adhoc

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6048, -0.3809, -0.0223, -0.0296, 0.9996, -0.0181, 0.7937, 0.6022, -0.3813, -0.0097, -0.02, 0.9969]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1797 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2944 right_y=-0.0 right_z=0.1789 right_yaw=-0.0001 right_pitch=-0.0 right_roll=-0.0005 right_gripper=0.9969\nstate[joint_eff]: [-0.3761, -1.6342, 10.0991, 1.8046, 0.0024, 0.1343, -0.0611, -0.4991, -1.4154, 10.2496, 1.9316, -0.1441, 0.0464, -0.3297]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:708ba57068b1096a42f0b693c30cdd480785ca72c93a7135b129e6cd47d6d3a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b28a1e5e46582a8372d5645190470fb4b5d745bc75afbc59c59f570153318f67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:733b0c1cc53cdd9704656b88f17d390bd2ff55b1b518672344107ad388dbd3e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

{
  "content": [],
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  "id": "rs_043f2a5369fbcd82016ab4a2c0c0c887d09fe708eed6868cb3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.14,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0,\"right_z\":0.18},\"note\":\"I see three separate bowls: teal on the left, blue in the middle, and cream on the right. I’ll approach the teal bowl’s side rim so I can lift it and nest it in the blue bowl.\"}",
  "call_id": "call_lyAi1pSQ5h9Oua8peaRpQQmL",
  "id": "fc_043f2a5369fbcd82016ab4a2c60ac487d090f2bec28d07d6a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lyAi1pSQ5h9Oua8peaRpQQmL",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6647, 1.2274, 0.6746, -0.2043, -0.5209, -0.4068, 0.9996, -0.02, 0.8001, 0.6037, -0.3931, -0.0158, -0.02, 0.9966]\nstate[eef_state]: left_x=0.319 left_y=-0.1337 left_z=0.1298 left_yaw=-0.029 left_pitch=-0.0674 left_roll=0.0383 left_gripper=0.9996 right_x=0.2934 right_y=0.0005 right_z=0.1754 right_yaw=0.0031 right_pitch=-0.0167 right_roll=0.0032 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -4.6427, 9.1145, 1.6581, -0.315, -0.0024, -0.0562, 0.0479, -1.8803, 7.2137, 1.7656, 0.0073, -0.0366, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fad79521c0d130f3c66fc042faf5ea1d0b441de6bc0527744ecd3fdbfe8435f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d9afb6ad9e15c88a0a6a09908c27fe4da8046d81d82c78168903cb38d8c148b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85e34db2a234a19ed938090a82203529496e1c27b1783b6ae16db68c1bfc5476",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6048, -0.3809, -0.0223, -0.0296, 0.9996, -0.0181, 0.7937, 0.6022, -0.3813, -0.0097, -0.02, 0.9969]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1797 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2944 right_y=-0.0 right_z=0.1789 right_yaw=-0.0001 right_pitch=-0.0 right_roll=-0.0005 right_gripper=0.9969\nstate[joint_eff]: [-0.3761, -1.6342, 10.0991, 1.8046, 0.0024, 0.1343, -0.0611, -0.4991, -1.4154, 10.2496, 1.9316, -0.1441, 0.0464, -0.3297]",
      "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]: [-0.6647, 1.2274, 0.6746, -0.2043, -0.5209, -0.4068, 0.9996, -0.02, 0.8001, 0.6037, -0.3931, -0.0158, -0.02, 0.9966]\nstate[eef_state]: left_x=0.319 left_y=-0.1337 left_z=0.1298 left_yaw=-0.029 left_pitch=-0.0674 left_roll=0.0383 left_gripper=0.9996 right_x=0.2934 right_y=0.0005 right_z=0.1754 right_yaw=0.0031 right_pitch=-0.0167 right_roll=0.0032 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -4.6427, 9.1145, 1.6581, -0.315, -0.0024, -0.0562, 0.0479, -1.8803, 7.2137, 1.7656, 0.0073, -0.0366, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fad79521c0d130f3c66fc042faf5ea1d0b441de6bc0527744ecd3fdbfe8435f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d9afb6ad9e15c88a0a6a09908c27fe4da8046d81d82c78168903cb38d8c148b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85e34db2a234a19ed938090a82203529496e1c27b1783b6ae16db68c1bfc5476",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtKLOOU1ZR9LO38SidYa47Ci9n8Q0O7pgAVceYmqdbupCFqxgUcKGpyHaELJHb3abglG522_RHqbPWSBrKOuwBZ_7-SLIPTsvXh3cNxq_Kj--ukVJmFYlqEx4SFdlOupBcufoI2-cnAzwdMY-OXDU3GRwihW5qmbQq2fScuLKDAT7D-kCw7eupeNOD701VvWT1hVLYTbLd6RenPiKCY4929ZvnNGmzf1TBbdmRex8pID1AMCOc9va3EuoaqRUOpysAeGJq9Esbg8Yo8IuZa_cgKDQK-CUR8oPZG-rzSoljNqjqcwObb8P_bUqXP9nU6WI8opZgzDwScnPDE9ePLAXj9cR4XBAi_FKRp58QpPOj6D27VMOreUc-Q08HCL8ZKDw4UwhA1l-kcs9VGth-ZsQmYxSQnlCaxlp7vBLWAxWhhZat5CHy7iTNg88TC0THXVwCoRvsK-mcb2bGtjSkm3nPUX3iW2WUn6fwUkm-LXIY-xX7naWtVVzFWxlpcBlQGxJEmYX9PM6MJA8u7Hioz-AYrl8xlQMh38xqrvbrKC-grTdXYmgBf1vQGJKqVve9VuDI3xlVbiwZgv5SAieb1WN4j7YMBVFopRD0YWj5sAqMyjzovCI7pWJjDtYMbk3jmARuo3L96wZwyTmKvtxwWKefvtoY4CJ0eJEIBPUzsUsuFLdIep9IIuVbxVf5i1wzH9r6r2m96qsl8CHAemX5DVbU6E9ZsVlij3ANU5IAZJ9Mi8xAwNf5bg7rAFCInqrS1NltufW7bsScRAjndMkyZu9OHEovRJ0Vqz_gYQZhjcodDjfzSkqT52FHLAwQ048vgeMFGQBd3sK1xlur5hoi52am1A84EnU33KcSlKfGyGAe_K4pR06OEcm6EHidrezAbf230nVpf2rstfQTKZQCyiSE-abi_NR6TfbONrmWdeAG2vHRvmyN1qNz6WfOvDLIsPaIDl-ehIo6O3in0FOV4G3f7XnoglO5wl4k8IHxpaWCnAqvX_fPRhh5xusQfNEEH49ruOZ0BZqrUgz-aOs7oYaWavhG1KMhqYrQdgkJ9ghVCTlVtfdocPYpwciZQtpWg7WiFi6lw3GaoL6miUys-dhJG_2YGOh-P4Zrl6pn77NjrbgF9LhcTsc-Z4vXi48IF9UGh6xIzq7Oqiec5bSKiu_cdhmsYTzhPsMHR8MUv6SPk5Rz2OpcO41VfzKqqFu3UGhxEbk7opQW10ppTWKvDoCY986V9dZKYe4r_yaYHmR2NxdEZ8ogS9JHO8dsHWVAulCs5_vvADIGe_6BmEqH9NRVbMcdmf1mJ1_Ee4zPnb4uG__LCh4d1fRBvUWwq-avgXOIFKmjs7q7IxTD2kaDb_ORRoQtBu7o5J490j0kky_mfZpfrwWYLO0y365zoTVM9AF1pNdnVzNBpdaYdevoDRBn6pqp8KXIbR8i0Fsy92Odcyo3Z4YGYH7Bd_klYF_n0DnVrTczEUnoPNzyYh1_eIYOcdW24sdekZSrd8xM11R49kjLxlH82UTO88ih66R4dAfBNs8ST7qSX9gzM-vBH2B1vuYZfXcHlLnfFpBJo_K4uIoN43TZSWjfsKvbp7OMWW4uSBfq6VaZ3zXl7eBhFqd6UV52QzEOuw3t7ZczM4K5EVzE070u48vemHZ-lAkdAPPOW02UOKtqsf2Xg8N7YRWGODSPEUaxXvR80qpYWcntFgEhZgViRosiqzH86dFwduOtN7y2s5ezGRkAd9PKlomwauO4rqWGmi0prvnXrhBp31FZjj2BpA7A9dyiJ-CTuCAnvuO_3-wlbe8K32SgEfwbGvsWFDBQc4Jq6ycD8K8EbxzZ3_TUETlrFZZegUcjeKqXKBVDYb-zQiuuyyS6RlH4c33rmyuZuphJ1yMKUprMfBIpCQHZmRqoX3gFz8CkRX938PWyX9imPJ5t5ai_8UR9vRGzAqZSAweJoejrA3-GU9ZQ6suS2CfWodxHqIRLy9NgX9I0ejlvwwtd6LBcoYCP1YBLHj4NG_kctzCMG8m_XKfwx3qZ0Q3A9UYbTCmC4uRbOG1dydv8DwFFxZ3AmjcwJ-ydnc6FoJ9XoMon9oF-9G0_6b3yLASCZJmnI34zroxS4inzxhW3RMcJudwHwTW7FiFmCqpIBmel1M5wgFmTVbj8_mN8dX4jOkBnjPSOTngMNvwb6TSTfElTkgSLlHw_7UGr9VPhx6QTz87oqqstFg5CSb4Ncf4c6gDcNKEYaUh_oO22CP3i4koAgcggDkJKbPXxd-WK9XmTc43-kbvmOTeqtUTdD5uU2zX9WcKfTKsaZPAWxaZr4dn6kLXkBQSN0uxCPPrBazstm72Int0684id2pyOui-g4zSICS3sJ3Z2397shG0bKiMlw-Y1Wn1ZlSOluRJa8MHK4VOYlwxjbuvpPUYwD-QKs8t0BVixI8xxhQDQGeqjGAFzb-yCEr2bzfjVD8Ij4lXUgqfqqMYN3VZM5qaqoO-QtjvmIfXPs9BedIu",
  "id": "rs_043f2a5369fbcd82016ab4a2c9cffc87d09f0ef7469669f4f4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.105,\"left_z\":0.07},\"note\":\"The teal bowl is centered in the wrist view, with its rim clearly visible. I’m shifting toward its left rim and lowering with the jaws open, so one finger can go inside and the other outside.\"}",
  "call_id": "call_ReNqYTkXsNFdqLGLlI6m70jz",
  "id": "fc_043f2a5369fbcd82016ab4a2cdebbc87d0b155122aa4ae3df8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ReNqYTkXsNFdqLGLlI6m70jz",
  "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]: [-0.4988, 1.4025, 0.532, 0.0628, -0.4324, -0.3225, 0.9995, -0.02, 0.8032, 0.6037, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3347 left_y=-0.094 left_z=0.0572 left_yaw=0.0257 left_pitch=-0.1472 left_roll=0.0798 left_gripper=0.9995 right_x=0.2936 right_y=0.0006 right_z=0.1746 right_yaw=0.0036 right_pitch=-0.0198 right_roll=0.0031 right_gripper=0.9965\nstate[joint_eff]: [0.3077, -6.2154, 6.4889, 1.8877, -0.0024, 0.0806, -0.0171, -0.0615, -1.5111, 7.0222, 1.7265, -0.0464, -0.0562, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edeeb75a95210c81f7688b066a525fe68e3730bdba581010e317a44fe3e18009",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:101da758776cfeaf3776936678139b20bb8d66a90ffadf5b4cfed171d994b19c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ff1d484690d5ea2d313002ed69223dfe255c5688f6a62fdf8af8deaeba66946",
      "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]: [-0.6647, 1.2274, 0.6746, -0.2043, -0.5209, -0.4068, 0.9996, -0.02, 0.8001, 0.6037, -0.3931, -0.0158, -0.02, 0.9966]\nstate[eef_state]: left_x=0.319 left_y=-0.1337 left_z=0.1298 left_yaw=-0.029 left_pitch=-0.0674 left_roll=0.0383 left_gripper=0.9996 right_x=0.2934 right_y=0.0005 right_z=0.1754 right_yaw=0.0031 right_pitch=-0.0167 right_roll=0.0032 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -4.6427, 9.1145, 1.6581, -0.315, -0.0024, -0.0562, 0.0479, -1.8803, 7.2137, 1.7656, 0.0073, -0.0366, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4988, 1.4025, 0.532, 0.0628, -0.4324, -0.3225, 0.9995, -0.02, 0.8032, 0.6037, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3347 left_y=-0.094 left_z=0.0572 left_yaw=0.0257 left_pitch=-0.1472 left_roll=0.0798 left_gripper=0.9995 right_x=0.2936 right_y=0.0006 right_z=0.1746 right_yaw=0.0036 right_pitch=-0.0198 right_roll=0.0031 right_gripper=0.9965\nstate[joint_eff]: [0.3077, -6.2154, 6.4889, 1.8877, -0.0024, 0.0806, -0.0171, -0.0615, -1.5111, 7.0222, 1.7265, -0.0464, -0.0562, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edeeb75a95210c81f7688b066a525fe68e3730bdba581010e317a44fe3e18009",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:101da758776cfeaf3776936678139b20bb8d66a90ffadf5b4cfed171d994b19c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ff1d484690d5ea2d313002ed69223dfe255c5688f6a62fdf8af8deaeba66946",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtKLTSwv4cThwkxRfRAZoIGyxAvUXvX4PNWJSyxIAw7DT0GVis3YvqOxMX67k-BHbqQ_0oakEMkvsW30uTEn32xRYoO3rdHTCrGZE-UHfqIpTm_AAYU3gNfBXGxPNxD2XfiDwdRwMiw6ohvHfhhMHm0Ays58jaX7a_SDMNCvd6ZnBvon1zab3yhMzOg5CAUeloUDiuOMpc_tUiuWtYOgWWyLurQyPOmoNAfyDXxo5jv3M58o9ZRoL_GNAIs7A7N6TJTJ0Y4k42KEe32vFrQF0XUwhhj6erXk0SwwSArMIPJ_RbuCIQBES_chDCf9Xa9ybvhqPISlR4f3qKm_efZDHxoOWL-v-DLt5yVnR4FXk8x-kxS-1-P2_bmuDgDpktt5C9QTs4Q5Tw5b5Vgze0qnIyUbFMPgeB4LfvaM3efPQsSyMyeNrCBUkeIUwgSl6aef5KzuWCK2UF07gUirFz8lSYtNj-Tn8AXvCfCyTSJOY8zCzFMpkLwrONTu8Sm32W0RKxJVolRR5KoX--qB2wlaYC91WpkTksFP2csm8Mk91M8V6HRU0yMW7FNVgndCC2CVWDArKRvoNL66VX0NlRyyIBeIVbQu2Ly6NGKw_3ssFjJoxg-WviQA4VZYPGNRaO2aSRmaafJyzxsITTFrGigmoOFYlQkUQ5hNqyrL5TqUhHvlBq1yOGbxGqBvapcyYdBFJuwSYHhRXZCyuKySMLuBCAat9G3kKjUp6qpEljrF0gNmOGkoZacLkN326AR710wBsPkSprosaUOUQoVpdVEEeAzD5Ur47kMSuWYYWFXefLVFaJ1H1LqbX0dK4hTgaeNcbxE--n8BnecEv4P7KkIev9En-2RjsXD43j0RZ0UQqVEC0xZQBTROnieTrWsqhXJGALapCxFeLx1LXy8JR1UJk_TvCLHbjB0r9M8QtJ635sq1MmtKLyLghs9SuYL-k-WI0aJ2Ryv8alyBhHAfI29kL-TnkmPlvEoxwHxu_qLbnH7S5lTIPboVAI4Z-ghGUiGGExcBJrN9BPgfYMrEKAFY8gFM9SSncff2qxslf4QDY16C-YEf-maZw3dHV5RyU3A629q0ASzP34CQR4CrVbvtfa41SUmJv7hD06k2XjxM604gqeJ0JZV-NyV-pJodnQKiDiRZxoTDkl6d5zUFzS9OUTPz25NKWraaQFjybUhWFwMjVpspN_pPlKnS4N8NKcXfYpWIYkoLhe1dHRaga5o7swQMU84QrT05_XJrQmAe4iK4XDb282UvndtuxLXpKiXtQIMZUbj84g5I0XfDCTZbpegtT7gYvIalEicGSEuAwm4hXo71HASKqMTx3J5_c4KfdEqZALrZV6A54avMD7BL5EhWeVpL7RDmJ8jio2cMJ93t03FI4oG6wijdkuHbdi0mF-8sDWcmzvoxYz8lfcNnHPtwz-7F3XpWZYqSsggYwkx9EEdU6Ky5TEH6_FJ2on6UA30U3eUa-tJpC1at6iAUa9N_3S1w2LBPiNBusF0LUu5MTI04PnZlOEMDzUr3zzq0g7jTprMr1Q15xlv048r0fxoaCf1fKC06L3EcaR9JJ7d-8aKsZe2X2oLdhlq1UXIuKAk2eYDuro3izOc0mN1P2fgAbedgNzb2q_knAcFq74iKkl-cHRRV5Ji0bxznAtKFbyCFqZ_BzQ3vv0CojkA0yrnK68IPPrtBPXNK2moPYOQ_OtcpjZeR4Q2ywLPEQFbLvnrjx1ZgEwh-pes8BrpG34X8UGw==",
  "id": "rs_043f2a5369fbcd82016ab4a2d0dff087d088e3febc0207efa7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.105,\"left_z\":0.032},\"note\":\"The open jaws appear to straddle the teal bowl’s left wall. I’ll lower slightly farther so the fingers grip below the lip rather than just touch its top edge.\"}",
  "call_id": "call_ebNaMRHBKqgX1GlMKLhrk2fP",
  "id": "fc_043f2a5369fbcd82016ab4a2d2e91887d09781216f57e84dc8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ebNaMRHBKqgX1GlMKLhrk2fP",
  "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]: [-0.4995, 1.4612, 0.5182, 0.1768, -0.4183, -0.3054, 0.9995, -0.02, 0.804, 0.6018, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3437 left_y=-0.1018 left_z=0.051 left_yaw=0.0018 left_pitch=-0.1166 left_roll=0.0636 left_gripper=0.9995 right_x=0.2934 right_y=0.0006 right_z=0.1735 right_yaw=0.0036 right_pitch=-0.0224 right_roll=0.0032 right_gripper=0.9965\nstate[joint_eff]: [-0.4308, -4.9846, 5.7231, 1.5849, -0.2759, -0.1392, -0.0122, -0.1162, -1.3744, 7.1863, 1.6923, -0.0366, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03079bd557c52885a6bad0621d32bd34324e89c229302c71d85d8d77ae55b1a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7ba75f49df0b5c8c16fcf1cbc8bd375e8bc91405412675f4b1929243def081f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb30ab58da582c1c7b7089402aa9b7e05e41ade8af86e3d7b80f81869c40936a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6048, -0.3809, -0.0223, -0.0296, 0.9996, -0.0181, 0.7937, 0.6022, -0.3813, -0.0097, -0.02, 0.9969]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1797 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2944 right_y=-0.0 right_z=0.1789 right_yaw=-0.0001 right_pitch=-0.0 right_roll=-0.0005 right_gripper=0.9969\nstate[joint_eff]: [-0.3761, -1.6342, 10.0991, 1.8046, 0.0024, 0.1343, -0.0611, -0.4991, -1.4154, 10.2496, 1.9316, -0.1441, 0.0464, -0.3297]",
      "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]: [-0.4988, 1.4025, 0.532, 0.0628, -0.4324, -0.3225, 0.9995, -0.02, 0.8032, 0.6037, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3347 left_y=-0.094 left_z=0.0572 left_yaw=0.0257 left_pitch=-0.1472 left_roll=0.0798 left_gripper=0.9995 right_x=0.2936 right_y=0.0006 right_z=0.1746 right_yaw=0.0036 right_pitch=-0.0198 right_roll=0.0031 right_gripper=0.9965\nstate[joint_eff]: [0.3077, -6.2154, 6.4889, 1.8877, -0.0024, 0.0806, -0.0171, -0.0615, -1.5111, 7.0222, 1.7265, -0.0464, -0.0562, -0.0269]\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]: [-0.4995, 1.4612, 0.5182, 0.1768, -0.4183, -0.3054, 0.9995, -0.02, 0.804, 0.6018, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3437 left_y=-0.1018 left_z=0.051 left_yaw=0.0018 left_pitch=-0.1166 left_roll=0.0636 left_gripper=0.9995 right_x=0.2934 right_y=0.0006 right_z=0.1735 right_yaw=0.0036 right_pitch=-0.0224 right_roll=0.0032 right_gripper=0.9965\nstate[joint_eff]: [-0.4308, -4.9846, 5.7231, 1.5849, -0.2759, -0.1392, -0.0122, -0.1162, -1.3744, 7.1863, 1.6923, -0.0366, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03079bd557c52885a6bad0621d32bd34324e89c229302c71d85d8d77ae55b1a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7ba75f49df0b5c8c16fcf1cbc8bd375e8bc91405412675f4b1929243def081f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb30ab58da582c1c7b7089402aa9b7e05e41ade8af86e3d7b80f81869c40936a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtKLWDm5w00Y7ieULNOXxRXof0TkEXolL3EYzkMOMIxCfmyEX2nhsqfUsvaJDNLCITFnTYbIUewYpDOk1pcczr-6ilN3Y7b2AB98XEipU2pR4VyzhhRWqn9nnh2r2AtF_zeCt2W6K1GjlkI0oQFT4S2k3dvZqlr-m1BmApwHch_lG63X71lZVGz-PT45f1y295ZrXA8EDY3rHamrn85-fbn0F7WGh0ltUzWGKON5vkC8_KqKoU-dq2RSRH2OtzLZhfRQgn_cwmNIBc9YlXNYM05cIVsVvUz4DwAx1hYIgjML1Kjkl3hZ8Z-teMidlqSSO5CSA7HFBMmeqBUrQ2_D_ZdWHjlLHjJwGfdaX0fFsjErVBvF8wkJXhrHpGxGuqFY_pUff48cEmd3jzKLdCb8ZXN9eaXRXRyAks8H-E-UmiA5i_NRGBH57U2CxmzWJWOIN1voB9rgHWOhUMy7vdtqYY5zhQxXtg--Z1a9b3pEPNtDCMA0pTdRHbCMnLQv0Rx8EeSsNLUaQ6ozAK9ggPufVAapTk-4e0iMU4H24jnoYbhSQnyH9YrUmSnY-dnJxMXY2RWSHm_eyZn8F2_2OXQz3bbHcgQth69QaEorDw-3IAddhcsU9jq5wmhmb1jWIS0uVEtrT5d26cLEncDnJpfFjDBo1m3hlXGJrKjRfA4hvqje4MXoKojxWYxDvFeeIxl6h1B0yTmMKP7jgPj6vSsH-D084jerxkgH7d0PUv7Ah1bi9WAxH47wf14CRpN91YGNGV1GcAu7oSMbWUhjk9TgcDGWQBoLgNqZKnA98hb5qn2nJUg2X5ZjOWTF8rBt7Bq-TLAeQrbpmIih6Hcghl83E3jJvtur5x9J9RfxQDemJ7U5X0pjiUB-SDelzK32n9vSs-JCdEe7kD096EDVj5VS2Jj_VRWPnQIBjDBbLhJDWLgyQRm1sYV1TZV-tJhnQvhFvj77T_RFQz9yeK1RWNhF2kxrvAGF7HKuV--SY9sDxgE6HKpfyyaPGqUzRb5CygVtZ4MahnqMsxhlk1bdANKvNvDoYdWSPm1DVNOi2VYEPHpO78z3z6fdnPUDuQV1zEbhPNJbdhIGMnYp7jQ5ow_0qLmImG-Y-RTrGM8vOSMN7OLzo5jYc6Lfho7w__qEmqC3LQ4WzZaXnAID4XCGAAuaVY7MVSEKu0VuWqmfMXtDyrvxzZ98UkTPA6MFrsajptbDZRa70o4jr7VIGK4_T6AK8S6bAmA5d4_ksgC6mGHwDa53mHjK98yer2yW8cRJqhruM7ImUsLuaphSL190FSchVHC6kYj1p5enEVeDKuHHgiypo5iiCGjAQIvwmQG_cYJ9mG66g",
  "id": "rs_043f2a5369fbcd82016ab4a2d5289c87d0977b9affc53e8aac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are down around the teal bowl’s wall, and the descent has slowed near contact. I’ll close the jaws on the rim, then check the grip before carrying it.\"}",
  "call_id": "call_EFbWWtLruPgFct8jbacHwegc",
  "id": "fc_043f2a5369fbcd82016ab4a2d5a45087d0bc8e507216933305",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EFbWWtLruPgFct8jbacHwegc",
  "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]: [-0.5098, 1.4868, 0.5179, 0.178, -0.4442, -0.3336, 0.0182, -0.02, 0.8043, 0.6003, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3421 left_y=-0.1002 left_z=0.044 left_yaw=0.0287 left_pitch=-0.1279 left_roll=0.0701 left_gripper=0.0182 right_x=0.2932 right_y=0.0006 right_z=0.1727 right_yaw=0.0034 right_pitch=-0.0243 right_roll=0.0036 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -5.5726, 5.6137, 1.2479, -0.1783, 0.0806, 0.7692, -0.0342, -1.3197, 7.1863, 1.7509, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:834aee280b43eaec8b1a46c1ccfdfb20b8c2ef47e8314df30b72d62204da0de2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b394058aab2a928c2f52409791061c73f6e02c06424f59abcd528c3b0edda3b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d81421131b604b1d52c2d86723c89ed79c27135299092644f334342ef526f66",
      "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]: [-0.6647, 1.2274, 0.6746, -0.2043, -0.5209, -0.4068, 0.9996, -0.02, 0.8001, 0.6037, -0.3931, -0.0158, -0.02, 0.9966]\nstate[eef_state]: left_x=0.319 left_y=-0.1337 left_z=0.1298 left_yaw=-0.029 left_pitch=-0.0674 left_roll=0.0383 left_gripper=0.9996 right_x=0.2934 right_y=0.0005 right_z=0.1754 right_yaw=0.0031 right_pitch=-0.0167 right_roll=0.0032 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -4.6427, 9.1145, 1.6581, -0.315, -0.0024, -0.0562, 0.0479, -1.8803, 7.2137, 1.7656, 0.0073, -0.0366, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4995, 1.4612, 0.5182, 0.1768, -0.4183, -0.3054, 0.9995, -0.02, 0.804, 0.6018, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3437 left_y=-0.1018 left_z=0.051 left_yaw=0.0018 left_pitch=-0.1166 left_roll=0.0636 left_gripper=0.9995 right_x=0.2934 right_y=0.0006 right_z=0.1735 right_yaw=0.0036 right_pitch=-0.0224 right_roll=0.0032 right_gripper=0.9965\nstate[joint_eff]: [-0.4308, -4.9846, 5.7231, 1.5849, -0.2759, -0.1392, -0.0122, -0.1162, -1.3744, 7.1863, 1.6923, -0.0366, -0.0806, -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]: [-0.5098, 1.4868, 0.5179, 0.178, -0.4442, -0.3336, 0.0182, -0.02, 0.8043, 0.6003, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3421 left_y=-0.1002 left_z=0.044 left_yaw=0.0287 left_pitch=-0.1279 left_roll=0.0701 left_gripper=0.0182 right_x=0.2932 right_y=0.0006 right_z=0.1727 right_yaw=0.0034 right_pitch=-0.0243 right_roll=0.0036 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -5.5726, 5.6137, 1.2479, -0.1783, 0.0806, 0.7692, -0.0342, -1.3197, 7.1863, 1.7509, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:834aee280b43eaec8b1a46c1ccfdfb20b8c2ef47e8314df30b72d62204da0de2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b394058aab2a928c2f52409791061c73f6e02c06424f59abcd528c3b0edda3b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d81421131b604b1d52c2d86723c89ed79c27135299092644f334342ef526f66",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtKLcn5HTDNoo-a-IDlcb8RgMR73AnXlBjeoxXvZeVHqvH7phRe3icJnGPp4EMlPn2CLJ4XzfNYWg0ZaG2uNTi9mu2u4Uby5EyewS37vT8rbMsz_AdTOHGupo65IMACd1JPb67KPNhDEZxC0zfZia1jhy8YWm-9qn5sU-U8tAx2ypDVYnvHbxjlwEQSZK94NZkljDfKg9kgl1hD7xY_KfyAPi9mt8fyzcY_HAAUC_eCiT8iubgCnBKmPeuZEAAUo8-PlpNmt-NAaymcwTjJfT_nJ547PwwpBzt_ikJOKg8Xz0KoPH8JDRDjxhYGyXnevHx4-VgYZ9wYB_y_xkYqamUF2mECJuLvf49KjkO8JXQkKkFznn9kWtd-VQMm6TQoP3v7ElwnILrMe5WTOeIzjdxNWez9COfptoUEwFIih88BnUPCFYE6jMqbS3xV3ErpZDyWocNd6OOPU2sZELIayvrQ18hcAj05WyuAi8Frzq3Iobc_dG21l7yheOnG_HzuuYi0Feyc3RwNVgnuwY-gnwgWk0slu3wlKNqlB4vyN9YdvQaIdddm0AFIDtn1nE99ssOxZpei3W4tq85a5NUZhf9Kp9i0wt1Wya6dSwIego6v-kPIitNeOO4ai0lAHFc4QyPSWcM2NyM-k5ebvcJSLLb83FtaRIoG1ZkX4kIBR_iW4wgSUN4YFJOgf_xIxAI1FrYCDlB9DPrY2to_90aWWhg2pg_S9ZLLpbVXt-Gx22yqoylbfsG4fAZG_31eGqtNYih0v-mkEcdEcMAtBTladW6qlVsj6q_BgQ55Kl1cujAQIm64y-CLFK3W5SYyt6VMc6hCNebo_i5oAyPoO-cdGuW_zP4P64G2ZhTew7xDEouZ-fGvsQnm9Wf3D4GR26T0UxjVqXU6emfGUCX1OjrQ3p1AjSbjkucSsmjh_upwu65IogruToxTQtN7FI3C23Jn_49_8jk3AX0hNkl-TztzfeQUjY3idYfmt3bWXHoi24_58MHb180RnPojwyq8q5S9jom1y9oTH0FCPG38JvvaX7rmhY4Hxz7V7zmWPzrNkhulc85A3s5W_uAkGY-Y_Su9NYmySNxL6_k4VeEiCvja4RzghhF2L9hX0FCWOJtge5KTKrDiyGyvsS7S_TtfQ7WnPLhW_akxD5d84PLsmZ95CCvlGiOqydLT4tPOx4dnlAmrbfXeYc_gLG8fZwYu6KQUngUG_ZJIuTgPVp2A0weu2bhqNrrMdZhD4J7zCAn3JidXRZ1nrd7kguj9SnDtc4Qp8NFJP-045UQsL9nddmJ2VZJUqf96I1HDr6GXuwBhmrcdgPVWBEeUowaRmVfPO0QxOc5x9wYeG_sOI5aN2Zm9fIycSTM4rl2qKb0rk7US4UPLrIANC0gdpM2EOaF5t8HJDcWb2iX-JUCVKAAz4zv_4bX271LMVL7cD-JT6bDSys0UtXzbSqdFRDdklv8-E9ktveF-5OxBpjbgjLb3W6nyPpBZmNZ9G6BVvDp_PHcilkaAhn_rdacj14FECKIhnjl6MkWLrewnGjH9kvCskcXhd-R7nbND1fngKUIndgOcLdh0-huRvNX2CUbtHGgDOm51EON2TArDw9zv2k72dWxEpMolq4Byz1mdbHVcQLeaOcv_IkZ-8_L9pKpSoc2U7rEhS2iVr7TpLsbAWI12bGlchSjy6Rbg==",
  "id": "rs_043f2a5369fbcd82016ab4a2da1bdc87d0a067a7a412e406f6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.09,\"left_y\":-0.13,\"left_x\":0.36},\"note\":\"The jaws closed nearly empty, and the teal bowl shifted slightly right instead of being captured. I’ll reopen, lift clear, and move a little right and forward to put the rim between the fingers.\"}",
  "call_id": "call_NpYcG0V2yhaskdL7eONO3RcN",
  "id": "fc_043f2a5369fbcd82016ab4a2dbc1c487d0a82a564ec3d91d14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NpYcG0V2yhaskdL7eONO3RcN",
  "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, 1.4868, 0.7059, -0.0563, -0.4732, -0.3901, 0.9949, -0.02, 0.8043, 0.6003, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3539 left_y=-0.1267 left_z=0.0765 left_yaw=0.0259 left_pitch=-0.1531 left_roll=0.0699 left_gripper=0.9949 right_x=0.2932 right_y=0.0006 right_z=0.1727 right_yaw=0.0034 right_pitch=-0.0243 right_roll=0.0036 right_gripper=0.9965\nstate[joint_eff]: [-0.6906, -6.4752, 8.6496, 1.4432, -0.4225, 0.0904, -0.0659, -0.212, -1.1556, 7.0496, 1.746, -0.0659, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f10260476ac51f82eb4b774e98fcf60dbf6a30f2941a04f61aa5eaf872a46272",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1ecc0271b4dcfa3869b583b622997e3e79a22df4dd75e873953b2f38a69e964",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f495bb129df3bfc4d2b9390a937b3b2242222cce3b7679a1a40855cacfdc0168",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4988, 1.4025, 0.532, 0.0628, -0.4324, -0.3225, 0.9995, -0.02, 0.8032, 0.6037, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3347 left_y=-0.094 left_z=0.0572 left_yaw=0.0257 left_pitch=-0.1472 left_roll=0.0798 left_gripper=0.9995 right_x=0.2936 right_y=0.0006 right_z=0.1746 right_yaw=0.0036 right_pitch=-0.0198 right_roll=0.0031 right_gripper=0.9965\nstate[joint_eff]: [0.3077, -6.2154, 6.4889, 1.8877, -0.0024, 0.0806, -0.0171, -0.0615, -1.5111, 7.0222, 1.7265, -0.0464, -0.0562, -0.0269]\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]: [-0.5098, 1.4868, 0.5179, 0.178, -0.4442, -0.3336, 0.0182, -0.02, 0.8043, 0.6003, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3421 left_y=-0.1002 left_z=0.044 left_yaw=0.0287 left_pitch=-0.1279 left_roll=0.0701 left_gripper=0.0182 right_x=0.2932 right_y=0.0006 right_z=0.1727 right_yaw=0.0034 right_pitch=-0.0243 right_roll=0.0036 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -5.5726, 5.6137, 1.2479, -0.1783, 0.0806, 0.7692, -0.0342, -1.3197, 7.1863, 1.7509, -0.0513, -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]: [-0.5694, 1.4868, 0.7059, -0.0563, -0.4732, -0.3901, 0.9949, -0.02, 0.8043, 0.6003, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3539 left_y=-0.1267 left_z=0.0765 left_yaw=0.0259 left_pitch=-0.1531 left_roll=0.0699 left_gripper=0.9949 right_x=0.2932 right_y=0.0006 right_z=0.1727 right_yaw=0.0034 right_pitch=-0.0243 right_roll=0.0036 right_gripper=0.9965\nstate[joint_eff]: [-0.6906, -6.4752, 8.6496, 1.4432, -0.4225, 0.0904, -0.0659, -0.212, -1.1556, 7.0496, 1.746, -0.0659, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f10260476ac51f82eb4b774e98fcf60dbf6a30f2941a04f61aa5eaf872a46272",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1ecc0271b4dcfa3869b583b622997e3e79a22df4dd75e873953b2f38a69e964",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f495bb129df3bfc4d2b9390a937b3b2242222cce3b7679a1a40855cacfdc0168",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_043f2a5369fbcd82016ab4a2df680c87d08ac31779f2f19d92",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.03},\"note\":\"The teal bowl’s left rim is now inside the open jaw span. I’ll lower vertically for a second rim grasp without sliding the bowl across the table.\"}",
  "call_id": "call_KTCVdDrBCbWEUqcBI5IPuLu3",
  "id": "fc_043f2a5369fbcd82016ab4a2e4650887d0b44d907a2b87f40e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KTCVdDrBCbWEUqcBI5IPuLu3",
  "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]: [-0.5705, 1.6135, 0.6163, 0.0944, -0.469, -0.3897, 0.9957, -0.02, 0.8047, 0.5999, -0.3935, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3444 left_y=-0.1219 left_z=0.024 left_yaw=0.0281 left_pitch=-0.2092 left_roll=0.105 left_gripper=0.9957 right_x=0.2931 right_y=0.0006 right_z=0.1724 right_yaw=0.0036 right_pitch=-0.0255 right_roll=0.0033 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -6.5299, 5.5043, 1.7118, -0.2125, -0.0464, 0.0659, -0.1162, -1.3333, 7.0906, 1.7021, -0.0464, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3902c4cb2fec6c99345b14405f235e57e07f79d1b7239953198c86be4c185c47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43ea2692498d35ee8a0e295a52f79f59a8665a2cec739159833db7e88779d788",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c82346928d0cae0e69d1e875bfd2d56721726517c2a8e277d73667857a5ab974",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4995, 1.4612, 0.5182, 0.1768, -0.4183, -0.3054, 0.9995, -0.02, 0.804, 0.6018, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3437 left_y=-0.1018 left_z=0.051 left_yaw=0.0018 left_pitch=-0.1166 left_roll=0.0636 left_gripper=0.9995 right_x=0.2934 right_y=0.0006 right_z=0.1735 right_yaw=0.0036 right_pitch=-0.0224 right_roll=0.0032 right_gripper=0.9965\nstate[joint_eff]: [-0.4308, -4.9846, 5.7231, 1.5849, -0.2759, -0.1392, -0.0122, -0.1162, -1.3744, 7.1863, 1.6923, -0.0366, -0.0806, -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, 1.4868, 0.7059, -0.0563, -0.4732, -0.3901, 0.9949, -0.02, 0.8043, 0.6003, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3539 left_y=-0.1267 left_z=0.0765 left_yaw=0.0259 left_pitch=-0.1531 left_roll=0.0699 left_gripper=0.9949 right_x=0.2932 right_y=0.0006 right_z=0.1727 right_yaw=0.0034 right_pitch=-0.0243 right_roll=0.0036 right_gripper=0.9965\nstate[joint_eff]: [-0.6906, -6.4752, 8.6496, 1.4432, -0.4225, 0.0904, -0.0659, -0.212, -1.1556, 7.0496, 1.746, -0.0659, -0.0366, -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]: [-0.5705, 1.6135, 0.6163, 0.0944, -0.469, -0.3897, 0.9957, -0.02, 0.8047, 0.5999, -0.3935, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3444 left_y=-0.1219 left_z=0.024 left_yaw=0.0281 left_pitch=-0.2092 left_roll=0.105 left_gripper=0.9957 right_x=0.2931 right_y=0.0006 right_z=0.1724 right_yaw=0.0036 right_pitch=-0.0255 right_roll=0.0033 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -6.5299, 5.5043, 1.7118, -0.2125, -0.0464, 0.0659, -0.1162, -1.3333, 7.0906, 1.7021, -0.0464, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3902c4cb2fec6c99345b14405f235e57e07f79d1b7239953198c86be4c185c47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43ea2692498d35ee8a0e295a52f79f59a8665a2cec739159833db7e88779d788",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c82346928d0cae0e69d1e875bfd2d56721726517c2a8e277d73667857a5ab974",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left wall remains between the fingers at grasp height. I’ll close on it and use a short lift to test whether the bowl is secure.\"}",
  "call_id": "call_D5lQBlO0BaM55GztSo24bfj6",
  "id": "fc_043f2a5369fbcd82016ab4a2e7388087d0aa8f0dc664d6df7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_D5lQBlO0BaM55GztSo24bfj6",
  "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]: [-0.5705, 1.6016, 0.6174, 0.1318, -0.4667, -0.4091, 0.1003, -0.02, 0.8051, 0.5999, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.351 left_y=-0.1265 left_z=0.0337 left_yaw=0.0316 left_pitch=-0.1676 left_roll=0.0602 left_gripper=0.1003 right_x=0.2932 right_y=0.0006 right_z=0.1723 right_yaw=0.0034 right_pitch=-0.0255 right_roll=0.0036 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -5.4496, 5.6957, 1.0672, -0.2662, 0.1294, 0.3492, -0.1983, -1.306, 7.0359, 1.7753, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d1808fbc355fec36c7e6f3086d3377691db937e9b26ab1f37931e117a5674f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d21d26f131563f177ef667ac2457942b38475aa8eef6a3eba293bb71a67cc68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:207ff852890cf4aff971eac8696debd6897cf3c350ae15a153b2332d830ee2d7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 18 changed as sent

message 26 changed as sent

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5098, 1.4868, 0.5179, 0.178, -0.4442, -0.3336, 0.0182, -0.02, 0.8043, 0.6003, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3421 left_y=-0.1002 left_z=0.044 left_yaw=0.0287 left_pitch=-0.1279 left_roll=0.0701 left_gripper=0.0182 right_x=0.2932 right_y=0.0006 right_z=0.1727 right_yaw=0.0034 right_pitch=-0.0243 right_roll=0.0036 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -5.5726, 5.6137, 1.2479, -0.1783, 0.0806, 0.7692, -0.0342, -1.3197, 7.1863, 1.7509, -0.0513, -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]: [-0.5705, 1.6135, 0.6163, 0.0944, -0.469, -0.3897, 0.9957, -0.02, 0.8047, 0.5999, -0.3935, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3444 left_y=-0.1219 left_z=0.024 left_yaw=0.0281 left_pitch=-0.2092 left_roll=0.105 left_gripper=0.9957 right_x=0.2931 right_y=0.0006 right_z=0.1724 right_yaw=0.0036 right_pitch=-0.0255 right_roll=0.0033 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -6.5299, 5.5043, 1.7118, -0.2125, -0.0464, 0.0659, -0.1162, -1.3333, 7.0906, 1.7021, -0.0464, -0.022, -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]: [-0.5705, 1.6016, 0.6174, 0.1318, -0.4667, -0.4091, 0.1003, -0.02, 0.8051, 0.5999, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.351 left_y=-0.1265 left_z=0.0337 left_yaw=0.0316 left_pitch=-0.1676 left_roll=0.0602 left_gripper=0.1003 right_x=0.2932 right_y=0.0006 right_z=0.1723 right_yaw=0.0034 right_pitch=-0.0255 right_roll=0.0036 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -5.4496, 5.6957, 1.0672, -0.2662, 0.1294, 0.3492, -0.1983, -1.306, 7.0359, 1.7753, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d1808fbc355fec36c7e6f3086d3377691db937e9b26ab1f37931e117a5674f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d21d26f131563f177ef667ac2457942b38475aa8eef6a3eba293bb71a67cc68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:207ff852890cf4aff971eac8696debd6897cf3c350ae15a153b2332d830ee2d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The gripper stopped about a centimeter open, which is consistent with holding the bowl’s wall. I’ll lift a few centimeters and check that the teal bowl follows.\"}",
  "call_id": "call_LXS59MJzNmRC74VvXnoeSHra",
  "id": "fc_043f2a5369fbcd82016ab4a2ea901887d0872be87d4b064d1d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LXS59MJzNmRC74VvXnoeSHra",
  "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]: [-0.5705, 1.4487, 0.7475, -0.1474, -0.466, -0.4171, 0.0995, -0.02, 0.8055, 0.5999, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3515 left_y=-0.127 left_z=0.091 left_yaw=0.035 left_pitch=-0.1645 left_roll=0.0515 left_gripper=0.0995 right_x=0.2932 right_y=0.0006 right_z=0.1722 right_yaw=0.0036 right_pitch=-0.0259 right_roll=0.0033 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -6.8308, 8.4991, 1.4969, -0.2466, 0.0415, -0.0904, -0.1162, -0.8274, 7.1863, 1.7265, -0.0171, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a9d096f5e856a7a7ed22c8666f886f3d56f2157d0f4e50e48d81a47b98e2912",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:480bfd42d9cd414d20589b6f61bef858ab04bc47ccd92fb110cf036ec4f44fda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a7f14c2a31499abc9db628894d3aeecf73807e6f99b45d62a842118e352e695",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 22 changed as sent

message 29 changed as sent

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5694, 1.4868, 0.7059, -0.0563, -0.4732, -0.3901, 0.9949, -0.02, 0.8043, 0.6003, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3539 left_y=-0.1267 left_z=0.0765 left_yaw=0.0259 left_pitch=-0.1531 left_roll=0.0699 left_gripper=0.9949 right_x=0.2932 right_y=0.0006 right_z=0.1727 right_yaw=0.0034 right_pitch=-0.0243 right_roll=0.0036 right_gripper=0.9965\nstate[joint_eff]: [-0.6906, -6.4752, 8.6496, 1.4432, -0.4225, 0.0904, -0.0659, -0.212, -1.1556, 7.0496, 1.746, -0.0659, -0.0366, -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]: [-0.5705, 1.6016, 0.6174, 0.1318, -0.4667, -0.4091, 0.1003, -0.02, 0.8051, 0.5999, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.351 left_y=-0.1265 left_z=0.0337 left_yaw=0.0316 left_pitch=-0.1676 left_roll=0.0602 left_gripper=0.1003 right_x=0.2932 right_y=0.0006 right_z=0.1723 right_yaw=0.0034 right_pitch=-0.0255 right_roll=0.0036 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -5.4496, 5.6957, 1.0672, -0.2662, 0.1294, 0.3492, -0.1983, -1.306, 7.0359, 1.7753, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5705, 1.4487, 0.7475, -0.1474, -0.466, -0.4171, 0.0995, -0.02, 0.8055, 0.5999, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3515 left_y=-0.127 left_z=0.091 left_yaw=0.035 left_pitch=-0.1645 left_roll=0.0515 left_gripper=0.0995 right_x=0.2932 right_y=0.0006 right_z=0.1722 right_yaw=0.0036 right_pitch=-0.0259 right_roll=0.0033 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -6.8308, 8.4991, 1.4969, -0.2466, 0.0415, -0.0904, -0.1162, -0.8274, 7.1863, 1.7265, -0.0171, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a9d096f5e856a7a7ed22c8666f886f3d56f2157d0f4e50e48d81a47b98e2912",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:480bfd42d9cd414d20589b6f61bef858ab04bc47ccd92fb110cf036ec4f44fda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a7f14c2a31499abc9db628894d3aeecf73807e6f99b45d62a842118e352e695",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtKLxz5wnjIz5g246U_gSDOvNTo2dd_05WOZOD-MG9K700uV1UrEW24s0seyJkHd3LOPKuSmlXReHS_PLH7leWxpPe9LcajM17aRBKOFi882MYxl8kb9jU1P3d9fz7tSpFu9LMiY01kzRUSaSbjGej8bGVVRoxO2QLk5VZWt1diiSgpzkmS7osRFL4cmOzpgwj13urxQytAjxEK9KNqSFQHnz-6jqKCnpqmT3qnMTrLj34sN_nMdTdguiGFkYOPbih9L2ncERXLnA2dg5mmLKZdCWWmCUPhRs9XG1T7zGbQLpEkXjlk5OZZI0xPqC5r-UIrIIF7rJu5d7CwPrstWPXg3ptPQz9r__6IEJTx-k-KW_86c6JvEdRxILvKJoabTDrv2rYp04-kvo9dLZIlCH-OU8nI3LcKJjLpWw003M4wUpX-EknOVTZWWxHY7okdjG_lia4oWpyVpxQSGCN3g5lLEzm5D2u0U6f8YBzrJkHZ0EX0l7Sn9fSVq2rtYN5B7oSIsmU9SmK3izhRHgqZZxCD7c5IpUyg_tG2U8ibQ1cUJ-zOx7l-U728KGNWxjZX8HrT9BxmrBrwqEUlEKf5rEnyPowZSggxM6kq1hSIvhtv-IZTFIrBGMUXo6ho1mN8x8dHWVYCLPAmekeQhFqHZtqZQb-Qj8095V2LHGqnvk5slA0_qvqiiw5CYjJ2ta_WMjpm0TLlUuALViUp2Aod5ZCItZBFmEnHc7bpb2rSNd-3UnMOuiVT7CXFgWr70Xo79yKpBtfrGSinegBsQeLVQxXo4vBVQzRzJuMQv3_VR01rXVUn293tIlqnZF5hOD_56J3NA-dvhU6Z0pgKDpFI3fuDs2L9iWsJ6TtmSdCs21S-hsPDmoUMTvJsq3Z3UGv_gNGmtFIeVSPTtLW0co8kk9Ya0Mcu52YfV3ZwPArHsZwn0Na1vsAmyNm79Nz9qLLP7lO4_RbebKAjPgBEOOjSEPMWNQqpi0THgYuM_pM2oxPv6l9qcCD9Rtou-OP0NJolZcqyBAhh9d8EVJWqoze2cRf0CQu42WJFWxk-OEXv_NRMdv9BoPI2cgbffdj01KGy_7KGnlg4bddrhXHsYJfiqF1J5Z6ZauSyrz9OZoiZXXS5iW_jL8NIMfwbr7InVMhXbn7X1IzHpNlKxV2XFiLWArVzzxGU0EBvMMiWUwmDJ_uVxElIOjtsyWFU5PSjzBnbFGkkYB14pPwY2WEXYiPILr5IIHQcX-OR6bKl_E23cC_44KrPyG-dzRs5JFNgJnTiTykc09Rw8l1EuSYlX1k8X7KvPb-G2ZBjXlh8FMUtAX5N5zIuRydcj9CamsLqrNIMDkbFPv_uLSHm5_VB8MFtQPMOP6OwhTBGGROO8A-HUJbQfoK04An-WUaBoys5DFkZdiTfgZClTlgGm1zNJ1_g3PwW9eNTdfiTEAAWcbKKiaxG5z4j4EclcKE_B2P_GG9TzAaAGqKdeIcwE_isVzD3DCGMbl7A5ni8XSunAgyWVuyUB8zikom3H1dUYbMaq2MtqUm1Emruv52iOV9NZqNG1cgfOb5DOvotBnUuBkUl1lp5pL-jqMCo2NeGXvBIbrttCl7SRim8iAXHBlE9ZRFQ_bpNcDnbszqkzZf_GoCTKqh2R2HpaEr4pw0KuvuEgjnA0EGiutgfEbI6TeW1wmSySCk-tAYtjpZfCrnrda75D-rr5yhopp0KfrKDmloh-4qOsla0xJ6o8f7ft2VRsLBIN4mJDNed6cj2dbYINN2-wWu_RQHKeaSYi3gKqDvOdw7EigkLEhD1yEu7RHZjRDvJW1ByauhYhe-0-mgDb2yXOnnqxBg9M7m3edxzS2J-o4gueAM-lA0VR6P5zXwf7sI8lo36KyLxofLtrfnFfhyEW2NzpFtsNU3Hyrb4ZWkkLYw7i_SZz4lovj5gOQ97BdnzWyRklfZ084Ai0lUpKFEOFR4I840Q4m02fkmCykTyfjPDTnkinFiUrJMN4oBkOsx2GmR4yTLRhdW7P60kGF5LX_rb5oeXvnkmoBrPPwxdp4Ya99xdprPQ5ZWVq_ljqlMObtLx2niw8GIFpDWHpYoShrgo43zBiaXeG7Vk-KQ8NlxLNLqYaCCzvz-P-C44n35ETpwS0axRmLAp_kxa2Fbjm_Ep1_pBpE8nfqDg86yyEn7QVZEza346kq-OTgtFN_DAJoWT8PBqlka26G-oAv6lDT3-K25ECThGFyQCKbSGKzBclIik-8aGtXrcH8oL-X5MHR2rGyqSrswHNKmRCEXbQDVoZ2KUIox6JRMm7JXKjzfrRhxmTIvds8tpexcfI0rjzd57aqami99R65OTXu9NYNc7iwnOM=",
  "id": "rs_043f2a5369fbcd82016ab4a2ed551087d085cdf4384cefa112",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.185},\"note\":\"The grip remains closed on material, but the bowl’s lift is not yet clear in the overhead view. I’ll raise it to carrying height before attempting any sideways transfer.\"}",
  "call_id": "call_aZGXzb9HdhJ6PpcxcQNGoy4y",
  "id": "fc_043f2a5369fbcd82016ab4a2f0b6a487d0be27467cbc10dafa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aZGXzb9HdhJ6PpcxcQNGoy4y",
  "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]: [-0.5705, 1.3693, 1.0107, -0.4995, -0.4656, -0.4202, 0.0994, -0.02, 0.8055, 0.5999, -0.3935, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3534 left_y=-0.1283 left_z=0.1685 left_yaw=0.0373 left_pitch=-0.1724 left_roll=0.0545 left_gripper=0.0994 right_x=0.2931 right_y=0.0006 right_z=0.1721 right_yaw=0.0034 right_pitch=-0.0262 right_roll=0.0036 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -7.0085, 9.0872, 1.3162, -0.2515, 0.0024, -0.0171, -0.0068, -1.0325, 7.2137, 1.707, -0.0464, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ea4633fa30078b9f4e529a9b5b088801a2dcfd27a7a5fcd2226fa11025ef6a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a41b1a623c68728ed6fbfa25ea2883747334695d317a21bb36529b8d16c6eff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14d69db7ade6c5637a5ff39b62b8f7c3e4ea12f48ff50e7d88379e090c6bb2bf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 26 changed as sent

message 32 changed as sent

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5705, 1.6135, 0.6163, 0.0944, -0.469, -0.3897, 0.9957, -0.02, 0.8047, 0.5999, -0.3935, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3444 left_y=-0.1219 left_z=0.024 left_yaw=0.0281 left_pitch=-0.2092 left_roll=0.105 left_gripper=0.9957 right_x=0.2931 right_y=0.0006 right_z=0.1724 right_yaw=0.0036 right_pitch=-0.0255 right_roll=0.0033 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -6.5299, 5.5043, 1.7118, -0.2125, -0.0464, 0.0659, -0.1162, -1.3333, 7.0906, 1.7021, -0.0464, -0.022, -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]: [-0.5705, 1.4487, 0.7475, -0.1474, -0.466, -0.4171, 0.0995, -0.02, 0.8055, 0.5999, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3515 left_y=-0.127 left_z=0.091 left_yaw=0.035 left_pitch=-0.1645 left_roll=0.0515 left_gripper=0.0995 right_x=0.2932 right_y=0.0006 right_z=0.1722 right_yaw=0.0036 right_pitch=-0.0259 right_roll=0.0033 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -6.8308, 8.4991, 1.4969, -0.2466, 0.0415, -0.0904, -0.1162, -0.8274, 7.1863, 1.7265, -0.0171, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5705, 1.3693, 1.0107, -0.4995, -0.4656, -0.4202, 0.0994, -0.02, 0.8055, 0.5999, -0.3935, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3534 left_y=-0.1283 left_z=0.1685 left_yaw=0.0373 left_pitch=-0.1724 left_roll=0.0545 left_gripper=0.0994 right_x=0.2931 right_y=0.0006 right_z=0.1721 right_yaw=0.0034 right_pitch=-0.0262 right_roll=0.0036 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -7.0085, 9.0872, 1.3162, -0.2515, 0.0024, -0.0171, -0.0068, -1.0325, 7.2137, 1.707, -0.0464, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ea4633fa30078b9f4e529a9b5b088801a2dcfd27a7a5fcd2226fa11025ef6a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a41b1a623c68728ed6fbfa25ea2883747334695d317a21bb36529b8d16c6eff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14d69db7ade6c5637a5ff39b62b8f7c3e4ea12f48ff50e7d88379e090c6bb2bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtKL8kTTNypLeU2h9DB6B0RrA6zoC-Yw2hzYLfTVW20anGCoFxxIFGLaKxhrTGlUIrX2h2nMlFwo4J7wBDh3ybt4b_ONQERrAOXUqM2n485a3xc7NUucZqjtMA5lQNoDEqUQlrsm30wcQiTPF2d4ga3QKiRt9kKNBXidNyBC_KXKjUznQq3w_cqwL0dbc4yqM6JJFo9j_4nnNVo9KTcekNW2F1O5aZ20GxMOIdElDa_gWy1Sv-aiBtqWZG57G1oqUVTJhYFnCB0PEKUa3ziOicDsM7nYPSyi1WCRo-USThKTn1UhQRgeOLqtEQIT6RmQzqNeTzhypogs5U_Nd7Laa8G9775CYOeWgeBYcX65YAsBse3v1Qlbr8uYhiAdps-237GlBIm4fpCfRH_Dl2AAML6eB2-bQO17-QF3IuRSwE9XgJ4vCVQlIS1SaWP3GWR9-2rgx8q33oiECn-xPBC_vNWOH2hOM2KE-UvXEV6nPFfVWFDA1KvhXmkTZmfqHgY60u5N7AcHyHmboNfjleehLeHeBTUbhzH3TmYi-w7qORCMQSn05O_BqHV1O-69m_jI_JslvoTtpYpiHBHIoXEycFQyoU0i6w4nJAUUpq8NN4iQqkhgXlSzZaT0gOMw7tHfuEilziGUNHq7YXdThJ7dbYzzXYO4d2XFa1EgimC_bZmMr58cAo334GXzWvHnyIcFZbtTSWLeSckTmi4GOPqMIp5m0YBoOXJZXt4OmxUC_O4zCDoNyG4uFWyN2s9kA84TftHCJOb4JZ8b-aAthl7Zp_WaJuZPmFr5oqpzjv8-14BJraZf0iuugRgdkOKey7cL5gMcns2EUL0AgAjoNyYYExOr_tm5uPKTASo0ZYuTmVn2G2dFXRHUgpP9aF7RSyXiVuTKsPIdbSY_errbjs0R8A-fiPh1SGA2xXxv2lKLDRaLF4GbeOCWatlaEejOD5HnTGVjrmBkdmY9BwAnpQsMOgDeDp-pSOqsZAz7IKFsyBKBBH4PK4z6bZ8ibN75_3UuJZJWDZtF629glVRaQPQarm5aET_GYlCKPTZFLIwMC-zPjZfmyXAA5ExUsW9PXd5ssozaHdTEljJR1hCjl9ZDebVx2pMiCgogcgdTxLrYZbkzOp8uwuvvA06T2u_R1z8f_hjnXd_JZ5O6ubDBJ9KPD_HTY81aF8dFOLW9IB6hMixYEf5W3e0FiSnCrZ6gqFyJK6r427r72WgEfKFRdRCIbs9E-gkJH2_yUvlXJQ3RctvtTg1JMeaTeKLKu28Rrp9so7DAJbQ8HfCzU2YySAMeHKVP1Yapeppw84LsZw6WaxkV3SCohVPkjjpx0GAaJg1_0_J63kvS5jZjtkPBfxDKh9LglvEG4AwsBXIxdlGeZMlQo7iYEtESqdktv02Z8kZJWjFbKgnRvryotwAcjFA1xfHtXeTWXt5ev185v0jrPiCNWkKKQkcHdGrOXPAyHbHpdQ_WMG6FeK1JHdC-p55Da0JzSeaHBeYWVyCtz7Db8FoHTwcazyO4g2Cf3GON2-cMvrc9zLk0jhcYjfN0uXiBenBDKrpQn9xrOYYwTgU4EBFkWji-a5SBA6oxV2mN9NwE3XhyLaRoMlOGNiPw6MX4lKDJxD1_Y_XA76TovahT4U7KvLDBRMelwG8IP3r6vdIV7-mPUXkjkSsPkSje3cDCvZmN6D0u1S5ioTkOEPcwX42VBgpKOh18Lf8lV5spWZi4J8yoUk1F8UgTM0zXt2pDPtCtyfJ831sVuI3yDQH572HLuFYJzooNHkEsjiiNICmYQfMLJr5qNqr4ALiYdG7WWFlr7wrXyzCmj_G0LN63ybJH_rh2EDls8BhlRCHm3graTI5lBUtlX8_Rc2Vm0_HoJ-702EV00Rkk5DQd0z-yvoZtNTAIT2PG7JvsYjcB7Dxpd95u64v85jVPQAAwBXTL_rBG3qwRHb6bNFF-8hfsu2nguBKL3MI2szWC4iN3S8WzT-swUb6bVUkyBEgv3yLbP3KGbV3Vpwc2gjHgFwFLAYLfxdA-JeffoZ21HKyl5MY9MI3QH5yzmKvczU0jIdO3Rj-fLCO9ZegbhsJMAUSfQYM1lkS8FJzm5BHLffF_wK1mZ0ljVHbwzDCjsTTRzzg4BSy2wiC4vTouvu0WQzDrBwmggQDjdPclTyXALsZ-O4EjPD4LilSE8aImGou_IKobEup5noSc8rICFTp9vApk0VTaiuV-yd4hAV9qg6trJWuAYfoeG7mZ0PcJGTsBGTnBEeY2ZOCfkGISTgtLAdQkBbCtasxSvgOBdLzYFuwXWb6c62jfsiA0HJQ_94xoRHAI-uOyUPufzpxW0hz00_gOCorWK0h1JzSBAn-NhUCee4dkDArYxneu0eUT6P8ciQ5WRKzgLfb0iRkyenyL0uUywXJaliwxbabpxh68CJxe79bHR3Cp6rRy0m1l2DnuGTZuol2J3syJV9mzSzeQ8TYuN8yUMELSM1mltu5gI1ZKkS0yMmoGCVQeJtiddkhEOqKIm1CRLtM13NlXBC9S-up8dTeG-MhLWo8n8D8rsJt9SUoi1MaWDPRP6qLAvpATznh1X9TwLlP5tJ_4FMHuD3WOIAeJ09qV89olRM0Xg99TlBEjOuWdXYgvLgvrG8skyOSzxJEH28iQ2O6vOK_8XIfBvRRQf1LTDxpPhvg0J84Rb7eyDU1yyS8BU6QWQfK_A7WSxFpzB_KvzwhvZGgtiiJVofbTJRgi0Q-yI-GhpLXULrGnmBKpcZXaLWZZEOfk4qGg70Hj0CvWgyRSA2rfuB8c19wFfH_iehFXW0cIPAUi8_iTheATvX5E7fDNGP3mdr7pUGMtJ_Tcs012GCzTLm09YGKfOgWhtiBdALmHzB1jCSYegVnDUFtxM6MqcqnHNsssyK6KkK8STgAsdKZJSH5Cn7I1ssXEPtR2v602iO2eFGEDQQ1MsnDL1-Gs9TWdDLLuThFBpiCWeBmvrQxRpgu-_vJroGBmb1zjy0e0U82Wp1UKzyHzFnoEGs8rFCW0Em2Tti2bpN3XSb-hqlr4UB_bc8zEU1C28omM9IjHsCQz-gAFkz2d12VNW2Dj2BkMKA9tkWtuiIPF-BR0z7hXxxT9rwAPjrHdSIZfB8N1j4jr5iwjFwNzp1d0cSZ96ifc9aFdDU63mI9-bqKccevS8dtCxhq_ZFxmZ-ewaYWeHRZajHGcgdZdgyf-s9o4YS5DqIYmOsjQKd5aslNuBbtGgt2gf13ZCB7YyhVMKDq_fb-m8eQrHmMoBurLiJyegNAVVpGvqfJgWzlIe-Pa0653PbqoNZiyJW_dlflcWmBHfJEP08UZigeD6huJRPLrRjJ3P6tNcA3p2AyIqYlabLdaSl5ozCR76RtPK3BUA4D8tdj7mhTOmGsFZKsl9XmCIInLtlLaE_9IiIvAgAdFk-Hg8GqL-pRQulPhZU2idw8SKg5I4KVEKAsdy1QA2nTycpXs_7CU4uNC0ZfYUKrZ1sJorbxHvyeQt0JnE0GcIGlNj8HELbmoeDXi11o5qUxeZStzMwWvr4qrq2xGb09Z58S8RK50AeY7oXVdwQJizk0UQtYJOeVOOL9DEbcD7oSk7zYv92WWmOrDhzjItnBYRYxwTQB7tmNbeVfDc8HaZJV2z6A527tnja5JWOgaE0n1QXq0UTbohanHpRC9M0mEF6n0v91SKisKy8vsVkp0jI3dOGgkzgqNGmApgl4fLN1QGFABUD1WBoDRHzNvaKITYuNJIlnCFD4T6Uscegy40j3m28tvHn0Z9Zjkn0c5imme7F9IYcDR-d_uTSYRXoxwO4IfssRTDyHsTUZ4F9dy7oS2zcizxtY-tEsUfq00htd-GUpsF9V68UGHtlw==",
  "id": "rs_043f2a5369fbcd82016ab4a2f35fa087d090d59739e9a1f6ce",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.185,\"left_z\":0.115,\"left_gripper\":1},\"note\":\"The teal bowl is still on the table, so the rim grasp did not lift it despite the gripper reading. I’ll reposition over the bowl’s center and try gripping across its narrower sides instead.\"}",
  "call_id": "call_c3ZVtPmIec5XS6AnmbwX3KRE",
  "id": "fc_043f2a5369fbcd82016ab4a2fb550887d0b53d6e9493cfba3b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c3ZVtPmIec5XS6AnmbwX3KRE",
  "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]: [-0.8028, 1.4689, 0.91, -0.4225, -0.5846, -0.6174, 0.9949, -0.02, 0.8055, 0.5999, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3183 left_y=-0.1841 left_z=0.115 left_yaw=0.0143 left_pitch=-0.1964 left_roll=0.0633 left_gripper=0.9949 right_x=0.2932 right_y=0.0006 right_z=0.1722 right_yaw=0.0036 right_pitch=-0.0259 right_roll=0.0033 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -5.5453, 6.0376, 1.3895, -0.4567, 0.0073, -0.0513, -0.1026, -1.3197, 7.0085, 1.6972, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cf655497995e8d36c415dd65f15c7bae2ed38e92a4628dbc9b4bc4196344956",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:108b4a52ab145cbb7f4958ad0a4c46523b51e4183e3f88e5440ae7084c82231b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4081061fcd6ca812cf2a510395e98c8f9b5a7108f490a9f26d048c30c2af456a",
      "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 36 changed as sent

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5705, 1.6016, 0.6174, 0.1318, -0.4667, -0.4091, 0.1003, -0.02, 0.8051, 0.5999, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.351 left_y=-0.1265 left_z=0.0337 left_yaw=0.0316 left_pitch=-0.1676 left_roll=0.0602 left_gripper=0.1003 right_x=0.2932 right_y=0.0006 right_z=0.1723 right_yaw=0.0034 right_pitch=-0.0255 right_roll=0.0036 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -5.4496, 5.6957, 1.0672, -0.2662, 0.1294, 0.3492, -0.1983, -1.306, 7.0359, 1.7753, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5705, 1.3693, 1.0107, -0.4995, -0.4656, -0.4202, 0.0994, -0.02, 0.8055, 0.5999, -0.3935, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3534 left_y=-0.1283 left_z=0.1685 left_yaw=0.0373 left_pitch=-0.1724 left_roll=0.0545 left_gripper=0.0994 right_x=0.2931 right_y=0.0006 right_z=0.1721 right_yaw=0.0034 right_pitch=-0.0262 right_roll=0.0036 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -7.0085, 9.0872, 1.3162, -0.2515, 0.0024, -0.0171, -0.0068, -1.0325, 7.2137, 1.707, -0.0464, -0.022, -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]: [-0.8028, 1.4689, 0.91, -0.4225, -0.5846, -0.6174, 0.9949, -0.02, 0.8055, 0.5999, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3183 left_y=-0.1841 left_z=0.115 left_yaw=0.0143 left_pitch=-0.1964 left_roll=0.0633 left_gripper=0.9949 right_x=0.2932 right_y=0.0006 right_z=0.1722 right_yaw=0.0036 right_pitch=-0.0259 right_roll=0.0033 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -5.5453, 6.0376, 1.3895, -0.4567, 0.0073, -0.0513, -0.1026, -1.3197, 7.0085, 1.6972, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cf655497995e8d36c415dd65f15c7bae2ed38e92a4628dbc9b4bc4196344956",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:108b4a52ab145cbb7f4958ad0a4c46523b51e4183e3f88e5440ae7084c82231b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4081061fcd6ca812cf2a510395e98c8f9b5a7108f490a9f26d048c30c2af456a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtKMDCDaI6x-RorgMfmBbtgLGobo3qh4NY07P_cx5jjlcvsBNIL4HyWTLjIf-YGrKJP1ecAdxahgIJ23LHi-uiXCnznTNhCln32iLKUzlEecVXIs7brpFOmxG0H9sqD6SkNR_Eo8efas86fb2t6IR5m8jUZARNmoFJndpGBbp9DPB3rpusN2OIHoaef5ItS5NInFqKp-SYl-1Ds2C5bQZgJYCcINVFqlwSIXFqFk2vLI9ASODs2cp-mhgWX26tBMZvvw5vSCKDBOc4AEPhrgoDJpAvPBmLqcoIwtxw7XUHbNyyPVymTZp5XGID9PYRSG0SzyKE-fpUJIXdnvuz1XdA-v0iNNjR4Cbqk-NGaMMEw3pYEOGhywQU6V0r0cwPKF5E4mCf7vI_KXcfXbRp-Plq0CugMlhea5ZZz6koIhzvGwSLJT_-BifO1jbf06GIILZku9780R1CBEcRRfXjgu2OS3l3b2JjUc6IogMGEDX_gGbIlm_0CYYOS_Nj14jLQrO5Fj2E0CDixjEEmXn6Oxg_fgGpFlHkYruWRUJrr35ukg1FoyvPInv_moM8GLBCHifNvl_ETd5nyVTOHw-UKKVB--EQhvfZcQZeGjBjzWpZrIH7xj9HKjyLwDUL4kOtby3DD3WEIDMT9ZujKvRZKxL5Hnmh_51L1FVlSKTFohLqOUJWRjUlqHsVpSBKAhstnLTkUC174uW5Dc1V95gE3Q8dZ_kQF4i5Kgzh6fuoA2ECKOq5ArfFb6EY8ILiw09GHkA9RhOFL0NH5GsPYjw1aM8jw5F47fDC27VlpZj63fPN68miOq9TxCd5zIjzpNjfSrF2vGsFLVpQUosSr2zhfBBm39vlD3l4c3505ThVCthZp0bIYjE58u7F7U4cLwqZ_uGUbMxDYmpDYndLhgdqG44BwGc2K2waCKyTKOq1BzsxmlFB8ATTHyL--wLyJqhJWkHrw58dreS0UWLgw_ByvYfa2Ng57HWwlYPNATMMlPvN1JGo5EJ8twm8NzafMpt5cwzHI63T8_x9yxT1e3NWDY0pZsiFOpXjdigDJN-C5Sh05ekR80H_OW0oume3e6MdFj6KKi2Penff6F_rPqi3FyPKKlh0UkIUvRY5DWyxzrkjDCDMGnE-hiv8J5c8PBZU_j1h98E-g0HYGNnzYrSxC8zJq2ZFTtpPGf7Bs3ZyEe7n5kgPu6oRoS7a771-wvJkpDhXi70jfNlw18VOhbGjtT13OziYFd0y7I1cCTh0bUTOmKHXj_VZxjChc-5j_TUe2p_nl7JhQWedVyQfMplidRHes7lhLB5V_880xBnsIRH6ITYmTcXXuGb5_xqJek5e6_0GigTVuktHaR4_vBFJQdB9Y4vsuAtIhTAq-8MrePCf3gKN61yUq4ZRF3Gh-Jw82HECj6uo-yXBpHH55YmI5b9NhSmX1QDDjKwgbidcy--GeBuJ2DBtds9sMzn09qplequkj84q_2uq9SYCStjgd5sAn2s5ER5p5ZKn9bsVBPgCo13UocWuZ1tnc7bQLY4oCiLKIPbvDgRASSj_BLt-LlUJ8o99WcYjMQfp3kKKd4m_TMShW_3-JFuqexljXrZOKHKADvSQswopHW7ACRzMQSv2rKVG3fZ6AZ1gwrYq1r9lV56lxju-1SRg_abtGIBz1E9HdXuHAs_wRlBjsZC5YJbqAzRlMqw3vz5QcJSc-WYhPmjN0EhD0Rxlmxsx4KNjLb746PdyyhdBDDmzLcZQq3O7jxPcWPbUxtOKVAbQZ6JrwBaFHUuXor1ZOEZKpHv5HsTYhOY3WDYCU4GHBCvVw3vEsW4yv4wta0Avex8VQPLz_x2-3Ru-S02Rj1Dwc26El3TFq_36fR9YHRbNZOiXmKmFFX2KIXoLqrkt5H5xdIQ3kC5GaLO-U2r_gepymzM62FPL9RW2YvkpKwdGgyeaWOoqpkwQbJ08zrgjoeCzVHmzM-0b8dWi77GhXicffbLcwr3j8lc9XjkSiZvp-WxDQnjGwTIODAO4EbZP889K3vCmPneL_gXj11gQnegWoLMo8wZgiLWJXSSRKNWogSs63MlgfFtfZYu-8ohQdSBZPpteOGKz8aEUZhn_QeUPR5_idCDqJ0cu-qEGC720cVcguCk9DCeU-12dHtH7LFUAMMhUDb15Z4bxUzfJKT2T-i7faTJTOjKdq1LgNgnRc3b8RR329qRkwIEO3LDy8Oi1ZOJ-y_-RgUe54HbT4Md_siiT8Lf9x0yxp26FDZbay5KvDTJi2cBRLJmu-k920qWGJEh8zMNvikQraiPx_cSsGNwkA2PNbcTfL6pEZXo74PMcCSrSIYFCfJ9Q6tu7pWzQHMLktskxRx-y4JdSdcDEKmRm3vIwMuIP1p7WmjP5Yn1UeMK_TzJ9kJEHVmeTFpB5qZp_4MD6DOBjm5BtTlyX0Y13pobiWQtygGz3kEv7SusW9aZfNGQYw==",
  "id": "rs_043f2a5369fbcd82016ab4a2fea3c887d0b5f1691723b9ca81",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.185,\"left_z\":0.035,\"left_gripper\":1},\"note\":\"The bowl is now centered between the open fingers. I’ll advance slightly and lower around its sides for a broader grip.\"}",
  "call_id": "call_0QBqHaAMUT20S8UNCSgBkUX6",
  "id": "fc_043f2a5369fbcd82016ab4a3020a8487d0bbe6da0cb0860551",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0QBqHaAMUT20S8UNCSgBkUX6",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7345, 1.697, 0.8013, -0.1051, -0.5518, -0.5716, 0.9988, -0.02, 0.8097, 0.5999, -0.3935, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3407 left_y=-0.1781 left_z=0.0346 left_yaw=0.0382 left_pitch=-0.2318 left_roll=0.091 left_gripper=0.9988 right_x=0.2934 right_y=0.0006 right_z=0.171 right_yaw=0.0034 right_pitch=-0.0304 right_roll=0.0037 right_gripper=0.9965\nstate[joint_eff]: [0.4581, -6.694, 5.012, 1.1697, -0.1392, 0.2564, -0.1392, -0.0889, -1.5795, 7.0359, 1.7363, -0.0513, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e171692c7dadb770f1916df758f3e6eee74739ddd9a75d7a236e6c6d0b7f20e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddc6c2133d468414ce84904608395fc5e324ec455240bc04e2cd8f6214af9295",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7b1a9de415395af9edef3f2b046cfe253fc5d30250911222404fe67ad184d58",
      "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 40 changed as sent

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5705, 1.4487, 0.7475, -0.1474, -0.466, -0.4171, 0.0995, -0.02, 0.8055, 0.5999, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3515 left_y=-0.127 left_z=0.091 left_yaw=0.035 left_pitch=-0.1645 left_roll=0.0515 left_gripper=0.0995 right_x=0.2932 right_y=0.0006 right_z=0.1722 right_yaw=0.0036 right_pitch=-0.0259 right_roll=0.0033 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -6.8308, 8.4991, 1.4969, -0.2466, 0.0415, -0.0904, -0.1162, -0.8274, 7.1863, 1.7265, -0.0171, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8028, 1.4689, 0.91, -0.4225, -0.5846, -0.6174, 0.9949, -0.02, 0.8055, 0.5999, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3183 left_y=-0.1841 left_z=0.115 left_yaw=0.0143 left_pitch=-0.1964 left_roll=0.0633 left_gripper=0.9949 right_x=0.2932 right_y=0.0006 right_z=0.1722 right_yaw=0.0036 right_pitch=-0.0259 right_roll=0.0033 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -5.5453, 6.0376, 1.3895, -0.4567, 0.0073, -0.0513, -0.1026, -1.3197, 7.0085, 1.6972, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7345, 1.697, 0.8013, -0.1051, -0.5518, -0.5716, 0.9988, -0.02, 0.8097, 0.5999, -0.3935, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3407 left_y=-0.1781 left_z=0.0346 left_yaw=0.0382 left_pitch=-0.2318 left_roll=0.091 left_gripper=0.9988 right_x=0.2934 right_y=0.0006 right_z=0.171 right_yaw=0.0034 right_pitch=-0.0304 right_roll=0.0037 right_gripper=0.9965\nstate[joint_eff]: [0.4581, -6.694, 5.012, 1.1697, -0.1392, 0.2564, -0.1392, -0.0889, -1.5795, 7.0359, 1.7363, -0.0513, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e171692c7dadb770f1916df758f3e6eee74739ddd9a75d7a236e6c6d0b7f20e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddc6c2133d468414ce84904608395fc5e324ec455240bc04e2cd8f6214af9295",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7b1a9de415395af9edef3f2b046cfe253fc5d30250911222404fe67ad184d58",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtKMGD76mPS-izwcWZ--ora2QRoV5nkG8yNG3Snbl4DB9gRMkGFLbJSL2A4VxgMm31QKo5eWKTWnMmFuCivRFqK3l4z6KhsfYreAGR_4vLfLy2UzKUub2gZBjjX7bkDYuRDsSfbSw3O8V1zjTdfMsxBwF9pDHEeDrv16rgFOLDGJSyb6wdb4kBuLHQXxpr0-BmHl7aKOV9pIpdH-DE8TfJTN_BGfx8-tlGidL9bMQ3xpdjKC9QOeDsl8W51Esq_Lrl3mtapxeUpHDEQMNe_sbdq_Ps9Txz4uYFF0M49HW8NmsioGp_ecF4wAz1s7nBvXHkE72KbrMVfkE7NTy2PRbOK_DfiU-l9z27u27S4IDudx8bTb8KiyFhMqSnxvH1tuwcePOFOze1igI48AfPkyDfiZA1DhmI_7F3TS4DkbIcSg0hZfV7Ji9hvnX5YZ35LSbP8mST8X05oJFw7rGFrwQc_Ssi7dU7VQlaNtGd5lJg6LR0sHoOXCVYQEAlt93z5j4ijsPeAKfgGXQTMe35urSDsEIQiUAltI-cPODgTSJw3ugP4C-RnImMW-lz3ho8rvaTYZ_wiVerMle6gQMFNaGXh6LgYOdTN-rdFBPbUHsHAKTRkggwXc87MNLuv104_JmJCXEexpLqAG-20UhmGOCPJNmYVVHAsUS8T13TEioLun9VHgjYT13Lj2hEI2aCnH1NcLliVcaY58lxCoRey2jCt0EcCW7i6VUYbLt0jpUa7a1L1NK0O011hjbpFtnFsowfa3XZl9eV-tNyjJL9QkHa6LUakHDIZgyW8wKFI3lfs4tWNLzlx__yA38kjvNQ905KugOlgNuIy9N6kiHIVlcpeo40JpD0XPdEjutCxbGH9OJGV1gT4WzSKwSSyzQsXefJh1ozJf0MMpAV6wto6C7tK9WWViYDKCfCtxKiNCAIDDYJP1XEmR9a4d3tEXdZFXyaxY-9gT8eZQl13QguaXg1jKQsBr0UUif3uSeMhVDIFgpYyyUW_O0aaTIig-Ixf3SLlvfCpr4eeZzJS7haNQdhlnSc9_OI2YFpuv-fx0rI_ynILrBxNY1PG0sH0mwkVT55IqbJTLwY5WS3IXxGS6a5xG1KpcEstqe1CMFRzj5b0_vTPTRmia6Vey4nbYGT5wU1sjIgmz3iadNvMoTrDvtzzLkplruHTj0v0R3VzgCR03AwbiWsTvHJDZoue0DR-Yh8FuW76zST8vo-katqkexfi0SnK7CT7DGVhZaetCaVFgOxmeveL06Ym7-ynFyFRUtwjk2VRH4DzmM0A6NdDJcWOS6F-u2zL0z6qnvh9CdrvkhevlWVoO1uqZbSsPLeLAVavpL2Yozm4fL9RpmGW_RAqdwdg==",
  "id": "rs_043f2a5369fbcd82016ab4a304cccc87d09cd425cb2358b287",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are lowered symmetrically around the teal bowl. I’ll close now, then keep the close command active during the test lift to maintain the grip.\"}",
  "call_id": "call_dXx07mKQKmq07KRjCXwI5f4t",
  "id": "fc_043f2a5369fbcd82016ab4a305533487d0a15f6b41a5c9b8de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dXx07mKQKmq07KRjCXwI5f4t",
  "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]: [-0.7322, 1.7077, 0.7982, -0.1005, -0.5476, -0.5728, 0.0089, -0.02, 0.8101, 0.5999, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.34 left_y=-0.1772 left_z=0.0301 left_yaw=0.0398 left_pitch=-0.2407 left_roll=0.0942 left_gripper=0.0089 right_x=0.2935 right_y=0.0006 right_z=0.171 right_yaw=0.0034 right_pitch=-0.0304 right_roll=0.0037 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -8.1709, 5.9692, 1.1209, -0.3394, -0.0073, 0.486, -0.1162, -1.3197, 7.0359, 1.7314, -0.0366, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62686adb517b28e404f8361751d298376f0fe1afafec8dc8b108d7bf1650817a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3403a8aadd7ea4f2edf44cc0f15584e5b81832e059950fabef718b6051010115",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2eab2000c97cfa187c6d16f80c4e0cd77537579c337d54f5e87a9dd24fb158c",
      "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 36 changed as sent

message 44 changed as sent

message 48 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5705, 1.3693, 1.0107, -0.4995, -0.4656, -0.4202, 0.0994, -0.02, 0.8055, 0.5999, -0.3935, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3534 left_y=-0.1283 left_z=0.1685 left_yaw=0.0373 left_pitch=-0.1724 left_roll=0.0545 left_gripper=0.0994 right_x=0.2931 right_y=0.0006 right_z=0.1721 right_yaw=0.0034 right_pitch=-0.0262 right_roll=0.0036 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -7.0085, 9.0872, 1.3162, -0.2515, 0.0024, -0.0171, -0.0068, -1.0325, 7.2137, 1.707, -0.0464, -0.022, -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]: [-0.7345, 1.697, 0.8013, -0.1051, -0.5518, -0.5716, 0.9988, -0.02, 0.8097, 0.5999, -0.3935, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3407 left_y=-0.1781 left_z=0.0346 left_yaw=0.0382 left_pitch=-0.2318 left_roll=0.091 left_gripper=0.9988 right_x=0.2934 right_y=0.0006 right_z=0.171 right_yaw=0.0034 right_pitch=-0.0304 right_roll=0.0037 right_gripper=0.9965\nstate[joint_eff]: [0.4581, -6.694, 5.012, 1.1697, -0.1392, 0.2564, -0.1392, -0.0889, -1.5795, 7.0359, 1.7363, -0.0513, -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]: [-0.7322, 1.7077, 0.7982, -0.1005, -0.5476, -0.5728, 0.0089, -0.02, 0.8101, 0.5999, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.34 left_y=-0.1772 left_z=0.0301 left_yaw=0.0398 left_pitch=-0.2407 left_roll=0.0942 left_gripper=0.0089 right_x=0.2935 right_y=0.0006 right_z=0.171 right_yaw=0.0034 right_pitch=-0.0304 right_roll=0.0037 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -8.1709, 5.9692, 1.1209, -0.3394, -0.0073, 0.486, -0.1162, -1.3197, 7.0359, 1.7314, -0.0366, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62686adb517b28e404f8361751d298376f0fe1afafec8dc8b108d7bf1650817a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3403a8aadd7ea4f2edf44cc0f15584e5b81832e059950fabef718b6051010115",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2eab2000c97cfa187c6d16f80c4e0cd77537579c337d54f5e87a9dd24fb158c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtKMN5JElV6dKNyGnZ2k3R2ZOe54ru2EkUBzOEbSWYLqqM5O8_41bT5py_haKP0sU4zMYQqGBKcvLo3jburCQ35FfmeP-P4GfdBbZhwb3iQr7MzpnaLbgTozOlKOTEzwYjEtvG9o0ojJcSjwzx16uXItSik4-o_rF4M6bpXDZLxHfFlqtPmEfNeOw-A9GwdggL5DfPq-OjtW3JvJwTYUGpb7VLwnm4G_M3s3ux_9hnrFL2bgw3H2piSiPBLM8utodZ672aRrGdaqsgbvHnMXCg8v5JyJBRZ3Z4ggYP58qXiaEafRBAVUR9SGNT0_uJcyUQqcvmhAg9IoMcJ9wjpoG6EHl50j6FWUtCFG4c4cD4RHgQgo-bTuGNaOUsWYIBh4QJMf3mQTdv-AtEdUPC0Z05T7WhVHiGIw-CnGwQh0GjY9eiQjfibHmDpwdQPZ4s7iX1Ta9P6MquI_wM6EauM52c97asEMcOCvufAjGsyb-zPB3Uu2-Hg4QcTbnAJDbSl1LCYgu5K28MDFCvcNJcY1SAIcM91nag87BQD9TjayaJzT3yxlbW0KyJKXB2rFwXxGjpRL0Kxm79qg-XCjlEvnOK0MO4H-efDFyhbvCXeEs_ePtT0wtjMPQvMEvA9PsLeQc_DTxUacGc9cDoaopjmOIS3tZ_TXD5N_-d5aqq_Bw---QnwRjZF1_x4MpAn6-G8_Uv4lLaxZSvJiiRYofZ0rTGZ9nkpoS_tDCbo5uLU9Evm9D8C94O1kQrEYnhSRmpFbi3-d148Vqi7vTs8go0xlHQXCuOYHeGb6U6m_sNhiVwRLdkJLjYcTBYN6_FzDHVdCWzqPJxwtJi5_s9stLFE9weK6QKLYbI0teHXOnpZps5IZlCfiVp7D5zgw_aqUMVJNlbzpFChTaXIWe2ze6Yo4Jzb8YqSRJwFyO2TECk9u4apNYch6WuOdLFWVDVs6ZJy81bBIRfWJaAbqajZTom0ArPzQ2-wh1__2aZMp1ZB8x0wKspZtRewuktfp3kcq9h_DwME4iBJXzsZ8OfuotAGybD9GJAkM_ORidJWyxgBevzM0ac7BZVGB0POmP_OiRfqFK4t6sUsyV0x6NF3v3Sz8UQJNjtZvR0w664IXpUSp0_g5Py37N5orWUTi7X5XtzYSTr6CQhPM9ExQIWRKsSjoYSAnFd0vA_zcQvDdPLIaGQDA2-nv4ZBUvLvwLlH2ixTJAvd2zQMoe73kLfsWeqMVL3llymv0ekRLRZ6ZbFsVQi6SpI0PekVirIbn5eTDNN9HKFLWnqxUcIMisDbl_iTl6Kj00guAHLcmqQPF80qIO7ptJ4t34jpSa93sYO7cJUdRguuHYdexb1RcsFJEMKBWS_KLT_XKni7FEVCe7Dk4fFDeEN5rOC8z6tulVa2XlK7fYSD9u33BH_Nhqr0eKTPnKnclUs5UJ1O2tSTNWWDeeZ4qnViZFBq4AkVNH5V5T_OwB7TJEGhdKVJsjLgzjGLO_rZkwUw6Byt6iqSeY8iNHAnzruitwS8ccxEC3WbHlentbrsb1kjlN171GmDqq2leohaH_gMUGwKh5xRkwZr6qQPlH_iUBm3OkN3GYI-tNlUKVaD730evIhhrHcJI5kDu-92xaVCZOTZp9nkPWBRAYeKfjvkO0J7DGySS0wf9S-9HAZz1k07FfOVsvlrnsiQ3gVKN2YDcEf2J7OtubP9hP-H5_uGoOzarSJo4QsuSSxfq_Kf7ChJhwknEi0gVJDoFdwJ0dUi_NH_3mIWESgZs0woJ8-32LDNrKf6zKAUlCIhjHNUFK1Gzlztgm4_fQCgHhh-pHww==",
  "id": "rs_043f2a5369fbcd82016ab4a3092a2887d0856a928109717971",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.12,\"left_z\":0.10,\"left_gripper\":1},\"note\":\"That close was empty: both fingers were inside the bowl, so it is too wide for a full-width grasp. I’ll return to the left rim and maintain a firm close throughout the lift this time.\"}",
  "call_id": "call_8oPztSDu58KWlbaCYIfVAISO",
  "id": "fc_043f2a5369fbcd82016ab4a30b735887d0ad78029cfa597d6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8oPztSDu58KWlbaCYIfVAISO",
  "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]: [-0.5545, 1.4796, 0.8082, -0.3023, -0.4553, -0.4328, 0.9947, -0.02, 0.8101, 0.5999, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3435 left_y=-0.1171 left_z=0.0804 left_yaw=0.0676 left_pitch=-0.271 left_roll=0.1069 left_gripper=0.9947 right_x=0.2935 right_y=0.0006 right_z=0.171 right_yaw=0.0036 right_pitch=-0.0304 right_roll=0.0034 right_gripper=0.9965\nstate[joint_eff]: [0.2667, -7.6239, 9.1556, 1.3358, -0.1734, 0.2076, -0.0366, -0.1026, -1.306, 7.0496, 1.7265, -0.0464, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2864827931126dcc5d59fc5885b45fad5df85853b835fc0cad3f22fce214f6e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd2c83cd5e8457b3910a72451bc0d1c3e1322a38237338eec88caa6eb35dec84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0305728aabeb69a1eb0f1852feb9270b0c31f5268c2c2eac1a3c87bfba421f64",
      "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 40 changed as sent

message 48 changed as sent

message 52 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8028, 1.4689, 0.91, -0.4225, -0.5846, -0.6174, 0.9949, -0.02, 0.8055, 0.5999, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3183 left_y=-0.1841 left_z=0.115 left_yaw=0.0143 left_pitch=-0.1964 left_roll=0.0633 left_gripper=0.9949 right_x=0.2932 right_y=0.0006 right_z=0.1722 right_yaw=0.0036 right_pitch=-0.0259 right_roll=0.0033 right_gripper=0.9965\nstate[joint_eff]: [-0.335, -5.5453, 6.0376, 1.3895, -0.4567, 0.0073, -0.0513, -0.1026, -1.3197, 7.0085, 1.6972, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7322, 1.7077, 0.7982, -0.1005, -0.5476, -0.5728, 0.0089, -0.02, 0.8101, 0.5999, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.34 left_y=-0.1772 left_z=0.0301 left_yaw=0.0398 left_pitch=-0.2407 left_roll=0.0942 left_gripper=0.0089 right_x=0.2935 right_y=0.0006 right_z=0.171 right_yaw=0.0034 right_pitch=-0.0304 right_roll=0.0037 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -8.1709, 5.9692, 1.1209, -0.3394, -0.0073, 0.486, -0.1162, -1.3197, 7.0359, 1.7314, -0.0366, -0.0513, -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]: [-0.5545, 1.4796, 0.8082, -0.3023, -0.4553, -0.4328, 0.9947, -0.02, 0.8101, 0.5999, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3435 left_y=-0.1171 left_z=0.0804 left_yaw=0.0676 left_pitch=-0.271 left_roll=0.1069 left_gripper=0.9947 right_x=0.2935 right_y=0.0006 right_z=0.171 right_yaw=0.0036 right_pitch=-0.0304 right_roll=0.0034 right_gripper=0.9965\nstate[joint_eff]: [0.2667, -7.6239, 9.1556, 1.3358, -0.1734, 0.2076, -0.0366, -0.1026, -1.306, 7.0496, 1.7265, -0.0464, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2864827931126dcc5d59fc5885b45fad5df85853b835fc0cad3f22fce214f6e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd2c83cd5e8457b3910a72451bc0d1c3e1322a38237338eec88caa6eb35dec84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0305728aabeb69a1eb0f1852feb9270b0c31f5268c2c2eac1a3c87bfba421f64",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtKMS3CBz176jsgV8O-GANbptl30t_Bfd10AcWw8_kBxl4PzfsRlKVij4EqrJRKZUnKQ0CyNVYFbAYMB-CD8DTWNCM5G3gkODFr6Lfe5t0eeMh9uNOBQqtw5E2jLaRjrTVkq69kplBCJU5DCWEG26yT6WyTK-2BrLmU4ljgEuE9DQ5s9RZHjC6ZLw7XPqFym-rmiZXfKLdtg_wTFCaoYANJwc3zv-xyA5HIcJVuOXXj5ZKniZOUbAv9RRqikujThXakPwkIfejScaJJdGIdLFt02RHR_eyfzo0j35ATlZUW9d5pkziNgDqKocI8F_yE9BmB8hFcpFLZzOzaB54IXriipqkfWGw_oGmRtB7gdxOJrM9SpAj-OexzmGDy-lJJ9JsV9S9tQHZKaoTg3XmdLrEzFVRcNvSE-ap7Of8hLchJ7fukgQSLpLlvMUVL-1EkMXvAXPafR5vf356yn3aTkEdw8GmC9PQlXNzKdZr0Lipx64GE409dacI_7NRBBAGQjb2_b84mIghz3JnP538SzNMHX7Y3iU1xKywvu4aO5SSJYzGHDeGWoZMepB8MMOceZnpkHNdfb8GoFgWKEPw3FjxMaGUvDoSgwAmv2RJYKLaQccVyaE_MIcCI1_PvJqu2s1IyFAzTQwRCghYD8ChjBw3h8l6MC-mMXRhh6Nj7StwiaVcqDbzVYFYE8WQbs34FbKYne4P1JT1YNpklwNOfIePBSdvl9Z4Udfjnflv68r7S7pMNpf-o5kYF1p5ZlRcq1-P622Rlkbqc53kzm-f-dt4EKW1VTy6S8zo89WlO6vDQX3Tfk4nmtvnVD23gMxkWvrvzBUbumHHnZ94oJs2UsjhBvyusxv__93W0c2UT-KajUPjc9TcWM3KiKs0utOttlfD2wI-qVxC8e_fUvnSsBUZ-zyDwUlteU3g7ERR4YczsgYAN1oUqkZ88eBaQGHtYSoLh6uyzVirrCCU9OWAgEGB5vtjNK9E8x9X6DDsHOaSveuhhUxlRD-Ev05-4uiG_9PmigCiy94Tl7VGCmikHa5nr4hOb4WNK_XVrxBuxn_zQW8jKCEy1Eh4LdOUus4igm9Q1HWAk5pretDAQuB4Q55bt6D6f7SnjhuMmLgP0kAyHbFnkr4TasX6xo2cnv_riZ7Z4bhafUIb4yWztDvTeowT9tE0WvRGFstfJiurxaVaw5wsl-GvL-N9Fxc9ma77-ram29K0ZzUFxb6sbEwDM9Cr20qry47zk2ujVQ31wj6TZyPMkkIyz25L5VtOC5L9vmOuWaggAVrIzCOUmr4eZF5iPyXoyKHFMXlfYUXarfo4OZJ3hrbTPCamSUDkvS5AGqw685V_1txBF5WQTrUM2dJFdVVaRQnGrQ2fjJB2bQC1kEWeNd9dD9rnDOM4sKq18MFkbZ0ee6oqMNmmbE8vWvQjdZGEQazlqVmXNwCakENu7vtXG-eQoUOwtk7fYIX9GWMavZKn3T66hLIGQQ_IJmzlmHHgMDVL2cw4-lOXrXG7h2fvHtsbJeVSohvfxjKSLxqlOVmxkxF9GTXBkRz1jA16kV-WHK3_THmcZDP8qnol93JzZCUiEpgNaPIxg39wITIyynS94fqnlGNU6CHdEdf7Xg7b2UY8u7lXnAjkRW9v7urJNARb6ORK3aNprkb_1g6JebhmDUXZCQo5uvyoEKnAmrBZ0kWQpJS34mZnfGGycZcDW72ESfND-HW_cXOQ33GSSvDuRpn304leDE8godM2ZoG1g==",
  "id": "rs_043f2a5369fbcd82016ab4a30f746c87d0b34873292722e568",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.135,\"left_z\":0.035,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1},\"note\":\"The bowl’s left rim is aligned near the jaw centerline. I’ll lower onto that wall while restoring the upright tool orientation, which has drifted during the earlier moves.\"}",
  "call_id": "call_a5r1jG54hxc3A1XKWATbCsmo",
  "id": "fc_043f2a5369fbcd82016ab4a310cc9487d0aedb381af7819343",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_a5r1jG54hxc3A1XKWATbCsmo",
  "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]: [-0.6025, 1.6173, 0.4789, 0.3779, -0.4953, -0.4061, 0.9988, -0.02, 0.8101, 0.5999, -0.3935, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3404 left_y=-0.1279 left_z=0.0231 left_yaw=0.0133 left_pitch=-0.0805 left_roll=0.0267 left_gripper=0.9988 right_x=0.2934 right_y=0.0006 right_z=0.1709 right_yaw=0.0034 right_pitch=-0.0308 right_roll=0.0037 right_gripper=0.9965\nstate[joint_eff]: [-0.8274, -5.4906, 4.6838, 1.7753, -0.3394, 0.2125, -0.1343, -0.1709, -1.3197, 7.0085, 1.6874, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91e9b7b5120b745dd3b3f25f765fc56d14236b9be04d91005bea4115f1b16033",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69a126c890d35bf2d16eae1e3d34818deaefcf193f2541bbc3214a12454a9dfb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8f7f15edbfd288ea1d1f662cc87b1063a38654a3658ef1804beb4f511799598",
      "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 44 changed as sent

message 52 changed as sent

message 56 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7345, 1.697, 0.8013, -0.1051, -0.5518, -0.5716, 0.9988, -0.02, 0.8097, 0.5999, -0.3935, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3407 left_y=-0.1781 left_z=0.0346 left_yaw=0.0382 left_pitch=-0.2318 left_roll=0.091 left_gripper=0.9988 right_x=0.2934 right_y=0.0006 right_z=0.171 right_yaw=0.0034 right_pitch=-0.0304 right_roll=0.0037 right_gripper=0.9965\nstate[joint_eff]: [0.4581, -6.694, 5.012, 1.1697, -0.1392, 0.2564, -0.1392, -0.0889, -1.5795, 7.0359, 1.7363, -0.0513, -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]: [-0.5545, 1.4796, 0.8082, -0.3023, -0.4553, -0.4328, 0.9947, -0.02, 0.8101, 0.5999, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3435 left_y=-0.1171 left_z=0.0804 left_yaw=0.0676 left_pitch=-0.271 left_roll=0.1069 left_gripper=0.9947 right_x=0.2935 right_y=0.0006 right_z=0.171 right_yaw=0.0036 right_pitch=-0.0304 right_roll=0.0034 right_gripper=0.9965\nstate[joint_eff]: [0.2667, -7.6239, 9.1556, 1.3358, -0.1734, 0.2076, -0.0366, -0.1026, -1.306, 7.0496, 1.7265, -0.0464, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.6025, 1.6173, 0.4789, 0.3779, -0.4953, -0.4061, 0.9988, -0.02, 0.8101, 0.5999, -0.3935, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3404 left_y=-0.1279 left_z=0.0231 left_yaw=0.0133 left_pitch=-0.0805 left_roll=0.0267 left_gripper=0.9988 right_x=0.2934 right_y=0.0006 right_z=0.1709 right_yaw=0.0034 right_pitch=-0.0308 right_roll=0.0037 right_gripper=0.9965\nstate[joint_eff]: [-0.8274, -5.4906, 4.6838, 1.7753, -0.3394, 0.2125, -0.1343, -0.1709, -1.3197, 7.0085, 1.6874, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91e9b7b5120b745dd3b3f25f765fc56d14236b9be04d91005bea4115f1b16033",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69a126c890d35bf2d16eae1e3d34818deaefcf193f2541bbc3214a12454a9dfb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8f7f15edbfd288ea1d1f662cc87b1063a38654a3658ef1804beb4f511799598",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"One finger is outside the teal bowl and the other is inside at the left rim. I’ll close around the wall at this position.\"}",
  "call_id": "call_rF3zCekFjM7cMbqtMZIwvls5",
  "id": "fc_043f2a5369fbcd82016ab4a3144d9887d090794c1bc271bb04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rF3zCekFjM7cMbqtMZIwvls5",
  "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]: [-0.6029, 1.6047, 0.482, 0.4267, -0.4946, -0.4294, 0.0234, -0.02, 0.8101, 0.5999, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3481 left_y=-0.1335 left_z=0.0366 left_yaw=0.0229 left_pitch=-0.0282 left_roll=-0.0302 left_gripper=0.0234 right_x=0.2935 right_y=0.0006 right_z=0.171 right_yaw=0.0036 right_pitch=-0.0304 right_roll=0.0034 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -4.4103, 4.7385, 1.0965, -0.188, 0.2125, 1.5556, -0.1162, -1.1692, 7.0222, 1.7363, -0.0513, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09272bcb6a5d9b710f9b8b6ddd5b336bca36387dcc265a3d5f09e720acec8d24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a3e60582851b41f82b0a3ffea5a6c1a2f13b7b27549979652f7184329d98e87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc766d5da3688cfb727801b1600059686d44f9bf8845ef51014cc7acecd897f0",
      "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 48 changed as sent

message 56 changed as sent

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7322, 1.7077, 0.7982, -0.1005, -0.5476, -0.5728, 0.0089, -0.02, 0.8101, 0.5999, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.34 left_y=-0.1772 left_z=0.0301 left_yaw=0.0398 left_pitch=-0.2407 left_roll=0.0942 left_gripper=0.0089 right_x=0.2935 right_y=0.0006 right_z=0.171 right_yaw=0.0034 right_pitch=-0.0304 right_roll=0.0037 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -8.1709, 5.9692, 1.1209, -0.3394, -0.0073, 0.486, -0.1162, -1.3197, 7.0359, 1.7314, -0.0366, -0.0513, -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]: [-0.6025, 1.6173, 0.4789, 0.3779, -0.4953, -0.4061, 0.9988, -0.02, 0.8101, 0.5999, -0.3935, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3404 left_y=-0.1279 left_z=0.0231 left_yaw=0.0133 left_pitch=-0.0805 left_roll=0.0267 left_gripper=0.9988 right_x=0.2934 right_y=0.0006 right_z=0.1709 right_yaw=0.0034 right_pitch=-0.0308 right_roll=0.0037 right_gripper=0.9965\nstate[joint_eff]: [-0.8274, -5.4906, 4.6838, 1.7753, -0.3394, 0.2125, -0.1343, -0.1709, -1.3197, 7.0085, 1.6874, -0.0415, -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]: [-0.6029, 1.6047, 0.482, 0.4267, -0.4946, -0.4294, 0.0234, -0.02, 0.8101, 0.5999, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3481 left_y=-0.1335 left_z=0.0366 left_yaw=0.0229 left_pitch=-0.0282 left_roll=-0.0302 left_gripper=0.0234 right_x=0.2935 right_y=0.0006 right_z=0.171 right_yaw=0.0036 right_pitch=-0.0304 right_roll=0.0034 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -4.4103, 4.7385, 1.0965, -0.188, 0.2125, 1.5556, -0.1162, -1.1692, 7.0222, 1.7363, -0.0513, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09272bcb6a5d9b710f9b8b6ddd5b336bca36387dcc265a3d5f09e720acec8d24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a3e60582851b41f82b0a3ffea5a6c1a2f13b7b27549979652f7184329d98e87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc766d5da3688cfb727801b1600059686d44f9bf8845ef51014cc7acecd897f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtKMZITx4mgWC5yjRFkb_BPNU7-bMEpvH8_WltcSmMjDCi1JniQVka44RCqRhVA-mLfKMIydJz2ylXl-m-Y9RlH4Gkm0aJhRrZH1oh9WBlt-eHbQKZeiJd7TwGXRgMu4DVbPH1UKZS_KmCzLK6E4oZUmpwvvNexUjCgO4lKIHEIFhJE3osUlKgm66S1638cGuI-b9kAwGgKCiQJzyN1P7iEasInklrYtmS5JxlnJltGfFRuDsHJ7Nkjoi3E4U8_YhiBFd7g2cW5pI_8Qo57WTMj8J1zi--MpITrpBdjCY0nT3ItKncPWeizUJGjwVkBeETF8HohutHcV3Su3PvghHJs1ux7fmhb1bg_XR6GQrdtjFMFbymX1VIOpmyAoZUJ8ThHHkUh9tfF9sEFwX-AscnXw63mMqnKFUugLda2PNXaDH3IneA8ozJ6zbbiQHE1l3CUVbtQAeTI4N32ScvhEBMDaWl1kKSPfAmlYGve-kXuflpHYJtcGGZnPMHRRZufrWAHWuFCVuKhnRcd9PoSlRcfcTIYU2EjdhTrAQ1kjMWu34-199WoJB6hITnymKCsn5fuKUsjPREtxnB3eveDrj3PRLLjcIi2BZtowc3WJ1oQwaPrO29RDUAYcpVfjWAcpxsEw374spJkCtRIImfygbjOgyl3HlxAWdxiuO_Ev9jdytLNpfMp5FcusjN7CcUu4Kmlk635gK82nHggEB_cvaGgyPIDjI5ykXtSlSRxpKzKTM-SxDr1YWAZiVzzGMvI1hkucTXKTyMekdlyKtByxzn_POiMoJtGAaqChEfyTUZBgGkXHhvoKt5ogNCZ6sUdKo7H8kA7CTXoK1J37QUeTqGuvDwciekfFUQT3WuUBY8F_cP8pyrJdQ7BI8hRoek8BDoGhKw1tqQk0ztxKJDKY7F30tw0kfobEpXtGhFt9ptyeXBNEwmMRJZ2XHgIzfovOsDvGFOCA9pt1ZPeffqvvSowdoyhPHg6qk3EUI_aAi3Ji2z-SV1HMV5d9uoF17RCB5SE1q1EJRlQol2Hl0oZUz38mJYzCUNdJwoFtkNZK7Z35RWqKD4b63XmXL2-pNSDtE6wP8FrkdrwaxGPerSyVJ03KzCBrGyIGOEA2n9Mr91Rl980uxJZIlpEonPe0u4hJ0xEYCw37xDXR-KIuWFyH-2xreStqF_vP7S6RVbWEVo02rnXDfxrB2fQJuhAK0vjSA99HAajWK_MbALSGuYUCJAPs7DpU6Ww6N6LnGpCt3XCdY1ZH5zN8hDN1z6D2m-oMRO54evePRHrqX7NZZgjhDE-fxLe6QDT8KqrP5aJVusLBYryPnewpipjaHWKvupB70ERRMzAGTS5f_hjPbX_mjpZaB1G2ixeu5MrQRAdQrL8f5UPODNFxdK8IG8w0HHRw9zcA4UPyh3h6QK-2wW9HUo_6OHbdH5pQ8_DneI0zXnt-6aKk=",
  "id": "rs_043f2a5369fbcd82016ab4a3175e9887d0918ed6b2026bd971",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.135,\"left_z\":0.105,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The jaws are nearly closed, so this may still be an empty grasp. I’ll make a short vertical test lift while keeping the close command active; bowl motion will determine whether it worked.\"}",
  "call_id": "call_lYuq0By2GqTm6Hg90tHkVBTO",
  "id": "fc_043f2a5369fbcd82016ab4a318549887d0b8c6ed8304cd7e56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lYuq0By2GqTm6Hg90tHkVBTO",
  "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]: [-0.6025, 1.409, 0.5709, 0.1631, -0.4961, -0.4076, 0.0352, -0.02, 0.8108, 0.5999, -0.3923, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.348 left_y=-0.133 left_z=0.0898 left_yaw=0.0124 left_pitch=-0.0104 left_roll=-0.0235 left_gripper=0.0352 right_x=0.2936 right_y=0.0006 right_z=0.1709 right_yaw=0.0036 right_pitch=-0.0304 right_roll=0.0034 right_gripper=0.9965\nstate[joint_eff]: [-0.5128, -6.1744, 8.9231, 1.5507, -0.2955, 0.2418, 1.0281, -0.1299, -1.4017, 7.241, 1.7411, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc76a1f5c67a3daab91fcc0c69dd0de1d0aef69c6b15435909bf422b5194298d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c603921b160aa85d4cb4636e480d9ee0881e18e8669f720420979dc530deaf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5cf95656261124aaee53ddf6bffd018801936e5f82e6d351c3b791e4f83a959",
      "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 52 changed as sent

message 59 changed as sent

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5545, 1.4796, 0.8082, -0.3023, -0.4553, -0.4328, 0.9947, -0.02, 0.8101, 0.5999, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3435 left_y=-0.1171 left_z=0.0804 left_yaw=0.0676 left_pitch=-0.271 left_roll=0.1069 left_gripper=0.9947 right_x=0.2935 right_y=0.0006 right_z=0.171 right_yaw=0.0036 right_pitch=-0.0304 right_roll=0.0034 right_gripper=0.9965\nstate[joint_eff]: [0.2667, -7.6239, 9.1556, 1.3358, -0.1734, 0.2076, -0.0366, -0.1026, -1.306, 7.0496, 1.7265, -0.0464, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.6029, 1.6047, 0.482, 0.4267, -0.4946, -0.4294, 0.0234, -0.02, 0.8101, 0.5999, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3481 left_y=-0.1335 left_z=0.0366 left_yaw=0.0229 left_pitch=-0.0282 left_roll=-0.0302 left_gripper=0.0234 right_x=0.2935 right_y=0.0006 right_z=0.171 right_yaw=0.0036 right_pitch=-0.0304 right_roll=0.0034 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -4.4103, 4.7385, 1.0965, -0.188, 0.2125, 1.5556, -0.1162, -1.1692, 7.0222, 1.7363, -0.0513, -0.0611, -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]: [-0.6025, 1.409, 0.5709, 0.1631, -0.4961, -0.4076, 0.0352, -0.02, 0.8108, 0.5999, -0.3923, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.348 left_y=-0.133 left_z=0.0898 left_yaw=0.0124 left_pitch=-0.0104 left_roll=-0.0235 left_gripper=0.0352 right_x=0.2936 right_y=0.0006 right_z=0.1709 right_yaw=0.0036 right_pitch=-0.0304 right_roll=0.0034 right_gripper=0.9965\nstate[joint_eff]: [-0.5128, -6.1744, 8.9231, 1.5507, -0.2955, 0.2418, 1.0281, -0.1299, -1.4017, 7.241, 1.7411, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc76a1f5c67a3daab91fcc0c69dd0de1d0aef69c6b15435909bf422b5194298d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c603921b160aa85d4cb4636e480d9ee0881e18e8669f720420979dc530deaf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5cf95656261124aaee53ddf6bffd018801936e5f82e6d351c3b791e4f83a959",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtKMf1kf-U6PV8m2xbyPZBwVK3V2l6HyoPHOj4sulrS1lTLIr2EVxMboANcQMmMMp4EV6biVrqlMxApH4ne2WgAyh2crUYDEEMjKRg4ufPVc3-C6Yw8BPBqCg12656KXGYKe50nNtMBvzDoZOrA8ORimB9JfWWfU6cDgpVjV-lFv1ViAfh5Y_WticfZGM_wINJF8p0tIIvD0MiOp8Wpep542Z-yLMEfv4QMuaoQX14lSHvsuCqsRxrd4mg6mdgLdLlGWkdNx1fWrwnRQhyfECHVXaocHahtHIhZay84X2IH7KC7q6ua8DL4rPcO_pfMazxQ1cusl3HU14A7o79ziT4-bAKxCXoNx-b-8yEdQePVOspf3umcKSImEvom4R-ZtiwfMqxJ0fFKdo0InXTzbVj_gYJoCKI5QGDrtzObxBYk69fXSQ8Tb8GsFJeIyT6Akhqyw_43D15HWp1e9FKJFDQ8x1lfFKv-WcKzo499lQbu70hHP07QyUYE_YpFpnqwAE9x3M5BHj5h_qmzxYV4jWZO52dH1DTs-Ph-WxR-ZpQZ7x3rSMU4aj7Y8_DuSXrGqNflpbIeGGteMTHfIC0f_m50k95vveJ8RCFfP4Y4Ea_GONekL1XXpsxEaAhKDgV1RmHVq_7MlLj6IOJYkWPaE2of2NSEBH1HFqE3XI5TqS9HeWNR4CB-LYIPGIp-XWLgsjwhS_dTIKrWz7Y1q1daIxBBx0_uP06seD0LX_wQqv0E_un1W8UWph7dXj8iCcF3r1yDR62ShvGNyOQigT8rFYZKwlJz1XyNjudH_knjmiPrhd1lZzb2TocvXWDByl27Gw2xyltwqEvTSVlvQobwHIHJH17ryZqeYM94XSIQLKCfbES6Z08b9Pmmj7kIx5J_nguR_kKMpz8NzEHNKFcBwNikkfn-bUI8EfFULbpTCh7T_rCnY8sn1mHrEzfJDF-bRidpyKoWoWWM8W-du2eW-sxmraEsmqKvlF8_xLbxGbOrPlFTouKuiB3MvVmpoKjQJOKW-mkusKUW5KZOKK6rIfvHJiQEcVuzL9I9yS6m94cY1ShyeqkOTJGbAfJ4z-l4de9eVhXa0ebRboDQApXqZq2MubCi36f1e3wGFQ5yeui6hL8oLw3hgybfhSIzNuzFtPTTQtsUcFOmppjLiA9OZbiAoIxui9jlegiq6d-Ilh0FVETJOeuTNOHuGMD8jINQB5-EN4_ZBWdwGtch2nkmByXCQ8E0rnwadCxXUTj_EEQzv_vwFNuFW_V9jNOe4-X_rVnK0SwM6WBYB3IgjEKf93O6TGnWT42-XXP3zITuEN5GiNtQkvJQTl0s6a2CGd0Dm5_Lcc6ph3II7_Rrh9FDSaadeznMlCta6fW7o38hJsLb6QXRvdU8ih11AJ3P8OkbosbEY8cPMWpZvCVh8Gk2oX-I5FaGwqNDH-8UG1oIk1uVkzyoH1q9X4rtkrpFJYVXO1xsuua_5N1XoFbTBB1QGjV2w3dmnXkNKBZZVXoZTmf1ACOQRAi2om_bqRfoZ6WRrs8r6wRMYnu4IyiJ4_DwCaj9gEcDU6O2dRQQ_uerup0z2XiHaJW6IsmR46VU9quPqYI24O3FmPpGntcpVXJEmDi4NQi-MLI2440402cEjAxIAg4qU_Kfu3Aw10o4JlGrRXqLMbO3hQ-VXfqA3QHsvz101yhC-TYVN58Z4SnaXwDx6OQff_e7WzS-xpZ3xwT19dce4DkpHl0hw0VGJZDUpntVEDvY4ACFh69vnGw-I4Ux30gaQ=",
  "id": "rs_043f2a5369fbcd82016ab4a31b2c2c87d0a2a09e3df0f51119",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.135,\"left_z\":0.19,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The teal bowl has lifted off the table and stays fixed relative to the wrist camera. I’ll raise it above the neighboring bowl, keeping the grip closed.\"}",
  "call_id": "call_my0NFKRIfAtJnC3VljeVZ23d",
  "id": "fc_043f2a5369fbcd82016ab4a31cefb087d0a08d90b8c907c59d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_my0NFKRIfAtJnC3VljeVZ23d",
  "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]: [-0.6025, 1.2785, 0.8326, -0.2394, -0.4957, -0.392, 0.0352, -0.02, 0.8112, 0.5999, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3508 left_y=-0.135 left_z=0.1707 left_yaw=0.0038 left_pitch=-0.0189 left_roll=-0.0048 left_gripper=0.0352 right_x=0.2935 right_y=0.0006 right_z=0.1707 right_yaw=0.0034 right_pitch=-0.0316 right_roll=0.0037 right_gripper=0.9965\nstate[joint_eff]: [-0.6632, -6.653, 9.3607, 1.619, -0.3053, 0.0806, 1.0281, -0.1709, -0.8547, 7.0359, 1.7216, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ba85c7f0e87c2a9753b149828ca05ebec59f854de39789347d72f0ae7ea3f93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0c0c28c31a1e47afe14259d76a357ee0b6bd57f564d1aa2fc9f7a6dc66d09ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:472fe7389d8a683a5efd1d487a971ba9469d69717acb3096a0e1ccd46854badd",
      "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 56 changed as sent

message 63 changed as sent

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6025, 1.6173, 0.4789, 0.3779, -0.4953, -0.4061, 0.9988, -0.02, 0.8101, 0.5999, -0.3935, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3404 left_y=-0.1279 left_z=0.0231 left_yaw=0.0133 left_pitch=-0.0805 left_roll=0.0267 left_gripper=0.9988 right_x=0.2934 right_y=0.0006 right_z=0.1709 right_yaw=0.0034 right_pitch=-0.0308 right_roll=0.0037 right_gripper=0.9965\nstate[joint_eff]: [-0.8274, -5.4906, 4.6838, 1.7753, -0.3394, 0.2125, -0.1343, -0.1709, -1.3197, 7.0085, 1.6874, -0.0415, -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]: [-0.6025, 1.409, 0.5709, 0.1631, -0.4961, -0.4076, 0.0352, -0.02, 0.8108, 0.5999, -0.3923, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.348 left_y=-0.133 left_z=0.0898 left_yaw=0.0124 left_pitch=-0.0104 left_roll=-0.0235 left_gripper=0.0352 right_x=0.2936 right_y=0.0006 right_z=0.1709 right_yaw=0.0036 right_pitch=-0.0304 right_roll=0.0034 right_gripper=0.9965\nstate[joint_eff]: [-0.5128, -6.1744, 8.9231, 1.5507, -0.2955, 0.2418, 1.0281, -0.1299, -1.4017, 7.241, 1.7411, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6025, 1.2785, 0.8326, -0.2394, -0.4957, -0.392, 0.0352, -0.02, 0.8112, 0.5999, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3508 left_y=-0.135 left_z=0.1707 left_yaw=0.0038 left_pitch=-0.0189 left_roll=-0.0048 left_gripper=0.0352 right_x=0.2935 right_y=0.0006 right_z=0.1707 right_yaw=0.0034 right_pitch=-0.0316 right_roll=0.0037 right_gripper=0.9965\nstate[joint_eff]: [-0.6632, -6.653, 9.3607, 1.619, -0.3053, 0.0806, 1.0281, -0.1709, -0.8547, 7.0359, 1.7216, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ba85c7f0e87c2a9753b149828ca05ebec59f854de39789347d72f0ae7ea3f93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0c0c28c31a1e47afe14259d76a357ee0b6bd57f564d1aa2fc9f7a6dc66d09ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:472fe7389d8a683a5efd1d487a971ba9469d69717acb3096a0e1ccd46854badd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtKMitEvXIiF5v2xF0DpIQqvAmt1oQDipoyk-zgsugxu851UlVlhL-Cjk7Z5qlYxR_FZOS9H4J8pR3sKrcRxyf_PWvaQfCxdt7NDZZqcfihm544ZUSOEcQsWpSri3UzPK_il2qZRiN1S13DIOFvOzY3YZSEL71i-AMD8g7fYLoYuzoFN4vJuXM0h-p1zWzYY_EzudskxEcHxiNF3iFamNsKu7shVhV3wOOw02CXQ6M6DLfFdN_VrcSo5hJf6vwJ9nsq6vtARTk9uyMtienrU_4lAzJoPGNjrHrBE3eKaYb3U_gLRZTsEDzces7Qwr8bAupSEJdvN9d9ZBENu45cbEtMRvzhkan8uElmu19zvhjKemBwSYKk-UPMoj-7iVJKFVZrKdx7rrHuK99hh-KK5kCIK3347kglBrC5vQof00Y5K1lNb2RdsiaVOOo04o_BHYSee61E3dWmfm7QdeVoO12TpukrqTtPuNi3nd5FnazgZoaYhwbjhYo2liz8hgjjFwheQGmrp-9eqPcg1jeceKVAEu0boPzg-IXt_ZIxWLdVph53zuzPx7EIIBFnWIRuDN0bRYze8-_DEe_GT--BiK1h0273eP5ADobhTLNgCExAub17_pv7OxyLCbij4YjqwNQbaKSaJo9Wc7UiA0Kz26rbgdX8EEr-u2y1nhATXtGCtQyvDdyzAEQZdF7a1wsQmlDkdVYYvO3HlDV8DjBB1j18FzcHNfxQtxiYE3Fd7v5fQmOlRy8fKFuRbqznsmFn3EphJXo5iHUjnrUPhUV20ubc-VjvTjuVP0YtVubLxWMHNUPy4X2U-RYkZ4uvVHw5cGk-Nz8tb-a3A40BTQDV_VyALBFlCzadJuYdwZirvrz75rmyhGgd4j45Ars-5T0uH97RSgSjPKAxWZ7tkwEwqG5DWfsNrAYEo73PsdW06ohKpnlTJU2anFpe1vKpF5PMyOPHDqRJI8FaH9GqQawRISQ0SZgkGtw7_2uBIkipoGV0-d2DzKin7Jwpr83huxyC5b9UERbXCi_I_uOxSw2sLbGStH2-GR5PWexze-AcolNWLXLOVRmWUAokBNnic4BWw9Qm3Kjbyn9vgdhIiVjUpn_S6Tx3D54alKtkn_qH17JpItr9ahjJ759INa92NX2Eu5igNxIboCa20AdGMWgI4TAFdA0VctX9MsIwqVm1Kbm-18nifYyM-dQqZ1It4AYZs0-XnTcZ2OCty7C8BlwatuI0EYNbZYqtHlncClvJEkiEQrDYj36k0L_hhKymyFj-kc70DjS7K2SFpn7oar2RyNaJTxwDnd6g59sX_5F8V_XEZsUcAWW0b-VhSvvSejh5E-0ZH9fdxLD-ZoKXBrwvYLRBQoiRNu9Hj4DKCh5Q77j2JqZ8L30E_4dD94_cY8WbqgBmC54XbpLrzL7rgGyjBrAfid4wrVabNjD_xxT7c73fy8sAOoyiLllsUDrdty4gkb4DPpIGqR58bjVL-0va4XBX6-OZWs0C89mf_ns-v1v58BJVM=",
  "id": "rs_043f2a5369fbcd82016ab4a320eaa887d0a38fc8d11398b7b5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.235,\"left_z\":0.19,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The teal bowl is clear of the table. I’ll carry it rightward over the blue bowl, keeping both bowls upright for nesting.\"}",
  "call_id": "call_pMk20NBBcgQo0fbu2fZBs9a8",
  "id": "fc_043f2a5369fbcd82016ab4a321c65487d0a39c3541d274f2e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pMk20NBBcgQo0fbu2fZBs9a8",
  "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]: [-0.8654, 1.5311, 1.0924, -0.3859, -0.6701, -0.5819, 0.0352, -0.02, 0.812, 0.5999, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3446 left_y=-0.2299 left_z=0.1731 left_yaw=-0.023 left_pitch=-0.042 left_roll=0.0202 left_gripper=0.0352 right_x=0.2936 right_y=0.0006 right_z=0.1705 right_yaw=0.0034 right_pitch=-0.0323 right_roll=0.0037 right_gripper=0.9965\nstate[joint_eff]: [-0.3761, -6.9538, 9.5521, 1.3846, -0.4567, -0.0366, 1.033, -0.1436, -1.388, 7.0359, 1.7363, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2b6cc60572a9790d67bf3d5c6fbb076dea5345ff37ef0c159acba36e9909d4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d1fdbe11770200ce2cdd673ce5bfb0003dae54afd592ed9fe026bf9204c2dab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92d028d82c2deb6a5e645b52a443915fd2eb1ce850ceb19cbc67631ae388fd24",
      "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 59 changed as sent

message 67 changed as sent

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6029, 1.6047, 0.482, 0.4267, -0.4946, -0.4294, 0.0234, -0.02, 0.8101, 0.5999, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3481 left_y=-0.1335 left_z=0.0366 left_yaw=0.0229 left_pitch=-0.0282 left_roll=-0.0302 left_gripper=0.0234 right_x=0.2935 right_y=0.0006 right_z=0.171 right_yaw=0.0036 right_pitch=-0.0304 right_roll=0.0034 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -4.4103, 4.7385, 1.0965, -0.188, 0.2125, 1.5556, -0.1162, -1.1692, 7.0222, 1.7363, -0.0513, -0.0611, -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]: [-0.6025, 1.2785, 0.8326, -0.2394, -0.4957, -0.392, 0.0352, -0.02, 0.8112, 0.5999, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3508 left_y=-0.135 left_z=0.1707 left_yaw=0.0038 left_pitch=-0.0189 left_roll=-0.0048 left_gripper=0.0352 right_x=0.2935 right_y=0.0006 right_z=0.1707 right_yaw=0.0034 right_pitch=-0.0316 right_roll=0.0037 right_gripper=0.9965\nstate[joint_eff]: [-0.6632, -6.653, 9.3607, 1.619, -0.3053, 0.0806, 1.0281, -0.1709, -0.8547, 7.0359, 1.7216, -0.0317, -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]: [-0.8654, 1.5311, 1.0924, -0.3859, -0.6701, -0.5819, 0.0352, -0.02, 0.812, 0.5999, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3446 left_y=-0.2299 left_z=0.1731 left_yaw=-0.023 left_pitch=-0.042 left_roll=0.0202 left_gripper=0.0352 right_x=0.2936 right_y=0.0006 right_z=0.1705 right_yaw=0.0034 right_pitch=-0.0323 right_roll=0.0037 right_gripper=0.9965\nstate[joint_eff]: [-0.3761, -6.9538, 9.5521, 1.3846, -0.4567, -0.0366, 1.033, -0.1436, -1.388, 7.0359, 1.7363, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2b6cc60572a9790d67bf3d5c6fbb076dea5345ff37ef0c159acba36e9909d4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d1fdbe11770200ce2cdd673ce5bfb0003dae54afd592ed9fe026bf9204c2dab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92d028d82c2deb6a5e645b52a443915fd2eb1ce850ceb19cbc67631ae388fd24",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtKMnBZPFgN7QtG6E6hAVMaWCFoHqoDTZDBa9idmLJdKCATte9reFwPjuS88I0-O-Vubudh_faJUzyav98p0Nk0PzJ8Ql8gWQ7Z42Mme_zKL96medW4RJNAwGgjxyqNq-Ix-1WiIIxJS9YjiJkjI66POCvPemS6B8HM_KXvsjITCmwyQ4VJLXSFYRxgfZcTb6C2UQB94BWE-rFGMl4XV051AHRSOUA9QpyptOY7X6fK5akvhUjwIgkTFJ7YGi85senv5UCEp4mfCql1QXOPdT0sSL0zmiXg1Xd_-mUvsk0vS77T8BI1U3VDMEHxivjBRckHRs5bNSMZyjVFYmRZ9bYreFERv350kSJ7L8CiZwa_jRScFdrI56WOUYeDK-RY8YC-AHuoVn2-hm6fUNdCPtwm0fRzu25wWXJDQCB6KsoOPqT6e6WmJMoJ4XyRpZuqiOHGpWkcSWoTUF5EkK0N5b31Z-qwU8Ynm4PLmi5Png_Ejt5_SvH7-GyG_dzb9ap45lAhKZRR4P_DOCy05FLYIWfON2BoSPZR1XLgaZgBabv-Y3wXiYtYcOVD2R8UjuT9VHxYEI-XvPr3oH_KrYTahM8GLu65eubQ3IEdlBK6BgI4IjJzBD93cAD0iDDaxldglALLvbjp7ErEAsa4pG4l9kXYrRnPR-StchdswyxQ4VOVmzSf5NgqFrvzl7oDT05K6xgT8Uh2HWDCHLAGbHptAD4vcE2QnzbJDR0CsodRAGJnUM0BG_fSJam-NSmww65j_x8FELhvwBRlpDkaUu8PWNewSTjb1QfSO1qJToksTogtY6zqy2Io4747ioi48jzIIgXK59fiNeIAtZ2rrUjN44b-8SyhS4axDBunTvmh4CC2ixy6O6g5OOIabcCLPxybv61nLGnvoW9m4x2qTVthPZ4MXKGlUiyN05GLUKjfafXuuS9eU4rA1Hld7hkXSWevw4k4MUJ7qiQ7wHSioFP-6HS94i5cE1ZYeXCP9Tra1bBBCAv9zDTHmxI4JXZKsuB1-2rq4rdGww6I2YX16KXK17Qtc7GfK0NCpgbIpuucoLum6__ZrkADeMWzJqw3N_9TzTQPcj7H577TrhUF6bDFfEqtBu9-g_iAeeAYJkyAypRdAkFeDhIpVUPPDS8vPLjl1ded04XSVCRjdkah9rPmZ_7rcLCyEobHCAQAkGdGhoPth8xqDT1tihYxgebMDOv7zYuYYvhcEE26MqPXHQT5FktbLD6WsMTwGCCJwadw32SY7X7mgAaI83E4ba0n6bfqJNYxtVBVL3PYobuDAmHEFQ5BIlFF_K7B8cbfGLB6LvBbKrbTnWuwukl9Ro5ZClgPfsJkIBHrnNoUxlmy-J5BhnkHAN4tF23WxkpYc7qtl38bE0iAqmxClHFxJ8_I2A6fUkr6a2HNvdmJ-H3oHAuhd_8R-6URZFMhkMzH4FkdDigOVje9RRocSiRf_50ePwjRRuWRTXPMicbk18Ts-u3DVUJf65oESjXAqchbCcghLeAWnXEpsJtfe8KZ7OY5LkNqrC6zOYH0KLTV0WBuhRFyRXJAKIqutKx9va84T-e_HmzByeiQdSOKY2rqVA2vs-MFE-eUgbsMay8dJeVeDmOuII-8tDuml0eFR_CLmsyPng3tw5b9yfK4njPl1hL0S45OzFnnvTU6JUBLxWCR-8bOXAG9_I4S0SKIghg_65-IKBEB_e1ehngrelomUIezLSjaTkfgkkwCqEjZncx48JsuiA3sqxJrJsizhzskFh8LPV5u1b8MU=",
  "id": "rs_043f2a5369fbcd82016ab4a3250d1087d08958ac019a075965",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.26,\"left_z\":0.115,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The teal bowl is above the blue bowl but slightly left of its center. I’ll correct that alignment and lower to just above the blue rim.\"}",
  "call_id": "call_pDYsrwVxvxlbKKheuCVaW7Vu",
  "id": "fc_043f2a5369fbcd82016ab4a326c6bc87d09748e0bcb3583f59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pDYsrwVxvxlbKKheuCVaW7Vu",
  "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]: [-0.8764, 1.7432, 1.0519, -0.1936, -0.6884, -0.5957, 0.0352, -0.02, 0.8162, 0.5999, -0.3939, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3598 left_y=-0.2511 left_z=0.1025 left_yaw=-0.0115 left_pitch=-0.0708 left_roll=0.0636 left_gripper=0.0352 right_x=0.2937 right_y=0.0006 right_z=0.1692 right_yaw=0.0034 right_pitch=-0.0373 right_roll=0.0039 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -10.3179, 6.4068, 1.6435, -0.4469, -0.0904, 1.0232, -0.212, -1.4564, 7.0085, 1.7118, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6443d241458bcc0ddc7d7cdb7fc7053e950451fb5c0103845b4267b6f2512979",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34c21d0bfc0389aba0165ede6e4029db94d6dd357d6de4b7786a6cb7086a5ca2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fee3673361d0ba1e61914724bc63e35c4febd4b362e2d0f254eb128268c0c8e4",
      "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 63 changed as sent

message 71 changed as sent

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6025, 1.409, 0.5709, 0.1631, -0.4961, -0.4076, 0.0352, -0.02, 0.8108, 0.5999, -0.3923, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.348 left_y=-0.133 left_z=0.0898 left_yaw=0.0124 left_pitch=-0.0104 left_roll=-0.0235 left_gripper=0.0352 right_x=0.2936 right_y=0.0006 right_z=0.1709 right_yaw=0.0036 right_pitch=-0.0304 right_roll=0.0034 right_gripper=0.9965\nstate[joint_eff]: [-0.5128, -6.1744, 8.9231, 1.5507, -0.2955, 0.2418, 1.0281, -0.1299, -1.4017, 7.241, 1.7411, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8654, 1.5311, 1.0924, -0.3859, -0.6701, -0.5819, 0.0352, -0.02, 0.812, 0.5999, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3446 left_y=-0.2299 left_z=0.1731 left_yaw=-0.023 left_pitch=-0.042 left_roll=0.0202 left_gripper=0.0352 right_x=0.2936 right_y=0.0006 right_z=0.1705 right_yaw=0.0034 right_pitch=-0.0323 right_roll=0.0037 right_gripper=0.9965\nstate[joint_eff]: [-0.3761, -6.9538, 9.5521, 1.3846, -0.4567, -0.0366, 1.033, -0.1436, -1.388, 7.0359, 1.7363, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8764, 1.7432, 1.0519, -0.1936, -0.6884, -0.5957, 0.0352, -0.02, 0.8162, 0.5999, -0.3939, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3598 left_y=-0.2511 left_z=0.1025 left_yaw=-0.0115 left_pitch=-0.0708 left_roll=0.0636 left_gripper=0.0352 right_x=0.2937 right_y=0.0006 right_z=0.1692 right_yaw=0.0034 right_pitch=-0.0373 right_roll=0.0039 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -10.3179, 6.4068, 1.6435, -0.4469, -0.0904, 1.0232, -0.212, -1.4564, 7.0085, 1.7118, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6443d241458bcc0ddc7d7cdb7fc7053e950451fb5c0103845b4267b6f2512979",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34c21d0bfc0389aba0165ede6e4029db94d6dd357d6de4b7786a6cb7086a5ca2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fee3673361d0ba1e61914724bc63e35c4febd4b362e2d0f254eb128268c0c8e4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtKMraZjYesE6tngpsOPG_1zXUmbR85lzRsszAwlGqa6W9GczMHrKwjBUiNFsNVV8Pt4VY41MVDO5Ih6gZBTJke_hV2PU0xf7FNf5096P8yi0keuffTNHBS_d_ce278_TPKUyBUSXZ1ZbFddQcsiLGohCnPBjb98xCw6NP3kqi36mzA38Ekyrt1nzF1IAO2OhDauPqubHY0-i4BagAjrsmFtzx7yBvdycg6pDJGCRQ2Dy1hhWl_WFky1g3Sl5uLXHScCx-tMmOHU_8lgEGvJV96bP3hyXaPVfQNrLK1PJLxmlvDaKS0BFyyaXFPkfHkFPEnPeuWZ6RCoTQ7fXv2z1puMMTH_HBsZiIp0ReF5-aD_CnKcIxci3Wms1giDlhve6I9fHUnakjlUTX3ZIi3CzrplTO0n2T7W4vppUCkytMl3-vvObhJlv6OGdeUSAz_-hFDT1bUydz8GPXm5I8gX4-sKJY7ps8EUeUxvzjCFGbm_ESqEbKIB257N7nO76j1WgfDglp5QaFiZEjldhnLNhLaRYZcl3WnvvEAxPSS3PWQLkjaFaoKIU7oGnD77sVrMx7GzdkF-XSM3PvMSdrHI1N8jZ4-qDMAKahpC3n_xzW-0jI0EnL4yEVuaiGIkvDbBbVhHhZ9dZy75xqx318b-iOHqvRXGGJnxVCLT1CVvoJQLIs8qBdpAkh7JWuty0cRwVTG8zjDfgwj7zKvC5IsxrQofZR-5x3VpLLCJ0Vh6BmdNxM9CbdaZ-2PU8hHbbWOmZcMjPlbaUw6NtoSNnYx2azA5qbqustbEPWQ9z9Binc4hAKPahmu8yWjeuSbYlgaLf5dNtM569px5KtTl5Dpf4PUxbR8U2zw5WLAKaYTcPFj1rGSqBJIbJ172Pcjzb18FOApSL9cKFzJInJ1pYmzo4V4FO82l8jIY-oVwm9UQh82gLXqE0UktWiHiF7ixjjC2PepSxp0R5tDNw-GQNMmrOPzifYMwELM45PTQ6lLfYS9XPUXJMjH0-UHov66RJkexagTHqObAkmIOqs2ZplllLjqXOlkY-tZUVihBzx14vp0S12-h1BW00h_Rdov7cOIUsWCq1SquC22qXdWCQtDOO4UQiJKeqsGCWb2x7fglgoLMW7PdQ3yHEAWn6Yxrh1c-KOzRZHvhZVfEERnTw_6GAeFFESRNv6qbT-A46dXEprBU-iPVdiqf8e_yxOKnxZ_dVdEEBaH4Z89WQFDoVqWh5gpF2sFKJ0XV2NVYCt-o5WoDdKJPGNQV8flkZInFHpfarp4DUycy7sVnEXEanSJVxwz-fe4sFaDw1uj9YtPtcU9t6o1EuVtTzR3OfKohq2yJSQQM05DkquEBi-MbW-E04VS6WS_FPMi3LSYktBMSfjY_hM-mtuZg8IMaQgHZv-2ljEIMG",
  "id": "rs_043f2a5369fbcd82016ab4a3298b7087d0856f80bb8195b7b1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.26,\"left_z\":0.06,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The two bowls appear centered over one another. I’ll lower slowly until the teal bowl seats inside the blue bowl.\"}",
  "call_id": "call_KgfG3KlfH9Xmmm5S5JvxVvdN",
  "id": "fc_043f2a5369fbcd82016ab4a32a486887d0bde81de0085e9ded",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KgfG3KlfH9Xmmm5S5JvxVvdN",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8764, 1.7695, 1.0412, -0.1219, -0.6903, -0.6033, 0.0352, -0.02, 0.8162, 0.5999, -0.3935, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.365 left_y=-0.257 left_z=0.0977 left_yaw=-0.0076 left_pitch=-0.047 left_roll=0.0319 left_gripper=0.0352 right_x=0.2938 right_y=0.0006 right_z=0.1692 right_yaw=0.0038 right_pitch=-0.0369 right_roll=0.0041 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -10.3316, 6.8855, 1.6532, -0.5153, -0.022, 1.0281, -0.3487, -1.4017, 7.0359, 1.7265, -0.0562, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6aaeb42ee207be2c49dfcd7913a39190c3674b9c3ceb38346ee499495eb43be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c58a99b02848053421b880f034e20fb612036356b3d654c0fc14e1f10e523d8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfd9ffd171d84806f2d577f82b7d5a7f9fe00d280d13871d2a0ce4707623f689",
      "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 67 changed as sent

message 75 changed as sent

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6025, 1.2785, 0.8326, -0.2394, -0.4957, -0.392, 0.0352, -0.02, 0.8112, 0.5999, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3508 left_y=-0.135 left_z=0.1707 left_yaw=0.0038 left_pitch=-0.0189 left_roll=-0.0048 left_gripper=0.0352 right_x=0.2935 right_y=0.0006 right_z=0.1707 right_yaw=0.0034 right_pitch=-0.0316 right_roll=0.0037 right_gripper=0.9965\nstate[joint_eff]: [-0.6632, -6.653, 9.3607, 1.619, -0.3053, 0.0806, 1.0281, -0.1709, -0.8547, 7.0359, 1.7216, -0.0317, -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]: [-0.8764, 1.7432, 1.0519, -0.1936, -0.6884, -0.5957, 0.0352, -0.02, 0.8162, 0.5999, -0.3939, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3598 left_y=-0.2511 left_z=0.1025 left_yaw=-0.0115 left_pitch=-0.0708 left_roll=0.0636 left_gripper=0.0352 right_x=0.2937 right_y=0.0006 right_z=0.1692 right_yaw=0.0034 right_pitch=-0.0373 right_roll=0.0039 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -10.3179, 6.4068, 1.6435, -0.4469, -0.0904, 1.0232, -0.212, -1.4564, 7.0085, 1.7118, -0.0317, -0.0464, -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]: [-0.8764, 1.7695, 1.0412, -0.1219, -0.6903, -0.6033, 0.0352, -0.02, 0.8162, 0.5999, -0.3935, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.365 left_y=-0.257 left_z=0.0977 left_yaw=-0.0076 left_pitch=-0.047 left_roll=0.0319 left_gripper=0.0352 right_x=0.2938 right_y=0.0006 right_z=0.1692 right_yaw=0.0038 right_pitch=-0.0369 right_roll=0.0041 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -10.3316, 6.8855, 1.6532, -0.5153, -0.022, 1.0281, -0.3487, -1.4017, 7.0359, 1.7265, -0.0562, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6aaeb42ee207be2c49dfcd7913a39190c3674b9c3ceb38346ee499495eb43be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c58a99b02848053421b880f034e20fb612036356b3d654c0fc14e1f10e523d8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfd9ffd171d84806f2d577f82b7d5a7f9fe00d280d13871d2a0ce4707623f689",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtKMuArXtorH42wOLKTgDe9ScU1MYnNO9dEXa_N-_HGG5EXwcQR5Irbix65iJwCiWzUWWYM5SfTdRF6IJIdxLIY0HNnNltknrZl4CRJP9bT3FQQ0092h23Xhcb90RsOhXdw4kY1hPjsWruQvshTGARc0KzwiDEHITE1qTAqP1V9f0gx4qz7WswQxF-O53VNaG7glZKmTpnxiuF-D5YdM2jVIX3hf9FNceVgsjJuxHSjYb3QeJZzJjMFlCC4o-xmnSwEt-sNwj_DSv4XJIg_96AeZ5zIc9JmV91mj9fNpPLMpO7p4Ym40QQfB2WfUe9G7nSgHgAuy3m1dK682-1nRj70d1Saagcdz-dBDn0_l6tsIzanUuu70QZtVbU9CqsrjwYsm0w9LiY1Ouj82eiJAl0hBJ5kjPl_djB0KK5Ud39aDK1GTVl0dVlWe1Vr75Peh2Wf2UyCc8glAT4Se296QSjblUhh2SmJYHps-KILPFSoXuAPFKEBmYOcavRkw41NV_s1wOwteH4zXk9T_DJK1zmGYDMnSl8RTng5dXD5RJqg5xAm5a_eMTSn77SSltURFP37_mM2gTLP5vK8Vzxit0KV-iVNkQRDgGZ-fFdvn9dFTcfeTlVmI8iInsAqGIQN_wmXMgNrUKtIAjUwK601zsu3MfIYvkPBtZ6lsfau-h6JJJAtfdhng8AND7Drh_H9dZ9rM-8S1XHMgFS4G8KpjYYYRG_gnrv-HDKHZI4l7Fr0kzmc4TS48_53vNinOKscgP0E-743Ohyhx6etHvCjpUW6Sha_XxSST4-utF02np7CsL9RRgHXaH-F5dWwj4NFBMFNMXIK7xeMFhyJT-NLsce9to2cEY94pvWjeNkPXTvx8n2zIWBAu5XkNdFR0CsAHwvqlPCTcBo2zB6x4dHKHKZgta-LScWDCNMON4_kefMvCrDYQHNmiEkk9rtNnIhm3gPEZmvyU017aX1PSyMIANIBs9X8iN1IfgCK8ddy937j7s-7IH2uKl0eY6WhZLVRfUzgTiAuVxFW2an_5ClBGYJTjk2Hdf7h7_si0V3CGR73df4RJYTZXl3zREo8z7QluaEAq8jYpjFAUWooSIsqB2jcshGSbpmNM6oOXvA3tLlpBlS7qysC2jvK1hBXQN8Oqx05_XB-3yqKdJzgDdt0t1mzaaG8ZUbH4WcdWASakXbRX0Fw9uaqWGPlwe17UAECnzEoDSLY38vanDnFwLlXBnF9OJHHPJ2wDtc7OlNkY3_Uno01w_vAAd9zrFIcWZ-mQ2MkYtfPAUdvS0_lnocqybluQ5R6QRI36qyrp4l5ldLMxkICK8-cZkn-PNyH0re-BBsotsAKHBW6hhkGxqgvn43NMHa_Ge7y_WQ3EgPQlubcvHQdy6WZzFBkmxgNp1-keYXg3dI0Jvc-Ai4WsxF0QvXHyglsMRLuKlabB8gQQSSl5OJrFvbcsIsNatXhE-x37SmG5DbWqoEKoMHfmKewyiZbpZP_nag2BSj1hBxSlzDD1IOTYaWNoPUNVmhN_PK7wvkZVNNrPlJGgbnuUWpudagYCiVE1Cfeu8gz6WhOwmQdiysJ0=",
  "id": "rs_043f2a5369fbcd82016ab4a32cc38487d0be7ea57b0e1ea9f0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The descent stopped as the bowls made contact. I’ll release the teal bowl so it can settle into the blue bowl under its own weight.\"}",
  "call_id": "call_gruCdP3A3IvFzrLuhwAE4G7H",
  "id": "fc_043f2a5369fbcd82016ab4a32e166487d0a12680b5b779db0e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gruCdP3A3IvFzrLuhwAE4G7H",
  "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]: [-0.8764, 1.7695, 1.0412, -0.1234, -0.6891, -0.6083, 0.9945, -0.02, 0.8165, 0.5999, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3648 left_y=-0.257 left_z=0.0974 left_yaw=-0.0057 left_pitch=-0.0485 left_roll=0.0285 left_gripper=0.9945 right_x=0.2938 right_y=0.0006 right_z=0.1692 right_yaw=0.0037 right_pitch=-0.0369 right_roll=0.0035 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -8.6906, 6.1197, 1.3895, -0.2906, 0.0513, 0.0171, -0.0342, -1.1966, 7.241, 1.7509, -0.0366, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:821679d09478c8f63d1bb0db1219235fc8cac74fa1fc3714c83ccf6309209040",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d76200280138ccf54719fb2648fa72ea32eaba7517914c180cea153d0e28db82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:881a900fc8907ac44f1ae23e082aa5e5e36d4e72436f7feca2139e87afbc3496",
      "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 71 changed as sent

message 79 changed as sent

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8654, 1.5311, 1.0924, -0.3859, -0.6701, -0.5819, 0.0352, -0.02, 0.812, 0.5999, -0.3931, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3446 left_y=-0.2299 left_z=0.1731 left_yaw=-0.023 left_pitch=-0.042 left_roll=0.0202 left_gripper=0.0352 right_x=0.2936 right_y=0.0006 right_z=0.1705 right_yaw=0.0034 right_pitch=-0.0323 right_roll=0.0037 right_gripper=0.9965\nstate[joint_eff]: [-0.3761, -6.9538, 9.5521, 1.3846, -0.4567, -0.0366, 1.033, -0.1436, -1.388, 7.0359, 1.7363, -0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8764, 1.7695, 1.0412, -0.1219, -0.6903, -0.6033, 0.0352, -0.02, 0.8162, 0.5999, -0.3935, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.365 left_y=-0.257 left_z=0.0977 left_yaw=-0.0076 left_pitch=-0.047 left_roll=0.0319 left_gripper=0.0352 right_x=0.2938 right_y=0.0006 right_z=0.1692 right_yaw=0.0038 right_pitch=-0.0369 right_roll=0.0041 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -10.3316, 6.8855, 1.6532, -0.5153, -0.022, 1.0281, -0.3487, -1.4017, 7.0359, 1.7265, -0.0562, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8764, 1.7695, 1.0412, -0.1234, -0.6891, -0.6083, 0.9945, -0.02, 0.8165, 0.5999, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3648 left_y=-0.257 left_z=0.0974 left_yaw=-0.0057 left_pitch=-0.0485 left_roll=0.0285 left_gripper=0.9945 right_x=0.2938 right_y=0.0006 right_z=0.1692 right_yaw=0.0037 right_pitch=-0.0369 right_roll=0.0035 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -8.6906, 6.1197, 1.3895, -0.2906, 0.0513, 0.0171, -0.0342, -1.1966, 7.241, 1.7509, -0.0366, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:821679d09478c8f63d1bb0db1219235fc8cac74fa1fc3714c83ccf6309209040",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d76200280138ccf54719fb2648fa72ea32eaba7517914c180cea153d0e28db82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:881a900fc8907ac44f1ae23e082aa5e5e36d4e72436f7feca2139e87afbc3496",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtKM3iMInWC6UvQib3hwLoUklUtA2UZT6bLo3n-_UAoT3-hnciIGqEC3uwSyCN3jJK84YbdKjbLl91dNVhdPR7KQJIl4jKxiqtmqaqGilb36q10Ccmh9P8XPKTFhfv-tG1dx1qV8tiDI-j9dTrePGE5U8d_4RWXGjgwuPL0qjf6WScAeh-xdGeiFwY95jdc4PQI8TbmZTM5ah_NXdtFy0YEpa2VShm3bNM8Wktc_Bs09JIG0Snx6WozRbD9SwkqT6xw65Y5nxJmnA1BExa2ILy97Z_Vxo4eLYTVBOlPu3goGTuPc4JkHNJfhnV7KZuwoYmPD8xgUYFpZjUtBS00GiQo0r3QqhX1LNyu8Mpq2drpssI7naH4OfidsjhQMq1Pi-Y6sEMy78pK8dAmrripDkaY2kcpFMLSYlz76MfCO8_E9cW82YinI-Qkycwbr5dYeoAt_12zc8OMFX9nhyBduH4M8uXaX1cQs-YW4tiNSXsV6B9cky4CacqIVwOocggYNaKU9lve9kjktOCmi2KW4ICz4HhmHoqHbIOxipIIMFM1OYTk2kyWo4HqzXkQgG6vDDB5EYCIc__E119G0fnIDrTxPjt-MhSVFNkKo7yHRFatZ2-yzAEu5AteLD5kd3VO2ywjJdIFQ5hIhi7fyMegoxiRFkjvQvtcWg6rIrCWEUOFRmMnwbpzxc-2X-B6cp5qSDZ8zkDtp848FgtMy4mKRuvqucCeF0p53B6K_qjt1IXioIGOx3rLYkEXpeXao9BTH48PbBfCkkMQfvAcTYLx-EmG8KsbSOnwIQS2nl4JGAdH8jfo847pWKoe6jaAx0_AlNkvbrYnLGZSBUTjABnH2zI0yKKMU5p-L8NfZLAjbUxFjoAu5rMSQzqsqnkAxQQt5XSoO9Tm7RAp6jV2bsxQv_5bx0v4_Ivg7zoMFWWB31QlzTFxYTxKVaFdkQcUHmJRvYLeL3-0Hqe9oXK_KVkQQFjgRZSOSBUHY1Rj5yPdCW2uJhzzR5urih5hdfxRB3TdZU1uAiy95AKZZzZibeo_AwO_13XvERjU627QAIe80_kMNi2OKESxsJOJGRq0fjyJu6c7us800BEqE4fk9ciJ75gKoP0229_3_g8EoXLS33bWdaey-uYH5idicgGN6aLwvkvX2MBmG_Mt4prU6DweX9w4Wv_9e1A9I0LvHYpEqI6zAbOE4IbH5zWtnosM4jT2hPUSXTtgqRlzcwcY5e5S3sldQ36ReIfIKcF_gEGjwp7oCvT1ZowfSunj4H0Tx-4o2slTZe_z67BteTX7P6HkmoqXalz0EZrj3iQ9RZ1m7SzwBAD26f6JLoAybvMAVzqBxIrVcQGoHy4R0xpkBHxLR6FKiYqxLNHKdUHG1KobNSa5DZwPZ2cWDmPLbnNH3O-RSSeTN5hQbxT-BbOTF9ybNVH7MBHyQtkr1yoJCViYNU5J3bOsgZ8-lo7uKSuFNqO-xMCUj9m1K9QWJ2BUl34dkf48a89_x-ZsyT9sBcGYvMOGHjSORr6KJp5X0S_dMZNv8J2KvTjeaSJBYEu4FwHiTyhNUCMoy_wj3O-lrOIbxp-VMhWLVpUThEfJul62reTLs-kM8a7dXvMU4uWnaO8f05Jgi9-kBmpBH1JBfV2TrPFPphjb_Eusm7TYD4uvqbttI6DN_Ipbc9QIwmU_oQet-o01d0J9hWft3DiOIEbqMlS5rsUg5saB2DswEJRBQ2t1mw1Z_BkXn4ojiyT3UW0YmjQD4YicODwpdMy3Sz_ipjUV-Q8ZxQ6oEkPSrDVupS4FunUIygEast2ARkYHvo2xdAfZXbD-tabJv1hGsWQutHf5LIiTgOsBtuHo0QgnMiskRY8gMBk4_FRAMCF2CatO_T98TdUZuqaQESNS_pNkZlfe3S1cPJlS_qgFl2DHctXqDuBHNjhJ-bPM4P9jG4DOpMeRdYy92RvYwM4yfv9VvkXsmMvPhwIsP8OY6pLihO3NxxSDi79RZ82a_a4O_8hVmPelid5e98WXzpKGKAjgnX0Bf9tZWJX2f97VN7GdoFU0AFPj2k03AcjM4zo9x4eh6AIhE8jLUQ2afIh4MP41Eh0QZGIix3jFO2Ioqn_cmIsx09FFh8LuBYMsSwCUKljDKmByMr0j3hlkkENxMRv2B4sd60d4H1VjX9Om1S-BRWzPK7npbfMjNgEtpCr8eDqTSIXnjrNfMMYoXwKKSilwEZalXTqGJtNPqdVEJhagazBulZKgQ6g_W1eHtAOqiwqm3vrqYPNL9SzhlfY7PZTfO7tuBhVJ1_BiZ20GUoCgyY76DtQugfSqQWvIWOcjsoOU6DOBN-2iNWa4COsIy7bJlSddUttV-wYeocr_LMkuEH0AOArdFleKCZDHrPoZA_IXsNMN_OfLsag9l59U6fy0D0GIZvP06Qt-Y3Qd1fGGUiZfQA3287aaGmGZeKI2vz_0M9uz6MNQAEKGBB-z7zAzC9ii2wXQ7YQCUaqVYvlVCGBXd259pXRqkobOswbGVE_u84aa-REpaqxSIUWqKHbtTyTT-fkeY3m-K0qHrwtByOAp7gVfop",
  "id": "rs_043f2a5369fbcd82016ab4a3313de487d09db42f8f709f20a1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.294,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1,\"right_x\":0.35,\"right_y\":0.12,\"right_z\":0.15,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The teal bowl has settled onto the blue bowl. I’ll lift the left arm away to inspect that stack while bringing the right arm toward the cream bowl’s outer rim.\"}",
  "call_id": "call_kdEQa8o9rJ7KrI1ofIMzR4MB",
  "id": "fc_043f2a5369fbcd82016ab4a335454487d0a2e475d0abb2b9b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kdEQa8o9rJ7KrI1ofIMzR4MB",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0612, 0.8146, 0.6601, -0.4355, -0.1066, -0.0937, 0.9988, 0.5194, 1.2465, 0.6685, -0.1432, 0.408, 0.2699, 0.9969]\nstate[eef_state]: left_x=0.2953 left_y=0.0043 left_z=0.1891 left_yaw=0.0643 left_pitch=-0.0146 left_roll=-0.006 left_gripper=0.9988 right_x=0.3354 right_y=0.1152 right_z=0.1255 right_yaw=0.0318 right_pitch=-0.0792 right_roll=-0.0415 right_gripper=0.9969\nstate[joint_eff]: [0.2667, -1.8803, 9.1966, 1.8144, -0.022, 0.1392, -0.1343, 0.2803, -4.1368, 10.0444, 1.9756, 0.359, 0.149, -0.3297]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91a408bab2459ca9e5005ca81064ac5476b77c56976c20e9b113faffadc721e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54ae9ebd1969614a8914e3e0cd9a9268ec159a3ddd647f7442c249923b239f00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3594ca1680bb898468b81d8e74d6871673b879143ebc2e4f49a8d222ee105ed5",
      "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 75 changed as sent

message 83 changed as sent

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8764, 1.7432, 1.0519, -0.1936, -0.6884, -0.5957, 0.0352, -0.02, 0.8162, 0.5999, -0.3939, -0.0162, -0.02, 0.9965]\nstate[eef_state]: left_x=0.3598 left_y=-0.2511 left_z=0.1025 left_yaw=-0.0115 left_pitch=-0.0708 left_roll=0.0636 left_gripper=0.0352 right_x=0.2937 right_y=0.0006 right_z=0.1692 right_yaw=0.0034 right_pitch=-0.0373 right_roll=0.0039 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -10.3179, 6.4068, 1.6435, -0.4469, -0.0904, 1.0232, -0.212, -1.4564, 7.0085, 1.7118, -0.0317, -0.0464, -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]: [-0.8764, 1.7695, 1.0412, -0.1234, -0.6891, -0.6083, 0.9945, -0.02, 0.8165, 0.5999, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3648 left_y=-0.257 left_z=0.0974 left_yaw=-0.0057 left_pitch=-0.0485 left_roll=0.0285 left_gripper=0.9945 right_x=0.2938 right_y=0.0006 right_z=0.1692 right_yaw=0.0037 right_pitch=-0.0369 right_roll=0.0035 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -8.6906, 6.1197, 1.3895, -0.2906, 0.0513, 0.0171, -0.0342, -1.1966, 7.241, 1.7509, -0.0366, -0.0513, -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]: [-0.0612, 0.8146, 0.6601, -0.4355, -0.1066, -0.0937, 0.9988, 0.5194, 1.2465, 0.6685, -0.1432, 0.408, 0.2699, 0.9969]\nstate[eef_state]: left_x=0.2953 left_y=0.0043 left_z=0.1891 left_yaw=0.0643 left_pitch=-0.0146 left_roll=-0.006 left_gripper=0.9988 right_x=0.3354 right_y=0.1152 right_z=0.1255 right_yaw=0.0318 right_pitch=-0.0792 right_roll=-0.0415 right_gripper=0.9969\nstate[joint_eff]: [0.2667, -1.8803, 9.1966, 1.8144, -0.022, 0.1392, -0.1343, 0.2803, -4.1368, 10.0444, 1.9756, 0.359, 0.149, -0.3297]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91a408bab2459ca9e5005ca81064ac5476b77c56976c20e9b113faffadc721e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54ae9ebd1969614a8914e3e0cd9a9268ec159a3ddd647f7442c249923b239f00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3594ca1680bb898468b81d8e74d6871673b879143ebc2e4f49a8d222ee105ed5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtKNA-ex-qUZRM4v3X9DxBL-4jvZcdLitmTJa8CQL-E1IWbvyS8uqyZyVrWddZnmnmz3QxYGt_TqGYZdGpwVEOfF__COzsHT3kRxNUncxIaL8eoPe2Ukn43dPbEN2phNFP_3L-XqZb12QiGsq5i6MsRot9FVBCeDuuzRo95KnZtJWc1IGb-VTrgN7TWeLVuqtGlSK3XHQNDOHQM7qKS3gZNOy3c232Mfr2nYYEmHediohJV2-fAG7jf_xFwo_HMH7imQSc3LkmACAkImj1suqtiKvxoYJdSMiOS8ocCgdbCPtWm-2tGXZ9Z5YPFe7IbWxTV5Yyc0VCSMof4QteJnGhW47d6O5n8KT3CIPay2evw52BGV-IawPrL14tGnso5dDH43j-GWkhgYEvXTw_C93emodnM3OsShoeJIU8_mpnMNmv1mdDymU3hkj-iJTEjVp-asgHW8axqwnTd2pEU1n81Nx2rpf-XR6Q1Zg4jBb92qS7_HHOUemNakw4eevStYj5GX0SALqJpZzCVbwnyYId2QXyUsNONOgjeaj5JN8vqdElMFJET_XtifGaxAJawEPkRVnjXfJVtjalrsg_UkLaAp4t34oWjcz9fRxn0zHcwOGG3Iyw1dumbqcyi76NnJfkgUpsA1h0rHLI17CfHVgQtf23ZXTudGYMjhdoEI3nYvxOplahXxMjFlHHd2uyu7Lp0J-qM6fKvsszDZ65TnXo6tgcVC_AEjwymkjt9KJf07wKyD_ZelUKuObCYTvotG7_9d35_5c4y-CEG2QHPMxVCuL9ikFeJVDizfuw-I74822tjWDYfDPW7N7XbuMeUvLDX5NKVz6kPBLYE-dAyoC8h2Og-wtz9QYZlzQgN7BEsh08lEW8LfBQ5Kp9cBQ0M91_xFB7F6C8scGPUMid_8EsyRK_Sn13h32G5eZf9NMHqqjb7PK994TcbzJfrDOvbZ8P3_U8LCe56KvzKIWbC4tZfvIpPZ2WzhVO6qynosl6qgN2S7FPoCK9brhmtozBv_O0ypH4xmeG2bPI0vdGsQ0gSuR9VWhkLK8MNEwO5OCLwtYpgPfd-1B1tZZy5HnvpHwpIvQPdNbcLcbC7zpski1yNn0tJJIKH5HQWFmM8s4QSVwOSp7TbEbJ6YJWjyZSGYaXn21fiu_jh9GjqdJaB8LQO-6apYRlKdhxo0_vyVlZ0HeKobtekq4t8eO0OkOBvmfXqhYLbGUbLXdErn1gZ39lzHYDG8AuNjb_NJJ9qkOJpRrtNul2sMoDXUNx-K6pnN6uMcwE3saE01vmPwCCxX9Xtel2XxL4WAoJzvNh922h0aM_uu5I4FfJ17hxNg25LT5J5iQKXLNBMqE_1dcX5HdJv0S16XSWJcxkqLZahotZT5ydv3kUALflcBSrqYH6AsR5PD0GuTk9A13UqkHlZcmdbvJnbSAPDZuJLr-hkpiqc4xFbSU9QfTMX6ZazCGGIrwKK5mg-8zK_hpf9Hv92e70S9z_hWs_WjoR3kQDKbrDlnJinqsx0Y0AWVWWZQEA64X66oR5C_MOURHAi2VZsMXo8tWwz_p_WXlMIP0lU8bqHTalctH6SmErxh7BZSbIut-LGQ53KmaWJI7p86lYRwYz_-rt2F-aGYoKEBWpAcjtTqAM2RnC567zEWsu-Jdnqz5bF4bfRbQWY4m0oMr8WtfC0zC_81xHXzuQv0tRA-rslM1UGvba3XWdeQlfcurrq0XG5817yspdaREqI4MGBX4qFuNA3aJHNiJ37SK0kebbTgS0OQ1hrS0e1DakJ7phmheMtBlBI653OFtuOTxS3roTmY6oH5FXnCkgsqg9HfbqjySaHPeZQwd1GDLK8Ebbptv0ZLHVZrrXUrhJKXVxf9728aEmlXEjgiujhAqZdeZJfowGm6JXjccr6QUM7cOFQJvZIlWrNDK-HwlsmJM13tjkNu3CdNXbbwatmliXvvZzsjWABhG3u1S1zZab7eNbfY1thKT6gNGi0lFqBFCIu3ax1T6yyYyA3K9Y9sE0iqHV2zZPbk7ISw6r0s46kY7FvLUQOh3MkkXBrxav3zAbYzvy1lz6kW2OTt7c7VbQ-jGvF8-A1Y5Q1KGThBoQYeA7CfHPZuCuVaWaIrctJq26O4Ar9YTKZB2_q87BI3mt1Jr_GoANMTrhi_ol08O9bY_cE4ablKfxAq-d7P5XEMm1FYZQUjWvb3oSHkUJGPJfbCkHx7R8o66jtMFzc43LmSXP3l1qfXD2dN0_RPhA6wkXEcT6Cm0-vcNpeAP6GmqBcLSd1qZgOq5KMkeEHbLRxMrCNTY4i0Yy3aFNUwaEcWZE8MlR0RjHUmw7rdfrk7o1fJQl1_2TtA_3BLCP8qUBSBHcJpx1JEJtfpkDMsS74GUp5XYYpihgicmE6lBW2ajtRHXVZLVbbKYhDNpbliTVSIpHg2RSE78seM3nXHtjAobdKN2aUvqq5unaa89hSu0qw-h-mvpDhhrhD1WvBjQlbyS194O8rC146EniQICmSQvy4HOt3RYwDOUG_iZ77s_-Rhynxig6gjPj4fnODnOI0zaZDGJ358cIqyzw1BRfn7s5hcMGVVEWQ==",
  "id": "rs_043f2a5369fbcd82016ab4a33abc0c87d0b5de8e927eda8e2e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.12,\"right_z\":0.035,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The teal and blue bowls now overlap in a two-bowl stack. The right wrist view shows the cream bowl’s right wall within the jaw span, so I’ll lower for a rim grasp.\"}",
  "call_id": "call_Jl77I7UcZJpjikYablgR5r5g",
  "id": "fc_043f2a5369fbcd82016ab4a33eeab487d086c4f87e4dcb9b67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Jl77I7UcZJpjikYablgR5r5g",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0601, 0.8181, 0.6598, -0.4564, -0.1032, -0.094, 0.9988, 0.5228, 1.5791, 0.4419, 0.3717, 0.4194, 0.281, 0.997]\nstate[eef_state]: left_x=0.2926 left_y=0.0042 left_z=0.1837 left_yaw=0.0628 left_pitch=-0.0395 left_roll=-0.0052 left_gripper=0.9988 right_x=0.3344 right_y=0.1138 right_z=0.0187 right_yaw=0.0181 right_pitch=-0.1141 right_roll=-0.0608 right_gripper=0.997\nstate[joint_eff]: [-0.1299, -1.4701, 7.0632, 1.8926, -0.1148, -0.0269, -0.0171, 0.0479, -6.3795, 4.3966, 1.7949, 0.2955, 0.0806, -0.3248]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ae8cf521dc21938714423c840660d85a34124508aa517879dddf26ad620ca6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9bb93572b2d298997d9f8b36a34f56e368979a90f980b77f4be15123f1fa67d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96ffaad4ab3096cf165433f2dd8cc10fc4c45f0c171a72caa4109cab051aa955",
      "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 79 changed as sent

message 87 changed as sent

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8764, 1.7695, 1.0412, -0.1219, -0.6903, -0.6033, 0.0352, -0.02, 0.8162, 0.5999, -0.3935, -0.0166, -0.02, 0.9965]\nstate[eef_state]: left_x=0.365 left_y=-0.257 left_z=0.0977 left_yaw=-0.0076 left_pitch=-0.047 left_roll=0.0319 left_gripper=0.0352 right_x=0.2938 right_y=0.0006 right_z=0.1692 right_yaw=0.0038 right_pitch=-0.0369 right_roll=0.0041 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -10.3316, 6.8855, 1.6532, -0.5153, -0.022, 1.0281, -0.3487, -1.4017, 7.0359, 1.7265, -0.0562, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0612, 0.8146, 0.6601, -0.4355, -0.1066, -0.0937, 0.9988, 0.5194, 1.2465, 0.6685, -0.1432, 0.408, 0.2699, 0.9969]\nstate[eef_state]: left_x=0.2953 left_y=0.0043 left_z=0.1891 left_yaw=0.0643 left_pitch=-0.0146 left_roll=-0.006 left_gripper=0.9988 right_x=0.3354 right_y=0.1152 right_z=0.1255 right_yaw=0.0318 right_pitch=-0.0792 right_roll=-0.0415 right_gripper=0.9969\nstate[joint_eff]: [0.2667, -1.8803, 9.1966, 1.8144, -0.022, 0.1392, -0.1343, 0.2803, -4.1368, 10.0444, 1.9756, 0.359, 0.149, -0.3297]",
      "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]: [-0.0601, 0.8181, 0.6598, -0.4564, -0.1032, -0.094, 0.9988, 0.5228, 1.5791, 0.4419, 0.3717, 0.4194, 0.281, 0.997]\nstate[eef_state]: left_x=0.2926 left_y=0.0042 left_z=0.1837 left_yaw=0.0628 left_pitch=-0.0395 left_roll=-0.0052 left_gripper=0.9988 right_x=0.3344 right_y=0.1138 right_z=0.0187 right_yaw=0.0181 right_pitch=-0.1141 right_roll=-0.0608 right_gripper=0.997\nstate[joint_eff]: [-0.1299, -1.4701, 7.0632, 1.8926, -0.1148, -0.0269, -0.0171, 0.0479, -6.3795, 4.3966, 1.7949, 0.2955, 0.0806, -0.3248]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ae8cf521dc21938714423c840660d85a34124508aa517879dddf26ad620ca6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9bb93572b2d298997d9f8b36a34f56e368979a90f980b77f4be15123f1fa67d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96ffaad4ab3096cf165433f2dd8cc10fc4c45f0c171a72caa4109cab051aa955",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtKNHdEZz79o_dUKq3qojZgG6UxWgL-K1giZhBegx3mB1Lb_xWdX77KcGt8p2bd8Gjy6B9y64aFSu6BNtkkBJtGyjbPAOR9hvWxZG-3lvMLEGcJl2vWp5vo0jhngb0LurSygChcJjPqM9239cC3hcA3Z7LrB1rKS1QpDGmmWADsvsrtJrJv48QWQ0jdEUi7a9J5cDFQFviTA_3kc63Co5AgNpEH9tdCV0v2-bl3n7JSMydAHv2w9Sfr4A8Kcwf-2kpzEHcOZE9lIVKTe_umiNRv2dMCE44hZjTzXs98h5EwlYcHA2SeMYUb69fhd7qwRjr5bKCBy80974iY2HfpHV7jnDO2Rphnlh0ouq-mtVNJ0-D9-EBvbpnG-bJ5Li-yZMjmtoVYu_EVn4O05GHQPd81Dae-rbnZA8S5b5i1CLO_3uVqTfH5Cglc2kmmeIBmDABEOZmVMpZLFQ5LCrK_mi_EWnO6XHV8JRoBT2EXYtnY1WGWa-T_k9gCRveDMFY1Vho5Zm1nlTraJP9xx5G9Cm-u47t6klxw85u4VXcHwRtMaRgU--l5BeFpG1cnBfqmdJoPOv4qCrfNRSfsXs1ufr222Ubqtfgm4631YRbPyMb0stPCPrjGmXYyNcHltYacWclCF11cHpDrjnHrh63WGDCBxAaABhpCw1adEnVfrLMUuamuenrAzQGPdviZGhKd7QXFPiNz0LR8ODbdyHIWZ1imbmAFO14Fbpy3bnmy0IQ7gogb1Yqu22CliOhpPXObugFUArLgGSzjl7U56XT2QF3HYXitcJGxbFDCsu9X0KafX09ramLRr66FpvSr6gXLEjguKNuDsoQbqoegwjIK0P_9cp4sxCv56IR-cYHrmRCeGXeR43IC_u2yDFDwyeauvzN7O93ZYgdDrS0EEanAtJx1iRiaV013LSKX3KxxSVRKWLfuNr8rjZIBsoAQHcQLux3X3rJq9-aS6zuSeEPkVBp6ROlCCwcq9iFVzY3q1yiuEiqhjpElKMKNY3IQ-7hN2jsjKqxw5mdS7Mfo2GB3gE7vw2s9WSi4XAdTQn20vlVrZtehjtSn-47fqHFaolC0g5xqP3A-7XXOZYv-BFI-7PzRkC9Q2XjRtKvYjUFrQKOp1Ddejm1iLZQiSC5jkW_eEvXXI_6ecgamaF6GO0dGM8S0qUjQVwvrkSvQon472yYAf6f1gAm6Ffn2wWfOOPuVPW47BRLnVYYcTZ-226soFqALtQptOSYLyoGXndeVLdoiD1GnZ7vhO1_f8_-Ds6pSujkjmrK5HiIizELXV0h8LPtkLNKC1U8YcSCl-aBlwN8D3GV01QkOwejyOKS_N8kyqM-eo6N_tLGnxYUAL221m_jLwYoaLRfR7nex2-w9wOvq8ikn27k4o4hN60V2sa2dE_uLkZk0wKjz6nhqUG6A8Zk0Kqcbw_bCMUJodKVhHzw52R2r2yTCD0cQj2uTZy-31iQiZ9MbS8_O-oudREGF1gLm_HrI3GJCj_WLWXU7zCNNGOMLeTPgsINI6FqQ4d-NLilcfjGJh1R5C4hpUoWnRuAAnqxkE6X2AV_TLjU-gOBwbT59T4SR298Zcpb-PB7mK9t2bgmu7Bq-CyNfbjJIFBQu1Yf8KckJUandKBreb3LC3HmNgo0wOdo5oeAJc96L0BsHjO8s48Fy1pGZdcRnYIPxOQjTXSChIeYY6allwFU-jM1OU2971Nn4bvt-oZ2aSe5v5eE9z4noXQwFmKp9shUNADabYF6R66PyhJqo1pj3HzoHWop8KzobVTnKa8RPWhywfZuB0kz92NgzIgJtULyU25bfLsz77K-IWVJH2PnOwRJMtqviHC_u2g-VNh3rgf-f8RakyxtsiM_CTlZcjuV4WaPjIbnp0Yj5enlp8-CjwhmcPVWIw2jir4c7oRAXmcXNHge9JIQaIKMlEsRbOF4ABHDuRKZ2rRwHDIGPkzZCe4cy-BYBVnZJU1UH-ay_47SCcPnqXI1_eEDW6rMQFPLwQ9kk_JzyGuUnQEztuiPTmzbs2YOD_LBLUYcZISFmHTDY7MnNBaYJEfSwI1EqRUK2rBorB9W4nE7nqlVFboLmvp7ojN20oYr-RA4M3ECRbkR0Gu89hAi_kYjJ8Wnqnd0tcot3MIZct2YEovaKX6BXJKv-U=",
  "id": "rs_043f2a5369fbcd82016ab4a3420d7487d0aed6a9e4c69edcdf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.085,\"right_z\":0.075,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"At the lower height, the cream rim lies to the right of the jaw centerline. I’ll lift slightly and shift outward so the fingers straddle the wall rather than close inside the bowl.\"}",
  "call_id": "call_1hkhUtauD4ln6XY95ZmzsIEq",
  "id": "fc_043f2a5369fbcd82016ab4a345cb2487d09864acd33543cc18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1hkhUtauD4ln6XY95ZmzsIEq",
  "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]: [-0.0601, 0.8219, 0.6598, -0.4603, -0.1051, -0.0944, 0.9988, 0.3977, 1.3869, 0.4232, 0.3447, 0.3534, 0.2245, 0.997]\nstate[eef_state]: left_x=0.2923 left_y=0.0046 left_z=0.1819 left_yaw=0.0647 left_pitch=-0.0469 left_roll=-0.0034 left_gripper=0.9988 right_x=0.3477 right_y=0.0836 right_z=0.0679 right_yaw=-0.0193 right_pitch=-0.0028 right_roll=-0.0034 right_gripper=0.997\nstate[joint_eff]: [-0.1162, -1.5248, 6.9812, 1.79, -0.0464, -0.022, -0.0073, -0.1846, -4.7658, 6.9949, 1.6679, 0.0611, -0.0513, -0.3248]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a4c6697133e03e62b8f1c5aab21168efca5690a0b92d7e00973b285b980ae0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b526c77f328ac958158beea109628704e2552b856414300c80e6f36aa4f66dd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e45dd4e9a0184c9ed8c491b576e12512360c43fcc33556409b7d4b1f8871106c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8764, 1.7695, 1.0412, -0.1234, -0.6891, -0.6083, 0.9945, -0.02, 0.8165, 0.5999, -0.3931, -0.0162, -0.0204, 0.9965]\nstate[eef_state]: left_x=0.3648 left_y=-0.257 left_z=0.0974 left_yaw=-0.0057 left_pitch=-0.0485 left_roll=0.0285 left_gripper=0.9945 right_x=0.2938 right_y=0.0006 right_z=0.1692 right_yaw=0.0037 right_pitch=-0.0369 right_roll=0.0035 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -8.6906, 6.1197, 1.3895, -0.2906, 0.0513, 0.0171, -0.0342, -1.1966, 7.241, 1.7509, -0.0366, -0.0513, -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]: [-0.0601, 0.8181, 0.6598, -0.4564, -0.1032, -0.094, 0.9988, 0.5228, 1.5791, 0.4419, 0.3717, 0.4194, 0.281, 0.997]\nstate[eef_state]: left_x=0.2926 left_y=0.0042 left_z=0.1837 left_yaw=0.0628 left_pitch=-0.0395 left_roll=-0.0052 left_gripper=0.9988 right_x=0.3344 right_y=0.1138 right_z=0.0187 right_yaw=0.0181 right_pitch=-0.1141 right_roll=-0.0608 right_gripper=0.997\nstate[joint_eff]: [-0.1299, -1.4701, 7.0632, 1.8926, -0.1148, -0.0269, -0.0171, 0.0479, -6.3795, 4.3966, 1.7949, 0.2955, 0.0806, -0.3248]\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]: [-0.0601, 0.8219, 0.6598, -0.4603, -0.1051, -0.0944, 0.9988, 0.3977, 1.3869, 0.4232, 0.3447, 0.3534, 0.2245, 0.997]\nstate[eef_state]: left_x=0.2923 left_y=0.0046 left_z=0.1819 left_yaw=0.0647 left_pitch=-0.0469 left_roll=-0.0034 left_gripper=0.9988 right_x=0.3477 right_y=0.0836 right_z=0.0679 right_yaw=-0.0193 right_pitch=-0.0028 right_roll=-0.0034 right_gripper=0.997\nstate[joint_eff]: [-0.1162, -1.5248, 6.9812, 1.79, -0.0464, -0.022, -0.0073, -0.1846, -4.7658, 6.9949, 1.6679, 0.0611, -0.0513, -0.3248]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a4c6697133e03e62b8f1c5aab21168efca5690a0b92d7e00973b285b980ae0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b526c77f328ac958158beea109628704e2552b856414300c80e6f36aa4f66dd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e45dd4e9a0184c9ed8c491b576e12512360c43fcc33556409b7d4b1f8871106c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtKNLVK78MMc961ln2xFfs5iQdLoXaRGciEHTiLoKz1UI5O3YLwyq1cmkgg6PZqvZQ8xarSSaji1I68fzLMx2dnCKpGcobXcCA5UJ3b-tWBGZ2jo2g3jpXP7oZejd-gZennMKda9rqnFCbo6FqKtc_jS08ghehQwMf9kdOhK9fKZ7WX46FX4RnFu3LiLHwJx5KElrboWznzpOH5espnEWzb8BlzqkUaeC0kdwO9Jk6lYqTdCzjOodiIL4pxBqzvEWt5Q9kealCgWl_tQNq_nbT7s5CW6viK_axks5fmWoeVblS_UWy_-p8zpch6sRTXam65-jhGumrt9EQYEANhFPB0wgrOVREtY6RuCYP2ysHdmANiJxwsxKrQfqIWisf_lockgabvYmZwI3Lz1ruNbCFeRx4qHvex8VNQ7XOUAmHDtJ2zsEUALGaC6RqvZ31GjoyvTZFTQWA_ul3EJjhG9L7KPpqB3oMo4fsqZggL5b9BafaNqNJhfTxdUDRcPk4RJSPNIPc1qF_mW0UsEPUVet6It9m0Qy53l4s3c2bQVMP7B2mcn7TBKKh2wgnefOGkAEGmh1qKkEMiP3Ub8ocpZ_tMnMqTNqtkgGA4OaJsqX--qQDbXt1SL8yaU3Vi3D0oycAONCaixubb9lxBmWofNLj2hH4NjPSS081Ud1RiyLAx4jUiDQM17od9rAhTr2Ke-CW4DkAAHm47037fghaT2SP0Q-RcRBeG3K2YEhLiQLpYVwMwNh060apUWUuko7YYoS1WvqmZztCRPJ9OR_MXE02E09NHTIMGNLW2SFFQfdWZLBdIpczxyWQLnC20brjjQLiYGgP1n42SHW0gytcD3OVRBfaE_L8boAcnh2PCyALu4IOGqw8MZJKLqw-zNp6Z2DaJjmP9vPnERe-bS_jtSweq-OSfW2tBU01-7Q4XIpnZfS58yDiJE0oUokGL0Hm8MIcjqkNnpJzbydAN1oRkBMjnyf2a2ipwtZd_9IFs3s0BjyR1xw7sor4zcIhpgTM8B2x8EATgCZOaLdz009JdaydAkyEpqaKI0keUNjd-pm7u2WWbyoSbXPznDsxBpX4owenL0_nEpdyKVLvIre4BlmLhx93WK8DNkG9gWSA4B_wNyL0rtKjx4KgZTEqsV7OejbiYfdh1Dzwg0rRo3chXHa4UKrJApLeYXmEHBgs7P3Vc5ctT0_kBJlbNO-x3zPYKv__WlRJhZ177l03q_coLdeR0SwHTJovloD20YXlmMqPx1FS1OAGIIhHd0xzpE-fSz-K29umqU4i2GeigZn_XXYAv4yEG45yKoEzMT2LzBe47r2_PR7_LlAsWQg0DT_CEV1MpdszHAvdypOueQfp271xJTukQYWvjyWLFHxp9EREafI9Wd5PPFsslrSyBtAPs8Uom7QqJvd2tPmvm7YQ2x7DH3m1GHdOP_uHKK8ylARdxWUdxiFhD9nBv_wymw9ud-8o-ZDkLp4_Riw2p7rIWwEmCFMfHcsE6-bW2V55AEIUttgpx9vOIxZuoPEqFxOzqDTRQRR78IwVvWFlBofaUiTlS6barMooRzsr9JbyCPu-UbKROI=",
  "id": "rs_043f2a5369fbcd82016ab4a349610087d0a0fdcc8cb9cf2385",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.08,\"right_z\":0.035,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The cream bowl’s outer rim is now near the jaw centerline. I’ll lower around that rim for the grasp.\"}",
  "call_id": "call_OH7QJZ1yz7aV6cOhtzDsc9HR",
  "id": "fc_043f2a5369fbcd82016ab4a34ae94c87d0a8093987c9487981",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OH7QJZ1yz7aV6cOhtzDsc9HR",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0601, 0.8246, 0.6598, -0.4606, -0.1055, -0.0944, 0.9988, 0.3859, 1.4361, 0.3965, 0.3756, 0.3313, 0.2092, 0.997]\nstate[eef_state]: left_x=0.2925 left_y=0.0046 left_z=0.1811 left_yaw=0.065 left_pitch=-0.0499 left_roll=-0.0028 left_gripper=0.9988 right_x=0.342 right_y=0.0808 right_z=0.0468 right_yaw=-0.0053 right_pitch=-0.0496 right_roll=-0.0216 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -1.0598, 7.159, 1.7216, -0.1001, -0.0757, -0.0122, -0.1299, -4.8205, 6.0513, 2.1709, 0.1734, 0.0122, -0.3248]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80c45efe677affede838b6e5127be146101d37926ed69e870626d84a28890656",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0796541308cad83b9ff844040d2cef821d16b66e5c0ea809bb8e15079dbde1e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e32bdf4496a6a87205ba108148c1ac5f1c1f7866dda0b092056369adbcdaa73",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0612, 0.8146, 0.6601, -0.4355, -0.1066, -0.0937, 0.9988, 0.5194, 1.2465, 0.6685, -0.1432, 0.408, 0.2699, 0.9969]\nstate[eef_state]: left_x=0.2953 left_y=0.0043 left_z=0.1891 left_yaw=0.0643 left_pitch=-0.0146 left_roll=-0.006 left_gripper=0.9988 right_x=0.3354 right_y=0.1152 right_z=0.1255 right_yaw=0.0318 right_pitch=-0.0792 right_roll=-0.0415 right_gripper=0.9969\nstate[joint_eff]: [0.2667, -1.8803, 9.1966, 1.8144, -0.022, 0.1392, -0.1343, 0.2803, -4.1368, 10.0444, 1.9756, 0.359, 0.149, -0.3297]",
      "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]: [-0.0601, 0.8219, 0.6598, -0.4603, -0.1051, -0.0944, 0.9988, 0.3977, 1.3869, 0.4232, 0.3447, 0.3534, 0.2245, 0.997]\nstate[eef_state]: left_x=0.2923 left_y=0.0046 left_z=0.1819 left_yaw=0.0647 left_pitch=-0.0469 left_roll=-0.0034 left_gripper=0.9988 right_x=0.3477 right_y=0.0836 right_z=0.0679 right_yaw=-0.0193 right_pitch=-0.0028 right_roll=-0.0034 right_gripper=0.997\nstate[joint_eff]: [-0.1162, -1.5248, 6.9812, 1.79, -0.0464, -0.022, -0.0073, -0.1846, -4.7658, 6.9949, 1.6679, 0.0611, -0.0513, -0.3248]\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]: [-0.0601, 0.8246, 0.6598, -0.4606, -0.1055, -0.0944, 0.9988, 0.3859, 1.4361, 0.3965, 0.3756, 0.3313, 0.2092, 0.997]\nstate[eef_state]: left_x=0.2925 left_y=0.0046 left_z=0.1811 left_yaw=0.065 left_pitch=-0.0499 left_roll=-0.0028 left_gripper=0.9988 right_x=0.342 right_y=0.0808 right_z=0.0468 right_yaw=-0.0053 right_pitch=-0.0496 right_roll=-0.0216 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -1.0598, 7.159, 1.7216, -0.1001, -0.0757, -0.0122, -0.1299, -4.8205, 6.0513, 2.1709, 0.1734, 0.0122, -0.3248]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80c45efe677affede838b6e5127be146101d37926ed69e870626d84a28890656",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0796541308cad83b9ff844040d2cef821d16b66e5c0ea809bb8e15079dbde1e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e32bdf4496a6a87205ba108148c1ac5f1c1f7866dda0b092056369adbcdaa73",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingers are positioned on opposite sides of the cream bowl’s right wall. I’ll close on the rim, then test the lift while maintaining the close command.\"}",
  "call_id": "call_LTFd50amgBUQh5ipuu5KGrB1",
  "id": "fc_043f2a5369fbcd82016ab4a34db17487d0bb44583a175911fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LTFd50amgBUQh5ipuu5KGrB1",
  "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]: [-0.0601, 0.8249, 0.6598, -0.4606, -0.1051, -0.0948, 0.9988, 0.3859, 1.4364, 0.3923, 0.3885, 0.3309, 0.2081, 0.0091]\nstate[eef_state]: left_x=0.2925 left_y=0.0046 left_z=0.181 left_yaw=0.0649 left_pitch=-0.0503 left_roll=-0.0033 left_gripper=0.9988 right_x=0.3424 right_y=0.081 right_z=0.0476 right_yaw=-0.0042 right_pitch=-0.042 right_roll=-0.0191 right_gripper=0.0091\nstate[joint_eff]: [-0.1709, -1.4154, 6.9675, 1.7265, -0.0952, -0.0708, -0.0122, -0.1846, -4.8342, 5.6957, 1.5897, 0.1001, -0.0073, 0.7204]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fbb81eb188a9de494b11268dadb5be848f5274453449d440ed126a43688d87c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c340fb5490e350d51f1b9b68f25e8ba15647725b17eb91d33963b6836b9ebf4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ce1a2dcecc7d4f47a710629ce78d9a0b277c9889c97d285897a6309a583c725",
      "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 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0601, 0.8181, 0.6598, -0.4564, -0.1032, -0.094, 0.9988, 0.5228, 1.5791, 0.4419, 0.3717, 0.4194, 0.281, 0.997]\nstate[eef_state]: left_x=0.2926 left_y=0.0042 left_z=0.1837 left_yaw=0.0628 left_pitch=-0.0395 left_roll=-0.0052 left_gripper=0.9988 right_x=0.3344 right_y=0.1138 right_z=0.0187 right_yaw=0.0181 right_pitch=-0.1141 right_roll=-0.0608 right_gripper=0.997\nstate[joint_eff]: [-0.1299, -1.4701, 7.0632, 1.8926, -0.1148, -0.0269, -0.0171, 0.0479, -6.3795, 4.3966, 1.7949, 0.2955, 0.0806, -0.3248]\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]: [-0.0601, 0.8246, 0.6598, -0.4606, -0.1055, -0.0944, 0.9988, 0.3859, 1.4361, 0.3965, 0.3756, 0.3313, 0.2092, 0.997]\nstate[eef_state]: left_x=0.2925 left_y=0.0046 left_z=0.1811 left_yaw=0.065 left_pitch=-0.0499 left_roll=-0.0028 left_gripper=0.9988 right_x=0.342 right_y=0.0808 right_z=0.0468 right_yaw=-0.0053 right_pitch=-0.0496 right_roll=-0.0216 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -1.0598, 7.159, 1.7216, -0.1001, -0.0757, -0.0122, -0.1299, -4.8205, 6.0513, 2.1709, 0.1734, 0.0122, -0.3248]",
      "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]: [-0.0601, 0.8249, 0.6598, -0.4606, -0.1051, -0.0948, 0.9988, 0.3859, 1.4364, 0.3923, 0.3885, 0.3309, 0.2081, 0.0091]\nstate[eef_state]: left_x=0.2925 left_y=0.0046 left_z=0.181 left_yaw=0.0649 left_pitch=-0.0503 left_roll=-0.0033 left_gripper=0.9988 right_x=0.3424 right_y=0.081 right_z=0.0476 right_yaw=-0.0042 right_pitch=-0.042 right_roll=-0.0191 right_gripper=0.0091\nstate[joint_eff]: [-0.1709, -1.4154, 6.9675, 1.7265, -0.0952, -0.0708, -0.0122, -0.1846, -4.8342, 5.6957, 1.5897, 0.1001, -0.0073, 0.7204]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fbb81eb188a9de494b11268dadb5be848f5274453449d440ed126a43688d87c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c340fb5490e350d51f1b9b68f25e8ba15647725b17eb91d33963b6836b9ebf4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ce1a2dcecc7d4f47a710629ce78d9a0b277c9889c97d285897a6309a583c725",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtKNTRgT_CNJjGLEKP_6vOQWr2Zof00vx797oUxgDh7GbSHEd_9fpe2BBTqXM_63AOMisQb_oVXIt3N_uGC28PI_AMbbR3Z0x_15SX7JxNytJdETnQ2fEHwrlZKeqzicaCCiM8Vq8z73HUByi1YotJYepyEZ7a1wsByg_LmSE-PIF551TdoAZ4oaekryddb3BKYy6v1gqVZCLnns5lTKoFTzVdInisLK04qyn-pBpzYXSvDCdEnFipA6z3bqXWzC-Y3vCb-_BIybNjHTNsENM9DX_BUHphMKtG--hCz1JlMKZlmf5gmzyfETeMjWVrw-PRmYqckArKMrx1pnLqyYV9WyZVzgzfVjA9j_G1X5w3xcHBZbJEbBIkUFDbuqxjOa4A196FIqEbN9l9_u_zfoWMv7l6xSriU8pNdblnWdq5jSUvqO72cC0XLjoPXldnk7xzcv0-FZ5Ks2ZGEsrLXUM1WBxTI_EVvNnFu8XIeQDPNfrxjyWk0yYzoAQxY6kEp9k-39Nd7quK6l-vGzOpyprwyfRZgWFk91HSxAU3iB_kL0IlSbA8MGnDhf1Gaq5iZRdr5PVx1znaj6WdHW7OlY5V5it5UC3dU_5RsqGTfuomX6m_fbglxytKRJUByQSiinbzGX-35mtGv6Qri0IZLTctywZUEqiUn26sfn8l3zPEEFzwXMBNJOSnk25BddKJSoTsKBc2CFzOA5JjI9IvoWQGTz47B6lNRu3wBMrsnGekkbusNJ_D4uqaaoxGmsAuhp5RNrljI4MIn3iIv4M0ujOYk8U3XgseZnr2zHuDQqtdYxl07a0yFN4TgoOztt7YFEgNaLWDDmw8_SX8gx-MCvXrVU5DgQJCd_TISRblUBfGZwovWSIdn5oRSof4WwEAGH6RvypeHv_HsTkHCM13pmClUulogHfVAeMPEIumQyhQlLxRN43MS3OfmIrs-_kzlHN_hRyRAnEy-BwdKBeasvEpJryQpKWrvwZkjj0Yt8tA2feHO6uWBHJ9sGcWryWnTNziigaBvra2Ix6malK-QYaFNcppQhAnLr78B69YOvmZEuMswMJVmLT0lc0kQh_w3hZ4P1kq4HM9SXttw4-DA3SznAVb8P-yqaE7QBQgJokmIz_SzfoPXrSicHxAim6v3viPSKQkrzElp2Ps7tl-VMVNUov5YMYkhw77pPoPgAe0inbX6Lob3q-WAeDq7cFyKSazu5y2YxIEKRc3_UJv_1MKOxk6fRofvfnRyyQsUJ2ROzzFNMm9yaUJKVfXCJlvkLEQKL0",
  "id": "rs_043f2a5369fbcd82016ab4a3518a6c87d093f16ff90b13ada2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.08,\"right_z\":0.115,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The close is very narrow, so I’ll verify it by lifting vertically rather than assuming the rim is held. The gripper will remain commanded closed throughout.\"}",
  "call_id": "call_B2E2zBxkFCSBPW84z01xIvEw",
  "id": "fc_043f2a5369fbcd82016ab4a352038087d0b69770dcf2e113eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_B2E2zBxkFCSBPW84z01xIvEw",
  "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]: [-0.0601, 0.8265, 0.6598, -0.4603, -0.1055, -0.0944, 0.9988, 0.3698, 1.2545, 0.4992, 0.144, 0.3122, 0.197, 0.0067]\nstate[eef_state]: left_x=0.2927 left_y=0.0046 left_z=0.1807 left_yaw=0.065 left_pitch=-0.0514 left_roll=-0.0026 left_gripper=0.9988 right_x=0.347 right_y=0.0802 right_z=0.1021 right_yaw=0.0015 right_pitch=-0.0051 right_roll=-0.0016 right_gripper=0.0067\nstate[joint_eff]: [-0.0615, -1.5385, 6.9812, 1.7216, -0.0708, -0.0366, -0.0073, -0.5812, -4.4923, 8.8957, 1.6093, 0.0366, -0.0611, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50d5102f8191fba7ed691c946ad5df26c0a4660a39427c037de3da06b103c666",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4caf6d2ac3a7b606de19e7720a99dca012ddcb91196933757e506a3fb53b7b88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:565e648c4be88a002cca0f22269c998399e9e63c362dc1bc0cf423c6fe9f9ddb",
      "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 102 changed as sent

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0601, 0.8219, 0.6598, -0.4603, -0.1051, -0.0944, 0.9988, 0.3977, 1.3869, 0.4232, 0.3447, 0.3534, 0.2245, 0.997]\nstate[eef_state]: left_x=0.2923 left_y=0.0046 left_z=0.1819 left_yaw=0.0647 left_pitch=-0.0469 left_roll=-0.0034 left_gripper=0.9988 right_x=0.3477 right_y=0.0836 right_z=0.0679 right_yaw=-0.0193 right_pitch=-0.0028 right_roll=-0.0034 right_gripper=0.997\nstate[joint_eff]: [-0.1162, -1.5248, 6.9812, 1.79, -0.0464, -0.022, -0.0073, -0.1846, -4.7658, 6.9949, 1.6679, 0.0611, -0.0513, -0.3248]\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]: [-0.0601, 0.8249, 0.6598, -0.4606, -0.1051, -0.0948, 0.9988, 0.3859, 1.4364, 0.3923, 0.3885, 0.3309, 0.2081, 0.0091]\nstate[eef_state]: left_x=0.2925 left_y=0.0046 left_z=0.181 left_yaw=0.0649 left_pitch=-0.0503 left_roll=-0.0033 left_gripper=0.9988 right_x=0.3424 right_y=0.081 right_z=0.0476 right_yaw=-0.0042 right_pitch=-0.042 right_roll=-0.0191 right_gripper=0.0091\nstate[joint_eff]: [-0.1709, -1.4154, 6.9675, 1.7265, -0.0952, -0.0708, -0.0122, -0.1846, -4.8342, 5.6957, 1.5897, 0.1001, -0.0073, 0.7204]\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]: [-0.0601, 0.8265, 0.6598, -0.4603, -0.1055, -0.0944, 0.9988, 0.3698, 1.2545, 0.4992, 0.144, 0.3122, 0.197, 0.0067]\nstate[eef_state]: left_x=0.2927 left_y=0.0046 left_z=0.1807 left_yaw=0.065 left_pitch=-0.0514 left_roll=-0.0026 left_gripper=0.9988 right_x=0.347 right_y=0.0802 right_z=0.1021 right_yaw=0.0015 right_pitch=-0.0051 right_roll=-0.0016 right_gripper=0.0067\nstate[joint_eff]: [-0.0615, -1.5385, 6.9812, 1.7216, -0.0708, -0.0366, -0.0073, -0.5812, -4.4923, 8.8957, 1.6093, 0.0366, -0.0611, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50d5102f8191fba7ed691c946ad5df26c0a4660a39427c037de3da06b103c666",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4caf6d2ac3a7b606de19e7720a99dca012ddcb91196933757e506a3fb53b7b88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:565e648c4be88a002cca0f22269c998399e9e63c362dc1bc0cf423c6fe9f9ddb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_043f2a5369fbcd82016ab4a35573a487d0ace984330f9238a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.095,\"right_z\":0.035,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The cream bowl stayed on the table, confirming an empty grasp. I’ll reopen and move slightly forward and inward so the fingers engage the side wall rather than miss its near edge.\"}",
  "call_id": "call_Tbn1wrjocV6kyA4MKOwCZUmN",
  "id": "fc_043f2a5369fbcd82016ab4a35b0b0c87d0aab2082edecac957",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Tbn1wrjocV6kyA4MKOwCZUmN",
  "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]: [-0.0601, 0.8295, 0.6598, -0.461, -0.1055, -0.0944, 0.9988, 0.3805, 1.6348, 0.4576, 0.5045, 0.3103, 0.1932, 0.9953]\nstate[eef_state]: left_x=0.2927 left_y=0.0046 left_z=0.1797 left_yaw=0.065 left_pitch=-0.0552 left_roll=-0.0022 left_gripper=0.9988 right_x=0.3648 right_y=0.0917 right_z=0.0239 right_yaw=0.015 right_pitch=-0.0629 right_roll=-0.0257 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.5795, 6.9675, 1.663, -0.0659, -0.0562, -0.0122, 0.0889, -6.106, 5.3265, 1.917, 0.2027, 0.1294, 0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0a55d695dc3786cf4fbef3827ae5bec842107c3a798be3f809b563a7b801064",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b38526ebb8aa678c5d23a78a54c3ac7a3c59fe97971f32b2851b7a0bbca4bc6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71821ac36d520014e68dfa9aa8192a8fe2bdf4f3008937ad60f748d15c641cf9",
      "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 106 changed as sent

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0601, 0.8246, 0.6598, -0.4606, -0.1055, -0.0944, 0.9988, 0.3859, 1.4361, 0.3965, 0.3756, 0.3313, 0.2092, 0.997]\nstate[eef_state]: left_x=0.2925 left_y=0.0046 left_z=0.1811 left_yaw=0.065 left_pitch=-0.0499 left_roll=-0.0028 left_gripper=0.9988 right_x=0.342 right_y=0.0808 right_z=0.0468 right_yaw=-0.0053 right_pitch=-0.0496 right_roll=-0.0216 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -1.0598, 7.159, 1.7216, -0.1001, -0.0757, -0.0122, -0.1299, -4.8205, 6.0513, 2.1709, 0.1734, 0.0122, -0.3248]",
      "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]: [-0.0601, 0.8265, 0.6598, -0.4603, -0.1055, -0.0944, 0.9988, 0.3698, 1.2545, 0.4992, 0.144, 0.3122, 0.197, 0.0067]\nstate[eef_state]: left_x=0.2927 left_y=0.0046 left_z=0.1807 left_yaw=0.065 left_pitch=-0.0514 left_roll=-0.0026 left_gripper=0.9988 right_x=0.347 right_y=0.0802 right_z=0.1021 right_yaw=0.0015 right_pitch=-0.0051 right_roll=-0.0016 right_gripper=0.0067\nstate[joint_eff]: [-0.0615, -1.5385, 6.9812, 1.7216, -0.0708, -0.0366, -0.0073, -0.5812, -4.4923, 8.8957, 1.6093, 0.0366, -0.0611, 0.6911]",
      "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]: [-0.0601, 0.8295, 0.6598, -0.461, -0.1055, -0.0944, 0.9988, 0.3805, 1.6348, 0.4576, 0.5045, 0.3103, 0.1932, 0.9953]\nstate[eef_state]: left_x=0.2927 left_y=0.0046 left_z=0.1797 left_yaw=0.065 left_pitch=-0.0552 left_roll=-0.0022 left_gripper=0.9988 right_x=0.3648 right_y=0.0917 right_z=0.0239 right_yaw=0.015 right_pitch=-0.0629 right_roll=-0.0257 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.5795, 6.9675, 1.663, -0.0659, -0.0562, -0.0122, 0.0889, -6.106, 5.3265, 1.917, 0.2027, 0.1294, 0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0a55d695dc3786cf4fbef3827ae5bec842107c3a798be3f809b563a7b801064",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b38526ebb8aa678c5d23a78a54c3ac7a3c59fe97971f32b2851b7a0bbca4bc6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71821ac36d520014e68dfa9aa8192a8fe2bdf4f3008937ad60f748d15c641cf9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The cream bowl’s side wall now extends between the fingers at grasp depth. I’ll close on this new position.\"}",
  "call_id": "call_HMsGlWdcrGyOPRWjL8WwfVhj",
  "id": "fc_043f2a5369fbcd82016ab4a35e995887d09b126f7598e9171b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HMsGlWdcrGyOPRWjL8WwfVhj",
  "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]: [-0.0601, 0.8303, 0.6598, -0.4606, -0.1051, -0.0944, 0.9988, 0.3832, 1.631, 0.4568, 0.5346, 0.2977, 0.1947, 0.1054]\nstate[eef_state]: left_x=0.2929 left_y=0.0045 left_z=0.1796 left_yaw=0.0647 left_pitch=-0.0556 left_roll=-0.0023 left_gripper=0.9988 right_x=0.3684 right_y=0.0965 right_z=0.0303 right_yaw=0.0278 right_pitch=-0.0345 right_roll=-0.0055 right_gripper=0.1054\nstate[joint_eff]: [-0.0889, -1.4701, 6.9675, 1.6874, -0.1001, -0.0122, -0.0122, -0.5538, -5.7368, 4.8615, 1.3358, 0.1734, -0.0513, 0.4957]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b3c46017d5a7b55d0022949c83a79ae5bba0c94ebff6ed741a938598a9c421a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a3ee7e34c618652eb342116679faa0fd8f3ea36a8274231bcb405de82ff3e9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bc4b87113f0fc48b305ff0c8b0d8d7ab1acd993e85660ce8ffa6635835ef6b4",
      "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 102 changed as sent

message 110 changed as sent

message 113 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0601, 0.8249, 0.6598, -0.4606, -0.1051, -0.0948, 0.9988, 0.3859, 1.4364, 0.3923, 0.3885, 0.3309, 0.2081, 0.0091]\nstate[eef_state]: left_x=0.2925 left_y=0.0046 left_z=0.181 left_yaw=0.0649 left_pitch=-0.0503 left_roll=-0.0033 left_gripper=0.9988 right_x=0.3424 right_y=0.081 right_z=0.0476 right_yaw=-0.0042 right_pitch=-0.042 right_roll=-0.0191 right_gripper=0.0091\nstate[joint_eff]: [-0.1709, -1.4154, 6.9675, 1.7265, -0.0952, -0.0708, -0.0122, -0.1846, -4.8342, 5.6957, 1.5897, 0.1001, -0.0073, 0.7204]\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]: [-0.0601, 0.8295, 0.6598, -0.461, -0.1055, -0.0944, 0.9988, 0.3805, 1.6348, 0.4576, 0.5045, 0.3103, 0.1932, 0.9953]\nstate[eef_state]: left_x=0.2927 left_y=0.0046 left_z=0.1797 left_yaw=0.065 left_pitch=-0.0552 left_roll=-0.0022 left_gripper=0.9988 right_x=0.3648 right_y=0.0917 right_z=0.0239 right_yaw=0.015 right_pitch=-0.0629 right_roll=-0.0257 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.5795, 6.9675, 1.663, -0.0659, -0.0562, -0.0122, 0.0889, -6.106, 5.3265, 1.917, 0.2027, 0.1294, 0.0366]\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]: [-0.0601, 0.8303, 0.6598, -0.4606, -0.1051, -0.0944, 0.9988, 0.3832, 1.631, 0.4568, 0.5346, 0.2977, 0.1947, 0.1054]\nstate[eef_state]: left_x=0.2929 left_y=0.0045 left_z=0.1796 left_yaw=0.0647 left_pitch=-0.0556 left_roll=-0.0023 left_gripper=0.9988 right_x=0.3684 right_y=0.0965 right_z=0.0303 right_yaw=0.0278 right_pitch=-0.0345 right_roll=-0.0055 right_gripper=0.1054\nstate[joint_eff]: [-0.0889, -1.4701, 6.9675, 1.6874, -0.1001, -0.0122, -0.0122, -0.5538, -5.7368, 4.8615, 1.3358, 0.1734, -0.0513, 0.4957]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b3c46017d5a7b55d0022949c83a79ae5bba0c94ebff6ed741a938598a9c421a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a3ee7e34c618652eb342116679faa0fd8f3ea36a8274231bcb405de82ff3e9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bc4b87113f0fc48b305ff0c8b0d8d7ab1acd993e85660ce8ffa6635835ef6b4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtKNiwweb5RiAWx4LK_RIEanG6ZqbDsBSedKtUBhsOYoWazebhn9fGgc5n_Yuk04PW8gbmi9IvsXu7HBo3Oep8V5mw9God0u1729ubenRltszODqqmnrutWBEnSfdR_ljgslK9O_sg_LWvH57virNVwhjxObt3yBTUxMdCptHC36SBJI1FIplqen7km9RMNHdDud4jfLSHzjKhslm2YtoNfhts71PS3nuWzAMHaMB9wV9frrxkHeOqe9KQwQryuR_kX3N9KsINvFpK9foNPxh1SL2zau0O_mX0bgHWH2ff5n3GLtLSmRGqYz0yG4Fwux9cD2e9sHCQ2gr4aT4SXOjWd0REISjsjdtwnVOz5ZS8bFAWtPGE9raiUHyowIV6d7XJuiOTxodY1Je5zwpq4Z_eJJcV2S_bsUwJsLt-ypnyz96eXgO0sVfPOhk6tDB3DnPUh01c-F9yzkg_90OUv_rFRrKSx0EcVaIEVD6W0h7DjukLFWn-UgpRUS9a7hXg6qvnOdg0qHoJhKEY8PGX_uFfvR5EAmjE6KXTacdSjzwb-2zkZjXemoyc-XzBxgUlWalBUCJZ2MiSXeKtOztkxLad73KIbeLXDWJ0986vZeGlw1tsu7zg5ltOLiaflSQzp6rSe10T4-kEBvi3K4Kn6vV6K-N9l6RhTRC2ynEgIFrk5UtptmP8jYS8ZWp_VbDAm8UijYb5x09XiyEzrkvbhva_qA4a7fHtQD4yVSyuP21iNT55QDfYA5qSpXi3ybs57KlxJIml92ktXoo0uz53D_LcergbrWHakZ1Yv8dE4yiUQsnOTPOOM_8GFbIRH-NEWlm1EFoMhLfOWm6XzhZlm4OnG_MAazOiHd1fAlrfC4OYvU4hRtFNEz5mjInYI0XW6Dw4vIA1FsPa5ouVQ6IsNyzabbE-5FaEqqGKQTYDEWeIYcoeeBJY7fowOJZJ8kF2ZcrpSvzqBwzX53VWHZb6w9Ej5q-F0pjlVJS2ihhe1-H7uqjf1aPaJolte9CCCbyABlynpo-Z1MnigkYYZR0jrc3-CV7tZFxFK3W74DBX6zPdRFw9SuWbb85_8SkLERn6y8EE9mAok_4yD-3WOSqdXM76R9TAD4oxF09vCltGqw5k2CY_m6ny6czYPoy018tAqeFGYcsHvhTpxL61sISRYBiBNcODvVYIvFZePIH3LMaAo304s_LnPfeYCER44sMbBqKHc11",
  "id": "rs_043f2a5369fbcd82016ab4a361a0c887d093da1335280a6e63",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.095,\"right_z\":0.115,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The gripper stopped about a centimeter open on the bowl wall. I’ll test the grip with a vertical lift while keeping it firmly closed.\"}",
  "call_id": "call_pDmZRt951OZViWPyOtUjesfq",
  "id": "fc_043f2a5369fbcd82016ab4a361dbe487d08885941255e45e6c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pDmZRt951OZViWPyOtUjesfq",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0601, 0.8322, 0.6598, -0.4606, -0.1055, -0.0944, 0.9988, 0.3843, 1.3956, 0.5827, 0.1802, 0.3031, 0.1978, 0.0496]\nstate[eef_state]: left_x=0.293 left_y=0.0046 left_z=0.179 left_yaw=0.065 left_pitch=-0.0575 left_roll=-0.0019 left_gripper=0.9988 right_x=0.3694 right_y=0.0964 right_z=0.0943 right_yaw=0.023 right_pitch=-0.0269 right_roll=-0.0036 right_gripper=0.0496\nstate[joint_eff]: [-0.1026, -1.4564, 7.0085, 1.6679, -0.105, -0.0562, -0.0122, 0.1573, -6.4342, 9.4564, 1.8974, 0.3492, 0.0659, 0.9499]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c11b54dcee758b53de72ed9f8e79f0a39154d3550b11e6b1cf5487b68085aa55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95188634dbc6bdc07023d335cb11dffc14a34cd08b6700090da00413095645d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f5d0f6df1ffaafe6150f231f1c872051ce9f36a1ac4b4ea882ffd611ad34614",
      "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 106 changed as sent

message 113 changed as sent

message 117 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0601, 0.8265, 0.6598, -0.4603, -0.1055, -0.0944, 0.9988, 0.3698, 1.2545, 0.4992, 0.144, 0.3122, 0.197, 0.0067]\nstate[eef_state]: left_x=0.2927 left_y=0.0046 left_z=0.1807 left_yaw=0.065 left_pitch=-0.0514 left_roll=-0.0026 left_gripper=0.9988 right_x=0.347 right_y=0.0802 right_z=0.1021 right_yaw=0.0015 right_pitch=-0.0051 right_roll=-0.0016 right_gripper=0.0067\nstate[joint_eff]: [-0.0615, -1.5385, 6.9812, 1.7216, -0.0708, -0.0366, -0.0073, -0.5812, -4.4923, 8.8957, 1.6093, 0.0366, -0.0611, 0.6911]",
      "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]: [-0.0601, 0.8303, 0.6598, -0.4606, -0.1051, -0.0944, 0.9988, 0.3832, 1.631, 0.4568, 0.5346, 0.2977, 0.1947, 0.1054]\nstate[eef_state]: left_x=0.2929 left_y=0.0045 left_z=0.1796 left_yaw=0.0647 left_pitch=-0.0556 left_roll=-0.0023 left_gripper=0.9988 right_x=0.3684 right_y=0.0965 right_z=0.0303 right_yaw=0.0278 right_pitch=-0.0345 right_roll=-0.0055 right_gripper=0.1054\nstate[joint_eff]: [-0.0889, -1.4701, 6.9675, 1.6874, -0.1001, -0.0122, -0.0122, -0.5538, -5.7368, 4.8615, 1.3358, 0.1734, -0.0513, 0.4957]\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]: [-0.0601, 0.8322, 0.6598, -0.4606, -0.1055, -0.0944, 0.9988, 0.3843, 1.3956, 0.5827, 0.1802, 0.3031, 0.1978, 0.0496]\nstate[eef_state]: left_x=0.293 left_y=0.0046 left_z=0.179 left_yaw=0.065 left_pitch=-0.0575 left_roll=-0.0019 left_gripper=0.9988 right_x=0.3694 right_y=0.0964 right_z=0.0943 right_yaw=0.023 right_pitch=-0.0269 right_roll=-0.0036 right_gripper=0.0496\nstate[joint_eff]: [-0.1026, -1.4564, 7.0085, 1.6679, -0.105, -0.0562, -0.0122, 0.1573, -6.4342, 9.4564, 1.8974, 0.3492, 0.0659, 0.9499]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c11b54dcee758b53de72ed9f8e79f0a39154d3550b11e6b1cf5487b68085aa55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95188634dbc6bdc07023d335cb11dffc14a34cd08b6700090da00413095645d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f5d0f6df1ffaafe6150f231f1c872051ce9f36a1ac4b4ea882ffd611ad34614",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtKNpUCeNkS9OI40F25Mp4tt7P9UZwt0XuqPoCD1g4ynNOqCjm7fUK0k4L3rxTAqPIi4DpyDdkGoMFurlGOqxUMZcQo6xBpp2MrAniNzVIL6wbvI2PMsljl1s0xBLEdnIavn04SIfynJncqsenOqhJ9Rh9rhQWP69EZ6ERpokC9oyXr8_iiibPXY44bJsC9l9xAED6cGfXLBgyYGtKITzgttOHX_DQJE1OLqzlOyVXmIeGPWuo_74d7MgoFTl0ATTDjMChFI1FQPA1RBtPpYKnYQ4gSo-hafzsRlBpA8GvokqjFKVDm15seBAx4ZPbgEK-NGWbR4gYgTycvruoDmx5IilNqRFXHiDhQICUOYqcvYIHrBGS8V2q-9MjoNN8YhYc0Hz1hM-GWBaNWJ-eJSOt9ClVLWxPKaH8ApBku_19ka-QH2d_0nXnBsZY9cSQeyT96lsEmOOF-jdURlWxS4JOvXdMcPk26JrYQ7_Ykiw6dNk7K-Zh7G5Yn1zC-VC5EI7VNlX_OpNNKCl6FnTYLPRO6zlD28XspUY_BPSmcbX2H3FSMO8HZyppYosLlDJmvqwASh_mu0aNCauatV4_Q0B_rwueiE4yhlnRCvjL4FRKQLnEHld_ixCe7pfO7FBBqCe9n4QO-WyKGDT34wgVuW5rypkihp8jZneoeKLxYoIB_jaePx8IZJMiMJgKaMAXPEFTpsr_Rnv3fdrGvJrzZCAA8Vvn35A3xQUy34wEPKZ1YBAUJOUedpUy7B8y8xwVKpmPjiLoTXhraCADE4S6z8d8hdpAzopSzDDZ5Y2NzG8qL37mKhXHTHlQU0cFR3_rI9mGtTSYhOwx9_fzy3L5kArI_5C3HuIj99KpvMyiAfg8zfNbNR_UosYVsSFtG8Jv1HHfwedfHS7cJn3GYkfP2IBZiAxGfHr6W9ElyhcZoKkmPsnypxL_ejgmAygasv1t4pGK0qY-_y26nzeF7ezFrhTWt11-5X4oRroRPX0reehiYhu_g5qoSzdXeRjtbqI-ikhtFZXnjpEh_Gxku8T6OjogpI3caaBc21-FkaHueSBzth2cFWQj8lmgN_Uc0O9XhA3VEr_Izk1mM-7pfrj2MpoLYxt6zoeCe86pNx2OPHMCl06lt1aP7dqfQhdrvoDb80eAojmmNEVSfce26-l5kSEuP4zi0stH1sikGqr9xw0CduLkEHQU0TpDg37yCBc6zOInu21cLm2JGt7zzV0N6SMvxu-7QNy_l9JST8hKyLDJ0X4h42w44mK6dgU7czJu0u1rVLWqzSabIE-LX4LBVViQhzwcMbbK9ip_XuAhINDEkOddOknBv0UO6_wF76XdwkRsELIQUv6GVImXllU7mmxZvNnviwxXftvTHjm2SdYBn0MmIxSYLWyYHQqwRvy11duneHwOhyRTUQSnNFrQeoy_PrJtamSScZxQWHaYvY-Ijf_sCMo07llbzglWXWef_yVQ7SFEoNoTTRrjVIsO2eK5DJiTBv3oxXAQDaGTLTFFq8HxbQYE0fb4JMe2aWWvexRe64zVTzmMjaauAubRAN1tLbKyUy19EDblsbGNTddPUMgS6gNkq-bySW8Az3uZUodbZDz449Tv6iw83R43jA9qcfnJdr_N4MP00QCeTHsCrwytuWJ6UyVgscPRR1bzWUFkCrKoj3O9GPrbZRjGPUhit8kTKttV5jKjetR1m8YMfKkqvfDFSrHyK3J5FD_oxft1xFLlBgboTDpPSSliL53MT7YAoC4rGQgK15hUesC2W7c0-rKA4QZ6OFR-xQGSebCrZUOuWCAlF-40pLhujRGHEAO90ikL7Q-7mm2uCVbBayNiEGAtU-k-gi0VMtR2po9F-vkmzgn1vWwavNEuB83anVlhtVQkiQmxMm4homvUatvGz0zubixVYSoXg4W6rgZWzCRsGGd_MjEviYf6WbLbYcGwsirHzZNmrCW_JyLjwYMp3M7lUwe6MgoUlOrTJMkyK1kZP6IjwewXgh8gZLs-9hhcXUUMHbNEPnF0ySxr8G_S3NR1bvhW4pLQdILnMW87nDrZFUuIzBaQfrVfvnYdiILJ9LaT1x7ZBQqi7PHMtfKMRgi4GTSpBewTPREP73ZM_QTTZkPJHuGzWmFAaIawWMCXtRDU1-eHRLvP0pTV24j9C-Sl_zumN9HB2VdETNcYQMp8tFM8m9JDY0vILiheZ-D5aXSlftRtqpPyPMQB9Z7NYf85fM4DU96yukA66hJxKI9jZgLBNF-jxjAh4QHlA9N77S_yUoMIBMDG3U89BPwG4-Uwulde-LLgIBKRWSN0gXoUxg_mCrQVcrOZzcozU6LBJfpcX7nTZfuU2IHYDVIiQw=",
  "id": "rs_043f2a5369fbcd82016ab4a3652bbc87d0bd39089e28683f0d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.095,\"right_z\":0.215,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The cream bowl has lifted with the gripper. I’ll raise it above the existing stack before moving it leftward.\"}",
  "call_id": "call_euGkYMW44T0zrnJLzNy9Oeu3",
  "id": "fc_043f2a5369fbcd82016ab4a368975487d08dcf4ed90f30446d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_euGkYMW44T0zrnJLzNy9Oeu3",
  "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]: [-0.0601, 0.8326, 0.6598, -0.4606, -0.1055, -0.0944, 0.9988, 0.3843, 1.2716, 0.9073, -0.2905, 0.3065, 0.1898, 0.0451]\nstate[eef_state]: left_x=0.293 left_y=0.0046 left_z=0.1789 left_yaw=0.0651 left_pitch=-0.0579 left_roll=-0.0018 left_gripper=0.9988 right_x=0.3726 right_y=0.0971 right_z=0.188 right_yaw=0.0242 right_pitch=-0.047 right_roll=-0.0199 right_gripper=0.0451\nstate[joint_eff]: [-0.1846, -1.2923, 6.9675, 1.6532, -0.1148, -0.0513, -0.0122, -0.212, -6.4752, 9.8667, 1.9463, 0.3004, 0.1343, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:493e35d1bc2f16f1fc69488aff97781e722e73663a323fddb2a57957bd5e4fb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13c66b00054c72a5085e67bc3c27b30607014400407931285bf80ed70a21b3ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ee672183ccf97637e0baace1a82dcdd9948f95fe8113979d43a81d8b7dd3798",
      "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 110 changed as sent

message 117 changed as sent

message 121 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0601, 0.8295, 0.6598, -0.461, -0.1055, -0.0944, 0.9988, 0.3805, 1.6348, 0.4576, 0.5045, 0.3103, 0.1932, 0.9953]\nstate[eef_state]: left_x=0.2927 left_y=0.0046 left_z=0.1797 left_yaw=0.065 left_pitch=-0.0552 left_roll=-0.0022 left_gripper=0.9988 right_x=0.3648 right_y=0.0917 right_z=0.0239 right_yaw=0.015 right_pitch=-0.0629 right_roll=-0.0257 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.5795, 6.9675, 1.663, -0.0659, -0.0562, -0.0122, 0.0889, -6.106, 5.3265, 1.917, 0.2027, 0.1294, 0.0366]\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]: [-0.0601, 0.8322, 0.6598, -0.4606, -0.1055, -0.0944, 0.9988, 0.3843, 1.3956, 0.5827, 0.1802, 0.3031, 0.1978, 0.0496]\nstate[eef_state]: left_x=0.293 left_y=0.0046 left_z=0.179 left_yaw=0.065 left_pitch=-0.0575 left_roll=-0.0019 left_gripper=0.9988 right_x=0.3694 right_y=0.0964 right_z=0.0943 right_yaw=0.023 right_pitch=-0.0269 right_roll=-0.0036 right_gripper=0.0496\nstate[joint_eff]: [-0.1026, -1.4564, 7.0085, 1.6679, -0.105, -0.0562, -0.0122, 0.1573, -6.4342, 9.4564, 1.8974, 0.3492, 0.0659, 0.9499]",
      "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]: [-0.0601, 0.8326, 0.6598, -0.4606, -0.1055, -0.0944, 0.9988, 0.3843, 1.2716, 0.9073, -0.2905, 0.3065, 0.1898, 0.0451]\nstate[eef_state]: left_x=0.293 left_y=0.0046 left_z=0.1789 left_yaw=0.0651 left_pitch=-0.0579 left_roll=-0.0018 left_gripper=0.9988 right_x=0.3726 right_y=0.0971 right_z=0.188 right_yaw=0.0242 right_pitch=-0.047 right_roll=-0.0199 right_gripper=0.0451\nstate[joint_eff]: [-0.1846, -1.2923, 6.9675, 1.6532, -0.1148, -0.0513, -0.0122, -0.212, -6.4752, 9.8667, 1.9463, 0.3004, 0.1343, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:493e35d1bc2f16f1fc69488aff97781e722e73663a323fddb2a57957bd5e4fb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13c66b00054c72a5085e67bc3c27b30607014400407931285bf80ed70a21b3ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ee672183ccf97637e0baace1a82dcdd9948f95fe8113979d43a81d8b7dd3798",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtKNuf5tRkYpL7ej62CEcCqfdYmoiA63u1ggUhhmIBtoV4SNgYL_egNDbDb1TO2Rq1Vn_u_hgJ5v0k67PWFTiTdMH40SDWmbormJeq39cdV6neEb5QxunjX0iBGyUJvuGxXiM7A8_WdCo1677-Cru45oUEeyicCjDSuhaH_FPlUUFhuwbYZvU601iI39Ay9YZ0c8RcMov4Ki9fT7CfJ9zMbYXNuJJBD7vomlor2CxVLeoT9lNsrqBPkSqCfmZa6-s72fN5dfWhJhcZDfdhVmDpo24NIXmiakAkvKc0I5rMWRp-q4ibCiFOzAEjcF-P3V1P6r7z4qS8HC1LoWbzYm6uLHu44uEb6gc57Zq6QjUqAHQOHaxKd4L3zyeJ1f4FvQz1_XsdEKdyFRwaIhivF6eo_3AiVb9ql-g4CaJoxQPm8hqST3TWfoqCYLDDcb922fOHWj7MWJqddGLQg52SdnxAmeFrhylJrq6makxJ3iS0hQ5rfeTr4B0cG65CfnlAPqNtB5JppVxblAYXMiZMSfzs48mIMsM7Q9hhim5M-91JbjPFX2mR4LJJmzXAokmKa5_t5EV5XAyGzN37OStUnO1mzapdc7VKjK4C3o6jmtEFcgww6XG5Ze0s-Lv4fQB5KmA0KyP6-y7RWd8sTjcSKQQXMFtmEf_mSSP4Gp9_7SpzlMvF_zrdryr4hqCzG9kJ7NIrsgE37xLkWrc9FR91VIkW_jQ_llZMocxxg1UFI6xkN4vCJ4tranabbkXDLpYFRtBOcUY83S-u2TAhqkdiHKZmvfQYS4B10zrb0QSYC4RtTMAK-Vfbv_sYFwNS7VWrUXBKjuC67AJV-iIzcCGTPqa-3j7wVfUcrH4Ec-vohEaKBxLzZLOmozRxw-suNj5hwalt0YKyhHgEMZhsCmWkf7hk7IN79J_5yHolJW19LK6FHo_ksrPIWEcnJYCrLaqgylMT2xGvAWVZxPeMKQ3u7ruf2LdPAuVtYFJg2eux-2wxU7_cryJ9iSN6sD2_EOT0kogHDsFG7L_Bpo-W8IrHEN-c4MQ4C7SQ3y18jqdWzKPVhPIHsdvoT91Z7X58KVPgpF_wbwdeB-yjQScLHxZ4fgoe5BLqpBJ9YjGgTfJLURiFarxoFyRP4g3e2vwsUaO7zdow7GjoFZBU3hRh7niVQa66xlZNCMu17mY8ZGuFfNA17L85Q-aP0ExahC7pq2ELpwamXHPCkg70OKItsznhyPzVzY1HC582TRWX7JY-YVd85uO2SBCIIHHCAkXhp7ZqHM7FWxmAzrsMSrvK3CpRVcaF6rrDmuEhNvNTO4U2jsPWSlui6xQZYr-C96iPv51u4TEaUBy3uDsxdXtJwOgDDq5uP3OPJOEyAX-B07ZwbLjSzZlLp5liQEGvEOc1i7G_9hWO_ZxhcejNAS4lu5er5pZotyGpUF_ZcAIVQWafpUMqe399eDg2Tko7UIFOjS5jVq7IrKG-2FuD9pDlf3UB1Yoxf2aHH_i3cS8eLtmhn3sFz1vM4YttHz2e4JkEZf2tWKQCyaVzfJdTcDgoo277IhQwcn98oKIjSBDvT4FctzudXAOMHNag6Z6DamE2DNTa56N0iqn",
  "id": "rs_043f2a5369fbcd82016ab4a36be01087d0852b5ff6bc5823e8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.235,\"right_z\":0.215,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The cream bowl is clear of the stack. I’ll move it left until its center is above the teal bowl.\"}",
  "call_id": "call_UBASBQ8RC2SoH1YIqhtEC8Ci",
  "id": "fc_043f2a5369fbcd82016ab4a36d5e2887d0aa905c33ef0fbd1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UBASBQ8RC2SoH1YIqhtEC8Ci",
  "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]: [-0.0601, 0.8341, 0.6598, -0.461, -0.1055, -0.0944, 0.9988, 0.786, 1.5795, 1.2247, -0.4488, 0.5968, 0.4511, 0.0451]\nstate[eef_state]: left_x=0.2931 left_y=0.0046 left_z=0.1785 left_yaw=0.0651 left_pitch=-0.0598 left_roll=-0.0016 left_gripper=0.9988 right_x=0.3666 right_y=0.2317 right_z=0.1917 right_yaw=0.0519 right_pitch=-0.0662 right_roll=-0.0507 right_gripper=0.0451\nstate[joint_eff]: [-0.0205, -1.6068, 7.1316, 1.6679, -0.0757, -0.0122, -0.0122, 0.1436, -7.747, 9.7026, 1.5556, 0.5788, 0.1832, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c03deacfa52eaffd685147dff63d223b6bffe0eaff7114812a0e1ae312a764ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2c199c4a9be3de2041237bec7bd3c12d58ea81aa6ebad63549cc155c7273006",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d384dfd9c08b2c095452443cedb1b30d21b3fba2728c86493f93ec341e08dde",
      "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 113 changed as sent

message 121 changed as sent

message 125 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0601, 0.8303, 0.6598, -0.4606, -0.1051, -0.0944, 0.9988, 0.3832, 1.631, 0.4568, 0.5346, 0.2977, 0.1947, 0.1054]\nstate[eef_state]: left_x=0.2929 left_y=0.0045 left_z=0.1796 left_yaw=0.0647 left_pitch=-0.0556 left_roll=-0.0023 left_gripper=0.9988 right_x=0.3684 right_y=0.0965 right_z=0.0303 right_yaw=0.0278 right_pitch=-0.0345 right_roll=-0.0055 right_gripper=0.1054\nstate[joint_eff]: [-0.0889, -1.4701, 6.9675, 1.6874, -0.1001, -0.0122, -0.0122, -0.5538, -5.7368, 4.8615, 1.3358, 0.1734, -0.0513, 0.4957]\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]: [-0.0601, 0.8326, 0.6598, -0.4606, -0.1055, -0.0944, 0.9988, 0.3843, 1.2716, 0.9073, -0.2905, 0.3065, 0.1898, 0.0451]\nstate[eef_state]: left_x=0.293 left_y=0.0046 left_z=0.1789 left_yaw=0.0651 left_pitch=-0.0579 left_roll=-0.0018 left_gripper=0.9988 right_x=0.3726 right_y=0.0971 right_z=0.188 right_yaw=0.0242 right_pitch=-0.047 right_roll=-0.0199 right_gripper=0.0451\nstate[joint_eff]: [-0.1846, -1.2923, 6.9675, 1.6532, -0.1148, -0.0513, -0.0122, -0.212, -6.4752, 9.8667, 1.9463, 0.3004, 0.1343, 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]: [-0.0601, 0.8341, 0.6598, -0.461, -0.1055, -0.0944, 0.9988, 0.786, 1.5795, 1.2247, -0.4488, 0.5968, 0.4511, 0.0451]\nstate[eef_state]: left_x=0.2931 left_y=0.0046 left_z=0.1785 left_yaw=0.0651 left_pitch=-0.0598 left_roll=-0.0016 left_gripper=0.9988 right_x=0.3666 right_y=0.2317 right_z=0.1917 right_yaw=0.0519 right_pitch=-0.0662 right_roll=-0.0507 right_gripper=0.0451\nstate[joint_eff]: [-0.0205, -1.6068, 7.1316, 1.6679, -0.0757, -0.0122, -0.0122, 0.1436, -7.747, 9.7026, 1.5556, 0.5788, 0.1832, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c03deacfa52eaffd685147dff63d223b6bffe0eaff7114812a0e1ae312a764ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2c199c4a9be3de2041237bec7bd3c12d58ea81aa6ebad63549cc155c7273006",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d384dfd9c08b2c095452443cedb1b30d21b3fba2728c86493f93ec341e08dde",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtKN0r1YEJK25hUKb7wxCsBJemPxe0XiVscD86EOZwOJ7y7apikkuE2-d3ZJc_LQTKdkltqVi46Pyzd8WQwcUIa6aWnJKkytycJ452vY5X-SZZsxUtxWBDBWrl3gJB5qOha2pM2QsjCoWvcyYq8J-XL-E2KnrYxivrtDZJdMkARzKkvvRyR52y0tAJSRa4wwgQqdWXlgCT7e4qABxrq8bu3k5RrCYVmkcOKbIP2QfJ4GJGeZqekZqyHZdyR35yIYLK2ggvR4AmVKq7MabFFI_q4FR8aG3iQ8pcQpwHU9UcDYTvR1dMqXn-MX42VPu0vv7cfM-h59kU4JvQ55NAkegRqsLGFH1qAjHY-YVseCnGdjbCAVKSIZKRJyfsK-ZZenmVhuJFLfTl02VQmP2FYEefn7kMQkoIvlQLHzMYEE3KF4rK5UlauOJH3uLPpREtDRVCf6Unj6wPRjQrOqZtst-1zVI4fkIHHI7LKqcEuBvVP3ORkPbg_m6PaDxmvrb2rysacVuFQbE6QpjuXi_iZqT8vQ5EbW8Sqnvb2LNXgJDjk7kmL5ihBV-72yhDtJhOIH6_BnPjoBmTTeEzSD2t0iFeJxYusBkUj7jNoaExR8xIl95ddjxIiaDWBVToJqclHi9dyCef0kLGthC-v1yii0h2zAZaNV2zcPqphnQ9274YWRGi82k7WlIGLtoY-chpIaw8SAqWoOv_Jw4gKoQGGZ_0JhfBIdVZlCAi5TKOW1wCJP0pkGmTWO92mZTXqi1YJL32vi-YcnQvJ1sFjFaF8HBWHDyHFMVAqaYxUHXUZTx3mpKHAWPhhLoSY-Tbo_5C8OyPiZg0Jyl1fhykflb_f12YwAh77JVcK7-EOlr2qbjQoP7jYjmoj26t_vjCSd-1MvhPOyXOpzocdBZas3EkcNF6Gh-K-E5J7KmcjdyilweNCr_A-F-hN8H7ysvLNRU2lt570g3oTjcpqcD_ulzSCGOQsvJdsXTykE9CwLmrYZiOo6PYaq7lwIb2LuvIgtZNVNiM7B3yBuTiGCax0f6fDF0oHVwpXG4FhJ3GI89_xgwdG3OhUsYPffU78JpRee-POg6VBZGpq4OBkwLpVmNCU4tTPDcM4f33D8wq-9SH85A3FEKpITm6JOTd0UEStA_YVYueLc24OMdJcqKvXWFHM1u6KTqq6huvQrfK0sV580JKmU0BafplnEWsQq3L8hP7tNsd76m8TeWsoJqYFl341ZUtZ2MNaOY7rVmehxjvocH9kO78FGEwJM4bWkxqu3jTFD2ADxAjFovjrC2tPlffmtlpgYjc_f4gne16h3fICTHo2ym0Me1iQsmRlDT_LDp4GkWbdgdJ77hpuklXmULrnllQIQKs7s8VjPcuGMowJCbzIAk2uNBluc4P-AFw8DpuNfoCh7hiayu40h6Va5uEK-qsXZF-NuREXMsLbC5Aneoo3nJfsY3SOwaeOwcnbDkBaUW45QrCtaYCx506rHrjetVlqrgKY4l3HKaMxi3YZihz923G4SgreDk48JzM3GPXyt5N3At2iJ4CeAQ2LmQx0rI1wWdr21SDc23p6AZLHcyy23aXEQ=",
  "id": "rs_043f2a5369fbcd82016ab4a3720cd887d0852b010ceae28a26",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.245,\"right_z\":0.13,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The cream bowl is above the stack, with a small rightward offset. I’ll correct that offset and lower toward the teal bowl’s opening.\"}",
  "call_id": "call_LRM78ubvgU3Q4A46YaCuN8xV",
  "id": "fc_043f2a5369fbcd82016ab4a373709c87d0babbad4791ae79f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LRM78ubvgU3Q4A46YaCuN8xV",
  "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]: [-0.0601, 0.8345, 0.6598, -0.4606, -0.1051, -0.0944, 0.9988, 0.7937, 1.7123, 1.0752, -0.2245, 0.6228, 0.4793, 0.0436]\nstate[eef_state]: left_x=0.2931 left_y=0.0045 left_z=0.1784 left_yaw=0.0647 left_pitch=-0.0598 left_roll=-0.0018 left_gripper=0.9988 right_x=0.3717 right_y=0.2361 right_z=0.1139 right_yaw=0.0224 right_pitch=-0.0943 right_roll=-0.082 right_gripper=0.0436\nstate[joint_eff]: [-0.0752, -1.0735, 6.9675, 1.6679, -0.0757, -0.0317, -0.0073, -0.1573, -10.0171, 7.3094, 1.8144, 0.4176, 0.1636, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f982c419f44823e55615a85c4a6e81b0e496804f0b17c7ec894dc693b383bfb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1cf606ff00e55f5b03fc56a6b839ea72f0b08992bb97990fca5dea351ddf7c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83f25fe009fc22ef7545bd3fe0090fdc7e085faf8313c0919c94e9e737b52260",
      "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 117 changed as sent

message 125 changed as sent

message 129 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0601, 0.8322, 0.6598, -0.4606, -0.1055, -0.0944, 0.9988, 0.3843, 1.3956, 0.5827, 0.1802, 0.3031, 0.1978, 0.0496]\nstate[eef_state]: left_x=0.293 left_y=0.0046 left_z=0.179 left_yaw=0.065 left_pitch=-0.0575 left_roll=-0.0019 left_gripper=0.9988 right_x=0.3694 right_y=0.0964 right_z=0.0943 right_yaw=0.023 right_pitch=-0.0269 right_roll=-0.0036 right_gripper=0.0496\nstate[joint_eff]: [-0.1026, -1.4564, 7.0085, 1.6679, -0.105, -0.0562, -0.0122, 0.1573, -6.4342, 9.4564, 1.8974, 0.3492, 0.0659, 0.9499]",
      "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]: [-0.0601, 0.8341, 0.6598, -0.461, -0.1055, -0.0944, 0.9988, 0.786, 1.5795, 1.2247, -0.4488, 0.5968, 0.4511, 0.0451]\nstate[eef_state]: left_x=0.2931 left_y=0.0046 left_z=0.1785 left_yaw=0.0651 left_pitch=-0.0598 left_roll=-0.0016 left_gripper=0.9988 right_x=0.3666 right_y=0.2317 right_z=0.1917 right_yaw=0.0519 right_pitch=-0.0662 right_roll=-0.0507 right_gripper=0.0451\nstate[joint_eff]: [-0.0205, -1.6068, 7.1316, 1.6679, -0.0757, -0.0122, -0.0122, 0.1436, -7.747, 9.7026, 1.5556, 0.5788, 0.1832, 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]: [-0.0601, 0.8345, 0.6598, -0.4606, -0.1051, -0.0944, 0.9988, 0.7937, 1.7123, 1.0752, -0.2245, 0.6228, 0.4793, 0.0436]\nstate[eef_state]: left_x=0.2931 left_y=0.0045 left_z=0.1784 left_yaw=0.0647 left_pitch=-0.0598 left_roll=-0.0018 left_gripper=0.9988 right_x=0.3717 right_y=0.2361 right_z=0.1139 right_yaw=0.0224 right_pitch=-0.0943 right_roll=-0.082 right_gripper=0.0436\nstate[joint_eff]: [-0.0752, -1.0735, 6.9675, 1.6679, -0.0757, -0.0317, -0.0073, -0.1573, -10.0171, 7.3094, 1.8144, 0.4176, 0.1636, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f982c419f44823e55615a85c4a6e81b0e496804f0b17c7ec894dc693b383bfb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1cf606ff00e55f5b03fc56a6b839ea72f0b08992bb97990fca5dea351ddf7c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83f25fe009fc22ef7545bd3fe0090fdc7e085faf8313c0919c94e9e737b52260",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtKN4J8RExq2jT_dqlDke0qhDp-GYf1CkCbT8OoioanP1dmAwt9hUZEbQhfmBUI-kYNDfZzoq7D2KYnEAY234A9qWQPogTYT7bXxTf5Hf97K3sVzAoU6AFeFsJj4hd0uFzkfAntD7InwY3wDjuwOjFCO97Y17veiEM22wCYbvNQU8hBbVe8oJAZfI9_FY7UnMaz6-6vbNRAyK7i3CsuvNVngHF3x-FACP79eB298V6nUlk2ophN_Io7Td2P1u6Mlidw5TsYUyn6nYVdNqI43QHIxUD0lKGIQsh_Hrjbzs2_IhOYilsxiVTWfB5fxrBd4qi-5gtKzkPCMqXwnJ5Fkj818gtHDOvuJj9DdsxHr4V3AwUCbtO55z_6GG12vbz-1LgVucHlVIDBVl4r9MOJf3R4C0vRph-NMJ-4qSlU8kPkinUn8J7vsFbdWurhwaWLb90Ji28DLZ_RQq7hzcQwkif0nH7nUbYunDAIyG-ZLqTHJuQ2j2MJGA-NEwAmIGtBvoXHtUVOo2KGOEWBk7BXoo11k6XL-9iZmAzULE9qIEf5e8dBApFfv4Ym1sL4MgzMB42T485j9kYcbHDk-oiXPxoveSQwo2KtQIIzjnVyFg_KWKxkYIRnZZp6Hl8w2jAvPIM-WuegObBxGtSYGUhhw2xtcdrWnv7Z6ygZvsUADrtLg2KHYLfLtaWqqMEdBVTA4pj1L2UYQ8AuvxmHKKoBzVgpSf42i6ps36J6M0hQ2P6HrKcc2c219l_hYQM3znhIzG72M2ZeizPcfKI8vdu6Dm4kZgKadIHppt8RWVWTZW-m1X1PdX1glcBnwIW4FZL696NBqqoDv8LXc5eLKcjS-IX0pXaBm0ag1Sqchaq5g5UtIa_Afvz87G454AQMZ9JeVrB86vJumCtfVLuyYS8F7aN7r6eEwSVu26lDCBkHYyW4n8Hi0WFItZPbjTmmbOFFk7XGWyxLQetfM4yqBVHUfvjd1YtWIe_CUb3spqYVUFMXNzlaVOuU-A0FgRn2csf9bmG3PSL3--pUZaK5PIvj3b6scra3qGmdDIJ6DAOg1oNzQ7TbKABoJgGfCMbsDhtntOjAr8XgKsv52A5VYqQq7gVfcDavuPQ1I6bTa73ODeZVgRsesxxxLOXizYQfHOonJ98_x8G5GfE-10D5LKekoeQce6Qm-BkKxg70q5HJk9WnmoYYpIFGqa_82MNsWaxRuKxIdBvY_gu2SoZoNUfAHhaOM1a2GBywrUIbyOmwIfPrQDOubCpfJfVLrYJl3cny1B9y8HdPJUYO36NVG4pZFIl9JttK2kPJO5hCKFssSwEI4B_1o=",
  "id": "rs_043f2a5369fbcd82016ab4a376bc3487d098430fcc98ac9197",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.245,\"right_z\":0.075,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The cream bowl is aligned with the stack. I’ll lower gently until it rests in the teal bowl.\"}",
  "call_id": "call_d0I7nPIGYbJg3uKXq8iSVu3D",
  "id": "fc_043f2a5369fbcd82016ab4a377255c87d086d87b1f1436db01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_d0I7nPIGYbJg3uKXq8iSVu3D",
  "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]: [-0.0601, 0.8345, 0.6598, -0.4606, -0.1051, -0.0948, 0.9988, 0.794, 1.7355, 1.0515, -0.1368, 0.6243, 0.4789, 0.0422]\nstate[eef_state]: left_x=0.2931 left_y=0.0045 left_z=0.1784 left_yaw=0.065 left_pitch=-0.0598 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3771 right_y=0.2415 right_z=0.1081 right_yaw=0.0242 right_pitch=-0.0642 right_roll=-0.0546 right_gripper=0.0422\nstate[joint_eff]: [-0.1436, -1.1282, 7.0496, 1.6923, -0.0659, -0.0708, -0.0122, -0.3214, -9.9761, 7.5829, 1.7607, 0.4225, 0.1685, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:953b24667218d06ee2f4b5782619ac80914c7c92f706a27a0e4489380db052a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72cdf368183d9bb41d99d9c57c450b3dc34f7a4bebb17e551444372b2c23378a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3502362987764f1e2c4a1b4a683e4ace1b0e20175819155e08f7fd510b23f344",
      "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 121 changed as sent

message 129 changed as sent

message 133 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0601, 0.8326, 0.6598, -0.4606, -0.1055, -0.0944, 0.9988, 0.3843, 1.2716, 0.9073, -0.2905, 0.3065, 0.1898, 0.0451]\nstate[eef_state]: left_x=0.293 left_y=0.0046 left_z=0.1789 left_yaw=0.0651 left_pitch=-0.0579 left_roll=-0.0018 left_gripper=0.9988 right_x=0.3726 right_y=0.0971 right_z=0.188 right_yaw=0.0242 right_pitch=-0.047 right_roll=-0.0199 right_gripper=0.0451\nstate[joint_eff]: [-0.1846, -1.2923, 6.9675, 1.6532, -0.1148, -0.0513, -0.0122, -0.212, -6.4752, 9.8667, 1.9463, 0.3004, 0.1343, 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]: [-0.0601, 0.8345, 0.6598, -0.4606, -0.1051, -0.0944, 0.9988, 0.7937, 1.7123, 1.0752, -0.2245, 0.6228, 0.4793, 0.0436]\nstate[eef_state]: left_x=0.2931 left_y=0.0045 left_z=0.1784 left_yaw=0.0647 left_pitch=-0.0598 left_roll=-0.0018 left_gripper=0.9988 right_x=0.3717 right_y=0.2361 right_z=0.1139 right_yaw=0.0224 right_pitch=-0.0943 right_roll=-0.082 right_gripper=0.0436\nstate[joint_eff]: [-0.0752, -1.0735, 6.9675, 1.6679, -0.0757, -0.0317, -0.0073, -0.1573, -10.0171, 7.3094, 1.8144, 0.4176, 0.1636, 1.0232]\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]: [-0.0601, 0.8345, 0.6598, -0.4606, -0.1051, -0.0948, 0.9988, 0.794, 1.7355, 1.0515, -0.1368, 0.6243, 0.4789, 0.0422]\nstate[eef_state]: left_x=0.2931 left_y=0.0045 left_z=0.1784 left_yaw=0.065 left_pitch=-0.0598 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3771 right_y=0.2415 right_z=0.1081 right_yaw=0.0242 right_pitch=-0.0642 right_roll=-0.0546 right_gripper=0.0422\nstate[joint_eff]: [-0.1436, -1.1282, 7.0496, 1.6923, -0.0659, -0.0708, -0.0122, -0.3214, -9.9761, 7.5829, 1.7607, 0.4225, 0.1685, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:953b24667218d06ee2f4b5782619ac80914c7c92f706a27a0e4489380db052a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72cdf368183d9bb41d99d9c57c450b3dc34f7a4bebb17e551444372b2c23378a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3502362987764f1e2c4a1b4a683e4ace1b0e20175819155e08f7fd510b23f344",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The descent stopped at contact with the stack. I’ll open the gripper and let the cream bowl settle into place.\"}",
  "call_id": "call_3mQrWnGqLzpO4rnqeiSZLqlS",
  "id": "fc_043f2a5369fbcd82016ab4a37a37dc87d0a568d2ceb9b1242a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3mQrWnGqLzpO4rnqeiSZLqlS",
  "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]: [-0.0601, 0.8345, 0.6598, -0.4606, -0.1051, -0.0944, 0.9988, 0.794, 1.7355, 1.0508, -0.141, 0.6205, 0.4751, 0.9955]\nstate[eef_state]: left_x=0.2931 left_y=0.0045 left_z=0.1784 left_yaw=0.0647 left_pitch=-0.0598 left_roll=-0.0018 left_gripper=0.9988 right_x=0.3763 right_y=0.2415 right_z=0.1069 right_yaw=0.0287 right_pitch=-0.0698 right_roll=-0.0591 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -1.4427, 6.9538, 1.6484, -0.0562, -0.0708, -0.0122, -0.0752, -8.3624, 6.5299, 1.4286, 0.2808, -0.0513, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f66522d59e779a2d46f5285152678997e57856543cbd272cbc7736a2a533a3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:961daef0228a041d1767b843b4971b40c6115af66e9e1ae10248c14f8c5b54c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:574fb9af5356f06d954521c1c275567ab7e742430744651653457e714189b357",
      "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 125 changed as sent

message 133 changed as sent

message 136 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0601, 0.8341, 0.6598, -0.461, -0.1055, -0.0944, 0.9988, 0.786, 1.5795, 1.2247, -0.4488, 0.5968, 0.4511, 0.0451]\nstate[eef_state]: left_x=0.2931 left_y=0.0046 left_z=0.1785 left_yaw=0.0651 left_pitch=-0.0598 left_roll=-0.0016 left_gripper=0.9988 right_x=0.3666 right_y=0.2317 right_z=0.1917 right_yaw=0.0519 right_pitch=-0.0662 right_roll=-0.0507 right_gripper=0.0451\nstate[joint_eff]: [-0.0205, -1.6068, 7.1316, 1.6679, -0.0757, -0.0122, -0.0122, 0.1436, -7.747, 9.7026, 1.5556, 0.5788, 0.1832, 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]: [-0.0601, 0.8345, 0.6598, -0.4606, -0.1051, -0.0948, 0.9988, 0.794, 1.7355, 1.0515, -0.1368, 0.6243, 0.4789, 0.0422]\nstate[eef_state]: left_x=0.2931 left_y=0.0045 left_z=0.1784 left_yaw=0.065 left_pitch=-0.0598 left_roll=-0.0021 left_gripper=0.9988 right_x=0.3771 right_y=0.2415 right_z=0.1081 right_yaw=0.0242 right_pitch=-0.0642 right_roll=-0.0546 right_gripper=0.0422\nstate[joint_eff]: [-0.1436, -1.1282, 7.0496, 1.6923, -0.0659, -0.0708, -0.0122, -0.3214, -9.9761, 7.5829, 1.7607, 0.4225, 0.1685, 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]: [-0.0601, 0.8345, 0.6598, -0.4606, -0.1051, -0.0944, 0.9988, 0.794, 1.7355, 1.0508, -0.141, 0.6205, 0.4751, 0.9955]\nstate[eef_state]: left_x=0.2931 left_y=0.0045 left_z=0.1784 left_yaw=0.0647 left_pitch=-0.0598 left_roll=-0.0018 left_gripper=0.9988 right_x=0.3763 right_y=0.2415 right_z=0.1069 right_yaw=0.0287 right_pitch=-0.0698 right_roll=-0.0591 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -1.4427, 6.9538, 1.6484, -0.0562, -0.0708, -0.0122, -0.0752, -8.3624, 6.5299, 1.4286, 0.2808, -0.0513, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f66522d59e779a2d46f5285152678997e57856543cbd272cbc7736a2a533a3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:961daef0228a041d1767b843b4971b40c6115af66e9e1ae10248c14f8c5b54c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:574fb9af5356f06d954521c1c275567ab7e742430744651653457e714189b357",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.294,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1,\"left_x\":0.294,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1},\"note\":\"The cream bowl has been released onto the other two. I’ll move the arms clear and check the completed stack from above.\"}",
  "call_id": "call_zIpVn7sQMRsD7ehjp4qy2kvB",
  "id": "fc_043f2a5369fbcd82016ab4a37db63087d081f0002af29e496d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zIpVn7sQMRsD7ehjp4qy2kvB",
  "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]: [-0.0353, 0.8131, 0.6598, -0.4675, -0.0479, -0.0631, 0.9988, 0.0071, 0.8143, 0.6708, -0.4377, 0.0639, 0.0216, 0.9964]\nstate[eef_state]: left_x=0.2908 left_y=0.0018 left_z=0.1824 left_yaw=0.0244 left_pitch=-0.0485 left_roll=-0.0113 left_gripper=0.9988 right_x=0.296 right_y=-0.0056 right_z=0.1933 right_yaw=-0.0593 right_pitch=-0.0071 right_roll=-0.006 right_gripper=0.9964\nstate[joint_eff]: [0.2256, -2.3453, 9.1145, 1.7656, 0.1099, 0.2613, -0.1392, -0.0068, -1.5795, 8.7726, 1.8095, -0.0904, -0.1294, -0.3834]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ae42c2db980bf6ae5a470ac426ff05a353bc7401f59f6589bc275ec00de785e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adba0daf551331cdc72f4e809c26859cf4a171ec082feb31943f1725b2319998",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07cff0d5f7661f94849fdbd317b9edee72061e452d550a61070f78ffcad56600",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}