adhoc

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

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

{
  "content": "Goal: put the can on the burner",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3878, -0.017, -0.0341, 0.9993, -0.0204, 0.7937, 0.6079, -0.3958, -0.0185, -0.0326, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0009 left_z=0.1789 left_yaw=0.0003 left_pitch=-0.0008 left_roll=0.0002 left_gripper=0.9993 right_x=0.2931 right_y=0.0009 right_z=0.1786 right_yaw=-0.0006 right_pitch=-0.0 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -1.4017, 10.1538, 1.956, -0.0659, 0.188, -0.0904, -0.6085, -1.5248, 9.6479, 1.9365, -0.0611, 0.1685, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dff59f6eeb43a931a7cbc417e1992d3052bb34f81d704b8f1dc5aae87fbabf6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94dbd57752f5f8d5fc96637a191efd41895a44424aa084dd92027f6ca8149051",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ec27c60a853159b68c1e7cdfcaef4a455c13eb893f496fe66e5a9d1b76271f6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrH0SVMCZ7wuTCrHbwvn4AmKxGICjZjIYEBhmkd4ynQSew3A2FW4SCS8PvQSmcmzzaBY0DC0ChTMr3nLL2rjm4_iqaPx6mvH2oVGXtnVsT2hz8ADrcnZO9yzQzwqv7tmSfedbWnUogBRohM30D1L-MBROnf0hcIcED-D1fQIhSs1wojxiK4Ml3jvhjEk1nve2IdFTRUsLwki-RcFu36au10RE88KGZSxjOugJiGUEtN8LbnqZ9YUNe7LeQrwpS44J9VUfJJk2SdVmeysi2-bqhIPrGTf_TYfdRtcTY5g2NykA0gqSqreMMzb9ofcjvdFDkb_Zhb15Jr9dLqcyJc4ZSNS8Xy7wYUhMxxtEl2RK9cvN0u4-XTutf10nSMUR2NWlA-S2n2NccbcN5nLIYpQiET4XIGiijaOBUyo5DKtW3b4wP1rqIG4hUdBm-VBSCZ8ZVPNhy3ZvgZGRyhOrjJFTaxV2jJzNxBKPnjwcWC-obNnZTwiFfrHoZ9MtFc3ZSK1Z0fyGitsGhfteqSXjmZZMw3rTs72UFe7icNZQMETcUpdhtc4hYpmvW5us01My_RFl_6OEFoe4-H3j-xS4e5C6dIUiA2yoOkYixm0YurkAtsNdF-9k948MFa76RTI9NSFeEOm2sUtmC_Yx6cDNoi6LFag-CRpgMMdOWcvv9LtjboYv7_eRAITp_3S6mIpXwN-p7uolhmxCOTeEx7YVfBb1ef1PGQ7hkRtBxBW5BsG6fGKvLvsukAknIQFf_UApQSqA2TrJLMPOQ5mP3ttIgEAGQcBA-SBkocKdPhF3P5jBt-X33bm6x_6-dIDhXLKkt2cS-pViCdY1lfAXsOlrdpaJc-d789j4ImYCyB2oicIHrH7iEuZzSYaPXFQHC61ge-W8zsi1fKO-zG4G46CHDCRveenR8yOiNFXb4H6q3b1xH0NxzIMg6vCwd3ASYnVUfRARYe3mjmmRySB-Ld5QmlNj7WbB8GwjNZguN9t7UvCEu6AZDh5YLgOYYPz5TSbztamBM8WARB8JqiI5R1UW1JKQ4kmxk0Gc-6ndvsdQa2I7fXjFAW8ooRWUY8i5ZEQE5BJolunUYPoAJYkVbxkmNI9DDUHREjCTJFum2fUv__CPT67s4lSMX7ZPdBqtr9Luu_030-h66z3h3-TEnPsa3eAZnF9dAAejYNsEnnUF7y9KEbazsk4SiElzBjxVZx2lBqqtdVRYixJu5QQsa3s7BUh5Lxa1JfS7EgeWll72FAQ3ECgT7mDoYqChPFkSoOfJtONPRaHqFYYHImYj8U0soosD8EiR7V5pLvEu6bDzPnO7iXe3Q83tDE9EjDzPJXUzGnwnp6CSPpQvmupwy9oBa4TvvL1NzlFpW9-T0xomLAoZhr5s0-6g2KnzeNd1NVYtsqrqyD4ZXHA-BPEcKg3hEvMym52AsPo0n7xJhHX_GP8lP1BnG2MefUZPOpiqODQ4xBuo24J9EoPLIIeVz_0h82mIYBCm2yruZXe41yA2Ex5ma2UrgUBQP6hlvF_nrMtL4kUxSStnxFM8zk9IXOyEPBHR7vcEnkpTpdBxkjW1X1ybITsJAXS1Sgm239ofDkr1Ugu9HHnCz6xiPeIKlUKmUIT6c3KMjFvtPfSttwx4gGT3-98hTwEy5vnn8SJuUPjotAB7MdLC8gdnWV2g5GcEea__wZ7RHw==",
  "id": "rs_0ff40968207d5b85016aac7d0de8b887d1a73c3c16af7795b3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.105,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"The can is lying to the left of the burner, with clear space around its middle. I am moving the left gripper above the can to line up a side grasp.\"}",
  "call_id": "call_kxX0MLEmeoRqGHqq3F2HsPfa",
  "id": "fc_0ff40968207d5b85016aac7d1170b487d1af64e0dd243c3c0f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kxX0MLEmeoRqGHqq3F2HsPfa",
  "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]: [-0.4637, 1.2465, 0.6762, -0.1467, -0.3588, -0.2802, 0.9993, -0.0208, 0.7986, 0.6125, -0.4324, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3443 left_y=-0.0988 left_z=0.1259 left_yaw=-0.0245 left_pitch=-0.0877 left_roll=0.0318 left_gripper=0.9993 right_x=0.2889 right_y=0.0009 right_z=0.1719 right_yaw=-0.0 right_pitch=-0.037 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -4.8889, 9.4838, 1.7998, -0.3394, -0.1001, -0.0904, -0.0342, -1.6342, 6.6393, 2.0684, -0.0317, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab9cd32b21c3137dfcf9fdc9fbabab7f49497a4c671efdcd1d24c32f69b7ae4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c5cd055c6fef91324585fd0bdac741adecfabf39e6b1ded1d85941a0c5bde77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97a8f389260a60a1f88e7f1d07649acd501d3778dcb7e677d55ceb05d8736e59",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3878, -0.017, -0.0341, 0.9993, -0.0204, 0.7937, 0.6079, -0.3958, -0.0185, -0.0326, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0009 left_z=0.1789 left_yaw=0.0003 left_pitch=-0.0008 left_roll=0.0002 left_gripper=0.9993 right_x=0.2931 right_y=0.0009 right_z=0.1786 right_yaw=-0.0006 right_pitch=-0.0 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -1.4017, 10.1538, 1.956, -0.0659, 0.188, -0.0904, -0.6085, -1.5248, 9.6479, 1.9365, -0.0611, 0.1685, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrH0ZEy7HNSafdvhjUGrtGr78IGGd-O8KNuGoiQUTUeB9nHPC6oJzS57lPoVjhfr2-bWlFqL77Z6qQ3gMYULM0D3TwrJqBi59Gq7gismMDL_tbJFWEmcWPofm5bgj8uIu-0Hdq54trR7s9dnP1LclvA-ri9ekGCqxoy75GsGBVofkBHgivC5DWM0WVVKuga1t33OhEtQs96iTMVgab61enuK0gqsZof4BjlrmkbIaRnUBK02GxnxWbC8MEcZYaA_rBssp_4KNMLMAsxSYSrnE8FermFFcBfWltFYFyup4RitTe2Yzm20oulHCFCdvH7T3rdLrNh0_S1Bz278qXseKKKTAvNHFcR2xpgKM6gn2FpGW3hZhoduxTMkAaa_O4vFi2mq-uSvAmjb0jvCwLH41SNgr9w2ugSgogHj0SMGTG7m-oyb6BUzYonal8SV7QYjGQ2F8TWZtFCvoJ9BVU7OzLLgD4dC42SnKMJU8C43khG3HlCoYrHoBbc5iP0HLpnF7VcrebJTJMrirr3sA-KHqfD6icsFFutTww_0M5USx5EUbPSbMZFhihOARcRUNmfCgXDl2dp5f3hVxs7vKNySuQavrZZO3w_HIHEuHnJr86GyTChijvi4lPkK1Y5DMXHMUM8rI5A4avmpJtKIR3NHrpGReL_3msSmLEHeWHC-uvA1-dVovJL2kNHcAx6AOOpaBZ9gcljidRdXTlAQGMVmxnpVqzAWJmMUhhIT6BBaNEnpsImv55WQZT3OmDND4JVolt0WSrkZxSByWz1qpsgsz22ACMbrwdVayy5sPaZ1Y2NP-oqbT9USFzLcPOqUwzRPPnC81o4QdeDtD8CzURcQqCLfPSFR6MmUE4Zv-W_reNhfnBdX7nQaw-8B6CaIEv2fdGh0coprlh7jzy245DrDoJNAV2tdRAQj8xnpYLlnuWhLx9eQn0VwLMPeQMp8RF-A90xbTam9476n0M0pDYv9fr0gtZkkNXJ88nrqs9n7mqcvfnQAS2nct7oVDAXtU6UFbP27Klc_qN0t9QuPxVqZXtY6cc-eBDmeunB1NOEbiqXOh9l8B4VGD8VSEtg9kadamzE1K9S56c8tXGGxoDyqIsuHma_JKMmi2j6BBdv3ZkZ6BWWiT6e9cpT9MiAlcdkxlec7ByPt-X147pFbOpfjEs0WLBBNfZkJUOok92gfwSGzeFF0NhaIe3-bFmUIviO2tig4Trn7QFLgFDldADAuu7a8ZKPcgNsRIwsEjiMr3oVVLgib8GttAuVplvGjG-I6FYSFChaddrmhxEZ52WDJRiv2utjH3tLbn7I2RvlQozalwJNYiDjdWdpzXi7V64250l6TsQ4xhk6vUll4CB-iNKt6bjDg2VzOUlkEkK4q1qF0MdjJ13z0HhIyvChyEDJ9sqvLPEHxzQFLyl7cbOvBMXn6UKK0YP9e9bSz4W4Am98V9RPBSnxWHPMEOa9K4cDXbXii4",
  "id": "rs_0ff40968207d5b85016aac7d16b9f487d1aeea7f830697ac80",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.075,\"left_z\":0.075},\"note\":\"The wrist view shows the can slightly left of the jaw center and extending forward. I am shifting left and forward while lowering toward the can’s middle.\"}",
  "call_id": "call_tnoyjq1Unh58YQG6KHVIjSwQ",
  "id": "fc_0ff40968207d5b85016aac7d187fd487d188b73ee15b8d2f8c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tnoyjq1Unh58YQG6KHVIjSwQ",
  "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]: [-0.3042, 1.5272, 0.6666, 0.086, -0.2642, -0.2012, 0.9992, -0.0208, 0.8024, 0.6094, -0.4549, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3829 left_y=-0.0681 left_z=0.061 left_yaw=0.0172 left_pitch=-0.1669 left_roll=0.054 left_gripper=0.9992 right_x=0.2854 right_y=0.0009 right_z=0.165 right_yaw=-0.0003 right_pitch=-0.0664 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -6.7487, 6.7897, 1.8291, 0.0269, 0.1099, -0.022, -0.1573, -1.5385, 7.2137, 1.8828, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4984acd4860770eed8b0744947ff38c54c7447418d7b6294caf7a3417857bb67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a10921b26a3b8c522fc1c5440a6adde570d46b7966bde9c90dc48718b803b95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f08d526655af017436f0682ef7e9aa59dd0d82ddbc707359238964fffbec1656",
      "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]: [-0.4637, 1.2465, 0.6762, -0.1467, -0.3588, -0.2802, 0.9993, -0.0208, 0.7986, 0.6125, -0.4324, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3443 left_y=-0.0988 left_z=0.1259 left_yaw=-0.0245 left_pitch=-0.0877 left_roll=0.0318 left_gripper=0.9993 right_x=0.2889 right_y=0.0009 right_z=0.1719 right_yaw=-0.0 right_pitch=-0.037 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -4.8889, 9.4838, 1.7998, -0.3394, -0.1001, -0.0904, -0.0342, -1.6342, 6.6393, 2.0684, -0.0317, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrH0fH3ispKdruez3QpQk6L2PHCc0Fjhnw5TjZrphag0oxmZaubDul9FgNfSPI1iReXbu2FJDmBPCpmzplL8UR_PP6Gp2n6ZfG4cpLfG2MDcEuENdODMOa5sXQEysrftGAMsGuMXLSNmtQw99FyNEQSNuFSSYZFMXKSNRyHWasSxjIcK_Eotoq_7ej0g4K_3iQEKrZUX79S2YVaHuymnw4HZbGKc6jryumaT5nQ89VKFsAA3Y3mBinJi5R64dDdAYM2S-ZYHB0VGooLo8N0M7dJ6A8I0jGzsdBs5slFfnByemNjvEwz0DUr93tHtPXo7ENa3Q51tvJXsuVNsj0OYHG7dff1fre4ynTO-R00jeAXFWEQxSKy84D0BE0gGqnKT-Yke1VmphbhZwhWNrJIppxb7Sv_lS6LDUn-Q7oxshZbY9B8O_Ztd7Jrdbn9cB0O1oCR42ucZ_l-JTGmtDZYIBsEV2l4M01SxtI8ld5w6EwwbibJhbQC039KjeLaYBOVQ0f_OAOa5IyX6BCZQJ1E0Cp25LvBBXDM6_lSdqJDPwdGoeJrhEyyOtrfooJ-_WBPfhjK2CC6LIrxCY1ffO_vaHjMKDDhcqyF1O_faHfaHoHZbsIa08XxDMNXVZxslKgokhdoxmMHNYxzDr-VHFTkv7IfqMpSV1UvE5GsQ0nJbNz6KNIlujIXjnshi3ufImGnLaCrO5UVC7W_CZ06N2SCO4bNAZifYnWzWTFhZLe_2r-gEV7WaNsV1oZPHQI-tLllaiwhzD8NGokGxjgJVJeB7TbZRhsE4XkdqDyCpC6ZWvfN6jIo7vTWDmNZdKM6i95SFOxqcYsaO_fqTHlLXPIQcjMM7PRRnRoxe-0SQ_AYUPko5tqn40fVJOzxwwjdRr4eTfKqm1skbhJ8TY7oBq0ewj7LkZbhesx-vQ3KyfkS6VeLB6LtSO613Jk0OB1h377hFNyYw8anfMcgb_nes4Lt8w61que-bS1fjWm-kpsIZToLWH7G4Nipkd3KnImDCvnwUguK2GXCz-PqVGQSAyDd1rWHogPXY0iU9BwzAfDRJ7_n8oAovtecYeRku4nVFoJISnSvvYcA6RTRuppvg5Wlx88J3kqUqCwU9zlqxCdPfLeCidVrci-4Gbm9mXK2P5VFnOsqUwdwERCXYW8Ex2pRc0thJxiElqYi5mzRG4GccshERsJBocwvUU47t0BiEpWfT7Whx9BrwmQurkhux2a0Iow9lKmfJvj8ajaoJyJyatbH8pACha5vFHVvI7Dx1dMJH6PqRwmFhSqWYAz_cf5LB8QUIaOygLZOf-gCoMmI_x0lBCXI_XyKlyqy60_UbVxhC3K1YJ7tN67YCoQjj6i-DI78FeFO0-IqJGw3LZyaC2c2y0s7DQ59PBYmfwM6bOrIbLHjeU54RjT7bN5OI_Rjp0AzHAtWf9Ox8LBhtrh8oP4QGEDGUslO42XGqjASJPw0mp3hbzMlAeAEvWRpyVh3YR7pC-oA==",
  "id": "rs_0ff40968207d5b85016aac7d1b4f2487d18aa94d20eb5e108f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.06,\"left_z\":0.03,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"The can is still slightly left of the fingertips, and the gripper is near its rear half. I am making a small forward-left adjustment and lowering to straddle its body.\"}",
  "call_id": "call_CHhXJCARf572TITrH8VTiUIE",
  "id": "fc_0ff40968207d5b85016aac7d1d473c87d190c21097d9e3a5b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CHhXJCARf572TITrH8VTiUIE",
  "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]: [-0.2401, 1.7535, 0.7414, 0.1852, -0.2398, -0.1692, 0.9992, -0.0216, 0.8448, 0.6373, -0.5034, -0.0189, -0.0364, 0.9996]\nstate[eef_state]: left_x=0.4114 left_y=-0.0539 left_z=0.018 left_yaw=0.0463 left_pitch=-0.2232 left_roll=0.0763 left_gripper=0.9992 right_x=0.284 right_y=0.0008 right_z=0.1568 right_yaw=0.0009 right_pitch=-0.1293 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.5949, -7.0222, 7.6513, 1.7021, 0.3394, -0.105, -0.0122, -0.5128, -1.0325, 10.5094, 1.8632, -0.0855, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bca9fde32ea2f3095a538a817f14d31ec5790dc2bfc4f3237bb7079281c9f62b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be9e39edac8ae1dd428278d8cf6715ae226fa65cac46c5416a65a5c36780b8f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a56378f94c36efb1166c6e626a9bd6e4a6417b692d456d337d5cb125ae11ffb8",
      "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]: [-0.3042, 1.5272, 0.6666, 0.086, -0.2642, -0.2012, 0.9992, -0.0208, 0.8024, 0.6094, -0.4549, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3829 left_y=-0.0681 left_z=0.061 left_yaw=0.0172 left_pitch=-0.1669 left_roll=0.054 left_gripper=0.9992 right_x=0.2854 right_y=0.0009 right_z=0.165 right_yaw=-0.0003 right_pitch=-0.0664 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -6.7487, 6.7897, 1.8291, 0.0269, 0.1099, -0.022, -0.1573, -1.5385, 7.2137, 1.8828, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The can’s body is now centered between the open jaws at table height. I am closing the gripper to secure it before a short test lift.\"}",
  "call_id": "call_xcL4am542Wv1zt8eygRU2sAs",
  "id": "fc_0ff40968207d5b85016aac7d221a0c87d1b82407bd06758294",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xcL4am542Wv1zt8eygRU2sAs",
  "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]: [-0.2348, 1.7607, 0.7681, 0.2317, -0.2283, -0.1596, 0.6455, -0.0216, 0.8474, 0.6392, -0.5266, -0.0189, -0.041, 0.9996]\nstate[eef_state]: left_x=0.4278 left_y=-0.0575 left_z=0.032 left_yaw=0.0333 left_pitch=-0.1623 left_roll=0.0569 left_gripper=0.6455 right_x=0.2806 right_y=0.0009 right_z=0.1527 right_yaw=0.0035 right_pitch=-0.1533 right_roll=-0.0027 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -6.9128, 6.3932, 1.5849, 0.0562, 0.0562, 1.033, -0.0752, -1.6479, 6.735, 1.8193, -0.0855, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b5782076d0f1083c7f7ad9cab0eeaf6528238151200d840fbedc7f33922b5dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b71d57af59981278872b9bab81efe1757c36af599d80701e29cb4ff15bf02348",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ecf5275247b1416c79014d77eb79571f0e8c94b191765e4b7f69f8479adba2c",
      "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]: [-0.2401, 1.7535, 0.7414, 0.1852, -0.2398, -0.1692, 0.9992, -0.0216, 0.8448, 0.6373, -0.5034, -0.0189, -0.0364, 0.9996]\nstate[eef_state]: left_x=0.4114 left_y=-0.0539 left_z=0.018 left_yaw=0.0463 left_pitch=-0.2232 left_roll=0.0763 left_gripper=0.9992 right_x=0.284 right_y=0.0008 right_z=0.1568 right_yaw=0.0009 right_pitch=-0.1293 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.5949, -7.0222, 7.6513, 1.7021, 0.3394, -0.105, -0.0122, -0.5128, -1.0325, 10.5094, 1.8632, -0.0855, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The gripper stopped at a substantial opening, consistent with holding the can. I am lifting it a few centimeters to verify that it moves with the jaws.\"}",
  "call_id": "call_3jxQmE0g9F8MqRpfiEBpYBoG",
  "id": "fc_0ff40968207d5b85016aac7d25c72487d18c8ddedc04da9ac7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3jxQmE0g9F8MqRpfiEBpYBoG",
  "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]: [-0.2348, 1.631, 0.8707, -0.0612, -0.2283, -0.1688, 0.6455, -0.0219, 0.8494, 0.6392, -0.5575, -0.0185, -0.0418, 0.9996]\nstate[eef_state]: left_x=0.4184 left_y=-0.0553 left_z=0.073 left_yaw=0.0415 left_pitch=-0.2204 left_roll=0.0668 left_gripper=0.6455 right_x=0.2754 right_y=0.0008 right_z=0.1466 right_yaw=0.0033 right_pitch=-0.1861 right_roll=-0.0027 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -9.8256, 9.2923, 1.8193, -0.1294, 0.0366, 1.033, -0.0068, -1.6068, 7.0222, 1.9072, -0.0317, -0.0513, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1789233539076a7282c83233da6fe6b75f7251af8bf1f37876e79c98148e4538",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:955c061905217d07c1d66cc047e73a41bc3e6b2a0c1eb0a62fa5d527d6884db5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:815bd35cf73c8498b9a444e6c13562a9d174f6b2f2b0ab6e09379d44d67acb43",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 17 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2348, 1.7607, 0.7681, 0.2317, -0.2283, -0.1596, 0.6455, -0.0216, 0.8474, 0.6392, -0.5266, -0.0189, -0.041, 0.9996]\nstate[eef_state]: left_x=0.4278 left_y=-0.0575 left_z=0.032 left_yaw=0.0333 left_pitch=-0.1623 left_roll=0.0569 left_gripper=0.6455 right_x=0.2806 right_y=0.0009 right_z=0.1527 right_yaw=0.0035 right_pitch=-0.1533 right_roll=-0.0027 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -6.9128, 6.3932, 1.5849, 0.0562, 0.0562, 1.033, -0.0752, -1.6479, 6.735, 1.8193, -0.0855, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrH0tDlSqyRot2ybdKMKnmp28B_LsxsPGyPPRRrnrpWX7mPhHpOIuNIzcJ7qGn2ajJFQKjvXnnpEGeGZOW0PYm22zDnGw0fWdYJJAJNxj78l2NIno0jUBBhUZwJDlN2TGoUk0PNR4UsIzwoeyn334kY7J_XCM09FTZQB9kpPkMlNl3k2jAgPzVZKfHBUTNCl4J4aeKeZl9u1fxuPKNn6K9yGQOeXCS7Vb_DYXOjFjtk_W1IBycGOtYbNUMSTMm2FtidpHO_uI0r4IWYAQ40wPrMOeGMsazvXo9jMqSrvu97omaNebYHgNQttLpchiHI66QSK7FAKJ5XNPAurNigzAA-2lpcWZC0b_5-kjtAmNMJSkCeYSeD3o00bRPmUg2GYs-buYbuMVkCw5Cccgzdciw-FdPT-2TdSZQLeYzcw-6Z8LfmyLrhih4xJljdxskOt43pDPxnkujqDZGyPi5Z0QXS1fNdG_pGb2LoEmDJf6pjLu-qHQLuYzWZjUeqFPpTZjICMxEl2o8KMRnd08jwCr7sOYwpdC_mt62Ky9vRIvkb0yKKOhN9xSGQY6b59eYiiAs-NqB8VDxTgruZe_NIogCwqpB4J4CQ2STiWLd1W2gqV2lu_VguEJstzeZ_6aSbqD_b_FnGbsZZnybNKbXj_D0I0aLsUKsRQsbrovt_dl0VEOFztSYERw9XqZm2HwFiKAMQLV5vygCbkgZHFCrMAIBTB725vC33qOG7Ype89lGYMLhBEMMKuKH4x_8j9-gcy6HQDC4y3SEVwSVNPzcAkzpDlFV1SkE2rgDDNgGoPhNOgcoibZdagX4I8xbuSDdyuqtM-dPTbAOmwry7Cyf4LOyEMDKUla2nE5ZKj6UiC-zaCUJuon8F5chMPCWAGzyiajJW2oh-XGCCjhBJUDP-fdi5pLaZZtSPIP-xXMbqK4UnDAsxM5oqCiCY0u7Ddu_mrChAWu9rBp6S4fwyR9tQ4aQFMN6ufcmhRcYQC2nNjDKnsbMFJkizWDpReIyK2M7-5jzuk7-moCqjpGZ8gWoeiaXkp0nuPllnZHaF3Ugl8twwP97mvtVMRs1byqXlOU1Ap39zg4_ItcQEA5dmGkSRMjJ7-WEfPC31S_CQpx4cJFaXFejLtqtvSvyf9MTEnQaNOwOe1bTGd1DUKX8wHOq66vmcqvJ8mvdqEXk6opBBZwUFFRUhFAdnJLpZOlKBXEbB6p1ZdoIulIVFdyganLDwr3XK4EWQynXQjCJOd9CFzY9yI07iVsdSckmkcuYxA9vulI6NQSwlEXW3B8Yh6pHh-C3F8fofn75AVwEa43VsKQqWOk-GOaT19aC_T_6O3WEcjz5fy0gm14xE3L9ejIOBYjBKbQ90Q2AGenefGkdcWdoWmbWrzKZIrtm9fgn0v7Pzqiibu1r-2uZjOw-2P-g78qBKMhdjYDJjz8-BHtz9lV-_PlOE-kdwxaqtkeTohgVAP97ALlUKbfGm0eLX56rxvRpPhW3lxzOF50WfzjBoIT3YS8iS5zhI0DUatZVInTg4xyFePdT-aJtRknKh1zOb44hy5J18jPbl1ZiEhfxJaavXhIs0UPysT_S8yy54FBxMpdg7TS",
  "id": "rs_0ff40968207d5b85016aac7d29195487d183de7fb15c44e007",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_z\":0.22,\"left_pitch\":0.15,\"right_x\":0.29,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0.15},\"note\":\"The can rose with the gripper and remains steady. I am raising it clear of the burner before moving sideways, while keeping the unused arm parked away.\"}",
  "call_id": "call_4Wzh5Z06I6rksK40KLgS9upk",
  "id": "fc_0ff40968207d5b85016aac7d2b75b487d1929e6294a90c0eb8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4Wzh5Z06I6rksK40KLgS9upk",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2646, 1.3636, 0.8631, -0.1059, -0.3069, -0.1265, 0.6534, -0.0277, 0.6914, 0.5449, -0.358, -0.0235, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.4063 left_y=-0.0511 left_z=0.1697 left_yaw=0.0468 left_pitch=-0.0014 left_roll=0.0868 left_gripper=0.6534 right_x=0.284 right_y=-0.0001 right_z=0.1849 right_yaw=0.0031 right_pitch=0.0771 right_roll=-0.0095 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -7.6923, 10.6462, 2.4396, -0.232, 0.2369, 1.033, -0.4718, -1.1009, 6.8581, 2.1221, -0.1245, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:243e9c4af22969bc861221c89540bb24103a3293d5d94940d9bad9e828322826",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:456aed661c1f4de2657a49c89cbd5b877465d44eed4affef977ef4a65aa575a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e12bd92a7319d93a8b978f3eb6389cacf28c2d6181b12c757366934a275be2f9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2348, 1.631, 0.8707, -0.0612, -0.2283, -0.1688, 0.6455, -0.0219, 0.8494, 0.6392, -0.5575, -0.0185, -0.0418, 0.9996]\nstate[eef_state]: left_x=0.4184 left_y=-0.0553 left_z=0.073 left_yaw=0.0415 left_pitch=-0.2204 left_roll=0.0668 left_gripper=0.6455 right_x=0.2754 right_y=0.0008 right_z=0.1466 right_yaw=0.0033 right_pitch=-0.1861 right_roll=-0.0027 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -9.8256, 9.2923, 1.8193, -0.1294, 0.0366, 1.033, -0.0068, -1.6068, 7.0222, 1.9072, -0.0317, -0.0513, -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": "gAAAAABqrH01Nb86O3Kfj99gZVIdgZe5a0ouEzsomOih_QQBmUI0ypzU3GQiwCMKQDtqrSDZcMQIEJnE_DqRXGBt3u5ckUf94gB7faPrXYxQ7VRR0031igKfrtu5dJoG7WL7QrI5dG-yeP5CaE0uD6_lLcBjTMR4cYQZ8pYxstJilSWZLILm5N0YNPHf1q-fADOLtGA8TptXNF8_9KfTCb5nhoCDkkyQ177PeRaDTqd3Rq53msY4FtI2OvpdwzV1PjSmky6PURfC7FM8xgfzzX72_coOoNDmcaVxTH4_aseIMPJTgJWejmwn3zbOGBL4LIVYfXg-VuJrt3qa7t26dJhn9qIrDh1F0teNbZ_Olt6zl8afRMwyjTAu4JQc7Q6Wes5I96ChsLS9taM1KoYoS-ZCKtN3HWjNSmNiOznu6lCjO5tqTACLu-QHPDRN0BOXL78547zPb1udz39palVxM6vBx--IFcgPvXDe1kAQjh-CBJlnXI3iQRxob5kGa7cOfnt2bYfOcblEsy9JMSm0oYZSMh9ulyR_cRnMqJi6lFnDByMBFL7n3lPCHalnN5ww56YQUfGPHMTPHKHAgn2qeYLCneeJEOjkTOWhTKA9jnBAtDrTU3_PRfXVTit9_hG_L_Hitif142BwBOa7uOCKZ8OM4_Y2vOW1kxed9n_PVsGRxRmmzE2ABajuiMGWnsiNjliQg-QWKf5BpF6-hF7DohGMmReexsVdEJYzCZ-45gLYM8-M7dHOUCzwXyAMV6CrJUr3zX-nprg9HTti447i-Dn-ah8cEml22NafG3_Rjw9jKDwIPCIDIFSRN8lLY4CX1rVJxZE7CqsaFq6kQY5TXSX_VZUQZjtUyLaYpU2_ofkl0fo3JkwAwscKnZRb7t1UfuXZw0R7Jqb0dy3MJmNSLBV-OFfJL_hLLaKjZQok4HFPIKSofKFkTjZItVY8UYRlfkAQfjHurUH_UIQMW9ZbgdGS54F6DnoL7gV0RUeSkYguzJ2wvUn_v1f_eyEWUpYjzawkwQR9D9AiQ5eenmRRA9l20mXaxJXyeg3r0C1NLi1Zd5Jj0tyN5bn9S3JMTF09Q5MHuckbc-0E4MTbntt7KypTdIvy2-Bx516fFg0jRANJHlCGP8waA4pFCB70gUMoBzsXR1nYsGgYqNvYqKBnF-AkKIQyxMFPQloa-f3MThKGxbqTboa5ftXLWgcwMzRG9XhnBkcBLJxMkzWpfoBbSj3GgKSFvgobvMAzns5jxPNvRhdSbve_tMwoi8A4Q3ity-yV1tff6ZyGEMPSO65uBhtBX1IWn5b83yEpkFoDEHKWHB0tX8xQ4YuXnTRwe8LnydGvLzRSxDdZHy8j70y2ERMGchKlwW5Oh-fVnMzqKN7HfqdCOQOLF-x_lNqWocy2NzeT2_EKmgM5IQj7SbedXEZWCKbuLkYb3pKMsW5ceXJmmcWuWh1tWRwlROk1iR16hTULOfPfUfMYED-pArI5jtYrjra3p9XSAY80CWf019vIC3spKDJ-tfEBz7FZDwARjGk6in6RqNeLKwY4qNIKfcJ4CSRIunpXINo-2YRP1TECy9oIMml_gfh8K4UXRD4G3vzD2Ibtt76oqk1d5onHuIFIGPtmY7kT9z5WSi2bD-bO4nMdVP9rJOEfvaM--NKC4jftvVWri0D1i3Z9nVW3vOg73LFc4hVehne2IuwnY7sLlBmnCC30k-E=",
  "id": "rs_0ff40968207d5b85016aac7d312fcc87d1999a6452c1141734",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.285,\"left_z\":0.23,\"left_pitch\":0.15},\"note\":\"The can is clear of the tabletop, and the burner is to its right and slightly forward. I am carrying it over the burner with extra height for clearance.\"}",
  "call_id": "call_iBn5ccTdp9sToibvS9O1d2CS",
  "id": "fc_0ff40968207d5b85016aac7d343aa087d1b463c3e7123ab0a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iBn5ccTdp9sToibvS9O1d2CS",
  "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]: [-0.7391, 2.0155, 1.6955, -0.3447, -0.7219, -0.3725, 0.6593, -0.0296, 0.6975, 0.5373, -0.3801, -0.0261, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.4836 left_y=-0.278 left_z=0.2053 left_yaw=0.0315 left_pitch=0.09 left_roll=0.1146 left_gripper=0.6593 right_x=0.2809 right_y=-0.0001 right_z=0.175 right_yaw=0.0034 right_pitch=0.0413 right_roll=-0.007 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -11.6034, 9.9897, 1.6728, -0.4078, 0.0464, 1.0281, 0.0068, -1.1282, 7.7197, 1.9756, -0.0464, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d60b18ba0a2227dec8d4af39b9a4c4cdc8fd61277380383465a8d159508ed3a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb8c339d2f6e26117da9a07ea6e369e3afa351086dddca4a4203ce2b4590f3f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f93925bd75ba52665fcd9d0e6f6125f34d08d7b2c77027f3a5e74576c4a9fa9c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2646, 1.3636, 0.8631, -0.1059, -0.3069, -0.1265, 0.6534, -0.0277, 0.6914, 0.5449, -0.358, -0.0235, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.4063 left_y=-0.0511 left_z=0.1697 left_yaw=0.0468 left_pitch=-0.0014 left_roll=0.0868 left_gripper=0.6534 right_x=0.284 right_y=-0.0001 right_z=0.1849 right_yaw=0.0031 right_pitch=0.0771 right_roll=-0.0095 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -7.6923, 10.6462, 2.4396, -0.232, 0.2369, 1.033, -0.4718, -1.1009, 6.8581, 2.1221, -0.1245, 0.0122, -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": "gAAAAABqrH07UoeylhbPcu6n_U6Afy_Y4fOG7hCQFU9lUAWaHlU5_8953hgbnVSVGWDMLbHqCOqWVmdxMy-QpR3sBEat51-MqhQIrHPXgysQ5wd3lMkE3J68A-vUnCo4i7FUuFv6sx6riR4_R-HLnQ_j20Ba0SOnE9QWQtauWLeXmf5RDoa0OcZEuisclLpwfqIq8e66aV-ss8ha43sPZJ6Gfqw7xcvjIb-UHDFAA0D-liZi6TJJqxmMZtBLxcnN4Rwn3kFSG2tz6S1rdQZmyDaQ_I47lWoZ-fdpxJHBjCoTM0M1Lm6YRNeGTK269-QDJnuisOD-57ZKKKGhbrzKJgBaxokeHMVdU59NsLH2NH7V82_VzjO00b53xuVTy4YJKodq7hqdMB2MPMx8d3X3uXdePfDYSgKpLWRSAejnzL7EZAJT3aTe08jez0fYsWnRSd5qG3-9k_cSVQuD5h3HhQws9YnncloAhtjXBcxWl0nVUfVfQp6w28Q-uETDZc7ZylVpETCd4Iuc1OvFLE6Jch_207ZkUEyoNyhokApLnuepw6Vvpjz038acJLy_QHEzhH_oLdh58rDxrCpZWR_UqAs2LeJCKqk6isD68OHfr5VthtYGexJVAKNUxlNAIh2k-1OjwAcyHxaRZRN6ZwvXlSuOj-IyM48DMBQB3cFR7IfPIooIoMA8opV0x2a-BB64i7uhXq2JTLpTsY7JGdn6YDwzxVeLD9Qr3cUSCLI0u7-CFwvAjhdziF3yPHbSivfcF2Heg_EqBaPmx2qspjo3j4TL0kuNu_l8XUu3eaLN_OHtsEz8CnNxp0y9vvAB1itv5VT8bYMNToyCNrIXV7qb93AQkXwlVBug8J-nXVELpHCjjR895NalHrsC4WEPVw5y1m7oWA-onemQjRzbJnjW9DbW8jx2Rs3dBKEtPmiSKxyed7n4As7ljAIYBpBkZ1ceHxGTPubt02fYOu1XZgyEpdxFyoqjYBB3tlt5WpvqhGY4e0MXiQBgYuNDiFRBQ8hHYK8rKA86nlUBCjrO-gfxKJ61yg3rFdwt32Xnr6N3h1fq2Y04rk6aO7dFVi-1yT6HX0XDcGf9EFNmXVKUvW3vzrPboxRv51NVIY7yJc0ZlNWYzcLU7TyNm_aOUS8dIL0S9ZL68EM79rR6bysaoaCyVlF2QercWmarkMQDwmaFxe9xN9Pjh_OVyz7iH8b6USkrIYJjaEt-Z0qktDZDS02SGaIjtlRv2qhX9FdxdhVc6VUzMCLNJTcoqVKyGyu4bo1xAK5efVYIZH5zne1n9YZb6zQOpwzQzw0Cm8P_wWJzcTvMpDO7I8zIgIHGe3B0EfZRTR5GJqmsLFVDkfklFJeidQugCRIz-uwevrPh7XcOL9N8uRDlydEM5UGBnK1WnNiLQip6Jyn03Dr89sM-Hp-g04Js3B0jKhUUuPvH-eLjWBnB84t1mUEV17stQHnjtaHsYcXgaSzU345aOd-Ji6YW54Vkv2gMJgqHnw==",
  "id": "rs_0ff40968207d5b85016aac7d3928a887d1b9f1c52ab8a03792",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":-0.315,\"left_z\":0.13,\"left_pitch\":0.15},\"note\":\"The can is over the burner but slightly left of its center. I am shifting it a little right and lowering toward the burner surface.\"}",
  "call_id": "call_sKvITep2pZ6sh4aNbcoAyUor",
  "id": "fc_0ff40968207d5b85016aac7d3a9f5087d1baa9547e76048ca7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sKvITep2pZ6sh4aNbcoAyUor",
  "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]: [-0.7963, 2.1727, 1.5833, -0.1471, -0.7609, -0.3733, 0.6593, -0.0292, 0.6994, 0.5373, -0.387, -0.0261, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.4766 left_y=-0.3078 left_z=0.1104 left_yaw=-0.0005 left_pitch=0.0569 left_roll=0.1824 left_gripper=0.6593 right_x=0.2801 right_y=0.0 right_z=0.173 right_yaw=0.0039 right_pitch=0.0325 right_roll=-0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -13.7094, 7.1453, 1.9951, -0.696, -0.0757, 1.0281, -0.0752, -0.7863, 7.3368, 1.79, -0.0806, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbc9448207c5e63c7c157421a29a3be656f6d1ed3493edcb695007cceb98da7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:032056e4541eefb83db6f4326d5535c915beb72a533dcde8e81c985190d7349a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb92dd5e5a7189f20098f965b960dd530e06214a6099a7c360695cb6ab8a305c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7391, 2.0155, 1.6955, -0.3447, -0.7219, -0.3725, 0.6593, -0.0296, 0.6975, 0.5373, -0.3801, -0.0261, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.4836 left_y=-0.278 left_z=0.2053 left_yaw=0.0315 left_pitch=0.09 left_roll=0.1146 left_gripper=0.6593 right_x=0.2809 right_y=-0.0001 right_z=0.175 right_yaw=0.0034 right_pitch=0.0413 right_roll=-0.007 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -11.6034, 9.9897, 1.6728, -0.4078, 0.0464, 1.0281, 0.0068, -1.1282, 7.7197, 1.9756, -0.0464, -0.0611, -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": "gAAAAABqrH0_WpBvkXksOzBfHWTvhd_dSt7ul5DO-AY1OBaNcBXGilLr2yfB4iGAIjAG84n5ZcJDQ4D-lbrjaJCjZ0Fk8LyAdO3DmKrYM7VPLSjIUitRraNvrH_GfVcM92rpCXm6t7c9dFGL_Do6ezUsp4NdEUpoz8O9dYIGxmv3xG_HFG8QU4xKKp7XHUrXwC_P4K7X5yk7pi8nNOMRDR32n9FUR_ZDABjVVz9DbHq6_5wb-tUJfIEyNETyCu6B5LMM6Zzsv6jeaArVD3-IhRU8o-VYIrsgCV88HMrpHcaS2SopZwR4XvxO7rc44hF6lsiTOZFbhni1xRpidODEiejFq3EW-K7P47gmNlwxYUknhOTXZ-woAoagncrXtrKveOcmd0mZbxOg-N4Ht_Tz6Tc9fLJX47QvimqQ5zPheq1r303_uPpz69o3EydaeuXqToXa0BdevOvl0wH1teFWwqhSNlfwSI3OHYdaWUQh119HNRr11LnG4lSEIcKUPjJY12Aw7Rl9OGwsFN4NtxNHSCQQNkWiOsW2VZHbdHqIwtJNCWbpD8HrDk5gUbjY5WJOhi3q4as2rAB2-y41fl8ucA291xKXV7jt5fPpJu0WfEmkBMeFmCHL_e7QSZ9NSz96Q-zv1iPH-gbS8RcLTAqwGJL7gfUMzlAVIaxrNhidoWBu-iInvDrS5je8HR8bwB1lYTNZ5E1RL8GgwvOSf1rKIiIesMJ2GdNS2j3Mdypf8cuiHHKyuFoUJILB4ZcCHHx1JYwuZUbJ6-UhJm3z87n4ZDuKnny5w1wbjJcHAYad5pG6dioh199_x8LCvnoHT6IcchLg95tUbCDUe-1dByzvqFNX6WC-YzFafMU27b8EzUnMiCv72iNOQmIV3XoZ4myQplditaUg1eNsh5TzI919y8O5wF2BrhwaITSixdERmtPIELHmTAQ3x19LwUgHgpAFLwovYL6Beelhcz5t0Lz7xTL-CWt6j-LKiQQUe2Aol7pZ3BN1zlEJlVSWPghRjawP7P3lgwej4ptqiWEAlupFyudF6EFuF4TeRK_33hPJ0dqqix8Pp91d8lIz7JnvoZGdaT8mNmQ7sC5KVd2fqZuqowOsiSiBwShPpQomdkPcS40COFE2LgsBsQoEt1bKb8xRKwzjo6V9UKVCG_JNUEYFtm7ZY-FgeI7vRZLNrAQcmqp4ZpwI1w2T8wS3v5SUCHXsizL-eH7xfP_nEfZfQv4PLbMAm1-euMq1NY6EzZQkgyFh_6XOJksl631E9IkDZXGq2bPRjbm9L8fDaquVXl6jFQFWoRk1fhDqotkbyPRpuJjeK2fZDJU7Q1HKVon7MvEUZ3IW8FCYbnsp2kudF8I3VH4wkOfTQMrJVA==",
  "id": "rs_0ff40968207d5b85016aac7d3d662c87d1b48ea079f61d5393",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.085},\"note\":\"The can is aligned over the burner ring. I am lowering it slowly the last few centimeters so the burner supports it before release.\"}",
  "call_id": "call_Fu5jOz3IGhGQFxLrwZTJyzUN",
  "id": "fc_0ff40968207d5b85016aac7d3e3cc487d1b8c18e9639ff54a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Fu5jOz3IGhGQFxLrwZTJyzUN",
  "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]: [-0.8043, 2.1979, 1.5753, -0.0822, -0.7826, -0.3794, 0.6593, -0.0296, 0.6994, 0.5373, -0.3874, -0.0261, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.4792 left_y=-0.313 left_z=0.1052 left_yaw=0.012 left_pitch=0.0898 left_roll=0.1641 left_gripper=0.6593 right_x=0.2801 right_y=-0.0001 right_z=0.173 right_yaw=0.0034 right_pitch=0.0321 right_roll=-0.0067 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -14.3932, 7.2684, 1.9316, -0.5055, -0.0171, 1.0281, -0.0479, -0.6359, 7.2274, 1.7216, -0.0317, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b3ddc993ea310c60ce70db3f9039b469bbcd952f358b8f0beb6550ee36569c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2ce787acdd5cd3a87b34796ca01bfab3efd0d70622a979caea892ff85985194",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:484f643f87dd43fa464eaa5f5412da0c50be229cda5f6ddbc37d8d8a82e1154c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7963, 2.1727, 1.5833, -0.1471, -0.7609, -0.3733, 0.6593, -0.0292, 0.6994, 0.5373, -0.387, -0.0261, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.4766 left_y=-0.3078 left_z=0.1104 left_yaw=-0.0005 left_pitch=0.0569 left_roll=0.1824 left_gripper=0.6593 right_x=0.2801 right_y=0.0 right_z=0.173 right_yaw=0.0039 right_pitch=0.0325 right_roll=-0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -13.7094, 7.1453, 1.9951, -0.696, -0.0757, 1.0281, -0.0752, -0.7863, 7.3368, 1.79, -0.0806, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The descent has stopped short, consistent with the can contacting the burner. I am opening the jaws to leave the can resting on it.\"}",
  "call_id": "call_zzdCTAn5qi3xnWXmJ2NNQ25g",
  "id": "fc_0ff40968207d5b85016aac7d40ec3c87d1b688ff1838821e37",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zzdCTAn5qi3xnWXmJ2NNQ25g",
  "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]: [-0.8047, 2.1975, 1.5753, -0.0631, -0.7834, -0.3828, 0.9966, -0.0296, 0.6994, 0.5373, -0.3874, -0.0261, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.4808 left_y=-0.3148 left_z=0.1084 left_yaw=0.0154 left_pitch=0.1037 left_roll=0.1471 left_gripper=0.9966 right_x=0.2801 right_y=-0.0001 right_z=0.173 right_yaw=0.0034 right_pitch=0.0321 right_roll=-0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -14.4342, 7.3368, 1.7998, -0.4078, 0.0366, -0.1148, -0.1846, -0.4991, 7.1453, 1.7216, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ca34c3e4fb6375b9e3772c453005c9a084742131cb14c677bafaa08d7d65f20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50fd080cbdf472c4440035de92d1728857cff1e7964c5ed668da556998ca5e7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc9e85ab59ef827083c37150683007f5d617a6f0680c894d598dfafcc3a531e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8043, 2.1979, 1.5753, -0.0822, -0.7826, -0.3794, 0.6593, -0.0296, 0.6994, 0.5373, -0.3874, -0.0261, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.4792 left_y=-0.313 left_z=0.1052 left_yaw=0.012 left_pitch=0.0898 left_roll=0.1641 left_gripper=0.6593 right_x=0.2801 right_y=-0.0001 right_z=0.173 right_yaw=0.0034 right_pitch=0.0321 right_roll=-0.0067 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -14.3932, 7.2684, 1.9316, -0.5055, -0.0171, 1.0281, -0.0479, -0.6359, 7.2274, 1.7216, -0.0317, -0.0317, -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": "gAAAAABqrH1GI-Zlcuqox9yOzs9q8US_qxZuDmpk4zoEIEcuXjF6KJjvo0fU41IE3K6XTn9Zr1kmK1Vl7h2D-kuiEvGo6sfAoLmMvAYJZOVyQNi17wWbLCVv-0ymZNzaoiRWQBwrQlzotRQkuVOfui77g4BXUU1dq1PvVI7sFzv2RIUhRAmDh0aheEqOqnnd6s77IyyUHw6XwzZ_dJwOZy-A59ngPzqOiWbbx9yNzfm0v5FTuk3OpVz2w_fM7H936iSVREw3JDiR7xPu4JKLaGR5IO4cdzu8OKPvSLux4rh5ggi0giMY0musqqhoHynzRy4wL-OZYSj6_H0R06TQ0TDK9lcEXAGMKjKjLxmRLhh4tY8ADBOLYehI1Q1BH2nSuFaEf08vTP1UvvHZyb_2XYuExcXFzWGfesxuAKm8WUDvDfDF5Ddhk_bcsgKHpu_8q91iK4CQpmU9wkN0b6ApJ7NZ4Xkr-_GSK-sZH8ZcxVdVTfhAZLs04QUq1NmOwya07Zavf2ujOJFWx1ft6f_wvO414UA1x5ue3wjx5O9IWwXzLMdiHi2WWf3QJst3wgSOHOaC7NKjsoG3Js5wzD3KSGORHLq8no3lvos6URPF8HvHuDQSDovgfknGDSqNxqADpD8WSSuZGnahl9RuvTyOMuBb-QVVwA_trgdsTk83vYukvKNXqKUmai9vOgwmYkSGYJPY4PPt9uf6De-4QrAGbA_PDfrnMewx3OR26FHXMjbG22YoSVNrwUrFiXYps8-iI5l1G8B-WnJmIVAKNaj3E_NyNkCXBnt0T3zUG_nvP9JDW5IXWp_PfQ9cJexgLJmSj31EDwH_cv7cs8dkGmbgqAV2SS6B3CE24m4SZKeX6wBX6otEhlc-xAmv_GDZjHGch6INy5K7slh8xPDBmzNSwRT6kDwKEjr3--6ywdvIRh3sxtCnLxBs_j30aHx4g92vyqY1W_YRoZgZVqrZlznYBZiXSUD9pKc852x9TfcdupSXhMafpsGeLixcQAuFYql36aTCwwwQchti69KAeNJl6JpvY7wlK34kLkG-hSo5jao_PAiMoBzh-P6ZS9Y8t9bPpgtAuDTrk0qxyWM8wO9MBIDbUXPb9gM0TvPd5k1rNWzkXKqFREVZVAGDZVylOaZqyZqVi2k4c9Chssmr6k26I1fOdsYhhcbRS2huGrZYAhqAxeIix2PAf8ZrMuscqx0GGUwcDuthPvu9I8xhgXsVnvRfEefxdhLahiGbcwc6XDU85bBUGbV2F5ErmpYFbRqU38ByaEVQRVzzstl7kqmEJz45xAm0_Kd7j96YJHoJxECUMc9dT4wkWYQby4Qd0X6nCm3hHcXNQq_dXw1vHcIsgS_v2JzMHpRlDVovJT6Nu7s7VJJmfHqynfNrW4J2iiczQrnbabFitYABSRrGpn1tsHpoZb7xyR_a6khVJzQLatHbn2zqsVrMS1jyAY4sLxku8Wz789eCahyBGNqh6qIZed-Xo2Xd581WdA==",
  "id": "rs_0ff40968207d5b85016aac7d43b41887d184f42a5816af2690",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.23,\"left_x\":0.45,\"left_y\":-0.26},\"note\":\"The can has settled after release. I am lifting the open gripper away to check that it remains on the burner without support.\"}",
  "call_id": "call_hG8g3n1aWeCAvSiVVlb6av44",
  "id": "fc_0ff40968207d5b85016aac7d455bd487d1ae91bf34b9e41ab3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hG8g3n1aWeCAvSiVVlb6av44",
  "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]: [-0.7662, 1.8999, 1.544, -0.3077, -0.7555, -0.3687, 0.9971, -0.0296, 0.7052, 0.5369, -0.4038, -0.0261, -0.0444, 0.9996]\nstate[eef_state]: left_x=0.4558 left_y=-0.2655 left_z=0.2105 left_yaw=0.0275 left_pitch=0.1051 left_roll=0.1319 left_gripper=0.9971 right_x=0.2782 right_y=-0.0 right_z=0.1679 right_yaw=0.0031 right_pitch=0.0096 right_roll=-0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -9.0051, 8.5402, 1.3553, -0.2466, 0.1587, 0.0366, -0.0615, -1.1009, 7.0222, 1.9072, -0.0757, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ad84a5e1aacefd45129e6bc682c4ba90f3626a6a779d35c7be6471980ed3763",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9122534d835937d8bf99c886bf96d360d62304c8e1c9d27d722ffdaab426f14c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a37afb6008624452d0b19d11b037a8279d59f587dbe0fe97d50a9e0037a9e12",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 39 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8047, 2.1975, 1.5753, -0.0631, -0.7834, -0.3828, 0.9966, -0.0296, 0.6994, 0.5373, -0.3874, -0.0261, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.4808 left_y=-0.3148 left_z=0.1084 left_yaw=0.0154 left_pitch=0.1037 left_roll=0.1471 left_gripper=0.9966 right_x=0.2801 right_y=-0.0001 right_z=0.173 right_yaw=0.0034 right_pitch=0.0321 right_roll=-0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -14.4342, 7.3368, 1.7998, -0.4078, 0.0366, -0.1148, -0.1846, -0.4991, 7.1453, 1.7216, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrH1QtvznRHbR8G9fznuJHAzFj0TpPcvzxYIdnlsonf3Sy3BmVwupEYxhnnLk-ubvjeX_wuW_7-7ZeaEQFB3dJ07m7q74qkvINIdW2cOLt-Seu34pZ9iGyvimXgir5igUOWYeUQPgj1a2Fs_yK8IupKM8A7--Ef6nhzGPrSRbGNioiEDOEy90yMumK9FpM-BbbAkNQUwis9gm7lYa_S4ABhdxeiUE-WqboR72EtULVTAtFnIrm4g07py8tKI4yQXt06CNwEtfmYTOL391UJv8Ny5NfgZ77iG-QcHZUePM0W4IfImrUEEXgDig5oaFVl7Bsfabgm_ZqA4C_GcqZSwGwjWjFKi0n47fcNx2E6AelC-1gTTGms_uUWBFTI8UQbvsx4CguUekiE-Ivx8UwIaiBE0-2FjNaxp8iMTxOooS2aWVuGs5JR82b6yNzvfl5KY5ic82rxsJZHFc7ZB9cooq1F2jjiC5uhd0uuLXUL5DVcLsyzWF5t1s5Yx4hAX_as2lrKBPjIiXpUuRzNsoU-l4K9VtdfPMUA12MqoI7AGmcdtZrPCHZmixwNYM0KmR-48_mJh4-zkVz6NdGgWCbLx6SqSA4UVVVaUjba6ayFrzaZf8Kxm_DK2dZj0NQ4LPOflALsnmdSTncSVw0e7wVTAJdw1-5QfhGRQ8InoTM3DGFjZTt46wKGmTrq4SBz-zl1QS8kFX1U6n3eXI9-mZa-dYioqw2Lq18x4DLU0N5z8nUH9cCFQFW-oSLvTb9aLzMleaExo7kbP0y9XdfTf4STk9fs0jTK1oNyYRI4ubRXezO78a276wsrnTeNlbmEpeq23t9VzjtuqphISzl6lwBYu2rl8so7dWz2Ic9XO8m-N863VFPg_OYy_KibsH6ii2uXo-2FaIUpI1sbT7pgVlRhF2tdIQM7nOzuy_gK4pdlWRU9xO1WKerlPiefTquZEucWc7qxsh3ktofEWv3gcvUY0oJvd11b6hN1oneOBCde5Cte3E97oAbCDacW8mtw4lcSXeWq4uC9EyS-BUWPWUTZh8how2SPT_Icoh4UY1oW56A761a3U5LoDtLi-HwMq78TzlnGbVRse7YxBu_6PK8siBfqraSM2dsRlczFIdWFAlkxvnOL7tK_vVSLRvYE9aVs6P18ATN-_AesVzFBO_twxhDCK0lBnJFEVYHeO2l4VXrUyZ-4dd5ocRjz_NHclur5Jke7uslTEjN5rJHjGsmXS6ly4KT5WoyKGi4VDLC1v_STCdQqb1OfoCoAwYXdMxypfh8hY2eFXwAU4MBD3fXc1EAnVgcf1uk9-dcyluVfOnO6y6EOhdTqDzawX3dZ4BK1zDZrEJwUmahcmfHbWs2Sg22tjiLnfVlnVsTGpjjxk9Y6nU_cpM7_fdmowH3bDXuLNlfkHEuLT8yDPkz84GpN48p4OWAfWoe4qd9wUl5xdPiQu1wq2HthAlbI8sU_opp7vD7f7JEV3-SBkhpXewI-nzl2DvF93jNnxG4jR5D2OBVkU9QF5ViEVLO-CQCfES42sw_0gkVWz-C-hOjRB2oYGAYstAM681MX9_mFrevsAUAgXjvUZMvuLS_-L-RskCK1n6fzfDMpFBpEKuLGOLzM7aFYgArAY21zz8HZyOwbQdXDaStuS84gZwN4lRMkBo-RpLL--qPLLTwJks7zEQaSpR3Dwoss-l_CTKI8g04WF1IpwxR8UukEK8ySdpwEUWvFwiqIEwu_QVdv8qT2RGEsyBF2C5wkiXijYoNryEaWHRW18ZRXygdkLvA-LFfypshm6n6_Np-FRd1-qO3z-cCpjT2RoCQyHw7FoNkLSIenx2dnn15i0E7KE55Qv-JorLJ15eubzeBVH7EAbgKko-AU4ktaG2YqhRC3a6npEkYfEpAi-_CdB_lYKlnlHNkLrib0mBW3GrFrXywO0xRDYZcTZo6-U6pr9YzLaYzbx84cPcRTxKihGt4BKy3J3jzsuHacdatcwDqGHPfwUaYlO-JTs45qksDU2YNawYsv2buGZDKjnts3grSNlcujxKbByDxRdoiNbO",
  "id": "rs_0ff40968207d5b85016aac7d4963b087d1980722d632beb9a5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.32,\"left_z\":0.17},\"note\":\"The can slipped off the near edge of the burner and is now lying on the table in front of it. I am moving above it for a better-centered grasp so I can place it farther onto the ring.\"}",
  "call_id": "call_tFpmvHQyKUBUW8PUoCxiilYc",
  "id": "fc_0ff40968207d5b85016aac7d4e9e0087d1a95126faad9cbf64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tFpmvHQyKUBUW8PUoCxiilYc",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.1904, 1.8378, 1.3525, -0.5785, -1.0012, -0.8406, 0.9971, -0.0296, 0.7063, 0.5369, -0.4316, -0.0261, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.2954 left_y=-0.3284 left_z=0.161 left_yaw=-0.0143 left_pitch=0.0774 left_roll=0.1507 left_gripper=0.9971 right_x=0.2745 right_y=0.0001 right_z=0.1619 right_yaw=0.0035 right_pitch=-0.0193 right_roll=-0.0054 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -10.7966, 6.3932, 0.9841, -0.7399, -0.1197, -0.0073, -0.1573, -0.3077, 7.0085, 2.0049, -0.0806, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c66d267d8f72418fc39f19662df7501c2b6110091ab489edcca32901d781b6a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7772d4fdc684f5b3bddb5222ae736f5ce33c95121ce664bf1633fe065d4b02e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8215df1064c2eb0fa11f784bed4c1eec4ce7f15818be39b2d9799294c5c9716",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7662, 1.8999, 1.544, -0.3077, -0.7555, -0.3687, 0.9971, -0.0296, 0.7052, 0.5369, -0.4038, -0.0261, -0.0444, 0.9996]\nstate[eef_state]: left_x=0.4558 left_y=-0.2655 left_z=0.2105 left_yaw=0.0275 left_pitch=0.1051 left_roll=0.1319 left_gripper=0.9971 right_x=0.2782 right_y=-0.0 right_z=0.1679 right_yaw=0.0031 right_pitch=0.0096 right_roll=-0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -9.0051, 8.5402, 1.3553, -0.2466, 0.1587, 0.0366, -0.0615, -1.1009, 7.0222, 1.9072, -0.0757, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrH1VVimo05DHON8FZJOnKhpfKVYn5Mt71PxqjIxv6VyIjC4ev4JRnU5vn702NTwsyQaRupUop8yFjqG1LdDUjM47XMioxMdG877p4YofgVjqWa_NhRK1wP0fPhucsU-xrwnQp3NEfjVNQjhFZMgsa3fFS-FplIvwKuP3GaCLvukJd7eN3UiAkaY_FmZyGmVPKKUR5XVBiubD7lgruNAtXsJjPo8O7mM1Od-xk9wMOnCfKfvuZqYaFn5CSlqWd0T6mdi13o2UHlydV56IKD4qExaugwgN5X1TOC0ANZb43g1i-Ojp1DLmk_uyMf2PkQA4434avIGR7pq4Pd4OFVZCWzcUgqW5hgs8oNOOkE_R8ayFUPwSD4vTF57U5MFQfnq5IXhPTecIHPEb85M1KqdatsftklzOdyP0gzfeFnFiQYDLFo2MvpiFt8rpTKzVfQI7DKH85A-T7alVtYx54eiVAPz_lw8puW1L-iw3rACrtSqNYo20iMyih4pwrLx_4uLV0X46CkmclmerRCad42UMF2HjY4x1LiBy9zcaOS4foO7ByT9AeB4q_-sdZ852M16zzGwWmQhR0GdaukyuIAd7qTV24E3Yeudojw0X4oy-hDCVfRVeqGLZcRf4EPHir7QGdouNhKO2KB787q35OtirdP9BAxnRiIqpy_meMUkI7_RQEyf7nIUPhTmeZdkQH8DUFHqJRv_DagN0Z0jR9UguQkxf7bf4GMg0nV6DIkqcE1iA504Rd2feI7K89zcbp_Oi1vc0JGDJxemZ5BLElw4HcxfeE9C6mYjWrl0vZwbJQil-vPV0b8l9OPdeascJsAmJ1ZQ2FiADHOeTYb5ST-J_Ng4ILIsYDtjAdyCEMqeUic_Jx63iKd9H1gEOpPO2vHSzh0N0h-lMjlSBaNQuH-PDMdeaB870V6UAXqQKO5lkXReAdFgJ88b7E9MwKlYHUFmvAsMT_kK6p9-olOcewDuAnBRQC-1caVPt_CelrnBnKlejryjirGJhXwJXDgVvNa4OOE6jGgH3ZVs7ZyCw_ZzxyqFx-gUmSLXc-YnvHaLeloDYjkZj9qFgngsnmSNCMissJzWhct71Z7B_Yi9GzUVS0Kmn4VrDbEOP8CKaUCAe52ohGgXBoyebxxQCK6qcdnVh9PnvptNEwEU8i2wQx9t83brb0kMPjgqC_OhmlkOTTMerQ8CeJDvTePa8HdBkvfAEWK3elxlnTQ5ZFNiQUqPpoMiLrJBB_G-RyidvCifP2QUkPVbV-HMy4hAg-TCnDgZubkjWIoUs9F2QRzy-lROgoZYnlUwJc9vNBcXV4NouFSijW8Pvjjxe9l73VnPJ9KHgNOxRaZiB3-BIWI4Kl7iZIDF0ZZXklNkKBO10zjJgFm6AH6Y=",
  "id": "rs_0ff40968207d5b85016aac7d52f9dc87d1a6e8966c890b0d9c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.31,\"left_z\":0.045,\"left_pitch\":0.1},\"note\":\"The bottle-shaped can is centered in the wrist view, with its neck pointing toward the burner. I am lowering around the main body rather than the neck for a more secure grasp.\"}",
  "call_id": "call_Lih6Q59RECvMLEMIK60TSlEB",
  "id": "fc_0ff40968207d5b85016aac7d5465a087d1a5941855719a60a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Lih6Q59RECvMLEMIK60TSlEB",
  "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]: [-1.0992, 1.9995, 1.0637, -0.0364, -0.9627, -0.6945, 0.9971, -0.0296, 0.7109, 0.5362, -0.4541, -0.0257, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.323 left_y=-0.3064 left_z=0.0493 left_yaw=-0.0148 left_pitch=0.0735 left_roll=0.1821 left_gripper=0.9971 right_x=0.2714 right_y=0.0001 right_z=0.1558 right_yaw=0.0031 right_pitch=-0.0472 right_roll=-0.0044 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -8.7726, 5.2308, 1.2576, -0.486, 0.0073, -0.0122, -0.0342, -0.9915, 7.1043, 1.9267, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d6903d5c88ab70f28fc93764b9af0c779546105a1620e0067275d31d2b59954",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85a8f6839f0897cd471da464e29755e262e1edea3f50d41ad161e0fe28455e8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8afdf63e86c434f1bd92cb1180aa670c9b3552c687981fb6f70e99b9ace6f0f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.1904, 1.8378, 1.3525, -0.5785, -1.0012, -0.8406, 0.9971, -0.0296, 0.7063, 0.5369, -0.4316, -0.0261, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.2954 left_y=-0.3284 left_z=0.161 left_yaw=-0.0143 left_pitch=0.0774 left_roll=0.1507 left_gripper=0.9971 right_x=0.2745 right_y=0.0001 right_z=0.1619 right_yaw=0.0035 right_pitch=-0.0193 right_roll=-0.0054 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -10.7966, 6.3932, 0.9841, -0.7399, -0.1197, -0.0073, -0.1573, -0.3077, 7.0085, 2.0049, -0.0806, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrH1ad2TKIcFSm8-6Rbcd9ZXyJ91V0iSn7xz5fqKFb6IOmpQrSCYSoj8iSUCsHfNbTT8lId0BlxYKKAsbzEBkUXvcwSK5YyS6ZX4vzSHdJXPFTG3utg3Ax-F8EE4JrQFnd96tcFYk7aDOIgqOv77H55zFBnlOZ54a-Qa5k6_RP6j4cuHte3WCdXzh13pZYn7q1dfya5Av10DsLNjtKtO2ZfUx-m4Ve3N8FDqlCszrs2VA3mtKfwI8oL5L97i35__7CYalMY7IWU_NoP3XqWwg9JwQFfijVYb_rGjnuH_OWdtfCb-FFV0EV4Eb7tOGOAD9VyyoZrbYNgA87MsLXKdM9ftLAO51gA586zrfVqEMwxZcKB4_G1ZS9jhZqcd-NeT0gsAb9ZqMfA5xdbWF-VLX1otGW1HrWuDq6TK0GyA1hrnOKFQ03tGeg9a9044F2eJpc9FVK9Q0QGOQE0_rMufTc5GLn1ete-VwZUpa71mRYCNXOh8NJm9cjf1sTFMyvu34NOb3ZEkXiq6WVMflZ58t66pgywxbjsFzTuvP3sWC2URvECKt9zBfBeM9YwlFxSZ2kHIBZ0q5cjxIq4f-RJ0jPPlyb_hW8wthd9154jaHrtMeqb0wVk-WPgaYkCQB_RIDDtrHv-wsFcW6Ax77OXo53uD-Ow9k47gvqCaCUQqMO2pdp5xunxMB2Q56PR_qLplgfq0slby8ODzzzQV1JQZSRu7oJ_he68IynZRmu4DixeHfLJyIlz1DMfGXV3sxRQRdKh9rxQNMgV06VaoJKa1fWiS3wB7MEDExvrfE08Xd5hQF90BqOZ3md_VErKHZbef_YxvKMWPtMXEH_RgtgssocrzUGsuPsnbHqgnS0eap_Ruw_6yPHxcb7mPVYswdEhdFdBHeupsWWfNDF-tcsAU2oa542fFxi_88lbxHxlVuM1Nk2gz47tjGT4YguFazAxU-_KU0Fji2X7lO1rXuLg-w7E3c7eCCWEZlzgjuU4GOrSJ8ZPuTYyiktpfAn-lyOuXnJrQ7Y-5oCfw0dW3MviVi9WpjlF89MJXKAbtvSebf6Ej99P8LBWOxRZAXqFVrzr7-FCOz1DIKaI7KCuAjzR4y_uqOSata-3-W47YVkT84KOhO52ABsto8mdXupoyD4EDsNNPKyVxh3M_24CgaFbkPMtLFAxfmihwRI3ZHp_e8X-N9Fo7HH-DBFOwwNmYFun0ICG1gUb34LU4-7jvj-W2gpTKNRG8Lk_-Pq3Dv8M61k42_VID4yWmQr1O1M6vBLsKuYpYQ06vMPl_oh4yRNmalPVFfEQ==",
  "id": "rs_0ff40968207d5b85016aac7d5866a887d1879158d67a3c6f54",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_z\":0.025,\"left_gripper\":0},\"note\":\"The body is between the jaws, and the neck remains safely ahead of them. I am settling slightly lower and closing around the cylindrical body.\"}",
  "call_id": "call_cyWGqUFN4uifFMjS2YCBqp60",
  "id": "fc_0ff40968207d5b85016aac7d58d20887d187327c0adb6cf58a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cyWGqUFN4uifFMjS2YCBqp60",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0409, 2.0499, 1.0878, 0.1604, -1.008, -0.625, 0.008, -0.0296, 0.7124, 0.5362, -0.4778, -0.0261, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.3571 left_y=-0.3069 left_z=0.0617 left_yaw=0.0517 left_pitch=0.1784 left_roll=0.1094 left_gripper=0.008 right_x=0.2679 right_y=0.0003 right_z=0.1508 right_yaw=0.0034 right_pitch=-0.0723 right_roll=-0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -6.065, 5.3538, 0.6667, 0.442, 0.0904, 0.5739, -0.1299, -0.7863, 6.9675, 1.8828, -0.0708, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07bee2043c82833bd610d066a084f435ff78c22203146eeacc2037bcd1a50932",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe4a18fade198fd0c73abba5c3ed18f562979edb2cc184a8de1d03291c45a4d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ce31bd9c209d9bd81ae6266d1ec7e91af88f09836cf97b81dfd7756f2fbfb39",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0992, 1.9995, 1.0637, -0.0364, -0.9627, -0.6945, 0.9971, -0.0296, 0.7109, 0.5362, -0.4541, -0.0257, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.323 left_y=-0.3064 left_z=0.0493 left_yaw=-0.0148 left_pitch=0.0735 left_roll=0.1821 left_gripper=0.9971 right_x=0.2714 right_y=0.0001 right_z=0.1558 right_yaw=0.0031 right_pitch=-0.0472 right_roll=-0.0044 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -8.7726, 5.2308, 1.2576, -0.486, 0.0073, -0.0122, -0.0342, -0.9915, 7.1043, 1.9267, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrH1eTyQDJDl_ica_QxTh_ju7HHzjy51eAQ-lqdtRML_XFousuyxwH9_cxE7CPuSn6bkAi-aoKYDTn6uiqSx5GFQxPjTJfPSQ9pXuct4t-xpSvBJc4iZSbepcAYTo3W5ljTTimyzRNpFmWMFCGjoDMmJU4lfVJeNZmZR4VCghetYk5hBzDgcfpBesAjspoi02PE6GskBUwaLwaXL7roRUNVkJ0mlma3MXy-hU8PnRNDIhypTD73bpUtxVnePpb-alhCOqVnvO91_pNCt6sq7eW7NPnSCW1ONxqNdvLChFaTPTt7midUgLRkF4EuL0pSpUBoPAPnmJyy3YFf4oHHIRN2sK8eXksiW3nnK6JUl8Uq80fP7HDsXLfZCpAvypfNmpD7jS1ZGg_1JMDUiIorRzxDEhn6Eqjnj9Te--ewjrRNC1bgxh6PwT8Az1Ws2yS07KGVB2voJeLPW_-Tt0cVv26NGyCymYBPumO9IU79ReMkJzfFvr1gJidBb1jL8FK5F4xcGgOiLUZtH5m6ZaPKO3nZ_SiRArNJLB2nJhNrib8NDrTirhZKN9yNjDKcE31ATS48OZnAHt4agb7vlBULB3tK6Cznq9RcNsW3oVdjAannDd56n66455fvtsX0Ka4Ozz5ygKgDaiumK7NPnSre5sAucazh5Ep7hlJZgutrHze7OE34DiCduNEnSW_nDUuciFwoGEW1ZHy_tRFW7PW1QiSGc73fa6GUluYJyPVfNIv6xNfs3Ld36SmulQfvONv3zkxLynaKDLtBkMFO0N8bUXvjKwg3gWJrpKKfpmzz-VDPzCdGoEKAMo3mugLGGjUYWH3ZNtPNWAW4bUZ9bzJ0JC1vqsKdFSfeeV6Buh36AzXxpamC7YTgJUFhdz01HKqyj--v-mKFmzXFQYa4Z7YVfOpOrGYJYEb0cMSn33BoioVEpItr2kEJxNuoJ9QyNRC962lgoawkF9SI5UKxWFSRyn-ysMZgxk5_jiZOXH4imbuz8zOyDMZYDPewAu37WMPk3wvPw6k0G4HH90d77kDb1-hU-l04dFaEvgTCxwTN9MuNbbYviQiSPUXffR4YwPmHGTkL6c-Rra72fS9uz-mPNAM71EoN_43M48Asvhe5mUxjewXDQgL562IQbc2pa6-S2KaBpiN2LdRha1LR7MLWSVPPXOVSBSvcH2wW8hcnKFmAZIB8l4zZo7Y-zISwmCAeuPZ6aY4G2rtOS6G3cSVFL6wBufi2fHYOfdz1JHcBaOVg-9F8b_KQ3zdOXIqHk7Dykic1_I3fumkC96xZ0lqYsFM-CYfEQ5y0oeDwtG3Ip7AVZMIpMvnmdls2Ve8cghOoRz7qQ4VazK7IM87xd51cTIsu5JfeaMOdRZSwlsJd11giidONvWb8Db8H9RxUpE5whNGHQiINoD02kkvSM2gyLHiJHifQ==",
  "id": "rs_0ff40968207d5b85016aac7d5c7d6c87d1b264b212f67d9a0a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.38,\"left_z\":0.035,\"left_pitch\":0},\"note\":\"The jaws closed empty and nudged the can forward rather than enclosing it. I am reopening and moving forward to straddle the body before another descent.\"}",
  "call_id": "call_cMdUO2R5fdJvVbcJnISDxkPT",
  "id": "fc_0ff40968207d5b85016aac7d5d9f7c87d1bde17f701af416ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cMdUO2R5fdJvVbcJnISDxkPT",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0267, 2.0644, 1.095, 0.104, -0.973, -0.6445, 0.9959, -0.0296, 0.7128, 0.5362, -0.4995, -0.0261, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.3574 left_y=-0.3017 left_z=0.0475 left_yaw=0.0461 left_pitch=0.1269 left_roll=0.136 left_gripper=0.9959 right_x=0.2646 right_y=0.0004 right_z=0.1464 right_yaw=0.0035 right_pitch=-0.0944 right_roll=-0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -10.7556, 6.8991, 1.3016, -0.442, -0.0415, -0.1197, -0.0479, -0.6632, 6.9949, 1.9219, -0.0806, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04ade1d08cd7d1b6895ce72fe356ff8fd7205055a0f9803993cd2fa0c9ed45e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa0ba9d98f122c0ef509423e730b2e9845f27d9be23dd8eca99b70f95afc61c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:576c295f2306be84e47b01958468541bf82e486e6ea5c2fdcc783a02643cfbe4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0409, 2.0499, 1.0878, 0.1604, -1.008, -0.625, 0.008, -0.0296, 0.7124, 0.5362, -0.4778, -0.0261, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.3571 left_y=-0.3069 left_z=0.0617 left_yaw=0.0517 left_pitch=0.1784 left_roll=0.1094 left_gripper=0.008 right_x=0.2679 right_y=0.0003 right_z=0.1508 right_yaw=0.0034 right_pitch=-0.0723 right_roll=-0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -6.065, 5.3538, 0.6667, 0.442, 0.0904, 0.5739, -0.1299, -0.7863, 6.9675, 1.8828, -0.0708, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrH1kfQpw8GhGyv_qRGy9FSAz7i28m8NzMPPetAcwEDN_YmIOgdOXRVxpQjsTJI-BJ6QloA6oVjIMfzVtTtOjx-fx32Y0e6L5xnBKq5wWXZupk531L5T106HzbfrT0bqI3zHDqLG08C55UEm1kZvLYHPRoA9QXd7uUFEhFz5vcT6PkBCUXmKfyn1U6eSpAH3fCLiq_4KhAuYF5rDQq1jHpvew9LVS3_U4m5b7-O4W0SBhCfO27DFwGl39QYczWwU_Sz3sZ-TE9CLWZ3j7wDoCddLX-8yh3syoANqvs4gCd4OBgf6uEkTJFvtWZx0f-lxlVzDkoe96wXzDtIbdO1YweJvQkqDL89gJ4wryT2DZc2XjYOUxgLXnBiwOObmo1jpjwOosHKtWJ7Iv7C7WKPAsDcIc_WF4wrsEnEvw6lV-6mCOfIbQYYF1S3c7KaHEA466isA10iuU9wOjiJIJeKtex13JPdAgJQX9Qzq7lQIH7-0CLnY1JdM_8KYwqo2ZS_Vg9oflpRM22lPWed73cI9Tiny1eeKJS2m4LWRocOSkt3mXSfNZfZFqNNOwYFfC1M1xkDM_H5SKRs95pAs1vfACAQjlDXWOvYwHXTvp4NzS6iU2zc7avpXggDG6MatoFb8H2zFGzh5rXq7-N-UIjmPstrEwF5AuuKsy6rVCXB77Kq6snh1ZOhr4N5ezW-z7DIM68O0dgA5YfzufqgPqI2kdc4v9QjcRPemRE4VyatLR9Fzzr46v-qI8hpIQHNo_kajI-fce3scYa21V77HGNxqq2c_1ZtqZx87W3Sz1YIVWoIUt8FvvX-Hus3rVR0N-A6P9QLkik0qFA4igKOVM-vjF9hpIdpshOd2HF9HWlKdurfdGM9RxpDhMRRcNNjXDJclrmBJXblPag4T8VRdmskIFAISpVQkQJcmwN6GdN7lNI8ghnMvSEbz98_fj5UT1SMlEDQaM8h1suthvEJxSu8_iSSUGk0Vt66oDmkad0AHkz3oIWUuJAgh3vzRJ_qDJLdW85XDcELUH0iixwaacsoJFBmsh18cRJbC2hdUxPET-L7qv7tTA8pu-cDmXznxrU-zTnDIOhdm6CbxbNg6uABXLVADXyHM6U2hjROG3opZRvymVbYTowSMSyry1GiKTA37pFUk2F4sVBeVKYbHuFeHOWSzKshY3NPVxME2gpU9zPq7fR5xZG4JBKlEcwdG9sYtE-wRJWezZk33Tdcv2FCdoUohZv_IgC_yGw7-KYuzCbkx2dVT53vHdbOfFkmYoxaia1SaAvDVEwvYSDDJCCfjjmWi6mo6g4s8tPoHbWiMGD0oE7Cfo_Zf_AmTQGHo1KxGmoEpWL4mFcvQdGx4vbMaqT1aXLGWYPCMGVXP6ouhLvb_bH-o=",
  "id": "rs_0ff40968207d5b85016aac7d61949487d1ada1a9921c825f92",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.235,\"left_z\":0.09,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The can rolled to the left during the retry. I am lifting and shifting left to realign above it rather than chasing it at table height.\"}",
  "call_id": "call_d6vlr3WIoLBtc2LFd5kdlKNS",
  "id": "fc_0ff40968207d5b85016aac7d62f90887d1a69709c0b6264b9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_d6vlr3WIoLBtc2LFd5kdlKNS",
  "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]: [-0.8715, 1.7504, 0.9176, 0.0132, -0.7986, -0.6487, 0.9969, -0.0292, 0.7174, 0.5362, -0.522, -0.0261, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.3625 left_y=-0.2288 left_z=0.0897 left_yaw=0.0963 left_pitch=0.0401 left_roll=0.025 left_gripper=0.9969 right_x=0.2612 right_y=0.0006 right_z=0.1411 right_yaw=0.004 right_pitch=-0.1215 right_roll=-0.0017 right_gripper=0.9996\nstate[joint_eff]: [-1.3333, -7.6103, 5.2308, 1.16, 0.0317, 0.0366, 0.0952, -0.0752, -0.5538, 7.0496, 1.8486, -0.0611, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:791abb6b5b581f535c15cfb989d11c780d2aa91d68522e919e6888d059dcf75d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d12735db064d2bcf84367141c8cc1a07c4f5296aa2bad5dc08c9416da2e9393a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c316eecd26130b726efe8f21037ba32cc815e7822826f63551f9cd834ae686d2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0267, 2.0644, 1.095, 0.104, -0.973, -0.6445, 0.9959, -0.0296, 0.7128, 0.5362, -0.4995, -0.0261, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.3574 left_y=-0.3017 left_z=0.0475 left_yaw=0.0461 left_pitch=0.1269 left_roll=0.136 left_gripper=0.9959 right_x=0.2646 right_y=0.0004 right_z=0.1464 right_yaw=0.0035 right_pitch=-0.0944 right_roll=-0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -10.7556, 6.8991, 1.3016, -0.442, -0.0415, -0.1197, -0.0479, -0.6632, 6.9949, 1.9219, -0.0806, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrH1q6pJyfFqvjWhmrXSGvEXa37opsAt2XBsNuMdnXjYFapl84o7fjQWXLAYo3TAneEDkBlhBVv2D0keOlIE6ki8NcksIQxjKSgVeFUweeiBTI511cUg6HnCWcbHELQ7sqaRk10N4LS8oKF__B_o8m76yNAAXe2IlGrqZ6Me9LjSIpyU-_fDKQcbzEGIfn8LQssyW7MVOzirE_BM30viXBtS1csXA1k7cP8CbevPefttD-Z2iICkeGCK4ET4V9eGDBlQHDUaaYFZUVaCN-X9MRyexSJ73gymbDzKHimDl_pWCmqKeka_wlvcNYbXe_1APFG5xZtPVHhs-EmZmJ0KNUoIUEpWiZ4AN3gh4GZtUgXlmFLuVoFumsmnW_ESQVkqBesosmesQeplUCyUj3wde81p_53IghD-7uIEDHqNFjLunp5R8GSUXX5RYCgb4HJncT54J3Nkef8JTSUKnqeBRxF1BV_4NsKYefLRo6b6Ub500mFdNPXeN1adBMHTMkD8QGA3th-PZQWGMI9-2fZf2mJPPnQwjyrMpHqkji4LOZNd-dymJtCAAHqGQXB-lqQ_5d2A6sCNLdqlP2fHhipzHuvVO-N3UMWlOOwzTKbU1uP7rW59fEAgTjiZlFZNwpHhRy2yWMHqrmYa9BAMW3Qb6WxmQ42hkKEL_33Rv-JRPKwcQa7EqKIqLRLDm1XZFfIQwqj303E5ZHlH0KTgM9856DvYicpfwS0oj3QC4niMsdu0z1tPR4TPRJf08J2DoCMolBe6_VKbnyKLpzUh0I1UNCGbukEAP_ooLlb6guuYVX2VdxI3lpiknh0B67EEvCruLXwgPLYpis2B9qx83Ok9ZIW17J_6V4tvWRTqZjHQQyM_vnZSuqFHvAZkAOKBJgv8MUQOjFZuWgfGF49qHSTG5nEEVHyj96RyB3bXQ_l0chaQFpVN6t3xhOH8xbBGIVri0pW0gI6HAe8YPeXqAJi0EidFO1_2-GIym0YwnNXzg7avh7L4lMyxVpGUq2GdyHdKwWG-XCtbWyGQS-XCLhnvC9H1MaBp4Wzl33YnFeFGymXU7y_VgAdjIwQKH6IC9Owg2KbFebnJ2ngqbVqFJv4Dt3N6K5hLlyjCzw2HEl94dgcN7cdtMPlz_Fr8sh2RqqdKjMKcjgf8ethi6aMn95cw9o44TWlk31Fa9dkE0HjTPs3RHCJOf3ubta7pudjChZb7RqgAoARZWabItq4JzmsQmlrwouynOeF93r9C3cE1PVjCGiGZP1YrKotOkVIHOgaRmEg1_yXx87SDNaI3wrw9sRd1nDVD-onjbcNo9gVJ3RJDXip5Ewivdv-u7rlor47UBYiLPvuBHbbT56lYT6I-1QVTcdPxFVRDziYJWbF_D5uJAu5T6IOCf7ZQ7wR04g30KYL4YVFPL5B4xlNy17iEWlTHJB0WLCOE76K7gGU4tmbsbxkU=",
  "id": "rs_0ff40968207d5b85016aac7d677aa087d1a6427a4a10b20d89",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.18,\"left_z\":0.075},\"note\":\"The can is still left of the jaw center, but it has stopped rolling. I am making a lateral correction so both fingers can descend beside it.\"}",
  "call_id": "call_cdZmZsZ2pu9gsXmU43Hjo02I",
  "id": "fc_0ff40968207d5b85016aac7d68e05c87d1a6b1c6daf5ab3fe4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cdZmZsZ2pu9gsXmU43Hjo02I",
  "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]: [-0.7731, 1.7012, 0.7372, 0.1284, -0.7345, -0.5739, 0.9971, -0.0296, 0.72, 0.5343, -0.5533, -0.0257, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.356 left_y=-0.1769 left_z=0.0576 left_yaw=0.111 left_pitch=-0.0093 left_roll=0.0728 left_gripper=0.9971 right_x=0.2559 right_y=0.0006 right_z=0.1338 right_yaw=0.0034 right_pitch=-0.1574 right_roll=-0.0007 right_gripper=0.9996\nstate[joint_eff]: [0.335, -9.812, 5.5863, 1.746, -0.1832, 0.188, 0.0024, -0.0752, -0.3761, 7.0496, 1.9267, -0.0513, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f18a2e4ec99f14afdb1ba4bfe6e3760998ed87969e5dfed67e81659058483688",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:820259be9f4b91c128946db2f62ba84117001f1265f36afeb02857e485f9f2a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:219a038da6176a774677faba691c8a03eea6b143ce7f2008892313f6d64e688a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8715, 1.7504, 0.9176, 0.0132, -0.7986, -0.6487, 0.9969, -0.0292, 0.7174, 0.5362, -0.522, -0.0261, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.3625 left_y=-0.2288 left_z=0.0897 left_yaw=0.0963 left_pitch=0.0401 left_roll=0.025 left_gripper=0.9969 right_x=0.2612 right_y=0.0006 right_z=0.1411 right_yaw=0.004 right_pitch=-0.1215 right_roll=-0.0017 right_gripper=0.9996\nstate[joint_eff]: [-1.3333, -7.6103, 5.2308, 1.16, 0.0317, 0.0366, 0.0952, -0.0752, -0.5538, 7.0496, 1.8486, -0.0611, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrH1tx_bxfPVMSqhpyYdQL21ewgV15_kLuNXwT2PytTMhCOvh1GIIflZSpd9UzNCNqoSkPmMCJY-hCMGEk20W89LdXmSZyDtYYBPt5p-mHPxRhBDXQAXFEbV7ibQKISw1XHlveybvDRQq60BXpjUpE9JLu8RXutly238YKoZiKnVDf90c4SeUloOdC-3bUtQAyWAX7-KnveHX_mGbh-C5IGpwgH9l6xMCmo6lQQZQHinWH1SiMqWjJa2fbnopDvvFIwAPApFa43NAAHmrhQ9UEyzIDfavFdOV2F5Ir2Wf1TYPd_SXZs9l1WsvcJvW2re4W5PbPTe9oSeethM485k_z8XgPw5Fjyf4O5XnjLFDMOJVIjU_GWd2u3JatSr8BoxzSGibK8KKAxcETKQ1ie90e3Bw-BAcnFFKrStGu8z7a4zvjcY3fws_aYqkm05Z42l6PRuxVcXPiAz-eIz64DqLzdrSrmfykDuJHw-x6QhAwlkDHcBJi_-SBUWT8qXtgazXH_GzF5lVWQDBQFp06zQhWM8Wz6JzHJPLRGbqAR87-tVD_2yb3t1-ik5O9ghLiOGem5YjQppFE0Y715d7tubsJNHafOdKs_ZnsnByfcirxmo2uImuk95kAuF_lmehg4RTJekaVeXVyOjEyUwA1lLD2WtO0teUa8UYfgpLjHTQVF0dLmSohrppDVoGq7Qi1Zm2Y48V3xdycgRKvun8f7Ylc7XjhEPuYjh77HbqoRdjmty_AG7_x-8mOa8-JpCBSYVPcV7Idix0eJFxKXhJD1YYQt1fAg1dIswf6abC-q_8XO3dfcXz3Uyv-5xTH5lLx-FbrKJV51hqGxkIZ5TQ273U1lGqu-u8gAInbPqrct1VvCe03jjIvDbndTPyb2w2KH0ynqulwHLR3ViUUChSitGI-BInHJEGUCckZKFUWAZVyDcBSM-Xn5niZD2ZWrBwvsPKEmf9HTRAhWJTvsH6IZ7yNYoXNWoKybpW6f1co7EZciNxfodeBck8jV-wF3Ky3bzNQ1G9MNMmDWLjnnePkI6_hvXTbzRobdPmN5M-FZ7t4TQfrIA8nIo-w3lp-pZHhL8ydjJRvrWXjz_RFLJJwLTQWgQUCwbg5thOJwNjU48Mi8DWuIC-Md94Ga4Oig8hAaHyalAb3uVDmzrsf2PBZAWkNgwqHTkEQ5sawJpfWoWNRP8ND3W6hAvlRWoGn0uu-gm2zIel6ZeSPGxvBkxH9Y67ICgs0vBqzvfyetJdaIK2632tlVVcIgMP0Nyj8ohJKVxsJ2NX",
  "id": "rs_0ff40968207d5b85016aac7d6c419087d1b113967d383301b1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The open finger is contacting the can during lateral alignment. I am lifting fully clear before repositioning, to avoid pushing it again.\"}",
  "call_id": "call_KdGLQYVWCu3aBZ1CEFqOdQiR",
  "id": "fc_0ff40968207d5b85016aac7d6cc19c87d19cb27447017dc46d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KdGLQYVWCu3aBZ1CEFqOdQiR",
  "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]: [-0.765, 1.692, 0.7261, 0.165, -0.728, -0.5575, 0.9971, -0.0292, 0.72, 0.5343, -0.5877, -0.0261, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.3589 left_y=-0.1767 left_z=0.0618 left_yaw=0.1056 left_pitch=0.0086 left_roll=0.0569 left_gripper=0.9971 right_x=0.2501 right_y=0.0009 right_z=0.1276 right_yaw=0.0043 right_pitch=-0.1917 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -9.4291, 5.3128, 1.6386, -0.2808, 0.1001, -0.0122, -0.0479, -0.6085, 6.8718, 1.8535, -0.0708, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30f88a5492cd1eabdab5a563c500aff04bf16814f7835c420266d6fcb1b25659",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dde0c59d4c1f6173eca070f17574d5d77922d971948ff393d2f5b2772b58aa62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a00b8fe76b474b264679fd66be2a75f5ba9d0a2663a75d8a952bc85662635b6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7731, 1.7012, 0.7372, 0.1284, -0.7345, -0.5739, 0.9971, -0.0296, 0.72, 0.5343, -0.5533, -0.0257, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.356 left_y=-0.1769 left_z=0.0576 left_yaw=0.111 left_pitch=-0.0093 left_roll=0.0728 left_gripper=0.9971 right_x=0.2559 right_y=0.0006 right_z=0.1338 right_yaw=0.0034 right_pitch=-0.1574 right_roll=-0.0007 right_gripper=0.9996\nstate[joint_eff]: [0.335, -9.812, 5.5863, 1.746, -0.1832, 0.188, 0.0024, -0.0752, -0.3761, 7.0496, 1.9267, -0.0513, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrH1z4puyaimqogFDbr06FUO-qa9ccs985Qj7vcZtqyFgjGYwI0Pj6lDllAo7EWgW2WU7yingtu9YMsfpCOXAt2or0_LVw1ATmpt1-bRxnfUNyOfHD7WIZiqbHq7faxqzK33uPOkLJ_I0PrNww1PQ-CDWNa7rkHPqjAVXhu8OvXwS7_iBZMBYQThkdA02bgyjGMa9AfHT3j3-TgdPPB_0DzWdXBA8UNVLnhwh5z0Ro9TrTeJJyfWoPPqlm4u10ovPnm1NZfjHJAVReWa1rGXnCj77jIdDolokKVOWjou8L0odz10xgvY_-NpFcczLr-uMPndQeXBwVp2LveA8JLHNePgOLL5APEleLf2CzDRczxmD2kOy98MHUAfXLUDH45IHLLmARh1Mk5cf2wf-ck5b_bFhbiGOm6gKkBLGfkkQ6VXql8qZlBckZzRiFYz-CT8JIBQOcfsZhHOLtw35iwGxeFoV9YJk4r3kuY43t_QRKarPkQoFe-m9TL5ZlYpYf_03W3-TRjpNtVS42iju1Bl_jlkRWaaGTxHd_1az_TEdVL9Lw7ZgVbfpbmxyexl7DnaHXH62Znl9yy7WG3spg2h4c4Ch82ncRImL313_5kR2gWvcNlPImNYm85I2kFTRPnarUZv1YLIbedCLU7oFGHSwYqBDAASsUZwTFbDAsvhdhbERcXvgzUxYupNJOq6Lc8_qPazwpAf6WrMlXxBm9X6IMtyi3v8JfN-bBMyg8CWtvfKA5A28TFl2VPgYELsxLtfpgZW-K7IUXiETFsjghLwvdN6-yUi1S_LsgBpWH22xp20d2966TPUj0ggtspjvRv0FV_ox3Vg49vrIyQ-itGsQZjdW1AjbRPqvX1xd9B-SM5vzZiWDKx_hyrDFPz9eUpbf2epnVfd3RAH-_71_Aw-oW5TepNYgxqkUMJ_VUEa8n0COoHJz_EbbsNMOL7GPX7lWZ5kEwsF3mr_mjNc1OvRcACCSB2FbWdiQasbtxDi_ibOfoV-GRwqF5V7Y5K9eR2NWy4QJcQB2_RKuGmipZdcSQjo1qXtdPSwYTOToQ9kugufGO9h8KmqIkCWfNWamaa-Ugi7F1fiv4sCZ-snAyQhEzXnTSPdFC9kVzH5uVrFoymCxSXPk_UzCM2Z5jWLQMUvp52eIA17aql8m8OUReBmdYmhzGzcK2_RhltuioNBsmrE0KzKCIuACFrr1P-wSBZCz0t3kDrhzlsF5YHJ06rJbzsQm4VXTtaZIOIpHmfCzYG2N5pvrHqEjm0UjGZQfWcBy_CrqXFdO9dDvZdQvCuHylipydA==",
  "id": "rs_0ff40968207d5b85016aac7d704e7087d19f6d5812639c1fb1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_z\":0.23,\"left_pitch\":0.3,\"right_x\":0.27,\"right_z\":0.22,\"right_pitch\":0.2},\"note\":\"The left arm did not track the upward command, so I am changing its reach and tilt to lift away from this awkward posture. The right arm is also being returned to a clear parked position.\"}",
  "call_id": "call_q1LvnKKhOiYrF5Qj08zNL4LV",
  "id": "fc_0ff40968207d5b85016aac7d713e1087d1a7363dfaa38d39d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_q1LvnKKhOiYrF5Qj08zNL4LV",
  "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]: [-0.9955, 1.261, 0.7792, -0.1665, -1.0241, -0.5346, 0.9971, -0.0341, 0.5659, 0.5343, -0.4576, -0.0338, -0.0444, 0.9996]\nstate[eef_state]: left_x=0.3003 left_y=-0.1791 left_z=0.2055 left_yaw=0.0877 left_pitch=0.2549 left_roll=0.062 left_gripper=0.9971 right_x=0.262 right_y=0.0006 right_z=0.19 right_yaw=0.0051 right_pitch=0.0925 right_roll=-0.0048 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -5.7094, 9.5658, 1.3993, -0.4274, 0.232, -0.0073, -0.2393, -0.4991, 8.8, 2.3321, -0.0024, 0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7fc0a33c6a859d49a3cb98727a24b9e38226aacb3eed4b1293b1e612c19c9e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:450feff08a64aee93fe8b87d6bfb2b0ca907ef8b8286065ac5d9d99f0097ae7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:041eba35d1ae2c8d6b667f53d2c15d577af48d6d5871b980daa96d161298ae1d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.765, 1.692, 0.7261, 0.165, -0.728, -0.5575, 0.9971, -0.0292, 0.72, 0.5343, -0.5877, -0.0261, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.3589 left_y=-0.1767 left_z=0.0618 left_yaw=0.1056 left_pitch=0.0086 left_roll=0.0569 left_gripper=0.9971 right_x=0.2501 right_y=0.0009 right_z=0.1276 right_yaw=0.0043 right_pitch=-0.1917 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -9.4291, 5.3128, 1.6386, -0.2808, 0.1001, -0.0122, -0.0479, -0.6085, 6.8718, 1.8535, -0.0708, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrH18l3X7zpdSTV1ran60IZNmWeKOnMx7xPcQ7fZBX7zTRHANFVY9q6hW9I1u0ritDT5fAX9CfnoU8lIO_ZniF4J8Wrlgh-bZ2m6DYr3XPYhb1vMIKyfiLueuXJRDpltmGm4PETBtZG5uueBxhN2x0gyzzs6VBhRVxBviwplQITfKZ9J8ZaOctmOpYEvDl1oX-Cs8AYw3_id3uUd8P_T5D6Ve28Bd0Qw_JdRO8vT0ZsGLdDQT_oDoEWLEHzVINRRKmBX11hdjXqBBI96OO4oJQAK2ZyMOPkyUykxf4BD6zAAkJD5Op0j0BzfUZHVM80Yl3077PeNzNaxb0rGfKY01A-e6aPcuJ2ZL5-RUhoUZIc_X_M2FhnY-WWTqmuHVkT0mplhDGZfifkLfUfV52RJ9LvM0Lz9ZdJz17kRdmGb_HbnXg0Z5GiHhd6VZZ-FPO577hv2FIEY5mCVwOc8wTJsQTxowKNxu1e_nJpDdtGR7DhA1rpyZ914siZK2FoV5FA-ZiCXR7GChThhvehRkrq0rlKo9EUAohcXvTNRtv3ZVG-n00PIkNlNWn-yN65vwByUucmGRr_H_rpeG4ERPaC_ZikqrMk_o3wnjlacZgExP4OZuDbnXcjbIFYdkPVqNpXYjWySpti6FU28cKlVaCpEqX0LEQHe5NgUDnv1X65iWLs232T1NrhHA5uD5VLl2-oUFqlw4FRw-KwIoeIc8-Mdi9SblFFcqKwJuzj85nvPNhCkdrbkXKnB6PuC9XDFynECTdw8seSkoCNI7une01zRwVdRNaTC3197Ubn1HDIR7jZ5xTWq7KNYUqhhYZh2J07V5KJuTPXLUxahTbk7TOKJdWygMnyNje0ZM40zdTVoOX3BNugHjeHT7_YYPCnvl9V-bZk1Qm62g_hh6choabuzdpHesnVTIRCfPsMZrCG8cxAX-5lyqJ5zLjTA0jz1jTFbDLMuy7sn0M0Os53nhkEteHM8-r-C78jhtYwTSaUBjGtutZYmP0NMfK5nSlIPJzC7UqwQ_GVq5mgtVVjVq9LAUkiW7-nXHVQHMEDAKcfPS-s7588lWC3u7Pl3vK4rW07h34GiQrpu5utRQ8ddY2zOj3pVLT_6uOSkm1qkCwI9rR1Wp0e8griMWUUOwxCPan5cw8O_KidgDpynmu5cU4MrZe7oJWYa-eLv60Z3fRK60UwZvWXCmMDOVKCDGuHxgJgJauC5DVYJoYCI9x9LYUp1UuQ33t3uCWkaeQtuB_m3E0Cwm6_IVlaqvqoXwSlIxhMfR3yGOqMjGWWRvY_aDeLydoGN0d1DVY_qiAGs-USNJlxO5gjeAbXdzv2wJ7aqq0n3bNDyNKfl12lwC65PM2wqiqjifBy-xfw5Xz59T-21FCgaPPt2Z85NON0lgHNq5WfHX9140SK0BWMMMr94eV7lpzGvWToEKbvjBBDIFB062LRhmZw1P5eGU1vQ8jH1ma8o1LPpS2DSFZyv4P1c69eYPzbrrYd77dd_qD5xhCsqCbRKZYGWY4WigaDr3BlIxR4nHX1il3v54H2CKirsotvJMyMxufyAJSRWgQFxg8o95zdTO5cA=",
  "id": "rs_0ff40968207d5b85016aac7d78937c87d19acd5792803ea6fe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.135,\"left_z\":0.09,\"left_pitch\":0.15},\"note\":\"With the arm clear, the can is visible just left of the gripper center. I am approaching its middle from above with the fingers fully open.\"}",
  "call_id": "call_MznF2C9WRkNFIodjuffuMkQe",
  "id": "fc_0ff40968207d5b85016aac7d7af5fc87d1b2ce2ec0239ca08d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MznF2C9WRkNFIodjuffuMkQe",
  "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]: [-0.8284, 1.3689, 0.44, 0.2054, -0.8589, -0.4892, 0.9971, -0.0341, 0.5709, 0.5327, -0.4774, -0.041, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.3046 left_y=-0.1289 left_z=0.0877 left_yaw=0.1002 left_pitch=0.1243 left_roll=0.1123 left_gripper=0.9971 right_x=0.2599 right_y=0.002 right_z=0.1839 right_yaw=0.0113 right_pitch=0.0664 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [0.253, -4.588, 5.9009, 1.7753, -0.3248, 0.105, -0.0122, 0.0205, -0.2667, 7.0359, 1.9414, -0.0073, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04098ee6eb58f6ee4f0fdcf9e1eac924c478f00676389432fbf977915f0b7adb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8f3b0716e8e52a94fceaeb38c5aaf5f25de9fdf0ab54768926c948bdda9731e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b8c5086a04a21eefd048e8a50b0f56e31dc5323dc64ab6ab58d4cbd165e7d74",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9955, 1.261, 0.7792, -0.1665, -1.0241, -0.5346, 0.9971, -0.0341, 0.5659, 0.5343, -0.4576, -0.0338, -0.0444, 0.9996]\nstate[eef_state]: left_x=0.3003 left_y=-0.1791 left_z=0.2055 left_yaw=0.0877 left_pitch=0.2549 left_roll=0.062 left_gripper=0.9971 right_x=0.262 right_y=0.0006 right_z=0.19 right_yaw=0.0051 right_pitch=0.0925 right_roll=-0.0048 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -5.7094, 9.5658, 1.3993, -0.4274, 0.232, -0.0073, -0.2393, -0.4991, 8.8, 2.3321, -0.0024, 0.0317, -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": "gAAAAABqrH2C000N8co-EArtFiUalRiyMfiwiVLEag-rAUTJYlv2tqPg-KniFkwoA0OiKeMH4xbw351vir7s0PqJFRK8i4PBhpphDG1fMFE-l7Cr0An7B7-W4k9IqdVTxcsYMxZ-dTEDhJGikSwCllRWs50qvmJ6gk8nVywXueSVyPhCH33cGxqTSPkwBaGM3LVgdglpVo02NuiGQ53-RHoJY5UNY8fzPbmhzQ-dAQQmWRAOStqJs5IRE-XtlTPqAUeTVzVT5bEZenJb-2qy5N6wUpMvjJXYwSi4rd-SLP4wcWOHMow_fKHOYzB6bKnwO5LLRrH2zlSKvX1z93oQy7DTpFN--mYhMgrya7St5hNPm9RK7HNtZdeA6fU5EPHZ04CEpA-rW-dtTcjjlPb-4J9A85mRS5QFjbjiN4iot8wcqr0FycjLWoD_T4HVT2Y2jPzMZtJhqbI_xMNekpvmD8fOgVrePovqq3a_pMiC0sx8vR2CfM2knW95GaiWhQymAP2hIG6ME-mxDBOZbvF5cbJDSqTWQ8hFohrbNrb1_Jac-8Pu_l5neajCBIBvrPOj4on3t5zQTxMTfCsqPviDTnppZemXxscu4yf_8IGhtfhyqszPYmI7HUrMrwAEtaXop56tiyeAW28rqRdSpQ_oGnY5WKMxNhjdNNGkJTwXR7zYHv7-FAXOrD0L---w3ni6u-5E1gnV6HbGxCgWDjlF_eGQNxYLB30fk2VP2wjDo5lIsbnjA67KygWfz-p2_dub0IAKl1mdDmHhhmOyDnrXP_YX4ND5-VLgWLBxW5GJQ3mPqVQPzliEfk4fcKElgfstHAVCdwnARcQHuPx28VCuM1_wL16hByFxh3LKIg6xjN3TAqhjLTOgKq7E3VMHhiSKZP91UZhsBWDF20O0odSVmM9n40L8jMQEok-mkjokQks3UUJoDhdPcxAidDYf5WZXiYb_9gccj1WpCQwcUTVFRzPfR6dG0-NWbk3Lks_0ODR8CNYTYDowFndwHdmnxhHlAnfB38a1mOCZSQgFbeBAgndkf2Qgf9X9kQz6-Z1YGRjcFdosAxGNtz6e9FahKOKk-lSlcVXCUzBLBRWVOlAKoKYDAkmjqCPtgjsqHJiQjb1xnFK7qDx9skWAulYr6qu2jKcryltrxy5H21LAl3ZsguPQBuwRTur4FmPY6iRQI0NhLfIXmWjzY0wOQ-uFK988_4BWynr6m7GAtU2I3ANb1IKcpkYpUvpuecHWzjAeKmHaiUrTfmYQX12CdvS8Ik8q8-TUuKEkTlbaOeqQqzRbZeRnWhGdPF33_LFqjksCOa4ugMTkS9YDIpg=",
  "id": "rs_0ff40968207d5b85016aac7d7fb92487d1959b90a37ca52bd8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.025,\"left_x\":0.32,\"left_y\":-0.125},\"note\":\"The can’s body is now aligned with the jaw column. I am descending vertically so the fingers surround its sides before closing.\"}",
  "call_id": "call_R8av8f4sMvOY1xe9fppRbSWY",
  "id": "fc_0ff40968207d5b85016aac7d80d63087d1a9912891f261d797",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_R8av8f4sMvOY1xe9fppRbSWY",
  "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]: [-0.7753, 1.6703, 0.3729, 0.5949, -0.8589, -0.4278, 0.9971, -0.0341, 0.5751, 0.5323, -0.4995, -0.0414, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.3188 left_y=-0.1202 left_z=0.0353 left_yaw=0.122 left_pitch=0.1327 left_roll=0.1514 left_gripper=0.9971 right_x=0.2574 right_y=0.0021 right_z=0.178 right_yaw=0.0115 right_pitch=0.0397 right_roll=0.0009 right_gripper=0.9996\nstate[joint_eff]: [0.6769, -3.1385, 3.0291, 0.8474, 0.5836, -0.3785, 0.0024, -0.0205, 0.1162, 6.9265, 2.0195, -0.0708, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f2a9825d43864ad70ebe3c82f74f80d89bb10918f1f91fc06754e5325359ff0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c833b0ce33f01801010309ed94b8a8f76b657ca9969c4e409736d9d1b5d357a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e466ef848ee679467fba92b591a1e764ce6051aa36298519117fa3277cc58f2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8284, 1.3689, 0.44, 0.2054, -0.8589, -0.4892, 0.9971, -0.0341, 0.5709, 0.5327, -0.4774, -0.041, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.3046 left_y=-0.1289 left_z=0.0877 left_yaw=0.1002 left_pitch=0.1243 left_roll=0.1123 left_gripper=0.9971 right_x=0.2599 right_y=0.002 right_z=0.1839 right_yaw=0.0113 right_pitch=0.0664 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [0.253, -4.588, 5.9009, 1.7753, -0.3248, 0.105, -0.0122, 0.0205, -0.2667, 7.0359, 1.9414, -0.0073, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"Both fingers are beside the can at body height. I am closing the gripper, then I will verify the hold with a lift.\"}",
  "call_id": "call_t69MZuBc7MwIoWhwPZ1AjwMT",
  "id": "fc_0ff40968207d5b85016aac7d85174087d198b797a7a82e2d7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_t69MZuBc7MwIoWhwPZ1AjwMT",
  "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]: [-0.7689, 1.6886, 0.3748, 0.7948, -0.8707, -0.4202, 0.0077, -0.0341, 0.5797, 0.5323, -0.5224, -0.0414, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.3344 left_y=-0.1306 left_z=0.0614 left_yaw=0.1614 left_pitch=0.25 left_roll=0.0149 left_gripper=0.0077 right_x=0.2547 right_y=0.0022 right_z=0.1721 right_yaw=0.0115 right_pitch=0.0123 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -3.2889, 3.0427, 0.4908, 0.3492, -0.0757, 0.5104, -0.0615, -0.1162, 7.0085, 1.9316, -0.0611, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a96f05e995b088392d8563120c9d342c3ed1995afa882725ece734cf3daaa21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f6c6e2ac9729bc437941e2e5b83cabfdfe9f18a6ba0b12ab4b5da6b7ed543f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a71a7ed457d1c4c2aca635935602fcab665189b8a9f8cc2d4d379195a201353",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7753, 1.6703, 0.3729, 0.5949, -0.8589, -0.4278, 0.9971, -0.0341, 0.5751, 0.5323, -0.4995, -0.0414, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.3188 left_y=-0.1202 left_z=0.0353 left_yaw=0.122 left_pitch=0.1327 left_roll=0.1514 left_gripper=0.9971 right_x=0.2574 right_y=0.0021 right_z=0.178 right_yaw=0.0115 right_pitch=0.0397 right_roll=0.0009 right_gripper=0.9996\nstate[joint_eff]: [0.6769, -3.1385, 3.0291, 0.8474, 0.5836, -0.3785, 0.0024, -0.0205, 0.1162, 6.9265, 2.0195, -0.0708, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrH2MkbG8GTr71e8eQPv14xJ--3y41pga9UbyEkQkoRy0vAdtgrOlUDC7Z80pq-Nnsn-0SRoiDML3Zg4fhTEpOPW2fo-2pEHg8j7fPjxl3QKXaKDDNZJVmjvOK8Md2eKEktdMTRMgl-tiPbjLwmm60tt2SyPG7bIo6EV5LahLlsCxZ4fgUxlpj5y7TrsD3u6mTvdXAgM_zrbEQ8HdNoMDGuSa6aBUnvduo7SuyDhGnTRTf9nl0i8i3lyhKbJ1zdFMDsCxgFhBd7RrbzG0EuPiJujT9T56YUxOzdUfhC_UVMunRoBQQlLgzT-4IOJCACpOqZXqXkQYCJuAbwq6sgl1t_KbeNk8c92gQePE-PpHDiq1KLLUA6ggIH9qWZYojBWmO2tP_8Yv_0_c9KqMU43CRev_zFngT3N6jYuc_gGYG7iDtM357K8dREOrXjzUQZFowZ5NPZpMjWFdZ2d1q-2ud-S7ToBzcg_cFfGARoqTWSPeaD32FUwLyRjBYNl0I-mxltxgOhmroHV5T5c9zadEzwK47UNciFqqOyrTmRCbHaHilri-IaeDAEADoJKzxKueoSHl5fM-XZZYK2Os28y-E2C1AgFhGTPPeA2F73x1tDOciGUyQS2tlOqW6dwb7doyAav9uA_lNNMCcEJTdVyVf5tDdPN2AY_gKXhlgoDCo7bNGuBPQmmKiIGDW5sc2VPcZQb8Eawc6mBUXBukWvafAxLQgTQNUhJJqZMIb5vCoWgjrR6bKNMKBocP_JH2UfN4MZe9gtbHjl2a5EarSP448Ay2-sfxsb3PRVHzlkVR10sMs2Mzvj7m-jAHPe5oQkKGj3g51GcQ2V_3c-qkmP_X5nj-3c1G3AE8FUzGFkJ98wQVguhCE72zJ-2Er3w6UimWst1pi490snOhRQCwfdi0rjH5Buw7As6oO_iEKi1HLbZbbclTCeKlSpGoVegelD81GBnVGOXik31cLj_dwHffraR4oHMzU6mcO_eJ8xdwJuOda6cpMGb3imDfI-6XvEklIo4ndyuelMLceAKNf52EMNUBDZD6WmFeTBEA3TfHFSgVETBZkVphmTgeZMQfJc-kmxJfu3B5NiZLSBz7Ksee1Hs7ZaL5Ec_wDdojH8-w7121eDLHQyNzPE55jwqouhxHhQJ2b6e9AncStKPgIekfLEuF0KaNjaPmjoSOgcxr84-VJH0TzhbCydRBQiacjzx6ZUKyR_qsCOCOStPBRHnYnL9_dPgLDdaX25gDgvtmsEGFNWNt8ieRtw1zQpxzZM0Ew7GVKk_zfo2-c8lQzYR2_jeyp52mVhskOVabpzYJbjFUs7M7LBzn-oalXiiKdPL2v3zh67kx-szaL6buH3ofzAWil-igIxKa2hJ5Z7qkXoM2r8t2JVtpXZoXGJkvRFQ1ESDf",
  "id": "rs_0ff40968207d5b85016aac7d8a0d1487d19556892ffda03ff3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.42,\"left_y\":-0.13,\"left_z\":0.10,\"left_pitch\":0.1},\"note\":\"The empty close shows the fingertips were still behind the body despite the camera view. I am moving farther forward, over the can’s middle, for the next grasp.\"}",
  "call_id": "call_GsFpLwuUAWRqogqYliEqHHWc",
  "id": "fc_0ff40968207d5b85016aac7d8ae30c87d18a6982e731dec7b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GsFpLwuUAWRqogqYliEqHHWc",
  "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]: [-0.5537, 1.6787, 0.7486, 0.3405, -0.6552, -0.4015, 0.9954, -0.0341, 0.5816, 0.5323, -0.5617, -0.0414, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.4139 left_y=-0.1251 left_z=0.0973 left_yaw=0.1871 left_pitch=0.1188 left_roll=0.0081 left_gripper=0.9954 right_x=0.2494 right_y=0.0024 right_z=0.1636 right_yaw=0.0115 right_pitch=-0.0289 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -6.3795, 7.9111, 1.5849, -0.0269, 0.0757, -0.1294, -0.0889, 0.335, 7.0769, 2.0635, -0.0513, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd2a8aba2a1507e1a1e6e12d3569931fdd872114af9961dc7fbf34a727366af9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5e945ea6770c916203317a10001f83421a1930caf0c1b97a3a90c24d21251f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:781c8b4dcfc74dbbdf975d41b14ef498b01f81bf48ab77caef3a8647e6d1b4f2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7689, 1.6886, 0.3748, 0.7948, -0.8707, -0.4202, 0.0077, -0.0341, 0.5797, 0.5323, -0.5224, -0.0414, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.3344 left_y=-0.1306 left_z=0.0614 left_yaw=0.1614 left_pitch=0.25 left_roll=0.0149 left_gripper=0.0077 right_x=0.2547 right_y=0.0022 right_z=0.1721 right_yaw=0.0115 right_pitch=0.0123 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -3.2889, 3.0427, 0.4908, 0.3492, -0.0757, 0.5104, -0.0615, -0.1162, 7.0085, 1.9316, -0.0611, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.03,\"left_y\":-0.14},\"note\":\"Only the forward end of the can remains visible, indicating the body is now beneath the gripper. I am lowering around it with a small rightward alignment correction.\"}",
  "call_id": "call_q7JKQ5n3MGh0xwHMt7qdQWBA",
  "id": "fc_0ff40968207d5b85016aac7d8f5d4087d1b38c018bca683e37",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_q7JKQ5n3MGh0xwHMt7qdQWBA",
  "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]: [-0.5892, 1.9045, 0.7166, 0.5644, -0.6765, -0.4313, 0.9962, -0.0341, 0.5827, 0.5323, -0.5953, -0.0414, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.4147 left_y=-0.1398 left_z=0.0354 left_yaw=0.1819 left_pitch=0.1026 left_roll=0.0137 left_gripper=0.9962 right_x=0.2446 right_y=0.0026 right_z=0.1567 right_yaw=0.0116 right_pitch=-0.0636 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -8.335, 3.8222, 1.8584, -0.3492, -0.0073, 0.0708, -0.1026, 0.6906, 6.8991, 2.0, -0.0904, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:630f5e0b8e32bab1136b697da343d5793c245ee8bcaa4777bad1b74c31e446d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4da9317e07181af4b42464b375175fe36365588659f0c0b54860f7672f89de60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6a79b81ee94ccee28b7868122cbd206a1df3826ef51fd009faa2190ed934343",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5537, 1.6787, 0.7486, 0.3405, -0.6552, -0.4015, 0.9954, -0.0341, 0.5816, 0.5323, -0.5617, -0.0414, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.4139 left_y=-0.1251 left_z=0.0973 left_yaw=0.1871 left_pitch=0.1188 left_roll=0.0081 left_gripper=0.9954 right_x=0.2494 right_y=0.0024 right_z=0.1636 right_yaw=0.0115 right_pitch=-0.0289 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -6.3795, 7.9111, 1.5849, -0.0269, 0.0757, -0.1294, -0.0889, 0.335, 7.0769, 2.0635, -0.0513, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrH2XQAzkzph6tfw0EbGQfkc1njaRUT3KCpcdhEchO6me8cyfsiwsdiD7bbeOgegxdFaVxfkRNueOhr2TcDEe6eb7NoQf_AGYKEWCYCQqXgs4Wg3A_6iL4jlmHH9dzhmA_C_hVMtuW-_EaB_FsXmxc2LKs1pEqh9Vq3Qs41-S0e3Oe4H1JGLl4OqiS5R-q0psPujoBQKU9dsPw1W41z-e1_Rwl2BRT3mp4og895y8rvPslXeifrTEl4AVOj6N2LtDduIoVqc5r5zRyGmRGv-qW3WwW-Hw5E1sV5fvUnmLrxrqZr6STW89EzxW2Q_bl1gEJg_FCbPTvea2wwYSz5Ax4jAiwbEiJCepMCsehhVMNb9Si86kAytHVu6hXodsveK67UV5B0y2MNwosuSWAXH-FCn880EJMMyu36ScF3yHx1U35CChQsRasJZa84wxx-3xJ8mDiLyehuLaNt_mOu4mtUc5zyzn7NzxyzKb9lalIRO0tPdTdKg53RuUxTxSdmctJR7Vm0G43Qol8HaTWISwlCnbPtjirExeXNSXj0jGzQK_fxsE6OLVzUNz2nXZ8Q-6q5h3Qi1h3L6lcxszs3QuviCnDrZSr_wGu3CYiD50CfJRF7XHBwV2QtVU_yzLXKO7ee7g3lYzHs3CNiN8OGiwmTuWqTmFpHGhghM4l9mskLy0JuhMpr0OpHma_3HviRKFTryVXlO8eaTo9U-Ev2HKVaQtIWa25GzxMDH4LzRs3DK3b012NyaybQcV_wTDhj_9MtN9Du6wwEyXB2Y0N85RuFVlm9SNbS5Q4YOsih_YNmVH0bQmoGYJdB9BQEnFnHzzngLf_yvrPy7e6Rtd-scMrl-7C30eCEeV0a3mfvhlhVJZvCqYCobgBrpKDBboLa3QbgfjQgDoeasLGyZswL-7JGBDcMS7mAhzyZepYEb8JNPJmlZHb9xFFGdp2AQ-0IBlofixd1ZgLIILW5k2PIMwSNwyT_mc9CAoGUbtrrpyqMBauH4JSNGtW6qqTtFgcxjHdZ-hr-m9SNz3tllHQSFQ14ENYbxFBIcs4MG7rvYNRU5109ocZOPn_KQeOkhYK7hWk9GStWZKF1TAQcKyVWkx6ApObJmEilk3Xo3tLcem5Nr5Nfke9j4kokERNVQP_PqARU-F9L013fvpFyN9w5-WXd-K7Bl31cL8FteHehe7NRaLML-dS8HMU0jFegdU7Wm5xcqlrMdl-taCXiuZiyk7ihPLoqyP2JUI9UGLIUnW7_7cvLgF9_gTPbPgqYTEbLoahnOxRP4agm9VQF9C91FB0w7wo5lZqLsgDlwlu36b0RdusRs63JLSQE4DJF29nMk3CtlIuWqio3tIv2YIUgonB9OcAnD55wPIJ8nV8z8eaHfrC0AWc99GJHPfppkw0TD2C5dM0_yEAq2J620a6bTy95iq8mQ2LqQ58q3-v2DQNs8HpHCy4XTVqxbPUefKfWWM0NMBYggEz1bAeJoI8grnN9X1DAyKS_0JWzUU4sZoFaXCaxcef3LQ3TCUJQnzCqK8o99LmLgye8j1tLclLp-ofI37XYJ2IDircy5o5lCzXsJnEIoZ5AcmlNNkvTeerePxDnF4TtbfMixOn2Ggo486st73sMp5dLZp72QK6QEpwarwqa9DSzX8vtOu0JIEkobPsSFM_T56HdrzQFUcRn1YvQDBZfyEO6TexsSdVfjPMe6PWE7OVdqSJyng4IeW2zT9XOrbL-MX3SIGtYhmqfiElnnizd0N0VH5wy4ECHmxBx66xVg=",
  "id": "rs_0ff40968207d5b85016aac7d92a93487d18fd92c60e3384ce9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.22,\"left_pitch\":0.2,\"right_x\":0.49,\"right_y\":0.035,\"right_z\":0.17,\"right_pitch\":0.2},\"note\":\"I can now clearly distinguish the silver can to the right of the burner from the long bottle I was handling. I am clearing the left arm and approaching the silver can with the right gripper.\"}",
  "call_id": "call_os4BTaGqCDAb9tuOApuQJiAV",
  "id": "fc_0ff40968207d5b85016aac7d9599b887d1b24847d089529371",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_os4BTaGqCDAb9tuOApuQJiAV",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2806, 0.7193, 0.5369, -0.2474, -0.4591, -0.2184, 0.9964, 0.0818, 1.6188, 0.8879, 0.2504, 0.049, -0.0063, 0.9996]\nstate[eef_state]: left_x=0.2928 left_y=0.0008 left_z=0.2055 left_yaw=0.214 left_pitch=0.1926 left_roll=0.0052 left_gripper=0.9964 right_x=0.4727 right_y=0.0337 right_z=0.1431 right_yaw=0.0305 right_pitch=0.1016 right_roll=-0.0096 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -0.8, 10.1812, 1.8779, -0.0024, 0.149, 0.0073, 0.3214, -7.5282, 8.8547, 2.254, 0.1148, 0.1978, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ed9a39ce88eec670f16b8b4d3e66d3d823808b91b159fe8ae942a75daa7b97f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5d070ed0443fb493f4800925ab5e1bdb8449c5ae737f0b3c4212faad8789c42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55f1d1d1510f5714c06dab99e50b1d0715bd2b155521526d5c94a9b35282b09f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 93 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5892, 1.9045, 0.7166, 0.5644, -0.6765, -0.4313, 0.9962, -0.0341, 0.5827, 0.5323, -0.5953, -0.0414, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.4147 left_y=-0.1398 left_z=0.0354 left_yaw=0.1819 left_pitch=0.1026 left_roll=0.0137 left_gripper=0.9962 right_x=0.2446 right_y=0.0026 right_z=0.1567 right_yaw=0.0116 right_pitch=-0.0636 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -8.335, 3.8222, 1.8584, -0.3492, -0.0073, 0.0708, -0.1026, 0.6906, 6.8991, 2.0, -0.0904, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrH2engcnfcpQ-rySadSmVXZVaKGdA6yun_ND2toNK1zZ4JsK8RPD-yda942kU7Nw3N8hVhFVQOXTbdqx0trZJVXKsuAXuWyw3R-46yu8wuDdz0oJ_2sUWeLDTQRdIlrrD7JEzgar2qPPn6LP9B9Yt05UQM-y472zWrXGY6IBSN9w021GPdATbElX_3fKLCupIFya5rZC7ffiwQH_WNRsNaVvsjMnguKDpueNmRNzzsMo3Rloczzyb8wIHPaoh7K06r_TD9ucJb-9_8A4yuG63nrRtmXVCvLNd8jYXuVThjwWuZO1tt8JWNtZmfDsO6lL2aKZmgU4IpFywzmSFSAfwwttTVzXVOz0YIq5-dlJtmTbjTh-qfKkmFPRdq5X31ElbKYZywg7vsnwQqc4NX6mv-EF-TJYk3Zbbi8M10l1UbkRwrs84RHk6U7OwiorZZ6-vnPn37AccU0Ym0SzxrLTl8NzRAs1Em2tA36CrDLeT_L0iIAcQPG63Ada2tDL6S0XEICKw_XVlM5Bl47ANn4dSPwH1EQ2EobgDv0Wv4IwkdYc53yBuTQ0ZAuoR3rl9wss_36FST4cWPuIh-KU2xNQlDAdI272BglYJUA7irkjdybIw10Dpl58BcDvafuPH_Xg5E069RRRT2du7MDUuSYvww8TEoZ9rYjbt2Q8nFeJJzC8mm9oD4jwnlmvJ0zzInYvj9_lXkZg6HWZhAbS70jXTBrMmximOe1Kyu5aCZENB7VFORb2bm_t_eAbFBxYDEK3nLkGe53vlJU9o95jIY-717C5lySbWQRKAJqE4EObLQjR6kBrDWs_8ukcN9xXJeSX6ii1Pe34BRnVvueX0SMPKbqk0HvUMe0uLsIV_Dcip7f99dE-gYlcKBvcWBi0MVKRgkbC5QIZRw7A-eTCIWeSDd3TNejljRVci-y7DlGLd6jG-P0gJd6VzPp4R8aNc1g5uwqd62FKTVKNTvy7Up-c5ooUp1gaOORuluvUhpnJ-NSOnclbD9HX6uTMJISgyK3SK_jojnrYxIjHChelpKrQHhH1VwfTajCCDFnyZ-OaZY7kIFFyoSvPFqaOgWOvQQkCyHRHRcekTr_S4dx5A42LTgkSnJNLL0jn_KHLSWh6YK9N7TVaroXy1au964_xjxA-cb2fi1etKRz6A3Xefp0sugoF5b5exUq-ERJW5AdrSiuyCYPW-BYOJcvt38MRUFkLUFCle6dTkFSy6VBaiaZqC07X40cOYInP7NDufHYqM-AhecR8xL5wK0duCbxGeksNI615caymu5m-3pvPmRBS505d-1AIEkJabGeipnKOr7Sb82ee9_iHQxS8-iXOHxWG4wWpW2Jx9Zg8nw5lL7dD8KTqU3flDSxpFb3Ms10xTkTRp5kciRHuqQmC-k683VRJDGJ-05Se7IG_Aaud9Pm61QhU5Fzv3dnDu9pPKH7txcbIdkFCw29cve9-hStTgnM9u6PLCJUOWC1F0T6VVZtGebZINHFYD5YLrbPQ1imK6d8x3U0l_lcmqEj-NbDZoc8qfD0qNSQ7HeggxNYej6dh4AphuqBZQKEhJGMxBNfU_I_Jb-m3cgrTPYSCP-EqQUieWxUOKSQYhW7VjolgA2rX5uCN4nWYRYRoMByizIKo6URfBihVNqrj2OC2wlXUPST3OO6B",
  "id": "rs_0ff40968207d5b85016aac7d9a913087d18838e5a706f99821",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.015,\"right_z\":0.1,\"right_pitch\":0.3},\"note\":\"The silver can has a raised dark handle and sits just ahead of the fingertips. I am advancing over its upper section and lowering to grasp it securely.\"}",
  "call_id": "call_VC2kwU6holjzpr5dHIxoOsmz",
  "id": "fc_0ff40968207d5b85016aac7d9d594c87d1b1f31258280b4bfc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VC2kwU6holjzpr5dHIxoOsmz",
  "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]: [-0.2802, 0.7242, 0.5373, -0.2848, -0.4496, -0.2214, 0.9965, 0.0265, 2.001, 0.9535, 0.6289, -0.004, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.2898 left_y=0.0002 left_z=0.1964 left_yaw=0.2047 left_pitch=0.1536 left_roll=0.0186 left_gripper=0.9965 right_x=0.5298 right_y=0.0183 right_z=0.0696 right_yaw=0.035 right_pitch=0.1628 right_roll=-0.01 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -0.8, 7.0085, 2.083, -0.2857, 0.0122, -0.0073, -0.6769, -9.5932, 7.8427, 2.3712, 0.0122, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f747ab8c7f65acd2775358aa49064d157b64de995fdda64a20d429cf9e95ec95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79a3e272d8a4868b8b89bc21f6e6b8af22f3efa6b73e83326cb1694351bdfa6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f56d63f2cfec4d92378a9f79a2b9df16a23943b9d3d31172f6bf9edee3cc3db",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 97 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2806, 0.7193, 0.5369, -0.2474, -0.4591, -0.2184, 0.9964, 0.0818, 1.6188, 0.8879, 0.2504, 0.049, -0.0063, 0.9996]\nstate[eef_state]: left_x=0.2928 left_y=0.0008 left_z=0.2055 left_yaw=0.214 left_pitch=0.1926 left_roll=0.0052 left_gripper=0.9964 right_x=0.4727 right_y=0.0337 right_z=0.1431 right_yaw=0.0305 right_pitch=0.1016 right_roll=-0.0096 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -0.8, 10.1812, 1.8779, -0.0024, 0.149, 0.0073, 0.3214, -7.5282, 8.8547, 2.254, 0.1148, 0.1978, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrH2lc5Qsc2qpCjpVxlfT_DGLNsrMp6qOGSbRVorRqYyIEe4LUSoGe5_3BOBRBRiPiCXNv2uDZOYDHzSAQSevt7sadW13eKoIV4FPZPmaRKyi-bvkLtXFANPFAk6AlAw4Z5_YdE7ZnvE-KGaYcX0FJbGpEo122ehsGiadfq4BlZ6ioIKloKEkGs6_7sLkjsOXIezVEwxKCF0-6Iq5h33eVhskb93t0KEEEBCLTX7WxTbUxq-1XLW6uYMgsgohxLXYXPIAnDUXwOUTFWzs2BBoO2X2dCOxvgip5pwTITx_Fzk5JMyucUfVnFr4KsQOg3CDKTrC6WxF0RI7m0SrCyEqgCfja6-y-Wmou9ISdBJg8iXjQ6je4CbjzPC7165PEjPwdbWF3CFxRCFc03wKMdXoORu9vcmy-7EX7DbmUle5xOrVgM4Z8aN6mHYHV-ySo-IGe1i9Q0vBNO-hj2T2P8XGuiSO8qGEvSIM8K4RKUqHyU1haOtt9x2GVKwW2noypSZBRoYhK7Cagc4aoAtt2Ne9g4FNgaycxhN4HEdpiK5eqk8MGGlzxGd-aq98vCX_tebcygUDQT2iI4QXHSbPwRvl4ZFc5MsysRCUvsH1hxJj78NmgVgXvIH5r-7Moh8tcr77NScpTbZ-WfVkO-9XbMjdPY7f7qNj4fiS41bf72eQXXcujnzMUfT6-sHeYI4lEtqh28f-OR_Rrt6uJzIfLapG1G4wjNdQA1QILv1lAHa7ypdpDZ8vxMOWHcyE5IBN-WXdbO16UJdVUSoATxnoOTToIYMrPgTiuhxjiYT_Be9hp4dEpHuDQTXUfbsoOF_2QiF2vWE4O3a4iZ5rVy_QNFi6gjBJOvjm4LuNThIRg9QeVW6MrhSexQa2VZaQBg6NHsUpgp0-6HYKLtvkHE7x7DRK7ipYB0qAAeBcJBH67ssJE7ZfkcbBDzcQ2k63-wDEikQctQEjOhKT8V7IIU7bLrDPAk3ICh6_lrVBCuxP4w28-tO1R7Jo-Idx41sYmaZ5vc64ppr_4pB1xAAAHBPJmfoi64fwhSyILgsBFWvniKPicIafUge5syzrwSEdx6vZbDbZjajkPD1-nhXM0h-T8DU1qICiWXr7C5i-tXSQYYNAmzZPXObBIbs4SfakFDG-j8K2tfjlLeRfVQSCDrPPH-V1jnKCBwR7dW02l9qke0WbZ55LTLXCMlXQ3Pj9icPtRJ_9S_VD8siW5Cp1yudBzXtKdh59gqWWywjzDFNMLNcGM3KKBKmZIXctI71PmbM7CO1vHTZ6S9MKOA3R5dZ4YQW1EgRjzcg5usIIgntSHchoesM7hOjeF5CnphljU_-38luY7XbHtTibcCBKP7ySHhknmQBILytdBu3wbzdi1zSTW7gDilH2HYH0PX2KT41KYwuc7m93KHPoWmQFC04-tKS1qDC6ak_SFvWBWAMVO0INcN4N9I1ZZ6L2fDalkTBpuKlnRolvDWHQVq5zyZsLg_Ot2poCKTzSnOe2v4PLGXpqVvSWHik_SOfsfrskdstYNdnXBBSGLD4i7Pq0ULUspI4vFreJCg==",
  "id": "rs_0ff40968207d5b85016aac7da2038087d1add066c79c651796",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.595,\"right_y\":0.015,\"right_z\":0.085,\"right_pitch\":0.45},\"note\":\"The can is centered laterally, but its body is still ahead of the fingertips. I am advancing a final few centimeters with a forward tilt to reach around its sides.\"}",
  "call_id": "call_DjbsPMRPTR72nSoG8GN8sMft",
  "id": "fc_0ff40968207d5b85016aac7da4409487d1988b22a99965183c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DjbsPMRPTR72nSoG8GN8sMft",
  "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]: [-0.2802, 0.7254, 0.5373, -0.2935, -0.4488, -0.2218, 0.9965, 0.0181, 2.2551, 1.116, 0.9215, -0.0204, -0.041, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1943 left_yaw=0.2035 left_pitch=0.1447 left_roll=0.0226 left_gripper=0.9965 right_x=0.5848 right_y=0.0178 right_z=0.0661 right_yaw=0.046 right_pitch=0.3638 right_roll=-0.0156 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -0.841, 7.2, 1.7998, -0.1685, 0.022, -0.0171, -0.6496, -10.6051, 7.241, 2.3419, -0.0415, 0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a276bbd9f6e550c0148488c571cbacf1058e5351ead938a6efb2188fe5586162",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4fcf8fa9e8b06ee06f94fb4bdc3d8a147d651b8ce322a0b8661380ebe67c55a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d09c681f0f6d23069bce0c2f3c20d566b63abbad79f2b9d5cab9615c7e0465de",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 101 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2802, 0.7242, 0.5373, -0.2848, -0.4496, -0.2214, 0.9965, 0.0265, 2.001, 0.9535, 0.6289, -0.004, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.2898 left_y=0.0002 left_z=0.1964 left_yaw=0.2047 left_pitch=0.1536 left_roll=0.0186 left_gripper=0.9965 right_x=0.5298 right_y=0.0183 right_z=0.0696 right_yaw=0.035 right_pitch=0.1628 right_roll=-0.01 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -0.8, 7.0085, 2.083, -0.2857, 0.0122, -0.0073, -0.6769, -9.5932, 7.8427, 2.3712, 0.0122, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingers now flank the can’s upper body. I am closing the gripper to secure it for a test lift.\"}",
  "call_id": "call_82hVcoxacHn0Q6gzI6RqblN9",
  "id": "fc_0ff40968207d5b85016aac7dacc61087d182cf41949b8cec59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_82hVcoxacHn0Q6gzI6RqblN9",
  "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]: [-0.2802, 0.7254, 0.5373, -0.2966, -0.4488, -0.2249, 0.9965, 0.0193, 2.2574, 1.121, 0.9596, -0.0284, -0.0502, 0.0077]\nstate[eef_state]: left_x=0.2887 left_y=0.0004 left_z=0.1937 left_yaw=0.205 left_pitch=0.142 left_roll=0.0213 left_gripper=0.9965 right_x=0.5877 right_y=0.0199 right_z=0.0761 right_yaw=0.0603 right_pitch=0.4046 right_roll=-0.0251 right_gripper=0.0077\nstate[joint_eff]: [-0.0479, -0.7726, 7.0359, 1.7363, -0.1392, -0.0024, -0.0122, -0.4034, -11.8632, 4.8068, 1.5458, 0.1148, 0.1099, 0.569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6911b07aa5c850b9a65018774523c7d9eca9d03fed8c47e4738543b4cddc6257",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be7107951c706e40c2ebb13c94a3728a07f06c9d8a632b465aa7610d64c0a97d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bbfdd0556219357314a18ec073b96bb9d1914b0b61b6baea8c480abe38a650f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 105 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2802, 0.7254, 0.5373, -0.2935, -0.4488, -0.2218, 0.9965, 0.0181, 2.2551, 1.116, 0.9215, -0.0204, -0.041, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1943 left_yaw=0.2035 left_pitch=0.1447 left_roll=0.0226 left_gripper=0.9965 right_x=0.5848 right_y=0.0178 right_z=0.0661 right_yaw=0.046 right_pitch=0.3638 right_roll=-0.0156 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -0.841, 7.2, 1.7998, -0.1685, 0.022, -0.0171, -0.6496, -10.6051, 7.241, 2.3419, -0.0415, 0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrH23b3tocWp45QOQpqY1zeCkmHLGSLCtWFAT-OrKIBhllPwdCmayAS2kk0G0fCAZps2Zi4yRRyyWIFadoM1JLTtVsJ9XFjUSzr9xFS_nXZff-XN5RcJWfiMQ8WQvDFVpJnYQE0K5Jtz_j_1oRBw8bOEY0K4UOVUAPC8r5LczumPbnqkHAzXPzMWfwrT69rGgWTPeLN_qiX-5AQZaRL85v4qmLj0PT0N9EeNhzFX-gbfcPUT3U-XaaPphbCeQQ67acamvwcFL1_I4D2vhzfEaI7tgMu-buSjT0nfQg0IGU79Z378KRqEl8TVnKggEEGLMSqoM6cudV3184imaTalrdSHSAqBnR61p_WkzDuxTTqk6l00mEYR9iPy2D6B1sojLMRCEaII4_12s1YeBOoQLjZunYzjqISYvOd6_i9C_s6Vszm2fr4tA9TgD0R9LP0Dn3f2UaNRG7CvCs5q7HrNwMgRqk0KrsRdOJ0w7Rt5rqHXdv-WXbqLmUQiaF8QFw92yQ8R77iGBxidGi_h-L5tMIhWv84JV9bLNve1Iy_fwW6pWV83nOD1lMOfRiBMmfu-BqcdaWabVS0GX1kvNzA9WtruEpiyExEzDfYmaKcpM0sy0u5JCmrS-7z6enkxyBBJXcGFj_WLklQ4m7sbwEY42KIe2pVE2v5zTjzHt3MuAfqV34tkcD2RaErCo0SgPkG-Ku0NFcOsUnLAOTs4ROo4rVdUSxHSooJHCfLS_rxyoN3ZgRqlwvcrI2cezBf91jglSZLF2y4z-gkuNqi0jKWaejLS33rxxuHc_d7sDzDy7p4oZ2TipeqvV53RNs4ifoZgLR_5Q65cYWZJF_EUWCbx7UbTub8lyHi2_8INWuNsoHrnevvvlp8psLZU5s4_2XNw_TU54PFPipVO7V-96GOgttkw4gvyuVrx7iFyIyy_27sEf8F78dfTdRpSj4_7f0bup1lRMAxoozuL7DTX-kdtFDTVXYalCGvx3pYgXj0Q4tYyTWcqK2zjzxmpkEZkFjN3RpFQN7qacJ37oD5ZMVOHdsmzrJdJ8GVqZFej2SJqh3bk_ke-p3rZxjh67hZdJbH3F94sKFfbPC9tUUVMVS8rDtH2JbgCdErMPYDj9LoheEQ_-daCrmYqim9ZiSDsywgFquu_JvMMV53BgpuwBuHBzxL1mkaYjmnPpu6MX2_zOl3gywri1hajM_b5lZyFhGLSIrV7pJnjJpVzrA0PvCOm2Lx7Tj5k1QcTw5Wi-yD3fmEXcQ95uZvwUbOB6XNSEJHby4GKwFdUIIprH43Ts5gj2qO73YDhuwQ29pjfFAYsbHY-oFfediqBCEnFMQMRLD1lFvF0BnXk9IKhRuJ2RV1Fa7j9c0BnzHNdyFB7J4_hxDF9W1lLLSYHO8gNSPLjF4LErH2pA1QTTct6SbeSgTGg_cPcDunBkUSwP-MdSSExaF8Ep_eRfrDy3dP-cc4sytJjNWVHbw20eS7Cdzc4La5h9RmhVMwT5R36pOw6oiKH2LxQ7UAQsBoIPxNncn_EKRBW-yik36phRD1XEDpvkj9ew8T00UALy1DkOwYowx4dnsIe0rsu09AY8WAcHap6h89P7j-Ix_oVJ4z18-gIEL16hBglhKnGbs0mtAGRQBkKLraLgNhAhcrlhR40llS_i1m1AbUw0-PUsyJXLFLM_ed-LkW3fGoXNqZnptWJHWodBf5XsUALW8k2IQ9hOY65wMOG2ogfhp-lBz33ZjIr0DwCSH7YKb7nxDQwHfp3SmcvA7x3nyxM8ZxqAegzAS4mP0-o9Kd-R5x_hBN1lfoQFYTcWXcJOag==",
  "id": "rs_0ff40968207d5b85016aac7db3005487d1a06c784e889a7578",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.6,\"right_z\":0.18,\"right_pitch\":0.6},\"note\":\"The body grasp was empty; the can sits beyond the comfortable table-level reach. I am raising the gripper to try the nearer side of its raised handle instead.\"}",
  "call_id": "call_epLaAd5AYr8iuyEiR3K7arKC",
  "id": "fc_0ff40968207d5b85016aac7db644fc87d187be64314cd79bad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_epLaAd5AYr8iuyEiR3K7arKC",
  "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]: [-0.2802, 0.7254, 0.5369, -0.297, -0.4488, -0.2253, 0.9965, 0.0193, 2.1693, 1.1584, 0.9318, -0.0414, -0.0517, 0.9946]\nstate[eef_state]: left_x=0.2887 left_y=0.0004 left_z=0.1934 left_yaw=0.2052 left_pitch=0.1414 left_roll=0.0213 left_gripper=0.9965 right_x=0.5955 right_y=0.0224 right_z=0.1352 right_yaw=0.0756 right_pitch=0.5022 right_roll=-0.0302 right_gripper=0.9946\nstate[joint_eff]: [-0.1026, -0.8, 7.1043, 1.746, -0.1685, -0.0513, -0.0122, -0.2393, -14.3111, 8.9094, 2.1074, 0.0464, 0.0366, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd09c6979983cc6e3b0b010413a0c5ffccc362541dd3b4aee5da203aeac5f1cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:484a183eff8a090c74aa3bd5d3adf562aa866012da80fca9ccefdaa7e379fde4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ad7223a7623adc89a09e98b4b6d486ef9df0045797e629ed327d5787942af17",
      "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]: [-0.2802, 0.7254, 0.5373, -0.2966, -0.4488, -0.2249, 0.9965, 0.0193, 2.2574, 1.121, 0.9596, -0.0284, -0.0502, 0.0077]\nstate[eef_state]: left_x=0.2887 left_y=0.0004 left_z=0.1937 left_yaw=0.205 left_pitch=0.142 left_roll=0.0213 left_gripper=0.9965 right_x=0.5877 right_y=0.0199 right_z=0.0761 right_yaw=0.0603 right_pitch=0.4046 right_roll=-0.0251 right_gripper=0.0077\nstate[joint_eff]: [-0.0479, -0.7726, 7.0359, 1.7363, -0.1392, -0.0024, -0.0122, -0.4034, -11.8632, 4.8068, 1.5458, 0.1148, 0.1099, 0.569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrH282xMibEaj6UjPpdXGZdjfhOWs2VzhKwpxGZM9TkzdeCDHPE3flIbq4Aecvsnur8Qsid-rLIu8gUHq-q9ZFo-xGd1pAhTY_Vri3wEEOrtFkl53SpI620iJgfAtSPaIoUK1AxwdjrsUuFoj2x3blhbOJ8v16SVCZxd3qMxgV37ZHAG6dhzWrJ-8FcIJvlHaYR-Zhwqmm9ZtEEm6Rjf1hs_0jg5K6mXjLnqMegnqqX4i5PH5S_z2O9bIO5mIpoMpgkgSFkGqk9NMwf7oRbEATywImoRSZrqQvFcu-MrmnU2uvcLlilLN2E-W0akA_v2lMvDlVNELzHN82U787n5qUmJDpfywxlbLfkZHe5QFHcecKBaoz59Qs5_kQiY62xfDaJWOEL2rN38RovDbIAQ6yobSoaEHLITgdGS8otmfA1o8PgeqbHFsD5GvyZEDIPc9OxL7D8RHYDUrKeNdAFnxJ_DLVS3_-vIxRkoDPZfnLmiuUntsho-ceRfwMnDB3DyF_vL2_AvBhckE81yPMIGy7wv-BS4OL_YfMAU_2S7RBz4oi1M2ytB9zbGxhaFlQoUKaDqHY-eoDRe9cTivmeLV0sF9k74r_ZBw1wDKLac0-jQt0lUro5oSonwLPvCloRzCR5e2xqH3Y-EMgafjOlJzGovhHZ_I0WvTbSyoiCUPVd2EAlf_otELz7Bi7mKR2GKhgOWO_zTrLhJ6zWqLYPBUBk6smP0ffDMMuVPiNckNSN358XUtTXPYZ7zML3h8fHjxyB3nuZNyQdXaPHCwuhLAO_alrJgA0GQTJr9aoGn-GqxAx6Sw61WzlB07r4If2TGtCnDgs9JXN9dRA2iqM_H1pdx2YpQ0x7FJVNIPys1Z2ha1OgsRdHniCmEedCJWCBWDAn7MaFs8KUdNPdHFO0ggGeDS4MBnUIp6GIcyyg4C9DDn0kTB32tK5hhpFpaOllaT41BEKvJ3FPMVlmF_KFSg_v8Nb6av0dMUZJhQVtjn1MqPQiHGX6l8Pn1yxER9IS5NWy4dya3TcCUQpCREf5Zvb43jyUXEbzasARNf0chTlLA3n0Rosejqbso272Hk9N1BiF6MLiogm0AhQQCAnZ01cQ4vTxRMiw7Jolq12s8MD7pD4tZIaQH8alnHedzKR09vgO8OIA1FCqxxq82ZmeaBJQoSpbd9e86KtuO9oDdoLiSMoWBHzAuX5mPmeJ76BBiQupkW36ub5VA3jgx8e8DxoEEFoQ==",
  "id": "rs_0ff40968207d5b85016aac7dbaca5087d186c4d3c290d50026",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The raised handle is now at the fingertips. I am closing around it to check whether this higher grasp is secure.\"}",
  "call_id": "call_OhZV30IKPTCLFvJu9ZwYgRNV",
  "id": "fc_0ff40968207d5b85016aac7dbb33fc87d18cc409eddd975a2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OhZV30IKPTCLFvJu9ZwYgRNV",
  "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]: [-0.2802, 0.7254, 0.5369, -0.297, -0.4488, -0.2253, 0.9965, 0.0193, 2.1586, 1.1572, 0.9073, -0.0444, -0.0525, 0.0077]\nstate[eef_state]: left_x=0.2887 left_y=0.0004 left_z=0.1934 left_yaw=0.2052 left_pitch=0.1414 left_roll=0.0213 left_gripper=0.9965 right_x=0.5944 right_y=0.0229 right_z=0.1348 right_yaw=0.0786 right_pitch=0.4873 right_roll=-0.0298 right_gripper=0.0077\nstate[joint_eff]: [-0.0752, -0.5675, 7.0085, 1.707, -0.1734, -0.0415, -0.0122, -0.0342, -10.7556, 6.0786, 2.2198, 0.0708, 0.0366, 0.5543]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d7a8f2e3a01b4b80a76db2cb8026a841419c4b985de5aae330f974ed3e553a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92f80d0472678521b3f3db9878729599851a26d8a1f274e046ef2601739cc56c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:359d226385a83dbafbd5756eae5cf111e9e1fa9de5a023586391b11d1ed69e09",
      "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]: [-0.2802, 0.7254, 0.5369, -0.297, -0.4488, -0.2253, 0.9965, 0.0193, 2.1693, 1.1584, 0.9318, -0.0414, -0.0517, 0.9946]\nstate[eef_state]: left_x=0.2887 left_y=0.0004 left_z=0.1934 left_yaw=0.2052 left_pitch=0.1414 left_roll=0.0213 left_gripper=0.9965 right_x=0.5955 right_y=0.0224 right_z=0.1352 right_yaw=0.0756 right_pitch=0.5022 right_roll=-0.0302 right_gripper=0.9946\nstate[joint_eff]: [-0.1026, -0.8, 7.1043, 1.746, -0.1685, -0.0513, -0.0122, -0.2393, -14.3111, 8.9094, 2.1074, 0.0464, 0.0366, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrH3C3x00lqd7bPEkyx5HiwZW01ExpxyaG_ByKgowjU1Pi20xHiKPOQFH62fnfOz5YDpgwJSApfZpEeUkjxFK3kE0TnSetN_XjIWYfxT0SUTP_F3KXtYknOtZp2b4tENKEm84hy1lueld6H_RLVYaByVHzViQwhanm0G9wlhNJR90g3WvwQhOqjcdwqFHyqorN6Iu25frxr8OLovgpe2AOozQ5cdDAds_bJR-UW7uKIz2MNMJK7TP3f7M98cWfxAlPZ5dBZHTelHXl214BR0faVqMV1Jy3WAyU2dUmPlzvEr9pAhL9u2XBAK2ecrkjyS6FNYBv5bxIGhjIfXg1i6atM4l2BsJYKMrdKNWUny55l2BedEh3s4oZ8BjtiW4zilbyNFWbVCy40Czqbhafhc-NF7iPAfu-W1UN-yWTbpBYF6rH9RNR2ywDxaus5cMWXE4V2F_fkd3GZrXlhOV3eXy_jqP32I5ZapPD_6AWEhxUfWvBMtIjQFLMMt97TCQsB4Of6ofetaQMUJFSCiYvXAGwAclbciQdyp8Mvhmq4xr7wtl0x8AZB_hiZc80pYHYrdyzMfO8iHclOINfxrYRRjlz0EeMlIxnGsJWqjWx0zo3yNf7jOGx_ApNjtnVvQAwpUXbBPiiFaDkBnCDck02-WIrz947I7OQi20sFwybI0K8YHG--Ivz-ganYE8OxZv1g-2y_HQxqPDifvO8ol8NoZu7lpOb2HG7QUNVBWdiJ58kr1sNtfWwm1ChyxnnEn3iXIHdkkdI4rvT_TWZv-6oXgtNmlstPhvK7Mqp0w-mP6LJtMi21SmyBOX6AkCUD1elO_26jG3DOw3FCCc6d7S9mgWbqJwBYPbHLbYAwBpnFtoUuLeBt9oYBzXAxIc_QFvvc7WxEv_utimOiY2JG4bcMb77DcNYs1LxpUECv1lR-u5rbSizavR2kaibxI6VIa3ykVhIbp4eDJN3pthPKq-Wdf49Cdt9SfVmlw5F8oc8bzRkDgX7YzaFjANHV17sXrUulQ0TBPIGdHgKy8bCQs_vRQNY7pYVXaSMa-UI9adUOaetaLpYsKSyXGeJIxsPdaCIDtv5jI6EqFqfVm9iGOwR57QxaEp-yF_8KENFH93S98NzlJKJhlTQPT-oKpkOptM4QwLOg6JaE-w5HhD1y1gB-9aBoZvBTp6HT3rW8iDyoiw-rw2gUfTDDjZQpe7Chj0HsBVTM_jjvmX2IbeT5IQfuJWSe_UzoH1uwqkNA9H1OYyb9jnX6NW3yzGISse2vvHR_SWDozHPHcaDNvYM48Wzxq7CddDBPt3mbeCEOrNYAyC0ZUMxJTFJNL1rixZntxNoMcX7yk6PNRNCMl9WfXYiep-DHfDdKg7Jl5lwaZ6wg7gqsRocE0FV-_8uamNtYDBujzkYMC0bQvhubQHe9CIQGGP-Gi29XysmgnuoMSnMxkATy9VcWbegydJZ5VUL8jzAh7N5OY4Zi5qV-puaOodhBnWBXS-Qg==",
  "id": "rs_0ff40968207d5b85016aac7dbf222887d1a98e905b42ee0826",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.42,\"right_y\":0.015,\"right_z\":0.23,\"right_pitch\":0.3},\"note\":\"The handle grasp also closed empty, so the object is not secured. I am opening and withdrawing the right gripper to leave the workspace clear rather than dragging the object.\"}",
  "call_id": "call_R2oVef4bLXioTtx34vR4WKTK",
  "id": "fc_0ff40968207d5b85016aac7dc0938c87d1a315a1b855acaef3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_R2oVef4bLXioTtx34vR4WKTK",
  "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]: [-0.2802, 0.7292, 0.5373, -0.3153, -0.4488, -0.2256, 0.9965, 0.0048, 1.2972, 0.7612, 0.2741, -0.0498, -0.0715, 0.9959]\nstate[eef_state]: left_x=0.2871 left_y=0.0009 left_z=0.1889 left_yaw=0.204 left_pitch=0.1221 left_roll=0.0311 left_gripper=0.9965 right_x=0.4282 right_y=0.0144 right_z=0.2291 right_yaw=0.0757 right_pitch=0.3196 right_roll=-0.0373 right_gripper=0.9959\nstate[joint_eff]: [-0.2667, -1.1419, 7.3641, 1.9853, -0.2027, 0.0024, -0.0122, -0.4855, -5.559, 6.8855, 2.127, -0.1148, -0.0317, -0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e43cd45ec8f73f03801ff8ead411bd1605e61f556cdd75afbca1584f0a44f160",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bfc18b85446ddd8fe48e5d38e929e680b4ff425330488495002afa3387139c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:301b6d53bf7cff1a072b5a532add926b12facf805a19708a4940a07e6f7761ee",
      "type": "input_image"
    }
  ],
  "role": "user"
}