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, 0.7921, 0.6044, -0.387, -0.0193, -0.0334, 0.9993, -0.0212, 0.794, 0.6071, -0.4011, -0.0174, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1792 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2923 right_y=0.0005 right_z=0.177 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.4291, 10.1949, 1.9512, -0.0757, 0.188, -0.0855, -0.3624, -1.4701, 9.7026, 2.0488, -0.0855, 0.1099, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e530192e4c1ab1535579a77304c447712e4b95bd9930a81a0d270a0792ece9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54fbad8d70fbfa0c6339470326c61aff547eda04319414f4351711106ad2c6bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31f7e1bf1e1173ee5f47d471dbbe4f66fcec787d6d41af781b3d48049b4bd735",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrF-_EyWWn56L_FVGQxOj4kH6OSSUUgvs9vtSItJDhltmV8oC1dYWowX9tXPDcxUSbfk3kU1XKCZLYVfRUZcxbRmuKS0_8CV3AT0Yn2naH2vB9FTZeeI8AvJBvyE8VV8Fp5603RnfvQWk-pL9syyEWvdtQoeGyuBhdMCTp0Ucn7Kug2HHemu_4wcSPYKwmQNLQDTpqP8K7fp0KebqvzaHHW0s0LzY7Drv__I5O41KSox0kjRHeyZfJ2Kz0_3zIl9FYuluXy-P_D-ocp0mMqe7gkokqs0iksR7TJ2Qjon1Wm21nqMOb_y7ke_lJZIf_TT8XugbirzUsZ6WiN_9QgtSmY3sFDzBJyty5QOuwvhsZ-r7RMFZ8LdlG1RQt4s1zJhg41pHmHleOQp7cCLF18LS_-ngvBM7CzRMKwqYv1FlX9m2ye6Gn3jnEGVCMFIRqqKywVGfJ1aAs4QBbY1bdm11shy_5dgJ927qr322Yx539xbs3xtR-1mVC6rmCyANQtaC2gM9mk1oEaTsg_B4ikUEcmTKZUUcWsbd0gUpvfRnykEMhAudlJDzELC5kz43qC2054oFWje8GMhLbZBs4Nh4_C8Vpr75den_HTNSON1VRpMOJ8_7oOOK_xGRhkucRanENH9XupJmxv9-Ym56BC4-1Ugkp8QGnMl7zNah5RR6HGkTG5EKzzhkyvydhUYJYIccUMCfFEinnb1oxZkCY4-GAhQHJCAPTHlu8dfJ6Koe_GA-v9fvjhXr598omTG12qB0IrEdKa9KoQMJ5enVsgUp7wBxC6jAg53vq6S7bthiYKG4BHC4iw19cK-PEpOz--Vq0la99tjPEBI91EDtvThV4rytReNeZczgsiKqmmGrcI52XXGRMWuVJ5H-T9pfKVNIY36i0N-H7uwOWqBnWvj5H5WtRi5C32KJ5WQ9QBOvB5qR7KKV5XLBByHAdmSF2knSPNiR8sdPbsRaKTXjrbDhF66TGM_h4MulSwhlC66E5rURl8RDrY273Yfq5XwLsnFbTU1aZvYrqJlKyg-2X6X1omxgWcI4PSpYEFzBBcJ7AOKwzvwUAK9k3xYeSIBTryc4aLmny3GXkBlYXnJMqJ9sga1P1HJ5wRrwucDrJKVKFdQaBLSj41C6F7L09asf5G28L7zW-wNoNyzoPeon2uhJWlFNz4Bx40l6DZiuhBLo6dZhuDPLj9b-Rc-dIcJQsf4rlUEz6TDs2lrZNdUXaawr_hurVllZr21xGw_3NzoSJNbzVIYwjnjULaVapRhN1eF-vutrfJi9K92Kbfuk5kpGUXw6ZNpcq3Jnaftk-350jEY715iBJbgwS91YIyS_4Ylb4Q2a8zGvsK9A6qs1PPuHdHU44I3VTNfgVbX0H1Y_LDId5tvnIsnB3M3iooo7MtnTOv4RbkeMszXyYHTmhqFPE98UII0YTfSNEeLeq_mDjl2uQ5hXQPznkMl1CW7LuV_96Wu5ym8_a1aQDd814JTJDeCVJ1Jspt71BXjf-SSHFVrSn9DT9NCRJ373ffg7GKEWoHZdGluqjfQWJCgb-V13r4Ugfepd7yEsYWamWTTavShwMAfuSmpmQ1FI6gS7T5Few3y0ds85B-HnNt1GbAFiGRjo1q-0yceSqrcrHVijY2GW5b4=",
  "id": "rs_01bf3f9c2f1e853e016aac5fb9a02887d0a1b54e35a336983f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.13,\"right_z\":0.16,\"right_gripper\":1},\"note\":\"The can is lying to the right of the burner, with a kettle between them. I will bring the right gripper above the can to align a grasp around its middle.\"}",
  "call_id": "call_JfMe7htvgo9gyvTJ89EYlksI",
  "id": "fc_01bf3f9c2f1e853e016aac5fbd699087d08a0c87de8effa350",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JfMe7htvgo9gyvTJ89EYlksI",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4061, -0.0189, -0.0383, 0.9993, 0.4549, 1.43, 0.8661, -0.1604, 0.3431, 0.2192, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1751 left_yaw=0.0028 left_pitch=-0.0214 left_roll=-0.0039 left_gripper=0.9993 right_x=0.3832 right_y=0.1253 right_z=0.1367 right_yaw=0.0415 right_pitch=-0.0865 right_roll=-0.0441 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.5521, 6.8718, 1.8681, -0.0269, 0.0317, -0.022, 0.2256, -6.5846, 8.9915, 1.8291, 0.2173, 0.2027, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9f4758da77380afb5a6797ec4c0020af354355494add17ac40630795eb05f13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29e41baf285b5974f8907cf9e272996b3ab449af435b4ec0a520124ce2e0a7aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:546b2efcd33b08a38b775dc8a5b6b32790cd5fce4a28a314a08a98f8b7387840",
      "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, 0.7921, 0.6044, -0.387, -0.0193, -0.0334, 0.9993, -0.0212, 0.794, 0.6071, -0.4011, -0.0174, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1792 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2923 right_y=0.0005 right_z=0.177 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.4291, 10.1949, 1.9512, -0.0757, 0.188, -0.0855, -0.3624, -1.4701, 9.7026, 2.0488, -0.0855, 0.1099, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrF_HX0lLju433bbenSN2QsqNOwm7PTerebdgGdQmN4RzeIh3HwAesYWj06k0iE-YJF81nDqIRgB9RtBLQ1Fwy3KT-Vs75FbNp93YaCsu6Jy3VUreeP5w-0WZxq9Y88uj6AkWomSOxCMUfo7lBDS3Rp9SJ_tmN4yFvcZneVbAsmGTer7upto729_a0dRhI5c4TuFuj9KyNRnF4Xaa7z5AYLepaZyo2moghcVF1tGbbmU_EsI44dXhcRMbio2i_wIXrDm-JnkkmA8x9yT2lKeiRfwNQTS8GRLmcUKe7jFtg_n8-Le3UdfVU608K6zPah3HIK2q7aawAncYVSdiEUW32oIt4xzMyHp9nqfc2_FtqVFA1MuB7_CXoKnXG_VkFkdUAvvBbmWP4xIU9yV_08FjY1yPaaOHVLffao-U3gNbxczIuAc05M1dDD0jjxx-MQTBoUmDA0YM62w0KlPvwL9PYP3J76H28e02Q1QqZ20z41N-DWd15LSg93N3qrmChqN01HixCGLx15lUECQWYjuCKQ5WHMbO-DAUL2UuDZAHf2qNP42qvTThAw5XRBXSF3EDzPuVjY1eQfU-_d-o6zjE3essrIl5Ey_DxSrX-B1552SJuurBMZQRyyQZ3TRATva_QVZ9FWVHUcQXpqJPQGZ54B-B5-geyalPS4Xe3Dvc1U_1uytrE5iVZ7RM7HJ8R6ep8guxw5Bz6MCJezhubiRD_FNtzpwW6NS5PW1_QaCiVUuytoEgskil2VYaOkU8SOMVPoKr5fjVyZzWznHb3vKZGGA2b8D58_1DAtfh4aVgEyCUsXoJZ7BJLaoKGW-HBffRiVZK-G1Gh__CPIJNffSmWs4C0cRipggA7zswJTUBqwH9z29oN9VyZG5AjleWGwAs9jyCv6tE3oSkejbjp6SXyMybFTfYWW9a9dRffIy3t5bCwxi-2uheBxdxmxmuToes4eKzrj8juXj57anEUp-MwKsiYC_BY7gULiXwwuaRZ7Y1JKGQ_IcDIG2_22Tw9s42BPjXo1QOe_a1ZSOSN_TlwZNdScOXjFd24RKfTZ2WZseHhRCFMTyuRPgMN1eKm6raWzseFGc0Hf-zYJDF_0QIRrT24JFRjlj8T2oD9DRTKjfOvTYc0SFbt0c144nwLKA3AYjgrnCaxDW92uGfDWbdIiF86oNX7dQM9nLvChW2M1lvPxArRpw-fdEDUUezThgs127onskNfDJK5R3iYZBRAX6I_wvR2Y0L_bPQGlTMscCExjUcqDQqgJVQRY89fVSuLh4bI_u0kYnTseSaGVoI-QZDmFipXwdyrb-85oHuMken-zSQ5KAtnPaGdYyIkWVMEytViy0KyiJpJkxcmhtgcWu8dSmgUCdu5d4UCdwufExEBTG-QIcouhuLEseRidw1Ic_FF50EwpYJXL-Vg7xHt4rY5otr-GEthawqNNCUsOTxomWli0ih0kxoXAft_O-gSTPs1tc4tKTQkJz0ogilxhmc4l5zc1HAs0gn1iuDR8VM_DlrXdaUmuZbAFqGSgVHXJAH1r6k0CPIIiCtQSM1qs7HTwUZYzZrzwz9gKT7bQ1kuPQft3o3XaEJiqTpioYHgN4u55wYVUAh7b6qGzbgxgYVyhZEV48XqXlS7wGUzhEEB4xBDSpnjnyPHm5cM4rTBweu",
  "id": "rs_01bf3f9c2f1e853e016aac5fc21b6487d08381a405f15497ad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.09,\"right_z\":0.065},\"note\":\"The can is to the right of the jaw centerline in the wrist view. I will shift right and lower toward the middle of its cylindrical body, keeping the jaws open.\"}",
  "call_id": "call_ZUQGpIlhjK07rpEx9m60OxI3",
  "id": "fc_01bf3f9c2f1e853e016aac5fc5b60087d08e2b9178ff098cf0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZUQGpIlhjK07rpEx9m60OxI3",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.799, 0.6067, -0.4137, -0.0189, -0.0383, 0.9993, 0.292, 1.6619, 0.791, 0.1005, 0.2562, 0.1219, 0.9995]\nstate[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.1729 left_yaw=0.0028 left_pitch=-0.0313 left_roll=-0.0037 left_gripper=0.9993 right_x=0.4148 right_y=0.0817 right_z=0.0585 right_yaw=0.0015 right_pitch=-0.1536 right_roll=-0.0787 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -1.4154, 7.1726, 1.79, -0.0415, -0.0269, -0.0171, -0.212, -6.2564, 6.3795, 1.5311, -0.0024, 0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1c83113abfd8a50a5d0b009a2979cc72f133efbbdf8ce02d657a40b6ef71267",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2de0711f3ee9913cc8df29f136dbf971d5d108d0ebdcfcdd240ce97f54c73d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ddfbfd6e1f7512bb0394d2cd052d96f13010773dd1fae4162d6e13ef753e18d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4061, -0.0189, -0.0383, 0.9993, 0.4549, 1.43, 0.8661, -0.1604, 0.3431, 0.2192, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1751 left_yaw=0.0028 left_pitch=-0.0214 left_roll=-0.0039 left_gripper=0.9993 right_x=0.3832 right_y=0.1253 right_z=0.1367 right_yaw=0.0415 right_pitch=-0.0865 right_roll=-0.0441 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.5521, 6.8718, 1.8681, -0.0269, 0.0317, -0.022, 0.2256, -6.5846, 8.9915, 1.8291, 0.2173, 0.2027, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrF_N4KaxzjTZaE96kWFIaLx2C6UkrFSb1L2R2PjM-nv8b-zmgoJpxm5U4R-e0OG0xQA1xAeP50L2ZfJpwV_aqTWTCDLSc2U15zkGpMI8AVanlGL2MHafbzVRk_Nqa58ob7ZpK7qtToJTDkWooYMGkLifNnZ2OS7NTW18cZtVumG5RC7gjDBdr55SrWIgoWHM89FQH8XCWovSj8qUVS4kVtkGWZKGwXQsuSSGcIBtUWbzqdMUFUvRE0uIjoGkeB_QoIcYJqxWCuZx_FpANylCAbfOWnCW81wUxcyCPZ84uKNwlgEkU25YzadNsXIftUYW1xWEbpXwHCaCQfKzsy0ezXt4cXGlMWurP1Wcdeb9_3-wx-hqhWYrJ8mVnq6CZVWcQ-wRaSskG8xk36SpcgWgRXeJzH7skvBIKkfvXMqGwU70Bb3M9ygOO8DPFwdzXsAIZ4bMxZIgH4tg84XOJ503PH333bHtsB7wGnyw8qIjdhiDVrw3Q5ERAUFOdxvlTOPF1U1FQ4OX8QOjQFB84TUbHLmUniRd2ADChaUXTHIdHmy6l59in6LbQW2GLJZAb1VeZj9cjyJMf2JCDAxMly43buXVTWb77dZfgyn7gVzhw8Tv4zIsOWoBsEA49bVPA9vgrvP6FKyCPNaRl57lRdQ8sLzQU0XrU24NpF6eyl56YWOiyccX-NlynwyQsvthtL17kYbUaVRc5kM8laKf3dksoST9OENSKLbxgGCrizRzEztyKnttotZuPe_rHDWVJlIfnke2ZppkiS_OkPotW6lmHBj_Qo__fg2KDiiyzFs13R8bt1QKhePmm2ogzVRYifs3ZMUZGHhoTr-RkRU7JhZWvmVCravmmkhJtKRe4meduWTRK4YLecP1siAcEoebfo7leyq5HWScrCEffF3lvbj4jhkhssRaPTcMX1wxm9Yiiwyoco_WMfCO1Tum9owbL4u3RIDyIv7-In2RwjQhQrFqQTkR15xb47-Wt1mUsQimd2hHXCfXtXRbqOI0j5NSOZszTtTNsS_GDTtch6cDtl4w7zjACjVemvysmgxIWMIHWyBv9SwJbUDIbsXXUXH7xLioY0dTAf570ThCGlKc0nEsZjnEJTOvSBc77eiXnIO1Opnde2cFjZw_nDE4p3he9Kj1g20Uzc-6YH_Jmnk_-sIQAMPLZwfNXTcFW3A0qvEIDMKF5PEKJmmOQIk9UtffULViMcdvw4a6X6f_wDqq6H2RgGK9P459ORMvdlPxLaJsdSoC61YM9dchToZpM5AANk9i6PfNgQKSY_x8QdHyxoq68n4qA-EnyUX378sOdnAUfiJTBO0GxFN865omrYMCG8JXEOouh6jXh4bmesDoj9wa6pWW7ARlr-RkCuquESh5o6AeXL7hNi1vEQQ0_8bir8AFHRY_zx0hw6vpzYk6vuEKR335d21tAq3sPvZrF7eJdHcMtStfMkch3ED6-Oyd_JdPfKbi",
  "id": "rs_01bf3f9c2f1e853e016aac5fc8e73087d089033474bbb432bc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.063,\"right_z\":0.025},\"note\":\"The can is still slightly right of the jaws and its near end remains ahead of the fingertips. I will move forward and a little right, lowering the grasp point to the can's center height.\"}",
  "call_id": "call_24QTr6vzUAbcMAOutPvpsaA8",
  "id": "fc_01bf3f9c2f1e853e016aac5fcb1c5487d09f60fcf944375153",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_24QTr6vzUAbcMAOutPvpsaA8",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4286, -0.0189, -0.0425, 0.9993, 0.2005, 1.895, 0.8967, 0.1581, 0.1909, 0.0589, 0.9995]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.169 left_yaw=0.0051 left_pitch=-0.0496 left_roll=-0.0067 left_gripper=0.9993 right_x=0.4468 right_y=0.0602 right_z=0.0076 right_yaw=-0.0037 right_pitch=-0.2358 right_roll=-0.0952 right_gripper=0.9995\nstate[joint_eff]: [-0.3077, -1.4291, 6.9812, 1.8388, -0.0366, -0.0122, -0.0122, -0.4581, -8.7726, 7.706, 1.9756, 0.1099, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93a5a0ebe063546f324601ceeac2ced12bb1ff8945414683d31d9fcf9b5aadef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5574a5e64a1e138ba8d4a29d744a37f3c74c9ed2b2ee7bc52b836e1e68a871ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:038ee997121810def98798260c2a894dfca6bb2ecf2574eddc2bc22dada0bd6a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.799, 0.6067, -0.4137, -0.0189, -0.0383, 0.9993, 0.292, 1.6619, 0.791, 0.1005, 0.2562, 0.1219, 0.9995]\nstate[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.1729 left_yaw=0.0028 left_pitch=-0.0313 left_roll=-0.0037 left_gripper=0.9993 right_x=0.4148 right_y=0.0817 right_z=0.0585 right_yaw=0.0015 right_pitch=-0.1536 right_roll=-0.0787 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -1.4154, 7.1726, 1.79, -0.0415, -0.0269, -0.0171, -0.212, -6.2564, 6.3795, 1.5311, -0.0024, 0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrF_Ydw7J1Jsh6T_ucVkEwHIdCBpgjNWD-1FSnhIrg2dCyyptXoyvhEgD-la3Wn2iaBXh8YSStJ9mhKj1Oi3j6BU2GTV-TVvQSTW7w5Tc7Z_T3pmLXR8TB61sz_A8lTCPH6VSo7iGYp6a9UMUZ3lJsag-doafmIH_hlzjxOj9uCfqKA8GXa0Fmfv0d-eJqTMXYyQqMwxLP2IAWBS0OSB11mJu8tzAWWof0AXCCZO-b48jKtogSrC2Hk_teiL0RmW6TzgiJv1c4LW9d1AyULwE9hogHgfTWAk9IneBs5n1e4_r0I01FMZURwYkb4UKwU1oeYnlVwYxDRtl1dwEmUBwDx0F2qrkH41X89aenOngG1N5QBnsatXtz7CcRKRPT59nSQ1RzU2gF1O65HWoRUzz6UDyzIm9XQJ8m7aL5jONQGmmVuZqfGbDsNs_dtPvlRwy7Poy6iov4c8Tzfc1PKWy9TrmjcYnmvodCs0ojDcmCPbh54xcFQ6IPz6ROKHkTkML_DFRllGy4O63edBzC9IoN9w09MQPuh_AnOra_RX2qRn-f8xwZHUVrpkmBRoyEq0GpkrC0AqB3Ufqx4oxKqFTzNJX78q3FZIWU9WOO7kgnEw4zP_H-sks34VDgxEAJvqVLj20Lc0CEs3A9ZKx4F8HX4Z0VAXF8A8xy1SpEPNTdUL0pyboJxkvSZo6WDYnRct3HjZGh1yyGeKKRRsEc47zgP8DuoSeeIh5Z5YMHv0ODpSqA_xEt71EecRNkjViVFE4yQ4noQQZjEg7qF43c6YrdU0U64l9JAvpU_2zvmeiwl1YPFAXUvInuCHT_4PAKA45YDYu2pwlGzpNroTvZMeSEAnqydxtalvp0g38rCSmRwXWYcbtSMvnvkrQ5FiGInQhzOPPXyyGhZPxIN5wlbrt7Nm2YeeKC6MVWudzHNw4TuOfFSnVwlcyDc9ZcvTzlbVeQO2X3O3PZ31ARgT5K3vrBB401xe_ptwvonQKv1ng_YXQiSD1lMOhPth1b3l7t7zGFEzmqrfWJ8WNWzoiGNXjwb6yCkUnYvnEpvpNYXWwsMgXuvWHtjS8j91J8v4BQdMv2hRsljK1iu_ScBRlk5x-4BNOjGYEIcFEaEySPUteULz67JKQDInZGLnBg2tc5SpPqlaEPhHsqI9hVuIF2tLyE14NafcXQOfqKNWQc3FgZ8LVVfbnVgZ2U5ohQrIyNCtRamjB9qbXWhpHX74j_Yi-0E3AMML4MHwBQtnQ5FnamLse4akwVvcDMEG8Z1GDfr-lkFCZvESTYDp7cFE33Pt6R3rhyrxI-J3eK0yRI0k_Bcm7gjEv8D0sLfPdCkpss0riI5VhbFHOyZQWVgfD5v9VSsSpUlYvqXw66oslqVIoT-ctOMC2qVxpRyd5kKTfkTRh85ItquN8phwFivRrhdIjVzKyvylxbSqM9HbizG42tNImz1KZesMZN-6VHPJAMEEd5yik2jzQAmBcU1m1sc-odOZafXzsvK5TLuoYSVhEVb68nDFk8ORZ0NT_AKzhNrvItfXxIzScK7cyfR786W0xMjcqCE9ZXkFRffwzzN6O4pplaidPGsMkBjynOHjFLb2QLNOgCgebsf4JlFYolDMUdFPCa5Opqu4ZfasoAZ_6Ucihu26XfO29jnS0e6AlOSkm0PWedU8egk1Oj3XGoQotFNwMgXvoO1qFC_1ws8Eznvf0L9wtYCsdY7RIVjUL5USuDNXeOYQBctmNw4SGHUdG3lRmv0kRuvuN8y0Mvir5CRnJUDXokM0swizk9WWJip18lhm4GDLs5lQRoO6P6tF42UVKN-XP-ZmjikXtA5R1t6QaK9FhdKJEinh-7YoGoA2LDjojYIXEaHT_nXaAKfpkkQFWE3nP0pstQr4NzqabddDGak9zcUnUnOJO5w9cit0JHSJSFFU-sjZHb0oh2TT071jEm6kq7AMcWGVh1We8fdFW3Fdxphbg7ak_NK3U-dz3MP-7MP4HZDInwY20eLbenJc6855Uk5fMdgfk0TzFb_LcNUAAwFbzeuU3sL_PDlxhCCcVIy8Nt9FRjmKiaLuHYjngZ1oQVBsHGSx7BHLKwahEf8qTHhkC9ujWJo8htGXUWG2I",
  "id": "rs_01bf3f9c2f1e853e016aac5fcf697c87d0a3a2657305ed4f55",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.11,\"right_z\":0.075},\"note\":\"The can rolled left during the low approach, so it is no longer centered between the jaws. I will lift clear and realign over its new position before closing.\"}",
  "call_id": "call_FL5EcL54RiEc6esgEeYMpQxZ",
  "id": "fc_01bf3f9c2f1e853e016aac5fd6adb487d086819aea997409ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FL5EcL54RiEc6esgEeYMpQxZ",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4355, -0.0189, -0.0429, 0.9993, 0.1951, 1.9095, 0.9169, 0.1787, 0.1822, 0.0517, 0.9995]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1674 left_yaw=0.0053 left_pitch=-0.0572 left_roll=-0.0068 left_gripper=0.9993 right_x=0.4561 right_y=0.0612 right_z=0.0115 right_yaw=0.0036 right_pitch=-0.2116 right_roll=-0.0885 right_gripper=0.9995\nstate[joint_eff]: [-0.1573, -1.3333, 7.0085, 1.7509, -0.0708, -0.0415, -0.0171, -0.294, -8.9504, 7.2137, 1.873, 0.0513, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dd0dcc81639b641da927db66b9bc7a6c42ce860aa1523b82f10797721da5734",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d7b6722e6aa7a824704e2f5e0c1994fb3cbbc59bcf5d0976bb2055d6400821a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1448e1bc8b7d731f846c05e71dec3c400c289bba0962bafcaed6aea1c04af587",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4286, -0.0189, -0.0425, 0.9993, 0.2005, 1.895, 0.8967, 0.1581, 0.1909, 0.0589, 0.9995]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.169 left_yaw=0.0051 left_pitch=-0.0496 left_roll=-0.0067 left_gripper=0.9993 right_x=0.4468 right_y=0.0602 right_z=0.0076 right_yaw=-0.0037 right_pitch=-0.2358 right_roll=-0.0952 right_gripper=0.9995\nstate[joint_eff]: [-0.3077, -1.4291, 6.9812, 1.8388, -0.0366, -0.0122, -0.0122, -0.4581, -8.7726, 7.706, 1.9756, 0.1099, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrF_hcwa3rpX0Dng-OsXF_r-x1ZFayOVnIb7EZxA5TV_0cE7bimQdrkKxeicBahYXBviMbB9IgJbDRaA6vK8qM6OjWqJu7xWkqlHlBxVzvWeLTS-d1BM9G4CkBOFKbBFjauDtr6iY_1CY0JKM5eCJupXxGguhFXuVl1UD4geJCn5PqGe3RG8DZOkvWnRQeqCGKs-_ASDDPj2yOxOZHEnr0TdoPxqxetA92i8R-_Kazsr8mWXhznoMtsiytrhnhH4RMT5-c35r3s4Hy2dpMouL8OW5esdjbKGegTurD81iF7VxGZqswHsw5tOfli8_Bbf2Vju6nBkHX38xH4m0d-6lsoYu204Y29hstzLXCbTV46-kpRHQsT60CVuQeB9tnHpVzSzUk3G2gEY88SezY3iIP05nfRsjtyGeXYc1QXSlzfx-mecVcW2kr1QZy9kPkgZeWPz6kSBsRbU0DRuvwOgAZv9xAX5sv-s6zm8Sm1ViK54PKlgsrHBnSzfAEwryJBXSSUIKaFTeJYlxEYVamcsLEoEfpami2n4uHcj9sH9i5i3_9-EwvQZljKkA2MpF1Aje7mqySe7EmfwPdXVMZ5J9GqDo-UgpRX-afLJIf_EsPXwTlGsjGxfsKisLsZ35DX7ZtuLe_fJTMBXh5oMPgNpwArVFfjlTX6IA_0pZrgl78aW96hr9I-h-D1tsLU56OIAxZrAYArFmYvBu54VCKMB2lFsYkzAWeN_OmKp8LPr7klk0ZIOnyWIHrNBWUHzqWqRMQx2rrXID0Uw6HPdSXeloc7_HvvGYI43aHR4i0w7BQqjRxIOyoUuA2kzMbAMee4MZ73AHp8zMtyJvaeCYEVi3VDXfY-ACZos1XzvtCgbDqJmJ8V0S8bbD38hQARk-HriUud4KP3jaiQmY96oebCfwEJHMquIZWWX5FQydEuyJJhcyCTkEqyNFBYPfXAIoqKwFesRh3dcuP8dgzAuZIaqOxpzMUQ5eRUWlUfxutIxz22t7QonD1iP4Hbod6CPYlpemR_uTEN-Svpv02TZDXnEiH0oMOAAMxQ40UEdah0nXITbZr5R3kWBHTAV86pUAQ5w0JjknbGjpBMud_lnzdrn-VOSseCBJQiNh1WxZckTFRmZPlT4gJxS9RiTZbmEj7gg1cRrcguUu4oNKqAra1jQKnyQJZ666ovS_DBwEAB3Ja7jiSV3W-fw0UBOKGYHbK-US9640TdFyij5_zylyg9XQJHAtaUFDle_C1ld6WqfAEgZW1wdKK7b1fYJei5SU6y_lVo547-H8ma7WyJ5UPwO__qU4RA==",
  "id": "rs_01bf3f9c2f1e853e016aac5fddb1a487d098994b06dd1f58c9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.10,\"right_z\":0.16,\"left_x\":0.294,\"left_y\":0,\"left_z\":0.18},\"note\":\"The right arm did not achieve the lift and remains close to the table at long reach. I will retract and raise it to a less extended pose, while restoring the idle left arm to its parked height.\"}",
  "call_id": "call_orOH8gP6Z9Q9NBdL5BB9PW5E",
  "id": "fc_01bf3f9c2f1e853e016aac5fdf12b487d0bbfd408c36c6c125",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_orOH8gP6Z9Q9NBdL5BB9PW5E",
  "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]: [-0.0219, 0.836, 0.6315, -0.4774, -0.0196, -0.057, 0.9993, 0.3374, 1.5471, 1.1725, -0.2928, 0.2504, 0.1261, 0.9995]\nstate[eef_state]: left_x=0.2868 left_y=0.0008 left_z=0.1616 left_yaw=0.0107 left_pitch=-0.1072 left_roll=-0.0162 left_gripper=0.9993 right_x=0.441 right_y=0.1121 right_z=0.193 right_yaw=0.0523 right_pitch=-0.0557 right_roll=-0.0424 right_gripper=0.9995\nstate[joint_eff]: [-0.7043, -1.1692, 10.2769, 1.7607, -0.0904, 0.0366, -0.0171, -0.1573, -4.9709, 6.653, 1.1746, 0.0806, 0.232, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:965d2de811da40ecbce189b556cfd10fc232eb6e6b70906ea1461e31277d6e87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb510b31e17f52ebc54ab09029c41bc6ed5f7a17f6dffc069b163d13e4e390a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:866ec19c220f49f3a0758c1f1050a5bb83175d4124213f0b1487cba1f0119b93",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4355, -0.0189, -0.0429, 0.9993, 0.1951, 1.9095, 0.9169, 0.1787, 0.1822, 0.0517, 0.9995]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1674 left_yaw=0.0053 left_pitch=-0.0572 left_roll=-0.0068 left_gripper=0.9993 right_x=0.4561 right_y=0.0612 right_z=0.0115 right_yaw=0.0036 right_pitch=-0.2116 right_roll=-0.0885 right_gripper=0.9995\nstate[joint_eff]: [-0.1573, -1.3333, 7.0085, 1.7509, -0.0708, -0.0415, -0.0171, -0.294, -8.9504, 7.2137, 1.873, 0.0513, -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": "gAAAAABqrF_r6zzTF1BjOwop5mtTan9tZydi7FW9QhEZt2c99-Af0XsWFL71sxet5oGcZCH79aRz-GMsqHYB2GVIvfwRWrETSLEx2Z-uwoQzST-0B-wyKluUUzAKMcfLMm4BBm7YdgPm3RtnE3CcjU5QKher1t-VisfFYiVLHj78NasQOqVALFFdJjcGIbvKinHKpbiKrrpIQQsRDh7BolzujgivBBczlLSPWVR0DioBHi4_RLfn3B5s1k2r8Bd4-IIVBIxS6ajQ0WbC7QXO6zd7kBrba3SydLNFc2JquiQ1S5tOUzArMvpzXSJZlryodPcsymtpsidF2py3YXWHaUgBS_np8gnD0V--1FvoEmJ4ZIxvod2teEgyliGRUlixSvlRY-8Z2_R7mXBZpoPpy8TDqeI6oszBAVXsBWsuUvRumMfqsuCwQZNZYHmz9OO0MCUke_nihw6zA_8YLySWPlvjDzqV2y3WasUarQ10Sj1RWQP-mlLUQBt7JKnpqAooD5l3zaHADX8PAxlRnjC-l68Ne5seo44yQxaHnMFiA4uBB0mXlbPJ2IJy_Rd_j45iUmCF0CFhk9S1ixQPdhY0NnVK1TZrdLc2sGnwci2M7soB5D6hmlGOyxS0BtGXxRkdSCvpCArPGOPLAUkE2MaMl9HSXuVG7CMU0A0SGznUP_fRGmrPpIEkImPwz5ccePJb8CZniYozl_g52Wl6Dxh-Hz7_cuipbI0UwcztvHBl-rXneD3zI2_FC38NxQnqY5vG6R1spY3L_J_nu7wrftcw77094mQSy_wLYxw9nReWE4eTboGHI9Y82iHVj_m9C_3VJW1tNG2PdAVCmZC6sX2wnSChPjEEhcEnrAqH_uvAcrDwhkR5-hZnkvDwoIaHHy-74pHHpLgD54jhCEQCWO4_tSedLCf2GC_kHHKogrAuC4T8YkDJB4l_cZwdREL2g5PZ-9jXO7cOvb1IZ8J4Lvx8HZy8jSnbQaj23frhLh9VMqj9rrodcidZqJo8YbufBgfenmwUrzy6JPK3wSTpnJHiuZmo0-kubbC1F7JNwHhUFP3O7GIDRifSbQ1rmRF-7M5vAeR7Znf70bqAoliNHk-EW3L9gwKz0FvN-Iqmi5NahUwMNE8pQ4d8RXQ0MOILL2E80CUZpF560LUqNo3LX8HbyEmk0TdICJsO4l6jV2-k-eYeBpz4rwizephz0_hA1HfWosNgVYm-VKdwOsN1sjLAgsz4ipxAnY2HsxrgExhjV4Rua_IO8C84MxNODaPZWjMpbQiCq4wPtTkK90A8aYWafL6iwQaZCbVwYTo_V_wRcXo3_SGNTGqKc4hfJy3ivKSQvhqM9mxkOW8ZRmAwPSw3cL5GbKXZ80_iusiZR9vxSJWGb2YVLXPcy2eXqilTM4p1sOeakUfWd59llsiieGkr5NiFXRABlJR21vMarlzwYFNQNGYDR-_8dB2fxMdZrIVFSQSKH8sM8Y0-Im_-uMrdwcZp9etGinRMv1XjA9pIdAph3YWIYntN5_hwgthoggMyjkXTbBkUAnwKBua26xOm56jtdvtdi8VUEb0Ify5ah4X862UEynB6LLYts1B51E_xu3I_Fj9xKmfM3e9w9qgaxINQ9DzrwvppXpk37GYjJXLeOyETRXTzxdESpfulkD1W5SIJ8lqkUaqzbAo82nldmFZBhoH0Dth2JALPokOR9mQg3fyjg2tdnycyZNOVeiGh63ViqWMmLW4-n11JfIWlfp5z1K1Wcyu3kV7rOVYy8kaYyOFHm26QWuKoHQ-Yu-v9nS3GeDpm2JM_IfzMXXXvrPxe3s2ZWxJ7uA==",
  "id": "rs_01bf3f9c2f1e853e016aac5fe45fd087d0bb1690f53078e675",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.1,\"right_z\":0.065},\"note\":\"The raised wrist view shows the full can, with its lower body close to the jaw centerline. I will lower over that end of the body rather than reaching toward the far cap.\"}",
  "call_id": "call_tBF4LVwNTTy1OMV4nco2Fkqk",
  "id": "fc_01bf3f9c2f1e853e016aac5fe99a6887d0b39b2e0c0285f852",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tBF4LVwNTTy1OMV4nco2Fkqk",
  "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]: [-0.0246, 0.8368, 0.6346, -0.495, -0.0219, -0.0578, 0.9993, 0.3237, 1.5917, 1.1252, -0.292, 0.2272, 0.1196, 0.9995]\nstate[eef_state]: left_x=0.2845 left_y=0.0005 left_z=0.1594 left_yaw=0.0104 left_pitch=-0.1224 left_roll=-0.0148 left_gripper=0.9993 right_x=0.4355 right_y=0.1079 right_z=0.1529 right_yaw=0.0588 right_pitch=-0.1478 right_roll=-0.0576 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -1.4974, 6.7077, 1.8242, -0.0122, -0.0611, -0.0122, -0.212, -7.5966, 7.5009, 2.0391, 0.0904, 0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f52340a1ebd160c62cf5cf1ac7455c0f912118aaf9c8147242f69f027c5a9a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a4752e10f2340c1c6f528025806031709fe129aedbb64cda6c55ec11b8f1649",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba8f31a0d762371f901fe7142de2f09215b03abf81b06e2b45347f40be69b983",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0219, 0.836, 0.6315, -0.4774, -0.0196, -0.057, 0.9993, 0.3374, 1.5471, 1.1725, -0.2928, 0.2504, 0.1261, 0.9995]\nstate[eef_state]: left_x=0.2868 left_y=0.0008 left_z=0.1616 left_yaw=0.0107 left_pitch=-0.1072 left_roll=-0.0162 left_gripper=0.9993 right_x=0.441 right_y=0.1121 right_z=0.193 right_yaw=0.0523 right_pitch=-0.0557 right_roll=-0.0424 right_gripper=0.9995\nstate[joint_eff]: [-0.7043, -1.1692, 10.2769, 1.7607, -0.0904, 0.0366, -0.0171, -0.1573, -4.9709, 6.653, 1.1746, 0.0806, 0.232, -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": "gAAAAABqrF_xhbVfOtQbzo2281b3BIt9BD3lfla8WPnxBmVjbzykg2jLeAKvk2QNVpB-YAooV32r8t7Uc29-JCpUBAeY2IQSlRairKl9LzzwgPZIPU-ujnD5Qzaa9coFrj8mbPqSqd_2vtnM29CovUWREO8raLxcxuKfgO5DIxuAjIzHw6ZSA4e5bLe5fu9WM0j2F3sEkWsn2OCqP-2yXAN-gUvVySvmjMxDdhzreUaHUw5uhbR5oAX0Qt9vRnaEm2ZKdOrvD5mbFZj8XpyX50qZWq1MllyquHOAGC5aI428O1xpEK1QvyFgJo11jqDKT3aC3_VtcQsVvYhRfl8RhRatcXbBGE2ONhAVODAKD6yOoF9hZIJmIVL1fr9BPf2UIyUUu561HYQeq3B0yPQ29trXklhjm-6YFrMSgU8fN0b8hvSQ7Gt7dyyfi1LL5Y5yLKb1czlmnnaZx-ThVT6GN_Q2QmNWdmknw8QUK1StOEMoDQuAmBQ63VDHIp3hFjlz9g3MgqnAmklyXYi3bG63KDC1Vj9oqualPoL7xFlWWASwcHBqCKOMz82XxZqQ_PavFlkd0bfnO0Y_z5NLY7-QbAsatryouMIz8cpt0_dIwtirIrdkUOOn9EcRZyIM2SjjHDV4_i9laOd2INZBx24f9NYcTWCUEpWylk5JdddIatu-63B8IJ6lZa691dE-e5YqjpnfH2D8_iqbzAvdXojBXIbo31G5Qseday5Ur74SFYh9B0RB6hgnOgsD6gRmhBX71RpUvJh6J3B7oez4ysb0OZ56Myo1XaeozDgmsRArBq6-rBzEV9DACaUJMqQmF70ot_CVcFuJNUbfKfOm7OVLZkAYEJZceX2y90xaS15xDu990MShPkrUVvHMYCE4a7SmSbnkHK9t-32GTnK2pLm2IIij6D6zP8xG-UyDtZS9wCmurGBFIYmsRt12WhUTGycLVYTdSDnh2kRHQyrGlnpuqczryMG80guUXbVO3BG4n0E8Qt0J90ksVovO8scZdv9vTWhMQbdb-PE-ogwyPG7XxDtiaVDPZCzeKKNeAKNkXi2Vl6NUaY04w69CuxaLlI0X1s3gOTep9yeLTs4FGceo9FPIYe7CUGejSdgCQkFPAmJo8fiIDSWRFSfy48QMj-X6WJqxiAs19Q2jXlAz_fpxjw6VquZvlP_qQz1Jt_6h3KjNbWfEXq_OdF5r8ILS3mJpAITrYjYwR0Gl9hOT7NDZJV7r_3lQU0fDCWhgDMf-gvvh9l52B3MD0xsTh6UmPaFvJkkVBMghcii0Y__2IWgoZU1o-KYJbJLBlZFKdocEGL22d5zK6zTw8xBVBzO7DGsMaw88PMWDvp1C",
  "id": "rs_01bf3f9c2f1e853e016aac5feebf7c87d082cdb8d22692634e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.105,\"right_z\":0.09},\"note\":\"The arm only completed part of the descent, and the can remains just ahead of the fingertips. I will use a smaller, mostly vertical step to approach without contacting its side.\"}",
  "call_id": "call_FBbkaMUojjYHtPggoGCD4GxP",
  "id": "fc_01bf3f9c2f1e853e016aac5feff71887d0a6e92c61c6b10837",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FBbkaMUojjYHtPggoGCD4GxP",
  "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]: [-0.025, 0.8375, 0.6346, -0.5106, -0.0219, -0.0574, 0.9993, 0.3164, 1.6257, 1.0538, -0.157, 0.2211, 0.112, 0.9995]\nstate[eef_state]: left_x=0.2821 left_y=0.0004 left_z=0.1562 left_yaw=0.0099 left_pitch=-0.1388 left_roll=-0.0139 left_gripper=0.9993 right_x=0.4423 right_y=0.1078 right_z=0.1322 right_yaw=0.0618 right_pitch=-0.1203 right_roll=-0.0517 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -1.265, 7.1316, 1.7802, -0.0513, -0.0171, -0.0122, -0.7179, -3.5214, 4.6974, 1.2137, 0.0952, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c2d15e142b16b959e76a84c18b1f3c89f4aa82be66723ecedd8282eeb5bee6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4bb7fd5af4c4e19c84a8bb3aae64ea9ab4dd3cf23b4425718938b321c110327",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:051cb738af4cc6f22207d089bf52ffa35168129de7527ac143ea447c50db3e59",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0246, 0.8368, 0.6346, -0.495, -0.0219, -0.0578, 0.9993, 0.3237, 1.5917, 1.1252, -0.292, 0.2272, 0.1196, 0.9995]\nstate[eef_state]: left_x=0.2845 left_y=0.0005 left_z=0.1594 left_yaw=0.0104 left_pitch=-0.1224 left_roll=-0.0148 left_gripper=0.9993 right_x=0.4355 right_y=0.1079 right_z=0.1529 right_yaw=0.0588 right_pitch=-0.1478 right_roll=-0.0576 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -1.4974, 6.7077, 1.8242, -0.0122, -0.0611, -0.0122, -0.212, -7.5966, 7.5009, 2.0391, 0.0904, 0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrF_29xuaTv5XwbP2Lmx1DzJtiD-eVyRng1dBIUflQOhIqWpeLC3KcxmkDj5DvDq5oTsSJX1uTRw9IyJPbefx_4D30DX6ZTJQW9Ei1xHSUrSHTgusL5OgQNe0vS-mkKi778Ffr0AZTRN3F72qV7gFNmCJTYzFbFJkMqRnYLAmptD9R-0i3Z0Yk4PeZd-sOaK7hDA9UfKoPT8LkioppCLlztIfaRIckaDKGlIYRpGJndR7x8mQLWPYLUdpvux6NiFhIMpBjOO9Lcz0XaZVlVv689Up8fifDzmVF9CgQ7a1_FFCLCnYpMrox5uhT9Z4tko6eZB3z4UNs6p5X84Ofv2dwhU5y2BmHJA4PFbnvhemk2L9EDaWq1LWG6afXJjpPGAMe3AkvWdiSwQeL5uYNUJ3lc6iCZ_KWdte_x7nIVVSfR7SkKT8Sm8p0uAYqmdlZ69xM_7lh73l_8hZ3jeVIXFwqK8rvWSgkA7ahs2xUONJW7O7RM847V53XgkUxQwYUqGJh13sXcRwkNR-6LOMvzf-cHH_GisBSv7ED8Xb9CpIDZ2W4_GXXpZyvAXDw68r7-NCiLMD9uSw7my4-TCZY6BLL_fBvVdXWbHXby8vjKb8FQBGgRCCc2RwVh_CnuCmlZcQ6qedx43xRq8szNaKDBgOJzwxcYkxVVyWbWDu8vqnHshLYHpKpG4OdSCW3YZj0oX22TB93DVek6qbtawNKfcS44cINhs5m3V_y2wl8uMwL-Gih-rUY_la7P_zcxrjkHvUxBGGRqELyh-ndZibfl_n6oQE0as_Jsx2wnSlzSiZ3T6uYG56atnsKYf8IIdvH1NAJi9k0BWMbERPbi4QJPDn-KTxjo7IeLjDCSNuKBM1_O5JukBREXaBVua8TBaCKRnMId5L13Oiyl99zXY-3WpHOsR_czKci632NG-7K3BzWaRXxD89eRk0P7usz5PptLrLsdaE9yT7rxaen1G-6EsQQdfkeNRMW-J3NiOaVm7GYaAJoZ4pNag9SpokFeOnE4vtnRQFoqGeAPUhbgVmIP9MERCCpl8ZcY2CdG4AkcjbOl8QQazMiyZdLD7wmK5yTKD2FlXDCc2NaGeWfqA2mPSWbjTV41wQ7mzY0quWJNK4cHlUruri_0BpgCXiHwOXwm5ee2ExBp9Xfv-b3JcLUkHn5P8N-YdiTCkEqM3xkWq6jJDrL69c9K3WVN8M1XeI0UlGBrG_L9EvhZ86qjPjFk9HwIBtt-FA8C21SDiI5_jGEIH3pxjh7Z6GIE0XRYiz5svAt_K4Ln1E6w9o7iZ74eBcUQF6Eq0TXOrFEE724x7Lx-upvJE=",
  "id": "rs_01bf3f9c2f1e853e016aac5ff3cd2087d09b18fc4ee3468bfc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.103,\"right_z\":0.045,\"right_pitch\":0.1},\"note\":\"The can's near body is aligned between the open jaws, but the grasp point is still well above it. I will lower farther and advance slightly, with a small forward tilt to improve reach.\"}",
  "call_id": "call_WDkMnYGIYYrXyGPIpyyfV2V8",
  "id": "fc_01bf3f9c2f1e853e016aac5ff4d1a087d0875d733439fbb4c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WDkMnYGIYYrXyGPIpyyfV2V8",
  "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]: [-0.025, 0.8387, 0.6346, -0.5186, -0.0219, -0.0612, 0.9993, 0.3023, 1.8885, 0.7643, 0.4965, 0.2245, 0.0669, 0.9995]\nstate[eef_state]: left_x=0.2808 left_y=0.0004 left_z=0.1544 left_yaw=0.0121 left_pitch=-0.148 left_roll=-0.0165 left_gripper=0.9993 right_x=0.4485 right_y=0.1024 right_z=0.0256 right_yaw=0.0717 right_pitch=-0.0231 right_roll=-0.0651 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -1.4974, 7.0769, 1.6484, -0.0464, -0.0366, -0.0171, -0.4581, -8.5675, 5.3675, 2.0977, 0.1783, -0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ad22b2c50fe3e3617c672cc5d4c52632dcf57797b5928fd88210b09664aece4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f560543ad4941f6811c2a3c2e4342a23f2b19768c051af2ab4e7b553fb374729",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9173fe69a3a5177d3c9a8f1a00136e36e15eb1850e97c6493c9db9204d2c4833",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.025, 0.8375, 0.6346, -0.5106, -0.0219, -0.0574, 0.9993, 0.3164, 1.6257, 1.0538, -0.157, 0.2211, 0.112, 0.9995]\nstate[eef_state]: left_x=0.2821 left_y=0.0004 left_z=0.1562 left_yaw=0.0099 left_pitch=-0.1388 left_roll=-0.0139 left_gripper=0.9993 right_x=0.4423 right_y=0.1078 right_z=0.1322 right_yaw=0.0618 right_pitch=-0.1203 right_roll=-0.0517 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -1.265, 7.1316, 1.7802, -0.0513, -0.0171, -0.0122, -0.7179, -3.5214, 4.6974, 1.2137, 0.0952, -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"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrF_9TNXk8LC9_jWPV0tzLK3I6gSAGEYKwz2l0QbZRWg8ucH6khpYDK0IcBBAbNG7LUbW8b0jxZJCmaIsvjfPT6I2ctt-mrQv4gTL8nfp-lyWc4jVIoBGH77vGwg9vx0-7vv3O3AQ5JptoRZc2ET20WYYdjR4HTECNqZKMfd1_jjNAeU87Iu5wORq1quYbrRQ2AccaswdfXTFVd4mowBb8jQepP66mEuQQ1vlTZIJXvhqjs8tGgrmgIGBjMnv7pZIHBXgC3IsQ9UfNOeUpclvq5sQMavkVEYJMXLd4ZJeBR3wr18L08d31FAEd6gIK9c9t6PQr0qqpSLT2rcsStk76oRvw4F3S5jHdJTQa1_SvQNWBNhzW8U84Uz-F14tusvbDrchxfzDNJUcJcNXEcLZFj9eKDI60S7SW1VLFh3EmtowqJbtAUJOWbnwlswco2u4YVoQ_75eXzn8UZqE0V8D3kK13cIcDfSNb_adAn3Wf6-UdgFR92RtbqtgUyRrHEWbJbb9FhRNxLZb72U87sMRrR0ZeLmFEkH4kZc9VTaQdHlCUltHuHfP_6aSTRXuQuM4g_W_gd8kz96FL9Iuly9R3n-4mLkgfrnvDL7Lqcx4jnN9kDSgIL5IVdqbU0EIbZHPCvWmpgYjVc1hA_DN1wi1EiCJMPfxpVMVAwDeOPDRyj25hOTWgWAvOm6-TnocBo59ZHE6ZbzvD3m_yGELVp5aVsPwRVbWhYJVt42nvvEdilif3nRDpiaSnTSG0C1aQ91efKFlQtV-XHlSsVsvc8LXC8Q15VTXuFexfNbeJTvSSU6Yx2V8ykv8OTQHJfxhTpTTejqwXb3-ZRn8efEhfydgxRP127T2XUzm2rRLLe1MSZ9UuYcP5zwLWFcEHFtcK9zrj1j3l4Iqt0v1cmWXDvZYVkz5HRgFeQeeAYkRHKZqmZZ0OJRuwa-W3u_MnhVWu8EzMq5mGXLdDZqdK8Z30v_b2LZtl8QKVtHRoeKBSzHTxiv-q0ApdBLfeUB8-R9b8b1mcjKpoSQ7k0KXSxETTcWgMoTCk9xmgyx7GyOFZz1HbYXggjKmwPhxw6Wn4S4e_aq4DxL8OPl29mRoW_sY_pukmbKedG5YZ_svUyMEwfnl5yb7p4ua3hg2Vyba7DtyXfEbfRjkRP7xSNQ7iImifBJvmvzi7k45oOB1aSjjgTXQE27A30dFGu802Jh0wjL27G5HNKAVOPP3ejcEUlpIhY_eFtWz2SdGiQZfA52a3ffdz2khaYGVUPIH306BD0y4N_z9puAIpayLj_3gWuijbea9AICN_4fmX_cHLw9LipqMcxhMbd6j8FUPy_r1wXEe2zYU-RdMbamHPUwR3hAVU6i0uwG1bCSsM0PSh7PFtcpo1FUzSAIIQwl64evbkND0bhWWZwqb9VJw1giOoSlpFj1Fg6PdKfHOPO5ikssqIfRmD0PhNr5igWhpshYRPym_5xksLQf7GJRKYGM2-sNoO3k2VF8-M2muHPEui23aUDnVYP1tiI6D19N4qXFy8y1vt0h6g2qFavP_TzW90KI-2F-Eo4Q0YA==",
  "id": "rs_01bf3f9c2f1e853e016aac5ff8def487d0a4b987fda5717479",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.087,\"right_z\":0.03,\"right_pitch\":0.15},\"note\":\"At can height, its near end is still slightly ahead and right of the jaw center. I will advance a few centimeters and center the jaws around that end of the body.\"}",
  "call_id": "call_QMFZfyVFiytllHRdQYD9uXAR",
  "id": "fc_01bf3f9c2f1e853e016aac5ffb7bd487d08ee9b4ee8a0dc45c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QMFZfyVFiytllHRdQYD9uXAR",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8425, 0.6338, -0.5331, -0.0219, -0.0616, 0.9993, 0.2401, 2.0274, 0.7776, 0.6991, 0.1848, 0.0101, 0.9995]\nstate[eef_state]: left_x=0.2785 left_y=0.0003 left_z=0.1505 left_yaw=0.0116 left_pitch=-0.167 left_roll=-0.016 left_gripper=0.9993 right_x=0.4716 right_y=0.0858 right_z=0.0081 right_yaw=0.0736 right_pitch=0.0458 right_roll=-0.0759 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -1.7436, 6.9538, 1.7216, -0.0513, -0.0659, -0.0171, -0.5812, -8.5265, 6.4615, 2.2247, 0.022, 0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1e00e83b9cd6a1248daa9f378858f233e507f0fd70613492013636e877aee92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10ad18303b652aff75fea54437818c770b31dfc4ec5d5b80e358815290c03b97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9445948c7307e184600438fbb0b426743ec4832b29a7f8b25744b2f2e38c8dc5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.025, 0.8387, 0.6346, -0.5186, -0.0219, -0.0612, 0.9993, 0.3023, 1.8885, 0.7643, 0.4965, 0.2245, 0.0669, 0.9995]\nstate[eef_state]: left_x=0.2808 left_y=0.0004 left_z=0.1544 left_yaw=0.0121 left_pitch=-0.148 left_roll=-0.0165 left_gripper=0.9993 right_x=0.4485 right_y=0.1024 right_z=0.0256 right_yaw=0.0717 right_pitch=-0.0231 right_roll=-0.0651 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -1.4974, 7.0769, 1.6484, -0.0464, -0.0366, -0.0171, -0.4581, -8.5675, 5.3675, 2.0977, 0.1783, -0.1245, -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": "gAAAAABqrGABdZD9oD0qpNc26KKBeH8mntukgtsQOtz0LudrxSsD4LeJPb_WOIqZsUc6Gtt5Mo1tXLZ0J2B5oQLW4MIvxXcPEVDeakCnO8KA8NEoNvhH1QtzW_4SmFCKGR2Qflwjz7Ex7big_MMia43ZM_tLpYjqmfT3q-B8wjgdzk0ozEP9EHfdy0jWBlGvzMOI3GwU2CyWEXhuwVxFhFEA_zqPuia9BPO2pE9Vde2unoIIkiL5TP71TQ50gP_kW4roccAMlleXOlRTQN4sonylrziEsAqkplrCE1i4DQKcR6XXNOSSxSLLQ5Pz-K-Z7by3lQ312SQqwwxaBwFHsNpaO1yCtkEFgV48Rtt-gR_5tfwjchTBw4BlWyKLOR8OeuFL8cNb61wgLElADLWFnWUI2bDrTgTjZTtoWqm1wRvM2CNAVRo-acCBne7umC-cXEhUNX2k2rad4_SKZgFLBqNYHY8Af7A3TLu25JBsVgyA4UJG1y_r8ittUFu9YwEyTN7P7gmzQUhEUUN0Pvq9OiDzhlowxDXA3BqH4TAGPZP-CqJ7VSgHZK3Wi8Bi6lhp05qvl33-hObrhBVEQBz_M-GZ52nPkxEe48AcrcDbDY8BRYTNUJChyQek7A6vzEI2zFt7Sm8hjbo16H9M4qT1p4rhhMXMswUR97RnteKo7OdO8aN_r-0bvGmYV-VX2b_TAd_mNEHYBblRyA43jLaW1SW4VHL7pv-RKV4GrlVGowsCzH_UllEw6xum8ldjQ7QZcJSwXDkCWp5lmMjf6dqXTNMrOJhTtkiurFIqubp_myibC_OSESjwU7SjKGDL6HC_-daFotDvUJq2Jxlt1l-N56tAFQ3_eR02L9SffP9GDRyAC7jZunJ9qpGqkqxY2IbFDYwDd11dkQgs3xdmBtCfg146yINW6sbpquhDLHqBBHDwVqfPHmwFcBeAh4VMU9YK_n34DH5VU36MU1o5C0C9lmC3KMxnmIgfOV3uVYhbeq3Fp8mgXMofy54OP1OKcI9RIWJC9kOz0QaigI3DrvMbxowwBJvF7UF3YtCy1VRnpYOSHw4TiT3-9XuwoyDru1Ji2tVHnq__B5_eVASywNKeCP1uwkwtIkyO0XWIUn9qsliYaJTzv5ATg5jqJakn3KvciOHMxd4FvdCWhJgT3q2B018S148GLQb1IsWA2VCmHrwifwL3qCH523hrliYUIor9Uo2krI4Y4pR2FAVy93nJCrvjMjgfXtIpmA==",
  "id": "rs_01bf3f9c2f1e853e016aac5fffb85c87d0b46f8ef1b2e58b02",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The can's lower body now extends between the jaws and is centered in the wrist view. I will close the gripper to secure it.\"}",
  "call_id": "call_mKV0qY6LIXvDTXWYVGUbLWM3",
  "id": "fc_01bf3f9c2f1e853e016aac60006a1c87d0b0c98daf751574de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mKV0qY6LIXvDTXWYVGUbLWM3",
  "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]: [-0.0254, 0.8425, 0.6338, -0.5404, -0.0219, -0.0612, 0.9993, 0.2359, 2.0369, 0.7795, 0.7044, 0.1822, 0.0032, 0.7153]\nstate[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1491 left_yaw=0.0118 left_pitch=-0.1743 left_roll=-0.0155 left_gripper=0.9993 right_x=0.4723 right_y=0.0843 right_z=0.0054 right_yaw=0.0754 right_pitch=0.043 right_roll=-0.0808 right_gripper=0.7153\nstate[joint_eff]: [-0.0342, -1.4291, 6.8855, 1.6142, -0.0317, -0.0024, -0.0171, 0.2256, -10.1402, 4.6427, 1.663, -0.0024, 0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43e3e4a0d74db727146fe731fe7ad9fea8d70f79fc511f2ec85a0dc8ba413208",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:075ed1263ca7b270374c8d6615a48ce6d5860a19ed267e301d7ee707c9de9673",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0ff67cf5a729b6726595d0049c0fbea28b375efe72e7012fdd5fbe90fb9ae9c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8425, 0.6338, -0.5331, -0.0219, -0.0616, 0.9993, 0.2401, 2.0274, 0.7776, 0.6991, 0.1848, 0.0101, 0.9995]\nstate[eef_state]: left_x=0.2785 left_y=0.0003 left_z=0.1505 left_yaw=0.0116 left_pitch=-0.167 left_roll=-0.016 left_gripper=0.9993 right_x=0.4716 right_y=0.0858 right_z=0.0081 right_yaw=0.0736 right_pitch=0.0458 right_roll=-0.0759 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -1.7436, 6.9538, 1.7216, -0.0513, -0.0659, -0.0171, -0.5812, -8.5265, 6.4615, 2.2247, 0.022, 0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.087,\"right_z\":0.085},\"note\":\"The gripper stopped at about 6.8 cm opening, consistent with holding the can rather than closing empty. I will lift a short distance to verify that the can follows.\"}",
  "call_id": "call_Tc1qFdze4b78EvW3uZ2IwyFj",
  "id": "fc_01bf3f9c2f1e853e016aac600511b087d0aaeef953032004bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Tc1qFdze4b78EvW3uZ2IwyFj",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8433, 0.6338, -0.5552, -0.0219, -0.0612, 0.9993, 0.2409, 1.8179, 0.8181, 0.3813, 0.1822, 0.0025, 0.7082]\nstate[eef_state]: left_x=0.2747 left_y=0.0004 left_z=0.1463 left_yaw=0.0116 left_pitch=-0.1899 left_roll=-0.0149 left_gripper=0.9993 right_x=0.4595 right_y=0.0836 right_z=0.0531 right_yaw=0.0809 right_pitch=-0.0218 right_roll=-0.0919 right_gripper=0.7082\nstate[joint_eff]: [-0.0889, -1.2923, 7.0085, 1.7265, -0.0757, -0.0171, -0.0171, 0.2803, -10.9607, 8.4444, 2.3126, 0.1832, 0.0366, 1.0085]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fbd0ecf3ea81a80ad2f35e526eb543fd5282444a365c2eb070e14fbf4e724a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a61aa47fc551f01de99e32b56b3f27639d83f80765a8b9d1fbc4ab6d622a28fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ef100bcbff7e3f98e5722b4ac40e8d5ba1f1367801358842225111cda9c36c2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0254, 0.8425, 0.6338, -0.5404, -0.0219, -0.0612, 0.9993, 0.2359, 2.0369, 0.7795, 0.7044, 0.1822, 0.0032, 0.7153]\nstate[eef_state]: left_x=0.2772 left_y=0.0004 left_z=0.1491 left_yaw=0.0118 left_pitch=-0.1743 left_roll=-0.0155 left_gripper=0.9993 right_x=0.4723 right_y=0.0843 right_z=0.0054 right_yaw=0.0754 right_pitch=0.043 right_roll=-0.0808 right_gripper=0.7153\nstate[joint_eff]: [-0.0342, -1.4291, 6.8855, 1.6142, -0.0317, -0.0024, -0.0171, 0.2256, -10.1402, 4.6427, 1.663, -0.0024, 0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGATNey_-SRrbDMgHcJdFyfkl440fuVjxRD8tpfmlhwOQt3h4duugrwO9OafronopV7RajPCUZ5-pFu0OHB4VvcUHmYVJGBvNGE41qiDfsDTgjJOkbqBRdXbZ02vwpWcCCZqArsCzKnhEwfkNPz0hPMFB37CX7QnYa-Ckl9IkDvAxVCT4so_QbrY2IoVe0q2n8Oa9e9aSCsrFkLbNh-cO7ZyWmdMpwgW3Iw1d1lt_mUaDZALFblgl_bTOD5rD4V7AvTe0GMgiA04wSt1AMBTPwbssGiLqkUA8eF-4LWzdVCJv9Qi8VcNEQOoDb2ym1STWgk-_DhMTQkBTWNjoucnst0YUge-tuTKwsEeglgMHlOY06gb2yoXbB94jrpXSVQQ0eFreC0Jr_RjrkKleHUnPv5VbKyBY2sdFhf5SSgl-sOHUaZD3sAKqL420nSu3qfPJ6Ccm4fj9MC4XllQriTlZaESK7H267817I65_zBe0lmImkB1exRBbY0BE1ous4uAmuGYedRaQoZgxaJNuum-OM6HY08GhBr-4R-_IN5bJw4JFnStpKOp1dAgowNAb5uqA5RJ8dIy3etc-35h6DgK8BrnEYZ0mYW8TazgdiOK0ASTg6JY1s9YrEx0Eg8ITujVNnS__RsNqio8UdcLpONlEYPApr94O1GdIyq3x8xRH9m9vR__bwQs70niKftapwi24IwJGRD1n3KwLFlfzTG7YkgG1KCnVZ8_2eUnF9-nEN9Hmk52SPWItjPzZ6YR0B_98d0qT7QI3dYbp22qJ_4PP-4f4I4ZCqbUEjka6u2hOPmYwzGm1eKyTXnnvyy3QP99uh7fgA2BUHrg7hoFDGF4rc2VlGYGZnzi8ksiVpRkm_kA990BbMlxQIHUv3LfvuzX7YEaAdqXJw3swdmx0Rj26hxVRokeKuWRN6gtL_1ip6fg9AJVVtNDpeShi_cSncWlAlVnFFxojIM6pDPfmgADfHCn9pQ1ib-V5wrpbefvz5kjHZoOYIZGqX0rP-2rddmvu0HWPH8nTu63ypZ8P4Gy6y3sCVU6HvYe59W1xJLqF5kO5wp_Zi8oZg_fp9kJGXzHRGsZowg0ZDg3GTMsICyI_mVg6ksqNvT-ulqfsfJGVv32kGwzsT5FLHpp76xfANzfxUtmcLUgVv9Li_bZo6KxTt7xSJveE7qOM204SgTB3vqnw9rzbsc9L0q27MgKt9NQ-EQfleHp71k_mRF5T-YFK36PeBX-7_VGim_u9_CUOfYgmF8foYZMgzy23KqO53YDRBZQuIRbgcMzfk3ioX-wlq5oxW1tSbyjwUYnonCt3fE08lKMVpte08G5jbFN53Un29BzANqOO1DRjcPKtXipgMq6z8JS_gnWxcmuCw_AAp4aqHslZQtkOfmectUeLw2QdFwGFpeEsMzbvgOD6Uk4nHPeqYcGei-oxPmaRsOSJmQmTv9PbDAhV6jtAFJjxV9ig1Bt5ciy0m-ms1ePb_EUFcmWewYLwNPwGPKOmmC2uDLdJY00_aWUiBvvP4SH2gN-82S5ZLT0cOwc63nktPYapzT5V1phnt8B2JURBouJHsWs8UnqdtkEvrtRnsZnLjBT0_XgLxi3XcFnw7Ihz5BIPwYeqp-Ur_xjyRAY2eel_KXZqn_l-bMC1TommHUgbfDMAS41wxJs2yn_gvxWeeLzcEvR6xtgMXQw_0F2KTCWJxQF2EbETj5uCV0oUDuBqMA9WfAhWAfQI7gS-D3LSP4wi6fIFHaUO3dZmCmoUQy86OcdxACtMJZKrucApK7jqnYPDS86Ai3AeHjM_PM6DFUtTczwLdVlTvj9Gc61O79hKhoa6GwY6twQ3QVYV1XLO0FFY8_Ow9fxTRvui7yrgMJ5Px8OjFgaPU75H9rcXoxAMydoCBYO_dp1EonaZuWcd6BkchwyCYChHLMkD91qNt9KNt9fRzi8plDNxuJiKuM2o-s11a8eiKIlWjgTIPz1HYo5NejzrU0uEP968VgL8sKsemkEHxSIyZFilwoS4qTa81wg4TX34JFZqYPIMbNsYpL40PGXKQjrWt2kcUtQJabcldE7wHShbZd-rAYdDDn8YXOeetuE_cY3EedhEbM_LIl0x19SGmy5n7l_WH_ZELhpBqUFv5csPaF93DIMUBmUCXcGwq4qj69F--UHSO34AhM_-crtgl7c5IwoHtXepvBYt7Az9XF3uludozO-_ZSDDSJVX6oK4RT0TS3natn8wqw6ZJTVj8nirAis6Bjtx4u3NWD8aXXOgEov5KDqR2UUK_YTK9OQFy0UPClv9kIspFoSVde-NQ1sFglpX5Vh1cfh9AKM-5oYCfd0edDDgudrUPiop8ZLIefl1RhNE-Nt8LnOvRmOvcaNMMElVmVsSRh3-L9cRtE48GhiMY4D0JVAcwkk2qv4vohsAyI2usiVMWL7mCFmgQEiedUshPIsmlQIQfA4fAe-VwShFMEn5Xx1-Xn4VvjNGU0rr3KuAlvA2OWicWXfp2QfTGh6BSBL7ifN2yV4f2R6DTEv8F3sLy5gnDO_rFQ=",
  "id": "rs_01bf3f9c2f1e853e016aac6008976487d0889daae354de4423",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.09,\"right_z\":0.21},\"note\":\"The can lifted with the gripper and remains firmly held. I will raise it above the kettle and burner before moving left toward the burner.\"}",
  "call_id": "call_SFCedo3qL3ak4sMQlqBsyX1i",
  "id": "fc_01bf3f9c2f1e853e016aac6012004887d09907b69e798cfe77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SFCedo3qL3ak4sMQlqBsyX1i",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8433, 0.6338, -0.5663, -0.0219, -0.0616, 0.9993, 0.2821, 1.4879, 1.0824, -0.2756, 0.1993, 0.0036, 0.7096]\nstate[eef_state]: left_x=0.2728 left_y=0.0004 left_z=0.1443 left_yaw=0.0119 left_pitch=-0.2009 left_roll=-0.0147 left_gripper=0.9993 right_x=0.4275 right_y=0.0912 right_z=0.1806 right_yaw=0.1067 right_pitch=-0.0817 right_roll=-0.1117 right_gripper=0.7096\nstate[joint_eff]: [-0.1983, -1.4017, 6.9128, 1.6874, -0.0806, -0.0513, -0.0122, 0.2393, -8.5812, 9.4974, 1.9267, 0.2466, 0.2369, 0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed50d6c1c6b9c1d2baae492321cd5e4ebea15cc91f69af568dfe2a119ab482e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2aa41d4675fee0a37177b028da1c44cb6492e6c04832df7ccc0c80de7b16a5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86456a8e64537f167a750a5e20c72b5a206064ac73e13c546104975c3bdc040b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 45 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8433, 0.6338, -0.5552, -0.0219, -0.0612, 0.9993, 0.2409, 1.8179, 0.8181, 0.3813, 0.1822, 0.0025, 0.7082]\nstate[eef_state]: left_x=0.2747 left_y=0.0004 left_z=0.1463 left_yaw=0.0116 left_pitch=-0.1899 left_roll=-0.0149 left_gripper=0.9993 right_x=0.4595 right_y=0.0836 right_z=0.0531 right_yaw=0.0809 right_pitch=-0.0218 right_roll=-0.0919 right_gripper=0.7082\nstate[joint_eff]: [-0.0889, -1.2923, 7.0085, 1.7265, -0.0757, -0.0171, -0.0171, 0.2803, -10.9607, 8.4444, 2.3126, 0.1832, 0.0366, 1.0085]\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": "gAAAAABqrGAbOBY-vvNXmlDWwWbPWYTtAAGURlwR8aoCyBSsH1M-VEo8VmOonL_ChnJhy3E7HZJvJALPQOa1vJqHjlzJp15hHBt-c9F4S6VDs32EigBIP66DQvrB-IKv_pdOr-iv_o8UF882W7CXcmGsazI9pqWJnyo-LIiiq8HclgQ1QWAy21IX-SvCOtt7M3txc8CwHljQ2fSSTR0FSnNTb4ukm0kuXHV5Gc6nqZr-BW09aNo3M35UcAuKm1aBMH1RNP0dSjWvTH8cyQNcJ_GuRNoWWW5M71xdjUib010RRFBXeefMwKSk5aIajCJqt2xnyiQPx3RS72sLZuURD3JW8Eq6T_lLhryWirv-Z95j6VsVikMClM-oFnV9TjekOR8vIYWa4VyiF_aUEVNQLDdhcIkOZpoWRPdR2zJHnL1V5gDxGkY04MvR8oaXWYTDsyHB3XlJDJYU8vLPo_CqoPJhAWoFPF1X0FwsHQwZgKkKjr1YuIZYElTnFFE165xLeTNLPKcI145PoyhZl6P10jDUn5woPxeTD7_PJEbHE48tnR2ZLeT49UqEfxDvgUeYNobLnpWSSiGL2FtzcgXPY2ecpTIeY60KBA_7ZgA42mI8i9kIWAJpxYYVU2eGi11g-d3qPmpQ1GidpvnX-jH3Nq6BD-Y8bTNWpJA3a1MDpO1T9AcM2KFv849tjeHhNmcAMhRpuujBvHgEVRGDQgCwz1mqBFw88WAU_KpvScdDrxY6u2NVV25P6hgUTocFIvOZiQIpPjAZWsZ7GWj66s-Mrw3sOciSbUO0zfn3y_kdo2r9Au2WeE-UfJyvus0ScI9iDj1nVr9dg5hFDaP8Z1sHG0zDHH4PWY9zK_jtDHTiQbcCnMitkGr3yYysBFVP_tQF75e_vd-M_mOcs5pLFMU59BopbyB9w710s481Q8nvdvG0YuaSKCaZOMYk65VWzMY8ErLWtk2eZ18JVpqdu8Fz_oLX_3RHzZXjnoAVDVr9JA65hdXqwdCf2QLBnFF605PUvW2rlTY1UQugolVw5b1cKPJE3gikNMfJK_fh7Ar7Xx5a4i3gP5kC-NmYO5M04R77DI55PsVdz1ioeDcJxv714dL2anV20hwYoe908FphhJhL_xSZ3CoiEmcj71N-hPgnGiso50K7ThfTJKjF_08gYYJLTJBvDkKKPIM73jYEkphLNSwpTfhF23HMil3QiQ4GinpMvU-nhYdhgJqQaYbUJGiKkatKny7q9d-o0Qv2hK1v2J4DJlTcsXNGOmsXegcmxXQ6uE_PkOTKtSHEjXOg_6kN7WFBC-9csBIhosZoNzJp3GIf8QOmtc5m98UFVfQct0zKTzkuUQPAlEZ1I7usCy6rWifEGfk9naeVlg4vRyklxmWLWsZwLpMgnUAIStDbT4HznCF77gtcjbygAXruWDYDCBxe5jO83bIZ5bDxHNq8XhGNxu3Z7lJ2FCLuxFK-Ut_LjplbfEp_e9N5PmzdQf-8IhGN_KQLfKsVmgY0ojDjJZJE7sb6mI1a1TZ7-2zovIMxREgJbWPGWnp-cO_7Md9YT8pqjhRiSg==",
  "id": "rs_01bf3f9c2f1e853e016aac6017b82887d0afe38ab77f1c802a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.36,\"right_z\":0.22},\"note\":\"The can is clear of the table and has tilted in the grip, but the jaw opening remains stable. I will carry it left over the burner while maintaining clearance from the kettle.\"}",
  "call_id": "call_h94A2kozxsPFrLk330OSrqyb",
  "id": "fc_01bf3f9c2f1e853e016aac601a205087d08dec75892eade88a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_h94A2kozxsPFrLk330OSrqyb",
  "output": "executing move_to over 23 steps (2.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8471, 0.6334, -0.5846, -0.0219, -0.0616, 0.9993, 1.0004, 1.9781, 1.8416, -0.833, 0.6773, 0.5426, 0.7097]\nstate[eef_state]: left_x=0.2697 left_y=0.0005 left_z=0.14 left_yaw=0.012 left_pitch=-0.2234 left_roll=-0.0139 left_gripper=0.9993 right_x=0.3564 right_y=0.3571 right_z=0.2093 right_yaw=0.1452 right_pitch=-0.1172 right_roll=-0.1414 right_gripper=0.7097\nstate[joint_eff]: [-0.1709, -1.7299, 7.0359, 1.7021, -0.0073, -0.0513, -0.0122, 0.1436, -10.3043, 8.8821, 1.3114, 0.4664, 0.1783, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:490d45d30217a6bad5a03cedaa0d3329bfe3873574d148545e627030d8f7f565",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86000c98d2313cf80f260d2f603e81838bc03481840b88c663d5ac83b40d95a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaa42e6065d8787906884a4e721b1d09d07e93ea64d3c6f0055e17adf99db60a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8433, 0.6338, -0.5663, -0.0219, -0.0616, 0.9993, 0.2821, 1.4879, 1.0824, -0.2756, 0.1993, 0.0036, 0.7096]\nstate[eef_state]: left_x=0.2728 left_y=0.0004 left_z=0.1443 left_yaw=0.0119 left_pitch=-0.2009 left_roll=-0.0147 left_gripper=0.9993 right_x=0.4275 right_y=0.0912 right_z=0.1806 right_yaw=0.1067 right_pitch=-0.0817 right_roll=-0.1117 right_gripper=0.7096\nstate[joint_eff]: [-0.1983, -1.4017, 6.9128, 1.6874, -0.0806, -0.0513, -0.0122, 0.2393, -8.5812, 9.4974, 1.9267, 0.2466, 0.2369, 0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGAlOwyJmc-Ih2L-56VpeRsYWPclKDPw_Qkq06UA_20QvNmyZJi120gBlGsh3_9Zbb9pWUyOj68TvvPmykhwI_SsoD-E-6DsrpLFvSxuX0YKPh2yUMqeciavytY4oj2cAdcfjHgySph3QQFqpOsMWpti8kxM_h0UQqJD0FSY3DESii3F6a15v-iofIFa6xfmrUFN5Qrm-NsH5OIN7UE05hFYL-vQJsQ0vB-DLMPNOGS7QD4bRWOCauuThZTByoEw0vPSJGbpEkI704z5BdvW-QXYObHRvMsEyWaNj-Y4Tu-alZUtyRASWoeaqIWq9HqZBGN_axI5mx-pyCpm5WUZ1mze0uYo5uAz6-XUtas88OW98TF-KMqgtkhd3B3-vnztPpxPiytlJS8_9bxgF0ho22nFVP6nH5jf_IE99E2YS0r9wr-Q99dxlwLLn1zt2zMKzjQ_614AluRA3KNQXxDQlnmL1jSLhZfXWhpZGnoIDKebv8R7Cuoo7J4K4dXbKoOyDxjZwzj_e99YXyctdY6Pqf1B4rlrqkDy9oAXPTwjwisOeL0_fXeQLaqdN4PAC1BoCj3_tm_j4Q-Oawe--n1xAHaaQDmoTTFVP6cgnatDn_pERGtjPcRzpdWi6BcS6Nrd8uXb3qJe_wNvQCR2wkELVY2HNv84lT6OmTSuuhK2RC346887-BHFIxY4UVZ3or1bWHMW0qxVpCZpJ7P4Gk9Hb-RHhr7l7kZIeLndBSqX0lT3R1LmUqWvYIMYi-zqmRFM4-6UYvtlhSxs1EqOjx8iOc1Q4xCuUVNzyGIb5PhoeJMrgUJgtui0fFAxFDhR64yhemlOqkdpQcYS55D-4Eh7JD8RBuyjcGtGLgYBX1KLR5vVFjiBLffhN-_POsFkxtWVCa76-0ZtwymfAKGfE8VTOnNL3-Pji9VAveuxYmkjC6o1sfybguOLDXHRIvdcwKb7uv5mkqP6kYYi1xupVV1QKXb9HqXYGu2ysahQVZEKJi8N0KHHtwOZzo4o-pIyecogDkj49cbI-roSiLHkauWpkecTb3ygIyCAi3x89PK7nk-bbWCQnhfGtc3x8rIQybJ8VtnT97Az9_s-45Zw83BhTwwfC4z7QOwhV0SQchTzRUgmPEzba1jT407eiUfY6Cz_uyOp4K1rPdR3TffCBMy4DiEjVCaDwUuxlLgPbVHHJAS0S-q4IMeK8sEOPPcPXuRo715FVyZD1sHtMjATsZuAWwg6YkkQQ_wY_rrpYhne-xzvoTiczC7DX4UkhzhJCgOik-joLgBMQzKN5-FIoV50HDvwSBA7_4BRdo6joqcn06EBTJOG-daN9deOzwwTjFHt1nIIcNRRr8Y-5gCAsClKFZ1OAAFpIfJ3oQO_QdSr9MfgNRtaCOPUz8pA6T6MlFDcCtntUD8iNqCfgjqkUXTRogebubXz9zTYjCI8HMYAea6s0aZdv9lzUbG_-SZDvMdqmy7VA1zu8GZprrGRv8MNWM_1bKdvk3oQ2yNuBolp7Ziq2QaGlOVUGFii4mK-f1s3_0yl9r2oz-HXu6OVtZG0rvbEu8knKUdJY1oq9gkZvH7tUDQ2qaAV3zqrh2MAHanCFPZupcEkiWM-l8nC63pkNsbrOPZQhaveMOx730npvQCuBtrwsG-Om0zfyuGHk8dhnrurXTLeOZH0yI6uN8Gy7VonVm9HG7KVojHlj_vRHkWmSjuEgBe7GwA7dPw4EWtCeQo3l2-PWgs79_LlaBV9yvTvmE-c7gs0_7rJ7ksFA7nO28auqzSJCoV7B-fEeDEawYt58evJeYt8pRpsxznOu1jYHQ==",
  "id": "rs_01bf3f9c2f1e853e016aac602021bc87d0bdfa0a29373fb100",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.14,\"right_z\":0.18,\"right_gripper\":1},\"note\":\"The can has slipped out during the transfer and is now lying nearer the front-right of the table. I will return above it with the jaws open and aim for a more central grip.\"}",
  "call_id": "call_K75ydqCf5XdPMgWg3INJutVi",
  "id": "fc_01bf3f9c2f1e853e016aac6024236087d09d80f293a4e46fa9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_K75ydqCf5XdPMgWg3INJutVi",
  "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]: [-0.0254, 0.849, 0.6331, -0.5922, -0.0219, -0.0643, 0.9993, 0.6777, 1.1774, 0.8799, -0.5514, 0.4831, 0.2649, 0.9989]\nstate[eef_state]: left_x=0.2683 left_y=0.0007 left_z=0.1381 left_yaw=0.014 left_pitch=-0.2334 left_roll=-0.0154 left_gripper=0.9993 right_x=0.2988 right_y=0.1397 right_z=0.1715 right_yaw=0.1224 right_pitch=-0.1481 right_roll=-0.1557 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -1.4701, 6.8855, 1.6093, -0.022, -0.0171, -0.0122, -0.1846, -4.506, 7.5009, 1.7118, 0.1538, -0.0562, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89802d932b9df3445bfd7b8f4be1a22d7f23e57cb64cd5a4d8c2a37a6f19caf9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3a5b5db1bcd39338dfc06f6705144f7ba9362b4090319efe425fafc0ac2f89d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9dc14a5726f426f2889baee5b96ebefddfc2a19daa864eaea4e7247624ec8a9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 53 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8471, 0.6334, -0.5846, -0.0219, -0.0616, 0.9993, 1.0004, 1.9781, 1.8416, -0.833, 0.6773, 0.5426, 0.7097]\nstate[eef_state]: left_x=0.2697 left_y=0.0005 left_z=0.14 left_yaw=0.012 left_pitch=-0.2234 left_roll=-0.0139 left_gripper=0.9993 right_x=0.3564 right_y=0.3571 right_z=0.2093 right_yaw=0.1452 right_pitch=-0.1172 right_roll=-0.1414 right_gripper=0.7097\nstate[joint_eff]: [-0.1709, -1.7299, 7.0359, 1.7021, -0.0073, -0.0513, -0.0122, 0.1436, -10.3043, 8.8821, 1.3114, 0.4664, 0.1783, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGAxSdC2LX6rsg9-Xz5lYn_4CkL0lC_584uJe9zabVDb4UHo4oP1g83VUmrzYcGedS9LBtRq_5xGgD4BIMLXcY3uQ9__igsWcXjXmXYzR3iwZNS-qEgQalXW7LtpmiUNjeDcL_dFrAyLYjt851wIPQb0UzHSYaRB4LcUJRaOpNbHibGhpdH_LHxucjcXSyVtgNNSz0tTrJOWio6mR5JQ-XetSJDDpvWQXKiqKoO-dfVxgyYWp5xgp8_t2UoxkH1ZQifhebOGK6v0mXIz-F8yFB8ITA0ui1dfMVJJguS4VPG_MzkQ8N-0kcmgw1RwUI9T_X3qrFMMJQke2iNCOEWsjCWtdm5EfnXHZgcfRWJHh8jc61BduLVPbdbbt2h_9y4zOoYdYUnMjLRu-3-uR3q37fJ144_3KejzXpgfl0IRSj-b8kemQh-0rPwZWPXNuUE4qklm-U7gnaavg7BHxeTd659wEikrPnKkBw8Lie92k4cPu5x8cTnXUs2Y1tMTQuJJOMfIeC_CjlvIz8d9__vkKfiYZO2Muq5xNFll5D-JBwzXY1yshJZkk2Fr3OHX73CZo1e-oSC26-vwut2iYPa4nDrRTWW0UEt2vIYMZtTdqi7xZEsSVQBucFl7emKVHXsJ4wxVdPKtVl2PbWPh70rHbQLB8Umvjgec_n_440YRTqOFKzWesPUQYN3G8XAhu_7324-vhLjnUzf1yAueMuMRra3cr508ysi7c1TfqgpPjRjhnuD1rvU3PAv_sO-KqYEoibxS7yZN01tlq5p1dgY-HkzaULZVY-0OyiF7C3GscQ9STd9a5L_mgGIddn6m8ZIXZAjeKyCBzsnkOJVPUeY819QTD6HeBc_biv78AdhFu9ehXHc1A0JPGeSrfceTdU-wVkTpylFxdD9Pk4LGxSXalgqzTpAkuiVJMEpcHUf8MuIxmc3f-hD8mtyehzUb4-oz0hNl889BXLIChQVub4wCeWY3viUjRJ_FRPhMvJIAVAALsTjzSHqp5-ecF2P8io__vCSMzjZ4B5dWkmjpSqlyM0aCiYWvZsVYuQkteLSxQSZWuTj7wfuvmMqM9c0FCj41IE7MHHN3eDDuNGSVIqcW_758SYx3mH-dDloW4IA1grV9Ue31vGbnipvBSqRS7zE84e3TzqDFix61I7PvALEBphh6-4rY_3p-rnOJs0j7ZgrUDiZUC_4QGoO0evHDUSspXePKjNggq8QqSIXZFNVy6Qmz9e9lhbjSwsZ1HiXL8RVmOc8H0JCL0cXBoGVavrb0I2_qjW2QTnozml6v2EfjZnFZZnyymm51w1r7uCuPFSbN2LAgn8pBP_D4HFOaVMeeocsZRNM8YQSUVUezKc0XYvf2Qg7Hxk-xwHbekcRlbPYFZ9hESwxfMgSP0Ist4lUaFcCzoTRE13HGrU3mceSRgpWpfvnngWwag9sDB7afIgZOuzvCrqCL9CiRQ7dbnMGNMGSKYWLAJtsN8C4gIRs4Kk6easCut9VMKOOp8EIeaJ83vbT2iRJs-DFLU0txvzEaHAaFIH4gcX3cTYMSJmuaZxxcyZSnIWUz7FTf8_cM5PWQLvMGu2kGSJM2GBi39lnOTOCpU80gltvVHKwoZ5t2YCGvokeNjaCztqLmTZgQbuFD2ZFZg9mqdbhW20dEwrH9Qt6woEXY_bQ_NvmAXz9Hb0dDzMUYeY73csu0esRGbEcFmdZa6IR9s4w1M8UkLcrq0Ek6m98pWwmHW97ctn1v5JuN6xIdaH5j1VO1zM3CSeBlkBrlLrMtOnRSv8FWAeu1rArr",
  "id": "rs_01bf3f9c2f1e853e016aac602b295087d092fbdf867c6764af",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.145,\"right_z\":0.06,\"right_yaw\":-0.25},\"note\":\"The can is diagonal, with its body clearly visible in the wrist camera. I will move toward the center of the body and turn the jaws to close across it rather than near an end.\"}",
  "call_id": "call_0lwsyTRN4zhLftFUxt9hlWfb",
  "id": "fc_01bf3f9c2f1e853e016aac602f104c87d0bba5bab5e24419f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0lwsyTRN4zhLftFUxt9hlWfb",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8532, 0.6331, -0.6075, -0.0219, -0.0647, 0.9993, 0.6926, 1.6588, 0.844, -0.3168, 0.659, 0.5694, 0.9989]\nstate[eef_state]: left_x=0.2657 left_y=0.0006 left_z=0.1345 left_yaw=0.014 left_pitch=-0.2528 left_roll=-0.0149 left_gripper=0.9993 right_x=0.3316 right_y=0.1392 right_z=0.0482 right_yaw=-0.1884 right_pitch=-0.2314 right_roll=-0.2369 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -1.4701, 6.8171, 1.6679, -0.0171, -0.0562, -0.0171, -0.0615, -7.0906, 8.3077, 1.2283, 0.696, 0.188, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f572004301c1f7048d417c9ed7c8f1289f709ab043bc970d8e0f24fbf42d0a54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbb6409f6d5e7b12f2552fafae781cf1f355e1dc7d2039233ecdcba5bad8f594",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf21675d2d7723cabb54e257b57e1aed74a1f884693fdb1944476016d1dedc3f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 57 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0254, 0.849, 0.6331, -0.5922, -0.0219, -0.0643, 0.9993, 0.6777, 1.1774, 0.8799, -0.5514, 0.4831, 0.2649, 0.9989]\nstate[eef_state]: left_x=0.2683 left_y=0.0007 left_z=0.1381 left_yaw=0.014 left_pitch=-0.2334 left_roll=-0.0154 left_gripper=0.9993 right_x=0.2988 right_y=0.1397 right_z=0.1715 right_yaw=0.1224 right_pitch=-0.1481 right_roll=-0.1557 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -1.4701, 6.8855, 1.6093, -0.022, -0.0171, -0.0122, -0.1846, -4.506, 7.5009, 1.7118, 0.1538, -0.0562, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGA304FsiV4NpJRlqcwggv-nkf1TFlU8CGlWBIgSDGGjg1jdHyXltrEJgOfM7RqR268lJeTo0inXJUCR0aL_KlrRk4mhNVX2K_5anIlFJ1xQ01r4VbycoTY6fq1BJPyTR--ucUNI2ofQJrHe_a5N-BKN7aIsDbYbrsLPtx-J572ObyAcWUOUspWDmsfvoHyxj93md3qvsvtPv7ZXflE2p1q6aARWvc3CTcK_5jN5MH-nQZxWKqTwnGRtI3dQYVouoKEfKaqt-ECo8Y0WriMAry1ffDmF3K_UWkSsTDJIXH1XLXl8bnByo4S6yY2g2u2azQn4BHCS4_hfnDandGjdRhl7WinB3WEHOeNcD2yvIZ7jM5-jaKEOJlXQydyBW4E6_S7vs6Ox02wIBOK_k4qN9oDGWLmP8kqojnL5R4tle4Wyr7J1GJseirLtPY0e4XJw2HinCSVB_s_M9xJWiY7F3GvPxINhJE45BVOLy4-s_NRIJRGAP4pwHXp3VwuuXVPXN5LtCGsnBqSrHanMs0GAm_gcsLoLvSzvPZZw7a-FeDXjotc-O14tVGmAuHRn-JRU4bVyqiUDsDpnQi6cei4ip_U8REbb5uHIZvHtty3G_PiVPHB6BUmnJ6NfN8c7R0tM8jadpkfUA29grZ8UGN6_vfNgTNm9rfFzJwpl-qZkGx3noDo4IJZluXXlHpmIaohlbS0zyNLWJhEtItrUBldARCz4uNAmxUC4MfSsv0G9J8L18SqaFssCA7kayYUelAHWIsgL1ZkNTdus2wKp4xO8p_heyzk4uM9O57GTuSU8LwrmdSOdQ9HvHxdBhXYgKlsQMm9QLWGLBPblQfFNhLTx1fdRzssPH30d49uw3CnE8FyPhAbjhT_yngMvyvo0UgdR66XGHYIHaemUNzuCz3zUey_w_kUka7RPeZ7LH8LTtPQ0kKZ31wVCyiGu7QuhtOxhHAkte-v0frIJn_JH4IV2CHnaTlAKg0PlVl-WCZg1meNCFo_bwb9fHA8DYk1ZAEyqcl4mFUECdOhyk-T3oi4IPKpKgh2ffz1MEAVV7revQyii_u-yzOX68FEoApx-ts3xqYVuqmJdKXK9GdjoR19dtHpBgTcXN5Jhdm3E9dWu-Z6Z6T9GcwVUCIJZfS6kZoI1pdQzLK6If6LLM6OVkDL-oU5MypAYJjJLAA5hLQ27RYDNFvKyxJggrpJ3lvzf8WwgDNW6cONPLeqQ2o-IBHnKzaGq0xb6iFmYVc1BjYCjwmOglFwDKcQcvlx7EqycBuiMcWRP3h7bBbSAYEx034zXUMj-CH1ahgxGpIoFoPhXX8M7y4WicbMd9StzttehN3pOaW3ghWRrVag3REjzPfJluUB9lA==",
  "id": "rs_01bf3f9c2f1e853e016aac6033e7d087d0996e4272e1eff960",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.145,\"right_z\":0.03,\"right_pitch\":0.25},\"note\":\"The can is aligned across the jaws, but the current grasp would still be near its lower end. I will advance slightly to take a more balanced grip around the main body.\"}",
  "call_id": "call_WcrbPiQQlNVzXKhf3bCFhIFc",
  "id": "fc_01bf3f9c2f1e853e016aac6035732087d0901025bff727d7d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WcrbPiQQlNVzXKhf3bCFhIFc",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8574, 0.6331, -0.6312, -0.0219, -0.0647, 0.9993, 0.7254, 1.9434, 0.6617, 0.7082, 1.0164, 0.2195, 0.9989]\nstate[eef_state]: left_x=0.2614 left_y=0.0007 left_z=0.1295 left_yaw=0.0143 left_pitch=-0.2806 left_roll=-0.0137 left_gripper=0.9993 right_x=0.382 right_y=0.1428 right_z=0.0518 right_yaw=-0.2117 right_pitch=0.2783 right_roll=-0.2681 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -1.6615, 6.7761, 1.6435, -0.0562, -0.0269, -0.0122, -0.4171, -4.1094, 2.1128, 1.1941, -0.4957, 0.6862, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:499613df997254608a6bbe07dfea618a3f49e1ae2dc0f78ff7b120d74c85648f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:660b17fe8d54c11dfc823cc914f75f8dd46d7b9c6e6ed44c75f294b1dbc628d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a33bf3599f68993706b4479bc32e113f8ca955dfe81d92a5ffb17d758aa57f72",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 61 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8532, 0.6331, -0.6075, -0.0219, -0.0647, 0.9993, 0.6926, 1.6588, 0.844, -0.3168, 0.659, 0.5694, 0.9989]\nstate[eef_state]: left_x=0.2657 left_y=0.0006 left_z=0.1345 left_yaw=0.014 left_pitch=-0.2528 left_roll=-0.0149 left_gripper=0.9993 right_x=0.3316 right_y=0.1392 right_z=0.0482 right_yaw=-0.1884 right_pitch=-0.2314 right_roll=-0.2369 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -1.4701, 6.8171, 1.6679, -0.0171, -0.0562, -0.0171, -0.0615, -7.0906, 8.3077, 1.2283, 0.696, 0.188, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGA_NPV1wC8GplOFSS0cviqSgHCHpqXAB1LXXMMeVO8w1QFkwAcG-B8AUox84Tkd4qKQ_YGa2xOmjV_Zh5xj-GFOsekeUBPsypgF2tHcNiZFMnRD5jFWSoLqmt-H4q8XXZztCXD54asz8pfUJGIMHVYRtFqPB1WcICncdHze11gAsqnfbL47pUvnk5bSJv3BePbkHG3kTq4THACX8th5MRsV_JqGcbgX2WroVQou1sBm6drDr5pBU8pYNfT95U6044xKn2N33F7ZkIl3nYl_1S8e3dpRM8W2u4Y60re2XDdi84lbk8GmxQdPlDPkLZ-Y8smyd8pAm5kYc4t8ICXOOrWnerMv_M96ztEJWlGqsf-3FDOjjgF7tv94dtDxLfTSVKzZ6xUt_-jvaVM-Pmcp2-vzkC16ygPqfmsSd5_JNxyJPZk4CD8wKYIUJCX7aorAcyzrpo1mCUrd6ton2yW321FVzFwx-mv2ZoSdIaLT3co56cWa-C9TShffriykb0yXjVaDNXeJmUa3NH3bkEDCeejL9XQlZpFCbzWXFavmk7mSIAKdB26q7iEjSZGzh86mL5xGK2_GhtwnRLzUn9-cxwC3BqEJMgtJK75KqrMHItjZ0bLpOPKGV6ADcsrdil-oGhiLdf5QwxfxfzTeeDb_PJbawulLmCSZ7SFFdj0CoWaBZlZ2MNebObCjblPUO9Fo9lf1o6bzetRaIsY9EoniUtKdhTlAxTzCLMXUXVLIkayfCbvmd0XY-l1NucMftCkOVFnzLUtQ0UWr44BrXVXokNXv6bNSaznITlrb_-Bs89t2mxhPttG03MRMZHGzmuCwApt4MtctyWawUSAnxqGfcIbNMP7rAMYET5Od4mDgaCWc7K1tOfE_m0lF_hmpbtMBkQpmOeTzrCD8UXbHJ5HipR17xmIYYpL0NaAvFhegf-c4upI8eeAWJtBem14vD3dR4F3aD_MjOQbs-fjaGMtxGA_pZsYv_LMfv07KoBAU4bfkcRsBcSbDDlvuhbfbO3_ywVVl7_VHmfxmfUm3XvphtF-77RoeR63HIkGJCBWqhMYHEuEKkKxQpGqWs-26QRSVdq-l9esviXNzPwti2e1qCpFEgOhr-zcDbprqro_UVWefUae4zhENTXt5AxSSHVz7FBWh6bmDmcJWisDEMg3Z14wHY0lvSVXb53gL-UYCnJ-hSMfxEIueTSwi8kv4V__KXIk880r7r0SIKWhO-ouAwWytUz7i1YZW3zLjrCbjFS3sG-Fo9ZVdKWnSVdB37NSdsxtt4bvRIuaO4d42KVL7CG2kbyo4X5qO-j2_y_flfM2iL0lyXkN313zZ1tHK3SJG3NFA7Qq1AcHrZpQjmjKm2d_yIiRLnJxrTjT3fs-ZLqfeFg0HcGbern6u7FgV3RGYVBxvBoD113zmwDfce5Ci0v3vq-FZ3RqwjbNwLctL923_jL0WYBYe_yyh9HAwQqEa9sTDy24k0hUQPCaywcSenlORBAZdHdB7sL-Jo9p6aWZoMmx6494-enebav0ZxGdasQ68xpMU8xyANfhNud2KS3ESTN2hyEZ-lwq_kscCNv2qCvUXRPhxa2mOSpzUDNGuVvQE",
  "id": "rs_01bf3f9c2f1e853e016aac603a91d887d0835e39c61fce3c7a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.145,\"right_z\":0.005},\"note\":\"The jaws now straddle the middle of the can, but the grasp point is still near the top of its curved surface. I will lower to get the fingertips around its sides before closing.\"}",
  "call_id": "call_BmFyxCi6LPMubdKaZCvJblRC",
  "id": "fc_01bf3f9c2f1e853e016aac603d4c9c87d0a104efebc0a4074f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BmFyxCi6LPMubdKaZCvJblRC",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8585, 0.6331, -0.6373, -0.0219, -0.065, 0.9993, 0.7273, 2.0628, 0.7029, 0.9401, 1.1103, 0.1116, 0.9989]\nstate[eef_state]: left_x=0.2603 left_y=0.0008 left_z=0.1283 left_yaw=0.0146 left_pitch=-0.2879 left_roll=-0.0137 left_gripper=0.9993 right_x=0.3946 right_y=0.1441 right_z=0.0573 right_yaw=-0.2662 right_pitch=0.3866 right_roll=-0.2713 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -1.4564, 6.7897, 1.4774, -0.0562, -0.0513, -0.0122, -0.3897, -2.0444, 1.3607, 0.4615, -1.0134, 1.4628, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eac35a0855a9f8004bde382ae07d7df85625325ed9e6ee63d2df8a1d01238e2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:579e35fb03a5223940b63084a8790d1636abd08a2f51cd45da995c933d83830e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:811d3c2b26bbf97a37cc7dc8e722ac746b51772169d4d40f781213450d544f85",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 65 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8574, 0.6331, -0.6312, -0.0219, -0.0647, 0.9993, 0.7254, 1.9434, 0.6617, 0.7082, 1.0164, 0.2195, 0.9989]\nstate[eef_state]: left_x=0.2614 left_y=0.0007 left_z=0.1295 left_yaw=0.0143 left_pitch=-0.2806 left_roll=-0.0137 left_gripper=0.9993 right_x=0.382 right_y=0.1428 right_z=0.0518 right_yaw=-0.2117 right_pitch=0.2783 right_roll=-0.2681 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -1.6615, 6.7761, 1.6435, -0.0562, -0.0269, -0.0122, -0.4171, -4.1094, 2.1128, 1.1941, -0.4957, 0.6862, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGBFWF-3e5zqz5pC7WZ50qfXOA4n7HlHjjtboFOcru13kROYI1EbhhRgVmcaKQRdnXEVgIXGO2WYCFTHk8cUMcvidU0ez52FicGoxUsQap3iyqZ4nBFLf4ChTIddhctOluPdm2G6_0gm93Nj3qovE74NTB3PvD0LMMn4Z-v2lXgHxdVkMAKXurm9asSYieI0omlVNkQ8qERjgS8Jvx0MGrzFFnffLhTNTavIp62QygxagUCIJ9juTLJt3oMQ3dFhOINfrrMOU-0JrRCMCBpyWjQvv1-dVhEn0lyeZDiXMWT2QPcxfkdgZNo6ifQwpLs0FaI303maYqsr-LTLJbVO3RuvkwPwB1rUmK9tPjJPdYhSNvuR7qV39yXIFVY-9KG7N4hEomybE0w2d6eECKQIVK_ZG4zZZBgXXLVt1hIaHeH3ME6rW_kbXDdSfhLQp-eClQOsp1vxpf8AZXVK2ScT-UKMpHfWeqc8QkRYkofhMGPnhfruk9VmHpVCI10uHhyeenuYMb2_mf9ImfQS5w5iumEo_PGD0f1SwfW4Qz0oSXDwUzROsqQEPG-0l4aEeAoiyRsThDO2bf__F6WE19P5iN3atZNEaMxyfZyvOJtVGmcaBdAD3ds3hkVC2GJ4hZelNq-Ma3mVJcZYft6TVeD6ibiL5U59ChOW_gAxecXbkWpCIyxIspKNyOMZKQjhDMuDx9Iwk8snZUPKE_y1iZgXisDA5f7mv9fTR9iKUJ9uCHd2qVB2RSgWdLGPIDEGW1A_F5DpC0fxXRG0JSsFI_gArWC2POhPcO7KDr_KbAHIJPNt1pFHEXE5Tj6PlEwzca7Z9Do2tL8SCvNkHC1NFHuCxwKfLZ4KcwUeWQHgx_qb9fF1496id0DPxFyPjYrDYdApxz8ZHmS8DsjvMIbxm4XNbwtX9Az2990ilqqJ1nOt--_tRRFYPEbfJRg9Js0Dr5jbKTbE3RWkYpdFZvlkVfodbkTF7dbk57zOES0TNVjZYwVorzGPIxe42M1YmiBfW8wr3o6JtQnnnqLJ6D_ZAUmPl2XPy_OXwwLKSDwPKh6cZdUioyuJvytKgd7uhxM-ziWOA7im9CRQ_dpCYcGUtwpPlStoPxYtW65jovXd67vHYUJm0YPsRp4JNd_OBxHET5agebVnu-74zw8DoOXz2w-3zVDii--yj03PNW5WT2e3fcLVYKemENY1e7ioufe8MI0SdwigSjZTS7alX93EkWvLJ3oX2LMM_b9F4Mc6Mx_6pqupCuvrqrI8DyunDpWdR2x9Fo3GEs6_yqOwFf5GtcyxUQSqGmfk_AJFtmO3ZfByEq4R6w8=",
  "id": "rs_01bf3f9c2f1e853e016aac6043014887d09d9d6240d42b3da5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.145,\"right_z\":0.045,\"right_pitch\":0,\"right_roll\":0.25},\"note\":\"The descent stopped with the tool tilted, suggesting one fingertip is touching before the other. I will level the jaws and ease the pressure so they can grip both sides evenly.\"}",
  "call_id": "call_b2piRWKs2y0lSdggVHF7lO6T",
  "id": "fc_01bf3f9c2f1e853e016aac6043f32087d0914039039ad3a054",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_b2piRWKs2y0lSdggVHF7lO6T",
  "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]: [-0.0257, 0.8597, 0.6331, -0.6376, -0.0219, -0.065, 0.9993, 0.5945, 1.8355, 0.6437, 0.7025, 0.8261, 0.382, 0.9988]\nstate[eef_state]: left_x=0.2602 left_y=0.0008 left_z=0.1279 left_yaw=0.0146 left_pitch=-0.2894 left_roll=-0.0136 left_gripper=0.9993 right_x=0.4047 right_y=0.1212 right_z=0.0724 right_yaw=-0.306 right_pitch=0.2636 right_roll=0.0222 right_gripper=0.9988\nstate[joint_eff]: [-0.1299, -1.1692, 6.9812, 1.4237, -0.0562, -0.0708, -0.0171, 2.359, -7.6513, 5.2034, 2.044, -0.1148, 0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:991911e0c834ee4f4ac3db93882472e1c795951ecf8bae64b9894d3d9421bef4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3f5e14669b26798ab3c16d51c78696b9bf0f7eeb5afe21bfd633d495dfbb64d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32626f196daca5641297c5c3ec9b62c17d9476f37a9a8eeba8d5689568aab8e0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 69 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8585, 0.6331, -0.6373, -0.0219, -0.065, 0.9993, 0.7273, 2.0628, 0.7029, 0.9401, 1.1103, 0.1116, 0.9989]\nstate[eef_state]: left_x=0.2603 left_y=0.0008 left_z=0.1283 left_yaw=0.0146 left_pitch=-0.2879 left_roll=-0.0137 left_gripper=0.9993 right_x=0.3946 right_y=0.1441 right_z=0.0573 right_yaw=-0.2662 right_pitch=0.3866 right_roll=-0.2713 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -1.4564, 6.7897, 1.4774, -0.0562, -0.0513, -0.0122, -0.3897, -2.0444, 1.3607, 0.4615, -1.0134, 1.4628, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGBMhpk0SVZrgWtltZkuqy9VEkAS7Ag3e57Ntw5f9o5wnr3XodM6y8iiBO8m3pFbhiWC5Z-E9S9-zaq2d_YyRZJhvQEHlHWVYIE6U3fsx9JG-jqBNfBBIlNxaNFBLiAoVyVa8iZhYrgSdvajQiAu5mheJkEf0rBYO2uhPZeESH7-Zl7Q0MaTutwf7e_4fJ-Fq8jRKA0lHEkoBKHxEo9g0sazw24kFRdaoNrf5X5Cu0Qc7H9ROrdcb6SpFnb27Wnkjg3XJyhkIO3uQoE7UMk9-um-5rtYCV3AJWbDVtHy3aug20I_akPn1B-9BFKOFn2VRRQez9MjjeFXt2Lz0mQGeD5d6b_oFez_uaJ4Y127nocBWz1Fq5OfWftawLIYz6fxtXExK3ihZ9sgsMV0k0P5EdrLiAohxC6YdBmZnktLVre4P2kab8QkW1J2QQVQR6DiTAnOiyJtZ-ZPyA7OAh0DAkNh-BekmmWQaAyAlIKDmKtyowC6h_gfqIHTc1Gh_0bluZ7hmyLmhsNMZ8foYOj_uHBFtj-HPKkLsDQRHMKkqHjTmHnKYHmyNfz2ezMbC5CTqS68xDvQEWl7t6kTAASWN0Ij4Qlyke_E3uWZuQIOHc8pgbyMNxBWUuoR105vyCxkP6u8GL_WeIJEpERR9CKeumup2fvywo8sue_CqXLEqSxk9jOM_-Or65CSkPa83T11jDFSwZGPtHeMUAHgj8gN3RfXkbyvhS9jjmowneoPrEyQV7CJti8YezPtbOARjkW6GmsmBZpASMhAPEbXZQZ8P_oA3oRbKRprENI4xLzPBHhL03qAZWQx-LyehvnqALBzv8GC7Qt_ZXg8C8UyGiOuCfGn-MKwKbPYNCJtEgDdDYXAFabAiQ27Onc2I2KxH2uWJR2FZc8MZSvBUPhD6kCwiT8B3IzXk7YjaBYJuiaoMaL5AVljyD464q93kQGPzNhqWeMlX6gTLRb5R4FYb_qNiLYLspOwbMBhJ_KnO2ULvIVVQ8OYZkbIe9phG697LGvgfawbvTF-0WQYNyccULw31PdNQtsqaSkBQGJhiMAEGyZOB86ls50LFjm29hmgjpvhD6zzkvM0TJTu3w-6O293NWJxLhbKppOw3Ow-Dcc1iousEOmk5PYTg1W8jppJuwE10zzCeXC6YJb9QQo-RwbGWPAOiwizLTIYsb20WIVSg4yiBk7zbrAyMrIp0n9sQg0ZDo0gfBb2sz3mOCta2vS3JO5qeFt6O2Izhw72-lmwWnUAMqZxYvlkMxGip0bxv437zI70sGRcciaP3L8Pw3iBU5eMPslcXLlTHyKvMkUWg_FQsZibnQrbnJXcE0TAvrMLnLCT0Zpv83IXmELWyDcFJ7aKFPUYeOi4NBgltXr_MR8XRKaqgTaAOX6Zk_X0QtlTnNfF",
  "id": "rs_01bf3f9c2f1e853e016aac6048ba4487d09626f827f394c2bb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.125,\"right_z\":0.015,\"right_pitch\":-0.15},\"note\":\"The jaws are more level and the can remains between them. I will make one controlled lowering step to wrap the jaws around the body rather than pinch its upper surface.\"}",
  "call_id": "call_l3Sh3BlDK8sX8cG3TvBjWF1h",
  "id": "fc_01bf3f9c2f1e853e016aac604a76a887d0af760355d0cd225b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_l3Sh3BlDK8sX8cG3TvBjWF1h",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8604, 0.6331, -0.6456, -0.0219, -0.0647, 0.9993, 0.535, 1.8107, 0.8291, 0.1452, 0.6388, 0.588, 0.9988]\nstate[eef_state]: left_x=0.2587 left_y=0.0008 left_z=0.1265 left_yaw=0.0145 left_pitch=-0.2982 left_roll=-0.013 left_gripper=0.9993 right_x=0.4053 right_y=0.1219 right_z=0.041 right_yaw=-0.3115 right_pitch=-0.0505 right_roll=0.0147 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -1.4974, 6.7761, 1.4725, -0.0708, -0.0464, -0.0171, -0.6496, -4.9299, 5.4906, 1.1111, -0.3443, 0.4664, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0deb637e5e2e0de3d49a4115ab73d08c97de3cef687339edc5798de9359bdd51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d318ea0db6f77a8e309ca0334f3c2d540af62b2e5f135eff8136026d34475e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1abbae2a916dc80fa96bc59ee63a85f74bc3347afb1fa5ff10a59e1e640e7adf",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 73 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8597, 0.6331, -0.6376, -0.0219, -0.065, 0.9993, 0.5945, 1.8355, 0.6437, 0.7025, 0.8261, 0.382, 0.9988]\nstate[eef_state]: left_x=0.2602 left_y=0.0008 left_z=0.1279 left_yaw=0.0146 left_pitch=-0.2894 left_roll=-0.0136 left_gripper=0.9993 right_x=0.4047 right_y=0.1212 right_z=0.0724 right_yaw=-0.306 right_pitch=0.2636 right_roll=0.0222 right_gripper=0.9988\nstate[joint_eff]: [-0.1299, -1.1692, 6.9812, 1.4237, -0.0562, -0.0708, -0.0171, 2.359, -7.6513, 5.2034, 2.044, -0.1148, 0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGBSeFfgGYdCTonWiJFDJn514laHCqhcJTZp0kUDfKUmjRAByw9eMjXpiudpzcWeOcV9IyePlIjOXTmFUPOjUp8JGFBR-rwivsO_-nHElnNxk6Poa_gIXTmVGkBQNbW0T3Gfqmy20ujiabt_NcToXOBonp-73gButPP0agemAREpAe0sGZLYZ_NQTSMuBF-RUvMmyIgWCkj_4-ekmLwfZslrOeX5ozL_eFii8ALj_m26J1HSFkf-kvu_jIR4oyYOc2wZfk6jJiK_wqTP-3BaPvNFkOlwDkCdszrlFjiWUzJlQCIqwaRT-8NgSX16FRKgY93g9Oql4XvbhzKeEfWi1cS-NEoaHkDeebFlUxbpnFarC6VJbBxhBCzWghgAiqHbAS6rrrI_o6ktixBTBnEjiFisMVPdbyj4TIPV_lftwwIaKD8Cm5G5yKxBQQBxMfprBta2QUpjdxKVCXqa_f1I4LfVsHkuDGbdbZ07THTrUoWUBoJ8u3eQgeiP9jZmZnAtUDfNAW5n77XV_pn3ej-RdpRHcEn6_LsxfE2AiI7nMWC1iZofsO0cM3jI3gu_wcpHiX1N8ORFMCm8-GC6R-fq2mpOVprIJJX2t6jCxUMw3DIxxoxcFQKZLL3wYCv4xGsznGgymTKeMZ0upqvCzUMgKqi1NcJtL0VOBKEHChDGZS8oicrc718HjuOMaU-Z5XQ913x0qsQqQbQpt-xdNW0FWkHdwbGFymL-rPAlZKnIrFOkE3hLDTxVfRth78tWKp8ONaZAvePTZIKRI16BW4lQFRU31dYduCKaDlVgU5z8Kx5W7o6NRKATK9LFe_ZLUSfip-9Xm1TgLjrHzUteJfIQ8k04UdFWGBcDeaFD239uxxu66ruIBPWM6PLhQz9tlHeOto3RX8gYHUe5y-GL2NrfeH_v4r5LMocVcQ7xx89nDWerjiCBfVc0qivT7nfocvo6JwdTiwdCiz_l-qxYR-ksxUpr5mJajIztxGEONSlTndwvGM-eoOdwodzcCy6UHifmfcYNEUfR-2XC4ER4xfyrFX-dTKwP0LtucnqHxbgoA5vRWCBpPBWX7mmFOCDdBCeAMor_APYFYw-VLk3ROgjc-BkurvtoWSrkkGxqlrEuQfYqQujsy7U8rxJosFBiA8FPi5IoENfhV7P144KqW2TTF7LpLIyM040uCBxjqJYjqSQ2PZOqd_BphN8ja003t44qWeDGRzTCnW0lWIvhkK1lDDBl4Dy8c-1Tx9ekufz875H_AVjtzf4MVcmD5gN23Cq7l2Ra",
  "id": "rs_01bf3f9c2f1e853e016aac6050bd7487d0969bd46937494cfa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The grasp point is now near the can's center height, with the main body between the jaws. I will close around this wider, more central section.\"}",
  "call_id": "call_d9ruGJjhkG3KauuBSDi6q3CX",
  "id": "fc_01bf3f9c2f1e853e016aac6051709487d0aff0f262a21a0f6a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_d9ruGJjhkG3KauuBSDi6q3CX",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8604, 0.6331, -0.6571, -0.0219, -0.065, 0.9993, 0.5369, 1.8027, 0.8375, 0.1879, 0.6624, 0.5774, 0.5046]\nstate[eef_state]: left_x=0.2565 left_y=0.0009 left_z=0.1247 left_yaw=0.0149 left_pitch=-0.3096 left_roll=-0.0127 left_gripper=0.9993 right_x=0.4136 right_y=0.1239 right_z=0.055 right_yaw=-0.3192 right_pitch=0.0015 right_roll=0.0392 right_gripper=0.5046\nstate[joint_eff]: [-0.0615, -1.4154, 6.7624, 1.5116, -0.0611, -0.0757, -0.0122, -0.4991, -7.6786, 4.9983, 0.9548, 0.0024, 0.0708, 0.2955]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c041e0150dbe5b2fb84c08f5b2c598e9a9c09ddc9787d43b07f70950ab54124c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9800c72cb37d142b1ec1de222f8575717a72f37ba19ce05dc83716cfd6906902",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f756363d7daa2e7af2d03a2dd26e5d5039b8cd2c78b4a4fce042abbc475c2d30",
      "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]: [-0.0257, 0.8604, 0.6331, -0.6456, -0.0219, -0.0647, 0.9993, 0.535, 1.8107, 0.8291, 0.1452, 0.6388, 0.588, 0.9988]\nstate[eef_state]: left_x=0.2587 left_y=0.0008 left_z=0.1265 left_yaw=0.0145 left_pitch=-0.2982 left_roll=-0.013 left_gripper=0.9993 right_x=0.4053 right_y=0.1219 right_z=0.041 right_yaw=-0.3115 right_pitch=-0.0505 right_roll=0.0147 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -1.4974, 6.7761, 1.4725, -0.0708, -0.0464, -0.0171, -0.6496, -4.9299, 5.4906, 1.1111, -0.3443, 0.4664, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGBYzIlcmdpldKAWYj0hzxQ6_hUXP9VjiT8Jra6WePWJr8x6sYjK7csE0OBoV2syQTREYiU2qqpcSlAOX7ClMnrYWPLQPzS5Yx0BbLKe_FJMuzmUdNv5k7bhuKDDy7mN0IdPbASTi7WRhpOpLKW12hzE3tu3tczgtbK3um2hsHk6HwVQMZ1NRi_EoSqHt1ZTzwuoz33SSqAN0eA_H4MyAKdF7Za-FKMQAYmgXRCUeOOnUiufUPgjUUaZ1dgl652-31qshUjwWweL2A5My70_b_Q5t3Mr2qo0TSKwGylbNqGWBwPUzCnk3Q6QsPoCSuJrN2zAxeU5HTsQiv0OF2eU6ob7WrQpfk6_S0qqBb6svtQTJhaLxFyXqKMBUGYx4y1e6j-I74jqboRNOsQvYebXoYIjVpPqXlrdEazE5-5fxdOjG_7SebO_AFYqitaVo0cEXxGvRhU_lcTWDCsWh4ya7dhELjPyV9-ufCM-r95GXkARLaY9mn12ysvkQB3d46jTQUDj4Mw5H3LBUvNLc0s-eyVagSJm7LP2MN_6tK4_6uIUqZU5q7S-oUL04_MsVkTZLuV0yXLunGI0wmUGHH8pu1kas3RyfrWeZ_1R0Z2_CQmAuZtqqtKBu5OGRV1W7tDeMiRd6EgmXfAAwUMJWv-F4tNwDdZZCnYYJijZ7OoeOAKjYh47zYhMEX3kbQrwxs0p_5pDSlxNDnYdwzJk5RVNqRMoJRzNjKtdmSbl-iG7nsAYxgCvDJzfe_v7gpfeuLdJP36_-JZUdFQk3Cp-NYdcBv_ClHa4KNJUbx6ZGPUGHB6Tnm2vUxguosis6gNkCgEVwmZlflTEGYYfr9x7-nYB7uwKDUZhhuIHTozQxxP9LkS6QwvYj32_KHi7wzAnrR3Ggsal4rARibyJGIi9tEHv_JNNxLRQFa1AaQt4yDy2aAQW6bFQOx6VfVP0V5-R4_FOTYOqCIjCMbApb1XVHYrlxCrlZqpYZq7Hy0uZRdv6P28Sy7dgcUA8nxKcUTTt8-oEyJ_pSvZwEGuqRmcLRx-IN6vl2azArUDyrFczvuchso0nRFBYGDFHtl_WGniIEWobngGEq_Up4qsaH0Qw75UOE2JG6rygyHxz-7NmHiLapOIrZzKXB-e3b1yN1Grme7whHYxYpc_PnV4kxMiOYFu1wbhWHk_qxc37l4ukLBh-rus1ScGn8ghahJj_8Zk4MgTQ2hqfuUPaNhN1TE70xxLiGzxaJw==",
  "id": "rs_01bf3f9c2f1e853e016aac6055506c87d0b7c96456dd36e6ff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.40,\"right_y\":0.125,\"right_z\":0.12},\"note\":\"The jaws settled around a roughly 4.8 cm thickness, and the can appears centered securely. I will lift it a few centimeters to check this new grip.\"}",
  "call_id": "call_FNtefkGFUGIWPvVifcnoOMEj",
  "id": "fc_01bf3f9c2f1e853e016aac6055e52c87d0a0b86b33c82dd6e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8604, 0.6331, -0.6617, -0.0219, -0.0647, 0.9993, 0.5606, 1.6485, 0.8936, -0.062, 0.6685, 0.5865, 0.4949]\nstate[eef_state]: left_x=0.2557 left_y=0.0009 left_z=0.124 left_yaw=0.0147 left_pitch=-0.3142 left_roll=-0.0123 left_gripper=0.9993 right_x=0.3976 right_y=0.1246 right_z=0.099 right_yaw=-0.3052 right_pitch=-0.0212 right_roll=0.0138 right_gripper=0.4949\nstate[joint_eff]: [-0.0615, -1.4154, 6.7487, 1.4481, -0.0513, -0.0611, -0.0171, 0.1026, -8.9368, 8.5949, 1.6093, 0.3736, 0.0904, -0.1832]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a30776ba2401586cbbe43db344a939af0e6ebde39efbfe4f0bd3ef9a339b9be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:061a2d2a36293cfec1bcbb6853e20b005225e6af952832a0ca635bec2e8e487d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f6d69afdef7a584af20c064b0bb87edf7fbf35c344cf5776244ffd6ae2073ec",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8604, 0.6331, -0.6571, -0.0219, -0.065, 0.9993, 0.5369, 1.8027, 0.8375, 0.1879, 0.6624, 0.5774, 0.5046]\nstate[eef_state]: left_x=0.2565 left_y=0.0009 left_z=0.1247 left_yaw=0.0149 left_pitch=-0.3096 left_roll=-0.0127 left_gripper=0.9993 right_x=0.4136 right_y=0.1239 right_z=0.055 right_yaw=-0.3192 right_pitch=0.0015 right_roll=0.0392 right_gripper=0.5046\nstate[joint_eff]: [-0.0615, -1.4154, 6.7624, 1.5116, -0.0611, -0.0757, -0.0122, -0.4991, -7.6786, 4.9983, 0.9548, 0.0024, 0.0708, 0.2955]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGBiDjZZg6nDXPnQeOT3eeMBkLbRMMOlVGOP4tG2AnBlnwkzz5jAAvXWtrOsvTAb5s-OKDK2R05yTXveFeL9zNguMcw4jsEZeBROXdspXNRGjNXaDEnoi3MQiBxspdkhEpBkxm3dsqWSckBHbAqp8uIpb3RBaOqlUppvo1_9kosG751_L1-_aGmJOFjZCENQbhpRsLSi--B1o2aEAMsQYhqs85OlZg_Bm9Ok7JJk9pmStpkw5GyAlpJ6RPVCAYtxijkEPspcPmSw2yasaaiigcYhlCZWkUSEaqnfK3logs3B2_DT2W73PhZjUfkTNLujmagjeaKZ5N6wC_W3w0-vW1TIbhZr7S5LlVy46DSW53INCQ35Q9VWZ61q9fSfO2zRJ4IyLgL3P7WZdGQ1zat26L0sDyXy7g-4c4lj7Q_U1NnFWhOxq2tmf5u2gQwNjkJRrj2dWer2kYCC9bZ_Rq-MD5tyn-VBOdDb9evkJRHeRHO2AgODKq_i6RSx37oWla5xsoqPZkt0koxhvVpA8trS0cuz_S3peI4te7dj3OAApK3XrMDl1vfIoQhlsHjUR6eHm2Um1inebGDQFf7oOR8V8_y_0LdIJxclFoXhVY_hXmDiPE-nziCcDFuOsliN11VRuyumOsEWJNaYEcqjsqk92E1WP-wz889XodT4gYkD8bByEvRfMpYyb8T0wOF_IMf7kXv655RypiVx5wrItwxokz6Df96Mj2DoGCPP56jsldGbEHK4WQdh_b3phm4NRUoWzC8nKTywVk7-Zu24yMHMavAhWmWlyR5xF_fy5E6GKTmjfV8ObH2dGW4WgGrofM8CDhHg9FNlD89xog5PYsX6L8kETmuLzRluSbqyduGbqFAUra54ydw6OQiAXGddGZdpq5RCslFEpl--DYW7GwhFzZgyolUqK4WPiVSwyrPxq56lDzpnEbKi3aoIajgL_t7HXs2BSvS2ZrrOTLAMqwyzXthaLkXjY99AD5lnlcsprZGxkG1rA0gR3EzFzdGUi4-nLBBLVc2JN3y_IM0YsdiIwRFz8O40BHr6EZEdUy6h6ckBmm6EcRyQL4WtsTd8yaGUI7cfaUpAWPVAKasgXK8n5-eqshTh-z6HOOXfGJi66TN6lgt9wRmbvDeyJBnrkZx4j_ggk1Nfu0MD6dgMl6Pyk4UNb8Y6QxgiPJVF5IdbqyQWKfqJpDWCd0jEXWQ2z923RkUavqeGi1pdxM-mI1TYkWiVU2yT5Zqgrr2MclGTQ5rbEYEVS3szbGE3wf45UJ2Bd5-xoyPVw065UL6kDTG6tZaxPOHy64At_UfnuekTR-7D0l1sB9i_N1670V4nxcPLZ0Bz1K4zFlEIdjxT4rF4O_srktNCRlRBBd6MlEy31ZnnnwmdMgZZnSS0Om-TPisMYZjnK_OEWDhFQ3tScF5eVnwkKwXNLuRW__pOqOC5zByZP4AihLfoDu6GwUo1wW8n6XNCzNfgh8O3qO7gm-uv8MpYLiqM0qUxP-PpLFFgXqvZe_-jykXprtR4QwW8c6Nw4jZrpTDSFYIz3qfNwWGcJo9WbI9G78be5bDOAGDVnUuUVKrA2wTOByK2Q-js2SovsF_4TeIEqWs8BzmijIsUImMTkDgawrxhcKRpq3zujCAIW_WUlIC718E9hkz4khxK3HZMEDTHXGUlIbGTTchgz_MrVgYUWHWLYqR1nfIHBv9_3MQ=",
  "id": "rs_01bf3f9c2f1e853e016aac605c279c87d0b299c8920358c0f6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.13,\"right_z\":0.23},\"note\":\"The can rose with the jaws and has not shifted in this central grip. I will raise it to transport height before crossing toward the burner.\"}",
  "call_id": "call_wo4ZadwgdUfqF08GooobESek",
  "id": "fc_01bf3f9c2f1e853e016aac606100d487d0bd9fcc761645a3fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wo4ZadwgdUfqF08GooobESek",
  "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]: [-0.0257, 0.8604, 0.6331, -0.6724, -0.0219, -0.0647, 0.9993, 0.5674, 1.565, 1.2835, -0.5728, 0.6613, 0.5842, 0.4965]\nstate[eef_state]: left_x=0.2536 left_y=0.0009 left_z=0.1223 left_yaw=0.0149 left_pitch=-0.3248 left_roll=-0.0118 left_gripper=0.9993 right_x=0.4005 right_y=0.1309 right_z=0.2077 right_yaw=-0.2931 right_pitch=-0.0496 right_roll=-0.013 right_gripper=0.4965\nstate[joint_eff]: [-0.1846, -1.2786, 6.8034, 1.4921, -0.0366, -0.0171, -0.0122, 0.1983, -8.759, 8.9094, 1.6337, 0.3883, 0.0659, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb6c5741718e53af7e09d6a7e21c6d18b736b6b5d50b1f6f12c3ec0a13508fbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1600caa6ce410967a4b06f0876001eb98c6677dd9fc42b04fba05633073ad744",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6d4f92c89485b4480e1cdcd2eebb5ec163cc0894ae164ba10b57d67813e452d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8604, 0.6331, -0.6617, -0.0219, -0.0647, 0.9993, 0.5606, 1.6485, 0.8936, -0.062, 0.6685, 0.5865, 0.4949]\nstate[eef_state]: left_x=0.2557 left_y=0.0009 left_z=0.124 left_yaw=0.0147 left_pitch=-0.3142 left_roll=-0.0123 left_gripper=0.9993 right_x=0.3976 right_y=0.1246 right_z=0.099 right_yaw=-0.3052 right_pitch=-0.0212 right_roll=0.0138 right_gripper=0.4949\nstate[joint_eff]: [-0.0615, -1.4154, 6.7487, 1.4481, -0.0513, -0.0611, -0.0171, 0.1026, -8.9368, 8.5949, 1.6093, 0.3736, 0.0904, -0.1832]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGBu3ehQStld4Rtfz0TtgrRCfuOuveItZUZb1OpgaAfaQ7InWDvbeiQT3CHxYkZkkWrA1mOg-HdxlOwfD_HsGkvfgMnXWWiK6243Z3ZToUzBSUyaxvOFIC-ZfKKL6z_KZv76hZoqSN0bi1hEo9b5Lz7aLwny9YMuibQr1Vh95MA9oaRPU2JM4pOfeam8ChDU9pEBzQ29l0X1qJGNNt1D2Hpa9oEJptrX9fFu7Lvs0G0jdSoT8-2S2kf16xxw7ApRM_2FKkLWywW94-k2bFk8wcYXCwfVdS9GU9pS3isfWI-eMfRKllMxcHgNLEgbi1fIySbElFFsb8_FKjUOasWjxT4qzJ40_p9QBmOv9opSAgUV9_SDY6fvWB-3OhYuxp7V_Svs3-XKRZmnxzRtYi-n3guePMRWtfc6V-368OLhzZY3TfZU9UT6nkZYP7cM0UiQFefpZQsgkaJgOkBp6sdnfkgw0AH88KF7EPPGB_Yeh67aI4ns25Fd0qHTYwX4U0k0HyPyhpkGedY0G0mfgVA33FE5B_5kS4QW0dypvUrZ6rl_EBFq9bkH3iW0ekg7LPGlqcyhBp_u7bs8KHQjSRKNLmm3F1G3dqzsPlyjzpSLAxbezDagyCqiE7pJ-JUaUqTdMaomJoMF2YEFoDXgMIQi6oPM4yRRienQ6vdoX8fPMqTRTmz_5dxsu0WsepZyuKXwytYR6GMM-EGf6hRMyfiFsCe7uMKcNZNA-8VWhc49lcew3q99IlyEUBoCRN1Ke5SDDwRoJC5WPdwhvDkz-0E9xIo1IjlXAYNK-rKrDJXSKTqMbZBk4mHAL0khN9_M2V8zqSX1RMx1NtnvWwZLQqmTv2wGPEDQSLlHytk7D5Cz1D5UMZmS0kyM8hSgb6ZKQyUWM2Y8EB5tmxtQmu1N5JjCpdaMKiG2A8EpPu_SHwbLmxrM_GjaWo9ILBd1wKFSfWh2Yc7sqsNgp9P8k9TxdbuJ8-yHuMvZWL8MfbqzBGWIKV5vFjWeLITT2PEZo3ZqTMfulURu6veOzzB3Kajl82fel9WzAx1WYkY4WNag3CsQStVn6nLLwzi41hFB3mx_H5Yw5EBbRFfU-g7s5YBBtKPw80-IncHi_fyDQm9zTl6CuN1xupH2fLM3CHaL8ZuJOKQ7_DIQw8S0FnWuszOOxpsnTGS2QoHsUejE_g-ROlf1uKcUOnfvV9c1BDWvQ6_LQ6bPeityGYF_J55DmP9AqTDlxIOUo_iKhcYoxe4tZcLtHq6vBd_fE51HgDR769wkBPcJ-xMjRJg0mgjXtC90GuLeQaoAzxF9d2Xkj0vfs1IM-amjshjGxznmkMYIvjc43oxBA_Q3xRFn8BH1mmmmNVwi0lxFTmImp6MH74O-S5cNZ9EQiIA2mUZM978EDqG3XK0jMw7a_hdhtuZ_Ee3x9xlEX3-gXfPtyA_b296Jj2sx24amMkZrTjcI6HtU-EPyP5Vyre6pd6smdJun3QUOUIyPhh0eGvr5SFzLFGJ0yASiI34zfvCaYsjOabWYl_EESoR3eFo_60pfFL2RTc2d3tqQWKSLIxZpnWiFeKFAdpR2EIIpc1KRp-HMUpw9dX2_DIfy9LE9poc8f9oRx4LwH3cltLn9AIcqYo6xDsVwortsgY2x1MlxsyJ9INWJaxyObyx7u9tuVKLrmEGeJ6J_p2pxHk7ajuIXRGTaqI0V_n4B4c6YvLf4EEX8OtT52pWrqpi2FgiSWjyn8ueUM_NGiExdhwLdaKh-N_rbl_GjDNt5_vByX1Zo9lvF0ejsfTbsJLsud6aET-8Yf0i2IW6MI4R4teZHfxtQhk0dWr2zZqP7bu1_--wEUWoz9LAIytp_VxkI3BOjN6hY6q0hySOuhsyO4EQBpFuTeHi36Oz3MHSVUxSHhMWiI-sTSZn_rP_kqw5DiXfckZo6q-Cyj-v-DFROcLUWuqaqKGYwTI77WcxW5ndPKEP86C_jrHI78fSrZIloayX428YrprDGLxK2guMDOAl2nqQs-n6TB0R9JFA4qbmD4-eaVapxe2iE_AJizs7p6JODvdcUxbEGpWK6kIMWQ7BSvi74AvNAOWYda0skFK4QwktlaTX-1a-NXKgQP1L8-vlZH-KBZjA91R3dpEDyKRFz43urAqMBaxpPrO-DF3l4T5Cd0AQflQN7KDg3xBzT66v46LLdRFYwbpGFIvCVmt98vw==",
  "id": "rs_01bf3f9c2f1e853e016aac606578fc87d08159f487ad888d22",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.38,\"right_z\":0.23},\"note\":\"The can remains lifted and stable. I will move it over the right side of the burner, keeping it above the kettle while checking the final alignment.\"}",
  "call_id": "call_ySTmthNul8u8hktTI5jvnktp",
  "id": "fc_01bf3f9c2f1e853e016aac606c7b6487d09344c712447400fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ySTmthNul8u8hktTI5jvnktp",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8627, 0.6331, -0.6903, -0.0219, -0.0647, 0.9993, 0.9428, 2.5916, 2.7541, -1.4269, 0.8349, 0.9958, 0.4966]\nstate[eef_state]: left_x=0.2501 left_y=0.001 left_z=0.1191 left_yaw=0.0152 left_pitch=-0.345 left_roll=-0.011 left_gripper=0.9993 right_x=0.4167 right_y=0.3572 right_z=0.1691 right_yaw=-0.2732 right_pitch=-0.1119 right_roll=-0.1217 right_gripper=0.4966\nstate[joint_eff]: [-0.0479, -1.4017, 6.8581, 1.5409, -0.0317, -0.0366, -0.0122, 0.3761, -19.4393, 6.8444, 1.0623, 0.7057, 0.2076, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a81f9448b3b3dc292ede25acb2af2833d2ff865347f3eebf8f8ec4881cce929",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0c84fd315208a45d7679e427cfe043af6371fc44d9caaa82c700afc644e1c16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b59cbe08402e0adde6a5a7239192e7ab2f6f1378170bfb87523c9b10d626979",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 89 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8604, 0.6331, -0.6724, -0.0219, -0.0647, 0.9993, 0.5674, 1.565, 1.2835, -0.5728, 0.6613, 0.5842, 0.4965]\nstate[eef_state]: left_x=0.2536 left_y=0.0009 left_z=0.1223 left_yaw=0.0149 left_pitch=-0.3248 left_roll=-0.0118 left_gripper=0.9993 right_x=0.4005 right_y=0.1309 right_z=0.2077 right_yaw=-0.2931 right_pitch=-0.0496 right_roll=-0.013 right_gripper=0.4965\nstate[joint_eff]: [-0.1846, -1.2786, 6.8034, 1.4921, -0.0366, -0.0171, -0.0122, 0.1983, -8.759, 8.9094, 1.6337, 0.3883, 0.0659, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGB5UgCyEFR8IZQSSPwEpT3g_aBKVXzF-L_dWqxFkv8uPI0R5qOZmPcWHGYR9gyRm6iUULgiNuim-McMvOSQLI1b8tAicpjRHBzY3f9LCZ8xgBps8oBOwfHt_YfOYkqUjH0JmJ4UsNqaIDLkvtGDuT7MId1wb0EgAJ2yDp7RoslkHKYUf870RnTsqZQ_I-mYDrb830KPaG8ygv8ezVtFk5SYJ-C7OEIqmrxwmfB9eXvz-2sh33ebeT9sjjw_-PZbp1p98ZE5YBA1YdzcMXaqD8mIIj4uEuPMxxEbYmDWIaLpKk9oyn_N-Nkr5ff4uZLkrHB9OG5pcZ1tzsOLmej3Om6UV_M6AYOUlXqPTd1DTVfWPG-8lZoAtUbsDLv-i5zIbkF2awGrfOKa_gEf9mw-1xFsGAvpgylterOyykkMOJWUds-JNw6R57lQhowrazd6rdL7o7SLRwJmDgCT6Ap3rmFiu779-B7fqCG7F6iLR1DxV8TSJusaYdxFbyJZlsuTtYe8w9g2v2NJXJdKyBe4lDb5Ay-iOxaMBqauYPcAC7-_gy_KYMHJuOgSulJlgaSPQlzhkmIbMCHgazh0m5aSa8ThPupYVXxHO-6ycW6K2u4awFgZbHTQKcTPGpGf4HAg0b8DTKPIzaGKKOZcwN5vBM-Lcm_Acnjzi9SVG8bP2Z4buVr3QQubesbSDPGvrtcQaMXjiExqPqeS3HwsQ8Pi5rmm2qDeQmod2xA_ECF8QsQQSX8av55rq55cSTsHYuENPQxsDfY2dzq0DJJ5vYQ1j9YZS6IdyBOQEaMqRbuj1UDls_Fn4orKT7P0teMiJeeGo8fz_r_L7qbDiSZ9xnr1A-hLifa5PiKtCPYsB99zUEVmddlFB5imEsMTo3Ht-i4OUqU-lJ1AalNmJ4-iSUnPyi_P8QQB-ee-SH1KayrcX01qctgAVeJTnJ6ymHTlQHS_SuAMQAwhtlkWkQx3VOwflKoPy-kY75_hsMbJqPxM2NmGMwnUuCoigdCUM17WNFzLoNobNDBZlEftYpQMtzWo2SYx24cbi5GskmcLW13JV7yDoG7_4k4VGcbdE4gIrhcf_s3lentDNPyseEdBqIkdVSkeQZbUWDrVmCgdLYKDghoBgOdxcpnn1C8oX_cADUDxhoikn_ca4r5A0VLaHHTg78ya2OT2oCM4-XcCSzTaETGoxUuUqty9dMTTkgcSm8kz6qPHxZ3B2dWrd3FstkUMty30F58OktUjY6lk_2rAHaClvHfatRlzKolIdhKJNZL3PWiV0_rDjfINVVMQoXhByoyT-pVszZRiNgtqtRdNp2UqWjPrUquqrPk-KlQplaarowdUDkrx4fS-H0ybKMjb8MFLK3kTeNyxyRJkDG6aGHaTBTM-1_vlYS89JT9xnebEL14HIS61sVDzoDVcXp40NFYjxlJfz9d1-JKXoEx0Q8UMvQUCh4QlZjy_vz7AMJei4fXQSYLw3ra3d2qKKHFQ1SvzjOzfBziGuvVmN3-gG8f8sc7g-MMtL1TF5HI-2nMWLKKuB01ckfMP5eYzr7CzRGzq5nRP43Qz6DSNb7ik3aZ_316Jj2d8QYnDcnWMR3TDRP8BNmlGuiunw4E-PDegRSSk2IAtEIlNIGDqQQerOiPUi2GuGp-kmIDPZagWzBXnzVxnvu4WtA0EWT-hcH3KioFPSBw2b6QslGCCOjVgsCO9Udw42Sy843UFH2pirT31EdcZgU0vaWX3x7RgWtqC-jlswTSgiKZO3B1TwLqO1Rw7w8JCHGOH6WFVJAGud0MIqf4hNSh0eaAJ1avPLXlDodYd-XjCEUHVZ9Oys_0DytyD5d14ZOXlM9RIl38mpg4kLRpqv-YvH3DHX6SYGTWNafs8qgf9l27mCPhaASgwFy_q1w6JnZ2VG7mOhfa8TfO5VilROVfSHnh-QJF9b29yb2za8w==",
  "id": "rs_01bf3f9c2f1e853e016aac6072258087d08d471c9c3349d395",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.13,\"right_z\":0.1,\"right_gripper\":1,\"right_yaw\":-0.1,\"right_pitch\":0,\"right_roll\":0.1},\"note\":\"The can slipped free again during the sideways move. I will make a final attempt around the broad body and explicitly maintain a closed-gripper command during the lift and transport.\"}",
  "call_id": "call_WxXWzZDWzQeBD06w3R22gGnn",
  "id": "fc_01bf3f9c2f1e853e016aac6076dde487d08e748e7950e5afea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WxXWzZDWzQeBD06w3R22gGnn",
  "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]: [-0.0257, 0.8631, 0.6331, -0.6975, -0.0219, -0.0647, 0.9992, 0.6655, 2.6347, 3.1157, -1.4109, 0.6086, 0.6266, 0.9982]\nstate[eef_state]: left_x=0.2487 left_y=0.0011 left_z=0.1179 left_yaw=0.0153 left_pitch=-0.3527 left_roll=-0.0106 left_gripper=0.9992 right_x=0.5076 right_y=0.2746 right_z=0.2345 right_yaw=-0.1883 right_pitch=-0.1297 right_roll=-0.0103 right_gripper=0.9982\nstate[joint_eff]: [-0.2803, -1.4291, 6.694, 1.3993, -0.0659, -0.022, -0.0171, -0.0342, -16.6496, 7.1179, 1.8291, 0.3492, 0.0611, -0.0366]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba707e147b9f2d1eb139c087d6663836be775bcf1526e234ea61b784917e71e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c54cea88a9bac8f248a735f53dda0ed45da2762887eaa4ed0a7517198ace5acd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec71462b657a84659d276edc081daf813a2931961bd3f7ee92794b73ea3e73a8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 93 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8627, 0.6331, -0.6903, -0.0219, -0.0647, 0.9993, 0.9428, 2.5916, 2.7541, -1.4269, 0.8349, 0.9958, 0.4966]\nstate[eef_state]: left_x=0.2501 left_y=0.001 left_z=0.1191 left_yaw=0.0152 left_pitch=-0.345 left_roll=-0.011 left_gripper=0.9993 right_x=0.4167 right_y=0.3572 right_z=0.1691 right_yaw=-0.2732 right_pitch=-0.1119 right_roll=-0.1217 right_gripper=0.4966\nstate[joint_eff]: [-0.0479, -1.4017, 6.8581, 1.5409, -0.0317, -0.0366, -0.0122, 0.3761, -19.4393, 6.8444, 1.0623, 0.7057, 0.2076, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGCAndlKFuo_XGNP4wPWxFqxSjDPINL3ZLDIQvMuNiNedDzzK93hGtG76lf0xnnnR70HdakqUFuCsXJf_k7WhQPMQVpXtabbihLCKTZWtHlO3eA2pqrHFqKjDwZ3KiRu8oVDUzRz3fvIyNoYd-CzvVXLALs-R6UyNJe0nVHE0s4fCfuM_HWLQ2H55u6IcEBrpxoNyBE63aO2wYxjXzUfXEU8kQkNOrSwaadodVqVwHTwTmZJ-VNiBTyF24c2bZAmGTf-uXBhUn-sB6mEZRJQwOtFvUKufCgJxdDDWIvW0-gl1iT2DSmgh1Kb7o6GHHlqhfAkxFG0XxQX5lrPBuuqPvSP1pBgh_l0mFXv3R7HbW0DzPHd3tqTxsKniSjl8xKCkloa_H46ghivM_mfdpIherXqmoyHkpg76e_kA4wxm5G-lkGJrgUXuZOe-PgurxpomsTxB-N8LtczR2p1ScLhpfC9GTRgtvnGGmTT8Ikk4xoVrKnIa_zLR8mvTn-SWbNKgAkGG3mPOQ-0Mjsk6GVyhDf5vpYNXuwOfhDy_WgX8wbtgqN2VCG5dFh0SbxuzTTBo96SP3ZJ_b4xnhoCnyf6VGeHzpI9k2c3kgx2x1TwSInylj28go_GGCPVg3iRCT4axVJvM2JKBJ6W-tRlt8RlxEbZdYYSAsTlK1-mtEDYov20-VloYVwlwHk8dCk4ZpK-lXK1jzmB6xDoAP--7QNBwWMB_JBPM0Xe-XhL2EONRoN3ix35DhIJQQYR2Pv1fF02HFurDoAY_aJYLevUL0lWtayKCvh6S99-BY5iND6lDsfo0ZxJ3fok5KEiwWMQkq3H6ih896ESoI4VVLq3KkRJnhmeuTxMy5HmKaUWNEmodajIvbYsWP69e3w80R8uEM7NtYnGQKYk0i40fzDADkhBuLHVTn0DEcGsGNNoURm6jbh5OtD4xzsDfszN9cpJrCVo7NwCHuKHkKP5ExySX7Vpa1rjcKt514yCwb6_mROBC5ItW69g3ZsS5wmGuu9YmN8qsz30Ga0WO0pdzsXHEQHU45vD7zVo4Ut57c2CG1a5oTLwsyHeSaCu8Ln0loYJhH4d3TdHJdpZkqjoBLdJoModoPO0r2LKrQEGOuFG0xHE3LOYxQ7-U-t7ENvV6LAd-B-KoNnvgycXD9bOlW1oKGKYPaOESUg9f-zD9H5P_JfSVV5_xUxxsLIPrBNwkW8R_g_OXzpQqzipInL6Y_00R3gkRgWBzM1JgNmGuGmfUrtv9UgyvGyRMtK3LZFH3eJtYgup-aY1",
  "id": "rs_01bf3f9c2f1e853e016aac607d89b887d0aa7339304d222786",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.14,\"right_z\":0.3},\"note\":\"The arm did not track the return target and is still extended over the kettle. I will first retract high into a more comfortable pose before approaching the can again.\"}",
  "call_id": "call_r0lycWgXiLlEh3xAEXdJ3WGN",
  "id": "fc_01bf3f9c2f1e853e016aac607e74b887d08af68ae6411ed893",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_r0lycWgXiLlEh3xAEXdJ3WGN",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8631, 0.6331, -0.6979, -0.0219, -0.0647, 0.9993, 0.6662, 2.6202, 3.1153, -1.5322, 0.59, 0.6285, 0.9988]\nstate[eef_state]: left_x=0.2486 left_y=0.0011 left_z=0.1179 left_yaw=0.0153 left_pitch=-0.353 left_roll=-0.0106 left_gripper=0.9993 right_x=0.488 right_y=0.2632 right_z=0.2261 right_yaw=-0.1904 right_pitch=-0.2118 right_roll=-0.0806 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -1.3607, 6.7077, 1.3504, -0.0659, -0.0415, -0.0073, -0.1846, -17.2239, 6.9402, 1.3455, 0.442, 0.0708, 0.0562]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cb6ff7787fb1922186ff35c92531d50af81e254c9e997c2e0ef752ebb3f5f25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c194517220f9f01463de0f74e5fa2a80f51fd4f8d6403213f48bcf333827e37a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:143726dd415d971a57dda45526d8d6de0ee3c2460209721b1b21f729f231ba57",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 97 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8631, 0.6331, -0.6975, -0.0219, -0.0647, 0.9992, 0.6655, 2.6347, 3.1157, -1.4109, 0.6086, 0.6266, 0.9982]\nstate[eef_state]: left_x=0.2487 left_y=0.0011 left_z=0.1179 left_yaw=0.0153 left_pitch=-0.3527 left_roll=-0.0106 left_gripper=0.9992 right_x=0.5076 right_y=0.2746 right_z=0.2345 right_yaw=-0.1883 right_pitch=-0.1297 right_roll=-0.0103 right_gripper=0.9982\nstate[joint_eff]: [-0.2803, -1.4291, 6.694, 1.3993, -0.0659, -0.022, -0.0171, -0.0342, -16.6496, 7.1179, 1.8291, 0.3492, 0.0611, -0.0366]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGCIzd05GMt2s-OCtyjmF3ga20Do94P0za9-zyahaf2RyUkiB-2z4ATtAdQNNLDLDVKPgA56jgNn1yuy5Ds0nOiHADzB1boJyXQ5JdOzxKYFjOyphzEaARHqkqt1E0p2awjzBHMvgOuzHPdIVVchZWE7chpla2EHMKOJf_AmzV8Tm1ZQX3fVCZdmFX6yjmdOzKTGOITYx94AQuHsLzShQdKMnKJiAJbkxhexzw_Y5WFp4mG2U3DTZGCSFcqwWbeEsKwOySdgOcxkpcGNl6liyg6hck11kGi4MFvw0FltSf1xZRQ5MHwzSf-PNJ_551pYldJlk30fey5G07-6LFKdCICmZ5_ueWeOreafvy6p7MHyG0361_fTWQfMCP_vKzIInfVUUmnmIZGjHvobc35KPVf6PoiHaP2SndMEtdPzSOPjerfm2tlCkgKxkzxMnyojqzaJIiHV61EDlndoM69l7hsJjmsYZNtahwWi2n7xg0cmYArMZZdYhg8yijC35ESHA0oa-YLsn8Khm1SOi3F01j8i9zR61DG9ZUwg2wbMDYuan-NvzpsJK5LeMH7PA9vL_gLM8onkEhCJpewSRMLzkMCielwv2Ax2fsCBui_X-FboOTiIsusgBlHJj7-H8GqhlsPFKYbIPlEBC2Tpq2MGfJqg4rf3uJcFbhDdPiYKVank_ZVkv-jywrrXEpENG69TA5PSOzajycK6voO8JzRdFdPjGuC-ap7QOwxBUACLcGjl7fQ9PuXDNvmnf6Xl9byyXhzquN0ZzAshWw2mMiPvTlgYzfl1ma6n7RosUD-Ru_JJ-8TIIWqBx9LK7Z8nWYfDGvA8J28XIorG6SHTdG_jdAKAwCXuI_cu4pF7239n-YusL3og73FDVXWwprZJB4f3dMn1gxygg2-QS4fhbH9qH42N4M-JxBYXzQ2HANg4j7z8ucQFR-EOafUfHZ2Y8GRj8ZCWgLt5IfY93kbisNxv-z_neut_-OiJK-h8FHBcLAqkXjIsF-Qk4m2KKdvSi6Z2liP1BtBTB63ugLc06ykHkA8U3H-GmRy4nbO-dDzH434OPddc_eJbFU8UT_0YxmjTgtAr5hAvIhiqN_worQj5nrx0-U1tkVwLz6LyoI6WQLouslGXQzjs9ZKdLhWipXubuLlGXiigYcpOHfyuQvizvZKgBwSVWWZKBWLGcWRfjZqZNwlaFEBZUxujIV-HcQpQmk_nBSBkdzcdk5cdcQ6hj8dJdsQszfc7Pyjk-yLbuw9D9HQjAsfmLoAWp8x5rL5HiD4Ce6RaF4q0zYoJ_7Ny7ya7N1Zs2gcOuVIDR3ekbJHIRC6OJJPpkmHd_ua38RcmRlJffpNmy2EXNtJjw3CQHMP6jw==",
  "id": "rs_01bf3f9c2f1e853e016aac6084523c87d0b17de66768b6c5f4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.14,\"right_z\":0.15,\"right_pitch\":0.3},\"note\":\"The elbow appears to be at a folded limit, so the retraction did not succeed. I will move outward and slightly down with forward tool tilt to free that configuration before doing any further grasping.\"}",
  "call_id": "call_oDv09jbPXsMdhFjs2s2VhpqC",
  "id": "fc_01bf3f9c2f1e853e016aac6085acfc87d089d5c4aecce5f6b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oDv09jbPXsMdhFjs2s2VhpqC",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0254, 0.8642, 0.6331, -0.7155, -0.0219, -0.065, 0.9993, 0.5148, 1.8523, 1.0119, 0.3096, 0.6994, 0.1955, 0.9988]\nstate[eef_state]: left_x=0.2451 left_y=0.0012 left_z=0.115 left_yaw=0.0162 left_pitch=-0.3717 left_roll=-0.01 left_gripper=0.9993 right_x=0.4708 right_y=0.1398 right_z=0.1194 right_yaw=-0.1724 right_pitch=0.1841 right_roll=-0.1426 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -1.1282, 6.6803, 1.5604, -0.0611, -0.0317, -0.0122, -0.335, -10.8513, 6.8718, 2.044, 0.2955, -0.0611, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2d400a693f1832fc60644e55a20c7af45b2181c7a4139bdca27f6e3c2416b9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9da94ef564db4be706e21874d1d851677b5856181332b8c922792e17edf7106",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a893fd07d1fd5f43ee4f9eeaacc18013e123f3364cf7ba46e998af2f34fed9a5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 101 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8631, 0.6331, -0.6979, -0.0219, -0.0647, 0.9993, 0.6662, 2.6202, 3.1153, -1.5322, 0.59, 0.6285, 0.9988]\nstate[eef_state]: left_x=0.2486 left_y=0.0011 left_z=0.1179 left_yaw=0.0153 left_pitch=-0.353 left_roll=-0.0106 left_gripper=0.9993 right_x=0.488 right_y=0.2632 right_z=0.2261 right_yaw=-0.1904 right_pitch=-0.2118 right_roll=-0.0806 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -1.3607, 6.7077, 1.3504, -0.0659, -0.0415, -0.0073, -0.1846, -17.2239, 6.9402, 1.3455, 0.442, 0.0708, 0.0562]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGCQim00Q99WM3Xu0XsC2SmAeUH9vPSc8vajIx2hrq2Ii2Hy6I92qU2184p-x9Pp_KN_ok3jsAolhz4d-epywUM8JUv1zHd9mCIMOUDfKmg8CRsKDOab7usGtoLGbcJkzoGy_dWJCMeDkPzCjpPJsVLBHi9dk03cxftwIqRInzgIopq49yCwcT07RIs-WwuABJWV7JfTT6A6AGUQbc8YzMYaYxkH9ECA1j2D5lOsuHy4KJraxoA3s7GAxhIaWvBt-a9jdTB_RM9B6GuuT3QiyjgHLcKKqlHPJoDYj0zMv0nFt1BDUSJiB6Wd282b-nd9tPEvNJcmDXVk7AYEUV5Zfo5JMhf9TsNH43-VWiCXDelChyvrsaARgTiyQj8AHmz_fXJEbazAWnadyT3lBgduW-JYi0dEBOE-9i7J-GewbGoHblhfOpz7ZKSeXuG0BwoxN2VuOzyJfk-G-gBfn24PyzH8Xn5pS7REHPgrr-wm60wPa1koZCsrLOSao5enVXFD6xImi7Mr5AD3KAiqFJ-XndAIO_AGzIlHBnj57JkEhFgumG7FaSNVtTf5DhQIOcVK8Lx3Rr9nMFj51kCDrWqrril-MqDf9NqGM_3uf6YUreZNbj1tconNHvfre2xpWJzxZD-KDdejOtPhLu0v2bYmCGrBCKocgSN1rOhJAhe7omgx4HfrxeEXxGgJR2U4R331_fRQd3WrfpgAya3EhXcHmmyY1TGd8P1mVErxDcUEn9ZgHNtqSuomA6fRFFbLSIyYdh53fkPJoGOoJ5HJbJDuZwgYICnklGwWClz1p7lSSCqmUdfJgfVXCaZ3KSS1JutfIU7WAM5HBQkHm4x8l6HdAxbW3yyD0-oJ01-oucEV9m90ZSW6FFHapQZfD1n-IHqpa8TIRt5Un-mQdAPiS3pp0P4UGrGEh2d5UbUoDpeqfv1P8bP2YjZY_DPnlzLI3OBslqnZR68fxNoZ-aiHmUz44-odU18yphN_fvfV4i-sn4qw_4R_R-dwMxbHnvsIN1BQLnMlIXm6m75be21Z3OmJrDg3gKRvvfKAsoglzMH8EFV314Dtt2d4fHbgHZfOQNjJtIAL1Ux0HIkzZzO7R2CpuXxSZr4_CfZCm2hBHu56eEhdKi1t6Tp_D98Mx2rWXnmdhLDGSNJWOTVbDXOzHSmrIrg9Z8yPYB026Lkt5JBf0RYUyyKdFR5w1-pEJc4x7Q-fXEcpyI7hogZK-cn3aDfnw6xabPZxZjY8G9aUmitRL8JUPncWgu38EZIGNLtgquB0z3R5KUSEELEdyXVOgUlOUWn09w==",
  "id": "rs_01bf3f9c2f1e853e016aac608d32fc87d0891a552e27ba7498",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.15,\"right_z\":0.045,\"right_pitch\":0,\"right_roll\":0.25},\"note\":\"The arm is moving normally again. The can lies behind the current fingertips, so I will retract over its broad lower body and lower for a centered grasp.\"}",
  "call_id": "call_c8z35yUIT25hqbi4BX23bQEh",
  "id": "fc_01bf3f9c2f1e853e016aac608e1aa887d093d8b7afa8d21393",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c8z35yUIT25hqbi4BX23bQEh",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6331, -0.7227, -0.0219, -0.065, 0.9993, 0.6609, 1.5993, 0.4843, 0.3737, 0.5617, 0.6289, 0.9989]\nstate[eef_state]: left_x=0.2437 left_y=0.0012 left_z=0.1138 left_yaw=0.0159 left_pitch=-0.3797 left_roll=-0.0097 left_gripper=0.9993 right_x=0.3329 right_y=0.1442 right_z=0.0342 right_yaw=-0.1496 right_pitch=-0.0285 right_roll=0.1548 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -1.1145, 6.6667, 1.453, -0.0611, -0.0562, -0.0171, 0.1299, -7.0906, 5.7915, 1.8291, 0.1734, 0.0708, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6aeb870b4f943e42031c10aeda9f7d4eaef6953f07bed3b2c4562010d1b9937",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a60d07f0837a11db7d688218072565729aa2fb7ca40904c646aeb5a3797bef9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90f8e481dbf73354ff60eee610497d34b443c969e958ac031f60aeb133f82047",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 105 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0254, 0.8642, 0.6331, -0.7155, -0.0219, -0.065, 0.9993, 0.5148, 1.8523, 1.0119, 0.3096, 0.6994, 0.1955, 0.9988]\nstate[eef_state]: left_x=0.2451 left_y=0.0012 left_z=0.115 left_yaw=0.0162 left_pitch=-0.3717 left_roll=-0.01 left_gripper=0.9993 right_x=0.4708 right_y=0.1398 right_z=0.1194 right_yaw=-0.1724 right_pitch=0.1841 right_roll=-0.1426 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -1.1282, 6.6803, 1.5604, -0.0611, -0.0317, -0.0122, -0.335, -10.8513, 6.8718, 2.044, 0.2955, -0.0611, -0.0073]\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": "gAAAAABqrGCY_Wlvz2AabCLrRH45QOhnCYVusRDvQBddIELSC8MhPP5EqfO6Dj8RzKDGStNqQQ66ZHcq5ek3Cyn0F40HNV8xeD24WaFEqZhuYjcSC-A2ryZCit1OPeFC1sWGZfZ0LdQ-YdkDN31mgt5ULgN5o6UdPmHwNMHjeNzRTwBuhFmTTzwIQpfFFitdOKiu1nt8moejMZ9UKbXvEaitv6HXpKR8Iflg1UKNXYcTJMwgsGR2MUQYU4t6WfufaYVWJxNoblxkyURL8e05bex5vStENjn1dm94bOwpwQWhNv2BLA2A2CmRrkR6JDQ9KberuuWdtX02nADEdLlrcXvywR6_g7nm6pDRjeUYoCirk7u9dNuOhw8Z7vuklwF22g2P_SccBF48gWb-LC-IOdfx9-6TylFWBNnLNMRnQAhPbYywHsk4H4cw5jrvaxo_BU0sCiZ4oVNiqW8ZVdgmuNAt9-sixWhdeMH9b8P29zyeBH0Jxaz3o1vrviBhsJyi42tKEUFxbFti7dCg3WsI9w96IIiWvltM0prbMyozWxToenvlAqm6PaQXY4i5L0puwcOUKC_4ze3XGOQxXC4kL-3JkPyanmG4P3bBbwwx9CIP551hEe0EYzUMkhBHpb6cLppPx7IfxGZUVrcFL5stvOgZlJBKggQo6kiwbQVCogBgLQg6uSW65PyVN0KDuNLpeUee-Rcz28u5H0DpkPYt065Q0kICH7PWKQa1bNtP7zs0c7VGs75UaN12mYNeYRxNI2q_EFSbfXjBtuSMGpf7Zh3myBSS8NrCRp4TB18knNZQpZaN063FRbS94--3y1ZewZQuAQnJogC723P4QN8WFmQ5tFIHQt8nc3kgCCU2RjI9kFfg0C7DnIXISkLlvCszUvYYAPywOlNhyv4kVzYDSQLPTuFVxy5cfHOfWkJnyeD3tKD11ZgCVtTyoCtljwlnKADaMjQl9SGvTRdh1ZUkQmRRQta-dSgLZ4pHNyODl37tGd9JTRx_kQ7ZVSIJJXsrkCi348SIX7wYa4nMclqPMOQf06gMfK-tXJu8Smb17KtjPZtXw6JPzPIN3097kwEKsMJReTLWF97ysF2_I5otXcMW3KvzKxEMwwAaksDLJt8iLjrbUhNFacOA1raFYcovD6qukGy2FVkxefIxlGlmcELmrkx5BdZdp3OR17TYpcyl6rnvEMJgXzIyiZG3XwCG_iq-pA-QJWg2B0yPwgQVHI1tWvlxWsIsH7NtnTslG849P9xlx7yXGCHmU3OBVLYETrQHXzkjV7z4",
  "id": "rs_01bf3f9c2f1e853e016aac6094fc9087d0804faea376c53c33",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.165,\"right_z\":0.02,\"right_gripper\":0},\"note\":\"The broad body is between the fingertips, slightly left of center. I will make a small centering adjustment and close around the body, away from the narrow nozzle.\"}",
  "call_id": "call_dR7MCsDxdURoXiSAeDa5wned",
  "id": "fc_01bf3f9c2f1e853e016aac6095dc1087d082414da08f2296de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dR7MCsDxdURoXiSAeDa5wned",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6331, -0.728, -0.0219, -0.0647, 0.9993, 0.667, 1.7367, 0.5728, 0.437, 0.5671, 0.6319, 0.7053]\nstate[eef_state]: left_x=0.2426 left_y=0.0012 left_z=0.1131 left_yaw=0.0158 left_pitch=-0.3851 left_roll=-0.0092 left_gripper=0.9993 right_x=0.3546 right_y=0.163 right_z=0.0257 right_yaw=-0.1489 right_pitch=-0.0162 right_roll=0.1653 right_gripper=0.7053\nstate[joint_eff]: [-0.2803, -1.2786, 6.7487, 1.3651, -0.022, -0.0366, -0.0171, 0.294, -4.9846, 5.9419, 1.3993, 0.2369, 0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:187acce52111231a11ae08d5ed94d8d82a171937a7213b5f6188b0fca83d4534",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a9f9e39c3e84c00ab73c02283967bc33b83bb78675e1aea2555298e62c7e17a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:054233c9e56ca3ce79b712bb9c14a64d1df3c67fb412902bd853deca0e1552b1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 109 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6331, -0.7227, -0.0219, -0.065, 0.9993, 0.6609, 1.5993, 0.4843, 0.3737, 0.5617, 0.6289, 0.9989]\nstate[eef_state]: left_x=0.2437 left_y=0.0012 left_z=0.1138 left_yaw=0.0159 left_pitch=-0.3797 left_roll=-0.0097 left_gripper=0.9993 right_x=0.3329 right_y=0.1442 right_z=0.0342 right_yaw=-0.1496 right_pitch=-0.0285 right_roll=0.1548 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -1.1145, 6.6667, 1.453, -0.0611, -0.0562, -0.0171, 0.1299, -7.0906, 5.7915, 1.8291, 0.1734, 0.0708, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGCdPiOQgvp0gikWelv4djT7ivNQVrXIwJKXAYP4CnUZwh7qYrmArNrbXtbt6MNB0QUXnpOVs9NA4B9DiThTz8adgA1TLsQbcz_3Fo_TMPxJkkW6QgKWjQ4Nev-9jJ0y7_OP25Wc-sEv8pKLO5Fh02K5GDGxFJdk6obMGwpXND01wx6ZcedD5jHCYwt4yJfQKRDAm1no84P-PCoT2WnqR2KWTlLRJI1CP16pZCoVwml23QsyQbNXThAtGfOWZSR9p63nUVOUtxwgwBwa58CR-ykjm7CinZZrDKWwQkYTZpxsqDNnGi1ZcS8ZqwAlCj4kmCGvRuh_m122Anp79kPdmHXIFvNjA5Nm7DKqmM1a1ho1fwx6NpuOyVVyVjILSEzJdWZWh8nbDhEdvH50EnMH320S5YHDczGEJaBDlOG6Kf27pTM2HKaiY6s3FtYkgHlHrzkDczQY1OTV4ehQrZV7FBRT1AZC4EsoKHdyG57bJzExMmXc7dsqct6qVKnjhrRa3QAG67DPzaG3u9iGd5Iy1THuYXAyK6QhZgJW_bSJC5sapsviXGH_8nxCjK453BGh7y3nkZN10Er3XqQNcFJI354n0P_-o-r495ho4ZU6S_as_L7BWy7eWU0DMO7sxUYdW-NS8XbLJf-nsN0wXWZO3l6ScPLQ2F3EnGHt6vw1Cs9F1MlhLzB1dgCE2W2qMQHDXJviSQ1HGO01JVMpVPssBTLKndLSFlkgGszKSyjDfeq68BQA0cAP_8VZGvg6mh9dXytp-fzPk3o4_VAnlDjHybAadfb4Defmd3p5pAyU1a7jcx7wU5x6j4xXzOHxmflet79pU3CB63viXJZIBHOqoevwV9ODV62BApH0yIcq1M8UcTtwTuFc7e_J0XbUE4qjlOik1xrSzv0M41QPkMF_O9CmiX6qssd8kaDnQ8ANt2GALqKtDlhlK1LFFhwNP7iM7K2Dr-Xs6cmc2BxFw3aXFsYEWiR7-UYNJ7-vGhtL-9rhd89_t1rMzsoSV0YaeTnxQRZ1us2KpneDa-KD3KYbBwDxJQgzhqfn2frpSoy9bVfHHVI0Ce9RoLIt2tRVe7UQzlgya6NUBLdC8Pp-z3uGOx8Y5Cy6xNzKNrSO12hLpCCoPJFfH6X-o4mcG6-7GYWplvI8VTVodvedNiVLfgWJVif1DpqvSAjuaHL7tzhwGcursPn92DFxisbxXBOvg3Jc-RT8_EJ9G2TKGB3prLusUFhyYjnnYKZK7BZ_7KfQWa-lnKY=",
  "id": "rs_01bf3f9c2f1e853e016aac609ac4c487d098e3b8be06bcaab3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.165,\"right_z\":0.19,\"right_gripper\":0},\"note\":\"The jaws have closed on the can's broad body. I will lift while keeping the close command active so the grip continues applying pressure.\"}",
  "call_id": "call_LPuemCk0v6HVxifnf4brLfT2",
  "id": "fc_01bf3f9c2f1e853e016aac609b658487d0aa714b75645d2752",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LPuemCk0v6HVxifnf4brLfT2",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6331, -0.7418, -0.0219, -0.065, 0.9993, 0.68, 1.3861, 0.936, -0.3328, 0.556, 0.6327, 0.7053]\nstate[eef_state]: left_x=0.2398 left_y=0.0013 left_z=0.1111 left_yaw=0.0163 left_pitch=-0.3988 left_roll=-0.0088 left_gripper=0.9993 right_x=0.3474 right_y=0.1657 right_z=0.1638 right_yaw=-0.1297 right_pitch=-0.0603 right_roll=0.1304 right_gripper=0.7053\nstate[joint_eff]: [-0.1983, -1.3197, 6.8171, 1.4335, -0.0464, -0.0659, -0.0171, 0.253, -7.7607, 9.0872, 1.6484, 0.3883, 0.0659, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e612196eb032cee438df941246498e46ae6f44ead99f6c699626add6dbccf29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb787c078afebcf644c771a67c78c5372e274d79bcda2ac48b07c16983832c15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:499e929802f6140b011eec538cf900df734f573b71d6e0d44848964e643da474",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 113 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6331, -0.728, -0.0219, -0.0647, 0.9993, 0.667, 1.7367, 0.5728, 0.437, 0.5671, 0.6319, 0.7053]\nstate[eef_state]: left_x=0.2426 left_y=0.0012 left_z=0.1131 left_yaw=0.0158 left_pitch=-0.3851 left_roll=-0.0092 left_gripper=0.9993 right_x=0.3546 right_y=0.163 right_z=0.0257 right_yaw=-0.1489 right_pitch=-0.0162 right_roll=0.1653 right_gripper=0.7053\nstate[joint_eff]: [-0.2803, -1.2786, 6.7487, 1.3651, -0.022, -0.0366, -0.0171, 0.294, -4.9846, 5.9419, 1.3993, 0.2369, 0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGCiV5w7EMFphRk9mMq4421inREXOuW-I7z51j7oTl8CIPlF9of_Xdb-ZhF52TGfkeJPNKpgadJMzleqcMcwzXOCnhqdGqb_Tr03GvH7An6ZYIkBGxK-VvZ8ESJZsfx0rkPOjMpIkXOhnqD1HWTi0WKFFhBQC-5nRC3wnG2SAOEtKo2qPtsu43QBzxsXsWaDaZ-WwFch9hKIpfKrdFMtYZ4ufrUoc5k2Fk7soPJOVjeonbl9Gwf_Dz4OuZvPFX3Zdkn1zHtKUnNEOkdC0Qdq8RBnsg_9itkVS0SL2sT70-h5BoPk2WJLRkMogAMkpIxKzworrLzGSc0f9WTmNv7cqJ_iFtuQgLIQfhWLJoBXetiYrYM_UQZfUcQrBmJfUnGsL_dtsWRTGO2aOW2r0LfLKafDoGgT7HP82T2XiEbZCDuWIxOny2gQDyNVTAmJS9JYkxFKT4NQRKYIuTwPpvSPalAPiyZtr1YTpXEaqsin8klo7c5XK7ZrIbdHQvo9STfPcnKfk83BPvo7-1BW0t0rJm1W2w5mC0TGJ_jNa_kksczD7kkrEFCu8DwrHrV-f8Ob6cbr-ykfEG6BpiN5EVDwnitdf2RJaQK9sqzvcgW6Gu9kLLMGWil0GvMBAEKG9U4y9Qq56pw4fVMoFZfybZsGdHfQ1VufqslE7B6Z2HSq8YEKkPX_zKpFSi-qY3mMi350q6rLPbcL0FlEuxmlNK03CY_2Spy5YCbM9WfUBN8Pju8CM-JgAzqtvO1G9xpzuDwYAY_WDYScdLMWod9UjI27anTIpoWGK1QcZmdG9_yy8Zr_958h4UZ_vBcrqGbmHQbNnEYP1ur_VhNfVEs6Y5RmOA1oVKL7DvY0J3IVoQLoVfika7CIlCTnYIs9410q79Rb6DEnKMlimB0Fkzw01gEhpDct8B3GRbiLb19BtEOW0ski2gzhXZfJfjrXK-OwwJGHBomNeWLRPMzcsfFv9ovxB7CWHueD7XQ-g7zcU3Dhe6w4xyGFLe0TGGlEcxLO5U7nbl6-uHXGiO6Am42vhlrJKUXC8YG6mTS_FtqZvmrhUnDMwwcM86zIT6XfPTmSbEaNes4yyRyn9FYJwzfI93uGyKqZ8jS2q0DeUbOgidFTLC1gpHzJJHf7I5EtCvFqdyehju2-DEOjqV0Mee_nJC2SzeeknBuPgJM6hCAokWI5IzxkAUf-u02nGOK6bSWxwwYCHyOIT5TaKJa9Vx8njPwIfC8PAQ==",
  "id": "rs_01bf3f9c2f1e853e016aac60a0465c87d0870420a393d2bfd1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.4,\"right_z\":0.19,\"right_gripper\":0},\"note\":\"The can has lifted securely this time. I will carry it left toward the burner with continuous gripping pressure and a shorter reach to avoid the earlier arm limit.\"}",
  "call_id": "call_MEBkVYSYc2WHe42AJUyggtgk",
  "id": "fc_01bf3f9c2f1e853e016aac60a0bea087d0ab6c14edb9950b88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MEBkVYSYc2WHe42AJUyggtgk",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6331, -0.749, -0.0219, -0.065, 0.9993, 1.1213, 2.1277, 1.9488, -0.9272, 0.7784, 1.0615, 0.7052]\nstate[eef_state]: left_x=0.2383 left_y=0.0013 left_z=0.1101 left_yaw=0.0164 left_pitch=-0.406 left_roll=-0.0085 left_gripper=0.9993 right_x=0.3253 right_y=0.3971 right_z=0.1766 right_yaw=-0.0919 right_pitch=-0.1053 right_roll=0.0965 right_gripper=0.7052\nstate[joint_eff]: [-0.2667, -1.3197, 6.8308, 1.3846, -0.0366, -0.0464, -0.0122, 0.4581, -11.6034, 8.3761, 0.9402, 0.823, 0.2027, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a5598d1007ee804d2112fda25dfb207269d767271b95f8a6f5bfbde493b039c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9c699fda9e5733533de9911b71392ec2ecbc11e15bc09c3b1497122de8ded76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f775c53c2fb8031a002d3ab7cd366c4fc45dff2089eba45492bd44e63b147997",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 117 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6331, -0.7418, -0.0219, -0.065, 0.9993, 0.68, 1.3861, 0.936, -0.3328, 0.556, 0.6327, 0.7053]\nstate[eef_state]: left_x=0.2398 left_y=0.0013 left_z=0.1111 left_yaw=0.0163 left_pitch=-0.3988 left_roll=-0.0088 left_gripper=0.9993 right_x=0.3474 right_y=0.1657 right_z=0.1638 right_yaw=-0.1297 right_pitch=-0.0603 right_roll=0.1304 right_gripper=0.7053\nstate[joint_eff]: [-0.1983, -1.3197, 6.8171, 1.4335, -0.0464, -0.0659, -0.0171, 0.253, -7.7607, 9.0872, 1.6484, 0.3883, 0.0659, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGCtb9yPexkXOClXMEzPfrLUM-R03WTtuCvryH3mvIjprG1pGnkQtTsqfh7sQ0uqQ357D6dSZRXWz4vSrcI5glYwb1YuTyZvAFGQmcHYLWqxyY6GG43rjik9eiWfr37hnayTpwipARL3DqrKN2NM7lJbPBMX1cGPSMcf0ZD2-UQ_EtpJQXQ3GYGY51JxmClnyEdbcia4zp9uc5dkL24Lpn5GKx4Kbea1EXc1gpC_jQY-EhlXxaD2o_tpq50cHzq_nAvUVfsQ7WhwH8MXzH3NlOjdohQhUyT3QQLrbDLt9WQx-Z7AJ3v2ltMPgvN-SHbraZNR0Zig3Reciqv6SgWKYV2O-bARMUaLkqwYnAW7VnF0w2SYxNjQaczz1okvKq6Gh9mY-xWAh0RppZgqNrlkvrQ2MYmAXBh7bnXcDVKZ9ZjOqpKTCr9UpYax2fIRiJ5slchuzu_Uwu1oGNhouj5c-IxyrUCJs3zjVgpOxtE7P5NpzWSbL90aRKupI9uKhmufMjlRnXXcdELQrOnJcVFN3Hl6eIq2oass1j7M3Ujh8CRs0u3er2jW9aQ_KJDqbheHBpqWmEw5Cuk50w8zYqSy8PfXEGelyZRvHmcJXBq0E_NRnASGxiPHeABgNJMMb_5Wyzg6cpihmr_ewQWvRrHcD3IfauDP8lpHkSfPfdfobZ15DEiBfbnla3WKVeP5s0U2z9irN2MnpfqjdzgFUX1iBoLndgVXsQinPxGwYI3DrQGyJywHShnNRf7ivG01zMIyLclkqx74NqQG-cDdidPqSSWe78xircUgHdy2Hi86lYU_XiC28Ch9h2wL7cQ3bxCX90hj-KuRrwUe8HKgNST5-p9yCYW0x3plWJ_3jY_TIS5CKOCFCOJnJQXMe1e4mDfwXwN8uEPhmykI8fuR5FXkiXfVUvp07LAmBNk8tyMXWZYqL2YLJGM0oSaNoiCxy3vWdAqpAVT-7W62tVTTFW0RIkeWAy5-_VROpOqYcMqWErhg4Kme-NjVqZtNJe59I80sucrLG5K2vuPXYgXBmKTtBEedpA6s6YAaMSnkg8CnRQB9-CsltzWJD4xsRuR060damV639ztAaQPZSnou0w4XEW-EjV5TnqP4zD08kFmqLPlO7LJ69XbwkSITlPfS3971e5bCwv1x7-JCM83wR4dBACLZVA0HXuawlpWlRthT4TYlGB0Yi-hpcVLsH2DayEhmZg3d8szg2ZMsfQ3znG9MCojT2hpEHIx_6CmuIv44noBnd1OOFgbUYRYxkhRIl1gTQhtvZGbshvo5zV7A6Mr1dmWxj2gBeZoSskWwl-yB_ljf1YsAmsw8gzXMj2Z7tmkZBU1r3Cph-FJQX1yDniMO0Lv06hKEbsZbPbRCpdAREhnC7CX3Ak1meAjicTGFT5ZGPNSOhmAiXcQF7fHjsgXCofRKiGyfZ3sbeVylPcFD5cGQJGo1s6pp-SFW3eZzbacybcFuRaInaV_cUPQAo0q2RDmi0P5m6CPDc8bc3ZaAeMbm_nL_LfAWSy5TwyUq4_6imYT-20KlSXZIqFRnsQXCcO585B3Q2PSoquT9RMuAs4LRWevuadRQXzKRmc9-6hKE2nnrVJy72jYKaV7nOwFkLkgpfWE7t5gIXVhT3zEbfRD4CJYo53k4_JM8-khuIIG_hL6CGzCT_JG5mwUiVi0CZU7dhlMNcUbGACR3KgUxGsgfUcO7klskArpCqdSciVdBlluwSWqrzTJ3T67LHr5c6hpLXKLO1SMMgxwnUIJkeMESEaKlEXz5F1ZfI8rRQjhiacJzF6IqyYwt8eb4LrhNFeoGqw==",
  "id": "rs_01bf3f9c2f1e853e016aac60a649f887d0a71afe51a2f757b0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.4,\"right_z\":0.11,\"right_yaw\":0.5,\"right_gripper\":0},\"note\":\"The can is above the burner's right edge. I will turn its length inward over the coil and lower it gently, keeping the grip closed until it is supported.\"}",
  "call_id": "call_yZAaingVgLTki82Ttpb1FAhV",
  "id": "fc_01bf3f9c2f1e853e016aac60ab06cc87d080cceeefd87a5d73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yZAaingVgLTki82Ttpb1FAhV",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6331, -0.7498, -0.0219, -0.0647, 0.9993, 0.9646, 1.9282, 1.3231, -0.2119, 0.4057, 0.4618, 0.7052]\nstate[eef_state]: left_x=0.2382 left_y=0.0013 left_z=0.11 left_yaw=0.0162 left_pitch=-0.4068 left_roll=-0.0082 left_gripper=0.9993 right_x=0.3433 right_y=0.3791 right_z=0.1 right_yaw=0.3609 right_pitch=-0.1473 right_roll=0.0583 right_gripper=0.7052\nstate[joint_eff]: [-0.1162, -1.1145, 6.9538, 1.3114, -0.0122, 0.0171, -0.0171, -0.2667, -11.3709, 6.4615, 1.3797, -0.0366, -0.1148, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5318afc2bcd89ff3db18a7f1b2772c43a72f6631fdbb11fd509a223e7eca1dcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa941f2145a1b0da91f1936fa7646a4d1e0a9ecd19b4f467c1762dc05bdf4909",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20c6ed3cee05924377593bb2450bb2298c2cfb79b38c5bb481a4cd5c691f8b34",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 121 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6331, -0.749, -0.0219, -0.065, 0.9993, 1.1213, 2.1277, 1.9488, -0.9272, 0.7784, 1.0615, 0.7052]\nstate[eef_state]: left_x=0.2383 left_y=0.0013 left_z=0.1101 left_yaw=0.0164 left_pitch=-0.406 left_roll=-0.0085 left_gripper=0.9993 right_x=0.3253 right_y=0.3971 right_z=0.1766 right_yaw=-0.0919 right_pitch=-0.1053 right_roll=0.0965 right_gripper=0.7052\nstate[joint_eff]: [-0.2667, -1.3197, 6.8308, 1.3846, -0.0366, -0.0464, -0.0122, 0.4581, -11.6034, 8.3761, 0.9402, 0.823, 0.2027, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGCzJc-rCfuSb134ityKKtSV0v95yBWxnweF85MSdxzocvHLNjs2_8Yi1wVFKb-KmVizkgC9mYfYeVCVuFAIodpFj3rlpXWCveRU9lCx1egqEQvIlm9BksjqcKYHuQqMasMgR0T1V0PWO40ojazkzuQJHA4pY7RX6s7eyKd60oeBNAQzjbUAIg1dbhcF1RpFnfS8ftNh8arZhdQv2-pPTF2av1IUXCBXHDkHD9j5VB3SLmXQhuVYSrypfgUGbTp_MImDP98dRkUfysf19mawqP7pn70AbNvD-SGuFqKIpANiBtbgENEfnIlpOiEG3Rp8F594f0RjKdtRADnSS3dnvRnrRzd-URAKdNKiEmVV1OxcLyZIkC5Uf1bKgRXFjfR_MElwd7_LrYeN9FstZ5E92DQzxdr0zqEvenNJWNpEmnO66p7DGV428E-YMUw4oFsnUbxZ3cQ9uvgb_3gnoV6EAZyZehh5YnO4WMmkmp8S4CTuO8sdxfQOJl5UbEkqgtBbERj0fwwYBs_tQaLc0swTlEFNbe0ynRzoXwPCH2neq7RTuKGTEXdc9anSXPHTh1TCMyAOSFrrV2EdV9yMETxVILQR6ZnERt5ELYXM1eUtYWnTYYqwcD4r7rTfegJUTUKUsNXU899AsPXLiTROeVsq6N6aY55xgkgoAR_DCCHpD_oXw7fWscKHFD7-ma_5s69mvuqLQWS4x0QXDQElTLPKH_g2Hhs_2MMzkKIPWBxQTEi-IenYVJIxO1q1Kir0Ix_GrglugudaTSMKJzZftTD4xgHixUOBjMsBPrJdWU_oN6qn-GYb2sscNENyfX8CeuK_jKSywQmDUw-kpCAu-M3uWrTjPAXrewI9cR1Bzog-KB0VM9TAwbXhGu7Uix30JE8LihEw68KM8jNRtfkZjBYUlR2iUz2jEH82e3p2MFeXVvvz6ztkIXr8ZFxKA7FWBXumx5w8XycpDxANUZSKMN0TsE1niprWZpRgWbx3dZG3kAzlGlqDhOdAJPfqfWiV_gwu7Ws6zGUhQYTHaX0coAiNCQoShQXdMwZGuDaAGpB1eNZCMSeMmBVO9FAk7qGc4K8nmxtYJW0pk4rIvpyNbVouJZaCsnRG8LxaY7ntxsN9QRhcRR3e-SOE7a8FocqZz08YWnuAymm33qO91Z6ta37dINvsfsCLWGyH6ZmlQqQfmvRqoGh8BDZU6BeFQPdjeYNLfFYYUboy4AZb50u1q5EBS2B2KqtdrIGI2H6-AVGprT5m4ck=",
  "id": "rs_01bf3f9c2f1e853e016aac60b10e9c87d0971415ad70487df5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.4,\"right_z\":0.055,\"right_yaw\":0.85,\"right_gripper\":0},\"note\":\"The can is still slightly right of the coil center. I will turn it a little farther inward and lower until its body rests on the burner.\"}",
  "call_id": "call_dUIDBCqc4khx62QncNxY6gSH",
  "id": "fc_01bf3f9c2f1e853e016aac60b1fb6887d0ac2b769cc23ec615",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dUIDBCqc4khx62QncNxY6gSH",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6331, -0.7498, -0.0219, -0.0647, 0.9993, 0.8528, 1.9457, 1.2167, 0.0906, 0.0502, 0.0975, 0.7052]\nstate[eef_state]: left_x=0.2382 left_y=0.0013 left_z=0.11 left_yaw=0.0162 left_pitch=-0.4068 left_roll=-0.0082 left_gripper=0.9993 right_x=0.3576 right_y=0.4013 right_z=0.0925 right_yaw=0.7495 right_pitch=-0.0507 right_roll=0.0596 right_gripper=0.7052\nstate[joint_eff]: [-0.1846, -1.3333, 6.6393, 1.243, -0.0708, -0.0366, -0.0122, -0.3077, -6.9402, 4.7658, 0.9206, -0.1734, -0.1099, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7109bba3f9dd00d46bdc680a23f210f8a09ced63995a72ec0acba55acbc2e3ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87c496818ddbe77a4ff6a0df17f1d3d47686e49384caa71025e039e9d34f7c2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f99f9a2293a24470c2bf84105ce2996080892d2a6159d2be71865645fed2b3fa",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 125 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6331, -0.7498, -0.0219, -0.0647, 0.9993, 0.9646, 1.9282, 1.3231, -0.2119, 0.4057, 0.4618, 0.7052]\nstate[eef_state]: left_x=0.2382 left_y=0.0013 left_z=0.11 left_yaw=0.0162 left_pitch=-0.4068 left_roll=-0.0082 left_gripper=0.9993 right_x=0.3433 right_y=0.3791 right_z=0.1 right_yaw=0.3609 right_pitch=-0.1473 right_roll=0.0583 right_gripper=0.7052\nstate[joint_eff]: [-0.1162, -1.1145, 6.9538, 1.3114, -0.0122, 0.0171, -0.0171, -0.2667, -11.3709, 6.4615, 1.3797, -0.0366, -0.1148, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGC6huUwIUBpaoC3y0ANvZEtSLkjwn0eD-0UMVTDD4DhWqOyD-EaOIBZss57x3Tz8-hv7hXuSgMKHbGCUHeoBjELkKjHrMQGuo6s6FMxFv4Jg0ztl0MvwBTGRL-LxTU08ywoyn_AR6CxpgTxkzjfqM81QiC25MAmgR33YfNuFXkqV2MXQJredhm_C4XUPN0sYAWeOIhjG1NBjQK-561L0CNsR6LFkLZ_HSSHq2ta3mEDb4QswPbuqYb94A2n4TU5sekdlOhyckSyXExYOjo-NiTOItyrkwAfzx0ZVhxfuMrKKR1XR_gGpQ9c0Y1k9Zq1kC4QjZqgavwae-KktGBCY7zQNU1Xt9cfh7K2jbpToxNPvp_BfXUw_ZWDpZDRcPIN7VlzZyJlvcFER8io1tEaqrSD5jgrclYFamEqqSqS962HfoycGa_mMmmX4V8PobzrZAkN1beYlAIBQiDu-d5kHdhcZmoDOxjXGyQQ0xThHKdh-IykEJFCrP7IUL4Fek_MfOMTK1mMaofm5ydJ4YStmhdY0b2kNcIXryRP1uzZbP_uzxocaKDEFa_MW5L6jKcuVWZISAdK5RQAQPHcjViIm0ZHIameEcuABYu5ZXEQH1_A4GHL7bC25UBFcvLz1LDGOunsZn-RLOw8NgB4LFpq_2HHnkUx_Ri8E2OBXSnkVHdzBd6RQ1cyl_D0HKycXwSLsiXfY_PDGixxD7gesRlsdSap5MXB8_JTXkXyOmVdyPn6AA-udDUC6BrvVfam9hXym3DwhZpAAqYGdo_vWKYHn-C7XVtmLl0hqw4VWSToFLmnSassKZ2canNTnSmD8bLdF5VDFesMbI_PwJT29FMlAwy3JCOH0zV2EKc9M9zaxDkQNqPJ8x8D1z7UlOiumimLqPOf3bwOJvupYTD6htsRhG3uZjhOB4OMPYHCSRezKp_j17ZqYVRvosRrqoaIT44JUwPjwXmUw8XAR9S2uuC2kFMtTlM8_OlVHYyekr35FLZ0zhWqVg8hLcaCAL9ETFiAvsHYiSyYPR_JpkFBJ4eb5sU3C71tc044EwnEy5XDLRQRcIIrMonT_g-ZGAINfHayQVWf2yx7IcvCf5piYdbZ7b69Co_OjPYNun3A78VJUQqbyEmsipgiksTuqkrDeq8yj9Eybcvu0bljeneQXk8w-wrCzkMgh4UGIgkUgs4zdyzGptBHt4gRyWG0cAzBQoS03nmPPaTuMzaiq5DYzJDOzDcBUQUc3nCqSwKsF6GdvNbjn1ZaLyPW7mSYc-eDp8DOCE_l56W-mwEErx8oRDbwA9SOo3nlnc8GnqPTxT1dpNoNG-s=",
  "id": "rs_01bf3f9c2f1e853e016aac60b7a4ec87d08c71b32e84eb4d07",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The can is now lying across the coil, and the descent stopped above the target as it contacted the burner. I will open the jaws to leave it supported there.\"}",
  "call_id": "call_7gZVH4XufkkiwShrXJ9x7ZK3",
  "id": "fc_01bf3f9c2f1e853e016aac60b8e68087d0ab0befe49e5632e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7gZVH4XufkkiwShrXJ9x7ZK3",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6331, -0.7494, -0.0219, -0.0647, 0.9993, 0.8513, 1.9503, 1.216, 0.1112, 0.0193, 0.0708, 0.7052]\nstate[eef_state]: left_x=0.2382 left_y=0.0013 left_z=0.1101 left_yaw=0.0162 left_pitch=-0.4064 left_roll=-0.0082 left_gripper=0.9993 right_x=0.356 right_y=0.4065 right_z=0.0938 right_yaw=0.7886 right_pitch=-0.0362 right_roll=0.0575 right_gripper=0.7052\nstate[joint_eff]: [-0.0752, -1.3333, 6.735, 1.2723, -0.0366, -0.0024, -0.0171, -0.0342, -11.2342, 6.106, 1.5165, 0.1636, 0.1294, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9465f13c64dd093289e71c1f3dd592adc5cfc64ccb87926e5b7b1a33c2a345e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dbb1e3a663324e5afbd959aa73535507426e15fe24b4fda2b3e290fd6b33a5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89a4b61382fa2bd08d66035359dbb5b15ad12a447df04535bac6bfad1b4a2066",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 129 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6331, -0.7498, -0.0219, -0.0647, 0.9993, 0.8528, 1.9457, 1.2167, 0.0906, 0.0502, 0.0975, 0.7052]\nstate[eef_state]: left_x=0.2382 left_y=0.0013 left_z=0.11 left_yaw=0.0162 left_pitch=-0.4068 left_roll=-0.0082 left_gripper=0.9993 right_x=0.3576 right_y=0.4013 right_z=0.0925 right_yaw=0.7495 right_pitch=-0.0507 right_roll=0.0596 right_gripper=0.7052\nstate[joint_eff]: [-0.1846, -1.3333, 6.6393, 1.243, -0.0708, -0.0366, -0.0122, -0.3077, -6.9402, 4.7658, 0.9206, -0.1734, -0.1099, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGC-Vsy5EkJMB-tJNVV1erkvriG8p83bPy-ilC353vMZ_Y2-eGgfqdgDKW2wmjOiCiZhQzT0MwWmTrH79kPQMs9T4vyhCJaoc9t0SE9Z_ylcHcjypBSIgYAoUDyEoQ9wFIp1IWy69HpVYJZSOAn7qoRdYql7banWj6gELTeRdfi9joQj1Hm3FRM4fstjpRYqJExD1IgK4uIc0He6ZHEQJ_DIuQh__vqqhUy0eh5KrIu4MtLce0jSvy0z8EabS_Yj8Jw5npZMlTXvdo7oTWG-nn13lIH63jWrqROl2s-U9rpt3kOzkEJMUAViyx2KSBwrvwiDiU4-3HmAoUrEiSuNgcTh5_aNUPoTOdtC5HDIF4C7YIUt_DSvYApFKUglrP9WQy8P439DL8CvyBy31cp6DJ2TZoiHQkVM2yoTWSVXG2-sOe5M15HFAlxhUgBbiggZhB6FQ5J1bAPxmMtMAVbSMOHzYGOt7X-VfVr7CnwBsTDTFMqmWPm72Kc0ZkhnahAAUyZMjA_FgDjz4cuEwqk8zV6Li0452e6E4f6rYJQ5C9tOdA8CWB3xqOEpSaXJFDOxsFvh7Z2iOdlxVZDb1w6XcY95ifyyPodNb3G8z2JepgLOxmI5NYnj8SZBOqsUq5sJwAIRDjpA6ebUGeI1DlwRb8SStIbsCZ3hLGjHBDKJ3gczCpbbjgW2hVC-r7JcBbcsY_gSOek5bRWx079lBaGjLyYruoAmfNE6IysDlD7aNl3d8d6MnOuLvfLzfPnWr18jIIdLwdMC3YDRZDJTL9_CmRUnro3gvwWV1tMuVS1x66rb-2rR_tMUzMd4j9jN8V4eNVKnYD8evLix7nI84FY0e-kMAI_Wsvm5hQFSWQ_mS05C2pQfWXI4544kzCAj8cIX2fsDF4BgtuJRSd78ygTarTc9Udh8vr3-Cr01GHUy3taoq8-cnwzreKjaI9xV-AEZP1wC0MtetL3mGrBXk6j3xo8hjtovgiDTijUh9YLwt7j_Kxj5CMvaPmbVa193_Z3o_DKcKQztjceYUPVVBu4mXYG8cDubNEAZ3ffsIlUPhZURsUuUrF5WFetqJrOI0ckkgMJa4xS3d7SG7HcoEv6Wf8iqrhnpKBCCmA0jF8A0PZOW4doMNaUxReDYQyDvQYP3HXLtBt0kviCUKg5WKQteORe0vzCbKhfHlUosguzpqWvHAj78U5MrocTVI2N2uSLz1hAff4r6p8Ab7SAtxqOvlSk_xVy2iV8MJIfe2XaDGRepZvVJTQgXy68UUedAf-BQg4Yl",
  "id": "rs_01bf3f9c2f1e853e016aac60bc7e3487d0bceb78e823d3e34e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.11},\"note\":\"The can is supported on the burner, but the gripper reading shows the opening command has not yet taken effect. I will ease upward slightly while opening fully to release it without dragging.\"}",
  "call_id": "call_iYd6Ge7qRLf9mXDF87iJiNJn",
  "id": "fc_01bf3f9c2f1e853e016aac60bcf4dc87d086a8242f3b6353c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iYd6Ge7qRLf9mXDF87iJiNJn",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6331, -0.7498, -0.0219, -0.065, 0.9993, 0.8436, 1.9476, 1.216, 0.1101, 0.0105, 0.07, 0.7051]\nstate[eef_state]: left_x=0.2382 left_y=0.0013 left_z=0.11 left_yaw=0.0164 left_pitch=-0.4068 left_roll=-0.0084 left_gripper=0.9993 right_x=0.3578 right_y=0.4047 right_z=0.0949 right_yaw=0.7887 right_pitch=-0.0349 right_roll=0.062 right_gripper=0.7051\nstate[joint_eff]: [-0.1846, -0.9368, 6.6667, 1.2576, -0.0562, -0.0317, -0.0171, -0.5402, -12.2872, 5.3812, 1.5409, 0.0269, -0.0757, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50850c9a15bf8fe26ac932402afc1fee49c0444a7defdca93ac92d14834d382e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25b4e9ee97095c99bbb873a094ceafd6c866ab9d605ad83923483e1772cbd6a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1df65b7262e2990714dc024d070af089053a806632dab8ac71f92b72b1ca6f6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 133 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6331, -0.7494, -0.0219, -0.0647, 0.9993, 0.8513, 1.9503, 1.216, 0.1112, 0.0193, 0.0708, 0.7052]\nstate[eef_state]: left_x=0.2382 left_y=0.0013 left_z=0.1101 left_yaw=0.0162 left_pitch=-0.4064 left_roll=-0.0082 left_gripper=0.9993 right_x=0.356 right_y=0.4065 right_z=0.0938 right_yaw=0.7886 right_pitch=-0.0362 right_roll=0.0575 right_gripper=0.7052\nstate[joint_eff]: [-0.0752, -1.3333, 6.735, 1.2723, -0.0366, -0.0024, -0.0171, -0.0342, -11.2342, 6.106, 1.5165, 0.1636, 0.1294, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGDEQ9DxTLAEn2h260pc9cM8Ub3bH20pc0V-_HkvsT4slcYcGuevCQSm2DyQFcSBSemee3J0_bHyWJOBUms8iT2AC_HQOnffuvKCmiYjMwoH9lFpNShdN2phJcFHnM97sltCn6obJAQqhMbz6pEuxUFg0z0m9jo1WwTTEmhrcnU0WYl1DaKs6B-m5MFYVnx-VHZQFBKmV_8v4W14g_ny8dSMpdPVLL1aMeJFXyTHDY9exE_RGCKhYdop3hERDd2kmCApMD-X10wC3PuWP0g1c00TINRnj238oE_Eldsb7rUTOlvuWubmzemK9KGa0B7Fr6Pn583IqhkbNM1SLpLH0iiiI0nBkVWPDxP6QEqG8NH9OTFn7Ptk-be4VVLyGwmZL9JW2V00oqiRLwu2IhC2JXXGXBisx4vehh_7_oYLEaggMR_thnHmc23pH1diDeiGWrfU6FPIENOT3Yb9IjwMoHoZ6BYlJrxeFRT7GNt4qogppTnxfG_OTipWSIstyQrjsHzpQlYrunsRBaep_K1YU9onbhIlhJbQ1DIxSOb_YRH-shzEkU2cZ5b1nHPsXhS195rpLGQnOJJw2M9xUGjZzdkjVydJUjt5mTPQkSCuT6fgBu95avl27CakwvhMhFc4_yqXzKoO5r3gT7kZJPKynslto-_-hQbRBJmudKPVk7q-MvpVqLOQoA-06Aacl7nKEfTesb5MIA9REy4DD9jaT514IBRApcvG6-m2bFKzMb9U2Tac2LJ8_BATRwBQd5MFKoMN9ITANnzHqFbwhWRFZKdULVu8jgdaxg2a5210gbC1kqqsGBTpw27W0eb-RStkwZXCAWlYDpFetHkcRHWJxbP_hmtVHbRwkzyK_rDkh-ooMPvZjhjiXSph9eL7bbV6_qvcIxvKUITz9mHswOXV3Bb-031IMm1AOFlGK2W3Yk5oFlX3slDGmxaT56sYVgHsSFDyZuXgy1YIBEnJpqTjv_DgmzKhbDW7TRtIhxuSn7mjUdmPCSB_x1Mcmr_n5Oq2f5TrvJ2EhsivlI-OHiGvIaEC6KnalDNLZKFLZcuv4hIGyMzyx16FtKpWkTm2WXD5kkEfufvrOT_88yN7EiN-rQkB5Z-IeryScB1__MvUDM8EaNYc-H_RUQMjdhT46eyTq33q5WHpsNCh7mmEdaWhNw5jK8G3fLZbeXTm7YVMLRVrbmekgVp1QdRfY9vJ6bzyXP-SEVgt6YES-1tG8kFUK36VhKDcEmYOp5Wah2TzkHLJ6qP4wfKR095kpVU5UzIwmZoh_w9GkdcNPzGViCoOvbEu9tJggsNCcPQdtSVHg7U-ciZtO9bObdcB0vhD8eEVS4VH",
  "id": "rs_01bf3f9c2f1e853e016aac60c14fdc87d0a43082b457f4cc8c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.38,\"right_z\":0.12,\"right_gripper\":1},\"note\":\"The release is being clamped while the arm is slightly beyond its lateral limit. I will ease back inside the allowed workspace with the jaws commanded open.\"}",
  "call_id": "call_76XVdwAKREFfbYupGipUa2OH",
  "id": "fc_01bf3f9c2f1e853e016aac60c2942887d08c62aef2726076e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_76XVdwAKREFfbYupGipUa2OH",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6331, -0.7498, -0.0219, -0.0647, 0.9993, 0.8429, 1.9476, 1.2068, 0.0948, 0.0105, 0.062, 0.8947]\nstate[eef_state]: left_x=0.2382 left_y=0.0013 left_z=0.11 left_yaw=0.0162 left_pitch=-0.4068 left_roll=-0.0082 left_gripper=0.9993 right_x=0.355 right_y=0.401 right_z=0.088 right_yaw=0.7923 right_pitch=-0.059 right_roll=0.0543 right_gripper=0.8947\nstate[joint_eff]: [-0.0479, -1.2923, 7.0085, 1.2527, -0.0757, -0.0611, -0.0171, -0.3487, -12.4103, 6.4889, 1.8681, -0.0415, -0.0269, -0.2759]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dfa3ba8bd5340c1e6de2ec582dcbbaeeb0fd7c5a884234ea7ecdf4ce916893b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52ec90c23e7d07300e53728acc0bda8dc46a6121fb482e902c10e8bb4ed627ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc84d4afbccaca1f2ce1e6c50216c57a9505a1fade46eeb7d22ce04cf3816200",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 137 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.865, 0.6331, -0.7498, -0.0219, -0.065, 0.9993, 0.8436, 1.9476, 1.216, 0.1101, 0.0105, 0.07, 0.7051]\nstate[eef_state]: left_x=0.2382 left_y=0.0013 left_z=0.11 left_yaw=0.0164 left_pitch=-0.4068 left_roll=-0.0084 left_gripper=0.9993 right_x=0.3578 right_y=0.4047 right_z=0.0949 right_yaw=0.7887 right_pitch=-0.0349 right_roll=0.062 right_gripper=0.7051\nstate[joint_eff]: [-0.1846, -0.9368, 6.6667, 1.2576, -0.0562, -0.0317, -0.0171, -0.5402, -12.2872, 5.3812, 1.5409, 0.0269, -0.0757, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.3,\"right_z\":0.22,\"right_gripper\":1},\"note\":\"The jaws are now open and the can remains on the coil. I will lift and move the gripper away to verify the placement clearly.\"}",
  "call_id": "call_7y1WGd5pbxcz4fUaxRAwtIwl",
  "id": "fc_01bf3f9c2f1e853e016aac60c6d32487d0a173e72ebecf5fa3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7y1WGd5pbxcz4fUaxRAwtIwl",
  "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]: [-0.0257, 0.8661, 0.6331, -0.7494, -0.0219, -0.065, 0.9993, 0.717, 1.4864, 1.14, -0.2958, -0.0498, 0.0082, 0.999]\nstate[eef_state]: left_x=0.2382 left_y=0.0013 left_z=0.1098 left_yaw=0.0164 left_pitch=-0.4075 left_roll=-0.0084 left_gripper=0.9993 right_x=0.3281 right_y=0.3025 right_z=0.2008 right_yaw=0.7466 right_pitch=-0.0541 right_roll=0.0475 right_gripper=0.999\nstate[joint_eff]: [-0.3487, -0.8684, 6.6393, 1.2625, -0.0513, -0.022, -0.0122, 1.0872, -4.2598, 8.1299, 1.663, -0.3394, -0.0611, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:888441b52d5f934f246e9f689434d9fd3b7866a6ff5e9d30509e0dcacfb10761",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f905e5a1c6bc60a2f45349c16d9155197e38ba16e46b9e8aa57ee9a040fb2104",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3bcaf595a91a6adb93f37a23d4b8510de6048f3e2c7711dce0202af8ffe3e0f",
      "type": "input_image"
    }
  ],
  "role": "user"
}