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, 0.6048, -0.3874, -0.0193, -0.0338, 0.9993, -0.0212, 0.7944, 0.6075, -0.4023, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1791 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2922 right_y=0.0007 right_z=0.1769 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -1.388, 10.1675, 1.917, -0.0513, 0.2027, -0.0855, -0.3077, -1.6479, 9.6889, 2.0391, -0.0562, 0.1441, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eaaf5f089b17cfabe49832bd6295f8ad514fd2e5febbc024a8c0483ffe21e35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5807fd8e294fe0cde0ee5da9d88a3f6a2f856af3eb3c51357a02739b9be18f27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fd7f4e614c8e8ecabacf64cc318799719b37082b9e329fc6ce4fc5cc67f4df9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrGULvi1rBvFj1Je52FomqBdxdsjvZOpSlId1esgniUpten4Y2i_iZqInfS2sVZl2_RGyTJvHk0zJAbqZHXbDf4fZhIH2IbPm7QTwxQoX8tFO2ynZY47OL_Vy--Ywv3uJy7AR2o9uS6lHyTymdgQulscOrLub_ezXjevI7qNCHqcpu3I9yPq5Z0WU98q-bL2zmP2F3PoqDj4bgDCB98zMNOD5RtwwgHlXmM-z9Z3CGTv7WOgteaHnFmM5MVNlC2I6260q7m3sTlyOP8-6yT5Xt6WM5_npR1zsJHZvH-Z37DkO9hOJSZz1gZkxi_ATJb8BOoNSKG5slQ0RnKdpw63IGPhgf8Fjf5Rz0LB8QI6lPJG1p0nQcIG6iOqo_IOS-KlPCVheQ_5ewCdheN0DTNHhoyah0m5xfgCRTtNZ9laO25w7voKC7U6IIgbK4_pxLsPAFdF4STS9oo97Ea2tM3zutdlRCSHx6W98lD6c7ZkACV2LhsOWiXOlNRV70nNmrhFxyk_dmHxCcrgdYZbsZGhc4ZpBTvS0LkzpTz9ivOLDImn8gJDVYAvizWUOVH4hTI8jl69FAejpvEG5bh5wKsd5hs6jGNxX4Qc47xFgmbquoq6fQ5hYc34DsZ58RKT_llc527D3kLMrH_4lH34NdmwyA1Sd9WJp6FmzmxJoMGjVdpaIGQTJ_Hgr4vPDbEIVKaeDKzEwp3sGxMLH7OpA2y4lxeNm96cLVZM34B6OJ8hobTGMBzOA_FPuI2663QTEKBOOrO2dbufbSUyVyMHLgWOo8KBpYs7IB7WOgRXZumUOqE-cIH-WlzN9WxwdeNZ09n_Hj5GbfJCqfR3rlKAH20H3SxaTGsf2MPOS2Q27KqAGYQFmxWhFRB9PaksM9kuYoK9ST8ZnQg7-yyniwJ3Gez9AvwEG4MQwPR4cx8mGVaGZJ8ny1y7kRr30F-lWE3z95Dpg6LNZuo8EKsmcvWujsu99glRTCYvM-8VgwznfToJcVdK-fjcf4O_CcmcqM7xX4-eVrQMPgfCPowk0O5Gd3Mx87gML8Zssczk9sfbnNmYeR3reKfV8-4f6cTTUkuAsoIQuwOU35P8GsqfLRZCWFijLwHPGsyYCGfn7qeqXbrnA4dasp3bBNeBHmso5Z1NkEiCgAp1_Sei7tqlsT-XiK0SMQN_xarJvlxrIWA9sfTeqbt1hzpb2xtuw8LIYrqs9ibKvr14EG86sQcM6hNOeMKVE25q40W3VYqU7fcTVDhkjW-K_al-cvcYs9yuFzg_t7gGDLVjR2RXL0WTeIEgC4H7_yEDWHMSXm1BAedhFoS6cNOuPmLCV4EfK4lzjP9CGZPHnADFgEUS9H7aTtRxEbndT007VnjmdlLBLCJvUDKBcCGBzaZkm0sOw3D5Jayc_NHCVEjhf-sjfIqUZx81LtVchIouI_uJT6k9hCjPffPQD0fm3yDIczR29J3tZZkyAT6hDx1Qsny4sfWEseg3PhxXt3P3N0VWjBOqfB5EcolQy6LITYSpmUTWg6sRMNYe4MNHTdDt4",
  "id": "rs_08e1a0ba647330ff016aac6507467487d09e802f42c5525bf8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.12,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The can is lying on its side to the right of the burner. I’m moving the right gripper above its middle, with the jaws open for a side grasp.\"}",
  "call_id": "call_I9UV3yUauwNnZ0Su9gBqD9zo",
  "id": "fc_08e1a0ba647330ff016aac650a5ca887d09a1ac7791669c119",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I9UV3yUauwNnZ0Su9gBqD9zo",
  "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, -0.4061, -0.0189, -0.038, 0.9993, 0.3717, 1.5597, 0.9417, -0.0853, 0.2779, 0.1635, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1751 left_yaw=0.0023 left_pitch=-0.021 left_roll=-0.0033 left_gripper=0.9993 right_x=0.4212 right_y=0.1161 right_z=0.1279 right_yaw=0.0372 right_pitch=-0.0828 right_roll=-0.0352 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.4427, 6.8991, 1.9023, -0.0415, 0.0415, -0.0171, 0.1162, -7.3915, 8.8137, 1.8681, 0.2711, 0.2222, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9544be8b41d7e7720a8fc1526181af923cd5093c607feba9ec7cc20f8df2b722",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f43bd1a82478ff415cdad7bb59b79d8fdb13de4038bf3a1b08ecf2b70df6901",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9592462469ee16e58040127dfd9bf571e4dcaf397d589cc3db29954c04b3f20a",
      "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, 0.6048, -0.3874, -0.0193, -0.0338, 0.9993, -0.0212, 0.7944, 0.6075, -0.4023, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1791 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2922 right_y=0.0007 right_z=0.1769 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -1.388, 10.1675, 1.917, -0.0513, 0.2027, -0.0855, -0.3077, -1.6479, 9.6889, 2.0391, -0.0562, 0.1441, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGUUNOcDWD_kVYqCG-IllqxeazTeix8rdaskZ4HTv5MgH_Tj395gGQeGeb-ta1klsUXk25H2RrYaZyz5Ze9Lw3WywVhSYxJU1n5yRehR72Q6QvrWYmXOxe2bJNTWmBk9NaRmKQE4C9vHHhOV5T6xlohe-RIxCoIN9xoCgO45_SjOnxsyp0NxGsNFHuW4_GOa09oRCzcE8B52y89UPyE13knMOGwdb8M4jtxQ5l3kBG_aZszqpEFrPViOAUYBGGEwN2mBu85Ej3co_IeSMqFIOXylnjoxiwt7-gx1O26inUfaEYqGR3DNuHB2jWUuH_QFpvAERsU0r3TR_j-oBJnYTAMcbnWdRk0LOY9MoLEaVXKZpuFyYW1K5DrNdbUZ9BIVlpfiroJeSRKBxS3AZ6RhHfGj03uezIFHEoIEW4_SdBBd54_oc6i_ZUo_3QxlxpSVMMUX_ZqzOyBYly9jUMlq9t4Q75JErF5SuSkKnDAOGYa1t4lq2XauHWSwR8adtLl5yJ6IVbGnETNSvNrsvr5tUG0URRhjdIwVmf0OiDC7sqxt0lY2WuxXU5yk1el9q7UYQD5xQBFNAP2CpgATfjAaX8Is5RJ2Z_XdUI1PnR43zNImh-bIDQoasJsk1DQx8xGaEi73GDyUoqumNJhhzhNJghqHz8HcaXax74JvevOWBuAVtp_Fixt8VPcy3UtpdJYw_jTUqzmSQq75JT7be1q58jZ6xg2XiSXFgSFwAHVEhdTXpQHbYly_kw_GA9f8nWa0y_OMje3IgBwusveRRhGizGEPLROBjxCkfeQCIuNPaC1dkraQ5vbFhj0QisL5TtTv095zNKLNifqSnfVzbLaTitpumKpfS9FVk9uRPup9SpyDHntykBjunO4zCBCh0lOjCb7nrotyW9JOzjZWOZk9hNZDl8XLh0gz5KHELpSrqfdkNgozIlDQWBq-E2rSvyz6i_0N4orTIQ3aQytMruNxzk5b0Z_VDAXLkmHhK6HyKqK7Pz0DzZRvjXJQXyEG382mFiuCV6TGq12hJnnHvjvR87d2BWBpr_KwA6113GO6BIC3hFCjVSTZtSWKAWHMv5McQ6fBA1S88nxMOBJ-jS8g500V7b77kOIt8fQbsm2ja_Lw57lrSqSdbTOIQDNodkdjrnDsRMcB_Ks-ZMOvaouKVjV3v4OnDtVSmLpVtQ5C-ZgN9kPxezECKDWCeSBVEqczaNoetG6CsO42tqfucixXmpYuTCaqst7fXBY1U4sot1C0LeQ5rkkhe3VepJiAyNo3mrOruuFLBrtok9QDX8INozIIKRBBOyzC0Js7ub1PlIIF5okFMgoNyXzTNoun7JI1cQRm6FcPBVFtbK_1YWHefwJs6Lwa7KSjlCaUyGbvCPciUl-g8UdViAkA_V4RHscBtSNcZC25jVuFYjRwwYUjXgoAde2EQjN4vHkpsyko6rP6T16-u-J2naLe6pL639Z5-8tFqsNnbv2eRT4ssKWRk-FMThu5kzFyKLCri0PmPS28bdlwwlW_NYcdnDA0XwVEsGesRLgjYK6vRsxdjauolHk6t3SjTfyyZJsHeN3pfv2fTaXeOTdl4XI-k29DacHMGyxQ",
  "id": "rs_08e1a0ba647330ff016aac650e783087d0abfc8c1288556ff1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.085,\"right_z\":0.095,\"right_yaw\":0.25},\"note\":\"The wrist view shows the can slightly right of the jaw center and still beyond the fingertips. I’m shifting right and forward while lowering toward the can’s cylindrical body.\"}",
  "call_id": "call_0SI02qThyniBCr8mHChxDmso",
  "id": "fc_08e1a0ba647330ff016aac6511f24887d082ff733047de78f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0SI02qThyniBCr8mHChxDmso",
  "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]: [-0.0189, 0.7982, 0.6067, -0.4137, -0.0189, -0.0383, 0.9993, 0.1566, 1.7428, 0.9695, 0.0051, 0.02, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.1731 left_yaw=0.0026 left_pitch=-0.0301 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4543 right_y=0.0718 right_z=0.0727 right_yaw=0.156 right_pitch=-0.1797 right_roll=-0.0376 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.3607, 7.1726, 1.7802, -0.0464, -0.0122, -0.0122, -0.1709, -8.5538, 9.1692, 2.1954, -0.105, -0.0366, -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,$blob:0bb568c58c511465525951c610dc566db6aca3a468e9af26f3f1fd49e3724a5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ace47dd58d3b5ed5cd12fac0ed2c2806aed610a3dba19747aedbd709c4c8cf7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5927355efa8a592b7c0e1e9126c4c70db307d661ebcb2840318128dbfb3de1e",
      "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, -0.4061, -0.0189, -0.038, 0.9993, 0.3717, 1.5597, 0.9417, -0.0853, 0.2779, 0.1635, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1751 left_yaw=0.0023 left_pitch=-0.021 left_roll=-0.0033 left_gripper=0.9993 right_x=0.4212 right_y=0.1161 right_z=0.1279 right_yaw=0.0372 right_pitch=-0.0828 right_roll=-0.0352 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.4427, 6.8991, 1.9023, -0.0415, 0.0415, -0.0171, 0.1162, -7.3915, 8.8137, 1.8681, 0.2711, 0.2222, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGUd35A28VDhcJcAV3USV3L-1uxitUL9qyQgZN3kUVwxBpowclJqsLlPZN_u1YotfBotwKcw9rHgar4S3Nv5WQe-bTahlLLR6xPQV12b1f9mICSzwf0g7hECp_zIc7P84n4Uk7n4g2fgkbaI16gAZpF6TFn6_K9UxO0TPVTWOS5WQ0Qg4NYMEzFZ_kCbDdD8wh5MGHB0D4TihGiPMlSeZAskTwzhzJb82WwDk7URwlay0zG_O1uEEoqgAsnjq2ar0I6jIOK3C5q_y5qedBxhHDmxeyB3BOlBFybJAofo1jhUn3aUd4Fesi1z0y6ia4G1J_lN_Ug9tLukd7y6prXbYm72ioL4lNaOeS5eeu5YrwPS531QDz_idcj_SmUN4N9w_ASjpyZylI8eOwcZTnrw_2hkhrVpRKBYDbbB2LMQC03skGXq89lJBbjRVWBxFT0__dym0kV54zTd_eCakXTvyKPVxcw9kQXrq66opEP5BaeVNrZdurYNPMb2F8KE1uVo-lpmCsYp0R9MnL1h7VQiDcX8mVSbX9S07hMcGiu-xxMvp5QPkGJl0ug9IU_y3VwSnt7I2l5sTht_PZb3Sn0FZg86eHx5LozeEI81arkWWhEf_8gB3g71JHUe-2c2soFCSU9fv6P4OAkfAWAkIwk0Y2OGvgHnYjqdlXwIUu0ikO1vPHOBWLq4W1rdKsoY49q9SZOtFl4RcDkPejoSS0UfF1Vg_LhSAucfwgu3qfCJ5a-VCNpksYHxZu-VxV0bkDLZDbb1MnwNvJt9-Fhog8seFfqMKW-Y_fMTTef8ye_MQQ7gvRWmyshkpQ-hpCViHNG_iqK3uX2SOUT7CTk9Wj67LbnGKLL36f9tcy0n5iLyn1JbqRxP3GVPcMbFmxAAlPCZy9BcFAaZQBimPSVMz3_SHQSti_Ve1GUOCcUJGc7Lz7tstcF6EZLu7hT83W2BQhSTjA3UuRSjI278O6OGmzMiQwiF9pQFQ4j6gpuCfqEQZkBtsl8HNTA2ELVNkb5koPnSJ0iYWCX6j6G7-_vsgKLu7CAbes8l_27eRqvabwWfHNdrR-Ohfo_ty8OmcpmHR_jSg1kyRNTZ0z2S3NXuoCAIUU4ewWFNIT7tOCKv2DL0Edp-qUgb329MCPZN2_s_ua75mfBmr_i7AKMHUPOJemKufle5olAj768YH3SZFVxnsd-0r2NA_VRQuQLWJjctvb1h2hTIbaLR6xCkbYUk6fn6dOR00Nd5bgUGfQqxUidXqXrqLP8G5lfdvT2wIPaq8oyrhiwwNDsUxPaWg_6u_auct0N2fIiC6ZNO44XpBaYPHp80DtoRmNVDxRorXCQxE4vJImTMIr_tJ8l_UEaslC9SdTznN6_SZzD3pPN5u0lIB2BJ0ARtYdC6FIQreosVZKfd3Ec9CYURfIfBZ3zGb7AeC3bkQEZQ2FcI7-O73xljDYT0h9ufAJ854HYLVHz4jTc2HIC8tCXmsoshk497zIbftuAcDhTfYmLgbbLRKuVqH9qbV6ZD4rjDWUneHrqvzqg9vKuieQ9PMvLHiG58PgdGT9qfNbPGSW2Qk8zTyVfwnUHc9gp2JHsuPzALBZbUot6F0Tc1mFVhh7hiedHyVaQG4Z39Z5b5Rb1dbqpZP8ds89p8w6hib41I7NvEjSdNx6AVC0_7QfKqPQOA3NWJOPNx9AnfHbp8TzDtAx4R0DURcQBGM-VF63yDPuXZr9ePS5zzCi19",
  "id": "rs_08e1a0ba647330ff016aac651699c887d081593ba37ad78197",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.078,\"right_z\":0.035,\"right_yaw\":-0.3},\"note\":\"The can’s lower body is close to the fingertips, but its axis is diagonal. I’m aligning the jaws across that axis and descending to the can’s mid-height before closing.\"}",
  "call_id": "call_MyhVRaZQmChgb8Io86lT9Mf9",
  "id": "fc_08e1a0ba647330ff016aac651b7e7487d0b350b81162d70b02",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MyhVRaZQmChgb8Io86lT9Mf9",
  "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]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0189, -0.0387, 0.9993, 0.1471, 1.7611, 0.9836, 0.0399, -0.0647, -0.1165, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0028 left_pitch=-0.0446 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4618 right_y=0.0836 right_z=0.0766 right_yaw=0.2538 right_pitch=-0.1472 right_roll=-0.0283 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.1145, 7.0906, 1.8437, -0.0611, -0.0708, -0.0122, -0.1436, -8.8547, 8.4581, 1.9707, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7248bb25cb05e9c4c7b70f9a6fbc18b37bf6db45eb99321e349bbbdb9b451da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afec80d4a8f5506bbba4de99971cf5ae6e529d2623aad241245034666526af49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b53e40d55e763d9f562024d608a13b767339f0947f84fd7453db6edbdaaf5ad6",
      "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]: [-0.0189, 0.7982, 0.6067, -0.4137, -0.0189, -0.0383, 0.9993, 0.1566, 1.7428, 0.9695, 0.0051, 0.02, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.1731 left_yaw=0.0026 left_pitch=-0.0301 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4543 right_y=0.0718 right_z=0.0727 right_yaw=0.156 right_pitch=-0.1797 right_roll=-0.0376 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.3607, 7.1726, 1.7802, -0.0464, -0.0122, -0.0122, -0.1709, -8.5538, 9.1692, 2.1954, -0.105, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGUjc0V8C-CnfF_IH_WUG3ku4TSshCxLYbazg1KMzUFKhqgoOJBffQVD82qPYmgGT7oO4r6KjvfLymglzvTbA86iEQ0NV2npF9nq5NjevMJ8QwpeXlcBwB0f0ZAI6vTuODjC70DVOZuV3VbdxstPchCU8J1XCM5lZTQvetqwxCw39Fzt1O9sv3ic38ToAT5GQabxbpOvyxfOp6OAaQhuR7tJd4_G9xFD14Rtjyn12_eXUbVpfP5IfpNVvw62BlBU22YqqrIG_FdCn56LiXJrwhDICBX07F56KEX8M7Djxch3Xah5ekRgRFGPCtobQBr7FvNXE8qAF_IS-s8YN7IZ7P1TPFwrRWtgEerGDFGIqkSKCrb5H-oj1rqwFPbNSVraViB7uQlmeQ22nqdG1Z75jbfFMwmukCawYdDSa3Ols0NZNPTd0XtoO2pV4messeeQ7HErpmuSnd4ykkLYARXcDZbqfp-7YfZfMyI1eHhwvyXPAVpPAaHcWr3RSnVlR2wS8xdpwS9Kc3CBbIc9Qvc5AZaoTpDvJS0eUKbVdROtm3SECbDKEk8iK92FciefcwhqGrtg0hD4MxNNh9qKz-G2bFpIbn3Sf7EE0uoebXBdN9L638cm-R1y9i1uh-8eVsYOOGhy45cWnr9if18EhjI1ijwxdM0jSgM_ez4PAaWbwRvRB2gGTGAqoBQgKAygCVi4q3Qt1TwmTOaa4dcCn6JZLtJTvzwpTOxwis68QqQMl056c0jSFH_289IMD1EI30dsMBW30kDBHwOIRUo3043PFsluyuCNhrUJvZdoON_UV9Hf9POkdU5XZDRGfri2qC7BxYqncuSloY79-6CGhwyfKVqi-0LWUzgSIhB7VZM3v__5uZblemiVh8UGjF-zWrulm_rNi-JjvikOjRXNIasWGjQVtiplRNA8Ig3g8eJhtKMurk5kxJd9415tIpj3hM8cHHtVnW74KqSY0M4GQ8kVcrZ16yMHfVrwjz7dDszz4Tls15Xg5uoJEYF5rI2PguOOK8fGH2bs5d7ouOep07XZcPP2apOWCxYcm-B5O8jkbQ5DlNf2k2N78iKQgiGvmT3eXTzD2dfxvq0l-ILC5RaSFc7Qz_qyOpi90bhGRa6xvECvILyqHvzOlHVAs_kZ1AjHxmvzmsJ66i7ZhCwBHv-He_eNBj151A9PbWoCCQMb_0C3RyN5g9uawRQqIftuk29T2f3wXPnurKwkC-13IOXxztEAnxH7L8jF00AnPPiECBWc4H_O0H7KXOF9a3G55uMvi7REevrK0DUsD4j0undv6O6B4_FNcy784C3w04hHHhNFM-NSfiNm_OUTRTU5pP0ZcAvfdWROmTnhBVKNw8-Vii_M-nw0dj16tKLq6zu0cQus-pfeCWjBvf8cptzONweyMlf-oL7rtGF2MkgrqYjJ-6n4lShyNKq2l-krU_LGPAiXnTJaoRl6Sns3jv7DOJOUMtibdQAdXLKDXomdDgYm19oCU_K5QIptOVUuMD7MNQlW9uA=",
  "id": "rs_08e1a0ba647330ff016aac651f4a1087d084ba8fd68512f923",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.065,\"right_z\":0.025,\"right_yaw\":-0.15},\"note\":\"The arm has not yet reached the requested low pose, and the can remains ahead of the jaw center. I’m making a small forward/right correction to bring the cylindrical body between the fingers.\"}",
  "call_id": "call_OOekHeiS3lJoe2Ccs3xW9Se1",
  "id": "fc_08e1a0ba647330ff016aac6521c7c087d083f38f89650e64ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OOekHeiS3lJoe2Ccs3xW9Se1",
  "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, 0.7994, 0.6067, -0.4355, -0.0189, -0.0387, 0.9993, 0.1471, 1.7611, 0.9836, 0.0399, -0.065, -0.1165, 0.9996]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1685 left_yaw=0.0028 left_pitch=-0.053 left_roll=-0.0032 left_gripper=0.9993 right_x=0.4618 right_y=0.0836 right_z=0.0766 right_yaw=0.2541 right_pitch=-0.1472 right_roll=-0.0281 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.0598, 6.9949, 1.7411, -0.0464, -0.0415, -0.0122, -0.3761, -8.8821, 8.253, 1.9121, -0.0464, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef72b8e48391ae022acd1da7dfb5ffab4634a17f125173e5900268c947e0e29b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82455d0409fc6baf589eef08babfcf74e74d0ce865e1686765cf5a7a205ff12a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8a2987d599be9e9e03cca27331b4782e0c6e34f02f67c3df12a56e3f926d039",
      "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]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0189, -0.0387, 0.9993, 0.1471, 1.7611, 0.9836, 0.0399, -0.0647, -0.1165, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0028 left_pitch=-0.0446 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4618 right_y=0.0836 right_z=0.0766 right_yaw=0.2538 right_pitch=-0.1472 right_roll=-0.0283 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.1145, 7.0906, 1.8437, -0.0611, -0.0708, -0.0122, -0.1436, -8.8547, 8.4581, 1.9707, -0.022, -0.0415, -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": "gAAAAABqrGUo8YrxnKFWPnKYQhzEQQM-gnfBD6GX5dKFOiEdzPqRC_KMUGla7jY5VRVXEzpoZ5HFRMbo8KogcG6xjJboj74JAR9BGICqR4Fr4w5KbJeAPuonMaEdUsF3NepqVj73XZ6wfrNpSNAcYR2wTdu01Am62gDhMNdcpPwviuQA7chT10ttOZTroFj0Z4T-S345T0olexQGMj4MXfx4tUC0omFxgrODRPmTSZKsGPZz6O6cd6km5pm6k-0dAGnpeZKVvKKD3HQRSP_9wKbpvQHtbGZeBBwn8OQeJ_prGOUr69QWpPejSMJmAeAy6df5lZP18b339c6AaCg6XrAZ1RTioShb-xGtLwXA1t_QjMI-fPH2YMXMDQ0yQXc5e1if0JRcCH0X1sWv8S_3ijhb3k5LF1bB5OLELrhIjWYalTGyIFGweFGFLsesDrSWdLI8_QVQ_ZuINwmLCGqsia0QFtmY85we9yt9uxVMb534Yu_fXiJ_cCTueiqfum_kaVplcPwGVEA_bM2kq8ceeD5aGhmUhWbkSNxc_Lcf75OQcKhl6YhXx80ti7O9NidFFE8dxC6MR7gbB5ikFZJmBiDew2ZlwRmVwZWdBasy0pMdsf3Qxe_0pMDJHc12yTQHAofb0X5ppVu8AvxkUS1krlv9w2DW4uSbhbhmc4z9Zw78IW3yLsfpn5eIo-mJWcEdybTLDEyk9rFAnA255LBg8ha8v-d3c1frB1ib8kN2Us1LMvXtdfxqf4wqWQ9r8BwpYB7wPV5467ERIutUieWzxGpcIZSPFbTWGNYCIN4PXAuOMQWiHfjoVz5iBFncSqUji8mO-P1vWZ-PSgUNOfIwGKutP04n7XJoTTjh_kHY-Ki3BaY4HytlCho6BsXs2dmP3MzhOOmbbb2k5WIY6_hChWpA_-dt-is7zRco9ZLFTun2d-bK1MCIM-FY_aYgTXgbDHpB4SMJ1SDKmR8IwiB5tH6CzDYUZjJBNqkrvf8JxBYigNagc6kKIabzEIGlCZ5Pctp6lcP7VFY3evwQ6pksY0Oo8p9YRQKt-9lO3esmI0vyzAsN_JZt39MoewiDC7gSw1aP6I7t2WWXOctrmbfIh14bGjL4iaFVf0PL8STaw0CfUPEBHGHYavgZplxxI7rhaqoYbPmwxEKbwQxBEb1TcsgDfxPpu1e5sQxUatv3yArKsygxrhUcQITXG3IzDdfBt_eFwtsdS-shnK57-fguF-APpv0NjS2YKA==",
  "id": "rs_08e1a0ba647330ff016aac6525af2087d081e8350c4476dc25",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.075,\"right_z\":0.04,\"right_pitch\":0.3,\"right_yaw\":0.25},\"note\":\"The readback is unchanged, indicating a reach or wrist-pose limit rather than a completed descent. I’m using a forward wrist tilt and a slightly shorter reach to lower the fingers around the can.\"}",
  "call_id": "call_W24jyVM9Ct6H8rltkeNmROOB",
  "id": "fc_08e1a0ba647330ff016aac6526569887d0ac2814e23e7212f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_W24jyVM9Ct6H8rltkeNmROOB",
  "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, 0.8024, 0.6067, -0.4534, -0.0189, -0.0387, 0.9993, 0.1089, 2.0365, 0.6224, 1.0237, -0.1169, -0.1009, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.1641 left_yaw=0.0028 left_pitch=-0.074 left_roll=-0.0028 left_gripper=0.9993 right_x=0.4579 right_y=0.0744 right_z=0.022 right_yaw=0.2521 right_pitch=0.2008 right_roll=-0.0304 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.4701, 7.0769, 1.8779, -0.0611, -0.0513, -0.0122, -0.3077, -7.8974, 3.8906, 2.2295, -0.0806, 0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1df53f33d9e96c9eb3250da584f16ad83ca48aeae82d21e249570d97373659f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28c71025c58acfaddbe48b6f98cb913c57b8d3e2b2fdf0f7d4d9bc29a604d810",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5ec7b35e0268330ba255b874731207c4c3880a0491dae1ef5e5004c8dd5d25c",
      "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, 0.7994, 0.6067, -0.4355, -0.0189, -0.0387, 0.9993, 0.1471, 1.7611, 0.9836, 0.0399, -0.065, -0.1165, 0.9996]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1685 left_yaw=0.0028 left_pitch=-0.053 left_roll=-0.0032 left_gripper=0.9993 right_x=0.4618 right_y=0.0836 right_z=0.0766 right_yaw=0.2541 right_pitch=-0.1472 right_roll=-0.0281 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.0598, 6.9949, 1.7411, -0.0464, -0.0415, -0.0122, -0.3761, -8.8821, 8.253, 1.9121, -0.0464, 0.0073, -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": "gAAAAABqrGUwUceD8SBqytWX49kMUqC6_tAWS8-Bc7iAvqiYuoy2l83iNl72C76B7q--mWdJPxR5mAAMZ6Rtwvag4f2S0PA-EgzuPFAkHBpc-Vcu52sazVz4M4z71Hkm0rJ0XUrvPOj4WAAQ4FSzRZ2u1aKUZmcwJYK1MHAWYseAHB1DS_KTAhKmIW_aLe9Wnd_IWFHWNOA3-r_sXDcMJARBnDM2l8JjVp14Joql4FTMHCqjcFaa6iHmD7dnQF6I6V5yayLYzsoleEjCccufY6PK1uKIbGcI3F0Px_7mV4SEd4hR1jsp_vDsqmcKvkXk0rD_sYlRcBZfpOQ5ojeusjZ-B6ZN54qMrWoqjwRx8FHbpqUTf7G3pg4K_y020Pk5_Wa3GN8cDlIbvHhYXs7fz2v3htqh4CrxeKoDZ7QvVv1AQe9Ic6GLKLrcLSgerR8Tj8ZJUjoMdFy8WhNYbr4maNOdPZCY_sh9DltkDZ_DZqWQ4ezmjjjWXhrM7BXWkrn8RrekAPtUs7EiOzeQlHwaL3OyJZye6QOgmauIkSYTsPpRnRc6S4Cb_pb47vJyvWtucZNY44S9NHgHb7iabvcYm42vjawGyEjCeuFehhcNXu4Gi0J0OMHWdb9DyqW5b24zd5NpymUKwzKtI_joBO0o2R-WHlGzx3NrwF57Q7jVzU0I7U7WzWe1bQ5kiuXqtDqEPU_0CBQPm2EJkMsX-f9Y63ZsD47PbIPWfWKh3jL4XwcIAdP1vKS_2Z_Y3Ghyob6b7_YppUwN6JkQFwRMG0gTx5rxitklCVUeVg6YS6lnAKNC-uDdDDBQzlVthRo-QPflIqcsdPOl5MssjKt9z61Og26WF36xNlgkvyhJA9HtapDRTuDiy4DWtYxnivI5K13By5Pyp7qY0QiiuwVLnWDq-kZz2qG7nJBU2WjOd0DGedggG10zRg8JH18YFV9IAO3cQucwieHXFC3dSRn_X8fbCHXWnAD9vatJZ7f8MUSf1LIILZDKYioam_tawnMbUiP467oC3uxBcy4yLh7SzJSmWoGWGHlEpT48CEB_1YWnCd_Dnnn4qSUt6VmJIJqqjwCaV6daCl07oebF1u8v8jbTX-hY9DnJZDNguqgq9Moq5mahRyON8-UsSaLdxma4HEvqjdUiVjUFEv-596xnpB-F33DJ3oHne5d6Vf0PV9H7RBsWggRCBqHqGjjPIzva23o7mnpT9Dtsg4ED1LLzxzHuk-emPizpr5HxSN0en3Zlk3Jrj96xOHdRqAgZfR8XzUQsDS82IVQ-ctnsnlgyinFhghgIPNWOLPUyjFMna5pC9E6HkDyIEEsZyK7hk4Vj2_GWVnippSNJPcZ_Jr3Y9gpbBtz8W6QuczRffFYCscORwD3dlbzrz7vddrSTi4G4wJjUtwnTEVNUSsatkZdqEi7zclACaFy813J8VZ8QpSKOT4AKGG23EflTIVnhr3mxuko6gyhXVTVa0PoQN0e3l5XmvbkYkzcoO5or7Q==",
  "id": "rs_08e1a0ba647330ff016aac652c794487d09c3928ed09878f59",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.48},\"note\":\"The fingertips are now at table level around the near end of the can. I’m closing gently to about the can’s diameter to avoid squeezing it sideways.\"}",
  "call_id": "call_ogMwz0D9shhi8l1NAs9Y7uCD",
  "id": "fc_08e1a0ba647330ff016aac652efacc87d0a9c27f93d5b357ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ogMwz0D9shhi8l1NAs9Y7uCD",
  "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, -0.458, -0.0193, -0.0387, 0.9993, 0.1089, 2.0529, 0.6132, 1.0039, -0.1246, -0.102, 0.4842]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.163 left_yaw=0.0031 left_pitch=-0.0793 left_roll=-0.0024 left_gripper=0.9993 right_x=0.4511 right_y=0.075 right_z=0.0075 right_yaw=0.258 right_pitch=0.1563 right_roll=-0.0217 right_gripper=0.4842\nstate[joint_eff]: [-0.0615, -1.1282, 7.1453, 1.7167, -0.0757, -0.0611, -0.0171, -0.294, -9.9897, 4.3966, 2.0488, 0.0317, -0.0073, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:534f906c08c8131d57c5dd225617843fbd2065bd96acca28797b4be49c8bb61b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc234412171636e85401bd99159065102992677b8a8ca0e667fea3dd63a9142f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08ced940791a4bc3f1a85564fc3cb59ed25ad6180990554e0a4e49a9aed419c3",
      "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, 0.8024, 0.6067, -0.4534, -0.0189, -0.0387, 0.9993, 0.1089, 2.0365, 0.6224, 1.0237, -0.1169, -0.1009, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.1641 left_yaw=0.0028 left_pitch=-0.074 left_roll=-0.0028 left_gripper=0.9993 right_x=0.4579 right_y=0.0744 right_z=0.022 right_yaw=0.2521 right_pitch=0.2008 right_roll=-0.0304 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.4701, 7.0769, 1.8779, -0.0611, -0.0513, -0.0122, -0.3077, -7.8974, 3.8906, 2.2295, -0.0806, 0.0806, -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": "gAAAAABqrGU24zSOCIEuN_7d8F_-eXowSaZq5e-PFZllzUxTDgT5RZR2wgitZg0JAKMoI08eDj1wCfUl0iFmNSJlHxXVC3q7njKrkPIEMfuIVxCZRl2jLzV1uAr3ErV6zoY-AU5xtqfYS-a0TnoMgQn0vubXYR5DQxVRono81aa1LjSZBZzAFWDTL-WNVRIOJix_UDnXj0TWxOlfSfA8mTJcT0AjR6M9DvE4E95J_jdDvru3EPxlbXrJaCLfGL3b31oYBA4VKFPn301ES2ciaW4LPjHHomtvwOmyHXNmYtOvlz-X-ucWlbhwPRQ48AlGgp6jecHl_CVdXaI-wMdSwgCuVRcnoX9F8l3Zhi1GIbOM8cP7eiTHq2db9Ikph3dqgfuZmKPLZvRnuCVxHPozV9kYseyRtc2UhKIyVGatqWFcHJ7QynIZOepFWOVbeKQfLOVduAgSQerjEsetcDdAwir2Sb58A6G3sSeScmM0LQxl1iPL_JHFSyodx9fVDOyvPrgGHSdiEmGtqHETfE2yi9u7sqRW0iLUkpNePEg11WYESFDMX4m-9n-EzKpP68U7o6nt4LgbrX-6KllWsOjLWaeX8k5j4gw68I5ZIrshLO7-2VstpamwGUm8JblHDJo40rfEQ1Kv87_GHdZFjw2bogqUmoyYl-6yNmcnHY_NjtiYDPT_yrK7HBF3UfRDuKValDgW5PInyMfdf5S5AJYiaus4rJVIbmuF3LQkmvNf3SFPFYeZLQbVOEb4ogvedvSqOwT25_VhHnBOyHhrlOf1HBF7-xqaVyqqkCQMwgB_RXp8zksBxx3o1GE02zA85Ux16vAiMjJ8Fo_vCNgF3eXptE1d9Zfh5Oq3a2CFrNPeAICt5-U-GwzxCxC8YAXki3Ts7uVngNWmfmji41XKEbotZnYCxHv41fy0brW95IYsm-auwZ5Or5Xme43tL_c3kUI_DU8zmN-G7hdt_F1csSp9zBwH6EmY5BjKCqBd5t3YbDNU0v8LVGCtJ4LTN8JQUkJF4bFj916f51JUG4HbCnmSOpHbCAkKr0rIkctVjVBqd634BYJxmvBqnLURnHvO_7oHygnq9Mg7sYZXEuqFDTWVnFgHKLljcrSCIk5E2lkqPULoVmBpIf8zqrP6VqOtaIx2OuEiTQXgsurMbBh205htEafTcGJCuDN3-0y-4DDMNewDk9K8QBbG7b13Ad1AzRayqPGAS7pUNtSvXrNB6Knu_SMQhXG5vKWvIDeL4fZFS-Z7MK5U1g_zHkeWd11B1z-hVziSTIPEo5Fp",
  "id": "rs_08e1a0ba647330ff016aac65340d9887d08c88644aee494b26",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The can is still resting on the table, so the partial closure has not confirmed a grip. I’m completing the closure and will check the measured jaw gap before lifting.\"}",
  "call_id": "call_mch1YKH6MIDNFShFtSAsb1LI",
  "id": "fc_08e1a0ba647330ff016aac6534cccc87d0b797c7bf43c9be66",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mch1YKH6MIDNFShFtSAsb1LI",
  "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]: [-0.0189, 0.8032, 0.6067, -0.4587, -0.0189, -0.0387, 0.9993, 0.1093, 2.0533, 0.6128, 0.9806, -0.1253, -0.1047, 0.0077]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1628 left_yaw=0.0028 left_pitch=-0.0801 left_roll=-0.0026 left_gripper=0.9993 right_x=0.4484 right_y=0.075 right_z=0.002 right_yaw=0.26 right_pitch=0.1326 right_roll=-0.0202 right_gripper=0.0077\nstate[joint_eff]: [-0.1162, -1.2513, 7.0359, 1.6825, -0.0513, -0.0366, -0.0171, -0.0205, -8.6906, 3.6855, 2.0635, -0.0171, 0.0122, 0.5592]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5acc7bf6dda8b1d66638759b1ea7f890ba445243ba7c6df2fe149df7b562b5fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0db9514526a2479bf5cb0471016eb494f4430dc111a503aa5080a60c01702862",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90a44ac6156d1a422304dffe81b39cbb021d72447939346646c1fe0f9cf714b5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.458, -0.0193, -0.0387, 0.9993, 0.1089, 2.0529, 0.6132, 1.0039, -0.1246, -0.102, 0.4842]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.163 left_yaw=0.0031 left_pitch=-0.0793 left_roll=-0.0024 left_gripper=0.9993 right_x=0.4511 right_y=0.075 right_z=0.0075 right_yaw=0.258 right_pitch=0.1563 right_roll=-0.0217 right_gripper=0.4842\nstate[joint_eff]: [-0.0615, -1.1282, 7.1453, 1.7167, -0.0757, -0.0611, -0.0171, -0.294, -9.9897, 4.3966, 2.0488, 0.0317, -0.0073, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGVA-TwKAPFAa5jxJEEDgPe3uo-m043w75FqP0Vm0nnQKfx737eWzsHpJZgppBIp_RrceKImMNOEHshbk0uAh-3Hl2wMls2zpDbpB0f6Dh16mA546kO3q-3gtVPUdAjPa4o1JswwAkEJ_yOyj91zxMsCa21esTQtEk-56JlNrz-tcDFtab7bbNH5MTE_QaIfxJOd2veWLgYhof-uRMK08hefU9VcjAAKpQcM0XpJEWQX9jtn9mWRucslTsvZjXuJjrbGzKNGZY6F4uY9yftp5a1cX_4gPD13_Pdakyznu_klJGVFYiUdlaboPuH0bqQCKbQbjxRnIiRvo-R0Haf3Uda36Geeva5BSBrt5gdPyZHlGIeQmTbn-veKeR3zWKNKR8sAfftmmHdJT2DAs3hV6COYF8zaj2Asi0_UEd2yAUTBg75EbQTw2ak2Li2eHf3gKNcLmrNmGw9e5oo8TFiv-jXZMmFqUjwgSdd4O5esrFMU8H_1c-oXlypQu1HU3PNUnxm4gmv_v9Mws7MsbTJEIsu9a4A_wsUfzygd04V1z4MX169UunFTDI3Mg3K718p_sAVG-Cv8y1vPFHbOe0XM39luKQprWaNeaaY2ax2qut-yB3i6_czU2jgcJnRkTtOmK3fHW7-RN5ZmUDmnI17oNn1WfLzqmUPYdnlnNFGK5hLaadZ_qPedLgjTtSjmIG0oAw0jHNhW4nkZDZ27IrRD-hYuydcTsEpqEMPONTh1XnZlgsZisOruHxbbq0DW0X8O2NQS7e02LEJFQ9zBgMZVfG2UrWTelFPJ7ielCWyLJHEuO1Qdwdu-F3-gdeTUuzPh1UcGyZkhWhuER1ycTMlFfVje4HAQ33Fa4gcDcxy2brGx0c-q7XBwo91ZhVLNmW8zfr6Rqn-98ayGp7UJniXmc6Db7ICVVQElGexzQ7Ke-4MCxrxbX-dZyaSCSEGCPSEazaAu-owD7huWYrs5uc__tMosnoUuYx0og7Jckuw-FZpPK536ZQ-Ka6tlqzw3oQFAbAqTzDW4MTmhPsrfv444gJTRZLYD0UM3b2JnFzdQggbDEdgOE_ANbK77ewUwcVjcAtKl3spCrIFQu02sFM1Vpm1Cd02IQRuHphgNkf0DsQ-vMhB0oD941o-zpjIfUBSYkUkHMKk9Vpu10HHfcK7lEPj9JQ7NlqZb2rW4nEzBbT3cvfIw3_6qhAk4hafdSy3yjspv4VXq_W2cd5Y3VRh6QLu9iDePO3mymdGWQq1LIQlpPLOuI2AC5yL8z5U7_FqHX9Z-MMfl5hjsgNxr876SP0hDgcGxG3wnBubZ4Me32Yr2c809W8u3B26cFp_3IpZylUzwNzxC_vtyJ1bueIcVmZ73hAqkbc9euxS6gwndpnZUSSjJGxwetXj9eYgGXQCL6Xbxy24Bhd1dHkKPUK8JGDJSGqSA0Wu3Wx8gsmIVo37eXRGDtihlp8Skz9noTb5lXZBYXaGxPXahXLGqH09qrrl22Qfkdcx5G8QF_LPH7slODeQFhYv-KbGQdia-fkx9aptfOkynAPLzKGmas0miu6_Ebqd8-woJU7N8B-MCjsj4PDVf5h8YyD7Lzi38t8e6rvtDnGOM5eiIxdqTGtMFH8e9RHoq5bau5xVpjnlTSpsw2fk=",
  "id": "rs_08e1a0ba647330ff016aac653a60e487d09a536e7c131c3a1c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.082,\"right_z\":0.085,\"right_pitch\":0.5,\"right_yaw\":0.05,\"right_gripper\":1,\"left_z\":0.18,\"left_x\":0.294},\"note\":\"The closed gap is empty; the fingers nudged the can’s end instead of enclosing its body. I’m opening and advancing to grasp farther along the can, with extra forward tilt for reach.\"}",
  "call_id": "call_73nV3BR7PrQEGbLGbveklk9R",
  "id": "fc_08e1a0ba647330ff016aac653e2f1c87d0a915b01d2227fcec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_73nV3BR7PrQEGbLGbveklk9R",
  "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]: [-0.0189, 0.8547, 0.6518, -0.5152, -0.0189, -0.0425, 0.9993, 0.2192, 2.096, 0.6693, 1.253, 0.1383, -0.0338, 0.9956]\nstate[eef_state]: left_x=0.2847 left_y=0.0015 left_z=0.1584 left_yaw=0.0051 left_pitch=-0.143 left_roll=-0.0042 left_gripper=0.9993 right_x=0.4814 right_y=0.0859 right_z=0.0645 right_yaw=0.0999 right_pitch=0.4162 right_roll=-0.0398 right_gripper=0.9956\nstate[joint_eff]: [0.0068, -1.1009, 10.2496, 1.8584, -0.0464, 0.0269, -0.0122, 0.0752, -8.2393, 5.9282, 2.4054, 0.1197, 0.0611, -0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff8569e622116fbafb6be00577163a62a685ed0e5b585a481e46971804813d14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1435a1c4ef3df6249998d5a6a7638fda787e8db2819403d8b7e6c3594b77fd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:712305c35b940bd8ae106e6f20168b62a43be56114e6d73235a4fe8931cd8d44",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4587, -0.0189, -0.0387, 0.9993, 0.1093, 2.0533, 0.6128, 0.9806, -0.1253, -0.1047, 0.0077]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1628 left_yaw=0.0028 left_pitch=-0.0801 left_roll=-0.0026 left_gripper=0.9993 right_x=0.4484 right_y=0.075 right_z=0.002 right_yaw=0.26 right_pitch=0.1326 right_roll=-0.0202 right_gripper=0.0077\nstate[joint_eff]: [-0.1162, -1.2513, 7.0359, 1.6825, -0.0513, -0.0366, -0.0171, -0.0205, -8.6906, 3.6855, 2.0635, -0.0171, 0.0122, 0.5592]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGVHTqSs3W-u2Km2Ell2WLYkN4yFMVH4YeCJNlz-e2OuL-WlFv7vxOgOKf0OdegOTVH4QUJjBDYS4IJCAiNta6RDP56xqaqbSZ_bBlvrTdYpmBOjjGHQcC1UQAnTfIhVN6HZj_-h7suNe87jluk1HJPHFoyy1RAOkVTr_P2phhO1HBJGIAXdb0uVM0M_yruE9GgAfZwD7fq0IYfR-7BlgvnrRQUN-bPNolbvjxYhAp03ebkn_HzNSy7gOS1X8rkXzxKkt7zgHY0UAW8hsFwcTFhiwRNcN9ehiLongkf3a5cLWQetfASQ0MmI1qqATMPYhn31wP3C0Y0Ww5gkqG9-0y5D6pYIwwp8OKuf_JCoaCWvG0WhcBrVcrVH1kPXjznAOkNro4fOnL-m-np3kSnB_zWsTHqS8dIc7i15L_8oTCkPVw8FMrLQ2MNPWthm1kQu2h4ewI72nlt2jhsfJjdTV5YCn3aHIXAZxdef8JG83xza8_W1nFqDefapOnkQzJFRRCLZabEMfPdhSaEBcrVZ7wNONWcYNC6xaoSkbr3nVQ-8hvAQct_NU4j_-TIeCQ4JDc5a0AXqR7kTtO77fHKmm1gBDr9Lfa9vhUmaKM2Ch2qzHEMo_Srma4lH3rmnecBNyUhJwC9jaRDMYA8_BamSlOaJ0RSZbJqzCrTp3t7HqhvKnnOjj4NZOkcpX3F4Brrhoa2LZmPz_-NPXmbYhp0I18JiUj2QH6yLWXorB5fX5CbYdrt9taidSMLGRFy38wYdCp2aYcI4YpvNqgOfmv1j-7CosKXYpGN6qBxU2bJ0CAnWsCWoxeCcDAnT1LMHHxVCOriVTQUDhWDZvbmRCxIJj2bf4eOiAILb_fkzycBO1NMFCh_G_o-xwJklP2qxJzfjI_rVjLkeIRm8FMFx4MrHybIRHzdJGyvTQW9_kSlYcwmmpCZjAwx2WoGPO9UhiPvfPC4B6Knpfx6A58TYpA7CXybfgHcgqs_fDiWcC7piOox1SWRq8FucWbNkCkOp4SExPq2jIramD4zZITnvgFsRefdA0Ce-0bT3Ixw4FCGxszwFXgRqYJflAnwDpzQvgtNGGHBhRhWCUHBWKrDMGogpRIJwQP9WBi745cqai6MjLH3d88-a7xxlqiq7AHPiID8KdXMyljHFNoxTfUispt7m6WOYUMxGp2-NPsDdTJA5h6LuiIm1MKTiWasCZMhoGeBOKl6796l299vhcufg7RU2GIYk07QOIaGnAdsvRw31ZlEJuO_KknWANGpXJR3T7lRRvT1VVh_k73kiOO9sy6-Ng9gTnQDhO6zqDzLucqZWtzrECNjbIA79NY3xqdkFTu0oeFxPzVaAvaqe3axKCHC2q9k5y6ZOdg6w4qjiGgyrbTH5EGNy3zZzg1_quSNZImgZu0-B",
  "id": "rs_08e1a0ba647330ff016aac6543f63087d0898014789a7bd507",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.515,\"right_y\":0.0,\"right_z\":0.09,\"right_pitch\":0.5,\"right_yaw\":0},\"note\":\"The can rolled to the right during the approach and is now beside the gripper. I’m moving laterally to center over its new position, keeping the jaws open and raised.\"}",
  "call_id": "call_WnltjMUqJFCFD6QeDrp1noK6",
  "id": "fc_08e1a0ba647330ff016aac6545dce487d0954b24cb87232045",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WnltjMUqJFCFD6QeDrp1noK6",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8558, 0.6544, -0.5255, -0.0189, -0.0433, 0.9993, 0.0128, 2.1059, 0.7383, 1.2438, 0.0284, -0.0525, 0.9968]\nstate[eef_state]: left_x=0.2835 left_y=0.0016 left_z=0.1573 left_yaw=0.0055 left_pitch=-0.1518 left_roll=-0.0045 left_gripper=0.9993 right_x=0.5079 right_y=0.0051 right_z=0.0811 right_yaw=0.0045 right_pitch=0.4646 right_roll=-0.0388 right_gripper=0.9968\nstate[joint_eff]: [-0.1983, -1.6205, 6.7077, 1.663, -0.0659, -0.0464, -0.0122, -0.2393, -8.4718, 6.0923, 2.0635, 0.0122, -0.0269, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:042c558c253584537bb41465e14e484550eb714e961233d1f7b0cadf00b32bcd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9f55b85e5cd02b92aabd05221c11a29d47b060f367eef62bf7d452d88030cb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfc8d794550d66d35f1377f4c83a02f02c07e23ac6ac9ea942c090019257cb59",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8547, 0.6518, -0.5152, -0.0189, -0.0425, 0.9993, 0.2192, 2.096, 0.6693, 1.253, 0.1383, -0.0338, 0.9956]\nstate[eef_state]: left_x=0.2847 left_y=0.0015 left_z=0.1584 left_yaw=0.0051 left_pitch=-0.143 left_roll=-0.0042 left_gripper=0.9993 right_x=0.4814 right_y=0.0859 right_z=0.0645 right_yaw=0.0999 right_pitch=0.4162 right_roll=-0.0398 right_gripper=0.9956\nstate[joint_eff]: [0.0068, -1.1009, 10.2496, 1.8584, -0.0464, 0.0269, -0.0122, 0.0752, -8.2393, 5.9282, 2.4054, 0.1197, 0.0611, -0.2173]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGVOfk2ag9RvUgjCsqXTriuO9m6RiPRcuzhP1LzIjTitywrdiz5M0wRSeedOAS42NvCmcoOPmiXepntrGiyKirDKNSflkPVn2FePh1jd9k2wgfKQlthV_sFgOKHU9GmVnN79nlfbOQhf4zw60rK72O3tqPKOyQvoZ3yIjEhX8gCfhNRPe1DprRSUIS_3jcuw08nAgl-KmF6oxymFfs1h_iReCNRHRtQ7MIUXjRImac3JD9pWqAc-Rxn2PuEikXIMhozWzWIgJeR8B0NnviLyCVpUjjrRpMYs6esqf_tOIMfESdS4cFC-k__XUpgyjLRa4UBi21MWhSGFsTRMpJeEdEhDSLSK3p79WHwb35xQU33enSuAKIDCEfarm1p4W4BZuWGx7qf1Zsb3NOCjxFfYCkrmGlFsvgaQTRffW51wGeF_8LoBJByHc1gRrJGiABRbCJpnk65V0MOeCIA4-J-dpQLSONBkUD7J1ldH_BJgA9z0spCCa3X3MhBODJnCu_knI4DBbluv0b3N0nuFOaYI92aUCW7CyzLr2PmiNfRqi1M1FRNzSdkZ9pNVcC736SY5nMbSbrOE35Q6Wz-k2iSaPwfSfakoT7xlL0OQgd_i_hYU92qTl7eyVIe2ltqhbZBstwjg7L9fqfVTZbxAQiRmQsO-TwI3gx0B2VBjnD3qGAwI3UORmVIwk3xbJsgvjysLAIT3c5EKexvD2hoY9I1LCnGxoZ_nKgLc4GVCowXPToZJe_nMzkBfbQJTnYIS5bZqHmE3CLJOczYl2W9tsHhYZMKhO8_Cd22YsLakVvEfC0CL9MyZRZ-WJWi2mb_VMwuKVn86WTfbRLXsWxD29EeIurjyd_HCl4f9Lh_NgvkU0e3vj8KfeovJxIZX6JNOU--a_5hoUH4kPdKNuARWtaNb1ExKk7SWBu0g5e4uMu_sAAbvHUV-rTrl9U-WaqTVMXaYGj1EvHE4WxcLyBI_aTrbLac_UdRaFd-xs00Hu8CGt3tODCEUFn6FsWy7Qmc2BpKVDi7GHzcxuLGSoHpqnwNhKAiN97VG91G-PheB3iw6ZTCswNLQ7bXdDG1TriW12naB1pndGjV94OOr2K1ifNi-2pUOkwvBbzqzN7VAj_MJDyrmBtTqvkxK855s463wZNBR0fEgASeYySHi6DtAi1znwD8nbCnCoWXmjZ5wGM5kDH0YaqKB0S1l5KMeM8uXl_4Ngzt0SIFmmsySue4L3I8Cc15gEuGVpDuUCULAFICRR_u3rYm6M-Hqib-SCK7F-G5cdAQkrNVdwN3EACZgzsaF1YZm-100Du_UwF5qiwOKFxOrTha-z9GbUpRxL5TPDwetg5w73ZTIr6MwLrXPi1weI82C-GkClziR_VvktPO5ezENoxo=",
  "id": "rs_08e1a0ba647330ff016aac654a874087d09df47dc7cf8db89d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.535,\"right_y\":-0.025,\"right_z\":0.04,\"right_pitch\":0.6,\"right_yaw\":-0.2},\"note\":\"The can is now in the wrist view, with its lower body still right of the jaws. I’m shifting a little farther right and lowering around the middle rather than the rounded end.\"}",
  "call_id": "call_HMGkhViGQXmLrwlLUSjevTdh",
  "id": "fc_08e1a0ba647330ff016aac654c305887d09b2d6c593483fa4d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HMGkhViGQXmLrwlLUSjevTdh",
  "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]: [-0.0189, 0.8581, 0.654, -0.5404, -0.0189, -0.046, 0.9993, 0.0326, 2.381, 0.9188, 1.5784, 0.173, -0.038, 0.9973]\nstate[eef_state]: left_x=0.2811 left_y=0.0016 left_z=0.1538 left_yaw=0.0071 left_pitch=-0.1693 left_roll=-0.0061 left_gripper=0.9993 right_x=0.5408 right_y=-0.0092 right_z=0.0856 right_yaw=-0.1454 right_pitch=0.7031 right_roll=0.0046 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -1.7162, 6.9128, 1.6874, -0.0611, -0.0024, -0.0122, -0.5812, -5.6547, 1.6479, 1.536, 0.315, -0.1929, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fa452a5c2e822cbe3987118e3eebd09d84f137584487a03e0a2b06cb89d5730",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cda922a12d0fd6cc9710a5b20bc8b11825cfbc71a3ab6e4e01fb5e0128df00c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bb526d5cd36ca371915b83b6160ec4fe9d7e980fa180b437bfb5b71ba6214c4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8558, 0.6544, -0.5255, -0.0189, -0.0433, 0.9993, 0.0128, 2.1059, 0.7383, 1.2438, 0.0284, -0.0525, 0.9968]\nstate[eef_state]: left_x=0.2835 left_y=0.0016 left_z=0.1573 left_yaw=0.0055 left_pitch=-0.1518 left_roll=-0.0045 left_gripper=0.9993 right_x=0.5079 right_y=0.0051 right_z=0.0811 right_yaw=0.0045 right_pitch=0.4646 right_roll=-0.0388 right_gripper=0.9968\nstate[joint_eff]: [-0.1983, -1.6205, 6.7077, 1.663, -0.0659, -0.0464, -0.0122, -0.2393, -8.4718, 6.0923, 2.0635, 0.0122, -0.0269, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGVa_WR7H-_oQJlbf7ObbfkLj2Q-JBGtD_ZyTt00LF0Vb6DoJnr2Gd7BzED4J62E4Z0R3prE6dDreVLIcJWU2Tzo23S0zGdTz6k-K50128c0Hkgy155i5RpVHZIX0KEUWSVlnpOoKB1ptWe4h4ZdPwRIErJpW-kQB4_GepEDWz6yztUoMF0hlFOKKtwt_tan_jhhiBxTT8Gw7GJX45qFFSCBI80ShUyNjOW9wVn0-_GZYEq9hP2WtFcBXS4vMpa7YK3hMQHhXPn1KhTuZqf79FFdfCF8NqdXlBL6XW7D1kKjmPa3SvDgsF1Ee79RDkSXDAKGpYBc5bZu37BojLk_8uFVi6ovOewyp2DqUahgD1VNNOXAnCL8tJnSsAFKmwkbCaxY8mv4GhneIvo-O32NO9QpIir6yH4Bw-JfVzNM9F1AoFwZ8LZw3eKcSIuoeegL_Hvua1h553fN1KiV4pXhaHeil1be7W_bZMzbnozFP2MoLrvZH0EmlctoUbN23nMGNi-ZB7ep-d1351L7gAJwI4sYj1ghO-jf2Vo2diBGTQDnP0E2jePlBUVR8vF_EOMTwxn1V9mVritpmAJiOineryg7WulgLQq6PYUoRHjq3DnWy0Hn6bncSNBVhfWidVFR1z2Mu3RXHPSYWy8Ba9XFZvT1UOIIyatz0v2Rck5T61diioB2ZSnTwuCd0x7zT6UEjzIUFlNcC4MkqfB3SLB361amg4Tocg8ysxJ06O2s9JsHtsR2AAALwPD0rPVjFfo-u7LWlKm0kio-UBkQvsZjp2aMeyEVIFl1ZnLqFZxGF2Y6vhcaBYR-pIi0LeUS7ySpQaYs-XH1JySWNa-l05NylNpKTgoDhUsGKnyD0wy1uIy4ZituyeQHGJR1YYnWH7TDL_4yzbChm9xGabCgJvat0EBwN_GP-3cBEgohnt6xslLBTBZLilgRDzp1vb23EYaMau2gjl2S4H4s2E90w670XRA7ne6VU7kOo1uHNfswwL3tMV2DBNAyGkWTYu2M_fY_p_2czzQ2gMTsRsxVCdmsEEeroh993OVBLcNmxo0jTv0Ryp3YtCu2pIDyLupxBDHI7HqfTbF2eiX2VHuyhTmE3ORPByCIaSi_EQq5eV7wOeVasxtN_xMv49rznC0a8YxSrOhH_gWl3O10FBXQ0MPql0IldSjxxYzMW1jltlusQ7vtQeJL8a979wZRbSbBVCbq_vkp1Z_hfJH_Kqo5Z3ZSC8syAMUr25px_eUKjwy8SJ0YuxOu6ByU0oBTz3XBG1y80o4woogvQtQNVqHO2ARNAk_upSgfGTzCzLTf9FQvRamAT3xFjpxkyJMy-P-Ro-yrnV6ulaoXY86H09y08PZ9gpjq4pemFeon3mIsHwSq1rchMsHcEr7Snx9X5SDF9CBMXLpbsjTZ05TNpkydHIaGxv0TUzWl5oZQqGen5nNiBZA3f5yvfN6dFnztkl1cQDbN8os_16K_obTtgJXciUKmQETDRBCeHQ7_fJd-Trsk4nz5qcINX6ikLOPaa-SR3YBs6S2i-vxl0818QsK87DjK_yttxeKzmdsVLq8E5vdzi4c7GxdQEhlN9FYJwW29vR5Mp6XE1ZnZLU6qvTBsBkDfEeIE6QSpEnmwNVJ4Osgn5qvgibXGBhSX5DmoeWCOpcGruUDceGSPQeFWzH5YqR24WKO8fKyEYtpQaWK9NkO1GZMVcNejyHzM8tvT57cAkxjO3suvz836gDltnB8it1TnZVfrxGTDsDPx-vTGruQBXJW1EXzb9iRbyjAbtGaIpxnB1rp8ELj9hhEq4_27kuG-Sfi-JgRCJ7BjN0-EXs-qbYhXqaOepRAPv5JQQ19dN-swg0PYQpN_zcQd1c4B34YidTakDbxflPlsiTHf9LtiHKz283liawUnFNw2KnLxe2bgMrZxjKZaUGpaDacUe23kpWSrvCjN4PEPeqqTOmxhhsfaMh-cZjxu2ONFPjG99BGkkzwVL_s8o3xfvizY7HmTQiX_FpIOySx712u6EGPMlPrN_IHZOQ43AT1IKm9YDADF_aa1TSlblrIKtr-gdiA0ajIGtdN9E-BUKcfVdQsF5fKrDEGvs1QzPAXcqyVGZzbYgZfiYuk2ftnqsJ61SsPkEoaeEQZ4T3QkCamN7vqqpk93GKg=",
  "id": "rs_08e1a0ba647330ff016aac6551f1bc87d0b85ff3dd7e42e797",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.045,\"right_z\":0.08,\"right_pitch\":0.5,\"right_yaw\":-0.2},\"note\":\"The can shifted left as the fingers approached, and the arm stayed above the requested height. I’m recentering over the can at the reachable height before attempting a grip.\"}",
  "call_id": "call_HQgv844bYh65n0HImybDmL46",
  "id": "fc_08e1a0ba647330ff016aac6559087087d0b1c4dcf9fa53e119",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HQgv844bYh65n0HImybDmL46",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8604, 0.654, -0.5564, -0.0193, -0.046, 0.9993, 0.1894, 2.2894, 0.9474, 1.2064, 0.3466, -0.0067, 0.9974]\nstate[eef_state]: left_x=0.2784 left_y=0.0017 left_z=0.1504 left_yaw=0.0075 left_pitch=-0.1876 left_roll=-0.0053 left_gripper=0.9993 right_x=0.5431 right_y=0.0467 right_z=0.054 right_yaw=-0.1416 right_pitch=0.4609 right_roll=-0.0353 right_gripper=0.9974\nstate[joint_eff]: [-0.0205, -1.5385, 6.8855, 1.7656, -0.0659, -0.0464, -0.0171, 0.1983, -13.7641, 6.6393, 2.1368, 0.149, 0.2027, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68dbc4cd767a4701dc35a0728a6ec6c7f430403b3da9a146dd786ab2c076d72a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4ec9a2ba3279d4c926554c19b9cbb5576311fcf9bb7811adbcc8d8e50879221",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d886f63be3bcd3a3329ea7d37a723e449a1c7831c50466433a707ddcb3f5d983",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8581, 0.654, -0.5404, -0.0189, -0.046, 0.9993, 0.0326, 2.381, 0.9188, 1.5784, 0.173, -0.038, 0.9973]\nstate[eef_state]: left_x=0.2811 left_y=0.0016 left_z=0.1538 left_yaw=0.0071 left_pitch=-0.1693 left_roll=-0.0061 left_gripper=0.9993 right_x=0.5408 right_y=-0.0092 right_z=0.0856 right_yaw=-0.1454 right_pitch=0.7031 right_roll=0.0046 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -1.7162, 6.9128, 1.6874, -0.0611, -0.0024, -0.0122, -0.5812, -5.6547, 1.6479, 1.536, 0.315, -0.1929, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGVg2GwqDch1Oy4hDHApukIWU1HfsVAqMBr4ISMXlPxGb2xnLeXhuE4SeCbuer_nyB-UDoUMLSVEdQt2EbLYvB28h6TJhsyMQaSdrbw-gF1vKKmMvxT2Yeb6zhy5EsGxgZbgRfi6UzB3HnQOOS1MPPVQIODu-cmKN7C85xSyITZyjive73mWeHzdW8s9dTQG3yIkwjAPEp2bkSTuMfXdo7vlUVVUWXYy1SgtWYb9r8BTmnPe-5mZbVS8rX_SAcMebtzD0zPvtQTzpoHrQ6-Zz_SEZ8G09jENdmETc-uEIA2d1yGTYEsBrcSOAKobVFEXNaaVTaEUMWuTfx12RnejkxZsnPJjTB6aVINgM6paA4ipYRkpebCA3Ou87TEnwZy9NBWq3bhTJ2bNgBw-pNUhr1EQLXiHH8LVsh3QSGQkGdAvYMdNOBqMAZMjy_WRMpusJe3WTjOndv0PwN69ZI4csaaE6Tya6GDBPMNGVSFerVgrs93e7l_hQAFsbVbsLIuMGoWowlRFA4CZfylHy9b3uQ9DT6VwIKaN6tXtvWZrzVuEpmDEc2-JksowjAU_Xtw0wGAHlYB6YCCS9CjYR9f9U1ZmDKeRRLDfUI8fGcsD4XUFU50VlEYG0zUc0rISt2uosiD9XT7BGZn8Zg7eaJCANVeCAT61YUb9ervdQBukmt2qI7CdB-kiH6sT8MNSMyOSc0atR9_8UjkLw4Ex6IBfXAB_UWsBuBxZt3o3_ndd6wSypnDlclGZdhKksl-FBXem5VZOfL6eEeXZe7-x9WGbLkSa3pt1eRF0Uy-clOLOSeUwuAlqMjZ4CFSal9FFGUNCCDTZ3fvGHG4JslgZkJsCY6l40woVOkF6weoOuu_zxxvz35E4naynPmkpfwFexRarG2IpQbOcIx4n81cMw9xfavXXCb_hMzaAHiFP-M01HjZdsROieQc6X_EoDOP6vTGJsidJLyX3SQsQdy14ykahK_EMGTa0lOVU0vQm8u12EXl9UOMK53aso0QoSuEYlNBE79fALfB3D8-DHHXZpW44ncZh-k5FPSQQ77fhWe-dYmcq0-ikphKcKbFLtUWarZDd6QhTBNFxzeOsUHw-FV0KjvNeNSYdMrmgzyO7lN_hrZGjNgovLAeXOaCi-9pdhlrMYUZtEceG0X0Otz8ZjvrMaDEOh_CNQfTIjV73h23XNOOY4sjyhr4OGQotGfCUm-fxkTxrUk-QGfli0ewMqTZPwEM9bQ2jbGv8OUOEGTv7fFNZ5NUbDSDexI9rTESgie7dwzjSzUp534lXNQ5Qu4gL1D0RxvWr7rjVO5dDGsB8s3nfUoYkKRs-3GWTEc2zWITfKtTO",
  "id": "rs_08e1a0ba647330ff016aac655e229887d0a2fd1ac3f69fd077",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.03,\"right_gripper\":0.4},\"note\":\"The can’s body now extends into the fingertip region of the wrist view. I’m making a small rightward correction and closing gently around its lower body.\"}",
  "call_id": "call_mjm61owbcIdaO9aF4CVwcuQ5",
  "id": "fc_08e1a0ba647330ff016aac655f4d2487d0a79ec84c838a9001",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mjm61owbcIdaO9aF4CVwcuQ5",
  "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, 0.86, 0.654, -0.5663, -0.0189, -0.0463, 0.9993, 0.1524, 2.2749, 0.9424, 1.2388, 0.3099, -0.0151, 0.4055]\nstate[eef_state]: left_x=0.2767 left_y=0.0017 left_z=0.1487 left_yaw=0.0074 left_pitch=-0.1972 left_roll=-0.0056 left_gripper=0.9993 right_x=0.5459 right_y=0.033 right_z=0.0673 right_yaw=-0.1458 right_pitch=0.4994 right_roll=-0.0256 right_gripper=0.4055\nstate[joint_eff]: [-0.1573, -1.4154, 7.0222, 1.6581, -0.022, -0.0464, -0.0122, -0.6085, -10.0444, 3.6034, 1.7118, -0.0806, -0.0073, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eca409547d31b2f2c4fdcc243f9cc3b0566ced900b4ff33ea5eb79984c2a09a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8798cfaa570332cd052b88998bb2738d024613d01b569e049318a68d04a893ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:161fa56313d3d141ae4a7344c34875e757bf6d38c4f28c058c7d2c034f3f1c5a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8604, 0.654, -0.5564, -0.0193, -0.046, 0.9993, 0.1894, 2.2894, 0.9474, 1.2064, 0.3466, -0.0067, 0.9974]\nstate[eef_state]: left_x=0.2784 left_y=0.0017 left_z=0.1504 left_yaw=0.0075 left_pitch=-0.1876 left_roll=-0.0053 left_gripper=0.9993 right_x=0.5431 right_y=0.0467 right_z=0.054 right_yaw=-0.1416 right_pitch=0.4609 right_roll=-0.0353 right_gripper=0.9974\nstate[joint_eff]: [-0.0205, -1.5385, 6.8855, 1.7656, -0.0659, -0.0464, -0.0171, 0.1983, -13.7641, 6.6393, 2.1368, 0.149, 0.2027, -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": "gAAAAABqrGVlqMik2TZPOfLiMPwHROkgYurNdI07nSpxiqhQmxaqUZ6A0GhRzM2iDxVTwcij1Rpq6oYr_YBSErxSvmsqbCBdjxsQt8BEOWgaC56PukEyLokwAjW4rnJmVZvg-jveve6sTzmb4izdVePZ_-f0QenlTbZKpgvL_8tddFWc-bw7Y4v46KrtbIDm0sgcG5aV1k2VyObTH3-RATLrNIuM3s5dUAOvIfoNz23vsqoNw_AZ_-r3rZLF1BWNA1YUyhKm110hMmXsvcbCkIT6c6BUhT9HXW2zumdhEPEbT_Amj9CgaEHp7yUXYWFlana32U9BCX5Q5k1HIoCWjcYBo4W3tKCLeCCZ7N_aEPUhd2RPzfu3df9G7TEhyVSW2xItZOVtgXzLeXxi1ofEpYrkaBJBegVTrziejvm1O9ZExNeepS615KrteVC4IHkiXegzPfFHXgafjilSDyVWqlhkPUFGvmJW9MqjvQuwKr0XXjtkui4jHYBWDpC9nCuLE8sAEU9MO94mB0yjvlDi-a2UfXZaCJy8LFgRcHjDnMtLVhX339SoPFNKZm1w2GodnB-t9zxv3Hbd8Sv--NivfbtgkoEJGb-b8ytquZGdoEvaA8hlK_uZ6OdMDd_ASzdpbJ2rA9iU756OgetNHBkOlSbbuoDcGbSvfew6j1VXU2_PCmSCWsEpLfl_NYlNPqa8djiHpIuaM9scnOw-Ty6CPTLxU6wJXrEVvoFJx0l6Ny4HgsedrHZr4JEnEUlPuml1Tv1T2MaRu7EADf6SqbTCOQVk5rZlxPN6RG238a0MR1z6q_bobLY5F2OqhehQi-O7pf3NKV2Dby84UJgw8lfRpTaZYmYCBtn6caXk6CvfRXMNtoPZvz0n26gItCZIEbmOtcTKYZ_u_wIkBKraMdGF-Q2ET4f9epeqjowK5z32MBzdap4RmWn2I_v756VbdQZKEqDbcAkPneyp9J9lX-yVk5oFjPPEHkDw2npQCeptluUDzgUjq3Oc6i8EvAeKzbENinS5UQQ17FWQBrQ0Y0137FrfAQ0XQnKGKAxvnl9Hn6yPbD8sg_BY2ekfWwY9hTHzUDCaeaffObxd8ki92K8mtyOzPas8-S8gfvZGu6DT2RfKnm-JabYutCac-R8ECbYuQSTLqvbAYmuiJQ25N-bis4p5JNs_W6tS9wKwsFV_DQof1_iYG6iO106IHUMlknNY55JOPDGikhwzkqYpXmUE89mZ9P5r4k1guZBBLJ8ulwk5ryEVYCNSHwY=",
  "id": "rs_08e1a0ba647330ff016aac6562f99887d09149958f8578c617",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The can has centered between the jaws rather than rolling away. I’m securing the grasp fully so the jaw-gap reading can confirm that the body is held.\"}",
  "call_id": "call_EwEkhJRUJ7D3UynSHaWWV0kv",
  "id": "fc_08e1a0ba647330ff016aac6563e48087d09ca0835269a68749",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EwEkhJRUJ7D3UynSHaWWV0kv",
  "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]: [-0.0189, 0.8612, 0.654, -0.5812, -0.0189, -0.0463, 0.9993, 0.152, 2.2745, 0.9424, 1.2594, 0.2993, -0.0185, 0.0077]\nstate[eef_state]: left_x=0.2742 left_y=0.0017 left_z=0.1458 left_yaw=0.0075 left_pitch=-0.2132 left_roll=-0.0052 left_gripper=0.9993 right_x=0.5466 right_y=0.0347 right_z=0.0723 right_yaw=-0.1372 right_pitch=0.5192 right_roll=-0.0216 right_gripper=0.0077\nstate[joint_eff]: [-0.1709, -1.6205, 6.8444, 1.6972, -0.0611, -0.0562, -0.0122, 0.1026, -10.9333, 4.4923, 1.6386, 0.0659, 0.0073, 0.5641]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85921b5bda501b12064d6b839908bef5a647da8c662aca491dcaa3da4a83baf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fed999005458e1d05afc4eaab758f273ab9ff5ac7d2e1ea29e038e145b59533f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da023e4ffdbc167c4b5107bc338ead40f8556f3ccbfe64626b6be3b8dc782773",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.86, 0.654, -0.5663, -0.0189, -0.0463, 0.9993, 0.1524, 2.2749, 0.9424, 1.2388, 0.3099, -0.0151, 0.4055]\nstate[eef_state]: left_x=0.2767 left_y=0.0017 left_z=0.1487 left_yaw=0.0074 left_pitch=-0.1972 left_roll=-0.0056 left_gripper=0.9993 right_x=0.5459 right_y=0.033 right_z=0.0673 right_yaw=-0.1458 right_pitch=0.4994 right_roll=-0.0256 right_gripper=0.4055\nstate[joint_eff]: [-0.1573, -1.4154, 7.0222, 1.6581, -0.022, -0.0464, -0.0122, -0.6085, -10.0444, 3.6034, 1.7118, -0.0806, -0.0073, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGVtVSIffFoTbcwg1t2SGVqXTV0wqpCluqdEDxzGHON_mlnK0-Z-ec3PXww3MqsyxCgYgSD3WQFUcHFRFhfO5FidYVcEtykzOHaFh55mMHwLuaDw9TFilI30xxtMB-mv-euNa2XXmtTBmPQ3D_Z0dJRLVi8KUi1rvZEShOY2wistCJPa__Yv5UiuRdSVmPqGHfHEcEa8IFZIgtVtXXyBavaYAc5eYl5eUz4zSus0wj0_kf9ngeQ_PhKMsQvo8VyJF59d5FH3wjpoIUSuqVfGyQCusuSMSyRMB3LHNAjpDXPxr6gvqd_SnX7i0MJfq6ATpAcV-peIXNIDUg-aQi0g6wqb-UHygofkP5Q6FOaCLPY29iUxpXWaBNtfymOEZpn5_NjGyIb745Rf4jtrLN7v9QECA9DHNItGKn4zFNOjqDude4YWQ3PbEClDY16vDoNkeTy56k5nTHwv46uPtt14egVsikvL_wIBOJitZ19g9nAAx3hWAjulTU8Ic1u1fSj981lbAdfRUiFajfCPqF9GVRr1e01jxsxff8tauzUiqqlU0sNPulq7TsSv2Of0Y7gkJ9V4m2rcTQ-taHivkcjGYAUBZKyg1ydZySvSuqI09G0KqSd2o0HnYjGR6u-HeAKZcZ837qxTShwtsrDP68VxB4VXuh8juRRLlFwPYVQ8jIBZdWBNk_GgaH8RI91yQdKKMkKFalMZon_jXBOT15XbToPkY9F1bgLiqEUxiWkKs_o2C6pfep1GKzJD9mgiC-Nk4bbc3XtoKZTlv8ZyJt3WYQthXR89crE-FluTpmR504EOsmPNyvYvNowBtops0bavE4DCfy6foY6c5NFGmNOVPtSQQhhIiMj8Kd3SOXc7k_PfX70X12YPWsc-WEWIPhsQjV3TNUmNNkbbONKG188jgX63VODlWiCoOoknYU9CBn1KRafZBcHbg0VWMIShSRiYrZq9Xsmw7gZFUvwPbvs2qiKFrPNdS_Gmm9ittTLBjlx__QZkodg-VRBupQX6InmyT9TwVMedUpLsyeroG7zwyVBpPSZ_OIwcyuHSotuwIb62lex7by5SFJoSPhhKEeFTsFf6CQPxnpL2LVBo-sTNXxj3kvhB0oojoCCqB8puxwyJuvKdC3vs74ZcgLQVN-0oYqgSYjfAYjjtZGnM5R4cjU_HNDHQMeXzOLZeDL6P6kTyLIYZ0c-0krR1Zz-e_n9tuMaV5JiRfqY8zoGj-6udCR1-k-w9QlIl-5EVTi5pDojR2q-Zt1A4S_dg1N1EZk7GasaSEH9V0G5Cc0mlxXiRrFVml_MoDtR-WsY07fUpKXsLUllJH1LB1Dj0hZM6iNasTEGuaVDjjVY-X_rroojsEnB2Cam6flrS_lmNVe5MiaTWh7pL8lG072-6YEWyCjezSoDMwwZUrnY0aF3pLBO4EA40cHBL75YKnnCoF-fEKxZMdTxbSckbtoZc0YNT7xcG0HFMvfRu-EpEQKo8qOfIqmq2Ve571IwP7FfTv6fg4zkrADqRXc6iMug2aDUAr3xdtBL1qQOKdTfsUAC3Tff8hBlvudjyxJgJH-_YZ0OffKRDxU_VhMQq4DecWxScTYPJvSBYicFcqJ9drkN_RgKZhWS0ZD78HYTXXOY8urue0AW7EyB9bqqBcpMrV49qd6qVrIou",
  "id": "rs_08e1a0ba647330ff016aac6568d7f887d095d0f5b6cb029d82",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.525,\"right_y\":0.035,\"right_z\":0.015,\"right_pitch\":0.5,\"right_gripper\":1},\"note\":\"The second jaw-gap reading is empty; the fingers were above the can, not gripping it. The overhead view shows its near end directly ahead, so I’m shortening the reach slightly to get the open fingertips down beside that end.\"}",
  "call_id": "call_P0IS15PzuVH7aZ347WIftMDN",
  "id": "fc_08e1a0ba647330ff016aac656b2dd487d0ab6885cefacc70ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_P0IS15PzuVH7aZ347WIftMDN",
  "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]: [-0.0189, 0.8639, 0.6533, -0.5861, -0.0189, -0.0536, 0.9993, 0.1558, 2.4203, 0.8963, 1.4261, 0.3, -0.017, 0.9945]\nstate[eef_state]: left_x=0.2733 left_y=0.0018 left_z=0.1439 left_yaw=0.0116 left_pitch=-0.2216 left_roll=-0.0102 left_gripper=0.9993 right_x=0.5288 right_y=0.0339 right_z=0.0214 right_yaw=-0.1312 right_pitch=0.4951 right_roll=-0.0281 right_gripper=0.9945\nstate[joint_eff]: [-0.0205, -1.7709, 6.9128, 1.5653, -0.0611, 0.022, -0.0122, 0.4034, -8.9094, 2.7419, 1.7851, 0.0855, 0.0806, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a76b6a53c380d6457c99a868146183fa91c63a1f0feee34430a3ff435ee9404",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4376422bf156fae25c65c41174b455436406e0013647193fa164a72e1816b68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90315a0d07751f969ffbc25e682754916c011db23b7ac365a3bc44202eb1503e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8612, 0.654, -0.5812, -0.0189, -0.0463, 0.9993, 0.152, 2.2745, 0.9424, 1.2594, 0.2993, -0.0185, 0.0077]\nstate[eef_state]: left_x=0.2742 left_y=0.0017 left_z=0.1458 left_yaw=0.0075 left_pitch=-0.2132 left_roll=-0.0052 left_gripper=0.9993 right_x=0.5466 right_y=0.0347 right_z=0.0723 right_yaw=-0.1372 right_pitch=0.5192 right_roll=-0.0216 right_gripper=0.0077\nstate[joint_eff]: [-0.1709, -1.6205, 6.8444, 1.6972, -0.0611, -0.0562, -0.0122, 0.1026, -10.9333, 4.4923, 1.6386, 0.0659, 0.0073, 0.5641]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGVzsMhmVFtcOTbZiLNmGTpjdx6PF5F3EylXMJUAgt4jF15vNIi6Xnatp2IAm6ixyoOKDq9qP1zjhQ-uUNKMvwUVOz2xF3DNcv94vFKtxlBN3vItZiavxsIYRC1LLXO7XcRDTwHrQ8UbCvQEitjeujK3BtuH8A_5CbCTNNC0elRCEqC2vfdI4VRAXZYp0UzF4sAqGgF1d8LOUMRYfFIqMYMlDd9jkH7UU4eP36PLWlBZUxwu8SAxMyL3S3b-AToCLv07Kq6wsDQakUCh17CN7n3gbetaGmoh6TPTn7P5TAz7HSlxA2RE-izF9ggUYQn3XyIqWvQQ3CnMsk-sBgEZZzABCZMf9J5B-D0dEr1jq32QjM8bJ48bOJkYSi-4TDN64EA75RMEKupeTIAV2P_aanLg3xyG8lZkUQX7GrAthIRt67XtviWqdBdwc9jpotztLyjMpI0Ywedr9Nmxnz8xUzyPQmlMXnFO4t01J_mh__aup7RadGkR1-eXx6WMEcrwrumrGQbBbUGUGkg1i4QfLclWb1bbGn8wF2OCQLu5-zYdmv6vSIe_2bqRRdewIX18_f3LruxoN8CO6IEMmRqK8RlF6AnO18lIBHIlJpx-3lP6QCTXqOQ5wtqJAO2wnz9_0oTS5ppHPNh-x8emFdOS67bDMoR_i8cwU6AotquhRGpUB_9HfeKCPchuJTi4dW82HY6keDkNMP5PFq9Z2O5XTL-R9l4gqwmu787OefgDMrQDZPCx6N4fFodduOc9U5qq44TD1Wv_uuWsr4o01OfHbOdFgH-vZGA_flWYSbaXGJvXBEsy4XyLeKoQVtmvDdiE-2SY0sYX8Tvhh-2H-YTPaVfdjiwBV3c5ORFs5Z6XvqOT2CeOB4Op_IwXnYWK_jMHRjcNIly6GpTCsY687LynKBum2N8B9sfGINh1LGhKobiPMELXIArm7dOzqLJ_wzuOOLa_aSSlnHVl4QYaqNk2OJTeWM-gQ0wxUTg_XQ5624KF74oLe5QxbCUa9X4lawG_STY0VzKkqiYd_jEqsLavVeUlF5zQSk68hJvVhyeGDiywkPUXy9Hq4ojWN795mLGb4KK-_tbWYVSbM5IiZaw1bHf30Z3tJ2MqCjIIpg5nzErTHk63zBegbLVvpjgoUyXdGoLl2jABu2HrZL4MTZ-5xv8UmfP-6g3OMuw3GTtxiOiksVAkl4SCVEUyUJ312-I8HXkativJaArEDqQIqFVTtwPSktkNe7VSeP8RgfbpOYb0AAjqtkA3pbFnpI4KoXtmZjQ4Km7-wUeB1SXs0F2J46zyJ3SiOrfbUjUvA7ca2m0YKaH0HCHY1Beh6P-k-0IlwS5cXZ-QELVnpUnu_0WZllrDnw==",
  "id": "rs_08e1a0ba647330ff016aac657080c087d082968a31c898f346",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.555,\"right_y\":0.035,\"right_z\":0.025,\"right_pitch\":0.6},\"note\":\"The fingers are now low enough, and the can’s circular end is centered but still just ahead of them. I’m advancing 3 cm with maximum forward tilt to straddle the end of the body.\"}",
  "call_id": "call_My29XflH6ie4xoSu90edRQrP",
  "id": "fc_08e1a0ba647330ff016aac65723e6487d0b7ab87bcca1345b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_My29XflH6ie4xoSu90edRQrP",
  "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, 0.8642, 0.6533, -0.5915, -0.0193, -0.057, 0.9993, 0.149, 2.4901, 1.01, 1.4887, 0.2863, -0.038, 0.9953]\nstate[eef_state]: left_x=0.2723 left_y=0.0018 left_z=0.1429 left_yaw=0.0139 left_pitch=-0.2273 left_roll=-0.0121 left_gripper=0.9993 right_x=0.5525 right_y=0.0361 right_z=0.0359 right_yaw=-0.129 right_pitch=0.5969 right_roll=-0.0173 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -1.5385, 7.0359, 1.6044, -0.0659, -0.0269, -0.0171, -0.3077, -8.294, 4.6291, 1.9902, 0.0464, -0.1294, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1bbaa36f57676cc284df2c2f21e0bd254bc5bb3fbd0e82cabc52799ee962862",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f66d1a149e4fd98bdb2d7e22f69f9e247f55d0f364f56a0ddafbab18fe1600e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e6ecb90221060657e782a5341a5ba931a1be97220cb662eff212d83be2c8097",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8639, 0.6533, -0.5861, -0.0189, -0.0536, 0.9993, 0.1558, 2.4203, 0.8963, 1.4261, 0.3, -0.017, 0.9945]\nstate[eef_state]: left_x=0.2733 left_y=0.0018 left_z=0.1439 left_yaw=0.0116 left_pitch=-0.2216 left_roll=-0.0102 left_gripper=0.9993 right_x=0.5288 right_y=0.0339 right_z=0.0214 right_yaw=-0.1312 right_pitch=0.4951 right_roll=-0.0281 right_gripper=0.9945\nstate[joint_eff]: [-0.0205, -1.7709, 6.9128, 1.5653, -0.0611, 0.022, -0.0122, 0.4034, -8.9094, 2.7419, 1.7851, 0.0855, 0.0806, -0.0904]\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": "gAAAAABqrGV4fBbBlSmZ3Swl02XaSO1nHjckH5RYYgGZ_gJgGGRdI6vIjtycqxHZaMzlP0WH_W2U9Hz1InQqjmhmyVJiF9MPbRHG_aPiaEf8zsvFyKudvX2oDLbaUOAYFwo68qSV6vTBM0pOPXLvqUUehlgi8C97M0_yMzgau1aYi5VHKNiHVQTTCrG-XJ1L3lYwwy5eS9jWv1Dbyit6A2ja7tNmPcpnLDir6LBwvkr2GgFCPc6hM2PZ6aJTVAMsSzmEyBpl2a_F-vjyF0l3ZylBGBDy5JnSRL-ee31jG7ArS9WnSaw5GKUMSS_EeZag3YBm5sZS0ALg8QR3n-sbTY_igsa1m5t2YOum10nbaP90FQYH3_BDgPlpgqFsLM3usl95-QHrBQ4Tf3Ayu3-3IFh3BnR1mVdQbgNj2mY5r1uaPcU6dD_o8BegZvRG2Bq2c60vaK0Ya5DHFBrne-UWq3up_hD-lob4YD3NISQf0-9iWeJvxxYpTq7SnBuJlxFmWXekL8v5YpMlP4QeMA2ycWHVbpHbNdmUJzh96Q3bKE5Nt43P_z4Yhmf0f_tH5nVeqG34_5vPhxiHmQV6OJ8pcmNIbw3-jLRRXbrTLelpt48QmVamqVS3jZrioAQJnhlm88YD4ZMeB7MNSvAQBXvXFYNI7W-kvKwTfZk5KfQhnY1uusCBJfcDFE9SBZk-jeAoPaFfKQ4Mcb0h8rtDXE3GZd2mDkYxdH-mAhcptrYpXRSKDM5xi-8twPdSpXSCkEUli9_dj4F9OCjSetNUzkjvtMmmXnvO6wQYpOW6NJFzmEgGUaWiRyPPUX2sCfRyNfJDNl1MHbk-dDQMpC1DAduGY3Wgg7Ej7LxRGWcDMplOz2lOoRYWhIJDBWunV4n0pitDR4DNlvl1b10c3sbtcTFEsH302mQeTMjLr48r7U_tXWhjYzAwIug1KoXKSaCfXUGywvzfsdy93BYVN5_ZYk1Vqwo4oQ3EFWb6hrcFjdS67E3aLef6ngfCnoXAvfVkmfTAqQp0R9Jz5JDtQyWi782aYVPj0JAK1pDW4IHICaXwpwOVl7EverqMPiyPfwV-pgQythJmb-C5m07Opm8Qu2Rr5dCM2E95F2e3XfO-E2ZI-hFUbCWbE-gcCAmb2gqQzeVXB8dtwtqoJZi8iCIM7CFjVPbBXSSVMNAeCU_fg_F7Lx3ZFvnZBp09-K7Poek5ip_6NxblIVffLGGsaf_6ME7mhyzvgUjNrD2Nuzuwu4xQucDV0bOR0osQeajidVGOEo_iMHzgJGIvqZIe",
  "id": "rs_08e1a0ba647330ff016aac6575929c87d0817396786cc4cbf6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.575,\"right_y\":0.035,\"right_z\":0.025,\"right_pitch\":0.6},\"note\":\"The can’s end moved into the bottom of the wrist view as expected. I’m advancing another 2 cm so the jaws close on the sidewall rather than against the end face.\"}",
  "call_id": "call_nSziox9wAN6Wjh4DZU3i7jDc",
  "id": "fc_08e1a0ba647330ff016aac657644d087d0923feed0647ba201",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nSziox9wAN6Wjh4DZU3i7jDc",
  "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, 0.8642, 0.6533, -0.5922, -0.0189, -0.057, 0.9993, 0.1493, 2.5027, 1.0233, 1.5005, 0.2829, -0.0452, 0.9953]\nstate[eef_state]: left_x=0.2722 left_y=0.0018 left_z=0.1428 left_yaw=0.0136 left_pitch=-0.2281 left_roll=-0.0124 left_gripper=0.9993 right_x=0.5546 right_y=0.0372 right_z=0.0363 right_yaw=-0.1226 right_pitch=0.6089 right_roll=-0.022 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -1.5111, 6.8308, 1.4921, -0.0659, -0.0464, -0.0122, -0.0889, -8.8547, 4.9026, 1.9219, 0.0366, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bf222fef5ffed219e596b767f6ecce76aafd9f5b951e07dc51d7ac80584e312",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4631a23439cfb78a7dbd3c72c469e28f5819f2f0e734656660c55d022b15170",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aef8b66b5994f71018f26b78cdba833b3c5ca73fccdb5eb669dd61f65852d26",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8642, 0.6533, -0.5915, -0.0193, -0.057, 0.9993, 0.149, 2.4901, 1.01, 1.4887, 0.2863, -0.038, 0.9953]\nstate[eef_state]: left_x=0.2723 left_y=0.0018 left_z=0.1429 left_yaw=0.0139 left_pitch=-0.2273 left_roll=-0.0121 left_gripper=0.9993 right_x=0.5525 right_y=0.0361 right_z=0.0359 right_yaw=-0.129 right_pitch=0.5969 right_roll=-0.0173 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -1.5385, 7.0359, 1.6044, -0.0659, -0.0269, -0.0171, -0.3077, -8.294, 4.6291, 1.9902, 0.0464, -0.1294, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGV9YyCYnGDbpDnLngPlIOuhYfHfu5VKDSoFVVfcfowxjOsKCkeWpl8X65ky0_bb1g5DiWsy_U_IUcMRjMQHGYUI17BSbCWAx-cSqd0pOYOlaAfs2WWE8GLsmhX9bsS6IHLl5LVntICZfXJvnovyzxvx_vihUMxTPi6xlyz699mVskmqw_LZ_UGfViihZU4Awsr8-ZawwOGIMtgjNvmJosoZCZsk_Sql0ROKXkz6mSTMEKYmYTA7s1YXAu93EeHcBclbS6Hi9q6_wU_ptujqozXpAzPF6YxqxHzp8qHcAJlY2xOEd43eDnEb7Rgg9RmF7s44gIMV2KZDQvWfkswNXfCeMeefGrd2aDlckzmfc7BPPLt33dHNCpq5lNiKqbW7Wqpub8phlNRFNykvdxfd90OBn4youu49aPZouZf7-geSp0SYyi79m0s97lySDjzgveOfanYBhwoOQpHyLQICW3vAyOmOdsji6WhH6B8bJ1371pVsAlKF61mwrxxE69LHb6LU2yrD9TV51O_BMU-GDYuY4YkBCcyGLdtFUo07bSha8DuyPqW5uDv3XDUEjb3a1rsmdiQW2MBIlddOq6R4ROD98nzqHVjqlcBP8yOFHPmyib2Puw1U7DX5Cen9Kgnz98AP0qxIr4F8gCdxdVHmzjS6UipgiSrECZtQQLy2fY0ronucTB_sl8C2bZwSKWinmCdQ0s7BxYDcLLzpGazmvTRIMxAptQIxTME7CNaB93-FVCi7Y9-q2sU9viR64YSEXqkB-KtGXMQhmSkTyGtVeJR_p46aimzlNnnSFBbvUjZsDzoXlLfxdx-tCZkZZ6vjgJBHk2s4fYXC60Qg-LtEi3c72dgudfENfOxJlMCkHlSS6fi2Cuc59nULAhSTra_xO32LO_xqYkx9u7W-WwyzzfgxMlLywXiOIyemyZMqIyND0fCAHH1-kKXguhceJ83y_eUgBn8bMCrGObTsKMgM8iuOqnToVhRRTYGkClFDopKP9PppOCOS9iJkS7tgtGjZgNzbqO-SIIU_WbDLGSHnfNypwiW_HyDfJgSZS200hv9kJ8ObAp5_ykJTfGTBXkSMi4VXd0MDNo5pWYJxmHlrzba0WOyEo4EZw5gVNqpEp49815XBAYXsNVG3yxNU0RuVoWff_i5pK6k3MWW-LKALtLjTEoqr9Ctb4edHVuIxSFuUmrY-TNLFu98DjLnQmZoWZDDDwl86oPEof4WSiirXIGHOn_q4cBDJODxAfCwQ3gxOlw8=",
  "id": "rs_08e1a0ba647330ff016aac657af42c87d0829de1021c96e40e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The can’s near end is between the open fingertips, though the arm is near its extension limit. I’m closing here to test whether the sidewall is securely captured.\"}",
  "call_id": "call_e5wCxH6VwjX9LfF1pZqtLYqI",
  "id": "fc_08e1a0ba647330ff016aac657bad6c87d0b0f4fe53775901fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_e5wCxH6VwjX9LfF1pZqtLYqI",
  "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]: [-0.0189, 0.8642, 0.6529, -0.5926, -0.0193, -0.0574, 0.9993, 0.1493, 2.5023, 1.0229, 1.5009, 0.2787, -0.0517, 0.695]\nstate[eef_state]: left_x=0.2721 left_y=0.0019 left_z=0.1426 left_yaw=0.0141 left_pitch=-0.2288 left_roll=-0.0124 left_gripper=0.9993 right_x=0.5547 right_y=0.0379 right_z=0.0365 right_yaw=-0.1141 right_pitch=0.6092 right_roll=-0.0299 right_gripper=0.695\nstate[joint_eff]: [-0.1709, -1.3607, 6.8444, 1.4969, -0.0855, -0.0366, -0.0122, -0.0205, -12.2872, 3.3162, 1.6581, -0.0122, 0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f90cafb56008d7dd1710d001891c3cefe26f2fb1f54344b6b564881c5ab76b52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c73ec3b591e9c81cbc93d74d324d1475727ab576854557b8c7822bf16884b9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9f4aa34e177383b316d2e2cc504e0b0fc9b4d79b014b568ba2b2bb2684d2d7b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8642, 0.6533, -0.5922, -0.0189, -0.057, 0.9993, 0.1493, 2.5027, 1.0233, 1.5005, 0.2829, -0.0452, 0.9953]\nstate[eef_state]: left_x=0.2722 left_y=0.0018 left_z=0.1428 left_yaw=0.0136 left_pitch=-0.2281 left_roll=-0.0124 left_gripper=0.9993 right_x=0.5546 right_y=0.0372 right_z=0.0363 right_yaw=-0.1226 right_pitch=0.6089 right_roll=-0.022 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -1.5111, 6.8308, 1.4921, -0.0659, -0.0464, -0.0122, -0.0889, -8.8547, 4.9026, 1.9219, 0.0366, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_z\":0.11},\"note\":\"The jaws stopped at a substantial gap, consistent with holding the can. I’m lifting it about 5 cm and drawing it slightly back to verify that it moves with the gripper.\"}",
  "call_id": "call_8DC2kaEXXCQCpIoTD2jJFamN",
  "id": "fc_08e1a0ba647330ff016aac658071c887d098e4976f7a0b21d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8DC2kaEXXCQCpIoTD2jJFamN",
  "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]: [-0.0189, 0.865, 0.6533, -0.6071, -0.0189, -0.0574, 0.9993, 0.1558, 2.2269, 0.8627, 1.3338, 0.276, -0.0521, 0.6949]\nstate[eef_state]: left_x=0.2696 left_y=0.0018 left_z=0.1401 left_yaw=0.0139 left_pitch=-0.2437 left_roll=-0.0121 left_gripper=0.9993 right_x=0.5308 right_y=0.0383 right_z=0.0867 right_yaw=-0.0959 right_pitch=0.5591 right_roll=-0.0462 right_gripper=0.6949\nstate[joint_eff]: [-0.0479, -1.0735, 6.8991, 1.6386, -0.0611, -0.0317, -0.0122, 0.1299, -12.0547, 4.5197, 2.2637, 0.0952, 0.0073, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a84a3ee67cf27a0bc579ab29729376efcf98a7c3440b01064c05041a34ae4ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad713c846f2bb882f65edbf542c70e7d216d56f64c287619e1b025f953f2732d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a07e70819802d7184da65767fb3219de99281e68692958173b29ba8ead05a76",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8642, 0.6529, -0.5926, -0.0193, -0.0574, 0.9993, 0.1493, 2.5023, 1.0229, 1.5009, 0.2787, -0.0517, 0.695]\nstate[eef_state]: left_x=0.2721 left_y=0.0019 left_z=0.1426 left_yaw=0.0141 left_pitch=-0.2288 left_roll=-0.0124 left_gripper=0.9993 right_x=0.5547 right_y=0.0379 right_z=0.0365 right_yaw=-0.1141 right_pitch=0.6092 right_roll=-0.0299 right_gripper=0.695\nstate[joint_eff]: [-0.1709, -1.3607, 6.8444, 1.4969, -0.0855, -0.0366, -0.0122, -0.0205, -12.2872, 3.3162, 1.6581, -0.0122, 0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGWSRyrWx3VpvidFwcTXCjQevKlcmBahz8Pjg385FA7RlRX_Oy5Q6CGNtXGih10IJxHmtSFk8E-VCxQzJ-neifFkQfOLxYCK6S0j5eGHNkx2XYGV006RfQ8Y3vKPjMBXERQ9mToWCBa3rYqaM4YdMOV8B7SHHNOLGOGNafqH6oDIqc4UjzGtifO3Wab0kmGvF6Z4qp26Pf3g_PfL1HiB1nYuZTE8Ep0phknqNi27MLZtS3kOW3Iz8lijzidVPMHh3-JXV4kkEg77tnMhpv28mjwa-BB-JZVldH8rTA2jmHE7-HPxx-VEMjVxUM5ocFnOzDDFe9k6R8Hx45Ae0S52m0gqebTW8D24LDoWjPlHKS2u0W0NvWPkLTlsBkyXR3busUDH19wAjLL8423QC_YisgYTKco3UYcprHFqTuFRfie9Er2v-Rh7lEow1cV543st54-6YMjSQWKJxkCcyA-Gs5pCMhMJjQzuE7FI3JkzeCLFxcKkFAG-_pAd1EI2mH910d7JzykP-fbQQs2JsZMIOEhFaHC7TiceRFMyXNyj-TsD_LriMa8NZ71BxZsH2DMlAEhgvo_HDFZXGAXNq-qc00IThkH62NlbEl1TyTh38DtJSgEI4sJXwJTDcjlgKA5WOCKKSyVQR98POHzWadMGlfYZbKd4Zcvgr1EHqZp1FPzbpd9MJtEAd_z-p4u5jQctqvHjHbXTdKzpB8KVwuhYuPbNBFQVrhqY7z1wekfDcALI_MD2kCg75_cjRF3Dtf0o4ynhFDSaweILN_gNkyiwIYgoEHOweM6zT1BW76Mta8Ak7pVmH7gywRIZgCweQj9KiiV2UnMafFQM7jicLDQjjuyny1fEREegwxtW7oU6NnMZDYy-gGUWZyLk3bK1OidOHRN0HXnrutCF8UmkTStKlA9qDkHD5NaOprcPwkGwPc8NcEf1HKM1P0atRhYixA3xAOGXpWVcSUt-YTyy-ix_ZHV_BI-Z7Wyn1ow2nfQbHXiTRhdyRZbsKFuFzE2MN2jELBJAeebF24VK4bKbNGx4ApFIB_-UYQiC2GEc2r4sJQelR1twK27iKPVJstbhdADbMTHfagV_KGpKKwfDC9xrJl5HTJ-YFZaUja8zsMaTYixOUbMXA6ay_fQ1fZgfL11O6eeXYQh0Q01Qh5euacGHnhiCef-cIKyx7Os6IZQOTIWT9zpKt2B4ZOvqqRdN4TOcSAJX13yQ_cka_xjEJUS_xlLp0ttY4CXkRwh1mUUj5qLfNCczy-rrdQ9m4_0vZpxAVy1DD5MjZYqLXVxEVWvZUSF2OvDXo8Y8KLvaZW8qGxmCBGhhieyzGT4od5FnXoIYP4PWMeXWusVzHT5halA2ELoL-S0r1PenNP8ArVfSgxAari1h82MMOe4stSnfPL_T7AnxwzSNQJWR1EVVf16LY8TGNSB1hO5I8VFIyQ0isB2MBAXkI0UElyRDf186_7yXo2twfnlrE9KMAkXUUa0OH7eh54aFBov9pBY7zgSPNPLvte3fv7Mh9PX-gpjxsRASHo8EQm2B4kptPcpoEY0FI5EZNFAUhz5k5zPYebUujneIOm5UrPlrqlxoSOOyhL2OsIjsOLLZ_JEx_7xF-AenSgTZitvEqHbp4mZa3VDi9xbUcjhObiXw4Ova9zR3qql3Uwu-nEb8ZvWsf6l3GdYZemN6BDrMc76OwQLgLqFQPwfU8Mo8Vy9Gz4JLPYLL_zi66IZDJD4BLZ3l9bDFTZAMIMn5ar-Rjsp_QwHtnxr7pcLLXReoma1FC_ag5S1suMDrNEtLRADBizKdfoE8G6zsf1Hpm47Lte_c-ii8TB11tJpqzgJcfg4x0iMquuMn4Br5cnOHmDEqDFC7FmvNcJ5YdzEzZy-Kqn9scTjL95D19fM9kV2vBr_NfbwDlAYDA-zvDDXuQkFdG5jGp-6xrAT1TYD_kHay7RyVy5ZgaA5IMFpnoVYEZiXAVOCR_RzpgpdljlDe6OdkiJBEUzYfpjskEkmWs2dddfBM8SR0ES1VPDO09hPYJUEEPxW4sQol_b1klonfhWfEhbzKXueuafzd4kbsPziUny9c4nxJb5r-zul52YI7PcmjRFsms4E2SR50hUHdsDpiGyjPZgDQnGiuerPcvlnmER6AP4Bj9bHH5ic2ycbscS-A0_uTlDcG36J7PXIkhDXN-vF5OW08Tfrjpi2W1zk9iHW9SaugvXMfDJYWGWzyXTLN8oDLWE-954RgROsa99deyKvs1abjLMDeFZvjrEn-9zIfUZrWx0hOC0sJjN2ov2lnF8JAy8KNTHu5WifKvRxly_b5a5cCyb9KkfqhQoB-0QjWfmtYV-hJDWpjAspbnP6a7I0mg20FiiUu9vEZsETRpIAG8aguJalCtVpGzOEl01YDaZwiWYfviiolhjaPuuleIQIXPDs04xgzzL_tE-ryHFcrc0Xfe7_fQdP7DuTQUKlEL8l2I95kOComebYw92A7EzerqaJWgIeKl06VAY9yz67_JsR0a6Dta2QPl02vnkl5d_WSpVhJdxX0B0uKhK-YBTda2DQJ2gq-qrJYmS8DRb2hKmOHVAVHDsmD120wW94nizUbDvVQF_Bc5S0IOpIiBfuqMevoTlsl3TEQQYh5t2hoGBIbf8F98jo7CiQxSFOjwbf44ozt7wuTJw4MKeanhbWL4W9Ou3ptibVPZNQ1b2_54jm4NSkgeb9KXvfTSzRaB1qBSux6nWaIvjSx5iaVazh8oN1Bc6DTUEZ2JW4W8P3KuzzV7LQtW-bhM1zX5iBB1KmJYTkjVDh2hFYROEbz8UmsMkOz2yHmeROm1D83v2vVFJR9UjQCK-aZgZz0qYgFtUiVvvpKd2fPYzDpEvWyEBNUsKVVT9jtexkHSSzyxuQmVY2-S8GH6E0W1xC5bLEDaJpJW8_X2tx9FGurfcmd_5MI_7b5g9tmPYHvHvNnqJBZT-AkMl6tIlE0ZbHm5aDPeWAxJ6wEXn8fkQPcaIadPosordU6Gh7_sVqdVsB-n0tjkFZdClkbfFacoaGmc-wf3hJ9qjfM28ytpWM=",
  "id": "rs_08e1a0ba647330ff016aac6583f7a487d08d9e952ecf2c5f87",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.29,\"right_z\":0.23,\"right_yaw\":0.7,\"right_pitch\":0.6},\"note\":\"The can lifted with the gripper and remains securely held. I’m carrying it toward the burner at clearance height, beginning to turn its long end toward the burner on the left.\"}",
  "call_id": "call_lBY2GaEN0pHe8AfkufFRFOf5",
  "id": "fc_08e1a0ba647330ff016aac6590907487d09ada71b455c2998d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lBY2GaEN0pHe8AfkufFRFOf5",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.865, 0.6529, -0.6147, -0.0189, -0.0574, 0.9993, 0.5369, 1.7771, 0.8608, 0.8661, -0.1005, -0.0746, 0.6951]\nstate[eef_state]: left_x=0.2681 left_y=0.0019 left_z=0.1386 left_yaw=0.014 left_pitch=-0.2517 left_roll=-0.0119 left_gripper=0.9993 right_x=0.433 right_y=0.2826 right_z=0.2005 right_yaw=0.6676 right_pitch=0.5381 right_roll=-0.0563 right_gripper=0.6951\nstate[joint_eff]: [-0.0615, -1.4838, 6.9538, 1.5507, -0.0464, -0.0415, -0.0171, -0.7863, -10.6872, 8.3487, 1.9756, 0.0024, 0.1245, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc2d328e5dc7c964b0523beb7c2fa31ad9babe3625626497b25f922bbebeaedc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5db196ea0bdb8de84c16e151df215d4478b7bdcb2f4cded265469cbd7906354",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a36c444bbb689aa04b220617d634dbed4a889fe6de9633c99361fa94ffa6d1ca",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 73 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.865, 0.6533, -0.6071, -0.0189, -0.0574, 0.9993, 0.1558, 2.2269, 0.8627, 1.3338, 0.276, -0.0521, 0.6949]\nstate[eef_state]: left_x=0.2696 left_y=0.0018 left_z=0.1401 left_yaw=0.0139 left_pitch=-0.2437 left_roll=-0.0121 left_gripper=0.9993 right_x=0.5308 right_y=0.0383 right_z=0.0867 right_yaw=-0.0959 right_pitch=0.5591 right_roll=-0.0462 right_gripper=0.6949\nstate[joint_eff]: [-0.0479, -1.0735, 6.8991, 1.6386, -0.0611, -0.0317, -0.0122, 0.1299, -12.0547, 4.5197, 2.2637, 0.0952, 0.0073, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGWbomp_00IMdeQa6EtyNoc3Pis-A8w5hUNx2n-ZMPMIhMz1FIyHlj2BUmok9NfQM2UXiFQeqYDnxi_7LAZq0iGkHmnVaMj36uoVfAYBIerjBDRlq5xTiFHLT0TWJPtSZh8XZJk9WfrRbzE7WgnJ559ltK4duZWnfnxGI6RShFMDUczBuvwpCqq73p-DNOmtNu4xGWobeqoh-tAiVx_TV8XGSEH_70dp_UYnLYMR5z5JmWt3qd_67YaUNEH-Ilx-Qcm0dMERNPeUYMoO6BfvRjjicaWtHRyya0hbVmGteIucmxEmVqLpYgJYXiXJjtxSoe87qFrTXVml34X0_ejxp9fvKwHt7be3qp3CWjWVz3O9z6oiXC-qm5zIVrxK1-h4--XRgi6p5myzHeVtxW5QfWI37DdRZ-Vvf6286_jrTk5NnD5oxRr9fi9n40NEZgUN8cK7SNil2zNYdTixz-sz1JPTSGaAE6Zxzze8x7zuprajoORjAQsz1o4zMJr4rgJhgUX_TyNRkwXIb_nDp8qvuOlAM5KWPp-mXZNZLzQPoYMUcgp8EqpghF19Oi8TvRa1miy1v_TCtTs-vMrKGZyYNkeX9_Dj0ft_7WW5sQgUHWnWdKei0qfIyfAH_QZ_1jJ6UpmKINkVQoY5PZdiprS9fDqJgadyNQz9Jce3rHMHmj1Z3evt9D19H8NUdPjjNJNQSl4E3qAzWeLw3wObFsxRMrnmRJUDXv4AgqvvYSGxp5raT7u3Cz5Xn1kr6YVZTzmkRUnAqdP52BW5Kj6vhEuQ9bukRYlLgND5oZ2aBNsk3HA8uyE-uEhM0ZL2cOVusJ3SBIePsAAwzL_MFCUn8nfsmADZ_cEk8TQxiwu-UYMYeWv0LLDbXHD8cAdDOYG9aTgw_xcrWzQH2zjO_DxkXYiDdCNgEWCxRXhX5gwBF9sy7X8CNU0dS84cCukVf7iSVBfx9hiTnxgEI2XJEizL5WUm-bX3t654MowIWrvPsrv8-eweABH3rxHQRSgjj51Th6j8YdL0GlXSzcvfo2JM8wlp-ji8qP-tO9kb4HR6fmCW9qH_2JVOu6eoRUCjW3lS48ijI-PiNfAfkkiLkAkcDrNZzw02wzdHQkDXTe7P3PzhLw33PnOrLFuV9halyhkzuI_Mt4CqWDhKXMzKo3MQUWD5n1BK1fqTG5e_-Xqme2lOEaF8IUYtOWK4INLNg2VxzbTNL1E0HKt3NoPI2_Gr31L_vUi3H-e3-gyHl9O3WGIN0g_U8DJ-Xuxlk1wvvK_Kg-bHwLQ43QEB-_iDYSltpwqZR0gNFSD36ooK3QWW9SXoEnFMZXj6UVhGFt1pAI3gQQ_wtmXf_pRcbUjve8r_3kfxiGGYNva4KI83toTgvFgm97ZQ_28zJ-UhEeLjsBHDJADiI0NY0QtrOw1LI3GSpm4DF26iQp-T8ymcwq8EnxNp373dz9UiQk4kWaa5qUbDcfIe1qyVmLBNADzpUfYK0tMOE37Uqd7CDKksy3qVDO847TCXaRBqpvVHGfMWBFTwJixVu-89irlVxNRD3jWxJUQ6585sgbgn78jixHScCQPJb8VGOysS-LkG2FFuujJpAx6jgjs7PJXzDt6JXBVEjcFlc6Tsbnq7_vIOP5WhRrpw4T_32qnumCvUz3GhiYcDp_UQI2hYfTzNMxt0Ec3J5iyQ2ssytQsdDs5Rfh2YYYk72bkQ4u1rIVe_fmp7K45tj3CDm9H4",
  "id": "rs_08e1a0ba647330ff016aac65961b2c87d0a6623c3957128df2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.4,\"right_z\":0.23,\"right_yaw\":1.5},\"note\":\"The can is now beside the burner at transport height. I’m rotating it leftward and bringing the grasped end to the burner’s right edge so the body can rest across the heating coil.\"}",
  "call_id": "call_j1i00ztuYj47kvFgF63L6yn1",
  "id": "fc_08e1a0ba647330ff016aac6599deb887d0a36a2af469bd23f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j1i00ztuYj47kvFgF63L6yn1",
  "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]: [-0.0189, 0.8684, 0.6533, -0.6334, -0.0189, -0.0578, 0.9993, 0.5457, 1.9629, 1.2457, 0.6182, -0.8227, -0.1295, 0.6951]\nstate[eef_state]: left_x=0.2648 left_y=0.0019 left_z=0.1349 left_yaw=0.0144 left_pitch=-0.2734 left_roll=-0.0114 left_gripper=0.9993 right_x=0.3879 right_y=0.3912 right_z=0.2216 right_yaw=1.3924 right_pitch=0.521 right_roll=-0.0411 right_gripper=0.6951\nstate[joint_eff]: [-0.0479, -1.7983, 6.9538, 1.6581, -0.0122, -0.0317, -0.0122, 0.3624, -10.0171, 7.9658, 1.8779, -0.2564, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:695dcda4a392b6f5a14d2906451fc5752379dae82997bb9bb159383056c5067e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de721709126d21a98bc6803616f7ca6940d125646e93a20aa0b6d13e811e7801",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76e79032f4f4574b233578e7869a475cdb9ee3fbbbd136cc967f25fb774d9149",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 77 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.865, 0.6529, -0.6147, -0.0189, -0.0574, 0.9993, 0.5369, 1.7771, 0.8608, 0.8661, -0.1005, -0.0746, 0.6951]\nstate[eef_state]: left_x=0.2681 left_y=0.0019 left_z=0.1386 left_yaw=0.014 left_pitch=-0.2517 left_roll=-0.0119 left_gripper=0.9993 right_x=0.433 right_y=0.2826 right_z=0.2005 right_yaw=0.6676 right_pitch=0.5381 right_roll=-0.0563 right_gripper=0.6951\nstate[joint_eff]: [-0.0615, -1.4838, 6.9538, 1.5507, -0.0464, -0.0415, -0.0171, -0.7863, -10.6872, 8.3487, 1.9756, 0.0024, 0.1245, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGWq-BchHi0NO3fresuDTaF5t5Q0P8KM0-W5BQ1JDV1GkEnUcaxn8Q6LGljwou7mDQkCKBEaPuc-XIcrT19xDoudNqAIMkEo0-01OeByenVSy606qzBtcukLI8VTgR3FOXpOIz_Xh9L-aewix9Zx3Oz5BTRo7IvwA1zZJlGhk6cXmDZJNVnmyRVb8l5XqmGXbtvbdU4cI2BOL_nJLnxjKPZiZ69qzDKTb_ea9xlK1lSU9CBEdo_deTgxYHRFfw4NvFbd2S6rdSXrhAAa6h-3WzEA_UYDAW9jycda3yQq_i0MgYignYxjbiV7AVqtAizPkbMXstQCO93Ljvq7r7ElDjwXB-s28AB1aYzdtKClUS5lWYU5PSuBOnWwJ6O0zH7sz46Lxdf6V54xC_m-6bQsRvpODrG1SizEZ_968HiZ936Uk1v-v6YzqaoD6OQSWQIzX4580DXHdaeBgRBN16-NDsFCkwN2acFz8-I0-dfxeUb1OEi8XYDeKJCY7tzFAJLb0MhkFfUlhugyoC7lGKwcLNq9oTAgbCf_bH_PAVo_QJKxdsjAPurYjUPrjxYzirYSGXAXNq_VNNGtHV3K7M84I33EI2AJBKaAT78kOyVuXhnNHGVdl7ZHqSVjcM812WBrwdyNm1cpjgnJrhcWZqJkp9tsucbLu0dAeiFAMRCUCAXLbTMIA76l21r5ct3QS9EY2c9S0kDVRGoij4A2v0M2YTQ4SuauFvUM-IIapgfOPLogLZ9oUd4VXp_rr75k6IwqE8-ueKF03Tl-2FDW5brkfSvQNGxAOduWcRCKPjzKcBpYlpRvmCy1XSewiMNQsdRQ3Dm0wxANCe2Fp-pNOuOfqBjBhb9V-h8_rowJgs8f5qp2lot8w9J9XCngGrdcmEj9rnHVXg9ARobk7uJZQNIgOMvIqDvPh-KrDoC6kgn5qRw1pxjERUkByrRWjcB1-2m0TsWPtP68n2wZt008cbE1xuT_q0ZVhBwjTtY_R1-TgQdZl9nnzy6Y8tOMaRofl7EJWiBlsjLoUYfqoCmm3XthE771EwPxj4547E-cdco0iMrKEBOPwbV4KfiunhIf6fY9vZsKtUfmauoZVO4TJ0T01Ioj2YaZbWf4urUBCBO_UGrNx7I7gZbwIrJgnB9VPLpFA3-OFeMGCZyWXlpxpmzK_SgMzPfAPzVGy2ohN3r3qGloJajkq8_CX8_92MNliiOjHWcPFGC0057l-8cQCw2n6N8FB54hf29t2IYrzFMn6x0gpuOyzQrBdbTscENs4NFbuSwTWObbX0CrrQnzbLq_oJ_7_nRVkAUPvM5AWzI0TW407XElRbCLQL-ggb5OOHEdA2pTg9A6Vef3z7s4CS1FfHD9eFb0vXbXDN3a0jxuzbIGSshTrA_UfkAmdy2oQfvs5gsPu_m7bC8t4WnzdNYIlxZDU9lzXJTQOIbxda_ogm54XgHvgV0ted2ibJX6s3trTA65iOTzxBYYf-_pQBZ0h0R9octzgXB0YfyuDNOoZYvCGP0CWxkNZO4qlDnUJi3FuvGB9IEaIsBgquNdXDO_LHsrelk10DEj22JHXcdadIXGsNfBz3xxpl1PbLhK79Z0bBhyBu7hsp7aO9Wnw_bJud5AYPJEvPTYc5TzdU1GSbs9_qqLV5HVPwjEw5yN9z0pVyVN9aJydRJFU-TiKyFkLluLzihqAdyNOnIRI7L1zL-qgxO7n1AFXOfbVN64RQJ8Yc9Hcd3Ye_RPMY2I3nSTJlcJHMxhttLCXt6pMDXY6tuw2FRhsIAiN89gFekDzbbQFFi-g9UNL-oYJebIdmVTspfqpvdFl-R_yJAGrXiNf4wCC6GEr-SDt7kuhH3CItQgKzhnJ5Rzf7WSlmPiYn2701rbkNyPGm2Sgat9bF3vB4BdHy7cRDpfToyphyJejGAISYBQKq-QVSF60j1nqcePNezlRDarum-LrjvplU2wKEtTPVC9vLi3X8Aogf742ZkRCu71rPqhDyBduewobF6bIy6eSfBJL_AXqMzdZ3MLTFxYl7bwRCSg54enNWlKug2R6NKGRuCJXuC7HpXYilqyZDJ9VNXBdvUd31gf7KJfoYPBV8egHXG6HHCpvJyAAmKhDd9iIuc0XpuGm65iSiQRkasH-TR5nvv47Zk9OaudeEE8E9UdCSLpyfnaYf6c6burWoUsBgouk6wx0FElOSHJ1YGylDqGs6-yBCmvMx5QC7oC76i_VtoxlEjblOaGvSoVnv-N7Kks69l5amGRAvLCy1USNp_xIoJttD12Mn1B6sYGSyb4ZTPCY15Vl1X8f2YwJRFGHbp8UWDYsxwjaAPQZoPCN1EmoQAfq5UBlQ_aRkyNiGMiMf5aSI0tgLEIyYwXuJs7kqG72cuQIXlHWxXHN3MTCTVSiOcWGvVn6MEeMsarpDTIJ9sy9Ji2P2lgApOED4xFwRkQ0M0WZ807v_soLZRRulosi53ZzC9pAwyCPiV8nTieMGJH5wFRKKbo9MWMOBzLfx_ySK5_RpdBmdIrdTk2kQ==",
  "id": "rs_08e1a0ba647330ff016aac659ead3487d09b106178f82e42e6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.4,\"right_z\":0.13,\"right_yaw\":1.57},\"note\":\"The gripper is over the burner’s right side, with the can pointing across it. I’m lowering partway to check clearance and bring the can toward the coil without releasing yet.\"}",
  "call_id": "call_NhJ8wPaVUfrfYoP7CnC7cDXy",
  "id": "fc_08e1a0ba647330ff016aac65a8383487d089b3625e3b0bc849",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NhJ8wPaVUfrfYoP7CnC7cDXy",
  "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, 0.8688, 0.6533, -0.6376, -0.0189, -0.0578, 0.9993, 0.5419, 2.186, 1.1965, 0.7887, -0.9623, -0.1513, 0.6951]\nstate[eef_state]: left_x=0.2641 left_y=0.0019 left_z=0.1341 left_yaw=0.0144 left_pitch=-0.278 left_roll=-0.0112 left_gripper=0.9993 right_x=0.3731 right_y=0.398 right_z=0.1219 right_yaw=1.4903 right_pitch=0.474 right_roll=0.0395 right_gripper=0.6951\nstate[joint_eff]: [-0.0205, -1.5521, 6.9675, 1.4579, -0.0415, -0.0317, -0.0171, -0.2803, -10.8239, 6.5709, 2.1172, -0.2271, -0.1441, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4406a0e7ae52fcf60882448cb6dd1d52052603013ef9caab82d45e3fd07b5d0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11b51559517ea267f94bf206a33b08123790c618fbc97198bee008ecd755880a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1772920b774d2ebec37db32a6143d1d22541a5440d158b1f9f1d6f06edab676a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8684, 0.6533, -0.6334, -0.0189, -0.0578, 0.9993, 0.5457, 1.9629, 1.2457, 0.6182, -0.8227, -0.1295, 0.6951]\nstate[eef_state]: left_x=0.2648 left_y=0.0019 left_z=0.1349 left_yaw=0.0144 left_pitch=-0.2734 left_roll=-0.0114 left_gripper=0.9993 right_x=0.3879 right_y=0.3912 right_z=0.2216 right_yaw=1.3924 right_pitch=0.521 right_roll=-0.0411 right_gripper=0.6951\nstate[joint_eff]: [-0.0479, -1.7983, 6.9538, 1.6581, -0.0122, -0.0317, -0.0122, 0.3624, -10.0171, 7.9658, 1.8779, -0.2564, -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": "gAAAAABqrGW1Cb3yP_rnxSImKBdgYp4V0zDcA_0Ih_asLxa6WPEXDzLywVc6VYZnoY7LX4NpV23St7iEWFsmYFkW3UCBs4Z4E7D9cXHKKPypGogyPF-g1bwFyLgs7ok3usV_jmnOlPprAvWOxiTi1vHlw4BI-dcOhTiR6ENu-l1f60coNzJPU3iUWhhAvg1_9R8ZB4eJtP-xx18kQKYBEhdFm4FdzOltSdh85RTlCByPrfUnCK5y0WCeRBh5152lp0TIqwOUSvQDEjbwOE6ntGSjktr3aKMLzF3zx5ajMPqGq7BYSfqBpeOnb_EZOIjDYLrhCvv4XJndBIaSpDDc3IHi7APEJzWlofHyZIqx2zEDuIhxTGCtZORateMYM1sQcBETJ95N-UvqfSwCaXzZ9MTni6ydCcKDIM9AVl9Fh9baORVNXgWPnAokTeshCfrMafNWaAXE2WX0dEq0aNMjKgGPJIG0V70tBHw0vOiPn2xBzn1Y7VjslWTESmPrvX6ZiRJDv2RwNfIazvxSKobFgKgs17sR_ERsnXdFkkVsDWDEXuOpB11AxjWUjkobJnR1JkLcaVXCFJzYjBjY_Uu-wgwRte_FipKkFuKechzqh0jeAkao1fVgAkhAuR_9g9AqHJD3wY8qc4vwMyB1KRmYVYkLld5RzTgzGPdjCpDCyL_-PnACglCBpccnkwLA3kDpsAzGOvRIspcf8gL2uKU-KBAtaOEH0ZDzskOqV33BS-5XOYVFVuvL3rlB_FUm1eQh4vF_bquCA0zmez0BqZxf8PlBjaDiaFXDI_en4JKijKExY6_qg8dV_yRJF55S0XmbVct_lG2w4g8aJTKwkBfrXdbUWGTHmMv4dMI2fca4qM08J76vD_4oRoItu0l-IDroXe9nuaPggjIOwCGz0uVGFQ2suMxocHJUyCvrcIbQMY5mmVOmsOWylMJ-8u_USp45dgRhKwyayn_sK5UMNVVMTqg9vZopo5-gyYSJXaEHUzLGPjMc-K_dNdP9IPRogK1c44Q23HhaBNlMvVtJ4Rl5uiTgam171WMvpEBOl8qM-kymqiLYey7019haHuEZem_z13H2ip6fb0SvuYmDFTbG1PaMJ_ne2Zc009UrySFvNtWRNMrUZUTGamXJP-2MUEW42ozYAWG3rIscinQTtjySC8VFlAVk8GFpXn5SdQV5HWYXygARliOfwx1CJAWYqew3xHdcop_S1GRlws_FLpS4scjGR2PT9RMFU6_7ZSDDc-cV2UNt2NrQ9faiRmIfYHcVogFTf7pzeUwmv2buFqEL4NR7JnPALDOkhCx6CyMxzI5seaRlueu84i_89lHxgNV9diFis12VaaeZnatEnHhP7zST1bHxheRvCinFSVIEdMrdY_Z1goeM4b3BYlEzVwRMB0vvd5CzzenUltQZn0vs32iJlN648K2KfRlFa8dnBY0M5wg_N15lNr7W4ckz-lDFiJxddBqv8USshsOuM7pFGBLP_TjXoN2611VM8SlNmzDv0t4ojGEoqz0rTTHlVMHxZrtHtzADPzee0_uKYBuL-aCm7u-97oeqm_q31Rq6fZT9C00UN6OWK0GLma_irYHQcx-cVhCO-lCgHM9KkQP2Iry1YnEd3aSDQ1CeHfxK43kKF4UX0GhzyhPdJwtITNTNEZZ5MFJIrn9XtcdjM7CaYDU0g3ZE8KIkPt9pFuhl9FgCR7JmvBP2DdsFeHMcsjn0OUlA4nxnv9WR1szTXykBgMs9EuAqsajP2KlnI6YGVd3hf0oOyrnPH14ubem_6m7b0thvmt-1DHNLA3Bk1fax5ofofOU1GhJ91xJl-QwM54Lmcx-H67m3UbpSZCokh000EpEKgAlgV5xOkhM-CAZxue0weqTntn-fV__DT7BAQjLKuih2QUsoIL2xreMO_qqgAIoDzLYP-Fr3DNwwPgvEWcizioNAHqt0mUDsa6sMFO5LHX-ZC_VzH_yYl2JakF9g1wSIPLlY70ynUA95R4PnDLZqqcmJfVR7uW7aA7FMqfJ1cZtbo-qEzvPjQk5G_CywQ_cluAFswcilbSKxjV5D53jr6Z0tqpY1oryJX6SHMh3-LPfTW_gAYDUrLvyDohk7XA5amO2qI2mO1V0z7IvoPUBX_LtfNuHYQ7HCI4G3qvDCRmZDXTNheM5mQZuXggeyxZ69zIpMBndr",
  "id": "rs_08e1a0ba647330ff016aac65ad2bec87d08689fdc331f09c9c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.35,\"right_z\":0.055},\"note\":\"The right arm cannot reach the burner’s center from its workspace limit. I’m setting the can beside the burner so the left arm can make the final short transfer safely.\"}",
  "call_id": "call_mFs0OQwDo8kquDQboHPTKvgE",
  "id": "fc_08e1a0ba647330ff016aac65b3c77887d0905f686041c1b6b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mFs0OQwDo8kquDQboHPTKvgE",
  "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]: [-0.0189, 0.87, 0.6533, -0.6468, -0.0185, -0.0582, 0.9993, 0.4927, 2.2314, 0.9047, 1.0351, -0.9932, -0.1585, 0.6952]\nstate[eef_state]: left_x=0.2624 left_y=0.0019 left_z=0.1323 left_yaw=0.0144 left_pitch=-0.2883 left_roll=-0.0114 left_gripper=0.9993 right_x=0.3329 right_y=0.3507 right_z=0.0495 right_yaw=1.4377 right_pitch=0.4273 right_roll=0.1182 right_gripper=0.6952\nstate[joint_eff]: [-0.1026, -1.1692, 6.7897, 1.5604, -0.0317, -0.0464, -0.0171, -0.1709, -9.1009, 4.9026, 2.0147, -0.3346, -0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23e7cea7cfab1b08657aeaa3e41f39ca1e425f1f65ecb4a0fa6921838f39fae8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ecd09d6b6a60cbba1050a375a4a68c2fbee22e8df357d17aa8765cafdfcd117",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2f965e2e0a06186fa65f89ba9b01564c68f94417e893d0defd9b83d71aec99d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8688, 0.6533, -0.6376, -0.0189, -0.0578, 0.9993, 0.5419, 2.186, 1.1965, 0.7887, -0.9623, -0.1513, 0.6951]\nstate[eef_state]: left_x=0.2641 left_y=0.0019 left_z=0.1341 left_yaw=0.0144 left_pitch=-0.278 left_roll=-0.0112 left_gripper=0.9993 right_x=0.3731 right_y=0.398 right_z=0.1219 right_yaw=1.4903 right_pitch=0.474 right_roll=0.0395 right_gripper=0.6951\nstate[joint_eff]: [-0.0205, -1.5521, 6.9675, 1.4579, -0.0415, -0.0317, -0.0171, -0.2803, -10.8239, 6.5709, 2.1172, -0.2271, -0.1441, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGW7lDANIXXExmH1VcREgPoajyUa6BPOxM2p5BMlX4Dl17EQWewyYW7aAerJukl5RgnKS0MpicKOBkD7DpImQXecHrwYFZL2KpYsQ0DfjfZZBloeQuS-YJp7rGcdcvxY7BEGJiz2gY01BPSOsMuvHENyoIGhlwtiw9Wg2MeL-CAiVncsA3GduKJZ4JSgEWpEbg9uhBCpwMTReeV4rOueQ1hZ9R3Zkjcva45CALhRu-nuPj-gDtyLCaWVHr4wo6ROgUfHDV7IFTMC9VyjvsiGAbdjoSghylvTIAMeMxLDZspZ5DK-Is5JJuIDvvnv0La6gxm7GCwLoTAfN5piIWMiE_pJds_KmkgbYq7B5CWPGyPLfD1iCmuJCucTfFQhrIBUU__tXdqorh87KuBiq9sPTHW7gWOxxsTwPf9smCbhzQPrmj6fuqXP6lCYa2EAqLSo3EdabXXxgVGXOYCmA9xiKBCFrPGXdgsjtzo8FEMx7MKzQYk7E9CI883_LMndEdWeGM3222Ya38qa_FnLgDkoE-_9xQb2eMYssfSwum7De8PUYI7cktEGq4plngLEfY3RH-nKu5-jrIBY6lbUTh0NKsbjM6BO4eylvLHCGfpwgA_PBd3CRD4JgMFoYmWGNNxWZV42t0Ewc6Rao5HEJWBEOj3jrVNltf0R-4FzxHM9NH-RvjtCusHMgEDZurm9KeYFn0cgFsCqqxTlWBMb2nJFqQsIhejneqmofEy6V_9xZejv0oZfUAQcCH4sI4CEYoXvPyLABy8dIoRdkptUgOeB81oyhaJlnRs3sZ51Y3_wvq3GeEZRMjn2dV6e6E9LOG58edbj99oet28F2LusZeZjW0eCC-VAuEskRMh5x6SQ7bEBDDbhKTYIRccvPINr3W9gEVjT3MeTQBK09bpm6xo3szsiKhLzkHS-8Elfw6PHUV7Rudltcv5ThPj2QGaBWwaEHK2sUzPNktnvEYE40Pz0o7iyzI8nvzL0TBd0Jmc8JCaCplxBhqG8cX0oCKfdK3KOfijzUT-1yXzgeO2TMmAnpKGXMsWy_1sWLxLzjqsdVG0lm03E3cdGbCozTDa6aqCc1NayP9h25VOY6a_hct4lMW3tsED3dSy3ZEGKp502gMCR9kdU6DMuZ4zdTgQXlOong80QVvqIrssreLdJ-z7jwQrkZ8TUSsnxaEO2uha_NJWRtRRaX1MJaGL4ORf0Fvz9B2-G6xAAxaz8JYFvolEPP_tkne9A-OgkyImO-vKqJ4uJOaQZQN8gM2nqSJjg8M4NCFPMFgVzyA6O8ERnu93rYl3hB0BVeA_cn2gOnQE3X6Ab_aJsmazeHtfB_HuCjQHqiWflboehFCMNgvACsdKotH6uA60TTmUg_Jo7ymxRaGqDjFz2hKPrpWhrFe-q6XCoSrCX9tlUCte4W4zL6UEKPLUQHINJ2Brnzk1e0GbJRpWTZ_g=",
  "id": "rs_08e1a0ba647330ff016aac65b7ea8c87d0812a4af793b36241",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The can is supported beside the burner at a low height. I’m opening the right gripper to leave it there for the left-arm transfer.\"}",
  "call_id": "call_f2rW9D0Qu5SdtFh8XMLMolIu",
  "id": "fc_08e1a0ba647330ff016aac65b9973887d081faa503527ab1b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f2rW9D0Qu5SdtFh8XMLMolIu",
  "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, 0.8707, 0.6533, -0.6556, -0.0189, -0.0578, 0.9993, 0.4896, 2.2498, 0.8829, 1.1069, -0.9924, -0.1692, 0.9956]\nstate[eef_state]: left_x=0.2607 left_y=0.002 left_z=0.1307 left_yaw=0.0146 left_pitch=-0.2978 left_roll=-0.0105 left_gripper=0.9993 right_x=0.3307 right_y=0.3479 right_z=0.0471 right_yaw=1.4526 right_pitch=0.4461 right_roll=0.078 right_gripper=0.9956\nstate[joint_eff]: [-0.0205, -1.3333, 6.9675, 1.5116, -0.0171, -0.0513, -0.0171, -0.0752, -10.1675, 4.5607, 1.9805, -0.3785, -0.0855, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a48ab2025ad628ae168be66f5be5c24747063beb28f33f3125519c86b720962",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40124bd9fdf87ed8084d15bca40f09350ca32942e2f6f5dd2e34ca78195a65f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59c3bb149acc1313b8f6ac6b9c6e7a272e82f75af499717ae17078b33cb13c6c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 89 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.87, 0.6533, -0.6468, -0.0185, -0.0582, 0.9993, 0.4927, 2.2314, 0.9047, 1.0351, -0.9932, -0.1585, 0.6952]\nstate[eef_state]: left_x=0.2624 left_y=0.0019 left_z=0.1323 left_yaw=0.0144 left_pitch=-0.2883 left_roll=-0.0114 left_gripper=0.9993 right_x=0.3329 right_y=0.3507 right_z=0.0495 right_yaw=1.4377 right_pitch=0.4273 right_roll=0.1182 right_gripper=0.6952\nstate[joint_eff]: [-0.1026, -1.1692, 6.7897, 1.5604, -0.0317, -0.0464, -0.0171, -0.1709, -9.1009, 4.9026, 2.0147, -0.3346, -0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.22,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"The can is released next to the burner. I’m parking the right arm clear of the center so the left arm can approach without interference.\"}",
  "call_id": "call_zCMMEqvf6AmAVOrVqthw4XHc",
  "id": "fc_08e1a0ba647330ff016aac65bd22fc87d0925f82fadcff14cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zCMMEqvf6AmAVOrVqthw4XHc",
  "output": "executing move_to over 29 steps (2.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8753, 0.6529, -0.6781, -0.0189, -0.0612, 0.9993, -0.07, 0.812, 0.7437, -0.5465, -0.1337, -0.028, 0.9968]\nstate[eef_state]: left_x=0.2564 left_y=0.0021 left_z=0.126 left_yaw=0.0169 left_pitch=-0.3253 left_roll=-0.0118 left_gripper=0.9993 right_x=0.2885 right_y=0.007 right_z=0.2055 right_yaw=0.0438 right_pitch=-0.0216 right_roll=0.0707 right_gripper=0.9968\nstate[joint_eff]: [-0.0752, -1.853, 6.8034, 1.6435, -0.0415, 0.0122, -0.0122, -0.2667, -0.8137, 9.306, 2.0586, -0.105, 0.2222, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfbf0407efbad38084388e774b0ba58cc694376ee157e126703e6b06f3032ae6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caa5eac258999551dc2d4e63481be46ec13e2695ac06afc54afe5756e7776dd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5120ad0ca31a1e049cedafa107828be8b0cf959e32b404f2f582b2d742b2b0aa",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 93 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8707, 0.6533, -0.6556, -0.0189, -0.0578, 0.9993, 0.4896, 2.2498, 0.8829, 1.1069, -0.9924, -0.1692, 0.9956]\nstate[eef_state]: left_x=0.2607 left_y=0.002 left_z=0.1307 left_yaw=0.0146 left_pitch=-0.2978 left_roll=-0.0105 left_gripper=0.9993 right_x=0.3307 right_y=0.3479 right_z=0.0471 right_yaw=1.4526 right_pitch=0.4461 right_roll=0.078 right_gripper=0.9956\nstate[joint_eff]: [-0.0205, -1.3333, 6.9675, 1.5116, -0.0171, -0.0513, -0.0171, -0.0752, -10.1675, 4.5607, 1.9805, -0.3785, -0.0855, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGXKOitiPG-dCzR9el6pAY5-WEosg2c2mcLIijiZvlCaRz81SrKCkmqRDV7j9Qy_Z6ujs6yaTOwO7a232rRgE_Az7Z2pQCImQ_3YOmB3M401AmnSkgfGkiDPM4orXm4I0KG-0AsKDZmBnhFaJ0LLPBNH57FAVP8tkCt_uP9I6rj0lSiD4fErF3L_G_i8HEoST8XVhtq5YmWAFrtswwsRetRWasmDx-pxv3vbqkfTIfUxDjOfkdsb31lMpz8owXCURFuK-FWrjm_Xr4-zzntL4BTw7C0VlRz4NvQtt52Cu5CFM-LzgqTzo4uPaJJBGFKv-uE_qJsv8tcnx4uyzgTwFAXBvHErN0Aq1805GnEBqSdynWAleiziM2iOmjltxrWAVygr8AH3vWeEB8y74q3eSVre4QETO9n5t2nfanGGbDcvhlfca_88AzE8lpL-8V0pRBHdUKATX0Px-4GovdQraohlRUryroAO8_xquvD7a7VPh8NVYc7I2kRzwTAaU8mgHzasvTuDvLcvJmo5_6VmKc0swd6NQqYUkZTOQzOqEUDe9X3_qPsLen8cdP8l0J7VU88MaF0Rt-0Pog19bcGOxSU7aPjR8xN3L1G6KF1B1eNi-zHUdPPagsumZDUrzVQ5bLBFjdhVd13xDsMqbnIA0-_oATwQjesO5sWkBbgGk6PvLbsZ5MqGMBtXiu_FNi9epA5kfYucwjKxYF9_rgKdLLos4Y5nOV9USsJbtrs56mFEvzMwObYVbA_ujnCmNvk-4dAiQytCqShbBx0Fy94O9e2AoFX_6kqSnj0mlZUHRZvtK9-K4OnwqT5bCiV8sZYHf48jgy0gUXSNgRgx63vO0xSPCCLs6_MvrBjqAzKxJN3CQzQPm4xrVMKxPAGkrr7FyOqzQ-Y5ylKgAWx2lI-YCA5mJUFP-q0SVawu0FHHdiRXweRc2sepySoBAOgkdRnMGWZEWKv8T-xuC4BVlykHd22HjtaAR5A_tKQULSa89fwNFmTTyArOic-JCi26Rlan80dVRK9d82TgMKs91V6bcd7f3j_k3NjmY_jl8QLz1bSrc6DXUc87tep4zMU58DRmEIscquG0bSYXyZpdapvWKIz9O3gcSemvhpajxTaOpSkN_XLSWgUGx1ycuVGHmt8_uoxUUeC2K0bBn0AxzELV6KV2t4urkQ9LCGlTXLB-71oSzMTtV0Oqm4NBrMsI7pTcV2a3smCL0e5ALzzQxOlzcfZihClq34NgK-muzOtisNNC63Vh3WCUdNq0lQSL4fi8wzZLiKXk_CHu2Uv11Tk_4XfSEFQ__XRZ1IrdWbIBSDhrf8B0PUHQQUQ_vJE4G5N0m4vPBth6JOGh4NTefGYvhvONNHQvYc7aYQD85FNwlatADT-VAPlGMQSOc-48oHVPcuqkWc-7il8mC3ZIRR4i6LB-jp6_eb1M1CQUbaUu24dtVkcvMCfwGmgBaqku58_932vcvVVCiVTRVMdfKC48m5hqtM5DSyiJxHKXjDZUwNlepOSv_7aZ56jCYTcqVQHnoSgTPhbE3TdgzpskuMphuTMeCmHWjcvSgbn2-nN0JiNXWULz7Kb6HKgxAywNXc7uR88Wsq7y03pA6lkhGitY8UwAq_PUGrs5h0tpSV6UYEcV6g3QngGfCSOlg63cyW2C-XWUUoxXEriwSgO7LVu_ZU70DvJZ3tbQZY0FK6gqkhVRrtmMunCN3Y7eim7Rp_77shfpSvtfJyldq5d_XnaUssxbIH2F_WxCBGuDFh1VUdB8TdoVqmZwBpvkoCFM5xv34uG-bQN5WE887xazCx981nrg6xkAu2FMsNupmygsgrDLxVdwnM7koJ8oJkVe_U-QExZMUkuIQA_i6auX5QwM5av71g==",
  "id": "rs_08e1a0ba647330ff016aac65c3aadc87d09b9fa3459105dcab",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.37,\"left_z\":0.15,\"left_pitch\":0.3,\"left_yaw\":-0.55,\"left_gripper\":1},\"note\":\"With the right arm clear, the can is visible lying diagonally beside the kettle. I’m approaching its middle with the left gripper, aligned across the cylinder for the final transfer to the burner.\"}",
  "call_id": "call_wzz6NwuboC4a1G8d3Tj5tSlW",
  "id": "fc_08e1a0ba647330ff016aac65c81e2c87d0b0dc554ee834b6a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wzz6NwuboC4a1G8d3Tj5tSlW",
  "output": "executing move_to over 34 steps (3.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7151, 2.0487, 1.2484, 0.4347, -0.1909, -0.1051, 0.9993, -0.0723, 0.8169, 0.7456, -0.609, -0.131, -0.0261, 0.9969]\nstate[eef_state]: left_x=0.4643 left_y=-0.3541 left_z=0.1255 left_yaw=-0.5085 left_pitch=0.2163 left_roll=-0.01 left_gripper=0.9993 right_x=0.2799 right_y=0.0065 right_z=0.1927 right_yaw=0.0387 right_pitch=-0.087 right_roll=0.078 right_gripper=0.9969\nstate[joint_eff]: [-0.6496, -11.2342, 8.5675, 2.1368, 0.2173, 0.1587, -0.0855, 0.0479, -1.6068, 6.6803, 2.1954, -0.0904, -0.0904, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f1bf399efb4b84038f0520e9897eb5b0a1f3f66e7d9f859f1005e4fe1d01487",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcc5e8f253edf249a5474e96eee1ce1903efbbd241e581bf5dce229f6090d678",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cb0fc18545d0e5e650fa686c8d7ae1306182b54062c770a0ead833ab4b27545",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8753, 0.6529, -0.6781, -0.0189, -0.0612, 0.9993, -0.07, 0.812, 0.7437, -0.5465, -0.1337, -0.028, 0.9968]\nstate[eef_state]: left_x=0.2564 left_y=0.0021 left_z=0.126 left_yaw=0.0169 left_pitch=-0.3253 left_roll=-0.0118 left_gripper=0.9993 right_x=0.2885 right_y=0.007 right_z=0.2055 right_yaw=0.0438 right_pitch=-0.0216 right_roll=0.0707 right_gripper=0.9968\nstate[joint_eff]: [-0.0752, -1.853, 6.8034, 1.6435, -0.0415, 0.0122, -0.0122, -0.2667, -0.8137, 9.306, 2.0586, -0.105, 0.2222, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGXaXZKiggXphNlPp8g3eiQbKYj387GdClr-0hYPS1o69NXlTgJdySVS9A0utnuxyfmIS4sIS8GnXRRdS8UgthMIY6Zf1ZvubTLavH2mKLJh5vsGNPWCFPUzwzD7XVxC9agP_1JLO5mksQmH5mGq9sPxqfwu2G-2YAdOV9krQErkefzV37XlL8y7mbxat2V4MklQhp8Zg2zAknow6wm-ZL5TaqNSRdilz4Z93qsJGXIQKOgCn5A2D_2lpVI7XH6rKPRaZoPVFGoXHJLKuNYJKYre8jWW4EmcRCfW32LxxTXw79YkFUdPepJ0QfXqRVvC4dHyd1tK5S1plJ4vGg00upil4i3i3QyAof1z7ethvOhqNTFhhMRlPhziJ7UY2YVoKATtUs2L8gTi5U5UIP99YYw493eebtA7SelU4x8iatgJ0RwI2992m4icnfiWBUaoorxypjBQ_am7TMnWZ1IHXFDroFphDBOFmUXqfq8Oz3Cn72S25stiJ8MfEiedS2dtt9qH__mvCPAq3SPLnkV5f7kSTOxx_ZR5hQeHf4SihbMqveU56rrgwThjiDRTaTO-5c1405pRnBsDNYpNicG2YULDTPloonGVg_KO-bhONPTF0MmDMZNtQe-7i8cZ_BX7Wgsk2VrqukTByhKDMgBky18Uqev_MEVhYqXusHvENs4u7ejh5q3C9Fy7k3IVVhZb5WiZOrb7QBa_Tb3Uy_45_XybjgPLXxgvSpAT0hggbNRhBGIp4hbqC5kIzA_7BJYuiLG15sr6P42wWU1D90_DZGM_-HNRMFYWVRnDnt6JcFBUTIciH_msQenxkD2c0aVwOFOaUDWocSjbC5Q2nklZnpd6Pjfmox8GVG1Z6HFHNUTGREshjxYCWIU7IM5Wob_KKUo1nPZjcSBvTAzVqaC5TvPZcmtXZGUCXQwnmpVHGOQ2TA05DmC4upaUI2t83vGCe7oqtPfTwFQ2iO6loIZQWgMj6AjfGSXc1n3dc9ekRe4EkDM0RDDvJpav_OfMugjtjqNKo25bNrRbq6sFamvyt-t98qPc59Z_kLh5QjKKovxmAD7V93T3Cjy08Y1Z53nFxwOIdojuJbZ42g1oI9pCjMs_irNn3cGmXerrMoSNsQzsM-rhwny0Ncey3lLYkEV7jckAHv1BjvRjc2kr4lxu0MuaHXLXzAx9EYAI0YGsGaP201GBqNqwSxvivWNKlVRT5L25us7DjviRGtUCN0cmVYKNp54AhrH9gaoeAN2ePS1DSqSf3pix1TxbxWnzKDqJC2jcCZi6HetWsssOyeQgQ4d8vLBNSz4qEG4h_5KDNNPFsIiCcx3Fx8jLKObgcgckV-5iHhf_HKj935hUmVryXqeslapI_o5B2Dd7e_JBn4etnhuIrxU9SLYJgL6pWA7060zpAR5e7j7WATy5Xe82jU45vuMNPmQp3LttD3ziHCWuUl5RnDn7SGvmQLeX24De99yv5qSv1-tm-8b5d6q8KzVd4oeYcj5sv8WxvDp0HnIfB8gJ8FNlSLXV8TyqAEjCalovx_wC9GBS9JdZoQQNztIn8LEozCtZWqAt1_k5Zy26161UzHx6jq9NQlmUDfR4CpOAqaOM0_UlHhB7XUdzEpTsQaWLUJ-AmAZRbzZp5o-LrVZ9VL8Q34tZ_Ux2Hb_AV1nYLQ_-Sfxc83qVwDpPsKIB-P7gnZvqhzqnn5Ue04e-WEm5e3SSORkzZRxqjSEck6ih6GMUfPgbhu7sjGpAS5xlIvvUdaq84Uu7JL8zGB-aVpetEU9xPBL8UwQFtr5uszz0fszox2XiSAs5vVSEVlG-qDERm5jJV2J0FQ-ipy4wP_-CNE50j57muRV5s5uZqn0ZHNH0O3us3wTnxp-DxU7EtiBOi_9ElV4IrbUmlyNoIuZhEoNel1hPaG0QlS7TvP0OUgGRx9EPQfTBBmtRFuZ6JGw6yzwIuWZPBWYh0VXqlTbdFznjO9Cs6XtchyPpxt80",
  "id": "rs_08e1a0ba647330ff016aac65d1a8bc87d0aa375e6b05160771",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.4,\"left_z\":0.065,\"left_pitch\":0.5,\"left_yaw\":0.75},\"note\":\"The can is close, but the wrist view shows the jaws aligned along it instead of across it. I’m turning the gripper a quarter-turn and lowering toward the upper half of the body.\"}",
  "call_id": "call_aSHQkUwyz42e4gHNomQTbsuT",
  "id": "fc_08e1a0ba647330ff016aac65d7b42c87d0bcd33b16e387da61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aSHQkUwyz42e4gHNomQTbsuT",
  "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]: [-0.812, 2.1807, 1.3247, 0.4564, -0.5144, -0.2146, 0.9993, -0.0723, 0.82, 0.7456, -0.635, -0.131, -0.0257, 0.9969]\nstate[eef_state]: left_x=0.4672 left_y=-0.3612 left_z=0.0958 left_yaw=-0.2719 left_pitch=0.2293 left_roll=0.012 left_gripper=0.9993 right_x=0.276 right_y=0.0067 right_z=0.1871 right_yaw=0.0388 right_pitch=-0.1159 right_roll=0.0815 right_gripper=0.9969\nstate[joint_eff]: [-0.212, -13.0803, 7.4188, 1.956, -0.2906, -0.0366, -0.022, -0.1162, -1.2786, 6.7897, 1.8486, -0.1245, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9215c7e08202743321b3004afad5ad1d4072ea8b6fdf5d3295224d77ec4f2922",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eda7528bf40a357fa0115f0695f6199f2bdc3b80d6323731d618464cdd130b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1358f55a7188888e4031b4c981983fb9e99a0ad1a51e7af2115885b0e14a5f34",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7151, 2.0487, 1.2484, 0.4347, -0.1909, -0.1051, 0.9993, -0.0723, 0.8169, 0.7456, -0.609, -0.131, -0.0261, 0.9969]\nstate[eef_state]: left_x=0.4643 left_y=-0.3541 left_z=0.1255 left_yaw=-0.5085 left_pitch=0.2163 left_roll=-0.01 left_gripper=0.9993 right_x=0.2799 right_y=0.0065 right_z=0.1927 right_yaw=0.0387 right_pitch=-0.087 right_roll=0.078 right_gripper=0.9969\nstate[joint_eff]: [-0.6496, -11.2342, 8.5675, 2.1368, 0.2173, 0.1587, -0.0855, 0.0479, -1.6068, 6.6803, 2.1954, -0.0904, -0.0904, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGXr5NDuvb6Y16pj42zeMwKYglXNy2r7jM0mOi5pW9TUF7m715SXxItozptDeiMSwasxLFVypQaVAVUjQtaZfj5lY76ilJlONYeWQrgoyTrHdEN0eDbFUh47ks-87TtKpDgW5h-4ANMNzEkEXzwAEXoNGwSvNYZ8cJURLkaa5r4Tm5BnE4bNOfX3TcoOOlznFW5QNr96XHGxawDMgVBeB-EVdLJPZa6k__izswx5-vSMNFSk6c5f1n2qzhx_UQFiYIBZiFuWAviWpaAGD2tRJO0N5m8nY4Vi74mYJQQ2c-AnNt4E_RBT6-BPPqAW4bd1fd_CgnLcFt2OwCejsrMV82Rpr1zdt5gbqSETV5gM-FgZmZkaBeCrYbL2Uj6wytMnCATlvEtuREjCJG_YParPlHIcd-KZs1uUwrrmSI_k--Gv64jutmdUoKbO_U6A_MwDBnaOz5tjY2APo_OtR1kFrZQ9mWPXRWs-jLNLNpmKRSXWHJv-CM0gjXEYOEJ6f0viuj-9mx99qcRZK5mlUrEU_vgz7Ov4k_ORGawslCWLAToYN0AHMu8Gd5AVjmTmecK9dRkFMRn-b46UP18mt_yeY1WFZmYxVy8ZwZ1j0HboW16QnH2a9YvRWb2HBUYlIyIf8R448n8zCmESv00-k5tSffuc3AV4YqqNnxK7P7ly4bX1Ew0XG3ipNQwzo6YH67Z9i3zgRoyFvP9HQebvPodGV3YG3YBBrid5MTcOlhHjbRut5YNSEp66g2ouHy1p8zdYsjjUFBHpHZH_cnbOzCSmRMBiFe0PHvE-3cFXSN4y824Yk3JrRPFGcldmLeKnlGWagpH4q5A93Vs0Lr28M8ywsC9CKF37HxuFgQVirf1bowC_1Otx7F1kb8xa_NKBRJYAyRM-hP4olrQ7j41B5pprXKkT2hOAGY75jDFyAgVAt5ZmSoIRMuz_Wj18iS-ptpmOM236T68eh1A01pEvcU9MQSjxCLKojtgSo6pfusBXStCrcXyjOXoIm4IbylrF-y6zWdSLYi4ZXLhzaAAg4e5ZhlrLNSxLtmS0V3xmMt71Wg4oMFLgPda_e6ScIni3pKMJaFAYM2mDMezf92BVX0RvlmFalc1Cv8gkMJjxHWGeohwUI7-xnasIg6DTA-ULGRawk891YFy6lngjxiNCDyNrkO70qiFwKW7f2N1iBes7CDcoaNiN8Pd1HPKMjHl3L1vfqtru2IaRh0S5ObgDFSrR5l7zMY4FhwCZk5kHp2b9U7eqkN2IrxN0oCUrRwHWBhdlkVzAKpmchrMMZ-aGH5HOeGK0FZJ--Es8ll-EFuihro_eGjo9f7lUvY9Mf1Be-Wyjp3jJ48waXq-WkLB35OZMM9-mPOM8Mer488Fdeac4EoAT9dCXhL4lfYKzmkXhmvm1tjCdTk0sIAry2Frfe2XG9CpuVTpeOlRIl8PY7LP2MkSsPLEiBIdkTPaQ2Ph48Xf2lyqrQO8XZSOm5cOryIVeCQS2D-cJD6u-E5D20qo-M_s0m4niYBgoIqWHTcNsK4jth4_d_h-YHfMRajU05ETl4E-y7KMqpYsrEajF9SDDUSst8aONvfRS_G0enTt0h0dkq_Ws-fAhzaqLq4lPdbTUn1JvgXuBzhO_1IwrXFWX2gxLGh-x6EGRfHevNV_BwzlX4m56TcA59NCGiLLhB7pWMK82JTzs67Pe6rhJ31WOilWVu-DXjMYGJoB4uBtk2Cgkm-YuAjiZ_QvUuLkBg03pPNyZ6gsWcFaHDwe-RleZdAvmO5W4SKP6u0zJAABzstU5NUM1Td-gSPYqhP6Gb9FZZDT8hZ7LIBopUBZGGwjDcLb2jkxAozUXhG9YxG9REEpH_0rrARrlgcQukBeshtOODfYekcYygOQXd9ZTYW7JenW22vaXxyq3ecSu5X2btR9uk-3egGQpMuEQojQHqaTXDSV-6kEVgimOfos01o0_t93faagdwu7Ywz9LiwdFq4KoN5KP7HK0t1CjgYWt2tulZCnm8xgSEDfsaVO4xFrSlPNZvupdM9G8xV_e9_DDkPp6-1bxM-cyTr6PJmbhNNvg171AKHrtjzCVUV_xqSO37-eBYfRoMKiXDjZ8Ha6eTSMLoSLxx7NJYgTCtUGGxBjP8swySFBkWEbAeThn59jIicn7RHXgaCx_J0x-IfcpU4o6YeoYINCpRU8X68mEmSRmU2t7Q51GPLQYupMcUnBbs22Y8-O_dFW0R5HNqzuqh07i4XTMVn9vgT55kW3bpJ8Rhbl8c1BN3xc6SRSgg9_5dK1o90Ao0_8Ko0QLng6ZyoTPJSvj9URL99a4p9gD1yHfqI1CJvaEKtCJ3iQ3WqFfaV26CHq1_Btw0bQ4GeO4bHveQX01UjUncKwjVI_-z_xXHpUKL4Dzu8kuYJdjj_6xKrby2xGaqqS5nCEzLK72pIF71sCOROd8WesdEGjZ3EG06lltMrYeb83OL4pdX-o-FlQZ4U1sdjcY2wYmncCXoOuqC6796tVKKOssSOFV2m6KlBqzNBw8AsjdKgFKuWHVsNvPAk33wbSbgFUGBafv-0uZfvQRX3b0iXXV1E6w2ks9L0A-O4YrrBM7VqGJX3MNpo5HPV_C1k3BTpVopOk4WtWRmyOaI36WsfT9uW--1sbq0Rc1kt_ZXDPT67G98Gzr3_MRKYTbgyE-c93JcQHj1hIUYHs3mwKnjV4vGi_eNi8dp7tvMkbGtUmunGEtjeBlfRpEu0_MDD3B1Tj_gXLquvrvEnWIZurUzQLcSbR2srZuyM8r7RdFBNGS8gmAMwo8qaOlVQtWQaIQccggRvv-lUSFZgVJs3MIw3Q3qM2KBS8IgS5gfy0wB3G34ifiOaE_guSk6XBrhRB8O5C41Ap0v1siiDEngiNvjOYf-MY0b9az1xXRMgLhzbuwnketORkIVyHHQ1hdNWGgzbZ3FYRhn1dBRNfnn1DDfPldR47OElyIStmtptq5yW_maQkzUEToniwnFEc=",
  "id": "rs_08e1a0ba647330ff016aac65dcf79c87d0ab8e3c12cf8ad50c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.39,\"left_z\":0.03,\"left_pitch\":0.6,\"left_yaw\":0},\"note\":\"The left arm is falling short at this extended pose. I’m shortening the forward reach and using more wrist tilt to try to reach the can’s near side without pressing against the kettle.\"}",
  "call_id": "call_tNfA6cfFKxx7cdzT6saXu4ZR",
  "id": "fc_08e1a0ba647330ff016aac65e9222c87d089ef5c866892ec1c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tNfA6cfFKxx7cdzT6saXu4ZR",
  "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]: [-0.9371, 2.6785, 1.5425, 1.1099, -0.9115, -0.0273, 0.9986, -0.0723, 0.8227, 0.7456, -0.6647, -0.131, -0.0257, 0.9969]\nstate[eef_state]: left_x=0.4661 left_y=-0.3925 left_z=0.0286 left_yaw=-0.0391 left_pitch=0.5588 left_roll=0.0196 left_gripper=0.9986 right_x=0.2714 right_y=0.0071 right_z=0.1809 right_yaw=0.0393 right_pitch=-0.1481 right_roll=0.0851 right_gripper=0.9969\nstate[joint_eff]: [-0.4581, -11.3983, 5.8051, 1.873, -0.2173, 0.1197, -0.0806, -0.335, -1.4017, 6.8171, 1.8828, -0.0855, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d8a8527e9aac3b267af33c80b941da3c15c8de7254d33c4347b2d51ae17a6cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a8f1da72262b661b35ce5b18ae1593416f676b6e5d681ee5995275568023da9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e728326e7616aabc399e57121563d0428081e367ea5492120b7d21f4a5d6592a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.812, 2.1807, 1.3247, 0.4564, -0.5144, -0.2146, 0.9993, -0.0723, 0.82, 0.7456, -0.635, -0.131, -0.0257, 0.9969]\nstate[eef_state]: left_x=0.4672 left_y=-0.3612 left_z=0.0958 left_yaw=-0.2719 left_pitch=0.2293 left_roll=0.012 left_gripper=0.9993 right_x=0.276 right_y=0.0067 right_z=0.1871 right_yaw=0.0388 right_pitch=-0.1159 right_roll=0.0815 right_gripper=0.9969\nstate[joint_eff]: [-0.212, -13.0803, 7.4188, 1.956, -0.2906, -0.0366, -0.022, -0.1162, -1.2786, 6.7897, 1.8486, -0.1245, -0.0708, -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": "gAAAAABqrGX5VO7UqBmusWZg72NnCjV48VqGfbk_ZYJUfLogI91o_XoffSv9DV0ngIABjLDP_OWseoXdcYn_NiiTu0QseF1Bt4VdSJmd-alXHAkEYU8vtM9eDgfFEpn9_Z_Tnz-zeajdfvZotDdC3sydbexlgj4x_Edudwag2gzHGQPND7ejo_mX4KISRexl42aMuESuk6bxY5dZNifYK5-YEgOkRKw-_PfamxUOrGe8eoRTmVW7OyQWORKCkEpK1SMcVJtnoruXXXgTCfdw1w17m7wyUUOo4AxBADv4eG4dmCaq6XqnbAdQG-J-KC0105dAXQ89gjFxDzpmDdRy4w9a1jt7p3jbm17YFl6rURp1uvR-vbDtyTPgSRGJWun1lIg6ed2T-XswbC0Ee3v85-8ZCb2_D8dPv61AZQL2uw4HVQX4w5MJSzgJdioIUAjANCl38aUIYjEOW8DP-xwBd2ax2g_GHoXksctchF1WFNtJkWUYYjOmbH-_KNjUUBJUVnrEYomT6YPVps_G5qD6EBlrT8u9-lbEP3OK4IkxlzB7bY9IqE4mrH4qdopXFh4npCobaiLAqUNbqSbCcSDmAKUuzNc9TjcxdgBTWbrjIU8y_DQcbpM2vx1d5fuIlQjVu9USFDuI4JPSIN3umHWfcoA8co0EasObU4bjGaxnVgiKFUcX-5VuMtWMh1x9pjL36Ni8n_zJmP2vaScjLSj8S-qsKk8CAUIouxstYdtHz738kkWdUHKXawRNn8LpUGfCFmO5G1xPsmvCwGVx1TqcNHRUD_6utqplOPRZ8tggws_cM4ACZvv2-1XQU1arKOZE4cHwkJmpcu1Ucmmoaoa-Oia2OFS_IzUEcXYITwGn431HKPsgscEekbgNWLwFzLc32gfzEo_9932NV3hnmW5qNun1og3ZtfYnM1Ayn27Ak_Gdk2EL0_0NdaMk_Il5yuxr4OzF0ME4DKU2t-hMlGL-DYC_zHQ4N_YppFaHSR7_i65o762mkeTGyH0Dt9brafS1MECiL-3-c8I0qp82oIBqOhtN_ITfIgDisi4SFKEtfLlTmG_tOWJ4OM5-KZ1W37zWtgBqBWn2qODoGirXOXyx4thZqnlYLoJ3K2-nEwI8u1-K-ilzJj4IjShvMWFuP2Nlbu84Ua_0eQAEAzkrj2mJV2D2h71X01aNzW7r2mkCdOoo9Kvtk2fEToyo_9OeARnII1Te6ilavYw3TPwIVamVBRJfaxAN2CGEk_5sGmFn80k9wHFfR_WYguqnNfJJn0BvNAut_zam5l4Z55dwh7TNf7-Jic6Po69sQdkdfhK_UFHnCvnkvz4Ao_OwBoRsDbIGMq-q8fNh_1RCmEjpZu4jXBDTZ-mm7UYGKmaZ4MGCEt9h7n2Kge5H9d3bmHUbtNToYVd5luc5eIiggjzTJBrCH8AXvnOvYv6sIT7H_RdgM52fLdtiRuuo44Bl78QzqWpbtnoRk3gLxKFi5sCR2QM4ooFKqFIIt1usE069zMG6sAxyrgOydOUj06eGtXaRV6kfPro_CH9TuJBcUQ2QAh8yvy8c2OEEIIeDDu2LDZuyZvwtZ7LTJGk9ThJGd-BFxPk4pLJdYtiXk_GmxW9QiSkSG1rggqAAq5CyZOFTqlcg0YiRsTP51lDWAuEnCdNIqL05iMNGSj_4W8FtoUztKnCSYpQMeLK00Ot6tP9l0X0z4yioXiBbax2QH4sgacoEx6G_s46bfaxHs9w7mvVj-eReZh0YDoVogH1caUYpGuV7idWwxDsci59s05x02Lz_K2JF_jCrxFW3use9_70ptZ_M5gyuys_SPjO7h9t8vydlNHGrcEsTmB1kz2YOcuxHsmoiTB5xXoJtgbpsVIQn0fo7MPjQf_vpqakEkD2fb95lMWzo_96G7C140WSqVK0pmaiSDtUaiaWAVwT_cNnBhqIiAYjMh8Qe-Iyfud0fP92CTHBVWPBd9SAzrozStVV_YmD0dSrD-EfvmgUT8biSoAXpOAmQjUQw9nnKw8cD_Q8EjjcpxUwTVAhhZFMMjWObqUqgX07CDy0yIfHy0vyDQlVI0ilQXLgnoMdPMSgt-Q4uYytYmEQaNmf_YxUc86Gyhc4R_1Dc1w5osUiYk2s9dCJcQOz0NVYYOeErayiUGaq6oQL9nXQgwJwo855m5OqlX0sBIg_UHV3GmnqsYOQ6XXXKkz_jSrdCay-A4kY8XZoknuA-dwGgShZ84KfFnLpPAMbWLbCYNVo_4ZyF75dC3IHBmtxXPXqtkWyV3xg0psuouuNjWftvydbgBvc=",
  "id": "rs_08e1a0ba647330ff016aac65ee4bec87d0bbd698bf0a76fcae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.2,\"left_z\":0.2,\"left_pitch\":0,\"right_x\":0.29,\"right_y\":0,\"right_z\":0.2},\"note\":\"The can has rolled beyond the left arm’s sideways limit, and further low motions would risk pushing it against the kettle. I’m lifting both grippers clear and stopping rather than making an unreliable placement.\"}",
  "call_id": "call_4leaLPl9lFkZo8fAkVzTfkO6",
  "id": "fc_08e1a0ba647330ff016aac65f69a1887d084d161b4b45196b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4leaLPl9lFkZo8fAkVzTfkO6",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8452, 1.4014, 0.976, -0.3073, -0.6823, -0.511, 0.9985, -0.1055, 0.9211, 0.8162, -0.717, -0.1501, -0.0521, 0.9969]\nstate[eef_state]: left_x=0.3365 left_y=-0.2061 left_z=0.1874 left_yaw=-0.0334 left_pitch=0.0289 left_roll=0.0226 left_gripper=0.9985 right_x=0.2785 right_y=0.0007 right_z=0.1771 right_yaw=0.0389 right_pitch=-0.2245 right_roll=0.0899 right_gripper=0.9969\nstate[joint_eff]: [0.2256, -7.0359, 10.0308, 1.619, -0.1978, 0.0024, -0.0171, -0.4855, -1.5248, 10.0444, 1.873, -0.1392, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86091841c0cdee943e27e67d5c6cc4b7433c52159d4793309733a42bbe778eaa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9cbde26623b7fa4a52fda146b53666e1704f3e1eab6a41e69381218b4f2bd1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7456cff845a9086143705a86bd5cfe75654ef5c0372e2bef0aa5e580a7767c8b",
      "type": "input_image"
    }
  ],
  "role": "user"
}