s4KWf8VPD539Fv2oRmiVFCGBWGCxXMJhwpeR1Gue0t3mdtQtUgf598yXzmYG4JoO3VVONY2ZKltjStcjOOgu8THnYJK_qnZooP8p0rn1v62E_GV7hLEzp0_yfLI3RdkknbBm2hNlR2iec0oy_CxsXIMCuzSORXrRWNmyfw7-QKVd4vu4fs2crVYf1ArvhwtpjYO-rQL1kA1ftvLh6Wza3Jj9LNXKRG02zeL3pbopoSg84Sf6TmNxwsZFqueNr1dJqCFoAyCFVc_ALoowzg_54hIrXuIV93EoD_-RetUmiIBOrN_JCTU8huEmvxmTdRJ1SljtO69beuBIrkF87VhtCHbnDvSbo7tQf8hY852K9-Dlk90a_H2UU2zMikg33ZAxh2jZD5xgH_MQpyepS5VAz3dcAEgdZYZUklbsbNAoOJ47ZaAQXXVlpBud8nHcT5qGeThMGcBy6g8Waw1BX664OYHnHKWoxCtmZDb-6vHw28WQbVLDbAnnTXRWa1rSZyb1EsbT--hdwEX6Hq_DZncCspZAnMHlM0A5Zmsdu1npy3mOxRu_TlzeRgjkwEqWDn2z72xaN78uU7XdenkvZoAehnO6xjS4wHu63I3w20gniHvXolhJczVPngvjkSQwM_TihvIPzfjoAuMULwsaXJ7ymlLjKcb0FjD-6zMNtKIrfcUdsx1PdUIfFFufFmVQpQyUPZSVQzuoJEavHOsiQh9qPjd_VrBisiq-AH_smy_rUnGX5QK43zTeque_ifjau2QYf7jllUr-KkhKin71a2A_23pX7W3gu5ggle6llITyrnnLH39q2u5mayriHX8fTzBle3AdZl6zF2I4aMeQPgdXYfRtsf7JPNh-wh6HorvYPkhQNuOhYhDiHreYrGgZ8A9p2zAH_QidwCRP_yjGZcuuHu-ctGKmPGWjEVjFs0suCfvFzVl17iHfo0SQgaSLoWAJND7-q7ubBJUZc3ciLUfe8Cc0kdr5p6V_KcGcqhQJ1Nb3QVtn8hXeqg80NeYe06Whk66FayU-7qpiG0egRi_qlb1bxWU1igQKqqk_5OtdVtttTzWwI_5tmit_VIm2MTE2xDvrkzQ3BBw2IO03Cg5QphhFp2bS26gNvm16mClTK5To7ZVF12qxgwxda_f9KYB0fgpjJgABBvVe6XqIBYngxaZe5vJ-RnHIhp2q5JyVXDsQKMc4GNbk46IpOSw2HAQAFA0hIIwSKMi12S7ZJ_vYRPeKVXOynlYc2OVEnS3eAndzyK8l8b_qoHM59EjcQFwDefLPdWMf1uwIKYgrUbnQSBebLDhFFWotBj2ZqtK-PwRpTAd2_B7I4p_IgogVJ4j-IqUKEnrDunUo6dfvDKOr7dOz7zYlOWj5fjrMMmXZh5OmlbWG7Skd6pZN_yIVfhweIlmHNvobPmyyMywG0u0sQP0zs4Vex1aLK_11pBJz-fwFKE5E6EwkIzDqjpTrvm4qc9alylNVS5d5sbzI4e8lRFlqgIufMij1loIwooVG6anKlV3p1UDYO-j-SLSA5wkujEidmO9B091CKpWnE0JGRgVv6RV7q9apk4iqYvsNccdZKBsYayfNACx76oeGKtD0Cx2hwSjDcHCMNMH9YwhyFAjR-CwQxacfc1r6WqrVaQo-RB0VZFkIQC2MVcX5Y9cs72DPxY8FZncB4mu4fnuyFF2cIKsKdOh-wsD9jahD8heSuDpIjgS9aG5NzJm-5VCUB-noPXeoZfhjCI5M0uN7bI4wc6d6sKoKOuHkk-G-gR6xt3X-JENQLXvd9vf7mXbKFj8tlzOy_H24Tmk6ZwLFgQq7pAWBqqGL4221Zlu9Ld2LWa-1pmq7afuaH9tvLFGgcY2UKDPxpdE23A14J9u3Q4qdykwQg9E3ICCKNqpXCxex1baYcpEGIebz3ZwM9pUuLk4DFnUm1B9nKISRqBr2l682ZqYZwT_yMVkX4W6UacvxWCVx8G2MHYVIvdgctNgq_ZDUkb-vjrj79N0vZsQcwdCoswqO3T9guws_xhZNklh_MA7ZdQ0K5_OvCdRFhslR8_IL2tKkUMdPiZ_NFMHK28tked6P02S29jubg-oin72XAFrGChwhABFRAhIMLix93fM4Chc_Sr4gVQ8aa52gU2Vlz90P1-s0oQxrBeVdDqeK6lu2umFuQl21jtWtE3AGYjWedCF733OlovrsdVNN7rAz0Xts7q-iHPOysMT-ZmllNQFjIz1IuFlngDu9b95TS1ceWsVvIRsgsNCaf04uCH5NtO4iSBYYAJRqngbynxzwePX8H3hYa0KjQ6Nbgv_XDN8ebou7HQEeu1HkjCxmsC8FQYFhBnjVQ9IpYAB3ZLN1m_IIzXnkVw3OuvPdFj583YGSWZTzAr8me1i1ikMhaoJ_LD7c45hI000",
  "id": "rs_0e783dccab644782016ab459a0ccc087d0b8a823902ee19f68",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.255,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The pink bowl is clear of the others. I’ll carry it over the two-bowl stack, using the first placement as the alignment reference.\"}",
  "call_id": "call_UABkw3bsyb4rmSdGDE2Xg482",
  "id": "fc_0e783dccab644782016ab459a4f41887d0a1f9eb1a3a5089ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UABkw3bsyb4rmSdGDE2Xg482",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0898, 1.0676, 0.9943, -0.8265, -0.1284, -0.0784, 0.9988, 0.7753, 1.6981, 1.2945, -0.3851, 0.59, 0.4309, 0.0467]\nstate[eef_state]: left_x=0.2951 left_y=-0.0003 left_z=0.1932 left_yaw=0.0455 left_pitch=-0.3198 left_roll=0.0693 left_gripper=0.9988 right_x=0.3915 right_y=0.2511 right_z=0.1791 right_yaw=0.0482 right_pitch=-0.0612 right_roll=-0.0453 right_gripper=0.0467\nstate[joint_eff]: [-0.3214, -3.1248, 6.6393, 1.3651, -0.0611, -0.0562, -0.0122, 0.1436, -8.4718, 9.5795, 1.7118, 0.3736, 0.2418, 0.5201]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b101c4663423b96ba50b08bd4cec1fe8aa6ca22dbf3236bd690a4b59381c4b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1291c907e62c2869c569e15d5aa556ec7c16c11554a41b769a135bc72f169b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26e85ff6b08288af7015da24fe688985c4de24ec57ee61947faac427cecde140",
      "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 73 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]: [-0.0898, 1.0622, 0.9943, -0.8257, -0.1287, -0.0784, 0.9988, 0.2447, 1.705, 0.8265, 0.0051, 0.1623, 0.086, 0.0373]\nstate[eef_state]: left_x=0.2948 left_y=-0.0002 left_z=0.1948 left_yaw=0.0455 left_pitch=-0.3137 left_roll=0.0687 left_gripper=0.9988 right_x=0.4086 right_y=0.0763 right_z=0.0361 right_yaw=0.0429 right_pitch=-0.2891 right_roll=-0.0546 right_gripper=0.0373\nstate[joint_eff]: [-0.0889, -2.8376, 6.6667, 1.4188, -0.1441, -0.0562, -0.0122, 0.0752, -7.1726, 6.2564, 1.033, 0.2711, -0.0562, 0.8278]",
      "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]: [-0.0898, 1.0641, 0.9943, -0.8261, -0.1284, -0.0784, 0.9988, 0.2817, 1.3602, 0.9268, -0.2714, 0.2089, 0.1055, 0.044]\nstate[eef_state]: left_x=0.2949 left_y=-0.0003 left_z=0.1942 left_yaw=0.0453 left_pitch=-0.316 left_roll=0.0687 left_gripper=0.9988 right_x=0.391 right_y=0.0788 right_z=0.1645 right_yaw=0.0373 right_pitch=-0.1169 right_roll=-0.0352 right_gripper=0.044\nstate[joint_eff]: [-0.2256, -2.8513, 6.612, 1.4286, -0.1197, -0.0611, -0.0122, 0.0615, -7.2821, 9.1419, 2.1465, 0.3492, 0.2857, 0.652]",
      "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]: [-0.0898, 1.0676, 0.9943, -0.8265, -0.1284, -0.0784, 0.9988, 0.7753, 1.6981, 1.2945, -0.3851, 0.59, 0.4309, 0.0467]\nstate[eef_state]: left_x=0.2951 left_y=-0.0003 left_z=0.1932 left_yaw=0.0455 left_pitch=-0.3198 left_roll=0.0693 left_gripper=0.9988 right_x=0.3915 right_y=0.2511 right_z=0.1791 right_yaw=0.0482 right_pitch=-0.0612 right_roll=-0.0453 right_gripper=0.0467\nstate[joint_eff]: [-0.3214, -3.1248, 6.6393, 1.3651, -0.0611, -0.0562, -0.0122, 0.1436, -8.4718, 9.5795, 1.7118, 0.3736, 0.2418, 0.5201]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b101c4663423b96ba50b08bd4cec1fe8aa6ca22dbf3236bd690a4b59381c4b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1291c907e62c2869c569e15d5aa556ec7c16c11554a41b769a135bc72f169b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26e85ff6b08288af7015da24fe688985c4de24ec57ee61947faac427cecde140",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmthG9Q21CYRwD2hiYEq5Eexvqqmn7cap8Ub3eXUz-6dYHae8id9y65bsor4k3aHAyVTIjnFbcr3m_kGlyDKRhXHxLoWexmfS8s2oGzq-17r-f68heTQ4gPOeydsry9e-yYbIHlD2BVYLF4h7OrWQyfJDoaXa1ROxjpJRUThz7SqujUFEnoEEQSFrxzMtEFEvixESumS9BXYh8gqbgSPOrhlFbx8yjIiEuq4ml_3_mJyw7CI5P_W4MwdNoTmQ9nkd8rpYH-ZhjsI-Sq6gv7w6cGR1uloGIX1k_jY82fTPBd3sdt9g4rSODjayUV7aV72WdSnVGeAOGfBD9tEdSOtGNUXW9sYs0Q8-ZSs-yt7guMU1Uf45hzTzHUovcbzk7as3eAj4xQabnqCy9E5Dq1_lAB8NP9jmWI9cXpK8KIJIv8pQGTLHlJ87sELLPUkFmWc5ZYiV2-cZ9S178nT4IVqwa0xDRPgHuOEYzz-VCX2Ny3_qtVeoBFO_N0Lrxwa5XJlnAwHFF-xUxzfQnfgauUTiPM8D4SXIh3L9vdADex0Ujbu_HS_-XnqkuiArk3qcihE0UGHOECfMXkZG1OV4L_Q8LwXzQSC1VUMfPmlOvxxmUA7CoI0SqZDJBDy5zo7ZPvLUAAtFZV3gHVBVK1RNQ9_K68JCv6AA9q_G9UrOBn_xHLhVFceokQqzEne7T0dwp9E36ubEMePGnITsTIoqDc_7ZyB9zpAJ1r0xf2CsEt2xarfBwdBKiMVCkF7eO2NDRdNHYmj4jAmxYp7R5zcorHCp_7486qZml9pRZDXF3h4RIPhPDimSA7N2s8F20xrHgh4a0w72LOG2q5pyxot1QTg-RQUg3Gh-4d2asyyel1vdt58DWUU_7hmoREzrvv7AcUKwilGubX1AbMbB7hLwYZ2i_Wqs59U8qKMv59A5otHG1j5rSpK8JEMziQKM2H0b8AvKgI_EZ4wef2Z83JlZ8c9Q-jrUCdcWkN3Zud4imqT_iLA2soc7U3QNOD4RXXWXEJt8jAX92VqjCmI_3Z2Oy2W56PHGaNiJKo_JmLOVVI0ICg-QRKTZgUiccwFxHfm0cfypEq-y2tc1ZwUOGORiRrpEqAFxu40Jebaec5MR_g_P8qVBO509XjiUVBRtLUe3IdDMbrZFjr9zQjMUemPswmGn3zkMJXv-0VfJjGLS08gsq0iD9_QQIyFpIK-FsIPTJqc20ZI5d46x8S5JVsOhE-d7DlgwmtYSO5IrmrLT29Hsj-eL1luYVIh04dLwfCUja5Ikwhr0b_8ek_G3XA1Gh9heGjLwsFEdhZpEd_Krh13J8KGrtEyQAv4m-MikgZkqFIbtYR-TUcL4AadrjBXlbPoGq5VFhJa5twm5w8DQjzlZAttEl8ESjkD26sy8vNFDaioNfPAPNfbhnk7amF0ZssoAgk50tGP9ru75jBhft11aECqUB1oBafFB_SH3y3Kb5t057H-_UXL7k_dkELYNpiX4tB2_sbEUCVjrR8fnLsG3J_qWSGrIbj9uJMIsKPb-NwZxDMyhFPbU8YEgC9xhGXbFzOSBkWVkb4Xhqhc_0oXVz6ApZRphEJElHYfRIbKMzmYsNc-o6fdDmVT2dANOqne6GHHLy9YF8XgoU7GE2hHuCkrG6gx3juidOGIDtu7ig2X0XTO2gHI7IbP2e2uET-TCubpFIiTf6TNt_9e7AZIHGeo2NU1D96hamBzWmcUapAYixvK5K3N8IrnqzBZ93CJFzY16gQdcFkMkEAGN9NWx4Vdj3gnSa-0XmK7HKkqLa2yWgGlp1qoEUru9R0EY_yqs41Kwf2S-9oCPLnSZ7LhhvFy-zrtD8McSjCPmGnl0tOOD0q_5DDUI2exI0EBlcyAJz5YeYHagcSzh8G9_d3Uo3yMo-dWl6fUdhTyGGE2LESo5Ix_jLBA4GBfBNrLIA-_nEG4iEF76zCX98ha_svtc5WJS4vwxn0pNX4156-746_ORBN3AD4n7c93Y03mh7T6Ahb_yM03kdqNla3QiSyrQdYKilF7VzFAgX62pci8ZJoqUCNf5vP8qCl-pWVjZKPESOn0Cujbx8lA8qzf7-A94cZ3QJvrWyBJjfPkPqM-B5ZxDWbfNcRMErkNs2v-Dd6BFJ08EzWGL_ryHOtYBrmCWZhNp1nNv1EIW-8Cp12Axo1leB8Xxkj5GGGumVhCblJyjvbgTqzYepDH3ngrtMQWUQMJLrIc-yhJPnwIFnLKp--1Y_j",
  "id": "rs_0e783dccab644782016ab459a95ea487d0adce5bce7ad2398d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.125,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The pink bowl is over the stack, with the lower bowl visible just beyond its rim. I’ll lower to a small clearance so any remaining offset is easier to judge.\"}",
  "call_id": "call_uY0r9Me3pIri4VCGmnoCATPS",
  "id": "fc_0e783dccab644782016ab459ac987487d08881c3e99c8b2ac4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uY0r9Me3pIri4VCGmnoCATPS",
  "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]: [-0.0898, 1.0687, 0.9943, -0.8261, -0.1284, -0.0784, 0.9988, 0.7883, 1.75, 1.095, -0.1944, 0.6178, 0.4572, 0.0495]\nstate[eef_state]: left_x=0.2953 left_y=-0.0003 left_z=0.193 left_yaw=0.0455 left_pitch=-0.3206 left_roll=0.0694 left_gripper=0.9988 right_x=0.3798 right_y=0.242 right_z=0.1095 right_yaw=0.0236 right_pitch=-0.091 right_roll=-0.0804 right_gripper=0.0495\nstate[joint_eff]: [-0.3214, -2.7009, 6.6667, 1.4139, -0.0659, -0.0562, -0.0122, 0.5128, -8.8274, 7.5692, 1.9658, 0.4274, 0.1929, 0.2857]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a72098cb632fad4a4eae984495f7996402ff7db512a23d53f4c12ed96656f6a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34adb170a58bd80dc6433f82e5cd3fd88231467d2ea634bb76f7a62040d10102",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ae29dcaccca812a62bca068b2561ac6d4fb725886aaa4c191a51a384cbbb6cf",
      "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]: [-0.0898, 1.063, 0.9943, -0.8257, -0.1284, -0.0784, 0.9988, 0.2466, 1.61, 0.9436, -0.2501, 0.152, 0.0772, 0.041]\nstate[eef_state]: left_x=0.2949 left_y=-0.0003 left_z=0.1946 left_yaw=0.0452 left_pitch=-0.3145 left_roll=0.0685 left_gripper=0.9988 right_x=0.4022 right_y=0.0774 right_z=0.0775 right_yaw=0.0561 right_pitch=-0.3333 right_roll=-0.061 right_gripper=0.041\nstate[joint_eff]: [-0.3624, -2.8513, 6.7897, 1.4188, -0.1245, -0.0415, -0.0122, -0.4444, -9.8393, 9.388, 1.5018, 0.1343, 0.0806, 0.6813]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0898, 1.0676, 0.9943, -0.8265, -0.1284, -0.0784, 0.9988, 0.7753, 1.6981, 1.2945, -0.3851, 0.59, 0.4309, 0.0467]\nstate[eef_state]: left_x=0.2951 left_y=-0.0003 left_z=0.1932 left_yaw=0.0455 left_pitch=-0.3198 left_roll=0.0693 left_gripper=0.9988 right_x=0.3915 right_y=0.2511 right_z=0.1791 right_yaw=0.0482 right_pitch=-0.0612 right_roll=-0.0453 right_gripper=0.0467\nstate[joint_eff]: [-0.3214, -3.1248, 6.6393, 1.3651, -0.0611, -0.0562, -0.0122, 0.1436, -8.4718, 9.5795, 1.7118, 0.3736, 0.2418, 0.5201]\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]: [-0.0898, 1.0687, 0.9943, -0.8261, -0.1284, -0.0784, 0.9988, 0.7883, 1.75, 1.095, -0.1944, 0.6178, 0.4572, 0.0495]\nstate[eef_state]: left_x=0.2953 left_y=-0.0003 left_z=0.193 left_yaw=0.0455 left_pitch=-0.3206 left_roll=0.0694 left_gripper=0.9988 right_x=0.3798 right_y=0.242 right_z=0.1095 right_yaw=0.0236 right_pitch=-0.091 right_roll=-0.0804 right_gripper=0.0495\nstate[joint_eff]: [-0.3214, -2.7009, 6.6667, 1.4139, -0.0659, -0.0562, -0.0122, 0.5128, -8.8274, 7.5692, 1.9658, 0.4274, 0.1929, 0.2857]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a72098cb632fad4a4eae984495f7996402ff7db512a23d53f4c12ed96656f6a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34adb170a58bd80dc6433f82e5cd3fd88231467d2ea634bb76f7a62040d10102",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ae29dcaccca812a62bca068b2561ac6d4fb725886aaa4c191a51a384cbbb6cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0e783dccab644782016ab459aefcc887d0863642fa6fdede0b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.24,\"right_z\":0.085,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The lower rim is slightly to the right of the pink bowl. I’ll correct that small sideways offset and lower toward the final nesting height.\"}",
  "call_id": "call_lB5ixutVM6wyTr2VChl4iMNv",
  "id": "fc_0e783dccab644782016ab459b833a887d09c370701ef1ab504",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lB5ixutVM6wyTr2VChl4iMNv",
  "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]: [-0.0898, 1.0695, 0.9943, -0.8261, -0.1284, -0.0784, 0.9988, 0.7921, 1.7618, 1.0775, -0.1215, 0.6209, 0.461, 0.0517]\nstate[eef_state]: left_x=0.2954 left_y=-0.0003 left_z=0.1928 left_yaw=0.0455 left_pitch=-0.3213 left_roll=0.0695 left_gripper=0.9988 right_x=0.3838 right_y=0.2478 right_z=0.1087 right_yaw=0.0254 right_pitch=-0.058 right_roll=-0.0488 right_gripper=0.0517\nstate[joint_eff]: [-0.212, -2.7829, 6.6393, 1.3895, -0.1148, -0.0415, -0.0122, -0.294, -9.4564, 7.2821, 1.873, 0.4322, 0.149, 0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97a6524a3f0583dfdebaa6f24e319b060049457364704f745ddb526498ad06a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c88e9e10580ce88c5b58403d8903d6c92c5670f15f7cc27ff220d053ac62abba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:881a97c7e529c3ccb7442946f4b9e164eff1c62c658fca7cbcd8e740f3437b8c",
      "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]: [-0.0898, 1.0641, 0.9943, -0.8261, -0.1284, -0.0784, 0.9988, 0.2817, 1.3602, 0.9268, -0.2714, 0.2089, 0.1055, 0.044]\nstate[eef_state]: left_x=0.2949 left_y=-0.0003 left_z=0.1942 left_yaw=0.0453 left_pitch=-0.316 left_roll=0.0687 left_gripper=0.9988 right_x=0.391 right_y=0.0788 right_z=0.1645 right_yaw=0.0373 right_pitch=-0.1169 right_roll=-0.0352 right_gripper=0.044\nstate[joint_eff]: [-0.2256, -2.8513, 6.612, 1.4286, -0.1197, -0.0611, -0.0122, 0.0615, -7.2821, 9.1419, 2.1465, 0.3492, 0.2857, 0.652]",
      "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]: [-0.0898, 1.0687, 0.9943, -0.8261, -0.1284, -0.0784, 0.9988, 0.7883, 1.75, 1.095, -0.1944, 0.6178, 0.4572, 0.0495]\nstate[eef_state]: left_x=0.2953 left_y=-0.0003 left_z=0.193 left_yaw=0.0455 left_pitch=-0.3206 left_roll=0.0694 left_gripper=0.9988 right_x=0.3798 right_y=0.242 right_z=0.1095 right_yaw=0.0236 right_pitch=-0.091 right_roll=-0.0804 right_gripper=0.0495\nstate[joint_eff]: [-0.3214, -2.7009, 6.6667, 1.4139, -0.0659, -0.0562, -0.0122, 0.5128, -8.8274, 7.5692, 1.9658, 0.4274, 0.1929, 0.2857]\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]: [-0.0898, 1.0695, 0.9943, -0.8261, -0.1284, -0.0784, 0.9988, 0.7921, 1.7618, 1.0775, -0.1215, 0.6209, 0.461, 0.0517]\nstate[eef_state]: left_x=0.2954 left_y=-0.0003 left_z=0.1928 left_yaw=0.0455 left_pitch=-0.3213 left_roll=0.0695 left_gripper=0.9988 right_x=0.3838 right_y=0.2478 right_z=0.1087 right_yaw=0.0254 right_pitch=-0.058 right_roll=-0.0488 right_gripper=0.0517\nstate[joint_eff]: [-0.212, -2.7829, 6.6393, 1.3895, -0.1148, -0.0415, -0.0122, -0.294, -9.4564, 7.2821, 1.873, 0.4322, 0.149, 0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97a6524a3f0583dfdebaa6f24e319b060049457364704f745ddb526498ad06a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c88e9e10580ce88c5b58403d8903d6c92c5670f15f7cc27ff220d053ac62abba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:881a97c7e529c3ccb7442946f4b9e164eff1c62c658fca7cbcd8e740f3437b8c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFnAq10kyNcI5A0Y_Kpx0NiUEX8lvyo2_wYTWcdKCQTp-IP6dshZuYI1KIsoH9e4Yq66wl0CD0e8GulHOihdLFySD_uqD3gfZAiIGSjVslY6V9hwQKr0WzAEZs_tdR_M_elpNKcIoiw-pV31-1MXyYte50QmKqNjVwbg9O3I8uoRc2dFHuJnzXnf5C_WfFgwA2ThISYboMJGxgpo4klrqOSLhMFxnAYrwj3HTPAwMoevSwEcYqeHdZCR1LFo4Qt9uHGSZNE9tgqNgAZEAuXN9RkcDFJB3UAGmYxJ6UyGQZByURrL3enjF0_T_OjJZYtTd6XvYHsBtxUgqfOp3fPy34n7uWzVUumY8Dc_Or_alJ5E36Lk1g1AYwnc5hwaFG7ADqDABSIEyklAh_KusKQgiEXZt81TGjYiy6NESRvIjSDqXFAyomj_jZDfBJ66zgM7D4hMYWwjLmX76B1Y50FjLxgkyyJIPEuA30VkKLPd_gmyVGRoFUB4zyGS9bO51EBzws4P0O2s140bwyPnXptsQfemEPIsS3gjCbIH0ytWHgkkRfWotOWZJZ5LnDK8dSlqU4CYshN5NHOv6TiFHptEOcJ4K8B0tSx_joiUx4MpWcpKLYIjfaVQoXVy9W2Ye7VbDpGdoHa36HRbhTtYuQBMyUHnaEhC2tGJ4wlfYe-7H_R3I9btBW5xNc-weRc87E5sPxeervvx50k1Gumb_ebqMl4-jqhr9A-tTX159zdjfn_UiCeTtNttFRqwaY2wdUiBA0EOIlnhcZuJ2kJ-QjN8fxeUzuxCcYssDgBCIjttzr00AKIpDs1EDl9vkj0P4b4As40-xqEHBHXtGz1jwKSnF3FqZvC_rHySia6cTan6APCDDfbx7-vYbQoXg_Ht0VBz64xdcs4L0Tb9uDktl0MhBW9C3SGN4kT_1tSvDIC1YcFfenFZ6PIEApZQekF9XH4uSOQ4bxahsPiCH_8iuxJ-CFuUqyHWcs78rZzbHfVjM5outl-KRYzGByYgRRPpgCKUolK07h3A77VMvoXCKxS3JQAnRZDtJAdPX384GopV8F4FiixgbZgSmLXXSqof5OW80nzWVBgW9YgO2l_6t6N0Oh6FzCUMkrbUpX_JFjnPbJVQGIwRlrUOu44fk0hM-j-XGRyXOcwzcM-X_ZDxoxNZjGwpRmQ5nmQImd1fxDq3vSQKUcONTUjo1IBkBP9RgsIEEPqZvb8IGJlxJ-tTbFLJIlLt5AVF4LykZeIIezKDiP25HQauxN32hQ-peWkfH5KJolaITeWDLYOXv64VCdLJe9YV1oZ4bBzGVbwrYzcTp4hqoKrwER5Wxsxe8_SrA_C3VJI9FjYLP4EDqUk-aE0kU0NoStxbEYB2yaHVsLgVuNZBlGqXbdbre7gTDeSwpyGB-js-N887gfqvkfiOD8zSaSWW-MFGFPHSEvutUlLORofuDz3x-q-Ces3cqPdLURJxPxfLUWlxnUYW9JrP8vJ0jwpyhJZ5STviV0IPXcv6BzRrr8A_OD5VYfJaQy2pHhLU9O7gGIPKdFz5s-_JttuT0Ng516X3a_3wWgHu0Tabk-yO6kqtlzne2ZuOJjM7oBkhgb7xPr0N-Tf7jygIK93PxmKlWRMTyycDp9Z0Q2-YXPboX7QGGULLkAtACq97Rta3G6Y45uHzgz4yODpMpwMObuFDFd3hUiIJ8cACzB0CmnLY1IgJNc7qUC00pfYyfzJN_Ovm5rJXuXcSpqtmaCqmZjinGBiex3Jx-9-JMmpxJwNCcnWxSQoev0qxmt1WUxLCnN5cXBQxcN2dhCKZG0KOa1Tb1coJ0KPnCcoF349t5BRDdCfsGYk--gnqhaXZJi6AFzeDvNhFg6NBPJxr3D3-9_sypahg2dbkp6d3Gwy25obMmW17TxCiEsU9MS_FMki6ft5quXtVVpgJ1PsiCJMph0A1LgPtYP9gD32yXyL0mxvWVg3rqkTkbJPt5u75BzPrpddEY9O4Vy6yoCLfy0T0L-KlK6y1khRLFyyH5qIpzqBNktwRQ3nxbXs8uyVSE3BvajokYpSueiP-YFzXvYsibdwf7uEKbvBrV852TzbJ93TW8_Wz7GWOSaaU0I8fgOhS6z657DWWhVf02ylyAqJMaEO_A_tW5emhbtb21AJ1uhK0mH2X-buRMy_v9YW7XvDImJcC",
  "id": "rs_0e783dccab644782016ab459bb25ec87d0a53118e11edc2c5a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.22,\"right_z\":0.14,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The bowl stopped descending above the intended height, so its base is likely resting on an offset rim. I’ll lift slightly and shift it a little toward the base and to the right before trying to seat it again.\"}",
  "call_id": "call_GXHAz6h4k2nIj5rJj5SdpTqr",
  "id": "fc_0e783dccab644782016ab459bee58487d082ee2c26e198040c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GXHAz6h4k2nIj5rJj5SdpTqr",
  "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]: [-0.0898, 1.0695, 0.9943, -0.8261, -0.1284, -0.0784, 0.9988, 0.7921, 1.7618, 1.0775, -0.1215, 0.6209, 0.461, 0.0538]\nstate[eef_state]: left_x=0.2954 left_y=-0.0003 left_z=0.1928 left_yaw=0.0455 left_pitch=-0.3213 left_roll=0.0695 left_gripper=0.9988 right_x=0.3838 right_y=0.2478 right_z=0.1087 right_yaw=0.0254 right_pitch=-0.058 right_roll=-0.0488 right_gripper=0.0538\nstate[joint_eff]: [-0.1846, -2.906, 6.612, 1.3944, -0.1148, -0.0708, -0.0122, -0.2667, -9.4701, 7.159, 1.8388, 0.4371, 0.1392, 0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eab37ced58eeefff14aeb21a8de98f6930477b0af8550ca8f705a3de37e24090",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7fd13ec939245a3db9f70f4c1e2b276258c596aa28742e08ac702294732e8c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d70fda512678bf2318687dac56d7c04563543ea8b3619a441ad03433330ffce7",
      "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]: [-0.0898, 1.0676, 0.9943, -0.8265, -0.1284, -0.0784, 0.9988, 0.7753, 1.6981, 1.2945, -0.3851, 0.59, 0.4309, 0.0467]\nstate[eef_state]: left_x=0.2951 left_y=-0.0003 left_z=0.1932 left_yaw=0.0455 left_pitch=-0.3198 left_roll=0.0693 left_gripper=0.9988 right_x=0.3915 right_y=0.2511 right_z=0.1791 right_yaw=0.0482 right_pitch=-0.0612 right_roll=-0.0453 right_gripper=0.0467\nstate[joint_eff]: [-0.3214, -3.1248, 6.6393, 1.3651, -0.0611, -0.0562, -0.0122, 0.1436, -8.4718, 9.5795, 1.7118, 0.3736, 0.2418, 0.5201]\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]: [-0.0898, 1.0695, 0.9943, -0.8261, -0.1284, -0.0784, 0.9988, 0.7921, 1.7618, 1.0775, -0.1215, 0.6209, 0.461, 0.0517]\nstate[eef_state]: left_x=0.2954 left_y=-0.0003 left_z=0.1928 left_yaw=0.0455 left_pitch=-0.3213 left_roll=0.0695 left_gripper=0.9988 right_x=0.3838 right_y=0.2478 right_z=0.1087 right_yaw=0.0254 right_pitch=-0.058 right_roll=-0.0488 right_gripper=0.0517\nstate[joint_eff]: [-0.212, -2.7829, 6.6393, 1.3895, -0.1148, -0.0415, -0.0122, -0.294, -9.4564, 7.2821, 1.873, 0.4322, 0.149, 0.2076]\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]: [-0.0898, 1.0695, 0.9943, -0.8261, -0.1284, -0.0784, 0.9988, 0.7921, 1.7618, 1.0775, -0.1215, 0.6209, 0.461, 0.0538]\nstate[eef_state]: left_x=0.2954 left_y=-0.0003 left_z=0.1928 left_yaw=0.0455 left_pitch=-0.3213 left_roll=0.0695 left_gripper=0.9988 right_x=0.3838 right_y=0.2478 right_z=0.1087 right_yaw=0.0254 right_pitch=-0.058 right_roll=-0.0488 right_gripper=0.0538\nstate[joint_eff]: [-0.1846, -2.906, 6.612, 1.3944, -0.1148, -0.0708, -0.0122, -0.2667, -9.4701, 7.159, 1.8388, 0.4371, 0.1392, 0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eab37ced58eeefff14aeb21a8de98f6930477b0af8550ca8f705a3de37e24090",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7fd13ec939245a3db9f70f4c1e2b276258c596aa28742e08ac702294732e8c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d70fda512678bf2318687dac56d7c04563543ea8b3619a441ad03433330ffce7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFnDKFsVZiKlgephlfU2lSY7-dr6IXD6ELRsRT3aFm5r4S4RASQL9XNwpVQMzTdikkH4Dc1p8E9yIyamP7cyO9W4BEFATfsNDbJ7efhLT6DUnaap-x54C3-MMFdQYdU5oFBkyxoh9n7qhAnZrJ2sDO_81bc2cfHvUSZgAse19uUtGggc7vLiFmrR2cdyIA_k48yDJkqgsP_huuADMHv2S9QmCwajE3MK3z372Cz3SU99VtYzRHjBtcaRaaCeo_6MvJAckp_SEN-sPa9K9jzR2jgdBLAJPNFRhrMABbNlvqgrF9RkMA9WCBsWh40QKzpFJihOiu7qGvajlgwhq-ZcVty_GjijmWNGCGcsWNEkqBs-1iN6OfXstNMP7JAQ4wRZ8B8UlSWaCBPH0SEAUmIrHXWjiM719RJy9B7DlG8M1LXd7JSwbKDNSxpVe-5oAGjF37PJKLTOQIXzilT8SMigUQdi2RKkcu8D_RF4anH_seoM8R_R27B_zbUEMwskON4kkCmTcLjO8TyIxvP-WV9bHtJl5n1NiftK63NVUAZQjuYDWrkYJ8anFla1nZ6AsZwVVMowU1A2C2KXyD6uOWlCDkX-6NO9PLJfTX_-AFBZWMpTxuETo93ZzxQqR_WhOJ9TECPWFAADZpsNCttBZVYvkM7ixqGoIXIXcPoXgJhHX9vTe4RFO4TNy_MRnnSFpesYOc99yOcvRH-0YR0Ejs9D352oQQJYehS4hBZOPhoKUTNoq_VD1Wt7Jsp7bKAfym8g2nlt8B_yywJqRM94DnEeRElWMxUUF7sz9j-CqJI8iB21b731DRUZ3jg_xihw7bBLcBJAYZdoJDLzpT3v6hMtUAiqalHtWGXp8SzlYDAFgkS6Z5suZflxIsPQurL0UtM9dMaUHL5tOJVO_RQH80dgm5xL22brhJPeQ8aYxgzvIdv2h1juNnclkGiBkml1UqrVQ5MCbZ72_fighKODEuYvJe2hs9rn51RynMEeO-Yi6Yt0KKPLbtSuK7psAd4AOOmG__55Fa4_uZP4QeE5Tbplzxb1CVY3qN8Kkf0Pugo0jfsX9ywt0VvFC5jclaxQUyV5MC_5IwHXHqwvT-o3QfrcS8FdQ56Wis9ljjRR8oBzEBhsTBMNa34HQOinV8jByQSGb3swrh2F6UjRa8kB3IFEeWF1AidbWDhRDIspuCIAzIwmITBAQ9hELevyIOvlksbuGsZ8rwx2_ZpqULEauANvPvZMcUIMP4ZbqDrsANCdroy3Supsq3fvyyPP9KZL-DWrwW8Y3gmt_Ajl-IVmv0DSgvnrjxHXXoN93SeYk0NwSgqOYVkEQzlV5KUadiIsSDbCqLVko9gzWUpdIHxLlqkbHKQC2u807jBDt3KLvfz2Ut59mVm9zBVmmAr0hmf8ihQaKCbSe239RT2K99hyzZ6J115WHJqQpZ7j4XbDDwmD1LY7pgUGenr2e9IEwuefMuaZ6LB5",
  "id": "rs_0e783dccab644782016ab459c2008487d0822b020c2ebca3d9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The arm did not follow the combined correction; its measured pose is unchanged. I’ll try a straight upward clearance move before making any further lateral adjustment.\"}",
  "call_id": "call_eyo6qq9JthGAqRorxXZ1R1UE",
  "id": "fc_0e783dccab644782016ab459c2d3b487d09d5d20d042391382",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eyo6qq9JthGAqRorxXZ1R1UE",
  "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]: [-0.0898, 1.0695, 0.9943, -0.8265, -0.1284, -0.0784, 0.9988, 0.7921, 1.7618, 1.0775, -0.1211, 0.6209, 0.461, 0.0552]\nstate[eef_state]: left_x=0.2953 left_y=-0.0003 left_z=0.1927 left_yaw=0.0455 left_pitch=-0.3217 left_roll=0.0696 left_gripper=0.9988 right_x=0.3839 right_y=0.2479 right_z=0.1088 right_yaw=0.0254 right_pitch=-0.0577 right_roll=-0.0485 right_gripper=0.0552\nstate[joint_eff]: [-0.1846, -2.906, 6.8034, 1.3895, -0.1148, -0.0366, -0.0122, -0.294, -9.4838, 7.1316, 1.873, 0.4371, 0.1245, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcb601c0e4a15c6c742cae760485d321d0f1e4223ae3e4a6ee0f1bf613661710",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eff3cd2833d74e79818ace19bf2636440d8d5be3269acd5f165532e51ccf5c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52d7a6fb6742d1e382691734b7d888331ab700dffae9a87198f7faa591fa09b5",
      "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]: [-0.0898, 1.0687, 0.9943, -0.8261, -0.1284, -0.0784, 0.9988, 0.7883, 1.75, 1.095, -0.1944, 0.6178, 0.4572, 0.0495]\nstate[eef_state]: left_x=0.2953 left_y=-0.0003 left_z=0.193 left_yaw=0.0455 left_pitch=-0.3206 left_roll=0.0694 left_gripper=0.9988 right_x=0.3798 right_y=0.242 right_z=0.1095 right_yaw=0.0236 right_pitch=-0.091 right_roll=-0.0804 right_gripper=0.0495\nstate[joint_eff]: [-0.3214, -2.7009, 6.6667, 1.4139, -0.0659, -0.0562, -0.0122, 0.5128, -8.8274, 7.5692, 1.9658, 0.4274, 0.1929, 0.2857]\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]: [-0.0898, 1.0695, 0.9943, -0.8261, -0.1284, -0.0784, 0.9988, 0.7921, 1.7618, 1.0775, -0.1215, 0.6209, 0.461, 0.0538]\nstate[eef_state]: left_x=0.2954 left_y=-0.0003 left_z=0.1928 left_yaw=0.0455 left_pitch=-0.3213 left_roll=0.0695 left_gripper=0.9988 right_x=0.3838 right_y=0.2478 right_z=0.1087 right_yaw=0.0254 right_pitch=-0.058 right_roll=-0.0488 right_gripper=0.0538\nstate[joint_eff]: [-0.1846, -2.906, 6.612, 1.3944, -0.1148, -0.0708, -0.0122, -0.2667, -9.4701, 7.159, 1.8388, 0.4371, 0.1392, 0.2076]\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]: [-0.0898, 1.0695, 0.9943, -0.8265, -0.1284, -0.0784, 0.9988, 0.7921, 1.7618, 1.0775, -0.1211, 0.6209, 0.461, 0.0552]\nstate[eef_state]: left_x=0.2953 left_y=-0.0003 left_z=0.1927 left_yaw=0.0455 left_pitch=-0.3217 left_roll=0.0696 left_gripper=0.9988 right_x=0.3839 right_y=0.2479 right_z=0.1088 right_yaw=0.0254 right_pitch=-0.0577 right_roll=-0.0485 right_gripper=0.0552\nstate[joint_eff]: [-0.1846, -2.906, 6.8034, 1.3895, -0.1148, -0.0366, -0.0122, -0.294, -9.4838, 7.1316, 1.873, 0.4371, 0.1245, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcb601c0e4a15c6c742cae760485d321d0f1e4223ae3e4a6ee0f1bf613661710",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eff3cd2833d74e79818ace19bf2636440d8d5be3269acd5f165532e51ccf5c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52d7a6fb6742d1e382691734b7d888331ab700dffae9a87198f7faa591fa09b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFnJGW7evTdUqY2pWlli8PLwpSUxOTBhxPVOyaowarwLOoHA2JZeDnkKR8fVlXDPlN5J6kJqeBbaDiqcOUUtRghjfztA9SR8KM09urcI2fjJvx0lkZUTwcILstyemrO3OrcXjCjQ9n_u41UKTxU-ZJKwxKFr8i-uVHtDcJFWGgs0lwv12jB9UXBIVXi-8g5txNA9VYzPBp6JDWir-9jNqY-K7_qcE-Z7aV_ckpt_8G5kEz6lryL7Q_diJKvGbce_lzfB291hKixTJleTS201_66AOAzWDzj8BFPr9rNR_L3cgwStB2IONkxXX8qpwSM_JJTPMmtsPq-AXYIUZRABCCh8YfkI-i_RrKEWIzOvW1lKRB6mYhO9lqU73GmT8IDZ0OR8GKpeJGd3tlTCHkJ6I_xuFkq57opws9YRYEIe5ztw3CnM0q6VFrjK2HPE831kodRXztwShWf_FbTQiHGAJ1W6Wz1WtxUQTxH0HCwaN2x9h72beSTblubQc_iG2uXguhrUkU2_ZtxmAd-p3uPRtsCUq31cq-tQqGzU3qFdpD4x6FOy62o10C9jVvX5BS-DH5QI1lVk0WAw2Ty964FfHLPBcCBsgCCP1fdKWZNdY_SCVstU8GWDU6v8AhNsbrSbP58ddGlN1yz0U9Zb8ABF5ivFhGl4T9RF4uvBV4FXH7CNYcE2miifm6au9ckilxOeWT0CLnSODF39YU1fbyZ-N9XhHoejxG7ehgeDEBv_BbjqLVjyD2efJmioXt07rTwKNay6dpyAstYrZx7xgkZUXQHRBv06mhx0nVl8zAHyRQ7NnXvsOWxMlmtvWY0QieTl_FsUmURsIuuEs5AdiNXJvJBGKRZOl4k9wVb76_IIHnrCGtmeh7IMG533WuPQpn9zy2Y0D7fojYgBO7GUtBehPEeS_jXNBoPZBR5BPJdplm2Uj-SZimNQGuhsBUbGfhAGogEGxSGD9O7KJr4VheuSzuj0t_u8d5eWQMaJ4iU3OGmBeLYSJVkFursiZvIKC3KPcxbkuO0veDphWl4WAWMtO60I7_zMemcieyiBmiOFEtVyS-QkSMjCWs6Js6n7-aIrNwSRvMfSIoT1742hzWX8GvEptH-4GdTpVDZOIJCpb_JQlIJ9_TDyZY8AkDeWM_BRToO0nEtuTt8jwL4DOYlQSPFubppm_a5wKYMHg43j65664ZVOrlFvRLqaeb5Y3h9Rpf6qeuR0xg4aINkBXgqh2ihK-mapeNzgmf4gXLImTQM7Sui0q8DkOvy8UaR8OKfGqdEaCs3KGWP0KmaQif060ggVoSnqcUTChmxq5xu_jN4s0QFQaJuADWV2W6DLa0JFDcueR4luKv5l1vo_CsB9cHnp9dr28QV3PnoAKtWQ8X8afXzsNGfS7fquiEUiPachKfjcG4eFTu5cdyXr1emKFFincUG_IUT7b0rdjvyFhCgQMcQqDJXdcGWa0H4iYQ5GXDDXkU97zYQ6l6ff6KYgd0MovtkLUSLzRVAhQHEoB4-W1P4I6EZInYedjm5Ki_-xQz02m_IJmWZ_Q4wrklVAc-Uo_mf3i9YGbcu2TqO8kTBKTWuG7KMPU79hmBkAvPofag869603C_q6K3LDg-Quu8Jxel61Tn5blencEgMcSlzlYLERDQL5KA6_IdtrdTF5aMW8NDXb1NjHZ9OavuhVb5IJuy2deZWcPJ11qItaMDgvHS245SCTMuJrLqo0tOROlo34oVQTqz_W3BOA6s5WYh7ktziI7V9WSLF0kS7BBOakqhUDvWcOilEcNY5ngODtS2s1vIi6pxrQf3iQhFIe-oIaqXkBVC-5g0-atnguYOsmhOl9m66f7Gh3jLqGxw_W7yrzts6KvEwx29iFrRMqpg6mCGHRJ7GmhanN054v75fHbClqvjJsHYaehb22lyXR1j6CExFBiJQPO8dQwcQ7wvxvO6e8R51pMa2zxDeULaLtiqycEKFq_c5SGMPmQxfKSNaslduLNWHT5djAIHzxo4ErSXadcYc161YQVC7sGXKRsy0YJuJckC05WuQ34w7gbf5RHs5MVm9EmqZ7QTAa7FfcmwktNMKufBrC9loJjzmb09Y323w7EOLA_4ZwAxI7qPyQXgdA5yfGIrBCbP5veVWHKRVly2ObOTq1Xo07tlsaOTj_a8Zzwas46x4pF11ewpZCdaf1w0k-w5tC1ZSsjkwPVyMuosGigpm8_4uJrkOVLauECBLBsAphjnlWrhLZVUD9DFYV5vtCs5geopBkieel_dgV7JG75Is-8MGZndUrn2pKiJfWGQ6kwogKlpAzVulOJqX5qF6WUh_6fjRF5q5XPMyfJEUJjB4x5jQa9VT2HiY=",
  "id": "rs_0e783dccab644782016ab459c5392487d0ae0a2d890f77f74a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.4},\"note\":\"The arm is still not moving, but the pink bowl is supported on the stack. I’ll release the rim so it can settle without the gripper holding it off-centre.\"}",
  "call_id": "call_8qpinnfrcSX1EPypYz0qtLoU",
  "id": "fc_0e783dccab644782016ab459c85b3087d0beee756c3754ba43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8qpinnfrcSX1EPypYz0qtLoU",
  "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]: [-0.0898, 1.0695, 0.9943, -0.8261, -0.1284, -0.0784, 0.9988, 0.7921, 1.7618, 1.0786, -0.1303, 0.6132, 0.4526, 0.3959]\nstate[eef_state]: left_x=0.2954 left_y=-0.0003 left_z=0.1928 left_yaw=0.0455 left_pitch=-0.3213 left_roll=0.0695 left_gripper=0.9988 right_x=0.3827 right_y=0.2482 right_z=0.1073 right_yaw=0.0351 right_pitch=-0.0676 right_roll=-0.0568 right_gripper=0.3959\nstate[joint_eff]: [-0.3214, -2.7829, 6.612, 1.4432, -0.0806, -0.0122, -0.0122, -0.3487, -8.5949, 6.2017, 1.4774, 0.2418, 0.0366, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a469f62b6fab1bec03601a1187b6121b7d76a1bbc70077a08e05dee5d4fee402",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6d5a7a2911467e5e6ed29182da28844a776b3ca6cdba024f9c5301e4831b329",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ed7558279b56d8f75ac76fb2e23df80e0df4de1d6130d1f18b962e161f4a88c",
      "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]: [-0.0898, 1.0695, 0.9943, -0.8261, -0.1284, -0.0784, 0.9988, 0.7921, 1.7618, 1.0775, -0.1215, 0.6209, 0.461, 0.0517]\nstate[eef_state]: left_x=0.2954 left_y=-0.0003 left_z=0.1928 left_yaw=0.0455 left_pitch=-0.3213 left_roll=0.0695 left_gripper=0.9988 right_x=0.3838 right_y=0.2478 right_z=0.1087 right_yaw=0.0254 right_pitch=-0.058 right_roll=-0.0488 right_gripper=0.0517\nstate[joint_eff]: [-0.212, -2.7829, 6.6393, 1.3895, -0.1148, -0.0415, -0.0122, -0.294, -9.4564, 7.2821, 1.873, 0.4322, 0.149, 0.2076]\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]: [-0.0898, 1.0695, 0.9943, -0.8265, -0.1284, -0.0784, 0.9988, 0.7921, 1.7618, 1.0775, -0.1211, 0.6209, 0.461, 0.0552]\nstate[eef_state]: left_x=0.2953 left_y=-0.0003 left_z=0.1927 left_yaw=0.0455 left_pitch=-0.3217 left_roll=0.0696 left_gripper=0.9988 right_x=0.3839 right_y=0.2479 right_z=0.1088 right_yaw=0.0254 right_pitch=-0.0577 right_roll=-0.0485 right_gripper=0.0552\nstate[joint_eff]: [-0.1846, -2.906, 6.8034, 1.3895, -0.1148, -0.0366, -0.0122, -0.294, -9.4838, 7.1316, 1.873, 0.4371, 0.1245, 0.1343]\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]: [-0.0898, 1.0695, 0.9943, -0.8261, -0.1284, -0.0784, 0.9988, 0.7921, 1.7618, 1.0786, -0.1303, 0.6132, 0.4526, 0.3959]\nstate[eef_state]: left_x=0.2954 left_y=-0.0003 left_z=0.1928 left_yaw=0.0455 left_pitch=-0.3213 left_roll=0.0695 left_gripper=0.9988 right_x=0.3827 right_y=0.2482 right_z=0.1073 right_yaw=0.0351 right_pitch=-0.0676 right_roll=-0.0568 right_gripper=0.3959\nstate[joint_eff]: [-0.3214, -2.7829, 6.612, 1.4432, -0.0806, -0.0122, -0.0122, -0.3487, -8.5949, 6.2017, 1.4774, 0.2418, 0.0366, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a469f62b6fab1bec03601a1187b6121b7d76a1bbc70077a08e05dee5d4fee402",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6d5a7a2911467e5e6ed29182da28844a776b3ca6cdba024f9c5301e4831b329",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ed7558279b56d8f75ac76fb2e23df80e0df4de1d6130d1f18b962e161f4a88c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFnNOrVD2eJ4xY-81ewPBlURbJLmbLffbxL3aIBDVf46eYHTz7v4Iu9oVS61D-ImJADuF1kuCRHNVTLkjZB-ptImzKmF6L1vPvHkYXfuWu4g2SBuBzNeaYWK_pvrhMgAid6SGGRvYyxN_qA3G4rPg1iY_8s7ne0cmgx_ZLXaMfTiW8VF1eg9GGvxMEbhZoLhjGixHmBu5hwTbMNs-slTTr4bTxlDamXPXCiiEcOfOZrx6zMvK-ax7EfrufiZEdaMk6COYSbnSnIei1foA7SLmKlPZkUyG8dBg5f9ao-Nqke97JN7pXot9NIYIlOKHTzk32yhx77HLyDZwuRs4iixmq-AhlWK9P5tT8AG97tjdU-LOLCVIcz5keVdX02svDcTldj2ZHpg56YMoSm2gHJUqyR3t5nzR4_BTNC5rxo1G51VLG3aik5LZBlxEWaSkbuemskK6CYASqo6oCj2yfzKBqXAqoQSRxDzvktlRVtjA0_BFUC6rFItkxEL0sDeSJcrfVEI505eXDwedMUzdMhZB7GH23P5YEO4PQMHsZDNyDsh9nVAE0HDwAVznUqwDoBT6kq4rh29O5ve6-BTkFTdXgFhy4JdJmwT6nnQPb6s1kS39OawW4SzlNlh_TF_KRykk3CMoKIcoRW9dr843bdIPJy7dEPnrwIOkArKTi4h5LB12YdfE1-3CMQqB-kL3x9kQi10ypiuf7nxLh-r-wpofOnV5yC9pfEpE8NsQFD6156EIBjQH1F7SlzZyBH16tHKbTSaAafuWGu4dINbmEfbwtDCmlCKlhmCWY3vvqGEnxlo6PZll3bsdZv-rcasLjAFa8ooOpZUSutl6EXRF1u_dDPKQTbGcaf7HSKCIU8-UIb6yinjg1cdhjet40mA1tGVmeneZThpyG5Xh8nzJyRdmpauYW4CBLbUbnt9Ft3W6z0XOA8xT5qQg3r--dtGrJ0PvJdslQ99sn2GiK4LnrL5_79poT1rton3Nwmqd3yzSqOXm9Y4y8xisE-0saYLOPhEDfJ-3DY9g4cAEvHhi5DcK2zZHdZVqIMXCkiCcVGwKVoKAgF-s2YzlD5bDhlCr14QmHyxMncCnBuF0tF1119C5NUVnXfTLlSw4MwQXAJYKLGm48del1DBRYtX-7xOsuuhypWGfhkn7Cnz7vqiSV76RZvYcpV62AaoTH2Q9bLctM549yXCOO0LNK2Pe_o6htPWlSubPl3u-JeX-AvzsgPiJBuVjU1DfJ1MZhgOBWlR4s2SKgIKHq_YMDGHKCsljvC9VLhx_VQBRg6x4O-xjMX94srzgkwii4dNlUXB4h37teik-_ouOZfOmC6AtVF9z2T45vZvEy6oIIGU1bysDXQjbGbZHXmlZzIrBu8KHAtuoFvo83M=",
  "id": "rs_0e783dccab644782016ab459cae15087d08d5fc5d97f7067e5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.24,\"right_z\":0.22,\"right_gripper\":0.6},\"note\":\"The pink bowl settled as the jaws opened. I’ll lift the empty fingers clear and then inspect the stack from above.\"}",
  "call_id": "call_G18PsojveAXPtWnIr5SncCrL",
  "id": "fc_0e783dccab644782016ab459cbf58487d08d2826d1f26f24d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G18PsojveAXPtWnIr5SncCrL",
  "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]: [-0.0898, 1.0695, 0.9943, -0.8265, -0.1284, -0.0784, 0.9988, 0.8215, 1.6249, 1.3071, -0.5373, 0.614, 0.4568, 0.5988]\nstate[eef_state]: left_x=0.2953 left_y=-0.0003 left_z=0.1927 left_yaw=0.0455 left_pitch=-0.3217 left_roll=0.0696 left_gripper=0.9988 right_x=0.3624 right_y=0.2454 right_z=0.1944 right_yaw=0.0593 right_pitch=-0.0972 right_roll=-0.0826 right_gripper=0.5988\nstate[joint_eff]: [-0.1299, -2.8786, 6.6393, 1.3944, -0.0952, -0.0611, -0.0122, 0.3214, -10.5368, 9.3607, 1.3504, 0.4664, 0.2711, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e1ec8149e13ceb0d676d7f6c7692d1bf17fbb12d0a43adce1a51314ec44aa97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dbb95ac9951977efbbf5e068459ac7af59b8de83c0bdb65f583a59361e19100",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ced53459b313b5e55ceed61f44ccfcf59577819ef393d22d0e4d7ebcdc423fa",
      "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]: [-0.0898, 1.0695, 0.9943, -0.8261, -0.1284, -0.0784, 0.9988, 0.7921, 1.7618, 1.0775, -0.1215, 0.6209, 0.461, 0.0538]\nstate[eef_state]: left_x=0.2954 left_y=-0.0003 left_z=0.1928 left_yaw=0.0455 left_pitch=-0.3213 left_roll=0.0695 left_gripper=0.9988 right_x=0.3838 right_y=0.2478 right_z=0.1087 right_yaw=0.0254 right_pitch=-0.058 right_roll=-0.0488 right_gripper=0.0538\nstate[joint_eff]: [-0.1846, -2.906, 6.612, 1.3944, -0.1148, -0.0708, -0.0122, -0.2667, -9.4701, 7.159, 1.8388, 0.4371, 0.1392, 0.2076]\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]: [-0.0898, 1.0695, 0.9943, -0.8261, -0.1284, -0.0784, 0.9988, 0.7921, 1.7618, 1.0786, -0.1303, 0.6132, 0.4526, 0.3959]\nstate[eef_state]: left_x=0.2954 left_y=-0.0003 left_z=0.1928 left_yaw=0.0455 left_pitch=-0.3213 left_roll=0.0695 left_gripper=0.9988 right_x=0.3827 right_y=0.2482 right_z=0.1073 right_yaw=0.0351 right_pitch=-0.0676 right_roll=-0.0568 right_gripper=0.3959\nstate[joint_eff]: [-0.3214, -2.7829, 6.612, 1.4432, -0.0806, -0.0122, -0.0122, -0.3487, -8.5949, 6.2017, 1.4774, 0.2418, 0.0366, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0898, 1.0695, 0.9943, -0.8265, -0.1284, -0.0784, 0.9988, 0.8215, 1.6249, 1.3071, -0.5373, 0.614, 0.4568, 0.5988]\nstate[eef_state]: left_x=0.2953 left_y=-0.0003 left_z=0.1927 left_yaw=0.0455 left_pitch=-0.3217 left_roll=0.0696 left_gripper=0.9988 right_x=0.3624 right_y=0.2454 right_z=0.1944 right_yaw=0.0593 right_pitch=-0.0972 right_roll=-0.0826 right_gripper=0.5988\nstate[joint_eff]: [-0.1299, -2.8786, 6.6393, 1.3944, -0.0952, -0.0611, -0.0122, 0.3214, -10.5368, 9.3607, 1.3504, 0.4664, 0.2711, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e1ec8149e13ceb0d676d7f6c7692d1bf17fbb12d0a43adce1a51314ec44aa97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dbb95ac9951977efbbf5e068459ac7af59b8de83c0bdb65f583a59361e19100",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ced53459b313b5e55ceed61f44ccfcf59577819ef393d22d0e4d7ebcdc423fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFnTHiMwfC3f9wXPcydP-n-Y6lKnjmV6mml-hwVoRsNlr20mO9G1Nu3OFsGvu68e8Z7tzlC4nrjPKVw29RxxOwKxWIVm78yKR_FZJkyFEvSCW8gq82tvH-cK8Dn5RBz_UwV46u_A1qLRQBLW2b6923k5_ItL5G8uBYMobtmUC5U1BwNl9E4G-hJVAmnr23dyZtGI8cpcqQ9y2zDZSKIcBWAsQ9kjnEiXgq7yyExNmCZvFbKVCNwymmtuYDIX3botxZHWBFIn0yr9gG2RhuA_uWffQEleQoDW66SZ0GTM0_ykIHYoAPJzQfLAxlPDuE6WOewtC2ZDo9vUffqD5s9Qj6aU4hJDfyEdnKLQpU6FVYvNI1qYgYF3w4xUtMS-jgqP0Xtla-pkbqY-RfXCnZwfsRrWTToHiSiepUhQ2_Y82qsLMWlkJ_G7g7WnSRSY5b09BVy95luhskEbjvaT7ICiNIs1Sni43hrI8hjhUwiCHt9yrpPVYD5w8e_ErbjAsyeFVFftHaMAPShgEC6OdqoKgo-lZRPnj3KRDEsNpfeKefaIHowGBvzQdg6l7Oc9dLiQaieAbh2mXYxu23xE2qPLrI0wdS72ObBRAgnFRF8UwQuqf2IEkHSNySC2d5I_jDLCkLsawv7V_3dH6CHd7RLA6dIv2DJN2YvX9Y2URcyxq_fT6lqBZG1on1btIloZBEPAPzkq7ZfnKRvxaCxolOkS9Z7DhJEFitEPAA-iHh1qnioSTgiflPE7OWnBD5S2OeVqhhKk5GqDmaWw4G1ZmIc_EA8p4IIaP2q9-dg4shQ1tdS7jJRKiIB6UMrfFsEFJ-qznSPVbjrii-yxUBGkzaS82DKogXjdn1HO9QFJgLTU4bkJzgALSPSsiMTSKrdQEFVZHN2VHWmevYIZg8Nxl7opaToBPqrb2AKI9tTru2I_nWFnpc9WOiaV74J8Cqx5YLmWRFO5wH-JfSKzXdDjRSdIpaT_ol6tdTbTP7vU0vJMg-0jhasGRJFTIDY3xg7WNVDW2E2BOMdd3R5FvZnX6z7tucnZF6HM09ZPwLAb8StsmA9xxmfDPP53juQnSG_JDtFRgKmoBnvr659qfXPUvTPKJbC2aIyC4GuwwPHbtibZsltWk9bvmxVm-JkcV5cQdrObLiHeCQjwEqvIjzdIGVOFTjIisTpNVh4fZH5ScQQBUN5ZYtwn_NBXg8j1izu2S3mDPkxC8FtbW1yM2JaC6yrvxHQXzDl8tDn-w57Ewc3elzZXRPvt0oa6dCRhZofXww4TY3TYnHJUg7S9-hwX0SLFrOH9CdL7BaxeAR0VIMTgm8Gh4XLdViEZaWVibDAO9No2FJ9XplzIR_1l3fnz6_T89LOFYw==",
  "id": "rs_0e783dccab644782016ab459d134b887d0be6fd6af6cd46e0a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_gripper\":1,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The pink bowl has remained on the table stack after the fingers lifted. I’ll park both arms away from the bowls for a clear final check.\"}",
  "call_id": "call_FwVdHuekGgYVZAAibmPJAM4S",
  "id": "fc_0e783dccab644782016ab459d1a86087d08e98b6bd59042ecd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FwVdHuekGgYVZAAibmPJAM4S",
  "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]: [-0.0372, 0.82, 0.6983, -0.4976, -0.0475, -0.0673, 0.9988, 0.0055, 0.8188, 0.6865, -0.4572, 0.0574, 0.004, 0.9962]\nstate[eef_state]: left_x=0.2915 left_y=0.0011 left_z=0.1919 left_yaw=0.0174 left_pitch=-0.0463 left_roll=-0.0058 left_gripper=0.9988 right_x=0.2955 right_y=-0.0049 right_z=0.1951 right_yaw=-0.0554 right_pitch=-0.0185 right_roll=-0.009 right_gripper=0.9962\nstate[joint_eff]: [0.5265, -2.1128, 6.6393, 2.0244, 0.0952, 0.1441, -0.0122, -0.1436, -1.7709, 7.2547, 1.8828, -0.149, -0.0122, -0.4029]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02891d1208de23f75810c9ba2080e623b6052ce31f6455f7c8e9032dc75d4319",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2290ff21d8d724dafff74f22f74f2779c07468fbff0c898ad86b5142ec6d9c99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9ab60c55e0e0942589cb81cd56794bd08c66fbc4c1dadd7cc6e5741dea6f132",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}