adhoc

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0193, 0.7952, 0.6044, -0.3817, -0.0223, -0.028, 0.9996, -0.0219, 0.794, 0.6041, -0.3779, -0.0135, -0.0196, 0.9969]\nstate[eef_state]: left_x=0.2947 left_y=0.0019 left_z=0.1795 left_yaw=0.0001 left_pitch=-0.0004 left_roll=0.0005 left_gripper=0.9996 right_x=0.2951 right_y=-0.0005 right_z=0.1804 right_yaw=0.0001 right_pitch=0.0 right_roll=0.0005 right_gripper=0.9969\nstate[joint_eff]: [-0.6085, -1.6342, 10.0991, 1.79, -0.0171, 0.1099, -0.0611, -0.5265, -1.5521, 10.0991, 1.873, -0.1294, 0.0317, -0.3394]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89d3fe0af9aa61468ea819d64a167c6c55e55b70f37b0823ac7802eb39b0e42c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d9d58bd51ea25c024e2f2dda4e05ff6bb2d5521dda86e60991bd36ecbdae64d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c5daca86cc27cb6fe2afd9f97f5001d95be770b5fa77ea85a98c455dd7e1669",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrLG5Zw46q4S6zi4dBs_f6wv48GO7DVwxOasvMRcIl1LulDu0GL8RPmWR_k_EgXp8y-6KkkIkPHrZ9KHbzhVjWxgJAaTQaOQB_orjVCVJ8WBqOGvgr_Nof4CfH77Io3TJgblAkv8Ioy-HzKoMmRaVKZexWuYTQrJfjq9t74Ghh0a7ubYsFlIOF_0U-5_E8q5Fa3kDldkOJfdC7_55V2h7FHLMRDZGkmwnJGXKxzLf5AsKpXNjAuIO-o1hSrpgIE1Cil7Y9i4Aunx9wI7DQV8iej24Ww6GlYMIAeIHfLM49cJ3xi6pNkM_R6aU4gm0-TdUkHbhInOyJ9nKcz8K3R9WzRT_YNhKfVALnN5dogOeFrGyofd4bpA37mjGi7FI6Gf6pAhzskwnSrukd36cDFAsV3lhRYpWTnTHLIYCmgvHdrGJ_EKXxKIhTj0vtPrVmwP1Xl5MZbgysv458m1C8aLhL62h01DOcP3kWSSPUGmEw6gxGoPZ2PF_OVs4dIYH8ME7GUDvy2oolNEOZes_Sctn9_FixpApMRyy1wgD0UcOe5TpxFxNY76jXkaXJhfjPHULgdpaUzc3XjYTGzI2ByzH43u9exHN0HD5uHGPT0HKw4DyG_1UfbjVxHwbW1LX477s3SGz636KGde5G8Sv7VLkz6xXc-6doa3GcEITdza8ewGr9FaqpC1HLNQAePnzUIYn4t5ATKoHSvC-WDr78TxaKSccXonqyMcsVYNC9jAaCY0bsNGriXkgKBwWfbzHQEjQPKJXvxj0dpit5xDQflWUZXzj2CvXpgr67CQ3rh9zbkJmhW5AuuuTIfero-8u3pgXOOQ8hKAMzFCT-PSyk3y73SgEo8fb2W0mxrHmiizpnWRZDA8PDUgSm5c8AUPyvWyww54_gQ-LJf4AOar6RZkdr0duM6A2b-Li7Rau9L0UZPryTOHp9R7xWS5kpAwdhve_CAkhIbkwwxm0CPn_KsSxYsKeCYg0EmiLHdWqv9-bKArl_ZOgX1GsvDHbAp5cuuqZSbfniKXzaSpeQCl9ADD742rdFAfTMpSRflWA9tcil2aeGp424z3Bv0Un1joSsyyfVEt8kVr9-yTrFz8IKQUwwqlQ0SYYOz82k-8tmmLRl0EW0W52TH0-SWPk0zAv77TQ1Ml5qv2hfGEzuB370XPksX317Afo-Wf4bzeEr6mAz3XarCWJqV8BhN02zL3By0pedUC0wC2Y7G0tmXs0UdeX9kgD09Zg-fWzc5UB_mMEOT-VCpMMn9KdawFHYptIAeo0RrXz-zUfxvlOBs0z56Nvwcpd_DTYipjYA2HvXsGDIHykwZNAVEivwEB2fIAgSS9l3cjgoaPS6Sy4zmr39K3nLVPP9Rwom2F4Kjr_oEkKzwNPeGZJxWIEZgc9rDbHmtJRVtWAq48sRo1eLiETbUPgnOF4HbF2nq-kKD5AaVgqy5LghPv31lZhFD4axwavs2ombWdDryQaBjnIWDkwC_dPGGHmebYJFHHpFEuCWDIobnTM_RtkjLkjp5EtIKZiyNNWnxArib8BfpBgzGqFxy0KLWPbYJ2ae4bXfsIMwVYl4TLACNA=",
  "id": "rs_074353dbc4628301016aacb1b46bc087d0a0274ebeccf3a393",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.12,\"right_z\":0.15,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The black brick is to the right of the pot. I’m moving the right gripper above it with the jaws open, while keeping the left arm parked.\"}",
  "call_id": "call_goWNBuTqP7JYweF2e7Cme1Ac",
  "id": "fc_074353dbc4628301016aacb1b7965887d092939bd0e15ed658",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_goWNBuTqP7JYweF2e7Cme1Ac",
  "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]: [-0.0265, 0.8021, 0.6075, -0.3897, -0.0265, -0.0269, 0.9995, 0.4355, 1.4055, 0.7841, -0.0711, 0.3355, 0.2104, 0.9969]\nstate[eef_state]: left_x=0.2944 left_y=0.0005 left_z=0.1774 left_yaw=-0.0042 left_pitch=-0.0122 left_roll=0.004 left_gripper=0.9995 right_x=0.3794 right_y=0.1163 right_z=0.1275 right_yaw=0.0405 right_pitch=-0.08 right_roll=-0.0352 right_gripper=0.9969\nstate[joint_eff]: [-0.5949, -1.6068, 7.1726, 1.7656, -0.0855, -0.0952, -0.0171, 0.253, -6.2564, 8.9778, 1.7802, 0.2125, 0.1587, -0.3346]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94636783e354e8e236e0317ac52b387edc2f2bb18d30fffcdc28eec9d7b6a567",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c035b695277a5ccd94e2c8907a5ca07e0975ba1cd042a2db6164a5e44e63bb79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08499001f61bb8cdf06a1fb5ee28f02c5078f5ec7837985bf384358c67379a4d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0193, 0.7952, 0.6044, -0.3817, -0.0223, -0.028, 0.9996, -0.0219, 0.794, 0.6041, -0.3779, -0.0135, -0.0196, 0.9969]\nstate[eef_state]: left_x=0.2947 left_y=0.0019 left_z=0.1795 left_yaw=0.0001 left_pitch=-0.0004 left_roll=0.0005 left_gripper=0.9996 right_x=0.2951 right_y=-0.0005 right_z=0.1804 right_yaw=0.0001 right_pitch=0.0 right_roll=0.0005 right_gripper=0.9969\nstate[joint_eff]: [-0.6085, -1.6342, 10.0991, 1.79, -0.0171, 0.1099, -0.0611, -0.5265, -1.5521, 10.0991, 1.873, -0.1294, 0.0317, -0.3394]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLHA0JHoUFpe-pXGh-nvUytnde_fPwr1DpJREPSydXBRYhp6JF_b6LBm9r105R8Ya0vDubEwQV3Zd-mCuaC1KT99wTiXEu1mdWybA_9eSY5uQCDhwKKNANtUygpHcpJPlxLDJP1cx3S9YM4eF1EGl9kkykd1Db6KwPzsx3xA73Os10BSK81t689_NkHedTi0aPPqIgYIfVWtAQs6XUV3ZAvvcYFZ8OTQTVIDtK_n9qM7bYqjmiJiyAIetnrd1yXyxUQuwEs9rAg2Yvy35gV4v1S8zeQ9wnSA3EuTEozzNwml7ftCCz_Rx7xo6JDZNPxzR7si4Ih0yag0y1NYL6xt8DdR-pdAHvv7Z-XNIrQb1xhxkI0f_HxAMveY5wa2u_1w3u8VfvxeIa0exZwNqAb88Vp1RovMpoMhMv0qzSkzsx0RwutjiL-MyxunJScUfXOuvPU0-WL_Ub2dpRTAIylKUzFp-6jwupkwhmX48YmLoRMJ61buq03Jj5B9GsoDh583GDV72hFEh7CnNRjxicXv8QDF1H86Ok0EIdD2LI3AExF5nIJ_eLKRSxwaoV0XFnJcncPB-7j0ouP-EWNAXZtKSlujzOhmlwN2CLsm5qm957nCjXL8plAzK_penI3KO2HDh3Uv5Gou6d9iYdkhuEKaGM2LHK25FQXy99Kto_zTaix1Rz1lQNW64QfWt5k3UVQy3oqFTBPebsE6C6_OM3j17khZntum53_u9LZcMNRtkoLo0EU-vlrU4lA8nWuDXZi4gfyBMmm4a13exlK3T8fqu9Fzu_WvZWaG_UdVqPZKZ9AWVxQABNp9unpr8bt0XQkS1kcLjSzanpkOuTIF-bo0EdHzZejj9amNmOB9BJi28sRKZsdcPaYGLusDz5QBozrC47baVknlH45Mqw9xbuWqsWosZCIOnVJSDUJ9RlTUq2yqD_BUlxTSQYaKmSQe1uJN4wUkOCGrE0UGtaVFaNjDJ9zlPbn-jH6whCmVFSgBl8DY9EG0eYGG_YRIWKC9k8nq4nQU7sY7qVpxDasvqDkD7Dv5YajWRMq4t5Fg0YojKUwat6a_qLrQMgFNpi8Zyh8WuDJHHo8H2ZheoIh3BJwoWLty0lUTSUjR41vqxMxjmZzgNGBjb7Whs0GQDxfIfdkuf6ekFpVY01kM41-BSwqST5Ogb3_lc854SuwxchbqqxdVJocofeJJ_cEp1HUHejvye1BUjqZbO5ct7iMqRMwg_PuFiTdsN4-lcZmGvRnPTKIG56ULnsL3eS1uMz_Za52y_Bbh5l0PSzu8Dxw8k0VOPHILgUqnUqCQouynC9G389Mi53I2k4B-P3cE7P_hl_br1s4jcs2VSHEz9M0GwFhkUkMIGCEUn0s93TGBxWkCiP3W-t1lw0sYBU7Vq5zt2B-EfhKy2ee5q8xNwdTXPuiuIisvQGwibq79wi9AH2m9lG-g92U=",
  "id": "rs_074353dbc4628301016aacb1bd2d0487d098b010fe5f4e063b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.10,\"right_z\":0.065},\"note\":\"The brick is slightly right of the wrist-camera jaw column and still ahead of the fingertips. I’ll shift right, advance a little, and lower toward its sides.\"}",
  "call_id": "call_dNw882u0x7EqhSkVnmPDsbk0",
  "id": "fc_074353dbc4628301016aacb1beb8ec87d0a2dae4f7c5d10ca4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dNw882u0x7EqhSkVnmPDsbk0",
  "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]: [-0.0265, 0.8051, 0.6075, -0.3931, -0.0261, -0.0265, 0.9995, 0.3283, 1.6711, 0.7528, 0.1562, 0.268, 0.1509, 0.9967]\nstate[eef_state]: left_x=0.2942 left_y=0.0004 left_z=0.1758 left_yaw=-0.0047 left_pitch=-0.0187 left_roll=0.0043 left_gripper=0.9995 right_x=0.4086 right_y=0.0935 right_z=0.0506 right_yaw=0.0182 right_pitch=-0.1626 right_roll=-0.0632 right_gripper=0.9967\nstate[joint_eff]: [-0.3487, -1.4701, 7.2547, 1.7509, -0.0611, -0.0562, -0.0122, -0.5402, -7.6103, 6.4615, 1.7558, -0.0171, -0.0757, -0.0317]\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,$blob:cf805e8e687d3ef400303aff46441a2870c3062636ebbf5861e151be015572db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a75cbd63ebf3bffacee60bed8bf82fe67d4fd2d9b33d04df4133027b6783b349",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22b87a78f39a141fe48eb8d01b2f9c5e06a3f5c4268821bce2b350a25310d31a",
      "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, 0.8021, 0.6075, -0.3897, -0.0265, -0.0269, 0.9995, 0.4355, 1.4055, 0.7841, -0.0711, 0.3355, 0.2104, 0.9969]\nstate[eef_state]: left_x=0.2944 left_y=0.0005 left_z=0.1774 left_yaw=-0.0042 left_pitch=-0.0122 left_roll=0.004 left_gripper=0.9995 right_x=0.3794 right_y=0.1163 right_z=0.1275 right_yaw=0.0405 right_pitch=-0.08 right_roll=-0.0352 right_gripper=0.9969\nstate[joint_eff]: [-0.5949, -1.6068, 7.1726, 1.7656, -0.0855, -0.0952, -0.0171, 0.253, -6.2564, 8.9778, 1.7802, 0.2125, 0.1587, -0.3346]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLHFP863eppYLbhLC5neB8gm0a9lR5QAaFLYkbiWiwxOc7KCA9svAguSAkQKswbyJ3K1d3p7u30d6kQtgXe4DgTmG223kScc7sDqIW3FLMbbrt3gwfx2P5rZw-N8Nuq87qTnqdqFm3_z8LxxvBgMOCPNV2ju4yxCioVmqUADEJkLUwPgThRSUZHnIBw4ONpP7OkiPsXgHyXUS4U2b0ooH6El-lSPrNi-F1lPjsGnH78iJ_yGslfjZ66D76UZJD_glXPhHVC0OXxtTEg2ho2bvDmCmJE5yZRfG_iLEYaFQv8pBf3OhtuXqfvqzPOLsXz-RQ2xTiDuOKH2ulyeVlS2WjKAHoVKReTJjqcDEIrlwI0JMZfqhts3ELNygnQP9_fyhei_ZNLzkNfRhtxAsF_pDpF9P5HxdUyrG7srY9KCSYtw37_YNJisT1PpSuqJknHXR7JxnvUkhM-3QN_HMN_XlVpICQENup6MdUaRzw4I7QEvYP64n_axy9so8CiKBxcUKf6p1TGAqlWbVtvS9Pj49lC9zuhiDP9h8xjGzipai9PmeVTw1f7rllG39IpZfRe_Bg1nROrF6-xWzppGkTY3AFs_uMOZ8ptlw3Uy-rc21VbNAW-Ppvdhl0GpaSM5uDCyur6vGoIn95LNWOmXn1J8WAhjKmxYnkSJNftc27llaZa8wRg1UQUNAQ3tuR8vr7n44r6xyAJM6r2hzdwgZt5VmlUYpaEXYVXjCL-2lzNp7f-vRsApSUUVw0kHXki6dps_vT9IHEp6ZtWL99Om-nIG9S0RV3brrlbdWEZj60iupb_4MamLEnwIiGgMoJPuHR9rZhWGm95na4cl9PATX5S9YRnfk7B1IHMLma7MpnrNJn_BpHpqBxKcRwwzkLavWDFJ9ZVZ48sTHzrtjNA2UTx5vL-HEVHlyO2oEEJQJatMPr_ef0Nfp-UjE_Fhq7Avwhw1XNNZVxPUWrP86LPBrmwhHkzj4_CVeNFfq093_eMg6EG6gS0-FhUCs2xcNYw_Rkpt5tOHpippm7pn9_n1Efp17DX7F5vmM1kOMUdB2faOVUnfsIRI4E6RXHNXGIR1HtxkZK__TtKp7TFm4UKcRI2L7MVDUYN6FLnCE-pLjkhyjpd1vo_cAE1E4OpmnaX21Uh4uOMo30MoafkMMHE8f6IJiTtkNqeoO6gQbT1wxpoeaVd79-RKSIhL3AV8FwfNiyMUhheu3bmNJq67iWEfWE7CBnJNbyWIHbdF_JSNGFo8fr6L-Pt9MNa3HKaYcm-eFrygXBEMDSjK4AK6_JHfKgJWJNxfRW51yth79Szv36zwTpTCSOSGzJUAnAmBQWEiBGBYzAGq9vxIyTzktCFdNyjqOS6WZ7KAweTBv73ST5Q5Q7PLf9s_pCN2So-6FnPgpMat8Pxuvf2uSC2cMcQDdrwzG_Rr7bcCDHi_tterDfqxTPsKlTHH2b4lsMottQbyzcLbyatiUJtUrrTVkY6Zb7f2kA9mLHXOZiyyq0gTqmAYSAMNnE8=",
  "id": "rs_074353dbc4628301016aacb1c1a71087d0b2653432a44a7179",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.08,\"right_z\":0.025},\"note\":\"The brick remains ahead of the jaws and slightly to their right. I’ll bring the grasp point farther along the brick and down to a low side-grasp height.\"}",
  "call_id": "call_mxlxCV7tRvSlvvjrslB6hhKF",
  "id": "fc_074353dbc4628301016aacb1c3d05487d09464cdf28e21df6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mxlxCV7tRvSlvvjrslB6hhKF",
  "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]: [-0.0265, 0.8082, 0.6075, -0.4068, -0.0261, -0.0265, 0.9995, 0.2428, 1.8927, 0.8825, 0.2108, 0.2142, 0.0929, 0.9966]\nstate[eef_state]: left_x=0.2924 left_y=0.0005 left_z=0.1722 left_yaw=-0.0047 left_pitch=-0.0354 left_roll=0.0046 left_gripper=0.9995 right_x=0.4487 right_y=0.0762 right_z=0.013 right_yaw=0.0076 right_pitch=-0.2113 right_roll=-0.0793 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -1.4017, 7.1726, 1.8339, -0.022, -0.0415, -0.0122, -0.3214, -9.0735, 7.3641, 1.7118, 0.0073, 0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b56fd80648e9b8c1034bd819d9699f42b87ac98db05a96400447a67c74c7d082",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfb6e323f850d1dea38089595632fb41682e7c15d35968c747800a3e76b46943",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:197b013a8e5aa10763955f7271c83ffd3ab8830ff574262df053496fb6d30617",
      "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, 0.8051, 0.6075, -0.3931, -0.0261, -0.0265, 0.9995, 0.3283, 1.6711, 0.7528, 0.1562, 0.268, 0.1509, 0.9967]\nstate[eef_state]: left_x=0.2942 left_y=0.0004 left_z=0.1758 left_yaw=-0.0047 left_pitch=-0.0187 left_roll=0.0043 left_gripper=0.9995 right_x=0.4086 right_y=0.0935 right_z=0.0506 right_yaw=0.0182 right_pitch=-0.1626 right_roll=-0.0632 right_gripper=0.9967\nstate[joint_eff]: [-0.3487, -1.4701, 7.2547, 1.7509, -0.0611, -0.0562, -0.0122, -0.5402, -7.6103, 6.4615, 1.7558, -0.0171, -0.0757, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLHLGn5ULFZhIkHDyvvRX5xofFyqJSc2JW_Xm5JCY8PxCBXZHMgfinOrV0j2mWICyuHu2peodn48Gwrbama_bPvkbGSq7elTMD2mgkO3U4ita672nCw8NcePLJXvAoOEATcOcNbM66wqhAH3ZbpxSwzOjSthH421jcPsSr19NUS56GWa49Z5okxY6avBKEIzMzsXmX8MQ-ztgnCFpC4-USziP9bXeRohbfUneci-7yNHXAhcmvjjjMSSNOpVUbssB67eNzDO_FjVPNr6xh1PxeouC992jl9Yda1D7EzioUJtZlmCBAoy3qFnvMTdAZA876rUZVZOrsKZPp1AomO8gVKI_bjhuLgmgXkL0cdpDVGVdm7PzbRQS8whjsn7KF8JoJdVAOkzFHjv62kiucfXzHrqpQNcKaTj8LKm0mzFEHTvYTRjvHMm7BlRF96xB8K1dD5w6URoyk7vepyn9ooXpLosL68dHnlBV22Lx-MdlY4AF9z-tV1-kaCb2Q-frygmKyqCvMhm_ZafKgoT-YWL8CXZzbRx06e8l0jC8exvB6OiE430EJv48cAmZpH2cQsf5cDJ_IIrKqv8jIq8dqq1ZhpKe8UDb37hWlEtmhXGpFt17LyvWUJbCx6aUVCTCszrZBAUe5w_tZK7oLONMPcjm-sR8w-9ByEqa_yLY1FC_oKew0HkZbZsQ7GNRz4fbZDenqty6pR9_FEtgEyFujw8W7qFSMlHp47LFo2K_KGxFg4P9WV2NbMpSlF7NxyOGweETuxWMro-oTXzJJIenPnhGlFWd20_NK5kRkLTC7bagKnUeDFsCMbwAVyvuKhg2bNWQk1Fb4SnjWGk0Y3668z07YWrqPbhYM4TkQDnWbECgJVDVVjdTdGSPwQqgDdjzrszyngXyJSGJMmwA6wro9KiWNZSawUMgckMRgkTIo0OsDt-pbjG8c8lMCi4Lk6rV5m50ydIELRxHUxECMmiBM1G8X4jy7Tqg58ZIECSkgwEjmbpqapKAU62-q4iWDwylekQEB3diP-7GSjsPHvcPy_M9dhGLWciD5FIIrml8MgOS3cJrutr6KacSW6zwpholuFeyJeesmHDpKQTKcwYNDPZ006CaDW7LbTClkufZuHqwG86E2XRLZy7NrmiNOU6MYnjnI1GuaN7h6xwvEGTk3_fDEx4ZxlwT9aK2Lq94aiEyG5yvU-wRLmUNVy38PFh0WQXk59NwRIQTrx91WCwPjnd7B6oZIz8N0nUM423B1YQ2sKn3soTstlYFzFEc6EibO0843v35gDpSXYFQ8P3D8NEzBFKAf-cLqAVc-BbGOiN_TOW5P_rW_Vczo5-b7u0r7fNaPr54zJF7BWPjk5TE5CRHi_k2fzNg4Hdp7ujM_n3LaIV6H9CM59bVbYGsxmLeIogVFatYXzJylebs2H4Oxwj6VFM6-bhcTAa8bSbUOrisAjPBYE=",
  "id": "rs_074353dbc4628301016aacb1c72d6887d0b1f6ab3d180d9850",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are now low beside the brick, with its near end between them. I’ll close the gripper and check the resulting jaw width before lifting.\"}",
  "call_id": "call_8SFqcE06wUlv8RF9QgeiqLSy",
  "id": "fc_074353dbc4628301016aacb1c9263487d098c4ae63a8145fc2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8SFqcE06wUlv8RF9QgeiqLSy",
  "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, 0.8101, 0.6075, -0.408, -0.0261, -0.0265, 0.9995, 0.2401, 1.9038, 0.8963, 0.2169, 0.1997, 0.078, 0.7265]\nstate[eef_state]: left_x=0.2924 left_y=0.0006 left_z=0.1714 left_yaw=-0.0044 left_pitch=-0.0385 left_roll=0.0047 left_gripper=0.9995 right_x=0.4533 right_y=0.0786 right_z=0.0137 right_yaw=0.0258 right_pitch=-0.2058 right_roll=-0.0779 right_gripper=0.7265\nstate[joint_eff]: [-0.0889, -1.4838, 6.9949, 1.7265, -0.0611, -0.0562, -0.0122, -0.1983, -8.7453, 7.3641, 1.7411, 0.0317, 0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5eef39a508859402a693114616563ada64d4aee40c5d771b4e676997d1d6bf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d70f5129c3cd5a56ed7068bb7a35a07a6f5782b10a4c9f8ad2548e6a07f853a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60047b651e68a89d8a8f24beade8a7839aa8080618a157680c7edbe472447fc3",
      "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]: [-0.0265, 0.8082, 0.6075, -0.4068, -0.0261, -0.0265, 0.9995, 0.2428, 1.8927, 0.8825, 0.2108, 0.2142, 0.0929, 0.9966]\nstate[eef_state]: left_x=0.2924 left_y=0.0005 left_z=0.1722 left_yaw=-0.0047 left_pitch=-0.0354 left_roll=0.0046 left_gripper=0.9995 right_x=0.4487 right_y=0.0762 right_z=0.013 right_yaw=0.0076 right_pitch=-0.2113 right_roll=-0.0793 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -1.4017, 7.1726, 1.8339, -0.022, -0.0415, -0.0122, -0.3214, -9.0735, 7.3641, 1.7118, 0.0073, 0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The gripper stopped at about 7 cm wide, consistent with holding the brick rather than closing empty. I’ll lift a few centimetres to verify that the brick comes with it.\"}",
  "call_id": "call_1Pd3L3rxZb47S8whdv1SMa5d",
  "id": "fc_074353dbc4628301016aacb1cde2f087d08eb5390f439a9ed6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1Pd3L3rxZb47S8whdv1SMa5d",
  "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]: [-0.0265, 0.8101, 0.6075, -0.408, -0.0261, -0.0265, 0.9995, 0.2401, 1.7885, 0.9726, -0.0864, 0.1917, 0.0769, 0.7263]\nstate[eef_state]: left_x=0.2924 left_y=0.0005 left_z=0.1714 left_yaw=-0.0047 left_pitch=-0.0385 left_roll=0.0047 left_gripper=0.9995 right_x=0.4341 right_y=0.0753 right_z=0.0415 right_yaw=0.0269 right_pitch=-0.3163 right_roll=-0.0972 right_gripper=0.7263\nstate[joint_eff]: [-0.2393, -1.3333, 7.0085, 1.7363, -0.0611, -0.0464, -0.0122, -0.0479, -12.3692, 10.441, 2.1172, 0.1245, -0.0269, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:986031122c8833378d0445c1cc9e51e43fd4065571c200859090e37197066b90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12d38e334fc9ae5362c00c9d1fb312b165daaef81b9b5beb6208b77e406a3e8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cefde49209bbc929d15f01deeb08d313c72206704ff4c55edded43be063c572",
      "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, 0.8101, 0.6075, -0.408, -0.0261, -0.0265, 0.9995, 0.2401, 1.9038, 0.8963, 0.2169, 0.1997, 0.078, 0.7265]\nstate[eef_state]: left_x=0.2924 left_y=0.0006 left_z=0.1714 left_yaw=-0.0044 left_pitch=-0.0385 left_roll=0.0047 left_gripper=0.9995 right_x=0.4533 right_y=0.0786 right_z=0.0137 right_yaw=0.0258 right_pitch=-0.2058 right_roll=-0.0779 right_gripper=0.7265\nstate[joint_eff]: [-0.0889, -1.4838, 6.9949, 1.7265, -0.0611, -0.0562, -0.0122, -0.1983, -8.7453, 7.3641, 1.7411, 0.0317, 0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLHUdoKapn2HKZ2aBj96wEaQFDhLnm_LzA9FUT18QXZ0_C5N8RCm80aNRzQXHHJuAf1mDw-kLIauYnGL2tbjwdNvzmdoqldiTpleOuvR28PKWc-awxn-5j8Gt7jBgbNuAbyxJ0Llvp5tXUnhku44mcfgn2uvfBr59cuRgVIMPIoGj1nU-06IZCIfJEtSI0xDY-KbaMEiXJvi-R4CAayIX6Hqf2Xg5X2LQvMAWbZwzF5Sye61aJUtHadhXbC-DKAnTpvJ4oBB0jDUMbcNO8KOntCJRgbOI4_ZYpEOAyNMouq2ASISLRX8YiofWBLtyiO-uCm-ZcsXYpne40Bt-twspX5IqHcBSs4wjgr5kSStCk4XVOThnIRIucfMvs3ryEVRfFGcn2sYe8FHA_ki9OGPozFWkhsGNzdfLOpqvKk5E08h_YtpbmB93OKyuBL8l9H296b9QQ0eaPn7Ekq1SNShnoj4XU9SyH2rfjpd69oqoCAduumFDuDS6w0CPbl5vv5Kl-nwQCdtBbIRDVVaYzpeImdTe8YexX_NGSzsrtGzlot37L-SLR_OvO2pEqBVMtk6Pe6scCY8Br9nPWzhuQ4lG0xpNE9ZOujoAwEl44S1Y0a5Gyhw_GkSzOMa2LKyf9T9u2qh42CTIJRodcskHEPiObdAL06e3mE2ohCOTlELYeek8Ulzu2L0B171KZ-LAxz52T4w64Mve8tlSWLv1HAWf3WHsbJU-4lvzpnezRslQl14CMxVEcT4FQq5rytpbHWb3uXtAIO5-tPu5PqAHNLOK8x2-qwzkMDapxWixSzXdJT1--w-dM3JeGF5e6-_k7WM1gH-aGeZ4KPAX49shmPGGt30rY88WLRj2VzKRIgDM9QCm5vsauMhKkJI8nuuRxrJdOiCt3i6CHWTsaBlilNL8J8wRZCHxQkj9wcY5LV8a3Kl2yZdyGiVdIhN1WtUbvnDRpHL_pIk-BPVf6-OHwbkb-ZP-DX_WYiCDsOsmbTfYDuCnHYdoChN2cY9NykpHRQc7la0PjclUDCpqAH4IN0BD9yhnBNWlZItOvInEtCIEtLntyVkRvdQkcmULiNwQ-R7GH83ZHNasyFlZZ9L26hGMo4QhY_hetPphukYrvTKtFIK695GkCgtAM9oBgpAtdVfLJGO8ZgOGAW2CHUGOvMt05Dw-zv0nt3qhZd1CEQh4iLQ7IxYpxdnyF2TjFHAplI45dzhaiLzOY_BRmYEHvPdDWAK9IodN4xq5oMqezKwVHGGjggomdtDDhMNmCyixpAlekee42r5S9nyJjS0UQSEvCHSfNKDmeeHeOXZyMc3K0vjXvshPTild6yzf6tjfYBFhj71BLPNc5yXRR7kgOc1EtI19w==",
  "id": "rs_074353dbc4628301016aacb1d1982c87d09e3ed6037b321ad5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_z\":0.21,\"right_pitch\":0.15},\"note\":\"The brick has risen with the gripper, but the loaded arm is well below the requested height. I’ll draw it slightly inward and lift higher before moving toward the pot.\"}",
  "call_id": "call_5NryR67fpmdFyaQMT8L2XTqj",
  "id": "fc_074353dbc4628301016aacb1d3737c87d0b62ca3ca6a94a361",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5NryR67fpmdFyaQMT8L2XTqj",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.8116, 0.6075, -0.408, -0.0261, -0.0265, 0.9995, 0.2947, 1.3361, 0.841, -0.017, 0.2836, 0.0246, 0.7258]\nstate[eef_state]: left_x=0.2925 left_y=0.0004 left_z=0.171 left_yaw=-0.0047 left_pitch=-0.04 left_roll=0.0047 left_gripper=0.9995 right_x=0.4073 right_y=0.0757 right_z=0.1879 right_yaw=0.0428 right_pitch=0.0739 right_roll=-0.1064 right_gripper=0.7258\nstate[joint_eff]: [-0.3487, -1.4701, 6.9949, 1.746, -0.0757, -0.0464, -0.0122, 0.335, -6.7487, 7.159, 2.2149, 0.2418, -0.0708, -0.0708]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c9b06ac0972c7379debd8fd44121fedec5d9d8b0f160fa58ee5709915fc6c5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:898143d3038b6aedbd0ed329475d676342b411ac5821be0b3878d10dad40034b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce50dbc03abb2925d3e7b58445b6dd158c5f255292f32b8b3892f148c5ef441f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 21 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.8101, 0.6075, -0.408, -0.0261, -0.0265, 0.9995, 0.2401, 1.7885, 0.9726, -0.0864, 0.1917, 0.0769, 0.7263]\nstate[eef_state]: left_x=0.2924 left_y=0.0005 left_z=0.1714 left_yaw=-0.0047 left_pitch=-0.0385 left_roll=0.0047 left_gripper=0.9995 right_x=0.4341 right_y=0.0753 right_z=0.0415 right_yaw=0.0269 right_pitch=-0.3163 right_roll=-0.0972 right_gripper=0.7263\nstate[joint_eff]: [-0.2393, -1.3333, 7.0085, 1.7363, -0.0611, -0.0464, -0.0122, -0.0479, -12.3692, 10.441, 2.1172, 0.1245, -0.0269, 1.0281]\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": "gAAAAABqrLHeDmpRu87QePV_k1_7WYZdyqUunf_AoWL0xw9NQpC5LO3jpdtgK5YU8YkKdHMR7AbH_XBRdMsMxRyE9nx1wSgXDy0R1c1XG8LZmAoAhkj-sS-b9bPUkuD7EkPWGFvGzFqIuHNKyHVkGmQja4OJbchezQ6Sqqx_GUBL1L6JmZTmUqrFviP_3nRqHa7MO3J5IP3mtszS2P5TAl1mX4q_UDgM1GgUvkG1Ju01gGgQyNZ7Zy4fYCZ7rCDodmFa5YtYLUBQdlr5GTP1ahhnDHxmTk7cfd6hBF4hdbEv14RTaY2w3TaNJWkqeqfMW98iAQT_0IdhlWuxKMvZIUo4O0IHbMIID6RJRsitS0PgaFq9K4Rw9viRSsOhRvZABQyvq2r03Wkc46LHLrW8te80xknh7w-4Xwa4kmyPQ5TEDKmaj_3OWnAtK6C4TXU6afSnXc-eNMoL5wIQ9hCA6joOF2PuTybz0leY8421QNM1Hv6uPsyAOM7sX9kQVFqdrWpFSDSFbiobT_oRyl42cGPTfdkyJOPskL0Ru0cse4bsvXu4OoM99P3ZuqJrQx4EWSATzrr69qX9yEEVL41noJ0qben75dNvdLZPeOyTmNSBqeEWx85-NJdN62UIY6Da8v9cNhQxVvSu8064JIAwAhOK_W_JjI4HF2lIZLY520RVtwmZjYCVuRRiWMXbnIsa2iOkCsyySmevKV-ydnS4bGiYFANrnD5F8fL3ogZNot79iFsV3OvOERuRv9ymRHb792j6UcHaccgB_czxUKvL_ldxP8scs4l1_0cFkH4gHGhO2KgUDA8JcGdmpaUQby7imG9GeBUZdPc-Qgpd6LzGVgcA_9cIcbF2Rrl95VFRXr9xj796t17G-Y7dA_k6XZWBKkGSGfc-zqwEm1G5hJPVLqctY5fLdS-khYir2sVFT1v-2277gSWb0aZ51yD1Tyd9ejooF9Ww2WMqmr4xBLCqn9O93bDfRvmAu6PU_3HXf8jy4M4iEHPZn44TaACEGx2PYeBoVyM9fefcprDXSGKfJZdlYjnJNjEOjnBGAhdPCqV5jf57FhS3nDifyBKOtrEi1B4X9JFFR9D6OG1l4Na7VC5CNtIuOP-t7O6BaQgSYFvFyNx4DNOXIrhn0Dy-ekH74Z-swRvHwSD-WDNQ1mDKrToClip72_hkKZ1m0LvYRoCYeHo1sqE9DZ7Ri81UTylAg454XJ0RjTbyPQYTGz7Xmzn3TIAEmWHUmX3IqpUp3TKGD9LS4JeRJZGuGrhxbPQ-4PbdO4AscqRxcEeMena3lgZzDN40y5L00oijL3LkHPmi-L7pif8Hxz7dFGyxXyYop8bw5K6AB-AaONCrRY-D-jMmgTuLs_5e0aEx9nh-m7xrFaAbkQEuSARyHd7Uu0dYXIexjDlZfJ8zWraWNoOvjUBJYM9kDX-L45ipOOfd1hzVSR0lbUmNAxTG18viKl_bCtm1ltEtiDxGWI5H3n3aFBHrZvtxlg2y7-B_WycJUADBYcZCg9d2tZhRdpzr_M1_DyAGwFvcZFcjylEYTFrtBvgTLPJSy5nSrokZBdgM7BCAn033pf3ru9Q2FgM8H8AT6i3qpLPQJWoTArt7KgfmywPzyd4eUdlFv705SC9cNluycvA9luAzmz_tfSUTNx0I4zxqRTFaowopSwDz98KiqwwI0NjPOUi6YPL3JfMbGsxf9OEV9itTgCsygRZh0I9VtmUpjaOMJ-XdMV9K2qBZGSCfX3aKeYu9qPa7hg1wuQAl6up36Xb_RoZckA1bGpz8b_xz1_b39mL4x4qBMZ5mPZEP_mXJmUAl-OYf2YC_1Doahp0LU3g-is7JH2d4R9U3uVapZGsSu8mFhpLTHDeiYLIC2fR8ZOUl7Ez6hTLeI50xBY_TPcFCFEuGWj2VLREaMGgjJtlv1UO3_rwZye_IzoSgIEu242axHvAgg03edGSIoZayY7KWxBiXUGhCLXWQaC0vj5vfMUDYSGHOdxREbnUFt57jdMfbaKJN85UBKtXwbSxDwxD7lcXC9XA6RgaGvmumggFghpCMercN8knkGt7eI9dvUqgwN4x6nXndLzhbpf7UrMUI9TkTACwp9m3qHuS9WYouz8c6T3k2Ykbs3_VGrRcJuFCZr4rb8MiKJ-BoNjsOanqkIDrFziu6BWcqhDDRwLoJwqqSzHQPC7JqH9eOGBcfCga4xA==",
  "id": "rs_074353dbc4628301016aacb1d7e38887d0b318f6a845f1997d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.25,\"right_z\":0.29,\"right_pitch\":0.15},\"note\":\"The brick remains held after the lift. I’ll raise it above the pot rim and move partway left, keeping the transfer clear of the table.\"}",
  "call_id": "call_CqNRLHJKm3QXkPwPS3sSWjH8",
  "id": "fc_074353dbc4628301016aacb1dd02a087d085d4d71f24243f9e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CqNRLHJKm3QXkPwPS3sSWjH8",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8116, 0.6075, -0.4156, -0.0261, -0.0265, 0.9995, 0.8185, 1.607, 1.4216, -0.4206, 0.7139, 0.2714, 0.7257]\nstate[eef_state]: left_x=0.2914 left_y=0.0006 left_z=0.1695 left_yaw=-0.0043 left_pitch=-0.0476 left_roll=0.0049 left_gripper=0.9995 right_x=0.3886 right_y=0.2511 right_z=0.2738 right_yaw=0.0903 right_pitch=0.117 right_roll=-0.1306 right_gripper=0.7257\nstate[joint_eff]: [0.0205, -1.3607, 7.1726, 1.7558, -0.0366, -0.0024, -0.0122, 0.1573, -7.747, 9.5111, 1.4676, 0.4225, 0.1783, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba4328f221313ae9ed98ead3c878d03e14fb2077004c21cec398354870423719",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0739aee8270edd6d61406785d6c813e2c2acaa6b478d0033fccc3ff15cef9b8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c155740f8feeb30491f98c9023a0607d8c0542d2730f8611e4fa8f402041625a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 25 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.8116, 0.6075, -0.408, -0.0261, -0.0265, 0.9995, 0.2947, 1.3361, 0.841, -0.017, 0.2836, 0.0246, 0.7258]\nstate[eef_state]: left_x=0.2925 left_y=0.0004 left_z=0.171 left_yaw=-0.0047 left_pitch=-0.04 left_roll=0.0047 left_gripper=0.9995 right_x=0.4073 right_y=0.0757 right_z=0.1879 right_yaw=0.0428 right_pitch=0.0739 right_roll=-0.1064 right_gripper=0.7258\nstate[joint_eff]: [-0.3487, -1.4701, 6.9949, 1.746, -0.0757, -0.0464, -0.0122, 0.335, -6.7487, 7.159, 2.2149, 0.2418, -0.0708, -0.0708]\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": "gAAAAABqrLHrmfQxYefcZggjXs0BS3TFqU18Q5NSgSEFqqValEU4g2dHkafATNrgtlKB8oocZJlaUpk7aP8hRk9FVGOghS6BF7_QpZn2uiJXsmzWV6r2Mj0ddWmLriL3fd1W84u8Y9Yi1-1iTRINbZfZcJhVL4BWKpOln1z45v48VqSuhFFUo9XhlfGgn1zuRDe7Z7sT-34m73jI1W0z8ER3t-kew-bgxc8M3xzAdsjJgCI-0l60NipEwjWfNQVd93-jSYYZK8t_B7QR7iw1SSZXEKgCXTYePWeQlXYe3IxQHMbpTYLndNHanmky3YMAEXtPUeJFsnbZAifxDNyyy-18aXRNaBe0KxeUkHf5Nrv2sGOgFXzr9Q2ASly1vbqNcvTf-crSBvyUcHKPdv-UpvudU-9PmYDSXEw9kCtRrcBG4TfdHnL50S0LfBFL6g1X-9rRl8rPJRBUBY1penU6Y46zq6jMGyrXdlCsYGk3Y6-BJTL4E0nPrMtLpbzyQ4VFVR5a7jzSgfsgsWhKb8iIQXmly4mHxHtIm6VMAP8ke97MDe1vKEl_zU1kUHiYPZDzGCAtHwpkfNga3YS6jrRRtJuGtWTJT79ftDVL_GL429JJY-YRHqLotz1CmM6NTC8xG8Xw5ug6X8bGjT4M6BZ8dLk_MVNLwl1UkZmd9bLp1TV7wQ0G03GQu5eI0IO8EpHEvnnPzAkoj4y7mMv-KtkSN55NUT3dq4h4d6QgPeAgJtrqYpCXxsjhyRDwvr4AAxbFxUIsfmOttRUKtcY0yrE7R256A3Ox0aIkXoqAskl6DcJIJ5RBFbYNxdLsW1tRol_TkPNLxctQlmcNZWlGyqD8TwDiIW1wShAncDGExv15vLQjVWKkQQX5rGiPvcqSGn9Y3TgxZ1K3ZGYLJ935MeDOFoupRHITPE5jI8wDeBw78nHxiP5i6dM64wD7R6ufxPb7DHQd5a8Dq2Vxemz9IvP1PkbyEMWZhHpSfuxnOCR0ltbR0eek1Pgs9mWOELypQ7uIjFrqY7oHv2M0ujVaCVEWRc_WC21o83XbafZFDRZIMC9As0Sf7CohiVMHlNRyYK7FiL1_0KHNWxJzBn5hIJ_Y5Hw7b_XjTvtOwUBUAwWX86P3moVTlMGTdjCM5K-Q6nuNgQSvUY35cJfZ829RhirFDJPFzrUua136LmB0Gq198zHgcXrAjxDn53WTqpQJR0Qyqn9aJk-X9HCHG44DfWp3frysNQYR37QCQRZKszbhqxhKnHwrhQtPKWxFLhVKasZKUGx9zaAoj_zk48nmvA0f_rbmPz5SfONwdsxY6MQ-bGipMgZNcfOaO5aRuiji5cbjm_g3zo8d4xJqRl8-idebJoJsrhgFh1vEHG_1wa9WhqYNuPIwo-PPgdCVbnATp9llsxvpVQu8mfIZMHeMbWbhDOvG86bZXBX52mewZ4Nq2UsiyWBTF8BSg7A8Yfl01nla_8qWmHrYTz-3T-VojIJjV4InYJkgrAZuOgC6HDJl4_mSfXf8qwZFFPnuhWREsDXtQppeIx54ZXeqhAolmsZfLepD5JkBn-S3d9S2AG18On9tXE3mce-1W5A1wdyVVESvz-uFTizgZqtYDoUZI5IeGjmDk5nOds_gM2GD2-riy-eR54qx919-pOJXOe1NakA2IpV37HISQBjzznKcEPstxahbz5S3cLn1u_70MX4vhUfOgndkX5nrMMNxz5bEuQ1du0frDiM3NiCsNaQxbLd49tJXsovjat2Zst7w1PFV_kwFdNyLbmQH0K1tUgh_Z9H4AkpcvkxqvZ4N3o748bSe7FtoAyFodI_zXbeUHsk8DOcbjvyFi8OhpCr9jYQ8Xt2wrccyNZnMIaZ89p3_Zwv-9O-ox2vKI2BWUxrr5WghSybq3JelX6m8LmaGCKC9RPXop2J9CTIESOUR",
  "id": "rs_074353dbc4628301016aacb1e3ee7487d09e5e2289335a1777",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.08,\"right_z\":0.15,\"right_gripper\":1,\"right_pitch\":0},\"note\":\"The cleared overhead view shows the brick is still on the table, so the first grasp did not secure it. I’ll return above it and aim farther along its body for a firmer grasp.\"}",
  "call_id": "call_y3NYEgNLakxSEpThUBqOoRjU",
  "id": "fc_074353dbc4628301016aacb1e9611c87d0b46b9f59057cdde1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_y3NYEgNLakxSEpThUBqOoRjU",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.812, 0.6075, -0.4156, -0.0261, -0.0265, 0.9995, 0.2596, 1.5715, 0.9665, -0.0162, 0.2436, -0.0193, 0.9965]\nstate[eef_state]: left_x=0.2914 left_y=0.0006 left_z=0.1694 left_yaw=-0.0043 left_pitch=-0.048 left_roll=0.0049 left_gripper=0.9995 right_x=0.4472 right_y=0.0784 right_z=0.1456 right_yaw=0.065 right_pitch=-0.0405 right_roll=-0.147 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -1.1966, 7.0085, 1.6923, -0.0317, -0.0415, -0.0122, -0.1709, -6.7624, 6.1197, 2.2149, -0.1294, 0.0855, -0.3639]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f480bfa9cb041a806f848869af9e16d66235bf4bc6b477e543d5ebef507dc8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8efc8686d4808ff7ac7d45e303f436924f0a6f7a15ac46f1163e0b5a4406c03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15942c05c768c3f9c1fbd46f0022ab15faa4d4c2460e7722ba91795e2658c9d6",
      "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, 0.8116, 0.6075, -0.4156, -0.0261, -0.0265, 0.9995, 0.8185, 1.607, 1.4216, -0.4206, 0.7139, 0.2714, 0.7257]\nstate[eef_state]: left_x=0.2914 left_y=0.0006 left_z=0.1695 left_yaw=-0.0043 left_pitch=-0.0476 left_roll=0.0049 left_gripper=0.9995 right_x=0.3886 right_y=0.2511 right_z=0.2738 right_yaw=0.0903 right_pitch=0.117 right_roll=-0.1306 right_gripper=0.7257\nstate[joint_eff]: [0.0205, -1.3607, 7.1726, 1.7558, -0.0366, -0.0024, -0.0122, 0.1573, -7.747, 9.5111, 1.4676, 0.4225, 0.1783, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLH4hLDjvYJhXiQ0WD-SWbLkTMgvMBZHMg3NWvcU0fqg2jsnY6ciCyUWXrqy4A-Z_he86ba17iNWvHRKzEb0r7LMJ5Uz3K19K4nZiXlbGITM4pbG-WQFvqzJ5UNHQ1CmTIHsJ3kT8pc8QOn7reiZ2SgikROIRA0qjSY82jAraaV1S6hymXTliiavnllK-BmRJCu2vv-7tWrfN-XJpRJ1Rv8kVg8mOBJ5gAI90ulpkr0FRC174BT5frOQYjDpASS4XqY3d5CTttyQUOAm4C5tToVKHkHPK9lr_HrKImGJcnfO0TnT_9eEJ4R4ib2ZDD5t5_iZ-Lvary7LiB0ILugNRyU98ZcJzydH3KK7vobFJaf6yhNg5RoCjobfj6Ebr5n3HkI9Xec9xepvS3TRj1QJ_bsxObH8grR6NHvKpkPTvLxHLGKaXY9ow2HOs73weqJLtXrp8Lq4nnImSvOlHiSNAJh4Gn5T8uJazlZRb8TCNGhndh6fSyp09n_VQRoFtjPZ7L16VjaEHw8wndc4ptduWYZiQy98lXfAzCa6_vufsfL5SmDm0OPt71eTV_8yWwNZzAI4AYDs2usGL0Q7DKx0kp4FNqfkckdzpW41GVyb3ayKZKITBeENiAXBUeJwFmQIFgzJAFhoHC3BVnyOR2gtZlA5dhnSdWbYhPLiyMs9DvX5Q6EP_U_D8INAdKwNiHVIkpceE6s1oYnfv5TzvtOjUtQIBXoyBoJJsufOPkJ1RnaGzmZJfmptyvaXa7wkS71PkSU1hvcMQg4z5F4XWafD3HAPR3YMl28T45KZCjKBwXHRLOssUCFjyAR316Nf0HRqatv2iQzJMLvQfMjoAnx8by8AYS9QSwORts-F3ayFFdxMLv_xd21eEKzc5JMIE7D9U4MdEJ94H-OUfTk4-SDvir5Nunqgz7jEv8O9pQM-Ettr8wh9Vi3PU0gRo5p-9NBT728h_H2BNgwY6OGja5etN22BYD90I_WfGsK_WFVAaaKQtT-QH3oGCFi6MEeiUFAHujpZVz7E9MVQ6M31fxa8GZxGv9OKrdzCb1mjsMELkEHXMnZSh1IQQaMsvf-_6zQqAfmfkjPu7v-CELr1wjQxHLx_y-zhw1MKYAkNEuwqSAcANLLI1TSspBypzU8f5kDRKsAxyRtgmShv2RWVn0nziuVZJ1klomzF2FNXWL25VXc3mwTmSpA-zexSYykHjp8pAi6fiXljLSK6-9twVxHigL-ueR1gn7QR-yUgUXS_8P9SvQz5hlREglAP7TBbvkwmAYR6XDiMTdAqmRT672erxp4D7jfrANdzsUTllMnrLYXjk8iEQh_-9_v8BQ1jzThRA34762S6Zb_sWb1-w-IlLAE77W07i0ZHvcdutJOSPoewEFmkSOIhVojXLXqhH8Eh3Nhy7oCVbUvAJPuaUy5R2mrvk-cX2b7oH8OmxAg_ItiTWSenY19Ar3xhruXMfCljHy8PXd6hzzSnu7imBfXupDAk-p0-66LBWv9wvzcrIeF_mVGMylcw8Ww8PUMPnBR3Wen3fNv2wZnyZiqXsErJ_itb-Z6J8UAqzN09f3QFUiqmWVQjez65v24l9Oe_y8ptpTevpoHHCNO2jsSbvzPGvzd0Yv7aOHavRzoeOzG2wD9WuYg4gYpxXck_iBnuyN5qBJCi9LQUntTLzx2hh97fPsUbLd6zzyEwJl6EDM3MGdJpShqG_fMYaujDgudcZlbMQza21kfA_9QTRNRkC1f2_a7Oy99klT7vrJGUJiQKxLdxdqbwAgfHBjxDe52E0iBwku3f",
  "id": "rs_074353dbc4628301016aacb1f2b06087d0a0ac83712637a2e9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.08,\"right_z\":0.015,\"right_pitch\":0.15},\"note\":\"The brick is now centred in the wrist view. I’ll advance toward its middle and descend with a slight forward tilt so the fingers can get around its sides.\"}",
  "call_id": "call_cyS7yKZt1eH9o6N9hyXU0pHb",
  "id": "fc_074353dbc4628301016aacb1f70c2087d0b157d38c2f247e88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cyS7yKZt1eH9o6N9hyXU0pHb",
  "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, 0.8158, 0.6075, -0.4271, -0.0261, -0.0269, 0.9995, 0.2455, 2.0659, 0.7677, 0.8116, 0.2516, -0.0658, 0.9961]\nstate[eef_state]: left_x=0.29 left_y=0.0006 left_z=0.1661 left_yaw=-0.0041 left_pitch=-0.0633 left_roll=0.0049 left_gripper=0.9995 right_x=0.4779 right_y=0.0781 right_z=0.0119 right_yaw=0.0683 right_pitch=0.0885 right_roll=-0.1661 right_gripper=0.9961\nstate[joint_eff]: [-0.2256, -1.3607, 6.9949, 1.8388, -0.0269, -0.0806, -0.0122, -0.212, -7.9658, 5.094, 0.8425, -0.2125, 0.2271, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5876a3c04da09b1874e39e8c636a1cbb5d2b39288d40fa14b93131d74fdc015d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd69381d0011e66ffd087db84ec5463cf6de85478aa76b862feb8d92cea6a5dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b70b50af58a519ca35e3e3a7828363fc3c63e0edd83f218cab9424c86ce17af",
      "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, 0.812, 0.6075, -0.4156, -0.0261, -0.0265, 0.9995, 0.2596, 1.5715, 0.9665, -0.0162, 0.2436, -0.0193, 0.9965]\nstate[eef_state]: left_x=0.2914 left_y=0.0006 left_z=0.1694 left_yaw=-0.0043 left_pitch=-0.048 left_roll=0.0049 left_gripper=0.9995 right_x=0.4472 right_y=0.0784 right_z=0.1456 right_yaw=0.065 right_pitch=-0.0405 right_roll=-0.147 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -1.1966, 7.0085, 1.6923, -0.0317, -0.0415, -0.0122, -0.1709, -6.7624, 6.1197, 2.2149, -0.1294, 0.0855, -0.3639]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingers now flank the brick farther along its body at table level. I’ll close them again, then verify the brick’s motion with a short lift.\"}",
  "call_id": "call_PqZWXWAL0mwkS3hzYXFIfTW0",
  "id": "fc_074353dbc4628301016aacb1fb423087d083d94c848bc5363c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PqZWXWAL0mwkS3hzYXFIfTW0",
  "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, 0.8173, 0.6075, -0.4328, -0.0261, -0.0265, 0.9995, 0.2485, 2.072, 0.7712, 0.8707, 0.244, -0.0757, 0.0082]\nstate[eef_state]: left_x=0.2892 left_y=0.0006 left_z=0.1645 left_yaw=-0.0043 left_pitch=-0.0705 left_roll=0.0054 left_gripper=0.9995 right_x=0.4843 right_y=0.0826 right_z=0.0229 right_yaw=0.082 right_pitch=0.1426 right_roll=-0.162 right_gripper=0.0082\nstate[joint_eff]: [-0.0068, -1.4974, 6.9812, 1.707, -0.0317, -0.0562, -0.0122, -0.4034, -10.0171, 4.0821, 1.2918, 0.1294, 0.1832, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a5248e055e93658bf6881812a34040c4ebe49f132343a4dc322df6c3601d335",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aee6b3e5cea4495595a2f950f71766951fefc5b958556a4abe10601ebb2abf89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c743cfd46443c3cdda2ffbd72580b9025669cb8ba894ec4f1d03960992bab10d",
      "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, 0.8158, 0.6075, -0.4271, -0.0261, -0.0269, 0.9995, 0.2455, 2.0659, 0.7677, 0.8116, 0.2516, -0.0658, 0.9961]\nstate[eef_state]: left_x=0.29 left_y=0.0006 left_z=0.1661 left_yaw=-0.0041 left_pitch=-0.0633 left_roll=0.0049 left_gripper=0.9995 right_x=0.4779 right_y=0.0781 right_z=0.0119 right_yaw=0.0683 right_pitch=0.0885 right_roll=-0.1661 right_gripper=0.9961\nstate[joint_eff]: [-0.2256, -1.3607, 6.9949, 1.8388, -0.0269, -0.0806, -0.0122, -0.212, -7.9658, 5.094, 0.8425, -0.2125, 0.2271, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLIBOhkb6Q7XCi4-y-RtpLaUiFIA__j94DnO6_67gDHLY9mEjj23tEUmRresXgU1nNUUMCNi6FwR31Z5BFF8tnpw_p0AHxtuCWxnRkBlshbKY3OxBzRODCV9shnC0NwBrZum3DHx7gfLdIJQ0HaeSCndQcndxRFeDaJIvUK7zMZ6jXvT-aYV3ZmE706bJAtdqzb0M4I0jlHxCeMZZthB7WSqdC8u0OQV-b_x6RNxpM5kIslM3P0uQUTbUGhV7h9NksGrEhp3fUK8vGTW2z1mXCfmVDMHD8hOlCpl75Q45yAWnvjFvDm2-u4jfM5sNig-tDYNR2fDc7k0uJaqbMjdseZoMlefEUUc0X2SdULZ9M5Bz8UAqmhbhFioTimrNXldl94N6tGce0SSGwrDkO_ylMZikaf4aoLRxfcBv-eOtQzUH-9ORbQAPSiky1COVEHl17JpKmHsKRqCYc65OarHYt5G13eUzRooPwRU9eFZcalqIdDndLdu3-3iCRHUYkW51LhVmmbSCAQPifhFTdK5x8YzR5u3mncm_54HU_8b0-JkkpWHMG1e70EL5LlnFtqarykSfl1oZPHSs5y-0zrGlabHiig08AOX3mMSgtxUm7kj8u6E1LJG2ImDVMma3RyU-Z8YA8rpfdWDq5LYCKFJnv3yo2qsKSX1-mwxskQVMJZJqcUZ64UhdaFELL5xjwzlO9_3fj86DeJIF04ij2DQeCRtTgon7KCYTM0Srz8sLXkXT1anp7RC0dpPGD_AlsK-hfPZry7UZTryZSHySdhqxSQto1x1n13GIqhlMMY93EkTGKozSoDmv11Qq_xgqyVDS_Z5_LocKZY0LDPRmZyk6U5XLohcdOgvUw9gYIkIlw8r4jyjrWkYYGdwHz2M8RldZOacvhed8jDcD6AxXI4RnGTaH7AjqJqkPqmee3htt_Xe1VeVxdpQlQZE3Vi8q7acw-rhPcI8zR8li5Fn8RbK-V9KWqggllwDrDNRuELpf0azJNyvnaHlHW-OwuuUn62F5IMaezTFNxbhcc-v5uerm1LqgqT2iC_I8iRWJ72Hu__z2UbGlh0EUhcLItD9DjwtUVfqZe6Fo2SuR4Kct_EmRU6QfN1Z2WF2kcLs46O4xtHZ-ijB5Y7DtOEIumyKzbTOojRGYnDJ7TaePlZxw9bdlmFaZ4cFN1mGIIndq9Nqf6pGxtq_740Gjnp5stZ-izxLKEvENAOP_4UmrRXii6S5j7us2EjVGGa2cZmkdaFiQDac9lFYp8QteByLtAUJPPrIjsszLg7mmUa7GtEZrRC7PRiXarSWia6cAflx_aicVbebuL2RND4d1wB-gz_IDkmEleCEIVguVp_hwzGxJUMe_UBQvQ==",
  "id": "rs_074353dbc4628301016aacb1ff1e7487d08af636ceda22c503",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.02,\"right_z\":0.18,\"right_gripper\":1,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The gripper closed empty. I’ll move clear to re-locate the brick in the overhead view rather than repeat the same approach.\"}",
  "call_id": "call_b9d0MKR0nm7XPbOe35zLM6MN",
  "id": "fc_074353dbc4628301016aacb200360087d0bafc2c6f418a702e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_b9d0MKR0nm7XPbOe35zLM6MN",
  "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, 0.8215, 0.6075, -0.4412, -0.0261, -0.0265, 0.9995, 0.0376, 1.0985, 0.6544, -0.0834, 0.0006, -0.046, 0.9957]\nstate[eef_state]: left_x=0.2882 left_y=0.0007 left_z=0.1618 left_yaw=-0.0043 left_pitch=-0.0831 left_roll=0.0057 left_gripper=0.9995 right_x=0.3599 right_y=0.017 right_z=0.172 right_yaw=0.0619 right_pitch=0.0399 right_roll=-0.0302 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -1.2103, 7.0632, 1.79, -0.0317, -0.0464, -0.0122, -0.2667, -3.7538, 10.3863, 1.8632, -0.1392, 0.1587, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5f61091cae6c5f62eb625c447f8c92d91dae337aa96c5e6b16a6bc8169ae25a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6a8e6b82c0b741df36180fa8d99bd81c8e7f3a0841f6c35fd87a6a588e3b055",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c8548c68caec5ed4674c393ec224c574ff21a0ee7eadc9cd811cbcf80099883",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8173, 0.6075, -0.4328, -0.0261, -0.0265, 0.9995, 0.2485, 2.072, 0.7712, 0.8707, 0.244, -0.0757, 0.0082]\nstate[eef_state]: left_x=0.2892 left_y=0.0006 left_z=0.1645 left_yaw=-0.0043 left_pitch=-0.0705 left_roll=0.0054 left_gripper=0.9995 right_x=0.4843 right_y=0.0826 right_z=0.0229 right_yaw=0.082 right_pitch=0.1426 right_roll=-0.162 right_gripper=0.0082\nstate[joint_eff]: [-0.0068, -1.4974, 6.9812, 1.707, -0.0317, -0.0562, -0.0122, -0.4034, -10.0171, 4.0821, 1.2918, 0.1294, 0.1832, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLISg5nZL4O6tmRpeQ8HbrudBYKbvKHSgLPg5f4kEm0qzpCQMJMcmyUcwxD9oFucq54x9a78Xj5KcV7FAUkWMM5Ntj2wrn65Q6h1hKndhFjMk4qsQmG3Zl2P20eifgIAe-6Jtk3-XGNaJTjfKRtUpF8ikMGzumuXS5HZ61YhOahJayGPVjZevrM6kFdL_KSPzf4zeCJ3EmvS_a4rIBKvboAt5B3ZJpxlljkzfV9G9YWTTwZoH_hooYLSM6UDGohonZsrQVtr7M2Iq0t8GmMahQNoYe9PHZhSurBpKxE5FvUo8VtrfufK8cJA7Fh3n8xLgwX9okyUt9brWDjRfiQMHPdrHVFz8xo-Moc4He-BWEhaLDzIpHjrGX2HN4HlbZafz7ux8vJQHvF4W7-3a4G1tNnMFSMyYI4peJVjhFlZr6sHbTpO5YYHS6ewULlC_D-yTDBOXCQAOoLEDxm6Fl9K94iqPPbM9eRd4LyUkSCoQALn7BXCyp6WKs-7zUO4BL4PUf4XNf4C4BdWczzmWYvlCwU77QQkSv4DX9sqVtCZLSdPgiFHn5UgE8300oDDmIO8dJSp8P1lC_mxKnHXpW7_Ec8PDkivHkOmDWo60_yRVYfRXwxltn_z8z23qJcwO5hkz-go2fJ3niLHgAaTI4KcVp8mI0Vj_57Ht1LSgIa5ueV5iO153D-BN9guX1WH5jmVTiRL7ImfPkKdCT4kpKEzr-UN7rqSOOjHFsxjCuB4q4wKe3p2nbs7UUFlyuIA8Rb6sWID5MQy064aOjCOF0B0pgkuQ1Zky0dKCkz8QmXDGh3jbJ7Tmigsv0tUn7siIUIUd_hT-nd6ifyDRsrSVck9vj8X-ifql_cvbtoFnMFkZ61W9TIbN5qVwR-meUz4yDL9qb18do1q4agKxX0F_PLkS11MV0VM5bQaeSsFp84XPJHWNewbPPXhD_YMmOaDchO82sxf1HF5xCzc6cRvW_hV4LWtpQqcUu5EWkfI5qZrwmzafL_yzUKZEyTTG-UDN7O-xo-qedUaOHE-voyZi1tefS3ycE9CG10z1815lFv9PsGH9rOOd505ATI3bt4cZEeyxIfH650cxBI-ptcZ_Jd8i2T-tiLy-b4YykkkE7J3CN7x4tX9Dm9LcYRzDfPSH0i_cjfCPjx-97ijQoQlo5wg8gqy8eq02R-eb97PbyDS-bM5zXozs7dZqsGsyUqaap2BwthJbdDvcyGlzRdv_lSGP-1IVkmxLzihhCrvX3BqfvbnyH6aG5T0qb0KN1pM0ETZTwvudpjmhTlPRVFqbt82YmfB1ZQIJ0zUWQUhUwrSDEbNfBSDeKfpyXqwGtqbLrdsxprCMEpu5GjLBBhuyH7OSKnH583cKB09Uz5a6no4esQTgvoJCOPg4hKEBT3_7CVbHXGVXYorf2xp__Za3pkkhzXapGWTyiNg47VVuZHe54ep9UoNoeBK8mXOcczNiZ2xfJJDsxTFX74uvrMx9fi9t70IRwWfDPLhiuX2RK3THNPsWPV_3iHnArSefCudXxPeB8yea7fYppWK11niRPE-hhSHjJsstNtob6jCeF4z8LsuCoeSnOxliI9HgdN_22jFKcD5pzXDsLebwhBOy5pbO9vbFE8-vQm9HET5upMP9G-S0i38Bom-ju_9IwLBsRPLwZmAyrg3LHLCp2CGhOpF1MlTmSLvydoLJaC26gFuELTYHfJqNeeKtihJEAXEq_9zjDLxhLBt8VEdnLDG73xFXLDBRdaWh52lu9o2uAwZrg2XbzB13N5w6ACkZ_BXmCB5iXOufoujI2tQWadL25QkYwnWt9BIxJMTw6eLkceyh-f7BUdCjbzIBucW3dfvdRugJ_JxVNFzub2lJ-qeyrf3Ns0c_qE2wIsf-Qx8jCkeksAhchS4RykGpcD6JmTxKb_JsSW2vLPG4SXLjuRchBn6j4hikvYhZB7N6eP7DPCG-JPPq2vSIVNUA3kfKc3TH2oeLLbYxkM_BsibUPikvTgNejbNTXcOXYQu8edfzdbqKdb5Y1W5quFYaNjNVsWNePvXGxqKfiMnXhFuZieh46aQzE9m0y2eKdKML8iYAgN1HELZCJhcvImwOuvHcZaSIx6IoXfXknj23vApiETeqapy1SjNckXBw-X9UtRRgRSjpJ3bm2NsXVmk8OU-_sJm0frgfHbmFVBSCFL1z9yTmwo6BvLYwFu2H1rD5Q-N72JaZJ6JUvUbTfhA49KJgQG5zCCdYDhLrR8GvSUHw63tET4-XXzaLB_OVACY8VspLgnTb3RXIJBsnyG-bG5i6b_JVM-1HXNoWVsBnS81YE48Nv5Smhj1cvdgFsha1lymA9P5TONS_DsxCl8kz2qK-Kx_mAoNa-hZTIgIH_ugcwkT750BDgm6HE0C4pPJat4ejm6pRZjsnWlcdrQmcfUx1-sLYAoFXFm2kErSncPPxoc3DIsTCo-Y_SpjHvHYx8bt-IUv_PgIEW7pAx-cZXzgo2RNrrI9XiP93C7QO1393lEqGTdwV_HnhCrCu8Qy9o0QJ5MHhvTSmmZE_gA98np57LDOvgH0kDQPUi7FkONbYvCD6whS__BI9CB3rbjNOLpojY27hYz3oExsVgMXkI_Y5wJAgxwcJ5TBGFNG6BKXIOpAID3ESnmJ9FOCmJzxDC-r53c_rotWo3T8avxuBisGayWyyhcfbQxOvr0Cpz1SveT9le0MbOG9LOKLzVOhLxOGtzUYqposaIu5jZ4XJ4XX7VgS37SNjKqf-5p9XicSCjc-SPVdxWwrzad7NRplqALwLrt814IH8CIPLvikV1RiEr1pFh3VqeIjlYBlRVm3q6q8kQp_LCJcTbOBvpKJ98dyGpuJK4QqR7sqebFdbpOwe48jtxpjlba2KqkvtE8y-aVRgOmP3wMtoj8UCETbkiaRwz-VCwxm4_E=",
  "id": "rs_074353dbc4628301016aacb204e50c87d09f0674a1ac2dd8be",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.10,\"right_z\":0.04,\"right_pitch\":0.1,\"right_roll\":0.1,\"left_z\":0.18},\"note\":\"The clear view shows the brick’s full length and a cable beside it. I’ll approach its centre from a shorter reach, correcting the wrist tilt that made the earlier alignment misleading.\"}",
  "call_id": "call_OsPeXhLGcoYKVu62ROp1DJqG",
  "id": "fc_074353dbc4628301016aacb210162487d08621b8f4e780a1fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OsPeXhLGcoYKVu62ROp1DJqG",
  "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, 0.8314, 0.6361, -0.5087, -0.0261, -0.0269, 0.9995, 0.2844, 1.7672, 0.5079, 0.6941, 0.1421, 0.136, 0.9958]\nstate[eef_state]: left_x=0.2823 left_y=0.0008 left_z=0.1589 left_yaw=-0.004 left_pitch=-0.1319 left_roll=0.0065 left_gripper=0.9995 right_x=0.4003 right_y=0.0947 right_z=0.0251 right_yaw=0.0917 right_pitch=0.0085 right_roll=0.0492 right_gripper=0.9958\nstate[joint_eff]: [-0.3214, -1.6889, 10.8786, 1.8193, -0.0464, -0.0562, -0.0122, 0.253, -6.6393, 5.7915, 1.1306, -0.3394, 0.4762, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce30eb886e50fe5e04527eeb6d741dcab09b8e4c7cb4c983ac81a2b9640f39c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:772e5437122fcb27a424120ef70e22a841d4667aa55f63080f8e4d0c978e646c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71d4a315fb571daac136b7ac59536e9615b1bc6c48d6b8b917e0c51816dda4a5",
      "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, 0.8215, 0.6075, -0.4412, -0.0261, -0.0265, 0.9995, 0.0376, 1.0985, 0.6544, -0.0834, 0.0006, -0.046, 0.9957]\nstate[eef_state]: left_x=0.2882 left_y=0.0007 left_z=0.1618 left_yaw=-0.0043 left_pitch=-0.0831 left_roll=0.0057 left_gripper=0.9995 right_x=0.3599 right_y=0.017 right_z=0.172 right_yaw=0.0619 right_pitch=0.0399 right_roll=-0.0302 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -1.2103, 7.0632, 1.79, -0.0317, -0.0464, -0.0122, -0.2667, -3.7538, 10.3863, 1.8632, -0.1392, 0.1587, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLIZUayI1jdiNNumYGeu5b4WDvfgA3hmcNMFACP_GGc1UKczPvIWDXmyFuGNEWgIEuSZKobmQBR_xGanZScTIfnIFFi33AaOjm17xz4z5pBjLUyVwZDSXq62RxEMp9gm-glpAqsl4QeLmSGuKt-yVEopaV9nkhb4A9Q1cQTuhutiBR2CDTcsJ0WQ0b0hiXos9mL6DFIVKXIwB-uGgBqtZpcXWoSNHaXyh9QeNKgnhXFVZvzrLEM1P8i3cv7dTkguMySoAi7fCg7NexIPktFD5gksY-73HrksKKOfyzhB_9kL1MKsTr1OxAgzeFo7VSTzaDabLAQshcT9peXtvRgMURAkRRlTn9_Sblzs8TYlLh037tBH4gLSXy4f2Ae0LhOJ3pcb0wq_zysRcRVHMBIJhafVFjIl4kMsKzn_-nZM1Jtha2yx9DTyaXQOdNp8kIiF0e2CywWP1y3RbL4fdF2BJ50KFYRH578e7nkQXPQX9vYY-sJQRSEyexD9sF05LgeBqZED1gUhZ6_jqTsirhZ5p0iP20GPl_hJe_0OKGmzgXSPqqua-T7UIX7phgDegmyWTscWqrfLHRmX8cZ9nZXWHV-9G8RwGQAQ_t0hoXlPMKMcw3ybDd12iZTeFawjTh5RswR7HpJkXaduitQSBqVRza4RVy-YA4BLAK-DrFrSHV66VbqWxOZTBmF4vOTDfpep8AqpgDrzsaLOZlOMm_1m2uu49ADJH_oD9q1YcMb-BSAmpaxl6QMnTs2aE8hxCgU4wcHFNpFcL2cYTHD2bYDjZcKXh2G3O7uw1TqERRVHWtBfSVldhfAAvGzlR6QMSRDrb2mVYDac_2d-RLjCz1WK7g3-GF18G1YPafja2bPijwyvDYKMiEArJb87GMIcn-tHJgbafUpNJOWcTHZKRBkC6rddBSao-l2Y0aQxSZGcTSuzb522wAPugk74jCwj4Q61Y9i6ZaoUISPxsgysUYOQwsVDLB2l0og6PErWTzVTb2EKe8Q2nMj1cLtJbBsZQxy-OO36gMqP8lza3wTHbE_TDdXiLZ5hjLNbmSFif8eqFKUGrHDz_69uFItUbw2OkIb-zHgZcitINTaFsbVGzAIgqAvvi5DHDGZpr4zwpR57TGLnJsaQxsrBhoXB2ugCh2ZwR2K7IeBogfqR9kvjxgMVGgddfgpZ6ORBamhwe4Mqtvf0D0KGooVCQDR8U_eUR9L0tm44Z8Y_Y_63UJKYTaeMwJP9TGKVb0X4MTUIcIXHDQP_rlM_61UB8TGTH-kYSi3fItQn3QPv3HWMMb-gbDw-hRCbO6LsliZXFocJ2Xf0JLM2BZF9svCzhMseud_qtI1pNAHZXweY77ILiXpmPIcSY9ebUYC73on01KqKz2Yte7Tc--xhnTfbb1fk-Smi3XdBFLntLVY6886ul3IzWmGvNzLW8vtUbMh_4IxSOAIuxyZxA84SPL_kiQj0mvOVYyIlVyK5VjAO-LyJ2rI1bxHafWluyA==",
  "id": "rs_074353dbc4628301016aacb21548d487d097a994f13c0f83d5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.073,\"right_z\":0.012,\"right_pitch\":0.1,\"right_roll\":0.1},\"note\":\"At this lower angle, the brick lies to the right of the jaw centreline. I’ll shift the gripper right to straddle it and lower slightly before closing.\"}",
  "call_id": "call_G4WsidxzfZOa6MqABrCVqLLy",
  "id": "fc_074353dbc4628301016aacb217b4a487d09ea115ac53cfa6c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G4WsidxzfZOa6MqABrCVqLLy",
  "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, 0.8337, 0.6415, -0.519, -0.0261, -0.0265, 0.9995, 0.1841, 1.9003, 0.4889, 0.947, 0.0685, 0.1143, 0.9957]\nstate[eef_state]: left_x=0.2816 left_y=0.0008 left_z=0.1587 left_yaw=-0.0042 left_pitch=-0.1392 left_roll=0.0069 left_gripper=0.9995 right_x=0.4183 right_y=0.0692 right_z=0.0193 right_yaw=0.0644 right_pitch=0.103 right_roll=0.0817 right_gripper=0.9957\nstate[joint_eff]: [-0.0342, -1.5658, 6.5299, 1.7167, -0.0317, -0.0269, -0.0122, 0.0068, -6.3111, 3.0291, 1.8584, -0.0317, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6024243126a40169324f340a23f7fcbe6e0b2461044a42cd13ec7499a02e121f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94f5820bf2e5a5afa8850731af3e351247668f827ad3329b525bcb1d0f327719",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33a363aa79a513d745320aadda5d83bb2c2196734d617009657f032d3e791c76",
      "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, 0.8314, 0.6361, -0.5087, -0.0261, -0.0269, 0.9995, 0.2844, 1.7672, 0.5079, 0.6941, 0.1421, 0.136, 0.9958]\nstate[eef_state]: left_x=0.2823 left_y=0.0008 left_z=0.1589 left_yaw=-0.004 left_pitch=-0.1319 left_roll=0.0065 left_gripper=0.9995 right_x=0.4003 right_y=0.0947 right_z=0.0251 right_yaw=0.0917 right_pitch=0.0085 right_roll=0.0492 right_gripper=0.9958\nstate[joint_eff]: [-0.3214, -1.6889, 10.8786, 1.8193, -0.0464, -0.0562, -0.0122, 0.253, -6.6393, 5.7915, 1.1306, -0.3394, 0.4762, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brick now runs between the open fingers near their centreline. I’ll close around its sides at this position.\"}",
  "call_id": "call_FIKX9xkKfdkAUzrcZTx13Loj",
  "id": "fc_074353dbc4628301016aacb21ba80887d0b449bcf8560f9a79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FIKX9xkKfdkAUzrcZTx13Loj",
  "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, 0.8341, 0.6411, -0.5198, -0.0261, -0.0265, 0.9995, 0.1757, 1.9324, 0.469, 0.9665, 0.036, 0.1085, 0.746]\nstate[eef_state]: left_x=0.2814 left_y=0.0009 left_z=0.1583 left_yaw=-0.0042 left_pitch=-0.1407 left_roll=0.007 left_gripper=0.9995 right_x=0.4104 right_y=0.07 right_z=0.0044 right_yaw=0.0868 right_pitch=0.0694 right_roll=0.0882 right_gripper=0.746\nstate[joint_eff]: [-0.1573, -1.1966, 7.1043, 1.6093, -0.0611, -0.0562, -0.0122, 0.1436, -7.4872, 4.0274, 2.0293, -0.105, 0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dfc7d0dd310a48da25d9cf3d8c001a332988938098a219d05a0e730fdea6ea1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec8c4bd4aa4dffdcb92e84a8b9f3ab540ecb6115153190f5e2364f6dfbeef3fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cff3849842e88baf7ff4eb879b5960d360de35820e252d0116d754626160ae52",
      "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, 0.8337, 0.6415, -0.519, -0.0261, -0.0265, 0.9995, 0.1841, 1.9003, 0.4889, 0.947, 0.0685, 0.1143, 0.9957]\nstate[eef_state]: left_x=0.2816 left_y=0.0008 left_z=0.1587 left_yaw=-0.0042 left_pitch=-0.1392 left_roll=0.0069 left_gripper=0.9995 right_x=0.4183 right_y=0.0692 right_z=0.0193 right_yaw=0.0644 right_pitch=0.103 right_roll=0.0817 right_gripper=0.9957\nstate[joint_eff]: [-0.0342, -1.5658, 6.5299, 1.7167, -0.0317, -0.0269, -0.0122, 0.0068, -6.3111, 3.0291, 1.8584, -0.0317, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09,\"right_gripper\":0,\"right_pitch\":0.1,\"right_roll\":0.1},\"note\":\"The jaws stopped at the brick’s width. I’ll maintain the close command during a short lift and check that the brick rises rather than slips.\"}",
  "call_id": "call_vUncftcNDUhaTkXu1dtUGKQ0",
  "id": "fc_074353dbc4628301016aacb21f584487d0a9e9cab5dccee227",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vUncftcNDUhaTkXu1dtUGKQ0",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8379, 0.6411, -0.5198, -0.0265, -0.0265, 0.9995, 0.1745, 1.6039, 0.4831, 0.4988, 0.0341, 0.1051, 0.746]\nstate[eef_state]: left_x=0.2816 left_y=0.0009 left_z=0.1573 left_yaw=-0.0038 left_pitch=-0.1445 left_roll=0.0073 left_gripper=0.9995 right_x=0.3844 right_y=0.0653 right_z=0.0378 right_yaw=0.0892 right_pitch=-0.0552 right_roll=0.0754 right_gripper=0.746\nstate[joint_eff]: [-0.0889, -1.7436, 6.8991, 1.5409, -0.0708, -0.0464, -0.0122, -0.253, -9.1966, 9.7436, 2.7033, -0.0513, 0.0269, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4a9d5993d8b392667dfff35309843e671bf99e08fbbf4bdce62e8625a85ca7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f10b1b9522233c2a0ad6e1c330398e3d49ca4e6d4df1944f4f43e94d335f37e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb691d2904b5bf1506b63f038f2a1a684d1d78d8137017c73287b2cea31252d5",
      "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, 0.8341, 0.6411, -0.5198, -0.0261, -0.0265, 0.9995, 0.1757, 1.9324, 0.469, 0.9665, 0.036, 0.1085, 0.746]\nstate[eef_state]: left_x=0.2814 left_y=0.0009 left_z=0.1583 left_yaw=-0.0042 left_pitch=-0.1407 left_roll=0.007 left_gripper=0.9995 right_x=0.4104 right_y=0.07 right_z=0.0044 right_yaw=0.0868 right_pitch=0.0694 right_roll=0.0882 right_gripper=0.746\nstate[joint_eff]: [-0.1573, -1.1966, 7.1043, 1.6093, -0.0611, -0.0562, -0.0122, 0.1436, -7.4872, 4.0274, 2.0293, -0.105, 0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLIoTBuwKFQRpJTCTRIrK44F970q4QWIN-t5RULQuFiSTMLacP4IadaedMqOAgN-Js2_KCRozKSthtGav0Uz6LKBOiej63RIQG3Mc2Odzn6hPqO7CO5SSltEizpR06rsUG-Ls6740Xa19Z0cvvaJK4zrqTvfmflDaRes9ux0ZalKQCAkDSPfygA0ci2has48I-C990ILy-McFX9adwtvYummhl3wz99KWs7IkjpkZuanr91PIYbU5uaL5Wor3DHixgI3RWXmAA0JXtPVwSPSdq32YD5sGnqnKxCqSYw6mhZ0FAN9VVg2xutTKUjSJshAeefJ8MWJxUlu5sIru9zSMkeb4uZnPPoqfYH6sj-Up2sr4QpGP57lOOks8SwTjw6JWWjIzxAMIZ2h_3KHsM_3JB8bsXCK7tYocnFhaAJG9EHQjY3xqLwEItc8fTZDNILeJLzP3fv42SbYIDMrf4W58TadWBIRL-iusMq6ExywIaxmFceEZ2p99pOXKTtYH3FOFEYpgKd_yNJwYRHSP7zJUF5HKvMhtrDcmHBqUSKNlps3pinAoo7PHgv_wPRFTQHwaA0rOmli0qkVX-3hJu6yh5w3Fxx1R_8187hg4B_r2Xi2_zLq_m55BK-HMsodhy9MA2UgERXuH4pN6ixY3Ne_EKQqO8Q8c1NlAgKCzLuDRpLqy8X9LOHELmAv81P6OegWLCaI3IzxpCIgYVrvBDBVMsEejuRYOzOJxArw8tc3xGFInu79-Pfx4K1Qqa-6DR0QXdkN0_fLWpKurBYs_5r1IS9QUIUrIWeBNnJ4zCi6DLEEl6FGZnT-4bjdFi1vPYxhGGN_TJ5jMtN5QUH8ShiOQcaLDqY52EsViPCdKCxs0hTs_pJb8o4QadWpZQMXwIouoQdbaj--_OLCNqE0BCj6PDu9icvPm4JJFoyqSpp-beoqlfKQSV5EfyTa_Z5QtenmFfBsVSdHibTcgcpTXibkVeIPeDfbK6kv4ysoyFZiLupOTshpwhOrvjOZT3lRtUPGJ3uzhMQt9PFQDv9ZN-fu3NSw7Tq7Nqtf8CMda8XX4QgK__8NDHRmFL1FvsIvnH79i1KcSv_pA_LBWsG-lBgQNwXQp957i9Mb5Hr7cPX2CF-i72kglatvjOO0tgE32wFt7cgNTKIv413GWDuneL1oLZzbFtyWDtzo9DoPswoBAXK_aOUqoyL25sGwcUfqSUDcWNzUlUpK9UurbOL-MdNAGIr8YD0sTanbbjMsSN1PSqa5prA989du_7y-wpFZlNlB5CyXGqHVzIJ2qyT2UKPDTUkEkmyPBzdhCKgg8epDClkfwhIgiqN0V1H9HJxhe-hqpovA3NjJ0viL7sCIeD5ojqW6teq-08J_J7VIRNbV7Jb_jP9p1UfzdY5iVtZpISzyshjl2VO0bsKsVHK5NFkgp6UZJgLTc0WPA4CYp-ytAgT-u-c=",
  "id": "rs_074353dbc4628301016aacb22521d487d083e4dae589627277",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_z\":0.2,\"right_gripper\":0,\"right_pitch\":0.15,\"right_roll\":0.1},\"note\":\"The brick appears to rise, but the loaded arm again sags substantially. I’ll lift higher at a shorter reach while keeping the jaws commanded closed.\"}",
  "call_id": "call_Tltexxh3dHMXWQ4Lv7KLn9HO",
  "id": "fc_074353dbc4628301016aacb226c57887d08a3bf3dfc6a82f71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Tltexxh3dHMXWQ4Lv7KLn9HO",
  "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, 0.8398, 0.6411, -0.5201, -0.0261, -0.0265, 0.9995, 0.1745, 1.1992, 0.6277, -0.0265, 0.0353, 0.1047, 0.746]\nstate[eef_state]: left_x=0.2816 left_y=0.0008 left_z=0.1567 left_yaw=-0.0041 left_pitch=-0.1468 left_roll=0.0071 left_gripper=0.9995 right_x=0.3615 right_y=0.0611 right_z=0.1373 right_yaw=0.0885 right_pitch=-0.0312 right_roll=0.0765 right_gripper=0.746\nstate[joint_eff]: [-0.0479, -1.5932, 7.1316, 1.58, -0.0855, -0.0317, -0.0122, -0.1299, -6.6393, 11.9726, 2.6593, -0.1001, 0.0513, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1838f567e031e38208053f6c194159bbddceb921912e11442ff1a7d08534fc10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2271eca9e0602b5f1063d37bfe42eb270ee573398523f2e353caa5ca7e5bce5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c10210f528116a11a5b9234b6149f3d8fa63e654ef78821bbac67f9c835d253e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8379, 0.6411, -0.5198, -0.0265, -0.0265, 0.9995, 0.1745, 1.6039, 0.4831, 0.4988, 0.0341, 0.1051, 0.746]\nstate[eef_state]: left_x=0.2816 left_y=0.0009 left_z=0.1573 left_yaw=-0.0038 left_pitch=-0.1445 left_roll=0.0073 left_gripper=0.9995 right_x=0.3844 right_y=0.0653 right_z=0.0378 right_yaw=0.0892 right_pitch=-0.0552 right_roll=0.0754 right_gripper=0.746\nstate[joint_eff]: [-0.0889, -1.7436, 6.8991, 1.5409, -0.0708, -0.0464, -0.0122, -0.253, -9.1966, 9.7436, 2.7033, -0.0513, 0.0269, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLIv9ryXXMdK29CPff565Kn8lu9-T-pWMmYm_ouynNjwAT-39cvj5UWBdUq8L_WuV3xZbdYk-PiRUYRes1_85_lihV0DvHLEG6F6kxfRq2vH7JJXXFLoU4il3P0iwPRsIY0Ix1myJ6AgX_gSrZEhJDdcCpeQHS7nNc2fqxO1p1u8YoibfZTE6hptHzJCdIYwavUFs4am9vfEWqEQCbxafUyB67otvICYmSj4K804f41rvTJhN69axejTGCufO1AfwK5IKNqx33DpNvwJ61yTRG-PsG1F6XVMgJcigsCaFyFo1RWPwHgHSumHFdv29NYsvswoYToPoHhK7Zf4QfURxUu5nPBWco6CR8fRDz3HS1oM1rKcYDwYDeUpvYbCsnd6Nu3TCNpQh86eU1WKq1NRxFuFze0PQ0vCwuq-oSpvwPFMNV2DbB93i4A4wqPUZEnd75eFiUJoji_t5JFIYVULi8GADJRop2RHn__3OOkMdtHDs30PdZSs34ksq7LLeOVyxn45tklMUM08wB4fP0f1B_B_SHUXCO3KzzW9rpGBkoFeFZScXIgy8Y_2IurKzvBZ-BlJOdcKxS9_KUPPzgSAwylpa2I7L9kcKSWXZ3DRcrgwoomzcqYK1CJkn3SEyIW_PNLhHkibIzrQj4Va2Z5SqDeZBKlmU9CqF6IugTXy5-V3tBRElJgmT0LUqiRcgG71qmtRnZQkOgmjunumpF4f1ltWUeq3p_Z_zxW0njxaTB64_xr9XClDRJtOwjNu6_mWEZzaME_RXJPnk-WW8wdR4utcmyP1HID4IM9Qei3kj4kjMhtv0MB2mLpRQKAJXRzDp0XDUiYnyStNC5i3Tm9IDN8rGtKNh5CWjrssMBH8uX0yX9FPPPvA3iPgeBr7xJUt74qmfSQ5ASGfxOYbyyPUhS1Sb1-hfQC03P7SGpUlpgFDzw3XQ08U2NJDO9TOCsyOAhVO6kRIuYDxV6XhRfAaM4QvnYtLeb_6tX8B8yEL1M3FQ1157HYpQbZ44Sf8EOg5MipQdJ4GXKD6z2LAW6W3DCQoszeuy9UAAzBfjwTUpF6fSzALNske3PXeBnYd9E8laL_oYxopyeJ39FxdBxkkWm7W4BA3v3gMmEFjJmC9TiE7yENQJBGAP7HvJOHDV8FYrcBU3BaPb2Gi7npvaYX56GskYo_ZpxhQVnBSOcC_KoDAlmYG6unCymWqPQuv5H7HD3j_a2gE_mNzEjrfyxI5j9FsNw66FMyVI2npcVuYEScmnMPHElkNjUiyCLmeHXfAKsS6kYZO0kbhhpyspjWMQTne0NJ7BYv6FHG8IEICXfRz17GE1hnu7br1OR1pJFf8UkM-rTET3FwUF-1i9PUXFN6WdPchc4ju7qw2KMloXhYFZaAQSkax9THQz5TxB3J-7B7IkQyLeldaUQ60XOTWAJUQR5RU1D_mcmuLpKRaa4DCG2ZnneqH27cdTOhJDCWcDHswq8BfYcZ_IFMfwhWWY9PxJcNElxGPRxfQX9NOFMHQZ6hnNfGck4z4x_HO5RyUhPY6o5UKG2tm1vM4zWaReooRLCW0mH1TuntUynbxgv4N9nSLcUJM51cytvhLi_9Bgb-t5EuIP2MFcSVI91LuBQatPjbei59us-UoHEjAqSK6rxc=",
  "id": "rs_074353dbc4628301016aacb22b521487d0af5208e87b7c4405",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.24,\"right_z\":0.32,\"right_gripper\":0,\"right_pitch\":0.15,\"right_roll\":0.1},\"note\":\"The brick is now clearly moving with the gripper. I’ll carry it upward and toward the pot, maintaining closing pressure throughout the transfer.\"}",
  "call_id": "call_o4bGU1PTHda9QvYljELLLVzy",
  "id": "fc_074353dbc4628301016aacb22e34fc87d0a675fa148213d3ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_o4bGU1PTHda9QvYljELLLVzy",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8398, 0.6411, -0.5201, -0.0261, -0.0265, 0.9995, 0.8036, 1.4555, 1.3319, -0.5434, 0.5251, 0.3786, 0.746]\nstate[eef_state]: left_x=0.2816 left_y=0.0008 left_z=0.1567 left_yaw=-0.0041 left_pitch=-0.1468 left_roll=0.0071 left_gripper=0.9995 right_x=0.3495 right_y=0.2401 right_z=0.2658 right_yaw=0.1668 right_pitch=0.0029 right_roll=0.0121 right_gripper=0.746\nstate[joint_eff]: [-0.0752, -1.4564, 6.8855, 1.5702, -0.0317, -0.0122, -0.0122, 0.1846, -7.788, 11.6034, 2.2589, 0.7937, 0.1734, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88aa3ab414d68acc20c55a7b67932f840fe157dda25d194a91ba8a4f766167b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:067735b690a4425b306e89c272ebf16d3e618bce2819cabe3adf89fc5dbc8d93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52a79cfb797d20e759568d5c63c3512f46d6dcb661248d36d4d14c00fdd64267",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8398, 0.6411, -0.5201, -0.0261, -0.0265, 0.9995, 0.1745, 1.1992, 0.6277, -0.0265, 0.0353, 0.1047, 0.746]\nstate[eef_state]: left_x=0.2816 left_y=0.0008 left_z=0.1567 left_yaw=-0.0041 left_pitch=-0.1468 left_roll=0.0071 left_gripper=0.9995 right_x=0.3615 right_y=0.0611 right_z=0.1373 right_yaw=0.0885 right_pitch=-0.0312 right_roll=0.0765 right_gripper=0.746\nstate[joint_eff]: [-0.0479, -1.5932, 7.1316, 1.58, -0.0855, -0.0317, -0.0122, -0.1299, -6.6393, 11.9726, 2.6593, -0.1001, 0.0513, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLI0RLUzsikvF6woTn9kBYZoWbPRy9Feb7BpEyoX1WUrp_CtasvTSG4_Xq9o86KDZSuURhLWUL5XlfCmSdgXrSqSpLuHmE5sWUcD7KobcysUGiI9EOGBgGsjFAc-_3fkZkHy_UjBUQxVX788DTgSy3ubYLCmVgVH4pbu1r5G0YQi_2C4f1aAVMJm4pz3TDmKrgzsGkD3TA7_kwOxgajS4ujbSuGO1mzb9PlDxq1rH0bwLznlQBmcEFk36h2Z_ucPC0yljL72vxJ76dK_vWguH72APPUeKDfR18CJ7oXmWXrY8aaUd1mA71n4oSn5iVIX-5H_tN0huMoWroBiXUT80vSOUJCSV63qfNoPt4zEFZaA8yjn7C4KBjV2rPZXwLMeh7pFyMCLRhdI7Xaov8dVor27ZXVdVpyFiLiyptFvioeTJcU43cC2-G1Phj21WMHdBNCVfN-418AdwVEybUE7Q8RH2w_QqtltfHqUepa8qO5QXgkpx14YiwDrdzMCThtlKka94GwXLB9uNXs8vQmMtZPy3M-To0WXz1IkT0Ap79GAbLoRVaz_VDuvZMKtTAoX7uTawPA9G44J9I03OSfyE8_PHc8AX4GAcFC2HPgkAsPZI6hTpjOzYch0SY-ywC4MaHXDI4YdH47gjXVKRuieFtbqex1sNsJQCzUg9nt1hVFidtosz1Ux6QAxYF2Wk7u1a94nstqzu99t0t3G6vW3A-n1zbZm7065S7grsyiFdB399wW-JbQgcr_8oAdk81bUr0eRVptkyOJ9MEgFaVpnacLZnflXKtpPmEOox8ebepxUmvrBKTiGBYvp9uBd7-Ub_o_FBGyrNZW0hfiRFCbHFWTjj0wxaN5HIxknBXlqvks1dCgc8k5-uRCtWxSoLVp8ZCFLJjnsDCWzI69zt_PNqFwlOM80U8SuZ_MT_OnHsrWp_dvgYN36yl9hn6Qff2skUwEqKUgTqVsEXlI2X_EtyM1Zak2ZiVloyx5oa0ZRBJR17sX131jXOPCmc4WaNILnwNh_xscA5X0emBxkd_N6Ukk6jbmDNsD2iLMTQZKIFR-oy064BHGfnFPSPSUv99XjHEdSeCH24lhC9Bk7hYhdghTVt20HGqxpg7xnyUeVMg8PuSaoKjQcYi6W4efJEPQ-3vi658tNHUIHW8FOdjyz7n9TDmv9Pt6o6IXe5XqOuPPXeDZ8dit5DZIPNdPxTiYP6Y5O",
  "id": "rs_074353dbc4628301016aacb232dee487d098f2f9e524361ffc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.395,\"right_z\":0.32,\"right_gripper\":0,\"right_pitch\":0.15,\"right_roll\":0.1},\"note\":\"The brick is above rim height and just to the right of the pot. I’ll move it left over the opening before lowering.\"}",
  "call_id": "call_4GRfRNDuFlnCC7icwavSJNmu",
  "id": "fc_074353dbc4628301016aacb23342b087d0a2e43d7fa04ad587",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4GRfRNDuFlnCC7icwavSJNmu",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.841, 0.6411, -0.5201, -0.0261, -0.0265, 0.9995, 1.0451, 1.9385, 1.887, -0.7055, 0.6659, 0.4839, 0.7459]\nstate[eef_state]: left_x=0.2817 left_y=0.0008 left_z=0.1564 left_yaw=-0.0041 left_pitch=-0.1479 left_roll=0.0071 left_gripper=0.9995 right_x=0.3496 right_y=0.3922 right_z=0.2623 right_yaw=0.2448 right_pitch=-0.0032 right_roll=-0.0276 right_gripper=0.7459\nstate[joint_eff]: [-0.1026, -1.5385, 6.8855, 1.6337, -0.0513, -0.0708, -0.0122, 0.1162, -12.8342, 11.1658, 2.2491, 0.8474, 0.2857, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df5c1961e1b9c60db025dd3df387615e46c96ef0b8799c2b9bc1ecb217ff59a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48d78a324d7436760bdc23154830aaaa8b28fcf638bfa8c45020e3b97614508e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:288a5412b4184f97f7682d2c04803ca6d1790dce131bda51f256100cdf43fd27",
      "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, 0.8398, 0.6411, -0.5201, -0.0261, -0.0265, 0.9995, 0.8036, 1.4555, 1.3319, -0.5434, 0.5251, 0.3786, 0.746]\nstate[eef_state]: left_x=0.2816 left_y=0.0008 left_z=0.1567 left_yaw=-0.0041 left_pitch=-0.1468 left_roll=0.0071 left_gripper=0.9995 right_x=0.3495 right_y=0.2401 right_z=0.2658 right_yaw=0.1668 right_pitch=0.0029 right_roll=0.0121 right_gripper=0.746\nstate[joint_eff]: [-0.0752, -1.4564, 6.8855, 1.5702, -0.0317, -0.0122, -0.0122, 0.1846, -7.788, 11.6034, 2.2589, 0.7937, 0.1734, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLI7YEOIxjB9KPk7-fdERFOvdcMwar2vbDbaPgAgFCj5o5qaMy12fSIZrQhkX8asiTdN1ohDc_TCpzvAmVWpWy7x2bJGWc76BL8JX2Y_rH2YQCYDDqPmBhhuauQXOOU5gJqHUKvAOMrvayEfh9kPy0mNmdRJsTyML4ehryL6bPVpYLZmTobormgPRAj0Y6Gl7SZUJuMKAr3RtsIIeXLB_hsoFgE7rM1GSsn10HolPmBo_iop1tDNIK7-Y95Mmdab3snV4VSk_BIOd0JWoP_D6HcfodwqNmhRO2FOl_a7DnG_NfSu3_knMigsXafPh9NAh0Z_V1w-kFzSJwB32-iMTf782DCIdsIMcYltrft0MglRrEoOsPzXj0QiI6ljmmKMBX7rqQkBJV_TH9sVWSzy61UT-lKuX8OVvxUbEwI_nBTVgcK-JMhHKChcwdlyvZ6zGoZcddU53i--Ycf7AziHz5qjcirHQWn3xts9J8E6nFfV17vgy_8hzZgaU2AjNwn05GVdu4N7D-Cqw3J1Ez7oz7PcYzfJbDpqAO9U0rogtfzZ7TYRPaooXdE-SLuQu8BX39-sX4g5mFJfCPDPEKVy_B9JMw4ZfhMW_uqPBqRHrbsNgXRuWMiGoOtImQzJSUhn6JdBDx7sqUh1cEjezcsMdBqqYaYrB1p0r5PA0MjgtBzjr3d-cc4F8LVADS1wSrwba8C00v9OWAH-B1e5U5T5muvUewOvMEuTN-bxIm9yswHC5_kAhBnmHRTAN8lUkT9Ksqoy62K3rG-_Iq3Kk04g8xEOknPl_Ogn3_qSYZic5YhOloc5U3d7QGMHcljsOwQClLYvnAcu7HKmEMmPTcNSWBFAnDjOz9yHgC1XDOsTDtnz_Id3Pnt5gUGpAOWS13V_jm7WYWsfUEBpMmzrRXCJ-cVvhTEBzGyq2QllKiCsWnPHc0exGOYXfugF4dW6fjg6vcFTPHdl9x-hyY3l5y1rK5i29KMCjID43Ff4hJSQwGbvac2igJQUjCl5QKfKtTLlTd5xT8nI1FLroZNVpfnj0u1HlGburyeqFU0ZrFhjQH1wRUxSAi8Vb0jOQeVxWs-d5vNp0Fpm3cGE9v1HdJYHv2FZxiKW3zMYvDTy-3KxXQg_Pj1K2m34hLPPmdacuRt0718gor1RttdDkWehgsYLUATQR-blSlqgadwRF_aSRjPHMI5SJkeWRv9_aVCc6U-NVhLe_-sCtoo98PS9hKyEU970vL7i0T_NH411EVWsMshYItHY9PcrOXInJo1Ah2R8Rcr9gqnRhA2RvFBGOjt2BWk3_otcQzNf7NPKmeYiE32nrWYoebn8rNmy0SGlu5nHd21X6X1L3FyZhf2h71Vk1r3ytDe1TrWS9FH5P0mRmMt1j93wr8u9hr83jtey1sQvFX0pxUN2ANVgZPosgMHJ8FotEQnV0db9u2Mj9OUJ2uB3kWvFtldJXlm5EKQPWau-18MorOxSWPfvolqaIMcMVBDMLUFxO1jjPbCWZFf5c0juNYA=",
  "id": "rs_074353dbc4628301016aacb23812f887d095a4514b96ed15c8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.395,\"right_z\":0.21,\"right_gripper\":0,\"right_pitch\":0.15,\"right_roll\":0.1},\"note\":\"The brick is aligned over the pot opening. I’ll lower it carefully while keeping it gripped, watching for contact with the rim.\"}",
  "call_id": "call_BbiMXR5DUKPlEIiFrzWNZJod",
  "id": "fc_074353dbc4628301016aacb23a2dec87d08fed737f8638639a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BbiMXR5DUKPlEIiFrzWNZJod",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8436, 0.6411, -0.5201, -0.0265, -0.0265, 0.9995, 1.0424, 1.9469, 1.7599, -0.6765, 0.6201, 0.4747, 0.7459]\nstate[eef_state]: left_x=0.2818 left_y=0.0009 left_z=0.1557 left_yaw=-0.0038 left_pitch=-0.1506 left_roll=0.0074 left_gripper=0.9995 right_x=0.3416 right_y=0.3886 right_z=0.2086 right_yaw=0.276 right_pitch=-0.1023 right_roll=-0.0867 right_gripper=0.7459\nstate[joint_eff]: [-0.2256, -1.6752, 7.0085, 1.6142, -0.0757, -0.0171, -0.0122, -0.4308, -14.0103, 9.5932, 2.2247, 0.7106, -0.0415, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdbb3050a11cab93db00d1439bd427ca8398d7c4c222f934fc25e08fed4b0252",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a50f14e3c733db864a6287c5056ae46db22f8039a4374e586a077df1d17bad42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1f73d0cac3f590a69bfb1c51b042e5c91c36f4152cc6a2d9f5e142e299cfd19",
      "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, 0.841, 0.6411, -0.5201, -0.0261, -0.0265, 0.9995, 1.0451, 1.9385, 1.887, -0.7055, 0.6659, 0.4839, 0.7459]\nstate[eef_state]: left_x=0.2817 left_y=0.0008 left_z=0.1564 left_yaw=-0.0041 left_pitch=-0.1479 left_roll=0.0071 left_gripper=0.9995 right_x=0.3496 right_y=0.3922 right_z=0.2623 right_yaw=0.2448 right_pitch=-0.0032 right_roll=-0.0276 right_gripper=0.7459\nstate[joint_eff]: [-0.1026, -1.5385, 6.8855, 1.6337, -0.0513, -0.0708, -0.0122, 0.1162, -12.8342, 11.1658, 2.2491, 0.8474, 0.2857, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLJFPTdK0nVICR3uIfO1de3iyACONlPKrVnC0nqaDjOIOx4Uf_qlN2Srp08ZA1VTya2F7HsSFWeLmAkG9PDGzlONUy3YovMIwxo1-QT6pXiDmkggH-UNq_v1W6W1mfTkGO1p3fZEWBhNaB-ehFqzcBdrEXUCsGwoeBLiL1VPbuCVRieJYfPbjFKz7kTLue0sWz7ozkGNa5P6wOV5TNh2gi-xSswfFEqMi7h4_gJJtHLmtG3wzheOeeYsyFzA9uO8r-MC5YQr0TWyOfzfqs9QP-oM6sIH_jm84rHnO30oucE1OvutZ8xzWern04uqA2xsBVFosEWT9L429BaQ4A-uBsAOMXRzBUG8mOPM-s4WRvoF6pnNf9UI2LwmI31JDAzCYTY1-2SSojrLRRdUbYwOsTXy8FRXg6DxVe_g6k6j2Bh4O577zqeG8GuouhzddtCr4hwQanxg7Jov8ohps62ddoz1UpmSTNt3leDUqHBOFVIGrZhYmaighfL7jUIw-7ogz8yI3RWajC0gIJY4sjutSC9T4lX5__T8w7jbw1G4Bv2mZFR8jUUQ5fGymlMjif3gig25CQeeS9vwdeSrhRwIlUciSTSLJvc20uYv9_v33Z7LL5H-2rYbqdao_4LxOr99HDP9hH3d809rhN7XhRnpfpoOOZBUql91wJaofpeJAOuZN5v2-da_eZjMCcgcRHk04qCXWPeh9kWSTvY85_rsnSHjJg6zGkw4Gen7icqHLzuH01O3fIpqADvdS5FPMw9CkPM_lzvDAJSX-tIy6A1bY_rdsZhDcVOaJafShyKusXEsT483fkcEFtuSurkaOjXt3FM05LhYR7cu_DEV88j9QgSSy1HY-IqV7lk8_KCj8XRpLhn_Ot-9hRhlu5I6z0031qQarr-PCzqnBl2fYVTt3GslRXpYLz2VACN7Q-95kf4XF8_PSLSzHp6EdC4KFthwXx6jRFrAAdW3tiayyz9mTqbxFd_nGMwml5R05svE0zZJmYnUAmcnaQDC8WuyuDjMas_z9AqX-SXFxoeOERwfrvFL0rQXN7UsVPeKtzQOsvUQo8ratxJvrqMm0jJZRLsqOlKazQSnooKp5iSQyKcAPgObubFBDpwK39zfBonA_d1DJOYR23qWykY-pXofnFkZGXUKhiFInPAaQV6kQukLnhky25YMlUuaUJtdUPficj9_0KTdQ5QWfEAPDoom8Yk_btUT90JqZhVMb6gq238iSYHk10D_XZ2Kan8er9UTnmkrLYsHvkOhE-TjRAeahWHO8zXoXpWRJoOOkKsHY5sRJ5n3iqMmhnNBH9O1c6nsP-DUu_nikosVx0YyTobTK4PlTd76pJK3nHA5-maqn51BjrUspzd89R55YAhv0QtkteXyLG2IfdjBBxNE-ASc_1sqI2eD9cIleFUeuLIoYH5CuNwDSpahshqWqaIo9jorKqlpdUwbMW20-G_c_ue5WK9-HoM1rh7gG6mQePDThEiEP0RzJBlDa1CGDcYIFV-46iRComnCNy7Dz57lJI0YcrFm-ajdxKUE7TWEaqBnv-Id1yXB2tFeTczVEFt4y3tCnGxnY24gGU7fHscWY26LIvzXOV40FRcEVikalUZZVTtxWs9O6VMKnF2KmHDByXMKA6SMHyTtrJ8aLbYnDTKj7b3Mc9weZmAyyagbLEuqXcaUCFqE0fEE8-IHfYbrVivUjkP1UK6B1TuOqPdRaSY8GOT1G6SYdf3dkxNZ52ac1GgSHoDB4g==",
  "id": "rs_074353dbc4628301016aacb23f4f0887d083a900cd472ce21e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.395,\"right_z\":0.18,\"right_gripper\":0,\"right_pitch\":0.15,\"right_roll\":0.1},\"note\":\"The brick’s near end is still close to the near rim. I’ll move it a few centimetres farther into the opening and lower a little more.\"}",
  "call_id": "call_sz1a1NJFemP0C5fyGdVFTFMU",
  "id": "fc_074353dbc4628301016aacb243f6c087d08c5c0717377a13c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sz1a1NJFemP0C5fyGdVFTFMU",
  "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, 0.8444, 0.6411, -0.5201, -0.0261, -0.0265, 0.9995, 0.9337, 1.977, 1.4052, -0.1875, 0.535, 0.3805, 0.7458]\nstate[eef_state]: left_x=0.2818 left_y=0.0008 left_z=0.1555 left_yaw=-0.0041 left_pitch=-0.1514 left_roll=0.0072 left_gripper=0.9995 right_x=0.3812 right_y=0.3697 right_z=0.1197 right_yaw=0.2864 right_pitch=-0.0671 right_roll=-0.0469 right_gripper=0.7458\nstate[joint_eff]: [-0.0205, -1.5248, 6.8991, 1.5751, -0.0415, -0.0513, -0.0122, 0.253, -12.5744, 8.9231, 2.7961, 0.3932, -0.0855, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:678fce693b00e2b1965312bcfe50a3c706eb0d6d2ce4090891ee9380528c2494",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60cbae01601af6b0887629c48fd41c75ccc9892fba9624242bcac6b3b4703c0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06ded1869cc68722da2205f6d7e422345e6d33668ad1d04ff3929484d1c3d305",
      "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, 0.8436, 0.6411, -0.5201, -0.0265, -0.0265, 0.9995, 1.0424, 1.9469, 1.7599, -0.6765, 0.6201, 0.4747, 0.7459]\nstate[eef_state]: left_x=0.2818 left_y=0.0009 left_z=0.1557 left_yaw=-0.0038 left_pitch=-0.1506 left_roll=0.0074 left_gripper=0.9995 right_x=0.3416 right_y=0.3886 right_z=0.2086 right_yaw=0.276 right_pitch=-0.1023 right_roll=-0.0867 right_gripper=0.7459\nstate[joint_eff]: [-0.2256, -1.6752, 7.0085, 1.6142, -0.0757, -0.0171, -0.0122, -0.4308, -14.0103, 9.5932, 2.2247, 0.7106, -0.0415, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLJKFsYDaVid3E-pYaRSbCiEIvWiDJr8QBFoB9IznbuKuLrNtAf-IeJpX1WiNIjyzmfsSwbSPcp9fZNZ5xY8tYCV6Et_MAJEkgWU40lvAmAu7M3jlrIsBgCbZ6srMTa4h1TdcAKComGcvtaHKwQOsY4xf4wKKCJKcJjAYDQWWl88WsD8hZI-UBzsFZZmP8_KtZpyVWfmp8L-oq_B4E7w7-cf1Y5sMaOXjNpoHNj0r56cPDI8qtxTRh3EvYnZ37O_tGfNsMGUyAwNo-IrzJ72r4BmTea6MvdegJFuh0ap0SD16ehwTjCqdERPKbS3Ah5InUIvr2J9OJEfaOc6LcdHlGna-yUaGjChYYIsHmEtZFf_dn3nNjiAlhtMQ7iDAgyURGOEq5bfA0wUTPTZBEVds0Hd1R-_6mSbgbfGDsV5EdqppA0tgfDnTCnwACpZBpYmJ1jgg9iYA7fDjCE5c6ZhIzaASFA29HEwwIq47b3pc0-LOfvD285ZHUyWpiU5n3lQUfRv6aFHC-mJXl4v47N76caQjtv87zfkwh29jLSKjD-3QYxz0zF_N1DzP5e_TFNHzbGvUVswVG6HVHpyFt-T8WSQ3fZHns2miOeC4xGAntmRj8aaJb-OC25lp3w-Qyl1EZwvwKcgPgGqRw0sGq9RFrzgf_-nqKc7UNrh5YTNJexuCD20UuwsrUoDeCuwsjB0r_vkhxwcwderC4qOWGn8jwB7-HOUgHOIc93FRaGsUGs9umqj9Xnp4DmCSFdMFRelo1stXK-BhXdk6y3GJaxV0tlzwB1JaJJ8YTl1vMWNDHhWNrWyJePlmUScaEoRYyjXbYtcPz_xtX28X7kpZBdia5jJ2qFUUOyrhsZcKuuAwV1tnxaFs7gQun2FG5Ox5tOsSOpu6Z3mUGV-PawfP2FQhV6-C3MhyREqzw09qxMtirxX7Wycvo3pfhPZdw_vFVVxe5mT_Gc5FiguERusxS23Fa9n1NLeN9x4elFV5hFTHJ4UzSVhrk1SHt8PsvwC2YD7h9kR8NKlfIEhn43fK9ciP9NGHOUtKpmev-bkER8PoWJQQN8Q0A88X_z_Q52w3Pw5cNzbj53DQSjMarV8SllqkgJtSnRaNMtuP72szeEkDyetiECPzxu5CBLoSMnx0TZeYlX3t1AcVziI7qH8wjjJK0Nogb4wI9QE5m39IlOhasct9uzEa2nhgrpTuX3g5A_qohgJ2Isw0mF9elwH1hfpu3JgMktOmyoOp5Huwtgr8RlKBzZeckAWG5vXzTP09eux_ARy5qQxllNJakYf7XnwqfET6jsNooIh_j_NjTQ7o8Q7VOsQFIbMansgi-8xE_Y6oOGEQpXGNteZFAtj17InhF80plLFR993orI_02AuQ8TNsTEVA3SN3a6zFKU8wPNRm2lnteBIW03morNTr7TcyzDhFQ==",
  "id": "rs_074353dbc4628301016aacb248315087d0b1a2d868bfb2cf28",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The brick is now lowered inside the pot opening, close to water level. I’ll open the jaws to leave it in the pot.\"}",
  "call_id": "call_gHKtcEVcRhfW46Quub4suUYt",
  "id": "fc_074353dbc4628301016aacb249a44c87d08ff3948bd4b67a47",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gHKtcEVcRhfW46Quub4suUYt",
  "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, 0.8448, 0.6411, -0.5205, -0.0265, -0.0265, 0.9995, 0.9413, 1.9751, 1.3258, -0.0784, 0.5312, 0.3454, 0.7459]\nstate[eef_state]: left_x=0.2818 left_y=0.0009 left_z=0.1553 left_yaw=-0.0038 left_pitch=-0.1521 left_roll=0.0075 left_gripper=0.9995 right_x=0.3764 right_y=0.3709 right_z=0.1066 right_yaw=0.3169 right_pitch=-0.0443 right_roll=-0.0545 right_gripper=0.7459\nstate[joint_eff]: [-0.1846, -1.0051, 6.8718, 1.5604, -0.0415, -0.0317, -0.0122, -0.4308, -11.3162, 10.0171, 1.8877, 0.4957, 0.1001, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ccf9e8929d1cb8ec1e1f061bc3b67ed35c4f81626ed6d95c9ec759e0137f534",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3a9c19c83cdcf06eb5d8e08ac316fe881a8a7f190a88bf47b5cfc6402cd2e7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc43aafe8d04d9819ae71e74d12e4d356a169c46e13272af01e6427d71c348bc",
      "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, 0.8444, 0.6411, -0.5201, -0.0261, -0.0265, 0.9995, 0.9337, 1.977, 1.4052, -0.1875, 0.535, 0.3805, 0.7458]\nstate[eef_state]: left_x=0.2818 left_y=0.0008 left_z=0.1555 left_yaw=-0.0041 left_pitch=-0.1514 left_roll=0.0072 left_gripper=0.9995 right_x=0.3812 right_y=0.3697 right_z=0.1197 right_yaw=0.2864 right_pitch=-0.0671 right_roll=-0.0469 right_gripper=0.7458\nstate[joint_eff]: [-0.0205, -1.5248, 6.8991, 1.5751, -0.0415, -0.0513, -0.0122, 0.253, -12.5744, 8.9231, 2.7961, 0.3932, -0.0855, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLJQVe9ZpPDs76n1c4K_GdlhxfzR8a9Iw7udY1VzGmUcd59lilDDzjyp99W6TTPLGsjpMWW_bbpxExWbfdK13kostc6HWttsQiflsx0OsbcbnHiNybExrdcDCsW3Qser4zKkmG4POFzQ72a3KEFr79D2PhgyzBNm1o_9FsQoZBLxJE0PJHw1jpwV3EOqROiLE4BqdEtkQp0gGCFadvbJkO9AvmVh3sV_2K-BSZvf_PuHmXNs9gRn8T7RwzL5exqU5a1ftFKTG-jU-mLkSWN6bAxs4u3ILldqyHzUn9C9Etk0wSQd8738Ty4aF_N0mL5pOq7xGjQ6ECWV6oFyJon19P8vPL07Cm3P38RG6z8qJR6o9sN61DIQ0h5NJ6d79ak7cRzWHrVyWosuJ0vbOvLMcGkSEb-ULC1NqP0EU8c-ST_9ch4Ni0YkB-NFRnUkwd5XZzjNC8UuRvf5j4y7KmA3E9Hj4GNH7Joi58uhIEKxc6WE6u4BbzAUOCroc3ooPfi6OjATtOjFQmYtCnnSF6nGlpGs5QYpEH8pd-NvtE8kXAqKKHo3DjBLaU4Jf4EctLmrGCvKUAlfFKmk_HXlPpKU4OJsCRTkW1fC3TcJ1DcZBoG0Ea_W5591lQfuBq_mBSo7uGSTC_--FZnVRH3dR2-vIA57rnax5mhxT0qGcxpTJAoW4DJrikUAK2PKR_SOXQaUDvyp5DSoMzfpDLAOtPz3o1nbWi9kk3_Jwtry7047E5dnJuc93qITcqbaIgDvGyf16L1WU96rY8013_U-R0rmAxtDEH6eeaYI56MX6_gcYQ6XaxROSHFD8NBZd3ce6dfsZuHHRQr9Q6xENDuXp_-0HrlMs3xnF9qQeXMe2IGbc2xnBGGV1Qq-eBF_U0RkuxJisiucHjs1vB5ahxSluhWE_7dVVlXWcWgQF-Cj_9eIqtH9fzS4f-lygnjXXCLLV7gRAwQ6iaFjJehXpvyAkkB4-DLs2ESbxkuE-6PjoaYcz83gr9UzuRboIWjvHgwtI5N1DqXffCs9-3EdzTL9kOmQrRLdenLWVMcAgki-SpoMQdA0NHLhoIJ0T-rzPVhZkMMrgrBSMb6pfVXMzi6NJsxhbDRmAj89R4iG88PyafdQ3U0WRjubECaqX37uuhP_o-ipB0jcPRMec3bMHxQLSEzaG2J5ihN1kbX_LVVwI4SOyIeFtuRQplIZOD_oZtyKGo0tyK06KTCktzD1kAnQ28rQgYhMen7RUaW6QEj7G1iiMjzg7RxN9cF2FoX-o4nc7UTcyn-hcMJLNBsKVBd7_oPcd7zA1g2G1hGTdZMBjS6ZE4G-GZbfPQKJN4rZo6yTrETjKPz-dRxoNTCXOtDVQ6RToNOkOHQ8HSCD9aCvJi06vgxCkeoyKpy2W9tRzkVuHSYxNRyhRWCdbEuVUVlLRviUszJqD2f68gZYNvyRoP7AaJk20nXPfs1zA0aODZFaMEKEWjYXj_QFx5rNcpaylAg6qrlKp_FT-8krna44_yUn44AI6v5NUoDS-ZS-nETtCOOcr5-zBgbjY6JczOX1PtmMY2P1-FvgmFpvO6Q4SlNpVzBznH8YnP1aXqOSb2iCjE0rBQUMyxHGvijdqpXBhhzWMKs5HmClkRPoK3NpB1iY5HI19eCZdG9g7jvRcvyQiK7juCXQq51-CjkBgjeB-8NEjBg3XTbYXXMNKJ7_zCdFgJauVHRmDOdqe0mVI2jZ0Y_5__Bd",
  "id": "rs_074353dbc4628301016aacb24d4f3887d0aae9217f7025a3d6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.376,\"right_y\":0.371,\"right_z\":0.11,\"right_yaw\":0.317,\"right_pitch\":-0.044,\"right_roll\":-0.055,\"right_gripper\":1},\"note\":\"The jaw reading shows that the release command did not take effect. I’ll match the arm’s current pose and open again, avoiding a simultaneous correction of the loaded arm.\"}",
  "call_id": "call_yh3w47J4B7cwHlZFHH3PMqjk",
  "id": "fc_074353dbc4628301016aacb24f43f487d0b8e33ab317b38037",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yh3w47J4B7cwHlZFHH3PMqjk",
  "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, 0.8448, 0.6411, -0.5201, -0.0261, -0.0265, 0.9995, 0.9398, 1.9755, 1.3262, -0.1265, 0.5144, 0.3588, 0.7458]\nstate[eef_state]: left_x=0.2818 left_y=0.0008 left_z=0.1554 left_yaw=-0.0041 left_pitch=-0.1518 left_roll=0.0072 left_gripper=0.9995 right_x=0.3713 right_y=0.3669 right_z=0.0977 right_yaw=0.3192 right_pitch=-0.0895 right_roll=-0.0625 right_gripper=0.7458\nstate[joint_eff]: [-0.1709, -1.4291, 6.8991, 1.5849, -0.0464, -0.0415, -0.0122, 0.1846, -11.2752, 6.9128, 1.8339, 0.3053, -0.1392, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81af7007820bd83174f5c6227f3968c1893cdbf7ef85e8473fbf8a6bb18d78c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38f76aa84aa3c3d8dff97efd5b468be07139e1b8c05dff41c65a4b4c4fd4a7c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4af5058ef265c6f1f3f6fbd0eeecda547c2b521a75133e7b579638afe29f5f7f",
      "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, 0.8448, 0.6411, -0.5205, -0.0265, -0.0265, 0.9995, 0.9413, 1.9751, 1.3258, -0.0784, 0.5312, 0.3454, 0.7459]\nstate[eef_state]: left_x=0.2818 left_y=0.0009 left_z=0.1553 left_yaw=-0.0038 left_pitch=-0.1521 left_roll=0.0075 left_gripper=0.9995 right_x=0.3764 right_y=0.3709 right_z=0.1066 right_yaw=0.3169 right_pitch=-0.0443 right_roll=-0.0545 right_gripper=0.7459\nstate[joint_eff]: [-0.1846, -1.0051, 6.8718, 1.5604, -0.0415, -0.0317, -0.0122, -0.4308, -11.3162, 10.0171, 1.8877, 0.4957, 0.1001, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLJUfJaLJxFNngM6df7jCXNVVVvxj7od6zvEsb1NdGman5PdUxSeDtbWxU086zxtlQZXoo-rU2zrhPYje0Edk3Ly29QFqJOks0ZYXRoXh2d7HHjvqJp1UyNMR6WOd43Mt_Y04w-y90HRRrpZKvHFi455t-43CMFtZ593jGt1iSw_l_jDGTA6kze3JsGDvcMVbgBEt0nuK5h6Eu2VSSTvTtKeeM8Hj1grQnLGOREJk-3x3fJd7czOCbFWvZ4k_xDa4kKbcjCah0_MjOcRayJMW8zWRZWQNodsN175BF3EniBIdSPa-Q_d3h7V-umWm8h9B9TVNGnZk_ph6TBtEPJ9rdCs-aHmCuLeHXRKIWoBmA8ftnNjYBFZgHkNiHGp0w0eJHHkJkvANa2fc4u39HweEn4SbCgR9db4XVuvIjFDBpY7aARC26zVAU4DdfEMJyTespHQohSv1i25vFZjZ_EDh4B86Amz72PNbh0Bp6xe9Vrgb__gRlVMHc_DPI2YlWpX0aezyji5vDUaNqWjz_mwjqOJ98d4DDH28xgcwUhop7FE8NQKY6r9BBfVQFHoT37TT5Oz3Hc_yvOZQpTPmq6PEwK0bBjH55mHjCM1_zmxELjub2v_ORERTraKk1agZOy5qQEaojg2Msh8sc4IRyoomz4ppjgT14R_ZH2jLMb_dQUpRvLhDj3nJ5I6-zSS2UsmUo4JqvFyqFh04xTeVZTnZTG6KafCby4AWIzSgLtneSAbRGCxLni_habIMIb-Q327HPpby9cjavw7Z2BuOkdPKikHCvkefr6xiKwrmA6fHsqdQnw-0RWo9q7uau8wGelvL8CjC2cliN7lmNiKRjKFSbdDeqThIrdF1-rsZ33pdgWBqZCNXuLMN_Xbbt2lpKLwHxkBlpkjU0No6mYP5jqyO9CGaR4mgcjohvBWIqhMFv1mbVlHmx1jqEl7jk3nm9VWlAI4hjLNV2-s7KbYB7RW39slE_3tpmGpr0JAGJpabCwIjn2I31pIAuCS1JlyLv_zh-deLl0CakG22E3k7gTmVb1Dc2ldAbj67p1_DEz2H9zbBiOHuIkWACHJC_bpxNG8D8RB_2A7hFBLWXcXwor8S1pIoWyQyZwnJlt-OK2ztZXsF_HhhYwGgRR037sYqNLKNfv4tIvzMrS3xna2O_Kh15X1wkRwWrsaGaJ2ucHOJ-KpvrBxjOm_2VnwBZn38NzVWITpWgCb8BDXzJi0gS-UD9QpP1SmUS9o7_jTw7zC70tq4czyq65gVTkAO5kvSUb4d5m4iVVuiCu0OmzWMpBEfvlGDqZabwuB8vDiZn2ccDEcz8yLDCeVbwAqGxIwu40-JpuXxOzfrYXQygsPO5woWTdnXg==",
  "id": "rs_074353dbc4628301016aacb252b24c87d0894edc33ac562afb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.8},\"note\":\"The opening motion is still being clamped, and the brick remains between the jaws. I’ll try a smaller opening increment to release the grip gently.\"}",
  "call_id": "call_GqXkRSGjccAWQhrnKZgPJPM1",
  "id": "fc_074353dbc4628301016aacb253c16087d0bf5e04f05344414a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GqXkRSGjccAWQhrnKZgPJPM1",
  "output": "executing move_to over 1 steps (0.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8448, 0.6411, -0.5201, -0.0261, -0.0265, 0.9995, 0.9394, 1.9755, 1.3262, -0.1265, 0.5137, 0.3584, 0.7459]\nstate[eef_state]: left_x=0.2818 left_y=0.0008 left_z=0.1554 left_yaw=-0.0041 left_pitch=-0.1518 left_roll=0.0072 left_gripper=0.9995 right_x=0.3714 right_y=0.3668 right_z=0.0977 right_yaw=0.3196 right_pitch=-0.0899 right_roll=-0.0623 right_gripper=0.7459\nstate[joint_eff]: [-0.0479, -1.4564, 6.9402, 1.5653, -0.022, -0.0464, -0.0122, -0.0342, -11.2752, 6.9128, 1.8339, 0.3053, -0.1978, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69a6550e9aed88c8882313f12d9eaefae44a3853941e9b74f70ed710ae84df9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82ac47b19c01cbea89906410aa0d50df19b82bf1190cd452f48265d54cae0cef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a967d2e52613379af2c11259b9000539b051228fdf985c544e5f84edaafa4e77",
      "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, 0.8448, 0.6411, -0.5201, -0.0261, -0.0265, 0.9995, 0.9398, 1.9755, 1.3262, -0.1265, 0.5144, 0.3588, 0.7458]\nstate[eef_state]: left_x=0.2818 left_y=0.0008 left_z=0.1554 left_yaw=-0.0041 left_pitch=-0.1518 left_roll=0.0072 left_gripper=0.9995 right_x=0.3713 right_y=0.3669 right_z=0.0977 right_yaw=0.3192 right_pitch=-0.0895 right_roll=-0.0625 right_gripper=0.7458\nstate[joint_eff]: [-0.1709, -1.4291, 6.8991, 1.5849, -0.0464, -0.0415, -0.0122, 0.1846, -11.2752, 6.9128, 1.8339, 0.3053, -0.1392, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLJeO4VQ0CpQEVE3aBAAmAAla7-iWjxVALBmUJHzCwe7xG2BZMWFHjJuVSZae7FttL27b0374YU2-iKF5LAQhgxWXWnktWR6eTpu2RRpKzlCTyPVD1N-M3e96wF57C1zthYbvW1MMGPw572d04ycbmm6JxwfoQp1bpx7PB5vHx_ICPuVDdbSe4aofTc0cG_gPIG2vUuJkE_ixIdp6f0JIznTRyky8s42qJvmzWMXGrpaitry4HODyUI3aJbapMbwh4nA8MIby3ElwZ7GDxbr9X0_PExiZH0YKL2cNxjBEABbJUKaWykhcwfv0cMdaYCxM9EPHUEUTkZT6hG1AVTpBHHQ381Bh93JCc4TVumCUUGSeoYqEFy2MZaQCFNZFUFQGT1nLdnzs4Kl03GFqY2EfoSQ1uf-N8R2UdtBXG9bbPsPwmb-32dLNZ1oUrziNn0QTvm1Omge-52fnS8efyOw-YZMt7jBOvbz4lXiHwLnA6105LRXwjyV5CQx_YuPALvcWlqBV2ZGmMabrenlvATrHRqOQKnbkjQ3i5KwdrZwgMhZmeNMIplMZCyD0aFHPcugt0RaSICdWcZZqFs5YZqnKqKZqcHUjCRcG_INPziGHG3l8wA-_hvzbZNSXNTJzbo6wZRuSXTdkwEi3ykbZv-IEryotqlZkEnFGLHE33K-e3KtNCS9AlUseehsyKvrN3vTR_5BhGfkYZRBOlRI4fgaEoxQHDwBz0B_x5CyRzSda5qdtCfDRTSOWsS6V0HQ-Rno9PpiqQGHTxGJ5tEdXXRMsZg_5N1WJSHDMU8_TMF5bMh3HSGlYdbnaPTFMPD88Q5hA4ZyGMvnuM0a9XKnOfpHjsUIWU3gBC26jZdAs15SAXi67xENZB0sh1q7XNsoVNxKPLPAZLOK_cPu0dPkUEr7ksFXB_9xghUG6Ly5NGJ28QtsqcicqxX2URhmmeGrrnBY0TKAfVrqdkj9sZNfZGkEexG8YqGv1Ub3fJn0aPRBQufnbLhpZsl6A8p-PThX4BhZxFfAtj2m8NaZkhdDHCGbv-RBSSU3BGLweHppqxwi7AbZ1Fb18X2XTFvHk9ztaKnubgJw8cxGSH6Pj7EjmLtllL5bCnxzdHXBVVTbvgtsgSs-AeN4b4JUio3yf7xYQX28kqZscnzMOEGH0_4TYCeB9IA29AOcPEV4jB_V5M8hYQaUjbgQKqelemlEtsw0OxjFjZCrZqBOTboGiW3xFSWSQKjTHUhm_XmuLwwdpap_oxHXityv1gEg9OU1UzpQ7Wl7CKch6PbctGCS7iDEJbw8PJ8ehEel2K5LAiT97E_hIvpRljGCKf2yyXr24yv55w9n_51ZHBUTHoE-r8paQwIgnkVdmS6ElxnS1aoG8ldln-7EXpA0d3zhNzaAfkgq7zITTTMZy0rvMo1bXDc_C2UwMYhS2zJdQmQUQFrSo0I7Ur-vJvnQSpfjaaV7aOYTa5sNlMwQf-AzJFE1E5N3Kg2_mtxgw8iL7ku4kFZbJD_ibpPxQ_RNJD20LyuI_hs6i8x3Y2Bl-2mOMathw2-maEQqTvEUcecc4RkcTRa-WZpRwsUpRU3TqR-ETy7CyhQPFYn5HojIsdbgsCT2IthO7y2kPByd8ir3YaprjOn12wkFy8ILcJ2sqan3CxvFH7YjmGsjRYPzxaRtfZLsNz2do20JLno00tAKZLeRBLCFpPK7pcMxLaXgtlNdjU-frXpBQqRpcLQCw_wKG4QL4X-bd6ROyDLEu9dOoJRnER-34l33xrm1WxBm8FmyqP4M4J65Y3A078xBC2TtVqDOLHsdrFvHRAJVzlSQ0_iNbVcpnapveIuZGY9q_JW0a1JrUq1qcWb370kxa2ZVBo2AXYP6Ay4F--oeL1rfIMwpcFOWflMGAFOXjOVuCIVFuQGf3m4vNioVZtBMl7vn1Auo9k2tsaPcZRfjNQd6nWuHzHIHAhP16nNvcVAfjzofHYDQoeZgclnwd8KhC6D-BtqIdauHabJkfGeHcjUlNzETzUuIUxsgMQZdF5prBj56DDCMOeHmAGhteSLzE4sP55r3C9Up5Sj_y5WcjlHoWP_H_bEnNOHqNsLLmEp64-0753N928g5oAE7dzpqfkChNaCXlaZVSgjRfn7cNoHaQMYPvtCv-WclUonQ7TwjB58Q8VSGZS8BScRAh9zG_1ZP4lVIQ3A7LTd4jIMBjV13CcCfzBJBwBuGapxlk9IGCKXLl4893Um84oXGOW5nOEwDv2uR_SVg6RGKQtlhIGp9M8V1iOasn_WqrMbBtBwVN7NmVIuFxwlvX0GLec3w",
  "id": "rs_074353dbc4628301016aacb256c0d487d0a51828073a399586",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_x\":0.24,\"left_y\":0,\"left_z\":0.26},\"note\":\"The brick is supported inside the pot, but the jaws have not opened yet. I’ll give the opening command more time while moving the idle left arm upward and clear.\"}",
  "call_id": "call_16ZzlqWRoNyP4eACoxuAk3ml",
  "id": "fc_074353dbc4628301016aacb25cb16c87d08b2fe889f9ac5dd2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_16ZzlqWRoNyP4eACoxuAk3ml",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.041, 0.7975, 1.0149, -0.9314, -0.0273, -0.0341, 0.9995, 0.9394, 1.9755, 1.3262, -0.1226, 0.5087, 0.3588, 0.9966]\nstate[eef_state]: left_x=0.2485 left_y=-0.0018 left_z=0.251 left_yaw=-0.0139 left_pitch=-0.1418 left_roll=0.0019 left_gripper=0.9995 right_x=0.3713 right_y=0.368 right_z=0.098 right_yaw=0.3234 right_pitch=-0.0887 right_roll=-0.057 right_gripper=0.9966\nstate[joint_eff]: [-0.4171, -0.2803, 8.294, 1.5263, -0.149, -0.0513, -0.0122, -0.0205, -10.7966, 6.6667, 1.4188, 0.1685, -0.0415, -0.3101]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c8623ec06fe89214b1fdd57803540fe2ecd681376116d496181fe6f6edac55c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d96b701fd336fe6b37a1251294986f189fcfcc682b8819be88cbded1583dde7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d3fc00d97dc060e57adcf347e9f1b68fd2174705682a4554e43d2269f17d1db",
      "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, 0.8448, 0.6411, -0.5201, -0.0261, -0.0265, 0.9995, 0.9394, 1.9755, 1.3262, -0.1265, 0.5137, 0.3584, 0.7459]\nstate[eef_state]: left_x=0.2818 left_y=0.0008 left_z=0.1554 left_yaw=-0.0041 left_pitch=-0.1518 left_roll=0.0072 left_gripper=0.9995 right_x=0.3714 right_y=0.3668 right_z=0.0977 right_yaw=0.3196 right_pitch=-0.0899 right_roll=-0.0623 right_gripper=0.7459\nstate[joint_eff]: [-0.0479, -1.4564, 6.9402, 1.5653, -0.022, -0.0464, -0.0122, -0.0342, -11.2752, 6.9128, 1.8339, 0.3053, -0.1978, 1.0281]\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\":0.35,\"right_y\":0.32,\"right_z\":0.26,\"right_gripper\":1},\"note\":\"The jaws are open, and the brick is visibly resting inside the pot. I’ll lift the right gripper clear to confirm the placement from above.\"}",
  "call_id": "call_ujocS0mIKPmLPWUMmVSrLk5H",
  "id": "fc_074353dbc4628301016aacb26074a887d08064c7ce1ade3fe9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ujocS0mIKPmLPWUMmVSrLk5H",
  "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]: [-0.0414, 0.8032, 1.013, -0.9619, -0.0299, -0.0345, 0.9995, 0.9131, 1.7462, 1.5826, -0.638, 0.4843, 0.3325, 0.9967]\nstate[eef_state]: left_x=0.2442 left_y=-0.0012 left_z=0.2433 left_yaw=-0.0116 left_pitch=-0.1798 left_roll=0.0045 left_gripper=0.9995 right_x=0.3527 right_y=0.3279 right_z=0.2287 right_yaw=0.3282 right_pitch=-0.1242 right_roll=-0.0802 right_gripper=0.9967\nstate[joint_eff]: [-0.294, -0.9641, 6.3385, 1.8437, -0.0366, -0.0269, -0.0122, -0.7316, -12.0684, 9.4427, 1.5311, 0.1538, -0.022, -0.3541]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26afa55df5df05fec546dd5c77af4f82c3fe338d723e84b3940fab034c714deb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df1190619d54cfde584331bc7cf6470da36046bc5f7c42c805a8925835195d58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beed317c5f697da9af11423bd782a5122d3f9ec56599686356498668381110d8",
      "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]: [-0.041, 0.7975, 1.0149, -0.9314, -0.0273, -0.0341, 0.9995, 0.9394, 1.9755, 1.3262, -0.1226, 0.5087, 0.3588, 0.9966]\nstate[eef_state]: left_x=0.2485 left_y=-0.0018 left_z=0.251 left_yaw=-0.0139 left_pitch=-0.1418 left_roll=0.0019 left_gripper=0.9995 right_x=0.3713 right_y=0.368 right_z=0.098 right_yaw=0.3234 right_pitch=-0.0887 right_roll=-0.057 right_gripper=0.9966\nstate[joint_eff]: [-0.4171, -0.2803, 8.294, 1.5263, -0.149, -0.0513, -0.0122, -0.0205, -10.7966, 6.6667, 1.4188, 0.1685, -0.0415, -0.3101]",
      "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_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The brick remains in the pot after the gripper lifted away. I’ll park the right arm beside the workspace, leaving the pot unobstructed.\"}",
  "call_id": "call_sVacvjApCvYLH5v23C9Wb1Tp",
  "id": "fc_074353dbc4628301016aacb2657bf487d0a4540b8549582847",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sVacvjApCvYLH5v23C9Wb1Tp",
  "output": "executing move_to over 28 steps (2.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0414, 0.8051, 1.013, -0.9649, -0.0303, -0.0345, 0.9995, 0.0059, 0.8146, 0.6849, -0.4683, 0.0483, 0.0128, 0.9967]\nstate[eef_state]: left_x=0.2439 left_y=-0.0011 left_z=0.2424 left_yaw=-0.0113 left_pitch=-0.1848 left_roll=0.005 left_gripper=0.9995 right_x=0.2935 right_y=-0.0032 right_z=0.1932 right_yaw=-0.0416 right_pitch=-0.0295 right_roll=-0.0068 right_gripper=0.9967\nstate[joint_eff]: [-0.2256, -0.6496, 6.3385, 1.5653, -0.0415, -0.0708, -0.0122, -0.1846, -1.8803, 7.3641, 1.873, -0.0806, -0.0708, -0.3541]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11398f8053c8f192afacdafa28ce5449bac0bf3d18af925f392da586b8f95597",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:102aedf8205ca3deb0056d1a656632d91a17e534c285fff66152429c61db2439",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cf2bc0f0172a85c3ddbbe79b93b2042ed6e58d929ff1ff43c14e149c65768a9",
      "type": "input_image"
    }
  ],
  "role": "user"
}