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, 0.7952, 0.6044, -0.3813, -0.0219, -0.041, 0.9996, -0.0219, 0.7933, 0.6018, -0.3805, -0.0124, -0.0193, 0.9971]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2944 right_y=-0.0007 right_z=0.179 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9971\nstate[joint_eff]: [-0.5128, -1.6752, 10.1128, 1.8046, 0.0317, 0.2125, -0.0562, -0.5128, -1.388, 10.3453, 1.9072, -0.0757, 0.1148, -0.315]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c11c9b89dfb2366d5eb1a23581f2d5001aad7938c5dcee64b7c35516b84fe9ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:139b8eada703318cf396717453346e073b1b2692ad0949c766bb062e70678a95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77cf66bd90b110040092092bf16dad8ddf97819a4a63c44091bf0243860109e4",
      "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": "gAAAAABqtJfQ-KfHX-W47FeOGoZGASrLoJj28PUasTqnKJEv4ft3DlLQu8a85SxEQARA1EkPWYKFzfORPILd94qcpeBHOOpf92kGPyuBvz8L4RU8c2kWNGbJDx7GjHspUMGH-Ovzbgf3avXTIfs7qktY8mH4SitdCBjMjRfdmHyBZuRVWKU0UpKmgNYBMSt7MlTJEYwLI9scrY6OY5KatUmfOA_6sgVHd2n-OIk8VlHv6t0wMrr2_OCaQO-WIsjQYPpF3oh2aALR5pN5wqWEoXnRktcQnJvvxMsiWIMwrd5GO6nhw5NGuICVmOMc7VoISXj_UUauLf27hkpqnjvNPsZ3-ydSZeBZKW__A0EfhTTEdLlMOps3oBSDb9rUfi2A6gFdICJlaA0Y2WZJBurGzyU-JTxCH2DbVbPgPu_7M_TmUgM_cCXlIKHW4F1XiNtLQN7FDQF6knLpfCJdvSvrrLDjraePRFrsBa6_qan97wN0yQfO7_wquN0SNf4-9jd4WHmS4UVS7gnQGugbtodoqP5xQYw1Kb1LmwxPvI0-YfShBZNaMyA9y8zGWwy5x6xSQYsO_ErBEshNJhmfSJaLkCIJgFmMa_-kdtzsuhF5Eznby0-7fycthn4cDrBBJ58VDsvKc28PrdUKqAv5MBSuKAd6Ha5GLcogEHe-iQaRjbaPXy1dRu2mI3hYFn6Y3Q6jHcl8QpNT5466fEmi-zieSKuFCneXFoE5G3ii6-cfWqDs8Pq-Z-X4kcNmCAHZI_LsiWHllR6rdlJPcui3kGMpT8jFCjdAZT1yTUKpMg5WETWyJmiOqeHcOG2wrlcrgJ7vvnDYUldS_C5L3iUSmYM2WntvpenZWKmC4gtPNnb4GimMFRaDe6HtlCwR0kfWVXxDDQm4fdfBnxKr2HbD1Giy1k28Xr_kwLUFhO6oCEHreBSTCwolNmVPT2-eFXCJ6JaXWID9IIrK-amDDu2_jcZKuy3mcXrsUA0tKCWVpK1e4m5z-oaCLLKM7LPVpUY7JFXwniqFkytfaPS1Phs40l0FZwKw7KDerl1JWVSirgrKbSpGxdfbKO5lOwcTuTlg6BjSkpTcncU5g57g5fNYDpTT4ZJiufDEyyuqE_e2Mhc-UmZMBujYZGYgFaIe_HwedUEqA_Nt5mKYIvVVoGbpo7CSsCSv4gZzOeWG-7GjFYqczl0p978PIpcmUQGFI9eWg88OCvDNi9AcOaDrQDiY-9FHCLCoL7GjfpRrvJR5OLdplH4FSYfj_CFML4gSDoLf-ocrL37l_SEAPgYZRgy1jMtwPQVymBZdWDcH1MDiauFS2ASvcsTwvk3fukTHasJ-4CYpEfeIrunFB3_965wbl9H3IzZTLtxzSQ4-88xnXPNaj8qS9oWGz8lFzHpoVgKmSyYPVMzJ5Zv8_vqTI0g-a6LGg3OZ5ab6RJPqDlzbTPucMVzSmTSPu5x7jDFjx0c-NQl8E1ZTgS37y2GyMSzPgXLsV7regZXkB4jkxammB7rFwFxQPXg3v4m7pNz3pH1v68ME4Cyt8sNGfVKRZgcRQah9XHy3v8gLoGwks1UvrGt3MdcbfzQmLeqjRx1T2Wf1WGMYhTtAAbuzABhq5Dm0UgoKX18GoF89GLvQaTbIJox3kdt_gECennDmNmeKql96KdTp1hzs-ArUXbEvc2K7pmWH-Ise3yGVZkH1eV9wllHoW6Ng2QvjF58ea62xADGGHlARHvfsdIA0dOVwJSFdsrr91flVXeAoBgX7TIXDaO_5q5u8SRRrrlREyRRTAGL9aOyDFIchigDO9Jmy0wEK44dZHDayM2sTtAYyFCGhxBNNZAyeAPbznm4m-ToS6c6nW_sCi2WS3bxkdEAm3vwo9BHuBoTuSaokU_xNf4rVUB9kB5wcNFXRDyCxmjvKxRD8xVIWz3hZpjceLq8IObLJ7FzaoL8rJFM6zVBOa5sYXlAgputehDEWAzYi3f61aquzdARuFgdiV0WrTAXFVloMgGQtgenxowm-5NLcFd7XRjgMopL1rACySADs58c1vv0DlOXnY9qkF9hTR1mElDzQDlcWlBmFyAvVKml7Gjw95Fzf0h7D-U3IOd8lcDqzDT2ecgmo0Npjp6HbEAu_WgGc1c6coC_56O4D56XWTadqIU6K7bzkTKNFjzw3o86pi51hpuKYqr_FJ_rpGAYrgeJCJK6KE6cMy3PpMS9-H7RGJZBuU7Zg04H8kAsRkmarZD9BIomCD46vT3HfQbTtbzc3UiJ4Iv9mEPOQbD_68vfXHSsdHI4_oyErGcpDNa1tQh4UwbvE7JtXu2Ve-FyaAZMT_ZlKI7TTAzaSSs_nC0KfXyTSO_E-eC6HsLf5BusMm0i9iyr5NO5S-Q7ZMcgRS84-uQoBEXGCHgV93CfYc3635C-L7pedVmJTvBg60thBrCAPWclAWcB4-fTIAhxN",
  "id": "rs_0bc607ab0d7f7d2f016ab497ca431087d0805cd9caaed51a1c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.195,\"left_z\":0.17,\"left_gripper\":1},\"note\":\"I see three upright bowls in a row: green on the left, blue in the middle, and cream on the right. I’ll approach the green bowl first, planning to lift it by its rim and nest it into the blue bowl.\"}",
  "call_id": "call_WoeG7ifbSjrKQvvy015Cfqhn",
  "id": "fc_0bc607ab0d7f7d2f016ab497cf424c87d087089ba77edc8a53",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WoeG7ifbSjrKQvvy015Cfqhn",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7498, 1.4502, 0.9306, -0.2626, -0.593, -0.4957, 0.9996, -0.0219, 0.7979, 0.6003, -0.3904, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.351 left_y=-0.1871 left_z=0.152 left_yaw=-0.0171 left_pitch=-0.0529 left_roll=0.0306 left_gripper=0.9996 right_x=0.2932 right_y=0.0 right_z=0.175 right_yaw=0.0038 right_pitch=-0.016 right_roll=0.0015 right_gripper=0.9969\nstate[joint_eff]: [-0.4034, -6.4479, 9.1145, 1.6581, -0.3492, 0.1197, -0.0562, -0.0479, -1.5385, 7.1726, 1.8486, -0.0171, -0.0464, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a96bed933617b85ad8dc8305ebf43dac00317bbfe55456077f5f623aa382b77a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc665c93c86110a0be554c44d109db89940e6b080c692c20d4a39b817a81d879",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ef5e6f56dd6d4900bb9cc2fb1148a3476f651c20efa537cabb8be7dc9163016",
      "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, 0.7952, 0.6044, -0.3813, -0.0219, -0.041, 0.9996, -0.0219, 0.7933, 0.6018, -0.3805, -0.0124, -0.0193, 0.9971]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2944 right_y=-0.0007 right_z=0.179 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9971\nstate[joint_eff]: [-0.5128, -1.6752, 10.1128, 1.8046, 0.0317, 0.2125, -0.0562, -0.5128, -1.388, 10.3453, 1.9072, -0.0757, 0.1148, -0.315]",
      "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]: [-0.7498, 1.4502, 0.9306, -0.2626, -0.593, -0.4957, 0.9996, -0.0219, 0.7979, 0.6003, -0.3904, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.351 left_y=-0.1871 left_z=0.152 left_yaw=-0.0171 left_pitch=-0.0529 left_roll=0.0306 left_gripper=0.9996 right_x=0.2932 right_y=0.0 right_z=0.175 right_yaw=0.0038 right_pitch=-0.016 right_roll=0.0015 right_gripper=0.9969\nstate[joint_eff]: [-0.4034, -6.4479, 9.1145, 1.6581, -0.3492, 0.1197, -0.0562, -0.0479, -1.5385, 7.1726, 1.8486, -0.0171, -0.0464, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a96bed933617b85ad8dc8305ebf43dac00317bbfe55456077f5f623aa382b77a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc665c93c86110a0be554c44d109db89940e6b080c692c20d4a39b817a81d879",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ef5e6f56dd6d4900bb9cc2fb1148a3476f651c20efa537cabb8be7dc9163016",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJfZama_Psjx_wMpxVE6V_E82QGa3rIpQRwZn3mBg4xGlDGo7mZpsHn3oz1DyvjwmTlI9OJ956t7tCHj0FVBf6xvWrFsjSCt_7Eipzn9BKUGoxdbzziI_wtVdBHjW1yz5uNVAgH-3Qp3wezgoH1vKr6Nt-86kCgQz4ijbjbvANTLiNKk0-fsJYnJZZ5rTIsuiztr6ycfnyK-JG3uWE5GxvCY3prg2JpVhXmqXrVUxSB4iqUxz01CCcA3ZJWt4WPVm6DgfltP_HY7E4dEWydm6EQd3S1y6ewipLHrjAQ9nWzb9ujarpsmytyLM10stfkBbmLUAGKrhidU2A84qZU3dTK3nuTMEwpUL82qq9Br5hpkDcgn9UIRVXyKIYpSNe6M_wgHATlM4-vk74a_V14VqQyRfNxx5Zb-e0iVWgB2KNCn9V0rDb5uBZAxOR2QWDlqFPJqCWxduHIk-gUmLKM7SPnTfVMxh-FNakI_bYozQdbpU5-URIQEYd3fZqb8LNWEYYwXb3bt7bEMzgD42bqwZkeU904Z34I-mj5tSubEhzaGuM1F9xn7oFR1CoZOrhj9ZfzG_dHtvoUKyjeHD_SA8-2KNPT0dbFF2OVXLf6wtC_CuG-f8P6LVfgz5YKubC26JOfEH9R5iGqtOoqsAW0CjOIn8TyySyw9bXSBv7VwEW3Wwu2klXQj6y9LoiyBHUWF9Y9uncHGgf1484gxkB7Wisg72DPzK0PLl_qcCvcVGLydam0J0q8FTGonrIbsubH8B62neN18N_fHRQROWrc4w8amIbNaJth1kxJvjkiLJIM3sdZsiuGWdPtrxQsteTnhrjvjPqlrR6tdviz3XpFpNhsWE3hNp2ygirPIevLYICicOhOLiSIvub3Ec3VGiTPfNzAcPFZztwztFJQelJb5QYEUWCwPGV1T--ugPJmorfDeCe4BJ5TpFzm7vuT8iYkqZifHpphuyMq_aOucj_djshfM0X6-nef2eEzew1QhMDpyvL9ggdgzcCmp3_g65H8nHrrVcq3kEQBe2-6VL-YJWn3pNwJswsztCtLgBUWhWlotgS9frXXBJO6bI2oQiM7cn7e8KSDBr0sGO2xPhWevTCaFfw0wPCgllf0Z6kzK2cjXtHHeM_4VtLuSnA7QZCLykasrBKpYabJsupQB-76bC22-xkwOithngPH7ZfWS-EYR1VE1TzZv0K6DmKhMRNa7RS8zFHF70Tt44KlC5T_Vo0gsL6BszpaS31kgSRitzOQczAc_A8WcueZ9094RdtltCqQzZlTGHqLmQExVzvyRv-x5BrkNgNac0L9R9rVo5VupD4V6_aWFRrZrhfkbKhzM3Asrur3yprDxQNHe9zNPmLud4BYXS4vVwa6NhNx1HpZHT8lL08eE1jEb9XJjr9YZEBzfNsU9rWvCqlgaClJa46AXm2-4OtoHoOg7q_70M0Ugs1MNeehJXlU3QpVh09ydwfdG2-SDjm0risolIfyCYbyoyFi1T48CpvxNMw50XzwdETTfHNia9x4niNDANgmbFNaEgdTj3MUtIpwJoB-TEggcWUabYe0SJKzj-tFRBd5kB_b1vkSOljfnqZFOlomzknG8aOUl6PcScngQTXFhwPeViiuglgEqav8v3XM09gwXXpF54GIktKGHDNi9gudfKsUQJTtNfsP141uQReWYS1v1ge-kH3T93WHVdJPDZUrTvR-SdPR5utG18BvqguNdaXYrng-ZEG4pM3eJyiRNXippmfKM3BH6d5SNygjrVmow-qFFqeYmGo4fSPB3TlTj9LQRCn3niuHnRUURN7Tpkq7XOu_pj2yjPJ8yhCUUprVRpfcgkO_fyoeOayQPclFz4g2yc9FKX80hWTz3F0SBLJ12AzmgisoatI4tNVjmpGRGDVJJ7UKpxVIW-X0Ai6AQCHJLNsapY5bgkrInRxJGBr598zSPAo5gEU6SGGjqDHTmFSXSo2EkM6kHc-6vdYuENB-k7Ff6vI9E3zWcCBGSpNZRXc75RIhXZsr7roUCx935-q_3A13g6tU5q2RJmEt60XjZEZ1VVPHlOcZj3xiduO0mWx4Ztsuxrf2dobRvcUFHmZqljKOX9DJ0XsWKrRs3UTWF4hkP9NeAQ1R7CYteI9Gwo7QzvW8Oqdtb9gFbMd7IwT6cL2Pvktaa-n1G18op52m9H0M91Zl_ZEMWVcsww8DBFCYo_TCtSwOmmdyV0Lpd6HHhJ4xhySYF5B-v0wy7jljcj9CSW7b40viXdPWSAuIkleOvAdluh9RhP916-tzLXstGJVdbRpbErU-eS17xDiMHSK6qpx-bg3yLutB7G1fio_mCt39iNOOTteCmNUeybtbrCvlQwqXVVU2i0ehpPmdPtm-9o-gnjdITOnQWJKgxyYkHBSHE-Yh_EBvOvJAZTkFxhygmbCcxio7FnAmm71spxM40ts6pCCKJb53Y3ymI7Q9nL_5SLk-gyKpSWNQ4geDIuIhk5o3Ce4Dq2sGxEwo1hyWzuB7WGjZeTzhSgWr4c0hSgqeMJGwmzhWxwTiu-xlBlEruJ15vW-_YDJ9RRQD8rkmqjvaC_EwKI6OsIsCnYI7hC0rMwrJoO680wMl0JWjrFtJ5vHrPHBbaU80LhTOTQYFnuYzNMaalgJYTy9wuNHw4EWKA3P4AfP8rBXqiWTvuR9EkBD1Og3imYJW93bK-NQQVlg-Yw9tiz9VtNH5nh7PBhRDgwi5vDbPqROD5hHBbwiOlvhFlayqyI_LTpRGt",
  "id": "rs_0bc607ab0d7f7d2f016ab497d36d3087d0830efccb66b172e5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.215,\"left_z\":0.085},\"note\":\"The green bowl is visible beneath the left gripper, with the blue bowl beside it. I’m lowering toward the green bowl’s right-hand rim so one finger can go inside and the other outside.\"}",
  "call_id": "call_XOF2xNuDiyhq1cao9k2revNO",
  "id": "fc_0bc607ab0d7f7d2f016ab497d8a4c087d0a44f63c7f87660b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XOF2xNuDiyhq1cao9k2revNO",
  "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]: [-0.7547, 1.7, 0.9066, -0.0559, -0.5961, -0.5022, 0.9995, -0.0216, 0.799, 0.6003, -0.3935, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3702 left_y=-0.2071 left_z=0.079 left_yaw=-0.0128 left_pitch=-0.1009 left_roll=0.0723 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0042 right_pitch=-0.0202 right_roll=0.0016 right_gripper=0.9969\nstate[joint_eff]: [0.1436, -7.9932, 6.147, 1.5946, -0.2027, -0.0024, -0.0171, -0.1026, -1.2103, 7.0359, 1.7509, -0.022, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:001d82e52d14518f0515fb4c71e4cc71cc49bed4c03616128d28adc26073f7d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:693d824f6ff1beb04405c9f6a1a68a1141efc538ccbee38ca7f501fc7763eb47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2acd055af87f62baab21001340556977d2e71b6876cd8e2c6360c561e5319cef",
      "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]: [-0.7498, 1.4502, 0.9306, -0.2626, -0.593, -0.4957, 0.9996, -0.0219, 0.7979, 0.6003, -0.3904, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.351 left_y=-0.1871 left_z=0.152 left_yaw=-0.0171 left_pitch=-0.0529 left_roll=0.0306 left_gripper=0.9996 right_x=0.2932 right_y=0.0 right_z=0.175 right_yaw=0.0038 right_pitch=-0.016 right_roll=0.0015 right_gripper=0.9969\nstate[joint_eff]: [-0.4034, -6.4479, 9.1145, 1.6581, -0.3492, 0.1197, -0.0562, -0.0479, -1.5385, 7.1726, 1.8486, -0.0171, -0.0464, -0.0366]",
      "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]: [-0.7547, 1.7, 0.9066, -0.0559, -0.5961, -0.5022, 0.9995, -0.0216, 0.799, 0.6003, -0.3935, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3702 left_y=-0.2071 left_z=0.079 left_yaw=-0.0128 left_pitch=-0.1009 left_roll=0.0723 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0042 right_pitch=-0.0202 right_roll=0.0016 right_gripper=0.9969\nstate[joint_eff]: [0.1436, -7.9932, 6.147, 1.5946, -0.2027, -0.0024, -0.0171, -0.1026, -1.2103, 7.0359, 1.7509, -0.022, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:001d82e52d14518f0515fb4c71e4cc71cc49bed4c03616128d28adc26073f7d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:693d824f6ff1beb04405c9f6a1a68a1141efc538ccbee38ca7f501fc7763eb47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2acd055af87f62baab21001340556977d2e71b6876cd8e2c6360c561e5319cef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJfdLPeDeE7qWui9D1G8ElvT6VYVmK5IM58hJI38FqU4X7NneBow15BOkpmgqFDL5_2BBIbQ2SlMzTmu6MtU4zKJUfk-tPlZo5rcL9X_MNgMBrsXkyC491h4LHP1d56FqfTNVSnXNKtO9BZkdeNlC3nuwP-VHplNOaWHBZIQHtn-0VR2oPeyRk-TNzarg2HkjwUWhw8l8KCwoW1b8_lEwV0_y6DUk3MkZ16O8JED_jTEXfNblH-cq5bZfdCPFzS2okvM2mXPi78D1-YNnASkzFsNanV_mzSK4MEsW1UqZ2Hs0vMevqni13FOwegaul1xCrSWQykrYtdBmDdzbEGl-0TpKCef4lObLPBzSlscy0o7AWCFi997ISXCzmGj1sTGKeSEZIgijnOn0wtbtk9z4JqcjXLw7AWElefl6U7NA0NHvKwUQeoLWu93ZHOm0FuOCd3jAAJfosN_XmmfZVBUDqYf9lj0opXw4twt1jYfM4Cf3lLpdlGhMT1xFdJJd8Hy31wNB60WbkjVuplUNwBR9Vhwt1ul9lMUMmmWczkRHG_wX4tof7_-CRYXWV2rucUErcnp0Cl4kZ9-dW0UbNXrKPrgEs5Ol4eufxfhMlMYziEra4F1XYHLQR9XraWbXoCjhCTP8zNl93XcQR-spDTrHDi6NPW-5PjHlDu1MkrwqHR_NxSS2f1ivRuRgwwyptOSKhtWM8XlARBqwRtcfVZljt4SHEqv3YbfInhHOq_KFgGxYDtF2yL91GjS1CAlWIL3b-wx-MpJFj-287sNRDl_KNU-KssNcJf5BYiHoaA1Lhxg9ptlwTIRIF2EFrw0Lt8o5n-M6hPCJ5DxoE_JyCiA-aEt6MUVTprPOVmqAdCNeerqclb5FQh5PhBlaepgf1En6K5TIcLu1-cZ3yax-o36EIMLuYoKmF-96SO3XBIeRj_Itbd-mmG0pHR1PN0X1ncnmqtzYJCtuxGIzjv8Rtt4uRAd90aedmKKTPDwDzpbP3oRJkKiL1HP54hxLp_wKfIiwJ8PVD1_Jhd6kPkUqQoucI0E6R2-TGrmI78u4IEE38_H6oSKK85v_AjrqAJLUMRNZaZvtZgCBz_2Yn6e8TmILNC7h0_3-Rh10AJMpB99hwxNLZTyJRMzMAqVYaY39FYWlHq2uPPSpGFlSCahwvzD_TeeAhMFFydRFf6qn8qzz3WTeeKkBeKUv75lIBrb0_SiLVYFBfgywuiSTnSK0FYBgu7g4OZ1g_IQeSwH1D1XlukTwj4XvudyeNh9G3fux137tAZGJZO2S27tJ0EpevN2_2r2uqa53QGNjvFUSIta3Y8UX7emstiIPaGeydx_OTWZ7k0BBDGtAM-yftUJxpm-weUCASJ2b21GVO2ehO0ehKLlFPMdAyUIJ3PbStxpT7wvj7VhtdkG4Qa2r6mgI2_ZF367bhsQoao_HbZHFCRt5OwXiw-8Kaysr7YSMdTZbgVhZesf4b7rxUeWRJSoTkHF3SMQj-JXOBBlw0MNJ9OEUW-FLog=",
  "id": "rs_0bc607ab0d7f7d2f016ab497db682087d0905fb6300704b361",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.215,\"left_z\":0.032},\"note\":\"The green bowl’s right rim is aligned near the gripper’s closing line. I’ll lower the fingertips to rim-grasp height while keeping the jaws open.\"}",
  "call_id": "call_YPdog5l8PoS0FiVZyry5x0kG",
  "id": "fc_0bc607ab0d7f7d2f016ab497dc790c87d0acc7c1aa1ef115ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YPdog5l8PoS0FiVZyry5x0kG",
  "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]: [-0.7547, 1.8442, 0.8829, 0.0788, -0.5961, -0.5018, 0.9995, -0.0216, 0.7986, 0.5999, -0.3935, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.375 left_y=-0.2116 left_z=0.0328 left_yaw=-0.0105 left_pitch=-0.1254 left_roll=0.0952 left_gripper=0.9995 right_x=0.2927 right_y=0.0002 right_z=0.174 right_yaw=0.0045 right_pitch=-0.0202 right_roll=0.0018 right_gripper=0.9969\nstate[joint_eff]: [0.0068, -8.5812, 5.1214, 1.7167, -0.2369, 0.022, -0.0122, -0.1573, -1.2376, 7.0222, 1.7021, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dc8a242812c375ad0c41baff6fd6321d1796b11ecf52c13f3b1fa4092867dcb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:421e2fc1ca8f4b2f909aeea07def8e608f64a508a0411e1b55d0e08fb55bd3ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d27373c724df7510401f2dd5c51b28ad3e82f8fefa5249fc8d90f7757cd366d7",
      "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, 0.7952, 0.6044, -0.3813, -0.0219, -0.041, 0.9996, -0.0219, 0.7933, 0.6018, -0.3805, -0.0124, -0.0193, 0.9971]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2944 right_y=-0.0007 right_z=0.179 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9971\nstate[joint_eff]: [-0.5128, -1.6752, 10.1128, 1.8046, 0.0317, 0.2125, -0.0562, -0.5128, -1.388, 10.3453, 1.9072, -0.0757, 0.1148, -0.315]",
      "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]: [-0.7547, 1.7, 0.9066, -0.0559, -0.5961, -0.5022, 0.9995, -0.0216, 0.799, 0.6003, -0.3935, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3702 left_y=-0.2071 left_z=0.079 left_yaw=-0.0128 left_pitch=-0.1009 left_roll=0.0723 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0042 right_pitch=-0.0202 right_roll=0.0016 right_gripper=0.9969\nstate[joint_eff]: [0.1436, -7.9932, 6.147, 1.5946, -0.2027, -0.0024, -0.0171, -0.1026, -1.2103, 7.0359, 1.7509, -0.022, -0.0659, -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]: [-0.7547, 1.8442, 0.8829, 0.0788, -0.5961, -0.5018, 0.9995, -0.0216, 0.7986, 0.5999, -0.3935, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.375 left_y=-0.2116 left_z=0.0328 left_yaw=-0.0105 left_pitch=-0.1254 left_roll=0.0952 left_gripper=0.9995 right_x=0.2927 right_y=0.0002 right_z=0.174 right_yaw=0.0045 right_pitch=-0.0202 right_roll=0.0018 right_gripper=0.9969\nstate[joint_eff]: [0.0068, -8.5812, 5.1214, 1.7167, -0.2369, 0.022, -0.0122, -0.1573, -1.2376, 7.0222, 1.7021, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dc8a242812c375ad0c41baff6fd6321d1796b11ecf52c13f3b1fa4092867dcb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:421e2fc1ca8f4b2f909aeea07def8e608f64a508a0411e1b55d0e08fb55bd3ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d27373c724df7510401f2dd5c51b28ad3e82f8fefa5249fc8d90f7757cd366d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJffgUH7ZT7uc7jVJcyoSQ8Z61-imDimWkqM5ODQpbb5CwVd6ZiOmdbNXc0NfvAiCnv8O7VI7t9xCjepi7bfvrCCxv9MJvt-dgqxhQsXxbU_A0PmYtL7MM1d683rmy3O5yNAjSD5_sWazyu3juoGCbmmUDt48QjO725LbSO3AGhQJqJHIHUVx0nSc6sYujq-q5hXna_HNStAGlF6WKko1noUo9-aNc3LxiZppRjnlQTKvU2kta0h4T-nSq7NP_hHI4PDKVIHQBVAHrwI9H7RT8Ifsr4UedPhya0D2NoRR3BO62uaRa53WV40neHtBuudFztA1L0uOeDiFyEoCqLOrhFZ7hAAnfrVsAIPDRPWC1bzooBaqVy5_yxc92H-nA9GK8SZ2Dlcemd08HBoYJER2aiqJm2cxMRaG7-TxwnNRJC9jNPqjovpk5UJH7XgcMQSD-olJDAQSYvYodNNswiMwEg7U237fsRlKzUrUzPaRYKw6-znaykB_iXJUJ01ZwAdxmUfZUpXPenT3W-FEfe9Jf3AmSlcYW4OMbUcY6-TeEadim7m3Lpc6EMIbrw0bkR1dMwM5WdzC0L5hPUckgviig-eFAlvRix5z1MHVYhwVKj2FbmbTXmhvl5yfUodo-y5E1MfYMdfdpz9f0gZI6ZjGMq4_gpJo_3HM7hcVjvc-y2wMBj2BztjqDSoVnV5G3qMzk-nx7wlRVaZNiDhdnF0rMS7lYYYGZOqRxQIyuDa4_VvZaXY3sVusc1I8z8FarjPNa8XnKZFtJ-62F6n7JT3EqcIc0vzykPNHvvNFba0xu8DwdRXTLUvkwLHvd-l8zy0hoj6yK8kVCceVcMmaN6eDEiEPKz-2v8fU9-q53fCY4sf_OhlaFPBcUdaHo87GhCyjGl9CVC1p9SmgTF41-1jx7yCtJt6EOSP_42NEe1K6N5HfM0Ei51OzASySzZHgAeFIsuMS8YP-1oBNijfRUggnmS18922JYAvt5T_-SY6qyCGR-Cm0DlF-oiOld5GFgAC7KJB0bMxjRFKNN5vIRwHWaXrSet5luMRyqsuecMAduovMehs-9VKfnjr26CgP3MYNNYvKl5cz6t9x2_4wLnEaOWqxr2yLIHwM64-B3f2cl7UQasvtM1W2p_K5v-xVJ8_Hk6EACm0TPP1a5ZrXQN2h1vuuBOGyDmma-Aq2qhpSU974jU=",
  "id": "rs_0bc607ab0d7f7d2f016ab497ded39c87d09cd00e57bb709901",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open fingers straddle the green bowl’s right-hand wall at rim height. I’ll close gently through the controller and check whether the rim is captured.\"}",
  "call_id": "call_vEOONvr2yzpq97wi65u3HAWW",
  "id": "fc_0bc607ab0d7f7d2f016ab497df037887d0ab7b331d83bae5d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vEOONvr2yzpq97wi65u3HAWW",
  "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]: [-0.7547, 1.8458, 0.8806, 0.1757, -0.6117, -0.506, 0.1147, -0.0216, 0.8024, 0.5999, -0.3927, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3865 left_y=-0.2193 left_z=0.0465 left_yaw=-0.0025 left_pitch=-0.0491 left_roll=0.0369 left_gripper=0.1147 right_x=0.2931 right_y=0.0002 right_z=0.1731 right_yaw=0.0043 right_pitch=-0.0232 right_roll=0.0022 right_gripper=0.9969\nstate[joint_eff]: [0.1436, -7.5009, 5.1897, 1.0427, -0.0904, 0.0317, 0.7595, -0.0752, -1.5932, 7.0359, 1.7216, -0.0611, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee31eb64d3c66cb62023af1391a4d36ec69da396a281195db3fedbc73f8192f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45f263530afa0dbcbf1f874eefe0dca474481dd52a3895e07ea622bf2ec65914",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fc1bc2d6f85bb494afce28d121166cc7a731dea44ebea71e11ff47c8b7914e4",
      "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]: [-0.7498, 1.4502, 0.9306, -0.2626, -0.593, -0.4957, 0.9996, -0.0219, 0.7979, 0.6003, -0.3904, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.351 left_y=-0.1871 left_z=0.152 left_yaw=-0.0171 left_pitch=-0.0529 left_roll=0.0306 left_gripper=0.9996 right_x=0.2932 right_y=0.0 right_z=0.175 right_yaw=0.0038 right_pitch=-0.016 right_roll=0.0015 right_gripper=0.9969\nstate[joint_eff]: [-0.4034, -6.4479, 9.1145, 1.6581, -0.3492, 0.1197, -0.0562, -0.0479, -1.5385, 7.1726, 1.8486, -0.0171, -0.0464, -0.0366]",
      "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]: [-0.7547, 1.8442, 0.8829, 0.0788, -0.5961, -0.5018, 0.9995, -0.0216, 0.7986, 0.5999, -0.3935, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.375 left_y=-0.2116 left_z=0.0328 left_yaw=-0.0105 left_pitch=-0.1254 left_roll=0.0952 left_gripper=0.9995 right_x=0.2927 right_y=0.0002 right_z=0.174 right_yaw=0.0045 right_pitch=-0.0202 right_roll=0.0018 right_gripper=0.9969\nstate[joint_eff]: [0.0068, -8.5812, 5.1214, 1.7167, -0.2369, 0.022, -0.0122, -0.1573, -1.2376, 7.0222, 1.7021, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7547, 1.8458, 0.8806, 0.1757, -0.6117, -0.506, 0.1147, -0.0216, 0.8024, 0.5999, -0.3927, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3865 left_y=-0.2193 left_z=0.0465 left_yaw=-0.0025 left_pitch=-0.0491 left_roll=0.0369 left_gripper=0.1147 right_x=0.2931 right_y=0.0002 right_z=0.1731 right_yaw=0.0043 right_pitch=-0.0232 right_roll=0.0022 right_gripper=0.9969\nstate[joint_eff]: [0.1436, -7.5009, 5.1897, 1.0427, -0.0904, 0.0317, 0.7595, -0.0752, -1.5932, 7.0359, 1.7216, -0.0611, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee31eb64d3c66cb62023af1391a4d36ec69da396a281195db3fedbc73f8192f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45f263530afa0dbcbf1f874eefe0dca474481dd52a3895e07ea622bf2ec65914",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fc1bc2d6f85bb494afce28d121166cc7a731dea44ebea71e11ff47c8b7914e4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.215,\"left_z\":0.105},\"note\":\"The gripper stopped about 1.1 cm open, which is consistent with holding the bowl’s rim rather than closing empty. I’ll make a short test lift before moving it sideways.\"}",
  "call_id": "call_jX4JZNqPOOXD6o9GmJfSMwA1",
  "id": "fc_0bc607ab0d7f7d2f016ab497e218d887d0ac80881e7c9c2499",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jX4JZNqPOOXD6o9GmJfSMwA1",
  "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]: [-0.7559, 1.7226, 0.9195, -0.0086, -0.6144, -0.5179, 0.1161, -0.0219, 0.8032, 0.5999, -0.3927, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3786 left_y=-0.212 left_z=0.083 left_yaw=0.0055 left_pitch=-0.0635 left_roll=0.0439 left_gripper=0.1161 right_x=0.2931 right_y=0.0001 right_z=0.1729 right_yaw=0.0042 right_pitch=-0.024 right_roll=0.0019 right_gripper=0.9969\nstate[joint_eff]: [-0.4308, -9.8256, 9.1009, 1.6532, -0.3053, 0.1245, 0.1392, -0.0342, -1.3607, 7.0769, 1.7411, -0.0611, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:971eff901c96094226b237d027c784aca77c9b8fe14b969a73e2a94441ec49f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90f82ff68df14408a2e274c37755fc12888ec88e1f8efcbd8dd3c07ead795505",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0fe446874075a2ad58c8b7b8d9786e63bfe0999d90bdff6fd3b8ffcd3fc3b95",
      "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 21 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7547, 1.7, 0.9066, -0.0559, -0.5961, -0.5022, 0.9995, -0.0216, 0.799, 0.6003, -0.3935, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3702 left_y=-0.2071 left_z=0.079 left_yaw=-0.0128 left_pitch=-0.1009 left_roll=0.0723 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0042 right_pitch=-0.0202 right_roll=0.0016 right_gripper=0.9969\nstate[joint_eff]: [0.1436, -7.9932, 6.147, 1.5946, -0.2027, -0.0024, -0.0171, -0.1026, -1.2103, 7.0359, 1.7509, -0.022, -0.0659, -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]: [-0.7547, 1.8458, 0.8806, 0.1757, -0.6117, -0.506, 0.1147, -0.0216, 0.8024, 0.5999, -0.3927, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3865 left_y=-0.2193 left_z=0.0465 left_yaw=-0.0025 left_pitch=-0.0491 left_roll=0.0369 left_gripper=0.1147 right_x=0.2931 right_y=0.0002 right_z=0.1731 right_yaw=0.0043 right_pitch=-0.0232 right_roll=0.0022 right_gripper=0.9969\nstate[joint_eff]: [0.1436, -7.5009, 5.1897, 1.0427, -0.0904, 0.0317, 0.7595, -0.0752, -1.5932, 7.0359, 1.7216, -0.0611, -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]: [-0.7559, 1.7226, 0.9195, -0.0086, -0.6144, -0.5179, 0.1161, -0.0219, 0.8032, 0.5999, -0.3927, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3786 left_y=-0.212 left_z=0.083 left_yaw=0.0055 left_pitch=-0.0635 left_roll=0.0439 left_gripper=0.1161 right_x=0.2931 right_y=0.0001 right_z=0.1729 right_yaw=0.0042 right_pitch=-0.024 right_roll=0.0019 right_gripper=0.9969\nstate[joint_eff]: [-0.4308, -9.8256, 9.1009, 1.6532, -0.3053, 0.1245, 0.1392, -0.0342, -1.3607, 7.0769, 1.7411, -0.0611, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:971eff901c96094226b237d027c784aca77c9b8fe14b969a73e2a94441ec49f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90f82ff68df14408a2e274c37755fc12888ec88e1f8efcbd8dd3c07ead795505",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0fe446874075a2ad58c8b7b8d9786e63bfe0999d90bdff6fd3b8ffcd3fc3b95",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJfmdP8MnN9nw-0WILRs7U9hotfGDwkbmRxSopCxqQ0eojHbjtVdhRlTZMtidl1ZmAkokR4T6ym5ntAA7Icc18uUwS9tMHipXrOvvIv2PydIdCulw3Qi_or6DJOQ1MnNDvB6UvSg35v_UH04n10TL0WNaLrmEp9aI78d5HEd7DBmqjgH5QJPhEKerzfKkYzo8P8N6Tv0Ev_Y5NUkX07z5i1cKa83CEBz3tOsQNg9JvqZrSm3WSiGOG2FqYozLcNsL3Q2rpQOYy-BNFxFOFBq-C5qKROH4jUrO4QZIA-TVE-d_eB8abfPPinpumROejBJl6Lxs2l24PLehgnw-r1kNJrzFUIihemG2MeYk_4lisMJzTt-YNl2ahP67QwnZIwIQO0uSql6mYz4P23EyIPPH1ZMkuZ1K1X5GV56TdfIk542fXQhGOZj_bJgKa_Om6RUPkCtndDkP3FCX3fdhvbWMxqXT2F57SixnmNK_WobFrmWMaGExozoiOH5B73fBApQns6i24GaqU5DryBKvkODR0GjkNMq1ee2CBeSz36LVEcWlUHgytWI9k-o9pmONap6GX0KCXO1kBPp8Ej71xFeckQxP_uoqs4S3cLeKP0UDADbTj1FAcwzGSWSLX8mR_YNON64HiWi1JaKLPMuV6XJoimtd03kd7VnmikfJmBA_N5uDXP4kfcrdcUFm012qOOHrsafO1Y3N2Z0tkOAukh2zXJtZOX002ailsxH3AgxXoJ48dLFVgPf207TKQ-TqXTCfmU54wJtM3peCcNANKUUOQkXfpIBGFNumlBxjpyAmp-bFvEkr6Z-k7EUR2iXgQ6UjVCpYr5SWj9RIXmPgUvcjf2VXESZeBPHC2GKrC4p3PdicY6D2DFwq5iIWAiIAFSRUbUdmHlCqCuwRGwzPREbKmF3m9-R7yxIPoDGK40FUFlhlyQ1riPQpiVBjWT3E7ITMHGDmX95ARnMZrf5gBi-tB6i7Kb-0kEA-n7aaieWVv11Hu-RguJgpjMERTqxu6xjK7DJG5HZkmpSPLLSk2R7Rrmv-rVcgq6hh4KrTOZ7Ok9Y2GY9QNwTIBbL_er20eOeKHVZTGVstyVToYsG5prAmcQ64AOqsbHRzjJz6PJEo1iB2nA9qAYpBUlSCoKW45rnqJeGkRpyUCuF55FlWBNuCt7eAqGQEWkJZ4cKmceMG3nHrXBr0UTDccRzbqJrLsiAcCgeEiMy5TQ5r2JiCH5UXubpXQyX8Qb6ZRtkh0QyV5KQ32hpvIXxWJ4NWVUZIbFegZSgdQda1xqRwTQ0-ULPVaXfqk8JcyQy03C2b4qC34cQtcS0Nsm-mAlJKkOMJzRTC8GzI6VSo325p46clBqHCemOBAHt1S4ZeSoDuE5n1FCFex0RmKNH-ilj5Hf9VNyKXvtm0Oc6QL9-cA2l9-fNTcu0IZRBCXRtbX6LG0UT5Mcjos4=",
  "id": "rs_0bc607ab0d7f7d2f016ab497e4f7cc87d0b15de3173cb4f014",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The green bowl has risen with the gripper and the rim remains captured. I’ll lift it higher to clear the blue bowl before bringing their centers together.\"}",
  "call_id": "call_P1yatoKoOdlKBZruadsnjwbw",
  "id": "fc_0bc607ab0d7f7d2f016ab497e59ce087d0b2ce54eb2bf56acc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_P1yatoKoOdlKBZruadsnjwbw",
  "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]: [-0.7555, 1.6135, 1.1706, -0.3958, -0.6029, -0.522, 0.1174, -0.0219, 0.8036, 0.5999, -0.3931, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3787 left_y=-0.2142 left_z=0.1648 left_yaw=0.0014 left_pitch=-0.0888 left_roll=0.0531 left_gripper=0.1174 right_x=0.2931 right_y=0.0001 right_z=0.1727 right_yaw=0.0042 right_pitch=-0.0247 right_roll=0.002 right_gripper=0.9969\nstate[joint_eff]: [-0.1026, -9.6479, 9.4838, 1.4286, -0.4176, 0.022, 0.1245, -0.1709, -1.0462, 7.159, 1.7656, -0.0611, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a36ae161275c0db69ca90d7dd372196e1625e011e0122d8d4ba92aa6e85bb866",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:716129cf11dfa02a775439db29db06b2480d4851f9d4b346b3714030cdefb14a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53f76b8dc3e3d53beb35dc5b5fb051da074054992a571cd046140a3945e880e6",
      "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 21 changed as sent

message 25 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7547, 1.8442, 0.8829, 0.0788, -0.5961, -0.5018, 0.9995, -0.0216, 0.7986, 0.5999, -0.3935, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.375 left_y=-0.2116 left_z=0.0328 left_yaw=-0.0105 left_pitch=-0.1254 left_roll=0.0952 left_gripper=0.9995 right_x=0.2927 right_y=0.0002 right_z=0.174 right_yaw=0.0045 right_pitch=-0.0202 right_roll=0.0018 right_gripper=0.9969\nstate[joint_eff]: [0.0068, -8.5812, 5.1214, 1.7167, -0.2369, 0.022, -0.0122, -0.1573, -1.2376, 7.0222, 1.7021, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7559, 1.7226, 0.9195, -0.0086, -0.6144, -0.5179, 0.1161, -0.0219, 0.8032, 0.5999, -0.3927, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3786 left_y=-0.212 left_z=0.083 left_yaw=0.0055 left_pitch=-0.0635 left_roll=0.0439 left_gripper=0.1161 right_x=0.2931 right_y=0.0001 right_z=0.1729 right_yaw=0.0042 right_pitch=-0.024 right_roll=0.0019 right_gripper=0.9969\nstate[joint_eff]: [-0.4308, -9.8256, 9.1009, 1.6532, -0.3053, 0.1245, 0.1392, -0.0342, -1.3607, 7.0769, 1.7411, -0.0611, -0.0611, -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]: [-0.7555, 1.6135, 1.1706, -0.3958, -0.6029, -0.522, 0.1174, -0.0219, 0.8036, 0.5999, -0.3931, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3787 left_y=-0.2142 left_z=0.1648 left_yaw=0.0014 left_pitch=-0.0888 left_roll=0.0531 left_gripper=0.1174 right_x=0.2931 right_y=0.0001 right_z=0.1727 right_yaw=0.0042 right_pitch=-0.0247 right_roll=0.002 right_gripper=0.9969\nstate[joint_eff]: [-0.1026, -9.6479, 9.4838, 1.4286, -0.4176, 0.022, 0.1245, -0.1709, -1.0462, 7.159, 1.7656, -0.0611, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a36ae161275c0db69ca90d7dd372196e1625e011e0122d8d4ba92aa6e85bb866",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:716129cf11dfa02a775439db29db06b2480d4851f9d4b346b3714030cdefb14a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53f76b8dc3e3d53beb35dc5b5fb051da074054992a571cd046140a3945e880e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJfuF_anX2ZwtLUUkV33_bCE7Pm4VZxb6NUpsKOLo1GQDoOUeF-9dKejxTPscmZ7wu0EkpeJU3khLfaAZetZ6IkoNFOHi-qU2Rw67EDC-OSvnoUaoqKsBfx1hH4HcNMc9HvtIRAf324E1SBB0A6Sc1moBNZlGmEoQ_wuHqppDXpUUcgr0q3Bo5zHg323vtNYVR4jCNmVm-UCbXxm35FNjW7jWQunsNfRsty_1EdBKU-pQp9yxZ45IpgUjJaVNbJuw0f5jR2_k_HUOxzicOJ9XhTDxXxbj3iUbMltSkyp9kTCRnHV_IZ-VTmHIx7RC-a_g2ugTfAyuQ_4zR5CCDuC5VxXn-FjRX_67i67VR90hgAfZXrljJ6VO9qOVss7rdkCn1lsq8dS5KLBlkkWPZl8FHpMq2Wu4yB3l_Fjlps9w5E_4YSKe0BjjjNX6OX4zgKGQnwLBMr-mUaf0dmTvfAJVFrOr_B7HuF8HafVliMgTDkWxcZDlLzorVBgSVfusPk1Y1AWxLniRKt32xhVG-dEHCSlsjma2y1MyomhzcPw5QGV3ncgW-54KNFuUdyyZzONEZHZW8znxBhUMVG5Er2NyxqU21iIv-JrK7wjoykGVzNFJjELZDGI9JNY4vKaKs3hg_lE6sEHxSofamhcK8ZN7oTLKluxGxo9JEMyqvUmEY8i35AelF8-siFmRoHImd_GBQamaUxYl5GdJMUVshjbetlYoJDPeblgYbDegMPnMc_iMDVx9t98GLP_EpJ7UDJ7VSLntQV6HA7gRDUAzdtdd34cNSywDoWz6Yxe61aBgcEJcZmbR_cgf0GayY6ttrMytUW2S0Q2OBEur6drc52OsLhWZlUM0zjP_-sM5uj8xdTM1xKl0xcFFNdr1aP9KpkH5XULq4NHV7qcNVgrrOpiHLVWUmv71wVSECLZNdDPxYiASKf5kaPCvOwO9LIVYE5uM7GfgO8nEdAL9CJdbBFSR3-UD2dY9Qifc2NTT2qh2Wru-8hYIdBiIn9CFyM2F_1sWR_xLRHMWs3UnJusOBt4jgMEgIfJvD3uTKtB1ayDY2kVOsw7FfGTOi9NqROb8SYchaJajUKx4KoxSaIiWwMQxma_LXGe-Bi8WGcqZLjgykt11JMePHI-b875suC9YypRLAAklJAm1hJ78Z0yUF9W0YekdLKXrqClxoCI3JVqEwlh85_vJmWPnzNQ1IFfx9Sn_1mwprKRbbGvb1pXXcNTpCvO6jTucZaXTDgMPQy4NzqnIxRqNsJFzru5ilnpWuzh-Gton4N6HQT6lYJMAxdlygaklptC9EkusnvdKxqdn672Htuk9kdGPV1kUXVjVMrTndNPQWDUaqS_a3TOPdNuRtXbNzrPqdEewk2nck_YUgP1zVHeDVT-1fRVbg1LU2GNF8qLJc2FkoIoIl6MEfKDDXrzZV7lq8DfiAaZAQ0PBbi-fnknEDh8OFvrTAxa7O_i2aIQlfac6Bs6mPyXO9qMR3liIZVBPiSHZIFvRdMhuTnNJh4Ckg8ptcmGREHVVZCLc0MzXDvZcU-FSf427edEJOUm5WsklwY1Yg9ehVnVM4nPR2-7MSGRu6XdiFQmxFIT67hd421f5BdKK7dgGgXIboIl9gdGFyYWI6jeSgS2mnds8xdtrgUNe0TUjeNsoGNQ2CrLjMLpn4m_ZNF3IhHnbUbEbNYPMjVnOmqpJuwQPc6nWHpEPos7x8sUB9r0jkZvL5Cb9rxTTKaSr7MUb-MctYBU5go7nHSH1N14kbyrIsvBhcSTcDFuU1-esOjP47SvAWT44ZX82fuCZuUOK19_fOX7kvsuRaf52likifLISPH2gpk5FrYATtpylrH5WucnCfh1xwkFgnV6yKeCuQ_KSC7_meTY7HaVOr7L5H9NaLfWRye2i6bMFLj3y2nqbPi-UF7MfZVQDhyDT3sigYrbQ6Lm-0Nvh9SuGktcUgkEBeiXwNMIxMni_zp-001fx_UD97fRA8EsNLVkocMRn1LGPPlFmsS5ox3eg-wKaFI2RoN0MHefkoZ4QXeRK3BUOh6dqaZTELpw-TMultysE3zFg7NufoUKrnEpAwb5MABuXCM0dwpBGDxh2CtF_G1veoxffYrvR-bCCI4MP7Kq_j79YD17ALXTO-t1_OAApm1msY-HrQSnE0wDiAeEUhLbK5uvvtudb1hBZSoGJj6J-HjBUKWYi_mBb1Qk4o6SonMJoVF1zVD_wjZB2SJxVmgx-euJpd63pfHCq6-5OMoJBK4Dg2CMRvJRs_Oy0TAdAub_v49fmGNCsEALMNdV_FXAWcEsPVGBimKpTHmbxVyWqYgH0uyY1OCWb2Lk0JXJtHNc43mtHKAaGpkPzVDU_q35qEkSdQeb-t3pe0xZ33qjsyqtDyF_-SNOFhuG2iY22Fwbsh_-JFZIrTWiC9pVmG9r5LKsCTn8z_gEcsO4cabOXlOINZ2G_LvBnyHFDlp0bKv2zYN1I5FRpnZ4hAflL8ggG5bRzucaW3mouXbRCKLodcXU47rmMBkG9zE1KjQStgF0_0_C5WxXvMNY-CTv30nA6Y7aNST3NdZoG1T-MH3zkvExQYxx1YSdAWszhMb6iV1JrQkXYr7Xc5cGhxK7S6ulv67VF4bbZXY5cafjHMGtxyuAubuREd8Qr_zHPTGuf7eNZrFJ82qMFZYKRZWoVFcd7Y7b8DIvmMpOUFFppTHUnq2jqBvm3emyqn1nCuktABLmj0YZGCMuZHzZeGWuygmGGKLAKF8L6WZTeJZ_68hPsUSOZDcUnqjX0RBJjRBJLOGZe49jYHroalkTc_tUBQZ-i0xhRr4sU6uS_zgZoIeBd5eWPbyO4SR9V6yVeLpJ3T-UWSDOu2w8h3Bxih5TmMsqWYpVJ-dwUrzq3lXh8ffMEICnqLD6-oGgj7nz0XL4yTcM3WuZ3Hs_KkHddlZ9ouqUYrZZI98eq1FxHKq6rsW_ByrKc0eyQTufMkJh17GiNtsA5b5BbtI=",
  "id": "rs_0bc607ab0d7f7d2f016ab497e86a6487d0b0a6e2ea18d1e28b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.045},\"note\":\"Both the green and blue bowls appear to have lifted together—the fingers caught their neighboring rims. I’ll set them back down and change to the green bowl’s outer rim so I can lift just one.\"}",
  "call_id": "call_TpKzk0v2TJUw0OhyfzjrVySy",
  "id": "fc_0bc607ab0d7f7d2f016ab497ed24dc87d08f536fa892e338f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TpKzk0v2TJUw0OhyfzjrVySy",
  "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]: [-0.7555, 1.7969, 0.8951, 0.0212, -0.6003, -0.5217, 0.1191, -0.0219, 0.8036, 0.5999, -0.3931, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3734 left_y=-0.2098 left_z=0.048 left_yaw=0.0023 left_pitch=-0.1207 left_roll=0.0809 left_gripper=0.1191 right_x=0.2931 right_y=0.0 right_z=0.1727 right_yaw=0.0038 right_pitch=-0.0247 right_roll=0.0017 right_gripper=0.9969\nstate[joint_eff]: [-0.1846, -7.2274, 5.135, 1.3748, -0.3297, -0.0122, 0.1783, -0.0479, -1.306, 7.0632, 1.7558, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec2906d19a68287617501fb621018d6cb1afa6f956683d824a0d4bb0db15f6c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79eeb3514a73aa55c7181035008d7e7929b26eb7b9ff48cd4a2bd1b0774698e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af135803d22493712a3c242a6684cdfba255c3f22aae0cdb47c8af841ad3e86c",
      "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 25 changed as sent

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7547, 1.8458, 0.8806, 0.1757, -0.6117, -0.506, 0.1147, -0.0216, 0.8024, 0.5999, -0.3927, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3865 left_y=-0.2193 left_z=0.0465 left_yaw=-0.0025 left_pitch=-0.0491 left_roll=0.0369 left_gripper=0.1147 right_x=0.2931 right_y=0.0002 right_z=0.1731 right_yaw=0.0043 right_pitch=-0.0232 right_roll=0.0022 right_gripper=0.9969\nstate[joint_eff]: [0.1436, -7.5009, 5.1897, 1.0427, -0.0904, 0.0317, 0.7595, -0.0752, -1.5932, 7.0359, 1.7216, -0.0611, -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]: [-0.7555, 1.6135, 1.1706, -0.3958, -0.6029, -0.522, 0.1174, -0.0219, 0.8036, 0.5999, -0.3931, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3787 left_y=-0.2142 left_z=0.1648 left_yaw=0.0014 left_pitch=-0.0888 left_roll=0.0531 left_gripper=0.1174 right_x=0.2931 right_y=0.0001 right_z=0.1727 right_yaw=0.0042 right_pitch=-0.0247 right_roll=0.002 right_gripper=0.9969\nstate[joint_eff]: [-0.1026, -9.6479, 9.4838, 1.4286, -0.4176, 0.022, 0.1245, -0.1709, -1.0462, 7.159, 1.7656, -0.0611, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7555, 1.7969, 0.8951, 0.0212, -0.6003, -0.5217, 0.1191, -0.0219, 0.8036, 0.5999, -0.3931, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3734 left_y=-0.2098 left_z=0.048 left_yaw=0.0023 left_pitch=-0.1207 left_roll=0.0809 left_gripper=0.1191 right_x=0.2931 right_y=0.0 right_z=0.1727 right_yaw=0.0038 right_pitch=-0.0247 right_roll=0.0017 right_gripper=0.9969\nstate[joint_eff]: [-0.1846, -7.2274, 5.135, 1.3748, -0.3297, -0.0122, 0.1783, -0.0479, -1.306, 7.0632, 1.7558, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec2906d19a68287617501fb621018d6cb1afa6f956683d824a0d4bb0db15f6c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79eeb3514a73aa55c7181035008d7e7929b26eb7b9ff48cd4a2bd1b0774698e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af135803d22493712a3c242a6684cdfba255c3f22aae0cdb47c8af841ad3e86c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"Both bowls are back at table height. I’ll release the shared rims before repositioning to the outside of the green bowl.\"}",
  "call_id": "call_SmSBeLdcXnfL8gpBhfmtnZMS",
  "id": "fc_0bc607ab0d7f7d2f016ab497f04cc487d098530d42a7d437fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SmSBeLdcXnfL8gpBhfmtnZMS",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7555, 1.8084, 0.8879, 0.0189, -0.5999, -0.522, 0.9947, -0.0219, 0.8036, 0.5999, -0.3931, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3709 left_y=-0.2074 left_z=0.0407 left_yaw=0.0041 left_pitch=-0.1361 left_roll=0.095 left_gripper=0.9947 right_x=0.2931 right_y=0.0001 right_z=0.1727 right_yaw=0.0039 right_pitch=-0.0247 right_roll=0.0023 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -9.3744, 6.0786, 1.3602, -0.3248, 0.022, 0.0122, -0.1709, -1.306, 7.2137, 1.707, -0.0464, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d366dfc10d7ec5fe8007f4d3116a1df00e7e3f40ee54aabd06be6bd96227a734",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0938bf18f206b9705d5125c914922dfdde1b9855306dde618d7a0511f35a65be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:218c60ec2f19acef51520f8788de920a418ab1201bc5efefbdfd980f3624cf89",
      "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 21 changed as sent

message 29 changed as sent

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7559, 1.7226, 0.9195, -0.0086, -0.6144, -0.5179, 0.1161, -0.0219, 0.8032, 0.5999, -0.3927, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3786 left_y=-0.212 left_z=0.083 left_yaw=0.0055 left_pitch=-0.0635 left_roll=0.0439 left_gripper=0.1161 right_x=0.2931 right_y=0.0001 right_z=0.1729 right_yaw=0.0042 right_pitch=-0.024 right_roll=0.0019 right_gripper=0.9969\nstate[joint_eff]: [-0.4308, -9.8256, 9.1009, 1.6532, -0.3053, 0.1245, 0.1392, -0.0342, -1.3607, 7.0769, 1.7411, -0.0611, -0.0611, -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]: [-0.7555, 1.7969, 0.8951, 0.0212, -0.6003, -0.5217, 0.1191, -0.0219, 0.8036, 0.5999, -0.3931, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3734 left_y=-0.2098 left_z=0.048 left_yaw=0.0023 left_pitch=-0.1207 left_roll=0.0809 left_gripper=0.1191 right_x=0.2931 right_y=0.0 right_z=0.1727 right_yaw=0.0038 right_pitch=-0.0247 right_roll=0.0017 right_gripper=0.9969\nstate[joint_eff]: [-0.1846, -7.2274, 5.135, 1.3748, -0.3297, -0.0122, 0.1783, -0.0479, -1.306, 7.0632, 1.7558, -0.0415, -0.0659, -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]: [-0.7555, 1.8084, 0.8879, 0.0189, -0.5999, -0.522, 0.9947, -0.0219, 0.8036, 0.5999, -0.3931, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3709 left_y=-0.2074 left_z=0.0407 left_yaw=0.0041 left_pitch=-0.1361 left_roll=0.095 left_gripper=0.9947 right_x=0.2931 right_y=0.0001 right_z=0.1727 right_yaw=0.0039 right_pitch=-0.0247 right_roll=0.0023 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -9.3744, 6.0786, 1.3602, -0.3248, 0.022, 0.0122, -0.1709, -1.306, 7.2137, 1.707, -0.0464, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d366dfc10d7ec5fe8007f4d3116a1df00e7e3f40ee54aabd06be6bd96227a734",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0938bf18f206b9705d5125c914922dfdde1b9855306dde618d7a0511f35a65be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:218c60ec2f19acef51520f8788de920a418ab1201bc5efefbdfd980f3624cf89",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The jaws are open and both bowls remain upright. I’ll lift the empty gripper clear of their rims before moving to the green bowl’s left side.\"}",
  "call_id": "call_qtLZYN8LQEHhupeeK4Y6OvAr",
  "id": "fc_0bc607ab0d7f7d2f016ab497f35c2087d0afc8fe5ff5941302",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qtLZYN8LQEHhupeeK4Y6OvAr",
  "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]: [-0.7555, 1.6447, 1.1385, -0.4129, -0.5995, -0.5251, 0.9957, -0.0219, 0.8036, 0.5999, -0.3931, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.372 left_y=-0.2086 left_z=0.1374 left_yaw=0.0073 left_pitch=-0.1489 left_roll=0.1047 left_gripper=0.9957 right_x=0.2931 right_y=0.0001 right_z=0.1727 right_yaw=0.0042 right_pitch=-0.0247 right_roll=0.002 right_gripper=0.9969\nstate[joint_eff]: [-0.3624, -10.3179, 8.8957, 1.3162, -0.2857, 0.0122, 0.0855, -0.1983, -1.2786, 7.241, 1.6972, -0.0659, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b796034ade71ce0fcb035b213c250126ecb24c2b3e8841badf7a3f6b90f449b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:808f02695ae6765eaada165c09536312bde2b659f103cc3b265de8991c2336da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2c0f05fac7739c88f7c454c69d5104b64a234e8304f83a454afb1ee6fe74ef9",
      "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 25 changed as sent

message 32 changed as sent

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7555, 1.6135, 1.1706, -0.3958, -0.6029, -0.522, 0.1174, -0.0219, 0.8036, 0.5999, -0.3931, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3787 left_y=-0.2142 left_z=0.1648 left_yaw=0.0014 left_pitch=-0.0888 left_roll=0.0531 left_gripper=0.1174 right_x=0.2931 right_y=0.0001 right_z=0.1727 right_yaw=0.0042 right_pitch=-0.0247 right_roll=0.002 right_gripper=0.9969\nstate[joint_eff]: [-0.1026, -9.6479, 9.4838, 1.4286, -0.4176, 0.022, 0.1245, -0.1709, -1.0462, 7.159, 1.7656, -0.0611, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7555, 1.8084, 0.8879, 0.0189, -0.5999, -0.522, 0.9947, -0.0219, 0.8036, 0.5999, -0.3931, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3709 left_y=-0.2074 left_z=0.0407 left_yaw=0.0041 left_pitch=-0.1361 left_roll=0.095 left_gripper=0.9947 right_x=0.2931 right_y=0.0001 right_z=0.1727 right_yaw=0.0039 right_pitch=-0.0247 right_roll=0.0023 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -9.3744, 6.0786, 1.3602, -0.3248, 0.022, 0.0122, -0.1709, -1.306, 7.2137, 1.707, -0.0464, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7555, 1.6447, 1.1385, -0.4129, -0.5995, -0.5251, 0.9957, -0.0219, 0.8036, 0.5999, -0.3931, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.372 left_y=-0.2086 left_z=0.1374 left_yaw=0.0073 left_pitch=-0.1489 left_roll=0.1047 left_gripper=0.9957 right_x=0.2931 right_y=0.0001 right_z=0.1727 right_yaw=0.0042 right_pitch=-0.0247 right_roll=0.002 right_gripper=0.9969\nstate[joint_eff]: [-0.3624, -10.3179, 8.8957, 1.3162, -0.2857, 0.0122, 0.0855, -0.1983, -1.2786, 7.241, 1.6972, -0.0659, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b796034ade71ce0fcb035b213c250126ecb24c2b3e8841badf7a3f6b90f449b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:808f02695ae6765eaada165c09536312bde2b659f103cc3b265de8991c2336da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2c0f05fac7739c88f7c454c69d5104b64a234e8304f83a454afb1ee6fe74ef9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJf4Qwz5kLfAAacwUQveDu10-Hre5FsAoSoW3yBZWGubqAobUJ71ME6KV_EDGNfKvj1KuHU5Z7Jgpxc-fPjgwIGfLOpEtLDLW97Qhth_aAy8l87w6rXy4F2fG_GaNTST17DEObtJ7o9p8qVx7cn-R5Vl92m6_43BmB7e9GHo5SzDGeqSfKtYV2oSbb5wadwlHMLBRDDLbAlM-ch4Tf7NQv-9jB-holDynvJmawYjOrnjDy0mIVTPxrcVvWTyQ3QLerAGTeC7DWuTex0C1OvMgZN-zDaCgHsCwF0Q907utLcPumd_pgWzKxBywH-GICizrIjlYLhRlu9Bkt-2LrlRQGKoDniXqH0tnxRKoooAE-AB6-C1gr5-1ZFKO-WMfD6K4LgBXW_MUdoOvhTeKheu_BeYsIT7X8PMwyDfPwNrUJFXyvbdX2WXFMnJ2gq5gqLnyoZ-YUn80kb__DDjpprdhdUrbOYygb-v8XsQYZ5dmB9hacLHsHjDGU_dLBReSNCnYsWFkHKXpQXV0IHx021aOKKXfXJW9lhIOVLhG6MIfHL14fTrsGKnpqxVV-5p0a1d1eOgVF3A4oKj0s18KuyDTHRvHsNmgbon_OOl3GnmC7Bz7HlVSdmqYeioStTT5sUrRhFWhjWhxafcPwwilgLuu3443tAHRsD1nuMfudWKYtZGeqM3gfAAexPthr9a8drR6T0ubPfd6ROxk1NexmzGYCMaCjIAcaGMrTamxoj5Fob1dlmf_CYOTHpcowDX4nwcc2Z-n_KhHzBX5iopSGdlpKFrDRqroPDRGV-3l0kQP1c2WKEUEuCGPafkFqxVkAE1nqq0yW-r1hMRLyLXAiitWNaRUim0lDOKCxP9DVoD-cQDBktlsa4Aa5GukUMdKQTxyVRv0mziR8n4EHYLS_aaY0PWE2V2SLYtCLPVvj7LUqu9U2YirqJIWsehlHTh6y4SSzglLOIESmdKnpcf7zLxEj9cHNEfD2G9eXvRPl6r6KfQ-Ctw-2HIwIZ36P1QxlJ6HeGvdkXTq9wgKptEV4RqE90U7PJxOD2ksUpIEAbLlIu0AUKmeryhMyRKnXCwIfgzOXaA1MpzefubXLybVr2fl3nnmfP8a3zs2Jvv9u-FSV4ugXo9cbly6aEym2oBSt_B8TwmoHfws3qZslRkrDkR1hwNr5CAi5HRXHqh-1UNhWtdega9L0z8KuabHJwD234SCp-wOGZkZdzTxPhu_vyS5U_1cyh1PEM58YRfwraMC9uRlHQpyW9x5cBtqNWp4F95FHL6Fw-zhkvBLyLz5gzLtloBVVPJPJlxBlmSua42W7eHCpqOAxSSXVA1iRDVolcKG6Jz",
  "id": "rs_0bc607ab0d7f7d2f016ab497f6806887d0a3c70184e53f67d8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.105,\"left_z\":0.15},\"note\":\"The left bowl is now clearly separate from the middle bowl. I’m moving over its outer left rim, away from the neighboring bowl.\"}",
  "call_id": "call_n0iMDFxa8oOlKo8vlgZGtt10",
  "id": "fc_0bc607ab0d7f7d2f016ab497f7388887d09b64e8e2cf3d4286",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_n0iMDFxa8oOlKo8vlgZGtt10",
  "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]: [-0.4694, 1.4406, 0.952, -0.3473, -0.4297, -0.3092, 0.9957, -0.0219, 0.8043, 0.5999, -0.3931, -0.0162, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3782 left_y=-0.1053 left_z=0.1407 left_yaw=0.0417 left_pitch=-0.1737 left_roll=0.1109 left_gripper=0.9957 right_x=0.2931 right_y=0.0 right_z=0.1725 right_yaw=0.0036 right_pitch=-0.0255 right_roll=0.0021 right_gripper=0.9969\nstate[joint_eff]: [0.294, -7.5829, 6.6803, 1.6435, -0.0806, 0.232, -0.0024, -0.1162, -1.2103, 7.0222, 1.7558, -0.0317, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abd35051ded418d079e2802e74937375a844a793d46ed7318b6ccfd128a95103",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f65600518bc88d64da316053e7b998da7d81dce56b05d2ae52ef7e14b783de40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:472359815115d7dc2bcc3927061410670e3884d9635eb062b9d277ae6bde0c3c",
      "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 29 changed as sent

message 35 changed as sent

message 39 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7555, 1.7969, 0.8951, 0.0212, -0.6003, -0.5217, 0.1191, -0.0219, 0.8036, 0.5999, -0.3931, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3734 left_y=-0.2098 left_z=0.048 left_yaw=0.0023 left_pitch=-0.1207 left_roll=0.0809 left_gripper=0.1191 right_x=0.2931 right_y=0.0 right_z=0.1727 right_yaw=0.0038 right_pitch=-0.0247 right_roll=0.0017 right_gripper=0.9969\nstate[joint_eff]: [-0.1846, -7.2274, 5.135, 1.3748, -0.3297, -0.0122, 0.1783, -0.0479, -1.306, 7.0632, 1.7558, -0.0415, -0.0659, -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]: [-0.7555, 1.6447, 1.1385, -0.4129, -0.5995, -0.5251, 0.9957, -0.0219, 0.8036, 0.5999, -0.3931, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.372 left_y=-0.2086 left_z=0.1374 left_yaw=0.0073 left_pitch=-0.1489 left_roll=0.1047 left_gripper=0.9957 right_x=0.2931 right_y=0.0001 right_z=0.1727 right_yaw=0.0042 right_pitch=-0.0247 right_roll=0.002 right_gripper=0.9969\nstate[joint_eff]: [-0.3624, -10.3179, 8.8957, 1.3162, -0.2857, 0.0122, 0.0855, -0.1983, -1.2786, 7.241, 1.6972, -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]: [-0.4694, 1.4406, 0.952, -0.3473, -0.4297, -0.3092, 0.9957, -0.0219, 0.8043, 0.5999, -0.3931, -0.0162, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3782 left_y=-0.1053 left_z=0.1407 left_yaw=0.0417 left_pitch=-0.1737 left_roll=0.1109 left_gripper=0.9957 right_x=0.2931 right_y=0.0 right_z=0.1725 right_yaw=0.0036 right_pitch=-0.0255 right_roll=0.0021 right_gripper=0.9969\nstate[joint_eff]: [0.294, -7.5829, 6.6803, 1.6435, -0.0806, 0.232, -0.0024, -0.1162, -1.2103, 7.0222, 1.7558, -0.0317, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abd35051ded418d079e2802e74937375a844a793d46ed7318b6ccfd128a95103",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f65600518bc88d64da316053e7b998da7d81dce56b05d2ae52ef7e14b783de40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:472359815115d7dc2bcc3927061410670e3884d9635eb062b9d277ae6bde0c3c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJf9ElFJMIjdkwT7rBzAgAae0oPXe21fiJTm7bPaWRkogq6mknDPXB-aBiw0-p-X2fWPUvZzZIYT5FFvQOTD5bv4NqNZCrEepRdcXFYVf0jE8X3C8B2MDZ9BrKmwjiQekp7b4c0xtLUeLwJ8RuG4_fGNl5w2ziq5CMmwS4yMtQj-OyTJATUp7LZtUkGrHzqKs-_ALyFIwZsRp26Af2NAbxwTdvPkOy_zcDdAfga9csDLvXSAAnM2Hg2RpvNdp3LmcUgsswf9ertmQ5xvIsHNzFQ1zIbhs4FZp_S7xyj1scjLvXc8nMb2-PDzp8K3j5LwKKW76uJ15uH4pBg0l6wmQix9KW5ztGpm6K35QScNaJ2umGjHVMRjVXO48XAkB_e0WXX3aQtTvB4TN31Tv7j3hgmHjGH1nmRNe00t97KeWYK7twdsT3T6JgKgxfJjJmGMGfyezGkoOTW_TmqrRYbavts_wk6R3Bv0DpHTKw0qOL-b_3UJuvgSr90dhlSaOHVLsriSFt7s6uAcmqvFtdAAkmDM6ru1h-ShM0O1tGixHKD0baLm_qXWeybBZrIhXpuPF-Y7cipliyBoGvzVId5s454iZL0Eodg7FX829vCglcir9DgeWAWLT8xzFdtw-PwErKGc6xQNUnA2KzJCHUePC4QvfoNB0iqqf-MJk96hGEyAGwowDvdIwsjjIBMM75hlovGgbXep2tcZxCOQJKMePrRmBaltUnsFDaefjtb71pJznSShvbMYu-JtWo2CeI5XoABxYdcnrSGUgGXPRTEO3dEmJK5DNAWqgs2nXBjIFyZ2Ejwefggb5f7hMgOVpNJADvpHR0p1kILtq1BbmLrwO909m7EdjkyjPoREfR-B8K9PEf_kTKMKNhnViKeIDHktoD7JKZAj1cELs9_pzvPNHbdmjU4ESVpGGTPewFOvdF7gO_AN0BH-1l9_i-kcqdcAf7dLXJXpCW3iCmZc183r3mlhzFk-qRCn-0sPLMDErFh5BVlpOhgozWFPhsYuJsM-xQhq-TXnt2ZvNe8AgF83xgdi3uMKdM7VNRXyrItHRgXZhXYfa6gTjZlXw4j3KPIcgJ0qxkQNw8BMLnMn4_RnqpcyiTTeMLlXAMGk83VGIaSVwy__lsYA_qQqXgdvS0-a-Uy7QT-EGf1hAHRRoYEEQ4jRk7u7hd8EwWmPHJSzABCdgGVMxapajzNnvCl2B-XvirMwa_Tiv7Rk602ZxwVUOFyZXDoPskiQa9TaJTiHqhlPPLuEcrZY9-0JO1xSdiHOj5CtrMYre0-aet1Uqh7aJCmfreHQ2B_9oKOqvpFtlmIgjIPWYJA0wQEDMYzwc9QLcT2MKpYLPcgH7oHt7ecCnAdHx9CoyW9b6ykLuP5FeBa92JA=",
  "id": "rs_0bc607ab0d7f7d2f016ab497fbf9ac87d0b30ec0ce54a4fed3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.105,\"left_z\":0.035},\"note\":\"The left bowl’s outer rim is between the open fingers, with no second bowl in the grasp area. I’ll lower to the same rim height used for the first grasp.\"}",
  "call_id": "call_Esm0x8GcRKXi2zHWjKRMIEXs",
  "id": "fc_0bc607ab0d7f7d2f016ab497fcbb6887d0ae33827dc5d34990",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Esm0x8GcRKXi2zHWjKRMIEXs",
  "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]: [-0.4675, 1.6413, 0.7055, 0.0422, -0.4194, -0.3031, 0.9957, -0.0216, 0.8043, 0.5999, -0.3931, -0.0162, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3708 left_y=-0.1026 left_z=0.0335 left_yaw=0.0379 left_pitch=-0.2283 left_roll=0.137 left_gripper=0.9957 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.004 right_pitch=-0.0255 right_roll=0.0021 right_gripper=0.9969\nstate[joint_eff]: [0.1026, -6.5436, 5.3265, 1.4969, -0.2759, -0.0513, -0.0122, -0.1026, -1.1282, 7.2137, 1.707, -0.0171, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd051feda9a8b3d75ecf86d59797d090b9ab58d042512bd9971731d30e18500f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bfe163b1a04d699385edf9e319bbd1727decec9a2286d1fd226343d6c7f214a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae6642ec9d1940ae090c870333066b6ae40533978eb0a6a6a07cf4c3fcd2def0",
      "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 32 changed as sent

message 39 changed as sent

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7555, 1.8084, 0.8879, 0.0189, -0.5999, -0.522, 0.9947, -0.0219, 0.8036, 0.5999, -0.3931, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3709 left_y=-0.2074 left_z=0.0407 left_yaw=0.0041 left_pitch=-0.1361 left_roll=0.095 left_gripper=0.9947 right_x=0.2931 right_y=0.0001 right_z=0.1727 right_yaw=0.0039 right_pitch=-0.0247 right_roll=0.0023 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -9.3744, 6.0786, 1.3602, -0.3248, 0.022, 0.0122, -0.1709, -1.306, 7.2137, 1.707, -0.0464, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.4406, 0.952, -0.3473, -0.4297, -0.3092, 0.9957, -0.0219, 0.8043, 0.5999, -0.3931, -0.0162, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3782 left_y=-0.1053 left_z=0.1407 left_yaw=0.0417 left_pitch=-0.1737 left_roll=0.1109 left_gripper=0.9957 right_x=0.2931 right_y=0.0 right_z=0.1725 right_yaw=0.0036 right_pitch=-0.0255 right_roll=0.0021 right_gripper=0.9969\nstate[joint_eff]: [0.294, -7.5829, 6.6803, 1.6435, -0.0806, 0.232, -0.0024, -0.1162, -1.2103, 7.0222, 1.7558, -0.0317, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4675, 1.6413, 0.7055, 0.0422, -0.4194, -0.3031, 0.9957, -0.0216, 0.8043, 0.5999, -0.3931, -0.0162, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3708 left_y=-0.1026 left_z=0.0335 left_yaw=0.0379 left_pitch=-0.2283 left_roll=0.137 left_gripper=0.9957 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.004 right_pitch=-0.0255 right_roll=0.0021 right_gripper=0.9969\nstate[joint_eff]: [0.1026, -6.5436, 5.3265, 1.4969, -0.2759, -0.0513, -0.0122, -0.1026, -1.1282, 7.2137, 1.707, -0.0171, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd051feda9a8b3d75ecf86d59797d090b9ab58d042512bd9971731d30e18500f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bfe163b1a04d699385edf9e319bbd1727decec9a2286d1fd226343d6c7f214a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae6642ec9d1940ae090c870333066b6ae40533978eb0a6a6a07cf4c3fcd2def0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are at the left bowl’s outer wall. I’ll close on that single rim, then verify the grip with a short lift.\"}",
  "call_id": "call_qzzwCK5YjcMd4sII5SWdcCig",
  "id": "fc_0bc607ab0d7f7d2f016ab497ff9fc887d08a4de036716777d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qzzwCK5YjcMd4sII5SWdcCig",
  "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]: [-0.4679, 1.6363, 0.7017, 0.0826, -0.4122, -0.3264, 0.023, -0.0219, 0.8043, 0.5999, -0.3927, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3762 left_y=-0.1068 left_z=0.0396 left_yaw=0.0403 left_pitch=-0.193 left_roll=0.0945 left_gripper=0.023 right_x=0.2932 right_y=0.0001 right_z=0.1726 right_yaw=0.0039 right_pitch=-0.0251 right_roll=0.0023 right_gripper=0.9969\nstate[joint_eff]: [-0.212, -5.7778, 5.8598, 0.6276, -0.2515, 0.3101, 1.5067, -0.1709, -1.1282, 7.0906, 1.7265, -0.0562, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5b59d1c9bc0e300efcafc342430957feebbfe86b7bd48dfe832da44be571583",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f7147fde6fb2749a99605e81df85c18fac754daf3a5d66f04a57dbcbc809386",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:446fd62394fb0f1e4e220246096a61a1438253bcd492572482aa15e13c9331ba",
      "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 35 changed as sent

message 43 changed as sent

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7555, 1.6447, 1.1385, -0.4129, -0.5995, -0.5251, 0.9957, -0.0219, 0.8036, 0.5999, -0.3931, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.372 left_y=-0.2086 left_z=0.1374 left_yaw=0.0073 left_pitch=-0.1489 left_roll=0.1047 left_gripper=0.9957 right_x=0.2931 right_y=0.0001 right_z=0.1727 right_yaw=0.0042 right_pitch=-0.0247 right_roll=0.002 right_gripper=0.9969\nstate[joint_eff]: [-0.3624, -10.3179, 8.8957, 1.3162, -0.2857, 0.0122, 0.0855, -0.1983, -1.2786, 7.241, 1.6972, -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]: [-0.4675, 1.6413, 0.7055, 0.0422, -0.4194, -0.3031, 0.9957, -0.0216, 0.8043, 0.5999, -0.3931, -0.0162, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3708 left_y=-0.1026 left_z=0.0335 left_yaw=0.0379 left_pitch=-0.2283 left_roll=0.137 left_gripper=0.9957 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.004 right_pitch=-0.0255 right_roll=0.0021 right_gripper=0.9969\nstate[joint_eff]: [0.1026, -6.5436, 5.3265, 1.4969, -0.2759, -0.0513, -0.0122, -0.1026, -1.1282, 7.2137, 1.707, -0.0171, -0.0073, -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]: [-0.4679, 1.6363, 0.7017, 0.0826, -0.4122, -0.3264, 0.023, -0.0219, 0.8043, 0.5999, -0.3927, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3762 left_y=-0.1068 left_z=0.0396 left_yaw=0.0403 left_pitch=-0.193 left_roll=0.0945 left_gripper=0.023 right_x=0.2932 right_y=0.0001 right_z=0.1726 right_yaw=0.0039 right_pitch=-0.0251 right_roll=0.0023 right_gripper=0.9969\nstate[joint_eff]: [-0.212, -5.7778, 5.8598, 0.6276, -0.2515, 0.3101, 1.5067, -0.1709, -1.1282, 7.0906, 1.7265, -0.0562, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5b59d1c9bc0e300efcafc342430957feebbfe86b7bd48dfe832da44be571583",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f7147fde6fb2749a99605e81df85c18fac754daf3a5d66f04a57dbcbc809386",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:446fd62394fb0f1e4e220246096a61a1438253bcd492572482aa15e13c9331ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJgGiV2ua5MNsWrd8aWIhGVVsjkL1Ib4vKfZbvqCPwY2aBEctLBgjFnngFfgfUleIxwAvvXP-r5wZXU4yKXW_LrWLv3MlvJ2gLk96lF1rDm9o20Ry6JRt5EtM7h6UVXf7QSrWOywuRqp1giqNJMEQjS2GO4zV-imvBSOYgeJdGftNShhinHfCCMATCD-aREKdmWiaRM4eBVDkhgAF65DE5-ATJ_0UcSzFLEfqxIqUqbqb5fozW9HIP3Oqqu9-E9wAgCjbppoAG5-AY1VjcKzrl8HklftPoywrW0Rd7aF6AIvjAUphfk_klTAPZn7CbmUQoHJrXcq1778GUspbzUDOy90PyVa_1-6bvwdgKOBFuLYEGlMJZygu4BMzeX3k8-GGwq8p4FPH2sROJzF21jSbr_hyvZNUTh9u59aI0tu35OXGfvPn2DwsUWzYU1Ae9PERnlFMpw3TzTduUFARi-TIgLm_k3KTY6ezT09nWEF-4dn1jVavHBieCi8_0bcftlXQQUV3kLgiJmKEAxxSezqw9LiwBr2Pz46GcROpeVD-FwlZ-pOSZlaU_XB7RdpcoB-cIxcPCF8Tow1HAnp5shX6NPRPVfCQeAVQmM-kIBbYWqZbn4REJBcCRZ6Jeo1XKdDuAoHb78BCe275ZpOp80qrXAujDYU-ZIW6nMnO91YCm0uFhRB5goKCbKTrfOhajt9oPVFKUMzc-wgmvHLITzYLGfAztIalThJy8Qqvlw0xlLYEdWpVYy5KGg0xMHhZgQWt6xNHd_kGeQ5eDfVxjSlNx4FHraMld_6iVWKwWlU99Havzo5X1Ufmm2r7wdjM-mBTb-uBO5rtGuU6xslNQ7oBYF1Ow7ywSs_n5w-XrSXHNEtuac3XXIQ0nJJ9lbz32dOWfXgFbuDrGZ8q824LkhBiNclHG4uC3q2I8I2j8pJFyQ_m0C9l0NZNljep3qZ8UCiQAsZbkaBkRZ8LOb1qs_ifuAAu8nAVCP56heiaJgOHnvaXjUYInP9WZahjG4PFy-gIfMDZXuNdcQ2DTNuRXZzpzYYyyTxbEgJRPF9TfcbWIZSkPd_PB5kF2CpiO9zKq4M3Vk3A03ybUGTjhoAHRVaNNG09qDqmUn4brt0rD_vzFfW8HGS-NkyA48TmXwG9ImHHfGFq9b6M2QCvSYH4kEXTIA6NG_ZBsWhGbun3qKMfXSRp4CVL-gx9W2rmAY7xE2ZA-3lYvuA4vezC983GS41hvgqBFrgqcNZiqjddba7kdCI7APxf9mH15LbGkYagyheCQ40m5C8ks3W7q-HriXGLFS4e1B3p0XVL7ti2pyH19WHvgFSvmf678mDPGJpjMRRjsPssSIk_3_qKjzSH1ChCFK4d2F0FswUcK1EoFt2izwRfacLccH7isfL5jFrQQxAn1nmdSnT2vyqHiouSmzTc7BUWeuH8YljefiNOaooHqnCLwdc1MzD65Wcs2kcCLDiBunoBI-Jt_joJaq3fLCtdSeblb1wLsocQzh6MinH2eOvXuUw782BeXaocC6sUzmyWLgA6GhOtFLq5v5ugAugnNHWmzwSUkAiLz-aPwLC8HX0ru-t_8VtaNIf5II6Eii8mbQaKEM797_hARQnHLLdxTgCRuyOWSk0K8FLlv1H5tVG5djfhNIkm29S2tdrKRTHL0p_qFn-H87QqeoysRSvMnpSd_XpGAFiHNVv1pkAgEDWwG9g1I_c_nIx5rN2ZSF-ZpK0_9z4BIbX59DAHMKUWJ3_mFJa8uqbAb5mRPaHAwZeFn9qhwoAk5Qf3752vsW7qpC_8ql20G_tcLVYc-3hkkgp5C_m6uyNB_2Q-DXyo07gH4dUzW2oUsgkDrG0fY1EEns19_OFh0UnW6MVhER44Eapfrr-a0krPb3NmQo2s58VkyfaCJmmmbzBt8a_Ax6GyzbZM48xduQGxZjsIk0cOn88xTOb-gKSGCS9MYedTrSSeDmHYB5JN2ZWDJhuYwEpdmgxlIQOPkAF-oohSHNgeXE2WFtgn2UODYYBbMZSufwWc-XLt4BOEuWcqvQWfPXE40lMCjmdMicyCUzUfTG1nvW2vw==",
  "id": "rs_0bc607ab0d7f7d2f016ab49802a55c87d09cc357c59be46c6b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.075},\"note\":\"The gripper nearly closed empty, and the bowl shifted slightly away instead of being captured. I’ll reopen and clear the rim, then move a little farther inward for one retry.\"}",
  "call_id": "call_EY6EzwY3eFt7aQHZensYx1F3",
  "id": "fc_0bc607ab0d7f7d2f016ab49805634887d0977195c1b302ad82",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EY6EzwY3eFt7aQHZensYx1F3",
  "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]: [-0.4679, 1.5723, 0.7498, -0.0731, -0.4122, -0.337, 0.9951, -0.0216, 0.8043, 0.5999, -0.3927, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3692 left_y=-0.1032 left_z=0.0564 left_yaw=0.0507 left_pitch=-0.2303 left_roll=0.1086 left_gripper=0.9951 right_x=0.2932 right_y=0.0002 right_z=0.1726 right_yaw=0.0043 right_pitch=-0.0251 right_roll=0.0023 right_gripper=0.9969\nstate[joint_eff]: [-0.0479, -8.5949, 8.4991, 1.3407, -0.2418, 0.1001, -0.1392, -0.0889, -1.2923, 7.0359, 1.7167, -0.0317, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24a282a0421a8862104ad18e6bdbb7295fd3d9e92c885f0b5e73255a83e366a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2717666201b7f5b9a774858dc4dc69807beb4cd515d7b31ba42422eae5fd198",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a64dc73340fdc877e6b6439a89b0dfa4d9f87ca193c434a09f6ae99927aaf66",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 39 changed as sent

message 46 changed as sent

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.4406, 0.952, -0.3473, -0.4297, -0.3092, 0.9957, -0.0219, 0.8043, 0.5999, -0.3931, -0.0162, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3782 left_y=-0.1053 left_z=0.1407 left_yaw=0.0417 left_pitch=-0.1737 left_roll=0.1109 left_gripper=0.9957 right_x=0.2931 right_y=0.0 right_z=0.1725 right_yaw=0.0036 right_pitch=-0.0255 right_roll=0.0021 right_gripper=0.9969\nstate[joint_eff]: [0.294, -7.5829, 6.6803, 1.6435, -0.0806, 0.232, -0.0024, -0.1162, -1.2103, 7.0222, 1.7558, -0.0317, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4679, 1.6363, 0.7017, 0.0826, -0.4122, -0.3264, 0.023, -0.0219, 0.8043, 0.5999, -0.3927, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3762 left_y=-0.1068 left_z=0.0396 left_yaw=0.0403 left_pitch=-0.193 left_roll=0.0945 left_gripper=0.023 right_x=0.2932 right_y=0.0001 right_z=0.1726 right_yaw=0.0039 right_pitch=-0.0251 right_roll=0.0023 right_gripper=0.9969\nstate[joint_eff]: [-0.212, -5.7778, 5.8598, 0.6276, -0.2515, 0.3101, 1.5067, -0.1709, -1.1282, 7.0906, 1.7265, -0.0562, -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]: [-0.4679, 1.5723, 0.7498, -0.0731, -0.4122, -0.337, 0.9951, -0.0216, 0.8043, 0.5999, -0.3927, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3692 left_y=-0.1032 left_z=0.0564 left_yaw=0.0507 left_pitch=-0.2303 left_roll=0.1086 left_gripper=0.9951 right_x=0.2932 right_y=0.0002 right_z=0.1726 right_yaw=0.0043 right_pitch=-0.0251 right_roll=0.0023 right_gripper=0.9969\nstate[joint_eff]: [-0.0479, -8.5949, 8.4991, 1.3407, -0.2418, 0.1001, -0.1392, -0.0889, -1.2923, 7.0359, 1.7167, -0.0317, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24a282a0421a8862104ad18e6bdbb7295fd3d9e92c885f0b5e73255a83e366a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2717666201b7f5b9a774858dc4dc69807beb4cd515d7b31ba42422eae5fd198",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a64dc73340fdc877e6b6439a89b0dfa4d9f87ca193c434a09f6ae99927aaf66",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJgLUJuDnDcpWxI9MxrQY_gN3s4I6j_vyCP-xXQePkSrWpHT7okcuwhdwI3BIkOftu9w9zpyDoEjEFKEp3BLYAu5_bPxvlM-EBQ5x3VX1Nf7KU7NBJPkXgjx-bh-JZJiaEsdUSUTO5j04XaVHaAStqkKgrNdUiO3hsoUNV_NrSkZMn6kDsk92sc7d9nq6uE2RlEhn1A6GBUWtyZHjRXiQEGViJniMi4xbKX6_iTPWprggWKGgAxk4IRQ9iyBpbeUeXtj4UE2IeypJB3JqEwIn8ht7ag9pCsgPySJawu3_Tber5LmDWcKnwv1zALx97nfQMQqvbtjXYhAuV6n-GaTWHn0-nsPmNLFh9SsBJYcq04DEO4uJ4QBhWssT3cmsM20nKOoWYA9Pc_ehe43xBq4yhbdcEVylqFNfiKKmadsKT9_C6izMNdJKauh7tf_3uMVJiY0rxfsJIyrqA67fb9XA78_OxzpWMQwPZwQCW5lxVzXFPZ_dtoUJrbRdzCYy1iyG51vj_CkA-kSAql3YVTPt7A_47jzOs9Z4agZv1RHPdHVcJFr1F6-ziNNUUVYzlsyod9fqNqEkhsiGCCHJDvEamGG2t0Kbu1l_fNilOE1HrZ56moCHDlcSnQrCh5BlMJ7-jLQQCej9fdc5XHDCiI3zboNRedm6atFUCKuJEE_8yhh40pjrQmHXDu-i-SOHcsFUx1EDusxxvsIqWWCG-jBoXH9hFKPM-H5J_a7RSqfWSQBGDJ_7L85SpDQOvmC9X-SUjaqlDg-eeGwV6B73hbb1lk2yBq4RjnfpvsUFO8ApQMHeLgTRTrtGGyDWzSLMjA3JOiiYFf0ePWA1vgsKJCsp4lVy3VGip4BnfBU7U-DvzRvWSZTix-bRzbMR7AwkZ9i7vCnXn-KR-IxxppmVBAioQi9_o-u13X3hd5Aw3-6SWCxpAzcOKpjkV6c9xDFbma9hNrW4c9KhBVAsmNmVR0krU--KkyKCadz66oTSRD-xEdXAe5faRyx8dIR4yN_d3GF6snujlGJlfaaAja63oxsCVp1hZP1GAYX6N4dUP0goyUFpIBhzW80Eyh5VOvgRFUYVx4x-pii-695GEoc0mAu1tWhk0uUgqfCop6jfN4XFp6w6q20AiLr63UciqWlEuwe31oLyGHEMaQEysvEqrdSO8s2zSP3mYhlLJ-mAjwJ79Pqhe6RvoDDtpqPus9zpBJAn2VTX38I3RJ3sodJcKXmXoiHkkx-Ljx2_X0UQGxBJaYZ0FtkoU647fHuplkHRxNJCZvhphGt2mh4zzChBkShJW28nhSQT6XC9WNC9VfPKqBb_2BFNxRkaBOO9cgNY8uzhhWI",
  "id": "rs_0bc607ab0d7f7d2f016ab49808cac887d0a719827e7c7801d0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.13,\"left_z\":0.037,\"left_pitch\":0.1},\"note\":\"The bowl’s left rim sits just inside the right finger in the wrist view. I’m shifting the grasp inward and slightly forward so the closing jaws cross the wall rather than slide beside it.\"}",
  "call_id": "call_0qQzsv8sC8UrDR02GJa89SkH",
  "id": "fc_0bc607ab0d7f7d2f016ab49809815487d08606859513060589",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0qQzsv8sC8UrDR02GJa89SkH",
  "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]: [-0.5682, 1.8091, 0.5926, 0.5667, -0.5816, -0.2867, 0.9957, -0.0216, 0.8043, 0.5999, -0.3931, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3888 left_y=-0.1288 left_z=0.028 left_yaw=0.0423 left_pitch=0.0367 left_roll=0.1173 left_gripper=0.9957 right_x=0.2931 right_y=0.0002 right_z=0.1725 right_yaw=0.0043 right_pitch=-0.0255 right_roll=0.0023 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -6.8171, 4.2872, 1.7656, -0.3541, 0.0366, 0.0513, -0.0752, -1.3197, 7.0222, 1.7021, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e5f6d7c5b95ad218fd96f8276047f89f66117f37c46458ee065792ff502e04c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bff56ed779af0f6f5df56be2a17403194841f57cab0a714053400ff213da753e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff1dab98d6b1309a805025cbbb2d539430c09f67a6a055318defc830097a38bf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 43 changed as sent

message 50 changed as sent

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4675, 1.6413, 0.7055, 0.0422, -0.4194, -0.3031, 0.9957, -0.0216, 0.8043, 0.5999, -0.3931, -0.0162, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3708 left_y=-0.1026 left_z=0.0335 left_yaw=0.0379 left_pitch=-0.2283 left_roll=0.137 left_gripper=0.9957 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.004 right_pitch=-0.0255 right_roll=0.0021 right_gripper=0.9969\nstate[joint_eff]: [0.1026, -6.5436, 5.3265, 1.4969, -0.2759, -0.0513, -0.0122, -0.1026, -1.1282, 7.2137, 1.707, -0.0171, -0.0073, -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]: [-0.4679, 1.5723, 0.7498, -0.0731, -0.4122, -0.337, 0.9951, -0.0216, 0.8043, 0.5999, -0.3927, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3692 left_y=-0.1032 left_z=0.0564 left_yaw=0.0507 left_pitch=-0.2303 left_roll=0.1086 left_gripper=0.9951 right_x=0.2932 right_y=0.0002 right_z=0.1726 right_yaw=0.0043 right_pitch=-0.0251 right_roll=0.0023 right_gripper=0.9969\nstate[joint_eff]: [-0.0479, -8.5949, 8.4991, 1.3407, -0.2418, 0.1001, -0.1392, -0.0889, -1.2923, 7.0359, 1.7167, -0.0317, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5682, 1.8091, 0.5926, 0.5667, -0.5816, -0.2867, 0.9957, -0.0216, 0.8043, 0.5999, -0.3931, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3888 left_y=-0.1288 left_z=0.028 left_yaw=0.0423 left_pitch=0.0367 left_roll=0.1173 left_gripper=0.9957 right_x=0.2931 right_y=0.0002 right_z=0.1725 right_yaw=0.0043 right_pitch=-0.0255 right_roll=0.0023 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -6.8171, 4.2872, 1.7656, -0.3541, 0.0366, 0.0513, -0.0752, -1.3197, 7.0222, 1.7021, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e5f6d7c5b95ad218fd96f8276047f89f66117f37c46458ee065792ff502e04c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bff56ed779af0f6f5df56be2a17403194841f57cab0a714053400ff213da753e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff1dab98d6b1309a805025cbbb2d539430c09f67a6a055318defc830097a38bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open jaws now reach farther across the outer wall, with the neighboring bowl clear. I’ll close on this adjusted rim position.\"}",
  "call_id": "call_xuoDo8eYUvXjIYZjkGriK8Mm",
  "id": "fc_0bc607ab0d7f7d2f016ab4980dd1ec87d0be93119b4228269d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xuoDo8eYUvXjIYZjkGriK8Mm",
  "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]: [-0.5694, 1.8122, 0.5869, 0.5907, -0.5926, -0.2886, 0.5058, -0.0219, 0.8043, 0.5999, -0.3931, -0.0162, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3896 left_y=-0.128 left_z=0.0299 left_yaw=0.0512 left_pitch=0.0532 left_roll=0.1122 left_gripper=0.5058 right_x=0.2931 right_y=0.0 right_z=0.1725 right_yaw=0.0036 right_pitch=-0.0255 right_roll=0.0021 right_gripper=0.9969\nstate[joint_eff]: [0.0342, -7.5419, 5.1761, 1.3309, -0.1636, -0.0024, 0.9206, -0.0068, -1.1966, 7.0769, 1.7216, -0.0122, 0.0269, -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,$blob:335f84bcdaaf2db1b9f1d90fc59c20ae67c617af9516902d8099452fce8b1257",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6d75fe6c2d1df53f61eadc87a90c4b7995a432fbe74520b5d185f6c35539a8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03986d884d4383a69c6d8734f8be37dfb7e60b97a00148e4681057d7b11fb17c",
      "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]: [-0.4679, 1.6363, 0.7017, 0.0826, -0.4122, -0.3264, 0.023, -0.0219, 0.8043, 0.5999, -0.3927, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3762 left_y=-0.1068 left_z=0.0396 left_yaw=0.0403 left_pitch=-0.193 left_roll=0.0945 left_gripper=0.023 right_x=0.2932 right_y=0.0001 right_z=0.1726 right_yaw=0.0039 right_pitch=-0.0251 right_roll=0.0023 right_gripper=0.9969\nstate[joint_eff]: [-0.212, -5.7778, 5.8598, 0.6276, -0.2515, 0.3101, 1.5067, -0.1709, -1.1282, 7.0906, 1.7265, -0.0562, -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]: [-0.5682, 1.8091, 0.5926, 0.5667, -0.5816, -0.2867, 0.9957, -0.0216, 0.8043, 0.5999, -0.3931, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3888 left_y=-0.1288 left_z=0.028 left_yaw=0.0423 left_pitch=0.0367 left_roll=0.1173 left_gripper=0.9957 right_x=0.2931 right_y=0.0002 right_z=0.1725 right_yaw=0.0043 right_pitch=-0.0255 right_roll=0.0023 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -6.8171, 4.2872, 1.7656, -0.3541, 0.0366, 0.0513, -0.0752, -1.3197, 7.0222, 1.7021, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5694, 1.8122, 0.5869, 0.5907, -0.5926, -0.2886, 0.5058, -0.0219, 0.8043, 0.5999, -0.3931, -0.0162, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3896 left_y=-0.128 left_z=0.0299 left_yaw=0.0512 left_pitch=0.0532 left_roll=0.1122 left_gripper=0.5058 right_x=0.2931 right_y=0.0 right_z=0.1725 right_yaw=0.0036 right_pitch=-0.0255 right_roll=0.0021 right_gripper=0.9969\nstate[joint_eff]: [0.0342, -7.5419, 5.1761, 1.3309, -0.1636, -0.0024, 0.9206, -0.0068, -1.1966, 7.0769, 1.7216, -0.0122, 0.0269, -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,$blob:335f84bcdaaf2db1b9f1d90fc59c20ae67c617af9516902d8099452fce8b1257",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6d75fe6c2d1df53f61eadc87a90c4b7995a432fbe74520b5d185f6c35539a8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03986d884d4383a69c6d8734f8be37dfb7e60b97a00148e4681057d7b11fb17c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJgSi3zmgARts9cNizzVjHAuqd_NB4RCnMXh_b-upae6bgIBkyZ-rM5huSQlmtBwATuEj0x9mZGZqtunkmOrfHv2lzzp9SLmwyfDJm68CpqbZ_kp5N04POheknw9XIwpygVmR3fekKJhHdJ6fKgxIrTjreDR-nftvqpVCgB0lZKhecT4yRS3Zq4lp6DFtyU2qqK2zAleS8J4ZawflKp-nChSlL-S5Pb8FGSK3G6Rf1nhw6H40MJBlRUA7Z-a_CxD9J-3y-S7JnO0v8zm6XEBkjHiqv3oNQOspKWEd8ZNRXqjwELeJnxVCF1QJ1iPcPHQyThHTBsEq4WCoDxTqbSAmddToA72tRfnWN5UTCpRojqrM5dMAjjY04dvmTqXXHtpKYfI7EKYPhUHwX0GvYxeoms6Q9leklNJrKbezw4vSmpjJHoKTziqtfiCjxp13rD3a6IsOUj9arMvcuUu4B79B_4LmSXRUH5M3Z_avoL4BvQpYstyg-QHiObfa2itlniLYvlw_idnT4FXItc5pjuLMWfwfkAoZjVdi-aiav24xK7xRIKD9qB1y6P5O79dCgYI4srja9sfu1NSgneO8gQs0Igiqwtey5b1e-tgPXfMdgbcPgNlpcyhHaBDoBxW9whxFtDzjURJ3gI_3bKwcZKo__CYQN-9SAFOZFgWMTThzvC7HOP-1J_xeIO23kJNG4A-ov2WSq0nqR8xBmXD23QPADrSLTPjUQiPc7HX0OvrLlpvybIGfw8uUoJ3mssYy2WiWki8jCZta01L37Jm2rXi2Z-08qdeyOmKrzWfIyVvhmgeKLhhYcOQEDUckxwQfffyv6o92m1V1qqPSFH5FGmtoAGdDArK0prZ0-Q9siRI5RGg2bIKwm_OoXtPVAYyFS73HAH4c9yPRNnh1EAnJzv0DdkvYimJoD3KfcCkoSXdrMf4GTxHi--GpanZL8Rb8G_1-2RqiAJDiMUPTDJN5Oz1gsPFpxox5nGjq7xAzLigx3q11Mq39AxM9bXEnLHuM6EsPyUu8EixA1Stf3VHVrftv0ml6BFjeaB6Dxr_S2j7S3S4Pt0hFwAQ8RSNaoR3kXBY4IYkIrWxPLywmO4t2Duuqn4zS44oZGRA8R63XbqzgdLNgUqraW9frVpw_SCRchWzh6f6OZrqwq7zh3v6-LzqgsKndyUVP0yVp39nPnh8AQSn762KVKWn2kpG6Vsetk-feFs6RopuJ-v_mmngSHADdWD1zTCVwxvoTGft8_HRh38ZULJb5MAqlDNJ57_DQuOhSyty",
  "id": "rs_0bc607ab0d7f7d2f016ab49810f77087d081399d6389678fcd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The jaws stopped well apart against the bowl wall, unlike the empty attempt. I’ll lift a few centimeters and check that only the left bowl moves.\"}",
  "call_id": "call_LofmNHIcTc1IhvuIJbk3Z59r",
  "id": "fc_0bc607ab0d7f7d2f016ab49811509c87d081fc6fb2cc3cfcd3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LofmNHIcTc1IhvuIJbk3Z59r",
  "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]: [-0.5694, 1.6291, 0.6365, 0.3676, -0.5949, -0.3027, 0.3945, -0.0219, 0.8051, 0.5999, -0.3927, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3881 left_y=-0.1266 left_z=0.0767 left_yaw=0.0609 left_pitch=0.0626 left_roll=0.0954 left_gripper=0.3945 right_x=0.2932 right_y=0.0001 right_z=0.1724 right_yaw=0.0042 right_pitch=-0.0259 right_roll=0.002 right_gripper=0.9969\nstate[joint_eff]: [-0.0342, -7.4872, 8.335, 1.5165, -0.1734, 0.1148, 0.0024, -0.1846, -1.3333, 7.0906, 1.7265, -0.0513, -0.0708, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9914d65244fdbcd8617729ba7e71dcc5661f5b84527426be242dd1bec5cb8398",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9c631e25e08408e5432d54b755a38ae5e9d77f34643947fd9695e9cdffb9668",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2d6dece79f3680c5f4ae8c6fad04657c609343bc4ef59ca9f36bd0948dba19e",
      "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]: [-0.4679, 1.5723, 0.7498, -0.0731, -0.4122, -0.337, 0.9951, -0.0216, 0.8043, 0.5999, -0.3927, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3692 left_y=-0.1032 left_z=0.0564 left_yaw=0.0507 left_pitch=-0.2303 left_roll=0.1086 left_gripper=0.9951 right_x=0.2932 right_y=0.0002 right_z=0.1726 right_yaw=0.0043 right_pitch=-0.0251 right_roll=0.0023 right_gripper=0.9969\nstate[joint_eff]: [-0.0479, -8.5949, 8.4991, 1.3407, -0.2418, 0.1001, -0.1392, -0.0889, -1.2923, 7.0359, 1.7167, -0.0317, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5694, 1.8122, 0.5869, 0.5907, -0.5926, -0.2886, 0.5058, -0.0219, 0.8043, 0.5999, -0.3931, -0.0162, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3896 left_y=-0.128 left_z=0.0299 left_yaw=0.0512 left_pitch=0.0532 left_roll=0.1122 left_gripper=0.5058 right_x=0.2931 right_y=0.0 right_z=0.1725 right_yaw=0.0036 right_pitch=-0.0255 right_roll=0.0021 right_gripper=0.9969\nstate[joint_eff]: [0.0342, -7.5419, 5.1761, 1.3309, -0.1636, -0.0024, 0.9206, -0.0068, -1.1966, 7.0769, 1.7216, -0.0122, 0.0269, -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]: [-0.5694, 1.6291, 0.6365, 0.3676, -0.5949, -0.3027, 0.3945, -0.0219, 0.8051, 0.5999, -0.3927, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3881 left_y=-0.1266 left_z=0.0767 left_yaw=0.0609 left_pitch=0.0626 left_roll=0.0954 left_gripper=0.3945 right_x=0.2932 right_y=0.0001 right_z=0.1724 right_yaw=0.0042 right_pitch=-0.0259 right_roll=0.002 right_gripper=0.9969\nstate[joint_eff]: [-0.0342, -7.4872, 8.335, 1.5165, -0.1734, 0.1148, 0.0024, -0.1846, -1.3333, 7.0906, 1.7265, -0.0513, -0.0708, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9914d65244fdbcd8617729ba7e71dcc5661f5b84527426be242dd1bec5cb8398",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9c631e25e08408e5432d54b755a38ae5e9d77f34643947fd9695e9cdffb9668",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2d6dece79f3680c5f4ae8c6fad04657c609343bc4ef59ca9f36bd0948dba19e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJgY8zDaMwHUZlg0xzSgBH3S-HVWUJbB4-6LDXMqng0MfStkTWHz-v8GQ-aQoRr4e88hK-iyo2KdZO1m4cnBcIVWja4E1r5Q1zTnejo7vGQ6V9bkuPWvPfqvzyfRgYcEJpx5DAolRLFWvZQGZw9zehG829TPFpq3TXmQiH4Tqv560fYfGOM_KklTS_deEY9cJqNAmEdcvauVJ87GgnlL2KVSOZ0fsACUbaNlS_2-6rZblfklFjO2koaw7Hql4lT6AyManr8FQhP-_QN4PqxJM8GUbd6VknldItKZy6sH0axxtrj9vgtANliSOfyrUo1oXkY3u7eDWlKau0BgID3LzMbdDN1P6otyAj7EHyOJBxMK5Mi2sNEerfK4r56FBgE8CBi9GlvZdhro-DjKgNW6q7sibqeAgpKciMNBePIq-S4J7-ZjDDsk0V3kJnikSK2TaZO5OglpH9ab7RWBy19LNHzCWK_Ib9LsMaLIe_UAj-7owkVOHgY_2jTP8CzdRM8oyq2N8Sf4b4GOkZF77jAhGLAkwG1m0JWU6v7KH49tP4WrDhNfcay4DHrRx5Co2Cr7-dPZQFo---6fAEZoSYQ-4cujiLj_zVFHxCVcAxQCQhXKbBtW_SsDXltxSqss5f_MBXcSuUib2QUorBHOUw0Opx2n742Yn-yukE7DWdKJyIaH6eBX8_9jMvqtcSyRCQcWDQn-HRRgMyDCJ6iXvxvyat0mN8F9SpwNtrs6eWI0tMtB2a-fSXN6jneEBrr1NzmwKkMOmn8f6VrvSl1zjDTcZ73ZBNahh7Kr4PZofWUZmBASFguiU9o7Qj101ZwymG6jLQBPoRf5JTwkWmpKL7mvXcnooAgv618BFULv5VAWt5_5HakbjR3MRgGEbl6Ptz2V1bOlnkQSXFF6nCanERBz4ZgucUoiQozWjxL134siU1nziPlw9tKA_AVUFECSLYjgZ_XrBk9Msy8btHY_cQw4m1IviPBFxUW8YQB7-qGFvyXEdUTaieU-Z6mWXMvVepoGl05y8RvOcDdU3kOmc85F-oY1v3ALC3unMZLMZtUTX9hzG6umUIC1CrxnrumCmUENDIZp6nwvZxEe9A1p8uGMv8hLAo7rSTz8Y8HsncX8vm-BDvlSkrt4AnwuZbdfnktIM2JsamiK0sv10et1pTeLt_h8CP-yM27D-AUJx8E6TkpZb7LZ-UtPQSlkK7R1t0o_MmevhpLv_25tafNWuKG-mw3CCDLw8PLw7jHWq1CzIFpLZKw0AWWg045LYBo5VuQDp84H9bKBrggjGK1KAnQjJM98TWmvM4tjev8iK8n_7NiImXB3FUCwHGBAI7QPrNjhEpKhMH2DHNtB9FE8bJV2NVNJ8n3ASy1gKm4TsEX5yotRDn0ZqMD-_TB-_mcUrFaOC7diDlGQNuQpFluDGKoLCQNlzSFAkyxGszbSkf5MKZMvEhAN3rtAjZZBc0_sQIJ_IiEFCJvniaw44oH1v-LAHfbs6SFWFA5_FCOdCCNWf-FCwdgysVoQFAU2fYeiLRQ8f7TvnFCM1G2DmOYVCfi3wbbD7xzQX9t-77tP4CYvv7lREKZueXHVI0ettrJbv-3-vLz3JlRGwXdqSgmx7ow_cUNqMGx9Ps0Z5t09m0amrCgf4KW_NLHzqBZiNYyMb4NdHOfacd0TjYntDO3PbY1H6U1ft-W--YLg5dVBLnWF39bwGWCkF4mqDYamM8tOcHIDbjn8riUyOYQyT-nEPHGwIpS9tKU1anPqz2TZWPaNT3eY7H-efvn2DC5ZAMkHKL7r3b7Se8tifPagKAsHM8NrDiVjM5aOL-3_o1OzOlyHqOB5TXabHVRctCwnKmRt0kd3fn7uatpsdmCguBj2fDXZsnFfoVzxu6A44MfvKKJuyBawjQIqZ1aFylTO8D5i1X4aLLzg86px2bmxbtOl8HhWepVIS_lI-c92oez0FaWmKr7PDyY8LqIDTIjlVWGvIBdpVnMjgJFWfGyPd4qcbVP-4mp3TayjHVzNr3ACaUxGbukh26fJAoa_7ttP_oqCwYUqX20lMQ97R3aOLcXPwxgAhQ0RLoMTwlNIX9Sn7sojy_RHqH4=",
  "id": "rs_0bc607ab0d7f7d2f016ab49814fc6c87d098030e5d9c6afd8e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"Only the left bowl rose; the middle bowl remains on the table. I’ll raise the held bowl to transport height before moving it over the middle bowl.\"}",
  "call_id": "call_Ud0aGslSguidJAW7wHxjAY87",
  "id": "fc_0bc607ab0d7f7d2f016ab49817da5487d092a7c3b3781c0806",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ud0aGslSguidJAW7wHxjAY87",
  "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]: [-0.5694, 1.4216, 0.8867, -0.0986, -0.5964, -0.3115, 0.3952, -0.0216, 0.8051, 0.5999, -0.3931, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3894 left_y=-0.1272 left_z=0.172 left_yaw=0.0665 left_pitch=0.0568 left_roll=0.0935 left_gripper=0.3952 right_x=0.2932 right_y=0.0001 right_z=0.1723 right_yaw=0.0042 right_pitch=-0.0263 right_roll=0.0018 right_gripper=0.9969\nstate[joint_eff]: [-0.0479, -7.9658, 9.3607, 1.5458, -0.2173, 0.0269, 0.0611, -0.1162, -1.2786, 7.0359, 1.7167, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcb7cd667479c0f54779f69aabf4a950db407ec3a5d95f76f45865cc8ada6138",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05b45fe82b214fc85907ea4b9871a905d6ed4991e33d5633effbd08b7e22d0f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:890ef1f8154c7d4d817f2e3131ff4413d02fb3fba783896fe2d50f6f1e4e2791",
      "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]: [-0.5682, 1.8091, 0.5926, 0.5667, -0.5816, -0.2867, 0.9957, -0.0216, 0.8043, 0.5999, -0.3931, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3888 left_y=-0.1288 left_z=0.028 left_yaw=0.0423 left_pitch=0.0367 left_roll=0.1173 left_gripper=0.9957 right_x=0.2931 right_y=0.0002 right_z=0.1725 right_yaw=0.0043 right_pitch=-0.0255 right_roll=0.0023 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -6.8171, 4.2872, 1.7656, -0.3541, 0.0366, 0.0513, -0.0752, -1.3197, 7.0222, 1.7021, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5694, 1.6291, 0.6365, 0.3676, -0.5949, -0.3027, 0.3945, -0.0219, 0.8051, 0.5999, -0.3927, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3881 left_y=-0.1266 left_z=0.0767 left_yaw=0.0609 left_pitch=0.0626 left_roll=0.0954 left_gripper=0.3945 right_x=0.2932 right_y=0.0001 right_z=0.1724 right_yaw=0.0042 right_pitch=-0.0259 right_roll=0.002 right_gripper=0.9969\nstate[joint_eff]: [-0.0342, -7.4872, 8.335, 1.5165, -0.1734, 0.1148, 0.0024, -0.1846, -1.3333, 7.0906, 1.7265, -0.0513, -0.0708, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.5694, 1.4216, 0.8867, -0.0986, -0.5964, -0.3115, 0.3952, -0.0216, 0.8051, 0.5999, -0.3931, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3894 left_y=-0.1272 left_z=0.172 left_yaw=0.0665 left_pitch=0.0568 left_roll=0.0935 left_gripper=0.3952 right_x=0.2932 right_y=0.0001 right_z=0.1723 right_yaw=0.0042 right_pitch=-0.0263 right_roll=0.0018 right_gripper=0.9969\nstate[joint_eff]: [-0.0479, -7.9658, 9.3607, 1.5458, -0.2173, 0.0269, 0.0611, -0.1162, -1.2786, 7.0359, 1.7167, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcb7cd667479c0f54779f69aabf4a950db407ec3a5d95f76f45865cc8ada6138",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05b45fe82b214fc85907ea4b9871a905d6ed4991e33d5633effbd08b7e22d0f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:890ef1f8154c7d4d817f2e3131ff4413d02fb3fba783896fe2d50f6f1e4e2791",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJghHE1kC0g3zz7X5xxoca8ZKUtFN6D2bgBMeEql7Z2xkuZghPCZ_D197SfxxzUB2wvSr_mB0DYdskhvFzuTCcoyGrZ1WQWrOQsKsi7VFRe7p5klexZqwj-I4mPEgRf7w33jYx1mtyg76vfIfFsN-R4_r6gVKmAl_mt01bJoH0vvGyDUEsC3-dIwiGnAEnlPofFUZMR8Ec9v6Z2litoOpIHebzbNQEohEakzlyog9GUxLFPwqd3hFWuisWkewzb2EccwVZG3xnyGR4aGnsKPgXvZS1DoUwIHW7cM0xR7CmofYY9jeyrCqWcz5heK80aNN4KqtnoRXFk5UaLCyUUA9hHKo7WQ964tT-7lz8-ouzszDn9TLyYEStWrrk9JBbXQkt_vJ1MU3nlKK5twyadv9KFHBfrLSn_viOnrdYUyFsVpauAQl8vUeJBsZ5RAsaT5y7H0Fg5zmxdjGhTeg_U94vAgDXEXay0qyTnOEyOAasfAPgi9PwMRlUDFJ2tq7A3su4dIejXEiX4IvApEQkct3c8D1XcM4wrbL4kUPaikT94H7NZPc52mCieZsZWa4NbEuH4JectKzTVGm-WwPVjOX5I2jTuu1e6_CbA1FO6nYgaj2gM3OI6whKvDzjzXVolbduZdlalfOsJwQIDyIfGXugy-Wcu-wS9gl2jYhkMotEENBzYC7EG00CI4zPaUBlHDINdEMd3GRnuHm3SRgXyMNzVYEGu_kEDFQHtOIHvIfSO0myZ9keFGrdJxO3XjvBhLhx0XVD7xlZaXHoV76N2Lod8E8aZF6Caj7KyL4gLV5ugm59gBH-yji7Vb4DckI51NT2fXoe2nP6jFOe6tGZdTh7WTg2MgBU93ceUoSvL8ZNTFv1-qfhVEXtcOy11qIDZHLygwrsKX8LBIoe5UL8Lw1aifzFgxiuyNaus0udTom1brnNEt1bes8D4pcHNomnYYxNM6-mpD6YGJ8mP55S-T3W4if5ZL_OjumjCeCwgcaDj6eHdH89iOLxshMEapKT70cMbWQXDuqKl4AghjcTkctSbOZZ36sgrNyO2ZBFwQd3S92-VsU9CyLyOA1fG79fDjpMSe-1ZXTwuG0afl5CoILdeMDYkzIpnAHjqyKirIg0cEswCVH045cDp-kqoIEePmYCjjizUzLOdfDlfT79qdF9mhQlzvX4t7cUC0Rp6eUL_0y2eqDDWpLxfWU1t1QnHcU3DsTC5VG65jgJ46SygRwAS5xAaq0oEzFGhmjh2Ub1M-aGE5XnQFLfWU4yjiTkDnt_7qEnDSr_7noStOAoidFJBRpV2Ktw-Oetw2l-zbjjpRRGxRqgaY1bjMJsdVTK2bYwMHCECcuC4AF039CLmaSu0WabevD2kqvQfdx4HTZJDf5hCq7x9wDIVH74HTlflZyJhCwmvdn9LHhsGamnmlks2B9yZ6sLT4HCoBpOvIzH3feGj1VVZVLvJKLiPB19uU_rQulunUMsCYeodDrUK61xfPIctxh3Pdt8UookeE7A5p7QRjt8yWyQNgQ9gX7nELBphygemMTlldRp6JFf7yGYVfHqJSJIuHjtM4hyl7D6rcurqWEmYr38n_dgaZTGOrocE6hZaUwXBskZt-U1K8iuVE7ujGZMSJ3xblcvJ4FRR2KjQb_uZJqlQwwlv7hI571i7E5mbDyj1K5PmROe1xGlnB8f34OlOzkAgHx4nRKPoYTG-v4VBhAZTT2qhgqw-00YLKb9_itEAn7q8m3Yx4nkczh65HqhsoN9DpzHIzDvlxGlIbuANlvuonCtvVFww0FtZbNURlN5GSa05CHAVj6a0NACfSuHMiblpUjvFrxw1JSAm9ilvVrge3d1r24gFsMMhteOijC65uPklo57xecvQMrGCi8vzf4FpPAaGUvN5ukV8dRKKhKrz9DmoXD7lGbl959Nr8MRpg17uomEHIvyZaIY9tGX891XWdIDeLNm69LdLI5qq5xwCVeEXGSjccoxBDpDHEQhEsdJdS07EdAwlOcVasLk-RCpuabZaJbCMAZRUfaZcNkftaETkW5-OGZP9kYukR3o50glYal7tGSeyK35GKI3Ud8zABueHAXcfR-ETjkq-lcJyLByVP8aJoFEdvNxT-MEa6GdoflPBQ0N5f6ld1QB1Gk-cKS05fHpYpBELlpmQ0JQO1hlzSSKxdk-J-RSdP8D_rp6Rdx7F5i6HezrO0Y9qEL6l6fxrxJyk0acWTzWyI-oZyAaNZ3gjk32_SWlEdPIkqyziYwbfMHMq1YjF3ANvvJ4KwTv1SZzoOYhkiXbwDTkN0opsLvQ15pqUTp_uqjTCd7puaiM-0DoHS64LTTSNVd3FSe0YYVXNcGxV0Lq71m8iN2YcNH2B-A561_3IKXlKvlHFsBOTLDr3vv5-fx-QD-DFj8dasVGBuFXjjUVFI7bNsRDbs2F-sB0uH9D5D_ufmG-FU1elzVw3zp1LsbQp5xF8GryTjejBhnvsqNrLuwTcCene41nFQivcGeraPHYtuHlFribOiBkawcBVaTz_2YyiY2-94PM0idhCJ97MUI1lYqSgo3jYvVIqiV1mRNwYSGvGbpYTPJcOyIGJg5UWvARMHxc88XLyJWRtKL7-b6ywGUl0urW78zIj7Qtj12CftZ5Ku2spxGtu9xMSBYfUYVHU5ThhwoOsd6_QQB13ZQQkqRRCmBcfUU3e5ArJRKRgFBXE5whlw61dixjdwuiHJXsrzUeUgjeKpFXAcyexHKDvKug2bZAmH3qRZBA98sKjZ6DHs5vR0aV45_U4eMztedUm4h0Aj-WWRxkLhJVIVc-IykIyIyVbvnBax_pkAns24uY43KWqXjECcyQE_HgfU2_FlefiRClALQ59I17Gf6NHxsc2XRlzYLb4pmVENoG7lleHEhi-Z_rYCMPAbwKek9Pg7c3qwETL6cms=",
  "id": "rs_0bc607ab0d7f7d2f016ab4981ab05887d08b9bd2b42001d261",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.24,\"left_z\":0.19,\"left_gripper\":0},\"note\":\"The bowl’s appearance changed during the lift, so I’m not yet certain the grip is secure. I’ll maintain closing pressure while moving toward the middle bowl, then check the overhead view for separation from its original position.\"}",
  "call_id": "call_yXRQMZqKDzRsxg4pDKtefR2H",
  "id": "fc_0bc607ab0d7f7d2f016ab4981fdbd487d0a2a9c3674a27061e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yXRQMZqKDzRsxg4pDKtefR2H",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8211, 1.7046, 1.2388, -0.3267, -0.7654, -0.5228, 0.0076, -0.0216, 0.8051, 0.5999, -0.3935, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3919 left_y=-0.236 left_z=0.1767 left_yaw=0.0492 left_pitch=0.0288 left_roll=0.1003 left_gripper=0.0076 right_x=0.2931 right_y=0.0002 right_z=0.1723 right_yaw=0.0045 right_pitch=-0.0266 right_roll=0.002 right_gripper=0.9969\nstate[joint_eff]: [-0.3897, -8.3624, 9.4291, 1.2723, -0.6032, 0.105, 0.7399, -0.1436, -1.2513, 7.2137, 1.6777, -0.0708, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d3367e3300b2128b543034e2353a2e626bf42ac18b288064400a472b5ecb8b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59c23e1da068571f69708069210b7e9fb115c7fb75236e321464e11738e12fcc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d555984ce885f2a454ff3b4ca320c8afc7bb36f3485df30f9f56eba1f593811d",
      "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]: [-0.5694, 1.8122, 0.5869, 0.5907, -0.5926, -0.2886, 0.5058, -0.0219, 0.8043, 0.5999, -0.3931, -0.0162, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3896 left_y=-0.128 left_z=0.0299 left_yaw=0.0512 left_pitch=0.0532 left_roll=0.1122 left_gripper=0.5058 right_x=0.2931 right_y=0.0 right_z=0.1725 right_yaw=0.0036 right_pitch=-0.0255 right_roll=0.0021 right_gripper=0.9969\nstate[joint_eff]: [0.0342, -7.5419, 5.1761, 1.3309, -0.1636, -0.0024, 0.9206, -0.0068, -1.1966, 7.0769, 1.7216, -0.0122, 0.0269, -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]: [-0.5694, 1.4216, 0.8867, -0.0986, -0.5964, -0.3115, 0.3952, -0.0216, 0.8051, 0.5999, -0.3931, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3894 left_y=-0.1272 left_z=0.172 left_yaw=0.0665 left_pitch=0.0568 left_roll=0.0935 left_gripper=0.3952 right_x=0.2932 right_y=0.0001 right_z=0.1723 right_yaw=0.0042 right_pitch=-0.0263 right_roll=0.0018 right_gripper=0.9969\nstate[joint_eff]: [-0.0479, -7.9658, 9.3607, 1.5458, -0.2173, 0.0269, 0.0611, -0.1162, -1.2786, 7.0359, 1.7167, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8211, 1.7046, 1.2388, -0.3267, -0.7654, -0.5228, 0.0076, -0.0216, 0.8051, 0.5999, -0.3935, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3919 left_y=-0.236 left_z=0.1767 left_yaw=0.0492 left_pitch=0.0288 left_roll=0.1003 left_gripper=0.0076 right_x=0.2931 right_y=0.0002 right_z=0.1723 right_yaw=0.0045 right_pitch=-0.0266 right_roll=0.002 right_gripper=0.9969\nstate[joint_eff]: [-0.3897, -8.3624, 9.4291, 1.2723, -0.6032, 0.105, 0.7399, -0.1436, -1.2513, 7.2137, 1.6777, -0.0708, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d3367e3300b2128b543034e2353a2e626bf42ac18b288064400a472b5ecb8b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59c23e1da068571f69708069210b7e9fb115c7fb75236e321464e11738e12fcc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d555984ce885f2a454ff3b4ca320c8afc7bb36f3485df30f9f56eba1f593811d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJgqLKbzcWDBTTkDR9YiPlWDjLxBO-a_MkqzdP61XIYPhgDigTKc9oUgeM9AeNVxhGHJSqqWOyIpMugUGNOpg0ED59aeNEnhiQcVBY0OPlfCUHUZOBZNG84VGx_3ZClExPmEKxjhh282FMZ2X5fsvU16k4Prnw9NLf3e2NzDj-gOVX0B-s6INAPZCn76e23WqFhRA1-tbr50Ff6dIZqNWegrmcKwGhv7QHidB8aZjdcw3FT3CzTgNkHAyks-IospZ1YBxc0se-psX_DP2x9NdbI9HH7t1VVvgwAhAnNefmWZxxNLexnLHZTkkCfYhhHxLNvgOI_baBHoc5u9rmQZuTY-uHLwuJy2nHkJfHePD48Ee1-oCgICN03IzOL3RnGFOPRs7OXPe-gaxLLgJ4kZQCSXboV7qZ2_ueMP5fI5aHOtF9oxlb_cMQi40W-FrfPCUl3cU-UzsY_p5RmpWLVmNOmJmoEHmiTWqrvPsbbvFDphLDu2K1Y6CMXJwZILRRv8KSIk2x8nv23k34FGRwpc1bkja3x2t5eizTFLuf6qWclKjy60A7XAwqZg-86_pSBHin78zdYycoFNIbZLhDK4VDmnEXwksTuW0BNPrQ3mpFlKnJ-FWLp_Z6rVgULXiqH_2EVAF_IGJ7tQB0ozgsSuacBdo8PToNwUINnez7s8gtf5Y7Qp36OMlPi7hbBUg5BDV8p_CXrz-BeT1GE6mJgq9qI4r147SSEixSPk4ULoUFtwEjLdNS4sf7yji1Zxjo8Eqid9aVOORGjPX5vRK6EHii2elO8GwwUHxFqavk-082VDy_lIdEYW6iRIQrYghvraX6eO-l8j3AAhgkK62ji6xLyEEWyOFuPFM3iEzOf-o7ixzx_jbYmpSdSCKvAe01El4sSPRxr-Ges7z71S2MdV5qIL0h_ujy0alXb9JXlu7IqE3o_36r7Q2CuA4sD7aTrXPkklRZYe6e04RYayV-knycdIJKa4KOtnUy3taog-PXQjZ77XtTDsTmxnFA0X_8u0y_8NJQ_S4rfkUiFEjAVUy4tZC81_1CmRVlW7ZEtyXhbky56DV0Z54P0L6ZAvWoMdkEhgfgMB1KpcE-tEwUZGbk_lisKj-bswg1TPJWTy-nI6z52ti-vq5vgMj1ZKl80AXg3Sk-KIX2vpvvRWDaPltXvW_1TzbtkVpU1Gk3BDs90YfTsB4B7rULEmdHf_eX5zHqyAkBn4wWM76qUQ2OY7CQn3olhg2JcNu94QjRgvNaAFhuFkeYhg360s-rMp0D76aYO3NDQ60sHS8bzpRFaCXnscDthL5jchEO1Da6k-gO3PDTsHo2KAu_rOW2lXqH8s0FCNTNlpZTWUETIidyPY6fGsGfUa5ZP3xARizP-r5CMaDABtzaqITgZeskSwtmN6ajPolOm_z0eMT604B8Ja6hnBTvUFgy12SzeXCgeQtNIY_PyqIuI8MB9gPOGuXDn1hg4CD1F6L_cVStD-C2rN8t6DUMlGUKwv37OCYKXaQG9NGZUmtG4y72_R6rk_9VknEGB-5rrhTJVmXLaqePeYocYqkti574xV4GRX36NAgM-OC0hvLAl1TWgxNgUdz988VrOqNvOg3sIT2u6fGDLA3oR9zE014J5MlWX9jg1dkJhW3cv6-E5abhtIc9Jydw7D00O1SZzdHRxFDAupKzZjI-B4ldBZ12ZIyOUIfP9fybQkInoJE1sp4Camszd9WFu0fB8ZNnP8lIUbSnXfa2pNNezCaG9kAtqI5rE8b8VoYbA-Jufh2ubxlNPi5o6H_7bUBAgZJrgkSg-QFmGgkGNiE_64d9ze_pFfD0mReM3tJ8qRKy1Xqs24FE6rRL6ecFjrSYtCz0ZgX704rohFgtGbkTbwt5ML9C3agD12pP_9D2tuzCh0740qeOV8fv2Qh2DtgQhQoFNMAgMZwUxGBWew1F-cjkpKKqUkoHqqtSOUQBcJeQC0AIGXmS3N6fP45blf_rXW75VGMlL4Pe_yfEQTPHG37PRaITKI81_XNPUdbNISD7_f_fBOD_d44lWNUNxZv669_ba8oJZ2JueppAscPu6J8mVbknJRmQ--JdtdetN2K50Oue0KW4oInLZlKYUnJoCnz8shs2dQ3Z_Mx2sTNMPvzTwpXx8y4qSzohbqch2pnh5BAPmAp6R9H9t5ES13s990CS9MKmIn311CINB_ISee0Dw5uXOmsCzN0fcYCbcBCHeBSzdDUF4vi8aFIDPzPMNl3oJxTW0lmnPILEZOBI73XQf1QmWE-HVun3hRzpeP5bc1a2R_A9qeTS6EP5zE5xeqDejsUWIfVtqrZEnmKdxFV47Be0URCMDHbjZ4in-gcE6PsU5oqt2jCnnRnisLBVCA22hW7R3WpdsJfXl7HFfekyTkBgOWC3LbLeJA5a2LPZYsxfmE1rduvefLUdLzHPgqzKqbAeCkI4d2Fa7TC7HmnLn1mmHmjEJ9nQT-v5Gt95xQ3qEW8ckfhfPvIXJ8LT8lg-3Sd3AC2fmaFmedELcF4w5D85AONAAa8wi3U2P9ZWC_qU7ps7aHDqDA3AekQywcP-ciA5XeCSfLumtJ3blJN4UrM5Pe8Fbm9smDP4gA_n6lPZDOHgLUDdz-t4uB1-eaai9hEO9fZjjkWkpG6QydZ8RTbq-szy08wSyKxHJJh8KWUpMzQYXk0NtFCKOiz-NDatFDbT4QXE2-j8HGwY5hThJrw8dJlDCVXZX5nCvQxrptVhFBzqRfXE1yXUhZaLOCl9364PzPc1XM3a50lXHpWlFkw60p8rfmOJKI1CGIP_aZMikc6gV6UbeoNC6E0vJE",
  "id": "rs_0bc607ab0d7f7d2f016ab49824591887d0a6eefaeaded8c0d1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.125,\"left_z\":0.13,\"left_gripper\":1},\"note\":\"The gripper is empty and the left bowl stayed on the table, so the previous grip slipped. I’ll retry higher on its outer rim and keep the close command active during the lift.\"}",
  "call_id": "call_ZGuSYCjgfKqZ98lIsKr4mi5d",
  "id": "fc_0bc607ab0d7f7d2f016ab49829a75c87d0a9110a94e86bbb5c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZGuSYCjgfKqZ98lIsKr4mi5d",
  "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]: [-0.5648, 1.5097, 0.7948, -0.009, -0.5907, -0.3355, 0.9948, -0.0216, 0.8051, 0.5999, -0.3927, -0.0162, -0.0204, 0.9968]\nstate[eef_state]: left_x=0.3847 left_y=-0.123 left_z=0.1168 left_yaw=0.0785 left_pitch=-0.0163 left_roll=0.1241 left_gripper=0.9948 right_x=0.2932 right_y=0.0001 right_z=0.1724 right_yaw=0.0042 right_pitch=-0.0259 right_roll=0.0018 right_gripper=0.9968\nstate[joint_eff]: [0.294, -7.8974, 6.8171, 1.9414, -0.1343, 0.3053, -0.1148, 0.1026, -1.1966, 7.1316, 1.7753, -0.0611, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e1c3c340fc33130f44c746254079421f67a9ffa699af10799dc0b10a8fe028a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a12538d5312e073d23960b58e30412737311bce3ac39031b51c9b0960238335",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fd91187963466815d1b4568e0bc2fe3a9afab5e42238ffc45115ed3a4f8698e",
      "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]: [-0.5694, 1.6291, 0.6365, 0.3676, -0.5949, -0.3027, 0.3945, -0.0219, 0.8051, 0.5999, -0.3927, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3881 left_y=-0.1266 left_z=0.0767 left_yaw=0.0609 left_pitch=0.0626 left_roll=0.0954 left_gripper=0.3945 right_x=0.2932 right_y=0.0001 right_z=0.1724 right_yaw=0.0042 right_pitch=-0.0259 right_roll=0.002 right_gripper=0.9969\nstate[joint_eff]: [-0.0342, -7.4872, 8.335, 1.5165, -0.1734, 0.1148, 0.0024, -0.1846, -1.3333, 7.0906, 1.7265, -0.0513, -0.0708, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.8211, 1.7046, 1.2388, -0.3267, -0.7654, -0.5228, 0.0076, -0.0216, 0.8051, 0.5999, -0.3935, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3919 left_y=-0.236 left_z=0.1767 left_yaw=0.0492 left_pitch=0.0288 left_roll=0.1003 left_gripper=0.0076 right_x=0.2931 right_y=0.0002 right_z=0.1723 right_yaw=0.0045 right_pitch=-0.0266 right_roll=0.002 right_gripper=0.9969\nstate[joint_eff]: [-0.3897, -8.3624, 9.4291, 1.2723, -0.6032, 0.105, 0.7399, -0.1436, -1.2513, 7.2137, 1.6777, -0.0708, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.5097, 0.7948, -0.009, -0.5907, -0.3355, 0.9948, -0.0216, 0.8051, 0.5999, -0.3927, -0.0162, -0.0204, 0.9968]\nstate[eef_state]: left_x=0.3847 left_y=-0.123 left_z=0.1168 left_yaw=0.0785 left_pitch=-0.0163 left_roll=0.1241 left_gripper=0.9948 right_x=0.2932 right_y=0.0001 right_z=0.1724 right_yaw=0.0042 right_pitch=-0.0259 right_roll=0.0018 right_gripper=0.9968\nstate[joint_eff]: [0.294, -7.8974, 6.8171, 1.9414, -0.1343, 0.3053, -0.1148, 0.1026, -1.1966, 7.1316, 1.7753, -0.0611, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e1c3c340fc33130f44c746254079421f67a9ffa699af10799dc0b10a8fe028a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a12538d5312e073d23960b58e30412737311bce3ac39031b51c9b0960238335",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fd91187963466815d1b4568e0bc2fe3a9afab5e42238ffc45115ed3a4f8698e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJg1kXez5OuOQVespRUKG3olSCqI0kZVSNaPzXJSFEkhsuC8CHCPJZgHFG8jGod8xqYQONabbnj5xitLhi8xZ5nQHZqM8-ohgjLwrHAGmil9pr96jA7deX5jdhPEBJIKb0Sq84zpFy5tBznBN03YzwWJTl6MnGEiOFjFCSMtZuNvW50--7U6DT-i3aCmdH0horzRfoM8sRuxCBGWEFDm3HXHAuxlNUJva551P1ssylEAsHlNKTHjMpVGsXEX-k7shjmZIxOXBnGs8gx0RtTJMiUTGf7GMBA_ggYrINcPNykTDX_XzI8EbXoCtye7VdBSSwL_BymcYTcKCcaF9DhM7M0MXxggLKTe5dcIZpLw0pSDqTPRboEKi0TiiOmOOb3iWbTYgfH5Od0GetbrlbRP8pJB2p-fFjtB6_eAY-0RAX3gT8sAGHjJkqoW2ddzu3onTdzN74jPJgG45FE-TqYOhongbskiiQNlRmVRpQYKvG08K3dMoL0YM-_G-ahZCa5bvIWIygHHD9n_LSdChlbwHHVIbxwIIhnaAztjLlsEGeTAbx6262B8ZrZ6O4yqmiu49uaXVpNF7SmzH5Sod5NWt7LiuLdhrU6T0CpZnfvdNzh9tGYiDL5jv6bXBQ9HIqEX_EWfAxIQdspkNirXVHVEE_BT5CaAlXRWtm3Eamo-1aYjGFOmBlvpldGzhWMsI3PpP8WXhKpETQryCBO1PS1UXWWCqSYzarivVtQ9I4uim64H-g32xkye0M4JKrOQKKI0PmBkNh8a1cCpYMNmZdiGXjZoycS56LbGLytuRyZTbLFGYhxePHNv3hVpuztJmettMdmd-uXZBP2N0pJsrU6SlkUxK64aDXPmS0AXxrdJKPI3DhpBR9VxOfn9AenZzTWQFuIEECK4NQMyl5D1tbrGmN2Jj4uvrEh90OVnGZVakc41wdVE0ET_zi3f-M0xYPVc9J5BGlcFZ5HJGKU71ObBuYWv4BD-OmggLoCtg0jvfQipja10wGHsD5Hilvzk3eLBHG7oTHHQOnubBBrht_YX2IU585qWaiBE35CiSn2m0eu2xcYpl28Z2OtWTks_n-7M1thlkbBJr3iz-AksOLxCpEmyqmSCbA3Rulhz4nHUKV9-IFzBqSj9PMeoCJbfYlXHo00e3erhZRw-OFdPessnYg3JwsipDlubF8IRqbjCdPSLhB8hbpavlZKhgWRsUM_NmIJh-RGX9XBG_U2YtIkyvWcdavzwUBRMgGr8NGIpxTsSPtk0ca1B2alhmJXcuKvU3xe9lOghzUu3IdWPPmTrSEkUGrOwex9I9rvo9ll9dGJQ9TvSL1fQILxpuo86aTMyKVzl-4F0Q43Nxn_nWsSR-fN-6zq9onKkPO70DcfrBUQIZXBY0MrQux9FGxRqSJkCaftEFqj_WxK5yj4s7ApOLuDs3_ti4EIz3HZvMCVyC6bWB-PenB-P96ezELaosVtLnO2U9tU8ONacvc3NidERiRsZKwTMKkbCsrkfyXLFhd0vTFGvIOMEb3EqrvWYt-4jhLPVX-LJsO6rGSIEAcrUpoCoY2MHjv0nKzzeDojadyYUcxJBTogoe9m1O-VyvB88xMVX5BltPQBnp5sVbKDArozv9COCo6ZqVg7ME1ylZQXwsTVTSsX8h2Y3WRZJIR2ght4lYwBfIZbijEflwc4n6NxW8osg8BQxGpP_G2bCNjVIpTus3yKshzbzTtTCMMbnYoDb3iv5roTaVDxeVSBo1C1VLzhsCFZxNzt8bPlre2Kedw_9V7EaItsl3qFAz8ORXlQN-XpPbHBKgu-_b-PgcvV5E_3FFCw0jYDzzLVynSzgHHibONvCaric5it1_VehYF_3rt5JEm5-p70z01rSIXn_5LjG8GP4wlvri9ylREOsvGfhsEoAvFloLFfqtdl-PP66aYQ64et42uLzzrz75EW0xnFM0o4A10JDb9Tppuiwr30cIj_MX8y7u7gVFo7pZs_rqSh48vXzeD9j1SBgNKc544R3Dh8v6GmnauJ8kj3bL4BJgv2l133G9nobRVVZNwRTvPNV8PsYNdTCfha7zIIkVL3ZRkPNww8QNxbH4LyU4bR1JkTx4rnVpmaxxgZMRYGHPyODpgGhBhgOnEaFQOFKYMkYTNVZ_L7NUbi2qJfeXQAWKgmOoX8cEsNPPf9zlbm9FeR2m7kJRFLij7NUY40mkgkEnoQI_AG3RODfww4YJANGxgG1yDDwQQxc6ppFUG42uQVT6ogrvIA9E7GG2ZQVECd2XekIUmgWHfudAMoJfEoQ7IVDW4lrIjSzOL1AIpBy5ZuB2wKDK8MeAgVdJ-RyvYuaWjXwNmhs0YZheSrq36pCXJHnf23x4LR-kcF-EyTJkT6ooKOzCL9_YcNwuD8kR5-6e-2e5jXoY1bY6BdF6Fkld9APwK61QSLMEVPA0td2WzOtJcYRvFJA87ovqnI_sfTTVR712VM-WRAwYlepbswHD54iD8Y4JK5zUXb2GCGWLA2jjP4dEV2YzjxCncDf8FBXxZDdw5_hGfQ0kN_vg0nfHdHiMmAL93KcDoncr-KW67ecWOCm_HPlyhge3o_Y_1hAvP4-tLa2IYD3bnTPJxTksARagNwyj8B0xCpp5-_SfviWbCWh9g8vCmZyo_Oy3sEq5gKLu6GGwqhP_DAEYjYd5wQMMI3S0E7wkNY4E0AdoRiiqxSkR14gB75pAd_HwQjTyCouowDzZ9IBdp4XidBfjTi3SyZP3kxqyLRzvEFJv3zz0nxAp38o0orMMNw8SFxZgBxwReWdYibEHG5Iqs9x_GSL4ETo7kG9H9T2bO3ysqBI-Ir4brPvxz16tFgW-lVlt8P9SZYNlJekIam0wFzoaF3_1DD8iCuw7t7HYxJEw3a1DTe5lLIy9A_MYpZXmmXw_yOOiCCrOkXvuLyvc18=",
  "id": "rs_0bc607ab0d7f7d2f016ab4982cfffc87d0a55fabc836a0ae28",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.145,\"left_z\":0.055},\"note\":\"The wrist view shows the bowl farther forward than the previous grasp point. I’ll advance to the side rim’s midpoint and lower only to the upper wall, avoiding the rounded lower surface.\"}",
  "call_id": "call_NcYizt2KqJoxdC3FK2CJIbDK",
  "id": "fc_0bc607ab0d7f7d2f016ab49833c05087d09012b5cb5cf1b840",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NcYizt2KqJoxdC3FK2CJIbDK",
  "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]: [-0.5564, 1.813, 0.8162, 0.1722, -0.5755, -0.3286, 0.9957, -0.0219, 0.8093, 0.5999, -0.3962, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.405 left_y=-0.1345 left_z=0.035 left_yaw=0.0754 left_pitch=-0.1042 left_roll=0.1811 left_gripper=0.9957 right_x=0.293 right_y=0.0 right_z=0.1706 right_yaw=0.0038 right_pitch=-0.0335 right_roll=0.002 right_gripper=0.9969\nstate[joint_eff]: [-0.0615, -9.9897, 8.335, 1.7607, -0.2808, 0.0171, 0.0806, -0.0068, -1.2376, 7.0496, 1.746, -0.0513, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b19c5649b357b672e9a3f434abd3802e35e55e518e4efde169a9066bfe808ce2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2802c5f1c2bea25736b0b6f5972f66707e8e423032e993548d5cea7bd14e82b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84e37a8c36b08b47e1ddfc1e2abc43150919bb43832531c0aa034a4a5d15a41e",
      "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 77 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5694, 1.4216, 0.8867, -0.0986, -0.5964, -0.3115, 0.3952, -0.0216, 0.8051, 0.5999, -0.3931, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3894 left_y=-0.1272 left_z=0.172 left_yaw=0.0665 left_pitch=0.0568 left_roll=0.0935 left_gripper=0.3952 right_x=0.2932 right_y=0.0001 right_z=0.1723 right_yaw=0.0042 right_pitch=-0.0263 right_roll=0.0018 right_gripper=0.9969\nstate[joint_eff]: [-0.0479, -7.9658, 9.3607, 1.5458, -0.2173, 0.0269, 0.0611, -0.1162, -1.2786, 7.0359, 1.7167, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.5097, 0.7948, -0.009, -0.5907, -0.3355, 0.9948, -0.0216, 0.8051, 0.5999, -0.3927, -0.0162, -0.0204, 0.9968]\nstate[eef_state]: left_x=0.3847 left_y=-0.123 left_z=0.1168 left_yaw=0.0785 left_pitch=-0.0163 left_roll=0.1241 left_gripper=0.9948 right_x=0.2932 right_y=0.0001 right_z=0.1724 right_yaw=0.0042 right_pitch=-0.0259 right_roll=0.0018 right_gripper=0.9968\nstate[joint_eff]: [0.294, -7.8974, 6.8171, 1.9414, -0.1343, 0.3053, -0.1148, 0.1026, -1.1966, 7.1316, 1.7753, -0.0611, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5564, 1.813, 0.8162, 0.1722, -0.5755, -0.3286, 0.9957, -0.0219, 0.8093, 0.5999, -0.3962, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.405 left_y=-0.1345 left_z=0.035 left_yaw=0.0754 left_pitch=-0.1042 left_roll=0.1811 left_gripper=0.9957 right_x=0.293 right_y=0.0 right_z=0.1706 right_yaw=0.0038 right_pitch=-0.0335 right_roll=0.002 right_gripper=0.9969\nstate[joint_eff]: [-0.0615, -9.9897, 8.335, 1.7607, -0.2808, 0.0171, 0.0806, -0.0068, -1.2376, 7.0496, 1.746, -0.0513, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b19c5649b357b672e9a3f434abd3802e35e55e518e4efde169a9066bfe808ce2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2802c5f1c2bea25736b0b6f5972f66707e8e423032e993548d5cea7bd14e82b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84e37a8c36b08b47e1ddfc1e2abc43150919bb43832531c0aa034a4a5d15a41e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJg3fkGeWo1H7H2ubeQN6cf9_jzC85x3SnavxlNH_3jdjlI1D0dtCq8wAIvWuMXyHY6gauMEoyDIFQjor7K9eCIRYf95FDKxhb7XUJkRXF7nK3Iyrw0UorVZf-xtfb67Z3lWwqKp8cvxJcOY5Dw_9ew2Q8uCaALrpSgP5dq5K0WGF1HOv-QKRu9_RcuXuLgveH6fgNiKFkgWbmPBtB8D16GDacbl5s-7B7CBeR2-dTkPD6XkXf-W31trn4V5rSDr626gpoDrZ8AbWszD5HZAspf8-2Yb7Oi8X8Yzbzr41a1nDm-7gABTd3aiLCRdCVaE1oRfx0mJ-TnCrGWbKE544afaaf5u2ggyqZbyIW47IHAydOU5JpTvMrUf0yCSX7WO-FNmlDsbZpsesnoFkcKZUxPUpDiknvccONFEmkXvO9Z3s3yH85blGf_05o7blZSkY0STGLt8B_qwQTgiZYgOZ6rjv5T0BDOzF7ZKQj727eboi0b724VSU08OXXavZ9ebN5syhuTH-zBjEQ6BR-XN8Qmu2p-9BS-Fta6HQPpiFCdMRqBkz7yXyCLPH0oMYEFr91AKLO5z_Wrh4SdTJ-JjTNENu2q3dp1p3dZF4TLv9u_fHFvutnxYOiOHOgWZrWwx-ut5mpTxK1GYaN4BTIJWpPqkw1_KzMAvEFvUJBzU1Fc1vgn8h94zhyQ2Q49fCsaZzgNlvuGUnew6BRX2MZhEyocJ2M1y3p3H6Z2zjjE4BQE--CU94_GsCitwifUWuoalwDf7S_bgYw8g5UMnpQhNdxL_Sbbn2cPNw4883Fi7pfSENjWUXPUA2-kw1S8by_kwJ9M_G7e2z29rMCldd7LoWS0PPkScKK65YgwywK9soyzt0AdVM-KmbMS2RxB1cx1t8q3dqDHplKSnKvvw7kzgYRfyeOSqW9an8Ol-Gq2WwIWpDujrjShmMXC3UKiiyVriNPiQVzUQ9unfo5jAVNxJ6Nr4XyL06st56KwSXfl-ajq6pEQl9IWexbKLBW-0CDcz_lts1k3KYpU6XcMFtJ8lGGUl4brldnrnuMwsUhcvQxxJo_X56tcV_5w4tK-w3l1MB8h65RPYcs5CWzKghCw0h9RLCrf123Hl8ZA1d7JJFt1679a3GUlhAd3J6tOhyT0EaA87TTwXEF4xcpiiluf5hG59XfGyG14yBrSvnAcadTY16bDzxL9YghQSjCxZzgkeJAeUxNoZLVf43GmL6qD0a24Q6qJu9tYaj65MgLjzhnqL0pFAKjdFtEDJZMelTDtpe7xL",
  "id": "rs_0bc607ab0d7f7d2f016ab49836c42887d0a4e1933d75e3fe8d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers now straddle the bowl’s side wall farther forward. I’ll close fully and inspect the settled opening before lifting.\"}",
  "call_id": "call_v3eZ5gBsidmS1Dqwi9yBlAon",
  "id": "fc_0bc607ab0d7f7d2f016ab498371f3487d0a2bb23b242b3d846",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_v3eZ5gBsidmS1Dqwi9yBlAon",
  "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]: [-0.5613, 1.8088, 0.7952, 0.2588, -0.5835, -0.3397, 0.0976, -0.0216, 0.8101, 0.5995, -0.4114, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.4103 left_y=-0.1388 left_z=0.0435 left_yaw=0.0793 left_pitch=-0.0437 left_roll=0.1352 left_gripper=0.0976 right_x=0.2908 right_y=0.0003 right_z=0.1671 right_yaw=0.0046 right_pitch=-0.0499 right_roll=0.0026 right_gripper=0.9969\nstate[joint_eff]: [-0.294, -7.3504, 5.2034, 1.1648, -0.3248, 0.1538, 0.4078, -0.1436, -1.388, 7.0222, 1.8632, -0.0562, -0.0415, -0.0171]\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,$blob:270d5907527f8d600f78ee4ebfc1942565b45afe2d22ac5ef3efab2f610b73e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72018b67f51a7fa018ff36f5b6468a88bd726bec862f47f125eba0333bdeae66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9051549faac2aa40e33b149ee00199734090a94ce1c2cc347d9c5be2441759f",
      "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 77 changed as sent

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8211, 1.7046, 1.2388, -0.3267, -0.7654, -0.5228, 0.0076, -0.0216, 0.8051, 0.5999, -0.3935, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3919 left_y=-0.236 left_z=0.1767 left_yaw=0.0492 left_pitch=0.0288 left_roll=0.1003 left_gripper=0.0076 right_x=0.2931 right_y=0.0002 right_z=0.1723 right_yaw=0.0045 right_pitch=-0.0266 right_roll=0.002 right_gripper=0.9969\nstate[joint_eff]: [-0.3897, -8.3624, 9.4291, 1.2723, -0.6032, 0.105, 0.7399, -0.1436, -1.2513, 7.2137, 1.6777, -0.0708, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5564, 1.813, 0.8162, 0.1722, -0.5755, -0.3286, 0.9957, -0.0219, 0.8093, 0.5999, -0.3962, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.405 left_y=-0.1345 left_z=0.035 left_yaw=0.0754 left_pitch=-0.1042 left_roll=0.1811 left_gripper=0.9957 right_x=0.293 right_y=0.0 right_z=0.1706 right_yaw=0.0038 right_pitch=-0.0335 right_roll=0.002 right_gripper=0.9969\nstate[joint_eff]: [-0.0615, -9.9897, 8.335, 1.7607, -0.2808, 0.0171, 0.0806, -0.0068, -1.2376, 7.0496, 1.746, -0.0513, -0.0611, -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]: [-0.5613, 1.8088, 0.7952, 0.2588, -0.5835, -0.3397, 0.0976, -0.0216, 0.8101, 0.5995, -0.4114, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.4103 left_y=-0.1388 left_z=0.0435 left_yaw=0.0793 left_pitch=-0.0437 left_roll=0.1352 left_gripper=0.0976 right_x=0.2908 right_y=0.0003 right_z=0.1671 right_yaw=0.0046 right_pitch=-0.0499 right_roll=0.0026 right_gripper=0.9969\nstate[joint_eff]: [-0.294, -7.3504, 5.2034, 1.1648, -0.3248, 0.1538, 0.4078, -0.1436, -1.388, 7.0222, 1.8632, -0.0562, -0.0415, -0.0171]\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,$blob:270d5907527f8d600f78ee4ebfc1942565b45afe2d22ac5ef3efab2f610b73e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72018b67f51a7fa018ff36f5b6468a88bd726bec862f47f125eba0333bdeae66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9051549faac2aa40e33b149ee00199734090a94ce1c2cc347d9c5be2441759f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.145,\"left_z\":0.105,\"left_gripper\":0},\"note\":\"The closed opening is about 9 mm, consistent with a rim grasp. I’ll lift while continuing to close so the bowl cannot loosen as it leaves the table.\"}",
  "call_id": "call_3QoTKkcfc0gSANKLob3pbG2R",
  "id": "fc_0bc607ab0d7f7d2f016ab49839d3b887d0b025b64a706668b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3QoTKkcfc0gSANKLob3pbG2R",
  "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]: [-0.5648, 1.718, 0.8951, 0.0864, -0.5804, -0.3595, 0.0466, -0.0216, 0.8101, 0.598, -0.4152, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.4177 left_y=-0.1457 left_z=0.0882 left_yaw=0.0838 left_pitch=-0.0289 left_roll=0.1063 left_gripper=0.0466 right_x=0.2901 right_y=0.0002 right_z=0.1656 right_yaw=0.0042 right_pitch=-0.0553 right_roll=0.0025 right_gripper=0.9969\nstate[joint_eff]: [-0.5538, -9.0872, 7.8427, 1.5018, -0.3297, 0.0562, 0.8718, -0.0342, -1.1556, 7.1179, 1.7021, -0.0562, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64f40883a1e45b44f1d912894ece74f1c954157c72c38488ccb34c3c63278dfb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:929fa3bde90c28a68bb9b8f1d49fffc4575ee76042a3feaa41aeac1baf47bf00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0b26717183b6d26d43cbe8273e1e4ff483db238b594b86eeed6ac6b5f76d3e4",
      "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 81 changed as sent

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.5097, 0.7948, -0.009, -0.5907, -0.3355, 0.9948, -0.0216, 0.8051, 0.5999, -0.3927, -0.0162, -0.0204, 0.9968]\nstate[eef_state]: left_x=0.3847 left_y=-0.123 left_z=0.1168 left_yaw=0.0785 left_pitch=-0.0163 left_roll=0.1241 left_gripper=0.9948 right_x=0.2932 right_y=0.0001 right_z=0.1724 right_yaw=0.0042 right_pitch=-0.0259 right_roll=0.0018 right_gripper=0.9968\nstate[joint_eff]: [0.294, -7.8974, 6.8171, 1.9414, -0.1343, 0.3053, -0.1148, 0.1026, -1.1966, 7.1316, 1.7753, -0.0611, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5613, 1.8088, 0.7952, 0.2588, -0.5835, -0.3397, 0.0976, -0.0216, 0.8101, 0.5995, -0.4114, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.4103 left_y=-0.1388 left_z=0.0435 left_yaw=0.0793 left_pitch=-0.0437 left_roll=0.1352 left_gripper=0.0976 right_x=0.2908 right_y=0.0003 right_z=0.1671 right_yaw=0.0046 right_pitch=-0.0499 right_roll=0.0026 right_gripper=0.9969\nstate[joint_eff]: [-0.294, -7.3504, 5.2034, 1.1648, -0.3248, 0.1538, 0.4078, -0.1436, -1.388, 7.0222, 1.8632, -0.0562, -0.0415, -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]: [-0.5648, 1.718, 0.8951, 0.0864, -0.5804, -0.3595, 0.0466, -0.0216, 0.8101, 0.598, -0.4152, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.4177 left_y=-0.1457 left_z=0.0882 left_yaw=0.0838 left_pitch=-0.0289 left_roll=0.1063 left_gripper=0.0466 right_x=0.2901 right_y=0.0002 right_z=0.1656 right_yaw=0.0042 right_pitch=-0.0553 right_roll=0.0025 right_gripper=0.9969\nstate[joint_eff]: [-0.5538, -9.0872, 7.8427, 1.5018, -0.3297, 0.0562, 0.8718, -0.0342, -1.1556, 7.1179, 1.7021, -0.0562, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64f40883a1e45b44f1d912894ece74f1c954157c72c38488ccb34c3c63278dfb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:929fa3bde90c28a68bb9b8f1d49fffc4575ee76042a3feaa41aeac1baf47bf00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0b26717183b6d26d43cbe8273e1e4ff483db238b594b86eeed6ac6b5f76d3e4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJhBrMYAIeKAeczCz3xYG4yymgBgGonhhYsQ0kCJq-74Acs8SPFTfMy0JK-yTDXo9apZ1zKQ4Mp7LyckBT_IIo1CHve8BtM_IXBgEZtCb-MOq5tfdklszWgnQI2ywy38-1bNSf9LEedOfbFcLrq1Qv5uacZiENiWst8ORgIyQ3POOH3Pkh_DtD2cvX-ct6VFR9xkK_dM1_Gve8AdyKOxzjA1NY2Gr_q36vWNOBD-djGpyPcQY-O6h4JpKoUBg8qQuOaXn4yfMy6zyEgl5Qm04BxUKXUN8nVUAypSta-smMr2jYlKtpCoi-B7oWyBPJh4HPh-tdHFW1yjZFyUSCHh4xo_Pgsb2kD7UFoZFjvi75IyDwDo7uWbjfuaozHsvwmJRdZPkEyCG1W6dhJ7I7-4gtocZoKuR6Z4DuCgA5GIVcWzYdtZ_3u1DsUlfGsR8oMj0a2Q9uwftWx4CjRr3q2Ya5qTHe24tCZQQ9m1qQ3Fs6KkWr7Mh9JM4VJq5TtKHWWDac_zA8oFAHeRlvyfVdIOZwGrkEdVi5jIGEJBGw1qgPpHLqQF6Sc6bK6GA31L515G6XwTrCevH6tdjKhPvYs3ctwisiInUwmashqMChd7DmWoGKpqcw9MhesMP8cjOj6jH0Avmm1yFC66LUuBaG3rkqfdY4nw_eIO7VBb5dSHkMr4BAgqFjHqX6KljL0yg8vXvw3kMG4qaYIRqckM0iDVSqGD_P8STVQd9E6YawTOtQZMG87D-vN9vg8n9HcB_khAyxAwXzkwBrgXJGs9-dCIUqAqSQyq2hErxW6ZOCZdS6bblr4FQGeWuIhHLmFvgtharl5lTqy41z4fRsp_PPkv5bjs5O9W6reGaL_ndubHQHkU2cLrRJfU77uk_ubBLJfLMrSIcMhJ5Pfc77ftJ-2wXJ98hkJONiI3KPbJcfPmM9w3aVxG8iGEDCFFefKqGtVeJDH-DVZqHRiUeBOJAX4aZLbU3nJiK2IitNtIUjQjYtPbeP1bPeCZvMw7Gg_ZC21Un_4TmghrgNl-3_igpFdsUq9Bya7hfJKvgzcEhIXtRPJ0BN8NRhcPO1ceOvPlA24dGaiEL3v90XpQzG457A6vyUEtDAjDo4UqY7W2xA3MnobYPF1rzIEfZa9BfoJ9WLcsarGxkJvmBEG2RSi8xYRtcg1F5BqVyaWardssThQfZz6f4dh2asJ-pheg-mNe6E8ug9d0o0fV8aRvneBuVrG1mIHSmrB3FeWCBrIFQPEHClYcAeyWGUiDpJbsgqKfzKX6jHXByvFjAAU49FRQO-dbD7Hq6evbvNqoGS12Ctcl1Ivm4HDlDznen64FB-WKomWoNa-ac2ua179_YQV_i_Ui6bJV621eEpCO6y2ml_D1etuP4C0rXKA-g5ex1ho_d7765O97asI6AKse5nI8nCh3GsWsKqyQLSwouHqQnR3RbvNzg23WOAzvXWDrvf_Vi9gstzCm-O2kGkAVj8UH_AJsGWyuvMsr-y3AozDQTRP-jkOAgLt6lVD9xnHbbz6dvIGXVj_Z1dGdYN4zpBg7v0fU-lWcDNsFfkwbeOzo5hKGtxsuXf6cT1B9Hb8UOOavwRFCrMIbOLz-DRJ1wzAfesP-YPx1rMyqoEEsg6nSyr5r61i52PfnuNRSt9JQ47sFsxp3kebchXKyFrkrxk0XVdqXZ8Annu4U6K71g-YYwsjE5BlXwtteLSBxEd1xYUymzAWMdgao0lWqqySbP17ZtQC0WmFsU-fOLm95EsOp9eO0cY4cWGEuXU4GHgMKbcR9QK9W0FzJhMbmK3v4uN2wsxISPfkV34fp5hiN8JnsOn6MAAxUepueZnkqqwOua5bsRMytSiruN_yU8GJhZcg8EgOC1X7-IF5kAg3_rrOqxBHYvjrWWFqz8iQddu9GAfZAZfjRoFXICfUXr6wgpErwJp-54HX5x-52ujlCiPDPs63Ji3imcF87nEcnEn1uuzUEw_YkZ2lX5SFeMHd1plzT84tli0SsCHtmt5ygcDp18yv8PwuVFALfuOAhCEQv4U03WmiThHc6wXV-15j2p8KSDdBFWT4j4r4tR03LnnuFJPEQbKcROrpN8zdWlv1Eu78HDA-aIloB92N6Sw5mtOaQCmz78EqZp8EdCOKlMGGrLfQFcvt597TfPlrMiQZFTSls4mNzvuc4k57esrKOLIVPCZdhuNKs0fvV65-Fu4fuNSydHDmINwuhLgo_HF9x12ALIM4Ohz-Co1OyQHV_qeUBRP2VdL4FQA==",
  "id": "rs_0bc607ab0d7f7d2f016ab4983c70cc87d08d58854c9eaeb14f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.19,\"left_gripper\":0},\"note\":\"The bowl now stays fixed relative to the fingers and has visibly risen in the overhead view. I’ll lift it clear of the middle bowl, maintaining the rim grip.\"}",
  "call_id": "call_ucmPoiZYV9nCa5HNTWGGudG3",
  "id": "fc_0bc607ab0d7f7d2f016ab498407f7c87d0a6f49ca7e9171034",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ucmPoiZYV9nCa5HNTWGGudG3",
  "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]: [-0.5686, 1.6001, 1.1263, -0.2855, -0.5758, -0.3637, 0.0421, -0.0216, 0.8101, 0.5957, -0.4156, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.4173 left_y=-0.1483 left_z=0.1674 left_yaw=0.0793 left_pitch=-0.0488 left_roll=0.1142 left_gripper=0.0421 right_x=0.2897 right_y=0.0002 right_z=0.1645 right_yaw=0.0043 right_pitch=-0.0579 right_roll=0.0026 right_gripper=0.9969\nstate[joint_eff]: [0.212, -9.4291, 9.1282, 1.5604, -0.2906, -0.0024, 1.0281, -0.0752, -1.1145, 7.1726, 1.6581, -0.0562, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cc237f389818e45d4bf62cddad1d97f9195e8eb737f06e6324ad23beae2518e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:331be9e4507b8205684f03ae5c7b006b9d3ef3d84627c6b0b19534cd9a70c749",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aa3046da3dc9267fb65bef15ab8a30bb9e374fe7f1219ea1c79f35f49be5d81",
      "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 77 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]: [-0.5564, 1.813, 0.8162, 0.1722, -0.5755, -0.3286, 0.9957, -0.0219, 0.8093, 0.5999, -0.3962, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.405 left_y=-0.1345 left_z=0.035 left_yaw=0.0754 left_pitch=-0.1042 left_roll=0.1811 left_gripper=0.9957 right_x=0.293 right_y=0.0 right_z=0.1706 right_yaw=0.0038 right_pitch=-0.0335 right_roll=0.002 right_gripper=0.9969\nstate[joint_eff]: [-0.0615, -9.9897, 8.335, 1.7607, -0.2808, 0.0171, 0.0806, -0.0068, -1.2376, 7.0496, 1.746, -0.0513, -0.0611, -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]: [-0.5648, 1.718, 0.8951, 0.0864, -0.5804, -0.3595, 0.0466, -0.0216, 0.8101, 0.598, -0.4152, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.4177 left_y=-0.1457 left_z=0.0882 left_yaw=0.0838 left_pitch=-0.0289 left_roll=0.1063 left_gripper=0.0466 right_x=0.2901 right_y=0.0002 right_z=0.1656 right_yaw=0.0042 right_pitch=-0.0553 right_roll=0.0025 right_gripper=0.9969\nstate[joint_eff]: [-0.5538, -9.0872, 7.8427, 1.5018, -0.3297, 0.0562, 0.8718, -0.0342, -1.1556, 7.1179, 1.7021, -0.0562, -0.0806, -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]: [-0.5686, 1.6001, 1.1263, -0.2855, -0.5758, -0.3637, 0.0421, -0.0216, 0.8101, 0.5957, -0.4156, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.4173 left_y=-0.1483 left_z=0.1674 left_yaw=0.0793 left_pitch=-0.0488 left_roll=0.1142 left_gripper=0.0421 right_x=0.2897 right_y=0.0002 right_z=0.1645 right_yaw=0.0043 right_pitch=-0.0579 right_roll=0.0026 right_gripper=0.9969\nstate[joint_eff]: [0.212, -9.4291, 9.1282, 1.5604, -0.2906, -0.0024, 1.0281, -0.0752, -1.1145, 7.1726, 1.6581, -0.0562, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cc237f389818e45d4bf62cddad1d97f9195e8eb737f06e6324ad23beae2518e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:331be9e4507b8205684f03ae5c7b006b9d3ef3d84627c6b0b19534cd9a70c749",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aa3046da3dc9267fb65bef15ab8a30bb9e374fe7f1219ea1c79f35f49be5d81",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.25,\"left_z\":0.19,\"left_gripper\":0},\"note\":\"The held bowl is clearly above the table, and the blue and cream bowls have not moved. I’ll bring it over the blue bowl, accounting for the offset between the rim grip and the bowl’s center.\"}",
  "call_id": "call_tmnrWpJce4RFdlQZF6fXW6Yo",
  "id": "fc_0bc607ab0d7f7d2f016ab498436bc887d08d49a96f7b183ff4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tmnrWpJce4RFdlQZF6fXW6Yo",
  "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]: [-0.8062, 1.8053, 1.4422, -0.5537, -0.7105, -0.5743, 0.0414, -0.0219, 0.8101, 0.5953, -0.4156, -0.0162, -0.02, 0.9969]\nstate[eef_state]: left_x=0.4012 left_y=-0.2467 left_z=0.1761 left_yaw=0.0574 left_pitch=-0.0799 left_roll=0.1256 left_gripper=0.0414 right_x=0.2896 right_y=0.0001 right_z=0.1644 right_yaw=0.0037 right_pitch=-0.0583 right_roll=0.0029 right_gripper=0.9969\nstate[joint_eff]: [-0.3624, -9.0598, 9.4701, 1.2186, -0.6178, -0.0562, 1.0281, 0.0068, -1.2239, 7.0359, 1.663, -0.0757, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed6d224a299615ec7ea96031f844a5bf204ca18141243020e4a3c89dd0fa3a5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1a77d33c55c139fa6b02ee3e27b5ce429c732f49f5e4addd9ebe8df0a495e99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a62b558aefa5f748b5bbe2a05ef8116d2fa428b9a3aec9454b50b27af4afd54",
      "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 81 changed as sent

message 88 changed as sent

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5613, 1.8088, 0.7952, 0.2588, -0.5835, -0.3397, 0.0976, -0.0216, 0.8101, 0.5995, -0.4114, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.4103 left_y=-0.1388 left_z=0.0435 left_yaw=0.0793 left_pitch=-0.0437 left_roll=0.1352 left_gripper=0.0976 right_x=0.2908 right_y=0.0003 right_z=0.1671 right_yaw=0.0046 right_pitch=-0.0499 right_roll=0.0026 right_gripper=0.9969\nstate[joint_eff]: [-0.294, -7.3504, 5.2034, 1.1648, -0.3248, 0.1538, 0.4078, -0.1436, -1.388, 7.0222, 1.8632, -0.0562, -0.0415, -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]: [-0.5686, 1.6001, 1.1263, -0.2855, -0.5758, -0.3637, 0.0421, -0.0216, 0.8101, 0.5957, -0.4156, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.4173 left_y=-0.1483 left_z=0.1674 left_yaw=0.0793 left_pitch=-0.0488 left_roll=0.1142 left_gripper=0.0421 right_x=0.2897 right_y=0.0002 right_z=0.1645 right_yaw=0.0043 right_pitch=-0.0579 right_roll=0.0026 right_gripper=0.9969\nstate[joint_eff]: [0.212, -9.4291, 9.1282, 1.5604, -0.2906, -0.0024, 1.0281, -0.0752, -1.1145, 7.1726, 1.6581, -0.0562, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8062, 1.8053, 1.4422, -0.5537, -0.7105, -0.5743, 0.0414, -0.0219, 0.8101, 0.5953, -0.4156, -0.0162, -0.02, 0.9969]\nstate[eef_state]: left_x=0.4012 left_y=-0.2467 left_z=0.1761 left_yaw=0.0574 left_pitch=-0.0799 left_roll=0.1256 left_gripper=0.0414 right_x=0.2896 right_y=0.0001 right_z=0.1644 right_yaw=0.0037 right_pitch=-0.0583 right_roll=0.0029 right_gripper=0.9969\nstate[joint_eff]: [-0.3624, -9.0598, 9.4701, 1.2186, -0.6178, -0.0562, 1.0281, 0.0068, -1.2239, 7.0359, 1.663, -0.0757, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed6d224a299615ec7ea96031f844a5bf204ca18141243020e4a3c89dd0fa3a5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1a77d33c55c139fa6b02ee3e27b5ce429c732f49f5e4addd9ebe8df0a495e99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a62b558aefa5f748b5bbe2a05ef8116d2fa428b9a3aec9454b50b27af4afd54",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJhJbf9EtGxCj2fkveHKJXl3ESP6bUkYtebMnOKOjQB8kXW4ZZqFiHc_SF8sjbzFVVGeV26FzqtFWTilONmxnG67A1IVM8H6oagqXFQqps4I1E9nAbUAmd_dkWmFsfghy6lsZYjYYYQzHbwY2HCod0TTTuKXT0SQoxVxvXEwpUi2nqBqzQZfaflMky4ZiMsp5aIaTEzgdIBSbK-Ib1sxe-xuUd72Mwv3smcVNMcCdwhcc_vG7HzaKVLkgW1J6D4dxS4KspVLvthe0ETCZHUs-1_0YhhWm5wQiUSPpRXqLmqeEC-1a5uT3DASQLYjHHmJ4fgg7dmJlJxxQrunZ0jwcrqvb5aoNwHZJp85Bbb_E0Fgwlfm03W89Ma9C09UHB-RiVOAhsH-17WL7Dl_QFGVy2UZ788fuiHASAMwWp2Q5syW5WzKqPqGQfFOcjlsi-t0lNJwFd25KtaM9-5bUDuWS6j1pcUwHUui1Xj6u9e-PRl6KB9-7wErppXNnkEaL4umiHzgbGbl7Dwl50OdeS95HI-hilnR8YjL7kGXeJKZlNH-t0LVLQj18h6g9tTopp08D-c5B2AcUnQwvDWftjzBGjCcQ667PMIsruDh_XyYlde7HpNGK-YYwBCs2XnyqlVw2gRIynxGWdqjFofC-3uCGuHbFM_Dzm5elQZDtDSx2XtuyJ81l4dxHGOMuKem50ib2sZbgKMFPhkJBPAdAtiZsxHxJTamFi1KzucEkUNl-SbiymS2fUNK6bTLmFQ5gcSerpPL1KzDw_KO5iybkJ4GM7xWDHrrWnVGmTkEQfTXCfgFxGyG_5YX_lJ-BMq3P-RS4SrFDHHwlfhBtkyxq1FuV1p4Gzwl7RxbSxpXW8IYOEZW99FOdYxNX4E_QS-SPZuAVspLOw5G8xFgfz5WKx7vWRPSElzjCGD1RyXOY3yiZ5WUT6HrQyo5BM4WjcZomGE4_JrhXgL0NQyV9iWQndiCssXqk43n_IodyvKSvdv1J2IyjEp8gOBLwceT5zuayRHWyU7maHjPihQpVySfJy9SvEpK9U7E28BP0Y-WebkKx8FziqvIbKdHCmJvXKW7BnhTN5PoxYEb-Fs3fOEk2g0ch6Q2uqdVzz4JC8wxLOGGd-x4CM7zb-wjwmIsNaWXggmPAPmKiqnLXEbPQhiJWzXPWipQvFIlwiYeKN6w4xYLRUghFZuePeK7IuCr96FJn_1Zug63kKOcvtiPpnrkpj60eP3FEWibaOh5sI-0fHcTQko0b-OHZTsoIBr3UGjum365P01slPRka9Hgbc25S3f7Iz-kR1pUMXqoCLcxQXD7JI5n8-UXq0UsGYFId-Q5jvDlABX-DYd2ISqwIU5VNLQ4SKP4sYTsLIccQTf7Wopp9EsLUrAcQbsG950vQGggI2p3v9LesHs6Sq0LjA1eeKcgGbf7sTmc-KbwsEDRq-1aG8RMXh6OHUxWmTkFZNiPzcHh5LjFM66v-6aD1xtEmq0cV-p2GJ8n_id2YB2_mCbqjnytLzjE7ML2BSbGys1ln94tu17wCz-3l9lWT54hoqbzeHUDR8cfnEN8IzwcLJTcWQ5zLpx8Dm8J7-VpHznkLmePRkQ_pM1HihEQmYxPbDBInYD9loW4LxaEhQjkRQEGacV_q1cUloK0xyg7nBe0_c4-WPgldg77yKjx0RewnTPpeT532w==",
  "id": "rs_0bc607ab0d7f7d2f016ab49846be8487d0ae9e259173e00fb4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.25,\"left_z\":0.075,\"left_gripper\":0},\"note\":\"The held bowl is centered left-to-right over the blue bowl. I’ll lower it carefully into the blue bowl with a small forward correction.\"}",
  "call_id": "call_iAOU3OQwchZPIU39hjE67bSH",
  "id": "fc_0bc607ab0d7f7d2f016ab49848715887d099c5e25c547f401d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iAOU3OQwchZPIU39hjE67bSH",
  "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]: [-0.794, 1.9411, 1.2407, -0.244, -0.7025, -0.5655, 0.0414, -0.0219, 0.8116, 0.5953, -0.4156, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.4076 left_y=-0.2468 left_z=0.0802 left_yaw=0.0616 left_pitch=-0.1034 left_roll=0.1493 left_gripper=0.0414 right_x=0.2897 right_y=0.0001 right_z=0.164 right_yaw=0.0039 right_pitch=-0.0598 right_roll=0.0026 right_gripper=0.9969\nstate[joint_eff]: [0.4034, -8.8, 5.6274, 1.4042, -0.3053, 0.1001, 1.033, -0.0205, -1.4291, 7.0085, 1.7167, -0.0317, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e872744965a8ce4e1359283f32eca8db2e9e8a2f98ab16934d866fd9ccdaddb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e38d5ae0238d99240b8c033c7121a15ae7c192094d66327c0b179f91e35275e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0f5dfda111e6937d06e1926a2d88c26023e58b49d5ae454e08bc44b8a5bc5f2",
      "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 91 changed as sent

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.718, 0.8951, 0.0864, -0.5804, -0.3595, 0.0466, -0.0216, 0.8101, 0.598, -0.4152, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.4177 left_y=-0.1457 left_z=0.0882 left_yaw=0.0838 left_pitch=-0.0289 left_roll=0.1063 left_gripper=0.0466 right_x=0.2901 right_y=0.0002 right_z=0.1656 right_yaw=0.0042 right_pitch=-0.0553 right_roll=0.0025 right_gripper=0.9969\nstate[joint_eff]: [-0.5538, -9.0872, 7.8427, 1.5018, -0.3297, 0.0562, 0.8718, -0.0342, -1.1556, 7.1179, 1.7021, -0.0562, -0.0806, -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]: [-0.8062, 1.8053, 1.4422, -0.5537, -0.7105, -0.5743, 0.0414, -0.0219, 0.8101, 0.5953, -0.4156, -0.0162, -0.02, 0.9969]\nstate[eef_state]: left_x=0.4012 left_y=-0.2467 left_z=0.1761 left_yaw=0.0574 left_pitch=-0.0799 left_roll=0.1256 left_gripper=0.0414 right_x=0.2896 right_y=0.0001 right_z=0.1644 right_yaw=0.0037 right_pitch=-0.0583 right_roll=0.0029 right_gripper=0.9969\nstate[joint_eff]: [-0.3624, -9.0598, 9.4701, 1.2186, -0.6178, -0.0562, 1.0281, 0.0068, -1.2239, 7.0359, 1.663, -0.0757, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.794, 1.9411, 1.2407, -0.244, -0.7025, -0.5655, 0.0414, -0.0219, 0.8116, 0.5953, -0.4156, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.4076 left_y=-0.2468 left_z=0.0802 left_yaw=0.0616 left_pitch=-0.1034 left_roll=0.1493 left_gripper=0.0414 right_x=0.2897 right_y=0.0001 right_z=0.164 right_yaw=0.0039 right_pitch=-0.0598 right_roll=0.0026 right_gripper=0.9969\nstate[joint_eff]: [0.4034, -8.8, 5.6274, 1.4042, -0.3053, 0.1001, 1.033, -0.0205, -1.4291, 7.0085, 1.7167, -0.0317, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e872744965a8ce4e1359283f32eca8db2e9e8a2f98ab16934d866fd9ccdaddb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e38d5ae0238d99240b8c033c7121a15ae7c192094d66327c0b179f91e35275e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0f5dfda111e6937d06e1926a2d88c26023e58b49d5ae454e08bc44b8a5bc5f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJhM9ufDMuD2Bb-f0R-_MYxwtm2f_Tjf4Ts6iFqKfgbkk-1X53S5b7A-wx0KuRRcSJ0SO7jTNh6lHlVNAQqPeNl4z30XnyciEQzg-M-2mWTocNrBaT3pWSWy2jXGfrTpmkfioKG1Z8p8O59LNG9xYNppmQ_SyRaB3IFzX7oh-xtLm7wxkSvFI9rmswnCWFk_BjR8K6YdnWhN9Hl3AscX0CNd6Trj9CJjjZ4P6oTAowxeuFGLBBBZ2G3kSyukfakKNtdbTooqqQ1QGAv9YEwJhRMxVC8dL3wiIb9SCBsDwA-prP5VY56W9Ocaj4p8gx-c_JlUH9XkLO6SHF2PX_Ruqb2a4-KgvvZ2JLqNXw4gEq2jeG9KcUuuma0WNChg5zKqCXnJ5Yw_41CWXcDkRUqLMBZo0rcntQkPx1SE1kUcMIQoFYp42-eYnARED4h8FvEh9slCldOBa628qjYBuAIRROsAPFn8V6zalZEh8PXOXh8ZqHWh8LnJVByC9SB5rFYz5aT2M28f-VjRFj3IDfNq0F6R2rb1OmAh5mhqRCk59yhhpKDzngB29KO5XxoSA8UAkKqVKB9lufxKoz7tFFw_NKDjcFwb30RloyHMyGOu9DkQyV9bxc4uj6IToey9jrWrATe5_q3cZnmf-BfLnd1b7IsQFNuE9lUhd7PA7XllPRKVTUlYKmF9fXFVRXX8B_QaQiIMZMyixOoyKc53VxHP_aRExbQWp8rWmSrVZ_s8qK8KMzh77NQpUQU9uOC8slReFw2SU7IWB7r3sSmH_HeQzpgVHXF7qqButG6QTqGbSVPjplMTOeDMcBwHoTzhe0OPje1r94_sKbw16noPnGzp8HsEzIcgTgjnU9IeUE4-fBmh4ux6uMH2Od1JD7Jd_n4q3Q2WbbR5HLVescB_eYfTnygN4Yk3UHdz5Z8QLImoxY8liSWJTPn2vQ4osJm_LMjHqpGxQTcr_T1X5WAlBR6NiWtxEz7GN359VJ5ni2tkULXTSWGJ65FvMdf3aoprFhjHCAGIKMeVDnF_CPdI-i1mfMxalSjQzNPePlqIkUq1C80H28Rqmh1BR6UOd5zz6o56Pj61zu562lsUKQTzRuh1_0MTQrFdwvZdeuOVDrw5zTrNgEJ0ijVfwVaQrnOcNm6ODfhBBjprzbUWu-9-08oFebsu050siKmQcZFXJp9-qJ6uWSVMpqj8fsyPAura5EodBubyIdL8dwHhjNyGzcwr3531Qjq1IK-SMZIp8lyXxz0Dc_IuDCjEPKaJbdGwnqdkQ3Py03sGgSeouCdFlMUVnlA7G3shY4O-FG-YN-H-KbsUT-7hDawOk7qy2ePyUN3zW5th6K4R8nLBoKPb1H4mqVNNgxVq4ynNprxmLuP-SzaXqGE=",
  "id": "rs_0bc607ab0d7f7d2f016ab4984b27d887d095f61caa8d485471",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The descent has seated the held bowl inside the blue bowl. I’ll open the jaws to leave it supported by the lower bowl.\"}",
  "call_id": "call_z1uPGMyOT7RWjdoJ16jKD3Aq",
  "id": "fc_0bc607ab0d7f7d2f016ab4984bdce887d0ac9b8f61ed39e91e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_z1uPGMyOT7RWjdoJ16jKD3Aq",
  "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]: [-0.7921, 1.9625, 1.2312, -0.2497, -0.6968, -0.5697, 0.9949, -0.0216, 0.8116, 0.5953, -0.4156, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.4046 left_y=-0.2436 left_z=0.0664 left_yaw=0.0654 left_pitch=-0.1305 left_roll=0.1708 left_gripper=0.9949 right_x=0.2897 right_y=0.0002 right_z=0.164 right_yaw=0.0043 right_pitch=-0.0598 right_roll=0.0026 right_gripper=0.9969\nstate[joint_eff]: [-0.3214, -11.8496, 6.8855, 1.3114, -0.4274, -0.0024, -0.0806, -0.1026, -1.3333, 7.2137, 1.6923, -0.0562, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e479b6b2eb614e03a5b228c4d9203c76d52d5b1bfd8e8bc00d2d814fcd261e21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b7a4b4c3aedfd7c0bad73cf8535ac14aab78b2475d60bb6b4e1ec428102ad96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c799739f7ce401f2033f3c9f36fd840784b0e90ca9e6a408751cfaead6abe89f",
      "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 95 changed as sent

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.6001, 1.1263, -0.2855, -0.5758, -0.3637, 0.0421, -0.0216, 0.8101, 0.5957, -0.4156, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.4173 left_y=-0.1483 left_z=0.1674 left_yaw=0.0793 left_pitch=-0.0488 left_roll=0.1142 left_gripper=0.0421 right_x=0.2897 right_y=0.0002 right_z=0.1645 right_yaw=0.0043 right_pitch=-0.0579 right_roll=0.0026 right_gripper=0.9969\nstate[joint_eff]: [0.212, -9.4291, 9.1282, 1.5604, -0.2906, -0.0024, 1.0281, -0.0752, -1.1145, 7.1726, 1.6581, -0.0562, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.794, 1.9411, 1.2407, -0.244, -0.7025, -0.5655, 0.0414, -0.0219, 0.8116, 0.5953, -0.4156, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.4076 left_y=-0.2468 left_z=0.0802 left_yaw=0.0616 left_pitch=-0.1034 left_roll=0.1493 left_gripper=0.0414 right_x=0.2897 right_y=0.0001 right_z=0.164 right_yaw=0.0039 right_pitch=-0.0598 right_roll=0.0026 right_gripper=0.9969\nstate[joint_eff]: [0.4034, -8.8, 5.6274, 1.4042, -0.3053, 0.1001, 1.033, -0.0205, -1.4291, 7.0085, 1.7167, -0.0317, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7921, 1.9625, 1.2312, -0.2497, -0.6968, -0.5697, 0.9949, -0.0216, 0.8116, 0.5953, -0.4156, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.4046 left_y=-0.2436 left_z=0.0664 left_yaw=0.0654 left_pitch=-0.1305 left_roll=0.1708 left_gripper=0.9949 right_x=0.2897 right_y=0.0002 right_z=0.164 right_yaw=0.0043 right_pitch=-0.0598 right_roll=0.0026 right_gripper=0.9969\nstate[joint_eff]: [-0.3214, -11.8496, 6.8855, 1.3114, -0.4274, -0.0024, -0.0806, -0.1026, -1.3333, 7.2137, 1.6923, -0.0562, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e479b6b2eb614e03a5b228c4d9203c76d52d5b1bfd8e8bc00d2d814fcd261e21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b7a4b4c3aedfd7c0bad73cf8535ac14aab78b2475d60bb6b4e1ec428102ad96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c799739f7ce401f2033f3c9f36fd840784b0e90ca9e6a408751cfaead6abe89f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJhTslqtaGV8N3r_3EfG1Bb5klDQeK7ctNDvBwBsVhCxOI2ERHMSd3376nFk5jDH1UbpzZZ5MJz69n5tNyAvYYQHAeT6W2R3S9h5RA0lq-a8QwmGBSbWgnaGpRuF1ssWiptTmsOOtPZbUqJcAbeKl94sHo5pMG-Yi47P8dFu6biObf2WuoyB3Ehx1TQIF22p-xGmr5yEnmmW0YOVviQyK2qCbTdJqe4N4EijWcHqQJLsFXN6w3tbqk13POfkskueTp5FTTRixcBQjmT4YixmKY0v2Ok-twnSpsTeP-HDeIiTXjoDfOzTUAiaEamR0eqaCB1p_e41mgAbW8Hy_4qkbvK6bOrnEaYLwjMMiRq8MlaPt252drdtmWl0YV5QL2NK9HViPEun7BuoKSFg2ELCp5AU6YknGIWh4iFyPMzdPh_5BnP7moxwc53S_fn9loL6hW_TFAc8RAD-bgwTUzj1B4DoaNfC5gi0JVnDzYxFqPQXG7B8LrgMilnA5Gp3QWZLtnxiH-zydjsUMo5GonwcCoyRDuKODFRCyIvnARwwGOjrf2XxQBASVBaopbxEeLT5AxwHY_xAzr3emd8vH0lglWYkOpyUBcysr_WbutI6nvGxx7vjLqUnzXlJF38j4ZTIc1IoYxzWO9bLSoC4NI_sGPEAJUhBrRrcZ2wUF9Z7QSyKhxXUOlXB6ed4nRlvo4dL6ZKdk1edYa4dMK0JrrP9EmoSAKqVCwlXUDWHtuyB_MMHMDp4FQoC8PyOnGRTtZJi_WQ54b9lfhWqzHAgkZBBfdpfjIz9wu-pzp8-WL8oz248nH-eu58wnJBSQNB0gqQwolShpcXwWEub6iCO8elWURK69hu9uQNP3Y2PsOJ9UG0OKw8rcOohQrbb0Lr2pMuCOFDb60PLLmaaSKYHL6eiKZ86Cs7T4ABskvITt5jn1U9fm_DukdSXwkjIZYvSl_Ggt0fv7lCjk5EbOBNfK2Y7A53Bb5UM40yD-ySNsbWo55RUrCbmDexaonGkQejZo4SA2xoAjfwPI0qLyR5wETur-ynfS1oZpK3WPay3oSgw9SxksoqSVMRmptqB7p8y6y3z0N33u4jRhBAmxHTb7TukFnGI3vUpA-YzjxJwlY16SyKmhTY4KDZJt-6kH_PL4kz6v2vTZu-ntJEpRicW3FOdsh7StvlKV54R8l5JQZjHXjmqnEC1gIcvZ2ljoX0vFRnGtmdBW2g-ftZfL7nsKJoH1eZi7vHrPslQ0sOgQ561gEzY_0aeBcclAzDxZo4yj4Not-raKahDv5FikbQ7iyx1Tlaec43pKuWyG_sSXN7nqEsP_SQmQG2RcQF0F_Kemg5g8hSsJQpp8IoSka6Do5juorZye66gc1tatQt241h44MNsTQyFlqY5S4qHIIELBLAl7BhB0vaBVt_jFsLYKyi1E29pwGpNrBY2JMz_80-sp8ERIQXFzZwGHPGm3vhvoTZzGkQlLx4Zgdh_lpKjCj8Jrib7jw6DR_SuUq8eEYr4AkrCHyKJgS5AJ66J_GS3-LyiQJueu4ps1J0EcSwmX5mgRwSdC7unNuxW-V1Qdpp-_1YGsuBk6OJrTYzOmQ2uc15mTvxC2l9t1hprZvQr_-y9clEZ8KWuNXEzwhUKt7fWFoKLKCoTiQcxuZL73VywoW0oj7iIRvjI-MAnbUCTr79-d7JB-p8GWHAxA76ZZ4itlsIOohxZ69RK3qzfdMOmbqEJRuBi1LTb6VfxICBBnL6ydO71OLKY4enmcebt869OByZzI40cT4b0Y1IiaTyoAMY5YjSS9NXEDsAiCiwdKOkYcdWgLO9FnB9ZWPzRP4fiGmiLfkd-eoH8z7L2I6DNibsRVf1VvIejcOAErpQbTWfZ4ZsDPsBLQrdlbzx58KwaaMBnmILxLJvc25PzoHlnMySg6PV7yPqkC7XB9VrAZ9o8QrpL0calis2K-sUJ-Xr7fEGVmgSXpu9Y5VKl0di9d8ddsX20qJ6ii2HJ6IWytx-Bf96GnuBg8qHpZBXulQt2bT93c5N8wzdmJXCSl1hOJzL0dRJzS3TNa5zIbXL8an5pWGMPVVzBJYt6K1-e57LvaHdfQSMhLS54MH8N0RfI0mFPMX82rfj2kNZWMnInEocymTTWhX-oyI6RoYIB_IOUt4FatavYw1bC2eGJztmnD2kCXaMW",
  "id": "rs_0bc607ab0d7f7d2f016ab4984f3e3887d080e29b34ff787a1c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.21,\"right_x\":0.415,\"right_y\":0.18,\"right_z\":0.16,\"right_gripper\":1},\"note\":\"The first bowl has been released into the middle bowl. I’ll lift the left gripper clear while bringing the right gripper toward the cream bowl’s outer rim.\"}",
  "call_id": "call_EIHwlXS4zcYzQWXJVhjN5UL1",
  "id": "fc_0bc607ab0d7f7d2f016ab49852793087d08d818d12c40b4f5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EIHwlXS4zcYzQWXJVhjN5UL1",
  "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]: [-0.7918, 1.8751, 1.6173, -0.7593, -0.6964, -0.577, 0.9957, 0.5678, 1.5967, 1.055, -0.2447, 0.4171, 0.321, 0.9971]\nstate[eef_state]: left_x=0.406 left_y=-0.2448 left_z=0.1846 left_yaw=0.0734 left_pitch=-0.1536 left_roll=0.1928 left_gripper=0.9957 right_x=0.4002 right_y=0.1747 right_z=0.1372 right_yaw=0.0439 right_pitch=-0.1327 right_roll=-0.0401 right_gripper=0.9971\nstate[joint_eff]: [-0.0752, -12.4239, 9.2103, 1.1502, -0.2906, 0.0366, 0.0757, 0.1299, -8.0205, 9.2513, 1.7607, 0.4225, 0.2515, -0.315]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c78ca90a76a86f5578d2a48a95b4347252ff1e90c14eef5d5f2d65f5822a136c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbed0add2100e65264c99f8c012e010bd521181252c3d120ad9570b321223f8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea570dbe79925478ec07e825a69492e682524141e6ce20e0b30ad927888c3407",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8062, 1.8053, 1.4422, -0.5537, -0.7105, -0.5743, 0.0414, -0.0219, 0.8101, 0.5953, -0.4156, -0.0162, -0.02, 0.9969]\nstate[eef_state]: left_x=0.4012 left_y=-0.2467 left_z=0.1761 left_yaw=0.0574 left_pitch=-0.0799 left_roll=0.1256 left_gripper=0.0414 right_x=0.2896 right_y=0.0001 right_z=0.1644 right_yaw=0.0037 right_pitch=-0.0583 right_roll=0.0029 right_gripper=0.9969\nstate[joint_eff]: [-0.3624, -9.0598, 9.4701, 1.2186, -0.6178, -0.0562, 1.0281, 0.0068, -1.2239, 7.0359, 1.663, -0.0757, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7921, 1.9625, 1.2312, -0.2497, -0.6968, -0.5697, 0.9949, -0.0216, 0.8116, 0.5953, -0.4156, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.4046 left_y=-0.2436 left_z=0.0664 left_yaw=0.0654 left_pitch=-0.1305 left_roll=0.1708 left_gripper=0.9949 right_x=0.2897 right_y=0.0002 right_z=0.164 right_yaw=0.0043 right_pitch=-0.0598 right_roll=0.0026 right_gripper=0.9969\nstate[joint_eff]: [-0.3214, -11.8496, 6.8855, 1.3114, -0.4274, -0.0024, -0.0806, -0.1026, -1.3333, 7.2137, 1.6923, -0.0562, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7918, 1.8751, 1.6173, -0.7593, -0.6964, -0.577, 0.9957, 0.5678, 1.5967, 1.055, -0.2447, 0.4171, 0.321, 0.9971]\nstate[eef_state]: left_x=0.406 left_y=-0.2448 left_z=0.1846 left_yaw=0.0734 left_pitch=-0.1536 left_roll=0.1928 left_gripper=0.9957 right_x=0.4002 right_y=0.1747 right_z=0.1372 right_yaw=0.0439 right_pitch=-0.1327 right_roll=-0.0401 right_gripper=0.9971\nstate[joint_eff]: [-0.0752, -12.4239, 9.2103, 1.1502, -0.2906, 0.0366, 0.0757, 0.1299, -8.0205, 9.2513, 1.7607, 0.4225, 0.2515, -0.315]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c78ca90a76a86f5578d2a48a95b4347252ff1e90c14eef5d5f2d65f5822a136c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbed0add2100e65264c99f8c012e010bd521181252c3d120ad9570b321223f8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea570dbe79925478ec07e825a69492e682524141e6ce20e0b30ad927888c3407",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJhfcyCg3OR8tdk8H0swZy8-ILm17E2hKhzvm8X8wJgBN59n0V1NvC8jf5b80vYxLbH-4TlVr294LsrSsT1LbEohCMYZYB6-TXjMNc0QoP8qtEWE2qI7MewrZk-JqEQTG2Iv0j6vA8UUrEnDuZaU1YFm52tkubkrTUbLaju4urZFZoInWJhVuL6LuB9tbX-nXSwzEWc7WePm7Tu8h5Unn1w1cg7CSbyuIBhDZkdL31BGV_wQYRTs5M8VulExqJP-e8gAO1L_SLxwPMN0zrAUuY6ABIb2r8-bEH4XhxpYCJgpM98hjHkry_DiIF8pBxfXXHfppRn4Nj76tvMRpZSV_2tvqCjls1KOyBFqN-gm1X-shQxXi_ZTs4stuPkxZlMhg7c9nkgWn2RQ8natClt6PMRvWPfnsmFrI1YIPM20CHErjzcdHH904rh0r22vesZZZD5A8M4yDxdsPDpdDrnFgwhYGCz_KdJo4PfPC95CarpkBDrgtI8Jb_A0r9psa3kBzDoWl03PoEI6QfaVKlyRpQ6oBON_Yj2zIdi3-z1mXdbJHRQTXFIPVl6zCfSKrQ7pqkQfgxET_0Od83siVJgxee-Xq7-EADuIq0PlZZtCjAoSEbdlZyyvK0ey6S3ZrKX6Q8-DEArWFdkIajS3W0JFjj7lMn3eloFcdvGwUtom-H5R54RUHOXR_gT0Kp36i_ajE6vieBx8HMAUC79ClYdU3jyp1w1e34BuFCgCK4zyFTOvUBMDTH2XtBCrePECIH4CRoh9DDi2qx1ZuIVlj87An5SvTb47uyfh0qVsXeAnzR5An4ehmlkDqzXfh-2euk-phLBBw2Jk-ji9eFQ90_6O8j3E25z-stJRbrB68KVaQAPWbgcpEgvxaQx9HDZOjsV_LGIVDfKC7gLnv84d517n3rneDeNu-Zk-1rxPXP2vleJhnTfQSExOHyX5yT5-N8OQEV1OzacGYJpUDulE3LPNa7YP-GtyjgTAs2n0Bi90Nzdun8pMhS013wp5S9i4vj84umwaUFgs005n_78vGvTDMHRlREST6FFX7-gf5UcDGrnR_B-NIMf84QmIvW4Scg12GdQnsuGPInff0mmtheIO8TnLr4Qx2K52S5fWAbkHY9D48MWC8OyKgZTP14zEsbd6yab9IlKOAlPWTyA8GojT-EfKSWb6qXwQjAK6ZOzBouN0CMUtE2U4pTjcDsrpht1wuFTQnfq2GImhyKreTGJlcIkzCIRtiml_llZg407Y4-aCQSaefh7E8Y5S7pRN5FVNiA6cmtLUhk-q2rb7IcY2XZdb-wtoh3uNFaX-Pb39vQRXbMWXHwIKRrDQNdRwdo9K8KaUXIguxJy5kn-dX10ICCLalnnCfB_nu6kTL9fowGkfGkUUK3N-YBmQp-syXYNpmttDHD1IKLfIsYB8mlP5YxHpTUvfR5z16CqqcqZmIh79ySW49NMpeADKbW1gATnP9wwGVuNF9WsgS6aqrpqg0dJ9gw6IQ-Ml0FTMV3Z8ucCk-Tk567yPn5NpGRvYPxHd6wioDjEofLNMdulSGXJFhIALAm7fZ-_EzEtx7LHAXa60m5ewVkbcIMtPd2YSK7M6nFq3KVi3hHos4Fb5A7cptaIZr1AMPAWToPCGJuky59tMVWp6dMVdZVLGuONxTuqz1DL2CGqXP6OZgnvCSkEvBDteESavr19mp5haGiN2Jc0RN8yTs3uvjMoxTC9sRRLNU0975Q3brrszhtZUakK2VYpdQ_sqzMgOzOmlA9_38-LwXzqb6OP1ZYoRlUKsnvWIGT-UwxkMJ449NJl-SFHZ-bPidLG6MOKm7_Htyhe2PAMT-5cmTv4wUPjlU3E_K2xT_0lScDWGpYfCTukhd1YU8dPffoeaQs337rvFMhNDMW9uRGs4xrgcVE2kR3cMmV5XHE5r59dSWhqmWPhY2yvxBgAXjczlM2nK07GhsxjuLjSEYLGG33osfPYeZklyiJVYjHVLzixgWk7nVUxFoiPln9elJkONcAzQdPqpfueqZpnidEJGpWPBOu3DPoZPKPToQoTjfkUgDFFE9kdospoqR8y1XhBCODnp1ymkZ-KVVAlhwPAoDaHv8CgYjg1DRJrwNBpYqPeJt80WGmz-X7HXTwfQcJJaRJmSBQVPelTLnu0GOwJQ0RJWtYu1cnPwe_pZpCZi5UB4jZktzm2L8CKxHjEYAulYddHcLrvzM4-oyU07cogeVgiGOYQqQT3eUf3IS01OVXqyRkh0Cv5oW7_px6EBVOXDDHR1Bxn656oj9Q9CJsfOnr_y8Pap8ciF9lJM64_2Cs8Tf4h6bPeYCzRmQfYTWAcyya4hc_GVF24TjBDfJdtsvtIKk3hTiKU0MdeMQMa1nMHJ5U1NMq8K0Ugu3ApVYrMWf4FOTROA1oz0HegWJMgcmn4sYynFVAM1R_2wSs2n6yZkreBGiioxYVzItjLUgATe7fTJCsK24gPfCHUQKGhbqsXShxdBsRzRB3wLbj_UGVuVNUqtU8uRgiauQ-zc9TRKLDrr-LkB6lcB2dZYL9GZlQ9jeG2Xj2TtR6wMWBqUUtFaXLPTHrIYUgDClOXbE-w0OS5uBGvM_pnW_0cGo0dNBMNanESeryp-om6xhTQXJuSc1gVdG6K5YeVNUuDn8KhDnRlmj9Yk2zajrGnHs0KlS1zLGuVd_S3N1GHHg4fKP3cgAbxGtqE63A-hKukB214W7JLx5s4ttSmmdTgU9zTFZp50irh8u-k99QskZN3kt1ULDHzu7xqJekVNe5xFOrLlYH9Zhzurup86hcDoC9ZnFZZRoOsXlcGXAKRnXGcv4SDg0vbtZs750-poQeHMJRYvas7kHeuGQS3BEHAxxbtszzuPHL33mUPOGDc2QzIBcsK6IJhgDM3ph6p99skUVyeSNPORg8h6shQ7v0qiU_NaFSp1vz2pgBV2tUvmdLYGayfI0jOutWxIhzpDDqGLbHNWl00yUq9DjpVXiwmKeGgZagaJVy-Iy4rNmj3wcsb0NnKapfIUifZ6Z1tNXIZ8pyAidU4F4gN4SQWmWw7g0cPURUI9IlfTza3nBe_l1xgitsm1Cdnoqp9QBzM_2ZKrxISE3CuAs9FfiRW5c5wW7izHOVAbrAlCDJIkN5-GJXm3hw3AH16edbCzrhoiyFx01qZ7DURuuEkvRqq79hhl7XRbPETrUutAFJhDgD6cKLj5jyiP3IxTiQ-457s3koNG9xMEiiSCf3E75Wtp7fyhKEZRcqszlVwTrindT2RY_cF7wQ_1zMLYp2_kLlL2A_rd4PNCvZZgYBITUht6MY3hyTMWel3seV-HpI-VgLwVb3_C5L_K02dWEHc1DYbf7tKKjTnMt77Ysi2WMjRghoxojgV780HhUscYK58dFlVFSyjH_aMqEms58rfYH6JZLA5eJKY5mnmxIuKNY2G1mL8_i6ZXUhMd_8oDluPqY67JpWkK6QEileWOK3pzQZPHm7pZJ4mo-UlW4t9XUlOYCkERZ1UITkVPofFQdZ0v0ZgeW_1cUHbxjI1FsXcbU2UyZgd9VfrZ5BQFy7rnHZWXxTH9Uuk=",
  "id": "rs_0bc607ab0d7f7d2f016ab49856603887d08bd1c4698b1e2b4e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.20,\"right_x\":0.44,\"right_y\":0.105,\"right_z\":0.10,\"right_pitch\":0.1},\"note\":\"The two left bowls are nested. The cream bowl is slightly right of the right gripper in its wrist view, so I’ll shift outward toward its free rim and park the left arm away from the stack.\"}",
  "call_id": "call_TJ3S9em0aVIibCXC2ahGmFFP",
  "id": "fc_0bc607ab0d7f7d2f016ab4985e315887d0bc83fbd3ea183c7c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TJ3S9em0aVIibCXC2ahGmFFP",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2161, 0.9691, 0.86, -0.659, -0.3519, -0.1089, 0.9957, 0.3431, 1.6596, 0.7383, 0.3801, 0.2974, 0.1055, 0.9969]\nstate[eef_state]: left_x=0.2975 left_y=0.0007 left_z=0.1989 left_yaw=0.1194 left_pitch=-0.1516 left_roll=0.1819 left_gripper=0.9957 right_x=0.4347 right_y=0.1041 right_z=0.0932 right_yaw=0.0381 right_pitch=0.0559 right_roll=-0.0505 right_gripper=0.9969\nstate[joint_eff]: [0.2256, -2.5778, 6.653, 1.7118, -0.1783, 0.1538, -0.0024, -0.3761, -6.735, 5.4906, 2.0733, -0.0073, -0.0904, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f81e502fa06d3537b93f801d9560d94c0e3b88e75284728a9e3610699097eed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a5cc5c84b898e3f7cd3c77072e288379c3b0848b5f9e92825ab9f9c21e0aeeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03b4c3db64879f2b9f7d130b86342ff783fca0f05c0e64ddc03fa2e1784c7e1d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.794, 1.9411, 1.2407, -0.244, -0.7025, -0.5655, 0.0414, -0.0219, 0.8116, 0.5953, -0.4156, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.4076 left_y=-0.2468 left_z=0.0802 left_yaw=0.0616 left_pitch=-0.1034 left_roll=0.1493 left_gripper=0.0414 right_x=0.2897 right_y=0.0001 right_z=0.164 right_yaw=0.0039 right_pitch=-0.0598 right_roll=0.0026 right_gripper=0.9969\nstate[joint_eff]: [0.4034, -8.8, 5.6274, 1.4042, -0.3053, 0.1001, 1.033, -0.0205, -1.4291, 7.0085, 1.7167, -0.0317, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7918, 1.8751, 1.6173, -0.7593, -0.6964, -0.577, 0.9957, 0.5678, 1.5967, 1.055, -0.2447, 0.4171, 0.321, 0.9971]\nstate[eef_state]: left_x=0.406 left_y=-0.2448 left_z=0.1846 left_yaw=0.0734 left_pitch=-0.1536 left_roll=0.1928 left_gripper=0.9957 right_x=0.4002 right_y=0.1747 right_z=0.1372 right_yaw=0.0439 right_pitch=-0.1327 right_roll=-0.0401 right_gripper=0.9971\nstate[joint_eff]: [-0.0752, -12.4239, 9.2103, 1.1502, -0.2906, 0.0366, 0.0757, 0.1299, -8.0205, 9.2513, 1.7607, 0.4225, 0.2515, -0.315]",
      "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]: [-0.2161, 0.9691, 0.86, -0.659, -0.3519, -0.1089, 0.9957, 0.3431, 1.6596, 0.7383, 0.3801, 0.2974, 0.1055, 0.9969]\nstate[eef_state]: left_x=0.2975 left_y=0.0007 left_z=0.1989 left_yaw=0.1194 left_pitch=-0.1516 left_roll=0.1819 left_gripper=0.9957 right_x=0.4347 right_y=0.1041 right_z=0.0932 right_yaw=0.0381 right_pitch=0.0559 right_roll=-0.0505 right_gripper=0.9969\nstate[joint_eff]: [0.2256, -2.5778, 6.653, 1.7118, -0.1783, 0.1538, -0.0024, -0.3761, -6.735, 5.4906, 2.0733, -0.0073, -0.0904, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f81e502fa06d3537b93f801d9560d94c0e3b88e75284728a9e3610699097eed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a5cc5c84b898e3f7cd3c77072e288379c3b0848b5f9e92825ab9f9c21e0aeeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03b4c3db64879f2b9f7d130b86342ff783fca0f05c0e64ddc03fa2e1784c7e1d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0bc607ab0d7f7d2f016ab49862f83487d0a6dfda99786d0ce5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.12,\"right_z\":0.045},\"note\":\"The cream bowl is now just below and left of the fingertips in the wrist view. I’ll come back slightly and lower onto its exposed right-hand rim.\"}",
  "call_id": "call_8wX6G6FFOqVSd6B9aBwxXJWS",
  "id": "fc_0bc607ab0d7f7d2f016ab4986b0ab487d0b072a027d2f9dec1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8wX6G6FFOqVSd6B9aBwxXJWS",
  "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]: [-0.2161, 0.9741, 0.8577, -0.6685, -0.3378, -0.1017, 0.9958, 0.421, 1.7618, 0.6056, 0.5312, 0.3355, 0.1287, 0.9969]\nstate[eef_state]: left_x=0.2961 left_y=-0.0014 left_z=0.1944 left_yaw=0.1048 left_pitch=-0.1714 left_roll=0.1833 left_gripper=0.9958 right_x=0.4019 right_y=0.1202 right_z=0.0327 right_yaw=0.0725 right_pitch=-0.0159 right_roll=-0.0776 right_gripper=0.9969\nstate[joint_eff]: [-0.1846, -2.6872, 6.9402, 1.6044, -0.3297, -0.1343, -0.0073, -0.212, -7.8291, 6.0376, 2.1563, 0.2808, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5bd6abc74552a81104317640216c5eae19b0179253220def94116d0c6595432",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b77e6dbce5fb7548a5b0896ad3c9c9cc013acdee9a2c9e48a941832d63c5c59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c67bc846bff15a3980eb5f2d883c9d763d1cabcf08d2734220cb8e6342c5b02",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7921, 1.9625, 1.2312, -0.2497, -0.6968, -0.5697, 0.9949, -0.0216, 0.8116, 0.5953, -0.4156, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.4046 left_y=-0.2436 left_z=0.0664 left_yaw=0.0654 left_pitch=-0.1305 left_roll=0.1708 left_gripper=0.9949 right_x=0.2897 right_y=0.0002 right_z=0.164 right_yaw=0.0043 right_pitch=-0.0598 right_roll=0.0026 right_gripper=0.9969\nstate[joint_eff]: [-0.3214, -11.8496, 6.8855, 1.3114, -0.4274, -0.0024, -0.0806, -0.1026, -1.3333, 7.2137, 1.6923, -0.0562, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2161, 0.9691, 0.86, -0.659, -0.3519, -0.1089, 0.9957, 0.3431, 1.6596, 0.7383, 0.3801, 0.2974, 0.1055, 0.9969]\nstate[eef_state]: left_x=0.2975 left_y=0.0007 left_z=0.1989 left_yaw=0.1194 left_pitch=-0.1516 left_roll=0.1819 left_gripper=0.9957 right_x=0.4347 right_y=0.1041 right_z=0.0932 right_yaw=0.0381 right_pitch=0.0559 right_roll=-0.0505 right_gripper=0.9969\nstate[joint_eff]: [0.2256, -2.5778, 6.653, 1.7118, -0.1783, 0.1538, -0.0024, -0.3761, -6.735, 5.4906, 2.0733, -0.0073, -0.0904, -0.0366]\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]: [-0.2161, 0.9741, 0.8577, -0.6685, -0.3378, -0.1017, 0.9958, 0.421, 1.7618, 0.6056, 0.5312, 0.3355, 0.1287, 0.9969]\nstate[eef_state]: left_x=0.2961 left_y=-0.0014 left_z=0.1944 left_yaw=0.1048 left_pitch=-0.1714 left_roll=0.1833 left_gripper=0.9958 right_x=0.4019 right_y=0.1202 right_z=0.0327 right_yaw=0.0725 right_pitch=-0.0159 right_roll=-0.0776 right_gripper=0.9969\nstate[joint_eff]: [-0.1846, -2.6872, 6.9402, 1.6044, -0.3297, -0.1343, -0.0073, -0.212, -7.8291, 6.0376, 2.1563, 0.2808, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5bd6abc74552a81104317640216c5eae19b0179253220def94116d0c6595432",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b77e6dbce5fb7548a5b0896ad3c9c9cc013acdee9a2c9e48a941832d63c5c59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c67bc846bff15a3980eb5f2d883c9d763d1cabcf08d2734220cb8e6342c5b02",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJhx-nmlyU4kYxPJCv6LNahpwNinf-RR-gKGj28x0Q0F9Y4WeSBo6QFHmfeysD3UhAdxz9b34yWFDwaExcE3GyCIvioWbdV_K1z5j7jPSI2mSvPtMfl0M6GnS0SsQIl5yixgm_EFDujjhCjPE8glZDPhfZ_rBV5EuQajM9e4xTpBou3CQc3fgOni4nq12bXGhdflU2tN48kqNhvj3r256YuGLzGQAyoP2Q_LKHP6dKoNCQnHLAxaHXWLhq0ffncI4FhwGuLH2Qwu7yu6ex_qVzHpGo_U19YIGSA_ywpEMqo4q-FJF0tuVjmmJ6G7CU37iijHI7XACYnPXCF4iBbzUHESP7rifPDHIW_U2NXY9cqpeEEuH909LLNXEAYWb7agtHvd0jvfFTx0WlIbEgn-HhiH5rt4TVgXxdwXznFSslEjcUpTkVcjW3DC7F-djqf9fk0LUvhiXD1LR3qTfJ4hcqL0ZPS__vg92l5XQP-nENkM_e0A5Go_PjvLcWHHk7RzdTuIHKostxeqig0XXRtY_KMfh5YJMl7rGx7Xk-dC09SYJj1ATFUCSQvIShiaEnwQf0qdNCd6uJE6weCocgqg-bm9esM3IzohVks8SHdmu-bo4a5D68bKsh5vKx1Kml7OCJLqv7GEXbW9Ib7H-elcOB0mAeJAo5TD6arRYhK1G5nA8PVjUCqYIk_Pixse1xkU2XV_XRxaXBwJfaKrkrr-AxhXzcYCSl5gcNcdZhGM2HStCz1YUhKswf3zGHwePHf8UDY-bCnZUM0gSVU4N74cvK10dEZfPtb1jGTpSEAVZM53qTZxIbjfyMkfvkGXunhGxzXoisjPaOWoOinOhVe6wSrf0qoLbvcsucXsj0fQK6-JGXtvMr8ARYFnGhXN0uQNSUYEPjv1vKoqEcIVKW6hQVGOKPnVnj0GTYE0oVdvMKscYJ2ItJSUCNxcBW_nrTPwuCh1VaJ7ogCN4QqsMSg4skRSGmZjLWs9fCiMOJPGa8WlQjrJJ0mkPLzL6lRtoVgzVyRp9Sj6fs6RT9Y6NoY1g9Ap3wdUwgWAS7_cCyEiuJOcR7JBx99Z4aUJhdG-CWcaYJa22i6lKWwuyig0DYoVraa_E0Cnoebo2eMHJJpCB3JU6R-nc_F_hVFiVQzNDpAOTO2wpLYhFcIlILIR0f4tJnfYMefpZKvDPm1pcF3lSs-Uj4HXLS9n6pJmgBHFernAosyuRZg_rme4pa39_SFRR9qP5wMosLhBM7qXQbbNMq9jaQ5vuadN5KfgsxDa5DkZxlx51kZC8dSX_bgaQXakjL1bl999vpPH9C-H3yi-nZwTFkWzHBmcDbPBhHX1ttQAcZr0chBdZoFJAYgl_CvsWj3oyBG9yL3QnZscX5-hGb_ndGs6xLmdPxJNCX2zWOYgfWGg3MXDgapckiiNq84iBLDcDNPM7zjyrUjocCHDm2894uXgJ2Q_6curpyQ6u229H8bNQRORMrVSqNS_qyhEo0U8UyYKrTp2Idbjm-twNdKcbYEBd5sdBRYy2MCmAWR5G3lbd_VKm7PnmXoT3igMtC5GVNP83U-qzgGjNc8QV_vFB8kCNm463-zYPfnMFaH-j36v-bpsjYqMd-Y4xIKZ0Wnixr_PRJSPN5kucEJKyVT9oVvGiNcMEyQaJWAKnpZLBjg7l88Td5z23I_LSj_uG0tcc0FwkyGFyGgMr2t1bfR8AaTtwKIMOvfLnUxhV7FadyZ_ZPt6z-EGeIVclo2acoNn4Z_bH1ZEyVXgn2x7IPHM39QoSC9WRZYvQ2IJmf5GogY-EXKGdg77yLuoZEXh0oh4kGIk_ZvTXzYXuYtaWTdVjYM=",
  "id": "rs_0bc607ab0d7f7d2f016ab4986def7887d0b26892430110cbf2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingers straddle the cream bowl’s outer wall, with one finger inside and one outside. I’ll close on the rim before making a test lift.\"}",
  "call_id": "call_c2JATX2cDdPoDayhqiLoOxq8",
  "id": "fc_0bc607ab0d7f7d2f016ab49870501887d08cfd2c2dd19ff4c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c2JATX2cDdPoDayhqiLoOxq8",
  "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]: [-0.2161, 0.9745, 0.8577, -0.6689, -0.3367, -0.1017, 0.9958, 0.4278, 1.7729, 0.5972, 0.6197, 0.355, 0.1497, 0.0229]\nstate[eef_state]: left_x=0.2961 left_y=-0.0016 left_z=0.1941 left_yaw=0.1039 left_pitch=-0.1724 left_roll=0.1828 left_gripper=0.9958 right_x=0.4089 right_y=0.1229 right_z=0.0434 right_yaw=0.0515 right_pitch=0.0533 right_roll=-0.0454 right_gripper=0.0229\nstate[joint_eff]: [-0.1026, -2.2769, 6.8444, 1.4872, -0.1832, -0.0562, -0.0171, -0.1709, -7.1726, 5.3128, 1.2869, 0.2955, -0.0708, 0.9548]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffe533bcb948e65a605bac3fdbc08c9ab095703b4122b294f5da5fe0ef4bbd1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b71efcddff1cc89842faa429d2dfc95028d3a5738fa7b048cadc92e90c92b2bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20baf1c23dda1afd5c4819e068ebc3803fec2efca2aa9b77206fb26e0c7209ca",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7918, 1.8751, 1.6173, -0.7593, -0.6964, -0.577, 0.9957, 0.5678, 1.5967, 1.055, -0.2447, 0.4171, 0.321, 0.9971]\nstate[eef_state]: left_x=0.406 left_y=-0.2448 left_z=0.1846 left_yaw=0.0734 left_pitch=-0.1536 left_roll=0.1928 left_gripper=0.9957 right_x=0.4002 right_y=0.1747 right_z=0.1372 right_yaw=0.0439 right_pitch=-0.1327 right_roll=-0.0401 right_gripper=0.9971\nstate[joint_eff]: [-0.0752, -12.4239, 9.2103, 1.1502, -0.2906, 0.0366, 0.0757, 0.1299, -8.0205, 9.2513, 1.7607, 0.4225, 0.2515, -0.315]",
      "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]: [-0.2161, 0.9741, 0.8577, -0.6685, -0.3378, -0.1017, 0.9958, 0.421, 1.7618, 0.6056, 0.5312, 0.3355, 0.1287, 0.9969]\nstate[eef_state]: left_x=0.2961 left_y=-0.0014 left_z=0.1944 left_yaw=0.1048 left_pitch=-0.1714 left_roll=0.1833 left_gripper=0.9958 right_x=0.4019 right_y=0.1202 right_z=0.0327 right_yaw=0.0725 right_pitch=-0.0159 right_roll=-0.0776 right_gripper=0.9969\nstate[joint_eff]: [-0.1846, -2.6872, 6.9402, 1.6044, -0.3297, -0.1343, -0.0073, -0.212, -7.8291, 6.0376, 2.1563, 0.2808, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2161, 0.9745, 0.8577, -0.6689, -0.3367, -0.1017, 0.9958, 0.4278, 1.7729, 0.5972, 0.6197, 0.355, 0.1497, 0.0229]\nstate[eef_state]: left_x=0.2961 left_y=-0.0016 left_z=0.1941 left_yaw=0.1039 left_pitch=-0.1724 left_roll=0.1828 left_gripper=0.9958 right_x=0.4089 right_y=0.1229 right_z=0.0434 right_yaw=0.0515 right_pitch=0.0533 right_roll=-0.0454 right_gripper=0.0229\nstate[joint_eff]: [-0.1026, -2.2769, 6.8444, 1.4872, -0.1832, -0.0562, -0.0171, -0.1709, -7.1726, 5.3128, 1.2869, 0.2955, -0.0708, 0.9548]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffe533bcb948e65a605bac3fdbc08c9ab095703b4122b294f5da5fe0ef4bbd1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b71efcddff1cc89842faa429d2dfc95028d3a5738fa7b048cadc92e90c92b2bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20baf1c23dda1afd5c4819e068ebc3803fec2efca2aa9b77206fb26e0c7209ca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJh0lEG9lnndTJcrcAqK1mB6RZ3ofdRsMf-WUEJoawWuf4fzciHGST5E8hy4erXqWGngpennJLCyo_zCGmlDI7JCVLU8Ip0sZHqzzvz9zlOFJ9zjUKM8-wwZZwoAwzhAvjSTsJrkEEa8qepaD8mzhNVVTa2G_85Pt9i0af_Zq1B_aiHLl_RZt2136Ehq5A6xxHDgYwANzBB3gVlDqo_4MmZRH8r8KkTLdhESCH0xiMtg6bZ3q1FhcuQip6PIvpl4pu0Hc8Y7xG2U_9VpdhnEzPBH7PULq4tOkowzAdokp0Hwg7VqpHzReo5Vyw5oJXE-swM_3_471WXcsiof84RGs2zlEcqrA1lURCYW8_zfN8Zukhc1UQ-iu8UB27m-7MknEejf3HF1N595SHzBc79JkxNKEGxzhQVxK7cL8QyBfF9KiwQJ6ADQFlReG6Cz_Fi-zRWUtXIgft7TIvY9umDoXYXzoOCpayLK5ZcQY9NOrGJ7jYM557WV5ULWJsYXgN7IEIw5-2z3sqDTheTwLgIXM8SwNk41ac96bW1Uzr0z277qBNT7bLEyCX1dW8GaNN9hf0fpTZ5X_SsBXEXJQ8ZVlJ-gi8Pj0r3uid4RU-WInLgmzyxqiijzUqIrOn9VASmno8ZsGdK6BIK3wlpJ65TQJRpvPYUi7FZ-jsNUKMnP4pdK4uS9sUl6bjUqOY4sOb1MLayz_3V1bKMmW3JeXSnDnliUZ0_DdM_TsX_F53PgVqZqAgJmI5U3eoblkNJThZ1OJ00xV62uid7BvgqA1hfOGT6pS3cmiOnH550TmDgVx-4xBg8rrcuNqbn0U6oUE_uCGoQeL0LHMKAJv_fXswp8Nobd56QMl2hKNIqGREmsB0uNndQ2FSanz8t4OPwHiXMm5kR77r7r37Fbdvb3YOeoI0CjGjrblEMdJyrZBnsl9OlaX9Qk4jda8yuXQUKEa8KHS7nYToyPtWyS_OygQ6f1Uu6GtrD3Yt3MrGJFpsYQ2ORRCw7FPqfzy8AfRK5Wh65IWmJVrqS8wSGKSfkokaBQXCRip7-Ur5ZxLH7PbZKR0HtMN-4mC1k_yMyc2yg-QeOk7mUVFol11TwYItqsF0kiPPmpDT4xjqBS5pa0yrxrdDkH_0Eax4kcGpUwfVbiFmS8FEpomPwnFXgnD6NowVjKpFoIHGZtIIgBfOCOn_h7DmqNkmjs3244YtNGu2kvxnR1P27OYwAByZr0ey1Pk9WyZ6gJzW29e0LoGrHlqrUWcLGaByNCh4Jehw1MuE75byF5_yhhU21HrEtO6CEf8wyHb7JyCmr5QhZ1kF-P2wxnlAAbs1k3zw70yxrgIjcYhmeuGu51oUyhKM-4_slbgDBo-xUioQ==",
  "id": "rs_0bc607ab0d7f7d2f016ab49873407087d0936cdcad105be5bd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.105,\"right_gripper\":0},\"note\":\"The bowl shifted slightly during closing, and the opening is very small, so the grasp is uncertain. I’ll make a short lift with closing pressure maintained and check whether the bowl follows.\"}",
  "call_id": "call_vIcLnY1rCBYpvE6MFjvqghih",
  "id": "fc_0bc607ab0d7f7d2f016ab49873f52c87d0948e3b2312bad1ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vIcLnY1rCBYpvE6MFjvqghih",
  "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]: [-0.2161, 0.9752, 0.8577, -0.6689, -0.3367, -0.1017, 0.9957, 0.4274, 1.5955, 0.6575, 0.379, 0.3508, 0.1383, 0.0285]\nstate[eef_state]: left_x=0.2961 left_y=-0.0016 left_z=0.1939 left_yaw=0.1039 left_pitch=-0.1731 left_roll=0.183 left_gripper=0.9957 right_x=0.4059 right_y=0.1221 right_z=0.0888 right_yaw=0.0609 right_pitch=0.0493 right_roll=-0.0543 right_gripper=0.0285\nstate[joint_eff]: [-0.1026, -2.3316, 6.7897, 1.4725, -0.1783, -0.0562, -0.0122, -0.1573, -7.6513, 8.5949, 1.7167, 0.1441, 0.1197, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a917eae02da7de9e0861328bac49ed215296ca2686759dfa5993db40447019b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a1ad3689a918c8186dbd076696bf6724b964e949d036eb035bfe234dbe53f5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a51754250d2bd949c085fa90fda3f6598e2c44b1fe01265c80abba624fa7293",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2161, 0.9691, 0.86, -0.659, -0.3519, -0.1089, 0.9957, 0.3431, 1.6596, 0.7383, 0.3801, 0.2974, 0.1055, 0.9969]\nstate[eef_state]: left_x=0.2975 left_y=0.0007 left_z=0.1989 left_yaw=0.1194 left_pitch=-0.1516 left_roll=0.1819 left_gripper=0.9957 right_x=0.4347 right_y=0.1041 right_z=0.0932 right_yaw=0.0381 right_pitch=0.0559 right_roll=-0.0505 right_gripper=0.9969\nstate[joint_eff]: [0.2256, -2.5778, 6.653, 1.7118, -0.1783, 0.1538, -0.0024, -0.3761, -6.735, 5.4906, 2.0733, -0.0073, -0.0904, -0.0366]\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]: [-0.2161, 0.9745, 0.8577, -0.6689, -0.3367, -0.1017, 0.9958, 0.4278, 1.7729, 0.5972, 0.6197, 0.355, 0.1497, 0.0229]\nstate[eef_state]: left_x=0.2961 left_y=-0.0016 left_z=0.1941 left_yaw=0.1039 left_pitch=-0.1724 left_roll=0.1828 left_gripper=0.9958 right_x=0.4089 right_y=0.1229 right_z=0.0434 right_yaw=0.0515 right_pitch=0.0533 right_roll=-0.0454 right_gripper=0.0229\nstate[joint_eff]: [-0.1026, -2.2769, 6.8444, 1.4872, -0.1832, -0.0562, -0.0171, -0.1709, -7.1726, 5.3128, 1.2869, 0.2955, -0.0708, 0.9548]\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]: [-0.2161, 0.9752, 0.8577, -0.6689, -0.3367, -0.1017, 0.9957, 0.4274, 1.5955, 0.6575, 0.379, 0.3508, 0.1383, 0.0285]\nstate[eef_state]: left_x=0.2961 left_y=-0.0016 left_z=0.1939 left_yaw=0.1039 left_pitch=-0.1731 left_roll=0.183 left_gripper=0.9957 right_x=0.4059 right_y=0.1221 right_z=0.0888 right_yaw=0.0609 right_pitch=0.0493 right_roll=-0.0543 right_gripper=0.0285\nstate[joint_eff]: [-0.1026, -2.3316, 6.7897, 1.4725, -0.1783, -0.0562, -0.0122, -0.1573, -7.6513, 8.5949, 1.7167, 0.1441, 0.1197, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a917eae02da7de9e0861328bac49ed215296ca2686759dfa5993db40447019b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a1ad3689a918c8186dbd076696bf6724b964e949d036eb035bfe234dbe53f5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a51754250d2bd949c085fa90fda3f6598e2c44b1fe01265c80abba624fa7293",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJh4YiDFwC0OxXowEpos08OObAxmNZ_dSIdJSR-337m5DqbZroKiGj9sIMXpTjiFzdbOjcCgSkaQ_TbpdyshQ_R7mCFrwr1bouHqTe-P3uGjxL9CG-zhX50OyyCEsRM-eJ7AsmPPR6p6lLWoSIhDCJTN_h8-h7VD2-rIE9nDHrohXlS-TXSoX5ZyNWwS3stZS2Fhz54RxavVF3_BRdRktNzpIhIsojgQLn9ueimolpBy0IkSbKzF37B1UEXSXGH3QKlD5BDm9vudzY0XSh4PMYB5sRgSIaqM50fTAoAIHwtPKR0FicIvGR3C9t5PUfxvhRka-MvO0QFT0-uI3GVBm8FvLRfciwLrmpaHe9QMQGOR25e-dhd0hMFJCtr1Aoxm6IbTM_xEKAgPemnB5xDa0eMQt08-TtFIJqibH-mpSOi1ACdk7hS0Mc_ueqzYx92Zn0sUKelrfYmewdtT8R0SSmspihnEvvfbUm3T72sxkTT1ZJB7lD2-kngzNOgyztqTTmu8qzaPXF9YjaIypI-LAy3xpTp0qAhW5O6Ag6jHBOn31fFTwzMbn_NtK0lzh6uoRHwicG6yl7pbmzP9BRBMe64t-PrhjR4z9D7A8raKDgZ85jUSq96g1Wup9EwbJT26uKD6BQGX_bPIqIegfCSe7X-pJpCaKdcTsWZ3bUGH_6ikm0NXKk0jS1GgAm75D-HTAurMhvS48Ms9Cfp99xXXLvpBo5iXiLr4Tn9T9T_aBgqqjBLQP1imklK05G4Ms2p4RdybxLPdlwG4pRJxfCECy2FXBmJx9aFYZQmG4q1KbegT6KMWehu0zSysTxFLAfKZRQc4Novg-goqBn5hNr5rZN_t7N4r732v8I5m8rR2Z6BagavPz22a7raTMZhexIa1vjG8NIAEeTMPCWRlzyoLWRL7fWzkcWCZLN3HsAgANb9IdXCFM2sHbXR9dkINuaUh3_JCfReKTWCmJDqYY3eFBTFQ_32P2D7nDUWOujzYudRVoEGCLwFo1tNKf-8qShlT3vfq-4i4I9SE0Z7i0_TSa7uk8bHQbTg3S26XFSKftqsyheNfZQgyBi0N8TQgySnJOqS_c3EC4TQmmoZ7Bq3eqiXxr0Uy12ofnWgIHOsSOyudao01JdI-In3Z-Yf5PRBlNrlFiuEXYbJhbHjoSHGVtqxrEGLY9dA7OmHIg94jGI8Cjk3nqJwcHbD8IQooVUYWo9R991luhXShf7ifC_2d-RxxlLY6brWFoBo_27DOqlS_LU9MBbuIdahRTEl0irCjRy96NQ-_SSCFq8meW6UfKDBWTu-W7FMougBH6gGF1T3vonGDD-siAra7K2kMTsXFoHvmXShVaeydQAXMw1QsdDqZPZKxmrI6vNSvCh3B-26H6k8TSXi9PM3Lk6KIZO9GRV_19-oUgUtFvdrPlfQC4tD1expX7_6s3ujGqd5YjfBySN7uvPd1l_O5yXbdClIQJb8yCkOEABam0V4DpqbtMOiyW6H6B2vcrKYC3tquGSwpEKlRosm1ur-zLPJ3xtBrr250JduzxYt6BJ0qrx23rbQYwFHYi2ERkyp3uuJSBQhgf7kGLQVk_fez2AbeeaatZzgP0LQqKwZ9OZi5B3I3OS5yrsH14XLK0hGzvI7qAq3hfPokKku9rZKz1eTca5wf0SChqNXCWdNgU5OKXEPYUct6Ga_LpBlVgxn1b1V4h6n-b2Q=",
  "id": "rs_0bc607ab0d7f7d2f016ab4987674e887d0b926a0b139f2b84f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.195,\"right_gripper\":0},\"note\":\"The cream bowl rose with the right gripper despite its thin rim producing a small opening. I’ll raise it to clear the two-bowl stack.\"}",
  "call_id": "call_6rYCf6IpROh0PZfuczt3Tgti",
  "id": "fc_0bc607ab0d7f7d2f016ab49877b45c87d0801c04d62c59ecbe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6rYCf6IpROh0PZfuczt3Tgti",
  "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]: [-0.2161, 0.9752, 0.8577, -0.6689, -0.3367, -0.1013, 0.9958, 0.4274, 1.4166, 0.8932, -0.0658, 0.35, 0.1299, 0.0272]\nstate[eef_state]: left_x=0.2961 left_y=-0.0016 left_z=0.1939 left_yaw=0.1037 left_pitch=-0.1732 left_roll=0.1833 left_gripper=0.9958 right_x=0.404 right_y=0.1214 right_z=0.1714 right_yaw=0.0664 right_pitch=0.0206 right_roll=-0.0719 right_gripper=0.0272\nstate[joint_eff]: [-0.0342, -2.2632, 6.9538, 1.4774, -0.1832, -0.0366, -0.0073, -0.1709, -7.4735, 9.6068, 1.7558, 0.0806, 0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f078a2916a4bf08062c9dc549b234a85d674de543891e3db7d9da99e599263f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c625841f20c440879278531a4ed26da36f266459d520c892f89a12b3542c1a1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e38333b5225b46dc6841fbb734b2d5cd60444c80bb112d869aa6dd48c78943c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2161, 0.9741, 0.8577, -0.6685, -0.3378, -0.1017, 0.9958, 0.421, 1.7618, 0.6056, 0.5312, 0.3355, 0.1287, 0.9969]\nstate[eef_state]: left_x=0.2961 left_y=-0.0014 left_z=0.1944 left_yaw=0.1048 left_pitch=-0.1714 left_roll=0.1833 left_gripper=0.9958 right_x=0.4019 right_y=0.1202 right_z=0.0327 right_yaw=0.0725 right_pitch=-0.0159 right_roll=-0.0776 right_gripper=0.9969\nstate[joint_eff]: [-0.1846, -2.6872, 6.9402, 1.6044, -0.3297, -0.1343, -0.0073, -0.212, -7.8291, 6.0376, 2.1563, 0.2808, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2161, 0.9752, 0.8577, -0.6689, -0.3367, -0.1017, 0.9957, 0.4274, 1.5955, 0.6575, 0.379, 0.3508, 0.1383, 0.0285]\nstate[eef_state]: left_x=0.2961 left_y=-0.0016 left_z=0.1939 left_yaw=0.1039 left_pitch=-0.1731 left_roll=0.183 left_gripper=0.9957 right_x=0.4059 right_y=0.1221 right_z=0.0888 right_yaw=0.0609 right_pitch=0.0493 right_roll=-0.0543 right_gripper=0.0285\nstate[joint_eff]: [-0.1026, -2.3316, 6.7897, 1.4725, -0.1783, -0.0562, -0.0122, -0.1573, -7.6513, 8.5949, 1.7167, 0.1441, 0.1197, 1.0183]\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]: [-0.2161, 0.9752, 0.8577, -0.6689, -0.3367, -0.1013, 0.9958, 0.4274, 1.4166, 0.8932, -0.0658, 0.35, 0.1299, 0.0272]\nstate[eef_state]: left_x=0.2961 left_y=-0.0016 left_z=0.1939 left_yaw=0.1037 left_pitch=-0.1732 left_roll=0.1833 left_gripper=0.9958 right_x=0.404 right_y=0.1214 right_z=0.1714 right_yaw=0.0664 right_pitch=0.0206 right_roll=-0.0719 right_gripper=0.0272\nstate[joint_eff]: [-0.0342, -2.2632, 6.9538, 1.4774, -0.1832, -0.0366, -0.0073, -0.1709, -7.4735, 9.6068, 1.7558, 0.0806, 0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f078a2916a4bf08062c9dc549b234a85d674de543891e3db7d9da99e599263f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c625841f20c440879278531a4ed26da36f266459d520c892f89a12b3542c1a1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e38333b5225b46dc6841fbb734b2d5cd60444c80bb112d869aa6dd48c78943c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJiADy-0uQq1VYa1RCoa5vJ_yWiJgjntNiafmYGYm7B9hTdg-TRPBjV6e1KFGsBZra-cN4rFrcL8VZ9BwZkHWv74JAPqCiFyTbE-hv3tum-05tgSrZN7g938JpCLh4kWBPiBegHaiR9EsHMpjWwv5jD-seRiE8GahPeFET1hnKmfjk-qwOiKhSJm6uWzJgf-qRO0relu6wKSYOmz0R0MMmpLO7HLUZrrLzEHKi5kR_NSJeIt65tZydytXLT9lGxanBhUl9VGvHJQxkOTaV8P-RvBP-ygd3-vr8s7WODVNFessQQuVSpOuJUVl6qynuxQhrABn3-nF7W0fKGrJrGzZyNfWUagVEXMqywbamGuWaKy4h7Q3LvVcZtunML1GFFYwl1XJqzp2kqof3bMKdu0P8GlzFJIvL9NdY4KDE3p_NuXE178-yoDO1epNosCvY5D8YogTqzfzjugRwGAq4ys-mlL1XOOpNhVeNV7VTg8Ivky-WZIXMrjhdRd8tfm6IakpHcbtn6bETuuioPCEMhxxBOeehnmwCM71uxX61PkXaR95nbwIWK3qnqpg6_cK2rfyiCrgzJ727qoS4ZpfxTrWBUpQRsZm6j-0iYg8pFFWD9YWOrJJVPNVxz83_PxjuKHr6QOjxkUwbpzzzixI7X__-oeANmtMO-W7Xcl_UjC8RspdMJ87HUmBodqmFdLqPWsHEJz_jns99HxMmdm3fWG_6TYN91Kszewj3AsWr5CaLerKlar-SQWpiPZf9sk-dWE5ASPKPWTbM8rmTKWJiq1EKRjmYOcwwToABxJTKGUvdnbrD8xp_blhe9RjJbZsd9nogW-4JdRa9Wx0YNwk55tKKGTuE316u0PGtsz2l35VqNxzWsYfVDATx7T801U6ZgWuLDyscq7abPz82GbVzU_FpTD_CpxOMWwtCHugS1YAM-9gXmAYBLfUSHX_3kSNOmUfk_gqcuvHhG_tY-jB3HSMsU35JSFFwbNY4qRhkhKI10rTglQKOVe_jIcix2PQfhnGyMr0V6x2tPv4GUveQv-zBDtj74VQAmOZbIKESAYExkQFgH3ZolJYbe9uSxpMQaZTYTK5GlWKVq677UGUxuzYyKWzma0AYULI86rzOCBifFfC0CVrVn6gI4W_qGO-VLbDylyGwq745BakWORNgZx_C7vSCbH-GkybKSrQxEk2n5OzsfGPUR9Vf_gJWaQoNgzRIkj5xmXqJtXlpMSSdKWS3wVhZpwW3zf1HIU4TnSqI-hx94ze8W1rH4CAaKzp9YEtx_zskuQCRlOuiCmhsYkuzoC07Of5k4jI4f_jcpDWlrth7cpMuWTHkmh45wHdhEXbiI_V4vsXJ1EMV2y6pLwIp47qfzfTXWGpDqpyyid-CsdNbV9qtiqykH6HcYOcjHJYwmaKYuumMDYnpSZCvq9eg7donmoOdKqkJHuyaSkBZOz3MfJxK6Dq8iEMBvX3RWGMDgPWPIej0yZlf6MAKwqtjsFnLMnmtalr3mp39dcyP8bb2qYRqao4CY2jHLmVA73_N6EkeOQYVcPj2G5B7jXh2Sm5IqRUhVerOW_UwgF8DUvZsHXOWrlVDwQY_pgwtixNUQl57Ubw6gcX5cHw9XiGG7p5tsRZqGydv-qAlXug8GnQYX7RO-ThGSdch7LNxmf_5_mtnXDWYsQr6uuUiTa-T-ES4g2v4bEooHgg-xDzSnTLaL1SiMT3CQzgZp97z39ZpFdNnPej8oWKkxsTTWW_fdIuvTJ1mxmN61HhJw0qJ0bs0J4xDZLDPF67WELWQo0Z-43pBnRIhcSdzF6NlfqAmf4AlVc5TRjGsfdx1Ecifejvh__dh5citv3tSjBGzJyDzZxODw5Kz8Xx7CLAaclAvnT_RWSxMu3MbDfFAbLQdxCYoxEZuZzNcmrSqjQ2fTr4Eg2BvjGQXzn4vJiOtM6YCVDfmtSyg7emVO_rbGakvTdrvRp71OUypEzK4cDdpBaVsJFHpN4iHQL3FXZGwFC4du4N-5TSGGplBGJNnGTbhQCFo8jDnWMiAM4rHHBVpQKC_KNIgugR5hziUZogl7bJpUKRmU37c5F_4ipA6EZ9GgK4OblMfLKxxbb3HG8LcPdULncQGFl8ia3q3wdWqvuhntHwKZnbeL-5q-arVw4mnsciUBUu0O2IZPMM41yEJj9IlXh8IyvXismBuDW3EWxGw3ehFUk3-Y2IAf7vWudO1ELq_IGiS7MQtOKIXKuuoNoHsh6HxCrFmrlQiw2sfTGQMXCu7LJQ_CmwTupv-Lt3biozWnKr-LxVx5f5hNNUWONy4gHLqbikd4JVGouvhPuQm0Y8VVp5yXWzJJSPQ6agqBEJgskjsRiI219hf8snYYlrQRgv91TfuN_a3MbfJo9LjFLHiZx_5NJCDgWqbAAI0VGzngHEkHbdWCIQzQJ5oNTmV7k",
  "id": "rs_0bc607ab0d7f7d2f016ab4987b98ac87d095ad31372b03b091",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.23,\"right_z\":0.195,\"right_gripper\":0},\"note\":\"The cream bowl is securely suspended and the two-bowl stack is clear. I’ll move it left and slightly forward to align its center over the stack.\"}",
  "call_id": "call_c6cg3sIVEs5j2DNgjGTtKjlC",
  "id": "fc_0bc607ab0d7f7d2f016ab4987fb39087d093a3365c51603990",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c6cg3sIVEs5j2DNgjGTtKjlC",
  "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]: [-0.2161, 0.9764, 0.8577, -0.6693, -0.3367, -0.1013, 0.9958, 0.6609, 1.7161, 1.2564, -0.2592, 0.5034, 0.2443, 0.0266]\nstate[eef_state]: left_x=0.2962 left_y=-0.0016 left_z=0.1936 left_yaw=0.1038 left_pitch=-0.1746 left_roll=0.1838 left_gripper=0.9958 right_x=0.424 right_y=0.2263 right_z=0.1704 right_yaw=0.1141 right_pitch=-0.0483 right_roll=-0.1171 right_gripper=0.0266\nstate[joint_eff]: [-0.0889, -2.1265, 6.9675, 1.4676, -0.1441, -0.022, -0.0122, 0.1846, -8.7316, 10.0718, 1.6581, 0.4078, 0.3394, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc73d5dfe7a198b9b11d1696e9d33917d5293a7c65075f44a009edc524031875",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aaa7fb334cf3c5836a6ae7393956a173ebfd78c3f439ee51658504aa9aa1d00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d0d5b36c76262a879da755f19c3462b2c55f2f7e8dba7e5677e59bc8914c486",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2161, 0.9745, 0.8577, -0.6689, -0.3367, -0.1017, 0.9958, 0.4278, 1.7729, 0.5972, 0.6197, 0.355, 0.1497, 0.0229]\nstate[eef_state]: left_x=0.2961 left_y=-0.0016 left_z=0.1941 left_yaw=0.1039 left_pitch=-0.1724 left_roll=0.1828 left_gripper=0.9958 right_x=0.4089 right_y=0.1229 right_z=0.0434 right_yaw=0.0515 right_pitch=0.0533 right_roll=-0.0454 right_gripper=0.0229\nstate[joint_eff]: [-0.1026, -2.2769, 6.8444, 1.4872, -0.1832, -0.0562, -0.0171, -0.1709, -7.1726, 5.3128, 1.2869, 0.2955, -0.0708, 0.9548]\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]: [-0.2161, 0.9752, 0.8577, -0.6689, -0.3367, -0.1013, 0.9958, 0.4274, 1.4166, 0.8932, -0.0658, 0.35, 0.1299, 0.0272]\nstate[eef_state]: left_x=0.2961 left_y=-0.0016 left_z=0.1939 left_yaw=0.1037 left_pitch=-0.1732 left_roll=0.1833 left_gripper=0.9958 right_x=0.404 right_y=0.1214 right_z=0.1714 right_yaw=0.0664 right_pitch=0.0206 right_roll=-0.0719 right_gripper=0.0272\nstate[joint_eff]: [-0.0342, -2.2632, 6.9538, 1.4774, -0.1832, -0.0366, -0.0073, -0.1709, -7.4735, 9.6068, 1.7558, 0.0806, 0.0366, 1.033]",
      "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]: [-0.2161, 0.9764, 0.8577, -0.6693, -0.3367, -0.1013, 0.9958, 0.6609, 1.7161, 1.2564, -0.2592, 0.5034, 0.2443, 0.0266]\nstate[eef_state]: left_x=0.2962 left_y=-0.0016 left_z=0.1936 left_yaw=0.1038 left_pitch=-0.1746 left_roll=0.1838 left_gripper=0.9958 right_x=0.424 right_y=0.2263 right_z=0.1704 right_yaw=0.1141 right_pitch=-0.0483 right_roll=-0.1171 right_gripper=0.0266\nstate[joint_eff]: [-0.0889, -2.1265, 6.9675, 1.4676, -0.1441, -0.022, -0.0122, 0.1846, -8.7316, 10.0718, 1.6581, 0.4078, 0.3394, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc73d5dfe7a198b9b11d1696e9d33917d5293a7c65075f44a009edc524031875",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aaa7fb334cf3c5836a6ae7393956a173ebfd78c3f439ee51658504aa9aa1d00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d0d5b36c76262a879da755f19c3462b2c55f2f7e8dba7e5677e59bc8914c486",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJiFjWhyHwNsxMlQ_X3gWYuEKNJmRu8ikrY3AUPSHgCPAepvnME-e4ZzqlIQTwNXEa8mncO7cbwJboUKrHNzwQum8hgscqMMAruI6RWCfqUl9Bxji2-GSQClTwccR3zxftBtqbi7apIzXB5hb1QYcvwSxNpWVtXV-vpfiI5iti13XPtH1b00EV47RDC08OhlWpO5GUoXyOhc7C2NkgHt_vXdr2FHwrfnsbd8tcEGr1o_EBqqvKddaMGVHfoVpeqiKBes25whgxctg6tpLBJzCdstAzZB7CXhuBRFJc5FqYRKhmF8ipqQiU4iiSKQB8zyYtkzIQCOEVIVN1u7mn9Jv6qGq84sTXxV1_29bWDrT2GjjZ5b-bIsa_qH9VaZ3txELmKoMALzkGpAD2ac3sBi83zo9h2iZoV26EgrCVDwNaMYr81hj_O9EkmkiNxrs3qRDRw2uaJcwMl0l06Z66fmQ7Ns20xxbvGipx7G_J4n-kyXR3jTGq0NQSkij6xi_TMU9pJ7DZsuIaB_p4jI5usLoLg-bUhSi6NkGWIFKB5UYtP-SdZwMHatupXUcJ_ePRZib8wsTS8Tq2v12l5pLXFEaChJTk5FXpDyTAlXl-4bnAPkU-GOWLt7GXGWzRobh5hqFswqmgvV-B7Jsrb6llN0TYblzueiI1UU-TcjtV7cS7q5iHePLgdP4nBhTB_--NmtivITWP-3sGDfZRbv4MRsLofSCYe8Brew_dBYngR68DNUTfC8xIbXtpYAuyJPfvhkRLTR1RiREPvndzr3c28AbEor4rWlbxma8BLQyv9eiwZOtodCe5S3v66kqs_1rrEywWrz3OwFpNAjSsZ-yWAG4rZE2Ek4FJ3bPA7sAybNOKPxhhfPCTrleUZ8_K2qgvsYKxutRKrxKr5yPumFboSil1cxwUc1TCkUMe_IxBUjsXFQDL1Pu63dwIvraaPIjmW6Li8VjrbQJyxhBXclVhd_prpYNhZ67JiStqdBM4kwK3cw0NrU53qPUzsxEosWoMo_0339MnRyRndxTm1gghvdKVoDLAZ-bGYBLMT4gfJg6cVOcaFryka1ssJ2IIb7VN0j72NXE2CdVMnQbkT6QLNpVh0EfGckqW5qRUkLkHXEA40gofOP43quWG9VU9O-CxdmNbCPOj7Km7FGq6lenG4rCQC3gtDQubK94jiLAtwl3Iwe2vV_M3EzU-QtaC2mUweyAwFdawVqdVdg2Lzyz7EM7v7hVqGjQYPOZtGKIj4O6ev0Sc7RTah2E9ZUNpvQJMc0CS7BOYrgzzPXvYZXOQ86NJc7-xoszdhKZgo7RHtHDjaVMq0-__42_vZ0VAS3r9B_gclwLrlxV783G-7wP1eaF3no4PNv1aLKGK6UIJJQhx74AVir_grOZZr_GWPpawc0Nf6HkFLLf6UeauVWK-MmhXr26CrI7ASs7Ipwg1wHxCHwwUE=",
  "id": "rs_0bc607ab0d7f7d2f016ab49883c4a087d08ee69a350c8f3bcd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.255,\"right_z\":0.105,\"right_gripper\":0},\"note\":\"The cream bowl is just to the right of the stack’s center. I’ll correct that small offset while lowering it toward the top bowl.\"}",
  "call_id": "call_O0CbZupsUXm0kAlw6ZzY4X61",
  "id": "fc_0bc607ab0d7f7d2f016ab49884776887d095545958006526d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_O0CbZupsUXm0kAlw6ZzY4X61",
  "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]: [-0.2161, 0.9783, 0.8577, -0.6693, -0.3367, -0.1013, 0.9958, 0.6807, 1.9148, 1.2392, -0.1287, 0.5125, 0.2512, 0.0265]\nstate[eef_state]: left_x=0.2963 left_y=-0.0016 left_z=0.1931 left_yaw=0.1039 left_pitch=-0.1764 left_roll=0.1844 left_gripper=0.9958 right_x=0.4355 right_y=0.2459 right_z=0.0929 right_yaw=0.1194 right_pitch=-0.1171 right_roll=-0.1622 right_gripper=0.0265\nstate[joint_eff]: [-0.212, -2.4684, 6.7487, 1.4676, -0.1734, -0.0659, -0.0122, 0.3761, -10.6598, 6.8171, 1.8388, 0.2222, 0.0855, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a435c409a935aee3569b1c5fe0fbe86208f4f76cd1940a85e62104aaf36a4d5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:225ab89df771dadf9d13049bd430d50605e66ee310c8419a9eb2bc0feed89d02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bee6fb9a1ace79f357ca1583687d9b1536d6cbc9767c84ca4955ebfdfbda9097",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2161, 0.9752, 0.8577, -0.6689, -0.3367, -0.1017, 0.9957, 0.4274, 1.5955, 0.6575, 0.379, 0.3508, 0.1383, 0.0285]\nstate[eef_state]: left_x=0.2961 left_y=-0.0016 left_z=0.1939 left_yaw=0.1039 left_pitch=-0.1731 left_roll=0.183 left_gripper=0.9957 right_x=0.4059 right_y=0.1221 right_z=0.0888 right_yaw=0.0609 right_pitch=0.0493 right_roll=-0.0543 right_gripper=0.0285\nstate[joint_eff]: [-0.1026, -2.3316, 6.7897, 1.4725, -0.1783, -0.0562, -0.0122, -0.1573, -7.6513, 8.5949, 1.7167, 0.1441, 0.1197, 1.0183]\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]: [-0.2161, 0.9764, 0.8577, -0.6693, -0.3367, -0.1013, 0.9958, 0.6609, 1.7161, 1.2564, -0.2592, 0.5034, 0.2443, 0.0266]\nstate[eef_state]: left_x=0.2962 left_y=-0.0016 left_z=0.1936 left_yaw=0.1038 left_pitch=-0.1746 left_roll=0.1838 left_gripper=0.9958 right_x=0.424 right_y=0.2263 right_z=0.1704 right_yaw=0.1141 right_pitch=-0.0483 right_roll=-0.1171 right_gripper=0.0266\nstate[joint_eff]: [-0.0889, -2.1265, 6.9675, 1.4676, -0.1441, -0.022, -0.0122, 0.1846, -8.7316, 10.0718, 1.6581, 0.4078, 0.3394, 1.0281]",
      "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]: [-0.2161, 0.9783, 0.8577, -0.6693, -0.3367, -0.1013, 0.9958, 0.6807, 1.9148, 1.2392, -0.1287, 0.5125, 0.2512, 0.0265]\nstate[eef_state]: left_x=0.2963 left_y=-0.0016 left_z=0.1931 left_yaw=0.1039 left_pitch=-0.1764 left_roll=0.1844 left_gripper=0.9958 right_x=0.4355 right_y=0.2459 right_z=0.0929 right_yaw=0.1194 right_pitch=-0.1171 right_roll=-0.1622 right_gripper=0.0265\nstate[joint_eff]: [-0.212, -2.4684, 6.7487, 1.4676, -0.1734, -0.0659, -0.0122, 0.3761, -10.6598, 6.8171, 1.8388, 0.2222, 0.0855, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a435c409a935aee3569b1c5fe0fbe86208f4f76cd1940a85e62104aaf36a4d5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:225ab89df771dadf9d13049bd430d50605e66ee310c8419a9eb2bc0feed89d02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bee6fb9a1ace79f357ca1583687d9b1536d6cbc9767c84ca4955ebfdfbda9097",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJiKpHRTQ06k133HSVdJIUNy10Pwd3mCohIUQYi2pM1iP-Gn6YyuR43aNWWwAcSRPBvL1iAgJPNyotrlvoppHDZBVJ__SG2epHg_BvSxteFv-zFIViM1riYiBZeKZD-OoMKnYfCiNmXLK_krd5cu085EKO5W5jRtAiI57PeRQ7SfkKrdrDwyn_WWnHxZLg-MPtdfml2OqxNuAUzbf1iQrvpU99_Y6xx5lmPwomHfebIQDAD7DT3B31Lm8U5OSqsDMm3iwFF65lZQpeA4NIHacwVdzaXBg1H-A9WzjIoa3QifeoiVcCVRsW03JvCLngV7ekE1tI9eY9-5YchVbxJ5sC7RWBT9wEiNgDX0uhZW01g1iMhN5gfVWSoMUxLZOWs_RMU258ansIHugtt_Y09BzLmj4ywD_2zH20vq_DzKP2-4SsDD17PKH4I4D1B5_IP_pDgKiSP3pv980v2mdAK52Qd9TLsjGNWLRKbf5tctW6H1u-kgog6f_rGN-rEtW00OBkHlzXdpA3yuVcD7g7n2HaYNi6qy-ksXddga8TkFjY-fYEbfoZ8ENqn6XdY2KdecLn3w_1ERJbGi0kujq-2rjORJnR-EQvsd8731QeigDG5BWKhB67ZXd7wqgtRvwmm_n-hDyyWvp5jXL5N2Q_H0tiTtPWoUPVHgKyDKju7QL56blFn4B5KhK5GLyIG7hR1zM1qky1wr6qHLvSQfMriu_SChxcMLvdDF4tvcHe9f0RD7ZfPv8gSEfoIjS0mGQwO1m1-TQwPxU2ZFimtR9Q1dTQFpjeM0Ot8JnXCyheZQTERtzCf6jK9Xpn1nsYeHfUK8QIpP6xUhXmsB9vi8u8rV2KhC140GJmRCdFYnIA7HTrrdfG8LhfWRuuL84mN6Y4pxeV-SUMpJMGYLe27jPIogB_nlreQ495kjfD2cMUj91ttBGEJL738qkvAxJ7YtA58YhLwfj9zXZeOYmBB_wfRwbQfmeaaJxYhPHhsigQ6C-uaTppQqdGhKyfmlBJA7wjHeO6UFk_OvQJGECdfTEzKAViD70fWnH5CU5Br3QvsR6mYQZ6EHavVQxg5JWWNlsjceo0ItbFueIxczFU8X6ptjBxbaBbOMWnkfZ7Z0nXReiz-xUNylPX6-odc-_wGucPLn4h6tBAoVadyAyoTpGbR9lQTDjS0JpSLup60g1fIn54IaaiPPJZMSNY7IeIA0kwMQnPuUeCNOIZIrCZI6mr_A_BmCRZU08-1wG-HOYXmIKrJIwiAjTOa2iHRNGHtBoEjmtReM7UnjGsAaeZkf8yEX6iYrZchVKq54rEs2KdRDLHgVp5ngMU_5omM_plP_t_q_Bu82YBlzHza3M9LJMmUGaxh9wCpN2frkgzNjLS_4fyIeZwBvTNqTe_21cUo_ga5ksMTcDhM2sApdKkTEX_JYCVdg9Z5_LRBo8RAsG66O31e01yY92ovid3RXCmm0yFEhZC5-0eFLmuMEhhbhDh4nn6ZlTrE404kbqOIAqGYz_clukJAwU4lEirQYKJq_CQPzODQ3",
  "id": "rs_0bc607ab0d7f7d2f016ab49888115487d0a0223bc27080d4bb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.075,\"right_gripper\":0},\"note\":\"The cream bowl is aligned over the stack and is nearly seated. I’ll lower it a final short distance so the lower bowls support it before releasing.\"}",
  "call_id": "call_XgAQfDEjuhLN9WpZhNWof3uH",
  "id": "fc_0bc607ab0d7f7d2f016ab49889a58887d0a17d3b84157b9893",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XgAQfDEjuhLN9WpZhNWof3uH",
  "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]: [-0.2157, 0.9783, 0.8577, -0.6693, -0.3367, -0.1013, 0.9957, 0.6807, 1.9289, 1.2194, -0.0723, 0.5125, 0.2516, 0.0265]\nstate[eef_state]: left_x=0.2963 left_y=-0.0015 left_z=0.1931 left_yaw=0.1043 left_pitch=-0.1764 left_roll=0.1844 left_gripper=0.9957 right_x=0.4381 right_y=0.248 right_z=0.0874 right_yaw=0.1205 right_pitch=-0.098 right_roll=-0.1498 right_gripper=0.0265\nstate[joint_eff]: [-0.0205, -2.2496, 6.8991, 1.4774, -0.1734, -0.0415, -0.0171, -0.0752, -8.7043, 5.8462, 1.3065, 0.1978, 0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e6faa723ae5f5701f0c7267c3201af79f64c10f901ee4009d6da855436e6e0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d46352d49c1394533c714d66a4c8571dd6dde8b846e1d82c6a2f53ef64c4a6ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba58b58e2c2adc7d501754336d05caec629e6fea63b26ce6d96cc28076c99325",
      "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 123 changed as sent

message 131 changed as sent

message 135 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2161, 0.9752, 0.8577, -0.6689, -0.3367, -0.1013, 0.9958, 0.4274, 1.4166, 0.8932, -0.0658, 0.35, 0.1299, 0.0272]\nstate[eef_state]: left_x=0.2961 left_y=-0.0016 left_z=0.1939 left_yaw=0.1037 left_pitch=-0.1732 left_roll=0.1833 left_gripper=0.9958 right_x=0.404 right_y=0.1214 right_z=0.1714 right_yaw=0.0664 right_pitch=0.0206 right_roll=-0.0719 right_gripper=0.0272\nstate[joint_eff]: [-0.0342, -2.2632, 6.9538, 1.4774, -0.1832, -0.0366, -0.0073, -0.1709, -7.4735, 9.6068, 1.7558, 0.0806, 0.0366, 1.033]",
      "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]: [-0.2161, 0.9783, 0.8577, -0.6693, -0.3367, -0.1013, 0.9958, 0.6807, 1.9148, 1.2392, -0.1287, 0.5125, 0.2512, 0.0265]\nstate[eef_state]: left_x=0.2963 left_y=-0.0016 left_z=0.1931 left_yaw=0.1039 left_pitch=-0.1764 left_roll=0.1844 left_gripper=0.9958 right_x=0.4355 right_y=0.2459 right_z=0.0929 right_yaw=0.1194 right_pitch=-0.1171 right_roll=-0.1622 right_gripper=0.0265\nstate[joint_eff]: [-0.212, -2.4684, 6.7487, 1.4676, -0.1734, -0.0659, -0.0122, 0.3761, -10.6598, 6.8171, 1.8388, 0.2222, 0.0855, 1.033]\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]: [-0.2157, 0.9783, 0.8577, -0.6693, -0.3367, -0.1013, 0.9957, 0.6807, 1.9289, 1.2194, -0.0723, 0.5125, 0.2516, 0.0265]\nstate[eef_state]: left_x=0.2963 left_y=-0.0015 left_z=0.1931 left_yaw=0.1043 left_pitch=-0.1764 left_roll=0.1844 left_gripper=0.9957 right_x=0.4381 right_y=0.248 right_z=0.0874 right_yaw=0.1205 right_pitch=-0.098 right_roll=-0.1498 right_gripper=0.0265\nstate[joint_eff]: [-0.0205, -2.2496, 6.8991, 1.4774, -0.1734, -0.0415, -0.0171, -0.0752, -8.7043, 5.8462, 1.3065, 0.1978, 0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e6faa723ae5f5701f0c7267c3201af79f64c10f901ee4009d6da855436e6e0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d46352d49c1394533c714d66a4c8571dd6dde8b846e1d82c6a2f53ef64c4a6ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba58b58e2c2adc7d501754336d05caec629e6fea63b26ce6d96cc28076c99325",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The bowl stopped descending above the target height, indicating it is resting on the stack. I’ll release its rim and then move the gripper clear to inspect the result.\"}",
  "call_id": "call_HDTX2LsCOs9RaKz6o92BQPqy",
  "id": "fc_0bc607ab0d7f7d2f016ab4988c1d6087d096fb54717cad9dc1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HDTX2LsCOs9RaKz6o92BQPqy",
  "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]: [-0.2161, 0.9783, 0.8577, -0.6693, -0.3367, -0.1013, 0.9958, 0.68, 1.9308, 1.2003, -0.0738, 0.5087, 0.2432, 0.9955]\nstate[eef_state]: left_x=0.2963 left_y=-0.0016 left_z=0.1931 left_yaw=0.1039 left_pitch=-0.1764 left_roll=0.1844 left_gripper=0.9958 right_x=0.4338 right_y=0.2447 right_z=0.0788 right_yaw=0.1259 right_pitch=-0.1193 right_roll=-0.166 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -2.2906, 6.9812, 1.4628, -0.1978, -0.0366, -0.0073, -0.0342, -9.0051, 6.4479, 1.5995, 0.2173, 0.0171, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44aa648511a0f0f7c1547f017e4d17cd194105640c777a17bda531f331b3f2e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1956feae5732b0c5ce2c6b19a9bd4f45395286aca88c0b9b22dcd464f3e95f5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b34ce5638d2799dd918919d076dc6b466297e6e4ad94b3d8a72961bed61e40a6",
      "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 127 changed as sent

message 135 changed as sent

message 138 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2161, 0.9764, 0.8577, -0.6693, -0.3367, -0.1013, 0.9958, 0.6609, 1.7161, 1.2564, -0.2592, 0.5034, 0.2443, 0.0266]\nstate[eef_state]: left_x=0.2962 left_y=-0.0016 left_z=0.1936 left_yaw=0.1038 left_pitch=-0.1746 left_roll=0.1838 left_gripper=0.9958 right_x=0.424 right_y=0.2263 right_z=0.1704 right_yaw=0.1141 right_pitch=-0.0483 right_roll=-0.1171 right_gripper=0.0266\nstate[joint_eff]: [-0.0889, -2.1265, 6.9675, 1.4676, -0.1441, -0.022, -0.0122, 0.1846, -8.7316, 10.0718, 1.6581, 0.4078, 0.3394, 1.0281]",
      "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]: [-0.2157, 0.9783, 0.8577, -0.6693, -0.3367, -0.1013, 0.9957, 0.6807, 1.9289, 1.2194, -0.0723, 0.5125, 0.2516, 0.0265]\nstate[eef_state]: left_x=0.2963 left_y=-0.0015 left_z=0.1931 left_yaw=0.1043 left_pitch=-0.1764 left_roll=0.1844 left_gripper=0.9957 right_x=0.4381 right_y=0.248 right_z=0.0874 right_yaw=0.1205 right_pitch=-0.098 right_roll=-0.1498 right_gripper=0.0265\nstate[joint_eff]: [-0.0205, -2.2496, 6.8991, 1.4774, -0.1734, -0.0415, -0.0171, -0.0752, -8.7043, 5.8462, 1.3065, 0.1978, 0.0024, 1.0281]\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]: [-0.2161, 0.9783, 0.8577, -0.6693, -0.3367, -0.1013, 0.9958, 0.68, 1.9308, 1.2003, -0.0738, 0.5087, 0.2432, 0.9955]\nstate[eef_state]: left_x=0.2963 left_y=-0.0016 left_z=0.1931 left_yaw=0.1039 left_pitch=-0.1764 left_roll=0.1844 left_gripper=0.9958 right_x=0.4338 right_y=0.2447 right_z=0.0788 right_yaw=0.1259 right_pitch=-0.1193 right_roll=-0.166 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -2.2906, 6.9812, 1.4628, -0.1978, -0.0366, -0.0073, -0.0342, -9.0051, 6.4479, 1.5995, 0.2173, 0.0171, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44aa648511a0f0f7c1547f017e4d17cd194105640c777a17bda531f331b3f2e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1956feae5732b0c5ce2c6b19a9bd4f45395286aca88c0b9b22dcd464f3e95f5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b34ce5638d2799dd918919d076dc6b466297e6e4ad94b3d8a72961bed61e40a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.2},\"note\":\"The cream bowl has been released and remains on the stack. I’ll lift the open fingers straight up so they do not disturb the nested rims.\"}",
  "call_id": "call_cXjzooFbOPlWfwI7MTDg4clM",
  "id": "fc_0bc607ab0d7f7d2f016ab4988f73fc87d0873e5348fbb0ec86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cXjzooFbOPlWfwI7MTDg4clM",
  "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]: [-0.2161, 0.9783, 0.8577, -0.6693, -0.3367, -0.1013, 0.9958, 0.68, 1.8545, 1.4921, -0.4992, 0.5083, 0.2314, 0.9956]\nstate[eef_state]: left_x=0.2963 left_y=-0.0016 left_z=0.1931 left_yaw=0.1039 left_pitch=-0.1764 left_roll=0.1844 left_gripper=0.9958 right_x=0.4332 right_y=0.2443 right_z=0.1645 right_yaw=0.1281 right_pitch=-0.1694 right_roll=-0.2052 right_gripper=0.9956\nstate[joint_eff]: [-0.0342, -2.2222, 6.7487, 1.5116, -0.1441, -0.0317, -0.0171, -0.0889, -13.1624, 9.6752, 1.6923, 0.1783, 0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00189f4019f0677afa910d7868560b1a6299b83c5330cf89679cbeedbb5360c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b1dcbcd15945b803bcc1a5b45e8f35d3bd5989c967df6d5792f11c6ef326bb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6f338616c32f4a18152ca2fe7ab041730460087f910c777f0d8f41e2648d858",
      "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 131 changed as sent

message 138 changed as sent

message 141 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2161, 0.9783, 0.8577, -0.6693, -0.3367, -0.1013, 0.9958, 0.6807, 1.9148, 1.2392, -0.1287, 0.5125, 0.2512, 0.0265]\nstate[eef_state]: left_x=0.2963 left_y=-0.0016 left_z=0.1931 left_yaw=0.1039 left_pitch=-0.1764 left_roll=0.1844 left_gripper=0.9958 right_x=0.4355 right_y=0.2459 right_z=0.0929 right_yaw=0.1194 right_pitch=-0.1171 right_roll=-0.1622 right_gripper=0.0265\nstate[joint_eff]: [-0.212, -2.4684, 6.7487, 1.4676, -0.1734, -0.0659, -0.0122, 0.3761, -10.6598, 6.8171, 1.8388, 0.2222, 0.0855, 1.033]\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]: [-0.2161, 0.9783, 0.8577, -0.6693, -0.3367, -0.1013, 0.9958, 0.68, 1.9308, 1.2003, -0.0738, 0.5087, 0.2432, 0.9955]\nstate[eef_state]: left_x=0.2963 left_y=-0.0016 left_z=0.1931 left_yaw=0.1039 left_pitch=-0.1764 left_roll=0.1844 left_gripper=0.9958 right_x=0.4338 right_y=0.2447 right_z=0.0788 right_yaw=0.1259 right_pitch=-0.1193 right_roll=-0.166 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -2.2906, 6.9812, 1.4628, -0.1978, -0.0366, -0.0073, -0.0342, -9.0051, 6.4479, 1.5995, 0.2173, 0.0171, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2161, 0.9783, 0.8577, -0.6693, -0.3367, -0.1013, 0.9958, 0.68, 1.8545, 1.4921, -0.4992, 0.5083, 0.2314, 0.9956]\nstate[eef_state]: left_x=0.2963 left_y=-0.0016 left_z=0.1931 left_yaw=0.1039 left_pitch=-0.1764 left_roll=0.1844 left_gripper=0.9958 right_x=0.4332 right_y=0.2443 right_z=0.1645 right_yaw=0.1281 right_pitch=-0.1694 right_roll=-0.2052 right_gripper=0.9956\nstate[joint_eff]: [-0.0342, -2.2222, 6.7487, 1.5116, -0.1441, -0.0317, -0.0171, -0.0889, -13.1624, 9.6752, 1.6923, 0.1783, 0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00189f4019f0677afa910d7868560b1a6299b83c5330cf89679cbeedbb5360c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b1dcbcd15945b803bcc1a5b45e8f35d3bd5989c967df6d5792f11c6ef326bb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6f338616c32f4a18152ca2fe7ab041730460087f910c777f0d8f41e2648d858",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJiTiRozawYAaAavPdzbJMxXG9WawN-hCcQOgGIMY_DULBHGgqihPVy9cxjLNDqPYR6ZLsivX-QFqh93qF6ImBn9HlizVZejTBETyAfADBO1GdD6CGv64FPbNlmKcG30KfnRw1ZZCqtmq78njYhkE7Mzqr0XuM7GmIsgAtyXlm6s4Ltu4CJO7awfO3xnJC7vyCkPbzXjAmBC2SZXQLDdFmipdmH-4KLshdepXgj9virzShYYPWGYvClDFw9w8J5BmobehKXnB-2PoUGHsOMVZcoIAGLyujtv9lLWxAku8eKkctTfncJdme1zS_emN1J9F8Q_eCkO-uPSYSTMzd2KaOvkuSfd-tsIDMQ02L2TEXD_mfHq9vwugRhDNPp2dCjPKBlvhSMGDFzcj_fT89ijip09uYUA3M_scNamkEBYAoTRCkyiOjFFAp0Idu8fth8vhBUhCWsM9ysiMhAFpCvFKkyhbzLMkmuz747So4_g8kxV6S_pC6hSXBavK2OKWTZTsbJ4VD_N-q4q4qin_tua8O3L8L_Uzn3qVkjQdWMga0epIkUGjAm_cy9PlUCVaaRRxZgolV37tFP1FKO4_fZMQ1nQ1jFg89vqlRG8wCi7KOsYmfZg0taZCY_ewW7X_EXUO_oID-0HS6w8IzBpzGyQL79596zW_lZIjahsf9ALApUoKd4OQjx1NWbJnw86AMfXoHF-oFV8NmD0LbQwhb8K4bRDr5L3iYrLdQzNNsvwnWMJGao6BQ5HWALAAMGaQSMsU3NE3k9n1D--I-_54JMcLaqOYOUJguUrcB7BVllQ2s8EASFAfQ6F0zQaS09s3dzImlp122RsLm2g8VY4ZMf8IsfLAJmIdL2bm5KMEIObVE0KgzkUQqqEOrgJYoSwhHqT8OfnuyJeDcO8HEBtlI4XCFWshvblrSFFjpYISrtoKRvzdvBeUTCstPOdTQPq3sq7HCaqiM2sGXOh_8bIqTip2deLA17LounMteCfkCoZwucpux84quMDzWkirBlqs5Vr1GRvkNwk69pncEZgVIwjdGzvYHEpqzUPpPDH6-NWzsMyDcfXzofrMflZ9valp-l4mWSfMFEvC7p7Xks8BRgv7w2K0q0rQ5B-t-6zAWWJldYQhNxsY0lhZYuznPQIx6Z4KUYkLet8ow8HyNInEQGPQVq7vusFUncYybD1cmSyemhZkatGTg2DmWcy_sSBDMzNaAHcEj7CJm7kznH5ftxBxb3Csw==",
  "id": "rs_0bc607ab0d7f7d2f016ab498924d6087d0884ef581d00c886c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2},\"note\":\"The stack is stable as the fingers lift away. I’ll park the right arm to uncover the bowls for a final overhead check.\"}",
  "call_id": "call_KDEZyi70TxeOzAQFblCTPVI7",
  "id": "fc_0bc607ab0d7f7d2f016ab49892a89887d0b93f4019d67b2d5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KDEZyi70TxeOzAQFblCTPVI7",
  "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]: [-0.2161, 0.9802, 0.8577, -0.6693, -0.3367, -0.1013, 0.9958, 0.0231, 0.9447, 0.8486, -0.6292, 0.0811, -0.2184, 0.9956]\nstate[eef_state]: left_x=0.2965 left_y=-0.0017 left_z=0.1925 left_yaw=0.104 left_pitch=-0.1782 left_roll=0.185 left_gripper=0.9958 right_x=0.2994 right_y=-0.0038 right_z=0.199 right_yaw=0.0737 right_pitch=-0.1679 right_roll=-0.2097 right_gripper=0.9956\nstate[joint_eff]: [-0.1846, -2.3043, 6.9812, 1.5018, -0.1783, -0.0171, -0.0171, -0.0479, -2.4274, 6.8171, 1.707, -0.1636, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fbe13e4ac18c47a7584dc2a5c16fe542d1977baac6a53a57f59e16e428602ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd583ef07259c01095d320c79c7b4ece54974e23534f99c229858343d719f9a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1cf1f3b4ae780f4023fbd59a7abd49239b9a2758980d61d84a4070806a34c08",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}