adhoc

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.794, 0.6044, -0.3794, -0.0227, -0.041, 0.9996, -0.0177, 0.7933, 0.6037, -0.3775, -0.0162, -0.0277, 0.9965]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1803 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9996 right_x=0.295 right_y=0.0012 right_z=0.1805 right_yaw=-0.0001 right_pitch=-0.0 right_roll=0.0001 right_gripper=0.9965\nstate[joint_eff]: [-0.6496, -1.388, 10.2222, 1.7607, -0.022, 0.2515, -0.0611, -0.5949, -1.3607, 10.1128, 1.9023, -0.0904, 0.1392, -0.3785]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:559e4fc15e0a8648398069ec0cddc1155b4110e85379afa3a4a2ea90a77df789",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c150cab122ac49a0957e4953f55e1984ee73238ce8466f0f3d3206cb938d1dd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24909d50ca4a0c50487bc037d65ef4bd1f8d6453f81bb5190c756ee03584c759",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrLWT8ifMfVtQnFhKi49WDjxKiiSDHEjt6x3xpsBFA1Vn0_YRyiz0kiQM_qmMcY9zyu2fFsjvrPGd8ugmKaGuqsiv4RdXcXOU4jd8X8046moR--Md2y-5lBK0NJ--d2yR92YeuUubVm-_aWgqXjgPB0GG4_6-6yOw9EV_D5YnKs_uYxpNAG1smprpWGbTOCjqnKfwTWkBxx5O_BP2lK2LBEi1k2gipbMYqMv7Xan6h3xhfscN0UlecB7cdGSlrJsaylsBw5UyaGVvJ9F_0qdAVLRm0a6f43IRqtEDZ74GW_9H2SCZr1PICyez2bt7DIlIbdNwjHyM_2WaFozkh7vVi_1OrnlAf86PjrC2WcQjPHQc7iaIx8noVpniBNIztNaDTFbtagAyAYDH6ZBdKuUafrRXRX16phwH8rz9c7_VZggJUMD5NqIMwrnST2kVkQjz0xKTefXuZUXKQeWS_e2B50umqvBP4DQK7FsgSCq6niKPMoVCz6gfLAicnfZ4kJmHISsdJuL7-AFY4nLOyPKvqDuAGGasrr9mTqnOLkgX_et_XNtCSOqJtz8vYaOx21Q-aNNMMFxv1IIpbPkHnkjpJh2HJEPTi6q2KFdeKCJnl9Hw_7jgi1yv1-HYeCopnrCAAiH1beHcWBuQ-ADmeQ2adxd5DEojevvoiWekUsBgg1mGBAJ2c1HIpu2h60YlvB9KcB-i3WsikBWkarSepyAqxZHaTsY66BOz0n9k5P_6x1evJCU2FLqL0iky2cBulMW56u-iwS-Q-i5MAF-KKA1k__pF5PFmNetpI8j9Vomjt4EGZBWVDf5VAPnG9P6zNwvn902nUkLbcrgb3-vA8piL7vm4v8XE0hP1mfn2pNWmjXJh6EQChXaz1rhpfjcm9O_LrqlwE5rOi5tkyou-cpgtOxdZzCQzFBRBp72OqbVH5hnO2BFlxDcrvd7_k_SwXnS-uOUmv-DkuCtjc8M9O80Nlumw0P4gf9tUZJ_3bG3ZJro_gnEudrnITJcVEGR5aPftMTn2Bgi4S7fKyt45h_D5GD14dS5SKLXZAwH4gsu4jGxmaIV2lSab6GrZc5UA24RaGoC2x6xd-21ybnl6v7itLl_-IS-Oo_IgXxDK83R33kEh0fh498xetBeX3NYGt4n2By-UnGg4fSoQfjzkftUz4yUH7ULmbovN3Q97-v8G6sI8KgXc-4YaJCg97RCN1rCMiz_TQYT8Con8PVZIsrpSmRdm20RzAfgvOGvoF1unSaCUNE9p5EvVsqSXd9F0WjRuzvmjslt7IYve6YGkLVg52v2Dl-jVjH4HkTwf5I7bDJtw1i_okYbfWRueDxF6WtItAfS0B9PRey8_5XpTxPKDf2KYoazguontz1zChP_RhlP0WbCdcYn-fdhflnnXnQCEnq5CAP4YHsPHV31wllqWTJqycyEN3S7eyKS0PKs1jJr4ORKKDC189AuD4I_zjQkPg-lZQHtqefAHCOKdsTIfd_ARjD023cDrjp6xO83_cYDECH_PeYLDcvYu8phOTOi-zP5NyeGWRTXL3Kz5QPLTUODysJzR7fajc6KosgNMzX8pkyQ=",
  "id": "rs_0f05366a1832a4fb016aacb58ee43887d0bf54336e56e8fb74",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.145,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The black brick is to the right of the pot, nearest the right arm. I’m moving the open right gripper above it to align before descending.\"}",
  "call_id": "call_dUOZu54hv4mmgXIiMNIKmgQQ",
  "id": "fc_0f05366a1832a4fb016aacb5924b9c87d0af576e779afa17c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dUOZu54hv4mmgXIiMNIKmgQQ",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7986, 0.6037, -0.3893, -0.0227, -0.0425, 0.9995, 0.7654, 1.1099, 0.6037, -0.2928, 0.5724, 0.4156, 0.9965]\nstate[eef_state]: left_x=0.2938 left_y=0.0018 left_z=0.1766 left_yaw=0.0008 left_pitch=-0.0149 left_roll=-0.001 left_gripper=0.9995 right_x=0.279 right_y=0.1404 right_z=0.1256 right_yaw=0.0583 right_pitch=-0.0807 right_roll=-0.06 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.5111, 7.1043, 1.7998, -0.0415, -0.0024, -0.0171, 0.1026, -3.8085, 9.8256, 1.7314, 0.5104, 0.1001, -0.3785]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c98a7c24a85088ea8d42954e81f964e7b8228c6577f3867c4394d22c924240a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62540f88d288f545c536f6ca304c26cce04b0fa7de3d3ee6dc9c3fba39e47304",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6869980c14f4f0daa9efb403ace7be50d2cddf031198ab91d8b629560c2b618a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.794, 0.6044, -0.3794, -0.0227, -0.041, 0.9996, -0.0177, 0.7933, 0.6037, -0.3775, -0.0162, -0.0277, 0.9965]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1803 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9996 right_x=0.295 right_y=0.0012 right_z=0.1805 right_yaw=-0.0001 right_pitch=-0.0 right_roll=0.0001 right_gripper=0.9965\nstate[joint_eff]: [-0.6496, -1.388, 10.2222, 1.7607, -0.022, 0.2515, -0.0611, -0.5949, -1.3607, 10.1128, 1.9023, -0.0904, 0.1392, -0.3785]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLWch7jyTZt4uV5oZqX1ol7XonH-aTAjik7kEMGNN19Nmsa2N5S7bPF1hWDEd2OOEk4y-p2bu3UJJPDDycrFmBIFwDZQxPEYtDbGaUvClykAU7bR-6DGRNp6ysKXMV8we0peTL7lSQ1BB5fZ8rKPCb-bw43j4etW-Q1jz6N8A5cbjbZiWQvjNTlwKSsujZnHcH8pvTZaSlb8vJt6-dNxBAhPfZbvo3SESya4CvztZWS3XwWLIf86dOKgCWb8cXAE1p86_bupoK1UrhVoEXd5cXCwC-H-QbdaQuGu36k_ZqZNdI7w5d4tVlojDg8vu_LG0C_EBlT0vaZSct5q7AQuRX_CPii_ff8cOkeUIIaY8t0JxIvFklAjAKCkBe6XYUg6YIxrTmzxRphLt29Byv7GC8zqdHdues5rybHISUWf56YZtzKrm2kLoKDMOYqgN0hVz3A4N83ESbEj_8trt49WmqRSpSw9-TTHZnyccvWMdd8BM_YE-pMG5EFkmHOFD8O0onJXHufbL9nh0ZhaTlQnMRQ3aGzROIr00VFg1uCH0NikXQn_4JiuSYMIwoNBpljy6dPkcAp0-UWAEe4rjUaHvkHHJHkSRWmtiMhJ-V04xeIJ58QkTTzN8OxwoWA_u_plRBPHi5nbe6H4NmGBT271lC_-38IUtwehtaBzvIj-tF0w6LyS1fSMB8ahSObm13NiQ_JCmkK6Jj80ca80ioMK3PJIUo5wo-X7NhKfD9jf2p4y9UIswopiXTO8hv-oKW3UudlbvAab73pjQL04yBc0d4gFm0_FQSsE3e8Xli270PkPqDTZDtuhnJnZlMSOh8-bnZMYvzSr4M3hcjdIdBmBDzSr6VCD5IUbbqtty4vgeSdchH2PI9DmqAzr9IwuiWn6Qq3t9q5MqGKoTCLRHXuGKJk4GaYFvnbEv6xt0c_mgPKTAXjYuptBLfwyxxIZsMUa8j8dvbVuL7brBMlu6gY_eOLspaoiEPzz8XFD_i1jrBCeJKNyHdm9MxVgqmJ7iIX6Ge1f7TPZ7BaH5wcAEfcejgnpL3nWBZ5Juyj1Wo4KGPQVxpnvy64I-W45D-XkIMSWsjXDdr1E5UIHhRdqfM-Wkd7hyux-3fQIzFloxaqa-iHX20TXpItYqWliQFAlx0Yty3aFi5_Nkr-INEP9zhb0XXJVeExTtJg7v7VSi85Sv1GkUFG_0QOC72gYh8eZ2UWJWk9_bw4fliMlUwvkVxgXnTD61NrUxwozMnG1aFMQCEF1bzCjamgbzal9zkeIH69c1uJ-JsJKahP-eUJ2txBCMEvqBN9NhdTyaZVPkCWctsADldTOy7dBstnDoPgBzU2IvJ4yRE_K_UlxrDvjRKruEOA34N935WsrLZMNlQhG3Vtlezm4h2wC4K8R5bbfGzvhTswtPL1PZhBClXtqXOrRppsWw0CVtSddbusPNnTH_rZ1T-nk83SDxVIbAUIsMo6nPkX4EFDf6yHCcKRmorkgc2yCcP7n4TUEBTZc_zWVit8Vg_xEbkCeKcb8hRoYP23OOa2hTxGFjckxKPrvIsO_9AZmhB0cM1bWMD3DmbaO8uR1gBrFDIaGjr_wbBrCQp3Ol9Cdp30bc2mEerHnpaAoyILdLoiW2WH2G7Jc6gPeaUwvFTwp5roZ6R7qrjV0TmZtup19wkZYoUxFMTkALbXRkMe_ZtvuCQPT4kejcuYwljraYpMOvwcsL3p22HtZd_Rhur3anvZAStvdu8PdHbcZvz5PeytXu4UWiWq0ExdVEgFFr0J973OJn2nW6fHi6aWlzu_6h02w-XvsevplbV9R7IzsTzBCBkHwaGeQ5HcRVstZW33ZYhWuyO7_8jigVkb73n5ZsX_5E0cVCMoEzrd8RANTPmhxMrPTdGgLP0ikezAAd0FWYd_7NA4sUI1Sb-IwD_9ML4BI4pUQNaiTVPUmfJzBGuEidL4plkNXDd2qj0gg8LZsIP8GO0VCP2BSv__AoEpw",
  "id": "rs_0f05366a1832a4fb016aacb595e61087d0ba4877397d58b9f9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_y\":0.13,\"right_z\":0.065,\"right_yaw\":1.4},\"note\":\"The brick is centered near the bottom of the wrist view, just ahead of the fingertips. I’m advancing slightly and turning the jaws to grasp across its shorter dimension while lowering toward it.\"}",
  "call_id": "call_lm1V4Bm6MX95TnSHcjD0DUxK",
  "id": "fc_0f05366a1832a4fb016aacb59adbe487d08fae299580e3db26",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lm1V4Bm6MX95TnSHcjD0DUxK",
  "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]: [-0.0196, 0.8024, 0.6033, -0.4046, -0.0227, -0.046, 0.9995, -0.0311, 1.6741, 0.8585, -0.379, -0.7658, -1.0454, 0.9963]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1723 left_yaw=0.0027 left_pitch=-0.0343 left_roll=-0.0034 left_gripper=0.9995 right_x=0.3351 right_y=0.1157 right_z=0.0539 right_yaw=1.1596 right_pitch=-0.1679 right_roll=0.0184 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.2239, 7.0359, 2.0, -0.0708, -0.0171, -0.0122, -0.3214, -8.7726, 5.2991, 0.398, -0.652, -0.0611, -0.0366]\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,$blob:3d0963a7680d39ffe4a9be9b375833eb4dfe048e926eb22ba3aa93c2c8e52379",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84b865c05314affe91d60780c09ad23d809a56b4044cb555a35a338cd09ffd48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eddc77caba3eaca689a9bc45511ebc7ff424aeb9a5d4978e74b98505d1dcedf3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7986, 0.6037, -0.3893, -0.0227, -0.0425, 0.9995, 0.7654, 1.1099, 0.6037, -0.2928, 0.5724, 0.4156, 0.9965]\nstate[eef_state]: left_x=0.2938 left_y=0.0018 left_z=0.1766 left_yaw=0.0008 left_pitch=-0.0149 left_roll=-0.001 left_gripper=0.9995 right_x=0.279 right_y=0.1404 right_z=0.1256 right_yaw=0.0583 right_pitch=-0.0807 right_roll=-0.06 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.5111, 7.1043, 1.7998, -0.0415, -0.0024, -0.0171, 0.1026, -3.8085, 9.8256, 1.7314, 0.5104, 0.1001, -0.3785]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLWk3HylpY3LZ2WGmXwLzxE6mhG7B8pvyCjtk0CHSGjTLW0FeA3fspk6AvH_pm1b1MsL47pKDYWaZzBiKPHYTe2rybQzxcU9c-d4Dp2npOdmjguCxHWtKMMr4NJBEW06exnt_58Z_2aOu_R2QCPvUykliCbvhzE42bztqQnqkjf7AeXlltOcffpEY4U_kQHyVeWvX3I60aVFYxOdoA04j2Qq2hBaQBT1avMvndCT_wcZaXQTxi__-RORTHxraljsWC2JhScAljjI9-2m5qbGzwLUiyPX_Wj7Cw3A0EoYiSNUGNYmpG3KOregR5RAWbF27fdFTGLh8IDeFZVWJFXAkx3mXlvqvROxtbnnoX8noq8L5PRPByTBAbII1da0IgSeq0ZN_5FNZa-ZX_q5vsxTOZM-7nM2MbnlDfg181TnrMUlpNNpuIjiDSNQmwM4yAwETrolz-xHBhbwycZ4IMc90JGr61eZBB-W03UNYn7i-DwaaDmUTdisFAWl9O1QHjU_JAMSKQoEflc87VO6YQTXNOXXvxJ6b2WUoVkKoUZMuYxC3lpZSuQoh3QmlEZi-c88uXUhwS3CebMK1JkxzVVUkuGHtaaHW4Hx47n2rKQRGhZomUEsWaR3cYRpW9-pKob-elYGswWtbMcVNamcAuZjz0ysVtM4XVa5v9tl4vb7A-UjM1VWPk3DSRwqddpNWQToZ3QN-wfHumdcUoo8MYPUeW5qQ-HZypuUoej4-xQTPltJd3EEjY4bjs2D1XL7MDK28huBJAOZoSXeetCsf_L0zsl5jhHParNUTZhn_jw9W0OzvX2kpmGkxLamhA0UAka-kQ8Q3xKPWohC1Q9otH56XoHCBaKXTRQu0Yld2Scx47xcyMdpPuCXmose_5yVsrIYIYcqAijcbtueGTzZwjjAuwBD4aCqYx5GEN6FSa_cghlAcLttp5r7OKurP8DgL055s2wlk_f9QCCrK3xIfcoujavqhsNeqn1zx_UFrozmrui-bD8IW9x_-6K6mqRsUPZGTrydB-QD_MlP6DPeADEcyBritXS7vg2O1dvlTae9yJsGIwVvhv_NEPGlLZA1J-Z99jSMFtNEEwxooJQOwBB8JfbqWFafFM36bdu0pf_TOPFnIslmm68byVNrOHMyMMRPdq7UhhRQRHN8-ftNzZ9t0FmvWRGTXIv-odXn4dKi_QMcl1TfMSzIVAwUt5BsNd7rtEIMHPzMbbMqtritq76bJ9-V8Tikrzo0gQDjD7pQ6Krs_CIcZksJ5cSq4cY0rAYJhvqIctFoqokkiH8Z7ER1p25rUKXWhE_Gi8GEE7GU7Q83tL22IJMaeldswRynzqGn9jiW5c2n9G3PpFX2L_WIB-lBbsmGLNJV6Ep0iESd75cPepTAGbFHcEO9az-1jpjJlm2lDjEtDxrqvmpfyOOAaH7cYvNPqv86Z2o7E4kzRw7Tq49DwMVZvPWP4l4o-jIsGC_ieCB7ua461njtiAbLjiip9_SEgiSgPo5nz23bGmWgPXlW06E1H4x65hKLpWyE2Yv7iw2GdD3c4-7Ndtuo7lmT7cLdX7-bu3kvb-Y__52BoAZeqtZp0LrobaI9Oy5t_Q8OHlQfQajiRMjHXs0j2fpPqzPzakz47DttEeZ3nOhoqlGksXlCN6GnaIL03IlMYTbtY9liyEWbM5UidRlrHF5jfw==",
  "id": "rs_0f05366a1832a4fb016aacb59f32e087d0952d3d26a165e6da",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.305,\"right_y\":0.165,\"right_z\":0.018,\"right_yaw\":1.4},\"note\":\"The overhead view shows the open jaws slightly to the outer side of the brick. I’m shifting inward and lowering so the fingers straddle the brick rather than its cable.\"}",
  "call_id": "call_PxWo6CMvWKLumEBEZL3N7iru",
  "id": "fc_0f05366a1832a4fb016aacb5a288f487d095e375246be6bcd1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PxWo6CMvWKLumEBEZL3N7iru",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6029, -0.4076, -0.0227, -0.0494, 0.9995, 0.0242, 1.7153, 0.8375, -0.3805, -0.7841, -1.1183, 0.9962]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.171 left_yaw=0.0045 left_pitch=-0.0396 left_roll=-0.0061 left_gripper=0.9995 right_x=0.3174 right_y=0.1361 right_z=0.0375 right_yaw=1.2722 right_pitch=-0.1726 right_roll=0.0304 right_gripper=0.9962\nstate[joint_eff]: [-0.0615, -1.4154, 7.0222, 1.7509, -0.0659, -0.0171, -0.0122, -0.335, -7.2274, 5.6821, 0.9841, -0.398, 0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88005e193801ae7c90dd62681760a2cd2192d9d4b229fe99601995c16aca370c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80f58f22c3183e0eeb1036cf3f5e86ac770b9ed31c619c8f4f8a92e5ca425aa6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff35327c6b4587e8a9a9fc5dc663e9360e5f3997953424eec3968cc0eed6be76",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8024, 0.6033, -0.4046, -0.0227, -0.046, 0.9995, -0.0311, 1.6741, 0.8585, -0.379, -0.7658, -1.0454, 0.9963]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1723 left_yaw=0.0027 left_pitch=-0.0343 left_roll=-0.0034 left_gripper=0.9995 right_x=0.3351 right_y=0.1157 right_z=0.0539 right_yaw=1.1596 right_pitch=-0.1679 right_roll=0.0184 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.2239, 7.0359, 2.0, -0.0708, -0.0171, -0.0122, -0.3214, -8.7726, 5.2991, 0.398, -0.652, -0.0611, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLWqqjPxwBNCYHGs7qC8KH-P7-quxVRO6xp8Yi-06OtgeptLvzE4o9SIqH8uRWChJZSsK5T6qJBFMzZt-DgaiO1YB6MEDnqar-2R5xZ-_yv1umC2BQIqAOxBPY4YX5V-0ystuJwmiiSLS5Qb1gpVSRUR5qcnwnuzoABTiNpa0iK9BOfAIGBYRkWPZ0sfG6BJfVhnRT91PDSdvRpZdrKLwAAAYutWWVAz9LKSYWhexuLUVGSCg-wtj3f590YzBEtLJ5NibaFkacpgGQF2F4no4OUlLGE0J9nhrFyjfX2HQM3o6hXarccEafieQXWogo2VWlNZCuoQUrfGLwUXpcNaEseefaztplt_SfcvlQigEC3tU3zuEwYlQ1iaGZT2PRnSGibiTNLw6hzLYmGbTDLM9Ps-rqdn3wziF84ZYrhA2sxB0fPQRQ9P1HOJ2VQPx3JHZNXBVmPC4amjkMqoeCae2mbJNon-gPkAE1wJ7BKWYMROJE1l9YgCG7QE8WpcbdOBDTZQ1f6twr9J-bTg92SpGNwMFW7oIoWmOBxw45IWl2mS4NjU2ZSdNNdWwT_5opg2kG_47Lp7dwOBACDJIh9oxzhAgDquuKxGYPiadkr2QkVzNn3xsT5UdqZZIdCapmrzovNQBad-WKBxC9UINWW8jGbu-O2Z7m4Zp3GOGFRhbsFw9e9_1ZwnAGxdnGlVY6afxMrNkjIRybW_-Bf9oJV26gqFBQvPbvhClbB-SIKcDuHXs3G8ieJDFGBMsJo4dXsDxM-_EQ4lg-ADufMOURuPuAyGXMRJdLYsdGsjW1wJ6bth0cfmoZgIp5JSzXk_0pqF_G_fARCiFpYEOyLkEd8OyWQNwSrfjdqOlCbEFqZdNfe4NS3LYbOWj76ek6t475Cku6FMoykmLKdv6DjTtxGQBlnRFTDGLKw9sr8PD_0MOeqHybsuLs8WsG3NnJr39h9Nqye_qIhQ6uGoQReYFEYwwjydqnGnIKPLTu-q4ZA0tp74ul7_Pi9sxyJGitSlkUNfZ6O6iGyRmcdU7H9KSRLnjClxXjOpz2aZIcvyxhleJLwpn5TvF3AGKX1sKZmoqqcaIYAzU5S7Go3LFSkJkr5yEQTYcqkp-hjraaDEFJ2NdfpgpjFGNTS1sFZVXxY1W6WvgT8xqAFN88digYiQ013ajsql8B5MtZsgYcAyjj7BGWyY3irWiOHewS7vugvQ999sWSnktylFE2UpuYJ4Eo61BWz3AaufNMAGN4uVZB8vazHyykSHsuYsTYcP6c4CG1M_8uCa7UnfKm-FM0-D2ipTHaQAuMDgRlp-7dWZ9d6ybEwbOTsIquZ37dDggOwuUWQuwLP1MOUKBWmgMWE7EUeDzLY85S7cz0dUiLRh2oINBQ3c3xD_TqXeLDRJUU-5Y86RDHIeYJN6cMQKMuvnUYaNTexUUyzLZwWSRzDGj6o4hYcjgX7NMyapQnWOiZRYL-sKYD9gMAKM3zGM-iweiFSDNaoTksS-6F7RdaIpaYS8DQsK0xwKAEIZX_SmKMrfUTgBR--v",
  "id": "rs_0f05366a1832a4fb016aacb5a673d087d0bab57c25d1a5c31d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.19,\"right_z\":0.012,\"right_yaw\":1.5,\"right_pitch\":0.15},\"note\":\"The gripper is still offset toward the brick’s right edge, and the arm stopped above the requested height. I’m correcting inward and straightening the tool before closing.\"}",
  "call_id": "call_YliuQizOD98nxQg2j0vX23In",
  "id": "fc_0f05366a1832a4fb016aacb5a91d7c87d091e7755d06b940ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YliuQizOD98nxQg2j0vX23In",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8082, 0.6029, -0.4118, -0.0227, -0.0498, 0.9995, 0.0803, 1.945, 0.8112, -0.1081, -1.0569, -1.2186, 0.9958]\nstate[eef_state]: left_x=0.2911 left_y=0.0019 left_z=0.1691 left_yaw=0.0048 left_pitch=-0.0476 left_roll=-0.0062 left_gripper=0.9995 right_x=0.3115 right_y=0.183 right_z=0.0128 right_yaw=1.4713 right_pitch=0.0831 right_roll=-0.0033 right_gripper=0.9958\nstate[joint_eff]: [-0.0205, -1.3607, 7.0359, 1.7802, -0.0366, -0.0171, -0.0122, 0.5402, -5.7778, 2.7966, 0.4957, -0.3639, -0.0562, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd3dded0189e1fb172e86076973bda0117ba5304a67ab387bb113e555af0f834",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca35132af77ab3cfbdce84670a78ff9576b6dd17857d57e952fb21e77f75d4d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b91499a33c65d8dc83228825356eca2cce17baaacaee51318eb4b24e79c2b3cf",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6029, -0.4076, -0.0227, -0.0494, 0.9995, 0.0242, 1.7153, 0.8375, -0.3805, -0.7841, -1.1183, 0.9962]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.171 left_yaw=0.0045 left_pitch=-0.0396 left_roll=-0.0061 left_gripper=0.9995 right_x=0.3174 right_y=0.1361 right_z=0.0375 right_yaw=1.2722 right_pitch=-0.1726 right_roll=0.0304 right_gripper=0.9962\nstate[joint_eff]: [-0.0615, -1.4154, 7.0222, 1.7509, -0.0659, -0.0171, -0.0122, -0.335, -7.2274, 5.6821, 0.9841, -0.398, 0.0806, -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_gripper\":0},\"note\":\"The fingertips now appear to straddle the brick at table level. I’m closing the jaws to secure it, then I’ll check the grip with a small lift.\"}",
  "call_id": "call_i5qfXjj74X5tqIJtCtvFnkXE",
  "id": "fc_0f05366a1832a4fb016aacb5ad5a6487d0bb15fc595518f5e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i5qfXjj74X5tqIJtCtvFnkXE",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6029, -0.4152, -0.0227, -0.0498, 0.9995, 0.0834, 1.943, 0.8089, -0.0818, -1.1084, -1.2232, 0.009]\nstate[eef_state]: left_x=0.2907 left_y=0.0019 left_z=0.1679 left_yaw=0.0048 left_pitch=-0.053 left_roll=-0.0061 left_gripper=0.9995 right_x=0.3111 right_y=0.1882 right_z=0.0218 right_yaw=1.496 right_pitch=0.1352 right_roll=-0.025 right_gripper=0.009\nstate[joint_eff]: [-0.0068, -1.4427, 7.0085, 1.7411, -0.0757, -0.0513, -0.0122, -0.2667, -8.1436, 4.3829, 0.5006, 0.0122, 0.0806, 0.652]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4490fbd6c749873f6ba4df5b881f86abdf38d589779b4c018277bbe92ce1400",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72cc75dee869a3d2aecaa7dce2bfbc28ab8177633edd11cb36ce93443e9bc82b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1d48d1f884d10f6d2c31701a2e6b8a245740b1a4c3688ca77323709bd9e4d10",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8082, 0.6029, -0.4118, -0.0227, -0.0498, 0.9995, 0.0803, 1.945, 0.8112, -0.1081, -1.0569, -1.2186, 0.9958]\nstate[eef_state]: left_x=0.2911 left_y=0.0019 left_z=0.1691 left_yaw=0.0048 left_pitch=-0.0476 left_roll=-0.0062 left_gripper=0.9995 right_x=0.3115 right_y=0.183 right_z=0.0128 right_yaw=1.4713 right_pitch=0.0831 right_roll=-0.0033 right_gripper=0.9958\nstate[joint_eff]: [-0.0205, -1.3607, 7.0359, 1.7802, -0.0366, -0.0171, -0.0122, 0.5402, -5.7778, 2.7966, 0.4957, -0.3639, -0.0562, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLWzsuxkaArC-EQFNzn55lYORFVNBuY2GbI_XL3qCY7mgyTZMby3zVIDhmC0t4_Ds2rumIUqE3tLLDaz3LuT4CSY89KFBLPhnp9a6NlNFgToVGApClLt5BOJMrrivxq-_O7Z9hYc0WzYmWglr-pIsrXfMqjhNJQ7UWk4uFIKLBM91sDPlLRvKtx8jF3XUcbM1NwFDbrIoqab43qde24KjnPNOHM2Wg5mvo4AlwQS8_PsMD2c72Dc7-fiW3bhrJjo9M6H-T97BpVi9e3J5RrgF-2TY86jsB_zYWFpJbCzqV0Suwul17j0ON-BZDYAhAqTeIZAkft8WrtB9-jcBP5STc6AKaUgt4Ds1scNYKgyrlj1FaHB3Emh_qFEGAjQxM7sDbnjWyw-T50HwUsw5kpgRQchoMdvffhAWB9vP-7CZd4CnNhbnSy6vvg2FcqO-U0jLKMsbByQk0tYFDrCcBriq0Rz69OpSVI5ZB3KOfQiyq0BuxTw1BmdIwXDEy4H5i-nu0LrJsuRyHFgg_0dD6suv-gaO5L_Z4ZapMFzSwdsq5n0t4XHu1Ws1LxvDuZqUT2tp0W8l_FWWOA-0CiixpoiYY1WAsDh8pD-KxKw3ah1zrIazsVcmcSZ1nb5V5dpFGvuxhi99Bh9lQZjEG4EW5WHUBLEXNuudlOl2XSoYGVlBzW6CxEO41IhjA7YFXYBG164gBw-e1unRLkM9Vvnh-LbpUghgTzoYrsrgdMJMf-IbP-xf-LbbdhNZSHA_KVoMZKIQbNdT9-14fkD3aeFs2dKAbrhJZnV7ph2T4SaA8T9ISwItMVav3lN3CwwaJs0Fw_mCeCqGulbZxOWbkfd0A0N29qrI9HILuEkuGC3MJY9tYkSGWX2cFk3grdkElI9GWmo1gSd_fFvMqEdudAP5sQ5Nkz-KHNfHTU9Vo-v6L1LxPBvq6E9twydgqn2qG_exW5UmgBoJBdE5yT1URmeDUsPwkuKF5S49NBUJxwYa5T3bE9UkUfAlaGclXER5sgEmWjqMGWMZ2oWWzPNj1XPz0ONtrO9UaiKDoN6e3YKnHDwNoVQIrbE-B7wJdh3k561aos3K24_STqvvnsL2CF3iOHumkikmTzEPKSRHy2fE_oTR5W5AiE8xlfJMigzXWEkLGV3MNrM-SOPhTCXZo2m57tLsy4C1WZXc_HVwesp50t2fT1uqk07sC_gyu568cZbIV6l_Juq9BmHLcjvJKc9QP29pvQkvL_E30vTVQu9dKjmk-u4EBL0oa-YM-5gK-hRjO1ozKUEwGuwsQt9Nb_hhNXY2UPhNgLQizm0D_J1EI0ZX_UzCUQdyW_dnfU5jAaviC-8e1KJLzawrD7FkuVMjRSqJRZy3FyzDy7xZzWjLOJijidveso=",
  "id": "rs_0f05366a1832a4fb016aacb5b095c887d0a6d1153e91f47c3a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.335,\"right_y\":0.19,\"right_z\":0.035},\"note\":\"The gripper closed almost completely, so that attempt was empty. I’m reopening and moving 2–3 cm farther forward to bring the jaws over the brick itself.\"}",
  "call_id": "call_TNmsR0Z18xmctPUhXM4FWJX6",
  "id": "fc_0f05366a1832a4fb016aacb5b18dfc87d0a49890271f303134",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TNmsR0Z18xmctPUhXM4FWJX6",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6029, -0.4152, -0.0227, -0.0498, 0.9995, 0.0834, 1.9617, 0.9024, -0.1612, -1.1042, -1.2308, 0.9954]\nstate[eef_state]: left_x=0.2907 left_y=0.0019 left_z=0.1679 left_yaw=0.0048 left_pitch=-0.053 left_roll=-0.0061 left_gripper=0.9995 right_x=0.3294 right_y=0.1894 right_z=0.0315 right_yaw=1.4981 right_pitch=0.1305 right_roll=-0.028 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -0.9504, 7.0222, 1.7265, -0.0757, -0.0757, -0.0122, -0.1162, -7.8701, 6.7487, 0.652, -0.569, 0.0073, -0.0806]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d92adb5e97e9309a7b0642d413c4e0f5966b6859da8f97033aa4596e8dabb64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e5e02e61b5f10c7c9681609d24a43fe44f08aa9d8e9cdc4d3b927758973796a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7fd4498830e8f9e7a7a55cb2ee015bf604fcc726987c10ad43c24aa38dadadf",
      "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]: [-0.0196, 0.8101, 0.6029, -0.4152, -0.0227, -0.0498, 0.9995, 0.0834, 1.943, 0.8089, -0.0818, -1.1084, -1.2232, 0.009]\nstate[eef_state]: left_x=0.2907 left_y=0.0019 left_z=0.1679 left_yaw=0.0048 left_pitch=-0.053 left_roll=-0.0061 left_gripper=0.9995 right_x=0.3111 right_y=0.1882 right_z=0.0218 right_yaw=1.496 right_pitch=0.1352 right_roll=-0.025 right_gripper=0.009\nstate[joint_eff]: [-0.0068, -1.4427, 7.0085, 1.7411, -0.0757, -0.0513, -0.0122, -0.2667, -8.1436, 4.3829, 0.5006, 0.0122, 0.0806, 0.652]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLXFr1hudKheGEKnG-0DwZQYAFySqz1sBiPAKdzkeJvGIJ_SwVjTFvQRDO75d5Nyow6rOL9hV-9vc9pGxYYnVwv_XxQcU1v6lNknXwpaYGS5tX989QTFJDN2LkFvuX9fiPLyymeye6GOX3jKBlFC8l2YD0Ued2Is1J1yhZcRFjAc2AVuzevbJkrSYdSeUBtc_d1ViQeRsyFZ1ut2EVVXC6zy5_4po_OiWBKbALMJ1_NJ--1xfcn043BiDPkvBmP2WIIuyg_Kod-C2AAtNEkAx-9iyP7JrrHhYRpOn3mdTRkPuB2diiYrKUqd6OJs0fCEI2D8uq8hdW6Jq-xXEJQxSRkuqVGdOSTa9tI8h98UuF1nFnsWcr6YLbC6zz38Wi4KmWBHmaRGl4RSwZL08xnWdRBdJeVIAUq074c4ADtutwAsHHf-9kqgjt-fxsuMbAywj9mWfzMQ7irVF7RHMSlj1kWtQkfDKbiguHyfvleix4VJdAamj-phyZzwzSaAgujadv9Z8gwBulthCngKYuo5HRpZs_sCgr7pQhC1_063PoO1afAC4k3KgkU9ZJtu9gVpYyYxsVK6FyO2a2grn4T1CHPfyNXbyvYCZBz5cLZbLstVcwNa3Reqa8Xl1r9iYZv6E4oT7scVckAtLX85EdaaDcnspEz-MPFxG61sMpeD4iOfybeNjtDNcdERcuBTktCNFFfNAvjuzwaTfxXKZKsJQbZWdhWRPGsrd8Hnrao5xjDuOovEwaodndKj8jifOvMPNF3Jw3JlX6RdzPWkOgKbN9ido8AgQkeOAx7P2BdrpzXc4ba-GAdFeQMxSca2huo_TPcSRseovypzLEgxhXe5lqcJno6duf0-sugpzZiNZabT8YNT1zDkGi7fstrXZXnGl4yPLf-uJFOCUZKi0UoVrBUhjva6aW37UEDzmY2q9eHrl-jZ1znfJdHnRV5GtdCGEPd7bnOHBFQS7x39_IAbRxReT3_ylqtOYZFeNMjAlhKkQT0kOaV_9yCZ4-QPpH6gqPIRGDK4b333oOrtxxKEYLTkrezTFwhGDsoh_FRhHuJSi7KF1hwaznvuob9dDtBEnYwavSeVo8GT-tx7DbThSJu9v8OmCk4EzGEwvX33Kn45rDPmfW9QED3Ek7PEpUJ9IqRiEj6Qac3NAuvAeQ4MZKMWTE_FQrnE66MnAM8Y3EnXWJ2J_D_X9l9YVuMkg7d5RDsiG8FgjjjwN2ZzJawq3Qh62L7KOmPcg_g6-0--95V2i-XonUZ3nxAc8j16WDzAlwvY1wUuWMTBB4_ORgm3Y418KY0WJbt-6cBgnwCfCDzXifoYnOABKuYqTjSUlE3EzXAwSSLpauFzTj8EBw-1sNpfc6OfrQ7F23-PgJCHcAoL6AFGpFu_iCCmAH04Mc6leh2YsS4IYOnjf21pkbo0Y3d4CP1gBiQ5euMPlt6FFBhOQ6t-WdBjHay31cl04h1tYA8PWGP3sltvuiH7ovW_ZEb6KAFFA5q7IDNFK86aTxHPqzxzvXz9dsuXXbL-wTSJA2Jxn-acfc8eGDUaER-FojPfm7hp6e73wft_tZ57QuFSCwKWAMrH-uwgF71Ffjt9bRPF-5gM2Jg1OZuUjLUQFQIBf6E2s5wLUCditQlumjUzp79cb949a8He_krB9dps71r8kCm_ZakudyRS_caV9kQAV1WFTjODT67WY3NYO43xeuM6Wyt3Hi0jfbCD5MmqW8GFHGOoxeiLe2vesijtRelZT05ZabTVHwsVBreTzKcQ4kDrTe7-2vSzHP3kJE9KREBp11VIBmw_PK1lmXvTIMAgPQQtzgnqHUAR8-G8gGv6BOM5h9qyOhcoq_Y-Lx-lq1viPKmjkq7zlnliCcr18kKupkbZ7WbNo0BpGSrav03JrlJA0JKFCVXFze3VZ7sKbiXKQ_82U-gr8OMeNM4cQWJaw5wfnIL4FOkysPlYjwzI9ZbWl-iO9hdpzPs-7YCZZe2Y6OGyrMQY4c5TDLIEWpd8afy7oP7JVgNw6N8fG1FMBhCG-qnMpRw4qlXC6sJsQhI8sHkeLX0ULEutFv1Pe6hwOXATYfj2Um4YOfhk_Tup6ES_GooFKc4GqjBzySK7oxyBvrQiUfiYJhNFM7lynG-ycBcI9pYy7oUYbfLqOPpf63SxiHmej348uzj4e8m5YXVP3TUkPLTDb9x6yzaZIJ7PttzjMWFalqnQg7K8fhaL6WtAagTc9OUFncVcBbWug1MGE5Cp5h7LeLcASGKtpmSAkmgrcw_AnM3al8Jdz9ZXW8FKsM1_YEt_dBkh1hdM_1tdmnPlUVv0a1eA-zDaGsy3T4BV0Pu5HYymtCxVwzw7z8a_K01FUhMavE1gHz4RyT3FtOLep5-o5Ot1n_YUSxhMM8VjFJh7hFJ53yAP0OJmBr4GoCYL-8HzIKboiqIgLylwTEf5kzgRqCs9EAfDvwAdUdtirolK38Sa4_k8BdqBm8gG5bJCF2Ss70LSd8y6G8e6ZoCtLfIrEtBwzks5izjji5IrICY0tyci_huNZVcDOKC7SFbMSfzrsaCGRHhITbUZmSD4wUU9U3Jb_WgZ_HUu7e2SJPo1higa9abTwMFhbIL0QNh7q8YU09ZB7w6PsVmiYGIVAg9ULYiAwlYoaVKHGy_o5_SYpmSK9VKqH3y2i9Thq8738Sn9jMmPT12nzVuC6O1artcsHahXhunN2OaV04DMTYEylvhWNh1bQ7ACtbQDITq9Q50Lu7pCKf57LoTT2ucM-icvjX-D9BVaMDS3YvPmtbTn9ZIvzhBAp58K1JB1nQ6hodfbTLuo4SULZGc4nDPZGNCdoYX_lgT2OmXy85Ksohj-M4mEGamPI2cj4fNnpS3sbepPVwONfsS-HMyOHOVTxFaOVBc3sxqgnmHlPhBqZlYxenQCRw66kSc--spq6b41FqFCCt0chgt5X6AiEOo_Y5qVdiSuHzrX3CeU85lNYkmnhj2jiZ5m0OE8_9LhPSJRkYTeG6jClvgC8VBcgxklVajZzfgJ2P3Z4Tagupd1Nexdva9k-hr3tsow4qc=",
  "id": "rs_0f05366a1832a4fb016aacb5b96eb087d0b4225e16307ddf23",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12,\"right_yaw\":0,\"right_pitch\":0,\"right_x\":0.33,\"right_y\":0.19,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The brick remains hard to distinguish from the rotated fingers. I’m lifting and returning the jaws to their original orientation for a clearer alignment, while restoring the idle arm to its parked height.\"}",
  "call_id": "call_75ZWGLTLjTPmYs8A8tQPuFjs",
  "id": "fc_0f05366a1832a4fb016aacb5c3ee8087d0b0f9645e2d855afc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_75ZWGLTLjTPmYs8A8tQPuFjs",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.8341, 0.617, -0.4538, -0.0265, -0.0532, 0.9995, 0.7795, 1.4273, 0.6807, 0.0925, 0.4088, 0.2649, 0.9956]\nstate[eef_state]: left_x=0.2883 left_y=0.0006 left_z=0.1602 left_yaw=0.0031 left_pitch=-0.1013 left_roll=-0.0052 left_gripper=0.9995 right_x=0.3222 right_y=0.2248 right_z=0.1098 right_yaw=0.2856 right_pitch=-0.0254 right_roll=-0.0111 right_gripper=0.9956\nstate[joint_eff]: [-0.7179, -1.0051, 10.7282, 1.7607, -0.1001, -0.105, -0.0122, 0.0615, -5.8051, 7.4462, 1.4628, 0.3248, 0.2076, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb3c16997e1fe529abcfc491a24d652a9d247399c2a70b3a1650aeda462a9372",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91d8b84d347ad18f791a4955ad67ea4d54bc3b0d092b5d9c932f64fcbc42af4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1610f978d566a0049b4ce99ff9aab8b3030e8de51beed6128242c95ea7692593",
      "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]: [-0.0196, 0.8101, 0.6029, -0.4152, -0.0227, -0.0498, 0.9995, 0.0834, 1.9617, 0.9024, -0.1612, -1.1042, -1.2308, 0.9954]\nstate[eef_state]: left_x=0.2907 left_y=0.0019 left_z=0.1679 left_yaw=0.0048 left_pitch=-0.053 left_roll=-0.0061 left_gripper=0.9995 right_x=0.3294 right_y=0.1894 right_z=0.0315 right_yaw=1.4981 right_pitch=0.1305 right_roll=-0.028 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -0.9504, 7.0222, 1.7265, -0.0757, -0.0757, -0.0122, -0.1162, -7.8701, 6.7487, 0.652, -0.569, 0.0073, -0.0806]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLXLx-CkAkYdrUI4uKBgglkGhwXvd579gPJyvbKZ8SrgLv8OtCZIDLFfLqLhKWbxxAw9OGd1xuEE7GHPxs1Vq5veSHskZkkUuEY1jdYmjGmFSgPCpUL0KN3EljyR8OrDm3r02hknIw7gVHSsTHVGugOLMU8cdH3_Fl9dLKIJhCA-SZsHwXHAKr2AIYCB2h_MB4cpKgv7WiGZifg2PtHiEy5GmfJClVWfQcmyAsd73K4EFL4_Zk-pwVJwbzzZwSZj-XW9_TB1S63Bg84Qg9xWnN1JhJsCquV-_MDK0wqLg0Mtu7R72OKp5R442b-B7BhjztWb7MmqyNij5pxpo-VRsyQZH6DZFpxRl-PFP29l4crrfacrsAU62f_lP2uwP3pvZesKxsQMTLPvSSScmjIgSfY5nS8TAetmlun484YZ1srmlQnMXuo9ziSRrCmsPjeTYCvHaTM1d_TI5Esljv6OTgXc8MOhT0sYhnpoLJdihOE5CYDRQPM4aqc1wCJwKabwzkljW2JjWBzYTMnKJSJ_0ov7PeNVBHjcOwIgqC5aMJZeao7KkArH9B4mTKwLvF2IPI6cIvRyua0mAHyqZ6du1FdPwD-UM5pnS2J6PR_51KBflc1zX8G1zVv88-UEYiua0ao71KqjEp9wphsJaDQ8KBXw1HQIcbIy5oq4-jYPoa2mAb49D1BrkseIaf6NHRBRa_Ik4PvAxGQONtPXEsOeegoGYq9rg3JdebWC8KjkmvW_Cl1vuYPfGsqUpWsHBfI8No_52E8HtH5tag9294x_GWxLX3gqFZbeWuxn0V5ALq7nGbn5qRYcxHe7Wv7IWXrpVaumGr0mB4j4cH2UdnUFgtp3PL1PnhZza0YVj_bUMuhNQT5muH1vOmkng6-A04C2YdtF_1M-ffgMGC4-fXaV46Q6SddYzKhv9Ch3u3znaUPx2DqHgo34xF8PlR27z6eN4kqoneGE5NEL0hU34ddbZMCjGDaW-3cO_bsrjXr_eKC2F9cIr2qkBQ67GzjYcqk1iVKlI2HD1ggEBB4jus2FupSgBbR0HwBVokjVrLukjCcrL7sfEqFl_N15PG_--mCr5rdvncSdaVXTJe_9iLT5TYUi1MnOP4-GITJm1jYqhevvWWWe2WOWcaNDFWlJHAM3HuedYtpYi-HJqnTrei_9IvEgqxKPEB_jQ3BtRDTjMYCqxmHCbcGAWnae6gP3LgoM4Rl9Vjvd0apX4sisuFpx5mIkMJhGyC11tzSL48zWTWBs2ULCYcbmAOS0C6at1M65VkKtODXLZxsf8vW4uI3rBSt8zzMHIAk3hMpUwpGgK-bpRPhkU6cX59_-LC1Uch32DsGEvFquRGpD9dYyIhzou4pLAhaCT5eTNJE6y9W-0XTOGL-n5PrlDrCbyxWSqMFod21UbCK_H6E9-Q3j2df2YgN0Rw==",
  "id": "rs_0f05366a1832a4fb016aacb5c83b3887d098f1a87116d5aeb7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.175,\"right_z\":0.025,\"right_yaw\":0},\"note\":\"The wrist view now shows the black brick at the lower-right edge, with its cable extending toward the pot. I’m shifting right and slightly forward to center the brick between the open jaws.\"}",
  "call_id": "call_FKh3AHViflrFq7aUToMcP4AY",
  "id": "fc_0f05366a1832a4fb016aacb5c9f48087d0a8ef2584f17725f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FKh3AHViflrFq7aUToMcP4AY",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8379, 0.6189, -0.4606, -0.0261, -0.0525, 0.9995, 0.7105, 1.7214, 0.5777, 0.35, 0.5278, 0.3805, 0.9956]\nstate[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1587 left_yaw=0.0027 left_pitch=-0.1101 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3376 right_y=0.1779 right_z=0.0163 right_yaw=0.056 right_pitch=-0.0977 right_roll=-0.0597 right_gripper=0.9956\nstate[joint_eff]: [-0.294, -1.7026, 6.8308, 1.6777, -0.0269, -0.0464, -0.0122, -0.8274, -6.9128, 4.6017, 1.6874, 0.5104, 0.1978, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebcf7bdadc86a88b2f20df7019d3adaf00a0d3b7013792ae3f7023c9717e47f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8075d4b2b7d91b7eae06f19f6b15d88f5c4d1d803ef356cc8d97908520020c94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:587b6a13e4b69dffce52c0819d9ec3126a07724e269d80b09d5c3398655ecd58",
      "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]: [-0.0265, 0.8341, 0.617, -0.4538, -0.0265, -0.0532, 0.9995, 0.7795, 1.4273, 0.6807, 0.0925, 0.4088, 0.2649, 0.9956]\nstate[eef_state]: left_x=0.2883 left_y=0.0006 left_z=0.1602 left_yaw=0.0031 left_pitch=-0.1013 left_roll=-0.0052 left_gripper=0.9995 right_x=0.3222 right_y=0.2248 right_z=0.1098 right_yaw=0.2856 right_pitch=-0.0254 right_roll=-0.0111 right_gripper=0.9956\nstate[joint_eff]: [-0.7179, -1.0051, 10.7282, 1.7607, -0.1001, -0.105, -0.0122, 0.0615, -5.8051, 7.4462, 1.4628, 0.3248, 0.2076, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLXRxAmYXYKZkVYFzDOSqmwNZSU59_qN-0jTSO7N7iW-G70nNtSk0sKeRiJcHcS_p7T38Xl_QvODeGSFOHaOvBwJBTBQakO4olrv-XbNfm3MlLMkbQfBPoKsnKHhwuYSTfqLEOMpDnjkAQ4UVKxYGWTXXtrR1GsXmSiGsuwNp82Xf8mWrALNXsPQmGpwWo76kWPvTWgvkEt_mvLll8q54mnOMULrCtadX8e7bFitrhW_8j3v_Vl1Ybeqe16CFLznVljWw0dCSX0OcKepaTte5cMS-Cv1jGb0kxk_Np_gyi5XvnNpzWEjOZbf9dMNBuxX-3au6WypEbC75jrJaqtjGviA-mUvoFX_VSW_q9Z7pghEhYfeF04d2LX_BAVfVAPkzI_nxHdOgo3x96na2eXEu4IRMAuXJ0QFOTjA37X_W8HorKlacch9ira9RuQmwzprCcbPaVanwA4PKtA0nzB5THsFQn9ZKGk_FFoG19690qSfeyAsY4tVV2cMUD3v2DMtPPii01juyBpQcu9SSyEd8o9Hdq9CST5UH3BHnByo3nZmxg6PFDa0odjmkJ23Bh5Gm7EZNl0KqU4UupGKnEJa4tAljJRk9sI_66HD4jgRmu3qCN5wZi9Zkm1t6A6UfUK-qDN0TxScuQp48BRue76RDOe_hFZJ3z0MD1_knvG0h3Iu7XxZkOyDDbxTRI7WTRaC97qSJjq1JHrzCTc-4_vHRaZbjYjN4GTWnQGvlwXh83gTIFQ7RPx0824z4ilfbvmUD-V7LDMQWeDdepFjI21KXQlG95kQtL6J1xNUADEl35spxsfwCO0Nyx74CswJWdPabXWqF15A7n2lIiKPAW8epMOjDSR1Yf3pdQoh-8SqhhB8XsBxvBWLBxKVDlz3-moTm5xNGDtmoZKEH5zoHLA616JsnzMGydTv5TFXQ5QnYjM0goxtNMFa1yapUOPw3YDJHGoGRd4Nf5L3wARTuBgaLQkLIIf54dGypfijQ2Lz-4YkCV8C98ALa02UrBZZo77o0PgwNMNkGX0jFIpWKWCBkiUclX2PaunHEcb63HBmzXwNZAYbFI6r80qGshxuRWG879Nm1PlsWowURyH-VRcurxBoZg6acx4Lkz_SW2Dx7t_B9DDy_JSOEK9lgl3I2vwXCpX_S7x8M-ll0aGktIevStZumj_wOKSxpV8dlecb3Lf3pmTIg4ZtoTGyDlyBX9CuYaC1L6eEp3NrIKjtublBJl-ZekveS5x6r9rBmsXntzCI351EQWf17R2T8UiC86yGzLlWx88a1fUBipwmRbRIF45_FJWAPegpgnpKb3nVyUMz3OM6jumo8a_RtxwD2HX6CkW9EDzg30sm9mbQ3r_AK9sizBlnXKe029_KoCpkyJ74ZOp02mY9WVE5sXLLRYccGpnxIeYWfHVhfaNDmO5YaXYVv4nWyZVlR1mGa1f7b44_2eaiFp44d6hWy6w0h6Ii8ZoMnXDqd-FJfzVJEZrFqJ2Pnpdju4KcMVmO8XF9gwsQiSScmvJi-k8CSaqwUfTuL-x5JQMr4t5ddSiUrJasUZBssA==",
  "id": "rs_0f05366a1832a4fb016aacb5ce55bc87d0acb7f24f00127a94",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.15,\"right_z\":0.008},\"note\":\"The brick is at fingertip depth but still right of the jaw centerline. I’m making a small lateral correction and lowering the last centimeter before gripping.\"}",
  "call_id": "call_fTtYdbzsqDUVHvLHaH830yv7",
  "id": "fc_0f05366a1832a4fb016aacb5d00e3c87d0ab513a2c2f651423",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fTtYdbzsqDUVHvLHaH830yv7",
  "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, 0.8391, 0.6186, -0.4606, -0.0261, -0.0525, 0.9995, 0.6136, 1.739, 0.5385, 0.45, 0.485, 0.3164, 0.9956]\nstate[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1582 left_yaw=0.0028 left_pitch=-0.1116 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3515 right_y=0.1512 right_z=0.0114 right_yaw=0.0286 right_pitch=-0.0819 right_roll=-0.0611 right_gripper=0.9956\nstate[joint_eff]: [-0.1026, -1.0325, 7.1726, 1.6093, -0.0122, -0.0317, -0.0122, -0.1026, -7.0085, 4.1094, 1.4432, -0.0073, 0.1343, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4696a290d682a3ca2a924c428913671bbf6979c308af631acad3d549be4893a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43605a7994951a69713ed7090718213fd6c76e11787e85a8f117e4b15ef4b362",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99a79351f1f7564f8f5610bebd3f8216917bf379fc1da543d08fe8610d03e6cc",
      "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, 0.8379, 0.6189, -0.4606, -0.0261, -0.0525, 0.9995, 0.7105, 1.7214, 0.5777, 0.35, 0.5278, 0.3805, 0.9956]\nstate[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1587 left_yaw=0.0027 left_pitch=-0.1101 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3376 right_y=0.1779 right_z=0.0163 right_yaw=0.056 right_pitch=-0.0977 right_roll=-0.0597 right_gripper=0.9956\nstate[joint_eff]: [-0.294, -1.7026, 6.8308, 1.6777, -0.0269, -0.0464, -0.0122, -0.8274, -6.9128, 4.6017, 1.6874, 0.5104, 0.1978, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLXXoqDgOdN1yFIux4zZJ8wU4BfvbxqYyIm6wdmSYAt7ndezSJgWBfDaXCEe26zrn1VbGMwIEL33webHEoYw3Qa1JyWMzQQoLNa8qRiBVyjZrcpvVRiCyQWk6ktT8zAScnIn3M1yt3z0leZs-fPBCTfkPzz14JrkQnSTuJMgPj-E5JRra1UNBf0CyD_8xVpCZFmPeRSETBUewjIymgFDuEc3wcqSkXrof-NnrUDKezcRNyIwQcdmQmttSNEPhllKXoEoJLEplx2GHlsclYd42zXdSGnhFj7FJQ1bhIngV6xSVkGkSK1VxyZi5_J4b8B7HM35kduaxW284aNBhHBF9TIxDHeylebD_od2oGct4xqxdMzQh61tLeo5wECga5WEy6T3qPmvDWWSKDtJhjDIreICgEP0lC7kJfe7rqOpZyTxEIAgx2PwpbRlYA8YB1JYDenI5Gla2NQNufowEgKpDd2Od35ql-VKhgAp4bV-Yxm3TudwMLyuMqgp5_nKOTJnBPEQPEhjf6lwlou942Z34pMHPq7rZUIew98ztkXGZnXhLfQOJrj-4ouHZy8N9hGD-1KACFIGRnhRknttsf_WS5fi0lv0fWFJ19B45jafCY2rZuAxVEYecu4Scr9RQ1NOpqDeZz5jLL2sk4L2uRVPIagU5Ao63hhaF1moszODKhLPwHp0RH1bo-YPNUE-i-GpE7Ne7ioYitrG7C9wTC8K4Dn6SJx9diVK49uUH9-tJivCYlxsHXkIJ3ORgHXIMtRSLIlqE_QpzkCUwSqJDA-RjcP-7-dXUg5kqp_5BGFK8GPusbBIliupxxDTb1NNUmZ6Yj_xCgV1nipsZsqqhlazqN-oJU-D-imA1X2vA6RNx9jRAC5xZdbBYs7A6TGgw5zQ17SmS76lNFjff3otSmQEFPNfwMJP-t0XcaY_2oe-z0FEWxt2FVSz2KDvLsfspmYzlmnUSfuSj7MWk5sbF1lqjKmjQZoUUeR_L5venCwG1MUtxD3X7441rvrMlXjMc7-Bl01mw-keUDBRKgLvOD3AzEolYg9Stc-AKPOjcu6JhiO3x3-WF679Pq4F58TnzUdASpQbQurYZAkY2L48_8E-7XJnXjCz7Ao6qHuJt8xXhGS3lxK5377auQYQ1fy-fIZdUquukOwdgdrDjUVML6HWGJq9ZQaBvzjF2vVhwSelZbQlqVhLKZxDp4BX3eYVSpi8ycssF8UOK2UpgioJuhZyPLnWraCj4LDO4t3V3iZbxXV9HIFRwyqz-HMWNEq6mqchPUV9jOj_3WGexw1c5INIw6KBAH2we0NyDlNMjo-BrRsgLckqueaIXBQ_E_84BVmnqVmuOovAs-NHWFWB8m_CQ-2kEO-fcSzfWGMz8Ja_sW6Q7xoFQNIjtvRf9lcmwdZ6jyOb",
  "id": "rs_0f05366a1832a4fb016aacb5d4168087d0b1235e7125519562",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brick’s near edge is now centered immediately below the wrist image, where the fingertips meet. I’m closing the gripper for the second grasp attempt.\"}",
  "call_id": "call_sljVlEv5jBY1lzE6WIezvsMn",
  "id": "fc_0f05366a1832a4fb016aacb5d5e88c87d09cc0599dd58909f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sljVlEv5jBY1lzE6WIezvsMn",
  "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, 0.8436, 0.6186, -0.4675, -0.0261, -0.0528, 0.9995, 0.5995, 1.7386, 0.5278, 0.4759, 0.4362, 0.2874, 0.0091]\nstate[eef_state]: left_x=0.2868 left_y=0.0007 left_z=0.1557 left_yaw=0.003 left_pitch=-0.1231 left_roll=-0.0045 left_gripper=0.9995 right_x=0.3517 right_y=0.1543 right_z=0.0099 right_yaw=0.0692 right_pitch=-0.0869 right_roll=-0.0478 right_gripper=0.0091\nstate[joint_eff]: [-0.0752, -1.812, 7.1316, 1.6874, -0.0317, -0.0513, -0.0122, -0.1573, -7.0906, 4.5197, 1.2967, 0.149, 0.022, 0.5885]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4f86ba8755d96431322fa3fd11aa746e353d181d663b53338f628ffac3f2a41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0232ea3f301bdbe5ecd8d11b8ce0f11e882c2ad86ac9089525d88493ea435e52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a9a1b1484a69ae0e262cfe7949c5dd008d9b25c060db0180229ff098d71e377",
      "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, 0.8391, 0.6186, -0.4606, -0.0261, -0.0525, 0.9995, 0.6136, 1.739, 0.5385, 0.45, 0.485, 0.3164, 0.9956]\nstate[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1582 left_yaw=0.0028 left_pitch=-0.1116 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3515 right_y=0.1512 right_z=0.0114 right_yaw=0.0286 right_pitch=-0.0819 right_roll=-0.0611 right_gripper=0.9956\nstate[joint_eff]: [-0.1026, -1.0325, 7.1726, 1.6093, -0.0122, -0.0317, -0.0122, -0.1026, -7.0085, 4.1094, 1.4432, -0.0073, 0.1343, -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": "gAAAAABqrLXh_c3plRy1xYo23i7zT_88qyrtoVrXoWDInPXgtVjTsiYIga9gfpyF4-6exORiQvGb9XZj7qwI5EzTx3O_Uxe7ImEFiM8-q3o-fRectwtIpnpcRRv0jCB5BYhUIRIpu3t8fz4YYSY5bq-QiLxjszlfjhByI95ZW9Yzwww9nQ4TYj0iQ73mjXZekG63cr4bVlTziKHHUhWedZzufPuV9vKIZwMvb5d0IqOh7XDE__xH9DzIEfw_epNRvMEB7l7HzUJfvVMKkiYhmTzDHkXwX9H4-H8Aq1zKt4FJ2rebNSa6_-9DggduLHLPE6rsAOHddPPgefUktkMO8qHGTHt27qwNTIZAiTeiWbCdTRqaeaoiPVQKB_jyG_mtVR0W-RQkBVBjzz2fi2SKQcrvoT6MKLALxOVIe4gWAaouyUw2elUPiwSopCmhW5VKW-utPpxYbSlE8klMjC73XPhDgjwW2teEfjcY5iG-7SFV8e5rVos8ppYp8Rc1O38d4boGUGlZ2N6wUyYQW-J7o2C5H4YiD0RjlSMDDL9DSdCDb0YOI7GvtTL-W5KMhvkz1b5FhRrCFjA9DDm2qwFkYoSaPxy6L3WpmFZWg7csHCgfD3x1fnboHCV_E8_CE7tD37j4KrFdc8Aepg6PcDh2-fMF-r74QTiTmFgeNbGVzY8kvO7VG6pRNpITKH00Wxffn_c1iAt7aJrl68nHjXFORGNflHIeaiFJHiYop03cm-nhbCVr0YK5Dd4edAT_WT7Tr_DDpH_JZHN4fcnH2giMBhNb3n-1qRWyYa5zl7-vbfeVhglFzIuvWFPfIxaMyXU4BANsH4D9gykeX3BmOmvXXXd32ATx1WMl71EH-VMCtIsIzPtkgM0SC8_D-QCHHYoB38p3mwbB5hnoWXHMfi2myIPvnpZYyqCyedYYsp4cUQYhRYn25KVyo5sjzl0UeJ0DyP7J3bPBp2Z8HRNHMBxzmyrt2hE5hwgiF7oJpw7Pem5JAYHoz65NG5U7QkxtRwlh3PqPEbC0kW2xgulgX-tTzMTlTPI0_Me2ZmWXzwP2YkER7vlJ5YUCZYiJVXJ6neHj4P8k8bes1U5E8PhDYfiXELna0mL-xX6v0qJbTElFmtKBzh4D7zaByIz3dPrKaCO2aTbxCvmNSkJ6vEPtZcXSOJt6t-pQ0w19di8A-eHIbsHlYbCNKUZXJtMJndj1KwghWY1X_pF92DbeOEkr-j95BDOW_A5G-VP3JuQAPdGQJ2TSCAO2_E1hRYrDxhijZd2cGtIQf6jHJNtMu7rIOiPT2r9y3DVvRFPmR2ck7PqrA1uU9JwWxkPq60Q=",
  "id": "rs_0f05366a1832a4fb016aacb5d9ffec87d094711c6a3ced2c3a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.025,\"right_z\":0.2,\"right_gripper\":1},\"note\":\"The second close was also empty. I’m moving the arm clear so I can relocate the brick from the overhead view instead of repeating the same alignment.\"}",
  "call_id": "call_us9zr64TN7NOEChAh6FgPqvb",
  "id": "fc_0f05366a1832a4fb016aacb5dc8e4087d086204efb13cddfea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_us9zr64TN7NOEChAh6FgPqvb",
  "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, 0.8494, 0.6186, -0.4679, -0.0261, -0.0528, 0.9995, 0.1459, 0.7803, 0.6971, -0.5533, 0.123, 0.0101, 0.9955]\nstate[eef_state]: left_x=0.287 left_y=0.0007 left_z=0.1541 left_yaw=0.003 left_pitch=-0.1292 left_roll=-0.0044 left_gripper=0.9995 right_x=0.2786 right_y=0.0227 right_z=0.1915 right_yaw=0.0256 right_pitch=-0.0647 right_roll=-0.051 right_gripper=0.9955\nstate[joint_eff]: [-0.0205, -1.9487, 6.9402, 1.6581, -0.022, -0.0611, -0.0122, -0.1709, -1.2786, 9.1556, 1.663, -0.0269, 0.1197, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0411db806babafddc2f0143d01a5a187dda89400ab5fc7889b0704b04bd1535a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d16a824b69afcd3cef96f2e3344677bf4bb9e521f84e2589aa75bc623e922861",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e68746ac96e9846a81844a74e56a1f85135427162076e10a1d2f29a6367c41ba",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8436, 0.6186, -0.4675, -0.0261, -0.0528, 0.9995, 0.5995, 1.7386, 0.5278, 0.4759, 0.4362, 0.2874, 0.0091]\nstate[eef_state]: left_x=0.2868 left_y=0.0007 left_z=0.1557 left_yaw=0.003 left_pitch=-0.1231 left_roll=-0.0045 left_gripper=0.9995 right_x=0.3517 right_y=0.1543 right_z=0.0099 right_yaw=0.0692 right_pitch=-0.0869 right_roll=-0.0478 right_gripper=0.0091\nstate[joint_eff]: [-0.0752, -1.812, 7.1316, 1.6874, -0.0317, -0.0513, -0.0122, -0.1573, -7.0906, 4.5197, 1.2967, 0.149, 0.022, 0.5885]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLXu1eCUNeZeoBr8LyYJtoiXJVSOtTrForLCmqfHVdBYVquoscCbq5VHc_BIxv1gPWQca3ogOKlxI9TKG1Yxu_8ciKXCvTNFtQNv_4-z0gTCCd8yYQDsKGaJN9Gt4tXJKK-Otm1tI_aF-VUf4HXnHgzTJh3XDBGxzpzORV2zgzcM4uMKV_vkQOh08G0qGNpghMPxeFIgz1W1hgfSL4D6MurGItp2zFwAQauCA09Jv44UeOCS8uFHvqYoBJeTLns5M1pYVaMaEd4hOlYZPaoA_Qd14JQvGDykaudNrPwSES8GgwEjEluzcYSAtK_-EU0c3-F8ZTsz_o769DmO1n0m9_dp0TwOPvW6xQYnuGY5FG1sPVqx6Lq4lRvRMPurO8WdMWGtbxFnMSxN_kI5JDtXXqHP-KsnSOeM--FrVFngz5P6qUVPxQUyDx1DYaS-lZehAJr9OFAMnhYj6olGWlsZakNsNBUBiqfTvx7Tt1_xF2RJrbsK6GiWM6itOYlXIl5dLnTP-t7XyxFhmQCB_4SXKEr1GLpSSXh8but8Vl4wFKNe3CihltuonghLdLxbdssY-xTROCFqeoQO6_KKwJVfJ9sUdW_Bq_Zov4rZHEf8B9n2Xwce9wQb7bbCz2S_Hr8aVFy2n5LET84Dgyk3RbxC9IrGpRAbO-EUFW9VeH7nzq3DYt2Mdg-t1-XM0IXYzUIeE4VVbfVOWIQEA_N-WuS5-eWSxQOxU0K5YpGYMKXlXNBXAJBEamd77LGjXmD4u0tk2p6lG8yA43daInBeYLSjiN2Rgvtt-P86-1LsmjrkVUMV4zW65sLfIwYY0DHZ3mTppgxi_uSj9qtBId5mE04e3hWpanlHJ01aDOk480a4HwT1Qx8M1ud37Ndc_R7Wht1PW3oavbyZTUjUvhtKAKjx_AHBh-PwxPkESI7TCY_0P9P1nx6M6Khmu1m0C2mHsGrZZ_mQhnhqlWkoH1YcT-y_rrl9tJjmx09fju2IpH_N2MXeFrH7pEWN0MF6bGjcGlmeuHOhuClS9pQ9KXRxGUNMVRW-tAzZO9r_9dXVmjdImG-Cvn6BPPrXcxqjaRrxgBx05XkUOVeCovXkHXvWopxP34d62z4wfm-1HxfYjgesYsriEzLK8_KTfczobDIta4dlqrYvcvGS8oiEMbOcwQX33pKZmQf3ntFUaXNsA7ap02VBK_kx2R9H5W7luQsj4Hbm4llwOuWQalyjw9zF1srn43tqLXeVu2zJBuDUAz47JrEC07PTpL6wK5wbsPE2t3BOglKvkumbe5skx9OA0mkrB1n5b6BzBi3P4Ba3a3Z-ntjeI3FoenikBq0n57gL5JM5koKv47zn5TNLC2SeaIfbbkFYjqzkd5NTApJcQlvhxIjC1n_20EQZrDYer2_QQb086Lmj2AXCdPRwuRFdQeXl2yzTEGsLSjU2uNmzkUaC-NowAg_9_4rRmSreX0bTmTr7xthK_qTQ0exxxRnJRrp4Rb-WXV0y8p-l8RVlmLjcCIYE_flm-fhCzh3B2NRO07r8k_32OxDX-QOM3K6Lg_VL3zVAOEuhpyGcxd1ULMwBkEAYcmLUgWTvk2_sRdvigAptLcNVpwkGv2XZNc8tepYnMtTplpDfIdfx-hkZmEfsIkQ-ddj5LtM1oopZbxuY1ltxt6wlfnkXWbRqEuvJAwC5dj4lYb9lHR1DqoK1Hw-QJiseaMdQG2QzeodgdRAO2Nh8gxDk4KIuaiOK9CJ8A0gjIPr9doR2fdDkacbvdNVw5W99CUI1cs1J1Zd8nW1KNZRJbVlt_6WioUcWCcpfNBI1Tcl5Xa94A9sICCDcBgL6qhaqx5P_f8udwpqkiCCLx7ZDr0_P1VwNLUpyFCvIw-3_XXz6Zzjq9XKClbZRZ3dgrpvwJc_PKIuZ0YHQ7jZGdy3B--9MHBexjgZkQVgxfS_5Wt5itVEIj1w2zxN3VQN9c1k_-uJM830QblM4r9PrkdHjcMMUovxOR2zlJ9H5JwbOM-M0SK7KFBaruqvq0KORLhP1cVb0vT-UyCwjhllfOYhl3qE9TKSjlkXZAsAcvyX_hsjbej6iUhD8osQJK6d0s-pUtCpOAmnF-sbsDPU6_Vjg0TCQ1pO7PvW3ZQyXkXrQgSzJ6KfD08PigKUjUKZYLnz9EL_CUknmNnOQtkT8Q_oWgyH7nKJaIIUihb9HVTvDOTu_uRLlXuxpU6r8M3DWIBFsSEZbEGc_xWDwZPZXyZ7ReWlLTRiqzTtmS7o2_MXcrqpoflnLE5S7mHjz6ZaQpIhOXItfS-svtoVK0OnLXWgroBcCM3hAdBOQLrB_f3Qyf7VmK2sNgTHKcW4hP-TATDv4wG9lqwhAqST1ND6m0C22hDqaN1ZqSa5GO9c0WA9vFsqlMt6Nc7AUCmi8ZXNNkIOt3K_8rS3SZ8vP6nLSHYe6nYFac8CGdQ3RW9XJ0yph5ySl4DmwWf8aNZWFmQfrVlRMcGLhk8SSeeyt3z9cl9LLwOeC2jOWMHgpBvGtK675rhHq1uGe-rAt_GrZnERhvJwKsu8acy3vB8cNhCPm5YNWkd1L",
  "id": "rs_0f05366a1832a4fb016aacb5e4660c87d08bb228ebe2c6f04f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.255,\"right_y\":0.14,\"right_z\":0.075},\"note\":\"With the arm clear, the brick is visibly closer to the front edge of the table than my earlier grasp points. I’m approaching it from a shorter reach, centered over its body rather than the cable.\"}",
  "call_id": "call_hdI3cGJRrYR7TR4coBxjP72Z",
  "id": "fc_0f05366a1832a4fb016aacb5ebf3d487d0af3375723f85d21c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hdI3cGJRrYR7TR4coBxjP72Z",
  "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, 0.8513, 0.6178, -0.4686, -0.0261, -0.0528, 0.9995, 0.86, 1.1366, 0.4191, -0.1883, 0.6075, 0.474, 0.9956]\nstate[eef_state]: left_x=0.2868 left_y=0.0007 left_z=0.1531 left_yaw=0.003 left_pitch=-0.1326 left_roll=-0.0042 left_gripper=0.9995 right_x=0.2471 right_y=0.138 right_z=0.0665 right_yaw=0.0882 right_pitch=-0.1393 right_roll=-0.1063 right_gripper=0.9956\nstate[joint_eff]: [-0.0889, -1.6889, 7.2274, 1.5897, -0.0171, -0.0708, -0.0122, 0.0205, -4.1778, 6.0923, 1.4432, 0.5006, 0.0952, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62a53171b47fd9a3607aac36927afafb48655c5c8c5ba88de96b44818b52d0ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d18cecf12c8f3ba5f1c8e025c4b14dce7b9f732ac4d1ec34735a05d85daafab2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54fa9d77e8c9b332cd10ea8153d993b47d0c03c5273134a07118cf19ef537a52",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 45 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8494, 0.6186, -0.4679, -0.0261, -0.0528, 0.9995, 0.1459, 0.7803, 0.6971, -0.5533, 0.123, 0.0101, 0.9955]\nstate[eef_state]: left_x=0.287 left_y=0.0007 left_z=0.1541 left_yaw=0.003 left_pitch=-0.1292 left_roll=-0.0044 left_gripper=0.9995 right_x=0.2786 right_y=0.0227 right_z=0.1915 right_yaw=0.0256 right_pitch=-0.0647 right_roll=-0.051 right_gripper=0.9955\nstate[joint_eff]: [-0.0205, -1.9487, 6.9402, 1.6581, -0.022, -0.0611, -0.0122, -0.1709, -1.2786, 9.1556, 1.663, -0.0269, 0.1197, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLX2etMZWvdw_Zaih0Vi05XM89V8v0Q9UKSNagUqQCTzbsovvlH56YwxKJ2yIJQ3i5pS9P1LAJSmlPcbPHVoKFsJ0U1lXy-orBzapmbKoaMWK0W9vAbeJZLWe78-N5S1hqPd12CvJCNMftRkbFdFLWF1G51hLbE2lAywo5Tcer_Jn_ii9jbXKp_tO1AM8VNHgnQHXUsC_M_vXQiBLJUJBFBZOj92T_RnMZQUI_MahnXbqD5wFGpkh9NYvsh8CzdiBGr7gfDoGd1xmNqIQ_6hnxEa3zG-g6mWSIfQw7ZHULzfPxTkQSPABQjwG49dBWjM6HTcB3I1u9kfhmSnVye5XC-uz3N-Nr1U-XFAZ0OEGPZDOVAWmq19T9hW707m4e6cXJB_PkJeqdASnF24YRfKBjmQRXnnDqChWTSABZdD5Ds9y4UsQhr6svmtIQZ9SV0rYVxGe_XScfjOVUogpodB6twIUFSGfNzSC041qTLe9dv0yoo-ecL5BQ-ouFi3eoXvEwUO3shF7NmbsrOuynRr_z4O8Rkbd3p3sUro24DRwa7xWYzN5vd7DYebHoaXK-4-wnQy_JDhrfExEz4etgUIP4bsogDR0uwOdJXaGyoj-VGw11QcpJ1_2VAqc7XaXaMmV0Bw8xqHFFal7BpgSX5hZWv_bRXychD8eO16V16LXPgQlH7hhq4-olgwcdnFrodZdsRe9ylk4RJ0w8c4wqWHR9huDFmedTGSMPrNjjiaA-TZUtXbgeMHURrtIKFnlCpGWkDz8ceblmZynwIqCtdrnDcn58q-FIE5P3c7uUQdkffA_cB8WnLObvbKJaxy6ciWl9qMyHEfi8moS-NpXY2NMzJ0eyTJCjPNy6seOXssSTdgt0C99jOJkGWFOxFZcygAV0am3KiimQ2AGkuAxeXZ2PNl8sp5UDFZ22jdGNSJXjaRbYZvH2tonaSRk4M15CxqyLMEk4STr4Pws0m21GbhRS7HT-hUjZw5GxqeCewrlbdRh2qLtsC6W00964AYZs63v3j8JK7Ui4FyXJcy-OP2Z4qnYjBf4y5wDce3FgcTLDgzip4gQcoko1W6XQZuyBN8fbNh4iZ7YlLBv4Yh7HELcVEy0KbIrUiYoGF92n9aEqoTbON66Kv0UhJD8foBiB1xBP0IsXlWhZ4nfT5zolXC2h9cgZW2n0kTY0qU-ETRTQJ_-pha2_PMIyusGyz56-04VbrDZKUJ0qMQkz8fNUZz0zumUivDQSL-T6dAIp43lpb7UNqQpvSi_L5NH87qPMDpqSfbRtbb3aE8Ut8G9Kpri3zHdZx1SWBDSTZgizfuak_a6462erlxWWA39iINVpYex4xeMyEz93NqiTe8L6iFD50ni1okFugYVRerUhDl8bJw8IJuJa5Uk2188XzI8vzO6QN1xn65jLbhSpRX1TkK0GeZlryimcgnq1ndsgEbhsSaCMfQ4HydAjBYEvPI4drltdwe0z1YBgGWLWt41jkRRovT_Q==",
  "id": "rs_0f05366a1832a4fb016aacb5f2ddbc87d0a920b14beb8f78a3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.115,\"right_z\":0.012,\"right_pitch\":0.1},\"note\":\"The brick is fully visible and slightly right of center in the wrist camera. I’m shifting over its center and descending straight to the sides of the brick.\"}",
  "call_id": "call_BNvpWHMueFvfcfGf9l78Ft16",
  "id": "fc_0f05366a1832a4fb016aacb5f4cb3887d0a21cd178d6091452",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BNvpWHMueFvfcfGf9l78Ft16",
  "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, 0.8532, 0.6178, -0.4686, -0.0261, -0.0525, 0.9995, 0.77, 1.5833, 0.1043, 0.8116, 0.6777, 0.2565, 0.9955]\nstate[eef_state]: left_x=0.2869 left_y=0.0007 left_z=0.1526 left_yaw=0.0028 left_pitch=-0.1345 left_roll=-0.0039 left_gripper=0.9995 right_x=0.2676 right_y=0.1102 right_z=0.0091 right_yaw=0.0699 right_pitch=0.0561 right_roll=-0.1619 right_gripper=0.9955\nstate[joint_eff]: [-0.0479, -1.6205, 7.2274, 1.5995, -0.0171, -0.0513, -0.0122, -1.0462, -3.6581, 1.306, 0.2613, -0.6178, 0.3736, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ee96d6112b49161aad948e08f49e440a15fa40ef8de30d67b27028b9be881b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:756141340bbba9600e237b32c1b286d4111b1365fe0f2838d137f8d28da82716",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e203114e777eec237e2696a10c446b97bf13f59352787577e65eafff04be3adf",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8513, 0.6178, -0.4686, -0.0261, -0.0528, 0.9995, 0.86, 1.1366, 0.4191, -0.1883, 0.6075, 0.474, 0.9956]\nstate[eef_state]: left_x=0.2868 left_y=0.0007 left_z=0.1531 left_yaw=0.003 left_pitch=-0.1326 left_roll=-0.0042 left_gripper=0.9995 right_x=0.2471 right_y=0.138 right_z=0.0665 right_yaw=0.0882 right_pitch=-0.1393 right_roll=-0.1063 right_gripper=0.9956\nstate[joint_eff]: [-0.0889, -1.6889, 7.2274, 1.5897, -0.0171, -0.0708, -0.0122, 0.0205, -4.1778, 6.0923, 1.4432, 0.5006, 0.0952, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLX8pZQ89axL9MAcIKMqCS7q3wpw8Z7Sf1UAo803WFLHR5AOu4yQ9OjIk5UBtBEIMEkOajWowD5ix-WoKiST1tunh-N_MikecVMYaYSy6SlvJRJFS1kqFcNgOWkIkCRCEmBMlfCrEJXWKK1r1SN_dyrjLtyRy8VVAuXp1WLkKYEgKxpTMPosTgX_0_oYORlkTZSavP0Kq0-P_rSKbYQeElD6xj--LaKD0w0nGSXkF_tZZPqnT1JFBFT7tRF_UkI32sJbWylatzFeaxfUMCYY4qE_ALNwnuhg7jM5TusZ_sPUdpEXuodUWEDWxWXwSfVZl5PNGIpe948ezT9W34LBKkmAyA-m3GMOWxE4-1mcNp7m1sja2uulUx7sEdFfiA-vglWOD-oHTQ_SLUrWVJ17dFPhdSOgjHnClWADX120kmsS7vf2no2n5kGIRb4DqtgSCU667oSjxxM-bgnkzQyyJScry3McUq4zrXzxRpLKR-YvS0woOqViHbWXOKYZbwBjQfRw95sP2eVnlIMpGJf6ANTiqEbUjYXJeT9Kgh-YrxoyOeCUhoSK62rCRuB9unmjFZ5-AARJGzaAspJZYSnUC-lPwf7GPWwF1E66Ck76vOnDOJXypAF3jMig0stpBLGE8FD58lFrqBat2KA6fsUcFhBM0_hUbcDktQKpml8oCv5lc22ReGJ0x4t6sEQ2rKYDkaskXFMjGQ-BB7QDuXv9Khz3BB6D8PNK5JUlUFP3DIhClEF89ZPrco3R5GpFsjW0yIuMm1cM83FwY1ffFirPUl6fjsxf0xE3j-HlPHBsR-6HLMrrWgCTAvV1BESMd5-yem4JiooZF7FV6hJC-XzSJ_JW2Ulvtvkw4exqRLhk2o2ApWHJNEg03b4-ziJD2FglL-GGEYq4TVGnqctti9WTL1AlTWVRRdIzb5SU45NDik40nQK_TV2Hy2-1khRyHGRWhyhFSYhNbzMItXJNuyxUcNeSace6Migo_SQCq2vEUTS4wQopnUcmzuq5SZ7TqDw_SGx21EJ9fLuCjJPKzRJ5j0QzLk55bx7JalBaHwWg8DMHVQYbYqvwimOGugl7LqJBr5lL4wtLCq9X1ryJnOnGJ8MrK1hyRnvDgc-aeWfS3W0DAfW8jd-khaDhKI0e9w7YvnSfaSOWL9nxoDG3aLdPtztrxyAySpyzQJQtSo7HPqEtPvB9Ch488tv6iHubQhmAP3P8PBq1yopJkQRyEJIZLm-rYs7MoQ-w-lOvzYveFodYTzecN0bNpX4IXhPmMGJyV_i3rs-niO-i6sNnlqDsjL6OiGZW6dYINA8XqKwEqk_hrvzJyDx2BS8wEnZJgPAq6dljnyJPA5ZYlCFauEygIy4Auw==",
  "id": "rs_0f05366a1832a4fb016aacb5f8be1887d0b2de8682c21f995e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.115,\"right_z\":0.012},\"note\":\"The fingertips are alongside the near edge, not yet the middle of the brick. I’m advancing three centimeters at the same height to grip farther onto its body.\"}",
  "call_id": "call_D5DowV22CsFArKxXQi2LwKEL",
  "id": "fc_0f05366a1832a4fb016aacb5fac2f087d0be86c6a9497fec13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_D5DowV22CsFArKxXQi2LwKEL",
  "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, 0.8566, 0.6178, -0.4686, -0.0261, -0.0525, 0.9995, 0.6804, 1.6527, 0.1799, 0.8772, 0.6186, 0.1986, 0.9955]\nstate[eef_state]: left_x=0.287 left_y=0.0007 left_z=0.1517 left_yaw=0.0028 left_pitch=-0.1379 left_roll=-0.0038 left_gripper=0.9995 right_x=0.2974 right_y=0.1135 right_z=0.0173 right_yaw=0.0538 right_pitch=0.0864 right_roll=-0.1412 right_gripper=0.9955\nstate[joint_eff]: [-0.0205, -1.8256, 6.9949, 1.5995, -0.0171, -0.022, -0.0122, -0.294, -4.0, 3.7949, 1.5897, 0.0562, -0.022, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:403f2ad3f9bc0970d37d371803ac230f1bf09d70c0e58b87b25fcce954888c6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d253822c2e0ed26051ba2a796c22a1691519b24930e402d78ebe73aa79480996",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f9aaf1999e7127038be8d5af07cc9976025d4701e00d88b10c6755a2695c4c0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 53 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8532, 0.6178, -0.4686, -0.0261, -0.0525, 0.9995, 0.77, 1.5833, 0.1043, 0.8116, 0.6777, 0.2565, 0.9955]\nstate[eef_state]: left_x=0.2869 left_y=0.0007 left_z=0.1526 left_yaw=0.0028 left_pitch=-0.1345 left_roll=-0.0039 left_gripper=0.9995 right_x=0.2676 right_y=0.1102 right_z=0.0091 right_yaw=0.0699 right_pitch=0.0561 right_roll=-0.1619 right_gripper=0.9955\nstate[joint_eff]: [-0.0479, -1.6205, 7.2274, 1.5995, -0.0171, -0.0513, -0.0122, -1.0462, -3.6581, 1.306, 0.2613, -0.6178, 0.3736, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLX_jP5UJ2emJ5nrEqRSUf3Yl26a4H1kc7hRSZ1Lq7-h2jINn_530o_RhLlphTRrTwr3yq9ifjbcuy-AjAp4r9X0P6RcbIZ-gXv6VWIaSctzY2oaYJenpoMdaw6pb_-1jyN0kh0q1XaySU1Chqgs3NcSIIiTFPDdUwJtG6Uxkt5o-Gy_wR-ZPCyxI123Rms-2ho9I47vaGKVcljmd3B_rOOAbV0zR9C_-sP-9ZN1Kf9qyoZfWPf1cr_7BVRwupMRJzOHOLHuEFJZ7syHnDtfxLV2q8A70bg-3sxwXJPm2yfiGPPZJ0-rmoO3-4_dJ2kxuTG7E8Azsyjdf67IJE_LZR2h43IM1O_kbdQll8bkfugKdRAwUWfhXOLpDbVvneYNpDtJgxxiNO6JxYjR8il21GucpUXz7awjWDanacA3uvq6E-V9AZH9UPcB9M3tAE3X4HAam4_tkQE9TOGscdZ_ThDOOU7eb2fMjXQFd4sYpufT_zc5_V4hFGbXzidbzIqMBRDPqz6gXRx2xYSESJ7aMCgmkxUYJy3ALg0YAKZjzZvkbgl3qzWKMrVZtZC0G8ZvFs-IaipM-FmmtkvVne8Uc36sAMyndgSya4ABKa34lxpLDrlLcsNPAFyZOlSfco-FrdOIiWwabch0V5FXP7nNJLZp5dySNLOWD7_jwPmWalmGE8u2NoG24wjoGYCOhAdRejsCbaHR0Z65aLa_P8GnvCHj7JLPG8VXv21_6K1uz6pDn8CNBa7htoYgJCg0x3FksEGH572UJX1eP9wYuZx_kufIxndbKYIzwi4EXqAPeUtJCzgqNtsWgRcrjIyKJCGVdHkbVcUbbVQ9TJ0KY1HtKCNBb8LkBXWYQP5CvqRiuw827yD_9IwMwE3C36LX7xtcMf7Tbr5FTQFcG9DjDAjX3e4ybB3r6-E3Pk2vcO_K_ZKaFgNAs-fYpxhIF0drQn6L40Gz2zaZDLrGcI3StnmxbjOcmQ_ciwGXFvTokG0zfFC4zBfCtX_ypUw6yI77Bpi-FJct74HWuWnZLBxqbgihNDouA8aWOz8fwFxIPaq2QtJrEHs378CoH2dDnqQBsZ5CMX-hB7IHTSELDf_N07SM7aNit_l9RDNenX47Z4B1mTiay_H3vBMioyCOJZusknKg8D64FGRjlWKb8HAMYqVjAz3-kruUxnYra-2BLlxks9tiqXPkz7rqhtgffEFFIVzjUrwbOkb1x80--t5F3c1pqd-gaYkMKUpOHVVGd5d5EmzZIHpz4qBEjpwCfg3hukLvvdn5",
  "id": "rs_0f05366a1832a4fb016aacb5fe24e887d08469b17273f29b4f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open jaws now flank the brick’s body in the overhead view. I’m closing them to test this corrected grasp position.\"}",
  "call_id": "call_goVFHDMkkSXiyRmXjVCMJSky",
  "id": "fc_0f05366a1832a4fb016aacb5fed06087d088e66268946f5e67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_goVFHDMkkSXiyRmXjVCMJSky",
  "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, 0.857, 0.6178, -0.4683, -0.0261, -0.0525, 0.9995, 0.6727, 1.6604, 0.2028, 0.8715, 0.5888, 0.1761, 0.0089]\nstate[eef_state]: left_x=0.2871 left_y=0.0007 left_z=0.1516 left_yaw=0.0028 left_pitch=-0.1379 left_roll=-0.0038 left_gripper=0.9995 right_x=0.3028 right_y=0.1204 right_z=0.0184 right_yaw=0.0813 right_pitch=0.0831 right_roll=-0.1421 right_gripper=0.0089\nstate[joint_eff]: [-0.1983, -1.6068, 7.159, 1.58, -0.0708, -0.0611, -0.0122, -0.1709, -4.3009, 3.5761, 1.3553, 0.1001, 0.0269, 0.5788]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53ab408620ebfcd1b2395bcae5ff2af39c24c6ea555df75296ccbe2c7a7af8f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2314650b01634921a0417baffdd31ae2ec8b99d7167e5dae52b620050bbb1fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69ea59fa81fffe017fea389fc5d7d548d61df86af71cbdd784fc1735d7c3924e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 57 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8566, 0.6178, -0.4686, -0.0261, -0.0525, 0.9995, 0.6804, 1.6527, 0.1799, 0.8772, 0.6186, 0.1986, 0.9955]\nstate[eef_state]: left_x=0.287 left_y=0.0007 left_z=0.1517 left_yaw=0.0028 left_pitch=-0.1379 left_roll=-0.0038 left_gripper=0.9995 right_x=0.2974 right_y=0.1135 right_z=0.0173 right_yaw=0.0538 right_pitch=0.0864 right_roll=-0.1412 right_gripper=0.9955\nstate[joint_eff]: [-0.0205, -1.8256, 6.9949, 1.5995, -0.0171, -0.022, -0.0122, -0.294, -4.0, 3.7949, 1.5897, 0.0562, -0.022, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLYJ_KfBo_M4qVCrdVaSWLRqZ2tDI9QYM2Ezrh_ToFHq3EeWPQqeMklxY-JIsVQ7z_gu225alWOG2NvREw6f0xjfaXk1o9vQtf7aTpYsMXqJeaRBpF-teyLIckwF9_zfQjy7pROctc4fBi0J2PxW2zCWV45gWPMyig5WTyURMz5Nev_f7TU2Ww0oFSCVgawj5ak8UrKCtJ28nVbKY0RZ3sbxjAEv4BEQZDCj8bOG34rCjr7CNm6ztwz_8NT4uzQY3vUdbhcYNdd6e56JcjYT3bU3FJ2AYdDLKAl4nnKKCSvZfPt49WGkV2vxZRBHlotfKA1FMcET44M37DVBi3oK5132cH8ydXKyvryoaAR-MoMh-WvfVl_YQg3CWWcdzAIfUDO1EOPptR1hZ7vHjIIuBfFDQDbDFyxF3kmcjtkgf3Kh-8GpeTCHBwlZNXXGcT_Vn7x7YUgv_0fANl-mDzOh5V6K-lQETAn0m54KRuOIYTqs9WpmM_0wqphzlEMOU51Vq3sPjPsjVXisM2U9Psvm-3qr61Ex6WjPQiURyIiBTsnQ10NcVJ-xzpGr0ydxJpDv3_jV0Bk4p7GpNRkjhp_790bKkDAuJnja5zr5YWrYAn4_9sKGfQ-y8hCdEqhUvVz2_RPJWy-K_oh3ItyAB6A5TdWGFnCBxwIvmT1Newh_3uvu5EMQBrPNXFX_HMahG6tA8-FAxfDKsUAQeZ23AQKqWpW6vZ3iGt0KS2BEvHyWrw0PhVZU4rEg51fZ9lKzMnvuFsIbsZ7zSSzAtZWzCCec2vZUYpWhB_tjhL-uyHBKbC74PQgOHdx2LD2t6oC-2pbE927UbsHB0_Iveb5sWn4ThuVDerU6Bp3dBp8A0ZsdOdw_7M35zH5XBpOU4TqFlPteR8uqE2F3MSQCkBArQHJcOmWCcpD3LBrcXoP40acTN6UN61ZMdQFCMxGDDbu38xqfRpFZkE1qIKR4fExCLSnaGD0H6FIzR54fhm1eKjuBq7euLMx9ronSEDu5joF_WAmhlQk-zq9p7FlYogp1esZxVScgVc89Lv25DE9HrYqJoyWtKAUdDDfATLEvcBXoM-P5qjvyO3TOQBCdVZX5ucLGhRIiy5S6ASa4MOlifmAS319hN5n6vP4ib_gw0uvBOWJZUBHBSWCoNpQmIENH2u9IPBHdeLvJqzsUUHyNSVT6vH7z-zxxh31FoBEJ5uIF2BfkUAyPYpMhB2-JtjMsc9z6nmucca-MDUIOZX7NuM-N5rwAF3jK_qyyvXWMHT92RxxURXnAk2bJJJ7gTGY3ZTbgXXaR835cCAHQ0ol3qgQ6mHEA697M4XEdfZU8x439pGDESx2dxwY-KqIX2Rb6VoAwNTt6SM2SdvPZGA4SWYhONdd5iLdkR8MFnaBtSQ_6fe5iQij8Syq5lp0VccfhTYDbbR0J79L3hfINaYmyuwGNRT-yxk6E10bdakN5OgWCwmTLzALk2R7j9A8m4K_T7oRBu1mr2990ty-NXdy5v6oileEKfPGMo-CtvC9AMDlBDm9Cp45ku7pDDuNv-tw2sdDsJRaZJTYLnQALw8cOcOG8Sm1ciwEzNF_8JciXU-VD49tbxTYwimaDWb7DKX3o3rc8mEPTChCd2qZ7-CAsYn7ixkAsyhiszSnEHOQyAqxebicIr0ch",
  "id": "rs_0f05366a1832a4fb016aacb604fd0487d08a4afd5d826feedd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.08,\"right_y\":0.045,\"right_x\":0.295},\"note\":\"The empty close nudged the brick to the right; it was outside the jaw gap. I’m reopening, lifting clear, and moving right over its new position.\"}",
  "call_id": "call_JDSQrUjWhJO6HpmOX8OvBSYk",
  "id": "fc_0f05366a1832a4fb016aacb60812cc87d0934f7b6724b69240",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JDSQrUjWhJO6HpmOX8OvBSYk",
  "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, 0.8604, 0.6178, -0.4679, -0.0261, -0.0528, 0.9995, 0.313, 0.9989, 0.144, 0.3756, 0.3069, -0.0174, 0.9947]\nstate[eef_state]: left_x=0.2873 left_y=0.0007 left_z=0.1508 left_yaw=0.0031 left_pitch=-0.141 left_roll=-0.004 left_gripper=0.9995 right_x=0.296 right_y=0.0435 right_z=0.0787 right_yaw=0.0522 right_pitch=0.1061 right_roll=-0.1403 right_gripper=0.9947\nstate[joint_eff]: [-0.0889, -1.6479, 6.9812, 1.6386, -0.0317, -0.0659, -0.0122, -0.3761, -1.6068, 7.7197, 2.0586, 0.0415, 0.0904, 0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26e84fd8dc1c5da78a8af4f84ecd68bc9e397b90d44539518c3e61976ba1895d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c5d191d84043ac5e61de1ad469622a66998fd09b57efe56fa85f29662a444bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fa106a8e3d10ced9ae3fffe247771ba9b207e63614a9c24071910843f76fc88",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 61 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.857, 0.6178, -0.4683, -0.0261, -0.0525, 0.9995, 0.6727, 1.6604, 0.2028, 0.8715, 0.5888, 0.1761, 0.0089]\nstate[eef_state]: left_x=0.2871 left_y=0.0007 left_z=0.1516 left_yaw=0.0028 left_pitch=-0.1379 left_roll=-0.0038 left_gripper=0.9995 right_x=0.3028 right_y=0.1204 right_z=0.0184 right_yaw=0.0813 right_pitch=0.0831 right_roll=-0.1421 right_gripper=0.0089\nstate[joint_eff]: [-0.1983, -1.6068, 7.159, 1.58, -0.0708, -0.0611, -0.0122, -0.1709, -4.3009, 3.5761, 1.3553, 0.1001, 0.0269, 0.5788]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLYSGZLAQwhp4sXT_GMOs2bhp7gLfWpFU9P8f5oBfpQQRqT0-OPWXNf8MjQJfZpnBSPqNbp5Lwf11JXQ26PD9u3eUh3nbS7ByyyEazjN9qe22Wg01pTYutLTiXKxrYAq6cjicVKUOnw8vF75iJghryXoYWFLEppiZTfo6uUl1b787bJHo0Ygz_uV9Vv1T_ZUXSQ0Cijq4BDXxKl4eOtUP2vVokxCnguwaffGXf5wctQqLK5tVUN3ggaeCslF2fDM-qgx68XUF1fFezEORXKRoV7NVloBWDvdAVod1p1EX7SakizT9PQY8n7Yu_X4CP62Qeek7Lqhx-7mBv7ra-HwTxDdIj8HDJy6a-dkzN5BO78miVmK9zSTRtO6CWbgfZBGE8kKCkRGc5HwjWgFySd4R5Sm2A4K1p4i9lTkMi7_f0fM8SzJdOp6di_-gCK1FZLPgtFlctt-X3KrTgp040DGv-bVY-B5LiBVSt6l1nxupayKI7MCT2JPanum6KTekuZB3WK_x6JNLUEeraiqIj-IXuEtGHcg_fKcZncKhzx6MGrbL7bOuWhfl9YJEP3lctjU5xum1mSDCel-UFVgabbind6oJvRk0ea8UGJZGIFXyOtqtIGiEixyeR-SAn0ekoFzl0DQ5lh2wps_GnHI_zLl06M25dfR39Stj-l95ZCzbypki-j5-GTCWtMfKbS0P3EvRo8-etN_07dsbdjfdf9ShkpwZE1bmpk79yxeGCO1fGzaDwirgxtgZOiza3in_Yty4V-0iL6L_S31IvtQ2nArVkE1yU9NCEWVa5sAQ3zqARXA-ru3TwyRpmONXrc9rRqn2yCTYGYBspjFxroOAk9_OuZChliI17LvNap-v7IcqsBQwEtBQ7o-06sezWAvfpNbDV1UEUU6U8Z2h2Um_P6dwqtPAf_d7zvLiMDn4_WW5WzK9TWSyD4vTO0udTASe_9eEoOczyip4ygU7LrVfxwcl82vTk-BvgZtotGG6w2w-wPRvr0ExMu_TDbdrIELQBwN_3jfrcg_9CEF-u4g46sN3WPQDMpDWT36S3fb1mLqmIaR-fmr92C4gFR_i_gtAIEMqWqM68OrH_JSHgyZzRwQYvrg6YI37xky4COCC23uv_7pQY4Xq8TKsoEI03RlVxQYsFR5JY7JGIJpqVHPePckxBRpIOQeT1yj9ju4VAaaK7akbnjKZ8j8TNT9yEhkH6umikShRjRmFdIu6Mwqm5fiAiVGozRayUpyjq-lnbbEsvSKshwZRfJxa4mJ4RU4laXr7oeZZc8EHw61uc2syIcnW-EsPbb5Nu6NLjfeU2BSWZiqIoVBzKn2q6f4Qwp7L98Aqi4PNuzvljMWRcMQ65NG_496Bg8BB8C2UdBoGN7qzlDWXdPVFK6tq7JJwQE0HGaemPW94BkIoR3gh-6M6pypn-qzg5aNuyqTaZkG_jcpJG7BxST86o2_eiV7dr6NhaWD45fTYZUtMI7r5lxKhLiYh3rU_cldESyXMVrmMeOC3oNUyWbnPSPW5lwykIUw57_rO7BH--eElVdQlhhZ_EsOYpUWiz_-8h8r6rVbjYhOxMRTr9mtPlJxmFn0VYHxi8hcFOWfQnxnHMLGdwJ_tNQocIvmWlY4YeVCcMvlJdUJlZ1JSl-1C5T-d8MYAz_8pewZi8YCtiGwfANOh0-qJqq3nXnE4p1sysadBdvltR3A6aF6e4s=",
  "id": "rs_0f05366a1832a4fb016aacb60d4a4087d0a14e3d8342e065a0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_y\":0.06,\"right_z\":0.015,\"right_roll\":0.12},\"note\":\"The brick is now centered between the open fingers in the wrist view. I’m lowering onto its sides with a small forward correction and leveling the jaws.\"}",
  "call_id": "call_VdAcxT3o2bEUTaRWGodOxWkw",
  "id": "fc_0f05366a1832a4fb016aacb610aaf887d0b51803b87bb3f2fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VdAcxT3o2bEUTaRWGodOxWkw",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8654, 0.6174, -0.4808, -0.0261, -0.0525, 0.9995, 0.2344, 1.6478, 0.0868, 1.0882, 0.1539, 0.0975, 0.995]\nstate[eef_state]: left_x=0.2853 left_y=0.0007 left_z=0.1469 left_yaw=0.0029 left_pitch=-0.1593 left_roll=-0.0032 left_gripper=0.9995 right_x=0.3174 right_y=0.0516 right_z=0.0196 right_yaw=0.0405 right_pitch=0.0998 right_roll=0.0331 right_gripper=0.995\nstate[joint_eff]: [-0.1436, -1.7846, 6.9402, 1.8681, -0.0415, -0.0122, -0.0122, -0.335, -3.8769, 1.894, -0.0562, -0.6081, 0.569, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc86b0edfc8b0eba3ea68d1d2450751dcb4dd5761862aaadd564d40f86fdf1a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7db0b4f2cfb4b6e8875c7539741efaa5f77359d5e89227fac5212d29f9ce5d66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeeb10ccef674d6b4444ce8fdc1a2efd545d0765859952b64a584cc9605b9892",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 65 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8604, 0.6178, -0.4679, -0.0261, -0.0528, 0.9995, 0.313, 0.9989, 0.144, 0.3756, 0.3069, -0.0174, 0.9947]\nstate[eef_state]: left_x=0.2873 left_y=0.0007 left_z=0.1508 left_yaw=0.0031 left_pitch=-0.141 left_roll=-0.004 left_gripper=0.9995 right_x=0.296 right_y=0.0435 right_z=0.0787 right_yaw=0.0522 right_pitch=0.1061 right_roll=-0.1403 right_gripper=0.9947\nstate[joint_eff]: [-0.0889, -1.6479, 6.9812, 1.6386, -0.0317, -0.0659, -0.0122, -0.3761, -1.6068, 7.7197, 2.0586, 0.0415, 0.0904, 0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLYVxNW4hmAhANdTdr103T8EQKC3VBdlx4m8BzfHt4v0s5NWTiuhDNDvDQmIlBJWmW8sYdROvnBg5ogH5ynHKr8PXEwVKAgh0mOAzpQ5Q1N-Zq33DNF2HQvnlcCiAdZDLkpm0KgA22YqKIEAv_Ay2KwD2NGlHe2Aa6dQX5ac1LOUD_bY5UbebQXGhvpYEnKkIQ_FYqIy1Y5xPj70T9_Rnd2ouDj5wW6iENp0cUKwWSoK8duEx3GLHniu5h5ezwtRLAP5zxVNqwYGCgzjsk45Vv-WiijfjA1m_mBk_h9ucjOkGzkg8ZHZlvOoIKoq3eOfu5Fo70BMRToTmwR3Cr2A67paKTwYZf4ebYLtWnnde2bRmzEm32T2Au-B4RgEFxA37_MrM-afa5EvNWS9BSlWfHMmcM9qq3wvMOO5cKaY2QT151PeFBeJoKEPNDZJnQaqIzQ13z7nL5AEzVvakGUDUIsnNVbsGaRJ4QgqHgRcc7Mcp3csCyFi1Uc8W20aJflfSMnHAbV5FCpCJWpvFLbJ2xXIr7fqaaroTjhqNWMYZx-exODLBYTBIat7xaPgKJWIxhFwu23hGaioZCR4wmyDRmnoFL9JydejRH3xsN-GrdLUnbnwUowKPYtmpodZu-BpQDGWvWpJZd3qaCAmFutiX6iLk1nlaNg5ghDrP-G7FJDj4xQ-y76aZkjbCxLWpERQMWa60xVdkuFWJyCG1NeUEOwBkTmdLDZ3akYgVJydb2Tu78EfG9w_k1UDG-8Z5t-b7wzA6m7G5N8yD6PovbD8_1zR-HYxZhq7HoIXZxgzszebCVTVwnfQC7Gs-gAtwYir08sDCKqmyWFoI3WA-3ZSAWs6cv8okPJ80yTAEAX3c0qtkLZ0lXN8h7k5eFG5LDMqVhbk4V6P5dqhhirlVnMajZVTcle7nFiC76lE4ZbRJW1xZOtg3zv7kf9B3oQVy6ndQCGjko6E_3Pa7ZDRIUugu05Bb94nn5Xj31v_6n26MN2c-M-Ehov38CleLaqEkEn2NiIrgeZ1yCsZxgshU-r2Y6iEjbkmddhNnWnhPgqE9uXsUCJQLeSvjRccBbWP9DegHcl4wqLVcfDxFdrQs77rwip-o4j3YEqRvBmKWuo5Za8cPxBhSzOEKp32IJ6Oam6eoRz3HM_KSsz13KABtWuBDgjcIEvZpIzuPjt_p5vZ2c223fBQeG7SGH9ka5nNbLhJNx4Po2NKNorgY3tJOybglRlozy5mBVW4L3pn_8H90_PE7YW8tC99pJ54xNAmcBB43WNg2STCqMopNpT7u9mtdpyl6d1es9n0QxjPPSu69D-Zzf5nZLeBfvgYQDQZ6c2T7bHZ",
  "id": "rs_0f05366a1832a4fb016aacb613fd6c87d086560decd2ff5c24",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"Both fingers now visibly bracket the black brick, with the cable outside the grasp. I’m closing the jaws around the body.\"}",
  "call_id": "call_hca1HGsceTrAKYhzLTw8PDnc",
  "id": "fc_0f05366a1832a4fb016aacb614e6b087d09307d733a9c7b029",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hca1HGsceTrAKYhzLTw8PDnc",
  "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, 0.8669, 0.617, -0.487, -0.0261, -0.0525, 0.9995, 0.2306, 1.6531, 0.0784, 1.1107, 0.1478, 0.0937, 0.0082]\nstate[eef_state]: left_x=0.2843 left_y=0.0008 left_z=0.1452 left_yaw=0.003 left_pitch=-0.1673 left_roll=-0.0029 left_gripper=0.9995 right_x=0.3165 right_y=0.0513 right_z=0.0205 right_yaw=0.0438 right_pitch=0.108 right_roll=0.034 right_gripper=0.0082\nstate[joint_eff]: [-0.3214, -1.5521, 6.9265, 1.6777, -0.0269, -0.0513, -0.0122, 0.294, -4.6017, 3.7675, 1.6288, 0.1245, 0.0366, 0.6032]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b47fcc4bfb431238ea099ca75314c561a45cb4bef7e1bb4b00501cf15b31ba06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b715c78cc7d0c14bdc91acd7a11e2ab2842bc6033ff36d1c2cc48f14470b2247",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca77efd0ae778eea50b60a919340eae27c54728f4b1251c7ec9e875351fa267b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 69 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8654, 0.6174, -0.4808, -0.0261, -0.0525, 0.9995, 0.2344, 1.6478, 0.0868, 1.0882, 0.1539, 0.0975, 0.995]\nstate[eef_state]: left_x=0.2853 left_y=0.0007 left_z=0.1469 left_yaw=0.0029 left_pitch=-0.1593 left_roll=-0.0032 left_gripper=0.9995 right_x=0.3174 right_y=0.0516 right_z=0.0196 right_yaw=0.0405 right_pitch=0.0998 right_roll=0.0331 right_gripper=0.995\nstate[joint_eff]: [-0.1436, -1.7846, 6.9402, 1.8681, -0.0415, -0.0122, -0.0122, -0.335, -3.8769, 1.894, -0.0562, -0.6081, 0.569, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLYePvKtNlbZ77njIrrpySuAEQS7pVBtPI3LPrQ6gt3957w9Zq5W94U-fIGSLJezRPYSYdeezG_waWuNEYkC7NsKAr6LDRR-A1Nw9A5z64W8Ou67nf9GWAtLVtlz8cy9_8Affpngj_A_Z527Ohl6ivqa2IItyaT_lj6e8whpBe3BfOHR4X8vLImLJUjQz14QkCIouNsaFWoiLbSWJ2WJgkzyiACEfEzK8afd79c-27UdaLORHTd5kw7J7p35TfaCAEKhFwsCMfrnRPDid2pJvWWfSA_3PuZHrVJNv1vmcAPJ0O446WHE12hArorfMr3EH-r5iJj70BpQE05gq6GPtkn8o8RUFXjrUbGiXnulvh32r9j8bnd1fWAWTdFdv9Jrwz68wyhKbttxIOhnRxDJCDwWc949zlk1sfdzT_t6LCzkT95-MMtzNo2_29ppgvyMvMPIFtRWZOlOpfc_-LY0JdFX3P7Z1kc_kF1DuHLcLhRoVzGxITLLD7-KgwYusz-2ETo2hbpD7yD4TxGuv0d9PdyEskh-kWOKbaDPhGDr6vZYnxZdWqJEeDn8RlI4tGbrghlfqbj2Ipg6QS5q1BPay5H_JljgPWUZSz-51Of5bjLD-_DEhn49iMm98bqZmvFwunGYcD-BDwlW-NrMtLjVYWkebAkzhbWZkj7ONAhs5uWVmYsiwOfpvlV--0UXKX9u5f_d_5_mhklxt2gg8g4keAC9J3OYHDMKZtoa2AkKKuG2EDQ1zQ9hwla07icLHxGbO96KFQ-Y5CRYNr-0Lm08WTE7l438Atoby3icyCVKAefsOhz17Gu79cEqpljxuVXIPnY-8SbkKaXKsgAsfaMmmOL0jLisrRMd0FuSf1AfydkjidOWx7Z6K1hfljQcuJ1P69hfOq70-22Gft3GdRPCH-vqjx3PrsRm01XcZuZGWUata652ZdswMTjLiGytFshi1hRBkuxwzstQk11EdN7J3sT1AzN77wfymhnP66aqQ_sv0XWQ2v8W2Fp1T_QjN11r5YfCnfswmkWaoOpujavuusTTC3zkJDl9e2ZDYpRYtGH3W4OFb_9q4x5pDtSuU-A4AfqwSlCumAk-dCA4oA4Utsdbw63QFmoMYr6yb8EXJU4KIJ9bgcaxtkRheL7K1O090Eu3ZGHWGTrHRrvHl4cYabAJWmJToA26zDu_KucRR6AEnsDb9G1xpru7fvOJFhkiWRXqiwZ4gFP_2ibBI-sekvHv3y8b4Jqqf-ijSWbiyh24xQ8p9PwpRmEBBwA9o7-qIoOiVc3K2KeczwwDO-Y486fMu87Wg2VgxXV50ADMWIgC2xmYP1T-zgHWtz92kQO0puEPAdtP3WSFeyyd-Frj_W5f6ZVvfatQHpJtcPEaZCByu2ygxL3m3FGqJP59wvEAMUUgzf82m9au336Q2A7brfPEwmYQBKX7MQhIkn9IedJcqE5HwXHEU5OtgFvq7SmuWLO0g-W6v0HDTNYyrirVHAACzGEg6PsiMCLMxaeCrgU7lJTwFow8ryzcRqcWnYwBc7C6cSI7AvYk_blE7ZbjAZcuDWxOn1QjSkFFGASMLtJm4HnRsgavCuQQHfY8I0b9A6g_y5ea4i5aY_Ow7Nrgfvz0JLxZatSpLD9N6DQhWlWE2OFMV-9VU9dd0H0_XvVih9tCmXI92r5Zo3V8cGwp0JbCK7DtkkanbGx6hNawAXDhlzvl38BbUDr0u86bfw-sVywJVZFNOyPUOBx0dstSFOXZ5-E3vKIsw09btKJ121fQIpLPGyeEtQuuc05RFf6fkroRBaFkpK63VLzBerDwD2PCFr9s_axBdCIBKUIGVK_CC5FcY4zWxAj-2ER1KYLtMe_48qtyiJsJ_x0gUfsQXJGIGBpX3FmoHm-btbmQdgp00NNCt04Jx2xwFYpnlKVuz-HLl7iPo-mBrmVfizawXWkjAg==",
  "id": "rs_0f05366a1832a4fb016aacb6186a1487d0ae1ffea05cb63781",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.275,\"right_z\":0.015},\"note\":\"The jaws closed just ahead of the brick rather than around it. The closed-finger view makes that offset clear, so I’m reopening and moving four centimeters back toward the brick’s center.\"}",
  "call_id": "call_nRQKbuhmgu2b6RMaUG6BznCc",
  "id": "fc_0f05366a1832a4fb016aacb61d3e5887d09f356afbbe0a1603",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nRQKbuhmgu2b6RMaUG6BznCc",
  "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, 0.8673, 0.617, -0.4919, -0.0261, -0.0525, 0.9995, 0.3119, 1.5772, 0.0051, 1.1103, 0.2024, 0.1162, 0.9952]\nstate[eef_state]: left_x=0.2834 left_y=0.0008 left_z=0.1442 left_yaw=0.003 left_pitch=-0.1726 left_roll=-0.0028 left_gripper=0.9995 right_x=0.2946 right_y=0.0614 right_z=0.0228 right_yaw=0.0667 right_pitch=0.115 right_roll=0.0309 right_gripper=0.9952\nstate[joint_eff]: [-0.1436, -1.6479, 6.9265, 1.619, -0.0269, -0.0611, -0.0122, 0.2256, -4.0957, 2.6325, 1.9414, 0.2662, 0.2076, 0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02237ff43939c41bf70fbfd54f65520342b1513d381894d33c21f713d80c3b2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d7c2a9270d9fdbbeba967b78fc2aea636c764d12f32547c55ba99aae622b078",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f68eac1074acf7598c38c7dff997f839db20b59ea5ba77a820129901858e9381",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 73 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8669, 0.617, -0.487, -0.0261, -0.0525, 0.9995, 0.2306, 1.6531, 0.0784, 1.1107, 0.1478, 0.0937, 0.0082]\nstate[eef_state]: left_x=0.2843 left_y=0.0008 left_z=0.1452 left_yaw=0.003 left_pitch=-0.1673 left_roll=-0.0029 left_gripper=0.9995 right_x=0.3165 right_y=0.0513 right_z=0.0205 right_yaw=0.0438 right_pitch=0.108 right_roll=0.034 right_gripper=0.0082\nstate[joint_eff]: [-0.3214, -1.5521, 6.9265, 1.6777, -0.0269, -0.0513, -0.0122, 0.294, -4.6017, 3.7675, 1.6288, 0.1245, 0.0366, 0.6032]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLYlFE7_dE-aWgdQWEVbf7B07-R0nDRRnorNGPk9jVR1B8ZY87VTtdNh_sfr2lovnq7le9o77SAMuh7hY-Az7uK3rfgfDxsYvEL6FExDGZHDT2vPiEkXmCCdydPLaT6Xal4KnJLynH2nwBnTttME9n3a1a74IwiSYGZM9YODz6cLE5MsBuIgE5tWCDcD-PnRSDnHBTPiE7Td5kCCsLM1h3tK0tQo5cOzA3YWj1DQnhqnHbQgEWGYwUer9E8sA0AgGLrYd7HYjtBlyCPsXzq3c9ugohOyrktMuQQquOvLQtAipvSQE9U5Ear0w_iL_LbcDl3Zmaskasu_X9UhLyZFS_gBCe7TUpIwbgZ31KShuuuM8ZMjFCvMbu5irK8STuI2y99Pn2ZRTNu7d9yJVZQW8QmVkEQNc04B19CRdkGifWCIP90wigPardeTVpOBBqzkqdw-jQ3aChCO2QUqIl22QdH2TGanb3Gprw-WjM36lSmIFBajJxnI7hUEyzWx-YMNOV1MawGc4AmcTc3h-miITaRm93p-wngUkWbtSWNzOem3sN7uo9pkQSXFBroG4RlB449I7MMn0XgTgnkfBkqbKZy4HAl2LLNiwujMxhR-X_BwBdwbszFAPlOI9EgYYdpSvRo8QhFFIyl2F0j8nuWxEejaKSftbfXKqkplc2mXBSAQbzGlnhzxeSQbp8S1Gzq77hS6EQrYL0cMI0oJic9vqZkXoZ84wH9NlFm79qSvgA30ILYa7lVodk6D3f0Y8oGSWs4EAfN3smEZVye3vshgkJVyLFHVPa7ZwfziGgRZijQzIjvPqT2d0jl_CCbI6UpdZFArctiqvqz8wMZP368QqAzzho6hat4DwHURTb34GQFjl6ZbJ2JjpUzX_apSP6OxxlkwEzuadXO8XXzosT2UiLbRORAbaaaPf5mLY5wI9DBKrEO8kXlPVn2UzADcPcmoPODMIPz2HtHT2_PdbuGkVtnh0cgT9vwYezD9dl_0kSWw71lP2m1U-v3tx_xAusX6WGhurN3poAPFK_SUOuSXPzVoraDfz485Fn5en9qkWBsJXwfs-qs9-rmdFomOE6ySSg4n6UYpaMcmq6NoxoEim0HgZamjn-lSEg6hQJspSw2wqYR6mCVPk4lWHYbG2xB5j_PmcOW4r0lMV090xlAc_tjP-bRuc8-kLU576dJVsqZSRRYImX8GRut6gHp6ryxi7qoFzc_uo6dR6UEoarkngqX66KVrkgNEKM-m9nPVngm7ZQFbu9IaR2FFY7Esk_QK8hAOTsJcyfP5KpaLa9FTED8yNjUAtwtA8u6z_A6LCimyLFTM9pzi5Hd1fNmumqNPivXtc4gsBoXqIIM90eE7JsZ1aYzIr2_hOAA7olQy5moizbEhE0R8TqzzPhBDNU0pIy6YnqCAfvW0Y4ABwT2SiLN64aB7UFycUKIH1DKOaXWpKPbqHIJZxZVm98_PG_rGCwFA",
  "id": "rs_0f05366a1832a4fb016aacb621989887d08de7777c9091b7cb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brick’s broad body now extends between both fingertips rather than sitting behind them. I’m closing at this corrected position.\"}",
  "call_id": "call_rK6DUUfqSqxN05WvmPU6X2ZU",
  "id": "fc_0f05366a1832a4fb016aacb6241b5087d09edcdd42f94d0aa0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rK6DUUfqSqxN05WvmPU6X2ZU",
  "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, 0.8707, 0.617, -0.4934, -0.0261, -0.0528, 0.9995, 0.3126, 1.5707, 0.0051, 1.0966, 0.1997, 0.1123, 0.0085]\nstate[eef_state]: left_x=0.2833 left_y=0.0008 left_z=0.143 left_yaw=0.0032 left_pitch=-0.1776 left_roll=-0.0029 left_gripper=0.9995 right_x=0.2936 right_y=0.0618 right_z=0.0216 right_yaw=0.0719 right_pitch=0.1077 right_roll=0.0269 right_gripper=0.0085\nstate[joint_eff]: [-0.1573, -1.9214, 7.0496, 1.5556, -0.0708, -0.0513, -0.0122, -0.1573, -3.1795, 3.0838, 1.9902, 0.105, 0.0122, 0.5885]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aed23ea4b08527b6584f6527b7772841830f4ebf99b8747f0616fb1bd7b262a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64a097b690ce11c62aa459d282eab687e7c864f368282f6ab056be6a29e4c8c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da2abf15d92d96550c8e028c7456d483d621ce026524fc85f1eadea24ea6d9fa",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 77 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8673, 0.617, -0.4919, -0.0261, -0.0525, 0.9995, 0.3119, 1.5772, 0.0051, 1.1103, 0.2024, 0.1162, 0.9952]\nstate[eef_state]: left_x=0.2834 left_y=0.0008 left_z=0.1442 left_yaw=0.003 left_pitch=-0.1726 left_roll=-0.0028 left_gripper=0.9995 right_x=0.2946 right_y=0.0614 right_z=0.0228 right_yaw=0.0667 right_pitch=0.115 right_roll=0.0309 right_gripper=0.9952\nstate[joint_eff]: [-0.1436, -1.6479, 6.9265, 1.619, -0.0269, -0.0611, -0.0122, 0.2256, -4.0957, 2.6325, 1.9414, 0.2662, 0.2076, 0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLYwqVurk6MaJhP9qOjeBrDBuLCvSy9I_1HsU8mKA8Q4XwmzvoCu_oKsqi74x52u78P1sInmWfDxainhITfhUxY4xB8zW9LYGgV4NZxwvIlWH9JcaZFokaIyF_-KsWd9Gx5oornk7D-PXXJHojI0b01q4J-QeDPHqDSvSgxRR_FDzvf4tLreU3vGxgcGLdCQS-6o8TQe8Zars-S2WOsgkwsrRvWoMCiWsdXng8am_p7dU2VNBOYWieMzVVbfSxmrIFKgVq_yoX1pPd6lkwWyLRhK9Pr3gn1zn9W9TnmEGXIRMadCaqeRyqNyQ3roWeO-GIxneTUwTS68LZ3qn_mQ-eMkHT4Kw91ENGcMkLn5zRVBCJtP3_Hb41yTcr5rQ7tgTEs8x5O827LN-UfEIOS5044OitcF_Jyym2Ydp5q-02cPl0Js6B9wvWIoVGf4ATZkU4sP20t6KZyxAmtNVeU8N1u529-wzYOnl6fJpJupnXDVkNUhZ-fQPrwA7oxzi77dlsJ1UkgL-LyDtlZ464Y8sTKkC3i9I51jF04EiqMyNmglllVg3ImwzOGd_byX-6gq5PuO4V9M-_TFsVg1eZY-m8MOJJCGke0n16jjxPlVT1m-hQfNwp7ga_YSZIHDfRvAQKPqnCBZOfY6CJHpMGilAFAUfimA_b5ytGk7m8LbWN2VMzTmMvYLHM0V1T2Af-pMUQTVjBZMpD2Ig6WzeIGBDJVkgH_QdvvWhy7gSMhpVKj_2-luuEs_FUYsYIR4T-2exgFge0DPTbgbP1MSz7kI4-G7OoMyGtI9SOs3A57gcyLzFrlEidDJtiltm-X_6WSZqfscTXc7erW7MQvJlPxhofzQUU1Q4Po5gkp2Ou8uX31P2FCebFUkktSLj-P6QfJgQY_DkfLsMIybqp3JwvKf3UTUmJEkBmFvQ6IKaTq5i3aYQtxtpIqm8tErWek0hLTLsPvZdbHr-HjhxOev-_r3X0bU4Op-8UXmpRrNCEWzdJjmhH4kHeIEXmmc6wDTwOfYbInNAfJmO25IkjzhpRBayQRur2j5PR4quLeE92A1rlM3iBUzvPqlgXxoEfW7WvfuUR1zcaFWqvc1myVjSAwPZAGr5vqt6Muv75-wCcAZPsY7CpN1TomsHN1OoHaBN7kpFNAPeP9nGZEDyizxTIKboO8gyyjMOEh9mPtRE2HQo93elyDSYKTPH9Q-E6gCBS1jv3uHDIVLDqKwTI91zM7_wMXP53cTffIbQyZN7tAvG8EwyajePAcgWLkMnx4Z9lIrSgmPPdg2BIMJCvih6qX8mOE2RULVU3bDAFKpv5yfIX1Jv99vBCXeDwsf08l9mUMJyWJ6nTQ8tP9e1Fjr9AAbvvTxc7t0YemuXlk2mxzywwXHoOkX1CZ5bsFWkGN9t4Xyn0fApiHiUd6TJS6nbgbORXSvYkxznkMSAWhoGkyCkzaqSCxkIan2EbVqo_lIkjaXXU0ee3UMa3PowlY7R-YqdOlxrOuDFCEa2uWakN2VxzWBzbNTQuFjf1TlXed8bueNZckXm8hMAASj2a4GKY7NwvEJmnx0Kj9DFNGM7JOsOqCo70NBUpQa0qsb6Bwrlp-1cPOKr3KdAMv3mlByO7B6ScGFe13QfnjTmwVbFDMGfzNSv0TQ80tq2ITb44Ko_-kz3ENSEPZJEQRgtmH27x5d1mU4J4yNuCWXeYUx_XvBaD8n9_aJOhO2qixftjBH7Iw8XLX52yareCQsV0Qggc0Vgz__mDnwYdmyPvwiUkocNfFJ-XlNmTY5Cf0KVqy4wrrWnLTew6QfdiXmoYW69tzGcOJXM6lwPfAPZTro_XRJM3JZmlP0cWcVzUr4yYXDPdT55Fu0DycqlzsRF7ToFOtN23H_hwaQzLltMEGokmj1O-KrP7g=",
  "id": "rs_0f05366a1832a4fb016aacb6288cc887d08102d971dd00f5a8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.285,\"right_z\":-0.012,\"right_pitch\":-0.2,\"right_roll\":0},\"note\":\"The fingers are closing above the brick’s thin sides, and the arm is not reaching the requested low height. I’m changing the wrist tilt and lowering the open fingertips to table level so they can catch the edges.\"}",
  "call_id": "call_IEpPyKIESIgLlDfFlHCqKUug",
  "id": "fc_0f05366a1832a4fb016aacb62dd72887d085351ddca2d88f56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IEpPyKIESIgLlDfFlHCqKUug",
  "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, 0.8707, 0.617, -0.4938, -0.0261, -0.0528, 0.9995, 0.3046, 1.4124, 0.1783, 0.6163, 0.1749, 0.1123, 0.9952]\nstate[eef_state]: left_x=0.2832 left_y=0.0008 left_z=0.143 left_yaw=0.0032 left_pitch=-0.178 left_roll=-0.0029 left_gripper=0.9995 right_x=0.3086 right_y=0.0686 right_z=0.0201 right_yaw=0.0859 right_pitch=-0.04 right_roll=0.0055 right_gripper=0.9952\nstate[joint_eff]: [-0.1709, -1.6479, 6.8855, 1.58, -0.0269, -0.0611, -0.0122, -0.7453, -2.0718, 4.3556, 0.696, -0.1392, 0.2173, -0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a75a527d1eddd4c12a45201001c66a8de39f0584653c6daa2eeace5455b2129f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae62db3b588e8da31eb56510e0234f91f90f5668647b7f459221c3eaea8669cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:180a83aecab8d574061033cee343d17602669b2195350d56580a1612389e72b3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8707, 0.617, -0.4934, -0.0261, -0.0528, 0.9995, 0.3126, 1.5707, 0.0051, 1.0966, 0.1997, 0.1123, 0.0085]\nstate[eef_state]: left_x=0.2833 left_y=0.0008 left_z=0.143 left_yaw=0.0032 left_pitch=-0.1776 left_roll=-0.0029 left_gripper=0.9995 right_x=0.2936 right_y=0.0618 right_z=0.0216 right_yaw=0.0719 right_pitch=0.1077 right_roll=0.0269 right_gripper=0.0085\nstate[joint_eff]: [-0.1573, -1.9214, 7.0496, 1.5556, -0.0708, -0.0513, -0.0122, -0.1573, -3.1795, 3.0838, 1.9902, 0.105, 0.0122, 0.5885]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLY3kcGowW3ECrmkZyNwJ67UoFtxfPYAuZxc09U0HaIKvwiki03fc-9PU-TmI0xrrciWpP7_lP1Fe1OHfbyToo4H4frG1jb6T26t7H7cYcTeTMTHaeIxDIpPWY69FKV6udWOd4Z6_18sm5aVWHbBgYbusasu8XJi-hZ9j5SKO04V5VPoV9d4ErkeLG2GpMCx1mbunq9AL69gkAIPkVKX7Ow4BFcqEbj6E7yslFTk3PLZpLNDcuLlGLRYvZK0fjvk-r57sefBp6NeUJBZytbTfBCp5nlnPEOi7JtB66T__7WSkd2EiecTvkF4U7uCzQ5pBGwzz-u5MUQ8mEziPp9Zr3RAPrJPLt00eGR7bNWgUzAJpCNQnKe8_LlYL793iUDRL22txGBEnw1ns1Ml9z0nHz51HfbaoZmskmqIHnlJFQdeysH1gUQz6peHmnOLZQDwj_q0es_Llcfx5ouQD0MePZdge0-OhVkXTlsyfjwmUzWINh2FQw7FiCXtMwwg21kHcnY-CW90Rvueu66BXn-NLC27VHKUI60K65v630RVpA0N32AI0HCOmVhcKZwAIbVbickDjMdK697UftwpK2T20itchnnGVLx6rlSfzUkcT3AEABcNqaleVe0qqacpR9L9P26Uiyj-mvwOf4PCn587X7v8K2L7hiCr929dirmEFN79cIQ4vkssKkJLmUxfhoWx4JVswtZ-Y-iZwb50Ua4Q5lomEJ5IlcXMla9xuUHMVshP17xjdYV7Or9yn-eNdw4nK94xS7Raak_gbno-DPdTpoiFJDINpe1LvltufxSoE7--qQNz_Fj1lZ0EUrjT-MT6BBle7CxXsHOPwpiz2gFtGZq00J7G4kK2i2Nv1DCCh02nY0VO_ZMeMxRu5hxJWqiIxvmEOHJf8sHcTycTRADT8QG-9vKI7U2K46TIKlPMJ0z6n1PMlNheyz9mvPXDIDujcj_86CcMX9tCBEgFnjo71jj2zvPTCKuOuVoeGjyJTDq836IcIb0mYrhVcYSCQ25_ouAFNQl6OgtDY_uC3bdPBi9cLjv8HBEc6KCeTS7H2WlnNp13ybpRwlTMMfRA6adNk7L94hcbp7TEwOPbiDf-xh7HxGHTr3ewQxQfFMNApAdcQrRaKviLmVss8dSltMN9QasUXL6PH0kwsP8aMFnr0-cQif_kxPnJAEezRUxredkyet38KUXLgkTs0je6qB_-lIUUvyBOf1qMxKbp6AywJ2_iRbQGZBR5RHICIfB_fhjsEsnzZrM-XWiP45KEICuReQHJhfQ_A-clSAWDE1y7WD5uP3tG1yGC6NMNt508qTY5fpGT5d228cyRTmDg9ITcSjYeDvU8jt2JcEl5MSZ5hSFdoOYgbFSQZYJbO12ob1sTzlWm_b2Vrhlut_J1upV3hiI-kOcgXc9toEzh5VkEjW745YP-_C7UhhbM7fZZeIHRNG5RU2SkiA2XUkHQOBecoYdnvjspcBDCXsK2Mv8WBO0gIS2a9Z04rE7CkEskvt7VT9uldkezfzfVkTjRL1RZYhU8IpBm3nOvK7KWcYfAFRyV54AaqRMYmXohERVfybGmlDUCTyqvFO9X6UDNrg1ZN0uT9t02SZE2P0u1OXQZ2x0kzQ==",
  "id": "rs_0f05366a1832a4fb016aacb6332f2087d08e9dbd74a244081b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09,\"right_x\":0.28,\"right_y\":0.04,\"right_yaw\":1.5,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The brick’s long dimension appears wider than the jaw opening, leaving the fingers on top. I’m lifting and turning the gripper to grasp across the shorter dimension instead.\"}",
  "call_id": "call_t1pnloO4f7AXBWUMuqF4nQ3X",
  "id": "fc_0f05366a1832a4fb016aacb635e49487d0b4515a2520f35251",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_t1pnloO4f7AXBWUMuqF4nQ3X",
  "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, 0.8761, 0.617, -0.4984, -0.0261, -0.0528, 0.9995, -0.3836, 1.8351, 1.0866, -0.7635, -0.9241, -1.5414, 0.9955]\nstate[eef_state]: left_x=0.2826 left_y=0.0008 left_z=0.1407 left_yaw=0.0033 left_pitch=-0.1879 left_roll=-0.0026 left_gripper=0.9995 right_x=0.3504 right_y=0.0145 right_z=0.068 right_yaw=1.1557 right_pitch=-0.0785 right_roll=-0.0215 right_gripper=0.9955\nstate[joint_eff]: [-0.0068, -1.812, 7.0496, 1.6581, -0.0269, -0.0464, -0.0122, 0.9778, -8.9641, 5.6274, -0.0317, -0.7204, -0.0513, 0.0269]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f536e8fb87d22a6f5e9531cf196dbd18fb9b6c284efd668a68eec97b55ad86f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cfef751a00c74b2bf9b5c150d2c487568282b47b347b754fc99128ca330ad76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37a990f740b6162cf0662069a7605c988cb8f35f677cc8128f2c2f5cb7215250",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8707, 0.617, -0.4938, -0.0261, -0.0528, 0.9995, 0.3046, 1.4124, 0.1783, 0.6163, 0.1749, 0.1123, 0.9952]\nstate[eef_state]: left_x=0.2832 left_y=0.0008 left_z=0.143 left_yaw=0.0032 left_pitch=-0.178 left_roll=-0.0029 left_gripper=0.9995 right_x=0.3086 right_y=0.0686 right_z=0.0201 right_yaw=0.0859 right_pitch=-0.04 right_roll=0.0055 right_gripper=0.9952\nstate[joint_eff]: [-0.1709, -1.6479, 6.8855, 1.58, -0.0269, -0.0611, -0.0122, -0.7453, -2.0718, 4.3556, 0.696, -0.1392, 0.2173, -0.1978]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLY8M0t7K1YCbPR75Laa7k3cgIBixjOeP2uJjR9Lr1nj6UmFM4TqvA8N3rKlQ0xzsV366pPNAsZ5fpwnpHzcxv8QwZ1awBqmv6J-LbpBDXzeyutepVpN3OmB3VEwzji2k-9dHpuiFniKDJoRlM7-Wh5jezprj_H6GzbTI28LS5HU6SQimKmae3QhdUHi-moqSqS_PinvgzVyRZ4c0QQrMd-jukPANm5oPW-5BBPZovgLWn6vfNb_YdEkoJb_liTYiKXSb983iKXXlP6HO1LKY5ZuSrbx7NVNl5FJefdT9fWtCEcDd3wcEmIVZV5zhizrKn5r_hGVyRvHkXCcr3oxs1K5N7E4zrRgMX0ngkpPF3TmGbcHFL1NhR0p_rSAHpvVBF9XjcYzUjFaVTSNnr5PvAGZAJUjxa7je3fGgrvXiNgoqlRvpx9R76iZs9IxoSPLSpycf8jrbF8X0fb97O7hpFOkCxWovrHW-T3mF0VJkBQNAR0a7ym_ArQ7pzD1xbrG29OOcVXKaqHYTr_zmoCQOQ4X6T1Q2sWNQNyB-b_OsTH17d0i8P2BI8OcmpYjKMPHWSF86kF0IN9B8BqAgfA4FQ2MwhqcGALspXXEoNNT33YiD5B_HZHjTC2VP2XyJiYdlmaSmFBbbzI-gqUEFPpa8jQKiyPvXQB93uFkTcscLGeWDg49OTU9F19DC-6fJ0-zsMGLy0nMJqryvlL3zpOx4JET1lShtShtv1zgpY_TLD7IQGH-Q9Yiu8vJXLnK5jYxD6gQaj-ffG1Q-oYb2UihN6LnGwkizcOBF_tuMkpmsRNfpAtF5ulkLXbgkUFAy4Q5rg9FUTP1tDHyiBMWBwfCMxDt-4nqAoUkQ_RT6Wd7cwr5Ie8TTf4SlAh_RbzkxO0blounPFdLCN2ZFQPSsrBLTu3O1MyYdRUgVTnoi0NlSlzOhq0Zq0yJm0axHGz23z5JPEQSU310zmYeBALvoafhPaTedzfkDDwp6Dj3Tz-6tzhcTAt6LhYUSirANZTSht_go3i9wO2GcbwtOXKsOFxDUsuZf7Esd7X0_NR2XNOMdsvwC7Irb7_z4H3GYbjV0P9U0n1Zdp1a7bEa-0z6UbBW-0ukzjxqpYUWCIMyMK55BFRVsd-d_Omkagp2jzJ_d4Bd5-5eUJyH4Kb39Csm0aQf49OLGMlYEX6W2Q5rIeWEUjmZtOooPPfHK66ZNL_XSOUr-_OjuUCJJANZA99JHyw0LWpp-Hv1DHVahTDC79KktDaws8N3JkWTn3yEnoYfrtr6nHHetjPH0v5vWvAUkpOuDIdcVCLzAat3mABRb93VLoTifWe-fO0fUdRywl3-FSZ9WL7I",
  "id": "rs_0f05366a1832a4fb016aacb639f63887d08853e4307a58d0ae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.275,\"right_y\":0.095,\"right_z\":0.035,\"right_yaw\":1.5,\"right_pitch\":0.1},\"note\":\"The rotation left the arm farther forward and outward than commanded. I’m correcting back and inward toward the exposed brick while keeping the short-side grasp orientation.\"}",
  "call_id": "call_6bnJeDUKEMZ4tx99tbRk2qNF",
  "id": "fc_0f05366a1832a4fb016aacb63b5f7087d0bca8d95480e39b90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6bnJeDUKEMZ4tx99tbRk2qNF",
  "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]: [-0.0261, 0.8783, 0.617, -0.5018, -0.0261, -0.0525, 0.9995, -0.4164, 1.7622, 0.934, -0.8288, -0.9287, -1.6943, 0.9956]\nstate[eef_state]: left_x=0.2821 left_y=0.0008 left_z=0.1395 left_yaw=0.0031 left_pitch=-0.1936 left_roll=-0.0022 left_gripper=0.9995 right_x=0.3008 right_y=0.0256 right_z=0.0563 right_yaw=1.2164 right_pitch=-0.0723 right_roll=0.001 right_gripper=0.9956\nstate[joint_eff]: [-0.0205, -1.7162, 7.0632, 1.5946, -0.0269, -0.0708, -0.0122, 0.0615, -8.2393, 5.4906, 0.2662, -0.7009, 0.1245, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fe49c0693047ea76b00cf54e73834c56b407af480c9e92213f3859885c2905d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7eb7d614d2087bc7ab8b0cae424cf69d7dcea6a5d7b0eac9b66c1dea976d70c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c5c3fe781df354098e358e711de7a744061c6a2df63c427738abd8d50c3e2c1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 89 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8761, 0.617, -0.4984, -0.0261, -0.0528, 0.9995, -0.3836, 1.8351, 1.0866, -0.7635, -0.9241, -1.5414, 0.9955]\nstate[eef_state]: left_x=0.2826 left_y=0.0008 left_z=0.1407 left_yaw=0.0033 left_pitch=-0.1879 left_roll=-0.0026 left_gripper=0.9995 right_x=0.3504 right_y=0.0145 right_z=0.068 right_yaw=1.1557 right_pitch=-0.0785 right_roll=-0.0215 right_gripper=0.9955\nstate[joint_eff]: [-0.0068, -1.812, 7.0496, 1.6581, -0.0269, -0.0464, -0.0122, 0.9778, -8.9641, 5.6274, -0.0317, -0.7204, -0.0513, 0.0269]\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": "gAAAAABqrLZCLIBZ0YdLawijTLWrm6au53mBQe7Fbr6umWnpSUOJlMlyymrN07jibv7cbM39xp3Szugvb_dysPOiLUGQ70fItHyke8Cx-s1pKcKpELeKm-Qd_WFj3dtuw7jA5sFbgsNw_Np2_7iOGdvhfTgYOefnZWpptSiGUnLTzhfYDJ5daSrDR9vJ6xbEfBttYxo12E2u1UeEps7pBkxNJEQL6GMPP52aDXDjqvtwwMFIZ5tY2VfTVOEi9Yu6J0xtn9QRfTNL1FL2OU9VstVdD3jvYhiurAZ4geVUMJjcZW4VsgT5npnQs-qPigBOIv8AlQquC612GDrGruSlesI6cuhafhKywSYVGMYrzpaTzvZBbOHKLDpI5YEwHPYr__LqAiElWX6iO8W1m95GOLRXhQyu69u5AHnZn1cAjNeh8ZOixe3EZ29i8ZERvq3WAgxyiKEsSdgCxALCEVNjfieXPy-jjFooG24gHMnGOR7-5zJ3F3uyujHudBHOb-ba44am1Cgx3IBnATYYfcf5uchIotcFRkOoJqbbfKCv0EotzBwGuoVXXQeyo7nNswa2Gi5HeNgIKKszRcnspMN7L2lsaYLW-zBMNqw7Xwriugux22nrbyA0XJetA98xrRRhzvRtuBBMryzjSIGXG-EhJww3KoPFkI7xPVDO0Cmb_n7svPlEV-uVdH05KvoKWASfKcYMhkU5ebB55n4HCX_Mq-UeCAOq1O7TyDe-RuNixYjzOVNO3uQG6yckRqrROCYOgthxapcKTdAtbjWQMqI0Za2WLlFIGY4IRI-e2Nu4M99HHy5IhDYt3Odet6u5XjrobNeWViPlf1UvO-KrH4yKOKPKpdJz13Zs_yAoINlGPMFfeObQdN06VgRkO_6gE7D6q1DUcbrTgxvwLT-OuDjEJf6Cpwd_bILf2593z2ZKNLcmOjUK8gONzd87yoInbzYkgQgBRUvwckclI68VrTAxz3UMlRrsZ2K6D5L9gAAiy9aOujB_E57m1JGrX1orXgDsQr76kCL8__8kJyUG1RxzlIcLbx7qw4oO5h_ksbTZSJWOCEmN89jxlOx_ZrJkwyY2gg0ZpB3k7CFmd7f4Gv7xsI4kkU86SxP2tJHGQKVhVBw9MX8lEaQpNvPUbpmGCEjmoP-US7VVHBkGGgjGPmX5mJJw406-M7RqLix6sjU7slh749kZzT1FLWgfiVP_cUR_gERZfZhnPvbyS4N5-7-EqBhioXKWq60X1EvKlEBmaQpunRXnNTWaAvJxaL6IPXV-DxtiyAw5WRI0gPfKH_rgOqh1djWulCw-A9U0RwUMaywAgRx97IGqDtgg3MaaWUjk11vc6DY2iVc9HvVG-KVVDbryWmKPvJos-AF9sNPTkPI1O0Dx0BxqgxMD2PjQTCt2m2rkNhsVxAiIKbAVnLK0XH9SBBvLLUKUc2VjI4ZE-67RMVD5q_4QLjJ7dixBIm6g7pMkjmEAG3iMAZNtcppuAT21sxvg1AJj3Q==",
  "id": "rs_0f05366a1832a4fb016aacb63f42a087d0b346a0c6ee78235a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.12,\"right_z\":0.005,\"right_yaw\":1.55,\"right_pitch\":0.15},\"note\":\"The brick is aligned with the rotated jaw column, but the gripper remains over its outer end. I’m moving inward onto the body and lowering the fingers around the narrow sides.\"}",
  "call_id": "call_rfkJi4R5RmgxU7MF493IqpOe",
  "id": "fc_0f05366a1832a4fb016aacb641045c87d09cc4d47350c2b61d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rfkJi4R5RmgxU7MF493IqpOe",
  "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, 0.881, 0.617, -0.5121, -0.0261, -0.0525, 0.9995, -0.1642, 2.035, 0.9268, -0.7273, -1.1278, -1.8954, 0.9955]\nstate[eef_state]: left_x=0.2804 left_y=0.0009 left_z=0.137 left_yaw=0.0032 left_pitch=-0.2066 left_roll=-0.0018 left_gripper=0.9995 right_x=0.286 right_y=0.118 right_z=0.0151 right_yaw=1.537 right_pitch=0.1404 right_roll=-0.0142 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.8803, 6.8855, 1.6386, -0.0708, -0.0317, -0.0122, -0.2393, -5.3265, 3.5077, -0.0952, 0.0757, 0.1197, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a55b8d51b72e8b67f0915615a1145d4140ece19d441b45bca8c64e05fab9a65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc7406c19be69e3b094936ac09fc862a4fb96b9417a63ae8cec340e8b399d16e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40a5bfb27f5c609c73aaf99d9465c0f7532c0f76edaa0670c3fe1cc7289a1270",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 93 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8783, 0.617, -0.5018, -0.0261, -0.0525, 0.9995, -0.4164, 1.7622, 0.934, -0.8288, -0.9287, -1.6943, 0.9956]\nstate[eef_state]: left_x=0.2821 left_y=0.0008 left_z=0.1395 left_yaw=0.0031 left_pitch=-0.1936 left_roll=-0.0022 left_gripper=0.9995 right_x=0.3008 right_y=0.0256 right_z=0.0563 right_yaw=1.2164 right_pitch=-0.0723 right_roll=0.001 right_gripper=0.9956\nstate[joint_eff]: [-0.0205, -1.7162, 7.0632, 1.5946, -0.0269, -0.0708, -0.0122, 0.0615, -8.2393, 5.4906, 0.2662, -0.7009, 0.1245, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLZHCtP-U3Rid6ppaerolHFckLDqVLqVj0ZzE9A6kNgzi6-suCvoB53tMkc7UKIbHCl_PYKYWlBVQR5WxYo-CJd8tDxK52xNSQ9tArsTb-LoshnWiGc4bZZ8C4UvBmQib8x_eYTPtAY5g1jkBDtEtRiyYAt0TJ9YADt02mMXj32FXYnx8K_w3iG296j0f_O05r4-h06GV3HI_uU4EOHQKLpqEeI892kTEctwgY_J2RwDV2DSjRKLmm4sJ__rnDZ3PDkzuCz0A78Jx0m0LqoYTlLQJ1Bp-D_Y_PRjUoB2g_oeE8E14f5qNhpa4lHyQZ350h2-qSGX1wPlR_zjt5RQd-nhwqPXuWr1oCMwetAyslpKHnQkdLeUghsvZZbB0uqrm3ymaI90OSsKOXH6x9pWvZw_DvxR-T3Arr5g5m9TUYpgxHDEbouLsG7Af5RW8f1nJUNn2WGEZrhQzDdjOB5piRXU8dPUlaoQdbd3AWyP1uBiJ2k3OnQGOuf70wVjVfG9rFhFhuNLxQMbcA1u7MCra5VtSHTacP1FsA2a9QHfrMycxndqrvhWxFWMxNKMMv5jaIWSG11tULHrLdf7rHYdVEVmxwxQg5QhjPcFTEVEIuhwyBO095XmdsropVBjwi18B4XebhWC6OXataO1LndFmmTU96TajbGtInRG6g2Em85Ty1lErhKdXLV4uqD_QnflJTA93dIu8UILGi7-FYb1Vy--9u_-QEoicRd205fxESVDqTj--C0LTrQzRFP5WVWqMNInmQCuErEZ2PVPg-0_QlcYf1WtrcDN6I5ijbp754PWcl5nOTxXQEeb0UDSnW0VQlrMbcsZ-gecltMNmAG30dinI5VtIy4OtfAsRpc6WOrBoDcg3c9-K9hS4W7ytcnpcPC1bVLASjjy8OVCLrfmSGjb3d2dRdjWT5NY9n22P7heV4x4onaDhb5dQ-l5jG3FTp-2EaSNqL6mOrEUH3P-XAkkmRwRRqajYKZUIm7srEL5i0k099TToGJmkrBUKZYovHGUBnbsUoa1FBBAdRdDO8BaGBDXI9iIsoSr41eeKQ1swhd75M-2NgOmp1JB9NQoIkhN5_DvKh10i9eobLbIHEQDQYesHEK-Arplgj9B7AAI22Q7piUhXhTLctl053zljRiFhx4rfX-C1E3vxpoiU0BfNSt0qPvdFnOaxoLacpU_eA-BOYsqfmj-jzhUN0p074qt_niUTxvagdc2o_nU7S6WgTRYqB_hOP5F75im6panOvQ=",
  "id": "rs_0f05366a1832a4fb016aacb645604887d0b11922bd4bd012f6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The rotated fingertips now straddle the brick’s short sides near its end. I’m closing to secure that narrower grasp.\"}",
  "call_id": "call_w55dvxiDOoM6ksBR9juKTVPo",
  "id": "fc_0f05366a1832a4fb016aacb646113087d08cb2a5b8f96fb45a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_w55dvxiDOoM6ksBR9juKTVPo",
  "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, 0.8822, 0.617, -0.5129, -0.0261, -0.0525, 0.9995, -0.1635, 2.0369, 0.9279, -0.7322, -1.1687, -1.8969, 0.0085]\nstate[eef_state]: left_x=0.2803 left_y=0.0009 left_z=0.1366 left_yaw=0.0032 left_pitch=-0.2085 left_roll=-0.0017 left_gripper=0.9995 right_x=0.2876 right_y=0.121 right_z=0.0213 right_yaw=1.5276 right_pitch=0.1802 right_roll=-0.0148 right_gripper=0.0085\nstate[joint_eff]: [-0.0615, -1.5248, 7.0496, 1.5653, -0.0317, -0.0366, -0.0122, -0.1026, -8.4991, 3.3846, -0.1001, -0.1587, 0.0024, 0.6716]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dcdc1e4d944b48e4b695b146fb67c72d1910499d25deb9489197df2f4cbac6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d81a41a3364a63b5a28420bf64db39bcc40e29fcb34413188cf662b9b3586cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eee76741efc8a8164a81775b083c998bc32903f7cf007e1fb80528220a026510",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 97 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.881, 0.617, -0.5121, -0.0261, -0.0525, 0.9995, -0.1642, 2.035, 0.9268, -0.7273, -1.1278, -1.8954, 0.9955]\nstate[eef_state]: left_x=0.2804 left_y=0.0009 left_z=0.137 left_yaw=0.0032 left_pitch=-0.2066 left_roll=-0.0018 left_gripper=0.9995 right_x=0.286 right_y=0.118 right_z=0.0151 right_yaw=1.537 right_pitch=0.1404 right_roll=-0.0142 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.8803, 6.8855, 1.6386, -0.0708, -0.0317, -0.0122, -0.2393, -5.3265, 3.5077, -0.0952, 0.0757, 0.1197, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLZPj9W0JMNZYP1NrD-aEr7Px5jitEuLYhc1gmW8EmvkMU74F8gUT7znpnLdy6aKP3jHwcZ7An_U6d9kX3P5QsVAQbIxzwlfHSldkWo6YPPpeTDp0DLoZBoqpwZBQsZVwS7_nASFW6toiloXEo2zDy55oRnIs0zKfUW__BvshpcJ2YpjW5BaMfAImHGLwE5-EcoKFUS9YbDuMna4-l-Iex1_RcdDalCIArwp1dn3hjlKqsDVNSh7yFNA91wZgLrnLhly0zTUQnuQ6HsSHpig49HITzQePoU5kI_vu5Qlo6Hv_qTLGoKZNjZggwCojR9ZlilhAeLFZ1tTMmaODNWIJfKCngBw2DzgVPTWkiC6AJDkzxwiNs1TAlveC3u5vV4S_RAF3IMtXGmbLUkMMXXoxZ2qrXr5RSbMRP3AwCiqRRCQFxxHTDh4nN2JL7od1yDiI3on_TLpX1JHmzO3qvyate0znanSWSNgEELCEU2R6e_Ym9Sq538mW99LVKKb3c_QVj7Bf1Y-IHEgeyBo_ymvr_nL2DbQ2F0bXZmk3UwQkqYcYaUpHLS-pCO3nnOFtwlSMBGpjSRMhrOyMleO3yQxDa0PYXuF7PIM2K7KbCfHfSRF2OcuXBrGGbUnpDAktT4hpcHKqvWLFtg_dzfaxL4p3kQGPNg5ADQ49eDumO8i3ELWgdeIKowAakR-2WHkDKRjRY6zxt-ov6qo5Sa64ptU6HgqpZGAGdGYCxMTosuwVHzS7jEuvOdLIi92mvGxglnI4yTx2begqRg6d02Rh46XVyJo9UM9WAg6GP7yGLjF3TTz9wqgkCjpF993L8NqB1cjMgn8DOSUualD4PD938yzWWEIzjTDmY8PfZV8R0oE06IEbHqJWV7Pkk6hUaEW_0A5vocoiRrmCASh3rq6RtKKFcX82q3MRSKK8YKAA2JV5xfaq1A0vitx4YTqls1eg3kfavVW2z-U7_JWU2GuTnghTd3jAj5NXLF5LYhY6I8RWhgvgNa3Kt-cf3fFMoyKJO5e38qD-JFElWEAsUQ0GaCCAZHS9Vf7bU06lzJCqHjRbGmM9dMw9zKmzSUL9uJSAAm3Q4CizQE8KjQ_oQaCjMrU9GOc9Z5WcIVAymj3TYzfzDiPTjf_3crIPpwK6b3JOaaNlILW0T9H7fmHywhOruDucVUC9uE3fVhEf5ho0U03gZzV-fjc2R-R2vsSRXMCH0kqfHMGro5CtWbnf4wctzaD7NdsXlaVxxpvKc1hnbpsNXRmieit_8WM0Q64tobduhV5r1bBHuTcrJfj1S-rE195urFWhCX7QszmA17Y7cn8a9rv0LsCeW-MGBDQ2k_oEJcZWdR_0rER2ow0mpwU8tlGNXHuvQsn5MmHrkgMB9ztCrMkuc9r8m0lsl5xdrNoh0wIj81iqkJse0yO2_ymGPLrqMlS-8YPhZSkIY74XyNQlx623Pw=",
  "id": "rs_0f05366a1832a4fb016aacb64bc2c887d0bb1a2c616d5cad04",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.285,\"right_y\":0.08,\"right_z\":-0.018,\"right_pitch\":0},\"note\":\"That close was still empty, with the fingers resting at the brick’s upper edge. I’m reopening, moving onto the center of the body, and lowering to catch beneath that edge.\"}",
  "call_id": "call_ne1j6M71E4RgdECi1yUcFUC7",
  "id": "fc_0f05366a1832a4fb016aacb64dc0a887d0b16cd0c87b9892da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ne1j6M71E4RgdECi1yUcFUC7",
  "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, 0.8822, 0.617, -0.5129, -0.0261, -0.0528, 0.9995, -0.2447, 2.0445, 0.9501, -0.7818, -1.0813, -1.9739, 0.9952]\nstate[eef_state]: left_x=0.2803 left_y=0.0009 left_z=0.1366 left_yaw=0.0034 left_pitch=-0.2085 left_roll=-0.002 left_gripper=0.9995 right_x=0.2907 right_y=0.0918 right_z=0.0109 right_yaw=1.5063 right_pitch=0.1016 right_roll=-0.038 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -1.5932, 6.8718, 1.5116, -0.0513, -0.0708, -0.0122, -0.9778, -4.6564, 3.7675, 0.2857, 0.5739, 0.0562, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dfafdf9d2abd3c153daad3a25369486a88c6198e97f3d1ccc3c27d6b8a21860",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86625d2a6232e5813e49a9054c454fe02101adbc45fc1dc8c58fad47a09db474",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78f90a499d087c29f1f06882613d4008c7cfd85438f41a03b4c4e4584aa2563e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 101 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8822, 0.617, -0.5129, -0.0261, -0.0525, 0.9995, -0.1635, 2.0369, 0.9279, -0.7322, -1.1687, -1.8969, 0.0085]\nstate[eef_state]: left_x=0.2803 left_y=0.0009 left_z=0.1366 left_yaw=0.0032 left_pitch=-0.2085 left_roll=-0.0017 left_gripper=0.9995 right_x=0.2876 right_y=0.121 right_z=0.0213 right_yaw=1.5276 right_pitch=0.1802 right_roll=-0.0148 right_gripper=0.0085\nstate[joint_eff]: [-0.0615, -1.5248, 7.0496, 1.5653, -0.0317, -0.0366, -0.0122, -0.1026, -8.4991, 3.3846, -0.1001, -0.1587, 0.0024, 0.6716]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLZUP3Sx43zEIo_eqEUGdLqVoAxK3ECaBS4I0rMT7LgdDmeGZW4aKbNtzfDnuP2T1PriMfsuLw54t_BvpRmyRtSgvf39p_-pk7T4NFyu4g6DEYWkeHVkhxe1JhboD4v8p8iXlt0Vsem3n0GXevsc-4hm6qfL4dYfikz-jgtymFNKsWOnl38gOSUzDc_bzYWC_S3VJT4zPeVYgzPLsOy5Wq7Xihcwp76cKMaGlU_i1OW0iDgMxJudSLOEnUA_I2wo8bZ73VbqOney5F2RfEzYW8FsOSvQkYR1IbwPiB8_XZoFv_Dj8dS0358O6G1wnfK_8EbK1I9Lx-jtJyUhaaRS7QDW81eIDLIZInfC7OjoMl02b-098-TcdE0XNG4hLmzYo_bpgGnBV3MoOjHimLUGa-zxlVsFnXPWH_Aq5J4Ql4a9EMD3x6PK4ZnJtm9uVCQEF7JVEsNy1pezj8mlWcg6CtaEcRaUXGVdvz4dkujKhKtpeC9JBEwr6TRRPKeOuJmxzFqg1oiCTDOEL5zy_Y1o6MYj5Ai0b4g8aN_DsiV5yg1D_YErirc_Iu_l_rwPs9s5jr1chi9Qn26crnP4mUesDEgXToNFqZP297zi784IBQoIzo2P0C2iTxrdFzGVn8uZ52l9r8TvlDW-6P0ppYLDk8dDlmvxjGi7pVkVgk8EmY0ftlNgST1wXdCwO6fgPWnW8QPulAFwfRRxEdUZZAoQjcSRq4pgbq02WtI-pscDJJbIRs_ttpbUhiPUuQgMXm9BxJSU7DBjT7D4UJQ-3c4o2Z-dT5tRHzyS09UHGaTdTD8mj72bImbtS2j3m3Hyvg6PsYLnB7w9DjVnSY1kTZpIxqIlmAtwveiBNyk8mPzfP0_ECQ7hRYUOPNQp1SpbsWkkqfyLvV-zES0iyvG-z93YgNItB0YkQqIMH2AOl4rCRVoevuvBLp8m0fLE7aXw9V091A_Vs5DetNe32DLPcESW2Y1YctzcVUfyjH5bck85ETMwYbhpP3rPVQFc1qQ31W_yyJTtugXQ6Sa648y6lr9U9qv0A0WPq0V0MYLF3fM4Ay9N9pDzLxcbB9Cfq6hOd4ppyBOhsqKjA0de2BY2aEw7sK0rvOsw1m6Fno2NBB5eZG5gmdSnIGFDDkmZwt0wJrRpAPmxjhJdt3NzSrWZ6RffMAADMLyPY0RmQaf-Yd0xTZNmq553ImaJYBXdZorcM1Ha6zd6WmOcltiK995oO4hX2QbED-_4WnbCEUskxl1Z5Vg9mMzfYpoWZ2HdWtxRIMW1I8i_xbdzZnrMUUUAXNzlQX6CLbcOzBRBqF0jH_FJsnGPBWaKKrFBYAtYwE3_H3cL1rT3zK9UfRH7VuK2yYtFsUSkgJdoZQYXmmQb2QEwZuhvfzhnuxRdD0-OREXShB-JcTRVCeIWZrI0jCCeFqUW9AEpmw==",
  "id": "rs_0f05366a1832a4fb016aacb6522fec87d0af71f640858e56de",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brick is centered between the lowered fingertips, and the shorter width fits inside the jaw gap. I’m closing once more at this lower position.\"}",
  "call_id": "call_HSyOHM5Nb4ldhUjOBGmt9jHS",
  "id": "fc_0f05366a1832a4fb016aacb653930087d0b46b3986d80ec30a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HSyOHM5Nb4ldhUjOBGmt9jHS",
  "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, 0.8837, 0.617, -0.519, -0.0265, -0.0525, 0.9995, -0.2462, 2.0392, 0.9531, -0.7826, -1.0908, -1.9728, 0.7242]\nstate[eef_state]: left_x=0.2793 left_y=0.001 left_z=0.1351 left_yaw=0.0036 left_pitch=-0.2161 left_roll=-0.0012 left_gripper=0.9995 right_x=0.2928 right_y=0.0917 right_z=0.014 right_yaw=1.5023 right_pitch=0.1092 right_roll=-0.0462 right_gripper=0.7242\nstate[joint_eff]: [-0.0068, -1.6889, 7.0632, 1.6044, -0.0659, -0.0415, -0.0122, 0.0752, -8.0205, 3.3709, -0.1978, -0.4176, -0.0415, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f23ab61287233745ccfb2b75c8cedcd8b11ca9882f1bf7a84f7f352290660d2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c558abd259fcc08ce51af7c8385bac93ab692ad49ec4f050d37fefc06c8dd48e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04828859486dc420e79635bf967f8b073ccf19de52f2c0514fb64f41eaec7c4c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 105 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8822, 0.617, -0.5129, -0.0261, -0.0528, 0.9995, -0.2447, 2.0445, 0.9501, -0.7818, -1.0813, -1.9739, 0.9952]\nstate[eef_state]: left_x=0.2803 left_y=0.0009 left_z=0.1366 left_yaw=0.0034 left_pitch=-0.2085 left_roll=-0.002 left_gripper=0.9995 right_x=0.2907 right_y=0.0918 right_z=0.0109 right_yaw=1.5063 right_pitch=0.1016 right_roll=-0.038 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -1.5932, 6.8718, 1.5116, -0.0513, -0.0708, -0.0122, -0.9778, -4.6564, 3.7675, 0.2857, 0.5739, 0.0562, -0.0659]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.085},\"note\":\"The gripper stopped at about 72% open, consistent with holding the brick’s width. I’m lifting a few centimeters to verify that the brick moves with the jaws.\"}",
  "call_id": "call_gNQ57HVHDGa4pG618vFGfvpa",
  "id": "fc_0f05366a1832a4fb016aacb658f30c87d09259cd376465880d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gNQ57HVHDGa4pG618vFGfvpa",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8848, 0.617, -0.5198, -0.0261, -0.0528, 0.9995, -0.2462, 1.8805, 1.0237, -0.9802, -1.0634, -1.9774, 0.4961]\nstate[eef_state]: left_x=0.2792 left_y=0.0009 left_z=0.1347 left_yaw=0.0035 left_pitch=-0.218 left_roll=-0.0017 left_gripper=0.9995 right_x=0.2955 right_y=0.0886 right_z=0.0674 right_yaw=1.5149 right_pitch=0.0774 right_roll=-0.0767 right_gripper=0.4961\nstate[joint_eff]: [-0.0068, -1.6342, 7.1726, 1.536, -0.0708, -0.0708, -0.0122, -0.253, -8.6222, 5.7231, -0.3883, -0.8083, 0.105, 0.0269]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1ad1708091143ebe6e079097815f40ad015f764066cd789a9fa999bf6865b81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e49c98893f6c7e2ef4e038708f646d5afcb2c543b888d50575f8f1116054febb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44a5aa50f287c7da2e08d5ffd111593760e72cf6c5685df6a984e0d91520b25d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 109 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8837, 0.617, -0.519, -0.0265, -0.0525, 0.9995, -0.2462, 2.0392, 0.9531, -0.7826, -1.0908, -1.9728, 0.7242]\nstate[eef_state]: left_x=0.2793 left_y=0.001 left_z=0.1351 left_yaw=0.0036 left_pitch=-0.2161 left_roll=-0.0012 left_gripper=0.9995 right_x=0.2928 right_y=0.0917 right_z=0.014 right_yaw=1.5023 right_pitch=0.1092 right_roll=-0.0462 right_gripper=0.7242\nstate[joint_eff]: [-0.0068, -1.6889, 7.0632, 1.6044, -0.0659, -0.0415, -0.0122, 0.0752, -8.0205, 3.3709, -0.1978, -0.4176, -0.0415, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLZj3MdZu2ZmO_E7liLzGrvBY0wisGX6h_LZN-xpL7vjQb8gRnYCP3N9DH51xXZSTI3UwHQeATXbR1XWVhu-Vfne5F-oqHldK5LibfNt8vAVP8qlCOV8kEwcNkZC7rAS07-yiGFsmHx-qE1wg0UHp68wT_xxepisflRCbeBznmbwciIELfvk-pDXvF_yKjZuFVqEXBM4hz6qMy5wu4LnjSmHkobRxafn-6BvbzGF6nWKXrdYHaTHSJFkwcDsVg1SU47RLr7z9k3nC25tmEIPvmXOUlDcRe6E2P66hD-69SOtwHl-b6CXrB-O_bG1LJRq_yQJbBC37iZ1SMkhbACAGdRI9yaBB0u3PeR6wEJPN6-zSzydsP8E0nZeU2twZ9bYg9gdLJaJlf5hVjoUft9EfJ3sn9C0gjrlnKFVcCsSKuzS-hm-rBT4VxDGcSWlM3u2EEA8WpOmd4cdsqVAFE_iwpJNlnOmQFNUtHmWLpQn42myy1OB8YHt_3-JUjYWO8WgvdWoA3QpHENlyZCoTYZSawwwzMJElbuRBZjDz82D18OZ8vy5oaRAVu8po8S6hJ08FMcZVohuLwB9Fj1hEvJ14OmO2iN9JPWDkjVDuBHgxINPJwIjH0EYk-gABchl0K_cehFIkSzbmynQFA7WZsy_rC0OAIINlpKESIM91huteo-Nu_tAE45oIoRUrDlPQ20fK5NU8ywNrW-W0GTy9SNGlRLN7LMmLM9EtT-zD2TpGg3CWD-gHvg3O9T-HpJB3U5L39DXFuz0viLiio58oZer85jLuzt8xzt1_4EKSfBJdjWDAkJXmo7YBdXvvlnrmSXd1KJ2D5M1d1Dfg_0XyhBV26GHyi4JzO37AUk_fii32nah9BrhAtIUqVmqLu1me3SzPh5tnGh58YRNt_ptUakh2Ra132eXRcP9WF2WgF4e1-O0hksJepEglpta14FbwAU0lzPaELH7fjOYn8-H-HtsdcQhN1e19Y9wXn_nM_sPLw_9NJl6yQrivL3Qr6dU1WkQM9ELK752GYZchy7FBrAHF2z4w6zVNMTP8prGpSrqkRikQcLRuPasPpb8asX78qqzr03sX-jAvQRpQfRvS3Lf2fBpTuRlPP_aEmjRsnvUguURK3YsaGc_RGtRGPd1elNlUBcYbGmwbUvfLPk7gFXJxFQY1ZldPADUe2vhdEoj4efUAdAJFaXc9SjTCUrPiuvQDquFxaij0AMsZ3mQTujTyJrN8CmT282_Bw1nFLz2yRBsiCTU1QZM5ipL3Up-K12ATbRnApec9HU_aGwWEkVvuaByBvddnogN8QlKe3TVIOG72GKyuM-6JhBzNvtYyl91zJIMRR9C1JJUO_IdUz8Ee_pjw3j0jdMbS6Ffr_FEAuFtoGmqH-4di37bOLMWcd_9F9zIMZsh0NFCdXBy-e-u7CBUxrQFDr3xYwSYjb90YjZjfm2YJCSVJh3PINz4wcygzDxpG_AzToYmee5L6fe0LkV_s1uOr88ZYSepyfNOWTfEX4uQnjPNhNY0xm8PpHQU4wYmhdORD_TatyWVJw2ARFcykRFDsFb1tjmp6QByrTKfPoRU37wdVRMp-2GS9zk3IlVjdZM5cNDnMyWo0eovjHi9_i05wU3qX9B3wKF6vot3e4qoPibKFWDOJUJbq5FAnZc0xpvgCpYtBZi3iei2_kb9fkR6F-GMzF5qYhJw8l1tJDsHCWkLLJAR04GjZh7jEy2iwB2h0cDBW8ocwuoC1LphTKK692-l-D2bb65fB9thZ1lS7_fJ72fHunJg_KkTcIjcFvWtNOGItqMJuG321qldkPY6dVMe-D3RzYe0nAmlm2IzLPwQLHTBhNa26KF66Spl8qhxoRzpXNxtEtZU6_xnb9b9oVXnz69YsjHWMGsRbK4=",
  "id": "rs_0f05366a1832a4fb016aacb65dbe6c87d080f8ce940fc21e23",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.27,\"right_x\":0.32,\"right_y\":0.13},\"note\":\"The brick has lifted with the gripper and the jaws remain partly open around it. I’m raising it well above the pot’s rim before moving over the water.\"}",
  "call_id": "call_duci715yZqfSylE8ROrG5h2N",
  "id": "fc_0f05366a1832a4fb016aacb6623bd887d0927208c6c67e9445",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_duci715yZqfSylE8ROrG5h2N",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8856, 0.617, -0.5198, -0.0261, -0.0525, 0.9995, -0.0986, 1.7149, 1.6245, -1.4521, -1.058, -1.7008, 0.4968]\nstate[eef_state]: left_x=0.2792 left_y=0.0009 left_z=0.1345 left_yaw=0.0033 left_pitch=-0.2188 left_roll=-0.0014 left_gripper=0.9995 right_x=0.3256 right_y=0.1261 right_z=0.2544 right_yaw=1.5325 right_pitch=0.0497 right_roll=-0.1263 right_gripper=0.4968\nstate[joint_eff]: [-0.0068, -1.7983, 7.0496, 1.5409, -0.0513, -0.0317, -0.0122, 0.3077, -7.8017, 7.0906, -0.0757, -0.7204, 0.1343, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4c8a70093b430a6cc6f5b91b12dc9e603d1a23e26995c9c2060bf80907e4da4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9741af9a88980e261a849eead7f10905ca577e31584eee7aa55a738c63280614",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c366c0380d5898f6059c100f2326a9f640967e56db3c918d184057590085325",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8848, 0.617, -0.5198, -0.0261, -0.0528, 0.9995, -0.2462, 1.8805, 1.0237, -0.9802, -1.0634, -1.9774, 0.4961]\nstate[eef_state]: left_x=0.2792 left_y=0.0009 left_z=0.1347 left_yaw=0.0035 left_pitch=-0.218 left_roll=-0.0017 left_gripper=0.9995 right_x=0.2955 right_y=0.0886 right_z=0.0674 right_yaw=1.5149 right_pitch=0.0774 right_roll=-0.0767 right_gripper=0.4961\nstate[joint_eff]: [-0.0068, -1.6342, 7.1726, 1.536, -0.0708, -0.0708, -0.0122, -0.253, -8.6222, 5.7231, -0.3883, -0.8083, 0.105, 0.0269]\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": "gAAAAABqrLZ2Tbht5K5oTo7FXdz35LVVGjAum1Mv8frzeu4vuZbyod6YKks4bb2xBYKJH_r8tMarUUeX78Da0WzMAY89s5tbCODKcm0dCNW0afKqXsDMAd6EGtAAXMuwkSMkANkxM0Yc8NAIrswPPXNn1LBWRkntVuCjeloz_bEi7Zr0m29CLFkBHgfNemNMU5ySbx4fkiQvexgs-rNfu7sSF0AZ3xrQ5CHQ19392oOkuqe01Djnw6DZXbTIMeYQ9DVMqZPPuSsD0o7FxeZAObggmyaUKL12Zn34Vh90E6-XP-JprqiuLs1DE_DryqHJPzG-SQidcnj3wcjKpJvvHG-ToWntGtJNGl5BbIH6Xm3Y1kH4z_OUKi9esnXp30k2Kl_SD582UOlyJjz8BYdPEnDU9_uFv9jAzACu4BvwlYIwRVh39iDUWjOaOF3usukt1k4Ne_2HfsA1knS7W7_UEIv0lAzWn_9a68kmjt7vXkx8nbh-xgrV4aOjB6wojNFhp2MuY9HzItk_qidpdiT7nNCZ1HeF8UfzvX3QuW2ubXiZURd8ibwoF0MeYQbai3l4F3xJE9M6BfYAoXOptsghG1fyI9Ue9Tqsk2eS6EX8VBFk_P73vdRr6rIf35eRIEbsh6EwXEG2B1G3weEZuzU0Sds7X_40OzmfBuv-3JlWXR4-4HDArfImayr4Phsd2spOcIcqXF1GvhZ-j1ZF4VNx_MTiSP-lCKllPxusy_jrJPSYMRxmRJ7_DDr_0V8uEo9TRw9NnkUKI20vmYQa5Zva84J62OxQ0NO5yoo_GjNvtuWmgi-8tp5Q_DNYDpMfJV4A28yWPmxTPnH2jLA4utHIcs7s7ZUegSLjoz3drIjdmJQeu7NTiQr0lU4hDujVngaOoLUqwVZVjuANR5jIPM3FHmFmqYjwFJ3vOJRJncRLyiUkQvBlDuRRYv9B2Gscy1tHxTdD64slfU1qXCo-uqQtvBEXmD_-Ri6EMouh83z2blpEN_9qYrBI5adJRBJpnlF-ib7Cri5tTuWAfFLEaZsSVmu6yIjy1s2fT4Zrm3XLJAdPpyePlTcOAKyxPHzBzu1UIiI7ovNpu5-v9J7Flz3mGR8sUivOoMcjudTOaTYzvB6eOzIoIhP0K-saHOS3Pocr0ZWbLCL0avpN3Zxf3OEMN9AWFg-gsD7HejMLQOKvEi07uACShOzphqyB9CS_7lCTk8DQzu0uOkUs68OG_q-LLjbg09aRpIkE3LxDMKy96oUVI4TBkL6hy78eSbEE27BRrefHW1Vp7aJpwSUe4U7TsflBKvzoVbMXyRT_GdjNsnW7nM_ZsWxOBZ2fASnC4CuxUNkw9u7sXtw6y8U3w6tzY0l6nHMAWolAc36kLhcNNc8AXnhikteFmqy-q50tFmQ_dQoFzioPWRgIW2h7lBGdhodPGl1CK-omWBRWHpM1V3If8u0OxzbTzMR5w1bjuUA34Pl-eivKpzaaO6_FjW-XdIYqcizGJC2dsrzy_qF6munrlqBDlPSjWP4tj4vWLMmPp-9g5LA6uhwWWLixf9a0jNbLhEeG9jaSeo1_tlbNdIp5XtyeUWWdfvKiBi0kgqtPy9ptkCBLaBFJwQ-IY5N_DNa-xM7Lithq_crLL9uVlsK5Opf_7SfxBsgdnELPar5sAYNYdw7MGMC9q5wZRLokM_uDFRD7dFsNmkP75VgaPiZ9P2bL3Rxfvf_00RqCEbat1jC3Hkk3o16yCenFklF5bLERIyogXpz7eTKhTwpbJn1ejVWq2WX6x-bfNRlnRSGqmTvo48lXxPqerJQ17z0bj5RG-Awc3U-sbw0nVxqKx7iz-QWLNsXWxYTuE_jqUzGXX04A1F2cA8mP0aUrvMCn3nbkbjlfKojQ_fG_mlEsVCs81nXgVnXbIE8dE4-HR8TsMoNwE_dQoUoViiOXrb1Vuaom2AUvLXinWhYGGrVxVSJ0QY97iR0-7rEdMceGx3HjkvR9gS8mtV_DBlQe06QjtCwzLfJj53dkwH6u9I2LHVV9wpv9lYBgnNnp9czN2BSB-4UkqtcOiQ8a0tAJ6e2wdeMTk4OiPZ4Xzqb_oFe5-phOtGbUNOt4DHaOmTfsouceCOpa4cTzVwnAh6ox_vbBPcVuEbRDzhVUVN4PMXEdSA_4IiPP2Yp3XWvxFR9TYJX5S3pxbtLT-q56bahxCIuhnXnZFvZhlD1aEZbBZvMcWGQdqpFZ4WemiBGUx3AMl_OOBtf9KdhtPNtJME5Ta4V77jYhr0udf78huDBne089OmGhsCgcg15W66-mKPUuBtZ_mcRSLS4YBU1ztw-EYLtIJOfy8W-keKYbPXZ8506XQ32xyFgZkHrwK0bG0mM4Bl2pYnV4-CrBLD9d52e8o1uAevNnY3KrigBDMkw45UX9SVx3dpINhqp37b_63A9V4WWO8JuEZAStCHBC4fw0pgTdTkt38DJjEFsvw5DY99b71wyqCGhv1b9O5j68me2-a3gSwSpJfZ1dL0BVGMdiXjcF-J-LYpKWFGvaVrqa3DpvISh6hWykj4SyXF5xJ2wNxWARitMbl3HDnpvV5vP8c9xrsoXxhmhMb0UIV9dktDQvdun3rKU9a1O2dr4wyWaOwIiB3c58XABVTg2SMoAK6xFHIVqwQ_eDWw3LX4OcaL3nf8vN0fXXCUZ7_chVizffTTrpfbMHq6XYQU3MutIPtIpyL3nggc0eM2Mkw8f6QFRNnF16WRb8AZN2-G2_BYUvKAhqA9EQnij6mg6MyHISezXbqGn3CV0e3DkeZNEbWaLE9lYxdz-ShyCzVpnE9iV4O-wdeBKcbigNjoU7y_YjLcHhaASvieduOYjW7Gd0F_iVF47YmGyGEIl9u6tPNViUprKc9APyaHTtuD9nN85wZiowJqbWuL0C_D7j1WPEJjFvHLAuBJaJdOh6_qd2TWQ_ytLgbO5PATSK2_G2zLrflo9yM3vRgP-pzeVv5vSW5uB3Zie1UogUFsduyas=",
  "id": "rs_0f05366a1832a4fb016aacb668c6a887d090665c366fc82126",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_z\":0.12,\"right_x\":0.285,\"right_y\":0.08},\"note\":\"The overhead view shows the brick is still on the table, so the lift did not secure its body. I’m returning toward it rather than carrying what may only be its cable.\"}",
  "call_id": "call_c2yn31rfSHwy7Ran3dIQCdZg",
  "id": "fc_0f05366a1832a4fb016aacb67556dc87d080def36ee0f611f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c2yn31rfSHwy7Ran3dIQCdZg",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8902, 0.617, -0.5198, -0.0261, -0.0525, 0.9995, -0.2714, 1.7248, 1.1145, -1.2423, -1.0378, -2.0083, 0.0073]\nstate[eef_state]: left_x=0.2793 left_y=0.0009 left_z=0.1333 left_yaw=0.0033 left_pitch=-0.2234 left_roll=-0.0013 left_gripper=0.9995 right_x=0.2835 right_y=0.0828 right_z=0.1283 right_yaw=1.5119 right_pitch=0.0551 right_roll=-0.0835 right_gripper=0.0073\nstate[joint_eff]: [-0.1983, -1.7573, 6.9812, 1.58, -0.0562, -0.0659, -0.0122, -0.212, -6.2838, 5.5726, -0.022, -0.5495, -0.0952, 0.652]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61a70b1daa9ee9e3b7b12f1e3474a30399aa1c75120b97bd48af320cb617509c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:984bf84bda0bb71555f6023fc249d4ddbd5d043805e0ea42a833b119f86917e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea05765f61e21e593aea7129e54d70aff53f80e0577645c6493a9901838a472b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8856, 0.617, -0.5198, -0.0261, -0.0525, 0.9995, -0.0986, 1.7149, 1.6245, -1.4521, -1.058, -1.7008, 0.4968]\nstate[eef_state]: left_x=0.2792 left_y=0.0009 left_z=0.1345 left_yaw=0.0033 left_pitch=-0.2188 left_roll=-0.0014 left_gripper=0.9995 right_x=0.3256 right_y=0.1261 right_z=0.2544 right_yaw=1.5325 right_pitch=0.0497 right_roll=-0.1263 right_gripper=0.4968\nstate[joint_eff]: [-0.0068, -1.7983, 7.0496, 1.5409, -0.0513, -0.0317, -0.0122, 0.3077, -7.8017, 7.0906, -0.0757, -0.7204, 0.1343, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrLZ_kK14sZJpst6Di04vdsK_DWQbJ48h2blQWiMTRlonT3FOCYwHZCaC_cKtaq4eB1H-CFsONh5ACmRRlYiqQj-bjZkC_RgCIat1owh0QLhncBFjOCBnjNqfUPCtJZCQjLYDEzHbKILsYTFv01rP5yJQ2gR9rjO3KhPpT-QTn6ARHk6g2n2AML3VZG2bZ_I4hkpBEXShSU6lYzwXfRIyOTDwTGslJYhBS8c9D-n63XGCGvczKbHp9T5hgJc4YWo7atbeyP4ZI1RVA1ul_bb0dxDLG6g96QL1wbz3tgsDxwA9Qt_qOU-a146rc1yHnckeSOAbkOJLuO6M96ZTzcnyA6Ejs6QZZMo8qLRkxMxy0fAk3i9IDPk53LVN6zBz92lizFyTx-oyfWN1mOy5PN9LiLMXxWbfWuJ68Edt9ushoK5JllrVlN5tmG10PAC9R0j4Wc0Yyw3X_punF6TgZokL_86F5egi8hWrs-67Y2E48ZZN0LuPz1UFFi4rLlYn82MENTZEkhNM679S0FNWDnqbc64o68fI8EXv0jBl8EXkzhXxJmgTVIJfkw6W5BrP5L9-vUPYH1ty49vy0oCO1iY5gij1H4oONPg_SiSi81St09WdSoOjHBR5lt6HeRxbBGMAsaQYU_KhO2V9-xvtC_LrEaNwVZm0O5F8RHzogz_vZUkveZ9auS91xaMqi2IDApAXcnk8FcDP0tNSFSz3EZmyu1oYnGUXXsDJJEBL8Ad-xtSdtMhzbuXm_lIrzri1LzSaT3oMLwe4rrW_scDoqBaQ7lFU9c624PUwunV0wOpZ9Z6TOV-XdKmrJn-5FSQ4EC12BVq2AOS1AwXnUoRif0vdVhQbLbGwCM50RBJmGXdvR5uuyp1bnK9LnUXSiDmKDN9tW7wKT9NWOOoPtO0uT6mcuFM1WybtaGMY8yR1pFJ-LAZuN_GzT2dvdejMEwzeZqvvLiTztxnTP3kmKpsviQ13ZS26OMPfZBYDHGtHTN63esXNHUAj6cWbJnvSq1HaGuXnlKrgNq4CECVaZ78OfG9fv7wZ7mmqDDWJ44l0SuDmO3RRe4AwrC3lQyP8iBRDcykUriYWD7wrh9vWqOChGLPmflNUvfVmfHKLkBDDHa6En6sduQcfb0-Ufmf0nGza_g1PIHhnMu5veYFqUMO0WchFWhNcuIWXgE5HLERhfOZdjrS7Zb8aOl9jTf-ELXdlSXAPjcgW3R2PELRybxL0dRj2QKzcejviYXY7zfYuGl12ZnnU_8XH6k89E3Sn-UMCmcddGcSQbQ6bYbonrxK9C-_WhzaRWiS-AbQBukKKB0J41hMU_L3hzW2ZcCTtOAaqI6pVM73JVMtRp7M1x2BIdVqA3ZZWCH83ZfQnPghb7s11GtnQH6Ne4_TVJl-q5W9FQQnoYBC0VvvktB3mS7O2nMR7DbgHxmUEXpla2qWDR0Pi_0lU94Q=",
  "id": "rs_0f05366a1832a4fb016aacb67c87f487d087fa232816dc34ef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0,\"right_z\":0.22,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2},\"note\":\"I haven’t established a reliable grasp, and the brick remains outside the pot. I’m parking both arms clear of the objects before stopping.\"}",
  "call_id": "call_omjuXhjVWhC5UpSe05eMfhU6",
  "id": "fc_0f05366a1832a4fb016aacb67e3dd887d08e3786c2363c1cfb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_omjuXhjVWhC5UpSe05eMfhU6",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.9806, 0.8726, -0.7151, -0.0261, -0.0528, 0.9995, -0.3305, 1.7432, 1.3685, -1.5452, -1.0023, -2.101, 0.995]\nstate[eef_state]: left_x=0.291 left_y=0.0005 left_z=0.1839 left_yaw=0.0034 left_pitch=-0.2535 left_roll=-0.0006 left_gripper=0.9995 right_x=0.294 right_y=0.0603 right_z=0.1833 right_yaw=1.5102 right_pitch=0.0341 right_roll=-0.0906 right_gripper=0.995\nstate[joint_eff]: [-0.3897, -1.9761, 9.6342, 1.5751, -0.0562, -0.0269, -0.0122, -0.6359, -7.6513, 7.1863, -0.4957, -0.5348, 0.1587, 0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9acd4be63fc34ff293f360d8fc677bd528830af75c5d2b449c4ef8c4b2af8bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16a17ae01a9ec3d44eecafa9af277344ddbb4dfb7cc6f725eb0ed0a53b087070",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8cf7879df097c04e236b17a465df24369226c107cc70c240dcb1c6ea22f57d8",
      "type": "input_image"
    }
  ],
  "role": "user"
}