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 can on the burner",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7929, 0.6056, -0.3874, -0.0193, -0.0341, 0.9993, -0.0212, 0.7948, 0.6086, -0.403, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.2939 left_y=0.0013 left_z=0.1795 left_yaw=-0.0004 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9993 right_x=0.2923 right_y=0.0009 right_z=0.1771 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -1.3744, 10.1675, 1.9365, -0.0659, 0.2027, -0.0904, -0.3624, -1.5521, 9.6615, 2.0733, -0.0464, 0.0415, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85da9e89257da1fd08ef2095bcf4dc5ae72f4997d706a9565f35469f3cfa1b46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bd84d18180d8c0e90a0e28c8e6255fe844cc4f34c1a7e1cf89629961911715a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ee2486edc3326feeb8290c972d3c1e8b9a9c97ba7ee8a012b3ef2bec425abfa",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrF5bY46esFP_KkqC9xlvcveXep0heemf7b3CKo2MQHJ3R_bxnzYDFDE7lZhz4XqAG--B7uYsXdrwyOJGMt_lppl3VooArJLBEVs_RL9tvqYqN0j_Uuimfkh_y1YhHzTD1Do8Raw7giXB_zwGy9nyxeyeTozENGqKneYXFmFFx37Np9RUA7lr31elogfnQza6jKOcwXXS4vYvgJbFW75jKn35qPPAclTPgNNDJfSlTEmLo6Z3kF1vNSaWSwK2BmMWvfFe4EKSouDBc4eFA8UKH9jNHGPUJiYGXoRWh-mK2hjJcZJqG6LEkLBv9IyZz4TEC4DVvkZn8WZ1jqoABKDHSveCR5be0VC0qG7JtvvImv_7riszikHweFNP73SkBBffUjHiXaXRtiA3RjtjBOAEJzXM4SQ41w3hnTnqo0x31OcSeEAmznhycpVloFujB7j4TRUq5xf2Ccu6MJqH8aeeR9v9E3Z79cFZ6Ug05EYrcqMhPaJOaldwpw_OZzwlAdvZ_SXBfnseBzt9vb955_F0IhQ18DwqVluFTMXXdRTYrr3h6_eSOfFK0P8Z2PkPMmXPrtHVLGeH_aJeFhkRueLQnfUOTxo-pXr0lfZJyBASxAXxdA4WzqlujM31742swpLLr9cjvPxz7uGXnBd0L-rsAjy6i529zIQFfRqkJISvgWB6OUWVnQc7CIrUTZ6pIuYqia2jdWPW1tA7dwOoF1miIpSJa5duGMKq6fcj8VwFWH-diUIGZpKWA9GT7mqs9h28t-7e7wzVjegAOwWUQgwjdTD0brDFS2AFT1TJphsJergB-Bk_QgooL-Rt0_Yy6X-eACR5g1oJD8UsgTX4DQLg7rjTi5ajaW7yEHrVFLpWOrfceJfowGh5I47U1H1w7wEEWavQ5Nn32qXVO86ZScIo4K2KvZikvRGz9ePhR_PsM1YcjYmCkjqrk-7HPGc3ViB6OZuIQSEfFWgvYpwqAzo9KgrsL42isUIU3BkQx0fyeOmWinc-oPiyHoDR48VFOruk9fPpnYV9_EJ8QS781Iyg2CClhFrkPhxcyja1atS4CqqIeJiA0yd1rqXYBXAwDNk0DfdcKx7EcU5bkLswdBlCZVblXPklOkond-wgJl6gfH8-S-520rX2sxUm4QfChq_oSWJfDyhKfSNkB5x2YMyOK5sGwvcuCh6b1ngI2tIfOz_9n_d90tKDSrgFmydS1W6GT1e7UD0ZrMa3U0Lkenb4_598p4mX1GV5huUK1gvkW7c5ZtvMI-UPYaDkv_RAGvs7-LgLWAGv15dS0T5ovGwc7Wkdid5BYBz5kBLc4bVkibdovqbn7LHCXsy4xPGGsnCtdyP2aAPfPN0VH8B39ShuFaIkUktXZX7SAe_3QBw5iDjikyrHO376U206RWMH7V8YIq7U4Yc_bJKoRwRvfAI3IJ7CbX8kshAqansumcoml7j9tpf85J4XI3plc-mDP8RMJSx4v3YOxQLP5PtweXeJsoXvCXaE4g6yyd-mG1KldwkEX1dNJqcXCvxNUHA4UEwDXPEkdGDv6kOX-erG8VkBQp6agQ==",
  "id": "rs_0365d7cfe1810f92016aac5e56209c87d0b841dbd29a4c3289",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.085,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The can is lying on its side to the right of the kettle, and the burner is on the left. I’m moving the right gripper above the can to align a grasp around its middle.\"}",
  "call_id": "call_Sj11MOniMgmuDKQWe0CRyAtO",
  "id": "fc_0365d7cfe1810f92016aac5e590ba487d0992b286df559a3a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Sj11MOniMgmuDKQWe0CRyAtO",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.038, 0.9992, 0.2649, 1.5185, 0.8993, -0.0708, 0.1944, 0.1173, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0021 left_pitch=-0.0206 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4214 right_y=0.0827 right_z=0.1276 right_yaw=0.0313 right_pitch=-0.086 right_roll=-0.0273 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.3744, 6.9538, 1.8828, -0.0708, 0.0415, -0.0171, 0.212, -7.1179, 8.8, 1.9316, 0.2222, 0.2369, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1031df6ecbf63de6d0d9b6c83ebf066c5fe98c04c559484129b456781ec14f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7065ea53c549f4be3b3c4d518848f24a1e1ba5841dfcd6e4a696428ff4787db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ed31be12eb044b3983fe452fa3a4d220d391573c4e7779ab4f4bb49e700a3d7",
      "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 can on the burner\nstate[joint_pos]: [-0.0193, 0.7929, 0.6056, -0.3874, -0.0193, -0.0341, 0.9993, -0.0212, 0.7948, 0.6086, -0.403, -0.02, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.2939 left_y=0.0013 left_z=0.1795 left_yaw=-0.0004 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9993 right_x=0.2923 right_y=0.0009 right_z=0.1771 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -1.3744, 10.1675, 1.9365, -0.0659, 0.2027, -0.0904, -0.3624, -1.5521, 9.6615, 2.0733, -0.0464, 0.0415, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrF5jjoiBiCRprHuxczbEI_qF4PuokpS1gOoo-oaC2seXSCNJEQIbe8Ia7qv2FQRCxQ2xkxbvhogY1GfAkdBI0sJxqc6deea4fzxGQ48qYToMBflDCD5RVg1-yHAel006vYaM74kfy2ZvzWrRKzpCanf3Yzezf0wVmDgfcnevSPJ9bYLlZ9cc8q51GJgv3pgb1fgTAYbvORrThtJAYZJJllOmE4PqPHThOce3CQbqhvndjxGjS_V0ho4_5rS-FvhfDdj0sLrMhu5wl_ic7afTsYK13q4O3f7946qMOVPRZiCDFl4PTofVjjS4NqdWf4HD5Je64rpAmAc9iYHOkWRAp8F8tlbZ0tZWcllkXcS0QMzDlMTMLY-mkIw7TEF9qpdF4bSF4ZSG2p5Qd75-AaMDPuAKdL6SaLkH-XjrBkvs--1VDeksvy-3IQJGRiKQJfKwVbKgNy2AULnfGyTmBq62UGkMrNUHrYrix6zrhOicQFjKwTEs0_gfxb-trBl3--kKSCbSR6VhGUdWH97zeNoBvvyfwYylEJhczkM4zqhZB3USifvqZOhKyTTqLlxQYl2iquWMbCjIOyIU4VwPu9MBhgfMsr6wr3Jo2VUk0a2LhNCHmR7Fgpx7d04pBq3fD1Gz0qDuD-hkEiXZv57E0UxoB6OKSV74TRNpV3UdJ7gZS1k7oi2briJyFrzKcq1ZVMFV1wyomfO3YMYop4qVUl_TZf5qMev5dR_lrvf68dCEMAWJIJnOmYhQvQ8tkIfz-LuVRsq9iZ8ZYGuxZNWY7jYFAqt9YUQ8wW6bOaTpQpAtAb_afEuEHCV84vwiazoaZwdxLTEksWHTWKlRja7m56arDGMjV4E-L40rPyz-HHPgv9-uLtaaPpWoTkxVTFm4cdeqXdCe1LOH8p3CsryKpqIn1ygg0pzBi8TeoGjNzWnibHqn7cUxUHZvTH5GUIuoAE51MEfJ3f1qyyja2BJDT3NzDzoo18onUcXnoSTZedBDgZ5vRb5GurjJCGAMoyQBetPyZDQsRncqSLwR8MzFRPEN8oClzaAA8JQA9oJqJuKMbYsShAJmL8Ls-F3iYQXuGqbzY1OpTWBBblQPtGIIYD4TQS2ECMxgqJ0Vu4IgWWLbDbLKqbYrfcYUwu7WynUSZxwqTRmZGm_uhJQjlQljnQke9Nir0oELaMp4wckC82-i3_iszV19iMRoimGXLyV4tPukAIHTYkce7sCsmGhWrHqwrCcy1mEtW41hXdclpqyRRixVCIFUFipcSprqh-01VT9Ub3GKe0w34i8YOF2MSqRKuRVT8lCxdfTiCod0EMOLzibGP5WksRAgFjqi6Z1bUF_mTgytQH7tTu5JIinwfcdqk4s6q0RGurNaFloUknu4PZCBfgvazPWM3PNKJSnSbiiTFW3Hy7OZTnO68od56VCEv5rn4YvWgge1O74ao_JFDMe-c81NMRn8M7r6H2e_-JKjirwbfEkgNuz0S5vmgmZmCVpiEGMyUDEiY5dD0q4MQAbJlwg=",
  "id": "rs_0365d7cfe1810f92016aac5e5e4f6c87d0aca3a8009c1ea264",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.05,\"right_z\":0.075},\"note\":\"The can is right of the jaw center in the wrist view and still ahead of the fingertips. I’m shifting right and forward while lowering toward the middle of the cylinder.\"}",
  "call_id": "call_kG9RtjK6wDDvM5yzue9uY6Q6",
  "id": "fc_0365d7cfe1810f92016aac5e622cdc87d0a284009b97b9f7fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kG9RtjK6wDDvM5yzue9uY6Q6",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7982, 0.6067, -0.4137, -0.0193, -0.0383, 0.9992, 0.1345, 1.7874, 0.9321, 0.054, 0.1108, 0.0448, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.1731 left_yaw=0.0019 left_pitch=-0.0301 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4518 right_y=0.045 right_z=0.048 right_yaw=0.0084 right_pitch=-0.207 right_roll=-0.0454 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.3197, 7.1863, 1.8193, -0.0611, -0.0611, -0.0122, -0.3077, -8.9094, 9.2376, 2.1563, -0.0904, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:513888921b19f540d4467a187fb49aa062ea54fe3c3a4a957cd7f406f49634b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fda45ff2b766a1783efec4daf7ce8fe1eee5b7d4b57f3a7aca0a642540c8c3e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65081ee8b0e2f65e44579d9eb65ed8b869d774e9d40cbb3e23544881f9057234",
      "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 can on the burner\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.038, 0.9992, 0.2649, 1.5185, 0.8993, -0.0708, 0.1944, 0.1173, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0021 left_pitch=-0.0206 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4214 right_y=0.0827 right_z=0.1276 right_yaw=0.0313 right_pitch=-0.086 right_roll=-0.0273 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.3744, 6.9538, 1.8828, -0.0708, 0.0415, -0.0171, 0.212, -7.1179, 8.8, 1.9316, 0.2222, 0.2369, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrF5t24n1P97YhcsFk64zAdUlQLxgGcLSwH08s-Rn_vfuLQWigKWdodFWrBXcNIoKeu-rl8V78xdNjSOx5uaiAUpx0pZM9oJnKlBx3NhrWxeWDvFwBUw3B640zNwl6TwSSlSSn6j4OMZve0_x94UHocBvMQ4kewpEZWQEvPE08lU9ngRVGa6c5rQVuSsmA1JDfmTZ3Md8sumMYMMVtyA-MdTVbzU5sBn_gNTaOzRZ2oDnDSiF7nK8hXDc8gCF0jmtIihiyB09dFTEg3Q7acK5Gz8RB6nH5Ao-X6u2jxHvo6Vc4L2rLskiX6kQ272wvhYCcOvj9xI9tiS7dH_Jel28AjHav8yflaoPcFg-ZBMrLTCPDEo6jeFDLv1pFDbs3ey9Cij0RtPJUYkpQJzQk37Mgnrx8cVtwEI91H0KLN02ODmW6dCOFhjxMU75idXlv2MfLE-tEq18QQnXCxdoPORID5UJIqzqA9tg06f3PPmnF93nD3o6_TjyMPyvFTWiBgPKBBW4Zi72RRQQ4SPSq3xbCS2b5tDzOtWrU0ThczDVG-gGfMneVkw1rJDh2fTfacBn7w_Ijd8s7DPeUrHAo1JNNnxxFBWLDkOsJgp39H2BUQQ1nXBzh_psDzsCF0OziMYaeGGWDigKgVL6f5GETm767LFqv7weqe4nGllaeG71LGsr-aRQydeMjiRnCzRisw79NCICaHlHUNPlLJZ3VIxNGtoNZzSNhrXy9gHq0fp3MNlqTDN655qOggspRX5qXAIzp38bAgh3f3Mr4Aa_MI1gqqm58IxztfpA78_SS-OEOWPHXVowhFPTP-V39QSRm4kViPT6l_4JmLcGse31OMS0ceJHgO6b8B_9uB50tbccakPtn1DGWD73agSc0KIQW0qVW8pzCja82GkGVf6X2qIAcqbhaDLAo17JyR67QBcxldsYP12sONxX_sY_dO235RYSaauZ7IH3XA_ctXP9OACreKVfQmIPnM0taB0x71q2Bs69eQdtkphIOFoVFaxVmdaIDAOA2M_Obp2gJznucJVfF0zNep2m0SINJGuiW3yqAMTXcJF_A0DFzU6zT08ZXLSDhRQy8qjP6bXl1r-SgnpCK7fd-Vp99JR4OwFGmvrapPOnivwPf7Ki_AX6XnzqpSjbXX83y4AT36W-t7vyiS9Je7AePTzyH7EMWu4Ks5CgSltYIHWoAKa0fcHMTbWCUgPhdoxZrEaNg0oV2ZF78g3qzBsBS8JwNw1EtdPsF5HPH_GEmZ6bjmAOMgX8WNdTuQoHCUArwUKQO2WO3ZIbZuoKO9BmOoyaKoN8C_9nypa2_jhXS4z9Gq5ReF252Nxv04tpix4Kc3I_hlRH7DZ7LPhoIuSrMnjq5kayRCRh51tIqQn0HYhK-ReBWXC4ra6nRf9qyjRW_fxS1e_49OIlCqysPNdPFUHIO5dFi5Bg26fFO7W8bX_v1zBfOvVB7_lcXksamOIE3TVoPD7SqrvXWsLDnMQ8RN8lc1jjjSszYSR7bkHvFz12DLGOsdJvjB30G9giTnH8YSE5hWUwSW21EH8aKQn5E6ojrkk2FZ4W9e1tyaP3N27hC2CG0JvchUATjb7y-4G5W-uAT6aMk1NsGnaei5CnLppmcE5_1XC18RMwUlZ8s09R03YZ5iZmRxZ1HyQdu1DV",
  "id": "rs_0365d7cfe1810f92016aac5e68195887d0bd3b7f5fe1d1d6fc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.015,\"right_z\":0.035,\"right_pitch\":0.2},\"note\":\"The can remains to the right of the wrist-camera jaw column, and the arm stopped short of the previous forward target. I’m making a smaller sideways correction and tipping forward to reach the can at a low grasp height.\"}",
  "call_id": "call_N7nzo86nHxiKMLZ6uEtFXUXv",
  "id": "fc_0365d7cfe1810f92016aac5e6b862487d0b0aff2307d065a80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_N7nzo86nHxiKMLZ6uEtFXUXv",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8028, 0.6067, -0.4282, -0.0196, -0.0387, 0.9992, 0.041, 1.9869, 0.7555, 0.6197, 0.038, -0.0051, 0.999]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.169 left_yaw=0.0025 left_pitch=-0.0492 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4666 right_y=0.016 right_z=0.001 right_yaw=0.0059 right_pitch=-0.0226 right_roll=-0.0209 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -1.4427, 7.1726, 1.8095, -0.0317, 0.0024, -0.0122, -0.0342, -6.4342, 3.9453, 1.1355, 0.1734, -0.3101, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1df2e0450e4f504c5c6054f505f4caae69db97c8834eb02825c50fa2c1ca821e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e077b6dec397f1b256a2ba605bcddb0b55fef40a02a8bdf9bd0f4af924b831f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84b5e4ae9ebdc124415dd769513d1ba8785de56f5a779eda0e62dbf02180c54f",
      "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 can on the burner\nstate[joint_pos]: [-0.0193, 0.7982, 0.6067, -0.4137, -0.0193, -0.0383, 0.9992, 0.1345, 1.7874, 0.9321, 0.054, 0.1108, 0.0448, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.1731 left_yaw=0.0019 left_pitch=-0.0301 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4518 right_y=0.045 right_z=0.048 right_yaw=0.0084 right_pitch=-0.207 right_roll=-0.0454 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.3197, 7.1863, 1.8193, -0.0611, -0.0611, -0.0122, -0.3077, -8.9094, 9.2376, 2.1563, -0.0904, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrF52qMct7_r79mpMChesslb0TjFUasrbOdw_hbQyTEyobVUPGtKf7RKUob5W88RkOxiv7QqEEvou4ASAjt3MzeREwH4l2FSUwZgM5F1sqmmXeRRplGsF-T1i1_WXCJU9Y2YaNMrlAf7s3tFIZMJyKKqtMNnDqqgRBqKunel_jl9STtkUxMpqTU1jZN5vN5zD4DJgWfEr1DR9r2nNtCyCOQm3mignvnKdwMlk5ubGvsXm6VANXcj8uFaQIVbYmJKl4Cs-JLVetUH-OTYeuO_DU6Dt8aYJWLSLLeB4j1NvVcqzRz99biUik-sJHsCoe5AhgyKNHSS0o7UWWJwOvHSFx5AbaYs4lmjQvQ58mfBthoFeLX64h8QKalv34Em_up0xLyiKCvSFqGveyrmbt5132weewcN5XAbi7Xaf7p2XUa-NW-ykmOXZ950RgZpWCfYphbTIg0oENJi48vlyluAWzoSYIqeszAQVoIzAj7lJkdVuuLSMHzB4BrESk9f7bcBz7B8qsgxNwiGudZNA9c5bCKha52MAw_o2U-OPQmuSFsPUvo4r6RCdAinHpbVO2CZ_Dkd05qCuw2Zvcy40M-DA2BGiN_nce1I-jTRVTjDOQwPZopJd507KPyI4E_7WyPhxxhGg1uRS4S7Txnnd0r-RPpy9LWBbc6abPntzGkhilfFCy0N8VCKj5t-gjFCdb2ovVFNBHD4hWKm9rJoQ2fruZOXDWtSCSGfJmn5sPLstI16A8b7BZIdqakNNhSiAbRv4-wOtVilK01-XkL9vNv1u4yLVCIg_PqEi7kz02amwKp9twuIV3-MwbVeh_xY4v1gvFJMSllYjRGuQ5zBti1vWwbP4yYOLepCc2SyLNCgbvUTDf_xiS5Qc3UDz12opvdGkgCTbpXU4X48VlNoV8Sm4oTbgC-TmtcfWtzHyOvALLuhyLEupukbCUldq0OaGZ2jZp_3SnsoOkmo6zsH_kyl2IRQKNTGdj09-6S5bEtSaqFbl_ONwlOkKBF2cthmRlmLOKD9bLcDDH7DL1wjwjlUPk9viSDx6_jgorsvtnTuESXpgPua1hjOL3THEwMAYownOgXfhYMamo6l9hWR4oZbo-mf2hsyQE2A40rVf0yS14tX_CWClC9AMK3N5_6V_E15ou30n0zj5C3rXdWQ6pKiOtJENzufc94Ku3_Y4GO7twYGMuKd0VLqK5ozI69oBTz117G_gt-QSzpjefNM5nVVC0c2HpohuPReSTvIH7JTe7Hc8ixi4adMPQ_Bcc-_rm48NjZDgWGD4VpGh0m_d5IS3k9T0juL5UbITcTV767Dz8fVejYCQPyi4C-gOJTzhtQv3FsC9YvAJbM2CY8ctibf539wbMyuZJ6o1GZcizBnXeJxqPo1KimyJAjh9_FCYFkrDeZms0zekijN16x-V4UnDTMkXF1cd34RdNPqwbOtBVusuuIuTyOY5bDbokR2ifanWZHEk-21nM35zEKqijCfLp2-YaiKjuLeNCbfbFxVpqKasjr3Lgf6bCSb-FnoydrLKDNUziWzCqG18cLAwQCTW0TqYsRzMBNqzujFjnnukf6X9czqrpTwZnNeTDP0T1cPp7PxoZl-DWq9xPlcmlOeCcBuoySa6W75-yJYY6mzjSAxpxK4=",
  "id": "rs_0365d7cfe1810f92016aac5e70edcc87d090cc3c11989294c4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_y\":0.005,\"right_z\":0.06,\"right_pitch\":0.4},\"note\":\"The can is now nearly centered sideways, but its near end is still ahead of the fingertips. I’m raising slightly and reaching forward with more tilt so the jaws can surround the near end rather than touch the tabletop.\"}",
  "call_id": "call_31fjWBM1OwZXPEpW16T11DO6",
  "id": "fc_0365d7cfe1810f92016aac5e74012887d0b94ac3c8391f73f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_31fjWBM1OwZXPEpW16T11DO6",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4358, -0.0193, -0.0387, 0.9992, 0.0116, 2.1593, 0.823, 1.0576, 0.0021, -0.0269, 0.999]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1674 left_yaw=0.0025 left_pitch=-0.0572 left_roll=-0.0026 left_gripper=0.9992 right_x=0.5192 right_y=0.0093 right_z=0.0396 right_yaw=0.0188 right_pitch=0.3099 right_roll=-0.0205 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -1.265, 7.3368, 1.7265, -0.0708, -0.0562, -0.0122, -0.5402, -8.7863, 6.188, 2.4493, 0.022, -0.0366, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbd34fe1572059ad60e7b38d63fda57c0a0cad2747fcbd5c23e9c59187bac3b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a833159bfd003a37acb68df32af16f24e3364aa0baa7138f25539e26b9e8bd26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92b632c3338a37f56001acfe0e24295157fba4983c291ed4a507a23d7d3bfd0e",
      "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 can on the burner\nstate[joint_pos]: [-0.0193, 0.8028, 0.6067, -0.4282, -0.0196, -0.0387, 0.9992, 0.041, 1.9869, 0.7555, 0.6197, 0.038, -0.0051, 0.999]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.169 left_yaw=0.0025 left_pitch=-0.0492 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4666 right_y=0.016 right_z=0.001 right_yaw=0.0059 right_pitch=-0.0226 right_roll=-0.0209 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -1.4427, 7.1726, 1.8095, -0.0317, 0.0024, -0.0122, -0.0342, -6.4342, 3.9453, 1.1355, 0.1734, -0.3101, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrF570Xf0bFSSAtHX3p5Dj4gxJvrTsT7mnEI-UrjbMqQ2hriow7O39K_Nw8JYOYb_4twxQD_BQvhOSFFmjdSj8aybiWHXEomPBnZ-KUN0pR0aAaSZW58QTj5nGIP9Ou3ejcYHqI1ovx4T67HgmyK032fb1T18vt_GYcdN-En-HYVPwgDu79_WuJw11GP6jyKgvAaFTvY5WfaevRh5LoablHBrWBfxRBOhAl1jSzgxNUYZNjLiLneMzMxgG_WQR0x0qvhthjqsfWSfaUKJ3mnNFmBOOhNMs2RSLBvmIVQSVk92CzxV8wYVjpDRDYnKwh1KD6c5nttZ6fFI8BZ2g2v4rzBTKTgysS_gHmVfOQmyxUs-wvATrB6nEHQ6KGZxz5SVHsCZ8g2qgu59QlE64zW6gGfkpRhmcgkqzTBnO5GZRJzsQWNi3RIaJfwCKM-q47alImKvLJwRIwX2dP0vuIOmQVXBWtttPe1Yh3Hpusa8pRkvJZ_h90eZMPnmPRESbUeKlYsWWezruzxXzdUtcWF2KU-npXmBlkbEVrFxooz7CVNUNAgcDMK_wKuA2YEHQxK9M3z3WC-GqgY4SFfLpBNHqJ6BGTRhKnLPoDQvboNSUyl4_ORmYbwTIMcNMRvlE10wMZv6lqfreEXV4eM3efSbedQAKeSgBASPQsnZr2N7Hc1zvrJSsR7BH98JY3jVwtj74d5rPoe73jZx6FbzkKbI5pN7KgOB7tCxM3lpmfDlYYhfKeeOEKzJC7nwLq8zstxsay8Rp0dw1Ba5vDKSNDA4A-iEE35AH7gpyTHT_jktXeGI1TVILZuXCHfLFBmxsLceV7bqvabAsJbvvHKEpE0rls1tYXF_4PfEFA3OpEalYJieqFiyuiEbsiAA5oPZj5Aav6l9eKeb0z2TdtKBm2lCZCEexf8sVyscqG-TEC_wWWbIBCG94lk8MwRdlmj_iNoUx8u3NjG_XhltRggPRINg4K56Ro4D-F15OJ-jig9rleBYurbwH5J4FNopwyJOwQCHL9DYtzVwfgVLorjdCI2pONc_FxG45J41QV7uXVl48h8Wj25qkcFO9xHAj8jOdXeY2j8EZ4r5Awowdt7pspyxBjwhulTfplijaPVpbuE3UBt5LPJZhxrAYW0cee7WBHNAi7BsU3_2gNemLfSbr_oT7hGUy6NDedy7PmQcFGlHZrHQiY51JFNx4Hy75Fw_7CjnWvtNbcP_wNOyDuOa_euvIVKwGoOIrYcJbT1k-x6dOv9AiL2Jo4xKMJT5niGqAsB5ilSZ",
  "id": "rs_0365d7cfe1810f92016aac5e7930b887d081678bb53270641b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":-0.005,\"right_gripper\":0.48},\"note\":\"The can extends between the jaws in the wrist view, with a small remaining sideways offset. I’m correcting that offset and closing gently around its lower body.\"}",
  "call_id": "call_5jWOqc3Llapy9jfOXLFyvbBp",
  "id": "fc_0365d7cfe1810f92016aac5e79fc2887d0980c7f9e451ecf6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5jWOqc3Llapy9jfOXLFyvbBp",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.453, -0.0189, -0.0383, 0.9992, -0.0223, 2.1658, 0.8242, 1.0561, -0.036, -0.0383, 0.6892]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.164 left_yaw=0.002 left_pitch=-0.0744 left_roll=-0.0022 left_gripper=0.9992 right_x=0.519 right_y=-0.0016 right_z=0.0364 right_yaw=0.0247 right_pitch=0.3033 right_roll=-0.0207 right_gripper=0.6892\nstate[joint_eff]: [-0.0205, -1.2513, 6.9675, 1.8877, -0.0317, -0.022, -0.0122, -0.5812, -10.6872, 4.3966, 1.9023, 0.0269, -0.0562, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c1aa33b15083b41b1aca34375792cbdf122d49b6aa32615c2dca14e356a44b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9834964bc8734ac6baf877a8536226bdc9c1f973d0175fc2f103d55dc382d472",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18548688f4ca495ca2f99ca7a80508cda72fe096d48ab71ab98b000608a3ab1e",
      "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 can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4358, -0.0193, -0.0387, 0.9992, 0.0116, 2.1593, 0.823, 1.0576, 0.0021, -0.0269, 0.999]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1674 left_yaw=0.0025 left_pitch=-0.0572 left_roll=-0.0026 left_gripper=0.9992 right_x=0.5192 right_y=0.0093 right_z=0.0396 right_yaw=0.0188 right_pitch=0.3099 right_roll=-0.0205 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -1.265, 7.3368, 1.7265, -0.0708, -0.0562, -0.0122, -0.5402, -8.7863, 6.188, 2.4493, 0.022, -0.0366, -0.0171]\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_z\":0.115,\"right_x\":0.51},\"note\":\"The jaws have stopped around the can at about a 6.5 cm opening, consistent with contact. I’m lifting a few centimeters to check that the can comes up with the gripper.\"}",
  "call_id": "call_7UnlFtrrkOM9sxUcQtZgjscH",
  "id": "fc_0365d7cfe1810f92016aac5e7dd0ac87d0839255346c0b3162",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7UnlFtrrkOM9sxUcQtZgjscH",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.458, -0.0193, -0.0391, 0.9992, -0.0257, 1.9144, 0.8078, 0.7517, -0.0429, -0.0452, 0.6892]\nstate[eef_state]: left_x=0.2848 left_y=0.0016 left_z=0.1618 left_yaw=0.0028 left_pitch=-0.0839 left_roll=-0.0023 left_gripper=0.9992 right_x=0.5038 right_y=-0.0018 right_z=0.0829 right_yaw=0.0302 right_pitch=0.234 right_roll=-0.0215 right_gripper=0.6892\nstate[joint_eff]: [-0.0342, -1.1556, 7.2684, 1.7167, -0.0659, -0.0415, -0.0122, -0.0615, -11.1932, 7.1316, 2.5665, -0.022, 0.0464, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:017fcee9594b9326fe22a9b82b876454c0cf50a22e3d27f36ee3193519344748",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:990ef657fa075ff978d3bb4c99fb4b362dec958e343f0504a809e385621cfc74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deba6894263f655fc7b59ffdeeb6c5f589e8e97001d8e8cad358d3645d452f26",
      "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 can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.453, -0.0189, -0.0383, 0.9992, -0.0223, 2.1658, 0.8242, 1.0561, -0.036, -0.0383, 0.6892]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.164 left_yaw=0.002 left_pitch=-0.0744 left_roll=-0.0022 left_gripper=0.9992 right_x=0.519 right_y=-0.0016 right_z=0.0364 right_yaw=0.0247 right_pitch=0.3033 right_roll=-0.0207 right_gripper=0.6892\nstate[joint_eff]: [-0.0205, -1.2513, 6.9675, 1.8877, -0.0317, -0.022, -0.0122, -0.5812, -10.6872, 4.3966, 1.9023, 0.0269, -0.0562, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrF6MJJYSV2DjSfK9hjBspe4DGKTClMqC_pegHvah3-eP4quRTiygebiF5_OieLWnp25qaBKujawHujqA8c5lTnb6tY--O-P63j9H7xHA12ta3ZGFEBEGa4UNsjS7H2bbu9ZPLkcheYkokwxeGQ8rqfmuP9HKNz3C9Q9vPmmCpTN9mbVjc1V0wZ2PjRtwP6oPisoWeGOemw5mLpnGyLrLpx7tT4SU_f_5vTU9LV7ldpawGB-X2XG57FfRaDEMTahhy2E_s_WqSY2EEayzZTKcsduZuY2zlPhadPoOS8zAjgICU-2JiW8dBxE3Mt8m80GgBXrU5WO0ty7eNhmFT_F5sjWU7GGjJR0OMLTbRO-XLJxUiRbUCFFdiEZwkv8i_VA3uG5tz2d6HJLaTe0y0e083nc8VsEjinUBGypNEcqx3ksRuXevbCJGYxdnXqrc8HNk_OQ7FbrfGH2adplYYoP5iD3NLF0lBq10Hi8b5DwlkczgVbTyVUEwQ9-rJGdn8yK0QvSJJfnPyI6Ai76-qxeRUy3rVTVTf5j_sHHcsuxgaCNcJY1005Ttirf5sWPIz3DfZ5g9p2QHQqXV0WHRehZfD9LhU-ed1AMg_mFCJds8YhV_9Dihu9en6k1vXRse_kS8WA-PLS946E2fa3B7r8AVrre7P2ui8lVKG1biSC9gel3G7TuN_MjGgc8gnzaqYGY-Q_pwQgJeSp0SNhiSWkEqcHPacYOx-e9A9Yx6-RD83vcbFUzxhVs_eMdms8-1wKxd1MHR4_jtWLWiqcuIC829ytxLqCDgs4E1RFlbxx1KOZDTmHIZA3L_uovBxmtURFamyu-J4GdOC-EKpHe-kzGpCT1K9Q_hpB1dldMmtLoa4QaUCXjNhOmCdcMy5RWELBzOG2HoaWnlRn6OhLzuuZlr6Il_EadTLkf8Q6-xW5XtaTzlo2bcs04F1dmRtHTBL8Hr5m7iS-9KooUMGebjvY7aaO911H9I7SedzfRPdZfSYwdtP99Ka_CyriIdVQBrSljDpHXLt_9KglF4nJhVLAPdhRNTRyM2NeLWLeo1HHHJFyvT6mfLAD_6mvJ6bJLNlTKpA-RyH3QfwkB5vQZOBZobBu9bV2u1NG9FYKxVj2qGbcdAuWCSpIT8OXOpyMOOzqO1fMV3bOq48QEaMfcZCN86tayeU0LFi1QA4ENUkt4yDpb9L5RGpfJMErporo4UjJSZZPWBhp8QCbKtxwRnFhXQbtVPcdBHZ6ixA6jMPkyWdLi84yWgzBQhARlSBS2oRIO-QpYq_nEgnKlcUI-NkfY7n-Rrwi6blDNdAT3-e9bL2ALddtWc3Aiw0q6ix8EbLSTxreTebzh2kXfA2p_loZ1Yzu17Q6Pk1qNN-QxtrkNtJAr5kYtG5fyeD_6HNbL9o00IGaHCrXibTHrEOocEt6XxnBxonciVujSzFcjXTj7nxQCyb2ki3zbXyGmfjBazgi8rznZ4PMmQKkC8KWMFEAqPZt0MlQNW6lWVDDDkpS_dUGB6gzVG6PQ8ehD6_QMd2p0ui-UXt2H9mymPL1I6zZ1GGw-7DJyu0rO_pd3dgTYpmXD2SwcZ6kKuPWujfrpe2wS86YQwIPb0P5ngVRMKn_YJSOAjeliVf9HgRWRBel_c6BoUxveW_u7_qK2UXg3HdhMo8bvYpOrRrGHZ8es2a-Cv3e9jjisrbSSfNwwp54wq-AuoL_Kw4duSsyT2e4V4OzrtG4lUD2V51UXSthwqY60c-FH9V8EV5Nm2qj1oq_CD4kDKiql06K_2Lul5uooQYGO8l1osv8qtyRJ0AmEVvkNCAj34h5cXuqNsuATS7x1sBwWHMSrNGVnfb9Ppo00LuMiSzA8B22NCLUA4Cp3uLiw1SxRPVvF839oSULwszw1GooSRtbPFlryNUjg0AVvHt-Lem4JEVB68W1XkO3hNWzUrLGWXY2lIevFYsoPeJjnV8N9cjpBU8MJw2l1cKHDmhtJaCs4FzaSHm7odhOwpZuH8Lv3I4llR23cassbY6omTG8kejW3dYfE4OHU9thga41m_PevFB3L1KwTlu1W5ATOMyYl5ECW8paMKf5AQhevGoT4DUsCZEfsJBEbelsZE82iLTbXDzPcqHaZ0tz1tft1lYKRenUUDoMrq_KFqNHDJN6RQyXBvL0s9SSkbmqLvBJcU_NljzuhN7UHHBiAIifjd3KrcEDNcJuZJWfJ7Khus1imm2oDY8u0yY0PKBJuNDieoq80q6PRA-0aQf01ZQeSsmXLUp9MIKdZKqar0ymLjjfeRiU6ycS7Y9V3juP1ZHB5BF4jeE8i90vh-M_yitOViclAZ0BgliXoMlk_K6jCu_YmcSJo=",
  "id": "rs_0365d7cfe1810f92016aac5e81ddb887d0a1266d167a844b14",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_z\":0.23,\"left_x\":0.294,\"left_y\":0.001,\"left_z\":0.18},\"note\":\"The can rose with the gripper, so the grasp is secure. I’m lifting it higher and drawing it back before moving toward the center; the left arm will be needed to reach the burner comfortably.\"}",
  "call_id": "call_KYeCVlABWKkPFrdICTeXlKGm",
  "id": "fc_0365d7cfe1810f92016aac5e89e3b487d0bae2647f978f6335",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8585, 0.6559, -0.5182, -0.0193, -0.0463, 0.9992, -0.0391, 1.0832, 0.6601, 0.025, -0.0502, -0.0494, 0.6941]\nstate[eef_state]: left_x=0.285 left_y=0.0015 left_z=0.1586 left_yaw=0.0065 left_pitch=-0.1457 left_roll=-0.0065 left_gripper=0.9992 right_x=0.372 right_y=-0.0021 right_z=0.204 right_yaw=0.0248 right_pitch=0.1911 right_roll=-0.0201 right_gripper=0.6941\nstate[joint_eff]: [-0.2803, -1.3607, 10.2632, 1.79, -0.0757, -0.022, -0.0122, -0.5812, -3.9043, 11.1111, 2.5958, -0.1001, -0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a4d3531528703f7863d06013f2be7fcdc96cbc629dd094a577a14f136509280",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:980cb796bd87a63e56fb233eaa7a2af25b22c083b660f3fdcb214c1ab6e167d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a926889b2af46add3359d0b57f06af30b73f1e5b0c837492567da7625aee62c8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 25 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.458, -0.0193, -0.0391, 0.9992, -0.0257, 1.9144, 0.8078, 0.7517, -0.0429, -0.0452, 0.6892]\nstate[eef_state]: left_x=0.2848 left_y=0.0016 left_z=0.1618 left_yaw=0.0028 left_pitch=-0.0839 left_roll=-0.0023 left_gripper=0.9992 right_x=0.5038 right_y=-0.0018 right_z=0.0829 right_yaw=0.0302 right_pitch=0.234 right_roll=-0.0215 right_gripper=0.6892\nstate[joint_eff]: [-0.0342, -1.1556, 7.2684, 1.7167, -0.0659, -0.0415, -0.0122, -0.0615, -11.1932, 7.1316, 2.5665, -0.022, 0.0464, 1.0232]\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": "gAAAAABqrF6WYgUU8wuE3MLRXdN2ZypSXS4fm0JRtNaJWnchldG8lQlCSj2cdR609iyNJUc7NGjymPhM5R2J-rdPIEKeDyQxe9-Q_ooVeuJmRaZZ5mMUph_8-aoARobsTt4M00Q0irDME558FdrsTmvxDJRSFoBwU6J48s6jxpm3FX1wPlWOQUj0RmVjbGGT6reRKX0IDi7OOFmcTppi2D0ZqYgujgzGS-dxd5FoSQ1_BaDWXb6PdAmserXe7arCN6gOLBeZTuxeCvzS_EImK6-mA67JgZVCZc_xgn_iRfRnjqLvFabeaXzlatiPK0tIG12beOAmStkPVXzmF26Nya0b86GfTM76Tx9_uddnECNZM60mk15eb8zp5LBmjMVy3Z2ev1ijOvxeyr2sAYepuG5YlzxWIm4yvo3sdKG8G4wU4yvUjmy2W9B02tORAvooH_E-1QrRBzjKImqCE6zEUoM2E2aSX7NheVRHOwJkTro5kj5Fbpgcv0D8r68-_412Flf7wnegpcyCl7Tqv6j0UkdMs1w3OLh4PxtzRCmGoXKKqerRJSbVaudUsJlV_ZaOkHbBm4592ucfdp62vqC_PohSaJi9I8IK1aa5aPQXDkO3mY6IqSuMwaPNBXHaIc2OY6E63WMLr58I0kQELAN4g_lwrNWnzta1R6_gQFYODx-pET_P_9VTuzti7rYAHRoEnsE-Fu2HcQQtk7QDSDJxWkzm4pHSdhQz1rqu8rpjbX7BQ0nzxjJsfvc-41b7aNWeKWM-FPgJeku6BydPWmTwV3oEC6nlNvxusQDNq9BztefnJ-S4ju532DLztyLnS91RrAJ8f1wVs90gFqMQxXf6BHSneIcnsUgntao7518BVPL8-F69mNQ6nh42kWl87itkr8zeR3Bdywd4Ja-nFct9uG2P3F09c6OvgbGDS0IxUdZpCjC8mfRz6GIFa1rmYdhb1-VZgRQjGv3Ip2QWwS1dbNmy3s7AJ67UE8mDK9U4u0iw4VMzC7nBYIamLGfo5fILo6tdQoKbAlcpeWvWJ7HwHohZ7eqFaJBfNcQUTH-7Dad5gy2Zm__wuXRzSBO7Z4ZWbKxaO3Y3cfGOCgcAodhDaNBy763wwdz-GNbkGMgJCJZgL-PICpaH0JNJZxUNNjX3kzknGPwqp5fO5rk0LxnAQba4ugqNXjkkzd1tbdqh_Sh_G2-VyrjTeVkjj-kPKieFhX5bYbIaxBswz9paQQhhGjcnt8ypaG6MFQ9rinoApyM9XCVy0C8u3U5pZPO8vhE735oH8HE4Qkb7PjrUU2nqosj9JkmfmOKtjTY97goA3pDSApvlKWyc4c0fZv9jL7136KIX0Rya0uHkAlToruTON_CaY1zGP54mUQogIEssqqVAEpxB6kSv6-hmArEK6hqsDBLBuqIYTpzC7VUjWgXvxDQTXElBKhUfcDL11-AUS3og7q29GesWGpdGktGaeN3T3nWVZK5NBMniiFLohlI5V5WF8xoYSPaEURatyMqeCgCpTmzpMu05OnhP0QhgQ0evp4wsBvva6a9U0eR5wBHGQ9O5evxnSF6_XrOTNUuDUZHAxLd4BnEB0rmS_-27wM7J5a4VLmJIYTwbG4lIVdLUwE9hg3qG6ioY_J_wVyh3YV_hQTV7_adIRlL9Iio20EzRzhjUteDWpiUOcZvG7BIIDeTLHngBWx0cnJtXvuHkzU7v285q2ztdChlwc4FPuRSUWUmbVkOEzCeC35isIBgKTUPuN_qLsE9dwchZNlzz7pSgejZjCZYGfiSRyl6yz735OELaJL73A1WOtcC9v76RR6gq8yOwVzMtaynWerq0aw4TB0jQfMP8Sdp9hjBV7zgSvDDSzA2Dhux7hiwcCtPYsH92cPdVjJnkLe9BGl_ZLEQh7FDcsJgvFHIW1RQLKTtbuqLw3aBxPUVoDbydl3z4AcHb4tMFQFfKK774EwgKqTrqfc65QGyjHM4=",
  "id": "rs_0365d7cfe1810f92016aac5e8f25e487d0a88c69632c5a8493",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.33,\"right_z\":0.23},\"note\":\"The can is secure and clear of the table. I’m carrying it to the open center area, in front of the kettle, for a safe set-down and pickup by the left arm.\"}",
  "call_id": "call_NWHqz1tMpBMZjSOEn9ejbwwK",
  "id": "fc_0365d7cfe1810f92016aac5e94dea087d082032c33e98b229f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NWHqz1tMpBMZjSOEn9ejbwwK",
  "output": "executing move_to over 28 steps (2.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8585, 0.659, -0.5369, -0.0189, -0.0498, 0.9992, 1.1572, 1.692, 1.3136, -0.4603, 0.947, 0.6353, 0.6971]\nstate[eef_state]: left_x=0.2824 left_y=0.0016 left_z=0.1565 left_yaw=0.0085 left_pitch=-0.1613 left_roll=-0.0089 left_gripper=0.9992 right_x=0.2959 right_y=0.3262 right_z=0.2106 right_yaw=0.0839 right_pitch=0.1373 right_roll=-0.0841 right_gripper=0.6971\nstate[joint_eff]: [-0.253, -1.5111, 6.6393, 1.7411, -0.0611, -0.022, -0.0122, 0.1709, -8.4171, 9.4154, 1.3993, 0.735, 0.188, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29a0c35f5274fd8a595dfc285f349fc769383e60e025bf501b929598ac062456",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54c4e18ae722a1a807d50952b93c52fe2a29902cd9e798dfda0a269ae9aebbcd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:769579fedbc775d043b72c1002b6bac204dc7edbf8bd7f40736ccb83a0b12061",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8585, 0.6559, -0.5182, -0.0193, -0.0463, 0.9992, -0.0391, 1.0832, 0.6601, 0.025, -0.0502, -0.0494, 0.6941]\nstate[eef_state]: left_x=0.285 left_y=0.0015 left_z=0.1586 left_yaw=0.0065 left_pitch=-0.1457 left_roll=-0.0065 left_gripper=0.9992 right_x=0.372 right_y=-0.0021 right_z=0.204 right_yaw=0.0248 right_pitch=0.1911 right_roll=-0.0201 right_gripper=0.6941\nstate[joint_eff]: [-0.2803, -1.3607, 10.2632, 1.79, -0.0757, -0.022, -0.0122, -0.5812, -3.9043, 11.1111, 2.5958, -0.1001, -0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrF6eykoj8rjZrTvmRZKCsRu_a5pSdW6VSsnyqzuCU6pUct_1ptIX-iXkxwabi_-sTADQJh23C788wAjcr2AslciIBnxjwDekmrDuJscK7N3nCnGZOK6WxDiYfDbkSGrBZURw7fIBsCrDE0x2xPTqZlRXneIulZrI1ZvsCMkdza--NUiswAkmJJ9TslPa0431WMDk4DwAEAKiMpFm3J6hH0bw5m7BIYuPWWAAkgmRPRMm3MIlZFHgM4VHxGKarFsFLDVR-uY419RrkH7gyR53tpEW3JJqJZQmBg_YuGq04wSUYgseuPAacSCc9wveNjoi9_9Q43EPkCMTK6aTNRlsvi5fvO5FURrk1GmyGPMkMT8ISUlUUi1eYznlqPVfUmO4BkX9nfJdEzg8kPOcZ9M5-NxKDSpF7IMP2kNPY7-LJSoIrjgLGe5fNaSSOHFI9VwkBzTY4zgBk5DY9BLmdPE_wm1nRg_f8gLCvVaZw2UJezqF9Bxc5uoYvwdJngRTFQPwjPxb7G27zTEbY3tQKPMorlLWzl8jkY7NGyQdeEUtki3FN5iWDFe8UhpnzcrF8RjPpzKR-7uSn6Pgw027WuzFW4BcEPJ0ur1JvCOHmzVRf9XhzhYti8cTAuxLuGxFtZIxQDjXhStxYqre2ozOlIWONfgUUQzlYsrMMCDvCgTsj33eHdyEEOz8JXO8SzAJR3h-KbgrNERoVvoyOQDdwucj9Yf_Sg5oHTS1Sp0p9m4T50GFlPQHEwWPyJw9mQ8pRZZLYeKtcKDkTEPJ92YlDE8oFrJGkYs2NtvjZ9dWAHU65EFZPJLIVqjSLp37aaVTj0emg1hDPZ4WO9dGQBzlweKo-e1qNRaMpUL-vGQJG3uWJ3ERsgZ-uIPQKoKU3zDxN3xmnv0qLd8kSYCNqkUBEvZ-DIk4v3t6RK6G9pyCEcpSrob6wycC5fGSRIJFVzS_G6cjEq98kEQpbtgTcNNqlg04tX6Kh2jcZ_nfVF72YiCaZFpYYHE6AZ0IB1QNwstD_aTTW_mLogjqGNUGthuf7jXKCy-a7MPgCUWDjwz7-HkPlO9j5yfnIdXvyWEp-wRH5KWVK4gd1vGx2tpQ9uaERi333TEMR_24NkocN_WcwIFkvtLriBM4HbN0R7r7GnrThNLBaotA18IN64Z7ky7NrLvFKM-ZNsW-o6w7h7bePg8syfG6E8AI50KV15RmawGioHbuNyu82xc9YBXevemHNxdUSLmh7yVRzmsdx_05BS4oYO-fYJI_p6iad7eg81w9TV-EmFpIQfxdmxXFLEy48El3jkErCWaXPj4-6q0cdBpuWpJeA4wz8mRzgzlgeJkJSBQrhpr8jR3yht51bp1jWiC3W8tFcyOtxC-G4F2JyBUItAeuh0AIezMIV6cztQAntZbLfKLO_FGCCthIlcgjD44Sa6opPhpU-CQIZxATrCiviiLTb_osLVqwiM_pwwjKI4XE9_mr",
  "id": "rs_0365d7cfe1810f92016aac5e9ba63087d0a55dfe0e26937fc6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.055,\"right_pitch\":0.3},\"note\":\"The can is above the clear strip immediately right of the burner. I’m lowering it onto that strip while keeping it away from the kettle.\"}",
  "call_id": "call_0vYHghrjaFUQeV3VWBH1Lfix",
  "id": "fc_0365d7cfe1810f92016aac5e9d9dfc87d0a365e63c96e8421a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0vYHghrjaFUQeV3VWBH1Lfix",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8585, 0.659, -0.5503, -0.0193, -0.0532, 0.9992, 1.1774, 2.0052, 0.8604, 0.3996, 1.0237, 0.4892, 0.6971]\nstate[eef_state]: left_x=0.2802 left_y=0.0017 left_z=0.1541 left_yaw=0.0108 left_pitch=-0.1747 left_roll=-0.0108 left_gripper=0.9992 right_x=0.2917 right_y=0.3187 right_z=0.0435 right_yaw=0.1221 right_pitch=0.2208 right_roll=-0.1641 right_gripper=0.6971\nstate[joint_eff]: [-0.1709, -1.5111, 6.9128, 1.7265, -0.0611, -0.0122, -0.0122, 0.6496, -9.0598, 4.7521, 1.8584, 0.7057, -0.0513, 1.0281]\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,$blob:393923800b054f953edf92b4cdd35b92d4dd4f43c9d49b859a90abd1dfe0007e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:288129276c84d74860a97fb37c45f95e6996f1b82a4850bd3a35a6450d7d04a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c438f3b788dba38c04714bbc3be59a3ed75cf6f7713627c1a89a40e51cd29f17",
      "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 can on the burner\nstate[joint_pos]: [-0.0189, 0.8585, 0.659, -0.5369, -0.0189, -0.0498, 0.9992, 1.1572, 1.692, 1.3136, -0.4603, 0.947, 0.6353, 0.6971]\nstate[eef_state]: left_x=0.2824 left_y=0.0016 left_z=0.1565 left_yaw=0.0085 left_pitch=-0.1613 left_roll=-0.0089 left_gripper=0.9992 right_x=0.2959 right_y=0.3262 right_z=0.2106 right_yaw=0.0839 right_pitch=0.1373 right_roll=-0.0841 right_gripper=0.6971\nstate[joint_eff]: [-0.253, -1.5111, 6.6393, 1.7411, -0.0611, -0.022, -0.0122, 0.1709, -8.4171, 9.4154, 1.3993, 0.735, 0.188, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrF6k2Im7pi86AU0r--idTJyhGR6Cwn8eFkQDRt-M7JJ4Zqb1neT-UabjfJkTUheZnMNwk4JdxKDYL7hcit_0DQRQsRjBD4eKHhkDaqGxYnOW_ns6ihrvwPnI0FUp3uLOUxqgnSrHU9kBV0oMae78bNSqmEXqFlddcXct7VIg_ZLHBMwhwvBWpxxFjwzOiDcwPFsi4tz7OJ0Uj67v0DymfsJP7d6A3gFO-4JUh25dQFcJDRcRXv_DW2LsS_kuan_qyCCmbHAv8CICG4qeUOC61TP-taLKHjl4tis2pLCSxwBo0_PG2sxhYk6gcI6RT44hxIsUexmyE4Ebi90KiFH-yWUmsZfuv0FTA1WcisvrRqyeQb5mKWl2FetVpIODzDfX7MsPyjihlGd2NqRuqJxl8ujiOGnl-2IAWBn5fCMKjkd56LytUVXBQUB8SADwOrLfWyk_PgwPKbYIdROExeiZ9Ey5wkvm8qcX3iZTklbRTx1dyBZ9LdVWh03jWK8-6e7Dug_mwdwcIiU4Na7zxXFm56Mq30eDwvx-eHqH__qAL10Eou_FNgrnIMXCNd2U4ashmWTFUs0YyOoLQAy6PDv10-9ki59lLYpyxsp-zQPB12xm5Nabzs_CRyK-qTVV9W6iTnujUEFKF4aYoY6Bj9Z37ry840W900L4KQUA0OQStQc33ugDlbByXEA5lmI5TqHjBtntPVi4y9qrocR1Qu_cyU3GmJ3uad62mIlwUe7M7g_ZQ6mEhZ1_E_J0835NYCkG0qh4kLUO9qjxcneKYagtZurx9jPII1BLRY9g3bJKprTOW1lr_jqsLaedP8x0Ez8NDIN1Fpegeb9fw11_voI7jSyG7GhL7knhbEjnNy6u1QjzV3gFm5BFepKJtWdBsmuWuR06TJZ5sriU5xVMMQs4RklCEcizxrZMGFwNNzAv0C38okdbeoYq7M-9otiREd8AUG14Z8H_byRFjwvu6a9QpzFqpLAReCABFnGj_-Nm7-GbOAOj4-7sqdOZo0YYN5x2PfvUFSm1epNB6_ALS4-eZc8h2W_XfdovJ1oc-_yE8KUFkElVaTsNvyEhfjuIYQlik1z0Z995FOnNOnY9h3pCFkZE1xlYp7NA-SLsoPlwCw9MLPSAQEj2ulznxQDZ5PHVEswtwTd98x4NkMe_AEmlvJlJTUHMOWJsm9xbk1BhVYAxQl5_t70PGBPlfRSNyGyYc1koqnw-lJ_LGGj1Iq9T1ofGxpTrjo9JrWZ4J7bFoRCJzKQ=",
  "id": "rs_0365d7cfe1810f92016aac5ea1a83887d09692a09cadb2a85a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.015},\"note\":\"The can is just above the tabletop beside the burner. I’m lowering the final few centimeters before releasing it.\"}",
  "call_id": "call_UiBtIgG2d1TW7N8fxrnJgdHM",
  "id": "fc_0365d7cfe1810f92016aac5ea2f10c87d09501e13c5d7a5a8c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UiBtIgG2d1TW7N8fxrnJgdHM",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8585, 0.659, -0.5587, -0.0193, -0.054, 0.9992, 1.1786, 2.0628, 0.8486, 0.5076, 1.0355, 0.4751, 0.6971]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1526 left_yaw=0.0113 left_pitch=-0.183 left_roll=-0.0112 left_gripper=0.9992 right_x=0.2932 right_y=0.3207 right_z=0.0322 right_yaw=0.1153 right_pitch=0.2453 right_roll=-0.1471 right_gripper=0.6971\nstate[joint_eff]: [-0.0615, -1.4974, 6.8718, 1.6728, -0.0806, -0.022, -0.0122, -0.294, -7.7333, 4.9299, 1.2234, 0.1197, 0.1343, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14494721b0a49025168037d4b35dfc7db9d9c973b2fdb81d436ed32c87783f93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46662d2da22573f377fa5da0f8924b405d530cafaa0fdac39cc3dc540244584b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edd3ca400e62f266d1c9392b3cf28343bc22acedf9d9c591d756ade9934aa44b",
      "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 can on the burner\nstate[joint_pos]: [-0.0189, 0.8585, 0.659, -0.5503, -0.0193, -0.0532, 0.9992, 1.1774, 2.0052, 0.8604, 0.3996, 1.0237, 0.4892, 0.6971]\nstate[eef_state]: left_x=0.2802 left_y=0.0017 left_z=0.1541 left_yaw=0.0108 left_pitch=-0.1747 left_roll=-0.0108 left_gripper=0.9992 right_x=0.2917 right_y=0.3187 right_z=0.0435 right_yaw=0.1221 right_pitch=0.2208 right_roll=-0.1641 right_gripper=0.6971\nstate[joint_eff]: [-0.1709, -1.5111, 6.9128, 1.7265, -0.0611, -0.0122, -0.0122, 0.6496, -9.0598, 4.7521, 1.8584, 0.7057, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The descent stopped above the target, indicating the can is resting on the table. I’m opening the right gripper to leave it in this accessible position.\"}",
  "call_id": "call_y7C2eO7c0PfPSK8QrG7smCli",
  "id": "fc_0365d7cfe1810f92016aac5ea69f5887d084f146f38506e7d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_y7C2eO7c0PfPSK8QrG7smCli",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8585, 0.659, -0.5629, -0.0189, -0.057, 0.9992, 1.179, 2.0739, 0.8482, 0.5072, 1.0317, 0.4725, 0.9956]\nstate[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.1518 left_yaw=0.0127 left_pitch=-0.1873 left_roll=-0.0135 left_gripper=0.9992 right_x=0.2925 right_y=0.3203 right_z=0.0274 right_yaw=0.1223 right_pitch=0.2371 right_roll=-0.159 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.4564, 7.1043, 1.6484, -0.0513, -0.0317, -0.0122, -0.1162, -10.2085, 4.506, 1.3602, 0.3101, -0.0024, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dce34f774672cc0e89c59e46deb63003348ae4ba11cef40b36bdbe983d2f87b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a72d22211689a548b390efb3812938bcb648b413199325c8f74dc503cb7896f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a7f2b972c63aa5596788b66906c702214b04e137c322147ce169fb6868668fb",
      "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 can on the burner\nstate[joint_pos]: [-0.0189, 0.8585, 0.659, -0.5587, -0.0193, -0.054, 0.9992, 1.1786, 2.0628, 0.8486, 0.5076, 1.0355, 0.4751, 0.6971]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1526 left_yaw=0.0113 left_pitch=-0.183 left_roll=-0.0112 left_gripper=0.9992 right_x=0.2932 right_y=0.3207 right_z=0.0322 right_yaw=0.1153 right_pitch=0.2453 right_roll=-0.1471 right_gripper=0.6971\nstate[joint_eff]: [-0.0615, -1.4974, 6.8718, 1.6728, -0.0806, -0.022, -0.0122, -0.294, -7.7333, 4.9299, 1.2234, 0.1197, 0.1343, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.21,\"right_x\":0.27,\"right_y\":0.13},\"note\":\"The can remains on the table beside the burner. I’m withdrawing the right arm upward and to its side so the left arm can approach without interference.\"}",
  "call_id": "call_q06BIn9UxNxYDMJlrpBVvrjR",
  "id": "fc_0365d7cfe1810f92016aac5eaa393087d0a73c401c67edb41a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_q06BIn9UxNxYDMJlrpBVvrjR",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8604, 0.659, -0.5842, -0.0189, -0.0612, 0.9992, 0.8696, 0.8925, 0.54, -0.1604, 0.7914, 0.2073, 0.9968]\nstate[eef_state]: left_x=0.2744 left_y=0.0017 left_z=0.1476 left_yaw=0.0152 left_pitch=-0.2105 left_roll=-0.0158 left_gripper=0.9992 right_x=0.2703 right_y=0.1309 right_z=0.1941 right_yaw=0.1018 right_pitch=0.2295 right_roll=-0.1606 right_gripper=0.9968\nstate[joint_eff]: [-0.1573, -1.1966, 6.8444, 1.7607, -0.0757, -0.0366, -0.0122, -0.1162, -1.935, 10.2085, 1.9853, 0.1978, -0.188, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e06e03462ff5ec717f8ab10d0f6f06ed363d98f44656b46fa244d32a3d83e1ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd5a7c125f0cdda8c3f52228b55e4a9df5881f7cd639965c7d7a4780416a22e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaf06f2a8845566f746bd30ecfbacfe127eb91c664fdf6f796d6761411dbd009",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8585, 0.659, -0.5629, -0.0189, -0.057, 0.9992, 1.179, 2.0739, 0.8482, 0.5072, 1.0317, 0.4725, 0.9956]\nstate[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.1518 left_yaw=0.0127 left_pitch=-0.1873 left_roll=-0.0135 left_gripper=0.9992 right_x=0.2925 right_y=0.3203 right_z=0.0274 right_yaw=0.1223 right_pitch=0.2371 right_roll=-0.159 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.4564, 7.1043, 1.6484, -0.0513, -0.0317, -0.0122, -0.1162, -10.2085, 4.506, 1.3602, 0.3101, -0.0024, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrF60tfRQ2D0f6Y7hLfqdRNoobj5fOH3f0kPfsY0TLNdUGihWx-sBHQfw7Tl4fIykj_d84fQNMWU_NKyXtCAMGuQNr0rSD4BonKfCpba8kI-QIddyT5dh_TedmNtE1FpunqUT64EBYTCii0B14IH9X4qFCQ-gBd6WR3Y8ZWGPnBkhiXBLy7Q387RXuC7vHBhpMKwegNAGh0iP2xaDDRkl3b45gZTgPzzmJ0w6q0HjYGDRgG5SELPTp6AcFNT9OqiKQlteJO-YfYdpQEWWPy9YcaXWU_nSlQHRoaaAQby8Qa3gm9p0ynZkUUZcZkbmezb8iT-Yb_KakDPQn3Eij9cMZykvCaez67_p1A9bLyH-HP3m5dZoiyuBNZ9zxTYNcLHoODWF_H0z5lHHRjXV6Xg228o1ONzc33_-B59TxDUrWcEYHfUX9Cs0Xo0ckXBKSQ4yl4Q3PlXJhHrpvF5pViPqskjskPliavCoUkR18-pLaTM6_WKJw7icZi82HmIL1yB1IPQtnuN0J5GCcdepAj2M-tD9Wut1shlhXysYgVeWc123Yv9nwuAXSwXH3HxTgwWmR7aTO7a109QzF5iPUsxm165w6JDB8tdJpsRROc_GYBJN8fNWVZugnnbVsPCnhCJUkhClksPzp16FnU3HQnGFzkN2jrIKOwl7rnvp8Dp10qxLSOpTf3OmH7HoxxapPjticpH6HUwrfygrmI2SkqTjfqE1yoWYWknph_FIdQU_nyVXiMMPPJCA9EZfXb1ABkPLSEebeoCrUL5GyH1aMoxJX53qoOjJC0IWTZHDXVUFR7P3kIQ6Hxu_Lx8jGn9vjXDiH1SPj5W5JtnhCXEa9ol1X0vMiPO-f81n_dVIJ3lRYpHlUDWjot1dSGwCKlhmHzF7OphFHZGfzPze5HYMqypZWSR65pxaUQdo4UKyp3T9uLl1bnEG43rE0nnztAqQKrLMDjqClZlwdLLcw-k9UqMP6QYmzui3vepKwEXwxAnOhYIDyKyxFqkvxJapmie2AsXiVd4_3AvKFfCZY3ZxfHh3_5EHtIjSrso0CmprIfvkndrFSHP2HGDNR1R35SISryKdIzb0nl_Pwcs4yliLtnad2LGYnbonzxO2GjCfba4tyhGn_uZwgm6-ow9mZVVWsNTNswgKAgUFHPxu-YtceKBt-EDRDhprYzN6OV1W7TRTLFGDawVnKWwVwRNxO3fWTCxF6CpAd_isUJSbxAGc3DPsDbXiowTjnY6K53Ja8Uq8l62E1T9ECDkfefY__8RnaR3gBN0vFThp_D8tEt4XcYfm8WB8hGoC5W2rzC1hotX0q72yrl0=",
  "id": "rs_0365d7cfe1810f92016aac5eb0aeb487d0b3661874b2f55584",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.35,\"left_z\":0.16,\"left_pitch\":0.2,\"left_gripper\":1,\"right_x\":0.292,\"right_y\":0.001,\"right_z\":0.18,\"right_pitch\":0},\"note\":\"The can is now lying fully clear of both grippers, just right of the burner. I’m bringing the left gripper over its middle while parking the right arm at home.\"}",
  "call_id": "call_LgzKbL4CvrEvGzieBu1ZlfDY",
  "id": "fc_0365d7cfe1810f92016aac5eb1bf0487d08468a585a7ea37a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LgzKbL4CvrEvGzieBu1ZlfDY",
  "output": "executing move_to over 32 steps (3.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.076, 1.9091, 1.2785, -0.1314, -0.9417, -0.6743, 0.9993, -0.0082, 0.7883, 0.5716, -0.4301, 0.017, -0.1894, 0.9969]\nstate[eef_state]: left_x=0.3506 left_y=-0.3413 left_z=0.145 left_yaw=0.0036 left_pitch=0.1566 left_roll=0.0049 left_gripper=0.9993 right_x=0.283 right_y=-0.0017 right_z=0.1566 right_yaw=0.0762 right_pitch=-0.0661 right_roll=-0.1566 right_gripper=0.9969\nstate[joint_eff]: [-0.5128, -9.8393, 8.8547, 1.5995, -0.6862, 0.2076, -0.0952, -0.1983, -0.8821, 10.6188, 1.9707, -0.1636, -0.0952, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b7e22236ef37f354b024e9eeef327f52648df6ae91efccc4d90f2b6c76e2b29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42d3159f2b1833f0c20f46d518a88217c40c0e839f48107c665c121c6c1e906f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b7e0c31e15c9f17550c1430f7ff0de2dc4f4b3506eae78ba6bde6be89f85665",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8604, 0.659, -0.5842, -0.0189, -0.0612, 0.9992, 0.8696, 0.8925, 0.54, -0.1604, 0.7914, 0.2073, 0.9968]\nstate[eef_state]: left_x=0.2744 left_y=0.0017 left_z=0.1476 left_yaw=0.0152 left_pitch=-0.2105 left_roll=-0.0158 left_gripper=0.9992 right_x=0.2703 right_y=0.1309 right_z=0.1941 right_yaw=0.1018 right_pitch=0.2295 right_roll=-0.1606 right_gripper=0.9968\nstate[joint_eff]: [-0.1573, -1.1966, 6.8444, 1.7607, -0.0757, -0.0366, -0.0122, -0.1162, -1.935, 10.2085, 1.9853, 0.1978, -0.188, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrF69Hne7Ctl5KPldRxN9TPDRQaVpPiMREIB89C7_IaTihH91483y8KqiMv9i6I5kz7_f_Z4jBjruPclSicllURsNrXDPV2ndFQrT8FOZkD-QeW-SW7fQHZKbRcmfDqyWJ_FR8cUeWjlKem1dmnUY2fSFEJS57ctqWgzgTGHQVxe-B_gO-tp75WksXZlqZxJYFqP9LoicczDAu7jT7oBcWVBlaQ9yckfl9m-3vDs3yhHhWKDIsBwhTJP0VUbwG6UhGK-3-VXBSamIuDWHnOP1lqtdnDMt-fw6ATBZb4p5CC3sA5i66Yo3EEbvUIgqoVPfZ14NWmWvj4C2l_pu8yjETYpADcw7EvHpvHoEx4ibsCf3U0dHJBqMMGke6TUpDU9bUGl1Z_x8gyMnjeygY9nrUqqbOcpU4O1j-DtbuxZQhP1Lr-jh6fOScUu3xSVZjeijur6nShZMhO6VBV_QDpa8IoldAEz2lnYRqrFaRB5qpy8R10etktF5n_aXQzjERwwcRwfyat_i21xG60ppSmSUNFf4YOyYTupXEdFaM3dWcH8GiocFL8YvBBl_VUfUhwPWqCzW91Bx83R5saV9ZjXwq3Vbk-Z3GWItGO3duAW76SZzaYkku0HzWqI9V9BNX29G9Cow6-V8W4RNicAvde4KvhleKK8rrPQk0ykChLNjSjx0rc2fjFpr_4pgtUz0bbrZvUC84zANYVdWc-x6YyUsSh1_WxjD0si7k7v-HNwkW7p2X6uxpoNRT9GFAEAtxOMg5_QSqgmPUiffbfqHhd8ReAt6DXT_y9M_9jSAg4-52235AzdGcc3WnSd0BTMFrwAHsSJ5CQsz-tzyAxm8T_axV9xjt3b98NJu9xWcWyylStrTihgKyScI_T0d99uUuopFcATAMmknsLTxcrVgFWGKwGen2ZWjTjK7_7exquPcLXsOOZCXTcEwpuKgTCH07nywYM_ybfrIaqSITqInDO9zOpWcWAxwFbhc64ShK7uRjPvEBW4BF-JpRJf8ur9ItCOVOvXpOHP7keqpdUGfQCOCDrA8N0gYXzp0mhqxTphRHcvwvDZns5roWK76NVGdn_LvNXlf-D76CUrdg4fh8OLdguVVc9Tlbe2pnT-EILwEIAh9FOhl3K1lXIot7CMLwSXyhxh-6dFKvmN0L5y7EWYZT3ZNgTi_BpFlpmEU6N8Eqv6VhA--DgfBb1Rrsizy4VasoDiLaDKvLElzGV7sH0NccbHGSay7kT5feWwmhSS5kUwxQtMFmXsX964DwHmhxzYLJJtQLORw-ZUig6DJpF0fIXlmBXl3hJSFD5PMUhrwbwoSMZRzYbEJvEN22P33MNtf08IUs823g9qoaU4sWqKGK0Ss2OsKDmIVddWB-npwL8YntwK7Rb-wpTW_vzbacqi0Zs4V",
  "id": "rs_0365d7cfe1810f92016aac5eba057887d09d14732ea796e943",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.325,\"left_z\":0.055},\"note\":\"The can’s body is slightly left of the jaw column in the left wrist view. I’m aligning over its center and lowering to wrap the jaws around the cylinder.\"}",
  "call_id": "call_ZXZpb72GLxHYEZ3e4iq7ou0w",
  "id": "fc_0365d7cfe1810f92016aac5ebbe8dc87d0b2ce3fe95c99eb69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZXZpb72GLxHYEZ3e4iq7ou0w",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0306, 2.0544, 1.0981, 0.1772, -0.9127, -0.6296, 0.9992, -0.0124, 0.791, 0.572, -0.45, 0.0067, -0.202, 0.9969]\nstate[eef_state]: left_x=0.3594 left_y=-0.3206 left_z=0.0551 left_yaw=0.0029 left_pitch=0.1297 left_roll=0.0509 left_gripper=0.9992 right_x=0.2802 right_y=-0.0011 right_z=0.1522 right_yaw=0.0877 right_pitch=-0.0886 right_roll=-0.1582 right_gripper=0.9969\nstate[joint_eff]: [0.7316, -9.2923, 4.7248, 1.1209, -0.1392, 0.0171, -0.022, 0.1436, -1.3607, 7.2, 1.8291, 0.0659, 0.0855, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:677a09f1b69f21080c911705413d87319279ea1c149489127cb5411b863aac68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0645b6419c16226d465345fb45603cc3af10d3df283feb079403216b40b92a81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7e4d6ee08316c953544b41fc0d282cb14ece1ee474ea131fd60e0a808dbdadf",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.076, 1.9091, 1.2785, -0.1314, -0.9417, -0.6743, 0.9993, -0.0082, 0.7883, 0.5716, -0.4301, 0.017, -0.1894, 0.9969]\nstate[eef_state]: left_x=0.3506 left_y=-0.3413 left_z=0.145 left_yaw=0.0036 left_pitch=0.1566 left_roll=0.0049 left_gripper=0.9993 right_x=0.283 right_y=-0.0017 right_z=0.1566 right_yaw=0.0762 right_pitch=-0.0661 right_roll=-0.1566 right_gripper=0.9969\nstate[joint_eff]: [-0.5128, -9.8393, 8.8547, 1.5995, -0.6862, 0.2076, -0.0952, -0.1983, -0.8821, 10.6188, 1.9707, -0.1636, -0.0952, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrF7DD0Lhz5axnuWjqbUavIx5-fFHrGB71ajoZQDoyJ_6t-S1cUF8h6W1_zpoKHxCwFaZQEMV_cp7h220PpjDVSn76h5fZ4K9NeNO--M1i8fgW1jwRqUhS8tKwu2W2Krs3_x1UckTF5MPXeMx6--mPIM9RuC_S7RkAmLL3G7q0uDTnEATHBLPdh0cMofi2WQr-D3IYkK9qHB7mYgXqFGtIWCvEFcZvH5gnNqzCtMID9N7Cb5_K9KTYjw3pbTnAXYuxulm9fsVyXXGgM1YQYCfCNAwomzU7gaKjCnZ5P4P7HHN6Pv-r7uoT215BjV8wUeJ9v-eq6vS6C3WObwWA95DX2L3EAlBfpTSTzeDsLc7vm3aE2g8XEDhNvzAg9Vf2Bs7Xn_QidUFZ1ssWEktD9UxQo9M5M_G-hRLAHTR8zbdXFnFyqgAB2dvn0OiXUx-w2-P896bErVKXUAKvqqJMlMyAxqE3u37qxNLVdky_hM7rqZsdFifJSpKsx7XzLQmvQqgHsqoptM2LKhP7oj4hBwSjqVkFKEhxnqFoTg19iUcJ2DFct5g6Ar67NYhdfcw80yoV0tjRHLNf6kNOZzAFD1215qGqv6oynQPlu_F1oy-kIOjv6RRTsnVv8kSWkSoqi00pgIuE38odm7q33CVMfJl3NNLE9IA4bOYkNgnV-Su7dyEi7qaWV8c7ckfQ2TRvS_43lV7fJyDePExFTMdoMQ9dldTsTp2c3itUXjuJ4X-Smx0AIjJCupQPK4bn6uU6YwhdysVqFmPu5Q-l0IG_52G9bSr-rjV9Y2ajD7i33k-e4tlfLwxd3JY878NQc7QbbPDOTMaqj1NsjDJzmIh-l9zLnZ1u0XO4vacdrZq5j9ZdKzYzNfqrrMC3BDHAcH1wzPvf786HiAk1bg_whkBuXDlU0V762Fl3LqSx1EKHOH4E8ZVS7Tp4bs4P3UBer6NjDp8jv_Mk_iqYjfdcdIZcAO542hcGdN87KB-JUVAn8b8t2e_eX8SF7JuurTQipnRqjfstB7nNoO8b_bsY6ifbggNQLfoaepdB2DAsgCjWr5INoFUoPfju4k89nGYTXZujpPvITt-y5aQK5vccBH0uG9dDdpbSh-XXSAniriNRw5K54ysTRSrnU-pflqFY6q9kGji_-_kWaLrOqmv-tZHV4VQocFPYivGCG6i4vSZPFP-DVhKq93X6cFi0-BW_cZaq7yQttdqrPyb7EJXz8SEa0QnSj7A8_u5kbctAnrngDTfiEwCeXtxrt3DrRAJ2S9-kj3hsQ5WWNjM1qZcX21qY_MAYMxkoxOgkFBL1n2PA-C-TKauGx9-AiKtqMQpVB2u0LKO-F1WcErWk7lw0vel9Ep40KrUIlHh2TmWfHhe9eaBzYmNpPE=",
  "id": "rs_0365d7cfe1810f92016aac5ebfd25c87d08c62ac466790484f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.313,\"left_z\":0.03,\"left_gripper\":0.48},\"note\":\"The jaws now straddle the can’s body. I’m making a final small centering adjustment and gently closing at the can’s mid-height.\"}",
  "call_id": "call_hSdPmzAPLIOjiyANpzVNXef4",
  "id": "fc_0365d7cfe1810f92016aac5ec18cb887d0a3db249c1f2b0ef7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hSdPmzAPLIOjiyANpzVNXef4",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0267, 2.0602, 1.0657, 0.2996, -0.9218, -0.6216, 0.4846, -0.0128, 0.7914, 0.572, -0.4557, 0.0063, -0.2031, 0.9969]\nstate[eef_state]: left_x=0.3636 left_y=-0.3222 left_z=0.0592 left_yaw=0.0199 left_pitch=0.1776 left_roll=-0.0121 left_gripper=0.4846 right_x=0.2794 right_y=-0.0011 right_z=0.151 right_yaw=0.0884 right_pitch=-0.0947 right_roll=-0.1582 right_gripper=0.9969\nstate[joint_eff]: [0.5538, -6.8171, 3.6308, 1.2039, -0.1783, 0.0024, 0.2271, -0.0342, -1.1556, 6.9675, 1.7167, -0.0366, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcb33e84b633950db4abed573bead8d8205a726212f821a3a9b15a9356264953",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e74bdd92aff5b3be9900c1a0c9d3bb43eea26e5e9ced8d41d24d47054ed60c02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d034167d036f54888248f3e989e29b43fac3b01f267c36f9a13c9ab922c4b6f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0306, 2.0544, 1.0981, 0.1772, -0.9127, -0.6296, 0.9992, -0.0124, 0.791, 0.572, -0.45, 0.0067, -0.202, 0.9969]\nstate[eef_state]: left_x=0.3594 left_y=-0.3206 left_z=0.0551 left_yaw=0.0029 left_pitch=0.1297 left_roll=0.0509 left_gripper=0.9992 right_x=0.2802 right_y=-0.0011 right_z=0.1522 right_yaw=0.0877 right_pitch=-0.0886 right_roll=-0.1582 right_gripper=0.9969\nstate[joint_eff]: [0.7316, -9.2923, 4.7248, 1.1209, -0.1392, 0.0171, -0.022, 0.1436, -1.3607, 7.2, 1.8291, 0.0659, 0.0855, -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": "gAAAAABqrF7K_D4TseRmjU83QxWMFDytumAZywDU9I1qTLbkKARFd3NAmVGhyGm9lSytGtlRRVt1afmF0Lps3FGSlRBBSW99s-zG3ef3nDe-PPo6ykwsXGU6aPyPMmeqP2iN_g_apDSSljLUx_2SUYbIkOOxgbGUViJPrvCMpTbxhDN9yrDhFNPPkx0rGcTso2SksMBEWV-5LiY9m1btvN6O88u2-fKlKdm3_0kA_O1Tz1OuMl1NLbi19bgNFzwYujYb4Y5bWpcegz_OPri6DDlWe4Bxvd6RQKDkPbzZuJ4rzM6jGqKI_rO4YH49JOdw4urdNrkkPDrgFqNh4qatkGTwDTHvAj7kH5_QrDJENIMtCYAyZiE22OFZE05YtDLNqdDQs3WBVMEtPXfogtsn-BQHkHasH7A8lseg0jzamYUxG6vwT2niAMZ2Evk6R3Y9OKki-mlodnZZumlWN0OJAcg-s6e6VmM3-STxu-y2178KjrJHDf_qLsrrn0G_Jn2IeITop-TiV7PUJqxcbZfDHvpvAtoya3QGU00bG5MKCcKsplhKuO0t_nNSHZ9wuZgG1NxnhJhXgVn_8KUq1mXUtO3dTevK6AHZkaQe8EFBq3XAv0xWzDQrV0ylK98jYBZN6ICAmcOpDRggT5BdRJvnV2v32GOWfDp9Xl30Wavp9tfUV2TbtF6RA8A-8dJs5bGS3t8KNLXO6vXrw9t5UTPWtNgSgOhWu4K1bfJYTUSvvDY8sb8GUJU9AfoSBzA5npNQjFKHtTfpo_W8HMyO7BIrDMHsC5yqnhwBJ3umP7eYjoX0IazUJDpMOM5E3UoG8PH0Q_v9aibMVdXrkX7FFLKTdIf2uvmeWU17WwFVXB9pVVbMG95hhDnTNKHoHbecJ12Xb9kyM0FhRABVGbIDt2GetswIjBr_g1hMrWjWDotX2ALlJyA_rEh2uuog1_ustevwTpCw6jJ2PoXN0hWtau1SJAUTQ08tsKcOALZXh7yOHwu4B0CkRo44_Hwvhri6aBdrtCeBS0FPiqib5hkDhouehboy1_Dwe67v9wcY8UKHilAl-Yf1OuER0HsxCCqbEttLNbdR04g51OQUoDqyKkTfmRyKZDw3NC2Flz9JzIjpXwLBKejtjF9FiQMoJsfoPBIHzX8l-7RIceeaVyz9s-eOWMtsBRhyY0FBKNEkP7BPlrO6HWDtg3w8LymjeP5nivThb6VjknsvEIYjGitgr-lxBtoLpzONPLQ5lTq8JR8HbQAuN7VkjYAJfovZ2in4c8RO4wZykJGH2jq5pMn_phWKjHnnCbY8mXQQnNRAgtb4KU9I68rE5BKnuCDP7MO1XAxs6je9R6MV1wUq2kUGRixOfZlgYOun8vlZwMfz84AtfKOd3mtL44UvoR1ki2heq0wap8LtbSjqamT9LJc2vUgbr3zm4QN_S-ntT79nu_PJjPsjsYfPzGSnJgZl8CWXxf6-oF93ljb62nO_F87tSos8JJDHV5w4Z1qXeuz7xAPyYxwoGIStuVbbGRLmg_Fc9gDRM2ImZnZK1RwQ-EPFOFmtE34I0JuRTAw6ltVGBfeYR2c6EkHZGKzl9UXhMos8Jh7idUGOFfo3CX8X",
  "id": "rs_0365d7cfe1810f92016aac5ec5fdac87d09b6203a0d92e3ae6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.09},\"note\":\"The can shifted sideways during closing, so this grip is not yet reliable. I’m reopening and lifting slightly to center on its new position before trying again.\"}",
  "call_id": "call_ru2u42tLrJcaExTsRtFO937J",
  "id": "fc_0365d7cfe1810f92016aac5ec90cac87d0b38b6ccfd88a8190",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ru2u42tLrJcaExTsRtFO937J",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0267, 2.0262, 1.0725, 0.2028, -0.9249, -0.6296, 0.9958, -0.0124, 0.7959, 0.5701, -0.4782, 0.0063, -0.2035, 0.997]\nstate[eef_state]: left_x=0.3597 left_y=-0.3152 left_z=0.0638 left_yaw=0.0184 left_pitch=0.1513 left_roll=0.0306 left_gripper=0.9958 right_x=0.2757 right_y=-0.0009 right_z=0.1447 right_yaw=0.0893 right_pitch=-0.1236 right_roll=-0.1555 right_gripper=0.997\nstate[joint_eff]: [-0.0615, -13.2171, 8.0752, 1.5311, -0.3297, 0.0904, -0.022, -0.0479, -1.5385, 7.1726, 1.8095, -0.0073, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e0e51cd1c11354b90335ee3311f22fb740e3b3b80a8f37ae1f0af51cca7feb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9411c3cb917c9d66f9b41990fb5d6afa342ce7c3dcd0adb81694125a54bbe58a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fae2e94e568cf2b0e2d49ded2061588661ffce5fb18e077b2aa72c5eeafa509",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0267, 2.0602, 1.0657, 0.2996, -0.9218, -0.6216, 0.4846, -0.0128, 0.7914, 0.572, -0.4557, 0.0063, -0.2031, 0.9969]\nstate[eef_state]: left_x=0.3636 left_y=-0.3222 left_z=0.0592 left_yaw=0.0199 left_pitch=0.1776 left_roll=-0.0121 left_gripper=0.4846 right_x=0.2794 right_y=-0.0011 right_z=0.151 right_yaw=0.0884 right_pitch=-0.0947 right_roll=-0.1582 right_gripper=0.9969\nstate[joint_eff]: [0.5538, -6.8171, 3.6308, 1.2039, -0.1783, 0.0024, 0.2271, -0.0342, -1.1556, 6.9675, 1.7167, -0.0366, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrF7RT_PleVrAe345HJckDswSgJRSsebE-zAx5mIhObHEg3BBIidQDUYC1EJQ-jrozDw3LzottKnhwoXHqYiEtvCXhhoDZQ7iu10JM-pLfOJ2-ARDDQaUzSbrRX0X7Nrhv5Bhq2ZU9MoWMt75BPXzHk3TQ6ECxDXM_7Il3MM1hKJUz6mYXKsrivhfYDB93JCF9bsW-i9BS1xMl4sXqXfCcX7TVfsIJSzI1_t8PWqoqDJlY0s8C8zxvn6tyJYMjHlNfb4kHu8kC1Ompv0aMthCNhwR9T10qKTH58oymBkSV0gXvtDphSSX3VObrmigbiFwRP2GHkep_wsbleauqhhL0Qv3SmCeGJ-guwzeZcYcZWFMwRx7lmzqsFDasamcY8tBWgE4Rwho_4PD266v-XlnxFZOIJaLtnpLaslJcli-PGv44WryQBsxCereqZedMwzMzAewy2qYb7m93lgn5wnppgk6VqkqKBQJ6zzRsGyxNJN6Qmmkg3gvcWeu2otRAOwVfjHffTw-Q_3jo7dTYdkXkRFJV7GqC6Apm-Jm7I0Kl6cMQo-8WW-rG_pPcVbC3vx-1zlfQQIaovZTX7rJmbjLAs34nA1BYxiDIcCvGUGai7brNUJKyYKPCHQufwCYJDVgF6eVHriYF9lXt4jHlomUHRecoIY5JZeguTTRzk0tpLjnGVrfuC6C550qDf7lVBhdW73-Fr3gElwc9RP89WJneQb6tU6xELRyWml4I2BwdRIn1DogrMZRXZfPxU_SNRbJrFRV4pz3VLCtZbHmeyXhJlTxhhQHCiAz4QQJw8UlYgJLx4NEWqfWxJTS1GOXKrkQrwm2zTt_v9lkjd66YCbZzoGUa4mobBguqqCN3lAPjZPPPdVCheZ0MbxQIewk2ObVzfrK-VhTTnWth7ibrysZhz_vJMplFEBEb9iYRK0hsibsbxDRqC6JB1diu7XvC4xtN1_Ad0KDl5LJhQXEZmJUD2zWiPFUy3wOaDD9_0peqkOgZyAf28SJ25hbmfXWPjqPjcThaU92HWIAxcUcv5JpkTYX5JpeKyhoFRCCmzC9cfmqL-Xf16lnI1hA0QGOVYYJ49KvTUaes6t85YRlutRh199whw_xai5xwA8NsnrvxCYoDk5enege_QW-z74Yud3IIeMfHsx0h2oNumBen2NZyOC4Y4OHFT_B5uhSDhDBuDSHZgdnAlsXWAc2Op13dhggRoUVtTmHNdh33m1Tz1VMvrd2UJDCZBxTzYNZnpR68RceJUyY0rRK3vpGeujE2SCFIZxDZ90f57RsuiTVxv0hBqiutJhsJmpZKOcishyAiDRgQkIqAo7Yaq8u66uSetoFxwLy1mjQH2NVHs2u7D490ylKOflSv-5ZIcNZLD6sF2LD40tA25HzrKlcchRm6dLYOh1HYu5N-h6bonroF4Gswn7e80sIsUBEZZAjd1GPFZV5uDsR6JrEtBjIwCxBouXwr3-z1WkAgc15LCLb8ArzTXBYUV87EFitGC3RP_tHe6u37wxbBr-5rT0EA2GE_g4pqFJ-VsgQsvRQec97makvVKbO6V_HbfqrrmCW91kvG0azmvM=",
  "id": "rs_0365d7cfe1810f92016aac5ecd082487d081cd0ef1ba8e2dba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The can is now centered between the open jaws. I’m lowering straight down without any sideways motion so the fingers can reach below its widest part.\"}",
  "call_id": "call_ZbUXMITTItONBotQJg40xIE9",
  "id": "fc_0365d7cfe1810f92016aac5ed01a7487d0ad39d137c57badb7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZbUXMITTItONBotQJg40xIE9",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0271, 2.0533, 1.0706, 0.2451, -0.9329, -0.6338, 0.9969, -0.0128, 0.7959, 0.5701, -0.485, 0.0059, -0.2066, 0.997]\nstate[eef_state]: left_x=0.3615 left_y=-0.3168 left_z=0.0576 left_yaw=0.0276 left_pitch=0.1628 left_roll=0.0178 left_gripper=0.9969 right_x=0.2746 right_y=-0.001 right_z=0.1434 right_yaw=0.091 right_pitch=-0.1307 right_roll=-0.1569 right_gripper=0.997\nstate[joint_eff]: [-0.0615, -8.0342, 3.7128, 1.0672, -0.0024, -0.0024, 0.1001, -0.0205, -1.1145, 7.1453, 1.8388, -0.0366, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f12f55e3cce8dd5a60fff999a0240a32dd23934d99b8b4c614db62e7ccf9fe2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:698d09fd6c1e526ae0da66841dcad6ad8bd3ec3fd677d10baea13abb5fc67a27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0ec01d0f4a3472add1c5021e556512365158fdf1fafecb10819bf473400a3f2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0267, 2.0262, 1.0725, 0.2028, -0.9249, -0.6296, 0.9958, -0.0124, 0.7959, 0.5701, -0.4782, 0.0063, -0.2035, 0.997]\nstate[eef_state]: left_x=0.3597 left_y=-0.3152 left_z=0.0638 left_yaw=0.0184 left_pitch=0.1513 left_roll=0.0306 left_gripper=0.9958 right_x=0.2757 right_y=-0.0009 right_z=0.1447 right_yaw=0.0893 right_pitch=-0.1236 right_roll=-0.1555 right_gripper=0.997\nstate[joint_eff]: [-0.0615, -13.2171, 8.0752, 1.5311, -0.3297, 0.0904, -0.022, -0.0479, -1.5385, 7.1726, 1.8095, -0.0073, -0.0513, -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": "gAAAAABqrF7X2577xmw-UJjz-avLDnuBdVo5gjU-4SUx-mpPQ1IUX31JZwgcHSosmMdbA3Et9w_GRIXUPUm3j2B2RfqW5pzlBjy66aPwAO1F2g0CNW2Ue_on3tXYlHsF41XrbK2SKI3yvKQCe-Oid3WQVbSY6MGy0iL_BsfE05i-zLKyiIQdWvMVBH0Jk3LQ_sSuMQ6F_bZTxtvBBYv6mfqKN3egEGVlD67Au6xhUMoYycJfG2uAj6lLjtw3qtU6N5wj2ElmdGN1qDAZRkJysItBatt5twzMgppA9EztszlkdWWcRUmDPKT0aAFlqrhfI5hFGOj5Ukw1t253zB6NeyNo0mDlJBBnByAd85I_NnQeFtDOoHm1vYZfcxoPdpVayhM4GR4yPj7RHqgtU0-J39vHfHoE5LedSNBELeW9pMBZFvXIupscTBnCVRZjRM4eq6bQv7JI2hZzBebTBL1hRnZKQfDekcxBnR70Y1BCaJQohMlqhiBoKGZ68hyEvn0oUll2Gbx0iIP8bZbRWAIHxc2htq_woDqohE66RZ2xL8zW0qViXrvcq762dxUhowu1AC3LMe2nmKXzpvBYpFW-Na8MlRD0uUjmjWIA3lsODv7b_fB270k9g4fERLyrWXLUTmsj-c1BtJQPACx6_x4nETU8Zrv9swqMN5SC6fRgseQA6nqsvMSEDqYmOldkCYXHbYlkEwi1srNRTXNMmywGGyjJLmUak1QdV3kCeli_lLhSWKcDLHad-G8aJg4Mcf1ZtyrBeD7j8JUrd7eF5fdNZ3HQRznIT5GmLBqCI30yj5d1k5Evqx-2VF_m05n0VYMfjSjLMpF7YvQuQ2GP2xwk3Uup67eu2ykQg3iUAEbR_paAZrQV70nzP-3MQq_RRtUtAxRs-oF_W1XDtKPnhg2js6eTe2TiBZALyyxxiysBff4nLSSrByHeIlDa3E62VIk080jbDG4PDVUtuTqtkY4fUw5Y9ODxKl_eYWlIYBFQRKUOylDvEaPlHLjlPEtxtv5M-JD4bO7xLTm6_e8nzbLYkvgAxhgCyK57Lx17SvY4QfedjE8Tp0scyIk5SVwQW8fnl9LwJw_3d6paJYbRUoebfxPcvKfii8PxQVHzP1EijMEU0CZk81Yf0ojupOI0vg7q6fbpbUucQCUt4-_delqbdxGlFuBeOCBOCoKs6hal5q2agRyarzmxPKUzlOAKgLXe9VeBLHqI6-fB84PdfpszNOMjDtowkfGqQd-2-X1Dhh6B4ouNmD0zou0vYXv5uQZ4HfUPmFmuhBEaW11ozXuA1WAP4zIPRIahSYkOp8L_WBR8EdfDZfh7ZxpasEYEJJwZt5oMVqeIt54_",
  "id": "rs_0365d7cfe1810f92016aac5ed4211887d0a98ff3482cdd4b83",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The can remains centered and the fingers are down alongside it. I’m closing the gripper and will check both the final opening and a short lift before carrying.\"}",
  "call_id": "call_KKKAnajULAYK4qipEwPpxSFi",
  "id": "fc_0365d7cfe1810f92016aac5ed5ac1087d0939066838447e97e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KKKAnajULAYK4qipEwPpxSFi",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0267, 2.0602, 1.0706, 0.2932, -0.9634, -0.6373, 0.0111, -0.0128, 0.7979, 0.5697, -0.5003, 0.0063, -0.2066, 0.997]\nstate[eef_state]: left_x=0.3653 left_y=-0.3166 left_z=0.0637 left_yaw=0.0578 left_pitch=0.2002 left_roll=-0.0124 left_gripper=0.0111 right_x=0.2721 right_y=-0.001 right_z=0.1399 right_yaw=0.0909 right_pitch=-0.1481 right_roll=-0.1553 right_gripper=0.997\nstate[joint_eff]: [-0.0342, -10.906, 5.3402, 0.9206, -0.0171, 0.0122, 0.9255, -0.1162, -1.3197, 6.9538, 1.7753, -0.0366, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4dbeb9a725d81a33e4faba3e482e19a2f2f702d678ab06132647564db6e35fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97ef06aa0bda380ca87c21ae3f11b185ffdeacaa5a70356367358657563f46f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ed7e79e526dc7ca3d90139740f5cb58d11e54e650b9b4d65f794a10e6d4ebb1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0271, 2.0533, 1.0706, 0.2451, -0.9329, -0.6338, 0.9969, -0.0128, 0.7959, 0.5701, -0.485, 0.0059, -0.2066, 0.997]\nstate[eef_state]: left_x=0.3615 left_y=-0.3168 left_z=0.0576 left_yaw=0.0276 left_pitch=0.1628 left_roll=0.0178 left_gripper=0.9969 right_x=0.2746 right_y=-0.001 right_z=0.1434 right_yaw=0.091 right_pitch=-0.1307 right_roll=-0.1569 right_gripper=0.997\nstate[joint_eff]: [-0.0615, -8.0342, 3.7128, 1.0672, -0.0024, -0.0024, 0.1001, -0.0205, -1.1145, 7.1453, 1.8388, -0.0366, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrF7hScyfQKQe8H0mJ9zUv8rtEfyEXUhBPYCupRtVOOJKNfzbO1yeb1vajo45ZoEvpCzh3iWVswDpFcCDPwrkIz9UcrD5BT4jAD88P5uqH6ZRJjvc57i5OpmC9wRyQicSKSS56I5Whw6sop3QrNjq-_vKBqiL55xfgCU24HJ_ulaLGL3F5Rqh2Mb5Uua54ubjs-CfB062soWmy5bCnqkidN4-5LsRh8qZa2goaayAYgaX14Mm9xhy4XxcbUhP7uuqjK0Uu8eJRHltXT_G5CdpcsmiRuktvGsHVXAX96M5qBw5sb2wnmZD1X9eCAZl1BYW6DSqNrZT2Y_CqkcH4p5oeH3JRdiuaLYE7odhAjA2FGC2W7wLFLRCvo5WVibO_qNuO77pAJcBR2NVierqyxDhPKpeDU3x2AoDkg51MTeRvmlzWvJlJssGqMZdkULkErOnUckSGdTsVXV3bAEIogWc9dIJ9hUEex-Y_Af--a8JJt3wT6dlujEV9ymbUw0I_nKYD2wkBY-1DysxAD1R6qGNSEdR7P4Mi_r2I9C_V18BUsL3t90REPX7gdp-qnpxtjtijlhFVIdughO-Wszjd9NkvMHWeIefCvYYZ40h7hOwrwF1IfYcaNDXN20iO64vkiI45y1iGgFiAFwjTLLgynK_bhkW3qVkQxjkmLnM8yqrCUx9cMd5JvC0UoCIv1ARrIFgReu6o-MDK3Nxt5TEcfG8vWhSKznGgRzl5Q9bQXO8qA8qQ7zu5QNx8TDNGG-VaPaul2gd-n7S3dXEQKTfzI6jiX8TqXmucM1P4xOHLLExmvHdEYOLgBbHCAWgtXblLPOH3F_OKQD-RYWAUqJQ-kj5e_bhw2-K8G2XETEEDFFVFbAepuVEAFD0SkhCiQyUoT9bJRPIZd8WA3QpnWTOi9y1BrxQPDxSDLLXtg3zDaOtvQP_XgXgeGtbNPisT-9IERqHJQAEUaeQU_2axT-PwZYy-zn4Di5icvy5eYwOYlkpdG-UUGM8ZzprdzTXGcOnmWiQGEvIZA9zWl9xZaP8fGv_BOUuN0OKIjxHDZf_qzRy5T5xWbQs8WFw33FbfcpTtMK-eBhacCo3y3FcRP7Rx9-OS2dXC-9qdrjYS2PBSuuOrFZPCWKWp40epziZGdGF5qLJMfbICIFTlXdHNVdc3Z_zggW52VXpfbWsutLtiyX4sQQcfezu9LE3jOcPrf0HXWBtH85DyM5ZxWC2pIvIVxlY1ZGfjmCG7VYbiH4Vf4K3aQILCod-s9ZIBHn8GKwOC2NVQAtkXJCietM1sZ3ldljLAU4-So9DXUKcXzPpRTabGa1vjZoIm3xTiabc1OsZV7Le03835uoZWSR9wNpIprZMqvi4JcCVqcY8lMc4FAPTgZxan-EB8kCb2-mwNuNJtYSkwSkdN0EhSlectv9B16VDdUGSivKGyVop790XWockK3T8np2VWe-fROW001GOPukK3-G3wJLAjbo7JnXwGyz10yg-qR1Zz2U6x0Dy-YlqmwAVXvf2pdSICkbUZOVbHxfeMokZIBNRfxKSyNaLGU8fv6TtHu97D9CJeXOd6tBgKN6vs_8tuTsybb-G4g4lmw24n4sK6YFzsg-lq28Vw7yjiq5qqBsGZNoRERRiS-HxTklrgBBSdOsKCBtOGO_dWaE2svDr3T_pMeQlco32DyHRzqQyiVz5Ctlhn2m6leXNUmsM0czg36nRWFolpSm7M1ZKJw66VndMkHqSM_FAXVq8vdlKEA_vxlwxZFbUNPZSqleTbSrH5ezN9wb6GGXydBJy6yU1-yIl70yZqh5WPO8BqzuhAw==",
  "id": "rs_0365d7cfe1810f92016aac5eda3eb887d0875243d419d85c67",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.405,\"left_z\":0.055,\"left_pitch\":0},\"note\":\"The fully closed reading confirms the grasp was empty. The can is still ahead of the actual fingertip meeting point, so I’m reopening, moving four centimeters forward along its body, and returning the tool upright.\"}",
  "call_id": "call_ijgxKSkOupzBiv94iOydBp7v",
  "id": "fc_0365d7cfe1810f92016aac5edecad087d088f330816d8602bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ijgxKSkOupzBiv94iOydBp7v",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9161, 2.0979, 1.264, -0.0147, -0.7895, -0.7113, 0.995, -0.0128, 0.7986, 0.569, -0.5228, 0.0059, -0.207, 0.997]\nstate[eef_state]: left_x=0.401 left_y=-0.3105 left_z=0.0533 left_yaw=0.0764 left_pitch=0.0182 left_roll=-0.0095 left_gripper=0.995 right_x=0.2682 right_y=-0.0009 right_z=0.1353 right_yaw=0.0919 right_pitch=-0.172 right_roll=-0.1528 right_gripper=0.997\nstate[joint_eff]: [0.2393, -10.2906, 8.5402, 1.3748, -0.2711, 0.1099, -0.1343, -0.2256, -1.2239, 7.0769, 1.7802, -0.0513, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5db6b9a18df94df217c97a0f341b8889f9c33b3edbcfe8ecf3f11fb7af02b78d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eb01cd9c3cbba987f53d41567db5b96b3e81a7adcd0e4920f3f5e331d1b0f1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd475335e45d64eac502ab4cc9c4e77a2c0d1f2ec93397913eb5e6993ca692cd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0267, 2.0602, 1.0706, 0.2932, -0.9634, -0.6373, 0.0111, -0.0128, 0.7979, 0.5697, -0.5003, 0.0063, -0.2066, 0.997]\nstate[eef_state]: left_x=0.3653 left_y=-0.3166 left_z=0.0637 left_yaw=0.0578 left_pitch=0.2002 left_roll=-0.0124 left_gripper=0.0111 right_x=0.2721 right_y=-0.001 right_z=0.1399 right_yaw=0.0909 right_pitch=-0.1481 right_roll=-0.1553 right_gripper=0.997\nstate[joint_eff]: [-0.0342, -10.906, 5.3402, 0.9206, -0.0171, 0.0122, 0.9255, -0.1162, -1.3197, 6.9538, 1.7753, -0.0366, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrF7nAfMOzWmpz34_uIfzOdkLhj6FztPl6B0CsiEyF-JMhVP3OmjbhMOzbGklH2yvCFWSw9nLGbV_dtBOC2V8D5mCiuxJDNAYVF7E3-0Lak6UFz1YpBJri82EM2yWIlfhIZQAaDmbeMDuK4R3wmlRyi5zAbhSKE4VKxnCXutIgmsuUKnG1Op-ZXi4VrFuuag3Lz7oEw3dh-1uztnHxQZNUDpQ8Ks1xH1RCObPsBaRSPjTfzIVNjZzQQe2K6rMN7n5aujFMLsiADeDYiR55TO9LhyyuWHJmbCztObnamucjfAqpRDVdwOC5NU0nws6IJdf80vGC5dCIL4QDkCg3YtSjUY0a0YTavyfJGYwikJjeF8o7JJ-VE2pUBCDVHiU4shtWIamrlExUOyRhGiIStAq0uPHpDR2BRiJMT2Dfesx5HjSroFkjd0PuP_OzltStC5LEIfv62KGtlZE0eKjFfmxfp4s7WQqBKj9bbTR864SEsQGJRy8bp-aWrIGwQrToG4e3MZDeuAQ5XKF6EamJ-wLMngmhFE79m2OLZ3XMY6EY9X48qZJEwYfN4TCg9ddrqVEmwsYQmGJpf2ZQPhCZPE8iwtNWyEAkCyBi96UIrpQ-09O-D6RcUywkLRlO2p2Rtv6rgejRwM7ivY9JzOkmPCgEe4PkxtZSLw-cOXY94tJxlorqbS49MxPsmD8n5UfxhuDLgH7mKJoTXBVheFjKBbf_8GJLVbp-aLcyqgOortb8o1ftjpIYngMxDYltAvWBhqAeZnNakBDpr5eIJdMhscHyKwJ3mV-wQH6Wiumx7iRxWzrkQ4xTmxQXFC_BDFrV-TZj942ybKhbXmnPoyOb9zV4hwpvVqEHQnk4Qyw7AiCfsfu43HVqBpTLZwNgYri8QTJJi6ne2gUbedjCGezniaKzvf9ZDDiQIDXGurHGw4EKPFYodrmFc3b4o1jAJXAx1Sz5uE1npJHEkyJVIJsQsbY-dW86riLpU563f8ouQBZ2FKofpp0UInjjyNMVolAOznAQ7Sx_huW00fG8aP-B2nxTECH5p72pZGXgM5KeW1FrqvsoWheAkNm2cBxp6N0hWb24G_LPFz96TQsl1IWYHv3c__n5oKGaZK76HV7AibCmgewSjkKO6tQOpsF3Pce81dpRJn64pGp9cKySDiz3ALo-MfDHIBVJ6IBK3eqg5FyY2uXDt_J2QBRjm5kyRG5R2P6ZZdWV5N3aq1OwXL3n3Cz-OySDpnOD0SLDfbSKrZKa7N2Gc4=",
  "id": "rs_0365d7cfe1810f92016aac5ee404d087d0a1259f70e55394ac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.33,\"left_z\":0.005},\"note\":\"The forward adjustment has brought more of the can between the fingers. I’m shifting slightly right and lowering to table-level grasp height with the jaws fully open.\"}",
  "call_id": "call_vpziLtxx3hCJPTcfVFN5THs8",
  "id": "fc_0365d7cfe1810f92016aac5ee4df3087d08f9b2607ec373f8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vpziLtxx3hCJPTcfVFN5THs8",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9493, 2.1975, 1.314, 0.0906, -0.8391, -0.7368, 0.9963, -0.0135, 0.8024, 0.5682, -0.5453, 0.0059, -0.2073, 0.997]\nstate[eef_state]: left_x=0.406 left_y=-0.335 left_z=0.0407 left_yaw=0.0923 left_pitch=0.078 left_roll=-0.0599 left_gripper=0.9963 right_x=0.2643 right_y=-0.001 right_z=0.13 right_yaw=0.0918 right_pitch=-0.199 right_roll=-0.1502 right_gripper=0.997\nstate[joint_eff]: [0.4991, -7.6923, 4.6701, 0.7839, 0.8034, -0.1783, 0.1245, -0.1573, -1.4154, 6.9675, 1.8046, -0.0269, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9acefa4045fa15957ad7e2795ce100054705ffe17de6504d222ba5d4e8bad5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05a68b6982e1f16fbe4a39a8fd008f6ce80236efa3eaa2b36951625df91be1f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a52d78fc402fa312548da713685edd810dd89539774a4187cacb1b3a7013ff7e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9161, 2.0979, 1.264, -0.0147, -0.7895, -0.7113, 0.995, -0.0128, 0.7986, 0.569, -0.5228, 0.0059, -0.207, 0.997]\nstate[eef_state]: left_x=0.401 left_y=-0.3105 left_z=0.0533 left_yaw=0.0764 left_pitch=0.0182 left_roll=-0.0095 left_gripper=0.995 right_x=0.2682 right_y=-0.0009 right_z=0.1353 right_yaw=0.0919 right_pitch=-0.172 right_roll=-0.1528 right_gripper=0.997\nstate[joint_eff]: [0.2393, -10.2906, 8.5402, 1.3748, -0.2711, 0.1099, -0.1343, -0.2256, -1.2239, 7.0769, 1.7802, -0.0513, -0.0513, -0.0122]\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": "gAAAAABqrF7r5XjWRagytnYxHk35mmvVxuBY3Raw0QLxhc-tzUq_YwEsXDRatFwu9sL6FPaev1UeMhMjdQULA-LS8Ze4HZXdbE02fi1i7QuKnvjvlta8hzmsM6ve_C03ACWg7sHbCZkjIf3Y2ug1sn2NZnA7cErZQfjW-rTb5ozKkxRxjApHkunygZ4jrtApSPdf4QKdaqaQuTXvxCuzh2wUshdaxiRbmYmhZt7JffDsOp0zdzagegvA5xbq9Miz8N_Y5lfUP_vGEc18MxUFvbuGkurQDguEqAAw4IkvTn9F5e0bEgU6TuRvZXiRSOuhOnwYfEnbIamsLdtboLSnmOAUVOq7Ldv6_pTMlrMvSgGFgCII7FknBfXTDiMYCoHl-ag0KdjjeXq2BhwaVYVLQZdfPxRxfLIQ4CLBM8w6XZh9WXnnek6UWXbTNAeym9Zk2wcfDXtR1uEpp2gX3rBmnBWvjoDNbGnyspPCUOMwCFlLgn4bUaRMcj4hbWNiUL9UfyvTY4AtiWRSVUnvwPCWWpTHZmG8ZVoXjoqoCA4kb1A9XObpWeUd7PbwvS7fdCmGmPCZ_hAWNgr-0T_hUZcEcFXSZUx_5nYOn_QVQFz-ur_HqQXQQ5UwCPuNMwKp9tWPamg3aFCrV-HmPFPGqbZizYHYReAlnCbGNOpeej1_-b4-_tQwjaGFC8chP2FDhseihqJO1qeUr6CAko8_PwS8HBLLkt5p-IrCIAUahR0Ha1X1U9OSvd4WnOFIAHUpg7NIqUuUjTaO_M2dy1aU6T3vrATxDWhC-LgAk-PcsWA6h_hJOEU2-1-fsxQ3jQIIJDMVBaka3A9koytMCKTVcCahr_l1b0IB7a8OhxnEpRbsABJLetL452zO_Gy0Zg4c-Z-NvQxymXk6VF-iaWufagPhRG1RLAuriamCo1tU-1E3Bg4MRFt8qSMcUpqrls5SBYkG9xd3Yq-Z3P-QGdR9Wc0Aizdm-6E1iwJfK8nxebGl1LF2j10GFi1aKfHT_-wdKH20C8P1reBYc-ojewa1qE1a_XgolIc8RrXAVQLlRwN_50Bi0FVPNJKiP-LuakRIgDX89Z8onKiFa91U32P5jBjjTZIh-kdOuxzyarkRIFXU8tg6PQ9kgdC_eBeXIfjWJTjcpT6qQQVqT2K6d8ihv7IImWkLCJAJblnyvLZg2Bf5xcTMwBIXLBkFEjKlKLe7mdWDKfkfqMtPnnuHZ0JrcLCleltcm5k5AvGYok2mfpltKkzuYmQ83eWj4mgDoNnCUBA6UUzh89GOdTVN",
  "id": "rs_0365d7cfe1810f92016aac5ee914d487d0944da7647acb7646",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.48},\"note\":\"The fingertips are now lower around the can, and the body lies between them. I’m closing gently again to avoid rolling the cylinder away.\"}",
  "call_id": "call_7pDT9vCmar4jhKAnyge01yZ9",
  "id": "fc_0365d7cfe1810f92016aac5eea080887d089e7ad75e515b71b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7pDT9vCmar4jhKAnyge01yZ9",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9497, 2.1857, 1.3224, 0.1314, -0.873, -0.7372, 0.4851, -0.0135, 0.8024, 0.5682, -0.5682, 0.0059, -0.2081, 0.997]\nstate[eef_state]: left_x=0.412 left_y=-0.337 left_z=0.0579 left_yaw=0.121 left_pitch=0.1284 left_roll=-0.1021 left_gripper=0.4851 right_x=0.2603 right_y=-0.001 right_z=0.1261 right_yaw=0.0928 right_pitch=-0.2218 right_roll=-0.1483 right_gripper=0.997\nstate[joint_eff]: [-0.1436, -10.9607, 5.2034, 1.0476, -0.0073, 0.0269, 0.232, -0.0615, -1.0188, 6.8581, 1.7802, -0.0171, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:858c039883b5aa2cf314f0afabebaa347f72639bddfc01ec4cbc36d7189115b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c54185cd271175c5fba9eac4fa08004e0c444664b0585fd0e73118b8ce5da52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0af8028f07f2dd1c1306ec26e032b77f1a9f200418d9b52c4340da60436b2289",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9493, 2.1975, 1.314, 0.0906, -0.8391, -0.7368, 0.9963, -0.0135, 0.8024, 0.5682, -0.5453, 0.0059, -0.2073, 0.997]\nstate[eef_state]: left_x=0.406 left_y=-0.335 left_z=0.0407 left_yaw=0.0923 left_pitch=0.078 left_roll=-0.0599 left_gripper=0.9963 right_x=0.2643 right_y=-0.001 right_z=0.13 right_yaw=0.0918 right_pitch=-0.199 right_roll=-0.1502 right_gripper=0.997\nstate[joint_eff]: [0.4991, -7.6923, 4.6701, 0.7839, 0.8034, -0.1783, 0.1245, -0.1573, -1.4154, 6.9675, 1.8046, -0.0269, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrF74u0GD_NkB1YVsjERDgSAPqxPa-CeNj8rw0vm6qjIKbDfXtu33euV6l8yfLPSDdSBFDV-s1QvgsWsMkSLnCn4F2Ay8wkPASIuw_ylda8Sow5RBWcT8A7l0YsD5h4_zKwIeUP7bfFQH65ISz46Tt2Z_zCG8CYIgQvXJDqQgBQ_q-GCU3UFOPwfiG5UMKdybFs8RGixNAsDlppOIPwPxWrPG7gBg2nNlFvQ-mPZQC5P7nScXP8OFfidMtJ3bawteqIKuVwruPdFFSd_1Glt5UTl5ZOePsu6qYSqDlLFH3kxAlNtDgDFwWVMDjvuJZszGaMI1DIMgZFFYphJW74tfPqV13_ABYjxNpKJclmd9DrmSzOw5U1KBV6pCgJWqw0ah3zim9RRqI72MCaRfz9eT7kOtXQSvaq1Kv8WjeMLZZzyPrTinJRL6uaSzWepWtf2V1QUUzoaMiGpSjrBAcq6WzFEEgfg9YUa3cZ1hVGiPrirqqfesETD7_6RgALuwt8bXuQfPlX_QErJN8hD7KRci32JYVqGTZ-_eZ5Yq89RgwfC-kcTnIpXwgZF4OasAJwjCMs6sZki-4ZA9gGNDFvF3pCVMMGNyijZGIAZrFstmkhzvVgVO7Cd-Ifax1K-cxbA_vpwZDEKINYpabfvmu-ZyiUpNrizhYNww1keHaiLr6k0mLTohECym8uKpPJTk3c-mYA93nvgEGHvSyK5AV_LN_oPbWkXYYnymATu2nAJToTo1rZQ8AUvbGqKJiNdJkaAWnxC5wyi_DXZjQ5G3l0xrXy9ej_fs3yokw2hfhXShcWR7kZSR94WIlsRkaenzDFsoF5ZCPhTS2s7W2OvOHbNqAHb9LGjSm09bXvMev-dXalVyuyQkZaUlHE9lUEDpeH9OjFlofAgkngVlkTZzvUoC4TrEq0sIWxYcGyBuoku68V1D_qswxqCjQLVz-LaTAzONdJ59pXnImF_PqUqltkY7IEY5-ZCErhlNSxGXWnJgANiHRXxvv03RklMCmZxebr0K3xrvz5RdwujN1Js47_GURJV7I6UEVZY1bR0digBxLYXfF-xgeSUsHOwv3jYpgVKg1Ug_TFzy3e3UB8Z3fLrlEqPIZhu-5MYIz_Oy4PJT9BZ998f6Tj1g8Zguq5efWTZJwlArh0sDK_rfoE8hvI6iKhUosOvND63lwHUgkBJNbybNXUibHXSbis8LK0f9FoMcYH9OVL1k8plxkEqfZN-n7_RpUvvI4yaozy-MhYudDdinFVtr-F7ss5IQ7zLtaNncekw5ztpxkV2ftAN5I8KVA_OfwxqLjF6c4nZ7kN7t0n8SBIZxO2IgWW3Lny2iUPhftQ1zdpMZ1T4aQnQ_vCCu7aCnugtobP3t2Sgo4a-5pMvQikn-OVbQmj6PEaCjuoN_5kj8dIJ41d-J9qXJ2jeQkEr_EHbvOt0diP8uEgQghJx1TczGL3NYHPBzLUDbXTzbVkBZgCdDKQfBbFlYTQyxcoj1WQSzgvyBNs6itpudOoiZRtjJN3z55NyzlIIDHn4SlLFOvHn3PsRjrZyq8w8D0sAJUrU2T5I1TN6XukE-dFMXzVRvUxDlcsX8tHFCRLfM4JJyKJ3Y2e5EohsaiptE6jpb1UgdDHCkqA7qDSoRj2y8CANuFjDFuQerdemO0NP0jwi7EB26RAhMsdK6r9x76LPKQEyXXQP5O5hYEKFrCMCSySBvuV29tlOrjQv3LCK7Ukzk7Tyh8MuviYjSojVpx8hNcwasIUjIhvsglZ2iAIOGUnw90rwsMfONiK0W4m0cguQbVbqymPy6IC2J_BRa9pxrmCk4Yc2kMfD60RdsXcWMT99nSZt7lPkrsitSUesxOLK14-61HmTEG1uTa_8XGT1sh0Y-o1ts1aHihTgYbM2ly2kEs7DgfFebyRDrVMAPaLM-l-VIEDNRCjHqTHfGl1v3eiNVw5cA5TKInt5h7ZkZuOu1jUr9UfXyOjfYuLvo451bJBq9OoXF-7L2fxEv_VqUyvRM_FEooVnDICHQk61p70virwFSgz4KFoPd5u-ryg9etGZMcKMZNAfPq6Wj21qYot4ZRJG7t0EEL2fqWJUoOYv4ABKWw5QMEqG_H0JrEHLzAacazhiSz23DYnpySEkql8tC_kkfJoTZ_GkRsJF_FQU3pDRTQkUJBWSLBj4P8Jezea0a_I4JLaN48QU9URO4FKE_jNjsbjbAmz8PPZrxVvcRH9ut7v8QYb0bjH4N5tEd",
  "id": "rs_0365d7cfe1810f92016aac5eef487087d0bd030c63fc3f5eff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_pitch\":0.45,\"left_z\":0.025},\"note\":\"The gripper again closed farther than the can’s diameter, and the arm is staying high at this long diagonal reach. I’m reopening and tipping forward, as the right arm needed earlier, to get the fingertips down around the body.\"}",
  "call_id": "call_IeAtE1xci2yVMKRO2FXi0H63",
  "id": "fc_0365d7cfe1810f92016aac5ef62e4487d0a0b0af0b79d86562",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IeAtE1xci2yVMKRO2FXi0H63",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9768, 2.3596, 1.2179, 1.0317, -1.0534, -0.3527, 0.9978, -0.0135, 0.8051, 0.5682, -0.5911, 0.0063, -0.21, 0.997]\nstate[eef_state]: left_x=0.4216 left_y=-0.3435 left_z=0.0832 left_yaw=0.22 left_pitch=0.5045 left_roll=-0.2668 left_gripper=0.9978 right_x=0.2562 right_y=-0.001 right_z=0.1216 right_yaw=0.0942 right_pitch=-0.2474 right_roll=-0.1471 right_gripper=0.997\nstate[joint_eff]: [-0.5128, -4.7932, 2.2222, 0.3687, 0.0415, -0.232, -0.0904, -0.0889, -1.3333, 7.0222, 1.6777, -0.0171, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0a5e96b3d37e0208e7475dea8382f0230204ae5b7c99aa4058ec72ec27b5b2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d639f50e02fa6dd5dcd08653a30e065b87f2a141552eb8c2ac9309352484aa4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eebc355cc4bb1980459d841315ce7e825caebda4b6d44fa46f674b6a331cd935",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9497, 2.1857, 1.3224, 0.1314, -0.873, -0.7372, 0.4851, -0.0135, 0.8024, 0.5682, -0.5682, 0.0059, -0.2081, 0.997]\nstate[eef_state]: left_x=0.412 left_y=-0.337 left_z=0.0579 left_yaw=0.121 left_pitch=0.1284 left_roll=-0.1021 left_gripper=0.4851 right_x=0.2603 right_y=-0.001 right_z=0.1261 right_yaw=0.0928 right_pitch=-0.2218 right_roll=-0.1483 right_gripper=0.997\nstate[joint_eff]: [-0.1436, -10.9607, 5.2034, 1.0476, -0.0073, 0.0269, 0.232, -0.0615, -1.0188, 6.8581, 1.7802, -0.0171, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrF8PMvtY-mS5-Yq9RJZGvi_wCsNMpVXM8tNqJ5tAlgVi4vENssM2ptpEkBEklpgelzW3vk8GMNu25j_bWV8oNfSV8jHXnZu0X4WcugfkXFjs0-iG1aESNiNXEo0IZTBNKgTvHSrILGiym-7KOGlv1qZB7V19IMT46JDVXBEgSkV1RlQBx9c1hofQ-ARzVnwT2BYeNMYuqMogyZgKkHBLhN7aPDrhOiCY3sk888GqJ7IYN_6ATj3TJNhfQHnOcYLoq8hlsdqhK5m_D1K17X0WiYCC-x01j6Bb05kZ5cH3X5RkqXhujQQCeDvgufidwnGbeOCtrE8QGJjf5KoDTAcevZg0SLJ60ZIxCZ-kU-qv8Hx7ZypAHn6ZcEVQzu-1AKDE4XaQ6T2bwek2-Vx1wWd44rxNNb1pDZCyavdreZ9o5zm1pHHYp1_vtkRYeYIdkKgneEQdKMYSkeSyL0_CvQ4x3Up-PjATmFNLDlBRtWwi_h_0I6ovVaowI_fc3D0Z0jRAIaNWD8_cKfexAIjXQs0OffDA_D66ogJ-vCRpglCV_xhAzL6IjmzVzVs3TRJv4G-Yh1cOXxbrEJPlgzOtmVQHO7QT2wcAnlHuZdANhdY-6ZMJblkh1OlqW6yUocHVaRswb1hEya2JrZ6vSmYgedFY1X2xpY073-lkqGpWcB3lm9NwpuyL7lUvjExTL6B5w_vZL7M1rW2pUWxd21m8BaxWEEJPJtyA2CGPizFgO2mSvnq5Qdd8NNOCH8kE3vcllJf6zzRBDjUPbByTGMbIFtLtMBRH3Fr3L75EUnU_HEEQrEmScPhuAXrBk8URn3sL_Nw0AIDrhuFKmMmimOBmEFLxiYi8-0cv-SdDVbSgUfKxXC6GHlgwlL9UG8jrXiGxEEAtaVs7u93lT1cr6GIl-uOiTNzrTlEi1KJKaslGMkN1fv2l17FlksCwzVIm7PT2Mkdh1p8jOYsK2TaqD_kDQVvWMQJrzt8QwtWTuTggpDkM2S0CzypgzjSIQwbddM18ANGN871CJAMu5i67sdbJRPy6YKeP-Zw0jgShPA57er8PzrWHaUShfckKran2pKEqhf2-rHlq6-qMmJ3CSf22CvkcLyPHy1jMNy_qOiLk1YIVCoBrg3s0m41jqsotIuk3lkQBJDop0f40iPE43AFBqSh3HDtFkHix4sdsO3NGMekkHAMRLUlqxwEeO3peGNSo3PIZKN7FW9Ftb425giT_Ul34DAmJ43cEL046ti7esBKnIwfd2vRZsOhaFbiry2-o6EEypVi-TTErCehv_di_2OkN4MwHbYPLeBCQSj9_9YrTKMarxJM4MV3xxNIAaSsgsWTi9EeYSs9RSvX_XiBnE050KZHSt6E6JVxGg0Zk6QfEXyMKdPwMrqziN3jLkwvMHmvZLI72WzGqnJHuC-PdZ5GFq5uVriLp3yIGjdOZDT7CbfIlktTUu8AS9QJPpNgpEV-WYCDZfulHXWi5onYtt4km4WK1yrurDRPAynZRza7RuwNKpfVUeU9VIFKCBE1ppOEygZsqyck9Lbbfs2W8_cdJ9Lsvroy5lilISU97UrlivsdQVDI33is1u2YllmcvvxaJoVYx9zqZKNKWvt6VIJuv4n7P6uQlaYYtxzbErxRnWgCbmvufzQWk1orzrxzaRxIJNHOJEza6lAAsGa4VkFqEi7wQDpsre-zyuTMpWTbXGYepN_VoaSfYKza_3GmwHmpM73Or-_UnOPeeX-hosIWny1B-xHpw5mGRRAy7Y6Bn2hCU2ZW3Y565Z4HMsFWnuhsWgcltdfbgBCtbSz-FTFXYJVu5XkWqlemoaR9MsRubhEUWwwZq19EhL-nyKKgLwblRtgODDksWkZsSgkPkEwN2D3iaUWktx82vpF9XO5FYmIhkFlCoZtOzhiR4kx7Not6cVgpUtEAbINDAPOzNmBCAqytTR_K9lj1fyetWeooyyhbD6mB3oqJH3MkrF0ZmC4Rf77onaqc-fCb8txQt3bL3Xsp1r7GQKB4ujKr-bT-9C9uWGCBgsJWdka7Tkk6ff986pTrBLvFQ2nF8BhOJJJkHoOXHrMN1DCJwmUekGuCIctqjQkzh-h6koYTZRLTsEzU6nm5LI9GhxjxJ4mSd3byLQQ8y8PJkIuUJYeJcN-YE-GGD6UfOOvsc-A4B5iCOlEBgmz2LHUScPV5hAGETPR4oy1y4BPJ7XdGVYeIDj8c96EosTRXRppptlNeOH10ovxvrJhYh7SyINOsx7A_9ILCGfpBLpxPv6Qjsk9ccTAo2-m_C1KIqimIvmrK6tn0EcCASLH8cfQ0WIKlxPKEMod6ccqEcsWVCtoxNihP_EvUmd6fz7AFGZB0fzEe_-DxRacnmfbrNPrbWVZ9JJMFMEKHwMQRyPb8gxcE55mKwmmqHbMYJhIBIbGcedo4X8dznI_V-Ln_KeR63j_fcUpzvcNqxd3ckpfK8Gm_7sNHEguy9gU8i4WTCwo3V1wOsY7KuaKtIfpbITQrIVH4M1JBT6umYEANr_h6Z9eT8OpsVmP34JNMVmhQVFiAdFivVWUzsyW2L64eMbuh3qe2WcpFh0xvaBF24MxrOp_zNCMcQpMQ9C7bsdtnXupb2l0t21VHoUAl1_aE_EXr42Sg8-TCJFJaaA3h71QGrTzlKR_UHzn_ncpwUPQluyc-xlTeZDNshmUCfuSPN4PcJh2Mmyxe7y6KKee3x5xR9Sm8nrVV0aNN6zeMA4TtpBlzX6EtB9KUkoZFESWl6U-2vOkc0l7MS3thlcUC7a7cYR23ZQ__UiEzAFkOqCHKfP2tzNPzfl0urGFK-nh8S4fnP0OjExiOYEn9CZZShgp15rgDC4RJW_4FkG8FKpTR8H71zt0f71E3rlbvJxJTeVJk9R9xglBEJbssQeNzwZt-DajOg9Q422hVOjbLfDZDROK8uiAyeuifsyrlhnnUX9Wo2_BvZYBdUXVN4WPxkJcPVBOw1jm52IxGiA136SUjY20Sj4vlcTyxbaP1MSQnTurMgUTm-8t7fqodTO95boo1zO6ojyAfuYnmPR1rtChjgpEEZtK8Wu6Rwf2cuFIAeQ0nm3rEZlulvyJOVzfBG0wlo9MH7CZKxteccf9QTJQyMDkmjzOLp_xmfON6PGOsjusKyVpzSnumjn4Shit6_7sPCiZVqJOkn0qxDlQsM1C8tTSbk1X2rW5_mxHSs7N926DFIAmaY9eHUtacrp5DX4dHRrgFOiIcPRFmRniggln24MIVG8O0n1B9q8LvBednb11w-xmMMkmmyt9fCp-3bAP3ctUKh8QWuGNnfxwB9QMmlWD85w1bzyWZEPuakhn6anR2kyr4EH7VmMdmlqcwVlF3mEe_yZx2Z8ywntV8cqAqvtkf4kHVKB7y12cX1YynDl-yy2sp7NozEP4vdsCSEuEESKPRuXbYVGes8QizcTlZ5sMjW_ixFGOSlMtVxh6Wpy91C-H3PC9ck14ASP5L5WaBO_zuRP3YxdMXYQJIhI7iBJRLT2mD0w0db8OJWP1wiPSi9Qs10D1hx33K5jbClmdE87EWT1CPIYepcD7D0CRi3P9Bc4MdKyhCSaxi5HD0WSZJI3ZYRXwujwj9erR7579CFxOlouNpadeVivXo_R1PrRYc-CsuTLyqziqHscVg688_gqbRmhLwzWiAQLg_PG_mWyyNHmYgWRzECKkNc1v0LSk8wqXBVb3cV9SHwUMXyXyuyAoLcGZIgMxVvXgA2RzKB7g5xn4q57VM-dJ5ONpdz8tPGYfD-8sYEQPJIO3AW",
  "id": "rs_0365d7cfe1810f92016aac5efb1dc887d0afc5e156bc2a9ffb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.32,\"left_z\":0.12,\"left_pitch\":0.3,\"right_x\":0.292,\"right_y\":0.001,\"right_z\":0.18,\"right_pitch\":0},\"note\":\"This middle grasp is not settling cleanly. I’m moving back to the near end of the can—the same part the right arm successfully held—and refreshing the parked right arm’s height.\"}",
  "call_id": "call_7aUAbTAFrnH4O6z1EDwt9ktn",
  "id": "fc_0365d7cfe1810f92016aac5f0cf34c87d0b0627d5e46692a90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7aUAbTAFrnH4O6z1EDwt9ktn",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.198, 1.932, 1.013, 0.2699, -1.1557, -0.8974, 0.9978, -0.0147, 0.7952, 0.5697, -0.4782, -0.0055, -0.2096, 0.997]\nstate[eef_state]: left_x=0.3077 left_y=-0.3331 left_z=0.1153 left_yaw=0.1832 left_pitch=0.3098 left_roll=-0.2726 left_gripper=0.9978 right_x=0.2756 right_y=0.0005 right_z=0.1447 right_yaw=0.1003 right_pitch=-0.1229 right_roll=-0.1526 right_gripper=0.997\nstate[joint_eff]: [-0.3077, -11.4667, 5.5043, 1.2918, -0.5153, -0.0366, -0.0122, -0.4171, -1.1419, 10.8923, 2.0684, -0.105, 0.1197, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e17864b9fa6cb776c0ae4347a6b1be20f51b56738e722c131b3e88bf2cff87e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e6b15a54c9a7b147a3c634595f54d9f85d024c4a2461fba45c2b8b6b3bc75cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f439d3f8ea1b362206dac9e0b27fe3465b97d87affeba1a529d6e07269ebda2a",
      "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 can on the burner\nstate[joint_pos]: [-0.9768, 2.3596, 1.2179, 1.0317, -1.0534, -0.3527, 0.9978, -0.0135, 0.8051, 0.5682, -0.5911, 0.0063, -0.21, 0.997]\nstate[eef_state]: left_x=0.4216 left_y=-0.3435 left_z=0.0832 left_yaw=0.22 left_pitch=0.5045 left_roll=-0.2668 left_gripper=0.9978 right_x=0.2562 right_y=-0.001 right_z=0.1216 right_yaw=0.0942 right_pitch=-0.2474 right_roll=-0.1471 right_gripper=0.997\nstate[joint_eff]: [-0.5128, -4.7932, 2.2222, 0.3687, 0.0415, -0.232, -0.0904, -0.0889, -1.3333, 7.0222, 1.6777, -0.0171, -0.0269, -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": "gAAAAABqrF8Z2TGYKa5NOPEboD0YZcflPOUCrhIAm8voCGHA2r-gCFmXq13mi6k0GKBVYGA1XuTLOf4oudsYtF7JiYZQDFLtLIHH5vbs4zFvLyvqbDRQD8i5VZFib4UnZajySB6d9C9CmARdG-Yj2Xx25FGJuCMm3rTHMbE7OV49iCBJJh6_D8JWzWmfWQ61Iczt4kiMK-FgGw32G33NOkOJxT2KkML1GoCNctWLu7jiQMH1KAhaRKmJDhCYB8uMpZ5qMOhg2cVXr-nlVjdE4zKmWZ4RyzB-3UcThGxj9R9DtkgkuwHZuUNR2ngzkuwA1jzCZDAydey5X2S86kfFjnJngCksaqPB1kbO-1e1qHrcDDtPR7nTW6TN5qDMikrju1lgF1ivKlzyFl3T5VAc6q0K4nu9RaO0idfTsCPfxIw9pjtwQ-UeyvGZrUm_tytehe5pUx3EXNZsoTWk0PnafxoQO-AHgCCt7B2x9Lx6-rWr2ft8eNSeu6Ck7T1KlWK5Xa5SHKM8HzY7hw2smNbQiEBFwiGPejdT3SXxo_CTpEDW30REu3rID-_3Feryd53NUmxOfV63rGp4wZoEfmb6kPTKcFRPteKjNHuvcPekGeOIJgnEXKn3dEQWF6bkqUicGPNeSDELFD5Uszg05DSCzFAzevX4ZhooX1qnI0ArmRZ2fgqq12eUDnBtIswP-d97VsWJr0fCejIZpt03O-8hSXy6J8L49eXP7fKt5tVQFWPKGfBI2fnKoQALOxtFnwm73lId2iOwijEp1leVxj61WehcgCwSMExbKmMTX2H1Q16qxKB6SDgW8EAZlfeFWZa_28fwH1PRBYA3fmCNyP_UvKW_UprZxFYnUviCe5k4EsK1fydr20dggJieyRm53_3v35z8p-WStLKAyBhdz6oyoDeJD1IvjJPsr-WCJDHO3tEMIoSY-g3HJosyaYwfm904-yhihkA7D99Fd_61tdY18V6loEKsYV0cklRzzCXrcVdkDZUtLuAezKBcapCBMBqG2YZih8V9QQbZTP0v7B418TQbjnxGEs2StU5_dE7nPNkn_orh_LyOimOarHUSgoHSXjQz2SYfdlg62DXZ_TMbZ_zoEic1zw8NmsmILl50v8NH9Nqtp56ETw5kkQAmLJjEgxWzzUL5QiEa5VPOtnkHqBCayI-bNBHJUE8xPDCzBf8mGgp3KrZqf5MRQ_ygi4c5YfYmfmPFeHEyT0vrxP4bT7gaf4qeu78UTkYe2yc_UL9tbEP3__3hMLR6bJOkjKMbpPifEHltpS2_h5tHJzDEmiMN3AxJ97Td1U8WjKk0Z2KrKKAJIwhzldPAzTZkG4M0Ezhxke-OmQy3KtMxelEgcc_XFNTLhWw6W4Sea6iDXQt0x_qpYDbZdaQCe_YKNsIzCIoBE8FBB-ge29MOWL0tTB4lHUwbnUTV83IZzz4iRNIigzSEG5Fqdj4UGMB-zfiq4_oEUv5IHU59MMkOZG358G1121cvZZiXkxc5PYZKfpnsYFWyabIqXtEwWg4sfwto8-49QE4oyw7baQeAPQCUo9DzdiHt8iXR5apSZ36Osh5Je2tdEyAOwaj18C_qnTsx0kYbSUb_lD73qmlIIj8mgEwbU3_JmLTTc9TzmXMNJIT_yEPKyOqSvr4FLG5Np5T8BH-g1ZrCRHwVH-gDYle8YH-s4zzhnE3lIYcQmrIo__JUDF0RY_r_eBRSGcJJrvlnC32j1T_eaax7fwzEMSq5wa3LTJRcD56RaknQKT4k-uyiZEe1c8Zb1MFPwS4e27sVJM1sbW2A77qw8iWOFSbu8JQfE0mRskrEyLuFPkVVieRBS6U6Hy5AcHYI-1J8VMMwfNnd_vwj2bxxO9SiRBy1EGGYW23CqLGewWMKBZiR6n7oM9gD_oHY4e6l3ZVXy_fkZ8wkEwVeNTHCe_WBiVk_TbGFLYSjIGDjjrsfzakv2UhnF-7tgMBJpoyFCvglY0Sv9DoPtjXxL7mmHs-dVeIm-nCI4JFGGvW90w==",
  "id": "rs_0365d7cfe1810f92016aac5f12070887d09fe717c82a12962e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.32,\"left_z\":0.095,\"left_pitch\":0.4,\"left_roll\":0,\"left_yaw\":0},\"note\":\"With the arm pulled back, the overhead view shows that the can has slid farther forward than its original set-down point. I’m approaching its current lower end directly, with the tool orientation reset.\"}",
  "call_id": "call_iTBlgLUKvzN98PaBolsrcMiV",
  "id": "fc_0365d7cfe1810f92016aac5f17aab487d0b084e092a5240696",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iTBlgLUKvzN98PaBolsrcMiV",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8612, 2.2143, 1.177, 0.7033, -0.8841, -0.2909, 0.9978, -0.0147, 0.7986, 0.5701, -0.4988, -0.0124, -0.21, 0.997]\nstate[eef_state]: left_x=0.4496 left_y=-0.3084 left_z=0.0833 left_yaw=0.0503 left_pitch=0.3656 left_roll=-0.0058 left_gripper=0.9978 right_x=0.2725 right_y=0.0018 right_z=0.1402 right_yaw=0.1067 right_pitch=-0.1459 right_roll=-0.1455 right_gripper=0.997\nstate[joint_eff]: [0.1983, -10.947, 7.7333, 2.0879, -0.1636, 0.1685, -0.0171, -0.212, -1.4154, 6.8991, 1.7705, 0.0366, -0.0415, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:511b72fea131c6267fde38dee9d27da5744df5a407111b1a41ff0db703fecf20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47410fb6fad8b171846e35024260d131eb787426d711ce7a227a2533dc4db15e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50d4ea55cbe04ade843c84b6b2cb8d1ed27f2be56b711811e923da901be52035",
      "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 can on the burner\nstate[joint_pos]: [-1.198, 1.932, 1.013, 0.2699, -1.1557, -0.8974, 0.9978, -0.0147, 0.7952, 0.5697, -0.4782, -0.0055, -0.2096, 0.997]\nstate[eef_state]: left_x=0.3077 left_y=-0.3331 left_z=0.1153 left_yaw=0.1832 left_pitch=0.3098 left_roll=-0.2726 left_gripper=0.9978 right_x=0.2756 right_y=0.0005 right_z=0.1447 right_yaw=0.1003 right_pitch=-0.1229 right_roll=-0.1526 right_gripper=0.997\nstate[joint_eff]: [-0.3077, -11.4667, 5.5043, 1.2918, -0.5153, -0.0366, -0.0122, -0.4171, -1.1419, 10.8923, 2.0684, -0.105, 0.1197, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrF8gBw9uFKvNIwD_UK0u6t8vRU1Mb08W1ZS3bitiF1Sbad8KVJCbEDcEAzrhbJSp4bdtl7I97Mlix6nqCbs2mOLYNKOvwnkxKdw9F09feu9es2zV9ITgNk9ZOx5ipQIkLaLvPtmqNaZSQ1oGiwzARi3GgaWQOBFMy93PVXy9f6XPrubA7m9EKDzbB3k1Praz9-m8Eke9OyF6-U9LqUAibOWepCAiZmV6fiHh4MxcX-NivB-qLnhwy-zIru_b5_YYoLmOGBHX4VHWu7FKHkyMYqtwNopklZyfji6BH734Q5CYWLEHCzs0uPvcwmthgmVaQ1TO7J3fshH1DDYIB6S5AKwPdojcv-plc4-sfJfJKsTmfIsBVO2IX-S5Ty6tfwyNfeIA5xUwDy1f1LutirnVeadzTVCx77nG0taVoXvE29dzV-9OjqhAhJlyze_Oj-zqj9PZY9QaY8kIji4Kv4g02TD6zR5wqLedpLubu8LomVxF1Yg1xlzQZsLxxF0OECr9T_BGvI7OtVzLADFTWFUmXnIoIR-y9vV17KtkMHcigy5flifKGVy_Tajs9j2W6REZMF0PDgkxMP6jmTAw8IPsKCb2NJJRjBcNq6ZDyU3rsAM5sly48KP8x2HdQMfqJmwtmZZo6AypkXYgoFntZf1WDvymCMmkEoluLwGKKShDE0wsV3h7GlG22kbYvdRWBmgQ0vl79MzZEO8JjfGa6aNXajCWnlW1yDgwqd-3PjJclRPB2dX1hSk04C19E6LQYibPZ-rKZeeKXmYJ42zu8-WoeBCsbo_FXqLKwlNOJTgsXIsBR1t98I6CSoG15m0H08kZFC-SIoPBzwL7yc901ohv05Ca1blOsWqprFc22uPF8MAx4SCJdMLmaVY8J4F3MWY9JLBauvU_Y7uWE5LXDnlHTO_CFJD8UG8DA4SMAD_npndVmf7qJBQPI2BYvF8WY0dP0MatrE4mlnnMBAeWdmW3tzAzKIjvPs8F18DGlWS71cRmVeOqB_9wlZ5rXL4dc8gJ7PP5QliCGlFrqC1G-c7Vv8KD5142XiEZEKP1BcOwMb3f_TipJHRfA3wI2oALf23M746L2L5gfT4yxLapuwmNEGPNOyp0r6KDVx4V8lVUMw7Mx6-j0Zgya5UWFImwDhS7b1ScH8ET8cCxZx3s0bPHr8CH8kWqCBTockLExIayJkZjBlc3FIHioW_cpkF8dMspwTxGRDOyQ3psUGuZbuzYznBDea8wv0pnSLe6GHW5usgkM6rlnfv3M2dsnZAvRPiT-XujzDlwFvkC1qXjx88Q8jmqtEm2ekZxbLACv6LV0NuJCbA=",
  "id": "rs_0365d7cfe1810f92016aac5f1d616087d0931fa5be6f14e6a1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.36,\"left_z\":0.045},\"note\":\"The current wrist view puts the can distinctly right of the jaw center. I’m moving right by five centimeters and lowering around the body, while staying in front of the kettle.\"}",
  "call_id": "call_foHXyniOOVORIPCbJ3qfxriJ",
  "id": "fc_0365d7cfe1810f92016aac5f1e8ed487d09b4888b827afbd3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_foHXyniOOVORIPCbJ3qfxriJ",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9295, 2.368, 1.3712, 0.7292, -0.9596, -0.3344, 0.9977, -0.0143, 0.8024, 0.569, -0.5045, -0.0132, -0.21, 0.997]\nstate[eef_state]: left_x=0.4526 left_y=-0.3583 left_z=0.0782 left_yaw=0.0973 left_pitch=0.4205 left_roll=-0.0976 left_gripper=0.9977 right_x=0.2714 right_y=0.002 right_z=0.1377 right_yaw=0.1079 right_pitch=-0.1564 right_roll=-0.1437 right_gripper=0.997\nstate[joint_eff]: [-0.6222, -9.1009, 5.4769, 0.9792, 0.0659, 0.022, -0.0171, -0.0889, -1.4838, 7.0085, 1.6386, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4a30cbd9f941d71901978b2ba594aa1845d86d5c6c94ebb96b215afe03b622d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9172c4bb2d9a59807f30904318c807c17138285038e31f404131616a21afa0e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a23df935b875eebb38d3ebd7a0efa1f4dd5258fbe20f8b4a769cd9866939ae2",
      "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 can on the burner\nstate[joint_pos]: [-0.8612, 2.2143, 1.177, 0.7033, -0.8841, -0.2909, 0.9978, -0.0147, 0.7986, 0.5701, -0.4988, -0.0124, -0.21, 0.997]\nstate[eef_state]: left_x=0.4496 left_y=-0.3084 left_z=0.0833 left_yaw=0.0503 left_pitch=0.3656 left_roll=-0.0058 left_gripper=0.9978 right_x=0.2725 right_y=0.0018 right_z=0.1402 right_yaw=0.1067 right_pitch=-0.1459 right_roll=-0.1455 right_gripper=0.997\nstate[joint_eff]: [0.1983, -10.947, 7.7333, 2.0879, -0.1636, 0.1685, -0.0171, -0.212, -1.4154, 6.8991, 1.7705, 0.0366, -0.0415, -0.0073]\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": "gAAAAABqrF8l1N9CfpH78cDSEgtLvTGIJZVkUkvaGxqQfhUG1Yv7WgzaNF4bxdYMgwfAx18VizAgptywPVRL09RWrnZfWAMr7QJavl4TdW3L6NTckmbp1PyvJMC_ycYvpPhTMycVkiD0M25MSntRutsdKNWHLLipW4cc4vkieNE680raJs2x-GWDAXW5CwvSjjIikZGlSaZGvZb4diu9_qjHFZgOrYevlhrbh2V12jebzRAVPy1lCfJL93v7DxIqqcyHFPCqA7QaKfI6GvColi7oXCDm-wy7vuoxYY6I7asF3Br68XlFQDf95P4_OHhVtaGUA9SlLcsZiS3c7jSECB7O6gd1rYOR5cvly2CaXMfxEteaAyxZnlWrdTkX3U2AgO8tIvkvuhqe8sBYUoj1j0shsYXxGc9cr2z6Rd_dprtm1Gb_bGJHXspjYjsChmeZaDb6FFb4RJDQ6OWLbzw8uUQn5_BqQWaO5cG4GpexxsSsSJ4tsEzxG46fqhyhjdYFuWvNNn3R-Xj8fJijAJt47oKbr6mKLA2qZOyyDlEhYRAev7yrBWv4htrniJOhQwzdESu3KcyvOM3_azrlBApNpi_WSgrGqOBoN7gtnExsWA6OvSfvipf-bd5nq9xrmSCQETzxPPFDKzgBc3r1msBHUvGHVQl1HH9wQ7xzIWaotQiif0pjMsZxXrlQ9Abd7bBIT7DiY1Lx9x9WG8WTIKSd3ij9x56bEmUoDjQuuub21rCMI9MYa092UMJ3aiBiTnTB43m94j-F1B0oNGfRMfm0QoY9dOFA4WHblsXkxupfazIAxbBtxZH2VE4mobclc037a5TGQSTCfH3Rf7d7asYzZjVlZQRCcL3EyIdjD7Roh3fkYd438zToWS3JQfdkzM9HXIUAgC2xqpyo4irsGR_KXfJVIPt9Cd3eD8kR_pwfH20PJS-UUjJcf0hlRy76N8Ff5Cf3yXtI9VRrudhXZX4fwt1ZqS7fhK6p9V_7lYq2gk5B0U1HD_2XpdkXgTgBtSAddQBkzEQZnTqW3BrvHBzbaGTRsG885ULrzUkQJdW3TZqiFEf71fmLEdsTAfE96eLeJcljNRT9m1XOn1CZhFv6aJHl0zRWKUQZjmME6LpiJNxtNdN2N6quvV-jY7nOkGlO6r-rImaDfNEISvy-yAvGdt91I3hTz5c84rrNjqMK4h8Xt0Fc3U_hPNl6773uYfmdbqarOz6pRlgb6Jgi9xVj7-CDywN8JwD6K6g-ZyApQRShgzEMsnm0Z1vFPX_iQX_EPeh0qDO3JjhKl7ZCntZ08VX3Wl0m-_P8TA==",
  "id": "rs_0365d7cfe1810f92016aac5f22c46087d0978ac1a73d8a15e2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.39,\"left_x\":0.435,\"left_z\":0.035},\"note\":\"The can is still just right of the fingers, and the long reach is keeping the tool above its target. I’m shifting the remaining three centimeters right and slightly back to improve reach at grasp height.\"}",
  "call_id": "call_fY0hrkS4MY6mAAGmlSrU4acu",
  "id": "fc_0365d7cfe1810f92016aac5f23f15087d085eac34ec12f2b2a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fY0hrkS4MY6mAAGmlSrU4acu",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9714, 2.4508, 1.4685, 0.8047, -1.0325, -0.3691, 0.9978, -0.0143, 0.8024, 0.569, -0.5076, -0.0132, -0.2104, 0.997]\nstate[eef_state]: left_x=0.4485 left_y=-0.3812 left_z=0.0816 left_yaw=0.1819 left_pitch=0.4736 left_roll=-0.2159 left_gripper=0.9978 right_x=0.2709 right_y=0.002 right_z=0.1371 right_yaw=0.1082 right_pitch=-0.1595 right_roll=-0.1436 right_gripper=0.997\nstate[joint_eff]: [-1.4017, -8.6222, 4.3829, 0.6227, 0.1783, 0.0708, -0.0073, -0.1709, -1.1419, 6.9128, 1.5849, -0.0513, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8734cce78b84181a0757d8c4448dfcf43d93acda07f7816822ee9305b4e74436",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:146712d49d7eebb91070c4046fb1314e3eaab5b764af3764d56322c17a565d31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70b62a584a661654c1ff65f12fccde98943f8cdd4e0cfe5dd2b8be7f52f6a33a",
      "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 can on the burner\nstate[joint_pos]: [-0.9295, 2.368, 1.3712, 0.7292, -0.9596, -0.3344, 0.9977, -0.0143, 0.8024, 0.569, -0.5045, -0.0132, -0.21, 0.997]\nstate[eef_state]: left_x=0.4526 left_y=-0.3583 left_z=0.0782 left_yaw=0.0973 left_pitch=0.4205 left_roll=-0.0976 left_gripper=0.9977 right_x=0.2714 right_y=0.002 right_z=0.1377 right_yaw=0.1079 right_pitch=-0.1564 right_roll=-0.1437 right_gripper=0.997\nstate[joint_eff]: [-0.6222, -9.1009, 5.4769, 0.9792, 0.0659, 0.022, -0.0171, -0.0889, -1.4838, 7.0085, 1.6386, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrF80rsBT4h95MeIpGpdjxM_F7QXdpFKYSp84X2tHyAlUp45rqDePHxbBixQMZ-3MJ-vpp4UgXSumNDJsuG9EknG0iysiDF8prNEf6FEXMKe2E7UNYWwxC38G2DwMSzMYlh7YiJhr3BpdLVky9nS-OhyG4vLyrhVSC-CJuAeqM7nMGYogcZpcg79xpEBMelAmgtAzk8N1gc4Znofhs40dtiXXM_ZDdQDnnVM3NqHxtvAHp8umwTMhwa4-9LKEMmtglg0AfJTid_mlF1_neaJpEyUTlFNGl1IsDr6z_gUib3-PzIcfNv3p51nRaz5w_mWXtgVMxDMg2DXduijy6nxAlD6pAs37EM0I-CqO-2l1cJdNX_bLUB6SjWn-3Uesq6FjswoB3N795Rgcp67pcoQNpIR_yeTkJ0twYlUtf77GOIEgSs1iEWfj5-9CZiQCKwyb9sHQ6H95S98fqoa5udaqboigQaKmQ7qr3hAdFVyWQwWKQH3tDVute0kpFPWTnYMACwB56HNBw7QSq7IWg6KpYG8W1EsULIKn1c7xcmuPt-eAfINUruxY60Ruceu6QQqDmT7tO8kEWAjqpJsmk-0WY4_a-JKfTZQhvTfIoSl6L3KufsMsMQfTfLm82W7Fy530lwTRwOo0u4_Kah26ZoGo_hQOwVp5_Cv-SvN9b1d_40Iz1LnWofrr4VAPBD9pB7OrLhWaG_gsS7owZI69Fi9ON4fNdmohJP_kzgPo6OtqwnCoqnhdovtj1HpFyIHbZfvDfqaHCbpaoIxVrxvlJYL_f8mYd7JYG40QqH6K1WMn4OVpoaRJ5NPxaUBWSCc0bnNzYSxkiKO45svU0T--vxKqyueqoNGfmHnBUZUnoEtWNtk1n6rOuWhdEy12Ko7HJ8llvxdsISVhwKOh7JuHN8vZP1xYvv0BNTyCm_ZonnX8w1vt0rdfD3SAR1HNuuiYJODa7PzkyEbz4yG_O3UFzy3cIGBuTeIkd4-9Iy7bLbXV03eP8mnY6smfEq33N9dhMMqzrsccKZzd8wY5coW20qsoDiHDCNy19a66mTsDgh_kPPbt5bC1-UDrchajycrubAtTW3PJUYNhKac06i6aAQ7IXueOWxXaOLfo-9fYOuSxx0WiryCBbdD8u_eL6BRV2HHHlQaKdRlmCISHcD0GP4YgIaEuzCrDRfalQ2RL81g1q64QcfxWvIGqobs2yKmPnt59E26V1MVumrpyEJazhl0vIEPgJHJk-sWAKzcqZRjSioTqpxqBBiffGmV8jD_fUN0eRFHejWKEOIVZFcqFqlaZLGBQwiyMrhmx2qjylY8UFf5mj81np829yT332vGVxGUUCM-wTSXlQuKmQv3zUXCvoK7N4UlPgXrqJy_vO29_rPJ6ht9-Sg8li_3EHfaymML0vljMKwK6OZdFALoOhDYDJCgXKaQLagzjcpwUPuHoT-a2YiGNYfdG8fR3_rPXZH58rG7N0XqvMvPILH5_qNuvMQWt00-H_0gZ6Cl8zxjE9kq77S8sGhTUkrX_TdgFTLTf27vP0BXsPv-NbRybLgh7jKUA7Hygf09EnBSVdRQv9zlEF7pdaKRiv6-LGM-2vIg6ZmiKN0AlRu-0Eg9-MXCUQWj0_XRRJYVh2E0GD2xK78F72Fewa2AxjKH7p-XxnCd0ii55AOn_u-LoknmBxLH58cxzcvPsRHhjw-6k-vaoxEGbYo6SrKSYSsaVtkcvdeXIuzGiH2OMOlAEvVY-lSAKWhKby1n-f9Zu9OwgLAf7qHJf1F_QtPejQVVVm0CD7ltcP_n4LCYuH0_pePyhCtfPB9ncG1J4QXPds8WIoARIYQcO-XSRlygZ0qsONFC-Ink4DwO_6HI9QJRz1cDtako13_ztjODl7mBK7hSw9D7RdcVMRzUeEzOK9FJMqrv_6HPWvWnnc3_qMnydlbGTTzB88mWvz7K4yaZD-Hj4LAC8JKuQ07nYi_aGNrdtZWSA9CNbi3HipLt3fG4vwjzEFZ6RuyzvEdNsQMH8Q2kWRqNFG_9MRUVRipwMlzaO-UlqZ-otZs0228xzDE-bTl5bi2siGyzYwOQ0Pfce2EBxqqe5ye4TX-lQKjNU4dBjj-7DHR9txnkLVxmnyNTC8gT6Z3ZjAZl24S6oGXUHMqhneKKXInmfWJ0odPtwk0sV0QV8SDa5dxxEQqeWguIlMVWQUao_n9X2JPRRR7H02AnRhBa7l2c4E6-huw8YcMwiEoDBMdZ-8frdnOG6YeWPPBvCGJNZCSOAnqXEm-IBx8Q3De1KMxR2wAEkDOvriXRuB4CnrL7eYWEL9b0TXWIWNIr7JA_u885aCoOpevZe54CjdewUMA3grbKTS5H-ib-Npabi_ipJ_5_06PfWUFRW-ZSoILiQeOZ0hw==",
  "id": "rs_0365d7cfe1810f92016aac5f2953a087d092f7c88eac789513",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.38,\"left_z\":0.055,\"left_pitch\":0.3,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The can’s body is toward the base from the current fingertips, not farther forward. I’m moving back along the cylinder while keeping the corrected sideways alignment.\"}",
  "call_id": "call_q4QnzoBP06wIU7MwqBJKWzsf",
  "id": "fc_0365d7cfe1810f92016aac5f31a9b487d08b920ff67b829166",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_q4QnzoBP06wIU7MwqBJKWzsf",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.187, 2.2211, 1.1988, 0.4614, -1.1091, -0.5987, 0.9978, -0.0147, 0.8051, 0.5682, -0.5224, -0.0128, -0.21, 0.997]\nstate[eef_state]: left_x=0.3316 left_y=-0.389 left_z=0.0654 left_yaw=0.018 left_pitch=0.3348 left_roll=-0.0651 left_gripper=0.9978 right_x=0.2684 right_y=0.0019 right_z=0.1334 right_yaw=0.1076 right_pitch=-0.1777 right_roll=-0.1413 right_gripper=0.997\nstate[joint_eff]: [-0.7863, -12.3145, 3.959, 1.0623, -0.3053, -0.1587, -0.0122, -0.0615, -1.4017, 6.9265, 1.6874, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:815d8744267b6559e039813a41e1bfd74ff7a261ed14c9531d41568c2400c3fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01b9879daa15e60a2796006df311284ef6d4765f59d257042cbc28ca045f6c61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4638b4f61a14f63a84e7d57367cad03be2ec983061d30b20d0a8aea6635f59dc",
      "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 can on the burner\nstate[joint_pos]: [-0.9714, 2.4508, 1.4685, 0.8047, -1.0325, -0.3691, 0.9978, -0.0143, 0.8024, 0.569, -0.5076, -0.0132, -0.2104, 0.997]\nstate[eef_state]: left_x=0.4485 left_y=-0.3812 left_z=0.0816 left_yaw=0.1819 left_pitch=0.4736 left_roll=-0.2159 left_gripper=0.9978 right_x=0.2709 right_y=0.002 right_z=0.1371 right_yaw=0.1082 right_pitch=-0.1595 right_roll=-0.1436 right_gripper=0.997\nstate[joint_eff]: [-1.4017, -8.6222, 4.3829, 0.6227, 0.1783, 0.0708, -0.0073, -0.1709, -1.1419, 6.9128, 1.5849, -0.0513, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrF88hpAYYjoNqEWZekkZBc_bVgtHrbosc2WkM7_NX62DU7Y7Rayo8C11HxoDa-FcbRRuGqfSyBUNd4yKzDjwHypDf0e9g_JbNRuy1qRYivJgnGuUBPhGVRam45rNX1xatrKuohLJ4xm8b1ftNTIRq9kRmFsmk9VAclSFVzFX8OStG1y3lzbYCiYYiEZVkePP5fLyRiaK9NeDcp4y7JObzXE9O5ltKA-7nciX2Qv-pL9rea1vHTu_iuNpcOtymYmluEBAhvgoDuWlKF8dij3LgE0t5LIo6nmsVKxvG87S68Buci86TXMl-KFCuXur-1j0bfEB9how-9q7bq0drFqYQu49Q6KfuUMmfmMq55dv6TIsLggRgZ4OeElfjV-LT5ueesPfyaHalL2hcgzVmRE3cW5PlgB1tA59eU8I8H0wWiSdqoBgJv3G3dtr72K0Smy-K3nHWZpdhvLllDjfiGi8Ab0y6uVI4EcYpFm6Ma60_atV7AxpLoweo4tbpLfuVAb3HyJpSqONY6nvFGBTuSoh1aQieh7kGpr3Hh0QvL3Dq-069xSaVEnMC1lv2EmbiT7-YfnAdz0Or38ljGFgWAMbshq8NMJmRfoqDSdnwfl8WPNZuUYoQ7bTMbijWGhJfMWdnZWzsM3HOEdlLQ5Yx4Rs9YbA34Hh7wtr0_b6UUMU8A46o7FsZ4ckLfTvZNmHO3rUZEM13EKNyOH03GQa4PFSLKnT1mwA2E947p9_9fp8edKHa0m8tmpt0b40B8pmee6OVdwxBCHjq_6nnlADgMfREIz1YelqdFrsYzyLHQO5fSL5XKBFHcFE-70zhSCf_WEDyJo8FAnDXzvWjNYfG-nkeABJu8ycCT2tbHNzcD5qvPJ8rVdw-jMbB6rIjeavPnzquD67t-gWjpxZLS-a1nN8f7oUSRxsfX_HRLa6q0qTz1pH0mjpXva704BFd6mzpm6ZsB3T0OyMKBGKMhHv11ddA3c7oFNBrgZPLmtBqKCOkUqAr57si05cPpGHGhemPqrRdWEBEDZY9KetJDH-1UtSCAzu6OL2OmsDS1Ry_qttkVCLaqufQUGZ5ZopMl0qFuUZvDeHBZvVonuIGqCRo5bVfBz2ZFyw6F_ukmTiTz7bZqG_bj0oTsfVi59yQpD6_AsoWoeRX0eU49q-4jhaJ6_aLDqhtYmUuh-VmHUXZdPETEaJuulSWA1vZUGKCtO7pwMmNcIT0buVmLTMUjbmIma1iU-2LDtNgXwK7J6OUOq3Cx08aBHe7ZAV-GJsIjag4ZYjFnvhdEhzBnLxCWVYNbyBJiNMwwOHPyHNCJlCzPWGlVjqfed-1MWLn4sW9GeB6RFT0z7zxCE14F-ift2N-5A9W8rtQCCXwqRWL0pMv4_iVz_Gw8mpfv-X6BFg8ovyqphWyyHt5QWxyGcAmcRMNbQy8trFdGGfXCfgj3EsJQ_PQBXBumU=",
  "id": "rs_0365d7cfe1810f92016aac5f375bec87d0a8a916e17412118a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.35,\"left_z\":0.025},\"note\":\"The can’s wider body is now visible just left of the finger opening. I’m backing up slightly more and centering on that wider section for the grasp.\"}",
  "call_id": "call_VXlv6o99ULCTCcDXCG64ND2i",
  "id": "fc_0365d7cfe1810f92016aac5f3a2f2c87d093c975d8757be8c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VXlv6o99ULCTCcDXCG64ND2i",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.2308, 2.1639, 1.0149, 0.6613, -1.1805, -0.6601, 0.9978, -0.0143, 0.8066, 0.5682, -0.5404, -0.0128, -0.21, 0.997]\nstate[eef_state]: left_x=0.3055 left_y=-0.363 left_z=0.0678 left_yaw=0.0937 left_pitch=0.3869 left_roll=-0.1923 left_gripper=0.9978 right_x=0.2653 right_y=0.0021 right_z=0.1299 right_yaw=0.1085 right_pitch=-0.197 right_roll=-0.1389 right_gripper=0.997\nstate[joint_eff]: [-1.4154, -6.2154, 1.894, 0.2027, 0.1294, -0.1636, -0.0122, -0.0752, -1.2923, 6.8444, 1.8291, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77134910e01580f5707f9049771b3935e888ab4e240513cc1428b84259d950b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bebafe4a8cef9e0c8d41cb16adadb28b70c19c0bfce886f7bbc3e897b61ee06e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:377cd30b05a77517649d2aa9ff4bac908e31fe54bc7865e5753148b26370e9c1",
      "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 can on the burner\nstate[joint_pos]: [-1.187, 2.2211, 1.1988, 0.4614, -1.1091, -0.5987, 0.9978, -0.0147, 0.8051, 0.5682, -0.5224, -0.0128, -0.21, 0.997]\nstate[eef_state]: left_x=0.3316 left_y=-0.389 left_z=0.0654 left_yaw=0.018 left_pitch=0.3348 left_roll=-0.0651 left_gripper=0.9978 right_x=0.2684 right_y=0.0019 right_z=0.1334 right_yaw=0.1076 right_pitch=-0.1777 right_roll=-0.1413 right_gripper=0.997\nstate[joint_eff]: [-0.7863, -12.3145, 3.959, 1.0623, -0.3053, -0.1587, -0.0122, -0.0615, -1.4017, 6.9265, 1.6874, -0.0317, -0.0562, -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": "gAAAAABqrF9DiRYtPVMiofePyvYLOe-vk30pvUBGfG72Ykroanzk9wRtSr9EBQFH66mfZLfWaL-X3zbmOhrHbUwpRm3LhT-6XystZJ8i_L_HYjrmlo88pu8Gjnek6p2YDfmfcmAPEJo0MW23K_IzNt0DPs3k7WSQh_Hb2mh0iXU0YYKJWxbC2bqi6gun6rJm9Bk8n8oIVLcnqvCXLCJZFRTIClsGDtLHNKJoXfeRNWPemzw8VWQ22jmUw1Pr3Tghlxcxwi95-eV9XYUhoKCfT8FzTv60frSb-kce8tsz2nuVukxCjCaagBncfhhWRnic3v1f8WEJkF443pmcOivLBOIP4Ms7mt8Syf-ovPxkC3kpz22PUr9lXYcRX_j3A4jMOPSjKJB2EkAwMHJhPwWJ42GNBpdDUfZe2bQZ4wCSjD3B3iSZ9svBn5u4Gg56JGUMBKVWERw5Ebc_ApV2HN3X45aGIjUB_VAlPrvuc697ju79sN2GEjd79Nk_ezQVxgihUfIkvQ5hVyRiXcKxIn5YU3Ai8Ct-KQBjn1AgFs0pudRfr2pCEVml25XXxFPWWfiy3GvSFo3l9R5BTZttStNLG1A4wEl2hrScI0ki6DZPxEMTzI0cxvgCRd0DVO3ybDz3DQLsrfUihzVKf3IDb84Bk6WDluCWARzf_XoW5B8yrqBuSCzIsJLyRrojpC7KfgFhEFa7xXLNFub6mw4GIjeG6fiFFM_xEcCocY-tMx2SuBPtaWyzGtVgpiJUqtZvFUul-XwfHa9HZ5WUxcJsD4fzIrOptS7AhDDiHW_QvNnkK9E1PlMPwWLLtVOOcrWWCF7uKtS0QQVrrvNzabiGjmzJqF_JduF4wTT2NFc0579uLPN9vnlW9Un3b0GlLAYZdOqwP3Qms0Gf5eCCR_UoTLce1-JcFK7h0R0-CeCZgvM-lukmYIVsoCYzQ23EjVDpDs49D-aZDGX28gqS0TgVrlSpGswV4olYhV8Hc2H4jnl_2zYmsLU_RxWyHfdzS4m8qKYk9t4DseMlxIaXJAFAZx_Hm_zrUGkqQCeFaS2UzjPMyS9quUdpGGL0RLrYM_8eIWtRl8MoxRMxaYsr8XpW2yMdehNxLETLDFiRCfo8kXoOQTVfOVLxvsWIY4Jx5qjRuMQbEcy9GqQHkDa-JXVF-d5HuVmajX_xYXjmUYGErktf8DsnWEXIN06XygYbD_43HtUlCbYbTmjgjHwA00O7lZK-UwZfwKjgSfj17CintbNHxPBvv2BILW582uUnWD7fJbzAnPi5k1EJRqOzRpWi-uF4SC9aYa1OfjHaBgqgfbhfjmnrjCP0Nc5rvYGFZ0MrLKOC4W9ev-MvyoQEx5gZU_z4P6EpzWNHphEkX0b9wJ4stdfPR4CD6Zj4wZR_hYa5A55IyZKy1pjI1VNR",
  "id": "rs_0365d7cfe1810f92016aac5f3f35f487d0b8a844c1fa9c2a8e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.30,\"left_z\":0.03,\"left_pitch\":0,\"left_roll\":0},\"note\":\"One finger appears to be riding on the can and pushing it instead of surrounding it. I’m moving left over the cylinder and straightening the tool so both fingers can descend on opposite sides.\"}",
  "call_id": "call_wwx557z6yadg1cp2AB4acZRE",
  "id": "fc_0365d7cfe1810f92016aac5f40ea5887d098099524d0ae42c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wwx557z6yadg1cp2AB4acZRE",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.1252, 2.0022, 1.0351, -0.0395, -0.9554, -0.9821, 0.9978, -0.0143, 0.8108, 0.5682, -0.5678, -0.0128, -0.2104, 0.997]\nstate[eef_state]: left_x=0.3105 left_y=-0.307 left_z=0.0389 left_yaw=0.1068 left_pitch=0.065 left_roll=-0.0426 left_gripper=0.9978 right_x=0.2605 right_y=0.0021 right_z=0.1241 right_yaw=0.1095 right_pitch=-0.2284 right_roll=-0.1352 right_gripper=0.997\nstate[joint_eff]: [0.4991, -10.359, 5.3675, 0.7204, -0.1685, -0.1441, -0.0122, -0.0752, -1.4154, 6.8308, 1.7998, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:840d2e7a792f38ad2b2f700a3a70da34b8bf5bd53887efe53f7911003938801b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b49608525be68e8a7df65957343ee128914b1c96fe25eb0377a53a8e251dea7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20d2e94c9bbea74866f8ca7728bbeccbdaaeef565ca08cb770e8c1fdf2263a6d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.2308, 2.1639, 1.0149, 0.6613, -1.1805, -0.6601, 0.9978, -0.0143, 0.8066, 0.5682, -0.5404, -0.0128, -0.21, 0.997]\nstate[eef_state]: left_x=0.3055 left_y=-0.363 left_z=0.0678 left_yaw=0.0937 left_pitch=0.3869 left_roll=-0.1923 left_gripper=0.9978 right_x=0.2653 right_y=0.0021 right_z=0.1299 right_yaw=0.1085 right_pitch=-0.197 right_roll=-0.1389 right_gripper=0.997\nstate[joint_eff]: [-1.4154, -6.2154, 1.894, 0.2027, 0.1294, -0.1636, -0.0122, -0.0752, -1.2923, 6.8444, 1.8291, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrF9L3b7_CqP5JIIF6fMihnQq5rpTF1EUl3w6ofe0IxsumfKp1xbePMwgIIROfKo4JDmco2eBI6YPO191ymHREKZWkCbNsX6eIr6NkPDlSlFYnMSQLFrAloW9tbcKZ9NXadnkDlSqTBLwvZjShugtUM65fae2RdTR4Roxl-HsaF4jVoIfuKledsp0eSHXVcV5eJ2rHhMrCwB2I-z8YK4FmdlTOCufq5UlAIzaklxqGKY6UQ45OdVnKzb6J80WgnUUyHdOtQLTtdSOqBFDk4MwJWaeCxDNkgZZIMT_r_sAhTNh9_fw1rQy9fVs38tbij4VGr0g-V9DOGZjATzBBhYNuFwc7nhp4xDA5AKvTJBoJ1xg__9jwItdrEyEyMpXZHCO4mCx0iKt2cWXbwavaW3TaXWDbZELQ3YPr2Jd3VBwfsFefPxUUV8MOSZlMfF7aHc3rccRwzLw6ROVQFHLu8SEnQGXdGhv--BGaooEdWM3-TlqPkFG_kmdPWUYAmtCJBU7qUTr8pepADFmE_oX_jIYHDytpQYoFU1GlKkc9q-hNvafcra-9lMkKlAuLWSAnfbQoU5I8A-Z4S_x5VYl7BgWqnb7dEXACItnmsp1G7YHEPZAJ1vna-GHpp8PIEb5vLqxkn9e4pHKV35vB-jHj2erBL4t8CvPRBPlJ2EJKsVmA0bGFlUA54mrm8nnVPkp3nOz3WsNrVEcwy9FDel7tt-xyLk3YgYPU6hrcICyaSnO-UdNZpJuGe6TV174vwCC5GL3Hfb5q3ZIMoWVzVC5vBsfIxdr91cRRXzKROAuJCQDzt7rnCRR38Muhb_KdItBD30WOrpyaRbDNqhbLCJ6vs4u0CXhx-7cKcnyL7LJhv0WUzUNKRCZK4YevjIcLNvvPHj8gZ5W51h4yU1X5FQK_l5mv3XoM3hHcYDzfSwYBAS1cGFh4sWOy4tneNRFuVdFgt1xiB-NDnkFfae6x_JhbS378EY65g1Bu4WU8SpPqqiLldfP99_ACmFjqHhXa_MYHYKptzJfgAfBFaCqFTotykBMze2LNZ06Alvx79DJb5-BTfESFD1QcdgXBB_Rp8E7YmKI5FZzqvBbDTzMc3rLluci38hW--k_U55pnmrcgR6q-lX-TLBFsu5S6dJ6Pjr2JKP3lgzm7L1_BcOzMuRSXyy4eHs169DnW_OqpPM73wOYl8lnP4GZ8JwmU5nOK-NGeqoLsVZHZ0OM860vxT82TuCsisjHTwjALyQh38sgKbB5v9DTcJw=",
  "id": "rs_0365d7cfe1810f92016aac5f48a80887d0a7410bedce7ee661",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.285,\"left_z\":0.015,\"left_gripper\":0.48},\"note\":\"The wider blue-and-white body is now between the fingers at a lower height. I’m centering the last small offset and closing gently around it.\"}",
  "call_id": "call_lMlcrrEhkQn6hAvqxcwYi5YM",
  "id": "fc_0365d7cfe1810f92016aac5f497b8c87d0a9bc8b41a5285e4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lMlcrrEhkQn6hAvqxcwYi5YM",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.1042, 1.9675, 0.9569, 0.1467, -1.0187, -0.931, 0.4849, -0.0143, 0.812, 0.5674, -0.5941, -0.0128, -0.21, 0.997]\nstate[eef_state]: left_x=0.3214 left_y=-0.2958 left_z=0.0563 left_yaw=0.151 left_pitch=0.1613 left_roll=-0.116 left_gripper=0.4849 right_x=0.2556 right_y=0.0022 right_z=0.1191 right_yaw=0.1102 right_pitch=-0.2564 right_roll=-0.1313 right_gripper=0.997\nstate[joint_eff]: [0.6222, -5.6547, 2.1265, 0.6276, 0.3639, -0.1441, 0.1587, -0.0615, -0.8957, 6.8718, 1.8046, -0.0464, 0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bced6b5ccd9686aad9a9e80c29ddc0ecca77d8ce92be5c9a30ba329f4812b54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e09d085205f132756cb58d7540dc9f207ac0118b4cde4daf96ae2b995a757ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eae0218364a61a9a045ba4ccda46ffc018ddc13c8d2aabe1e1c97e8367cbb3b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 115 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.1252, 2.0022, 1.0351, -0.0395, -0.9554, -0.9821, 0.9978, -0.0143, 0.8108, 0.5682, -0.5678, -0.0128, -0.2104, 0.997]\nstate[eef_state]: left_x=0.3105 left_y=-0.307 left_z=0.0389 left_yaw=0.1068 left_pitch=0.065 left_roll=-0.0426 left_gripper=0.9978 right_x=0.2605 right_y=0.0021 right_z=0.1241 right_yaw=0.1095 right_pitch=-0.2284 right_roll=-0.1352 right_gripper=0.997\nstate[joint_eff]: [0.4991, -10.359, 5.3675, 0.7204, -0.1685, -0.1441, -0.0122, -0.0752, -1.4154, 6.8308, 1.7998, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrF9SH4CHn2-SSgADSOx04T-G11nlZ1QbthcvI9bYmB8if2nv5KmSokh9QS6JUMPqPiXKudIscREMLxnZvoOiWLHZgd18aSN59pqfn1Rd8v7eAfXMcPZg-7L6kZ0NNVIOhd2Rzn7d4C1FGPLNKV6Aeqjhx3tVES3nhtEFqFx6BA70M36w8uFsL2mKZ2IwAjNDKrt6uPcp7ljMds6xj0Jsm6txeNDHfp1N3q1cc9cJh6afzQCnNyjhrfEOksrUmX0ET0ablDJ6SVxAoo4bPnU5MCU9L0xDktZk_53lfzrCvyJIWawolEfkC0hwnTghy7SfbeiRaGgwZbKw_iMmzLsPbYH9RWXpPkp8rxDt3DD2wKceDaGdtWW_01fBD4r_P8EKNuS3Rs7L-TaZm68lKr-RIZSTU-7_z_EqunAx9CSlDsZdTOSi1ptdUlmDYxiho_DuUWPjef26tXaXk96LqvgeDcheQyq_ndAWzpK3IRLruZ85ZaJruCNUSgPQTeaxJ9rbRw5Oa-GOpHBb20HlihfGxswMuJv9DCutEmyHkr19VJz6GCJfshHS8SJcRjQaVBhzn6mpP08ZBKmyc1_oQ3vIM4tQjDOeZJRfrp2c5B59FsUPS2LfQeKP0MfNr1DOjSWvrAvannG6Ypy4NCT1QFcQaGnDa7nYBw3KUF9GsDnkGIT2J_-lH0rFzm2ako5X76NWJN0WsNyaNfdXJ6gtU77ITUdt6KdSIGjZ1e9Dyx0LPqC8Ile1EQfl71YI7WlTwmdQqyKfAqUjeYwLHsuFEKxpoSbS0wy5dvt3S8oZU_EjuYbt46Q_XtXJZwpHGWeeq2GPvzaHt0KvKtS1uzIxne7Fdbv4BQoV8fDfGi9gJ5Azh5q2q-P6IenoOqz-bnSW9B2AaLQ5Pvhi-NAG7nsk0b7hKmHjBEvZHsKIfZvdKoT15omsdDuQGCAZdQFoX3YmWbNDwGOk58cVsOAbEtiLsBy_sxY8XbyqdLEgokoBvhR0v7uEglS1NUHAm6SNTxbOfttkBDmzKgbMjWbFdYFBsplh7UfVz4qDTOM_a2RWN6gd9jszyYBUDjzfwHRinnAGf9UxufSw8lKxrWs2Ux4TB40qO9rYZKl_dHd4SsHgmt58oFqOv8C7HD4-7XDRQlG8CXHHa52d_4dlCw922Ok032bERRFte31zHKG1VNyDSDEL9Sf4HdgQHIznp7PnUTRXsmdo0HApNK1L5KL83X_GzJBQruLJ1IX7M2Dclj2UWbUl_6MERE7xjw9qA7Fdrv4rnbKu3WjafK9NNGkJOptgqmXs1nNwcsGL2HDLBpEwNu2DYMxBxf2WiHuKteRV4Z1WME0Aa09kR2Ck8GGy9nUr-E7vQRZtgzWCZKDtBAg1a9uesL5tZLn6w7rP3-Dk50z_3VH9i2FoqoJgxHVHvQXQ8TNeOLGeXM5IDniHxXsUBIX4nJJs_8CbbdcZmZlM4fgo_X0Sz67eFP_pDpy-n9sncsXAUCclOA==",
  "id": "rs_0365d7cfe1810f92016aac5f4e714887d0a52ae36e6cd9f613",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.18,\"left_x\":0.26,\"left_y\":-0.18},\"note\":\"This close is still not a confirmed grasp, and the cylinder has shifted again. I’m opening and lifting clear rather than risk dragging it or knocking it into the burner.\"}",
  "call_id": "call_JxO26ODLY3RQUkIOMrxEWrsW",
  "id": "fc_0365d7cfe1810f92016aac5f5003e487d0bab43049e3ace04b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JxO26ODLY3RQUkIOMrxEWrsW",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.1145, 1.2457, 0.7521, -0.3382, -1.0145, -0.9516, 0.9977, -0.0143, 0.8158, 0.5674, -0.6163, -0.0128, -0.2104, 0.997]\nstate[eef_state]: left_x=0.2656 left_y=-0.1926 left_z=0.1783 left_yaw=0.1544 left_pitch=0.1665 left_roll=-0.167 left_gripper=0.9977 right_x=0.2515 right_y=0.0022 right_z=0.1146 right_yaw=0.1113 right_pitch=-0.2822 right_roll=-0.1282 right_gripper=0.997\nstate[joint_eff]: [-0.5128, -4.5607, 6.3658, 1.2918, -0.525, 0.022, 0.0122, -0.212, -1.0735, 7.0085, 1.7021, -0.0317, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d4a9cc26916869d185e475833cd8d43effb34051bde5c7f45f2947c437214fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90e74ae5104410a8c012c545eea2af9e973eaffe9be6f29faf3cb66902f18728",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49134f311fb71c3a1738f5d2550a29accfdc22fbef2c964a5ba3341357decce1",
      "type": "input_image"
    }
  ],
  "role": "user"
}