adhoc

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7933, 0.6052, -0.3874, -0.0193, -0.0334, 0.9993, -0.0212, 0.7937, 0.6086, -0.3958, -0.0174, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2939 left_y=0.0013 left_z=0.1792 left_yaw=-0.0002 left_pitch=-0.0008 left_roll=0.0003 left_gripper=0.9993 right_x=0.2932 right_y=0.0004 right_z=0.1789 right_yaw=0.0005 right_pitch=0.0 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -1.3744, 10.1949, 1.9316, -0.0757, 0.1929, -0.0904, -0.4171, -1.4701, 9.6752, 1.9121, -0.0464, 0.0855, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85727b1a5a979b08709337eb2ff9545b196bc4f9c110784273d787b924ef494c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e74a123935712f4e158597b41a9cc2685b79401352906a80d02a4d64915dbb2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3c0273deecd83672fe06ca1be8dedf9e070fd72ebb5ee68da5bc967ad9ae9ad",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrHuHOcwQbGsJYSLsygLx-9ozkyMoNHtQ34GDT-qsH1PiN7Gi9dJkDC3lBom3XK_wPhSWictk975Te7KuW0zojTOe7rTwPLraPp6ZSRlaI7Qt9YRLtTpsmc8Vj8GU0zk0ZTdmXbkhfnu2U8gSQ2YYhUxXpZbXpkFl9zATvCa1cFpo-8Z1h4yTYWitMMacxoNK8xJ0YHXRRNCwbO9rdk_Fx51JnJgtXIIDmFt07fjbiD2FDroS2tDmbq1WaGx-JL2uFDKYKn1ASfUubpqAKeYujoUKgx_FtOGJ8RAgFYn195ZsUyy3ENr6AqAL5TtTmYIN_SzYKEvUODq4izVnVEePvchaEwTiCcNRpui-tcJfMaXe5VdGryuxMRUjOnMYhJQJKZaJSO7S08LJvx9rTVPHPzVeAibb_hAiib7tloihr0c_8oJMwCiSHsHna05Dn94YnHDvNtXEDkn-9KASCDVx1h--MFqwwHIPrny_8xXfKVrkpzhoPTMbHp5EIenw9y3rpAHHaWFxF_q_iO5ifHX-wKB9BCg-lLTSyXO1Y53-syUps4xgTDtb83HpUVE1oT3UIQe9W3-oABbd5pI8jA7ZhjDu9Nbhx5wdLdzQASGjbPjd_rCDZPC5cIf49nTzraj3h2rTmIQBh2LAJAIyXjlX_aCVo1OJMRvlvndW75pstyktXJkGt293HF0EEAYQ81ROso-XREP967DWD4dyQmLGL3lQ7WXeLT-AfRo8NDZryftDgd2ZHQHjuFkMNvLk-LTopis-tbGyo1emKhauooyDOsPTDH20VBZBMsWPL1MX0dQgOVkq0EQ1sMWLifTSczQeHTciWy9Ekat6Cmr5P7der6RPD05Cx8ooPZYAVFHeysShNAh5he0OuF7aFL1o5s_1PglIpdWzE21ZnJKxWfhLR-tWbQ31maUD4j-4eAt6GXrf0IDHNxt5KlWXnhyXF385GF3fsbWldA8R4SnTTjBdpNgZxsw4Ul91d2gE-mKNw9qIOtvFco94QtYuD703OKChNwLiaPwEUb3l8ztPBjiVKH5HM5rPtUX-BBdLNB1ygLtik7Fg-ERhj9FPJSDJrOWskKFxUzSvcX4sGndoo9xZeK97ycmJank1vPX-vF2WMYtkllH3ERfeGdhyegv7c40UQr75WQQ8DT40rQAiZsxyFDF8XM6HvE25DcgUu59Mexi0KI7SRpftuVkLAFj5rMGUKPGvdQ5cZa92j_rS36Prs1Q__Poqva3nTmmYQnJDD6xHNMTIwJ9hH2AXVA6E_7QLWSkFwtllcU-S80tQLZN0_9EONRHLX7mbuO5BuHYpRPEv7Ljs3M1NdWsBD41K8RKVlgrTYbf3EINCEbchPIoI23CXuVoMD3L2IHd_HEfOrdX7-JLxJ7hGttbohMbSGucF6AhRK9v64EtII_JQjGMGjf5qWnOVOgPkN4WJstZjhl9Yl7qdKgLUvZ0q4K6_nlfpUFgJG6aj66ttDk9S0f-HQju5vlTKXh-zTY_n1IAWzw_3sxi2KcSLYLNI0FYfKCKtlYFNbbhXWTgCyjiPznL5XNDEilGSngkdKNUvZfUoKkHYfW9oI1tCF35qPMnSiJsGafc8tDQhp6h4pznGATMD1zxRaGz6Z-NpOL_I5HPXN0HfatYekPnVQxbMpDxbh1-mfYZ8r0vwmT7PLahCFx72AV2PM2-jwXS8C_rLZ9ojjUN0Liy9m11vRnGUZ6j7_QClBl2e2RCHl_uq0Rx4Aee7WTqNet1pxginF9cO2PxvxTHoRrU=",
  "id": "rs_05c87aee787d4742016aac7b8347b887d1ad9dea28bf9d7bda",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.30,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"The can is lying lengthwise in the middle of the table, just to the right of the burner. I’m bringing the open left gripper above its body for an aligned grasp.\"}",
  "call_id": "call_Tlme1LSPSBE1DdWctsH9qkt0",
  "id": "fc_05c87aee787d4742016aac7b86b7fc87d1a0bae15a580d39ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Tlme1LSPSBE1DdWctsH9qkt0",
  "output": "executing move_to over 27 steps (2.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8745, 1.861, 1.319, -0.2901, -0.6861, -0.6083, 0.9993, -0.0212, 0.7986, 0.6128, -0.4313, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3937 left_y=-0.2909 left_z=0.1372 left_yaw=-0.007 left_pitch=-0.0347 left_roll=0.017 left_gripper=0.9993 right_x=0.2891 right_y=0.0009 right_z=0.1723 right_yaw=0.0025 right_pitch=-0.0362 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -9.6342, 9.0051, 1.4188, -0.5299, -0.022, -0.0904, -0.335, -1.6342, 6.6393, 2.0635, -0.0122, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4c3085316ba9bc32d52b50bb91bf6255c38f089df060b96c7d32590b1620199",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:445e24468c8369e07bdcb3a0cb70d233a56a252a3512b8fe50641d8b704a4a9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21813b9a1e37b3a76257d8e53f0dbf47dccc7bc40b47cf263c7991b1b866f81c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7933, 0.6052, -0.3874, -0.0193, -0.0334, 0.9993, -0.0212, 0.7937, 0.6086, -0.3958, -0.0174, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2939 left_y=0.0013 left_z=0.1792 left_yaw=-0.0002 left_pitch=-0.0008 left_roll=0.0003 left_gripper=0.9993 right_x=0.2932 right_y=0.0004 right_z=0.1789 right_yaw=0.0005 right_pitch=0.0 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -1.3744, 10.1949, 1.9316, -0.0757, 0.1929, -0.0904, -0.4171, -1.4701, 9.6752, 1.9121, -0.0464, 0.0855, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHuQ-dl4FStrwOV1CH6aNFgWVm71SQAaNznfObxDjuxj-wqirCPyJk3mrxCknIlFXLA4iMUebU4OIpyS51TxSifIlFCdi_kDNPrIYfMQ_QDsT3KuX6xvtQOtyGgUAcDVQNtCW7QjuTahKHsuP8coOWFLrbs4TOPZ_R0K3ihSCO3P9cg9VdPd0sUjC-_fX-Poa6Eznb0qKAKrsPzMzWEKXUeyZm-q7T_PajTHOBPFD8FBEcr7txcWb4qt0Si-MCEQXA9f5vSXk45zE2XzkF2a_88zGQMYACs6bZNqvDDjRuqvIyi0nGcKoTS6KXnQj7KbmBOvo_T2MF3oSVbdwwOsOhLMUy7ugj8PDl5EeN4PN7PP-P6BEU8OlovxBvpzgrsO0hDo9V7VOBnbNWwEgASR6jWcxNUORJ94LL8DEu_roNnpIiumpAEDBz667F8eHcfkgSb0L2urLdKhQBCB6vikbIbG-biLGdwZo4gf8sa1NqThG8w61A6LuoyErHDjkdlmUHJDXFtZoQ9-XItSVTX8t4UuO4GX91epXU1qMM4371czwHrAjZECW3JuX8FiiLEYu_anBaSrMZK6gnxfGgcf6Pr6YfFRpkcBC6dC92zP2Koi7Gwx_nXuoCmPy_SbmJlC14NqUIiSEhyTSCCtZL_fu1iHuTfRozSeCY2H0-zOjBDITPEyRdHPVw-TJ0rN6hnL_xrl0LYGiGFzRVDpo94wCg1yy-p9v_QnDPRkV4uMlyxT98sc1hU7sTYSWhYyZ8lW4VO7YiT4mIgK0FasHQuo3VOwkdM4Lk_lgzzwFlBDFrP_UvIZl_mYf0nrRsIyq8R4fyoYUMQxdSa8QTYlW1mL2DiguRCLZaqUZO9ln8OToCMdQ8C_gJsC62QfYBsejD3yBc5ZXOzkr6Zi-AxqRRe9xOnW1NKEkKvA9jd6DQXSrQlpnvvTT_UxT1V1GJMLB0TBKFx82urrIW858wcIYWt_ATdHp8_LcmkhaCBJmnmO6OG0ADeI9xtmtFqwRyWwZeSxc3a0h-PtYiCKD4MLUrNYaPL1MOV7YPJco_dpwRf_2PxKLrwVpdkkbmXE0idjph-7noF0a5fHS3fWa4UtaenJykFawKaYJgEz9i2qASnIT05DVwqdGHftznTpcWiDThoRnDYJth6un7nkFH8-CK5M7PNgUEZs7kwTODq-DwUivRWtubiCjzTikk4WD7ZUbhQwFKS3DLvOHA7lPd-ZSz0ssFM_cIdBLD3TYdvhA-MsnPt7YCY2Tru_DLPvGc6bf9dP5ombFHfaBY4LzMEcgsFucr7FWPkP2m22mlHIZD-7mcetFXJGOxtDnOv3uUCF9Wodgz_Pk59KP3HSbZ8xKR33YsHJpR858-m_ofAQZgg5R3OA5b1Q544bjBnvUhAc81f3DYeNThCh0SOj5hYtPB5C3ci07_T1wtQBnEZBH6YGd_JA6cr7yUkESIwuLJMKrnfcuY59FuF8YK5tKP6FHDTj4fVAjeh0QyWmP8nBNm3lTHAty7x4neS5-FGjTE1GDSKZwmWSUIOBhD38A7a7W-6IlCUyGOnJXSyFM-ptBkvvsUUchFCmrf3vNcgKtRKCw7DOP1Gt",
  "id": "rs_05c87aee787d4742016aac7b8c884887d1b99e0841d9c56566",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.335,\"left_z\":0.065},\"note\":\"The wrist view shows the can slightly right of the jaw centerline, with its body extending toward the fingertips. I’m shifting right and forward while lowering toward the middle of the cylinder.\"}",
  "call_id": "call_s50QOrtzc0Th7TUiFGF7bj26",
  "id": "fc_05c87aee787d4742016aac7b8ef65087d193070fb15b24e589",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_s50QOrtzc0Th7TUiFGF7bj26",
  "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]: [-0.8776, 2.1391, 1.4277, -0.1669, -0.693, -0.6254, 0.9985, -0.0208, 0.8024, 0.6102, -0.4549, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4208 left_y=-0.3243 left_z=0.0616 left_yaw=0.0057 left_pitch=-0.0599 left_roll=0.0419 left_gripper=0.9985 right_x=0.2855 right_y=0.0011 right_z=0.1653 right_yaw=0.0031 right_pitch=-0.0663 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -11.412, 8.1299, 1.4042, -0.2076, 0.1294, -0.0855, -0.0479, -1.306, 7.1863, 1.8974, -0.0269, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6a024ee9e91ad1ef9707047a2ad41af7ec53299c0da06bd84d7f2825499508f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba82eea4684ac9c7baec68e5b5f5d288c4e74448c6f63e89d5fdecdc4c5f4789",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:010c6f367bd872b45fd3a6d3c81b16157e9fd4b00db01e485c7ed32c8e3a6406",
      "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]: [-0.8745, 1.861, 1.319, -0.2901, -0.6861, -0.6083, 0.9993, -0.0212, 0.7986, 0.6128, -0.4313, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3937 left_y=-0.2909 left_z=0.1372 left_yaw=-0.007 left_pitch=-0.0347 left_roll=0.017 left_gripper=0.9993 right_x=0.2891 right_y=0.0009 right_z=0.1723 right_yaw=0.0025 right_pitch=-0.0362 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -9.6342, 9.0051, 1.4188, -0.5299, -0.022, -0.0904, -0.335, -1.6342, 6.6393, 2.0635, -0.0122, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHuVCCLdmVaxSgocWaPY4uU_5XA1ZNzF4MU9UdUXV__wDJ7crRx2Nim01o6X5OjIO5N7j2N5-o73ev6kI8M1Spu2eVbE9D1iXnzrofmUbEgiqbA6D1LaCSWnQn21s7-XOJoNZq9gevmU0G_JGddh7BlcnaE38ljZxIiGupwhUqKIjRqqUX8-NlF-HLE3jC4CwiwvA7lP1vj6J-GnbwpMPzKRugYfcCP7CzyLNgKnqxw972l_BEmTA2kRF-w9_agEEo9ndfvezG6r3fH4lc6mgQ3CUBG6i1ED4CHGU1yvZkv1n0yDI673RIg2W8UA9C5va2lw6n0Bo3pNpGqxyKofFZ7aW612YcyEnyTLIiW5gIiQalkxtLgvieagKQC10ttl018JMdw7hIj8H1RNR3MJCKe95YpRlBMcDCapHUIAuY2yf-uuwflAtXFPuqR9Oyy-5b-k5Hp5fWLHpzQdGsqy-D8_tbhv92R8uFsF5MXbzvtTaByQqgJ26xNShejMDru7Q33HR_lJfoRLBDLK947MNClRIxqYmvzYyxtvc8_-34lhG_c0S1f8hM6aUfHbj-mQ86PwDAM3ILdlIy0DnAa0ePEtgmzgXpUgIayWAMXmrtr5ib-Z2ES6kAAofHdV5BDNiGLNiG1z9hj70_3woREENv80mLWjatqE1Bt7Kt1yxer5_WZejfWfYM-exSHEXQm7xzWYzYU5gACJhuxMl8yREi-58nEPeIUq_WZe2-anjAny7lciZfeP4WA5LOqGuVGWE7-ZNtakfpAWnBaAfHTuj5DxmTIee4PT8DxzM5Hov2DpknBv3rGaKzUerX61Z_hhMtSi-e6hQHoYyJifx1iytQqrcStTunJmW4NScWjH9DmilRqRCG_zm3mCh1xJrpTSkeDT2wfWcd6zKf9GDEjJorC8ZNDSxf0aMsEMlYmIS78U8BZNz4TN53lXofLWtwSrzRpNstw6cS7QWqUJtYIFU1jcEjS7CUjLoGOF1hwVrqs6S6OqTqYvKjxBsU5Zcu4hALdR-IPAeopVT_TvXt0Zmfftu5zyDHzt6s0bTxmT5hSsArwTfJCHZP51eNr2cxhbPDUoNeQu10hjF6cxKQCnA_g_RtJu9whkxFBOR5nSD6aM6BffcX3aNuaYumc6-UwSs8fGjvtlgiUa9aaa_o40roEIVjeUUTWudCVlhgW2bRto9w44OSERHRoyJtfZZwARKr5TUXS8fTkGRU0-Ole4vRVFoXRD--MdJkveqEjNlFWScbBq6faXKAHTNLO2xzFn_SW5pNSvZl6lWfcTPMq5AXww19criAlt85AXuMZahIUFVviOaXddc6Gf05e4CmSJlXrtAJAXATNNvdDws82uFy8OgmXTbxfHhCx5gayly8V-jbQEaL0hb1gOAg0NxpdYjW6KX820LD0zMbUCYNESedlZMA==",
  "id": "rs_05c87aee787d4742016aac7b92cd6887d182347b79dcf96b1b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.35,\"left_z\":0.024,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"The can is now between the open jaws but remains a little right of center. I’m making a small final alignment and lowering to the cylinder’s mid-height before closing.\"}",
  "call_id": "call_DDRJRPgvSqf9Q4QURcco12rl",
  "id": "fc_05c87aee787d4742016aac7b943aa087d1ae9a9267da9db3c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DDRJRPgvSqf9Q4QURcco12rl",
  "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]: [-0.8547, 2.3341, 1.594, -0.1589, -0.6853, -0.6205, 0.9985, -0.0238, 0.844, 0.6369, -0.5022, -0.0204, -0.0273, 0.9996]\nstate[eef_state]: left_x=0.4498 left_y=-0.3412 left_z=0.0201 left_yaw=0.0219 left_pitch=-0.0778 left_roll=0.058 left_gripper=0.9985 right_x=0.2841 right_y=0.0004 right_z=0.1571 right_yaw=0.001 right_pitch=-0.1285 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [0.5538, -13.3949, 8.1846, 1.5116, -0.2613, 0.1978, -0.0171, -0.5949, -1.0872, 10.5368, 1.8632, -0.0952, -0.1001, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8cab548e2bbd20faa985861fa172783619ff58946ce79db40aa202b3844e829",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f19662506fb9ba6afbaf01e8b92670b715bb0e232b3f674c2eee45d55901a12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d4ca717841b17d76f0449a62fca73476c382b5b78db74de73d07f297c16286a",
      "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]: [-0.8776, 2.1391, 1.4277, -0.1669, -0.693, -0.6254, 0.9985, -0.0208, 0.8024, 0.6102, -0.4549, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4208 left_y=-0.3243 left_z=0.0616 left_yaw=0.0057 left_pitch=-0.0599 left_roll=0.0419 left_gripper=0.9985 right_x=0.2855 right_y=0.0011 right_z=0.1653 right_yaw=0.0031 right_pitch=-0.0663 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -11.412, 8.1299, 1.4042, -0.2076, 0.1294, -0.0855, -0.0479, -1.306, 7.1863, 1.8974, -0.0269, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHuZ0Mj0ng3G6PuKYJ_cWWuGAmC7XE5RhkbPHs2vAjt9mWad2KC80Ti8bFIj97Q9K941eabDk5gi_dvK6JC3L8_PCjj3u4iQDXz6yC6Gh-QLdy2xbYNygMa6S1i1x7oWeWK_v1lT9xc94OJVfMOnr9pcfL-mr1VR05YVkzKFsGlRKAfpkpSunNz9drq0eL16gzgTMAbydk9-MkchK1fcEgS0VSojFFpTcLgMafQdmGgdqDwydj3X3Tk0pQUNlO1W8QvSCCQI4NVQa7SHv6wJVnop46uSOWuXFoqIgZG0D7L66sbdZjatzLb_UCRvWlcsV0mIRgQgaKWWK9fCyMIYBOl1GD3caYwm-aj5E_ISgs3q7oEgU5heKEYTkqk4q35Iuztsh-muxDo0d9gMQ3OceNHOBwzJLW-GRRNZFJu-UCmR8Is28lSGrOvwqsKXoo-kGGA7dgc7obB2tMgd-tcTF3j_m1JnCBa8HfWtArIJPyAhNXijrN6XDqNhpmf5uBHvk0MSkbwqDDhY-Lx3wA3x6fdthQnQ_S2QiJAtBiPn8lKXpy7Mkk_njDWN0vhahqhg1HUzVHpPS663fg_EnNDa40JlOQJGBxdzODe7BdPtFOM6cvy9-E4wqIxdzJgONv8YYNpm7hsQD0V-duiVh2PCt10mmaTIyslSaUT-lHMb1WkBjtM5Hd68KWBnQ1juizCascR_3t7HmUYIGRSh4kqaX69dzl9D12lZa7gKIVr6ZMXw9ymaMgEeV4yG1dBZD96hrJahnRSk_cSfnYJQja1Smqc9hdNTAIDpzzKv_VzOu0cyhnXdatta0ZoClgmi0dkTeo_Dd3cQILSXv2u7QI4EkSYSUFH7lyzwPJFVwL_yb0aaJKsx_DpTEwMCAVhV_Fi5WusbmJLaqTi-xc1TxCCCrPXJJ8dxOjHsJflai2enCRdBwK4Rx9c3a9bycqdc1TBbxV9We51Kh1fS1I9IMfKQ3MFd4bprwJGfeqUoxxhnpWjsfIS2VTdsy37OyQ5g0jFeHNOln_8PtjPhjrBgQpfk8Ri_38bKnh54K3SlK-39VwUnitELMUSq8dhP73LZhPaI5CNECYpQduNVaTKAQFGYmR2EC3oCwc0GbkQf_gHmB6EU5Yk-f7dW0-D2py5WvTHNOEFPjilwsFlKARmZZP8w2kkklNc6RO8OqdRAdP75oGRyXvD4g2cUaJWewDSRnMNoxMnjjTzOrHcHtEx4xMF7o-FjLRyvdRx8OXaYo5MGhb2vTpGxeuqkRmSONHLSPcDlODuOMtR14ucNgmGF8f1CXwmStw==",
  "id": "rs_05c87aee787d4742016aac7b97b89487d186f640aa19349631",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The can’s lower body is centered between the jaws at table level. I’m closing the gripper to secure it, then I’ll check the grip by lifting.\"}",
  "call_id": "call_rUrcTrBZMsxBoB4C0M5BldUG",
  "id": "fc_05c87aee787d4742016aac7b9888e487d1972863b6f5c31df5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rUrcTrBZMsxBoB4C0M5BldUG",
  "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]: [-0.8501, 2.3619, 1.5997, -0.1608, -0.6823, -0.6224, 0.6999, -0.0238, 0.8463, 0.6399, -0.5228, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4503 left_y=-0.3385 left_z=0.0068 left_yaw=0.0271 left_pitch=-0.0949 left_roll=0.0734 left_gripper=0.6999 right_x=0.2813 right_y=0.0004 right_z=0.154 right_yaw=0.0006 right_pitch=-0.1483 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -15.5282, 5.7231, 1.3162, -0.3346, -0.0073, 0.9939, -0.1573, -1.6752, 6.6667, 1.7705, -0.0464, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:788e762b2ed9386c5adc800c99a6c7470e26e84adf3932ec48b194438b783654",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6a0a69e8809a2ae72171b24bfe4f3d32171dfa45ba26da14357b1c3261e51ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab7e07dd7c65b54555daa74e7a4de161783ed381f30db9072225671daa8babbf",
      "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]: [-0.8547, 2.3341, 1.594, -0.1589, -0.6853, -0.6205, 0.9985, -0.0238, 0.844, 0.6369, -0.5022, -0.0204, -0.0273, 0.9996]\nstate[eef_state]: left_x=0.4498 left_y=-0.3412 left_z=0.0201 left_yaw=0.0219 left_pitch=-0.0778 left_roll=0.058 left_gripper=0.9985 right_x=0.2841 right_y=0.0004 right_z=0.1571 right_yaw=0.001 right_pitch=-0.1285 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [0.5538, -13.3949, 8.1846, 1.5116, -0.2613, 0.1978, -0.0171, -0.5949, -1.0872, 10.5368, 1.8632, -0.0952, -0.1001, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The gripper stopped at about 7 cm wide, consistent with holding the can rather than closing empty. I’m lifting it a short distance to verify that it follows the jaws.\"}",
  "call_id": "call_oMiW2GsVzrVmKNPzOt7Dnvq2",
  "id": "fc_05c87aee787d4742016aac7b9bd29487d1ad3287c8ec0f6fc8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oMiW2GsVzrVmKNPzOt7Dnvq2",
  "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]: [-0.8501, 2.3051, 1.6867, -0.3927, -0.6704, -0.6331, 0.6997, -0.0238, 0.8467, 0.6395, -0.5495, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4428 left_y=-0.3324 left_z=0.0383 left_yaw=0.034 left_pitch=-0.1579 left_roll=0.1275 left_gripper=0.6997 right_x=0.2768 right_y=0.0005 right_z=0.1489 right_yaw=0.0007 right_pitch=-0.1758 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -18.0718, 9.265, 1.3553, -0.4762, 0.0855, 1.0281, -0.0752, -1.306, 6.9128, 1.8584, -0.0611, -0.0464, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d50b01a4178799cbe3f389d98d2a6d1f592a9c06e8d5dea257293d4a554122c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a15a41fcc894c193d1af1945ca5245a1c080d3e3330197fee0296941d2949f90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32c0b12b9eb87e2ea38a6e80b02ce7232daf6767acd9abae6edc806239d0a445",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8501, 2.3619, 1.5997, -0.1608, -0.6823, -0.6224, 0.6999, -0.0238, 0.8463, 0.6399, -0.5228, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4503 left_y=-0.3385 left_z=0.0068 left_yaw=0.0271 left_pitch=-0.0949 left_roll=0.0734 left_gripper=0.6999 right_x=0.2813 right_y=0.0004 right_z=0.154 right_yaw=0.0006 right_pitch=-0.1483 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -15.5282, 5.7231, 1.3162, -0.3346, -0.0073, 0.9939, -0.1573, -1.6752, 6.6667, 1.7705, -0.0464, -0.0415, -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": "gAAAAABqrHuh1J23CiJin7zTmuD7h_9VT3bo6uOU20vBe75Dn71pL1cLIN_yA-VTrMg-58l2gAKj34BZL3-8zs9bVMuGBQbic50VvozaYygsUQjqNITcu4gxltIfJUFTugMXQGfFwIa-XAvc4W-oJ9x3mwdKrYVpTaytEHUSmUTFGf8NatqaT9os9Nk-MaK80Nyrps2erNYgUzc8KkyIpsZFf-5DMK6rRqxo661tPrXY96B68wA7HLpSeXZw6zpAq_bsRIr_Euu5xlGTuGXO0R86PmhLHkOAlB1Udo99KXjER7aezfrH5lcDSDSS5EaSk3fD7VAQu0bMvCwR9697RRougFfUkyKRjhqpYG-W1n5c5v_tgvP-ujkbNp43e8hBumQN7jBxZ3eFMYKDqm4k95LFrY0Ij7YV3Vn9dUIQgZZX0yLUNG2OQKoeVbFB7yFHRf61dCpbTUvBACAPQ0zAUKelSwk3P9CXVrRn6eS2Apf3-7UPfeXeYMQWjaN3P-XWyDeTfx5JSDTcjiIZtLjhV82nrMTDUs7WLt3Qn1xtubE7pu0AZaClDXFTV-21_CwHioSAXWBRe0zkqgIDdlwKELZPUobhjd44IM80goYiZbrgAJ5n2IG6G6sJAQGZErY_pmM-UsZJvNx0YDEbd73P8xuYbIU9Mwiag_IoNvIdoHQcBrh1WRxOTO6F23_CwnS1vJDmgqNy_IdQcceclFumNpFLVn0DvyAwM4a-pA3sY7QG9K-u9tP2_Y71Ac11ecSsTxo3jeO3w_DuV7Zy32UndvcPadidBUoQl8Ng4iNB9e7iIlTgd4e85bodoqvaJqufK1q6FBqasyAW8wceQGODTprNRmy4wUcBzc2Ym_BqFwKHy9cisgCowmS-aG1L0lW_umC6dR5dLUnISUnzEUT-QC22OvmJ0KTJsOIfAt71bBKOUtOjPxGHvcAUAy51R_W3z6ZP-xAXhZC0LReLBHT7H2WpvwhpOLO5I4Y3TCJ47I-dr25Tkw-JzmCZvG1-y-BgLEOVETNb2cfer71-u_9XsCZpwimJ5UHDOOOFsaw2YwvMGPPSeIUoVkh5oZi2CjMkdHCvGgRkLSevls0vrdxde8IB2UuJwKFNCF-vULWqs_07FtJ_6qE4LbleIHYmG4XcOl9TvQfLlvdSmgI79HR9NwnBRvX2fpmbGUFonJXDNyeA4GIxbYbi-kTWKyWAKnpeW8U2MWgNQ916VE4sWHrG_INhvEV2sKhJ-b5K-M9mkPtmB2uzcAQei9H8T3jw8YspX48D9WlEfhbQBqxeF4HtXlgTsUvjV37M_3_PX8YrISVWJQXFfrHR0O3Zk01nBbILB1xYSLP6ST6jLI-d2v1IQ5XehieThrIH6LBaYUL9ma0bVZ_GHFjUgOkHlIyi9IBGxD9AZFMWphdZmV7a8Xb3-8G7Q4wYCFGITA==",
  "id": "rs_05c87aee787d4742016aac7b9f440087d1bef56cd3f9d0433d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.3,\"left_z\":0.16},\"note\":\"The can has moved with the jaws, confirming the grasp, but the lift is lower than requested at this long reach. I’m drawing it slightly inward while raising it for clearance above the burner.\"}",
  "call_id": "call_M6doHRRLhlfTRaFR7GKyKW64",
  "id": "fc_05c87aee787d4742016aac7ba03dc887d1ae746d2792d7361e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_M6doHRRLhlfTRaFR7GKyKW64",
  "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]: [-0.8703, 2.0373, 1.6558, -0.6804, -0.6594, -0.6567, 0.6997, -0.0238, 0.8494, 0.6395, -0.5724, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4017 left_y=-0.303 left_z=0.1293 left_yaw=0.0271 left_pitch=-0.1954 left_roll=0.1439 left_gripper=0.6997 right_x=0.2729 right_y=0.0006 right_z=0.1441 right_yaw=0.0005 right_pitch=-0.2013 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -13.6684, 9.5658, 1.2332, -0.6178, -0.0366, 1.033, -0.1299, -1.2786, 6.8444, 1.7363, -0.0464, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b350010944a8165d85e61f1f8acd14d8c6dbee1b750f038b28584d4e1fcbe30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79e8f87606151f0a973d725fd73f370a720390a4fe59305c54fc6e9602bd0a53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:187836d5a6a14e2a18adf459e2c616c255596bdd5f80637662f5147765e1fe34",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 21 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8501, 2.3051, 1.6867, -0.3927, -0.6704, -0.6331, 0.6997, -0.0238, 0.8467, 0.6395, -0.5495, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4428 left_y=-0.3324 left_z=0.0383 left_yaw=0.034 left_pitch=-0.1579 left_roll=0.1275 left_gripper=0.6997 right_x=0.2768 right_y=0.0005 right_z=0.1489 right_yaw=0.0007 right_pitch=-0.1758 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -18.0718, 9.265, 1.3553, -0.4762, 0.0855, 1.0281, -0.0752, -1.306, 6.9128, 1.8584, -0.0611, -0.0464, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHuna4hCPwzxirnTCVGHTYychREWpZMIeBs_PglbNTGNUsTTFzPoiHhsZH8afZ-dZUhvgtLsnlMI-atLkZSIphFT1jWIN-1ZqRBjUVqcfdlOs9FHB0Jeg4Dy30SKxBtF0NEuMefQSK_3h8oBXyoMi6iO38N-JbEqaij4XztawkQ2tSjUmvbsiqDnRKq9MYbLK9-nGEr5APR9P2TLyHEsPfshdJXrbft83YxBcNQb6Nfe3ukmYoVgxsx0_rwpP-y2BcquWCvE5-bgaG-fmMPO8-PU3AKLExw_iEDjhbdgmwSn4RA5CfLiJAutfTuYtDdmafKzeCS5NoxRTgl0ZiWbKjeUqq0bgT6Vtq0HAb4MxLs27tSIcf3h9tTW-gmN2D9ZbqnpyoO_Hwpvxr_1VUFFVP89ReMO_lqjZUlzPkgG-if1xBhIKeKkAHx5awHBIeo5tGHw4ppkCHxrLRORNfueb2h3bfMgSe_3j4m9PBF4H2Uy0lMWEKQnnyVewkvaU_CA_P_bZ2Y0ADmSgPM8s87UiHmkzpYS-585OXRPbdCNk9HlFiMh4zU0Mkb_Be2k4AGxcrDiIQjrZE5ffVbhl1FElyFW-2XlUrVfoZbXgS3OfGSgG9JqZZ5VcaSRiv-w7Rh18Dx91GYeDD1vuMtTPhIVfYa0Aeobfj8RK42gVOHzImdpWMY6LYNrJ_z3l0aBAtnP9Quj7_wbRljHj1EVyZ1yy1g01YqK8UaqRUFP_CzqtFka0rPZUGtGQOvTP14uAfpcCP6kKHz9uyDT4KbfXny7BSwqXG30GBbcZFV_PNQuDSFwOjr2IIv6-mLOJwCozO8XMinKTIp-SjtP4Ncp5OG3_1szgLXqM714lKv1ghkZzoI1v6PXpv7USxAUnRwmvGQPcPPTqbLf4Vu9Vo2LgsZBN3Pp8-QR9vjb09OHJ1WYDWCDkHoxSVmyuaw2M70rTBGYR1RJ29TL8EfDXoiY5ZEXKlkHDi-FagUhSEDUAh4Py-vuSt6fIaWHZke9p8OMCG2_vI1c7XfjIGgft-kuWy8w02icc0OaoQZktXTLhJbLP4-U5UYppvjSuo6iu1r-thddm6yCTzyjIkkhopZgzaXYLEzUyyzOPYm908TU1X5DUaS3hFo9j9U4u0uVgAM1fbBeXL7usDAxyMrLtfTj9rspSjXw7tRT_TmOsSM3M6ouYbB0wEI08Yq85ZWDKIIwVzNBPlaDrDnEHjXvUc1tCBffWoSpUn5oojdEYOTNzwiLvdIKhL5ahp0BARPyxYeP6PpSLmixW69jJ-WGa_X9XLnnH87bho8QE2c1E2qMAS1k4dlXubamG6JE2yFdlgKUIL07g1snUwFMal2G-wGacDcE_aRpDoiyYYIBODNpe3Tv91T0Dbz04Q7OLpDmk39BjPbtusaNXT68SdV--ned2Ho7gKLoEZukUFOOyeGlwOMa4kZC8W70AD5XqIAUJcSkXrg2oJsO4hChQiDBRLrVwFoCJtwJSB9adhAOZQgTMwweYMhy4Hja0xEeJaL50uA7BSZiqe5vPdDHNDwRsuWSqHeXQnoDlL75k8enXuXb8Iu663nlixLmrCYuuQ3BEYS4mZ-b93TuiR024d8rIHFQ95f-AkjefWfZkzCn-JxdQGWqxWdI9nq23DDlCb-NA_cEt9KLr9po",
  "id": "rs_05c87aee787d4742016aac7ba40a8487d18b720cf72d51dc0d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.13,\"left_z\":0.18},\"note\":\"The can is securely lifted and the burner is clear to its left. I’m carrying it sideways above the center of the burner before lowering.\"}",
  "call_id": "call_CgwH0aI3HyueTP971GKmQFdx",
  "id": "fc_05c87aee787d4742016aac7ba65d5887d1b262d22501c391c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CgwH0aI3HyueTP971GKmQFdx",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5201, 1.5913, 1.2312, -0.5835, -0.4622, -0.3431, 0.6997, -0.0238, 0.8494, 0.6395, -0.6106, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3965 left_y=-0.1322 left_z=0.1611 left_yaw=0.052 left_pitch=-0.2468 left_roll=0.1615 left_gripper=0.6997 right_x=0.2661 right_y=0.0008 right_z=0.1376 right_yaw=0.001 right_pitch=-0.2395 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [0.294, -9.9487, 7.1043, 1.5849, -0.1636, 0.1441, 1.0281, -0.0615, -1.2923, 7.0496, 1.9121, -0.0611, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c3a1e0de510c2f8a54f30fb37dc0bad8853199b55b13fab633ae25fc4d1c78f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19bea45baf94354dc900056cc7453cc0857de119b0ac35506c4339ff86a1acfb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb082210fc8f60d35eeff6d520f4fd630973e247744a09c1dbb16ca52c992f3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 25 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8703, 2.0373, 1.6558, -0.6804, -0.6594, -0.6567, 0.6997, -0.0238, 0.8494, 0.6395, -0.5724, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4017 left_y=-0.303 left_z=0.1293 left_yaw=0.0271 left_pitch=-0.1954 left_roll=0.1439 left_gripper=0.6997 right_x=0.2729 right_y=0.0006 right_z=0.1441 right_yaw=0.0005 right_pitch=-0.2013 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -13.6684, 9.5658, 1.2332, -0.6178, -0.0366, 1.033, -0.1299, -1.2786, 6.8444, 1.7363, -0.0464, -0.0269, -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": "gAAAAABqrHutqneScyOptgSux1TVNHVshtAaREykiKNCAaFmLiJzYjCBNN0JiJlbyjdLzu1JpH8iAnloOpIF8MYk9HK63HTxBk17iMMkIFr3nQCzgaA6pT86wyt51MDuAVOwU4F8oQ3jXtvTwSzTKfWdD3slN9Qc0W5LFPB7YJNAaQiJAUJ28HzBBUHiX66Z5dlIQYcLlOJorzXUMDvo7yLJ6x_WZ4QWTUxgOZqyH0KY-t1MnUCFPqmWBba-xhS9tM0NfB_s1yoeA-96wTcoeto9j8Bqdf2EePA-Wq4Z-oWcuFozkdPqL_fbvhj-xcG0MGtfQGIScZZ8I5Cn2xkuHK6clyvg-_nhQbYnjBk2-LDPLni1Qv6up6NU_o9lTFCgeIFLxfvLO2NL2VSVjBy7-qdzSAN10vZ-zwsVRRK8Ju83pz75UO3k-iiDem0OizNmt9iXVH-4wM3odMiTzb-45miyddk03fp-YRRlrEcT0DPWsw-uqVEn6tg0iIhfm6bx8NCToJAcKOXmgtqb24dGB8IxAUKIkU__oyrHbmcNXlp6maVUoCopmFfrIoJ2n0VOlA7QZOC7DMUFBmxgddjzT3o1Kt8DHdNNrio-vHilVwc2dv50IZEU2U2_oSuefupyw47EHP9_toxDq_MNeryoJjcaC_jHB9UXdVTfKAd5PY9a-AemU02mNdcF1yvkV9zaJ-sUj6BbXpN9DYcoUpqIAYZQOuFI3WlZHvtZOqNQmFBWJ0N3HqvrRQm0oRb82CJvFU_wdU9hV6NZZIMxzgW_wY0aUCxCrRZBWtjjBWKvs8AGXi3VB3aQiazcX8Bx6Uzbt0hDJN41xmopS5PDsDk_reqdThK5-sDrdZi_KihDOTUoJukG2yMMB9HdDimIBirF6AEDGYcgc1tnT8wf3nhG30SZzTIFyyJzIC23YGSA7gzT75GRzW3HRCePBoGpdpbhqwh5M4aeJAYDBEcTCITg7H6j-WNUrZx3XrfHpshCpyNlAcNNlnKYGZPT-t03hmH8Yst25hhFOjqTJcsZ0AoytY5HFRBZO1DDaRJJS3n8ktO-PCPSZNaxxsPJoWDsEUXzvieauJnl_VHWOFZkCTcAptFKRWJgIqtOMsiG99URyewnnnclKyIuA28q9E1TpocopiHtYibuEgwtsEadMIIMy7dMHjPI57oJjCM7dAGAaMkVfMrXc5wSqRk_ieWigPhslel-1FO6eTSf9-fxd9_bN9mLBuzyi18ZMh2wWj83rEc3yKmF3bk7VczftJs9JbOgZ_ON-lFCH02XQBLLS_4643mC639aYysnL8etLLh6JjZCpDFYZ-IaINXqf2WawXk7wYUIOSZFasS_bXSDKHJHhLTsAfghNew313eURliNT33B5u6vGdgxunZvV4qk8u1Qw_H6QVhG4hqz_z2GMhlyUK9EX7oOcrPSvQ==",
  "id": "rs_05c87aee787d4742016aac7baa94c887d1b11e7e3df80154e5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.10,\"left_y\":-0.115},\"note\":\"The can is positioned over the burner, slightly to its right. I’m correcting that small offset and lowering slowly toward the burner surface.\"}",
  "call_id": "call_dE763TU3EFxNIh7jlCI2dflW",
  "id": "fc_05c87aee787d4742016aac7babfd0887d1b71d9d95b91f11b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dE763TU3EFxNIh7jlCI2dflW",
  "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]: [-0.4816, 1.6161, 1.0096, -0.4164, -0.4343, -0.3149, 0.6997, -0.0238, 0.8494, 0.6395, -0.6212, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3794 left_y=-0.1104 left_z=0.0889 left_yaw=0.066 left_pitch=-0.3292 left_roll=0.2042 left_gripper=0.6997 right_x=0.2642 right_y=0.0008 right_z=0.1358 right_yaw=0.0009 right_pitch=-0.2501 right_roll=0.0075 right_gripper=0.9996\nstate[joint_eff]: [0.6222, -7.1043, 7.6376, 1.58, -0.2222, 0.0757, 1.0281, -0.1709, -1.0051, 6.8034, 1.5507, -0.0171, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4141dcaf8f3366d860ef9aaaf948cae56b196936667640f6823feed83786da2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abea128bfab9fb098fbcebf204cf82ea336845f776daa85704acbc3d1da4b47a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab7d88dc33d2f7fa01fd14e2256933f6bcfdaba1aa91b446bcdf0713c47eb31e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5201, 1.5913, 1.2312, -0.5835, -0.4622, -0.3431, 0.6997, -0.0238, 0.8494, 0.6395, -0.6106, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3965 left_y=-0.1322 left_z=0.1611 left_yaw=0.052 left_pitch=-0.2468 left_roll=0.1615 left_gripper=0.6997 right_x=0.2661 right_y=0.0008 right_z=0.1376 right_yaw=0.001 right_pitch=-0.2395 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [0.294, -9.9487, 7.1043, 1.5849, -0.1636, 0.1441, 1.0281, -0.0615, -1.2923, 7.0496, 1.9121, -0.0611, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHuwZF0zdkK-Tn-Mz0Nf7Iw585heuqVpZGUGciliiyj6aEYGgoDNd1g-OPE9i5qxhS5eIqM5wnG2OTWr3qKm8ykCIpLN6YQxEkZ9XhF95K3JX_fc7uWVc9WXvnbLbvDN0QqZCh0tYCtxRE8imrMWCBnAl_T6uF8z_1OC9w3IhOshril9X62xGsPgBCHZZDbA8iND1dcW79naMRCAZWR19o_NU9qwIztjHdipDfFLaLzZGVEV53UKX05qN5ZlqFPypy5Q50VAHAPZ3Lrz80nOjXqo_pBWMHrs3d9LgLgX6Djhe0P7t5-KBX8-rpfnMaGlwXb_1kU9YfGF2tB52BMgD-9oriWJkZaolN5jWoPOf-KgB2FqDSwWceWJPg69sNNDuQcQ9kZvaHHU8H2Qs4umHAOPGp9ah6jwfTi6TgDOMcxxHRYnNASO1m0LRLbq5JoR8DxBA8NP2qfiVfi2VG1Y8sfgjNtqoq1dqrMc-2WADnLvYLFns8uv1YIfR6sbtBmK6DxtIJek1HC5nBnrHPTa22UJDnRKyIaGmUcTgOzb2BWOY2utRujnkV1OBorEJ8sBzV2aDrYY48d1vLdzZPDEIddTJd61H9DTEG_dKZSu0jngLlHqe0NB7l5e5I7E6w5kyj3XeMwss_4HnFh6kmoC2PtmlzpNCvLlbGsrr-d2DdxIkRQImcIZZj2G-mpE3MY1Ya05WBBwDiA4o84ItJOTtjAKDi2Sms4EppMLOZ0x5NsCcWe7WKpNApkHNFDZT6YOEvLW1XnN8OBle844-0aXX04HFJ1LeJn7AHS0W1vCI4NBdFqf_MeJXP6PWyva1C5M3Zd1nY5AtD_1SAhn78Er55o1mA_dQSD9-WCQ7KdWAY2K3TbTuas0q6FzQhbx2Yytqst-mDcHQySQ_pWjWWrAoYU0VymHacPBFZsOnne8WV-4Z2ijWfcj-0kCc9hZ8b-iUkL21_YPivuzwCTRnyuvXGG3SSJRdp1Szj8mSimaq2hqzxKcc9648g5o_sSPhLatFhcyR5LGUXdGq-32VUg-Vm7WkMkTHOoK6j0vDoxg84PROk8c3rOYkseOzJVeIq6KedF7QIUNmnBhg-jnersJvIsZkg0qfFF5lPFlv9jfYg1_JvtQspyGv9awWqyaYKMVB8Krn5MfdWCMmy-HhnA1i3F71toKlpNVjKAHH5JxWcmLGwcshBKLI6CNchr2u5GzYeRSs303x_jwv0Qu0R3lVkmMN3_LHE3rYo7Aoq4hWbs6G75oACiOWYcSX99Q0Y-4Ma_aUbJ9rU6S1awT0bi2f0ly9akF8gaDBHtQniNs8Hxy2zA=",
  "id": "rs_05c87aee787d4742016aac7baf4d6487d19a81e07b52bf7d8a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.065},\"note\":\"The wrist view shows the burner ring beneath the can. I’m lowering another small step to let the burner support the can before releasing it.\"}",
  "call_id": "call_TgKlaucj5WQxFQi1Eq3j4ygZ",
  "id": "fc_05c87aee787d4742016aac7bafe20087d1a94a6cecd4f2ae68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TgKlaucj5WQxFQi1Eq3j4ygZ",
  "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]: [-0.4763, 1.6176, 0.9993, -0.358, -0.4301, -0.3145, 0.6997, -0.0238, 0.8494, 0.6395, -0.6353, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3873 left_y=-0.1129 left_z=0.0916 left_yaw=0.0602 left_pitch=-0.2912 left_roll=0.1761 left_gripper=0.6997 right_x=0.2616 right_y=0.0008 right_z=0.1335 right_yaw=0.0008 right_pitch=-0.2643 right_roll=0.0073 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -7.4872, 6.7214, 1.707, -0.3053, 0.1001, 1.0281, -0.2803, -1.1556, 6.9538, 1.58, -0.0464, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5ae4b456013b026263abec7e03f21d4d315707af47f8ad566c6e27ee6093144",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5337c6c708cff7e52b9e1f17ed37c3328ea3fc79c7473c9e204e989cd06c8c51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eadfa10f8fed376a62d8a54d26954c4e9eac7e5ab41dd2ead522e641a471a97",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 33 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4816, 1.6161, 1.0096, -0.4164, -0.4343, -0.3149, 0.6997, -0.0238, 0.8494, 0.6395, -0.6212, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3794 left_y=-0.1104 left_z=0.0889 left_yaw=0.066 left_pitch=-0.3292 left_roll=0.2042 left_gripper=0.6997 right_x=0.2642 right_y=0.0008 right_z=0.1358 right_yaw=0.0009 right_pitch=-0.2501 right_roll=0.0075 right_gripper=0.9996\nstate[joint_eff]: [0.6222, -7.1043, 7.6376, 1.58, -0.2222, 0.0757, 1.0281, -0.1709, -1.0051, 6.8034, 1.5507, -0.0171, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The can has stopped descending above the burner, indicating support from the surface. I’m opening the jaws to leave it in place.\"}",
  "call_id": "call_d6f1IygQc22TYtp7gZjRDCoB",
  "id": "fc_05c87aee787d4742016aac7bb257e087d189a31e4890b2fd0c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_d6f1IygQc22TYtp7gZjRDCoB",
  "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]: [-0.4759, 1.6176, 0.9993, -0.3416, -0.4305, -0.3138, 0.9966, -0.0238, 0.8494, 0.6395, -0.6575, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3901 left_y=-0.1141 left_z=0.0938 left_yaw=0.058 left_pitch=-0.277 left_roll=0.1681 left_gripper=0.9966 right_x=0.2575 right_y=0.001 right_z=0.1299 right_yaw=0.0011 right_pitch=-0.2864 right_roll=0.0084 right_gripper=0.9996\nstate[joint_eff]: [0.3077, -7.6239, 6.7624, 1.5946, -0.2955, 0.105, 0.0171, -0.1709, -1.3333, 6.8171, 1.6288, -0.0366, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e368f8be1c41a423a45cd7c2b5684785d640def1e242678aa450c0afe5030dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3e3ed91e833eabdabc884243a5a7445b85e1f0534318784216e7d28f2bd382b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a0395b8717df90333bf6e35821007df0f538eee139cd7dfe35957b9e7ced878",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 37 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4763, 1.6176, 0.9993, -0.358, -0.4301, -0.3145, 0.6997, -0.0238, 0.8494, 0.6395, -0.6353, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3873 left_y=-0.1129 left_z=0.0916 left_yaw=0.0602 left_pitch=-0.2912 left_roll=0.1761 left_gripper=0.6997 right_x=0.2616 right_y=0.0008 right_z=0.1335 right_yaw=0.0008 right_pitch=-0.2643 right_roll=0.0073 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -7.4872, 6.7214, 1.707, -0.3053, 0.1001, 1.0281, -0.2803, -1.1556, 6.9538, 1.58, -0.0464, -0.022, -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\":0.21},\"note\":\"The open gripper has released the can onto the burner. I’m lifting straight up to avoid disturbing it, then I’ll clear the view to verify the placement.\"}",
  "call_id": "call_nTWE7mM0IU6k3qmbWeTr7ohI",
  "id": "fc_05c87aee787d4742016aac7bb537fc87d1b08bf3ecb76ecbb8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nTWE7mM0IU6k3qmbWeTr7ohI",
  "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]: [-0.477, 1.573, 1.3754, -0.6655, -0.4232, -0.3218, 0.9971, -0.0238, 0.8494, 0.6395, -0.6762, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4107 left_y=-0.1265 left_z=0.2112 left_yaw=0.0439 left_pitch=-0.1955 left_roll=0.1072 left_gripper=0.9971 right_x=0.2539 right_y=0.001 right_z=0.1269 right_yaw=0.0011 right_pitch=-0.3051 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -7.4872, 6.147, 0.8132, -0.2613, 0.0757, 0.0464, -0.3487, -1.3197, 6.9265, 1.6142, -0.0366, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71d5f2308fb4996eef176ca867390bc503b9b4377affe5d6e7f6dfbd6e270191",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a304cd9957e940718176cf76cffa6c4c55dec12db6032f0cf5b31bc99450a42e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec9c594d0163e08e6b8b5145beaa04712c07042d0b238bdbc5b96158fa0c9168",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4759, 1.6176, 0.9993, -0.3416, -0.4305, -0.3138, 0.9966, -0.0238, 0.8494, 0.6395, -0.6575, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3901 left_y=-0.1141 left_z=0.0938 left_yaw=0.058 left_pitch=-0.277 left_roll=0.1681 left_gripper=0.9966 right_x=0.2575 right_y=0.001 right_z=0.1299 right_yaw=0.0011 right_pitch=-0.2864 right_roll=0.0084 right_gripper=0.9996\nstate[joint_eff]: [0.3077, -7.6239, 6.7624, 1.5946, -0.2955, 0.105, 0.0171, -0.1709, -1.3333, 6.8171, 1.6288, -0.0366, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.2},\"note\":\"The wrist camera shows the can resting across the burner coil. I’m parking both arms away from it so the final placement is visible and undisturbed.\"}",
  "call_id": "call_cRCdcv1i16vjmj3zgUJpl5tI",
  "id": "fc_05c87aee787d4742016aac7bb9917c87d18ee5fb1f6dfa2429",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cRCdcv1i16vjmj3zgUJpl5tI",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1383, 0.9852, 0.9043, -0.709, -0.2184, -0.0975, 0.9972, -0.0238, 1.0515, 0.9722, -0.8589, -0.0204, -0.0273, 0.9996]\nstate[eef_state]: left_x=0.2969 left_y=0.0009 left_z=0.1999 left_yaw=0.0865 left_pitch=-0.1958 left_roll=0.1013 left_gripper=0.9972 right_x=0.2839 right_y=0.0004 right_z=0.1828 right_yaw=0.0025 right_pitch=-0.3573 right_roll=0.0101 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -2.1812, 6.7761, 1.8046, 0.0513, 0.1441, -0.0073, -0.0752, -2.6325, 9.0051, 1.4823, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:717c29a1794c7dc450b6336e9cd876594dfc74455bd2a663d66d8230e6db6971",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07048eaaa1fbac568318038546172b65b921dd84cfa58a7b74cbf47783fe99da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f20af8aa118eb67ad8ddf39f434ae74224198a985311cb17290b287021455ede",
      "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]: [-0.477, 1.573, 1.3754, -0.6655, -0.4232, -0.3218, 0.9971, -0.0238, 0.8494, 0.6395, -0.6762, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4107 left_y=-0.1265 left_z=0.2112 left_yaw=0.0439 left_pitch=-0.1955 left_roll=0.1072 left_gripper=0.9971 right_x=0.2539 right_y=0.001 right_z=0.1269 right_yaw=0.0011 right_pitch=-0.3051 right_roll=0.0083 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -7.4872, 6.147, 0.8132, -0.2613, 0.0757, 0.0464, -0.3487, -1.3197, 6.9265, 1.6142, -0.0366, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHvDicKvjtxjol4ZQ9jkfs6yqZq5fIMyqOdHCmXdiajcQEDOU8YCOYLfNyLTUIoPzVDunsg-yeu-6uB_CCIpY3OR0jxAMJcLkgwCB25SrfS2rd7dzWYEdcIRi1kP5giycuoXKiPO4QDh-H7FltDqyI7hO22-BmJb91hAfZS77Pve_AdXiAc2AILoq5LSyWcAWUoT3iqTsoAvvKrEELUGoIz7_8VGsexOa0x0ZCclLfJJk2s4mRMwVmzAGrSvIZ8wnOfu6RK_37xezUDXwR3Rt0pva7UoTJUX8vUvDWmTnhZTyaxWuf82kvGSJOi4xLkLTrwjg6CRsUJbdrzi3TEZuZ8dwF0SLtgY7i0WNN6CALNOfIFDx55PX1ENCv9j4YrG6QNI0SjQ_fhPDHgPCK5oa6f96_qklp0W3hNerggDgBgqeszgaHMHB059ULaPrV1sB91dTbas80oEIuLT9ucTMv1kIaGAOeR-RfEzzuEIWAOiefBTI_Dzaq1IWexFCBycVzUXn-7A9Ao4NkeWxLWhaRllU-DOPSo9HSkhrl9NStAROFkJC3xxQLeYb5VJXfuqcVy7BOQ2ruw0LD4ESMszGpj_fnTUcQ0EIhWKWRGp-hPrFSW_vgujMuOG14HtykztgayChNFFUh_zbKAM34KRStMOhW7SP-b06L6ffjBArswV6Lg3I2AG3-XGbXY5UKE8D7FxENnSusmId90CDOFSG6-dYzV3s7U5RX5TIGuk3Uud6O6oekleBz41wZxghtBjFnpb3DsXDOjt5eDtOWk9QAEcJPuPHJkuECjkd_Iy79bb9Gp9njh63rO9TWOOfsNGbOX_7xGwZFoovtlkfI7XxXYQ_unh9RH7JwUDcB8JrOonaO0qTMQGpnjDO5eMQl4WPdfqEEkmB1ujy07ax8fusHyEI3l3C_UMQT5-bdulqJKzAPBu6SzTNiCHxPUYvXz0uM37q7P0kXOMiMZ4YzfcwG0uWzci1rsazR8EAQWp323ulPLsDAxuO4k4E7PqrmRcRcIlBQfDEgDsH0wDdj-1_WgitRug3AvuZh5Imci2KSO-MyMwop5EL7uYEJlUSs-RxVc9j66hkni8Qr9LekmZg9KlWx57tdsZaZEWjm3Xr2tSg3sZ-pm_gFRbmzAJwlvA1lwW0v-SCqsx9Y1Eck6BTc9AuYnb1XdtvHm3tKbQF0XKm7O7gVrLYo95lowHAHF_Z6voqPmcK_DHnBfzepuLIaGoiMe_DChQ6GjKAZgkxdLCb-kR7JwVgwQ-Pw42Re4Qfbe1jreK6f6S4_rR1Y6Jrm7WcAJYiU8j-IZod7usz_kV0uUCnbat4EY2RntsvLgkRePR39wxNVTGnQElVDLMXoufDiRK_8NbwgU3MrBEryfUr0qYw1CNYFel7U6viZeydqsiQJ0o3orvFVWMYisBTfPIO1LJdMDy0_jm0CgZig-j9JPJLXRhkzAiuL3C8KgyHpNdZpEhnxbtB2pQ7ReljIfAXBYUx8Uke3hUqDABlqAcdQ5dKGNCJDi32Rgo7rcE-zVuWZ1HUBTWKIUbd27eEcTsfw==",
  "id": "rs_05c87aee787d4742016aac7bbf80a887d1b851580497b3a431",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.115,\"left_z\":0.14,\"left_gripper\":1},\"note\":\"With the arms clear, the can is resting on the burner’s right edge rather than centered on the coil. I’m returning above it to make a small centering adjustment.\"}",
  "call_id": "call_7zubzBug68ohGktb3jkBpkFR",
  "id": "fc_05c87aee787d4742016aac7bc2828887d1908267965c48ecbe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7zubzBug68ohGktb3jkBpkFR",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4801, 1.5085, 1.0103, -0.4576, -0.4297, -0.358, 0.9983, -0.0238, 1.058, 0.9749, -0.886, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3732 left_y=-0.1073 left_z=0.1229 left_yaw=0.0773 left_pitch=-0.27 left_roll=0.1348 left_gripper=0.9983 right_x=0.2793 right_y=0.0004 right_z=0.1782 right_yaw=0.0019 right_pitch=-0.3882 right_roll=0.0106 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -6.8991, 9.0188, 1.4383, -0.2808, -0.0366, -0.1832, -0.335, -2.6598, 6.3795, 1.5897, -0.0366, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4c4fc619d56ab9aa2a8cfed99d85c59aaeb3d14116d6d21c7fd49ea9d073018",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f86f07c11d104b8b7accce428ee925fc82aa5cf4a7f587d93818dac30f245337",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55b156585384865787b7ed5f077db175df30ca5bee6366177d42dd4134d85a99",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1383, 0.9852, 0.9043, -0.709, -0.2184, -0.0975, 0.9972, -0.0238, 1.0515, 0.9722, -0.8589, -0.0204, -0.0273, 0.9996]\nstate[eef_state]: left_x=0.2969 left_y=0.0009 left_z=0.1999 left_yaw=0.0865 left_pitch=-0.1958 left_roll=0.1013 left_gripper=0.9972 right_x=0.2839 right_y=0.0004 right_z=0.1828 right_yaw=0.0025 right_pitch=-0.3573 right_roll=0.0101 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -2.1812, 6.7761, 1.8046, 0.0513, 0.1441, -0.0073, -0.0752, -2.6325, 9.0051, 1.4823, -0.0317, -0.0513, -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": "gAAAAABqrHvKA9eWp3diZm77gk1YYVSpMfADdXkg9UtU6nKndVulH_q2aiJSXS8sIYroynTISE4uDAXHCWny-pV6l5WS_4iR8P1bE4Wx5-yYA6BbtpSC6UaR_BW6F2KW_ch9urY_7sY2iq2KMxvaCZT0Ppr_Req9XsSAdFt1OmKxLGhvHgbzm9gfPeIlwzFSHv5nFnXBPAkoyBVgjL2dh1jOQYAIzpw7UvMnxXNUtE37BkWP4_habt93Zlpuqn0W926_DaGfnON8RQye3KtOR5LhEKdl0yeM5-24aa0hlgN3W8XGi9ysd7gr83DKwSPpZ3zjGN1rTEBFL6M01_lf2PWfWMi8VtFpxnZ5dZNJ09z0j87HyQRKNmmwyXMmntv4pmGSnnOK4QAXDe2gt6xogVwm_yfnIa_BHRWbkzwMeGNvecmd4TfdSkUV3tTaETDXXnXECW60zvSbGjZpHOnA7l3_GYUbx1Xq3aj3FbxCryPKXuuYX2Wdmfg9cfR-EW_hHfXoRswmd8a_kS7gSBf8SO2gj5UR-aoB531Ev6RStFLahGcGFQdBYlexaWkKx8UkmL-lz7VbTHsp_Zk0JooRy4-jp2vYtfZRiulBQMoIlhejCler2QkYmkrVKe2375-Wfo-luekYWCHgBl8mlKwm84e_zWhB8sYA689_rzcuav5UjuQXNyO0kpnBHvUQiNrqobwA0JigpYZLSXRoCJu_4wdPcWcQFXG1XJbLuyR6_bFIxt4Z7isvwvVuHbhhw7-QH5WFEH1JrwLPBMjwYkN377h5AMowGmSDgMjR_qvJX6v1PunDqS5T5aaK9iX43DXc0fjH3OtzVZosux5p3K869n_sA1qBtBg8D7_66gkYx_-6sK9eHTcyYK7PPPLBYDVv8ohkohNdwFuajqo6whcOGZZQh2FqejpwSfjuT_8IEn-r4KqUs27KtVGJfPU-6dDtByIzk_p8lCsdRZBaGPqyoSCFPgyG5UsDf5gTadkZC9bEwKszzg1TTyVDoa7wmmabDQfqQTcXi08IB-AFwVr3oygMyYZv5wt31HYRx19hMx--7u0puKDt1t4AUFk0ZjhPoAl0sDzqDDZl2rQ5fP64arV0mMcSxc-dEozQjymnJq_UCoYrwpzWCj2XNrP7gKrKG7sCSlyLuSQkCJpMGIb8hT6WTHwWnDl1krasB7yM5s1uhQJcTN7CSkWFlH1kfvgTAP96iinm5Z0q4WUp46piY5cX_g7hFLjfXjvZ6c0jLuY8ShlDUluGy_t8OmeuB4om7GhyKaLLgHhh4AclEm9vTx_VsXhFHK3m8BLWQwvpJSB7Os5jzHdwrJwK0-kvm1FHtPQZ_gz8T_SAMA1U5AGXWxaihWqljAa6nYudbP9ci1oFtnfU_rxKyuSLS9bwBpP-HlikTKNt4lOQkk1WgA85mMUDO4JVH6m69ISVB7SOrC3M6sDgmmhaCrXxd_pGmqMHUA2YhClpS_P9iI1Dt0ust0QWCvkt1SSPdUdb8HYujeV2Yz4BBToxndnxpmX7EbJqhKlEg8qZCVrGozpEP9J0FYHeiH2L1Puj9xAwNTguRqh1yL__YRT6WxM=",
  "id": "rs_05c87aee787d4742016aac7bc733ac87d190bdfaa1dd8ad3a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.175,\"left_z\":0.085},\"note\":\"The can has rolled slightly to the right of the previous grasp point. I’m aligning over its body and lowering the open jaws around it.\"}",
  "call_id": "call_NAzNoUh5lLz5lZQJCdc9h762",
  "id": "fc_05c87aee787d4742016aac7bc8df2487d1b5979c22ed8bc32a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NAzNoUh5lLz5lZQJCdc9h762",
  "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]: [-0.5854, 1.805, 1.1706, -0.4183, -0.4751, -0.4564, 0.998, -0.0238, 1.0584, 0.9665, -0.9058, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4022 left_y=-0.1654 left_z=0.0747 left_yaw=0.0781 left_pitch=-0.3193 left_roll=0.1591 left_gripper=0.998 right_x=0.2739 right_y=0.0006 right_z=0.1722 right_yaw=0.0026 right_pitch=-0.4168 right_roll=0.0117 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -8.9641, 8.2256, 1.3065, -0.359, -0.0171, -0.0513, -0.2256, -2.7145, 7.1726, 1.4432, -0.0708, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18b1cf004495ae350d06f9e58fcd6ada4fa72d01f7af74a898d5356a92153c77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe4665a970f34df597c0f5a953ad2857360bb6fcf862c0048c36767e30d4e29f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f9994e8a78cde1d9f9d7d049a031986e933e0ac723a7a12d49ca15272a57ee6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4801, 1.5085, 1.0103, -0.4576, -0.4297, -0.358, 0.9983, -0.0238, 1.058, 0.9749, -0.886, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3732 left_y=-0.1073 left_z=0.1229 left_yaw=0.0773 left_pitch=-0.27 left_roll=0.1348 left_gripper=0.9983 right_x=0.2793 right_y=0.0004 right_z=0.1782 right_yaw=0.0019 right_pitch=-0.3882 right_roll=0.0106 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -6.8991, 9.0188, 1.4383, -0.2808, -0.0366, -0.1832, -0.335, -2.6598, 6.3795, 1.5897, -0.0366, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHvP-SHgSRy37-mAlun-psnTxa8wRETS_StsCu7tq_qz4YZlmG5fqyzqU2Q_TnPha2AcWTb48GkcyQRTxifcEBUfIDM-1bZg35SYQOVnog_lNt2Kq16uAKpxRKfbieLmKKfcgGW8jgTAQaGAondRMAxgs4UGiUzTtDEhM9aQdh33jmpSf8iioyOEREqQ5B2-HwQMV-C51juXco1smnsVRW07uwTBbMA9Jh0q5r6Hyw1FBAQXFDSVn8FBpiYmdn-r7jpSnGVOK3Sx7RRbq6mm_HvqHPt_uRc7PPSUWKgEiA58oRrHGJh8TsJrNRRwHuMAtdb6GiOWFF15HcIPejKzrpaavhKAiB8W_b_Qi4tKQV-O0rV4K3RsDslb1dli6uUTRfUXu9SLjIFUd-5nuvyAmuNIZ6lRAZ-O805R5PT7wwVOWvGHtRFDMBqjw_vCXrlvWByNgcPGkKyKZLO9XWmPAmZB808qEn1b2_kiiwfEE0X3xftVfwfS5mNALYxxqcti2ybhPHdsSVrImdXgyfGGp4KrIsEnwwrA8WPmv2z1H4sTzYbztrEtUEVIUmd8QpttlRtYA3KJzJ_TLsefCUlOslvgw9UPjBdxeBG_a4mCIQ1F8d8jTituM4eJXC_0p803qrS9uymCcYgChFIpMF8cfa-0MA2TeOxMmY1qjbifvN_0gSgOltKgnJywT9U3-gEN9vWjwsXV2aLWw2dVd6Cig02pcsU84X4ZqXxCZtpbdsOB5xOJGuXszaNK6STuiaUm8wPCiRjqB67jwDzIB_lqQt2idXQSH7eHMcTJHOx9l1KwfJD3NZgWX_nzSGA3dq8hPiwl5WhUoaeQQwIRbEg26wBFFlx7hyqwsY0DNYsL6e_9ik21_tyX8UkmDRN24au28b6FMLuggCzmtKNiH7JleLPBkKZ92JOGzSzE-tT1_9VLO99dcnO2gM4C8UhEhTQHcVKHeq-u6prZkznv-D3qA04RkNT8DeWrPFafBf4LUuY2QQ3UXWiEfuBprQI2u52KOE64OZ_0S5T-2TAHQT3dMwUOpb4TylGG36rmdyGjcZWUNrG_jDABOKmH86Ns89fDppn_xh3AFgeYuCDWLIXiVnRZCh-GNYiueWbhN0ZQIAiHaNg-AKx7hGqYrrU7fe9vX8kvS5zKecQrlTJPUrHPnlyTU9w09JTuKgbgz_yVEOu_DCuiyN18uyF0wfs5fXcYjnpXDJhE273xx1Dw5PfZqG3r_m_ZwyymveLBxesCq2yz50sATI3XNE3XIXkPm9qiuTrwd544gx6aUAYxoIHoITytwPn7YKFPHRXXLOTDKlvh3EVbr4crcBfCeioYuq4w8qketrj866EM105pHS7_eqZiMpq_OX6-GuzJOPh76FecyDU=",
  "id": "rs_05c87aee787d4742016aac7bcd5ec087d1bba0a2ce37216387",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The can shifted outward when the jaw approached its side. I’m lifting clear before realigning farther right, so the next descent surrounds it instead of nudging it.\"}",
  "call_id": "call_9Sxmewe7bS1oYGGEkeR3miyK",
  "id": "fc_05c87aee787d4742016aac7bcea46487d1a0f4f1a36b93d36e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9Sxmewe7bS1oYGGEkeR3miyK",
  "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]: [-0.5877, 1.7664, 1.4597, -0.778, -0.4744, -0.4698, 0.9979, -0.0238, 1.0634, 0.9661, -0.9234, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4038 left_y=-0.1678 left_z=0.1534 left_yaw=0.0897 left_pitch=-0.3436 left_roll=0.1709 left_gripper=0.9979 right_x=0.2704 right_y=0.0006 right_z=0.1685 right_yaw=0.0025 right_pitch=-0.4397 right_roll=0.012 right_gripper=0.9996\nstate[joint_eff]: [0.0205, -11.7538, 8.7316, 1.1648, -0.2564, 0.0806, -0.022, -0.0889, -3.0974, 6.694, 1.3993, -0.0611, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36ea761285e097eb76c488b05906b932b27754fd8a56ce5787ee73b93a1c5c82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f3815385c4c20b005b09a129a1ffd8938428574b36326738790553c0167021f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94868b5dd014674a92b15f739048c2990b7771e01a6a7627c56e51f24295ad3f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5854, 1.805, 1.1706, -0.4183, -0.4751, -0.4564, 0.998, -0.0238, 1.0584, 0.9665, -0.9058, -0.02, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4022 left_y=-0.1654 left_z=0.0747 left_yaw=0.0781 left_pitch=-0.3193 left_roll=0.1591 left_gripper=0.998 right_x=0.2739 right_y=0.0006 right_z=0.1722 right_yaw=0.0026 right_pitch=-0.4168 right_roll=0.0117 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -8.9641, 8.2256, 1.3065, -0.359, -0.0171, -0.0513, -0.2256, -2.7145, 7.1726, 1.4432, -0.0708, -0.0415, -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": "gAAAAABqrHvWY5MtP9xaAodcbEERc-PEevxbfT5QtQTf_JxHAsJjrTNJCWAhzLQzYdQHHbPCWcUIwStEKQTsNFsnzn1XLAMG2APEN7D0DyylEPeP3qI8COkDktYRqovD-d81NIVU7PYj--L9XLogqel2lhGOEOxZv1EW8wAx7nXnb661lje9aDT8Rffj4DinWnSOHJhMyTygk9FS15bJ5dx5A1YFosN6nc8Ulvl72tUfgE4Q_be-SW_j1u20_SRDzaLCc0SLB8yVf56uFee0WVNzWYJc40IWxrfAtpbdznQfYmG6UNxhw3f3vgEaOHMcPgLd1nwcvFKKHci49wo-wE26_cOFrLV4Te94ddSDKjCtyPciRP__-eO-Unx445I2qtWgUbglcUbk9vCm53WEwO_2NiZB09oMyShVCMUHVE3oVe-5JHsmUAZ7dUzlkAFgxXq_fCGmuQ2xu-1WZywnYdkjrpPsW_qodcaGfwh-oEzHg8xRu2rPl8hPUVMXIylwi0k2S_C4UaDxVcOkmrSOkyFjLPqA_JfKUCHi_o7NLYSkkAzzrZ0mDGw3iI0id76lA9BrE4r8Qx1Gb6AGveFE4J_vTghtt7W0yJBCOuJflEB8WsnYFIaO2eCmZg1qLMJMghxH1YItqK6T6nLxvSSZtBF9V8jZw549B3mMyaxpUVaM8a70ztattX6hYKGkz3lOYGYk8MMgx7md9FY31EZ2xKQ0sN6qBG0V4qqdXX4qNs98z2OaF2nCPUbTvt58-e5px17svzyTAyskC56WbGj15tlJV7m50FlLX1xk1sKqyE3tviskP1taFEcn5ns63LHq--uRhrnJuMgIBLL6KcosUxZ97qU1ehDkzs4GMbGJEpzEymsF_dBpqX8nTxrs0fwDqdvUH2cUydNtBZuGJdjksJ2OmSWVvxo496HstyQdmS1lp_B3aX0lZIZ6ZBhPmvrIk3r4dOTiQgwKimB9mZQouIIpvGLJZbprUnOlXCtTxGLgNGAomJCtDdNOq-B5YrJgxMjOnLMfPu5_rsdhjIv8Jwmk1h4_QLYkv2XA4j0Q8QRm8qi3NDQQX8pog0YpUX2pNtc2Qvpv3OkZ7KXXeGIUFolQVhjdxFXnPmTGYxsYibst8Eroyf2zmE-ItKWh31BMtqEEeaEroKGyIJnKQsMDMMqJfGn6dDxpN2ycaDNVRhw2olW2HEFjbNIOFbNX3RAkWiOMGBlFqGQtAHguR7fK1qLyHmFbtfqLob97lQ4-FMbCjCsAPHKpRBhfkjyfcXQlkDq1jBlaEWe5O3HBUPOf8Qy0CbETZ8WNkOpKt-2CXfGOXAz8UTXZvnDMoUlEzxwOCssJSV42FxbUE493HT25Of0iwMYxerYc11qMyqj7dCWOs01Rkz4CVHsSvfhdY5GFmOH_3fT8IHqZ",
  "id": "rs_05c87aee787d4742016aac7bd37ee087d1bd3afbe757612b45",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.305,\"left_z\":0.14,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The can is now beside the burner, fully visible and accessible. I’m repositioning above its center and restoring the gripper to a level orientation for a clean grasp.\"}",
  "call_id": "call_7zF5BTQPYU6YimdeiDkC0TwL",
  "id": "fc_05c87aee787d4742016aac7bd4ea4087d191d6d70d38f070fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7zF5BTQPYU6YimdeiDkC0TwL",
  "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]: [-0.9741, 1.8053, 1.2663, -0.3706, -0.7326, -0.6983, 0.9979, -0.0238, 1.0634, 0.9627, -0.9451, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3514 left_y=-0.3006 left_z=0.1357 left_yaw=-0.0239 left_pitch=-0.0528 left_roll=0.0266 left_gripper=0.9979 right_x=0.2652 right_y=0.0007 right_z=0.1645 right_yaw=0.0028 right_pitch=-0.4648 right_roll=0.0128 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -8.6906, 5.9556, 1.536, -0.6716, -0.1099, -0.0171, -0.253, -2.6735, 6.7077, 1.409, -0.0073, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49677edff01fc48292877f9a554d2b47da704be86bbd5102283d8ac9acf05537",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f181af3554868ce1a5cb9d680766577c5c3c3e009cbc410dcb127889b0f33e2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67a7cb0c9b028a89ac8ab2d8db4fcab6b9257a599a9c4f737e05ba55000e190a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5877, 1.7664, 1.4597, -0.778, -0.4744, -0.4698, 0.9979, -0.0238, 1.0634, 0.9661, -0.9234, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4038 left_y=-0.1678 left_z=0.1534 left_yaw=0.0897 left_pitch=-0.3436 left_roll=0.1709 left_gripper=0.9979 right_x=0.2704 right_y=0.0006 right_z=0.1685 right_yaw=0.0025 right_pitch=-0.4397 right_roll=0.012 right_gripper=0.9996\nstate[joint_eff]: [0.0205, -11.7538, 8.7316, 1.1648, -0.2564, 0.0806, -0.022, -0.0889, -3.0974, 6.694, 1.3993, -0.0611, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHvc6NsV49kTXGHaUMu_TVfTu0z1na5iVTwjSSQUxp32-M0u8tN_zxq3N8MoFgLKoIDg8EkO_1cnnppLg_J3YZJiJjLExwYeIFFgsLYVPj6g9VqJrquHjoi6DSVKAWmzgtrDw4HFwUG-OfGmZP-UI6fl96GTKYx9qBvvQJAq_njUEYHXaaleWz0lpMoDDAU7jRJDXhF-vZgkMTP2R23HA_o6UFhrnKKAwPQ6v9M-LpVqHe8d7Qzl5sPPxuxK_hHftzlewWE7xVKgfRXzKFgnXEmxbRxsotHHTeZ0nUkN3RddbY7UDRUTvC69FyTS8VUwMVuyRCoVRIWwTmKwNjaFboMRBkTWq0b6eDXbFA2JRVNrO8j2s4qrH-GlyiwIC2vuluwp_Ht-sjlgLLrWyZ-VL_1un87XOhNYUH7V8A__unbY3gOd0gWuMS71F5FKw7qUCiVlL9pwT5vQMIpC0hgA5eRwv03sX_TeLNGP0F8XTmO5pjF6jroqaNXaphN8EHChAtBzrc8rNATRe-lRAQMyDqyNynkASwFQeoRyrNZ3-y-tvhbWSRd9VwTjDidDOd-jiVtttB2jmEu90Xcmi421dcQ4pmkAf5qeTJgVIi_TJYOEjQdTUAs8Clms-6pCbiy23SolCLLaqB8y35kaSsycNHeRLlqn8tNVG6sea8VtoaNu2QT6sNwdNYIw7yn8tHxEIZTbVUYVfErfd24AnsPmuNqnQP-Yb6xTZavYXTI0z2YcCvnX7M-63IngeKBZ06FkqEslJtVJUIcUtTivzDuzkIYClO7-F_nQJl1oJ0KQGAujE3o54dI6JGXcW4bEjCwxaTbDl-wGOuWXOX1VyanJ97ydKXsCzYyp0cnmDzAB3tNQXSlXLR-tl_eU8rxJTUmGhebaWTqQmRhTmd3Ykckrwr7qXu0k8t02EP1Ge8TL93ScMwLrIoI6I6_xpldlg-q36pCRROcsvzhi1Xe4WAv4zojxpj1OhgGjtxqCeWIznHnOaNUqVyNteCxh2rInmBPNhYIzdnAghvKmm8SxbV0kwylBkbem6X3v2hAkfD-4ijiJHh7EIFaV7cGKfB7JeBOOclCdwcGDxdC92tSS8A8OivbVQC3TNKBGc2Qqt-epkx0gWU6MONGH10uYiS-pOhy3G-lS3QmNmKNtEXan-csnC1oTxHkbAIdPiENWUoNBK_rProk3--AD90rSLVCrQIV7wUl8-0nyA2yF56qjuiunl5-UqaNGT7JYpz2rj6tp9Hk2SMODz7L4mtG4Pz5AVJxFmjlCzsDc7mfFfUBxLj5rBFz_KmEfKc_Xjjs7TlaCLPnQ6yDIEGsHnOZG0Q8UIXeIhJkeY8uqGjm8dl7JaErgumcgiDBGFXKb0-cGyHBmjtLrOFUCW17_bpHbeD5xCVuyb798t9rJpRj1IDMsof2nkc1JiDKaAquPH1hFs_ImY65ulFI=",
  "id": "rs_05c87aee787d4742016aac7bd9670087d1b267480f8819df26",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.335,\"left_z\":0.035,\"left_yaw\":0.4,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The can lies diagonally, with its lower body just right of the jaw centerline. I’m matching that angle and lowering around the body, away from the nozzle.\"}",
  "call_id": "call_AsTWcOEQ8BuQ9wFjaNGj6mRC",
  "id": "fc_05c87aee787d4742016aac7bdb1b1887d1a42e90a173ad3cad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AsTWcOEQ8BuQ9wFjaNGj6mRC",
  "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]: [-1.0107, 2.3585, 1.7267, -0.6376, -0.9314, -1.2068, 0.9978, -0.0238, 1.0649, 0.9611, -0.9661, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3846 left_y=-0.3398 left_z=0.0346 left_yaw=0.3306 left_pitch=-0.0318 left_roll=0.0127 left_gripper=0.9978 right_x=0.2605 right_y=0.0008 right_z=0.161 right_yaw=0.0031 right_pitch=-0.4889 right_roll=0.0135 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -12.547, 7.0085, 0.3492, -0.7155, 0.0171, -0.022, -0.2256, -2.6325, 6.5573, 1.4188, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6f7536dd83d70f80c1aa633f32f69069fe7e38fb28b42254f3c0e3d3faa4159",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96e69b6795363372de54d82ad9846f151733ac5effabe3ec9a0332235d763f8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d40c433e240a464853b4501f7832e0bb54791532892a46a174be89318491d5b6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9741, 1.8053, 1.2663, -0.3706, -0.7326, -0.6983, 0.9979, -0.0238, 1.0634, 0.9627, -0.9451, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3514 left_y=-0.3006 left_z=0.1357 left_yaw=-0.0239 left_pitch=-0.0528 left_roll=0.0266 left_gripper=0.9979 right_x=0.2652 right_y=0.0007 right_z=0.1645 right_yaw=0.0028 right_pitch=-0.4648 right_roll=0.0128 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -8.6906, 5.9556, 1.536, -0.6716, -0.1099, -0.0171, -0.253, -2.6735, 6.7077, 1.409, -0.0073, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHvg_XaX-Vxk86fQT2vdQ4d805XCT4Ojk8r-xUt62z0U1HD2xVEFQXO7bPi6r8q0M0fsATuw_kKbfsEay_eYtu4BnzWJP5GLFZ1-dfOdHaMGo1YATFPFWgrpgO0Upcqa7Wpnp64PyC5_vOCzBLukIqYD76kKGUCRGRr6wJFBfDuDBsxiCkJfzi5uXUEQgsYlHBGv9lPWfx30F6Q_cLSu1hUQCslQWHLEJg8yCElnrkBmaAJT9MVgGxDFjbyo_XhVChY-VNJdYvC9zFPlTSdNEXzKpcr5VmFQ3yV9dAlP0OuwiwloEXnw5mSEMH6ZqkOU7JQgtzhzkhn60VPWJAZAqS7RrfBoz3A6JXmIjNoLYzkTqYKX5dcGdS3rt-qcbJiRt5z9zBJnkyJYnMmII1NeRJQdYDK_i0YIdEg_YQsKXkLkgN6F5rog6hu_T2Zcp3t9oULMlBQOpuXs_ENpxEPgh4T9cJ4P9qxm59XpebGTLsgvj1LfE6Em0_a9BNk82PPG503RolbF-gXujOO0_gkcazTWEczJvqtEBUp_uqA9KusQsaXMrM8XqiiEpI73B25VJzORm_CGkj90dvxw0y-JghIuE4a6kC6ncaSFhWNWcgqNsWGyo-IJfWltbYDfwy_uWtSbNZmRraFoBaE3FkQEXaxePDEMkuCXWdcjlE3bQbH2xKAt645mwriZpLDHfBsE6LGYnpG4eqTjKKnKmw2nI15rb0DMA9cMJUt36xjZmtlFro4xy28zUH4u6gW8NxJEKUFuFabrEjE-9LbRSCaz3XgW_Yi800h6YTi6EZO3DTHap-p7OXo3hXdqeOCWtY1ImQ56jcoTZvxHU7CP7j_FEs74C30EK-fHg3OfFqoIpphJKibCYbcg4auxrGgipCKxN54QRclOunX_3NZWKAxOYNcY_dbGwA7YMR0pa4ToKQHtpF9QC0-GhfHLgAylsFYJXwkLl_8Cb28DsiUVXKjZbbMUIYXsmKtQYaJawXHgciEp6dcpGAf8VzJeNbztjG0zdwfHKHcaGT4Zn4hSrVb_9h5ne9e1mOLTrbd5xwfngLrYpjR6KE6HhVHFf1rakTiHtCo149w60F7HOxWVK_qjJGz-rX-RhzyRKhYJuWR5XcPYYzsKXvjU1bUN4FXUZIVJrtGsfTIOA6WwpgGqe7asBiuaq9MKc_3bVHXq-Vl4--9vxGSH2kn2NHTS6P6oLzTzWWlUBS3x0IXCW33AMSBNWiqmgA==",
  "id": "rs_05c87aee787d4742016aac7bdee74c87d18605580ba93e79c1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cylinder is now centered between the jaws, which are aligned across its body. I’m closing to secure the can again.\"}",
  "call_id": "call_bCCLJBYmnCgAKuk45mWQOVTX",
  "id": "fc_05c87aee787d4742016aac7bdf2bc887d1a9eed8862219f888",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bCCLJBYmnCgAKuk45mWQOVTX",
  "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]: [-1.013, 2.3955, 1.7321, -0.6548, -0.9363, -1.2282, 0.6998, -0.0238, 1.0649, 0.9607, -0.9718, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3817 left_y=-0.3363 left_z=0.0185 left_yaw=0.343 left_pitch=-0.0375 left_roll=0.0439 left_gripper=0.6998 right_x=0.2592 right_y=0.0009 right_z=0.1602 right_yaw=0.0032 right_pitch=-0.495 right_roll=0.0137 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -16.1436, 5.2581, 0.8132, -0.4176, 0.1734, 1.033, -0.212, -2.4957, 6.4889, 1.2186, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e768a2f47fd1e772ae4afbf7fc6061659f176410a99737ea6e9f13b12ef64f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d405b13dced675080379c2714506402aadcdaa39aec9b2afeeabb7b4b0c6afb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c054881c188e16d257ba7d396b6a6eaaf5d07de41ba4d21f48374ed139c71ca0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0107, 2.3585, 1.7267, -0.6376, -0.9314, -1.2068, 0.9978, -0.0238, 1.0649, 0.9611, -0.9661, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3846 left_y=-0.3398 left_z=0.0346 left_yaw=0.3306 left_pitch=-0.0318 left_roll=0.0127 left_gripper=0.9978 right_x=0.2605 right_y=0.0008 right_z=0.161 right_yaw=0.0031 right_pitch=-0.4889 right_roll=0.0135 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -12.547, 7.0085, 0.3492, -0.7155, 0.0171, -0.022, -0.2256, -2.6325, 6.5573, 1.4188, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.1,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The grip width again indicates a firm hold on the can. I’m lifting a short distance to confirm it is clear of the table.\"}",
  "call_id": "call_ACLBFL819Wq48WD7c5LnFtiV",
  "id": "fc_05c87aee787d4742016aac7be2d42487d1bbe70aa3cf5faaf4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ACLBFL819Wq48WD7c5LnFtiV",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0142, 2.3329, 1.7733, -0.7918, -0.9325, -1.2354, 0.6969, -0.0238, 1.0649, 0.9607, -0.9726, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.377 left_y=-0.3305 left_z=0.0528 left_yaw=0.3462 left_pitch=-0.0479 left_roll=0.0697 left_gripper=0.6969 right_x=0.259 right_y=0.0009 right_z=0.1601 right_yaw=0.0032 right_pitch=-0.4957 right_roll=0.0137 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -17.0598, 8.9504, 0.6374, -0.8474, 0.0171, 1.0281, -0.1709, -2.6598, 6.5983, 1.1258, -0.0464, -0.0659, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f7e2315789a91141dcd1045c5dab9e619474fa0a0803cb9fc94b7dbbd5a573a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85af0e0254d53049ef91d4c7b9e7e6e7741dad61e5a3bb307382cebb046ed958",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d23c6f5eadbb02716fc762455dd9c1acc69fcdff8180ceda275365d00d487ce",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.013, 2.3955, 1.7321, -0.6548, -0.9363, -1.2282, 0.6998, -0.0238, 1.0649, 0.9607, -0.9718, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.3817 left_y=-0.3363 left_z=0.0185 left_yaw=0.343 left_pitch=-0.0375 left_roll=0.0439 left_gripper=0.6998 right_x=0.2592 right_y=0.0009 right_z=0.1602 right_yaw=0.0032 right_pitch=-0.495 right_roll=0.0137 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -16.1436, 5.2581, 0.8132, -0.4176, 0.1734, 1.033, -0.212, -2.4957, 6.4889, 1.2186, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHvqNAaOL4RblM2ljf7JJOMlxTF1aVxVIWP9tQP97BLquqESBkjUgZewcTyfXmH_1u0BwolPnDaX9mDajUbudjEsxD9PcAGqpptPvEsuv0aC-FHanJkUtzagPxu_-lQUdELtr6h9zY2edXmKda05QUB3zu9K87ZwTTGYFYDrWvNsseF9mlgS9VYG4fkKPak2ammT_NyZ2N6WuFmmwR0GLoCMKDyvuPAJjuCI2HxF3V59ZW45On6WOlE9DCj-FDEUFkzbQJCU3qu_RfA4dtWHLQyCWisMFY0_VT5gNu2D0d2wEwwNlUlmCWtQdB15D_L7xFSTFmVFo-XUEGuMbizRgT4THzkPm6KRs24z3rVIrdKO7xNwBY9Ma9a6UDPE9wWJH0rKzBTvXOjWFe61r4xWGJ4E4CZdMQonEVIOxzWLck4nzNPl-cuYv5Wn5hk7U-_ktVGpuv2qAq8PtbT8LKDJoD62KYYoQIcWk8ChdTZ7S5VsHFGlQBh_vKEkSr7xbfDIttoq_ssTJ6_mMgZQap2czUZXuJfCTVsObDMSKLp25roKntgn9FAniHaAC-9piEpY6VAkEOm2ZkfXbPFM4bD2eTtnFlrzeE38P5wYrZV8KPEduYa7URY6X74TydSq5rTFM-HpF-qBC7Hh7zBkZdif50I2VqmI_Yk94ttKXtV1PjD_7GMkoYieZVy6FK55nzQ3EV_rv1t1Oy2kS_f2E4iLD2kgckEKSGU2mmkoR1We2e7dThqXO2hSRjEHoXkyWJvSps4CLhnYr3BNkil2vf57oKBCzddHA-RzaizeN5poTvJMY49Ye6mHQtmY49vuQ60HvXgse7AsFfwNvhBEzFqZx1DksKXMpXqN18yv7tzmL6ciB3o4OqvejLeOGuARNf_4Y_neFR5PrfQN7BeJIltckuqsSFTdNhoM9eqNM0_KzV7Dy-Vvc3Qh6ThxUFAnFLYwkASFjJ1ZwPEU0NNd8SyOXWRlCMFJR8D4yRofmpUcXQ7YbGP_X6FxTiBayZzEa-f460_N0m5EsBx2w3wtUDJeVHcGKPyjKK7TwSj7o6zWTx6hx9zWbTXymDZxSoAuVYdyHoTHjfY-squbSVx4MZdWclITpEJe3IW9t0wzHDsGOBcHb11--FIwsgkvUSF12TjQa8XcThBLHPjU1_UXZ_uSES2-DQtf4u8oe45wUDGFrj-nJYCKV6WUlKSCze69MIQxohUNWjkqa361CY5nJ7uVZ8sl-wL4zC4-K-oASVUQu4STI7TfK2odiZnWDr8DE9u99M1kKa7hLPy8LzHYnlJR7BbGwq3aBokaImY526x5owWv24jyC0QXEfV9nTJcy_u5rY5HDwLFqZyeGidbfUumcDmbCWrSj-CJrfvhwnFTyaR3AIViTYbySE1EQZZRCu3UAH9Y5mZhi1G9Ct12NASWYCoRygvBaOO8bd3KrU4a02SLwKQCbRmEvjXk3l8GG1LeCReIUiDmA8phsbiTfh6baGtRz8lg5JWfWLZoaSFoQgFnvyMYFQGotp_TcH5zsKbopxIO",
  "id": "rs_05c87aee787d4742016aac7be76c9487d19c675cea604b194c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.24,\"left_z\":0.18,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The can follows the jaws, but the arm is lifting slowly at the extended pose. I’m bringing it inward while raising it to safe transport height.\"}",
  "call_id": "call_NM2wkptpGZPgsCclwTK3Maby",
  "id": "fc_05c87aee787d4742016aac7be97d1c87d1b48c420b1adcee2e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NM2wkptpGZPgsCclwTK3Maby",
  "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]: [-0.8986, 1.911, 1.52, -0.7662, -0.8978, -1.0687, 0.6969, -0.0238, 1.0649, 0.9607, -0.9901, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3786 left_y=-0.2481 left_z=0.1581 left_yaw=0.352 left_pitch=-0.0329 left_roll=0.0097 left_gripper=0.6969 right_x=0.2552 right_y=0.001 right_z=0.1581 right_yaw=0.0033 right_pitch=-0.5133 right_roll=0.0145 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -12.6838, 6.2564, 1.0623, -0.5983, 0.188, 1.033, -0.1162, -2.6462, 6.3795, 1.3065, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:294ea50d6ac6df1ee72caa0f7ee38f74358f9976645720ac4f7909c6791e7a13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:914bd204588aeb6b674ab7b081b0fc2ff8c1144e54249d246f878849d3499389",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25ac3e3b4a49b625d98b71436c4e0d976a8617099cee06acf3ca588e477e9d00",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 73 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0142, 2.3329, 1.7733, -0.7918, -0.9325, -1.2354, 0.6969, -0.0238, 1.0649, 0.9607, -0.9726, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.377 left_y=-0.3305 left_z=0.0528 left_yaw=0.3462 left_pitch=-0.0479 left_roll=0.0697 left_gripper=0.6969 right_x=0.259 right_y=0.0009 right_z=0.1601 right_yaw=0.0032 right_pitch=-0.4957 right_roll=0.0137 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -17.0598, 8.9504, 0.6374, -0.8474, 0.0171, 1.0281, -0.1709, -2.6598, 6.5983, 1.1258, -0.0464, -0.0659, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.075,\"left_z\":0.18,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The can is safely raised. I’m moving it farther left and slightly forward than the first placement so its body, not just its edge, will rest over the burner coil.\"}",
  "call_id": "call_33kLNxGyxTDappJVx6FfZdtP",
  "id": "fc_05c87aee787d4742016aac7beefd2487d183d04a291d085951",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_33kLNxGyxTDappJVx6FfZdtP",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2848, 1.5249, 1.0054, -0.1818, -0.2913, -0.2363, 0.7014, -0.0238, 1.0653, 0.9596, -1.0122, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4311 left_y=-0.0696 left_z=0.1519 left_yaw=0.073 left_pitch=-0.0919 left_roll=0.0177 left_gripper=0.7014 right_x=0.2501 right_y=0.0011 right_z=0.1551 right_yaw=0.0036 right_pitch=-0.5369 right_roll=0.0152 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -9.9624, 6.8581, 2.2198, 0.0171, 0.1783, 0.7399, -0.1299, -2.6051, 6.4342, 1.2479, -0.0855, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c7e59f2efc57cea1003e5caabe2c489cba45a868e436980ca888847fa0d100c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b9f407f5a1511c766052e5371ecb6e05e3f6b53805e44a66165fb480e899b15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ae5de87f2272119c4a58384775ba08074fc4e70be76094f3551528d771588f3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 77 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8986, 1.911, 1.52, -0.7662, -0.8978, -1.0687, 0.6969, -0.0238, 1.0649, 0.9607, -0.9901, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3786 left_y=-0.2481 left_z=0.1581 left_yaw=0.352 left_pitch=-0.0329 left_roll=0.0097 left_gripper=0.6969 right_x=0.2552 right_y=0.001 right_z=0.1581 right_yaw=0.0033 right_pitch=-0.5133 right_roll=0.0145 right_gripper=0.9996\nstate[joint_eff]: [0.3624, -12.6838, 6.2564, 1.0623, -0.5983, 0.188, 1.033, -0.1162, -2.6462, 6.3795, 1.3065, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHv3JDxaJQwLUo-3wFOec4fCGQ7wHh2VOvUtrnrQvZ1G9UOTnc-1PSV11edNfrtyegUo3O_FElLQV1EBccisCoXbEcXWCKKevsRvlO3c7wL3IieH5jzY0l6Tq2MEPdw1lLoJOiVSz8NNA6buMx1B9XEE3eNQ5h-G5P7oXXO3Z4DBAahNoD_YG66igIHjEjGCD-eaLJlJExq8nbHKzGg-aUeA7gI59HIQBhSOjNHmaF35KohyjKiXgFYVuMUXU0SFkoL9ZdxQ2O3T30_4ko5jFWqd4GnwopAbRlnoXZjLuB6Fu5AL8djGzyjAphZOkBEUeoAMTk0aiPBDWK_v9cy18Jk4YJtBpDaiboCxxs3UMKAbXg6u5VwP2bEqgGgE5BscjGA6aVSsL1by9vvfZjX2sZqpnvj5RSQin6KFFYXzLJ-796blZ3TlTZSOVzUk7TWG4duM4F0pqFCNcEfCG5IAD_DzJkXWzZAbJ0btxqBr16yTAdHNDJYdCZFjg5HHJ-yhz-ypMDLiqcAEYKpIbcDfKH73m004LI3nQcAeiHpP1d-3MQsOLmMMYXSXE23XLiQUSjC6SybhPjzpxR2Xp2LyQpl-fXz5vZPii32GDK5lMLsC0MO3CgcXLLpDzFyaDFK5cyuaKq191btjuqNdizlTIoNuhK4qq_XMGdGlXH1S2mpcNUTHg17O6igCOZo1dYiqDGbvymQhRajMfVsKoiX489bTso3xTJYlTRfTDL4yp2ZmCZoNv_GNZXn4SEDjTzmjLo_IiuoNajVjKaJem0gpusvrteED6t2pmHJPW06Gh9P6uIeOhaekY58iXCVwXdnsu1Flv3kBJXptDdagbeiHjZGsn_IL5iIZq3h8W7jhX17u6e6mLWzwBuOausw29ZiAMRIt01CZWrbdSMOBERsGAmnhjZhDOYEj0jDJ1kcGmdZzbodmKlDooQjY6TpsW-OCWRhkOL26t2PYkvzQHSnCqK4HgKopp5bdg7wMbnNE3itEMx2CwAHbKjvqcS4VKzRKWRbBJrPoH1EVYvjJ-J_buVNNl_EyRB_23FdOd4ajpGcFgiZqz5IOhlxoeHo4lqjeU8pg6ggU8l8zz0i3zKFu1woy9HwYvCpMTY6JZ_UJwHj1iKVz90eXkcy6SjnOIwPbR4S693T2UrClCfMV38DfWcBaxmQP08J2VDPXDBS5ymNxgNg22IVXaWBd_cpiYfzAztWorKPnG_trb4SJway_otG-i1bqZ48DtMWLoW1SqhakM2jL1dgzdSuAO9aMUtbVXUv9Nnj2Ttqfu8mYeul_Ggw79Ngcxn9GMxEWeVHVjpn6Z5RHGuchoahDTwUCFtbAxnJhyt2t_NAkYs2itQdPSwzHVrW7Yt1ZtQOzpEmLv7M24crYrsbAMV3X0GAXYCUV6Q4I4ulyh0Rm3CGSD6mVTaFbDg==",
  "id": "rs_05c87aee787d4742016aac7bf4f5c487d1b3ffedeb7a619a40",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.09,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The can’s body is now directly above the coil in the wrist view. I’m lowering vertically while keeping the gripper level so it lands without rolling sideways.\"}",
  "call_id": "call_o1p8XZamlEA3KazaPc1sgi6S",
  "id": "fc_05c87aee787d4742016aac7bf6a3e087d182b39a6e524d9519",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_o1p8XZamlEA3KazaPc1sgi6S",
  "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]: [-0.2646, 1.5852, 0.7597, 0.16, -0.2379, -0.1856, 0.7012, -0.0238, 1.0653, 0.9596, -1.0206, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4214 left_y=-0.0673 left_z=0.0875 left_yaw=0.0206 left_pitch=-0.0691 left_roll=0.0146 left_gripper=0.7012 right_x=0.2482 right_y=0.0011 right_z=0.1542 right_yaw=0.004 right_pitch=-0.5453 right_roll=0.0153 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -4.7795, 5.2308, 1.5116, 0.0757, 0.1832, 0.8327, -0.1026, -2.5778, 6.3385, 1.1062, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2315000cca13704566f37544be07d8ba897e38c17e42cdaa4ad237d14fc52637",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4525965fe7cbfffc51814f3b56c1ea53afc4901205976c953f96f461180a3190",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1d8a3937a1e4228bbf47422d288ba0cf88baec56a1d28a9d719527a02699c61",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 80 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2848, 1.5249, 1.0054, -0.1818, -0.2913, -0.2363, 0.7014, -0.0238, 1.0653, 0.9596, -1.0122, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4311 left_y=-0.0696 left_z=0.1519 left_yaw=0.073 left_pitch=-0.0919 left_roll=0.0177 left_gripper=0.7014 right_x=0.2501 right_y=0.0011 right_z=0.1551 right_yaw=0.0036 right_pitch=-0.5369 right_roll=0.0152 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -9.9624, 6.8581, 2.2198, 0.0171, 0.1783, 0.7399, -0.1299, -2.6051, 6.4342, 1.2479, -0.0855, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHv-jitrMC8o2yC2z3URul7CNUGTcrLJ1P2JeyIn2x9fowd50H_T0VLbGnYElsD7nstYB0eszEXGW5e5T_boXTiVQSjDRpPzKW2WRZB76zEWcKRnIXPSZYvP137exqLxzf1rXzVMimOg8LaNJb-7F6mgMGJJ2vOf7lesjbOus20aFSH4G9K7ZRf9zNTdmfDK2-UPu4m8K3dE4XoG6DLuZhBeZ54C3DooKhx2TYYmlnWvDAKa2dXrrf00qvKB5lghwxb7hWi3pNBSkidv76rqBBfOSC0LQr59pEuzu_mRZZPltwRyOcoBXiF_sAmG8BZ24OmRD6t-q2mhhZqsPqQ62SZZwP5f_wBdmclad8w-4mkvBDcsanuhXOAcyDwVCr3SISOip-i6l3SHUuUsVkzz_NQkDxtMOmfl91j4oxD0l6Gt8KtMeSb1Uje9K7v8O5zQhRZIlnlK_8M53_qyp8N4_O5_IArAlNs6ecL09GHWdHrO_kFA3jJ8F1-gunvojQK7lg9S1M3v2exnD1pxqrqIiwfdzRoo8mq_ILADG4kM3Kl9f-kEVxe-CJZafBgMgcRiz6oc0TVvQh-u7yYUqiOWREbj0nPv4bm_efoCpvL1rBdBljuoVty9fjjRKXMGrsJHhIq4Z51ZFPZJU6Key80U3Pc1REqO32UGjZTaLa6Da-90sy1B4G3X14-cuMKvCHTZc5ittJFwiZSCQK5IWhZLGsZ1KRRLGlx4SaphkWtJH3tH_iO5nJXNwr3GXhg8Gj0KUJA-DgvhslpPl2hyhRNbK9mBAKC37MLgV-BLbSB6INHjY6_po4sCxhECWRZ3Eo3sgFneqx3PmEkIOIIA5ZDdKedRgnU79horsOcIM5zv-9xfQzi6J7gfksgpe2O0lxRwLJyTPlz9S4-m4SiE9IsDUwrR8SXmItJzRNYLJB8B8a40zmdk7jaSTMu07HG5lbzpuD_7eos2sdwxPMhst4ciRy4GFnVcDQawZv63km__08uA0QAeaXupMbDrSkVrVJARVx0IPLNKGc6EIfOHb4rh9kIqyFLbihZp7hgBJNY2_LG8ZXKizfj5DtKg2mYSi86dPo2akICtroaRsjIubBEDKxyS7yxZ1jl9DjPIjDEAdKy8F-SRIILNCBB6FXiLryIsXalkQbRJj4n8n__OjYAX-uNe_0WbJKFWos2PMrSk1Zsqk8MDfJVKoJ7kxkD48Dz1K2lZeFNkYa18RaEGM-z3l4S-x27iN3zjFBDYf5fzo38CYAX5yX052V7mqbIiBG9bBR4AYLs0Dkwo0U1qfOD44HcHeWCf2cOwSJ9GA-cC3PJfyev3M4znLqPvF5uRtw9apHvwpvXhs_-xvYf9wZDYoCed4OWuJhZNHimSnU4zm-aped55pVca3ZDmVmkauJXfDpcs76SLtMaPshZbvCKovwML-oOcyBHumJ2dXM1KK42-To2dItU5EYsaIkyMqjOV98Bm",
  "id": "rs_05c87aee787d4742016aac7bfab50887d1bfbfc2f92a15d8a4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.095,\"left_z\":0.075,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The can is over the coil and only slightly left of its center. I’m making a two-centimeter centering correction and gently settling it onto the burner.\"}",
  "call_id": "call_TP0wlbtiIdrvCEjZtMvr0ZVY",
  "id": "fc_05c87aee787d4742016aac7bfcc7c887d1a974c3002b3dae5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TP0wlbtiIdrvCEjZtMvr0ZVY",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.26, 1.6043, 0.7376, 0.2584, -0.2283, -0.1799, 0.7048, -0.0238, 1.0653, 0.9596, -1.0233, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4287 left_y=-0.069 left_z=0.0897 left_yaw=0.0135 left_pitch=-0.0157 left_roll=-0.0019 left_gripper=0.7048 right_x=0.2476 right_y=0.0012 right_z=0.1539 right_yaw=0.0038 right_pitch=-0.548 right_roll=0.0156 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -6.3385, 5.5179, 2.0098, -0.0415, 0.1197, 0.7057, -0.212, -2.5641, 6.3111, 1.0769, -0.0366, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:596ba793b5467e6bce0adf9f30314648412ab3a264c9a17e8c44cb60ad5403d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8b0f3322f3588fa9fb3412b930cb3ba6ace6d261c3a071b03941509c2d7d0a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3daee258ef5f0fe84d8b0fb13edef7d8c4c87802c6b313ec9369b71c7af0a2bf",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.2646, 1.5852, 0.7597, 0.16, -0.2379, -0.1856, 0.7012, -0.0238, 1.0653, 0.9596, -1.0206, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4214 left_y=-0.0673 left_z=0.0875 left_yaw=0.0206 left_pitch=-0.0691 left_roll=0.0146 left_gripper=0.7012 right_x=0.2482 right_y=0.0011 right_z=0.1542 right_yaw=0.004 right_pitch=-0.5453 right_roll=0.0153 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -4.7795, 5.2308, 1.5116, 0.0757, 0.1832, 0.8327, -0.1026, -2.5778, 6.3385, 1.1062, -0.0513, -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 can is supported on the coil and the arm has stopped descending. I’m releasing it gently in this centered position.\"}",
  "call_id": "call_qsAja1yZkNKW3XvIchjf9yLx",
  "id": "fc_05c87aee787d4742016aac7c0007ac87d1a70a158c4209906f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qsAja1yZkNKW3XvIchjf9yLx",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.26, 1.6043, 0.7376, 0.26, -0.2279, -0.1768, 0.995, -0.0238, 1.0653, 0.9596, -1.0237, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4289 left_y=-0.0691 left_z=0.09 left_yaw=0.0115 left_pitch=-0.0143 left_roll=-0.0 left_gripper=0.995 right_x=0.2476 right_y=0.0012 right_z=0.1539 right_yaw=0.0041 right_pitch=-0.5484 right_roll=0.0154 right_gripper=0.9996\nstate[joint_eff]: [0.294, -6.4479, 5.7231, 1.9902, -0.0317, 0.0562, -0.149, -0.0752, -2.5504, 6.5436, 1.1013, -0.0415, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db58e486c68d9066ebe091ebdca750c7bfac45ba80a17aa6cd57ac3a71691c38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab53bff5fa536a59fb08f5317f5f24af4662c790bfe31a575d7e7c46b7353399",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc512922e2bd0d129f8e1b5cb4e2d01103031bbd9ec3c7795365c3aa42b25fe1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 88 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.26, 1.6043, 0.7376, 0.2584, -0.2283, -0.1799, 0.7048, -0.0238, 1.0653, 0.9596, -1.0233, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4287 left_y=-0.069 left_z=0.0897 left_yaw=0.0135 left_pitch=-0.0157 left_roll=-0.0019 left_gripper=0.7048 right_x=0.2476 right_y=0.0012 right_z=0.1539 right_yaw=0.0038 right_pitch=-0.548 right_roll=0.0156 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -6.3385, 5.5179, 2.0098, -0.0415, 0.1197, 0.7057, -0.212, -2.5641, 6.3111, 1.0769, -0.0366, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The can remains resting across the burner after release. I’m lifting the open jaws straight clear without touching its sides.\"}",
  "call_id": "call_tpG7JT5hP1B4YNarsh1pVJ9d",
  "id": "fc_05c87aee787d4742016aac7c0355d087d18d092eb932973087",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tpG7JT5hP1B4YNarsh1pVJ9d",
  "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]: [-0.2604, 1.4288, 1.0119, -0.0631, -0.2314, -0.1844, 0.9963, -0.0238, 1.0653, 0.9596, -1.0241, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4421 left_y=-0.0722 left_z=0.2174 left_yaw=0.0198 left_pitch=0.108 left_roll=-0.0394 left_gripper=0.9963 right_x=0.2475 right_y=0.0012 right_z=0.1539 right_yaw=0.0041 right_pitch=-0.5487 right_roll=0.0154 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -4.9573, 6.735, 1.326, -0.0806, 0.0611, 0.1148, -0.1709, -2.3726, 6.3248, 1.0769, -0.0562, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:634ff5456f861f1dae8ac4d78826664ee546b7370ea6ce3e1309253e62e33433",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e00b56d5ecd300117d8166de5e9421f8efaa53c1b32dfb442f7ecdedc80eb9ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bdbf33f5861a7d9b80b4246fe34256573daa77afcdd97f9759bfc1fa620405c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.26, 1.6043, 0.7376, 0.26, -0.2279, -0.1768, 0.995, -0.0238, 1.0653, 0.9596, -1.0237, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4289 left_y=-0.0691 left_z=0.09 left_yaw=0.0115 left_pitch=-0.0143 left_roll=-0.0 left_gripper=0.995 right_x=0.2476 right_y=0.0012 right_z=0.1539 right_yaw=0.0041 right_pitch=-0.5484 right_roll=0.0154 right_gripper=0.9996\nstate[joint_eff]: [0.294, -6.4479, 5.7231, 1.9902, -0.0317, 0.0562, -0.149, -0.0752, -2.5504, 6.5436, 1.1013, -0.0415, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The can is stable on the burner coil. I’m parking the arms clear of the work area for the final visual check.\"}",
  "call_id": "call_LW696mZmXudT4ghLIFzh19qC",
  "id": "fc_05c87aee787d4742016aac7c07c55c87d1a2011b91f8db1bed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LW696mZmXudT4ghLIFzh19qC",
  "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]: [-0.0399, 0.8177, 0.6941, -0.4446, -0.0536, -0.0639, 0.9964, -0.0238, 0.8146, 0.6979, -0.5598, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.2982 left_y=0.0012 left_z=0.2015 left_yaw=0.0246 left_pitch=0.0073 left_roll=-0.0071 left_gripper=0.9964 right_x=0.2817 right_y=0.0003 right_z=0.1808 right_yaw=0.0001 right_pitch=-0.0957 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -1.5385, 6.8581, 1.9219, 0.0904, 0.0855, 0.0073, -0.1299, -1.935, 7.159, 2.2149, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a204caba7d81a8a47646e20600172b42910eace34bfa0830abe0177c8e7dab0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2b91c5b974a8a0a6cd49071849186c42029871709b8f5c416ddf33ba081d532",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f696246da80aa994799cf77b8ab6d83e312cd5ffa7b6096ea19ca76b56ebdc5f",
      "type": "input_image"
    }
  ],
  "role": "user"
}