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, 0.6044, -0.3866, -0.0189, -0.0307, 0.9993, -0.0212, 0.7937, 0.6075, -0.3958, -0.0189, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2939 left_y=0.0013 left_z=0.1791 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0007 right_z=0.1784 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -1.3607, 10.1538, 1.9219, -0.0562, 0.1587, -0.0855, -0.5949, -1.4701, 9.7162, 1.9023, -0.0464, 0.1294, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c42f0a42d675e24ac17ab6c8065f8dcc5cd71246017dbf1eefd9b751628f1062",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:217ef713b713db018ff29c0961f1a64573401114fc5f764359d6ea684ca67b92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d446a5dbe6add2ed17c20d3bd46f0677b1523b8da181eda2fd44d23bf3331fc",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrHSspuCuI5DH8HZcVYvGiF2WsUSKnzEHlQk2KDtlKbjQTtnRKmp36HGkaiJ-8KnFq0KG-Lu-1f7sWGouhc-Vx6JBK0pLcifZFKg6pOyTN9GBdXyrxhbbZOAzcWWk1pDaF7jdNWykjtg6QPptDxze0ARSrbQnp7umQOyJSap4sH9mYAvzFgUmdgWgzZuECimHHJSV4Dybu8__iroem8jXeghLB7MCwlHhhl-bkyCM4ss2gy0mt_lru3-Tpps2BQpQhGSR6tEDXbAZeRnGEcm1lB5X3qNMovoYLz1PVlJHp2go7Td0xXGkMyGa_5mBnANq7boA3nrU92aXhU7a-gpkvct13QwNLZ1iN4ZnbtxrBytljM_qznyPyiU1aw3vAsEswkVyWwYjZH5abmYECvRaeq23MaskxPR0zmBPnmwaDBHHpN835LqznmlcPDIOvtRuFaD8ZA3aeltryKWGGTe_RUIYIwBh5iW9lLXfZGhDvxPlrjAMXMXJIvDtOYezeXtZkqlmdORWa5mcxv_R5mrv6Mzm6eHfo2MGyIgqIoI6FYQtXu6bZE5NJlGw1T2zQev01TsthBih397qukhCQ2EZMzueXYmZ5JrK11WOH4qS_7LNPmIXv44Mq5ZMWVoJNrVr3eMVMGRrss248EzDYDgLqgRza_aXhw3sKLKsWk3iNwST8a7NdHqW8e7GxYMU_0f2Fy8BLJ_7C1JFiI23cHflVYfiSYiz3WE7oMb5-h8n1aFukI2cmUkXBrq_AcsvxDqSeBuzWg5lbC2o-JrprKh8Z7OMB22eld7Id400h3eJx3sVETyMmuykMgTW8TsHsxeQupsRIqTcg7GsaVsv5DdC17d4VPqu5xXBcRMusTiJyeZ5LXKsyDbqUG66wg7CBb0W6BWBSwkZOfi1GUx_kFERN-4EcH79d1UngZRK1YBkQKm3VfW57ePZ_clBlMgKvzVfY8CBgDNu7UIlg_lWkBE0lUokjkV0Bt3z82QF6KrXB6L7gEXuPtpVd6YhABWsGEsj6CyEt3zff7QtFJlxEswkJVo8bpqFOjiiEYYRJ6cBc26rOY_hxooxSLhgNN2nrhop3A6KoWkgnIB0GFNbx_w_gfa6F-UMqscuurxKeXmMkE5ZGBGXbOP3AGjsh54nkin6BkcQWLFi3oJv9rN6x1702gBf2U5Syt2B4gzlzynyrRS-H72cZ6RIy_QwKHq7kDCUi2nx7sPM6xReJ1kM1GLc-nWRb1dd1ujt69a4al6yKcy38sKIsW_gDa9wHMnRXwX7K9Yn_0iWqLvX_lNGDNkyQUSKN5mUZFTTOsK-xp6Vuw39laSW1WemXZc9_iwg6uMA0cWz8WcL4sFJbMxEdGWTjebpGmGjZuWewYpWjGSkar2iPals0VlWdk4V_J-2hmWUqt62X5IhGaJGQ3Ew5sYTMJJJBCdrwa0I0_EVwqy-ZTYLbHVup9gpo1p6rlA-c6IHH0Qf0J8sKr1HEU_apbBzG07_9oMU8azpfWO1aTWA7K-MlytMHTNGESz0QxnzarW2lguMxZePOkYKqQXVYWTArVK1SSPXOxiKtMOSGaa9mXdQ8Q8YDCSDEPMg34n2eYU_FjVWg7zskBV1ZCIKV4HOt420W4pt67nm0VGLaHCU-jII0_jqwPDxVDbBdDQiJdV9AQc9H81ScbEE83Frys4GQu8mV1chegK0qink7l3utj6bxewwKc0hkQ3C7J5I5Y4yK6AeydR4OMtZSCTEnEAKB_y6DMYiZHmssMx-bMTTTk-noKxrJv1bi9FnXnlW1ZmT0hxG247OeB8l1W7f5UgPavrfRdu3JhctHfmTH-uXg0-XBfz7KxWwZr76aSCmimM7Zr_H57VcTYQsi4qOZkGeQdUU46aoEceWE0wv_Yf5iPZATU2i8-61S-FDVQfuBYw1_mB9F_u0jNnXGzVjbHbqUWrqk-YxTpaBqlBdLpj1ljuKWvX7rytGFwx-drFLZ_fD6-VE3RA6SapZeHVRZ8wKfsmmOfE5ugdx7kpSBPxCpmQGtqOzralJ9AZfekjexlvLJQgW-PjRfFjsESF_6DkXzEaFAOfnyS1t4aSYrcF_W8JcGSQ-j4ksTNIUxJebZUKwXEY8XX2P5P1udvrW-Gyyr9hCOWJyWKjZpWgaUuHHel3oK0U=",
  "id": "rs_0e49ab2e55dffa22016aac74a4b0a487d196300cb18f8949f3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.18,\"right_z\":0.15,\"right_gripper\":1,\"left_x\":0.294,\"left_y\":0,\"left_z\":0.18},\"note\":\"The silver can is lying to the right of the burner, with the kettle farther back. I am bringing the right gripper above the can to align a grasp around its body.\"}",
  "call_id": "call_XWbo6oXBFnfldNiYpxdtxkl0",
  "id": "fc_0e49ab2e55dffa22016aac74aac73487d1bcee91671c13a751",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XWbo6oXBFnfldNiYpxdtxkl0",
  "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]: [-0.0257, 0.7986, 0.6083, -0.4061, -0.0223, -0.0387, 0.9993, 0.8726, 1.2385, 0.7147, -0.3382, 0.6529, 0.524, 0.9996]\nstate[eef_state]: left_x=0.2921 left_y=0.0 left_z=0.1753 left_yaw=0.0004 left_pitch=-0.0213 left_roll=-0.0043 left_gripper=0.9993 right_x=0.2807 right_y=0.1731 right_z=0.1314 right_yaw=0.049 right_pitch=-0.0663 right_roll=-0.0638 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -1.5795, 7.0496, 1.8486, -0.0904, -0.0073, -0.022, 0.1846, -4.4376, 9.0598, 1.6581, 0.4322, 0.1148, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36bcbbb8097e342b021a37b2ee770991e99aaf0d515860f2a67a2f7e75081c1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33ec17c8dde676c4e75484a13225a473c144377479396c8768168ae63e9b1341",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00dabe86be213da96defedcbe8e2ebdeabb309e38c6238be3c9b35fd80288477",
      "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, 0.6044, -0.3866, -0.0189, -0.0307, 0.9993, -0.0212, 0.7937, 0.6075, -0.3958, -0.0189, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2939 left_y=0.0013 left_z=0.1791 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2931 right_y=0.0007 right_z=0.1784 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -1.3607, 10.1538, 1.9219, -0.0562, 0.1587, -0.0855, -0.5949, -1.4701, 9.7162, 1.9023, -0.0464, 0.1294, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHSyVZT390IR19wceDslZ5eIWq640ilHIQZd4vXgi0NR_99SDXIU2b8gORghxZQGSx0vJeYL5KeXoiydu9YB13ZU4QpOkKPFgCeL5c7MRLC5UWuHjDqvKRboq-xtSDYf8gkV-dyFukGaQTxB6k8taRsVyXTR1AVlGP5iolX6SSxYBpxm9zrIfwsXzy_SfW2xGFKGkq0bTGtu_gY9fK1RXaiM8xf8bCkS5i8SXMKTcXnwCom8QHg7ywRnpkYzGpbXTSxzdi3vr6qdcGU34fvqlibt7_msxoSv6M3BJF39fXLfBZHQOX41Haz2Ox1echp_Hdzc8qCkByKpazrc591JH1JKbJz38FY9X7gf_XPEa56Kqhtl9o2QRii5isYMyu-qtkfu_DQeDqMQVTQRN9v4S37Kyg9ATmznaMfawklz47vRRnB3KF9QI1PDMVgRhg54wVIZIXxTu2evf6g_m-UAvENheJReW-5T3YmwssjPwWR_etXRUnYNIFc3vsnLMSJ2c5ApwgLSSsmz56akVMJS1dBAe4EJDSCm1RX_T7VyalIcOTro-wYi4GUCPXF9fxr16f4gguivJAgCXZtsn341cwVXh0SGnDZDNzgd5LDXBIbhMgpMeUUYCdndXq3V7fgok9VO2Or46yn4AsdZvEPck4wi-cYcUx6mGMg4jcyFboI8sHY7s0aL7bfS2LHEys8s1bSVjXgX92ndZqLXhBni1GR_t9P3M5pELtZo-uM61vy-Ls8e-ClwLGXObSe1x4pMY1ZHjvsz99bGqiqZ-srQhoaiPnJLiJjT8HhGyhxzS-c5YcmUMEqjrNmTwoiFqN3Oy6Oec_hExp3Pa_LHpIob6FoczWc83qd9zsEMkNJsUSFcPfoWUqen8ZKC6Y6sxK75pwip1mHjt9LES8y4id3fCNznrO_B0qrlMDHMtpN97u1scHckCXP-L-OQS-38UheE9pQk89M6ra4g6NGkEkYSTqNHHPpLBHv9BZrgrZkwBt3MeQmzPWmsxxqX-sWR5N3tU7de6crTglF58VBFMRQ7YkAAqbDnErSpraf-RKNzB_2E7sBcCekUflfXwuViYlusvzka_3aNYPBNQaFP4C8h7BNG3ek2hg5RguA7x-IpCJqNBQFOeRWaHyRAojIwvrxoBesrV2mzLdvVu0uOLPkdMKN0f9p0ciWw7CtjaYCg_FX7FHSz8Bkz028Z2Qnn1KhD7tnNA7ZbhSG1NHPeer7dEJdB6oYg1Te57IwnyuPkYB-PDaM_TEEBAmtSxUqZ7D__1XpBirpQ7br81leerwvFqucCTowhnWT4w7zljsNsLg1A8KMMgFRTekHRx_gIM4vl_y8aRibUQhJ13Eglxvoi7g0wUxpKoE9jdpJqQsHLj7Wf9VQ=",
  "id": "rs_0e49ab2e55dffa22016aac74af457487d184958e64d0797959",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.175,\"right_z\":0.075},\"note\":\"The can is centered between the right gripper's jaws in the wrist view, but still forward of the fingertips. I will advance slightly and lower toward the middle of its cylindrical body.\"}",
  "call_id": "call_jRgBOUPgsB0zoJxsFi9ziLho",
  "id": "fc_0e49ab2e55dffa22016aac74b1004487d1be97c18dda5de2b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jRgBOUPgsB0zoJxsFi9ziLho",
  "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]: [-0.0257, 0.8021, 0.6083, -0.4141, -0.0223, -0.0391, 0.9993, 0.7517, 1.4624, 0.6369, -0.0917, 0.588, 0.4442, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0 left_z=0.1727 left_yaw=0.0006 left_pitch=-0.0327 left_roll=-0.0043 left_gripper=0.9993 right_x=0.3082 right_y=0.1589 right_z=0.0629 right_yaw=0.0125 right_pitch=-0.1452 right_roll=-0.129 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.4564, 7.0085, 1.7851, -0.0366, -0.0513, -0.0122, -0.253, -6.3111, 6.4889, 1.746, 0.4567, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:effa899a1cb98098b4ee396581928e939a1c4d385e99f7df08611a851000825a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1458fbb4635e620924fa56bf9d1326c41deeda0e53dbcda1bdd9b6bb6718fe17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fd8b10e371a33a64e014a13c062b74e8af6823a292deba1afc9882f994320ed",
      "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]: [-0.0257, 0.7986, 0.6083, -0.4061, -0.0223, -0.0387, 0.9993, 0.8726, 1.2385, 0.7147, -0.3382, 0.6529, 0.524, 0.9996]\nstate[eef_state]: left_x=0.2921 left_y=0.0 left_z=0.1753 left_yaw=0.0004 left_pitch=-0.0213 left_roll=-0.0043 left_gripper=0.9993 right_x=0.2807 right_y=0.1731 right_z=0.1314 right_yaw=0.049 right_pitch=-0.0663 right_roll=-0.0638 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -1.5795, 7.0496, 1.8486, -0.0904, -0.0073, -0.022, 0.1846, -4.4376, 9.0598, 1.6581, 0.4322, 0.1148, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHS4Gha5utrrGgSVGZ_oM6u17abfsCQZXVM7IT_DTdBz5vpmnSARg9i6XHjoSsdMXJTiQWTAyZ0ivd8PrWulVori_eluEb0nu15H9JxUQ2JHA3F1y0szujsH7nGiX0_Q_cb4JhEmQkpMipZTNmzv2_u9B2S_IOX1nxfnunwzEwwq7Jp_rDoAqnM_FBCD83dV-dV1rLdsZ8GwX43fvanczuYQmoE6lsk8YuCqM1rv_LFk6npbZRBSyR3vrz5Drc4ESIo6RhL7Drtj2N7084WYhV0zuhUinaxLLevR7m1Ph2S3B827ESdr7hzLriXwGk6uU6YrHIAHQx1IMPVPkkE_8E8-XSwHZNM3jEjZ9upIZEB0RvZ2Sl8qAGU8InlW-MPFPuk_vxgm0jP7ia5kp2-dLUf0lCwJBTuRVi-foPr3V66X7J9BwdKFawrrwdF8INICbwIxEvmNbDJQTTQViwZlRY0OhaFt6C526uyg8ts-M38JP6BLOYwLrwFCniJNp0sXh2dAbVg0kkWyio4IFxjfFXfZwmf9KlUo-NgEIYPbhXPW33Gwvzso4_gQmLmnpwwmq1kDhNpdj-oq83tUPiMkIfuj6fsSGuuePXwQAyFvZ-etLSVytXn0Io85jZ1LQxYnIK_6kzHe0Q8JVzYvUNCTw8uIDKjg8Pd9fE2JA-ktKOv3RciUYSmToSyZtRPQSBVW28k7R6-Knm1FrBuQRf4_-GS_dD8UECiIQqkAwLXd3m9K1bz4dAhBd0EC0BCoB0k7YeSImiaJkk5sPJJwYQGH4_BdJOPVC72v9_P8gS4Fmvz6nA4xKXtcfmxlN5ehOol3ExCq2uMUZoyQIfCxllTidzKd89kBjARdU49x24TcAj0fwxvl_RxBOG0K9Ze8Q1BrwjBHv_hRNUsShkPQgeqQE6j5HMEbbuYptjQxbz7ZiKzwM8o9VnahnPIexET_mLXFABBrqvw0_BsYSTRzl9ii_b0vRrWBjLO9hOK2o1iWbbq0cODeUyJUN5s-IwDIM-rddTIV9zAVHUeZQnEFhmlEqmCj5VgPE7J9lWvsULVdxrG0gXxfMRh-2FnC_ZsSXrAM4gUacajDWxr9UZc7tmWifxf6GFF2xBJU7JJ0pKrP_8BcCGgI6pdHSQPp0hgfKwK__dh_wXsqZbkbeSl3PkqLNgAn59IIfiBJj3D3Xff1ktgju_6WwHgKD_Z7jhOYEnjjZP8ic8_Wiy-BdfAXb9-_pM2MAFpH_DCSeSUcQyHLylGNThzHNi11Y4hUjXDKtq20uXwOb8fQq5_m07JQAfc-iPHNfjApMmLOqt5Y-imgGEcD1_vRLzKJkG4xpa6VOr7AaLbmFktUb34cmEdn7Cu0cs_8wP83swiDr0ushd9Md5CmfagH7L5XPBztMZP6Vmf1bB8upyfZsal1s0XBLGED2malU_27Nk_e6wJd51OoYyyaA6ReAIqJa1PWweL5v3z36DFuez66JNbSbtHiMFREEkjkZM2651u4P3dmL7o1Uk_MmsqYbPio9nBXKwn10LHKkXZrh_eEVo0NBr3qAIFcJbGiLNUGouTZiMyY3V9CoB6u208=",
  "id": "rs_0e49ab2e55dffa22016aac74b4066087d19e290364c6e8446e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.185,\"right_z\":0.035},\"note\":\"The fingertips are still just behind the can's near end, and its body is slightly left of the jaw center. I am moving farther forward and a little left while lowering to the can's mid-height.\"}",
  "call_id": "call_crI1xPNX6wq3PalXFLgBF1xR",
  "id": "fc_0e49ab2e55dffa22016aac74b769b087d1bc9b6a893e80a29d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_crI1xPNX6wq3PalXFLgBF1xR",
  "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]: [-0.0257, 0.8032, 0.6083, -0.4278, -0.0223, -0.0391, 0.9993, 0.7372, 1.5204, 0.635, -0.0277, 0.5674, 0.408, 0.9996]\nstate[eef_state]: left_x=0.2893 left_y=0.0001 left_z=0.1697 left_yaw=0.0006 left_pitch=-0.0476 left_roll=-0.0039 left_gripper=0.9993 right_x=0.3147 right_y=0.1624 right_z=0.0508 right_yaw=0.0328 right_pitch=-0.1554 right_roll=-0.1411 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.2376, 7.2137, 1.8242, -0.0611, -0.0708, -0.0122, -0.2393, -5.6274, 6.8718, 1.4383, 0.3785, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad54bbb79cb2a8914b872457abad08d9dc2028c769b7244a8b2a616df4795a10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33eab3a9eeaae4d474d32ab9f358a5991bb84f32e891580ac8afdcb3ad850bd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53e288a440edeb35976ae2e0bc59d72cb31c26a8782a8cbfa927ae4807f5246d",
      "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]: [-0.0257, 0.8021, 0.6083, -0.4141, -0.0223, -0.0391, 0.9993, 0.7517, 1.4624, 0.6369, -0.0917, 0.588, 0.4442, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0 left_z=0.1727 left_yaw=0.0006 left_pitch=-0.0327 left_roll=-0.0043 left_gripper=0.9993 right_x=0.3082 right_y=0.1589 right_z=0.0629 right_yaw=0.0125 right_pitch=-0.1452 right_roll=-0.129 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.4564, 7.0085, 1.7851, -0.0366, -0.0513, -0.0122, -0.253, -6.3111, 6.4889, 1.746, 0.4567, -0.0122, -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": "gAAAAABqrHS-jQ5Jp9A5PLFH4EC1P-d5OogfwZjzXvjI85x1fRPHez8PexJ8FvMRa6DszV28haYwS-ymBlrdaEBLbtqrJfmsWWhU2hAi_sRrsJhVHInzG7yrkF5gQBzlEAu9O-wM9FB-A5rWnGb3rMjzb4KgEH3F6VgETTNtzKeFxjjFgqQAtk63lEfqDiLo_dwHizEIr-4TPy7cjreOAuuNv9u7D0clcu3nVHp6hAfGPkqakrF73A3c8mv7ApoMHbFYF_QmGatZbX_B2giscVGZMEe7TRREIVXVd1ezoEjMixPs9DZUSDBut8G0cvLjgFgFdK7OMTjKAbvEYjLMVfxDGQIMJyrsC8chmrferLG7TjDp320qqeH9u0NqBFL7Tjt2ENb3bzDMxFUHbQ5XF5Plx8y0StUrYx5JY1Jfuj347ZzTtQDE18LFSMHx06vBiqlpsuFJug9hLD5GH9WgK_xAMgKAX1wg_hnkwUBmH7gzYbr7gpi-k15xYF8GATzDfLTrVKX3JH0SYMqpJ_VR39C9E460szXcvRZCCPbSbSv2qnIj-J7C_8YdF_PpkyeCuEZyEUYGx1ewtgqP6MibgWSI41GouGi-4exDA3bmTP3kWZvZRaVBV1ITNCh4CY-BpbwZKa3cb8qj6k7VxKrmcdNppEwxCPtU1ztG9SiifRfjRZTAe02AP18Ve4bNnJ45SJLyGy6-4YsHgGI0lDvJbN4qyN9Ep9QssbRu9LvA9E048jGWIW9oiPmH00MHQzpfPQptYWxdrtml-8hUrIBVjMJqtkLDUrsAiOgfyNffZ4MxANPm_Nb7BdXNA-VVYO1uf__A56wS-QDPq3NlPfZU3BMJiAekVlg4aTGdkXo9q1X9d8QXe6sDKB78GNK-RO70ISQZjwbEeMN2KtoN1qO43O2ZP8BXvLMk5IZgM8Z3N8PCQBzShqosHcqyXlwbXEoAWpKmCG9wybQtGxpH3GriDXAlb6sjNSObj7hwhfnApcqVsw3IElxYSPLDcM7F3UKSFcTtGSFHIh0n_TLpVo0ZUwFpZ09Owgc9p8h5WLBEJT9ZuDgtMqy4LD6weUlGExum5kWVlJrnK2_0JERtGEyW4kyML4FLLIyByjHYPXbzn4cg0bD7jMb2yeQ-oOlAufIziqUOJL_QHeKkay5FGktz4S_2u0bIMmMg6UToWb6bRPd_wcTDv1YQI-zSHYSz2UEr_FP9lLJy_UwynESGfVek6kxhga8X-Ni580_nha0HxuUi2Ec5L6kMAil_Km3DZHEQ5PdVZTI56S9sxqv2jmHLAK_zs5DoQVnCazZJgqJg4AXvOFMgBG-sX-c7fl0lo7sy6K2Wwt2dIbJybTnhoXmJuF2XlIXWXWYJcSIuMTiwXWhwM2hulrApwyI=",
  "id": "rs_0e49ab2e55dffa22016aac74bb400087d1b03d28614bdb05da",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.18,\"right_z\":0.12},\"note\":\"The arm stopped well short of the requested forward position, so I will not force the low approach. I am lifting and advancing in a smaller step to clear the can and improve the arm posture.\"}",
  "call_id": "call_6muM0rX876JvKarYvr7nmdf2",
  "id": "fc_0e49ab2e55dffa22016aac74bc4e2087d1be0417c6cb92557f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6muM0rX876JvKarYvr7nmdf2",
  "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]: [-0.0257, 0.8032, 0.6083, -0.4355, -0.0219, -0.0391, 0.9993, 0.7372, 1.5204, 0.635, -0.028, 0.5678, 0.4107, 0.9996]\nstate[eef_state]: left_x=0.2882 left_y=0.0 left_z=0.1681 left_yaw=0.0003 left_pitch=-0.0552 left_roll=-0.0039 left_gripper=0.9993 right_x=0.3147 right_y=0.1623 right_z=0.0507 right_yaw=0.0311 right_pitch=-0.1553 right_roll=-0.1395 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.0872, 7.1043, 1.7509, -0.0317, -0.0317, -0.0122, -0.335, -5.5179, 6.8855, 1.409, 0.3736, 0.0855, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd3f2d1513646a2ee4609dd69cd6ef204dfabd0b41971951667086e9196a196b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53e03e229fc7da250086f4b36fa01aa6938771d9999ae3a333e32a77d7e953d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fd12df4fbb696ed909678feba970c8154b8689d4c0cca33e3d54fed2325300c",
      "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]: [-0.0257, 0.8032, 0.6083, -0.4278, -0.0223, -0.0391, 0.9993, 0.7372, 1.5204, 0.635, -0.0277, 0.5674, 0.408, 0.9996]\nstate[eef_state]: left_x=0.2893 left_y=0.0001 left_z=0.1697 left_yaw=0.0006 left_pitch=-0.0476 left_roll=-0.0039 left_gripper=0.9993 right_x=0.3147 right_y=0.1624 right_z=0.0508 right_yaw=0.0328 right_pitch=-0.1554 right_roll=-0.1411 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.2376, 7.2137, 1.8242, -0.0611, -0.0708, -0.0122, -0.2393, -5.6274, 6.8718, 1.4383, 0.3785, 0.0708, -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": "gAAAAABqrHTD7LDxFxu8OpFrAz9ShqebCqi-H3zKhlALSdCSg73gJgcHqEw7G6tQVC4aD60-mvCApFwzFU2TTHK6HMDZiyaCdHUr_7eTeGVD4mBI5xf5QKAoA0h8FpCfxBb-ZF6RUUr958Ggx5QXVUAL80HehQHpixdeNvnKtnc00EmIZmQEwJkGLOFTdPAsdIs9f3fyk30qTRbm-2loiduS_r4rWW7tT2EEJrYm2dV3vfmMhRVulLXB03JLpmn0OiBzjotA9H8PpOBX1taf0_MfRGsAaQV4bfm33T6BlpVR53FaK787V1hpt_l0PxDhEzpOeclj3mWOwclVVQtxoUrH_CnpeMdGEWsl0ePzanSQ9ZG54pGHNINCvlcZ5lBHK7oSKcBhWuwPGcNA6nRviY1el78j-kQ1Mo4O90h79ZYsy55J7LWI9GeJDTmehEcENg1Wpdf4BnirdwRrhNZIt_5UWYv31-bQNH0mPfo3X_pNpg3xL9VkDehddGPsoAADO6uvikUet8KSnUjoJWvY0N4-0VoGtQPhL83B74QxOD4CrS0wSygr8OVgnkudS5eeQloEmEe8HbbgpO43-UbHJwW3tZloAClgeJU-gYaPgkvABzs8J-RjCGlbVTm8AQ3sKHUgzYT2RFVu3fPZY_HTfvqJtUdTOYw1r6IvEQ5bVChmapCceviNqIxQaQa1C7cYFt0RWE95tFcY01h-IrwzBCqWkMQcd-UcxQEvU9Hagi4t45-h82hZR-2l9r7WubeL8PotsRePEDTyGiiJidxAUI0JRE4vBGN12NA7k2gCGnEJQJcnm86my5o8GgiAsouM6Mrx5BDMM3iQ_Emw19-b-VPslvcuJPv5P37QLNdetRNp1W8c10C3GTgfYiQ8SLUdcHgCJKpZPWR2ZruO0NhdTcB1wKS_cjNPWLTDVJ3Dx0-PNvyttCgjwjp4bhb-aALOka3qjnjfChExBNO80y7ffqqVlR3d_3XRSUxlvK54NbPvjNAzkM4BmBpolly3ZCIjzf737Zdbkprj8l4DnnlLOFSjp0ZHks5mBsEMNeQKZH-UT3Mo6yO3EDq6VZFfZteaCeCuEAKd6-aJmHFTcE5AwdOzldfP2MNFVHXAS4YdgN5vmfCIYzzSLmFgf4Fi9KXs2Sxrfq0EP8Dh6-Czm_5mf2fE0hZBs8BYE0z9hCfsWEnGBODo-tEzPzKvGUauJqj3wsz7PuZ_K0gBZWwfLnn3iFOOqB8jy38NTt3boQieQfmi05wTf6i3FudNy1dUXBPO4bse_SzeLMkty9ICw55Xx8W5B-Rb6aeiScrZQPhArj2GQStjp4N6ioKAzvRbzFbYwoMcbAcFVzQu",
  "id": "rs_0e49ab2e55dffa22016aac74c0ac1487d1a5079bf32418e74b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.15,\"right_z\":0.17,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The right arm did not lift on the last command and remains behind the can. I am retracting slightly and explicitly restoring the upright tool orientation before trying another approach.\"}",
  "call_id": "call_35h4TM4ONTTjdjRLKdftjiqT",
  "id": "fc_0e49ab2e55dffa22016aac74c1542c87d1aa93c38505c63883",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_35h4TM4ONTTjdjRLKdftjiqT",
  "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]: [-0.0257, 0.804, 0.6083, -0.4511, -0.0219, -0.0391, 0.9993, 0.7883, 1.1503, 0.7036, -0.3519, 0.6067, 0.469, 0.9996]\nstate[eef_state]: left_x=0.2859 left_y=0.0001 left_z=0.1648 left_yaw=0.0003 left_pitch=-0.0716 left_roll=-0.0035 left_gripper=0.9993 right_x=0.287 right_y=0.1509 right_z=0.1473 right_yaw=0.03 right_pitch=-0.0475 right_roll=-0.0389 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -0.9094, 6.9812, 1.8681, -0.0269, -0.0659, -0.0122, 0.2667, -4.3556, 9.4564, 1.536, 0.3639, 0.1783, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a50a3ce22d2ea613839a856b04f723b3dc530d82239a3dfb956533b5ed08dd4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbfbdfb82654ec16b24cadd6ddec38f95b2ec316c044239ecc1e2fcf0e6f1182",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:237b1b1aa37f9cf646764e73ba746747a0249354d38cbcd827574ca10717e283",
      "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]: [-0.0257, 0.8032, 0.6083, -0.4355, -0.0219, -0.0391, 0.9993, 0.7372, 1.5204, 0.635, -0.028, 0.5678, 0.4107, 0.9996]\nstate[eef_state]: left_x=0.2882 left_y=0.0 left_z=0.1681 left_yaw=0.0003 left_pitch=-0.0552 left_roll=-0.0039 left_gripper=0.9993 right_x=0.3147 right_y=0.1623 right_z=0.0507 right_yaw=0.0311 right_pitch=-0.1553 right_roll=-0.1395 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.0872, 7.1043, 1.7509, -0.0317, -0.0317, -0.0122, -0.335, -5.5179, 6.8855, 1.409, 0.3736, 0.0855, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.18,\"right_z\":0.15,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The arm has lifted successfully, and the can is still undisturbed. I will move forward above its body while maintaining an upright, open gripper.\"}",
  "call_id": "call_e3pvE7HLgqjxvcYtv7nkBpZl",
  "id": "fc_0e49ab2e55dffa22016aac74c536f887d194d4b710710f368c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_e3pvE7HLgqjxvcYtv7nkBpZl",
  "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]: [-0.0257, 0.8078, 0.6083, -0.4648, -0.0219, -0.0391, 0.9993, 0.6525, 1.4864, 0.8841, -0.1761, 0.5259, 0.384, 0.9996]\nstate[eef_state]: left_x=0.284 left_y=0.0001 left_z=0.1611 left_yaw=0.0004 left_pitch=-0.0892 left_roll=-0.0031 left_gripper=0.9993 right_x=0.3634 right_y=0.1706 right_z=0.1294 right_yaw=0.0014 right_pitch=-0.0712 right_roll=-0.0503 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.5248, 6.9538, 1.8193, -0.0464, -0.0659, -0.0122, -0.4308, -6.3658, 9.0462, 1.8926, 0.1929, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3e55b85bef403f8185d8326e8cdd06cf6fd47ad586704fd63afe82796b4742",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec08e04f412796ef1ee8273c4d236994b8b3a24269505934e1c651561a8b3e2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3986e5f45d227bcd518826438c99ebc7f2b97fc0b496527031953eef3c8b0564",
      "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]: [-0.0257, 0.804, 0.6083, -0.4511, -0.0219, -0.0391, 0.9993, 0.7883, 1.1503, 0.7036, -0.3519, 0.6067, 0.469, 0.9996]\nstate[eef_state]: left_x=0.2859 left_y=0.0001 left_z=0.1648 left_yaw=0.0003 left_pitch=-0.0716 left_roll=-0.0035 left_gripper=0.9993 right_x=0.287 right_y=0.1509 right_z=0.1473 right_yaw=0.03 right_pitch=-0.0475 right_roll=-0.0389 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -0.9094, 6.9812, 1.8681, -0.0269, -0.0659, -0.0122, 0.2667, -4.3556, 9.4564, 1.536, 0.3639, 0.1783, -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": "gAAAAABqrHTM4CGwnhFZ4MUkpQG70IfGvgCMlF3-zysQd7izOfkCvnQJ_Q-zU5U-7Vw_5Ii1QAJUVHhiPY-_Y9OHKaYBGhwOAmxnQofPlkWNbLu98a_tNAQlk0TxU0hvEbbKg6cJ2IkHaxOM65bmYmAlw_s7ZDffncb-Jy7zI7IbgFNYroB4JiiuQs3aMbsQEEF-rIeUoGWQsbLZH9Xlrfk_ChhQIPXkqYrQkBAaCUvO7kwKsIK1v8_5l95WJiabU1hCNg-LdYGe79U6M3UKgHp8OImHQspM5UjQE8pWKnOffvY4-LzDs3UCdrdF_HQ6NtVxudP-o4U83VZi8HhP60HkO5gZYL72hXse9dwN1l6hcGWMdiuWILbSluo5yDX00owIyD8cBure93cb2QBXMUJCn4amy50GkLKzBdzxwLFHu8J77iTDg5KXisB_EKPP5GFVl5gdAP-LtMBmbHi6_b-hZRzY0JGMj9xB1bqw5MYktIHh6gYs2nLy2UNLvh4-32CB4F14zHymIejm2twXTi6US-rmEOl7OpwO9LxqcuvrcK-q-VBgm_wnAz52cVoOOekTh13z2Xk2JQjt1VPMb54QruorQUQxN9K9TvnJ6DNwKgu9K5NQRYNtIB9y7tQaXcRkhn0ge_pgHDi9iq1eEmtq5I-weE7T8Ch8WnFr05SH0JdC-FheNodWGyK27ovhfSUcM_qVjjuPdu41VsQqf4BNd1UX0-qRzkrVyAR03HhpEsRBNf2Yr4aNaRPTL6rcb49zFdOTesrePTY_1pVpUKrEh4oYjYgz1lN2fQq9CCR7Ywfm4YASUOoDqR_bBw7tUDNPLVLf5AsdzMs414mFrUA1KHH0VLKo41ODeucS_qTpa4jIzSrcmGhFvf22cDTU4hzQ9wjZUcBftGSv2f0gfk6GaEs_XQWOOpJ11cqM-CXRSzYuPHMpP97vqNC84Qzwyqup3aXZIVCBJL0ZwgXUs73dHqR0dBZvQcGtXEZPe6PEUq8AAg-gPC877G2rjGnGd0IDkov8n_mFNYvuXDF1LvN_oxaGnP2nNXjvbcdOrznm_QlTr6lVHx2n9UeC0GF2g715KE45lKjU-Zjxxx-j5_SzRMw4pVEyEJyah3CqZbJBcNpqeDoCIY0GQiU8lZqXEhVEK_SKhfKwjIx3-e4rkvZR0qsGfNCHFyn-PConGpRWtMtUpmVNx4olJr170pejxpZGHqVRY117g0XORzz0INvl4q4XGylKb_As1YuEerTN-pA5T4MLcYqs2QYoBC7_Cj2CuJpHXJV_k1b0prNub0sIseII6IfpRvuTCrmFA69TRaY6Jt70t42wfvawww5IBiaC1PL-rppjow0HHZ3opshVzmTM9QwedQ==",
  "id": "rs_0e49ab2e55dffa22016aac74c93ae087d196bf8281910450e6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.181,\"right_z\":0.045,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.294,\"left_y\":0,\"left_z\":0.18,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The right gripper is now above the lower half of the can, with the body aligned near the jaw center. I am lowering for a side-to-side grasp and refreshing the idle arm's parked pose.\"}",
  "call_id": "call_cyov3BbqICVzT2wnpVFH2xOs",
  "id": "fc_0e49ab2e55dffa22016aac74ca7ef887d1a9d979c55c454771",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cyov3BbqICVzT2wnpVFH2xOs",
  "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]: [-0.0257, 0.8036, 0.6083, -0.4458, -0.0223, -0.0395, 0.9993, 0.6327, 1.7546, 0.7296, 0.226, 0.5064, 0.366, 0.9996]\nstate[eef_state]: left_x=0.2867 left_y=0.0001 left_z=0.166 left_yaw=0.0008 left_pitch=-0.0659 left_roll=-0.0037 left_gripper=0.9993 right_x=0.3739 right_y=0.1723 right_z=0.0325 right_yaw=0.0051 right_pitch=-0.0965 right_roll=-0.0657 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.6889, 7.0085, 2.1856, -0.0952, 0.0024, -0.0122, -0.3214, -6.9949, 5.0803, 1.9365, 0.2271, 0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e06cffdab9fadba669c27f1a5a72695ae70c016f418c5559dab3715720005772",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0eee1cc9a9f5a16dee241b858c9d9168dd00af9c3a3003ef838e5c304353f70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dc878865b7532e1c80fe6546b6ee03bd643b91b9e445d3a3684abdfdb7dbd26",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 25 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8078, 0.6083, -0.4648, -0.0219, -0.0391, 0.9993, 0.6525, 1.4864, 0.8841, -0.1761, 0.5259, 0.384, 0.9996]\nstate[eef_state]: left_x=0.284 left_y=0.0001 left_z=0.1611 left_yaw=0.0004 left_pitch=-0.0892 left_roll=-0.0031 left_gripper=0.9993 right_x=0.3634 right_y=0.1706 right_z=0.1294 right_yaw=0.0014 right_pitch=-0.0712 right_roll=-0.0503 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.5248, 6.9538, 1.8193, -0.0464, -0.0659, -0.0122, -0.4308, -6.3658, 9.0462, 1.8926, 0.1929, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHTQc3zmB5jLKed07Kf_WNVTJihLpmT7hTIim1q_zwlTGg3rhT81BbkVbN5jbm3mE-sXBn09Kv0dn3nNImdGC50LQJBjyGBkRoRUzCa4N6Hehx9dq4W9G_UGYhdmS93ysWR9jj1VRcDvuomw3sEhyJ6w8UcatxXvhUxoEuwurI6IUC1XEbNpPY-d-WdufsvmPwiwHFV7y5aE51DLW7H2EPgXJ84dRkOMHb_0UhgaBBohai7O0hziU95DTNScMq2Y0G7ogAXC8h7Ev63msCjyhHPeyLuUMEknELNDYd1txzUmdsq6lHYnhoBF_wHwYXsQaB9MqJjJRoUa0fPZUfUYor1QgmbzbVQOgY4JuhaJAPMmFBsmK1nFcOiHtT73loGVfQSjuxiYxZnqX6oBZqRlXxmjcSllbRyKpNynvAtxB3gtwIl5SBwazyttulS7QuR0alCEKAR61YZrHSl_4hJci3q69XFvZ_GCkTV6ljNoXdoBLj7j7iyKt9AhiYjGvuzSe2IUTXJwG-g_BwjK-WD6Q2UdwGWWz7S8QpW8iAuPRxY-t4OvyJyM9xB8lZ1Boiqs9ejtxGq9D8OvumyJW_omPZsCtcrIZ18IISV7vXNdX8QFacW0U_eFZ_6mexkuC37Yr25qp103nYE5KwabvpGayOIezSb3A1Y0aUi-SQy8GHTvU9_7mFYI79TeOafWDovXUjrbOmObQmxvhKA42itSVGjQYYYkI165rwqlVZQ8TxZQdP7yI2onDrxbSwFm24Cmp9cfMNHiXddgzSS07barVNV_SZy2xLgA_lqBpnBHpvnXge_aGaxcx8t_7pC_nzy-g5zznXpGN-7t1J8Li74q-naivOX0-BMyyS3XULOGOUUp0C3If9JMi6pwUdezHEFhYYB_3BXm_HyWgJCTIqSUF74y1X5QSCUzK5LOk9DDjTe8l_eL3OsGoWihkgHAUzAmfTb0T1b_SM5Uw6wJOHfRBrgg2i0B5X0MhKzmTlWTTZetaS3QdJ3jLtrWhe_wBeiifU3tYYMWJeEidphtSW4Vtm1SZZlJNrIgRFOAoNUE_ppcXPiszM3fvfDLw50KHKSq4DZzuKkZLGJ473FBO6I_lrXxN4vEOHDwK9lFYYErzCBcXrAxOAY-YetqU6NJSRKZu0wbdlCeEp41dDsahHyqa2hnqcFMZ7LCLhX1W5ObnQZaLNG8H4aMTtVXSjo9OPao0Uj7TGYeMKykwSS1RiUc52LMo_ZkTasDj4iXutPKNE7j2SV587y_PjwZEjhq62g-iOfbuM5TPyS6fABatrkKU5ULhB8EFvgKoFnzC23214b7OJRjm5FJ_d8ePrIqm9qgP58t_FIwlf4648fsiKymnxvUSNvDuJbrdSsRCqKRBPmprAM=",
  "id": "rs_0e49ab2e55dffa22016aac74ce596087d18ba0570e310e6950",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.38},\"note\":\"The jaws are alongside the can's lower body at about 3 cm above the table. I will close gently to roughly the can's diameter, avoiding an unnecessarily tight squeeze.\"}",
  "call_id": "call_7ATDDft3sLebj3KZ33D110t4",
  "id": "fc_0e49ab2e55dffa22016aac74cf6e9487d18bd370cf9aa04619",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7ATDDft3sLebj3KZ33D110t4",
  "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]: [-0.0257, 0.8032, 0.6083, -0.4576, -0.0223, -0.0391, 0.9993, 0.6334, 1.7691, 0.7193, 0.2443, 0.4999, 0.3626, 0.6906]\nstate[eef_state]: left_x=0.2849 left_y=0.0002 left_z=0.1637 left_yaw=0.0007 left_pitch=-0.0774 left_roll=-0.0031 left_gripper=0.9993 right_x=0.372 right_y=0.1726 right_z=0.026 right_yaw=0.0123 right_pitch=-0.1046 right_roll=-0.0683 right_gripper=0.6906\nstate[joint_eff]: [-0.253, -1.2376, 6.9675, 1.7607, -0.0562, -0.0659, -0.0171, -0.1573, -8.9094, 5.9692, 1.2527, 0.1929, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f193b605f3c57cf0f5f2b0ec5356f9ccac271b46ec5e88e12c5c880ae6af59f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a4140c0c4f0d845cf5a067b24fb1dc1792b2e636e223407f708950daac48857",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:445481435106c284ee8bd53ff7df133bb45a648149285cc2547a375780e728a9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8036, 0.6083, -0.4458, -0.0223, -0.0395, 0.9993, 0.6327, 1.7546, 0.7296, 0.226, 0.5064, 0.366, 0.9996]\nstate[eef_state]: left_x=0.2867 left_y=0.0001 left_z=0.166 left_yaw=0.0008 left_pitch=-0.0659 left_roll=-0.0037 left_gripper=0.9993 right_x=0.3739 right_y=0.1723 right_z=0.0325 right_yaw=0.0051 right_pitch=-0.0965 right_roll=-0.0657 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.6889, 7.0085, 2.1856, -0.0952, 0.0024, -0.0122, -0.3214, -6.9949, 5.0803, 1.9365, 0.2271, 0.0562, -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": "gAAAAABqrHTXl5RhC7H86FqVPxolPCc3wN_uM884lQqCzQJ0RP_oWde5_4qwQpOC0J0EwfrfkpUcmEfrv_HK_NHIJQdhQttkfLozeF93L-a2nn1pUXyMOQUf_-B-OM4me01Q6M7_0hN7_V-gDO1xInb2i1sT90_BPtHx-WOv6qXyMFGM2RaPrvxJVTMmuxxKucCmwX_BwuP_-Bcr0v9P9Ms0i6hbT3Wx8ICVu2qoymNaoI8zv1oaHMXnqPJLUNhDvkhx_6Q04QxTPcIlJtyUB8EdnRRCQQsA31KLJ5mnFeLMwXd5-bIiOTxT426BRqxVUsnBEShrwev3ZU8VqO9s7pPt_0Fh6A099EM-ZwcNacB_vARjtNktbyt57Y7qYU5EVx4mTB3RBqTmj-6LkZBck6nHZMMSBmnRPx-OukTORsUNcUDtQB4l2q7okx03-cLnjJyblblMphyuptN5wqwKvORU9misAvs-w7Ath_2xGDqL0NUOhi3069pe7zaWR0kqGARZJqc5AkwSLygmOPkgteGmlA3PSJsAyF7cd3ajTTYSLhF3VJGrOG3g--Ql7_4ZVXW86aTffqXEp2ItsDeN9J0wR9L9UyL2yLnSXLAOGBb1RScMsU8B4X2v8-qxdcLuuDy1W3cXdaTPcf2WLqdQkt2UPz-a8ivXqweg2CwlAXVZXVxCr4FR_Ofy_MEjcfoZR6PXpOvdLm3qpFaiBzy8RMorZH0VZfnsXw99aSmgSgbK__WvObKOxqmzRdbbarEtuykPiKqdpivI_XZWXOs6AIpUZj4aErOu6MF8GqQsSGv_61qdfNTmzcoQmoiVpZtCMw2D0FjINhipM_BbEQBaXWLqsRp1jUJIS2jEa2fVyfe7LC69Z7ly_IDnJRU0cUxgvcIdxxkVbjB7yGd7ow6UKdJU8JZ4W7Ojdww0awsy2Ub3YG4uJwN1f_Zp6E1dC5VwLMmFCndGgtLncVRFDa7e9NyWFLtiVpoQPDxfSP4uPdSNyZP9IZ44e_VnpSfVALUH_MteOMWY2A_0G2s0n49OYsSr2u1dVEz3HIwmie6ohyTHn8Fy0YGblWDTspluxlPoUF8ZgYw5EBnHPGr8ZD7nWFn4TihZCRrycyyMzL7kG6lGI_qdQ3xftO7wbL7NoggRhEyJ1T1_G-ijhFMLKxMjhRhlyA5ud0foxDvbpEx7E89ZoHkB4U7fqOrAPwZnckyotwF4efZQpg0ivYiQdkAZT5I0xBncDCT8IQ==",
  "id": "rs_0e49ab2e55dffa22016aac74d5285487d1b7761a571c15c127",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.374,\"right_y\":0.173,\"right_z\":0.095,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The gripper stopped at about 6.6 cm wide, consistent with holding the can rather than closing empty. I will lift a few centimeters and verify that the can rises with it.\"}",
  "call_id": "call_eLMFww0iFL4wB4dYDcv8iGjN",
  "id": "fc_0e49ab2e55dffa22016aac74d5dbd887d1b161c3b4ad160ebe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eLMFww0iFL4wB4dYDcv8iGjN",
  "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]: [-0.0257, 0.8032, 0.6083, -0.4591, -0.0223, -0.0391, 0.9993, 0.6365, 1.6085, 0.7193, 0.1215, 0.4976, 0.363, 0.6956]\nstate[eef_state]: left_x=0.2847 left_y=0.0002 left_z=0.1634 left_yaw=0.0007 left_pitch=-0.0789 left_roll=-0.0031 left_gripper=0.9993 right_x=0.3641 right_y=0.1687 right_z=0.067 right_yaw=0.0188 right_pitch=-0.0748 right_roll=-0.0447 right_gripper=0.6956\nstate[joint_eff]: [-0.2667, -0.9094, 7.2821, 1.707, -0.0659, -0.0317, -0.0122, 0.335, -8.3487, 8.0752, 1.9414, 0.398, 0.0708, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a3c1fbfbf503643c7f16c3e539a2cc0c2147745b95ed0efe90fdc64773a56ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8083376303b1c8b1b00e0b370649ae1151c2e78461c27887b941226cabade028",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c930ed35518fbdcaf17d7978d80861911f365a305fe6730e20662bae55ab361e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 33 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8032, 0.6083, -0.4576, -0.0223, -0.0391, 0.9993, 0.6334, 1.7691, 0.7193, 0.2443, 0.4999, 0.3626, 0.6906]\nstate[eef_state]: left_x=0.2849 left_y=0.0002 left_z=0.1637 left_yaw=0.0007 left_pitch=-0.0774 left_roll=-0.0031 left_gripper=0.9993 right_x=0.372 right_y=0.1726 right_z=0.026 right_yaw=0.0123 right_pitch=-0.1046 right_roll=-0.0683 right_gripper=0.6906\nstate[joint_eff]: [-0.253, -1.2376, 6.9675, 1.7607, -0.0562, -0.0659, -0.0171, -0.1573, -8.9094, 5.9692, 1.2527, 0.1929, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHTj-WbizIv_FqAyQhD8fsj86gdtnxZzWLNi5MtM3w6EtJqjS2w_A_XFssVWs15m4wpN0D6R00rvV9ydlq_1BPzWXaFZjSobGhlIP9p6vU6VlQAAjJ57-8URITMq8zJVbfOwZmCbwZA6IrwsEjYoewzgxtTDAi-hGtLvy79T01buVXb30bRTgqymVzDTcqd36cYYnxtFh6i-mYt4-JcG9fL4kGx_3JXnDAFWjxnS6foN3UDHpNu47AWb-fU04J0VityzMjHqdWdjLpnbf4WZDss-ksjgX-1IZb8KOQx3cjhKdnNiFSVzsIG-Iwpc7hJ1lHr9Wr6h_MRLa6byN69PeRSfxEjrQNpXKE9lwpvlqqK839s0KNQjXHSPJhZqorvoYJstDSmOHsQS8CyPiS2y52zYu9ZRu0Em52g9aPuumAwrfabNsNX3mXYvNTaxDX576gQf_RwZUzO-V2uOFtXKZMBxe3LcXR3ZCwm2t1HxkZSc-EW8jXetiAO8XGSqYzJmSGTpVVjACMo4PZUGxtSnmI0-C6d85JVX20LhzFEH276SyBeCdgb8SKB72nxuTJ6PBVBlv749RGBsyvs4wmvfNYH_VUEVL2BQxy6EPC5QrmzwcPQAx2GcULXQhlymqbb3FHv_UU89ucPr3C4PCEHdyllEL5iOVkgp33zVNHY4yfk18QgqDxlXYQAGdq6Ht0TB1M0hRxhwAnHOF3nR3hDyplIa0lMkrbgHsLm3WLWYaRvNbghewYwyc_hb1LsOPT5BL1FR9QUSF5KnaYPpNLuCTovPfTvsz1tSTuT_p8Qd7waNRbXWvYc7XqMfRR1GQBVk32pSxr_LSQYLHGf7CZw7Gbb5Bt83DCC5eSsLtq7h2LGxXJE6mUwi8OhFYExaHS0hBqEQMGwe7K96Gekdmn1uVNX-JSH-OY3-DyTw3tFiobtcL40vJEtpM0k_KnU0KZrWgj1IIa41BK3nHLhAb75bmAgA5HKHvjYfM3ACABHUUBA2qzAR7FJgyGnP90QZ5B84Bxyvz4fyLMbo5Lm9cbTmmlohz7w2opGXzEVzho9O1-Z2MN5JNWYMb3mNcUexvyVA8E0K8_fdjDSUWrJv6_nvhiu8kKMNA5KagfjwH5sCfcRjEh4qJZBw2YNfP_W9IyfJYoCU-lr0FG7fPx4k7Rx1p-QharYbiZg84NBcOgCV8bUHmoW0wQrPXx190OsTnNlh-QP38H23O6O89bBA0gg7Udj5DHvvSoByFeCr0Zd2nQ9EpWdldM1ss37sTRwbgz0ZSt0Z3SAhqfTQIzwSaJnwnuKg5rptQulCyGrP6E7qW7t0o_71Qng7K-X70MkBXH3jnhDlN3zCtIzyIDZqib_5fLp-R8jQGibX1x6GESagTj03E9gOfLVV_5mqB-ZRt1sJw_r_7ITCGwXd3Fb9Qv3l1gQiXf5mY8P8P8WaBvQwXUzDKXbaFOKUwneGAZx7X2cLRpN8L9PAEsg8nB4plKTe0gZl2o-sjEs7Rxe7J3sg3iu090wvN56xZZ2HO5ILMyMg6Yg2cLi4pb4xakkfQJKqAerybpN5WzXESmsnGiuWtmdxBtEHYZw5-sOqvC7Y7ZlKcpUF8Q1Je_Q77083AjO5WpQaein8D5yrBSExWBVGa3d-WOsg0uY3vjmIrNYBmAgR-hNE6GI_vRTg88sYjWoyWpwZAx008KgmKvR_gIG5SMnrd1X4uyMJennsKrrvEyH3dT2GJj2Tkw0AtN4EO9YpE4Av1frJE3FjtJqr8VZHgPYpLqVABTY06cFEhRf0pLQcniKZ6qS-YobNiB3dGlXQeRxOX02HftKoMHh-uRomQ2Stis6fwlHlz4DMA0sekluB8HfbkFVF9dr0OiIgzkd-4trRk6Af9iIVO1gxHZ8wRRN1O4Y3OCDFjD95IEdwibTCJcSGk0INAGiCACXOBXXMCiigion9gzbLv9omaaoSw95RUP6tKrmFrF9iAraQUqzCzo-3iQeB1nBYwILafTRatarje4IBrvBFbEENHmVosNjIs4Vqhmc1B53s_BnEqHTYPxNn",
  "id": "rs_0e49ab2e55dffa22016aac74ddc56c87d19860d3babba41579",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.29,\"right_z\":0.19,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The can rose with the gripper, confirming the grasp. I am lifting it clear of the table and bringing it toward the center, where the left arm can help place it on the left-side burner.\"}",
  "call_id": "call_9iuMcbf5cJU3SJZ0eo3QzD5A",
  "id": "fc_0e49ab2e55dffa22016aac74e1bd4487d19da99ae0ce74a8d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9iuMcbf5cJU3SJZ0eo3QzD5A",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8032, 0.6083, -0.4736, -0.0219, -0.0391, 0.9993, 0.9234, 1.7256, 1.3079, -0.445, 0.6807, 0.5793, 0.699]\nstate[eef_state]: left_x=0.2825 left_y=0.0002 left_z=0.1606 left_yaw=0.0004 left_pitch=-0.0934 left_roll=-0.0029 left_gripper=0.9993 right_x=0.3535 right_y=0.2892 right_z=0.1709 right_yaw=0.0503 right_pitch=-0.0495 right_roll=-0.034 right_gripper=0.699\nstate[joint_eff]: [-0.335, -1.2376, 6.9538, 1.8388, -0.022, -0.0171, -0.0171, 0.0752, -8.5128, 8.7043, 1.4481, 0.652, 0.1734, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6916bcfe8b233e0fbb43c20ec40f3d708ff85004a52713b51bfc2068cb1c9fae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9098f9117df7bfd53fe59596c6506efea3f97dd121e80764daeb85d77d7449c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a39527483ed3bd5dbb8e2d8cae7de81e7f463b71095b74e7dec7e3f7865fe545",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 37 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8032, 0.6083, -0.4591, -0.0223, -0.0391, 0.9993, 0.6365, 1.6085, 0.7193, 0.1215, 0.4976, 0.363, 0.6956]\nstate[eef_state]: left_x=0.2847 left_y=0.0002 left_z=0.1634 left_yaw=0.0007 left_pitch=-0.0789 left_roll=-0.0031 left_gripper=0.9993 right_x=0.3641 right_y=0.1687 right_z=0.067 right_yaw=0.0188 right_pitch=-0.0748 right_roll=-0.0447 right_gripper=0.6956\nstate[joint_eff]: [-0.2667, -0.9094, 7.2821, 1.707, -0.0659, -0.0317, -0.0122, 0.335, -8.3487, 8.0752, 1.9414, 0.398, 0.0708, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHTr6vs2At352p2Vpb555XD0huMvAvBSAMPpjs8fxnTJLhvyycOg7lIZJobf1gjRycotx1mZVvLpnaTdgNblTQwDCQffOIH25s9vO3cBBjFquk3173T-4rfCU4rpXL2bNWGYwVHRKVS7WGVJ3cBgDU7rswnr6oCzol0ikkW1hFxS9kaPwAivKVzq5RjbzAiHTP3c7pGTEKdnHMHoL3jZfckDKwB3E6DQOkrJxu8Ut31X0CAGXHIuZd-x5Y3gfec3BcpmxtH9KqU1iP0-pyc3jvStX9ZkW0p7lPFAnjQCctfIsgdl3dPkUARiBoYSCGyirN-k_r3QEVOPW5vzsv0EaiRawrSipWQAJs8tCTeTDlUIk5yobkM8sYWGX-XicsO5xJsKj5LdnsyF-kKvgdG2s-43hblo1KrGZDnmmu21T14rOXhAyJ2eMcQqxA75C6IGCFyEUBKWhThSzV_s4EzD2afdj85ALUftBvf2iFWyajvB5ELdWxmQHfJZHnhWuw23WWb4R3lGjhYLVWEmWcF_tD04LfCJHmc-Ujsv3UwQu1yukmxahPmpUySHieTZrOjpOsbLjWPXy6xXp0AjvEYYMIL1CW2mYCcXYSZ9Bw1QBgthhubTZyK9TOneadm6Jn8MyWN6H_Orh6VbgOgl3LXPeBEwirwFhCqfRkUvOb8kPAhZSQlIlCbHZZ6S6IeDFReOMfI5nLgOIeNN0vRx4C2zxDGz3IeykZl5M9Q1eq3M_1iXC6iRRaAAeW1FyiEq_JjXOh3-LASBsPDgG5EzIq9AJDkPWJMTdcpLH90hPuvxLA9pYEMwLGu0GyJmeQecoqJ4XM8CoguF_bTXrwffdOBQdcJEpfmmY5r08qzlECguinrXYdkXiadUSzLA04TdHRbkIs6KFkeI9FEjcuIurdgpnbIlOSHupftUaXWCL5wr5eIp6pOTT4CAa_ZptW-1yBtdVsqtMrxfQv7OkGvDohGYEpg-f-nb3GfhZVz9Ethkhgt017X1HoUXX-7lPoLpW0FJrh_d1raBpuY-4nkd1Q8GiG_bGG8KkvwNAQlD5URvCSGaiCeKZuAlyODysNNT6qaGIxaiJwFe0iVgQXwEKTxL6CRg0npX_D8owL7Q-THyn-Rxtoco8RDQ9zA5TX1klnTjo8QX3WDB1K8hmKoR1iQbJqDTITEKA5wU_0eCkXqVr1bxQMvahfdt5_vS-jN15ihr3_K-MK9CJOI7mh5Ad5xvM54oPzahBY_xCZO-m9kfFuWdhhn1fHQG_TgytQnAz8OgFT5lry6H4HYDA2BA-hPLLlEvDJysYyCojwgbNiOFyuHnUyq5Hjn-8JI0bbqA-0oUt0s4aFiXYM68-GDhWxc563EmPscv6xSFgqZBWTGTEJAyl61hMqHTcVJM-MVeb13JcA9rg2F9yJ8fHaTfPwmfLl5IwSRXRTS7BaEeNwrXirnYDfw6TE369DIYDCdYGvE288TnDvIozeH9lZVdNuCBw4w0-AiganJ6v3w6sHxhZCzZCJVah6I8Q4j8DOmabOYeXkcb8qhH5JJPlppq7xN9sJH_ZeG9gevksbDQmaoAUExNLrQ=",
  "id": "rs_0e49ab2e55dffa22016aac74e819c887d1b78fc989b6294993",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.34,\"right_z\":0.065,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The can is secure near the table center, but the burner lies beyond the right arm's comfortable sideways reach. I will set the can down in the shared workspace so the left arm can pick it up without an arm-to-arm handoff.\"}",
  "call_id": "call_3JnCxnfhnneR7HHAZcJRZuPF",
  "id": "fc_0e49ab2e55dffa22016aac74e9d93087d1ac338243a4cddc69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3JnCxnfhnneR7HHAZcJRZuPF",
  "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]: [-0.0257, 0.8032, 0.6083, -0.4805, -0.0219, -0.0391, 0.9993, 1.0485, 1.9835, 1.2057, -0.2146, 0.7635, 0.717, 0.699]\nstate[eef_state]: left_x=0.2814 left_y=0.0002 left_z=0.1593 left_yaw=0.0004 left_pitch=-0.1002 left_roll=-0.0028 left_gripper=0.9993 right_x=0.3276 right_y=0.3314 right_z=0.0593 right_yaw=0.0412 right_pitch=-0.0689 right_roll=-0.0675 right_gripper=0.699\nstate[joint_eff]: [-0.1436, -1.2239, 7.0906, 1.7021, -0.0562, -0.0464, -0.0171, 0.4171, -9.5795, 6.3658, 1.4921, 0.6667, 0.1441, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac5bda167287c4347900de6364c27c4c9dab0ff06635de94642345f069722134",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:722fd06200f3b5400287a27fb16f505d213819ae50a2c97952b04d6e96fb3d77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09df9eaaf6123d4ab59f9a4daa7fcc1c39a7298c978b41bb6df4417a4ac9c188",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8032, 0.6083, -0.4736, -0.0219, -0.0391, 0.9993, 0.9234, 1.7256, 1.3079, -0.445, 0.6807, 0.5793, 0.699]\nstate[eef_state]: left_x=0.2825 left_y=0.0002 left_z=0.1606 left_yaw=0.0004 left_pitch=-0.0934 left_roll=-0.0029 left_gripper=0.9993 right_x=0.3535 right_y=0.2892 right_z=0.1709 right_yaw=0.0503 right_pitch=-0.0495 right_roll=-0.034 right_gripper=0.699\nstate[joint_eff]: [-0.335, -1.2376, 6.9538, 1.8388, -0.022, -0.0171, -0.0171, 0.0752, -8.5128, 8.7043, 1.4481, 0.652, 0.1734, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHTwGDydSaICAYWiQrr1HYPhMUjktTdaNWssZ_kiJa90kK1NXelYAnjqE1ZsprUqXb58Tcarn7R_dyZzef72cH-_yYXijvLUk2I-N_w8II3CQ2ukd7_QBR3Xy6Nz4kxr8hnHlwOQxUu4EdGoqmoAbMM7Gj8LgbylT3HjlufAtrZ0i16dPjMnBs1MdMpPoEyb8ImtmbmarXY-tz6kfm2LKd_8micMd2AcvpHrhePYKggT0Isl7UuC77mGV-6l_zyFFILZaqdJMZGYVi-VTTTodtGrDucpP9FypHCDJXwedPqL62BZq3z3HW1gj6lpTnhuKrIkqocUwddbsUeB2zaFtaoT6Olz62F_MkUtoDB1Z028QQrWfNBiweLPK4oYk5sLpd4GR4JuJpY8XZUlRB-wcYovJ-sdP7kbqmnDdMrj58nhUP5G7bkFodugaRiHB3IweJjKu-5Q_f3V0htXKomU-6EcUNaG9eW8R6aYqIY25wcrqTjSK8Tfr7Z235nUNgKJD2UO-kZ7W4PiHjgHSV59AeVxzaJAezVe9-Dzf0yoRuwes-AcfIEEKmUgtpBHe6RwjGpqbggj_HrMUtFVG7CbEmfVEe-fwmJbUou40l8X6DrNNmRTWZfmYJMW7PanFffbI3OZAY-SrrABWN4x-XWTokWqht5zpAuj1dNJdDShpZESiJ2BJVQ0n408A-kWkMChZovEjhIut3vX1wWPyd5gPwWcCmGjvG49QvbsRI0UJcj_E25N0vyxFRWk7SE1c-rZ6dzJg7IChm_qBuLKEQPcUfzGdIk_rUbCGdDGXWA1uxcK0v9EACS47H_c-AnyAt18rOhHjqw36PGtMyUGCUxuymyG3KD_NKi_cQBPIcBKNO9NtsdguZnqy0Zqb_OpUeUTAH_I9nicuhg4uTlOwUhFpYP9PlMhXGCVlz2FnTYvuiFNe71rEGwdaYcISyF47d5368GSTxTnMEGER8ko1LkjR5wUaA9LUn6pD7vdMB6T9TO5_b4mpQtFDBsF5KlFqgcSCOufK2lX1v3v49OqkIYGma9uSiWcBQfiE-7F4UNeK8kp9Cc4qVFBEtNZ_bjoHc7QT5F0EkhSfusNa8lClt8a9AKZ4CG8IeuoZOqbwjAGS5p76CibAXtS2gr6VUS5_VLN23Ef78CCxopfmBRyZsZjp0P2cCnfwVcUxxz4QCJxJDevAJQhOylAf2areR9OHVcjrt0r3I9-eRd6j4nmfEnAPJEyTqrmmcIgY85gYoKSEFu2_rodiF-kUF3SuQHwMQjK6OpfSa8O-otUNsW6rXYBIG9pq4lR2UMsNmiaFw2K6MZNNig=",
  "id": "rs_0e49ab2e55dffa22016aac74eebc0487d19d6ec31535832db5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.035,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The can is just above the central tabletop next to the burner. I am lowering the final few centimeters so it is supported before releasing it.\"}",
  "call_id": "call_kkZuvxHf99iaUGVTs2IaObUB",
  "id": "fc_0e49ab2e55dffa22016aac74efb8f087d1acef646ec07cbd87",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kkZuvxHf99iaUGVTs2IaObUB",
  "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]: [-0.0257, 0.8032, 0.6083, -0.4816, -0.0223, -0.0391, 0.9993, 1.0603, 2.0235, 1.1267, -0.0914, 0.7788, 0.7494, 0.699]\nstate[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.1591 left_yaw=0.0007 left_pitch=-0.1014 left_roll=-0.0025 left_gripper=0.9993 right_x=0.3216 right_y=0.3276 right_z=0.032 right_yaw=0.0266 right_pitch=-0.0549 right_roll=-0.0446 right_gripper=0.699\nstate[joint_eff]: [-0.0889, -0.9915, 7.1726, 1.6532, -0.0708, -0.0269, -0.0171, 0.3761, -9.1692, 6.2701, 1.5214, 0.7009, 0.0708, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9bc561a0eda54bdbc70c3fd57b8e40f1ff71185b1c2838c2d89dbd3831eb4de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:645edf4d096470c308833a882b7a39f1d0bab7d4a0b17c9e1ce2d5bfaa1e742a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6047ec0768d7e758cc891649fce71045d959e2da42a1abeaa959556b35d7dfa6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 45 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8032, 0.6083, -0.4805, -0.0219, -0.0391, 0.9993, 1.0485, 1.9835, 1.2057, -0.2146, 0.7635, 0.717, 0.699]\nstate[eef_state]: left_x=0.2814 left_y=0.0002 left_z=0.1593 left_yaw=0.0004 left_pitch=-0.1002 left_roll=-0.0028 left_gripper=0.9993 right_x=0.3276 right_y=0.3314 right_z=0.0593 right_yaw=0.0412 right_pitch=-0.0689 right_roll=-0.0675 right_gripper=0.699\nstate[joint_eff]: [-0.1436, -1.2239, 7.0906, 1.7021, -0.0562, -0.0464, -0.0171, 0.4171, -9.5795, 6.3658, 1.4921, 0.6667, 0.1441, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The can has reached tabletop height in the shared workspace. I will open the right gripper to leave it there for the left-arm pickup.\"}",
  "call_id": "call_8wumLcH8gW46TGMr9u5ldQpg",
  "id": "fc_0e49ab2e55dffa22016aac74f4679087d184c7b0be7e534761",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8wumLcH8gW46TGMr9u5ldQpg",
  "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]: [-0.0257, 0.8032, 0.6083, -0.4957, -0.0223, -0.0391, 0.9993, 1.0603, 2.0315, 1.116, -0.0441, 0.7933, 0.7532, 0.9957]\nstate[eef_state]: left_x=0.279 left_y=0.0003 left_z=0.1564 left_yaw=0.0008 left_pitch=-0.1155 left_roll=-0.0021 left_gripper=0.9993 right_x=0.3244 right_y=0.329 right_z=0.032 right_yaw=0.0172 right_pitch=-0.0299 right_roll=-0.0229 right_gripper=0.9957\nstate[joint_eff]: [-0.3214, -1.0188, 6.9265, 1.7656, -0.0611, -0.0366, -0.0171, -0.0068, -9.4291, 5.5453, 1.4921, 0.4957, 0.1001, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6da355031475d15333d6200c38f3550a4859c6fa15c1886b1f14a38a3e523caa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0945d44b2b6635e3569f0090189e3b50ec39c6030d76b53ce4097d55eb51c30a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71b77a1bfa38bae84ecff59324a6741068274f12b2400d590be58a6e6a54626b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8032, 0.6083, -0.4816, -0.0223, -0.0391, 0.9993, 1.0603, 2.0235, 1.1267, -0.0914, 0.7788, 0.7494, 0.699]\nstate[eef_state]: left_x=0.2812 left_y=0.0003 left_z=0.1591 left_yaw=0.0007 left_pitch=-0.1014 left_roll=-0.0025 left_gripper=0.9993 right_x=0.3216 right_y=0.3276 right_z=0.032 right_yaw=0.0266 right_pitch=-0.0549 right_roll=-0.0446 right_gripper=0.699\nstate[joint_eff]: [-0.0889, -0.9915, 7.1726, 1.6532, -0.0708, -0.0269, -0.0171, 0.3761, -9.1692, 6.2701, 1.5214, 0.7009, 0.0708, 1.033]",
      "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\":0.19,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The can is resting on the table immediately to the right of the burner. I am parking the right arm clear of the center before bringing in the left gripper.\"}",
  "call_id": "call_Vv363bNqI148IBqtve6tsW4u",
  "id": "fc_0e49ab2e55dffa22016aac74f77c5487d19ca3c74fb4b93f34",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Vv363bNqI148IBqtve6tsW4u",
  "output": "executing move_to over 28 steps (2.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8059, 0.6083, -0.5175, -0.0219, -0.0391, 0.9993, -0.001, 0.7959, 0.6113, -0.4549, 0.0509, 0.0204, 0.9968]\nstate[eef_state]: left_x=0.2757 left_y=0.0004 left_z=0.1516 left_yaw=0.0005 left_pitch=-0.1399 left_roll=-0.0017 left_gripper=0.9993 right_x=0.2851 right_y=-0.0057 right_z=0.1677 right_yaw=-0.0637 right_pitch=-0.0564 right_roll=-0.0039 right_gripper=0.9968\nstate[joint_eff]: [-0.0342, -1.4427, 6.9128, 1.79, -0.0317, -0.0171, -0.0122, -0.0068, -1.8803, 9.7162, 1.9121, -0.1148, -0.0904, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a47c1f63988552b68b7b48f50758a5fad77ad874b3f0225b970727b501ebb7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2dd358ea0c55bac1b4bffc66af185d77a84517665c25288dc206dd65e1a2f58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c217e7dcdcc251d5b36474e83482e4cfacb0e193e904669a9be48f8d095883f9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 52 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8032, 0.6083, -0.4957, -0.0223, -0.0391, 0.9993, 1.0603, 2.0315, 1.116, -0.0441, 0.7933, 0.7532, 0.9957]\nstate[eef_state]: left_x=0.279 left_y=0.0003 left_z=0.1564 left_yaw=0.0008 left_pitch=-0.1155 left_roll=-0.0021 left_gripper=0.9993 right_x=0.3244 right_y=0.329 right_z=0.032 right_yaw=0.0172 right_pitch=-0.0299 right_roll=-0.0229 right_gripper=0.9957\nstate[joint_eff]: [-0.3214, -1.0188, 6.9265, 1.7656, -0.0611, -0.0366, -0.0171, -0.0068, -9.4291, 5.5453, 1.4921, 0.4957, 0.1001, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHUDN8wsqlM5mAXwfhjyK0spIGbV8RQh4EHQdXkXq95bbYEqfWnuIHiDEm62FVxnONB6ktwTPPmvqaumC1F65jEtnv3t3cwZoIpN0jacJAkg3tEOUU4qdDCZpM5V6Zy4t7EPV82enxylHhLcLoldkeTf0y54Yi6ktxC4ilie9dTG1e889kkINoTG_I7vBmIzKSiOzkj48Anck5QSKjtfjlsguw2bcY-RuIMJ2-nyM6ejX3w9wLXBw3kBqG-m3NXbxQ6Md1wQNwPVjGhMNcsR-T5ix-jIr4tVYJnpRcBMuenilmrqJWvd-dDgwnIQTrv7u3u5rI74qnzH9ZXJzmHY5pTa40BmEpfkuuqxr8L7oFn8jQ1EXdl9ZrrksT4dHNFnCSAiHwEAxjgGmMbcKgAxhtX0dlX9dwsU5bwW6P3rrekIVKEzDkGmv5C4gFL14CHcXOPVdHTTiiFwream3j44gXRgKt2KJrI3P2Cuu_Xf8lzofVV3lBJRp4-S_GqS1ooOAbDUJpg_m7hZ5l0EwcDEfKZIY13paBytT3Or2fOi051VhXitZX3Tgu8TaRNYDmLnIwKZaEnRQEcMEZGBfnJ4l15YqPAUyOnLo6Ivmqqd2DHACbrt7-3l1qzncBUDumDK0p6w_dLTclpLt2HNoJIMjlxoRnDcEl_xxmfSEcZ1zsEAWHJUQ6QVASzXCFrNtHK7psnm9lBYT_2k19nPkIMnFTFuOlz3tqph9h5tualUpDSlBOICTIyZByVc6y5NRqqgZqFkAvcyV9bifR8GeJ-HEhucx423ZYLjzWMUy-k054HfMOBbgv7gAXNOAytvVr9wozj8Z7wvAjfloXgccE8FwlNdkaQZCPT1Z6fd3s8q15YQX1WdZXVoY_og4StSiUP4dfh-JZBVjlK8HBaY6jGrZOESyEf-LYo1KgQqW_nI_dMNXO6gnZ8OzH1W8JY9biIR9xsTTDoDFHyM0ha9v6NKHyLEURCJDoqykydhPHOCjh_MZpLfHgballrCARWT5MPxDyErOivBUDxuOKbGuSOWzHaCDvEcf8mPG0jYXAcn-rnoEj5xvyHFcIrn2LM0WkowdW2GxY4bhMVqpuL8P26wd1Rb3BLr12BirPwRs3-n0d6He1bWR9EQKvy7oD4MwnO3LSWtMB-y-KRfovhn9IQ4McW2wGu65ehuXTPVrnkkT-Ecqr8OpYBNtxNwAZMxb6AReVzwlK9yRti6E5SwyTb6UFvliRlmNXGygg4o-yHhNExpP9weTkUt3JnZqHfRZMs_FjiI6V78VlIORpAFVQxJywUzXIkE0p2FoBuTk3dg1BcHL4Sihi_kahvitk0xgGQ_tO56aFfLs1RsBERvupC_Qo_lEYqC0hsTyv1Q7nfRlhvayjpZi01bzeyWCuB4BfHlUlPzZB7o8_UZNLgsbi66Sj9gJTI7dpJbE4rUi5N2nOz8RkuVBpDK1hYbv7TTsPlLFe0sOnbI73pui-zTsEU0zcj66yUqe9UqEqEdBTNOH8sbq7w0O2u90xCH5vBnQvmwMR8I74GhsC4hahoT9agME6fhwo8_FtfxRsFV6t6KUHe_68VNljsJ-fS8Gt1YA9e4HkTAovJktgpZpYqNOGxjjflwjS0ahD6btZfKOwt97ar_bXdNdT4qsw4AFlT90Wu-Gz7UDcbABatbWUS4WAljTL2LkvfoJpH75dypDKBVH_2bNWD1iSMy6SbAo1Lx3na5i1eUiWN5NLwFivKOl3st1eC3bep13nOW-C4q1M1psGXqY5xNdteU8q-TdxmXTyDkvCEqIjmNsRqTZRNwK9Xk1EOpEq4Fz8Z9jc7e3QdPEHPCOXdtGxi4YKhmsWV89qOYdtUzFmLgKQE3_eBFzUdlgDi2CSyFzO1zq_e_IjIcoG_yyd3nqwkwCm-eKnmxjloVU9Uljjn85LC0-rj4wnKL-enwzPtKV6tnSU6-1NbVjuvD0NTG8avLOWGFPLPMyrofTYH-",
  "id": "rs_0e49ab2e55dffa22016aac74fd19a487d1a201d95b23981430",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.11,\"right_z\":0.15,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The can followed the withdrawing gripper instead of staying at the center, so that release was not clean. I will regrasp nearer the middle of its body, away from the protruding end.\"}",
  "call_id": "call_xhJGtoSDt6VVaJQghXaQTqaE",
  "id": "fc_0e49ab2e55dffa22016aac7501431087d19e433a6cad195646",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xhJGtoSDt6VVaJQghXaQTqaE",
  "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]: [-0.0257, 0.8093, 0.6083, -0.5343, -0.0219, -0.0391, 0.9993, 0.3717, 1.4563, 0.8421, -0.0998, 0.2813, 0.1749, 0.9969]\nstate[eef_state]: left_x=0.273 left_y=0.0004 left_z=0.1476 left_yaw=0.0006 left_pitch=-0.1601 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3947 right_y=0.1051 right_z=0.1253 right_yaw=0.0314 right_pitch=-0.0986 right_roll=-0.038 right_gripper=0.9969\nstate[joint_eff]: [-0.253, -1.4701, 7.4051, 1.7363, -0.0611, -0.0659, -0.0171, -0.0479, -6.7487, 8.6359, 1.8974, 0.3736, 0.188, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83ba17e924c891660f226c3c1b91adf01641ee1afcf92414a9c2f2903e052ec1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c04b1eae0b13c158662adbe3fadf90808bd810ebc758b1e05de134587fbc96a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a9bea0e0083123dc6290c8008120473909e0f08137d76711aa2e2bad2bf57d7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8059, 0.6083, -0.5175, -0.0219, -0.0391, 0.9993, -0.001, 0.7959, 0.6113, -0.4549, 0.0509, 0.0204, 0.9968]\nstate[eef_state]: left_x=0.2757 left_y=0.0004 left_z=0.1516 left_yaw=0.0005 left_pitch=-0.1399 left_roll=-0.0017 left_gripper=0.9993 right_x=0.2851 right_y=-0.0057 right_z=0.1677 right_yaw=-0.0637 right_pitch=-0.0564 right_roll=-0.0039 right_gripper=0.9968\nstate[joint_eff]: [-0.0342, -1.4427, 6.9128, 1.79, -0.0317, -0.0171, -0.0122, -0.0068, -1.8803, 9.7162, 1.9121, -0.1148, -0.0904, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHUHSPbqG64k5eh2dKFFg75Z4bmmlW6QMtyOMQGJEnZQgspeYwcsD1jydnu2S7KclOKyy556EXLunfMqNs1b7l0AB8XheLxdkp7D_2MDbBIeR47vtYkF9YUKT1wLorZHgotzKSlO2dKEYuTUjW1ihBwAABM6-BF-SEKJA19rAQraQFqfwU9ZMbAzefkvXQTtC18n-nOfZAIjMx4pdNg9trhqYqDXj7uD-nkeP4u-TYq_pZkrM9T5eryD8EnYf5PYM73gqfhfhdClU8e4SioJGgNFnWl0mzXo_8Od2UNSOdI2J9iFZH8FIT3kPpV9toAOrOcTbE5YphMdEElEcqHKGowMLeoDtadpv2BiQXQ7izgXVTZ3E0LQal41sXHThlF6pEQi0y8nSmTzqBgeiHlqss4ypxZ1Xkr2REITiFlat6xrlXmrJIKnx63eseLvJlXBXboW3PNOOjW2UZ5s-2VghlB1raMQS3qwnx_3JSzVTKk8eEdC6jWqjO3PJwGc4YM_co-MDDGiFhAfI5hCXn0vv0AE23lolrDUlKcImotkUntivvFqbL8RddIutrX_qI23HjYcJ_zTSr7RS8ameqUKF5ZwUyFPPq6CjdNK82CjZAqNPdMpuRqTj5hfSevO0aAHJ0Ok6K8Qgh0gEfZOV97ooZZfdTSZKy_QHEjPJS0J6acvU4_otHDismRCwjXaBQc6tUAZcekn2b-j8kngQFGn7KfRLgfJfAU0SqzZbRUjsGB1z5lklHmlElNOkPfc_nOj6oOHx5SHDTNsouuSXk5UFC5nZct8hvVqqEmk638-EuWYcjMvf8sx-3cC_Ur10bDpv2Kw59_NvRiBy4xgfrfl-ndsLFU14zYgMNzSabc7uogNJRtO6fIE67rukziOCljHhWVgDONO50K2BLxSJtl1-rF5fsXsa9fFUClAGIWUxalgYs2E3MLjdylaYk8lNvWOhzszXZvpiH0a0_WPGSizrUy-8V7xjV6K-JCIzXaTIiqJf2nhojtu_6SaSTELy4nGXqT4fDMGwmmlyfB7AJyu2J9fX12Z3YgXkQT-subDKYIINMh_mqGUvGUQLXd40e6j-k1GgJzE6dUX4GEkc7pG27nXPRIm2yiUKdS1H5T3HFFrGY17IyU93N6efbrOZYSzUT_3VnynONS7OfUO6iwJheOIbEzU-mhtqnX-Iv932lIpRTjR8VmnXvsrKgZhpbPyG0OXb22bNO05gneZHMQMxpSxdA==",
  "id": "rs_0e49ab2e55dffa22016aac75055dc487d184eb30eaa49cb189",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.113,\"right_z\":0.038,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The can's long body is centered in the right wrist view. I am lowering around its middle so the jaws grip the cylinder rather than its end fitting.\"}",
  "call_id": "call_hQ4aPcQiicXDADdYHRgAJ9eK",
  "id": "fc_0e49ab2e55dffa22016aac7505c46487d1b0c24f7b604c7ff2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hQ4aPcQiicXDADdYHRgAJ9eK",
  "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]: [-0.0257, 0.8124, 0.6083, -0.5449, -0.0219, -0.0391, 0.9993, 0.3653, 1.8008, 0.725, 0.3389, 0.2916, 0.1841, 0.9969]\nstate[eef_state]: left_x=0.2713 left_y=0.0005 left_z=0.1449 left_yaw=0.0007 left_pitch=-0.1738 left_roll=-0.0008 left_gripper=0.9993 right_x=0.4154 right_y=0.1083 right_z=0.0213 right_yaw=0.0106 right_pitch=-0.1176 right_roll=-0.0452 right_gripper=0.9969\nstate[joint_eff]: [-0.0205, -1.1966, 6.9402, 1.707, -0.0513, -0.0611, -0.0171, -0.212, -7.7744, 5.3402, 1.873, 0.1197, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30599a2d428515f84f3c2d90b368dc3518a4d6f9b69d683c5dfb21a022331991",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3180d2189e12c355d02f14d21fec1371639ecd9128b0501ed9f481fe65e4afbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2352750cc27cf6726f1f3adfa38af7eb16b020b2fff49a638c71953adb88f642",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8093, 0.6083, -0.5343, -0.0219, -0.0391, 0.9993, 0.3717, 1.4563, 0.8421, -0.0998, 0.2813, 0.1749, 0.9969]\nstate[eef_state]: left_x=0.273 left_y=0.0004 left_z=0.1476 left_yaw=0.0006 left_pitch=-0.1601 left_roll=-0.0012 left_gripper=0.9993 right_x=0.3947 right_y=0.1051 right_z=0.1253 right_yaw=0.0314 right_pitch=-0.0986 right_roll=-0.038 right_gripper=0.9969\nstate[joint_eff]: [-0.253, -1.4701, 7.4051, 1.7363, -0.0611, -0.0659, -0.0171, -0.0479, -6.7487, 8.6359, 1.8974, 0.3736, 0.188, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.4},\"note\":\"The jaws now straddle the can's cylindrical body. I will close gently around it before lifting.\"}",
  "call_id": "call_1vKNxN9GGfUAZPP7hvjlXdBS",
  "id": "fc_0e49ab2e55dffa22016aac7509cd8487d1b5719275b213680b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1vKNxN9GGfUAZPP7hvjlXdBS",
  "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]: [-0.0257, 0.8143, 0.6083, -0.5621, -0.0219, -0.0391, 0.9993, 0.3653, 1.8168, 0.7189, 0.3679, 0.2916, 0.1841, 0.7088]\nstate[eef_state]: left_x=0.2685 left_y=0.0005 left_z=0.1414 left_yaw=0.0007 left_pitch=-0.1929 left_roll=-0.0003 left_gripper=0.9993 right_x=0.4163 right_y=0.1087 right_z=0.0179 right_yaw=0.0109 right_pitch=-0.1111 right_roll=-0.0428 right_gripper=0.7088\nstate[joint_eff]: [-0.0889, -1.3744, 6.8855, 1.7265, -0.0513, -0.0464, -0.0122, -0.253, -9.2923, 5.7915, 1.2625, 0.0317, 0.0024, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b97d74cc20052163fbbd2dbda56e9d0d76db5229bcf4687215d1c772305b93d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e3927769726579985e015c14fb67122f9f077bf1508acb09f11d7b0306d88bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cafddac8e0d39227bf33a8b9d134f3bf848645321cf498c7d13aec84e673ddc2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8124, 0.6083, -0.5449, -0.0219, -0.0391, 0.9993, 0.3653, 1.8008, 0.725, 0.3389, 0.2916, 0.1841, 0.9969]\nstate[eef_state]: left_x=0.2713 left_y=0.0005 left_z=0.1449 left_yaw=0.0007 left_pitch=-0.1738 left_roll=-0.0008 left_gripper=0.9993 right_x=0.4154 right_y=0.1083 right_z=0.0213 right_yaw=0.0106 right_pitch=-0.1176 right_roll=-0.0452 right_gripper=0.9969\nstate[joint_eff]: [-0.0205, -1.1966, 6.9402, 1.707, -0.0513, -0.0611, -0.0171, -0.212, -7.7744, 5.3402, 1.873, 0.1197, 0.0171, -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": "gAAAAABqrHUPWmfeZZwv4lr0I_NbCuvZywg1Ek13cOtmToin9AmSX3iWEY4Y_Tu9sJzrHVBi3lukJLsFShFTvQw8CKNXwRoFnZqWID3GGHNWskxhBuUfgILwRtHhRv_W5PDIdxJXg-ZXOssLu2YmL3wY0WSsblKHTAL7qtHLpZxJaMIPogky_dzwT0LgsPSxjIuV5mk7NIxA4r2L1C4S01rl-d7qXLyJAjky62yr5kqO5tdQuEgtthewzLd8f4sKlq_Awa0aU8pBDvBFNiEwVksKKRCj0BDOKS-ObrP9AyKfFLDgJoO8kaTJAUYG9Q_8VNSQ61DpyIuhe6CW-Yv22L-J8ShCB5SUR53cpjRsXdbHxdHbobFzvdPCvsW_uFYtKRvomcGf8IqyiJE5n6J6s6eRyPtz_7TMf6AVyJEDH34AEA1T7hnsoVHQItF4WUapu0a72zBkZu6dN9cx5kJPB15rs9h0BoVm213vyh97v66jkElGUIZHid5liG14ecsEZ7GYDACFyb9hSckBWiI-3wPqMq0ogDOarw23s0gMpXZovWkF1aNcaNbNgRspRjwkRj1Xl3K5Fs5OFEqCAgOOtSlx67fo-AZgCJ1dULaDV4tZwwWjW-lJOoK_yNYxVLd43n0F5Y5_9Y9_CxXrouxlzrH4bbrDWLy53PGFkMGvMWEh6RC9hx8LKFxKt4k3CPyLz7rRqXQOfIbBzjqxz39ETe9lJthusZl4kvgphf0PgxfSGNqeX6IzspKmOwS_nnvpdanWqp-EKc9MRM7Qz3MooPTzt4Wdz46bGkdsH7hdpnLldTKEL2eTZ9rqcu3JR9l96LBCdwnuhJGo9A8J2rTfjA95a22-cZPvJZi-DfjhC4_1oDV6txj5pGHwkalPUa7fv7nLeDpGC91hPOuUV2sGrMGe0lF-sMbqrOpWVLwskE_AGg8V9zFkfbOno9z2cDErPXqURK_aNABHnoHWlby39JUEyAtNorzopZJAMd3gcNgo0JUazavGxNnEikpyekqL1wJTZBY6iESUCVJaJE65dJin2ofaAKWv6n-eE4oSpcYEHMnV5gwrSSZhOKMYdca5_xmTzhf7waapnbFX7yQpi7oDrskGP-mQbo55XmuUlhs8KQS_IRg3ip11FCmg-zjihEXQCAmmfDqhQAiTLaO3R8xmcFiGmBv8vDq45jOQiPjep4XPRUwQ5Lpb6FegYXbKo2zvsLn1Dgp3wfyoP8kkOU7YzZqO3KyHJSV-znEmv356t5elnLyd4Fgw9pRkfgim1Wv1kilb6_ox",
  "id": "rs_0e49ab2e55dffa22016aac750ccaec87d1b62dcb09c240b828",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.11,\"right_z\":0.11,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The gripper has stopped against the can at about 6.7 cm width. I am lifting straight up to check this centered grasp.\"}",
  "call_id": "call_Yy1Djc0iyZT01uiJSWKSuE3R",
  "id": "fc_0e49ab2e55dffa22016aac750d808887d1ac56216539f8bc21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Yy1Djc0iyZT01uiJSWKSuE3R",
  "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]: [-0.0257, 0.8173, 0.6083, -0.5755, -0.0219, -0.0391, 0.9993, 0.3748, 1.5917, 0.7307, 0.1524, 0.2958, 0.1844, 0.7089]\nstate[eef_state]: left_x=0.2663 left_y=0.0006 left_z=0.1383 left_yaw=0.0008 left_pitch=-0.2093 left_roll=0.0001 left_gripper=0.9993 right_x=0.4012 right_y=0.1064 right_z=0.0738 right_yaw=0.0175 right_pitch=-0.0901 right_roll=-0.0377 right_gripper=0.7089\nstate[joint_eff]: [-0.1846, -1.2376, 6.8855, 1.6532, -0.0659, -0.0708, -0.0171, 0.3487, -8.7863, 9.6068, 2.2002, 0.2955, 0.1392, 0.8425]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:498a3f3cc9d47973ec7c8ca224da0bb068ecc7591f2afeba675dae8a4cea2ba2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b95321de15687e85e9f1473d3751dc421a37bfb4c0cc9437c799c7c493ea013e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a71ab44cdefbbd42aa77ccbb14905f71ed9df15705840c077cf0137af6886782",
      "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]: [-0.0257, 0.8143, 0.6083, -0.5621, -0.0219, -0.0391, 0.9993, 0.3653, 1.8168, 0.7189, 0.3679, 0.2916, 0.1841, 0.7088]\nstate[eef_state]: left_x=0.2685 left_y=0.0005 left_z=0.1414 left_yaw=0.0007 left_pitch=-0.1929 left_roll=-0.0003 left_gripper=0.9993 right_x=0.4163 right_y=0.1087 right_z=0.0179 right_yaw=0.0109 right_pitch=-0.1111 right_roll=-0.0428 right_gripper=0.7088\nstate[joint_eff]: [-0.0889, -1.3744, 6.8855, 1.7265, -0.0513, -0.0464, -0.0122, -0.253, -9.2923, 5.7915, 1.2625, 0.0317, 0.0024, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHUUHt742FW5Bhg7D816sNhA_UU6rPfAxNDRBIW0qCF62puDDXNt79X_G9FakwVVrptYsJjixYo1DelZOrrpp3QoUjHjh-K7qeW_ItVvubKqDBOxurVHu5pc2ai6s_NXVo2jiUbTkKPsgjCngTvAvS5PxP5YD8ITAbEcNI6AhKgTlcsg3evfF2aDWu4Osu_FYd91UgCkjv6wxqIm5WQxpTcjZKS0sPplsTaA_O9aXfIjnZb_ohMQoiYIO6aDUY6flSaRYeG_1grGwSSS52RwWj9iBf7egBLtXRk7_eDlmFewIxvToeTJ5PT0WmTkFguPduhscdnpptejrbQuano_zBVNWUNaTUoOMpKn9yNGsJ3A0bujFa23Z-fKTEAEw1izalrZ49l0fHkRdis3X89WBcrNcd3aIy5IvNiwpLYxUWb6PKsc8qaJXDZz57JdZwJ0jfP7RqTAnH358Z7aZS6ON_It-2L-a2TNxRYE5KPQCp3XSxbVwQUvXvIVaUed3MFmxmuRM655fsq8NZ8pIqkR4izV6VUR_ahyYaINwd1xaByBJNpKO-eUEAoIynQ-461zewXp0dJng2FqOItGhhpjR_rd9tavSgIVaMTX4N8UG8t1W29arkLt-B7TVODcksxp3rth0oUoN5sOTQ1_--yJXgPAeLPizl3gvxEuWlV2CW9wAkg5YViKN-gSa9q2ruSmmLvSomQjo7Z9-cWYE9jNQc1sRxhQ9agBdWPrRN9mBPyLcsIIyYtuthatCkkQJYhBc_1AxqjMJgbHhGLIt24bGP0vVarBu-TlT8tP2A1mR5L2VLnJXPMwRCa0ONWiT6zTOZ48Zdie2v2Zj0XlTR2Pp3MhfNaq4QkVJgphdXAKKuSJccADtkerAOfoLSOX297LS8LT5qOZzyBs7tgs3Y0KCJjuL5aGHEfQ_BFmpLTsp7VnLFvb1kJO93jZzQcysi3ddOVKvj5gUHCQkmrzS1bRJfRdXZg9K3fEZmSidkiwZK8VpZ1VoqlN3ryE4yWw1lmNI485g2j9pdntnDkM37YSafJpUAYdC1eVxq6oE6IGC3XrYrH-Q8dVAPj5EZTsQq1CwiN3Zeg6T1R7gPJ8DVhYK8ucDbcCtJaRApnYWFsfHC9zqqkEWJda2i3480-ZnWoEI2hrnZSulMVOXFzE9nA_7rX45BEhkqgmUvQKaP67fIL8arHk-aTtqvmGalDaLrKixgecRrZH6D0uf7xeoZG0UijfhfaIkhMVpD0Uq3yZr3X23UpOzw02YcLYDGSEi1yau6mUqoSC8tAkiwDBHH-JVCI9LpN0H8w2hmQrZC2dFqoFoF2fzttetry4mUdOhKCeyNyGOD0Csa3C_PrNtfEWg0rKtkYIbKhtvIm07buYn6X6mpmqBiHa616Fs5EajZVH92oLUvAjSTyiA5eyT1CES5K3_IrWs1AZ4SdOjomzTuLOocM=",
  "id": "rs_0e49ab2e55dffa22016aac7511858487d19e31e55fa74d0a19",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.35,\"right_z\":0.19,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.294,\"left_y\":0,\"left_z\":0.18,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The can is lifting with the jaws. I will carry it to the middle again, then use a straight vertical withdrawal after release to avoid dragging it back.\"}",
  "call_id": "call_KmJStStrZ1LrId1L8719XfzY",
  "id": "fc_0e49ab2e55dffa22016aac75131aec87d1b0b7116914ecb9a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KmJStStrZ1LrId1L8719XfzY",
  "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]: [-0.0257, 0.8024, 0.6079, -0.4416, -0.0223, -0.0395, 0.9993, 1.0512, 1.8908, 1.5356, -0.6117, 0.7647, 0.7151, 0.71]\nstate[eef_state]: left_x=0.2872 left_y=0.0001 left_z=0.1669 left_yaw=0.0008 left_pitch=-0.061 left_roll=-0.0039 left_gripper=0.9993 right_x=0.3343 right_y=0.3454 right_z=0.1712 right_yaw=0.0456 right_pitch=-0.0545 right_roll=-0.0479 right_gripper=0.71\nstate[joint_eff]: [-0.4034, -1.7846, 7.0222, 2.1807, -0.0952, -0.022, -0.0122, 0.212, -10.0034, 9.0051, 1.3651, 0.6716, 0.1978, 0.8913]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55182af58ac29e2a5c5e5ad75917201069b18ecf4806b6ae773407bcbe5e03b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f610de9a0e2d76427f67b119d3b6a272c56810952e1615a0f48455b3c9b28b0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78695c09b827687153094f8c7c1533d8eac12a50382285b7e07da3c9b7bd01d4",
      "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]: [-0.0257, 0.8173, 0.6083, -0.5755, -0.0219, -0.0391, 0.9993, 0.3748, 1.5917, 0.7307, 0.1524, 0.2958, 0.1844, 0.7089]\nstate[eef_state]: left_x=0.2663 left_y=0.0006 left_z=0.1383 left_yaw=0.0008 left_pitch=-0.2093 left_roll=0.0001 left_gripper=0.9993 right_x=0.4012 right_y=0.1064 right_z=0.0738 right_yaw=0.0175 right_pitch=-0.0901 right_roll=-0.0377 right_gripper=0.7089\nstate[joint_eff]: [-0.1846, -1.2376, 6.8855, 1.6532, -0.0659, -0.0708, -0.0171, 0.3487, -8.7863, 9.6068, 2.2002, 0.2955, 0.1392, 0.8425]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHUfZx-lnscvvSTfqxda40hxh14ZTSPrRtQ7HP2l-H6hVkiDIBoIFSAtAg3tdApmpUnIFPWqd7xc7oIen5UxAydV9u5BbrRgKLr7AWhXzDFeBDlykGCbl3wvkW6QRJ-KW6wDIcV8rl2kmirOfmrd5TcrY3zhiAXgtvK6xofizW1huE8QvZ-9UCiIDm_ttucLc4ziYTGjAQXpwWwVafVfix_qWYn7vejcqku28X0DinYzyTDldT7RhdcFtYkOH105zuCllFNIK-g2wSl-81xJDdwZ-aAPSEVTr_ku6IBSTSpf5TCYzyBYP5OuiJnfrK5hMgWxW6pxaxuy8CTFi82A9eo65QiL0kAgJe4a0_8ihAZsvQMvk32C5ZJMQP8CbnayG9lA7vn8heDQ_0WlHZzrPQEMSd4cBIC777BtqOvo-2al9Onza0XtoOX2mK7VfvC5uZiPS_JeEpuUnUJb24y4Tzn169fQMJelBEvjeO5_7R9eMPd8GL_MzS4ve_GLOAcAcMd-facoxteP8P0K5OKWD3GR0jCsrnq6N2BXZm6vv9Dy1WXydOYPHTzQKeo3P45d5srG6HEnfh7t6CAdVdstbaqwXgB3DE3zUPjYB6C5rcPW-SsvrbZTRWm57Khs3q2_ASfFIuexZZd_BcRHU_oHJJiWRxgcMMPlfp1cz3THC3Gwh_VdsUaVwTpvFsS314urnL6DuRW-TlEIPExdyKC5NkHhi1geeiOuhPIge5kfUxcxOZu73y8h1PmQ_f2Ox6_Xm-f3xRBcpu6ZEDJWZ7yKTj0VjV_qcJ8sHzun5eCSn7rswMRhvgXNyNv9oGi9Ju-rjMungxbW5LoM3IbZRVSqCzD_uX8HIeelZ_gVEI9m-O2V4yoPOpl5CMj0my4IukovfbYeridAd4kY0uXK3E2zy7xa4fWJZiwOU62nGQFd8w07m3jLhBYjfnA0S9pRnUulRla_amSgEk3CYn8uFF0OpVt06daHEmzPNBkSm7-RGZnJunPc9_y9wpl3NiqJi1lAyv69z2ZcjpzgkWFr1lHXpzuonGzMfRMQC41XGz6lwDlPOJRnNUjw6BbYzTFI7ytsfCu8E2OcJeBKZFesQ6vVa16G79krdyQ5h7B2LqTnnIFs8R2lGRCbGQa0nhRl8jl2pKsNIrioed5h6Z9dJ4D7k9ZvS8zXpy7VSyrZP9nKGinF1WZPch8Iti-6RLn5gc3x-HzGg7aRASNbb-J-5CrjhyIT-iqrnnDRCnW3XwxkfRiB6U6Z7MYtLlGbxmJC5e68wtRlIMjOulzRNSY29wrIkzhiHDTr3Qv2bH6sEL4txoMcvLmMtYQWPCox8HK1icl8uBtuJGwyWa2f4lU9nrzwUhVLFyS9TuwQOx--geYoGSu7a7GBhbL7B-mekR7pWIx0R-y36LNKBnYGhK-Mheq2FgYS9fnBBbG4kpRiTYc4yUOgIm1li0Sb1qI45VJDbxQXcUVvPCWrXBV79p_ZweK0cKtWC2qiBgFKjZse-anioXotVOpM3db5t_1NuFngajbtxKC5m7x__xNFfZ2q53L5HnOgLs1LyJkXjDdnOfOJUiaiQvrmOtCH1gC33pTCzp620OXfP5AZ8ta4du6aoizkdl15RoooELBgIrhumgqQRTH6wfuNQhDxbZZkaC7Fc0n5peOYkbC5Lxbp8p71Hd4T800XCWOfJLEcl_0N0HtfgfIK9dWDW76ET-L-D31lr9gA5dJBz-MbyxFxBxdFd-ATZMpF3CLcQ66ZFsHsZ_KE0-flg2KSNq0j0JxaR1-w4kKf5Qo9HXOczn3tp4Z4d4Yaf2a7fLo3XJebThuiXtbSTLirM8OAT-AB_g8PQebGdaNom8gIKqN1bRGkEUiMhV-ia_C2LBkjY_CwxD6dWQ-3OzR73KlZSw5obWACqoJzapsaXh7SLP-jYt44CeEQNBMyaWaIc-5OVmKZhZ2Bf-GptMIMcKu9M8fL0pV-l096VAnnsnNn98fzhjsQpqR_XdIo3Y9wDwQ7epvyj1pHpXInjTFv8VWVJK9Y6XtFsv5khIDPQW8Moq6-ejClmufQNeeIA8EaZ6iV5bNc6bzBaItZk_qh-vmqSzgMnz8fDOliFAvd7Sfd8Ot-GvXqu7kjpwdXQqGa6q4Bcs4VvQXDa0fzZbeo43gG0Rdei0e9W7ZTydUmayTnpHhWJL1SEuo14tlX5UN4Xz1hIA170nn-OD7wfDIIVCsCOFsaw0jCxfMqN7zJZSYo",
  "id": "rs_0e49ab2e55dffa22016aac7518968487d186017030e203ffc8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.005,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The can is over the shared area just right of the burner. I am lowering it fully onto the table before opening the jaws.\"}",
  "call_id": "call_vttdL7VqHadiLutEDHA0oqWl",
  "id": "fc_0e49ab2e55dffa22016aac751e697087d1996ba2624ea91118",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vttdL7VqHadiLutEDHA0oqWl",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8032, 0.6075, -0.453, -0.0223, -0.0391, 0.9993, 1.0626, 2.1174, 1.1835, -0.0162, 0.823, 0.746, 0.7104]\nstate[eef_state]: left_x=0.2855 left_y=0.0002 left_z=0.1643 left_yaw=0.0006 left_pitch=-0.0735 left_roll=-0.0032 left_gripper=0.9993 right_x=0.3347 right_y=0.3422 right_z=0.0217 right_yaw=0.0062 right_pitch=-0.0042 right_roll=-0.0327 right_gripper=0.7104\nstate[joint_eff]: [-0.3624, -1.306, 7.1043, 1.7998, -0.0415, -0.0562, -0.0122, 0.3214, -7.6376, 4.041, 1.1502, -0.0122, 0.2076, 0.7595]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04b701eb5f70c82192bec06782c96a1a5f59b6e44e1be562829b7884a8988378",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88d76116b3084eaec66afcb0eb708291d65c0a7db716dbdffb6885ee6148ee2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5d09894d944840614a59b914c000d5a337383e76c56ea5f0aec4979bdf116ef",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8024, 0.6079, -0.4416, -0.0223, -0.0395, 0.9993, 1.0512, 1.8908, 1.5356, -0.6117, 0.7647, 0.7151, 0.71]\nstate[eef_state]: left_x=0.2872 left_y=0.0001 left_z=0.1669 left_yaw=0.0008 left_pitch=-0.061 left_roll=-0.0039 left_gripper=0.9993 right_x=0.3343 right_y=0.3454 right_z=0.1712 right_yaw=0.0456 right_pitch=-0.0545 right_roll=-0.0479 right_gripper=0.71\nstate[joint_eff]: [-0.4034, -1.7846, 7.0222, 2.1807, -0.0952, -0.022, -0.0122, 0.212, -10.0034, 9.0051, 1.3651, 0.6716, 0.1978, 0.8913]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The descent has stopped above the commanded height, indicating the can is supported by the table. I am opening the jaws completely.\"}",
  "call_id": "call_6BCHa7kN29jpFcrPQAYvYf2b",
  "id": "fc_0e49ab2e55dffa22016aac752307bc87d1863b022f18e36e7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6BCHa7kN29jpFcrPQAYvYf2b",
  "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]: [-0.0257, 0.8032, 0.6075, -0.4572, -0.0219, -0.0395, 0.9993, 1.063, 2.1284, 1.1786, 0.0036, 0.8188, 0.7452, 0.9946]\nstate[eef_state]: left_x=0.2848 left_y=0.0001 left_z=0.1635 left_yaw=0.0005 left_pitch=-0.0777 left_roll=-0.0037 left_gripper=0.9993 right_x=0.3345 right_y=0.3432 right_z=0.017 right_yaw=0.0095 right_pitch=-0.0053 right_roll=-0.0284 right_gripper=0.9946\nstate[joint_eff]: [-0.335, -0.9368, 6.9538, 1.6874, -0.0317, -0.0757, -0.0171, -0.253, -11.8496, 5.9009, 1.072, 0.3443, -0.0122, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91df35f7dd4a5fdbbc881827d1721071db46ff21dcdd661ca5f25fd0afd84358",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81cdfab75a7fc56aac6d7b8c6d232b8ae19df5d0706f2132c30b9f0325cea225",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e08957708eacddcf15287d9290f8271fa40c2849003a6c0821322cfdd2d93fc8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8032, 0.6075, -0.453, -0.0223, -0.0391, 0.9993, 1.0626, 2.1174, 1.1835, -0.0162, 0.823, 0.746, 0.7104]\nstate[eef_state]: left_x=0.2855 left_y=0.0002 left_z=0.1643 left_yaw=0.0006 left_pitch=-0.0735 left_roll=-0.0032 left_gripper=0.9993 right_x=0.3347 right_y=0.3422 right_z=0.0217 right_yaw=0.0062 right_pitch=-0.0042 right_roll=-0.0327 right_gripper=0.7104\nstate[joint_eff]: [-0.3624, -1.306, 7.1043, 1.7998, -0.0415, -0.0562, -0.0122, 0.3214, -7.6376, 4.041, 1.1502, -0.0122, 0.2076, 0.7595]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.20,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The jaws are open around the can. I will lift straight up without moving sideways, so the can stays at the center.\"}",
  "call_id": "call_2Qp1bpdb5iarCWiymaXY4Ddk",
  "id": "fc_0e49ab2e55dffa22016aac7525eed087d1925b98ffc8f5f53a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2Qp1bpdb5iarCWiymaXY4Ddk",
  "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]: [-0.0257, 0.8032, 0.6075, -0.4583, -0.0219, -0.0391, 0.9993, 1.063, 1.9041, 1.5387, -0.6109, 0.8043, 0.7456, 0.9953]\nstate[eef_state]: left_x=0.2847 left_y=0.0001 left_z=0.1633 left_yaw=0.0003 left_pitch=-0.0789 left_roll=-0.0033 left_gripper=0.9993 right_x=0.3339 right_y=0.3458 right_z=0.1705 right_yaw=0.0172 right_pitch=-0.0306 right_roll=-0.0483 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -1.2376, 7.0769, 1.6532, -0.0269, -0.0806, -0.0171, -0.1846, -12.8615, 8.4991, 1.3846, 0.398, 0.1392, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cd16f0da1c98010994d8e506d372c763db45f4e176c8412d34a6f082841900e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3528516f8b349d24164490e847487a7f5c4a7d1e9cc5c52f28f56110df5da14e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34fdaf59023c45292283c5bb7d1b9e2fb111a1312acef496dc73dccad228ba24",
      "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]: [-0.0257, 0.8032, 0.6075, -0.4572, -0.0219, -0.0395, 0.9993, 1.063, 2.1284, 1.1786, 0.0036, 0.8188, 0.7452, 0.9946]\nstate[eef_state]: left_x=0.2848 left_y=0.0001 left_z=0.1635 left_yaw=0.0005 left_pitch=-0.0777 left_roll=-0.0037 left_gripper=0.9993 right_x=0.3345 right_y=0.3432 right_z=0.017 right_yaw=0.0095 right_pitch=-0.0053 right_roll=-0.0284 right_gripper=0.9946\nstate[joint_eff]: [-0.335, -0.9368, 6.9538, 1.6874, -0.0317, -0.0757, -0.0171, -0.253, -11.8496, 5.9009, 1.072, 0.3443, -0.0122, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHUsxRqFB5NVDWRO_pcypwgootXLqiIYAzlo6cqmbK4K9jNDc-us9qnqbUekjh-3UzDWlfhijrlyUmE4gWSo8oBvC25yXqkL24490QEnu0NgVpEqRIOpzcqFJP80vicC77Qt7nea4_fQo1qEBh2-FswElTgdhKrrSBXZToOEaipmDYnbiJzW1VEgJqqpROrqcOGGzixuv3f3OHS7wKDfNZo7MogQRlVYq54yHu0DxQ80HzTu3oYqmZBdQ3ZzIUbwFWiGBN50gOI5_bVjZ-HuUNKO2WLyeAteH61CGVcKjOhhGA1eV28cx3mDyK065RSA31W3_8AleQxn_METY2zyp_fLe1_OwAk_UZS5vwam_1FseHw5JIc9sqZkxmDTGCKnitajB29VqsmlgqoRbhAxRHjZTLchoyqXFF6rNYgHzRIzkoWUx01sinmteifIQnrMUKTpXdSHjBscPI_KIEvHW2vBKMQtsgQnDAaVElNk6A3zeu1x8qYYMlRmri3pmsDEXYD7RRd6US3Ze47oOF-tWfadYDVKb_URxzwFqGLvvH6S9IfORiU3ZCo3c6YISGBQhblf89T4z93jbRC4tAkNKGgBYJFCEWmebgzg1a7HuEa4KIVYfm0ivsW1v4mmBuW5n6p6PwMe1vyiV347sUUSTjuogcdhv344_kOuXnt6q9zeqRi9hA6kliUYKshqlWBBQ8fZdJzKyt2xtTcpRk3kUCRPKsqMzyR7NTLKQY2-QcuqtwYA8kxciiY5lAFzXc2OWHAbSFy3P0WwHdDvSDoblfVN6d3LKtbQR58vEgdDr86o0Csxx_ujEXJr1SttAq3ZwARcnIIe15x2ojnhY9eh7YfKn2z1Q-ZQEpF7Jn3h6IfbffIiOhbM0JoKWzYW3Ng9JIG6cgbd8PUMntX-CAClLu0IvOd435IgPXxhc1U98SRRD0YhGXkV9wKB6CF6AD1l5RDkFbQ234jTGdC5Mdku_4mRjPMpaAyTpBJLp_PmFlKPh5XI-dE_TtVkw4i2jj_tla_1_xaVqyZl91TXxSbxPuRPsHP2W-XzwAsjRaDxKCVSqXklwa8JrM-eVJ2ctxj4bM83v6shPVbPABgXtgH2aLFSgkyp_CcVAj1GvGK47YHIvr2IJS_tHxVjD1RRECzCAnLo6LbfK83bg8DYXAFGC0Q4I-btuZ59v1jitEPFeD5ApN6b5AkgPxyogSNAER5YxltgOCbQIa7vW7gm2qU7inhIQfr-8Nmxxa6F3mtDda41EUg6Coo7aoAdrDefzslyZpI-8XFhTUaReEC97KwsKyEh8Q==",
  "id": "rs_0e49ab2e55dffa22016aac752a6ef887d1a540af354cf789e9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The can stayed on the table during the vertical lift. I am now moving the right arm away so the left arm has a clear approach.\"}",
  "call_id": "call_AQnEgyrwPfSepri0Scpmp8wZ",
  "id": "fc_0e49ab2e55dffa22016aac752b198487d1abb83d839a5ae20e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AQnEgyrwPfSepri0Scpmp8wZ",
  "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]: [-0.0257, 0.8093, 0.6075, -0.4755, -0.0219, -0.0395, 0.9993, 0.001, 0.8021, 0.6949, -0.4992, 0.0536, 0.0216, 0.9954]\nstate[eef_state]: left_x=0.2823 left_y=0.0002 left_z=0.1583 left_yaw=0.0006 left_pitch=-0.1021 left_roll=-0.003 left_gripper=0.9993 right_x=0.2891 right_y=-0.0056 right_z=0.1949 right_yaw=-0.0645 right_pitch=-0.0232 right_roll=-0.0024 right_gripper=0.9954\nstate[joint_eff]: [-0.253, -1.4427, 7.2274, 1.8926, -0.0317, -0.0659, -0.0122, -0.1026, -1.853, 7.1043, 1.8584, -0.1099, -0.1294, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6d4c5a829aa4f9d6f91826b7bd5b05e2993934f43953f7c396ae910e611003c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d840f2f7e7889e7939f5ae46247e1d00f95f1c664e9785b6a652178f22d02928",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e73a4c8c7e4ca9c722773500816af5226cf6bb53f38d680ef352b6efbb9d927e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8032, 0.6075, -0.4583, -0.0219, -0.0391, 0.9993, 1.063, 1.9041, 1.5387, -0.6109, 0.8043, 0.7456, 0.9953]\nstate[eef_state]: left_x=0.2847 left_y=0.0001 left_z=0.1633 left_yaw=0.0003 left_pitch=-0.0789 left_roll=-0.0033 left_gripper=0.9993 right_x=0.3339 right_y=0.3458 right_z=0.1705 right_yaw=0.0172 right_pitch=-0.0306 right_roll=-0.0483 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -1.2376, 7.0769, 1.6532, -0.0269, -0.0806, -0.0171, -0.1846, -12.8615, 8.4991, 1.3846, 0.398, 0.1392, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHU3BGJvdiNo-qB1g6OJ9H1KEMd68J-5arOXuuIAyRZ_V8maDwOeYALMLApg1mPTrlT2di3G4t1OeOf3ayFOzXL9QJ1112KyCuvT_6QBOLCZfAllR9n-v78N8R4SDT9OpiESCdwXRkKG0nnVQmR6DiPfSKMKFZTKVFQKv4KpId5Ykw_vW4LJur_OTfq2MglqvN6lo4c68ZbVWERr6nqoSrwgd4ps9odJw8O130-ndJfNp8MJi-7B1psmSvXIqtC-nT4pkSs5ZSq6Ua8kUaOkItcRacuyM0zS8sU9nM163_HDf2fHm3vhumsm6igLXxIjMwfBtN_Uq6fA9Fm8hCHelX7ZCLCk90z2knObWrwJqwRtREXWGcVWcTSKeULsXNs1S1HjK4FPoFSFY72c9tzMYoElssVhS-f18TvmFslQfvgw4Rtv8L5iN9CmA0nydH-TmVYvXidSE4pYks6x6r9h44cW3Y8regZbbICc1x96NO8bsg95OE8rK2c2VQptTzUyJTXJKal8I1QCpJnKhdTSNsDMVDdP4YoI1YYb-_KN7XacAC5keqvD_t675HFLfMdg9pzp1O30yvzdDRbryfKl8UHFG6XeuqpGlx9F0joKRd5DYqfD7CFFtF43q_U0aAb7ns51Plrq3a4m7MA8dXlALKy3sLz_LDZNo2oVvBS9ssFtznvDePMry5kkLBCOkMXzrMeKZPU5DLNFt5-byDHfIODw_DB_HW_fnyW8urTb0ha6wWoy5VENQTDf7-Z4pqozKGSPa-WKBbVEFuoI4SjDdT2F8o2oaECwNV-ZE7m-ydTXW0JsQ3CU4Bn4RUo_lgVyTvFsTqBcQWVap_qAcu-l6z-dVvQd54uryS8dSB_5uu0C0GZTJKzeE44Ebf7HLoAv-pqw0uyw7q5b-Eupovlobk0-Nl2Vg1sLKeC5q8pp-ego6mua0KCDp3xSeSu46LD0BVTr-eMtAZy-XXrRHm_qZWwl7k1BSS8WvPw7WnCqbwAON0st09DOnpOdDhTEmMJverccXZgC1NtFwOYe70x3QyBHlD6fBTobV3d_us61QzJoBJh9DtZ9mMpXo138KGT7uzXROGYFUk5ZMG8JY8PZe0YvlpCEuO-eY7QqQcl08fmq3oJFRPwMmhJjA3wqqepcf6fXEwaZgad7cA0sgpumyu4YyS_U_KbBWUeGoyw0O7TpaLOUWD4vmIZeANRd57X4O3-09p4GDOzXtz9MJDxp-mAO6UJwsgipAr8IEDnHmiPn1bNDlvOGfjFQj1Hm8x9LSaVTWwyl_I7EI2u6LrQRSFjj78-2pkOZl7up3fAnqVkyi12j1Sm4ht_lBCZZ1_RQFer-N1mpgQAfuoikudMVdLftP7qLDIXrllslqTr-g4RCNsMBX9j7KxkFGMh5UcblGJ2J2sLcHvFVQHkwHBt13Uqs_8BgvnVdBXvPzzWOHKB980M0gKIG6n1O1Q9kCS-wEMu7TDMMnSKpf9_o_JWA_yWS_qeCwPzngnHrx6I-Xvy-O_rQ3rwjdOVk9N_xIhEpJpDVdjwxKo1i6PsjVaa6p0ijLOooNoORuDc3RUoee9eZzbkHqRuO5PvRCH-yCxEPbX2ReDv30LJyPTEqHCRoi4PY3IRKxymQmtriN9QNmmlq7odXJ6hAEGr1jZqqK4u--XUZ32zFaZV-1xM4TZS8iK6madMlYtlk-kISRbaabpX8pv_8kCxUz5NxXLGYAOEjttD89Q6tl3AQBNDxTD0n4AzdLsdTa3O1jPZtOXUjODv6ljs-bPoj7WvjAXdj97tLnWGOFmxbMA1mrmcOm3gxvH8OiOR4Cj0prQ0YSpsdkMXGwfhedNjSlMV6FKmdHNB1TggI3SummoabKt3USWYQdbEbCe97I65E6TSprMC5CjkMyyFYNgtKD49gZxitjv0f-csPcvgIEXmXhT-3Grm1XgIG8E2AjFmbZRNMnr9RumLl-mxA9TFAuBpvAUE5nmQN9LY-",
  "id": "rs_0e49ab2e55dffa22016aac7531b03487d1b5695734bac78f1c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.307,\"left_z\":0.15,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The can is now clearly resting beside the burner in the shared workspace. I am bringing the left gripper over the middle of its body for the final placement.\"}",
  "call_id": "call_5mW1Idk0yWFuPSQh8p3hSSMI",
  "id": "fc_0e49ab2e55dffa22016aac7535fb9c87d18a8ea38ccaf6aec3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5mW1Idk0yWFuPSQh8p3hSSMI",
  "output": "executing move_to over 28 steps (2.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8959, 1.8709, 1.3365, -0.3138, -0.7017, -0.63, 0.9993, 0.0006, 0.8059, 0.6907, -0.5232, 0.0414, 0.0044, 0.9954]\nstate[eef_state]: left_x=0.3887 left_y=-0.2974 left_z=0.1374 left_yaw=-0.0038 left_pitch=-0.0352 left_roll=0.0167 left_gripper=0.9993 right_x=0.2856 right_y=-0.0036 right_z=0.1871 right_yaw=-0.0453 right_pitch=-0.0556 right_roll=-0.0111 right_gripper=0.9954\nstate[joint_eff]: [-0.5538, -9.6752, 9.0188, 1.3651, -0.486, 0.0171, -0.0171, 0.0205, -1.4974, 7.241, 1.8877, 0.0904, 0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce9e04fe680e32d5d7fdd9c5bf527d93e2284e2d5b490195eb6ca72800496725",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5daaa7ed2644bbf3bac6d48c52e00a8bc586bde2c44f444da26e76123eda721",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8129d43b1c27e816d16214244088f98ed52cc3fdd7755192973d2234af99b31e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 88 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8093, 0.6075, -0.4755, -0.0219, -0.0395, 0.9993, 0.001, 0.8021, 0.6949, -0.4992, 0.0536, 0.0216, 0.9954]\nstate[eef_state]: left_x=0.2823 left_y=0.0002 left_z=0.1583 left_yaw=0.0006 left_pitch=-0.1021 left_roll=-0.003 left_gripper=0.9993 right_x=0.2891 right_y=-0.0056 right_z=0.1949 right_yaw=-0.0645 right_pitch=-0.0232 right_roll=-0.0024 right_gripper=0.9954\nstate[joint_eff]: [-0.253, -1.4427, 7.2274, 1.8926, -0.0317, -0.0659, -0.0122, -0.1026, -1.853, 7.1043, 1.8584, -0.1099, -0.1294, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHU_hiXyCdf6Gsl6f_6gTwRRReWdynloNeAq90Mtf07E2W4qyqGA71PTx2qOUmVvgCwffov7pVhPiIgzafFCJHqpsuM1DS2Wa8e2O4yFcmA18SII8yno3Rvub1Nsm5_9M-ruUe5zALEQpvAeej4dxDxkZS83foivkV9JmYFOBliG7GaGLb4NYFZMkY3BLJy9C6K2YEGpXn-TwDU8sl6EN3_GVPBxwFKXrf1czQd5PbRZnqUITmfVlYV3U8tGsnzRF9jQ3eKHZEWdpnNzmQbVlWQOAkDTmY9N1Fy9cfzbnF6bAssbsafr42cdQb0gM2GGJTiZDceKYlQxWRJfgIOtN4uhVtzKYGNVCXRi_j765_c4HpZddwWpcjaBkRRSX23HVaqh9GWi8JOP_mPyVHZkN7_2XVYk-M4TauujaY7dJyeL3irxKzyCahovoZ5t2ZmaZXIHtBscgEMkiGMPt1k4KQqE2TUVyG-gVJCVFPQPTl1WTYEfo83k4sZMY41B_mAbJqQb9evgqbo4CMkZeAa-0YlPN8nmL-wkT1NigKf4Hy76Shtu9aBYCiMpHFBE1NCvBHfy5utPQxZV5K61cu9GP1_FLJMj2L0OWC6frDVw2mnKK0m1MI-d6Z-vTgstVIoPgV-TR1BYB_GTLASfFgy308OUOreUatvzHJZtdIoJZdnhowcO_o4kwCOMW-8WukCmAFJ3k_LzGUdbYlfkqp3dob5xuwMsqyG0q-1evGSZewZe9dWQfOAYssEGu_dXyDDh7mUIBJLwO7Y2wQwziRLBqvvC_2f38XY138RmvusjL206VDo-c4U1n0zVsb_--p5J9i9E4Kt69X2H2KmwNdbzBEM36GUepbXWaq638JHyhYljFs1i7-lHZVYYGM-p3IExeHNjmMP_S_BUmRM_S_eVxSiMzQTSUpFggOIByEipfeWA7In2VnlKBebfDQcXfHoIJA1-yzsHH4hFrOpq3MXTJBWWaNkYsaHJzJxYgcUaDB-zzAnAPv_Lp7-aLB3mdoxNBCl5HqrdN6MQ3GP1LNi9-sPEvrsWXx1wlgYp0rxJ4jVELNRdZKG5iWh9gk4id3VghtWdSkZ9j-Vb1OBJaeXYXNKQHDbyGC9yvwgVdNKq8EYyOaLFv1eItDF9iSOeyE1Z93taLRnFM2xjFKRPkmyLI7RhubMMocM1uMH8EVB440_ZH5uU7kwE8F5i81YPs2j377M5lZPzdjSef8ME86JssynTGWpSUtMdvWkgRlpUNlBiLdLYKmHaGYFFxx7IO-RtAyTWwPe3eN_13IwrFz9plMlhdacGL6IgctTJQMp2qV9aRy3sULz1h-xj7tHEDac3shPBLL8JfgynfZNLEeqJGU7PR6noGI9VTEfoEI7JOJwox158q20peKLT2txYbZyd_jW-T54Vf9AlYbOEhckPwyAFeA==",
  "id": "rs_0e49ab2e55dffa22016aac753bcf0087d1834515d98cd3d706",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.40,\"left_y\":-0.283,\"left_z\":0.035,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The can appears slightly left of the jaw center in the left wrist view. I am correcting that small offset and lowering around the middle of the cylinder.\"}",
  "call_id": "call_c7PRRGyd1djTggjDdmDsisgI",
  "id": "fc_0e49ab2e55dffa22016aac753da71487d18d2f749be8f3c34a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c7PRRGyd1djTggjDdmDsisgI",
  "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]: [-0.8612, 2.0182, 1.0966, 0.0875, -0.6926, -0.5926, 0.9993, 0.0006, 0.807, 0.6907, -0.551, 0.041, 0.0032, 0.9954]\nstate[eef_state]: left_x=0.3936 left_y=-0.2797 left_z=0.0387 left_yaw=0.004 left_pitch=-0.0321 left_roll=0.0321 left_gripper=0.9993 right_x=0.2815 right_y=-0.0035 right_z=0.1814 right_yaw=-0.0445 right_pitch=-0.0846 right_roll=-0.0131 right_gripper=0.9954\nstate[joint_eff]: [0.7316, -9.1829, 5.0393, 1.3407, -0.2271, 0.0659, -0.0122, -0.0889, -1.265, 7.1726, 1.9609, -0.0122, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e81bfb4f2b91dbc42bcbebdcf4232bf2fcf924f57f033414e794b9ecfab9bba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26a32d0bcfeac4115c8fb54fb5665eb0c67d7b73f18c52a9747ee4452d7c1f6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bec0ccb91ef611d36870eb5b1d85bc75122c2ca69c9200e8e9ef36b397e5c666",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 92 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8959, 1.8709, 1.3365, -0.3138, -0.7017, -0.63, 0.9993, 0.0006, 0.8059, 0.6907, -0.5232, 0.0414, 0.0044, 0.9954]\nstate[eef_state]: left_x=0.3887 left_y=-0.2974 left_z=0.1374 left_yaw=-0.0038 left_pitch=-0.0352 left_roll=0.0167 left_gripper=0.9993 right_x=0.2856 right_y=-0.0036 right_z=0.1871 right_yaw=-0.0453 right_pitch=-0.0556 right_roll=-0.0111 right_gripper=0.9954\nstate[joint_eff]: [-0.5538, -9.6752, 9.0188, 1.3651, -0.486, 0.0171, -0.0171, 0.0205, -1.4974, 7.241, 1.8877, 0.0904, 0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.4},\"note\":\"The left jaws are aligned around the can, clear of the burner's edge. I will close them gently to secure the can.\"}",
  "call_id": "call_nkl4KIUdQPrHnAaQRjJ8pkUm",
  "id": "fc_0e49ab2e55dffa22016aac7542088c87d19ab27eabae0ce3d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nkl4KIUdQPrHnAaQRjJ8pkUm",
  "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]: [-0.8623, 2.0197, 1.0931, 0.1162, -0.7048, -0.593, 0.62, 0.0006, 0.8082, 0.6895, -0.5762, 0.0406, 0.0029, 0.9954]\nstate[eef_state]: left_x=0.396 left_y=-0.2807 left_z=0.0418 left_yaw=0.0111 left_pitch=-0.01 left_roll=0.0195 left_gripper=0.62 right_x=0.2775 right_y=-0.0034 right_z=0.1757 right_yaw=-0.0441 right_pitch=-0.112 right_roll=-0.0144 right_gripper=0.9954\nstate[joint_eff]: [0.0205, -10.3316, 5.9829, 1.0818, -0.2222, -0.0464, 1.0232, -0.0889, -1.1829, 7.2137, 1.9023, -0.0122, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dfbc8d45d5e9a6c1fe010472136c7a1e03dcb39cb6715b127cfcb9ae259eaf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95184d32c4c305b74b58314cd4ae76d79df519b610a4eca02d90dd7456813ea6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:845199210e4a31d31006c0def05a948554aa47a403cd03bfa3f36e722e2c4088",
      "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]: [-0.8612, 2.0182, 1.0966, 0.0875, -0.6926, -0.5926, 0.9993, 0.0006, 0.807, 0.6907, -0.551, 0.041, 0.0032, 0.9954]\nstate[eef_state]: left_x=0.3936 left_y=-0.2797 left_z=0.0387 left_yaw=0.004 left_pitch=-0.0321 left_roll=0.0321 left_gripper=0.9993 right_x=0.2815 right_y=-0.0035 right_z=0.1814 right_yaw=-0.0445 right_pitch=-0.0846 right_roll=-0.0131 right_gripper=0.9954\nstate[joint_eff]: [0.7316, -9.1829, 5.0393, 1.3407, -0.2271, 0.0659, -0.0122, -0.0889, -1.265, 7.1726, 1.9609, -0.0122, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.105,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.29,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The left gripper is holding a roughly 5.9 cm thickness, consistent with the can. I will lift to verify the grasp before moving across the burner.\"}",
  "call_id": "call_YjlpXoKclFZHK7FyaYxceptH",
  "id": "fc_0e49ab2e55dffa22016aac7545ec7087d1b3cea0f3091337a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YjlpXoKclFZHK7FyaYxceptH",
  "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]: [-0.8623, 1.9224, 1.1316, -0.0452, -0.6991, -0.5934, 0.6196, -0.0238, 0.8005, 0.6895, -0.5621, -0.0059, -0.0238, 0.9954]\nstate[eef_state]: left_x=0.3907 left_y=-0.2757 left_z=0.0757 left_yaw=0.0077 left_pitch=-0.0296 left_roll=0.0361 left_gripper=0.6196 right_x=0.2794 right_y=-0.002 right_z=0.1803 right_yaw=-0.0146 right_pitch=-0.0909 right_roll=-0.0052 right_gripper=0.9954\nstate[joint_eff]: [0.2667, -12.3966, 8.7726, 1.5311, -0.2564, 0.0952, -0.0513, -0.4718, -1.812, 7.2547, 2.3077, -0.0904, 0.0024, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ed73443b843eb62cf7f6fa4aa0296073dacc4e9cffb2881d53f463e20a1c56f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1078fe9619293568aecac71c355b767cfc3bef38e8e0c2d5cc630441ec8bfd01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b998ed6e498512d037042bc5aafaa16c8534aa4c71a07105162968003387b9e3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8623, 2.0197, 1.0931, 0.1162, -0.7048, -0.593, 0.62, 0.0006, 0.8082, 0.6895, -0.5762, 0.0406, 0.0029, 0.9954]\nstate[eef_state]: left_x=0.396 left_y=-0.2807 left_z=0.0418 left_yaw=0.0111 left_pitch=-0.01 left_roll=0.0195 left_gripper=0.62 right_x=0.2775 right_y=-0.0034 right_z=0.1757 right_yaw=-0.0441 right_pitch=-0.112 right_roll=-0.0144 right_gripper=0.9954\nstate[joint_eff]: [0.0205, -10.3316, 5.9829, 1.0818, -0.2222, -0.0464, 1.0232, -0.0889, -1.1829, 7.2137, 1.9023, -0.0122, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHVNhV0zlCrYITS6isHj73PEYRezakA1v1DCf25pyt7qrHaODBHBaXA-0c1y6EQRfhrCM25_kWWArZuPZA0Oc_cY1PZMTeKGvqtMKcKWfSH8cRv2EvnO31GtslTncxFcsyE8DSvnVBt4ABI1JT2wfCbLM1cqPgMD7XUiyqMiHDoA3hLktNEEMUU-Kk84WUyNiMdfG7vKb0B3XT5sgkQYrph-12k5Ze14yfKa5qNYflJEQXsdv6_4OXp3nQi0HdMMZIbUcogU3LzGmbcmPlwXUaFmAs07oXUGlJiKZMAgGWKsj1jM5l2kiGbg27WTmTkM8cF7bQh8u_4MDDzm8YWromRpCAc2NYQQYxBla_9EZr7nwjn9bohnkYNrWb4gPQRFCo2puOmcZTACDaqcQFIZI0syGK2sNbW6G8GxHNvDzADSwdiszndRTRa84xL9lXAyajXvFMnyStRl0Nrz3asF_-iu254YqJjqdud6KGxxT3Be-f52a3hDP1loCnaPaREuhD5RbM3PNS_MUxGWTznUKwYOzntw20h-SLiA9s70LDAGvvBjK1lRTtGi8n6A53Ypnq0e_RrJplEV7xWef-OfegtKDNux3GxnhihZNUhY_AWIwEdht9XJWJOjkB0jJJJaEgF8Yu5OyYBF3N9VOqFNtsxvEBTa3qfLzPILHYmj8XH42Thx76nudvafTaGYmJTkL1wy0hMtt6riIgpuNheenx2YIv9l-bH9kYOKGozQXjxJOefHkLlC7uLUZWiDfbvr0CzDzqJ2UpOYfhsjMrv-Rp6U7TT4_QYlitP64suJwS8NBOkWy4g5HICn1TXD2sCjH5Dq97jzfpG6Tkta__lkzpDCc_MoIckZFuZbOvzw0zkTkLqGbmZDQuuGUr14AAuXpIem7NkCNp-Iw5jU3DzS-g9KSYEc6mOKAXlPjktPpcfecRDnvOsEihEPBhgN2zJLBIAfzIQXmo1s6uKcF44OOxgVaUrcswsx9xengoR1Z-6YYan-GOLtg40M0cVksfek8IX3TDWHG3f2aqqLMnq7Zs-lmRw3-dOpAauakPXB2Y29l4Sx4I0uMCRvCBTuzzowtaeVwgmoy7CLU53LoqUz-w2L7mv5jwhwxw6Sju9CMDrr0NWEmEjyWB2aFmBrsByt3o22ZKUkV-YWIQQaHP-wNEZhWHSkDXyE6NQaGChlHCyVcpmxqoLgIKSkPH0cPQ57vVAXu8S9fIZnOTu-KuEBccgbS2ZDhRi_uMrVhsjschBz-3zYhTxdTrMG0iaAfOLfxT2Xo3HyLgPI6CX5qyHzpB5NrQ4xcBVmiJecg8sTgNQaSsD0TAkjo_51LeyuvqoKgrX7Qmi9h1GAmnBtyHqlEe2Tw6vQEqVUS2rq8lhu2x626UFnPikNiG4--TSVl7TUwzft95szWpzcGOpjV3XptPdpHz-RqCpgI7f7l44rLwX452c=",
  "id": "rs_0e49ab2e55dffa22016aac754a297087d1a8cd91a8f18396a5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_z\":0.085,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The can has not visibly risen enough to confirm a secure lift. I am tightening the existing centered grasp before raising it farther.\"}",
  "call_id": "call_6ZWwOGOn8v6thVHGRidCoumA",
  "id": "fc_0e49ab2e55dffa22016aac754be2b487d1ad0f9cf52e451473",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6ZWwOGOn8v6thVHGRidCoumA",
  "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]: [-0.8623, 1.9026, 1.1057, -0.0223, -0.693, -0.5911, 0.009, -0.0238, 0.8032, 0.6876, -0.5911, -0.0128, -0.0265, 0.9954]\nstate[eef_state]: left_x=0.3883 left_y=-0.2742 left_z=0.078 left_yaw=0.002 left_pitch=-0.0222 left_roll=0.0222 left_gripper=0.009 right_x=0.2748 right_y=-0.0007 right_z=0.1733 right_yaw=-0.0073 right_pitch=-0.1244 right_roll=-0.0025 right_gripper=0.9954\nstate[joint_eff]: [0.1299, -10.6735, 5.6684, 1.6777, -0.2662, 0.0122, 0.735, -0.1983, -1.1966, 7.0496, 1.8877, 0.0269, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ac64833f0168446657a0a1efea68feb4f5e31f37fe58a3978845f0b85c25b62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9da423aed09e085b11856743e91299d0fcb95c7d3bf5b8c8121265d35d553433",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:279942d7e2d9ea2d25467dec82c800e2a92a464bee60a90670e6fc26d5e0f115",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8623, 1.9224, 1.1316, -0.0452, -0.6991, -0.5934, 0.6196, -0.0238, 0.8005, 0.6895, -0.5621, -0.0059, -0.0238, 0.9954]\nstate[eef_state]: left_x=0.3907 left_y=-0.2757 left_z=0.0757 left_yaw=0.0077 left_pitch=-0.0296 left_roll=0.0361 left_gripper=0.6196 right_x=0.2794 right_y=-0.002 right_z=0.1803 right_yaw=-0.0146 right_pitch=-0.0909 right_roll=-0.0052 right_gripper=0.9954\nstate[joint_eff]: [0.2667, -12.3966, 8.7726, 1.5311, -0.2564, 0.0952, -0.0513, -0.4718, -1.812, 7.2547, 2.3077, -0.0904, 0.0024, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHVUOORuyq3mZPtqflMcJSDVziViHEubY5-ousCtpgeQdTozfVogwhIt7ToMeHDdKcijlbD_DXB_xRTCwPBB1r5MRUj7s2Oa0BGX3Iry7_VzX5-VyMJCf8xW6UeOuoAzudHGTl9ANwo6LmdTLIdfAANnBtLDPjbWOIIC0DGxqSGF2QUMHufrUW0zt-syHqi0Mq5MgUHPkQ13y76TF9fyja7mHbOWtLKC46KPAXcLF8an1qvYS1XtV_Cg-BMLDbl-uY-98GnRw8OANt5Y0lkAbifsKD27uIeHnEeqLT9mJ6K1N57NHhEZQn32Wvf8tz7oG6uIH785ondNffO8hfqqlRxMUqyevNJl5ldjL1M6bXEgaKqlt5FsijGviWTRIsklaYZLahL3sI9UBczWroO7WGHAgbnMUvP2GXfDxQhaSfZDPmUBj0SRe0nIHHHBfxxr0-S4naceE5vKpxBNat17DDkT8koBlAhdw2pFKLB5FO8g3ZxnflykTKnL5_DfMI4wmIg1Q2azTGiTJXbk0SU5NSwaMB7ai34PJQHp76wki0jB8SNTjhneT42epC0NxMaXxKuT4-UFRBoUHD7zfHReKWa_bQZJAJktDmEh1E5ze1MIVmGDM9Yf-8FkYJupbnmqlUZeAF9b7asdNe-n__OqGoY_PxeQVYfARlQyUo65S4cyo81maTI3gXXY3Wfs1Z6vorSkE69Ft5O5TmDOW5yIPCYseNY7rhxX5Z09sWh4DTaeQB90ck7mcLhZtfRPph9saas1IfN8TZE5hG9AfPNxVbdP9PyCQP19XvCL4gJCrMGo0c6XsRSYqaaR0pElcoObeUxsijpV39lKwH890Of2fCQzbPslUTixrLmZNrhTYNG60ZOdWLAKQoLRYXpjbHIt0Fy9wpBt9bsO8oLc1b8YZN1MdLjsp5h97yB9V3fuCaEKXjj7imqROp6PhP9Owt3vAxXF4aJXcwMALSUlmpSbD5400yXKlN2xgQqF2rigHAcxZ3BFDFBkhx421S5jJdqCu9wSMmOmdx3uXJQdml6CbtoYqO5JvI-l7SP_wd2GsMxWucQY3wsyIoLFiIz9mvthLGktEvAjU6-Za-EkogsDZHj7Jv-Hw6zDLhRAPk-6SHL5YJGrKVBuC8bH5k3Mu7ZBPrJcimG9pb2ZOkaO9oLfYQlujFNC4IIoda8NYLPwooq58EnuxoYS7E4EZRhHtX8GKmyof903GHZgWLYC03JhqT6CR0hMCOe5ijnLgwyxS_Z2RwQiCmnAbjGq2Mt9GFkqnmD4O56Xd_Ft01pw06mRlKw2jutD_ssjocxuy8BXODSnyWdwoeSbnRZZZzwGGKSf_z3CYXklXjJcRTYoWWMcan2xd0_zgBivGKw_RbtQpFdrFPG45PfsU8Q4Cw9PFG4GI4XtuxcNy_0LDI_TKQeQDadZAO7Ye9eBsYZCodTaLxN9FKWvo_q2_8wcVY8nX0NqSPcRSbabITWN6mYMLEVmYCPSvPtJ29VwwW6g0xS7kTnakhTrpx02Qe1WNP96reRh_uJqT3Kf-fLQPePbV9vugIdK3XcvSFoOhmx_Gtjs9Msi472wk-5yGh4CryxnCcRHNjFlIwWNPxbxnX-DfYhYxRj-BdmZCOkASZTwuKVGYpIxnQNKjzGOZZQ1GjkSiFzOD9hIPNFEVxsyyFd9jTvF6vk-4g==",
  "id": "rs_0e49ab2e55dffa22016aac754fdf2c87d1b9695632dbcb2c95",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.42,\"left_y\":-0.27,\"left_z\":0.012,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The full close was empty, so the can is still on the table below the fingertips. I am reopening, moving slightly forward, and lowering to grasp its body nearer table level.\"}",
  "call_id": "call_M7vxDpR75UizXaQAQ68Om0rL",
  "id": "fc_0e49ab2e55dffa22016aac7552ba7887d181146721136403c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_M7vxDpR75UizXaQAQ68Om0rL",
  "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]: [-0.8017, 2.0792, 1.0809, 0.2882, -0.667, -0.5472, 0.9954, -0.0238, 0.804, 0.6857, -0.617, -0.0124, -0.0265, 0.9954]\nstate[eef_state]: left_x=0.422 left_y=-0.2737 left_z=0.0332 left_yaw=0.0207 left_pitch=0.037 left_roll=-0.0342 left_gripper=0.9954 right_x=0.2703 right_y=-0.0007 right_z=0.1674 right_yaw=-0.0076 right_pitch=-0.153 right_roll=-0.0023 right_gripper=0.9954\nstate[joint_eff]: [0.6085, -8.8684, 4.8615, 1.409, -0.0415, 0.149, -0.1636, -0.1162, -1.1556, 6.9812, 1.8779, -0.0366, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a06df069e27bdfb30c83ef0ab60af67b37abe9570f5ef42c9a0b913a104ed75f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4406924547b686a27b6293d87ddad4762e7771a5d9b47559f92db752745d2a93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:908a1125fa86fc67e2be1b1c61196d84010af83eca76faa9f48127cc13449c0c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8623, 1.9026, 1.1057, -0.0223, -0.693, -0.5911, 0.009, -0.0238, 0.8032, 0.6876, -0.5911, -0.0128, -0.0265, 0.9954]\nstate[eef_state]: left_x=0.3883 left_y=-0.2742 left_z=0.078 left_yaw=0.002 left_pitch=-0.0222 left_roll=0.0222 left_gripper=0.009 right_x=0.2748 right_y=-0.0007 right_z=0.1733 right_yaw=-0.0073 right_pitch=-0.1244 right_roll=-0.0025 right_gripper=0.9954\nstate[joint_eff]: [0.1299, -10.6735, 5.6684, 1.6777, -0.2662, 0.0122, 0.735, -0.1983, -1.1966, 7.0496, 1.8877, 0.0269, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open jaws now straddle the can close to the tabletop. I am closing fully here to establish a firm grasp.\"}",
  "call_id": "call_S6NBN5tgkTKPyEhftKwivP3d",
  "id": "fc_0e49ab2e55dffa22016aac7557a47887d1990b7d610d4c5e61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_S6NBN5tgkTKPyEhftKwivP3d",
  "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]: [-0.7998, 2.1036, 1.0794, 0.2893, -0.6636, -0.5514, 0.6984, -0.0238, 0.8043, 0.6857, -0.6365, -0.0128, -0.0265, 0.9954]\nstate[eef_state]: left_x=0.4207 left_y=-0.2717 left_z=0.0211 left_yaw=0.0218 left_pitch=0.0184 left_roll=-0.0212 left_gripper=0.6984 right_x=0.2671 right_y=-0.0005 right_z=0.1638 right_yaw=-0.0072 right_pitch=-0.1729 right_roll=-0.0017 right_gripper=0.9954\nstate[joint_eff]: [-0.3214, -12.6838, 5.6274, 1.4725, -0.3346, 0.022, 1.0281, -0.3077, -1.1282, 7.2, 1.7656, -0.022, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4563d46f6ccdfb371352074728ce28cfe673911d5b60cefbbf5e207baed6abe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a02b58b4b0cc4fc228a3a9e73084248f33bfe2acf8dd9f382e936dc43930586",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6e20226f96ff6e4e240256c813dbd264ac281cef1a0916d3bee7bfe8912cd34",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8017, 2.0792, 1.0809, 0.2882, -0.667, -0.5472, 0.9954, -0.0238, 0.804, 0.6857, -0.617, -0.0124, -0.0265, 0.9954]\nstate[eef_state]: left_x=0.422 left_y=-0.2737 left_z=0.0332 left_yaw=0.0207 left_pitch=0.037 left_roll=-0.0342 left_gripper=0.9954 right_x=0.2703 right_y=-0.0007 right_z=0.1674 right_yaw=-0.0076 right_pitch=-0.153 right_roll=-0.0023 right_gripper=0.9954\nstate[joint_eff]: [0.6085, -8.8684, 4.8615, 1.409, -0.0415, 0.149, -0.1636, -0.1162, -1.1556, 6.9812, 1.8779, -0.0366, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHVf9YESRNCpLfbHdm7NdjUrM2gKsKCR-n_DwDC44ibJAVjsCu3DfEtvsvsCXA4ltCRv88a900p7IZ3l7d-QT_1xFzSE2GO-FQfSTYc3M48FK6kHoNZgHNjjFcHJA7rmdDr5lrPn4vWxd6ZI1q_MdrqgAZu9eRdqS2H8nR8Ey0nZpNjRR0vVXE_FNvV542VbP4rc77ImMd_TVw3Xod9wSBzCVdVPn3i2LMIxNMKzvPcvvjYFEMC2mTDytUn2DFKKeKWbY_GeEqEnBEeDRxUcYgCnqeaBmn4t3q-JWOkCK7ixOo9n58oQAfdSKOYJq6HDuj6_y80LW8UFvSer1lwOzLh9mKWlk06ktDr6q46mPNJvZHYRJwTutJmll1KgSOhHtUk83NsQzugQcAoCA-pDt7bnZUZplv_h6jQZwZ8_mf1FhqGV1hSwpbTA99fTO_0de6luk8kDJO1uWhX95D1esjV2mOg0RwraUCBWyOBg1dUnQnpytarbSYpwff4dq29t_c4YSnyOPWjIqIecuUx30c3ctzc_6YQtUC0HdbfVn0Ay3r4sEAVsTDY-y3mXsIam3P_qKGYpAvkASDz8qvWFbJ3yQiZdReiEToOZGsQK22TpZT__yuzfbe1hxiqVAZ0kB7XaoP2dejq-CfogaMNUTVsouTGdDC-xzPrQjIwO0JrbuDC9TGrSPtn8RCPyBf0t5QLpmS2ZpGmRH7-GErK9ne0xWIUwqIs0_2vaJbkM_2DalBfVJQIHsXLh4VUVkefzjW4-SVn81RDD2UfDXRMY9IxKGTCN_tSpUs5R-SqHqo_pyIgsC-GS9fnR0EYMmmNUsmWS0wh-vCOw_YMDrd2N8lNhlwhu7dfdZXm9_r01oyWH4Ikav-0_GScVcYaT6VbgH8JcPfVjfW_Mwea40GJIE9EmPWst_HIFL6OIMN4aTt59jb6SefVr0OIH9o0YGofTwUpLoi44sf0vKaA6a-yn4zQ9aeCAKq-C5kK3k1gsXr_0CXCF39CEuJVKk7m9UzvocNbhWfvbfV2ehqQcmUixxMBbzodG0qxYDLnTekr1lU2NI4ciPMQdFpKls1q2IdKswPIKUmGcaDI3JsRYFP9WnRA6Eqa83rP_XDyOMq97CFFXZaHJzK0sVCj3SCTJ8sqK3B4fh1q1osTNvEqir9E4KaAGOu4JU473zIjwp56-Av_mRlOU_bjy45xhfSuSb0qimzzb79sNqFrlDS5wQigog3UKq7u76SAWhK2JriEgWyu8EKs8zb-ZJNzqsHtafK2m6WTTyl0mS4tNwiSmj8frZJdP8xSvF-CVrzTMeT1mxyYECYs=",
  "id": "rs_0e49ab2e55dffa22016aac755c196c87d1a6c5e256ce06307b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.18,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The gripper remains about 6.6 cm open under a full-close command, and the can has rotated snugly into the jaws. I will lift it clear of the burner housing.\"}",
  "call_id": "call_XM8xg6EkY89W0DLv8jcHXIZQ",
  "id": "fc_0e49ab2e55dffa22016aac755d2a6087d19792f5081e2a1b38",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XM8xg6EkY89W0DLv8jcHXIZQ",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7979, 1.8702, 1.3525, -0.297, -0.6437, -0.5533, 0.6997, -0.0238, 0.8043, 0.6857, -0.6651, -0.0128, -0.0265, 0.9954]\nstate[eef_state]: left_x=0.4175 left_y=-0.2711 left_z=0.1415 left_yaw=0.0113 left_pitch=-0.0464 left_roll=0.0258 left_gripper=0.6997 right_x=0.2622 right_y=-0.0004 right_z=0.1587 right_yaw=-0.0071 right_pitch=-0.2015 right_roll=-0.0012 right_gripper=0.9954\nstate[joint_eff]: [0.1026, -13.2991, 9.6889, 1.5214, -0.2662, 0.2418, 0.9011, -0.1299, -1.0735, 6.7761, 1.8632, -0.0366, -0.0513, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09b06a6cb48d643628fd49d5eca462ecd8af693b17a4dbc5edfa26ea6b092d39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eaf844348b9d3df4cd3bc253b4a9d116432b729cefabc8077ae02e07b8e32bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2521ad2aa7ecd597f8ff358ef1ab5bffef38dc213af5df0d141ef6bf59c40aac",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 113 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7998, 2.1036, 1.0794, 0.2893, -0.6636, -0.5514, 0.6984, -0.0238, 0.8043, 0.6857, -0.6365, -0.0128, -0.0265, 0.9954]\nstate[eef_state]: left_x=0.4207 left_y=-0.2717 left_z=0.0211 left_yaw=0.0218 left_pitch=0.0184 left_roll=-0.0212 left_gripper=0.6984 right_x=0.2671 right_y=-0.0005 right_z=0.1638 right_yaw=-0.0072 right_pitch=-0.1729 right_roll=-0.0017 right_gripper=0.9954\nstate[joint_eff]: [-0.3214, -12.6838, 5.6274, 1.4725, -0.3346, 0.022, 1.0281, -0.3077, -1.1282, 7.2, 1.7656, -0.022, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHVndpIsshSjS_sYB4H27fJhqp6AOksh71Mb39D845do5_OEVd9f2EbdmiiCecZ_RE4T_U9r1vRi1WX9ndfbSEq_B_k3WDL2evTN8TEhVLaFAEe0VzIUMVFBBSEPttc68vC4OXSp4CjU2OMcP4KqExVYTCdYikyzx7ESCkOBaTsV6rnx2c1bUr9S3azd1IuOFDByFYOGydArICaBwk2yoF_WJW3SpVHnKI7zajiZHxHxEbdRoVWEntTUIv5Y7XFFKESAZKlIQDBq_F5d1oqeWKb14IXyuppV4Se3St3S4NpEsn95bgoRmatGiFuaadPK9BBcuh8jxquYz91HHe43m4ViHOpR6xdRdGEnrGZtj4pHOd6XwSVprgyRDxVsrIMcJVdXtit0MHqilCMputokS20rfL5UOJvGKvWaHE_c3bpLw3753Ah9VYeJybSFA4Bq1qdzrpivR6QNNi21dwUZjX0SULGICKJiD6ViAn0DIUjIxU1MNnw8eufTD0f925EC-6Dd0INOZNJgwl-x6rdFUTfyMXBzPdiFyj7KJYLHszgh_k96jrAk_jAhO4Wd7xSLErDCrG7MQwHc3UPurqYFxqyKhob2C3M5mRUM4PI7TNofrYcT2OeY2Gf1Z8l3JhymvjvroJkM9i_OXQJX8nQLSBB7IcyfDmKAw21qxdlDOwKqK3JejG8N2rKuqRpAVHtcRnH0QxkqNuWqKzQPvsm2w2bsTwXnzHAU2CVc-O5wsqoTpevwaJPuToOgZc8y_F-pLFlETKVcL_LjI15BZ8hsYf7Mii_gOITw79OGDzQrIBqdZv7k_J1JaDDK9XrrxvqtxVYpgIYMItXld0RGsDTbJC62CMbD1NOLHB_gDjRIi6StEaeoqvckX1eEGdlvc0BAMScKOsGBnwa3jj3uDkr7tJVtDgXltF7wZ7i5gRQU4nvH2VHbc1rk848iPgCsMwSwPLZgz2BD6BABp3eRCUC4Jy_Ps8e2pqUKo8ptRrKYtz8PRSD01v7Oiox1h_AOrpl4lvPWDrpS2927HBwdmlkaMc3TVYjblcyI94RC4UpXdbmsJlCh_RWMgbqi2KcoNSlFqQ6HgsmfPFji9gX1Mp5Wn3Hg0SMd322zAVaM_EyrZl865-ZhfNsZZo5jUEYQHiZtmreWYPAzQSDr_75btgdFG6-juNxVKQxyIrs9XciuGpbVHBilp1I2edhVLSSjn5jBkn0o0h9MtvfCesCpztXsO86mGbiJe2Uj7OQvEsd0OclctDz9UR5vr8xVLEo1bf5xd8g0QUP_FG3kQBCVy8ImQOE3Qlex9znLyx5ujxOPwce29oFs2WxAoR0IQDLrbVmF0a6Wd-0EHW0gQj9WLYXnrBDBPhm-KD8XSosAmlKDN902cmKumyqsXzQHFyHapVKsn2DTpJNWGAPLOEoNK4vBqHcYssEW1SMCeh6ZJ-rfxxqRHhO9dmvYwvwUgA1HjF10yl5oBM3DAnEgyJmzb12JJo6VRgJn4PMmJMBmdIU9snVORP2FPmZdmR7ynjo5HHWqY578QA--aJtnRUGaPg9NNfhy3AdViRdIqVGLimxie4FeabbUCNp-SsiZEoVlQCehGWej4DC6Uabv-Mn0ew2ew6U6rXYP1yBm9JHU-SJreNXyuXbzZ5EC242hdVm6mSD4EkAT",
  "id": "rs_0e49ab2e55dffa22016aac7562908887d1b45814afbfd615e6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.14,\"left_z\":0.19,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The can is now clearly lifted and secure. I am moving it left over the circular burner, allowing for the body extending forward from the grasp.\"}",
  "call_id": "call_mSUZAcyNWicX9zIepvQeEOb2",
  "id": "fc_0e49ab2e55dffa22016aac7565a33487d191a0db55a6be0043",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mSUZAcyNWicX9zIepvQeEOb2",
  "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]: [-0.5804, 1.393, 0.955, -0.2752, -0.4896, -0.3862, 0.701, -0.0238, 0.8078, 0.6849, -0.6796, -0.0128, -0.0265, 0.9954]\nstate[eef_state]: left_x=0.375 left_y=-0.1423 left_z=0.1746 left_yaw=0.0197 left_pitch=-0.0407 left_roll=0.0151 left_gripper=0.701 right_x=0.2596 right_y=-0.0003 right_z=0.1551 right_yaw=-0.0071 right_pitch=-0.2201 right_roll=-0.0009 right_gripper=0.9954\nstate[joint_eff]: [0.1846, -7.6376, 6.9538, 1.8095, -0.1929, 0.1099, 0.7497, 0.0068, -1.388, 6.8444, 1.7216, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8133de65ebcfaefda16576c528f54f9c73be630b677e5afc2e3dc0f66855f21e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:214228b96f0d13bd3b068af15b43f969a5d7d30a32c0dca58808cd52833250cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3fb9a646d81d82e7689ad827469a5a9b57d026832e249b2afbc1decbf48f8f0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 117 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7979, 1.8702, 1.3525, -0.297, -0.6437, -0.5533, 0.6997, -0.0238, 0.8043, 0.6857, -0.6651, -0.0128, -0.0265, 0.9954]\nstate[eef_state]: left_x=0.4175 left_y=-0.2711 left_z=0.1415 left_yaw=0.0113 left_pitch=-0.0464 left_roll=0.0258 left_gripper=0.6997 right_x=0.2622 right_y=-0.0004 right_z=0.1587 right_yaw=-0.0071 right_pitch=-0.2015 right_roll=-0.0012 right_gripper=0.9954\nstate[joint_eff]: [0.1026, -13.2991, 9.6889, 1.5214, -0.2662, 0.2418, 0.9011, -0.1299, -1.0735, 6.7761, 1.8632, -0.0366, -0.0513, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.12,\"left_z\":0.075,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The can is above the burner but slightly toward its near-right side. I am making a small centering adjustment while lowering toward the coil.\"}",
  "call_id": "call_t6al86LifR6St2YIjtZ9wXEj",
  "id": "fc_0e49ab2e55dffa22016aac756a823087d18c2a9ddf92cec58e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_t6al86LifR6St2YIjtZ9wXEj",
  "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]: [-0.4675, 1.5776, 0.6838, 0.1967, -0.4141, -0.3088, 0.7043, -0.0238, 0.8097, 0.6842, -0.7017, -0.0128, -0.0265, 0.9954]\nstate[eef_state]: left_x=0.3906 left_y=-0.1135 left_z=0.0739 left_yaw=0.0305 left_pitch=-0.0537 left_roll=0.0279 left_gripper=0.7043 right_x=0.2556 right_y=-0.0002 right_z=0.1506 right_yaw=-0.007 right_pitch=-0.2449 right_roll=-0.0004 right_gripper=0.9954\nstate[joint_eff]: [0.4581, -4.2325, 4.547, 1.4139, 0.0806, 0.1636, 0.6716, -0.3487, -1.2239, 6.8034, 1.746, -0.0366, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8d9b5c82fc12925a28709c1ee733c3d0468e6c58842d7597d0ebbd2a42d048e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d4420298c7fa279e47a83a6f5f21a1c51d4c8a0d5c2cd00da0bde71795478eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bf6c2b318ba67ceff7c40feaf3c9c9011c35e4ed58586c06853c9ffb8468dfd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 121 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5804, 1.393, 0.955, -0.2752, -0.4896, -0.3862, 0.701, -0.0238, 0.8078, 0.6849, -0.6796, -0.0128, -0.0265, 0.9954]\nstate[eef_state]: left_x=0.375 left_y=-0.1423 left_z=0.1746 left_yaw=0.0197 left_pitch=-0.0407 left_roll=0.0151 left_gripper=0.701 right_x=0.2596 right_y=-0.0003 right_z=0.1551 right_yaw=-0.0071 right_pitch=-0.2201 right_roll=-0.0009 right_gripper=0.9954\nstate[joint_eff]: [0.1846, -7.6376, 6.9538, 1.8095, -0.1929, 0.1099, 0.7497, 0.0068, -1.388, 6.8444, 1.7216, -0.0464, -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"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The can is centered over the coil and the lowered pose is supported at burner height. I am opening the gripper to leave it on the burner.\"}",
  "call_id": "call_o2kzosVfKPBTPJWZQelZtjJm",
  "id": "fc_0e49ab2e55dffa22016aac756ec6c887d1abba731133a01b14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_o2kzosVfKPBTPJWZQelZtjJm",
  "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]: [-0.4641, 1.5925, 0.6727, 0.2298, -0.4061, -0.3099, 0.9949, -0.0238, 0.8097, 0.6842, -0.7158, -0.0128, -0.0265, 0.9954]\nstate[eef_state]: left_x=0.3917 left_y=-0.114 left_z=0.0697 left_yaw=0.028 left_pitch=-0.0497 left_roll=0.019 left_gripper=0.9949 right_x=0.253 right_y=-0.0002 right_z=0.1482 right_yaw=-0.0069 right_pitch=-0.2591 right_roll=-0.0002 right_gripper=0.9954\nstate[joint_eff]: [-0.3487, -7.8427, 6.8444, 1.5507, -0.2564, 0.0171, -0.0952, -0.0479, -1.0462, 6.735, 1.7167, -0.022, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8338215a123440f0cf25c9f4a875bd1f036bc339a6c83cecf6869d022bc755ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0daec6570e4eb97adcf64ef61a515d58e4cdb671e9868b67c177bdbcfce5d6c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb2380d76481b707241bfaec44f513b2714ecaa627269e1a5ea0d7a2fa9f494c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 124 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4675, 1.5776, 0.6838, 0.1967, -0.4141, -0.3088, 0.7043, -0.0238, 0.8097, 0.6842, -0.7017, -0.0128, -0.0265, 0.9954]\nstate[eef_state]: left_x=0.3906 left_y=-0.1135 left_z=0.0739 left_yaw=0.0305 left_pitch=-0.0537 left_roll=0.0279 left_gripper=0.7043 right_x=0.2556 right_y=-0.0002 right_z=0.1506 right_yaw=-0.007 right_pitch=-0.2449 right_roll=-0.0004 right_gripper=0.9954\nstate[joint_eff]: [0.4581, -4.2325, 4.547, 1.4139, 0.0806, 0.1636, 0.6716, -0.3487, -1.2239, 6.8034, 1.746, -0.0366, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.23,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The jaws are open and the can is resting across the burner. I am lifting straight up to clear it without dragging it off the coil.\"}",
  "call_id": "call_u3RihWX5gaLwzgccNFfjNwzi",
  "id": "fc_0e49ab2e55dffa22016aac7572efbc87d1a539bbc89c2518a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_u3RihWX5gaLwzgccNFfjNwzi",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4572, 1.3663, 1.0451, -0.3416, -0.3878, -0.3046, 0.9963, -0.0238, 0.8116, 0.6842, -0.7288, -0.0128, -0.0265, 0.9954]\nstate[eef_state]: left_x=0.3918 left_y=-0.1143 left_z=0.2065 left_yaw=0.0168 left_pitch=-0.0311 left_roll=0.0006 left_gripper=0.9963 right_x=0.2507 right_y=-0.0001 right_z=0.1457 right_yaw=-0.0068 right_pitch=-0.2739 right_roll=0.0001 right_gripper=0.9954\nstate[joint_eff]: [0.4855, -7.3231, 9.2786, 1.5849, -0.0611, 0.1636, 0.1294, -0.2256, -1.0598, 6.7761, 1.6093, -0.0317, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b23c95e62b1342d8551226990190d68c2a13832fa15274f5e5d23423ed49a18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37e638a3aa29f9ac2ec42b9c9dfdb1e1d458c1df10b60a8d6d659e97f45f0743",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:811bf1971e72c0e8955819a342229be77968156b9dac5715a8694932b86a0ef8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 127 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4641, 1.5925, 0.6727, 0.2298, -0.4061, -0.3099, 0.9949, -0.0238, 0.8097, 0.6842, -0.7158, -0.0128, -0.0265, 0.9954]\nstate[eef_state]: left_x=0.3917 left_y=-0.114 left_z=0.0697 left_yaw=0.028 left_pitch=-0.0497 left_roll=0.019 left_gripper=0.9949 right_x=0.253 right_y=-0.0002 right_z=0.1482 right_yaw=-0.0069 right_pitch=-0.2591 right_roll=-0.0002 right_gripper=0.9954\nstate[joint_eff]: [-0.3487, -7.8427, 6.8444, 1.5507, -0.2564, 0.0171, -0.0952, -0.0479, -1.0462, 6.735, 1.7167, -0.022, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHV5cY_asOiTeaGQqdKhsKxSvFs7CADmLDDOsFSEQAF_WALxMB4xYdzp9K1K3svWlqpe-Ma5zL1PONm-g1gMzkBXqc2LlseFAuP8JsjbF6aDH23hyczNadL2yb1smgmMYM19pIW5PPaAHmeNChNinpq559yeLtJ9rQ_EB0sZyF5acHrpGsK9Z1lrxPNsDf5uocFPCdhdCeAv0vGZr1gl-rXDBb_Sjbz-8S_8V22Jlyt91GWci-DvY3nRY0HVi0qWjmqsgHpknxom3xo23ZxPJSa9U85I3LTfEOT_07HfH-R013f6TphK1X0fCrsqtexIhn2c__ZNIYnBRDc4c8qwfarbvJc2_XZ5PZeyKKkJzjFq4zsB8UQ3Z13DXX1NM1JAO1OXJ9cX8bx6GHGe5N5Qc-nKkx5KrZG-T_Zi6h3D5Jgi3IbIuapXyzPnnhM8qQ1TKEP8qWPo8xw7WAYhEzinXA33ZD1DI59UZ9xtiZE_x0Wl9KX8oR3wPvoll5qygwma2WbkC1sxP8viY4QiFb4fE8ZGXCUbIuIl-ZTNKdwpgv1Jr0gZi7PVflcjUFiJobcZ6OqBrlEZI2Xu2a35qrJtjb9L-ginBPErR3_AVeT2VuAGtMA5JjnkGtaMe6tT1FOpgbXPrFqt_CTXu0SYyxAx90gsG5nZ8L1rzpgh4w29yhr5SqmXrPbTlmYrT7JWg-VP5B13yIuZtaK72B0FwGRGP6GfMEs5gl7HCVyv-HWioM6g1XD7GGpX5XjwzeXjAz_Jib-51MvIldxHY2dQ_v8AVglqFyVtJwLvX-z1rpxPg9mY5TRmrN2wnNWLtRl4UQyJuvRb4eV1HDai15o4sLAFL8nCL-72Yz6kV2VHV0oRYdGL7ghcbilwqXPOQAs0T6oMKB9ZQ_7iXvwTagaI_VgeF5vLnIoBnMZQ9TsB2RaKeiWaergaZ0DXNsZY_vV7ape6GOrnI9B9eXKL98gjw7ejzYnAYeG9CoxuU_oXvSL2qYPUvyrO63VSB5lmocBnlEeNYDunTHpo8vwvjLKs431FBCg5JmVeVSuDDnchnA2BOgvjzdFgL9nynxjYlnMnvyi1o7u_MbIuRjHGcpow9ACUxc5KmQLFk7i2Cz8tqRAJJBpVrNaHQ1P-cQyzkTHJ8QkyMwyW5worNyBNBadowe3qAvXtd0KcmVcfbeK9eGw8Nw4oK687HdxnpKIwYL0KLMRGzDkYQk8m3O5QBSRK7CRZMMtsyBZJ3uRrKdxMfaDwYkJO-4zzr3q13E1gO0HxGuHShrgxew7f_u41ug-HKfAZ3vlR_Q==",
  "id": "rs_0e49ab2e55dffa22016aac7577a4ec87d1aec729e5faf5725a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The gripper is clear vertically, but it still blocks the overhead view. I am moving it back to its parked position to verify the can's final location.\"}",
  "call_id": "call_HwgyW8rVqHMg8Tt6fL7mxOQs",
  "id": "fc_0e49ab2e55dffa22016aac757836fc87d1b138adee96c0fbd2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HwgyW8rVqHMg8Tt6fL7mxOQs",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0555, 0.807, 0.6945, -0.4656, -0.0925, -0.0872, 0.9966, -0.0238, 0.8162, 0.6842, -0.7471, -0.0128, -0.0265, 0.9953]\nstate[eef_state]: left_x=0.2944 left_y=0.0036 left_z=0.2005 left_yaw=0.0558 left_pitch=-0.0004 left_roll=-0.0071 left_gripper=0.9966 right_x=0.2474 right_y=-0.0001 right_z=0.1417 right_yaw=-0.0067 right_pitch=-0.2968 right_roll=0.0005 right_gripper=0.9953\nstate[joint_eff]: [0.1162, -1.1145, 7.1316, 2.0098, 0.1294, 0.1148, 0.0073, -0.1983, -1.4427, 6.8991, 1.5897, -0.0513, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e662eba39b2777c8b2ff3e13a4d209961c405c906ecb2b525f6f8047e282ca67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e98860508ccb966e19bb63e4de866328bcfd7157e1ff93b49e54b377cb90f3dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63ee10a190a743a587aa5434d36e5518df8f5c8452dff6f98ba5f0067218444e",
      "type": "input_image"
    }
  ],
  "role": "user"
}