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, 0.7914, 0.6037, -0.387, -0.0193, -0.0338, 0.9992, -0.0212, 0.7929, 0.6064, -0.3954, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2929 right_y=0.0009 right_z=0.1782 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.347, 10.3043, 1.9463, -0.0513, 0.149, -0.1001, -0.3077, -1.3197, 9.7709, 1.9023, -0.0464, -0.0464, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ba2ef44843b7be6610eeb40a30c741b1ab9807eee8d15933f2657c46e38da56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cd7ee5ac5e6c87b5e785dda64fb42b297c7e829a9be9101a907d0d4ef10bd0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff1c6ad0c84a10b361dc9e4e13a04278ef8aba1b068f4017d0309fba8be6c2b4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrGM4JDSGiFGMlTMkxBjkWSyUy0CTCpreu2asbSMAGl52qOaocLib2RD9m2Ctq-2n3WMESoWG9BsoSgOFp4eXMIeOvlVtlZHLN2hfoEqbFdaHVxMofj1Wvopzsq79WNUGggopAK5_hx4A9sOT9OfUBiLefGbVSiMTS8JJ4tgpPIRs1cPHzvdhAPaJ9W1sNoTGVrXrdOu_vPmpkPxS2AU-Y6NpOkfJC7vN7aIWIylWwHvWtgbyeGnTJLi0nBZHiJSIQDf-YcHCo7gI6qAmZ4fyJS4nZRwSHTTkOoW_gKyyQYo5gbAk_h3OKf2I26JUAlTEp6JDYyPD7W23YVD8j-1ApHwbPzkGqfH29RU1ezuA_2L_n5ya1FNri5gSqLjfd_Ys4h5_beH0Tv4f8vNVkx_TUToskMGZ5Kyeoz9x-TXfTByzaY93mhevQ_Q0tFyJJXKuEDBr6qQNAqQzOer-fTz6_eSowRq0wRKfg_0AKQbLSjskEewgD4VOq-BLjnkUfpStmn3e-o47PIwti9UnrYoBfON48I1W68wvCIZnHn88uaJj03NXHHenQBoOH3yREZL5OlnvTtDy3bvTOWE0-mZyw-A-6b9cIhYOB4MGMzpQsNgLwmSB2ousgMgPePao_PzCpRytbdg0r2PN32AdUAhOzs5Az8cfNsjInVJbJnRAHQs-co4YiE5ndSujkZtJ-dF0zmhVekj3T7a0gD-qgfzLkndsQPvwRGl7Uz2_WRBGbSda0H45IimWpwh6lxTtEBlOYFIuhbGua1rSxtMv9X4v88O36fgvaN6B1HYsWnAhJSX_9YZwWcF9p0PHNgohTOFGr5XSvBu4ozpu3BK6rx5d2IOZzVqv9Z6Iu8cQ4JikODN4Lb3sOdpfNo_e5TPDJiVNVOd1VYuIo8_m0mc0LmF1qhSmmvm8HShbRuE0rrJLEflCIruXpbXMQkweiHkc_INdBNmw1EOAgAVdweppIRp40eRA7bneQwTvdhrHRUHa16Jf-xgmrpran0k1Ewc_JCkuhBYCloq-Rl48wA4xmg-OVlzekjQ0BtoXL9IF5Zr5WAKBcgknST5vqabYQ17GS7i0F8ja8xS1ape_EDYAqL3CgZbnZ1-FJBDQMZ4_lacUdeAb7vr8MhQvsvaY4vV_aqVhOi_sfTqnPhEx9MsgYbcRjQGeuGAH9fpcGFf-AFb0GX572kdm3LFwJeWQpm1EPEehadjQWMnBdF7hn7GPBgteofLePujaioYz2eGFVzHoFzCPSxFc71rucUjdfS0haoj31HT-f6jpwLpcwlYPcFfWFkb3dTMtHynULAY6Igee4UeVwkOQN-EKndP0kZPo8vs350xVqjPmeCPC5s27a5HiuU9NrBuiqRnnb8uZBA8vSAxbv4fe3uzyo3i2Pc889J4cCFqz78EQRAqpaAuByFB9DcTVDo2MkbzraJiTka5DK7SZ0hw=",
  "id": "rs_0ef57c2562573084016aac63342f2487d08eeda61a08c15e4c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.20,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The can is lying on the table to the right of the burner. I’m moving the right gripper above the can to align a grasp around its body.\"}",
  "call_id": "call_dV9rhnYfuJgG4My5nkbHrCgE",
  "id": "fc_0ef57c2562573084016aac6336f41087d0863d8b628cc75394",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dV9rhnYfuJgG4My5nkbHrCgE",
  "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]: [-0.0193, 0.7963, 0.6064, -0.4061, -0.0189, -0.0383, 0.9991, 0.5999, 1.6802, 1.0786, -0.1318, 0.4606, 0.3317, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0013 left_z=0.175 left_yaw=0.0022 left_pitch=-0.0214 left_roll=-0.0036 left_gripper=0.9991 right_x=0.4174 right_y=0.1947 right_z=0.1325 right_yaw=0.0359 right_pitch=-0.0617 right_roll=-0.0406 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.5658, 6.9949, 1.8437, -0.0659, -0.0171, -0.022, 0.1299, -8.3897, 8.5949, 1.7558, 0.5104, 0.2222, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a960a82f44917f698a8b6de0d094054d4b2830e68db5674170208d118fd5671f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:533f1dbf0aedd0c14ae210bfec07945bf6c83f7361567abdb3dbda771d45bde0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c7c0fc2330e2ba1d3f5b8cc26ba9cc5fd95af9d70062275eb341a36603a8dd4",
      "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, 0.7914, 0.6037, -0.387, -0.0193, -0.0338, 0.9992, -0.0212, 0.7929, 0.6064, -0.3954, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2929 right_y=0.0009 right_z=0.1782 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.347, 10.3043, 1.9463, -0.0513, 0.149, -0.1001, -0.3077, -1.3197, 9.7709, 1.9023, -0.0464, -0.0464, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGNRaFFxgrPhJBfztoWbUzf-b19HFGCvEyxnd9_GEmkxx0bOmClJi7xq-3lECBDki0xUIA9-2zunmVqSoGZuvB0MoQUiRD20EAjvwq--RaZ-9CexrgcZPY97Ys7DzFyqunFzFx8HtREIyBNq7f9vZZsOnTNevAdwEwGPPmtsEd3Ut8ihF03VIB8vwliptkp4SpqsoafDBf9AyQQQNcS1i8aU7OdL8ImSr1iA9Yy6qiNEyQpq4r5eAgmd63gtVa9dx8n6eB03IfGrMUBIm7DmQAgJmhfmCiY70zQmxybzSHPmD31pd8fFl0jJmned9ZEpBmmWeuypKayHnG0e2ohTw47qRe1B8YTGbMAsaVkcE_T5SmRlQD1y5if98HL7VlgC7YYLCBeOBC_gS4Ypysk2yCbgfC1teA1IFSCGFh3_4IRgKyd6lcTAwdznTM7O1tgUAfxZlnMCCi1Wf2iV0w-b_dJuX5km5H715kzTxxyxigUxjjM2BgvQJ9X40BJMD3bR5VuAn3QPEhpxCVt8NHir5kj-CBo5w-QJmf5KW8lVfI3I4bF-DUAxSgCKYEMn1dhkDk7OvXRrpKFi0fv2NuxKBMBYlyBoCGdJMt_lxjinfVySiqKmcwT1zyMGoMLEdI87J9oeVpel3JWLrhu4JKQbd9gcR1g9mP9k8cCLYonwK87-365ghHl4gEvKEHananHBoG1w3Egh3vi7DCzfPJdu2EUV4GPML_tPNzvzEXDmVyvwFpOf9_YnFlnXKmfkgIALx0VDKT93KoBL7v5DrR2v60y0Ie_whr53KGP681K1mTCwxgdG2JAo9Az1Q1htYDnoy5o5KfpdOC9PzhCEABUP_aGKoRh0gPJoNmy0ErTG1SePaBORNE7DfiU0YFkjFBHcCizaRcYDMatiIvpDRly9gc99CDhb5CcPnQZmUgLbLzLFmj3gDdJ-Tg3Tt7u4pOS1lWW2weEBFuDbJs3Skr3YmKtAutEAlfy0q0GAZli_dk5uW_CAOVJGUD2bD_8-9AiSGfep3rDPMS7rZi470KLRjQDodYt6HPUvxstJrpvh1hxzMzURVqsWIStyAIWdYcnTdgzL0HJ0Z9I_soFMdEilaBUgBLNryMr6B5nyUf-fj7BplJ-s7w-TpLBiXFYg0cVTqyIfzQxP79NDJchuUclhhxxbpMvbwPlJJ-_M9ynqz8Vv0WXrlVzMtvU7dOxO7Woj65Gd5L0sM-r6OmqJ8DYiovAPSAOapSgTTiQSe4Lj6V3DLLvN1_Cr3PjEgNlM2G9T4laMO0Mx33H9rbs0IrLQysY7MB7STFLlcz_EW7KEj0j-R1s=",
  "id": "rs_0ef57c2562573084016aac634f072887d0b81c54e828d3d73c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.2,\"right_z\":0.07},\"note\":\"The can is centered between the jaw columns but still ahead of the fingertips in the wrist view. I’ll advance slightly and lower toward the middle of its cylindrical body.\"}",
  "call_id": "call_bzfY7jtusidO89n8QKH5juwI",
  "id": "fc_0ef57c2562573084016aac6350419c87d099f72e557ed60339",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bzfY7jtusidO89n8QKH5juwI",
  "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]: [-0.0193, 0.7994, 0.6064, -0.4133, -0.0189, -0.0387, 0.9991, 0.548, 1.9064, 1.0882, 0.0185, 0.4255, 0.3023, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0013 left_z=0.1727 left_yaw=0.0024 left_pitch=-0.0316 left_roll=-0.0037 left_gripper=0.9991 right_x=0.4452 right_y=0.1905 right_z=0.0579 right_yaw=0.0242 right_pitch=-0.1319 right_roll=-0.0771 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.4564, 6.9812, 1.7851, -0.022, -0.0171, -0.0122, -0.0889, -9.7709, 7.6103, 1.9658, 0.105, -0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91cdc313fe6434e474ade8917021bfea7d05264fe9d19778a6fade1332284761",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53c93d2c2a9641d728a21e10e3f63a9c4803055abb2ed069637939b3691e784f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ea790c2da95cf98c29c11d43e780bfbe9cbcbb6a67812b2f92703c37393e614",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7963, 0.6064, -0.4061, -0.0189, -0.0383, 0.9991, 0.5999, 1.6802, 1.0786, -0.1318, 0.4606, 0.3317, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0013 left_z=0.175 left_yaw=0.0022 left_pitch=-0.0214 left_roll=-0.0036 left_gripper=0.9991 right_x=0.4174 right_y=0.1947 right_z=0.1325 right_yaw=0.0359 right_pitch=-0.0617 right_roll=-0.0406 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.5658, 6.9949, 1.8437, -0.0659, -0.0171, -0.022, 0.1299, -8.3897, 8.5949, 1.7558, 0.5104, 0.2222, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGNrVdmWifGGSPznWEcI2A4TVxA5SSyY7OSMJm656VbLNzgNnwa0k3s9gUCGVMzcH3bYi5ojssdUnvC2nirWyuyzVMVboHyTCeu1ManmOrVa4K6We_eh8VnrtO6fnM3qwLLFHsWU0W5DTtuzKwfER481xlC_hIIkeSzb5lArByehcg5xYh7K---pkOABpXVR7Bbp9dSngwLBvfkYS8FmqdL0YgUnJ5uZ5XKv2HAwNzM5nEx5v2sTTAJauwh4Ve_0g43YYcYMCs2KSD9xQN4KNVaNHznijInxzTa4Ii7RiMHpHP3-l_YnPx59_G2gAFo6EY1Ynbh0XxP2d6_pNyvK09BTaLVxKtCu7BD3WEBWKkZefpcVSF3Xtin1lY1vQaEwfDShmJoHfAy5Rehn8ZY28gxmVVAZPWYM7pV0bGPH6D9PjqtLyIDh2vX6-6RM02oYbRWUdaTjpouOspXkaXjo9tvFhGwuZL0ELkHkxpz2V1HpIz1j_H4SB4cuHJCWTRj-4b9wrFM3sev7j8pLmLeU1VLbM2yjUJcSd-KTRsaNGHlpyncQIodbsuQGzcb5uZdzEHLdtRHXOdPAG5iUEEa3y1chU2ywKKhBkk6-vX0bdUY_yOGl5OF4-mPsQ9f6D0eovXSSQegby1o60TsmfET9rAvuFdMZr5Ev4dV2FV6rV5Y-tXC3w4BmkRAhdnpRTqQaBjJvZMWZd58GTIaAE59-sKA0zL47ty2nwzEffZlJSO0gZrkFimp61p3XYxLhcSVPeyBeVkGXz0xLOBtzqT9fd8SdTokLzUBjF4Q0KfrXvMIRKUSnxCy7eUZxZPKWMijUpsOb8npU6NRYKKXb1YAPGJv5CynXreVkIE7KHVR-kaNE1wmy04nSyeo-sF3qAtFIRH6mNmlsUTNwM_MS32BvvwI20m2wAHv0U_xdraQ4v-gR-Miocik-bfQXOUyK4o8Sncv9J2EWnIAunDchEqys8_luVHXUbba01KsdVtz-6k4zf3l50RD3XyFggjKF31dDgKqxAcyq4Fn-o9VAx1NKy7aJUx_viI7aD2PFLJlksOJs10Qa0qjKWIFPtQjcCxB9A7q_KXTmTIh1-thyhP2d2CcsFkipVMg4bbOKJAw8XY5tpMK8aB99sFhs05013NauiJHJ_JBd9xFvNa7CymqEVgX0LMqntnGxtneOaN7A2ksqas-sIhh09Sl2pDQhfzTC-WuPR1JJ0O0Yk1rA4XPXf_eO2XO_D5LmBie1B_DEB4Asd_JgA5-E1iQtMN8Yx2l01NjFWW9C-Dfs2wDhC_4hrIrGKwnOieE2jbtJt9Wg6Nin_FThebveFUKHo3fm2W-063bgBicKMkFQ81ZKRUIhGLBqlLznlc0B1g9CqR6W6SGBe4w3TisnR1Fj5AVzA9SRqadG4DUNrBUJHoLLTfPpI5PbmBSNxIVfguJOUYtfja9goDi99h8a6JHnlbVmhvpCTWGPowMDnuNh2ZRX1xyePjcHQ-56d1g9UqO0MnQPfAo_qkLU5Gq2Yvq2V2snS5LwYc_4a_bn-UUN4UgxwHB2fZgqRg==",
  "id": "rs_0ef57c2562573084016aac6366887887d0bec38966779c719c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.2,\"right_z\":0.025},\"note\":\"The gripper is aligned across the can, and the can’s near end remains just beyond the fingertips. I’ll move a little farther forward and lower to grasp it near table level.\"}",
  "call_id": "call_L2NuXNAV1S54sSwQfgponQSE",
  "id": "fc_0ef57c2562573084016aac636947cc87d09de11e3dc9fa0e68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_L2NuXNAV1S54sSwQfgponQSE",
  "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]: [-0.0189, 0.8024, 0.6064, -0.4282, -0.0189, -0.0387, 0.9991, 0.5217, 2.0792, 1.1862, 0.0399, 0.4023, 0.2829, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1689 left_yaw=0.0028 left_pitch=-0.0496 left_roll=-0.0033 left_gripper=0.9991 right_x=0.4678 right_y=0.1933 right_z=0.0143 right_yaw=0.0227 right_pitch=-0.1878 right_roll=-0.103 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.4291, 7.3504, 1.8339, -0.022, -0.0366, -0.0122, -0.6085, -10.5368, 8.4171, 1.8681, 0.1343, -0.0317, -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,$blob:f9c493b3bd19e5439834b0e62f7b85e292836116611dd3e37429a9c8ef919789",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b778ed6bbe7808daf714ea194b4f0f17e204a01f20ffc8994786b100c1a5526",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be800d284bb8ff5592bcb99f9ff0dd6a39bb6e15a091350b504dcc342947385f",
      "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]: [-0.0193, 0.7994, 0.6064, -0.4133, -0.0189, -0.0387, 0.9991, 0.548, 1.9064, 1.0882, 0.0185, 0.4255, 0.3023, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0013 left_z=0.1727 left_yaw=0.0024 left_pitch=-0.0316 left_roll=-0.0037 left_gripper=0.9991 right_x=0.4452 right_y=0.1905 right_z=0.0579 right_yaw=0.0242 right_pitch=-0.1319 right_roll=-0.0771 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.4564, 6.9812, 1.7851, -0.022, -0.0171, -0.0122, -0.0889, -9.7709, 7.6103, 1.9658, 0.105, -0.1197, -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": "gAAAAABqrGNwKkK7euBnRp2qddbIp0XMKA10p4uk0zd1IWm4v6plPekMDCKrYMuB5VpOy5-GvAy-Z_As3FyWKevnvQOPDWJs80dV2i7MkYUJ3C-hpTsCrBL50lKgSm-SpkVB1GwtarZMveP0DbIo66OS7TnDwanN-AKyWUOXCST-hL05jOOVDmHiNBaPkzpX_wKINjn5Ze94Zy_QsvNfvEqUK1b50BVl2EJsGNpOmiYRUOD_MXE_WfmvI-x0uALh-winTLgNfVnovApiatOJF1t0x5vdKYUEPU_DG7bpBWNFl14FUAUaOwQQZtzMZ6iThng76jxDQhR5PQMQOjmmyAI7xi7mKQaanNjX480sGt5gx2d0nl-zqozVgx0i4mZR046YET_lvs9qBz0E4WAzJVAkzYeiw3AnSqR8AtW77UX0yboYyKI0hsSMX88dvqRgCdjCweGeXUKQR5yLELa9wDjWb8iDxy9HknR7iBIq3QJDsoD0BVizdtpB4Voa9v32vKW7Mt55oftCW7EkZs-PZoO4_oecsZRTYHeC6Jb7YrfT5sJW78FqjipiaGW7nVBvziD25rNR06hE_BuGdhht8DSUPbHpFbTdw10VVKrao7m5OdYS1hgOBo-xxtxIF8KHQ_Bzlsj2f2e-BaDpCoEGZfVG3j7NkIdumrhMx0CG6b6-xehunEL8OxtKrC8zyaryXRlln9QsPlyJgiT8hCQxk38f31IgH4dLZFoh_U_E8KzXERJ70vYKET4b8t7vxaAA8JLlrVLhFUMZUQj4NJ3YGEYohYubplCHyhfLbi-EAi6qomHJzAJ7vVp9EktJQoYaUcPfUPDLPkZnuSqVkFz7Z3_u6KgxasIoCmJTm0KZbmV2BW_pc7bxDiqjAa164RQk7cCLZ9CVxqYrlLNSw1rGjrXWEGMzEAonRccXeY3XYBaWvqfx_DZf1iQgtwvKhYZsZCTtQNJwByyCnJa2U-mIL8IpfNV2dIxWFj5khV9sDZtoKUhlbClmPkqmaULaP6zTPKrkQXA7LRO2lEKZMJF6hbIkRWJRWOnKGaGdM6BLvCRLa7MJ8DacB0rzM33kETlKUdkJB7xxXgZkH0XG5gv_W2uh90qDUjGctJycTiKIcXGRqGF_YFOdpFA4GRVhoObLkmECyDSXKzBwBErDSbsmMfI8HJAjmg1QOp2FVf_tpr4EunOw-2fa0n0=",
  "id": "rs_0ef57c2562573084016aac636eaa8887d0a006bc5c0f1410f0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The can now reaches into the opening between the fingertips. I’ll close the jaws around its body and check the resulting grip width before lifting.\"}",
  "call_id": "call_3MegSVtcBMiqWoGaS7XthXOe",
  "id": "fc_0ef57c2562573084016aac636f242087d09d80f2023edb3fa6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3MegSVtcBMiqWoGaS7XthXOe",
  "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]: [-0.0189, 0.8032, 0.6064, -0.4355, -0.0189, -0.0387, 0.9991, 0.522, 2.0983, 1.1896, 0.0311, 0.3962, 0.2775, 0.0081]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1673 left_yaw=0.0028 left_pitch=-0.0576 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4654 right_y=0.1932 right_z=0.0047 right_yaw=0.0285 right_pitch=-0.2118 right_roll=-0.1146 right_gripper=0.0081\nstate[joint_eff]: [-0.212, -1.0462, 7.2957, 1.7705, -0.0269, -0.0073, -0.0122, -0.2803, -12.3419, 5.5179, 1.4872, 0.2515, 0.0464, 0.5299]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c583911db244cdc92db2f936144dc68d2d4077e11b6096e8259f8a3a2b8a01c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ab2172d3f4134a458da4260a1e387b4871cc3e36e8c9303d02bab34a3fef3bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f33d3a1cb71ebf570bab1ccd758315888c4b2b29e0bf4566c49046f313cfebe",
      "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, 0.6064, -0.4282, -0.0189, -0.0387, 0.9991, 0.5217, 2.0792, 1.1862, 0.0399, 0.4023, 0.2829, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1689 left_yaw=0.0028 left_pitch=-0.0496 left_roll=-0.0033 left_gripper=0.9991 right_x=0.4678 right_y=0.1933 right_z=0.0143 right_yaw=0.0227 right_pitch=-0.1878 right_roll=-0.103 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.4291, 7.3504, 1.8339, -0.022, -0.0366, -0.0122, -0.6085, -10.5368, 8.4171, 1.8681, 0.1343, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGN43YG7p-MTi4oa6iT-J14N8ora1dHsvBvenCsJj4nc4noDKPCx7_LoRxgqRcj9AQpK6Wo1oFsf3BHWZudZdbFxKENr1B_QSMqjxuPwg7UNABYFFF-hCdVTCgvAyFyiKQfYavwOZTTwzNmh_Adln4hxwBJIneZksPfZvwTGKMD_lf_HIz_Wv5iKXn91B1cBV_ombfywTW6JdZe_Sx56mBu6IrhnV-eR8mft16a7565Uva3__nG2xDOSyGn5q4IuEbirYZNpQBL1tMuLT7z4rplS6nNEej34Gp-FBgdphEabG1YLX7dTAsbvNl44Jv1zPTiYzNEyeGggfApdnP5H4ZcPGUtTA5j10EUo38OsiHi9pBDISq8pQbBXMmf2BRx4gCTDn0HNKDFVkowHUygMQlXFRb2p86wM6JKMwFFjROdsuVs1WnP5hHrF__52430eHZI1MBoaHzKt1NTjZt9lrk8kvzJyVpp8qD48tDGvRrFowCW2scvT9XV9wQ_KAe5sF_JTpxToIDf29lpXSZTlUtKzxbkFMwCLpoAwtOUUvzNRTs-ikLXrSrnABlX9UzMX9MEbim7biaj5KSGCgCnU5zfDXLxiWlGRhDTTWj5kFI0NkZsooxCP7tBuv7ovdBcRq06iOcB4MIH0izf7yswt_FJI48mXG_BDEACNKPrgJlgHv9ADjuSZX3cu0PVnhaNybsF1kY6WINBsam5ltBHWWufyyC4yaaWJMGtxy0W33tLKVCz3MI2vbIgOmMqrAnbDTDBeWlscal5fvdp2tzPhYqPAaI7PaDN60Eva_36N5RqE5FliUYV9PO6qAPdn_49pRsdlO25VV-ChpIhJHurl96_Vbp_-bzh3MjFFEsNz8kjpYd6GyvEb8PMTVgyqIoPvDaXAszlE47Bwa1oNyArWNgtvuii-QEP7Ab3KE0uF-kYY04AymtVGr0of1ieNnHrnX587DdFAfpmSwOQEhOM8b5J0mbWWKetnDCO8Etkd6k0NNYBVHI29Xu4UNXv9sHOF__CrK15mQjunr2008mttuey0v283g_cJwDdyW5BhD-mApN_AJtte_A9UFj3DqNAjr4JH2-4Xt9KxCjhZODxd7RpcHDHyqT_FWBwkTNRpzg5-7tFpeQ_wkO7O4mPXS1WMA3Ln2KExD-11HUQkMIQLKHMsHd41HrJzaoayfc6Wgl8BCwhwBS-y8Y3YYsvGZpgsJFZFxFtFf4q3XFdilADxajkCdMrhSzPZLS4lN7bGZscU9ll0mJ6PDuYuvKWFpytAqC6_Q8ztcFTgdyg-Fggg4G_aDzW4k87_zzQmFClVc7SPpj6JbkPRNzbutkDmCd962tZEnEAyQufC0gsmeOFFumssFcypX0tcVFJyNAz2G7PslBQdDnAomN_8_giBmbCry9YkpslFbs_mC2YFhY_uvqXJl6L_yHiQ3UfRkaDeMq08ua6xJG6n9FWXCa1LfnQKqE6lSltEqeps_ZAv4a2kdu0pyUJtIS98G2ZOqzjneasmVTVFeouj5Y_0jtofXFBlRaqxqHkirgBrEgwafb6XG5rJPGAIjrWwQWqaRRP-Arjb6LIBEvz2fIO_M3XNSLAqK0FyeFAuhy3VRB-YEGHzrPdWT5kpSnYzD4q3yQVJXWHYCuoA7RDHylgFWwCp4f84wFNMGisynhnZWFBLIHzKmZOUe0j5sDOeBfoX989lCRFtdEo=",
  "id": "rs_0ef57c2562573084016aac6373495c87d0ade16e5e947fd4ef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.515,\"right_y\":0.22,\"right_z\":0.055,\"right_pitch\":0.35,\"right_gripper\":1},\"note\":\"The jaws closed empty, and the can rolled slightly forward and left. I’ll reopen and reposition over its new location, tipping the wrist forward to improve reach.\"}",
  "call_id": "call_L12RPxcxDcJMLbGFVqvSUk8y",
  "id": "fc_0ef57c2562573084016aac6376e99887d0b8431ba77af90735",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_L12RPxcxDcJMLbGFVqvSUk8y",
  "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]: [-0.0189, 0.8032, 0.6064, -0.453, -0.0193, -0.0387, 0.9991, 0.5705, 2.2536, 1.0962, 0.7845, 0.5655, 0.0628, 0.9972]\nstate[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1638 left_yaw=0.0031 left_pitch=-0.0751 left_roll=-0.0025 left_gripper=0.9991 right_x=0.5073 right_y=0.2173 right_z=0.0369 right_yaw=0.0518 right_pitch=0.2639 right_roll=-0.1422 right_gripper=0.9972\nstate[joint_eff]: [-0.0479, -1.2513, 7.159, 1.8437, -0.0806, -0.0562, -0.0122, 0.1709, -10.4957, 6.2017, 2.1123, 0.2906, 0.0122, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82524463cba746470aa0c2292f53aa22f5937fbde3346aa9baceb9e6e0a4d4c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65ca85bd72d671c0e84177ecb74c366456efdfec14db2173304c87d0b88367c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8419035c57111f0b4b827b7a760eff19083386ad886fee1ecf74643a20f94034",
      "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, 0.6064, -0.4355, -0.0189, -0.0387, 0.9991, 0.522, 2.0983, 1.1896, 0.0311, 0.3962, 0.2775, 0.0081]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1673 left_yaw=0.0028 left_pitch=-0.0576 left_roll=-0.0031 left_gripper=0.9991 right_x=0.4654 right_y=0.1932 right_z=0.0047 right_yaw=0.0285 right_pitch=-0.2118 right_roll=-0.1146 right_gripper=0.0081\nstate[joint_eff]: [-0.212, -1.0462, 7.2957, 1.7705, -0.0269, -0.0073, -0.0122, -0.2803, -12.3419, 5.5179, 1.4872, 0.2515, 0.0464, 0.5299]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGODJoVdlb9uihM_t5sAiH6Vv0UdArwuSm2_ruHD3zWFttkjIIjq1PzcV3IImId9EwQv_LXAhuFtSW9NClUqaFvpqmf6X7yMEAcptLtsFS24Mj85UmGQA_JW2QnXyZp1EkdtgGQb6j_cL8zi_nLm1EfkyysTW_yYLNW4GlED7Ims90--7uG_7gG1QjClQV40VXWKmb1Kskx4W8n0giQxjPsOmLYZI5Ua_yRB3KbEz2VQOlZujkqqrBrlu-hyAIfTvheVXbgAWTaxvsqRiDtwNMXEqSe3kChL2Pwgv_JZMj3vVUdcg9F_QLXIOlD_Zug8j2nRp3UeJlnK-SHjBc5ujnXsKHD8Fvj5CSnRo5qr9O59HvwHlPnKBgqyJjqNf3rwOLfOxmUOSB9vlAMsRsCsfpxA1e5rC1DfHNnbRuFBMWtJa2M03xUnF_WrYuRK7Uos_808CNYkM_IZ6LWob4ElKfMF7n9VRLy8HhCUTaSIpO0zsS9GgaRK4olrM9OiCv7UrvjgYE_oYbbfCmNwtvAq0FIassAFlGRbhvbvNBwkMjkLdYCh_XjivuzbtePUho62oXp5SY_y361QBoEiOCpRAB2dL42X-4K2naRppPRDpjYcydXgReiLiJXRoGT17vcJ0DsoN5v4iexPGdMCCRNV4HBkFOZx2viqSazDy5yPWSHlXZg8RQtRRKcTTEEEZLVYTuypatpcIyBUQvUxce52ROLJ0aMEXugGcOYYEh2Qnaepq6vFuk57ahdrtMiX7suqdI-wmTU_kGCY9GfGHH6yCRYkkTk3EYox5DN2VLbipdWG8S81nt8Jo9MZveGk1otHip1oXyqqnC-7zHg5PYESalqdumY1Igk-a4M3HhNp2TgygPiPK1p1qW358CqPkhz8K4144cwOWxFfTEXQqjFHqjJIAffkrMLtr-mZ87gx3H2Qy2_XvCxtZfqFDrruAY-iy9hKcsfKJPyt4CTm8qVXK1pR-XGcGfZtNbI8R2HWpVK0eAtsZTciEjwDL9OUAe24RfA4JB6BAO4Rrj2eQ7Z81wDKJJAHrrs3bRmi36TV6ddfBGzebYrpMEonW04o9J76hKJBve7jAIpWTqTsQ6mpGd224z-0XGzQcAc8a-nrViO_7PbG4DoJ0YYX8Ve3opc0_ObZqdigMp6NDiw7tNhsc3JoHZXtywSMFgK9W8WYy0mAasUfnxyaPdAXspg3AuMs7GRTDRh03RNG20CeIQvFM346LbtBKq_gFGg4c2p4IDGsFxp--2oMkZK4Mxsq6IGMwDrO_LQrV0RVd1m9ZiPqMHRpB_Ky_s6aP5iZppQRyUC35_FLfrFWydFphbM4EZqnymd_3bLwBDH_isnw7bhCJciQMmeYM7-iCYLC1a3WomDQlt46SjHZGKdv8V-fD2EXJYvHjeE6U8s1ik7GpkiW6zh9zna96OllXfwR1iIGtnVTRCw=",
  "id": "rs_0ef57c2562573084016aac637eb18487d0b6c04ad0ea99a7f9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_y\":0.235,\"right_z\":0.035,\"right_yaw\":0.25},\"note\":\"The can’s lower body is now between the open fingertips but slightly left of center. I’ll shift left and forward a little, aligning the jaws more closely with the can’s sides.\"}",
  "call_id": "call_irH42psH8UHkdEDWqoVetHnG",
  "id": "fc_0ef57c2562573084016aac6381544887d08355b214a592321a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_irH42psH8UHkdEDWqoVetHnG",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.458, -0.0193, -0.0391, 0.9991, 0.5461, 2.2715, 1.1191, 0.8265, 0.4561, 0.0071, 0.9987]\nstate[eef_state]: left_x=0.2848 left_y=0.0016 left_z=0.1616 left_yaw=0.0034 left_pitch=-0.0847 left_roll=-0.0026 left_gripper=0.9991 right_x=0.5183 right_y=0.2282 right_z=0.0413 right_yaw=0.1465 right_pitch=0.2851 right_roll=-0.1408 right_gripper=0.9987\nstate[joint_eff]: [0.0752, -1.6342, 7.159, 1.6679, -0.0806, -0.0464, -0.0122, -1.853, -10.0581, 6.8581, 1.9072, 0.2076, 0.0317, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eb7febfcdb39f6a4a36627ae838be419f6d11f74f8187e3f33a9ef52858a36b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e75ee7693bb53fad158cd8d8279ed41eb77d7a1cbb462d5d92f1835b331e480",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85ed4b3b278ab4c3a7d2bc80a78f74c45d94f744185e6b6a0b9d2d50dac7015b",
      "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]: [-0.0189, 0.8032, 0.6064, -0.453, -0.0193, -0.0387, 0.9991, 0.5705, 2.2536, 1.0962, 0.7845, 0.5655, 0.0628, 0.9972]\nstate[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1638 left_yaw=0.0031 left_pitch=-0.0751 left_roll=-0.0025 left_gripper=0.9991 right_x=0.5073 right_y=0.2173 right_z=0.0369 right_yaw=0.0518 right_pitch=0.2639 right_roll=-0.1422 right_gripper=0.9972\nstate[joint_eff]: [-0.0479, -1.2513, 7.159, 1.8437, -0.0806, -0.0562, -0.0122, 0.1709, -10.4957, 6.2017, 2.1123, 0.2906, 0.0122, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The can’s near end is centered within the jaw opening. I’ll close for the second grasp attempt and check whether the jaws stop on the can.\"}",
  "call_id": "call_JZ0TAJs8VuXa8IPSYYg6ksFI",
  "id": "fc_0ef57c2562573084016aac6385f98887d08e5d92049f1eee10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JZ0TAJs8VuXa8IPSYYg6ksFI",
  "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]: [-0.0189, 0.8078, 0.6064, -0.4759, -0.0189, -0.0391, 0.9991, 0.5484, 2.286, 1.1187, 0.7879, 0.4488, 0.0002, 0.0081]\nstate[eef_state]: left_x=0.282 left_y=0.0016 left_z=0.1581 left_yaw=0.0031 left_pitch=-0.1026 left_roll=-0.0024 left_gripper=0.9991 right_x=0.514 right_y=0.2283 right_z=0.0248 right_yaw=0.1642 right_pitch=0.2342 right_roll=-0.1662 right_gripper=0.0081\nstate[joint_eff]: [-0.0615, -1.265, 7.0359, 1.8535, -0.0464, -0.0562, -0.0122, -0.5675, -12.9436, 4.9846, 2.2198, 0.1734, 0.0904, 0.5641]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49c6bf9533d42b115a9cacf1fc223979b7fbbecf1198baa2afcdd34dd2611a44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01e2a267d87ac49ff70694d6967e8adae068a98f97ee8c8cead2c12435f3ee35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:314c57686796e3d16badb716791f500dc5b7602e7dd7940e31baf39070e7ed25",
      "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]: [-0.0189, 0.8078, 0.6064, -0.458, -0.0193, -0.0391, 0.9991, 0.5461, 2.2715, 1.1191, 0.8265, 0.4561, 0.0071, 0.9987]\nstate[eef_state]: left_x=0.2848 left_y=0.0016 left_z=0.1616 left_yaw=0.0034 left_pitch=-0.0847 left_roll=-0.0026 left_gripper=0.9991 right_x=0.5183 right_y=0.2282 right_z=0.0413 right_yaw=0.1465 right_pitch=0.2851 right_roll=-0.1408 right_gripper=0.9987\nstate[joint_eff]: [0.0752, -1.6342, 7.159, 1.6679, -0.0806, -0.0464, -0.0122, -1.853, -10.0581, 6.8581, 1.9072, 0.2076, 0.0317, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGOPTxVUaqJIm-P9h2kNDmUhisxByQ8Z_i8BPrRKR5bimYK-e55v5C-yCa911byz9SkmiIoDXmNBju-uJVqw_07LS-qga3tQmLpaPbUwdfKJZFqY0neKNJXQdvuqSuboOLTAxWJ7zE5jIPVpfA3K0PsfMi95HyRt_TrANx92NOYzUsWbW5qHL4XjqqBJ3qnzRTi71VR5rvY8WGnUMVac6JErpcBxNhxRup7SCVOASB29T-cvox4B8h79tHo_CjxArzB73u_4edJmZnQKGdMORAX40w1sBzdKgXSAu2FJikTvR1DDPlKp-ojemqPWLZt3m6q0kLLrCKZ_grUAcg1hmEML0KjlejL9RNNKcCqn8hpiMCJ5VNJQwaVSlSg0gifu2ErxyKf931h82tiYto5H3-pTukaUgHKH7duXkEGEbA2qGXKoZlLh2umIomX6DUXezgW6WZd2AczTtwk1f7eLKEaTco8CiU09X4I4CWxcb4xBRY3hNoNzv0bHkkhd8iai0-zEtOa45W42Rv04c0_yRfe8_MpBhtiUorVm41RZzp4-gL3450mJO7C7kFsZiovkQJ-kbKiPyAnG1tvjH_tv2OTSqyWcbzN2PGSg2qwtaU10AAaxHTik7dttf0LZKwMclb6FZLO8W7DE1PBQPdMFQMstD706NjXSaCNxTjWOSu6DZtiv1iSowllaKEUYkA2HHLJkNSViPJCM8fdze55mqDf5flDbPL5gZviwG3gEaAgOCibxmJIWO3RrVc3RvxP6IiB5IZ1FDbxFijqqoHsmbTnTnPpM-jcREE0BXL7GDi6tUosNJuUkGVVl5wiodPcPPlhmtQ4K6p8SltTv8d-4qf_hdyCHLcfbTxu_Ocb_xzW3-M6XLyTmzNamb2MWbZ5PCbc0llicNx64wXTN48Gh5fWna6Q3yRNyT51hvtH4MDT3QXOA8CsTEV0HCN0NfoxKNJzUBElMQ54S34ZcnZ2XSCinh0ErGgOYTIsMrqFux9VJnqsP2Xkcoh3QfltSveM5TdGJypifAuo_6LH1AlE_cclISguJPxP7AnA2WWYfO2Lx7Z55tg3s3M9us4EFkd1yTriqzOzdxOphTt3W3flX6giL6aC9hv9TaTXG3DdCSlN9XMYU4SePErojL0ryjVELmMkf2LRBiqFDa3TJq84PfXk4TmQEbvhKjn6ojw0fh-iO86FRta88nFrgTwtNvayyxY5nlVkKIfwsDio9UZJv5hQ1UNfbXWlYnO9PMGaEUN1mIUgL9xuTL3j-XOTjgqhK9WUCCiJX3TDOgX4jvOzCXQrMVoaE7xzyp2n07mUEHJyu3pd5hBdEdsvnFkvg8zrzzeyCcizpVSvLkarDbXsFXL-0zafko4HFAruJVIOOaAkK8zPbm4pmfUH-5QekebxwloeUlOoCstXahimpCZPyYHOsVCot8KCEYLe8ijEJrwj8shZBUM-o36sRviI_-c-lPSUCKfUsdeo6pJLOKzGRJHX3gw==",
  "id": "rs_0ef57c2562573084016aac638a7dd487d0bd107f090d16e81c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.575,\"right_y\":0.23,\"right_z\":0.055,\"right_pitch\":0.6,\"right_gripper\":1,\"left_x\":0.2936,\"left_y\":0.0013,\"left_z\":0.1791},\"note\":\"The second close was also empty. Comparing the can with the fingertips in the overhead view shows that its near end is still about five centimeters farther forward; I’ll reposition using that measurement and restore the idle arm to its parked height.\"}",
  "call_id": "call_SJuX0j4lXKUs1MZYc2LUuuzh",
  "id": "fc_0ef57c2562573084016aac638d657c87d0993e038c23027d77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SJuX0j4lXKUs1MZYc2LUuuzh",
  "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]: [-0.0189, 0.8658, 0.6666, -0.5381, -0.0193, -0.046, 0.9991, 0.4984, 2.5397, 1.3167, 1.1576, 0.4103, -0.139, 0.9955]\nstate[eef_state]: left_x=0.2838 left_y=0.0016 left_z=0.1577 left_yaw=0.0074 left_pitch=-0.1624 left_roll=-0.006 left_gripper=0.9991 right_x=0.5672 right_y=0.2326 right_z=0.0367 right_yaw=0.1888 right_pitch=0.5136 right_roll=-0.1893 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -0.8957, 10.4547, 1.917, -0.0757, 0.0513, -0.0122, -0.9504, -11.8496, 7.2, 2.42, 0.1783, -0.0122, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:484a8e27019dfea366c4f61acdb3a1ad09f6a26c144f82c8814916d4ab85f7a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfd156d542c8e9db6dd8a46bd0b44d3d586328bc0bc636bc4ecf1c163f8b778e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56051daaa8621d3af71ea0419112825511f2ad03214724b89910b776369998d7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.4759, -0.0189, -0.0391, 0.9991, 0.5484, 2.286, 1.1187, 0.7879, 0.4488, 0.0002, 0.0081]\nstate[eef_state]: left_x=0.282 left_y=0.0016 left_z=0.1581 left_yaw=0.0031 left_pitch=-0.1026 left_roll=-0.0024 left_gripper=0.9991 right_x=0.514 right_y=0.2283 right_z=0.0248 right_yaw=0.1642 right_pitch=0.2342 right_roll=-0.1662 right_gripper=0.0081\nstate[joint_eff]: [-0.0615, -1.265, 7.0359, 1.8535, -0.0464, -0.0562, -0.0122, -0.5675, -12.9436, 4.9846, 2.2198, 0.1734, 0.0904, 0.5641]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGOYB06_czXgjAh0Z8-RsK-NiXS_3S_bsGIm29Dfggq9Susej99lE11JaQkq8x_fe-EXfvYFKIVAQbJY5VTkJsO4yaLfxqJV0JWLTzJd1lp3wS3YddadOnD5KlUQsSLlUPavWmGyPLPsEfohhyPc1EsAIf0DVP_stOdnht6FlfT4jy3fbhb3AJK3cUUQuBt1XN2utt7nuz-0h2CMXFX1BPn9zaOlqD-HWkFfu2OjFtJ6sLy2u2XA-UbRGBEl1LOuZN0lEqpXTzXIzaa21zzs-S-V8bBmS3lr21c4VK7SsTjx7qIFJL9-O2RVqQKFtULOJ7nsgSVqQZIu5rMNJ29Jz09J2u2d-VglCw5h9squ1nMG6fgpVpzmlvOXEA0XCUlimYkWuHQ_cN-KY6vDoU5ywKpLaqEXmO3QsuqcYcuKTsnMaungFoU-1NFR23l1wgV4h0zZIRh1PwCBW24abAZbpPCsMlpHfGR10-1Feb39J7-5d7QvSxbNtg7FEcJEaFRDwEQod6S_Yqi4DSD1oHC4aNZ3_5_OwnYbOazskL0vXEOxLV0eaLB4QTeL3xl-mXqwqlewRqBZzi4ZKbG-mMISWKCQUNBKrL3UG9f7eZwkHb4r0rzZPGziH2nmOPK_7A2J3SrxzJsg5L-5tI8L-kqZ999A-FIzHbQK3-YxqHLEYq041e2rYG6UV2ajsko01PiODmvFQBnnVc73WB-fyAWEGHeXS70fEGFbi4QTwmzSjLLbvXdl9Ln-sd0rqpcRWhW1-pOTRZuo8QYrFHiAEWrEIwFemBvIUc5MaVmJJZDfiWOalu6rJE-GbaQyrQb0hkLpBNnYPbBOuiTj8O_WZJOyUUR_8OMY8NiyCsDH0Lcl4W1WkaIcfqzxWuKiqb4EzVP4ZEGTh4XJmw0l53UI_Fp_O8uzPpcn6aTUyR7FFQAAcDY3MWnoaR8guYlHyU-nFm05KK7cFWqiZ_6PcL34sKW3TS0LgZoyQ4dQeh1BxyV4GOvMqEXXwtYBmyWp8lXDhczHFUEqFgyyg6UOo8FlMtWBDyIE6XVW0CHcbpw7YKZ_Pi0Jey4sn1mCFozmfkVJqZcjXD7TxvqwOUQzeE8hRb9wYzysgniJARn2awP-j_0x5JFEGPKnKqRjQyWU9e-y84Og2NavGfNQRKimRI03CVJkzPqZzxlnVvxWPFZzsuDNTfKQKX7zNxfDxSO1sEVIfScxLNxz2HYRIeGhQAgaTZCv89_LlYrBN_Qv9n2h-qQ73h3a7jmhSBoUcQBcP9hJcqSuM6TOHWJdh_25AK98iDX00ziOBJO0DrU0WYxTYo9TZUhoUQB3Xx0jb_vS542UlvrFxETX6sBFQXpnEow--tjXYXvNBRJ8VfFoA3czc6ySM6zaXYckAeLiZnmT33dxabp104MCPBw1jZO_dnYJmoVA3LGtT92nWeKJ4BPh4CIElk2I6Rg41wR1yoVwdOEwaWXu63-GXKzmmbuOa86H50S6G-wcYg==",
  "id": "rs_0ef57c2562573084016aac6393fa6087d08150cf1b3d57ccc4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.58,\"right_y\":0.2,\"right_z\":0.065,\"right_yaw\":0},\"note\":\"The can rolled to the right as the gripper reached its end. I’ll shift right and slightly upward so the jaws surround the body rather than push against its circular end.\"}",
  "call_id": "call_LVy6PiNcIwRXizOcsEv3ctyF",
  "id": "fc_0ef57c2562573084016aac6396ae2887d0afa1f6a5d604ba1f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LVy6PiNcIwRXizOcsEv3ctyF",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8715, 0.6724, -0.5468, -0.0189, -0.046, 0.9991, 0.4961, 2.5248, 1.3289, 1.0901, 0.5026, -0.1345, 0.9968]\nstate[eef_state]: left_x=0.2834 left_y=0.0016 left_z=0.1571 left_yaw=0.0071 left_pitch=-0.1712 left_roll=-0.006 left_gripper=0.9991 right_x=0.5707 right_y=0.2162 right_z=0.0352 right_yaw=0.1032 right_pitch=0.4789 right_roll=-0.2084 right_gripper=0.9968\nstate[joint_eff]: [-0.0205, -2.0034, 6.4615, 1.7265, -0.0659, -0.0464, -0.0122, -1.1145, -16.212, 7.5966, 2.1563, 0.188, 0.105, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dfa571726e7adec34131ead33f81d85b8bda4cc670fe9ee396d51ae44d4b6b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b22f652670ad1bdb9483d1e12320923b5cbee688d763cb05fea846361e13ce3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7a1101baadef353e7fb98f36f9df2d9529ddd0db355a4317e36f8c1a23f57a0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 33 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8658, 0.6666, -0.5381, -0.0193, -0.046, 0.9991, 0.4984, 2.5397, 1.3167, 1.1576, 0.4103, -0.139, 0.9955]\nstate[eef_state]: left_x=0.2838 left_y=0.0016 left_z=0.1577 left_yaw=0.0074 left_pitch=-0.1624 left_roll=-0.006 left_gripper=0.9991 right_x=0.5672 right_y=0.2326 right_z=0.0367 right_yaw=0.1888 right_pitch=0.5136 right_roll=-0.1893 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -0.8957, 10.4547, 1.917, -0.0757, 0.0513, -0.0122, -0.9504, -11.8496, 7.2, 2.42, 0.1783, -0.0122, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGOeJgSN6Fhu18-ZdMegnHsPz3pa-7eTdCcXf5trgXmadTnJO7Xy0u9b3Y1_fmGXF4So25-HlqKsOS9O2HIgYirJm0ArcXH3-owbdUN4ZFhTAzmYGtABWyhz7R7t8XIa3FWSsH6YMHrp5fUaj-1W7DOEiRsfmqYtzGzm9peE-UcZ8LeNmUT8WaIRJMfsARogh0C32ktjIJGLx6RhX33hSJIKj1ZXvyoKoaoB43npaj4M2SDM-Wbdw2wgw7lU0PaGqIX3gZlYkowNjpZfOqqwwpCgzcxx8NHiBCk7iDbqS5An9_Fh1vQewfcufo7zskwwlES8v5wEFp5nXedurUgjaoPU1iBJmgvyvXAtJpxwZqR14fthW7wO_NHVW3jPcg4mf6OtZOViKa3VMkFCFxaDetGBkO4gUlhBLx7v33dF63qngxm0VrdEMWBQvxIjUFYKhJ3jTO4k91R5Qb8LXhkjEcvvZHqfZvMDcmlrWwRQpmsTazngWCPMHkKsnd_lGo6oUYPstlYimzU-qx-eHGptlGvHS74ld-oYpByTl2MHUmzKv-53s6OTrri-wxj4LcwvSW_IY7XfX8-8AQTknWPrRysIFOVa03_kw3DyQjWOLy-sxGzRj3YtrYkQK6rlNFbv1nq7_I4avhdkoQScLjrWVe4cWsD-ap4gUx_n7hpOwDg7PjwW2TB3Tlb99GM7t3fdxJp22HMaBNji54CWMy3DEb9zhBNxFtYKpzAkaA8Xx_ZHpBVdUbmB7YbHBdKVVixHsKfIrw-kQqG66YVdbmDV2UvRvwQneG3GJOHjYW_cZ8P6sgLS0K-weEfkQSlcwdJxQqEHecNKqugxVSKSmUdfOrhBdrGDe05dc0ZiYKA5Qq48Y_TJM_39E8u9hurwenxZq9N0bRRlPsOfGdjB8TUd7s9GZF924_7i1aqkA_4o7Li03D1Od6OtPaMOb2YhiWe1Q3bQJGVO_7lwYMhy9aAkKKbxi35RToFU0G9aLJo4095sLo2wV03AEsax_GU87b6AN8ulgKKsjZXBm5I1RjiCaIFohwLjxBtEB3_wIFZGoRFcHoA3ZRWhA_C8GNwXuCCJ_5Qtp483v53kcKzUtpezD9_QdZxtmDS0l_PMG_yyt_NgEBlMhbf79SivJylYmwwICtke25eD6BdZyl2jRPGuc0gsyDL12lavA1amNFMilH8IU5GuZgagqWIHrJh_DOTi_5UACyjyaIbXw3mBEIJ0qxJbmluPdBlJzO27DvR2MKTEmX366Tsx27mqV9NfQnz3KN2G9kjgyjVmeKERNXvbWGYlCGwfYcTkEM-mmh_XAIYsmYqNBA2zKl8u3Zz8AD_UmLsxq8yEVihwsTzH9WO1nZxkkqhdYoqKr4vmG82cIFbSXVdGDC3GRrJXE3o8_vi9FofZ6YYcIXTGYPzn9AQ7PPYe2w==",
  "id": "rs_0ef57c2562573084016aac639a406887d0b4c52ec1508de2f3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.57,\"right_y\":0.175,\"right_z\":0.11,\"right_roll\":0.15},\"note\":\"The arm is tracking short of the sideways target, with the can still right of center. I’ll lift clear and move farther right before lowering again, avoiding continued contact with its end.\"}",
  "call_id": "call_jEekyHPqMimMEibeIdAqsHPu",
  "id": "fc_0ef57c2562573084016aac639cc91887d0815b27d5a57a8aeb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jEekyHPqMimMEibeIdAqsHPu",
  "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, 0.8715, 0.6724, -0.5625, -0.0189, -0.0498, 0.9991, 0.4931, 2.5149, 1.3373, 1.0409, 0.5648, -0.1307, 0.9969]\nstate[eef_state]: left_x=0.2808 left_y=0.0016 left_z=0.1543 left_yaw=0.0093 left_pitch=-0.1869 left_roll=-0.0084 left_gripper=0.9991 right_x=0.5722 right_y=0.2042 right_z=0.0339 right_yaw=0.046 right_pitch=0.4542 right_roll=-0.2259 right_gripper=0.9969\nstate[joint_eff]: [-0.0342, -1.6205, 6.8581, 1.746, -0.0659, 0.0024, -0.0122, -0.9368, -16.0068, 6.8581, 1.8144, 0.2173, 0.0464, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6699845449faa83fa2b2ca82e686fd8cb2c50d251a91de105d431b6491c8d34e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2c52297530ddeda2c71556986ac4b3c2394b481de0d40daca701ad08c035b08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce4f65327ba6f18a2793ebe2b01bf40acfcc00c8c19cca14ba978480aa4aa109",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 37 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8715, 0.6724, -0.5468, -0.0189, -0.046, 0.9991, 0.4961, 2.5248, 1.3289, 1.0901, 0.5026, -0.1345, 0.9968]\nstate[eef_state]: left_x=0.2834 left_y=0.0016 left_z=0.1571 left_yaw=0.0071 left_pitch=-0.1712 left_roll=-0.006 left_gripper=0.9991 right_x=0.5707 right_y=0.2162 right_z=0.0352 right_yaw=0.1032 right_pitch=0.4789 right_roll=-0.2084 right_gripper=0.9968\nstate[joint_eff]: [-0.0205, -2.0034, 6.4615, 1.7265, -0.0659, -0.0464, -0.0122, -1.1145, -16.212, 7.5966, 2.1563, 0.188, 0.105, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGOoZ7ba-9zjjs3yWCLhQFBGiGJD0lfKCD13_xMazNM7XxskZmHFggePuYDw7AmaVtr15MU7WFbuAsT3QpRT8nWndHSRjZUQLUN_hHnXvJ2Bq4VFKGG70XmDPlpWzVrOkKbY477QALtB8sz1oDLdi2j5HONcTkJC9PT6sFtvV614RCZL4L7xIz2VfGfEItZVEQ8Edy8quSZ44ifuz-9fzkfeOeqiFBus66OwFx1FVV-g0NE3HuG3YaylEl1zQ3TaKAmpBqEBk6l7pVdael_hBe4wkFmASfpujYu-ceuSQ8dr0611feAhHuq9DK3x5bMT5hRqBOoR40kFmij3mXTD7-TJy4XQ84GqPocydbBGP_g4PtGN5PAV5VSeKNh2NdXWxCFn_-Crmn59TA5Nd2dkH702dYUnncoqztqhGVbMc2RaUtADqVxHAmYCsLwbrTET9FLSA6CUR1p9QHIgV5mSpCsjonDx7BPgunyR1RWNQ6q2ZNJMbpJ_x4lOoj1shkxT2XJ9l852CTI8QvC0rOMkq0H3LZ_taOciHDHKx3a1yI2jq71MmMA13yEVrG8vCTiM8YZJxJuD5AYiw2iHsuxMQ12BU6p3AdPWigEO-080tcrXs1uo1E6TaRiamvVpVxKz3r0da0Op2NjA1UzqNkZqvxB06glfx_SduxPqPbGg2ZNKJwVSYDWJ_utDQB1IgFSxm0DPp_srI0li3fszP8Zm77II_F1OnlKTTJuXyexhG9_LOBxNpSC5a49zO5wUsTKmKKsCqK3dUVDLsV6tHWHRi-Cz23gQdswIv3sREZCHXr-ty8oWO9RGNX06Q4Ns-TqZpvdtcnB0og_pYolEe_SLpgnLSiGHVjjBtyoNDd5xqnxv5LFUG2tqPlWPOBDh6ctSuINtNaXAZiHKttfRhN32V3xHCEIqihfrCQj7GPPi46Qu32bJgFQ_MIKiokuM5uzd4PS9_7VwBLgpF_lsuWCahwSzZ9CJaY4ufoJFCV6H958MvxiNYQLpfyqLNXMbaaWJ5GR8B8Fr8S5c-qVAfIwBAVdmIXvvdqnSr9wMz6oaq-e3PJHUW4aijzgZUlBmjDz8bt0iFQ2CVs1ZYLqAMNjyx2eSEalcnZDqSnXlmSiFh_WdvBZNUFs3_AWO94JqwDGKKMpQiq7IHOhlYg8IqGRoCYXjVK5HlkV4TYQt3XE8jdzuYM7oAkbjXlW8hWU1l6HbUUeprIaxfkHY_ilLw3wr-_euQO9pq0TSqxkMInSUTWZgv-jobAmjMbKyJSQzYdgwoi5Y60cW7RKVuaIXEIr5JOf5IwpAqarkMbcTGB1CZ2rTt67wYUG6o5FBw96U5cp1NM0OIAjt_6GJ1aWySeG3l-bLdj70Lqt_Z3bB-yk0vgYjBgxbxBq_szwfX1qnHwEcxu-lRhke6KGhsePLgIdW2j_GNnZ2u98B6knMNQsMdvTN8B0gWv3FJ0ffUcgmXcDAHC1hFKHJ2HzKLzK4MaDEiNYk1zXYX-rJBdTNYRDS-BgVkGDQXRjqu8fbBgWS-RWKolyv",
  "id": "rs_0ef57c2562573084016aac63a3617087d089b6dba386f0a93f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.51,\"right_y\":0.17,\"right_z\":0.16,\"right_pitch\":0.35,\"right_roll\":0},\"note\":\"The wrist did not rise as commanded, indicating a reach-limited pose. I’ll retract and lift to regain motion before making any further grasp attempt.\"}",
  "call_id": "call_tuziJ7Z1kpcGXEROtJzettwi",
  "id": "fc_0ef57c2562573084016aac63a6261487d08662d2341462fee6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tuziJ7Z1kpcGXEROtJzettwi",
  "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]: [-0.0189, 0.8753, 0.6724, -0.5838, -0.0189, -0.054, 0.9991, 0.4294, 1.998, 1.0096, 0.6453, 0.4168, 0.0383, 0.9972]\nstate[eef_state]: left_x=0.2773 left_y=0.0017 left_z=0.1495 left_yaw=0.0117 left_pitch=-0.212 left_roll=-0.0107 left_gripper=0.9991 right_x=0.5125 right_y=0.1599 right_z=0.103 right_yaw=0.0476 right_pitch=0.2663 right_roll=-0.1042 right_gripper=0.9972\nstate[joint_eff]: [-0.253, -1.7573, 6.8444, 1.746, -0.0415, -0.0024, -0.0171, 0.8274, -11.8222, 7.4462, 2.6349, -0.0269, 0.188, 0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f615da4a596404804d4a361c08fbd6042b2313945beaaa6c3817e8c28825a2e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1e35531cc83e9a1aad8216525a74ef806621eeefe2ee4f7fd146b40acdf2692",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c4cc4386d813f8cf91e46bb23149159958afb79558959d935f00f0a924a0a51",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8715, 0.6724, -0.5625, -0.0189, -0.0498, 0.9991, 0.4931, 2.5149, 1.3373, 1.0409, 0.5648, -0.1307, 0.9969]\nstate[eef_state]: left_x=0.2808 left_y=0.0016 left_z=0.1543 left_yaw=0.0093 left_pitch=-0.1869 left_roll=-0.0084 left_gripper=0.9991 right_x=0.5722 right_y=0.2042 right_z=0.0339 right_yaw=0.046 right_pitch=0.4542 right_roll=-0.2259 right_gripper=0.9969\nstate[joint_eff]: [-0.0342, -1.6205, 6.8581, 1.746, -0.0659, 0.0024, -0.0122, -0.9368, -16.0068, 6.8581, 1.8144, 0.2173, 0.0464, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGOuBMHBbUYVqsTiVj_ePU1luwS0khACF7iUogvThaELHFRMNCA1EBkh2RLLDhnG03u_JJZsFUZvgUgVyyttBeK6xADTjqeztx9wNakPjtllTSa98egNvpunFcsGnz6q21uUs_Ga07FCqWLC_zcobsFISzAmB9eh8BgntmYQFl-WWFMdNgCQXG_HRz0CR8uAGeKu29cIqtdgfQ7MkpC0jnRKz5s-OOjs6xP090x-Z5hfvvz4q1MC-vnY3vAmqdEJ_rI8OYavlPAb5lklr4nCeH-_IH3DuNNk4shi-0pDNKiZKcmaaeAn5a1skT5pd1x4p-JTwi3D1afspnpXodvmKb9-VbeGysivLMgHjDDNQybPgIriv7WLsWQ79PUsWq3zCjqGO0g3r9P3pMt8OmhDUKUGYaC3YNxf9SEz-MjwfywoXev8kbOz87t_E-SaTfN9Ww8S1fq3HyBzi9aiTSNNu1hDDtcXe7iA5GHRVopllAn8q7SHFJY5QBHEfhsHn3tQZN1Zv_YtxrfGK76HR-bZMPPdrIK2mEHHSEXZ4vUytEXdJHJvhd5l7AMegPihNsNa-erPVuLy3SjyActtaGLdGPJ_fepq7ZKggBb4KJ5ELuJTNGxhA7rcbXQ5N6FMUBpLG90hJvMhiSIFa2GZjSlNhqVJFlrxENuEzSJz5F6LBjkSZcGcTIoJNY-mSm_iF2qNVrLi99jcleFUiu6RKIm0aYaImlXqcUljwanz8fB6e8SRs3DN7F_u04qyARik7St3Suf1l3GdExeewsyyCqb725s-2OKEUaJagY-sQ53DxS3OUVs6tlOibuQZTeKJlWr_xHKBkR1YwFnZXrr3yIElTONTkqdjjQjq7z1c_p5lnKldv_YefWRVK6oCzU4xwz7_8T-IAPeO0jXJKQMIHtB1zvBIhDUoGWe47OoKUfAXLV4hlLHPXUphE-UT9FGp44cRLYScUhp-GVqjapu5mdrsW5lTi24r9bSWQfTg3FPCFaCTBMW6hROfBopDXVu9nJiPjRQ4rovLjw1FO8UWbn64C8kKmu5JD3MB2OS_C_KA5UnujDlDvD8adi3T8IXASk0I1BsPiBRB6vKeE5d3AHd7imyno_0uU2DORoukkIdafhlCTQceaaaHgmOZUEKj61QRo8jqCnt0aX5vqw-6oXAuYSe-gxbye0BYCxDFdsKpaTPzWY4Jc7IwBzGV5CZs2qHIU50Rtw1GbedqJKmKKIYJ3jhO1J-sMQxzZgOcO7cv_iHmx6WJii3_vgBncWy1qyZO4Wf2_CL3mvy-bmbn31znRgGEXfXXUn3yT7g0UXwjMqbywSE=",
  "id": "rs_0ef57c2562573084016aac63aafaf487d085f72eaccffd6ed8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.565,\"right_y\":0.17,\"right_z\":0.08,\"right_pitch\":0.6},\"note\":\"After retracting, the can is centered in the wrist view and the arm is moving again. I’ll approach its near end from this corrected sideways position, keeping the wrist tipped forward.\"}",
  "call_id": "call_29EDTuKNQdpn78piEzoeYL4J",
  "id": "fc_0ef57c2562573084016aac63ac373887d0bbe17211fb4eff27",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_29EDTuKNQdpn78piEzoeYL4J",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.878, 0.6724, -0.5888, -0.0189, -0.057, 0.9991, 0.4259, 2.0789, 0.9993, 0.7208, 0.4068, 0.0151, 0.9973]\nstate[eef_state]: left_x=0.2765 left_y=0.0017 left_z=0.148 left_yaw=0.0135 left_pitch=-0.2197 left_roll=-0.0127 left_gripper=0.9991 right_x=0.5143 right_y=0.1605 right_z=0.0736 right_yaw=0.0672 right_pitch=0.2491 right_roll=-0.1296 right_gripper=0.9973\nstate[joint_eff]: [-0.0068, -1.853, 6.8444, 1.5897, -0.0757, -0.0024, -0.0122, -0.1436, -11.9863, 6.7077, 2.1954, 0.1538, -0.0659, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9188efcdf282834cb9a426bc608c0536518a3a0e240258fad47e65c2e5f40c8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c63e2ce6e8a63b5903784c5dc277f6bb094578205ff64ef654f29974242e45f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a268da86a11eef566c6a14e3e1b9262e72eb4e0119fddb60d78747f1eb11e0f",
      "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]: [-0.0189, 0.8753, 0.6724, -0.5838, -0.0189, -0.054, 0.9991, 0.4294, 1.998, 1.0096, 0.6453, 0.4168, 0.0383, 0.9972]\nstate[eef_state]: left_x=0.2773 left_y=0.0017 left_z=0.1495 left_yaw=0.0117 left_pitch=-0.212 left_roll=-0.0107 left_gripper=0.9991 right_x=0.5125 right_y=0.1599 right_z=0.103 right_yaw=0.0476 right_pitch=0.2663 right_roll=-0.1042 right_gripper=0.9972\nstate[joint_eff]: [-0.253, -1.7573, 6.8444, 1.746, -0.0415, -0.0024, -0.0171, 0.8274, -11.8222, 7.4462, 2.6349, -0.0269, 0.188, 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": "gAAAAABqrGO2ZHhVJ4RWchYcdxlv0eOc_FBxFZFqM0dYa50GwCfIz4AwRsTd8lqxZ9h6JdEcSCJKn4FEkpbf6LeK7b8jDplawAz9lJskDc79DfTHA3BO6ce5MzSSZk3PgLmoSKmFNz34m_PbbqkX-0v6enPnn7tWKrDaNcpOdYGRab4_lAdYOaIXAoLKRrnNxga5x-5QjdX5II3oaXLMZky93EQZPYl6Ad5azawU59Vx-7CdLZ0TIA_KoSrUQ0VLdJzhha16kij9HbUuasSw_UNQ8SAIDiXCWzmG5F9itdh1puJLz19pKpk_AVXEwgTBlRmlqR-DXPZ9dRbX4wo_uOzSkHA7mvEzixRMXy9ntHwtXP-RlMVPDd-JPUt1NESB6f2bxdbrLCC70BRz1M9XzPpsIXbqP3f5p1jyXin4b3r7AHDvf_O2oMpGnI4ONL3wKfBGrOHMJvGtOSU07J79W-jbsoq4p8Hw8fmh6YYdDY6tb4RXbBft-N8YbsbejkaElwEcD5kA4MIdXdiFzmnm_CteHzDoy6pRCqUTlsNgdGAc0Ys7HNcdnDFzOLPQ9LOtbt9nuntasxNJYdDatm4wyw3OgUkF4kjbQ1JvmCUXyf-zxXAQaluPAENbKBl9ymt8aupQsbSpt8OWRxZXYJ96jhjx0Q2wC0X4zEL6mCFBkIqOs2PEN0xTYgZXBnwkPwkT52Z5D8dbi9LPOqPIK0XaEOpmNq7scyHzFRcuruHcNRrMCjjPlRvniypck5gEfZsYCQ1BPkQ6j5KukcZFCFTgU8MC8NfqoI3lQ2Qr_9BB5wOcNxgnSe32FbIWk_fyG_Fm2fcmEKISdGnG6riCGAfeMR7Ha8TBDNLgC9mMjEykhRXoisW5Qlyw2d8naDZtpb8ofjHKwfN1wBFKqBmb0msBIduXP9hwNx6eDNw1DzoQyAJBlrJdmospZtBR15YgXljK2Devz4cHCM8jn7Lh2xJ-37ihLb98Xv_RKGeaam6lHb1UPE86FC5K9aNipakNue1Ql8Xmq_nqV4c4DafqJjtRsykqQPn8hoi5M-7WSxXZ830rO7DQOLMK6jBOjxFCToQtmg8B1FyW8Q8jsulcIPblaTsS569hb35DLBgCztoRvH-U3ssFNSYCDG29e2nowZxjgXbmdix8X9p42m2qHRob7NMWHZ7PdLz8udwHaowW9XCkv6eru4c5uXMyPes9aSOwBkSGofXfW2GoBsE2MHwznjLb8ZCHy89jBp0OwH3oRJTLYq57q8z0ZYTtUm0VCbLSltbACyRQ4AhScNOA0XH4adVdKrb-CjrOsiqQHRmtx2DdnimM7NsTj-LPOpLim6EtqW5AN9_c9lRNSwKRZZKjOkGtB2Ba9I8vUsP98zP90ECg7ZSLqE8468NIyDaPuQftQP_fpPe-jtg8dsUwUxHLl8jkmQlyvHko9w==",
  "id": "rs_0ef57c2562573084016aac63b1dad087d0ab3a72ce9b66dc22",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_y\":0.17,\"right_z\":0.045,\"right_pitch\":0.45},\"note\":\"The forward approach stopped short, leaving the can just beyond the fingers. I’ll use a smaller forward-and-down adjustment to bring the jaws around the near end.\"}",
  "call_id": "call_IKtxX6z8AQoQSMIXIeRi767V",
  "id": "fc_0ef57c2562573084016aac63b3f9b487d09f31ac997117ac77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IKtxX6z8AQoQSMIXIeRi767V",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8818, 0.6724, -0.5926, -0.0189, -0.0574, 0.9991, 0.4286, 2.3337, 1.0527, 1.074, 0.4137, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.2759 left_y=0.0017 left_z=0.1463 left_yaw=0.0138 left_pitch=-0.2273 left_roll=-0.0127 left_gripper=0.9991 right_x=0.5347 right_y=0.1702 right_z=0.0378 right_yaw=0.0839 right_pitch=0.3876 right_roll=-0.1423 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -1.9487, 6.8308, 1.619, -0.0757, -0.0171, -0.0122, -0.3761, -10.5094, 5.7368, 2.1123, 0.1197, -0.0073, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41c5d78075361c24644697a18a645d35d49bfceea0f18dc8d46591b2a21ad132",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:043dadf8938bcf564a57f87175338a5f296f0785a1c894a1a0dc34b6b8e4c5af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb459225242ab35fc4054a1ac615134b6f0386b9397007ac51471e49556fe1ac",
      "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]: [-0.0189, 0.878, 0.6724, -0.5888, -0.0189, -0.057, 0.9991, 0.4259, 2.0789, 0.9993, 0.7208, 0.4068, 0.0151, 0.9973]\nstate[eef_state]: left_x=0.2765 left_y=0.0017 left_z=0.148 left_yaw=0.0135 left_pitch=-0.2197 left_roll=-0.0127 left_gripper=0.9991 right_x=0.5143 right_y=0.1605 right_z=0.0736 right_yaw=0.0672 right_pitch=0.2491 right_roll=-0.1296 right_gripper=0.9973\nstate[joint_eff]: [-0.0068, -1.853, 6.8444, 1.5897, -0.0757, -0.0024, -0.0122, -0.1436, -11.9863, 6.7077, 2.1954, 0.1538, -0.0659, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGO8nssL3DtTnOCvGkSQ8NSh5xklOSan7wAeOHwoklKHy4WwKCLQgMocJcHc_u8xTc694YLBqbBtyGwntrjns4ArYZZN5IMdVJukjBvR2nBagk-COya3c8MjCkRug8HZwHOGm_Ayb82afQflLH5btuEWWBdoRIEWECzU3ked0KoQowtJTprpwWWE70tiZJL9yZcVsvh195jejxp17YKnOp7BTP4DpR_0rv77B_9xbig515qSTDzmSzMNOb0RVwgLlVsZ-GrUTtmZDZ4ZCKx1W93mPny5Dt0Lo0d3Ps_XKNUEpl6Z9ImHb5ewbDo6gvcYAgS3jAz5t_QKgHXbfb9h6WiZqvkq43lWgnhtm2pLi5ygwoKXv3HKb_pAPWgUu0gO5aKWQqCN-tqQz3IajMIAtmYNfnao8rZoNmpukqmjtmNXXos1vPIZgzrPwcpQtkHo-H-ryuIPPKa8uBdP4O4oaRa5le40SYMmisvanJ7HA3_dSLs_KDS2cXrmh2M3hQEnzZhSB8wfUMpUYNxZHVSiO88Yd2z99t9caMKkAsOglQlHFhHkmx4_ko7epCOz-JzpCGA1dHb-A5dHvqWfU6tOUE_UPs058dxl-7BiSF-Ot68tuUL72mbGSp5hUVQ3B2pa5UwRYntb2CIculMPWENa0omVR6WAEbN-06aHcjcWXQTBX70aBtFzGaXmC-zJQAN1Stcn2JLPRa1ZZTX3YOdtpwTMAaFL_bbhFcEIULtkXYrfs1wH0N_Vno4ojpNo4jMgTWQvWWYa0-nJY0y7pK88bUEXi7Oku9yS_YUu838AFrjjKKfsY-oYM_ZAumbRTsiVXmB2QOgPNhivJ0NuL5MDSS2joO4Oqe2ugIKRNPgYYnDRBEmeogm_hIc1D4OkuFkKG5g9ITFrKpjroxlmc09Cr88SooT8C8OrIhSqwK_KIwmYyX7Mnf8RDZKx-ubTKM76Wgx_te55OQl2J7Hbmh-55KLHB7FJbQQ8rIR0F_wTNNv0zqwl8t8VjNAcGV4oMOSF_PTbxwfhtvoP5SH_QrodzKw7eCcfAv0Fp542Mk_tMVP-jTNVNPlEXoQI3K1B9bvhJ_KrYb8u10UPazTjdz2A8yYuVX-FtAqPrND4AWqtPJufeUvYp0cbXgJpJZt0nMMsJ8P5hSaDNU61C3rM-_yItRoVfWh0-lpj5JjO62ogxLdJJUHLDBx-dhkiTBTIrcchvY---2hRe3apvdWcyYOBCxe-nwBJd-7AvoiESUEqF6E24D1c7A0BhNR3Pm-FFZppe6B_DgHFgIKMWXb5LhSnDue4Rw==",
  "id": "rs_0ef57c2562573084016aac63b9afd487d0bd236ecf0ad949e6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.565,\"right_y\":0.17,\"right_z\":0.045},\"note\":\"The smaller move tracked well, and the can remains centered. I’ll advance another two to three centimeters at the same height so the fingertips overlap its body.\"}",
  "call_id": "call_orAk0xOBKbAHSIOHNKCGpmbF",
  "id": "fc_0ef57c2562573084016aac63babe2887d09ccaa9c1e2727a61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_orAk0xOBKbAHSIOHNKCGpmbF",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8818, 0.6724, -0.593, -0.0189, -0.0574, 0.9991, 0.4286, 2.3604, 1.0554, 1.1213, 0.4137, -0.0532, 0.9973]\nstate[eef_state]: left_x=0.2759 left_y=0.0017 left_z=0.1463 left_yaw=0.0138 left_pitch=-0.2277 left_roll=-0.0127 left_gripper=0.9991 right_x=0.5355 right_y=0.1705 right_z=0.0352 right_yaw=0.0826 right_pitch=0.4093 right_roll=-0.1374 right_gripper=0.9973\nstate[joint_eff]: [-0.0479, -1.6479, 6.8308, 1.5067, -0.0611, -0.0269, -0.0122, -0.4171, -11.1658, 5.6547, 2.1856, 0.105, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73918feba7db51e2a064349f1076bfe89b38c158b11a574b25096bbb08e2db32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d1721422db27c343d93cb1fe5515686568b2059ee22f33466402b6bb9916cf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2630220af42f67cc40f3dc3873de62c660fb792edacb62dd125accadeffdb1b5",
      "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]: [-0.0189, 0.8818, 0.6724, -0.5926, -0.0189, -0.0574, 0.9991, 0.4286, 2.3337, 1.0527, 1.074, 0.4137, -0.0498, 0.9973]\nstate[eef_state]: left_x=0.2759 left_y=0.0017 left_z=0.1463 left_yaw=0.0138 left_pitch=-0.2273 left_roll=-0.0127 left_gripper=0.9991 right_x=0.5347 right_y=0.1702 right_z=0.0378 right_yaw=0.0839 right_pitch=0.3876 right_roll=-0.1423 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -1.9487, 6.8308, 1.619, -0.0757, -0.0171, -0.0122, -0.3761, -10.5094, 5.7368, 2.1123, 0.1197, -0.0073, -0.0073]\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": "gAAAAABqrGPEXKnvGi0HkY4xisSUZl9wuOz6X2qif_BaNBvDgv7OiowDBsIiQPvz9g7TC5MrMLZJui2WPArEksgucOqX88i0VuepFQBntKvC3DlijNWaHyGaAlPvxWMOgfOiBD-cjsQr0Kta-LT1cO_r9Ajm_3cGlqGHx6dYMmc2jCBZqCkAlbaKMdcSxI2UkBMIGqyZGTDuZWhiT6_SoV4b8gjCMJhsGbC4lugZmup-ExAB14ooXvn8jNd2zZsGhT3KBq7xyRhbkcAVHI5ielmJZEzAwjWhkdyiQe5OkekSYkmIg7S09JGGe6typNi55stk2WuhhCQ7qCfmkrYJ9jSBtaYRERbEamsaTj-UIy_My83Ya7gVlX7RryAFVtOQ7b3dcjth3pCOOq3I1J_hAmq9zv_OEWOoW-BJifjQAcuq_UQ4W0Lrky0uubhORR3LaQ-G5OEEeBEOdaoQ1XgJenxOPBBU8YCeTL2FFhhwkkpffd_wgjnDNVJG5LkzpxZdM1L-ua_bRHXtsI8DOo39Dyxlv4E8AE1n0lNBAxb0k6FKYmLI4M4W2tvS8_0-QrdyyLoeu_0-AjXpwx_QSZb-gOVK_mqJRQoYgMikCZvEdc4meEmcwl0-hVGD6M4eFN5HO5f04qUA8z5ct7d4uswB3bgwGyiFuzhi3L4liVbB2bIlCL3g-5HEmGoA3TNLLuXGXvytRu2j-LzDGVjKJLzLOarwRKRQIXrJdumW8XSElmZ_FWhh82C-FlL4cdDLaWaR7mFmHi5BzHR_2Eo9RZPSZBJoMLvSpO-OhRKWxMzhOd2OmwD6-FlQTeqPkrn5-oAegz6Gp-FMiwHbFThuDN439-Y8nh8mcTLhwSwhc89w-coELn6j-VPMnh8z-PY9KCtAlVp_6hAXrmAxcyYD6ryQji0qfbtlonBQ_-HJApAsfwtaKHJwpsJQlvib_WRrH0S7SRyQFo_ZKWjmiz00s5BYihk3WgZUWrzwl03kfar6I7GH6jhKluuB0WP4H0EklKhR3HGAEopuYfDKy0YHqr2RStEClWTiEstWol1mclbfrRjBTf1lGRq28QSdAajdNLx0VITkEoLBO5SfFo48bOxloey5YMLWKADWc0PDoZ7_QojuiuiZ0UMDPRIGswEmBllg6z3iilLZ_5wqlIfPqd7UnuA7GvjJuOsGQgMapbzn3khiMoxGfLYpVQwzhj4YoOMKwsXUiOOelqVjhB2SMSVSIHG_eK1l57uBxQcUH78i3-Y2PWczFd1qHf_91aUZfYQ_IzdSqhMevqb68-z1ib_eCwCXMJ_z_nr3yWBIWySf6d2cFxgHJxAT4TVHWpbvZcGRHnrUxusTd7H-7mmAfdN5zt_fLCkpn_EmP6SHcJY3zJsonA93SawhovLijf4-86lu_iSOZv7YsYyHZDf60c5hPu-xUWjwQx30OAm5V-DMo7nMrdNX3R1tTp6ApVZW_Ycca_iXH03Dlb9cmxRXhNL_EkPBkusg9zh52hMxL1w0QxHw4KO0VAAQ8OA=",
  "id": "rs_0ef57c2562573084016aac63bff81c87d0a70e4155a53db0c7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.555,\"right_y\":0.17,\"right_z\":0.065,\"right_pitch\":0.6},\"note\":\"The arm is at the forward limit of this wrist angle. I’ll increase the forward tilt and raise slightly to gain reach without dragging the fingers along the table.\"}",
  "call_id": "call_Ur7lx6784vW3WZFsGNYUYKgc",
  "id": "fc_0ef57c2562573084016aac63c28ab087d0a4d7cee9c2f8f88e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ur7lx6784vW3WZFsGNYUYKgc",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8818, 0.6724, -0.6079, -0.0189, -0.0574, 0.9991, 0.4286, 2.3604, 1.0554, 1.1213, 0.4141, -0.0532, 0.9973]\nstate[eef_state]: left_x=0.2732 left_y=0.0018 left_z=0.1438 left_yaw=0.0139 left_pitch=-0.2426 left_roll=-0.0122 left_gripper=0.9991 right_x=0.5355 right_y=0.1705 right_z=0.0352 right_yaw=0.0823 right_pitch=0.4093 right_roll=-0.1375 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -1.6615, 6.8034, 1.6142, -0.0366, -0.0122, -0.0122, -0.3624, -11.1385, 5.6547, 2.1709, 0.1343, -0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b723bd7eca61eaad10f3030b1f2d10a759caa0907429ac51f6cfa53a975bc75d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e05e463fb14bc1b11da8842d7f2691472c84c2709d02669a949f1795ef1bc129",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59f20acc7703a321044c994ee97e2b9f13689cc91a0782a675972d1e6c67cfdd",
      "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]: [-0.0189, 0.8818, 0.6724, -0.593, -0.0189, -0.0574, 0.9991, 0.4286, 2.3604, 1.0554, 1.1213, 0.4137, -0.0532, 0.9973]\nstate[eef_state]: left_x=0.2759 left_y=0.0017 left_z=0.1463 left_yaw=0.0138 left_pitch=-0.2277 left_roll=-0.0127 left_gripper=0.9991 right_x=0.5355 right_y=0.1705 right_z=0.0352 right_yaw=0.0826 right_pitch=0.4093 right_roll=-0.1374 right_gripper=0.9973\nstate[joint_eff]: [-0.0479, -1.6479, 6.8308, 1.5067, -0.0611, -0.0269, -0.0122, -0.4171, -11.1658, 5.6547, 2.1856, 0.105, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGPOFyNFztBnMLGhfQUgzt7vTih5W8knby_0AmrJZ9bubnVVhDn35tiV-CtSgo7JCJYkTDZWQkL88AM1HrDOE_vothe6J9TQV0ZB_owyVSWnpb5XNNyw8WnmXLmZ5EuHax09BZvVBFN2971GRtIblAcDKY_gXaGudtaQXYyKVcWlsCgtw-C4rMPAieD-bLKb9OLr21PMdGucvPBV5GsnvALYyEcNFFtgyer9lMUBL13qQP8hDGFxP3q6rZmSZv9Yrpi2CvrzQgJZpmF101RTF8jpaZtAJ56hn3w9I-m5J0NisfiJz0qiCsapK7I7UpQDOZY9dCS9kghCMYfKzoCXVvF3Mtp48IV12LjL2dseK8r0cOI7RAx66dpQu3gURemnAp2vQPcIIu1LJ3KM9sAPo5ixew6CYSJG7dIBVFVix-MHxaGY0CHXsr4F_QtObeX-4B1CDTiXt0j_y--0PyLw1HofN_nVCyOZx5Ju_mmignt4B4NwY3VErtyJDXdLG-XxqGzqOkPb-vnj8TOsDiM1pqvzyJQQO5KKcwFvtrdxAmHBI-e781BqyP_tC3o4hHeDWdqiQBpKtL5k53XyS2MgsNZUOJhXRvfGlfWLWgvQYCwcv1Vn_V15p8IJDCGXFLBZhupc5oEELYbhJZ85bNyHd_hbLEAeT7gVmvmj24xJ5UmWv7oq-r3j7O83PtMBdTzwEUTKWSaIlsEI7VeoxU7Vi2MZE-faYmlfJ--CXTIfNOuq_O-aVs244uREy9zzDQPnq83VSpsfTFPzWSYKSNPIKmtXNVhKIIaHKojCTmtntr4IYedG7LqmtvEeECa_uCLhwS3TPEiDMF-gVIw_UC5pzL8Y-FuaM-mQ7Ppnxo9FNhOTNBDQREvXOXcgeIK2yhhpx0nQtQqctZcs5MWCioTa5NI85oJPj9uOdNlCox2BZ07dHj_iiP4_rn-G3e0QmK8A7VZ4a8dCOV8LBw4WN6pfVz1FeTGfnc5paLMyxHyhQzm2AHiqokkxz4M9gr5nONfMyO7b2KsSHBzZBuzrc-auKqJ4UpWSqxfOZWRITHBHW65M9MmrtC7dWJY8ubFoMPWBMVrWVwRQBJ4i5upVtKeQvDzegDnPcC66ABoRY47-lxJ4qHgTzkBSdPuSZ4NQCSq9YlHLXieuTHi9zUEJxNVyNg-jiOKUdWtRfMN6QiLG4ZgBhVtvuaPowx95hcvh3OXLq97OW4tMZE42PhonTA5bkPcNvQWFPvJvC1q4bIm8LIcJBA7JrcnOjSs0Ci8q-Igerk4rgIOhV9KtUIZhe8x6hzfi_QFS0MrdH_AOkUuCDMixWdYAI5AsV6YTNJrZIITZ2MLKG-g55OczvVSCVZXnvOVpnusFz722VG00DvXMhlQ3jXE3axoXAVjmUv5fsbtrBEKYVSY-XBemq5ttkLwGasm-KhBL2J0C9zkiCC07B9BcLpjpniNFYoMFpKONbL4JACVy7v9P9LEkN3oovjN3K4o6gRFyYGJYiJyUg7j3T7fxAb7axixMTdseiYZ9T9LK8SNw0QY7LZ2G_GBC41ZuXPAn6oZYf8nNUBSB8z_c_Ak7jCVzXDvWV9xkPHXFkxJ66iLV2L0VryfAakWFwbGROqGnNSEpK85i0VxM5GprtQ7FjQ_hyfWpo27x_rRuaKMm2CvWbv9t0mumv4ZPSmO11Q0FlgR9Rtpq874-vT-FIUVB5V1xWgp-T92BQTBHUtD8yUxkIinWUqPXHQ9Pi5XquYua334ASw8WX8muBa-MAGzXxAx73o-dZWvv1v9Etx5w4YWfzZtTUAvmZi9-9VctolhuOrfDM1q0T8QpRIaa7MoKhuk=",
  "id": "rs_0ef57c2562573084016aac63c7ff3c87d09a2bd1830935f1bd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.57,\"right_y\":0.17,\"right_z\":0.02,\"right_pitch\":0.6},\"note\":\"The raised, extended pose was not reachable. I’ll try one lower forward-tilted approach toward the can’s near end; if that also stalls, the can is beyond a reliable grasp from here.\"}",
  "call_id": "call_SYQC9QxINqvsNv8u3u1FEFMj",
  "id": "fc_0ef57c2562573084016aac63cc664087d089c083ae3b9465ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SYQC9QxINqvsNv8u3u1FEFMj",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8825, 0.6724, -0.6155, -0.0189, -0.0574, 0.9991, 0.4065, 2.5668, 1.2369, 1.354, 0.3862, -0.1081, 0.9973]\nstate[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1423 left_yaw=0.0139 left_pitch=-0.2509 left_roll=-0.0119 left_gripper=0.9991 right_x=0.5689 right_y=0.1763 right_z=0.0379 right_yaw=0.0834 right_pitch=0.6012 right_roll=-0.1196 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -1.7026, 6.8034, 1.5458, -0.0855, -0.0024, -0.0122, -0.7453, -8.4171, 5.053, 1.8486, 0.0708, -0.0952, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2d79b2491b676011faa4faf83942abf82aebc3139b0940798e6b2be3b882c91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fce36e8b210d35ab9ae4331fe10ed2c2bebf9926907d4b2c5403f77752fa32a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:060296550835da192c79065ffd55777053b05fb012fc866bfa1a4cc042ede51a",
      "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]: [-0.0189, 0.8818, 0.6724, -0.6079, -0.0189, -0.0574, 0.9991, 0.4286, 2.3604, 1.0554, 1.1213, 0.4141, -0.0532, 0.9973]\nstate[eef_state]: left_x=0.2732 left_y=0.0018 left_z=0.1438 left_yaw=0.0139 left_pitch=-0.2426 left_roll=-0.0122 left_gripper=0.9991 right_x=0.5355 right_y=0.1705 right_z=0.0352 right_yaw=0.0823 right_pitch=0.4093 right_roll=-0.1375 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -1.6615, 6.8034, 1.6142, -0.0366, -0.0122, -0.0122, -0.3624, -11.1385, 5.6547, 2.1709, 0.1343, -0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGPUxNJzznQqBuyM1IWBFz0pcFtqfhj_KyGkYXSObr1Z7_QScHH-ukCDLQFbkmkCkwV4NwNiTZJzffR4YbRgefd53-O7hU1Ia-laqbJGrcZFex3L2LL9FYv9lU9BWDW20uoOlX3zBZE7q-xa7uHUof5L34wVJXlgU6JHycqq-L7m67ZNaUjVNg3gzE8HClJC-zakxKDW6rl6zGc38OCE_OeRohP-zS83UYQESPc1cVtjPaEvmH-4kkexae2IpnxTpkGUa6i2SpkI0QEz5RIqdIWY7BXsKD4qtkJzXGNwhsxxAw9IrVmCGIGc0d1HgfDgpKRGg5J62J8XMsd0puuSvIQwuQlGsjYi9sjMJgqh5lY8DTPLkzOU81N3FjhCELFIZsleKMoQhGxeAUVxWC-YJU0D3ZRWhO06bpnFuS63UkXoM_wN4UlVLT_UzQcM037R5bgMS4CX62kYMFcHPwdDirXnvSEP6I3zAXIm74DEqIim_8YCg09xjLzDwdiIzvHm3dPqRRpQr0VOyj9GcYW4VFls_GRLME8cTF8x75uj_xtpQLF3GI6reQYophMRYPJ32BRl3EP5gMBZm6v7DVbI7BNXjmdzjijs4gdksctUYHMMJ7Sf0Q4EedT_oXyE1Cb8_9An0ENxKMcfDcDfbe1KTilPBXJv7f7vgO3-mICh_-BpO9pd1eNtPKLBgcI41s-OBUayvP9TfUjhni1v-9e0Lb9mUsJGXoIjBcm9kPPqR8J2WcLjOsZsP-2etcJDo1GG0cRdYRWyVs2SIzou17lZEYYf04gqLRsOuNJPlvy18wPOpx6hXTs45vLrGwJ5EzVLUtq_0nnCEUKoSImrtD_QU5q5vyzUucZTy45l82bXqkk44KGPQKPooyoGYQmFM6gh6Jw9hpoJducJXH6vMBRUBXe5_znFWmJ3ChrR7kIfpoqUe31UWqr0rEKi6lhDFN2Za_I5-DgzJ9-1Ps7mhrjbipdDR3Iom5UN9m1i-tk9awZkDMMlCLbDVzF3gTUPQGgfL9pPngbhtIgNhGTZvgVF8C-__AogHl3j4F8GpJEpVPpX5nvcN0QZzf0v6l1Bw9BNLx_pAoVmurn2Iqf-Ic_s6ITeVOE1SrNwwNDr3eA6cnJE2EVoBk_nPi5KnFZ-yI8RZSq-rx0SouyVaQVmmcYh6HWwtqOdAOIRd3aXEbRYq4TRhWpugl0uSVVqRGhTDjlXKGisQ-jqQIRVXQCMBm3W70GE1z3qWYomNzPTnHhUAcJATnI=",
  "id": "rs_0ef57c2562573084016aac63d2947c87d0b0698b8e992f16b0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The lower approach reached the target, and the can’s near end now overlaps the fingertips. I’ll close around that end and test the grip with a short lift.\"}",
  "call_id": "call_gB5LmsIA1b9cPWP1icxpIX8n",
  "id": "fc_0ef57c2562573084016aac63d30f7c87d082d5a3fcd7749450",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gB5LmsIA1b9cPWP1icxpIX8n",
  "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]: [-0.0189, 0.8825, 0.6724, -0.6308, -0.0189, -0.0574, 0.9991, 0.4065, 2.5732, 1.2434, 1.3804, 0.3798, -0.1158, 0.7052]\nstate[eef_state]: left_x=0.2691 left_y=0.0018 left_z=0.1397 left_yaw=0.0141 left_pitch=-0.2662 left_roll=-0.0114 left_gripper=0.9991 right_x=0.5695 right_y=0.1777 right_z=0.0426 right_yaw=0.0893 right_pitch=0.6258 right_roll=-0.1191 right_gripper=0.7052\nstate[joint_eff]: [-0.0068, -1.6342, 6.9812, 1.6532, -0.0562, -0.0171, -0.0122, -0.3214, -13.3675, 3.6581, 1.5018, 0.0122, 0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54e8ddd841e3934a2fa5a745fbab016f7f8ff5430160471a9bade527b24b2da5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ed00302de5acfeebc6380f343c2b5de2ca1c1bca65d7b54c63c9d8dac0da5a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9354bd6002777671ef03e6275f0cb232cabdeb93c58d43e658525453dc759701",
      "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]: [-0.0189, 0.8825, 0.6724, -0.6155, -0.0189, -0.0574, 0.9991, 0.4065, 2.5668, 1.2369, 1.354, 0.3862, -0.1081, 0.9973]\nstate[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1423 left_yaw=0.0139 left_pitch=-0.2509 left_roll=-0.0119 left_gripper=0.9991 right_x=0.5689 right_y=0.1763 right_z=0.0379 right_yaw=0.0834 right_pitch=0.6012 right_roll=-0.1196 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -1.7026, 6.8034, 1.5458, -0.0855, -0.0024, -0.0122, -0.7453, -8.4171, 5.053, 1.8486, 0.0708, -0.0952, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_y\":0.177,\"right_z\":0.11},\"note\":\"The jaws stopped at about 6.7 centimeters, consistent with the can’s diameter. I’ll lift and retract slightly to verify that the can comes with the gripper.\"}",
  "call_id": "call_namjv7IH9wdSQgTaxdoWxF8j",
  "id": "fc_0ef57c2562573084016aac63d7537887d0a8ef4b969e8f8e6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_namjv7IH9wdSQgTaxdoWxF8j",
  "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, 0.8864, 0.6724, -0.6369, -0.0189, -0.0578, 0.9991, 0.4397, 2.3135, 1.0218, 1.243, 0.4053, -0.1158, 0.7052]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1378 left_yaw=0.0144 left_pitch=-0.2761 left_roll=-0.0113 left_gripper=0.9991 right_x=0.5314 right_y=0.1769 right_z=0.0765 right_yaw=0.1173 right_pitch=0.5317 right_roll=-0.1563 right_gripper=0.7052\nstate[joint_eff]: [-0.0068, -1.9624, 6.7897, 1.5507, -0.0269, -0.0366, -0.0122, 0.4581, -13.9009, 5.2308, 2.2882, 0.0415, 0.0562, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2a68924dbe839a444600e6161d3ace868b6f5bcf080c5effab6402e113d494f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:086bf9a1e23c7231253e56adc0d6a9a8a4c71ca6afac204891ea0982d5f879c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41ca9e6e6e4bf1c544431224b984f5bc43f679de3af3acc989ade16f0dfce444",
      "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]: [-0.0189, 0.8825, 0.6724, -0.6308, -0.0189, -0.0574, 0.9991, 0.4065, 2.5732, 1.2434, 1.3804, 0.3798, -0.1158, 0.7052]\nstate[eef_state]: left_x=0.2691 left_y=0.0018 left_z=0.1397 left_yaw=0.0141 left_pitch=-0.2662 left_roll=-0.0114 left_gripper=0.9991 right_x=0.5695 right_y=0.1777 right_z=0.0426 right_yaw=0.0893 right_pitch=0.6258 right_roll=-0.1191 right_gripper=0.7052\nstate[joint_eff]: [-0.0068, -1.6342, 6.9812, 1.6532, -0.0562, -0.0171, -0.0122, -0.3214, -13.3675, 3.6581, 1.5018, 0.0122, 0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGPj6Mwa0VH9c4ChYoetnMI0Ms_HWN-X7AjuXSrlmCf1iIFSw9m0e4Hh3sKq-Uwv-OyD1JKZaMyYoPCM1lhfwgt8ThYBWpya4WWY3miVg96XSuw9FizG2e4f3lAIjaQVRp_dOzAfmU1tzoZRLo630e0Layjzrf7L9T2xkBjssWCmXszj1dn3APYNaTd6F6w7ZdYsGZ5JNwS4pFb7yYFR50Qldqm5SsPUiUAOq0EcXp6_JgEEMMVsaQFxU94_gRZSOrSteQc-qwRMVgN25ZochFlLd34gQ2GhrKjyDKmJyj-egbx3_FWphZLSknio2TrV7CVWTQFyqYQUa_d5DKZRPPiRWv9FfJUIPPKnV0x2upum50AqOOrfb6HKM67xFs7C_L6a1reiVEEZ9Ysr99LTw_Ubmw1r4ZgJ-w-Ju4aRfb1cdkmiEY4CuxTCVtBv6I3tpsgpgA0iHqqO9vBHXhPl6kJ3QmZvFygsPci63M4z8_RP3_EECh0z2btP9bmpj7tQ3oz50tSkP9alJvRDiqnkktJDbHmgShPY5VgMUKAY3sRjpGiqkDzHVKuCF_hjaPTUpmSfsjHFEPvfo1LMJR8nEnlG6Rlm3oRkGA-KjWUMg9MLSXt6t_CB2Hg-KAtC6AX9WITebBGFK4wCl3LQzSo6DEvZUyRL4Qwk0JJooPCij0D3zxgkjflyxJaBqaAzx7gN8DCQ3Ip9FKKQvwmuAlPMsMJuVHnwA3X29Cbk22gKFQ8wgbMmh9NsC6X6R596QPgY6B0IH-nuQI2rFxP76lro7z-MGDF7hAJx04PApJ_9H_lo99MR6oFghXGjaaT_Eaxr8JS9OVnHMBItY66goM1em4aGbCWjgC5ZkRh5VZro8s2auGQJr8Lmh7lkgB6E1zxzF3VSjZTCEpCDj-9vjG_fyqyWoBgn1XCg7J0vCe7_NWQF8pbYQaX6w1Vn7nACVjpzgMt-LA-RFHxbAjs3XgzROkOCj9np4XiTaVrzlzCXxc3EWlwWi5iOvsmDsCLZSNDVA1OABL8kZK0mIgo_NAB6macptAczwVvZqhMVsZNTUZoJruHUcj3R38vcNrIU1dizPMgU4tWuiE2iKeiPeO1PlPzXWlFgSpJ46MPPCkjfvp-QJ-8eAERNSBmMXFijsii0vP14vwEMQzspVn_tO-mXlm9km589nKrPn9GxvJt2V8gg9ZwOBRqRaAMrGsvk9FGbtrWAtiuW2ZIE0A-ehwHX1m8TEx84ovqZntaPHt2rH08nsOyluYcq9G4F1Yimqy00jwZZ9BZmJwBPr5Fb11chEhtSaTF3FnfEfam_ylwVDP9lFcMIYQmS-VcZhQgKfcrvIsKUHoAnINW_AN9ADeI-N_S9UmGVptBUJBakQKM0WOZKN0cNWljjCBWQUTyTNyOtX6b78kXiutMy3M7nWQnoZ-5iokKzJxIvMbds5qQJlsCFFNlPGuffCACGf-u-Bf2_Woetg-extEKZoYB7wC3mh1Yy_c-RMK20sSB3_mMRO3GBSa-HWSewkZA1YjBtN2jpGtIaXkaL9js1YBbL_nGDeIR6PimYEz5A3y38l7OYUS22ChLrLsWzUaa4IkM2FM5zRHRK4Jfk7JVvS-o6eZTuAmk82DJw4PwE-r8DKWTiWgCEzH4b37E0A9-J4raPb5NkwklwhhEjWwLrAE1kSSC8bW54VIbUnilTD9RFb9gi9XsmLB4AwvaypYSR6rmk4mZpipoDQVhkQeMef-pWQKLhV2keRg==",
  "id": "rs_0ef57c2562573084016aac63dd0b3087d0ac5aa273536ae89d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.3,\"right_z\":0.2,\"right_pitch\":0.35,\"left_x\":0.26,\"left_y\":0,\"left_z\":0.24,\"left_pitch\":0},\"note\":\"The can moved with the gripper, confirming the grasp. I’ll lift it toward the middle of the table, where the left arm can take over and reach the burner more comfortably.\"}",
  "call_id": "call_RizMxNxYtfvxbWaIfWxF98Qq",
  "id": "fc_0ef57c2562573084016aac63e1314887d099f0624b630c8822",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RizMxNxYtfvxbWaIfWxF98Qq",
  "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]: [-0.0414, 0.7097, 0.7956, -0.7277, -0.0383, -0.0685, 0.9991, 0.831, 1.9034, 1.1484, 0.4038, 0.7303, 0.0395, 0.7067]\nstate[eef_state]: left_x=0.2566 left_y=-0.0003 left_z=0.2173 left_yaw=0.0129 left_pitch=-0.0667 left_roll=-0.0151 left_gripper=0.9991 right_x=0.4318 right_y=0.3036 right_z=0.1682 right_yaw=0.1822 right_pitch=0.3119 right_roll=-0.2036 right_gripper=0.7067\nstate[joint_eff]: [-0.4991, -0.6222, 9.5658, 1.8486, -0.1587, 0.0073, -0.0122, 0.1162, -13.2171, 8.759, 2.044, 0.4176, 0.1343, 0.3736]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d8af47e6121a564cd46236539a7bae350c142b924a59e3fd01342ffda32086c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e8cd36e388b0bc925f371c7dff977665539935eee6681cddda0388ba860199a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c372ce3ddd332f1bad68b4136462f7f72bf9330ceb1a2fb2a9956f07fcb99575",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8864, 0.6724, -0.6369, -0.0189, -0.0578, 0.9991, 0.4397, 2.3135, 1.0218, 1.243, 0.4053, -0.1158, 0.7052]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1378 left_yaw=0.0144 left_pitch=-0.2761 left_roll=-0.0113 left_gripper=0.9991 right_x=0.5314 right_y=0.1769 right_z=0.0765 right_yaw=0.1173 right_pitch=0.5317 right_roll=-0.1563 right_gripper=0.7052\nstate[joint_eff]: [-0.0068, -1.9624, 6.7897, 1.5507, -0.0269, -0.0366, -0.0122, 0.4581, -13.9009, 5.2308, 2.2882, 0.0415, 0.0562, 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": "gAAAAABqrGPypAJ2tFQY6sTF2V6ayHsjJkjjXxUvSOHDlMbMJl3Sj8OArh0LbEYVsyRXrUuvXhxGNUcOyvrv4lDmRNwB3ZOZ0kj9a5MliKLI7iCaItzbEKP7bUiHlBjxLEc_SeE3SdsdMZtSo3OGk3mIBpziqKyaVTSwVQcVjOX7qQATLajGjceUXL9k9zjS03R7l-wqRKCP84tv4E3-s9VGdKh-Vv653mNQPfsOMQNVJW97ApYIcNMV0DNNPloQ628bzz3jD1paNSLF6DCsNpb39gf_SWRL6GW-p3VlzGuo6voQHlrspUJBR8raKc4K7Lz9n_7hl3jK1hsVQiAZHEgpBuzZriL1VMBsYyiSS7fewKsPCYPj3wdH6m3_INx-SX3buuolK20wviHG5TK0xhJfJ5Ahy7eGWD4fFxs9OtjPZxhbAOr_hnmCZaFnTjilo1PJCv7iuW5cRNWRzekGTAhbeOSqckXCaaDQaYMYm6t1ogRiOUMfDt4GH3v9WK4LBIpN7QEImNXGKShTN64rrrhFMgTkkDIMUANeo_z5RQq3HfgqUq6pLvmNWeP-Ov-NXK2me3I8OoGTQIL0gihhejJr_lkZUd1WHIfaxK0209IEQRBlITCRssPaAa-gd3TjRcz28U6lfid7q-EhArQJvQ16mwn-m2DHAGUTe-gnN1zgIeGR6OfgGEjlSjbg2aFHPBY3v3L54O0UFHDlQj-QWdobVxJU4GW6zIjSs353CasB_xW3ObNNhdG5AzkabhprF9EpogxJoRJqJ9ddNvdOzav_XPhesDwFKxisEirUOVIU1mv9RTnEUaFrAkrk3gHucAprGr-cdQ7IiQr4I6o-LKA9z-D2w2qfPgk-GKcWy9q2lxlH0N8kgEl8bjk9x9yizol2E4XI16cvbLCyUJaqwnN0koxeGMH2BAjYCdb78TS97oEAWSCCQb9u9I76gSdgVMrJ3gFqIQz3sDMV_93R4r63WXWUc1oz_exFuUN0hoxSvuI6MId9nGWwqcKzHH5eK9ur-b1WKsf1f1jp_3AHnlRxvuf54ra0Lk3IdpY-OjR7LUXD-gAv5Ui3h907_5Nntsb1HCWwRlzvv72C6HFhXsmiZ4J-A_VyuUDjwJ0VS9lvtVaztnFLq_iVz-LWnpAPO5HK43Y5ZjETFsySDxcln58QqJp1fTndWOJd0mc1cPOW7zDhhyZL_K3YUNC8HLP5NgTnF5wK4uLEZ9YAprutsOoECQEKcKfOP4XjZQuSaaRnFlIIIL4Y--l0TRk8pE83WsKSOIGXTa-Hhba5V11tL4zE7CFAJti7zI58eu_NGf0ErAGuUysvoopNxjzsScA0pucsdSvrWTzfVCSGzn7XsHViXgYjADZW8HU4cUncHHAYUkBtIJ0gFVmxLNKvhPvm1YjF6fqS01qz0_EBRHlO552JnoZ2IGu0hPCGM9WLhzhno45m9fd9tc_xb2XJ6DIeYCFScorVKT3C1SUCCq1IL7-ccul0ocY-gYcNM2gwoW1xzmNCFTMAmUtJGr99C5qwV-py93xB6696I8gGXuEih7E0bFj38kRhLX3T4MNN00MM1A8WHRBlPfa1AwedsszNOg_jYm_Ol7g4OTZCg_NnxDt1tWB0eX9Ut722FKmKjC8Jm2-QqteeiMtjQryGoAi87LBY6K_IR--94506WRuYEf_XDRte7n46Xod6_2GhKwNTgJ4-kQJ5nQ2uZhQcqTtE2d744v-au3fBFWNOF6FKamK-d-uhdTiP4xWhsCbcZxOhjS52cSrZSaW9VmghZcp0R5H1mVkdab3S5UjOUGE90W0f7DEeBhZxXzzW_lpctL0Ak2z437uQnDtiemXMhp-HXjnCsecWzichAvuvWCTpHih3kBUDB6rZU43UiDkgGQIPt9TruD09eJkl_d6iTQiR05PUeEW1VFTmcXmMSjHeK2nMU-5BnRnZWGsxGuzDaVjic2QzQefUJSHZ1BW0aAl9y5775zSmZTrD7uTufE75_Mx5bdfWeVWzVUc8sKHfyWhD5SF4pJL-E6_o5CWdc9xkLc16kVAWr64U2DzalXrF_iH3q0eXtKYienR3KkjgbQTtnwbDO7-DVcVgzU4wcGOW0fi7LOO7SxoW5jX3DNCdNLPXNtwMAM12Vtd_zJ4LFAxlMfEzarSQK_CLqTjeukXD9UoE7TyVirmk1ZpCUdkYs946uut9GMw6--d8HlkOXP98CqeuXacW_Jpt7SsnoaXbjek48YapJV4hWHJADW2bFbFgaUI6R9Dg1_U4ywruQDDSSUvak-mvaMbmRmuwpev1aFSxQjd4TkMQ",
  "id": "rs_0ef57c2562573084016aac63e8797c87d0b6f11e939a7af89e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.37,\"right_z\":0.22,\"right_yaw\":1.2,\"right_pitch\":0},\"note\":\"The can is held securely by one end. Turning its length toward the burner should let the right arm place it directly without a handoff; I’ll rotate it while keeping it well above the table.\"}",
  "call_id": "call_mStM3Sg4Ur7M0Etnebkr3bP9",
  "id": "fc_0ef57c2562573084016aac63f0488087d0950da1187723a966",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mStM3Sg4Ur7M0Etnebkr3bP9",
  "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]: [-0.0418, 0.7132, 0.7982, -0.7433, -0.041, -0.0689, 0.9991, 0.6155, 1.8469, 1.5398, -0.2565, -0.2272, -0.4252, 0.7086]\nstate[eef_state]: left_x=0.2548 left_y=0.0002 left_z=0.2146 left_yaw=0.015 left_pitch=-0.083 left_roll=-0.0129 left_gripper=0.9991 right_x=0.4228 right_y=0.3521 right_z=0.2199 right_yaw=1.0348 right_pitch=0.0161 right_roll=-0.2424 right_gripper=0.7086\nstate[joint_eff]: [-0.2393, -0.4991, 6.612, 1.8095, 0.0073, -0.0415, -0.0122, 0.3077, -9.4017, 8.3897, 1.6337, -0.2369, -0.0708, 0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76deabcfef596c0129a93a0553317c67b98c9f183d0e0bb6f76d0435ef5accda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd085a4fe7c81dd4672cf869456d6ddd56f5a23144227d905e93d5bd22df1847",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:005caffb466a2798a0bd387b2573e797db95c99cf8d6a20b14687d4431e4af5d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 76 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0414, 0.7097, 0.7956, -0.7277, -0.0383, -0.0685, 0.9991, 0.831, 1.9034, 1.1484, 0.4038, 0.7303, 0.0395, 0.7067]\nstate[eef_state]: left_x=0.2566 left_y=-0.0003 left_z=0.2173 left_yaw=0.0129 left_pitch=-0.0667 left_roll=-0.0151 left_gripper=0.9991 right_x=0.4318 right_y=0.3036 right_z=0.1682 right_yaw=0.1822 right_pitch=0.3119 right_roll=-0.2036 right_gripper=0.7067\nstate[joint_eff]: [-0.4991, -0.6222, 9.5658, 1.8486, -0.1587, 0.0073, -0.0122, 0.1162, -13.2171, 8.759, 2.044, 0.4176, 0.1343, 0.3736]\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": "gAAAAABqrGP_5sa-v5OwuFIZNrjk1WB5Hfa35AIqPsWyA-WBbxBRR2dyjfqF5zQL3j8VS_GkZ4uJRxSy3Kj_5wc_aP807MGJdlHkkRTe2G1F2_o4RO6sq8aIkO5-qmO77ocie-ZulafSb2VTeaJ-r6x6f5vBUANZCoOkbutMTf0Go7-6qXaENihfi8ZrflFAZjdh22CgV2TlykbwVartWCzeljuURGvDpxEUUpaRW8C9hdGCvsDHaFCJOTyJL-sQiqQ-hserHIXLsi5FRLAFElr9dcpR5_SzTOrslrmFP0PwevGwVdiT17BALMXukIzawwKB4dSV0U36NuNzSssuO11g9oghlv92nYMF8q_TXVqFLt6sgU7QK2m6QrBv0sZVcxY5SVNnRIc4GmB4QLUd-R51tqvdF47ZUIHdkahmvK_fy4ctAc5Ye7AmZ1c6Lx0cnFSOQJotpM9bNzNj_K1gM2vPludcFSuhqiyOGKl_bMKFUHaDDANj5Ws0lETY32i7Hs75GtEr-T7k60wT9Dq2mgAXokEVfjlLdZlDZY3TJdpIpIblWmc7SIbbpA3jhe3kQgwli1cixPZUfUeJIBgxmwmvVQi85J8Vj_i062AkX4KkNjkCz9RPTszh63Bri95hKnKwDs0XMNWCjNaCLYm-qJW0SgbQ66XhL5KrNfy2v04cBCGkiLo2pd9Bd-M03gcmkv5QogOleYRv9Qk7itJ4dFPVYVRCDkybe2nVysI9Hetyurtpgd9iYKt-mfdWzsTnHnCf5fFD9gQLzNzVhwkScY2Zj-4_FMdzqa85G2FkmYvAna_7eLF6zGhMbe9arSXwvPSBdf2bTMyyQYTW3OTBZDr-uc64yt7EcZXUHaDhGEpdj4xj9G4-arW5SD4fwFeti9fIYYq-U5BHehrqOdsCMW5Ua-5OPSioG4wMBGesSO3Ewevt8u7ce0Zs_N4SF-KQ3WYq2j5HqnbtMmfBjJJD298QVA_C_JK3F4SbS3qgRy_ws4JePpSPYfUwqfw0eTccHqkrfvKw8xHZjQAEm_f1s_orOpgVC2cWdjw60SD9kOO6dJcVpITw2n8XHcMUBakNDQtc8Hz5rsHq6JNqHDsu5ajeL6Pmpphu-Mfcy9i1e8d10R9g8-WWt79mmBYgSlyvNFKcm6FmmWF3r24B5Jsfj9ryqwP0gkeNrFBlOaiyPvqm8FRk2Z95plDgvnzh7B_j6n9gNC0CdZp9-VXtZ-mwbLEeKl9zKCJJibsS3VA5xFN8ukYPT1KfDUoj9ZbwPV3anEXbnD9oW96b2EFR_xsPT8qWP4T70oEWZUR2MuTPLXmmHPSjhw1ixWuergyrORtQUgAnwYy6TuYpZaVq2qxfR-LHcquNEf-9OeoThEIMK1hGKDM4Xvg5tt_tcn5jNddUH5sYn-qpqGyU5lx74W24i0NRAVk-2BovQtf6rCn1CLriJfTgeJ9jaDmIp0QnrQgGDNT-VRB91mUOCX7o9N6O8X1FxTOnNt8JpuD-wmU8DFFS8RICEtMkVWeYXx5iJpChh_PqkpCi_tIv_Sp1mFNxD72HFFeD6wBrDig5AL60YDI7_-izXF2nUI9n6-NVS_4QnxXYX6tcrU2o81BLarv9m9xxC8VhDzwawGVbl3henw2hfT1eO0eUh_Nm6K2Sgg5eyCJ9Pktd_-nsPrLco9mekRmwUVH20zBACSsV_8uINUajILFv04hjnR-A_4Xi_oo3NkFyqMopcIeD_Fp0AIfbZh9KRJNXdDwICJo_MPKK6Dnt7cJDSGvqro5TR6p3FDoEAhHrGp-50zh34x3aTGNfe19bxy6OMK1fqdAHq89kQEjd0s69ZZ8Ghdv7xItBsZZdYvNxuQvcXkoeJj2gnaIekKG5M7ThTT_tgSyaIHVcPZ6J3LTtG9uO7i14jf1nYf4-XdWwvbo-ov-geqy15rqCq-wFBxV7UQuZRQctzci9v80AvqOrINkJfsP8ZsuZ4j46LbXvucFLpMe8HTsXxDKA4qi4eYEpeXU--a_AnttNkIJgbnIXRisjoFRXmSgIBnQ0bAJ0GbWso6ykhPYuYVv8bR00pDHzVEYPpIfjNnOKcH1FG5lLyQwIENumBZ7FCMeOAGzYcOVA5J8muzK0SlaNJYWBkEu0RcYRMgQ0NJCJAvED3cGpG3mNYbGqRnj_RuUW5MTbj1ZYYrL6VX4pFAIsToU_icwZGW_xZIkdWY387cel1gTsZ1iVh4k=",
  "id": "rs_0ef57c2562573084016aac63f5cf1887d0b0ff2f4eb56ceee0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.4,\"right_z\":0.16,\"right_yaw\":1.55},\"note\":\"The burner is to the left of the held end of the can. I’ll move to the arm’s leftward reach limit and turn the can across the burner, then lower gradually.\"}",
  "call_id": "call_rjNR7PBW3JfuNezPspSQBBqg",
  "id": "fc_0ef57c2562573084016aac63fcec6487d09b4ed08f9bdfdfad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rjNR7PBW3JfuNezPspSQBBqg",
  "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]: [-0.0406, 0.7151, 0.7982, -0.7509, -0.0414, -0.0689, 0.9991, 0.5335, 2.2105, 1.8732, -0.3893, -0.5838, -0.7162, 0.7089]\nstate[eef_state]: left_x=0.2538 left_y=0.0006 left_z=0.2127 left_yaw=0.0165 left_pitch=-0.0925 left_roll=-0.0121 left_gripper=0.9991 right_x=0.4578 right_y=0.3876 right_z=0.1551 right_yaw=1.3974 right_pitch=-0.0206 right_roll=-0.2173 right_gripper=0.7089\nstate[joint_eff]: [-0.0342, -0.3077, 6.5846, 1.7118, -0.0415, -0.0708, -0.0122, 0.5675, -14.4889, 8.2256, 1.1111, -0.6227, -0.1343, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbbfef234294c9937f71105bfb9e5b13ba2ee3419c92ac838cf87cf0a3a31ff4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2ebfa592ebb04ae1e772be4609c3bae0207a519ec0960b86e8d0c71bcc67646",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd6de9c73b1115145b2e783b28f87722642919360702220b3ac34553f7c10b6a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 80 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0418, 0.7132, 0.7982, -0.7433, -0.041, -0.0689, 0.9991, 0.6155, 1.8469, 1.5398, -0.2565, -0.2272, -0.4252, 0.7086]\nstate[eef_state]: left_x=0.2548 left_y=0.0002 left_z=0.2146 left_yaw=0.015 left_pitch=-0.083 left_roll=-0.0129 left_gripper=0.9991 right_x=0.4228 right_y=0.3521 right_z=0.2199 right_yaw=1.0348 right_pitch=0.0161 right_roll=-0.2424 right_gripper=0.7086\nstate[joint_eff]: [-0.2393, -0.4991, 6.612, 1.8095, 0.0073, -0.0415, -0.0122, 0.3077, -9.4017, 8.3897, 1.6337, -0.2369, -0.0708, 0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGQP2cZco03cJ_GIDfdFIqQ4Q2O3hHQHBSKYZbZZIrsJpgTUEe1eyhPJip0ND8gGsS1hnzhH3zotgN6I7MztoMEfyTgWi9iB_x7nzX8j-fR_9A5Lqw_4kolylL7DiomXfpXnAqEdMlvFhpmj_EkLjP_5OB7PfS-KYh1u5W9XvJ6k6RavhWK23DyNXFLe34MaCo_vUdvjRSuLPq7lSrCDb_vkumQEFUGBtZ4xv8djm9eqeURt39xwPkhf4q2hEMOTLlU285qTJdn4MTKAYzDM7dpUUMiDMw2Tngm2LmBHn1nYZ_xSFpASveue2eg4je9Z7ClqB-Kh1fpHcSQjkkEwZAwefZIqoyHv9K-CEUe2Y8FqQ6cami-ObEFhxXFZC-t0KwridaDQ_JgIer5RQTBdgXdB6T8CHlYS9zRmUvDTbs0sQNAhYPceISU1f0HbHaYeFJ_qvSwegGNDlyt0kZxrb1lrfBiIrb05jj9ZRLhEwvCw_aTP8nRIhPq1oJ9NL6Np8Izi6yH-D3PEnGFkxR1vnLgcxai86xnPf-Cmi4mDT48lkx15j9Y-QlG0S6cb99GahOqwEO9TX8cKyRPiTWoy572GNTn60xz1e10TeUjBL6OFJJEMn4bM889kdQ63azK-SeArJDWRjwd6_WGsoSmOFjaY41ukBbIuoAJUixbC8TCGaT3LgZldElLxXZwK2E2g_dWGNPHXwakDbAkg3l_glVqAMXKeKLgRgsuJfxVO1ErB3Y30iNLPwJ2JudO8cdkk13LDkXG87Qpf7wdwzzRJ3USrfAnvrZSyiaHHRp_dEucvDwx9mZRCO43-kHSIAlAtOJ-rIzWx9E1E7q9EQblNl_IlMTXWZm_TGfPOuWoRZQY80Y3_hKLQmqBFfri7d8iD1DjILHNklmLcNCfVttWqlDHfoQAfJlOg8Ni13arwSyt9UJh4BTI5pu4hunHJZCEjqzTwWdBAgSKHteF2YSEd7rASh6FFhFNpebgAJPspNW-Zx_qBxfTAk22DQ8LckWwimMuBJo5XqHy8n3KipAJdJhjFmsvnTiJBe2l_R61AEyBip7hucG9stPA-9yUymve94YFZN4733axMtwAj6gedLkHCTqoI2HkYuP3MInvK0h6wiSJmiuFZkry5iqgy19G1_bdly0hAyE2YCuMekOJuyTRBG3FeaDdq3CbFD8CsWiY9k-BVAMYT3mAPfC6PgTRGP9aFYaTbwkc_SYDsDejBdBXK-fFdBxCMGb-MNmQJXvB5i0QlnUGi7p_8ZAPtbRT55qlPnAZt4tJ6d_jSz-pBl8Tt3--n2elpNrR7wMJ-Z27dOhdkUgPnwbvur0_mWIGFlqJZ9-SatUrBtfmj_OfrTkMZSlLLiRdjRNNYTiNeply655F3xc65xx3NzaQfS5ffFs19TepFR7SWwcmY2vzCNTrkG3MsWX7672Bab46RyEgyYcxVxVpqilTkIlDIGyOkNRQVIPlVevIjHQOa9Bf17gtBkWvptEY8-dSloZwXN7zCA2Qqk3-24ZUf2vnMWX19-hqamnt7DENLCOoOaijFnSAcSfElONUkRy2jGs_wiTTfHqiMVQy1CENYDPwAWM-HpsAfziSU8DrJyi9MaU-aYfHRxre4JTiIe1MUr0WQqDzAjvcAPoNd4Dc7OSJtHDsM_9qx0UozgNUFmGstDM9tbkt1lQzlvWRNYLJH-9RMio4B6qe9s3ezDkY_B2SrSzej5FOO9WjdU93zIrJrfnZlkpLhYG0lbv8azSvAsDY8PJEE2Pu2BUPqTkfBG5M_plhj_DpGdOcCAURJv367eSsUzRRayCpj-VyHbFIXx5U07BPL9UJsmcNMR47r5eXe_uO5TLGN5cCdiAY3A6ZJwyZ4-5zb8ZgidlykeRiiFnuOqdV6Dy8SvaAkVfLVmbddUK3F23dzEE59qbdqx3nK95IIEH4dWhB_yz83tjWND92nQQVnL8FrXEp2ibHy5r1gwgXDiKPLCzGS5DQvjvEQ4mgL2GVpIWm4QlTyUNbEPRUDfliKlmyu8IpgsG-vI22opbf4-T7HhSiHjiJO3IQZsQ2wgYcO7AaBoolsaVnhnLV6cNYyH74DBKSRhQXgXVoRwhJ0YMKOhMP_WUYnuKVoQ8caInY9fnCje1dBV9OI9fRhiQ6HtoBa9vz_BT6_nwHiqeIYUt55oixnnnY7L8TrqJPjWWad_49_Qs7yld4BHSdBnDCijbMj-t3vkJ0wZChYt5nTosvMXtwyE7SLGQ0XX85gZmEtj-g1so3rRU-BmcQOEq3BM4g0tWhIKqhrTeg5o-a1tWESSZCfoN5HdC_WttEONg9mtos6tjtY6p6Jo-bF9_a7DVk3Ml7DmiAzoFHnHXG1DQEofiTaqmWzXBPIcydVHDqQS6T99QTaGUj9ljHRCaDjCPOrzUPXM5OoZWDVR3BqaA3j5UexD7gwDPv4IEKi5mRU8T3Hu9V5pUYTX1Wb2NvU2VMYTCDu-QxXNpwZ86jEl63I1C6j-_9lXsKchvpcr-jSb0yxBwHwzECGZF1ijdpHNZvOWilduCtMXGExesug2_sjwfBfbDhHgLzpz8tTsTWMwX0B6bKLR6TPjrzDAoYrHlpckQ-00N3g2IP-ucbxjjLozFK4vJBiLX4GDRDA9ZCkQc-tTem-JT0RiI0cxJjIBaMYRhJnoKWhepTP82BEJga2pNJSVjDMPElh6jE3JET5TuEtMMD6jSiJ1AmkTQ6RQDh4T3Gclzj40PRUb68dhGRYf82BlryUCpa5aw2mHjOKEaubMpZ9QEzNkeNtLOsDjxxdu2gNfiRWBITFcAX1AgL2UbAmPUyABmfNJIyem_gQKDRqTBtk9wrYHHe7_tvblooVtkL3G9n4U-ln--knnx0GYKVPEt1uUCkvHNeIKr5exvwZXThzaf_tSeBcHz7iUIBxWEO4AKGRxQ6M_0KpHVSw-ggtLavAClNc6IKUc6thUQ==",
  "id": "rs_0ef57c2562573084016aac640177b087d08dcaaf39807d1fd9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.37,\"right_z\":0.23,\"right_yaw\":0},\"note\":\"The overhead view shows the can extending to the right of the grip, away from the burner. I’ll raise it and undo that turn before rotating the other way.\"}",
  "call_id": "call_UG9SfGAzwJIh5a86IHC26cq5",
  "id": "fc_0ef57c2562573084016aac640d80f087d0876c263320a34b47",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UG9SfGAzwJIh5a86IHC26cq5",
  "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]: [-0.0406, 0.7177, 0.7982, -0.7647, -0.0414, -0.0689, 0.9991, 0.5354, 2.2704, 1.9114, -0.4549, -0.6933, -0.828, 0.7089]\nstate[eef_state]: left_x=0.2519 left_y=0.0007 left_z=0.2094 left_yaw=0.0166 left_pitch=-0.1089 left_roll=-0.0112 left_gripper=0.9991 right_x=0.4411 right_y=0.3971 right_z=0.1345 right_yaw=1.5408 right_pitch=-0.0234 right_roll=-0.1938 right_gripper=0.7089\nstate[joint_eff]: [-0.3624, -0.5538, 6.5983, 1.7998, -0.0708, -0.022, -0.0171, -0.335, -14.9265, 9.0051, 1.4628, -0.4762, -0.1099, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42fc2de093a0c2594180298db894d22acd7ee4754ad877262cc4f578dc6216fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5517608581a1223813662796458ecf45ffad162c497ae6e06e591908118c0d7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f00c7c3b9e4c3c2bf876753e87a32fa43a52ed7fa8e15e3c70afae932dde56de",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0406, 0.7151, 0.7982, -0.7509, -0.0414, -0.0689, 0.9991, 0.5335, 2.2105, 1.8732, -0.3893, -0.5838, -0.7162, 0.7089]\nstate[eef_state]: left_x=0.2538 left_y=0.0006 left_z=0.2127 left_yaw=0.0165 left_pitch=-0.0925 left_roll=-0.0121 left_gripper=0.9991 right_x=0.4578 right_y=0.3876 right_z=0.1551 right_yaw=1.3974 right_pitch=-0.0206 right_roll=-0.2173 right_gripper=0.7089\nstate[joint_eff]: [-0.0342, -0.3077, 6.5846, 1.7118, -0.0415, -0.0708, -0.0122, 0.5675, -14.4889, 8.2256, 1.1111, -0.6227, -0.1343, 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": "gAAAAABqrGQZRDB8zi--NraWWh09nTkr7geCgfuL9YB0kn1r9kROvyHrk7Exsf9R-xT_lyiXvjYjnLAnTVf39PGaM-lMOp9aiiwiHb7I-3UNlkeG3K9JemcsjRDrBDrZH9nrAYWDDbGmF4uAg8wVMpyiSbU4Tn1ECVo5xplvT45SmOVovHL0z0QiD-VjiNPVzsvIEAg88Cjl-hiELU-RFppv0FKm2MfZVlQFbYR9i5j4X8ISKGyRVQOPUuq31-IDhVBN51jXqpx7SWyGvLiv0uDURHIgNH2TUvJfGT95904OCSIkQCqC8kN25_peNbk5y_JdSbmBky3frFvbgN3NOp8aBDQ_OnH3NE99Tq8ygr3mT5b6rz0_L8VMC13igOvEniMZfrhf2N5AdNJQBwGNpnNjwwEVKm80HBS8olvaQBRVsv1jxqyLACCPqjP0V_5IJR3ZKeBx7BJjTySw8V7yoEYbalBGvIvRO18p0I5VDuSfSpKgmqAT-vhL1i105oc5s0azHYCWJYvzxKBbzzKZ2Yr3nA5X7oWg4wSeMfLUc-mXkYYLMYrtG5iAFUqh54eIM7_iF-E0G3HdmI4nAqb1n382qvZXOVgzuArrYamrw_kh4pBqK4NjCKlLj_3ESf8JKNxcQrCtpokq95MiGc5FSxXhiLV-7V7AN5lsfB_GywNEOf7pylzO68oIlEPBA3-AkwdMwUowMkUJOlytokHceZLS1qsPY1GBbZLBLa71XYmOVCNRh8hBjNw8gQIspHe5HLKPBUyfGlFWhALSI025n11Dmxl-5qWOeiILzXSfwbI9v1aE81yFMtxIm_tFgVjaJSSm6yRQgDVi7KuE4d3uvUYvPjnBPwVmO_iUn7HJL6mf6uCOU5tdSD4Vop8b5j70b8o33xZDstpCaIgkcEx140706FFOeoV5_kADbYpE9ewKrXCsQwDp0B5_Wo9WvKcQ7HhepHjYEIkxLDwYjr22YVM7CG2mPsecrzTFJxef7Gn36o14NPoK_P_GX5_lioVUPXqNZjcS-1reOoZmzL4qAVnk7lt0dzAI8yMCB4iO9VN0kinxHChAzj6Q30Mv9TSFwUzOQq-to11Rp8DZJeCiXo5EYlP4fOZorJHprpWQRwD9sxxsmYZo7ncWRIstOXxqxbexwrgKaAj9AY1UJYAaKw5Mt7P3ZU52F13KlRHPKbnnL0eO6FBD1WTYieRpW495mBZCWECyCdSbQqBZt54EhBOjcpYYIRMmVW0ZV432Dpo6po9YZOZKyd0Or_v3E88j8X7BlwqFMeppNxe65J5bg6CfpWMzw-lvQvY9pkC3Vg8S8WE-sw-1Qdt5mruDEivo6W7bi4klcsLgoc97TgVrNltYeZiydnbnSaiZNEAkZGT8hd96fC2kcWC0oH9NSFU08Md5VGK2Wie-ZC3eqrTkaVP1-QgF6PReY428MWbwfj7koCpaxzdFg7CvDnGxYUVZpt-ENQY7HxPngWT01k2U8ZItSxefwawaKOVgVJ3D7acBvuaxDiSmpmURMVTYmF-JbxmjiPCD07NmK-Zi83t6oX487w5StFBzFCJc5nCUwZz8fvG1UIZk0yc7pXvF8fJeqO8I9Ad3_Xd6EwsjsVbe9HSbdQIPD5H7GXj0osHH6WFrytFKBp5JWvKywe-bPEAqliiNCGusJHQMHKDWruVA2Dl3eD6MTchCMpgiGP_CckqTs4vJFKuQrPnOo7ot651buZPWe0Yg0My-ecEFX5L-EN7nm8oG-Ey4-95c-83Sy4eS1wxDSJMvy4-NY5I_gmBgsWHnrdmyN-maX1mMqt5cyRiHp-kU1sbj2HzYdjpqJagWeXPNMVEPD1tyvsIMsiDuSrTUeTBt_Z1h-5GvW5aZNAe9opfKsip-Zpwn5Ms6wMoZkcDZdcoQp_xzKygFePalNNJ4bSo3qgkABGLwzvglrJgZ3JqS_DVSbNCd-1fdgXaEduxqZA6UIbEBugCT8BA7coZYM3JaXqT_puVr_wGZbxD24UbJyxo4YZsA09KN7sdlo3brfStgtK3slrhs8I_Jmgt1RtmXzLY5F5jMkK3tw8608ii9l8Tktym27rk31hTf1YkstBtUR825-T6hsExegDEsiyjPWXX9p0LFskiHy_qtEENHZpS0z9v44gEpLgjCk8aX4Rb4eBXIwFZ1ivSs9cnwj2HPn4ivMu0b-4kbF39FvuQlguI-Z5J4Y3E8ehvseFwp24xzMvqJ5kFNaJl8SSqYwv5rgmG2Jjv5n0wAWtBsxSeJeQa3DQ==",
  "id": "rs_0ef57c2562573084016aac64123fe487d0bdc70478530dec97",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.3,\"right_z\":0.22,\"right_yaw\":1.2,\"right_gripper\":0},\"note\":\"The can may have slipped during the turn, and the last large pose change did not track. I’ll make a shorter retraction while maintaining a close command, clearing the view to check its location.\"}",
  "call_id": "call_x324opDdQBf350L3b3y1ofz6",
  "id": "fc_0ef57c2562573084016aac6417af4887d0826a6d4ff436bfc5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_x324opDdQBf350L3b3y1ofz6",
  "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]: [-0.0399, 0.72, 0.7982, -0.7765, -0.0414, -0.0689, 0.9991, 0.5388, 1.6344, 1.2785, -0.3744, -0.4633, -0.5922, 0.0072]\nstate[eef_state]: left_x=0.2503 left_y=0.0009 left_z=0.2067 left_yaw=0.0175 left_pitch=-0.123 left_roll=-0.0104 left_gripper=0.9991 right_x=0.3502 right_y=0.3055 right_z=0.1943 right_yaw=1.2433 right_pitch=-0.0672 right_roll=-0.1708 right_gripper=0.0072\nstate[joint_eff]: [-0.3077, -0.4991, 6.5846, 1.7167, -0.0415, -0.0317, -0.0122, -0.5128, -10.0444, 8.212, 2.0293, -0.0122, 0.2076, 0.5836]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27b7f84bc65834784740c5b9baf2a8e1f8593d03fcd44fce5744225c602d0c70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b85d96fbbb2e0060af6b15e032f574ec05ba2c079eca65b93daae02353fc9a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d84165599c9c8d2f336eda0732b44c38a90049dd5bc8fc84da33fb9406a6ed5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 88 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0406, 0.7177, 0.7982, -0.7647, -0.0414, -0.0689, 0.9991, 0.5354, 2.2704, 1.9114, -0.4549, -0.6933, -0.828, 0.7089]\nstate[eef_state]: left_x=0.2519 left_y=0.0007 left_z=0.2094 left_yaw=0.0166 left_pitch=-0.1089 left_roll=-0.0112 left_gripper=0.9991 right_x=0.4411 right_y=0.3971 right_z=0.1345 right_yaw=1.5408 right_pitch=-0.0234 right_roll=-0.1938 right_gripper=0.7089\nstate[joint_eff]: [-0.3624, -0.5538, 6.5983, 1.7998, -0.0708, -0.022, -0.0171, -0.335, -14.9265, 9.0051, 1.4628, -0.4762, -0.1099, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGQpJgElGVNC6KU6SYFK6IY7NOnw3PKcEoXo6YVKMidr67ruQoNvpXNolEgCiezONARwabbzFKgz009V4J6n0aJfKXKJ_O6YPphn4Zc0Er3Z1sJpp_qptxNeaBbMNlc0zgm-Zq-Ct0xJ6t5fGotomq5R4hmj9NDcjrxk5p1BBQfmfNKv364OR8UgnoBnv7w84gM5oCthDgfRcfZhw1gFK4Xy2PXJZPQEaOL7YgZ8xZiVo7iBsr-nd3ZJQlfjUr4EkDf1Q7JvE7tj2yOdbbksDNh_6cruX4bwlhPjgWAkXui_EVbOpmNG7YVto4ibukP3tJA7yhxpVTrhj13g6uKYkuuo1jO9kQF-TfyD58VS-Vtw8DxrQrBiBFqiMmyDiB2quawgOa3IRQicM3Inlrfx4-UH8yZSgqAK5OdpS0BxKkoN4pFAXC6nJ4WkCM31MTCgK5WaAgzi87CVWlQRlX7EqTzIvJwZR_B5cW7mn4eGH--gwmB0Fqnn1SMGvrgV-2WEDxHBcK89VXGqVxb8alNrhCGRuyOpqtM5Ka7cfQdB-9D4c7W0pykLQW6ixk7kpnq_ZFVwosM0HMGSew1tqEk9E-FNhrUsCJu9Xx0eiuSNSc3mIcjODWyAa_Nd65mhY8zE57ORFlfCo2D3SHHngCTgVsX3Ja51MYsZNqFgmez8F_lWKz6nMnc2BCL8BZ45TRfMgcQd1BZiulMReB6iRa_T4fzG4WnCv6hyyfaWrmETaYsXxPe0KeGf3e8i2KjPcddz_IlTrHSIZ_z_wTF8sDlzRpjjk4vbyak13E_KaljVLqkolwAl47mqKx70qTqqZczAcbWzW_Kkp__kaw6UuphkBNmyssz7Fqowv-WgS5Z_cVAmURTiU5assA33DeNg5Kf8vZF0fPdbM6mF4b-vBFnAhPNnAHGKgBZYtev4guI25jzKsaLubTIXyqGOpFHMg8Frmqdpwu8tKWm5RncN6Q8LYtSTUe3lFySxpBU9vNobcqd6TZbmpsXx4mWykgLQIqQprT0or10DOFwit1duclMUE47YRrh_Czi19c7SxKfJ0RnyADTGrMEMRyyEGOOe6Y_S3T-RHWwybT5uxhP48UEwwAU-ZqjPU79D_s2oi4MLiPdFdF4wwNexHN4XbYxQxuPELhUKWb-Bh1VAdre0TSMPgLrKGQ-OtoXzWZm3qrP3lgGiaGlXW_kAFfS7Svk24PBuKPrECRIxpdpvp7rXNBGQcyvuBrErrBE3fDOS55qRUSYhOh7uDGFDWaFehmAiHso_DaiezWWzPuiKegVT3SNUAzccH6fYXmqomeCPGKfJS0TgVn1N27amCBOWCMGsvc2eDkykmFWq-z6iNUG28LIRz_JUFHynCVhKOxKb5NSdlHI2mIi1788QBb-9agvoQgR3Y0Yga09gdmUAx180kkN9VD527xTARTiV35H2G87DTnD7Z2zA5z-fQHmgoXPUxeFEB3T-me_Mtemt48ujCJC5LlzSBylo3Qu4Gjj6LNDpFNuWYXTHD75Hz4SMDhgZvNl2sCcVIfiLfQGH6AUk9Edw58D5k669ZE6jGPP9e4P5Ta1t-vvXR4OjDNnhHFKCQF2VwV-ilBDXkrf-CwNU0B0S8dXF5v3FzAiTmUwqg8uWGHRsan9UZru1WTFHOKJdkszNfTJcmIMEW3HFtfALAuvvkkf-1x0OhI_6uWwSKyJMO6ogqG3ouLv5jvl6nMf2lyans8lpb13s4B7o8_M2N9qFYdpC1NpQ_jhpDBXclwq7vybKJbfbQ3tR8Wao4OGTVeAK06-poTU_VQlAahcgcQw58tANCDgyURJuJlRWClOr3MuCua5OJQE_FwEckKYw7OD8Q8rye0OytQPYu9obGxenEHBnjbsx6bgOurOyXOEZcKvG61Yby_24kpOlgxgcoK9-N3J4hYy9kzLFbv3Ac7pVkUlo68CqpDUSx_kI8lg_6WrRIoyMYmkMFLVgYHnEw6A9RtcxOAAeNYRPFME189w2dfcukwMi67wWhJTpRVAQWUjngM_bB9IArbHvx94giK_WX-y2oyVpFCn6R3sjnSW3s1wx8KudhhQEUjRf0ZUlkz-ZBX6mBylOIneWFXCKOa4jk-2uKUTtCYo4xdWPzWOCorTceopEOg1jzb4Ew82bfR1IGBcvY-HOZmTI7HieE4Ne-fy8KEU7Td-yn-nDqXoMI_zluRe71x6fjW-EDfGlCiDxrpTNk97lA1uGhnvza13AvIarHqmJxBSHGpEM7N36m86YsfFyjOh83QXw_o6udlXjLHhlfC4PitVCS1FJm-C5BJ0S-pyJ5woR-ACUwQyxbEvGRRYT3NdJttab6usUFsROgxmu432acp2_cAwxolFetFxrsuctFFPHKHKhNsR3oa34-IKYi3WE9YNbJ_GDng71Zb3uC0HvOop4sj-jTE_Za1Nl",
  "id": "rs_0ef57c2562573084016aac641e0e4487d08433714e0a2f120c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.2,\"right_z\":0.09,\"right_yaw\":0,\"right_pitch\":0,\"right_gripper\":1},\"note\":\"The gripper is empty and the can is now on the table closer to the bases. I’ll approach it again at this easier reach, then maintain an explicit close command during transport.\"}",
  "call_id": "call_Jvgg7YHXk68CniByrTx6GpNd",
  "id": "fc_0ef57c2562573084016aac6426bc7887d0a2c0785442bd9bce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Jvgg7YHXk68CniByrTx6GpNd",
  "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]: [-0.0399, 0.7208, 0.7982, -0.791, -0.0414, -0.0689, 0.9991, 0.746, 1.6722, 0.8486, 0.0311, 0.5423, 0.215, 0.9945]\nstate[eef_state]: left_x=0.248 left_y=0.001 left_z=0.2038 left_yaw=0.0176 left_pitch=-0.1382 left_roll=-0.0095 left_gripper=0.9991 right_x=0.3626 right_y=0.2158 right_z=0.0782 right_yaw=0.1809 right_pitch=-0.0893 right_roll=-0.2129 right_gripper=0.9945\nstate[joint_eff]: [-0.1026, -0.2667, 6.5573, 1.7705, -0.0757, -0.0171, -0.0122, -0.0889, -7.4598, 8.4034, 1.6386, 0.4371, 0.1392, -0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0df8970646a606cb20a32b14b6038477da95c1b573c759031986c05d1edf1f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcda60e8a24a7f461bc7a388f5c25da84f63651ac05d780b057803d780cf27ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b73e71a456336794e872ef234cb66d835aba0b977f825a452ae0d914df45430d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 92 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0399, 0.72, 0.7982, -0.7765, -0.0414, -0.0689, 0.9991, 0.5388, 1.6344, 1.2785, -0.3744, -0.4633, -0.5922, 0.0072]\nstate[eef_state]: left_x=0.2503 left_y=0.0009 left_z=0.2067 left_yaw=0.0175 left_pitch=-0.123 left_roll=-0.0104 left_gripper=0.9991 right_x=0.3502 right_y=0.3055 right_z=0.1943 right_yaw=1.2433 right_pitch=-0.0672 right_roll=-0.1708 right_gripper=0.0072\nstate[joint_eff]: [-0.3077, -0.4991, 6.5846, 1.7167, -0.0415, -0.0317, -0.0122, -0.5128, -10.0444, 8.212, 2.0293, -0.0122, 0.2076, 0.5836]\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": "gAAAAABqrGQw74NOpZHWB67ZcfsxYVSiy7ZCYm-87IIgfrG6c5U_wOg0kb0p6XU13Oo9uRn_7OnejOySFTMLCYWNewdUTMB6Ali6a_6JcrWT9FS6i4Mak-hopBMqlAD-N3BMZ8ztEDXNTf6nzbrqHrMLqTfoJPAdtc1Rp2BxgykfxcAuiLcAQXfPycOaBk0__kaDWDdZ8vbwJiGCE4ShHVB1KvzH5GiXV_uv4iUwH47LJZ0s4AggMQps8K_ks6aOhRf1GZ0RQrLpM5NX8FhsyTrGlgdXBG9HEguxjQAM5L0guLXsgUOdTYsoERQmCHUH7Hd-vogJTjgfckPl1jVXL_Rw3JABFkqMCJdoGkr4BT0Ld8WfRZjBCO1ClC6Cj6_UDSEBR1hmDx522xiDfPKLj7d3x-hQlWWe3YGNlbj-NhXlKoHrYqT0IGv999MU6e1mLHDnEkIZlEhl0A5Kqv18Rrn2evzbA8FKFTKksgec2pnENn-w8eur8FshLjbzLULLF1HpR8GE9ZVpGnMR312JvhvZgyhuxSJQISxfNZqOBRFV6KTZeFEE8O0KB-JnhGQBTZtXjMOZs_5iHMmfCFi0ePJBOdAHvPZ1hzjEIg-Vuyz-jdr_Tr97WLNp5ktN63SIfeRE7l7MyU3fQ1yLDiv-CSkNIDs-jUFF2wYwa_4wdHOLkstYTmBZg-D9cpn4Xr68TfTEto7EgATvWnujvTIKW1JI_RCCd0OLC99nMPgmFkSTs-12UV3ufOvzjib3uoThzLTm0xEyagWsuOMk18hzm5QyC_0sj8Ehm1jPGIdXwikx8iud2hRxXtLgCgHwZdkpkXlBVaLU8GHHF_opHtRFVi8wKbpZT2CDBuK0oRdwjjYecT_O_Kpz9azhb0RbX-bglGaKisCgZooQnGfXV4fO1U7aZ_1emJdW-AjMvIRyFrmMXLa6xWaFMMHG6UTx9oonFbs2PhuaZSvUUP5icUsZD9C_TiOAXnksn0M5hnZvr9ut4i--urLOgkhcZHXSoup8B7JzCbNlSKN3GwShqik4bHIV1p4esQ9T-wMaSsF4I5WF2oKj1njsS6tAHnPdm_r5zKXPmwHRvQyP3vjJ7tACyltRnaMot2fYcCbTvlh2plflXtqVvjEyH38v6RJ8A5oyyEqx5YnTCZ0qUGdaDN806QBd2IKoafu9Q5LueXbcGhfe8EvYZ9m4SCMi0W7g3uCLewUwJoks9zZOEjhSStt5TRi4-qsovEF72M_I52nhyrMWuwRD_0dZzzYn_nEKcw42nXvx75MVnfx-AMOHoXYP9kqHW1LNjmS1waR0dV2RRvPtltuSboR3B0xL5OQBWOyl9NdoR76Wf_af0CtXA7Oo0U1ZFQHQYRAq3E4SHRhvsYECcOvgAavukGjbRW5eZ3DJFlVDY_HFssNuKaosLsnR9236fZxUttGLjE1AcdKA6CE-eoO6Bt-Yitk=",
  "id": "rs_0ef57c2562573084016aac642c2eec87d0b38485c3e97ddb2d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.19,\"right_z\":0.035,\"right_yaw\":0},\"note\":\"The can is slightly right of the jaw center and its body extends ahead of the fingertips. I’ll move forward and right while lowering to grasp the middle rather than the end.\"}",
  "call_id": "call_FNE7ghNCnvmwr2ZcMIR4UPI0",
  "id": "fc_0ef57c2562573084016aac642f0e0087d0883b736d2c5a9217",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FNE7ghNCnvmwr2ZcMIR4UPI0",
  "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]: [-0.0399, 0.7208, 0.7982, -0.8028, -0.0414, -0.0689, 0.9991, 0.7292, 1.7161, 0.8429, 0.0704, 0.5701, 0.2249, 0.9953]\nstate[eef_state]: left_x=0.2461 left_y=0.0011 left_z=0.2016 left_yaw=0.0177 left_pitch=-0.15 left_roll=-0.0088 left_gripper=0.9991 right_x=0.3696 right_y=0.2072 right_z=0.0668 right_yaw=0.1373 right_pitch=-0.0858 right_roll=-0.2275 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -0.3077, 6.5436, 1.7314, -0.0464, -0.0171, -0.0122, -0.1299, -7.5282, 5.2991, 1.8681, 0.1832, -0.022, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08ca0b2c88a81ac63b75bb015618b88393ac84ab43c3a02ed703ac3ab0c93046",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f99257b51662dbdc6948c13f9071fbac0e1a18553aeb681382d6eba104ab8602",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17b1626f2f006a43f752391c20956a38fe8df1ff4eab4163f908f9db680ee522",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0399, 0.7208, 0.7982, -0.791, -0.0414, -0.0689, 0.9991, 0.746, 1.6722, 0.8486, 0.0311, 0.5423, 0.215, 0.9945]\nstate[eef_state]: left_x=0.248 left_y=0.001 left_z=0.2038 left_yaw=0.0176 left_pitch=-0.1382 left_roll=-0.0095 left_gripper=0.9991 right_x=0.3626 right_y=0.2158 right_z=0.0782 right_yaw=0.1809 right_pitch=-0.0893 right_roll=-0.2129 right_gripper=0.9945\nstate[joint_eff]: [-0.1026, -0.2667, 6.5573, 1.7705, -0.0757, -0.0171, -0.0122, -0.0889, -7.4598, 8.4034, 1.6386, 0.4371, 0.1392, -0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGQ5IvvMEi4LQDuvee5oLHV4Gtp4JlgKw9rFOp_UEwsIEYsVgLYC2huML_e7cHFDo7uzufSkZknHd8Y9Q0cUatLY9jnPByBxC0YQyk81n21Z9GW0ISD9Z_d_8uNjtdYc63etcVS0-JUS8kX-S4crbXDiigL_OJaqP3YyzbMlw9CzIWEVSxeYG2FkHtFsk3Bn41ArLhcpURnDJyfgPoihWiX80rsn1WXvzR-GSn1QPZMG12fsLFcbsnLjyTZ10uHSkoQtoz1y5-bOxq1mBjnohG9unEy50gUx4ZnfOC9TRRbVY4gAETkmsprOI2dblX7rNBcslEcNgYLSEV2wDSXEu9mg9EkVxTFr4n9LsI18tbfFx8zWEXiXu-YyERBM1WiWnrwGqDq5s7OIoK-qOXFwF604kVPQ9NWazKzAK6ghKx-hMguaSFny2iwb8H7O1mmju5of_Us6AfeJ-GuxAuelOXG25mdR6t0fgMEMatF5_0RniB25vKm_o2VffuiEaYXcaOa1fYhoSJHD1n2cxYVmysRhQrotXjNOAa3WpxOD42q6Em530RQEb-qP5UB6P6IjpTsgsh6z4ah4mm5GfN2DudBB_qlBCwR2Yug-ndD5QOnkisOKjxLfLt-nuwDSvGtFW1I1657kgWuihwhGnURDVE6hiTg9kn3G4wcikfGN_ykJeDhqdm6rQnnXGB8RWQlX2GARLaC-hEIm6oISGldYqiFSyQ-1ZtyqasjcqyJWHEVdlJptlpVfF2AQ0RFMa0QzQysM9IH-0IdEm1v2pV5JGyNyknKxXq0dei05BbN9ZEjXtsicFmur5tFWx53LxC9QioYqg6hVGGKrd_H7xvPomc39z4oEvtmWh63nDNgQlfJRGyXLRFyeL0Gy_2tXhX6n_Twoxehp6bMM2owMqmZskhH8kCoU_vT9PgTZZLscNnHQUPLqKptqjyddRbyFoamoeykFssMSXHCy-GMuojqw8-w2nt0MYhG9jpfidKlwrUqwvRLDoVb0-gKd2s4Nvc_dHy9tCpCfpyabpOQb6UYKcRVzUBsv6nViv4vgMQdCtFVAFXmUrRUOV9Y9SECZ55whLKgjBsyrRI2se1Yroxhr1QwfKXqXvg83a14G7iGHfksoFjVqk8SQHdvTf_HeNTUNYhGkd_Z2kyCn02TG0FBO0sQ3O-TqYO1oImMtda_fYhMZX9Bi2QfI91QRWCV-W2b5kJp4oJ-9XeZDc1AEMfdmRYBrDxAxj3x5XZirSksEptWhCfb6EQMpd-n_GWNZFXZaoRzXRg2QHfMRmbXyuaGc1g1jkKh6dERsm9D7znq_AzqQibPYhTAZT3gOJug_lK9ps7qY",
  "id": "rs_0ef57c2562573084016aac64366f7c87d08b6d559591c7fe31",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.19,\"right_z\":0.025,\"right_pitch\":0.15,\"right_gripper\":1},\"note\":\"The last descent tracked only partway. I’ll use a smaller target and a slight forward tilt to bring the open jaws onto the can’s body.\"}",
  "call_id": "call_QNbidJxTyYPJ9LHw3iG6LOWJ",
  "id": "fc_0ef57c2562573084016aac6437976c87d0abe2ce1b15d41c1c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QNbidJxTyYPJ9LHw3iG6LOWJ",
  "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]: [-0.0399, 0.7219, 0.7982, -0.8108, -0.0414, -0.0689, 0.9991, 0.6979, 1.7939, 0.7631, 0.2485, 0.5816, 0.1413, 0.9991]\nstate[eef_state]: left_x=0.2449 left_y=0.0011 left_z=0.1998 left_yaw=0.0178 left_pitch=-0.1592 left_roll=-0.0083 left_gripper=0.9991 right_x=0.3744 right_y=0.1921 right_z=0.0369 right_yaw=0.1429 right_pitch=-0.0756 right_roll=-0.2893 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, 0.1162, 6.5436, 1.6777, -0.0562, -0.0611, -0.0122, -1.9214, -1.6479, 0.0068, -0.3199, -0.2564, 0.5934, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dea3bfc9d870a380c06bd66b9c394967049bddbaf808a1fdee588ccacb053df4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:282304e4e231c6b32848b8b89657dcc83f7f86f13bc8844fa2220645c1abdaeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:993f99f2cc5ed519f8f4397eaab1a825680c25c2f151f4d3b8baa4dfd69c56c1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0399, 0.7208, 0.7982, -0.8028, -0.0414, -0.0689, 0.9991, 0.7292, 1.7161, 0.8429, 0.0704, 0.5701, 0.2249, 0.9953]\nstate[eef_state]: left_x=0.2461 left_y=0.0011 left_z=0.2016 left_yaw=0.0177 left_pitch=-0.15 left_roll=-0.0088 left_gripper=0.9991 right_x=0.3696 right_y=0.2072 right_z=0.0668 right_yaw=0.1373 right_pitch=-0.0858 right_roll=-0.2275 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -0.3077, 6.5436, 1.7314, -0.0464, -0.0171, -0.0122, -0.1299, -7.5282, 5.2991, 1.8681, 0.1832, -0.022, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGQ-_V4Qnr_Mh4gxbl0E4HMAFcpmspEjnQKDXCvuFI1dhIfwxWduM_bRDVger_ZeKYA4FmkFvBmhQwHBUBgMXgoI43UIIvH-nMhtseZ9bi7aUr07sbYFItapnr8ZSPhoLghpWgIoO8PKxRhEWJp6C8w424WKC8gAaSqeQJevnU8X6JzsJKpbC1P_dNkIc7uFlEb5tkvZMy1n_-lMaH_Gz5JBU07H6Q8AwMZei3f2q7JYyfUl902j_BdxeG8APdam3mNXnzKoWq1JoVigR-AMVr7E3-99PPLb53I8c-7ATq9Oqr4m65Css37N5MgsjUnDjXdHEJv3PErok6M4PZDpGOlCclVqSioFdLy2fP0bt8g6lWcIDNtsYo6k87NOFa1_jmtaVUhBQjcQrBT54_MMW-gAFdvrlXIKMtHkiFmO7HP9lkn84wF-BH58N6YITOS6Dbvew8-wNWl_DqKwV3DkyeTF8N8kPdLgEUYsImccTU3ch1JMY6WvCqeYEJFJWMO5U7WQF6IAa574UDaEHJ-sy_E7nzNkNULgrYKWEyvK8Rm0sDDtCZBS9yGWEeyMWcTKlVsnvKkiQhW-Qa2thZYAs-9is1783DxLZ6ORFNhAdjFMJs53KtaUq5A6LigfYJqpfIda7H4C7LUBd1bivQSKcURIdsyN1mrlIHQqCiJeXsoZUJEYWr4KKIf6O43RmkNiuOi2bF7ntCRVQ4e5bXiUs4K6rDM2RtQA8VO9QatX0REvGXP7ORm-OBpKLKeCwp1dH5VgctAc06dGaES4s7FpqlVKBqh-s28U3vdr8308x7H5UPY20aFHZevxo43vOM4qbnGnypQN1okVyGhffxeiElIoGizj0ZPJwIaSykkYUFPZMa3iUr0miusIhXnH-01Qe76HO5o3Tou5FOaRhAIyFIYEuXLgWDeavhn7Mo1sHLNvGUp-GRU6ryUOPDfE7Y238EfkphQMZEDiydZnfzhLVcnEYzZxdbZWB72vlYt9Kq9i7j9b-Y0auIMOwriU6IBEsXAjVPWbA2b2C9DqHPpAfa4l2sKUE4MMoERtMxIt2A00uGUu7tEqGLBugx12nHH94I-g3Grg597708xxobe6yUeuEed8Gx-HE3sYlgmtHW_ZWr50bJ8lD2eiq93FTe6CJNaQCSOjQldUwYSuaOnZZ7IT642JLxk5IzW6I9txnbi0gRxMw6n1uRTeE1WGG6dTrxICuH_49VFaPUjEniZbsNSy45Q90_QlEchhppSCZnn1_qw=",
  "id": "rs_0ef57c2562573084016aac643bf8dc87d08369a5cc490e15bb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The can’s body fills the jaw opening at the fingertips. I’ll close here, then keep the close command active on subsequent moves to prevent another slip.\"}",
  "call_id": "call_sZeSTVmurf9X81cLFBdF8wod",
  "id": "fc_0ef57c2562573084016aac643c8ffc87d0b8d3ef8ffeb74935",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sZeSTVmurf9X81cLFBdF8wod",
  "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]: [-0.0399, 0.7246, 0.7982, -0.8169, -0.0414, -0.0689, 0.9991, 0.6991, 1.8164, 0.7479, 0.2592, 0.5797, 0.1238, 0.7052]\nstate[eef_state]: left_x=0.2441 left_y=0.0012 left_z=0.1981 left_yaw=0.0179 left_pitch=-0.1679 left_roll=-0.0078 left_gripper=0.9991 right_x=0.3701 right_y=0.1894 right_z=0.0247 right_yaw=0.1535 right_pitch=-0.1023 right_roll=-0.3162 right_gripper=0.7052\nstate[joint_eff]: [-0.0752, -0.5402, 6.5436, 1.6044, -0.0806, -0.0708, -0.0171, -0.3214, -9.853, 6.2564, 1.3504, 0.2271, 0.1392, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3cbb9cf048b37da31063ce34a0e3debadb68a0785433773c555cd271952216e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e084e43752b1c92f723497cc4176ed841536637d5fede99d9ec517a10c83148",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b71b0fdd6b990de4a4eae731e325b0045b7f215fc8fe215355a237b1c0484237",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0399, 0.7219, 0.7982, -0.8108, -0.0414, -0.0689, 0.9991, 0.6979, 1.7939, 0.7631, 0.2485, 0.5816, 0.1413, 0.9991]\nstate[eef_state]: left_x=0.2449 left_y=0.0011 left_z=0.1998 left_yaw=0.0178 left_pitch=-0.1592 left_roll=-0.0083 left_gripper=0.9991 right_x=0.3744 right_y=0.1921 right_z=0.0369 right_yaw=0.1429 right_pitch=-0.0756 right_roll=-0.2893 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, 0.1162, 6.5436, 1.6777, -0.0562, -0.0611, -0.0122, -1.9214, -1.6479, 0.0068, -0.3199, -0.2564, 0.5934, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGREIGISbfGqDYRsQmlUw0_aLLjyLytagBg78fIblMd1unoJcWm2JEJkdBE_8fh-yiRvzouOYOyo9zqqTVzBonBJOjhUC-qJBRo6E5cRJTcBlkT2ZJ4KRrw5VuBaPy6gkYa9NG0ksEVEjb2p8iB8-tanGsUEDASnQDJq3zSia1ul88fKHiRwIJrdeYaxNSpAPIv9hQVfiU0a4J_KlqKi1SItu1P1fyu_3-gZUejz2F0d6WaEv2APSfTmbXRqt39txcU_fM47_BagZCjPKAqn87p7CLv3S6z4zcRNYjGfPMv8Bmt9M5RvU7UHNjFVaM_nBygFCvktZnbD6pdSICJ9_Xh97mnFs-78bSjS43tYWd2FvHI4lrQksWOC_snR-FAm6lQw2SyzFAg042cP7S4cf0RTgH0YML7_HbvBtFXAexOKv0Mrcy1G73_7S24UcjuzY7kQN8WhsNV7H9SbcxesBoydE4AqbHYvmzQRZ0V4tvQvjsrMFNnsckX6vvbhhaKX2jBuG4gMAAY9YjfxzfQIl9ATmI_TNwWxgahevmj_amyLnMMybatCzICu250ZT4WbvOY__m9kgisHB57CzaHixA2jYw3W7ergRKab-n634HXgqwJjPTZhAskfICbkpTW-H_iaYfmL1RI3EQBh2Xr-nLljJ_lzxDT0PLwhghBXt5LnknJjpYNcsR-19VJGeoNtbtnhOQttID_wiedkd5tC5bVyA-iohPakxXhSFpkH72WTqW23Yxt2ViMB8rTJ0kRyxphh_JJWeN18HYZhrAMjvdk-i1VUnAw02dj7z5eHTwAvPDWQNWphodjDlT78HHeBvvoM8LaogbiZfZTWyx8cOzO4c1OC1v09djeu66kgwXHWTrUPf8xXHDYo_R4BIh7VFhdMAuQE5WaARI6dafK05l6zvjZDba6iwVO-PKEkGvCrmqvft1xcdtbyw8pSOv9JJNLglgAj4EQwQttcK0-u7lnvETUMjQAFa-QI5ozQ1LhgZ2uakzex1nccXvLk7jDMsuKuEq4X1pRcPFYAgt5ZeIqG9rR8UrUJGHHjJFWUEOCSVaSLwHKJA2AVZc52czvf8oE_UYTHhaFj4D0vWp2KVoMtEwC_QYHfPkntxajDWtcDlxccPe-OtM423iAYgIKoCHOg51DMft9QZY9UCpCbOS9vIMaADIAp99dr1auibpRQNUXWxEPvN7_4YwmsdhDzxnJkdT7Rn0sXB1IeCyM6AUO_vnDGW8OJNA6Eid72ruzdBwTvrIkFURVvh9HL9PkZjQN6CJjsN0A5b1z5p_Tw34zARVfEAgjB0KJD8zm84QSTmA0VNAKy1pOcSfOjFnKOujUgxjYKzdpxbAVRJZJaEh6N7w==",
  "id": "rs_0ef57c2562573084016aac6441022087d0b4ba87f6f6306f60",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.3,\"right_z\":0.2,\"right_yaw\":0.8,\"right_gripper\":0},\"note\":\"The jaws again stopped at the can’s diameter. I’ll lift it toward the burner while keeping pressure on the grasp and turning its length leftward.\"}",
  "call_id": "call_jEknOYXnqgEoYnI4DDh9qVY9",
  "id": "fc_0ef57c2562573084016aac6442a58c87d09c7cc5e2a993bf00",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jEknOYXnqgEoYnI4DDh9qVY9",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0399, 0.7246, 0.7982, -0.8295, -0.0414, -0.0685, 0.9991, 0.6792, 1.6737, 1.2655, -0.3145, 0.1177, -0.3096, 0.705]\nstate[eef_state]: left_x=0.242 left_y=0.0013 left_z=0.1959 left_yaw=0.0178 left_pitch=-0.1805 left_roll=-0.0067 left_gripper=0.9991 right_x=0.3843 right_y=0.2882 right_z=0.1702 right_yaw=0.7463 right_pitch=-0.1694 right_roll=-0.3132 right_gripper=0.705\nstate[joint_eff]: [-0.0889, -0.212, 6.8171, 1.6972, -0.0708, -0.0024, -0.0122, -0.7179, -8.5402, 9.4427, 2.0244, -0.0269, -0.0122, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba01a97801674401d14de6bd374a63b0cb1f0764618caa9e25ba0ba3c4d2ccdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cca11e392dae5dc6bae945057b17aa5cd403d2a55dc0a2117574906edcb7648d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d669ea29ca6d2cd58f87db42fa565a681bb2e9200ab8ad63414a953c040a75a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0399, 0.7246, 0.7982, -0.8169, -0.0414, -0.0689, 0.9991, 0.6991, 1.8164, 0.7479, 0.2592, 0.5797, 0.1238, 0.7052]\nstate[eef_state]: left_x=0.2441 left_y=0.0012 left_z=0.1981 left_yaw=0.0179 left_pitch=-0.1679 left_roll=-0.0078 left_gripper=0.9991 right_x=0.3701 right_y=0.1894 right_z=0.0247 right_yaw=0.1535 right_pitch=-0.1023 right_roll=-0.3162 right_gripper=0.7052\nstate[joint_eff]: [-0.0752, -0.5402, 6.5436, 1.6044, -0.0806, -0.0708, -0.0171, -0.3214, -9.853, 6.2564, 1.3504, 0.2271, 0.1392, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrGRNkWzup18lmzPPRCiX26RIjXqVflBLti7q7cQ6YxAvhH5BClBdorvjpIrH6YyX3aco6lqqyjovKyXRQuhrEIm1cVZFHFEzHcwnOrWSxVJ3vOBwPPxEIC0SbeOJ2TdIsnapig6LsgSeZsqTamvHBCsDqbqq-qfIp_rgmyUYgUMhaLrx-TaJnKHJ3RigUEXBm214DP8TUldv2aPpCZvhfL9OgNKaxQnczVfHPmPuSfnrVdN5Yxb-D8o_1KNZOhnLz3e4aFbQbMkddS8tA6e8EgwifUCL9OLQolAt6j23GF2sfLpR45kV79XJTR2T4Dwoc6UGwMgyCaiRFePbcn_5BETbdNJ4KRNSxxW6-OZYPlSjbYlKkybWCwS5g3IZf0hPumkmc_R7RFpw48oq6ZTsO8t54cNqqgVlqrafSefS0RIcet3LxTjDGd1tdcelltStZp8yabTkMsfbsCBLECfWn-P2-ARay61S7fcm2Xw1V2hVFIgPCz7fVpu4GC7haTpC4PRo0n4oArx7YkO0j7xTrZWiISjintRZogdHLhVSu6c-WwvyrG1VcCUQxV9vvX2WQlNHOLUfdXB5ks3PHKzrfFz8vKc1FXnpq3jBub3IgPw_4nXKKnbcfbBWTf0mT766cdOTlFWUYGDj_AcWNb2Lrkseg39BrCDuPTXdpbpDc-cUjo96_fIcmrdpQJB7FjYGkWMfvslPUC3kdtvdTf3Vw0PMmEHDHjIKRJiggyOFCTt170Z8mbSx_yN-x8Y1U4-XaEy_N01l67Q_KIYXFuFbPOYOJyoU_5LP1ciqIx2q5UIIEs8g-GFTikrnkV22f_ljHQZ3srQz82mgzv_n7lKbtrC3RV6nrt4GQwNRbebhArpKiqN9CC68lm07WmOtnisPVNg67GRfmzcSd62xSgXVcva_WG5tV2i-uHELUen20xLgDC2Dht8SwTae-wkq5-DKpEI5wfxMJgklbtoK7IoDQZ58vCQxPesuUxdb7vN50q-8U8nKybONn5EhGO8zu5EBnelAB0bsckRxCYzeHDgd6JB29t32cANd2jlpgHk9fAAQy_mtUSeWDEuWxHjY-KtvijPNN4UImxiSQSVOenH6m2eq2wqdlvSctTKCl2TldL-kI4-WcgTTGhBHIheB3jSPOv40ebCyHTliStRtRUaiP2bDs-7YYJ-F-u-yXnbcibKK6KZWceqIRvmbkQxukdgnHZoCsVZW_f08XldHp4KfsOHS1oTKMsRKGIp8X92g1J641mnUJgbCQ-R1kCEdvFiMiqsPiiTx-OEfdiuOdmQfglqJ9IWt7yx3DqoZrBUaYG91tdyw2jbgUjLPAS3BPWED0ZEfa-QcRKTnDErvo6QXolnHX6aV-YIKdyBjQJ6iU2OtThz1psQ4Zq_XAA9MktJuEOuppR3eptfzz0fRdVAR6Fj8WrRnjvhcJKBiUEjJV2Qzkl1Lc4dDormVen4tLpfU1lUjd9hcH2oM3BXHxjPw9Q9aVL-Ny2HgBuUelbCUHZgILfo=",
  "id": "rs_0ef57c2562573084016aac6447f2e087d090197cdfa4944c0f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.4,\"right_z\":0.16,\"right_yaw\":1.2,\"right_gripper\":0},\"note\":\"The can is visibly lifted and now points toward the burner. I’ll carry its body over the coil, keeping the gripper closed throughout the motion.\"}",
  "call_id": "call_p1ojx6u7lXE6Isc9RsBqbvJA",
  "id": "fc_0ef57c2562573084016aac644b05bc87d0b18f04d3c129f12d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_p1ojx6u7lXE6Isc9RsBqbvJA",
  "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]: [-0.0399, 0.7273, 0.7982, -0.8471, -0.041, -0.0689, 0.9991, 0.6426, 2.1933, 1.9121, -0.5163, -0.2047, -0.6079, 0.705]\nstate[eef_state]: left_x=0.2392 left_y=0.0013 left_z=0.1921 left_yaw=0.0179 left_pitch=-0.2007 left_roll=-0.0061 left_gripper=0.9991 right_x=0.4533 right_y=0.3887 right_z=0.1424 right_yaw=1.1521 right_pitch=-0.226 right_roll=-0.2924 right_gripper=0.705\nstate[joint_eff]: [-0.1026, -0.4991, 6.5299, 1.6972, -0.0464, -0.0317, -0.0171, -0.7316, -13.1487, 9.1419, 1.5604, -0.2564, -0.0904, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75cee9bed490bdf264ba9c1d89fdf539e331795f24e59a8c1192898f6d9f4a83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13eb12fe9385b1f8920ac6b865ffcc1a88853f5a257e812c879b2418eac49c1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0326c1ac4f2a9ec4cc94ae66d55c8aff230b8449f3d12b0cb6a1861c5f6b2f0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0399, 0.7246, 0.7982, -0.8295, -0.0414, -0.0685, 0.9991, 0.6792, 1.6737, 1.2655, -0.3145, 0.1177, -0.3096, 0.705]\nstate[eef_state]: left_x=0.242 left_y=0.0013 left_z=0.1959 left_yaw=0.0178 left_pitch=-0.1805 left_roll=-0.0067 left_gripper=0.9991 right_x=0.3843 right_y=0.2882 right_z=0.1702 right_yaw=0.7463 right_pitch=-0.1694 right_roll=-0.3132 right_gripper=0.705\nstate[joint_eff]: [-0.0889, -0.212, 6.8171, 1.6972, -0.0708, -0.0024, -0.0122, -0.7179, -8.5402, 9.4427, 2.0244, -0.0269, -0.0122, 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": "gAAAAABqrGRVJhJiYUobjBfNXYwzU7Ry4khI_1a67f7sJyCBbLiGiPkZjD5Cie7Rfy_bzu4kkSvMueeBv2--YJOCME7cnXtfyQwjltj3DpO6h_BT1p6-_kSLPEYsDy377mKUfWPFFOc4fLXp4Kfu93MN2wwVVLvOq8qC12YyIfm_0SwEQ2aYdwbdKY_qzRyiH6aLfCPjvln0bBjFR-kyy-VeF3Ff5c9veNtQUv1_BYY6g-0bpqlG_2qG-rog_rM2gjZcdd7W74NfCp5OTaGQ7p4ld55E3p-3YVF1vypARUpr6L8qFYf6FJAaEHsl68cFvCy-v3psWfA14mSYnoCHVR_HC5ufqkyEft_SrAL2jbKF6w3YXFP_WjkXYq8_QMkaVOmWb73jYhyBKQ1-3fe4Nvcz6g5M4oS2I0yf2yfySIIi95SChabnLe1bShOkpwWDQehHM_FhS5S3Q4SYgUsmXdszQDc2nCHhmdILXboSk4jlV4ZgMSKkoMqn8WrJdqnHq0l10KILnuO6y966-lKvaMGPrtqCWiVypBQ_wvSPaWy7-2M2zTgTTP0bWcDfQdzaNN18ZHrAYS1lICAzLx1YgP0-9B4VGbUXPIYkreTTspt_T4tvqbVF_Tecs2S7Ay5YIWEbGldO6wAppuy-p8m1hTGRtYTRJJKxqEc_QV7FztsQ2nuay8cvEPK7sgNJN0uSs7YRjRwp5ADgscEADIqL5Q7nMmsgmP3W2wDODzJ19-F2rzD7YXnONMFzXavjLsMLf5XyGZ5TKt-VPU3KEcS_scKRPWxMux6HP3QNOHX7yyO3akzTNjUToPYJNufCTEpLL3W4Z7blUSHyFSalNgbECJ9mqOnRkfK8JWLWJxHNLjZPkVy_k1SGXXJ4_dUGJY359ki5xJnN1taus8d6BopIhHqORH26xJcGK8rK2ABaa8E_NVfWK1Lgf364hfuTbkf4m90KOwN0UzTRCC-bzT_Om0pYRU5-Zs7TROkxE-6XDLh8CC50YZh5h7e1K1T_IKSplBW5LPKTE64E25ytWOcufvZr74ad89XKIUdkz5Gyq5chBlXXO1mCJw5VSMLmGoxdV_QM0Hyg4jVkZsL04Hx3f04KrfVFYMinpUOjL9qDRNZnBvU-HDCjSyiamZs5bEIiQjZWlaGzBXfJdsSEJJAVdmmGbapRVVgUsiyseDKowm2E7jbtRt-xZyywRRb2IqmpQTWQDK1vO-85lgREwiSUngk3-RALtVYLiPEk2Pa8KjXor8dCUsaOaXv2oVhl7oSB2eZp9Xl2ccyOH_jLfSD80rH48TxY_H0SzGQ0nPTBGnMWt02Ma5IXkRR3kMH-1VdqDCASYG7P09owQjjjBer6Znf-0nlhkfHMWCVGfc6Lh07SI3mkN7zw_1OyofWN9P1w7zQoNbyRZH2lDXFNFTQzv8Pnqy7n30T6zA==",
  "id": "rs_0ef57c2562573084016aac64511e6487d0aed6e9f75e364ced",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.4,\"right_z\":0.085,\"right_yaw\":1.5,\"right_gripper\":0},\"note\":\"The can is above the burner, with its held end just to the right of the coil. I’ll lower slowly and turn a little farther so more of the can rests over the burner surface.\"}",
  "call_id": "call_zEqg1uT6pyIxvQAkudfKcFbm",
  "id": "fc_0ef57c2562573084016aac6453008087d092b192049c7093e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zEqg1uT6pyIxvQAkudfKcFbm",
  "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]: [-0.0399, 0.7292, 0.7982, -0.8543, -0.0414, -0.0689, 0.9991, 0.6079, 2.2478, 1.8507, -0.4358, -0.4129, -0.8494, 0.705]\nstate[eef_state]: left_x=0.2381 left_y=0.0014 left_z=0.1905 left_yaw=0.0183 left_pitch=-0.2098 left_roll=-0.0053 left_gripper=0.9991 right_x=0.4422 right_y=0.3984 right_z=0.1069 right_yaw=1.421 right_pitch=-0.2002 right_roll=-0.3222 right_gripper=0.705\nstate[joint_eff]: [-0.2256, -0.2667, 6.5026, 1.6142, -0.0562, -0.0611, -0.0171, -0.0752, -10.947, 6.2291, 1.0281, -0.315, -0.2173, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8c8eb3ca4a267def2ea8ca939c85875d6f9f21f287a44dc03fae34eb516ded6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9946d6dd747acb6a5ae9e0245998dea1af25bc62cdc463bdda9b45d239b86aa7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fa0349f03784f9dbb6d8b8214fb792472502dfb87e4f8dd9bd42a67857e6809",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0399, 0.7273, 0.7982, -0.8471, -0.041, -0.0689, 0.9991, 0.6426, 2.1933, 1.9121, -0.5163, -0.2047, -0.6079, 0.705]\nstate[eef_state]: left_x=0.2392 left_y=0.0013 left_z=0.1921 left_yaw=0.0179 left_pitch=-0.2007 left_roll=-0.0061 left_gripper=0.9991 right_x=0.4533 right_y=0.3887 right_z=0.1424 right_yaw=1.1521 right_pitch=-0.226 right_roll=-0.2924 right_gripper=0.705\nstate[joint_eff]: [-0.1026, -0.4991, 6.5299, 1.6972, -0.0464, -0.0317, -0.0171, -0.7316, -13.1487, 9.1419, 1.5604, -0.2564, -0.0904, 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": "gAAAAABqrGRbu8omfeutg1v8kcw_86SRoqJ6K2Hs8B9ExJOVog19R43vd-06V7buLMT9xjMHAkfjwmPABcNO7oK7z_CSQVgIeVl_OjbRnBrMu6UT2OSiO6z22JWxXTWMjjH6ckwIETPRmIDRm2bT1IR3SNDMMxBKYid3DF93dVBMhGI7DDLJie3FBnlyIejG-5_lCQ7IZW8o0g21gU41BdFPfKg8ZIq-SwqRetMAVSD8t6qBY76sYVBKbVAiUJ2ezW9Cr-L2Ct0b1Pg1sqOpiUMxLY4Pf_NXi7LP-tVhaz3MzIQbpy5Cy5dK5wzq7zwe24jm2Uq1CZw4QOqfi8vXKduPNRJ3vRYZ-D9ZpBQbF4y2N2n0obPB3g6Jqic6ynqp28Gr2Wruqrzd7kUpD5I6SceydSfwsN4sX7dFhHjJH8ujvdS0QgCrxXYQUHgu-fdK6GAYnBd3Xu9VouceUBolgaBhORLKQYHOvCpEhY-F0OAdd4lZlPASvhwy729HQ2e9pAnoWC8p8LgDHxkRNz6LE1FN4T9-xffM9YzRbwzkkx5ojelrkMKnC-MUr87suZ3U6p9StuUDm7tpURLw4vUUZQPwHuRJpWJJ8kWvD63aK9V7lZdmBm5h0-dVa6IE-GyVKwJG_aCWLCFaG8qXlU0tLPS8foglhHlgjPCGyMcFqsspm_vvnbi-rb7naz70mZ5wl_tMvIsVfKoubZjb0uurJGRFSrvhGwfnXHDdjMmcMIrhIRTPH06OI9H0msvDi-sSSOebERVUWTUNxPsiqrWTcQ6fM6DBTpXkdkMeOUxnX8SaluXLgmfsuI74mkR0UlVSB6ya0Umkv1r8_bJg7VtiUu2JfXG2ev4jBwNPZQfl5VQKPjpwNy620-kZwMGOcoQos-2oe_XSG63_FCjPufIAfZzHbUhWHpvyssq_eSl58nElW3Zje2JMpAvfXdjPx0bAT-hwQGTYo5aaweUz_zjcjWGc5JC8cEnnjUFXi74blAGcikuCa8ifeURhWL1rDJNEneH4qRkoOO8p3D4QZoPwaReyKfXmUZAnlZejJcDzMEXetYgzoE-7BZ-LsW59qCs8-YUbNFmLKV64DuL0C-8pjKR3WxQiJeAJY8LuZvSovlgO_L988mVMUi14DC7MaSJIr1iw21WoToPaQegFQlV3ZaTlHQfyvKQtxWlVqfZzN7t7zHrSuLYJlQRE-lh45IlUedjp1PplteTAa1gFPr3r0iJxI9PhTXgoNanmgVydG3v64CS7vOa8FGGDQna9ES0IIlSWdNMJ8I76a5vtDfvFKCzu_wnQK4l_BrxtLhm1jyhhfP8i1N71_mGTlibDV0nsG2nZC8iyb4-9Hk71BQfPS-3-MJDQkgPH33S6c7IwsgFpzQ2fMIZy6RyuiUVcAlPOKu8g7jVC55Ux",
  "id": "rs_0ef57c2562573084016aac6458e4e087d0bcd0dc87d15a6f68",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The descent stopped above the requested height, and the can appears supported across the burner coil. I’ll open the jaws to leave it resting there.\"}",
  "call_id": "call_2RDpMKJ3b1zrOdTp7FWRFXjp",
  "id": "fc_0ef57c2562573084016aac6459f7c087d08ce68410f1f4005b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2RDpMKJ3b1zrOdTp7FWRFXjp",
  "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]: [-0.0399, 0.7292, 0.7982, -0.8627, -0.0414, -0.0689, 0.9991, 0.6067, 2.2566, 1.8507, -0.4297, -0.4408, -0.8665, 0.705]\nstate[eef_state]: left_x=0.2366 left_y=0.0015 left_z=0.189 left_yaw=0.0184 left_pitch=-0.2182 left_roll=-0.0048 left_gripper=0.9991 right_x=0.4398 right_y=0.4014 right_z=0.1044 right_yaw=1.4508 right_pitch=-0.1897 right_roll=-0.3185 right_gripper=0.705\nstate[joint_eff]: [-0.0615, -0.2256, 6.5026, 1.6239, -0.0659, -0.0415, -0.0122, 0.0205, -14.0239, 6.8171, 1.3895, 0.0757, 0.0708, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a2008c4a6833aaaaacfee0183cdf85ee955c3ac62b007cdd3d6af0909dd2a8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6893bffbdc8860b8202406c50e3840fafa0448783070f4f6a31118f597043a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00521d8b35b84f7a2f1d2134246a37c4f5058d73ba13c51919b9d22f16648a6b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 120 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0399, 0.7292, 0.7982, -0.8543, -0.0414, -0.0689, 0.9991, 0.6079, 2.2478, 1.8507, -0.4358, -0.4129, -0.8494, 0.705]\nstate[eef_state]: left_x=0.2381 left_y=0.0014 left_z=0.1905 left_yaw=0.0183 left_pitch=-0.2098 left_roll=-0.0053 left_gripper=0.9991 right_x=0.4422 right_y=0.3984 right_z=0.1069 right_yaw=1.421 right_pitch=-0.2002 right_roll=-0.3222 right_gripper=0.705\nstate[joint_eff]: [-0.2256, -0.2667, 6.5026, 1.6142, -0.0562, -0.0611, -0.0171, -0.0752, -10.947, 6.2291, 1.0281, -0.315, -0.2173, 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": "gAAAAABqrGRg5k63m1hwU_13KWlLh5F5UOiwv90wEfE-O4aaVB-3_sXe8S25Zv6fE51XbNtVVh7hU3UMBurkN74z26hNjsHSdwAsJRtt5dHg_AMu6YNdI89FTz9uVsrOIJRP-B3tWbh7bY_bGT_ObR1U3ny2RwOmSA3RNeHSe4vRFXf_J0BsAs5VfyT8ay9lTPk5BwsFwhe8jMgeJ5sMV_ceaDaRvfqUFmWtraKiKlpg8rg_rIJCas46FvvfDPG-LrXY13FaBAFzWkVOvN-8NtbTLkOQjGcz4MyNj-FgKQgTHHuN31TWt89xQIve6sX3EEkXgw-Fhj_l-bPa3enrIieJOpHvaZiaF479mnd7hCTxn8WrKlkwg_bnfxcSbVjV1r_mHDrxnU3WgMJSbkwNzU9JSztwWYmCETeZDe8EdSK-MJLVoRCTdmKz44MNzz1Kg5gcgn_08Wv7cFnPbVf0d_2LOkPDSIG6DElpqhtg7sdGPxodv49ceX_716XVVscDFcMmAMLwwq7GidwSoGh6kHxcA1OJZpkxwrbCJApRhra1TFpzAoI_whmZnVlcWtOKcwgZm9hD5L6vGaECzVqVRpjj1qK3VMZ8tTIw_Zu4u9Ps4Zb2GSN2aKjcyJiJMU_njdsODjBViaZYpdArFRcvhrt492L24oMVFvi3AxxS0RLw69LjLSAPRFbBM-BjCynd_JEuFIAeuuf7jablbrD1GEwCVst-7IabF9tavyiZDNOMWKkTzp89SyUx-4yIJcYqJrl1fNHpiLR3ZrsB091-N-XDu83WPzbZZarioIJkv9zQqmNk36S59D5ut-FuYLyqeX0I59pUW_l4jXQPOL7qDuOldoomtlEioa1iOF-VAVOoWE4wUpvWiq2ySbwxT-XqWSWJ3vNH2Zu1-IclkKHcDVpdrJ5eFmuN4ywsgdUn6whhqHlQn9cI7g7E9g0p9r6W8SSKFYHfd5WVrk4tCiBDYsJ8gj2VrbiunoWu5h9voVj4YQBF4J5JKR6Vk8X_SJQBM04JD4eqGU_n0lWda9Ag7VMNbdtLRrBVksEXB9WwXV-c5aTj1GYuxk5RV31N9gY9e-ZhK9IWn09GjeYGy6oTgyegMgUKXEbHce4A6rivMUb73nps6HEKKkO8q8nSYJTrBZ39mQRsejHD0OFRJUD0pKitVGgnKZCoqoVbmRmDrqYDfskthScKBcjnL2Ilsahri5ePyE6GAgxhv8KUGyAvNjzAMDXLMXJRw4DqrPMp1_6Ks2rVMjoK_Yr8_ZtwySMROG3mdv3N-Lo2GJknPzdg_vEJvE5X_tDBnhpvOsgy7GJAPZ9or23MJsLe7wGV42Ecf2EUmZjNKwFt",
  "id": "rs_0ef57c2562573084016aac645da80087d0bfb2b2b6062d67e9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.11},\"note\":\"The gripper readback has not opened yet, so I won’t pull away from the can. I’ll hold the placement height and finish opening the jaws.\"}",
  "call_id": "call_8PjTzLk0gOOJDdbwt0nC3UtZ",
  "id": "fc_0ef57c2562573084016aac645f1ebc87d0b4473c6c90240db2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8PjTzLk0gOOJDdbwt0nC3UtZ",
  "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]: [-0.0399, 0.7292, 0.7982, -0.8692, -0.0414, -0.0685, 0.9991, 0.6064, 2.2566, 1.8507, -0.429, -0.4431, -0.8642, 0.705]\nstate[eef_state]: left_x=0.2355 left_y=0.0015 left_z=0.1879 left_yaw=0.0183 left_pitch=-0.2247 left_roll=-0.0041 left_gripper=0.9991 right_x=0.4398 right_y=0.4015 right_z=0.1046 right_yaw=1.4509 right_pitch=-0.1876 right_roll=-0.3163 right_gripper=0.705\nstate[joint_eff]: [-0.0615, -0.1436, 6.5026, 1.5751, -0.0611, -0.0269, -0.0122, -0.253, -13.9009, 7.9658, 1.2137, -0.2173, -0.0757, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ff6f5dc87c09b934b7b7278ac3095760dfadb9d26145ada8f2d2522f06e608d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8652c7bee9fa254dbbb087d0961675dfa7818c2542af9151f1fa337cb905c45c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:973d2cd715e7dbbb92d308401071fa902a98b25c6638b0741d77c3ac04be8577",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 124 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0399, 0.7292, 0.7982, -0.8627, -0.0414, -0.0689, 0.9991, 0.6067, 2.2566, 1.8507, -0.4297, -0.4408, -0.8665, 0.705]\nstate[eef_state]: left_x=0.2366 left_y=0.0015 left_z=0.189 left_yaw=0.0184 left_pitch=-0.2182 left_roll=-0.0048 left_gripper=0.9991 right_x=0.4398 right_y=0.4014 right_z=0.1044 right_yaw=1.4508 right_pitch=-0.1897 right_roll=-0.3185 right_gripper=0.705\nstate[joint_eff]: [-0.0615, -0.2256, 6.5026, 1.6239, -0.0659, -0.0415, -0.0122, 0.0205, -14.0239, 6.8171, 1.3895, 0.0757, 0.0708, 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": "gAAAAABqrGRnvfnPbDGGoBwtiSt3gtzLQOB93gN6l5-0WnVXZbd9eB1NkCc7GcKdyDJ8CSyTP0Cg9rm6RmzWvXU4rqEoLfYG0kTNyeZJ1nRU9WtquOzqVYGDbWunPoE9jNRbQ3sBfeMbiyrTXSntkENI_wkmtOEYeTw9nETDKxkfNNsVmteHq5_gIqBbGnyHw55Y5usoIsrIf5UEH5I8mWn9EAFWz0tn53GnNz26gJombiPCu9TetxhFuazor4franBIOglxiguMR8d3IwgWgM8EVQt1g_JnS1j5Rj0i06LFiPNAzoIxe-sEK6xuQqv_Hxk4oN-Juuxwi-72rjBy7KKbzB7hordLD26fI94bUGCWK5aGu41_72kVeJssZgjv8fOd7O6HEBvp6fEyvm4SdL6z7w97RDN0DbyCh-go6rryVGaWuUy4suNnACgmSzki8fSd_daeug-myERsL4fMUKtF67uB-jjL9vXgAaM-5FoU88vFD7Ct7-4CB3K-TPTVHUtjr62N2US8nqoEErK2GbhnfkzXyf-LeT9xw9rlofd35HCgtnMNo_VVns2RtMQlN5Iegc5SfHA56Cc0gJXW3SiU-SAMAMaR2ENTK_xVJ6QzwCEEgP_SOLE2ihIamvuVgpCFFxS-TUuEXaliGDfIdt4Q9omXdzsFmRA58u0cbS8uizxQ4OWp5Wq0SbEy5VWuk7tAAbojTEkInnuLXqQPwbl06vW7uyA4Vo9UUW9Hk0zg8qSlRbhs5SDFQmkPkf2pVr3hZJ6rhs_RtK6tdnXXok7SOw2SdLCRoLFswHnEM3xtObWd11ciPzr09Pswjkv2NEacWEKZLjaFOMsfdV_Bwp99kmE_M9Qc_-Lgs7lBXEtFeTS-EjEisXLcMPb1Sp0CIxNjz-XTpVN9dWNQZJY5wAuFfGw-YEByldgC0fno2D1xQK2DUW7nYnz3j21f72-wgNH2NXbV1hD4qq5PBHSpBwYmF0_2fp0X8xSy0Ck4BMWKIpEWsx43iqwPCGqmXibBnPotp88XitvxCWt3ySuQpJkDfN35q7Q58fNrlW_O5sYzZojH_SuhTFpU5Oh-fSwIY2hCOIET-90D0ZW7AlJw_N2fC1CVVFinLrhcn2vji88yGd8q3_H1w0g_RSybXDO17dUQbvfCGuABBXcOMW7ndBUiJ-HmMlEwQEskIHAJqhGe88FMWQeraQpvX1OHMe4IaqgDTwakuIPZQscKDLTGrDadkLskcdrMPL9ydy-QFuenh-8qOirAZCAR6O0hTOxnDbRJa9wnlTy7cgztPcnb2mbGYl6pdfd7J68pCrQN3fMswVrmLqxsHk2-j2eNaTLfQKD3tGhyVb3bpHtu48EVV98KLLn4DQ5ZyGt-iZSgzk9a3nnXyXWpqCM0Hd6pejT8vD-COsaEEk8wWGbiy-NcAKf_c_RJ8TMd8O_Qo3jusUsmXXgPozW7VOcBG_dAL6l4CrqAStmtq9xdIaira1_UvZxto4PXwHNJmYcssP4rlp6jJSpzZR-dy3U=",
  "id": "rs_0ef57c2562573084016aac6462ee6887d0a83e4e89b9e5d69e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.398,\"right_z\":0.105,\"right_yaw\":1.45,\"right_pitch\":-0.19,\"right_roll\":-0.32,\"right_gripper\":1},\"note\":\"The can remains supported on the burner, but opening was blocked by pose corrections. I’ll match the measured wrist orientation and position so the only substantial change is opening the jaws.\"}",
  "call_id": "call_IKgYm08vRNQcktImrZmMqr6U",
  "id": "fc_0ef57c2562573084016aac6464ce6887d0b1ede0a9424d54e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IKgYm08vRNQcktImrZmMqr6U",
  "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]: [-0.0399, 0.7292, 0.7982, -0.8749, -0.0414, -0.0689, 0.9991, 0.6052, 2.2566, 1.8454, -0.432, -0.4416, -0.868, 0.8946]\nstate[eef_state]: left_x=0.2345 left_y=0.0016 left_z=0.1869 left_yaw=0.0186 left_pitch=-0.2304 left_roll=-0.0041 left_gripper=0.9991 right_x=0.4391 right_y=0.3999 right_z=0.1019 right_yaw=1.4518 right_pitch=-0.1946 right_roll=-0.3134 right_gripper=0.8946\nstate[joint_eff]: [-0.0615, -0.1436, 6.4889, 1.58, -0.0952, -0.0611, -0.0122, -0.6632, -14.0103, 6.3248, 1.5018, -0.2906, -0.0415, -0.2564]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82a005960b9ca999a65f5a24412e2d60d7a0b82ae4b67c215cb2d98dc038c6a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:107aaf759dd1bee23150fa3c07d669a84f47f4fd71326295e5e53d22577521ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5caa4a4cf1ef79418cf701463a30aae7d92c3254551075fb07814c6cc394bfe0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 128 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0399, 0.7292, 0.7982, -0.8692, -0.0414, -0.0685, 0.9991, 0.6064, 2.2566, 1.8507, -0.429, -0.4431, -0.8642, 0.705]\nstate[eef_state]: left_x=0.2355 left_y=0.0015 left_z=0.1879 left_yaw=0.0183 left_pitch=-0.2247 left_roll=-0.0041 left_gripper=0.9991 right_x=0.4398 right_y=0.4015 right_z=0.1046 right_yaw=1.4509 right_pitch=-0.1876 right_roll=-0.3163 right_gripper=0.705\nstate[joint_eff]: [-0.0615, -0.1436, 6.5026, 1.5751, -0.0611, -0.0269, -0.0122, -0.253, -13.9009, 7.9658, 1.2137, -0.2173, -0.0757, 1.0281]\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\":0.38,\"right_y\":0.32,\"right_z\":0.2,\"right_gripper\":1},\"note\":\"The jaws have opened wider than the can, releasing it onto the burner. I’ll lift and move the gripper away to verify that the can stays in place.\"}",
  "call_id": "call_6PKZh9Z1t2JXRZSvCpDH5P38",
  "id": "fc_0ef57c2562573084016aac6469d64c87d0a5049ebe82d473cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6PKZh9Z1t2JXRZSvCpDH5P38",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0399, 0.7311, 0.7982, -0.8787, -0.0414, -0.0689, 0.9991, 0.5301, 1.8927, 1.6428, -0.63, -0.4713, -0.9249, 0.999]\nstate[eef_state]: left_x=0.2339 left_y=0.0016 left_z=0.1858 left_yaw=0.0187 left_pitch=-0.2361 left_roll=-0.0037 left_gripper=0.9991 right_x=0.3897 right_y=0.3255 right_z=0.1848 right_yaw=1.4352 right_pitch=-0.2102 right_roll=-0.3114 right_gripper=0.999\nstate[joint_eff]: [-0.335, -0.4718, 6.694, 1.5018, -0.0611, -0.0366, -0.0122, -0.4581, -11.9179, 6.3795, 1.536, -0.3687, 0.0024, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adc9970dc087df822b0aefb5f1fa49af23283adcc55a78eabe2e99f68fdbc345",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63af1a9b6754473bafe85bc985a9c06909173ede4dd7f7662a333ff596643411",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e752bacd56cd675bf1508db02facadfc9cea11e17f619dea4b1e6847e158ed76",
      "type": "input_image"
    }
  ],
  "role": "user"
}