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]: [-0.0189, 0.7929, 0.6022, -0.3798, -0.0196, -0.0246, 0.9996, -0.0158, 0.791, 0.609, -0.3763, -0.0212, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2956 right_y=0.0026 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6085, -1.3744, 10.4957, 1.7607, -0.0659, 0.1197, -0.0611, -0.8957, -1.0872, 9.853, 1.7705, -0.0269, -0.0122, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8f8eee2795a726c7a640a89e5e2a9dd417f8fdb40c63dbbf1690ef4f58c1904",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cb2041b0d235c061bef1ce9c9d86f64e47ca7bd5e7e6d141fe2eb890b6ae15a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e5e42228695a6e9275316f7a6aadcac5d38cdc6c482edd6bbde768f3519030b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqrIBVWcmq5OVH1KC_nGoRa1JFaAOVGAStuX8EcL0jyn5OpCBagF_7-2g2NQybFRJ-BGQTU-RN3409SbrnAVJdeRwYhslcRbBNlQZMaUO5zTHFmxaO5M3XGxAWw3J41aHQk8Yv26HEDaPhfHHUBqDUUXpLNYjHbhstbeAd5aVTT3dlvQGRlDwcP9gtnT4WgEnKL6yWEFraRyZ20RY0eIY0rDI881so7P-kKl5c3bcsxJO7iabbSCaVeMcTb5G9h2MtlYyWICmWV5dWKFABa9puetAEpgOXgvHKSj2YrvThdqvdVmMAFd1guJSf3x6Kd-Upce-5Xzr8fNgbMHBtuw7hjyNGA1J8Jf8GfDaEyorUnGKjADk0Q2Pl4LWBgvz70NE7jP4EDkA2XQ5xw-kW1r1YIkq3n9Nw25NxJvcz7inMOg5ouuqSidEHpkjiqyMEObyXhwUarX1X8H2evv_R9SLK6AzRZsa9jktevPdJYCjUAR6hTPgRa47n0xo1MWozVDhw_lD7d6j2S0fyO8wXb2ZQcYO9DDr5Csa0vRW9RxKs0TOWAcU4FQqEgHHL8a7K9wYec9sWstgVrdvsUxX4B3JJxPiP2xwzaUqYE7f4jJJ6DWrAh42eBDx4hLJPP0Ek0Y3Dy5eIPbrAXZYe-VWGXpvbeb53LqFWg3BwsIAAW6IlI1Tq5TRbU0cWqVKZHW_uFD3BM-0hn9jGQctDPzmpPVJwzVJnwFTGtWETlbFDMZfAVR2-W7902q5ehr_w9fOJ2hhtPEg9WfDDrnR07QPVIdxoYsO6TJpjBWyUjEa0Dcz5JMigs9ZyzkE0YljV86w-K7DUK_g5_HWb5dKWpXg9-zrM9KGlIYGsP3n62zfOGZwINJ30Tqv8ZvrJ7JpX9IhQMWyiThdX2HPRNydfYZdVgN6d615NiS-b1BNidg1Eo90RxvMOt2GF1SRuWnOUUux2F6f2oPC3jezpI5hrHyf_mxEKMa0R52lGcOtROJ6G3SGJ3dqEIruqeoZvoNQY-oa5QZ-vImwVuWNU5ZlzxMG6aXetx--IaF1jP6EptlX8fsh6625YW4HsOjrcFUnBa-rSpYedqCf714qMxUY0N3nGV-SupeWNsMU3j3ren8UMb4H_YCVi5HkmU4j0hN8XduQ4CMNK0Qf3pKsmwL8HxNozkNu1Kt_KCHbXwt-kuaAbhhKAa8uDj1aHeFRbJu8ni_WVxg8BHmK-SeCw8WfK-dlkyJ63BMfMQ4LqQ1000goaXGD2-ZhzuX0KssWdofOMZnjXhMSwmfBr3hkXrKILyQWEOawP8uN6RR8zpj_YpnVPlomQixFQvHCKJ_HSbPu6k6II_nNSSOX89Wa2899G0AzatPKdBa6F0023xDXSw1cmtAeksGp-tBHN-UzgYP39VYi4mvjbvrGeeg1AGHjkn0faJYOIYyY5C0gSYjfbFzGOWYVwOUuwsXsUuYlz0d2jVk1oeVDEYupvhKqqNvRtyJ6u4T2r8VpDutPXaIwPezkoKZ9BZzGCCLSkw3etQVb4XHGv2iprtfOyVdlIxFzKpgzk07MGcN793ZSCch2FVoxLRu1bth44C_hXK8rZvtbqycOvoHZWip4zFH0f_iQseZon0-cnuzEVBJyfDTreB-FsEZVGW6uakTRV11gfAW-tQqPc-X_T2L76",
  "id": "rs_0953f6734d1959a4016aac8050410c87d18017b95ac096e544",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.24,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The screwdriver lies diagonally near the center of the table, with the toaster at the back left. I’m moving the right gripper above the screwdriver handle to line up a grasp.\"}",
  "call_id": "call_YDylP2n9vV72GBlUyTGs12Oy",
  "id": "fc_0953f6734d1959a4016aac8053d63c87d18fac24f2f91d57a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YDylP2n9vV72GBlUyTGs12Oy",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0204, 0.7994, 0.6029, -0.3817, -0.0196, -0.0254, 0.9995, 0.7048, 1.7367, 1.1328, -0.1234, 0.5465, 0.3901, 0.9993]\nstate[eef_state]: left_x=0.2948 left_y=0.001 left_z=0.1776 left_yaw=-0.0011 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9995 right_x=0.411 right_y=0.2337 right_z=0.1359 right_yaw=0.0344 right_pitch=-0.046 right_roll=-0.0348 right_gripper=0.9993\nstate[joint_eff]: [0.0752, -1.7436, 6.9949, 1.7558, -0.0269, -0.0464, -0.022, 0.4991, -8.9915, 8.3487, 1.5165, 0.4567, 0.2711, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69b22e50c09f3abb241b588ff7120ad948d0bf4c524c3638fb56933711a643cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc4a72a18c6034bb105bc777f3644afe3ca869157424a939bff0fbc0b7bc1e20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88b7a332b077263e26ff1bf943840ba1b454c1079ac32c3304e4fa041d5273f8",
      "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]: [-0.0189, 0.7929, 0.6022, -0.3798, -0.0196, -0.0246, 0.9996, -0.0158, 0.791, 0.609, -0.3763, -0.0212, -0.0147, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0015 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2956 right_y=0.0026 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6085, -1.3744, 10.4957, 1.7607, -0.0659, 0.1197, -0.0611, -0.8957, -1.0872, 9.853, 1.7705, -0.0269, -0.0122, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrIBm_h7K7i10-y9z5WDc-_Nrw_KlmNy__8xwnpiXFfMmtrLKhDmbAr7iEKqC3e6pn-FkMetGl7h04nOnNJR9JGGBTmQ30CZLf8SccG7ChZLPytLrfXVE0oaVKjfJpG1SfKuydIY7B2NL_RWn_xvPdpHgidXu_pJKjJoxuUZJIC6QUBwyksT6Wj5zCp26K4EEeiJLGwFASzwpvimI88Bb_cDaDq54TfMouYQmSqQiD4UpfkImz0Piy5sTyHnIECApVlVvNu1kXoeXX43dthATn83BcvReftO8KiLDWfXvl-x5zm9eLNh798vU4ysVhFnQs1Ssp-K-cG0CkJLLM9j-E6XlLf4SpXZ1f19jZSfiXr_ukt23eZxiHpVvjDqdLFhKiQpG2qyj58GNY_45YlT2t7ng0IAKPW5edV0fOrcHV5DhRG8IvkRCcOm-jOi21awAdJIBvZd-3UET7eWvsAE0qlILk5S8QUOoumkNKbClIWjSpaphEza3DEhv3UEvJZUUqIyT_48jxqz26v-3IU134p94rLwWL70-oJnyaYOF6DsZk3brvcHPRO96f2yMJGAnx60Pwr9OsTUUbveIVubgT9TI7E9h_zxPNMWl0WresM1FKjIgGf_y9mYmNV26T2avsCBnPA8eiYdOLuFw9jUMZnElDpIJLw8XT26E1Gj9wNmxLs9UF1KBC7wDQxBikZ9GOp_U_lL-8Cmf3p2R9jTn8ZaOlV7edBaEdPvgIdTgH97nRRpoGrvWvguvtzUk6MSzhiDqyk1QUiY4tqbEd1qbv8LdKonHOf2V30SsM_4KSDFHE_Ht_lMQxmJrsxTMgrOL3N7vGylIPT5XYJcKunYrM8hxNzlGmM2hIEunfY8QuJvs8AQHqPfusf9lvuISy_BGL3WvMr0ybsRE9vzEBMIWYTfWzS7q80M7EY_AouaISG7AWshfXHHDoMfoUVegmRgsS2zfQzN6O4ytSJ78Kypk-dNUPFMJ-04bRB8bqQ5GTtkjxQl7ESkOqzNRTg5WTXmPDa6VUQrukXg4HoB--tQsSSyoLlwkd1JsAyPP3w__pcSha52FI4v_uZYaf3i7Ksx9UUGC3NwtPwzGNWt-jktOvip6PgRZf0_rH0g5fN3NDP3r4LMnkfbFHmp2bjANpyq5os6QJlJCDn5x6WnSj4zNd71-sIt0hbWs7gJc85exKJeGAA8OHcT76E9fPw8a3df4vcZET9lEpbP4AqJ0jZTMBPsEZiTcfEKeePgSzemZK9qgoxzslkjeoRQtpsfHL4BnThZkrYVoRM-tjftpgFMLuh7UGYPcvgvn5f3vdopnsbKpiALuvvsQIbEfAI-3ktsLKQFIlCfUN3Yf5SZxeXsI4Mh0gbJNtoKasTCsK3yxrflXzuyAUAEqE_rwv49XXkI2QzyEqep6crcArv3hYDoO-9V0_9Rvo9xy_1-HZklByP8PlXykI0Nk9RiAbOw7qEQU2Zkbats5-KjGg7I7zehZn3RWkIKo9XK00Bwc8WBA4aQVhXWxI6fz9MuG5uFmlCdGNZ3IG43iGPiO7axPK7tmoByjN90K84FVWYXQ3kklyZ6zBhdC3eAJ_4Zo9qyBTz7i-F5RLcXbpMz6PaVrtz63Eli3T5oEj2uk5eobz0fHhPmEdT4sWHzyMiSGcnAlnhfQtwmXtlgEZy8Gt2c_JZmTPtQE7iQVlZ4qiki2NLINxy_huGMKDTshNmm9cHYs8B_W2IlIMu8akNssDZRReDQPCIKNKg==",
  "id": "rs_0953f6734d1959a4016aac8061d59887d1a7f67d6dde0a5f24",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.215,\"right_z\":0.045,\"right_yaw\":-0.45},\"note\":\"The handle is visible just to the right of the gripper’s centerline. I’m shifting toward it and lowering, while turning the jaws to grasp across the handle.\"}",
  "call_id": "call_S1hsy9sckqnOmCGJ31CCP7V0",
  "id": "fc_0953f6734d1959a4016aac80652c6887d19f9ee633a954da80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_S1hsy9sckqnOmCGJ31CCP7V0",
  "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]: [-0.0204, 0.804, 0.6029, -0.3809, -0.02, -0.0254, 0.9995, 0.7208, 2.1338, 1.351, -0.2646, 0.7906, 0.786, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1765 left_yaw=-0.0008 left_pitch=-0.0114 left_roll=-0.0002 left_gripper=0.9995 right_x=0.4366 right_y=0.2212 right_z=0.0368 right_yaw=-0.3459 right_pitch=-0.0984 right_roll=-0.0816 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -1.6479, 7.159, 1.6923, -0.0366, -0.0611, -0.0122, 0.3761, -11.9726, 6.9949, 0.7448, 0.7106, 0.1832, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e32a224dc9cc039de3fb8abf9e17dd50fc279f2b48604d6af44b550ea4e06ef2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9893186e4ff1973c7c1db28f59671df0446fd8700dc04671afeaf37c2903df1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c310d4ca901e9abe1e3d6e6e214265e85a96fcf4a726e81514f09dbbd5ace789",
      "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]: [-0.0204, 0.7994, 0.6029, -0.3817, -0.0196, -0.0254, 0.9995, 0.7048, 1.7367, 1.1328, -0.1234, 0.5465, 0.3901, 0.9993]\nstate[eef_state]: left_x=0.2948 left_y=0.001 left_z=0.1776 left_yaw=-0.0011 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9995 right_x=0.411 right_y=0.2337 right_z=0.1359 right_yaw=0.0344 right_pitch=-0.046 right_roll=-0.0348 right_gripper=0.9993\nstate[joint_eff]: [0.0752, -1.7436, 6.9949, 1.7558, -0.0269, -0.0464, -0.022, 0.4991, -8.9915, 8.3487, 1.5165, 0.4567, 0.2711, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrIBurbb45pH9C-vJn-VCnWTboBkhsFhJQW1b8vex8YUbeN5ik60mq8092TVZXBwBMv5jhjWKpPRlw1BmMAdNfibvhFG7_WTKQjnr9ytL7UMSvqE8iid8jNw0wGPSW0-lLDDDU45aLiU69CioxI42V7Qgzedvj7ICtvGCpTCZDpMr1CjkRjPob7y2d1n7mayn25BeCtHeq_jEYnobvtCD2DRqkuhrtJu5N398bRRjdspie_1fiV9GS469Xl6rJwKvNTNqpZYWi8rGsEMd9NnyufThs200YNZ493YDfeO7yLMY0yihw7qME8hUweRYCB286fecGWFCJeRMS1ssE0qu7JnY6P9j9RnPTd2TDPogI6g_0-mKHflbjlrF8Zr5luOGiQlCMd2TqGWQcrTv0XeJohyNkjxI-Q_VAGhEFZVWG_lEamrfUDASyLqlDo-QlyypHt3NLtLoVJOX9GW88cAFdl-QOVRwFCwP_aGxiLt3R6gihlUd8cKyuF8fXFxZkYNLRtf0ogRKd54usgl_ugyLS0wuPfFbKmo3tDtsy4Y17vLw_El6Shc-eVL2BezMKagfXRcQC68www1Nsr9Edp-QtFTmWXZ-Vd-c_0lRwQJtUTIrsR3sz1miTRPKF-2iPJMUhpcAY-1j5IY1wtXRiPm8wIwFUSHJ_vUcPNkvyIe8UKGERNtucxG9gWomrFe8fZHL1xq27NvSeHK0pximi85TBrLIQxrn4QRW5BghgIce6yBms6PAuLx88OXuHprPfaJmTRR1GPq1WgEBvjSJPWusux_0XeuUpqBzBuKT2HavDjEkBLtbQvXK4dxy0Ah_HusUvuWtl0kphhAZQF4wCHBMAf4MeJc7WAP4uggEpYl16uFNEA_n79T1A1K7UqbZjwX0NfC3oybUXren-w1qZH0-QOOc3-wdJfj27IGX2eq1CP9X7sgqucgThj7edRyuyCDd9yKpkVSQlQvOyN_cheQBxhG-_ANlCiDREECSeCbB9tP3XLXE6vUbDS9zbRCVlVhAmRT0ARVODehHpcjONMast8hlItU3pyr3XIRg2HS0Gq-s4Eh-htVetaE_M240_VINYyeJxfvTTqbF2uiM2iuA8LaPxNIFHro4i-gNcJ8FYHihhkUZVWL0Bi94TbGkMUVYXu2tfHKnqQRgM-epOC0Kv9aBdhSs0kY3NjqvmL_fmAJt2R7UxIMpFsZealZhw2QbwVYCYQS_Zef1cIqzHs_Ud9T7Fba01kjn3iTQLFu5XEWLy6ZK9chwRodIrcXuG-dO_a37bUA_0t4yZhutLAjNbKy61ua2VrpWKjgwv7yiUjNlpl6MKaJJgGAK-TTQyxVND2H9J-SGF57-iqKfECpziixExS1ShYQ3-alNBIrl_lKRe8-v6-0HmStUEOXE4Z96tsInpzbo7raBvcjWf4UWkivAst9Cw7ad1vS_tYK8GFfI0ncTQcYF5jlyLmljxuuAUhLJWPgcvI9efq29hq0rZAJkor5XJT9aLtomTcdK54e2iepBkhwKE84ltfpxyiO8JhM3",
  "id": "rs_0953f6734d1959a4016aac806b88a487d1af9632c220b13652",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.21,\"right_z\":0.003},\"note\":\"The handle is now between the open jaws’ projected paths. I’m making a small forward adjustment and lowering to handle height before closing.\"}",
  "call_id": "call_e5927aPqmEmE4D6CsJIMgvBy",
  "id": "fc_0953f6734d1959a4016aac806d6a1c87d1bb27abeb53c0bf7c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_e5927aPqmEmE4D6CsJIMgvBy",
  "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]: [-0.0204, 0.8062, 0.6029, -0.3809, -0.02, -0.0254, 0.9995, 0.6876, 2.1948, 1.3457, -0.1947, 0.7792, 0.7773, 0.9993]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1759 left_yaw=-0.0008 left_pitch=-0.0137 left_roll=-0.0002 left_gripper=0.9995 right_x=0.4471 right_y=0.2112 right_z=0.0129 right_yaw=-0.3679 right_pitch=-0.1056 right_roll=-0.0807 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -1.4974, 7.3368, 1.6923, -0.0464, -0.0708, -0.0122, -0.6496, -10.8923, 4.7111, 1.3016, 0.4078, 0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f500540ae416e9399661fc8bdd398678d50d4b2cd7e1fed43d8bd4b5e38912f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deceab14118d6702f31761865c2a366cb6f86383180a0ad1d6e5792d49535d4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c285dc353cddf27cb31faa84163ee5580017eca6485f91847968491ccfe9e559",
      "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]: [-0.0204, 0.804, 0.6029, -0.3809, -0.02, -0.0254, 0.9995, 0.7208, 2.1338, 1.351, -0.2646, 0.7906, 0.786, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=0.0011 left_z=0.1765 left_yaw=-0.0008 left_pitch=-0.0114 left_roll=-0.0002 left_gripper=0.9995 right_x=0.4366 right_y=0.2212 right_z=0.0368 right_yaw=-0.3459 right_pitch=-0.0984 right_roll=-0.0816 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -1.6479, 7.159, 1.6923, -0.0366, -0.0611, -0.0122, 0.3761, -11.9726, 6.9949, 0.7448, 0.7106, 0.1832, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The gripper has reached the handle’s height, with the handle aligned between the jaws. I’m closing to secure it.\"}",
  "call_id": "call_bmqJqjV7vsIRgUEEuMIrf4uF",
  "id": "fc_0953f6734d1959a4016aac8074372887d1886dc12efa7e04c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bmqJqjV7vsIRgUEEuMIrf4uF",
  "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]: [-0.0204, 0.807, 0.6029, -0.3809, -0.02, -0.0254, 0.9995, 0.6838, 2.2097, 1.3388, -0.1741, 0.778, 0.7738, 0.3187]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1757 left_yaw=-0.0008 left_pitch=-0.0145 left_roll=-0.0002 left_gripper=0.9995 right_x=0.4477 right_y=0.2095 right_z=0.0059 right_yaw=-0.3694 right_pitch=-0.1072 right_roll=-0.0839 right_gripper=0.3187\nstate[joint_eff]: [0.0205, -1.4017, 7.2684, 1.7607, -0.0757, -0.0464, -0.0122, 0.0615, -12.6564, 6.2017, 0.8523, 0.3199, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36b09ff78d70a8b715df85ed6f182316d345ba00f153198eed29eb6097a0d29e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c818784629139412529077349f40df8277dac81e2aa229643a32d288a0698985",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be8184f961614bf5581d2eabb84c0e0fdfa661654ffe3203eb7b17afa13a3c8d",
      "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]: [-0.0204, 0.8062, 0.6029, -0.3809, -0.02, -0.0254, 0.9995, 0.6876, 2.1948, 1.3457, -0.1947, 0.7792, 0.7773, 0.9993]\nstate[eef_state]: left_x=0.2953 left_y=0.0011 left_z=0.1759 left_yaw=-0.0008 left_pitch=-0.0137 left_roll=-0.0002 left_gripper=0.9995 right_x=0.4471 right_y=0.2112 right_z=0.0129 right_yaw=-0.3679 right_pitch=-0.1056 right_roll=-0.0807 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -1.4974, 7.3368, 1.6923, -0.0464, -0.0708, -0.0122, -0.6496, -10.8923, 4.7111, 1.3016, 0.4078, 0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.075},\"note\":\"The jaw opening indicates about 3 cm of material, consistent with the screwdriver handle. I’m lifting slightly to verify the screwdriver comes with the gripper.\"}",
  "call_id": "call_sexBb24anXEpzJ20QAO4o5n2",
  "id": "fc_0953f6734d1959a4016aac807fb44087d1aa5e5c511e6325d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sexBb24anXEpzJ20QAO4o5n2",
  "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]: [-0.0204, 0.807, 0.6029, -0.3798, -0.02, -0.0254, 0.9995, 0.683, 2.1487, 1.4002, -0.3614, 0.7567, 0.7731, 0.3188]\nstate[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1759 left_yaw=-0.0008 left_pitch=-0.0133 left_roll=-0.0002 left_gripper=0.9995 right_x=0.441 right_y=0.2071 right_z=0.0327 right_yaw=-0.3658 right_pitch=-0.1558 right_roll=-0.1318 right_gripper=0.3188\nstate[joint_eff]: [-0.2667, -0.9231, 7.0222, 1.8193, -0.0415, -0.0708, -0.0122, -0.0342, -16.0752, 8.4034, 1.0183, 0.5641, 0.0024, 0.9646]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27f0ac0d7d31a8151593f470415b9f7c4ab8f05c49e466f545375294264eb38f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bf106d33b204f4bfc6e347a989846747682dac88b68b7f1c85d115a2e20cb7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:995a60f8438094d4f9caad32de49ad9e7879e3ac0f129c10d25d9376b9dc6df7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 17 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0204, 0.807, 0.6029, -0.3809, -0.02, -0.0254, 0.9995, 0.6838, 2.2097, 1.3388, -0.1741, 0.778, 0.7738, 0.3187]\nstate[eef_state]: left_x=0.2954 left_y=0.0011 left_z=0.1757 left_yaw=-0.0008 left_pitch=-0.0145 left_roll=-0.0002 left_gripper=0.9995 right_x=0.4477 right_y=0.2095 right_z=0.0059 right_yaw=-0.3694 right_pitch=-0.1072 right_roll=-0.0839 right_gripper=0.3187\nstate[joint_eff]: [0.0205, -1.4017, 7.2684, 1.7607, -0.0757, -0.0464, -0.0122, 0.0615, -12.6564, 6.2017, 0.8523, 0.3199, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrICKUgds7R9ttwAxH_7_VO07lWcjROivS_EQCShdxrTPxtnPqPtklgnBiWZjhXgAkHDSFEdg8sbFthN22tEZY3DQHXYt_DLmZv009mO3Sjg-UsjPFftWyh4xtkKd4-dt6KibzL2cC57MQJ2GGZid3BaSn8fiAr3WySbUWnBSKafo5JYuvD51uQh5OY_KV07Luff0CCcUWfLNi5cVac0rpGbOjeoeX-jUhH4SVU5DVse1Vk0EBVto_hwbAnIIRe6h2Yal7SyGFpQW3NLHkyM_HTWwPIP85t6RIOBpJhHO0tpGfbu1MP0oh3Do5kicfylg1yPgp7ISyy2BtC5ie4DfNMOC56v5HplrBiYqj8-9aAmhERPgeqJ3SV3XE-L7F7nzpMLaZ8CqoTBV0jg4A7Pa18R82ZVaIbldf9iyyBi-mvZbztG8ip6fGvS8iFSI5zvMfKikgmSIJq4eQF-r8oY1T2JfuY3I_mX2hPhsmZQe7_HUzsrcmgm1Ohw37qot3_WDeNZT0uduAbaGcLzughe09bUXz9CSddph8IwnKgJkMoW9av53xwwTRrgyw6mdN3Dom0DsFGzcrtS202KCA5Q2s0yeBJogH5xA2qe6e3IWXXBdMHVIa5GwxAnDHr8Xf6NoBRX3IfiNeMq7LdwzNMjH511YEnVNqjLkl8sn-7tXaVwunQDnN3jk27i4zs8HSNiqYBXUvuYxZF9tvnxUwJNOHwZsicRoo5Xw7XwgrlFw5JQJfXcurMrdY-UNoW5qhfUXEGuMpwVeNqcvg8Wqcfz_CXAr68wbUH2JDz4w9mFxKbqQq2on-FWU0Qpiyq979lMT7UehMz5eoc6aJZXkMLsoxiG7YWyuFgjL7gmJezfT75oy1GsWwfBiMiaC0qnWzIfj0ETCfzLwzNOM6Z1Sz-EAQBg213htmuJpi324btstFSvGEqt1SuMUzIjO9c4l3xPMcoSIh9FZAj8fxkRLu_h90lFS5H4zeGjrCYlNOMdO4_nMkVtV0JA73PW58kDMrQ6Vp2kOvAEhCQ1Qd6yHeOHD-aYPx0EHZR1zelErz4ufR0MroejRo4YW9hNEujQpeS-nei1-ry2gm4TQJih6cpEz-ZfId9sUsaC8jEt9feCPnVMcFS4xFrIBeeQNg1NnIAaY9Gbn3lGlsfa6v25bLnwCkIrj-ab2poEajaOlPptoaahU3XDRC199MYOEYgY9T0on88WirDVjYYpVRP7Jy85i3GMqkI43AZ-UL9_5DYmrtkIhic0=",
  "id": "rs_0953f6734d1959a4016aac80882e6887d19eed2a8b389f1c5b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_z\":0.14},\"note\":\"The handle remains secured, but the first lift rose only a few centimeters. I’m retracting slightly while lifting to give the arm a less extended carrying posture.\"}",
  "call_id": "call_qt0HtHz7Kr58kh1Apd8sl4Ui",
  "id": "fc_0953f6734d1959a4016aac8088c2d887d1882ef396a01d8d10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qt0HtHz7Kr58kh1Apd8sl4Ui",
  "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]: [-0.0204, 0.8089, 0.6029, -0.3809, -0.02, -0.025, 0.9995, 0.7094, 2.0148, 1.5337, -0.6937, 0.7403, 0.7895, 0.3219]\nstate[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1752 left_yaw=-0.001 left_pitch=-0.0164 left_roll=0.0002 left_gripper=0.9995 right_x=0.421 right_y=0.2091 right_z=0.1054 right_yaw=-0.3502 right_pitch=-0.1996 right_roll=-0.1692 right_gripper=0.3219\nstate[joint_eff]: [-0.212, -1.4701, 7.0906, 1.7753, -0.0855, -0.0317, -0.0122, 0.6496, -13.7778, 8.4308, 0.9499, 0.696, 0.1978, 0.8767]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbff08bd78c04961615207fb08050823ef5c81a0718ea7f418f2ab8121ee9688",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaf3086acc92a311755d921697ead716df1db999482af1c033fa8a8a3e22fcf1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed854e48084e29c760eb8b57079724fe7ee3f4cbc03f3a9f4fe7027ab42fd24a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0204, 0.807, 0.6029, -0.3798, -0.02, -0.0254, 0.9995, 0.683, 2.1487, 1.4002, -0.3614, 0.7567, 0.7731, 0.3188]\nstate[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1759 left_yaw=-0.0008 left_pitch=-0.0133 left_roll=-0.0002 left_gripper=0.9995 right_x=0.441 right_y=0.2071 right_z=0.0327 right_yaw=-0.3658 right_pitch=-0.1558 right_roll=-0.1318 right_gripper=0.3188\nstate[joint_eff]: [-0.2667, -0.9231, 7.0222, 1.8193, -0.0415, -0.0708, -0.0122, -0.0342, -16.0752, 8.4034, 1.0183, 0.5641, 0.0024, 0.9646]\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": "gAAAAABqrICkqq1l7Ie2AmPc6C9XgQqzkg3r8iq3xY7o_rz_26pGnic9nvDd7pXzeB87dVTauRNPlF25wlcOLfHd2B4aZiS3SklruHmwef1GwIFW7ckugMoYyq4a6JHrjSia0j_ZTFahRt0dSf3gLLqPjPDXyqgO6iwKbWJw8t7X50lBRAeTswAzeyX9JoEzks07zsa_crp3IUa3FuTW4bupzFXU-nFuYpEXP2rqAxuKlIYtUS_-c0d8SJUK1dj3bRQ0PuPX-YxMYlBTMtuO1U_UBNZS2p6Msfqfnugpj8WtgQFMX38Cj8m2R4paBkrdOGoolZjh9UlzRlX4yUhTxWTgdiNOciDDotHDqZuhQsQKI1gS4iWJlkT3vz_of9KX_s2r6yRwl6sEXmAtrFKtdw7-ptDfCTGeDGhbJn0mVN78mQibzmSDefPBUfgbMCDxcQxHN_GkQKiVV4Ok69yqCUzbfqAPRZXeHkPx7Sz7K5w1OtE0rJdTmw2zP6UsLX4qeS3YeDlckfmb7-zBIBpxt4zJZOhahLC3uA2LTJfoBFSCuCiRcEtTvQ7F1fC0jiMmoyI8JM7x56w-ij-dXdRySLAm6LisSeX_B5yjjHi-4BOue4IMOKLU4GDrO0LPosCruOgbVJ7L8ThHz8Q6wyoLloAu6XE3LW0Z-0ToMQ7NzDPKJaAOUkvmPHEeRHmHKZKC1ALUtSzXWZ6wT0RKaIKJ8kW0x-PRVPfH5laGLOhCmP_qSU9gKx6YC5oygUJgv-Y6zp2kJ02AkwEf3czeffXPoi3bMdhWboZXKpU2qrMa55DxhrmmMluUsVchIrL4r4KTpC8UY99_6efKWZNESXe-tmOGevckcQ7tNjYGaKrBw3VIu4NWwpWmXoEJCQkVhkj5me6hEFEEUIjBriuIpQkIKx_t-iFuKqg3yba11OYn60POBNtOj-eqYknGm_3LbwavHhrUnQ7nvvFj24U49wLWWhfq2aNLbacCN4xiIdgLyUuV8LXP5VWoK0C4_UvZjz616s_194LIBXN_SO9gNjlQPcVKyLCEuRDLO6OuRavGENmFw9fEojRaxPCZOuJELUhSpoGRzTpG0a52vNAfAn41LvlDihf7PepwIhw-87hNSUBk8YndYT4GrTbD4O8UsqGfCGlXkznfh4_oz-GmQhCbUgiuBRsXj0cHIYePWIzreiG8Sf12UpyOpZzegOtpRQLRB1ZPzATYDJtBRVn9O5Db7DQgebsv4xKkI-AyILe2xwMs_P2bgZ2X4IZtPkKMH9HYgD1nuXXaNB-XBqQtCQiP8JZumNLDLn-K_hRZECit7YdAtPU5i1SKp9WSMbaJ79v_FuNwAehs0PTw-1XiXKBsqtifcUl2G7EErB9cVwEW2KUgGf3WB7AjkG2cE7VYdqnD32YCRfjme9c6qj0vzTpLu3N20UTTrVPtLXEerzMj44T9hKMcsTjqRyFOCDT9-0zFxBtYbGtf9botPWc_ITSVRx_zaG6_lQ-E906FcvJ7KkxE6oJcG5dg4-6cebYlm2yBlj2VGG9rn0hdrLqpnQMWBDlAUNWuB2fy7erl75V7oD8LAa1i3aO-k4MZMLW0LzX6rHCndWb3mitwAiKvFVLxV4GdYd4jiVkk2r3cTBoEzHFoCKgvPLj-IDzisE2du8X5aLxHIAgygpJV1y_0E86w-IckVWrbt3jitAMf14aoYqb3rvkRknApIVvTmay-x_niW2IfBOx3hpsAza_xHpnkQ7mT9XptLLTu33UV6yqH1ti0E98Dr2mP9dqXWeunAINV_iwIg5jFDo3NwJWt7uo_mItMlkVOROIUrZsba2jNUnm6WGBGf4C2QUBtQDtEXCWlY99V5I_S4uFj3ETpmXN7yaW2OqjrixoWwDHSoFJkGGI__D9DiqXh1UYxZQmJs9SBTe-SQqs7sckVfxMNMb2shPhs_jk0ECaWSVUH-Mb0wand9xo2grAqSDxthxfBOzpziLrKKQQwBuGn9yMa6tCr9uGt2902BWZdlSO4YXGWnlNi_r6bWzU978ttzhbdRmC-2EzgIieLVxyax6fMoPZ-7ghMn7OXZzSxpqm6mhC4ix2T6GuBnhITuTIjhPDNmsgJhI4j84uXF_GoeZWP1ECQsOE2q47keHIwJpdUtM8FQ5FAkomkXv-Q9QbGs5dzjYsTrc-fYVTcsadt5oNXSiEdfo7Eqn2rsl1k0Zwu0jVvClavuTuMA4LgHxgl9usdbeYsGdkhCD2Wj39GpMdx6Wfhx0Q44rBSgaulebIo0fwkCbwE2IVEe1Is7_KlR8gct-obFwPYHeJ16iDf_ohk1JuIlt-1jrt9RodlSO4uTHnBAsbUql5c2rFfe5h6CydCwre5OIEEZNC55-8MymuoAZbUvX_yHWs5xGZMO1EX8K2j8tshPJTzMgbDb_nSGKa4sajEa_ZrkKSpKja9iqkFemigucBp-YkGNcO5ITGxVyf03Gj55XwJ1fXDFuki-waasDeQWIlUxcVCVJpOSTXnZZHJc4YHd8YR-sKvmSoO6a0t77JOUiDLgkBuW_tFUbja-dp3skqQObBd3b8zD3NZiWMTpTDholsb9M5JdktNJsnpa4YFyiyD20-7fqICTVyQDrQC-J5fN601ZhkUqCwXzeU-J4fg19WVan_p3mQqWCxWT1acSc1J7Ucd5r8FtaRi00N8CvWPxY9eipTKXIyGv0R6p-1uWjot_DJUSM5w0mHp7sqyhgXwbjFqaCe5sB3NktL-oarm2NZWuUcd2tavQ4V-6LgM_Qpv4a2F3w-22JV67_AVKCifZDVsOeuaL3YPatyQBDRMbgVT2QAgsUrf_cfNWNn7eaEPqEeE3bPXV56UO4Ze-CvbJPoUAlityF9Fb1kooHoZUa9omc9lVnZm-f5QcdMcYU1tb66FgvQr5moF_yx49tWxAAPMFBqKYC-mKlRkR9r1YYYdusHeJIDNikGgnQr1m9GmISHTexi69eMjppCmIlYJMWFlSnuMmfFcYeVqOYMZ_kd7zu5wzEg_giXnq9lF7li3f4g0prsrxZemwFY0dAV3DLxDIq4iQf2G47qkK7amnYDthvwDjpRw-LXcnG_HwoeX4dWkjZ7tGWZV7eR6u8iDVdSEfzZtH-c8x75EQoPUwN-xFuvQc9D3KvbJfAmRye6wtgYhYKmtuQjpe4U1HUrmMe2sAtblA_l7n3EC4W9evpKJCuKS_rsgkrJBW8oy4BHJEGOp6aF_S4Dj5Zg1ofOialE4cJl1yL93_X54oN-Pz0r4y80lpMVLTZkEDC7ryHkz4THic3At_ebFsxcDucM6fFplJrEOEW2yA40EDLux84w44nG47FTIxim-b79-xTgFoTFoVX3imL6aqCy9jAtuxOoFGGJT4Q-ATfYTUEA0nUaiOSjAY0wLllhpK4sPP36j-xu3Fkbyz3dabH8i2YQb3CTvOvcjBlUo0Tdtn90RWP5y4aYCE0_e8Km6cUvZe308XAG8Nsr64mfts3fcLBobPfFINDpdkBZMEAbkqLjJYyYXBCMLP1qayYuB4zS5z5XKb2UVmSAjhluXkHZ3BfjW609PuiolZ2HuAdCBbxUlK1AlH1OXVisjommBA_Mzs-IdYeCTDhbLIQJuPTH2c81DFiO8sr48HUR4dn2H4rr_I-0-CLjEdBTPHzqZwFCZQGqb26Oqpuwp2kFZn7uVBvilPy0er_fMd_owa40D8TIIYUtR2sAV66z8DH028ed2Nwwi8xciEWO-2oHJLofdyHOTyAD-RAQ3WCO1yOdnZc4p67sHnWWsr6zvAuB9tPQuCjNrYoVoVW2-yODUojv9qsQ0pLiuT3MVVhD52YIhSWyc9rlcLxh6M-l9GGDbYIzSpeDqD7wNyQ==",
  "id": "rs_0953f6734d1959a4016aac8095ccbc87d1b6d095b99b014ae3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.36,\"right_z\":0.18,\"right_yaw\":0},\"note\":\"The screwdriver has lifted with the gripper. The toaster is on the left arm’s side, so I’m bringing the screwdriver to the center for a controlled transfer.\"}",
  "call_id": "call_BbCaDaI9VguLWRBGlqRGjEtf",
  "id": "fc_0953f6734d1959a4016aac80a2db6c87d182d9a70f37385bf2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BbCaDaI9VguLWRBGlqRGjEtf",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0204, 0.8116, 0.6029, -0.3809, -0.02, -0.0254, 0.9995, 0.9619, 2.1597, 2.0106, -0.9852, 0.683, 0.6918, 0.3233]\nstate[eef_state]: left_x=0.2957 left_y=0.0011 left_z=0.1744 left_yaw=-0.0008 left_pitch=-0.0191 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3776 right_y=0.3528 right_z=0.1669 right_yaw=-0.0087 right_pitch=-0.2309 right_roll=-0.1775 right_gripper=0.3233\nstate[joint_eff]: [-0.3214, -1.3607, 7.0496, 1.7167, -0.0659, -0.0513, -0.0122, 0.253, -11.412, 8.6632, 0.989, 0.569, -0.0269, 0.5055]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48df070f300a073adae1635e3761be6688bf5448f64bc3d007301888050a41d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48b76e23f15c4a2f95f1319913701afe7e31f2e16633b7e582eb3313cb99e051",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c36a0aa28b5a37d9a101698eac49f50fc9f83b939dcb1d174ca13aad03ede0ac",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0204, 0.8089, 0.6029, -0.3809, -0.02, -0.025, 0.9995, 0.7094, 2.0148, 1.5337, -0.6937, 0.7403, 0.7895, 0.3219]\nstate[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1752 left_yaw=-0.001 left_pitch=-0.0164 left_roll=0.0002 left_gripper=0.9995 right_x=0.421 right_y=0.2091 right_z=0.1054 right_yaw=-0.3502 right_pitch=-0.1996 right_roll=-0.1692 right_gripper=0.3219\nstate[joint_eff]: [-0.212, -1.4701, 7.0906, 1.7753, -0.0855, -0.0317, -0.0122, 0.6496, -13.7778, 8.4308, 0.9499, 0.696, 0.1978, 0.8767]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrICzPWlgR-NSyddrS4M3FwbKnsd5XpLWReiv_Hm7nkP6xZbVYvSf6xiYHEO20NDGBSwIWNhoed3ayjxF5ugiG_-WCNrnQjH_4QpdR7KqbzPRTsebnv0fr8XH8mxube9M-RATKdquUrm9gZ9_-eN9LNdliupR7UyckwaRPaAZOUnxasEx9xNJoZ3GZ202MqpBhw4MVHB1umWXMIhTtmVf9gyn0snxAO1BMefuNIk4iZ7jG5xkyVBhg_xac1fu_J-P4cRJsOdgxuHGMyNm_LXUi5oEnPSyycSI-d_E3g4pEiILPm58OTci5RoWIpN92EcT0sPJFPN0jQPpjybtmu3RxyOhQieT-LvA9rrxf1TpgGUj6sC03AkJ0XgrILuy_FB2jSsy2c1-yZscLwuXc3ptmceV__0bEXO-OrLxA-ahKuinPEveH19ZSWMi8i_y06u-iu0irDPTbq6TrpMSAgOK5OSZo8xRQv9lAck-y1sUfsTtk8eH88kbYDGMaq9WzQePUXaQ2T6UiurhJJD41TG8KbK8gVRvglT5-7TQYLSDjxXUdR1C-mBO7fMS4XADX3QxNKaaL1pK1ozN2RE6qU8SFcq-sK2zvxwBVdSiCDwduZgkXgDZgM0PoDEbGw8hsZTaMNMB7v7oy_9PIQBfCxWmMLuBJS1cCN3MzboKA8LpTwaESL0A0C1RZ8KyATrSCnmJmVwMuFU3Fk5hzbDSEZnTuXe8GWH8yhFph8U8Rf_m2xW5Ya_XGcqGQr94pwwR2Srchjswv68O0WG5tQ7rHWbh8LkLwS3nTY5OY1l0BTU2riY-6GJP_VqjW0w1KLpydoLZV-y0L4RI-isKimwoWvtkSHaXJR1ovMImYD_ftxvxdgh4AFZgJziYMeaTTt-Wk3GNSjF4C4K04716bxKFeg9jJ6iJs0APshOWUnkZa3d_3SJEH2JMXzGx0Zp9sZdEFHwxi0xRDV4N1s1JidV_9yN2_xEqqszVPhy54WdZ8Oz0nyqbSYIf0RtC55iVzOoxPXek9E09qMM-iXmZf66GaB-jlv_fH72-qCkLHK0yd8XGlWBDNyvm-vCo8HmvC1cXp98t3syeVbeasQCj3BxaXNdmfNRVaYE7vmP8yikhXY4LNp2xWNU1Z6OukiZ_SGlpKsUK87WaaDDY6pv-D-w4IcuDFNSWj7hz7tYbs0jEiON2S6ZsWzYfiTDXSerWrcnx__J8mcb6YhJvXsDquHtDCMNiohdeAcfy3W5AI-HM47LXprOnNxxYJrZCcQzqtEJDd5G6uw2EM6_zNv9Dl67kXB-kWeMzI63lwXYfqfzIJ1sqJx3jlFqMJeRrbrVgbRdCTfS82chlULxkgppSIlF6mRNiGge9LCVd6jgN7rLxSp0oG8TtBYeInSgGQpPEBPTSDwwV5YBPoReQ4YQobIBPmAwle10PjMTzAzNhbOPw-gRwhiyTPAzP-wBGkDfRwycThENXgYhMhHMPfCLXGusViAi4X7tlHq47rGehPK5Xl0HgPRFoMXXrlTY9O4XalDp_km5rizoyt6IdFhvYSoEb8jVILP9TQyLOT7A23Eyv14ikLmLKOASpbnGhAlEXae3d3RS_N-QwiaV4LN11860AdrBBmkHS3DjKrquziaceMNnRzthhYhtf8kDdOZocaBHtG3_68O0y1LsF6QipyMV4BiZoDAksWMQ0tbheptjYITukN_vm3HWreR_WSU-oR0dEGYKLxI0A6uj8xrkP_MiC8GEDTbIMIC97B4FssHfju82Ba3iE0anpD3rvnyqQPHn4Wg1PsO317yahe8vwrht1D9yJ3bpYbXvKS1OWQvXkH4lk6RIxJgPNXn8LDpOoRzYTSa2czagXn3nChYkOvzB7-2dGDpjoSR2OzGzAfGqAKjG4p5p7D5WaBSVzIkC3GdpTN028GjwxaHQfBxrLhlSBxV4mPV8Mes_LXcCMDAyEoi--zzguTd5LH9_jykIHQ6DrMTsldKv_75GMD3JIFSzRlo6vFcIH8zGTDLz6eFKxyfdIISkgrFgvE-x5H_KPgdrzJn7SlgKgH4cia3xH3NEcjxg_vzDakusGqmd-jQOVBn461dR0NqvOPvTENBQ6k7zrh3IxKZzNvlFKKMoITRmxm0rroWaZ_1kiOvcYzJ39kQsJRaJ8mGQIrr1Z0WF8On3Q3TFMBO7tijEmGS5-THgO-lRb1caSXGxG2CRoMh6pKJnbWe4eNOy7Ge1PHcZ-0WBFVxlHIsIJ9BzSs8wZbYip556ce4AvZrb7UWF8NRWAxy27oBfl8L1nqT15S3zyu1GVTEbwyMh4wskcnl_VKui1fGQDoFVQho4m--53LO1v-eD761iuc9bz85ZV_yo2b7CjeS9kYutcaYHf6A9ZshUuPwtoj0jvHlOgvbkML3r9pJAGeIdqgVvxLg6R1JGFX32OW9ZX2-rVq2SCDvpjZSEudKn3LDRUHJxUfSy62MdGCL8PPP4E380wYVjS1ZCfzGVqj_WVZ4QOuUee_7VaqqccOffSLXbxBhLQg4injUMrEz9Nw3MDvwd0WcKwZHFbk_mtR4aiOJaaYSpPgqMzY3LrXAJSlTU1gzuIp4uzmoA0xKirreH032P5Bw2GIv-5JYCpji_VvvZT8C2SCVoTeBAQHEi7Mwmwu-reaX5JtKRmKSlh0yTkEE8u4XEVembJlPakcNKWH_gD",
  "id": "rs_0953f6734d1959a4016aac80aa7e4c87d1bd3c43fb5365f954",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.245,\"left_y\":-0.285,\"left_z\":0.18,\"left_yaw\":1.57,\"left_gripper\":1},\"note\":\"The screwdriver’s shaft extends toward the front from the right gripper. I’m positioning the left gripper above the exposed shaft, keeping the two hands separated.\"}",
  "call_id": "call_rgX2T4PjvyVIEm6IyJNpy8Zd",
  "id": "fc_0953f6734d1959a4016aac80b1514087d19cec300aa4427bf6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rgX2T4PjvyVIEm6IyJNpy8Zd",
  "output": "executing move_to over 26 steps (2.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.8574, 1.9934, 1.5967, -1.5597, -0.8444, -2.0933, 0.9993, 0.7498, 2.2532, 2.014, -1.0142, 0.6529, 0.683, 0.3244]\nstate[eef_state]: left_x=0.3032 left_y=-0.1431 left_z=0.1401 left_yaw=1.0385 left_pitch=-0.0925 left_roll=-0.0108 left_gripper=0.9993 right_x=0.4398 right_y=0.2678 right_z=0.1174 right_yaw=-0.2284 right_pitch=-0.322 right_roll=-0.2696 right_gripper=0.3244\nstate[joint_eff]: [15.8017, -4.8889, 8.6632, -0.4811, -0.4127, -0.0757, -0.0806, 16.6222, -20.2188, 5.9419, 1.0574, 0.6422, 0.0562, 0.7692]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:547a9472bbc96fe8bc6853c60f8ee403e8991a1a499277eb3cabb5f3f1d09e5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0215e3c3a9171a0d1813eabada045d489636b87fd39846abc66c44e7af88939a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69b1d072cf6eb267f38cc7637c05b92a16f110eedc809cde88dc843bdc0df559",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0204, 0.8116, 0.6029, -0.3809, -0.02, -0.0254, 0.9995, 0.9619, 2.1597, 2.0106, -0.9852, 0.683, 0.6918, 0.3233]\nstate[eef_state]: left_x=0.2957 left_y=0.0011 left_z=0.1744 left_yaw=-0.0008 left_pitch=-0.0191 left_roll=-0.0001 left_gripper=0.9995 right_x=0.3776 right_y=0.3528 right_z=0.1669 right_yaw=-0.0087 right_pitch=-0.2309 right_roll=-0.1775 right_gripper=0.3233\nstate[joint_eff]: [-0.3214, -1.3607, 7.0496, 1.7167, -0.0659, -0.0513, -0.0122, 0.253, -11.412, 8.6632, 0.989, 0.569, -0.0269, 0.5055]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrIC-PMztJFihuB4WJAFsdvlEaBIWENk0VvLVqwIpyKTCJfAQPABp8cDn48U2bSW4fXe9TNx0pGhhfv1XzbpYnj7b3qdsrOSdZWCz6wsRgU5V9H7_-a2D0zdQuN-7V3flscmZEHmjAVwhlQAiwDRCYtSScqKcwXtPb9j8FemiQZxsh6dv8QSzisIIP7wOZXV1Xw61H8IsEcv_gGXKeJp_COgue2i0aNnn6UsD_8hf_FNJpTHgCLPaf3wyw45gQwRNz5AGPUBulGvnQPuycwTYze0bidVcdxYcw5PzLye3pILulmAyQOd4oXT8nM7-573Ui29A9piiibOzrXCVO7_NtGdHM-pCLTtzcw62VSNxqsGBw9QvKhtvVRF0FyYaY9pCoOPzi9Qs0y7mN1SDpizf4N9oxUMZhUdJJjfYV9-ilC2Rgm008rzxNdgEnKu5pIbqc77tCYn-Q_QL4zETMIFC-u7F-VOVq9xQt9rDE4Es4Rm6bifBm3X8JifLxZGBzx4-EQLMPMYuIA3hPe-1FzOTsYI9ZWWrbFG-nlEIOgN_cWWOFWPa4mBebHXDDI5AQ178LKksahvmTj6a7AMzFqKzIXi8o74WMIQbIm48LJX2onILl-XIkSgLNz8DbjilkbfSXD2OVHSlb0wzJTC1e8rZheUyp7amwYOtW9rbqngRiH9PPLfQEZTiN44gfpNEsA7eHJsGDAH1CanCwwT1B6V1xqbK6BrncZJK9Kj4FPYl539HL9ZBHJ7Q4SN7rNG4dEuMs3ynBWY2O3ukyckhhQFOCEB78XFOGB_EszrooaESvwedi1HF8zkGbm1d47Ly3LIvcUaNMoTHJEcdIvaxuppcPduTixHHSEwOcyImXwpTCPFoO-qQoerbOKHP_WUGmHHorWBCyDMfPgdz5PYHff0OtbRl0BiP3S5UD1pi2bulOyp_E5iiNxY1vlmx3-8ULk7H-IcNip5-BJA-w2kmuhQ5E5NC5AA_-d9N8P_4LYUbsN63DhjFuyMOTzbwsiFsBgdBzleHjzPcY_SWGhI-Pgt1-xx2gB4YptDP23IRKhSmjqpORNYZZiKHss1In6My3geNrMjeShYEen_zv2kFvsxPXdc-dFLJQD6wy5BYI-Jlf0kgUYw6iOQ2n1XBH8-KZAWvW8rrnUoiSmrDrC847azFG_vr8e9yr3vKFrqfhkffi5anlnkArKTYKFUZk7EJEH4unT1CQjoSPhDBelfdz3Os88HyOLGWZ9CFGOQb2h7S_cFPr80=",
  "id": "rs_0953f6734d1959a4016aac80bc7ce087d19132c2986b279725",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":0,\"left_z\":0.24,\"left_yaw\":0},\"note\":\"The arms have crowded each other, and neither pose tracked correctly. I’m withdrawing the left arm; I’ll set the screwdriver down before switching hands instead of attempting a hand-to-hand transfer.\"}",
  "call_id": "call_W0R9e2tHUNAJwOMqssZIzcnA",
  "id": "fc_0953f6734d1959a4016aac80bd0bd887d1a8be0af52570c2ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_W0R9e2tHUNAJwOMqssZIzcnA",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.1589, 0.7395, 0.897, -0.865, -0.3027, -0.3801, 0.9991, 0.7525, 2.3077, 2.0014, -1.0298, 0.6262, 0.6807, 0.3248]\nstate[eef_state]: left_x=0.2449 left_y=0.0177 left_z=0.2326 left_yaw=0.2908 left_pitch=-0.1014 left_roll=-0.0938 left_gripper=0.9991 right_x=0.4323 right_y=0.2678 right_z=0.0836 right_yaw=-0.2376 right_pitch=-0.3896 right_roll=-0.3295 right_gripper=0.3248\nstate[joint_eff]: [-0.3761, 0.8137, 7.7607, 1.7851, -0.0659, 0.3004, -0.0317, -0.4308, -17.3197, 7.1179, 0.8913, 0.5983, -0.022, 0.7448]\napprover: 12 step(s) modified (delta_clamped ×12).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9528f7c4cb010de9b4e73cb9d9539ce57e1a03a7b40aef3e4b6791a64a94fcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc19f44139995540803b5d38b5ee1a971be26ef32dca7eab18a0aacdff52b57b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56b2ae3fdca0cbad54719a27fe489a3e35e44bf2c51491a71301ffc19a8da9f3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.8574, 1.9934, 1.5967, -1.5597, -0.8444, -2.0933, 0.9993, 0.7498, 2.2532, 2.014, -1.0142, 0.6529, 0.683, 0.3244]\nstate[eef_state]: left_x=0.3032 left_y=-0.1431 left_z=0.1401 left_yaw=1.0385 left_pitch=-0.0925 left_roll=-0.0108 left_gripper=0.9993 right_x=0.4398 right_y=0.2678 right_z=0.1174 right_yaw=-0.2284 right_pitch=-0.322 right_roll=-0.2696 right_gripper=0.3244\nstate[joint_eff]: [15.8017, -4.8889, 8.6632, -0.4811, -0.4127, -0.0757, -0.0806, 16.6222, -20.2188, 5.9419, 1.0574, 0.6422, 0.0562, 0.7692]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrIDL8GXM1KXFgiXr0kSgo_-pS2S8uW_VcxMT3EkXDX3OSzJ8xKdjXkqND3dq4tjkmZyxKECR5VakEMg0Ou3mX7_yvJbhXUcfrLAtQikFvof_fQOSdfqw-FfJFRodz4QHfbrZDG91Sfc1AAa5VHcv907Pl5WyUxXzJRELrU1n0paW67luBmH3RL6yowMtxAPINtqonNxHnvcgKHPZbBjxZigEcKQyjTvhaQBJhF0z-EsCPQk12uMHVM4fnrBUJlO2TxuVFPkhC14QKrca7BURII5Do4QjuS0u8BdufYxkYO9YexXFQBcQRLh10Wx3GR9FecrFLQKcdfKw-wusedIV2P7OASULGJXxdCd3ve5dbr-Ffi-qGfWUOs5m-8tu9iqkrttk27CpE-M-PLc6YNqZDHOnbwg4Z2F7RC62Z0082Qb8SOZtVNsdazBY9gyjtpc_4sy4O69hoZLbJBVegppmdbXU4lTyLeeySkiJpP8bbf_3dFX678BO88lVetiM4pmZjZgCJMmzd3SuEHGAVR2rz3ILtnRQQUSKwNrpNREzkHIRmkiUnSGt2rvzho4URZoCXjbiuO3sg3qtnxWrbFrRbyiUZ2I4cU4RmlGGEN9eN33HzZ5KoB1PRyCfJkp6mTM7xOcpfoPZ17ZeUX7IHzcAvWF4Jq7vn-I2DIkG-kzxAxwVi46GF-cbsD1vO-MQn25PNeJLZ7cbydgxYnJaEUNKNfUVohH_YzQiGcLOjhcsMocYLx2EjVDZww7mPbSUwCQwYJaZiZ4SQN0nGF7U8aDLY6tqcrkyFKhlFSXXop-OcC_cfB0FcJOij9vXj6WeoWx8BzU2SJJWOKjy2-jJ0nvzuWB8_4aP1HM3rRyPB3c72EgfCIBRqaW7XaYqzG9v4PF7t5DwSca1bPNuqro-DmTwD_hX_3aAmTOOEaZSH1oWx6_8GX_5CY3c5Clqy2TJfqXbdWNi-0Pdr5lPOnNvVwieyRt8s73vZPVkpZmKBLT9ohhMAnMcoh_7nEJ9RDheoMzYkfNXLHugGy-TZsFlGy0U7-enEMtVxn0_DXMe9eu_f6oTua5K8SaGNCK3_yk3CDWxC5xyH0Vl9Mtlt7uLWL6q5oF9zxjNQEs_pVci2cSp-HTwhEMTkP-GuwlYCZ2bcWlst60sBB2ggtVJ3xUkLydexHfHVbWKGLJumFYD_PX7-SOoTon5-k3oTHQvvnaND9iR6raHuHqjUX_DDcRRXlJHNK3_2RETtbquBHfMolk5a7YWzLYRaXx4a7pYO9nrcs2AoyHVulG8C4Nl8eW4Z2r619HI_WK-VpizNhNc3LRP9GBNoJD80HaITgYvEBYMoUrgsmga_Hx4r1vwMoNX14M_ernCg0YtHrSVpeXhlKA8Y_G7udTSG87k9MX5fCncunGz5kCM8NXhyr8AHyHjn-Szhe_kX7XEC7w5kCaTnjKKPo8Ti7l0oYRxfn-4qYYGQGiCAUCg1Ls7Wqd2dPzU1CU8P14TjA==",
  "id": "rs_0953f6734d1959a4016aac80c8f57487d1b1251b88d195ebb8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.38,\"right_z\":0.05,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The left arm is now clear. I’m lowering the screwdriver onto the middle-left tabletop so the left arm can pick it up without the arms overlapping.\"}",
  "call_id": "call_7XVfmin11mKDQO4kYh9GO1hb",
  "id": "fc_0953f6734d1959a4016aac80ca15e887d1809141201e3ed94c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7XVfmin11mKDQO4kYh9GO1hb",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.1577, 0.7452, 0.8963, -0.8753, -0.2852, -0.384, 0.9991, 1.0042, 2.2562, 1.4624, -0.2146, 0.7563, 0.7078, 0.3248]\nstate[eef_state]: left_x=0.2441 left_y=0.0151 left_z=0.2286 left_yaw=0.2804 left_pitch=-0.1217 left_roll=-0.1 left_gripper=0.9991 right_x=0.3717 right_y=0.3651 right_z=0.0159 right_yaw=0.0018 right_pitch=-0.1068 right_roll=-0.0949 right_gripper=0.3248\nstate[joint_eff]: [-0.1846, -0.3214, 6.4205, 1.6777, -0.3492, -0.0024, -0.0122, 0.6496, -15.3368, 5.9282, 1.4676, 0.7106, -0.0904, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:025d783c63889f74613f480c095b825fc0e8914d97d2df19b0125d003cd21fe8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d30fb58ef4083c67aee3a48660c4093f1482bae69304309c7049e897392e93b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2722d3413ca053a80f7923f6cb8846b9c9ec85dcccf3dd38be3a3f7d46456084",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.1589, 0.7395, 0.897, -0.865, -0.3027, -0.3801, 0.9991, 0.7525, 2.3077, 2.0014, -1.0298, 0.6262, 0.6807, 0.3248]\nstate[eef_state]: left_x=0.2449 left_y=0.0177 left_z=0.2326 left_yaw=0.2908 left_pitch=-0.1014 left_roll=-0.0938 left_gripper=0.9991 right_x=0.4323 right_y=0.2678 right_z=0.0836 right_yaw=-0.2376 right_pitch=-0.3896 right_roll=-0.3295 right_gripper=0.3248\nstate[joint_eff]: [-0.3761, 0.8137, 7.7607, 1.7851, -0.0659, 0.3004, -0.0317, -0.4308, -17.3197, 7.1179, 0.8913, 0.5983, -0.022, 0.7448]\napprover: 12 step(s) modified (delta_clamped ×12).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The screwdriver is down at tabletop height. I’m opening the right gripper to leave it for the left arm.\"}",
  "call_id": "call_zz1YOSblLpKEkPWTErdeZ2En",
  "id": "fc_0953f6734d1959a4016aac80d33fac87d1993277d721fa671d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zz1YOSblLpKEkPWTErdeZ2En",
  "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]: [-0.1577, 0.7498, 0.8963, -0.8795, -0.2813, -0.3843, 0.9991, 1.0077, 2.2566, 1.4513, -0.2085, 0.7475, 0.7025, 0.995]\nstate[eef_state]: left_x=0.244 left_y=0.0145 left_z=0.2267 left_yaw=0.2779 left_pitch=-0.1307 left_roll=-0.0989 left_gripper=0.9991 right_x=0.3685 right_y=0.3655 right_z=0.0119 right_yaw=0.0127 right_pitch=-0.1162 right_roll=-0.0996 right_gripper=0.995\nstate[joint_eff]: [-0.1983, -0.6222, 6.5846, 1.5897, -0.2027, -0.0366, -0.0122, -0.3077, -12.2325, 6.5846, 1.0672, 0.3736, 0.022, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4be071278dbf510caa926c6f7b4c69d3912b8e29a6d06989f0f4e0b3561d1e15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd1c3496bbabd426ad0364c7d1eace719d5fb599fb5288cf2a1b6706cc504286",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91b7cd7bb6871e6b8e475cf66e706b1b343de6e15261092d6bd8c6c040768fc4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.1577, 0.7452, 0.8963, -0.8753, -0.2852, -0.384, 0.9991, 1.0042, 2.2562, 1.4624, -0.2146, 0.7563, 0.7078, 0.3248]\nstate[eef_state]: left_x=0.2441 left_y=0.0151 left_z=0.2286 left_yaw=0.2804 left_pitch=-0.1217 left_roll=-0.1 left_gripper=0.9991 right_x=0.3717 right_y=0.3651 right_z=0.0159 right_yaw=0.0018 right_pitch=-0.1068 right_roll=-0.0949 right_gripper=0.3248\nstate[joint_eff]: [-0.1846, -0.3214, 6.4205, 1.6777, -0.3492, -0.0024, -0.0122, 0.6496, -15.3368, 5.9282, 1.4676, 0.7106, -0.0904, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0},\"note\":\"The screwdriver has been released. I’m parking the right arm out of the left arm’s workspace.\"}",
  "call_id": "call_w9mZkYmlFt6W7FhmXZGfg0f2",
  "id": "fc_0953f6734d1959a4016aac80dac0fc87d1be0cea57637e42ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_w9mZkYmlFt6W7FhmXZGfg0f2",
  "output": "executing move_to over 31 steps (3.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.1577, 0.7536, 0.8963, -0.8867, -0.2806, -0.3843, 0.9991, 0.0574, 0.9043, 0.7536, -0.5591, 0.1284, -0.0208, 0.9961]\nstate[eef_state]: left_x=0.2433 left_y=0.0145 left_z=0.2246 left_yaw=0.2779 left_pitch=-0.141 left_roll=-0.0947 left_gripper=0.9991 right_x=0.2948 right_y=-0.0021 right_z=0.1824 right_yaw=-0.0515 right_pitch=-0.147 right_roll=-0.1007 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -0.294, 6.7077, 1.6337, -0.1636, -0.0415, -0.0073, -0.2393, -2.865, 9.7299, 1.6679, -0.0317, -0.0806, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fb864402ba0807ce4ce5a10cc6fbcca04b99d41151a0c7101f35389f8cca43c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acbcaf96c07276622f199952c50ef9476501c776f2d73b26bbbd4cea9a7fd554",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b8db7660304fb418132083c8ee18b84c80c693667749de82896a7ae0f016f71",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.1577, 0.7498, 0.8963, -0.8795, -0.2813, -0.3843, 0.9991, 1.0077, 2.2566, 1.4513, -0.2085, 0.7475, 0.7025, 0.995]\nstate[eef_state]: left_x=0.244 left_y=0.0145 left_z=0.2267 left_yaw=0.2779 left_pitch=-0.1307 left_roll=-0.0989 left_gripper=0.9991 right_x=0.3685 right_y=0.3655 right_z=0.0119 right_yaw=0.0127 right_pitch=-0.1162 right_roll=-0.0996 right_gripper=0.995\nstate[joint_eff]: [-0.1983, -0.6222, 6.5846, 1.5897, -0.2027, -0.0366, -0.0122, -0.3077, -12.2325, 6.5846, 1.0672, 0.3736, 0.022, -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": "gAAAAABqrIDpxEKu1ny5leBh7PAmGPClpbqm2wnDHALobT2h7QO0rjKhkE7Stm7uWnmc2eEf510IcdTCEeo__ffuUVy98gCFUbMOa0wW5ia3q2F1rTFVJ-lv31ewtK52DxtBup4Uwz0vKW7BiVji1mDiIdCTLfDb-C2otNwey_oPRpJEF0Ic2jb8pjDHf5mA7L4-GNoAmngdHW34x5epPTFz5NuguPytfRSahTu3WCcGZcljkshLan4BORldxyQcf2D5pVwb6qkgwS3nB4AE5VUUT67QoYlylcAYDztX-CngbDWrKAcSKFEPpGsUr1l9qqxMTiqsRhuUFQdEEd8FXFNswCbF6cyaNgh2gLiTQC1DvKXmmbNT3a1mPNcKmvh__Hm8a8jpGOuiZ4rFJVP0GF9ks-uvxHbo3esyfrrY8yX6U5juFyTbF9U2rmdKQ_Mpa6ftsX4EavbhLA1rrZWIpQTc93hjXhlV5l_C4voB71LSa4dQayKlGC5uMihYjLM3sBUxJca_zYAObn3C5LMn-jGQx8vOO_7WCL4qPSCnpNTrMu-lHhNnC_wwwy2po1rPeDbzL9X1eQooYdUXn6urMESOedoxIjN_ArOKSGLhcJVTYSaG3sv-ILAGx2Cpg--sQC7035K2ynJ83MokynpN22hDuULPG7438mB8N1bNyIcS2o0gtj1b7GU5TqGpy3_I4wlz7UbBEsp3_xNnE3fEwN_x9RyHM3MWViUZfiqRLypxE2u8XLFS_omv6IeieNFISoME_H21juRYCoy2xsLURiJuLcZQd9sYnG4TsJ6zsnA1A0H3Rs2cy68uoYGu2S1LhGo4wKrIZUllGxlKXTe_263nyNpu8DmY-dnvLgXwZ_8m7X1hpyqq1ET9Al0MFkGB9G3uO4G4XI_hd_UF19g3iRteZ8DyNdUFnBR6h6FAT7rxmAcJOsOkdP0pPWlGlUMhdFqfC5b7u7THicPD2ZUVhZ1kieV1BUqBbGc1VhPA2DXhBghHMgVn_6sG5sT3hdWfM3WthjpQlRk5d8HRmgYQyW9aK7BOiJLRIki6Je8iAOCruFIN9hBrJm-gwhsbLYKWnycrLKIH2DaGcqOMXWBxeb9wkSVzyFjjLVFXmNNjDQ-M9EV_A04gW_Pe_0_NzCGQY2tnsYtItq_GesgZcIZpa-jM9oaP1jHNZyIgbHvM-F_dHt52RDgg_uSCpnXYjXmW73lKbPl3cU4srG0ntwZnsyCOodCN-lumw-KEjzjgCmVWXkeDyFTIJy2atnlelUPTJSMvcJDUqUmFiCqyIOy-u6z56ojKpF0NHItSxaOFbtYgx7dTu4Ez1Cmni9e4VTrscqYNk5OAgYw-OPBRcWpn9fbz8Z3xBlABVrbP5NMKD5UQoRMsPnkHKcSp6w7yrsLFlPflv55E9UBRAbizKJIV97FB7JPRX4uurornvylM5wJWMDELtht1kWzm-auJev6U3PHMD806ctFsXDXvES_WeX9pdxA5Q-QEzDWkim0txKD_p0o2FQRZryo0aaR0Z4KIQhqKRxXWjn34wEkuHQ7qYNIhqC8pJ62DxJ8dWMloWZsGvY9NisHD_GyJTF0dwEVlo6hUimRwyVii5gfRUjA2lcooX6OqTVpvE611WURg8H4yzxSrHZua7OBrrnU1Q2sbaYwpXW5p0y6ZFvo7IgwZvcJP0ajHlP6sI9hBk_CjN9LwfWMroyR-FefjV6KTfHvUunM4vB6g5jZwHZjgu2NrSWV9i8O5UEEsbOH1SER5rj3ihGxApcDYEAmFMuqfSgHq7LZkMLoLc7uqm8POt0DVMXqYh4j81f_AJZj4Prt38Ovv94yU366L3QVF1SOuiimqsEt7HyHWMTh12TEfoShN_NUg0YTmyAfJnPIKY6cmTWVnp6jzcrWerF-jeyy5zzBB7v10dw7GS66MLMqnYiJYTYA-axj4PgEf0wKKmx2d1bKeWlK88mqZKF7fhh9-btLGewfIdRZrbV4xf0_7NWUYQ5_37SMXDZKr3g==",
  "id": "rs_0953f6734d1959a4016aac80e3792c87d18bbbf695b96a7331",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.39,\"left_z\":0.16,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"With the arm clear, the screwdriver is visible near the center-right of the table. I’m approaching its handle with the left gripper.\"}",
  "call_id": "call_g72G4W1cEzs6NMz1CwkTiZLq",
  "id": "fc_0953f6734d1959a4016aac80e7a99087d197b468e5e7b123c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_g72G4W1cEzs6NMz1CwkTiZLq",
  "output": "executing move_to over 36 steps (3.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.0969, 2.0644, 1.6737, -0.6121, -0.8383, -0.8696, 0.9991, 0.0547, 0.9081, 0.7528, -0.5869, 0.1154, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.3463 left_y=-0.3795 left_z=0.1482 left_yaw=0.0166 left_pitch=-0.0285 left_roll=0.003 left_gripper=0.9991 right_x=0.2905 right_y=-0.0009 right_z=0.1757 right_yaw=-0.0364 right_pitch=-0.1808 right_roll=-0.1054 right_gripper=0.9962\nstate[joint_eff]: [-0.7179, -11.2615, 8.8137, 1.1551, -0.5788, 0.3199, -0.0073, 0.1162, -2.1675, 7.1453, 1.8339, 0.188, 0.0806, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2b3c83f7c5cc49344a3d772e916c56218ccaf9ce21930cc3f3284e4dcb5d037",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39724a51c7e05420522315a6ee8fd134c6c84a0466e35bdeecff292e01c28b92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bded80f457e46b4ee398cb27e68bbdecad8210360a17e547faf92c805e3718b7",
      "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]: [-0.1577, 0.7536, 0.8963, -0.8867, -0.2806, -0.3843, 0.9991, 0.0574, 0.9043, 0.7536, -0.5591, 0.1284, -0.0208, 0.9961]\nstate[eef_state]: left_x=0.2433 left_y=0.0145 left_z=0.2246 left_yaw=0.2779 left_pitch=-0.141 left_roll=-0.0947 left_gripper=0.9991 right_x=0.2948 right_y=-0.0021 right_z=0.1824 right_yaw=-0.0515 right_pitch=-0.147 right_roll=-0.1007 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -0.294, 6.7077, 1.6337, -0.1636, -0.0415, -0.0073, -0.2393, -2.865, 9.7299, 1.6679, -0.0317, -0.0806, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrID0E92kb8pooDmxztA5S6hsu6CUsoQxm-E1vBuF1VcTtNyl-WwORIvkgwJqFBF-zgwg6BrxJFP-Etr1OkVbXtbVm1RvKhjy22JEb-80tUIazREu3F3c09KjPhATYcE-9VOGkL0ThgbU0x94i3DOzzMf01WFTohhlj_ERENotVoIgKFps6VCKgSAMQRQ4SdLdL4k3OGcpIph333nmAGkWbPtKwt1OE1eHSmyPyN10o6WDusjhL213RnsZBAL62D6POVL_0kkwzbMTfEj0CbV2J7O9JE7yK2aD4kZtVemmibhbUkNQG5PUOS0fPDqtFPj681jH1XRPxR9SaUVqMiGHMigLSkZa2w7Wqwfp4wOS7beT-HU0DMw3onb7oHnT_rOgfntwjSFODEcVcZL-KVlPaHT_YhcU11R7r0jMhXWND5mo3vOicR0ptW7CgHMg7X0aSsCqT4eOeXk0R0q8nNmcrg47yU8vffX7eFuo7ic0tcBIFNU_GEJhu2Q7ISZjkVV9XFbuTmAmS1KTEZRu1DreY7asYe-vBgE0j6di8HLVPsJq27QMOTtyzIiGyFxO9QjBHcEMRNvleLSNDEuFulL-B5cZsQPHUUvhzc4Kp_czHzvFsRtambsjt36l7n7ZPP1nsNrsGKARACg_yK3wLXT7SsHwLoUm9zx3H3o0YNZdxl5O4nOZCJ-LPR2Z_SfZSVFd8FADbHwvuoNnX0Ehn8puR9b8GrwOvtANGgAarZfY97U9CKuZmwgSbgJ3gIAPDIh8-qEDnjnqlc5K-tNGvxYj-kYiI7IfSENtbZ-TARUF-xmpYdAOREzYX0P0_QQlgegds1dEexfzrlr4OMz_6xjNP3FY_VkLSP4dVdKmTFl5gD5qpyhHdlgecjLzUfZPsNqsIOMV_rNMnvwPQck9mnFOzloLxCHrgvkWTePVX7FqimJf7HEBxRRLS2fvGg0EedBCuH_CZY929Doa6uXD22krVHXdJ6MfROe6hPKDdztOQf4hqDAzP71hN7dxAVA8bChy-r1X5WIevFXJRzpgXSfWwSnLQ_ZJV5R7yHF03cOYapwguppURAvQN961H3weeyIYtL7o1CHNFpeuXJ7qEsOisMXs5izeiGuGetr8YUudFZIXNFLOI-Zg1TQPPijDKtxIltmUonobQm1F9_8ve6IPyWY2axGCo-hb1dbxlAjE1Yo1mHJHxSxl-q3QVa1SzFEQQyVeTSFh7xapwiBqmzrUHN1dZliBHmY4fmNd87VcueMm3MhTSyoIDsvdr2vH6_2A8yEd5ppRDGU7QAzFxrfHIVfDDNgFQXnhohTxeip2LcuvHRScxUSAYMdO66g8Vn_df_vlGafSlN_OaZbJ7WMsBPlKeLjRVWAPjPwXUF7Uiq9m7KdasvPQ1t3BYAaaSdC74iIRXkA1gTfVqj3WaX2WBHrSRfjOV6PLsMXlpR9GrVEzDBWSX0bNd2-IaGcGgfm-uwLdh7LGlPZPw-lWrkGu_IvzeTnsk-WClKUkm7eDssf4lMhNSpj3QEadLWO7qa1VPiZKIMUpq6WCxy0j9AxZn2W1FtHbgP1pRIlT-EyFmk7Lq2JFlrKwRy4S-wQdPS6HnSTubZsVhFgDw5WxavSG_h51rlTOIBPstOrjGSDj0YZcbQa-0cwW4gIcajwy5uGjfIEdiABoCQVR8nofFo79tsKslwOMNGBqtF0FTXdmzXykhg3zUi8-fjdJQHlav53YTThffpWA9aICsFXIkAVfEp2Ag==",
  "id": "rs_0953f6734d1959a4016aac80ef6fd087d1bca99833e13ea96c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.4,\"left_z\":0.045,\"left_yaw\":1.05},\"note\":\"The handle appears just right of the left gripper’s centerline. I’m shifting to the workspace edge and turning the gripper so a later wrist tilt can point the screwdriver into the toaster.\"}",
  "call_id": "call_PJLiQZ3JREuZX1eZDnZE0DOw",
  "id": "fc_0953f6734d1959a4016aac80f310b487d19b221f5f39f74f93",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PJLiQZ3JREuZX1eZDnZE0DOw",
  "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]: [-0.9836, 2.6747, 2.3669, -1.4605, -0.8894, -1.9259, 0.9991, 0.0463, 0.9356, 0.7048, -0.6708, 0.1677, -0.0452, 0.9962]\nstate[eef_state]: left_x=0.3785 left_y=-0.3146 left_z=0.0362 left_yaw=0.7898 left_pitch=-0.0968 left_roll=-0.0722 left_gripper=0.9991 right_x=0.268 right_y=-0.0135 right_z=0.1354 right_yaw=-0.0893 right_pitch=-0.3356 right_roll=-0.1712 right_gripper=0.9962\nstate[joint_eff]: [2.6188, -12.7658, 4.4239, -0.5348, -0.5885, -0.2222, -0.0122, 0.4991, -3.1385, 10.4957, 1.746, 0.0415, 0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aae9b5e93cd70e5394c5714b02f74360ffc06a67a60ff604ea609aa7360f8dbb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86acb6378d095ee70ca1a884228d035e47e2fd6d840710f976fc518e0a6d8879",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6b448115a60f61dda8ceb49c32ba2793f7150c1a59486f3fffa4d71994b0577",
      "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]: [-1.0969, 2.0644, 1.6737, -0.6121, -0.8383, -0.8696, 0.9991, 0.0547, 0.9081, 0.7528, -0.5869, 0.1154, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.3463 left_y=-0.3795 left_z=0.1482 left_yaw=0.0166 left_pitch=-0.0285 left_roll=0.003 left_gripper=0.9991 right_x=0.2905 right_y=-0.0009 right_z=0.1757 right_yaw=-0.0364 right_pitch=-0.1808 right_roll=-0.1054 right_gripper=0.9962\nstate[joint_eff]: [-0.7179, -11.2615, 8.8137, 1.1551, -0.5788, 0.3199, -0.0073, 0.1162, -2.1675, 7.1453, 1.8339, 0.188, 0.0806, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrID5gN3vz1bYKC_STYvJp0mDO5c8Wue-KJiX9kpJXFHnmWDPFFSJt6vYCDUiSxI--PfwLnyzlBBMK7Q01DuyDDe6D1ouxWVuSgZPM7Igh_g9V-ZO1b8VaV4c64fLXY9I4QKQSB3YBXV5ZQi92b_GV2nFOhXik0YaV3ZWiiqD7S8-RTXNn5Ma4jKaJ4zcUh_c7TOUfzXLwxvJYJ6mTYZrH8hHSQcvyxcsR78WV0h19gMoB6RlWr2OXZyCWvLBINp8WsyUVnG5F8j3aL5YDcW1bO5DaI4VAp69OXf2giOw3SWRUAkO2UzdjxVwN-2YLZycFyEyCQ1Vk1gJSjq13JZrHZbWS4zhFfymHPSMFll-u70-sOppesM5lrD_R0CcFWwKCthKa_D0I0ueNVYT8vX81nswNaQX_CnTb52aCpR4f7H9UoHC9YmXTExr0R-18s5qKi4TJ34x4qf47K6YGve7PD027CaKO1ToklzGluA-5GOccaauKlFYFpot2RKd3BIV0THKxI6qB-vmE4CcdrrWaTit7Q3DhXFvkbjy9yIzLUV98RI9OuR3ohCO7C-MqahtkJHQsWurx7qHgVcvNIojsR-2eo1j5uZ6NHewcBKFgUmkB4OsofX6mFiJQL_Yqm1CYubweo9EDH7S5-WvsDwngvWKdpbRCTNK-3TIgeYh08QYk-v7PaMtPUosq-TA7dS9XeAvZx4CqmLFFFNi-9YBmBQUVgcflLNoSdZZxJnRbcWZ7EHthY4wU7CDx_E-FuYZQFIPFkyRTzJy3HHb3MF9L_l53k5jI47PFmRw-GVv8uKFwp9OC6PTE1N2ltKysLG46Brk5gv0RDWIA6c9KgCH9G7RZ0Jpp1J01L94OJkyWvTkaRRaSLrPVR91qVTWzQiEhe--UrVi6SrP8jrhZIcQ1D_NXgHPRx36Ps-OGTixtd5yAj12LlURtD-t5PYfnrhDXYckNEzAyARoghAWPMGuQ5znnlQfxSSuLmKt-cTMEDpH_YkFNIZFvU3qvkjalDhTWWXG1p5QZOQS-_tc0ZtO2-ep-KaRNioRCxc9b-GskgJ5M6lQjQl2X3N_dURaE__U5hp0pPdSf4XUQhMVabz-F96cnlBC3j8mNl1zXxsz5aUsKxAq1stoWTIoL6DdMW9tqJ_scrNHXnsEcMD5JsadXoP2uKfQGiSbAgZPv2XQXn-wCrPjTv5tO7BjsJGOUuM1sXEq2bnP5kiBgqTj3H-p234AwHX4pFkETKpjn7BP914Qwa3gJcDFJvT9BciihkUtz8IFCTFN8mdk5PlFu4E8bjS6GfKXEB6qP0NiWYciJlf0vpM=",
  "id": "rs_0953f6734d1959a4016aac80f7ba5887d1a175b34a47239172",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.18,\"right_y\":-0.06,\"right_z\":0.32},\"note\":\"The right arm is still too close to the crossover area. I’m moving it higher and farther outward before continuing with the left arm.\"}",
  "call_id": "call_W7m6LaCkeTDHVUlmO7VoA7HD",
  "id": "fc_0953f6734d1959a4016aac80f8625c87d1acbc62d63c586284",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_W7m6LaCkeTDHVUlmO7VoA7HD",
  "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]: [-1.0214, 2.8101, 2.532, -1.5597, -0.8829, -1.9881, 0.9991, -0.4835, 0.9371, 1.4879, -1.425, -0.1211, -0.416, 0.9962]\nstate[eef_state]: left_x=0.3666 left_y=-0.3305 left_z=0.0128 left_yaw=0.7936 left_pitch=-0.0894 left_roll=-0.052 left_gripper=0.9991 right_x=0.1874 right_y=-0.0702 right_z=0.316 right_yaw=-0.1555 right_pitch=-0.3188 right_roll=-0.1869 right_gripper=0.9962\nstate[joint_eff]: [-0.3624, -14.4205, 6.7077, -0.3053, -0.569, 0.0562, -0.022, -0.212, 0.1709, 5.5863, 1.199, -0.315, -0.0562, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1194e1143cf887c3cbcceb0d5655ea59f29548dec37e65364fde8be146c90457",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc7467fb328675433e205a583f43557f24b61f1bb812c3a814c2a0eb18cea5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3065ad6d366e4a78b5abdfca817afea0893328c41e5057a731218c7214f140bd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.9836, 2.6747, 2.3669, -1.4605, -0.8894, -1.9259, 0.9991, 0.0463, 0.9356, 0.7048, -0.6708, 0.1677, -0.0452, 0.9962]\nstate[eef_state]: left_x=0.3785 left_y=-0.3146 left_z=0.0362 left_yaw=0.7898 left_pitch=-0.0968 left_roll=-0.0722 left_gripper=0.9991 right_x=0.268 right_y=-0.0135 right_z=0.1354 right_yaw=-0.0893 right_pitch=-0.3356 right_roll=-0.1712 right_gripper=0.9962\nstate[joint_eff]: [2.6188, -12.7658, 4.4239, -0.5348, -0.5885, -0.2222, -0.0122, 0.4991, -3.1385, 10.4957, 1.746, 0.0415, 0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrID-QPXHk07XbH2zUYuNKje8gwLvSJ2NeaJExCFskERiYFHrywCnKxGX17Q9pDC-Cb3TP9AK5O52CafWx2IohUBpOht2FM3UGDDPcidLf5MJWe3RGugIGkJ6GRGEoaOT2KIIQUphgeHE5h-jsgLra7GSjbpGiYFExwbGjJMRGyWpvlvz0xPE_zxStHLh3asMKe6v3ZwJ-arsmtHzSaz0gWewcxPGTMJqJTM4VWWUb5Yd4jAJo-6J6MTQQxhrovvgs8gCDnJSXqGH_Cqu8ejy8zqN1XhAe_05ts8sp4LvSK_oKL5Kqo5SU3kPVULQiFJoTiUzTQDBE2nPCfnR3J9Ev7qbIa27BdgRcv7F_fS-THyFHs0q9kYQC5eiMPYegdfChcBS_Dv5XlzkMmHVb7D71V9OenXJF5klEmYRKke3QlimrPGzxZcbLlL-qfwdz6Nuhlq_K9rkRCyNiXRxXZ5ql5DsgKOmEJ1qgLNF5zr2_4VjE2LuI9OstLxnamXeftM9i90xfF3McY_5p6xG1BSEsmjlORt5RKjaR2-wnY-WxqLEAOf_wwMxBdzSmA2KEdH8wfok4EuiJVXHnpdy2KO0qRqc0wE0jgXbKWli68wY_ElLLy7nEHZO-DSpTja3bS_KBUr1zJdTOaOBS9NL3anqFPMLfRD_xyJqVuxNqPK0TYK-JibCaSJ2ij4rvbMRKfbdwr90kaqz3WjW-rjFa4JjxEiA7B5-Sj5FeDRGgPJQO0RLQlqHsrlwZhXX_TLwbLidySAjUtd4iIOTlnAJdsEsE8FVF-oPJjH5KlB48wZbJgmwOduhZTK4aB0KQQ-PAxdUhnch-6ckq5sxKZUk0Wz0VhaJgR4BeK77oaNs7R-9Iox--_iFAr-JXJ3FyP01qs3nUGrprI8nESiuefXF5QqxLM4dm-s1iaErjOwIdJS5RqQMAlechd9qWtpdeqDe6JgMchIwzk9gG_Dvv2p2Ev9Zdj7L47lIEiM51Jv5tqSb3qEFdaAWpXfehg1fr7NuvDvaf7G6pmc7vws_cgnxqRtUJAEY8_KMbgsuJ54ioECUDUVPJr07KB4xPjY42PBn2zs9hqpmZL5bpSWGwyHS5s9KtF8T3BQxVHKKUG6bBMp9IZ2XpzqhrTUv16JxJjOcnYEzjbkFBA7jYO5pqab32tlpB4J99_2tkknU-T5bmKJIjH-0xDAWUam27CPNt6ULXRvur70zZhfGajIGwjaI3pJ1hKz9JA==",
  "id": "rs_0953f6734d1959a4016aac80fc985c87d1bc5f25e91b049999",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.4,\"left_z\":0.11,\"left_yaw\":0},\"note\":\"The right arm is now safely clear, but the left gripper stopped short of its lateral target. I’m lifting and returning to the simpler downward grasp orientation to realign.\"}",
  "call_id": "call_NXJvF7sdh2d4C3LpHugxu3Kl",
  "id": "fc_0953f6734d1959a4016aac80fd2d8887d18179e7c4734d4392",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NXJvF7sdh2d4C3LpHugxu3Kl",
  "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]: [-1.0935, 2.1998, 1.7081, -0.6979, -0.8009, -1.1152, 0.999, -0.4885, 0.9405, 1.4837, -1.459, -0.1314, -0.4377, 0.9963]\nstate[eef_state]: left_x=0.3416 left_y=-0.3765 left_z=0.0837 left_yaw=0.1493 left_pitch=-0.1323 left_roll=-0.0326 left_gripper=0.999 right_x=0.1826 right_y=-0.0667 right_z=0.309 right_yaw=-0.1344 right_pitch=-0.3572 right_roll=-0.1786 right_gripper=0.9963\nstate[joint_eff]: [0.3487, -14.2701, 6.6803, 1.2674, -0.3394, 0.2808, -0.0171, 0.0479, -0.3761, 5.2171, 1.6923, -0.0073, 0.1538, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a9626537ffe9742b8acf636bdd77a18e43d97920391462ff8b6a1c2029dc6bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b202c40033aa22a8bcb15bdd254762c05fbd001ec8af772b18b31f9e240c8997",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6924db62248185e752ff29b81960600e0a3b50884aaacacf0355b2379babbb4e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.0214, 2.8101, 2.532, -1.5597, -0.8829, -1.9881, 0.9991, -0.4835, 0.9371, 1.4879, -1.425, -0.1211, -0.416, 0.9962]\nstate[eef_state]: left_x=0.3666 left_y=-0.3305 left_z=0.0128 left_yaw=0.7936 left_pitch=-0.0894 left_roll=-0.052 left_gripper=0.9991 right_x=0.1874 right_y=-0.0702 right_z=0.316 right_yaw=-0.1555 right_pitch=-0.3188 right_roll=-0.1869 right_gripper=0.9962\nstate[joint_eff]: [-0.3624, -14.4205, 6.7077, -0.3053, -0.569, 0.0562, -0.022, -0.212, 0.1709, 5.5863, 1.199, -0.315, -0.0562, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrIEFaEco-QJhaR0sBBb17XoVqSYTf9Plgqz50_IU9i_rQIBARHIU1MWpWXrITPH9W1vLQ6Q7jEyMmXXxinsrady5WCdCjSMByhN-sYYy0VTaJpwAuSOI-__778kneUciVsSkMNNJRZIfJVA6SSQ6KEtS9fx33XEiu4dpzTXbWpWVUnkI6W4YW5ZP9aq15z2xhvCvhIDyoyi1dDUfaubwKNk9dlqAwrpZ-g0mJto49dqfH9xmJvNTMlFTiTXxHdUUJuQfhIgtRl3DmRFD-Kj73RZXFrMt0Xgy3huh6211Jlrkw47NQK_TRY7IQB0mX0vfKoZWiaCgq0-N6BznPlk_70WLuozqkaNbYALBbFo5DOZDD-rwbd3JTyP7FIpuT0uudqyknnb0PnHdUBd2DSDhMjBxz4ufsgJDAUYEV0spz0f_ZfJ9Litye9kaAfOmGBDQ7AFw_hDm4q5KdInhOEOjWTewOIwMOuVb3X6RJDxqAiI-ip80qgUOdHDx7eWkgH41rt56hi-SKADVV8qaACJRL0rLLY5jSNdhFSGfh23LYIL31ZkoQhPfAXB3kRDdu37mohQ33wDrEmiyGNEyYlhh7kiqhpc6ta5IJAsqvsavEsvBVC6xJJAdNF51cQfQNG0Z88S75VogTzgSBc_JUy1l1M4x1ehREJs85qkdczZYAGk1uG29Wy4dhpo4Zn3ld0TaL6xNrtB1DMzWi9VVUUgECWotpIEm4bkEoM5F2wLCA8lZlhLfudgVPDBRWqeMgURav379bIDBLPYSQL80Lc24VIoSl5CCKX8AOLtRH7fdm8e9G85uAoaaRryRo_B-F04x8aGkwQio0vxMViA_bteYP8Y_mMdJM34SYPZWDC2TyEzEzWVzA2ITC6f6rOiU5nZYOe30lzhOxbKERsvlcpEIOPWdXWfQ_V_XAqgOvQ7Obu0jnHcYiXmEHp5ljR3Y9_2z6zGH7oFkaqviwP3w0LBA-rUKvfAdrGPJ9wb6AwOZ-7G1nkXoEQWKvrgtNjW5WZPnieANCpIqBwQIVG6UMb9CHQqOGCoCj4xG9K6Ugn_H2a7nTYUA_GKCmPZS2bM1HaIF7qroC3gxiuzQsBN7CYROS2yXBErHYYmKydK8umswYlUYAHhGsXMW9bcYK0zwan1ZPV73HcIp4grYYroDpKVMkcGxEuTZoUI3JlWLTYi2WshxlTCu1YKNLnPzySlH94uqtLfVRqt9F8spCDR6TFNjyL0QhnOZnI7ucBVoKNmm6_8tNVARPW_x5uIt_9oFKlZpRbvM5iZ7xo9LT6bQT4zoQyA-woitzqJpysn3UOlj6oyZ70_kmlih8-3osjRScLJoZ_UGpwnNL3hQqMJA-coKws-72HG_SJBoZ_dCGIs-mGpq3pBSke4hXC7iJiY1_Kxi3VJXKdPE0nmybzVXvdvwd4117xSu2_yND7DCqyM_fbjNzzk1v1Ja80FSPjPBNKUAa2Lh",
  "id": "rs_0953f6734d1959a4016aac8101d38887d1923a2ae8bf94e026",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.4,\"left_z\":0.005},\"note\":\"The left gripper is above the screwdriver’s last visible handle position. I’m lowering straight down for a grasp, without sweeping across the table.\"}",
  "call_id": "call_unWL9GXqP9UnF0wpHgUDRVrZ",
  "id": "fc_0953f6734d1959a4016aac8103643487d1a9a725eb14c5f135",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_unWL9GXqP9UnF0wpHgUDRVrZ",
  "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]: [-1.0962, 2.3787, 1.7084, -0.5552, -0.7971, -1.124, 0.999, -0.4885, 0.9409, 1.4826, -1.4609, -0.1314, -0.4385, 0.9962]\nstate[eef_state]: left_x=0.3466 left_y=-0.3903 left_z=0.0073 left_yaw=0.1547 left_pitch=-0.1472 left_roll=-0.0061 left_gripper=0.999 right_x=0.1823 right_y=-0.0666 right_z=0.3082 right_yaw=-0.1336 right_pitch=-0.3605 right_roll=-0.1778 right_gripper=0.9962\nstate[joint_eff]: [-0.5949, -10.8103, 8.294, 0.9499, -0.4957, 0.0806, -0.0122, -0.0068, 0.1026, 5.1487, 1.3895, -0.1197, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:044ae82a604f00694b6788ac63bdb3b17cb629add64f5942dc3c3d19bddb8367",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20e59046fd17c6e4cac1c9c9a7ec5358eb48c588b458afc863b0d00c88da1d67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec10a32e40f22662e7e8de754dc13bc368168f2b013692bf3b5346bda5ca5fcb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.0935, 2.1998, 1.7081, -0.6979, -0.8009, -1.1152, 0.999, -0.4885, 0.9405, 1.4837, -1.459, -0.1314, -0.4377, 0.9963]\nstate[eef_state]: left_x=0.3416 left_y=-0.3765 left_z=0.0837 left_yaw=0.1493 left_pitch=-0.1323 left_roll=-0.0326 left_gripper=0.999 right_x=0.1826 right_y=-0.0667 right_z=0.309 right_yaw=-0.1344 right_pitch=-0.3572 right_roll=-0.1786 right_gripper=0.9963\nstate[joint_eff]: [0.3487, -14.2701, 6.6803, 1.2674, -0.3394, 0.2808, -0.0171, 0.0479, -0.3761, 5.2171, 1.6923, -0.0073, 0.1538, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are at handle height. I’m closing and will check the opening and lift before transporting.\"}",
  "call_id": "call_1BtReNbQp0WcvvwpkuBpp2Dl",
  "id": "fc_0953f6734d1959a4016aac8107ab8087d1820c5f22a924a97a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1BtReNbQp0WcvvwpkuBpp2Dl",
  "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]: [-1.0966, 2.3844, 1.7081, -0.5491, -0.8043, -1.1259, 0.0095, -0.4885, 0.9409, 1.4826, -1.4612, -0.1318, -0.4389, 0.9962]\nstate[eef_state]: left_x=0.3473 left_y=-0.3901 left_z=0.0057 left_yaw=0.1581 left_pitch=-0.1407 left_roll=-0.0054 left_gripper=0.0095 right_x=0.1822 right_y=-0.0665 right_z=0.3082 right_yaw=-0.133 right_pitch=-0.3608 right_roll=-0.1776 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -13.6821, 5.8325, 0.8034, -0.3736, -0.0073, 0.7741, -0.1436, 0.0342, 4.8889, 1.3309, -0.1001, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79df02035674bea5ae0868b41aad7f4024ce1573c848a3ad8af553954d0fe49d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a2691b9f64c2652541c7547128cc1389ee11bec8164de5c1af5c79fc3fcbd9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b8f60ace6b717b06abc66d7ad96192f9ed51faf80b17fae9cb78d6b2cef2144",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.0962, 2.3787, 1.7084, -0.5552, -0.7971, -1.124, 0.999, -0.4885, 0.9409, 1.4826, -1.4609, -0.1314, -0.4385, 0.9962]\nstate[eef_state]: left_x=0.3466 left_y=-0.3903 left_z=0.0073 left_yaw=0.1547 left_pitch=-0.1472 left_roll=-0.0061 left_gripper=0.999 right_x=0.1823 right_y=-0.0666 right_z=0.3082 right_yaw=-0.1336 right_pitch=-0.3605 right_roll=-0.1778 right_gripper=0.9962\nstate[joint_eff]: [-0.5949, -10.8103, 8.294, 0.9499, -0.4957, 0.0806, -0.0122, -0.0068, 0.1026, 5.1487, 1.3895, -0.1197, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrIEML5Ou3b7qzuMoiMBf_qnwo9HPB8lcRZZua921xywwdSBWurD66rI01s7vNH6jIBQplB2-Y5VN133GI4p7DOVDCs5NouJPprKmPKujDuHPUD1MmoxvF41kbFNiCpcM7JQ7drbra52YEaKhna5MEtD6VHBtgZcmXzqZUuziQQLtBnAy7yx5vpSqUNLjmPxnz2sZhpLJweYDaF-lWtA4bXuPs-UMG28t-pKMVDclRJ3yHSFzOl2wpUrHT0R8AvcftoCPjqFBK9yxR-djgaUOdupZiXpSrnluMQgX07q5oEWfZgCSBt5ZzRyyQfzCi9mUvI6Iwse6gSCgdwfLqJFC9eW3badiOBz4dSqplzxX_E5dykRn6unP3yZ39DRQOTs-vbhpqPTAfRMrrlG7QJ9rw_DejSJifWrD9fAq3B0MWq3pB4hms0KUFuZoO_v6AZoMbXTO-sQatOSWJ4_WpGuYXY5SXAlY5wr_SX3AmadHA2pvVo-iI-QEWQw5003jWYuGDy2yIzNsZPUFovg46op-Bo5NqaUAn9tqfuBWp2jIfhoMgNO-JB3JKlXhEJWrOZQUSrK4Dc9oOTNpypZEqlO2HMgMSwgUWvToHiKqLNuOB_S5zfa81dvRiXZiZgWjDSxouyui4K4lMwhXHboaMJ-Ux4yiLhxDGHeo8pxXrcOk0DGDotuGAKmAZXOlcXXkj2NZqHi-g7nMqhWvyRTuFIc-S-mBtTfAoZ1tLFljcqmmp-28yNe78ncKUCcgV_joAFS3IvXYjGTTggAnE6P_KNRV5LPb2VGd0F7373foRi6xK2kktVzk8dVfpFkXjQehrkVi2L9uyCJspqyhrQruZZqKniySNSoXyj6VisYUGgFUH_0dMrhPdxOS586GgxgER49fiD1zuC9uHm1jyqf-TdliKF-E_CplE_abq0m6oUDIMhagCJE7yQmkkRczjqYkEMJKqnaxjEfjOEpSweD1dsNkMdH6JsC5gIrozDtPvCFuvvWagDIuOgagYTgd_BGLQJrksCGzMFD2WEEh2P-DiQOWiA0BTZYFGyfWE-MJx9CvfKftWH79X4s3QnvpxqArVWA5TXZ9P7JkFYZrzwV44qBI8Wba3dKJTI2uU0F5Lg0zkhegOnyeLPEpHYWsIi-hwtl62dTdAZw73ncaJ3MZ3QtbQS1aw2aSYMwQyoyVzrn2uU3VIUpSzDPMDs_q_ZDVumredjNj5UMTH4Q7rA0dsyGKPapQeg==",
  "id": "rs_0953f6734d1959a4016aac810b084087d1bc3facb9773ad73e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.18,\"left_z\":0.18,\"left_gripper\":1},\"note\":\"The gripper closed empty, so the handle was not beneath the jaws. I’m lifting away to reveal the screwdriver and re-establish its location.\"}",
  "call_id": "call_92Ail8OauXcMtF4DvhH7aFzr",
  "id": "fc_0953f6734d1959a4016aac810b85ac87d192221cad6f3c2596",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_92Ail8OauXcMtF4DvhH7aFzr",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.9279, 1.4174, 1.0874, -0.7307, -0.738, -0.936, 0.9971, -0.4892, 0.9421, 1.4822, -1.4673, -0.1322, -0.4389, 0.9962]\nstate[eef_state]: left_x=0.2952 left_y=-0.1898 left_z=0.1752 left_yaw=0.1711 left_pitch=-0.1318 left_roll=-0.0367 left_gripper=0.9971 right_x=0.1814 right_y=-0.0661 right_z=0.307 right_yaw=-0.1324 right_pitch=-0.3678 right_roll=-0.1745 right_gripper=0.9962\nstate[joint_eff]: [0.4581, -6.5436, 6.3385, 1.0037, -0.3541, 0.1978, -0.0952, 0.0342, 0.1436, 4.9299, 1.4579, -0.1099, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b858e3f621abb72334300a3e95fba70452c6624ec50f8471b188c91d73990dff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff12a8012adae338178de74a8d4a643a3c470b79fd2b7231724c6c80d0280d54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09fc94d52f562baac75f783a1f8ce583e6cac7a995164a11b5c7a3e40b1bd455",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 69 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.0966, 2.3844, 1.7081, -0.5491, -0.8043, -1.1259, 0.0095, -0.4885, 0.9409, 1.4826, -1.4612, -0.1318, -0.4389, 0.9962]\nstate[eef_state]: left_x=0.3473 left_y=-0.3901 left_z=0.0057 left_yaw=0.1581 left_pitch=-0.1407 left_roll=-0.0054 left_gripper=0.0095 right_x=0.1822 right_y=-0.0665 right_z=0.3082 right_yaw=-0.133 right_pitch=-0.3608 right_roll=-0.1776 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -13.6821, 5.8325, 0.8034, -0.3736, -0.0073, 0.7741, -0.1436, 0.0342, 4.8889, 1.3309, -0.1001, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrIEUSZqjBdX-74Qw0sr7c9LfVDoqdbWiT9qx2GIbtENJO6VyMumw_YLjchEZqD89MTgQo9kPyTTqJpzX-Y5pizi146mZvivnOQXE8ox-xaGfKRWq3bU-LFN7JyJhgpQ4Bf79OfaIUcoyybnWWiKZMX3u1PsfagOh1VyGEkASW65XWrsUgpnmuKDR_NOgKXXyR2uCF-VEcZiJ1AgINUYmqScPs7S2Jd3iW2qSly1Z1p_la3CP_aKwRvz5G-vofU2vkY9uCJgSBYowAJ--UzjSBlOGoE__m2n1uf8R4qB1jh4DcnWF9lsdUOudIdjl-VPsdcobbUDGHnoMV6GPCJhXNz7tSazkqLp_YbtJ2g34ofZIdqMwGCK2zXEM-wkIFsO6AdFpQ1ql6rv5SXj19EqOlRKjf_YxP3804pxXWGjRMRoFq0lqhhyBOvH-11Vtp0k-Eeroe8_8MPq9l8forJUPSalt5Yv3praNBKBio1BEqCwVm9S8FKfUDXtN9TCc2YrXVsouY4_UuTQNc0lbaHwGIrLH2wYjyiCNufKswTLLHvca36QZLEFBTYAnjxeX0TkBhggOhkMTmApEqCpL0roRrKO8O_Puyhtr0K9t_w7984ZfoLT1wXo1OjEf5pZEHZI668ATeetPuPUKehJt-TVekmReE-0eA3-Z57jdNy8FiuwjMpPWpQvPCT9rkWLgR6_wWKpM5PcGvysvL28FOw4qTDSyhDF14RqdACYf_jLYywQojrbVaigrijOWKHmaDCXMtMGVSsKIlmXvI7VYn0pOPpdkA1G8VrmMhcGJMm7CbY2BHq-_WgCtXbtSpPV6GZwTy4IBDHv9Z9sqL_VzNcRM3pvQ9bUsPuOmbqZXN6JRmhqDNjha0bGrG-tztZQyw1_PGnWPd16rNvr_l3RnWDX2a-tcw2u3u1maMjLhinQdNuSqwe8F1CgO-8WQUrj01crG04MqpM_ATfvxQfJfFE0egnND4mIfPwjBDBv9HmcrVV80pCohzkNAEwtqKDe0sm0vjHLROLtMBQP_IRffFYC3l4rHRyWAdV8BmnAa_3qOey_A5Y4O-xyVGyhqSHYg-NW-os-tcqbY_x9_BekHS_5hWqSnR5uxLg6bYTugiQCXBkwJH9wv_bzIBGKDGtZE_A5iALKyiJwgqgRwueBxGJB8SUMSQWcqWoL-uOtl71fy8py2rUdBWWcJliKIR1R7kQVb3f622tR2M5rrO1gDEEQGbjT7SF46dddWy0-RXVkRfyFLLT3z53rhKxgbPP23hpOvIEozghDmZ4I_CG8BiX51GtKvkrHR6Bx6LhcwaZpAoUr8O7gZ09XXKHBpOjqVVO0gKG7Oe6ltrMmx-2qPZy0kw__pm5qbWyWUuflag5dtHwbSK03MiG1Phi8_X3yw0NTdRGCa7BGwGwSmYvJAs7gMOH4kLryqWgO7IKUv6phYrZrMqwjjok1wk3rv7yhB1nrHvi0ymjITjtj4y_5__4GzyACJrJv2_0w4WvEqd8ERTxNhM-lxXlaLl5Qw75Ej8Nch9f632nJdAfsN7etu_x7OxJ8PUzIRrDVAr2kIK63x7Lb1ieo=",
  "id": "rs_0953f6734d1959a4016aac811065d487d1b1a1f2d6c0601f03",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.225,\"left_y\":-0.4,\"left_z\":0.10,\"left_yaw\":0},\"note\":\"The screwdriver is now visible lying across the table, with its handle to the right and shaft to the left. I’m moving above the handle at its newly observed position.\"}",
  "call_id": "call_u0blz01ANoN9x6fW2h3WqacD",
  "id": "fc_0953f6734d1959a4016aac811286e887d1b995acb84e0e7052",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_u0blz01ANoN9x6fW2h3WqacD",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.3468, 2.046, 1.5276, -0.8005, -0.8082, -1.2739, 0.9977, -0.4896, 0.9421, 1.4807, -1.4685, -0.1318, -0.4389, 0.9962]\nstate[eef_state]: left_x=0.2238 left_y=-0.3912 left_z=0.0916 left_yaw=0.0038 left_pitch=-0.1627 left_roll=-0.0256 left_gripper=0.9977 right_x=0.1811 right_y=-0.0661 right_z=0.3063 right_yaw=-0.1327 right_pitch=-0.3704 right_roll=-0.1738 right_gripper=0.9962\nstate[joint_eff]: [-0.4444, -10.3453, 8.1846, 0.6618, -0.7106, 0.1099, 0.0513, -0.335, -0.0479, 4.9846, 1.326, -0.0904, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab30cf3e9f3b303f7d60b314813b835fcec3a154eb974b96c3db005de7f5c7e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bbb9571b9c3b8f5c86947e73f93491f68802b2bf38d82bd7a14774da7647659",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1412222abdd4d16fd6a2af0727d47879e22913ffffd7133af249c201431c720",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 73 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.9279, 1.4174, 1.0874, -0.7307, -0.738, -0.936, 0.9971, -0.4892, 0.9421, 1.4822, -1.4673, -0.1322, -0.4389, 0.9962]\nstate[eef_state]: left_x=0.2952 left_y=-0.1898 left_z=0.1752 left_yaw=0.1711 left_pitch=-0.1318 left_roll=-0.0367 left_gripper=0.9971 right_x=0.1814 right_y=-0.0661 right_z=0.307 right_yaw=-0.1324 right_pitch=-0.3678 right_roll=-0.1745 right_gripper=0.9962\nstate[joint_eff]: [0.4581, -6.5436, 6.3385, 1.0037, -0.3541, 0.1978, -0.0952, 0.0342, 0.1436, 4.9299, 1.4579, -0.1099, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrIEcnuZiXk2zhC1mo6KUJXmyetM51Amu6bIL01hX-0STnRTirnEF_ZJyShcvUsJV0D7A4GuDkspxF_aY3J_brj_fV5TOmTGr-SpOykYJrO5ip8gGj445t6Xi4_cYsru-ApaHhlyANL5LlBp4BG2PZF8_z-4TfHw30vLmePYd7i9TVeTwxsnoXZ8XwiyHyztAoNpNlVIEruQJ747K7iMsKuSamgD0-2pB5TcLkvQolwVK6GB8_UeGRkCS961wOIoibNAJPtCIevPuC1MYTL_ajqqC648_Jln5IVzX0136gkqmnWm5Oe25O2yC2Q1XkB52aphnyahuQRnK_OeBR9_0qRbSv28wIXV-M1jBZoyAx0ViOAQMpuBP5dC89SvDEHfysWQsMaHXFTDbXuVgbMy33Hpf1UuypgTT8FtkpcclhO2y_WeOv9_dAiHuIwLLQzqj_B9V7sUjNXT3kqUae6z6SbA8cRYHzGeWJQUL48F-695A-u-R-ctqoC1Ei5E_dq84x3f85vIZ9yOP1fI2jyOcxKdmtGvRCX1Dmf4Z1ppmQiJYrlb3HJYKsdhHskwznL2eFqRW83cFLLDr7p7AoAnUnK4UZtSWvypk3PNP0OsMbaXlB_7DQjesvCmtL71gCslbugdPadht0aXJtsfesD0Gfc73RPlVLFhZj7TUAT9-MCx1xvao1bcPGFVSxQplipQdqoz7V0HaGotHnwKcneeJ7dLrPHMA6vUK08TVzk2UWLCsLr57uvnuQ3eQ5UsPB0sbWPXKT6-5hYXgq5blRnrKBYVt6giEZ3tVVeBpbsByz7haAcYpJnHlHyLKEo-FGW3a4a7z95Tl80eHr3lquJ7uJ60r55qVluOZJ0g4HgiUX9BMWnhA4Jg_BuShLf2YBkDGE13InrT8CkbUpTdj-tM20ccDjQQ04L0fcJruVy6DtoyCE66ji9z4dLjn-4XuIMrTmHiOkxXAT8nHiMRLHi_NgAAy0oj09FB5YIeogXXlkkn9Nkb-XPAbTxXDsnsUh9uzn85R-ZsVrD2mKvostE44u45U_UHjxjG3FdWNLU27Uo48U-WKyILNJ878eMMO5kNqwFm_R0YYH6NuB_GdXcOCHCHixkPYkrTuxhDkCyhsUselt6Cwr_l-7QzNDoDqI_xicJQiAG8EEDdK_wlT3daxl1DsV8KD2zGq3bwxflWzkyEwnVfWB4xYKcslC13H_HC1p_wLQXtgfIRxD5UxHXNslYmb27EiPVRrsPB4RJ5DUCfaojGBjcjVnDAOlZmlxSEE5kT4iiIld8Rdr4L7NlAvn5T6Z_SaTz-xxpOq47h2n8CJfYosRp6rOTUVcQCqASBRgqF0gLIo-RDT1KDDSaUXJMsSAuREoL2jaLnfNdfsfAghPh1I3_BHtWmrnCGC7RWXMLGliBpZjoQM7At8ObIqW855psoaHP1vbPK_HRRxGz0Ii8FuFzm8T8C9VJeEc8r1Z-77QOgdxXZbJw8NiXCISMVNGtHRHlR-8HsP7hyC-Dl9dphNaOeFIAnoLkn3VqCeEy7vHGaZgvhW-PYdulqy_6Jbd28e8iIpMGIcQRzM4W4e4Fe6QSoK9XRGFF4z6dfTXrwAaFUk30BSH4VeGa1CZjXgNAOnPOKQucyQaqdEblya37SOgFi7lxX5kOwq9LYAsbTc3we1h27zjwSokRROu9EwAka88jczQkGmoIpw79nUzv7h0K0CtqjKxHPyhxR7aiRNR1O8HkddXZOuV9WpVSMBNB_qGK94bpYwJ2bHYnSnu6NE_JON_EALGWcbp7wpRtUvkwxpy03bh69rEoGDRFfhJSt5BVJtfnwAOr6RzHCZkm8=",
  "id": "rs_0953f6734d1959a4016aac8118108087d188ceaae55c4a217b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.245,\"left_y\":-0.4,\"left_z\":0.008},\"note\":\"The wrist view shows the handle immediately in front of the fingertips. I’m advancing two centimeters and lowering onto its narrow end.\"}",
  "call_id": "call_pUoxRQMnvKMqfCfgv6WBsOdb",
  "id": "fc_0953f6734d1959a4016aac811b8af887d1bf3c6bde6a9a4cae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pUoxRQMnvKMqfCfgv6WBsOdb",
  "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]: [-1.3018, 2.1818, 1.4429, -0.5438, -0.8204, -1.2484, 0.9977, -0.4896, 0.9421, 1.4803, -1.4788, -0.1318, -0.4419, 0.9962]\nstate[eef_state]: left_x=0.2468 left_y=-0.3956 left_z=0.025 left_yaw=0.0331 left_pitch=-0.1426 left_roll=-0.0393 left_gripper=0.9977 right_x=0.1793 right_y=-0.0652 right_z=0.3047 right_yaw=-0.1295 right_pitch=-0.3807 right_roll=-0.1717 right_gripper=0.9962\nstate[joint_eff]: [-0.1299, -8.7863, 4.7521, 0.696, -0.0122, 0.3541, -0.0024, -0.3214, 0.0752, 5.135, 1.5018, -0.0952, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0a59324905b16a823313e38c47e71ed0c1e9bd7ea5871cc668b0e99bc40ac12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8241e861398f069b2106c6330191a06836dd46a7ea556502d6def21001feeaf9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caf2f355143671d06d6a3c9b9e92c4defba1e18ee878a6685c3f732f72975da2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 77 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.3468, 2.046, 1.5276, -0.8005, -0.8082, -1.2739, 0.9977, -0.4896, 0.9421, 1.4807, -1.4685, -0.1318, -0.4389, 0.9962]\nstate[eef_state]: left_x=0.2238 left_y=-0.3912 left_z=0.0916 left_yaw=0.0038 left_pitch=-0.1627 left_roll=-0.0256 left_gripper=0.9977 right_x=0.1811 right_y=-0.0661 right_z=0.3063 right_yaw=-0.1327 right_pitch=-0.3704 right_roll=-0.1738 right_gripper=0.9962\nstate[joint_eff]: [-0.4444, -10.3453, 8.1846, 0.6618, -0.7106, 0.1099, 0.0513, -0.335, -0.0479, 4.9846, 1.326, -0.0904, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrIEg9cJLqppDHq3A7AFeTWBHRfU3QpCShkmJ8y0UKlnL2ZiObNN-5uouRirizDa_-WMwD50-UBmqQSZnW6sXBcQtx7szBEm0nzaO7JbQrMvzymBPAmSM9je12nwR2UCXJZrwSTNy7FCTnkupivX-BtfI1tioTZMU9eEp1klrW_C7p4EzZmvQenqd1o1tqCA4flNAnVdPF0-HPJ9fiKd5l88UUarKJ4n3i_5ghgFFSg2jzrEnxiyxyZw9F673Um8GfqWd27yE9l76sgnnQBRzTOnINoW1FYRY3w-GNxYDni0d6GDz4UH-ezMO-qu8InDnJe5M-qacZYvSBZLpHIG8gAzIdh6DMNqvvMTy_bWNakiDV3Lubyowga8vGoqc89wUb66MfbIx-4W30snmaqDDR28D2i7KtD_VBXu8WHgzeOYbottmjK4fbN9ykX9woh0cRhAktA8r5GytrGwSVLwVfELcCB7N4gGN504BMjiDYvyJbd0buhyQS5E0mrasXs0lHlD9VtpLsCAvdFi9VuxTH6yI8HPszGtPdiR1aseg5EK1N2rtwaOKsjgW8T4cp22Sl-8RM2A7OErJBd-lXE9k-sFdwmVQ7-Hd03gZGsU5h8XjMLYNHrmU3cLwy0zHv6yyCiTYv_hfByzIo0dcZY0Q0NSBdcowa8PQBteKnGByzKWk1Up8hxloFIUdpApl8HXjLohWrQr0sOi6llSLwrKsQnwbN3jlu2HqJIAjM5HvbjB7fg5UF8lWYpXcqLmpV3zpWYNyCcGuzU2ctczJkPmWlm5Tu106yKHtX4ZYGJVRRhMsi9_SbLPt2uc6JK8BKWMPFm7xMM0B7vR3x3j1Zc0T-gCiR_M0dNwenTF1ueJYQWBYSaneZBWWZh7OviZIZIBBpygFwU5w-UfgDjEn_uj65_kGotkwAuuAo4xafwMvwR9A0cAuo2DMrGoy06MOro9xVe3VOazet6juGQBcgDb5t8EOSAT30IrMLY4l-K_M_7v1JufAOaqYjtqk3S1UZuln-05rXwzNHkOqBRfyEAL_Tjgb9O0_mSE3AWn56rI0ApRAmSdrkmFP2zBN6z0ApgTvX7KsN_h0RFSkn5e74wZFxd66DauXY9lAvHKOQ5nAkXUKy32TH7-_tiJLlHupudWCFIz2GyA8YWqCGOEXIilaIhaOXHdmXlEc0vuwxrfyTVlIcwMqW_toFFxmfKROJHU0F2uoey-meBX1omfcILocPR_FLH-Z923jWLZ4PjFNwLX041s=",
  "id": "rs_0953f6734d1959a4016aac811f947887d191b9181f6aef77ce",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The handle’s narrow end is between the jaws at table level. I’m closing to secure it.\"}",
  "call_id": "call_jqyqkn5pqpSyZ47dyzRwsG9f",
  "id": "fc_0953f6734d1959a4016aac811ffb7887d1b8d67c6802c26be5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jqyqkn5pqpSyZ47dyzRwsG9f",
  "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]: [-1.2964, 2.2093, 1.4349, -0.5388, -0.8036, -1.2541, 0.262, -0.4892, 0.9421, 1.4803, -1.4872, -0.1322, -0.4423, 0.9962]\nstate[eef_state]: left_x=0.246 left_y=-0.3914 left_z=0.0094 left_yaw=0.0411 left_pitch=-0.1655 left_roll=-0.0174 left_gripper=0.262 right_x=0.1779 right_y=-0.0643 right_z=0.3035 right_yaw=-0.1274 right_pitch=-0.3885 right_roll=-0.1685 right_gripper=0.9962\nstate[joint_eff]: [-0.5128, -13.8735, 6.0376, 0.6178, -0.6422, 0.0122, 1.0476, -0.253, -0.1026, 4.8342, 1.4286, -0.1148, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:040d997626f6b3101740a8298b3984d21e466e8913152abb33ba0aef4e9e966c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4c8a67d0acb0a6a60e162cecac2af36b3f1f5721e17a4ae6d035528d888069c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03cb0e8cda640231a7c4fe556530de9c272964bf7d99138ed37ff237dce3bb4e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.3018, 2.1818, 1.4429, -0.5438, -0.8204, -1.2484, 0.9977, -0.4896, 0.9421, 1.4803, -1.4788, -0.1318, -0.4419, 0.9962]\nstate[eef_state]: left_x=0.2468 left_y=-0.3956 left_z=0.025 left_yaw=0.0331 left_pitch=-0.1426 left_roll=-0.0393 left_gripper=0.9977 right_x=0.1793 right_y=-0.0652 right_z=0.3047 right_yaw=-0.1295 right_pitch=-0.3807 right_roll=-0.1717 right_gripper=0.9962\nstate[joint_eff]: [-0.1299, -8.7863, 4.7521, 0.696, -0.0122, 0.3541, -0.0024, -0.3214, 0.0752, 5.135, 1.5018, -0.0952, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrIEoMn7OsWQtV0zSfuFBbFOauzbX9_2MBDBAp7YxcVX7Lflv-tXJdnMWwX22Xs8Fc3CV1ac5Ibynh99EsXG_RXw3Hh6Oux2JS7bZCfrMJniSq6UOydbl8rnDik5Ju2qUhZ_HqtUkWdVSvHSpl8Z6PcCmnZ6qdGhQuPdwFlmiXY_s2aXhEW9ZPNNPvz7lC62UcbwiGp7ulCIoJ_I2YmK3XIT_dFJVmVFKHbIrL1sPvMeDbPJ4BXJY1JgmuQVECBluTrKBoNGkKihyHG4VcWSUphEaeCLQmgbASNLOpkkbfnUfTXK2S08uP-Aq4RDRzB7pCISX-CpFbOEulyGdZxzhHMB5EtdiS82-fHPQet_g_28r_DRoIYXLbKkJVUqaZHm4kJXWfTPzKL2EqyR8ygVcB_8SM4HFcgXzl6cJEGOwkYUM8DlV6UnUyrSLgCTILJuSVg7dkyKlCs5F6P85c-7licMTHvHQ0s2v2m6NMdeyFOwc75sO3wMexd5Fq5RufB9lVUxg45tuQtDSvvdUGnB6atLT0MeRlOMpjjHpbftP6qaR0GTQmt837NYdNviYTLILPJstORe7NYS1W5m_U0RaUTBM6s87wg9qjSm8mkSkV62RO2vJkTn46OGP8ivP8cVTJ-Q3Y8cuCIM1KXYQYTxwPDeY3EwB2SHSayETWqSe1X2qRqIFblwXyZ15b97GHxTF76Sm8DMfGVnGuENbZ80QyyTm3JnXiOPAjeGW1z3JBXO84tthMo_Qm8uBJa_sTZ80MmOeR-QmISsIDteTGrvSKuNglSMCusLGBC94KqLzeoQYpm_MfUVNzOuh9_eLRGyuD-nw-fkxUIt5V8u4xdXfwhXLyDyAWmVBpJe21rmwZI2X7Fn2Yu8gFTFP1VlCpw_fr1pZY44zczlmvChEhoIGLVHB3hQHGuaBBplwKgV6PTbWcUe6-HhwnTrKbvM_KNPQ4Z_q6_AypWv0RXzR7t7e77fpdz6nttyZhpFXxAWxrO0h99kglNBVKiGnl89_GAqKGCPRd4qwHD0UENo4mYNJlu5ByUCpx-fUyk21P1NcWYuNmbXLy55DaQy5Mfbjj1Z-TXBiPyx6hW0ufbrA1BN3Uc1q3Iu0dpjpI-KCpe68gpomX8FjlVal33uXInjB_1ngnaHgcIVLlwDmjUtjVTLa6iWfYsmJ1AhvmexydxFs-QT5y709ZGUji07iF0L1WVImGs-7FW3kewtuUhYF3IM31JPxBFymWrOJI7u0F9ILp1vPtmlKAdi4MZG-MWYiMRxQgCMeMC_QhxUdeNDmMt-1hsAkKMRWYHVhZQ9N3py1cd5a0xbC6DTZMFfBdojJnb-azWJ0TMP-WVQ6qxorYPCvWwOrtCkt2Ludv5XNBKy4iypkVm8DCfYo2OVBrLwT7OuWdjal_N0I6oAKpB8dDGZ7vxEn9fMc4InaTrkceBJ5uunr1myx0ghbt4A4R08OC1GVHw9oG3Md8kVXKDba3680hSM2Pd0w7xuAhKFZ4I79IYIpTBzXuGofIrGPDw6_LL_Xe5QlaHMhCncBSgzIY_ntIuV25m92aWURPWbaISXfefWv2SxCQmHXw-_dNYH9qjvNGkwKPXGx6qxWa5y9KkE71iyFiYOwC_PX6AALz17wpDNee7sI3F7IofiJp928jbQ6t3MUT8EyagCGMSjs3X_1CeNoM0EQlPINmHXm-kfojN8UbAMNpYp0ykqtc6TJEZCQq3PMHPArcpfER0yyLsoNPB0t5g-glForsEHgBzhxaMLCjmdsdFLeOjevtF-T2UwIA7hMkfQTp7pGtlFwCFDvGZzqkBSnyK1I_Plg2Yg7E5kuFcoo3jcXVw_K68kfH3RScsmkuEZ56qJ9oDExki0PVTSO_1HPPg9iy5OutuAFIuL9SXYPWIXVioO-UNo2cs0pLoeQd_hUqhAfZPR--lgnppnYvx67Qt__9wRTzxdtmHHz7KEomlVFToc9VGlR1RRFRcQE5MvkZcR3mPlgFRc1eVUqcsD3la9WKuygp7zmnPYxFOGzKz-aehhS316GP64kBFNG4aV_VgsMwpfqiQu7c37tFXWU4prqFQ4rNPFRtqQp5XnDf8PZgjV8exSz_Z_1iY2p",
  "id": "rs_0953f6734d1959a4016aac81234e7087d1896b692245a7b8c6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The jaws hold about 2.5 cm of handle, and the screwdriver has turned to point forward. I’m lifting it a short distance to confirm the grasp.\"}",
  "call_id": "call_F1BNtELtkcAsBOtS83m2Sc93",
  "id": "fc_0953f6734d1959a4016aac8127abfc87d19ee93d9f82befb6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_F1BNtELtkcAsBOtS83m2Sc93",
  "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]: [-1.2961, 2.1502, 1.5379, -0.7631, -0.7761, -1.2598, 0.2625, -0.4892, 0.9421, 1.4788, -1.4876, -0.1322, -0.4423, 0.9962]\nstate[eef_state]: left_x=0.2412 left_y=-0.3865 left_z=0.049 left_yaw=0.0487 left_pitch=-0.2057 left_roll=0.0338 left_gripper=0.2625 right_x=0.1778 right_y=-0.0642 right_z=0.3029 right_yaw=-0.1271 right_pitch=-0.3903 right_roll=-0.1677 right_gripper=0.9962\nstate[joint_eff]: [-0.3487, -15.4462, 8.9231, 0.5836, -0.6471, 0.0024, 1.0281, -0.0615, 0.0205, 5.1761, 1.3651, -0.1294, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35fc19096bceabf43614dc0274376047438c9a1b07081bb50254951d917b29ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:706643f518568e705d4d0987be1ee7eb86be738178772b2bb7ad15790b1a51bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b284b0ac6d96863ea3b3924476b0ba9536a2e90b3dda97db53d8754a8d66b90",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.2964, 2.2093, 1.4349, -0.5388, -0.8036, -1.2541, 0.262, -0.4892, 0.9421, 1.4803, -1.4872, -0.1322, -0.4423, 0.9962]\nstate[eef_state]: left_x=0.246 left_y=-0.3914 left_z=0.0094 left_yaw=0.0411 left_pitch=-0.1655 left_roll=-0.0174 left_gripper=0.262 right_x=0.1779 right_y=-0.0643 right_z=0.3035 right_yaw=-0.1274 right_pitch=-0.3885 right_roll=-0.1685 right_gripper=0.9962\nstate[joint_eff]: [-0.5128, -13.8735, 6.0376, 0.6178, -0.6422, 0.0122, 1.0476, -0.253, -0.1026, 4.8342, 1.4286, -0.1148, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.22,\"left_z\":0.23},\"note\":\"The screwdriver is retained in the jaws. I’m lifting higher and moving toward the toaster’s side of the table.\"}",
  "call_id": "call_C5l04WQSqmaGxIoNVxTKEArB",
  "id": "fc_0953f6734d1959a4016aac812b313087d18c77ccbf8a378721",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_C5l04WQSqmaGxIoNVxTKEArB",
  "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]: [-1.005, 1.5227, 1.3624, -1.0218, -0.6632, -0.9314, 0.2692, -0.4892, 0.9421, 1.4773, -1.4906, -0.1322, -0.4423, 0.9962]\nstate[eef_state]: left_x=0.276 left_y=-0.2251 left_z=0.2023 left_yaw=0.0737 left_pitch=-0.2478 left_roll=0.0442 left_gripper=0.2692 right_x=0.1772 right_y=-0.0639 right_z=0.302 right_yaw=-0.1265 right_pitch=-0.3945 right_roll=-0.166 right_gripper=0.9962\nstate[joint_eff]: [0.3077, -8.5128, 10.0444, 1.1111, -0.5446, 0.2125, 1.0281, -0.212, 0.1983, 5.2855, 1.409, -0.1148, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42e664859e80a1d9676a163e94ebeea1db0a05ad392bf183a81a9c81999f8fd4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a3ad3f1b69de9f43c4d54ba331612e2a5ca2d11b395c0fe64569fc33755a170",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38f67e36331433a407c38f7c4d5eb4c041239c85da2e141a9ee5211c2d50264b",
      "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]: [-1.2961, 2.1502, 1.5379, -0.7631, -0.7761, -1.2598, 0.2625, -0.4892, 0.9421, 1.4788, -1.4876, -0.1322, -0.4423, 0.9962]\nstate[eef_state]: left_x=0.2412 left_y=-0.3865 left_z=0.049 left_yaw=0.0487 left_pitch=-0.2057 left_roll=0.0338 left_gripper=0.2625 right_x=0.1778 right_y=-0.0642 right_z=0.3029 right_yaw=-0.1271 right_pitch=-0.3903 right_roll=-0.1677 right_gripper=0.9962\nstate[joint_eff]: [-0.3487, -15.4462, 8.9231, 0.5836, -0.6471, 0.0024, 1.0281, -0.0615, 0.0205, 5.1761, 1.3651, -0.1294, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrIEz0bMD4oshTIr_iwGG1RfE2jmXaQkKWaH2k94YINL7rAwbvcigIXL_L1tDAghsUDENWCZ7hA27O372qaJSL63nchOC4p2mENwZ7XJucrHfIxGTk1Zjg7oqctp8HbjpNxNs-_WVCj8hBE7_PIntZMu88crz8WGOwwtr9ABfKcRzgOtyJYV4eE9Bas96e9jRCfZNpfAJ8wLrjMB4eU2R4ie1IAVd1FP1YIXYG8j5NAzDVu1GOr85DVofyhJY1n-qcBv_VWIW-oLhTWIVkOxC9zqVfKGzFeSowvzwn90CLP4XbMcZ7bGQzlJkAgmSXncoxWObPSFxsBpR-Y6HXczUW6dAUbNfu_1h8eo6_5eUn8nV4f6mvrllW7lafko-mjmS-pn2TkRrrn_i3kz-IZKbnje0AApuraYJw8Fn7VTADet49i80e8A5K2WTNZDKukQ18Z2ZK9QxSahonP41OaYWo1S1_qSNUvQl-ixuRlkMZb-QcdaC2p8Cp33G6Eo4-fPBUEPScXjJltqD8vubXKy7R9VIS8IqXjS7FmjuABANpiZkOxAoUvfDwcv25iaTg1dvT_qbACUzJ3qKGewEo5N74_8b5E5wI7kOh3zoSm6e_9H5941hoF2wAj-V2pEIndunghoDJuNY-WkkYaj_SLqV6yxCL22pT2ZZikv1Zx4--bQww7SqMZrkZBOU4NPqQIE6X5NixR-Jhrx4kb-5n0oG-cid1un2ZJ49HBaIk_educHJcTVQRfYTUKpG7IYXcHB2q15v9EQ2Y7Y_OqKtH7kXJ0_1lonajw28Dc1kwtryrKJHinrY8tzvXnHdI7miHOOi53nbfMKCPjcDOpVuTHoxORSMWthcR7uRgl6ctn5sAmChE8_l9TtxQAU9GgCQAP8lZoXo3WfGpb0UmKBKb4lxHYQzpvx1Rz8UWe9zhKDnLEM73HJp7GPBP7EU3ChmeDRwJie3rD_8vPOp9AVhkkQHAI9s46lmOH7RuwvhV9EZ36zmWoAFfyIU8jnJ6EjUj2fpGmNWdfWO9-ehKGwj_aMUWF7-e2SaInpG0cE56ZJZ4l_rR4TpfBpNTkU1GhjlEwM2tohyVch5N877fFSdQfqZWDIca1-vyDnBnLTFuSDk8N8ZZE3r8wzvqQTG1mNkjIhBbM-sTrU5e96eZdpf0Z536IhxBh2c_82kaDOhwK09m1gtoU0sMltN0OuaLwK-I3VaqXkkNBnl58ocK8_YfU3UKb1tIwLaxIanKPF085xse_ffl0rIo6Mpnk75WmRSqg6CHU0bBCsEPammErExwv1gXNDGPAvBZb5BWxCtc9lw2VVqgW5MEuTjGUP1i1DSxHEA5WVL",
  "id": "rs_0953f6734d1959a4016aac813080d887d18f1b681bb811b4bc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.08,\"left_z\":0.29,\"left_pitch\":-0.6},\"note\":\"The toaster is ahead and to the left of the held screwdriver. I’m moving over its front edge and tilting the screwdriver’s tip downward toward a slot.\"}",
  "call_id": "call_4yUF52V2SLm9wmpiuahEoHCB",
  "id": "fc_0953f6734d1959a4016aac81318c9887d18b3b384047203833",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4yUF52V2SLm9wmpiuahEoHCB",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.3103, 1.8668, 2.1971, -1.5345, -0.1478, -0.371, 0.2692, -0.4892, 0.9428, 1.4769, -1.4956, -0.1318, -0.4423, 0.9962]\nstate[eef_state]: left_x=0.387 left_y=-0.093 left_z=0.2724 left_yaw=0.0732 left_pitch=-0.6063 left_roll=0.0003 left_gripper=0.2692 right_x=0.1764 right_y=-0.0636 right_z=0.3011 right_yaw=-0.1259 right_pitch=-0.4004 right_roll=-0.1639 right_gripper=0.9962\nstate[joint_eff]: [1.0735, -8.5402, 7.788, 1.2234, -0.9109, 0.0562, 1.0281, -0.212, -0.0889, 4.9026, 1.3504, -0.0611, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:888352c7c5cc0b348f40195a4f624414de0cc8ba55fbd4cc5cc780f18b42360a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ba7086af8f4e1d14f3cffb772bc9069036aba331d27dd828eba615afcfe1aac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82830473c0d58f604b27594bf86856dc2b280f24e7fab7897936db44037e9fb2",
      "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]: [-1.005, 1.5227, 1.3624, -1.0218, -0.6632, -0.9314, 0.2692, -0.4892, 0.9421, 1.4773, -1.4906, -0.1322, -0.4423, 0.9962]\nstate[eef_state]: left_x=0.276 left_y=-0.2251 left_z=0.2023 left_yaw=0.0737 left_pitch=-0.2478 left_roll=0.0442 left_gripper=0.2692 right_x=0.1772 right_y=-0.0639 right_z=0.302 right_yaw=-0.1265 right_pitch=-0.3945 right_roll=-0.166 right_gripper=0.9962\nstate[joint_eff]: [0.3077, -8.5128, 10.0444, 1.1111, -0.5446, 0.2125, 1.0281, -0.212, 0.1983, 5.2855, 1.409, -0.1148, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrIE8DjtGWc6-_0PsB0u_5WN5hnR0nP46eRFsR78tQfjNr7A3h7jPYMmPZiMoT5H0Wq2Y2qb2P9j82Jr4LRkXm10nJCWegCQziKCdBW3ZnAsqQcCit18SAvJUrWRu5zEZbge7cRb503vV-u8-a7IY4VmvPBeoCLxvtKD8JFGsvgRCBZkcQ_5klvNBln8orOVaiJ9oEV0X3i_TX5ORh2tCqOLFxUP0R_ZCaol9Fjx6mn3dq4_JCS33FfdJ2YaknXuj4hsqXBGvyqojy10jkZRdCrYHJ5KLX_t9T3ljGDf2kcd4UmRG9NTf2OqUJ4pzE-vY1zXljHk_af-0MYtqWPHOCWqkUkbeujCSaIw54_MjvhEivEIwVmsc2gBhY5nwiGE-ZuKOGQ3r2DsP_xq6oYWs2_LoUMTDlMsSZQRzIEB3o1Oe_b1CldyIiWy6y4O_6T5SjxPMsBk_dCeZ9n0pI03xlCgpk0cOyjzpbH9l03xyBARRyWjU7NzX5fefFhv8eJli3r8tvT49Z7RqXmP4OSaOQ1Jcn4sV0eMhQ9r7poiRozC4dWs0V2tKO19zOJuG0SW9G-nAmiMcEkvGQ2Ky0KMc4sEcYGyC3bSSKXBAOqHXQDhpZd-M0K5tSZwh0nK4mV0bsG2IRlcDwupOWWRl0fZRn8H4OpleJbAb71AvQwU0IchCYHyLp60uV7wB5PjYlVFN5y6NhJ5p1Io0FIiZhzoo9Fts1nWhI7qrYg1w9B8k9AQexESE9yAoJq2h6IIdp_bK-UTlw0rub4X4Z7cY2xBz-NAZsqn6biZgdfAn3DxYiNNfGFL68l06nMyOjHvzY3GuvW5mPlvapIYVGuwI1JAo3NrR70Bo4wgPVNkj4Cc0WXIPTpJeXGlHjMZ2BSldUo55EUi4EBCrsYWIKM6Z6U8w2IjcfLzt5_9yheEsCKnQ7OdX-RFleSJHrcJKo4cnAzloJxfZof5q1B7mGX_ZW3ihZ19GRPnJ2DJh4Z25_XNfl0aGIr5fFkR-c5qWDTKQ0Wwj1yo1Gmc0_8Feb4oq-u1QxdOb-w5JlOecpV7lCkKJENz2MbDNJgZDb8LEB7M54lc4wLuSJ6EJvf9KtOjz7djF9492ep9d7FY1cOdd6nNRH7Nr7w-623oNFNQNGzjpejwSuBV-rkN-ONSlBuP8Bj2TZ4OG03nm1byPCFBAb1aHaqmlaB2HBynU8YHHJZMhFv3DQ5Cg3LFNzF4faEGXk3HtYfMBqBc9twmLQyNlPp5gylJtO64kMDuS2zNFb-54erouqQ1cFxmAt37RWaThmGWYK5-xJYs9vUMb0nXsjawnZpYtinm9JFGLMizmlwCc8T0te6wm04ZxtODCcRUSF84aSPvQZ8LOWSLeY67Ltz3G_ixCUrVqXHNa7f96qIeR_a4SUJX-T6rPk8QIZwgRp0qzF_HKhdVx_zuiAuI9zZRmtqkF793TRj7rUuXsq4GtUE0JWQ_jJVk_D9WRGkAZYXIBbnif6TrH3I-SW65d8p3f4OGmsaPJ6ATuu0VtmPjU8yr5Y-NANEumUHvo0cofARxutkiOug==",
  "id": "rs_0953f6734d1959a4016aac8136f5d487d1a339cae3b25af1da",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.085,\"left_z\":0.29},\"note\":\"The screwdriver points toward the toaster, but its tip is still near the front edge. I’m advancing above the slot while keeping the handle elevated.\"}",
  "call_id": "call_iywu46JSzZG9ci9WTxo7lJM4",
  "id": "fc_0953f6734d1959a4016aac813997e887d1bed322487a95da2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iywu46JSzZG9ci9WTxo7lJM4",
  "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]: [-0.2672, 2.0098, 2.4413, -1.7008, -0.0734, -0.3302, 0.2692, -0.4892, 0.9428, 1.4769, -1.4979, -0.1318, -0.4423, 0.9962]\nstate[eef_state]: left_x=0.3928 left_y=-0.0904 left_z=0.2729 left_yaw=0.0304 left_pitch=-0.6911 left_roll=-0.0379 left_gripper=0.2692 right_x=0.176 right_y=-0.0633 right_z=0.3007 right_yaw=-0.1255 right_pitch=-0.4025 right_roll=-0.1631 right_gripper=0.9962\nstate[joint_eff]: [2.0855, -4.2051, 5.8188, 2.0635, -0.6618, 0.2271, 1.0281, -0.1983, -0.1026, 4.9573, 1.3114, -0.105, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0243f1a130f23012ebcf12eca159d75eb94fe5a323c21a36edc9515681ecc15d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49511c175578d898cce84dcbf33e89b97af5ca92dac061b59c8d31d29b6071f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c77b1962c9f49b581abd00880ba14513a70069b2e5d0f1eeaa5735408c2a2c6",
      "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]: [-0.3103, 1.8668, 2.1971, -1.5345, -0.1478, -0.371, 0.2692, -0.4892, 0.9428, 1.4769, -1.4956, -0.1318, -0.4423, 0.9962]\nstate[eef_state]: left_x=0.387 left_y=-0.093 left_z=0.2724 left_yaw=0.0732 left_pitch=-0.6063 left_roll=0.0003 left_gripper=0.2692 right_x=0.1764 right_y=-0.0636 right_z=0.3011 right_yaw=-0.1259 right_pitch=-0.4004 right_roll=-0.1639 right_gripper=0.9962\nstate[joint_eff]: [1.0735, -8.5402, 7.788, 1.2234, -0.9109, 0.0562, 1.0281, -0.212, -0.0889, 4.9026, 1.3504, -0.0611, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrIFAA7_4kQYT9R9F0bIztE41dJIrt5t95xx2dj-u2qFeI7Vy34gi7cCk3dG1bRWiA-aTWsETtNYdx23f48i-ljyJiD6JXwn8FSaTQ9Djo0OK_sUi3ggj6wrM5eP1JEk6xxxj5z7QUbXTwffJrCzjXEXp05fKZILD3EjVqdQPWWCDx5q5b1GmM0KdYMpaB_QusSVB_PhQfx0Fq8Q-qZ7s5N_oUGxmaJf75D5aZHLavUKDY43aQwhC1AWW0ypruHuVb3z2-uG4WklMF8gn_LwPpgmE4GIlCOFPT6K7MDoqFHyGrxRwfHbGHteqNiyj77BiAFV0NvQAOHr3euV00hQLDXBBjoxOXdf6E63peBja7oxScQY4ViqZ6_ix7EWUkmKjkwRP-CAqeJpewDSYmcKAheSkIsdRgRc1spFqueJu9oYy_DqUDHJPHBZIo-IeJBeLKy_eooB2xWcoLH_C8O7zpYG5fhN7vXTeczwNPmnnhJhIV7dnXGjOY03kRl3R2IvQ3mIMhzxrC_dPAFpQN6Da4zyrBRxtiaMtqv3h0Jvm8YDOO0PbxmmnWcVG8A79pLu87rINzdF8AmvTHvNT_ohg8sAlmehwUDQiiVwCV3DtWuS9Xa6569aTA9NVxc_m729y-VJFeb_3rLlcLJcVj8fyf-KZStLPY4uvtpUutLsjUB2GF3xIrxaKEewyu0AKJt0zLR-VpTI0qBvRy_yL4sarQ9IVh1TvQnhGbhmKbRISm4-SfnSRBpmhamSNUB_NnAw6F4mHQFbYI2bZ9aUIo6L7gQQ0F-uwQSgiRQuoPYWH1c6DwrSsByb21dCyhiZYLzHKK0XM39INYbspLzvZRMp9MMV4YFNPZhLJHQhoPjVsDZyqdoW5YJS356ZDnk9FYfBI-L0kQH_iyrvmuccEZpE8DIoceEUUoEVYhwbIU8LQi1xyDh5bhR--_i9A5Bdx3iZtudWv8N6mxaSXgF1Igm7Zm9-2kOODnovh-ItnEO5TPmKiiNP7idxiqOkM_so01Q1Cwb7P8oAWKf1LZLIPEsvSzYRnKkRjJHXy4bJxS2maJzd8JWymWCgB4KNvxW0GHgX7OW1yuuJOLzTTaFuGFezVnbsXTvhw3Hf8ajiZ15pddW2IHPMVVVJsvyzzIAl_7mhEHBNfRIzCCg8Jcxf1hLunc64kue4kPnZ_ocINPFqV1r-iSU0inw41YUapIijhXbxJyXOcMr1hGL_z4f7ovWhbZHeKgEMdFmL2HxPVNZfcy3Tpnp7gf39Y33yNuqKUDbqg1SdDVNX00Q2ZMBTCBTT9ac_7SK489mYMcQlIKVUIp_F5yfA=",
  "id": "rs_0953f6734d1959a4016aac813e638487d1a1f1eabf0ec966f5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.085,\"left_z\":0.23,\"left_pitch\":-0.4},\"note\":\"The arm could not advance at that height and tilt. I’m lowering slightly and easing the wrist angle to reach the toaster opening without forcing the stalled pose.\"}",
  "call_id": "call_4t9ydIWwRIfRZVfU72B7WRTh",
  "id": "fc_0953f6734d1959a4016aac813f3b6487d184d117dfa67d34a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4t9ydIWwRIfRZVfU72B7WRTh",
  "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]: [-0.2592, 2.0136, 2.4565, -1.7004, -0.0669, -0.3267, 0.2692, -0.4892, 0.9428, 1.4769, -1.4979, -0.1322, -0.4423, 0.9962]\nstate[eef_state]: left_x=0.395 left_y=-0.0888 left_z=0.2755 left_yaw=0.0264 left_pitch=-0.6815 left_roll=-0.0485 left_gripper=0.2692 right_x=0.176 right_y=-0.0633 right_z=0.3007 right_yaw=-0.1252 right_pitch=-0.4024 right_roll=-0.1627 right_gripper=0.9962\nstate[joint_eff]: [1.4291, -4.7932, 5.3402, 2.1319, -0.652, 0.2222, 1.0281, -0.335, -0.0205, 5.053, 1.3455, -0.1197, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b92bd4c5bb7ab8a77fa4b91dff275df5ae65ee3aabf98cc8d313439bd9d99d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e70adf5545f0550cacaf92f69924f78173651270ab8151e762b559330e76e8de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a04d72c4fb463c9eb22a8bd52b7fbab5ef6cf406c81eadd171f1b32cbe0efe",
      "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]: [-0.2672, 2.0098, 2.4413, -1.7008, -0.0734, -0.3302, 0.2692, -0.4892, 0.9428, 1.4769, -1.4979, -0.1318, -0.4423, 0.9962]\nstate[eef_state]: left_x=0.3928 left_y=-0.0904 left_z=0.2729 left_yaw=0.0304 left_pitch=-0.6911 left_roll=-0.0379 left_gripper=0.2692 right_x=0.176 right_y=-0.0633 right_z=0.3007 right_yaw=-0.1255 right_pitch=-0.4025 right_roll=-0.1631 right_gripper=0.9962\nstate[joint_eff]: [2.0855, -4.2051, 5.8188, 2.0635, -0.6618, 0.2271, 1.0281, -0.1983, -0.1026, 4.9573, 1.3114, -0.105, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrIFLEZN7HnUT1Gt-SVOWKN-GYhLjC_pDKtjNEfYP72Er5FyWTOnwD75-nSWa0GehywvzDkjh6KuGab4zjZpbRoqBuKIkrW_p8q8pKfZeccaiXUVgH4Bd1t9fofu2-PZ-8jJmN_JR1HYrYVEoNiII_98P81vic7YIUFHin7QkHtNkLzy3mcFnVQtfJnhaY3iRXXHgApERJBLc3V-NZu7_CsvS2tnT6rwKwjZ5ieFbdoQYJ0MEAdVNzyquluV6lxdiAhgDKcmT1Y5ZMke92wqEgrFZwrMhUkETzRemppZ4dEQvc-TdVawVbHn0zjLPy1iungv1HWezQ06YLlbnHUO-mgXe7e-DWDppaEC6mU-MZHQPl4bbR4-XrfTKJyCNSU_baoRxnEBmM3ZuvnpYOLkjlvFmkOkCBGc0mzzw-wH7EZwWp_S9BGoWhNUBJzymblwu2_g2YnVkPqg3hIAWv-Ld8ZrgaLP6fDl1d0TgWyJuTB1maU077SWKS5vVYqXjywIZ3dp0akcVp9u2svJZzySoSAeYq7RpuaPjNH8K0mKUJhmsRlHLTzSgZRzl_QEZ-8M7471X9aMzD9xYS0llehiwMPjQvqayEy5pBnMwryF4IbOewNOjdG4LE68r5x8m6CuKqizTLbjf6RsBI_YYcrkKxXtkPyHCXAqDIJ6A4cSgA3lw1sSPoygIQ9MkSsipiZEPREy4Jq0dvopknhv2xoxlEkDlAbRSVWwNhj3xzcLKA5sB_XHB93UPQtDIu2EiAOh6MT2syvVveZpZtCAgkHYNWMhjswCzzUkIpW_tUJKePl0VNt0s7PwWIIFcSO5C3jTIhh6xAS58Dlm2b5oAvHdAHe1vY7VZ8RWumhm39Yq2bRlCv-G1fuFVIsoiKcmmOwX7i_h-U40AEk3N5_Q8uBJ_ZOg7OZj8tUMEQ3u_0OwL4mlC2-LtzwstFwx2FhjSi0cH0PqTy5dvOlBMunwjBjhXBU11sRHspcodOFZG7Qaxer_OqLoTwBdWxGEod5ukLwSgrwMtUZfvHtYaFwivgghlVJNq0qArt0wzQAjgQQa7crkI1JEDtuClFh_mxrl13v5SjE-nryO_MrQyC-TA24Z93PCa1gMKgbqnlqnAUbcUErPqqI9-SglAGHHn4qIJzC6-R_j9E2Ye1IUE_GVeEKMQGtRK88auE895VJB-F1QoKoWnkL0Y1bcvRMMYDKL-Bv7thMtnoUtFmOwaQRA8c8PwtzCd4_QqC-rsNFPBQ5TC55lxYnL2ltxPcMfXdOXvEHONAyYlHc1HGXvYwx499_UHWjEgl5eP4AKtiPD7yOzKbJL39Vtf6eBZpT0aGJ4pafaxloeW-CVDPYUNC4FCyzga_HbMow7hEDpTSwx9ByMxLsi4hUzDrv-ifdpq09ozZ-xMJAfp22CfrJzMRjp0q8iQa92o8PWlmLqGzKmAPMNq4ZC_T6lFXV2aFkOV5xLWaxxETYNuhzt4-mZPbPT8q9t4Q26YINFjR3Ns8AdgpbovJt34dLG1yWXyFyHlHtjbsQB23xA0lVd7rSyIVoXgkeUI3v_3z33_55qSDZ87nTyv71S5rTSUpIxwFeu9em1ZMLMyy71l1ovCQB5AHynya0khyAO1MPe1WM1O8Jc9mLNs-KnOKdcYqr2mFlLwQMM9AcOnMfcCoyPHDaBKEnBOg6xpOc2-tbKqdey5LSuf-A_Kt1A8IIYjB4A4SIJAgdOsYLhbTnYipWcv76PwHUNPTJFDp-7vWDrjHRqbbYv_90yPH0ohM8Iz_zD8dNpmAjNDwjJuuJnSyAyQ5Ppk4mzwQ0jT1iRAv7v9lrKQT4-jc7eW2CY1aXo7sYQffJzxSkcG1een_UuWUPx8jK3JNrAQjoeP-3q7SHh5h6NPKHBa6L_BsvgfacytisSwWKNqBj54go9FjudNhxaGAyhO66XBT4HMzUBmeGaSsfSGy1aP5l1spsBJOZDM4X_7Skx25qGlutiqT-LZ7mdWOpI33VdtihxUy5ChKZwTL7lFeOtC2lnaV12S5lvmALM6xB77nkhX8iYSxWFGBTmVpVSIr1PtffvNo-j47W8oOL6zqRia0XWFAY5uex7ouxfVry_go4fwNlf52keoh6RbGRY5H7o7yhmlSfuwrQ==",
  "id": "rs_0953f6734d1959a4016aac8144e70887d19d19ea9ea61f7f7d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.085,\"left_z\":0.32,\"left_pitch\":0},\"note\":\"The arm is still not tracking, so I’m backing away and straightening the wrist before another approach. This avoids pressing the screwdriver against the toaster’s front.\"}",
  "call_id": "call_mtckDlq1zpxSw6HKZhHd5Zsh",
  "id": "fc_0953f6734d1959a4016aac8149a0e087d1bea43a1e698efe1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mtckDlq1zpxSw6HKZhHd5Zsh",
  "output": "executing move_to over 23 steps (2.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.4294, 1.2137, 1.3499, -0.868, -0.3286, -0.3332, 0.2692, -0.4896, 0.9447, 1.4765, -1.512, -0.1322, -0.4427, 0.9962]\nstate[eef_state]: left_x=0.3334 left_y=-0.086 left_z=0.2936 left_yaw=0.0172 left_pitch=-0.1146 left_roll=-0.0309 left_gripper=0.2692 right_x=0.1738 right_y=-0.0622 right_z=0.2984 right_yaw=-0.1228 right_pitch=-0.4177 right_roll=-0.1566 right_gripper=0.9962\nstate[joint_eff]: [-0.6222, -5.5726, 7.0496, 2.3126, -0.2857, 0.1441, 1.0281, -0.2667, -0.2667, 4.8615, 1.4969, -0.0952, -0.0415, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7572a4ffed62d118f2790a19bcd408db2ee80793b7e947b482ce54433c961cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f38a93cecd4da255c038df34c579feecf2863fd3c2491c8945d5963a699d100",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:213fe72ddad1a471c26f39ad7a011b41a20359e06f2399c62b9d147ab54ba1c1",
      "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]: [-0.2592, 2.0136, 2.4565, -1.7004, -0.0669, -0.3267, 0.2692, -0.4892, 0.9428, 1.4769, -1.4979, -0.1322, -0.4423, 0.9962]\nstate[eef_state]: left_x=0.395 left_y=-0.0888 left_z=0.2755 left_yaw=0.0264 left_pitch=-0.6815 left_roll=-0.0485 left_gripper=0.2692 right_x=0.176 right_y=-0.0633 right_z=0.3007 right_yaw=-0.1252 right_pitch=-0.4024 right_roll=-0.1627 right_gripper=0.9962\nstate[joint_eff]: [1.4291, -4.7932, 5.3402, 2.1319, -0.652, 0.2222, 1.0281, -0.335, -0.0205, 5.053, 1.3455, -0.1197, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrIFZ46vWuD3i-dHt5S61R5kiy4IQZwfcdzljI6eO2htngJTFegIAxIwio6PKJhzFQ5OuLMRsnEWG5N-CNP6Gfvl3Y6qTewFT7CX45mUxCbDm7WrWeDFgO2ANoRwCtJ24wpvuPiUOUiBoxpspK-DB8IFIbpEgwT6OboDbOsXJeV8U9zRK_hM5fU2p-CWxSTYROfV3jZ_vN2tZs-uk9Jp_zOeeKcOckxZcTnW0SWMNzy9BbwQ4Im-duki5mVLcvHNO1mttZY6wsX9dy2FFhuAoR_kJXM7eYhWWO1i1BgJ06NnboZMlm_n61NaqHKeO8mo-AeaYaM1EetwJu0Ogf5k4huK3TlTa6WrLb8Vl4nl73VFgBC88V3itQPhi-CP73U3OxfAuVGZBcUV0tZgIoyYmR75Zx8ECK6PDZdk1xgkjwPJ2j1BAFToH9pwHbWRNcyqlaSif-kWd5ScCVGRXV-Ruuf0TuBVutWZcmiwjQUgjOX2yCsBTZIlQrsVr6RMn3yrAdFkxBd2utd3-6u8U0A8iYreQbZm2ovCU4wduxSqTz0RHclTmQkGoOUbwPQgEXpOR__1gNXCMmFJRUePuECIhDXRSboyyQ3UKYT2fTYwhqqpOxo3XCA2xDCyTBWrQBQgrm6y7VUVqAFzYbVB_M8kk2IaQgizPcpMzr8LDXJLqIz_mnOARcTgIpok_htk5Gqs3ltPHiJ-cPBaOujqGyui411jlHnLSusaF7cCq5yyASDd4rHTaaGa1liwYmZfz-SkGZXWPDfZ8PZDxLlWjR8DlT8BQ_PL2GnPdEqR_7ricp1lYV0XBEHsha8d-J9Xc1FF98Rgw65CqhnPUkecHgeYFnGMsODGoKxk71GDYuz2oB3upe0gGpxfZNR1aSUlYSSXjhFoW05SGKlcoz1Qj18kgNmcE2-_GrUYol0iqznYOMPVBxNEOmm7tGRdr150ciC7CL7a8bAjDRWcThP4YYZJHUH4Ftt3gs74kYjJgXVJiUQMqZ7-XH0n2DTP6hqM5ow71aFHESmNLHHqM5_IYyT6hDj3akrmd4Ew4kWt49fRfHNyKPzM3np9btltUTdq-rxMrwK6HSBCru9MiAu6E_SvoI23r00A2d8DiAdjjW84dXf5IAMYd1wbIqbFNZRFkm7Kxcxa5x_-AT7EFkChKhSDd2IxHh-Tt75NKUg_Z9RmbGh3b_swaowfsyB4WaHSPSe9WiXjhPjy-opdqqJynLuhu59ttPUN1yLwo2ObRHwhI3BIvvBcF6Iiq6r2TKBO0rmkdpEg3QqU1j8qtQL6-SNzqpMKIchanBFWiQMC4Xskk8zf0hkElQ3YCKdzjVLNF5FxMTu1y2-xuIaTDzL0ZHzBDNKY_CdyK6W_94Fe_VW6FQt4W8JLAEqBCSVW8T7TnbSxJ6xW_xKAuFFNBZSebhQyr9Xh35VlDhqdR-qVR7XLEI_OKW_FVxTQnGBwV2f9hEgWLweYdBbU7PMiBd-zNp_rMxHXaM5LYivYylNMySMkyi-AHzjiq5bUZ69Vs5pwUIY-q6j5VuixQm9LJFhqnuW3yAzKxGeptpqxJd3pTe8-CPjnOac9O255yw6WEarS-KPh_kW6o5KOGeuSoojVz4PIjUGl2bjNoWRedYvhmomWEF0jF-3gnHhP5PkIiiW3AD5jMFjLVzFaepsUWCVpDQmr7aQf_NmSL0Y5Vu8cmmbPQJhi4YE3op_yZAE0t9Ud4QeeH6oIyeuhVuEvO5XCa2RqLo7tqYZVm1rtXPzS32XB0AXoa1xKbp6Xjw06kV6t_0epUOWbfVVesrzP54o1VG_81JYHD9a7VyTS6aSBOgcRX3QbN1ClmbcoOeh-ySWMMOEMF_Q6B5qXDJgq-K4Fjt-EhOskxm5hfIHPkvhGj1eyVL5QSTvaeAQJVffYC2HjeuogQTp53h4d6JCiqNyk52vTw8Z3ND8ynfWzohKJxx9DqWc5ZbJ1GpyX1suqkHRxMPUGZXLVL-NxE54GBHxvaWYAvL60ohBkW3mWathafv6nLbGktvrNWpuHCaENj0qZo9-pY1iFtNb6Le-RjEEMe33KRqGpRQDDj2dGm9RxK4DZJQYnw-zeN8r1x7_NrY-X7e_4XPC4u-1_6S_5TqPgTnNNdskV6KfUx37b0ROFt0R59N6S_tnGxIuybEBjZ4AL8BaClbKxvbGJPSKxzihLVgVSEwvp2xwFcMmJJtYJ0-QO7l2iH35_QfD-I6ODvhOxHOhQ8oPt6_nJrvO_Fu0Dr2OHaXi2d3V8W500j2bR6GWeisqOigmmZpI4jplBDsn7kqCpmhdxhmSMXDrIHTJKQVQuSrmUtlODEvJC_9TL8hv6sxUjOJFsgBuKYx22E-bCGK-JMsSsSLww3IZDKEeUctiDqk-U-RMZ6EDJfXT4C6SFZCucIx3N1w5c_vvES5QT0TSDxcNQLUde5kO8bqH8o70ugByNaYfz9bWGvSKFNup1sE-u2xMSfy7t45r7cSomDkHxnA6M8Xc3vUYMvFKj3IharfFccodjWzV2sGS79vqPC7zKjbq0QrtPaBbYyTPTBSJvWTIbTt8_8LdkNgLVdgTSa3_kaXSYbbnQEYMLgBYvfRa15-7LXZXaMgQgetTzD_E9X4sw2D-s8JuzoqnlYK2wKI1Jo5Q==",
  "id": "rs_0953f6734d1959a4016aac814f34d487d19a6ce3d5d5e19752",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.10,\"left_z\":0.19,\"left_pitch\":0},\"note\":\"The screwdriver tip is now visibly lined up with the toaster’s left slot. I’m lowering the tool toward that opening with the wrist in its reachable neutral orientation.\"}",
  "call_id": "call_IqmLn1ND5TCbfKEQNFrdnsEQ",
  "id": "fc_0953f6734d1959a4016aac8157905c87d185a8fb4d516a3dac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IqmLn1ND5TCbfKEQNFrdnsEQ",
  "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]: [-0.4194, 1.2896, 0.9215, -0.4522, -0.3286, -0.3065, 0.2692, -0.4892, 0.9451, 1.4761, -1.5131, -0.1318, -0.4423, 0.9962]\nstate[eef_state]: left_x=0.3524 left_y=-0.0908 left_z=0.16 left_yaw=0.0184 left_pitch=-0.1947 left_roll=0.0276 left_gripper=0.2692 right_x=0.1736 right_y=-0.0621 right_z=0.298 right_yaw=-0.1227 right_pitch=-0.4196 right_roll=-0.1559 right_gripper=0.9962\nstate[joint_eff]: [0.6222, -2.906, 7.8564, 3.6264, -0.3199, 0.2369, 1.0281, -0.1846, 0.1846, 4.9026, 1.2723, -0.0806, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b4950418004bdfc47fdef80471d2714bd5748c25b93041c5a98f947c2ea8a37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c79836662838116c26270b8c384d3a6381ab67de3063d03dd011d9c7c10a66f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:795159596a7fe2d364808cdeefdcf0f7c1b120fa33624d927fcadde55419f8a6",
      "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]: [-0.4294, 1.2137, 1.3499, -0.868, -0.3286, -0.3332, 0.2692, -0.4896, 0.9447, 1.4765, -1.512, -0.1322, -0.4427, 0.9962]\nstate[eef_state]: left_x=0.3334 left_y=-0.086 left_z=0.2936 left_yaw=0.0172 left_pitch=-0.1146 left_roll=-0.0309 left_gripper=0.2692 right_x=0.1738 right_y=-0.0622 right_z=0.2984 right_yaw=-0.1228 right_pitch=-0.4177 right_roll=-0.1566 right_gripper=0.9962\nstate[joint_eff]: [-0.6222, -5.5726, 7.0496, 2.3126, -0.2857, 0.1441, 1.0281, -0.2667, -0.2667, 4.8615, 1.4969, -0.0952, -0.0415, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrIFfDywTW4kLsQK89NDPbvEcBd3TXCHHvVUVXFzSSiTq7O99MeDfwE4nRSHyBg76HkoWzDgxNvX3HUvWHNvn-XTTAF2LVIASs8b-7vUkntgdkchj3MtDK6L2RKwJA9C1evS3Ukrarx8157GMvx7MVvGmvRvlJUxSdv8b1Vmpnr6EASeYMbqMkhCOyi6U0y5Wtvq5G4nwIn-zschtKJFplUvaEodhnLM3LceUbEJcQ6xRTWf9alLyrMeSybR7J_sYR0sw_AywlfkaUWEmCEpsgZw4SnR8TNMOaIlgjC0vUxI48oVN1A4-ku7Dj3bcQs5zYJ4OwmFSs_n6NfzKiKupNyZCJzqGAvMI1AVKtIKQ3XceCF3t6Otw1nQ-Dbr9tGsZVz6d71qt8hbh2sKl8r9bZAz6jwltSTwIkwcI7nXZNdxgvLTz8Ko3O4xVVGCc9FfO2i3gUNTBBXPDGBqEjct01DYXa1-A3110MMiRnQTTTFOKAi67KS-PRwKPW_8OOmbFYos7JmPu7LG-MuErEfcI9ObKubpkaw3Agvs-J1GfXw7UV998TV7otTsw0k5ZKOPuhx0dHMun_P3SeA-Gvm1wcVRjj36x0gRr6MLbEBO9z__WC3dqcrOELh_LCwv_FBa9ysMYQtoK4tHe83PRWJRJD3MZHfrYTxpHvnBuXNG3rfoYF4Ex5pmFGLjLSw0OfTFWgRbIs82qwnFO-l-Wbjuv3pGNCAPMJnHzCQ_du5C2g82YjXUKHFjMRCeXBharJQCnCIxL0C1JgTkC7GLB0vEwTTXu_kcy8r4leoGLunl_oQ8jKcxUkXgNPue0FrtMU4Xh5TiI0WRJnrv2wKZ7NF-spieGW5Q5CC1L9ODMbRFaPzRddtNJvyY-CVJBjpxjIdQvrWzcgG8QG3Qf3nJJ4MDxfEZAJVsDjTcczjEa10uBKAJTgn0qkZ7DUEMTNBsWgH7BNWLKoZdG4Cg9ZZ6dxi8fHkzRngxJxeRrYDO7UkzuZUxXEbNBRaaJtkez76xfD-xvQuZqFkd2SgKXuP4QZwu3YqioBgpaqFjBOl8G8ilGhbjRn7JVjugWePri0JLnz1FIw_TzIQNXrGqha7mYzMEt5-jR6zniQezRpDQiPWaDx_1GdR_lgGE_o49az1Y9ayLEYlRkhVFIDDRvTYMAewBAJXhqMD9xreYj4QXL2788ffLVmtAAa3rrkwHCxV0-i2Ucyx-7aVLYdKbrbAxnFulJjLp7oadzr-ZzVH39HEujV9929spbP5NuRblE28GdcMZxeB6rAIMett0Yfr2qtCVtdlJqSCSsk-Q25iTwAz5mGxUukc9R1jqOOpfP1_ziGw8JnziMp01HBualHPV4CCVSovMWzPx8AnDq9qfeNOnTKGBQQE_dnLerF_PbbH1GZmg33ihFyAHdz1-_HckL1v2zOGW0iCp-xhaUpSZqI_Idr93afRZ1fCLln3290R_iM4aa1hZ2Ny1bBqYv50isSqZKnmzlA-b_tG4ngjnlUSRVEZEwmEd6mGzakqWAMj0maV7xyOSu",
  "id": "rs_0953f6734d1959a4016aac815c541087d19e25424931cc79a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.1,\"left_z\":0.37,\"left_pitch\":0.3},\"note\":\"The tip is against the toaster’s front rather than in the slot. I’m lifting clear of the housing and changing the angle before approaching from above.\"}",
  "call_id": "call_cT86Ia4ZR1h2RyHLGxJxBwci",
  "id": "fc_0953f6734d1959a4016aac815e948887d19c1ccdf93da84cb2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cT86Ia4ZR1h2RyHLGxJxBwci",
  "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]: [-0.5453, 1.1507, 1.1927, -0.5049, -0.5385, -0.1989, 0.2733, -0.4896, 0.9466, 1.4757, -1.5131, -0.1318, -0.4423, 0.9963]\nstate[eef_state]: left_x=0.3508 left_y=-0.1027 left_z=0.3244 left_yaw=0.0039 left_pitch=0.1756 left_roll=0.0605 left_gripper=0.2733 right_x=0.1738 right_y=-0.0623 right_z=0.2976 right_yaw=-0.1228 right_pitch=-0.4214 right_roll=-0.1552 right_gripper=0.9963\nstate[joint_eff]: [-0.7043, -5.7368, 10.6325, 2.2393, -0.2613, 0.2955, 1.033, -0.3487, -0.212, 4.8342, 1.2674, -0.1001, -0.0708, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28cef3f8a2f7a5cd4314c4f4c360cb7ff842a9fd40d68e9e8d096818b03c7acc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bba25d36f8898a59b4590574a33cf3bb9e4cbbdd2ae4a28e6af503f8486db482",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 382):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:131678bb397d642b5174c24e41c9d3793d7383089fb4f943e67cde3763e2db0d",
      "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]: [-0.4194, 1.2896, 0.9215, -0.4522, -0.3286, -0.3065, 0.2692, -0.4892, 0.9451, 1.4761, -1.5131, -0.1318, -0.4423, 0.9962]\nstate[eef_state]: left_x=0.3524 left_y=-0.0908 left_z=0.16 left_yaw=0.0184 left_pitch=-0.1947 left_roll=0.0276 left_gripper=0.2692 right_x=0.1736 right_y=-0.0621 right_z=0.298 right_yaw=-0.1227 right_pitch=-0.4196 right_roll=-0.1559 right_gripper=0.9962\nstate[joint_eff]: [0.6222, -2.906, 7.8564, 3.6264, -0.3199, 0.2369, 1.0281, -0.1846, 0.1846, 4.9026, 1.2723, -0.0806, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrIFl4T-I1qs16WcY0RDMh9irXPXCL8KJV7qF68mYgmrlKGgUIUlUxBYM1BxIPjVBLQvI37K-xlrbia1n8S--stYExuHyciFtOPUoy2NSW6E63sYRdoy6GK8pv-ygpx2RO1Va7Jzl54hUuVZsTxA-HUQhYC_VRWMK81D3bKHWYHtS9qh0brggS0zf22t0bWOjpu9iab7K7hEnEIvAPEjB3EiL8bNlx0DzgWF1TU-8Y3vMIzVZyyLi2AH3aBYctyfMt02HvZRCB1HigwAvxaJ3d3HyI9RO6xbHaES-QvKIiST059w71BJ96M4hUs6wLNyU9XS7wlz4Oc_u_dJ4NSHm6kiUgNmGud9uyplnmoo_ze5gQnwEocrCMC0BtglGmjHD3IJmkXKA25Eg02fysJ9-UXeaTtmiKDvk2nPlQvpQ5g4Om7dVdjzVpCI_hB7TjGFGa4i2I9tsC09ZdT_kcZkboLfxQ2S2eSuVOLStAsV64UWz94F0i8Cfm-PFhsenE3W4pvDk8QqOPkO-Zy_kUK6Se0SBkrDJkrQuT3oFfYG7aP8UHJKfVDaYD5TZJQ7gF4fMATrvMNikrHMPSTyRsPboP242vXn9dHGc05tne3i09_VNLztH92-m4cpHIM0BJg919_5_olj1C8n_5gLXsEB3DCx3Ke23gV7TxG6GYHknirvWu18CXleTOB5y7vDqYmjb9Vlb72PrHak4FLSILY_lziy2zna9lm4fFthUzDvLIdqukK--c6CKwoSZS7WRueBMh4Z0msq8-IjXALUdlPWQGNcQQa9TeGpGSY0enhGWoeWfhPfhK6zbmyUhBh3fIRjNgyaAvshSp3w0CvRckplDMvbVkH911YvCYeqBoz_HHqSXknsFL81XyyhBzb154LSgp-HdabOFJnXbflWRG5zshayw9WGkkaw0IMTZiAjzf7Dqy9qi541y8Ks_wCPTEG1hkiPTBhBUi4W7of9YCxvkfPFw5BII_NIk3HSN7niLF90ofIkygAIE4MK8f-bWGHLNJk5CHSYeqXJgg1-Znxg-UOhAuKep-h4YYeYSBbBqIRJJ0079BbTSSzZJOAmUJRyct9r_BWFYvXm-gEZpSCzQZGaT4zdLOo_kT6RYscSZrEPdUV0bzNI5sBjF7iDdKKE7KuNIlnr-TeMorLXgpgTs0zzNVEQ2E3hheaD-bf1aCU8bBRlYw1q6BLjGPbPPcfzX9PVZrrWnUpVXm3-WKuF6jXU9FiQuoTQhnxUANeiJDvZjT7CVi6q734kT2rDDd3_LA5DCHgAiEqtv7d10nBc1y4bQ_zrzk6BabzwkdKsI3SkSO5DWKju1gcF-YuIXw-k2gpI_sTs5XDpiN6Zk6yvBnOLCDg==",
  "id": "rs_0953f6734d1959a4016aac8163522087d190784a9f265985f3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.1,\"left_z\":0.32,\"left_pitch\":0},\"note\":\"The screwdriver is clear of the toaster’s top now. I’m advancing its tip over the slot before lowering it.\"}",
  "call_id": "call_bER87DYnPpOh9e2OG8hqCfjx",
  "id": "fc_0953f6734d1959a4016aac81642f3887d188a70ccd5c433bc5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bER87DYnPpOh9e2OG8hqCfjx",
  "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]: [-0.3847, 1.4956, 1.5307, -0.6872, -0.3801, -0.1925, 0.2755, -0.4892, 0.9493, 1.4723, -1.5139, -0.1318, -0.4423, 0.9962]\nstate[eef_state]: left_x=0.4237 left_y=-0.097 left_z=0.3019 left_yaw=0.0251 left_pitch=-0.0307 left_roll=0.0789 left_gripper=0.2755 right_x=0.1741 right_y=-0.0623 right_z=0.296 right_yaw=-0.1213 right_pitch=-0.4278 right_roll=-0.1525 right_gripper=0.9962\nstate[joint_eff]: [0.4034, -6.7624, 9.4427, 1.7509, -0.0659, 0.1343, 1.033, -0.1983, -0.2256, 5.2171, 1.2479, -0.0562, -0.0513, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7332b70d494c6be34d2da85e7d4059ab632b50e6c44a20b686e691af7532892",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1c932f4c327fe1c854b77b81874fbc18676192aaaddfde51c3a4e2f25febf1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6de87aea7059ad540d8a64c137b104016c25cbef18108848b69d53162c9fe62c",
      "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]: [-0.5453, 1.1507, 1.1927, -0.5049, -0.5385, -0.1989, 0.2733, -0.4896, 0.9466, 1.4757, -1.5131, -0.1318, -0.4423, 0.9963]\nstate[eef_state]: left_x=0.3508 left_y=-0.1027 left_z=0.3244 left_yaw=0.0039 left_pitch=0.1756 left_roll=0.0605 left_gripper=0.2733 right_x=0.1738 right_y=-0.0623 right_z=0.2976 right_yaw=-0.1228 right_pitch=-0.4214 right_roll=-0.1552 right_gripper=0.9963\nstate[joint_eff]: [-0.7043, -5.7368, 10.6325, 2.2393, -0.2613, 0.2955, 1.033, -0.3487, -0.212, 4.8342, 1.2674, -0.1001, -0.0708, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqrIFqxJrzrEHwe23t5Rle1pyc4eIZaUE1dzTrnfcG522DNc74G5EKiVHLyhY_DZV-9QbYqkZo_sxx_HKCCszdQl0PKYO-JaSWG0Hjz7GD0jHmj2s-KVa8sKgcivbNIAm4wavkV3rxEhRluMeaApZuNUwM7N6CILG7iR0vnD5y8gnmvWqXiqFhaug52s3ArOd17cSTkXrpCKf_eHTXEP_GXFEZmkC9ceUTT6K7QVCyl2mxTHkRxiswsbtdUVud0gXAvIaaE5XXUV6hZY304eLxm6Vd14TjEHveX4Z7vJZ6JtprilEiyq3bc6eYOnhPZsBLY_aTg2VqPF1jkprDYYOMySq86d4S08TYzicyr4Bh6yxX0Ve_T2fmM7tQVKO7LUyjtLWOhoLbdmtzRxMKKpht6hRFVehra5M6gyOFCO1G58ha60fOVWPzk1w5XNGN2PG4_vFlPw6TqwR0wBv473aDyCYENJfTDJH_asiwt9Vtp3RVffoGFu-ZthkcLCx8VHLSx_LHpFsWAOL2LyyM2NMRD6IUWQJlzF7ZEKbNSJTxvtwMuK04bFthyP13OPl0edQZHoTQFBwzcw_HoJyb01S8CljhGjJiPyO2u1MUxRlJ9GnxvmWcAZLN6EfAjNQQHQjx8FvdQYctBEpoAXhq5CstTjlAHKWOIr_gbCKhme2p8PG9al0H9N0PVWU7I7X2uohoavnprZO6RsOynvWuHv_GZFStA-BE0SovbHQVDeQUGF3fT7K2yTPuJ_3lik3Db6yXI4X7FMj0diSqH6NPF7AiO7beS8C-AiJ9zlF_khLHwy3P6cgZewFAroZr_QIxkPDr9nnltHlDCp6K1hVEItMMzthU74tNxinE_cYU8q-xRDPgS3Wp09qU_K8AQ1DyFwjWmTNERTGhG189h_GMOMIl3h5gs2OJj1WgcaZwaZNzpWEHlHe0o1L17sgbvBUFmsdQSBSpbgKsDY3pifinZw_AUI_WFOcXywG9WfzbV8AEPyFTXzT9aYVyhuLlSgZiE7VdkmQniImm6T-JsMgYjuLVBETtfsmlfydF3Gmenr7uBIqD2ZSfMWfBpqJXGYL8mNRwnVvLTGtpQFY9uvFdC8xmICptwaJFafKP2QRSC1QZ_C8VwclGkaFcIxPv-khqcL4ImVVwDa06Ou5trAc8jxal7kaP6Qbhk9GXg1uZtUlnCVVKDmmJHqllwIveN--juTOxeub-LADSyBJfzpSJrSlICbYMLxNGScM0oOMHsDpbTix5bjH4lXFRHe5v0ilzDIDa5t17KsVPfCpGOAHhHgBXvsv0IkKVpo78tHv-50TKUC7Jr_74bd0I7xjyR0iINHqYVYlvtRBrRsxWHtBeiT_QJn3GiA==",
  "id": "rs_0953f6734d1959a4016aac8167a6e887d1ba254ef7dbaaf35a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.1,\"left_z\":0.25,\"left_pitch\":-0.25},\"note\":\"The shaft is aligned with the visible slot. I’m lowering the tip into it while keeping hold of the handle.\"}",
  "call_id": "call_VEXMhFAdm8Bs6Rr6A7hggMAz",
  "id": "fc_0953f6734d1959a4016aac8168ee5087d1a285fc17baeb960e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VEXMhFAdm8Bs6Rr6A7hggMAz",
  "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]: [-0.3492, 1.6672, 1.6211, -0.8501, -0.3058, -0.2276, 0.2755, -0.4896, 0.9493, 1.4708, -1.5139, -0.1318, -0.4423, 0.9962]\nstate[eef_state]: left_x=0.4347 left_y=-0.0979 left_z=0.2372 left_yaw=0.0333 left_pitch=-0.2742 left_roll=0.0987 left_gripper=0.2755 right_x=0.174 right_y=-0.0624 right_z=0.2955 right_yaw=-0.1214 right_pitch=-0.4292 right_roll=-0.1519 right_gripper=0.9962\nstate[joint_eff]: [0.253, -7.6786, 9.7299, 1.3895, -0.0171, -0.0513, 1.0281, -0.253, 0.0889, 5.1761, 1.243, -0.0952, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b0767cf113ad2d368eed4f18241ac17106a125452b7e1cca7560d7d8eeaebd6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65e629eb9deb4a1221a2e8875b899a892e02240ed1f1992067eaf52007c67381",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a773900c3023d8b3dbd9c5b8005c59d17a5e2fc99160378d7b3acb75dd50c91",
      "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]: [-0.3847, 1.4956, 1.5307, -0.6872, -0.3801, -0.1925, 0.2755, -0.4892, 0.9493, 1.4723, -1.5139, -0.1318, -0.4423, 0.9962]\nstate[eef_state]: left_x=0.4237 left_y=-0.097 left_z=0.3019 left_yaw=0.0251 left_pitch=-0.0307 left_roll=0.0789 left_gripper=0.2755 right_x=0.1741 right_y=-0.0623 right_z=0.296 right_yaw=-0.1213 right_pitch=-0.4278 right_roll=-0.1525 right_gripper=0.9962\nstate[joint_eff]: [0.4034, -6.7624, 9.4427, 1.7509, -0.0659, 0.1343, 1.033, -0.1983, -0.2256, 5.2171, 1.2479, -0.0562, -0.0513, -0.0171]\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": "gAAAAABqrIFvIpD_M3AXns9ODhv-jXc3l9emLAGx0yQ7PcdrnsQpyjnUUytf94jsdWUIWLI3y69w79kzBiGALuXKVfd4FMUMV5bZtPJO75hJpFU-9g9KsfVIwhpx-u2-agXF_F5vohpWRxaQb3KQIjw_1orfASkoFSgdDk6PzV31Ny3F6IgCm9NqT1Uywb0cN9dSW4meFjWEhaPLN-3jaSqzPjCyuUrWExJ09UhnJdhqjk1DWVTvwUk1Nof6Vy5rCoCqrdWA66EdMwFPPIFrrBsK1k1aHr5OygfhKjR9lAwVLPXPR37NhohDwfLQWlq8MjsmD3xBEf3_NnL1Flhgf1Viep8BPuiRN7TfM_wmJ2Z5tfApC4BuiYsL_Cv4nHHYYNg2tP3_V_-nvbkMt4VLhEg2tupY2bk9ogMiCTo9dxdXRg7RThJBL2mgKOC2qklJis4FDUDAUAq-rvnxP8DS9HzAMQ-d6iWme-s8rcw3sGz9UQa2fRFTekoHwoWQFAkwxW4gyPTK89pUWMEecjOuxsCOcK9iD5iG1ZlFYBnAwOxNKQO1cD2lEWXplu_H8Ek_A_crbHh8NPGY97jHPAOtlOMuituph-GsuueMcYg8WHo2W3SitSsONT60tCPgwj3psFRw094eqyMh2oqJBxgY38_FFuA1na7MoLBe2TOhsMsR5FW5ANE-JfPqF4nxVcMgc9o2bKxfRuH8VoayQck32ADlDvyExB5lcaOlVJe--vs6aS_OJnEzfXmiUqzzKv0Zfs1jUEHEmM_YGIwtxlr-Uu_wIMqK5krSp0N3_yKljlviPzGMw9mQSVLwKm2mEongG1Q4C0QypoybgeDjW8b2gHTv03Dm1v3ivqcztMYXUBxUYSIDG99K9Z7G6tifw_fvrO5E5keQx7pvAJQaHSSr_p85c93a5bCle4sMcErYvmAJxUb3egmgMuYJQZ_CXRm_cGRwLOyGUN0GWOKdyQpCDhWUgKHuTOlA2zo3fAKgxeTPq8JTTd2_RDIzeMOHex7dojnJMZKg4qjr7MnRWwdjcNYZ1vNWGt_HzWapwNCr_1XWgrUtw1FhVacQItuU9H3oOGJzU7OA4lFGXyn02nj8auNz6z48WfgrYuQkbNh6tt4HzZXuAM3BjwPQcMbklAaI823BTVxv_yO69mwfpOz8zDulu4MD1gZL4PwHIbNVkK0PqM-DTOMq7zyquJYg012Tt8LnRAjl1v0J",
  "id": "rs_0953f6734d1959a4016aac816efdac87d1b2a10a3e195e3ddc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The screwdriver shaft is positioned in the toaster slot. I’m releasing the handle so it can settle into the opening.\"}",
  "call_id": "call_988pbmQiGrF2ZSfWiRZOz3Vg",
  "id": "fc_0953f6734d1959a4016aac816f33e887d1a5f845a0068f0316",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_988pbmQiGrF2ZSfWiRZOz3Vg",
  "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]: [-0.3473, 1.6787, 1.6199, -0.8612, -0.3058, -0.2348, 0.9952, -0.4896, 0.9497, 1.47, -1.5143, -0.1322, -0.4423, 0.9963]\nstate[eef_state]: left_x=0.4341 left_y=-0.0968 left_z=0.2303 left_yaw=0.0419 left_pitch=-0.2957 left_roll=0.103 left_gripper=0.9952 right_x=0.174 right_y=-0.0623 right_z=0.2952 right_yaw=-0.1208 right_pitch=-0.4305 right_roll=-0.1509 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -8.9915, 6.735, 1.5018, -0.1783, 0.0611, -0.0513, -0.3624, -0.0205, 4.9436, 1.2381, -0.1294, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:366b130b9885488411ebed9e69f952b45caf1addb4e4bfd963a4c123f282b231",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acb26ca0200f068a40d4634e6ddf6d528db8d893ddffedcc6ae840ede7fc1935",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 405):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2970df9ef071ff767ed4685581e9916a18177895e73afca46bf93b77df81cab8",
      "type": "input_image"
    }
  ],
  "role": "user"
}