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]: [-0.0193, 0.7948, 0.6048, -0.379, -0.0223, -0.0414, 0.9996, -0.0216, 0.7937, 0.6044, -0.3771, -0.0151, -0.033, 0.9966]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1803 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2952 right_y=-0.0001 right_z=0.1809 right_yaw=0.0003 right_pitch=0.0004 right_roll=-0.0005 right_gripper=0.9966\nstate[joint_eff]: [-0.7179, -1.5795, 10.0991, 1.746, -0.0269, 0.2515, -0.0611, -0.4034, -1.4427, 10.0581, 1.873, -0.0855, 0.2027, -0.3736]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a191e134097850f098b0e1470e38fa29b5da035ff11500384de849aa0786d1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce13d458ae846d212bc470793454fb25016ab53baac83f28518f251fd7fb30fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bb473c49b453890399c7ab725eb90097f24e4edb336adfbf2df5684bcace42c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrK4_2KBqT_B0vX33X_oI0AUJ_RbRtpPeUcMX0W_AgkULzDlv-Pp_qkQdhBgUhtxe79ICtTSHRQ-5rQPAJJ1wcnPjZDKKRmvPAuvJNwaNsMWEi1c6Asps02cxH539A7NTCNSAmR7aq_Ni6WkYLYFrWnYXW9pTLhfhdxNgPZ2OkFyiKFBpiMH14jX7o1y2XwTuPTv9_cn5JYEnUJoD9FmrOcd9CnMQLQdhjf0BfVtOn8G169IP_1lk5lzJSho2XHl2ZJVn_bT9d4L4lF7tAEYmj5oVtLVM2gu_Fk18ccybE6IfWtjSlLLX_szklOn_jARlZNRtCfZYVqMr-wDgiC1tf3DSrJjbtHvsXKS8m3mQ7NDJYKb0wJN_8JLJPONHt6LcfmHv0YzYvo_cYqrx9hptuxz9pZuNFOZt0ZSmdkHsD9W7daviuB-nAItOe2sRaL6bpI15dVCCcZfCxWRqdrB4aIoEd4Y4DAS5XMsmJyy9mHqiroYDz4HbaZO-Fivbi6i9ZxjBZCxaGaQZBAlMaHDMN0dhoecQyqr3NqW-UAVoY7VzRW3hwzeHQQLZx5ao1bgllCldW4ezXbmR39i4FU8QVhaS54MLBp62gqeBj49LJl0q3KMhfDpbS4dJWO7DWCjNNbHrFF1Em7n7XtMV4jryva3MQA26VyAftSPtEuIazLSl9AaaWYj1Wwa6Tkq_-SLfHQvfDw1fjL-KKQSsqwW8qvu0eyShSJlmbVfqWTVVV9LZuU5KStVZiNGwvDoMfreRDZXEY1AbSVM1nUZuvu0bBG1L17aRhyJ_ByXZN9cTBrk75kHOlvL09mhUEggL2fmc6BieDOjuM_1voXbqZkafRmO2EzQWV5k8218O7dfQfCaVWsUQP-baJYKnXGSHinlMDbTLNcJdC-wY3IL8_GT0qsbhDhRmnBgvF4dvXpZsYECjPUrRxwucrcEkCr1nRqgdOqjwvvaBumOE9JwE7X14-jpWatSp2d1l9gwHRSZBoIe564MYeFxqo3TwPmpJFnharcXQMozf7bUL87dbnvQUuDO-e1fUU2CC2wS3P4XQHhLEx5XXuSNGwXn3jdQ6JRctzitv93rQKG9grAI89qF_OCJQO0ICyw7k80lwVoDS0TvOp9XGNKq_Wad7y1A0P2edsk7Ve1t-b0oFKusLdWg4a7y_wUa6rFAfE7HsEJ-HByVGy6X2NadSMRGDdUSRNZ9fYfnUdtlSjN_amI5qAtzQ_gs_52X2cdC5OPa3vpBgdbqqodmdZ9PW4ILqbc4cpJSyWIV9t8uLwTXNaMgm1J2_IYtGJBlJvrTEDPkixrx5fU0bbhQYuxD6wkZpVs2gkOPYKN-IbkbaTlWJZKwhLHG8v7Xcr6Uc0qJj8vhi9wn4MC9EOd-2dz4_JcgHhZcR1e52U6zM5hQSK7Gpw4E35700NKG1PsjV2FWn8ja0Vf8kVblV2xON-c9R-CC8ckjEotzA9vqEzHE3BHCoKVrSkDm5zevigCl5PGoQp2i7MTV6jr_YS2S47vZ-VuWTCW9v_XhbJwTulbSgTcZwMtpdBQjSuzbaiA==",
  "id": "rs_0a4d47986c289816016aacae3b7d5487d08de68614fc1b5767",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.14,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The black rectangular brick is on the right side of the table, with the pot to its left. I’m moving the open right gripper above the brick to align a grasp across its narrow width.\"}",
  "call_id": "call_bfMhuZVV0361mlFJdUKVuQMp",
  "id": "fc_0a4d47986c289816016aacae3de6ec87d0af9aff3443da92ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bfMhuZVV0361mlFJdUKVuQMp",
  "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, 0.7986, 0.6075, -0.3866, -0.0227, -0.0456, 0.9995, 0.6098, 1.2591, 0.6834, -0.1665, 0.4648, 0.3031, 0.9966]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1789 left_yaw=0.0022 left_pitch=-0.0091 left_roll=-0.0031 left_gripper=0.9995 right_x=0.3264 right_y=0.1358 right_z=0.1263 right_yaw=0.0505 right_pitch=-0.0832 right_roll=-0.051 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.4564, 7.0359, 1.7705, -0.0171, -0.0269, -0.0171, 0.2667, -4.9573, 9.306, 1.8242, 0.4029, 0.1587, -0.3687]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97259c8b84513e4d1c412cde21ee491a6abd91a1d9af2afe5a4d2c469181dcea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55b82428822a7eb2ea3ed7bae87768c8fb996b8b116bb441c24e29723e101cfb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4a5390a1005c32f331903805cb331f093746260b218c6014a8ad09a8d1ad35c",
      "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]: [-0.0193, 0.7948, 0.6048, -0.379, -0.0223, -0.0414, 0.9996, -0.0216, 0.7937, 0.6044, -0.3771, -0.0151, -0.033, 0.9966]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1803 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2952 right_y=-0.0001 right_z=0.1809 right_yaw=0.0003 right_pitch=0.0004 right_roll=-0.0005 right_gripper=0.9966\nstate[joint_eff]: [-0.7179, -1.5795, 10.0991, 1.746, -0.0269, 0.2515, -0.0611, -0.4034, -1.4427, 10.0581, 1.873, -0.0855, 0.2027, -0.3736]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrK5IPhwcSbENRf-u0RgQ9nBjtp21S-oOMVsZl_Y5MCd7VZFyHMRULkmxAtKA2yDlpAlTjYildvxkpDZpvBIEK6yqeWE_v4871iX99u65LVpkRPsw_KWo5EyO2ZeeKYogcNVKjTmgFHm6JoURDNf5g2LKO9aO_HLyrhydcgiw935sQz_2Q39a-RZyK0yeCTioVDgUZ1yTL7y745qFUeEXk1x4euzp7STwkbQjyNI0BE2qMRJxo7W-4fMeTCyKiIcbJ9L0mgQaNF51GMF3q3DkZa5m2UfrtN7PPtOIovIzCo72nYQr-I3Fv_gzj_SZ7cHAjLTT91uoqGowQQe8OcdrFxR7y5QJ_NQ7jQyLABFG4jZX54hY0HzE51ICY0Ok_wufWFwNqBh5S2xUj53TzEUB1LzzBOV93c3omQKc7JuVQey5SGs17GG9yr3RRg0yKNAl8GSForna6kp1ueT_dAOILnjk7jN3mm2dOKJV39Ai7cGFdTZtUgtS-6UPjOkRzMB3CMVEhweDFVOwDFML1Gr6DAgtOoKIhv7T1J5mVCCXoZWvvoPAWeqgO6fnD4wopopQwrlHV38Ylaysa2mndYD_y5uBwnxU90kzLbkF9BNWPwCQu-E5TLze6LygqciukiCEPeqklc66jmwy7s83Y3CDIe3ox3vNEH19FmHouGz3W7XLhLST7b2WGQ_Z7w0SCjml4wTi_gM-0HJkMcz1igFFDNHf3Qcjwt7Otr4hN3pm1oSGbQERKJFF27u7t03tb_yr2cd4aTikB9A_slrSHvYV3tWhXPPMOhs9WlPNV2eKvy70oUmEJEC8KvkCCLfxs1sWUvflX_efbz-dzMzeK_vYrDg-7aYkGg_wsxKpM1sSFbd3RT9dCg9RWH-tZc7QLHkq1h10nnQZe4GPnfnuifkcXvmsAKRI_7zcuSMFy6sRr_7qdHZj4xAL8k421z6b1Bty-0ZDQxD5VcCoqK_94XIogR7SVQfNHPOMRli6QzoYtmrlTLa_N7v1C65ze9wi0MmC6gBUKN-sTP3pslAktzZihABfGR3BsqAOPM2xzYQSgJREXUN_kN6cxTb3gJTe2oK98Ee6Tr5fvCTGuXvlEvoRG5tBrKhUGv_B8YISiM9qyeD2m64r1oEEjHvMcEm1n-0pqyy7GALV1b8BtGovVaGbbC8R_cBd-eUai95Y2eP21pxSe5Js2dCL3cpB36A3inRDExxDXgsQfTiBmzrxG91RbIBU4BdE3Ml28wky4wQ3_eLFF59DB6X7AC4HMK1xgCj6rXQBZzEylTqD8b52NY_SpgaSt3hWbS84Qwy5lRhp_AxJIvz2i-JnQYvow9f4cZiLS_ueL7Td3aVv71JcaDAqdWvWxkTaKgasICnjI90fP4Ti96ADhBI36MGEwvfzz0PCOBv6JTVK-UR-KKijdqhbeDaMYzsY2FoZnT3dccC6PVXB_UL8fpOROOGqoAN67RXWEKE9zvafJwH1XvFJv2qvt7CCk3Y3Zub3SIlmYhNJ2qDfVFP2u6NrU1YMYtm2nsKqgCsAX_xaJ3E1vvhlQGc85vW2Mg==",
  "id": "rs_0a4d47986c289816016aacae43f84087d084f61443e24ff3d5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.105,\"right_z\":0.075},\"note\":\"The brick is to the right of the jaw centre in the wrist view. I’m shifting right and slightly forward while lowering, so the jaws can straddle its narrow sides.\"}",
  "call_id": "call_6NcPAaODYF9ytVqFWdMfnxyZ",
  "id": "fc_0a4d47986c289816016aacae4728c487d0831d231ad0370a25",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6NcPAaODYF9ytVqFWdMfnxyZ",
  "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, 0.8036, 0.6075, -0.3901, -0.0227, -0.0494, 0.9995, 0.4301, 1.4403, 0.5865, 0.0566, 0.3641, 0.2058, 0.9964]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1769 left_yaw=0.0043 left_pitch=-0.0175 left_roll=-0.0061 left_gripper=0.9995 right_x=0.3485 right_y=0.0946 right_z=0.0605 right_yaw=0.0002 right_pitch=-0.1688 right_roll=-0.0906 right_gripper=0.9964\nstate[joint_eff]: [-0.0068, -1.6068, 7.0222, 1.7802, -0.0366, -0.0317, -0.0122, -0.2667, -6.3795, 6.3795, 2.0, 0.0952, -0.1001, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d67e66f5540301753f84db2d7f3ac6a06ca751ea5558da99b9f8ee1f554aee11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60cfef890303b19732410e9abbd7473dcd9dc1fffc04c9a02200d3a7beb9c8e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d52d39e5bd440582b48c902cbcc14ab3c2f9c9172aafa590c472409addcd71a",
      "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, 0.6075, -0.3866, -0.0227, -0.0456, 0.9995, 0.6098, 1.2591, 0.6834, -0.1665, 0.4648, 0.3031, 0.9966]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1789 left_yaw=0.0022 left_pitch=-0.0091 left_roll=-0.0031 left_gripper=0.9995 right_x=0.3264 right_y=0.1358 right_z=0.1263 right_yaw=0.0505 right_pitch=-0.0832 right_roll=-0.051 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.4564, 7.0359, 1.7705, -0.0171, -0.0269, -0.0171, 0.2667, -4.9573, 9.306, 1.8242, 0.4029, 0.1587, -0.3687]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrK5PConak15Kf7j1enZHLpmqPenUIcuswElU8t2rD7XbRZ4OnPY_wkObfLB9LrNmkIX6UtT5GYn-k0Er13V_9AI7zYReV47OK6YTJHR31RYI2N9eveeYF4WoEaQRDmijIb227eItSKrQ8u4kXcfrrojIIDeT5dokP55QLKtrkG3c0pwlX0JpqbKsHludeR7tKTv9VLCNH-dVdlSDq-4BSsQQlkBxsLJfu-kW1hBrHKjCF-dcm-gJSvoSo1o0TvAjnH2bUf1Jso3Hc7r8GjrQtv3Ph4toWXFhL6ohqzRRtkS0FR5Din-hMt0nEl9aYaCAs3pSEYXTRAGxms_TsBXWNrUZdtY7bEY2eb8q2jMD6YZldeJWLlMZ8tAw_YhjXC3JSxpNms0yNDNCKZ2FfspA5PdPX0Lcz2rE7lWjREIMCiI3PGjtuhkIp2QDmXtP7sHhXfKpVgJzNbLHsklWxXvXR_Tvtq6SHTtusmu933xLk38noylWWjUK28TH2QIqz-h3NDa4V-VXAgkPZzzVO8HD3YQ-6TRhTIxt3S65ud4raHrBIOjbwEgvnVVmA-0qXpnLeWDZsxHVwxzUp73TL1LTU5Dfw59UNivZN-gOBnimCKmpZg96Uamj_cYA6byt_KTcT0GkYL9NCRciNo3KYoW2BCTem0BBjOhq8U_leR5DMg1Em3EdQlhHanbMx4R5AkH1NWnXXntMiBErzGvOMovzhN52LQwds07aGaCUROjf61YwhiCF6Wk2bJlOci8lpFB3J42GR-hWq4j8eCAiBS1ThdZ5U3k5uuIyls3ACaM-eOSEaO5PuQj_zXptOltoL7sNFH0wsa2n3v-NT_XwHGxgLUuItNSRIPEfgyVLT9LEKMs1TqnbaO8W-rfMLdNGSma38j-H1LBVrJWeFWsAVrVkbSU87IXnmyzk-5c6UwqmVprDf-JKYSITwssUQyiITuEdrmyMCrd61V2S7HMIA_mMy24uegc4511TkkfDfutFkc9b9G84uSAymvnfqogQCHZWvgKDu7vGLIcpRDj8PDbIgKgsmE_LA_uZqRRdvFbY6h3kdn7kZRJDb9zhFgns-uBBZHjuUbz-lpWkofPKNuxCXaDqQcpdMEinD_4G9DkiGOz23rOtHt3WKsVoXkJ__O3oqurbcxsAQlRjP5Vym2GAykDkWCQgGjNBAIaXqR-bvyNgMQN3nts50yvHTkrJCMeq7RDszYvUe6w2vCOi8UOxasH3ar4NyazH3-WxAE-wRPUNfKGKgfC2cstxMkenPcmF5jqYeTzpCXvP46x6WvfI89MkU6K3eqAzLw8SLRirKot1pc1vRy8jXs41nzOmJtXFma1ScO9yDlvgJ37KQT886rTcuMI7YQB-nxl4vb6lEq25U57cK7rkI8z-kC0CFDx4Ckbf",
  "id": "rs_0a4d47986c289816016aacae4c005887d08d26af398e617205",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.09,\"right_z\":0.02},\"note\":\"The brick is nearly centred between the jaws, but its near end is still closest to the fingertips. I’m advancing toward its middle and lowering to grasp its sidewalls.\"}",
  "call_id": "call_hIi88wylEytFQGAMGqIUhL6x",
  "id": "fc_0a4d47986c289816016aacae4da0cc87d0a74e2c69d2d43fa2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hIi88wylEytFQGAMGqIUhL6x",
  "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, 0.8047, 0.6075, -0.3904, -0.0227, -0.0498, 0.9995, 0.4137, 1.5166, 0.5735, 0.1558, 0.3355, 0.1673, 0.9964]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1765 left_yaw=0.0045 left_pitch=-0.019 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3565 right_y=0.0969 right_z=0.0449 right_yaw=0.0287 right_pitch=-0.1698 right_roll=-0.0966 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -0.8547, 7.0222, 1.7216, -0.0366, -0.0415, -0.0122, -0.294, -6.2017, 5.6274, 1.7265, 0.3053, 0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a6947f88a78a02a5db353161e00c9fa85b9c904df6461830e0dd8ca730e164a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73e5a74ac6c793b82aac73803babd69eceac5e587c6d08d903b534f2a05f04ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2a7025cb382e8969e877c03656e8379c1abfe99eb819d6e8e60bd86eac21051",
      "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, 0.8036, 0.6075, -0.3901, -0.0227, -0.0494, 0.9995, 0.4301, 1.4403, 0.5865, 0.0566, 0.3641, 0.2058, 0.9964]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1769 left_yaw=0.0043 left_pitch=-0.0175 left_roll=-0.0061 left_gripper=0.9995 right_x=0.3485 right_y=0.0946 right_z=0.0605 right_yaw=0.0002 right_pitch=-0.1688 right_roll=-0.0906 right_gripper=0.9964\nstate[joint_eff]: [-0.0068, -1.6068, 7.0222, 1.7802, -0.0366, -0.0317, -0.0122, -0.2667, -6.3795, 6.3795, 2.0, 0.0952, -0.1001, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrK5SFso9Q77Nk9GTqzF28ok4_G7ULedkGzRMpZCS7lmQQQBdcaJi-69I3DdES1LFdotUgrv1849ymtNcQY4WvgC_FewHwPHLIZ5KCAhgbJUYVyh6ZHSH8be8-MCFlN5zGFhMiFomzTgOpGawUwMmznaunqf6mpLit5LM_9DvuTeZzYqboc9BW0gE8bMHPfccnYbBOKJTbhwcYx1rLvNPLgiBosIqPZwleDGBxkpCJ0f6Z4UW4anin8rWiBOURVbQi55wgQ94F-jBSrz93MptgZjGCkaSVLLkRfHxiJqOyKraLpPKSTRvkTGgKvyczfDaY3A4mFdE03e-ADfpK6vrIKAjnUQFZXhPCbucO7ZdKxkEBmeRbWFPwY8SloWByTdZOfdmGvQA9fHmZWlXZeo7acgYyYfdmtgiMw0qp1wEaTli2qOfJVh9fEPIkvVyLQr3sXS2AiScu9rjownkibKd4WKu68pkDM5qOkWvcjZA2UvN9ZCHKix8w2AlhYZF0SWzzkwcS8EClxP9CDc5Gq77ocz7_9mViDszw3qpanfm9nZ9YI8-dGvey7lSU7DTakAXjqpdoaPzFqJStd2t5toXlVNbU3pF-EDO2PetriUSGr1HbvA-vUmgY3EsyDSnDYb2spqYMQvA5wHU6VILyejtqfIxKeoKxRqBhrzg_FzWwIJfcbB6upbF-fHiC4eSIrvYhC0B-ANNx3V9zk3YEd5E2GX8qV7gRVfstU6WQEyTst8Z9LrFVJ8appihNmYysPqmrjRLOuMHaD0IuYj0iitMDGgZ4wvmUDP7eXVVhn3Uf0KQZXp57gjLlEGjrVZiUPH-07rVrWk2NJNsUDVwFvI3BvVO9SBKp2t9uB06gT8maLprmiSt_eI32W130Tw207sko1-Jrh0sq2-8CvQROC0mRRHnKri5Uf_h97dF42JFAdky4mal9_fsou7H6Dx_TdYrma0bEizGoLDXtowxlIno3EWQ1CZOr8A8XQdQYC4VIkv-7HF8bUo1hn1Dr2-swWV_djGGhZ8c7L74m3sN747PtRFLWzcf8HWyJ0DuBo0uN1suMNUnvtHw_I05Pmp_tW6lHW8jce5uOs8KiSXeBfLGJjdANJEqyxN4jv5L7SkZlmENrT0vuM6-0pHisEhgXe0NwwtH3c1mxSS-qp0sl5JGFC2oBNgt-DrvPfbaGKf_6Mal-eQbbkDfzbhKB8UF-WV5srhCcRwnriYp1xVnmqqOup5dJ4LoAMPqgoZfuDmjb7YbSCaNnbqSROWzjpyUX-eo-gVq",
  "id": "rs_0a4d47986c289816016aacae50ad2087d0b55a7b783924745a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.08,\"right_z\":0.015},\"note\":\"The last move fell short of the requested position, and the brick remains slightly right of centre. I’m using a smaller correction to align the jaws without pressing down on the brick.\"}",
  "call_id": "call_e8LxYDk9zrSMZ4qlDsuXjW40",
  "id": "fc_0a4d47986c289816016aacae51467087d0ab059e84e0462112",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_e8LxYDk9zrSMZ4qlDsuXjW40",
  "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, 0.8062, 0.6075, -0.4057, -0.0227, -0.0498, 0.9995, 0.4137, 1.5166, 0.5735, 0.1585, 0.3355, 0.1677, 0.9964]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1729 left_yaw=0.0045 left_pitch=-0.0358 left_roll=-0.006 left_gripper=0.9995 right_x=0.3569 right_y=0.0971 right_z=0.0454 right_yaw=0.0286 right_pitch=-0.1673 right_roll=-0.0953 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.4291, 7.0085, 1.8974, -0.0659, -0.0708, -0.0122, -0.335, -6.2291, 6.0103, 1.6825, 0.3199, 0.1197, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f01e01bbd7e90812d419d14602fbd2629a5955d82de8c9f44c7471ce1b4e2c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3411e043de9fc66826cb256caa58a936de5a97a940f6fddad0c61295a59ed67b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8d2cd5c593175600a369b41be2002653a4b3eb491ebf521650fd1ecb445a54d",
      "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, 0.8047, 0.6075, -0.3904, -0.0227, -0.0498, 0.9995, 0.4137, 1.5166, 0.5735, 0.1558, 0.3355, 0.1673, 0.9964]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1765 left_yaw=0.0045 left_pitch=-0.019 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3565 right_y=0.0969 right_z=0.0449 right_yaw=0.0287 right_pitch=-0.1698 right_roll=-0.0966 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -0.8547, 7.0222, 1.7216, -0.0366, -0.0415, -0.0122, -0.294, -6.2017, 5.6274, 1.7265, 0.3053, 0.0904, -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": "gAAAAABqrK5YIO-jZshMq6Kqk93iW06wqHTnUBVFzLVvHwwYkEbtHZZ8_Y0zk-TImwzSNByKE1AboDLRPRtq_FltE2nnLShNdFtqZHlh6t1MYVHwbmDLwMzHRcaDbLSKAgG-tDaUoDRUmLfNthfChHVTFe5xp_j7uUNbFskSqKQdvRWEr2nFKRCOounmZYDSTYViS4qLHSFsot0fV1Pq9X8X6ECUVYWeTIRTYhQTmT3QgPxLT47MnA5f5IXWIeSzmk11_u8L1PshegQNxd0AvuxxoOb2ofjAu1jdf1BjyFdO_mq20TXsHXmpNrontyWqwEwkgx53IjcYsTJ-7Qf6KfDF2wcgzoClFwIaNg6LjxWaF_3-qTjU_v1nPhY8efIEdOfN2E2-3VxzIr5A1M7e59_Bu-_9ZtNFE6uWlIGLs9dyZ5IELN9sctBHcaJujG0XZ9BAu9jA1g_hMR7y-v3hZ9wwJOnyMSVsJX7D7jQLcxauqNdahgimZAtbp0CdNdIkV9Yij-pKHiIdmBjzXCr7MI49DEvG8ZRC1WMZJ5cJqlr6ksLOES9C9fVOEfo3pry3zmA1aKChjlHRpimuKrKJU_5XtpTBE0ZII0pr7MVqKkDhyDYApr3pti_f3de0PK7JH1X6fJosP9bvjYUd58r5SAd-EbR4N7tSUZc7ltrl3QhqcYVadDYduJ_GtxB9fsXIdBMv0THw0YLqx3aytoiXXIkAgmSJ3SZb1gVhhqwl59fLAc1fyRWnpqfN3P4Lo-PQO8i1sp6rqvP44g6vgeYuzF7VV4mT2FBolS3bdWoS7uhHu_MTTiWjxEkhoKfElTIWksIRqg_QgJOqXH6MqGRgd2QDKw9cfJ-Qe1TBtUDMexarVVNfepenqAd0KqdtLnUsC7gC66uGgkh-YMT-NMSEIWrCp_V6Z2tO1pggfvQ3Ig05pNwhFUC64aHujZPGNKxGLKCXxCI8jrmaL9UY_hUGkHCVjQYdGfIYz_kGYVpwB7vTBPHlecGKhvckhQ0Ci60GyedMQ6-n1i-XmYjY-SBim_yDRNH1ljYyxA47pkeP1E5Xih3hyhXWOgF6tRXNQ_IcMS_erpBp9HdaqoAKjmMQngdS46e2k_Sm1x7t5TG0Cnh0NThlIfqz2yrfS8Ph_ugk1nHJxjGkrqmkf8ZHF8nHgEV3Y_9tlUo5XvYFytIE6vRWNKcEMA97xHcLL-OmVCAj8IUsBC4ATj0aw-AijWVxz5umpwPIImkhS66XrTYYqFrzA4hGnWBsOpys9w2bAFj01Leg8oIqLzFojpqnN0def6Y0FAAGUHKq5M_6AbVxJs3M-gpLWt6KTxNcainLTDNiOLfkhPH4FjNqc3UOzSUObjcTu1V7gO4OsRBEFsyk5nKhKCvxJD_p4Xpujy0Nt3TILRRvcIWkc5ChGVJnWrD6Ajwbyn-JPQVli_usIDji9HQk30lb2dvAry0=",
  "id": "rs_0a4d47986c289816016aacae56351887d09a02139141bb8800",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.115,\"right_x\":0.357,\"right_y\":0.097,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The gripper is not moving lower, suggesting contact or an awkward pose. I’m lifting clear and straightening the tool before repositioning over the brick.\"}",
  "call_id": "call_GENj3tXaibB8APvvnWYnDhmP",
  "id": "fc_0a4d47986c289816016aacae579efc87d08377ebe9a2b9c464",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GENj3tXaibB8APvvnWYnDhmP",
  "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, 0.8062, 0.6075, -0.4072, -0.0227, -0.0498, 0.9995, 0.4141, 1.5166, 0.5735, 0.1585, 0.3359, 0.1677, 0.9963]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1726 left_yaw=0.0045 left_pitch=-0.0373 left_roll=-0.006 left_gripper=0.9995 right_x=0.3569 right_y=0.0972 right_z=0.0454 right_yaw=0.0287 right_pitch=-0.1672 right_roll=-0.0955 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -1.306, 7.2137, 1.7753, -0.0562, -0.0806, -0.0122, -0.253, -6.2564, 5.641, 1.6044, 0.3541, 0.1148, -0.0171]\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,$blob:84ec5db1f1297d70d0d4034c5e45c10cd6b194247bd8cb501444aaf6178426bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:156f7b514a5dd9553c0c30a219017cd8071bed5d9f4928cc56e446f1462c6b81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60afc484450f009d1d3799bbe2aae70727c6481170a05ed2a8e098e7679465c6",
      "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, 0.8062, 0.6075, -0.4057, -0.0227, -0.0498, 0.9995, 0.4137, 1.5166, 0.5735, 0.1585, 0.3355, 0.1677, 0.9964]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1729 left_yaw=0.0045 left_pitch=-0.0358 left_roll=-0.006 left_gripper=0.9995 right_x=0.3569 right_y=0.0971 right_z=0.0454 right_yaw=0.0286 right_pitch=-0.1673 right_roll=-0.0953 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.4291, 7.0085, 1.8974, -0.0659, -0.0708, -0.0122, -0.335, -6.2291, 6.0103, 1.6825, 0.3199, 0.1197, -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": "gAAAAABqrK5etgM1ss7kYQgebj0QFANi1hmOOBCgO891KcUcWFaQ7Zrjl30HOzlbejlGX2ear4pcRtNH9ucRR17wEbApkBdq-vN8zLNZmfoUU-NBp1LPWttIU8bGRexYF0kjmjKIBBWnioBkQy23bWHJtHv93a1RO24QV1-vWolt6j_f3ynRb0tiDdEFnnDrVOk80-pB90i2KaCgy6uwxQibDMJw2DbLoJ6CraiYi_waVDwvy5LYe-I2ZnCnwDaNSVcHmud3HQE09FBZBAXwE79DoNtGmSlPiYm0cg0qIkLAYZ06_XGU7ualU03FWXt5KIWvlFEBq128bNlPXzuGRMA2PcM3NToxwQu1QWoHrnbKWzKEnn3fNgPCwryb9th8OrtAjPcYDUzHbFvaTyB9xAhNdXTd3loJ1V1e041tN3wwB-sYCSMF4k2T57L3K3JT9qsb26MS6rN7RjyBL-x-TS0zee48BSyMVeDat3FL4nwVG59xLm2nVfIRmCrC0G29SmXb-d0T0bpaV8T82L-7XXyx8YcxMGcTDz4C3T5CFSk2wy8oS1FsV9TOB5F0DNu5LpIWiSA6DC1A7AH1XNHlyoxa35NN9U07MIn7kwZgWig8W9eLc7A9TFA0GAXgVc4hAMVIF9_vurxaRIAx_7Aq_qlEfCd19jQar5PqlXg4WT6Q_hpDSc-2YMDL2hKujlae7CQf0OAzY6BSFmcW-Z8v21qBlUr1GnQQ3OD2Dkp6hfcs6BtP5A_tVvkA0LMzUeVXksh8dcimRpnK9sSG3cFRfw8HEloAgV8eh7vmV5AvCrZJ-ND2fuD9SFv7Ss3f5RFv1IcAEp0TgLa4XyakpG8iZreSKjag6eXYaApeQtWPunPJXhRov7HrTpAA-ggTAVux9uEYRHExEx3hbap_W1l3CQA4HIO2XTdmp-jHY_ADnmjhhfsYfJ9yGEkfjiogIBP3zj2kAWDazgRZoxQ9Ai2osvR-i6u2FZztj2FxZWUW-mG2tGBQVrpT47HfUrn-Cv0VmvQHD_g2dDicsHd3QPnL7oVRXyyrEpJ_ntYParOzfXDVC5xK-8wLmWUCYWgTH-k9iw2IsNoSanAXVVmwYRcCgTmh2ClAWP7QxL5JOMgTomm09MSlu4REHKmjZ3Dl61AWeFWDxkuONzVSx1CQizjZo7uGTQy6iSgaIYXk_ANBncbFNlD34fSZuJrGC0aCGUaBWy4lFLItKdE7KfHKYOieL7G-4p5Y-w0nUEzpvODWUNgSc_HnYcZUwXjU0qaNbg4bjonqKXS9-L1UDD7beVb5MRGXGy4Zy-Pivg==",
  "id": "rs_0a4d47986c289816016aacae5bd59887d08e28ab3f9296338b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.065},\"note\":\"The right arm did not respond to the clearance move; its joint readings are essentially unchanged. I’m trying one small vertical retreat to see whether it can safely resume motion.\"}",
  "call_id": "call_kMbcNqEzliX4kgGSxa6pMrF8",
  "id": "fc_0a4d47986c289816016aacae5cb9f487d0a0684cc1cfc2e275",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kMbcNqEzliX4kgGSxa6pMrF8",
  "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, 0.8062, 0.6075, -0.4076, -0.0227, -0.0498, 0.9995, 0.4187, 1.4868, 0.5716, 0.1432, 0.3363, 0.16, 0.9963]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1726 left_yaw=0.0045 left_pitch=-0.0377 left_roll=-0.006 left_gripper=0.9995 right_x=0.3553 right_y=0.0982 right_z=0.0524 right_yaw=0.0379 right_pitch=-0.1558 right_roll=-0.0968 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.0462, 7.159, 1.7021, -0.0464, -0.0611, -0.0122, 0.294, -7.0496, 5.6821, 1.5849, 0.2222, 0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf4c320d56470994e0e6474ddd08ab9176d0a31c0331a8c2d59ed68cd45539ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79b51e370f9c5cd21c606db2fbfc7ca23d053b3be7674a07a23278958c28f465",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f07cbbfd6a6a5258ff918b505cb10b521ff7d8eef7d60a292d3e0a9594621359",
      "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, 0.8062, 0.6075, -0.4072, -0.0227, -0.0498, 0.9995, 0.4141, 1.5166, 0.5735, 0.1585, 0.3359, 0.1677, 0.9963]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1726 left_yaw=0.0045 left_pitch=-0.0373 left_roll=-0.006 left_gripper=0.9995 right_x=0.3569 right_y=0.0972 right_z=0.0454 right_yaw=0.0287 right_pitch=-0.1672 right_roll=-0.0955 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -1.306, 7.2137, 1.7753, -0.0562, -0.0806, -0.0122, -0.253, -6.2564, 5.641, 1.6044, 0.3541, 0.1148, -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": "gAAAAABqrK5iTZpDW1EqPCoylwZQd4dusA1wfiTtuv6kEHkdef5CMUkYG-qLqWR23zX9wCVmXSaX4wUFy3-Hfw8pkE7vBjMvOW9lERl5FbKqAAhASKr2t1TOyk3MvtEXlLSaudzL3mF1twAoTagzIBMF8SmB2elnQt13oL4qRoS8CE2Dgr_4ekcrH1w2Bq5f4Xcy3X1gJytE9DgE_Xlk2HplkohQUqSE73uX1Z9WGIjxPNqHJLfRqVHzRjgM6Hf0RfzgL6e_D4_Aw1VEnWMZX36-UnAWpdPKW11I5ikd0QchdTAi9ZIZ2Mixv90Cnl4Zvvkaev42A0XZhWbxvmt7BMJOlWLplP7Rvx7hzG8ifzrDyJFjJ5KxBZOHrdStUwpHBEAZhgVkQhVoKsFrz1XH5x1lmNC3unVBh0LJMoSXBMCn4pRKVAb9jVGrGiHqPRI0wP9-5P_IGJP6ro3ap9Tj8UvRbH2bpBA3kR7D4obSfEgxwWIk_ybn2Dt9PrODepFFY3bhTR5RKANQmoAYdmMYgnqESou-8QBmvehPEaApVYgQoAzOYdp467tA69yxsrxL_Uiz3JacBBMFUGpAdc7frIU3az90VZeCXGbKC5ztrJj0sH73uc_k_V1nCmnd-WoFp-r6ZxcSUUgiZJWXqGiPx9EHddlDaYAxZagGBy50TDR7Lb5uOGwPC33KUtCbE1fnBHOHxDu-EoabmCyMl1Ti1JXQnhCA0AUPzvwpL1ZhIVNkjLVAejEo_o07OkkqNjesdF4UhnLcOeV-4NBT-_MTNm2_ogbumXD6Ks0tvKr3Jku5CEaEEcmxrqKVndT1WiR0C-H3mzWeeK3oxpT4fDQXpCPhYOFUBZcuEAHxpmib1HVi2dYbqFd4OkwsZHovpY0WkCddH353xm-3Y4adItMpFdOY5fTR5lGU4eJdbzhV5_sGHOfxVkHaFcLZhc9-6nodFKAdtdD4MBE6TrFj6szNCSkbSUaSTzqX3cuh79vh2p5O6NRoB11IV_lMBkHqrRMrHh1AOCV1hBd2veIVkAXxsJOPFE_EA7o948X0XrfuBX-5FH72W1pEwn5xhDetyrX2QSRPZI6gXVj1yLlcVx1ZSCDw2_waFVC2aYtmrnmvueybrqe9ztcPiO4OMGyNBTqV4dgkYScULyqd8I6LKfEYfh7zmIrYp2Klgr8wMheuO-wOFGDEZQ5F9uFbUaQVoqieTw5F7TNcIw1SroQLfIK4Sj-aIStgyDLNQJb1pIsTBGe0_oB-8EW8yBU7zWqUn0IppPHvj8DEBGeIbv4JAhrfRkD-XIk_CgaMkG9z4FxyHkNq3Pal5bi4gRk=",
  "id": "rs_0a4d47986c289816016aacae60135087d0b72e38fba5cc3a5d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.08,\"right_z\":0.08,\"right_pitch\":-0.15,\"right_roll\":-0.095,\"right_yaw\":0.035},\"note\":\"The small retreat produced movement. I’m continuing with a modest lift and lateral correction while keeping the current tool angle, rather than asking for a large pose change.\"}",
  "call_id": "call_Ms4mVgWKG9VkhFhCDb6sMe01",
  "id": "fc_0a4d47986c289816016aacae612c3487d082ec7988d2de8292",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ms4mVgWKG9VkhFhCDb6sMe01",
  "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, 0.8062, 0.6075, -0.408, -0.0227, -0.0498, 0.9995, 0.374, 1.4361, 0.5793, 0.0769, 0.3023, 0.1322, 0.9963]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1725 left_yaw=0.0045 left_pitch=-0.0381 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3531 right_y=0.086 right_z=0.06 right_yaw=0.0358 right_pitch=-0.1732 right_roll=-0.0981 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.265, 7.0632, 1.6923, -0.0855, -0.0708, -0.0073, -0.1573, -7.0085, 9.4291, 1.6923, 0.1197, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ba9eb906431f5140a9c87d86864cab562119cc29da295cb3ee8bfacdc22a871",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e107e90c3b81ad8fa0a2d23d5f95eb63378d05f336970e2108f6c98e1a45521",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:730ed9a5f48a24830a643172832461bc907e5c98920c4362432c7602b3d5a6da",
      "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, 0.8062, 0.6075, -0.4076, -0.0227, -0.0498, 0.9995, 0.4187, 1.4868, 0.5716, 0.1432, 0.3363, 0.16, 0.9963]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1726 left_yaw=0.0045 left_pitch=-0.0377 left_roll=-0.006 left_gripper=0.9995 right_x=0.3553 right_y=0.0982 right_z=0.0524 right_yaw=0.0379 right_pitch=-0.1558 right_roll=-0.0968 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.0462, 7.159, 1.7021, -0.0464, -0.0611, -0.0122, 0.294, -7.0496, 5.6821, 1.5849, 0.2222, 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": "gAAAAABqrK5mtYTWoWjPO2sjOrA7m-z413P_-cjE61xkE4ViJFgH4EaCv9Gu2ACyxi3J3isi-NetwPDmv9bNJz3PUN9Ihi5WkPSMjk4QkgnPe4Wz5HpTfE1rbrHMs_ujbadywIFWNidYhbyRMwWXUsqqW9RcaIhG4orZvNJgQN3u8u_SZf0ix4T_DMP4OdY3cL46DGjRyLVD13utGlCFdSJXCTZILR0VV3NPS3_C1PxZZdJi30Cou8vVczJ7o2pWxiUG5KyYJYWjWRxxpLIP4KtBRssJg4hu88sE7rKqirA9ytAgiZUH9olz8BjeTBm5uqq2MK_ZnDMJZ9pomMsymwtVAYXPGGGLLoKoXfuh_sH1unB01LpqEnC8ii4t71t-__2r666n2UX7_nXYfXSVuHGwmrWp8hSQI83Xc6XVuG2H982Z1Rm8apuSb_OySIqrg_19AcHwGWoFVeyX5uBFt53XmRa3W2qReBlhNUdgXKg21OxTMzzueQUuw_u4FaS1dNdISjHfQQQL3vGgzUFR6Jxg1f90oKgZqCDIcFLZ-mGujgfZVacBWBrJHLi2GC_LEeibPPu6bdEyY_uZElSuPd7KgUBIan2KVf_udptdTdgf-5CoKolM0L9PPoX4dKiMH7W_ljZVCLAnSTmjqpd2NKfR_yT_B7dSNuTq3tcIsdtsJ0StMQHdusHPdkcWvnLxeHL8QzSxTeFgCTMOOzNtkb-UC3Bb-T-t0j6_mpFvhReQNrYN-EnasTmiRN-mgCY-oZr2oHH-GdsatMgkq15pvslFOfRU-xTCWf7AWhAB5Ld_U21cGrlVX59jTlHskw9q58Vu3XVfSzBXQ5P2cymlJsDgzqFu-2nnzND_wECf1orVJiF_Q6cUqquNMIwlYR53FRPpm44UrPC58RHGhbKf6z_IMr5geKcxklp34i4B4u4qc0Jzh1m6GqVhGDx2yFLZ5-qeH8rWANijTXO2BxhDS7OVZ5uUoky4xVnrgQpjTJpca1Vd5jqdxE4hnm5lDSvAe5lefEcFZDPpVcGvNryFJw3T998Cg10t70ZleP5gjAFScFv_qD0Z4E33VTv0yZ6gwT5nR1SrMxicEw-M66WQBt-tnYhF6lp4amQa2357sBYpdp8U_36AoU-kCs8gIn5cX0kJuQ3XnUksEB_koyOtzpYXT4wrUi1UpzDQF5V6XejTmN90aMABkIYa_0x1Ck8dYD5D0wQ42hiCtRclT67duTBvQaASj1uHOw==",
  "id": "rs_0a4d47986c289816016aacae650bb087d0ac89d339ab6cd240",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.078,\"right_z\":0.063},\"note\":\"The jaw opening is now aligned with the brick’s width. I’m moving a few centimetres forward along the brick to improve purchase before closing.\"}",
  "call_id": "call_oCnK3go7RXmgswGCEK64xOxz",
  "id": "fc_0a4d47986c289816016aacae65555087d0b0f965be1fa34ad2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oCnK3go7RXmgswGCEK64xOxz",
  "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, 0.8062, 0.6075, -0.408, -0.0227, -0.0498, 0.9995, 0.3408, 1.4044, 0.5892, 0.0254, 0.279, 0.1078, 0.9963]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1725 left_yaw=0.0045 left_pitch=-0.0381 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3514 right_y=0.0768 right_z=0.0649 right_yaw=0.0346 right_pitch=-0.1893 right_roll=-0.1037 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.2103, 7.0085, 1.6777, -0.0757, -0.0562, -0.0122, 0.1846, -6.065, 8.4718, 1.5116, 0.1343, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b20ca562194407c994e42e4fdf647ae052ce7b476a8e95a93fe7c2669356f5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72236d9f65ac8354670bf0b2e2d3388446e159fe5097c30383cccbc87b68c86a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7986cf921b3022c2c008ae84baf881f10b4c2001b3d29fde0d0f7f1109a93a82",
      "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, 0.8062, 0.6075, -0.408, -0.0227, -0.0498, 0.9995, 0.374, 1.4361, 0.5793, 0.0769, 0.3023, 0.1322, 0.9963]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1725 left_yaw=0.0045 left_pitch=-0.0381 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3531 right_y=0.086 right_z=0.06 right_yaw=0.0358 right_pitch=-0.1732 right_roll=-0.0981 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.265, 7.0632, 1.6923, -0.0855, -0.0708, -0.0073, -0.1573, -7.0085, 9.4291, 1.6923, 0.1197, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrK5skAFA12Is4hgz7CywK9zQI3hm64leWubV1X-C1U8Gmilk9-g5vs6MGMLPMraCNs9Y3jQeDIImmpzNbRQJviLH7DRfxFQ8t-YXA7lX8iyIMwG7FAVu3bAH1RcIytQafjzzstbbHf6rL2llMS6ziTyv8YvOWrrZx6ugDFXqDWoPnzUb7xmi4frkIH6N3tWfQa-pNGwa-x981QhrikgF6BaLuSPjwHsuug0ygMI29Jm_1T-V4_DQg-fvA6hmSWG6oGMJXq2jCFkeXcYaijDEw0aruADXSBQi-jdSrmCdeRBN5UlFVdw7YiuESwCxsipKgzEuGCejWUMV2mosW8G-ph4NynGKytQzfcW1i3g1cqsOSN_Tm6XHcvZFtT9eUFAe-B9kfsN9YSEmuer_NIJY6PEszukOdvbzjH966Zh5nfSFTAyg9EhNN6IxCvzAF-xNegbqXAXVMG2gJFNPxIcAi3W_YaIjFhYdSLZwu7Binmhq0lT89C-3IyRngBfqDiWO1QHXwO-tO4sc1iUeDXJXJCQMPCbWm6kygEg_iLqYGx45odskUIPSh6c3uAu47L_2ssRYEvMhMtJUPUo5cLHh1dqXagSpp6wYicbxUA0kutGaIWK1rXBnUumfRwfEfOq7xO19uWsvKZs0k9b1CcOn7ibxDRBHJ9QCDCtB0fG7CLgKRg5c47qGGQYVbUFny3fQWB_Pgd9isSxrBZnlryo_QxFN3sxEU871l-ZoAxhdUVPdjOUUwKr9Jfj1vTVWYLVqyFSMxCGlDtwQNz0LoivfYsQJcucuNmBpNvQmnE-nb5rOewjOLPWj1zlF9OtV8g74dbhmCMD2oP3XBPwZpPQ7Y2D_vSs70C-CNSRy393CtAR9bfU4Ot5yhK-0AuDh3uZ6mcJgt21Tq-wnfxf2ohstFgqmExBf_TBROKahGkJLLNoy-MgvN8LWA1Xft8MbNLUysmkAebD2BSDX1NB_KLZVovC12taZ-VdH7SkJzbwutV0gsGcrcaQ0oJns3b73Lk6P7S0Ys3RphMy0nFXYLG4FSsDby2xxmyaMifMkdZRy3I5xCzy3I2z9vtLE0Y_32-PBLGoEmHUukKzYV4SMA8Uk1gaHhEU1s700Z0djJXp03mizMSxC8AzptMt2rU1jYKLJHUcxN_AVffk1lM2nA66DDVwghwpFibwBpfrdhcJo1UoXn9Gp9SUq96z2TOKjeQ7OgE2IFO780CTtI1bdiFoNaHltID59G-VYRmuZYwLIRYf4VgefHYttPhNkVrtkvxEEfcNXPbUKJhzqJQgVlL9LgvJhDkXNxGLQB5A86Qe4YsrFsMFsrwRHke9gqODXsK-sEolblmUiV2EveXLUTAXTMAHe8GFKFKCP88E0bbdIeEPe-x0-HGid9HZhkFv8a1oQGDA6e3WGu8nLUJ3xqnLi7MH-7OgUKRV1cgZy9KZwjgnD8iI=",
  "id": "rs_0a4d47986c289816016aacae69c76887d0944b739011a0228e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.075,\"right_z\":0.025,\"right_pitch\":0.05,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The forward motion is tracking poorly, but the brick is centred laterally. I’m straightening the wrist and lowering for a grasp near the accessible end.\"}",
  "call_id": "call_J4W5TtpKcrzcXqLsKx4GXheM",
  "id": "fc_0a4d47986c289816016aacae6b652887d0a8735b44b2e6f8d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_J4W5TtpKcrzcXqLsKx4GXheM",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.408, -0.0227, -0.0498, 0.9995, 0.3408, 1.4044, 0.5892, 0.0257, 0.279, 0.1078, 0.9963]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1725 left_yaw=0.0045 left_pitch=-0.0381 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3515 right_y=0.0769 right_z=0.065 right_yaw=0.0346 right_pitch=-0.1889 right_roll=-0.1036 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -1.1145, 7.0085, 1.6777, -0.0611, -0.0464, -0.0122, 0.1162, -6.065, 8.6359, 1.5458, 0.1197, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1a7709fd55321999e2b517d6558d455789f2b5c90c5c90ffd9139907c47f035",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbd9e4f9e017e70dad646186d91915ce1ffa6cc0e7ed539e3946b7193d27e71e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46b04fdc6966d3b37a58021778128c9dd5535a48d644fb00f7d99f3cec0bc1b9",
      "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, 0.8062, 0.6075, -0.408, -0.0227, -0.0498, 0.9995, 0.3408, 1.4044, 0.5892, 0.0254, 0.279, 0.1078, 0.9963]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1725 left_yaw=0.0045 left_pitch=-0.0381 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3514 right_y=0.0768 right_z=0.0649 right_yaw=0.0346 right_pitch=-0.1893 right_roll=-0.1037 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.2103, 7.0085, 1.6777, -0.0757, -0.0562, -0.0122, 0.1846, -6.065, 8.4718, 1.5116, 0.1343, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrK50OONU4xR578vXEntSu7vyKjpSq_rV2SzuPPLF2rs5eOy6BhTkgVXxcLHxvNB4-o3Ai_h6BkknxPJgRY7ewtB-5dDSrNHAKrsNo3UxFK9j9_j1gXFJTOLHYvb78E9xlVPuJKEr6XH5USKfV3SYrKdkSaRiOFshcv7ZpHHnDEITBOFRudZOeDHj-_Hl20jiEaB4JSvCkEIO5pgOOByAZslcKxbjzlULNfheSAnsJiSCupuUtv7ZJeHnIUM0K3IzcMgYz2jop_zcVCGGwKjPf755pOoICVpnM2_x8lKpQQBhlSlhkiJC8zt_kT51CnoQCh0GQAP_ZKME0RZKZiFIWIuKADEAaQ2FIKDTcoNhxpPE1r0pjMYsGwPl1JH0SqKCptzGpI9SbIw-sGe3gp6fw0NRNof57cf6LGKl9V7swnod9IsaaW2ZdvK93GsoOtkJTMidi75pWwk-Hd2c4D-1uKmETit9gp-6vf2QCUXqYmEBidQ7yytpZVLDuZLB6LKUXRjyzfYOSOu4BB-HSNXk696r2C-btlXtG67kIsbwQBliKp88LcKm1pF173TQCZb0TpjtdwVGN_GC4ofApISw6-rdh2Doup1n3Evq0uzoMJT2gUOYS4wDCK51pyCo_irMPjl9ZzykGkINgM5Hr9a17hzhLOi-sV2aZ3_9Qzf9iIaa8_ULtQ4cQ8jm6IP3xMErfPmM6x9FT-8pGxNPkUtb-ariMBvDemD0xrgnst5zPVHswEBK6T7mWoUZNwiVXe7DNRER6Tgxik8jRnKn072jlT5wG55r0am3PN8tXO7P2691-qCer5f0-0_tt6W6Ne_n6YEpdtqQpg0wnbimRMGsepynjnaibPUfftnlqunCEyJ1hFvHYKz2WxzgOQkOVoseLvddeaTr4PjZi3znTYXJPuGsJZI4Kd2V5XtElDVuShon8YExLRNTp9bh24AxPGmvpFzth1b_hxvTsKzM8aQTTq8T_VVUWEIqZBccTuQyt7PG4p-C610SDfl41sEnlOsZ6Qv60e9DnuRFEdrsvbJweunnhy30_9J3zFgR0sE3WVGn48UzxsPSOOj3VZj9rYfXhaVgQLB6CxFFmj1fARz3UiofjlrsWkvjKEOAUwkssSPtta73uONwLdXy5e0qwNvV78Oyc8p9oKkILZEg77cdwmJL9YpmaKY7sVBKcvXgGT_-_IzhlULPc4_2Lg2s93UNG6y2znL4Wf-fqQDvPSZ7UyrL3cRPRVwOKq-S-9CQv6LjFfpKscsb72gcNsUFqVUqAwhW4exOmNfQrPFkra5CmAnV0nYuKdTeYkJil6JQSb1HaUkLT7TDVx-HczSaj0a5qw5jO17bjO8Ry50xqfhJ4VDphw==",
  "id": "rs_0a4d47986c289816016aacae717e4c87d09453e87a7ee41fa6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.077,\"right_z\":0.04,\"right_pitch\":-0.189,\"right_roll\":-0.104,\"right_yaw\":0.035},\"note\":\"The wrist-angle correction was not executed. I’m keeping the measured orientation and making only a short vertical descent to reach the brick’s sides.\"}",
  "call_id": "call_92IhTORE0coZIYPcgYO3UMFa",
  "id": "fc_0a4d47986c289816016aacae724a7c87d081ecb1f3ac235b3b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_92IhTORE0coZIYPcgYO3UMFa",
  "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, 0.8062, 0.6075, -0.408, -0.0227, -0.0498, 0.9995, 0.3496, 1.4567, 0.4969, 0.2256, 0.2913, 0.0998, 0.9963]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1725 left_yaw=0.0045 left_pitch=-0.0381 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3519 right_y=0.0781 right_z=0.0479 right_yaw=0.0403 right_pitch=-0.1341 right_roll=-0.1008 right_gripper=0.9963\nstate[joint_eff]: [-0.0205, -1.306, 7.0085, 1.6923, -0.022, -0.0464, -0.0122, 0.253, -4.041, 4.8889, 1.3504, 0.2515, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebaeb0812d7e5d01dba5567f752f082dd479713c3d8c6fdda4e562fe3cbc0f23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:220a9196204e8a3922aee813a20a9c795769c7425b238f7df96cc9a32983a37c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:681afea7dd2a01edc231c34f0e59e3ff3f22b36775e379c40e7a8951c2b185aa",
      "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, 0.8062, 0.6075, -0.408, -0.0227, -0.0498, 0.9995, 0.3408, 1.4044, 0.5892, 0.0257, 0.279, 0.1078, 0.9963]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1725 left_yaw=0.0045 left_pitch=-0.0381 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3515 right_y=0.0769 right_z=0.065 right_yaw=0.0346 right_pitch=-0.1889 right_roll=-0.1036 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -1.1145, 7.0085, 1.6777, -0.0611, -0.0464, -0.0122, 0.1162, -6.065, 8.6359, 1.5458, 0.1197, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrK540qrpXGgavUPkGhiFYRYrZ7ed1oB5nuF27P_q-90g96vIxpy_QSqyNiIjEfJohpu4L-IHe8py-_LcvAjicUOdRj1rG58RVerex_Ue0c3d1-dgzS2xvEJ1S1diwiJBrA9JZ05_E8XKqpKiWPP6G8SHVSsriE4tN1jteBcXgDiGTxuviE6FDwEWzgctN_XmWPmlAjmZo8r_BlFr9gTuoTSvwr1zoEqHrhbpyM0BQNBjDQYOlMVU0RMC6qUd_pZG7tdwx4v5qN_9mlM2lLh2BAkj76ey4Yiii3dfJyNXKfpRD47z9GWPbHANnrKuDdHXkTqmNUj1U1BrIy0zA3qufKFmol3CiCe52lwZGHTyJG-SnEd6av_I9NjrvZHG_Yu6MhRWc8_DFwdK9JT4uJGMNiYIEZE4EdYJ6TAWNG0F6ThOtdeTXhJtFKFWb9G7plmAvP5bF6F_9XNbRweCRz40GFSF7757iGSLL0lPxBL1rhbX4Z7I1xwpu-37zU8GLXCPrImDFsNVMpl1dQg2o1ocmXdWNyAtmtYCHg3hYifQMcgdrMCm9pDvNFXXnQJGPhYoe7Mo_56ATDvBF56XphVUZFC8QRvb-Sbt7GFJdmCwtsdTxQ1MwCb_xZUEnI3Zw98FTMi-nBFC9wo7ymWMbQ-utfML2p-ELQn3vNTxRDLTjcXtreuxyZr6kWK2lSAsy46EhWU-3Xw3EBpd4Uhc2vc27xwmj8Z-kqi5fHFg8yAlBzcvO7zZr6cqGQMMWFeOWZdEMe7AwtsekNy4UK7qC-PJNhrBt0Zy0HJNUmjOQIDT0NGuVBz771YLtyUyKH8bfTxX-Z20LRmJOJG0GAlvH2DOY15IMy3rFySbY9hsacgJvn2DWcXt9SEJehlNuF3PMsv51dFPTROxOr3kjTbzfNik-OhlXvSKNF7u8pXfqfD6vwRzvkskPZrdcRYfUNiQw1tU_A8ymRAM7mvCBau5q9q0KyJLEnJfYg1UyL8csQMekmfr6O_wE5Xe9v5UyL5RsAAQ9W7h-6fN1_6FTj5mlpV1UaikyWjpNHTV7bfU8EcFl_5zwhlVv29Ccrsuv3D5JMX2Rpf6VjTJCCTf7vXi7EbaeUK0a8P3o2fHlUxHiFpNygWwCu0Hf4lNC9hQIfGtDUoG_dZ2n9mKsYuov1fX8o4rR51_SPLHJ5UIaxrLD1K2mUE96b0DXZidhgs8fHBuUrXxXKvKdRyohKu_SiCq_RkARLU_Fbin2ENQ8P0WOiS_mIL1s4Zeuzck4tC4BZT7sZen-pxEu-BkS8F3DLLRww2btO3TyQ==",
  "id": "rs_0a4d47986c289816016aacae75b4a487d0b3c3a814103ac73e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.372,\"right_y\":0.078,\"right_z\":0.025,\"right_pitch\":-0.134,\"right_roll\":-0.101,\"right_yaw\":0.04},\"note\":\"The short descent worked, and the brick remains centred. I’m moving slightly forward and down to put the fingertips alongside its near end.\"}",
  "call_id": "call_96TmWBL6eb3yrbHZpNi8UFY1",
  "id": "fc_0a4d47986c289816016aacae769a2887d0a09072513ff83324",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_96TmWBL6eb3yrbHZpNi8UFY1",
  "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, 0.8078, 0.6075, -0.4084, -0.0227, -0.0498, 0.9995, 0.3344, 1.5913, 0.4709, 0.363, 0.2821, 0.0807, 0.9963]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.172 left_yaw=0.0045 left_pitch=-0.04 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3554 right_y=0.0752 right_z=0.0169 right_yaw=0.0419 right_pitch=-0.1593 right_roll=-0.1163 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -1.4017, 7.0222, 1.6532, -0.0855, -0.0611, -0.0122, -0.335, -6.7624, 6.5299, 1.6142, 0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:275b077abd3a148e2e0754ad1703f204d32c0438b16f4c35b9d31bb037077df1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a2df148751b62ae65121c0f43021c8c30c53c08d646c419eb5368faf07bf1cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53a070681c9b0780a117e882b75beb29a1c9054c4d9ecc4ec7ff071143554c69",
      "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, 0.8062, 0.6075, -0.408, -0.0227, -0.0498, 0.9995, 0.3496, 1.4567, 0.4969, 0.2256, 0.2913, 0.0998, 0.9963]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1725 left_yaw=0.0045 left_pitch=-0.0381 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3519 right_y=0.0781 right_z=0.0479 right_yaw=0.0403 right_pitch=-0.1341 right_roll=-0.1008 right_gripper=0.9963\nstate[joint_eff]: [-0.0205, -1.306, 7.0085, 1.6923, -0.022, -0.0464, -0.0122, 0.253, -4.041, 4.8889, 1.3504, 0.2515, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips are now at table level beside the brick’s near end. I’m closing the jaws, then I’ll check the opening and test the hold with a short lift.\"}",
  "call_id": "call_99ItOqCgbc1H649CKBi9rRW4",
  "id": "fc_0a4d47986c289816016aacae7a232c87d0ba7864863f02ff74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_99ItOqCgbc1H649CKBi9rRW4",
  "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, 0.8112, 0.6075, -0.4095, -0.0227, -0.0498, 0.9995, 0.326, 1.6215, 0.5091, 0.3767, 0.2634, 0.0746, 0.0083]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1708 left_yaw=0.0045 left_pitch=-0.0446 left_roll=-0.0058 left_gripper=0.9995 right_x=0.368 right_y=0.0796 right_z=0.0212 right_yaw=0.0533 right_pitch=-0.1424 right_roll=-0.1025 right_gripper=0.0083\nstate[joint_eff]: [-0.0479, -1.5795, 7.0222, 1.6874, -0.0464, -0.0708, -0.0073, -0.2667, -6.2564, 6.2564, 1.5507, 0.1978, 0.0171, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40107e0601916cf9c6c107bd7d4981759bfbdf8dc53180589f22dc3f91dd0f10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72f3e600bab0a75d7e0cc94d38016dee26bb8c748899a52825386790848615cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9f3ce416939f504d59ca3279adb99fe0ce8f552802dec1030ddcc6957823e50",
      "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, 0.8078, 0.6075, -0.4084, -0.0227, -0.0498, 0.9995, 0.3344, 1.5913, 0.4709, 0.363, 0.2821, 0.0807, 0.9963]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.172 left_yaw=0.0045 left_pitch=-0.04 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3554 right_y=0.0752 right_z=0.0169 right_yaw=0.0419 right_pitch=-0.1593 right_roll=-0.1163 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -1.4017, 7.0222, 1.6532, -0.0855, -0.0611, -0.0122, -0.335, -6.7624, 6.5299, 1.6142, 0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrK6A6cQ2fr0SqkbOHZuMUcC4136FbT6Qn6_y1ALS8_HVlOFGYSrhe3EnEJC7VSXduewnELwjEKUbfCmsTENqInW5kT0FyQJjtB7QhJ-daHsUXxjt0gHKvcgdSqNTAWN-ZjEdV9l63kVB2xqxHGCMchR30DQcoi1y4BZHibk6XjEIr_sKs_wSQK3C8sA8kJ7QU6lUjtS-TOxs94fkb47-n70g1nLXqspXMBYvP34-KHg0MqKF99oM-qoMxCqWb789k4PznNRwnvKyM9CBI_ECfY-0movjd9JJG1KQYm2-mXF_oongAFEA1zG6C_NSj_ilWE0qBuSrQETwWIRpSKvmUXj_P83hcJwVsW0Oe_AdFoYb3aHh7jRT_A4h8R-n5wyX7-3Rt-ahKCVR4k2JSqBTGGuifxTJaT3640cPNc3zWdeOMruZ4ZeLUzN6sspsgZDo8eyt95xDSeni0arQ-q86J_Lh_qjTMjZCZrn3BVoQK-N5GmapeVEpMW2ymFTZ9KnSC-CTD6x5OHltfsTckNuU2YbhRT9aV4MGjJuliu8d_NT-gzFLkghNh_VFlZifk-ik0rrxpuePAVd3qN-ZCt--MWTFgAfqYkPRsDvL0Vr7ElnigGfJb2qbSqvZDY6DJoDokBrhkL3u_SD9Ca7biG3Wn8hDjyFdaRR3uZVB4uAsge92Ri-3VADAu2O3xRFlC5x-seniSxHwP2l-b7frcE4_aSffLS1DGNRv5xq6iI10WykFa9QLWz4zrHqoN-wQz239ofSNsSqQS2NQA5X3UhKMqeOsXwNxIp2ipeK5wIyz4lNpokdsvPNP5O3qTDr_SZdhU2ovYClH1jyt1KK4MYKH11k1sj0O7n8xiUh8zzlrbAkFJhZne7P2BusLqqG-e3bJzPRLWTPrZ60_eMFbSFuefy38An-kjig05Xz8oSDpCa1hgi3ARRQsGiHgklXgDAD0j1Jh9r13_QsyG8Osz5pkrH7dCErIwbTfTJQkemCpvfYty2lcwIffLZEmo-54r8vGIUMjyqnCxxSkx5MKdCumGlXCF5VFgrXs7q1AL4Afh_t3zjMvAswn3SRQEKUQR1kd07jCZV84orEx-nrdKrbZLs80SIwD_6QccTHwS3rIDAHWMzX4mFCWX3NHeC5mt54u5lOPcf3Iy51zzWdS4p7t22fU2RY3DExT7xnqenVjP6Zzq9iQpMZHDTjOqu9FQAGdXIcpnzVv8nc-C4xU5rzZ2Ekj0Z9SdqjQeJlxNj6JWI-buzRvtZ3STpYbxlyVsfuNeUs-",
  "id": "rs_0a4d47986c289816016aacae7e6c8087d083109b5fdaebfb68",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.045,\"right_pitch\":-0.142,\"right_roll\":-0.102,\"right_yaw\":0.053},\"note\":\"The gripper closed empty, and the brick shifted rather than lifting. I’m reopening and lifting slightly so I can reach farther along the brick before the second attempt.\"}",
  "call_id": "call_BzK3tqaLMFRdr3WK8YD21xDe",
  "id": "fc_0a4d47986c289816016aacae7f05a087d08032ef6fb171d5cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BzK3tqaLMFRdr3WK8YD21xDe",
  "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, 0.8116, 0.6075, -0.4152, -0.0227, -0.0498, 0.9995, 0.326, 1.5551, 0.5209, 0.2462, 0.2531, 0.07, 0.9958]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1696 left_yaw=0.0045 left_pitch=-0.0507 left_roll=-0.0056 left_gripper=0.9995 right_x=0.3567 right_y=0.0777 right_z=0.0253 right_yaw=0.062 right_pitch=-0.1949 right_roll=-0.1131 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -1.388, 7.0085, 1.746, -0.0415, -0.0659, -0.0122, -0.212, -7.8427, 7.8701, 1.6239, 0.1245, -0.0024, -0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4edef95eb6f73160ade1446f2f5af1c88638d9d001895f6659a9a9e906cacb3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c2adfd7c36e552987baeb2352d325e3147faa971232819cfd7fa6da0c1e600a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84ca74e9ef02e2e5cd7357451f5fce6003a90b438fca1c66668c33a968fd26db",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8112, 0.6075, -0.4095, -0.0227, -0.0498, 0.9995, 0.326, 1.6215, 0.5091, 0.3767, 0.2634, 0.0746, 0.0083]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1708 left_yaw=0.0045 left_pitch=-0.0446 left_roll=-0.0058 left_gripper=0.9995 right_x=0.368 right_y=0.0796 right_z=0.0212 right_yaw=0.0533 right_pitch=-0.1424 right_roll=-0.1025 right_gripper=0.0083\nstate[joint_eff]: [-0.0479, -1.5795, 7.0222, 1.6874, -0.0464, -0.0708, -0.0073, -0.2667, -6.2564, 6.2564, 1.5507, 0.1978, 0.0171, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrK6Hy2SENeGghv4Pv3Ps3WM1WV7MgCJc3X_9ss_JjEON2nAzPrPkbEETZ8_b4DoXYpfWKd0eSYrWicihTnklXX5hMdH2mUc1GxJ_R9iLYeOsl_JQERWYKH_hhiVZxs8e2bsMPqCZwstLd4arUitZiRIfVbQb4-BVB_Fs9xBp2q7uYdcPJ7ibnOXrwbIY0YGDvp8xhVdZpZbOwgxo8tINPqcUnEwP5XO_r3EUOi-SC171HUlwqZciy_6iAq2epMj5qVcQxNSw6ack__CUYGkOfo6sVAj1jK-n3Rn6TeQdUd-iQZyxfhF9-mpe4O76QoKFmkFqYpnhDF0b9l8Wrvl2qVTcI7xB320-uVFY2seewQmqzs2CghQUUPGit6rIKl-G_q5GSqk7wW2x-2EFWUq6ozdTsgQXaFpbrAgW9hrcDvBgA7PIbkwN-HXLtD-APcXNsc3qwxscnwNRHWekW0wMTJNZ7GTZ4-YxDemJfVP1FBav4IMqaqaPXJiaQ0h6F7tfoqApz7I63vUOerGkRAMceO1BzGlNV3cJXqpPzzoQx26rLT2buJJ88e56I_25Zjhg8eCIksV4IAnapbg3RrJ8uiIVxjsrp7ui28ygjjPaH4bZEiQ7hPMGm56unaB-E6Svj9FJfaSlujYtoTG1Iw_zr9UFEQbY6qEKo4Mh6xBitYyaHLxGlnT8b_LcJDrY8WMPCtmBeUVMwjboTFV6VLUDzhfQ16O4WVkayh8touh3uo_sz-PF2F_AE9xW3iAqNu-ifZPqTtTUnehBSHOwF5w_4AT0B432VucGVdckTPMav8GXSDVZ5wF5FDkzZDUsD1hzD1IHkuVSRLP51eCgyHkG_gDPIq02OM5chbNuMJYs28aCkBSa7RIdu1LheVtt2g6i0eRMCBldK5ognCQ0Y3OyyKgReiqM9OKVo6lWsMwMrfy6UAqZu0jCln3O9PrzDUY7a0BkoGsDDZyBMt05r2wNoVQ-IZ5xfc8hL4kXV_6gamCsoV5bEzNirrOk0avVpfakhjTxLPFwUW24J2qhn2BsTkl8IR5h1yin-atKUZee8o4gMl3uFKsH2cgP1oosF0STY1p2I0koo3jFOTlTZPE5BEIaBq4PrQAZC_ctOJAeeeAlkMUiVa_bRtehsMojdZiKOj0EDq4aSKz-AD77Z_lU00jtjlQ3ENeXFUWbFg1QSThpheI0paPLKXMXdufLZ3JvowWJyyhcReb4BcQCh2TvzBImukOzpOXfeLXzNb8zB5sr7cbLYo2Hr7TYVjl0H5CcSwJO",
  "id": "rs_0a4d47986c289816016aacae851f6487d0b922f23bd63540b8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.075,\"right_z\":0.055,\"right_pitch\":-0.195,\"right_roll\":-0.113,\"right_yaw\":0.05},\"note\":\"The brick is still ahead of the fingertips and now slightly angled. I’m advancing the open gripper farther over it at a small clearance height.\"}",
  "call_id": "call_bVjSkYG8tzCHDsMVzrDCdzE3",
  "id": "fc_0a4d47986c289816016aacae85ce3c87d0826bccfe0b170192",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bVjSkYG8tzCHDsMVzrDCdzE3",
  "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, 0.8146, 0.6075, -0.4164, -0.0227, -0.0498, 0.9995, 0.271, 1.6367, 0.7341, 0.12, 0.2214, 0.0353, 0.9958]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1685 left_yaw=0.0045 left_pitch=-0.0549 left_roll=-0.0055 left_gripper=0.9995 right_x=0.4028 right_y=0.0754 right_z=0.0495 right_yaw=0.0529 right_pitch=-0.1973 right_roll=-0.1152 right_gripper=0.9958\nstate[joint_eff]: [-0.1709, -1.5932, 7.1179, 1.6825, -0.0659, -0.0708, -0.0073, -0.4855, -6.5573, 7.2547, 1.4432, -0.0024, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9bb47e8359312cac8500602b3f7baa8b18c483391ba272f3653798e46deb65c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84c0d331a849ca8d1b50c780b0ccd5e388b3e69ef19142456b7d7b528ac485d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c61684d51553b8f03239d466f7dc9e6abb5fe2851a4048a9094c44a2f2d295c1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 53 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.4152, -0.0227, -0.0498, 0.9995, 0.326, 1.5551, 0.5209, 0.2462, 0.2531, 0.07, 0.9958]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1696 left_yaw=0.0045 left_pitch=-0.0507 left_roll=-0.0056 left_gripper=0.9995 right_x=0.3567 right_y=0.0777 right_z=0.0253 right_yaw=0.062 right_pitch=-0.1949 right_roll=-0.1131 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -1.388, 7.0085, 1.746, -0.0415, -0.0659, -0.0122, -0.212, -7.8427, 7.8701, 1.6239, 0.1245, -0.0024, -0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrK6NBSsHpB7vizy2DaER89-mMZLnUVPCaw-wVN1DSWyIk_l4w_pXdbNKWumnFR8mbFA1nVrTO7V9ctHdTBmai_l1gmMzj5WZ-o71iRVrFN3TA3eUiB2sVB0SkyVLNVSlZO-zGd4O6CUjkqEIErDUtFL8Zaq_PHIo_RCaRcK_alF0XasrdRqXs_ygWnR6kHkMa4axUzfgIwa3nDu8C1GgsDYFQz0DZ0OXNmkdngjQNJSaSQidaO7D2WQl4FE3KQM7mWWw0kx3FEm6N7nDKyoj-2TnuClzM04_PAZBAayhnaR1Cg_4h2_ioY36flHaeyfKeE2eGBi04obClt6mdTAdSZRTZUQ_XaK3QCb5y0QiHsgf9tCk_5QcEPl2Z2EYODrBtyNc5MbfhGD3ptyr_uZNyi4imn8vh64suSg8i30HxLXq8ShDe3ZmHFb0vr90BdD89jX3GLX5ioy2CcPwFiAwnVge50SSIRAGTiI1Mksto1_WX_gakh2LFeMYG09Po0BzJAUCycxVNUJ-7h8IPIucMIEC9MrjWmWvZ2lp7LtRbWQh9RoYxrdLzZJReFCZ5burim2--6PjyZwAz-UpHE3-zDotPUFLQBo6HHfZIO5lr9c408Hb5La4bMVcgKHxfmeUr0mZ8A28KAOcUTgK1pWEisOn0YqeTIrMedz13CqNmn8SbedVGgVKBZTqGzsxFgRM3q3UBTNovypMCr46UVt06Yzg5gNw8w6YIXMMctg5zkl6Yr6SePxV6tJl4rSQRyKBb5Fs5j0S-qWRW0xfDx2G1c2tNhhxydYPUn9HE_dhT9aRly5h24n4r94-Ty6V5UhJJB22CzeSGCrp1KqUQI77ll2T2qUzfknYMLzRnzCDCxAfx_HTRBYMRXruaSg_VPyd0oovhYeyR9IrgRe6Mz4reIf2NlZZf1lncIVSAUwKmMOqBRn7J46xeQcaRZ6zYRvsmBsObpvFvlbhkuzUMhSW2MH9iZJsqXZ9jkUU7m-PtOQ13YyQtgDqXRi_Q4UVWRMLRdfptZdR9PmB4U2OHtIDusbrrh18AvHKVTFO2haT8WyuTpQG73CyIFsA_HiG7pYp1lJaw64ttMZ_YHdkT5omt4FzavmlnPl-KnJ8NHU5hTi8Y51NbXDlpAHP78fDzCVbVmmBWBT2ge6ywyNjk2VWO8y8GBBgUpTWzAcA_mI5OoYlM35LOoK1D8wpqH0lGor68isiNhfWvpkJjbEHu000c5vOQPK7nJICdAKcMfwg7dKy_kIW3eQ1TfCRo-lF1nURCI11PLNkCjBB_WGLK9NRIBVznx2G94fekeZJ4EadD7trCGriY__VGmyE4MwHHTYtLhz6xH_5vH-o9FLS0nGcvFGfDp_LqFypeAg26PVUWoorI1Avscrt5T6FEUIh28D8_Bep9JUfkmBZGHITk5awUafp6wDdDaA7Ku7lGrBtWRYcBDetAYQsvN_o447gG7gGTTZQjoqepWGxeAmc5qOdza5BLI6cItG8w1KjULa1ldyOpa0=",
  "id": "rs_0a4d47986c289816016aacae899d2087d09dd00f58e07ed068",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.428,\"right_y\":0.058,\"right_z\":0.023,\"right_pitch\":-0.197,\"right_roll\":-0.115,\"right_yaw\":0.053},\"note\":\"The gripper is now over more of the brick’s length, with its centre slightly to the right. I’m making the final lateral correction and lowering for the retry.\"}",
  "call_id": "call_YRVD6VLBycyk3J1NE6G4VkGa",
  "id": "fc_0a4d47986c289816016aacae8b7b0087d089627e2dde914a96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YRVD6VLBycyk3J1NE6G4VkGa",
  "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, 0.8154, 0.6075, -0.4164, -0.0227, -0.0498, 0.9995, 0.2298, 1.7195, 0.7628, 0.1741, 0.1909, 0.0029, 0.9958]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1683 left_yaw=0.0045 left_pitch=-0.0556 left_roll=-0.0055 left_gripper=0.9995 right_x=0.4178 right_y=0.067 right_z=0.0358 right_yaw=0.0553 right_pitch=-0.2036 right_roll=-0.1175 right_gripper=0.9958\nstate[joint_eff]: [-0.1162, -1.3744, 7.2, 1.6728, -0.0513, -0.0171, -0.0122, -0.9778, -6.9812, 5.9419, 1.3944, -0.0513, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7ae818c388dc77af0a64a02f7323860357a6dfd0e11b8e4f5330beaa60e943c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1a060661a644d8a820ae690f5efe199317dc47467a7b483d16adb4f94cd6d88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28f8ee6fadbd53da0267065cf68a3a8b98b226211b342dbefed59feedbd2791e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 57 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8146, 0.6075, -0.4164, -0.0227, -0.0498, 0.9995, 0.271, 1.6367, 0.7341, 0.12, 0.2214, 0.0353, 0.9958]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1685 left_yaw=0.0045 left_pitch=-0.0549 left_roll=-0.0055 left_gripper=0.9995 right_x=0.4028 right_y=0.0754 right_z=0.0495 right_yaw=0.0529 right_pitch=-0.1973 right_roll=-0.1152 right_gripper=0.9958\nstate[joint_eff]: [-0.1709, -1.5932, 7.1179, 1.6825, -0.0659, -0.0708, -0.0073, -0.4855, -6.5573, 7.2547, 1.4432, -0.0024, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrK6QnmUQH6NUwGGD85q6x9o6l9FcbFmjGblOs3xTZzt59bfw4flAZ7H-w1Ikh3RIPjIKHfzMWOZ02CEi1Nb0rZi69u6g8BORXkEs8R-dLOtT-SaWpoSA1dyte2pjvbyYIRCmBK6Jk3tbXsrvLXubCizy14R7s-_F1RvYXhkL4ih75_M9TK9AySo7eFHK5ggVfgD6OPhvZGXHXCPCXa1kKKLGYbrZOhK_YYeIxnGzUqTK86U9j5_qbkSHyCV71DsDMpvyMBpNDeyIvn3xIj3CeTEBb4v73yJHbUZGuRdV5lhfB5RVBgpVGxNFhDY7y-V98MMtoBFOZ2yHCLAaZUZj3wAPz-_KJCr98sNC0iN-BjeIQp0bX9j3u30NUxpUow2L1HWL4k7RXL3anZaNF6HVh94O2QFQLGq4hR7CEW89p_6mbCTjYWyea10nZ8U3ClalKwpxjzbbjPlliVGBecf96-FyBP-v340PpY1_2rm5ejZCZmCQpd040pXcQXUwB8ZaQK4-OfQ1jlv0L9xxglkGw0uXmqfvg4kfMqFzHixSAOW8KjNV0DCY9IyP8ConpUV3eanFYuSocEJF1WL2vpyk-IAVNeVp4pVL38GKZTtKS3YZH_VIgw17TW-2M7dnNTyAkxBolIM6V6yQG-UfvN4GC544MLK8AxxaAOB0EVgL2gMOpVu8QlEH_-RGcXBDC-OGrdlEycA5qs8U2OsaDcnSgwXNngNoDAZmrkJQB5guCqcuVOZk09P0ElAQMhLjesOs7pC7Iyzzjwk2k5o4DcvRYeTzDsGu9GpLrAvQpKGnkV76ajwnO24tfMKUGIFO8VAl5PYPXCVa6vv8JnhvbKyf-b7sX4fUJRaZB2gxVgvEb0H7d99sJkMO_JnC_CyfPG8k-oKmZ9skTHmQm-Uc6QiRNEcLcldUvpf0hFZeun6tlU3bcRbadoP3jloQI7Flsb9DDi5poSuJBqlxgqcW9xOijMeK8EP4BYH2lBk_vE_mhGEf2FyB0aV77MZKBJnQ8E-MyyLRpp0swaZZXIL1HSDqjruliaQiCvtzgduPFLn4fv8W9_Tc1Bo5FWRZ00_J181eJntaRMPSuwCJnZ37zYY06uQ8408Bpkb2iF-G1SJlJpSO5EG2Bu9N_9vjLOSM2StAktElTG33nLNpBbGPlyAylwqEqswxNjBMlyFYrd-42xf13AyuOEhKQZwYuN_h5P-LwIrdCkl7yPj3Z-5EscXrL7-X3nXVGMOkZIAh2HL9L95IY9g=",
  "id": "rs_0a4d47986c289816016aacae8eef8c87d08a94036dc8b61d8c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brick spans the jaw opening at the current grasp depth. I’m closing for the second attempt and checking whether the jaws stop on the brick rather than closing empty.\"}",
  "call_id": "call_VVFRm5xoqeMm7ScthMNBSTWf",
  "id": "fc_0a4d47986c289816016aacae8f8f1887d0bad685978fe3135a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VVFRm5xoqeMm7ScthMNBSTWf",
  "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, 0.8204, 0.6075, -0.4156, -0.0227, -0.0498, 0.9995, 0.1925, 1.7954, 0.7574, 0.2241, 0.1699, -0.0273, 0.7297]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1671 left_yaw=0.0045 left_pitch=-0.0598 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4199 right_y=0.055 right_z=0.0114 right_yaw=0.0512 right_pitch=-0.2389 right_roll=-0.1292 right_gripper=0.7297\nstate[joint_eff]: [-0.0889, -1.7846, 7.1316, 1.6972, -0.022, -0.0269, -0.0122, 0.0068, -8.7863, 6.0786, 1.6728, -0.0366, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:252d33899b3688cb3773f67a0d614564800a2be680ced5f1a88496a8f97e5a21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:060d1aaff75723614c97a2a7a08f47c6560415891442136acbc7ef076044baba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d528f828a340c4ac692f4c2c25146098bdf45e8288177db49b2551806f2687c2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 61 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8154, 0.6075, -0.4164, -0.0227, -0.0498, 0.9995, 0.2298, 1.7195, 0.7628, 0.1741, 0.1909, 0.0029, 0.9958]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1683 left_yaw=0.0045 left_pitch=-0.0556 left_roll=-0.0055 left_gripper=0.9995 right_x=0.4178 right_y=0.067 right_z=0.0358 right_yaw=0.0553 right_pitch=-0.2036 right_roll=-0.1175 right_gripper=0.9958\nstate[joint_eff]: [-0.1162, -1.3744, 7.2, 1.6728, -0.0513, -0.0171, -0.0122, -0.9778, -6.9812, 5.9419, 1.3944, -0.0513, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.055,\"right_z\":0.085,\"right_pitch\":-0.239,\"right_roll\":-0.129,\"right_yaw\":0.051},\"note\":\"The jaws stopped at about 7 cm apart, consistent with holding the brick. I’m lifting a short distance to confirm that it comes off the table securely.\"}",
  "call_id": "call_hFuPTewMKujBhTkkOvdVCrel",
  "id": "fc_0a4d47986c289816016aacae93994087d09c6c319a59f52b30",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hFuPTewMKujBhTkkOvdVCrel",
  "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, 0.8211, 0.6075, -0.416, -0.0227, -0.0498, 0.9995, 0.1921, 1.6672, 0.8368, -0.1055, 0.1619, -0.0273, 0.7297]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1668 left_yaw=0.0045 left_pitch=-0.061 left_roll=-0.0054 left_gripper=0.9995 right_x=0.3973 right_y=0.0519 right_z=0.0377 right_yaw=0.0526 right_pitch=-0.3607 right_roll=-0.1407 right_gripper=0.7297\nstate[joint_eff]: [-0.1162, -1.2923, 7.0769, 1.7265, -0.0317, -0.0513, -0.0073, 0.0342, -10.865, 10.2222, 2.1905, 0.1197, -0.022, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b98a693e82ac4f692bfff72156022ac53cffa23a73007e2fb66c61c0f722c7d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed469c6378eee246c3a46ab6b057bedc99c46b11c8d8867a38833e5da80950bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:824b98b894b975cb1063a127da8d52647812bf7946bf85c86de6892456c8d571",
      "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, 0.8204, 0.6075, -0.4156, -0.0227, -0.0498, 0.9995, 0.1925, 1.7954, 0.7574, 0.2241, 0.1699, -0.0273, 0.7297]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1671 left_yaw=0.0045 left_pitch=-0.0598 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4199 right_y=0.055 right_z=0.0114 right_yaw=0.0512 right_pitch=-0.2389 right_roll=-0.1292 right_gripper=0.7297\nstate[joint_eff]: [-0.0889, -1.7846, 7.1316, 1.6972, -0.022, -0.0269, -0.0122, 0.0068, -8.7863, 6.0786, 1.6728, -0.0366, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrK6aMcb9lBaHL2ZcK8zozQAeY18zPrrYNm2ueQRe1atq1vveQcpcT7-POxImfjh0dBF_CERgl2ovP9Q5Y_AEK8WLVuo4ZxKzMS4to8V2GX57jujY0FNMpjLkOmGBWl5sSlUnaqqz7elCwP2js9Ftmr5wXiF9M3M9D3tetWFwODoNNm0Kzz8hDShl7DhhGrZq5q4yzNReS9VYhoZZPmXOjXXDzrjQ1VUoi7huEB5Kh7Qu6DLVMzIrMb_yAmlgA5707YAZ0vg9LEq4CRMpn3rtdGdsHDBX1ZOFWp_aZcT4MucY7tRiXmc2hPGcNwkcakegxV18UuxNYh2Y8R4ULgWbxwQQ9fhMVYNYYy3yff58P53254MSU4jIerTit0fCfMEVGfjOFfUa53FVOgKcO1glzGks0YnrNjIEuUISxMQPdZgclmS5imVPrLhzVrrX1fg_XYXzHk5-odQZvIa0tz7BV2vEkSlYz3JbrdoUfFFpjHPEekkuQh_Sur6xd7NpjM_G3DcXSs8jQ9hY_IRBJzyYOVQEP9WJX5UYTmkWNssXo5zr0tN6xYxaaPB5DLGnWUdRDgH5O6daW2inEe9aZH6FHHvlLJSRjxiGX4z7AzCXY2_UWMZzt-TD5xaubJvIz_xHz-J108_Zd-vdNpm6twpEfI8zGR41JvazUes8SvZgG8Qt32-gRHjZTo9nouJswrVn3Zu-355e3jg1JDA9umYgRCnFywBcky5g8cGBpUYEMOn_7YraDlHYi9GfG5NCGLvVUOh-OnX60JyFwpe7ElMA009eLfWvL80xJcrwRlei7dBNqn2b0kphtWobFrUEXF4RmVuWUohn8SmohVyJFxHxdOc_FM6Z28wDc3ok2dA8XivKIbPMM5ExXFHWlIHIcReP1ThlSp0u7_nAVhb4AoRNny2FGmwUGHai6g3CH1-Sk_QXGziSFzmcxp92J0R2dQf-lo_i4plbvjgtwQVjALrCPkEUkD1lM3N44Ab0dT9yD2SZQ0sJZ57pgei_uOuqH-VaJrJQy-MHc6Xr0iqpx6FRoPG5PEBF_IjIT8Sgs_1vDbhJHse0IUjq0ZMNFJ_bYdVs95jNK0wcASVuorEEr4IEu99plVt9fvjfOBMLGDEz4_3f6Dku-YXxW4ft3S9ezym3PdAxROZwiSSvFDQcebqEV24zvGfiWgYetFgPbfhQdwJ3COX8iMp3Wd3aFSebFjxJ4V-VF-5Zk4Bagng3qTbRhRDqGp84r2YJ4szc4ZJGN1ZWnkf13SvnXuoSckJtDvrNnfhqousHQQZAaVDwqtfx4_J13OipJ0XwmgVm5pt6FekjmQg3WRQonqNCG9TQgMII4OEsq3zLTQC2h4U7PeMT4ZMOW9hJEvfPq8wOpEMVHbWNEqPO0zr1X7JFihthLNQnvaJ9",
  "id": "rs_0a4d47986c289816016aacae97980487d088f75ab1da3bc507",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.052,\"right_z\":0.13,\"right_pitch\":-0.36,\"right_roll\":-0.14,\"right_yaw\":0.053},\"note\":\"The brick is staying between the jaws as the arm rises, although the arm is sagging under the load. I’m lifting higher before moving toward the pot, keeping the attached lead clear of nearby objects.\"}",
  "call_id": "call_ANchBKkvygqhR1UpAiBrToY8",
  "id": "fc_0a4d47986c289816016aacae98926487d0808e290979fada3e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ANchBKkvygqhR1UpAiBrToY8",
  "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, 0.6075, -0.416, -0.0227, -0.0498, 0.9995, 0.1925, 1.5673, 1.0065, -0.4889, 0.1478, -0.028, 0.7297]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1668 left_yaw=0.0045 left_pitch=-0.061 left_roll=-0.0054 left_gripper=0.9995 right_x=0.3776 right_y=0.0507 right_z=0.0843 right_yaw=0.0595 right_pitch=-0.475 right_roll=-0.1452 right_gripper=0.7297\nstate[joint_eff]: [-0.1026, -1.1829, 6.9949, 1.6532, -0.0757, -0.0611, -0.0122, -0.1026, -10.2769, 10.4821, 1.7802, 0.1245, -0.0415, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15caba87c4cbd1a71b4f9d921104ca39554790b7157715e0f8f6f35f0d475bb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cc9eaad84289e101450b84a3bc3c81a01315aa64ae96e98e4a99f9b4715ab4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4d162c785c07a65972aabb08dfb6837ff3e26ca9ada474c70bb114ee54c1900",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.416, -0.0227, -0.0498, 0.9995, 0.1921, 1.6672, 0.8368, -0.1055, 0.1619, -0.0273, 0.7297]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1668 left_yaw=0.0045 left_pitch=-0.061 left_roll=-0.0054 left_gripper=0.9995 right_x=0.3973 right_y=0.0519 right_z=0.0377 right_yaw=0.0526 right_pitch=-0.3607 right_roll=-0.1407 right_gripper=0.7297\nstate[joint_eff]: [-0.1162, -1.2923, 7.0769, 1.7265, -0.0317, -0.0513, -0.0073, 0.0342, -10.865, 10.2222, 2.1905, 0.1197, -0.022, 1.033]\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": "gAAAAABqrK6gGgYzKgyiRYcFpSbhHrUgRderAywxjNVSmwqcohAL0TVK0JPeKPycAXV4AQmvwsg_MmFZk0tJc2EkuAZ8Yi2wEy0Y5yhqyskgsrKrZ-4e0Z3arC42-VaWuzpBjXU_0OUO96HuUix12C2jmLruXFqH-8emo8Ybu6Q1xbg4DD8o2TXSdF30TcZ_FUU1ciEyDmuGL4Hhnnh2TXaO9iR9-2Gh_fx0gpust-Y3I6SmFdIvey3impbXA9TqWswCisqaiFXZUwFl3niUNTPUtN9IjoaaCnSjdP1NwtPFOKc_CsX1Wa6enHrn-dVRXgHAB4qk05rOhJuSPw7w6y1DySvxlI8l2d7A019EASfDm8WaWhERkMOAclWowIKBhc6YLdEcaQBSwfvWMwGEwtITl_2k1d2cVYPbcESlJaaQbkieTbOSzoDT684Vx9uyo1A-rOi-Hz8UK_I6MAIGw08mUR4r47G7xA8KAmf0g6mPQesFZhNTLOnhDaHzbd1Sz-zlxtzIeH9LRJJPQ6bGLEU3Q4OG-qzSAEFrAPWKCR1WpYhotkAIoigrQkPcl9bsSnQ_n9DuZVaHJaES1-i5Zamn3golueHgadW7F6Nac6Y8B8fzH0fSktR2rFLyl0V0KSiTiAAncaN0y237PvHprA92Wgbn51XrBAgB3qCwPdl09-TzzIm0GVzO7HDq105txDT5h_EHFAQeOc5BhNysTQ3tfJ6hUJmoICEmvtNhczK05W6KWA3YSf1m0fj676ZCfSGkq4wgN3j052Vz_1Awe6T-3KnCsvb-1ZyMZ3iBOBWaR_jhPPUGtBr89451Bb1uPKlrc4GSTsUlkVEcfLfjoVT8SQGZrJfwVMsujC9uUKGTzHyGlM6brv7Jvn1gmwoart5ORVdmrhPw0tV_PK6X2knzpUfTPZRvO9V-5RNhWxS0hn4VRjMmR2GVDpRXLJH7eRP5qNX7DWGsqT1ELpfhszRct2dcNozSChy2hpYOZT1owgiiEHjgpqWpDK_W06Tp0AFVlDTwz77LZzwDNPU0ASUEiO9LUF5WrioPapU7svCWcTVzgpdQDVuakVk0SEgy6W98YLbdy3u8bCTzB1-jxJQUYz3NN4D31YVFJQZFpQbfgzfQUK0lP3AhOFIjg7TyxY_0QKy5lVXQsZVgrR1nvMgDmQaPN95Yp_t2br3pMHaYiewQwV873RQOr3H4wvo2vncqEFIFj5dS1wLRdlSUDSYSTECA4OyvlX2_yW4lBdauaSX3_1OxlIBWoDU3HzDDBtq_4_BPmlHe2unEPUn7jAyOCktUIUsL8WRlgrSndcv-NDg2nfRA2_F12FDpFUTG60l2eCdlKE65KzSK4-woTgp2rpbBosL-qw==",
  "id": "rs_0a4d47986c289816016aacae9c815887d0bd36abc9b00e0b4d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.12,\"right_z\":0.21,\"right_pitch\":-0.475,\"right_roll\":-0.145,\"right_yaw\":0.06,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The brick is visibly off the tabletop and remains gripped. I’m raising it to carrying height and beginning the move inward toward the pot, while keeping the idle arm parked.\"}",
  "call_id": "call_Kew94zSZGdhJVTJ8Qv4YDXBc",
  "id": "fc_0a4d47986c289816016aacae9df31487d08d3ad2e50399397b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Kew94zSZGdhJVTJ8Qv4YDXBc",
  "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]: [-0.0265, 0.8421, 0.6235, -0.4614, -0.0261, -0.0532, 0.9995, 0.4259, 1.5753, 1.4464, -1.0252, 0.2245, 0.144, 0.7297]\nstate[eef_state]: left_x=0.2884 left_y=0.0006 left_z=0.1595 left_yaw=0.0025 left_pitch=-0.1112 left_roll=-0.0047 left_gripper=0.9995 right_x=0.3516 right_y=0.1203 right_z=0.1826 right_yaw=0.1027 right_pitch=-0.5472 right_roll=-0.1548 right_gripper=0.7297\nstate[joint_eff]: [-0.5128, -1.2376, 10.4821, 1.6972, -0.0855, -0.0659, -0.0122, 0.1573, -7.3231, 9.8803, 1.3993, 0.3687, 0.2027, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bab1af4cddfe7b89307856ec62d6360d576d7fd76b147c82a5323759e5b3eb3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c022ffd11bbcb8a488416c8d754111fb35fcc2e3b0b43b32215b4fccb2a0404e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1730b2d317daa8d91a321c2cec5b1201f0d79ff3739ca490dd2f89d990dd7dbe",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.416, -0.0227, -0.0498, 0.9995, 0.1925, 1.5673, 1.0065, -0.4889, 0.1478, -0.028, 0.7297]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1668 left_yaw=0.0045 left_pitch=-0.061 left_roll=-0.0054 left_gripper=0.9995 right_x=0.3776 right_y=0.0507 right_z=0.0843 right_yaw=0.0595 right_pitch=-0.475 right_roll=-0.1452 right_gripper=0.7297\nstate[joint_eff]: [-0.1026, -1.1829, 6.9949, 1.6532, -0.0757, -0.0611, -0.0122, -0.1026, -10.2769, 10.4821, 1.7802, 0.1245, -0.0415, 1.033]\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": "gAAAAABqrK6nQwI7TEQibBVNW67IbGfHZyL2Z9y0Fk17-nzc7MI1QqlaOpL8hf085qyTJjN_txgtIApdjnrtBL7yCicx7RqPE3rzuLDmeTcfBPJ1yYjga9k1-nS5qHLY-9s-U424lw_wPmYUV9IHFx-ZE5XTIR7EDDmzFFgKSexf1YOUbp-p_ALb7xJ8XOJSPUlEn3tpeYM_WK5X0BMGmgIDWvNIdeFAIBfztoYAJFbKhcHjPhsJZ7NxDeCHpcrLmglrHOr2rfZVwdOXQz8cKYgZAiTIGvhLbkfodXBpjs2aDnYiJvkeLDjaFXvNaiHyR1K1KqRgRpVeVo5ef26ECsyELDyrf_UJsNho5MTBHa1V67QQeIgQreezsRTh080Yu-DcYeS4QVd23TTsdWRy9ZKdGbDqihdGPpLCtWuQ26Ka_ZL64jBs1R6E49kl20HeCg-z6HE3ENiPw0v8IvQ_rQ1bnKORDBWZeZ55XYU1UVuE6vgR8PPgz4-yhVvfZjX18VpE1HxIIl6AR_4YnGxpbF7-iPPG_BpEHFiRSQsgo83gIYNkd5OusUJNp_LZBoOIaEy-Y1wYEz6Ody83T9cLEAMMnD3iYXQBjel6uXaY_yGo0R8fqRO-O14m_9mfcvEkTwCJU5Y1f3Q3bWzyPg4Yoleep5p0MdeJJ0a6ccK-FCAi0pGpQACNAwdd4R9pvy4JO_KvNNOIBX2QT7m6uF5URrUFqkSyYY621z2dLr3u9z5O11bxAk9dSaUC4efrzvPr0hZLjYy1Hqfyf8Md_Sq3ym3BGDIr21RWd1Bt5kctE9xO8fohMuQQiEehQ9WTudykErCEIa36SdmM1-ZcCbAtWmk9htvtjrOkHBz2h20V6XCkFNyz0qrIW8FCXkqrlZVY0Y3t516tanCw9g044JqSt7EdsiUW-ezpZ5FKFCMOZrmAirkj0iZxCT8VIOjNq1SagRbKbOJ-EVVcI-DeljgFphPTkKCH1AnvFrqlsR-Ll6rR_jpCfZaCc-StmZOKfPHsb53y_CXhLJKdsPpXLYfz-i23N7590so98u5iqO5FYT_VeoEbGD5Dk9zGJ_hczQMEBUSarW7ErrrrPNreCKJ090egJfFEn2GI8kwZ0BpmfbmqfhRCniksP0c6eYiE2Gt4J5AbIOsVA2EyqkeVVrIQF3_zSbof4Vtu9eOBhwRY-HohQJPporGbGHcvESNAha_eIud_IWxBaiS-lNbGSlNzJacH-XNtpTX_egVNI3-V0oWHchp18JghvRGlE8IzwrR9BuZU_hteDbN2U4C2LK_ACcogu1jpDEzCfZnrnhwk6d9Upi3LhnneO4CAwJsqPNUGYNsWQIcbVnjuMXmPz3jTqfCI1IB_tGGaJmzqcAEatvYW82ZKE7jtDYnTF29sl9xBmWD8zHq--mQiOZATmeK_PZdDcAZ6G_aLvNM-cWV8uOxl-2eJ5SNrXYWLlOQUkWi6bZ598GOLFDDyrhzu0WCf5b91nrQf6j39V0sW0OHqIlmVQ0nmeQIpt53-hhOGsz1EFlr-bff-St4CkJCliklxIerrHyjfDYIFNVNPqw6D4yefAEnA-03HPfDSv_J9Bd5bAB-iihTsXN-5",
  "id": "rs_0a4d47986c289816016aacaea302dc87d0892d84cf99d67993",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.27,\"right_z\":0.29,\"right_pitch\":-0.54,\"right_roll\":-0.15,\"right_yaw\":0.10},\"note\":\"The brick is held above the table, but it needs more height to clear the pot’s rim. I’m moving inward and upward, stopping short of the pot to recheck clearance.\"}",
  "call_id": "call_O3f31VFgHCgpOqymprmXo9fe",
  "id": "fc_0a4d47986c289816016aacaea5f4f887d081ac626295053b82",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_O3f31VFgHCgpOqymprmXo9fe",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8448, 0.63, -0.4675, -0.0261, -0.0528, 0.9995, 0.7036, 2.1258, 2.4401, -1.5936, 0.2848, 0.3878, 0.7297]\nstate[eef_state]: left_x=0.2886 left_y=0.0007 left_z=0.1604 left_yaw=0.0027 left_pitch=-0.1135 left_roll=-0.0043 left_gripper=0.9995 right_x=0.3671 right_y=0.2511 right_z=0.2398 right_yaw=0.1355 right_pitch=-0.615 right_roll=-0.1597 right_gripper=0.7297\nstate[joint_eff]: [-0.0752, -1.6068, 6.4615, 1.7314, -0.0513, -0.0415, -0.0122, 0.253, -10.0991, 9.2376, 1.0965, 0.5788, 0.2173, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8630b326b4ba2f6c392864da0a0c7e4552ef6dfeced03a81834dfe3d13189e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:726ba370b76ee4b7b1c6ee1761605f834a036055acd612eb56b2077945d9932e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0783ef782c8d034f9a0de63448c6c1409797fd183801f99dc99105d4ebd1149",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 76 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.8421, 0.6235, -0.4614, -0.0261, -0.0532, 0.9995, 0.4259, 1.5753, 1.4464, -1.0252, 0.2245, 0.144, 0.7297]\nstate[eef_state]: left_x=0.2884 left_y=0.0006 left_z=0.1595 left_yaw=0.0025 left_pitch=-0.1112 left_roll=-0.0047 left_gripper=0.9995 right_x=0.3516 right_y=0.1203 right_z=0.1826 right_yaw=0.1027 right_pitch=-0.5472 right_roll=-0.1548 right_gripper=0.7297\nstate[joint_eff]: [-0.5128, -1.2376, 10.4821, 1.6972, -0.0855, -0.0659, -0.0122, 0.1573, -7.3231, 9.8803, 1.3993, 0.3687, 0.2027, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrK6zxT0EB4X1DAFz9JvoX_vEjDHNcVnGuHXw8PdHtB88BpO9n6FvF4E3bAs-z3pMJgJD1-e6FREx-wpY2Cw8_romP-ebtyo8NQ9xVP3-McKm_GM2ANa56juo45P6TwUlE0qRXKVRdqkhJ0QVauVjrK72dNqCM2geN-t3DgVSNiyOdaWTeAHWQ8ZnrYTL4MK5f4swO1dXzlMIwZKquXdkgod6e1R4C-Lbymt7B6yeV-iaPeuKssSpBN1mHITEjCUm6sOLao9VLHbf_86A1ynp1Pg1hkxL-bS_GsFJEp6TkcF0yNs30x_CFKx77-ZPxwkHxXa7Hdp29YI_jlUrJdGplOwxyKEb2vSod6UAWe0anpl7TR8vw6qxROBS5uARuc_Nr6z2dZ-sfGJTxQBLXSWXa8tEIruVYKDLuOuVarqplV8YaB139grbfds67a__nDNmkwPzlI6SWfv-HVjAJ5kqcogAR_UxVCti47qdQYQ8vV_H8dbZ84Zcabvo1pWEuiLry56KiiTHDdt01VC9RgKmM_us3H6Gaaznwbw-icnXCSOkrTpbd_DgyveAqfsio_urTzABtQH6qDN3s_c6BXBcOS_wmYfn_Gl9Kf2gsHyo5H3VhNRTF_Brfxa804un30833xfshbAVA1j-u_DiXzvzkCAbdhtyUXCp1hi__emsSu8vQXL7aBP0ZGnR-BCRAHvZ0_4ScmDsA92H0peIajZcRZc_y7uAkCNY3oa6LlSapGVfgtFd7sB-EPe8yXB0qz-Lb_66OUS4xEZhzutJHH1gXZU3Thq0ocaBnmD9plm3W52zjx16zaFH5VeL7S1SUPbfwL-ADygIByZYSbBGrAGKL9W4iUiLdCh9S9pdOrloVVd-BslTlhBEPZ6nEixTJw6pKnfRnaL94sactBNkJudpXnVJ4bs2uGBasdn7l5U79wpKde3BMr8AkDatEbTIbIIyL06Fe82MdPlbNs177y4LZEvuAZgnF3WDNESTVEqLBLiyG0_0E4xsjbMdQeIVUL_g-Sg1lztIOY2Rcad_Ut59RuIuqSUg-qBZ8Wd8OOCbpO5YXNTDA4peCWputBJrEIKEAn-8S8X53PFW9fy-0f4Ixqf1xmNFzdVHcntOH6SAHsuYQCWWuCABEdsOp84Xgv0cJJkjkYzn49PQHXPEoJdemJXhM7SP3Q9IGQ2u9LhXWvYHlTUoIsjimmZYj-g3HhNi2R6IjytFGtTfmWCj99W3SbeDG4yH9JHsZbnrU3fJkvCUVRfusvEv5Oi8woBy5Vhv5BylOkF7bEWn3XqNmHg1EF2N7Vg0ZZPYsoBU_t9oho13DR8_q3eH6LDIScF_0pbS1FheNt1OmvAydrtOhn6Wj7b4TeWQXj5UBpqhLAU26oK2yDMB20Aauy8G0RdPpvC-jgSAAGm6dykDGfxe2XPhb5wvRIAeI4KAM3iWCsttxrknvr0X5AIHDrM8WRGuPYeu8P8cl9RN3NRbySk9RNuqp-Kw-Ex29_TFc9mN7BUs5fUYqHiNa0KBDaLNY7hsFvaG--K0zOjSxTfwmj4Fc1IzodffisrMP3_xWORZxDXUX-zywnm0r66-6DDY8zo5yxP3PgYSFYPs8s-837xbL3qckzWMLatfz5hnTru77G1SZzP-Q5GqysXut9xH3WP1zkbAlgryx12l3xtiz5kWP3yUG6PQ76Dk8L8nrxp23yczgPMx3O6AHNnOkJJUeRTXQssxAgjO",
  "id": "rs_0a4d47986c289816016aacaead578087d0837e4dd9d1940cc7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.38,\"right_z\":0.29,\"right_pitch\":-0.55,\"right_roll\":-0.15,\"right_yaw\":0.1},\"note\":\"The brick has cleared the pot’s rim and is just to its right. I’m translating left over the opening while maintaining the clearance height.\"}",
  "call_id": "call_LyF6fWNAD72onJQVl47pGwgY",
  "id": "fc_0a4d47986c289816016aacaeb19f7487d0adf008a9db576515",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LyF6fWNAD72onJQVl47pGwgY",
  "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]: [-0.0261, 0.8448, 0.6296, -0.4679, -0.0261, -0.0528, 0.9995, 0.8597, 2.2917, 2.5572, -1.6001, 0.3286, 0.5362, 0.7297]\nstate[eef_state]: left_x=0.2884 left_y=0.0007 left_z=0.1602 left_yaw=0.0027 left_pitch=-0.1143 left_roll=-0.0043 left_gripper=0.9995 right_x=0.3475 right_y=0.3215 right_z=0.202 right_yaw=0.1361 right_pitch=-0.6201 right_roll=-0.1727 right_gripper=0.7297\nstate[joint_eff]: [-0.212, -1.4974, 6.9675, 1.6142, -0.0611, -0.0415, -0.0122, 0.2803, -11.9726, 9.2513, 0.9402, 0.5641, 0.232, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4b86ed2af551d072692531e4b1ddf1504b285dda40c6e38a265a7418facf7a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f76751af115058192f01415bea00062422bd915351908427641f914416a83e86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c145ff582d325829ce7a664157fa13cdb2b6bf709e676c91a0cad137f9823b4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 80 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8448, 0.63, -0.4675, -0.0261, -0.0528, 0.9995, 0.7036, 2.1258, 2.4401, -1.5936, 0.2848, 0.3878, 0.7297]\nstate[eef_state]: left_x=0.2886 left_y=0.0007 left_z=0.1604 left_yaw=0.0027 left_pitch=-0.1135 left_roll=-0.0043 left_gripper=0.9995 right_x=0.3671 right_y=0.2511 right_z=0.2398 right_yaw=0.1355 right_pitch=-0.615 right_roll=-0.1597 right_gripper=0.7297\nstate[joint_eff]: [-0.0752, -1.6068, 6.4615, 1.7314, -0.0513, -0.0415, -0.0122, 0.253, -10.0991, 9.2376, 1.0965, 0.5788, 0.2173, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrK7CY4m8k8r9fly53lLVQtxO9cA3jHTX1lbz-pYytBXecPoI_TzyEArPx_biUYglsaBSmcWaUQR_s_A_dumj98VrHjC9wUIFho8c505p-sflnir59HtxqAwfbWS2WkfOaaGD5VXz4sHuPmymRVc-c0vKzruIQxngtc9nZTNunTMEjtHCC4b7BeQlV11J8Htjl2EfPEuiIamZSDQuM9di6D-OZPAyR9ynTF6Yx9KENW2cZrYDrND9FSKCzV1-Sly--azgVVi9Km1qdAHIdzgJ14iVRQzBCCJbG0vzG98TIy-d3BOd8L0fTJJnWb3gRiv5Z6dCm9SBYsXBbq6hUWt0My77S9HFuA94bQbFGx8yn099VB5HLvOL6YcOCB_rRxfQ0oOKradx4u4y_b1TZG6RcPPWRq8LZCMFsXTUWFr1JhVZnH1XngPlerSU2Eh0o5-9Zln20eUxj8xYnA8oL6MfFX-TdUMxirg5t46Zcd-XR1xiS1zgDqpHVaiRvUbbWjSOGjOZUZuiBmsMjqePPuS_XCYzOdwn8P-MEMVtfgdKipRPN7IdtlKBBUlhs1fZP8kfpNPTl0IheCut7RNnU9bctanQJkA9zgvP6w6sGQmXMRy1KvULlO47T_hNsftrZQfP2RxJQkIQ5LCEkNFsFEe2KGYuRdCvkXmPiIz9BE-n6q1YoGBUNk6I81uPSe5O2WImQd8JPcOdJ2yf2kDohWZQj9au3O0YWOc31H9tzk674coQsNiEyuunEtot_oTVGDCVeuI86OoTYOesi1zt7IkAwB8JDEEOlMc7Gy1f-Fjhrn8jRUsxJIgXCXHtG4fMQ9zNhWRieU0ldVf5dxvdEET_2hDmQAYMwxqdHF-BX3g3aqTgbvWGWScCCt8-_ddEOTYd0W6-6AqeJKkkAEz0vLUPYoi1dZINH_PAjJYGAU_NFIR-NBy2sJUph9EPAbmDhBYQEpY6g_6C8wcNwvHz5pPufIAptXof3yAHSQqH-ABGPTVPiYk8XhJSAceqsKmictati7K32iA-cXs-3d05m4N_mWzwFyRi1DhUSVNqMha4rLx2ow44XOKlz4i3rDn-If8AVkhsgwueLTGzkXdTzJCvVm0myllCJc6O5OHoSyT_MKd2KkIlYRp8OC9NmW_TmF0Q2BC0kgtQ1E2LCaiNAr3_tie70YjCJwZb3b-d2jmh1mWaxLFIG5wwKsfrWbogrM3xbPPjp5dKQm2_WhtN81N4wMXFd2IPcE2eN7kbuh13JVPVBY0WrMSgX8ak7PI_vgm6tkIwcvAruytPTsEyiVm3GhXIE8xK1cVL4vqG3wOmXSS_D6Beg5JG9opP8zNBe6t3PtDJamagZB1P-NHLmbG1BrWhCzt49VhSqQhRdC2X4DDLkprjEbX--Bpc4LqzbW0MdeyJGT4LY_EwZlXIF7qKsXYtZnXuUSw9j6zAPf_I1FkXyA4QepRvhdQkkkn8yMaIuc7tZNhxwoJhSVVk7ELp5mh2aWO6fHUsd-C1xqZkVwtpgb_vJ4YXEhguZSp02PkhVQhx5SHi1qjSPcFSgRvtSdxgt0h5CtaxPX27VLvOvlgfFUaVuIVS6MmKcMoU_sitNnmr2j_5WDrZpVTuarFkMi4Y9KooGMbGVglfBxRuiPNxuos7I7fnSv-ytT-bR10kI2KpSvNzWG-dzUYjWqdxk_twwQ8ScODzYPzllvDe7zTqekw5t30OYWl6jfk8M8BHzZM2Hy2mr7JCmCfnn_bm3Nn7z1z0JJLaxhncylAIQk9Fum17WyY8sDBsjV3P-iEhOCdS4yjaGDvrA7WsjgkIrsJpk5XKEEQjCjq8_ZKfjkidg1b0S7TtPTR4h7jnirsw6cACdjn-o92AS9ZTd_hFo0yfuLPuz3cQftI31-0ZGmCqaQhvZ8kqbcPv6J306hRdJZ2BjY3P9biJub7YVticDmBocrU6IaAQXD8DJvElxaqOku5Q9pa9SAHPvOqbYGQnbimm8JTvkADDO0CCqOvQqivW3DZrwBr1N0yr6qS6EZKTiJEOSsbr0VBwQWgWXTOsqDmeVmuvlPIspkJ9DS8q7tF5EP32n3euRD9TpssUcBoDtLnJPehmgtqeG2bYOcnQZ61_RVcNjy-AH2Z6js-BpqOlmzwAYVnLshZW878pncsqDn7Qx_6K9x3UGqM3nl83oDaGyXKjYNEBeZmiVFp9YAxMgg==",
  "id": "rs_0a4d47986c289816016aacaeb987e487d093e4145cbcbea3ce",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.37,\"right_z\":0.245,\"right_pitch\":-0.45,\"right_roll\":-0.17,\"right_yaw\":0.135},\"note\":\"The arm fell short and sagged as it reached inward; the brick is near the right rim rather than centred. I’m making a smaller inward move with a slight wrist correction to keep it supported above the opening.\"}",
  "call_id": "call_IIbuKfehA8c52YhBBw3qxRW6",
  "id": "fc_0a4d47986c289816016aacaebf98ec87d0a87fef53a396de72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IIbuKfehA8c52YhBBw3qxRW6",
  "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]: [-0.0261, 0.8494, 0.6296, -0.4679, -0.0261, -0.0528, 0.9995, 0.9455, 2.3436, 2.6255, -1.6012, 0.3923, 0.5636, 0.7339]\nstate[eef_state]: left_x=0.2887 left_y=0.0007 left_z=0.159 left_yaw=0.0027 left_pitch=-0.1189 left_roll=-0.0042 left_gripper=0.9995 right_x=0.3333 right_y=0.3525 right_z=0.201 right_yaw=0.1657 right_pitch=-0.5639 right_roll=-0.2011 right_gripper=0.7339\nstate[joint_eff]: [-0.0205, -1.7162, 6.9949, 1.7021, -0.0464, -0.0562, -0.0122, -0.1026, -12.3692, 9.388, 0.9939, 0.8278, 0.1978, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dde6d812e815fb3411744dd2c38cf209cca52f355e7f36e823e31b0c128a9700",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d3cc1723012f189feb6ba9f3496d911a3f45e7d1b70f61515b627a3a14d9ebe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bb1794752b314803859ff8f46b8a35c4ec44cdc22e72b8cd6fc84ed1e68d8f0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8448, 0.6296, -0.4679, -0.0261, -0.0528, 0.9995, 0.8597, 2.2917, 2.5572, -1.6001, 0.3286, 0.5362, 0.7297]\nstate[eef_state]: left_x=0.2884 left_y=0.0007 left_z=0.1602 left_yaw=0.0027 left_pitch=-0.1143 left_roll=-0.0043 left_gripper=0.9995 right_x=0.3475 right_y=0.3215 right_z=0.202 right_yaw=0.1361 right_pitch=-0.6201 right_roll=-0.1727 right_gripper=0.7297\nstate[joint_eff]: [-0.212, -1.4974, 6.9675, 1.6142, -0.0611, -0.0415, -0.0122, 0.2803, -11.9726, 9.2513, 0.9402, 0.5641, 0.232, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrK7HnIs-lP2c2-WCk4Ey6Xl6Kv7iNa6yYSQy30HjZEwjiRubsopI1_8g9cZruIKMSljDSDafwshi2IP5396D3dzAkVVHaFDRtzOhTVIliF-Lr8Y6iiV4EuDfNbCkMcQaxcZuEIGdVE7FKs6O7eOLvEeUnIugc5vaLpUYrAwcwnz4-a5F0YqHQxkpRVLpwRbbRuuCKNVxBrmvWXACX981TgZ_x6nYGz8Dnpm8gWYfb79hoc5qlFkEplLn7PNJCmbRcEbnAFocVZ5mr98wEZ6A6USyt30SuHWjDmxOS66HUwk13UssN83AuvQDjmjE0jSF51ppVN7I0zyoQJNEfkX_8WDxKpdKPOG-OkvPMOVNmBW1s2z6jTEH8BbZQORcS7i6uj2iwyti31B-li2TbwGiHhaYaRlKqxRhMTb0fuGlCJi4nRTKk1Bnprz5pi4YliKfnmYdS84xvMox0h10tv7BqrVPcI2y3xxZmuxVDG47O4DnECaeLTHHecVNhoa2F9YhdVYR3llYr1VevLzCIWqIbn5QoU14MtldGNy37KV9V_FnFvQQKFP_b6DbfsyEzLmXfPZzcBlC780P-_TsKe_Nz8tKc-heKbPvl78mHMGG9UlHYbOii-qPiW17sidJ_0zp-fcMUHeERy6hfQYWzOBf8uPUWIn-uctoIos1gP2LtVx5JobZ2dUMrzsI245PFq6KBldv57eoybT6yUSCFFBtIWAbUCpL6mo5jykOPzvmZ6QmY8eAxBnUode2yxjNuS-5ExZ1R5byM_-HaZkj14SrbFd55f91Q6Y3fKGm3NyNmgoqRkQ7Obyj4Au_1aE0rYhZzVFLn0YIP61OSgSfrEbIh1U87vpAWEQGR93QX4-OPE5PaAVkZn7dr8rSAQ2btvhS9Q6s7JUiA3ggZuJBOQWRVjVYm_hXGWng0Cyjd4gQn_wzyfM5SRFCqqgKQeJ0ro-VYWIv3-1XjaVIPM-hv4M4vESnGu0jRWcDICVbpN31YhauFdBa2gAkFClGEc5Bypu3tPmE5Vrn2-w6VFXleqiur3clC6SU1YEEiDMqSMpUS4W2V_GrBqsdvD2If7wGX4fsfBuvtFkAdPLSOwSncs5QtByjw1o3wxyskPWovboxz7Ga8wfwhx5EqcHcj5VRtDE-uaVmYTxp9yT_f-Us39z013UD92uU2x8xzwXltwPrqckUMU0UkNLOCZrgX88nYSNfn-pDG51n0lZfmQLwTF4g4xUz_8fVIKU8T4uX2my72xpUwvFU0GpudyMbk9ZIHZF9EZNlLKu4kprqW0gKftH1JKeUKQ1lHHju-qDQFPMQp3TFxm0eJDSntCSs2cKExgiHYZ2azdb9mFEwIMG4Q3YNp_BJ8vwMKspfWcIK_ah-NIpB972GFwLCaS7qRd0PPRwyUcxfAdyC6y3tVXxmEABvSD0uOxHCvg_d_7ppaKSsNrgoLcDvqFFXa3QruHDo4Vy5pDkf",
  "id": "rs_0a4d47986c289816016aacaec450ec87d09f4fcdb4712e83dc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.39,\"right_z\":0.20,\"right_pitch\":-0.35,\"right_roll\":-0.2,\"right_yaw\":0.16},\"note\":\"The brick overlaps the pot in the overhead view, but the wrist view shows it still near the front-right edge. I’m moving forward and inward, with a modest wrist adjustment, to place it over the water rather than on the rim.\"}",
  "call_id": "call_V1cA8vMid7OZ67Wlr4RcR305",
  "id": "fc_0a4d47986c289816016aacaec5ec5087d08d3fdd21b352d439",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_V1cA8vMid7OZ67Wlr4RcR305",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8513, 0.6296, -0.4683, -0.0261, -0.0525, 0.9995, 0.9478, 2.595, 2.9177, -1.5898, 0.461, 0.5117, 0.7339]\nstate[eef_state]: left_x=0.2887 left_y=0.0007 left_z=0.1584 left_yaw=0.0025 left_pitch=-0.1212 left_roll=-0.0038 left_gripper=0.9995 right_x=0.3684 right_y=0.3843 right_z=0.1661 right_yaw=0.1744 right_pitch=-0.4866 right_roll=-0.2413 right_gripper=0.7339\nstate[joint_eff]: [-0.3487, -1.7026, 6.9265, 1.6679, -0.0562, -0.0317, -0.0073, -0.7316, -14.8855, 8.3897, 1.199, 0.8425, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a0dbe4bd985b28ccc461233fa4d914fe683e13e8160d53588612970b000613f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79ca7437aff465d68a1456e2c404718c94280eb3458badb4ede470f5bffded4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07621c42c07da562fc86d348df57e4d318bcc33897cfcdbb18108b037378fe7f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 88 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8494, 0.6296, -0.4679, -0.0261, -0.0528, 0.9995, 0.9455, 2.3436, 2.6255, -1.6012, 0.3923, 0.5636, 0.7339]\nstate[eef_state]: left_x=0.2887 left_y=0.0007 left_z=0.159 left_yaw=0.0027 left_pitch=-0.1189 left_roll=-0.0042 left_gripper=0.9995 right_x=0.3333 right_y=0.3525 right_z=0.201 right_yaw=0.1657 right_pitch=-0.5639 right_roll=-0.2011 right_gripper=0.7339\nstate[joint_eff]: [-0.0205, -1.7162, 6.9949, 1.7021, -0.0464, -0.0562, -0.0122, -0.1026, -12.3692, 9.388, 0.9939, 0.8278, 0.1978, 1.033]\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": "gAAAAABqrK7P6qtLkCGoDsWSpY6PTiNxBelxLJCd4ayxeo4ctCpp75RBObp5wr4QXb-xXOGpNmkiG4tlKw2XFK_C3LDq9eHkGj-w00z2zWFF8DWvMHBTYfaW9h_9Kj5sdQzb9IjhILW2tBVmd1PPOjPEkWJKalvSKr63xSM67Ao_uGdn9-p1AjNpHIihaPZdpCJOIOhCN2JMJ9bd-UffqCYeQ05Cu6QoMeJ2I0G90GPSq_q3gpfYdtknI_x2kJbeGtWWwYwagFIJIBIUHRJcgvLi7ctxRQB4ictqmOA8r_SEt1-sswvAa27cdl3vk4uUw3-0JYLWUHmUJkNwF37XBJRDf6m5pGlAGT09AXdFXHn0x90y2QqYSO-uoAv5w2I2PkAr0kNvPgJ7SMV7XVZ0caGb7Jqhm_nsXLTUzyy-pJu4097TTpKgyyVgn14dGAd_dsY4meypmjj6ocZc5z49-Z1R6K8-0hgAU36UJnkCudbbro4QUOH-ioBn8iJngIKUAuydUvgoEgdaN83-TRpXQcbOTn1M8qDn6DU4YqYXx9dwp4AwF2SsmiD9zwCqiyRfoLphFF0BeCcFERpT_ExYfR5R4kE_vH2jL6IYnhXjFm2x4B9LdMu0t2h9o6zMORnkac35Z0fL514w7B-IN_M3zh4rgeSxKv6eMcWLPyVqaegbhBoCIXgITuMw77_1ora98NzYkPq8o5FLlgWHr5L79sjPjM9fyGKsmyy5pxVI8AK9s008c23XlfJQfNcxoVP0FkkJdLOe-RIMdjp3Tld032bu5ibIExriwBoiEWX6cHkarkaOM1dq5nB5FbB_Dd9V33c_jbEaBXoUPS1ZL4T-rOze2wnXjv-EJwhLnSDL6D4q1dcsAOHhX0njfbibzbaekKgMtH4n-5hvCnJ6a4DIl5e2VUWN-pT0Bc5SE-M9W5V0xlBaW__13jas1rAyx9TzRdDi-chEYON5jgVGaXEvjc8SPLGt77eLdejhLUfoOb3qwmYckQLCFB-JYXIaRAMJ6x596X1leaisBu5-8pP2Em7-C4Y4WxTaH3-BTF5OUM6N4dU3kKNJlNiWuJnOl_lSBciRqSyigW7E6j283TbgpE6yI_FQyBj1BHaDBi_5e2IiEec114H1zVQnuwtAbjY9AbX2PO_yR_viS6eDlElEutA5FtJjHPouvlNkaP_2vHt_2gPtuwYhurFImGipb_Bj6h6IYiZ7RW3aqK7ZulmWeObkF3OqvGIyaRSZ5AqZNH5qnz_ZZczR_UTsVgdCQdfIBkJJcP5diXo1hiiHzJSAidbsVlPTh_hYmyAheCr1hTN2aitUueAnRSPhYSy5aNOBE_G2aOkw7Bkiz704Vd6m21_DGQyWgcaIX83k2QlVs-HomEXJWAnxkwg_V6HnzopmKb6tQ6Y4SPvH2pqmwGKYJ5zHIIksuKdn_h0oxToEh35hnNy27qXFyre9UHohMvDLd1lJNbfgx6vQlWslmbWM_-OTA-LR7EpJTEigGMyD92PMPn1m-faiwFKtl6aAVafwLFtt6rL2c94P7ouQJTJgeJ9B4SWUK0uMmkT3b3zVUNUvAt76ukUubXw99xLBlYRwYHL6jFmsTYCxnWrAFQCbiPrE-rqtYHhO955eVVoWt23K1SXmbA7QANU0ranaDTfgTxB0LT0Imsqa2ZaWxdDwRuodVNs5ZU4Ty8U47swXaeEuo_fvwZWpyiu86RsUPNrGJTzR3NeEjZuZX205ONLVFVJgLdbSYz1SlDNZVjUFsFmYMpaN8HDVcHfmhx_O6yKEiuAYc6pXM_l_kkZMwguGIAVwVaXWw793O4lbiuGLGK1JpszddMxivmA=",
  "id": "rs_0a4d47986c289816016aacaeca1ae087d0bb53900fe99cc7ee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.4,\"right_z\":0.17,\"right_pitch\":-0.25,\"right_roll\":-0.23,\"right_yaw\":0.17},\"note\":\"The brick’s far end is over the water, while its near end is close to the rim. I’m advancing it farther into the opening before releasing.\"}",
  "call_id": "call_8Uf17uC3qcxmdaFfZ5MX8cGI",
  "id": "fc_0a4d47986c289816016aacaecd9e1887d0b3a914a365104353",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8Uf17uC3qcxmdaFfZ5MX8cGI",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8513, 0.6296, -0.4683, -0.0265, -0.0528, 0.9995, 0.9501, 2.7586, 3.0936, -1.5581, 0.5331, 0.4587, 0.7339]\nstate[eef_state]: left_x=0.2887 left_y=0.0007 left_z=0.1584 left_yaw=0.003 left_pitch=-0.1212 left_roll=-0.0039 left_gripper=0.9995 right_x=0.3913 right_y=0.399 right_z=0.1391 right_yaw=0.1753 right_pitch=-0.4151 right_roll=-0.293 right_gripper=0.7339\nstate[joint_eff]: [-0.212, -1.2513, 6.9265, 1.6532, -0.0757, -0.0562, -0.0073, 0.1983, -15.2, 9.1829, 1.5556, 0.8523, 0.1197, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:104966f91a38095930562f024db0ef3cd0a968fb3c110030db38682b6831863b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd563e61e3f1b07bad4ab96049399eaa60b0202c7e1a8d5925cea378ef31df2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bcbeea7e1b1cd92c18129324cae7153c938b5e256152153d3fd4fbb99c4739a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 92 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8513, 0.6296, -0.4683, -0.0261, -0.0525, 0.9995, 0.9478, 2.595, 2.9177, -1.5898, 0.461, 0.5117, 0.7339]\nstate[eef_state]: left_x=0.2887 left_y=0.0007 left_z=0.1584 left_yaw=0.0025 left_pitch=-0.1212 left_roll=-0.0038 left_gripper=0.9995 right_x=0.3684 right_y=0.3843 right_z=0.1661 right_yaw=0.1744 right_pitch=-0.4866 right_roll=-0.2413 right_gripper=0.7339\nstate[joint_eff]: [-0.3487, -1.7026, 6.9265, 1.6679, -0.0562, -0.0317, -0.0073, -0.7316, -14.8855, 8.3897, 1.199, 0.8425, -0.0269, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrK7U2-qdkjr2w1-TyADUIWY4OIY7DvzcTa8LLYmOJO0VibIBXdzQFWYbepBVLRR45lZ6ux0IwHpnn6QCcQbgs3r7pH671dr_Hazm21XmITEA55DZ2grOkAIfp7QBqxukonMEWzXv9XL__sKQNIJexI2-tTQpkJ2pcFByZFogPqu86SqCeoP_D5ZDQFSdz_AQm5eDW8byOE5MiETz7-I6ZcCYvSVo2f-PyPAAsGywYZoHQi6Xf6sh28nAC8EFdVWp_9eNIx1B_ya9f9x-Ug83v0Qm5ExcARAB_0ZdXFQrmtaekbZxLM3c2DLQRbBTrk-dpld7qskn4QKJGcgeZjXa5o14mGTVR9pVRtJHROgmeC0j0xpsjwp-Peu_9vc3o9qOJorLdORhRVS7u8SAOczt7ZthYQM3rJjpHZRbsWUyj8dkxrTy_a2nMdZ2ZcDwsAX2BQ1F2K3wG8uSey6wdLhA0b32BrABR8jkucFSQwPnywTxg7ydty-MbbJDQxNrShFjesmdLr-Kmq-c02swFufqi3cQQohHNcs4dRHV5BYt6P2eapTOZ7B27c2RsNO4BPJpWVFpy2e6RBn0DrZ7Kgt3oD1wLoZ02wm-bCb0xBoAwB344JyfBZiRPKFY7lpBQh3g8XdaUsLFntuJ7cfM0sk3KlRHM5wg097ROO2kC9PELGF1wUxUe-7m-pUWZx4fXWsNJaQmih7m7OjTAvfHyzE9C-nV3O1_lYCcGIZ200a4ki7Tr5v9syPvvyexUQjZwOs-1VVXL96gJ7-Mo0f7j0mrUh7khvffZld-A7pvZ9djaOqlkKZ0D35PX1LT-LplIbsj7dL04jlIoFJdzzfHLB1a1xWl--Vw9JfHx-zG9hAd4H3VjkIpq9yr1xyPlepkntl4u9JdNOhRh5afgv1yyZjk0marzKQaYuurJoNdJDqqvvosUMg4ljhEJ3i5B_VY2yh91Aea20QJuZ3QM0taSDrxx4B5R1_sWLmWTCd06fJSwcdgsKaoCardAgJodf04jRvnGOtGWPQkMDv5z7IyY0DAyrLz0s2bAm7dYQPXkqAv94fjxH5jCQCdz1I53d5vOBbGv5LkxhpX1wfMaghA_rd9X-UuYe1_hIe_y7fpWJv296wD6oL--pGd-HZbqEcxaO8OeCbyT_PD9uiUM-GzttbgKIEtQ3PLL_OcCf_LcXr1gL2ktFdkHvgC78c6sUpbEuVEjnR-fIcAgdF72zU-vmLATWyOcFIahTexUDuPSqorLd4s40Vul2Sut3_ixZYh8_afjuFK59_zl-v7TSvGWeV1tT9CSZBhIchxjaTGXg76SFO_qluPdw4PMjvT6wbzzWFw_oGF",
  "id": "rs_0a4d47986c289816016aacaed1825487d0b1595c384d6e5834",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.422,\"right_y\":0.4,\"right_z\":0.145,\"right_pitch\":-0.15,\"right_roll\":-0.28,\"right_yaw\":0.175},\"note\":\"The brick is mostly inside the pot’s outline and close to water level. I’m making one final small forward placement move so its near end clears the rim.\"}",
  "call_id": "call_0owLJzofVWLgx0EP5aKROhPu",
  "id": "fc_0a4d47986c289816016aacaed2779487d0ae3654a0f43924d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0owLJzofVWLgx0EP5aKROhPu",
  "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]: [-0.0254, 0.8558, 0.6296, -0.4759, -0.0261, -0.0528, 0.9995, 0.9546, 2.8346, 3.1062, -1.4124, 0.6128, 0.3775, 0.7375]\nstate[eef_state]: left_x=0.2877 left_y=0.0009 left_z=0.1557 left_yaw=0.0035 left_pitch=-0.1334 left_roll=-0.0037 left_gripper=0.9995 right_x=0.4157 right_y=0.4175 right_z=0.1204 right_yaw=0.1955 right_pitch=-0.3184 right_roll=-0.3414 right_gripper=0.7375\nstate[joint_eff]: [-0.0752, -1.9214, 6.9402, 1.6777, -0.0415, -0.022, -0.0122, -0.3077, -15.9111, 8.4991, 1.6923, 0.9255, 0.0464, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69db18876766483e37a74885ac45df939b6247fa6e061b00470773ed3dd0e623",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:471bdefb672335e190e8659d75b89fe4aa8cbbc9e4f208fbb737022c13c3fb12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca8b3447f603d20831cfc8500a161abaa9520624e06e724d9ab1d2a80b3ef596",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8513, 0.6296, -0.4683, -0.0265, -0.0528, 0.9995, 0.9501, 2.7586, 3.0936, -1.5581, 0.5331, 0.4587, 0.7339]\nstate[eef_state]: left_x=0.2887 left_y=0.0007 left_z=0.1584 left_yaw=0.003 left_pitch=-0.1212 left_roll=-0.0039 left_gripper=0.9995 right_x=0.3913 right_y=0.399 right_z=0.1391 right_yaw=0.1753 right_pitch=-0.4151 right_roll=-0.293 right_gripper=0.7339\nstate[joint_eff]: [-0.212, -1.2513, 6.9265, 1.6532, -0.0757, -0.0562, -0.0073, 0.1983, -15.2, 9.1829, 1.5556, 0.8523, 0.1197, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrK7ZAyYpb7w-QDN1UNA9McF_G2drG7VKRgsNJbQrh7VUn2r-a-kjOrp42hpE2Wenahx9SLCoMRI5Qt_OqucfiyqhQDSSOUd6drsGO-qvp1moJ1kJGVnXTYiDz1KPaNp1ZkwLLCPDxKIlWgqoUkxm37eZnDrgysCsAg80IHLyD7pBB-Q7lo7Ej_e6peTZx0qbScDPwyxB23jjunWQ6U3T4gTGe91QPMpd3wHKiPzzVcU-jfIamX2N1rQUa9Cpv6_mG9w6UdIn-jdb-iKILK99PHkSf7iwqymgKMDGoVmr8xK_zrW3a3ShqXarG1mOknBs75VmlLEWsdg3IbPGb7eB5Op1llIa8-rCxKs8QHlwYVtQH1-eLWN6cVe4QbQ59EYEmBFqQYMLfKRJzXnL1ZSOkfugEzfnVHvg-IEKH5ztCuaZHTdgY2WikD0wbejf8vkyIH5zFNzBLFjXCVyv3OYtOHQO184BSrLdsWHVM9J9HhbDqbdjlLDpOSAF1JDCXdWocehYaIX_9EjSLEqXSBIGOsAzqAfQAzB320E09SyKoD_ahsn4ZGbXlq7JzR343Aij-_BdD39oin02ePk1PLjnLMnr9Bb2AQVeBA6efkVB6E3ixPlPCFQmG2hkWvUBeIhplrUWnP_C4WkFBBZ6t2YkN9Hw_-Vx09vWTpLNohdvf4bpcztaWguMSHcN8sKRSNXlZwq9poVO-VVTo4jAvuAugigsQJXZ29ICy4qw9CCShYlJEJg8aQTnb6l_9_plNsUwI4W2yD4zYzinH4pBNiU3B7jXvNRXtPsc7rBnHSqOYjxC3ZmO47TlWH4Rd7hJyW8XFZpEw_akmOsWTsmuup9ZE1q2htmNOiAFAbONFZcfs01oUqcYXYsTNW6wkrDnBNuWOCtHDoCUm7rT7kLE2r71Ent-eYE-HyIVLGgRxMiAV-RjYQge1ZRRPyN9xotKPXpUSp-05XxrzupRFxXrtdf8AhVFFQwkrULW2Tlpt7SfUDYAohg07Wd96WZdt2Vkr7yl8rrwT6FI0r4KvJYy5VLDN0ABOq-Pi5ABbUrbP6b43MFAodHFZBiwHuK-Ued-tZ-su-DvpuVQH50yzcFb3nniRPZMZ25NnNe32W9EYOlkbye7wGbLdYQQa4JytSwOIK13EAzccc6h7FGdyLoD_6QzshCglmFRTRql5vpIEeVG6Jfy3JIGtpwJb6qTrripKYlOkp2e",
  "id": "rs_0a4d47986c289816016aacaed7a51c87d09ec64bbe9b51bc9c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The brick is now positioned inside the pot, below the rim. I’m opening the jaws to leave it in the water.\"}",
  "call_id": "call_nQzc5q5S3ap6wPMH6Mm2Nqff",
  "id": "fc_0a4d47986c289816016aacaed7dee487d0b375833d926a63b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nQzc5q5S3ap6wPMH6Mm2Nqff",
  "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]: [-0.0254, 0.8566, 0.6296, -0.4828, -0.0261, -0.0525, 0.9995, 0.9482, 2.8429, 3.1088, -1.4101, 0.6125, 0.3527, 0.9954]\nstate[eef_state]: left_x=0.2866 left_y=0.0009 left_z=0.1542 left_yaw=0.0034 left_pitch=-0.141 left_roll=-0.0032 left_gripper=0.9995 right_x=0.4188 right_y=0.4154 right_z=0.1167 right_yaw=0.2017 right_pitch=-0.3258 right_roll=-0.3603 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.1145, 6.9265, 1.7998, -0.0562, -0.0269, -0.0122, -1.0188, -15.3231, 8.6906, 1.1062, 0.2711, 0.1538, 0.0464]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4fa5466d657619899ed083524e370985bddba2edcc5d7cc0e1812f14c470230",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfaa78437927a9f1cac77ca934a3f551d3b3937a7dffa580f6acfdd1d29c5990",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:938a4f820fa1a49d56b1e4bd59cce0fedefcbc9e92ebe96b12963a06b7007f71",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.8558, 0.6296, -0.4759, -0.0261, -0.0528, 0.9995, 0.9546, 2.8346, 3.1062, -1.4124, 0.6128, 0.3775, 0.7375]\nstate[eef_state]: left_x=0.2877 left_y=0.0009 left_z=0.1557 left_yaw=0.0035 left_pitch=-0.1334 left_roll=-0.0037 left_gripper=0.9995 right_x=0.4157 right_y=0.4175 right_z=0.1204 right_yaw=0.1955 right_pitch=-0.3184 right_roll=-0.3414 right_gripper=0.7375\nstate[joint_eff]: [-0.0752, -1.9214, 6.9402, 1.6777, -0.0415, -0.022, -0.0122, -0.3077, -15.9111, 8.4991, 1.6923, 0.9255, 0.0464, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.36,\"right_z\":0.24,\"right_pitch\":-0.325,\"right_roll\":-0.36,\"right_yaw\":0.2},\"note\":\"The brick dropped into the pot when the jaws opened. I’m lifting the empty gripper clear so I can verify that it remains inside.\"}",
  "call_id": "call_euE7esS9RcE5GER5oLP6bbFH",
  "id": "fc_0a4d47986c289816016aacaedc255887d0b66a02d67241c6c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_euE7esS9RcE5GER5oLP6bbFH",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.857, 0.6296, -0.4908, -0.0265, -0.0525, 0.9995, 0.9455, 2.5141, 2.912, -1.5829, 0.5945, 0.3428, 0.9957]\nstate[eef_state]: left_x=0.2853 left_y=0.001 left_z=0.1526 left_yaw=0.0037 left_pitch=-0.1494 left_roll=-0.0027 left_gripper=0.9995 right_x=0.3803 right_y=0.3639 right_z=0.2169 right_yaw=0.2057 right_pitch=-0.369 right_roll=-0.3834 right_gripper=0.9957\nstate[joint_eff]: [-0.1709, -1.5932, 6.8991, 1.7265, -0.0757, -0.0171, -0.0122, -0.1026, -14.5026, 5.1624, 1.1941, 0.4518, 0.0562, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b22eab506c9ba410da4cce4e26d6dc1f3425b021568c4c2b0dbc245426d9a6b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40b87f97c9aab60647801ea9877a82a5d2641953df8453b25f22b0274416d767",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:477bdb4f1f08e296d52cf335000aacce0ffe49cd00e7d35bc477d50d7d7b29a5",
      "type": "input_image"
    }
  ],
  "role": "user"
}