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, 0.7933, 0.6052, -0.387, -0.0193, -0.0338, 0.9993, -0.0208, 0.7952, 0.6075, -0.3958, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2939 left_y=0.0013 left_z=0.1793 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0008 right_z=0.178 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6496, -1.4427, 10.1675, 1.9267, -0.0952, 0.1734, -0.0855, -0.3077, -1.6889, 9.7026, 1.9072, -0.0611, 0.1832, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55691f42537b8944bdfaf12aa6f2876654fd785707e745f95200ffcd9219efef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:070f6476c5bf08adb96d399890c80383a6355d4ce1bb450258fecca1f0912ef8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61ab4711e9a5fa60526f5273a3a2b1fce9c9cd06a25f6902117c3566744ba9d9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrGb_7mcHP4nsXDs7MMx-C0LmnHoUT-_smH5LB3lSuR1SHQ0Gi-zUmDc9MJZzRPnbDS08co-hQo85QnEMkka56Nq-XoLlxh_rFByBdENi7CqTohFvWDK1G07U3NFD2if2rCkdtG1B-KJfaPQHeuOvoycSr46VxJSw_cCtPBaCTMHCDEarEufBFbROeAFTDwmE71F8U3Oga6PRRudDs-SDoXxoPGr6yDPHn79-tmUIwdyQ0WT1hGKMbYB3L1lwjPedO71S6ACFl9CKRvXYQIsZSNKTJSCIRdksX3NQp9XR94mSQt4VtDDmRn2poYuM9gVVG1n0YelZBA_TuCqeKoOzjPMCaUZtXz0q0oa4hMrXq0fv1u1ipNXq9nVZUknxxnOeTmkELZZdIzHH348HfTE8djg9vuMd6MIThb5g4g3QncuHISUymFK5eyK38E_YSxKpY8A-t5zxjOOvXKzFjro0Cf1U5b9w9XMWYIURE7zX8VpHjXcoT11YBn3CvQSY0KVkN--YIg-FuJ5C-02CFTL2AQjRurOWzxkVMajdQZQkoTeDFgJTLLh-gFADtXlZhlvwgJVNUcG7LdIz5ort1Oqv2fit2M-9ofL529ILTJeEHGPz-5csRi-7E-uPkbVDKLo4D4d-j9i9AQ_WmwrMQY0f1umx48Ep0sHJ7lM7qDV-P1dyV0XUn4Y1CWTDuCbiDt5db8TdDGJoG5mZXmxaWrKbo6ovPNXpbY2grxaEnpNaO2JCs1rc-LaFVz6uL8ABvgK_AX_PGTePUQSoPmi7Z4nR6-PRFo21_A4FwqvIyuBEnDGuBa57Mz99KyGTlxjrd0ykkFzi0VRUwO9pq6w4192nG1dWjc3tFgpPyLby5X-2kJxfe5HXfEjPgG-aoGOx2GoEPNwliVVn9t-mfrr6UXwovdrEwAIloUo_y7i70GZr9Tx-Eu2vB3Y0euyKl_fcmx0Tg0KkMzjbWPO3NJk1R0MkPAisl0HvExZ4y0petCl2FTG0aSL80r50Ua9pCtYf9YvPJ8f5g9awBIkmZOfAxCWQFyAaJTjxQ0HKARTio3kAG-9xW7e38Hq6TuRJY6oscELPgs0I0iP3POISTdk37kyvj2JPGzcTunGPtqojN8UBGV_7ekDveEg17ARLmQdG0COJiOwgH65NWTMcmHCxwa2060vCUBPvTUc5tWG1xxaNW1YmhsFSh7aAe8w1BzN8TVOmBvOL78FlOpOfsT9ZT7vIMv_KQY9MZjjApphvlFnOrVOdRLViiSMXv20Ud76UvHYk6iwBckyxJG5VX-VBCdd916dPFNWryI5a3VbxoedFP15Sk85vC29VAqMbNNRgR041iRc2mm6ARrORcIUhwe2s6ZFQWqHIT9jzq94qCph-heZMcdl9pgexZGqP8785N47jph2Tlr5bt5SFC_Z9Fhxx7qW-rOK7OJdi1Gb5d9RIkMxuokh82gGXfYjA8JVVkHeoPxOSfkSMakTeO7FeteTohma7-WTtT_hZkeJ83t-thdZbEXC9ocb15L3wmBrXqskfNc4h-3fZ0fbs5ALFfuNX6jbrTHkTIs9u0dxwJe54GkcwDrEmGvTl_AafvAPwsQeSvXMUESi2efYLXAZ-yHOjun96Y6NjkojoqBeC6xlyQcfbRcDmnu0baLloqcJUr5zLCHehbIMRMBha7Qw4JwkxogV32g==",
  "id": "rs_0624988557341257016aac66f9917487d08e8ff5c1cd917e31",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.105,\"right_z\":0.16,\"right_gripper\":1,\"left_x\":0.294,\"left_y\":0.001,\"left_z\":0.18},\"note\":\"The blue can is lying to the right of the silver vessel, and the burner is on the left. I am bringing the right gripper above the can to align a grasp around its middle.\"}",
  "call_id": "call_uqSAzQxOmkl6QCI6JhALoAMF",
  "id": "fc_0624988557341257016aac66fccf3087d085815fa6e0bd17d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uqSAzQxOmkl6QCI6JhALoAMF",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7982, 0.6083, -0.4061, -0.0189, -0.0383, 0.9993, 0.3603, 1.4193, 0.8501, -0.1314, 0.2668, 0.1513, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0013 left_z=0.1754 left_yaw=0.0022 left_pitch=-0.0214 left_roll=-0.0036 left_gripper=0.9993 right_x=0.3921 right_y=0.1018 right_z=0.1366 right_yaw=0.041 right_pitch=-0.0882 right_roll=-0.0371 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.5658, 7.2, 1.8632, -0.0708, -0.022, -0.0122, 0.1026, -6.8581, 8.7316, 1.8584, 0.1343, 0.2271, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63f8fb3b8c46493c89dc798e46a23921bc2bb5fc6cf9b2ac4625c088a44a2f94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aafef1c034c45c9a9da3ad0a27df150fcdde713416f4322ecfc1024cc423bafc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c501f08e303266369bc9153cec2a5ca74817ddba69d773696631f8847db1aef6",
      "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, 0.7933, 0.6052, -0.387, -0.0193, -0.0338, 0.9993, -0.0208, 0.7952, 0.6075, -0.3958, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2939 left_y=0.0013 left_z=0.1793 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0008 right_z=0.178 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6496, -1.4427, 10.1675, 1.9267, -0.0952, 0.1734, -0.0855, -0.3077, -1.6889, 9.7026, 1.9072, -0.0611, 0.1832, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGcIUbfoKe-CvAR0SvUqkTP97QSgeskumhLFKCNVgstWC-dw4JvXXPwTuk7iop-_8KJU31perehfD7vltFT4aMeRfb86Ce4H_jJTOMVjDfNrQwK-9j1BG-6TaINvz_Y7TeDxnqb0-VcUrJKyqrlECMh9915ZlTs9CECI74v7eDs6_dDNO8f84JoY4xXrRvJMICXbSQCcom_XbL-1smDAr-JPCEYuTW8_kRJt16aXZ15MS8N2WySn9tcMw7Id6wAOZQP3uzUIfx7dWEfF9bPS1Jo56eGeNsAE2GLqBaXMiVUB-MoIJZWq7DL32w5fk-r0Jwx1No2vrX884BWMAQRiI_AaWDSBe3hZ0_5ER98xI8P7zQo0zABBnrOLfKYj3wM03R34nssF3WMzQ8PXvxLKq-ooc5mgMmh5VYwb5Q-0oZvsaq2QM02iUiG5UysnCtg0ucyRA16QfkAP3ygoWWlCYbU68il5HcWp-TuyyWw6B1PgjuZUPRGrotzDDLC1r38ZJqTl2t6KQQiVU38FvIrjl-LSDTU56HMjZP6vDaAGmdghr8Vc_LbE41fP6B-Qb4_15kOK31S8iDNXZ1o2Ye8LDuCOLqxvcnGyH4NgqFmwyP0hniUc_S9hZEEAquMc52QQz1tcRHUud01AOVBKUrVdNaJQXRys79H5cWf8tK5gtk7PHMWO9qEXjh7LGneCmsIIcrurXWKQ6o5X8wfrGHZFh4zGFwlQ66lUFdR1bgedG-kGhfy-RqnJPuM6M_mR89uR9VyRvL4jyD9AYvXdE6ozJMFrfG8vTCxUCmrp3DxMKXewFIYsLvQuD25eVEkoF1LO6ninxvqSp88vTDX0wzk5ffFl7flBF5JsPdFYoNxtQkrZI5aVF-75N-5HcqT7dYqtDdSLfV18lWfcAb7c03SzSVt4_tRDd1Per7RIvNBhxqcxJFfYr8TY5j1wEbTTK2CuRtSz6YaHNoz1FAGoVyWD1g2ENhDAmX4er6ABNQL2QoqjUrG_p6R2I29kAj7_wIxETqFo6yrxpSlFBcP0mDtTzZnlAZY2wTOszK2V_ZUs3eB3DOTKdyZyym7RQ1TVJ9Lx1NR5hCys0y5h9zQpepexsN5lhv_5OYOuns68eDE_Uys66j1QkEJ-RjK3zxa6sg0sjjZReyK89WeiY70433DE8axa8OljB-Hzn2owEDu8uStU4eFQuUHgDmr5eDerAtYboZvgcVHXlO9bh8KlXD6UGhp1Kljx60IsrrFJ4jiC-GbYgH0yjz8rVNd52bXNQOlzV6soxM2btKiwFu3sC8JhY0DllkExQy_hjv15kkhjCrq1eraGD4kfUzOQsX8DSK7k-Ga3EJg3vK8bz_NAfo_9bCra_XqAkSTdX7Trf5C4tmPYsoBlzq7wKFxD7er1ybQgH-tB-slWGISJB9tiIoZis2L81En-QBS5xWvCJ2MztTUbHZWrTkWM_RJ4fDvwjSsl-Ye0OQX-LFSoyQyF08JptaSCT0eaAPBbbYPmYkep1qck9lJLboJX6R5km36yPhX9QTbiPTcH1VfhUSJrvkgiei7Ti3-IW40qKvHg3ErWDqLnUxpTw4OwNYvy5sBxCO_C8wsylH_lvxjeF0CMYEaG0qexTlNfXCObmVBym1tgN_K1r6V1z8hz_2aJ-LTud8_Mzmfr0KIEWG8ZiFyoECvONq9f7Jz3lC24fVfhpxwgfHHmZ4bNodHaz2UAtG8lmGEI-5CL",
  "id": "rs_0624988557341257016aac6701d23c87d090a0731a97913c4f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.075,\"right_z\":0.065},\"note\":\"The can is visible slightly right of the wrist camera’s jaw column. I will shift right and lower toward the middle of its body, keeping the jaws open.\"}",
  "call_id": "call_siCja5dv3fs2Iii4SnN19ylp",
  "id": "fc_0624988557341257016aac67066a6c87d0b14845aa2e54ff62",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_siCja5dv3fs2Iii4SnN19ylp",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8005, 0.6083, -0.4137, -0.0189, -0.0387, 0.9993, 0.2333, 1.6726, 0.7868, 0.1036, 0.1917, 0.0818, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0014 left_z=0.1732 left_yaw=0.0028 left_pitch=-0.0313 left_roll=-0.0037 left_gripper=0.9993 right_x=0.4166 right_y=0.0681 right_z=0.0514 right_yaw=0.0118 right_pitch=-0.1822 right_roll=-0.0625 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.3197, 7.241, 1.7558, -0.0806, -0.0562, -0.0171, -0.212, -7.3094, 6.1607, 2.0586, 0.1538, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f8a6eacd15a1555441ecdbb22fe63888367df24afd59e39a1bed2a3cdb233a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fadb9b11dcc3da7cabe43b907abf1e3f7514247cd033df264a1c5a5af2784ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84c108990f504a7f6b1110d3e2f2eb5c5be1d2255970f47aa72a77a0710d3434",
      "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]: [-0.0193, 0.7982, 0.6083, -0.4061, -0.0189, -0.0383, 0.9993, 0.3603, 1.4193, 0.8501, -0.1314, 0.2668, 0.1513, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0013 left_z=0.1754 left_yaw=0.0022 left_pitch=-0.0214 left_roll=-0.0036 left_gripper=0.9993 right_x=0.3921 right_y=0.1018 right_z=0.1366 right_yaw=0.041 right_pitch=-0.0882 right_roll=-0.0371 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.5658, 7.2, 1.8632, -0.0708, -0.022, -0.0122, 0.1026, -6.8581, 8.7316, 1.8584, 0.1343, 0.2271, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGcN_zLmEJHsk5pD8UgNw2u2CHTVkN5NME9xHDQ3Md5DavcgYgf4ax_xWpkHZQPHjUr60sL-B-gEmEIgioQ0vY4Tz-N_xo7xc7vIrxlL4mpR5f6cRnNhqecJIqN1ed65UAVcqS2PWwIhksBOU_AS1bs0LbMUbckbnWiQjxrY2z6Ghkaf-B794rgejUyXJz1Oj-iwtKr5pxJz7B7OxraLdmszEUL_4z7a_IyicdjpYLCLPiJPGKrkkctd1SEY0f97_d3sdZzgc1Zi2R4CSH1FLYWCp8n2ZBBDmTfS62H1_19hLMdFtgdnD689sLk9tRETLM-74zlCAarnHRJfOLQQ7nh_xqA-1ywrxU297W-2c3bTGeCB4r7GaAf6Z3n9jGAgTJiv1e0GEhZHsNWhQhD7jhlbRoh3TMRJxuYOqSQQnineAKk3V0swmX5JCYwAKT-XmZvZweceA8m8MJM_pWLsoX3eQ1yiGKqaGh17Zd-a3Nry3paS7fbf9KmVhoh7kVEs1gFi4z05tS0wtlMX0v2grF5a1DGBaa3yNcRirJTVeCJmBFolHhlHMe8Yejeo7b6GggWB_EniU97vqHpzlDoZiYt2gUCWb5RE_MOCjWgC_D6KV7MZtl6EryZ6DyijGAEuoF8DMXa6xO8Cxp-IcAvx7gvuGJpjZodnPWrBIuvAQ2L8oUjfB2iPGJyGh7G7l-dqJaws8DNMW_ijAOXyAblNGJoFuHh1lTEBEKgtl5vMxm6xTho_xxQDCreHoC8Cyy-49zpZ338QykVQgp0oGLxHsZZ6_88RVVsrN5xpPY2HYkE0jDd1c2FoDJ5lVcG4Tz9eQvXY4H7uq2XDsAckaPKu_FnDbHv5_QCsBQi-mQ07j_AVDYJgWXDzzsLzoHelt1kdEy0Tg2U2ORDNSiQh-cdxG6z_Jfwu6PapRzVXZYOgirrngpLTmAviQ-h1WwVJSo3q4ji1qGgby6THU3NbOG2-9dLnNQvUZvfgrMmPTCVduEpsoNxqi2rwPVsxCSCBHNTPkCHuFlWfxKtSxp0s6PjVmFQLersFsNKYhp9fq0AKnUw4t41oNjVch5lq1rZNrTd-mrntpiU5m7C272uaJiwJJhm2_72xpvc9004-cnVedoB-HNcxDyM7vsNQYPpTuFxoAC7BcG8Lbt7RiAVfkqsDxn3Y9ueB0Mkbow-aTdHEM6wDc4WfovzeERb_rOKP1vsY-ruZ84r1YqW7CpkDxwbP5NwZRedPGVCjqckoV982VNmKtvV8V8FEy2aiSXGupf4ruV7A4q2Zyue90dENy1EWglMf_M6jual71OngxJiDjxq_Gr2t2TtBe5mheekNngxLSp7Y0MA-4Yv7AvSMjWPbIAiTjNdkfmUeBTRKVikXd8lzRmU=",
  "id": "rs_0624988557341257016aac6709fbb087d09a61b4cd07b17c75",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.061,\"right_z\":0.023},\"note\":\"The can is now between the open jaws but still a little right of center. I am making a small lateral correction and lowering to grasp its cylindrical body rather than its cap.\"}",
  "call_id": "call_JV03ZfHbR0KDyUwXFjcX5E7b",
  "id": "fc_0624988557341257016aac670c00a887d0bbdaa4099628ba75",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JV03ZfHbR0KDyUwXFjcX5E7b",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8009, 0.6083, -0.4278, -0.0189, -0.0383, 0.9993, 0.2157, 1.7504, 0.7921, 0.2054, 0.16, 0.0555, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=0.0015 left_z=0.1703 left_yaw=0.0026 left_pitch=-0.0458 left_roll=-0.0031 left_gripper=0.9993 right_x=0.4308 right_y=0.0692 right_z=0.0388 right_yaw=0.0364 right_pitch=-0.1586 right_roll=-0.0542 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.2376, 7.0359, 1.7998, -0.0415, -0.0317, -0.0122, -0.9231, -6.2291, 6.8308, 1.5116, 0.0708, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68043adbea294ccbbc4ff26e69044fd922b0b0e5168fdfa6e07ed30403f0f5a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd07ab11904361a31927ea1ee543dac8f7b906a1102a0d2aaa3d9bb2aacc9182",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cc310651186bcc4d6cb555eff924dba4520d16a0a5159b640dd485b51c9e4c1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8005, 0.6083, -0.4137, -0.0189, -0.0387, 0.9993, 0.2333, 1.6726, 0.7868, 0.1036, 0.1917, 0.0818, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0014 left_z=0.1732 left_yaw=0.0028 left_pitch=-0.0313 left_roll=-0.0037 left_gripper=0.9993 right_x=0.4166 right_y=0.0681 right_z=0.0514 right_yaw=0.0118 right_pitch=-0.1822 right_roll=-0.0625 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.3197, 7.241, 1.7558, -0.0806, -0.0562, -0.0171, -0.212, -7.3094, 6.1607, 2.0586, 0.1538, 0.0024, -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": "gAAAAABqrGcRdKYTOidvMXrUO0AlVgITZtbwGreNhqgks1HToqYuXX47TdP4EE7ItfDGVVWxIU7DIv5GYveLKNZhSKG9YcnTBRHhgBE3L4Jluyv5xKc1fn71mzybWe1PZrsqLCOOPs7a3fDadxXI1WPo4llDuf_tS4gl5dUvBuFSuZI0v3OmeIVtCn8gRFZWaQzlNNeESC4Kn8jO-c0JW4TyRKVhCzgwp8oLESuikBZ4IPW5lkHEL4lOdzL2GZd0j49KEx6E_b_foFdCsHJPht6MiwxJBNa5KrCj9vZZaOlmpTzdZ2OKYBUvQszf60O_NpGIRteSzWFb4vxgGdtvMNiBVT6iEoft4HFwiH6eLzuxVWPTpbCtOxU2I2g2biqnV08qgBh0AFpu_b1qNXOUZzsYfj2X08yCF4v2SlIo6azGDnQumOzDPtfVtfGauZhNoh2mmP_54ci4lk1fc3RZ9DYidqlFtXlU2CnHAAFgHuFjWcBPnNUVG5MOhmmFtH-4kO_23GEAlNOEyDHtVNRLzHDvagMuzDZUR-Zh2GSCux8FLLxU3vef-ZTN1Km_exDA9Woo-FGb9RULmZBIzeC413hjb0s84l0ZNDY1hDdjCLQHKxze1n6DHImZGoexj2A2t6bUo-tBj-i7_tQMi25v7pmLGcUIJv59gxDSqgj5o0cy2OxaoiYmn3BJ1K2SO_S3u00xbYcwW9KrO80V11_Dzd7ZQ6mM4PEW4TWuZhkIjFEaL0YcO93XKB9vfOv9nnT9MI2Ss52hxCsqxIzKy7xEaUbYTO3Pt58kD-tZartiluqjTtIF0xzHOXGbJLVoA_Uu5lzKRDV3hHUHKdYG_dg5Lrtk9q4miCwDT-e9DMXHcOCV0XOtfeeJJhdp67syiqgAxgOCIR_4Z4kwotE_7xWTR9gMztMU_cv-M-ulGsjB1ATTVHhPKr4Sl8K1BysM2y9sd9xJ0H_lc4K4_ACbvURcSfYJ_hym7TC8yjmaLZePU0dvfnjqfGKMrhxix_AEetmRNStSgO3hSGexur1HhbAAS3-vaBvKWaK3zF3BBjxR2nU664V7YFwsc8ZoMNtuSg49ao2X8uDeQXqcrO2vxDDlFi-j1kRpslFSvnhKgNiULfcAmSb87Sqd-7xyvDcWjgnGu6JvGu88-oFjPMBZuNvQkGUac0xJSgQcjKxvlc0VvtjMTZ_h4a_hvdar-hQf6MEwqW7ymr_J5KZzcWCT7kmmf8FghOomm0qBXo00NODrV7kbqdyE6nh9gOzSmGiEzF8NW5V1We2Hrq14",
  "id": "rs_0624988557341257016aac670f86b487d0ad8841e404312efa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.40},\"note\":\"The blue end of the can is aligned between the fingertips at a low grasping height. I will close gently around it, avoiding an unnecessarily hard squeeze on the rounded body.\"}",
  "call_id": "call_CKAyGNczs7UIMqRZ9bqzqzpX",
  "id": "fc_0624988557341257016aac6710386087d0924c6b4f8ccf0e20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CKAyGNczs7UIMqRZ9bqzqzpX",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4355, -0.0189, -0.0387, 0.9993, 0.2157, 1.7691, 0.7906, 0.189, 0.157, 0.0521, 0.721]\nstate[eef_state]: left_x=0.2881 left_y=0.0015 left_z=0.1681 left_yaw=0.0028 left_pitch=-0.0557 left_roll=-0.0032 left_gripper=0.9993 right_x=0.426 right_y=0.0688 right_z=0.0276 right_yaw=0.0397 right_pitch=-0.1951 right_roll=-0.0612 right_gripper=0.721\nstate[joint_eff]: [-0.212, -1.4564, 6.9812, 1.7705, -0.0513, -0.0611, -0.0122, -0.2667, -9.5521, 5.6137, 1.6874, 0.0855, -0.0317, 1.0134]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fac92e389045f3f28ba0587f0283941617b42ba805ffd6869f3b04d08cdb331",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3919c0bf465ae3266d58921982097d9b16447a8c137040a54c0eeff8076d8ac5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2044abd3fa905c44bfeef4f732d8af2e49bb1776be3b682176fcffbc5f449c3c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8009, 0.6083, -0.4278, -0.0189, -0.0383, 0.9993, 0.2157, 1.7504, 0.7921, 0.2054, 0.16, 0.0555, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=0.0015 left_z=0.1703 left_yaw=0.0026 left_pitch=-0.0458 left_roll=-0.0031 left_gripper=0.9993 right_x=0.4308 right_y=0.0692 right_z=0.0388 right_yaw=0.0364 right_pitch=-0.1586 right_roll=-0.0542 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.2376, 7.0359, 1.7998, -0.0415, -0.0317, -0.0122, -0.9231, -6.2291, 6.8308, 1.5116, 0.0708, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.095},\"note\":\"The gripper has stopped at a substantial opening around the can. I will lift it a few centimeters to check that it is securely held before carrying it.\"}",
  "call_id": "call_Ga3oaqE91wOVimBU8y5vsK2Y",
  "id": "fc_0624988557341257016aac6715cb4c87d0ae52f04a299d048a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ga3oaqE91wOVimBU8y5vsK2Y",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4515, -0.0189, -0.0387, 0.9993, 0.2157, 1.6451, 0.8875, -0.0868, 0.1562, 0.0483, 0.7242]\nstate[eef_state]: left_x=0.2858 left_y=0.0015 left_z=0.1649 left_yaw=0.0028 left_pitch=-0.0717 left_roll=-0.0028 left_gripper=0.9993 right_x=0.4167 right_y=0.0668 right_z=0.0678 right_yaw=0.0404 right_pitch=-0.2494 right_roll=-0.0732 right_gripper=0.7242\nstate[joint_eff]: [-0.1983, -1.1556, 6.9675, 1.8437, -0.0757, -0.0464, -0.0171, -0.3624, -9.2376, 8.841, 1.9267, 0.0757, 0.0171, 0.6716]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96c2c5e297d575db94a869317e31cd0168b44e2614d37c43603cbd776383a79a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:937d9309849991dc5144e3dfd23376e6d4ff77c104489b7f7b9078634745ab62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7e996de4d5e8e3ef17cca02a081b2a21cd018e3773b4dc727ae124396b09dad",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4355, -0.0189, -0.0387, 0.9993, 0.2157, 1.7691, 0.7906, 0.189, 0.157, 0.0521, 0.721]\nstate[eef_state]: left_x=0.2881 left_y=0.0015 left_z=0.1681 left_yaw=0.0028 left_pitch=-0.0557 left_roll=-0.0032 left_gripper=0.9993 right_x=0.426 right_y=0.0688 right_z=0.0276 right_yaw=0.0397 right_pitch=-0.1951 right_roll=-0.0612 right_gripper=0.721\nstate[joint_eff]: [-0.212, -1.4564, 6.9812, 1.7705, -0.0513, -0.0611, -0.0122, -0.2667, -9.5521, 5.6137, 1.6874, 0.0855, -0.0317, 1.0134]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGcmULXSfMnmwmnb04YtlnYLuPjn6O0nkl78F4t63FJRSNozszI-IpyaF2cGNlACSKHAuDUwPX_MqUAdwvqZEpesr_xwXM1KEfzRu49gDbVw9tGu3HWPLkpOb_RolUCfg9m75DmGVczlUC_bwdE6pNw09wRrDnnZv9FDdQ3mZMA_UToRkzSHu92IwG5E2pQPmpSr4hI5wGjaoK3xUPHsEamoX7yYnNSQjt1WoZoQU_zhn1TzJez-BiyS2_qgrIbzMfuNuOtle2hi8OVZp1kc7q9JdbKRETBK5NOMu8GVKRZS_KKqO1aHnxsHcPKa6e3wD2dN6kzUuGrEY0oyJVolI2Lqryg9sQEdUsUMW6aB3LDEHsuU9si05hUBpqXD9xHbokSpUU0FUf0gNtHOHGzMv0Texi4GbLS8vgvD1mOvlZ7FkyOOwb1WAklRAy_1gh6bAfuxEspbpm17HKKfNz-ZD_gGO-YeZ74KoecTeqKdEQ1pcKX91kOg0HE5wmBg9pL3At9l-iYZ9KHPIIplXRVIluFYqaycuU7oXFo9Ar1tG6J_oLYs7Mwdh-GcPBC_tSfwpZryf9GzK_2fFScCUP8Bj5j0iUE7OQLddPLitJKJPaQTZJZECMZyTu7YURW_sqfIAsucXsap2NCCrewVZH6_hrjKXEDQmVlzIBjxUklFzLxqalF4xsIdMhh4BahbrxaoXUUwGmHx_ERV0jx7kjJLE4FjUZ5xXT8cGw4Wz7qni7idvJP6eLUGXi3xirlyQ09D9JuDZCdv7mygFOcPYztt6GerBbG6mHNdVlctL2JLc0L3-zuBcgIyYXcRzEE10PKbCbDD8YP0HREHFcU48qopJK8cUJoV7HEJJcy3tIu8aVAZg5n1BqFUmxhTV2Qy6PxdW38PzJPqTv1ijQRnRnooC3_GXCbq-J95Z0mSF_pNRcT7OJ2zO5rqG_k0uX6HyZHa9SP9g3ZdrHJbo7cb3DVwfZY1TPy8hjx32FTeqAeFQR43sMlRWQx8fqOM_pm3chCNDDibyLxqt-yYkfOTrUVXGgUWTojviv_LE9SFrXtexYWiwh-QlaVxI9leIZubn3srgc32_Vj5evT26h2RSzLQtXAZdyrMwYCh3IazCTASD-kuVJEiNi6WsRaqgQSJc--lo7KXf9d8XJ_wGorm8UqLrGJ3j9IVsqkjVmJOlLEvy0SUxIC27UFMH0tBQslxdsyvcc_agoES8Z0tWNd7GPbqjh2buksmWLzD3e0dYlUkhMvfOoRM5uJn5u0Ql7EpFyE33s90ZbqSpmlhKOXBEWgpvo6PXhgftcj82-75kEmj1vxV5uJEOrmsA_5GHmVSkhDxwj9eVoZuMyj6Cl1cg7SM-fuNpFWvtNEqa05DKZ0onYYt64uVH4pp5M2jmkCEY0P9AR1dUs3P0u1MuYio_IfkyJp9XtOsXAMe1j79QJe5SHutr7wpq8WRLnqm9L8t3j8fKDZdiGOh505OykTHoHpO1rNgSAHhXvQMpxM_ukwckaOzPKCqCMHS0R3w4BaZ402hwW1MP3ZpaS4ZuKD4oYzyUOotDFmNLs2eQTINf90lcXJ9uZCLFIUZy0zPeoB4P9HxxqEBbe374v647ZbJRT_OGdUmVcS8NxvY8NUcB8wnljP-XsnUZYVMuBELCMI4ZxrnyyOsWDfJoV25LBtVcXZEK_IqpY4VTDbx6_qLaYVyn6UJlK0CvZ7gqYJOjLKbpcTCTjI4xKjoGATgWSZINryqvEJ7o3dMUBNwY25UZQpDcSfhlZaj2G75zMoMAdHiOHmipyrfZRN6xvAbMlY-mVkAMMEBQr3nyH72W1YwrCApd4kvgzCKw_Camt5EWPy-WWOo1q0EYviKpPQScgcA8XLoXVB52t_wZWc_vHFFvhrIOdSCFugXaF-FNN_hBw8JhsQ5s1WDFtQqA0pysF9D87T5cDNXSN80tKFO9pPYCoLwTjbz2JlO6u-2Nf4yBwcYIhlS74SrpN_uT_ZrmmL6c82NBv4UARq-sZLPBEoSiz_QjmPWnPgTPEpT-CHQIuh0XRUVKKB0uuaG8f6ftKYeKVqOpPJE9rpQaEVkHZWJYse3fnU6bvvvi_ZKluoXZegGsHxAkQCUXL5QR4yxLd9HqVrezz8c61CCKAsB8gQqDTV5jMtjTFh3HasyJ_4CT97kJgRusztThUJJukX_SuY_6qH6bGV3H5JkYrlP2L0EQxVk6ciJkF88HET1Bcw8zvTMy98rRV1nJMujdqZpSmSJkiEV3tJcLwsi8FhC5bnEnfBewBztJXho3WP22hJWybVtAqI8jyMipjVMSJufoopYF-kjErVchVX_0OVwr3hYiMKyf4cKzZ9UjDIkScXmIdWLaHvSJmepqOLbqMskSitDOvIL0V0TAL744F1_qnL4L0f_RhGFZyq0g8nY9c4POsDAJ6v35hkgrwPT45h8j3BfVPXWXjM1D2wCrvWqETv4tHPY_Ulu7hgpX_jyNDIps8g2xpqjdBHGosZCgjch5gBkDmWwP_1rA2XIGpFQojwsiq25gber3SHT600GPD2pNf2Q2YH_iyTe7y10AS9eUNvsgbRmBxXMuJJkO8mnZLO-6lRy-USH_Cj8SufAoy5_7jr8p8id_404",
  "id": "rs_0624988557341257016aac671945c087d0921ba9c377b6185e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.23,\"right_x\":0.41,\"left_x\":0.294,\"left_y\":0.001,\"left_z\":0.18},\"note\":\"The can has lifted with the jaws and remains firmly held. I will raise it clear of the other vessel; the burner is beyond the right arm’s lateral reach, so I will set the can in the middle for the left arm to finish.\"}",
  "call_id": "call_dI4vsCidHZCgXjRnE00Rf32J",
  "id": "fc_0624988557341257016aac67236c9c87d0bbc199af0d3f1680",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dI4vsCidHZCgXjRnE00Rf32J",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8494, 0.6445, -0.5014, -0.0189, -0.0425, 0.9993, 0.2165, 1.5291, 1.3586, -0.746, 0.1574, 0.0441, 0.7259]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1592 left_yaw=0.005 left_pitch=-0.1316 left_roll=-0.0044 left_gripper=0.9993 right_x=0.4051 right_y=0.0644 right_z=0.1994 right_yaw=0.0388 right_pitch=-0.3204 right_roll=-0.0901 right_gripper=0.7259\nstate[joint_eff]: [-0.2803, -1.1692, 10.4137, 1.8291, -0.0611, -0.0269, -0.0171, 0.0342, -8.7863, 9.1009, 1.7363, 0.0904, 0.0366, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ee5b5cffbe5f7afa0872206a5d30fac0d535cee5b76f30b5ac51f4be2068bec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b74eb436eaaeba6b59dd6e6f32acbabd179e0bb82cad6f52256b291e04e0954c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55bedab146a8a725636a90b1aa9642c17707b3baac6011494e892beb894f2dab",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 21 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6083, -0.4515, -0.0189, -0.0387, 0.9993, 0.2157, 1.6451, 0.8875, -0.0868, 0.1562, 0.0483, 0.7242]\nstate[eef_state]: left_x=0.2858 left_y=0.0015 left_z=0.1649 left_yaw=0.0028 left_pitch=-0.0717 left_roll=-0.0028 left_gripper=0.9993 right_x=0.4167 right_y=0.0668 right_z=0.0678 right_yaw=0.0404 right_pitch=-0.2494 right_roll=-0.0732 right_gripper=0.7242\nstate[joint_eff]: [-0.1983, -1.1556, 6.9675, 1.8437, -0.0757, -0.0464, -0.0171, -0.3624, -9.2376, 8.841, 1.9267, 0.0757, 0.0171, 0.6716]\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": "gAAAAABqrGcroxh8OInzCv-EPXB3u2BHQqQ5OCvb9IVGlQ09iswKozZgXbDIGUBq7nMwTh0ygxMGCTRzS8C-3nPdHsMG5mkpfmKBmV4wmPufmfy8NDyo1CwWDQ60TLpdOUvJhksNm2SardR5Uw8UJFWo7Ix_0mxtUByDbynBUdVPoh1RQShb-g-3nzHYU6fMWN_jH0LXS8AxEZqHVs8ScNK5qU_I2XgJg7NTfFRhZgBPKOKFGWZAQumADqc1wBH50xeSGaQY7ORU4pvDVQSSfaBSNvBfCPdihCyJFeDhJwgevfK2yi95tsSl-r0dISPoa1-rIyqna8YOLuEnTwNOIn4-sIObuuqWDCo2D2kSORCMycoypblBswexZLyhp1pmXxaaIBDmqjE99SsiBc-_hRXdgGKzAs62bobP8k_p1tavIRN_T3aZEGEcCoaMXTR9Y4U3rfeYESeYGHiXn4CWLM3L_z6mfDxq7MkLwDqYOg51d9fh6wPiHliqlfQaUerROvir0Qg8GiXv_-pEIRar3GRbXT7fUtyPT5MF0A6NVu-z1vQ-So7-r3Dzy9jCoCgIHWXHjzwh2hAbGx62uwUYChYR4W0UbL7yUZpT0vJZWx3ip5m1kmn5BHosdmaRdQ28WhpgNhl24C1explleG0Hnx7MEgw4QR64YGERciBNUCZ4ZoGvgmlzZGaBMtqxoi72on6K2s3DkdhK3Ud68BG1Vs8b9uLUD7BkkfvcQF1757-hTVQvBN4CcH32YtxGCzAWQmjYKuippeIA8CW6aV1l6fV10PcIl_lPaeWlJZ3umDvyc-f3lDWQCPEAgBaJry8-nYcun2oCxcGqSe3AwDxszwE97MhqVcTS3KDVIkj9GoE20oTmXLF6_QODgFrA1N4IfLvbox2g6x04X_F4DdJXxFO7v7n7ffHXWPv5sAQUBq5HL5pZ60QjSTdQyAVb0o6xo2ndxluF0mQ09ZTkMIdaKw8tJaF0LP2rQmeLqWtlJpE1ixhr2EIlcC88AbCQ0J8rki3w9x130Jr8ceZbjyVtHNK13uAxI34f3ZFF8n5fvNmjCF-74MNV1s_N_ok5VlMAp4QyG_0uhMH7eJ3rceEiT11W5BWcNI9AWbqMgF6vAuksqoSfJDr2kxbNFODp2V1q3PO9MKKUi7zugDZIbv8cc-O74zcPyPix0e1fd9h_zopJGLwshgqnAFbCs7MBbsibaaIkRmxIY-xvgk_-k-R4Es78oA_yYW-F90kyxLQyNAHwAB-RDz8EUoj0jO33rDmE9nG-KecE0A3YVQmpm84EgUA_ryz6FCjRXtVzUHP-V5k5ZodB0-ULbEciOa_10FQoGjHFv1JP9xPOB2ob6893v6_VO6I0q29H8g==",
  "id": "rs_0624988557341257016aac6728f4cc87d0b344c2be9e6c3974",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.285,\"right_y\":0.31,\"right_z\":0.23},\"note\":\"The can is clear of the tabletop. I am carrying it toward an open central area in front of the silver vessel, where the left arm can reach it.\"}",
  "call_id": "call_Y58i8YfhCzSN73heKEyZRyqc",
  "id": "fc_0624988557341257016aac672a2ab487d0b9001011adc87c62",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Y58i8YfhCzSN73heKEyZRyqc",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.852, 0.6441, -0.5179, -0.0189, -0.0456, 0.9993, 1.0412, 1.8385, 1.8385, -1.2446, 0.5419, 0.77, 0.7265]\nstate[eef_state]: left_x=0.283 left_y=0.0016 left_z=0.1552 left_yaw=0.0068 left_pitch=-0.151 left_roll=-0.0063 left_gripper=0.9993 right_x=0.2805 right_y=0.3059 right_z=0.217 right_yaw=0.0752 right_pitch=-0.3701 right_roll=-0.1254 right_gripper=0.7265\nstate[joint_eff]: [-0.0889, -1.6889, 6.9812, 1.7216, -0.0269, -0.022, -0.0171, 0.1436, -8.7726, 8.6496, 0.9011, 0.5495, 0.1636, 0.0562]\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,$blob:b2db65d734c1caf59c47f0ef9c5abcae416235e0c2dbfcf7128a5cdcf043cae8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e4239d8bfd2d9a77c4f8a8963df972d33577fd03182f9f9a139fde086aee587",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c184e51dd8a396f2d00751b5a70185123dcacc4665c019b0ea5a164339ebe02c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 25 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8494, 0.6445, -0.5014, -0.0189, -0.0425, 0.9993, 0.2165, 1.5291, 1.3586, -0.746, 0.1574, 0.0441, 0.7259]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1592 left_yaw=0.005 left_pitch=-0.1316 left_roll=-0.0044 left_gripper=0.9993 right_x=0.4051 right_y=0.0644 right_z=0.1994 right_yaw=0.0388 right_pitch=-0.3204 right_roll=-0.0901 right_gripper=0.7259\nstate[joint_eff]: [-0.2803, -1.1692, 10.4137, 1.8291, -0.0611, -0.0269, -0.0171, 0.0342, -8.7863, 9.1009, 1.7363, 0.0904, 0.0366, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGcyhNVQSoxwrfp9KGjSZGU5uQdcTnVEN4Ddc4-oCx_qxg3HK_apYi5i5w0bjM0qLSPTzuRGBPNaRhSJCm0u3Jg03t3Cdoj8siuv5K715FGXZpdcvKvb4877hVAD6CAnK5X3JQo2yzVC_R-23UkKVIZX7qz3Ad6tdqte4Y8qr8iP80VNSAk_uzXWe75NeGzYhzFBJD0wwvFRjkvu-CDrLRJIfBcVZNB9N7sI9qVOE44QbxpGtDg5e_c57tztV37frDDtsezuy9BwHZzxnCFFMac4SG6J7cWjsFJmyqV5bQSxmM9ZFNWQ1PFQYBz8DlF58HT96K_Qe-qAmM-rpo5SFCfAj7DNMHvY08G2SXyx7lyOHpHHm47ovHjJRQGmF-qNb3NbXQMQByBfBiUlAh4Z3vAFMvCJ3eWV5CQaZOQYDpUrP9-iFoO2AZm2hDxD6HVMJfiGGlcWltQ2RnLzXMjSDYHL6zqZc_xRXlmHz9qrGcCJwqhsfRq1bqd70J6eA2abckYUEm3IeLnjcP3feVX0kTCJskhRFNIEarEoutrzmbQxO7wxfM7fKiVP2Q21t___57Kl815xF5RNlcTuSpYZOEjZvjJyZwrojCmPuIZP6szChkv2znb9yHcsmbsHkF78O69xvwNeTy4qukOfaSyxWmX66TzPd3AVqJApJ_0T2o2Nom50lXcmG5-4c6sOTpQstHTpZYlCwgDKryZKrJV2Z2ZGG2p3ysYc5O-DTTlU7ssN-_41QiZrg21e53R43cT8pBNHLBJj5fw8_zc4lGg694-eMML0hY3BFW6RRuCZjHHmAyPnQY71UzH051msM_xlYc6xeWGykIwYSxO6OVDkUy52d-suOgDs5ebpdt9ABOBVeQ-c-sT8vPHWU1ev6JcINxbV6hgAmlh9fvOr5uSZVXcO4qCXmNBLkgivbjcZ77H5iYxz0WrUIwoFHSaOsZc64ElGSoPjULa7bDmyFv9zVDpSJ1-wkiSZD2xHbBGNj2-mBsrXe8bOES8kNhXf-CUOQ5QHhEcQsqig8RNhMCvnoeOS0zCE6X5ZQJ_Np_8FPuhGLvbRMdP8W_7y6WyBRkL-MRcbTltUxlya9tA8kwgFtAvqkZP5TN4BuKv6IfilnxWPcWSrYVpikoLFfWc1OgSURuegD5gxvuuiL-s-4trROUulsB_PNMiKCEYt7-vTSV-j6dzO-22Xqb0Jo1tl-qtry7uWnVy1bIULZPlbpOwwkW2BhULwPOhjJbEXIkA_pR6ZvlUMQ2MxSDdiBQV_MPHKK8lQ1t-JEINp_rKJxygVYGfrRzpEq_GWb7GwQ__mdKTJuBQ=",
  "id": "rs_0624988557341257016aac672fbe1087d0afda386fffa86687",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.045},\"note\":\"The can is now over the clear center-front portion of the table. I will lower it to the surface for a stable regrasp by the left arm.\"}",
  "call_id": "call_fNQBNzvCyktvGG2O7Qkoco19",
  "id": "fc_0624988557341257016aac6730868487d0a807feafdf30ab06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fNQBNzvCyktvGG2O7Qkoco19",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.852, 0.6437, -0.5301, -0.0189, -0.046, 0.9993, 1.0435, 1.89, 1.2373, -0.6235, 0.569, 0.7597, 0.7271]\nstate[eef_state]: left_x=0.2809 left_y=0.0016 left_z=0.1528 left_yaw=0.007 left_pitch=-0.1636 left_roll=-0.0062 left_gripper=0.9993 right_x=0.2791 right_y=0.2973 right_z=0.0522 right_yaw=0.0595 right_pitch=-0.3673 right_roll=-0.1754 right_gripper=0.7271\nstate[joint_eff]: [0.0889, -1.4427, 7.0632, 1.6874, -0.0464, -0.0073, -0.0122, -0.3077, -9.7162, 7.0222, 1.1844, 0.398, 0.0904, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:952ea569a3ca63f0336288700f7d4f26110afcb9e1f811dd8efb5edcc85e58e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:046cfd60606947c599666199a33d450024d3227e8e2e091d293406782d8daa8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3f1dca3950ab1061553df8b3121381b0837ba322d66edfa9a010f1267b904b6",
      "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]: [-0.0189, 0.852, 0.6441, -0.5179, -0.0189, -0.0456, 0.9993, 1.0412, 1.8385, 1.8385, -1.2446, 0.5419, 0.77, 0.7265]\nstate[eef_state]: left_x=0.283 left_y=0.0016 left_z=0.1552 left_yaw=0.0068 left_pitch=-0.151 left_roll=-0.0063 left_gripper=0.9993 right_x=0.2805 right_y=0.3059 right_z=0.217 right_yaw=0.0752 right_pitch=-0.3701 right_roll=-0.1254 right_gripper=0.7265\nstate[joint_eff]: [-0.0889, -1.6889, 6.9812, 1.7216, -0.0269, -0.022, -0.0171, 0.1436, -8.7726, 8.6496, 0.9011, 0.5495, 0.1636, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGc3lPTW2S3OJC39LA346zRFuqomTqdNuQwtMQnhy03TTwyUC7Ke6eDJX_txQokS_1hgVt_u2J7wEIO_xyKD2IH5OlpQ462BGWnJP1x46rVsSNJTwKKEo5tn_linp6Jpg6uShsreoThqy6NXiAp6SVdQOApM1AdK7C7HA3pHXYWTu9wfDUgFRnYD-1OjgPHSqCJlG5uqPUQ15INsPWLw9sjornjto6mIXEk4tdwLCntnOlpo1BFeJYnZzs7ASHCPYpB2CfWa_SG-r6IIzUrfhupXSqq-UvoTL3z8JMITkMyO1sIVu6t0DEjrgVfvVqOms8Ox02a_Bn7od6FT2AKOqAGPHMvoF4mqhkBNJXR2lvt9iekkJFGFuzy-doxVGb3H2kwYlPFbkU-SAOEk0ccRRkBVjDv3Fi0GC9krX2zt7gvQwYAMsk7ToD7NcAAZrwfs_CBfVRXQPUxApx1xaxY6zaIn1n3GcxPy9uqmLCxzppk6c8dPY6d0G-8F1f_nhL3hvNU3dpACaUrNCoN68KSgARI1G6lM_6dbDnQj02B6f6c3m_2b7nzak-dmIi5j3z3zLyrW04N0sJEuknrcgttoMRHFLAaLnS3tGQN0r2-afv-39SB1nt74tEXnQdJ5tJ5dl5Pxu96S_kCcjSx2FkZUb8n9MHOSkR1G9wzybBFdn2qvCGNIVhVcI9byF0IzPE5oyz1_rJaivfUaIh2_cO79IjcA1wDCS3OHUj9zUasZwfQ7HMBp4dqDOmne5TH_5BiMpvZk0iDD-fRga2CQiDdgTkz0tldGBH_NDI1ioXjPM0Dizv2o2DGhzRbIKOgibB9Y0rsW3C85XtBQqP3PdGSv7UawDc01Hk_JrE_ohOeBRjln_aJgclSD4V2kg1m0fm_QrNH40xnPJn8kGIlKpStAQbjw51GakGmWwgmSdxPQNdFYJIjblbPi17BzvVRMjrQDmDDuNJvHgdUq3s9HKieHPGZ3qEw7OvpP_m6u-Uk9TRNi0_PFTM1xyO7j9QS4hN6G_sfwmz5IbvbzAtPitKvWzdQgo_XLR69ShmxnNY1dC39tPb8bfYn34oPAJsY4SFYQc69rCQFfwHmItc5MrDv8YVLUqMybfM60aXixKg7IdeAljABChihNM47SD8GOuXG9mAyrSz_WDszOVbQVb83g0FI7rnfojVRhUZIWi1hnpyF0PGrZbP0cG6sWClQqxV_JJGwrVmZky1musqIQaqddm3FGGYyC9UuWS5DhwIverjPwZRGrALN5QWEq2wZhybtFnu51lm_bjQ7HFL3_ds2CADIIr418z63KBZbk3-mPoaYKz_JpoF4Lk5uDuJ-sGdKhFMx9NksIXcPtReJPbOY8C-nEaSZa-husigP9XsJbgsei2cD4192alep783wiYoYh3CLxPqCabbMjqGUIXoqO0wAIWA==",
  "id": "rs_0624988557341257016aac6734a79c87d0aa2507e1962c2cd8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.015},\"note\":\"The can is close to the table but has not clearly settled. I will lower another small increment before releasing it.\"}",
  "call_id": "call_cGtrfecXsmmzXwtOYWqITAqA",
  "id": "fc_0624988557341257016aac673670b487d09ab447a373b2c7f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.852, 0.6437, -0.5396, -0.0189, -0.0463, 0.9993, 1.0431, 1.9293, 1.1767, -0.5358, 0.5457, 0.7597, 0.7271]\nstate[eef_state]: left_x=0.2793 left_y=0.0016 left_z=0.1511 left_yaw=0.0073 left_pitch=-0.1731 left_roll=-0.0063 left_gripper=0.9993 right_x=0.2745 right_y=0.296 right_z=0.0234 right_yaw=0.0666 right_pitch=-0.3927 right_roll=-0.1729 right_gripper=0.7271\nstate[joint_eff]: [-0.1436, -1.4564, 6.8718, 1.7021, -0.0464, -0.0611, -0.0122, -0.3214, -7.747, 5.2444, 0.823, 0.5543, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:794770bd3b2b738b0f8902532af97972afaaf3cffe06b56331ceb416646679c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd4bfa6e3bb4afa9b9a9a8639d4312065f461ce850978392e455b2e971a807b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d595a39fa3ffcd099c84bc4f89fe358db6f19a78d9b20fac9e64d39bc10924b7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 33 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.852, 0.6437, -0.5301, -0.0189, -0.046, 0.9993, 1.0435, 1.89, 1.2373, -0.6235, 0.569, 0.7597, 0.7271]\nstate[eef_state]: left_x=0.2809 left_y=0.0016 left_z=0.1528 left_yaw=0.007 left_pitch=-0.1636 left_roll=-0.0062 left_gripper=0.9993 right_x=0.2791 right_y=0.2973 right_z=0.0522 right_yaw=0.0595 right_pitch=-0.3673 right_roll=-0.1754 right_gripper=0.7271\nstate[joint_eff]: [0.0889, -1.4427, 7.0632, 1.6874, -0.0464, -0.0073, -0.0122, -0.3077, -9.7162, 7.0222, 1.1844, 0.398, 0.0904, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGc8OSJKGuA5uRmJVxF77F1P1g2MFKcVVrdLMMoN3O13rW4cbc5OxbB48Kx_k3rwEKQ0h9LsCR6xg9st3mXwJoyEnGcRKlC-TdgJr0T8CQi7S5pJrC4vQtHrRV2M0P5cx6KGWyS4slUsJ5MxgUvPSHHdEGWgDLeBZO9VG3Qh1gHs3OxEDzfNg_AGE0RxCj_tAYohubq7OwAeIqBPovpgFVqNjSmnfOXspraPODMdFaURIlMrW6n5cfYxnxUoudl2GIb5EaLYN22trTsyy_h_gI94tsCla-J9z3tUZlTe2fVf535Wk2hvXgimN3x6zNm3vmb66xrHVMmJ09wrfFtrQWOPgh-cmCSX78eIZzrEf8M4OXZZ29VVkH-RfJPQ8fI54VCc5xkvslMJ-NVfV_jnq1IefQDnESkUG1mat3AKt2PqdXfccrIUJPvdP3bvQEVCBXs8sSQDgh5nyA6EhAwskXGi3vD7pFv_3Yd_n-3zj-qw6ZQxaFfi3_vzYDROlwD0jglW7oVOCDYkfXHP4KeZnZZHn2otIiu01djrsnMizMEd0PHvT2QGSGvw73IZoY_TyfyJBJ57wAL-T78-j4ioCiw8AMn2FFPuvVPIChSNb-VibeO_nT2sOnIM9_T2oAzBfStvOSXpAK5P_KnbTVUAA_VvMfnjLe8wgoTloG8zBolEW3J_T87fVmg7pL1IjKmuBSrP5jR7zKe6FKmESv_arLe5qog9C7MZb3UpF73lASfDy1CbiY1yq6JhWNN1j7w0zJgwq6drFRIwdraQPFONuMDeP_g_TlfnYeFmfRKv6E6d7THqeyn2c5I67jarOiUCZLMn3EMp165oq16uj_vWt_-dDyD0BAHLxtkkw1wRP9zK9UQCzpdbpGfMR2K7FDcRL7ZzhERnyIZIqaVu-03nKiOkTWC8nJ1T2AyAw7nqBjDiUs8iQAlo7fh7GlmHuNLqub4UXwM6S4dHqapOZOm-lDQOhi3q2Hve4F_bvSV0pBHUuffBlAvUeTxe2w50JGgwQN289yMWa5s33N21W5KQyJbdZdgcfCC2IWtya-_C_EcgEMr6mEiZkhmulP-kOcq970BDmTvEhhZ9MMeU7-D4jJh-QC_DFyZcWPHQH5G7aH92ftlSKH9CgwM7yv7Xe9CmSwCQNs8aL-7N8FiJxaHUYEZBb-tfgJNAnEJQ353FacM8uJ1itOZ7EdTVT-dkY0ZQPST32XGQv9fLKNgZp1xVsfrEtM4YCmKaqohRYVpcrct2zDFk8_zD-8M6XbY3DxvLaAuU",
  "id": "rs_0624988557341257016aac673a837c87d0bde5006181504eeb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The can is resting lengthwise on the table in the center. I will open the right gripper so the left arm can take over.\"}",
  "call_id": "call_SZaKCjAD0Wvv9OlIv4SVu86X",
  "id": "fc_0624988557341257016aac673b0ef487d0ad94a1ede76e0420",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SZaKCjAD0Wvv9OlIv4SVu86X",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.852, 0.6437, -0.5407, -0.0189, -0.046, 0.9993, 1.0431, 1.9549, 1.1591, -0.5053, 0.5449, 0.7547, 0.9948]\nstate[eef_state]: left_x=0.2791 left_y=0.0017 left_z=0.1509 left_yaw=0.0071 left_pitch=-0.1743 left_roll=-0.0059 left_gripper=0.9993 right_x=0.2734 right_y=0.2944 right_z=0.0107 right_yaw=0.0655 right_pitch=-0.4008 right_roll=-0.1868 right_gripper=0.9948\nstate[joint_eff]: [-0.2393, -1.4701, 7.1043, 1.5556, -0.0659, -0.0562, -0.0122, -0.3214, -9.2923, 5.9009, 0.9353, 0.4957, 0.0171, -0.2613]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5190e38043e5361f9ebb48b2ed176ede590165c45babb0442bc10d29ab82dd1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af395ed89e9bc47933cd0909d2c164c90dfcd7a705620e3cd7130b84e5bbc120",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af147871f3e2e4e6b8882b8b6a723e298f23310c263eaa193f300e3ba8a00abc",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 37 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.852, 0.6437, -0.5396, -0.0189, -0.0463, 0.9993, 1.0431, 1.9293, 1.1767, -0.5358, 0.5457, 0.7597, 0.7271]\nstate[eef_state]: left_x=0.2793 left_y=0.0016 left_z=0.1511 left_yaw=0.0073 left_pitch=-0.1731 left_roll=-0.0063 left_gripper=0.9993 right_x=0.2745 right_y=0.296 right_z=0.0234 right_yaw=0.0666 right_pitch=-0.3927 right_roll=-0.1729 right_gripper=0.7271\nstate[joint_eff]: [-0.1436, -1.4564, 6.8718, 1.7021, -0.0464, -0.0611, -0.0122, -0.3214, -7.747, 5.2444, 0.823, 0.5543, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.22},\"note\":\"The right gripper is open and the can remains on the table. I will lift clear before withdrawing the arm from the shared workspace.\"}",
  "call_id": "call_G95pMj9L2IhZv2cDlgSzKCDL",
  "id": "fc_0624988557341257016aac673f355887d099c9dd7dc7a42df7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G95pMj9L2IhZv2cDlgSzKCDL",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8536, 0.6437, -0.5564, -0.0189, -0.0463, 0.9993, 1.0451, 1.8267, 1.8183, -1.2327, 0.5369, 0.7486, 0.9954]\nstate[eef_state]: left_x=0.2765 left_y=0.0017 left_z=0.1477 left_yaw=0.0074 left_pitch=-0.1914 left_roll=-0.0058 left_gripper=0.9993 right_x=0.2778 right_y=0.3059 right_z=0.2156 right_yaw=0.0953 right_pitch=-0.3734 right_roll=-0.1327 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -1.4017, 7.0769, 1.7265, -0.0024, -0.0708, -0.0122, -0.5128, -8.5675, 8.2393, 0.823, 0.315, 0.0366, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8c136f73e149b3b6b368c1d0dd04b4ac647e024e41e98474196455d00875338",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dacba599c0763d9d81d50089b36e9e6c3be5c02d652b01a73d951990c2ea8ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:987e2dce15bdb6261e6c11177a2c62e47405ea3a55cd3cbf67168ca51b1c9dd7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.852, 0.6437, -0.5407, -0.0189, -0.046, 0.9993, 1.0431, 1.9549, 1.1591, -0.5053, 0.5449, 0.7547, 0.9948]\nstate[eef_state]: left_x=0.2791 left_y=0.0017 left_z=0.1509 left_yaw=0.0071 left_pitch=-0.1743 left_roll=-0.0059 left_gripper=0.9993 right_x=0.2734 right_y=0.2944 right_z=0.0107 right_yaw=0.0655 right_pitch=-0.4008 right_roll=-0.1868 right_gripper=0.9948\nstate[joint_eff]: [-0.2393, -1.4701, 7.1043, 1.5556, -0.0659, -0.0562, -0.0122, -0.3214, -9.2923, 5.9009, 0.9353, 0.4957, 0.0171, -0.2613]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGdKs91w5Fa7XAaYQ7In4ApyeXbDu2W8hHes95l5Y18ReftRKEbbQ-BhfzDPuskjtL44NvSgRhpRE3RMVGy8DyeyqCfcpJ01QdFHfG9XIqYMGnW7NpOvyyvE93g6gbNGkmRboOE9NvhKNHU3FgBoq7N-049qDoLIbO0Kk-lB9UuWSYWSvTq8D9cdUrW_SUeUXxiWH-iVbWUc6ACrNILZBJ9Lo02IWQ4u-ZJzQTds4gfXC0LPEmLP_RDHZNnqHWjkVxzHcXDcCi9ZdCJlgdY5rKZFkdghC_lQ0bH9bD12gN65rzGSoAr5bbbOwKwi9AqiOTyGQxwgGwTCdhNm1Jm8--FhSeTfyyatUR3DkfIdlcCVtb--6rxtlsKm49m6ZV70xGhP9UQeIX7-OWcJ_fpik7SUvdkFVS6aPwpLOhSKoXIjDiagqTxWErTZNdzmgHDqWt9SWI09ERo36lU3jecqvnTenrlgR4ZDr-5jg6KkCWAu8_JKo3N0GrHuKGLTkCv5WcXRTeDZS60Fmi_sevg9BSXFZODFMfSCZFrpdSeDioY7OZpwoFy-xoXKtr6OTfhc4vGlaEQX-GxbZ4dhv92FjwmrZWR5NdPb9J3AP-l63Bazk3uQT9D1_ExbK7D4dIv1bz4zc4dAO1ZzA5VkKtjkQCWZL1PWyOD_UVNVW7ZiFDZGRSqjorafT16to5zS7LZVfST3AHUZ4A3ZeEibhIK8eH1cFD8JuXxf1F80KUW9MZd0YfUO5XGfsyh46i_1CXm-JUkSYTYgltTRWfcbepFEBBiXhTffL4caTQsemv1mvAGSJs2tbJkuFYX3StbvNGj6_LcQSFhYWEgCg6IYCrAaay3P5oNCSPwhQH7HLYaDInsVhoA5dAg0b3zViWJrYQqYK008_u2Gu-Y5rt1v7TjzajBKtkdhpqH6-jKHo63DNgLgwZQ6NvsRdZhQm9OKtj3rohUFJQEGhUtiSr3zi1ZplmwkgE3Ny4ZqJ3ez8xpaSrLoujFwe5TJK-7i4aSnnYeLeHZp6WigNNWeYhz8EpTB46AnCRRpAQQbZedmlCQfssRkZ_vU0EQC8TVeb0u-VdHFHm4FPwxB9U9jxswtkJJVsmq343GK9Q0Pfh5axqCTRaFeE-J297sXPLa4JzWIs1btu8-fjQHE1m5ZyywpOUHd5e6hV6pgp6HmyqfzQEwVdVrBDo2mS2O221NhcSSvfk-c4mC5NA0Vhz_PkWYxjBatsA6hKI3hziKDUKyatnDndeaGGeg4mDeh0Yrl3xHTXyE3928Qv4PUC3tflFxjG4bxNM0iIFhBroRJJrz9jCj617VtgTidTGQ3GuOMTGsIWzaNbHdG1wov8vMnaR8RnPYb9ocE1T_tVBUM3YFPTi3nVVXBnHhZdLC4IOBsjGJX1Z4jvFWlEvb6OIDRBcIvOaqwgc5nRVuFIjtKohpCuke_AD8oeM5xqqVHwQUVKc7yLXvtnWZZtQ4BLqYUAZ2gseZoWc-JQDJ2SZPXsXAr_GfNov7cN_BP7yOlgQXeuvau7fqslg2IPwVEHzlCZ0PW-URae1WHPjWEjgS9byF6DGYiA6mJgw2ksW_Lk-Z1edhHoXf8NeLzLIWXAiZMeYu-eK214gA3LnCdQidzTwsv3px6zRXOBONY3mO8W4Wc0FvHnHiXI8qvcptgSiAL5DyDhHgONpeCcpCDjwaBfobVWZi_w9xBNIhtnpYiGBisu-757zVvXbFb",
  "id": "rs_0624988557341257016aac6745ab7087d0bcabbfa673adfc93",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.294,\"right_y\":0.001,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The can is safely down beside the burner. I am parking the right arm out of the center so the left arm can approach without interference.\"}",
  "call_id": "call_3vyhjW7szGoMh06h5hBNVcgg",
  "id": "fc_0624988557341257016aac674934ec87d0933399bb86acba4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3vyhjW7szGoMh06h5hBNVcgg",
  "output": "executing move_to over 26 steps (2.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8547, 0.643, -0.5697, -0.0189, -0.0502, 0.9993, -0.0856, 0.828, 0.7052, -0.5446, -0.0906, -0.0887, 0.9954]\nstate[eef_state]: left_x=0.2741 left_y=0.0017 left_z=0.1447 left_yaw=0.0096 left_pitch=-0.2067 left_roll=-0.0081 left_gripper=0.9993 right_x=0.2859 right_y=-0.0049 right_z=0.1839 right_yaw=0.026 right_pitch=-0.0808 right_roll=0.0022 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -1.5385, 7.0906, 1.6923, -0.0317, -0.0024, -0.0122, -0.1162, -2.1128, 7.3915, 2.0977, -0.188, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51f2f3e7a21fef7e8298f2279a2e81f609f61efaef2c40d8dbc6516d3dc2ccb0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7d6de77fa5c0bedb0708912743885788d260a9cc228443233e5329bf87ccc9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:549f1fd828627244c9379c80738ea4306931efa5662839410b2da4ade332fa01",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8536, 0.6437, -0.5564, -0.0189, -0.0463, 0.9993, 1.0451, 1.8267, 1.8183, -1.2327, 0.5369, 0.7486, 0.9954]\nstate[eef_state]: left_x=0.2765 left_y=0.0017 left_z=0.1477 left_yaw=0.0074 left_pitch=-0.1914 left_roll=-0.0058 left_gripper=0.9993 right_x=0.2778 right_y=0.3059 right_z=0.2156 right_yaw=0.0953 right_pitch=-0.3734 right_roll=-0.1327 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -1.4017, 7.0769, 1.7265, -0.0024, -0.0708, -0.0122, -0.5128, -8.5675, 8.2393, 0.823, 0.315, 0.0366, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGdU9NjCqDBbNZKG_MoWoa6idfG-ZZ1_6Iu5yG2CP1BOc_iXsLzs5CNxStUQCE8qQup9xvEMrKyJhOkXi_sEAdad8Bw8T6R9KWb1yRzsXKK-kL2yDShBSeinToMdH1lD3E7iL0ZzMGS27KRjWbIJ5aN28fyyGVjLJ3VZ2Qhvi1kDLHedFqK651sYzOZmNUcYhL2SO4t_eFI2X6xAhO9Q9joxxbsWDsLZdrxkIGhlqGcVDSxr9fxIBATJdMtkTyQ_YLBnAFWPldRgwAkbhXo4Rd1dwj7j34y8qn79IcvVWyZa6YAUyzr6TVrw44txyToKE6xjMfc8Dxkcfu5BvPwatBbeo1iMEqcs5swzKtvcZVoTxGE4GJZ5TrUemAhi3LYZ3gn4isGFq8B7SY9c67lSRxs3N0IqBZWJ1S2xc_SG4Ok3IBxI-OfgExoUJhe3Do42EjAKEG8AFRVf6ELhc42GpYlAt36FF2c1_OUasd-NTbq9VYzGRwr-8FDCQkPSGCiQyAS8F5uY_YklikiYIJznFAA0h3xTbPK_PjhupRA8vQMw4vzMMZQzJoQ5uJol0S5j1EieO107uC6RKF9kyp8y5hgNQlay74mPWI6JJlOJMgukV3pnBLjblGlPZJpjX8nBCuHW8uEmjG-ai1T8qjpPORjQND8p19wneLUUNlEvmXMq4KxU9STw8NH8bPUmUT4sHrwqU5kE49dYHDMtqfBPwChYCoAzWgTQwMNbRxPxU7tDrHhW7dyNg0umlBZtgtGXxPAy8g20Imv3xM_nB8e_CJ4WbbcczyJR7SgW__6ftSq9R_0paFMTzkf7TNo09am57YuAjyWRJe_2Qxc8FNZ3m-z4D7rjnLscL9rx023SlSCDFwSvWuh3GkWhwSJLQOg9gPz__vYzKuGpEQ-tKKUfAfvlL5bNSRTmKL6bPXoRGeg8LJcGJVuPL2l4f2mQ7wZNIq4Ycz-cXJBHmTXFAwg1RIBlRbrPeNcbQUP4BiDMsKYig57WWgHBAQFgl1fWhkrdgU1C94v-GT6cUZJwktTFTxpr9lHfjMR5wuXNwxpy1bJXNpSPkpycZs_wwl-PLv3TaW-g-EiSNGqT5p6SJ8JfcJDM3xFMVLIJHwNNL9eMnow0o0sEtdacsCseH3kW1Uw03Zj7fidks0Rrgg_6wXV3mny6RaxyfUyYi5nIfgkyuo5kVJKlJA-ic0sCnK3WWVxHxwl23X0u-QMi1idfvrxbw9E_UgVUz5LPWA4aMqZKcdjmI8OePMBLTI68gVV_AP6XrjNB0rlgzpfg0iNrqGOE9ts0G9fl6q0SemO-5H2U3J03uyIxQA3IGX_Gl87eQ_gTDLKKjIanrZOFhMgVUKDWl7stQ1qA6m8MJCeavtXO69jbljHuXFZv3uLyxLtawVY4OptaI2sfPWLKThi-nqknpLPhjZZrIInPcmToDIvEDDekgWgTyXSRSLWVSHKr_ROdYXC7kv_UHkbyMERfTKiCcFarsYIk6S3OSgg3PiZ079kD9MgCTLtiWgEM-f_TYtWwmYVPYjngenGPSzD5xSteZtICog==",
  "id": "rs_0624988557341257016aac67502a3087d0af44291472401e30",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.345,\"left_z\":0.16,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1},\"note\":\"The can lies immediately to the right of the burner, with its middle unobstructed. I will bring the left gripper above its center for a balanced final lift.\"}",
  "call_id": "call_ffN5gl4VCtZku7sIvf0PPqPA",
  "id": "fc_0624988557341257016aac6752410c87d0bd3f9273d42bcc7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ffN5gl4VCtZku7sIvf0PPqPA",
  "output": "executing move_to over 31 steps (3.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9733, 1.9678, 1.5192, -0.4568, -0.754, -0.7238, 0.9993, -0.0853, 0.833, 0.6998, -0.5674, -0.0978, -0.1017, 0.9954]\nstate[eef_state]: left_x=0.3795 left_y=-0.3364 left_z=0.147 left_yaw=0.0042 left_pitch=-0.0363 left_roll=0.012 left_gripper=0.9993 right_x=0.282 right_y=-0.0032 right_z=0.1759 right_yaw=0.04 right_pitch=-0.1132 right_roll=0.0006 right_gripper=0.9954\nstate[joint_eff]: [-0.4444, -10.6735, 8.841, 1.1893, -0.5788, 0.0366, -0.0855, -0.1573, -1.7573, 7.5009, 1.8291, -0.0415, 0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c16049462b17e1336c061a7113ede7a0b32fa3cdee9e1709bfcb31830f578121",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abab8ab5c370e3025f7a5a84a75ba5d01319304a7c4fffc00fa026cd5f8546a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ccd0bb226b01232b8afd4a78c5c22d7dfe2d5623ea43ae128cbcb3016a8b85c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 48 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8547, 0.643, -0.5697, -0.0189, -0.0502, 0.9993, -0.0856, 0.828, 0.7052, -0.5446, -0.0906, -0.0887, 0.9954]\nstate[eef_state]: left_x=0.2741 left_y=0.0017 left_z=0.1447 left_yaw=0.0096 left_pitch=-0.2067 left_roll=-0.0081 left_gripper=0.9993 right_x=0.2859 right_y=-0.0049 right_z=0.1839 right_yaw=0.026 right_pitch=-0.0808 right_roll=0.0022 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -1.5385, 7.0906, 1.6923, -0.0317, -0.0024, -0.0122, -0.1162, -2.1128, 7.3915, 2.0977, -0.188, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGdeEHNPp57tNMAz2UYor6OCHugwBqtmxbL1xvnAlkAOniV1S36TxL7Ug7-4TIzg0wVqkoVmCk_Q_snQGlTR3cuJ1IaBoudn5fmUW1_xyoAmOr51sUI28CsBEZwY7nCU6f0Xwo0JhWpRRFtalg9MPGyU_a04_cmW8L9ksvnQymXEMLk_qO9ULAVJUOnn1dftRt4zVvAV0krlD58AoLrG22GiX76U5Ax5xxiNYHCQ2uIB80AWsWqsin6SMvA8PzxxKAwXLzbanNRJGGK9DQSiRHjTZcKHoYz8BYmDTMUlkGn-DK1SHO_4wa52H3cYN3CfdukbESoZF_9KdKeJH4XTkp7cxpQrR8JZl600_UdEmHz8PZ3p4X-AgC-TpCiDrMpX6X8q_gY1beAtHSKOBgwnVc4aQleEO8yr6TXAauPvp51PAvder6cGBFkIZmpn_7Z8fkGFf63iMjMdQWEUBDRBoMgaBIgNs7KpnKOPT8Nq60pVBnN4wOmBgCou5H4SFlWHmm5Yo32LP9GXtfq6zPkcOubjtU3mcASZTG8DtQ_MLQT6Rl7O-vJDreUibUE9udfAKjd1GhI3tPNKDN9zhVbB3dalgcawRepydpVyMZ6Ana_hsReTRW7rDsaA7dulQPdQfg5J_isr7_GNUHGQwXs8AsmexpwVnB3XaUwrXqLnZFeMTwkj20MZgfi2BUilTMTW_QCmt-a3Wf6OisdcMxwkbexFzA5Sz_lvqJNimdMaN1z-ZccU55Eipo53-fVxks8FRPHRKkBMdfvuHPrFFrA98yGDBsHmMlllnaaWJzICCvlR0E27qy-kcOkbnrexC9vUE_VDbjDosqH4kC9qmryINWMWk7vEIQRDQJtukDymxXny9MWkUwiSGV8dCp82KYAmOtEOhK-NHjizqTcIJ7wMTyzn6FmK49qDAQ0zHQ9_AoxnjHnc1WE90Nq_oJWmM8ZnOuiEeoi00p125SyLt5_eY2KVBpY1xVqW2kn8lAyptJjOqOTtNVwpmGSQ-cCZEoNFPQ0znzVeVNb9xQ_GjGbTBaYUD0eCmlu35MXm7b6PU2DmyDAqAL0mnUOwPHcdCWPV7Uxrq2p8l836lMk0x1kUhFl_0kkrLg9-1rGslDi-5pLrNQ_K6xyHhFpytskXcqnjHEc-P_Dfc1HBceawMWHFDe5BdqBYEWfd6fHwfrwhfXhDZZzuLmtyIPQ__haAC3CqicLihh8oLgWa_xhwN0EOQ0iacYNyG0t368gXhbE-jEGYGSvB7bCQqxrmmu8xFHqAd53SEtKG_yz400T48la5yg1d4o-5PzUStg7hesNB5E2pJzp1fOcXBIU1kgI8bbOIPRJWPlGQvhiIhvL5YFZH9ZDgiI0gGdT_QF15bzqhkaT7rORBxYKy7is3uqKc-UAdtsA1m6jNU3GGYL71MjrNUxz8eSqnJ3TVljlwB9ehITXIXqV6x7sFNDh4pZnwlP_NJZGavbE7evGk_HfNdjQPFOQthb_9ZSdF_RQx9bljtJYTzCJVvl4z5vELXvcw3WD3XYRz1FZS1SZhNwi1DkG84cZUOwMDt95-sEriA9E0Ir5QIRwyMYSN_5Du-7XS8IRtBEpTRZn5tRLTrzOev_cs0BvuJeiTob4PHTyroMO2OKT_argwZ0G0S7K2fVaq5jdru0NNlzo9intl-M-fjGP1LVbLC_C9o4_36d5Dg_MQ2kA5HfCDlEsM_Cj2aB9TGuU6DuZ_ELZNOnmNEAARca7K7CDlgXRpe4buUC6ePknJ5HtL44caD0jHNqBJqi_mUdTPfnnkskUHKpCNB8SEUcmrYlO_yA==",
  "id": "rs_0624988557341257016aac67598ff487d0a942dd6c318d989e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.315,\"left_z\":0.07},\"note\":\"The can is slightly left of the jaw column in the wrist view. I will shift toward it and advance along its length while lowering toward the center of the body.\"}",
  "call_id": "call_0NBCb46q6ke8AdE4IjfcXEmR",
  "id": "fc_0624988557341257016aac675cc34887d0b440ee57ae758d26",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0NBCb46q6ke8AdE4IjfcXEmR",
  "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]: [-0.8494, 2.0979, 1.3941, -0.2012, -0.6907, -0.6312, 0.9993, -0.0853, 0.8356, 0.6998, -0.5903, -0.0978, -0.102, 0.9954]\nstate[eef_state]: left_x=0.4213 left_y=-0.3031 left_z=0.0653 left_yaw=0.0369 left_pitch=-0.078 left_roll=0.0568 left_gripper=0.9993 right_x=0.2785 right_y=-0.0029 right_z=0.171 right_yaw=0.0406 right_pitch=-0.1386 right_roll=0.0036 right_gripper=0.9954\nstate[joint_eff]: [-0.3761, -11.7402, 6.4205, 1.5165, -0.2027, 0.0904, -0.0122, -0.1709, -1.5385, 6.8581, 1.79, -0.0708, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b8db1c2438a3ccbc3670553f4a33f90d0a3808cec6993a4e19ed34cc398cf4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67abd4f731ac820ee8fe16dfe1e0373815f4588978278c06868e0f24dbffe4ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:182fa2bf0cfcbe1290499366c96fe7b9db251da6e0b66eacbb5164345da9241a",
      "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]: [-0.9733, 1.9678, 1.5192, -0.4568, -0.754, -0.7238, 0.9993, -0.0853, 0.833, 0.6998, -0.5674, -0.0978, -0.1017, 0.9954]\nstate[eef_state]: left_x=0.3795 left_y=-0.3364 left_z=0.147 left_yaw=0.0042 left_pitch=-0.0363 left_roll=0.012 left_gripper=0.9993 right_x=0.282 right_y=-0.0032 right_z=0.1759 right_yaw=0.04 right_pitch=-0.1132 right_roll=0.0006 right_gripper=0.9954\nstate[joint_eff]: [-0.4444, -10.6735, 8.841, 1.1893, -0.5788, 0.0366, -0.0855, -0.1573, -1.7573, 7.5009, 1.8291, -0.0415, 0.1001, -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": "gAAAAABqrGdqOBJeCgJK85A1UySVhVzCUwmQCukMMbUhmWlWThymUEkABAv-ZzbmaCH0qC35KRjDwNLJ1m1eWJvHJ6YtDVaVqaBsIMn2V8G5NXPaJrdSNelp-jUhKgPEiwNmyP-EwIiVje8KjFMqyRXiNVO_wAA2IL_mbyyreXZjD6TLSNcfJRM8xAQDgSwHJeWHtE9PD3osrVrIyZOnvlZH2GneWW2j6IAW5Y75HRLgmio94vzax1fpj22zxssbghYvSrlV-7Ld_90-5o9m4Yqn1sbCOcJP8wAw8eXBe-9pTkJvDjE-X6Ucz04L_2uFi0lKRvDn6rlgGxPiEYiAHYdTZpxaGVIcjShC6njhXyVzs8XGbyXWyosObCi7A1oI5ljVU4GktnKhI0n2UGvi-Ze-0RmAhH4hCxJ4RmU5pmiwskxLPB3iaRPKsfSbepTC5ixqLAbJijRfArMy-RJu2HkDgsHWCxnsOMMPt9WO44FDBf-G2HLJpterSWsVxya5oXR1qgPQT53Hp7Rj8MK44z8RSlvDv2sTdi6rS5pipCVURA92PWAxSJ6XtL6-WdCJJ8kR5hHzxlRogMQQB6X8kM2b01IND5m941T4wi_z1S__qAtzH6qtBq_LDct9vrcgFtwI1kV60b9IDLtyXR9i8PmiPIXX5XOWunUQN3J_DHGkgjnRPRoQ5mXzK5jyEs2Dz5kqPV1zql6bOFnL_UyqlCux9s6ooWm-1W9u_Fw_4BuSTy36Xf0Dgxye3krSvkdnHp50I2o-hnTq25tWR-C5gTL_aaJUvbA59ldOftkP6u2NJgDTx92VNy705QsIB5Px9i-SU9moO9EGiR11-Rs05qTFSP2Vz1UByRkcwMFGkXQKDG1FaGQmgZ-NVBxhuzO3VuA3teqsAUG5HbDWnD7UYKSX_b7Hmc7VILUiP8jOkGWWcqVbCISYWFaFVt37K3oopYkDSVJcNAf47XnkDYCZWVLUb8AMbJ9g_f9nm5ZfQjeU428OqoAanmNRpbs2bOJlMo3trn0lsHGSugAFippijOZKwFfRPmMRBsdKpzucfYKhRP5-4eiEuEwu4qAfjpByAjqURvHhkQrJzokxE_sS53Y_9k8MXH_aIVJp3aKjGIt7lcFtWQbIit03ITuw0VgryEAJR9BI_aQaZq5Jnq1-f10ywEFVf5kGcK9KHwhkeT5BZVF1d1RuuUfsLTb4tb0Mtoy2vCC84PQEPUcgGABG2y5f3xFUL4OiNDiD7waPNdIQBj47DpRIj3y5NeWjvlIg7c9QVLTdtVv1wOX-D7D2uA3_Z8gXmH_lA6LylodVo6hq7PS6FmQQWsb68pAe_ehW7rpdoCac8tArW_SiTWlIGhcTXRjudebvqs8N93EkjRzm5t4SAJ6r38gtuTfTNg4uHQ_BuXGLgtOsOjr6-OwGWYFGSLyqtAG2R612xxIh0oh3TSwBeHN4FlQEy8XoDsNdgd0FuOypSaEaPcYMFWE3vaLzk7p3yfjf-FBEzCq6FvgYWpNwmq_F-Vksxu6guz5dV9NpHs8UBczvVrEBWzSH8ylyKxv0MhnUUwMNAQ3_bnrj8zEYAHYQZ22_SKLCuZqWc4g1yBXhsL4D7NsgGseYYEfyXq-DzWShTc2WyMj_MArP_cp8mxe4R81zDF_O2V03DgV_ut7CuBvoBRGsoDepZ17K3wc4tgo1e5-T8f0Sl4mrLJAHYndIqcWM-dA3Vw9zedBKIx_mLUn044k2sB6xaAJoej7YqplBqo5HmVZvnRQs6Ugw2zNoahFAVFZQECzOfVS-O3Z31h5BB3jmnIWDsUtrNOpguAuRUQZ7k3uRsXycmqgcdZc7-dYS9fZ4P2gkUOGvT-VpCzySfhG4EhJmB0U9S-Y8b1UfMWptErH9uO7Inlh604iq6Xu8iayh4u09HN3qv3gyT2AA-QuFsnvUlGft5Wm5it7qfW_ZCzX4Z7Gf_PYjw-gr7DWbMHIOUl7Wopm0N87cDQhD1L5Y254Xw1NLNjRYmfRFJ9apVL2VfvD4Xo2lj3HillItQjZP7RSKS_gSeQBAeD39OS50v2cd8kjmZES5vNvoxUIhM2XMB2GseP3f_f8lXTDU_UheuSTLMXwKmfez9GQF__A4VnaetWTd9ZKTsmWXP_7u_B-vD0LvZdYClOiDpILbtPpVyqw5lobAKNbP_vc0q9d2Kqs3KvmsJw9D_4G772ukFnHwkLbkIM7wWnpnDqbMtcYHO5gF4kchsk0Wppmdk4kDGAs6HJQfuv8w77Y370ocQOMHl6YYgxckumgWod_7qPoQ3fBJC06VtDYAZhNi9oLZtxHMBBHze1rcqwiNw9Qvd35z36Tl5CcxbJ9lMP806pTD58FGVL5ivug05tXO74L-dflHnTsDN9SfBRlJ-PC5Q8cfMRujdjqgTTfdUi0Vw4jB53ecWvI0ExX7c4OrHAnUGekhAZnuryBgRNxrXUxiJi_7izaPrEteGfZrA1xOOoNSvWqe2JymEbQumljN",
  "id": "rs_0624988557341257016aac6760b8dc87d0a3c6e89cbedc685a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.297,\"left_z\":0.025},\"note\":\"The near end of the can is accessible, but its body is still slightly left of the gripper center. I will make a final small alignment correction and lower around the blue section.\"}",
  "call_id": "call_0QJJhJRlYBrGKUADjDCvUY9o",
  "id": "fc_0624988557341257016aac676857d887d0924e8c1d2b23937b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0QJJhJRlYBrGKUADjDCvUY9o",
  "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]: [-0.8135, 2.175, 1.3861, -0.0952, -0.6746, -0.6018, 0.9993, -0.0853, 0.8371, 0.6998, -0.6121, -0.0978, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.438 left_y=-0.2975 left_z=0.037 left_yaw=0.0449 left_pitch=-0.0751 left_roll=0.0561 left_gripper=0.9993 right_x=0.275 right_y=-0.0026 right_z=0.1666 right_yaw=0.0426 right_pitch=-0.1616 right_roll=0.0045 right_gripper=0.9954\nstate[joint_eff]: [0.4991, -10.4137, 6.3248, 1.37, -0.0464, 0.0024, -0.0171, -0.0479, -1.2376, 6.8444, 1.917, -0.1099, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ab53c33ada38361a2b33d389a7c3b18a5abb072e4b38f7b23c5370c98b90490",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13681619f5948cd29593fe3a95269f2e5b6846d32363f0e0ec970146348c4982",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5112b6f41bece243c6c96e94f01276ce52d8f1788280cab59a7e5952e933dadc",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 56 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8494, 2.0979, 1.3941, -0.2012, -0.6907, -0.6312, 0.9993, -0.0853, 0.8356, 0.6998, -0.5903, -0.0978, -0.102, 0.9954]\nstate[eef_state]: left_x=0.4213 left_y=-0.3031 left_z=0.0653 left_yaw=0.0369 left_pitch=-0.078 left_roll=0.0568 left_gripper=0.9993 right_x=0.2785 right_y=-0.0029 right_z=0.171 right_yaw=0.0406 right_pitch=-0.1386 right_roll=0.0036 right_gripper=0.9954\nstate[joint_eff]: [-0.3761, -11.7402, 6.4205, 1.5165, -0.2027, 0.0904, -0.0122, -0.1709, -1.5385, 6.8581, 1.79, -0.0708, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGduoQhUddBCwQdTDcaSoAKYEWs65xjEdcYJ4tjd3uLZ_-HYStWhDsSkrjkM5Rq-yf1VEm7vJ6if_WP-CqB-QZiuV0Cg4lL-LZP2u67OBSww4DMnKKUCrVjVwpwuPZZx3Nb7X58dCxYqZVKZpaPLC_k2dWCHvpEjjNnGd77eFje7tahdkrCyE8UeTn5pU-BgGE0cNT-57PTn_h6UbwY_hW2y-ASYjxAHBOgA8_jl5I4G6aP1LIV8Gx_0wkYLpiClxik0eZ5fhKJ1sfVYSJXvBYphUUP0JYUoAGi81VY25NQHt3xa3uUQ5ZVdK1mwO9NSfFjCU--QluKRNa9Nr01rxoNqyZlDQzK472Pda6vBtVXapV23VMOXjjwQkHoeGfUhyXYdaUxWX1k5gLYgNZ8YLaACOn2gHwHUJB0dCx8seCGNSCSI-G8QM6-o_pgfw65JAHMaDNOtn_Xv_XR2Xqdau6vC4FPxHv1ZsCtGMTetLbLNWzS4Rbyq8pF9HBIrQaIl_31J-DVk7SgzxakB9ztQLWY0m-7sFKST4Mfm3ZeuKXtrPQirkQ5fo0VYzMKHmPTTcJjeZJdWmd5zl9KGhVAKwD86rYKQUmLWcAPeCxqmMFlzdsXuQ41c1KzmDhbmze4mvQcoRunOs5UtsVXSi5OIUWxX7tdqhsl0iJX4xT1lgdkpgI8BuLLTulqqxdBZZ0-nKIKAj5fHKe6k2t0bUI5LzTSZ5Z1sTMHLVTj-nDYUxSF1e_3oYeEFoDxxlHqinr2rInlbe3f7bF_Gg15e1LOy6S1ipT3nApo2eTs3m89SypsKsddFWpFOHE2Xd-Pw4oWmQOUUPc0c-vipPN9bY6hOiFcVieBSbK55egEZjgenfnTsqHkEPt1yjcrZDv8vGkz88819OOIZdBJN8ZI5iZ5DIr-M9LSXXZw4CUoG4qpkKcnSp7fU3k2zXrAjpNqN8DiynQbdNT1F0c4SqD3flWFvTPNXCJP3SsMQUsS-zMtoyhUrjC8-POnWrs746MDWdVFV__85azyp4p-QnsksRu2yylxbnl2E5U4EXbchFjYr3nX6SrIMZ1koPL1vTCwNfd10R2WnsqfATLN-zldGdHjQkdtOxTbLD0Jv2o6wTwHJxlKYxzdheQu1DHNONs5X58ptc2bZuSZJGZkfs6DUl1UN2skOLmcx0VpUfJegyFelBzUzXneVSnljUl91oyoRETxt5J3N52Wdg4Xmkv1T2DcbQcM6wFZKfiJkct4IiV4tXbuqW2aQBiqAfFmkmVZoqgKsFvNo-tvmorX3Sw-9E0kig2Vu3m_Q6r3Z6NgFoPoDoKhMwaY2fryIlVen2OpLisQtogNcSQeYDXKnRB3kt8vGuvWrc8odG3suT80ge6tOPFyz5rk37EXDyqm0NC7uit1Ynkp_",
  "id": "rs_0624988557341257016aac676bef2c87d0ac2f9b624d94e1e5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.272,\"left_z\":0.03},\"note\":\"The can remains left of the jaw center after lowering. I will slide the open gripper a little farther left before closing so the rounded body is not pushed sideways.\"}",
  "call_id": "call_TvZV8SlhbetALDtZd2VhIvg9",
  "id": "fc_0624988557341257016aac676d74d887d0ad0444145cc81d8d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TvZV8SlhbetALDtZd2VhIvg9",
  "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]: [-0.8043, 2.2032, 1.3861, -0.0559, -0.6735, -0.5911, 0.9992, -0.0853, 0.8379, 0.6998, -0.6209, -0.0978, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.4435 left_y=-0.2966 left_z=0.028 left_yaw=0.0469 left_pitch=-0.0689 left_roll=0.0557 left_gripper=0.9992 right_x=0.2736 right_y=-0.0025 right_z=0.1649 right_yaw=0.043 right_pitch=-0.1711 right_roll=0.0055 right_gripper=0.9954\nstate[joint_eff]: [0.1983, -11.1932, 6.2291, 1.3162, -0.1734, 0.0513, -0.0171, -0.0615, -1.3744, 6.8444, 1.6142, -0.0806, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b65f12fe230d6914e4a7aa7686f75f493eebd7b5c208b2273dbcd66fb249367",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fb07b42996c7fd2220f1aaca827a48ae4b3dbef81ee779be423d830e239d482",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eca6494beea4801cfdab89c4ec9fcd49e6d700ced97b5f94f3fbc4ff9991eee7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8135, 2.175, 1.3861, -0.0952, -0.6746, -0.6018, 0.9993, -0.0853, 0.8371, 0.6998, -0.6121, -0.0978, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.438 left_y=-0.2975 left_z=0.037 left_yaw=0.0449 left_pitch=-0.0751 left_roll=0.0561 left_gripper=0.9993 right_x=0.275 right_y=-0.0026 right_z=0.1666 right_yaw=0.0426 right_pitch=-0.1616 right_roll=0.0045 right_gripper=0.9954\nstate[joint_eff]: [0.4991, -10.4137, 6.3248, 1.37, -0.0464, 0.0024, -0.0171, -0.0479, -1.2376, 6.8444, 1.917, -0.1099, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGd0sxTEOSJS7hOTMqNkBS6BbfEcIT8BANWJ4YQItlaxd9OvVVI0cyOb1GiDG1RKwxuomXmjWXMkPlnOghwqfsND6i_lRzgYixPXufvz_0DMZT7S4CWSLOBMrOwQGX7o_tgHx0HWm2ZCed_qxhHUpYsvPPaaEkXdegEoNmIZYBA8YTB8EfRVu7tB2V_KFO5OuWa4mGa02sUxeFwlp6WdaK7o-QSA4t59cRN9TUGBtRGqchR1ZmZZS0vTa7wMJEXHwGNfDBGRKEeoWeb9q53OrzSP7_LWuNuPctAOUwyEStdvtADSOhYGLoCFh3szndg-EHlxCXRQ4imIEMmCiZ65_o0N6GCR7IiuRir1wbN5sfN76jw5ufTnKe3551OjxFIlPrR9IlST4FgxCdJwbQO5hjgX6mdH7Ywj4Tgub7g1yxexN1Xc1xnvZ6d4hCl3-R0zavMT42lcKMqNVixUU55_8GT9XhvGYO1i2lCIU1LGv0u7hiGZ0erF4Q_mUBeA2w4Mb5CYMaRFC7GFMx5fsKPH6i20zX8qpxlDMVPDNOWUrH9DzDwq0xOJEyXnNXFlCruCw09wfoH8Pm5lk6cnIu2Cv8LqbxJYE9oTnqiJ-KOlahg0GZ6hOhCBtVGEbTo4BRPBlcg4DjpRacedUS8NhJ1pVWHVSrEnoqsw-eYccMDt_6k_SqJw9s3KXaGW6KGQKvg__hoO9KRZTTJacVr4pkC6I4Fj1Q_kdFY5NbBTqm1G2mhQNJoIDIjjaEbAvA3VwN9Mhu-hZNDeulPN6cBEi69jXS2jijoeHUVztYJpvzwuZybQYxP8oLFhXAvaoX9hWzaHTZabShlP0VjVPR6xLp__MEvnXyjw-DAN3lcSx0rYMywD5KR5Y5nK9TZOe_9HJh5CSKlVikLkQ5dJzy8ici-vEj2nBWdyEmn1lovp3IEzVnjeLLG041wK_VL4QZT6SDvvazLwDUqZq3r503239Tt4rKfnpSiyLZlUSmv4Dlipr1MZt6y4_QGGhrjqpeQd4Zm7OJ1o1Iqlv-uryzNzyfyqkljLnmBap-rJLTtL_nzEnr15Sy5zc5w05yNyTItWwvzNFpJx84Y6NtjioDfvIpnMl3pmiGKVob0_kuqVghXmC2FPb6fvxO_bjgr97vXQch7LA1hFrZsQ-mYyaWxEI96mcUW3hcT4URoxerCnwbfcpNhwI-e52beIQWbK2mWhWQmzGFqhfVG8r7o6EOHu9ebdMs8aAmItq-WWp4Mg30jxCR8fg-vZx57LpdiUwR8sKVjUSz_v8FCDTdNK-RMrh4TKGobRPfKNQjKOOiooG4OuD1gSiKm7vYeifMUC-qnCenz7hKWJ",
  "id": "rs_0624988557341257016aac67715f2487d0a06db46d5165bc58",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.12,\"left_y\":-0.265,\"left_x\":0.44},\"note\":\"The lateral motion met the side of the can instead of centering over it. I will lift the open fingers clear and reposition above it before another descent.\"}",
  "call_id": "call_h609gG2yIhN1L2yFlHpeow2i",
  "id": "fc_0624988557341257016aac67722c2087d0a36da63094c21f5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_h609gG2yIhN1L2yFlHpeow2i",
  "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]: [-0.8043, 2.2032, 1.3861, -0.0559, -0.6735, -0.5907, 0.9992, -0.0853, 0.8379, 0.6998, -0.6346, -0.0975, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.4435 left_y=-0.2966 left_z=0.028 left_yaw=0.0467 left_pitch=-0.0689 left_roll=0.056 left_gripper=0.9992 right_x=0.2712 right_y=-0.0023 right_z=0.1624 right_yaw=0.0428 right_pitch=-0.1847 right_roll=0.0073 right_gripper=0.9954\nstate[joint_eff]: [0.0752, -11.535, 6.2564, 1.3407, -0.1978, 0.0806, -0.0122, -0.1983, -1.265, 6.8308, 1.6532, -0.0708, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abd1d4809eb20a1cb08507078b0bc94bb90036cbc0e0ae68500582c8364210b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a50a05721c1c5874a542bacd455086d0d69273519b916dd854522a71003f096",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d48d9db8b0d0d9344ee65d58a97114d3690f5f95285cd46376e4020a0091f326",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8043, 2.2032, 1.3861, -0.0559, -0.6735, -0.5911, 0.9992, -0.0853, 0.8379, 0.6998, -0.6209, -0.0978, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.4435 left_y=-0.2966 left_z=0.028 left_yaw=0.0469 left_pitch=-0.0689 left_roll=0.0557 left_gripper=0.9992 right_x=0.2736 right_y=-0.0025 right_z=0.1649 right_yaw=0.043 right_pitch=-0.1711 right_roll=0.0055 right_gripper=0.9954\nstate[joint_eff]: [0.1983, -11.1932, 6.2291, 1.3162, -0.1734, 0.0513, -0.0171, -0.0615, -1.3744, 6.8444, 1.6142, -0.0806, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGd5Kt7dqPHBBFtHxOTqmqYzc4Awx_Aa8epqZWVQr5zEj2o0BziWCLzytOr7AC325oC0KKUk6w1c-uFRq6rBImnCUeTEasC14PGpKgV3NtCcKxRCeXiU8HgN9a5zKkUMXij5qqXcPYb8jLai1AArKR3BdOI7CB8wZbisHQFrej7cXuAmqf-pR1d2obYD1LgPqXSToiHfuShYNtVCQtYs41GFcs8DKwOuKe7JTCzeOm1Q9ZXFKvRuSXmoL1x7R2rY-kGlPtNc4yeEyoixM7TMUhrLqSQgi_TPghbpgLYgXIZEiW6pj6IH1OLLBTq2ISi6tN8JThpxI-EhwAoFqHFh5l7SU6PATHsuxxUq1v8e4mHM7cVEocr52nIOmr3BUL2MjSEJhc6cuH7UhcxEohx8cyUttR0y0OnkpMAx4_zBxBmQUGHhC0plxEa75iGMmKTDIultUsLjq9Il-YDcdc0gMC0oasgt_3Uilpx3aJP9n58F1j9KUDOJ6BfJHnTl_fwA8GUs_INKmeqTRhrakoJ29pKVERubgwYX3NL4IXzNPI3zy2hrxLOFCePsfQWiHvVVnXiY7Sb6dIfTh3Z83pv72TcxkjZQxEZKVlVbeqd4bqBskJEx1_-abc35mFOKGgYzXS-EC2R0O0s9J5sO0ARMEyumIeGz6U0aa9sFSk9RJ0qOcx1QRzn94jj3E3EvB9iEsYuAtS1u4T2Xxj_oqIpzgkIECT-osWQyC6m0bYi7aJ-Vzg6ThgVLwCJikj1olXwEPTzIzYv5L01DZjxoAou_Cw5W_1SM1_u9Np9VOZJSuOnSMV-PJNBGD8GH3CXyqfAu0WYxyEqyVbE3odHX42y_YyqKfp0bAo20tRKjHdMSbVIHC8t8Td3HuQ1HICEbI6qqdJj3IQzJbfTCMmL-PK9C8wFRfuH6Xun3WLxo67iNTrolt7wbnWwkw1vbuddx4Q_jzsM7Ivikv1C-0zepInRInbjdZHtOoGUg3yEpxBe_co7arSrYIa5F9mSVk3WLPgyqowhzj9_DsFPmHvAengYbMGCbBJWQHknHO2shC2rd7ci4VIRqGH0T36yCraqpbC1wNIAPF12pLwQOc-iNRQzY0Hv43GZD3DOGFhYEYjhT66IbZCeBVmDkkq7WlK5lrFMrdT5LbdVBZnSVZWlvkE85oewtGwGMoxxFjqdAzrPFC_pJU4BWbeMEjMGDODzmTAWoaL5DVslPPfMx4x4pmVJ2exycBVrtFwBcf-fI-tgT4ipTz9I=",
  "id": "rs_0624988557341257016aac6777552c87d09e7f0ccc4a341533",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.28,\"left_z\":0.16},\"note\":\"The arm did not follow the lift, indicating an awkward reach limit rather than a successful reposition. I will shorten its reach and raise it to recover a movable posture.\"}",
  "call_id": "call_zXyCrnCP7MoBwXyBFPcqIw6B",
  "id": "fc_0624988557341257016aac67780d1c87d0856d85b44f04d32d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zXyCrnCP7MoBwXyBFPcqIw6B",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.926, 1.8381, 1.3304, -0.4644, -0.728, -0.7094, 0.9992, -0.0853, 0.841, 0.6994, -0.6575, -0.0978, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.3653 left_y=-0.2843 left_z=0.1332 left_yaw=0.031 left_pitch=-0.0917 left_roll=0.0668 left_gripper=0.9992 right_x=0.2674 right_y=-0.0019 right_z=0.1575 right_yaw=0.0438 right_pitch=-0.2108 right_roll=0.011 right_gripper=0.9954\nstate[joint_eff]: [-0.5949, -12.0684, 9.8393, 1.1941, -0.5836, -0.0366, -0.0122, -0.1709, -1.0735, 6.8034, 1.7167, -0.0952, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a98693c527136bcd3121d99eaeca277ccfd26e93368c8ae823173d1d07541b32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd67b708144d5dfd47c6d493638a26bb41ee5cac93eea6fd5e7c44bde74a7648",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c07248c00629f931528e18ab73e50dce5ee3c65fbe1c9749d6dbf556dab1900",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8043, 2.2032, 1.3861, -0.0559, -0.6735, -0.5907, 0.9992, -0.0853, 0.8379, 0.6998, -0.6346, -0.0975, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.4435 left_y=-0.2966 left_z=0.028 left_yaw=0.0467 left_pitch=-0.0689 left_roll=0.056 left_gripper=0.9992 right_x=0.2712 right_y=-0.0023 right_z=0.1624 right_yaw=0.0428 right_pitch=-0.1847 right_roll=0.0073 right_gripper=0.9954\nstate[joint_eff]: [0.0752, -11.535, 6.2564, 1.3407, -0.1978, 0.0806, -0.0122, -0.1983, -1.265, 6.8308, 1.6532, -0.0708, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGeB9paAUO8EVpBl5jzJT_FkgCzOkW6GgPbijWA2ssVPyQ65kk_ulY5joVIhqSj1Ycd731AlafXNODuUuBJ5Y5kPYLrt6osqJfs5xuZss23FYIajzl1YrbP6i2LPJpJD4K9-NjPPqn_Afrgt41b40GkhSXPTSuF7siUdqGb0T1qou4CuKt1IPgIgzOolW2qYAYoEji3l2-Vv9lsXLiyJG2Bg4_bRXvCmNAuPEcYZZunBYzGWsFf1XmbKJym6TKVMvOCc63R_g8eVXXfoyY52I6PxrjDz3rjc-ewhfDLz1Cb6YL_QJSt9Q5PDrUMNl5Y0tJLebLtRi-wXNxnCGcBg6Gh_TTxe_YKFEoiB3vY6zbiM1vZBl5xlSz2BMUO9wVRXKbfPIn0ErMZlfd4SlUnizWs4GiwzyW0EL0ftjZHf4_yBbc6_QYGllFlO3pCmB3ZefEqznmMNF_zk4kUsQE4RFlGtNfNV4oGrvOjL9E4FASdMfB3z6uwgOQmBZpSXMV24JBTQb-kOFuKj8TZpFa3WpfDR7s2UucQyjYGuXPWPsRt3QrmJsDQG0jTqNX3IaEE6y3AQ0ML270Wbip1RehLWO4r5own_bQsCY7eDpo8F13EAjxSCz5gerkMy_5YFkxPPgsIg553IebaJXsHALuFXhwjY4ZxYYSPZCyx6FzGTMupse-ANrsbfTMdB5Nm52OEvC3erDNHISwrmKRQXJf9HOOFTmbQKAMbvmc5vv-PB5eMfylh9XBWHApqSr7RlWCJvp-BR1oDqmAuKh4gTndxHtd1iWpT2aFqE-Z8Krn-Wxk_yUWG8bnDdpwBn-Bwv6J_OLF2cWHrXD3cz6mcmgIDFdwoZ4fWUsfj1P4SarkRE86_0_Q8FvPiyJ1Fdo35kVmI1D7Ki0Vlt-L9P41MMTbdC-NyoTOnXZYxJwx7ZWcDhepR_Y0NkJwptSRtVPFG5C0yRU438jyziyru5aeaIWRc_GBW-xZ7o1lt3KMNLhS9Sv-hD66aEnpzoodaMLHMTykimUaj4WUOqnmYGICk7b6N56cAWMRFmvg_dLPcEg3iHUX4YRxfVOEeFRB5b6yMZe4ujMQ1sH-_JN-PKDxUgxsrsDm5sjLuQlMySJAWhmKHDLgUL_qnsr4YFV6NKPTp3DA5zpSEIIsZatqe8V0VMxKpvmDQMBxNOa2Csh3K3AwLqj8SAw2lWfYwYXv4ar_6BsmebXdwYyuCZXBARqa0KDLvp3WfUK31PxoECXkFOKVGC59gwtu6e7UjoJrLhxvm5XfwT3SgUiJEiNTKcu4DnQpAiHJ4aPtC8ufy3B7z4rsPXUDzEMMHruGbAUdzJsERJ3SZXQQRKoE-cZBaSHKii6x-TZuwuLbl-Vz4I5vfqYc0vWNFn-2Yf8wha7p8TmaFxOu72vAt-cJS9rmxIicZrf788mVzUZD6APcLCchNSR6yW04srnUA=",
  "id": "rs_0624988557341257016aac677d90d487d0bbd7063fb9db4355",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.28,\"left_z\":0.025},\"note\":\"The can is now centered in the wrist view, and the arm is away from its reach limit. I will descend around the accessible near end using this shorter reach.\"}",
  "call_id": "call_kRI4Blpnsj6oCzYYhEXKhgw1",
  "id": "fc_0624988557341257016aac677ff84487d0b9557b1d4352512b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kRI4Blpnsj6oCzYYhEXKhgw1",
  "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]: [-0.8879, 2.0239, 1.1561, -0.12, -0.7006, -0.6735, 0.9992, -0.0856, 0.8425, 0.6991, -0.6762, -0.0978, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.3768 left_y=-0.277 left_z=0.0301 left_yaw=0.0343 left_pitch=-0.1211 left_roll=0.094 left_gripper=0.9992 right_x=0.264 right_y=-0.0017 right_z=0.1538 right_yaw=0.044 right_pitch=-0.2312 right_roll=0.0137 right_gripper=0.9954\nstate[joint_eff]: [0.6769, -9.5658, 4.9026, 1.3553, -0.3297, 0.1343, -0.0073, -0.1573, -1.4291, 6.9128, 1.6435, -0.0952, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d3781c446d60c59af03dbe3367feba0cf234b961f614ace9744f83d9bdd74d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbe82847fbe707d6cdb86b0dd37dcd47d62b70c19100a31a8ded3fa45907d85b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4344ee717952feebeb96f20a75f63f724075e8b650ad90db4ee0ffe84a7fcbd6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.926, 1.8381, 1.3304, -0.4644, -0.728, -0.7094, 0.9992, -0.0853, 0.841, 0.6994, -0.6575, -0.0978, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.3653 left_y=-0.2843 left_z=0.1332 left_yaw=0.031 left_pitch=-0.0917 left_roll=0.0668 left_gripper=0.9992 right_x=0.2674 right_y=-0.0019 right_z=0.1575 right_yaw=0.0438 right_pitch=-0.2108 right_roll=0.011 right_gripper=0.9954\nstate[joint_eff]: [-0.5949, -12.0684, 9.8393, 1.1941, -0.5836, -0.0366, -0.0122, -0.1709, -1.0735, 6.8034, 1.7167, -0.0952, -0.0708, -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": "gAAAAABqrGeKBycUBSmOXBSAD9YdPqI42OkdQu4CbY1pIolpOZprCj9NtpaUdWoe2zb41QCFjM-vztIibb9VVhjFkN2YpNg2KRhvszFFLo-P8NPLMsW4dlNCnjcDWe7X7mAsCo6pRxDjcMvlNf6cdxKY8g07_NdPmASJ5-o51rUS8vx4GRxk07Gks1VG9HHv0RQ6OfeC_qTSdIivGH3Dt3zD72zIGSpHWHwKsicqcpfTJ0OtzpmOBWomiOClcB0m5BfhEnSZyDhWMKGrohg_NHdkUSsgsmPtakuu0eM_0iG70BqTbFavnVj9bXEKYybw0hMykoRjzbXgXA7x9pLLNqoSSi_c-wLnOIAX16bJ-5u333U_nL8GFPbcNGnLx3gBWuGh5Wr5jpBqiOp23qISuEHMkvrv5kOFlrHhzl5GQrr3I-iFvKmnadwz7DKYD01AELbd6RivRdu63it3Prl5N2a-sdCn6QL5a_cJYH1gPw8lVNNSlVjMsLsxmGR2bRH5Eu8kfbWtOqk365OCUOe2NZdEp0iNsIc_yUMwuSSxPKlgH0STE49ZFz4LdRiPlrMGjATwly92i2k-vI5fcV-Lvo4mTTJDI6Kc4tSTrMon-XWwJyaAibUdb5IzbT188v86QUDeU8s90tFizz362JsajuGcfguRQlMQtB715cOMEbKoaxs9Gdzl77JD6yHIYhwv_ybakubgUxcwdjpSSmRh3HZuACmMsRSuch1bXaqwW2CNHEZWLy_ep5pq5WsiaJSV9JOTVIH4VGX0oy1cJmMNFcs66N-fP0qQTYLH_TmQOQPRcdA4z9Z17wjJ16gTcCqX6KoceQsDt5U6noBQfq1ODUNY0GnsJ909Cq1DgsMMa3rD1sVPiCgaqUgieX41dUNX8XKSf6TXmkY8KF2pFbhT7g5FSbKxDF9tuIMRcv8-dvW8F3-7N4U5lXi8wtvqijH3e-3S2-CBDadUm7fqlRnwbRUqpbTZ5Ve4Ytcl2rSJRHTDSw21UaPRSxyEv25Y5GFOUfeg0uoSni9VEqwbzVLlY1zuwOXKYu-SA_ZgVq7kdEZAv_Kt5Vr5ppPjiJzXfMqCs4XqezolVl4TBi2vcAgWHUMZR8YwAxQ2V4MZKh_SNivgO-8IW99IAGdin6r2YK4rslxNx_l_AJ-SuZ-cVpKhAQafQ3lQ4VZtYHCBnD-_UQfxTSiwahGyRvFziOqjKT5M4_rSyPrfr1bQVMYILcVm6YrBd1xisHgg_tyGK1sfGIflVb1LNL8xiqtCmr-sM11aqIBiX73iu7F5c3C9GwhbA_jdVJSn7j0BAPh4weCvnOPN1buT4UC7SMCdhNhJmtDMn6-ao_dvRY0C",
  "id": "rs_0624988557341257016aac6787f6d087d0bd1377457a750297",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_z\":0.025},\"note\":\"The cap is still ahead of the fingertips, so a close here would miss the can. I will advance three centimeters along its axis while staying low.\"}",
  "call_id": "call_HJ5YA7ODSqErZoH5ZebHYfcG",
  "id": "fc_0624988557341257016aac678924cc87d0ab109842a6d007d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HJ5YA7ODSqErZoH5ZebHYfcG",
  "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]: [-0.833, 2.0869, 1.2228, -0.0959, -0.675, -0.6369, 0.9992, -0.0853, 0.8452, 0.6991, -0.683, -0.0978, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.4034 left_y=-0.2743 left_z=0.024 left_yaw=0.0506 left_pitch=-0.1223 left_roll=0.0871 left_gripper=0.9992 right_x=0.2629 right_y=-0.0015 right_z=0.152 right_yaw=0.0446 right_pitch=-0.2407 right_roll=0.015 right_gripper=0.9954\nstate[joint_eff]: [0.3214, -9.894, 7.1043, 1.2137, -0.2466, 0.2222, -0.0122, -0.0479, -1.5658, 6.7487, 1.5556, -0.1197, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c55e7553b70db742964cebef346a491ff8968593f471707f35981f002484d6b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e276c379fff0a7f57aeddca1751cef438c4794c9f5825f08e10f32791fde30fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4eee8cec00def7905c1d5c63d4693ff7f6345ac38fe6606e00f6e4e8cc87b9e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 76 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8879, 2.0239, 1.1561, -0.12, -0.7006, -0.6735, 0.9992, -0.0856, 0.8425, 0.6991, -0.6762, -0.0978, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.3768 left_y=-0.277 left_z=0.0301 left_yaw=0.0343 left_pitch=-0.1211 left_roll=0.094 left_gripper=0.9992 right_x=0.264 right_y=-0.0017 right_z=0.1538 right_yaw=0.044 right_pitch=-0.2312 right_roll=0.0137 right_gripper=0.9954\nstate[joint_eff]: [0.6769, -9.5658, 4.9026, 1.3553, -0.3297, 0.1343, -0.0073, -0.1573, -1.4291, 6.9128, 1.6435, -0.0952, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGeOzH0OxmGdDlYGYf3KwMeUQXFIWuafkl_Weu2420vAHcPI8jRm2PiWPbsAM0ceeaMLAIyQVquYte2Cq5uok7c-Z3r3Pymm7ZzfGlSGrUwOIjcZEzYXf4iZ77ypGFkBDJlls9M6oPkk-N-OActfR9wkY8Kqe0DbnZFmvjFpr7TiHCU5xbqZQT7ht6SJjGKcHhNMT38XgPo7IpHtNyLyXyXS_K9Xj9OxkDb4WhdlsrcCLn2T7LhczP-VvX3jwr1sA1PVdL4dVVcpMuNzno0eAyMVh2vLqWKm9crD7EGd4xceK24FNH2KaD-etiIrWXQHBdDd7hcskULgYeGMp3cjq-yZ04wBqYTYJ5e1MHjEhPGNfBAtoxHOs9UJhs4bG1Vj2DAkyx2vW_vqQ-Ozl4CBwrjxi97fZW22QhN-SJu_8xKucPjBC8qnvLPs5EMPBEj3Aa6xLu6s8zrkmflemUrX8_OaDdLYLgsGYRw_fhlJ218u9o6vu0sPw4BKffrHBhtSR9OlforX9MpeSDmbqfnB_MQsvNRG4yyJ_AtJzxdn7OAjfmzUpBHWhri6wNYJ8v4BIIb2QPFAMimp-N6SWXkO9xpVx-4NIV8dX0voAVcFTFVe1Q18-1BLn5JDJ8FOCdc3kFLFCgvI8iPO5e_PYBOJ7jLZ49Z1PsX7B9zHMTu_jupruA9qw5Eb7OFtXXm7aMEQqPMLtYiADkTu6k4VgjYs9vjtsiK_qjK1iH_DgZF-WXxRon51ltNenMOhFAIun2x3gKgvsmBuDnqLo1-3ny0lxsL8PyU7jqjKEJXTJquT_q15pW4a5gD1QmLljy08sRaCdvkHkl7MCSCwddVUskm4l1SkvmoYLJBj3Ja4NO18YCIcyHU64zdYrxjMDFjM2FgY1dKNFW_8t_nSxN_KyJC7XJt4ING4BVoeIR0ypr0JTfVmeeCTDzKf88wvgGMpXY4W4uVIyN-bYO9hpd_hWX8Vj7FUAsHYfFzxBr5Rv-RepMH4iregBEY-_CQG7AXKodyko9cQDazliK6eyhtR-N3CsV56Bh79Fi4pyAT95IdOVyid8HS5u7XwD_VhahA8uwqnXO9P5pgcGHa05noravXBMH9Dw3NCkNhL9g12YIs8ln5medI23Zh9WcvfJ-kuHpjM9VhvmrvuVGCW7so8PnWaDkQwpRvIFEM0ndnvZQeGJz2ewii0XVF92siE5kRyuOh8fIa8VEsZN4tcu5lc84TsKeysGVQ4Xn31XXSODQ2oLzhi-8QDpTWKyNNDFOTLwVsE4HUknMhXIpBE-SzFwc9Pv_0N4kTfkFKGNhLeuoL7vGt9jOZnRcozoywct9xUYJcApj6P",
  "id": "rs_0624988557341257016aac678c3b7c87d0bd63b759282b3bbd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.35},\"note\":\"The can’s near end now reaches between the fingers. I will close around that section and check the grip with a short lift.\"}",
  "call_id": "call_ebrmeCxgFToImvuh1c2cW96S",
  "id": "fc_0624988557341257016aac678d420c87d0938a163418ce9549",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ebrmeCxgFToImvuh1c2cW96S",
  "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]: [-0.8165, 2.1044, 1.2446, -0.1017, -0.6575, -0.6056, 0.3552, -0.0853, 0.8471, 0.6991, -0.7021, -0.0978, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.4098 left_y=-0.2733 left_z=0.0208 left_yaw=0.0388 left_pitch=-0.136 left_roll=0.103 left_gripper=0.3552 right_x=0.2595 right_y=-0.0013 right_z=0.1484 right_yaw=0.0453 right_pitch=-0.2615 right_roll=0.0178 right_gripper=0.9954\nstate[joint_eff]: [0.0889, -10.6325, 7.3368, 1.3211, -0.3346, 0.0659, 0.0269, -0.0479, -1.265, 6.9265, 1.6142, -0.0757, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1752b322df27bf003df1627bca72fc4f0624206074d47138c35708a4c18807b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be131e74b586de56b08ead8ec04dd5c1414bca084b075d6d240791a42ae59581",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff556f0ad46d3e1656498b45f6e802bd7f1ac51b2950c73ea19b5b5489a50ae3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 80 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.833, 2.0869, 1.2228, -0.0959, -0.675, -0.6369, 0.9992, -0.0853, 0.8452, 0.6991, -0.683, -0.0978, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.4034 left_y=-0.2743 left_z=0.024 left_yaw=0.0506 left_pitch=-0.1223 left_roll=0.0871 left_gripper=0.9992 right_x=0.2629 right_y=-0.0015 right_z=0.152 right_yaw=0.0446 right_pitch=-0.2407 right_roll=0.015 right_gripper=0.9954\nstate[joint_eff]: [0.3214, -9.894, 7.1043, 1.2137, -0.2466, 0.2222, -0.0122, -0.0479, -1.5658, 6.7487, 1.5556, -0.1197, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGeSKmubyID1SZUyFXqGzmnFLqxxez7valglb-wKifTTNppCrnmSD7ngS3nWHaXTDQKKzE92u6xxTaqiLNe0EViWsNRXIXIHFczX5S9afSxqBAvBZFKlunJ0_Ha7qqAioQRjUHCeuxA1VvYvhLfw2646mhppHogdGf05CzFMBl--x51G3p5c54bo4wYfwez8Bb-SGKSZ-JN7qum8pjzBheNSotJTRpOQeW7DPjviV_ULoSnaIN9VffU418NggfYq3nJRW2cegcdoJUwVWno2Ny76djk6nTNdm7zfpRdsT-ct49AQGzTBv__rzULyQaQGmnObD-Xvv3C_ahSs14U_fhYaYXthNCk53Z2y9JRUqGxlNgGwQW9bLFmJS31bkGiG_-Tw-B4ffLgEJfCgjlYAjXVLOGUbQxq6Kt4IV7YxmS1Tfi_G7GxHkchPzAJaqqy2cQD77ucQdmpuIFEyTjt6NjzQHbDnrt2RvnkPdvjba0JkTkVlMPxvBjrZ1JhbOzqL7fneZ40tz2hiY-NqUqOOh9_qhjyI5jo7AMiSflXBp0VOswLSOpHGt6cIfqHD5WpdkeXprqDlX8-iWqMTPJV0FZTuyGCxnpThKvFDBE1zot5YUkXoRnMsiCSOOoU9mPNpld-xu60NRNu44jLtLcgJU23BP6bOrH-9qrIKFd6ROLNq3AwuNvXTuW79-SRpTfNVQJpjQTlP3CGMeMutmNjWsZ-gfVADw3h52ZQ8SVdtK_hhU5UMfO-Xk8-zjmrUxTUEhaCnHxyRy3p5LHB8KcSgr5789mFOHtfOcEHigD516oIHkYQ5tkOVLjR_QZFLPN_hkJPtsM9tdyfa-jiXLhJaciK5W9OZAb-1kSdiJlgoJkwezYLacbU8ev7IOm8iRKIrn-H73zwkTtNlPxx7-pVbMphWwDJqWcdztrwra44S43R1TXrkbUMaDZJxOAYzp8apoMFHrPqK9JhlIHlQxb2pI2vYc34k_-kj5GnDxnFkh7OcpNXer94eU0WvFF5BX71Hl6g_x6h6ZhsJ731N3TlBQoyhIuSgR60AG3CDaV-WTLsH5rAPUEmjMBTwQczzmbGn2G8F4BJ2LnfIXS5idcDNisc4JqwPle5CMJXYJPwId9ybgRAgVs1g9-qzfJbshAE1oDwpTlLrSZJcL-On--g9RqCtW85tcElhoTUXoYjy_gqDq2NIhVeAFOZK25gIGjTAhLmrbR8s7t2wudWdPvS5ywBH_Grm6p6ANCB_qx7TNQtBpcA=",
  "id": "rs_0624988557341257016aac6791239487d0b1c811c18c48a011",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws reached the partial-close setting without firm resistance. I will close farther to secure the narrow near end before attempting the lift.\"}",
  "call_id": "call_64ZSEafERIgzMDkalv8dbaia",
  "id": "fc_0624988557341257016aac679172cc87d0890fc652e130405b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_64ZSEafERIgzMDkalv8dbaia",
  "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]: [-0.8165, 2.1044, 1.2446, -0.0937, -0.6586, -0.6064, 0.1954, -0.0853, 0.8474, 0.6991, -0.7223, -0.0978, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.4108 left_y=-0.2741 left_z=0.0219 left_yaw=0.0392 left_pitch=-0.13 left_roll=0.0969 left_gripper=0.1954 right_x=0.2557 right_y=-0.0009 right_z=0.1451 right_yaw=0.0461 right_pitch=-0.2819 right_roll=0.0206 right_gripper=0.9954\nstate[joint_eff]: [0.0342, -10.6051, 7.1179, 1.2869, -0.3639, 0.0415, 0.989, -0.0615, -1.3197, 6.7487, 1.6874, -0.1001, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a17b2e92ca151a90c488422dc9b17a9c3435f943e6bdf2c03e59a656eb78064a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72a6eed51be5d424c7f1d24abd974e1bd0be3bbe561fea01fe70c35889978692",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be0e2f598546fc62050d8c1a57ec623afe6b667d4da311a8868167616ba80c92",
      "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]: [-0.8165, 2.1044, 1.2446, -0.1017, -0.6575, -0.6056, 0.3552, -0.0853, 0.8471, 0.6991, -0.7021, -0.0978, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.4098 left_y=-0.2733 left_z=0.0208 left_yaw=0.0388 left_pitch=-0.136 left_roll=0.103 left_gripper=0.3552 right_x=0.2595 right_y=-0.0013 right_z=0.1484 right_yaw=0.0453 right_pitch=-0.2615 right_roll=0.0178 right_gripper=0.9954\nstate[joint_eff]: [0.0889, -10.6325, 7.3368, 1.3211, -0.3346, 0.0659, 0.0269, -0.0479, -1.265, 6.9265, 1.6142, -0.0757, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGeXPiJOyRhzO6X28ju6buujIkKFCIgARS0_0NOhJGKT5ArXiRDAnQ_xzKfN91kzJxRK-ZsC_eK57JiNBDB9wNe7N3VNYG1gfe0K1UYXi766JqjQgwTe5Z9rFGwm5UrhK4AVmjV8HpYG61LM7lkCDUhupmnWtbYTZGzv88vCx6t24uPnQPeMqVPJOOmxQvtVRJGo4EXdRSovo3uWA6CkEzyQt7LkkBrCyQtpL6Mee1CisqusifHZ0i-wZgls_CkhY1HJp7cHa5zwOLSDLMeKxK83QYaHxy1EeMmlNFiCLt1TXpbCEdkUgxZjdrh0GWMAvnUcP6346fkAquiPpi6N3t4r6VWYWsm611n7lben_pjS8Rqy1uwpjxL9xd9FBr2Br19oXxAy48wvchZi3VQErf0ol1_4lejtyLtBadTDESjtgRZytuPw7OeiFdx4EDmDDbaayPfyYcpPeF7HCjEP-WWOpaLC6xA-Xa0agXVobGgULd6DJkJPzWQZp4oicKGxxIHOtoyLjZBDKRkTdRWtc2Ym0SJfsPI26dkGMWnbAtEY8Pq0L-lRWCI29Ase7U4rI7f-Y70SGazuhxtyZEW75FcOSYuGg6tVhHKu5kkMHuvCpOSkndNcLoWAX2NNAboY1VlkrHqQFrFVZ3vBDoP9A9FqwqA1I-IBfIQuyk5mEmyLD4Ek_coHBsKZwPQGzYX1rJpU0NZRa42wpnj_PM9K0ikG7KtodE4-ysZ1VD5Jb4QXEAS4wZ9fx23Gn5O_3MVJ4Js6kY0X1cRslc-96LqpcQVqMey2O4wUpSRboEovOpnvn5x223Tuo5Xx8vnHsdjk3MzW_iH7EUaKsPjlc06k958n-wjhte9z5nnqBfhhrI1TEn7ELevIBHRDyTWTrKW0ZghJoaDiU7qAJ9IxZIyYKbKP_51LpvNGEnCks0akPeSIpvE8qoOGu7nW_AB5_B1azKZTPBusEwo_zf6EtYRf4vDzM3-o9LX94RmSHAKA9nhldmLa3WisHED0Kgxcx7dnc99SJOsG83Xz6Vsqe78MkIhzmajRsHmIxZijA8lH2yADKzG03hWoGJx3pA-r6Jjyul-wWXBV4X5FaEyioZzWsFNZPVIzoOErHUq1RMAPi2W40tShcn5LoE9Fih8OjbwIz4ainY-IS3213x7iBsS9o8_LwJezsymH4pae9TzPpNt58LewB761XVcqtB3BbfFlm6fPhvlWq-0yLcYGqO5jaHJNaXGLQSFfHXyQqGOtQozzOlauuJf6ymQsO6knLaWnGj84",
  "id": "rs_0624988557341257016aac6794be3c87d09394f56598b62ab7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.09,\"left_x\":0.395,\"right_x\":0.294,\"right_y\":0.001,\"right_z\":0.2},\"note\":\"The gripper has stopped on a roughly two-centimeter-thick part of the can’s near end. I will make a short lift to verify it comes with the fingers, while returning the idle arm to its parked height.\"}",
  "call_id": "call_kvH0RkJHqRfICSq9RBTxUqdX",
  "id": "fc_0624988557341257016aac6795ab2487d099eb1935603d2ae9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kvH0RkJHqRfICSq9RBTxUqdX",
  "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]: [-0.8433, 2.0056, 1.2713, -0.3054, -0.6548, -0.6323, 0.196, -0.0586, 1.0321, 0.9451, -0.8333, -0.0887, -0.1009, 0.9954]\nstate[eef_state]: left_x=0.3887 left_y=-0.2694 left_z=0.0507 left_yaw=0.0347 left_pitch=-0.1865 left_roll=0.1418 left_gripper=0.196 right_x=0.2835 right_y=0.0026 right_z=0.1814 right_yaw=0.0646 right_pitch=-0.3321 right_roll=0.0223 right_gripper=0.9954\nstate[joint_eff]: [-0.3624, -13.9009, 9.347, 1.3602, -0.5348, 0.0317, 0.8278, 0.3487, -2.4547, 8.6632, 1.4774, 0.0317, 0.1392, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e3f7b40654b415837667e3d9afcd5eeae9087306a0b933017963c373379fe88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77202cbd66cb9fcfd8a0b321cecdf632050bd860762ba6d994ff6b258493fd6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f68f95ad49f479cf6f5cf8b5ce827cbe6c4aa9f471f307f8849d8f64cf0fc6f9",
      "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]: [-0.8165, 2.1044, 1.2446, -0.0937, -0.6586, -0.6064, 0.1954, -0.0853, 0.8474, 0.6991, -0.7223, -0.0978, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.4108 left_y=-0.2741 left_z=0.0219 left_yaw=0.0392 left_pitch=-0.13 left_roll=0.0969 left_gripper=0.1954 right_x=0.2557 right_y=-0.0009 right_z=0.1451 right_yaw=0.0461 right_pitch=-0.2819 right_roll=0.0206 right_gripper=0.9954\nstate[joint_eff]: [0.0342, -10.6051, 7.1179, 1.2869, -0.3639, 0.0415, 0.989, -0.0615, -1.3197, 6.7487, 1.6874, -0.1001, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGed7HFYbQdVw4Tb4aReC5fzZgTVa_xx7hSSAvOafOdQzl-P3ID96vMfof8zy8aKIpxOla-Fr6Ztq0xOpNYrk8LFRrq7JsjoSeDyWhwjgUWl85ULp_xS3Faq0iXZhgdndON6mHc-rWnbp15_nL--wNv0VJXYhQO5reLWFqyS5NsXEHJbWNY6B9R6tOtjhOBPSFXa8Ct_wr0YAhxycpfNS_4W6e4M-1UQ9agWVp4KUZytFeGxDt8B4lhzE9aeX4SfGYteUAA2TdX1RBuvATfCVx5bLGGnSAYSkTVxTFYGOVHjibaWUDYU1Ky72GFVO-ccuICCr7oDDlILeRqyXuu0pH7D7t6jK6ptnPkiVmPKaCx_v3dxWMMH0WFPC0ctAudbsS2HnP2YJJvlBL6vZYHuoCv4FdWuUDetpFoybit4dZ1Z6QLy9UTi3YHthcq3RC5lUaT9AwKMXeKUW1icEjs61sF5VTG6uQjgt5pknhBdSrkqwQpZi9SumMhVsFGmTesa9c4lHw2jO2dxi2aQbhwF_6MR2fLJcroUxIYBQCwE1x2ivHoD_-gJUyQP_7bnty972pSkJH9rCDDvxfdrnc87fEobppMOfWUUQziQoBnqlYEw5MqtS6QISw0bD6Gg4owXGn4vc4OJvjkln7zRwZx_38NK04LJ8MNPKg_CtsBgeAsABmvYSuXyn_Dy6PJx8T11YhSsXYb5hwwR2Jcl7gZR_nWAbn677FMiCZspYpOJNVl3BAJ-CSGdEF4ImlKHydZR4SF3dY0AsgKSW0MbICsc-D6NCLkD0evW04MUfdhg5vJ0Kh9kHUeceRAqY6JaEZpqJZ2ZNGzIrs06F-Gry2yyuZrDwc7AybIY1cVSs_DWlvX0LBl2oxR5QWT4ibVuY3whUewvSU2komxtY9TKNMg-dk5dsEXxV21kDg2bQxC9cwUIutiKIgbt_r4INT0bg-ZWABV3mIHEENdmqb2IrUkSWH-TRkLqZZt41vgNzy5ghNLT1X4nOUblI_sMQb8N_fVzIEBYcJbQTbDIeAG8jDTCmAaWURXgdox1M6UglFcL-hHQtj0sbMvTM260oOEJ0SDI5JzspE3Ou5qCmwKB64focrNLEAeStc3sFbE_slxBqwr1nR4pVnOusW1XLBuI5YJ3TQGPn0ng8Ab02idPO_MjyZ_fQjTTqWo5LpLEqGsT3mcjZqM=",
  "id": "rs_0624988557341257016aac679bc59487d08857776659227cec",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.21,\"left_x\":0.37},\"note\":\"The can’s near end is moving with the gripper. I will raise it enough to clear the burner before shifting left onto the coil.\"}",
  "call_id": "call_yyQmYePF5CmymoiRkRMLalYn",
  "id": "fc_0624988557341257016aac679c15dc87d0898b8e07f14e5436",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yyQmYePF5CmymoiRkRMLalYn",
  "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]: [-0.844, 1.9785, 1.2892, -0.3756, -0.643, -0.6399, 0.1971, -0.0589, 1.0409, 0.944, -0.857, -0.0872, -0.1017, 0.9954]\nstate[eef_state]: left_x=0.3837 left_y=-0.2668 left_z=0.06 left_yaw=0.0349 left_pitch=-0.2099 left_roll=0.1493 left_gripper=0.1971 right_x=0.2792 right_y=0.0025 right_z=0.1752 right_yaw=0.0648 right_pitch=-0.3655 right_roll=0.0249 right_gripper=0.9954\nstate[joint_eff]: [-0.3897, -10.4821, 6.3658, 1.2674, -0.4567, -0.0122, 0.5055, -0.0068, -3.1111, 6.694, 1.5556, -0.0806, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccab77f923be81913d80a429574bf348e2f4bf1ebb4fa9f07b0e65006b96108f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afa3e94511b4fd48c08c4ef8cdfce809f6c090c794c0fbddefb5964dc2aad92e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:050e6c40f882cab32c315978c2058b21b5180f2a6cf2fd50eb1149a8454c27f6",
      "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]: [-0.8433, 2.0056, 1.2713, -0.3054, -0.6548, -0.6323, 0.196, -0.0586, 1.0321, 0.9451, -0.8333, -0.0887, -0.1009, 0.9954]\nstate[eef_state]: left_x=0.3887 left_y=-0.2694 left_z=0.0507 left_yaw=0.0347 left_pitch=-0.1865 left_roll=0.1418 left_gripper=0.196 right_x=0.2835 right_y=0.0026 right_z=0.1814 right_yaw=0.0646 right_pitch=-0.3321 right_roll=0.0223 right_gripper=0.9954\nstate[joint_eff]: [-0.3624, -13.9009, 9.347, 1.3602, -0.5348, 0.0317, 0.8278, 0.3487, -2.4547, 8.6632, 1.4774, 0.0317, 0.1392, -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": "gAAAAABqrGeiq01kCXF9jjWziHvlqbjQY9rPDTsF02E-SwenX_OPgKV_4AM_7IHGUgo8i7yYw4_9IwTVbz_HqKu9u74DjVOz_v5bO6guxoE9b8rxnuIzsZvV7XvLqf3-Z0rJFGz-efDdo9y8kS0x7lpjhSG_nQ5OPRrkQ8YLgLi6fz3yITWzkGElp6FH1M-Q1o8EBJwL1pn2O86nj-RS9CiFyTJlzzHRtwVCTJbTgkg_61avOb0zjwLg9aVOiDo_f-pnrp5Y7PbMK_95GQlEBnIXNR9TYo9zUM4T8cjScv2bUt9Qn2JyL-NKyLepXFle1UzNAMd-1P0i7m2TRh2yiwHxFWCxIdX_aKXvlYrd0jYgjeKBYvOvPMw-CSfj_vEzZPlPmItLcLYxg3tcJUvtSldMNfRJ7NSfUiv1qdq2WOKc-oc6BrOB_idNFSbRpfk7GNYJbvdZ2q4KqfcDCMjltLzFxTuX4IL5T9Z49NzgMcLgyH_La0dyZzsthsMhHc_kvw5pVaUcg6URUa5CS193atK_m1kqdwtIK_SpEyEzrKHfAFOw8VbJTssMiIb0KT8WxnUZBwUtqTtgP99jaPPSshx1GS5V3FX_EZ-1pMX6m-tepxojlcwQ9Y4TiZVrsxa71D_aB5iwEnViRARInTDktAJkChcNZR3Aq-iKbnZMJqF4XZBAdo39ubpOVoeWuAZwk72wWjbN4lZ4NSE86jCZjDA88cZtdpL_mVdGr2Ch94YY16suXKRnhq5IWbQIosi-z9v6rB5LtsXkGB524ZfwF2mfAPPLHBsYZ-G0pr5ZM7dLgROiLBsV764tRAma52VF-FMHQDPugYmuL7U1Ne3MUdypkP9yUVwf8rljRXgXcxIWu2_f_3o3YPkHw-kldvvQHFNpqVSWTL2PJovZcheUaunf85CUOuHX4uAKl6xTdxfZRLgtRK-KhM7_aymhJRo1Xuv-tho6oY8bgRG9XwWb8w9B4dQDi3rBb11CGHzvm6cAEV949uC8FZ85-fx8MdRaM0Mw5ljbmvXixdsDSWa9Ek_YuNaKhcmOZ-hzMxO2mehLn-oWoouR_PrWtSUlr-w8jtG9CCbsenqNx1NlA6hDW2akjhs95m86WlxAWS35ZwKGWBnLftFH-RhFLVc1LH11kQCwdx47GlGGtLp_HN29LFvBwDR9r4iU53nOyOh5chvCgTEh8PiNG3atus-RbMMoG4CyRiBYAqOqJc0VrK9U4dOZVW00v_ELtHuZFB8ds8Oe5c4OAadJzjJn88XXN5wiNpeUgqhCtM3X4EDHcHfVkWNXPAN6KAOGm4De-gRRDi_3XIPXLpyThVAI3GS7EMf5AiAt3LrqfiktA0AfDDr9mtQJFKLXc7Ros1rA_mukhBIO1jda0zCq2KYFKSVUcNvUgKrcvIivQFHvtWDncxv2lTksGYjDX3jOlxz__hEkU8t_Gbx5I7sAM8A=",
  "id": "rs_0624988557341257016aac679f6acc87d0929adcc63bbdd3f4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":-0.24,\"left_z\":0.20,\"left_pitch\":0.3},\"note\":\"The lift stalled well below its target, so I will not repeat it. I am bringing the grip closer to the arm and adding a modest forward tilt to escape the awkward extended posture.\"}",
  "call_id": "call_rL8NgzUaFI3zK4LS4bThFq4r",
  "id": "fc_0624988557341257016aac67a120a087d09d2c0d651ba9fdb6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rL8NgzUaFI3zK4LS4bThFq4r",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.1088, 1.533, 0.9276, -0.178, -1.0752, -0.5545, 0.1991, -0.0589, 1.0435, 0.9432, -0.8814, -0.0868, -0.102, 0.9954]\nstate[eef_state]: left_x=0.3005 left_y=-0.2468 left_z=0.1771 left_yaw=-0.0109 left_pitch=0.2226 left_roll=0.1807 left_gripper=0.1991 right_x=0.2743 right_y=0.0027 right_z=0.1708 right_yaw=0.0661 right_pitch=-0.3932 right_roll=0.028 right_gripper=0.9954\nstate[joint_eff]: [-0.4855, -8.7726, 6.0923, 1.7363, -0.7497, 0.0513, 0.4664, -0.0205, -2.8239, 6.5846, 1.5311, -0.0562, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9418c6b0da0b6087189409f177dedcbb7ae665be0fb70cf3264db5ebe259534b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a80c6fa290b319191c74557ab2474c64c42c61063c7f36547012c8bfadd59a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d8b777e3554d914d763b540965fd24d67054250d149362e156d34e77188503c",
      "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]: [-0.844, 1.9785, 1.2892, -0.3756, -0.643, -0.6399, 0.1971, -0.0589, 1.0409, 0.944, -0.857, -0.0872, -0.1017, 0.9954]\nstate[eef_state]: left_x=0.3837 left_y=-0.2668 left_z=0.06 left_yaw=0.0349 left_pitch=-0.2099 left_roll=0.1493 left_gripper=0.1971 right_x=0.2792 right_y=0.0025 right_z=0.1752 right_yaw=0.0648 right_pitch=-0.3655 right_roll=0.0249 right_gripper=0.9954\nstate[joint_eff]: [-0.3897, -10.4821, 6.3658, 1.2674, -0.4567, -0.0122, 0.5055, -0.0068, -3.1111, 6.694, 1.5556, -0.0806, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGevkj8_lp5ngCh4DnBaNF5m_YZ0BTzt_-QTcEOOt_WZPaFSlYZ3Eyw0x4Tuj-x0VIya4jJppZOCNHgY25AQUSFQGsPOnogARfSVhV-DZvSMPnV3KTxeUfoffQK8-k76btEs_HS-tMEaYMb6Q5oOrBfTlSncXNChly6vUF4q6fwciLKw_qoTZagG6ZhK6OCx3aya6sVCc-rG-wvKq167HNBrPHVEzpbTHnN1m7DuzWWPpMGZ4-nFkfA6KjTKimTLYHpNzUWHGKEmEBVhSUgc0Uz_fC68gB2oO8TX-5BDr_sO0lFcRMTEuyrLsKEyKglG5RxabcIZvocr-KCdtpGpkAqFF-7E6yQZV03639v4VGoLZJFAaHKY7aZSBdAhzVCAafMlzYY9qOI1atnShEM8_QNEjLD7Ur6_4iU07_a3dQkIG3uH87cLEGBUdDO0KGrpC1eLgcaSgzRh3bK-UGJG5n08bCqURZtNl87iqZUWupsDrrR5snE9bq308hfYDak8qhbuw1Ldocqjni9QIZC-5Hu9gm2_pIt3WBkbtcaMaozo7tzoncbS81D_TssxyuA-AB2oRVjLVftAja9Facf_RrB7DpFaeCqgNmcJXyEhtKGwiFRUUByPUFWdzSaguraX4-YWHFN2eFYUK77mx9CcvNwTDCXDD1JIts39cTrWfZWf81ks0zP86dqKh1erhTylOELHOHeXqHYfe54Vn3gT2fGtuX13oXlmavoRHH_yEEJPw4WLcwcu5F18OL32tDBCb-tQ96ZqqM9fPo6xODgL3Qinbao5w_tFRsbRAES1j5GhJSQ_Arl_7MEz2q6nQ6oDRrYbxL57m4xhTKI0cspUh2akrn3XbPHToaP8HUpvlJyRYxHmsvd2h_1KcMV5p9DZAzD99QazfdDoioi6Rwo6eWztx5ZY23vzZ7LuBuNuhqDizj7WiO680J_Z610kGpccsCtjfRdliUHTQIY1L4BM09Ljs8ML4fvR0Q3-G8SRpR7lT2-RR4gSKIQM3qxFffWQY5wtOUF9O3TWSqH1ciIKjjjgM7gQkjjlLqcizTT0X0h2_dG7uc1Xp8IWJBdpLAav3Oq4IHmQnJccPfMiFaedV_eACmUuEvI8QF4xZePZQfqZBhMyEOsT9E_hm-P9n_bjaVFwd_mDAkk43hdDjmJq5IfA0mRnfMqRc99HVei9aqlh6gJgNxOpM2JhBzKokSPaZ6NCEp-6NGs5OOZCU2XqOI8S-ZsW81SWjjW1RitdcIZlfbZd_mKtpxtxs31nX7FOEJqS7gIJfk1P6kAAoqPJ-uM86MUeTxwbUSn9mTrETS94v8lOpZw2037aL0Heb0xjZjWS1YjM3ruD8AkirZw09mTMaOlNTAnr6Q4Co-RKEiqFLJkTT5J7k0s96mw2oZ7FTHrV-v-_W_H9tkgUFy6yJWsKN055C62UIyzYWDBqTYRfg53FC5hs5HPitY56H2P3ukbavX5h_uz5aLSDsKWSI3CaGdPSp_J9RHzYVX9mY-sm2AJVZol0CYMbTlpXaTH9q5pVDsnyhUusT46YEYkJpyzSwt6lSP4ajoIyGuRYmRUChrZI8bkh9UfHrlhWCwEZZXoJrkFI9NuLqOmD16RYFCdROZWzYvTAqFLNkIp4GckBlGLzZ5NNKGCZMVGHmzHxI4T6Bu3SGKp6cQbeclASSY_dX6IzYz5KmYMJsVSu1IB1ruRpzt9z0-9kK5pMFRDdHxjdYtqE4FOQYZWe1n4BzlX1qfKY7rOjfzXzHuaD6RwLkOjxQNfLLeKd0m51dNuLUGhtSFUNcKM8RMHAPlV9SqIlqwzEq_yuxH1n_ET5EOZu6dPDooeSiu8P0zzjxH7lq5UhoJSnWE20Uk9a6QPpqlKDjh0bVwdviRhQWXlOg2vBmY69SkaaU3SZtKkET3Z_Jzg7mi_Iwe1EgIJx_Y2lRDi-50w5wBXMgTQhF-EZBZOpDhILmTunh-83MJVfUAMvzaTmhq_5oYpdmtd-eqvbmovO_mhZv3LQW-4aKRHmyCZ6QefG9BL7mqNzZCMxBqAnviHrPbCfpTzXx6qNKaPJ-yxsqizoCdOH5F1sbi8PM3TbHN6JmXXYYLsAWO728khWPSAeOBphLMsa6Z8-yKuW7_1pzo17ftScNc9qe9gknmbJpFAK_us_k-g_2LUGIHHiN1j4dsDOHlITnyf0kWIJLEnN_pnGZt03ydNxnXjHavIN1C18dtv3WyOjLsL-4vvRmrI71cG_Xs4CfR6BtCVlfoSX2kA8zqljRHWDK0Cmxh7kcGYp2Y6EzSM08VZx_Jy7TlNk",
  "id": "rs_0624988557341257016aac67a6263487d0b2a4f5efa99f1806",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.115,\"left_z\":0.2,\"left_pitch\":0.3},\"note\":\"The can is now lifted clear and supported by its narrow end. I will shift left so the main cylindrical body is over the burner’s coil.\"}",
  "call_id": "call_JYGrw89Fh7L3iKULlMjv1A6T",
  "id": "fc_0624988557341257016aac67adf9d487d0b9cdc83e32a6411d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JYGrw89Fh7L3iKULlMjv1A6T",
  "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]: [-0.823, 1.0195, 0.5232, 0.004, -0.8829, -0.2092, 0.1991, -0.0589, 1.0454, 0.9432, -0.9035, -0.0872, -0.102, 0.9954]\nstate[eef_state]: left_x=0.2975 left_y=-0.1148 left_z=0.187 left_yaw=0.0026 left_pitch=0.2578 left_roll=0.2031 left_gripper=0.1991 right_x=0.2698 right_y=0.0031 right_z=0.1674 right_yaw=0.0677 right_pitch=-0.417 right_roll=0.0317 right_gripper=0.9954\nstate[joint_eff]: [0.1709, -3.1658, 7.0769, 2.1319, -0.2027, 0.2173, 0.696, -0.0615, -2.7556, 6.7761, 1.536, -0.0904, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:336885deb28a5f6fba0ebcd4f721aa257a1b48f07c9980530f0115812535a83b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e3bee1f0c6dca57bf9171a6636ab6b26bcbcad3e29325b03e4aebfa3b1740e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e968e7be662e32e3b1278e5ba89d786ab28bd8e232f72ea3b55d8288b27873b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.1088, 1.533, 0.9276, -0.178, -1.0752, -0.5545, 0.1991, -0.0589, 1.0435, 0.9432, -0.8814, -0.0868, -0.102, 0.9954]\nstate[eef_state]: left_x=0.3005 left_y=-0.2468 left_z=0.1771 left_yaw=-0.0109 left_pitch=0.2226 left_roll=0.1807 left_gripper=0.1991 right_x=0.2743 right_y=0.0027 right_z=0.1708 right_yaw=0.0661 right_pitch=-0.3932 right_roll=0.028 right_gripper=0.9954\nstate[joint_eff]: [-0.4855, -8.7726, 6.0923, 1.7363, -0.7497, 0.0513, 0.4664, -0.0205, -2.8239, 6.5846, 1.5311, -0.0562, -0.0708, -0.0122]\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": "gAAAAABqrGe1R_iNLe6xvKE4BsL8qlvq3shfYllNYsOKFlp3N77-ys3MAOqi6hqoWjusNvyXs3NXFbXGhr348ZxQrkuhB6DwjN1gvM9ffP08fgEFEycuKB_6B0rlk_FaTJvU_iih_zhEeTjahKKhC7oKLxfjXacZpAOqrkh9LgMj3f-Ad4k67tpn-HIlFmGvH-pyS0CQAigEU36wRY596ssN_pJkca6L3wCFhie4Tkek01b2usqTIGU_l2wksDBW8xlyzyMn1P9QCT-4TofxGZ3r2tVo9BNvurRkQQ9b_qCfYcI_b_uq2JMUEwbBhGhdD3paVjEvAFve68ZOpSx1TXGjTwGnEkJtg0PlS2loODZOzgguZISKf3SJA-E0_TxsuX5M0zRtgculfzTRynxn5OUCs9rBOKkLqoiT_m_Yqd7nYUws8evAKKOzaq5R3YObxD2jwzXrtlcR0vDEYD4HVFUVjUOXN9S60Z_6izPpYgtnoTL4FxjMKL9Y5wulQjROcKc1hfTa7AsRZ1QJiL5kN28DEorPBERuKclvIqDhgTN4jxHNVAfT2UX_ZiUQ4POK0_PUUF-lYo57qxLRjveWOV9Sad1vEk6WMJHMXJyRoGHd3Q9ntETUtX6lTGLQD-AvvdKo_5eOCytg9HiEQt5fL0H3J_06jrI0x4A1gv3zCLTQw7WYku_6d6ASW8iFKXHtTH-ESLOpGVPGo1blW8NTiBeqGWueKN9J_d4Y-fGqmL3vOAvzBBvkzDGy83dvElKHsEWh5U1mV0Ugxr1TQo7insESrP-2G3a2pESUv17DxDOfSQQ1XInC4NTiH1N0uqn1epQqhQ_frHqT7Xb1B7R9ejq9vi0OT4AWDYfvz7ff7oYy4k8KoQqgz-jug8NxbbKvv_K4u6-ApnxgYR3PgjSjdcQ2w9MPsRMSEA3S2YUC2UhnkHMfL6dLONuxyRbz7TL3eLPFSpZzr8mOD2dmty5zyh8Vw0fm_uRRji6aw9yKoWjFOyiGeDqzYcObWrQGoOx6rEPpyfBM8lhFKFx8tn-HclGItaiJFZmPKT3uTFjGMzcB80Yyk5Vdd9Y7PdpwfKZ72o1nBoSaDblbMj1MS0o52pmnrcgeOf8NvN24fsuc-jo_l9v0B7NvSiccQusvKmEWSpuBSaX5pqh3ML0wTlFYZp_AFiJIFn0LKhgNdM2TIEDgDNDBTkbcAnMYT9KHKFdGs11QeQTzGbdsTLCUjyAimHsDsLQq16oZgQ==",
  "id": "rs_0624988557341257016aac67b2e1fc87d0bf9336fe23748032",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.11},\"note\":\"The can’s body is centered over the coil in the overhead view. I will lower it slowly until it rests on the burner.\"}",
  "call_id": "call_JnAcUI7NbTjocs7NFtDMosRo",
  "id": "fc_0624988557341257016aac67b3cb7087d097d327be62eaab89",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JnAcUI7NbTjocs7NFtDMosRo",
  "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]: [-0.8242, 1.2354, 0.2939, 0.2962, -0.8665, -0.2035, 0.2008, -0.0589, 1.0462, 0.9432, -0.9199, -0.0868, -0.1017, 0.9954]\nstate[eef_state]: left_x=0.2871 left_y=-0.1067 left_z=0.0878 left_yaw=-0.0368 left_pitch=0.1447 left_roll=0.3149 left_gripper=0.2008 right_x=0.2664 right_y=0.0032 right_z=0.1651 right_yaw=0.0681 right_pitch=-0.4341 right_roll=0.0339 right_gripper=0.9954\nstate[joint_eff]: [0.0615, -4.2598, 6.147, 2.1807, -0.5348, -0.0904, 0.6764, -0.0889, -2.6051, 6.4889, 1.4335, -0.0708, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cb52cd066fba473c23ead12b765d709d4c0a7704aa796192042b6618b553270",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13ce07430447901172836953f7f8499d0a62564a56993c52b507c2dc641af629",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2a917f97607534676ea3b5f6a79ff47eb1a366b94291782a092692047632d07",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.823, 1.0195, 0.5232, 0.004, -0.8829, -0.2092, 0.1991, -0.0589, 1.0454, 0.9432, -0.9035, -0.0872, -0.102, 0.9954]\nstate[eef_state]: left_x=0.2975 left_y=-0.1148 left_z=0.187 left_yaw=0.0026 left_pitch=0.2578 left_roll=0.2031 left_gripper=0.1991 right_x=0.2698 right_y=0.0031 right_z=0.1674 right_yaw=0.0677 right_pitch=-0.417 right_roll=0.0317 right_gripper=0.9954\nstate[joint_eff]: [0.1709, -3.1658, 7.0769, 2.1319, -0.2027, 0.2173, 0.696, -0.0615, -2.7556, 6.7761, 1.536, -0.0904, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGe40QblDcnOHfTfslVQApC757-4BaTVHxtBopfmbxKDoGI_CO6q0zEOcec8ganmMmnXzDAJNqQ0XcEQismCoNMSziNm01sSTMhNKGysNTTprInlkrdVmhke9UoXNia4_j8JsdKW1nfNxPxo-w3bGJ4mPyxXN7pleHS8ilcEBysOYYTDiuLTxr-Fc7sBr5-aOzD03bSCChwxtk3F35yN-e1dczrvrcNciSLGe3x0-PLwzSrrmjmeGLACFiNgkreqhaEDKOY7t_fDWeOrGVDMEsyKkVBjNbIar9hxc3rwuFYiaaUh1iOFPCEmpEqsG7zc5ZS7gw4mm8rEZ2p42Ln1wAg61mrlSSTgSYlskPPhegdGJhgYzoP8rr8XhzM3LShKcOxRVtmkkvept6YXPRp3903TA0hj9CGEg28MCRhucRv7pPdCHjfIBBdv5YY1QMCQ4tf3RWPr0l_e5LxVDBvoaGrlH0Q86l9lCYnryMfc99YDVk9vwkzkniQWgHXrkrbVtdIIP6vWf0kP6qQSx0IsbBa3tTxO0VBMx0Go70CpGLKhZ6TgNIfu3s-_NMfe4yabV1AleueHqVitzRbp7guQpFdpKhJPZwHazU4PBBYXv5nMERD_c-RM8TbY6DReavM_vEDGBariKGA_esprcWr8C5ivoKSjxw3gy--j8ysS8ORoPC2meBkI09HatbI-Vj2KANLe0e40Dh0RGkLomLZdkY14HKzEWKApgZmTTxmBFnlznSE65YXZ5YEy00Ty8fi72CnZg1xopBpjxpZXf67ySVTVBTsdS9IeYb3OYrU7LI5xeQJ1UBD0Ap-ObGsGuW5zbTgQWHY69ZZy3_JSA6DyX_MtqWjhqhLLxmoBmZl0ysgtg_zoRPh7An5oG4pEYqNBBc6LdknmzqPPqyXO475NBNOWRUitN60AB2qbejG8yjaqrFzsaRsdFuRLzfv7kfLQiRXVY99jesgcsUMSbnLZ_DLa4ViPg-IAtck6ApS32nvqCDulSuafW7zmO5PeTZPkggw7ZrkTwm9bRDQYe2_kKuDUzgf4lt8jRqmZ6hbxrJqxFnZK1VuXfNNnfFmrLRxjvIWRgsGrJK1I4lUM9Di-wvJzBmthlplUK0EIlyc_mXCzhPiaK04fTkFBjQ3dU_y_8xoZhxrLiy4vXdRHU8V98NgHBdjO5Heh8SiCm-Bc4XSn7zSGnvC_sy533vouOMCujd8Y",
  "id": "rs_0624988557341257016aac67b73e0887d0a5f8f6d4f313e101",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.065},\"note\":\"The can is just above the coil and still centered on the burner. I will lower a final small amount to transfer its weight onto the burner before opening the jaws.\"}",
  "call_id": "call_h6PMrPG2TVX2kJqKM5OX1I4c",
  "id": "fc_0624988557341257016aac67b7cd2c87d088e5d9edc1080a6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_h6PMrPG2TVX2kJqKM5OX1I4c",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8242, 1.3243, 0.2665, 0.4511, -0.8669, -0.21, 0.2027, -0.0589, 1.047, 0.9432, -0.9272, -0.0872, -0.102, 0.9954]\nstate[eef_state]: left_x=0.2915 left_y=-0.1114 left_z=0.079 left_yaw=-0.0287 left_pitch=0.1729 left_roll=0.2813 left_gripper=0.2027 right_x=0.265 right_y=0.0034 right_z=0.164 right_yaw=0.0692 right_pitch=-0.442 right_roll=0.0352 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -4.0274, 3.9043, 1.6874, -0.398, 0.0024, 0.5153, -0.2256, -2.5915, 6.4752, 1.326, -0.1001, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6017375c499a420b3d76061ab2e2b356a48322ae0b8520c15bedf88eb77fca95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abaaa020f3d819edc09dee22814afdd45e6540eab32f3ca36cd59bbb96a90844",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a0c691ed3650a6a2a78292a4ffc69f3581612516e564941fc44126a51e14e64",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8242, 1.2354, 0.2939, 0.2962, -0.8665, -0.2035, 0.2008, -0.0589, 1.0462, 0.9432, -0.9199, -0.0868, -0.1017, 0.9954]\nstate[eef_state]: left_x=0.2871 left_y=-0.1067 left_z=0.0878 left_yaw=-0.0368 left_pitch=0.1447 left_roll=0.3149 left_gripper=0.2008 right_x=0.2664 right_y=0.0032 right_z=0.1651 right_yaw=0.0681 right_pitch=-0.4341 right_roll=0.0339 right_gripper=0.9954\nstate[joint_eff]: [0.0615, -4.2598, 6.147, 2.1807, -0.5348, -0.0904, 0.6764, -0.0889, -2.6051, 6.4889, 1.4335, -0.0708, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The descent has stopped with the can resting on the coil. I will release the narrow end and leave the can supported by the burner.\"}",
  "call_id": "call_pSh1lRzPojtBK6tfEIGpM5dz",
  "id": "fc_0624988557341257016aac67baeac487d0ad66b7b4737fce55",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pSh1lRzPojtBK6tfEIGpM5dz",
  "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]: [-0.8249, 1.335, 0.2478, 0.4416, -0.8673, -0.2146, 0.9949, -0.0589, 1.0485, 0.9432, -0.9459, -0.0868, -0.1017, 0.9954]\nstate[eef_state]: left_x=0.2866 left_y=-0.1065 left_z=0.0689 left_yaw=-0.0312 left_pitch=0.1466 left_roll=0.3054 left_gripper=0.9949 right_x=0.2611 right_y=0.0035 right_z=0.1613 right_yaw=0.0699 right_pitch=-0.4621 right_roll=0.0379 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -4.4103, 6.7214, 1.6093, -0.2955, -0.0073, 0.0464, -0.212, -2.6598, 6.4479, 1.3407, -0.0855, -0.022, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7db9ce86120936a0fcdcdd74d9de5dd5bf7c0e35addda1b50abc39c1f3741dce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08bd616b8f03699c32ad5fadcb57e9b0f1b8b7a8b0486d6deffda296f3f0c6d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c8555580bfeb180cfe2fd78f778a784d99e8d6936452ece7fc92b70343fb611",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8242, 1.3243, 0.2665, 0.4511, -0.8669, -0.21, 0.2027, -0.0589, 1.047, 0.9432, -0.9272, -0.0872, -0.102, 0.9954]\nstate[eef_state]: left_x=0.2915 left_y=-0.1114 left_z=0.079 left_yaw=-0.0287 left_pitch=0.1729 left_roll=0.2813 left_gripper=0.2027 right_x=0.265 right_y=0.0034 right_z=0.164 right_yaw=0.0692 right_pitch=-0.442 right_roll=0.0352 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -4.0274, 3.9043, 1.6874, -0.398, 0.0024, 0.5153, -0.2256, -2.5915, 6.4752, 1.326, -0.1001, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGfCnr0yAv37mXhgZVSlg50VjiUl4ADpX9g0_1zoVKlv8iojeluJf_Vb-yh17u6YiYQgrdQeUaip5iblE5HgYU14PzZEQfRkPiJeHWs6Iavb4KMZ3khCqqQsNKstJ9W8j7THNtXzZEhmcEKYFVtjbvBPUsl7HF9n6EyAd6d9H0g1PeftLyAyZzSVyIHCJPvsOnvTKquIt4cMvjrDCjUENYE0loKwOrqypQgQlYQtmJpcpLsaSqsiZfhOIEa7XoH8tDmoSkihJOMWuSSLDeZTg3Ei93dWRFzUJV0ovxdlSYjl3ZWN7tYnbkq7MH4TgopeP9Dh7SVyGuwM4UvpIuP8X7ZB9i5EFqhi6eZpcrkXbKJp4gDcMUZyADNFUzW1OeTkEBZKV488rcU1QoH8pS4tRNYMsQ5ypPyixrOL5c7Xc0_VbcA7KNn154lr97BX9SMVOI_iT9H4Uxm_pV2C-2vDzMimapV2ucbjW74nEvGE_6NDUXuL-x8LryX3mLC1JITx4uTAEGwr8aWSUcC93viE0jOfb91dGfva1VlNc7s3-sYhBGBF8oUp6CiDQmV2wC-aO16zRNYNMdgZb9vMpXhk8cH3uKMMwhBgoQ0FnSSYqzEQuO9ZJrPOS26tCN4qrnBjMmHzLO5vxnJjtTHTSoau5qZllE6nPeKEHVLimjScP-GR8etjbSyw5yaIaiR53JXLcDx2lWRZLk9zLKeN_8gcuxg3NBy_24E0iqpAV8UED-fLEKeSDZiyY_FLvgLTgz7Po1axdw3XMbWkV5vwV9_3VgfVBqGUWXe_gRbXHFukNY48r9_0OD4ajn4cE7bk3T5b73O0Q89eU6OmrV3KAdKFkG5jxD9koNaYKUbvQBZxP-d8dWXmpyMhkpXkZE09ZXb6Mox9ZkUEZiMbIG6uMcaDGxSLkSxXYWFrwTkPWlEDgeyzYihPPsbl36g2L5vKPdL-uCnFWkKuyLX6MB_9CpivlzBO13AgZA2T1hcfQ1nPgiKwfgkq8jo0Pm4zuGZwbiv70mtirNjzPyRlYO_WTZhI4omnK07LsxMiZO-cHbZaj10eTjDxit63X3KSSrdDga11qrc1EH6bYtfHLUHrrKroHwWrDnL2ON3EgYGsuWLX1i5mYwHXlKLHnoPSyfef2nCN-lqVqUm7ngcjCGI6XtserQvpds9gmTyPyr7JmqzSQaEBeZlFs_q9XkO-ZZxJq1bRQwQY_r1BWQSM9T3wT2W2QHCW5Go3hinBs6sK3TA4OHJfXmdQRkVNnAoC2j0cVO209NTCqIjvV1aiVwu44T4e5h3ZH-s5icG2ipGPoUJFaMUO_pE=",
  "id": "rs_0624988557341257016aac67bf87c087d09a5368f63d7d16b3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.294,\"right_y\":0.001,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The released can remains lying across the burner. I will withdraw the open gripper and park both arms so the final placement is unobstructed.\"}",
  "call_id": "call_aOVIzD4OwCw2LZdccvsaLjjt",
  "id": "fc_0624988557341257016aac67c0802887d0ac34092b7ed1624c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aOVIzD4OwCw2LZdccvsaLjjt",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0242, 0.5964, 0.6086, -0.5976, -0.0685, -0.046, 0.9963, -0.0875, 0.8261, 0.704, -0.5621, -0.1276, -0.1158, 0.9954]\nstate[eef_state]: left_x=0.2516 left_y=0.0096 left_z=0.1873 left_yaw=0.043 left_pitch=-0.0094 left_roll=0.0172 left_gripper=0.9963 right_x=0.283 right_y=0.0013 right_z=0.181 right_yaw=0.0702 right_pitch=-0.0942 right_roll=0.0062 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, 0.6222, 9.306, 1.7998, 0.1587, 0.1636, 0.1245, -0.3761, -1.935, 7.2821, 2.1856, -0.0952, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96eb34c04d4b27a38629aaaf74dacf85056d65fbc45dbe78044b2b63e471598f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8656a1a284f983bdd7e5a1867bf88c4917d95581d616ab8fe234a7cf69e0603",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d37f925a17994a49872f99b486dc6893a30866618e734d5c2801883015f109c9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 115 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8249, 1.335, 0.2478, 0.4416, -0.8673, -0.2146, 0.9949, -0.0589, 1.0485, 0.9432, -0.9459, -0.0868, -0.1017, 0.9954]\nstate[eef_state]: left_x=0.2866 left_y=-0.1065 left_z=0.0689 left_yaw=-0.0312 left_pitch=0.1466 left_roll=0.3054 left_gripper=0.9949 right_x=0.2611 right_y=0.0035 right_z=0.1613 right_yaw=0.0699 right_pitch=-0.4621 right_roll=0.0379 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -4.4103, 6.7214, 1.6093, -0.2955, -0.0073, 0.0464, -0.212, -2.6598, 6.4479, 1.3407, -0.0855, -0.022, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGfMbYbQdyhVbEy3Eioi2OjXmrSyAXVOBSbRoKSDUgtomhD_FjZ8OpUiTxyjl4Y5ZPRjZnJA12JgiS8g2miUeRHqMzXYsdJ_Yltbc5EQtvTGIaPuALcvqbIJEKH9jjQaOGa54GvJbqgPy0gRpFxYZhe8vqB5ESVTjAeGLSHUnst8k4fBhoEMi80-ztq_Kh5SuHJDwduDzppPFKoInY8oJwAY6IrgxTYOr3hvrIxQKqQgvxdjkzGUv-01TUlP3phdH6NUCGEbc9iJteQ-UcHis3x61_zlDE6nQGRODOj4WRA_pEb8GOmm3SW5xPzbuWXOHLFMEBL8pwK7OGaSsdGQKhL6mhqhpchJ__WdzVVqDtllrVtNHYBB-gg-1TGxNrjA30u9CUb96M1_ZREPPFzG0JhINaKK-Ul8S0yXDb2T_G0oHTdEwbbeA4xevvh0E-YHY1k7JtP60DWIv-lIqGr9rfdEjoYicpt0vgjCV6-P36OFGodjmWV3e9bLQWgEnkb_wUbfvlPMf6nOWCTljha84ulYUR9d_3Y5dMs0TmV_vnAm0Mw-P3N3NOda99FK6QPw9gIh2RtjqgufS7O6v8vpC10GeAvfd04iHc3FR9o4c_nvG0MHC20MNClJshrAA5TA084JxYZ0y64ld35pNvsN0syMo_1G2eAcCPJRWwhehhBsmAYP4lb7MM9BpGguqfzoI-F32uV2nHLH73Kn8dGaYEb5Qgx3sg_Lza2ci0HzOXkMvvKSkqGtDPoKV-win-wze2RIf7Q9-A_eyTk8I3ICb0pQAyRiT6P9vmYJ5hG0hjLoobARnSH-Df5R5P5S5YY1jI8uVbq01JMhJ3EQY7J_O6Wtoj1Sj6tr1hISj-C9ytliYXJzWtwIJeSD7o8qEw9uqApjSEWMmLBw323ppxgfRfOa4KY0HROMW1Eu5TFMsrMDwkiB8Uvfok4woZyxM59QbGp7vNRVqHhWwRXIp1jVRkCPAazQDjwATcUNjG11Oq7SXsigFZAyjEQe1XHKFgENi_u6mq0Cmsq2ou3F3SuacnthCD921xze3SWPut4LLVU7MHZSpIIhebHWwixmwR4IPlaiOA8HVs5GPxjBJdp-kp9XxNH98Dyy_LeKxjKbqdtN2QkVNwfKzhkHcDTlTJIJl-1B_qiDIH4ITHyNzJOp7No_tVjLT1CbV4FWtPqy_SEd_tGBDZWuGttmMPqgP7mA_cAJncp3tJ2JD2Bi_hlY6F88ZU9I_ZsLz4nJvShOCbm-5lZN9ztvovAkrU772KFDWU_AcNm03o67_gw3TIZXFpk3KD7E6jdCC7Kitzjr_XBDMI_CSZCADmOqdXSyOe9DVL0wxj6249PxwRb3PBseHKCjyBdO4_dfn40UW9Rr3ZKKVQ40YinP6N75EgJM5XerzWlSm6bbjXosLcaNCS442LZE1QB09sa45s4dZbLxZLZm2qobiChdMQ7TrODyRt2DG7CjhXqAh8g29qgHpvEv9ZcOscQP6asNNXou84xtaSX3qa1DWGWmmg22mCSoaEMpbUDlNNWJ0bO4uAVcIEo8huH3TXh57dvKJsVBaczmHs6-YcdSG0uyY_uswQHGs0OIhqcC34i3QLeE-m-mxGXLnAt4-AgYz9k6mPHyXV1_VV3Fx7ut5lY0Lw1JRzLIefLvyoke4aAiTSxPG0tDuoPK0ip_6snUM-dMjjzv2Uhsz9YxyDmXJuhaBPf49aG3jcnWLGffxglXZJdASRUAuHy7ssBgMd3bzJeK7k2po9emfiCDTcHA0BApMmlBmXRX5jk3B0vB6F4ySIW7Y5C4XkwO7RfF0w3ksHxjOLGlyLG6VgG3TFjGOE9f0z76v_NqLMsiVb88074iSCAWyvVNTGEXis4wmw==",
  "id": "rs_0624988557341257016aac67c5bc7487d08c510c3733ff54ec",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.185,\"left_y\":-0.075,\"left_z\":0.09,\"left_yaw\":1.57,\"left_gripper\":1},\"note\":\"The can caught on the withdrawing fingers and fell off the burner onto the near-left table. I will recover it by grasping the main body crosswise rather than using its narrow end.\"}",
  "call_id": "call_CvmPg48MPamhIXQXhp27qiSg",
  "id": "fc_0624988557341257016aac67ca9ae087d09bfad23fd52d8ab5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CvmPg48MPamhIXQXhp27qiSg",
  "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]: [-0.3874, 1.6905, 0.9691, -1.2716, -0.873, -1.7554, 0.9984, -0.0868, 0.831, 0.6979, -0.5934, -0.131, -0.1162, 0.9954]\nstate[eef_state]: left_x=0.2373 left_y=0.0533 left_z=0.0902 left_yaw=1.3139 left_pitch=-0.0821 left_roll=0.2957 left_gripper=0.9984 right_x=0.2775 right_y=0.0026 right_z=0.1712 right_yaw=0.0748 right_pitch=-0.1357 right_roll=0.0149 right_gripper=0.9954\nstate[joint_eff]: [-1.9761, -5.7231, 4.3282, -0.4811, -0.5201, -0.1587, -0.1832, -0.253, -1.6752, 7.6103, 1.8877, -0.0171, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53c4ddbc35b8777b66cf0a95501df5bb8882c7187846f0d7f2f3913666272703",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:005eead823bed8158e82c8e0217a06263c204b068b5ed47a57436aa505420716",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bbc1dd46d7b260ac2bda968e8a26d957a282a19497760e4240bd3424cac2daf",
      "type": "input_image"
    }
  ],
  "role": "user"
}