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]: [-0.02, 0.7944, 0.6044, -0.3798, -0.0227, -0.0414, 0.9996, -0.0219, 0.7929, 0.6033, -0.3779, -0.0143, -0.0322, 0.998]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1801 left_yaw=-0.0001 left_pitch=0.0004 left_roll=0.0002 left_gripper=0.9996 right_x=0.2949 right_y=-0.0004 right_z=0.1804 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.998\nstate[joint_eff]: [-0.5949, -1.4974, 10.1949, 1.7705, -0.0562, 0.2857, -0.0611, -0.2256, -1.3744, 10.1265, 1.8974, -0.1294, 0.1734, -0.2271]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:308bafc7ac5fce5018e4de8e693bd2e9ebc6a89aa185fc4f1c55647c844ebb76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:474af574aa8c74b629bbef66aa6ac61db6b753c66a551e432eb3c3480edd84df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b890aa8991459a2bab33106a65cd612d87c5bd7961353b3c429d5298c8b57282",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrKg3xfVHAIyKe7T-GA_c8FaDw2EvEKAt4y0ybDzd2tSgglPBXqINKc6LjU5UvsNkaqLMFDbel-3A8wcjqSGyBy1bX9VOlqmQT_AXRQ5YZEkDox7SDPKATQEXhMlasGo-QqBVVrVXav8XG9852DEJKt-ZCXmcRqUdbDTmsWOjeHdBQUx34kyOEP2L__squnSmsFOIvdj8fhfPDLdmmXYZqnjfvf09R_qKm58cmottzz4i4yb6b4EJ_bC5MOV1eTQw5sWZ8tFjg7ExeR2UCuCXvkSaRv5u4d3WBFzl1kT0DlQa3iF8r-_q7_Fwhph-xM6-y_79IsdKMnO2SETdx6-MWAkV4lwp3D28JXMJl4cd3_Kz6jhZIj6iHXTtHpNefeBB7M6pXKwzbx-F_eF_wKS7Q_Zp2LDxICzxivmporM1mZ4bjwYH8t_sSEkC93wfs3rSlIr8FMcfd9jSvfVOtkZlleTpZ0AfuF5FvAuwmug7Xe0GDaHY6k3V1b9HGAqBhea3DRSUAY6BzXSLWKGNHSqH2jzN3wFqiB4ZP1eHDmNwEaLJ5hrpdEnLBAX0bvPr-zaapXvx6fFHwilx3VmRTYIdFTCtX4L8ftIAJrm2o1HS2VDl7poYfg8lpF-Z2oZB0rU5x1SoPLxIl_vXqRTk9WdFITsWBg5oR9FBY2u8y4o6-NYw0npMIFw9x6zI5NG7WcmhKTk4vLAU1i5jfFv2xeooDFuAyCTe-ZcTPaVZY1zp5iLhDiPwIdLYnPaQBuodWAySh1x_gG3xDSs7_MIobLUt6iAS515UEZuz8IfS_5cr2YRNh3TBfoZ5KNjupzqklpHGtMs3i_n8tSbDxsZBzEmZx-BIdLc_YsWa1IbT6vfmt0bMj9lO1VsaGNtsq9eM2UcjaBvl7RpCtfCpP3-zYpbsX6jxqJCSjJ9e98zEkc77rji7ZrW5Gw2bKfaOg2YRB2gA-pwTgtwGiikgqcJFX9FGQrZq8p7f1aco4aG8ChwQAuAz-viKk5iP6XtbTmY7-mdClu4qV1beUr5nROHoc7IwGA33T2oiJdMfcHZ0drpCvv3x6Zhn4kJ24cjxcC-0qzxUXqYjD77DDUvssjq6oYAyZQDdpYCWgIhIpxd8gkXVn6FYlRIMW07E88Us5Ns8dnq6av05FohstDwIaofDLAp_QxfOSSsY_B1jKK9B6-8DJYVN16fA7vrfGThUkpSsNHFJN6btTeQVkZUMBFva2LM9TnN3ux5A3ShGbMoU1-XaVYFL9UuPT8YcF8KUGXQ7vzmrJKB27YoCCHe4r7AKnE0FRwNsxnfgdrZPQDOuYPZ4yFz1r33iIG3hbnK2r6dWXnMUkya6jNBTgO-bCT7PEWrZS8SfagGElvgSZS1wUXyGElg-3Gt0cqZ6ffU99imsmqsrr5zL",
  "id": "rs_01f9cb96320aebde016aaca833129c87d083783b9f3ddbcc6a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.10,\"right_z\":0.15,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The black brick is on the right side of the table, next to the pot. I’m bringing the right gripper above it with the jaws open.\"}",
  "call_id": "call_KVcIbji7JyB1AyFxkIQ1klLi",
  "id": "fc_01f9cb96320aebde016aaca835489087d0a5ccaab2e81a43f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KVcIbji7JyB1AyFxkIQ1klLi",
  "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, 0.7994, 0.6075, -0.3893, -0.0246, -0.0498, 0.9995, 0.4194, 1.2369, 0.6548, -0.1234, 0.313, 0.1844, 0.998]\nstate[eef_state]: left_x=0.2943 left_y=0.0001 left_z=0.1782 left_yaw=-0.0004 left_pitch=-0.011 left_roll=-0.0055 left_gripper=0.9995 right_x=0.3427 right_y=0.0972 right_z=0.1226 right_yaw=0.0489 right_pitch=-0.0982 right_roll=-0.0382 right_gripper=0.998\nstate[joint_eff]: [-0.4991, -1.3744, 6.7761, 1.7998, -0.0952, -0.0269, -0.0171, 0.1983, -4.9436, 9.7436, 1.8681, 0.3346, 0.105, -0.2271]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7097d4bf46a4814d9e78ca8b7f660d70600bc8644df1eb5fa825a6d58f85b379",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d6041bcb145e9f08eadfd3f522bc601a6123463409a695806a866de93b9f69f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:037afac936d8586e7e231586d7fe5d8c042c47a778ae0805da3ea2ec6baf0bdc",
      "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]: [-0.02, 0.7944, 0.6044, -0.3798, -0.0227, -0.0414, 0.9996, -0.0219, 0.7929, 0.6033, -0.3779, -0.0143, -0.0322, 0.998]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1801 left_yaw=-0.0001 left_pitch=0.0004 left_roll=0.0002 left_gripper=0.9996 right_x=0.2949 right_y=-0.0004 right_z=0.1804 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.998\nstate[joint_eff]: [-0.5949, -1.4974, 10.1949, 1.7705, -0.0562, 0.2857, -0.0611, -0.2256, -1.3744, 10.1265, 1.8974, -0.1294, 0.1734, -0.2271]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrKg936Pvz-4fdqYwzBbZOajYokhGI8rYOLgaFo36MBYe2HbgL_vXIALx2WmUjIjvosIZKOqlo16YMgCWjgOuJEGJDekZlCWANYXFQI0D6-4fX6o8KesyeFI_uj9jiQ7O_Ei5L-xjs2oG5Jof5Dm2rcOC5uq0MlHr7cPtfL00kCqEHX8wEYYnsDS2NOK8OSVJilrRdWEtO3WNY38aSWrQcaxMJ_FCxCkpfV6jJ6Tw1VW_JQmTUqG6JCSPiJuotFGCsUefOkr5NgZ4AxGasAQL03ud9V3nCGtUNpqQ7cDJhlODMhXTnywdzfAHCfNK9CKmaIZ5PLvrU21f2wtRMtCQxwv_RauXHwMcLlCGkWMmZHdUapJX-68lkwID4J8GfZ51yPYtWZ5A0pm2-EYvqcggHfgdi6dx3-86x6cXIdc-hCOTIjmJbQ9DxHAGnatejWr0XomHefMdtZiB792Ffbsv0NOrPkzvFgSgN5DRZXiKxgAzHqTvsV1Yf8dkEI2uJwBaWozfnGZ5oArj0y_OYryrBDRzb0JB1_8fAp3gRmJWbzOJQXNK_o_gfXv5h6hJS__V-p2jzlIwHP7tQIr3EbzSZpRGyAcTSqvS2rV8b4uwCngvhjmovFjWDYOgPmQUP4cJFdLhXOQSjJGGHOFFIobc7UeblDlcDW4XaVQuAqokorPEr5BZNeS9r71KxRprZTrekmRNX165i8Dh5fxwYhaUIBlH8gHBLOM-qXo5wjTxM3QcCmkwZ3YWmzvUNeL_lBs1DLStarTFqx-aeHbOwWpJG5KQT7fZlYCq7x5dfINI3_La2wQTAF2YY1qozr0girSXwM_AHUnsYEEkx47nduaBh5KVvm3B_YvHv2bUFktN4EtpXvRJZTxV8yuUMJIa2GOsOLMuXxRysO1cTZPolZVV83UqppR091Uw7vpTIxVQcAJJL6czyW_E8He5z7edU21uC8MsYKK-_A-pcUudZtjlvyGhl5IncpcsIciHi4LrW3OC-gV9XysDSoDG-tw2WdcGyzbWWLGmv0Ar9Lav-6fKXR-lEO8tkfPzEafHOekpsX-g9Tv6jU5P7AHILx3RRrbY9tqPmT6Qqj7K30scz2iQy16EV0cXx1IBRE7IhE3GDktXVmyGvPt0hNVNdeAHsYPmIma8j8aAFXtPUxWspCwgDmc32-BCSpo6Z45yG7-xxV5n8Nv3QMyPW9jCVU1MhSPeO-rq984QNEf8TKUYQ3-UUdg-idtqE8fZVnujkJcOZxKCkMfeVKo38VLLkwlffO3hfCbhpwn6fWfoEcXJ4xt6iLQfu6FSEPrYzrUJz7AILxPFQETJM0ot-61oV8LhdF__3-8UiyqpbNtAUxr4-mmPZDyVopyOudjU8qoR3r389GkHa2EzEhmOnSGbHcPuTNfqCqpSL-5XyJYQjlQY-ni-9_z70z0Xb5dy_wi_j4S0NUC9xOzGgkjHMvwFk7UQryT_qMw6AOiC8k56uK34G2IZbXX3aoRi8_bVDlH1VuulpD_jZIg=",
  "id": "rs_01f9cb96320aebde016aaca83922ec87d0aabfa8cb5b394ced",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.078,\"right_z\":0.065},\"note\":\"The brick is slightly right of the jaw center in the wrist view. I’m shifting toward its center and lowering partway, keeping the jaws aligned across its narrow width.\"}",
  "call_id": "call_jjAHQuzLNbXkfGZUNOUebGuw",
  "id": "fc_01f9cb96320aebde016aaca83b849087d0bfc692ead9457769",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jjAHQuzLNbXkfGZUNOUebGuw",
  "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]: [-0.0265, 0.8024, 0.6075, -0.3901, -0.0261, -0.0498, 0.9995, 0.2974, 1.4841, 0.5858, 0.1089, 0.247, 0.1249, 0.9978]\nstate[eef_state]: left_x=0.2944 left_y=0.0004 left_z=0.1772 left_yaw=0.0009 left_pitch=-0.0148 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3623 right_y=0.0696 right_z=0.0495 right_yaw=0.0098 right_pitch=-0.194 right_roll=-0.0682 right_gripper=0.9978\nstate[joint_eff]: [-0.212, -1.388, 7.1316, 1.7167, -0.022, -0.0464, -0.0122, -0.3077, -7.0496, 6.1333, 1.9609, -0.0317, -0.0757, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57e4dac2d3cf0e1ce6d1c6c8543395ec0a52b808398a18f38c3fc330c569fc77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94e96e29bd3771a2dd44e54239908ccd283e351e5fc59aa695ad9a80350d951b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49be9ce56455c78df7d47fed05cd509cfa271c2f014e991bea250be961a7832e",
      "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]: [-0.0265, 0.7994, 0.6075, -0.3893, -0.0246, -0.0498, 0.9995, 0.4194, 1.2369, 0.6548, -0.1234, 0.313, 0.1844, 0.998]\nstate[eef_state]: left_x=0.2943 left_y=0.0001 left_z=0.1782 left_yaw=-0.0004 left_pitch=-0.011 left_roll=-0.0055 left_gripper=0.9995 right_x=0.3427 right_y=0.0972 right_z=0.1226 right_yaw=0.0489 right_pitch=-0.0982 right_roll=-0.0382 right_gripper=0.998\nstate[joint_eff]: [-0.4991, -1.3744, 6.7761, 1.7998, -0.0952, -0.0269, -0.0171, 0.1983, -4.9436, 9.7436, 1.8681, 0.3346, 0.105, -0.2271]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrKhDRS0IasK-mZitb4aRKk_pPwY3XezUNULEayaiqu6yn1jrC24-Lfz4QTU6BFjhqoaAc8fAJy24woL94JC3VRUm_11NSEjQ4a-kA6umr2VK0Vnxl98cnqFqvTOcvCtpXANafUCsFLGhMi8VyEpnzskXPx_6nt9XHN45ylwV67Ko8IOmOdo1lWKxhkjT3ZXnFTEFb1fvZmUH0aYTxedIHyxf3kT8eiBuUeGpHgIuIh5KV5y1aH5av1Hqt9rcrlIgcdEf39ebfylliUk95plbyOEm7IJb41dAkEbfEHlRSgV_htx3oHfIFWxtMTJPijoON1asazC7JDB9J-KJpReUQZhhDuOrfw3AF8ov58zZD2ZTSU5sZ9wFMpYJLMtuDp0tUq4yMtbutzq9pDZNwurhldCZLJ7fSYD8gTcZzV5cQ_8PWKi_DKAB-DzrBjfFulUh08mxfgBqvYN6_HLOQxeHA4ADMnb7J7P-HX7EVYXJUvAWMUVQC_GmWuGd8X4N58Xgy9dBgtJlYvVGlapLv2Vf3Lr0YA7RVk-n1RObp1ozMRb9KTc9HVhNvZeYmlkmepJP8NINsBZ_AHpzJgIMRCXY9oxkcOAfWZH4NiPOWFOGaa-bLc0NtD5w2p4fsAFSq7zLocTqAwSn2-47OjJMPYsg-afCgAU5Fpa408xlPpMpOdPrLiooQmjnG4q9FBavLWNFSyzX8iH59l9SLNq7iqlLiNjF6Q2hEKG69dQGrykKQyzoquBZusra4J8PUC_ixiEoA4i7cHsIeAUqtvMTNy-8fDx7cQIXdERR0uwPvw2rVzLe1Xmkgf9cZXL_y1HNGTutsPuOEGv_w75SJXSH1DAZa8P5JpSz7ZBeyCG857KiC9ZWYTIaeeO8j1tW8mqY2Av1-Zpw9LhR_gef2nM_Gx3Yt2TyktuQJnbW7cBDag0GjvWdJBKVVqFy2Hsb5bSJMUrRcXCb2Zcd4R_9Ge9qLd177Jtf4GCMI2BLm6T5AL62WQZeBzzdtVgto8MvOE8ZW-vRmXVi89kJLtrePXjwv9ReUhlcdTB0a6WcXQOseZEwtjXuNMrxUTfmNBjAlKxUUmFRkuM4KwedGghfl4KS_JWfecwpOfvbuqxHxRSHEC15SnQ7_YC_u-pguKef3SWodCZ10t_ZKdH95sqdHWQMO4Qw-UDkKLVL9BPHjnVqRd-IuAGZSOB9m4IK9McI_PSg9kNcGHR8_YXmRdXgSQzb6DPnB4vhg-U42S3-cjpsukrYSiDRuJ-LM29MoI9Rgt3OMaYFyp91eJGw1NAZ0nOiKUlHBSW4x85W9jHZgZLbCxO9XNvctdLpWOU-GhnsMyOK6ib7gfNm",
  "id": "rs_01f9cb96320aebde016aaca8410b2887d099011dac57bf4cef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.078,\"right_z\":0.015},\"note\":\"The brick is now centered between the jaws in the wrist view. I’m lowering to its sides and advancing slightly so the grasp is farther from the near end.\"}",
  "call_id": "call_rJcCsGf4HA4E2I3L4TB4wZXo",
  "id": "fc_01f9cb96320aebde016aaca841b91c87d0889bba7fd9e5743b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rJcCsGf4HA4E2I3L4TB4wZXo",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8043, 0.6075, -0.3897, -0.0261, -0.0498, 0.9995, 0.3, 1.5604, 0.5667, 0.218, 0.2314, 0.1055, 0.9978]\nstate[eef_state]: left_x=0.2946 left_y=0.0005 left_z=0.1767 left_yaw=0.0013 left_pitch=-0.0163 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3683 right_y=0.0753 right_z=0.0341 right_yaw=0.0369 right_pitch=-0.1846 right_roll=-0.068 right_gripper=0.9978\nstate[joint_eff]: [-0.0889, -1.4564, 7.0496, 1.7216, -0.0415, -0.0415, -0.0122, -0.0205, -6.0786, 5.6547, 1.7656, 0.3101, 0.1294, -0.0122]\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,$blob:23462e30e22b2d31f284700aa361dcdfc90055fdef012bd024eb8fe647e75461",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8d4f54bdc8da5af5c2f90ce2db00587adb98523e27b263a65bbe234d3484e84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38a0569ddaa61e179a94c32423c971bd7ec28764d3b36acb485e51e2d15eeae3",
      "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]: [-0.0265, 0.8024, 0.6075, -0.3901, -0.0261, -0.0498, 0.9995, 0.2974, 1.4841, 0.5858, 0.1089, 0.247, 0.1249, 0.9978]\nstate[eef_state]: left_x=0.2944 left_y=0.0004 left_z=0.1772 left_yaw=0.0009 left_pitch=-0.0148 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3623 right_y=0.0696 right_z=0.0495 right_yaw=0.0098 right_pitch=-0.194 right_roll=-0.0682 right_gripper=0.9978\nstate[joint_eff]: [-0.212, -1.388, 7.1316, 1.7167, -0.022, -0.0464, -0.0122, -0.3077, -7.0496, 6.1333, 1.9609, -0.0317, -0.0757, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrKhHpPbZfKqBL6UHEhwbJztNzHtzQfyfkj4u3etAU9bZHkwFXyTzsAjiy1K12OBiodvrtngAQIvwRbiOzbbuCBwYwXyxjYKYGw_eBY5RzvxKC-2VjmgnwMprJQG4zpzksjOdRPz7kqZg7-6JzUVvlePDgCmACP5yh8fTaQh13OAyxKCSkB7NpSHS5InC8ySs5h9MFOsitu9TM3rsyNbTZRqWIBFnxkOXjiOh49O6huF1Qh7Ll3lgNUOi93i3zEFcdWywJH-ol91ZHp897y0LClaowUZbwSprBOWysq62AhtOkRdBwUe79IeuSHtshSkKMfQS9XkJ5XoOlm9xHI_QaMTxN1BLxRnt9KMT0x5DowaHrmnAldpavtH6pVz27qA4wHJCwvjZ4iT71vrSSKtc3lFKsbmAnyx5Y7pluWCWtCoX5Q3a0q5aRzZXHAMCza3nVfnOjq9BCergegKnEBkGMdRgQO9giVVvTnUm66gUILm6X-zzfs2eq7T7BZx1WgQxpujxm2ZTz2ggKejdrivnlJJBSTcgxGZHD0n1Y7o9p478g6jywEQa8QbI9qT16EBVbNt0zrktqP2jiauzgfCQQfkYwsBnaWx3-_PgtVYOh6t_CZJ4vDoJVou2_3_JQXeWYFD7JyEVC5wNdcd67nz1y7VneqLuc-Sq4kXUVGOxlXga8efh7Bcpg8oEtj-U7k9795ukFxej0qF6xgvfC-64Xcw1D_bbPyxplC2XVc3gRhAlZSX53cJB_vKeR6Ojp8R47wZO4yBqvXonlXvowl4a-vMfUmStf5tYO34lTbcB2AnD4X4vyvBwo7wQvMD9QZL50hYapl0-VndA9XBfIhnmWikqbPYmDKLFu8ocPSmPm5Ncn72qiJ4klRN17n-PJFGgvEMkFbGgxuj6NCkF_jQMAjqnF4VG5DXyFuk31ZPdG5VXZmZ-H25g6hooIk_UB7KBfb1HjLIIBtZRE8FfPHD9k0Um_0xTYm0L00_M4FMS-n1VJR4eFvUw0j36wemwZkizTpWqHkX5aVdyYbbUpYDGZJz5cLR3KK2fn1WUV8o-w0Rplf0uWV6a1Q6F-kg7FwzUEvure0QS9zS5-D_iHn3BWOeYFIfIj17Ke_mhD1rUTTQpUooiAwsPR0CNB1rVUjzldgolQEwvUZ4fO4ap6SmWwL5SPRfEUptuoEBy1Zc0iJevKqLGyQ78TByhJi_4S0AYQMomM-YG5w6RQj2zj4kk4L6edzvChUP8hcVrdcYm_kt91W0=",
  "id": "rs_01f9cb96320aebde016aaca845dd9c87d0b4a3c847e8c246e5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are alongside the centered brick, and the descent has stopped above the requested height. I’m closing here rather than pressing farther down.\"}",
  "call_id": "call_q4O75ZUOShXxBNCEh2NvbfkC",
  "id": "fc_01f9cb96320aebde016aaca846522c87d099bc3ac92a17dd11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_q4O75ZUOShXxBNCEh2NvbfkC",
  "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]: [-0.0261, 0.8043, 0.6075, -0.3897, -0.0261, -0.0498, 0.9995, 0.3, 1.5635, 0.5606, 0.2142, 0.2417, 0.1081, 0.0096]\nstate[eef_state]: left_x=0.2946 left_y=0.0005 left_z=0.1767 left_yaw=0.0013 left_pitch=-0.0163 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3656 right_y=0.0726 right_z=0.0305 right_yaw=0.0262 right_pitch=-0.1951 right_roll=-0.0766 right_gripper=0.0096\nstate[joint_eff]: [-0.0205, -1.2786, 7.0496, 1.6874, -0.0757, -0.0611, -0.0122, -0.1436, -6.2974, 5.8872, 1.5946, 0.0073, -0.0366, 0.7546]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0e0e0d01a8258fca5d754dc394b28e3c770eb65b2e1678704b3723fd154ff65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4fd96464a907b785503867d814ba6ce70da932d6f3e5e396305059f0c90bad2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b61fae0bd1f248beae65434e6c88fcdfabb07d3a988a53cfa5e8bc2bd82c6c59",
      "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]: [-0.0261, 0.8043, 0.6075, -0.3897, -0.0261, -0.0498, 0.9995, 0.3, 1.5604, 0.5667, 0.218, 0.2314, 0.1055, 0.9978]\nstate[eef_state]: left_x=0.2946 left_y=0.0005 left_z=0.1767 left_yaw=0.0013 left_pitch=-0.0163 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3683 right_y=0.0753 right_z=0.0341 right_yaw=0.0369 right_pitch=-0.1846 right_roll=-0.068 right_gripper=0.9978\nstate[joint_eff]: [-0.0889, -1.4564, 7.0496, 1.7216, -0.0415, -0.0415, -0.0122, -0.0205, -6.0786, 5.6547, 1.7656, 0.3101, 0.1294, -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": "gAAAAABqrKhLZDPa8FpMWy9Bb7vqdDaxr_WiBm52t5510HytcWLOeYb2SXqMsbugxwwituAllM2gEZ-zYPd4ZsnjmzZbHH7T_NLZWgXyMMfXKDgMSGMb0rp6x2f2a69EUTcfZ7i6D7m5rS2wVyKvkL-fJxkuOqWidydRN9dAyljsveSjo7mvfyIVuLAgKx3PnpkiZfFb0_hhoVmLsjve3JUxUeNufTsjWOEc7G9lYEapkqTEGrIcD_gZsCVBIAcJCA-r2rQcUoSvmNPZYWsV1mzMhJaqSoA_pssqHa4QyJrFDQsBLfui2a3OD-O1UzIDvCj3MpnYlBGZIqbgijjwaikDyliQVZBoAlG-PGi_ceP-p5ThpFmxDI6fIzv9VNgX2rk0CHrghSNZEvSLInOfzty4ub1YQGFe4hTZX6JfE8LS_oKCgWUwYh0g8OJ_TLRC3AcEyi_jyUn4xVkHCM0uyTMLRWhb9QcH4nWOo33rb3c2RjL9H-iWlR6ShnCz6I13itpkx9oSGRla8JXzFiw_DzMox9xEI_gOsokV7T9fIuFechEfg9r0-5-yxHCSN3EKy5aRACyoF0w5EMUPaCGfmvUZJ8JlfIjLnFUbvVTS02mTpxp40gTXubB5ZQpL5vwLN4ni7IHP4sKVMfMAyn1goGXAJM8jTKwPbDw3RzwIbkCBmzf5VsG3-lJBiY1P-Fj5FkUDvPMXuwkrlq1YTlleSaoT8VeY3djEEtOc6olliixTr-gmiYiXKQf-kLX5aAHDH5NpMX1jimHOWrDOtSjwx3f1T4buRAXG36KG0kefEhS2Rqav002xqn9oHcUTkm17ImNLlvlqlsg9OpZshccKKUCtYamQ5inynnOpZSG7vm7hq3Ik00SGh9_nptpbM9NFo73KxqQkRt-Bu6LmYj1OCymtfKlUuImCIQCdy0_yiv1EBdwarYPw2_Nw0d5LsqsAl2wmC1jMEX-CTnfA-JuP-5h8ok78edAh58QbSrcWlJp7NlXPRBIPXrQEHXgXi6oUOgKuaHCRfSPAXMKEYfvzHC_rCuPxgvhRKyQI8jtJ4CEtw-QdaRBfwBViK1U6Ri5HOsCCWdc8LomihHyTuBKybBbjbjqTRZOozD-cfIVB1HQVI9KB_TTLDPiowjgHjbosko25AhpziwGl2d_hftVHNxq_CPgMWy2fO2kPL9YwOlbJCZB3DfrMTcYdcF3M0HzaMnpy-EqUsy8pOqC7eMJeVnQ4_ydcpqycT-R51XTWF38aK-DH6aeQrptgrIzVnTV02_nd84s960QI",
  "id": "rs_01f9cb96320aebde016aaca84989cc87d09899dbbce6e9fc32",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.395,\"right_y\":0.078,\"right_z\":0.055},\"note\":\"The gripper closed empty; the brick remains just beyond the fingertips. I’m reopening and moving forward slightly with a little clearance before retrying.\"}",
  "call_id": "call_huJ2ZFTutq1mkjKdcTfzen8K",
  "id": "fc_01f9cb96320aebde016aaca84a803c87d094d6eb13f74ceb7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_huJ2ZFTutq1mkjKdcTfzen8K",
  "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]: [-0.0261, 0.8043, 0.6075, -0.3897, -0.0261, -0.0498, 0.9995, 0.2924, 1.5909, 0.6857, 0.0887, 0.2264, 0.0902, 0.995]\nstate[eef_state]: left_x=0.2946 left_y=0.0005 left_z=0.1767 left_yaw=0.0013 left_pitch=-0.0163 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3836 right_y=0.0778 right_z=0.0439 right_yaw=0.0397 right_pitch=-0.2257 right_roll=-0.0863 right_gripper=0.995\nstate[joint_eff]: [-0.1026, -1.2513, 7.1316, 1.6825, -0.0415, -0.0415, -0.0122, -0.4581, -5.5726, 8.3487, 1.6777, 0.1245, 0.0904, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0c478e9fd716433ee3b60b6abab1ac38861982fdbc96521326dba16962c5f71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c2699ef1d8c7730ca96c465adf5aed2654bfa069ecf6e3e4d525854cdc20035",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fff6863f9d20eea0408782a59b4261f6262473158029f338c198b8aaccac07d",
      "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]: [-0.0261, 0.8043, 0.6075, -0.3897, -0.0261, -0.0498, 0.9995, 0.3, 1.5635, 0.5606, 0.2142, 0.2417, 0.1081, 0.0096]\nstate[eef_state]: left_x=0.2946 left_y=0.0005 left_z=0.1767 left_yaw=0.0013 left_pitch=-0.0163 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3656 right_y=0.0726 right_z=0.0305 right_yaw=0.0262 right_pitch=-0.1951 right_roll=-0.0766 right_gripper=0.0096\nstate[joint_eff]: [-0.0205, -1.2786, 7.0496, 1.6874, -0.0757, -0.0611, -0.0122, -0.1436, -6.2974, 5.8872, 1.5946, 0.0073, -0.0366, 0.7546]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrKhQ-qbmSVC9_YAxj4W74hrFxytcCsTIurzysCW8qFv4rQkrntcAr0ldOjECZbf5vEyQFYnIp1Nfy59qqHi9R_ool3b19Pr_qJn7cfUB0wuOH2Fk4jEdIqA3VS-CmfS35rdGW2l4QD6GJueUzx8_1slzZTDuuS1tyo5FOOnj-8lWl3V6HhfGZVVCfMZHfS_scrZypFuXdD4iWp2KqSNHAOjvdRhgOPdlfu82xop5tqbdmyF_DNEZNmMxUXltRDI6MTE4J5ke7hGyr89SexOlihmKVZMG6BkMt9McI89VHx5Q17rNNtj9Jh0zgsxEMPYOD_Y2M-bpnxg7G3OE55wPeflXZ3ZENkpnJ-WFhtpqFsqlrQmo0fz9cr-QzgGzF5PIcm26YYzj3XVgOXelaQ-ZECMeebjsmt2tu1wNlAr1ODvXlYNMIPf8oQ9kFIrmEmZ-YGvk9xCNJZmEqKKommHBOldYSEYAWeA0eZGg2-L7BcLNZ4vH8drHMPUTZTUbju-c2JFOaFdN5UUlq2TLQTonG5a0EvL-n70pQs5ir1YxNJ6H0J5nhPSMcTMonUZkcUkvfNhpCTEV-aP_E8epEGbo4UDl8imbgQyqzb01XbWRAbXEM6wje7iHiQEv6qyG9aQCdwa8CLuvZ6hlBWj4akzavBiSHWjbcHG5-DiW7ttjDKWvetg2Gk3u76F3zDxWKOLH-tQcAp2c4Xg06sU8xqJiIix58qJnRMOQBoLSpZ_mSFSN-NdYEaDAwQ7JtCMMM36EVksAouwHr7FpYWNGtgUO6ZyUEp-axSQrRGbBfcDOOR2n7_hkd9Sn3VOGjdYFT5W8p1fRO2vPrjL0DM-61ciob1znhUkwnmbiDOHl9ex6Rfs8nMYmPZG41lwiPqmhyZC9xLF1K2_E02jezWb6qNcJksBYboAwxrxPZ8nPW48-NpkN-JqKl_CjFUyiipWOyTFGd7iOxHV2StFgNZd-01iDkud5IsiaKOAlgUk6_wcx71HOEwxU2vU4NcbwPYDPCbqRRAjI8InVV5Qzd5TVmfbuaGXlux7gvNVnDTUiuwQbPQWJ0ABnEX7OzkCw8FQpU6qzGG21SQ7IxWCcm79GI71BGjGx_E93ISRNORF6CM7HWbF5IB0oAE6kJMPFu-ruirljDJC1ICbM0nKHqjMxHR_-gZloGCaBPxo2x8QYnMnOrcO5Mt1l-CDY9ddZ1_9qiJnLJGIaWu-SyXDaMIMtsXLN9rxQlQ==",
  "id": "rs_01f9cb96320aebde016aaca84e2ac487d083ccaa6408f36cf9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.078,\"right_z\":0.005,\"right_pitch\":0.12},\"note\":\"The brick still extends forward of the grasp point. I’m advancing another two centimeters and lowering the jaws for a deeper grip on its sides.\"}",
  "call_id": "call_yV0R96gM0auVQLrp6YtFSlgK",
  "id": "fc_01f9cb96320aebde016aaca84e76e087d09eb594d4a468093f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yV0R96gM0auVQLrp6YtFSlgK",
  "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]: [-0.0261, 0.8062, 0.6075, -0.4015, -0.0261, -0.0498, 0.9995, 0.2924, 1.9564, 0.5076, 0.9977, 0.2874, 0.0002, 0.9958]\nstate[eef_state]: left_x=0.2931 left_y=0.0005 left_z=0.1738 left_yaw=0.0013 left_pitch=-0.03 left_roll=-0.0042 left_gripper=0.9995 right_x=0.4198 right_y=0.0778 right_z=0.0165 right_yaw=0.0413 right_pitch=0.1324 right_roll=-0.1043 right_gripper=0.9958\nstate[joint_eff]: [-0.1573, -1.4154, 7.0632, 1.7949, -0.0366, -0.0806, -0.0122, -0.0068, -6.0923, 2.441, 0.9597, -0.1538, 0.3297, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1039b3f580eed775feeadf11204e3ad69595d404b5e5342f1ed7073a1ce82af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8363e07096f9999ac1b913176b5f1c8a8a0bd5cc70fd2acd5237299e6931636",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29f9c12752b9560eb1e17beb30120bd6049dabc3cf3c50d542ad6e2c839aeb77",
      "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]: [-0.0261, 0.8043, 0.6075, -0.3897, -0.0261, -0.0498, 0.9995, 0.2924, 1.5909, 0.6857, 0.0887, 0.2264, 0.0902, 0.995]\nstate[eef_state]: left_x=0.2946 left_y=0.0005 left_z=0.1767 left_yaw=0.0013 left_pitch=-0.0163 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3836 right_y=0.0778 right_z=0.0439 right_yaw=0.0397 right_pitch=-0.2257 right_roll=-0.0863 right_gripper=0.995\nstate[joint_eff]: [-0.1026, -1.2513, 7.1316, 1.6825, -0.0415, -0.0415, -0.0122, -0.4581, -5.5726, 8.3487, 1.6777, 0.1245, 0.0904, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips now overlap the brick’s sides at table level. I’m closing to test this corrected grasp.\"}",
  "call_id": "call_qh4EUzoDlyl74Tkv4MDwdtyJ",
  "id": "fc_01f9cb96320aebde016aaca85369bc87d0ad0b664be7ffd464",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qh4EUzoDlyl74Tkv4MDwdtyJ",
  "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]: [-0.0261, 0.8062, 0.6075, -0.4076, -0.0261, -0.0498, 0.9995, 0.2932, 1.9629, 0.5011, 1.0435, 0.2794, -0.0032, 0.0096]\nstate[eef_state]: left_x=0.2922 left_y=0.0006 left_z=0.1726 left_yaw=0.0013 left_pitch=-0.0361 left_roll=-0.004 left_gripper=0.9995 right_x=0.4214 right_y=0.0801 right_z=0.0217 right_yaw=0.0495 right_pitch=0.1632 right_roll=-0.0961 right_gripper=0.0096\nstate[joint_eff]: [-0.212, -1.306, 7.0085, 1.7607, -0.0269, -0.0562, -0.0122, 0.0205, -8.2803, 4.1641, 1.4188, 0.1734, 0.0024, 0.7448]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f28c930a6da250f5e93140628a8098a2fd19cca855970018bd3e48b7d16f4cdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91e4a4d98b9d1c332da1862fd2992c0790094257704c063fc7ebfbbab0459a4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bb366d477acbb2c1ef75225cb43fc31466dc597a24111a2af3abe4989b950b0",
      "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]: [-0.0261, 0.8062, 0.6075, -0.4015, -0.0261, -0.0498, 0.9995, 0.2924, 1.9564, 0.5076, 0.9977, 0.2874, 0.0002, 0.9958]\nstate[eef_state]: left_x=0.2931 left_y=0.0005 left_z=0.1738 left_yaw=0.0013 left_pitch=-0.03 left_roll=-0.0042 left_gripper=0.9995 right_x=0.4198 right_y=0.0778 right_z=0.0165 right_yaw=0.0413 right_pitch=0.1324 right_roll=-0.1043 right_gripper=0.9958\nstate[joint_eff]: [-0.1573, -1.4154, 7.0632, 1.7949, -0.0366, -0.0806, -0.0122, -0.0068, -6.0923, 2.441, 0.9597, -0.1538, 0.3297, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrKhb2vxMWdp684VR0LA-rm4IOm3whsValBLRR-OdHbNwnhJHVuaypKglu3xt7T_Gvpggu8m6e5VXWBb7trJ3C_-c4YC87LqBQmOIR0vfIAQoTsmSiTuF56y1iojBZoBebHZEozTzgEnCcnsW6yvZfrBinGEVZaaOdw51H6G4f5LazhOVKYTpc-DV7K3_5GDPFKEk6RpXe6dk1lcCK3plAoBdrDlfYtaqM9ljHZM3Xz-Ynqdt4sSGmP-5QJmlzaID6olrjXC5MPUegZUzfOZdYiPQzyWUuCRAcuTOpRlocr0FDyTny67T2cp4smtH8Xa95sikfMuS7v8S63q88GKoe87zoCv9WDIE9J3sc1Iwb3B0qjpR7I4d94208DMdwjbRQ5Oe2hG21fzgKwn8-8tnZfNgmwqFMMp9fDgSULnEY2a5IgxjRafYTv0cgQKUtY8AvFTGcNEhu59Zu8SYAgfEHb4ekwH3U4ryjhXsjlWDBhteEQ_QaOxNEnNRxRIWqU7LvoN8I3vOadwmzGKo8clSnMZgCdAsk2KrzTPBikrtSBSJlIzShPNw9SDX5ppesdNv9G0g-qDUUrMIe-KeQ8y4-f1Q-Mjmlgi20g6mIqUiJsfNfJ6TPDLXWgzyWLBGQXO-33kL4gNfofVHlqu5KEYYELZ3I5UBQdUFSkbIA2JOybCOzcv-xq2fSjzCLqpI3UgcaW4BCMIVHVhyijgLSO2Ot0qvZLvoh6v_u_RpvQ5c1pe-w8Deb1aASP0qA9iIQ75DswdYh9Dc2xS0oh2eBl_4xlcEVZ8L-VOO2h7Td2nKcEPkJfeK5ldjeFL949kq98-7zrJ9baB0fSSuzzPl7r2RXvOwh16n349SzwCVsvHrqQ4p8Tgb0gH6V2fDQWqsYyvVQRucTel4_PHsHO8n8BVH9YSmWTPM88o01TwHtmLpr35ZC9c4z5pAfdbsADp0nFlFSkuXIFPdSl4XYIwpKUCs3uBGNXWwf9LqBBm7kD99Z-xjYJkPRBo4jTfeProSPgdqrEh9Zwuciq6nNlNXPyaiEF4zvESqiydrNk5zO8ZsPu9XrojPIrB6UhO4L9WkMSIgKrdk-Q7KIRzOaMBbRxZsPl5kQc8mTlSv5w7DW5XzMFGiknbrqV1_3mIszQmQZCLDgqogpYAFUpNk1jJmgjH64obzN6tlWryYL7NSwf8XWzWSsEL2MoZQKDBUGMtWofaBZYvrSI4jaoGpPff0PBEyAspnO9IboQe8EF5GDZpWRMNq_aDNxPkTeRvmyoeNEZ5whw4Mh6sC2v49Au26jcq1rGiI53e2v_7_3RPofk0ZotgmNd2MVMUSt86oFIw5EfyG1PzHiRqoI0YwZyzsozjUN3JSq-_R7QZezZuyBA4JC0XWLdmSZxQhEwUtDeBGmS30yaoWmrkfDsnjw6XSJI_59gyN6HddzB1a2zc-_Sl_tmBVr2nMTCsSpcMHgODelYhBNuJND5QtSuMWv_0NWam9NPLxgJmraCNnjIlpk-qUywQP_6r7EKijX2-iLtIxEVNU0NoZHON1QWTKTdW9Nf2YFuhX-C7aAxs2i9O6nP1sweyuKjV9A58sgBTAGe6PkxhWOnpzOtgfCdnHQ97XbHJAZ8cDxceYSVcjmBY2Z_tqXuR_Y6HGw23DCBeCtS1sxOfzkarPuOWA5sPdr-J34TbqzIHuZvFb0eA3U3F3bGq8wrtKlfU5ONuo5_5WVfTFtRU2lCZ-8Xi86hOn8VTWbFDtpX0qqpwNz-xX1N_swaV9yM2nWdClc6jw9hXZzogHmYxxdzgN",
  "id": "rs_01f9cb96320aebde016aaca8569f6887d098050637e0fae7a8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.015,\"right_z\":0.18,\"right_gripper\":1,\"right_pitch\":0},\"note\":\"The second close is also empty. I’m lifting and moving aside to see the whole brick from above and reassess its position rather than repeating the same approach.\"}",
  "call_id": "call_tWuDG82FhWzFwmt8NcA9VWul",
  "id": "fc_01f9cb96320aebde016aaca85a229c87d099c03ee474f7bf11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tWuDG82FhWzFwmt8NcA9VWul",
  "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, 0.8101, 0.6071, -0.4149, -0.0261, -0.0498, 0.9995, 0.0826, 1.0397, 0.6308, -0.1123, 0.1009, -0.0834, 0.996]\nstate[eef_state]: left_x=0.2914 left_y=0.0006 left_z=0.1699 left_yaw=0.0013 left_pitch=-0.0476 left_roll=-0.0037 left_gripper=0.9995 right_x=0.3483 right_y=0.0146 right_z=0.175 right_yaw=0.0347 right_pitch=0.0453 right_roll=-0.1028 right_gripper=0.996\nstate[joint_eff]: [-0.1846, -1.5111, 7.0906, 1.8144, -0.0464, -0.0806, -0.0122, -0.212, -3.1521, 9.4291, 1.8388, -0.0366, 0.022, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6753d0f90c08b80516ef0af8e9e8414198c0505d068469a733f70d3d58fb91bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ac707ac83f602cb2d5319ccbb344ae88f796f97b1ee6021f221cf52eda6cf84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a106e800cb288e9b4ea19bf398ff634bfe8ff37403a88befaaf559c7992f9cd6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8062, 0.6075, -0.4076, -0.0261, -0.0498, 0.9995, 0.2932, 1.9629, 0.5011, 1.0435, 0.2794, -0.0032, 0.0096]\nstate[eef_state]: left_x=0.2922 left_y=0.0006 left_z=0.1726 left_yaw=0.0013 left_pitch=-0.0361 left_roll=-0.004 left_gripper=0.9995 right_x=0.4214 right_y=0.0801 right_z=0.0217 right_yaw=0.0495 right_pitch=0.1632 right_roll=-0.0961 right_gripper=0.0096\nstate[joint_eff]: [-0.212, -1.306, 7.0085, 1.7607, -0.0269, -0.0562, -0.0122, 0.0205, -8.2803, 4.1641, 1.4188, 0.1734, 0.0024, 0.7448]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrKhh3cZWT5sHhM83C8b-aZF98xNwokipaVKK-nrmzFT6c-AAq2BUVPyWBwhfxRBOmOFzlkqQGLuBag0_9xWacrBOuKQn2d96SaF-95P8YBN96kBK7j98X7XJgxB5fQgbCBwYX736fPprfFNKGde0HREu6z5rx3tHSyoyZh0jOPXDOSTGlVo0xJBAVy6c0omm98_psZH-yH27Uu704VTET4EjoUnPFmlTShliEQ8BN5WQAr8L1yepJ11oHmXQbfLjqodYX6ELxNufL43UbSGchmb-NyLVATkp1jwiL7GpFmGM5ZFFXGzonXIwC4OV1kkApl67le18gHVc10uZbRKR06KjdiX-ReNT6NfBEjeUblI-b7TgDVsEuwvsRDZkzoFjsREB9FvEkps6wm4D8FCem_TwPdieLwjkMqM-gy6p1msIv1tATTH8jlkxf3IhZzkbjw_UOVbdYZLuC_wC6kXsHk4A2VQMpzf7rRAX4NsAXWopS5UTbk1lWO77grVoV1Ex_kERlC6O7I3rJ8va7jCrortMLCqSa23ezBf8EeWWzwYeIw0og-7J7POZ0_kWtfRP1F61Q-Wcce920hMNnqtAiYvqtLQGYaFXVD8oxu_Vla9SDuL0kHJlAFlViBtLtp-unI3vg3lOCY5TafIaR77o1XCYJRASxcFkdk4WiiIQ6N6SprwTupoIDrXXCxJNsNG2h-jgbTy1tZfvq58b2y2xjMThwB59CmDAzi9KL4BtsYPn5f3rfz_yIhuzt5pi_E6lWL9ysj5RiGpy1qDrpKyd7mZS0xIcWaYbdqm3HHG8x1VC6t4Y4joV5nslnruLljTjt7dV7q9nPmWgQUEpV3jIRDNSnWRBkj0uQp0KEFuABPSI-JdAjn_7eJQKP6wkIVegPnBNqT-kEzbyY3NYqrgCrGG4LZ-Ub_koVJAyvPCxgK53biFRZA7zTeDzHMKZsBm5s_8IwgmZLLhhSrvUSrFEgP0SFO3HFaheYAO5T5aDu_oAG2whF7oBl0QeBZ3AyfpQBfpW-L29juz_lIHJdYNnPs3AYu2hyMRvCQoiGq1Qcatf2r9I66yV-DmpP0HMiP9FjA-E4xgJOD_WxrASoJtArRUxfjnVHNyly0rfqeYXUDi0ZvlVXOd2eqj1y-Y7mTfE3lewMZxZQL6CiXyawuMF5UcgMmYQ_DJYYrXwAwQap9Zs_e61BjY-5cVwdlEZ-XXs_VxlTewG2bBD5nlRDbvhOgCvJT0Yi4OMLv78Eqg1wPA3vsfM3O_dsG9DGd3Iummzu8xz",
  "id": "rs_01f9cb96320aebde016aaca85e388c87d085e224126f817c9f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.095,\"right_z\":0.10,\"right_pitch\":0.1},\"note\":\"With the arm moved aside, the brick is clearly farther forward than my first estimate. I’m approaching its middle from a farther-forward position while staying above the table.\"}",
  "call_id": "call_ewytPBAY4VUSEn9vA2Vjad3F",
  "id": "fc_01f9cb96320aebde016aaca85f0b4487d08349978c7dd95c69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ewytPBAY4VUSEn9vA2Vjad3F",
  "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]: [-0.0261, 0.8154, 0.6071, -0.4175, -0.0261, -0.0498, 0.9995, 0.2943, 1.7432, 0.8005, 0.3641, 0.2596, -0.0109, 0.9966]\nstate[eef_state]: left_x=0.2913 left_y=0.0006 left_z=0.1679 left_yaw=0.0013 left_pitch=-0.0556 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4519 right_y=0.0933 right_z=0.0776 right_yaw=0.0745 right_pitch=0.0046 right_roll=-0.1305 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -1.6342, 6.9812, 1.7558, -0.0415, -0.022, -0.0122, 0.1983, -8.8274, 7.8291, 1.8974, 0.4127, 0.2173, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a97e7560fdef36a59e0c24a0482d895546f685a03f5459af939a60046f99d0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4480fceb56b9766c68258140bd7b65743088f32200d8070d0adb094c14896a95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d987d2b70ba8f426a25e7643849b1bc5656e2f66210ddcd6587d1997c35836e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 33 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8101, 0.6071, -0.4149, -0.0261, -0.0498, 0.9995, 0.0826, 1.0397, 0.6308, -0.1123, 0.1009, -0.0834, 0.996]\nstate[eef_state]: left_x=0.2914 left_y=0.0006 left_z=0.1699 left_yaw=0.0013 left_pitch=-0.0476 left_roll=-0.0037 left_gripper=0.9995 right_x=0.3483 right_y=0.0146 right_z=0.175 right_yaw=0.0347 right_pitch=0.0453 right_roll=-0.1028 right_gripper=0.996\nstate[joint_eff]: [-0.1846, -1.5111, 7.0906, 1.8144, -0.0464, -0.0806, -0.0122, -0.212, -3.1521, 9.4291, 1.8388, -0.0366, 0.022, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrKhlSDsH7KC8dEJTs3j6Gjd9akbxBxhM4FVaf7_Ypg9FDT9CHjMN7BSiIm-rHYSlrQCfI4ezK0PKQ2A1zWHJjqFK0UG2L72EBOtb7vaTE7i4JPTe3M04OlB0nsnUcCJjaKzf-ZmjDAN_v0N9XsufXxXj-20Nxx1GTmozNZgRHxhF0IGatjBF2lma34c7n99YUkpbx_Vg1RYJbaDbdTNW2R54TIzy-ktGvUqQ1qw7vU82-56IOTfwFwthS9gBcEXh8d8x9l5YeG1xbSg-ICe8hkhLDetk4MW-UTUJEf4n-hg0294w1GvfWY6E8PkjlSRHCNrG3vdby238XE8TZU0PLGiQWtT7mxaTpfuMISDb3v7O0bIbw06XfArlU9BDp0h1pgpnkLOmA7RvM8pK31ECYGcNgDdCM1FySu1Wp5UxMeZeXQjL4e9WcLwdB9eE2Z6nAH57yiJ0ZcvNMFNagFse-9LjoOg97RRjEfXLXlNAHp9oq0cjsZzL9CcxAF32T0K8iYwC8eXnYKX09JhqodkcFOl29cwslKpQ12ZiM1SQPUbVLqHifOsWRi83aH9w7aJJI_eh6l-2cBaCxJPbLwKiFf09rmfuHSTmjsb2ARdCpttiCqCNib0USoCXus24KCQQpPgr8KHhNyAzGahVAUZBd3hwW_oMqEdDhJrxV-IwR-e8vKcAppcA-hQQFJFjc6EUfwKEmX6vm_x1ygDE5Bl7tlBtw5iC6Jb60FSNxVfUs3AaMlqSBQsi12a5qg1t6jjOkd14vKkQZQCgyioSeKA1QUEBi89vj8ypIjzFuZv2yUHgqqcUMIMj-EAFp8wxyRS9My-DhUDzMfrgkHVSvDhE3NdNURij3ujEvf64tfQTnNPsuvdNmfPA89IaVYO3Ki2yvHsr1bj0NMAFJren1m0xjhUiV127rK2VE-Krz1GWgBXmMgk2lC-3aRchPo_1o38SGNISSsND5DDUtJXVr4vIza0QhCv77xwJp-0maX1g4jQ0uxV0C4BUePTU8nqokcNs_Fae3-_RkiE-aZOf73LmBw8KPTvLEEgnkXkwrEUx4kT1SSY4CXRjA9r70ApONvDI1teTMyJJpzX1kzwJWmt_y7mSxHMRLYOtdED5YrQd3pdPpo9lpRkQ-Thi_Uh7o_lLM7JaaIeSQNM1I8ved2YxKZYa5RMJ04VbSwrSEsmvPZEz5aF0JEceOdHruTyQZbXUwCABCPMGqAC0AyPrmwjRqO3tjND-dwi-7Fr25IYRt2b-Ec_1AkouQTk0QBTgyNxUVmd-qoBC275VgJVw7a0S9R7XBQ==",
  "id": "rs_01f9cb96320aebde016aaca863340087d0b817fa4fc6e0718a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.09,\"right_z\":0.005,\"right_pitch\":0.15},\"note\":\"The brick now reaches the fingertip region of the wrist view. I’m lowering straight down, with a small lateral correction to center its width.\"}",
  "call_id": "call_QKAIITK1KggfqlDBHMMQy8Fp",
  "id": "fc_01f9cb96320aebde016aaca863fae487d09a1e861db4e88b07",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QKAIITK1KggfqlDBHMMQy8Fp",
  "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]: [-0.0261, 0.8173, 0.6056, -0.4313, -0.0261, -0.0498, 0.9995, 0.2794, 2.0743, 0.7238, 0.9031, 0.2764, -0.0639, 0.9966]\nstate[eef_state]: left_x=0.2892 left_y=0.0006 left_z=0.164 left_yaw=0.0013 left_pitch=-0.0727 left_roll=-0.003 left_gripper=0.9995 right_x=0.4699 right_y=0.0884 right_z=0.0137 right_yaw=0.0719 right_pitch=0.1303 right_roll=-0.1573 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.5111, 7.1179, 1.8046, -0.0757, -0.0611, -0.0122, -0.1709, -7.3778, 3.959, 0.5739, -0.149, 0.2955, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94c41b164197c4b2cca3cce6653f1b596fbacbc0489505a0cf2e988c18dab269",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e5f02740f6766758c913d9f6526d3f83380275cd415dc071564a8edb3381575",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:873b32419db586faf5b884537eb1808cfb2efb43d2e65960c74a716604f9d7c4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 37 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8154, 0.6071, -0.4175, -0.0261, -0.0498, 0.9995, 0.2943, 1.7432, 0.8005, 0.3641, 0.2596, -0.0109, 0.9966]\nstate[eef_state]: left_x=0.2913 left_y=0.0006 left_z=0.1679 left_yaw=0.0013 left_pitch=-0.0556 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4519 right_y=0.0933 right_z=0.0776 right_yaw=0.0745 right_pitch=0.0046 right_roll=-0.1305 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -1.6342, 6.9812, 1.7558, -0.0415, -0.022, -0.0122, 0.1983, -8.8274, 7.8291, 1.8974, 0.4127, 0.2173, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The grasp point is at brick height and the brick is between the open fingers. I’m closing around it now.\"}",
  "call_id": "call_z43fBfSGRYG50859VhyKawcR",
  "id": "fc_01f9cb96320aebde016aaca867668c87d0ab567a4fa0a7bbca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_z43fBfSGRYG50859VhyKawcR",
  "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]: [-0.0261, 0.8185, 0.6044, -0.4339, -0.0261, -0.0498, 0.9995, 0.2794, 2.0815, 0.7204, 0.9573, 0.2745, -0.0769, 0.0094]\nstate[eef_state]: left_x=0.2887 left_y=0.0007 left_z=0.1626 left_yaw=0.0013 left_pitch=-0.0777 left_roll=-0.0029 left_gripper=0.9995 right_x=0.4733 right_y=0.0897 right_z=0.021 right_yaw=0.0792 right_pitch=0.1715 right_roll=-0.1596 right_gripper=0.0094\nstate[joint_eff]: [-0.1436, -1.265, 7.0632, 1.6874, -0.0415, -0.0317, -0.0122, -0.1436, -9.6752, 4.465, 1.3895, 0.1587, 0.0757, 0.7448]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a74a0943be429782c9377849517adf19f2979bbb607808bf45d13dfd59ed71c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4499cec7404688f77a91a41e4e625e59ed7b9666aee025fa526c6532b4856602",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e2fb46d11334aeecb18bf56bb464ffffb9df47e822d9ca0c9522c74034eb6aa",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8173, 0.6056, -0.4313, -0.0261, -0.0498, 0.9995, 0.2794, 2.0743, 0.7238, 0.9031, 0.2764, -0.0639, 0.9966]\nstate[eef_state]: left_x=0.2892 left_y=0.0006 left_z=0.164 left_yaw=0.0013 left_pitch=-0.0727 left_roll=-0.003 left_gripper=0.9995 right_x=0.4699 right_y=0.0884 right_z=0.0137 right_yaw=0.0719 right_pitch=0.1303 right_roll=-0.1573 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.5111, 7.1179, 1.8046, -0.0757, -0.0611, -0.0122, -0.1709, -7.3778, 3.959, 0.5739, -0.149, 0.2955, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrKhyTaZtp9EYwj2HLXjhBr45QqiKH_Dzb8J0q6UrdRddlpx3Pg4k61c7Z5qgUVFom2Fsd0TCSzpLoUqQDGD1NZXj5Y79cdklx1qgWHPQ9CzRMrasTpUeQ5InPCN8Vle73UKbWlRNgzRHgM443a0NbRlZJQoQHGlS804k7pwN6h8gOvzS75yaurPhDzkVSEyobtnAyMf3upHPkejdTCqyJ9lsUQ0NWwJh3bacaeIdwZ5Q2vFP8_2hrSRLsZXC8BZFegM4DYyMrD3r4IcH-flCn0EMSTQp-mEmPB2AW0lXFtVDG2MHmxZDknVl9rbaeUHQmkRxj8WNClvEjvRqRBStreq0qwVjS9dJv2Mt9ELQXsmf0HpKaA3Il19f04S9Smf2iNRsTCssPpYJgVi1rEIEfjg3Mk2GzZwG8loH-OaZhiOz_PGoL3Uq4pDyv-WYR-WpvRRcvgiMnVRhwfRARU2MvBp3mw-59mHzkJPTDS8JaheHbX4KrqE33yAfc0UwGlCxYZuIToCVp24NohPrrAM3so4zmEWNx35P8KkX0wj0NQACs4CV8rZTk3i4JZvzPhan5TDHnwgpAiOKFvlekMh2ZcSP3Tf40aziAQmKVYmABHcf1cnA1TXXhNWZBVMdVwESQYNkYobbeTf_E-PfvX8hTG1DS9vxmlTlWdwxU4tsVYLJYZ5LV2na5vNBMo5oeDw1aCk7Xmf9SmzIIQcO1eHxcj-L2g9tEH26SPRR2NY4lcNbvLjFQn5VYVvqLE3aeS7PjTQgkLk_VPcymMB15OkRNvKLoNAUMLzo8_yOQ9oTDWUzsEH961FxU7A0OZ-9LDDENCe9lQml_btd48sqMFBHkd177X7guZnIRIi_0-dBG801xV7FHVsAMti_XPALrbCNZFcLD6GsT29gB73vAUqrkNHQjkMtmnI0wKnlTBP_w9-KiOmwl9_AKzIKOfEZKsvKa_twAitEszAFR3Hz87H7S7FVszvjqi0IRgKw3-84Hg41gzjGK_zjg0u8LQBZTQTeWw3Vq6cJAeVJMD742F-26s3visfwi-X49MNP32_TqKE5Iz89623xuMT5rTsILxm_VmptELmZ39OF0NzvoDVJehhjA9IBA9mNk52iEg65QpoZpr9EZ1Dp16yzTHrRZHbfhuhBj583Qw-4zRi8xC7D6QkZk5yHdV8QrrceKwcjPGqiH6d1FoBRl0JcXFAj-cUgIWjzfRIPFV9UbKI75Xuj_faWTnzD316_U0ByKsse3OH8dwhECfnhrk50RL6Un-m8EnRroPp6o_blgc92dPIoC5jmQf8lkdwkqi47qX_UewT2QzmR1DXBld_LFouTS9sRjOL84TZUO_j1x8GEhkaULcznV78zqYbfKD_NjTmrGpsuFrzAWoHMlHyyRxpPT1sY4S4CDK4ndsJiYr26lr7jBqShdPEYIcRnVOH2pRWOZ8WqyLvm9sOeFGQSFQvVBGRTr3ewKACPfyBTWZlIqq2sI7NJr8gsbtobqDmtv_2M9D_PIglvUfrrj44txyiNzUvhlY5G9uRiPvGMVAanqZCreJ2dMorMHZeCxUastcwW_TXRKY6GdBRKmMhehQLsH-Kh3h7oK5ZyfGf5NCzuGZeoaXgWE-fJs7-iQ7sHCa7g15bBgF1jvSxldRTNVSOPwILmFR4hw_NOpB-_ZzqZYROj9F-UvWCxbm3NzLcfu3kWBG_r3F37Ggkp9cp2TBw6a6biAVRJd8O_OuEZWN7UBIloSuz97K79XLLC8vv5kVAKy2lRnUBlwjIvpdZwDRJaE14RX0ft7KtjV02dhaD_mS15VvhAnpDIMyLhAeZuxsbAHJLYXBR_gppBlCMa_prvR2taIg3RpwgZZpwcNvW02Ur_R1xvNNkC2jgxrQZNkkWkIG0mDx8EvFz7Zqdcphd2hK7HcZofjttMqvp1VyNgzC_r1k3hnw==",
  "id": "rs_01f9cb96320aebde016aaca86b566087d0a2c4c317e75076d2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.43,\"right_y\":0.055,\"right_z\":0.055,\"right_pitch\":0,\"right_roll\":0.12},\"note\":\"That close was empty too; the overhead view shows the fingers forward and left of the brick. I’m correcting back and right, and leveling the jaws before descending again.\"}",
  "call_id": "call_B0SyYX8yd27O6DG3S6xnOM2C",
  "id": "fc_01f9cb96320aebde016aaca87033e487d0b8851e2c7196db98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_B0SyYX8yd27O6DG3S6xnOM2C",
  "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]: [-0.0261, 0.8223, 0.6037, -0.4412, -0.0261, -0.0498, 0.9995, 0.1097, 1.7363, 0.6292, 0.5564, -0.0013, 0.0647, 0.9956]\nstate[eef_state]: left_x=0.2876 left_y=0.0007 left_z=0.1598 left_yaw=0.0014 left_pitch=-0.0895 left_roll=-0.0025 left_gripper=0.9995 right_x=0.4341 right_y=0.0516 right_z=0.0512 right_yaw=0.0686 right_pitch=0.0153 right_roll=0.0754 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -1.1966, 7.0359, 1.7363, -0.0464, -0.0366, -0.0122, -0.253, -8.6222, 5.4632, 1.9121, -0.0269, 0.2076, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab75e3d8c97154f501ec47fe697724cd317e8723653c95d5f2037803388a084f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57891b24a826ea1a330d162e6cb576a55493412d51b2be52b5f2b3e66ea867f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8b5c4888419ae4e1cec855af207cde14b5b5a21c620fdb0dff9738720a0e6d1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8185, 0.6044, -0.4339, -0.0261, -0.0498, 0.9995, 0.2794, 2.0815, 0.7204, 0.9573, 0.2745, -0.0769, 0.0094]\nstate[eef_state]: left_x=0.2887 left_y=0.0007 left_z=0.1626 left_yaw=0.0013 left_pitch=-0.0777 left_roll=-0.0029 left_gripper=0.9995 right_x=0.4733 right_y=0.0897 right_z=0.021 right_yaw=0.0792 right_pitch=0.1715 right_roll=-0.1596 right_gripper=0.0094\nstate[joint_eff]: [-0.1436, -1.265, 7.0632, 1.6874, -0.0415, -0.0317, -0.0122, -0.1436, -9.6752, 4.465, 1.3895, 0.1587, 0.0757, 0.7448]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrKh4slOHnT7zK3TxUbHJ88UEyAWPTjyTtKPpjNaWw-E-sG5_ki8NTYkL0p7bAdi69I-2vMprpWQS6mXr5bQgcSgtppS6ph6OyChiqDca0TfzX1sl3r5spORjVfz6SfIHBi9OzwctomK1FURhWHoYQsNScOdVIXit0JwzV_zkc9sdIX98_BbNEZGgsgJJfieh_yqoUjEv6YiablFlP8r9KwWCK5YXxmVCUORXClY6K4Mmm_dPqji-xJhkZJKsGXTC68zbP66StvfeTGJ0iXw_lNJjSs9-GPfw05P_ow9X2jEHN2m7azw9yb_-j09xCsyFHaBLwksYSffpSUg_tqef-nbLGEVZkYA_K_ttkmRLYBMMPTTTfUUaCTr6k0nr92unuU0Qyb12y9uI3wT3BPmi5nTiUea_iLGClCWTrbaC65tZSkk5A5gsWeXqObzhbIBTJWHD8aZKaL-0PDclVTfYOelXnf7-I8_TYNbXgtbrQBvLkJnQOou5V-iaktXrd9E6DXVeTV5ri2S5h-m9la9WoseCnW4Qw1Vjtgf_t3nSbTFJgnN3T9n0yeuzpk1a3ZI4xKqsSqoDCr5osb_Viv4AVUctkOtVD1cx6aCkgrUGbfV3nr1tXaFNAF7ZV9WOhT2FBvSbWLZ3kjpa6lJpls1T9Up5X2L00TZUWp99xSbCWki_iIGLtQospBjlao_czszp11RUmp202U2YvBeEUaX_KqamakJCqC0Ufh7CFiEbmSBGk4zObh1rn_DXtdp8Bgs1M8exCc1OINlIl4civEHxGR3t92DCiBzYPljLTzDvyAnHvKhCxzJgKeKAWXTfoJG6FdqKYtdRdquI5ulNX_YKv_Z4sjY5nx-_DGCM-Lggx4h7rmdnUi30jjpuRrXKtHwSwsMZRig9hw26CAnYBTyJgbR2SoCLk7NPal6_sPZvpBXmqQgUKfN3nLl65FUhJly3vJPrZooRT-PFlaPsmiMW2JFQTCqUPlC8gvUJ6hwdBSCiHon6AD88wVvpFXHHGzAqBNtiQywm151us9ReQTgRFAJHOXjUWp5qh8af4oyGlj2ptVJDAm0-3VXJ5WDhZztPgy5WWFuF-cjuGSDvsy-h5b6m3sfvl3PZL_YDGeT0UIo-g_yXLzWQCHeTlmt-xSnyH5G2de_foAhb51tVWK_IlPTR1uaE_NGpN7idEtxr-nIo-e-vLYdS36bohE0wajlqto0WZWlzom4EFAGNVJH9uo3kqkW2kcEAhCV6RU6tQYERvJ9A9rUcLosJQCSE_cSgmnOzbSvAGgD6525pu2FUJ4Av2Ya6z1rRbhbk9zqXj4BtPkwkwEcz4HY4AXWSY4FXPa7qswJsLcBwYyrTSzAcAQp7mrtZsanDS0emGu1MEIowBos=",
  "id": "rs_01f9cb96320aebde016aaca875090087d082087314b1c87590",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.055,\"right_z\":-0.01,\"right_pitch\":0,\"right_roll\":0.12},\"note\":\"The brick is centered in the jaw column now. I’m keeping that horizontal position and lowering to table level so the fingertips reach below its top surface.\"}",
  "call_id": "call_gWeHE1J8hFDiIJ5dqWaYHDq7",
  "id": "fc_01f9cb96320aebde016aaca876a47887d0994b5f8d5bf24d30",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gWeHE1J8hFDiIJ5dqWaYHDq7",
  "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]: [-0.0261, 0.8265, 0.6037, -0.4423, -0.0261, -0.0498, 0.9995, 0.1043, 1.9312, 0.5903, 0.8028, -0.0235, 0.0776, 0.9964]\nstate[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1585 left_yaw=0.0014 left_pitch=-0.0949 left_roll=-0.0024 left_gripper=0.9995 right_x=0.4361 right_y=0.0534 right_z=0.0079 right_yaw=0.075 right_pitch=0.0269 right_roll=0.0984 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.7162, 6.9675, 1.6386, -0.0708, -0.0464, -0.0122, 0.1983, -4.8205, 3.0017, 0.7839, -0.1538, 0.2466, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91270dfd7c7146e03cf723108a2ab396f2474db7da112df70ca0df7e80e1a902",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee10ac7017a42b41b61ab9e951bc51e3b8c895b2fed5e6332981bb420757fc0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2007180158efb045faf61f04054ae57e821421460e347c044bafdd3048401bf1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 48 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8223, 0.6037, -0.4412, -0.0261, -0.0498, 0.9995, 0.1097, 1.7363, 0.6292, 0.5564, -0.0013, 0.0647, 0.9956]\nstate[eef_state]: left_x=0.2876 left_y=0.0007 left_z=0.1598 left_yaw=0.0014 left_pitch=-0.0895 left_roll=-0.0025 left_gripper=0.9995 right_x=0.4341 right_y=0.0516 right_z=0.0512 right_yaw=0.0686 right_pitch=0.0153 right_roll=0.0754 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -1.1966, 7.0359, 1.7363, -0.0464, -0.0366, -0.0122, -0.253, -8.6222, 5.4632, 1.9121, -0.0269, 0.2076, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brick sits squarely between the fingers, and the jaws are now down at the tabletop. I’m closing to secure its sides.\"}",
  "call_id": "call_wrbyhV7Ss9jonJg6ubYQIJ8x",
  "id": "fc_01f9cb96320aebde016aaca87a72a887d088f0f12959d8a6cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wrbyhV7Ss9jonJg6ubYQIJ8x",
  "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]: [-0.0261, 0.828, 0.6037, -0.4461, -0.0261, -0.0498, 0.9995, 0.1043, 1.9602, 0.5888, 0.9295, -0.0326, 0.1009, 0.0095]\nstate[eef_state]: left_x=0.2872 left_y=0.0007 left_z=0.1573 left_yaw=0.0014 left_pitch=-0.1002 left_roll=-0.0023 left_gripper=0.9995 right_x=0.4473 right_y=0.0562 right_z=0.0227 right_yaw=0.0701 right_pitch=0.1216 right_roll=0.1263 right_gripper=0.0095\nstate[joint_eff]: [-0.1436, -1.5385, 6.9812, 1.663, -0.0513, -0.0757, -0.0122, 0.1436, -5.9829, 2.9607, 1.0525, -0.0317, -0.0171, 0.779]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed3b7bc62c97a2c1165c95e824a3321b48212456fcf386a585d5062940c013ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b023dee75bd2efcec0169ba5e1bb4c6ca3fb5524d6a84a5c0e3f1879d1af53c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27e2a499156811f2d1d78731cb56ad2a38cbc38f6b57c6ffc11d2fcfd5f49f67",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 52 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8265, 0.6037, -0.4423, -0.0261, -0.0498, 0.9995, 0.1043, 1.9312, 0.5903, 0.8028, -0.0235, 0.0776, 0.9964]\nstate[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1585 left_yaw=0.0014 left_pitch=-0.0949 left_roll=-0.0024 left_gripper=0.9995 right_x=0.4361 right_y=0.0534 right_z=0.0079 right_yaw=0.075 right_pitch=0.0269 right_roll=0.0984 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.7162, 6.9675, 1.6386, -0.0708, -0.0464, -0.0122, 0.1983, -4.8205, 3.0017, 0.7839, -0.1538, 0.2466, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrKiFzzCetwAnnfGsNaU1nDB0iVMwrlX9pOq0AxuV--pmfR5t43SbNVOaOBTe2hEP5dC4YmP0AGYGeM7YwB5rWfHcG28qXxi4j7BkCiKyxDx5I1cJYK2rLyxOs2i62IZfnQmfRuGrhU_gyXkgzfzjhJkCYXRhY62QlfMsKMPSNCr0gLVjgfLXAUT0Ggy_4ha9vjpHJL4yFchgpt7mnGBYbRHMkpukyrebDDeuNC8sUaAXMGFQCMeTIM9tMXA_V7EEjMvX3n6w9Mrrga3M8YQmjsbvgVz--pOEOPALmuoMElM688C5Vf5zVGc6MktdM4OoE0GEZbUalpS-JssIkJyoIftvvETM2TLUY342ZJz6l3UVw9kfmRlYkHX49YvYMOZtVvQv_hqWfln9jqrm1RoVoVRutciUgSWsiaK97Dc0ByXIr5R6Ey1fUZkXOnKW0bcTeEDqIdIACO-WxEluJD11ROxJyW4Bo9UR7eCif99FXOh7RelUCyw00wh-2mtkxLd3cljwX7oPojNEtJdrn0ChsNvJyNZEPzl-k0LSBfKd91Wu4KHWFUiHfbNncGxBLfZ5sSOp5716PdXio-6kRsAAWDY9gYZ6mzsPYkXpzyyQCfpFg6aT_x-xhbPkTYPajZoGzecKQ6U8oDkHqhSYxuH9nGye9DH8SDSzuRM21OiJu7uq4fleiu05znlH4YC9GtIItORlTR8lDKECwobC-cadC5eXVfe3Hur4LVkX_v69AZMdxNDb91k5DpYAmUGhdCJWywgZKmiBX8AIoOUTBDznwrR7zDfHG3t0AMuoo2ee-wms8DJTS6sJ8jpoJqotGi85_Vfn9AIT5-WYo2Yrpc1SvM6ick3RIDYlf_1VHun-WsxjvnzGGAKh2Rzak5mtcVSbtnyY2TluxjUKh9TJi6i3XtnhopYxAKXZXbU40GAFedIFX7d9zbebF8YothBkjUhOFnVx1Zj8VkOPa0p4dLYQ4_o6SrW_P_TkHeUhaA1J_zUuLuvW8rDpqgJkkZ0c79un1kN4WHNpINT8sMknJOHS8wuRPQqHwsa7dGxCGJdTmDYZgNzqOHia-6h1oNzrkLGHjIeKhznOqnP1n7p6ZbJNPIEEwMdcIOQCfo5uRvBUBe8baPgqJK1U98qJocWNhJ8ccZvE3Hp2zIsmr192-8jVCnacnnt2amxS3HAVraon1ZzEb0vtL1kszQhztajDrv_Vs_VNLBdmaZrmDuwbs2vKNYviiRBC0Upj4xkQN1x-247_BJSQXGZ6z1zmhEReTHfPJ6SfQIOAJHtVTxs-fixWXKTnsIZKsr5xB3QX-MYc0K8AHyYjqBR-k3aGs2m95uSUVToegnUfOHT_5yHQW9MNzn1xujJer6hILJc7veUA-wLw2yE5uDPGKJrU4MxLjEUnZobsBPtCIf9FOCQPvycKrJS0pFd76c685Aoo7icS4vcaxKVwMNh8ptfnE_b2mum5F8g0Ruv7dQokDpQa-atDjIWpRTYexA_HaNyi-PBlojg1NaWj8XUGdOZHzIq8OUy-WeqzhX6kgEWlWesgbHPQ9AIIJ5QTiD8Q2L2Izpp8tbgsiHlo5uvjb6u9YXm7byOfwphLFLwch2t4ux7JVFEj4fwhOaLyiAFPdpNAbyaTjOaMhGd41F_0tf42hZs0fpQm1o3ZF08xRvnMxt4V-uO9nSbX3Ged-GnCNlp-co9C9OdV7SlHzQrkTlKBAZ4juxx0j0udNhFFTYlNUsHkpQ6HSjCCKicdaE2aD1aneAZiv_E9C8tAqmlf3Aobu5Kf0wwiAMRqXMB4M37GZTYbIgMMhnoy0cLFYxaEL4tT6HFOnmnsdH-Sohllw8CrcrZ9XwV9KkJ8iSkkUWdFyTDx5WJWfHRuStawfT_U2OKZKhh48faspdfsx8hnUzGdsR3bnm4DRT707U8t8xAjhS3VhuU6P_Td9GqU20xSkwrxz1Qn0NZK9zYJiZ4IAlfiP2OBU6X9551-4JtkeBiPBEjNZEHLLgkPXNbkXO4bAYzYg9oBE60MvOdxNLQJIx29qRH-Nu49lZh_CT4LQyDAWauES8-jus2FqcDFAkuRvPg9w1TXNszBfqquS-dESwFLaRagDK0P0pti",
  "id": "rs_01f9cb96320aebde016aaca87edca087d0a1503e9d476ae800",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.40,\"right_y\":0.075,\"right_z\":0.04,\"right_pitch\":-0.15,\"right_roll\":0},\"note\":\"The black object is very thin, and the last close rode above it. I’m moving toward its nearer half and correcting the tool tilt so the fingertips can reach both edges evenly.\"}",
  "call_id": "call_nrSPYwjsM77KYnxi6pYG4rS6",
  "id": "fc_01f9cb96320aebde016aaca883e99887d09a360c363245412a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nrSPYwjsM77KYnxi6pYG4rS6",
  "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]: [-0.0261, 0.8307, 0.6037, -0.4526, -0.0261, -0.0498, 0.9995, 0.2253, 1.673, 0.6193, 0.3412, 0.0971, 0.078, 0.9948]\nstate[eef_state]: left_x=0.2863 left_y=0.0007 left_z=0.1554 left_yaw=0.0014 left_pitch=-0.1094 left_roll=-0.002 left_gripper=0.9995 right_x=0.3992 right_y=0.0776 right_z=0.0307 right_yaw=0.0927 right_pitch=-0.141 right_roll=0.0142 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -1.4564, 6.9675, 1.6777, -0.0317, -0.0513, -0.0122, 0.2803, -8.5128, 7.5419, 1.6972, 0.1832, 0.0952, -0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ba141deca57cbc8300751f576cae74ec3cbdef7c9aa5920f0950f80c10e2a0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44be34e8e8f118769dfabf19d386f08da53fdc630fb3411c8f6cc2761805ad2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17c91d5f20410ffb2a450c4997ad3b14e2b612e31094b85b46120addb3926488",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.828, 0.6037, -0.4461, -0.0261, -0.0498, 0.9995, 0.1043, 1.9602, 0.5888, 0.9295, -0.0326, 0.1009, 0.0095]\nstate[eef_state]: left_x=0.2872 left_y=0.0007 left_z=0.1573 left_yaw=0.0014 left_pitch=-0.1002 left_roll=-0.0023 left_gripper=0.9995 right_x=0.4473 right_y=0.0562 right_z=0.0227 right_yaw=0.0701 right_pitch=0.1216 right_roll=0.1263 right_gripper=0.0095\nstate[joint_eff]: [-0.1436, -1.5385, 6.9812, 1.663, -0.0513, -0.0757, -0.0122, 0.1436, -5.9829, 2.9607, 1.0525, -0.0317, -0.0171, 0.779]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrKiM_oBSec4Wxehqrqy2GTZJacrEbys3f390DcRcaOGFsg00FazAhjog_2kmP_LD7gQwPqJKDEOT1asxuJ7zPDvW27VK6gIiSXS6I3c0SNDhYEOhVC1ko4r0o-R6dn-gHS68qr3mwgwGNWCCrxFvCLPKJNxzeZDJJQymJQE8WjJNdDmjaLmvOJ5sggiyA4eMwwkDHmnp-ncdZHDZh1UTfuP4he6ww23aqdLlmb7zB4aeMlDFr6ejM2qvUH8laRsLZqkHBiJicpXNeq-h_YjBy9m6f70_XBJkTuBk27cO1IpCxKbE5OuDo-VIK1f8eshdqIFvWfgRhfYxJ87TtAS3Ofa_4r6tmCX55iwEnlhC3mswSIgZC-IcR3sVFGKSk3j-ATQ-8s5KGpDgnT-01HSRnfxTdiVNqa42ds0NgBa316JMXD6BDUHzeV64wzbwcZoQ_mJq5moGRzJNCmYR0Tw5UHfAHcMpmxQ9JVIu3OdDFNf5rXhZmEw2uU_qHdIF5LDuEnDx1CErMwgOdeG7e0HM5cNc6Fq7n1hUaSO_tsSFG8TQDMZ6GjoRcZ64_MJWIcGQcSfIqwEfpHZWW4hVQf6RFmTODyVggsOOEcU7q5qtx5NIrXRVPEx3ucvQy9xroqdskryU9Z-JqCkSPBpQJUpl8bPpC8kNojkm8-QywNbHa2J2h0fEtRytKU8dH3FLqSfQr_lJJ8Pb4o-78T8egCXuTaqohH5XYCCZq2nFUU9QsZBj2feqp7Vt52u2Z57CJwzi_QXlmEWrNi1ZzAZEED9ihrCwL4jgXb60qOkCgzc_hElzDpZYMCBijRjyo0wQFkOdnW0vC9-E5b_T1s3qNGZvf1GY66L4fVtR4BvUdN0BBcigxY-ZkVIghYYWlNKXcUmqcfVDp8GIUKnsZV0SLndQ3PzLFyVbhsmg_0pbpIQQzueLX1E3SXUgvZKXusc1yc_YdE7234ScxpbdhhvnFd7gvtSVtkxy2zK07B58yP7ZMbIV9_NfbaMXuUQcSIiuQ76XRxUWgZ78AAKdxhDvShvnh74q3JtYrBX9nnlRGm6qC_jZaJ5lRXERlyyBxyFf5MLbEjDZISDlB2Eg83G9T9He8yBXxVuKtTz09us8FuOUqecFDP7Rp9sJqFMNlyLhT2eukCKqCw2PyhkDYJm1O2YfAKVLz2IJS7RVRBfjzm3Gx56AfU9cu9w2qR8wp00HSfsd6Xj3hRpuezr0njcpC7mo2NrQ_CcZ2g_g6rTQKieMy-QCHeV8c0djOKzuEL92t4QXpe19iD7QDFZA2_0pDNaec_-1mwFc00td3QH47iepWW_rJ9jpWGjTi3RPGa0_998_jo5murWDBYdRLfr2hRGwhd0t6GNbPP8OboN4Ts01I8y7RDP-0-fMkHQZSiI2tDzYpZgzwfTMO3PZfdj8QZAsKsZDfa8O5as4BprN7U6GtFRFGaoaT713LCtcsbXxp4RHZhdBbQc2dCIBEo56_CCD6AyYlpCo_J-puNY7swBD4V7DAxq3LJBPI4UlpFAL2Hk1P0fnqCkHQiOCBRZ57H6IfNs1rA==",
  "id": "rs_01f9cb96320aebde016aaca888352487d0ad07c6060b0e8758",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.075,\"right_z\":-0.02,\"right_pitch\":-0.15,\"right_roll\":0},\"note\":\"The brick’s narrow sides are aligned with the jaws. I’m lowering fully at this corrected tilt, with a small forward move to avoid gripping only its near edge.\"}",
  "call_id": "call_tSKrWG1c2rbRdUPxx7k2eHhq",
  "id": "fc_01f9cb96320aebde016aaca88ae09c87d08cd1643b62425f04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tSKrWG1c2rbRdUPxx7k2eHhq",
  "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]: [-0.0261, 0.8341, 0.6037, -0.4599, -0.0265, -0.0498, 0.9995, 0.2073, 1.8816, 0.6498, 0.5392, 0.0963, 0.057, 0.9958]\nstate[eef_state]: left_x=0.2853 left_y=0.0008 left_z=0.1531 left_yaw=0.0018 left_pitch=-0.12 left_roll=-0.0015 left_gripper=0.9995 right_x=0.4218 right_y=0.075 right_z=-0.0046 right_yaw=0.0872 right_pitch=-0.1213 right_roll=0.001 right_gripper=0.9958\nstate[joint_eff]: [-0.0205, -1.5932, 6.9538, 1.7363, -0.0659, -0.0464, -0.0122, -0.3761, -5.3402, 4.4786, 0.9255, -0.0757, 0.1929, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82979ce6e3f6211ea49c986c1c75aa11af677827a4b3e924caad25289498a6ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:350022a2605327a40f305995e6a73a6bf7e13810ae770dac571486fa93229769",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a05721e1314b912c8b0f4473d8b8eb037818dd1ab9c4db2bad07fc59a56179a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8307, 0.6037, -0.4526, -0.0261, -0.0498, 0.9995, 0.2253, 1.673, 0.6193, 0.3412, 0.0971, 0.078, 0.9948]\nstate[eef_state]: left_x=0.2863 left_y=0.0007 left_z=0.1554 left_yaw=0.0014 left_pitch=-0.1094 left_roll=-0.002 left_gripper=0.9995 right_x=0.3992 right_y=0.0776 right_z=0.0307 right_yaw=0.0927 right_pitch=-0.141 right_roll=0.0142 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -1.4564, 6.9675, 1.6777, -0.0317, -0.0513, -0.0122, 0.2803, -8.5128, 7.5419, 1.6972, 0.1832, 0.0952, -0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips have reached table level on either side of the brick. I’m closing at this lower position.\"}",
  "call_id": "call_S7CMXNEwlyuMSEI3y8ZOjLCO",
  "id": "fc_01f9cb96320aebde016aaca88e46ec87d0affbfea45d515c60",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_S7CMXNEwlyuMSEI3y8ZOjLCO",
  "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]: [-0.0261, 0.8345, 0.6037, -0.4603, -0.0257, -0.0498, 0.9995, 0.2073, 1.8908, 0.6559, 0.5652, 0.0967, 0.0479, 0.7486]\nstate[eef_state]: left_x=0.2852 left_y=0.0007 left_z=0.1529 left_yaw=0.0011 left_pitch=-0.1208 left_roll=-0.0019 left_gripper=0.9995 right_x=0.4269 right_y=0.076 right_z=-0.0014 right_yaw=0.0921 right_pitch=-0.0986 right_roll=-0.0037 right_gripper=0.7486\nstate[joint_eff]: [-0.0752, -1.347, 7.0769, 1.6044, 0.0073, -0.0611, -0.0122, -0.0615, -8.6769, 4.0274, 1.3748, -0.0073, 0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dc0712c089d913c34486e76a09bd701003371f89b67b48005d2b321ac27a1c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:098e9e86059b07509cf3db5d36fb0b3f7e18dfcb8ac116b5d217185087df177a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4905d6e0c0bff0d8686c0c30708f6f9ddf6fcdb9abdddf4e63787efbdead1661",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8341, 0.6037, -0.4599, -0.0265, -0.0498, 0.9995, 0.2073, 1.8816, 0.6498, 0.5392, 0.0963, 0.057, 0.9958]\nstate[eef_state]: left_x=0.2853 left_y=0.0008 left_z=0.1531 left_yaw=0.0018 left_pitch=-0.12 left_roll=-0.0015 left_gripper=0.9995 right_x=0.4218 right_y=0.075 right_z=-0.0046 right_yaw=0.0872 right_pitch=-0.1213 right_roll=0.001 right_gripper=0.9958\nstate[joint_eff]: [-0.0205, -1.5932, 6.9538, 1.7363, -0.0659, -0.0464, -0.0122, -0.3761, -5.3402, 4.4786, 0.9255, -0.0757, 0.1929, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrKiTRq97pEEDjcU02LY3QDaKkTKQa34dovRKI-hSs2aNSF_spN4QllfqfbSEZ4XDJ14jqtz4rOybqWxi1ys6qHKzPnKPXvOydIOaaCAA-m9d3Eb-d-v_ZTsehwGa1QkjnSc9RgNC_YMnNrE3YPjAMaRbyZYNzAGOXn82Q9_JGjxlEIEu2F03iw3pJZ1Ouzx9TqXvMd2WhnBl-scZsQA6TUSbp8UL7J_tJnSGw7VrCO8jGs-EA0wHIEgApQb0M0rMosomjvCCYG5q7RABnrLZeSYFHy_aZgIY3nNwyH6kFbsy3rqIksRTwA-yqaEdOjnYYkOR16mdntzdmLVm-mwmSAVg6SaUzmI1InH__d_J2ZfYkndVpyfD7tEZTsM8Y_S8FCFzP3p5iXUYwb4d0aQveQDAdFWwLvCA2Shfc3qTVXVPRY6p-Rwuj9lZuwDAvrzXjmmRj76NSFqdlkMKUrZ853NCDZE544bP5amaEFcAs2N-QuiluTtb2OBK8TPiY60cGvG2GaBDPZBrBk5VMlCN6oNsKliB8e4ZkGHhuJKAddSHKCW2I0y1xtsEjUXtU5rTVrUBP4RCw5CWLhW1_gC5pSOb1di5hIWVkjd2_ukmBGoeUvHFgdGs2LVlt3wGHl5Pjp8u_puaxxMC0DVvwMku1-rlP5ZqAzUFG_QVCFycgDoAjeyYllVUQssYHUa7w_lyzNGvqTLgFkmwhRO4QShqvP--u5IzOWUOQFWDqWyX41sJKv6Qj-2D3ZZaC3qQBGr1kbdiwLbJ1ad3__5J5dNdaaNpKJGCoGtM6XxlyiEb_Dn3GfnLf2XdIA9AwhZDvhO1AwOp2YNwTVbmFVKr5kHgr2-96ps9m-zKgGt-QtPmFIoaWpgVHD-pmJSTP6fmKMJ7cnHIkDdyeFpuWlIEbhM2x0E3xutT6ukXi4odHT4NPYS_yS8eFjPxvc65gErNg1nTSXVo8u6qyyZpk-bhANleLYHO_sp8Mekl13Wu-YYZi8l3khEItV5dyfZHxK3UWBjlTiWxxKxTtTRbWFHG8gIYDkCWUl-dUyOH0V37xcFXIo29Xmhbm4OiTr5dildwovZpdRTbh60Y2hi8Gq1CQ_6fwfVAjdNmcZCQWz_uPe7zlywYJI_Lw3DvEroUXXr4-mjBe6luL4DWZxA_8XBr1SIj3mljUkoNgrBPYd7s4MKc9VKrAH5qlMaj6nR_dVQNrIwNtlCt",
  "id": "rs_01f9cb96320aebde016aaca8919b7487d08c4df3dc5fcd3d07",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.065},\"note\":\"The gripper is holding about seven centimeters of width rather than closing empty. I’m lifting a short distance to confirm the brick comes with it.\"}",
  "call_id": "call_dr4FDVEO77Sp8Yi44AMqcoRv",
  "id": "fc_01f9cb96320aebde016aaca8920ab887d0ba6f4214fbcdec92",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dr4FDVEO77Sp8Yi44AMqcoRv",
  "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]: [-0.0261, 0.8364, 0.6037, -0.4603, -0.0261, -0.0498, 0.9995, 0.2077, 1.7195, 0.6872, 0.2489, 0.0917, 0.0448, 0.7486]\nstate[eef_state]: left_x=0.2853 left_y=0.0007 left_z=0.1524 left_yaw=0.0015 left_pitch=-0.1227 left_roll=-0.0016 left_gripper=0.9995 right_x=0.4044 right_y=0.0724 right_z=0.0201 right_yaw=0.0963 right_pitch=-0.212 right_roll=-0.0157 right_gripper=0.7486\nstate[joint_eff]: [-0.0889, -1.265, 7.0769, 1.6923, -0.0611, -0.0317, -0.0122, 0.0068, -10.5368, 9.7162, 2.2882, 0.0855, -0.0024, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ec293ed5065e67ab67dab09b75abbf914127b53a2f33c1f80515072f3e53067",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:198d6201ebc3cea48d04bbb3fc4722ca877c59f1dbd1d37f157070467009cc00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80a87d170dba13fa163d404717beaa0e8888cd005ac951ca475c96faabc64b8d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8345, 0.6037, -0.4603, -0.0257, -0.0498, 0.9995, 0.2073, 1.8908, 0.6559, 0.5652, 0.0967, 0.0479, 0.7486]\nstate[eef_state]: left_x=0.2852 left_y=0.0007 left_z=0.1529 left_yaw=0.0011 left_pitch=-0.1208 left_roll=-0.0019 left_gripper=0.9995 right_x=0.4269 right_y=0.076 right_z=-0.0014 right_yaw=0.0921 right_pitch=-0.0986 right_roll=-0.0037 right_gripper=0.7486\nstate[joint_eff]: [-0.0752, -1.347, 7.0769, 1.6044, 0.0073, -0.0611, -0.0122, -0.0615, -8.6769, 4.0274, 1.3748, -0.0073, 0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrKiX4phIN77DRzwXC79TjxBydmXo1cm3Bq21qziRpEOkn9qZiLOOrCdftS_W03FiHpfv7tRrDbXGeM-GPlwmoPp8Cfqtw0XqM03O9DCcSIhMFjInmjzK88vfeBIRBBr9dmSJlOSlbLKqnbia9yPShBYWlNVTv0H8PaXAZBktN88gzI_tG2AuD2jE_dLJGVp4uj0-Tqg72EgHa4Hht0Vz4tAszNEWCEI14HXqN3K5puNIbxTNEHoX1f4-7ONteJyfH7YCbLYZkaftVwKnQe_fCeKxDk_XE0cptdW0bBcOLi1Ps_zqY6ysp3OS5uXdWOneaioI4OD7faTGkAAnzh6D3bjkMXypT-JyrwrvF6H6QoNmjFb7ODkIppcdm2ZpqL4df2Pkg2sGnkypZge1d7KcVTrUjXqZls3tE4GoxPXhNxY6ELTBQ_8C_-llbdDrNlXeI3qx2f-KUGD-SNe-RU_k-RlArqlCVhWV4yixh4fKxjLBny7i_D0iM_1cIkig86uG22Z7GXZO9u4nQpbelMCH3xNxCtxvAW4P4GFA5sP3Mv9p7v670OxktKV8z843C7cr2RVjQTmUVWmYrcCFLYwPYH60MrKB9BJyM8ocbIoG9_QL48VKW7hgUHqjX0ko_mjPEmSY6mMv8nhvjI_jmoULhmPOK8LVxkFdi55M76PurY2srvatM7nWNAAcaXgUlgfT3rYVOOxgJPgF88MydVN-VaYeYlwoyvo8JNsrxgebhaTCDViPIYY10COOzkG4TW8t-4DabJoNCV9PPERU5RYy8Av1k5pzsJ7sI_HQUyXVL0aGXC1776g9qNN82apI8SWe6EEz_GQZAQ3NJ2xzZSh3ijxP3LLIAcj56-N4o-_TcnRJDPoC1pvdJhFTgO8CiftYjEl_HIdfDly6zqXxdiLcHxijz_CVub2TpuLbOwDNM6bVc4Th4fgSYLLAkx0m3wXrZQ8JOVYaia74_R_QqLoFhRP8JJf8_ZryTPs_xo1lPSY-1uMnG04GIxiss2RAmu4id-n7KMon9ZRbR6uVCbTt8BD4Y0_okH7OP4tNZ3oK4eBQvECBLVltKB4rjv1lvPm6ip9W6_J9tIyYPAIziPLRI43yWvAyeIjAgQOuvQij7R9UgRDXCr59ikq0iELLoj7K0fRxUg4exaJSzbhf-ojKIQE4Ka7z4qlfFGuTUUfWFZOOlowQQu7K2PslyIBMDXN8SW8qQSojaBrN2vHOd2zelEdJ7gzppm5bFQ_Wf_TQhQxIqIloaqj_SGUHooUkmGwFOIIoWVu2YrsBD9QK1ExhCXak2TeBV5iiUlqT86m2O-en-u4=",
  "id": "rs_01f9cb96320aebde016aaca89500b487d0bdebbed1aed83bfc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_z\":0.18,\"right_pitch\":0.05,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The brick remains fixed between the jaws as the arm starts lifting, though the loaded arm is sagging. I’m raising it to transport height and refreshing the idle arm’s parked pose.\"}",
  "call_id": "call_stpbvrt7gxQTtM8RndjDapB0",
  "id": "fc_01f9cb96320aebde016aaca895dd6887d0b8ed8a28a1ab4077",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_stpbvrt7gxQTtM8RndjDapB0",
  "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, 0.889, 0.6937, -0.5426, -0.0265, -0.0528, 0.9995, 0.2161, 1.3437, 0.7353, -0.0719, 0.099, 0.0254, 0.7542]\nstate[eef_state]: left_x=0.2883 left_y=0.0007 left_z=0.1625 left_yaw=0.0036 left_pitch=-0.1677 left_roll=-0.0024 left_gripper=0.9995 right_x=0.3811 right_y=0.0695 right_z=0.1239 right_yaw=0.111 right_pitch=-0.1094 right_roll=-0.024 right_gripper=0.7542\nstate[joint_eff]: [-0.3624, -1.4427, 10.0034, 1.746, -0.1099, -0.0708, -0.0122, 0.4444, -7.6376, 11.9043, 2.3126, 0.2369, 0.0122, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e6eab3d3e14687f230d9d6a2f5edaf1cfa3dc29754dba6e51f8da95499ed3ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fc08bf028e14e09e862423f56381b622cdad80a1f74f4ddae54aa7dac61be2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6308c8c34efd0f68ace4879dd390d3b5f2f21129d62baca2316390a8b7d121b8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8364, 0.6037, -0.4603, -0.0261, -0.0498, 0.9995, 0.2077, 1.7195, 0.6872, 0.2489, 0.0917, 0.0448, 0.7486]\nstate[eef_state]: left_x=0.2853 left_y=0.0007 left_z=0.1524 left_yaw=0.0015 left_pitch=-0.1227 left_roll=-0.0016 left_gripper=0.9995 right_x=0.4044 right_y=0.0724 right_z=0.0201 right_yaw=0.0963 right_pitch=-0.212 right_roll=-0.0157 right_gripper=0.7486\nstate[joint_eff]: [-0.0889, -1.265, 7.0769, 1.6923, -0.0611, -0.0317, -0.0122, 0.0068, -10.5368, 9.7162, 2.2882, 0.0855, -0.0024, 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": "gAAAAABqrKigdxYpq7GwlBofj0nYkkx9oZvgXDj385RWJLQKRUP0fWvWkGwZ4XDDCIFMGRjqtlP9wRkaelTZi5lOlis4pqZ7zgcVOdiOkN1m_PAyRskWwfrDV1qlL28Nx8_MDnBdfmAGCkha-AIldNhczoGT8bHzr8nJyWlSBhiDznVE7dJcpLb-sw8-DMzig-S35smi_qUBgeo4o2lU_peUiAXldVNapU7eR9QlthIPPJmLsmfxp5mBah8vHrz3Hq7s0tEro_nkKqI9TELHetlXDyJPfby1jRYsWzXDhjwMekwUo_uLr4AKr_gofQhenuk0Ona2jyrpui9ZLojfoy5cpZFuW7wIJhtyd4-0Giq85gvhPqN4oETWYlwStR4mVvsBJyB15pRTBWiQ7sGSfFqwd5vsx43h_NP5i1RxJJtTf0SFXknjQiSEXDtcg-h61pej3Tvt1HseRXWQ1QEgU6bc8iqmwPL7msTWQaTjhpah4V35Gi00PG3ghf5EQi90DFLoUe1ypr9ftiKZzwHOIhPeo-kEmZwegbJgtwTmHf0qVQB35REJTVoFlClxExPVVtCdlVepX0QyoQOkMQg3O4BpRDpvu_65nV7pwKFktbtoqs9N-mMW3qg0YOD68DSJMfbxR8GKTuDMsq6aLAPOsIsPoc1abuXZl2J7sKG8NOQcXFZGdxhwuL4bV6Jh2uYuxHGz00zzD7Z5pjJSe95L-8XOkjC7nBPNgBOgWRv0oofIL8FE9nqTtS--vvcZCwnLyajh0fhH2BRcNOMu9OUPWdW9nveJj7gV9ZNP7uPq5gUpkOeEP9z1IwZmLGwpGiy1nZ1PBI9cUWO_50QPv9J5O8eO5K0UF7T76A9RDFHxP4y3r6vwAF_qmk7hwytdsMMAHZB_5kN_uAGNbM8TJ5escI0vJv5ZoectLSeXWquNt1TV-r7-Wdd2Qm2ZGmMrgrVyal8A4L6bONxPxMimcbA04QQXZk5MQCj3ltWC_NMaKBycEhDCZaJwCsBAcafXivbNYEZh9Z-P3RC3ifSPmjx94kvarkLYlQIavlo-Nuiv9-T6dquGqwcng2Sx6ll7cVFjLGo-sGztBzD2XZfqvBz_V-rHytEEhyvvTeqPlPopor0Sr8hS4n3FktXha6sHwgai-nisbIfLK4doiccu9bS7gl224w6fiP29kxrC3rutfMB4nSacCnJnHG0ZXPBt292yfgdN7BVn50j-oRJXXWWxOhJ5M6rY6x4_ykUgvPCFjkpOc5pER32sycPk1POEHfJE6vq8JUQGruW_qT-Edc-KQNOm0g-JgW6GyGiWCPT239q5GaMoIpSkfT602ix2GDMLiW24ndKJzF_eEMdVpkgvQ4oszC5JpknUZuyZeWbn9zBoxAzxV_Ch8dhtwbbPQ6T2q9OqGOyx13xLzUqL0oBGJ2qR-7BQ91T_jBX6xWCxUUGkb82S94x8t1zG1ThqZBd9HhLzS4Z5MandDPbEFFpl472RasHve0uQXkTzwFbCMNjk0ANhwPWK9aKtjbdEkDHYshQE5sojO2uHt0uleDIOFZpd919nZJ6I_ciLRKreEaJ1RsXZJKYBY7PaH5OkuInnzhWiiRRpQ9XvKX_yWkDPQwezLt5QtYyKWKcI1grCGUBbpWw-7nqY_vDMK5b1ZDwAZrkPJapvBDZZP_emCpGArwGpDjqrkAwDbnjZx6L2Absw91jyotdjzYls17WQXi4EJVN0qpqHR5-aTJZkxQ-B5HvRQlt2Zb0wVID1QzadxeFovnAZpl-It78K03VgnRJPuLIUZzf3XRlA4BwjZFFiP0clUh0EzeAjR4Ht01XRZxW9FORcWFBPQZ8=",
  "id": "rs_01f9cb96320aebde016aaca89a156887d080a73452a49714e9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.30,\"right_z\":0.31,\"right_pitch\":0.2},\"note\":\"The brick has lifted clear of the table and is secure in the jaws. I’m carrying it inward and upward to clear the pot’s rim.\"}",
  "call_id": "call_rqfVw94IRwQi3nyRCbhz33yF",
  "id": "fc_01f9cb96320aebde016aaca89f4ccc87d0ab9378d0f87d4dd9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rqfVw94IRwQi3nyRCbhz33yF",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8902, 0.6952, -0.5465, -0.0261, -0.0525, 0.9995, 0.7868, 1.824, 1.6436, -0.4328, 0.5816, 0.2214, 0.7542]\nstate[eef_state]: left_x=0.288 left_y=0.0007 left_z=0.1621 left_yaw=0.0031 left_pitch=-0.1711 left_roll=-0.0023 left_gripper=0.9995 right_x=0.4306 right_y=0.2995 right_z=0.2575 right_yaw=0.1815 right_pitch=0.0615 right_roll=-0.1094 right_gripper=0.7542\nstate[joint_eff]: [-0.1709, -1.6342, 6.9128, 1.5946, -0.0611, -0.0513, -0.0122, 0.4171, -11.5214, 11.0427, 2.1856, 0.6374, 0.1929, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9047be678a09e5667d18f5c7446345136821d258d91760c8066f0e19359ef91f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b528afb3740e7093abe015c673b920adf6603248fb8ad9858e50b6a62f4ef296",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20d0e2c96e32593e0ebbadd0de1a8c1f3e88c99bc6aee0a65822b42287837311",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.889, 0.6937, -0.5426, -0.0265, -0.0528, 0.9995, 0.2161, 1.3437, 0.7353, -0.0719, 0.099, 0.0254, 0.7542]\nstate[eef_state]: left_x=0.2883 left_y=0.0007 left_z=0.1625 left_yaw=0.0036 left_pitch=-0.1677 left_roll=-0.0024 left_gripper=0.9995 right_x=0.3811 right_y=0.0695 right_z=0.1239 right_yaw=0.111 right_pitch=-0.1094 right_roll=-0.024 right_gripper=0.7542\nstate[joint_eff]: [-0.3624, -1.4427, 10.0034, 1.746, -0.1099, -0.0708, -0.0122, 0.4444, -7.6376, 11.9043, 2.3126, 0.2369, 0.0122, 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": "gAAAAABqrKipW26E52NB7lG3EFOoRR8z8e54LemGAF6j16zPKvHH5J4TeVvCBb1vU4YWyMgGyYN5hcGa1HHaM8CeMu4NQvgTH8POQPe0dtPinLNm5b86Kuhhp_3ERfH70zAuzyuDYQ5l3IO_-Ess2grdk1vNIbEnXU9vyoPMsf8AwOxAjfY097VQUgRA0kCSGaD3d4OQjNyQNTF6-Ecq1z8m2kzr1g3hM9KAgRKnv8zxvi7cVEQFez0vnSX-yp7959t0t5owmBZT31G6ngz_emulL_LyXyo8s-Ha3aXJBFvviLVdJ9B-7fjVnnG2g9tckRuMpE-xw-KXIbqo5eg_bJ2fOu9P2HMcsdS_YGhNi7DDOUjQ2VDusQTMLCwqbtqq2woOQ9JZYU_0mIuhpu4mRE64jjtG5OWEiPQI0_jPScosqZQACcnyyYN417CryqFR2zJTJbV3tYtdO9WAidzh_WX1a_E8yK6jRKNNcIVH4OlNogEYlmzNiTVgOdI4Dh7NfF4kxqnv9mLB2HmQxbDEHT67ZD6bd28e7HvVM-IFnW0-i0PfXry87lKQHUTHzaXd5JMvuv4brGueVrTmyQlS7W6Bh0Zwu3h6Hb7meCR3DOg5-oTYSlX0As7LHkBH7US_AzWb5z9chQzfatTzCVQsk8rL29ulIO3JdOtx78vjrsarZMBkX7Jbgli1p5muCe4w5jmwo6hNy1pti5BKz_DL8jLngpR27uffoTCvhDzd5LN16QkHxUgMyTMPJuSUxb_X-w6uE2axMsIW0rN8t66KyzlaZB0ewmEkIr0YukljoHfO0oE5Z4b2PyjqOcUpGzCaf7KS5XpEJkGAEGiqYEsXimDCwrnv66YQ5xOZ4lZY57y86-wMrQQJ9xASWHVzX340TZ37gcjfZrIm5bd2GD6S8TSRD4C92xj-U0ZWD38bb-BSzawN8AWOw5J2IYzH23F3wBe5aHI9820zsVYtRteawfQcTj6KLHgQ3UElQX8jjaZ4rLP1jL7n1RqKA25-BmTUdV6ZnAt_vdFMEUty_VSPwFM_9GgrY_8w7A6QFwVpGSjBa1kvKyeM2lmOR3tostMBNKKvaeQ1umc01NoqbDsldkGFUsqeg9DdHLo661vfv1lyWh7U1Udyy03_a7Gt5poufwfU_642fdGLZrKQdcrec2d2XEd69ueXkt2zn4itAtbB2F_a7IELGgef6iABdOOfWrj4vj8OyjgUbf_SjUfSb7yi_RLRxzw6U76LX9rKpdbu599a1Yd8t5eyiflc1mSAwJxyj6Wi3_ZNFHag0D2sw-vciB5-91ys7WAgxhQRhQQK0s8BqjBGDkxng_ey0Yubf_aw0bEi8jHM3MJphCpI8I_bn9I39L9PejeatpCku5Z-us4AqU2NoEedzyTet9As0aiqThhnsrmfacbyiUEjjYlgkvzWq6UmgYdsXt4TAnm0Q4OkgNedU7Cp-XXZ9uI5zN32b-Cet13U7-QiHW8Hrl5VbkRaauNdk3h1lNRHsRKbdpH5gUR9YFs4MMn0wu1Mnjb8VEEZj38t_2Yaxdtpz457pwsW3vqkMGquM-kQXMKfiwlp2PHwb98N-5tU3yuzATuf4LTwMoqmgLlNGRCXgsvKZvDlLKd4WgapEm3ZqIwaMGQUiEKQgXYYyJn_CIW46mHNHSDGUSwm9Hvay6ZDFQOawaAYzJTi3w==",
  "id": "rs_01f9cb96320aebde016aaca8a3f9a487d0a0f163f8edaf29a2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.4,\"right_z\":0.29,\"right_pitch\":0.2},\"note\":\"The brick is above rim height but still to the right of the pot. I’m shifting left over the opening while maintaining clearance.\"}",
  "call_id": "call_11uKv0Wccs8nFBeDlP3o0FVV",
  "id": "fc_01f9cb96320aebde016aaca8a7d9bc87d082c001c5e30fafa0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_11uKv0Wccs8nFBeDlP3o0FVV",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8902, 0.6952, -0.5468, -0.0261, -0.0528, 0.9995, 0.9165, 2.17, 2.0819, -0.5564, 0.6773, 0.2092, 0.7542]\nstate[eef_state]: left_x=0.2879 left_y=0.0007 left_z=0.1621 left_yaw=0.0033 left_pitch=-0.1715 left_roll=-0.0025 left_gripper=0.9995 right_x=0.4407 right_y=0.3985 right_z=0.2436 right_yaw=0.2444 right_pitch=0.069 right_roll=-0.1841 right_gripper=0.7542\nstate[joint_eff]: [-0.0752, -1.7162, 6.8581, 1.5751, -0.0415, -0.0708, -0.0122, 0.3077, -13.9829, 10.6735, 2.0537, 0.8083, 0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dac59fd44893e47e643421f508951271922f8f1b7d5b0ce3f5c803a3976eea25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f862e71a74858bf4cc7ac15ca8c99fe322e5adbe6d624c8ca566505a0a9fe75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbf14f64a3d82026b035aaf5c60d6f7d1cfc9367a0a6a98e74ccfff44570258b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8902, 0.6952, -0.5465, -0.0261, -0.0525, 0.9995, 0.7868, 1.824, 1.6436, -0.4328, 0.5816, 0.2214, 0.7542]\nstate[eef_state]: left_x=0.288 left_y=0.0007 left_z=0.1621 left_yaw=0.0031 left_pitch=-0.1711 left_roll=-0.0023 left_gripper=0.9995 right_x=0.4306 right_y=0.2995 right_z=0.2575 right_yaw=0.1815 right_pitch=0.0615 right_roll=-0.1094 right_gripper=0.7542\nstate[joint_eff]: [-0.1709, -1.6342, 6.9128, 1.5946, -0.0611, -0.0513, -0.0122, 0.4171, -11.5214, 11.0427, 2.1856, 0.6374, 0.1929, 1.0379]\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": "gAAAAABqrKixHqamUdGAt3DsYD5Mh1uAhCeuILThYXDPanC4c6NvsVQfSGEEi1vj0aQzWMnlrb9i4El0aKE0m3vpf-mdd2cD60AMHRtHiOqAbSJq0xBeNkd9SodG5499GYRf48JUkQjWtxalOcgrbMWkuHFR_BcGcgYA1TzPidgqmMEJxjCHQ5CgGAeVfi_kwdE2wKtD6Oa2ZU9DolzPimhMTiNV0KI2SUUl9qKEEtebEZ_KhgYB0qJz2m3gM6HYbsFLkJQ5nPgwNaHB6AU-hrlMaPifzIklmg-g0UxZm0Uu8dCqmsFzcJYpxFqdb9mHh4q1rxXkCPbmIHafJuS2VJNzhGcj0QLR6frypO7nZ6MxQ9BPExYpZLKZYU6RkkFVdJEIlf9DymYY5IZBlxV3Fg5vqeKGkQUcrIHSIlwYc7q5TSCb4VxkkV9m98s60lx3Y09OwY-0n1y24gXYCNLBjeL2HOOGRXWi5oXR9JijtLyaEiwHz_MXVCIr-AMHAkeEkJM0lTJsRndsRkvCxjw5e8TdyzQ31xF96U6AqRKJsgTntnlJfnIi6BUQthVlO3JwOZwEhpR2VqDNCnYw_93qrs3nPRmTrvSqwW6gmJa_NyW-0e2ObmoWiWgJYINsKsr9njZKqorkHbS7kPE_EtmmfzZiK9H7Ast1KGha4-YbQBrG5CZFNpxe9wrI6UmR-oJgyT4nBSw6zTgRgb2JwBLh2_9qHTAxHnH5Yrtk9RKP83VnlfK9KwUa8p5hZph3eUgA2uzb5d-i5XknKdYFsjkEaD6G7gd3h46Y52CjfxFOPZDr57d5_W0f7l0C_tZ2OHQF2UigxQaMUdzUxOZH3J7CNyH2ESFBLLM_de73E0ZfXi8Gm0xqe9aULYXDplFeMmlxgioypQIjFStu6sN_-2WXUfpCItA4vi8VAT-82cIRgsnO8lqN0n0A5u4SAd7W1X_N43Ujx81UiLE1CLyzBiEEzDk5KV_MzkPy5UxGbyBq5tBVv9Z9iDIzH2exL6IFULQrUY-zVS_5-dj4r2luESudHYqTFKdViG_QC2qVfd4MRvy6m6vO_RmTWioY27RySJiHHjBUBsUSMiBPAvxxj-EzT3Pllh1r1CUp26gN1xRAYDaULJURjuXAuMUs_m85mVmlkR86EkCoov8RHHV7yLldiuvD4s9fGAcOqpP-JUb9WDbIFeKLWB_dEQEIuQKK6OUtrj25GRkB4bRgItssyj3wiGY6CVg9BJpvEaiKei_vUbzTn-w1TVW3eEL7DMTL4JC5h12zvtFYKgBwwaSsVajgSwPIcnxdh4Fh8ytv2TFQ8J-S5djPzb8mnOyRiA1JvRu1bla8Uy9g5IbKlNMf1mWnrmiVW37yLsiXbgBqmJ_Mp9l5YUmwuJbDraGeLzmWs1a233-q0u9cRG9lWM1MI2D0Vj8KCUnV3-UWqFN20INnyEgfOJqP0Na3UdkaW0Ide63iaDeyCMV7eFLU6k5-BASWxJsj0Lj43M5w0eDio_96KuPQYR4F6H5n_ulXSybKzD1jk0uRto_11xnazMwawjuMLWMmMS-QWW356ztHlgVCzPFXfolR85ABZK087ETIUETIV6hazwTTpUMMuK8ARSM6PoDk0wDzyF1AxDoKT0RxoRz_QvLvn8F1VXp94XZcWXQLNtBX5ytqmNQDCIJzolivUvczVvyEYpKH-BXOahrMdqgYBAe_9Z6MliRz6xyvSUk2AraAeW6tx0j1Pg4SfBjant9UklkOBSehA502uRZlAhOVr5HQCzLPMARUIdxT1bgSKb8DwvaJjdnaFJKpb7TlDzSr9S9EGPJaewddCTVSAK-clwmKkBmJu2c=",
  "id": "rs_01f9cb96320aebde016aaca8abd4e487d0bd39b5019a0f9dda",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.4,\"right_z\":0.23,\"right_pitch\":0.2},\"note\":\"The brick is over the pot’s right half. I’m moving slightly forward and lowering toward the opening, keeping it gripped until it clears the rim.\"}",
  "call_id": "call_33EhJjqnHDAKwPlfCTOGwMZu",
  "id": "fc_01f9cb96320aebde016aaca8af766487d0b8348a7c792b54e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_33EhJjqnHDAKwPlfCTOGwMZu",
  "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]: [-0.0261, 0.8932, 0.6952, -0.5468, -0.0261, -0.0525, 0.9995, 0.8425, 2.291, 2.0415, -0.4038, 0.6327, 0.0967, 0.7556]\nstate[eef_state]: left_x=0.2881 left_y=0.0007 left_z=0.1613 left_yaw=0.0031 left_pitch=-0.1746 left_roll=-0.0022 left_gripper=0.9995 right_x=0.4848 right_y=0.392 right_z=0.1791 right_yaw=0.264 right_pitch=0.0321 right_roll=-0.2653 right_gripper=0.7556\nstate[joint_eff]: [-0.0889, -1.853, 6.8718, 1.5507, -0.0757, -0.0659, -0.0122, -0.1162, -15.6923, 9.0325, 2.6838, 0.3883, 0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3989caf9fe8c06281cb838dbabd52e41fdb88adbfae6f22e6a8b5120e05b44c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:532abb99f98bf704b0a80f92b1f737ef5ad8722e6fbd26109bc634d67000e913",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d1b1eb2c14439a133c0dba870da82ec3dc89b1cf43af25d91a716652e9fe014",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8902, 0.6952, -0.5468, -0.0261, -0.0528, 0.9995, 0.9165, 2.17, 2.0819, -0.5564, 0.6773, 0.2092, 0.7542]\nstate[eef_state]: left_x=0.2879 left_y=0.0007 left_z=0.1621 left_yaw=0.0033 left_pitch=-0.1715 left_roll=-0.0025 left_gripper=0.9995 right_x=0.4407 right_y=0.3985 right_z=0.2436 right_yaw=0.2444 right_pitch=0.069 right_roll=-0.1841 right_gripper=0.7542\nstate[joint_eff]: [-0.0752, -1.7162, 6.8581, 1.5751, -0.0415, -0.0708, -0.0122, 0.3077, -13.9829, 10.6735, 2.0537, 0.8083, 0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrKi2Su4GH3MqRBkgam8MMtD_1sMWr5UMXlKbFe4XnIT20slsCQYfkWhLK3QL6d-1ipO79Eh25-i1pQyqdqDQXGgzBNiJxMSIHZt4fyxdKBSVkAUu2lAHZB1GlmNU0P_wHakRoTTiFcHpB-G6i7myvPILt8OQF5i9KVUimhGfyHZwozSehKEZrUwKRcliT6ZwGqyYW0W3WpT3V2cbiw5nM8ghi_VcJVZ08TZ5vvyv5mlBYG7UGhx87O8A4JqmhcX0Gri22QXCXWQY9aJdG1wBO6ebPqwiL51Y3MjMoUCZoxt_agrxAD8M_fkXqydqugEbXo0esNHMpqDWtO2Vb07h-F7Atjn3_V4zZTJqbO2DsZr65uIQp-rVNUyxSWZ7lTvFeo-0UXQtIIrQAr44n6cISUKid3lRq9wyfx33I8DHrmLsKraY3ynZAuaqYj_MInLgiXPyEMVTDehxv47dGZMwGIW18MkHrGxRY6ANtbCsj7HA6YZtIFeQVQsNQMQ6dkRihD7t8nxBcud5g1Kb7Hd1e2r5YeyJC87eH8Yt7FqMemMZydmJLxzYvXfarqEbWHucnHIMT-jZC-NoDqGKg--TOuTpcCxMw71li13C76dkC2txR2CV6HIT-Yw1ve9S9vlcZudP4bqNAIz_icr__mXTj160jntXAJ5AWdIeodpKfWK1QWIzcRm2R-CAhYgBDaI-Mo8gYmdGpNHHkMU8lmY98H4CgKUvaDgM8jqJVpNZOWcw3x16SJ0yNABTZsDEef3F6K0t24EamOKKgD8IvbG-rkd5Fog7_mI8OtndcsOtImAfZKx-pwzZ_SkNsKushOWrvi31AhdbLkkju8XiMxXamMN9bQQVu11ERNFN-pIBafLEPl924nRwKguj0q1VCbZf5XXl3OiNpAvswYJZVwG3iXmqPCilfwe4gsrSFt4zpSoOsPX5X2SdpLs8j265os9cGH7hCqPhfNWdUJsY-FOSBUUCtUuQcddPfTCEf9jwdO2yrMipyMJjdbywqqGT6d-VGQzBRwogR2fx_RUMZZUpcA_HnMTRXBeZgWYAFcXZ0ZAbb-P3Odl1dunqY6HcfhTqkj5qqSInCiB7uicqqkkJLCMS-Za9jxT_wUN_WxXWFWkv5DtLisINVAHLtl5ETkfL5tYCkeFjR-PNoOr3DarIO8s4x8FBY-3u74BYDokceqUUzVgyd82Nla1_sv4OsaC8dYlf-kYX1rDoVvsdOWhjbc1arnFGohtt_5DF9o5vsmkCNdD-xk-tapcxgdMqWg6MyVy8JdZN_GOLO9_kbvUG_ax4wVRF3xYv-RLrX-eec0hXudqtrkKnK6YE8QLrCiFjTj9OExZZ9qd9_E23KERojyg_k3j9MLufGiTUw0GDLySSbXU=",
  "id": "rs_01f9cb96320aebde016aaca8b38df887d0b203190da9985bb8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.4,\"right_z\":0.155,\"right_pitch\":0.2},\"note\":\"The brick is aligned inside the pot’s rim in the overhead view. I’m lowering it into the opening before releasing it.\"}",
  "call_id": "call_yBJy1K715ErCCnyUaZeSqCly",
  "id": "fc_01f9cb96320aebde016aaca8b4e31487d0acb494e94244d22a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yBJy1K715ErCCnyUaZeSqCly",
  "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, 0.894, 0.6952, -0.5465, -0.0261, -0.0525, 0.9995, 0.8421, 2.3287, 1.935, -0.3321, 0.6197, 0.0628, 0.7556]\nstate[eef_state]: left_x=0.2882 left_y=0.0007 left_z=0.1611 left_yaw=0.0031 left_pitch=-0.1749 left_roll=-0.0022 left_gripper=0.9995 right_x=0.4806 right_y=0.3898 right_z=0.1234 right_yaw=0.2909 right_pitch=-0.039 right_roll=-0.3257 right_gripper=0.7556\nstate[joint_eff]: [-0.2393, -1.8803, 6.9949, 1.5995, -0.0269, -0.0171, -0.0122, -0.0342, -16.9778, 8.759, 2.2295, 0.4762, 0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37363944d5ef4e3749848082bfa46cdd59fe96534aec80cac2ec37f04a646050",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:618fb06f3065d786b37b8c3ecb3943ae7f2e7626173b0521f7a6c89dd690213d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f1d2a1cbae90c02aafd615c57ef2f47375722a5933a2e719857bf0592bfb25d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8932, 0.6952, -0.5468, -0.0261, -0.0525, 0.9995, 0.8425, 2.291, 2.0415, -0.4038, 0.6327, 0.0967, 0.7556]\nstate[eef_state]: left_x=0.2881 left_y=0.0007 left_z=0.1613 left_yaw=0.0031 left_pitch=-0.1746 left_roll=-0.0022 left_gripper=0.9995 right_x=0.4848 right_y=0.392 right_z=0.1791 right_yaw=0.264 right_pitch=0.0321 right_roll=-0.2653 right_gripper=0.7556\nstate[joint_eff]: [-0.0889, -1.853, 6.8718, 1.5507, -0.0757, -0.0659, -0.0122, -0.1162, -15.6923, 9.0325, 2.6838, 0.3883, 0.0659, 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": "gAAAAABqrKi63H_3BzhXEVzNOeXxCrW3R9bZCV-ZMriGR2W-EqrFV-DAaaZ9SXNknTJzvRzaDhwZERrGq9SM1nRhNe3Q__OcAIuQKP3JQtox8hzo7vowZ30RzwcL2jOZc4w6Q2oDGnY0HxSF0pNoblRjWbcw-rG4ZMupqQ1CFf1qvwM6M0nbSLvWLChjxWhJmjynbUvCbwqVCpPx7d-vEqDS_T_vK7jldXrFlhI0FvzhAvR1hz5NUaV8Ltrwt9i9svCgbtYWSBlJjjg8B83xlyj82-xMJWjwdPRX6Pf5TsM6IGqmWHRb_u9eccHNeQOIz-Qn8I2sUjQ-lfguHHcBMpm5ykvQeQVQm_klq7iALKAjvN3QsDL4zpNstM84iTJA4XFhv0jNz3veb2-qOFb3sLNyttB5AWvFJqFMIYnUFYlUNrP1IaD_eVgyuhbC5hrwmulnkrNd0vPnLGKxTBtyB54-A1v5v6GDDaPNa5dZJBWqlsRtD5OPklTM06J8bOtiSEi7s4cVLS3w-5xUN9we0wLgq8hVAywY7SMqOx2KB2klT24LZDuE1v05MshxWpff8x09vQctsaLy87rA4Iq_yEtjUUOAE5BFhUuwVwt4A3p1zCkxPwmicStg05k9_fUUf77BsESY91hDQJCXcq3Zl5KlWX7I88hzjBb-JUFDZowDhE8g7B2FbrqbM4z4NjQ4FmMm427wdK3Nau7IF_1yMWhJb8oAFbht9ANhnlMp1fpiDUzFWtJg9cf1JbDZAatghFmcnJaVitf_L22uAjesSICnkbWsLzF1DdlAV1Jhnk98-StEJYCDRl9lhXo1X4a29NjXhzLbrwau9dtHTf7rAj04T_9gwMUX1mCe6xxlQ_CbuwdUJnaLqQAKymsGdXVdh8A61Tyrfg33h1ltT3VFTqB2FBRHdQUd82dzBDe23MiCn5XTbnViAD3WjJGG91OfonABFCGGUPCSmysFs3vjHKvinwcmUerQHMFRZINiqCLju8HqZBqT9atXrRfFqd7GAJqd41KvkKvdxYrRMo34SRqItO79EWIqUt6_g7MDWv-C6WhSSEIFGV6Jf_pDr6uSKHK3K364q4RacuPReZx_b_HE7TTRUIDF1a_kIINdXgOsL2-fvsc_hxr0_Rl0_vnhOdCkK49eEQBcRvVInT8QnVxzj847e3MSBWak2jUvDMVKir2tNwcM7GKFzgHlEmLspUvOe6he4Oh0CPSaMkCSwzAOZR_YHaPVNzQqKHMBmrUPgVe6qXYMqMUxZgp80zOyotmzDoDmgVXQr8YNj7USk9wmHA45bdjANA==",
  "id": "rs_01f9cb96320aebde016aaca8b85b1887d0af50904489214fc4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The brick is lowered within the pot’s opening. I’m opening the jaws to leave it in the water.\"}",
  "call_id": "call_voYrN9mk7D10JT9ebH0wmpGO",
  "id": "fc_01f9cb96320aebde016aaca8b9437487d08fa56e1a0cf40d09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_voYrN9mk7D10JT9ebH0wmpGO",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8948, 0.6952, -0.5468, -0.0261, -0.0525, 0.9995, 0.8425, 2.3283, 1.9354, -0.3023, 0.6277, 0.0555, 0.9969]\nstate[eef_state]: left_x=0.2881 left_y=0.0007 left_z=0.1609 left_yaw=0.0031 left_pitch=-0.1761 left_roll=-0.0021 left_gripper=0.9995 right_x=0.4837 right_y=0.3919 right_z=0.1291 right_yaw=0.2892 right_pitch=-0.0115 right_roll=-0.3201 right_gripper=0.9969\nstate[joint_eff]: [-0.1026, -1.3744, 7.0085, 1.58, -0.0366, -0.0122, -0.0122, -0.2256, -16.9094, 8.7453, 2.0049, 0.359, 0.1245, -0.105]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea9561d51b1d8a346f7b08add842a3e543c0efb644cd9b80b76830183deea206",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:607a51ae6ff5ca438cb9fc704b14f8133c29c1298090221775d5d0ee21730b3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5af75a3954dea898f0b3ba6baa399720a156c7d16e1518a68c66719b0ada6e1a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.894, 0.6952, -0.5465, -0.0261, -0.0525, 0.9995, 0.8421, 2.3287, 1.935, -0.3321, 0.6197, 0.0628, 0.7556]\nstate[eef_state]: left_x=0.2882 left_y=0.0007 left_z=0.1611 left_yaw=0.0031 left_pitch=-0.1749 left_roll=-0.0022 left_gripper=0.9995 right_x=0.4806 right_y=0.3898 right_z=0.1234 right_yaw=0.2909 right_pitch=-0.039 right_roll=-0.3257 right_gripper=0.7556\nstate[joint_eff]: [-0.2393, -1.8803, 6.9949, 1.5995, -0.0269, -0.0171, -0.0122, -0.0342, -16.9778, 8.759, 2.2295, 0.4762, 0.0073, 1.033]\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\":0.46,\"right_y\":0.34,\"right_z\":0.28},\"note\":\"The brick has dropped free and is visible inside the pot. I’m lifting the open gripper clear so I can verify the placement unobstructed.\"}",
  "call_id": "call_37KIQ4MIt5yCkC4LNIeT19Fe",
  "id": "fc_01f9cb96320aebde016aaca8bc18f887d0b1d0dd37102c11cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_37KIQ4MIt5yCkC4LNIeT19Fe",
  "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]: [-0.0261, 0.8959, 0.6952, -0.5468, -0.0261, -0.0525, 0.9995, 0.8158, 2.1445, 2.1353, -0.6952, 0.5941, 0.0216, 0.9972]\nstate[eef_state]: left_x=0.2882 left_y=0.0007 left_z=0.1605 left_yaw=0.0032 left_pitch=-0.1772 left_roll=-0.0021 left_gripper=0.9995 right_x=0.4627 right_y=0.3526 right_z=0.2515 right_yaw=0.3058 right_pitch=-0.0363 right_roll=-0.3344 right_gripper=0.9972\nstate[joint_eff]: [-0.0068, -1.5932, 6.8991, 1.5409, -0.0317, -0.0415, -0.0122, -1.0188, -15.2137, 9.1145, 1.6044, 0.2515, 0.0366, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53da5bd75043ab3fad647d29ea56cd6cb01341c30e6ee8237fb26e131d89aeec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12c63fdbfe1995ed17641e30299743ce1227d73f332aa81381fd82a193d7f499",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b9994001bb6f975fb871fbfbbb749ed3473627f35c3a76e72851d3680d53f57",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8948, 0.6952, -0.5468, -0.0261, -0.0525, 0.9995, 0.8425, 2.3283, 1.9354, -0.3023, 0.6277, 0.0555, 0.9969]\nstate[eef_state]: left_x=0.2881 left_y=0.0007 left_z=0.1609 left_yaw=0.0031 left_pitch=-0.1761 left_roll=-0.0021 left_gripper=0.9995 right_x=0.4837 right_y=0.3919 right_z=0.1291 right_yaw=0.2892 right_pitch=-0.0115 right_roll=-0.3201 right_gripper=0.9969\nstate[joint_eff]: [-0.1026, -1.3744, 7.0085, 1.58, -0.0366, -0.0122, -0.0122, -0.2256, -16.9094, 8.7453, 2.0049, 0.359, 0.1245, -0.105]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The black brick is resting inside the pot, no longer held by the gripper. I’m returning the right arm to its parked position.\"}",
  "call_id": "call_qKpxmYVu3CCd7FJXwydizQSb",
  "id": "fc_01f9cb96320aebde016aaca8c070fc87d0b089b6cac8db9d41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qKpxmYVu3CCd7FJXwydizQSb",
  "output": "executing move_to over 30 steps (3.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8997, 0.6952, -0.5468, -0.0261, -0.0525, 0.9995, -0.2737, 0.8917, 0.7372, -0.4801, -0.4046, -0.3317, 0.9972]\nstate[eef_state]: left_x=0.2884 left_y=0.0007 left_z=0.1595 left_yaw=0.0032 left_pitch=-0.181 left_roll=-0.002 left_gripper=0.9995 right_x=0.3017 right_y=-0.0088 right_z=0.2014 right_yaw=0.2342 right_pitch=-0.0093 right_roll=-0.0222 right_gripper=0.9972\nstate[joint_eff]: [-0.1983, -1.9487, 7.0222, 1.5653, -0.0415, -0.0366, -0.0122, 0.253, -2.4547, 6.3385, 1.619, -0.2906, 0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05f1bbe058c30b5d7775be3fe79ef14b71278ffee776d2da2926c10ae59fc540",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8514b4a9986dea1312d269d2571643281976129145cf3d01af6873e5f3229dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cc021ca71a95bcd74ed8311e1b213a167b6e101a9c389b078862f0d19ce1398",
      "type": "input_image"
    }
  ],
  "role": "user"
}