adhoc

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": "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.",
  "role": "system"
}

{
  "content": "Goal: put the black brick into the pot of water",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7944, 0.6044, -0.3809, -0.0227, -0.041, 0.9993, -0.0219, 0.7933, 0.6029, -0.371, -0.0132, -0.033, 0.9982]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1799 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=-0.0006 right_z=0.1815 right_yaw=-0.0002 right_pitch=0.0 right_roll=0.0003 right_gripper=0.9982\nstate[joint_eff]: [-0.4034, -1.4838, 10.1675, 1.7802, -0.0024, 0.2759, -0.0855, -0.4855, -1.4427, 10.3179, 1.6679, -0.1392, 0.188, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0c1555a6036ea7f96835a65128f7ace710f287a4641e08b68df2bfbbaa9829e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2adc1db496a2640f44982f6935928d1cd8154e18ac258ca53a97321260a17059",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c996b91a975ff9e90b787ce45021fa9fa1937a4a3203a8f93c92d36b2989413",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrLCjxO7F27WUcTs0iorjwLJL3MgP9jQai9sRB5VNaYYIImSKAB6rd8Qz7WhMf5f9VPQAZfC2MvhGkt-oRu6advev363L0MqCyMX2uz2hfgSw9fW-j_XKUo5njwjdppndeSLVm894BflyxmRJo95-VALEU3n7E_qTJHlxiB_60GqRPEi99e1GqQnj8j_C6oBR_dh-vfgTum3hfoQCMB3Htjy3AdjhOMcoup6ytD5yEc4sE3UFO2XplblEDoVPta1cb26ftHROYeriqQOV8uPF3amLe-3f6QbLWnIktYmWZovT5XBh8a3hgqZzzxuy1__EgRNCRzxtu2tM-bOvc_n3V8KwRlaAJi_lbtrocmkL0zlu40Vgx-b3Ggq9lX_BIwKrZHTrBnEhcJPzU4la5XdQUsqZ5lnG68KSOV4cExys0apovDvEQkCqzclumkxLGZn7NXNGm_dc5nlVB6ULedLcEdhYM6DiBsXJ8OhAHZJBHyyO1cVY1lAa66mrGB2BlUNfMxmwp2Q1DHYDkznNF8istT0mkp92WQT8hxt1wg89y2nbGrdWds7jOgg8YoIK7YG69HIEwFz_vcH-udfNS2nWruHxf3-E1eALjEWxCzDpI6BG9YkFEduvmmj2bm69u5pmUpWOqPMZ2K3fL_VMZh7qnXT1LKRszhWUA131tZJ_1YpvqOADJBHU-HYNzs2ReLhP2hs_kMR-9cwvk8wmNUtqTRnThRvnoo54z8uJjWu6ndYFrcUPf8ns2JGWYAjTGINOXRXcvtOo8PDrkxvOSjifCa9xwCzO5d_8uqWcT8dHQ0kZky30d9k3ZG8IN2eMGWo_h07DAlzoRJwHrKJpYycFfZctiljhqg6S32r3OVpeunQe295MzJOa9bT5cCKKPz_ReycQDA5pO1aQrRAUjX48DHcld5VFvzeWzhA3JwwCB_1fd_75YYfohM2E6bRvtwa8v9PkiIJpuNO9XG8q6KSTEUqrMsTvDxauGziuh-_rs-B24UQMHOqC5JvxRewI2ZowRDxdgXpV0EE1ZTU3bcKWQ6DSwfqdQ3sTbnTFUatEUGe-CfYRRk6-xqrIDwrZodjj8Jn5dh2Rbl3rAysiNyteo6lIuggVn2z4K2bOrnrSPVNBBbv8UKnx75JO_kD3ApvE5H0vmsYQ8gb2_WrVkO69ZMIivjQ4DlBmSrGa1H3557l-7mKo_rIAH8wTqrNr-JnnpNyI06EXk9FzEemhlBE47etkcXVpX5Y3EhVYlXCINaGTMr12-h5tymXieOXLms0A4SeQiwaaRKx9TA6-UTeKYRR71PZm1OmFUPPkvHVADPF0VELUdrLxdwtChIGrTFuOZzlcgekFImVk9qeDijbusIB5XvgvrdPVHm-BBQopLLYmLrj5AKyxPdoJCP-QuZ9uDbTwJoEL2PXPD98k2dPLwzcl4ykFzDrHElzO9at5Xg-lvMY6FqtqqbMQBhIWK00TGENbX9q4FwPNfaHYovYq50_ArPBSVscIcWu5b3ZwK4ZZ1Cc=",
  "id": "rs_06f38db467be4317016aacb09fecd087d0a390891e93b743da",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.12,\"right_z\":0.16,\"right_gripper\":1},\"note\":\"The black rectangular brick is to the right of the pot. I’m bringing the right gripper above it, open, to align a grasp across its narrower dimension.\"}",
  "call_id": "call_7DqWBmSkGix3wS8B0LTj7Yqd",
  "id": "fc_06f38db467be4317016aacb0a1e40887d08beee407467d53a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7DqWBmSkGix3wS8B0LTj7Yqd",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7986, 0.6071, -0.3893, -0.0223, -0.0422, 0.9992, 0.4442, 1.3735, 0.7933, -0.1097, 0.3412, 0.1974, 0.9982]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1782 left_yaw=0.0003 left_pitch=-0.0103 left_roll=-0.001 left_gripper=0.9992 right_x=0.3748 right_y=0.1169 right_z=0.1363 right_yaw=0.0442 right_pitch=-0.0826 right_roll=-0.0371 right_gripper=0.9982\nstate[joint_eff]: [-0.1709, -1.4974, 6.8855, 1.79, -0.0024, 0.0073, -0.0171, 0.1573, -6.1607, 9.2513, 1.7851, 0.315, 0.2564, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b1e4031c78746b0fe0ed90cf45cd5be83380ecb8e378104e5dc89f1108e9a95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7338cf4f6fbade7a06cc5497910a24de958386720f00401d78cf3e802014a589",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e7360feebeb4075e461f0069b82037e71800c21d229ed732c12e8a03a398c01",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7944, 0.6044, -0.3809, -0.0227, -0.041, 0.9993, -0.0219, 0.7933, 0.6029, -0.371, -0.0132, -0.033, 0.9982]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1799 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=-0.0006 right_z=0.1815 right_yaw=-0.0002 right_pitch=0.0 right_roll=0.0003 right_gripper=0.9982\nstate[joint_eff]: [-0.4034, -1.4838, 10.1675, 1.7802, -0.0024, 0.2759, -0.0855, -0.4855, -1.4427, 10.3179, 1.6679, -0.1392, 0.188, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLCsCT1QXyD_dA-DdcZockBCPoG2pfw0sNqztanDbhf-WWNoSB0NAwR4HedkvfHpj4aIO3Uqdp9hcP8w9LGYHSD2yVJxE_Gt-t5iABduv7v1Qtj8o9ww_NP8UJ7RaabXSoL6K0a25_0NbLB_xbfk-JdjnOC_JYSzuPMVDEqKYMmKPgWok_VMkp7_T_TwIF_KpTIIS3I7C_4Ns7gt5czz_gYcGyVyGxKIMqYjWlzzuY0Zabz-dkDny9ldes-njKdkzIrqz7FhgBiDmMtmTi5blnnNnlokBP0QaElv5Rug7yKXiDt8E5bAHJVjhm0oArZwUtdSCInCxMA4XkCPWfH2XzCd7WHbSQf08Gpt-fEjbTkatBCgAEw1W0J1DNy3zUir5oMYXAQZgaL3whXmAc_WAL7oJeQxzNR1Dd16j0Uspf23LCmr_WC2mAF0eaLqTk8ttwrxSc3PAFhhguEhyJn9RGFMoP7oLxQirRV9dTpf6aLn4XzD0NLY38NhzqiXAhuK_xHXb2SBXnjeWQMaZGkDIqWeL38VSz0y6-Tc9IOArYiH3FzcvY5MV142xichRpJDxOHpCeFRk9e-e6DTWNIn2s79d3sTG8PhIIJm4fP4Zab2pNMZn5NcDWDDEdPnRaOGvpqS2EWhe5S_iR1ZoiMXMhpg_VoBH3UvBK89Gn8h5T1ACCQwjkfMKuaU9RorBROJTlsEJSxQbx-ufOEHAQa3gv8pxRPaias0ju0sgC6Mzy5MPNXcj1jXylS5icykXsMnQcEjhCiSexjLij7YNXaxVt9q0rLqr7CDLZ740M4HWfLqcUUgvyEjboE-PzdL_JZjWeblE80q43m_C0xzHNhEypHMmaCqEsQnGpitYsRFlZV45HoLYSjYoGx5vB9SlyV0AAAGSmoReYdFW_FOmImevScS1sCyNmLQq14HekXinKDer7wZYLpXut9n7Imz_LAcP5rl0RPnotR2FXwu4QOXHYq8EdwiW8IYTpjA5HxSHFmkqmnvq1n6Gy2bxQanjUWfng1GwHyYMFQIL9sowqux9akcGrx6GgZ69uMtQCz4vjMngzCt0CTQlXjo5FiZ_rETK_C-tiBbmeINxBqR3eESKBtfyMvJ7vMTeJPxy0HLr2kLpzSmLlNOxPH7cuLakNLvhFomXPxcBjMltyG7vwnnsaBs_HQcb9RPgJIy_QkRsFisPcHDA9-9nzpV9rjraR7MilZEcHwJFxuBmHXqwE65ABw2KC9gZac5orXBsKxHweb1v5bhqsw3KkqqWhv3LN-y7es0mn2Rx_I2Eus6k8Tr78R1lsSpqUyzpOhfQIF16kg4OZRUjU0E-RQBv09ryqvbcm4JK9oaPTu8frl6mXSwmCOuV20OJ9Jdzte_49TTG_d0-E7xV-nv_ql4eEqMOVLt06xNnrDnFqIEYcvjmEtiu5HZirCRUV_NGdfDPj_y5J2qRiTkqIa1OrBFwkSDZXfMYi7DdWg4lJpBl4inE5R1W9DohFvsSrOrZ1vGEwR2V6uZjrW8XmgdJ46g484HXR6KuArGbb1uZsbotHYHVoK-Vnkj7JWPVnQGDaMMGYDGy398gCfq-V4mwvLm0hT92PPZ6NTX_bsX6VrJhqjUVtVnYeOsoE2Lc5-R69G-IC2M7l83dfXNHunH7I29atIpEDKGROalN8X0IyAYHCaFrd1H0a7JLpUrVYz6QTVZght0n9i3vv6wl2UECJMrcoUbXquCrxaAu-nSVlW--Wt8lQRKGLWHI8FY5nZfr5FAwb-db1wcoB4Ppwn7ahi8S8PVraEELpPvDotVEhi4xHP1I0EKc0x345hW8TDSiOPBSjZKXMSEAT9ymsnnU6GMHOnVdY2EFIv4xxSrJt9Ya_tR6zvCgn7m0w==",
  "id": "rs_06f38db467be4317016aacb0a5840c87d090d4363605fbb2ef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.085,\"right_z\":0.075,\"right_yaw\":-0.35},\"note\":\"The wrist view shows the brick slightly right of the jaw centreline, with its long edge angled. I’m shifting right and forward while lowering and turning the jaws to span the brick’s width.\"}",
  "call_id": "call_pTeG0MrwLinFGlFII0GhaWi8",
  "id": "fc_06f38db467be4317016aacb0aa2a8c87d0b7f4ab5229515b18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pTeG0MrwLinFGlFII0GhaWi8",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8024, 0.6037, -0.3904, -0.0227, -0.0425, 0.9992, 0.4431, 1.7054, 0.8391, -0.0399, 0.5304, 0.4004, 0.9982]\nstate[eef_state]: left_x=0.2939 left_y=0.0018 left_z=0.1754 left_yaw=0.0008 left_pitch=-0.0187 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3955 right_y=0.0927 right_z=0.0508 right_yaw=-0.2308 right_pitch=-0.1901 right_roll=-0.1091 right_gripper=0.9982\nstate[joint_eff]: [-0.0068, -1.5385, 7.4598, 1.7265, -0.0611, -0.0317, -0.0073, -0.4308, -9.935, 9.1829, 1.7558, 0.4908, 0.1343, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:400cf0a4e2f91ac8ca97370142507572f1683808c25f61930d2984ed354f8d7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53363436fb11124670203fff7ba64cdef4eede199e7740573a77d721ba1b0a89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11ecd7140492172b03bffbd3669ffb033b9db0b0a0d494c75df08641bc5153e3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7986, 0.6071, -0.3893, -0.0223, -0.0422, 0.9992, 0.4442, 1.3735, 0.7933, -0.1097, 0.3412, 0.1974, 0.9982]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1782 left_yaw=0.0003 left_pitch=-0.0103 left_roll=-0.001 left_gripper=0.9992 right_x=0.3748 right_y=0.1169 right_z=0.1363 right_yaw=0.0442 right_pitch=-0.0826 right_roll=-0.0371 right_gripper=0.9982\nstate[joint_eff]: [-0.1709, -1.4974, 6.8855, 1.79, -0.0024, 0.0073, -0.0171, 0.1573, -6.1607, 9.2513, 1.7851, 0.315, 0.2564, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLCxJn5Nqgl3NA5b8EJ-8iqaY7RIWyMsvJymdi5Ce1DOMbsPzMCUb54jg1JMV4E5IzfNh8HrxcB2xj1KRrnb1qjisA7jb3tcP1yxfvrj9DsZg4y2I-N9dLhX3SDQ15Px5pfow34kxub7B0d1sxjV0zFIpbOY8vIbv8b5yBrmPuho-P6eNfC9t80GrrR6oXRZin316VpW9sQghZo72evbEhRtQbbhlS6RnPLeCP3w7V3En1vHodyWv4h7Dr9tBHpPNLomoqUT5xDTt90ylsw-tuq0OGgsel0RB_w54uyT-mA8vYk6UrzYzUUIChjm9yEEoT5M1ToIXRod8tI_O_2Xema1oEyzpPS5HElGz7Qc-i-CFuZU5h9UQX0AcShhJ2oW578YzZwSyPXqfNErx1mD8gq6ty-8T8XgShDtHLb12lO_oVnEqa7LQr4-__0dKmjCCLmV2SWv92zkxLwFg0DJRzeY_nsNjIo_GDSTPJRhvLaZaVSq6JfX18PyKIbQDZtRpZFCTdtsP7S0WbBZ1v7b_C-Ly-3q9mRrzqa57GXL58o3kMCRNnv2ZmQQiotA0iooITBApoqw_fQ_MrdJiyTbYKFL8NiugyI5Y9wWvOL80uLVO1M3ugAHk-I0PgbjQ_gXiBbBzQNC9FMkesY94dhOfpm2wisJ0RLKYhGeyJ3CJbkuSbAI6CNQ9BUj_VhXEIxgaYjC-fyF7h9mkszvQrs1Pv09KPvqt-pRw37_LyLi-YW3oXnMshx5tl_2hWIvbApZGyDS3vfJDbej6pBDFuPOzmmkrcdnw3F8FIZ_LAAXTs49rX7qzgWTNTZAcXuHPG9Vs_m1KRjr6ZdtgKxsXPb8nKVE-N-g1Q3_gbug5ou_ui7Pm1K1MK_V7steDn6SR3kQ41qj2jLvgY9nXw-_ArmApIndpzcF7I7aiXtPPimTe_FEc7YQ1wiSq3FK2DPTVc7SasgLlIQBnY5eZIn4evZcojcmfV17hP4Azh5XA61x2MCgWjU8QfKmnUs58Rb5tXJQnr5WoFvBOEsTPNm2pnticdZBYCr9na0eVuvk8pAwQq9oIY2lw-URgz01GsrxCisg_mew3A3E58cJG1YB0obWmpV40AJ7BJC-DyFnYrY7Z9EMBc3OSb8c0M-T4T3aOvko-K2wmZdEZunVFsJFzfO7_k-_FaowDaVZ5uZXXWLH7pqQR_i5-NVYb-CfRHT-XNFGyc1-wrXiImlz_FOrpOdSydcwWXNaROtTf2-97GdGstBvkWw1FU78rL7XXKNYWeIFKNQ3CsgA6PIk3APBPFs_u52oZs2JDdoTjEH6UGXlkdQGYtIdwBH3_3QiZ17Y_jkASxzE1kI5a5UDycff3bymo6kUOKaigcYD8ZZ4kC5y1QIR2n8gCyGH8jviSnAWVvK5HPdxEWgMEyDldvG0jr5ZCa4YTTh8q8uO81dGagLZCFXMfn4=",
  "id": "rs_06f38db467be4317016aacb0ae37c087d0a0c924ffc3e25877",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.085,\"right_z\":0.015,\"right_yaw\":-0.35},\"note\":\"The brick now runs between the open jaws in the wrist view. I’m lowering to its sidewalls before closing, keeping the lateral alignment fixed.\"}",
  "call_id": "call_hjYAKIHWxkFxJNDwG7JJZ9tj",
  "id": "fc_06f38db467be4317016aacb0b00c0887d0a610d49d000131cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hjYAKIHWxkFxJNDwG7JJZ9tj",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6037, -0.4015, -0.0227, -0.046, 0.9992, 0.4431, 1.7378, 0.8585, -0.0246, 0.5987, 0.4797, 0.9982]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1726 left_yaw=0.0027 left_pitch=-0.0316 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4025 right_y=0.0848 right_z=0.0523 right_yaw=-0.3222 right_pitch=-0.1484 right_roll=-0.0886 right_gripper=0.9982\nstate[joint_eff]: [-0.1709, -1.3744, 7.0496, 1.79, -0.0464, -0.0269, -0.0122, -0.3897, -9.5111, 7.9658, 1.5067, 0.4908, 0.1734, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3156067b2f333fa582527c8da917868821ba1b73d9698d5d5c4051ea9b2c716",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9225df8553d44fbe8b7ce4a8083155c9724817566371c4fb58870e9dd6adfa6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d7cd81275df348abafd307f38a1d69b6adb4de9f1bd94440febc375d9d07eb1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8024, 0.6037, -0.3904, -0.0227, -0.0425, 0.9992, 0.4431, 1.7054, 0.8391, -0.0399, 0.5304, 0.4004, 0.9982]\nstate[eef_state]: left_x=0.2939 left_y=0.0018 left_z=0.1754 left_yaw=0.0008 left_pitch=-0.0187 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3955 right_y=0.0927 right_z=0.0508 right_yaw=-0.2308 right_pitch=-0.1901 right_roll=-0.1091 right_gripper=0.9982\nstate[joint_eff]: [-0.0068, -1.5385, 7.4598, 1.7265, -0.0611, -0.0317, -0.0073, -0.4308, -9.935, 9.1829, 1.7558, 0.4908, 0.1343, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLC4ahmNCj_YoG4zGHzDtDhScKnLtPva4Ffpk-JE6IAgB7cG7I3Kr4s2TaXz_yfcc7skPJSlvhGNoYtBDQGWbOAk6nkZG6ts1DBoaoMhbYh6GjuN2xRdW1cpxsZS_Fim_g3eH6qE7IPwhFwxmsWmdVNlvB4HQ9RWv59fcPR8E5qhWARLaC0fi58nM868R6NKLsuBAlfaXt1DHRBWipc8A8b_Wxd9WwmVvgigsHsA_6f3JGz2R8-bJdpcvmFhzFdbtOLke5AF1MXqh19rCvmEdhg6w5ZkwVB2LjpWocUZiomtYv8X94dX26s_XLtO7HNoDUNMYmaKS4SfMs2DYP2Q0J4fMfU_dB7guiBySxAK3qLgWDnCx2-mEuN8GuovIo99UJ25wRztuYm5fCXScBbakwRI7T4xqwjhTqkz7go8zYStCr2pTwroRkVVY-mmLmRb2M-3uwiL4u58fYmToBe4O0IXPpJ3egIgWd0sWtKiI6LMsDZ0XVcqiF0TDxykfJ4iaK7i34HLZ0QUEDD1GewXGxZLb1trU5zQ02VviSGrbarOD4uFR2fmbDRH3AGindXe5Wd4i4g2XK4zr3axWMUAHWeGgdNpHh3QZsMSpKD9-ivuMxBP046YUQXyRnz5gKoU333s2IrxFH_fef6NEKKIYVFKypfA6DpycJ3mvkfLy0MHMg2S8LHiAnKMBCA7F6OtaZz5LRtnGakJHtb5H6bsCUmNgiaK_svZ-2BD2l3OThnW7EnJZINCU2jTHCfB8dbF3tCwPsDkm_jEdPwCwU_k8Z-Du1VKG_NiZcgUKetNT18Km78Wli09zuwk50kFOjiSLOTlQv7NJPhmVlsPuZwPH8HGluSubAYwFoxEA1RAKYtQWLbXfIHLnZKI42mVuLPsgUXwrSn_W_r2-XP1UCGE09-cL20kNOQ2i5kzWsOWtSMnfrGVRZBb14C_2CMGzctB5HcSAUpHvug_n8aXbnX_xBdyt23RmQIJSqWU_moOXtCy8P11fU7_st5rzZl223X9JcecNT90Q_HS7cZWZgWvD2KMixRHDU2DGcmjyCvmfo_xjmteUbqJEfINwLXCK-pvbeRUiNz2JtAoEBWrpSbTdBl507OU10PV9KumDFr1vUm62tyvN6VgttWrlE8FWS1_k7zhkWDPTBa-xF8hx_9XYcn2E3Dn7tjpk0LVCmOTkofJoZYsDrnHyAlWeh7lsHtrPdgwdueGSV9RjM3GTE2-YH23ECxVNerDJsMskAxm7zIpvfVE1xduPQv0q8yo1qfMF2Ik1Lr1Qaj6lSXIaXoZnEMQR5mciZSdwTe3-KjN-H8Mbt7Ocpkp5j96-jsN2i1fLGDvXL89eQc-pEqjgd3aM0d0iX6s6_ZyHek_QKAh-lAuDX1jM9VFQG6jUFR5UTbwPqAx0C5NSUUlYi-_AZaflGhw4w4hoMHbsFR7cacdlWXb6b0CQyel5LRYuj2BPDg3tYEx_2p-8cETKQjfJ2BdYryn6Qx3pSbmCm2fMWjxaNqYW-V_Ijtyf6srZjvQMxrg5X1ChAZsO4I3TO_b-tbmxyslTNBrV-jzXWDNG-mbV8XTv2bf_rwrsWUDCYjClsM_3seGqVzVRAfhBCuL0zL9H49gdj4rlRQnxpe85e3rAMnAQPvoSUS8ECP24v2Qp2lyxqg2eu85AipD0nSC8_QvNneub9KndQfqu0Dvt_HKJq3FrluNYsP0WDtwovb75tB5z3CSGu0_8tCXUwzexRXX6SUPEw==",
  "id": "rs_06f38db467be4317016aacb0b355a487d09f05fd52dc6d6adf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The descent has stopped above the requested height, and the brick is between the jaws. I’ll close gently under the gripper’s controller, then check whether the opening indicates a solid grasp.\"}",
  "call_id": "call_wEtVejzd94pEI58LgtIHFXA6",
  "id": "fc_06f38db467be4317016aacb0b7356887d0b7b89d7283e96438",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wEtVejzd94pEI58LgtIHFXA6",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6037, -0.4076, -0.0227, -0.0494, 0.9992, 0.4431, 1.7378, 0.8562, -0.0261, 0.59, 0.4782, 0.009]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1713 left_yaw=0.0045 left_pitch=-0.0377 left_roll=-0.0062 left_gripper=0.9992 right_x=0.4015 right_y=0.0857 right_z=0.0506 right_yaw=-0.3156 right_pitch=-0.156 right_roll=-0.0874 right_gripper=0.009\nstate[joint_eff]: [-0.1436, -1.2923, 6.9949, 1.7705, -0.0806, -0.0269, -0.0122, -0.1436, -7.747, 5.8598, 1.3358, 0.3541, -0.0269, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:452fb80997be3c7346105de39474ef8cc2894047753fb7a6443a6116d0569892",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baae76f5dca6bf44315b718a1b0603cea09c02a2d238bc6be69f85d6c67ca6ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00cdd921abca81b53d7dc68e22b104b61698aa5491b08a4f71d4d5df4d988bd0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6037, -0.4015, -0.0227, -0.046, 0.9992, 0.4431, 1.7378, 0.8585, -0.0246, 0.5987, 0.4797, 0.9982]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1726 left_yaw=0.0027 left_pitch=-0.0316 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4025 right_y=0.0848 right_z=0.0523 right_yaw=-0.3222 right_pitch=-0.1484 right_roll=-0.0886 right_gripper=0.9982\nstate[joint_eff]: [-0.1709, -1.3744, 7.0496, 1.79, -0.0464, -0.0269, -0.0122, -0.3897, -9.5111, 7.9658, 1.5067, 0.4908, 0.1734, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLC_4Qa_juXWrAsFdjjFukWH1wAX0dSb-3vPCXT2eMSLmTSoMvse8l5CSLn0_nD1sYQp6Tu2C9Jnns1-UiO96-u1AJ-lAU4volPiRGE4bf_ELuYnPuW6KIEIAWI_Ee3NxtIYZIifLwq2A-UVa5ZN9UbQZNUz49fkwZf5TPXdCGct5Q2DEfoQDmWwrXggKYwMUe4I9PYKYA8UQ6ibRsB8Nm5FolwZe0v62dyNgS6Bsj5OKlwwomqG9TwnBMetdZGVrGjFqLFhIxkif-fTjvY_Fqc7iNUmsGkwpmfdIs1_nRNb1YK3uRWPV5pG0ali79fP2dbAL8vLpVKaa3kGYOj5i1sunEQXdmvD9FqWo6Rc8f5ChNl10aJQ-kLbkgrM-GfpsNiDNBrCQSOCmZms1y9_i0DB5a6GuVtCyZXe7I1OAOCPFFdZu9BpZTPLRDCdM0sYwhuENuH6Ifp6tDtDeCR5eLOie-AYHS5iR9AE7j3qvbQda209xWZY0nuGvptx-XNrl5ETqtEM1XMRorzDIUrOVFsoEoNZuBNVwNhN77aOJ8vYD5_3hMpitG_81bioYR9b5jPC-tqFZgqut-2q_XmCVAyvGDj759tpFwv-ug2nrXTMAukMEG-e7bD8_uptLJ8bOnmembWx9ZFSk2S9N_qQGbiRYQt9nDdttX02IfNi3LANrTqO3PfARLumgYpcPcbmt2jXdQxLduZo53fVtvBiToA7vR1J0emzDMRIntNNB1HsmgAZJk3NMl5D99yfuSnQy_dVO7sCcPYgrGqH8GQ0tnfWGtrebvN02ndJO_NJZVkyn4LvGSdYR4fmIzBjbXDhTRfggzUri4-kToyHp3vzEYaQZEb0cc12_62dchAPUhttYdNk8j-wrBkS3TbSuxrxWHifvOKOTXpkjDW2rjiqZdUYh-9Rroy3O2YkGKpMaHeqYQ8Cl8iSIH-Eca85e6EM8CI7X05yFH9FpfuBOYll4r1ujmnXNOBITcddAx5lri9zoK2pJeI6St22mi9V4iWPeGKqoMMpo9dY-tE8n7JAtf0SRHB4c7vD47XPBnUApYLpSeeZKSfG6oDb4L0BJu0Dz-EywcA_v0CBtYC0VZrgSeI_6K0aGkwmxOme2FQBUwS4XEcWL5zaj8QFnlWhocbmzauJjf83mvZOA8CaFSIGphdnvzsbtLPHLCGqASPvem9f-v7AVEDM8YIgKJULyoU3uzDTjMjhcRJigyE7nahEau3odCcJuBxO9xoj_zRg1LR4we8Oi9GRlyTZ3eCXK-HgMoPnba2G_CFQzzLKq1ZPqRu8kBpMhYpVIjaVNZiSmIqRcDxyldswu_lOfRRCzdpN8yv8UFQjbJyHk1IICzZSAD8a0EKkuW6MU58ZvReZPjmYZMzC1JgHIS5ESVnHT8u9yHUjlbbjIUDW-tz81s5XPg3nSvSJcM6To-eZzhKs2QW8lq9O9TAyzi9NYAlKqYydHSNlEorRVWxq94EjZptevFpQsfqn6auLlIqUGScKMlx7vhjeGetQBtiFv2MVEHcqFjXV1AA9TgzknxzZGNy3ixG4fg==",
  "id": "rs_06f38db467be4317016aacb0ba9cf887d09be653a47f440415",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.43,\"right_y\":0.085,\"right_z\":0.025,\"right_pitch\":0.2,\"right_yaw\":-0.25,\"right_roll\":0},\"note\":\"The gripper closed empty, so the jaws were still short of the brick. I’m reopening and advancing a small amount, with a slight forward tilt to improve the low reach.\"}",
  "call_id": "call_0HLw8O5nrJfK4FwqzQDdvhH7",
  "id": "fc_06f38db467be4317016aacb0bd4aec87d0970b0789b05b1fd3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0HLw8O5nrJfK4FwqzQDdvhH7",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8082, 0.6037, -0.4084, -0.0227, -0.0498, 0.9992, 0.4316, 1.9945, 0.6296, 0.852, 0.6289, 0.2695, 0.9959]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1702 left_yaw=0.0048 left_pitch=-0.0423 left_roll=-0.0064 left_gripper=0.9992 right_x=0.4262 right_y=0.0859 right_z=0.0208 right_yaw=-0.2439 right_pitch=0.1529 right_roll=-0.0245 right_gripper=0.9959\nstate[joint_eff]: [-0.1436, -1.5248, 7.0359, 1.6728, -0.0366, -0.0659, -0.0122, -0.6496, -7.1316, 3.4803, 1.6044, 0.1294, 0.1001, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bff9ed4b6ed7c5812ffd761d4ae97a4d6e22ff343a59db22f52566b6fcfb4bce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c080eb664d8edf4d0501e7af2e9bc90d7df0ff09bbe168e9add5ced95b153036",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dcf8e721914376a5df26fed622c90182111228f05dfa1bc9496ee175df68922",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6037, -0.4076, -0.0227, -0.0494, 0.9992, 0.4431, 1.7378, 0.8562, -0.0261, 0.59, 0.4782, 0.009]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1713 left_yaw=0.0045 left_pitch=-0.0377 left_roll=-0.0062 left_gripper=0.9992 right_x=0.4015 right_y=0.0857 right_z=0.0506 right_yaw=-0.3156 right_pitch=-0.156 right_roll=-0.0874 right_gripper=0.009\nstate[joint_eff]: [-0.1436, -1.2923, 6.9949, 1.7705, -0.0806, -0.0269, -0.0122, -0.1436, -7.747, 5.8598, 1.3358, 0.3541, -0.0269, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLDGp6NXcWPaduA_KPUE1FyQFxkAA5uE_sGZKF6PUuesRzj8I3ykWl1ziDeZxGJpXEMPfaOJmRNJwZywE9tOzOTrwv-FCteswJ_ioMJ3UDI4GNLO1JukpkK_KAwLTLUa-ATEQlKAaSiBa149tKrcbWCTFfO4cZQfpUDDtgM9q6M9wmkfncPVRF0vC6iDJKHEYr7xlIbYqM7RfUgdYeUrTkXNI-EZbp3RqhFkFPQ0W3AE3xiQpJDbSR6vvLOlS9PIlFt340RcRQV6rdRQFqNyvGsS5z4BRYJBAFYO7c4kDib1OMVA2ZqimSOOZaTF8QNmn9A_NF0VLbD1iHEQ4jJF9Yzyfoz1YNXLH7WKSljmbBRmws9jNcBtA5i1TbwneIgsS_WFxV_BsIY-L0Yttx_NdMLDlYoQUl9fg7KK8ZO2JzTWStAZkmp1MNzOwhnc6LM19EvOVaHqF1IPxeIEgA9n35p9ioG7GRhpcBZQhd6OAjtXH10spqgps0-EFWBBMoz5nbooQDinus6tBElfKgckuBvnmscnujxCze034laqb7FUp6P-m6ORnJGCHBo_LetEZdwxXQcgFH9WCMK4ChyQeU53HYR2enWJoLzxn7W5qnkPZH6gnD8RhjRXDxiEDx9boY067vxCuebok6-nAfGQPWjPnvnQ2UMM3thiuV-SgBLmV9JzehnslVR5DO3MzMI87V-nLxKq9qEl48rGa_nYxeaq_9uQXmgUxhXEkPR6jOik2UrijIOtCp_1lz_ECbjytllASVwwy7Rn16-jBEvXhJCaj1AQ30HDCHyZTJMBgBtU_fUf35C-XnRm_PFzS9VntgtF8fEUcaXVzBKrVidqhohU5SRQ7zj8vjoLa-N4OQR-A8M9eyKzdO6s7o4i1HLf6Ds2ceZGsQscJKZkjea95mnYRzCSU91iWi2wdWr7RZF3dn1k7efG5-sg-ifR-rBFC6VkZbvuXYez6-BawC8PdMyRyzpDrt9EIZIBh0-WGycxImg9xXijm-u8zxjOkFzKEE410Leu2PAZJZlQjk4CtSr3xcW1Ln7i2rpO2tPItfagmxSBmvnUnz0IoLcxuz7OKi_lSR_Q--PSQkWl76Ny-gBDb2h161QISgwOpKMZRXkl-uv9xWWnGSU46eAPZnv47c3JqaXMoSl2mG-lpsujcj-KI3hTvnO7isJPgWUFYHsGAD1GK2YBflbumOupx_fwTz8MJEjiLkepuwAWreqz-qVVuVtimQtIxvANttc3FrYnMTIGgXcvjy_TGuaeBYR_i6TFKzes7i8o9mPpI1v-Wkmx7Cf0uE-3Q7UCXfJp70-VW9D5WKmAzSN2Gbx1R5fqzs3Xfj4k3uKOpUAVvEqX4SUj8DrNl7RQ2iyDUezLgNaSuBLg7SC3TXLskcyjWWDA2wXHs__zFqK7Eu5IY2YoNDK12mVuZp7zuk2F_65wZs8Kn-N0PX0_gjgNEodEAR4vmb-GbjM0FZW9yXu2_trKXI_J_brAkIRA_TnGMD4BchqKWeRyIkDiHVkyJHSho16AqcPstcR4BhYnNwuE8YioKDzIR82VgkAaUPSA72DubKWQDN799qyIEk3E9u2CceHmTPP8zVLVQeM1Soyqudx1PYtOGg==",
  "id": "rs_06f38db467be4317016aacb0c1c79487d0903093aebdd37815",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.068,\"right_z\":0.012},\"note\":\"The forward tilt let the fingertips reach the brick’s height. The brick remains a little right of centre, so I’m correcting that offset before the second grasp attempt.\"}",
  "call_id": "call_6O9vFczBFy5jZgiuXCCxWHLq",
  "id": "fc_06f38db467be4317016aacb0c4ac5487d0bc4305b73ba215b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6O9vFczBFy5jZgiuXCCxWHLq",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6037, -0.4156, -0.0231, -0.0498, 0.9992, 0.3965, 2.0247, 0.6308, 0.9257, 0.5968, 0.2363, 0.9969]\nstate[eef_state]: left_x=0.2908 left_y=0.002 left_z=0.1682 left_yaw=0.0051 left_pitch=-0.0514 left_roll=-0.0059 left_gripper=0.9992 right_x=0.4345 right_y=0.0782 right_z=0.0213 right_yaw=-0.2394 right_pitch=0.1786 right_roll=-0.0158 right_gripper=0.9969\nstate[joint_eff]: [-0.0205, -1.4701, 7.1316, 1.7411, -0.0562, -0.0513, -0.0122, -1.2103, -6.5846, 4.7795, 1.5849, -0.022, 0.1343, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:068cd6f26e13a576e303692879c56b502d9783bcfa53e07d30647147119d7c6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fa167842a618de0707f3d0ddc9d4bbf795bdcb632a4e19e1c8ae8e25b69229c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f69782d248319ba3122df3aee30bccf58d248b2923b7e8afaf79724b9eed584",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8082, 0.6037, -0.4084, -0.0227, -0.0498, 0.9992, 0.4316, 1.9945, 0.6296, 0.852, 0.6289, 0.2695, 0.9959]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1702 left_yaw=0.0048 left_pitch=-0.0423 left_roll=-0.0064 left_gripper=0.9992 right_x=0.4262 right_y=0.0859 right_z=0.0208 right_yaw=-0.2439 right_pitch=0.1529 right_roll=-0.0245 right_gripper=0.9959\nstate[joint_eff]: [-0.1436, -1.5248, 7.0359, 1.6728, -0.0366, -0.0659, -0.0122, -0.6496, -7.1316, 3.4803, 1.6044, 0.1294, 0.1001, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLDKxR0QEf-PW5ONS4KaRC9VdRxfD6xjdH0MOJG6ahsqSMJLP8T-U8NfsFY-IbPWHLqe8KD5okJ7q_mMhy8A8_CKdJoMJVQQ3ID7mjLhgjt_djqGJLBH9-2g6vK5bfOowVciQhK4Q00LYak8xRqBvnK-zwQRYIPqdN7CrU7nOQ_BnnIIqzdFqcT-_mKn8TlpVIlFbs4Xhmy5i9BcoYlgPEctMR7_fRegWjK04GOTxL4rg-RzhvexYgvnPcKtRaLwoo0S-iJB95P03F-o5-JtFsyOzKxIsSslmhPV7XsZSqr-feYvXAShUgq_r2kLMpqVAXfNHjid6dPztmfWyzSqrujPdApI7Vky_4_uFwmwupgpoNvElLmE_nCeBr3G7dmCNjDbYJEpOiHs55UuY4EKiCr0aucT64mrCwdYRZEGAFdZBmv9Dodvw_TsWv_v56tci8K6xg7SnPVPNcMX2TXmIx4U2L9R1tgoYPEh_U4uUiENwEQFCqDkYtGmkDIE1CchZV0HvLN642ow1iYy5B8W18Zxnnf--ZdogJDDsVCrjRSrnyPBlGlLdRbfqGFv6_kdg7NP5hcDCwXvE4pjERUsY8VGAchUeg7zs2Q-T7OOHWYbep1hgjDbUOtbWX59_WvGYbcQJP7vQYGcrlRavWBesNJT0ttzdb1teH85n1Zn-4l3P1JECQLMbaQuNmB2q3vitNiGkgb4arby-L9EBsjNh6IQicIm01f5E_LWuXH9GUi8TlS-9Uz9Pokf8hSEGqQxooPunBt3fAvMPnM2GZNFvcMfIL6Fj3GRXDXRNY53Wykm1woFf21JQ5TjWCzXZrxQN9L_-RJ0_9-NorsZSvRq0DACfq2NdKHNkqPqd1IkzIFjZujlkZL_HfiAozRs2S-GBZFoxaE89wywsBmmjrNvoekYF9ApvOGP7CHQ1BmDwYhE0poIX8cAh1PFO0u4tpT5cw28FXcZV3wf0MBpsDtOkSyD6grOHd-nbVgkSOOma2mWFmkPXF1cdTJTzoOYVq52wp0_eh932Y-Lda26NbHUCecY9L3FwITCqNyU1CzXd6sqB6ILjdDzHYYTS69SO9JNprIkgoiCSJP33YspQTeWMKmF2tpM6zTsopSR9BsoEXGfQ0v78y55oXeANn_hOC5_abf86kQu0bmFzG4Of5XOAElY6iQCKJAxo9SaxvWPfQ36b8uuSylZCJL95eWbh_z0LKqrHGK0jb6QJecxV1KLHdYpx1KbvuyxfqFqpKJDYi5X4ssrknLUSm5G3yRiMUuyxoX494piW4oW8ZDnJQryc2LUOp17rrpjYOlMzTBf-ocss5larIETYiPPpBIqBkQiPVog",
  "id": "rs_06f38db467be4317016aacb0c7cbb087d0b73406522e272c12",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.442,\"right_y\":0.05,\"right_z\":0,\"right_pitch\":0.25},\"note\":\"The small correction only partly tracked, and the brick is still off to the right. I’m moving another couple of centimetres toward its centre and lowering the fingertips to table level.\"}",
  "call_id": "call_0w2UC5WKmtn83eTCV067TOT3",
  "id": "fc_06f38db467be4317016aacb0c8f3fc87d090ce92fe526accd8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0w2UC5WKmtn83eTCV067TOT3",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6037, -0.416, -0.0227, -0.0494, 0.9992, 0.3286, 2.1372, 0.6243, 1.198, 0.5629, 0.1635, 0.9969]\nstate[eef_state]: left_x=0.2908 left_y=0.0019 left_z=0.1677 left_yaw=0.0046 left_pitch=-0.0534 left_roll=-0.0058 left_gripper=0.9992 right_x=0.4501 right_y=0.0577 right_z=0.0259 right_yaw=-0.2597 right_pitch=0.2963 right_roll=0.0147 right_gripper=0.9969\nstate[joint_eff]: [-0.253, -1.4427, 7.2137, 1.663, -0.0464, 0.0073, -0.0122, -1.0462, -5.1761, 1.4017, 0.5153, -0.1148, 0.2613, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2b97732a413ce4450894c66d1c37804d413deccea1f069c22fe0a9c8ceab6e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bc3115af6b3b2269d91ae73540606447e2bdd13d3130a04ddd173b3777f5004",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5303831e6a0fcd08dda059d8b3d397f1fac57c9925bc3d1c306f26a1d327a204",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6037, -0.4156, -0.0231, -0.0498, 0.9992, 0.3965, 2.0247, 0.6308, 0.9257, 0.5968, 0.2363, 0.9969]\nstate[eef_state]: left_x=0.2908 left_y=0.002 left_z=0.1682 left_yaw=0.0051 left_pitch=-0.0514 left_roll=-0.0059 left_gripper=0.9992 right_x=0.4345 right_y=0.0782 right_z=0.0213 right_yaw=-0.2394 right_pitch=0.1786 right_roll=-0.0158 right_gripper=0.9969\nstate[joint_eff]: [-0.0205, -1.4701, 7.1316, 1.7411, -0.0562, -0.0513, -0.0122, -1.2103, -6.5846, 4.7795, 1.5849, -0.022, 0.1343, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLDNaijC8h0JjAJUf3_lLxIQ-ABr8H-b-gQ0fapvvVWhFw-XWJgumu_dM8-xtwTS1msDCQoprtYX1CmObRztac17bjcC4S15bPszeG0vxAhZVU3iWKG9VkvQkyTNQvtGEWAHdjwlL8U8kDpOpYjk6dnFP5DQAeq3D5eQ3zL-2kBM9-h-HECHLQrcSQutg1-H00lZAvoLHi-1Ydlpl6dOgsgSRs8tp0OfedNvint3y4Ohl8P8cpDQ9HzhWSpeQwS_qSaddCTBZjhC-c4XjD_il1dE9AVUIPRuQSzQyhzGKM0Mhhq-8SFIF9BPNmFTKwERMTp6EWNcFzhOndawpbxSI5yfYSQNb3e4XjNvnrhw1kgBTknG1Ao26qtIFmSzCksSUL0YApnPtBLoJ6vwFJwp3kLuFW4aoG9QBx8EXM7DVesxO4AJuwihitcEvJ3SuiRf4nkmirhXsBbTTtxsYOeu-M5uMz7d6kjyH8QLylauij1_RhfTBkuPGJ-VfTI6JoiPVCpkjhyJmP4SUa9jZ7s5K7lP6QiyiL8HpOAfSAIb-apjanjcHpMjKp9eAlZaCMeEcErZ2pG9MEOmp3ubRg_FnlRl0wwlS47_Xmr0UHCXXwWueevdiwm96Xki-z1JL0X2krsvnj1wJvScwYMS_UlSjw3YfvPkZP-ALe7Ashw2xW9th7bhvaQpnC7WrDhPtNS3XHaUYhv41vhROiVXJwbPkS41IyM1nDEZKcw5jgazKyRDW1QKV7EfbxFmFLiLZ2zdd4vNg-reAjYgyeEVccq5-HKGYXw_E_iUkBfdVdE6bn9-fulvTNvAtAj0ZL2M3-4RdB5nVREbdKyVOHiJuV-ALF-5tCwDnBgXs9VByWzgaSFg_PMjUapXsaUbHBo67P3itfPRaSaqjcm_0Af_OT6gxXJdbYe07E6-5CltrgcAW7eZYuqmqgzCXPTetXlNUKPiJH6E11kr_iBVTjI4LB3PG65tkYbBlNc83Pg1zatQ8Bg8cbDewa5t2CbKBXmt0LhpQtQ_tq0g3pUJwcBCCXrvnbq0YUUxOD-lEHrHV5DaPupgZOO2TL5ujHDgEmcdfda2T_KvrHkeIFXE405Un-4MolIEx1nVj8BXsytHrv3ymbVWfD1DQaR3CVyjunZwgVr0H7HKSP3tU908jje7cBDn9CMk-T-5NzkgTfwmS7ODYlcnuLNju2TYCoMazlbNfZppUpGnTgFcAw_yNkvXL-chTRrRBGNeQSb7_redntzD55WwPM4=",
  "id": "rs_06f38db467be4317016aacb0cc434487d0b5453df95c286e20",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brick is now centred across the jaw opening, and the fingertips have stopped at its level. I’m closing for the second grasp attempt.\"}",
  "call_id": "call_8tbWfQmx073HO9cjkxBS3TBk",
  "id": "fc_06f38db467be4317016aacb0cc9ba487d0ac48fd7ec4475aeb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8tbWfQmx073HO9cjkxBS3TBk",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.4156, -0.0227, -0.0498, 0.9992, 0.3054, 2.1662, 0.6086, 1.3071, 0.5404, 0.1379, 0.0089]\nstate[eef_state]: left_x=0.2909 left_y=0.0019 left_z=0.1677 left_yaw=0.0048 left_pitch=-0.0534 left_roll=-0.0061 left_gripper=0.9992 right_x=0.4518 right_y=0.0509 right_z=0.0317 right_yaw=-0.2605 right_pitch=0.3471 right_roll=0.0311 right_gripper=0.0089\nstate[joint_eff]: [-0.0889, -1.347, 7.0085, 1.663, -0.0269, -0.0366, -0.0122, -0.0205, -6.188, 2.4957, 1.1404, -0.0806, 0.0611, 0.652]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c063f2ea57689d42af9fed310174c8d97cf8f6f84e83805aebd4b11959d6765",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36fa867db3ef3b843cfce3fa78ccffded05a111b7284b02f5386122d23b5f0aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa23cfa6c013e23afd5cccb4ef1a86869823b89af5029c4b772c7b71f12868b0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6037, -0.416, -0.0227, -0.0494, 0.9992, 0.3286, 2.1372, 0.6243, 1.198, 0.5629, 0.1635, 0.9969]\nstate[eef_state]: left_x=0.2908 left_y=0.0019 left_z=0.1677 left_yaw=0.0046 left_pitch=-0.0534 left_roll=-0.0058 left_gripper=0.9992 right_x=0.4501 right_y=0.0577 right_z=0.0259 right_yaw=-0.2597 right_pitch=0.2963 right_roll=0.0147 right_gripper=0.9969\nstate[joint_eff]: [-0.253, -1.4427, 7.2137, 1.663, -0.0464, 0.0073, -0.0122, -1.0462, -5.1761, 1.4017, 0.5153, -0.1148, 0.2613, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLDYnZFOl7aOlIEqAF0yc02E3ZtATLIyd0eTtXaW2hgjsEeAv3V9XYFQ1ntALly5z2fGyAMRIpT5ToBn3JYdcZfrBUrEpdEW6LXyU5BeAerh5ufNOyrjxMiGY02S3hpmkarEEBclmZe1yTKYcC1bfrxCLqIV26pXYDLi7Oykb7rDks4KgueBUkQNmv-bOOgqIX2jB2-OzXy8ptYizuY5pidW8D3WhI8b67Lq8CKUrq4moZ2OnPfz6GWpQe8O9H33axCh0dsYy2RjNz40pPMR8dz3nPUiPtOu9-SfNOtv2j5GH9n3G8PhufbyC4XoX0RioFcR1UXJyMCbgXmeeAfRgQwE_9dHQKBF1g6wMyZWCCbD4shaYoz1exkBix46i60ra-c5v8JeFLLZFLwBrhXKdURhSouP1CKh9FYfd5EXIsMLsXOaKOfK3toe-g4NMhi7vcwEPXffmT1BsNwMIIJkb6a31J5p7Gh584OTZoasiF1ocK8dellA3hCsgtFMPyWq_-PyqVfA_eDCpA361Npi6njK2XN7Iz08OiXikQu7GezEHmGvxRlcAPSd81eYu_x0eyNYeD-B7l51HHFdME8SpRBsXYDPl0klk2mlZzr4I9lq3o8TCaAggm5EzHVBTtHsBWZ_DRUQZ8FJARXV9JW__yIZvg-cVX0Uq8EZGIcOajYcFqxhU-i-qbVmYVSbZnAOVXwohXwIjehrTJSPYrqXBarI2Fxqr6afXuBzD9zsUgnjPvE1eqQhginQWFYbMxujSX4YDGjjOqLlHggH8iHyKf3KRx6kDN54qLAT-eWBQRXgnFd__wkBmT7IpXi1u6NmhIP6LpA2Qkvw8-kO_MAPJKqj-7FfPyGeh6hRam9c-mpXhVktefxsBcS0sIWyf7U3UCKz71PuADWcMvvkudreOJHGA0gKVeDr_wSsjNeZ-j0UwDDwJst6kmZbg_cNXDgSExyJiocUIMsRgbJWDsNh9XGElCLTha24t7Ehuk7mVFJhdbmebpOtIg0Di5VTJxGso_Wh74Z830o_elMc6erTvXP2jQm-jnU_yk9QD9HNBUIz8SQVJO-jitbce4hqY9XXsuUlSw9_VvcwPKbNL5GN5bZoXVxa25N3chD5nC6p7Pd-zOTjGWzvtgHYAI8umrvgjDt4IjS76a48kTntH3YGJ5zvEfpVGxSXxvoFy92hBma_Ad-0OLxmVfcbfFAolfU_yzKb-Tku7nH0fx2siIc6_dXjSRsqeL4sCHo2PCStpbGSEiLKitupaY3I5Mewi7WNyTvLaKgaccAhGTUQKIMVkP_fETaXKUtuizXstskVdAWTR6kxJpliWdSZmneYLm3i70MPt-t3OosJ2-vR5DXFls8rcWy6PiHc_8e8FV4eavcnTtQEyNxM1GKTKnMF97LMjCVGfaWbC6_ALcpCxiat0SctS557IWicsIPRwM9RUCGag7EXs3zb3hNpVMyJafsm44md8yquJ09k4d7jieo6bIOpGT4UHP9PKGOqYUC-f6Bi_XNy6xPxlFBMx-_srDqlKPazvkTSU_oAI4NRPJnFHOcHMgVATGBfoMaFfm-h831NDCOUv2-HgsYlRjJLwc_sZxOQK2mbgpMcFzQP25BGoBX8EHgsIWM21_jWQkMcIVRx6uEi2uEyy-Amxm5qqdF-BrTXHewFigq7wOVrScHif92TCzJsPwkOZ2DY2MdShPUmSLM_2YWClAH4D7OGlFppZHX0IVukaKVUJicmLc7NWTfdpE9whlMj1JNqs6tn5QzPHjv7hgSL5LnwWXhWXwXcaIJSdd4boLmNeqcfHhZZzNAZ-n8_KOR_sVti82RG3oOF7WuKYKHKcRF-1bGt-sMcapWFz8I5KxXD54kLel3euIM585ca_nPvRtR2HqtjWv5vSXoo7kFhDQ4-fodW90q3HQC-d_9Um_2mIe_CCKqDu8BnmkUi26p--cBzJhoLwsjEoXAgx5bZn6I0_dkyI0U0F47lhzb4UMEr8bG2hCEgUUt75Yn2FCZXx5McY4p2HcQqaCcPG3CC5WCQfmzuQHz9MZcv",
  "id": "rs_06f38db467be4317016aacb0d22bd487d0a20f547e0d23eb9f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.40,\"right_y\":0.015,\"right_z\":0.16,\"right_pitch\":0,\"right_gripper\":1},\"note\":\"The second closure was also empty. I’m lifting and moving aside to recheck the brick’s position from above rather than repeating the same approach.\"}",
  "call_id": "call_dOCs0az7JBUV7vtwDynQl5Ny",
  "id": "fc_06f38db467be4317016aacb0d6fb8c87d0bef521c7a0e594f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dOCs0az7JBUV7vtwDynQl5Ny",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8165, 0.6037, -0.4164, -0.0227, -0.0494, 0.9992, 0.1928, 1.3769, 0.757, 0.054, 0.3786, 0.2356, 0.9961]\nstate[eef_state]: left_x=0.291 left_y=0.0019 left_z=0.1663 left_yaw=0.0046 left_pitch=-0.0587 left_roll=-0.0056 left_gripper=0.9992 right_x=0.4057 right_y=0.0163 right_z=0.1521 right_yaw=-0.2572 right_pitch=0.0397 right_roll=0.0258 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -1.5932, 7.0906, 1.6874, -0.0562, -0.0024, -0.0122, -0.4171, -6.7761, 9.2239, 1.8193, 0.0757, 0.0708, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6f28060ae31738cb59f5a580b1b1d5344971c44bc5bb894c14968d88f65903b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41cc150206432f37c22866336234c2de5637ff3ae3a3eca7f09f27ef47668276",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:773f146bed101b8b21af445bed384ebffc794e704bfd34fa5ad27d7cce42dfe8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.4156, -0.0227, -0.0498, 0.9992, 0.3054, 2.1662, 0.6086, 1.3071, 0.5404, 0.1379, 0.0089]\nstate[eef_state]: left_x=0.2909 left_y=0.0019 left_z=0.1677 left_yaw=0.0048 left_pitch=-0.0534 left_roll=-0.0061 left_gripper=0.9992 right_x=0.4518 right_y=0.0509 right_z=0.0317 right_yaw=-0.2605 right_pitch=0.3471 right_roll=0.0311 right_gripper=0.0089\nstate[joint_eff]: [-0.0889, -1.347, 7.0085, 1.663, -0.0269, -0.0366, -0.0122, -0.0205, -6.188, 2.4957, 1.1404, -0.0806, 0.0611, 0.652]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLDl-fO397KHRYc9OefnRWODUNnfa9Z2jQgg5xTfesZn7iyvrbxevQ4TzMv02O9K99NJXM_1hkHYx3lfOJU3zpIp00BQNP2D1nY3s4VJxZxlgoSuXfCQUgm7cumEt2PMfVB58OLMcJC_rl3Q6rKhDYNTP6j8P8RBQEFfSbneKLDDEwSmleWXrlvpYJQAt5KcOr_XsitgL9zvX7kzcgGaIXCF7F9WGxVtrI09PFUEj58H5Y6FXyqP7vUJ3a8l_Fpu3jRMJopKyDYepaKNWNahAFzIha5vPWyrCQhqPT_0mZJ-5Qm7F-VTIqpJ1xRS9vcaMtQ3IguyWVobO0oznwTIlaNhav6y6gHWKoOTqOrnBnJvnnSzEJXQe4t2XfXwefb2-AbJIA4MpBqRdTEb1uHo5-t73AGMdrA1YQSTTNOg4AWdYOO1cwtnsEc2y3eorTMrC0t2z7-XfHJmxQUJwoLrNovGA1Fmm8fJs1EDgs5k4c1fS1NVl3m9gjWWAHniAobwf7DiO8j0ZfJyZd0LQ2IBLvl1l-krNpaRzqfGMxI825ycKRRly6fV1zlUcAv5plFV4nf7jCp3rBVaF84Ig9k6lQP7Dby_FvpcgjNzctOBL_V3TBnEvlQqMybn2o5m0umpsGINeENkFqri7DJIV91Gpz2x6EnPe_l7IU0MCm585kb-2R6SbDHDIob1AskV_W7ZPwcij17etCofVtpmaDdi12n5gub3I3Auq2IaRqOvZJSLlTVZrI7toE2AQFt90LHqzS8IbMSIDzcANfRO4ApxW1iAdROZAzisaH5pTWZj6trX9imhHK-rL51QT2Eq6TtVRlZcWyLXQdEZocUHclTNN74WYuzm9Istx1IJW4JAczMoHlGyR7R_3gdAT8-d3Ov11dpJrtwR2aPsyIj52X04WGN9bnAe227sa_veMVuNOfb4A4bL1WgWH6IiPi59aytpJvPmhwsYchkwbT__R7UZp-PZ5GUSuugMivtRoUxb9eYJDP56wyNvn8PlJlijC-Ncw8CcUpNBNW_qcd-gOfwvKv539tFHEB1IY7_10KE-KHycXFUi1LX3YnWcD1xWocOh7VYMqlFMYJtH2fOxEa7UidCEtcb56kQ-vXmLlgwtmqfNa9feHoP9p47t64NAf-toWgIQOH7wYdk2uJu_evD_njYIFAwu2Co0BZ6518vVX4NijhWWe7_DIlSWZp3TDnqQ2DrVY3bHvsjgHwc_9wDGekWtUsvTaRd1cZq9apWoKXyvoZoWTM30OCuSPVGRCfATnDFP8NmwtW_P5wif0AV1iJsWiue6ObikAk9OSd1iyLy8lapuR_OUx7drjIchPFR6MPuvWgU9iZKtX7fGBQVwA7BOyHm1cB-NCsnD-KUlO-AfDeKe6Ci9mFPr-jiREz3nhTDxfNfH438ag5PG5vpOwY8DeRKHWvy_5f3QfxY8g3AfjEKzTCQcGcA78NRFK-e9KjLt-GUK4Rsmgs5pK9qVKa4SNYS7Fg6jhsUg_u30INehxi6ikTVl370Sj428tEllR5G4097rAT4LmjUIuSyyQUThJ7K6LFPz2QgkHeHVVAXBDexD09GG2Nris5_7lAsCokEUVLcEdlISv5OAwR8BmItfILQyn1lAUze7Le_EbLL7v_tXwsDeydkj_2gNq4ARPQqxE_VwHKUQoJWqvntkpGYy6SalFGLQgeA72arcnHxEEpW5nVCeUHA2s3N12myE2n8Bs9XAI0zIWmIl5rhKwJkeSZxaMi264cjb94o41IPApc_LaPJYqWhaIgAY_cvEab9mORY62a5fTHL71EMDaGnq2S2r3WKPoCaudsu2JBe0-jQvLvNWvy1QL2N3S_AfK0JxPCHXghwET1rUTp7MrRlMjXmWuYLwjkHX370VuYGEEEwoJ3EzLaMZCUpS2p_3Lje4j43nwmYzInw6zCeUcbqnV_qs8nJSriRXT9C2zx7NBavp5yYVnuxm-E-_YxaDIC8lU9yTAUOIgl5NTGGIdqaNymUeSWZJBVH17QYyEGv6WNCGsb7wloKMxcQ1Z0Dn3IA4ZwC7OnLRArsG5oajLK3xwX8Dl0IK0FqE980JdqCOYks8oSPFIjkH8Pccp8KLs_cFAtcZPgTzRCV-RapTMjVnnyCMLbzPWFNCYW3d9l_p9CGoovQnKTSrYTmtVykPSeNzjFwSti3uQr0iNfnz2MpT0M0qwB3ERHQUwO9Ulk94B1fxQX8KmCzJpAUDiGnT7CQeaAxPlybpQkAiYyxjX5FsJ35mU-W3F_6diGixe78h686-5fYO8cFpRLX-mncUGfKY1Wh8Xlsv01xtTycZFjxKiBL-dQ6dEI4t5FeUcGohOIXArFSk0h2zzZ3VxjgM1JLu6xxMvxqJJ5Z9GEf0ipRUfoRecXWE_9NYMuA_TPRNjSpNxQNFVHG-FuGkx3wh8G-x5A_TJYJtozXZtAkhfJaqZRKa0kkrh6JyKwlbTqvgALiN43GAA5WOtkGlbwEAVYUTc1Zp2ujw-_5OZAXuRs_L7vtQgmxIaGC-aeeEFA6KOVc=",
  "id": "rs_06f38db467be4317016aacb0db474087d09aef0a02fad56246",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.08,\"right_z\":0.06,\"right_pitch\":0.35,\"right_yaw\":-0.3},\"note\":\"The cleared view shows the brick farther forward than the earlier grasp points. I’m approaching its near end at the edge of the low-reach workspace, keeping the jaws open.\"}",
  "call_id": "call_giMYvSpK7vJZTn9CsSUmZ4j2",
  "id": "fc_06f38db467be4317016aacb0e3f9c887d0af0e1c139b67dcf8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_giMYvSpK7vJZTn9CsSUmZ4j2",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8185, 0.6033, -0.4168, -0.0227, -0.0498, 0.9992, 0.3714, 2.0983, 0.7677, 0.9272, 0.6067, 0.1783, 0.9969]\nstate[eef_state]: left_x=0.291 left_y=0.0019 left_z=0.1655 left_yaw=0.0048 left_pitch=-0.0614 left_roll=-0.0059 left_gripper=0.9992 right_x=0.471 right_y=0.0792 right_z=0.0321 right_yaw=-0.2492 right_pitch=0.2324 right_roll=-0.0358 right_gripper=0.9969\nstate[joint_eff]: [-0.212, -1.4838, 7.241, 1.663, -0.0366, -0.0513, -0.0122, 0.0752, -10.1812, 5.9692, 2.1026, 0.3736, -0.0317, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dae4015d321a4dccee4760561f8c287a06c98ea442ce81d4c3519d84607bfdcd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f9eab405303f39345395f6ee1b0526f8fc4a6def9b5a73b0238621919655412",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c5ec1eccf4bf589f57bfb6b934a37a229b6bfe504486eae9c83ea5c9cc8fedb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8165, 0.6037, -0.4164, -0.0227, -0.0494, 0.9992, 0.1928, 1.3769, 0.757, 0.054, 0.3786, 0.2356, 0.9961]\nstate[eef_state]: left_x=0.291 left_y=0.0019 left_z=0.1663 left_yaw=0.0046 left_pitch=-0.0587 left_roll=-0.0056 left_gripper=0.9992 right_x=0.4057 right_y=0.0163 right_z=0.1521 right_yaw=-0.2572 right_pitch=0.0397 right_roll=0.0258 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -1.5932, 7.0906, 1.6874, -0.0562, -0.0024, -0.0122, -0.4171, -6.7761, 9.2239, 1.8193, 0.0757, 0.0708, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLDrwHaHvuAvTj8XvyaUX54P0SU5ulyAHlvwcNBw5TnOrYussRUA5MwPssmh6gInTSP8u0i86w05h_PfEJPr9R3ExtdhuHelIJRv4BYh9LV5bNASzctrG-8LTPs2L8wVx1SAC3Ylc08yn7gK4lTojm8xFEkH655DqQ5uyY0bQmmjAaX_QyUk3CALrKYfFFWt06xsfgKhfp2oXuQo83_GnLizMIqbPNZ6l02WHFAwhiVDD2acXZxuAGfhKpl7HSwca3J8w6d8AHPsAXgVDKovex3BfHlcq6S3dR0voViBBiJ5UVdFIab8cg_Zflt5I0mnxmve5ljScQNvKDfYdNAAqepewMihreoKvF9tHhrJahc94pW-Qx-lsYBG3kgZY0KcxsuGKQqi6_LLrfbcw7Nd5oSHlAL2SrfE71RJtPln7Y6WYkBxLYxnyVgil15TUQeUmRvyIdUml1DVTtJldSh_5_UxW0a_Xs4FopnT4PcxwM_M0KAhqKDfjqzvF57bHwPgh5_Tos-iXJ_4D5kI9cXUYs5-7pGsxou4Xx4HS2CxZ86OFgWOLD7c8NjKI3y__w56SWeRTNrvCHxbl6WDS_MysmxOA1v-VIRKmnVxbgU_LwOihi9tjr426MrkBvIs9mOg1XnXLn4pDAgZJVh6IhJJXh19jHlc-ztgyzvFs0hT59Ta4tkLgklxePuKE9Mgp0R92JBOg1NOvbsYLRnXmrzhrSKcOnfDwvr1bOvf2w3ZoN-a6j_jbB3nl8qV5xdWGKvk7Mbld3KXGbnNXzVgEiO-_igmI_vzgt9YSM20Ux5swOVE8ELDKbWeKs0irwF4vhpQ8geuWSyKEZFI25XvEmE6Vy3YgrcfRy6w8MgXdbCZKoHjXWEfB0XKegs7yKFWqgMEKDcMBVo5ZmTRWrsbyxheWBrxquqqN1rXutUrdPBn6NkkZD19xg5GsbhcFfGWAvWMtUJzit1jmtmiJKoTXYOaynrrWH2Qoe1DbHhZTegeotK4K4u8j6zZl78UX6gLrgsOM_vAVYFkK_WafkZMDsORBRkSaYGw-x4Cm_WN4EBcIJgC2ElUPrjZGQ5eVYHPFbMQUxMAH3wBQutg0tWgQy-SO5lzZRPT0R1IJq7H3LSCrbNMILub4cEjUmhgtUG6kFwxmUJgHcwtRnUSFbF3gkoK4MzyZo5qOdPtnFgk94LC_PVHWI3xkY48un_MQ8GJRVyGgNaIuSPGeukWHhud_jFLdxn5sswY-K8C3QlecHDMhVIaKidFsqxTxYErEWQplUBcvjqzaBRyDXOLWrkVQh4D-mI1c6cLPj7t4IMfnHYxVkZ1qxMBB28D6tY9fGrkTk9dsCrKef-P0OAUeIVhPdBjqPgxFbeUORr80z4KMxm8B0wm4fnIPsN_cOYgcnJdY_iVDL-PSIcigzA3dP7e4_CHS4pEOWbRDNOci3AlutBpJuezFP3SgxmRi8u9lAVIK4wb-odcSG-_tjTW85Ol-l5W9iov4w==",
  "id": "rs_06f38db467be4317016aacb0e7b60087d0baa2ada731202468",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.04,\"right_z\":0.005,\"right_pitch\":0.4},\"note\":\"At this forward position the brick is visibly to the right of the jaw column. I’m shifting across it and lowering so the jaws can engage its sides rather than close in front of it.\"}",
  "call_id": "call_mNNRMRy9UB0leIhSlGgpRI1o",
  "id": "fc_06f38db467be4317016aacb0ea057487d0b8f24eca7bf900c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mNNRMRy9UB0leIhSlGgpRI1o",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8211, 0.6033, -0.4263, -0.0227, -0.0498, 0.9992, 0.2699, 2.326, 0.7914, 1.4372, 0.5415, 0.0448, 0.9969]\nstate[eef_state]: left_x=0.2898 left_y=0.0019 left_z=0.1629 left_yaw=0.0048 left_pitch=-0.0736 left_roll=-0.0056 left_gripper=0.9992 right_x=0.496 right_y=0.0465 right_z=0.0403 right_yaw=-0.2783 right_pitch=0.4778 right_roll=0.0187 right_gripper=0.9969\nstate[joint_eff]: [-0.0615, -1.5932, 7.0359, 1.79, -0.0464, -0.0708, -0.0122, -0.8547, -6.2154, 2.6872, 0.6129, -0.0708, 0.2076, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70f06ced85625e5e3224d0579cf5f74be23a43750b0629b6ebca5851d5550c0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:456bbf2127a9e509886d883f373b6f66e68095c06fbc5b34a22f1bfd15143cc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d65115969db31fdf13a414577d9f775209049cebd66cd6929d4c2492324d11e0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8185, 0.6033, -0.4168, -0.0227, -0.0498, 0.9992, 0.3714, 2.0983, 0.7677, 0.9272, 0.6067, 0.1783, 0.9969]\nstate[eef_state]: left_x=0.291 left_y=0.0019 left_z=0.1655 left_yaw=0.0048 left_pitch=-0.0614 left_roll=-0.0059 left_gripper=0.9992 right_x=0.471 right_y=0.0792 right_z=0.0321 right_yaw=-0.2492 right_pitch=0.2324 right_roll=-0.0358 right_gripper=0.9969\nstate[joint_eff]: [-0.212, -1.4838, 7.241, 1.663, -0.0366, -0.0513, -0.0122, 0.0752, -10.1812, 5.9692, 2.1026, 0.3736, -0.0317, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLDxVvMgaZKJhHs2biFBUK9EGlwmPpTNgjHZDDbMC-jJJw021x-yRkeKnnUDOU4nPILIcgra-yC2ect-SZ-5xrrTqXJgjq_wzZAvh5b9AqYWcmkyuJljmgQsc-aqMMbvGni6V0odHgVYLnotlNJoEXGPNx7dJufCDwbtciKZUTxWpEzHApmSNmQY45PPrjURkfTEkCz-sZ2L1gkfYQKfx_roqvnXTz3B7Azr_DbV0vfZdIDzQlqQmkLZb2xMBL__24aX3eEEJyrd3XbNiBPIHIuC5DktrNiymFIWCmHPjO6rliDTXrhRoMoF3lad5l-DOCgPRvzF4WY5uB67eLZxJBk0c7NRMnZcZBPPOoXrOgbEbN_9vjil4RKEIQ7rY28cmjAcblMKf0UkaV0R8aY-Ytlgdf3eEuCKDvl-eT3y9pbmhilOJOwrdck7BjhlYJR78ADZ9QZ3dbWHAP5gpj_l-IvV46JLhTEiaB94BdfeNGSlxsfnPTTnirB_YG22dabM40UtuUHS7XnthD_gmuE5gXYb_7CeI_a8_XR7smFWZmtwq_oQ848udPhhbEIG2i-X6APve3JjFHtmAD-1Z-BpbIwUE8859-3eerVvz3qQPo1oI7ub6sG4uUf_aCsK-KLKFw1r-lcFxyHNvYK1E64pN0TD0hipkq-tyF9Gc0Mf5EorRwG2oShMOM-Bec0EsdAZKO761C-zYIdlWx7lhorkvl_I4N3v9044RQqNNHoTif02YV42aF7ILCZyLoe1MYbYrCgyXnDfikVv7VtsH33u5aHyGOxHr9Dnby-nWtZaT58hE3MSt5NTRPogFoYECnL5SQDP8y7xe6yXhzgKBH2gUfVx8pQA1i6Ar4bv9l0bOQSiQBm8aGn0MR0IeuucOSgMB6lr2U20CYz9llXbcJF0seSuNpg-MAo2VJhf_LHyxOZXkQFwUfz0KZdukCtqKdVVqv9Flrj_6U45KZ8lClISu5961jn2vQ-xQwyfXTFtUX9HVG-GmnTW35jLCnmckFMA6oWyggz04nPTvMPB24qBF58wmgS3X3vczFxieYYOzI0N5ayC_lU7pDEqbxW4RYSiFNQVHr2P1ZgUcyLXZlDaFIHNGb-nNVR2UWdiXAT-m-V3z2bPQwXKLpq4YhnVecV05uA03rT_jTEFM1bgvR_ofVwCPMqYzNvh2GdY4BAnMQ-DLnI5pTZRZP9xVjzCTi5q0qimHQpZ3YVXVxljrPZOh_b8q_KafqjADKtbANM-TwPp3gwpWkrpeQXbqVqNqqmjuHwJE-qkCvBrRURBzd6XWau3AxeDsrg1n50f5Awp1wxM9Bkx04tW6_3n89M0DWJtF6lKpcHy1yzAa2Dh1HZQdUUy5j4SWjufmbE-qgL_WGm0j-1OSYXR-Yx6xF6SDS6q2FIQti3EIFzoXyGCVF54t8P0hNTslZoU5tLztI1n0JKfD5_Ly3KoiUeuFmTfCX5KrIpN",
  "id": "rs_06f38db467be4317016aacb0ef0a7087d09be528b58cc6dd87",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brick now sits at the fingertip region between the open jaws. I’ll close once at this remeasured position and check the resulting width before attempting a lift.\"}",
  "call_id": "call_Vj04rIZJa0LLLjXhS3E8Fxrk",
  "id": "fc_06f38db467be4317016aacb0f0a80c87d099fe26c95c8f1f81",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Vj04rIZJa0LLLjXhS3E8Fxrk",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8215, 0.6033, -0.4313, -0.0227, -0.0498, 0.9992, 0.2672, 2.3341, 0.7918, 1.4708, 0.5377, 0.0338, 0.0091]\nstate[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1618 left_yaw=0.0048 left_pitch=-0.0789 left_roll=-0.0055 left_gripper=0.9992 right_x=0.4965 right_y=0.0458 right_z=0.044 right_yaw=-0.2778 right_pitch=0.4999 right_roll=0.0217 right_gripper=0.0091\nstate[joint_eff]: [-0.0205, -1.4017, 7.2, 1.6923, -0.0659, -0.0806, -0.0122, 0.0205, -10.8786, 3.0291, 1.4872, 0.0122, 0.0611, 0.6667]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f060425ca9ed77a5d6056536a554e0b4b31b50ba4c3851ce2ae897b49e12dc76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9798e5829d955b2609edcd0fa07bebe21cb8946bc3a275d2d412a456c32d30a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a6fc4580d3e69d0d2c8fd171ca5ca4c12d24b7afb3f6626da6c0619d45f484c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8211, 0.6033, -0.4263, -0.0227, -0.0498, 0.9992, 0.2699, 2.326, 0.7914, 1.4372, 0.5415, 0.0448, 0.9969]\nstate[eef_state]: left_x=0.2898 left_y=0.0019 left_z=0.1629 left_yaw=0.0048 left_pitch=-0.0736 left_roll=-0.0056 left_gripper=0.9992 right_x=0.496 right_y=0.0465 right_z=0.0403 right_yaw=-0.2783 right_pitch=0.4778 right_roll=0.0187 right_gripper=0.9969\nstate[joint_eff]: [-0.0615, -1.5932, 7.0359, 1.79, -0.0464, -0.0708, -0.0122, -0.8547, -6.2154, 2.6872, 0.6129, -0.0708, 0.2076, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLD5Ht4edOxH4CfK_TSQ1Aggmaj_IEC2-LNwX9l_7FDVUOODKvPk_MrdTFfEj1Yvk9H8by4fcGOm3L9schBrpT1iUuh5KaJAMsfHjM5Ld-lMJgQDrdeGIrQAQRhxO7gT6mkSG9T6XKG08zexTpLHNf8iE-eIb3UgoQVlZVhyWf_dzjstDMKHqdWbL6Cj2qp5gZ9CvIT3LBiIj-mHFLSNZIaICN_5W_X-6dO1leSkWRtEfkO6mWouF6mPBMZla-BNs0zQTr0WVwbLXc6TCy7etiHTlkSze8wSEXVu1Rm0hWl0LpMTXkIo01ipyhZeA6z-mPealpAYz0_VWIIPQisCYCPxGReoVSRDnV8OMjh8jNgGOHq5tisqJwd9fsJafwBi8uTheZg3miutxA_BSjK0eFAf2yzHJJPNU9fzcsd9Cbxh6pZDWuwJEL9DOPxebnOMFWypcPxO55zxrvIWk6W5ho3uCb44-D21mmhuMQAoMvJhKb8LIUggV0AJukFuEBURugTKdSIryLDIEBhyQ3F4v1iudMVGQBKWzyBimUJiNjhN_0NQrOo46Uye5ycczdcIJxP-x3JkSzN2II_joeueRp57YBdoGLu8-klNRxZVnPqsxQm9nMNNSr4kFMjshqzxDr1v8gnb8Qi_bVO7KxG_-YYRWhOB-VNLIDESwx8SSzCsvmBmVMkIjkFrtnk9RStXbz3Wwitxxdl5DHSTnHEY_1RqdzokhaWeYtbXJq-mnbbv0oraySn2XMU-lDx3bxrwleTZdHkuO_jxMOfsK1gli-xtWY1rWQOYmpCEtB7id2AM75-aTHZk_cdcV8FLL2F50cSyjHyloeATYFlPwbQrQlvy0KrNhVyXMQEUzW9Psz-Jvhq14FrvKgAaDDflaYtkCv5GTxi9tbffr-6rzqPV-2JQIA_72CnL0F9ij2uMlgBV4ygLby1TClU4s3b7QT9fGz7DIUDUK7H4UkuksPRq4Kv6JetRQm7sf_n3YT-w8B6ZcAitXMA529UQajYit59aIzV9_FWVQUGrsZhR443OjJtNEXC5x8ZjgVcufZYZMGVZ9h6rizZvSn_9ZzZjerNPstCRA22N-dA8aWED-XfaRjGaVV1WfG6hNOy5tJIOkTqhfTWA5kMKqHlVr4YPqVU1ZrGFRajq45_l6gYcmV7zL9-jsaxLAzCuPTAd81p_bvmm52Sk6ilOtqr191ITyxdZqPu5dxvlHBumKK0c3uw8vLq5rukoRPYuAtdS_sqRwZfICYM_D0AHY6aT_PlfBBJupWPpXF0gWtlS714hDA3d9kFBd2J0WE0GuDWkcBNT8g0nTw4fuS3-LUYoijr75ipNiPw_j6tVFZG6I47ZUsyGxNTlXAPOmQQ6g6OFO7EWwzRMxFFLJubkpvqgNXBUicVHNNXUXyHFk5ouDyTXHCIRIZxVjcmnRE-c5CPX2fnFprbpAduW_t0dz0xqWePiV4Jed2PxBWKUHPjOWhgc0qeoeC8mEtRIC0sTw0afWT5fBrTKCr4JL-44TgnCjgwF_z7kww_1xrPSFjYT432GhncOb_x7yIQHzGL2J8D4-GGvEwJXYOVMfePFt6DWrktQfErQP0Zc0uq3wEFk6dm0GUQ3EcN3ys-lQ9Pn7xP_ZbdWLKMNuvN0A4iA6AQG2xJb2OpPUTxKZqjghx8kbZEjb6St_pNqipP19Pn3gMIZccVfWqbhp7EiUXuvrWzg5lezM5PtW1d4PsQ3YCg45vRc0IaCOARyDV0dFwwfc2rbwvKVcUMWMwY=",
  "id": "rs_06f38db467be4317016aacb0f4ef5487d09ea023fd116e608b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.045,\"right_z\":0.07,\"right_pitch\":0,\"right_gripper\":1},\"note\":\"That closure is empty too; the tilted pose is staying several centimetres above the table. I’m pulling back slightly and restoring a vertical tool before trying a straight descent beside the brick.\"}",
  "call_id": "call_KddUlbUBmo7nJjr2RctMWT85",
  "id": "fc_06f38db467be4317016aacb0f7f27487d09ec0ee48b968fdb1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KddUlbUBmo7nJjr2RctMWT85",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.823, 0.6033, -0.4343, -0.0227, -0.0498, 0.9992, 0.247, 1.8771, 0.8715, 0.3744, 0.432, 0.2642, 0.9972]\nstate[eef_state]: left_x=0.2887 left_y=0.0019 left_z=0.1608 left_yaw=0.0048 left_pitch=-0.0835 left_roll=-0.0053 left_gripper=0.9992 right_x=0.4707 right_y=0.0461 right_z=0.0531 right_yaw=-0.2614 right_pitch=-0.0043 right_roll=-0.0065 right_gripper=0.9972\nstate[joint_eff]: [-0.2256, -1.5111, 6.9538, 1.6679, -0.0317, -0.0269, -0.0122, -0.7043, -10.947, 8.3624, 1.7167, 0.1099, 0.2076, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d22c27caa51450a69a321ddc2db0ebb5cf592073892612c737d5fee5346a199f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14135a1ef45b173e5a1e034a6658d7fc6372456c2f83d2ccf44f511ad190fbb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:628b75966794f39861c042368e9f2816e6b4f6cf2454df68a2d6afec1f339f1e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8215, 0.6033, -0.4313, -0.0227, -0.0498, 0.9992, 0.2672, 2.3341, 0.7918, 1.4708, 0.5377, 0.0338, 0.0091]\nstate[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1618 left_yaw=0.0048 left_pitch=-0.0789 left_roll=-0.0055 left_gripper=0.9992 right_x=0.4965 right_y=0.0458 right_z=0.044 right_yaw=-0.2778 right_pitch=0.4999 right_roll=0.0217 right_gripper=0.0091\nstate[joint_eff]: [-0.0205, -1.4017, 7.2, 1.6923, -0.0659, -0.0806, -0.0122, 0.0205, -10.8786, 3.0291, 1.4872, 0.0122, 0.0611, 0.6667]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLEAiEUT-Dxav-dNZVnTtRG4R3jv94EavXVoK_uTFDWO7nSIxNtoQcJbHvIRLUA_jmHqWAiLNoezxxaxJufSbZX3Txe84a4w_TzZYro-EzNaRVqesDttw-zYjWm1_gSrDRSyoZNRYLLTtXzhBrpcCCFiDk0sTtcl-l8SYRej2RecoAW9BG_DoFGuReHjdijggaMdoFQx6WQLQNDF5Tldt1ist08TQkQs5UsX9bOMlf8oSZzEe8CTXXpD_zjz0ed5wVNqS7f8_CGfnxq1sZbaNwMobnq7Z1fE-2lY81QLACeUFdsEjIaX3L5sejnSyP3n7wJ-BgkIufoA0nLMXOJqd4HylvQS8Vxcth8mhqgeLecC_mS1q0piR3CqtUQyfDpEVxrSuRS8HQcPFtIN3lqJEiAxVKvF9Jfau6oKT15bc86z-YlrwfWJO0Afn_D_Ff7VihKprmEZx1_Vjwx__tAM5V0QjMrINhrJZuHcelmPKYMg1gPWDLkBDfK0ED2MsOan6jrkYXN9E-d5O0iJZU5CeLNY9y8_uaHk3I3MTyzbYBQYwO1oLrYE7zpgEgroesVKW-94nBL_Uo8uVQ7sl2qV5HMSfh0J65tSbW8yRbOAzkZQDSDD8VrAEYR4mFh20-E0QIo9NymD8XjrUx0pA1bKD9-7kNJGNfVvgrk9aughKKhB6EftyIY4AIKCGMa-47yNTXmNbN6Q1_dZWk4PfpQIDdDa5awRh4RO2_T_bBSWisNnqz90NEod6-HcJbfDZ2HG-wUCV1BSRWNtEr9nqrVCdb9e1XBRgRQFktEldr9ZCbCX76U3IcCbXSlMBWUxtp7pC8BQy56AE1K47z8qxBf_4lBgnKfpU8dEWixKUWZHUCd6IUGv2N05g6DV1c4r8hM-xcze1axJ7xoqMSX8-eCAYCbHrfUqQ4iFZYYWm5GGjyyk2N4WTWmrakUl9d14FVS3hrmOvLca9uj4TI7VoBS4cIHISTR82nK3c2QtI-mtF_yOmde9nzo95Hr0BBch0GMqeRUkFnEkKa91R_hLWZQql79R86paB6AtBRxEY_f753h9M_ULjSFerrdzdleRDL4zpL7HZUtze4B84iuWIeDr_GPQbRtDiKNJ6S8pip-zq5DqeORj6aRo0v29tdl1lt_sWPbGFMP-ZbCATWUEHYsAxO68wSiN9YJrAF9E6c8RffRfRhQznSlNan2xvFU4gk2CHZA6c0KYtnnEJ9PGiJuOqp_ZII9vL_RLucskngqJROlFQq8eeI9y9qPho3L1f7iNgZ0UE_Fn3SSCsx9-ZnuRB-UFiWAw6XKur2B9D0vl598AXtfnGtEsdgZ0VwPiZ7yxvLCL7SAl5RZ5YKuklAUIA_7UQ8mdJzARMslGNECZWnzm0GLn00_-Bch_NAmx29ouioVnZcGRt5a7euCbt6cOrGAbbA==",
  "id": "rs_06f38db467be4317016aacb0fca48487d0ae1ae89c2808e8a9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.035,\"right_z\":-0.015,\"right_pitch\":0},\"note\":\"With the tool vertical, the brick is clearly between the jaws but still ahead of their closing point. I’m advancing slightly and descending straight down to reach its lower sidewalls.\"}",
  "call_id": "call_0jjZQAvfIBmiz7LInPSlbkWo",
  "id": "fc_06f38db467be4317016aacb0fe5fa087d091144986abe1168c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0jjZQAvfIBmiz7LInPSlbkWo",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8268, 0.6033, -0.4377, -0.0227, -0.0498, 0.9992, 0.2104, 2.0846, 0.8867, 0.6155, 0.4171, 0.2321, 0.997]\nstate[eef_state]: left_x=0.2883 left_y=0.0019 left_z=0.1591 left_yaw=0.0048 left_pitch=-0.0907 left_roll=-0.0052 left_gripper=0.9992 right_x=0.4919 right_y=0.0355 right_z=0.0084 right_yaw=-0.2692 right_pitch=0.0344 right_roll=-0.0032 right_gripper=0.997\nstate[joint_eff]: [-0.0615, -1.5248, 7.0769, 1.7118, -0.0757, -0.0562, -0.0122, -0.759, -6.1197, 4.7111, 0.8571, -0.0659, 0.0611, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf774576555d7861c474de592302f07450bf2906ccc39a9b5b46a994aea5042a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:740ff6407143ebf93f08b17f7621974e2153f8c8356c7d2f14386c415d53db12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c47fb7cd38d1f10b11b5fd556c23dcb116d29196f56ad75ffdf1c1a43ad9c9db",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.823, 0.6033, -0.4343, -0.0227, -0.0498, 0.9992, 0.247, 1.8771, 0.8715, 0.3744, 0.432, 0.2642, 0.9972]\nstate[eef_state]: left_x=0.2887 left_y=0.0019 left_z=0.1608 left_yaw=0.0048 left_pitch=-0.0835 left_roll=-0.0053 left_gripper=0.9992 right_x=0.4707 right_y=0.0461 right_z=0.0531 right_yaw=-0.2614 right_pitch=-0.0043 right_roll=-0.0065 right_gripper=0.9972\nstate[joint_eff]: [-0.2256, -1.5111, 6.9538, 1.6679, -0.0317, -0.0269, -0.0122, -0.7043, -10.947, 8.3624, 1.7167, 0.1099, 0.2076, -0.149]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLEDfYw5fZkIvmVT8PlBCFev5JsMXZ43AOAkE9M16FFraezzDUtph8v_MEd6kqZMdrcM1Wq9qFkqfHbyMFarOApgPKLulogQXUORHmnzcZMYx_l7T3S7VhNGMOlmS2EgKzc4ud1nJ1lbpchnnyL1n-8KDccr7kN0qSaZzWWuAbn2tvEfCxI5qV7iFvZYuXzZd3s3miaWTr1XAZcoLwCAVpEciB64CrhArBgwExUv4Kw3IzP0IFWNvAFSRAonrmuT1pYeGH0shAwFfvy0MtpzZExdFOFA_zbKLfdcnrYwpm4LbtGPtU-fDE98Rmp_gPSf2QkRtmLmw5aU1xpc2716v7V1Stwhl2VCfM33jf_d9ucDkXJ1cbHJHsS74f1gerCKf_gufiq3WLs5D8tJJm4k57ALBKhvkd7kLzOlX5_4r-9FzOx7ZxJBPABQ4sr7BObROayTp8dW_atFMNVu15r4dKuZEb--3fU9xF6kon1ZUR2NLQ9St9Z_N-Zo7pJnEXyPejZHaAfGMRMSwdvX0jXfpzgfAXgxPZDlGB5-57LcG8eUjWMCfTqxcEHQube7F3h5wdIOmetWAuGP7EiUkdUbzNA07nIlFrPoMaNMkEI7wO_C9kXxckAKM0OOJBfhT3brNXmK0WATAQoO8QkJknN7komLAFvx1u273Ks45M0VOjVMHvVIPNxkqLXM5p4Qy5ORnbZYTMIiXkBdt-_fsQsHL48_R03sbCopYRZM6R9lFlXvZAgLoJsbkBCXVoeG1AcdvyYbeDGc88vLvaBm0_CVwUxnfjt_JI4ag1pdOu9F_pT769gDTTxU418S4x_G-4dIAGGwKHUjK0FAIsgaXbxIZ5byjgjrQACMS9o5P1dW7Ok2IYSFhFTiu-w65BOhN4PUAoHp-sbIn3hxGbcNZQTHM_jhLjTkl6wDhhXk3MISmkn1arkvPN0ezQK1zvrwGU-hl1-xxQqXMNuh4tn0CmwHZtJniWJUBhXM2d0f4-f0hang7UK7Ny8EsJgJl6kUVQ9fl1OqT5ZnNQzGJAmoF_iRleK7-XbRJCnclJDre4zKyDFtpyHaG4hZ0YGb4FaNnTNFFPlPPkZisfQ80DSCDeJx6xLds5RucOXyj9Sn2T8gAkVv2PCgO12VwTLtqOr8QC5dujNF92TlzOQTctdBW-2Vbajt2nK0UKzPkvaCBhlyyzJJnrgFoMQzsTAq_HWQacjNq9Bg",
  "id": "rs_06f38db467be4317016aacb101f01c87d08e82dbf324a96228",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips have now reached 8 mm above the table, substantially lower than the earlier attempts. I’m closing around the brick at this height.\"}",
  "call_id": "call_zIWsqeJrc3VXVuyM8HkFbtpU",
  "id": "fc_06f38db467be4317016aacb1023aac87d0ad7533b526e1e226",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zIWsqeJrc3VXVuyM8HkFbtpU",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8268, 0.6029, -0.4412, -0.0227, -0.0498, 0.9992, 0.2092, 2.0983, 0.8944, 0.6601, 0.4099, 0.2276, 0.7413]\nstate[eef_state]: left_x=0.2877 left_y=0.0019 left_z=0.1583 left_yaw=0.0048 left_pitch=-0.0945 left_roll=-0.0051 left_gripper=0.9992 right_x=0.4986 right_y=0.0376 right_z=0.013 right_yaw=-0.2628 right_pitch=0.0669 right_roll=0.0139 right_gripper=0.7413\nstate[joint_eff]: [-0.0205, -1.3197, 7.0906, 1.707, -0.0562, -0.0415, -0.0122, 0.0615, -11.0974, 4.1231, 1.2723, 0.1294, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63041ccb82354da3e5820d497ff33d05ee9edcbc7c3c47d81a748e4dcffd38e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02a068278b62788d4bf7bf11a0811e12f893cec4240a451df4d34606adaab583",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63a1bfc24f27a1498a4c3b5f2f795645f7950affb60f8551cc4daef67fc77426",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8268, 0.6033, -0.4377, -0.0227, -0.0498, 0.9992, 0.2104, 2.0846, 0.8867, 0.6155, 0.4171, 0.2321, 0.997]\nstate[eef_state]: left_x=0.2883 left_y=0.0019 left_z=0.1591 left_yaw=0.0048 left_pitch=-0.0907 left_roll=-0.0052 left_gripper=0.9992 right_x=0.4919 right_y=0.0355 right_z=0.0084 right_yaw=-0.2692 right_pitch=0.0344 right_roll=-0.0032 right_gripper=0.997\nstate[joint_eff]: [-0.0615, -1.5248, 7.0769, 1.7118, -0.0757, -0.0562, -0.0122, -0.759, -6.1197, 4.7111, 0.8571, -0.0659, 0.0611, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.085},\"note\":\"The gripper stopped at about 7 cm wide, consistent with holding the brick rather than closing empty. I’m lifting a short distance to verify that it moves with the jaws.\"}",
  "call_id": "call_MZzdPxlcEeYO7jZlMbd4xv2O",
  "id": "fc_06f38db467be4317016aacb1059f0487d08e7050af5bb8db9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MZzdPxlcEeYO7jZlMbd4xv2O",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.828, 0.6029, -0.4416, -0.0227, -0.0498, 0.9993, 0.2092, 1.943, 0.91, 0.3882, 0.4011, 0.2276, 0.7411]\nstate[eef_state]: left_x=0.2877 left_y=0.0019 left_z=0.1579 left_yaw=0.0049 left_pitch=-0.0961 left_roll=-0.005 left_gripper=0.9993 right_x=0.4823 right_y=0.0356 right_z=0.0385 right_yaw=-0.2547 right_pitch=-0.0256 right_roll=-0.0273 right_gripper=0.7411\nstate[joint_eff]: [-0.0615, -1.388, 7.2, 1.6825, -0.0562, -0.0806, -0.0073, -0.0615, -12.6017, 9.4701, 2.3077, 0.1734, -0.0611, 1.0232]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b2e109850eb0ca9d76bac3757a50d381e6b312cc42618161545cb70af241a14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f241b84b393943b3f37f5e55140a5f7ad7ca53341f780029f23221957fc4956",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:696bc4986a5fa2b1f78f89158bce5a0529c6943543fec249a67ce77ebcf4b19d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8268, 0.6029, -0.4412, -0.0227, -0.0498, 0.9992, 0.2092, 2.0983, 0.8944, 0.6601, 0.4099, 0.2276, 0.7413]\nstate[eef_state]: left_x=0.2877 left_y=0.0019 left_z=0.1583 left_yaw=0.0048 left_pitch=-0.0945 left_roll=-0.0051 left_gripper=0.9992 right_x=0.4986 right_y=0.0376 right_z=0.013 right_yaw=-0.2628 right_pitch=0.0669 right_roll=0.0139 right_gripper=0.7413\nstate[joint_eff]: [-0.0205, -1.3197, 7.0906, 1.707, -0.0562, -0.0415, -0.0122, 0.0615, -11.0974, 4.1231, 1.2723, 0.1294, 0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLELGPHodaldeTyMIHPi0MdEahodvWG-jw_ikF0aWdNhIAyhxJw_pz3xYEua4iZGaQWOELvmtmM2C-Kd9ttpD9EXu6HadIdUQ4bgAisu1jWqvSSCmtbjT0N8-UdODFm_bM26tCdWmSbxroeiO1jPNuGXFY7H0qOJtExzhBrsaE8_FiG6qCfSc7rhsB258SfPyavvEArGItDCW8s2P-4vHPumIHPfeXhLky4jAGDq1dehzMhcx9Z5ay8J8VoxRWSoCg3WzB9Z11U4SRrfITuLJ1Scw7VknAV5MVEKVNx-15YfjydXZMhw0OvoHZ0DSDV7jir_Y4tQjSC4ha7HOknEZrjtqp-eQkjyqr_q7RNZPlu3uTF_Uq90GrbvYBpVErEOGs10E_ABPvPxYlKkZHGBxeK6I2WIxkRFxMC02-vnyi5Fo6021MFR4cb7DsstOepGb2FQ5PA0l3-xNKGV0KchnmboofuqPlzntUOJTA3oJNn8Ai3ebVGtR0S50J9V9Fgjqb1eLHIrbToKgnAjl8eIoNcfBAmRJ71OMAdyQcDlzk1qem8b2KVt52trv5-VxuYiGNzhEGIOCCZOOAp0kFTe4Vr5atFRrGtqzPLuWh-J1_mFiX7uiKmlb7ZPowzQWYGmlc0l2LM73i5yW3sZenrTw5zGF5yRhgOgCPdsPw0Ugc2I-xsGz6kS1k-34FuDLtgWzcqxBp0kWO7UrehkX_sEs7T-8ISuO6Le5dJLMXmzbQNl4nhz0iSjFTiLHrERZaJNuejBxi7MXJFWJ6DP8SLAc4MSsrBzh0jDy9WDoAxwZxVS2oM24tCRC3bT88cE463nkpzeTjbo4JtrDLivlSZrbNfkr8CKqDCu23nxrIYwFSOs6qG4s-gtoY0uOBJhWsIUEeobeT83GRqOliY5m1zt1-WiBGo-uqbRLsqzenBhz-ls9BcVQhgdvexwscpa-6hnyDCuuFPDGaJWKOgtKrmIUstBiIu-lN44bgnMuaNxsx4fDJzIH3CNjvK2afDG6DPtWeBMWuPM8DcJ10bbxiZQXeK3oIHShr7utqSNSJVjPhKIPhfK6NxJvDbgKZPjtP5naUFAlZPQUjoSZ6YUDYgnE4cMDjTe4HTK0IOTDNxvlQkWpkgLo9h6KPdOvowQg5c2A6NWwq3oQwfGsQlltuBZgYu8IC5PnzAPa9I1evgUlTN0vaOf9bqXvcGcDBiacMWo0FUu0iwu46k4FfWYafxi67HL9OCvm3XhQ1RxjwHW3GvdTeD9YCgYsD-JeBi-nQ253QhWo4TxpgEKwlVMIV7rrxvb5g==",
  "id": "rs_06f38db467be4317016aacb108a2b487d0b9fc2dd6f9852d56",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_z\":0.19,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The brick has risen with the jaws and the grip width is stable, though the loaded arm is below its target. I’m lifting higher and drawing back slightly for clearance, while restoring the idle arm to its parked height.\"}",
  "call_id": "call_aYODRJA4GnKaZTI3vTu8mEJV",
  "id": "fc_06f38db467be4317016aacb109627887d0913533a0b77e49d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aYODRJA4GnKaZTI3vTu8mEJV",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.8707, 0.6636, -0.5056, -0.0265, -0.0532, 0.9992, 0.2291, 1.602, 1.0603, -0.215, 0.3882, 0.2279, 0.741]\nstate[eef_state]: left_x=0.2888 left_y=0.0006 left_z=0.1611 left_yaw=0.0032 left_pitch=-0.1421 left_roll=-0.004 left_gripper=0.9992 right_x=0.4419 right_y=0.0381 right_z=0.1408 right_yaw=-0.2284 right_pitch=-0.1294 right_roll=-0.0693 right_gripper=0.741\nstate[joint_eff]: [-0.4718, -1.4974, 10.0581, 1.7167, -0.1343, -0.0952, -0.0171, 0.0342, -10.906, 10.6051, 1.79, 0.4274, 0.1197, 0.0757]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0090c5592521cc374dd7bf38f7b49f2cf1170e86d0a8b15904a62daebd62ef8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24e79425c9d7b466b50d92785d769283b826e83849e52190d67deafd07581b2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dc079d1db3ad97dcb5b8772ddedfc8a9bc9136169ac5b200c1e799220889315",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 65 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.828, 0.6029, -0.4416, -0.0227, -0.0498, 0.9993, 0.2092, 1.943, 0.91, 0.3882, 0.4011, 0.2276, 0.7411]\nstate[eef_state]: left_x=0.2877 left_y=0.0019 left_z=0.1579 left_yaw=0.0049 left_pitch=-0.0961 left_roll=-0.005 left_gripper=0.9993 right_x=0.4823 right_y=0.0356 right_z=0.0385 right_yaw=-0.2547 right_pitch=-0.0256 right_roll=-0.0273 right_gripper=0.7411\nstate[joint_eff]: [-0.0615, -1.388, 7.2, 1.6825, -0.0562, -0.0806, -0.0073, -0.0615, -12.6017, 9.4701, 2.3077, 0.1734, -0.0611, 1.0232]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLES_C5oyU6Mb6ah2AC4l8hHjbXfOZfjAOBVYZed5js-BT6BtEULKl3SqGSKLhNc3iPyQefJGvsjK1c-TwvZq0aQunb6aHX6DE4qMM1445eE1SHC4Nxcvh0mJfobylJA3GNzauFfxk9KOboL7vuxL4kofn8OiAZE1G7PWw6PE8w0LRpD7cVMM_L8wcnPjO_A-b8CHxpNUeNgv5jMlcAsMHnHoftsjlcpilenwQac-r78eDtJ-WVp4pRjdwgVvfqcX7OJGZCiGc7tjCy53L6-WkuBqCByyX7-Q2IXwenrYzdO7MEgPpOUJ3Wzy29HmBeH9jGQ_P32553TyLTJ5qEZZpPdkVAKIWsfbvXUP_WoTn5KYvpk69HEvM4tep9ozSIbbH2fbXOjFLhf0np5R5YoDzunssFL6E-r7VnaeDZCopHkjA9yj1lDcJQoy8RnOtvx6dYAGIH9I42jH9l-fdf85vgelPzV3rfZU-g5RQ3cBoZrSZlhRi3kFnORmSmlHgg_DJIVuKYzf_hQCYKwyQ-_Ejyon904b-HMsvhji45NbzVXztoDEoUFJ1uTJq8PSIRTbBN80M4v4nXXZn1w1kB7i65wQVhnkTpFGksA0m2HbHzUg6d3mr6KEGjaPgGvLm1VZae1Z9zBs4bdCCewWI-L_q9XLfD2sdfWsCgcH9vhQs90pCbXT_6jXLIChYOP2cuLbwNI0E4GgV089sjlQPHDc1ZoMjN7dUlKFMAgJysiIFRM8Ir-XlCEtcdIp4jGXI7buPQIoPk39h8UG3vATz1FmJ69xTEQV1N3QGnzGMyALVoD49LnT6OLlpXEkplJL6wuE94NEygy3LR_bHuugPXB43F9acpSgKDM7WQI8DetG7TOcJepYOR6VB6yPCfx9DLOsdtAkZtqpHebstD-rEoX69uCY2yw_W9k62muOrUgAbQha9TvDUk3xa9RBuHz6H1rRB4IDEBoa720oL-Px2hBu7wgtzJMCRnNSibdw-OqDX6Bluh9ZzE_7Vr4USk-NpjuVthVmRumaZ7zBbT_77IUt5WEk0xsED2F3ajhSm2HCDJOYkTYwrSDT_pml-LIdkBfzmPYqRPqCid-UyKPYDBvBdBoxikFg2NZPaot92amzkQR7Uk9ZBn2hxS5GaFrOrKDwm1-wR4j4WQHUPOg7GszUFEadebSg-Eicuj0V5TDmhWdwoB_FhDO_d2Lp6fuAQggh8J2Sk50rNXRlSKlQGleY3TZbJDCN-LnlNHM8Fgo0Cdn-PjVx4ywySokB69qALrWKtF_NAwF5eesw-no4QoIK6CeGGuYPIhaO4Era_l6PnP0kl-mYhq2Cr114GOuAY1R3PiizN_E9ATMeBzRqWgDxwUiNfnYqZ651SYJqsGAVKQA7Lnq-SHuWxbtNQKtkr7tghiohYdo6mYZxWvNHgdSboeSYlyrcqEvz2ptOAhmql0lApBWHs3YlPEZwUb2xdEBewwtGyEcTS9s7waF2GPJLhvfnwUKpd9OsynclWJT7VyM51sDAz-39_sas6lzv57DGb45n9t0K-Qv5YT6tq1PTh3Ipln4xIAsB7Jm5xpo5EnZZ-tB9bEcaaFjcS3SRYkslJDx",
  "id": "rs_06f38db467be4317016aacb10e369087d09cc4d9c1f5062ae5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.22,\"right_z\":0.25,\"right_yaw\":0},\"note\":\"The brick is securely lifted. I’m carrying it leftward toward the pot at a higher clearance so it and the dangling cord clear the rim.\"}",
  "call_id": "call_yKfXd93dVgMYEawErGmnaYyr",
  "id": "fc_06f38db467be4317016aacb110cda487d08fe845248d964bce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yKfXd93dVgMYEawErGmnaYyr",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8734, 0.6666, -0.5129, -0.0265, -0.0528, 0.9992, 0.6189, 1.8187, 1.7222, -0.7292, 0.4866, 0.3344, 0.7411]\nstate[eef_state]: left_x=0.2883 left_y=0.0007 left_z=0.1603 left_yaw=0.0034 left_pitch=-0.149 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4432 right_y=0.2187 right_z=0.2379 right_yaw=0.0218 right_pitch=-0.1489 right_roll=-0.0833 right_gripper=0.7411\nstate[joint_eff]: [-0.1436, -1.6615, 6.694, 1.6484, -0.0757, -0.0513, -0.0073, 0.1846, -9.0872, 9.2239, 1.3553, 0.4371, 0.2418, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1da7190bada55e09d946c79641c8bc12efc53d7daa2f0a8828098959e223d509",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a874ad9fdf7cab7de07b092a241490ff62fa183a8f6156fd1365415588df00b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4323affc92e4b26ddd2bbf255cb8149766d57c4b82f0f2b19c6adcc62acad35c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 69 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.8707, 0.6636, -0.5056, -0.0265, -0.0532, 0.9992, 0.2291, 1.602, 1.0603, -0.215, 0.3882, 0.2279, 0.741]\nstate[eef_state]: left_x=0.2888 left_y=0.0006 left_z=0.1611 left_yaw=0.0032 left_pitch=-0.1421 left_roll=-0.004 left_gripper=0.9992 right_x=0.4419 right_y=0.0381 right_z=0.1408 right_yaw=-0.2284 right_pitch=-0.1294 right_roll=-0.0693 right_gripper=0.741\nstate[joint_eff]: [-0.4718, -1.4974, 10.0581, 1.7167, -0.1343, -0.0952, -0.0171, 0.0342, -10.906, 10.6051, 1.79, 0.4274, 0.1197, 0.0757]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLEhWyG-hFSi-AxxcIA_HOTe6LZeu8lRn1Du09Li8YlwfrepVF97wDprPbdiLEnzV3r9IGlrCtZBr2uvY3mN9jAhfPI4JOu68kyLiYmjHGNyic7I6qJB8eHdgTltDl7uocROVL4kTd8Oantft4fGLMiGmskbaSn2QChJ7YwgQD7Rbe3D14mfRFEcVmnJvOKO1NU6bLoqXxWxUTXq41ergGEtbVrRHLTHRGEs5OSvPlFrb2t7sBsAbsovbe1qjFQcBJ5tXrZrX4EYd5HZXJzXeHl9JRTQKdbihJab6DW3zSgsX9t7a1yuQ-9f551ehcX5LeS9KVenOTA9jQgpYb3S2GWX08pZYIMoFNu1XGasZYZR5RLHsJLEYlf3KfLkO9e5i8zLQDqFoQUzgJPzTf5feox-jRmzhGZTez79sS7yn3iaP_Uz09kgW9L0bFIrJ8XjGYjJBln2JohpsBgeQhtiaqB2WIh-FWEX_-eRBkBb_AkRRNfrldBpZKvr5ivZ8xVFOzTQldF10W2xN3iu1oroP4XD1wBJsJdHZg1iiNfky7Ay89giLpCnjleZhRZhw0ZY-BRpmkk9kpaFkyg_cK7bx-_2DXB5LJhFRXrzIue3dli-TeA8RaOyEWJs1A_JLx5QRA4XDn6Bx7HRVa2sEf5hHhUw7m0tk1l6PuTbWq2QJfZ1z1HFo556i8PX3SWlmUTrONIZUbJIeaqG3HthHqniFLI_Obb5RPxfo3g4FRu4OZ2Cw-rLIKiOt_yhspzVCAVE9ST5urIGLU6yh05znQW7cLq-wcOAmDJOIqSzkfJyY6VjFJMDUc7QcEYR3GwPXXZynaNbEkasQfnNMlsfnZ9iJjRcP5DKYdXHkoFjMgbvJPB9-8fBbpUKirHbMJOwD-BBX_YTquK1MSUaC_vCKRMx5eNxs6XgxKv4XO8Elv2pQCRdqVk4NPm_qbAvaRbkMO_yQqL_ALu8nNj0S1ukBbNW5-bruQBXCfqyLNaR8ruc8DM8zEYtOrUk7ZcbBaHplErEw2dgaMerCM_o2snjE8iaDsIkRqvJbN5VNBs9yESRd0WOp0m6hVCVux0cbmKgkeFv4VG8q1JQvdT2U2oNL2FMXxs-2TvoqaL3g8XXZr9EBOli3BpahoXte9TPPw8MayZhyDD2SsLyMZfAfmv6OTbfgsvXDl3p72eib8wzy_lU2e6KUT6JgZKejAmz4cT05RAKLDbWRAKXfS1KDITpm9xW7sR5avieIDbRBt8ALc9guhw-I4J0ECws79MppZt_HG4bKNlvh46hjyRqcWehsDJynSm4EFRbC_MbPiQJ70X9hiamWnc5TI1oZIL8Dm1Qdk770WIvdrskkuFoLGvMe-r1MlTzO42dMwgSan8KH5noxE93RsDXXjOnNQ8noDgd_sdXDMNFZHy_8690pP6bfgcR3JXGFBJHHXpjTIqVTEGjjF_Q94_mQYSos4H-ifgXbN5s9ehlSzp4cGwHBsMMFLUEtRX5_pXSvyxlNWFJyp3wBUoowfb0L0DT-cAej7lsCt5KNyqfcnkAOlebg-eTWYwt4ehFrqtYeHo7aWGUGiZ852_3-t1bGHmgkAL9Z89aHrsbgWskHVxlwvnYRusWcH9hrwmiDYZR0m0XHACp2GFsz5DGcVgPGFjOt8cgjgZ7byTvDW8cK4veq7t5A183dVQFjK5qugoLbJ_oa0Kae0GkNTf6nI6z96zXN-jmXUn5UVsh-oWcM4sRc6-bx-9jVTaKLgZB4kkQi5OTbMQOpTEqLXI1ix2qeP624Xqpu0McCeKmWfilyUTGw-hCxDpjy0ep9Dun8wy1pcwxt7jebQ2hpO--IQRCoP_AXMqQbmnJL13GU7StVkBUVZ6N11iS3AswiikkJWBazZPK_6Xnm1iK_qL2IP8BQSb5vNBXjIwPsjXRRR6u6RbUeFD6j3MP3rVuvynrJg5xt7qoYkjrNciI4B-Han8dQrOPccZWZ9GF7rWdgCHZF3ixbXhw2s3O09WtZpDvbStNKb4CzPTX2PvxujQp32cCuaWuHGEKnmdv4ZTrKRkBuM7oDicYrgNvmcAsd5Z7eSzY5vcluo2YtMeFxN3SVxmzkXcb7x_MtZ0WgH-83825O0GOBvbItq0_2mkp8ebKo6Q82b2om-YQLctycuY-_rUFXC31Uk0GTk1suF9ZU_HNpvvYPeSoyq5ATPXlcsoks4wVSpuFSzQOHURIVfUgp039wGLYZiEj8ecEUBjBKsnbjYDmCnNW3avxPolOvVvwmY_rgEVvh8UvB30so5CfUI07yFTVHfHjy9u_khvgTIPQaY0Iy_2MjOyw1a6u8awwEOM46GZLm3qP7i4MhV7uG5zQeN7UC8uRLN5jQIDzxYfagE0l6padpCQwZbzgW6ie_aoDww81YooAljnK8tuMFTo6FqFDag8pc8Zg_fFmGt8Yavt9rsKeEdxDbLodU6BwVnOdLJM4_bjU8AIAUn0VHmvkR6T74PajT3656FAbEYJcKjhBgdKhTYa5a9-kdpZ7oNedao9yrc03wYA35lYPXE7N-wvwJxE3nis0-NczFgMxOXO5w3sbw9_Ot4zA_NRcCyGiqW2PUBMw5LAQr-P8iEdeMoUDEWa4mUwTdnFdGpHxMrMU3dGbptqg8qELMn9qt6Fve8pCOwYmojaHfzdJ9VAqI87MVBzD1xo4HFJF7y1WkXZMjK8aT8HD_HKj6QzF-qa2fC8Ptl0HDjoK2UOA-R3ghlLZXuBmOiudGhY5wkBYokSoILrSh4h7g3vcSs5OCdU1yWGc7cbm85cMDlwkoJdpEXlis0TaHwTsRr1lNkeG_PM9-0OqWA-lMo2arRSpC4yBB5eybl32tVMHZLhOPVxnPzKzjFSTaKnEb7McUrfwiX2ylDlwE4htKEgh8uSyYn5qDk0KZsYtfsGpBUmVRFl7Mi3kyCAvHqHzhrZ6mjJ5WJE59kQyyTt4-ViU5Uo4Fpc9sjkrW4PxabMpijyuZ_fK9QGNjg_XK8oAabASH_E1rXbcGdrNPKJ13cg0y9s3whbzUJoHPm1q_1R4zfW5ZPcm3cj0q859DfSACgV2pViDkryX8N3xwqz4SnEzHvjLekaJ-qY1FuDveBOlvagFRmI50Oqsj7BqPD8QyHHfgT1b",
  "id": "rs_06f38db467be4317016aacb115316c87d096b9a21403933249",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.39,\"right_z\":0.25},\"note\":\"The pot opening is to the left of the raised gripper. I’m moving over its centre while maintaining clearance above the rim.\"}",
  "call_id": "call_d7wNgEKuVRjWmFVDgwombuLu",
  "id": "fc_06f38db467be4317016aacb11fc5a887d09a25b7267cb99e9a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_d7wNgEKuVRjWmFVDgwombuLu",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8772, 0.6662, -0.5194, -0.0261, -0.0528, 0.9992, 0.8871, 2.5244, 2.7308, -1.28, 0.6266, 0.5587, 0.7411]\nstate[eef_state]: left_x=0.2873 left_y=0.0007 left_z=0.158 left_yaw=0.0032 left_pitch=-0.1597 left_roll=-0.0034 left_gripper=0.9992 right_x=0.434 right_y=0.3744 right_z=0.1865 right_yaw=0.0363 right_pitch=-0.2432 right_roll=-0.1715 right_gripper=0.7411\nstate[joint_eff]: [-0.1846, -1.4427, 6.9265, 1.6728, -0.0317, -0.0464, -0.0122, 0.3487, -20.0547, 6.1744, 1.453, 0.5788, 0.2173, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76a0d2774c4e507841b45c14db49f947e7e3b3313696ce824fea6a48cd0f2f33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c15b13f75e568423d89803be7a43fec337adcb176810e062295255f3044512d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73842b12046f97b94bdb8b9234d250b8c651f687106743fd2030df393f9ac669",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 73 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8734, 0.6666, -0.5129, -0.0265, -0.0528, 0.9992, 0.6189, 1.8187, 1.7222, -0.7292, 0.4866, 0.3344, 0.7411]\nstate[eef_state]: left_x=0.2883 left_y=0.0007 left_z=0.1603 left_yaw=0.0034 left_pitch=-0.149 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4432 right_y=0.2187 right_z=0.2379 right_yaw=0.0218 right_pitch=-0.1489 right_roll=-0.0833 right_gripper=0.7411\nstate[joint_eff]: [-0.1436, -1.6615, 6.694, 1.6484, -0.0757, -0.0513, -0.0073, 0.1846, -9.0872, 9.2239, 1.3553, 0.4371, 0.2418, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLEpyONH86-37t2ZBFp1tCJ2MGLAyODlKjJOz_rHxlXVSU37lORSoIy_EpoIitkgk4J5Q1W-R2L9tMCXO1UbZapgLdKgck34UnEftKYMvi3maO_IpOuUyUL4HFp4pYZKQQq-EeATYFDALAv72LNxkMjMLH6eV2glBERYuOxnB5C88BDfT0hqmyU91_jRrFbq3WmBbcQY8aheXEYG-EnAYsVoB9UDiYrGdNDu8mZ8bhcbQ8mRS1OF2z_mPCWn0BFBFme92I_rinyYaIIQxmKrvegcAUyY8iWyTSImsP4kJFiwrs6mbhVJ3KZ9VKdkBac_q_U_1uid1FjEWi5_YOBeSZTxNKeV0GDvKJUEgJtvlJzVV_txjb7ktMjoMrtJN1uv63S1AdLxziWTp50MlfMjnQUMcbDgZXgrgxhvoCd36AcABAWGGGOlkD-Mm6HACuI75nrXyHxIkWTooesbqcLWfwuv4lLZgL1kcqrox_uM5U3_9wtoQy_XxXYHBPEOlJ5vEvPVQRjSRXwErSvLFnnV34l-rF6C2IVzUVoPJsrq_hgzKd6QvlC8TKg_eMn7iZln82t-QGdwYN5XioKOJS6BcSF3WfqJdP_EzTM1y-6clrq4VCQTozI7MZexq701TvNYM978KmFs3M_Y6HdiieJEV1NGXT2fft8LpSBmgG6xzQ_ElOMctcbCTSvVQzPK7VlrwoRRc7xgzcol6O6ky8b9Y_XrQX-74JQ1P6yun5P_uW1hFVlWqSJSFWIVCfTnAIBWrB1V_aBL_CqRhTpcySUiL9fygWsafPp3BrQ1V4dcpgFky3wrpBP5Le4GMO9UfcNgjeguDHkK3RvRamx9kfp3j2BcpDc2IXYEYVbCg0KZ1b5El4LZByh2Cbz5V_9lrJlzZNowD4AWpTDEDibrB-2csa5WYIjGBNaBOk5uQhMoIgglWdIrozME3fYHkTl_wd9-xcYQw4N1jSZGbGMoJXbNbCVLtb1darzPJPLTpXz0B4uoZAG6KlnSQygMHwmt_saaN21pUkoyqjobrLXxHrCxhj-MasFL77V6VqaT-BhPobNv2JxtBPrN5F0R0rWRdhgSfmhcPedIj_P5K9pB9gIog_cpx8850XFZvF2DgADvVHsUXGMDCNi7B4S8qKJqn6MzCmpnkqFcZJU94NkbokJpKgg1Ki3jZZxPSY29UYbf5Vbm0ictqkpX1wzh4cVSbPtac5sKQR0iK2Jehwq0Vz5ycZb2uB3GY5bSeplW6gyUKIdwN0lN1GzfQsChaMFNK6Y30BGEN0Ff-_uj0iXLIbEMlIVG42eBo0a124VqjueuKQjAzRn1T8FXv4JNq1DOJeNHnpBYzvvmWGEwxzbuqDbGUdyEYou85KSIv6iRTNduR4Ovh9Y05UCBZsX5OWbIFgV784nMUUMhZ4c8B21iZDigKZ7MZgAWe1cIY_VIJ_R_O11UKp0oBEs-G4pLFrA8H_PzNbM2NzBnzsnPz2HZbr7-wWuQKP_nWrebuUWt82I-TrJobTFF21GRy3MMOL_0xzf5o-QWDeiLGkp_tCr5nQnr2AMolBjxi1QbqocHMCiDZFYRT8OqkAObriJTgNmjKi3pnAglNzlZynb2bIVPj5Ye56Ze8lAMZW2Xenxxdqwa-P2N96_41zmIt93yCmdtQhRUEJtv_3vhcbv4GBpj3Ox91dCK4wKCva82Wt0cjWURwCqMGsDAjJNpUb8LD3NvcRqmUqlCPrCmhiTVTNHsg9Chw3IiKh1Oz2-LsBlxS49B_ETDtmDsjxRiOkts0FmLtLSXIdLQE6x3iYBjsJmhsLRvhllz2xQPUXMunwn_28It-QEFqrMHhiAkzJ1uYhnDDXDPB4TDwJifFW_Z8-6dmAsFAql9KmmbeJ5CMWbE9SrWLvW13Jkm0v1qx57RbZ3R7dEafU7PJJRjrMA8e9cO9afYUBPh6ZHZZ1B5vq2Xs08D-WWBG_yb_DTYOIUanYPcM_mP3397ea5x9K8eFoEKLctD4cZ4D2j8ijW9qW075e0R4Eq_uC9teGdLUU7CgDAAu7s_UQSTtKI1fNrSg74tr-C2rijJ0hVRJnsD8rJO2C1G7VR7kMY=",
  "id": "rs_06f38db467be4317016aacb123fc5c87d0a49bbdf9d678b7f1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.39,\"right_z\":0.14,\"right_pitch\":0.15},\"note\":\"The held black brick is above the pot opening. I’m lowering it toward the water, with a small forward tilt to keep it inside the rim.\"}",
  "call_id": "call_fByl8E5JHtB6zKlU4DWGLnqB",
  "id": "fc_06f38db467be4317016aacb127c2c887d09ae23d7c1c7b3b02",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fByl8E5JHtB6zKlU4DWGLnqB",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8791, 0.6662, -0.5198, -0.0261, -0.0528, 0.9992, 0.9615, 2.9086, 3.1157, -1.0298, 0.8711, 0.4068, 0.7411]\nstate[eef_state]: left_x=0.2873 left_y=0.0007 left_z=0.1574 left_yaw=0.0032 left_pitch=-0.162 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4681 right_y=0.4409 right_z=0.1475 right_yaw=0.0531 right_pitch=0.0528 right_roll=-0.227 right_gripper=0.7411\nstate[joint_eff]: [-0.0615, -1.853, 6.8991, 1.5897, -0.0757, -0.0708, -0.0122, 0.3761, -14.3658, 8.0615, 1.6093, 0.5104, 0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4cd508126c24c624690a37504827e4819a886c8cbb7dd4f3a4b21c314214f62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6edfed93b9f6bb36bdd0c89e1cdbe58ffb30d06ec3fc784f55d478681efa5fa6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bc61ca62c3055f230db1c8a3b79aaacde0df6f009ba8f671234829769c7a6d1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 77 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8772, 0.6662, -0.5194, -0.0261, -0.0528, 0.9992, 0.8871, 2.5244, 2.7308, -1.28, 0.6266, 0.5587, 0.7411]\nstate[eef_state]: left_x=0.2873 left_y=0.0007 left_z=0.158 left_yaw=0.0032 left_pitch=-0.1597 left_roll=-0.0034 left_gripper=0.9992 right_x=0.434 right_y=0.3744 right_z=0.1865 right_yaw=0.0363 right_pitch=-0.2432 right_roll=-0.1715 right_gripper=0.7411\nstate[joint_eff]: [-0.1846, -1.4427, 6.9265, 1.6728, -0.0317, -0.0464, -0.0122, 0.3487, -20.0547, 6.1744, 1.453, 0.5788, 0.2173, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLEvNkVjg0v7WwBVxGCsguhx1A4YHlZq18oKOcJ4__rS-BoKl6BxXQtBpBNZzUkLKrsQO4H4Uql9VoMfLfTLNGaH-Ycp48Gzj_Fo2KIraxEqcnX3y8ofEAd13Kg0rzkEOjsr1eGoR-gHTY3lm_Np8q54NY_umULm6svqI6M33kZBIYQS6LGoWaGsGIAyWX4iIfwqhlZMZEd_4qUguLbXKfffYyKSDv6d6r452qHSo1NWP_HF0lXCOx3BbdhMJQNbYAZnrT6aLPXZRqqjKOMBX7n5iyL8dgdL-WHB18U54AY50oe8c7gcpbSt9pYqNva3ESPgWc5tQB2PSgWlTp1bfenIt88ZO_FMgYPS6193MoiyCR7wUaJuuv6uPZJMHZZv9zSPMdEpLWBywwQS5kRktOAdJpwoZrjBYSq2fOHf7mgMM-N5-7YefCFLtCLTetJeA4PhlOMF-WgDO6y3T5C_C0WKXhLIqAgJPxoTBdvwbVJvcJE2BOyJps1IDwKLY9DY1mo8-EQxoQS8QNwhcKeqgjoXn0VwsSxuc5ehfkV4tleWfEfOaQKV9MCVUVcoez1wDu2kKpFFkg3to6ltROhaHe3mbGPJU4JBbs2EEF5sgZqsfJv_FHJZqlbqtA5i7YiaofyLQH_0SJU8fEw6LnJeL0_7TCTL9TFeJ3zxzvXUPCHCuwmGuHvdU7Zu7L4p7D1qeZZoZXuMk2dOx7f2NOPl4zSFH-4vZkVRekgnUcDBTPtFLMrq_kcrB_li58HrPpBQ24Bj_IQmz82E32hoDPTrCqkxOIs-OcmvbCnuSRtUAcrr08Vag5kW47pgH2nmVAkAQuXRkxoj9e-bXzy1fzRIA2mPzB0WDWTfcQSEaQeD3R5XPGb1PzL43utLPQW2A742KM-1h8OFwyDohpMn_D37jIwBwFOo5x7n2E5FGgaq5IH36luw9xd7UxYj-qm5MspUcF8h0AYDRQN6fbdHFdgF1v92fhz-DaF-0Aq2ouLaY91c5e-WX5T1iaa6e6DLbn_R0w4_VoygrcFEQliXaz_7MJuthopwNLN0pqNGYlF8YRSrqUOhHQO7DDalaNjZartMTyPfEDWOpicTWEOJibM2BNIlSQ1JHWI2BxhI_jS1N9EpFCngu1V4IZYvHFjCNxCxjn5lAzkPWBSjarslyPWvevfztezLr6UJz2aNWvedlk5tASMM1-YsP_DyaJJJHCsBZl9UU02JE7uat63RyssquXxWs9c9KuX8JqTADWaZQcwJo5GalJ1tZXisd4viVRxgPE3E9Z4wIi-IdMDE5_2p39Yv8PGvHdt7md7SRTyAhxorPAlSGnyDcz67amQcRMz5YQK2YKQ5wJeBc2B2JOzrFPDcS-UkoIMFDegrqyEH0390pI0INSFE5mWVIkAv-g2yY4OOzm7mA2YZF9x4fuC6MMl4IIZg5r2_e71BZAwVur2VJPsXp_bRGgojaUb5TGyJ2AfJ",
  "id": "rs_06f38db467be4317016aacb12c577487d08c003ac299ba74a9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.34,\"right_z\":0.16,\"right_pitch\":0.1},\"note\":\"The arm shifted farther left than commanded while lowering, bringing the brick close to the pot’s left rim. I’m correcting toward the middle before releasing it.\"}",
  "call_id": "call_X4A3sFDlslC0m0JWBgORfjUR",
  "id": "fc_06f38db467be4317016aacb12dfa9087d08b333dfa223a67e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_X4A3sFDlslC0m0JWBgORfjUR",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8791, 0.6662, -0.5198, -0.0261, -0.0525, 0.9992, 0.9222, 2.9036, 3.1157, -1.0737, 0.8555, 0.3462, 0.7411]\nstate[eef_state]: left_x=0.2873 left_y=0.0007 left_z=0.1574 left_yaw=0.003 left_pitch=-0.162 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4807 right_y=0.4194 right_z=0.1435 right_yaw=0.0561 right_pitch=0.0104 right_roll=-0.3022 right_gripper=0.7411\nstate[joint_eff]: [-0.1026, -1.7026, 6.8855, 1.5556, -0.0806, -0.0171, -0.0122, -0.759, -20.9436, 8.0342, 1.3309, 0.4029, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:064b834dbfa399f9a45afbd4cd32af6f5947575b7c5a3f311252e20299e537e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1bbff19de6d059912273f213f612b31e47036b2f3c06042f1df82c62ad108a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1962cc96f47c72b9376de47b2ebb478099d495a159b0ad2d50cdc63dd741d596",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8791, 0.6662, -0.5198, -0.0261, -0.0528, 0.9992, 0.9615, 2.9086, 3.1157, -1.0298, 0.8711, 0.4068, 0.7411]\nstate[eef_state]: left_x=0.2873 left_y=0.0007 left_z=0.1574 left_yaw=0.0032 left_pitch=-0.162 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4681 right_y=0.4409 right_z=0.1475 right_yaw=0.0531 right_pitch=0.0528 right_roll=-0.227 right_gripper=0.7411\nstate[joint_eff]: [-0.0615, -1.853, 6.8991, 1.5897, -0.0757, -0.0708, -0.0122, 0.3761, -14.3658, 8.0615, 1.6093, 0.5104, 0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLE24gNBQNEwHf1Cx_Dg4vR5lzjtgFzT7SloACASHyUbSGYZUvhVjceF6t-gtmBE-gVMNACeTczYTI3vOrR3iffENfjP6S0BuWQVuoi_vsLELlOEyefXN9BOQwyVo7eaKrwtLbhWZi45mQOpP1qJTAQ-4WKKBhOYWb56T339VNOi9O2aQr5UoKxOg-DfZv7ZfVyqR_JsLu1JsrV2pH8ghHvX1wxGOH9GbIYCtu21asdGJVb2zYh1-m-2QrUNyPZ7wPJUNQNapMmRVnstScupxuw8Na3kisqnzUf6wKZX216ibjPB1WCBD41FecqNpzbv6Epzp4dd0FDzms3y3m2fr0qQJx3DMRwfznRvyGx3d8tLQiZ73GD-uJ4gg_zpoFO6cnVoUYRST_sfkmASGm2pFNsKeMI697ee0muP8tjlC6WkfwY8dSW9WG4h2TrRAYfppVYem4OZCUTHb_iwGSVorPl1TfufvCJ5hSWNxm4dsgmUApPGAxVB3kkSp1sIz2GuS64TWqunor9OLJPa765oAOVJMTwJUsH4y0LvxPgxIwHnEggu_Z6L18fvg53rmxppDzDxfF9-9ibroxhyrcZua9xmNvFhV1_wrypa1gHCFDwC00LHpnQdX5IPXyYT2N1859mUUnjreNl4dwlIceFoZAFRxczN7Ol9UWPsNrg0vR9fddE1gbYLhbpBQ-xOsm0mo_iG-DOfW_RLISIsJbaM2pkY0w1XBr8u-PipmBQSG3vbLa9b58DE5DHAYBdOFau-8LT28Kn55tGngpTM7QkPrg2eIogH74OHLjQ_tPkCTJh_Y5IgWkEqgUsz6txE3rEDGJn-eXh4vEcKkhTKmqVSnzGSdkoBGCLNoz1stydFz-3vTQ2naRGwTiWEpWlq9iY4-JYpxW6kzSHm8ZwL7Xn_KOQtQ7oBMNqs8hjw7jWpvw2rqaYI63UdOQo6z5fAfTOtmOoDjT_FlrgF2O1nlNl1JqTgnD_SmFSkms40NI32sQwAzRHzoWNL-dQ-pBJKfxa1gs2tJsW65r9OyD6E95gv126N9pGJicTPRtTWdblJn6Xp-mmuMFXIVnzNu9WXZHHamfZ9_caSUXukZv9rf3w17LbuD3uwyqet___fJSdWa0I5to_ykVYF99PBk1S4rzfKodMVQsU5lMCleeeqw0WeTbr6f7dcmSb2GCgEB-3qEjIVNWi95p579dNvhnSsJt0bu_8qKmEhfntJdcQjXeq2OaA6kHUhU0nFtksqfCQGBF38oVuOj3sDHhltvLbAtNgmwqMOJVHY1UtkmuME1wtmL30RuFTZ-K_te6yaiKjU4QMLGRyZt60hfmXaAtmVQGOJ45DkY1Qsec0Eo9zI1QkxILViswXSfblbriaeKo4houdnv-wEuqy-A1xR3X04gmXqQ7AmeqQmsCy50gZQHrQjKvMp6X0tm7cl53NJXTO72CKsPdZJcf9lwhr7D1qZhjL04U3TkdTpa34Y4oAYynBWsK0RlYB2C3HXi6Gefci0I9ZuZFqliZdX5_aN7x3vo51qDDFts9U4nWdjGgQfBLayIzEVJjt1zrYQJPibXxO9pCTKK5sdQ52vqxjQl5X4QOaswx8t",
  "id": "rs_06f38db467be4317016aacb132c88c87d099b23e69e23d857b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The brick is positioned within the pot’s opening, and the arm is at its cross-table reach limit. I’m opening the jaws to let the brick settle into the water.\"}",
  "call_id": "call_V2KwXBAMUSjWLrBu7yPZyRwz",
  "id": "fc_06f38db467be4317016aacb13510c087d0a8cacefebf121e83",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_V2KwXBAMUSjWLrBu7yPZyRwz",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8791, 0.6662, -0.5198, -0.0261, -0.0528, 0.9992, 0.9054, 2.8952, 3.1157, -1.0977, 0.8398, 0.3206, 0.9955]\nstate[eef_state]: left_x=0.2873 left_y=0.0007 left_z=0.1574 left_yaw=0.0032 left_pitch=-0.162 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4848 right_y=0.4105 right_z=0.1441 right_yaw=0.0623 right_pitch=-0.0132 right_roll=-0.3278 right_gripper=0.9955\nstate[joint_eff]: [-0.1162, -1.7026, 6.9265, 1.5604, -0.0562, -0.0611, -0.0122, -0.1983, -14.5026, 7.9795, 1.4335, 0.3932, 0.1294, 0.0659]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8361a01f6d5aec870e8b26250844aeb7b8bb6ebdf0eb929642254897921de70b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0dc3941560b3982222f6dfbf8b94bc18a5cfe6c7517220f7c167898e49ab382",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64fed5e636242710887682c2060428781e0df165c90c28a1db80a3b4320da9ac",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8791, 0.6662, -0.5198, -0.0261, -0.0525, 0.9992, 0.9222, 2.9036, 3.1157, -1.0737, 0.8555, 0.3462, 0.7411]\nstate[eef_state]: left_x=0.2873 left_y=0.0007 left_z=0.1574 left_yaw=0.003 left_pitch=-0.162 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4807 right_y=0.4194 right_z=0.1435 right_yaw=0.0561 right_pitch=0.0104 right_roll=-0.3022 right_gripper=0.7411\nstate[joint_eff]: [-0.1026, -1.7026, 6.8855, 1.5556, -0.0806, -0.0171, -0.0122, -0.759, -20.9436, 8.0342, 1.3309, 0.4029, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLE7vC5qLBW3Sjak5GuyJiztiCWtHL1H2Gi8fcicEV9YxwTJd-Om4Xd1WYj46ecfyBP2EjMFrM1h5ys7WoVJ8Ibdg8gwYcDCea8JXiXkATzOKPqDB-J8C7hGvYel9UxcsueVq2gRBzvOlnXbJg0jAS6dgRkldrcisoV7rYUAmixCm6xu00cmbtqUnWhlwawlg--CyhL_GQiH379RGkedhGT8vRSMBWg3tiICHQfW8__6wZMOEXZbLdTyOVeCM1huWAI2QjY1AFIY2Ae70ZxlICTynXqzLgOClz5Uv1PWaofh14Y05DjJSMFrFcB6nfQJwwUdI8sorwYQ9EQgvsxFmtQRUXRgTI--b7L5ZrU5R3pEoHaAdIjAJyYWosD97t-vIAFcFG3mbnxURD7irZiXOk51qjy0axYpTN_y1DsDv1Drxam6VxNA0MMNdXYaPX-Iz1oprCnMWvhhwYV-Yvg9-gg2qDM3Neg7l3l3-uRt-hgKp8G4Cr8fRm4hesE7hZ0WM6SsdWSi8HAn0KopztR8ujuiMe2XVVtkX8KW8sjbD3PjfS4vIznSOktfePKAVRlKkzrl-on65wYWBoYsz8GNu-ayieNag9KNhkNgqqEX5YML4K0z8ZNSpI3W5ftAf1-NBYgIhR0JoA1JpSGWKrlfKOiG7M0bgSUwwKrSQPVcrcWC0tiCbxe588CAdZZ59UJzg-HTi8uDJa4PWZIJ-qhegmY5Ad-5rHONT-UzGcqOwklehkJBa8z2ZdtwdXtmbUlogEtzNG6yNhOdOpF46gYk3Zue5Q6-8dW2NZvL9tGsMxtow8GmJehFAYccEHUtfnSQvm5fuCvui2cNVd65Tqf-3TKaGObxKAtUMIwW6mnr3L-Tf2tbw0IPYa7lI_WuHwnlgxLQ3ozRNKLagv1lgL0-VNMqjIuS-6pXNNpoxdA4gn00Ocj__HCg0bKnnOrK8WklvQv2u8oNGV1San9ubmMkKmgvUOZ7v8NFm4USCBuVvbU1dUi719aCwdMvq7nIkWYQhaXBII1QS7PgRVXwocN0HSVYhk-ysyRv64c2prUMrGJcmAOXC9bdnWv_wjcpBA_Z2kbGoqz-lgD_d6uyWKK0gTIDPtSxRgcHuRwJm99uFXVvaBSxHv-_a0gkQzn-o3qH_bjwMXnGGC_yfhYj6431W-yL4X8mMR_6CGex_t3SDJDSCGM1Q3eLvTRcqD1Dp_VmjMRBXCKpkkatzqLQVNOW6Zr1v8upJONWhUkho6kLGKStxw6mHFhNhFyqU_fF2__sI3mdVyxeg7W2tVGuIFc1Cbpu71Dz_oeHq_Zt-fmAs6nfyt6aBgquSSDKBXaihiA9MDpY_S1or_HvcJi5rEgWNkZXK7GKA2bzEz6Ys33yS9CLcea-hQCXoIBAQegfKfvy8tWLOZ-TI2vTfmh2vUp5db0TaJdKKoxsELLlYIrOoSzyBIPWTpLTt9s7zcqyiyY_5LLv6ZwxJLFsGb1jeveu-eyj8MXWMw4np8-t6FqcoET3s8p7Di3ziKkK2j9ElHd83nMV6YMacNu59iIc0wlc4hKsQwH0U46sL3peGmSeIy57L0E=",
  "id": "rs_06f38db467be4317016aacb137ff6887d0b82b07afe5b7ffbc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.20,\"right_z\":0.25,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The jaws are open. I’m lifting away and moving back to clear the overhead view so I can verify whether the brick is actually in the pot.\"}",
  "call_id": "call_Ndx6Dy6rzgBv1Pq8XpA7LYMS",
  "id": "fc_06f38db467be4317016aacb139f6b087d097a52f275ff4b71a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ndx6Dy6rzgBv1Pq8XpA7LYMS",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8791, 0.6662, -0.5198, -0.0261, -0.0528, 0.9992, 0.7319, 2.4271, 3.1157, -1.4799, 0.5686, 0.3744, 0.9967]\nstate[eef_state]: left_x=0.2873 left_y=0.0007 left_z=0.1574 left_yaw=0.0032 left_pitch=-0.162 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4513 right_y=0.2824 right_z=0.3314 right_yaw=0.0535 right_pitch=-0.0841 right_roll=-0.0793 right_gripper=0.9967\nstate[joint_eff]: [0.0615, -1.7162, 6.8991, 1.5653, -0.0708, -0.0464, -0.0122, -0.4171, -14.7214, 6.3521, 1.6239, 0.2662, 0.1294, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd5c3c209b6147df256a915b37b85767513b222800c0606746d28be65ec6eeff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc434a348b0f0c5f2a374a2ac471780c5af6fa3bb88cff53d8151092e036a820",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70e1224da46cbff455da76b8c885c6ff7ea28686c741a5fed08ef7cf98895374",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 89 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8791, 0.6662, -0.5198, -0.0261, -0.0528, 0.9992, 0.9054, 2.8952, 3.1157, -1.0977, 0.8398, 0.3206, 0.9955]\nstate[eef_state]: left_x=0.2873 left_y=0.0007 left_z=0.1574 left_yaw=0.0032 left_pitch=-0.162 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4848 right_y=0.4105 right_z=0.1441 right_yaw=0.0623 right_pitch=-0.0132 right_roll=-0.3278 right_gripper=0.9955\nstate[joint_eff]: [-0.1162, -1.7026, 6.9265, 1.5604, -0.0562, -0.0611, -0.0122, -0.1983, -14.5026, 7.9795, 1.4335, 0.3932, 0.1294, 0.0659]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLFHeMHpX4Lw0NfaMg1r9cwZ1SudRNfdoSlw92oEthfC9Dx43t4X74XRJQzeKTDfJSi-6A8NOh2M8ToRUzGC3OXyATZNW67uu48EvRFH6-4Wt6IRd6igEXecvEYt_yDP25u1Og7vPR1bKF7nIrp-TCTlz9ocRag-NbDVGpcsp7b1H7Fi3lQY7WA-0IvfaoTHyYk-hOyaxv-7sLsqAUUIqfvemvPvA0AHrEHWG0LG3ZktsCDUfJNhTbua-WppB0Hg6vKQ7bUHb303XHsFat-exOZVKTM3w_i4zGTnfX-Fm-QJPEXjC47LNjEDwPFMBv5xaWYtCtGU-fnMThL86KQaeYS_iHqR3Vhk-kvA9BzDDUraAIo8ifjHbWsUK2ea_pHv9KrHvz9SABi27zzmFpvb8AGqG0hxUDyw9PrlIrTjHprwdY1zrEIrY-e5BQfxcfuoxQNvLRIXAyLMZllXov0Qp5IMivfyvpzQd-HrJcOMUS_W8VaHo4EoPQlyqU2jbK1yIoPIbWxx008ktwEBFJTdXZxtrT9AGVWv3b8_Tr15N1bCRTU8ynjbpN1HVSP1E7PTXHnfjNuhFU7yVjFtcubAW57bYI_bdW-Ao40XP9Kj9o6Jb1uQ-Gz_5PNJh7GLmWnHXyHpEU7d4YZ7AzAa8riVYVI2mezzXujhqY4VP7lZhbiRlIRsobj8PckVbpbSjpuincGVeRaMpb2-C6IZqMHgIvjvgbgQEGo91Qj7439_cBi8dscq-TKUyZYpPiNnq7Q-PR7HPI-QHy03hywNybyoUGCtPD_jA1pLbPiJWta-v3aEVO8wYjR-LVuSpktwvp3RMMKCSngAU-70dnRLW4l3CqgziEJkaZ_8CB-LVKzxl9QYoCwq2yottN-mbAaJmawyZFpWP5776wK9KnLkuIizTMnriATf3NTVXo3Zh4qsI5uZeA8ekO-g--MCm30ggbVLWAI26ftLWgugQwtAXeID2SMYqlTyAob-Xm6psg7MxbxDpVldjh8MhM-6HNFDF_B0XcpkH68gN2v4IeR98rqCQB6jHVl3pLf5Fan_xjY0HlxAwLjq2Zg5BL40uGDqXjlZPc02Ou1RQVQFXyzzPhxvctNGSRyuAdFp2rLjnRQr2Jw9-YDIqT4Nstu8KeYj9gKwAVHrcT76rtPSFDTmMeikJ2y28PpKvi8FQ-XIOOYCkGygamYoxnQ3koWDtCshwrgdtY2HCAOKhcJD73L_rrBe9YPpYZpN8gkLNXSqElhfc-GCJZCiOGJeQtt9XKyRrxgd4VtN_O-5H1fhqHG7Cp5uc1trqWksPikBcu4HAJHhnbxd6bHfvXtfKJVD5u1UIFVrwBKKfLlDgVQ34JKhuz4UtTp7EME4iOC9MLjIUXO_gHNgBA_kf6vPWx77OTsyZzH3VSkz5RUS_r2gNAiEaSsZJ0xD73vXrLRTuUoRalhcyYAIoeSVsK7VjXum0IhHWXCpXJcvYxb7gCvZ-vJs96NPdJooML4FjbbX-EgAzRLapjUxwjJq6HcFq2ep4pm06pxswnQrMV1tyfyY4V95zSrkiq_nex57C2kFWEEeu4ZNwf_babf3IAvBqv2prW7pcr1HIAgxW9L3X1L7J-adRKKxo7HVuygqJIt8FCIH-qFSFH0BGl13yPHpohrxm8vzOVGr2o4dWilKqzPIwv5GeeJ4wBbXUhFq1j_RIoDOKn92ffg1xqGq-PQYTGb-tqwVafbJoG9JH7_XcjevLVrJwMc5p4AjvrBNoK1HddYZx1iErGVw_JbstTSGueuga7NGyFvy2JqR9HLmD0zZdTkQI4pdxxyoc2d_quhDbVsOJvfljHunXiQPXOjezWU0K69vHOsZRLqSQIhfZbiZupRbg9e9Ha7rSSwavu0JOifKHgdlMiNlI6LLvQ9O2DuiW4nzo_cQ6ZaWWC0cKTQsnDbJmM6CY8RjMIT5K_u8EAwQ07wthIKyJh_60kCmMwj1S1grUe8tpGuxjRQZEfpIXj72Y3QK5MaCW-9x6zeKDskSBZ7eBZvGBrhR0TB5K93zqcSYxOalKQloj355NFrjS5n8jSGhAlPOKQtUVcyHljRuvNZV8vvrxlOftF5NKDluUG5yw9Eaift_Dz7zIEgTU44VvtiU2HJjglvIHcjv1ER92pYkPbFj5oAAqNxPl3Uc67XqqBozJOEzk8XHlY0UT_Wey_Ow-4d09Sl6SS5R1f8YlmD_JLjy5txNtzGQtuK9VttfTNYNXsD-uJ3K8lYXZlLPd7sBK8KQGx3g-lO_9flQdoBCX6gUmCk=",
  "id": "rs_06f38db467be4317016aacb13ef4a887d08195b0ba84c0e727",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.07,\"right_z\":0.23,\"right_pitch\":0.2},\"note\":\"The cleared view shows the pot is empty and the black brick is still on the right side of the table; the earlier width reading did not establish a real grasp. I’m returning toward that side to reassess its farther-forward position.\"}",
  "call_id": "call_6sGhSGdwHEpHZkckvzhMkpBM",
  "id": "fc_06f38db467be4317016aacb14594a087d081930fad1c2d7aab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6sGhSGdwHEpHZkckvzhMkpBM",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8791, 0.6662, -0.5198, -0.0261, -0.0525, 0.9992, 0.3584, 2.3276, 3.1229, -1.3643, 0.3511, 0.0505, 0.9969]\nstate[eef_state]: left_x=0.2873 left_y=0.0007 left_z=0.1574 left_yaw=0.003 left_pitch=-0.162 left_roll=-0.0031 left_gripper=0.9992 right_x=0.5153 right_y=0.132 right_z=0.3939 right_yaw=0.0294 right_pitch=0.0256 right_roll=-0.1216 right_gripper=0.9969\nstate[joint_eff]: [-0.1436, -1.6889, 6.8991, 1.5604, -0.0562, -0.0415, -0.0122, -0.3897, -14.7077, 5.5043, 2.1368, -0.0122, 0.0513, 0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f01021750b302c107a44a910b9f392b20b38adccb19375f4a95f71a02ea819a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d26be51ebdc5a62a1a87d365d4054762774aecdd64a2a2320d231e640f521cce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97f92c1bc6a78935ff3134e450bd6c15c740daae7cb84710bb9d18900ec2a663",
      "type": "input_image"
    }
  ],
  "role": "user"
}