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 screwdriver into the toaster",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0196, 0.7921, 0.6022, -0.3794, -0.0216, -0.0246, 0.9995, -0.0193, 0.791, 0.609, -0.3763, -0.0231, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1798 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2957 right_y=0.002 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -1.388, 10.5641, 1.7363, -0.0171, 0.0708, -0.0611, -0.6496, -1.2103, 9.853, 1.7802, -0.0562, -0.0659, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99c084519c3e4d77b30cce6217b938d6feb85d07036b84a7dea8252d6671087f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a8036365cb34c5ee5d29b4e97c92f4c03bf8383d0625ea37232b9a9fe7d9d7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:535cc32bc41ccbfa27ac06282a0a4a078b8307aa9251de026f95510324db1b85",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrHAISxi-w3MJFIiG1VmvhZneIEjKKjSIRjBufg72JML4W1o7gOPaK0tA4DdaHLEbos7j4V4QQdWxd9wdTuXMNAWonFBqYmSKGL6hCTI06j0dsCSyJxXaV0_26bgqTfA3dcQFR2SJqK-pIlHwqLktKdYOcoEBT4ZqUDuyY8Neag5ChAdE0hIvv9-sef69YhiDxiKa6PW42srqoHkP_C06kFB_0hPVmXu7afG_oojts4rcSQF7BlA4j26BRjFy0gKNL_uMewPch439cjusL5V2hU3aBu_SJYYRyHEg4-ZGgoDkTUCHPz78VzxpKqRu6gi8sWEtmFoMzr0nVBauhSqzEGquFuFnzZEOVOAt7vyQDYzVrjuw7n4UtSRTWQgSlWkCZxfRdNky0vQM8zX-P_f8wooYtkZNIlF-aHB7ua3YqXYTwGQkt8E0Fmmvf4sTWOfnbI5QJ6AnMNaYrKTlEax4SpYsuFwqaMphG4-xaJltO57ZECM2-OTKTxLZ3U0myrcv2yQp_wrzBQ7Uk-LOeHvBQKK21w8Qnbp705N6xsDrmcHweXC4D20RR3jo_NXDIRgu7vFCWpLgs2P4wTnGVX2VI6sh1EVfcSaWmTFbwD0R2k8l1q-gYKrf9NTmrIQuEKZnC8K3_CoNBiH-pVU1AqjkHXw0FbYG1AhraxwBrbRZxSHoQ5kJtZIV22lqXPM59083yH_WvoEULIlDryFE6s88D-F1F4shu8stL5cizNvv1poyr9It-hSDAq-GTyLCbC9ZvoDxlRwsaIL_bd6gGJooNdG0u7fEZEKV-YYKImybR93bLXNeVMAdXXFHDsjhrc4m2Pl2gibLukX00zJLXubYoOXDNcxTLjze9epxlbVFjZRGuRu-fsVWYdtwr1BPFgkgMxeaROHRLvqpr9h3SP_EqPnkNbziHVb5bPnrEv68mpPOZ1Q25eT1uT5AWeMTsPlStgz142MfP7zH50nVpB7vdXit24WkAeyWk72M4Im81aQmooQ9UftvojAppccZ4xpCjQLosZQVHTT8yCBOBIvLafl0RvAIFAAB3R4nctWGejCPhIORHa9JzY0vewlDZ6ghDC0SvEPT4hObJmhfB1v0U-JIROIpTGAJf8xeS_2OKzDstu5tTIGAoclbePzim0SpahN7yDafd-MQXXolr8DRSsTaeH3aObwzvmAVFfs1lwEHDOtm2CMq4bGjLSkF5kgCUMabJlJfeNaILl0p7ByQl3mO-K_PDzYW6jfKKl_yvZmceyleRYq5KAxbSCY8Ke5CnJHbHBYhkgYOlBQjj5xC9BD4a89hJIcShfajB7jQPRNdiICNREs-FmhNCW6eNOPEvAPOTD08QSR8XL_zsFy3mnNzzBhFLlxaZ3HysUv6g22hbmAZCCEgKyGDQPJDN0S4UyzboZshJ_tj0KAsXv6rZelQDIzIJ9x9kiTKWr-GvhaINjKI2s5h268zy1lBE4lr5c3hH6XE3rwQhVHi35QvJdFdbmXGrxoqIFCbUUqp3ZTnrnRw0IPvHhJXyU-LutLWK9AO9-xo4XejeF8V3Wj6SMcuzHuC-LuhF-4VV40kVwqGwjCVD5MA2RC6UnWwlOkP-3a2IJNmiog12jBnemsrFeBPEQ3-wnPnBfg0-k5KJVXFMtU=",
  "id": "rs_0149d6297d7acf03016aac7002e12087d0898cdf63596943c6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.27,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.185},\"note\":\"The screwdriver is lying near the middle of the table, with the toaster to its left. I’m moving the left gripper above the screwdriver handle to line up a grasp.\"}",
  "call_id": "call_5es7LGz7ooJuqEAsWZ7YAqz1",
  "id": "fc_0149d6297d7acf03016aac7006a88087d0aaaddb352ca353fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5es7LGz7ooJuqEAsWZ7YAqz1",
  "output": "executing move_to over 25 steps (2.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.9585, 1.652, 1.0637, -0.2989, -0.7391, -0.6727, 0.9995, -0.0269, 0.7959, 0.6132, -0.392, -0.0303, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.3333 left_y=-0.2612 left_z=0.1337 left_yaw=-0.0152 left_pitch=-0.0412 left_roll=0.0235 left_gripper=0.9995 right_x=0.2944 right_y=0.001 right_z=0.1812 right_yaw=-0.0001 right_pitch=-0.0163 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -7.7333, 9.347, 1.3114, -0.5885, 0.149, -0.0611, -0.841, -1.853, 6.9949, 1.7998, -0.1148, -0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f76951b3d632a7574cf3eeaaf8109a60650d370b7dffb00ec8a444869f9e8c19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c6e4892aa8b0de48b73cdb30d90806b4694ac20e1a05f4ef9131ae44274ed19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4455a75d392cbebe9856da4db484e467aac8620a8868160dc6f77e8fc2cf9a0",
      "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 screwdriver into the toaster\nstate[joint_pos]: [-0.0196, 0.7921, 0.6022, -0.3794, -0.0216, -0.0246, 0.9995, -0.0193, 0.791, 0.609, -0.3763, -0.0231, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1798 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2957 right_y=0.002 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -1.388, 10.5641, 1.7363, -0.0171, 0.0708, -0.0611, -0.6496, -1.2103, 9.853, 1.7802, -0.0562, -0.0659, -0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHARc3AsF3i_fWP1C0Zr8VU2oyC8J6i3_VY9ZrrZcy_Tb-qzJC7u5-I7i345ATnVm8X-_JkFluipWrEvixLBL603hdUPsn9ExxMrp0TR0lrLUVGvoSTMyeCQX3LjMmjiUTfYoOfnk5w-RF6IESjZitoWReNsMCg7GlstoQVVh9cJFHYUs2vNm_noasRwWTfnB13QKrIH_xlxnTjjaW_4rMKa4bjd-GCQs8hq7Qkh03uoXNHNTCbkRlrdyQTheEPQsUGBG0eXTS_mk10jpdpUcJ5K_GarSFjOzvy4CW80El7PzfsTnUfBc4FDH9OYJML6xtKWIK6QF88XdTkmnbOTSOpjODnap-GYXGIFQrh3oA9l387fOdz-OMY5uMe8pryJdwJAeZzTAaeOUC-7mtJ9ZEPxRGPoC0ZLPA5tKnnKK24__Pn6iIaskaddr2he87aoXaSc4n3h8DM51UUJOzw-cSZ7Pi82cvDZdYYD1E-5FyA7B2cJ7f_RDyRE8VqpKl0ItjpQv5vCcQNZJjlxPNiDgOj-1RmjOq0Q3iuQD9UehxFOKyZRfaGqKq6wVuavJaspey3OouJSjsdZAHoZWnkV8H2vgQbCsVhWh5Yi87DYpqNMjRAW7G0YgwHZ8QXAQUrjmqLdk8AhUmzMYaWMVAnHjogSk5oS2vctQBTtcyHoAkQZ30nxVbIQSBDoTh2i1HvaXyGa178gmlCC-evqMh1Vo7Q8z1H18Rkc4JGUG2pL8XbHJrmmWdjAFf6xWopkodPR9bRJDeTRniIzurHmO-SWLshYTYV_BFbxO_XBxNXjE-RQ7xIc0nVJgoVwBlS5Hp4L6JHea0HxthSO-07PiEsq9Y55rNGdQ4Gi8qTWOYozMm_YmFJ6__xe_uOd6hKgZ3GM8Cc5e-No0CuyEbxYX-mYJGf3RhlNSk41vPfavr1VstYR7I6WQAm8pBu7JjRZbnBJSCOdNntUgDutdAT8ifZsV5YdpF0YW61byjtipF9fErV5-fG3WGftJBG4e8N19L1OhlAiL33v52Ba7L1Kqx3r6LcvbGY3cuoTqujmN3dBuO4UvqjSVabT4zAk19UuqqXiMlML2Op5amuJatAUQ3LnBJt7j96vtYI7xUGHLA45xL245yobw-o1GzXWtk7VLT84eCl2Atva_pVwe7UCI3pyHq4E5_zEWPzZbZb-yW83Oo_ayvJ1U4QNHdqEn-xauN58BmkU2sIn0D7W5xuPrYAGlu6oY3mZUifKEPWZ2bwMlWXFFHHZmBYeGiw76o3wQE7cSjpdIhhULYRhT9Hl24dyH7_8YYg0wGZcnDHX67kim1DSndHmFwhLm12oFoMQ9ODDKvbLaLi5C9YBpumG_XMPo5R1jWiBvXpgbfpdwJsuno7VwTTls4A2EtxlRlBbSpWhFE7wMCBnAH_tR5jK5qrZYoxudCxlZa4s9YjyZyt4wpKQ5ho5jV4vs_gN2B6BBUvt5jkcZcurcIRoq7ZH2Bp72RULTA==",
  "id": "rs_0149d6297d7acf03016aac700c795887d0b83a58d4afa6b966",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.32,\"left_z\":0.045,\"left_yaw\":0.4},\"note\":\"The handle is ahead and to the right of the fingertips in the wrist view. I’m shifting over it and lowering, with the jaws turned to grip across the handle.\"}",
  "call_id": "call_5tztymNHGVm2iBoqJ6a1kOWB",
  "id": "fc_0149d6297d7acf03016aac700f5e9487d0801c7008e8bc4bc0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5tztymNHGVm2iBoqJ6a1kOWB",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.0245, 2.2868, 1.6329, -0.6582, -0.9047, -1.2091, 0.9995, -0.0265, 0.7986, 0.6132, -0.3981, -0.0299, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3659 left_y=-0.3275 left_z=0.0367 left_yaw=0.3161 left_pitch=-0.0718 left_roll=0.038 left_gripper=0.9995 right_x=0.2938 right_y=0.0011 right_z=0.1792 right_yaw=-0.0002 right_pitch=-0.0251 right_roll=0.0024 right_gripper=0.9991\nstate[joint_eff]: [-0.5949, -14.0786, 6.2017, 0.022, -0.6667, -0.0904, -0.0171, -0.1299, -1.3607, 7.0222, 1.7558, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f30d66d9617866f74a699c38bd06533206a629a9759e25e2d513107ac1ae2c51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3af7a26a6e326414d241e78ca5b3ba45d1dc1d5786ddcf5d1e750087355ba26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1727081c427a42a7ae952584c8ddc3fb9bcc91b8d95d8527f88bbc52049ce84d",
      "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 screwdriver into the toaster\nstate[joint_pos]: [-0.9585, 1.652, 1.0637, -0.2989, -0.7391, -0.6727, 0.9995, -0.0269, 0.7959, 0.6132, -0.392, -0.0303, -0.0151, 0.9991]\nstate[eef_state]: left_x=0.3333 left_y=-0.2612 left_z=0.1337 left_yaw=-0.0152 left_pitch=-0.0412 left_roll=0.0235 left_gripper=0.9995 right_x=0.2944 right_y=0.001 right_z=0.1812 right_yaw=-0.0001 right_pitch=-0.0163 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -7.7333, 9.347, 1.3114, -0.5885, 0.149, -0.0611, -0.841, -1.853, 6.9949, 1.7998, -0.1148, -0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHAXVbc0CkEHuTOL32SeC55K3dz1w_dm9EVwx0SWn-zM6y01bmk_1eeoVml3LWMUwJa0nvC_rBrXqjuFdoZp2pgrj4k1cbTz6p1_6yEkLjgalRboKCm__niKbga810Z8Wm8uM8hA0i7NEjxnwXs-P8udtAjIiu44ucPYNgMCOhong97-j2RE-nMijYEMjW30Qfbi3ppR3m4mWZ5s21Ne9RTVsptzQFbOHzVut5j4-UzI5ljF2bH00ADoNKxiwD0MExJ0p92DAVhIAYGWrHsWKuubWuvxIdCUNmkv_t-Gmg65YxiJvPqw-9boAWQWzp29_Z-ZcWfxoZ9gGmM82GN20zC65v5hC5v26qsnvuyU0MOgnYGkdAjuwlUFitml1E7Ndo2P4qks4xZ0mdkB7sst6m6KrvQGkQDHOqaVV2hnTsUA0O4M9ip9qsWoJ6jW3ca2Lm69nJbTOk8-l2fgKByOKWnf7GS91sfczN4X_iItDu8tKsrfCmisCnLQsSxH9IEseleJdMK11RcUJcyHTo3ASB4iehLDG6IJtni_eBMGJfu6O_oZlfvFU35UdD0PoAryEhoeyz-ZwXFbkvxyZ55YcTmJd_R4-em9UWcxvUGphJ_QwMz09-c_nKLSe7p_gzL__dQli5aopOetXiFobqBtAClGNEHD3vE6szjshQaSmcrVIPtxrYkKSETZoVTHC3ZAkbEtCawO2QDV8Zx7U_v9Z2jdUba64pt5Jiee4sao4f1nhIo3v5l-wqA_NRm1TpIT5jIeJc7E0PfWpemvdX2iTCh-3sMwnoGwOhbHmYoGf_fvhZHfPgbLZfsyztcGxy1PEH2GLE9cdzrUlZe1G-IrBQ-DfUFK6j3_htFJPF_YI1cHiXPA1QzOYC5hsyaydH42GajgBhOk1c-nBMkJDW8lexLcDP20GQ77rHyZEP9Lu7twrNQBb4HnZBB6IohL2KHAME4J-jmS2luX4x4BFl0_bqdPlDxTA5tZW39HZeA3EiD4FiEi1n2_Puapar0e_6vmuEDFOrbw25jRFRsXBFDxvKY7aau9PDUFcyHqbKm99M5d5-5RNtA6LtWsU1o2asWNJDcF7kowLaDfIGJQdlhwv59ugTgvJz4UUewttOSIHvp759S88zUnV7N8TiQ-I2afcRqGrclOqpg3rHz7OhnqfSBDlPNeVRNUlzB8t0V3pB21tgX_bK-W1oaGQj1U8lrbTDsToT4dlPui2c9LejSZ0BKE0s7fJbYcjycohoJanF0Al-wFa7f9lF3PPEFOIAIDv6GXrIf9KnwuPyJ0DvdWrDoZFP8O_1LXwDcWSV_rI8NJ6jDDPWSqUX2KObGqe5qne5gI6eREKKcdiTYFkS0GBk9y_-lLu8Alh6F68l_yY3aBx3VUwYK6yOsRRXiYnw4r0nnih_6xCiSTXwers1C5P8Bdgp8Of5e0UwlXXRs6x3IyGjZjDM2TZqDMCD0l14hawrl0CHmb3uknNBNKdRQsiodDlDzx3V9QtqFqJZKOHU61ba2nrlQ9RMq7fQFmaZ9U-G2MDrootmA2TGZnNSnMHCKliitfXtyFTR8zEgOsCZKeU8qm_0X6k8MoHLlhCjyTyrCOF8L6yd47tkwl8eahnR-6QxXkA5jyQ3YUMsii6Ucl5TNnl8oHJLxb2du-PkAP8srxxmaUrmLorhrzzGNRj7uwI6zkn0jV8jTk6pugJpgE4VHJDLpKH4PK2OIJ0RA9mkKo",
  "id": "rs_0149d6297d7acf03016aac7013b18087d0b50c54d2f7a2c2ff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.377,\"left_y\":-0.325,\"left_z\":0.005},\"note\":\"The handle is now between the open jaws but still slightly ahead of the grasp point. I’m making a small forward adjustment and lowering to handle height.\"}",
  "call_id": "call_2TUgZ9K2fD6lb9FwE53yt1RL",
  "id": "fc_0149d6297d7acf03016aac7016a05087d0b05f8584ce0f8a1b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2TUgZ9K2fD6lb9FwE53yt1RL",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.0084, 2.336, 1.6081, -0.6224, -0.9005, -1.2346, 0.9993, -0.0265, 0.7998, 0.6132, -0.3981, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.368 left_y=-0.3176 left_z=0.0089 left_yaw=0.3478 left_pitch=-0.0834 left_roll=0.054 left_gripper=0.9993 right_x=0.2939 right_y=0.0012 right_z=0.1789 right_yaw=0.0001 right_pitch=-0.0262 right_roll=0.0026 right_gripper=0.9991\nstate[joint_eff]: [0.4581, -11.7675, 5.7368, 0.8523, -0.4664, 0.2222, -0.0317, -0.0068, -1.3197, 7.0906, 1.7167, -0.0415, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2fbd173b99e34373960289db77757878d8131192598bf2615d230fa980facc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3e875c0dc599467c47a112e2702e0cc342349e1ff2b4f3b910804a6c0d3cf94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27af3dd8740e5af42aaad7dd5bca8b3d2f3d24f182196f483386afc9870249ee",
      "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 screwdriver into the toaster\nstate[joint_pos]: [-1.0245, 2.2868, 1.6329, -0.6582, -0.9047, -1.2091, 0.9995, -0.0265, 0.7986, 0.6132, -0.3981, -0.0299, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3659 left_y=-0.3275 left_z=0.0367 left_yaw=0.3161 left_pitch=-0.0718 left_roll=0.038 left_gripper=0.9995 right_x=0.2938 right_y=0.0011 right_z=0.1792 right_yaw=-0.0002 right_pitch=-0.0251 right_roll=0.0024 right_gripper=0.9991\nstate[joint_eff]: [-0.5949, -14.0786, 6.2017, 0.022, -0.6667, -0.0904, -0.0171, -0.1299, -1.3607, 7.0222, 1.7558, -0.022, -0.0562, -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": "gAAAAABqrHAd6rHB-ent9PHZVaNdFMiSJLbuPE0L_DL5coUZQsyTC_LXte60__7prlw4up2rUEWJYmtY6Fs7v22Kv9tNCTRmBmtdCfZ84QVtUYzMxRX12v_VIOoD6VWGZlqlamBBcUilZJ7fhEc2ggTDqpOaWdK2BApaCIst_QwkL_bsfdUQhb5DJGvEk1x9aIYcGtOiUf0uS9y7qJ0pJYUDnHExXEA7a5J-lN-6EJwIRY3sMDnAfZA_bR9hfKJmV1A1Bpg8i608C4Ob27htZnXQju4HeC5D_it4-eQQ0E5uWtF4fiNCe0iQCtyIOvw1HD_8-6A4-ZeVavtcqWBzQu_kI49lmgxJSXdORAHN8tVafrBtz40uTaSh2JuhSHLnYVzvE0XTsrjA7axalTM9RqY8RWWLN7OolAc6HRrbkayWPPXpPLFj5jewaa2FyvSW2X6JE6yHaDqm7CX5B8j7GwiWYzs17-3MHRrbC-m8DCKoXN1YVugtpNG6jUrHwByQtTCPCQR7koGi1DREdc5Xv2BMXjqsy5T60GJoI90V3u_be3Cw9SdrIDnnLMzr3-wvWpJQo7CFtax_4HSBlHlXt3waRCKfRzzC6pUqlDSmDu3G9iW2GFBjI3_Fe2H4AkoZKzE4n9mgCfDFL6t10eUvwEJjHQB3OLhEaUebJbEv3wyMl9YE6kPOBGbMxpKiR82n1db5Qj6KgIh4aKIvwzNa_IIglBXTpCatyhNHd3Fz4-nIdIcUdtU1z6PVcgccbK-OVX8_ofRIdPf4CDGVbp_d66JVddjexWQVUSZ7O-VHTh4ubuLiIeVtr0seUqvfvQbWGZhnANynbOEEw5cLrgkvyRbqfvpQ505jZ6Z6yuCN40CCm0rvMh8PteG73UEWJgpLtR1aAsL1zFfUqi_12b3lo3mjZUJtF5RxQTyYGz1djpSuIMRv17GWtPwFDVqBrZeqrGYKYQN98MmBvEwcfo-DNP2ALn-O0PScopR4TAxH0UoPFsn18r0K6qVurabDe-3xIICxVp9IfzdeYc2ob08fcXtjoNHxPkxVsT9qMVymOFgQsYOJ2YYAOE_gkH_loK2sHgQDPJxx3Ak9rHEfTrDvMJNBhddmi78FFvyNjPNnEIZ8n9tR1ouc0hht05VNfbJFeRyx5gQ8RZR4x-Soanj68jVP4BecjEkxdmCj5VVBnMLRNVKINO8URo8KgONR0wiSpsFwm2vbEaKeCkiEinQzonrVKi4BC7KbQOZQ4VsuDM4kzSFqWhtXoUwnqkaq3ci4tl_MBNp3-TZGoQ04EbKBuDK3lPI7MvBAByMAZ-ur9I-sDZ274jgxVcz2O6-vuGQmRYI2klcDo6MQ",
  "id": "rs_0149d6297d7acf03016aac701ad1a887d0929950dd0d2ae87d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingertips are at table-level handle height and straddle its near end. I’m closing the jaws to secure the screwdriver.\"}",
  "call_id": "call_SjOI7VVzUrkuFUcComysJS65",
  "id": "fc_0149d6297d7acf03016aac701c109c87d088c1b5699ce11125",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SjOI7VVzUrkuFUcComysJS65",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.0, 2.3417, 1.6024, -0.5407, -0.889, -1.1843, 0.009, -0.0265, 0.7998, 0.6132, -0.4114, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3763 left_y=-0.3256 left_z=0.007 left_yaw=0.3203 left_pitch=-0.0793 left_roll=0.0231 left_gripper=0.009 right_x=0.292 right_y=0.0012 right_z=0.1762 right_yaw=0.0001 right_pitch=-0.0396 right_roll=0.003 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -11.8906, 5.8462, 0.8132, -0.5543, 0.1197, 0.6764, -0.0889, -1.0188, 7.2137, 1.8291, -0.0415, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d4e9d8be2dfd2eff5497f457d5656e18761c3cda3e34b03236832bb65ff5aa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e642e746096ee74e57bc2be6e696810361387076cee831af1a41dc3bfa5d548",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32de1d88a651b16940adf92c848c4251e97da86932ec302f7afe9418c8f27288",
      "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 screwdriver into the toaster\nstate[joint_pos]: [-1.0084, 2.336, 1.6081, -0.6224, -0.9005, -1.2346, 0.9993, -0.0265, 0.7998, 0.6132, -0.3981, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.368 left_y=-0.3176 left_z=0.0089 left_yaw=0.3478 left_pitch=-0.0834 left_roll=0.054 left_gripper=0.9993 right_x=0.2939 right_y=0.0012 right_z=0.1789 right_yaw=0.0001 right_pitch=-0.0262 right_roll=0.0026 right_gripper=0.9991\nstate[joint_eff]: [0.4581, -11.7675, 5.7368, 0.8523, -0.4664, 0.2222, -0.0317, -0.0068, -1.3197, 7.0906, 1.7167, -0.0415, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHAjpPgvSU7ed4wH-xTf_K0nApimDhccK31LWBfzvLZUdcScCKchYQWEzW6iDG1vcC1b7_c8E6xXqL48bIbkOgjwBXtM3vVh9bz_hpvXHg82OPbndhkCjO-dYaoBdYmPQ2i1FqxbBVmxJL4bf2iXkf7TYgtoIOFE4KNh-5EhibhXicBV4UUptAvSX4aU9w2eT5yijXCfeJqmz2wnnkGsaxZVxy2838oaRDA7pf3eVSW_c0-JZ2X3xEe9Ogoa0VPfMYZgmNBXY0FSn8fgl_GUvFYg3ETXkCiuGUe9uWRwe_JPAWstlP1Il0AkwAljEmcuMCfkhTfCNq1UYjSabQSk0WksBm3N8WBNnq-Fr8s5toZqLpPIBlZluochNv1pyhCM5PNeynak_IipCGNVnQ-PK6wZX6QOWouReVgVR8Ihpgx14-6G9J6_4v_zPa3zHBEhCPZw1NnQ9rJPjOgA3E-AF1moQavOHvCHV5_qzHz7Pm-rtc14J-Opb7M2uFAAWcUsUs2oD1FXDQ2E0DHi892_qDVGQ9_riBtwyedk4_3xaymHA_i2v-C7cfD6oN7vgiY05es3LMbpWVMrKRSyqm4PYKsB4X6yLyxu0v7lHhEkAOPSTSV1tD92Manubx-BsJNkhdWGtK5AervuOMX7Kg41dvJWsdECUGUiAS169XY6j_rgLnGTI5w1JsAzF10TA17ci1hVJOT-TL0NIrFfs6xcQ0yEHjSMKhkiz9Fee2rE21n7K60sSllRAE1YlvWQfE25gJ0Pm6t2vmmPKpUMHDwKowGIRp9fjDdSeDLslFjxNGf3Pxr3EBf_tPD2AlAdNhxe_NcHW1BxnX09PfbueC-Qe4BltoRzQUpMGwUG-hSoQHDJV40WUzDQpyX3sVTuzeUr6YtuJ4CZEsLpp4A5Qt_hd6BxBMdvCWvtBEMrTmFd85Hs11eyrH4Kil-m_uDEE06RPFkqZMLlVoY9KIudw-1cTpXw-y8obz1G44fTqT1Ca8_IkF7xrjAWPnGMFisU7XxpO3sSb6Pl-Y90uZfwuuRJAP22fUCrDSwwOAdFbV0_xcJdeZcFgojkR3TxGw9va5HLkt1nDEEp1lqRZ2Sq4M03w95KuMDhv4WQzKLZifGv9Gg0eQVjf0eO3Ub8f4HxhwmAdf7lo4bmBf3iHN8UbWLVSjE8MlRsXQsuMJxirX1dp1yCrdSQi2c5gRUcCq5Buy_CBe7_PM4R0AMTyOFM6OzHhJsWHFY9kIVj0Tz0R-7TjOWhhr1BWHwjcRgdZCVLwVlcVCJ_VWFEtGY10KpDm4uCQFCqEa99oB-sqVhjeVHvI65qvCn-1wbHfrXRbam_S4Hv1iD3uCBUMyk3RcCYjXHmHRmgvsY8NchUawNEF_JaM6j7VM67rBzpI4_kF0GKedPQPpYlfEEC5wPkV03tQpvteQvTWw==",
  "id": "rs_0149d6297d7acf03016aac702011e487d086b8aac43cf3c091",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.401,\"left_y\":-0.34,\"left_z\":0.01},\"note\":\"The jaws closed empty just behind the handle. I’m reopening and moving a few centimetres farther along the screwdriver so the next close catches the handle itself.\"}",
  "call_id": "call_pLzPlnLkqfp7BJGW1gO1nk2A",
  "id": "fc_0149d6297d7acf03016aac7021a41087d082bf47db4903501b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pLzPlnLkqfp7BJGW1gO1nk2A",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.9791, 2.3955, 1.7302, -0.5861, -0.8825, -1.1679, 0.9948, -0.0265, 0.7998, 0.6132, -0.4126, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3956 left_y=-0.3375 left_z=0.0142 left_yaw=0.3281 left_pitch=-0.0782 left_roll=0.0069 left_gripper=0.9948 right_x=0.2919 right_y=0.0012 right_z=0.1759 right_yaw=0.0001 right_pitch=-0.0407 right_roll=0.003 right_gripper=0.9991\nstate[joint_eff]: [0.5265, -11.2479, 8.2667, 0.7692, -0.4371, 0.1587, 0.0464, -0.1436, -1.2786, 7.0222, 1.7265, -0.0317, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a51bedd147813593e33e4513d3b23e3aae4092692edd1676db08aa0164cc938a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4dec36c1f688ab7ed0a0e7940813c3fab6d7a5b3a651308e9420a7e0306aebc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85ca7ea0feaff2bc80e678bb2914a6d739fdc48989d3cdbdb0e23035d6f01faa",
      "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 screwdriver into the toaster\nstate[joint_pos]: [-1.0, 2.3417, 1.6024, -0.5407, -0.889, -1.1843, 0.009, -0.0265, 0.7998, 0.6132, -0.4114, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3763 left_y=-0.3256 left_z=0.007 left_yaw=0.3203 left_pitch=-0.0793 left_roll=0.0231 left_gripper=0.009 right_x=0.292 right_y=0.0012 right_z=0.1762 right_yaw=0.0001 right_pitch=-0.0396 right_roll=0.003 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -11.8906, 5.8462, 0.8132, -0.5543, 0.1197, 0.6764, -0.0889, -1.0188, 7.2137, 1.8291, -0.0415, -0.0464, -0.0171]\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": "gAAAAABqrHAppETnT8AP8Tf3o_BdXab5fbTFoUbDcFHWAH3dDt2WhbeBWQ2TN7ZqqtUooXI_gXETT8Bh7LPPAJuoUGUYi-TKp0bxX6-oSMxzItQjKC-DEgX3edCsCHYu4EUHxbFZXaqSAtUkNRP_VTrKEUp4wwSEJsvkviSvGTEaQMqggPxBubnNgrXyXtLeKfHrrF20aC0hJBjnMWmQn5FGsuTtxHCfvsOHzTQStuXLTNthaJgsvd76hL7QOekADemvaH5mUpMtIIx12hv6b6g0JyGezLk-rGJGh2ycaEoTb_E37nGGM8fcZb24IQGMDqmHlfmc_YO_gZXM-Mf8yM0QQ42NYlDc7O4S8tj-HtwDxPjTeiJS_EzupfbnoJ921jgS76gutCIFUeHxdp13jdTY0LOB1kkQLu9MYdDW4doLYGCnrC4E2d8U1rvsuAFdc58pJyBpq7XNjPgOxGZRPPKr8dMEDrFPA4qMUd8Q-_Vw5OwxMy39BMq32u_q-1ea9TxA2OcPkXVbTRPluegocXWFhBEF71b2NI5StkC0bfRcNGEiLDAYGoIahDs4rea2ArKtvp9WnR3x3KyHKP7hWCVcpVgkHgpIE913i7EJKtWZyq4CQZAujpPa9Zutc-yP2nbwyF9s-Fkfyjn06V3Dq1tg2k_EHsaZNW3Zte8z8d6Lc7h16ZEuY5vuDADoTS9Gvf6qgNMj1YnJR50QxtnEgcy5R8Z2CggKkto6hjjpbf6e0e9jpCdor5_v81FMREr5UWdvF_ImQjGkE1GelC1LBh-qaMhiN7curMrYkOVG9-0GNniNI7rCmeSCgV8IqO4GHPJQuPm0B4eKYd2bcCERQvVpJiF6mFmJSOce1Op_6StYPhTzi-kHOu8I8Y2glI2E_Mmac09KnAG7k54BXb0j-iUwA90NcuxOuk6s7LH5lyu4Apxy4crySwZzYok52VVU-wViT64Wzt-yrkVPU1EmcsLgD2v0mYTxyP5NVNtyrUgS9Y2XuSYD1K3noB6Qxw_Yk4EA6vpfI33J1h8svy7vaHbA8LJleNPNNb2znFxMFBpWRkKeA8CRXTHDRScybMNYYr8EVk7-nFd86rdLMXUhLzO5l1l5KQUxO4InjrDMzUP2-MJIIypLqCQ7N5I-zl9LgYs_d2_ho-DgkUCsRL81FGcP-SnS7Y2qpQJ_xanDKJ0a5OUK_GXMDXB1ognSothtOHxeA_e5WdHCu6g7sL5Ty1Ke_uemRzafTHkKrWuf7DVU0DqxLlHfPXecA9lmZjLQUqsBoheoaw8Tdb50StXzATs_hkF4-cilOHZ7EEHNOD6nWxg2i2_92kZ9LDorrXVX7kA7eVR9ArZfFSPAAZo3CLnC_GiypTW7ZE1Neio59Rap6fDxB5p390BjguvrXlEq0DrMVdDpHgM5Djx9L6lin01Cd-puNBK4oXmfVaSEY2hDzAR9iFdve-VOqw-cuTnK5SWyupsSRAUIXJyuq8mhcbxTiWX-7z8recmtpAHPRUkiC4bqWtZl9Q-yiG0L46BUQ2yLjgBLAcXHyabqdNVDNJHn5CQ0jhG2WdTsspmcAllZjCply7ey7TrV9SLblA1X67ChG8d10mFgQjHbKZq1SSJfvVFj9yojnVY_Nb0kQAozURnXF7MnfVr9ae53PUAbIokBxbnR3V1V",
  "id": "rs_0149d6297d7acf03016aac70258edc87d0bea85b820ec165ab",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.419,\"left_y\":-0.35,\"left_z\":0.008},\"note\":\"The handle is still visibly forward of the fingertip line. I’m advancing slightly farther before attempting the second grasp.\"}",
  "call_id": "call_gQKm7kWMSFQXV9H4AJOeC1pD",
  "id": "fc_0149d6297d7acf03016aac7028825087d0815a711ad6271382",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gQKm7kWMSFQXV9H4AJOeC1pD",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.9672, 2.4588, 1.8217, -0.6083, -0.8818, -1.1652, 0.9961, -0.0265, 0.7998, 0.6132, -0.4126, -0.0299, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.4079 left_y=-0.3451 left_z=0.0084 left_yaw=0.3378 left_pitch=-0.0773 left_roll=0.0029 left_gripper=0.9961 right_x=0.2919 right_y=0.0011 right_z=0.1759 right_yaw=-0.0002 right_pitch=-0.0407 right_roll=0.0028 right_gripper=0.9991\nstate[joint_eff]: [1.0735, -12.8205, 7.0769, 0.5543, -0.3736, 0.2711, 0.1245, -0.0889, -1.2239, 7.0222, 1.7265, -0.022, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47ae7aa338f0f360a899e9fdc2e58e4b9b413de400d8ff023dbaf4507be1d9e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ff493145f571add9c1f3d98c1de92564a595da6b937a762418ef9b138f95ed3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be68d8e3ff663d97cd4d22c9d30a688751c6b21d93fbc240c63a93527b41d206",
      "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 screwdriver into the toaster\nstate[joint_pos]: [-0.9791, 2.3955, 1.7302, -0.5861, -0.8825, -1.1679, 0.9948, -0.0265, 0.7998, 0.6132, -0.4126, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3956 left_y=-0.3375 left_z=0.0142 left_yaw=0.3281 left_pitch=-0.0782 left_roll=0.0069 left_gripper=0.9948 right_x=0.2919 right_y=0.0012 right_z=0.1759 right_yaw=0.0001 right_pitch=-0.0407 right_roll=0.003 right_gripper=0.9991\nstate[joint_eff]: [0.5265, -11.2479, 8.2667, 0.7692, -0.4371, 0.1587, 0.0464, -0.1436, -1.2786, 7.0222, 1.7265, -0.0317, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHAvNo_Mqjcw-zX1lSn_JRJ73ZU-lbcXaJsTFft4PxlkeXuVKE8zQ23U1KBfNCeTK2x19XFBcfnaO5rkqDHrlBmo8k_IxnLrlaESF2WbypZx5txIcyAde3mZoZSy1aU0dpIdDe9iY10e6v3xS5sECOXOTdZyqE-ihsUeBpQh2MmdEhoEVMBB9VoG4HQ0I4ArtlGULeDgpUSCPHfOEpB0erqL55CyNAvpA25zVbh8fzTuHDPe5vOmw1il2V3gbEzdTNxBiQI7GmR32W3_v00vIe3KCTOwq7jccQxymE6dcjBqbDo2iHF4l7o2bGCUcqq6F8R68N8UQNBr0xT1DwFtu-YCuMZKNO59QIdjLu-iJh_yMX2osDqr0ijRwFi5PXXn_qoxvby-nHZYty5abM3RXQSlV3ZO_ywFnr2M7OuwaQ4ZqeOl6z8J_aKJc3-EpI9Gq_7PkadRjL7j7oX4RolvLmsyn4FVZTsbblAMhEgvof1VCacPuIMRLeaPjk70OLeDQi967fpR9AGbzzEVHZBUuziBApr9PwZEsVkra8WHcZ6yHVSOetmiITLfdPzCluGM98xgIpkbYFxFhXaPyqKnwWvLyEm72yb5zCuyFIkpDQvWzGaBcMpi9U1pwkar_8o8wo4u71fMHDBr4Sxj3VuN8ZbHTTJ4L2qj97ooIA3VuEJ9V6K5mV7nxxCzh1ZpgElSjXvJzp0A4_cvSoe3USTRDPSJdX0dKfR82FyNHsersylDYHVGJmOIsb0qaXvqXyyz6grVGLxDXZTUKuoLRYyNVZniv9meBnaHq_fiFs-ZBYKEeAq3cuIX-dLxQUoE63066AdFITZFG22YqiwZFwicZYXQFwoDPE6o2-1Co_LNeblXF1wiuqTR3YCUkhzgQFIFrkQBIp_FZtyYCOpa3DwkzB7HVxe-KKc15VpqbGvKjZONWBuiZ1vrtftX_xAOOd7XJyxBVDhwWfyzVRQj_g-9cE7BqFOOaLI2PHhxO9RwSr0nY9HYWsHWOHNXgVG5djwA5YCw7Pya1lcUcd106QQkPVBB_ngagY-mQXBtCyXFLXZ6SRpgNtc4erSw42QmpyqZ1qr9mWERlzlaiux1cvLNbVNfqxVjeaKvKwMlk5u_Y6VpTxPInz2mtjwKdYGsvJLbIaCzUc4AcCtrYzyxc1B9bSVFb2i0qmUldtWjxMQa-hpj6su2TDTcLK__ILTshH_AA1SWwBedQqoerv1k5iCGzUfOin3Nzt491wOh0x_WcCBuHPut2HjK-xiY-gelIzskNES8Z9Tjc1a1r6RJaiGNEtERgP2XsU6wQbumPeR13lV-Nob1_-4XOHlDp96SAUNG8ZOn_KE17_pUIvQmfesSQuzYkD4PxZ4DZzr08PNili_WwtE1sp8bNxl5XXLyVndVwv7f6QDsPZ-v1JlBeFQ5CwnFSYLsVyqVdoFLwveo8WBVaubDm9nswdW05SXa_sdQLTh9TgEAjKh-V2yQhGzUfKrE7ZPLDA0JNddZ_oiNghBmqaPx4vzNBSaFVuDycjLO6EfQoQJto7KMgyKnAPs5SqlPA3z1SamqUDXxjHRnJCWyblQ_CsHQzLaGFTlylVqSnHBC63nPTGzuaabEp5HFKp6jm1_tYsRNPCTemPOTluPyI4tMhS9RlzqXUrcTQbfHE9Xv",
  "id": "rs_0149d6297d7acf03016aac702bda6087d0854d6f95a9298b26",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.055,\"left_yaw\":-0.55},\"note\":\"The screwdriver remains diagonal across the jaw opening. I’m lifting slightly and turning the gripper to align its fingers with the handle, rather than nudging the tool along the table.\"}",
  "call_id": "call_LH021UHjqDwEHoZr4cy9US9G",
  "id": "fc_0149d6297d7acf03016aac702e4d8c87d09b3aabf5144f6522",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LH021UHjqDwEHoZr4cy9US9G",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.7853, 2.0743, 1.1683, 0.0803, -0.3614, -0.342, 0.9963, -0.0265, 0.8047, 0.6132, -0.4122, -0.0299, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.4041 left_y=-0.3106 left_z=0.0146 left_yaw=-0.3018 left_pitch=-0.1893 left_roll=0.0247 left_gripper=0.9963 right_x=0.2922 right_y=0.0011 right_z=0.1747 right_yaw=-0.0002 right_pitch=-0.0453 right_roll=0.0029 right_gripper=0.9991\nstate[joint_eff]: [0.1026, -13.8735, 6.5026, 1.9951, 0.1197, 0.2906, 0.0024, -0.0479, -1.2923, 7.241, 1.7753, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80727a2ef3b1aa8ee500234bb5587ef0d7a1cf34646bf8ec482703a78e990dad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63f20ee51b12652dc2bc5159bb8dc02cdd413093ffffae6b6b06417b908d4ef1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc3bade0ead5c83f19a5fabc1488f738c600ba43775c45fbe67c4bc96134355f",
      "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 screwdriver into the toaster\nstate[joint_pos]: [-0.9672, 2.4588, 1.8217, -0.6083, -0.8818, -1.1652, 0.9961, -0.0265, 0.7998, 0.6132, -0.4126, -0.0299, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.4079 left_y=-0.3451 left_z=0.0084 left_yaw=0.3378 left_pitch=-0.0773 left_roll=0.0029 left_gripper=0.9961 right_x=0.2919 right_y=0.0011 right_z=0.1759 right_yaw=-0.0002 right_pitch=-0.0407 right_roll=0.0028 right_gripper=0.9991\nstate[joint_eff]: [1.0735, -12.8205, 7.0769, 0.5543, -0.3736, 0.2711, 0.1245, -0.0889, -1.2239, 7.0222, 1.7265, -0.022, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHA1FPgbsP_DqZvcuF6Uqy3M3VOZRn8alQLFtjDky2d6ZcGq9oQo7ZKWI-zORSYdMKFalVPjTBojC3BLTkFfImaJlIR_oQM2I6OanYZgybwa577H3KPpln2PcFCb323th1t47CizdP2DVXCWPWBtBqVnEbQrQidKr1GsPHCZMe1tAC-mbzjC5JKqHx6SHuzQNqhxMJoGBklXtQK1mBzEGLGbk0KTED4Rwy4rO_vsF4GWpgO1fwq7vPU4JPa-pWPUuSbumNNBFFA7jaGwvMAQZy940Gm2qbF6DZxPwsNKk9n99wYlt7wkrAyIqdF6clANR2TklZJagdH9oJwQxIwgBILBgqQAnLpzFrB4ZTYBc7ROgZDP-is64o-DJNPOnGfRI0uoUM1rdauLnqOY4M2eVS6Z-bO3U15Vg8CeFE847YmwftnF8yY0Qnpo6EikrVbQcst-s3D9aCvbEKopaCIonrmBaOZP4nHokc9h_RlencQmv2a1hH43EO7qXo3X2SH2BLLqSUGHwAvAF_J-GY1gzLz85SqYVNThmeOrEuanXhjePX8Xufh2IINnFyuclgZPel9LkN32C4DiHUxtHaFWgZAKRxaUeUcg5Wp-mo-n4wwMGrqT8SvT8sP5NMChqQe2vCHQwc87mPldXLB_M58g0mLz30ikhRAs5-mdOispL4dUiQuBC1pF1bLPccp-Ch5_4YtP129iXyxaQX_RWIvQcPAIjViVlUeGHAQ_RG1wQGmgyw7QLJzBNBTLaJwLKmFX5H_D5RuLlOVNgnqh-qlGNPhRbF46z5QzXAgYwzF_9870ISXYUxVcWC5U56SY7U8Oxn87-_Hymp2VUaiOD6Uf8-Xx6F1Wf5zvhCoKBVpN7rNiMcEwsvbCS-dLr9g8vGWqXtIW8IVJSMVh8qWgO8J4N635SmIhi3DzF6yxWNK9XFcUQIjTvsy3tKqD1ieYEBcfRzZLFcaBYrvNlKgUqIhUy71a8-J6V4g_1D_YUl1DyPD9O9tuE5vkyxAAdTFBqSGW9_ThYDIftVEAeb0N2TdIlYliyrBHNTsVaSRfBO8rMOjcM8Dk3TO-ot1WAoS03TXh8ZEHXY6X_xjnLQmKzFOI4U53tUnTwjGf0gXF8K9yfrUrD0dD5vk4dOC09uIZH3fwH2K2aVpEMO5GOUlbCsGtVDgvFNyj0iQLe7lrBldIZqOU_MzxoQWHe26-_NyvwgOA8MytL63Yps65Gj-P4YsO1mkk7uMzp9-22WPIZo_FDUqPk1e_7Yh2dFtXyTeciBjnfW_IHM9QvxA1d7hYuk8rfWCbA-0FBObJczxbl-MY4Yv3JT5NgOsN0Y9ClR0HIJ2P9ernkJHgZ4lFtfoINiFclaWwEQ==",
  "id": "rs_0149d6297d7acf03016aac7031f5a887d09676928b650efc78",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.15,\"left_z\":0.2,\"left_yaw\":0},\"note\":\"The left arm is not tracking this low, extended pose well, and the screwdriver has shifted forward. I’m withdrawing it to give the right arm a clearer, shorter approach.\"}",
  "call_id": "call_KhcnOyyLQIfGdprt2xQ1bpfX",
  "id": "fc_0149d6297d7acf03016aac70335a2887d09f1227c857bb0fa5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KhcnOyyLQIfGdprt2xQ1bpfX",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.749, 1.2812, 1.021, -0.6582, -0.5026, -0.5461, 0.9963, -0.0265, 0.8074, 0.6132, -0.4126, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3045 left_y=-0.162 left_z=0.1814 left_yaw=-0.0343 left_pitch=-0.2014 left_roll=0.0188 left_gripper=0.9963 right_x=0.2923 right_y=0.0012 right_z=0.1739 right_yaw=0.0001 right_pitch=-0.0483 right_roll=0.0032 right_gripper=0.9991\nstate[joint_eff]: [0.3077, -5.7094, 9.7846, 1.3993, -0.5104, -0.0562, -0.0073, -0.1846, -1.347, 7.0496, 1.7167, -0.0317, -0.0806, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86d6b4ca8937b1bdf79b6625704e14b3bd7356b25f37fa1570608b92405f7ced",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc4b3af3eb7f20fae215f7400b5f71bd3ec77fdb82d695d2c22eca1bfc166b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f1955993241c0075bc23af480ae3711cef152fccd9c4ccceb67ddfe6c7f88dd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.7853, 2.0743, 1.1683, 0.0803, -0.3614, -0.342, 0.9963, -0.0265, 0.8047, 0.6132, -0.4122, -0.0299, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.4041 left_y=-0.3106 left_z=0.0146 left_yaw=-0.3018 left_pitch=-0.1893 left_roll=0.0247 left_gripper=0.9963 right_x=0.2922 right_y=0.0011 right_z=0.1747 right_yaw=-0.0002 right_pitch=-0.0453 right_roll=0.0029 right_gripper=0.9991\nstate[joint_eff]: [0.1026, -13.8735, 6.5026, 1.9951, 0.1197, 0.2906, 0.0024, -0.0479, -1.2923, 7.241, 1.7753, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHA7yH7Y0dom0rSfmKqiBoXpVlte0YZfpX7RtL6T3iOPQfKyitN9mfNQyCxlLXE8dznrwJ06V9hCb4jEHBeK_S1osv0JNwPtrST0DBqRdmZH8XpLgWsLu4qIW-hclkXkHfTZ105PSXyxL22syZbX0zK7kGgI5LfZp7_YQ2VQytJVbihiaSUoxOyH_HYkKrig88JzsCsq9pa01dkHUBuVmNrFnhj0IW_Z48RBMH7o0I4hgeQ4TUehsZLsGl0LK18mK-MAulm2PBRBForXhd9G9c6A7SyKuCjV_k3bgueTr8Pa1kvoYDu4ghBnWXY2yVZ3Lr5kc871DEkxJwT0zwwPVEnJKEZcRSiCyIaFfewb5hiCVDhe0X6Jyphcd0abCXkmyeS8uzBnBwEZW0HU0wNaiQblyaGgktauInSY7B7ETykJOIeOLN_HW56SGEnCmLmSO2OAKIVuCENpSc2xvF0Dh5NlI16G9xgcXPpGtjWKmqz9cbyUon7o0qZ3TcR5biy0iSnz-ZqIBrMZWF1ScYz7Jki9mcrs1Bi_3tBYft8yVIZhWgwmDxfN6ivYhgCGtLxatnfbWGNBHVWakOvRUeTxYIQQbqdF7w03XRHOSsgzgnYQaWrpzgAhtp_Enqz1VKz2Z-YaIybai8NZ42R0DWyjUbbgVob8ceGu-qsVY4JFDVn53GFgeRdZ5JxOsWLXfiWTgIyWpczL6VCA2RR8QnLkdypAJNQSYDORU5S2CVHCjMCeDft8bIqhKX2-4_0-rlODw2uygHB4JlPYBrVplbjHdiVmx9ovOhQTV8v2KtFcGhjRIs5PBJrrVwYPcGf6rqgtyQAj_KoXcyApzd70BKK5mpHGuwF1USbO-syDJreAlUff7TwadBBGmIYkF7vUIBEUL79xmsluWgFoiEUr2NZjvZIAySvVG95ZjT4xiFqCo-8PK8iz-GW5MY4Tgdj2PQm6-AJOKeKUhRcgMCJ8u0lq9StEZ7Sz8x9CilPy-9aasCRw1u82XjNW0QnVcvStwZv15-oD7IxYRvx-PAm41P1rJtNh3g5KDj-9n4D_eLJXljduSz6fysfKmzjBlS50AudavsZizdB1BBoHGeSWrnZJKuUVUdJjMpcTRJH7o__u-fr_TqFvBZBl15vTKwfSdGI4574SJNsERxaDuNBpQbjJHtvZXETNJkLGCCNt4AcGXL5XKW3h-54NIsyPWUWzo26IGL_4I1k7fIdl-68J9gVCGGAyv-kRTnXg1cos5u-MtXi120l_-kGQl8lL1o6rJainQb8trH4kofxwMgKeo7p_OL-2Zdrg3mLkCAP6JCYTbF6B5B68tLn9qOdW6ovS-XU9hOpy",
  "id": "rs_0149d6297d7acf03016aac7038598887d083a207831aae02d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.185,\"left_yaw\":0,\"right_x\":0.43,\"right_y\":0.285,\"right_z\":0.13,\"right_yaw\":-0.55,\"right_gripper\":1},\"note\":\"The screwdriver is clear of the left arm and lies diagonally in the centre-right workspace. I’m parking the left arm and bringing the right gripper above the handle with a matching orientation.\"}",
  "call_id": "call_bpXvB8vIoieUl7tlvmStgXub",
  "id": "fc_0149d6297d7acf03016aac7039389887d0bd42cf711a56773c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bpXvB8vIoieUl7tlvmStgXub",
  "output": "executing move_to over 24 steps (2.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0525, 0.9688, 0.8349, -0.6632, -0.0761, -0.0681, 0.9963, 0.8513, 2.3024, 2.0171, -0.9638, 0.9028, 1.2018, 0.9991]\nstate[eef_state]: left_x=0.2939 left_y=0.0016 left_z=0.1804 left_yaw=0.0389 left_pitch=-0.2251 left_roll=0.0133 left_gripper=0.9963 right_x=0.4344 right_y=0.2908 right_z=0.1269 right_yaw=-0.4992 right_pitch=-0.0705 right_roll=0.0241 right_gripper=0.9991\nstate[joint_eff]: [0.2667, -3.0838, 6.6256, 1.6532, -0.0708, 0.0806, -0.0122, 0.4034, -12.9983, 6.8855, 0.1148, 0.7937, 0.2125, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d77ace609e86e642ea51f45e55531f822e7900cef1b0190b17caf0f5e87817d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bc2e7848416f332946a8d3a51b5ef53f2ce96e5ef38857d5028f0b1c2e93c91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8c082b0d023ab99ea147704a9414b2202ad992dc9fd43074697cef59a6116ee",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.749, 1.2812, 1.021, -0.6582, -0.5026, -0.5461, 0.9963, -0.0265, 0.8074, 0.6132, -0.4126, -0.0303, -0.0147, 0.9991]\nstate[eef_state]: left_x=0.3045 left_y=-0.162 left_z=0.1814 left_yaw=-0.0343 left_pitch=-0.2014 left_roll=0.0188 left_gripper=0.9963 right_x=0.2923 right_y=0.0012 right_z=0.1739 right_yaw=0.0001 right_pitch=-0.0483 right_roll=0.0032 right_gripper=0.9991\nstate[joint_eff]: [0.3077, -5.7094, 9.7846, 1.3993, -0.5104, -0.0562, -0.0073, -0.1846, -1.347, 7.0496, 1.7167, -0.0317, -0.0806, -0.0171]\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": "gAAAAABqrHBFeREBrdMtHyFzgXNhBcaFw1MR9NvqChB9OBLOLGlDXnEJJN9kB5fTJ_yiL94hWA7Dr6ozJYCChVbF5dL09Rc_lX2ZmbZF0-_6NZBgiFF_dE1Rt8Omx6W4ePSYJ61VyTRKxH59IufET6wxYQHQCN6oNKQVi7Ny2q3upO-BhFbfvsxAZV2lKUmcUzYZGEh3YasVKxDHcKx-EVibSsXpw1uMTKoRMTiJBvrqSLMFcAhJCgWVhNnkvnZ5BzfENe1OANH_Rf7oukqUJvQsHSajYR4qpYxKYoIlV31lWVoRhPguo-S3NU3m87J9Dpkh-3VOV0zLM2hyOndv4aupjCbFj4dx-Qwm-ogRYhPv62iMbnQjFtERF8cnD1abL3wN2vcJgBexv04iTd6zSzSx3ayBe1JTHsM87Qqbid6pt6pM2eezlOY4HV4msIhgmBQiR5XmwfQ3Coi9HLf69fsc6m4fs_AUnUYh8DaLYU5R1cupdd3uQDxvHWnnDvJNyJat9MuOWgvfqREtxqqusAKvRlFIBTF3KAwa90ecR1QNw3jeChzWvBd-LnbpSnqUb4ylGJXGXcATRbYSPClWq-hHc2siHy_9pYT1BLrVe9xWQbvaxNF5Rmz59r62vW4tisdm1M_Uu8fEsb4LK4pw9eObEaH07pj7Qen61_UJSERcxbUQk6XmYD03ORS8lZWuAjk7O5M2syl5inljFzNiccoxb8xuAAhFMQHyDrb2GqONrAiUMkDwmQeAyOHA-hX1MbKGoAFYsD5XGBcJT3sQup-BcNuHnyrANEPmCZ44rhnyI5qXp3rQnANH80rMaNmQ322j4l6tP-9VLVfsgX0BX0MAajDzm_61lGenHTbAg2E2aBUsGWqDgQPMql7FyeQd6qvChbzjSsCj2NxKI_NrZEMY0E6VPI1R7r7O2QqUmqlwAL4XSOMtYtPKH7Pm4-wz02Eouh1kpCosIccgdSdJ29KMx1YdUYcxFjWkCgNOYy8SbRHKR40iHxwkRLcH_QobjD-fuqoXLFaTPCda6Gw4VkK6jGRWP8FcTjpHfdw_6137eiywcFAyADk2CM9riDAlkC8YrWUhjG3RDXWTCRwxiVKDcSXadrDGSwmYKVvYVtn2GPNhy_-aFD_Apt6I1PyKf8P2zSr6f22pTIGu13IP6-1e6vLVKY-l-4SINfX7hh2bpml_89hi27RO_UdfkYbC68i6Bc8_6qwJWGDeAgnesAZhbVpR71UdcrW7kou_jd5S547rYuessEZLb_oV4Qc5-bxOPp4BAHnkqTrjchLgHOk2l-tSZ2sdTmK0P7zGxG9ahDwxRKxwb4dDAL4U1mLG2fxe179_ay8xgXMPt4AVHnDY4NemKf_dliRWn1QyCDxO46vZ-HuCNc0owbrWJrtqG4bsIrQxM9LqyAgRPWDY2U9dJIRO8FVZdRs9nSLQYTcCPY8Nc7QC6-GX57qd6w2z_AwOirBjoCnIKJFPH7AZyctuHdlAHhdNNDgCSbOGDkf2QXgBEPLvUUuS1EArx2FGSqySRIIWFl44gpRJhoaw95ROm3uc_m18-FSY1dVGnNgI31V4TfR5TckGpgaV3zAcc-XaUXNbcqKipqXyIjzG9crtTyTlvlkDVpE7q3qoxoXeRP_g1qQBtPXfRWnItdKuWVTtA86o3GULrlEsfDIP83rGIAFmK9paDw==",
  "id": "rs_0149d6297d7acf03016aac7040476487d0819c5cda4cb65b17",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.413,\"right_y\":0.253,\"right_z\":0.035},\"note\":\"The handle is nearly aligned lengthwise but is to the right of the jaw centre in the wrist view. I’m shifting sideways over it and descending to just above the handle.\"}",
  "call_id": "call_C2CGT4ZPRLenjavtWsSUAPEy",
  "id": "fc_0149d6297d7acf03016aac7044199487d0b2fbd7c146426a19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_C2CGT4ZPRLenjavtWsSUAPEy",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0509, 0.9703, 0.833, -0.6689, -0.0738, -0.0692, 0.9963, 0.8371, 2.257, 1.5276, -0.6029, 0.8822, 1.1809, 0.9991]\nstate[eef_state]: left_x=0.2927 left_y=0.0017 left_z=0.1781 left_yaw=0.0392 left_pitch=-0.2343 left_roll=0.0117 left_gripper=0.9963 right_x=0.4019 right_y=0.2474 right_z=0.0207 right_yaw=-0.5033 right_pitch=-0.1085 right_roll=-0.0696 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -2.2906, 7.241, 1.6044, -0.1197, -0.0611, -0.0122, -0.8547, -14.653, 6.0513, 0.8913, 0.5348, -0.0708, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa57b0f9badb23fdfc2ab72ea678cddc34a106d892210d4f0ebd7d6f28ee073c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d6ee0fcc04cece2903ea79cec93488f22218b503c0c07aa6140e88aa1da9f5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eba3e7afdee083701e8e43831052da0bc4b9936e8d76782e0cee2a824f6281cf",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0525, 0.9688, 0.8349, -0.6632, -0.0761, -0.0681, 0.9963, 0.8513, 2.3024, 2.0171, -0.9638, 0.9028, 1.2018, 0.9991]\nstate[eef_state]: left_x=0.2939 left_y=0.0016 left_z=0.1804 left_yaw=0.0389 left_pitch=-0.2251 left_roll=0.0133 left_gripper=0.9963 right_x=0.4344 right_y=0.2908 right_z=0.1269 right_yaw=-0.4992 right_pitch=-0.0705 right_roll=0.0241 right_gripper=0.9991\nstate[joint_eff]: [0.2667, -3.0838, 6.6256, 1.6532, -0.0708, 0.0806, -0.0122, 0.4034, -12.9983, 6.8855, 0.1148, 0.7937, 0.2125, -0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHBKBC3ILKujN1QKFuyfio2q9JOXAKC5Aww6D_RvcjP7jxoLnKSQjVKydwsygZWIAXEN5kc_pAcgbr-Eq8zTlSrBoIGflWqtOMStQS8ZdMGGfTbRGIDSpRnOCQlHa2OcCI9Bg8fHWn5-mpvaSljn6wsIrxVdrqNx6KmiUn4jirfIBl2hEepN-QVgSvZ4yImBsTv9cBhIQnSN67eXxjvLmU4-MHb9yvpfh_DTuaAb3zjJqNRq7zLiLr17uWo3crK-tMzNqyzWaQej4lVElLOWVQ9mf4zkeDL0RqkYW97SwWlva6lJTV5F6hmr4iZN5KDbX6UCglh6MPwjK__oIvEZwhtmGwiZX1pyFrsG94y6DEqMvRdj-d9xx5zNDN3AcjnKg9eXJdkTNkXmtRZn1l5h9I2m9txxTi9oShLIrt1vKmvlTFgAHrhafJZt9oVG4dga7PfZ-P4O3ziPp8sCFT3IJYf6Lp5w-8I152psYWnPLeDDfHkjoCYAJiGj5McUpcBPCpdZ7IXJ7nQVD0vXzKvdvn0R8ETKhaCPTBs3asqZiEgFLOM6fgi4FVeJd1pOcSCxjlvkchfSeFk4TuphLRDXoK4mBPu6uCHkoFNIaWeeD5zHucQKuctsPk6MrncOZ15pnbdqaG7r7knNsz-97BmxVSgpRBZ7T4J2bZ7SCEnzBk7cVHyC7uFk9gBPILa_jXZkkHPOShppI8jHVwIxkdBUvF8SWfKGlbIGLV6U0CTARI1fiKz1yWattoc9exi0kqJiVs5BYGCIpFAsIQzk_P-yzu2MFOc_MIYYYA2etSh0UG5HLmbWfWUsQiR7vilt31dia9yGQxijrmAjvc5ZXRd86gM1S-iMzDXJyAqSzUfMjX8FltBgv1kIGxVJx3OSCzOKB5PytNkpaw9OUcLzRyikPYFf3ndQ-6swQQo6Sxw2x4xrNbU_QNGMmjnqVkAO8n-pdtCuVowt6JrWxX5fEM6DdoLu6UZBjNW-ma2X2MaaeNOShQwz1pYeLg2jeAe4oveXuRHIliv-4OcrnSlaWaUyoeTlAyRLU-HAK3lZwyTIiJqHKgZSFXK8P3rtYyiFNk6PAOrB8xd6RdBHsMMRqkFsqGXIVpMiniuZiyVGRTBFZ2XCXs0FXisBMJGEt1kX1ZJeuK0Gf8zDnggTJDIG1xmkyih2CiwvLtQQM7k9PutXgpGzhIVR0PWTyP_0NcN5hldM688Yl-BERoFsRnV55TWn-RyzFQVRIfgcihNt4i3LCA2LK-40dBNNmeuzmMJT_9Gnbcu5lAaXSMBuIJfgym5_Ep_qeMM9VFUi--LZefSqom4duGB-sJEOOJ_DWlqkpgIioT7_",
  "id": "rs_0149d6297d7acf03016aac7047f72887d0b99fc962971431f5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.438,\"right_y\":0.24,\"right_z\":0.008},\"note\":\"The handle is centred between the fingers, but its near end is still ahead of them. I’m advancing along the handle and lowering the last centimetre for the grasp.\"}",
  "call_id": "call_NHaVBejI6fTQllCZn9xVZYd3",
  "id": "fc_0149d6297d7acf03016aac7048e48887d0b666b5ef6a647bc6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NHaVBejI6fTQllCZn9xVZYd3",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0509, 0.9714, 0.833, -0.6697, -0.0738, -0.0692, 0.9963, 0.791, 2.3043, 1.5688, -0.527, 0.8562, 1.111, 0.999]\nstate[eef_state]: left_x=0.2927 left_y=0.0017 left_z=0.1777 left_yaw=0.0393 left_pitch=-0.2362 left_roll=0.0118 left_gripper=0.9963 right_x=0.4263 right_y=0.2464 right_z=0.0113 right_yaw=-0.4969 right_pitch=-0.1167 right_roll=-0.0503 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -2.2632, 7.0769, 1.4823, -0.0952, -0.0757, -0.0122, -0.9504, -10.5231, 7.3504, 0.8132, 0.525, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5796977991dd636fdb5078a7b83ceddb0569efd6b7c013b2f513b237c3a658b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6016001434583453fcd909371f339727a4ce56cd8ee8b351f3e8ce1597e1e036",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40ee258551552b0e3fbd580ca4ce1c31c628c62803750a525f03764a13ebe283",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0509, 0.9703, 0.833, -0.6689, -0.0738, -0.0692, 0.9963, 0.8371, 2.257, 1.5276, -0.6029, 0.8822, 1.1809, 0.9991]\nstate[eef_state]: left_x=0.2927 left_y=0.0017 left_z=0.1781 left_yaw=0.0392 left_pitch=-0.2343 left_roll=0.0117 left_gripper=0.9963 right_x=0.4019 right_y=0.2474 right_z=0.0207 right_yaw=-0.5033 right_pitch=-0.1085 right_roll=-0.0696 right_gripper=0.9991\nstate[joint_eff]: [-0.2803, -2.2906, 7.241, 1.6044, -0.1197, -0.0611, -0.0122, -0.8547, -14.653, 6.0513, 0.8913, 0.5348, -0.0708, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHBOhdkr5epU8BWWdzRLSMJk0nMoyE1FFdaMFG-r2FhwzwbUHPua-qkDfvMaE2l-38djSReaq-jQhNDMylpYDSx7JcFvwPJn3WpNf3Qd90Eebz1_lmVvmtr9ovuqXttX2DfnCp9p27FIRD9e7v5cYkEyR21bQTZGL00lZPJPVfX8u5h_r4rka7OqRQAe-YXqIXXSJmTSBXbJ_MoLFHd2llrCVHn7NqEu3jtMrj203Ijc3SBjU5DH2lA9air-MLElGBL-6tvG_a873vjlWJSZfcx0z7bkp9ksRYI6TFGuxZ0zf2p7oKAliexm_J2j4DzpAhasiXsP2qusUu1WUfkT6NDDx-yG69ToAPWqbgAQU9_sDxYQkTJ32BDhhkKlCnhrXEA6-Vju4RKTRVc5v-MAvBCcka5UmquZQUPBuICrtTgrRYQz2LhJ6dlrqY1QofVZ71r793H0jwZuVAEl80-yrBkqmvw42_AL4ZafAP-gUdV1dOw-kVk5-cdEPSQC1i2Rrzb5JcLLZ7lN6Od0-9oS5zScZUUB2NUM_NWehvmZeCP-wA1nsUo1gZIyXTTFkTNbphJY6RQ8b2o_wfzPBUM_EI1fJdr6W5iQ_6XU47vAH83aEaMzIa1z1nejNq8uRVPRt9Xaxu_mkQN9JxfR8V5pS1Kx_vyVwO0dzsWx3P8ulBldRbX6wUXP4jjpCPH-wxkMN1M0tIjWm3NOznSfdYpUl23RSPEW0yu7mkDWkfwqC5Mlu44ir4LpurEvf-Q_rzusZvjdZ94r_YHDH_A8qdUd-2dW1Hw5_HR-DrP4BEMDlIBAPTAYEDHK5yrwnD0grglTdEehAY84tXoxPwezlO7LJEjszXk6i3IarwSulxZjwo-bdHqlClXVGDAMasHhuPmCXj90W3IVdwYb8kCH0upOY1Jn_zf-oVNajJxOta_9KoOoXQV_QNvlu-2Ubh5hZ5kftgCqF_E3JKTcPNxUAKRrP0-EvhxBKEC7csH85QepVHT5LYEd82ee8HZTajipwODtiq5VHTpeKG2sojBL7N89vKXkdZE02CPBewmE8QGhGTQUNfTO_1kp2m_yqtX-YbIgNXXWKTTK_HUqjqm9Ww5mi_15FndKBKRaT4p7jy_gWASIoUzbwx-xAnxM6Ic2gQn5AcmLGaXL8DCVKIaTzn4IX0C_MALXY83YwURzJ7S_C6pCcYVcWaYPS1g-zsnjxiyyPY4cLncnNG2lq4x52dD0-eC_b0TiKo6Xlwwx3dEfPjjN1ylhvmEUWOeREtjSb2BXuM4QN-Mp_G-cFjh63iag7ZRteg==",
  "id": "rs_0149d6297d7acf03016aac704c375087d0bf76df7bcf03f1c8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.459,\"right_y\":0.225,\"right_z\":0.005},\"note\":\"The handle is now close to the fingertip line. I’m moving another small step along its axis to put the thicker grip securely between the jaws.\"}",
  "call_id": "call_5gCBGorA7s9PZXgdhNFXGoiO",
  "id": "fc_0149d6297d7acf03016aac704cd50887d0901b2ecbbe1df0eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5gCBGorA7s9PZXgdhNFXGoiO",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0509, 0.9714, 0.833, -0.6697, -0.0738, -0.0696, 0.9963, 0.7349, 2.3165, 1.5761, -0.4652, 0.8318, 1.0294, 0.999]\nstate[eef_state]: left_x=0.2927 left_y=0.0017 left_z=0.1777 left_yaw=0.0395 left_pitch=-0.2362 left_roll=0.0116 left_gripper=0.9963 right_x=0.4471 right_y=0.2329 right_z=0.0085 right_yaw=-0.4941 right_pitch=-0.1228 right_roll=-0.0527 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -2.2769, 6.9949, 1.5067, -0.0562, -0.0708, -0.0122, -1.4838, -11.4803, 6.0786, 0.9597, 0.4078, -0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9167b165f9521bb28906e5d6762e4dc99a7a6bf89d2d3574d8709449439956e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc64d85a7acbd7665e9ca45c377bf6009ac4f9df2105cabce5fb06d1fc2a869c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55b94808329b9cb09bf8f6c2c0d17a03f4f372c1baeeacc7ca4667420eb0c2ed",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0509, 0.9714, 0.833, -0.6697, -0.0738, -0.0692, 0.9963, 0.791, 2.3043, 1.5688, -0.527, 0.8562, 1.111, 0.999]\nstate[eef_state]: left_x=0.2927 left_y=0.0017 left_z=0.1777 left_yaw=0.0393 left_pitch=-0.2362 left_roll=0.0118 left_gripper=0.9963 right_x=0.4263 right_y=0.2464 right_z=0.0113 right_yaw=-0.4969 right_pitch=-0.1167 right_roll=-0.0503 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -2.2632, 7.0769, 1.4823, -0.0952, -0.0757, -0.0122, -0.9504, -10.5231, 7.3504, 0.8132, 0.525, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The thick handle now extends into the jaw opening. I’m closing the right gripper around it.\"}",
  "call_id": "call_0mx3JA8Rt8riIsUxm1Lbb4cI",
  "id": "fc_0149d6297d7acf03016aac70521f4487d08c989270d066e8a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0mx3JA8Rt8riIsUxm1Lbb4cI",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0509, 0.9714, 0.833, -0.6697, -0.0738, -0.0696, 0.9963, 0.7025, 2.3169, 1.5757, -0.4339, 0.8082, 0.9855, 0.3133]\nstate[eef_state]: left_x=0.2927 left_y=0.0017 left_z=0.1777 left_yaw=0.0395 left_pitch=-0.2362 left_roll=0.0116 left_gripper=0.9963 right_x=0.4576 right_y=0.2247 right_z=0.0076 right_yaw=-0.4896 right_pitch=-0.1335 right_roll=-0.0503 right_gripper=0.3133\nstate[joint_eff]: [-0.0342, -2.2769, 6.7897, 1.536, -0.0513, -0.0562, -0.0122, 0.1846, -11.5487, 5.9966, 1.0427, 0.5788, 0.0073, 1.0134]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:879e02644e87602770d512903ce2324577bcb3f8673fb51246f5774b504bab9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96763bd08581e10be64c777bbd3a31d1ce59671d321b43d57efcbd1eb342c961",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddaf593d7af18cdffeb284658a79d0a330b67078b79619647836020f94e534a6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0509, 0.9714, 0.833, -0.6697, -0.0738, -0.0696, 0.9963, 0.7349, 2.3165, 1.5761, -0.4652, 0.8318, 1.0294, 0.999]\nstate[eef_state]: left_x=0.2927 left_y=0.0017 left_z=0.1777 left_yaw=0.0395 left_pitch=-0.2362 left_roll=0.0116 left_gripper=0.9963 right_x=0.4471 right_y=0.2329 right_z=0.0085 right_yaw=-0.4941 right_pitch=-0.1228 right_roll=-0.0527 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -2.2769, 6.9949, 1.5067, -0.0562, -0.0708, -0.0122, -1.4838, -11.4803, 6.0786, 0.9597, 0.4078, -0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.075},\"note\":\"The gripper stopped at about three centimetres of opening, consistent with holding the handle. I’m lifting a few centimetres to confirm the screwdriver moves with it.\"}",
  "call_id": "call_wJuiCEmBIuUrv4Q89dX6qyJr",
  "id": "fc_0149d6297d7acf03016aac7059a5d087d0ad5d891fb38cac83",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wJuiCEmBIuUrv4Q89dX6qyJr",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0509, 0.9752, 0.833, -0.6697, -0.0738, -0.0692, 0.9963, 0.7017, 2.2879, 1.6478, -0.6037, 0.7795, 0.9825, 0.3162]\nstate[eef_state]: left_x=0.2929 left_y=0.0017 left_z=0.1767 left_yaw=0.0394 left_pitch=-0.24 left_roll=0.0122 left_gripper=0.9963 right_x=0.451 right_y=0.2233 right_z=0.0276 right_yaw=-0.4872 right_pitch=-0.184 right_roll=-0.1072 right_gripper=0.3162\nstate[joint_eff]: [-0.2393, -2.4684, 6.9538, 1.4872, -0.0806, -0.022, -0.0122, 0.0479, -17.4564, 8.7726, 0.7985, 0.6618, 0.0366, 0.7009]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f966e4e5dbffa73ab88c4958b4dd13b5201740537069e37150d80e1eedb592eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df9d24c2ad7a14dfbcf05839d87932125570e5161e95907db1b76e89d9d1b316",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afaf3e8de575333414fdf2f5ea1dd5a9ad5096aaa5cabe8bbf9008b1cb3252e3",
      "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 screwdriver into the toaster\nstate[joint_pos]: [-0.0509, 0.9714, 0.833, -0.6697, -0.0738, -0.0696, 0.9963, 0.7025, 2.3169, 1.5757, -0.4339, 0.8082, 0.9855, 0.3133]\nstate[eef_state]: left_x=0.2927 left_y=0.0017 left_z=0.1777 left_yaw=0.0395 left_pitch=-0.2362 left_roll=0.0116 left_gripper=0.9963 right_x=0.4576 right_y=0.2247 right_z=0.0076 right_yaw=-0.4896 right_pitch=-0.1335 right_roll=-0.0503 right_gripper=0.3133\nstate[joint_eff]: [-0.0342, -2.2769, 6.7897, 1.536, -0.0513, -0.0562, -0.0122, 0.1846, -11.5487, 5.9966, 1.0427, 0.5788, 0.0073, 1.0134]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHBgDKrPIGRntREEj5BjVHI3mP8No6_bx_dL8vk4nTLsUUs69LegRCqmHKsvZnAdvGC_YY3xSS_2jS4tV0ptYPhwGlBd_Gyel_XzU4e79Ywlb1ARLQYALBflPDm4e1GIAFYd9pB96lQxne2Lkb2JE9z8play4VfyyPiNOtPYoPHNEUjE-4wkde1N0-_ZRbZCmgyg_htiDAW-tvF4ZiIuKHP7PqaNW3zvfBWKuySpuJt7YLCPGILDXDhCKlTy_vnpOdFG4V_4kw2_1iLI4_a3qLf6ADJzslwiu5UKusa8qstBBS2heEF4ZCoF66lICvOGLK3yq93F1wB09esUVck-2rOUxclhBi_0octlmTBmrjNk8zfc7qe40wQ8MJ3QZCGfV04ll5xbeBd8Fkffyfy1l69mjlpjEVzUmBi4O0kLibQrY5_TsIl-0XQLrPv3g3C11uSEvcwbU3jaafVVEGngd5FBudUIKbmaDg8mMJIVxGwiN76IXCH_Qzg50hVu4qUG1DqVjKfLgeLIV6v02xhTpUIPWoutqN0eMPLiYpMTAo3cT4Zbnr2VcP59HjA6BGWtals8-n_9rSQtOfP0cpFYscoRt-gdFP8OqpyoVrrsiZKberXK-arLP_mwTnW0mWvz6Jcpj8WePyIIOcGf0FBWsnfKRwhvPjt6DNgNYv_q7QPpzbs1bTwLx33QYJyHcCnXaYIKdwonM163CBEl-NuzMFpaPoGbET-NIBSC9ElRkax6f8UPLcvpbCblgpWlVEbNOOTjbgPhEUfwuJCNWbuqbAADdTY0MTGtkD57BdzX5wZynVDwmb1jdAMklSFhr9MhsWWdf6w0eWdvUurDL-RFxRtefLih3m9QH1cgRm8wKDHXaqeY5-JrdADfcV2oM5heG2zFak5yWBkSdB6YKqSD3v71oKdHwpY8jFISAQ2dEfnadtoY-HKhGLHmu8Zp2t1foFnur5tAayZr1_DmvNVMTbGM57GUZl5zOPOsNd61ksH9wtTHNikXEQW5GQC6by-OfNgCM_c6lXpOZCHBTd0mzdF7CMclFLSIKufs3MXTRXb3_9YmqnHKWJYbBYlAkCbNemOWbS9NkkvWfWovYCGBUbriHzK3G65B4IbgdL9z7AsGmH3iq7nrHxox-Pt8SR4clSQrSmIPtQ6ZyM7QNce_s3aTe27oEkME3cqbzy_Vn8iCreezQlVGIRurjZDwB91NvftqTFd9GmoKlXKtK06w-dG8M3GCAnoOEFjGRyrjwmczWt_-T-z3hYEEIgk-u-JZra87",
  "id": "rs_0149d6297d7acf03016aac705ea3a487d08125b5a58af4d420",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.22,\"right_z\":0.19},\"note\":\"The screwdriver remains held, but the arm rose less than commanded at this extended pose. I’m drawing it inward while lifting to gain clearance safely.\"}",
  "call_id": "call_6cgCZWgsFGPMbeOl4aa37g3P",
  "id": "fc_0149d6297d7acf03016aac705f587c87d0a770d7073d379d3c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6cgCZWgsFGPMbeOl4aa37g3P",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0509, 0.9752, 0.833, -0.6697, -0.0738, -0.0692, 0.9963, 0.7689, 2.0991, 1.8763, -1.1275, 0.7582, 1.055, 0.3163]\nstate[eef_state]: left_x=0.2929 left_y=0.0017 left_z=0.1767 left_yaw=0.0394 left_pitch=-0.24 left_roll=0.0122 left_gripper=0.9963 right_x=0.4043 right_y=0.2272 right_z=0.151 right_yaw=-0.4731 right_pitch=-0.2359 right_roll=-0.1485 right_gripper=0.3163\nstate[joint_eff]: [-0.1026, -2.3179, 6.8581, 1.5018, -0.0952, -0.0415, -0.0122, 0.6769, -15.5145, 8.8137, 0.6716, 0.7692, 0.1929, 0.7253]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfd9c3b34dc3381d2b0f019af549ed66482edf1ec5a54209c6d6735660b1f17c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ea7cd82d01014bbf8a6dc775dbf7cc40dcbe70e0571a3daaf1a82de9e706ddc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b2c79ccc2cb0a24ae2b5e47791cd5417c342ffe4923348c719bef38e130e916",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 56 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0509, 0.9752, 0.833, -0.6697, -0.0738, -0.0692, 0.9963, 0.7017, 2.2879, 1.6478, -0.6037, 0.7795, 0.9825, 0.3162]\nstate[eef_state]: left_x=0.2929 left_y=0.0017 left_z=0.1767 left_yaw=0.0394 left_pitch=-0.24 left_roll=0.0122 left_gripper=0.9963 right_x=0.451 right_y=0.2233 right_z=0.0276 right_yaw=-0.4872 right_pitch=-0.184 right_roll=-0.1072 right_gripper=0.3162\nstate[joint_eff]: [-0.2393, -2.4684, 6.9538, 1.4872, -0.0806, -0.022, -0.0122, 0.0479, -17.4564, 8.7726, 0.7985, 0.6618, 0.0366, 0.7009]\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": "gAAAAABqrHBwx3DQ9TUXxiik7K_doqZ0lgoGh0rN7ZNOQzZZwmxs0FuE0fjuHVvATTDweaGUvs7VSWOM3mvPjnM2SWsbBaz2Fbb51OZaJsWZVB4fVTMkF9ULAx66fMKAp0Ye5rUy0BERfpHsV18ox3wH0KX1GTx6F_Dw_Tw5Omq54rSh3KLVrdRoOV8p8u7l7ZtVX6Gzlq8qFE4lXkx3CvUjyZl5rKUBScGP1946dEU9pr-5iZL6HWXMQiMxuhNx1x7FluqVJfuiRXU-EQsZ712nZHVmC2fkyDD1_KUXwWDh56Xtl6dGBkmHbpykdXfniJgGVW36kRT2rasjCr6-GmVHSQ9at4j7RSKonLa59Htls1mw7sIawmZPmw8OIuoCqu9pecATUI1zzFcsyVkZKzGIDnqtV-735rDAy3DeqzjBEcE8Xap7IZ9DoamVPhawidKqfbGvL0aznDP7cpLwzaDEKOPmvy05MU2dAv6h963Hw_5Tpvk10I1H1V3CDGpTUfVCnK7H4BI1iauDNGFJjeH-5WBNwb22wyhkq5y_2cKNTq0998-FMxKvtT8KCX_DgJzAkDewGbEpeNz4i41mZ4w-BLuM0MLbtWVT4P-Rm8oXitPghDb-gz-XJwilE0m-Mw4-w7fV_EGRInBZnFFv9uth6Ylqei3nDfrIV42cemYCUrq1DHpgij-OVqXSPbmn6V9QzAitrreYGFrWcLebg6FDavDCJv63EdnH7rc9B3BJM11RGVNDAumxAE259J_TJHWnWZTVLcZJ6CfJg0Xqtyk0QLP7oE4xZflSl211A3YKYLJE4g-j42FQKnsLRjzlPGyFeW4jSl3rMXck2q03Q5RV9s30_RCzJNAJt0nlpXX7LDNpqHMbYSixaQdDQYWBwPWklw89y8DbW0exBE1eeb58rlI8MiFJsjtTEKQC5-gbXAqqGG8xO5QC-SjRsbDe1yhyJ024S68igACyoMdKm_5dQTeTHW-fzdm_bCbZQB9-_DWqUysut9nTSo13MTivVoiltJXwqMkk-Wy7NB35Cf1zyAG9vJ_SmgBPxAqLfvUS4Ga_pVdbKfmPQ9svFdrmgtiSlgIQOf8fzmK3mr8c2ivPooUdz3FC2OmWWQORZ5AzxLGN5hzNoryTcP40m40ChzJ8yZYhi1LYC-j7KgSKbxC6YYYv5dIwtRmt6DdAGb1JTpoTo6jz83kdvP-EMZD_RihI7c7Wyv7OXA3CupS-LusWU3_1OgVBmd18NM_F06qjWHqszeJoPwavt9m96bApdXQuLenFJIDQv2D8qr8_0UvkBpvLlxpFX3ZW4kQnz-DRSRX4mU8R141xG9tSNtCU_R_Vt91dQ7JnZ1jIvxOOPSKYvTvvEaKdveObKQfNqU74tYrBmRCgNoEvwQWldFgTCkl2ZqB8r2SBfUXYfWDLtiLYTWc36fODyxlpSgTjDKX1QcasjF798cfO9YCo_idieknnXSIE1nGQjkii_2VsSFW3JUJdQTjMAiSjfSeWTu04Uit9A5eV9jqdohsdVqRjJZJtwH7QtnZxokGITlpuZdrdsagcaCgcl5PG_M2Ljdar1ixur3gCN5X42tYooP6ZxkRc3kx6Ky5w1mJPsL3Gtsg1wZeELsCDKeEaLCLkD34yfu_kxrZ6c4EWVm3b7Ymxd2zuz0muA3JJ40ZhkH6C4ByPUf9IDIXFrc1h1C6qhT3PFc63UZKERsqz-Zc6j9K4lXu0Ib9G04-Rh2g-JYfJ4TDkYYZzDYthN6dMeFMsIaYObOcLgGIwaVlB1FmAUxn34dLmExqwFqs3HssUDSGocgtXN4gPjvRAjT4aisFQq2vXlreWfJTbGSj3dVbNj_wJ0N-i3ScKKXkznn7yvH-7BxILssy34A-sApGi8KOo4oYCijYgeFHsp1hgg9gF4KioJkE4m9IrqOMWbuwFZfIliJRcVNmqRjvufhq8wiFr08raBakRvjghJsGnBg8OkflgHr_2Lf3BAEFFEsMjF-_a6GfGZihmM1NevyUR0ZC-AJTDYD_jHdRCj2bfbdCKpYROWT5zfooSV7Ch0PLRaYFGzKiQKzfrFyYcz2i-xpRwHeGOv3Us8a6-IUgRB7IfvaeqVznQDu5pKya8Bn_Pnl8FerpZRMapXDE-kyqBqtdV0NcE7IjZvh27QoV_o7-LR-hKNMsc6JdP_8QZDVjp-KbBi270PncLY3JIyNUIti1Tf5RKnkwp3fPuItZCieWBUpNyiiOHQFbmlOEhauBUcNiIeZpTbU9VIZjEps4jJO4puQzMkWCe5Mc5qO8CM3GSxkCfpd5D76nRz-6GqcR4MeGDciiCUkhEUBPCzwblWAJSFStqF1GRAxdMM3gY7Feb9qKInNOCyIh00-z0YGqjaiHDxhx-GFIfAPncpUwIRLbaJHWtM4BTdkTnRvm2qhgUaC2ZF9QQjxIbMnX7KMsmIV7LAve5YlWuflmIYfBnhfIrtleJjLxkupnjK7l5zSL5TttpUIlm2YzIv7s8JEhcyIQnKdsfGhhConWkgzaKPhQAqXEp-_mHbIHoGuuC9SIQuYQVRHQ1NZ3YHKPaa0Y4qz82lEjqEsxZ3YVcw0DI9wwdT-8qmgDzBasuOqOcYxlBmw41zo08ufFOloP4_nOpUH0rB-iiOh2IDu_nnw-luG2spGD6Bmd_fuEvjjLWI4XfXwvQUM08AZjzy3_yQ7PR1xSPy6CqwxBB18NUSKaQdyMHagV-650yu3WwX3AqovBplyxs_Jt_E6-atxIyew6YNrw2lUKxsw5oyKdDTHJex9O4YmZc2WV09BG7sasS0sBFPd87OnhXyHvSkwAsaYTHuuDpW1s6Qp9akDbLWu9xTE9j_IPaP4ZxardVc73RXbmpbK1AqoL81zIBH25uKaaAZdbMjvV8QNA6_PdQtth-bxpkpu73QM7F5d2_J5giv6JlLqjHnsXBdtMMJ2-gHv0VoSDDQN-NMiBhPXL5UzUxf_0NhMKCjCdmAIzOwOZ0EvVe8jEr3KcylrjPKYpz",
  "id": "rs_0149d6297d7acf03016aac70653a7c87d08844771735d4d37c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.39,\"right_z\":0.18,\"right_yaw\":-0.55},\"note\":\"The screwdriver has lifted with the right gripper. Since the toaster is on the left side beyond the right arm’s sideways limit, I’m moving the screwdriver toward the left arm’s workspace for a transfer.\"}",
  "call_id": "call_MBDES4NCSvZx3t1fC8Lqpn7b",
  "id": "fc_0149d6297d7acf03016aac706d7a6087d0a3b74a34d1b1890d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MBDES4NCSvZx3t1fC8Lqpn7b",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0509, 0.9771, 0.8326, -0.6697, -0.0734, -0.0696, 0.9963, 1.05, 2.3756, 2.2963, -1.5612, 0.7467, 1.5009, 0.3182]\nstate[eef_state]: left_x=0.293 left_y=0.0016 left_z=0.176 left_yaw=0.0393 left_pitch=-0.2423 left_roll=0.0118 left_gripper=0.9963 right_x=0.3224 right_y=0.3282 right_z=0.1364 right_yaw=-0.5087 right_pitch=-0.268 right_roll=-0.1251 right_gripper=0.3182\nstate[joint_eff]: [-0.2667, -2.4547, 6.8034, 1.58, -0.0513, -0.0659, -0.0122, 0.7863, -11.1658, 5.3128, 0.0708, 0.6178, 0.2027, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b07cb20b72322f6d73e3c068d6916bb3aa7391da5729cbd2f46bc608c0fa1647",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f18e7a0d29b05c49bee3059ef95d3647a5c02cc87a9a205123f2b6fd913804ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bff8833ebeb5509da770cf21562375be89586024b56f0f522d7359c63ed6b873",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0509, 0.9752, 0.833, -0.6697, -0.0738, -0.0692, 0.9963, 0.7689, 2.0991, 1.8763, -1.1275, 0.7582, 1.055, 0.3163]\nstate[eef_state]: left_x=0.2929 left_y=0.0017 left_z=0.1767 left_yaw=0.0394 left_pitch=-0.24 left_roll=0.0122 left_gripper=0.9963 right_x=0.4043 right_y=0.2272 right_z=0.151 right_yaw=-0.4731 right_pitch=-0.2359 right_roll=-0.1485 right_gripper=0.3163\nstate[joint_eff]: [-0.1026, -2.3179, 6.8581, 1.5018, -0.0952, -0.0415, -0.0122, 0.6769, -15.5145, 8.8137, 0.6716, 0.7692, 0.1929, 0.7253]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHB2XvL3PN2EurDKZgfIeB_sl8iIUMm7RP3ciGacp2AJRddvp0jktMM5dnFsJgBoxMQAeefr5g2_Ar0a6XJ4TLNPB6AM-rvfK-ZGbXmbJPbXKTpA0WmBC1oU79Hufn8DZTi2xhf9T7PAW8g3laQtHv8VO34s1jdtwCYMMv76g5eXDKQS5myxFhZGY0eM6HNCZgxzvuos1lUPwUwk2c3oAb4lC9TexdOk9tAdqIbHa-tcFUrIte4WsrsrdXpDJb9Ej6Nz1GeZmn54H4AagADXR9hsGAlpkcOxAKi8N_k_QBIJZVfg3VhOLmORpEsF_kAOGo9acQefVNEkEaGkzA4dXBocoaJwDyS7D76AhEYPUHWRPgD98NPc8JL6LQ9p6BDQzCTWKgsQVTiTpHjgoS4NlXDRaZjDkS7Ww2LWrC0mzj9Sic5Ski_K9t9MO5DPJjSaaDoRwOO2vEY7QXCUzIim00kzNsBJ-51kkbzZw85UJ2p8kJc7SbbxzAePlsORhnK0F3llGbGbUsWbZZyO6JFL35RrGXlgCVtbaqHjsSQ_6hyIKW1BI0jPvQ5JfnbxeT3ZI__4U3nlyy_rZ-A4E5K5GEOyzin1zm1M2cy-gj60BBMJRyvwliz1DymK5b_jCo6o1IDmfFDG_YQaoRkcWWxu-oOaahzWR6KO8rhXwFYmTCleCX5qvksAHvsg60Ru324vaXcr2PgOcWALFa-viWNu5jFQFkrcOwpl9FGyYDSDTHhuVD_LZ3vH8CxpkxvN6NA3gUpkLU0XtdBKYWTeeQtZQmzlOvyOzY71B7eTMOiHJXsGnwInuu-zjBgkS-AG-wA7Z2Ypbo8VMdQd7Rj78Nele_sAb7k5CcHMWbsIjWD-VRCmIZ-8HBD3tjXMhl3ASB6vvlCnv3dtRciZadEZtTj9lXAG43_nJAaUd1Tfrmo7JyW46W1gQmb97coX4uwpWnaX3tFVqckEkoCCu2Hst5FqINoujAsZd-NgZiJ9v4NEYRkhR2Hk2VNr_XQ3A8Bmyx-k7kfnwRaQFGppAqF8sNa2J9Gp1y9jWvvY0mRwOdchM_xTjcV0YwDIwxE4EgNY-3JiQmHitIwxs6eqzo0Xnj9CtYjW6yfKO-3dNlKWk_t8yPjch3iefitUF8GlicZA9VjGW1sE1IMlKLy8ku5tboJZOlFNCmmthixeFn1f9gK9z0QvTkm5xfl4uKhWWnkDDe1yiqcHWSH0JR-9v-Zhj2ARq2THi20qVoYofpzbo_TShwArux8QGKt-l8q5nnf6LXLTFTPCIffiNU3ZW4Ap3qrZEkx5nXbn_t9k4FozZbpkVuNnNoao8QUq-fytB4vJG6UEU4r0prWj1mo4Sl_LmxE6r1uauuEOkzTiXA7Msdbq8IrQb9F9jE2j8NvALDTuUFChdEbr",
  "id": "rs_0149d6297d7acf03016aac7073a93487d0831eeb17213ce87f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.34,\"right_z\":0.035},\"note\":\"The screwdriver is over the middle of the table, within the left arm’s reach. I’m lowering it for a controlled set-down before changing arms.\"}",
  "call_id": "call_RgwvpJ0iwAOBBXs6O81DWi6n",
  "id": "fc_0149d6297d7acf03016aac707563b087d0bf315d03fd6f222d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RgwvpJ0iwAOBBXs6O81DWi6n",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0509, 0.9771, 0.8326, -0.6701, -0.0738, -0.0696, 0.9963, 1.0573, 2.4424, 2.3222, -1.5555, 0.7193, 1.5215, 0.32]\nstate[eef_state]: left_x=0.2929 left_y=0.0017 left_z=0.1759 left_yaw=0.0396 left_pitch=-0.2427 left_roll=0.0122 left_gripper=0.9963 right_x=0.3198 right_y=0.3374 right_z=0.1105 right_yaw=-0.5252 right_pitch=-0.294 right_roll=-0.1472 right_gripper=0.32\nstate[joint_eff]: [-0.1162, -2.3179, 6.7761, 1.4921, -0.0806, -0.0464, -0.0122, 0.6222, -13.1897, 7.3915, 0.1099, 0.5788, -0.0366, 0.4176]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8167505fdd9c9a8c7c9188af4748b51a751668c140d5de25ac25eb2859a6f893",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:108bbd283d2b5a153cdcf25f57000558105199da7bdc027da31261f88ba5fbb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe0f48e529e1afdeae09111bda4a2c9c2fb9b686d37d2c03eb7292503a446704",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0509, 0.9771, 0.8326, -0.6697, -0.0734, -0.0696, 0.9963, 1.05, 2.3756, 2.2963, -1.5612, 0.7467, 1.5009, 0.3182]\nstate[eef_state]: left_x=0.293 left_y=0.0016 left_z=0.176 left_yaw=0.0393 left_pitch=-0.2423 left_roll=0.0118 left_gripper=0.9963 right_x=0.3224 right_y=0.3282 right_z=0.1364 right_yaw=-0.5087 right_pitch=-0.268 right_roll=-0.1251 right_gripper=0.3182\nstate[joint_eff]: [-0.2667, -2.4547, 6.8034, 1.58, -0.0513, -0.0659, -0.0122, 0.7863, -11.1658, 5.3128, 0.0708, 0.6178, 0.2027, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHB96tvHHq_wsg63Z0zM0pu0NW-EH0c7-0YgN1u8RQERuv-kpO--kFhq8-Kqv9Zg5Rzn6h_qWObubwqVgtgA_MgN5V3ftX7j-telXS_Ht_D66E2jTw8pfDR_ZAf6puJSvagktbqUmZbuM6AIv2nt2kzT9NcSfiqaY74tAlNiclB9QOTlJY4ToKaIhXIaHKXeGpmFjzU59EP9hnNQ61z2snm2lJqVd4X-tJVsYw9QGjO-2X13DMoIXaSqtHdEkAgiExE6PMlE7e2IuqxoAGXjb_5WrJB188FbNgb_iFLDaalXay7FLp5yIsge2_CBMRT2_5thWiO4GATc_YdbIZrHfnsxxUXnrLN4gEp5TaL2avDPEA0DPtr2A6aQTuw0FUbantR6I9J4P-56E2ZMuaaAtawl2Ha62TpQW_p5hq5EftwvekekXIRcrpBSVo_uU1anricm7AqGXZ6FmKFkjGocVBe532e3Ih33D9Ajv8AXQHXU6CxNped5eqtQuhaFeVLX_d8ryYY5Q_A1BytraS1K7R36aSOMVKFsYhvl0iU8Hc7gBGvl1gtgHZTf4_t2WihaWf-60EjTJFnccb0unoEC28OcxDq4uezNFVx9LghMAjSmKxkbZVesStX7MdMbQD2ungYURsU1AyacXTMOwFiXTb-ZB1lTwrz_CGCVhNlEJyNlQ8bgMrhrK0L5WN7V3A3LckNrmnfo924ilRrrOaGZEzXLIpdN8bx3MopJd_SWu0uqfa8J4bPzZ-PZvOuQUS75LEcpydRW8M-tiF-aEPcinj3AnUnRunW4C6UMXnQ0NJqJT8RSzBNUPWHAWnjpIYvDcQkE8ohndqWNSSDNFaqNkPRDAWbU1cc--gqiALe4qZcnHe06xPgtO_NPeYdmdSfyH_0VXO3QzsYWY_-IjCEG_wMUblyH6D-5RUgXrDWUo-XE_93j5W-g35omH9QEbTZCSP0NTV959VM51C7gKxZwQ-pmsInQARodo8XdaIyKhdp2RTxyfL3Ss9fnxDmn-G_UJrtBjdF3yCFoM3VgpgcbkYHolxGH9NPzP6key75FerMANS3lNInn5B4ZOhqO_3V4RGH2TvQBMRXnsdPOalcbbEf987qSozTl7wVgQybTXls6FHJ8iZUPVnqT81I7BwcDCjf1MKSBVb43XQc5GqDGdhge-D3bz_qs1a4yLqsFVEG-QViIC0y5Ze1tBt3-xU0Lykn6nI-cTEher0lfDjjnhlPdYT3V8LhXauD6tIq8_-QW6bI6E0d-hdIUTulVkc-seCImLQmzPVPI3c1hkIQ6tASTymXdB_BOc8uIFqh-JUepYDc=",
  "id": "rs_0149d6297d7acf03016aac707b978087d0a09e358d456b7594",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.34,\"right_z\":0.03,\"right_yaw\":0.1,\"right_pitch\":0.2},\"note\":\"The arm stopped above the table in its current wrist orientation. I’m relaxing the wrist angle while lowering so the screwdriver can be placed rather than dropped.\"}",
  "call_id": "call_LTIZp09o5uOBjYqaoInUvwb2",
  "id": "fc_0149d6297d7acf03016aac707c442887d08798747df1562096",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LTIZp09o5uOBjYqaoInUvwb2",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0509, 0.9771, 0.8326, -0.6697, -0.0738, -0.0696, 0.9963, 1.1282, 2.1441, 1.0027, 0.26, 0.9783, 0.5583, 0.3237]\nstate[eef_state]: left_x=0.293 left_y=0.0017 left_z=0.176 left_yaw=0.0396 left_pitch=-0.2423 left_roll=0.0121 left_gripper=0.9963 right_x=0.3121 right_y=0.3247 right_z=0.006 right_yaw=0.077 right_pitch=0.1014 right_roll=-0.2095 right_gripper=0.3237\nstate[joint_eff]: [-0.0615, -2.3179, 6.8034, 1.5507, -0.0806, -0.0708, -0.0122, 0.1436, -10.6598, 5.1487, 1.5849, 0.6178, -0.1001, 0.3687]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:701cccb2389c5e3737c0f9ad49ef988ea12dc3c7bba82dcac06e95e86552fe03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60c925325a4bee426482334f2c6143438e70d5cee555261169e5aa57371da5ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a23c1fed47aa2a1291a26f524cac6d07d8032be8e4e8bffc5f8375bfc7e7323e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0509, 0.9771, 0.8326, -0.6701, -0.0738, -0.0696, 0.9963, 1.0573, 2.4424, 2.3222, -1.5555, 0.7193, 1.5215, 0.32]\nstate[eef_state]: left_x=0.2929 left_y=0.0017 left_z=0.1759 left_yaw=0.0396 left_pitch=-0.2427 left_roll=0.0122 left_gripper=0.9963 right_x=0.3198 right_y=0.3374 right_z=0.1105 right_yaw=-0.5252 right_pitch=-0.294 right_roll=-0.1472 right_gripper=0.32\nstate[joint_eff]: [-0.1162, -2.3179, 6.7761, 1.4921, -0.0806, -0.0464, -0.0122, 0.6222, -13.1897, 7.3915, 0.1099, 0.5788, -0.0366, 0.4176]\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_gripper\":1},\"note\":\"The screwdriver is now supported at table level. I’m opening the right gripper to leave it in the central transfer position.\"}",
  "call_id": "call_uvlXMan29dIYAngebbd9BnD2",
  "id": "fc_0149d6297d7acf03016aac70825bd887d09b8e92051c0ec3cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uvlXMan29dIYAngebbd9BnD2",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0509, 0.9771, 0.8326, -0.6697, -0.0738, -0.0696, 0.9963, 1.1282, 2.1441, 0.9958, 0.2955, 0.989, 0.5575, 0.9959]\nstate[eef_state]: left_x=0.293 left_y=0.0017 left_z=0.176 left_yaw=0.0396 left_pitch=-0.2423 left_roll=0.0121 left_gripper=0.9963 right_x=0.3136 right_y=0.3255 right_z=0.0092 right_yaw=0.0681 right_pitch=0.1225 right_roll=-0.1892 right_gripper=0.9959\nstate[joint_eff]: [-0.212, -2.2906, 6.8034, 1.4628, -0.0562, -0.0806, -0.0122, -0.1846, -10.3316, 5.1214, 0.8962, 0.2027, -0.0024, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0152e31378bed90f356ee50eb846aebf1d267bc4d1d056dc82a792df9ffe2166",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be0e429f3bcc1619940ea46f1741763f23ab2b1196304821e2ae9e69c27cf9de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe7797b506948c647e7b60e1d669276ecde73294da2520c0ded2e14e4bd10db0",
      "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 screwdriver into the toaster\nstate[joint_pos]: [-0.0509, 0.9771, 0.8326, -0.6697, -0.0738, -0.0696, 0.9963, 1.1282, 2.1441, 1.0027, 0.26, 0.9783, 0.5583, 0.3237]\nstate[eef_state]: left_x=0.293 left_y=0.0017 left_z=0.176 left_yaw=0.0396 left_pitch=-0.2423 left_roll=0.0121 left_gripper=0.9963 right_x=0.3121 right_y=0.3247 right_z=0.006 right_yaw=0.077 right_pitch=0.1014 right_roll=-0.2095 right_gripper=0.3237\nstate[joint_eff]: [-0.0615, -2.3179, 6.8034, 1.5507, -0.0806, -0.0708, -0.0122, 0.1436, -10.6598, 5.1487, 1.5849, 0.6178, -0.1001, 0.3687]\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\":0.295,\"right_y\":0,\"right_z\":0.19,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"The screwdriver is resting on the table. I’m moving the right arm fully aside so the left arm can pick it up without interference.\"}",
  "call_id": "call_ESm01wgCYtrSFGYgim7F7A32",
  "id": "fc_0149d6297d7acf03016aac708640e487d08469244788ebce24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ESm01wgCYtrSFGYgim7F7A32",
  "output": "executing move_to over 28 steps (2.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0509, 0.9771, 0.8326, -0.6701, -0.0738, -0.0696, 0.9963, 0.1143, 0.8097, 0.5892, -0.3664, 0.2329, -0.07, 0.9961]\nstate[eef_state]: left_x=0.2929 left_y=0.0017 left_z=0.1759 left_yaw=0.0396 left_pitch=-0.2427 left_roll=0.0122 left_gripper=0.9963 right_x=0.2941 right_y=-0.0037 right_z=0.1743 right_yaw=-0.053 right_pitch=-0.0206 right_roll=-0.1887 right_gripper=0.9961\nstate[joint_eff]: [-0.253, -2.0855, 6.8718, 1.4823, -0.0806, -0.0513, -0.0122, -0.1299, -2.3453, 9.5111, 1.707, 0.0415, -0.1832, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d003b3fcb25e6b52bd16f2fed873ec238e254761f55f2b368786d5d5a42655b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd4ccb8f968b51c61b3cefe3b30e26a6abb277e5e9f9f956bf8b2b3eebb5164d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b0ac02135a0dc4f2301a63f3cf1cf36eb5016290edb03efecd22acd9fea0fa1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0509, 0.9771, 0.8326, -0.6697, -0.0738, -0.0696, 0.9963, 1.1282, 2.1441, 0.9958, 0.2955, 0.989, 0.5575, 0.9959]\nstate[eef_state]: left_x=0.293 left_y=0.0017 left_z=0.176 left_yaw=0.0396 left_pitch=-0.2423 left_roll=0.0121 left_gripper=0.9963 right_x=0.3136 right_y=0.3255 right_z=0.0092 right_yaw=0.0681 right_pitch=0.1225 right_roll=-0.1892 right_gripper=0.9959\nstate[joint_eff]: [-0.212, -2.2906, 6.8034, 1.4628, -0.0562, -0.0806, -0.0122, -0.1846, -10.3316, 5.1214, 0.8962, 0.2027, -0.0024, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHCV9HVrLKzyaUyUxZtCRGzn3byzWsyvpepRjJT7ocD-oqBKek5Xu0QYdm8dwUrhDm-iWiYXX2rl4x0p5LSviVFCoQomSnAxBoka97Sh5-7PJHimaBX--Jl-s4BR5i2ArhFTL9vZkocnaadthUV6jonnAj5z5eGqXjjE0_e3Rw5fOi-SqQcAN8T-YbJo94r6wjnjmbpiuP1X32SnuGKXT5IYG-JiJykyLPsQVziAo1rxIzY8ep9kcVZ_1IYfkpxLxgmQm0NL__nNmkPejLCHqJCiVlD3p0XuKcPRSqjDAfCCrKa2wT4sqI2tLqqECmUXNbt5zDYYwyNCRAPqweOWknM0HBCqUJJ5j6VAsJKYsJPCdGjIzcxLptyh4o7GNVhCuuCEGtfKI2Sw0tTQv7HjVP59Xgw33MKkO0hLn5ZWmIZCrSJbHmolVy3uonMuyXwhHFWoP4qZNEJf_8GOCUNgRJY_maZTJtzDxrwkmn6kpG1M9zOhW94YZzudvOf-W48llQxtqgFPkd9cxG3XqxuD98PZ1gwpAgF3KEINw5sE7MpkQ_FBJOe_NRgAsoheMPO__yoJRNSFuL13wFV6pPD94Q-PuCpd-yckURv_kP5W7oj0saVaclbACtFx_vLfIh1BM_SGgzAMuC7DiMOL3NV0g1l-d2hJuFYMXYiRQ82jM5GnH5mFRZSd45DlVsc8h9MEfsN0CKqxZEd7Ztv695fvVu7dQiJ2cbuNkh3nlqZ0dpv2zh1ol30HO6dvHIsaujaqfmQV6aT2_j3k4TByNgHgCfp4X4Fq07jZB7qOq33y_vmehfL_8BwcSxyqS3dCLe_B_w6AmtZlSWGlFgy9Gbh5jPm6zKzIDMA79xD_W6OU-XqwJjQhGXZkQqJV04dWY9eQGZBCyqh_Q-ZllIkTPfvg6lYB9ozBZZ-xLvQbMjeR80dLEDNLlgRScAp-HDL762IdLsHYQQzXt9tS3RnocYW_oIwZvihnyZqoVuJyEJIttHuBeO8SRcKe1hUoh43yZKTtBdGNGf1FfpSr-WuqHFJbReg38VjeTxCg3tCoW3mHPxYsfplV_ZCVfjOV0R7EMIs8XFldb-rhwFA3X6ovnr2ROpgZwigPOCfc7SUOn-xZF98AO4Z-l1SWSn6Gb62Y1YLj3ohP_kv74z-Z_6OC9x_xe3ANT7e5FEXSzXrQtsKRUhUH0yvK0JLf3ED95lrs4k75N6pD960VjYjV55qaKuVLb2Reu4D3tKIpk2jc_drl18Ll9qA1-MYXBDuWqyQkaxn339CUOxvyn5Zrh4LJYftrwjWcTkbhNIR78p99y1KzJkbs7mLuFRtmqNp3pITvG78yYT7OPeeKuvg8XfuMIfSGy-S42gdylIvPXF6qoC4hFt70i-LmhtJO_guBkI754MLmH3lcgWvCPvkkUsJHnTyy9Ohw3nvHwo_9gjt1sDDfWQiHG80mGftWke_bdZJ2_BegP0oZGF90lSbeyI1zn6GxD_0Ov7a1E0CEKNX6dWh_7KugZlsal_YhHeIrNHOyi9vaMjmsMf-Ee0G4LQMVK2I2TuvIWdW9JJVHqh2_B40w4JPYAiVSNqSCUT5cOvOAgjaOAkg0PA8656MHgJyon7kqALRIieznPLdb1kFApWYlEKn_l4gNrkydIkcCYSxrowJatNwS-0Kpe1-ZTHv9Llg0c4pKx8QDDMs4HBmGKeH5lWFoKHVmnaCCatbbyZAYaTplkTkbGCzoV3bc4HmOyqjpXGeZmN53tZkkfS-9IcowoPP-jIeIyTOVbYtRfkT5HiB7q9lRsUCbnBsY8xXoyK1ewlAXn4jVbdAR-RebuxXjgSr535VCsVL82hrZxnW5LgySbJbWXcbBoeZK0Jx6zFiZulfp7VHCOHhIkoYWECPg44k5Ruw55j4Bl5nlNQSbzTiFdf02Y4FeDEisWZ1dTYDK1FI8rco3ijkUseMCJsHDX3nODlPuFQop-HPYhMQ1Y9CcwGDjhx63qEn8WDguVEB9e1bcdA-mq3Kg4E24FTVk0xwlS7sKVinqcMPzsrUmoqaqd43nZb46q8sUXVt2xKI9dEpr-B1ttqVbiHe1Oy9K-93Evn7Sytz9Dc2R70-AyvvzQ7JGTvQpCNm7HRyVyB2W1aTOia-yFao2nk9NVu_ufasBA4BTe7UcQHkZTbv28fo_s0ZAjFYHoYyFxTOZpJGZSpDvnMqOKIHqkyvtIwWGQcxOi6IOrRyDRLWzj6zG2hPZVb6RCqLT7BkrouqInMv1R7Q-1cRqy4A1-FO-ygqH3t7HsMQxQJ26xz6QKaQLCn5AQOJT",
  "id": "rs_0149d6297d7acf03016aac708d9b1487d0840061297d387810",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.315,\"left_z\":0.07,\"left_yaw\":0.5,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The screwdriver is now closer, with its handle toward the near-right end. I’m bringing the left gripper over that handle for the final transfer to the toaster.\"}",
  "call_id": "call_lRNcZAVaZXTUynfWk9Kt6yxq",
  "id": "fc_0149d6297d7acf03016aac7093932887d0a9171188ab82f675",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lRNcZAVaZXTUynfWk9Kt6yxq",
  "output": "executing move_to over 29 steps (2.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.0851, 2.2875, 1.7302, -1.0092, -0.9627, -1.5799, 0.9963, 0.112, 0.8127, 0.5865, -0.3866, 0.2165, -0.0856, 0.9961]\nstate[eef_state]: left_x=0.3338 left_y=-0.3141 left_z=0.0616 left_yaw=0.4786 left_pitch=-0.0389 left_roll=-0.0031 left_gripper=0.9963 right_x=0.2913 right_y=-0.0018 right_z=0.1678 right_yaw=-0.0334 right_pitch=-0.0492 right_roll=-0.1966 right_gripper=0.9961\nstate[joint_eff]: [-0.4034, -12.3145, 7.1726, -0.0659, -0.8816, -0.0317, -0.0073, 0.0889, -1.4838, 7.2137, 1.9072, 0.1685, 0.1001, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a684b937baa899a7486916b3466bc5c14b1d85696ad3764b809b4ba2dabe380f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:567117d1b3eccdaa55499f7c488f954f447064a450788e9bfe69f5b4fd87ceac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f92e10de4aeab25669e0bed09abc660836120db90a0f9f838698238177b12a7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0509, 0.9771, 0.8326, -0.6701, -0.0738, -0.0696, 0.9963, 0.1143, 0.8097, 0.5892, -0.3664, 0.2329, -0.07, 0.9961]\nstate[eef_state]: left_x=0.2929 left_y=0.0017 left_z=0.1759 left_yaw=0.0396 left_pitch=-0.2427 left_roll=0.0122 left_gripper=0.9963 right_x=0.2941 right_y=-0.0037 right_z=0.1743 right_yaw=-0.053 right_pitch=-0.0206 right_roll=-0.1887 right_gripper=0.9961\nstate[joint_eff]: [-0.253, -2.0855, 6.8718, 1.4823, -0.0806, -0.0513, -0.0122, -0.1299, -2.3453, 9.5111, 1.707, 0.0415, -0.1832, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHCdXTYRaZ1yhJpiMlJSDpNmjnEMYuDO9W0BSS3anTLTjYjufFLrn6lA6HP4oKjiJcxsuyaRfcwJ2TYSlnIoASO9sTTG4Hc3FfizLMW_S4hCzlMkNxp19RzO5oiSPXDIvfjdDm_p8lE2bwocE7qwE5wE2zp-92iDcH5JLyBSFUGK-poYQM5EcmAgiUhS4_wVIsXPFM8_Qvyy3HYq1EI9xs9x8oDgp_DPQUcyECGxVhdJ7hKMgqMXv73jETKO031ylEVil4WQ1tOU60GPFc422waVECDk5sv90fl5yxYnEOdOj1_ES1yYv87PMaOJAo3LP8cNydJ8optmskEFZ0mqQscL2lkixteHOItykzJSue0nEPyxIkiCRBLdbUElk6-f9cUCcbi3uQpXBbdS0fdOsLOr9Xk6hWJSZT_Sq6Wy-mUGJmtTSkepD4kwIAFPk8ufaDgBqIymHrQx5m7yBbim50FglTXbtGTIbWaax3KEKYYnYc67QNzyRkuuA2paIrHZsSZAIxFPSvQ1n6wuQjqGAUs5sDTUrB0x9vHUsj0kdtRDq9m7bqi5WZq1ltdxgJiIGoMsy6fiaT0mzNZOfRKV5eQsw3zWsmQIWbYpgtnJHPSzdBIH_UCQJScmQ-daiwMETrOwFf5plNoBKoVL6UhiUId0yGzsVj-XAnVbKk_iI7oy_B3hRXHc8Es_2SyusLdvJSoqiYKvnQpTkHxxmvip7SndcHW5Wxg5j6tM6-JZjoml2WWVsDFduR5x2eSmsEnNuq5AfFP8FU8IVg_HiERc9hBqOA5RZZgMRdLB0xITJO8_r0d7t6AcKOfnuULWczV0BsJjLF3evRoHr9uuMXqgp0bmmZzOyJc6-460bPwNP1L5XavLuviSi3tLIOn-YW1MHLxvEa2jor3o1lZxXK4NSHLTANv44bojUszcDRkMHY50KeQoF2Meu-0qXxEGj5e6ijMicdtt32gGBHR-QA6XpMAghBb6mx1cvxY2oemd6QjQrcimlR_77DpNEy46mbBdN1AqROk8C1yp-9mPTjsG4uJ5IceKUByViR6DpoxTO8UQuj7fazbZQA7ETOSO9ntwh4bkUfYZJXRpm51JEcjGnShG1Q4i4_F-nOeC8ZQlcEdneY91oFpvTsvyb0YpPymCweLI2aMyAHrGcAq9TP_kauWAtPEVZAr4ghMVqxuxcvnyMWTvWbkDL6xylG_MQHbrRL8VeA7PWHJaj8grxy2QllTG056V14C3bRhtBDUcL-4My5LzD55jA7sgEum9dw2BRmEj6t4nVYrfqMTXAa4RpX3T-QrFg6DyeLyQUq1fWG4fxXkKupa_PxlQJwstPEvsiK89094PgGmCL9tBHEKIcdieeQ==",
  "id": "rs_0149d6297d7acf03016aac709abe1c87d084d1f10c74944d63",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.323,\"left_z\":0.008},\"note\":\"The handle is already at the fingertip line, just slightly right of centre. I’m making a small lateral correction and lowering around it.\"}",
  "call_id": "call_ugsO8wIDjIFLngSAHo6nSosy",
  "id": "fc_0149d6297d7acf03016aac709c090487d08855aebf9932282b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ugsO8wIDjIFLngSAHo6nSosy",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.087, 2.3905, 1.7256, -0.9207, -0.9592, -1.5879, 0.9963, 0.1116, 0.8127, 0.5865, -0.3908, 0.2119, -0.0868, 0.9961]\nstate[eef_state]: left_x=0.3359 left_y=-0.3206 left_z=0.0169 left_yaw=0.4818 left_pitch=-0.0424 left_roll=0.0094 left_gripper=0.9963 right_x=0.2908 right_y=-0.0012 right_z=0.1669 right_yaw=-0.0293 right_pitch=-0.0538 right_roll=-0.1955 right_gripper=0.9961\nstate[joint_eff]: [0.0889, -12.2598, 5.0393, 0.232, -0.5739, 0.1343, -0.0122, -0.0615, -1.1692, 7.0222, 1.7411, 0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1590b7b70895f7c82aef497ebbfd5d340c16066f6d15480676c517dbe95b3ff1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d1592ed6d13b1a668f793a98352d970d38f44acccbd48793d4bd4ea082c4bc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31f008ba643d61ad917c56202be2fcd0e3f3753e3736f408432747fb16c196d4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.0851, 2.2875, 1.7302, -1.0092, -0.9627, -1.5799, 0.9963, 0.112, 0.8127, 0.5865, -0.3866, 0.2165, -0.0856, 0.9961]\nstate[eef_state]: left_x=0.3338 left_y=-0.3141 left_z=0.0616 left_yaw=0.4786 left_pitch=-0.0389 left_roll=-0.0031 left_gripper=0.9963 right_x=0.2913 right_y=-0.0018 right_z=0.1678 right_yaw=-0.0334 right_pitch=-0.0492 right_roll=-0.1966 right_gripper=0.9961\nstate[joint_eff]: [-0.4034, -12.3145, 7.1726, -0.0659, -0.8816, -0.0317, -0.0073, 0.0889, -1.4838, 7.2137, 1.9072, 0.1685, 0.1001, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaws now straddle the handle near its end. I’m closing to secure it.\"}",
  "call_id": "call_oeLlTajIJ7RX5wBnldD7n0xB",
  "id": "fc_0149d6297d7acf03016aac70a204dc87d0b31edac9fcec7fbe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oeLlTajIJ7RX5wBnldD7n0xB",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.087, 2.413, 1.7184, -0.9123, -0.9527, -1.5921, 0.2612, 0.112, 0.8135, 0.5865, -0.3931, 0.2081, -0.0868, 0.9961]\nstate[eef_state]: left_x=0.334 left_y=-0.3184 left_z=0.0049 left_yaw=0.4852 left_pitch=-0.0488 left_roll=0.0274 left_gripper=0.2612 right_x=0.2906 right_y=-0.0004 right_z=0.1662 right_yaw=-0.0257 right_pitch=-0.0571 right_roll=-0.1937 right_gripper=0.9961\nstate[joint_eff]: [-0.1299, -14.6256, 5.7231, 0.1245, -0.5495, -0.0122, 1.033, -0.0479, -1.4017, 7.0496, 1.7265, 0.0806, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d5b0f32a35ec1068837f4e24cce318f854519c43bb3b9b7cb45be80ca296ad2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12c2cdba7a74a1d9cc534a57c9b713fcf2a905e13774989c6d56e5b884b686ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c35da42ff2acf3363d20d177c78dc8614b43f049e232b295785eee8f8c7c003",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.087, 2.3905, 1.7256, -0.9207, -0.9592, -1.5879, 0.9963, 0.1116, 0.8127, 0.5865, -0.3908, 0.2119, -0.0868, 0.9961]\nstate[eef_state]: left_x=0.3359 left_y=-0.3206 left_z=0.0169 left_yaw=0.4818 left_pitch=-0.0424 left_roll=0.0094 left_gripper=0.9963 right_x=0.2908 right_y=-0.0012 right_z=0.1669 right_yaw=-0.0293 right_pitch=-0.0538 right_roll=-0.1955 right_gripper=0.9961\nstate[joint_eff]: [0.0889, -12.2598, 5.0393, 0.232, -0.5739, 0.1343, -0.0122, -0.0615, -1.1692, 7.0222, 1.7411, 0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.095,\"left_x\":0.33,\"left_y\":-0.29},\"note\":\"The gripper opening indicates a solid handle grasp. I’m lifting the screwdriver clear of the table before approaching the toaster.\"}",
  "call_id": "call_aYsSOYhMxugZoHoKOw9S7zHs",
  "id": "fc_0149d6297d7acf03016aac70a5ed5087d08fa0dab19784b5ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aYsSOYhMxugZoHoKOw9S7zHs",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.0672, 2.2284, 1.6779, -1.0389, -0.926, -1.5841, 0.2692, 0.1116, 0.8135, 0.5865, -0.3935, 0.2054, -0.0868, 0.9961]\nstate[eef_state]: left_x=0.3286 left_y=-0.2963 left_z=0.0679 left_yaw=0.5004 left_pitch=-0.0756 left_roll=0.0162 left_gripper=0.2692 right_x=0.2905 right_y=-0.0001 right_z=0.166 right_yaw=-0.0238 right_pitch=-0.0577 right_roll=-0.1922 right_gripper=0.9961\nstate[joint_eff]: [0.3761, -14.4889, 6.2427, 0.1685, -0.7692, 0.3101, 1.033, 0.0068, -1.3333, 7.0359, 1.746, 0.0464, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dd4c8decfc03f03376f6863d0bc6d1f2b3c0c37e1a3fd6523b558d2c2362d01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eb751349fde0c92338bbaac6c3e36c1493b074ab6d4a555ba52fe5673004842",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2bd98b7d7bd404c5c2bf6e508c666bdba6d120a1d6c489db968127fecec3dc9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 89 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.087, 2.413, 1.7184, -0.9123, -0.9527, -1.5921, 0.2612, 0.112, 0.8135, 0.5865, -0.3931, 0.2081, -0.0868, 0.9961]\nstate[eef_state]: left_x=0.334 left_y=-0.3184 left_z=0.0049 left_yaw=0.4852 left_pitch=-0.0488 left_roll=0.0274 left_gripper=0.2612 right_x=0.2906 right_y=-0.0004 right_z=0.1662 right_yaw=-0.0257 right_pitch=-0.0571 right_roll=-0.1937 right_gripper=0.9961\nstate[joint_eff]: [-0.1299, -14.6256, 5.7231, 0.1245, -0.5495, -0.0122, 1.033, -0.0479, -1.4017, 7.0496, 1.7265, 0.0806, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHCuOQKnpslM569I6AOM4xH2nyNwRKBO0uWoaw7RsrDxBFuU8Mr1ZsdSmvmF4TojV0SUa2rL4G8EI8qBNT5tOfk4WrOa1gSJdO0M8UNMS46YgNU5_BdFS3QKHqWuZw0PoRi33D5N1zzYGDehz6GwPKbBuqgCFuj95d_bkmzvYfKhd5bfjSUXvOP2XzcVpomBLA6M3mah2qfCh5r_CAxAcurtBR5lYPacFVUt1wleCOZpZWixR_uowxUd0AeirOf-RdKYB2PHljLbJimK-pL91cuZEEjZ_mM1nd-7Ww-IOpX6xvo-LcRnAk7lUoHx2cg73r5ZMmvaDRC1YdbOQ2ReM2Z78iN93zVi6HXnNjk9MCMwkxKwQ6aa0hScyEts3RbyMilBeHymD_4qyWd-nBbrzxMBRufM9LSbaI2YKQN2FVmqilD6Ce6S1x7DsLVlqWFRc4-0oBVfvIOTMaVwUpseKGF28wL7Fstx7c5xam1UlU6oNSLJYVQDx0KEIHzOThpGVCwdt30zlvkpdeBGJQ722MGg0opPbfHwHkCJrtmfQHUe-g8uKVMM79JDrBoPP7T_t812npunQGGi5NDGHbdU0b_MDnbAK-kPcQwM662QX_eouQHqHmkBF716DesQqxfK3mBBTY8vRV7uJtQQ8SDMY3D-D9w_U3NWp1YnvP7fmfv5Gm6MSbfIsrhQZUzbJ56LaaHLhHh7NoKtxiSNtVhOtrJDdnkv2g9lL-oJmCEj31lmHV3cp30o0HJqtMUOpJKT5uBYZmMuLla7Gm8HUVJoFK2n_umydYdM7K46VzZiFSJVwh-zjRyqQvsZHpm7HNbzcAt01AxHQyRjT0pL5rgnVCQyjreS_TJWV7703tfUi3bJv1u69qalxGh_k7TX_BeiZhCh-akFFBk6V78CSx5mV_cbebKQKPMlvrH5RuWKpOf5aioEho0vH1o9c5MnU5xQ72aipXqDHb2XVRCbs7q6xvKhw2OQlHPsmu1utH5WAr-BdN-q7jxStXgGZRZgo7fY317RwVQu7ciH7QkNTNE5R3U7J_R4iWji00K89F0NxCCjrV7MUPxa65Wga4dARF7VX3UiFRboZJm8eCOUUo7WEwG8tH3bwXa15zOHDHYsFhrC6QAnMzcRdEOJ0qZPVlvcfR443kxgo8-NC9vl5xBLMTk1o9lSp5sF2VRqpW0-0Jmrs4EzEso03V70woU9FI-jROpekW4Pz8DJnyRIEwtiROu4N4NHTro4L8Lo48hUsbvZZuGL9Lxf68U0yEM6vH5Ek6g2f8wix8va9Cos6FHJJBuoz2hQn9-vEQC50Y5x_8vuoTwUySPRjWhPFfXojFuACFkhvjps6V5FclxHZVYe40HT40ak9lz6slfSW1mC_uTkHMtrPvi1MmccJdZOYyid_dHWTdeoHd18ZcNiYLQgu4c5suAcZQy-fD0TAlyqtdj7KEMorMlSeVC3N2AdW_EpBXx8sVYS9fA9Bjznvsag-vkPCmSQLLTHWLzXFsJtImgFRUKieCJe-JckeT9l1--q55My",
  "id": "rs_0149d6297d7acf03016aac70aa10fc87d09e6dace1253a77cf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.105,\"left_z\":0.32,\"left_yaw\":0,\"left_pitch\":-0.6},\"note\":\"The screwdriver is securely lifted. I’m carrying it above the toaster’s near edge and tipping the shaft downward so its tip can enter a bread slot.\"}",
  "call_id": "call_QqCLnbPjMR5Cwfntpc2cmtD0",
  "id": "fc_0149d6297d7acf03016aac70acb91487d0ba38327c9db7eea4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QqCLnbPjMR5Cwfntpc2cmtD0",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.3389, 1.9141, 2.2868, -1.528, -0.1444, -0.3862, 0.2742, 0.1116, 0.8173, 0.5854, -0.3969, 0.205, -0.0868, 0.9961]\nstate[eef_state]: left_x=0.4001 left_y=-0.1103 left_z=0.2818 left_yaw=0.0381 left_pitch=-0.5634 left_roll=-0.034 left_gripper=0.2742 right_x=0.2901 right_y=-0.0001 right_z=0.1638 right_yaw=-0.0236 right_pitch=-0.0661 right_roll=-0.1932 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -10.4821, 5.5179, 1.16, 0.0366, 0.188, 0.9304, -0.0479, -1.5521, 7.1726, 1.7363, 0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08d00e726f923e56aa4c8ff54e2d92b843f160c280bf69d4efca23b3b21dcce6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be676c8e34b6fca961f8b060873ff08206f0ca91ea519d99eb671f978eeaa6bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:107296ee91a74b9e7e3bbb638ddeb4e752c7845ba9a7919c42e768f93532dcd4",
      "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 screwdriver into the toaster\nstate[joint_pos]: [-1.0672, 2.2284, 1.6779, -1.0389, -0.926, -1.5841, 0.2692, 0.1116, 0.8135, 0.5865, -0.3935, 0.2054, -0.0868, 0.9961]\nstate[eef_state]: left_x=0.3286 left_y=-0.2963 left_z=0.0679 left_yaw=0.5004 left_pitch=-0.0756 left_roll=0.0162 left_gripper=0.2692 right_x=0.2905 right_y=-0.0001 right_z=0.166 right_yaw=-0.0238 right_pitch=-0.0577 right_roll=-0.1922 right_gripper=0.9961\nstate[joint_eff]: [0.3761, -14.4889, 6.2427, 0.1685, -0.7692, 0.3101, 1.033, 0.0068, -1.3333, 7.0359, 1.746, 0.0464, -0.0659, -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": "gAAAAABqrHC1uqWvEMRg57HwdqcjeSsEwWE0CZBtzK5fIH5kDalFGnClApYsLwGVWmAEGMl8DtHIfjRQhFhj8OZO89qkAo-iwHC_J3WwnnCfRQ0KZc-h7_Oo0otj44kphYlffmawUTtY8xRHgBn4Ovct-s76ApzQBj4SdXMK-Mw4WxdNrekKjnrMYOprefUYmnewhaSGImUTiuUpuEi3RBgJlpq_RULzzFH3slP9vrCQ7sMlnJbgjzzwPTVb1yogcuDJ6hSoI_QVN0yxIyMXLxEUY9kyI51Eee2V6JBtP9e_gw-Y9FJSU1rhhnKk_i_a_WBAARhBQROiRqyQLZHXOXCdMqW4eabe7APiz4OTpsvhl2_0h7NQOHUntsmKaZZyV74_EY_YN_9UpBc1v9C0mdGpCAcM-U1PVx47eipmwx4HGkGgZr-9H0ZogVaCzNKW5J3eaWWdkSj1RXfKsEIkYUqWjz6kyGXV_fqYQiOJpuWKy1FSlLoDd00C27zmzpEN2u7ezSIzYs3phx5-UKGFoOzxrXXfZ632br0NtSe8pHICVJRT3845nAfkHRZeZYLY7Q1igei9OIso-HbweJ11mOEsNGzQzSpGlHgEgyQGiwnxRbB980if_x6c8e0R8FeKolK3lECYmEQfifc8WX0Jo3lQKluTzAw_0LjlvITcsUQ0K6moWCoRQl2e4Kr5nQCO2rLuZJ_lmWf7Y-2GD_6JyrXcY495qD3hC0XiEiE_OFSTPMpx3dNosH3UFM_ZaUt3K2YjCS60GUESUmsGg2Ynjbt6hLPHqeLn7B1oF5Jk1vEAA15LmsJzgjzXx-uxDu3iv1rBR733jBSA5FxP3qpQX88jWSK1tInJkdofj0tHQcBv9J5DVAydlgESql260WGcwIWqCMqw5ErB7pOVDXE33G292KgO0EDP_HANZmnrduHrxr4y-1QlqtX8ojpPkqGH10tXWpkkVgNVEKjSnzkjcZk4ZnSvHdiChRbiR7IZY83MopZ05MOdOJ9C2mX_KcXW2wn0RnnI0JRaI_5knRbVEYW1qJ8mZy2qNSSViOdgWwhFscAsF4v5js4VdO1ByPbyUc7UltCsyawz0fXSuA8ruJz0xKC-Ibf6Mq06QzduO_fptBbtLSg0MTH2OasuTbZu6oajCUuee9rwX_F_ahvaKyskdeVrAyc97ydo1mFxc-x07Z5fRfjp_MeK1D302Tf-dIqW8U7p6sP-bsxpYJotLH-uk3qWX40m4U_ZtI4sovrec9PZc00WoOGjFAG6WGdx4ZsnWseBnJ0gdVDhUCR47viigh7a_2V2EAqzJZTRpKCidKt1jrpDkszuqMI9cXjXI4iBncfNiP3kdawyVHInEWwvLioiTdxB_rkRinhnuUuqbKbX9wp3iC-NA7HBckOBrnrBIEwSfqo5SDpU91WFznlrTsmplYgrAzFdyiYwabAfNMh6VV2_NfDh0EA4uwhHabnEKLBpO6laF-TcP06x3yJL1yIYkfhp7Q==",
  "id": "rs_0149d6297d7acf03016aac70b1f98887d09d3618c5d78c41ff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.105,\"left_z\":0.24},\"note\":\"The screwdriver shaft is lined up with the right-hand toaster slot in the wrist view. I’m moving a little forward and down to guide the tip into the opening.\"}",
  "call_id": "call_D71ozpfgYsWOpoNUe5K4VyND",
  "id": "fc_0149d6297d7acf03016aac70b3d34c87d0b9400bd31e82ee76",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_D71ozpfgYsWOpoNUe5K4VyND",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.3241, 1.9583, 2.3459, -1.5829, -0.1261, -0.3622, 0.2758, 0.1116, 0.8181, 0.585, -0.3969, 0.205, -0.0868, 0.9961]\nstate[eef_state]: left_x=0.4005 left_y=-0.1073 left_z=0.2765 left_yaw=0.0294 left_pitch=-0.6066 left_roll=-0.0241 left_gripper=0.2758 right_x=0.2901 right_y=-0.0001 right_z=0.1634 right_yaw=-0.0236 right_pitch=-0.0672 right_roll=-0.1933 right_gripper=0.9961\nstate[joint_eff]: [-0.5265, -9.0462, 8.0889, 1.1404, -0.2418, -0.0073, 0.9695, -0.0615, -1.2103, 7.0222, 1.707, 0.0073, -0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94700928c9c3923f8af89ee429dfb05d77a83e4578155e497a4d44035d6d57b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aea7ddc9f6a276306976962d672f99814e69f0e8027b8c2c0922f559879d614c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b09b1fc3107ac79676f884f7f0a0a5474e64ef0dfbd30170b97aaa793d3c33b",
      "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 screwdriver into the toaster\nstate[joint_pos]: [-0.3389, 1.9141, 2.2868, -1.528, -0.1444, -0.3862, 0.2742, 0.1116, 0.8173, 0.5854, -0.3969, 0.205, -0.0868, 0.9961]\nstate[eef_state]: left_x=0.4001 left_y=-0.1103 left_z=0.2818 left_yaw=0.0381 left_pitch=-0.5634 left_roll=-0.034 left_gripper=0.2742 right_x=0.2901 right_y=-0.0001 right_z=0.1638 right_yaw=-0.0236 right_pitch=-0.0661 right_roll=-0.1932 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -10.4821, 5.5179, 1.16, 0.0366, 0.188, 0.9304, -0.0479, -1.5521, 7.1726, 1.7363, 0.0464, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHDDpIqOX7G0HovfgWamBrxTkSdPQ1Tng6Ufw5MBsxvXDkr4d9593S9E_EeMtr9XhnsGxZGcLfI6wcxJY5u3YebfgcRPA84HU9dOVFDmgRc53hIK_vl5cMfcilsoTkqaS-uCnmAWrGRb2gEeRF9-y18vBNu3d8CPF2vM3nBgtGe42BPmmCs1uP0W6IlVpBCIndRMYuZWZywhEtaAbBQnjk0FcY3cGhQxCKecpbT3SHInviU_-iFl1RyS3MScvpE4y6LFiKosQDKvErvz8Dvruo0fKGAK4c4osD-6qb5p90Eml7IBEhaGHDFSfDcAd5bRqnkv9tEX-gEeII70T43GFW3pOK3CH_Hp-EDQke2TcWnWT2Z4S9uZCqUyfEgaygVIWW2xnC8lUQXNNStR8ltRvPQf6oIYyqakYEoH0RZUX4HIsHipHGu74J-k8bfR8UgGv_5McFNfXfRvFo_Ua7aPqn_DeTjFmMTI1puzxhdT4yPqizUsPhLLmJ0I-8Jb6r3-Y9tPPWcb-EtOBU8AoDj0Rl7pxoQyip0OYWRyXRI-YZrXlCO5ZpzkkROg2M560CF2Hd3UGE6MMnOhWOvWpeiB5bDwEBe5Rx03B1Mn1YApPKYDAtl4bV-fnO85kqLyGQQ0m18Y96NipQlFyiDKYFLrsccOFJu0dqghnCtBxBszMH_ekJsWJ4xxIj0hcUUelEm34fzP9J1FwsfF9fFxyfe9ZUec_AUJpzpPCflOYO1mJKwcehLZHY-XZVg0TbUHdMUPz6r8dZV-DXFpsnEAcn28dE-iSRSgSgepy7Xpvn-ocfC8NzcWAu7afrF359Ic-KeaLjJkNpR38f_cXLjtPovkDbbu94ao0p3IwHRYhAsIoijrSGllBSwaNrNafU-aG1W7gZPFCOPJNOjJKX4O9iuGeknZFhVjqJYhWChIx87FXaulZr9YGqbv-3Bask5wacTJ9D3tDsMt1xnySVgOhxVN-b4VcIYpMLLnirkj5ovJVGSNVdDfGlSW4N782JixOXWryOsDN5gLzd_HVXdLCvZ2p_1wV3EBbgrs9TsAdxcrzDyLgS7XsQ4FEtC4K8QMQsPjLZSGO-Z9A76mnquMaYA6smn5op4s0GPhinY_2LPEo8pM0Ct5WXIx4XHMvhtT2IHJ5HP4wE-wbGvCW7rq6lsDMoE7AuJIoegBgOcGrhHsFFfEzsQvpGNUwYkhxuJKpt43vXupwjsxX20mDqSOUFXdlTHgG7nVlge4My6Sx903ko0Yt9ZjbVsMiy1qZvP-KD9B14u2jQs0z2ZCLjrFnp-prazhzX1zNEptatIJxJKedSi9kZBnmvhJ3OgoafGLILC_byNYJrcjI9FyYRRi3TWSuW1kjBuZ7VGK1_wvrmLdFupDLM2i0eK-bn9IceOzdp0VqP0bxaQEr_AEe5OAwdGim-1uNcBqKLpgdiMKIywPeErLWkxZrKMd8ihsNxTCKyfXvM7lJR41MkoJ-vxG9lbGu9KPqW1wUgW6ZKqHgZN-z-UyrDSa8QrVZ7VyVswDvZVSYg4gtoP1GMO2kVJygoftXCctEQ9LIAQMNeK1B03U9Dy5nlxYz1VAAxL8X6lvGNozXQ83DYAC4VLIbNMkUtLYcy7tVUfcXveQLSwLZkza2fnDS9S8UvPisJA2jfAFe8uBcsm507yvFsl2o9wXkH4fuCSXSAOGBbgdLz1uqDvb962p44h3i6kbFy-8AaoxUGmO8Li0fz824qDdOl8PKOZ_-L7K_26teH00rKWEfh6BDvMunL8v-dmHEHU7jkGi8vcGAv-fLDlB8o4vXxpLJodEXPEA84bWSwatBO5RsdiptSUy_73d3HSiCWk2BE4ZJPlBwbpsnOzqAUwQxQ4CbYfUs68xUDOeE-9N_Pq9JleBbufemUTOX1big68_ebh0khtAAawFbdKR_qZ-GJ_ieSs6TKl-1LuCM0Bk4f6imWrkedIAVNrbRhvFWr-kz5Bp1IQJqJmQ8p_nUh9f3ji9XFzvWnN6f7F4jhKwoYcApjzKnCzNZoxSWtHPlIJo2CrP_Ze8_4TYNLHnc3100-oQWQa5ldkIhH9-L78Jtu-hIPfAxOEVaqOFFiE3qhcj17Cc_HQZQYAolEDh83yUT47YHxW678R8IXcrhbY79mbad5sccMmcnr0HstRbNlE0fDkAcRBzPNuGPm9B0IJlQA655eZXvGyKgYgz9-z-B46fwdew8f4x-5NrxD3jKMicRt6Z87x4-RH0YYUmDBOeG4B4DUsiTigZkAPmJmwOe_sBB0o-C-Xbhy8FxuKpoho4XH3B4dkcKErx_gYxwRxWlofkYVuD8suBP1j1ZIH2xS9npPFKWJXGNZswvWaH3oyc19lqXlznnwTOWRjMsCd8gGqHMJTOimRyn9u_LMDaZW_9FW4Dlj8ePnoAGS6D3-u7CGyC5GSQpA4TNWQOXBnENQWfEku5nq5VaM8kGP_HIRvBI92MScSkxGiXgHe27AlX7v3k4QyXuXB7-4er5qGx359ngjq7Fitjt9PEvpX5QkLprNUBPbY8PC7RzcR3GPslRip6EpLCUlsMtnZkQrebI9ryOQVpZVyEl5M7jPZnvrworrwGae7q5GxhlNOw168H1VQVKZBGpYsETV_FxJKsYv9vKRBeLdqwv-RzKu7sVYSc8xnioTfXcXvOmDt6UWW7-jPJU2xtvIjb03IE-7koaTVmKo6Mo_ikJsKqQp3_lW4jpn3F4Lky6Dmj_eArV9dZ-3fu1p2-wbeuduvZp6sHYDGTfnBdnENe1ef0P0qBV3Qd7DE4jn4qOlxj1bF6BZ9LWWI9Xg8QrPH75NKIWdZ5o2WYEdlSPesSeSC5eDsC62QnsIkIjYFX91HmnNEThsPQhkxJ8z5eH0LKvG90ZciXnpMuxLl8F_7q-t8C_Zz8Ravd-Sa66FNslGcpVkUmovr93aktat1ZwYlQZl7CgzgoPvM6e6eBy3z1YwkeZsL7Jn1vtqSci2C_3lAgY7mNSsw_wD8RWEJog53qhRVLd0RUINpESfwilAx0-_RHD389S4dJHlmHg_0ZM0D1ArDAVJzUgJ2T8fEvcChQbCFNxqUPNSMxQdBZ49KvmbUJtzgI9QneS4Kn9TnYq-g=",
  "id": "rs_0149d6297d7acf03016aac70b7be5087d0836b740d222c084a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.105,\"left_z\":0.21,\"left_pitch\":-0.3},\"note\":\"The wrist reached its tilt limit before completing the descent. I’m easing the tilt while keeping the shaft aligned with the slot, allowing a lower approach without forcing contact.\"}",
  "call_id": "call_QAsPb5Mi6QVYeyMHnEyKGAYV",
  "id": "fc_0149d6297d7acf03016aac70c1ccd087d08b302cf400a53591",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QAsPb5Mi6QVYeyMHnEyKGAYV",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.3546, 1.7241, 2.0155, -1.3556, -0.1844, -0.3569, 0.2758, 0.1116, 0.8215, 0.585, -0.3973, 0.2047, -0.0868, 0.9961]\nstate[eef_state]: left_x=0.3838 left_y=-0.1037 left_z=0.2878 left_yaw=0.022 left_pitch=-0.4652 left_roll=-0.0184 left_gripper=0.2758 right_x=0.2902 right_y=-0.0 right_z=0.1624 right_yaw=-0.0233 right_pitch=-0.071 right_roll=-0.1936 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -13.2171, 9.1692, 2.1123, -0.5348, 0.1636, 0.9744, -0.0479, -1.3744, 7.1726, 1.7558, 0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc43a2f2bbbe123030b74f57681774f93286e66ed255818da5a602764df8de1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebc42b3e4b7ddfd9883eaae1062810380923bd32584233ff29126a49a031548c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13ffad52304c7a153be4a5e13c6c815856a5089dbe2079a460d8329aed4db556",
      "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 screwdriver into the toaster\nstate[joint_pos]: [-0.3241, 1.9583, 2.3459, -1.5829, -0.1261, -0.3622, 0.2758, 0.1116, 0.8181, 0.585, -0.3969, 0.205, -0.0868, 0.9961]\nstate[eef_state]: left_x=0.4005 left_y=-0.1073 left_z=0.2765 left_yaw=0.0294 left_pitch=-0.6066 left_roll=-0.0241 left_gripper=0.2758 right_x=0.2901 right_y=-0.0001 right_z=0.1634 right_yaw=-0.0236 right_pitch=-0.0672 right_roll=-0.1933 right_gripper=0.9961\nstate[joint_eff]: [-0.5265, -9.0462, 8.0889, 1.1404, -0.2418, -0.0073, 0.9695, -0.0615, -1.2103, 7.0222, 1.707, 0.0073, -0.0317, -0.0171]\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": "gAAAAABqrHDQrW_ieFKWRy7WF0kAVNoeeAKrv5PGpn3Czy0a3aB7Y7voFvpwX2j-SF2SpGdFmVQvC_OEFA4B0S-FPvNVGIk58hcM0ltNjyBpf8h-4tYWsBqB_Y582Ujavz4ck-eqYtbACop6pipaGbairL2lIMqddUDdXVJqH1ZsxHdtD99PzkssUOpYKRhwTEKaDNeDdzbhduINrMl9MvR1rxsGYXCJq-RwWA9huWixwi_Z15mrpyWFEnDE12mnuqjRCZKG650Wgbjtus1ZlVa0z93QeNqplOwt7Iva9qSbSXsQ9Ga7Da4V5tI5Qt9iRDjfW-yN7N8Bs5HXxt01kZV_wpBMNp2h44QYu0AXWetQPrKggqhmTGJWe0vrLoPt2Zm-Th7vMxSgCsFWdJajYTc_Utv1gfMY59nQkFtKOxNNDAtwl94I8UQ03hy6TutDVLG8Yi_-qy-XprZA-1I7tt136d25zDcSBE6WOb1sLYibTza_fvfdNAx5r_q1c4-uYzARrQwy1N_GPPWY82kpOnObkskL82_4LsfsX7Da0hmCQJ0qHP-fujwUW7bzDpRpM2zBwj1UZbZpEEGgOR8Y655tELD3h9g8uZK8-0rrvEjhc8YDb3whbzMDfcU9saiIWq7_LVyTkbcD3_EK6_4sPAnsdGzMuynHkRqpRXnWCjK3HYNRd3D8wzkrqpgXifCdF9UzTTbu4CgDXsPLDxQCWXXjQrqb9Nam2l_7XQr4IZY5H-EA9B8eIcsYJrT6f1CCZNoilJTom0595RVlbRsqXb5ILgdmi7j-PmcK7fcUqkDa9cxBa2PaH6ygC5Hy9ZtMA5QbvOPej0U5D1Th2ZlozGQ3wthgBXhhF4QS3iv5yfmRmhFnYXklcO-GI0Hze553u77qYVhIwYvnilnVxJ7AGafoIfXaxWAtFfujWru56Y8iDQ3Xods5zM2PZYTgvTICgX667-f9VD4ULFBgbgKnJBjviTYLQrx31GIlfqExaLW0nch7z4JHu_Qp5ilT6KuGgUFHineoZNfwJarimCMZkJ31pc1LIG_GnpFdoe8kQKWqcW5488C7nwsyIE6u6gNbKTjopzULv7klCpnckoRsV_xuBXYC7Cv3LKBWyn5N1f2pcjs8T4KdCYD79__rlw4cGAXTn9HZ-3q9FwGr3Lb-1EqXXUQKwxLr8l5HP4rN_r35d0EpEN6HwHYgf865Nbnl6ckLGWIXoUX24TxeiV2Mkyh4UEsNqTd-RCEPvyvLEhPN2m6qfKjpsy3YT4xBvpAcTbrdgjWBsOibckZE6IVKDpb7wbr9YTCe7GUxDBZuFKsLpo7peXoQxfRzvrc8vI7Okha5a43epn2Poqt6FgCWQJpEN7chCZznLWWKqbTtCbivzaj7AvDWGu6fzaGS9zCZI8TXdSjw_VoqfCTxlxpTUZ1G2uQNb1nKgJNtlLf6thDV0z5RvGeIfjTlfUWcdldYXUyifDxFjxK-sbNpc6Y1trUhNDJD-HZP10Dr1XC70lKGBivbLZLf8800hOrbYIbj7ouCSLkouTyW7QoMn8-Z-z7yDCHpF7DdZbUDs_MgBeDj7LwWt_bUBrbLYiiGWOSyDBt5wN4c72FR_cmLdkc9COEcRSoRwpKtxBZDURr9Mlusb9dVIChi09n-GVQ_zHqo0OAEQur6_ufY1LVwH3a2O_dYHeBd7vIWgW4zvk3EmP0EOeios_BmN3daQOWLEwDvrgJc86uTCa-VWQ5gxbNtOE9Qp-AMPv5NRPXYNnnMHtYuizzyboKUKF0_rdaaDHm2Oucv79ayZh66GNl_aUzh4o-p1dYQyWlHaGXt6yZpLRnFMGZ6-omCnZyNnM3RjllX3fgyt7bF0fKToC1xzgLjxsQESKMCdUGH3ZoBpwu58LTN0EqjkPvODc1XZM5bmxCMWP8kCLB7YFJuQOQOeDLJyVC6t98HCFW2b0CQChswJ_9USYrTb7EKynyFF7FmlmrbtxLV4PY1P1Rg5IdervIkaw8xcuQU_3d53XPVQbDcwXVjZBtXA13htZY=",
  "id": "rs_0149d6297d7acf03016aac70c8c2d087d0aa0c0f0e1baf1bd6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.122,\"left_z\":0.32,\"left_pitch\":-0.3},\"note\":\"The tip appears to be catching the inner rim rather than entering freely. I’m lifting off the rim and shifting slightly right to centre it in the open slot.\"}",
  "call_id": "call_yMKP8ceWJBcQKCpPJBiP5t8y",
  "id": "fc_0149d6297d7acf03016aac70ce378487d088a76fcd6e221a3e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yMKP8ceWJBcQKCpPJBiP5t8y",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.4259, 1.7172, 1.9633, -1.2831, -0.2481, -0.3878, 0.2774, 0.1116, 0.8238, 0.5846, -0.4114, 0.2047, -0.0868, 0.9961]\nstate[eef_state]: left_x=0.3876 left_y=-0.1243 left_z=0.2834 left_yaw=0.0196 left_pitch=-0.4182 left_roll=0.0076 left_gripper=0.2774 right_x=0.2882 right_y=-0.0002 right_z=0.1589 right_yaw=-0.0235 right_pitch=-0.0876 right_roll=-0.1959 right_gripper=0.9961\nstate[joint_eff]: [-0.2667, -10.6051, 9.2786, 1.5214, -0.3297, -0.0122, 0.9206, -0.1846, -1.0188, 7.0359, 1.7656, 0.0122, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d258b3e177cbf7102f8d24439e22714ea84c2e97f74dbbb0ddd2d568c93f8e97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6c73633993061e2282bf3f54424c1dfe0e51b89c58bac0f90a209bc65fad6fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:128a41e41ec811fa67a58af2eb0788e9dfd7b93a71ae2fc244ec3ae964ab9406",
      "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 screwdriver into the toaster\nstate[joint_pos]: [-0.3546, 1.7241, 2.0155, -1.3556, -0.1844, -0.3569, 0.2758, 0.1116, 0.8215, 0.585, -0.3973, 0.2047, -0.0868, 0.9961]\nstate[eef_state]: left_x=0.3838 left_y=-0.1037 left_z=0.2878 left_yaw=0.022 left_pitch=-0.4652 left_roll=-0.0184 left_gripper=0.2758 right_x=0.2902 right_y=-0.0 right_z=0.1624 right_yaw=-0.0233 right_pitch=-0.071 right_roll=-0.1936 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -13.2171, 9.1692, 2.1123, -0.5348, 0.1636, 0.9744, -0.0479, -1.3744, 7.1726, 1.7558, 0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHDXxsmd0EXG2AAPEVnxMKk_ZUYh7xx28utCh0oQaubVNKoYVYDTD-Bs4m7JDoPIXsungcP16pbaJFfp5jw50xiy8x2wBryeEPZUcymrtssOlgPqRtlLa9bXOrNGauOSY5Wk6eZqZDhOZbGZruxsaAnBEVg59-cFU0wP_abbId3EYTFSDPboFkImiASeUXmnnqYO_2pVyaLeHXGgSnDiqzJTWnfTT1y1dSuexpzgqTeEdeRr2ZuO3IxedBoVVeVPtMxAFQ-X9AScMxeRVUWIk3hRQSv6Evo6zo-3YTVqJmZsITRroZTnm2QQ1j75vrEiCDJgH4izs1Ux2TTIhq_bKQvLdOVUZ5vXj5mF4SxNbczeLihcME5oZaGzmhJWzrjrKqGwR2VRBqbo2NmqMPPmrz6Ll--_OS6dxYqL31ETnPYuW9WSUeZb89bZ3jULYXXQfmLyAQiMJ6v8W2fsT_H2w9QD2iBTn6xZClngtK09_sNTdW3nqM6A6WW3phU2DMxqj1szryFbyuYpKzy71M1X_0jCKC0EZvRwMNdjxpMCHuCg0sjpfTc7b7zwPmtl4hIGTu7Yk93ZTO5PqEicWvYIT2ee5dY09Wd66yRQXSOQLP-kA_nGvt6uC2-qazu7vxBe4vZj2RkL0RkP3y3G2jzmcjNJMNRJnGSx02hcmvIRzuKoYsKb75qC8IQ__N8d1jorxDFdMbUFEMZIWfZye3xFclw2e0G2cctUVvSizs2JsO95NRpU1zeQX5EAbIF9JrOpUtHBhZxwt-C0A7lJ1YoV5Q15DV4G484PK8_TnL9UlX7ha8r_C-ajupuFJ8_p2gfkRoIdFrDXV5rGlqLL0JLlHNvGN00WdwKigLdIwVUI54Zcf7pt1uNxTc3Yq67mRz_x6BZAGFKBS8uv-EfF_0riJALWYCmXckkBvSbJDboRomBT3lWwprNyycoRxb8zehZLSUsp1K1r_F_1OOSHBNRZ-GJ2DPr9QKS1AXzXvMQGGoWiSdUawmee8NtPKIP1irpaOQ0tvFdcMqfgQry24vLxAviFQX_tc5pcP7NY5jPW3TJ631u0IcJ8_OvzA4nobIyQMbDCFtsWNlUQI6gA45e7u2C6btfnY3FCe54ON0rvesMkFrk-Bjk390Il4eCTk-rYJFZC24GDz8bPhcdgZJRKwDRv_ORyJjJe8QkxhsxnyXIlPT6FCDGX9ETDMRQN_P_Sg-8jG5b5HJtLjbNiuyCmKofvZML_XOhpRGRnDGUfMDgWQ1JK8HqyKWR6LPizO5s1u8-bbUqckTBcJftYaIcrCz6dfg==",
  "id": "rs_0149d6297d7acf03016aac70d4483887d0b6823ab696117478",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.118,\"left_z\":0.265,\"left_pitch\":-0.3},\"note\":\"The shaft now lines up inside the right-hand slot. I’m lowering gently while advancing a small amount to feed the tip into it.\"}",
  "call_id": "call_VtuvLbZr0KW6776xnnfYksZs",
  "id": "fc_0149d6297d7acf03016aac70d56a0487d0b0fa739048952dbb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VtuvLbZr0KW6776xnnfYksZs",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.4187, 1.6569, 1.6985, -1.0977, -0.2626, -0.3721, 0.2786, 0.1116, 0.8249, 0.5846, -0.4122, 0.2047, -0.0868, 0.9961]\nstate[eef_state]: left_x=0.3887 left_y=-0.1188 left_z=0.2358 left_yaw=0.0338 left_pitch=-0.4302 left_roll=0.0384 left_gripper=0.2786 right_x=0.2881 right_y=-0.0002 right_z=0.1585 right_yaw=-0.0235 right_pitch=-0.0895 right_roll=-0.1961 right_gripper=0.9961\nstate[joint_eff]: [0.4171, -11.7675, 7.4735, 1.5849, -0.3687, 0.1929, 0.9744, -0.1299, -1.3744, 6.9675, 1.6679, 0.0171, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ed0884929425d22d00c48674ab4283d8ef3805cfe7cc8cbcc5c938cbcd88957",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41e64475c833ff8988edbf47c7109a6b1cf4872ebdb2803b12d85507d5268203",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0cff56935084ce5bbea08de1f0c9b6ee28cce97fa8dbe1a5dffa76d3bd65015",
      "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 screwdriver into the toaster\nstate[joint_pos]: [-0.4259, 1.7172, 1.9633, -1.2831, -0.2481, -0.3878, 0.2774, 0.1116, 0.8238, 0.5846, -0.4114, 0.2047, -0.0868, 0.9961]\nstate[eef_state]: left_x=0.3876 left_y=-0.1243 left_z=0.2834 left_yaw=0.0196 left_pitch=-0.4182 left_roll=0.0076 left_gripper=0.2774 right_x=0.2882 right_y=-0.0002 right_z=0.1589 right_yaw=-0.0235 right_pitch=-0.0876 right_roll=-0.1959 right_gripper=0.9961\nstate[joint_eff]: [-0.2667, -10.6051, 9.2786, 1.5214, -0.3297, -0.0122, 0.9206, -0.1846, -1.0188, 7.0359, 1.7656, 0.0122, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHDcYLN9dHOnz--20H1rhzEoNvDdvzM16rzkqWoDVgZbRKB3cqSICXtDYq21pVvXjz5y5wiW0Drf5qkEGgacJDkvSDm-KElfWyEvzMZJWpp1YeeS_C7dy5QBUeAbeqHdWB44bx-_CwBpPdLtPdmRx07SzxQ7tVX3DP09JOOAYH-2lE7I3wNDgrBceeesDBlFTNJiVsoZL7j77MatFUvaqRELnt8BE5BWAOG8NZsunFNSJmgpAaF5nGd7-WEiK_iknMF_M4JbaEQq63yQQRK4_yQTb4BOX4bYN4CcOZ86qurdf8bNVwG9N4Y3_XtK-ahKK9RMZvEis6Zr--Fz3VMl4kGA_eHt469mFt0oeU4a-hOsljgC2lwo5felzYIcID1sAbzhPXwUhWwhO3Pfr1dFSTrRsRIcovngQqI6hmpo-NEBXTBpp8QeUNROaoteud12mWWJ0fe_QXZXrOqS4ls1fjgyhkezb9rKWF0i7qB3Y_p8PJMJlQn5-x5CwOJs5lvf-_QPcdclWL8vuH6co-hz2dLt7-b6Me4Zmr4bw7eVTeaRKz96cT_jddUZuCjuUEynwZsq4kYavVnTXaPckYuAaVBoqMuCGfXMeUMAE0ZqLIltPBc6qQQiIdwsLAICg85iUh6GFcLKAVYzEl8wjYNPdbel1DKwEfI375HQ8FeUurYYK9KEKQLf-CnVNIv3QIuF78SnZgI5eZ7TJ4Du2nxzJ2N7nBuZDg9mAFlKZpNV6SqvyGF0Oacc8AVbtrkrOG6Y5fApkf2Tw39kMN3gyVNq-mdVO-tb9A49QtafgZiFvoXGK0h2bJFFvKYViQaYeZzNa5VByxaJjx5x76Q4xnelpJQ4jeFParocS86WPtKluZxw5gGgjw3IvEScmvnEK6mlglGzI7J7lzkM7JkXZezqpUbk07GoGbq3r9dAv5yAAHe4_ylZD0cmRim7E6HTLRUlley7KcM2HFskam5cKhGMUuvI4WlhEZjHSbyZ-N4Qq2IqJZUG6JIDAwij7Ueu4qbTzkMqS8F0PM2xKhY9kijDAB2uYpSGoYcdj0LcEmwnvSzgtU2a44RWaJZxAsh5LclIv446It-rL-D1p92ZV3VXCZDFR7A_1Mt8tc0ZsYEaBH6DE9c0p1UQpLpS-S6q1eburFaA2PDR66XvepQE4HJQOxYOjsm6dWgASatgkKc2Ie60xYnhFErSqrLFj3J-Wkk1o7o1wQSJG1sgaWacPU-1V6XcVFJJMjOP4cAnh8S_EmIVPGTifkM_JyetFvOSL-eMK4VesHYUtTn75rwtkTNl7hallxUoi7tvb_wW41XpDjU1aTfSO8KvMwNPxJaesUxWCvapK2sCZlLa9J0l8_usmDFjmHne5MpM4E1VQbe-xB4I5DqCdH8hId97ceMCR1D6amvonGRF9ju7T6tZgBzqR8GHnA==",
  "id": "rs_0149d6297d7acf03016aac70d9e3f087d091087dd1321fc0a6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.118,\"left_z\":0.225,\"left_pitch\":-0.3},\"note\":\"The shaft has passed into the slot opening without a visible sideways deflection. I’m feeding it slightly farther in before releasing the handle.\"}",
  "call_id": "call_DjLbtQCTyQ1Vc8DmATab5MDm",
  "id": "fc_0149d6297d7acf03016aac70db92b087d0b4687dbe29545282",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DjLbtQCTyQ1Vc8DmATab5MDm",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.4007, 1.6604, 1.5921, -0.9157, -0.2821, -0.3515, 0.2804, 0.1116, 0.8288, 0.5804, -0.4126, 0.205, -0.0868, 0.9961]\nstate[eef_state]: left_x=0.4118 left_y=-0.1172 left_z=0.2186 left_yaw=0.0431 left_pitch=-0.3585 left_roll=0.0335 left_gripper=0.2804 right_x=0.2876 right_y=-0.0004 right_z=0.1555 right_yaw=-0.024 right_pitch=-0.0978 right_roll=-0.1975 right_gripper=0.9961\nstate[joint_eff]: [0.294, -7.4462, 6.8855, 1.5165, -0.315, 0.2662, 0.8571, -0.1983, -1.5932, 7.5009, 1.6874, 0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67fb0d5998b6ddf6bdf0187df5d3b0b313b23e6aee23126a1ccd8814325afe39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:569cbc1be756313806239a83881111f1b6e15c005387e2dfaeb3ee524cd3ee1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1e990ad85a21e7a60bfe83fff7f41dc765dc08ba5e0a143661dd786dbb85e0b",
      "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 screwdriver into the toaster\nstate[joint_pos]: [-0.4187, 1.6569, 1.6985, -1.0977, -0.2626, -0.3721, 0.2786, 0.1116, 0.8249, 0.5846, -0.4122, 0.2047, -0.0868, 0.9961]\nstate[eef_state]: left_x=0.3887 left_y=-0.1188 left_z=0.2358 left_yaw=0.0338 left_pitch=-0.4302 left_roll=0.0384 left_gripper=0.2786 right_x=0.2881 right_y=-0.0002 right_z=0.1585 right_yaw=-0.0235 right_pitch=-0.0895 right_roll=-0.1961 right_gripper=0.9961\nstate[joint_eff]: [0.4171, -11.7675, 7.4735, 1.5849, -0.3687, 0.1929, 0.9744, -0.1299, -1.3744, 6.9675, 1.6679, 0.0171, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHDkCqMDRvMkeoVyvMglaJ-6r3Ed7MTiVWuEYdAQxkft4eKDjmgrGXPVl61GBv1AUo_l86zSyhz9jeeuw3JpoPQ-4LtHuzoMpAz-7HZhI5KpqdlJ54LhBnJx09h7IFSDtbnL8wvkAPF_QlXyqIznhHUrgtZaaMpsO5mYRmhJvumVvFn0R6smB5SLRKYWinA-lGdQKy8-FQ_Wl_LgLw9-in6dRX6XCnftJ0womoO3ujzd8bCfgO5q7dJ-di8gywvJNTup_cw1DpQDvTSqyALU0ycQG3sTtRKAR7frKZ8-Cp0GS2yyehoPnR7Q4ni8M1g5sLuZ0qr8IIw4njgT3UmDL6CzrYGYoXN7j4iX2rpOdbGhvsSixfTCh2ktMysjlAC5BmvuqVzOqCcUmsBTOyy8B1Z0IXvj0eANOq5dkX-pb0waKaXo_o0rAW_uw0DSyXLxXtpkK0yrZ-abeuuuiG8JuWsscxtjCRjWkbQkPVf7azE4jb-OFGa8GkIkAg5BCnWvF4qSItentUM-DCuUMvLpBDu3jZckZVDC4cbe3mWrpxB878IicDg1gPEzPNd-TJ8K-M6z8RKsBK6YribhkRokTbj3eRpxUqoP8B1rMwpe22X4e2h476XwuZm5BbaNr9E1TIhy1debzrK87iQDnkiaGGEck2Bi4Q0NGyhSDGLG7MaK9G8PFIu0_Coq3281f1fFZRQfHz1r4gS41oUMtdER1FS4q3zfPdX9mhY5bwEXLP_qTD0Mf9pJCdZ7lhYhsYKU0LjqZkWKxnMOYgWMbWpqTXeIamqtZL2uLMxIAIAKkShAJQcrE05ZbT1tUOVw6bNZbTvBai2vyqOlqoWaS_VKSxLkxeVKis0tzhdIOAUuZ9DRD3Ri9BMnSE5MHokiGdkvykKXAnauSE5Ijw5JoOsFsg8CJBb4T0qg_T6wTUWRiNbnlmj5tvmQeWQMAB6mRb4xpZwMx5VfT9IgVhLsW5Kg9lLpJsis-R6PspJmLcgcManOyPor8Nil5JqD4lP-XD8Py8kpRjDaJow42jcVwWFsiMLNdMzqE74XZFpP8yyyLWtiIbAkek6m_asm2WckmftBUSasouHJNxJpPqviCD88BIvDpkzM9giycRqwTN52Gkmh6-D5BjFv3IxXTEq4P4l9mvlCR3lgdfXAWkG_IkZXj4tt-AQglsusNWtxoeP5xzt6XGlxDSI6jBk9DbYbgdKV_wMga7uGhm0FkyTkY_p-ZnrzSxO5SDRVnMAvtfW0nQyiSfJSiI0e-7jOpyZjA5WZF6K7Hk8yxjTv2s_piZjpuMnubwIS7DWc2TsZn4B7Nd2qRAoyTu8PFV1SgHvXjbBzOxPGwv3ekOlub_6tFmGs6L4wr1jXsKtCX0WFTgvPp-nI1BWoLY9UJkNilEiOF_7vL1PjPW8nnPTsx7AiiEj8SA60LefjTlbx8vzOcKA8u3zDsexjMMm7t0XC2f1w58pnoXN784TzV38pvG_MTauVwvNBDOks-p_YnPoHD5RoAAgAIEcN44Csxn2cNm66cixyHK8D",
  "id": "rs_0149d6297d7acf03016aac70e0c59087d0aead3bb95651516c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.118,\"left_z\":0.19},\"note\":\"The screwdriver remains aligned with the slot as it advances. I’m lowering the handle a final small amount so the toaster supports the screwdriver before I let go.\"}",
  "call_id": "call_7voKEDVh7sdieXrgvO5XrwwN",
  "id": "fc_0149d6297d7acf03016aac70e2b6ec87d089ba1a5712c9b4e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7voKEDVh7sdieXrgvO5XrwwN",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.3969, 1.6676, 1.5852, -0.8776, -0.2844, -0.3454, 0.2838, 0.1116, 0.8288, 0.58, -0.4129, 0.2047, -0.0868, 0.9961]\nstate[eef_state]: left_x=0.419 left_y=-0.118 left_z=0.2182 left_yaw=0.0416 left_pitch=-0.3361 left_roll=0.0284 left_gripper=0.2838 right_x=0.2875 right_y=-0.0003 right_z=0.1553 right_yaw=-0.0236 right_pitch=-0.0986 right_roll=-0.1974 right_gripper=0.9961\nstate[joint_eff]: [0.0068, -8.212, 6.8171, 1.5751, -0.2564, 0.2027, 0.7253, -0.1573, -1.4291, 7.0085, 1.6288, 0.0122, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3469c86a20f784b51246d95f9a224edb7e3b2fde274df088e3fb0e7778a07f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9bab91af810a63350c3aa57f8c1f9fb886f040e29fda892324465ee4d65649f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ac78b1dee4bfeaa6bb719b451941036a9c88fcbb315323187cc09c2d2ffbd2f",
      "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 screwdriver into the toaster\nstate[joint_pos]: [-0.4007, 1.6604, 1.5921, -0.9157, -0.2821, -0.3515, 0.2804, 0.1116, 0.8288, 0.5804, -0.4126, 0.205, -0.0868, 0.9961]\nstate[eef_state]: left_x=0.4118 left_y=-0.1172 left_z=0.2186 left_yaw=0.0431 left_pitch=-0.3585 left_roll=0.0335 left_gripper=0.2804 right_x=0.2876 right_y=-0.0004 right_z=0.1555 right_yaw=-0.024 right_pitch=-0.0978 right_roll=-0.1975 right_gripper=0.9961\nstate[joint_eff]: [0.294, -7.4462, 6.8855, 1.5165, -0.315, 0.2662, 0.8571, -0.1983, -1.5932, 7.5009, 1.6874, 0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHDzLmJbsTXWGA5wALv2pfNOSD0uJYC1pk7tk3mc7KuPvqMr6sVVRXxfhUnI0rI4K0vQVTZW7uLv09rF7w3Tho3XyXzdI_2-ITgT_HRZO4WceXs0xl4QiTdJJvrA7d8Tj1Eu6Fc_Iky73dhTGnG6oIoxG-pIBEjrDzgMifEV_lXBLzRay7wXu-wcPMmfEffPZ5zYX5C5ArNQq6BV3NDOEqHn42ztmsOPfsvnCcvy6-PdnfD8Kvguv71LXWdvoqI-pov_IFTfUs3ht0yCmeiNOxAHDxa8HOexHoIn_KB6r9FsnPTLID_NvdssuPFidl32hQ87RttVMTKb_noayEgyV8y9mXJS8o8NBTdpBl-jw_ZTZ0G-MBtksu_lFoAyrOVWzGr6quJsLWWnzKlthG7t7YRVttG486ssZhHky8ftRCBY5_VankgOKKy8pEM5sqOzXm65cmwlkILJ7lte6SOJIc0TiBJjGxGRpLrclvTQw9AozQPq0RTVTK1oo8zPPTRlPJnB-T5Y6I8r1QKXTKvWpWq1bX-9H8UDCgNJrv8bZYNkabpYoLSvSN9ChQSCQcaIuRICKgJqkb2dV1llwNyLsjjzLWdFClTVWqw2nkf6fkeneVWLmX-C0wajL5GOkEWYqeSwadBzydkVSm0n4O2GjuFPewuxFRb1qoYB2jhlGDzwpEefB6oDhwqHPFwvAq--9Jg8jQSUnGvDlUh5_bSbzW-x7RRsZbo8eM6IygUrKFUKz2Pi-IpLJVpGUZ7VJoDfC-0RnjyXuq62gna1p-GHkfIe0UcWSIrfaVQiOOoHbpCVmbNbCuz6D8C502MuPABqFe0KS1OASQMAMbA7r6sameKC448uegDbujYjIty8PQft1ds08JXPA6UiAxTLv22CeLPZwJa003D45nKIjhWOwOJpt0sflloY-WSSo19U29tpTh8ulXwkwf_ml3mWvAk28a_rsEOXp7DqSzo3t2ohjhTJqA2l9m3PTV5aCLgOaI1raucBSgVVyfyCuJujige5MOtrpbzAUpjQOyEL7uPUkt00dhOoe4cy7Uoe1tpCe7w8OplvHBrLfCfesEnsnqss059zgxN428gcdmHKl_UJatJXP38Yx-MoMl47-xCjtrGN69G_B26oL2ObNybw-NI_m49B5dX5neJJzsgowEJOpOVdY-Hw1qHpz4HH1zEvydOV-fJoEo9iZnWp16t_dr4pnaHq",
  "id": "rs_0149d6297d7acf03016aac70f2475887d0a0dc7da94b7fd6f7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The descent has stopped with the screwdriver supported at the slot. I’m releasing the handle now.\"}",
  "call_id": "call_JYOOoJGT6CiMcgK970gSLg0f",
  "id": "fc_0149d6297d7acf03016aac70f288c487d0b14c6aa853a54029",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JYOOoJGT6CiMcgK970gSLg0f",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.3969, 1.6691, 1.5852, -0.8742, -0.284, -0.3347, 0.9951, 0.1116, 0.8314, 0.5797, -0.4129, 0.2047, -0.0868, 0.9961]\nstate[eef_state]: left_x=0.4198 left_y=-0.1184 left_z=0.2181 left_yaw=0.0349 left_pitch=-0.3348 left_roll=0.0342 left_gripper=0.9951 right_x=0.2876 right_y=-0.0003 right_z=0.1544 right_yaw=-0.0237 right_pitch=-0.1016 right_roll=-0.1978 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -8.5265, 6.653, 1.58, -0.2662, 0.0806, -0.1441, -0.0889, -1.6342, 7.0222, 1.6679, -0.0024, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82dacf878a397e6bfc9803ecbfa7352a63d1cb20330cd62e2068b7fe4cd87cbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e99e58cc24de556435d844af098c54dc945cc01639ef15536b864d6fed1d965",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d61bc669324cc6b0ab7d8db5990a3ae4d59c88b2187b3ec43ec923ded33fd02",
      "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 screwdriver into the toaster\nstate[joint_pos]: [-0.3969, 1.6676, 1.5852, -0.8776, -0.2844, -0.3454, 0.2838, 0.1116, 0.8288, 0.58, -0.4129, 0.2047, -0.0868, 0.9961]\nstate[eef_state]: left_x=0.419 left_y=-0.118 left_z=0.2182 left_yaw=0.0416 left_pitch=-0.3361 left_roll=0.0284 left_gripper=0.2838 right_x=0.2875 right_y=-0.0003 right_z=0.1553 right_yaw=-0.0236 right_pitch=-0.0986 right_roll=-0.1974 right_gripper=0.9961\nstate[joint_eff]: [0.0068, -8.212, 6.8171, 1.5751, -0.2564, 0.2027, 0.7253, -0.1573, -1.4291, 7.0085, 1.6288, 0.0122, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrHD9510bXA4-fJJ-UNhIYRqK6omJvjP1pzIHV4LVf9q44J3gY8AIUkwp6KdRWwMifa4GMa1-7AP6GTm6jBW3dP3N7RHyy6S7DQwaypyJwgRRKHcPzItgqqmi8U_rFIxFVjyYwhK1HAxCmGXb0DxEFJGXnSyokLVvKP8eO42tUpH4-J1ODnwXCYJDCa63Cxi12EYh4i752RhAaNb1DPJcveBdCgzvWnodkIPvFdYZ3jMDeNLmIvDOJUc1onRV56f0kWwzO82-YkFz8FEuCyEOIAPoytvcKg0nZ4zcJ6OJkkL3QmjldAXYAujaj6pYSIXneNjYppsxwkeJP6I4NyQ2d7zlZFEAhm5uAwGU5G4wmuTMxdwGUicP1Ks9DLXca6oZrTQOZTmoQDvOdq9yhBDWfUSUbfoSrj5NsbGmRHYShe41i3JIUfON58oU7oCVfNKQyPXwhrW1hWAN0-YH8vvab-WvC-Mpuro24XUSzky0Z8fKgHLs0Mvo5DCe1xZh72fhByjx7K0QpDDPl8hYJ_giU98zjnRQk0HB_dECDgptRjmm336vfnmxwbT6Agzw6BhgfURDQsiPg8ITksBW2SCPGRpmOGlv6rp3hQeapBsCdmyL-z5oGxf47OdTHDeiAXlFkSuKTyn2Rj9vQ3LRvx7NvvdCanQmlw_AW8_9mrYzvQ3N3-YTnzPXhcXF-Frwdd2N4YNvDGNOpz1Ebc3Z9lcH9flRU-WgUo0AnRmsSvvTtOzBXp55xw9DzwS_QHcfLfQuAd1iYbQx3D_GIuRxEi3zy7urznjVQ2e8fkYhyFeLyXOjVJQMF7tvgAFCAb65l42Z8xfJOo1YFR9A0vgorrhDWzJV-3hoDaohgXpCPra9LHFZ5ZnkP7IuLRluqcTCMPmF2LXVNzBzh6MMc4TOU6-fnvxuVL4tqIdCrPdtUX6IjHqnWFVFnBxG3cMqY8tOd6LVIpR6uAgZERwQa8tIIHeXVLqGa-N-Abk2rEvjebrl_H4ItnNIKW5lTu-Sx2OEx7oOFs4LMtP7XKq_ZfFmj2aVF_2xByxfethCqxoJmDiLfmUcVqe7VUCLPNanPrnchDveTOdAosOJZGAML-Y9e4Gu493PnuBpzMY-wKWD6p10iRqOv6P-JaGOF9NBlGhdF9XKt_K7eaaPzYTNhqQ86UomVqiJaVyiI2c2QS-s6vo-tOtoYgibJVBUDU5mnQ7HPyijQ-jPSv5poqvCEFA58_nbXxpmP5xoaZftJBtxbpD5Cy4UFzJeplazSUjcXDTEA_nMXBItuXPSwoYIlXhGW4IFGtn8rWVehzDBlJ2abghneEKsRos5F52Zkc8RqGL00SmtWJ3FqkX_omHNlvYp16trU3kBfspxVX7_ynF9oq6YkzEQrhV26A-buJvu0nS6Ov4sBGLuQSz8jfGv-VuTI6M6jxhofirqVR_53XhZdgWEkEpWkqaseLrW_5oleHNGJiRd4EdSi80Jxql9kHpVPyvnsdhtG6DUOYKSDe0idPrl2vnKTHFRapjSDAdfPjD5u3H6BoFo9UVNy15cPBpIhkRoTB5zP2ym0fnTiX1jT2Y0v4pfn48=",
  "id": "rs_0149d6297d7acf03016aac70f89ddc87d091f90e5eb0a71f9f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.19,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The screwdriver slipped out beside the toaster when released, so the insertion did not succeed. I’m withdrawing both arms to leave the table clear.\"}",
  "call_id": "call_qL3e9ukvkUqDkJO24OyV7gJz",
  "id": "fc_0149d6297d7acf03016aac70fb194487d082e668700b8c4040",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qL3e9ukvkUqDkJO24OyV7gJz",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0772, 0.8383, 0.7021, -0.4892, -0.123, -0.0669, 0.9961, -0.0227, 0.8021, 0.5995, -0.4183, -0.0097, -0.0475, 0.9961]\nstate[eef_state]: left_x=0.2945 left_y=0.0025 left_z=0.191 left_yaw=0.0508 left_pitch=-0.0512 left_roll=0.026 left_gripper=0.9961 right_x=0.2894 right_y=-0.0013 right_z=0.1679 right_yaw=0.0039 right_pitch=-0.0628 right_roll=-0.0352 right_gripper=0.9961\nstate[joint_eff]: [0.1983, -1.2513, 7.7197, 2.0244, -0.0269, 0.1636, 0.1001, -0.7179, -2.0308, 9.9761, 1.8779, -0.1001, 0.2369, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b4da6b70c1ca05b0125355094ed6bb84b0f1c259f86915129c9d7ff41798310",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:016ca9bf9ef325c31c85429d76f03baa0d7714cde4fcd92adf470d7e8e68ec91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2de61ac1dbbf58f7f77916d2d740783fa0609c26dcbe4ce2847fb49748959a25",
      "type": "input_image"
    }
  ],
  "role": "user"
}