adhoc

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.794, 0.6037, -0.3813, -0.0223, -0.0414, 0.9996, -0.0196, 0.7921, 0.6025, -0.3771, -0.0132, -0.033, 0.9981]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=0.0001 right_z=0.1804 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.6769, -1.4564, 10.1538, 1.7705, -0.0317, 0.2125, -0.0611, -0.4718, -1.306, 10.1538, 1.917, -0.1245, 0.1685, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df7d86dba2a5c287bc7beafcdfe9722b3d04a764b6d970a43a364c1f62652668",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c61a1da00dbc9c6f7146b701964d8b3b86d1c1b353b7939a5ea4556c6c2dbf56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a411f4b2cdefbb6d32e06b05c1f5085b832565973fe999b5968622e5e12305f4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrJ8mKLKrtrwr5ae-bNtskKzE33gQEZEajSBQfRYyIsfimsXqwHhjSasBn8_SKolZAQP29mRjMVQQj8wtoGDDUYO8n3tuBha4XAN23sGOmkzpD5jPGf2zV9xG-M5DvtxVf9ZoyFoIRSObWLeAZbfm_fq80IFRuLz8MclJXBYHk1IDUkY3B8vvRDUvIBlaQOGmKdi-Cl371kgERusoIxBkVIr2hWd3UiEr7DYflxR_QHhRc8kYgclOgL6wBKxDOX80J0-VSdspYb8L10r2ZfNLH7ZDpEFftO7dRrs623I5Jymg1y4U0EyIksHL0RCy4njzVxZ7QFEf_i0623sh29l53turQ7DfBvTyK8hBWgwGDltn0YA9dYSF7trVM795Lt-GcSmcTKP44gXE7UQurs570R6DBnKue6r-764jicq4iLsUP7snkRsq91darv0cypIBQyVcEc4Wcds2M7HlrxCvwjHSXDzvOCVBWnWhM_kMhXuDLZ8ZCD9kOQD1OqjPUgnHJYopvvwxSsLhsnR99qGoKrMDz9Yp7_svJKw2pOmiZaVzcNpyxYkH4gZY_rXdlfr0fL9LMRuftEVdP1iVcSpVQyThSe_KEc7gqlxWDqzzHdb4UeHnxMH9Z_KXRNM_TMl1UTEBC6NOlpwCVlNV3rBR6YxSMm22OfahHNu4Z4ZaOiX7_qabwcy_hI2m1UlxWmsO_QYl0rWYQv9BezhysmUAO9kU08Z7DxxrVDK-QXBQ4GF9I5PAt-05dY5UKpxmJu9ZQLjCTCMK8bucPhKt6jIlVq8BE39JwERTxMZxXHEkzj4bgiOZIxjoILsV4KXGbBg1LU6IAV_7yrATQLvnCYYGNawGkEEn_UMHsphqL4z7nW96Y9Zy-4ookfbH_x8xlxyQsqKte51YQiSLU-biwqwT8lS4pWMzgQtrKmglRasm82feMldR8T4JQpEJ_fmrEQMSKSPQTRbJpAkhppIGbGCNWVx6CVNkKLAb89QRySPa9sFEx1ZG2grVgnJRxXje3yOzYgQMTxt4s-mXHR2b0H7v3lTmqRZNHHfLfSRQ1Hgmx7kamDBWaMJ9M0iPDjHmSrk9tXpaB6_j8oFcsR-QveAmJxHmUG5mwqbNJcavyLxk3vy0tbK9pJq9TVZ9Ec03q8XOc1DBEH7sPtLWfESr3i8cZXRxSjpcvFO6JFq0MwPWl3CBX3WDQVEB0DzYZT7yo7Jr4ePO9L94OHfUnryjWVRwuOfAJh0RooOkQYGZ2gSshv1R1TezMpx2svZVr6kURp18Ptwc8isXlCtEMYcLzdhMBnXYBdu2gKc4taUbLcvghsc2f3I68r76H2uvca_nyFa0U9e1bz49BFQ57KkKNaL76GP893_iiglQ5CN421BYKFTdnnrKGZ25t-GGy0cUhSu-X9oTrVeKeGlpQ1EF-oZGqfAdBoyHJUIm7r1WcJuUTcZsPjoh2jvjzvFeMmDOtJdHCo-0a50ur4Ff7l3sc7meTXprvg76DU1iBdRDefHizO18kVg=",
  "id": "rs_09c738127d6b1039016aac9f2332ac87d0ba5ac80fd2badd72",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.12,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The black brick is to the right of the pot, in front of the right arm. I’m moving the open right gripper above it for a closer alignment.\"}",
  "call_id": "call_GznvzKtACVXnp2qyhznBLQ6f",
  "id": "fc_09c738127d6b1039016aac9f25514c87d0989de0b8d39f73d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GznvzKtACVXnp2qyhznBLQ6f",
  "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, 0.7986, 0.6064, -0.3889, -0.0227, -0.046, 0.9995, 0.4763, 1.3174, 0.7155, -0.1074, 0.3607, 0.2153, 0.9981]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1779 left_yaw=0.0032 left_pitch=-0.0095 left_roll=-0.0034 left_gripper=0.9995 right_x=0.3544 right_y=0.1167 right_z=0.1251 right_yaw=0.0482 right_pitch=-0.0895 right_roll=-0.0428 right_gripper=0.9981\nstate[joint_eff]: [-0.1026, -1.5795, 6.8444, 1.7656, -0.0415, -0.0024, -0.0171, 0.1162, -5.6821, 9.1556, 1.7558, 0.359, 0.188, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d62d77b4ba07b38e1a718ad2ba053648b0f6f61eaff9fbd48e2f07b622dafdb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04142ab129562dbbc3abea12e2b8827df39b7e4c4c113be01dedcfe157e62cee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bea65fd776f0ce7db207470e235f46e664c86cc564bfba36d453ed9491891152",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.794, 0.6037, -0.3813, -0.0223, -0.0414, 0.9996, -0.0196, 0.7921, 0.6025, -0.3771, -0.0132, -0.033, 0.9981]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=0.0001 right_z=0.1804 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.6769, -1.4564, 10.1538, 1.7705, -0.0317, 0.2125, -0.0611, -0.4718, -1.306, 10.1538, 1.917, -0.1245, 0.1685, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrJ8tPA1C63HiHlmBnAttFxMAKPaRQHRyH-qdsi-MvgUDsn7SJMDTVxj6z_wDLqOn3PM8r0VfJydwPnWWyVzuj6xZLo1HwcheToX13Lfqi3GnhvRWe26LFYmM29gX9cdM8yWyJkhM0BO0U-T_1RVLXGmyUGe8QZcP28frENybQWSXEyeYgbYiXPvyM-N4KThtSkMpTNxQGAKEULOxyQ0BpJGNMc1zwihKSDRZrbkjxgyOFYIa_BhO5MayAormpZ2JyQHZIByyMXKxiPw9XCzxkZ-tdClSCNWMd-pUHMSTk_I_r_FC9SawqidkdgBkqfPIaZcrmd4yDwXA9oq1CP8rcbBbF5sWeLMdrNgHf8l-6KB3eJeSHwYLN4YTIvgTJlPvDsQIlRek9owZxJgVKBC2UbP7zT_Hbi5McX_FOSfeT2WgMMPmNGkwuEK9leIodGvhHT9QkQKtuHBbN6GxN1qRdLcF5o9niDm-ME7g2Raxe4Ail4NLNrPwQ5uUTM90G5PtN9f-H5XueIqkOb_25qCrWs1x-7BFbA8e6lC-qtLjliYWUQ-jKs9z4BFRPeUvD_S2mJ_tCI_u9kdpEPJ_p2ty6bRihHMxmf9B0DqJJ7nr_qDwHkCTXwYMCad6XzOAFHAnJvIOCw1sQdow3MV2-iy1PgAGqOQZgVP3ir9jRuse28aN1213ZYGpga82tHYhMZWbzZfasepffkzBb5zrYA2a-v9203VhvjDqG8m7sKj8hclbebWhut-xZvv-8zfrVVaXKMD6IOXFszfqBZCC5dQ6VhMujB8AJqOmjZGWm0cctGoQt-alQhQkBfeQXt8MZsrnXy-nTI9RhHskC7r9ZjZWGTOYdHDDUqt0tocDOxkqnb1_Vn1naz0D1waSXfeFlnWiIA28n1c6gn4Pe-fXziJrB6wERqrPfPaxPG06MV6RhGAKSQU8VssjiCIpNlYobOg8AKo3akTIDgR-x-6XW5We4ImOXVaFkCYpuwy5sp-b6QF2rRd8H3CiW44b0CgOtofuTbfly3PTNlaFw7U2iGl065d3Hhr8VFvdEjVIN_nRe_FsBHwkxOhG7J8tFtXt-d5tpXue6WOdTKUbXzIvT-1tJKQ_rg0Y5gR773CYwXoW4S1Kk9P5SxFPVbV3bwSIsZpreXTfDpJmXZvq8_u0Ng4L-vOE9Fdq60hwj_hd9ltiZ948mhFsVjgOyomrGILL2bZPjMP3aumX5FUjlkv_6gMpv3K3nqOzVXbZJoGTX3BnnKL_2bsjLWqUQLc2RSvFAneKagc6iGDCtKLA2zC8WHtb-uf3ymRzC0zQzc3yojgz1E08cU5enQcSARWjwkYlhT4U1WBhYr78k68WlmzDRoGuAX0bP61DPn9mwnDd_FIzYB39OXcar4zPTOdfUTfURV2hMUBomCGDegMYGhLguBn_B9AWBY7KKnqmH8L7N66vmrb2j7I=",
  "id": "rs_09c738127d6b1039016aac9f2a7d9087d08937251432bb1291",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.09,\"right_z\":0.075},\"note\":\"The brick is slightly right of the wrist-camera jaw column and still ahead of the fingertips. I’ll shift right and forward while lowering toward its top.\"}",
  "call_id": "call_GS8MB2OrwVYXp90zOPZXtESI",
  "id": "fc_09c738127d6b1039016aac9f2bb1e887d08455bb780f2758b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GS8MB2OrwVYXp90zOPZXtESI",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8009, 0.6037, -0.3901, -0.0223, -0.0494, 0.9995, 0.3286, 1.5276, 0.6655, 0.0887, 0.2787, 0.139, 0.998]\nstate[eef_state]: left_x=0.2938 left_y=0.0018 left_z=0.1759 left_yaw=0.0047 left_pitch=-0.0156 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3793 right_y=0.0818 right_z=0.0613 right_yaw=0.0061 right_pitch=-0.1721 right_roll=-0.0735 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -1.3197, 7.2137, 1.7118, -0.0269, -0.0122, -0.0122, -0.253, -7.3094, 6.2154, 1.9756, -0.0024, 0.0415, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:825fc1b1414c77f10070c03e22d50465be8b74e8d0794e37ba48306ea5aeee1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec9ebfc2d3f0ec3caccf736d814cec25ab61f66e9f8536a10db8e9af23be83c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ead418d64467ce0ac4dec631e432b13e4bf4089925b1940f6edc6bdbb375e49",
      "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, 0.6064, -0.3889, -0.0227, -0.046, 0.9995, 0.4763, 1.3174, 0.7155, -0.1074, 0.3607, 0.2153, 0.9981]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1779 left_yaw=0.0032 left_pitch=-0.0095 left_roll=-0.0034 left_gripper=0.9995 right_x=0.3544 right_y=0.1167 right_z=0.1251 right_yaw=0.0482 right_pitch=-0.0895 right_roll=-0.0428 right_gripper=0.9981\nstate[joint_eff]: [-0.1026, -1.5795, 6.8444, 1.7656, -0.0415, -0.0024, -0.0171, 0.1162, -5.6821, 9.1556, 1.7558, 0.359, 0.188, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrJ8y9j_m4KUuKVw1KMBcpbfv9OXfWFzncEbaed4zZo41RBU2cqCVnnrZ_gu4uZkBjt6wyAoIG7pEGUPttA_QlWtov6dOJLK1VjE3z_aevuKWe0K1HJ6im-lzp9W7QFwlOHPBIuuBCxKnxxPGRQYeRGkXGqtFe_cxjcTGsvKrxJfzyzlxHjYh9beqQ_ciScGXf7GcrnGpPXsA8Cs20UQRTx2edYmNmQ3i-zWc4xNGFXU8i3GLRCBkWZQPw9AYEXY-UNC1CAklfJqomQu8Gy9eSkE4P0S5iRD19GLDjUSh_Xw51Y1EkoxWJ6tLcxHJHkYXGWcH1N_7Vg3mscEpPyDvdPQ8tKzbsyMlpiyIfkb52xeJqmvvQO95_3Tfyl0S35JfJ_QjuFb4kDSjNwivbH6UpPqAiEQh0_If8YwJ73dPpWimqy2uXe0kkRTHHTOJdRu-CV-mFmvucY0o3Io9PjzpdSyu-6bWhtuQiRmcqgtuN_RP4bAVWpUT7_xqTdhErzVtk46n-Re_tpiFACwdsvjoHHrncl9sRzfMa_kkFQ1rHvmPbjDx1TWOP6G9IHX2rcm56NQ-TXDWjcuvIVet57gEikvuL4841Qi-k1I-RJLkb5T1PGnuIPPfWWdvm8bXWvfgSch7Nhiyousq8E5pfjA2lPQ__HWRJIiM-05jCtwyM-MGMTgGHzqUJ3nKMxRn3jTVgGzlPk8Jzs72eyOUqWhVTrQVxA0gvtl-cYw24_tYyx0BIShK6Jfz2DJMGMsvQDu4wUpKWI1C8xgBsuBGM8fMCO4VSBbBSlWaSIpC4qXajfFy3OftgoR9Uq-9VNuIxJ9E9Q1BtAwIZQOoYbIq-X7JQZK62SUpRNda0PZ-Ji--BRALf3plvwM3X_0Ir-NPcZGmGtckmOLDUS4T00j70_FnbvoSiY0uUvYHsKic4Bk17xSs_7-5br5-D7fZqahcMUlB_G0Kbvb-X6gxa4fSVjR76JuNG5OKmn0zFbj6FxYJUr73G_EvwIJySst_bhmeZGUSDOOA2Y6TOZTqI2Tgc6wWTMWlGnVTiXc4M66ubvmf3KuZ-RqE5UN9UfdTqbPdb4Z1gexYR8nUPyRrKV3Tx5Im8REmBWjRhDioicXBMC4J3ofSdkLLuFoVgxClIcDe0EPm5oDPFzV3ZD0olO8J-kOeN3w4OGNjIiT9I9uPUXkegdxFXhGfXywmA2kgdfGH1p_ct0-vdQobqq2LujecjoJP_1FylkMVcchi_xDd_k3-Q0mOMLy6Gu_Ix5iRNjEAKBk4KhoVHkLmV1PtacjWx3Ks21TlQ8-PGxTPscWX9wEnMKWaObjvxUyYCsIH58w2ounqKkNoe3wfbz01zWKspHr7iEMxp_pwz9NIVTKm6JfMW-h8ApAfes78XKt5t0g7KoDApHVyjdNv-10KZNnEdJ2B_Iq2hNi0JjigA5h7ZYFZ1dFhsYzVmuHjJQMEi5sCGjNbYknEe1ivxYP0TYIMM1NbVzLIH28PrgwRUqGWbQNe9vfVLPJxRHjVgPecO8XeRutfYtDOUFqch2BgaBlNcqpuBGNftg==",
  "id": "rs_09c738127d6b1039016aac9f2e906487d08b454e3074069a8f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.08,\"right_z\":0.025},\"note\":\"The brick is nearly centered laterally, but its middle is still ahead of the fingertips. I’ll advance to its middle and lower the jaws alongside it.\"}",
  "call_id": "call_qy3A54EL9CXgfQpHZEn8g6TI",
  "id": "fc_09c738127d6b1039016aac9f30ebe487d08431c082c1fc0e07",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qy3A54EL9CXgfQpHZEn8g6TI",
  "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, 0.6037, -0.4053, -0.0227, -0.0494, 0.9995, 0.3187, 1.5917, 0.6609, 0.1612, 0.2539, 0.1127, 0.998]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1718 left_yaw=0.005 left_pitch=-0.0343 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3861 right_y=0.0845 right_z=0.0477 right_yaw=0.0313 right_pitch=-0.1748 right_roll=-0.0753 right_gripper=0.998\nstate[joint_eff]: [-0.0205, -1.4154, 7.0222, 1.8388, -0.0562, -0.0024, -0.0122, -0.253, -6.7214, 6.4068, 1.6532, 0.2759, 0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a56e0b04832fa4a480a31d2b44863eeb0726b3c9ac55c65920b604c41518d3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:099aa2c9da3aed310bff4a7afa0673061e76e81e28bce30c48b0110435606740",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1746898934c29be6453d9a1152d324f1bf57015e670e12cc7536c68352c85e3d",
      "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, 0.8009, 0.6037, -0.3901, -0.0223, -0.0494, 0.9995, 0.3286, 1.5276, 0.6655, 0.0887, 0.2787, 0.139, 0.998]\nstate[eef_state]: left_x=0.2938 left_y=0.0018 left_z=0.1759 left_yaw=0.0047 left_pitch=-0.0156 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3793 right_y=0.0818 right_z=0.0613 right_yaw=0.0061 right_pitch=-0.1721 right_roll=-0.0735 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -1.3197, 7.2137, 1.7118, -0.0269, -0.0122, -0.0122, -0.253, -7.3094, 6.2154, 1.9756, -0.0024, 0.0415, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrJ85A9BSYat8InocwDo1LhH9XbyhialMKWEBE_RxrYxQlJ-LLzc2ReuLbpKLvqFe6CnsXks9Lynxfv56jemqgzTrEwVkguaIm2z7_hoC7UCKCgW8aDYO7exh5BjzhJD-mqneuWFqAyPBJOddj4DzOrbU3VjoizFJzwzXzVyEioWo1tAyQY3HJCBc4WkiDEGuezwj4J6B3oh3Z0Nc3ZTuR00LxT2QZ96zJSvGyQqdi0HaXh4Kq69kB7zeIAPRob87hqj8zKDXYyWfhkwfUFlre3rR8PXcmf8lP5413mcq-FGTzEc0lWaKspOOxEYn_JVkywIQhgVpCZNwNHXH83Igc44xBOXiIz7iVKko2ENB3kuED9BUxHC6qnrNNcsYG4q-HjfcPD16oeLpaGVpInwP9X_eLucBlyAhYYBUDhK9LIlegsHSHbHrFRw6jn40aIzp2w6CcBH0939KjQL0gXrR8FVximSPD6Y6UvsYahWnKkjRsfpWUccO9gSGmalw71JwYZ6MjLs_oUq19g_sHqXhH_-JP2KVumFrB2nlrUGNVdjGJjcKp2zwzy_RG9usQLj5akzI4M0MuL3MH-AlD4FPxgt0eHUvVUyY4UHoy-V-Emvelp5VoZ5aXyxz9TAxmjfAXC2OsP5jj-l2VP3Js7XRA-LdOrWFNGsdM_4yORuToLuIoXjm50RxJgM8Qg682cWGkYgTNFv6KoaiSZ5E1t9T0WxjT6DFo4B1t8WRJkffajKDpALCy6FnOBZIUY4a_c-gQFapDZEwFL8AUafypP2wLhf6WdwUQovaSyD_O56EEW5KbVp15DlYAcRuNMunNERj1MAtlBQAvTFmdM3-RZT4dLEwFX24lHMuLq2XpgVXXr4szmcYWLJfh4V9mfc8haJqiDCmBwhmixAkT48vR71uyCk9v0TlrWK_o8m1xuKlg8udxHiJc0rba-ZaFds3wlFdp-J4rIRO4Bo_O1eUQxdQYs-BZFR_AtFcoNLmbMEle4hEjXJq-z2TZfPZRinVtr8Z2TH-waW5t5SMHPZDIC71aU-NpLO9iP8xGwaW-7aCYgMXmriu37oPr4tlyouFSi7emj13NPzJ3CsqcQHPbPlEFsCjBja8NtoTg-PFu2THdo5tLLDJxN_EfPfllSbNqpJojnxrXSxsnnjPwKNHYjnlxL_iMkW84DOlVY6yt7FWb2wXZ4Qyj9qgyKN_lacXbp0BhDA6QZCVwNzTiVIMRzVvTAsikuCHoGpv6jMevC6qz3Rd-9KzyGtPbb6F0WMQKkwiGf41bjxS_BGOb8SSfT5MjGqJIgz0EdOo-X1qaxfPrv4c88dKX1klGiLSXcrjSYt3tzCN6RK-KRjN3VCpljHtsaHrUP2nz4cGt6fgxhZbLqN5RrlBrbI8ggmjjyEVBhUr_6sTBQNPNB-KJ5eEGo-5_MGfjQ8stQwoy8bourq6lNoz2OrLHjszaQf0ypfA5n3-UZRQv8ecd5_16-rH_ZB3MpDd7F_Cw56Ic3CmlqzYG-Z062nsQhtm8AHvgRGdjwOHRonhLQeX5KHem6SIrk37DhMIJTUfSwzxeR8qIWS6apWPROVqVSEvOxAMETQgPxIKN9-N3Gf5HMJXdsju-EX71XgZXJ3_Cgnv5dwEwUTjuIAGm9w=",
  "id": "rs_09c738127d6b1039016aac9f34432087d094a97b29a3e8bdb6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.075,\"right_z\":0.115,\"right_pitch\":0.2,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The arm stopped well short of the requested forward position. I’ll lift for clearance and use a slight forward tilt before approaching again; I’m also returning the idle arm to its parked height.\"}",
  "call_id": "call_vQIOC9IObbsKprxUqoYdtBxA",
  "id": "fc_09c738127d6b1039016aac9f370f2487d0a401003c6f876e96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vQIOC9IObbsKprxUqoYdtBxA",
  "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]: [-0.0265, 0.8238, 0.6041, -0.4324, -0.0242, -0.0525, 0.9995, 0.2825, 1.5822, 0.5926, 0.5293, 0.2539, 0.0097, 0.998]\nstate[eef_state]: left_x=0.2891 left_y=0.0002 left_z=0.1613 left_yaw=0.0012 left_pitch=-0.0804 left_roll=-0.006 left_gripper=0.9995 right_x=0.4184 right_y=0.079 right_z=0.0973 right_yaw=0.053 right_pitch=0.1199 right_roll=-0.0819 right_gripper=0.998\nstate[joint_eff]: [-0.5128, -1.5658, 9.9761, 1.7021, -0.105, -0.0659, -0.0122, -0.5812, -6.7077, 5.2308, 2.1514, 0.2515, 0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c213e4eb999b32c245987f001eed81f826bcbcf38f012287acacc24811baf18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95c8a56e2f59bfbf2e5583a6533e4c50e0f5c6bd0f5a97255bfef71b11d6c347",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cfb6cbfdbf46a7a62e0d1908cc65b628ac0f757d13f6137a13f7a782625761e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6037, -0.4053, -0.0227, -0.0494, 0.9995, 0.3187, 1.5917, 0.6609, 0.1612, 0.2539, 0.1127, 0.998]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1718 left_yaw=0.005 left_pitch=-0.0343 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3861 right_y=0.0845 right_z=0.0477 right_yaw=0.0313 right_pitch=-0.1748 right_roll=-0.0753 right_gripper=0.998\nstate[joint_eff]: [-0.0205, -1.4154, 7.0222, 1.8388, -0.0562, -0.0024, -0.0122, -0.253, -6.7214, 6.4068, 1.6532, 0.2759, 0.105, -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": "gAAAAABqrJ8_lUKEJUYS9lnuUcYXwMOsvQnp7PWShSA78D4z4ll9uXLGnttKOs0ae2Fj8OC5BrfNNNQp2qlJHnDwuTyxvQUdJHP4iil4sBnfKPxkty9C9Mc9T2FmRVf2CZOply_hc_47VWAkVz3OjZKeOFIkw8ysdPKZtFarEzUU1cH8SPkR6wyXeKOidqBbBNOKaJsEuq9t5k1P0uVn_bbXALjHZPoRLJ_6z4zEsc7EFk8_xG-YGPPqgHQtY_yYGxgIfg4ni_cNjgkMDfMhHfmpUXq6cWGVpEWwtNG5zUlz8qUxfXXD3QUJG_7oE2rbhDRXBZCKTH5lSSiWtKc8d8b2kM2Jn7CD7QPFbJV71ODQWn8I-FdRIzocyvpKxS2B5XKNlGziOz_5Oe-EuTgi8D7l1RVmYZAB9cPtnCbIx8UlOpTk2Qe_IByZt43Pc3FgiBuCOkZaMo3ALCYUS1IAzNO617Zk9uZ2su6pUtHN7ixiC5zLmWkMglhWFkPEQGEIKVEfQ_EcJ_zY3nCrS6EMRB4BH5JMXNO1aT0vcrnbqjvysI8e3emCXceyuiGxocgv4l7T2Kwpx8ooQvtFeeNgdefu8HxIYU2KL8T7fls1dXVp1gD5DLjuvwHteqKWRXhUOIQPEaVS1w3EQQa6LxRJmXhunwEAVcKcViQ5zpHvaGYKEBdHs8xsO6CyhvaaiEqfo1iq739ZU9vUIlXwF9s5Aory44YRJP0S7NGDpqPSeYBT0j6A6oWEUf637-LtFh3DF70tmB--eVJws4kUlcUTxW4wb7kuYq9ICmn7BueQRwk9Uh6uJirkVQvpATo2KNfELl6SRm-l4lKhG6A1yo3u0xBtJzX3AnS4kxB4DkY1f4_UuAmqjm2bQ3iI3sJEoggaboYx_cfNbL2xjezOGjpHEyLVCT31NtFYqLSqvIGpJXfpJ4kMdi8MAjjt5d015JdEi5jFYuPr1yawLPJVhsFlGujvlhpK5pLJ4o7zZF9rGQDIN1ALwp2lthZnewEbD3CdxfGR3e07x1E_tTR9pt91BBS_kd7NKPV4zi1UWxQ_MIvFU39YSt3EHZdXv07DUeGvtGZ2kvhTc0VLNw88-0Sze3YUWZyXwh9lkK_lPO5JG9EkHesen-cfRWy5-Q-AXwNvO6SbwW8GyPpMMzCC3MPTBpdWNVBCXPljNGgCzGGupNxRRj5R5cmSTB5gwZrkgYPxKAbp13CUDKghNnmDjNzOX5jj11vWwQxDKAiyiFhG3rNc1u4bXjIxaHv9lXQ1RQnnLfON-P-ap1YHx1OXWwLD5ulzSVG2dLcUnb-UxC4BOCOegaffH5PDBtHTyOpxr6EPC0FtikpXoDiF42YSsxdHEgXUKbMe9TxANY90Ivup7WPH5_Wi6h6yuIw=",
  "id": "rs_09c738127d6b1039016aac9f3c1af487d09542a5d8f74c3ce9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.075,\"right_z\":0.018,\"right_pitch\":0.2},\"note\":\"The raised approach now places the brick between the jaw sides. I’ll lower straight down near the tabletop to grasp its sides.\"}",
  "call_id": "call_F5SIPK11LejeVqlDYoC5nJeZ",
  "id": "fc_09c738127d6b1039016aac9f3d95e487d0a153dbbebe6ad55d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_F5SIPK11LejeVqlDYoC5nJeZ",
  "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, 0.8272, 0.6075, -0.4385, -0.0261, -0.0525, 0.9995, 0.263, 1.9923, 0.5144, 1.0489, 0.2565, -0.0288, 0.9975]\nstate[eef_state]: left_x=0.2888 left_y=0.0007 left_z=0.1607 left_yaw=0.0032 left_pitch=-0.0865 left_roll=-0.0047 left_gripper=0.9995 right_x=0.4257 right_y=0.0719 right_z=0.0145 right_yaw=0.0511 right_pitch=0.1486 right_roll=-0.1114 right_gripper=0.9975\nstate[joint_eff]: [-0.1162, -1.6752, 6.735, 1.7216, -0.0317, -0.0513, -0.0122, -0.4718, -6.9402, 3.7812, 1.1209, -0.2271, 0.2857, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92280b228f04306d5622e0a94e4e5929cce9068c9a44082a59cd1148dc0a7bf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:758d93af4042ffeee285db3e4a43a9dfbdcade8d5cbae2436ae5dffc11e09268",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b87eb75ab3de85bf501d3f306f82b0d859dee71cea9052568d6a3e4e5831930b",
      "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]: [-0.0265, 0.8238, 0.6041, -0.4324, -0.0242, -0.0525, 0.9995, 0.2825, 1.5822, 0.5926, 0.5293, 0.2539, 0.0097, 0.998]\nstate[eef_state]: left_x=0.2891 left_y=0.0002 left_z=0.1613 left_yaw=0.0012 left_pitch=-0.0804 left_roll=-0.006 left_gripper=0.9995 right_x=0.4184 right_y=0.079 right_z=0.0973 right_yaw=0.053 right_pitch=0.1199 right_roll=-0.0819 right_gripper=0.998\nstate[joint_eff]: [-0.5128, -1.5658, 9.9761, 1.7021, -0.105, -0.0659, -0.0122, -0.5812, -6.7077, 5.2308, 2.1514, 0.2515, 0.0611, -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": "gAAAAABqrJ9DJV7BcwtVeb5lXu9UyMuas7mD38LWYP28mhosbQvBR-asMn18-Knc278RWEvmX0vqSsmI0i8_zojxLHsWy5TE_6liNUSmwKr7-EHEODa5u8SrIOwf7rAwBuJmzPb6nctmnmtW1XQ2P2aqXDpTNSXxgFiw52RD0uDw3VeCU1IW9bUFwauY8tYPVIkaBUdFg9guj7_RfWOTpEse_9TI4-PG8boFwtCoV7jrQ8U47mM3DPRKU2nI2fQ4uap4xXROGo2qVU2p2Lp16rX1RMAr-iC53FAqla9ZvC4JRqJNJXPZXrddLiQPn17T3luhOwV0Gl7pQMU-L6jjV60Q-jMOIhv8LK_Tcuil8KntYoI3HBIfz3EJW5tcoloBH_feZTUchZVts-niN5nzljGm3RyQmaAOKLWD1R_cfnMiWpSOKw9ldGypaD_TTBYkDopfkreWx7tau9Pin0OwCgITJzKipxKa5P_tc7hVhDf3cbvaYkYoL4eKGjGEYt9oe0sfHIqD-B_3mM9TrlvgK0XVF5ZLh0JQxPlAtA2MtMahEuXyDtx0N04cGyZkgTxCK5SdHhFneLr3zW3pBY_BjZiyQqrl-oSqgbTdWSetQL4RPM00t7NQU9OEjVgChQf1c1LymdWpaFQx8-wAgkHACjQkvavFgagePP1nPPKPb9J5s-1Thl1hLk7kpTfLDBEPnLOsvXUHhQfHpkKxbd56NrdEm-vSsQEAI7-LmWjwZHynK13bfmLbeZPQesVtf2Ltvs1U2Nf1QSIN0vIZkbGfu3UDNlfX5LOzjYcliLZbgqCNEbEUs8TtoiYOmq9eWUUgptclyKY3cfGgrnMnlINWYFa3KWFGhm08gZETxW1r5P6MbhBfvE3niuz8KM3qE07VR_Mh7I55irMF4uo2pQW7BoxMhZtiYrK0-DyVHqTPHbOrUJ6b9oRMjJJJPeFSvEow1FUMxqKGEJNVEOUUXuTpunKCJl88Ynop8u_b00gAPUCClGQkWzY2PWddnS23_mUlOXA-Kp1JByZZZLzI-SL1tNovX3-lOCk5uDTkb9WHdDFtzKc7qOSKI2guku7xhh2ek10RJPQayGMDv7zmCQHcokZzS9kdM-PUAWAd_08JUpavawcNylIiaFac7RK1GvoiAoj7276e4dOe48k5gD_oLD9clGKDVurkbqclwayOCa-xhfj4bm9KUNHopqithcbEY2ub6geCWicONYtWoUHfegB6O8oNitf4Muz1ltVtJiBHCZ4eauUSfhu2qEijW0k5YOTMaEPJySmVS4l3hyavK81kHJ7tEhFync8RSoHvj5sPB2vM5uzNCsEXsrBwfXEAN7f-3TdGgqZtNGuUumVYp9MPrWgeMfmkc566BKuVx-3XMgRCC0--xuU=",
  "id": "rs_09c738127d6b1039016aac9f414d3487d0862e4a2bd815df27",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are at table level on either side of the brick’s near end. I’ll close them and check whether they retain the brick.\"}",
  "call_id": "call_lm1cWCRYm5ODxEwofNZ0Tq1u",
  "id": "fc_09c738127d6b1039016aac9f42b91487d0bdb5651ccf60929f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lm1cWCRYm5ODxEwofNZ0Tq1u",
  "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, 0.8288, 0.6075, -0.4412, -0.0261, -0.0528, 0.9995, 0.2687, 2.0006, 0.5159, 1.0969, 0.2344, -0.0338, 0.0091]\nstate[eef_state]: left_x=0.2885 left_y=0.0007 left_z=0.1598 left_yaw=0.0034 left_pitch=-0.0907 left_roll=-0.0049 left_gripper=0.9995 right_x=0.4293 right_y=0.0794 right_z=0.0218 right_yaw=0.077 right_pitch=0.1869 right_roll=-0.0989 right_gripper=0.0091\nstate[joint_eff]: [-0.0889, -1.347, 7.2684, 1.707, -0.0513, -0.0415, -0.0122, -0.1709, -8.6906, 3.3299, 1.4139, 0.2759, 0.022, 0.6178]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:203c1d1bf70e769dd4450e19c6586022e6fcd61313ce62ee92218eb57c4c292e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:360eec669ccf4ffcfca0342d5ae67793f16c5152975a85e359f3aea919d02429",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17189993e6161793455e4b340ac64e7df5f65479e3a859f1dc55ef3ff1e19b58",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8272, 0.6075, -0.4385, -0.0261, -0.0525, 0.9995, 0.263, 1.9923, 0.5144, 1.0489, 0.2565, -0.0288, 0.9975]\nstate[eef_state]: left_x=0.2888 left_y=0.0007 left_z=0.1607 left_yaw=0.0032 left_pitch=-0.0865 left_roll=-0.0047 left_gripper=0.9995 right_x=0.4257 right_y=0.0719 right_z=0.0145 right_yaw=0.0511 right_pitch=0.1486 right_roll=-0.1114 right_gripper=0.9975\nstate[joint_eff]: [-0.1162, -1.6752, 6.735, 1.7216, -0.0317, -0.0513, -0.0122, -0.4718, -6.9402, 3.7812, 1.1209, -0.2271, 0.2857, -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": "gAAAAABqrJ9HxqTEtm1EGVE0XigPKB1RrovvrPQtgO6WZopS6rkPGBStszOAqpV2sAmL65uQCPVanBAYrppP-GxaTXW9Myv0eIhxZawlSrmYNXw6KlrQiib5NEylSHcMq660lQDkrdADsUyWoEtZl1rCZHnnRoMEKek8w26GcgKY8SW471Y62MLWeq4TtnMpjjeGGrcxuRieNAiuRG9zbjqnwrCituG_ENpumjLG_nXcMS8k3key45cL-iD4DLxl639UdqhAkfpxZcAizlTfrXI3CZJUEma2av55erEmhQQbZYDwwaZVRfkxZ6GafRM3jibVk5mlpcPj8yzmTla7K-rK2Mz7uFQTjcfY1mRaDkl_HatCTgkhNvx9kIvPjIDBHgKNvfNojgy11C7tj79J545-Y2SQo-L5SbsH0xl3HNvKSwige77xhpqZIbywsPse0w0Dh7oZ-eDQZf-SAhdGF_CXt-5QUAXRx-RbxlhWdLJ79pvTxQ5K7P_cxz-BCkmWLYU8h89TFUCtQ2dGpqxb5ARmg51osI9d81hcNb1gl_Wpwda0QdCDj1Lz38VGCFVG1BQeyNZSQKuENztany7oxgadxkMmmPYbFYjt8Bb-WSWA2Q6XekoePuy7JIkQz2gCqW26ofvBbEqNTsnTL-YL6Mow6ftpf1rxJXA1BohNeJhUGhw_AIC0wWuih84boMv0nlcbMuUgJm_6XpcVnMAQiIkyanAB4hC7KAM5VrK54Vd7rV_w4Bq9IL6IlssdEnbskSNg76GnmpjWlx7rUjFeWiQnhpImuREci-srg32s4b-TWIIuaaebuiV60ngCjhruQk1_Kl7bx5lW75ks1DbCP5VGIhqPmoosHqZdbst95hExd2cgQ0g8M2ATseMfvpLs87uz4DQ_OZnAAT3u33Aab14UC6tzVzB3_6Y7XeUln-J9SDsq35Sew-iGrkGTL06LtPEI42hv_VefF6iwsXpmOiowidgtOGRx0DYQzZP8Fy2Ro7NFx0ZmEtHWHh7aAUSWEvZpEZAq7areUD9zVbWZZhS1kwv1LbW-3AT5jxVe0VAVLmLvXTpcYbvKYnjpRQ0v1Cj57Zq5u9ugJYgPBNx3lztt5ETZUT-VSMW8NYoRjLswiy9gGKytxDR4K1QOcV838WsYp34U8f8gi8c9_TThtyMyyBluJacWLiSHH7-32ByD-vTuIBpm3CR3jyDKChsMILN7B9oPwGjv",
  "id": "rs_09c738127d6b1039016aac9f45b0c887d0a13fc27db9e7a0cb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.46,\"right_y\":0.075,\"right_z\":0.018,\"right_pitch\":0.2},\"note\":\"The gripper closed almost completely, so the first grasp was empty. I’ll reopen and advance three centimeters farther along the brick before retrying.\"}",
  "call_id": "call_tte0KopVlOzwQUlEADD7Sq5m",
  "id": "fc_09c738127d6b1039016aac9f4610a887d0a95cc7681338d7b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tte0KopVlOzwQUlEADD7Sq5m",
  "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, 0.8288, 0.6075, -0.4419, -0.0261, -0.0528, 0.9995, 0.2344, 2.0678, 0.6121, 1.0863, 0.1959, -0.0566, 0.9954]\nstate[eef_state]: left_x=0.2884 left_y=0.0007 left_z=0.1597 left_yaw=0.0034 left_pitch=-0.0914 left_roll=-0.0049 left_gripper=0.9995 right_x=0.4553 right_y=0.0771 right_z=0.0199 right_yaw=0.0875 right_pitch=0.2012 right_roll=-0.1032 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.1282, 7.0359, 1.6581, -0.0513, -0.0464, -0.0122, -0.6769, -7.4051, 5.1761, 1.8144, -0.0171, -0.0269, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3910d036556dce5ff9549a8e79e7a66d690632c2ac38e414a0c5d42ba40f7e44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88d8219632ad29b8462c9793e1fdcba2f6bdfcbd0cee12e378ed1e6113e9ab1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4615c7eee0a0622d13a5fa72d48bec8cd2892bede0e22faaefe27fb8e27959c5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8288, 0.6075, -0.4412, -0.0261, -0.0528, 0.9995, 0.2687, 2.0006, 0.5159, 1.0969, 0.2344, -0.0338, 0.0091]\nstate[eef_state]: left_x=0.2885 left_y=0.0007 left_z=0.1598 left_yaw=0.0034 left_pitch=-0.0907 left_roll=-0.0049 left_gripper=0.9995 right_x=0.4293 right_y=0.0794 right_z=0.0218 right_yaw=0.077 right_pitch=0.1869 right_roll=-0.0989 right_gripper=0.0091\nstate[joint_eff]: [-0.0889, -1.347, 7.2684, 1.707, -0.0513, -0.0415, -0.0122, -0.1709, -8.6906, 3.3299, 1.4139, 0.2759, 0.022, 0.6178]\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 brick now extends farther between the open fingers. I’ll close for the second grasp and check the retained jaw opening.\"}",
  "call_id": "call_bhXsN2ZxiZE6l409SM14vcTH",
  "id": "fc_09c738127d6b1039016aac9f4ae1fc87d0aa53dc0591d46862",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bhXsN2ZxiZE6l409SM14vcTH",
  "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, 0.8288, 0.6075, -0.4419, -0.0261, -0.0525, 0.9995, 0.2363, 2.072, 0.6132, 1.1069, 0.1841, -0.062, 0.0083]\nstate[eef_state]: left_x=0.2884 left_y=0.0007 left_z=0.1597 left_yaw=0.0032 left_pitch=-0.0914 left_roll=-0.0046 left_gripper=0.9995 right_x=0.4567 right_y=0.0804 right_z=0.023 right_yaw=0.102 right_pitch=0.2177 right_roll=-0.1016 right_gripper=0.0083\nstate[joint_eff]: [-0.1162, -1.2239, 6.9675, 1.6288, -0.0317, -0.0415, -0.0122, -0.1573, -9.1145, 3.535, 1.7216, 0.188, -0.022, 0.6129]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40cf51cf47d73cc95130fe805d647bd08408b66927956f0e69e6a29397038f55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0efc27aa9572783ec2eed04b422d6578dabf8d5bc9afea83ad88061d7fba7f2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb79dd754b85ce70ef00c15ff72b648a7bc3f8d456ca1bbe485020a5a619c4d3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8288, 0.6075, -0.4419, -0.0261, -0.0528, 0.9995, 0.2344, 2.0678, 0.6121, 1.0863, 0.1959, -0.0566, 0.9954]\nstate[eef_state]: left_x=0.2884 left_y=0.0007 left_z=0.1597 left_yaw=0.0034 left_pitch=-0.0914 left_roll=-0.0049 left_gripper=0.9995 right_x=0.4553 right_y=0.0771 right_z=0.0199 right_yaw=0.0875 right_pitch=0.2012 right_roll=-0.1032 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.1282, 7.0359, 1.6581, -0.0513, -0.0464, -0.0122, -0.6769, -7.4051, 5.1761, 1.8144, -0.0171, -0.0269, -0.1392]\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": "gAAAAABqrJ9QA5jftwex4ieodTDU4ju60HNaZxtrcIjj5FT9uLWwkWGVZ9yqWQRONNDRDTNi3402-vPaLu0p8mu-Op9sZ6Ncgc5w_yiah5taJzs0b6XIqhtEztHehQXHapFba4Vk1xZYkqcqu241E8oY2A6Aypb3q4noLxj9OjFYQyTdiwtVorgjye_BQF9RDBJ6vA79YJfMLJCQHgu29ldUYoDesWPy7z09McEnK4FC5KULVkqlO3UW624OhAtVZQYxxAaFDMeO5fuuYlQGSeDZfmPu05jiuc88Ri-DNwutIIB0VviNL8kG7Usf3c23frodEVdhWJobtc7UDJrxXq5gwk4j0l3SB_Nn4PPt_sGQ0c2MUamNarS3ArgNkIwxfbM9PjeC7sIZnVr9iUdc9mawEnjgADUWQ7FfixOT_kZS5F3OjI11Mjt9Aw1-7XWIdtCWFw4zzfbCKJQXoeDyAfYidER0CqULuNEMh8-jfvkJTXLG6r2anxW-8oDqgfmZoEr8jmBlbg5mwKXdBW1yG6Nh8nbh3Wy3nQfl6_Pzordg3_9sW_vkPsu1sfBlPNMyWJHW4aoO43kXsLMyYejqD_YgJRFPFbbt6EvJgI3RqmGNlsDLYsTFLvehbARA9vgHqpXY-8IluMi2jIPc9mnypC8bcVnGYM_-aIiOrgq1oh6XHQPSyc7Y1AMJh8vtYyEpAKyXqYU-ZMBP0mUh0Rl2zkRv8aF-2F0Ael95-t8qdcOhYwNlPjUcaoJIeaySSZQoEANDA7H00gUpCk8i8pQT4SzY_cpw0fJ_8kMrY6wXffzdeP5o6at5vU4bm-Uy0yAlfRVK17fCC6OgyXgYRWECyjFxHq83MsuZn0im9sDXQGIZFWDeuj0BI-XxdObDgXymSwx78CSMm9E92KssOBidNPlshbFZniqHOq31RYJUlIRzq7mbBgxvK3XgLUdfcnwPjSVQpvkzf5oPv5OyP4SObr1yCFiMJjljeq_EaOn6qaZHoiEaLV35HJ_XOyTn7La7SnbsgznDA1E325WWxLmAmC-ezfd_a5mWPhTI0eJGgkToee1XoSMQCtqXmN6TaZ8btMzFtH0t31VUW1_uZffMBEeTxCpZHptffDQkZQ1HuUMhhSv-x90jcaC8hiB4NbOClBAjNB4V2gdH9n3ZmgeYOJ3KtQjnwXAmcQ1tmBxqdot7YBXnq9pJh2rskHQPgI50AROtvAVD0UVeItSvW7-zRivpr-4jLEC11txcj4yFF3MXgxFFw0T8pDmPj08lueaWfD5UTuowcIymAGcC1-VdrEeSHT4xnlYorOwzg-Sy2E-wqe6s9XtwYvihXxTiNENFbGQy1mpj6Y2x",
  "id": "rs_09c738127d6b1039016aac9f4e504487d0bfef4e56da5ce738",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0,\"right_z\":0.21,\"right_gripper\":1,\"right_pitch\":0},\"note\":\"The second close was also empty. I’ll lift and move aside so the overhead camera can show the brick unobstructed before choosing a new approach.\"}",
  "call_id": "call_AHfWpdw1Lu6hOaFKYpPnELJQ",
  "id": "fc_09c738127d6b1039016aac9f4f700087d09acdd39481985f4d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AHfWpdw1Lu6hOaFKYpPnELJQ",
  "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, 0.8326, 0.6075, -0.4465, -0.0261, -0.0528, 0.9995, -0.0319, 1.0737, 0.7654, -0.2161, -0.0353, -0.1768, 0.9972]\nstate[eef_state]: left_x=0.2879 left_y=0.0007 left_z=0.1577 left_yaw=0.0034 left_pitch=-0.0998 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3595 right_y=-0.0016 right_z=0.2036 right_yaw=0.0836 right_pitch=0.0382 right_roll=-0.1143 right_gripper=0.9972\nstate[joint_eff]: [-0.0342, -1.7162, 7.2547, 1.6581, -0.0415, -0.0806, -0.0122, -0.1573, -3.6718, 9.3197, 1.7851, -0.1441, -0.022, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75c06dc7d26eff08011d284cdd3ba3e427163cc7de3e4892e06975a19aadea72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:151096b65aa6dc73d4ada0a6450c680cf1ccc9936e30d3fac748be793258ec2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3187e08b7228810e94b6f65fd94e8c782198dbae27655feecd7f9ab9fbcfbd31",
      "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, 0.8288, 0.6075, -0.4419, -0.0261, -0.0525, 0.9995, 0.2363, 2.072, 0.6132, 1.1069, 0.1841, -0.062, 0.0083]\nstate[eef_state]: left_x=0.2884 left_y=0.0007 left_z=0.1597 left_yaw=0.0032 left_pitch=-0.0914 left_roll=-0.0046 left_gripper=0.9995 right_x=0.4567 right_y=0.0804 right_z=0.023 right_yaw=0.102 right_pitch=0.2177 right_roll=-0.1016 right_gripper=0.0083\nstate[joint_eff]: [-0.1162, -1.2239, 6.9675, 1.6288, -0.0317, -0.0415, -0.0122, -0.1573, -9.1145, 3.535, 1.7216, 0.188, -0.022, 0.6129]\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": "gAAAAABqrJ9ZjpR-2Qcd3F4yOsQvsnZhZObDyzsaEgkiZfEzW4UD5K9OkXqQMc8ewsu9hJHipF3nv5AU0bzivbyaR0JPl9XenrCPNBk72Y3eL1DVBb935wJt1Vk7eZ6jelJwN9E2AmGVt0xjEGOExZXAl0wegwL5-nmXKXYcQqPSf7k44YHjIScekbAZlEvNK3ac0_LM3H9cdod6rYtiisAijG0JmRbqggo9UOp1wimPr20HDMoOP-kWh2UtFSGjqMmCHBRywl1G46wGqAfzj2B-rx46uurUIKQyYa3aLRZ4OYjP_ZCAwpOiA3i2cC_DHOoj6VBszjxR_ovlvZSQ6k2VCCZj_hGmRGlFS3Apcs-XESWnBHEWbrdbqEOJSoaJu7q6KcD1b5bGfWW8UoN5xcCWmkScr0uva7hce0A-N5vpjeEsvWpCBzURVx0ONwvlUpWQEY6sctgEN2P4TtqaYfBN5WpM-Uc7D7yGcMAv3QcmZpFa6oGc-ev-za2bwDqalXQguzL0a0xAXL7cOWqUVgLB65LCTUmK6c1GZePqVA2XOHT_IZfFTd5PxAT_nxvA75ernY3iYui7CRKtKEygJiBHv0mn61_xbj42f-N12iUoIgI9H3HxJMUm3EdA6dyyHWRrX5OCGr4upjSCWrN-NZGRbl7Bx4QvBFcsLPhalB5DQwIDBwT8SMAoSJOLimUvVf9Eqqph9AJoQmwQ4m6Cz_uaIFSHdfoo3IaxrsCw0WYuvbWx5qyr1CBx9NgVhtaycJiINrEckPWCZMJPnv5lmZx1JzAefdla9Kmas3esrqRdfJ_Xc_8oZV-ARBLJodOS0uk83U1alOFQ6p4wnAQ8uSOmNFnazma2ARUsfif1PfmdFgfh-yIwtoYQvvi48Y189Qpi3VQOjJsxH8VSJ_QbgSGG-NTxb5LJGm2_BdOYMOgr88Sr8oAuwM97xD10_NlVzhkZoDB4WcVcXpb-wlAsz1sEkPai3zYifdRNDyzwVFbLmm7UhyPWd3PjBMsVhp5yQUo_RCX1ygcL4QsCLevq-GXyN3k2lsZhhU7ZWmZFCdEmVYcalDpJfFr0wPNe0aiweHrDFCemXBv1VdpAbysl1hGjsP7KoCNygEg8tOVocMXaG7_2Ug1dsqFJIf0Id_B9oz8_U-7DqJxAHkJeguoyyQFxKHdD-Tys9-vWHmlZRhN6q2QdPfpMyYa_VKv8xzNep2G9etX4kwO9KMKs0L3zeSN__f3BhOsiha3LEvYTZrwRCdo09oSKCE6U13XPrb5cYh6PX11W7wNyrM2AiqEuxgsf2XkSPDYEyYjYgA4bvI76XbKie1QN2hEo7NVXVEup9xqIgMBc4L8XrjX00YmoYPDo-UAKR5fjD9zWvNS7AmR6xhnc-BUmRDU6u7xptC4WRamPSNwTYRL5fivzaIv3So0oSYeZw3X0UfFS4rYMyhQS27GaA7XHZZrV9CWDZzl9DEicDMK7H0glDfePHrjb7qDqHBnlXwqBLNlWFS5BW_tNTt0W4wVDQAXv0nQXWEOvktS74gkbtDfN8rfe3Wn0DDRkN69_gqJS5EPzyz665ttgMpd4so1LFbOCSspT9zIgu-knDt6RB8s-5YcOAhsoBr2DbVpDUPJsNSO6jlx18soceU0IHMB8TxM=",
  "id": "rs_09c738127d6b1039016aac9f547f0c87d0b206e8413126ea26",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.08,\"right_z\":0.09,\"right_pitch\":0.3},\"note\":\"The unobstructed view shows the brick remained in place; the previous grasps were near its rear edge. I’ll approach farther forward, near the arm’s table-level reach, with a slight forward tilt.\"}",
  "call_id": "call_Z0l5KPoFsDTiyEk1JKDERSth",
  "id": "fc_09c738127d6b1039016aac9f57742087d080d563f0235ad17b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Z0l5KPoFsDTiyEk1JKDERSth",
  "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, 0.8379, 0.6075, -0.4606, -0.0261, -0.0525, 0.9995, 0.2211, 1.9087, 0.7078, 0.7818, 0.1684, -0.1028, 0.9974]\nstate[eef_state]: left_x=0.2859 left_y=0.0007 left_z=0.1536 left_yaw=0.0033 left_pitch=-0.1193 left_roll=-0.0037 left_gripper=0.9995 right_x=0.4695 right_y=0.0788 right_z=0.0552 right_yaw=0.1237 right_pitch=0.1475 right_roll=-0.142 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -1.7162, 6.9812, 1.8926, -0.0611, -0.0513, -0.0122, 0.1299, -9.7026, 6.8718, 2.2686, 0.0855, 0.1734, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87dad64a5cafa1b939bd1b9cf1bfecab46ea5f3da912bb767ab24ff89b9f01de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1de89cc63a289ed272da9e8f37b1b08f13406b7f08893af4ed8c997855412e55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0698975d5f0dc33e17fa3f935ee38615b182df404c3717e7221f3c41a41a769b",
      "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, 0.8326, 0.6075, -0.4465, -0.0261, -0.0528, 0.9995, -0.0319, 1.0737, 0.7654, -0.2161, -0.0353, -0.1768, 0.9972]\nstate[eef_state]: left_x=0.2879 left_y=0.0007 left_z=0.1577 left_yaw=0.0034 left_pitch=-0.0998 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3595 right_y=-0.0016 right_z=0.2036 right_yaw=0.0836 right_pitch=0.0382 right_roll=-0.1143 right_gripper=0.9972\nstate[joint_eff]: [-0.0342, -1.7162, 7.2547, 1.6581, -0.0415, -0.0806, -0.0122, -0.1573, -3.6718, 9.3197, 1.7851, -0.1441, -0.022, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrJ9h3rDUfbbGhJC3P_OcI4b9tqrRI_kRvpHRO5GTwg_4h-oGYtKcXsjZToRgqyRKlHF6y0kfg2_168Y3Rp4O2LnhiYdTDaTpgfdyuLlYx084XFcf15oVRNWRkJuVfms8mEQ4p-Qb9MzAsZ0pqW2pCkKRlQype4s6nXxQpxJi_aIcb4dxhvv0YafJetSKxc8AwQm8QgOanhsBLzrUjLnAWms421u6arMKL7uwvE6EqZqbtMLMSz26OVah8WBSUIy6n4XDlgGlYKMO3Im2_wCkRBEze9wdjPagWjZAtXF_LtBjRBz0PkUZrBZqB4O8fTU0yJb6dlvX13l-It8txAUsPihU8Ss-vK2r8mGLSNBy0xbnB_p6kvrLUXzFCpAALjQmbaML67O851x_Z_wvPVno1JemrqzumlMYUj6v6-5c3JxP-ftbNiiKV7pVc_U50hYzD5qWb46zexxCzAYWXv3MZmqdn-81CJ15yl3XCGBW5gTkHYhSToruOC98BjABG5eYFwy7NHaNZCIDRdPFu6N1Vji19-cFscpYyjZ5ZGy3WAa3ChZUAZYPDrMxTq2a6VqBCaqnzj8C35Id5_30JsngnLxx4P6OStWhhzQvfmAUu70M_OeR59ykMvl3Ea5k2IUYWRWu2I_NphXqRAQWK5zxTA_ZpVuW7hB87W13n1GhG-NVq0MS1vcVihv-69xOaHh9EYU6WrsB5GMB9Xk3qn1m3sZkG09eUzBSQTWn0ivnRW3pkBycJvIzik7wNAESCjR7jn0jloiomv82cpezJf6CLow6_LZFPBVOEAeUwObTf1O8RXANXEkA_hBtVyuBqioEHvD_wAkTiOvpdeFa1HYf1SOaQp_UZBgqFPGMdHKp-pNdBny-xWM0RPXAcBMvhqE3kR-EpZIFwVktjfV-P075H5HO6NljIbpChFc1jr8qlPqCn0OqwLiYhxyg_ZmSSh0QejcHB_INGnMpDPz5Qs2ydBjvVrzvGliztEfcqVCfRJ7VwIDQREWV29WDVSfiY1NmyjhUMEk_FvGoQ9dUkGDFKJxwm895dj9GWQHt_bvgBDB659erSj4TzXkEwkJ0N6j-aF_f21AuwY_TcKf4qYS_S0dMddezVrKDihy0evbsIljrN0lntqAplwe__jYQyeH9DyRBwYWJ2rmoAshDcOxM_6CsbOzZEkV1y8LCyX9PSD9UKLLu_h0FWoCC_dZzFbCC6kqaMwjT4hJzBXZwW-U5u8d3BBQWxMV7SWSIMnQpHXNgY8Z6AkMpVfZtTrJaRhTpBFDGbO2h8rk_JIqRKkchPOCasg==",
  "id": "rs_09c738127d6b1039016aac9f5f38d487d0a1abe62dacdbc646",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.06,\"right_z\":-0.005,\"right_pitch\":0.3},\"note\":\"The brick is slightly right of the jaw center at this closer approach. I’ll correct that offset and lower to table level so the fingertips overlap its sides.\"}",
  "call_id": "call_Aw896VuRJSgdKfRrEmmFZTw3",
  "id": "fc_09c738127d6b1039016aac9f600b8487d092a629d76f2bc682",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Aw896VuRJSgdKfRrEmmFZTw3",
  "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, 0.8417, 0.6075, -0.4614, -0.0261, -0.0528, 0.9995, 0.1623, 2.2543, 0.7368, 1.3411, 0.1184, -0.1387, 0.9973]\nstate[eef_state]: left_x=0.2859 left_y=0.0007 left_z=0.1525 left_yaw=0.0035 left_pitch=-0.1238 left_roll=-0.0039 left_gripper=0.9995 right_x=0.4978 right_y=0.064 right_z=0.0324 right_yaw=0.1245 right_pitch=0.3857 right_roll=-0.1453 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.7709, 6.9675, 1.619, -0.0415, -0.0659, -0.0122, -0.6769, -6.1607, 2.5641, 0.2515, -0.0366, 0.0464, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6d83873b3abe6990488bf8294d141cc4b8e761212fca9cd2247b6c2ced69ae4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3666a02414bccf5a9df896919022c17070e5d4ee447f54c1b0dadca9668c97e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b11b445feb2b2ffc353e4f4558af4887f2375f72a5b153a1ea4d3fe1f8e4f9ba",
      "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, 0.8379, 0.6075, -0.4606, -0.0261, -0.0525, 0.9995, 0.2211, 1.9087, 0.7078, 0.7818, 0.1684, -0.1028, 0.9974]\nstate[eef_state]: left_x=0.2859 left_y=0.0007 left_z=0.1536 left_yaw=0.0033 left_pitch=-0.1193 left_roll=-0.0037 left_gripper=0.9995 right_x=0.4695 right_y=0.0788 right_z=0.0552 right_yaw=0.1237 right_pitch=0.1475 right_roll=-0.142 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -1.7162, 6.9812, 1.8926, -0.0611, -0.0513, -0.0122, 0.1299, -9.7026, 6.8718, 2.2686, 0.0855, 0.1734, 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": "gAAAAABqrJ9mSm63XYUxyb4E3gu__5T9xegWvL9AWFOH9iShhPv6hhAe2QHXMPVRevKmPqW5ExO0aDZBf0xUM2E2KYSrUaRKZxU1OSe5RCijat9S20T247wNLpTP4a5oZibtkxz_l5brsVrZPOD4wKRKCn0zKkfQs1GY0TEaRS6ZHsZEMm29cpYsN1Sn4C-0eXM7Vr7Ja7_j3Gy8lqePrPMPRossBUaUNuSo9iGytkigaaNM2l675vcJ84eYgd0zcmv51IVGke2UJekkk1SuTgoFWeHkVOfEoxY9jRTn4sKkRskh9OQxojCOLgkuxP3kD2rTq70hg97PmHltu1ZpwfMBqmi_txCgJQ0X0qowjq9MITLAwVF4bhCkX91AGNWq7kFPJ0EN4B-LGz87-RDpAhigJ8CshWV9ikdyCgiFq8fX-0a54aGFye7RMTgn-69Tz835O7ioBpKmJux_8M0NSHupW8GpHej0y0hZ-NMfn0lxMmp_bcoEp62jFIVPLl8SpZEi8uF8xGEPrzzlCLs7KCch6hhRCiCJQ-H1a1JUeNexdV_MEkEY9qcY8GtozGK6uzDy2sZhmp0ZCC3S-IUmdUic-JrVDbUO-Bsvkd1LhP9Me_2NSLyUVoGWUjYR1cl-nymz-gSlS9BbXk2ab142Au5EoiMz7vEfXIHe3OdjqMcNrTSDrICo4sZTw5FIxFHVpYEhS5Qsp70ijDB24Mh00QUMRWxdCq4o9sL20v94RGJr7F7u_rg9Po6hnDsnComRxGjn4z82zfZBwugy2ss66ku4KfF3Yvsc3r0iUZPjYezcWpPhEXPOUTSUte_DVOQOi4zVLIHSEaEziSzs6U-CjNzNoYUm10dhDVxYLDn0hZG9axIa7GrMxoQhdzPEKc2G6p0DOiklv1bKzA6rZSCCycerhQguwExkI9iBdQTKhEoLPxDB3QX8_A_ZGaxh7GmYRstpo_453Wl5SYFMUx9rpTVoBQPZH-BDIvmcwdEipSg0Xm9FA7KN0A253QoMRQA5l-5K0AdZR7quBx-4VNOQJ3MJB2blGJgqjZ2YtLserQOPc4NH16un1Yl9t6IuK4NXfDeToiAWMaJ54ZI2feft8X72fbVCGx23kRBoXr6zvhgtOIZSbkktW5dYXDtxGiM15GUCgWnOzOEKGzIkMVjmg8sZw6TTx1BKlQNYv3RrExkn6WA0oLX56t2WKt3xKTDA0y_59qiJWkLuuSZQGGKnSTeCC2zg2Y8xoQNg_Wa42zDXI6225ubVdNYviCLRSwdITB066m3uQ3xK",
  "id": "rs_09c738127d6b1039016aac9f64abe087d09e8fb2df38007f88",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The descent has stopped at contact and the brick is centered between the fingers. I’ll close here, then verify the grasp with a short lift if the jaw opening indicates contact.\"}",
  "call_id": "call_hP6Us7kJr0Y6gNNXqr5oW57I",
  "id": "fc_09c738127d6b1039016aac9f6571e487d09d8bb8633fc61f38",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hP6Us7kJr0Y6gNNXqr5oW57I",
  "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, 0.6075, -0.4606, -0.0261, -0.0525, 0.9995, 0.1669, 2.2662, 0.7425, 1.3811, 0.1059, -0.1398, 0.0077]\nstate[eef_state]: left_x=0.2861 left_y=0.0007 left_z=0.1521 left_yaw=0.0033 left_pitch=-0.125 left_roll=-0.0036 left_gripper=0.9995 right_x=0.4996 right_y=0.0689 right_z=0.0382 right_yaw=0.1408 right_pitch=0.4194 right_roll=-0.1432 right_gripper=0.0077\nstate[joint_eff]: [-0.212, -1.6479, 7.159, 1.6239, -0.0562, -0.0317, -0.0122, -0.4444, -10.8103, 2.8513, 1.5556, 0.1441, -0.0122, 0.5739]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bb1a6324dfadac9f6a15017f2d0b64c2b027199449cf8adc6ef206e3fd62060",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4d7b78a0c6e769d08fc328d78dc5b52bd1816e43e5d989e9ab65f27d171fd36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b933db348ddbc6f9e5b85554762937be29c5817f7868695a72c484c07fbfbd03",
      "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, 0.8417, 0.6075, -0.4614, -0.0261, -0.0528, 0.9995, 0.1623, 2.2543, 0.7368, 1.3411, 0.1184, -0.1387, 0.9973]\nstate[eef_state]: left_x=0.2859 left_y=0.0007 left_z=0.1525 left_yaw=0.0035 left_pitch=-0.1238 left_roll=-0.0039 left_gripper=0.9995 right_x=0.4978 right_y=0.064 right_z=0.0324 right_yaw=0.1245 right_pitch=0.3857 right_roll=-0.1453 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.7709, 6.9675, 1.619, -0.0415, -0.0659, -0.0122, -0.6769, -6.1607, 2.5641, 0.2515, -0.0366, 0.0464, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrJ9uvFwf_7_E8ep6RMcf8uDqGnoImajLqtIWUhId-HDxt8pdt04010ZlA3PXWhQg8ZwwmyHYzJWf7DsSFomdAdqqwitW5Oibo5mQ2tnmbfF-O96V6OAUih3x5ZBz7asu4xIShav-t6ouCnGnamiWVyxDLtXRwKi9m9iSMq45fjWFMv-rERXdfq5lsct7vfv-8Pkttsk7im5QN3ZtkLLb2edFvd_SOX_lJh9ErzvcmJsV6zmLq1JH45dm1F17YhRx3p2TAtTFF4DoGOWw6Y9xugRylWFe2B5LIyrvmwohvaxz7Ux_6Y2I3Q5e0BdyNys9PX4HfTqEqGG61TvF_hN7TzeLPMUAT-2HrghCu-GU7_9-dxeEyzt8FARiWOBfrixBVbWMqszdqINQkdCsevZz0qtsOUKTzTFTUwBqj6vLHQ2NDgbQI_k-v0qH2yN4ZXiNwFh1WctHCiRXFTgDknhuu988EBmD0kZcMtcxb8nL99MPp52Tt0S1qtT5ixuViHA1FoobFJhS1RQCjh4zLdn4QjLqC3G9Urtid5kwfDBW4_USgnQXnCrIa5uBfm1nUpd44Il7ZA5nh0S3-nmYfq5Mq5juARJh6Xm36geSBU-0zjekTyFpFeFvrUJBkg-p7dJhZGKUfkMtbdg6mgUu5oivwzW82mvgtHdQzW3T8HzmkRoe2AA1CwaTmYmDS9LOurLQpXDzy8wNJvYxnlMQB-Mp2l971RTMyFobglMHpMp3WAyM7bUqdA5da_QyEQ0PPdrW5HTnzViMek3oxQ32jSav4asQxcR-RlC2h6RM45vmUXRKbHBF2jswCgG32brUpx1Iev0WZ2SOs7ujwLOAN0qyj1p2fnQrzk5HDwOYtJJN4fXsOABv7vtxz0rtveuLEdk6hf_e99IH1P-u67Z8J3fIt_iSszyyKFDaIkINp7YZwOQseXaoQhRpjdm4-4gJCyxUO4o8knx5vZ5j7Z0e7q5VZ_49oKvYbbthKg2fI9GhzymFBNZK9ubOUcIxGupiWGSD0aQj--Z9XdefyuWqppOwIc-zjYWwYzrkyYOQr5ek7nuhvgGKlmT0i8mRPpnGd2HqbQsLM_Pr_q8iMZ1WiMFHYkBGZ49n9Eaf9dl8xU-Pu8dgKAEAUjirK8wO2BvMmndNaflp7WhsIgAKFPm-lNdWluLr5Lyany_T_B7knRkQToUIakFjAo2PrhLDcPu02Eg19FV50X5o0k1DR04hi2fnFgNumTJyAhl4tec24cVbtJPv-1YIk09m4BxoRt8jhbE7p1uGfH6HFP9ujmxYVoCWpaDGgEQZIxOS2QtJ5iKIoUytsI-siSoKgQdjdiTHT2KbKrVhq2EIAsHHVufPdmCHszT4bwefGe7TTYSZbAKTdApcNeWuL3PXeIG5d31sfLxH_ifEWFfq09Ye5cLRSQqi1QYye9zPe3GMMz7JpSaZn0x1LfEog2QXkNNM8VZE7qX67ycOmrC7ntRyL9r9YIpdx4pWv4Z4lymMjeKppcvQqwKPyId7K3JDqEDT7jiJXWr7UXHJHgwjBCTq7HfVR6K3NoRYu7z_868Ubo328eCDb_OV9syZjeBTFoftx_qoVH5l8yEZhUNTYW5zsSvxAvQCBfPvXbzZMPWTrV1Ke0VnSlVNAOortAp4mfWz4x6rNHdN27Z9_5CSVr8hmhIrvOT9FhSghYQYSFXLx1v0zDJsB6TxkK1IrG5-n_HaEnsrk2tJIHZabJlkxv_dKlLMPaT501SHzAJzyM4kOvVSE5hGRvkjh7uhkTeh94j4iMbo_x5F25O9BnzFZTMNmJVr9gBkvNFSzH7-Kk1RgUzrpRtKkHD2S7TvDAk0B1wKdw16mCU4gzltucb5aeD_5LygOB99mH0waWLvcSPGRE2plRE-AuUCkHQEXKyDUiPUxvp9JOqxlrxbMMSJAflVLzDajbG1J9Vipg==",
  "id": "rs_09c738127d6b1039016aac9f69163087d088a93908f38d66a4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.07,\"right_z\":0.085,\"right_pitch\":0,\"right_gripper\":1},\"note\":\"This close was empty too; the readback shows the tilted grasp point stayed several centimeters above the table. I’ll lift and straighten the tool to get the fingers lower around the thin brick.\"}",
  "call_id": "call_d4xkA8BUUGaTZicthYTCnsn5",
  "id": "fc_09c738127d6b1039016aac9f6d281c87d083244263a7304d09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_d4xkA8BUUGaTZicthYTCnsn5",
  "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, 0.8448, 0.6075, -0.4606, -0.0261, -0.0528, 0.9995, 0.1768, 1.8084, 0.8345, 0.4129, 0.0994, -0.1345, 0.9966]\nstate[eef_state]: left_x=0.2862 left_y=0.0007 left_z=0.1518 left_yaw=0.0035 left_pitch=-0.1261 left_roll=-0.0038 left_gripper=0.9995 right_x=0.4728 right_y=0.0703 right_z=0.069 right_yaw=0.1557 right_pitch=0.0014 right_roll=-0.1458 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -1.5521, 7.0222, 1.6337, -0.0366, -0.0415, -0.0122, 0.0889, -10.7282, 8.3214, 1.9365, 0.1294, 0.1343, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54b4bfb6f9ef538aa0d2504685a3182e62e7217f55bd62b3138b636db05aedf6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:029e4f44b20fe7b285e8337a21ce7e41781d5184a47e2f40449e27aceec60d43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dce64d8b379b6ffdc7381e91f05f8f18a28b12a72440f4b4b6e73bb22c2e5b45",
      "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, 0.8436, 0.6075, -0.4606, -0.0261, -0.0525, 0.9995, 0.1669, 2.2662, 0.7425, 1.3811, 0.1059, -0.1398, 0.0077]\nstate[eef_state]: left_x=0.2861 left_y=0.0007 left_z=0.1521 left_yaw=0.0033 left_pitch=-0.125 left_roll=-0.0036 left_gripper=0.9995 right_x=0.4996 right_y=0.0689 right_z=0.0382 right_yaw=0.1408 right_pitch=0.4194 right_roll=-0.1432 right_gripper=0.0077\nstate[joint_eff]: [-0.212, -1.6479, 7.159, 1.6239, -0.0562, -0.0317, -0.0122, -0.4444, -10.8103, 2.8513, 1.5556, 0.1441, -0.0122, 0.5739]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrJ909T5eBkAkY4UGKQk9VWXMP0XZeE6bc5PLYm4IXUk5h06vnEkVA2R9HjBwwToJ33pbC4KGlSwXuBDwIz-09YgZV1TNKD-Zgoam7AgbdjbqDfnIwEvuJnC_PVbSQmggbSIaCPBUXreFoAw0i4IKxPRszyKzU4ckc74aCf5-q8XzJfoo-nWccbLK3GnLpWfCVrKf5gAcQqWF6xgcKEYPe2OhgptT-h0YAzXZLuuHZ5_D9FXrWsiKC41c9Ujhqctk7aaDln3iaD6G6WuMVYBsGye-4APPwdxdvCD-JkZYP5t8EfGiy5mEbaA_CddPjvDYh2UwZUAlofQ-FJkl1fJ5qdC_ieJjj3Hshp-uBTI_3pq4lcbrOX7AQjNYNfXzNzg6E8NCgdyoKGknCD_pTnxMqkaHawMfttLEx_tvzti-WJLN4A04B9jZc-KizmUHzty1FRhhz_xWm1-jIcMEbXhomBe_cbZoMDxT2XT67Gm60-0pJhLzi3rkYla_wMJ8iLyVPlcTAy0jzPjaWYQNwAex-K_6NyIJQFzrm_kWHWURrsMjmLze6lkqg8t0_Q67ER0nq1KU3hLcUUgd_VOf9Z7MAvsZQboyg1hWmUZkjM7cRcl3GvjRcmp2s-wQFJkU-P3-kYRKMsRk7jz9ocbdSFQohmWcTMs2GHkUR7CtrrmeBa9q8jAubtnwpCLjcJlamWf5oqsHTBCmv8VGPBJf7GaBJ6DyLRHxVv-Pagym1l6B50kpXliNrk7WTLCxh_ufR3kZn88sAdeNBQ5F7zZmYBtQvRVMY4H8L9pfdb2UBrPJ4JwYvOqktvtI-rmbWPlBuJRz1b-cfzO1LvrM3v4QKLJ0rwhLrndc8zGXQrWFyH0zLFG-Z3gNHUHaO3CTLsdooeNVqH-7LmcKfAGZ3u0jOG9ymiAUbW6YYGXVf7vsxgewlTSC8-NfldYf7M1nUq9KaVtmHBJy5PyxCt9ADpc9SmCGP_KeKEaILTDH-2FpEXSyrb53VPsLs6jEbp_ZLfnxphEBQM8tEhYOsVXchtqVsnS30CSQV70AuPyNgE7BAhW_j5XD-T42QlYdb9Xw2gUfD57qWBTc5l6IWHgkaE3xx2P08Y7HJ0kM8PWeLD7axO7CWZag5rmk0BgpbqpmRl6PT2rWnPexFLSCvxqTpZFnvjJzam_-2NBTe2B6o5pjPl04dpWfLc6H4Ktq8v410Rl0WB5J7z1XlXQbbbBqn1Q6UgvmLgL47w==",
  "id": "rs_09c738127d6b1039016aac9f71c63c87d0902ad6d37f95e34a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.06,\"right_z\":-0.01,\"right_pitch\":0,\"right_roll\":0.1,\"right_yaw\":0},\"note\":\"The straightened tool is over the brick, with its long sides aligned to the jaws. I’ll lower without advancing and compensate slightly for the observed sideways tilt.\"}",
  "call_id": "call_ZWPYjNk08h7aWLrC5tTkYnr4",
  "id": "fc_09c738127d6b1039016aac9f72546887d0aeb34b97a0a50b1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZWPYjNk08h7aWLrC5tTkYnr4",
  "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, 0.8455, 0.6075, -0.461, -0.0265, -0.0525, 0.9995, 0.1425, 2.0315, 0.791, 0.7326, 0.0998, 0.0505, 0.9967]\nstate[eef_state]: left_x=0.2862 left_y=0.0008 left_z=0.1515 left_yaw=0.0036 left_pitch=-0.1273 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4856 right_y=0.0555 right_z=0.0168 right_yaw=0.0218 right_pitch=0.0614 right_roll=0.0171 right_gripper=0.9967\nstate[joint_eff]: [-0.1846, -1.5658, 6.9538, 1.6239, -0.0317, -0.0562, -0.0122, 0.3761, -6.8171, 3.3573, 0.7937, -0.3101, 0.5299, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10670f3349be397fc6c039965c7841b54726ba25dd1118f3fc2b08b571968405",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d42bcb45c6981196a3048c87cf90b86efc617c04177d8aa35b5703c1f404f398",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be259f8daf286902c19431b64fe85303baf82de7662c0b29d66abca44682b973",
      "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, 0.8448, 0.6075, -0.4606, -0.0261, -0.0528, 0.9995, 0.1768, 1.8084, 0.8345, 0.4129, 0.0994, -0.1345, 0.9966]\nstate[eef_state]: left_x=0.2862 left_y=0.0007 left_z=0.1518 left_yaw=0.0035 left_pitch=-0.1261 left_roll=-0.0038 left_gripper=0.9995 right_x=0.4728 right_y=0.0703 right_z=0.069 right_yaw=0.1557 right_pitch=0.0014 right_roll=-0.1458 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -1.5521, 7.0222, 1.6337, -0.0366, -0.0415, -0.0122, 0.0889, -10.7282, 8.3214, 1.9365, 0.1294, 0.1343, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrJ94fdZzyFEI0QTyki8cd1mCRxJHhr99pzSGYrp61bnSpRAmSK62OG2NArnaxUC2viMYwyfAKf3tGki2KrkungxjiksomjlT6hVTrPw983x-5XtMEv6T3uxs_5WJSk4HQ0KZgiHKBukmPwBHA1QyUzzUl5uZzqx99Q4rwt-drHoZAiS3DcOkP-Y8bnzLyVQIwae2LWCwzP3foetSnM9_Qs6X1_3HPxg1Fo6OKeEm_CDWotINTQLDx4zvZbierPZFS6Wn7sRCWdBCpEvryRUgJQHYCBGkiWvcvU734iJtKWD0BlX89GhRuCug6l6iSdbUAmTGz7Ha79CcAzZu2xsqsi-D3rIqiliWzipSnaxcd9FdWFojmK9ANOjo8bn1x1aOGIFkNfZlhjvP5-ZPVe-6iyhQdgr7jqNOhWIQyk-G6j0RzPp6KN8-sexwnIXmeYunyQdFucsmSLDaf569Jt7W-4q8NHd8FrKdzPH9-G_A96hBW1bKHf-VoHypiAhSfDh5JXutt6kdNrduWBuQOCMM5008C0XrALHTGu01j2lMDlDTADad55Tj0rrLO9K2X851qEguk-Y9MMOkQlUEV3IIBCQDz-avUZ_b2jxMsDSgERpRgfDujsCVzW7M1hDgjoG6cwTfm6PSvryi88--63S8WLGIUKF7WwqtZk4KPswvZQjonJAskILzvQAVmzO7xfuk70GdIguUqlnhM26P07yp6E6v5ej2iRHnGXnRYHbezcGni4vZEVu1GLgRAZGjMtHz0__hRdSxC-WrTSiy3lCfmVPo4DPs3w9FFbrMRM5SJ_9qUWgHWusNuTleEMCk8jNUmAqZWJusR2cgJfiWOJagV6hKNj1mbH09Y5E7CYE2wE2CXxXt93sqP9d6lIFa8NdJTdGxb6JZ4HVlUL4dELYXUP1l2qRHq2OC1D8BIMNwkIbxGGZGsA4iiVYbPqtVLvHf1giI1f9MGc00XaNqxQUQyGUOhTzsBuO2QOEOeisO9LGxjGsRI0nDnzAdZE7jI-AABthi0MuphKVIEOy8MybL4mk9rOjfM2Uyghp_NqPXQX1ShRRIQhSrY7tQL4tvNUFukLSostb4SGd9e7K-GFltH8wJ--2_sp1f6ZtbiXHCAY4v59B02sia0LeFV9ZLBY_eRHCBOE_8mVu223P2N0gQDLeazvL8hkms0HD8VaqCSOYEPgeNaBHoosbenPI2lz3LR6NIOp82pj7UVkEQmPi1zRWXTxv-HY90PY5T4MEhgj3E4eghz7l9EhsDEr0Ln2tbTViK",
  "id": "rs_09c738127d6b1039016aac9f76534087d08a54147ba1e866c9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The grasp point is now much lower, about 1.7 centimeters above the table, and the brick overlaps the jaw area. I’ll close around its sides.\"}",
  "call_id": "call_N6MfD3CkkSILgvxG06Ndh2ZH",
  "id": "fc_09c738127d6b1039016aac9f76e33c87d0b7cbbb449aec2ba7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_N6MfD3CkkSILgvxG06Ndh2ZH",
  "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, 0.8474, 0.6075, -0.4671, -0.0261, -0.0528, 0.9995, 0.1375, 2.0399, 0.7849, 0.7635, 0.0956, 0.0559, 0.725]\nstate[eef_state]: left_x=0.2853 left_y=0.0008 left_z=0.1499 left_yaw=0.0036 left_pitch=-0.1353 left_roll=-0.0036 left_gripper=0.9995 right_x=0.4867 right_y=0.054 right_z=0.0173 right_yaw=0.0174 right_pitch=0.0774 right_roll=0.0258 right_gripper=0.725\nstate[joint_eff]: [-0.0479, -1.388, 6.9402, 1.6581, -0.0611, -0.0611, -0.0122, 0.4444, -10.1538, 5.1624, 1.4774, 0.022, -0.0708, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52f25969bbad46408177a19a6f8729cad577d077963dcda02e305510942449a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:346b365f2b309eba6555686d390ab1fcec59a474292fa2645a2e5acf946020fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:721f7a9cedce252aa852efb03b6abedaf2f845e5f355f7f0aed7164070c2a597",
      "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, 0.8455, 0.6075, -0.461, -0.0265, -0.0525, 0.9995, 0.1425, 2.0315, 0.791, 0.7326, 0.0998, 0.0505, 0.9967]\nstate[eef_state]: left_x=0.2862 left_y=0.0008 left_z=0.1515 left_yaw=0.0036 left_pitch=-0.1273 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4856 right_y=0.0555 right_z=0.0168 right_yaw=0.0218 right_pitch=0.0614 right_roll=0.0171 right_gripper=0.9967\nstate[joint_eff]: [-0.1846, -1.5658, 6.9538, 1.6239, -0.0317, -0.0562, -0.0122, 0.3761, -6.8171, 3.3573, 0.7937, -0.3101, 0.5299, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.06,\"right_z\":0.09},\"note\":\"The jaws stopped at a substantial opening, indicating they contacted the brick. I’ll lift about five centimeters to confirm it comes up securely.\"}",
  "call_id": "call_EX8PJ49ZhCWWx578n5QUWmhj",
  "id": "fc_09c738127d6b1039016aac9f7a874887d0b3065649e531dc92",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EX8PJ49ZhCWWx578n5QUWmhj",
  "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, 0.8494, 0.6075, -0.4675, -0.0265, -0.0525, 0.9995, 0.1532, 1.8309, 0.7921, 0.4927, 0.0986, 0.0559, 0.6938]\nstate[eef_state]: left_x=0.2853 left_y=0.0008 left_z=0.1493 left_yaw=0.0037 left_pitch=-0.1376 left_roll=-0.0029 left_gripper=0.9995 right_x=0.4707 right_y=0.0587 right_z=0.0589 right_yaw=0.0308 right_pitch=0.0235 right_roll=0.0177 right_gripper=0.6938\nstate[joint_eff]: [-0.0615, -1.6752, 7.159, 1.6532, -0.0806, -0.0415, -0.0122, 0.3624, -10.2222, 8.759, 1.8437, 0.149, 0.0562, 0.0611]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48676836157b164306383a9d66dd48ff6fd5183e310dd76732c3162c898e31ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8106b215ea8131fcad72193b88b4affa03d53acbb6972c142bfc7e9ad9953ce7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f1f990b5a7af1fcaade1d9bd66d0c70ca7e98518d86706e61f91713a83d96f3",
      "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, 0.8474, 0.6075, -0.4671, -0.0261, -0.0528, 0.9995, 0.1375, 2.0399, 0.7849, 0.7635, 0.0956, 0.0559, 0.725]\nstate[eef_state]: left_x=0.2853 left_y=0.0008 left_z=0.1499 left_yaw=0.0036 left_pitch=-0.1353 left_roll=-0.0036 left_gripper=0.9995 right_x=0.4867 right_y=0.054 right_z=0.0173 right_yaw=0.0174 right_pitch=0.0774 right_roll=0.0258 right_gripper=0.725\nstate[joint_eff]: [-0.0479, -1.388, 6.9402, 1.6581, -0.0611, -0.0611, -0.0122, 0.4444, -10.1538, 5.1624, 1.4774, 0.022, -0.0708, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrJ-Fbw1sBaNPp6cXj5wOfDVbn59hWmRtVvWENrhGd5MrKZbOdeOTEgrxwY4UTfrGG_gqYNM-3Bi-d50ZGgUe0PevdwVeOGSBiOIA5Jb0GzSL_ZP0hYL1BoO6TocMYkCrk43DEoJZVu4UEaQIof8R2PTMKCiCcXB0aLipzxMdBMEiBAxeo6qwDhWM83IY89QCsXIk-_HTlkwb4CNvHtVSsfv_UHf4n_CWqukPOCv2r3mAwy2l8VFTerZbbE_u23weszkx0c3blYyPFbSOApvRUFK74gMnHKDdnK83A67RpaZKrckkdoJqhzlYgH6vGCJEmgO06NjZmFdescw3C1tKKa-zUFcFkX5bkIesnbq9sDpzU7P6xYQ3mkupnUuIP1j68bDiU7IegCcpku_5vXaLfnVXsB0HB-M9yRlYRJUMSeWamHwV0TzrTMzSntbn_idVUUS1TVXiXT7pUoOblNsnJUTp-V7snYh8qeR52Re7yH-YMeC3di07LV4R1rjT49_hULuWzdNtsItlABe4AzwDzFRAeZXbKSxMPzD72FD18YddBqusnPaYarzoSxdE24ewlxCK4E2x7pp9FveutNFK_xHOnImpf6hdPBXAajdAviUmNRpko7iobFp8obarUQpWtZUVqNO8sFUcHPrIpifyL5wtDicnypcHiI-mqbuQJ3UJvtXS_GhI98hqhRRYttHgSpOvmjSfst83c5IWkDtHkDGrWvwjzGyPrJRUNM5wzWww1pwFPILba1dlZW_hViXqlNQpHqV2UpYva4fwfHvRv3PMPkf3IaynYqeozDRLabDaW0_BtI1LE8Z1kfrDHrNK7zdNPFiinaHBDLRaV9wysq6V1faXhW9VN35L52v3V7BHNgR9FwQC7RtpvSh2adLDifZON_qumPa6Asfmje3oY9IytPyqQ_ihZqq5giXK2Bzxs9RIL08tGXCzaC-5sCKRLIFWJqJgAb7w2rJbAr7IluBW7pBH4d4qWT7Bke_7fhuWIhhWvyb9EXl3VRDObhTMkjwT6pN3QVXMEq9jHMbrUQa59qhWEeXy1vaGrL_P1b_AYCszrmLEyq8YilUNZXFhllgDszhYUS6w2nObEXByYr8yLPYqcRO8aj7mLQMCdDppuzF2fumH7xaPYS7LXML38OLkxE-zMNvayEo5eT18tJJQwvduPhX4qb576o9SulO9t-klQjZIoAsb_1euDOZw5j6SYDpGcY56ZkiKhqbWdBpDFpbqWYy1jyGpOHRFhudlvYH9aCz0733hFc_UHXRkIWd3n5I9vk7ocS7uj0jc5lwpxUSh4aSiPocV1tUJkwNHb_9wJVTDZk_eySLWPP8U7VlGk4C3MajbHVd9wUkI_8Oyp9JTLVQlpssibpok0GGig5NH1r1-CPwUs6qaPIwV3DNDTM3wergbeEzzGeEV6JqV1-acQLPTuQsp8j50UCnohaJrfimVHolyyI_mdqjR0m5whVORx2XXyshwOemmXFTrQiHnzcjGgZ3RIPVJTqQ2p4bcvixP_duJZdWxp63oEtUVLUCgx6UdcT_ybEV1t_emEfKl56T1ryD5AAy0Vd6nrlGPaJbEZCSx-s-r2HKHixj765uNovg_8rI_TeNKsQPf_TIoyZ6MN9aMM4dVoohKSjUIUQmGSpdLhJp7iXd3kZqhRT8jWI0tbj5OJ9938fTIhuu4G2KR95S-_xDEctopbHYlfyk7kEjd_pV_jtxV-UAT7xTEGqXelTkaL48rptHAa2K3xz-unURjFTyANxhXyuxOmZWk_o5WjFTF3Di5voECx8NkRqfnLl-7v2S-NfMshXGMrla1PhYuYIjTfUqTqtqdr-HRMjcobEtXCeyMvMQazUJK1GhBAEQWN93IyUlkG0STj6eVoCe2qVv8WlR3lnRxFt1nDtU6qwil5hzzwCmLTvjv8yBJgcJGAR3o8seDh9FuKehMMf4Ex2Gd36aPD2XKzXGvyXUOX3o21sT_-SMNH6HdS0ChyHQrqBdksPWvdImmkk87DxDkPBnAv7MkePEkO9pqpQon3lt9MUHrWopVd3ot84hoaUujLrebNJQErQ==",
  "id": "rs_09c738127d6b1039016aac9f7dc9b887d09258c96d7391ef24",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.065,\"right_z\":0.25,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2},\"note\":\"The brick rose with the gripper and the jaws remain separated, confirming the grasp. I’ll raise it above the pot’s rim before moving sideways, and keep the idle arm parked clear.\"}",
  "call_id": "call_0dWfU1Ah3gMxbiTgDfIHo1lU",
  "id": "fc_09c738127d6b1039016aac9f83acd887d09c05d1990dd6cda4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0dWfU1Ah3gMxbiTgDfIHo1lU",
  "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]: [-0.0265, 0.9127, 0.7898, -0.6243, -0.0265, -0.0532, 0.9995, 0.1753, 1.5391, 1.2221, -0.2668, 0.0998, 0.0525, 0.6924]\nstate[eef_state]: left_x=0.2902 left_y=0.0006 left_z=0.1829 left_yaw=0.0039 left_pitch=-0.1753 left_roll=-0.0024 left_gripper=0.9995 right_x=0.4637 right_y=0.0679 right_z=0.2211 right_yaw=0.0538 right_pitch=-0.0139 right_roll=0.0096 right_gripper=0.6924\nstate[joint_eff]: [-0.4034, -1.4017, 10.1265, 1.6532, -0.0904, -0.0806, -0.0122, 0.3214, -10.1128, 9.4838, 1.6923, 0.1978, 0.1343, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6213bbc5920119559ad14c9fca33d77b58c36e6dc5946b809acd65316ca3f216",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3904c4b92e79d489bb10d73b5dfdef3b017dc7f0efa487b8a19de59b75e952c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:265dc2ecd2d7dd13a5c506265172058bf41dc494b9e780acbf4afe7be140f7f7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8494, 0.6075, -0.4675, -0.0265, -0.0525, 0.9995, 0.1532, 1.8309, 0.7921, 0.4927, 0.0986, 0.0559, 0.6938]\nstate[eef_state]: left_x=0.2853 left_y=0.0008 left_z=0.1493 left_yaw=0.0037 left_pitch=-0.1376 left_roll=-0.0029 left_gripper=0.9995 right_x=0.4707 right_y=0.0587 right_z=0.0589 right_yaw=0.0308 right_pitch=0.0235 right_roll=0.0177 right_gripper=0.6938\nstate[joint_eff]: [-0.0615, -1.6752, 7.159, 1.6532, -0.0806, -0.0415, -0.0122, 0.3624, -10.2222, 8.759, 1.8437, 0.149, 0.0562, 0.0611]\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": "gAAAAABqrJ-TaxWUouX8Kz8_CGiOELw94-aClGPlif2-DNdrsIELt7COfT5yEj4hWkKEmOWcVC88-nRszsMXyxAIw_X00nzUYsS5VshTMEKL9ob5oM7kNsVQRSMHwTPL0PaYRt02Pz1BkloSD7ZqMOKKIuZe4dhF5UhwYux2HdHJLI7NnyN3gqipMlisNWYmveMHUkPHomtQaJ4ampG3VrzjuoQfJaOjpkQPoubzT9cYKPVu0yDzXAFboeJwWMTqHduwDVzd9U2oHc_DDU3yzG4Ky_5dithFI2UkXPu5rcnFYWxoDTWAMhOJQJNT3suTE9K_m4oDfQBJEoiLO8-CkH5r1c2n8hzJ6LOe7mcZcLzMDIxbCRgG3FiwaqyuSNF61HIjD0TXMGE2GQPorB6mZR614l-ywJzR6gv1r3oozHMNtb_lafN0S0pnFognMbwH4SZxEF91M2XashLKqk4p4FKg4lW3t3b87_Fk8HN12zNXYWOt8Tvn5l78LwweHe7ol6bH-FAyDLrgbt16OfRKvOBYDCRL39rvOOrfORzQy2AqCdKtSMr3jCSI8UfbkC8TtZFZMjLy28sI2-MQ7vOjxEt1Co-U_xMxKTyqoLVoKDmjoWgkZJHB0vqJubkEx-C826lImirEcxiIRC0Ltx9z6q9Rd-IEXN3_EO1PAhDZ3qUsmgnp5ZEGhGS-P-yEkLWQBX8lVDcR2rAcnO_QcNYiuP9md5mWYOZct8_NC5oQeYeP3WbRkeIMQqjqKNMgRf5ab_3TqeYlKV45-HvMY_z5tZGOO4WrVh9qDYGvYcE-ARq-zhE8FN_sbWcgN6FKp6d0cH-cBb1ItAaFIzwumyM2aHKWy9khZB0SvZ5nA-ZTof--WyhgXn8TyYClYU6nlfcf2wsB0Q57N1yRsw7EbAGlZDrITIcuICaVQnfVSrsD_71YK6HBcDkc9L05RNWKwh5RJ8_x-b3ObaxGmaEARRdJHbLbq9LkF_i1qhDt4hiEpYYncpd1n6XrKuRNImdBi8rKh-jIg1IP1YOdtaA0_ifWJLPRQT7oaKC-eH6rjGNLSzYcHKrAVo9TZIKW6Dm51aP81kjjC-CmYnGvlkS4WQd_r6eTciMynI_RsfNIGSy8oKRXNHG6yYZOic8SKEdomgvG2eWSktVWmhqZSQeKgITWwzttVmmJ1a7r4oNjOMCOl6UnmD6VKkV-snQn9gdstqRMnL1Gu9BDPoE7xEUijnBbdeis2Mg-q6bQMZr13U1VNGn2NTCyt_BsgFqG0-hAkXhQsWhk_3xLwYJ4EIUxyYqc0P3L1zh_snLW8_b3GdYNECpYlYBPsD72Rh7NdIiMGNDX4HeGd6_CtfYWBHiop1abjkR2HAxVG0GhiZXc0hIeuSMr3SlTu1MZLha8Kn3ooib6uR-ylWOoX0blT_6cNsUoRdFYyJICrRsdWNwoRQdeau69gs8uD6rc3ref6k1ihN5Wf6WoFB8PvCAcb335sXcr2fhFUZXqDq2ZgwmUbo6HYzi03l7R3pDtAcdRi5a555VXRBWtqs5Y0nsLspyN7aFy1FiNhU8qhgehENipT8mafii-Rgo-6Zj89edHHq0U3ufbAAf3Q51MBkTsxmII-l_PpGgSzx0_vzM85-aOORlcMvnutkC1CtlaBKhlxC8h6RX-gpEpsnJwVdS_Ez6gcHpFH4r5p9-8PKwkahwFLYiNcCF5O9ramc6N-C8btq2Coiu4S3GxD9-HSGQMN7QiyMdJBpG881Wug_sYY1nrur2QpTYgHWwhKoMfF9TCjrwss-3DrNl0jmw-PYDRaPeQFpElC1UYBTt-go8uqo8h8MPaXCY9C0pwiH2BQ3iIkQfutqdqT8fHULT9pwUVn2ZWzlf56it7qXcPxS-OFxBHGk6KXs74gWonfiBuvT_raSkCAtQZxypdCwQMzRkVNdtAXiTCBfdE8YBHZLUcdi2uz0ihRGvIfzgAMDyDoYbS4q6RorhlokGmks75QaJN0ogPEuC-yKsF1gm84cp58bQ6XUHmSYgCaV3_TjTxAQa4hMPLsj-5MtY4s5SoXKBdxzQlesIKG54ltTCayrV6vQmWbvI3CUQLyCqV4s2opUJPBC9DX3RA8pNdmpAjnSAOXyVTBEhFBY4wiTDZHfWgQ6-RoFXPi2WiO6-P0S96AsuRKCWSquhyom0uCOBHpRhCgDFoW4-7TXnbnFNIZEkRFzCHvZVrxQb1HnaL8Kwrfn1Y292zWJcqcOvwfAtAgDWibZEsuH0EwKj8X73DVIQvpushV2RHjuuMEhNgSWSEWRcpcpYimcnkmSfqqU-W0JiTeunug8x73nidwlhQiZhidJj1ycN4xwhWPMR4keiGk0B8k4BxrL9a4C0zM9SpujgMblP9cHkczEvWsAGiQwi60Wl_vT_3GUY-HT7QUUEAEwkvKGszAu3wszE0DQ_QE-7HgxQuobvycDsHdXJWSWo9pZ_dp959hbtbYvE0pwmfWGztWz8gQyrr9bLSceXscS_IvHaAsaQhBOpEAqbr8qW5uCspyAprPnvIdovgVJDt-toV0xapxPH0rJ-UvwmVvBkMaB2YWAFt_wzFAfcbwwzxlzpwuGCtOTJzbIKww1OgzTcbV7mw5LguVwkDCAwp40QhJiJA8QmgD9piBQzC24jaraDzTvYAWHzyK846kmbQCJqzmogzVp5aXowrRJY8R2qCJb-cMIEZWJXb6uk3nzdI2xfKB11hqLst53GwVInV_T9zhrbiopxOU0lTBoiQlcJ1dV8DJFMqN5ZL6R2dAVFaF_V8JLR-0FsfVt5ksNSnW4P87lfJCjqWh44wNXnbz68GHJXx3umT1WKyU-FZx4XY5K1uQOHff-jIHDms36jg924B3ZSd-GqrvcuE1bgg9zUGEpVyex-_3S2uuIfBPC5-630Q4gx3bWh3hYSe1Utzrjh-UDapvPEHLH54oBYsu9hf7722LbYluo1Y83bjz82fyrSyLp1zzqfMj-egUnaiTK9OKPoStWE5sqI-irzykTBe6h4wzdHMvaUdXhHqlga3Biw8Qi5fUyUw688cJZ05U0sve8vW2oxp0cCjtbf4PC0wEA6P02GaZSbZwOD5r5Ddo7kRx4dZFKfdc6wAEq6OIwc=",
  "id": "rs_09c738127d6b1039016aac9f88d26087d09b6996553228266a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.065,\"right_z\":0.025},\"note\":\"On the higher lift, the black brick still appears on the tabletop, so the jaws may have caught the adjacent item instead. I’ll lower back to the pickup area before releasing and correcting the grasp.\"}",
  "call_id": "call_6sgIw1MH5789pSJUw5D2PF8D",
  "id": "fc_09c738127d6b1039016aac9f922d0c87d0a93f57e5529f8a5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6sgIw1MH5789pSJUw5D2PF8D",
  "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, 0.9165, 0.7933, -0.6361, -0.0261, -0.0528, 0.9995, 0.1616, 1.9327, 0.833, 0.4759, 0.0921, 0.0441, 0.6929]\nstate[eef_state]: left_x=0.289 left_y=0.0007 left_z=0.1812 left_yaw=0.0038 left_pitch=-0.1875 left_roll=-0.002 left_gripper=0.9995 right_x=0.4737 right_y=0.0644 right_z=0.0243 right_yaw=0.0509 right_pitch=-0.0542 right_roll=0.0023 right_gripper=0.6929\nstate[joint_eff]: [-0.1983, -2.1265, 6.5709, 1.6679, -0.0757, -0.0659, -0.0122, -0.2803, -7.6103, 4.8479, 1.2821, -0.0366, -0.0366, 0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:840dd26ae6cd133e47ebc160b788fb5bdde7ff18dedc4e39ae9eb8a0e74c1cfa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1e93dce594b56a70c5a98c5b2ebb5c2b640b904d1440707655f80368a43f8e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a05149995839bd1a1dfb3b5653c112a4affd672561d92f21b66497ae727636e4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.9127, 0.7898, -0.6243, -0.0265, -0.0532, 0.9995, 0.1753, 1.5391, 1.2221, -0.2668, 0.0998, 0.0525, 0.6924]\nstate[eef_state]: left_x=0.2902 left_y=0.0006 left_z=0.1829 left_yaw=0.0039 left_pitch=-0.1753 left_roll=-0.0024 left_gripper=0.9995 right_x=0.4637 right_y=0.0679 right_z=0.2211 right_yaw=0.0538 right_pitch=-0.0139 right_roll=0.0096 right_gripper=0.6924\nstate[joint_eff]: [-0.4034, -1.4017, 10.1265, 1.6532, -0.0904, -0.0806, -0.0122, 0.3214, -10.1128, 9.4838, 1.6923, 0.1978, 0.1343, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrJ-aYcM2Z0KZdwYOokFR1FTEiRrZ4mUwyCP2mYTN-HhxTmChgPQVGUr6IxlOGNq2UISTm84wfdzhKq9mCsjnNqgu3fVNxC2rGogrtcjU09BK8yRL8C72NvuR23t8_Y909xuTTmxerRltI0P67Dh80Kml266qxHpDMyiQ9sQMpTgCwQDizt-1Ge2BKEKo-x94OsjzuIpbX4gl5L7Kk1CreiDc8D2d4EITYYShsyTG4m8OrFcvZmlKDCU_N-WZ-OSCPmeBcRh07KN47kILYgJWKtTigzkPj-280vq9Tcb2sSyzBF0cR6g-2uQI8tHJM34hqx_rpWpTzr9Zz8Mh0bociv34TbxZBfa4j67pHUvW0U1WP_b_vPU--k8LMPRGYs8DUsQMXTNQRGry3yO2Bot8VC2Sk88OC2HlZmsYc1X-31XoaYgmsoCNXJeMj2D9IMRYadOH2oEl1NE1u-BfmQ73FnDoNqfhiBb5INq91qWwltX23sFoFqglRA_4XDOqlBOVtALQZMe_WrhW3nNrUulywUYHtBYwI-JVKoN9QsOu5P1_drKqe2p0xoJosWmxfQl3lDCYMDKcjcHHg724JWsA2n9lBDPoEp9r9NNklu9_ubgrfAMT_JMnLzk7nTgKiJyGGGM_ufzMTjmKXUNrxaQM-alKwNUNNZk24HHXCD_2O2sWkYYPhG7hEIEVWV2Lx3H9XgmBlUChcxaZf3Q-7_-G8JX4MTGD6dXHVMsbslnMgR_zU61lXV8H6EYm-FiNlW1jZaF8lm1Tc-8w2mDL4sFrzNJEE6qN9SGOiaj2sJSr75Emg1U944Ses3q7mbJZPS-cs2sDog_g4sjZxw81Dx1xvndNIo1wOjvh5H0zZ15PJyQ9yHX4VsMm4o-0MbyA29yJSDVq6g1Xkn1LzxPToAMEKK2hsy5Wg3zGe9mkK-z2FwZVBjqZqvra_r0IfChxuIWH8wcIXYIruqV9DYSci9ZnVQ1KKQacOsjZ-bx96uY16Rnvrv_hQ99IDVaEJ1j3EiSPTcT3SWZ0oiYGdDHNfKlvPresygoFcX21S7ClJPIP3wWOAa1u4n4uMrAUvONXqYIyOP04XpZGlG4yJtdsZtNq6VGrfkeZ_iYhS0LblrzKqvzPyuQgKbIqYlqe8iXONfMslxhfW4GXh-_lppJXTtdYLNN0ryP9ZVWOWcVWYhFxqsyi1f5_L4F8I9MXl0j14LU6l4RHA9LTsPzKugKk2Ujw7rVbRxaOVWWUjMv6dixG5XYb2q-uvn-uYFBF8jxTjXKltLI6jt0_VfOrLMfGM1ekg75Q1PG-ktuh7hyWWaZKrDtEkdmj9nXQEauGonInxMExkbr6L4ZZf_YDZtMC-0_5M4wisYb-3USBPlWdBVOy1a-hTpg1Du93-9ahsn-YIAydD11bOnWQ3gwAhV8E9Bk-SWxfsSSb6Z80zGRWjfIEMQonbuWiWEBDzST0d_zb3YstenFEKboJWwdRPNBrLQo2x_ygbxp8FFSlBi6v2VdWyCgzEOJRraQq1du_Q_8bldXIyaBz7I4movCcXE7FQ4-9fW7-rAb3fgkR8rN1woRqm7zRBnyVsx4poZeH8aoddvINN99UpNacCzdfV8GF8tM-aZDBNXN7vZ7kgM3_mNDkd3DDVBj-WRYFjgo6XtNYpjPkUHXAIefWGkJhpZNXfUQZs7g4jx0aOEMr48rzPAGgGKimw3mF5DthNfG800ffP1nBLzBLW_S7Tck54qQfW01OdNWy_Q==",
  "id": "rs_09c738127d6b1039016aac9f967dc887d0b134bb1349104dc1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The arm is back at the pickup height. I’ll release here so I can reposition over the black brick’s center rather than its far end.\"}",
  "call_id": "call_gcRhKLJQ0QpRp9g0AK64cIGK",
  "id": "fc_09c738127d6b1039016aac9f99926c87d0b2a981dea7b73b32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gcRhKLJQ0QpRp9g0AK64cIGK",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.9165, 0.7929, -0.6411, -0.0261, -0.0528, 0.9995, 0.1619, 1.9469, 0.8265, 0.4774, 0.0891, 0.0414, 0.9969]\nstate[eef_state]: left_x=0.2881 left_y=0.0007 left_z=0.1802 left_yaw=0.0039 left_pitch=-0.1929 left_roll=-0.0018 left_gripper=0.9995 right_x=0.4704 right_y=0.0646 right_z=0.0157 right_yaw=0.0551 right_pitch=-0.0734 right_roll=-0.0001 right_gripper=0.9969\nstate[joint_eff]: [-0.1983, -1.9077, 6.8308, 1.6435, -0.0806, -0.0464, -0.0073, -0.212, -10.3043, 5.7641, 1.7363, 0.0464, -0.0562, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c94241472b684e2e238913b81a12a804f94413980ebcb37666f669208b5142ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:403d087beac6edbf1a12c014bae19130d5f8236eb613fa89e55286fd080a5d4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21942fb4d8e4e2c806c6d8c2f905f31f57bc79b20844f98d8e5e5763eb092912",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.9165, 0.7933, -0.6361, -0.0261, -0.0528, 0.9995, 0.1616, 1.9327, 0.833, 0.4759, 0.0921, 0.0441, 0.6929]\nstate[eef_state]: left_x=0.289 left_y=0.0007 left_z=0.1812 left_yaw=0.0038 left_pitch=-0.1875 left_roll=-0.002 left_gripper=0.9995 right_x=0.4737 right_y=0.0644 right_z=0.0243 right_yaw=0.0509 right_pitch=-0.0542 right_roll=0.0023 right_gripper=0.6929\nstate[joint_eff]: [-0.1983, -2.1265, 6.5709, 1.6679, -0.0757, -0.0659, -0.0122, -0.2803, -7.6103, 4.8479, 1.2821, -0.0366, -0.0366, 0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrJ-jW_IytOiB_bLh2tOoA-UMpIBtESnwTd-5uxQL7sNQk41DHiQy-xwqHqjuvF1kM4s033XMgv8xnoT1V28LSmeRyjaZbRk1MAvGK0bHhalBLdMYAEd4Myh5Slo0tgGazsHMQ2_mxW2gDX3jJBiMWFfIoBhJuhcZsdIgytgXaPJHELukBHSJ2Bf8Be1vQRar0gmbOgavWykqA0ux_LgZ7GT_LmdQbY9Vj93ElwSxMMSgCSIB78SPnHu8AiHFJCklKcnWbEzaKs4s1KJlD5AcX_EpZEmbnnsG1F8T3ZQYg8GT9SWgOfSbpJ2Htq2hw4fFInXkOVhi0cqREZ20_5qExcNuu_Eb4dRN7ieiOfgMmi2xInraGEL_9X-KW2ndtobRRp6HIL28zKhKOsNWU6t41l_q2b7lcfevt23AxKbI7wxFZwM1u1cow2NQZHs2uRAr7Gh0l3z21R8iBReAVY5g2DvNUwAwQjJVpqXg_IfPaZkj14z5DdRT6dNNl9PfFr6PG3UdlWfQSx7dqBMdLWXDaZOpGv1IBe4N9B4Xl83ir6PSd7EBuqxDIw296ZZH6hzgb4Oe7uRkPu15YQJLedzf2Dan8dzkfawcyiCjH7X-c2RPXrhl25iD-42WXZJSZEganrjga2HS5V6oKmI0-JDhyFPo7l5ByKzhWmLZGpPzD6v7nWEW-F-FDHT0QMSwOSvS7e_TotXZYja1Fka8b1xLML_iBT6s-BzJslOzMF5QTQedX9WPtGfiRY4QLrxlnA30UB7sQ_B310fMVHEr9bsbvWtINOyc-o_9B0oRhLCV6HeqmHSUm6waqdjNJKMJocYtT7_z0FWZhud7eTgZ7izlAUBCXReeK0YL4xOArdeQR0UrBnck4feFbgGtPoyLk7TCHvCwEUSvP0XOwjuZzPu7zw8_czaN53Zgs8WJxrABVJSoHOLg3lTYnrPg_q2k9ozYO-ZUQz8Jc7lma_dSzk0iQX7FNy0hgIOYL6JQI2YwsDpCPcZxDNShkrJU8NzO41FJmKBXS4HUvRw3rYP4BGY6xbT37vwI_-MrnR0rYLdcMShcYKNKujJ_g2tQtD5KGXeCl6GQSUVj9JEpY1xtn6U7jCoziW6Olmwa7ovTOrdZj84TzyXs3SKQwlzUXRDOQ_YcYzFQqhpHurZvwBssKvTudxOUQiXZf5V1X0eCazfKRgsKGqlsxcf9Y1NPlCbIqJvvFo1hjer5pZhWGYGeNwHwKWLr0waXEpqUQMcbwFxLPeR39zjEBvsXRjBD9qYmlUoxZeZ-vh48dqlUgh1IT11UsRHAqh0KSUYJdF_TdkTEWux_CCBt4SCGkPJTmRC_kQfXQtioUJW_itsc56TuMsCNkzOzmGWhn69cWXsdbV9yxDrvxybALejRWfsb2HqIVmQu4DhbB8unp5vAD_5ktp0LZRXAq25Io7srOrphOhZxfED19ueYw1A1CweEsLKrq012v1Rc",
  "id": "rs_09c738127d6b1039016aac9f9fcffc87d0932dfcc7f17a2a53",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.06,\"right_z\":0.045,\"right_pitch\":0,\"right_roll\":0.1},\"note\":\"The black brick’s body extends toward the base from the previous grasp location. I’ll shift back three centimeters with the jaws open, then take a lower grasp around its middle.\"}",
  "call_id": "call_6LfnmyfUuMIwyw0CZUVqlDut",
  "id": "fc_09c738127d6b1039016aac9fa1e37487d08b1cb1b25faea606",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6LfnmyfUuMIwyw0CZUVqlDut",
  "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, 0.9188, 0.7929, -0.6434, -0.0261, -0.0525, 0.9995, 0.1375, 1.8343, 0.6853, 0.5026, 0.0433, 0.0753, 0.9973]\nstate[eef_state]: left_x=0.2878 left_y=0.0007 left_z=0.1792 left_yaw=0.0037 left_pitch=-0.1974 left_roll=-0.0014 left_gripper=0.9995 right_x=0.4371 right_y=0.0564 right_z=0.0196 right_yaw=0.0511 right_pitch=-0.0798 right_roll=0.0542 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.5932, 6.8308, 1.6386, -0.0562, -0.0464, -0.0122, -0.2393, -9.3197, 6.7487, 2.0977, -0.0317, 0.0952, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bed6334bf0243e6619a1eb672776c1adf89b0fc9b1c1aa8bd8951bfc61c6cf15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e486bdaab6ae516920604685d6509a9b182875a54a0ca97a137ce78e81ab5ee0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08b2cff56534b9fc5c45eab823d254f6b3c426dab00f0ff1715080bddc870fca",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 76 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.9165, 0.7929, -0.6411, -0.0261, -0.0528, 0.9995, 0.1619, 1.9469, 0.8265, 0.4774, 0.0891, 0.0414, 0.9969]\nstate[eef_state]: left_x=0.2881 left_y=0.0007 left_z=0.1802 left_yaw=0.0039 left_pitch=-0.1929 left_roll=-0.0018 left_gripper=0.9995 right_x=0.4704 right_y=0.0646 right_z=0.0157 right_yaw=0.0551 right_pitch=-0.0734 right_roll=-0.0001 right_gripper=0.9969\nstate[joint_eff]: [-0.1983, -1.9077, 6.8308, 1.6435, -0.0806, -0.0464, -0.0073, -0.212, -10.3043, 5.7641, 1.7363, 0.0464, -0.0562, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrJ-r1VzYgbwf3320ZJxc1DGRsrJQoHHVcuPopbClpPPaheWo877FWLZNQjWeZ3cXOZwYDLn-lVl2_uM6wiVxvbhWrF833Q8cM6pplPicbfh9vTVR9XjIgpvL5D0stYUfvGWKPxCyazIB66fSSfNI-wojLYRJ9ldt8ahcZTz0mKqc4wze0W1uzclW-G0GwWZtpdAcIwFKHPI8sQSXT6hjzaMuBLvUr3mvzX4loSSFYbSnUPqY4Rrbjjh1ocWUAskXp_bYpzjMuZc6FEvkmlADQQvZ64wVu7101gig65JF9RBFeuqy71bvrn3PkHFE4JnVCvnFzZ6x2yOqRTIpU1QQPW8ln6ESba-wJe86VK59CxLUNRfUUpxnORZi7eDeVSsdX5hYqhcujvXVbSn8N35M3TNLaMbNzkId6eHXgfPeeA_LF-pfFv1nUIQIKAh5onaurNkoPEQYsTbQIx9Stp8MCTDZymFo4YqLomskvyl-uSR_wcxQrUU1sX7i0NXUs2yTGlIqLEyGi-ynoUrwmjac07gPQcLofNj7T09mQWIQMuunzFGoeov6OV3v2xwfr5SBQX3avexUcy8bpxPAWC0eIAbgb_iTXV6hVNxQIxWS33HfSpnjkCLDW_YVhqorGDgOzUm6Sfu49yzrVSGKzpCEZQqIkAD0H8DFIsWp5_JJWOsJjXhbz8rQsieiJGDqQwljtWG-4hZdarbsZ_-8AMuFrYR5T_u3G9VbFXgoNLvXKA-XWQ6UzbtkPU6bkJrhVYRMF1RbnxYXFTWsWRGO2BvPf2RnvItu7vR54opxliFUZ5E1zJtc_oSSWEvGQGb5hOqMe3v01qketDDR5J2B2-O_7zruRBVanJg2BjZepYgLFEa2MlEyS20qUCCvEnybekC_ck2RnluIiyu3mlX-taf7KmaKDqaCzaJke-H_Hv5QDNteA46ASfmOHOYk9Av2zldg9DU4Z_wFUv3NUB5ix0Pj25NiCDgditorPmyaKv72ocO_zuWhcPuVKuH2JIjScZklYOqhN1ObV_vMBDUrxbpn-tcxbzTBMe-bgOayfHc21MlZlckoI0UHqJTi7BjMj7pnGmBqrL_uPts2e8u1-w0oIK4leiRHPMUB-WcQYJLMB_uZJMvwTla-7BQ4g7jT8h_bQEkAuFhB_2aK9O5ePD-1qu6pi71ZZAjc1bDnKI98jN-qSKYie1ycQaF9M7pQ8UEFV1IvuGKENzCRRs2MSEuyeSlT-5nFHI-EC3_LoaLt0d9lHysQtiWig6QDWNlcUitAYqWjGPYXLvHip61lIcWZLoT7qi4tVq5Stfmr5N-dxK8a1si0A-sWb8WVWUTypKyt4Qw0qZNBsTfGQ81tpOjqNNyfM-uc5s_Ap_8_X3by9u-KU9RwOJZelbnXcgT2FeOg0kTMuKpP8ke-JHVUKYA4FNLhYB72rmehucOAQJhGzRTGhSPKC-SO8yUFKpauoOeQtdEgbSMidjXL4tAdFm2I3rl3N8hWoUfpRMfUbEvfyjSXYWC0aItb7shAUfeqCmS7maRnimBA2fsgk_RTRXCoUgQ-EQ-f7I_SJTEFoPdJgWNrvNcqcxgKxpTXEBPkPaSvQkgAl5EqEJQ3-N0b8bSPuQtgc169CFoxLkIeAj_YsLoyHgexcF8mxY7O-Q88Wta9nvFsYp8EXWJKFuiVgXR5kL-BaXr_bF6f8k39PS7dju3fuaPVaRJXWk7pXaTCt7ccMJOrLxGHP6vERQT9yjPgudzP5hqyzUIJ8bhyLiXj4MlvrPuK5dAK_TqO_QHQQIyUukDNe5VQ6ZgWh1ixU16RoH514euM9XfNpcfvcn1ONCl4OCb5Hezi0jlsWo2GMtJHrhXd9rbxeseQ2zEugsk4chJRSw==",
  "id": "rs_09c738127d6b1039016aac9fa750ec87d08b8c14bf7d73bc9d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.055,\"right_z\":-0.01},\"note\":\"The brick’s broad middle is now aligned between the fingers. I’ll lower the remaining few centimeters before closing.\"}",
  "call_id": "call_msIJOXnFjdJOAMHnhan9cduv",
  "id": "fc_09c738127d6b1039016aac9faadbbc87d0a3cf619c560effcf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_msIJOXnFjdJOAMHnhan9cduv",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.9207, 0.7929, -0.6502, -0.0265, -0.0525, 0.9995, 0.1295, 1.8984, 0.6918, 0.5938, 0.0208, 0.0776, 0.9973]\nstate[eef_state]: left_x=0.2868 left_y=0.0008 left_z=0.1775 left_yaw=0.004 left_pitch=-0.2062 left_roll=-0.0009 left_gripper=0.9995 right_x=0.4465 right_y=0.0581 right_z=0.0127 right_yaw=0.0611 right_pitch=-0.0475 right_roll=0.0719 right_gripper=0.9973\nstate[joint_eff]: [-0.1026, -1.9624, 6.9675, 1.5849, -0.0708, -0.0366, -0.0122, -0.0068, -7.5419, 4.4239, 1.5116, 0.1685, -0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2005b5bcf8f92b1b8db24ba76bd6cd7eb03cc1e1d1923b68b6c77196cfa9311",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3915bff75a10efee86e4ee5d0f49f7f777447dd421fdce1792ce42fd8ba511b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7042b8d972f4b7fe977867a9f1f6081afcef482bfd6f454a66c6cfc0e1c9e510",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 80 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.9188, 0.7929, -0.6434, -0.0261, -0.0525, 0.9995, 0.1375, 1.8343, 0.6853, 0.5026, 0.0433, 0.0753, 0.9973]\nstate[eef_state]: left_x=0.2878 left_y=0.0007 left_z=0.1792 left_yaw=0.0037 left_pitch=-0.1974 left_roll=-0.0014 left_gripper=0.9995 right_x=0.4371 right_y=0.0564 right_z=0.0196 right_yaw=0.0511 right_pitch=-0.0798 right_roll=0.0542 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.5932, 6.8308, 1.6386, -0.0562, -0.0464, -0.0122, -0.2393, -9.3197, 6.7487, 2.0977, -0.0317, 0.0952, 0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingers are down alongside the brick rather than above it. I’ll close around this central section.\"}",
  "call_id": "call_JqJqelEhu1z1fX8E9CxaquE2",
  "id": "fc_09c738127d6b1039016aac9fada5c487d08207b898499b734b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JqJqelEhu1z1fX8E9CxaquE2",
  "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, 0.9241, 0.7929, -0.651, -0.0261, -0.0525, 0.9995, 0.1295, 1.9224, 0.6914, 0.6025, 0.0208, 0.0635, 0.743]\nstate[eef_state]: left_x=0.2868 left_y=0.0007 left_z=0.1764 left_yaw=0.0037 left_pitch=-0.2104 left_roll=-0.001 left_gripper=0.9995 right_x=0.4451 right_y=0.0579 right_z=0.004 right_yaw=0.0686 right_pitch=-0.0626 right_roll=0.0594 right_gripper=0.743\nstate[joint_eff]: [-0.0205, -1.9897, 6.7897, 1.5165, -0.0513, -0.0562, -0.0122, -0.0889, -10.4137, 4.6701, 1.5946, -0.0269, 0.0904, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7373f18d355f3f2c68aad7d8881fbecd7232f4921f385f9fdcee2c0ac362e971",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99c2f0b57ab12290dab9b4d92738524a96a973c0099bdba6d6c37aa4780fa487",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:830a897c83d5392a1ad893a68e2a7ecaab48dab996dac3eff8f542d25d3e90d7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.9207, 0.7929, -0.6502, -0.0265, -0.0525, 0.9995, 0.1295, 1.8984, 0.6918, 0.5938, 0.0208, 0.0776, 0.9973]\nstate[eef_state]: left_x=0.2868 left_y=0.0008 left_z=0.1775 left_yaw=0.004 left_pitch=-0.2062 left_roll=-0.0009 left_gripper=0.9995 right_x=0.4465 right_y=0.0581 right_z=0.0127 right_yaw=0.0611 right_pitch=-0.0475 right_roll=0.0719 right_gripper=0.9973\nstate[joint_eff]: [-0.1026, -1.9624, 6.9675, 1.5849, -0.0708, -0.0366, -0.0122, -0.0068, -7.5419, 4.4239, 1.5116, 0.1685, -0.105, -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": "gAAAAABqrJ-z5HOR0-zVRdNnlC2xp3jeaIfrgrRng8GTefdcg_phcvpdP9kWQyV9f3-TJ960tuPBar7Fppz_v3NVcEDs6GcFEYlBo24pE5yLT7pOZ_9dMN8mBi2qM-NepXrluihmvRMdTQpK4k2DB1ibA-Nqt7EL63kOZyqHqmedIT2rIDtyhINX2ZPz2ZmwSi_1hEgqG76QH_LhdUSTlD5s0TdCXNbIU9i_5Y5H_4XQ5raWU8-bkiauS6BgKaKbNxV1ntJ1MwYHd7ahG00zby3kjf2zysDxQ8qgaCWzwdhC-4igWG_DzY6PB07AycyAGwmHLQpgutv7udNuv1NEH3TPtjWCV8VoIvP-TqMCe8mWUV7HdDq2W-XpzHjI-bjH1B6Ae4AJcfJ2ySppmV_e4ngCX3_FziT9lJ5NrE2MMPRBsjSjaWOgP9LGFZZevLjL3nbw_0Vb7PNeCXV-m-G5z87tZc4JsIIRT1kaLe2s6Z7o-UwzMeB9h7SgvJKYslFY6rfR4S3sOTKSQBSgSddabMR5vJ0_HQkO2A0MWEQmpbw4feYWSeHLKOnPEzy0E77-wTY03Oymx0lf2xQYOlLfq8R1Ks-sgIfI31JVOdntZ53W3AxyEX8LiDwdIa2211oRQcXRjqlr6NQSHr32s4iyvNglB8Afo6WYAY0LUkDICn-M7UuwjMGm7GV4EWSbjIWu9_xxhMubnx-AeqGWuOhQOHqUirAgh6S3VIFWtmuEbtAex2EUspYiurOXt_Pn1S5lb0OXeal0xqCfij4YmCo20yMAgnFabosaRLYO_ylb6ch6L1Fb7H56S-wWUtacEE3AibvfF1Fa7QTMj3haLJlVSbScNTIkueI07ekKvx84Uu4i2TYJM0C3ImTYwOqB8VNV1tFifrulH0l2c1m-oG9R7aDssQgvcXkRT5pFIAzwk9RkZ3oTFoV5OpJJcLv8KrYH3yBFr0yHsx7hANux-Cbt24H5KV2FRCcQ4ifiGGnCQanpX2dQSFB17DTNCr1ESxV4_bmLJzQUlhb5XTKNX5Wt9CS8APd0h1o3SbLbG0qCVO7AE9O-K85Ft6dK7H75dQt91TLaG6WkDKc_Qswi8y6bD5YoAkfewVVnMQ2pUDdwxay3_K74reLp9xODzm7CkR8WZvm74i8b7qWVj_p6sTQ7uMzXsKXCmzE9g0iL8YE8YVqtcLAB-QzU7gZ2i0ojjClyPsFc3ckUcsj7CL6tqj6hrkVzsjbEFJEbq3aoGlHOlJsG8A3-o-YI7UaPH0uWM5Ev-b6stStIy-hVSgwILc-iq_080psm6gg08EC5nrvNKzv4GRYrVo0JByk=",
  "id": "rs_09c738127d6b1039016aac9fb106c487d0b126eb029a535464",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.11,\"right_z\":0.13},\"note\":\"The jaws are holding a width consistent with the brick. I’ll lift and shift slightly toward the pot so its movement is clear in the overhead view.\"}",
  "call_id": "call_hEZpzraMwI1qqP6rQEQpdkQL",
  "id": "fc_09c738127d6b1039016aac9fb19d9887d0a4a9c8e1fb221a05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hEZpzraMwI1qqP6rQEQpdkQL",
  "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, 0.9279, 0.7929, -0.6628, -0.0261, -0.0528, 0.9995, 0.2893, 1.6428, 0.8742, 0.0063, 0.1226, 0.1383, 0.743]\nstate[eef_state]: left_x=0.285 left_y=0.0008 left_z=0.1733 left_yaw=0.0041 left_pitch=-0.226 left_roll=-0.0008 left_gripper=0.9995 right_x=0.4215 right_y=0.1067 right_z=0.0788 right_yaw=0.0992 right_pitch=-0.1889 right_roll=0.0353 right_gripper=0.743\nstate[joint_eff]: [-0.0342, -2.1128, 7.1726, 1.6239, -0.022, -0.0611, -0.0122, 0.3624, -10.865, 10.6188, 2.2247, 0.3394, 0.1587, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:056c42a65a7652ca647949139d6f9c17d18b81b0293fd9f61372bc88150e3990",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeb6efe76d89e9873a64f8ced257a3f3d871c1080c35e8257d22b824cf1104a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a5d06448b4fa15802660d18596e4056e67721a82bede18d6977388f7411de51",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.9241, 0.7929, -0.651, -0.0261, -0.0525, 0.9995, 0.1295, 1.9224, 0.6914, 0.6025, 0.0208, 0.0635, 0.743]\nstate[eef_state]: left_x=0.2868 left_y=0.0007 left_z=0.1764 left_yaw=0.0037 left_pitch=-0.2104 left_roll=-0.001 left_gripper=0.9995 right_x=0.4451 right_y=0.0579 right_z=0.004 right_yaw=0.0686 right_pitch=-0.0626 right_roll=0.0594 right_gripper=0.743\nstate[joint_eff]: [-0.0205, -1.9897, 6.7897, 1.5165, -0.0513, -0.0562, -0.0122, -0.0889, -10.4137, 4.6701, 1.5946, -0.0269, 0.0904, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrJ-70RMBNFuq9rbKgwi1ALlzV5rMhYfYOiJ96ATDCha0x7HBLmBJI4XVs1WENPH866lLlEWQPYDw3vHZF8GWEcPcdAZrH3IqKgH70qhB_9Puapq3LpvhW13o7ps0PxyKdFF1RdcvM0JO_7-l9T7jwuAVF1vuizkS0FdDm3SCWTTX48PGrg61JNac00aAbx438eKgLzR51Qg3T4hP9nUgNCIauyNdU1Fz3EgydxT0jDMTGsb3yYzrA_aj-6Z8WFBkUaT0LO_irEfJhatgibHr8cbZuMkKKcvGinxxEM9QwpsZ0mQySQAxofuXerh4fHMP-Ui0EAmD9TfjRIfzFe1Dm-sif3OYbTvuxTnRN6trlXZhaCUpyZrc_XXr7Z5Z5KbIO81Nzd1pVMaQgJGkZo5wbEUmFeSpVkxCH08FLtGshafCbKjN_-1O1y_zwRHuTH46jo_mrbjnFXCMtUw0hMWG4c9_p0RQYGypJTR5vD8rnZMLhloxj8xW2CQlVlYNIY-yi2pVoIR5Vmd362uuXJ1MCLPHktUa0gQaGuIbK0h6O8lLueCBKCS2SCyIzhEkP0q1x7RHq0eFQM59jLJAoD6aRDin-X_D90bzW5i2Ys9Yq9BAcUQqQbCNl7noco6bGU0xU_cnYULmQr4VMUhzLWEnObznZkYBBGRKbW8uEcbFlZ-5piYGWZCNc5S3wpnMdfDHmQgcFwpGliYfEApHE4lUcvZx5xwkwq9Vf_6t7CK_Z-Wg9VeU15gkyGOStYKahaTfjWpF3PndX1WuKqfu15jFtBhgJ7INfSr8GsOxYJKkruzcE7vI2kygC9U9CptX2mQojMYdR3aMM9z7v_gyGELbKGpgm-nXPHAy60Ib1K_ZoMDzQvQ5NzZsPtYvwr2PYvDUB3WT8uk_GUj8_1Nwtj44gc2RUscvFLZzea5UWAWENxg18uqPMQanm6CbdIdqbdVqfLZXdPzFvLJTmpnB7fpnQPg4NyeQTja8zsvr4pKt7MBr219hM87JBdLdY_QQXbPqaHDnmIeTPkqKzn3t-YC3OQyD0JeuGT_Nku5a0M5lDKDgP65qtRx6mivarxhqiCnib1qHopBkZR1fwcST9ydCJYY3hpIIxnA0eqbQMlUwiW5lXetcDyjvI4oSD58ypPt5z9Um19mx17NXqGq1dF6snCYdxA15QssMDWZqBbykcwu97smvmYftyKFFKs7pWXvzfMnPYj15BO7bd_RU35o_cvb302YycYu8C-B_LomgJFg_X3CjbXMuljOqhr4i3z8yLJ0NE4ND1TgE1kIVfio6-06K3jMQupNuRclPxEcz6-TjNz2pRl5n7JbAFSVdOJdC0_ygANOk3xhKXYYFpZQed2AZZ0NONSuPyILH5GsqKiQqk25nDCnyUi4xdVap-voiLDOlcWNAmDI-1hcdOcOWdr-4s0zHdrbWsLJ081CtvWlzhB7S36qwoSDqCptz2QBRTW3jZpt4VT8_K9DB2Jbvn-rjv5OUUAk2OdWI8v828Q8MZTiu-AiOiapJPMUZRzlEYsVSZfOa-lzN4gySnbfugXmyDj6a6IFizmYtNQyCgaF2hSxjBKCngTcHKI0VMYVdHWoLq-OhCOuSjdDldk7A2EbTVFXpQO0Tvy-qrgf9S6Fwyzg_OaZeSLRRU3cqPAtxhOG8qaX4me8lzi7FcJ0yHcrtCg==",
  "id": "rs_09c738127d6b1039016aac9fb62fd087d0ac9c542d431e51d7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.12,\"right_z\":0.28,\"right_pitch\":0.15},\"note\":\"The brick has moved with the gripper and stays fixed relative to the wrist camera, confirming it is held. I’ll raise it well above the pot rim before carrying it across.\"}",
  "call_id": "call_WBGhKIJoSeiZoGnaVAfrscIu",
  "id": "fc_09c738127d6b1039016aac9fb92cc487d0a385ed5498d6040c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WBGhKIJoSeiZoGnaVAfrscIu",
  "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, 0.9279, 0.7929, -0.6693, -0.0257, -0.0528, 0.9995, 0.3576, 1.404, 1.0817, -0.3099, 0.1894, 0.1116, 0.743]\nstate[eef_state]: left_x=0.2839 left_y=0.0007 left_z=0.1722 left_yaw=0.0038 left_pitch=-0.2325 left_roll=-0.0009 left_gripper=0.9995 right_x=0.4077 right_y=0.1207 right_z=0.2078 right_yaw=0.1288 right_pitch=-0.0526 right_roll=-0.0005 right_gripper=0.743\nstate[joint_eff]: [-0.1709, -1.9214, 6.8034, 1.6044, -0.022, -0.0366, -0.0122, 0.1299, -10.2359, 12.1094, 2.5421, 0.3101, 0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e51b8ec2c2619bf912f6039d4c0e86293c266d841b4776eb2d81d3263c0cd7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64cfc1cf2f51b4dfcf2386285b351a8295fe0b7a394047bf0a980936efe7281b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66b7aa4a8eb2a495379f65c7c66399b707f4049dc793d56af07c360251cf04a4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.9279, 0.7929, -0.6628, -0.0261, -0.0528, 0.9995, 0.2893, 1.6428, 0.8742, 0.0063, 0.1226, 0.1383, 0.743]\nstate[eef_state]: left_x=0.285 left_y=0.0008 left_z=0.1733 left_yaw=0.0041 left_pitch=-0.226 left_roll=-0.0008 left_gripper=0.9995 right_x=0.4215 right_y=0.1067 right_z=0.0788 right_yaw=0.0992 right_pitch=-0.1889 right_roll=0.0353 right_gripper=0.743\nstate[joint_eff]: [-0.0342, -2.1128, 7.1726, 1.6239, -0.022, -0.0611, -0.0122, 0.3624, -10.865, 10.6188, 2.2247, 0.3394, 0.1587, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrJ_A_H7RQg5g7S23Jp6Yxd2k9EXBPs1V7iqCR9hsI_31pTZ92n2eFyaSSsrbQ0U-LcduBd5ebcq9K-xOO2kdiMlH5iT-8XzNqDybOph9VhSIegKwbVt6G0sFts-E25AbyuaPusuf4brprDR-t7Im7A_EHtaruGwASy_QxZ8oN8J01eIZvM_74y71uiR5f-869xlEn8X-zzHA9Ur-Pifpoj1cQtakOqwFyIxWbp-WTwDaQWTWSu0Qf2Fl7Rwsklj60rEXWmdkv3ig7VmlUs8ooGIZz8bHLNwWO3bry8y3cM1s-wKJzqulDzTt-iJzfGKc8Kw2qR18GwQ-fWwmeqLL6_0pQB_a6vl3hB5b0khejnThOdPtHqBkioEjnAvb0eWpjcmVYIDvLh7-e4q7cFQRbZSiJGNwTktMJ3joUUGMXbvxofFdF8gTgzjV4tEYNNcXx9uObt9OIK85ffRU8YaCtoEIS4eC6mxGkxf45Kp4T2DVYv_Sn3L5_riaXwiPlvmV4hjrMBpunovGhJ-J629ffDebiNESze2CrJXX2zQG0sb5xbdz4fEEpoyspq0rBfRiybP4vkPN6uld2mdlckZYASreqmNLEY7IF3aMQdeL4J0Ykikf5IX0QtEVNlw3gfw6CQrqhV00UH9ld_LfyIWrcVRxFnvsUXYnWqfxNu_y3fdUpdf4Z3kk0eLsF6PFhLxDcUnb_u223tcDXrSatBwFVtdgNVc52smuxuHlzmNIXFWtcaAk21hE1ilsiuLmHvq42IlRWBAqi8y804JLtUPERzhqRP0qQlW3SCy6rS6Mhjfw0ED6eGMWTM1R_ZodKua2mecEyN_7g-1DfpQbcTaxPgV3f16Gr2g9LelyPrVyQSet26bWFaskV_zwkoijvkpCkHTX7mUTZEhwKhvaQiKrHe-7M-8GPmsjndXhUzrkuSRZHS-TtFlP0lu_TDg3HhZ1CeDrTRnT0F1sB2z-7ELEx9biIW8dl0jHpmLT5NaKOh9ezH-b1fzhhY_AbXZHipLtrxJx0Iz8dZlWVEbqWsN55-D_3agy8pukrhSIWf7vllSn-DSM-k1ecqYcMBvmctOD4pTj1BL-UJa72e0bHYn2-eN13fG17SEmtEzqt37UNobKF4BFukK2mL7krsL4lc97yNN-IaQ9U3MJgpdlAEN60dcZtJevmxhpTH2NnvHKQoBrqN0SY1DWZQUX9EW1T7J3jLJ3mup7bYAdAZt66UGxikRnh8I1y3cSc_qlkN_6H03oSz-o5dALSbN5sUlYkK1DtT1c",
  "id": "rs_09c738127d6b1039016aac9fbe081487d0adac381abbf43798",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.34,\"right_z\":0.3,\"right_pitch\":0.2},\"note\":\"The brick is now above the rim height. I’ll carry it leftward over the pot, allowing extra commanded height for the loaded arm’s sag.\"}",
  "call_id": "call_uawSqo5ke5ouSDcNal98cJlw",
  "id": "fc_09c738127d6b1039016aac9fbf34dc87d083f96ec072e3e2cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uawSqo5ke5ouSDcNal98cJlw",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.9287, 0.7929, -0.6708, -0.0261, -0.0528, 0.9995, 0.9081, 1.8416, 1.631, -0.4633, 0.6491, 0.2962, 0.743]\nstate[eef_state]: left_x=0.2836 left_y=0.0008 left_z=0.1718 left_yaw=0.0041 left_pitch=-0.2348 left_roll=-0.0005 left_gripper=0.9995 right_x=0.3936 right_y=0.3367 right_z=0.2425 right_yaw=0.2105 right_pitch=0.042 right_roll=-0.112 right_gripper=0.743\nstate[joint_eff]: [-0.0479, -2.0034, 6.7897, 1.4969, -0.0562, -0.0611, -0.0122, 0.1299, -11.3162, 11.959, 2.4298, 0.7741, 0.2515, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3d4965daaa4554cac6f9733a14459688ad7a47398b0c9b3bca04c67d8c0db05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5ae2da4eeb17e3ac545955550de03bb0a01a4196f5554c53bd4daff0a3ab00b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c975839334060d606c61401412e5f15c5d758bd5166a7a54a6435a3e483d0b6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.9279, 0.7929, -0.6693, -0.0257, -0.0528, 0.9995, 0.3576, 1.404, 1.0817, -0.3099, 0.1894, 0.1116, 0.743]\nstate[eef_state]: left_x=0.2839 left_y=0.0007 left_z=0.1722 left_yaw=0.0038 left_pitch=-0.2325 left_roll=-0.0009 left_gripper=0.9995 right_x=0.4077 right_y=0.1207 right_z=0.2078 right_yaw=0.1288 right_pitch=-0.0526 right_roll=-0.0005 right_gripper=0.743\nstate[joint_eff]: [-0.1709, -1.9214, 6.8034, 1.6044, -0.022, -0.0366, -0.0122, 0.1299, -10.2359, 12.1094, 2.5421, 0.3101, 0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrJ_H9v2wwlgtTf7ih84PGt5Uswm0mMgqFoMXPvCg_1jBJ28kTstkIXScNRdvC5QJVnukof3RwybYT0XQHJk3SSKcgbYsuWDUPCATcgiLPWoL2eAbyIgaBorMnzK75Jc-gb4gU5yIA9oA4e2Bx6A7XfO90CpqB0ToHifoIkKNw1a_JU1iTZIsKMrxXOONb8DLKq_pcl24fHc1joXXQtA2Pw2OcINHIF3eJA7t1EleZpcMP41_GZU6HXtYuUYvvrrx9kvfzdpUooHblORTV7aMZWmpOzRWgM628uHdMLSFMGb36vMAcUTIGHYv3y8PRowylxWp3Mnt8PosdgSCn2WIZdTM_S0lgDOC4p7CFRY97ie0idkfU1chwI4D9Ssm-ydxoGkLbPH0wtajhDVxDYvb-4a-9SI-H5R3vUwfAfGeqd9rTw4QMJYp5A9gvyEeh3SVaZx0qE6RgqHGRD3y17Hk_HdCmaINIIs1YdcVUTlk_8IAv9jKUCYPEjISjZsXHv8ogSY5R32VrUXfiOn0h89tm1IEMVK6WwDJi4dZmhQ-FmHfSNt1i3ZzAw1AV3I859XFTUzsrtI0MfNJ8LwZa7_pupxGbPojkpv0a88NQAdIC3JkuWSvS2kYuOMePicvJZOJYJTAZsevrBNTGHZUWQB2-tGjXf6ifsHLWmC4FsRWPxucnsvAce1FbzMTjjBJMd81FBxZZeQRo40Fv5HfzKzz4XZzjHsic38_FZqq7_bhXgNX_Hcv7AhCP0XUB5Z0KF5wiReVoUN9yf5mUiEXnlv8P5STgX_RsJ_QVawKY2ydIbfZ7Op_mwCRtPhbswJ6MUWT-bRXmhdL-82sa8rTRupWBvKYeNJUJJ47cQfQ9EXVqQNKfpwkToip2xe4FNRIyo9RbbUNLR1SxYKpJ4L0C8-W2qvvE9OPtaVQYxsgf5GygVArJ-wGNIrr6L-RTAOCnaXbdOYaKKYikOhlc9f2_fJndWwqIpVfpswEAY-3ssUgWjD4cFetiYgdgh5cZxtEWV-lWuH71tOGnMxXjby7-P0hswX1fZvuua-uXRwbRNsq9xqhJLTp_PbfnAvrkP3D6xrl5gDAtT9mJoW36qX_Qw8JCBsgnCv_TXm5ykmMEt2U_ksKNeoPIy9zJRubVVdePp5_XZLwTDZfzz4gX-9UGLwWysbZJIr4rilMJUjT1fo8XhP7_o6Y8JqU40eduiStByQBz2AFaqZg9JQScLt2dmuGypdZV_J7sannjUmG6phlucspglyGcl5NPXtsGIZVbtRXDJxQMA5uOjCSdIjWc2tYwr9GVft8wXv6tF9P351qjWfshXgNI8IGa0ydC1aGfq5MFa3QPnU2f0uXjq53mKeBDFWdWZNHwb_XhtH2ZSRvao2I9spfJ2Lq1LbV6sVc7vpcuCi-8ue8LwCJDiiUAsOd-PriNIfq1tFR16G46Qbi4jkrGM7rWSDI6g7bd1lqknF6NJ16drxOqNWBbhLEiudyQnlkrwIkT8lf6H4wkWlI92RQBt7yhDHFkI4D2bD4NqMyXYyK",
  "id": "rs_09c738127d6b1039016aac9fc4698487d0a7aa0642a403cdca",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.39,\"right_z\":0.24},\"note\":\"The brick is above the pot’s right side, not yet centered over the opening. I’ll shift left and slightly toward the base while keeping it above the rim.\"}",
  "call_id": "call_oONSaTj6EAEs35yUNDD1UWzt",
  "id": "fc_09c738127d6b1039016aac9fc6638487d0a07ba8b09bd19bd8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oONSaTj6EAEs35yUNDD1UWzt",
  "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, 0.9306, 0.7929, -0.6762, -0.0261, -0.0525, 0.9995, 1.0225, 2.0045, 1.7409, -0.6106, 0.6739, 0.3614, 0.743]\nstate[eef_state]: left_x=0.2828 left_y=0.0008 left_z=0.1703 left_yaw=0.004 left_pitch=-0.242 left_roll=-0.0 left_gripper=0.9995 right_x=0.3603 right_y=0.3854 right_z=0.1862 right_yaw=0.2689 right_pitch=-0.0908 right_roll=-0.2036 right_gripper=0.743\nstate[joint_eff]: [0.0752, -2.0991, 6.7624, 1.5604, -0.0317, -0.0317, -0.0122, -0.0752, -13.8598, 12.5744, 1.8974, 1.0085, 0.1294, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2bf96a2935e76ffd4cdf30f5441f4c8f64aa0d3a71663ce6f7f4ca365210830",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbc16e2c8b9639e882567e77f6ff6a93c420c7bc03b372d5363011c1ce4d4e90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b029ddff8c190a4c70b7f43480e261e64896bc885b08b6e414a697b041359f1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.9287, 0.7929, -0.6708, -0.0261, -0.0528, 0.9995, 0.9081, 1.8416, 1.631, -0.4633, 0.6491, 0.2962, 0.743]\nstate[eef_state]: left_x=0.2836 left_y=0.0008 left_z=0.1718 left_yaw=0.0041 left_pitch=-0.2348 left_roll=-0.0005 left_gripper=0.9995 right_x=0.3936 right_y=0.3367 right_z=0.2425 right_yaw=0.2105 right_pitch=0.042 right_roll=-0.112 right_gripper=0.743\nstate[joint_eff]: [-0.0479, -2.0034, 6.7897, 1.4969, -0.0562, -0.0611, -0.0122, 0.1299, -11.3162, 11.959, 2.4298, 0.7741, 0.2515, 1.0281]\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": "gAAAAABqrJ_Qg1uiADuUuvqyPO_TLXhFL1Dz8vZzx20GrqwoHYYC69j8hfHW2RLNUsXTIsMer1UR0Nrjm8hV7GT3NrZZdwbNW4JayZSebGzxU0bl-_GHqV5sWtbTDPkYHGtB4-jym__CpKBLUmvXaTpfJEURYELjVWFADP68xF_odyLXV6NJVbZ1ZqhvlwhKc-arYJlQEPvlhDboqDTtLCoquBuI0v1Fv7FdxsQJQ0lhI1rCkKIhsivorN0cIVB7ahvlkehsO9BCoYzm_3ei4Z7hNwGnxjSKr11jxd3aBD7jYIcMJnf648YaG_z3m3fB2KCG1s8Ewbwd5kE_6LOASuNx5U8BPb2wgMN9QmxQJqQ1ngZ1w7TsC3ZxcmJ6092y5JTb4LflBv8sDbbmCn9SAYvMR6fyU2uULVKaBDDgUlb9aBbKCiBPcpNsnLkQEWUV71QJEXOY8kpE4AXxMi3sfPjd22_Kfao7ErS0nKjB15u0j4MhMa6c-1EW9ZxhoDQCdn1fdn9YuYBQ1K7x6BQKUF6_LmMoJtW9kKeMR0KtBWclj8N32dReCpqeUf7NqWcAQfKfpnUYt651wY37DwtS-KH5TKu9TDHr_JmaSCz7rF_zvErvQQYjQGv35wbUGDFQhOlNt-N4PxjG6w259dSWG4JSjs0ZzpAHmh1IYahcpoTnsEPaeEUc0zlBRBl3FYe6YJ__wuRwV6fAYn0b5wWptGohnfU4-R2h8ksdZW99qC8t6uh26rrQt60bZ9486I3K9VM2ofzMxZhK1M9nLG2NWLRWCHBW9DtmgIzLD6KqppFe44nYWCEKVC51WwNWI9q-j_DCj6aJu48iC3Z3A6QLn7_C1PtxEAh71aXbO8WMoAZxLvTBanh5G2MMXKpWTB_vfAs1fvBT5WfJmSUYWj_Wx8X2Qy8oClmXC_mLkeOzIV24yQeFlV75aEDfZuAf9eKQfrjs2Tw4NrnRPhtXYUDwBMCOCbmw_VbOZu4cTHkAbIDfZx51LjWMaGi8OnOY4XsmyEdMY_aidtutYM-jTaBkg4NoBaxuV7WJfOUOmeFVN38dfg604tTMczn4tUX9H8iHIZd36dwp7mwykyNxOZr7yMBPnXRuWXcniE-8X3V5-_cuU8Xqoue-nZegLjofxlJ1nZPEMMkDczMZsi9YVSKGeRXtP5i5_hHEe2LPELGk3Hw9iwYySYZUEvXas1HmHtBnDu84ZUnMppCuO8yNMlYXb7CNBu_zNP0DDUHmGWDeCeZohQGdQ_VoYlOLRucfrxqktJZzayNmAlQklHxR0gTmcUc798NJdk5dF7OUsNJlEL3iDDJppYKXm1z6RdpeuOJYBj8J9_tjp2czZciw5EGsqBn4YZTVzKPfwO8r5Lg8jB5ohf4rSijaG6zxk3s8mqdSzD8sqIwwY4kBq3Wp8rtQgYOG5ZqIiyIn5CxI8UIY84eBwqiRp0_gIY92iSAfbs5Wu7jWLd0s_abPYFmufu--LfOpwo1lx4vKLO7Ow0b3uwaQRexsKSxZr4ownMLB9FoHp28_z0Pp5OuRRYvOAODNutP1C4BOUsfJ7irjOFfH3Y40QYMKvWZ3qgs3qs5PP_JCQP19-awkRbOwHVNSqI48ZrZUbRa484bIFs7zW2fTZNc7e_uwxce0zjw4jRYHu_VpVF6RBL02_qcLaEtez9_c0SQKLcdhXh2amZnK783byLNI7hvbQEegpF-P9HHJcAgarx3JCG_s1__jcaTaa41oqoaCGZONGoTw9b-ASOzjtGtkLMil5QTWjOdWsF9WtTUlecVyqWF6ymmm0t5mH2rx4CIuKLosEb0j7zMhVcI2lzFsjLoWcKzJP6tJfKoaQmKU09Mt4DkZO_pG2f3xngjP0W-z-mr3DFa643vf79Iu0SQ_aEbKXvdbUXYq5VHYDUI-Wa0SlipejjTbNPd4jUSdzPO82nPF_WPqZOyDi3cXln1lnhazQ26TWejMjIP1Txlf06YRuQeyCN05vucnEdcSqMRkcVPdoi3rn1Ta6e_-yvebdynSdX1oEpkn7rOPC2NBm21qIkh4N9u-wWVFLAcQdjGQx4KM6M8i7ZfK4TNsYjBax4qZrfvD3xw=",
  "id": "rs_09c738127d6b1039016aac9fc9c07487d0ab05f39f6d670ea3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.4,\"right_z\":0.19,\"right_gripper\":0.743},\"note\":\"The brick now spans the pot opening. I’ll make a final small leftward adjustment and lower it close to the rim for a controlled release.\"}",
  "call_id": "call_TbJHUREIAvcd61fIztrrdJO4",
  "id": "fc_09c738127d6b1039016aac9fced3d487d0b89c459b67dffb77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TbJHUREIAvcd61fIztrrdJO4",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.9337, 0.7929, -0.6762, -0.0261, -0.0525, 0.9995, 1.0313, 2.0144, 1.7668, -0.6483, 0.6804, 0.379, 0.7487]\nstate[eef_state]: left_x=0.283 left_y=0.0008 left_z=0.1695 left_yaw=0.004 left_pitch=-0.2451 left_roll=0.0001 left_gripper=0.9995 right_x=0.3569 right_y=0.3868 right_z=0.1868 right_yaw=0.2625 right_pitch=-0.1011 right_roll=-0.2084 right_gripper=0.7487\nstate[joint_eff]: [-0.0889, -1.9487, 6.9538, 1.5067, -0.0366, -0.0269, -0.0073, -0.335, -14.0103, 11.4256, 1.956, 0.8034, 0.1392, 0.9646]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8301112c9273440d49f7c6491f9fc4c8a0790017f59f9602edb604829b709121",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfacbd85c28ee6601ba2598b1b6a0944e48c70360e104e9fa08fb376d70e44ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8310fd10922f65d3c0d40255064743638046b5b57fea52f62c2209cd2a7aa16",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.9306, 0.7929, -0.6762, -0.0261, -0.0525, 0.9995, 1.0225, 2.0045, 1.7409, -0.6106, 0.6739, 0.3614, 0.743]\nstate[eef_state]: left_x=0.2828 left_y=0.0008 left_z=0.1703 left_yaw=0.004 left_pitch=-0.242 left_roll=-0.0 left_gripper=0.9995 right_x=0.3603 right_y=0.3854 right_z=0.1862 right_yaw=0.2689 right_pitch=-0.0908 right_roll=-0.2036 right_gripper=0.743\nstate[joint_eff]: [0.0752, -2.0991, 6.7624, 1.5604, -0.0317, -0.0317, -0.0122, -0.0752, -13.8598, 12.5744, 1.8974, 1.0085, 0.1294, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The brick is positioned over the opening at a low release height. I’ll open the jaws to let it settle into the pot.\"}",
  "call_id": "call_4ZZdox5B68See290WvQk2MAs",
  "id": "fc_09c738127d6b1039016aac9fd2162887d0ab7453662c85c003",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4ZZdox5B68See290WvQk2MAs",
  "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, 0.9344, 0.7929, -0.6765, -0.0261, -0.0528, 0.9995, 1.0313, 2.014, 1.7832, -0.6292, 0.7063, 0.3851, 0.9962]\nstate[eef_state]: left_x=0.2829 left_y=0.0008 left_z=0.1693 left_yaw=0.0042 left_pitch=-0.2462 left_roll=-0.0002 left_gripper=0.9995 right_x=0.3618 right_y=0.3881 right_z=0.198 right_yaw=0.2436 right_pitch=-0.0609 right_roll=-0.1926 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -1.5385, 6.7761, 1.5214, -0.0317, -0.0757, -0.0073, -0.5675, -13.9966, 10.0718, 1.5946, 0.4664, 0.0415, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eef03fc763d54cd1dcd161bd91fb950ea284fb367c08af654dd2371babe1e6ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86283b9c300a45d5bd2fef72da6eabfad427a506fc2dc5733ad593bb47a312ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fc9c42a7098dd29809a0f09ac62d44b751652304d057077f9e8ee1c8e6186fb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.9337, 0.7929, -0.6762, -0.0261, -0.0525, 0.9995, 1.0313, 2.0144, 1.7668, -0.6483, 0.6804, 0.379, 0.7487]\nstate[eef_state]: left_x=0.283 left_y=0.0008 left_z=0.1695 left_yaw=0.004 left_pitch=-0.2451 left_roll=0.0001 left_gripper=0.9995 right_x=0.3569 right_y=0.3868 right_z=0.1868 right_yaw=0.2625 right_pitch=-0.1011 right_roll=-0.2084 right_gripper=0.7487\nstate[joint_eff]: [-0.0889, -1.9487, 6.9538, 1.5067, -0.0366, -0.0269, -0.0073, -0.335, -14.0103, 11.4256, 1.956, 0.8034, 0.1392, 0.9646]\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": "gAAAAABqrJ_Xcc_63ripKp5aczg_SN1LLWemMpthCvAN-4cfhadpt2t72gZT4L3LbOaaLS8vZGdfnBflNhnRnKTqk4cFIDJCDHLfkYn53klLodslEsjB7pGFjZBqAGFDgrKB83rAnUInRj9uf9CHg8g0SjE9qWpeNiO697-5Vi_0e3u53J6cZfaynxRWNUus3ne9OrYZnbqbTEPrFTe7AWkdOelrq-QduIlzbf2EmWF8lywsPYVQ6YiMCdv9txFnFW76MAduilULysY34AtzMkG6Bv8lOsfqW7c3KJ-oCVA6a1tqn1LcXHfb2iGwyL4p18puVQbsMkdsZN-dzGJ9DvzXoZo_YcHLNn68s-YeW5yyfrNshA1KTtMADJI0WuRPpJzyAIefYG3-C9Pz2dEcu4fRjHyz-ptzGRD41XQazNoT1MwK6cRqKx4EE2DggOHV7z7chXrkFeltesTfj-P0rwP-On2HTInrSma08oIphNNkA4TIYE0Wao1LRTBmBvUJvgZTwFZGjvzUWtwb_ClIfMPOKLCL_hO3b-MfFvXICMHlpCNW1fuEm0F3O-kdx5Lq5BHaAcxjX-e6k0l3gRbKgE4v9dhJY_AYs95UFlE47MS8qRiuQKBtcdPoppseH4KfvnARoBa7m7B-TD-Ff_v2PXtzVvUPnRdiNIqMMdjWuPfEkB4lVFRM4K5Jn809kONI7tEuLHqisIdN1ZcbGiVqA9by9Wc27z8ii2PakEbnDEXEv8W-HPXT_NkcLMl_fCN3dDN63Eq9m-NzcBh7Q5zPWc2ZX8sgqkLJ9FBpMpsBRxaD9sWyeAgj3zOeupi4vPWG3-dY21hBjSiEt_T5UpTzl-sC9jJu3saqTWSgVzCx8x40PgeZ1zIWKSAjhqiWjpJQcZHv2Ldh32Gi1g6jF4TMZvkR3Q-a1tzSURXT93-4jKXadItrhlbTWYwc6GfqTD1OxemaMAAoLOezh2RRPYAsDokMt_2v7E-VbSRgl0EEEHFQr3Q3j_IaZRq87NQZ1blvFmHUOkrIWuqGdsrO8XfhjPJ-IWrs4jjFVjHK_70iPM4Wx7J7rkcCAGU6bHzXiE8oIPYa-KQF8Lqi11kWyD-CjV9wi9B6DDSqk-hBAIh3wE5bp7c7bd6Kw6fD8zDHO48CywcrGO3o6VTQH_s-02Wz5lot4FKI_tbN9_durVvEjAKke1gve3evn9BsErV55uDVftXgQ2wlyVAivPRXB5wtTVhHAjFSBydzi2Sd4xE-3Gzs4OmtHWDyfE0=",
  "id": "rs_09c738127d6b1039016aac9fd5010887d0a428c0e73dfc98a6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.25,\"right_z\":0.32},\"note\":\"The brick has dropped into the pot and is no longer between the jaws. I’ll lift the open gripper away to verify the placement without obstructing the overhead view.\"}",
  "call_id": "call_n7vO9oiB7q7CT3jgeXAavy2V",
  "id": "fc_09c738127d6b1039016aac9fd56ce487d0a94b7496cf7b470a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_n7vO9oiB7q7CT3jgeXAavy2V",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.9382, 0.7929, -0.6769, -0.0261, -0.0525, 0.9995, 0.8715, 1.5978, 1.6844, -0.8738, 0.6033, 0.2424, 0.9967]\nstate[eef_state]: left_x=0.2831 left_y=0.0008 left_z=0.1682 left_yaw=0.004 left_pitch=-0.2504 left_roll=0.0002 left_gripper=0.9995 right_x=0.3432 right_y=0.2579 right_z=0.3043 right_yaw=0.236 right_pitch=-0.0706 right_roll=-0.203 right_gripper=0.9967\nstate[joint_eff]: [-0.1573, -1.935, 6.7761, 1.5263, -0.0708, -0.0171, -0.0122, -0.4308, -9.1419, 8.9915, 1.6142, 0.2222, 0.0415, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1c3b235fe5c938d245ae17f82999b96567a15a1f5cae12f0092bc7f62c2021c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:400decbdd63c9cb980526c18face466096e969987cd8c1c23ad30c87b72ba330",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f68f98aa88cb1d476276dcb1f1cd6b04155219736eae0eb004ce1e099ad8f34f",
      "type": "input_image"
    }
  ],
  "role": "user"
}