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: Place all the objects into the safe, then close the safe.",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7929, 0.6044, -0.3916, -0.0193, -0.0338, 0.9993, -0.0212, 0.7948, 0.6086, -0.3962, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1781 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0009 right_z=0.1785 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -1.3197, 10.2222, 1.956, -0.0757, 0.1734, -0.0904, -0.1573, -1.5111, 9.6205, 1.917, -0.0366, 0.022, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85ee6c16bec22a645c39cb88d527cd3817f76ec014f39debce06c65991119198",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55028a8acd030a1aab389e8e26a0c3c2fc0fc5cb66f8046b31543d42f48f8cfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6076b10cc4d7f008b17e25414c56f8bb39ba1610985f0e293b4ce305941acae2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsrvtv06OexW-ksmEfMV_pD1hhjFff4bfH_rOX55j2-sIRbUWgKuKcNa7k4tEtnwewDk1_8V6ag3f2O4ELCrirQbp_4DISzYzkdNHDySLQgluHpUtV5e1DKTdbn5i8fxUaHfcC6T88u8pPmamY-5XvsfFf9GUoS_PENMLPuwwXiEFml2tAIdVedLFFIc1_SGQRuj-kQClbEirjqstn_hmT3yY4xVwj-qkModnp5kKPVEbPlHofyQu7tA9iZrLEPByyFbYQ-enhfMnGU4uAB9oB9njg0M8h9ylHVKrhgEzgUPkmAhtxyypxcCMgCUtoaZ0C6fLxb38SE7BRpPt0y0bsWyeaiPatey9BG1dhhFN3tuv2beSkCgOwswmU9Dm9_LGr8ROueGBMpBIQ8XI0siEOvtrqRXAIZgpL-bSFuYpEzu6wlaOeUa6AscRQDsawNABoLqmsbGSaTAwDN4EWEquVFuRHSJjvhBWNMF2slx4uxi69xUISednowzTKiL2iPBxOpblSB_0m341e1fugjUPJgKUEtwJEjmEGm-WaumafRnj6UwChc49FfAokOAdmkMJPal5j1Bk8kXp_0HB2T2jHsZOjykO_H0sUraCxcMTbAxBRjfpgAXM0dASrSnLwpNLlfD2z9dBssV07Xh2ovOAPkH2fFVSzbkmGwRceqKRbCMt0sWCC8Sz2GUuINBFAZqc9DHpUtxRrzBSbbmjyJkaaOspjeyZ-G9eW0d-IYdsRazd0tJqePt120Nnr97cM7y-icI-lARKevP4FtREn9kYmowDHs-_-SwrZPfWpunUO791gwpZB7TvgTOupA2QVnIYf8CMYypwAfkVk9Vp0r7VChvywAG9y5JynI-hZmr5ISctmVSPQeG1mo3Sg1xDO8dsVI2IWZ9twHtoUptjuWsrwnkD8jJzyOA8m4S1BTKpZQWoUJYe7iWuQx-tns0GaOp5XgJhzCwBqZwVi80kyNTn3826hw5rSTjwP_fcaVTmGxdJQJMUazNLZceDtmeKhiyYXSWD3QhGGSf0WZYPXlNNOWslk6SqipRwf3Pvi3iVvnDP4NxG3AKB6ndf5_VhztyeCHTU9rRrHXyUXU0wIB5EAlNugR6ZjplJTRI7W3zaWgwxnBNAUIrFtwDXUHdb4KUoLltKCukG1NfA7jXnTUMitQjUPnEmLkZeUkichf5DcvxqmxcaTpEM7dgfh7NyPW67x0dcvPUiL526MBvVzPGVT2ccQa_KADFEW-5PfgMw8sT0BSvr4Hf0JyTj_GJTx1Bh3btfx_bjsMDjZ0JdRyc3yeikWUosAN9PQ-DWhhNC0bpgi_MsQzZBLtJN3L-OvMM-EbqYfGa1jfxfaAoshdwxFv6KZQf4nc5sCi-szJQupnJpeGF4ylLljNE5Xqzki4FGShGfN7CPAmb4U_9lPTyfS4ucO0A7slOyCmgo5aXTE02_5lDaRmBzg7dClw07MGV1fwMIzaWHBgtKhfBvZNaSXQeTSy-qN7BQpl-qaKpOx9QMAFjXZZxur-8zw74hyxE4whifTnGYvhi0qWRwDsbchmedi1Bq2GufIgvd6ZrHsVrNsIbr5no0zZSx8ay2qNk9cnGPbezLiaKu1jHs-KB8UdehqGQx5bqFZy23tvqEPjdJocdik007RCxMR2y7yQslbu-v7vWl44Pnv9Hkwk3Ang0xPNRo61iC9gJQna-DASNBJBXwah1_7aN00QMb0UM8iY-1QpYG23uDEm5-RqHBjFRn-AW-oGaR8LLQjCchd8nrz16LEabLACn3vFh9ZRzCHXaAT5i82Yfe_DzosiT101PavejMS1xU9DKNRNX4IssvRK3s3Ul5nBgx7aLgiKIEAyRQDDrp3lbJZpE-IYVsmrjwWyAkZmfglkibM1vImv2Mzjw=",
  "id": "rs_033dfcef11a96bdf016ab2bbe662ac87d086ec32168da100d6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.14,\"left_z\":0.14,\"left_gripper\":1},\"note\":\"The open red-lined safe is behind a white plush, a brown plush, and a yellow object. I’m bringing the left gripper above the white plush to line up a grasp.\"}",
  "call_id": "call_v78sb0HSty0fs4jPv4xXLVO7",
  "id": "fc_033dfcef11a96bdf016ab2bbebde7887d099e7473ba3318a5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_v78sb0HSty0fs4jPv4xXLVO7",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5465, 1.4075, 0.7605, -0.0906, -0.4324, -0.3431, 0.9993, -0.0212, 0.8005, 0.614, -0.4324, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3645 left_y=-0.1308 left_z=0.1178 left_yaw=-0.016 left_pitch=-0.0782 left_roll=0.0329 left_gripper=0.9993 right_x=0.2892 right_y=0.001 right_z=0.172 right_yaw=0.0 right_pitch=-0.0366 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -5.8598, 9.5521, 1.79, -0.3394, 0.0464, -0.0904, -0.0889, -1.6889, 6.5573, 2.1074, -0.0562, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78aecfc9b549906f7d139b08780ee17cbf1664cf3bbba02182f242e6d5ae6a25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:948a60def69881e91838336222df62e657808b695a9de969cee44bcfbdaccb41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:177bacb3120d13cfbe52cb623c09a6cdcd41d23d5644b36816c9b98cd74a9757",
      "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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7929, 0.6044, -0.3916, -0.0193, -0.0338, 0.9993, -0.0212, 0.7948, 0.6086, -0.3962, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1781 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0009 right_z=0.1785 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -1.3197, 10.2222, 1.956, -0.0757, 0.1734, -0.0904, -0.1573, -1.5111, 9.6205, 1.917, -0.0366, 0.022, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrvyJ24iBTwKIqLWLqFFSNJzHHbOsdtA_bOn97oBLOjmTzQPRWf6z-UcZZ5eP8FZt5nvmiGbPFKMehc-MULZ5pgqP9lHRPkdv_fQyILYob9im9T2jqnSqxbjtQew5IQRGz7BZU-lo-2jpTwlBLhktUMVReQqZFRMw3RT72GFJpwm4EgrWQMQ3_WnnrtxSVhrhEtSfULiqEu0m2aVL4bCKaCzQJJKIY2Wav9DZby8jZRNbZE3QgpfJ1mo8Xg2i2O-rNVaEHIpXhKrDqrLJJI4OVjzCo8AlsIF7xG8uIRm96XFOh_-9vp2ObLGFpUNUZyBrzTad0ukeruLvG50Uv0yX7iEjtPogTa7uucEcPLQmiYIWjnNMChHKcos0KKDjARv_iw9vSwtCxsunPRizOxrlfLI-eFaxGRrinnhkv8tX3MK-PDc4ZE1Hyo4zgc5BYp9n5MOg3BcFffjVz6bkTG4jf1vjAmyw6Fn7XxgtKMXB6dKe2e7Nze7YN90ZW0682gTuJhIr3P3ykpWO70wl48ZdWjuRdNFg9uxsEXsNv2otaV_DY6gwo1BTrJQyxf8CWFU8kXAupOlCrYpg6CdYwU0GmGFsULr9GJMl6ri1E_eOpGVnRatmEgniyxmb8P6As_jTh81gSicCGSHYpTFEfnQv51hauHXeZ4EAFxBfhu2CesiIglFfbxdbz0zWwp9q6dVLURAquOBS6Wjb9rHaPg3Uo8qg8CdGcaK5YQRSaUg3DsOMCcAHbEWaWKor-juC2OqZ71koH6JklHCWOaiLeQEKgawgW3NWh3DYpedMQwRmzdjd9SsoMGOLE7QWRBZt59KfChjMm2KPZL2zTad5K8_hqUjmWzNRCKlbJtQAz1kx1NV1XbVg7NlQ0bLlkX5mVj7HmJ6Rq-SqW7f5h_heEDDqJZZJoF23ML8VRMQ01izkLKMwhzMOS4_3IJyTHzFQ-I12rxUCTLaxvGqOoBZWkLC3MFarml8xJ58RWzHndA59Gc5XRR6z7LSUU-WEBeVjOlYa6YAdYxteRQyYS1LUMkJ_pDtDmymzTUJLvu8Q5zyk82EppRG-qXla5HbOcn8fySY-v5BMQl8PBiKNIpuq86H4vAOMYcsYy_l3CQ77tgQQkjFPL32kgnJvJVKQIfovXh6fRBpdl0F3stzmHwKrdCpul7p5cCYdnHitfjdyFmvLXiW5r-q_2TIBQCr3R_8T74-ohzbfHgdjthbf-jLF8bARzWeLyikGXqyohVfVv7TXVuxTypFeE4-Q0o9LW6CuNZHGf2TelMx9Wwyug1xwO5CRvJXHqIj-D62B5QUGEV1t0_DuDaw4S32jOraxuu-WmCcZvD8",
  "id": "rs_033dfcef11a96bdf016ab2bbf01fec87d0b84d47ab5f1318ea",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.12,\"left_z\":0.035},\"note\":\"The white plush is just ahead of the fingertips and slightly left in the wrist view. I’m moving forward and lowering around its torso.\"}",
  "call_id": "call_b34AIAHd98VrXk9pxZJHUfyB",
  "id": "fc_033dfcef11a96bdf016ab2bbf1811087d0b88cfce5c9e040c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_b34AIAHd98VrXk9pxZJHUfyB",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4244, 1.7767, 0.7441, 0.2317, -0.3557, -0.2802, 0.9992, -0.0212, 0.8043, 0.6128, -0.4553, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.4052 left_y=-0.1116 left_z=0.0217 left_yaw=0.0142 left_pitch=-0.1609 left_roll=0.0636 left_gripper=0.9992 right_x=0.2859 right_y=0.001 right_z=0.1659 right_yaw=-0.0001 right_pitch=-0.0645 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.1436, -8.3214, 7.2547, 1.8828, -0.0708, 0.1783, -0.0171, -0.0068, -1.5521, 7.241, 1.8584, -0.0269, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc5f8ce29fe7d6dc8d52eb2999c1579969e26684d2b2e2c93fcd5ff03bb9aeb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cc7cea6b277be9992453a3b7c900fca79a10f3a4e69cd03eed65771f8917cf7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:303b40c47cb78b0796cf31c22a5c0d2709c4b5e74942f889e526f060bf5203b0",
      "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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5465, 1.4075, 0.7605, -0.0906, -0.4324, -0.3431, 0.9993, -0.0212, 0.8005, 0.614, -0.4324, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3645 left_y=-0.1308 left_z=0.1178 left_yaw=-0.016 left_pitch=-0.0782 left_roll=0.0329 left_gripper=0.9993 right_x=0.2892 right_y=0.001 right_z=0.172 right_yaw=0.0 right_pitch=-0.0366 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -5.8598, 9.5521, 1.79, -0.3394, 0.0464, -0.0904, -0.0889, -1.6889, 6.5573, 2.1074, -0.0562, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrv397qe7w3NvYwmZVdxcwB5qhhBQX3VfPQmxf7CkU0X8GBIJtRdLyoO6v1mGfyRQGNtzk0Q2-cPiADLpucTk7NG9tS3KCZl98anwZCjDNCaSd_jgttgiE7ijxTVvIClMmUV3vxyY1OgzkuezBws5XCh5NSV7IMFlKCOTOSD3byUnedZ6L2ZtwXm_XmjRJuh6L8Zvl47I-RbsfsztETpAcsY1tjdDX8YnekhvkPARUE67Pdw-igR9Isj2zR7KnCw_7k8jVVLM4HCWeI2BvgYE9_uTOI-nxI86ohj7RLrUAKCBYRJwnj4CT-p_lJ2DxYRzb3If9oCI0osjPq065y4Ltg9nIUO5M02mMI-wAVjVtkXn4O9qkxUxlJzpsayfRPEyWS3VRQ042Xz0a7As7C25uRQo89eewy81mq_WXA0cxsjwOQiRd1EIcGiovm-v0TLCaTUm8ufVUWRcFnZyCahT-T60wic7WeoeQN6Bx00-L72OuSDhEiu72GMDkKEumOhiK_15gUpEW9HoRGCL1XuObTVIfIijczIVRQh9A-p5CWje8ClBEcYNVa5cnVykPj1TXe6i1pfsr3IO6tnRns18byl4_cy-_G-0_JMP8V2IMBDH8NOPv8KdfkY3t0nvMj1x-MoxVSoWSDS6wNrXt4BwlSOPI71oefSdvUqL13jhpAbO6F4VlFvdmrkii4SRjjOhhA_8oRGbA_PaFOkIBzl3sLaA6-xdunTBm_x3JCEU_os6m8WmNr5pOuVgESbQCuVk0HIFzdrDj1lhxoKN2JhoxpvMz9yzxWw2b-EyUWwUdG1jjlqEOuyO-DPh_n5gBmXOdcAfEk1OUEi-I4V0b-gpFkCusvbgzY7deirqmHqFlzL8-WLGbF_OU-0o7-ywwvUz-f7pNYJhXzEuoNOmIhDFBgP8KpbwrMVqpWrMm9OliMbYfpLuZtif3lR39wcfabMb5Pwv5ruEDwzeqnkUqRXUNVs5dTFfYiWpn5OKACioihq4ksznTBmYEpY2mc6SREmYubPZRKqvD9R_WyP9Bc7hoTWtNblRIuyuKqWwBXsSoda3ok3i-U0P3TA1SYjYz418I1nQ3pXopqlM4J8EDmIqIaNZBnY8J_xeR-kL7gjJdElOEYFbActrja1MdS7OuRcVyn2Wty8ZIm5lT_1A-gxXLQFb82TA9G3qhztWEWtjlpLw4A53QeOna1UFZSjfqQBUiWrbQzNT8Kq_pnO56VgpKVL5bhHPPPLiCTjdiVQFaFTogoPL0rZWufLPxeDvohDNwMe",
  "id": "rs_033dfcef11a96bdf016ab2bbf5274887d09f3dcf434e6c03b8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.105,\"left_z\":0.02},\"note\":\"The fingers are still behind the white plush, which remains fully visible in the wrist camera. I’m advancing a few centimetres and centering the jaws on its body.\"}",
  "call_id": "call_SUGil4YDxlYtGV1u7avRGApl",
  "id": "fc_033dfcef11a96bdf016ab2bbf5e15887d09df64bc3d2e9d382",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SUGil4YDxlYtGV1u7avRGApl",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3439, 1.9293, 0.9234, 0.1925, -0.3183, -0.2447, 0.9992, -0.0208, 0.8097, 0.6128, -0.482, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.451 left_y=-0.099 left_z=0.0117 left_yaw=0.0457 left_pitch=-0.1847 left_roll=0.07 left_gripper=0.9992 right_x=0.2821 right_y=0.0013 right_z=0.1593 right_yaw=0.0005 right_pitch=-0.0965 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [0.5675, -8.5402, 7.9521, 1.6142, -0.0366, 0.1734, -0.0122, -0.0342, -1.4291, 7.1316, 2.0049, -0.0269, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbdb15a6c34e294115964fec1dbfcad214568e9e03c3b0bd5d9a01154bfa1dfb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1417f9d313661b067b0983198513450a5294883e73c6c869c25c06c8ba451e05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97b1edb6313acef679e3a9fa274a59ce2cb0b87955c693f96450be88f72fba97",
      "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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4244, 1.7767, 0.7441, 0.2317, -0.3557, -0.2802, 0.9992, -0.0212, 0.8043, 0.6128, -0.4553, -0.0196, -0.0196, 0.9996]\nstate[eef_state]: left_x=0.4052 left_y=-0.1116 left_z=0.0217 left_yaw=0.0142 left_pitch=-0.1609 left_roll=0.0636 left_gripper=0.9992 right_x=0.2859 right_y=0.001 right_z=0.1659 right_yaw=-0.0001 right_pitch=-0.0645 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.1436, -8.3214, 7.2547, 1.8828, -0.0708, 0.1783, -0.0171, -0.0068, -1.5521, 7.241, 1.8584, -0.0269, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrv_dk2swVAIKB493iBreVRa7Oa8wVtnaGw4VN0UXi-YoNSM2IwCDbJxUq47-J1RSy_3tfJmjiZsT2-4_3u3EIlF3UY_Wo7xFN2XNPMcIvQTZtFSyOlbbdVuud4y7hA1K6ExhEaTH3cNbCsXRlcyR_zd-KEmPRoU1WdtO5qaT6xVUi1t8b84O3CLHo54Gcaee3J-EAQ8DH19mGVLQ8h-bw59RuDFyUR8QKn21RkUDymYbhzFzq5x9knBoMo-uYUuXuoTheQPzUC1gkh7DYjiwBZYzUuwqxH_9TQmqx5g9-X4YSTk41KVtYBE2mVzYPWBUud_tYbBfMZMg3gOa1sX1wtK3zoq03FwlFTbG6QFaSOL44keYa44-u4FYtD3kCIslkW_hJxnyDh7RlqtdZgkoqCIJgOnOUKs6ol5PmzN3FNPV_aMZ16TFSQeLNLi8E71fHI-BOlaezRJI0nsCiE1AHdyvla9gfwi6T0H57PhZawQ7Rey0ab0oKDuyoDFt6MVzsezSxYF7RsezwlQcQZJnTg4qOPyUKctyKUpjLR2FMitsLShENXqa6CbQRh9cMbbEQ2qyD8TiblON5R3wl9SABUAXHpHIShGM5pZ2iPc9-2G5HJ8gRiSQDLfxi__pAVl2dNiohuuSqW_67yA25QJ7iE_23FuMGMruZ-bNYwltwmv_HrWPBn-A3wz5ARnFOyMWepfBIERSBhQPrbrSxOO3CPhMsXJhoTBHS93Qy-7CTyNV4UB-9iRJ42murwwOi3sZ-s0anjypv4G2cvwq9-Oi7RjSLibUTI2OYKBNJB-xyzAPt0kAi4po4lVJeb8UR54tFDxbD8GuPkYEUXaG4PwFCeB-JP7uD38dUZk59gIJL7lmvaIAVOiAPRbIZL5yo9RSNDYLZk_3aHATMSCB3F3crm7HqRWjXaXklB8dXtkDZqLHU0oGNYrmk7D9fa7RuukVSy_qVPiuxXalh_qdtIO4_IW2tir8COMpqUc9slEDGmUmyJsdXWfu54PgDMLTMc92vbtraL6JVe0FD0Ubc2SC9Ial_6NjGcVu6EkBoSeLXfJo9-2PtzNXUwLwr2vy1ny24LvD6fLlnvDmxubYv-VgCcH21jXBQVzR2pJcjzBzo1vcLvdKOuSQuhr_IeKnmY46ti8WF3S2Un9JxA3RuGCVOVRtKJyFfm35CC9uW6u9i-zlEJ_cugcejyJ6VGagxutwCpbW5Dr2lsVrPxF7_giV2PGYqY3fBwwKrq2eWLFtIJ0Dm5hMpJp6_e7M4mUOOrDE-LTVAbehWPnxNu7hmUw18syEAovAs5NrNj38B0JxgHLLkUw-zAK15Atij77eDsO6oXkun-7ERiLJPfilRwib0vFQy8cgIrEPeN4nbX85FcDCbYqHlfDGdsIUWjUKI9lCsKC",
  "id": "rs_033dfcef11a96bdf016ab2bbfb55b887d0a1589356f94807a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.488,\"left_y\":-0.092,\"left_z\":0.022,\"left_gripper\":0,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"The white plush now extends between the open fingers. I’m closing around its lower torso while refreshing the idle arm’s parked position.\"}",
  "call_id": "call_uZdkF0BRe21MXSLpbtha0mDw",
  "id": "fc_033dfcef11a96bdf016ab2bbfdbe6887d09f0af3db266f8bfc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uZdkF0BRe21MXSLpbtha0mDw",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3397, 1.9434, 0.9436, 0.178, -0.3035, -0.2234, 0.0373, -0.0238, 0.8696, 0.6762, -0.5613, -0.0204, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.454 left_y=-0.1006 left_z=0.0095 left_yaw=0.0265 left_pitch=-0.1975 left_roll=0.0785 left_gripper=0.0373 right_x=0.2815 right_y=0.0005 right_z=0.1566 right_yaw=0.002 right_pitch=-0.1724 right_roll=-0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -9.2513, 7.3778, 1.6337, -0.0122, 0.1587, 1.116, -0.294, -1.2923, 9.7983, 2.0342, -0.0806, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74cc56b075cfb7abdd08cc5fb659b724352adfef5ec8b6a1c3f2360059c58f21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c0e466577d1346c154e5a6d7a61cb4fd3a9ef5ef466d0fb3c1b28341c47fbe3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db7d7f01e28f0a342cfa3cfb319ea1a67f6538f677f2974f0f7a7155380600a4",
      "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: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3439, 1.9293, 0.9234, 0.1925, -0.3183, -0.2447, 0.9992, -0.0208, 0.8097, 0.6128, -0.482, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.451 left_y=-0.099 left_z=0.0117 left_yaw=0.0457 left_pitch=-0.1847 left_roll=0.07 left_gripper=0.9992 right_x=0.2821 right_y=0.0013 right_z=0.1593 right_yaw=0.0005 right_pitch=-0.0965 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [0.5675, -8.5402, 7.9521, 1.6142, -0.0366, 0.1734, -0.0122, -0.0342, -1.4291, 7.1316, 2.0049, -0.0269, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrwFafE7pPGbPVqfmUvG2-ujnAyD-kWuR0KMINSiflt-htIjRkKP152PcQCLXhIsZMuFaEO8b-T1XDui1aGtn5rYuhXlpMVZ8aUBNi3NJuyg9rHlYg19MMRKhBjByhMoUvYDc3fIZAUPuSOTVBsbm0mT9UXL6xUK9ZrBtKYFJYDGZ2cAitLORwymIicxcXO_BuUyLHJfgqXQuFUvEtShFTKCgKHPQh2vhQ5Vr76bfGPEFUsdKGRhjF5oh44fK8c1XcAaXRso67hpk8X70U0QnyVVGK8HGhSZcRdaz8uusFhfvRpMOrHRxFyE_5_wCNHbxrYmsOSDX7J1WaclNSPwaRDVKwR0N75jtbOAjR-mYb1TT_DdHtNHCgoTBHnIkXwYS570D-BMTpWdwCGgRKQheotWgs6rKU71ZJRVKx0XrUPlgfJ13vsWGwFrY_NOV9gKVwaJ50FXdpRi95XrgtT6Mi1ab7Rj7CXWUr1MtkMi2dulgPhJa77hT48xzniXb8KmumszF5Dq2yU1g4EWpFvtddfYBsbOQrOu_pBwqtmnFIPH9C_erGwGl_FpAJMNzLUqAHPWtmab6pQUqApg8OTW7lfWam8g6Gu0C_i4HSU9b1gfmtX2c3PHXKDDfOTpy09agMLb1FR12kmnpKTUjWCf7rqtgeNOOtuSQ7TIccya8YUjZZ2-M_SPyJaHbs38JbY_BLuRB65EQtImtBQzyJKl_mvGg_I81A0pBPuPok794WbyzmEap761rT2mU0xs8N_tuvlbR5W_DT31oYje2eqbpley-gzr7WuQXzACez_5caAS8RHFUWfhPX_vbOdxP3ps_mKET5ArPGg3Wtn4uS4AGaR6_ZvO4_gCSbjibJFJvEzynOHozLG5_rIlDBt3CKmucAejLr2FAOI4HqSEOVV3N6FkxKG6bQF4mka7Z03w5ZR4NSOFZt_JQY2SyibI9phGeakKShQkZ4psfTczOKMacDBosd3I-3shUwqvMFFSteg07FVfEpFiP2jbvkJp_N7JcA6FifrUFlrWGRVb6m6sJNR84cZj8lqc3uDouSVBJzcTeuWTjh0oNA-V2G3zhillnCDWBd4dlIMEq5h-7pe5onoEQ3q-yr8YLqXz2Mf-E2b_crk6WOpQl0sB37XF7Ju-E1VMtO8kiH8eAYlfN_AZ_6BGIgRHZ6qcOIpA1LA7mbtV2xgP9wXTsf48ctpyBCyR_3_KSfOh68UWbsx0BprO4eH5HtUWjQL1XwvAGEs7KdDmGs4jMP5Lc5oORpC_EeVrwMxG",
  "id": "rs_033dfcef11a96bdf016ab2bc03256087d0b78d19489c144436",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.095,\"left_z\":0.10},\"note\":\"The closure is almost empty and may only have caught a foot. I’m lifting a short distance to check whether the plush follows before transporting it.\"}",
  "call_id": "call_aWbEFlOaRVmqeZgQEKvFjqXh",
  "id": "fc_033dfcef11a96bdf016ab2bc04284087d08aa13400ed446944",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3145, 1.8366, 1.1248, -0.141, -0.2958, -0.2207, 0.0376, -0.0238, 0.8719, 0.6804, -0.5907, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4653 left_y=-0.0934 left_z=0.0722 left_yaw=0.0463 left_pitch=-0.2285 left_roll=0.0862 left_gripper=0.0376 right_x=0.2772 right_y=0.0005 right_z=0.1526 right_yaw=0.0018 right_pitch=-0.1998 right_roll=-0.001 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -12.1094, 8.5675, 1.4921, -0.1001, 0.1636, 1.0281, -0.1162, -1.7709, 6.5162, 1.8339, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc6b3463820555906db9531be43bd5221243ad617807824cab8887fd02982fbb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13a2f5cb3a2e9a1250a6f06d99625233614c386a03395d4feb3292cdb1fcd225",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da86bb35a7e1b33829e420343900fbc656a01369ce2e1b0f3bbbf19be2d478de",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3397, 1.9434, 0.9436, 0.178, -0.3035, -0.2234, 0.0373, -0.0238, 0.8696, 0.6762, -0.5613, -0.0204, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.454 left_y=-0.1006 left_z=0.0095 left_yaw=0.0265 left_pitch=-0.1975 left_roll=0.0785 left_gripper=0.0373 right_x=0.2815 right_y=0.0005 right_z=0.1566 right_yaw=0.002 right_pitch=-0.1724 right_roll=-0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -9.2513, 7.3778, 1.6337, -0.0122, 0.1587, 1.116, -0.294, -1.2923, 9.7983, 2.0342, -0.0806, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrwKjzNTh5Ts7-SpPAc9_6r0wi6abW58AurEqepN5rpgdotNaJ4zCKPSVyx82LqrPRZX35RRnmu5zG8Q3PSs_3l-vN_kBpHfkwJCA2RA7y97-S3hlsxBzYDT92Viol2OhItzgNp1BKgwfdVv1yDSsfwv9Wm6rP4DHF0c9YhaDAeVCSOagx1wK08D8w5XRNDvF3ygfE4fEj2Gf5aUBzC1f3kFDyA2Z0N8TlgLoRTikyoju3JT1Qu48CqHk7T9YnODjcYMlh3m5_UWQoEQRWBYFSJ4_IB-pYuYm9CWSxZohsOmKX0ht8oxyFVz9PMWLJ-VcBvb4pKWGNV08fHZdu4iv6FNSt2IVA9fwuoI91LspKI0oCEZ9J4bmPg_eJ_dCUwXm4l5nBjyaS9g4vfmNlVjUaUAldYIWJTDWxhXYSOLDT3ubUVNm4ebGCanE_FrWcWzSuqzW73JwxFrwYP3OLAhT-fghIE8uvyX8plmAj2cGnBuBTOIeRgNLn0oEyqQ8pyXEzeJ2v6h-are56UqtFsMVdDgnxVtc6xdyJPvBf0f9SsPlBh9S1cgU7F1v71rYVLoLqd5pY9riFtKMl4T_WQ03Bj_TBXHUYRnSmkv7EBQY1cr7Mn2stkaeCwNM9xuW4eTWM2L4adtIvpAvBfY0lbVhXH7BoSD3IoFB3ZGxZiscFaV_ot8LuDrvySgPuX2dUvGIkWa8oKWkdYY3Rfzebo72p0gMPNhwbr6LFOAzJMIbKhI2348_6ajbk8suXO9DNqzC-KjhntpwfIV1GhYB3RPXemAsyMUTYfRsi92K5iBDfvRMivndztiOM7mz78m4Cenf1J3Ks60NMIoBLw48BumeukrO6hYC2Af_oupqjDMQR1C1F9MCTbrscVyebJmh09-_PzhJcrxCvBSopOIJsJmYs0rLuASBCN6NWPUOaxp6CQebzoZHrZ_bzZSAK2ycQbzujDRy3mBsNbdaetg4JieTr6Sya0glSuhZ-aiiWgxxy_icDJV3twAZGf4Y7w2TcCDPIzXg1d3EYp4n2wQZYbyRcAfUP52KCAZ3QIi4qPSnufLKmCTcYtz5XEA_OhQHlcitbd6IKXDwWXPPG9qZ8RNkIzMNvlP4zRBRIw0-bi7DZ8car4J-IRlngfKseUjvHTVSsQuLdpQb1Yic7nenm4NOtJ7D80jCk8IMfbj5dtj4AaLC1JkWiArUyGsgvR9hsETZ29ZU6u9Ni1ZWeg8vadOceFh8V8pPUpt1MdLAEWP-OJCY8Y=",
  "id": "rs_033dfcef11a96bdf016ab2bc08012887d0b8c4455544dd96ae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.535,\"left_y\":-0.105,\"left_z\":0.07,\"left_pitch\":0.4,\"left_gripper\":1},\"note\":\"The plush stayed on the table, so the first grasp missed. I’m opening and reaching farther over its torso, with a forward tilt to improve reach.\"}",
  "call_id": "call_wXWQCIivIXMfsG6YbrntHh7j",
  "id": "fc_033dfcef11a96bdf016ab2bc090bb087d08a5058e56cd8431e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wXWQCIivIXMfsG6YbrntHh7j",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3332, 2.1822, 0.9485, 0.9436, -0.4206, -0.0505, 0.9976, -0.0238, 0.8719, 0.6804, -0.6136, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5267 left_y=-0.1022 left_z=0.0509 left_yaw=0.0464 left_pitch=0.3122 left_roll=0.0946 left_gripper=0.9976 right_x=0.2732 right_y=0.0006 right_z=0.1487 right_yaw=0.002 right_pitch=-0.2227 right_roll=-0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -10.2359, 6.653, 2.1172, -0.149, 0.3394, -0.0855, -0.0342, -1.5521, 6.8308, 1.7411, -0.0464, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e15a2d98b5483bc63e4cb171c00f29938f3be89db597e93c44668119b739f0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:586fa3bce558f1cfcc9cdd6276d4c3b6c4a9639a76b85b1e05fdf9a704dcf29f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:576c05136db7d89672cad0196d13d68b8adc76d415a3dce1ee95ec8fc561305d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3145, 1.8366, 1.1248, -0.141, -0.2958, -0.2207, 0.0376, -0.0238, 0.8719, 0.6804, -0.5907, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4653 left_y=-0.0934 left_z=0.0722 left_yaw=0.0463 left_pitch=-0.2285 left_roll=0.0862 left_gripper=0.0376 right_x=0.2772 right_y=0.0005 right_z=0.1526 right_yaw=0.0018 right_pitch=-0.1998 right_roll=-0.001 right_gripper=0.9996\nstate[joint_eff]: [0.4444, -12.1094, 8.5675, 1.4921, -0.1001, 0.1636, 1.0281, -0.1162, -1.7709, 6.5162, 1.8339, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrwR6-w79i4i1XoeXVVtyo67DADQSdR952drOF1-HptydjICl1tI4hLvI2XYboJxFF0YLP71LK2h8jKAErYfD3d7ndNeFN5miFQktt3Oe4KNLXwQokftr0IQVWwkjc94rYJjWPo1VrdpYas5jXQfMGRU1cLElaxsHPL036OwPvexHLds089UlL_IUN_DPElo2IjIgJyj7TMIewxnFArYtogCbSBTGWjyZeGo4V89zplzxhAlL1uYtZ25i2FBX0tp7s03V05q4wVJpSNMNr9vZqHm02DFgHy7tW_BDDd5tpIaTsxSy3YhQKY4yIKZs_5AttLUr5Uy7n3Mm1PCYSJtS3ib1Q_3b1dqpUDV2eEyTHuFeT1AX4gG4gYf-sglbQj-BlX4Ge_KTHJYuEWal1JwI2-eHinmufzWSN6cTzm0JLLM6pov7Iu7JSgzBcHXSEysvam2pjJ9WIJt5g948IJZEvSYPm4wwzCFWfftdNEd10jeAasyJg436YYfJ734DqhSZc46KIo5jiMlXsdml31d353n51j4zoWUEG02YPF8e-1hOTd_-fGIciikXfEwGYk2BjGBVMZZN8zb0EFp-2soKWl8MJM2F5kFTF3TmfDqpU6au81CWtVGmA3WZMfb9rVq-nDyf_6sUwgkMqsfuUyAbVSMjwp5867ZBR1HUSiCZdKep4TsxrlpHXFf04SdY77A7dRadnXtbaoxO81prDqjySEDBCHddDHDTTGzPqd6tKjOhmSqTa6S9LckylnFEuVSGSvTxexMYTsHVg_XaEi5jNohBZdVIBbsMm-dkXIcsPxgXUWFiy8_YRH6RUt6-rhQnOK-7eqHhq6Q4BhF0RNxI550C4ER2vMh8rswalwt7ipC4R0sazlir7LKiERGeq0bE0FbBvbRuZpKxvHvOepdEzVr1yRN3YlCxSrIQvwHtLTiN-IHWvpyGKJ7RCBWWgM_sMeO-CM9oaMadkR_sWfIO0JXlUjBbqgjjMYjtg97pVOc2gOpj9RlFDLnKSkq-UBV4YdvUYsxD-DxcPGeWOf_jNgKxqFhIrKcR3_kcaTTjaEjCb30nm_BioulUUY09fcgKX0cl0bAyC1qEWZ-0z3ahifnM7Bgg24EFjJnXEmEHnRTTtBXBbir5HSBrbWpkN58hLPkr0aYFVT2BdVkuxB-_kNb7sS88qcqA7AcRtPmO5u3te5jbS3ZGKTD3jyLpbMUa7dhKGt0PbQEWYZfFMxAFU9smwR0R2FKgZC3rBIjoEVqK7lFOUldPibZPemlVxgjRI84pjLTOyFaonjm1qXbV_5-Wg==",
  "id": "rs_033dfcef11a96bdf016ab2bc0eebc087d08c9c8a7e02c04336",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.53,\"left_y\":-0.085,\"left_z\":0.025,\"left_gripper\":0},\"note\":\"The plush’s torso is now beneath the fingertips, with its head at the bottom of the wrist view. I’m lowering slightly and closing around the body.\"}",
  "call_id": "call_Z2HVZ05GS7IrMtU3039tLcZ4",
  "id": "fc_033dfcef11a96bdf016ab2bc100c2c87d0acef7d0668fc7681",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Z2HVZ05GS7IrMtU3039tLcZ4",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2928, 2.2444, 0.9485, 1.0439, -0.3962, -0.0372, 0.0123, -0.0238, 0.8745, 0.68, -0.635, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5328 left_y=-0.0857 left_z=0.041 left_yaw=0.0623 left_pitch=0.3448 left_roll=0.0873 left_gripper=0.0123 right_x=0.2694 right_y=0.0006 right_z=0.1442 right_yaw=0.0018 right_pitch=-0.2471 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -8.3624, 3.9726, 1.7851, 0.1441, 0.0122, 1.0867, -0.0479, -1.4564, 6.9949, 1.6581, -0.0171, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ac4d3020c9c991e7a8480ca7903a0938e7aaa86d9ce7959988dd04febc097d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb1af82b2243fb7d97937d0315694b4833605e545274ff67c7acae05a86fa2b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e62644565c2638744b12e25977bad6c8f1edc70835e89958780acaeaa57c5306",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3332, 2.1822, 0.9485, 0.9436, -0.4206, -0.0505, 0.9976, -0.0238, 0.8719, 0.6804, -0.6136, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5267 left_y=-0.1022 left_z=0.0509 left_yaw=0.0464 left_pitch=0.3122 left_roll=0.0946 left_gripper=0.9976 right_x=0.2732 right_y=0.0006 right_z=0.1487 right_yaw=0.002 right_pitch=-0.2227 right_roll=-0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -10.2359, 6.653, 2.1172, -0.149, 0.3394, -0.0855, -0.0342, -1.5521, 6.8308, 1.7411, -0.0464, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrwZqAtUw5-SCWTRdntayBLxsEx1aw898LKXI0YAIaPRX0vQ0l9RHDefOjiNoCquI3lrcdZQ0fdlf2RGCGXL_5Gxx8W4JJdORjLoXVQdyyoYYCWvRcMebaFoGZIlOhDtUycPcLB6yGSnc-ccJcqW6abXGwimBKGhQKZurgtg5S2FtPSMsFF4rsQ2bH3zbhd3EJRwkeJBXAo6L6FDZo0zcVlQgSgaZNII2Oe6yO6ihMAy5GKuRQwVufl6Id5m5YsQzJN-Qkrmeow47ktZCz84ju7qKHYz7bHlJIyTnhnY8S8_hUz7jixKhtetjL9VBvpKmUPFl6da2mCdacl90Bq0AnjzU9Ame7R-B-BtytVg3QGg5CGhsTTKu-FbtUan_DTK1P-FCf4mFNzjrBZrU6zqcSk_jxgdkYIdaJCfHRJibI3Sfme8Oe1II5QqWWRj8d-itKwQ4-gtBSv4l2ZJAMZ0jyTR1MfCqMgm163-9c8BAwqO8DIMsKamVk8Ka_MLNrlBPycBOzZepdDRb_QHFgYOO1QhTmFGuaah7AnpnT_r-FRma8l4aBXcaKSgtUe5u99n6XnWQfwPNF_WyFSzxx3FKpRlDMs1Y-SRSNe_BEhNKrhkBN4bIC4bhx0gjl9uZ1zJhD66NVbgxifwATVeMtsUOlCwDsjaSAbClVCG72_q7CQuBo_p9SNQYzHyEZISYAQO5UeOVEQUoQVYbnpKojfBfX-7EPB9D4DZOlklOivr6fYuzMktDBULQxQGAca0S3UVbhioUBVkg7qyHG2tDQdGczWtDl53YjW63JiMSfxsaHmAQ_vqBTVm1-uwlEE8KbIoYLy6kwS-gSKE0GiMr6VkX1vjDLUBOUjYl9yE3oHUngCTuxi1-WTHYIA4KLdelKufbRhUERCNijeYiTZ4xtNfqjwArAePavaa2e8RLYsbyJAoQk3KZN5DknZ0qj64C3rWheHs5jH-xTwJi0hOM2Mfq8UOHyxjmKFmnEnSQOGVlkDz0by9YfnVHq2ghIAddFcBlPlxNBwd4jXARZhjlNrEKWr2-ZfRItICTr2bbHIOO6HoBL-1wOAmJwWKs1kt737UHemU3Je262lyL3-XrmneQb69jB9RxnlrftL07Tvup6l2WOLCO15aDylOKAOQ9lLiasia3JN6x0ytoabL_BxZg0Z8h7HlkqoMGKMH8GX-tELCXVh7Rtn4pSa7yFbhNLV7nwbXPTcLDH393YBkvv9KAMw7-ddra7dA4PTakYNPq0-CxSZ6cxM3jNAOaIMd3tB0eIj2fhFaujE4X7TrXM6kcHqL-wdXTwCYHF2CT4FzcvktqqYCm0XccaVNjNZ6Us4khwRyK0c_MZcMuMKXOigkf0-AtqQYj1Kz90EvO-eD4Iff4FEjnfhKZUjsRgwJhUbPoByiMKITUN-YpeAgd4L1a1oE6GSdHSRjLq2DaQp2SY9Ryrwycmo-VqciQlAkcJj8DFbUhqy2GRrZRGGmQ6gd80HwzJ_6JtC2FvvvMtAhnodsj0F03X8zBHo3OAH95bFFf3CFcIwAvLXZZPxYa-akgW7UpQ==",
  "id": "rs_033dfcef11a96bdf016ab2bc1505ac87d08a06f03fe0321d23",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.05,\"left_z\":0.18,\"left_gripper\":1,\"left_pitch\":0},\"note\":\"The second close was empty as well. I’m lifting and moving aside so the overhead view can show the plush clearly and I can correct the grasp position.\"}",
  "call_id": "call_yd8kAV2NM6HtVIym6mApHDIR",
  "id": "fc_033dfcef11a96bdf016ab2bc17925087d0966a111b50e29e05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yd8kAV2NM6HtVIym6mApHDIR",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2539, 1.4879, 0.9325, -0.0349, -0.3256, -0.128, 0.9969, -0.0238, 0.8772, 0.68, -0.6575, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4365 left_y=-0.0512 left_z=0.1649 left_yaw=0.071 left_pitch=0.0207 left_roll=0.0887 left_gripper=0.9969 right_x=0.2653 right_y=0.0008 right_z=0.1399 right_yaw=0.0023 right_pitch=-0.2723 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -7.9111, 9.4154, 1.8926, 0.022, 0.0757, -0.0708, -0.1162, -1.5248, 6.7624, 1.7314, -0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94b15b7125fe72256002ade0b83a6e2aced6f130095939db5c44837845acd730",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48c27711096e6bc4b1ce804f9eca11b93736cf45c78d9600d4fa97c0ad2ec30f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00d7d32d9d895550d123fe2385e939dca5f8817b2beae12c885e79b1ce210c17",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2928, 2.2444, 0.9485, 1.0439, -0.3962, -0.0372, 0.0123, -0.0238, 0.8745, 0.68, -0.635, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5328 left_y=-0.0857 left_z=0.041 left_yaw=0.0623 left_pitch=0.3448 left_roll=0.0873 left_gripper=0.0123 right_x=0.2694 right_y=0.0006 right_z=0.1442 right_yaw=0.0018 right_pitch=-0.2471 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -8.3624, 3.9726, 1.7851, 0.1441, 0.0122, 1.0867, -0.0479, -1.4564, 6.9949, 1.6581, -0.0171, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrwlevupuu51bspao_1qv-nqcuMtgfIH9lGXCDffPtlFaK5wYTs_VCOnWMw2SbXRhDyvkXYp65TPN6_qMQFW4CVlBAEQ2GbzD8tOKi1DnAUfP6D3-w9uqpmf1tm16F24VyojfGfFUTjhNPLt5WbjcSHGIls7mx0VwOSS86W67U2iLFPPUZvCHvJa4RZVYH0vOlQItHP8yaZaodb5ePLMdH4XtkCUnqwLveo0B1sG2Lvl0zU_yCwQ_kNdAINlpjpwH2GMvIY9TIyXhs-M5MyqmbM71lquyik9rpryvrigE1W8n_Wn1oU_6g1INEYez577YySHNs_-6wDaefvg_dB478zJL3XAazIwFV7ry-DUUmiDo2NtQj15CpVExVKq3Ck_zvqG5jb7w8r6BlI9c-3i7TGuSiGQj3fmobUUYSoY7xn2pK00Efay85zy80td1YCtdWNKW6VKEXjPWMKrHCBmvFKyoYXbg9NWtklT3k3G5j6CZglTLuLLEk_dBYXeh6JyYicSt1H6HD08wpJIX7Y-ZB2aVYVoN7qkJ3hTackMritSuZBTQGMcP05Icn_biuC2NVxdQHDSb2bFuN8cqfUCGvOtfP5ag29rcOW0XJkvCHS9f2zB2lZezErjG-Bh6kz7DRgtVVhvpLPCA65Fe6tnn9JTmM9ofTXhH_FaABERQJfmRRIp6TARWlj-_VzbrPgsf9BNQ4oFn3czU-INoDGECenwpCRxcyvLoWkLzz5tYsWEAVRLbaTsJz1_Rn6Q_5oNzR3mxUJmH4SIGB4ElCZyWl4EYIMAsiow2FOGTLLjEyX8iqaO0bpZTDto7Cn0qYrvM99SjcjJaXrYmhP7FuQqBrh7x8fPSHB8gDydnfRqraP_ufnSuJhc2BPmLFfkbHHEcZWlaLqb4U_oWkF9Qa1j1mV9dBxe7cW9FfSC9z3wKNWQnuG382mEVK_xcnwlpXIaOAhO4h9jjMm0s4WI-WeS-oBWegryDWSWhwcmbCfCHQyZ3ezQE1hG5CTXMPkDmoTXVyGX5BhKebCh3pemSvoxIRe7atUl_o1kmL6fLKtUmyX79OxLVBOvb5ZPqQcyL004frq1wjBIR0_w002Eb_5o70GRXeTf1xjiLi5IzndXwMcSKS186o2KsF0T--yw_RclwiAKDJSgh3nvvI0f0SiywSdMI9ECuJw3bsc7wOlqo8ax4CmlpoF7n3qbJVL_tSznKVrMeTMK4N4joC816h44KmYTltLamYu4LVjkra18N2oPoxzCtdQVIUP_Z8Lq-yGtXbsY9tNif_W9ESzQPQRNQ30AH59hnzkhxZSIZjVcAqGNrN7d6Hqn_QLORl28gqgnof7W3F-g5WFMjks2N6ksITD1ZRHaoHB0uI9VcfVSP4tu4i--Lhp4wPGehjsll-BSH4w8i68CDfyiNFpAieW8oNPQM6aLA-YHoCPmwoe1atc4_dLoQW7H01WOMaGi0-N2Cet3yYIzXmuKUTNcWMq-VnBglZn6m_VHPicXa-iUiJhRoF0nK7yD2i6z9wCTnnIbA3PPhFFYepWB3jpDaPKZxRJrugavfTcsuBPDQmTforUcgo3ufdvkHOWZ6WTEpwHRVUIV0bm6F97ywfLJOY8CLw5GqnIs8oXZmaZsRPH3ZLpYcV_BpiHBE9I67iFlPy_uDrBAKNEHfnkcbPXrO4-ByvMs94yLmsSigjxkPWc0HTvYmVUIaayuxzh964OXQmoQdHR87RF1c0hnfAL63LwjKIc-h3n8xVNa9Tf_hayyuQPyiVos9FUoMzFw78OQA--9oljmCRO3KTTido_XBhRa96SF5IL9tSx258XtmJbOXIT67yK6CBHocNqZdVV3Yy4UHOWAgZAOreTNvpTF0aA1Er0ubyN5zmTHgybhxcLKy-DWqqyPNgQhW1VS2GzebQ4h9LDU2YdtaH8nJoK9TqLKQlUXMOu1kHzs3X9y_-fSHOie8_9y4Ut-mqvpFDPwposEHuAZptJofBXvOadBNAjWhHte6STYdE6OC7LIE5KLxUe68BX9qEj8mEq0ZDyNfMZDHmXNF7jHL2fCFywTQucoOZNaAg==",
  "id": "rs_033dfcef11a96bdf016ab2bc1cd55087d0adc4b7da08babd71",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.09,\"left_z\":0.018,\"left_pitch\":0.2,\"left_gripper\":1},\"note\":\"The wrist view shows the white plush lying lengthwise, with its body between the earlier grasp locations. I’m approaching that midpoint with open jaws and a smaller forward tilt.\"}",
  "call_id": "call_piAbaLCFH6sH52YDgKdN7lzW",
  "id": "fc_033dfcef11a96bdf016ab2bc231a7887d0b8d3383757c09382",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_piAbaLCFH6sH52YDgKdN7lzW",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3336, 2.109, 0.8005, 0.8047, -0.4187, -0.1326, 0.9984, -0.0238, 0.881, 0.68, -0.6769, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4779 left_y=-0.0858 left_z=0.0061 left_yaw=0.0723 left_pitch=0.1191 left_roll=0.099 left_gripper=0.9984 right_x=0.2617 right_y=0.0009 right_z=0.1358 right_yaw=0.0025 right_pitch=-0.2955 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -8.8684, 5.3949, 1.3309, -0.1294, 0.1783, -0.1734, -0.1983, -1.853, 6.735, 1.58, -0.0513, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80aa371cecfceb14e88ff759d39218f0c52854bda465469b72071fa0832b1e52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3844b4b4384b336638a33364041051eaa446aff1a3cb47ad039360f4a8821a21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:301bf31634894b748e9b8e90fce190577dd19271ca04ee2eaf673db7764dd239",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2539, 1.4879, 0.9325, -0.0349, -0.3256, -0.128, 0.9969, -0.0238, 0.8772, 0.68, -0.6575, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4365 left_y=-0.0512 left_z=0.1649 left_yaw=0.071 left_pitch=0.0207 left_roll=0.0887 left_gripper=0.9969 right_x=0.2653 right_y=0.0008 right_z=0.1399 right_yaw=0.0023 right_pitch=-0.2723 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -7.9111, 9.4154, 1.8926, 0.022, 0.0757, -0.0708, -0.1162, -1.5248, 6.7624, 1.7314, -0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrwrp3050o0bixp1IHVPdPL6tWRw1o9Vh66Sxj12UQriNo9eGkpp9sOFaSrnq7hNM7ZgZIJQ1E5tU4ZrJmRPNQo0rQDpcSAhvIlNEnC8s8Q1Zp4ka6rNQ0O31eqeMEcQUiuQssS7BmLEYZ9ckvPJf8zsy5wDV22StszCZHbhJSKV-2QksnQIp1I05-qIqxD6Ldt3TFKpRgroOHt7huciBUsJ6kTCQ2lZr7LKgmACsIYWqgDcKABfQUlcrgUKy6zUxPDr0AwjnRA69mCIUKWZerFg2PGD1yoiILY8oohEiJ5ed68xxsVQ9IgUVvSdhkeOGT4fBo9RMJOqmRxB1tYqUEGquKLCOojLdo7JaD3pRvwDNvbusFL4IuZ0dEQKywUTlqgOFKKuNtuARQTzF9BYofXpNFYrAF8cTsL7aZ_3pUm0uzmDv_yqVxXNoivsCPKtxNaD8-7p9IZh34Zw74wsc-sQe-iRpVwXJqbnz9Acxv_gvbYITEu09-G6vzVtDOl_57kx5wjQB7vviqLJrbR7jMhVeGjVtl-6CiqWCla4OhiSI6icvZFcenj0cczPz3GcE3CoYAKdqiF67_9axTJUkgzm3tAvA5MNprcN8fnGOd1vLD5PW2lYygfbv9bJhByHLBFS92ryDoe3AKfmiqgDfoDusPzo9fvvqyFdzuiIYY1ozXjrniq4bcbtnzuhMZG98Ypq9Dug3r-n6s9WZnh71q3ysmEI0S1xkueaDsBpl1NOMp5_5nrd6PhplOxMRNLKAagXjq-ewjOXsub8dgDT0Km9gzQzMp8m7zoDi4FNKyhFsoDlSFy_4khMaQuByiJAaHVNTgoTpEKJNUVEPowXRw-8zLa1V7Q58XlF5riczYgE5NhjojIUxEc_5jWNias13YsgPTpIdrfd25r8R7is97CWcT1ZZF3rW8oaKn5JG30aOuAjZuP-WtAwHuHRhthJZROlvihyaGSfdTQDzzp6rk4cLluMDG2iOcyl9tw7FZt99EyBNni0mczuYY2IVngeFwnJSk0-Wno_UVzJAdembhwBOKyG46nnhI21nwJ7x2pdHffGw1p0pomYM4K2tjIsEBh411Z1x3qdG88Xefm52FBc9PUtA77oJtSQryV8VPDShQTvxbWmom1xduKO9YmFCn6kDquqQr0NcQKfK0qO24TxGgEPutRMKRL2MKq96ecp17A9dozcKUu0pR8hwOv8Bgr0mLhKbmQwLauvi3kepPsBvA==",
  "id": "rs_033dfcef11a96bdf016ab2bc29879087d0ac07094787f12f92",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white plush’s belly is centered between the fingers at table level. I’m closing without changing the arm position.\"}",
  "call_id": "call_hKtuaw9WNd5lSPB1HaScntH7",
  "id": "fc_033dfcef11a96bdf016ab2bc2a042887d09757e8ddbe1934cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hKtuaw9WNd5lSPB1HaScntH7",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3332, 2.1189, 0.8043, 0.8333, -0.432, -0.1394, 0.2055, -0.0238, 0.881, 0.68, -0.6918, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.481 left_y=-0.0844 left_z=0.009 left_yaw=0.0887 left_pitch=0.1426 left_roll=0.0895 left_gripper=0.2055 right_x=0.2589 right_y=0.0009 right_z=0.1335 right_yaw=0.0022 right_pitch=-0.3104 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -10.5368, 3.9179, 1.4432, -0.0513, -0.0122, 0.9548, -0.1846, -1.5658, 7.0359, 1.5507, -0.022, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a47abf377894d6c6b1f68948da109a670466affdc9d47d9c8d418fd447265f76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de3517e047b8223d6141c5a0d9f2a1d7a0e9b78c1a67893dc02fa550cce70f11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:581eaba59c18f3dc5c9d013469490c2907b0e4f71cd112b911df157da34b5929",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3336, 2.109, 0.8005, 0.8047, -0.4187, -0.1326, 0.9984, -0.0238, 0.881, 0.68, -0.6769, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4779 left_y=-0.0858 left_z=0.0061 left_yaw=0.0723 left_pitch=0.1191 left_roll=0.099 left_gripper=0.9984 right_x=0.2617 right_y=0.0009 right_z=0.1358 right_yaw=0.0025 right_pitch=-0.2955 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -8.8684, 5.3949, 1.3309, -0.1294, 0.1783, -0.1734, -0.1983, -1.853, 6.735, 1.58, -0.0513, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.1},\"note\":\"The gripper stopped at about two centimetres of opening, consistent with holding the plush. I’m lifting it to verify a secure grasp.\"}",
  "call_id": "call_nYp3bRYeuFd3feRxe9M2gXoQ",
  "id": "fc_033dfcef11a96bdf016ab2bc311f2087d0b9c2e3f7e2f86619",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nYp3bRYeuFd3feRxe9M2gXoQ",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3332, 1.8637, 0.8402, 0.506, -0.4328, -0.1436, 0.2069, -0.0238, 0.8818, 0.68, -0.709, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4746 left_y=-0.0821 left_z=0.0729 left_yaw=0.0897 left_pitch=0.1099 left_roll=0.101 left_gripper=0.2069 right_x=0.2556 right_y=0.001 right_z=0.1307 right_yaw=0.0027 right_pitch=-0.3283 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -11.1248, 8.5949, 1.8828, -0.1636, -0.0171, 0.6227, -0.1846, -1.6205, 6.7624, 1.5556, -0.0513, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e15fed9bdf8eeb901afc8a4ea0d7f79f435c32952c4f798afa71b69e410f7532",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6d324e8d4df20c9ac3318fa85735382739b39f40e8bf07af5179f599cf26457",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be0b5bfb8529818b0fcb935a41766ba7fd9a8a7ee7d42ec2d1f32ab488e319db",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3332, 2.1189, 0.8043, 0.8333, -0.432, -0.1394, 0.2055, -0.0238, 0.881, 0.68, -0.6918, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.481 left_y=-0.0844 left_z=0.009 left_yaw=0.0887 left_pitch=0.1426 left_roll=0.0895 left_gripper=0.2055 right_x=0.2589 right_y=0.0009 right_z=0.1335 right_yaw=0.0022 right_pitch=-0.3104 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -10.5368, 3.9179, 1.4432, -0.0513, -0.0122, 0.9548, -0.1846, -1.5658, 7.0359, 1.5507, -0.022, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrw67UchNQso-aBvkz-RlHhyStk1IG6c9tXpLoyPzilwBlveAGww7uIUR5zMQGPfFyK3K1cmrgsjjD_-349Vuz2wEL68s9IIpiFNl9gxTWCfG3jgPn0-hPFDNrDIR7g9CPO6wNQ0PlFF29gGbRodxcBnZr3ay1pAg8WP7QLvOzfln6eeRMRhdf9P0AWGM2tQ_NQ6ALpU-v_U7CSWRAa2hEHQ1knbIWd_6y9Xxg6EKoi4UIyWrBgoqEvBB2UklzECsX-Tsp-3NjOJyQzGazerJvhKRiKD1jmzpZTusf7_IfzovHFDYM2hphJdQuGnRFWA0twLj--Vlz_odQJ3nE-c0bMvaZEzKJIyrUH-K1pS_oOQTx76w3XbfdQE8P6J3gp5BV3KwZYC386UKvZ2JPEO3i0HRDVE9wwYL9EZeysdcGQvK6IABIc0oaQmYEKRkCVZVYHg21BoyXNimAiowbL5XUdFKwfxmoamy6UtQzUSLDls7ftwetQUrGrTOXaMFF60e0RPL5tEr2JQNPDh1KlFzT2k97ESYMtCgAXc--FVy_bROo9a_wLv_vVppjY5003ZcfcNXhdMjn8ctG8ltkKLmyrlUWufevNaaFBm1S62EhLB5tmj-jF5UYH6QGRIYMtSzlR6WKF0avDzuOF5Z1EvGl2bWHccMsDglWGuqABmLWVTtZWniUipMbQ9E9koOQzTazWKyPDAS2ymfl-gvcWxAFVJM1sN9982GrHNML_yq29Fv86VKqkttESz_EaKJmjPC1JVY5AMRPDhGUjRumbEfcDWkwei2rTbpvdCbY0rNJxezWUZU-b3ZqpUpa7RkC5ZIq5O0xa91VAfZ2XbconHAaG3wXJiyJxgAqV5CoQIe2Zyg5MB9u6kYdUBPWAm38CfIzTcOfiIvXHOky0wrLLZB-3u-HehpjvsIe-1sHL_7e4HST5cenA4io14fSL5etT7IrRTFepgg59TVRE4w_MSRa1dPtP0DBmTxWe0tmCvD4Vy6Rl8W2n5UD97LKBWqEOmIg2Wfv7jLshQpDYkqZ3ih7SFWH422FOizSt5PeqflHfTzTgl0SdSzLt_B3dpCwCIeSlytrSficbLNxGxdvs__kYK3h6NYpM0BBM8N_1NMnkGB_StnbO4-78MHv5m5YXnjD5hqy9xpWdYdSSbjjjZjRG9t6tRJoD_VniVHJdPMsWlXseVi8ZYWVVXO3_RDC8uJ8SczNTYj5y8jtSkz4dr8EMxxlihAlSCtvPdrOadPC7384e5iBfMzJGIYdVFUEoRqLnzswspImnu9WU76Wi6jWdQSiikXGDK-nAZtGKIpEJRWbDnN0fw6bhjtSpVRwDIgiE0",
  "id": "rs_033dfcef11a96bdf016ab2bc36b79887d08178d1ac2e9fbbdb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.53,\"left_y\":-0.255,\"left_z\":0.23,\"left_pitch\":0.25},\"note\":\"The white plush rose with the gripper. I’m carrying it above the safe’s red-lined compartment, keeping it clear of the front rim.\"}",
  "call_id": "call_i2eg0YrPVGRMWnCRLCoPtOOj",
  "id": "fc_033dfcef11a96bdf016ab2bc37efd887d0b14795ec526cb225",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i2eg0YrPVGRMWnCRLCoPtOOj",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6544, 2.056, 1.663, -0.0895, -0.7349, -0.2523, 0.2061, -0.0238, 0.8856, 0.68, -0.7273, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5271 left_y=-0.2506 left_z=0.214 left_yaw=0.0771 left_pitch=0.2244 left_roll=0.1035 left_gripper=0.2061 right_x=0.252 right_y=0.0011 right_z=0.1271 right_yaw=0.0029 right_pitch=-0.3505 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -11.3162, 9.4291, 1.7216, -0.3785, -0.0073, 0.4469, -0.1983, -1.812, 7.0085, 1.5067, -0.0611, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca573240ea1eb5e350854090d652ef11e453dbe11cc3e2ed505fa9830ce4e990",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9eefa73cd9797b19fb5d181f32cc5a09850e70bcfb2b8955436ee0311306d6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cff7823cce2ca88464ac3339ef015c0fe6a1c26e57dbcf256a7fe183184cb65",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 45 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3332, 1.8637, 0.8402, 0.506, -0.4328, -0.1436, 0.2069, -0.0238, 0.8818, 0.68, -0.709, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4746 left_y=-0.0821 left_z=0.0729 left_yaw=0.0897 left_pitch=0.1099 left_roll=0.101 left_gripper=0.2069 right_x=0.2556 right_y=0.001 right_z=0.1307 right_yaw=0.0027 right_pitch=-0.3283 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -11.1248, 8.5949, 1.8828, -0.1636, -0.0171, 0.6227, -0.1846, -1.6205, 6.7624, 1.5556, -0.0513, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrw_rsE8HQEfeuAryNiHR0NxZ123tqGylz62yDJxIRq33CDTKWF-_njHL2I-Y4GwvhC6tRn-VLJCjRKFLmy2Xjx9KGn7Y23q5wNCgDX0jFbeeiKkzEwMHzVKvEHdfIVtJ0A7u7TGi6vkJwy200aoHICwhiNww45TLkrHvLE5UWKeTlqghofMv9ZlXAsoUo_ueHD-Fnbyw9vEN3xeMOUeMV5A2ut3kbGVGL8GrOHoWjX_cUBxM8_b-MG9VOxhi7N-VZ8vzR_2gT-lu4quzUlJ_NtnvbKljx7_5oqj07ODkF83RiJlqKOq6InPu5F5imwZAZJUvP6PInYHsu62g7lM9dgeSRrJzVEPMWKFY8bZhxhsio1b8tNrS0o71Uh8X-dyHoGzI4HAONqWj_IBKYtabl4w1YGCC2NQtpPNBxDoGxWUiU4TRoCoXELutS90sat1MBECDkZlggfvyp3FezBGYeYFJ7wv9aFynDlojXTdYO81TMktWwTE-1Jbpb3LEelicYQhCeMDTweO550fdi-Vc1h6cXszDRByyHzAD2LvJNl9E5x1WcoZyYQoO04hqvOEjFkAbss1aCSvXyDnDOwJkQ2F_z4egKvkaCk4XLE7peUa5M9GQO39cQBKdr0DBd65rktvu_CSYmdQ5gK7jtACMUnewtHMTKd8fpQceqQvBH5V1xCzdSjeUr2ZOErHCcITOFF7tbimh4hsefqV5VpRg9Ss0C0AbNYXWRtsCgA6cp-oPkJRaxx-dteL10sqgLUi5jckKRxhfcnwtH5j6aUGbi1HdmT0-WGWiqlDmBlN-U_1JqUAAONt1qcaQ-odaVLHI6blMhUgySPintEVUPqWGSvIPiZGJFGNeej2J4zSSqH9LMeKKDardbK2rG0Cj-_AJooNBjyZf1d665uvRFkub89elzUUgnr-VYGWew8FJkLytYFq60ylEouwk8vX5WKDX5GOHMKD-GNpallsfYlK3wTFQ9df3vtWlz0BVoPkQZ2ViLQvMx069fIL-loenW1JHhSdvu7KZhRg4GGfNbl1QFKaUnwcNAPBPTCwSlzsJiH8KY4fLNxC2kkt4XzsN7qfCzWPyxNeF0kMcETnnZpniUkrJmf0j4-v7LNq2QvmGFaPffez85pXeN0jCSQ751W59pCMQ-EL2K1cYUpK-ZUvMYt7BgaPiZavfy3Fx1uWOLLXqAo2-gqlf4lgbEGxagkevNFiAwM0yPzfuyPI44CoMS6Hx5Gld1scddOlDWMfTI-f0mg=",
  "id": "rs_033dfcef11a96bdf016ab2bc3d2e1487d0933364313413d659",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.545,\"left_y\":-0.28,\"left_z\":0.1},\"note\":\"The plush is over the open compartment, with the lid upright behind it. I’m lowering it into the safe before releasing.\"}",
  "call_id": "call_vphholfD2SGb4hO65rgUoK2I",
  "id": "fc_033dfcef11a96bdf016ab2bc3e547c87d090c8d8a68f606e05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vphholfD2SGb4hO65rgUoK2I",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6743, 2.2917, 1.6032, 0.139, -0.7471, -0.2676, 0.206, -0.0238, 0.8875, 0.68, -0.7433, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5396 left_y=-0.273 left_z=0.0968 left_yaw=0.0662 left_pitch=0.1797 left_roll=0.1396 left_gripper=0.206 right_x=0.2489 right_y=0.0011 right_z=0.1243 right_yaw=0.0028 right_pitch=-0.3684 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.6769, -11.9726, 7.4325, 2.0, -0.3394, -0.0757, 0.7399, -0.3077, -1.6752, 6.8444, 1.4481, -0.0366, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15580e8c873786d7656966441748149f48f5f79cd785c43da819586d8ee677dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc685b674bf9dd3460130b1cf772e65f9849881b296af12cb444f8784fe3f682",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4af08b3fc2b425e9243885e8d9f0cbb71e74e3d56c3e91a297a82c673764ee9f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6544, 2.056, 1.663, -0.0895, -0.7349, -0.2523, 0.2061, -0.0238, 0.8856, 0.68, -0.7273, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5271 left_y=-0.2506 left_z=0.214 left_yaw=0.0771 left_pitch=0.2244 left_roll=0.1035 left_gripper=0.2061 right_x=0.252 right_y=0.0011 right_z=0.1271 right_yaw=0.0029 right_pitch=-0.3505 right_roll=0.0031 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -11.3162, 9.4291, 1.7216, -0.3785, -0.0073, 0.4469, -0.1983, -1.812, 7.0085, 1.5067, -0.0611, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The white plush is inside the safe’s opening. I’m releasing it into the red-lined base.\"}",
  "call_id": "call_9HGR8DuZ4MUz1E4RYouFVfW5",
  "id": "fc_033dfcef11a96bdf016ab2bc438e1087d08d8b25032c4f4e23",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9HGR8DuZ4MUz1E4RYouFVfW5",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6785, 2.3222, 1.6032, 0.1265, -0.746, -0.2718, 0.9952, -0.0238, 0.8875, 0.68, -0.7551, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5368 left_y=-0.2741 left_z=0.0772 left_yaw=0.0586 left_pitch=0.1478 left_roll=0.1646 left_gripper=0.9952 right_x=0.2465 right_y=0.0012 right_z=0.1226 right_yaw=0.0032 right_pitch=-0.3802 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [0.0205, -15.8427, 6.5709, 1.707, -0.315, -0.022, -0.0708, -0.1709, -1.2923, 6.6667, 1.3895, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c91b77f4a21aaa2dafaf0eb989ed802088abe2e590ad6d3d41fd2ea5b4af7ad8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b05ec9a7d4c0658acb4788d29957572eabe2660a5cc38497014e9c5591cba10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26c8dc38a58a36afcd53a31a04884b025873d121233243fbe10c8e720cfd8942",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 53 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6743, 2.2917, 1.6032, 0.139, -0.7471, -0.2676, 0.206, -0.0238, 0.8875, 0.68, -0.7433, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5396 left_y=-0.273 left_z=0.0968 left_yaw=0.0662 left_pitch=0.1797 left_roll=0.1396 left_gripper=0.206 right_x=0.2489 right_y=0.0011 right_z=0.1243 right_yaw=0.0028 right_pitch=-0.3684 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.6769, -11.9726, 7.4325, 2.0, -0.3394, -0.0757, 0.7399, -0.3077, -1.6752, 6.8444, 1.4481, -0.0366, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrxLmsmnL1ZC7zn4gnAknI5LlVDqjeJfYM0GAoDyG5Scdg5RIth_-ad3qJYwK0iEIAnsUVGQ8lN_f_08EYs38N4qR7XrdsH14nefAk_PjKceRagms1q9ROHNkWMDPuCsRnwYo_DpwxGe0X0TZ5-I3KDkrCoK8l-pVZi5GLhi4rcJ3lnsDC2uMYOoO9hYi0Mxbk7XkscksuQ-29_iBNoVPf4v4iatIWI29kgmAmcHqvqhGpf73SmzOCcI4uP8FIx9I2eOV1rLrDT7ugiQ0VTxnfrpwFMskitnRKk0IrmF2e3IVSogmIwSOAn_dKk6qUSZosqhx4IuygHemcQXT2dmZUnjrNlrOL18Kd_ngiA7aCfDAc37JcKUERz8rYmzbqv1ID63H9a3Fs4XXz03PDlpJjk98bZSB37k-LzYgCnUle_k__nKOt7q1R7_g084d9flpSdCKxGdORCvqX9FJUeimx1Wg_4s04ho3h2E_QLFCB26SjHHrn-rcgW5ZXiQR7DcGRAFh6aQkboW6up8httaKcTnb8LzKGvjui1MPvubN01PEUj2UTSP5pZtxTO1gobxH9p0SAJ8iPo08kEJz3wbfxwgn3Ha_PqNxBYt-4HCPKHKzAhkWymQ5n_D0NDbH55ESSpMfD1WRJdptRSFbKWAXc6t-ActGNzhTgRCkCl7Js_c0BMkOL-jorWqxs7yV7nfvzvetWKe9C-JtBdWydrmFwcwGD2ttaNfSCCCrpqwwtkEcF718M2NGUgiwi9gHrl3wy01ceLIVtc09MH4qx7hjf0RGBCurMuQ0ybqdR3Iz7ythZtPqqEUUdOglMlsUMRrdxaTLQUELyDStivo61XV8LEcD_XgUIi4miLU8SIZZucWPj3HDFfl3oifdV7DV6pFh4WSpqYBoXuFrMgUiWNm3gIPSTXWZdgCcZ9lC8DkKzgQaDhOs-IaZMR0Hbbb_wQ3xiUHNfe9NoNkOUfcx7ozpNtJ1NgLsKod8YyAuZBh5eqarp0dx6ysCt9swpgAeuKYuSpMWCm5B2iMGaEIev2YMNccP5SCHkriNDk5dXU5FDooe-zW7aOehkznqtoj_BtvdDaKS3upMZ2em3j22ERjH2CoNUT2QAFNKgDED8O-75faugXrnQlAM9_yep43CGjUTEBpspoFpU0ZHMuEhsI21mMiTdIBZN3duiRnD0-CK60JKBJI86pDCU00CyU0O-ow8AS-cW1V088AKca_qUueP1JS8FESEHiOl1goiEPmIWmvzxDz6FQ3kD3GilnY06GOPWPebjS0SjFxPoBK286gQYwnLb_2MXDxKkL9AoSrF1kOoQ5fIAI14PHALlgQLBD1FFeN6l1w0Yjq8lpAkIgCeYjrDw==",
  "id": "rs_033dfcef11a96bdf016ab2bc4779b087d0998801d3e5791862",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.08,\"left_z\":0.24,\"right_x\":0.345,\"right_y\":0.285,\"right_z\":0.15,\"right_pitch\":0},\"note\":\"The white plush is resting in the safe. I’m lifting the left arm away and positioning the right gripper above the brown plush in front of the safe.\"}",
  "call_id": "call_jn2dqirF3pwvRhgWdNx3O23O",
  "id": "fc_033dfcef11a96bdf016ab2bc4944e087d08f88a0f5021fa4a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jn2dqirF3pwvRhgWdNx3O23O",
  "output": "executing move_to over 24 steps (2.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4362, 1.3361, 0.9825, -0.1497, -0.5533, -0.131, 0.9964, 0.947, 1.6966, 1.14, -0.3477, 0.6998, 0.627, 0.9996]\nstate[eef_state]: left_x=0.4055 left_y=-0.0826 left_z=0.2341 left_yaw=0.0791 left_pitch=0.1482 left_roll=0.1589 left_gripper=0.9964 right_x=0.3346 right_y=0.2763 right_z=0.1343 right_yaw=0.036 right_pitch=-0.0634 right_roll=-0.0427 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -6.4068, 7.0085, 1.8095, -0.0806, 0.1245, 0.105, 0.1573, -7.8974, 8.3897, 1.5214, 0.5592, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b89ceffb338b3849d8567f8785d702f120a82da55d2943eb46c42ed67dd93f70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9083cbb5a0552b92dad9f7b4e0d814bc17f74c9a54b4e93b00cf27ddab56702c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f41b02e6ce5e96d7c64a5d907851b1d382523fcb6f2e6784d6e5068d67bffae",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 56 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6785, 2.3222, 1.6032, 0.1265, -0.746, -0.2718, 0.9952, -0.0238, 0.8875, 0.68, -0.7551, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.5368 left_y=-0.2741 left_z=0.0772 left_yaw=0.0586 left_pitch=0.1478 left_roll=0.1646 left_gripper=0.9952 right_x=0.2465 right_y=0.0012 right_z=0.1226 right_yaw=0.0032 right_pitch=-0.3802 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [0.0205, -15.8427, 6.5709, 1.707, -0.315, -0.022, -0.0708, -0.1709, -1.2923, 6.6667, 1.3895, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrxTXvm8u_p6mJNm5D5inczsDUqavtSkXuCwL6vD0m9zSVUYm40_HgnaXQBt5eb1J2GKG4S26RQ7THB2bR7HKyh42XB0L2DKAWPvu9OwF07_c9YsHjUd9E8R4Ks5Y_kPEcpR0F4KIu-HVxqPsjb0CpgBtZmaaog8qXMlRcCRRjxuukfLqFEqJwaLqExgqsMAzAjMfR3bb1VBgu7kvlSqzZNmYSoYyx72Qrb65rBYfyzjhTbv6nHJiBol5ENOBbVh8M6eXXGezqhtO8p-g86BeTWamWlYRj6Y6Gyv7Af4wify3r0T59KiFZklJpgT2CYbhCzPqQBlCHjPl8ZJfcovnBtJWZSjenGhTI5qRn69dYu2ZPLxU5-m_w8YkuzX4jOnemO2stqdco0cBX3KwyriSfwsFeTbsZT5CI99vRabultVsRr16VCitX4bYya4GCZrobaH6pqHTkavn6oRnpLRZKOXlB8J1ZyQeMK2MJ6Bm3SwFDRzQ5HPmbSsHai3Zs9AfbfLX9wJaCETp6wJ1MvdlKlYBERmgo8KC8aDGCrHgcHohqe-ye7Pji1ZogWA8XQ2ws0AC0Al2antUCO56XKCuyz5jjgKFaV6DxLYLg6uJKrPVWL2LBVo6rhOO4zezVa_8pwXhimQN9OZh_JDHaVW1Rg1AiRmy9agfcO5hQHnxxKKMzZNelsvHSDPgL8Q8osT8kXD5-_QV4-X7B6ZagdHevyGaiqb5Fxs5MNvvgW1B645ABrSDuYzZ5g9pcvPsFG6hjHrXBe3JtePwjFpYKPKKPIKh3FNEiISOwPb3ZvbjyPiQYLqIMCW_FXwHpaXaL7CD6TZNyjEO4jXqcmpmanHlfYbigucqU8p66cWh-hNmOHpQnGp0B0ZlsaBglt0e8FSEoLjWh8EMHyeWBj0Aw_cWrGjQIMS7VQhGuz1K9nI2DGF7rAmZ74b2tfV3NoccXXqDZsfolcZrBvQOZq_LMPvA8jkJHZ6jJKR1E8xmQDEWSTXQjiocDgpBNQ4D2_GI8uMiGo84aDU7BcqK-AZs1LCveqWYYj8iXCQedITsxlRNw9b5O7_bejXJ0MolLs4upUx_fjuTfGVtRIZyTznTKXvV0IhMaTcTBcYuqI6tOIIvAGHVSS9ssLg4cnkjxdjsxJTgYhqYJiQpuY-L5dXFEk25qTbETT9XR0VtT2smGb-k6gAdZJpbXYLpBnpO3WSa8q2yOhuVppsB6Y45x2wqP0zdjyTeSPvxNR-ZURt3IyTI1NNHB4=",
  "id": "rs_033dfcef11a96bdf016ab2bc5097f487d09604bae7d63948f3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.305,\"right_z\":0.025,\"right_pitch\":0.1},\"note\":\"The brown plush is close beneath the right gripper and slightly left of the jaw centerline. I’m centering on its torso and descending with the jaws open.\"}",
  "call_id": "call_VFXVQ9KzQlKcjt41DJJZO3OK",
  "id": "fc_033dfcef11a96bdf016ab2bc51418c87d0aa79c1a3bb34f6d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VFXVQ9KzQlKcjt41DJJZO3OK",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.338, 0.9813, -0.1791, -0.5461, -0.1352, 0.9965, 0.9764, 2.0361, 0.9756, 0.2241, 0.783, 0.5529, 0.9996]\nstate[eef_state]: left_x=0.4028 left_y=-0.0818 left_z=0.2269 left_yaw=0.0753 left_pitch=0.1185 left_roll=0.168 left_gripper=0.9965 right_x=0.3475 right_y=0.2979 right_z=0.0186 right_yaw=0.0527 right_pitch=0.0259 right_roll=-0.0885 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -5.7231, 7.0632, 1.9365, -0.2466, -0.0073, 0.0024, 0.2803, -9.7436, 4.6017, 1.6435, 0.5983, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34dc08a09e40f1376012b829a9f402bad0759543c85bf27fa99aa6663658129a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f395656e9b218c8fe65a5b83d8c2718561a5d9cabecc3ea8e340da7ea88e757",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dec7fe1347e1ff70eaec2cb9999dfc9e2c5b8af258d1797a157bbffdb268c3d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4362, 1.3361, 0.9825, -0.1497, -0.5533, -0.131, 0.9964, 0.947, 1.6966, 1.14, -0.3477, 0.6998, 0.627, 0.9996]\nstate[eef_state]: left_x=0.4055 left_y=-0.0826 left_z=0.2341 left_yaw=0.0791 left_pitch=0.1482 left_roll=0.1589 left_gripper=0.9964 right_x=0.3346 right_y=0.2763 right_z=0.1343 right_yaw=0.036 right_pitch=-0.0634 right_roll=-0.0427 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -6.4068, 7.0085, 1.8095, -0.0806, 0.1245, 0.105, 0.1573, -7.8974, 8.3897, 1.5214, 0.5592, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrxXYNBd8IV3IO5lAAd9cA6Ipz27tYmmkAB_vHeMwYL_aZenLD8R7pHYdzdq0MjQO_kSrg25ypkB8yZIL9szRnGktGlG9HKw-eVlL2hZfCI0502moSGDxWKjxH2VdT9GbCj0ytzpw9gUX0ctSsyHoYIh-3Vs8JVV2DRuAHSz2I42cuyiBwwcyPwO1dY520cVdC9W5-w7rQ5Wb9bkYfDya_zS89NSNbcDA_HQaDn5OlhJCdfwthQU-lPJ-gK88JXOfORd8TfBKZMSKdA62lQnLvogzDSj4cr2UbvLAHl1zrdfemaz7-Lb_exO0ProqZkYTZcY1Fr6taYXGFHvbFa4YDwKzgntqNmJ1P7BEtg8C_LkV_Hn-huBHDCJuxQ_gwg2MctFNenylriG_Flh5PK9gaF3m9_QZwipGq9YV4dHY-rz8ZdONZzIOw9deWSrJlESp-MxRgFYz490dQ4zyDf58tJo7COnD0kgF6FeImBa0rQOW4AMk3QqrohhwVOQ1-aw6tiM1HQ0eJAhDwUjwQfLs26kTjPvmYo6hbCE4cAzM-jEFc1rERWojy7E5QkcudsZopVnHyKfFLkC6yNyE9lcb8dwZnGfZRRnG7xQQk1xgSaqYpzKRyDzshcQVBovgXvzkjJDysSIi5G_zgdhgVObzc6YF0lwGhrb__pkePqvrf0cJUN-rjsVTpNvwu_L5mNp1YQCrFPR20hXYsAh3GGa7_snJf2oqKrkXLIW8O1H3Xp3T_lHabhRJcakxjaO4VV3XJqESlKa1HXz9hRYackaKcDeiBKPUQzXBfxczub-ummUJan6GMtqEVvaIrULe9eks06GYVb0JiDN2nQyoevoRLAiVh7gQL3qj4RLZNzYF33sT2EzmFwrqPHhyZTPOcTvyg9X-z-yFcN4CWkgZ58P6P6Cj7jp-w3rMHAV6ozay6neoaHLzm6w1ayITSeIgTpJsYSiWDGDi8aehy4oGsOGqFl7h9O55IhnOmDTWD_zPIb6UHVxQ2-lDZvCrAp-03wzaxJUplEpGUUIai2F5xa-IRxLBxJEcuz_Nrt7lrkww2ohU1S_z_eVu6u0ZC9SyMBuFOL02nrbLjwWV6y0fYv5cd3rwKwuuxaJeJ3NbDmD0rS4bQKSfLBuidaxXPdw7UGRWrukEwse7EIsLrcRT7rv9DN2rEXCg5XQy3fPbdmC6AyloctFlK_rRKPmuuqNuHvAZpN5D5FzVWsyVHAU0l1vtSY2ZA==",
  "id": "rs_033dfcef11a96bdf016ab2bc56607087d08a1b4ce5b21cb4bf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown plush’s torso fills the space between the fingers. I’m closing the gripper in place.\"}",
  "call_id": "call_DShwNHkntTfjF555DWVhNHGO",
  "id": "fc_033dfcef11a96bdf016ab2bc56c2a487d0a286989c372ad986",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DShwNHkntTfjF555DWVhNHGO",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.338, 0.9813, -0.1883, -0.5453, -0.1352, 0.9965, 0.976, 2.0552, 0.9695, 0.234, 0.786, 0.5499, 0.0129]\nstate[eef_state]: left_x=0.4019 left_y=-0.0815 left_z=0.2251 left_yaw=0.0741 left_pitch=0.1104 left_roll=0.1721 left_gripper=0.9965 right_x=0.3464 right_y=0.2953 right_z=0.0104 right_yaw=0.0522 right_pitch=0.0184 right_roll=-0.1046 right_gripper=0.0129\nstate[joint_eff]: [-0.1709, -5.5453, 6.9812, 1.7314, -0.2027, -0.0317, -0.0122, -0.0889, -11.3709, 5.3812, 1.2283, 0.2125, 0.0122, 1.0769]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d153c5c002e2b6944bf3dfd009811481cfd0c3cb6bdbfff173742570803350f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77ed02b0c5b65231c37787d6499c850aa1e848427f70bb6db70ba5833235666e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f3e9bff180ec28c86779fbb0564b4228b2826b6d860e5222d28a626c1942363",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.338, 0.9813, -0.1791, -0.5461, -0.1352, 0.9965, 0.9764, 2.0361, 0.9756, 0.2241, 0.783, 0.5529, 0.9996]\nstate[eef_state]: left_x=0.4028 left_y=-0.0818 left_z=0.2269 left_yaw=0.0753 left_pitch=0.1185 left_roll=0.168 left_gripper=0.9965 right_x=0.3475 right_y=0.2979 right_z=0.0186 right_yaw=0.0527 right_pitch=0.0259 right_roll=-0.0885 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -5.7231, 7.0632, 1.9365, -0.2466, -0.0073, 0.0024, 0.2803, -9.7436, 4.6017, 1.6435, 0.5983, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrxeLeYwFa5Ko-ZgJJSLW0m8LoZwFWNalMQE7TyrlGnksLoXGG4R7wtq6Gvdr45GpOk023RYL5m8q8xwhFWrEjehMsmMKWQN_3MbDXnF42fiU11rEWzrk1qZ4UljEUwEW4y3FwkXlCjv8HhwWR4Ze_xMB_Wc1-e6eJKzvBqS890HbiZnd5JOJzZZMnqT69Ti15g4LG1NS-D0W8c4A4-DPA3OcWqBJySwPmFEEVt0Ot-99P5jd3Sao8UAeq9QpxcLonOkpqLqPigAHFYqiW2NYXRx7C1eCFEZOmsIo9jWGG71KC0KtUfuluwcpFBF-HUY_Acnbsj_bCzBH3LWYSQwA2BbrQOLvaEbfCpMYJe2FgbUl4dCbgbLjlc3Q2-MV1pZlCBQ5OPV1G2vB-QNZiPwRwaqnWUhZUXXx5mmyMXvLeegqMB4S_lVT-7Q8w-wyFd8up8KjUhVe-LwaEnyMt6GyzhH_KfzQnC9dD2B15ABJcG1N2hdUCJjyE3MfZrthovW8knNR8DWW3iBMTqbZNUSWfiQIU2edKd7GRnnWho44iL_dYiVNqAjDAkFkt4kOmHQe0wpZry-o1nJpJyZalrzyGT9nvq78isZ4pCVFhuvldB4GNXgpNA2vwGZkBLTXaPOzdIkwuaqKOoKC_-su1omfR9PCYV7Fp5HNVFJ43W9oCM5yUiXvEuLlZrshDedNhQmo2BIQckTOXbudTB024ldG1w_illSt-kHi6_UnuyX3ao2qHrq-ySfD2MMwKMMqn0rTx4r68hQSFK1Sl5iGJevSz1RSu9TJm7c-X5_mtzS1KORZP8aB-JDMkLlVUO1fV9LBcIdXru59m0DoNaUPIgx4Mu042RLG_LSGd5oUn81GJQtm6ImX4ri99NWxbWrJPG0wco0mQFhIV-4P4jaOaPb29R_mWfqPVUXjcrJrdk4bFhgMwePF4xF9nrVZbG7IZAl3V32pzDRFo_trfo-KKECN4kOW0NcsgQnGPgsVKps9cBkopm1dNtUZ43yV9yW3eoPJrIa0K6r-JLqT_gkxH1Xhyj6NOPWs8SG0CC6fp7at1EtYghPxpuxkEiqABVW1jE8raNioAig4_6oIl83YgbDkBnJPG0en2fUOfyvB_hsrH9lj1fqt7gbVQNroul2zgbn4EFHdMOraoaPlBhhAOc04QkZJxNCEVwv0bVz4RBzzZp8plXW12ajt-pBUebdr_TJn6cBUL8DfhjArYAVYbPxFA86Yw==",
  "id": "rs_033dfcef11a96bdf016ab2bc5be5c887d0ab9b547f9d999a2c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.305,\"right_z\":0.03,\"right_gripper\":1},\"note\":\"The gripper closed empty behind the brown plush. I’m reopening and advancing over the thicker part of its torso for one corrected attempt.\"}",
  "call_id": "call_LJ0PTmrbyvAbvUFSMk8Ge0RB",
  "id": "fc_033dfcef11a96bdf016ab2bc5c8d9487d0b118075d3efd0511",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LJ0PTmrbyvAbvUFSMk8Ge0RB",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3399, 0.9813, -0.197, -0.5453, -0.136, 0.9965, 0.8974, 2.0899, 1.1061, 0.1352, 0.7151, 0.4614, 0.9945]\nstate[eef_state]: left_x=0.4012 left_y=-0.0811 left_z=0.2227 left_yaw=0.074 left_pitch=0.1011 left_roll=0.1767 left_gripper=0.9965 right_x=0.3816 right_y=0.2983 right_z=0.0179 right_yaw=0.069 right_pitch=-0.0264 right_roll=-0.1419 right_gripper=0.9945\nstate[joint_eff]: [-0.1162, -5.7368, 6.9812, 1.7216, -0.1587, -0.0366, -0.0073, -0.7179, -9.5932, 8.1299, 1.7021, 0.4274, 0.0024, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:babcda241ced819e3cb15e64871185dea68aef00d28c898b09c5c60528bb17a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:654f4af9bd8b82e7e903c0cf680b107e3b6231810f70d9aa32c0ced6707b1159",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca67a254cd1a85a886d11818b7b8f6d8e3802c86c52a37a81fdf78368f236c63",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.338, 0.9813, -0.1883, -0.5453, -0.1352, 0.9965, 0.976, 2.0552, 0.9695, 0.234, 0.786, 0.5499, 0.0129]\nstate[eef_state]: left_x=0.4019 left_y=-0.0815 left_z=0.2251 left_yaw=0.0741 left_pitch=0.1104 left_roll=0.1721 left_gripper=0.9965 right_x=0.3464 right_y=0.2953 right_z=0.0104 right_yaw=0.0522 right_pitch=0.0184 right_roll=-0.1046 right_gripper=0.0129\nstate[joint_eff]: [-0.1709, -5.5453, 6.9812, 1.7314, -0.2027, -0.0317, -0.0122, -0.0889, -11.3709, 5.3812, 1.2283, 0.2125, 0.0122, 1.0769]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The corrected position places the brown plush’s body across both fingers. I’m closing again without moving the arm.\"}",
  "call_id": "call_H29z94RgwJ5uLOzsy9UkwSTu",
  "id": "fc_033dfcef11a96bdf016ab2bc63462c87d09467f228b21ac9c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H29z94RgwJ5uLOzsy9UkwSTu",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3399, 0.9813, -0.2043, -0.5453, -0.1364, 0.9965, 0.897, 2.0937, 1.1069, 0.1207, 0.6994, 0.4519, 0.0115]\nstate[eef_state]: left_x=0.4004 left_y=-0.0808 left_z=0.2214 left_yaw=0.0738 left_pitch=0.0948 left_roll=0.1799 left_gripper=0.9965 right_x=0.3793 right_y=0.2986 right_z=0.0132 right_yaw=0.0838 right_pitch=-0.0478 right_roll=-0.1545 right_gripper=0.0115\nstate[joint_eff]: [-0.0889, -5.4632, 6.9812, 1.6972, -0.2369, -0.0659, -0.0073, -0.3487, -10.9607, 5.2855, 1.4725, 0.3932, 0.0708, 0.9646]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86199e7ac562565ab738cbc1425a4f9780fddfcde110a13dbf771f9cdeab9f5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0674155de4998f78298646c925cdeb03d5bb5b8d1eab9a5c778c2e1c201f548e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0718cd580ad4bc0055a26d875c5c1f55674fe9191d7661b2eba337c98625744d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3399, 0.9813, -0.197, -0.5453, -0.136, 0.9965, 0.8974, 2.0899, 1.1061, 0.1352, 0.7151, 0.4614, 0.9945]\nstate[eef_state]: left_x=0.4012 left_y=-0.0811 left_z=0.2227 left_yaw=0.074 left_pitch=0.1011 left_roll=0.1767 left_gripper=0.9965 right_x=0.3816 right_y=0.2983 right_z=0.0179 right_yaw=0.069 right_pitch=-0.0264 right_roll=-0.1419 right_gripper=0.9945\nstate[joint_eff]: [-0.1162, -5.7368, 6.9812, 1.7216, -0.1587, -0.0366, -0.0073, -0.7179, -9.5932, 8.1299, 1.7021, 0.4274, 0.0024, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrxrida-QEGJPPFJTXXK9LILd7-8p0-ubOxg0elzUmNVVCDU3uifDWJDvXG9boLm97vc5CoIpp1KH27hZNa8pOU0LSKydO5_-1GVqLXEZ3jsxD49ZhIKlXcdmMlKz5Nw68hS6Nws9ItbNoY7nebOWB7NLCVw8W16kVadqFWWVpEAqZGNsGUmEbL3q6kmTO6hpxdro70Vg2-iQB9X9PvWH-fz34v8nsR9UzG1dGTJp5LA3O4hGOJeVFYzf_OIvD5R8A3eZBbGpmzyf_o4ofnOvdCL8huGgn_n3aSGNsu7jq7KKzdJ6u7NHghII-DM47rLEUbQyvpM6Xnw50TcOSXoZvVW6bTukpupljzQQwymVSj9snugCIShdoj947HNNAEcdomI4pEpNsR_qmg_KCQr8QXglK6gCt7ym2MoFX8McK_6bkQhu5B3EqYd6aL-WDEF1QRoo-G33_hEbPZi79rjSxLKCzKbLzhDHluPdObOrdKc_Gu9odDo9lM-C0kkNMaXLtC-eQGpNsUQGur_94g1dUqkd49hD7H3zKOh6KEWBNd5Qa0687HrZxFI0ABBcef7WuVGj4ei3ApSEFYUteOjkMSGiPDfLpC2nD4SqtzmOhtVdG5JUs3GzQn1HKMC3D6GIq9nJDu9RvwPM_8X7d8eb0A07N4lF5LiSuCMnLNRSFt72pGY67DiE8oVStFa7nehmeWrIB6pfb9i5DrgYHXUArPZDg_eZr1mvgLn7DGudgOTBt_SFuBulppeur4LfUpJPCN3c7072h2WIA4WKL4sHlJnCnHDqhvG69DLV7SccmYFI5UqLfBTfZckbq3PbQY2caTZ2pTmKjRhrq2DaZ3YlwlV-LYAiSYcrGvLjvDLZTjptIQNvsnEAkQutk34VjDCKCD853tdvPLrxJWDviTTl9ve-IPguC3Mbw2515UbisDNPwjQFZJngNLlhUCBS82_jEZlLDIjFeLbtMahoU9d9yuaaTp2DQJr1srfdXRqGKb5t_57_ZPp7aNBY4FG2co3_7JOE7rwLXJb4hgeQccARPfa7C_iLkmq0L2tH2kbs9i-z5DKJ3R9i9ei4msCF32Wr1ROg2ZpvzvstBiwWuxYK5Li2cVC7OgXu0mOvlbOXz-sYIQuhV9E3u6lyrTUkWexcV8yfxDWZnFJIEtpDN93IgDSMp7CFWnbdVJJktDl-bPM8uiuzqXxM1GBautmV08nLIGtNDLTO1y5sgSHc3kO0rlyXXlT-cDn9lS9mu3zZirJw4pcsOVdNuavO6NY_o3fGbVCn6Ax6hKZan2vGlECdZI_8Xnv20aydlhbYki-DHGLcbWxiaj5Jx3ZkFdovYlwkbh1F7fixsiAnY2o9aJ3cwCN34iaH3Ueg45ZBpiXAriVSMtuWno7HmRMkewDMi25XGGxx0Sz6g4FAjL9fokCpDbiR-d9enoq14iY4JlYyx38eEQcKPf2fKFxBdLh30bUN8inT_eEmwW0WwISJqvTUaowyA==",
  "id": "rs_033dfcef11a96bdf016ab2bc67814487d08bb3238142578bc0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.30,\"right_z\":0.02,\"right_pitch\":0.2,\"right_gripper\":1},\"note\":\"The second grasp also missed; the overhead view shows the brown body still ahead of the grasp point. I’m using that view to move onto its center rather than repeating the same position.\"}",
  "call_id": "call_hNrliDEimsuPxThZXGk9WG9f",
  "id": "fc_033dfcef11a96bdf016ab2bc69ca9c87d0984b5e0ba63933d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hNrliDEimsuPxThZXGk9WG9f",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3399, 0.9813, -0.2218, -0.5453, -0.139, 0.9965, 0.8318, 2.2318, 1.1088, 0.5236, 0.7403, 0.2348, 0.9945]\nstate[eef_state]: left_x=0.3985 left_y=-0.0799 left_z=0.2181 left_yaw=0.0745 left_pitch=0.0798 left_roll=0.1861 left_gripper=0.9965 right_x=0.4275 right_y=0.2976 right_z=0.0126 right_yaw=0.0988 right_pitch=0.1438 right_roll=-0.1749 right_gripper=0.9945\nstate[joint_eff]: [-0.0205, -5.559, 6.9538, 1.8046, -0.188, -0.022, -0.0122, -0.8547, -9.3744, 7.1863, 1.7118, 0.3541, -0.0317, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a3ac57c614d1a4d2b234f7b9e4798034e78323e0f96d69e79d4eda1b6c7ff89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94f473d97408f573936588680446f952de44e572b3006bbfdad5303842302213",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5409546082f20a724a27d97f8a6ecb85ea72820b5fda3314f836bb47394d203b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3399, 0.9813, -0.2043, -0.5453, -0.1364, 0.9965, 0.897, 2.0937, 1.1069, 0.1207, 0.6994, 0.4519, 0.0115]\nstate[eef_state]: left_x=0.4004 left_y=-0.0808 left_z=0.2214 left_yaw=0.0738 left_pitch=0.0948 left_roll=0.1799 left_gripper=0.9965 right_x=0.3793 right_y=0.2986 right_z=0.0132 right_yaw=0.0838 right_pitch=-0.0478 right_roll=-0.1545 right_gripper=0.0115\nstate[joint_eff]: [-0.0889, -5.4632, 6.9812, 1.6972, -0.2369, -0.0659, -0.0073, -0.3487, -10.9607, 5.2855, 1.4725, 0.3932, 0.0708, 0.9646]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrxy3r8X1e9rlRLmWDLpL55xi2Uw6TkU077yghBGRN1Zp_7POC_qnUWNlPd9oFv0aK3MrP-WB3N7AWrIsfwSWOwE2TW2jaYqdHeQxWd4R8x0xZUlsLTMTugKz5kKoX8B_oFPIIiygLbFYMLoJ_zygWstOi2z6ES8u10FfNXYrwLvAZX2iMle1OMQKbkRYgMzry8sm6M35jSRcV2F2PcmS_9AF2c-2MYJctuF3xjhaguJ8Qyri_Dwfs9MQuN81dPDLIdvIg9udHWyKFvNEv5hdWsjCmNnqD2T1EyUBUriz8sJFeUG7mtUPi4QUPtMlzCAbGz0lFYh3IEX53nV0ldwbgKt5_X7JxM-Rz4HkYsRwxgsYdhJWtZhyz1JqLOopfGUz2rtpOLMwzFnI38wFSg1OsfZQ2JyuPqVCHy0TV3PvPcG_us_3Hlk0ATcqgtbC-57U9HrVUnPKb-ahyW4nW5I3vroM_xo-OatdbrASyakoKtmi6tyXuaM2keRFDeHQ9noZFKagG34IR26iCM7bBIiuSAcZxkIgVQQpy4J5bxVtrxsuxWgUV0rI8hb1zX8KwKMuw1vz6WPbM1czQ3nPR0CGg6N8LnDxrVbRA_C0To6XQqdIxdI_L8qxCS16NcbjmwUtUHxxHjcdBxwXvYX0jg5VMF4szUgdyAZiCKm0Doqe1QkQFZDGUr_EOhf7BCGb9l72ebCJ9l7c-NGo0UF2eGsUElV6c-eRh6q5zPS1HG2SyvWnaWWRUTdqo-GtbC1TQPCzhY6MsO7WG89o6GgkOJAIZ_92Fs7rWEMmMykl8TY58Y6SwZxU3kCn8aJJSFmkJ2I_2gttKHee2drl8HJXpzVlAQp1Y09Ks8nrtx5vo8P8RT6ns4KDd4cTFUox39-BNIn55-ANmHtmFeFHrGmiXrJFf8IOCNQbIFRkSofUNxJjvIL22ibexR6PvdTLN6W3KkgMkRyGtU2OmYwwfxtdOIP_IFxplnD9bQszkgIP0NJbwarRQJDNDVHHOedkxdTNXYzAahXlM4yyfTc3jZHPL717sUulqkcqP_0XUvLOtyRu83GhfrO_lePANEs7jVwS7Dmc1mrD-P-jeXGasgJyeZe5cg2rQqh0ZFl7LpxUsW4nFVKGQbYBnJTY0KB6rs9GxDuhGROX7Tgg-CrlyqOtkGBUzqb3QRrkp3bonRs3zhUbfbi2_sE-A4CQk4MKhLMNFZEjYNhIvERBsuwkS1poiafQ3eXjNZDKeen_WATA04Jx5ZRgzshNDaeyYiRnBrQ4Jtfc-Iv",
  "id": "rs_033dfcef11a96bdf016ab2bc70e5dc87d09aaf0b756787da0e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingers are now visibly straddling the brown plush’s main body. I’m closing around it at this corrected position.\"}",
  "call_id": "call_NrW8isiUz6gq2D5h8l19JV28",
  "id": "fc_033dfcef11a96bdf016ab2bc71c23487d0a8d0f526595662c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NrW8isiUz6gq2D5h8l19JV28",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3403, 0.9813, -0.2333, -0.5453, -0.1425, 0.9965, 0.8318, 2.2425, 1.1118, 0.5415, 0.7502, 0.2241, 0.0442]\nstate[eef_state]: left_x=0.3973 left_y=-0.0793 left_z=0.2159 left_yaw=0.076 left_pitch=0.0698 left_roll=0.1889 left_gripper=0.9965 right_x=0.4291 right_y=0.2974 right_z=0.012 right_yaw=0.096 right_pitch=0.1542 right_roll=-0.1819 right_gripper=0.0442\nstate[joint_eff]: [-0.1983, -5.5726, 6.9949, 1.6972, -0.2027, 0.0073, -0.0073, -0.253, -12.1504, 4.6974, 1.4774, 0.1001, 0.1538, 1.0574]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f332948277ebd2b34a659fc825ebdec5c359339e6b489df4c01461936dabeb09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf1a6d8a7fcf4624b66fc8e618d4d7201f7f6bcd53b8695360b57bd6d02f8623",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0169b90dfaae0eac356e8b45074e69f24b51bfb03442f29695619e60cf814e4c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3399, 0.9813, -0.2218, -0.5453, -0.139, 0.9965, 0.8318, 2.2318, 1.1088, 0.5236, 0.7403, 0.2348, 0.9945]\nstate[eef_state]: left_x=0.3985 left_y=-0.0799 left_z=0.2181 left_yaw=0.0745 left_pitch=0.0798 left_roll=0.1861 left_gripper=0.9965 right_x=0.4275 right_y=0.2976 right_z=0.0126 right_yaw=0.0988 right_pitch=0.1438 right_roll=-0.1749 right_gripper=0.9945\nstate[joint_eff]: [-0.0205, -5.559, 6.9538, 1.8046, -0.188, -0.022, -0.0122, -0.8547, -9.3744, 7.1863, 1.7118, 0.3541, -0.0317, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrx4Ny4P2OZBl0-WMsM9yboMKVizoz-Q2iuXcYoy4jmgNmn-38mpMhrkhIei2tE7p6VlOoqwVxmFrCzZTRI7w7HOtIBrQS6dzutuUp_aNgeLK1FLddAiK7ZfDq2w0CE9c0X9prdSefI8-JO-hqkKUIqzvjN1qNfUxM9OwPmCvf3kpuSNBrZiUivQ7Mun078coyNTaiSewG-gOSZE2DcTfE0okAaVcby_yEEfUhUxYZD_OVm202iYQNrkCGA38Sj0WqAN6_piZ24UU9yXuJxXE0Ex2IWvofPHa-Iop11IhVP2AobwvCWw-gHFsmYeg3l7_XFp6beTMYBK7q-gsfOEmn0Gydx-JDjUkN5LzBXLwYxly4LOhsQFC1doyFo4wStkcjtULXU22RJ7ByrlRFK7dK2RG4j2JIXmwcq9uE3J7662v5id8-EKGvdjavaQYjUkGpNOMGWFafXaHwUDESV2QcW98-Y2I3zLGWyOlFyHmcC-TTcFznopzqeYE8RuBzGab-hIo43Ee1WdlgvnyKCRbrVxYKG1X7Y5-5MqBif93ahOuO0Q7nQO5Cr-Z19f5nHDAgwRchybxAeyzcoOm_Bj28mocunsJ-7ezRIhsD_3dCQryOkS7zFEIyNKYvUx1WDRKjBeh0bz9SriNF8GOW1f-wuq5B2KlPFpgXMxLVD12U3QOzktFx_XslalfjjpFqi4OxeLp-W9DGCDAHEUPbZzEa1R5T8YaDLc1Fsjvgy5qHB99PBG5fSes8EJHLVV7xXmL441mlXecUygsfyHhWw6V6eaLwbcrr80Xx6cpb8VAkbCCStdqOfGYNEV31sVDTdWRQpCdxAv4wavpIarNB07FwhLS-UiNe2go1YPSqy2qiAP2prv5KPxyyV4ckczTMF4qD7z8YaSVrKtGoj5JZpEctVG1EtTPh2ox5--fABbzLzWnfUvjuspPEfIqKUaxn36ly9XKQCRVJzWvfpdDYlMY9myfqHfiR1U3mmwt8XP21L9SUSwULVV-S-GgfScQeE8IdSf_ruGwzEX7R4G5revfcuDrbyeLQVX1xWh8b8bJE4U9vWrJr1CZ6OwhEiE60NeAXgTj7kUrUs9EHfGwmndDbzUm9NLDrrrsk5SoK8EEfPUlQWcyWxt2q5yRS9f96UKn5vR4FVwAoy367LL4P5OSgRCqQD-PAQus1ZOet8Cx1RjJutwJjSCkWz2j9WXbHDCyis3uH-jCk7P7HD0jxs-1v_z3A==",
  "id": "rs_033dfcef11a96bdf016ab2bc7673ec87d0bcac2cd58cd1cccf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The gripper has a small nonzero opening and appears to have caught the plush. I’m lifting briefly to test whether it is secure.\"}",
  "call_id": "call_P2Ft4F7ySG2wfaPLaAvbgTEf",
  "id": "fc_033dfcef11a96bdf016ab2bc7739c087d0aed8f8bbd28859fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_P2Ft4F7ySG2wfaPLaAvbgTEf",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3407, 0.9813, -0.244, -0.5453, -0.1429, 0.9965, 0.8318, 2.051, 1.1564, 0.239, 0.7403, 0.2169, 0.0456]\nstate[eef_state]: left_x=0.3961 left_y=-0.0788 left_z=0.2138 left_yaw=0.0758 left_pitch=0.0602 left_roll=0.194 left_gripper=0.9965 right_x=0.423 right_y=0.2926 right_z=0.0705 right_yaw=0.1131 right_pitch=0.0999 right_roll=-0.2286 right_gripper=0.0456\nstate[joint_eff]: [-0.2256, -5.5863, 6.9402, 1.7363, -0.232, -0.0757, -0.0073, -0.2667, -13.4906, 8.6222, 1.7216, 0.3736, 0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39796afd37cf60b79aff88cc2950f0a8e817bd221e174c70f432746d069e82f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2dc6e3073037e12fe61e379640fd6307d643452307d37bdc9b43833ada3c37f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5cdfbbf77a624b0fccb2440865120782f596d4e0f9c4ef737965bba036bf02e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3403, 0.9813, -0.2333, -0.5453, -0.1425, 0.9965, 0.8318, 2.2425, 1.1118, 0.5415, 0.7502, 0.2241, 0.0442]\nstate[eef_state]: left_x=0.3973 left_y=-0.0793 left_z=0.2159 left_yaw=0.076 left_pitch=0.0698 left_roll=0.1889 left_gripper=0.9965 right_x=0.4291 right_y=0.2974 right_z=0.012 right_yaw=0.096 right_pitch=0.1542 right_roll=-0.1819 right_gripper=0.0442\nstate[joint_eff]: [-0.1983, -5.5726, 6.9949, 1.6972, -0.2027, 0.0073, -0.0073, -0.253, -12.1504, 4.6974, 1.4774, 0.1001, 0.1538, 1.0574]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrx-7qRZPszpchd2HJbyKfQ94GAkS9FxH_6KpTAk4ECidpKIK9H1Zdza7WOMcXZ4LOYs1idWT_XnlysWF70-armpt0OvJmr4wT5L-S9o1gmsLhUlnMiPfFeqPfesyj4WGzKtYhH2CSL3WjvPtlPUU8htTabqM-hNjZ88eJ7ilzIFzEfI_ScaJm6oYZrNDRx-jOOm4eLSwduycnSaGQKDmFIl25fevdf-0O2KtL1d8S4Gjo8ZY8-X1X46Q94N_MGYko3NDtioDu5qLKLUx1UnosxiFelswDbSRffLC0mzN1516PHkEugHsDaEyniNXaSoJoC5Qy1fTBEwPpJk0rUGfMumUib7vkrUFq2ycGxriJHt40xO-GpHLhRemBBdy4Ny7aLvlD4PF7XQxg_kX1EsxaI7Q2Ppz4zc2uueWBAaBxIXob20ZgMj-Lhlo0GJr5uxR04HYOMV0yN8WzVQpQaoh06ROpLBTneLomFCblAOu76uw_crrqiWUz8F7wBzPUykmDTfo2TvHdF_YztVsyRB3-8aeFV_hA_4bC7Pj7F-1fCrHPJl_UlzyOfsqFZkRQxdU16qqNbZ1DC9g_RkDPTf45-8whaM3G6iUpdjasv2NCF2PENwFOHsGsrGN32ZeDlufk_iunlJk_Kgui65zb8TIl_y2H-DH2C7T7AaZ1BtgIWlMm462e9mRtABB_QeiNM9uznrtl8D7L5kEBsT4xX-vV6i7csoWwgQ9hXO8nw9FYCZIKXgtyj5y6OdjF_Ni1beQUh-r983B5LxczKTYlZ9H3nnuE_pSPvNMdKSpj4-B32O3yKJLFnENLob87JGBr7uWcHgvb16rkpKLJ3O9TrI4g0xPnEUJ7EhjT9mwpayYsK5G7sqhuQuOgRNLZ994OqezHRSKj50_GuJejr7HSUXW9tH_KJB3QmBXtohhG_KlKiYbWFZp9DFJyH2FxUABJ8Rk_jj_FfPX-usGB9gDCFihKmYmSeFsGG6G5qMnJIuvcwaol0_n7TwVcgE1NjNLsKvW3KvisT85JvRXClt4lNk_FxV9nU_LkSzS3ELcxJfzcsQJyyBWzYZ_14WFYaiFk8rZ59GFttY_nXDUF1Z__EWPemoC8tIob86_Pasz-8Zi57awkMliBEKwRRS2h2m8gT1Snssti02xBliqUPKiM0LlvyqyB2Wq-X346-Fynku70_903o=",
  "id": "rs_033dfcef11a96bdf016ab2bc7cad1087d0afa06e1a38245130",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_y\":0.34,\"right_z\":0.23,\"right_pitch\":0.25},\"note\":\"The brown plush lifted off the table with the gripper. I’m carrying it over the safe beside the white plush.\"}",
  "call_id": "call_J2QpKN2jE2j5VRMHiArY2T4m",
  "id": "fc_033dfcef11a96bdf016ab2bc7ce6b487d0a1d6790dc0101d6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_J2QpKN2jE2j5VRMHiArY2T4m",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3426, 0.9802, -0.2501, -0.5453, -0.1429, 0.9965, 0.7437, 2.2509, 1.9652, -0.1776, 0.6956, 0.0544, 0.0499]\nstate[eef_state]: left_x=0.3954 left_y=-0.0784 left_z=0.2115 left_yaw=0.0756 left_pitch=0.0522 left_roll=0.1984 left_gripper=0.9965 right_x=0.5321 right_y=0.3405 right_z=0.214 right_yaw=0.1294 right_pitch=0.2163 right_roll=-0.239 right_gripper=0.0499\nstate[joint_eff]: [-0.1299, -5.7094, 7.241, 1.6435, -0.1783, -0.0659, -0.0073, -0.5949, -13.2034, 8.3077, 1.8632, 0.2759, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7258c4d322d33214f8cd3da455e78f65bc29622b1ddf216af30b3cd2341565c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7e55c01530a568b7eb586c3b3caaf638ed4714f241afbf4cd3c41ac22c381cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0a5f95d022cc406e40396375ebde5f2c1d3aa11901b0e89dcbbec5bce30276b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3407, 0.9813, -0.244, -0.5453, -0.1429, 0.9965, 0.8318, 2.051, 1.1564, 0.239, 0.7403, 0.2169, 0.0456]\nstate[eef_state]: left_x=0.3961 left_y=-0.0788 left_z=0.2138 left_yaw=0.0758 left_pitch=0.0602 left_roll=0.194 left_gripper=0.9965 right_x=0.423 right_y=0.2926 right_z=0.0705 right_yaw=0.1131 right_pitch=0.0999 right_roll=-0.2286 right_gripper=0.0456\nstate[joint_eff]: [-0.2256, -5.5863, 6.9402, 1.7363, -0.232, -0.0757, -0.0073, -0.2667, -13.4906, 8.6222, 1.7216, 0.3736, 0.0611, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_y\":0.31,\"right_z\":0.105},\"note\":\"The brown plush is suspended over the open safe. I’m lowering it into the right side of the compartment.\"}",
  "call_id": "call_dlvDVsAGBaD2VYfUKw3eXu9p",
  "id": "fc_033dfcef11a96bdf016ab2bc8215fc87d08ac5378b5894dcfb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dlvDVsAGBaD2VYfUKw3eXu9p",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3426, 0.9802, -0.2562, -0.5453, -0.1429, 0.9965, 0.6922, 2.2795, 1.6161, 0.1638, 0.6525, 0.0257, 0.0528]\nstate[eef_state]: left_x=0.3947 left_y=-0.0781 left_z=0.2103 left_yaw=0.0754 left_pitch=0.0469 left_roll=0.2014 left_gripper=0.9965 right_x=0.5332 right_y=0.3074 right_z=0.1082 right_yaw=0.1323 right_pitch=0.1712 right_roll=-0.2694 right_gripper=0.0528\nstate[joint_eff]: [-0.0889, -5.4359, 6.9128, 1.6728, -0.2418, -0.0659, -0.0073, -0.6906, -11.3573, 6.8444, 2.0147, 0.0659, -0.0904, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3501d62fb760b937019e9060af91d74a1bd62a08c297944eead4c4a479d1000",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c93797c4288edc9e6f2e22c6145de1d032519dd1e372f9b2027a4652ce63b38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65a2e37fb96d22b4a5e5885e870b06970fc001fbbc6c1626d560de6735e7c0f9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3426, 0.9802, -0.2501, -0.5453, -0.1429, 0.9965, 0.7437, 2.2509, 1.9652, -0.1776, 0.6956, 0.0544, 0.0499]\nstate[eef_state]: left_x=0.3954 left_y=-0.0784 left_z=0.2115 left_yaw=0.0756 left_pitch=0.0522 left_roll=0.1984 left_gripper=0.9965 right_x=0.5321 right_y=0.3405 right_z=0.214 right_yaw=0.1294 right_pitch=0.2163 right_roll=-0.239 right_gripper=0.0499\nstate[joint_eff]: [-0.1299, -5.7094, 7.241, 1.6435, -0.1783, -0.0659, -0.0073, -0.5949, -13.2034, 8.3077, 1.8632, 0.2759, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The brown plush is touching the safe’s lining. I’m opening the jaws to leave it inside.\"}",
  "call_id": "call_DQGHExVJUJ3WYFxw2EUnN3mC",
  "id": "fc_033dfcef11a96bdf016ab2bc873c3087d09334f496597265ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DQGHExVJUJ3WYFxw2EUnN3mC",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3426, 0.9802, -0.2699, -0.5453, -0.1425, 0.9966, 0.6876, 2.302, 1.5986, 0.1478, 0.6472, 0.0257, 0.9948]\nstate[eef_state]: left_x=0.3931 left_y=-0.0774 left_z=0.2079 left_yaw=0.0749 left_pitch=0.0348 left_roll=0.2084 left_gripper=0.9966 right_x=0.53 right_y=0.3021 right_z=0.0847 right_yaw=0.1364 right_pitch=0.1221 right_roll=-0.297 right_gripper=0.9948\nstate[joint_eff]: [-0.1026, -5.559, 6.8991, 1.7802, -0.2027, -0.0171, -0.0073, 0.0889, -15.2137, 8.1299, 1.7998, 0.1832, -0.0464, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df5e3de0f58e46a11747b068c85600d306c1366bd2e6bc75b634f6b7e18ffba1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0595ff5cef17587586801f619018000a4e9158aec2c8db346cc1f7dc3fd26bf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e5bd5b623669f4c548faf1303fca54d6ea4ab35e74584b3eba1c555a2dfa39e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3426, 0.9802, -0.2562, -0.5453, -0.1429, 0.9965, 0.6922, 2.2795, 1.6161, 0.1638, 0.6525, 0.0257, 0.0528]\nstate[eef_state]: left_x=0.3947 left_y=-0.0781 left_z=0.2103 left_yaw=0.0754 left_pitch=0.0469 left_roll=0.2014 left_gripper=0.9965 right_x=0.5332 right_y=0.3074 right_z=0.1082 right_yaw=0.1323 right_pitch=0.1712 right_roll=-0.2694 right_gripper=0.0528\nstate[joint_eff]: [-0.0889, -5.4359, 6.9128, 1.6728, -0.2418, -0.0659, -0.0073, -0.6906, -11.3573, 6.8444, 2.0147, 0.0659, -0.0904, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsryOTo-CT1rKS6tVDcv4UHIRLlDd8TTq_ljGbbKxR8OfEHgsAOvBb1YRfwUx_LjYQcwM0nyETYs2xPFAOI-yBnGYirWKX-909uyUiC69oPlLaI6P3K6H8gHmZvoA9AtOIjrs8aw3YACwL3WIYJVFUN7ap0JR6YVnsKSwr_8aUxpIT_d2Q3IpIb5vQ_yWJtPszMvOw0NTXJnlWoyqjZSjdi92X3J8XiAfi7oEMoxUW4XJeJVdEvTfU3OTB_2hci5PTKSX0de_RY3llLk2BvZjCLNwgeERoKGuwTD3uKTCxnM28Cz51eE232tYcuP92-m_LjxTJhQ-27yEpXY-BLvbSpVYM07R-mnUxWP26o8H82sWGlua6nz07IPC_I3P36bbNadtYQjWLRuTfWMtcoZuGSrortqikMYZVFP_GyyiUIchv2i90HJNeyVz-n1JETxadVNXNHPYKCpLuJ2q9PYrL71MAe5CXL__GEsEqtZCLZXqHYFRWHkmm39Cwnn-a688oA46yaIO7ZkshmCVuX0sDsduKpdMkZ4U2lKbBLdyDueALI30lWJVc3HNKp_IYzBbfDU0nXiYS1BARHDo2mUxtqJsMcdRQWMOcG4nLo-WrkjFP0O-uoS8mUCpJT4-CGyYjapniUXl8imQYIb3NJWBPqdIxJSjyUHvp2yrfWNwID15M3nnFqWdcIvXOY_4Nt00_5YCW-ilHqWKWrhsZKt8tVAEvisVNe_6G3667cCN0y0tDpYcV9HzdfOrNCQihJMyg5u0nCSQq2rdRCIx7T7E5Ow_FhFLrkpzR6tLJCUNkxCDpcl2bPNBYmIJSf1f_FopGL7zMNx0TMEtDJkNhmYfaGQqzL5xcne2O0eqqxCYa3doTAnsAiUjV2ZF4ezSRr3EhSWnpDCGSRiAENlD6RWDq3weCDxJz8SML7JGJckN01yHsksvcaJiyNqycRd3CkAuupatdNcK1ep2BEFiAtyiiwOl-v23IbFgMHAyIL55yBD9Wm6mWCKHWwt2LCRfJ6Y1zIs3OE_fCLMJ2gVfN47eKUUdFjKTvCFIAKc6et5_j8vTZ8vt1b0teLsWHgdmDeB9akKlfW7_9D-l9Qac_GuzcJvJGSz8up3gc8zCDAgDqLDJaQ0bVSMQt2Q2ja7L80uJvRFLe5vEX9MdMpSvJQ7WmjSJA9OlV1m0YaxuRcK3BJrHD-LMqwzeAPaUTY1L6U90u9zLHxqxuF_JMijXzr1o33oF1GxqruNWHOtHRnfGJ6IARaevQnw1A--MvDUwho1f1xYwTLAo2o9hjPtvOEuArezIPNb0TCnC4upKOYS9I5ylJ0I=",
  "id": "rs_033dfcef11a96bdf016ab2bc8c000487d08d1b9adff9e5f064",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.555,\"right_y\":0.17,\"right_z\":0.18,\"right_pitch\":0.3},\"note\":\"Both plush toys are in the safe, though the brown one sits loosely across the opening. I’m lifting clear and moving above the remaining yellow object.\"}",
  "call_id": "call_24di2bsGZHlFdxpmQa0uAxao",
  "id": "fc_033dfcef11a96bdf016ab2bc8cf7c487d09b2a6b8a0ed138ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_24di2bsGZHlFdxpmQa0uAxao",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3426, 0.9802, -0.2775, -0.5453, -0.1429, 0.9966, 0.4278, 2.0346, 1.3048, 0.3397, 0.4507, -0.1669, 0.9953]\nstate[eef_state]: left_x=0.3922 left_y=-0.0769 left_z=0.2065 left_yaw=0.075 left_pitch=0.0282 left_roll=0.2118 left_gripper=0.9966 right_x=0.5516 right_y=0.1709 right_z=0.1426 right_yaw=0.1303 right_pitch=0.2038 right_roll=-0.3232 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -5.3402, 6.8855, 1.6679, -0.2515, -0.022, -0.0122, -0.294, -14.1197, 6.8855, 2.3516, 0.0855, 0.0122, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8185057e719ccada8ec205b974504b86be93058b05db10827a944e12d68d238c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92c3c29a169fb73a65a1c5ca2a6e8a914189b75f09e86f5a139bf66f0dd78115",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:878330c691ff16edbb6c8f64d2f901d2d4dfe1744ae273dc2ece303bfeee6b48",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 97 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3426, 0.9802, -0.2699, -0.5453, -0.1425, 0.9966, 0.6876, 2.302, 1.5986, 0.1478, 0.6472, 0.0257, 0.9948]\nstate[eef_state]: left_x=0.3931 left_y=-0.0774 left_z=0.2079 left_yaw=0.0749 left_pitch=0.0348 left_roll=0.2084 left_gripper=0.9966 right_x=0.53 right_y=0.3021 right_z=0.0847 right_yaw=0.1364 right_pitch=0.1221 right_roll=-0.297 right_gripper=0.9948\nstate[joint_eff]: [-0.1026, -5.559, 6.8991, 1.7802, -0.2027, -0.0171, -0.0073, 0.0889, -15.2137, 8.1299, 1.7998, 0.1832, -0.0464, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsryXQntLU5hkUpQ4enBegy_zld2MM-H6-jEAplvegn2JaRTueHBN0LBdr9gmG5LTlWscRoQ64cwAuxsa3ytDC4EbFpqI-wBqR5a7oO7XxAeqwuLk6yPi3TS7X1c9gOn8DXSvq9ahr2-zb8-R2OWSyVUHf2VWBS0DAGziwhpxodgQ9W7MTlos_VxA-vinamMYTEpIaBZIfyOZtL42FBMOSheSGl99TBNE1DyaLAqUg8hKiGVXFiSfABG8CopEf5WRcTfLeX7LKktWunM8zUrjhUhMtHSs2nRAwmLiJ6heGEwwlryL94a2ozGDxJ-HXpo5RTcMWu_ifR1uAHst2TBW-NSChdKGitM9JRUcztsGRyhf88mOEsSo1tNzqL7dEYuJfJRM4XnWg_tN4H30oF5-OpCzibHEabFwd1l1rZflz3HYaTIMWr0OODHoKYH5pH8uQC3F33Nh8ofT8NjPo2C9ZXYVbYy92tdeYm7MEia64nE4KLlVK_xaYJGCebKs4QMqszHOtEkBuz773iWdueKMnxGxMzwnJz-CQSTxYoXSGw19trn9PrDZRxUzSMDh07QCjKcuh1Q5KfLU-8f4YuEdesPd9iwv8yZD1yK0v6GbUIWGLE2zIyn31qZ7joxRsmu2HEM0Rl3gaoFSbzAJkD8UHkmVEVmLl6Px1k9Bb5C9Mq8be4AfvhrhVf8xCyB1kcTRXAnBmg28pJ1zC1iDDeZM1yYHprlfWcv1mt0xNhdlPSdMKV4jszxJJE1WAeTd-ATWafQ3Vf6jFJZHA-6QRvFHMpTpEH8IaXhy3X2kWCICDFTmXigMe9JTHQe8uAjaGufrNqhmkUI29nyr-nMC-I-zRZGfW7Rdk2tBkX4iKS3VL6hupbUsKPKEAUnRGeDXF3hbvako0J9m3pf6cMpfEYYSy93Z80YEEM7bAI3DIx_1hy23_y-41S3RJ01s2aJzR2ns6YFqbLVxZsgvCo2927SGEQDUx7NW7lCp5PJaeWNHknlCOtdLhG1NUUZMOMTJcU7j4OoAuBEzCt0p8S6RjQwJF9yC0_kQR0fXeo2bkQNDtbpH5N2RToYYJZALhQe7j9_Z0jkBn7Db69bjLKn1sHcv0kcVLT1BCgnNWLgKjZLnspZqEXZKOUj5Y0pYV1gqAruuWLhf5y4W7vIrAFVUj701mft6gqnMVFwjq02kt_Kf00I8q45IVj0pS5h21_jFwMuzUGuiPWqLvnKsRHqfq7oT79gHI84CBRyrG_W6MuaKF8BbO2SvzzNISdHy_rcaBRqRA756G-hhmooBOUrri3ZRv9CCU2FxBeHu-7uocimHlxDM8griUMGacw8u0iGBK_LJAi4A9t7xBOijdM0LZVsv6Bz1RLYu1AECEnq2OKStsIK4VFi1PiRGZ_1CWM8zmyI3BjAJDn-nc8n4-A8zwHLFabOYfVC81EuuoM7rJ_Z3HiWX8HqxRaF_EU7XPF_50TFNW_1466yzUXoK_FR7TfZk0dhd1UsE1YnYNGDulKyJVydLgjY4tPe8mVz6xcQPyuv9fCvTlEzt6pEReG-YIa9j13Dltg==",
  "id": "rs_033dfcef11a96bdf016ab2bc93723887d0950eeced3ba54c83",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.575,\"right_y\":0.185,\"right_z\":0.035,\"right_pitch\":0.4},\"note\":\"The yellow object is just left of the jaw centerline near the bottom of the wrist view. I’m aligning and lowering around its sides with a forward tilt.\"}",
  "call_id": "call_tR6rs2GAlOEaA85lVDGIxGw5",
  "id": "fc_033dfcef11a96bdf016ab2bc95f19887d0bd1c9970b3f8660d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tR6rs2GAlOEaA85lVDGIxGw5",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3426, 0.9802, -0.2935, -0.5449, -0.1429, 0.9966, 0.4332, 2.3898, 1.2812, 0.9516, 0.474, -0.1989, 0.9953]\nstate[eef_state]: left_x=0.3902 left_y=-0.0761 left_z=0.2037 left_yaw=0.0746 left_pitch=0.0141 left_roll=0.2195 left_gripper=0.9966 right_x=0.5774 right_y=0.1821 right_z=0.0645 right_yaw=0.1097 right_pitch=0.4225 right_roll=-0.287 right_gripper=0.9953\nstate[joint_eff]: [-0.3214, -5.5316, 6.8991, 1.7216, -0.2076, -0.0562, -0.0122, 0.7863, -8.9094, 5.1214, 0.6178, 0.0122, -0.2906, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0a10f2eacc75aacde1b3a005b5516bd2785e42817d9134892ee390cd94b87cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08df02e116ede352bf281fa536a54e4f6833af731a5f988d9c9c26100025c51c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2169f5491b53870df70076c4fcee23bf8f22162959e1bf89177747889b788b1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 101 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3426, 0.9802, -0.2775, -0.5453, -0.1429, 0.9966, 0.4278, 2.0346, 1.3048, 0.3397, 0.4507, -0.1669, 0.9953]\nstate[eef_state]: left_x=0.3922 left_y=-0.0769 left_z=0.2065 left_yaw=0.075 left_pitch=0.0282 left_roll=0.2118 left_gripper=0.9966 right_x=0.5516 right_y=0.1709 right_z=0.1426 right_yaw=0.1303 right_pitch=0.2038 right_roll=-0.3232 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -5.3402, 6.8855, 1.6679, -0.2515, -0.022, -0.0122, -0.294, -14.1197, 6.8855, 2.3516, 0.0855, 0.0122, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsryej3gWp9JCmljgASegOt5X-MGtQYT3JtGJt_3SE-wgRe83h5ovjzcl5kOMczO2-ahdqPIblp6E5stnlE9N7FY5c2aUqF9E1sOHhA3x4uklPEpcowSruYqVc-2hoV-Pd3EpeCT_xgH95oZV5mSHvnOIIcXauqPGnmgIrFbbIlBVhpZAYAJ9LA_lgQboZAkjDauTxCLbPfjJNGvpiSBwXYQSTyvqhBQhHKFf0pi6eIvD2mk0QgciA7TlIf9dsSrcArX3Bz5F-AfQWpyfRIeHXpg7HBLTzVwydBd_YE17_bzjLkXctwXU48MNm8Owr-HG4_eGxgLQt8GnGdoLyCEW4OkUwMaawH6JrdSEgV2lZkPaF4zWsNgKnFJBB_5XSTZeHRqf2UBP1Ay1UUJltLYXfHY4ms_ihi-DmRyJLmNN5NEb_Pq3aHCLv8SGwM6JBdcRu2a63MTfvsmeAVWV8OTllKDRhRz-VMLZilPscl6HHOrZyxZledOGwFAv3Y7OMDJtfAQmiDBIjZgvEdHysj3JHrtn1AX_FKKbsk-dbGeEKuKHnyetK9qaoOBxMcWXVNDmGToXkJHk_NN5n6nsQtn9jzKuwgC4_K5CgcwemR-EZNYZMIUKdKQbWra0j_k4ySqtcB77iX0nhan7HOOgM8stnmC1126w_YapIwnXHNzm9nkYaKj7URi8tK-W_LF67DibBBPkUnkyqvXzQjb1e6jhUyBAon8ka65eNLl36QN-Fcp2WahAlb9Lp1_LR0YE9KSSNXZ9tlGi0JYnkU4d6H8mCDHxaIvwwHQBZU7AEjDdqflvdQH_s4RdZRfAVgRK-DJCpRvOwfE2YYEH_boRY1ELLR6BAvIzwSxinqiUqRB1Feg3GJYB-9SRpP8ylFycJJnfPNMciS6nmaniGN7Dq2f-RHOUchK-Ev-lBN-Fw55jcV_X-rzuMgn4XrwiEov8-azElOHGbvCvFtt_V4Oad5cu9TqFuDj22ncyitt1roqn1zMcNmM0Y3747OgpEA-ckaJvQiheR6NXc-cfmMAYADM6PHTZ-lG55YyCB8IwIHzZU7BddPWGIWSQc9hEHUpjBUoFbFpalCDceXxs9pNFhHMvneSMRDhVm76BrPYqk9tqI0U80yJkj1pnjiAT9UYPnf9x-KXMDGOEMQH0WFKLDFwpn1tLuvX-pvvzCAFKGAAZGgArpKJsQAJPzEVtgMGHyoV-5jLEHfsh4_mO7rEbxHu2vLVsPNWrHGZErQoZAoxnHO_uRWwNgFtF_ORCNsIB7JZIAJLhi9JyaZ1MMqbRaZebQJJrZohWaV10V9HzrRZKrFbV1Ys=",
  "id": "rs_033dfcef11a96bdf016ab2bc9b464887d081f63f49d5821a7a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.25},\"note\":\"The yellow object is beneath the open jaws, and the descent has stopped at contact. I’m closing gently to a partial opening to avoid squeezing it sideways.\"}",
  "call_id": "call_r7GFXdGBmgHwIqDHPnMjctQl",
  "id": "fc_033dfcef11a96bdf016ab2bc9c95a887d09f6a8b6fa9667269",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_r7GFXdGBmgHwIqDHPnMjctQl",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3426, 0.9802, -0.2939, -0.5449, -0.1429, 0.9966, 0.4328, 2.4187, 1.2842, 0.9321, 0.4728, -0.2062, 0.2548]\nstate[eef_state]: left_x=0.3902 left_y=-0.0761 left_z=0.2036 left_yaw=0.0746 left_pitch=0.0138 left_roll=0.2196 left_gripper=0.9966 right_x=0.5759 right_y=0.1814 right_z=0.0445 right_yaw=0.1205 right_pitch=0.3782 right_roll=-0.3099 right_gripper=0.2548\nstate[joint_eff]: [-0.1846, -5.4222, 6.9128, 1.5897, -0.2564, -0.0317, -0.0122, -0.1436, -14.9402, 4.9026, 2.127, 0.0708, 0.0757, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:324bbb84796c37607de603a4100ef78534c835767300591598a5b564966dfc56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04db2c45162549ac5881cfdd516647d4a635bfc29f76096fe5c7d9c09df03d78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38bac40c8789d93b4451e6b4bf3c91bed8750b99e09a7f9f287ac0c57b07cb6b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 105 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3426, 0.9802, -0.2935, -0.5449, -0.1429, 0.9966, 0.4332, 2.3898, 1.2812, 0.9516, 0.474, -0.1989, 0.9953]\nstate[eef_state]: left_x=0.3902 left_y=-0.0761 left_z=0.2037 left_yaw=0.0746 left_pitch=0.0141 left_roll=0.2195 left_gripper=0.9966 right_x=0.5774 right_y=0.1821 right_z=0.0645 right_yaw=0.1097 right_pitch=0.4225 right_roll=-0.287 right_gripper=0.9953\nstate[joint_eff]: [-0.3214, -5.5316, 6.8991, 1.7216, -0.2076, -0.0562, -0.0122, 0.7863, -8.9094, 5.1214, 0.6178, 0.0122, -0.2906, -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": "gAAAAABqsryk7JYmRUZjNkR41A9EjivaAd5FwWDJD7NFsEchjjxzpoSTFZ-ZMZeXwiAIDPqHjAwqOlPY-M94vt3Oq_btdv1ePI58orE3tWXyF162qkBZF9Lz90DSHNgzyHCvSHTC2ek_EjrOwSsT8EpKCune8QYp7Ro--RaF6upk_L_VHUpky-YspcQOp7ySBkmqjAghMiPgbyWVtik6iwTxBbxiSZIN98_IVUNznxtOZudvFEuhE5Eekv9o8UapozeZI1CkNp0kRbv3-cHV00jG-QL1JOkDuPaQBa-c1yoAWmTyARiKE0h1nSNIRFVvZHYIBPaTrKX6GGH1BAEa_yNuL9GHpIk6B_MuYVg8mHXUCcj5zdKMYvwk4UF_kjiK1xbAsczrPF-SyaZ7pL5mtioG2JsMQ3JQ_bZS52v9wRasMNvpiMPsTrqDdfWPZqpTgW0nfjvbMDgUQAt4nEtNVlE2yZZl9DNYN1KeTRPN9eZnN0Ze1-qlgyU1Et74oYyVl9QmvM-sKT_ya4eJ3aqzhElIGjNegws1ZvfsrNyXkUADxI9xs_mGHHx2Yqul1RIAwQqTx0omrvaWGeJTWbLSlsdD9R7FQ-aDawgKo047X7_oM8heSFliDVFAmNvqIUDctQJDVKFN26To6Vzu0Zp9SiC9ZleIYEkSFGkRnyFNvJ5aUAw79LNc9oXsIw7i8kGWaCNtGtBUQ2h8RhcItWW8oNz_7noEfBb8AxJBLE0ZZ90XLWUq8lmXU2jE5sPX27JxBsvTri2MNTkUzq-adSH_C9tLAHuVOvNWyGe4RRlaa6AmH-nLdd1Nhv1i9LiCe3y7JIXrAFVWi_MYszRAJ5qopvYv35XZmrilbUyxFe7sI-jbx1SDGtpjpN7uP-G5vUcGttQjkwIoKRAXyFw9vm2lMZDfYW2m-kimmUq9lH0-tXXYLgJTUPCopID_sOZs8z7i1gs_NlvQkoAdSurxPb-QnGk8spRhyoavSnAAvdcaRTz5ZFbu_V0O-6LTvSw59kLdPRYDXMsYTQ3BvS8UAGMvM2A1vn9PPixHhzf3XhMVmkXKT7OyrJwlDEj4c0dfp3QJt3Z9nTm5u-D-3cUAjukk0Y5NwfNjIipI231hxFhOTk2bGOTcGrfmT9uUX4KU0rbgCYsjfMhHJO4kcIW4PRtVpalZwu3RsiBSnWUn9-wNqmD9dcVI9Qa-FdaoK9oFA-2FX6VTHBue6mqNBuZdPXcx0DhaeqGXggKQVVvw3IdA1Q6YqEqZl2Wo0SqnM6Q4erBqckmO_IbUUr394b_UJ3hZFMPUFMxyQOeekw==",
  "id": "rs_033dfcef11a96bdf016ab2bca1e57487d09c482c6bdaa514ee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.555,\"right_y\":0.13,\"right_z\":0.04,\"right_gripper\":1},\"note\":\"The yellow object shifted to the right instead of being captured. I’m reopening and centering over its new position for a gentler grasp.\"}",
  "call_id": "call_duRBJwO06VxdF09m0JkrTorJ",
  "id": "fc_033dfcef11a96bdf016ab2bca316cc87d0a6ea0ade77bd7f83",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_duRBJwO06VxdF09m0JkrTorJ",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3426, 0.9802, -0.2966, -0.5449, -0.1429, 0.9966, 0.3447, 2.3692, 1.1015, 1.0561, 0.3962, -0.2138, 0.9948]\nstate[eef_state]: left_x=0.3898 left_y=-0.0759 left_z=0.2031 left_yaw=0.0745 left_pitch=0.0114 left_roll=0.2209 left_gripper=0.9966 right_x=0.556 right_y=0.131 right_z=0.0316 right_yaw=0.1068 right_pitch=0.3638 right_roll=-0.3042 right_gripper=0.9948\nstate[joint_eff]: [-0.1573, -5.4359, 7.0769, 1.663, -0.2564, -0.0366, -0.0122, -0.4581, -13.3812, 4.1094, 1.8828, -0.0171, -0.105, -0.2418]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:488b7d44b64cf421062915984ca5dfbf880c2cc02f59da9c5c48483a1126dad8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b19721c630c5cd7e426dbf6ef41149f492ecef0cad04f20762463fb04082047",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:639d5be2fd6ac1ee63ec713c2407bcfd6e38403526539f74b34c59ce9ea6fc72",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 109 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3426, 0.9802, -0.2939, -0.5449, -0.1429, 0.9966, 0.4328, 2.4187, 1.2842, 0.9321, 0.4728, -0.2062, 0.2548]\nstate[eef_state]: left_x=0.3902 left_y=-0.0761 left_z=0.2036 left_yaw=0.0746 left_pitch=0.0138 left_roll=0.2196 left_gripper=0.9966 right_x=0.5759 right_y=0.1814 right_z=0.0445 right_yaw=0.1205 right_pitch=0.3782 right_roll=-0.3099 right_gripper=0.2548\nstate[joint_eff]: [-0.1846, -5.4222, 6.9128, 1.5897, -0.2564, -0.0317, -0.0122, -0.1436, -14.9402, 4.9026, 2.127, 0.0708, 0.0757, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrytkGtuA_4KOXtyuONGxaUHHdEgt4rjtA6YWZFUQBCOlEq1Tx3ee2TwZca3uZaMJuNNLnZqyR5dAT99fZfa5IXQ-vnJHfU68CX2yVzphUp-_oSThNRFfdi7IvDmI9wmlnC1sgUyukfGX_4xYtdrMlNcbRojnRct5kfrxUmye45qSv9p0bdTpTfnn3wBXDpg34Kzyy8PtUlqAUzsDrSd3Oalux08voEb-CauGH0pT7zUrNrsbzJaGjHL5Tiectu6a8aIlLISkXRFu2LcTJKwUWXR2ZydyZcTS0jT7JU7A1H-bGpn9TCkewJr-9sb1RFAfFKhTYNehhTI771VBJL2oxGyIEjbADlAQkXvxmwLgYSb7ntdv_JosNzEWJt5O7Konfpr3d7NlDrb7aWKp-nDecD0VYG_w02nd2oiMpNo4AiAMQ6fb7TGTy3JvLmL980V4QkUOTTO_3GLoHRLqQm4qRjnDP9UlkRDyw-APMBT69DNVVV0ZLg57BwvDJKuuhoJrSBMwQlBhtO3FWITxAM2txdHdic-HC9n2bkTPlvLbEyy86aoeAhoEkYQ4SPB2EZt5Eoo4DSi7mQPieTzkLrFfD9dEezhsd7qSTvAqptM8gwdcT-ktXKrEUBRzV1buHMp83kDk9V0LkcR5lMBPocWI22Y3yDPq9OGQKWqFNH5KiX7GbArAGdr-CHrdpAZHHw1hm-njPJE2D1wl5WPld8oXv43U6OLTwcZQfJc1P5a1k5nejhBRx5ESe0RsPElA32_WrXvkgBRI17ptDy4hoVY9ZrGs-ivygZrKPtJUQ9hNfqhSBczzVJ8Rb4VYPNdQ5OGc0V_vWf0eHRQgAtW8tWiWMbQ1u8c42NbhAelgUcYGkEotmhS7g_6ZWM-X-8iMGBNAsdYi0r3CCAyRLzqHEg2R3GhJyEJZO66H94x7PZf9uXEpHUi04YMS2-9xsvqMMVT5iIG2UNz8hAN_1nyD_SVgUYncreEWkVaQImLlDKn96F_g8uk2smI4cJdONbX1lM0cqXemuTP_V261PIb-t_yw_o-L4aQgHse3uEl6Sj6_CMImu_TFT4F8GiCTqR1E85bFT_4ljoC_XltQkhPvFbH-WzGCqWWIRKYTb3wIVtt3CiD_2QlOSBxQ923uIgh_H6PEzgls6YQZroC43qOmChxg2y-ERRKQrg3RrwaZ7m-sajyy5um3PwO2gwrnG4lHH46JIKU-U902lOuowMyCvAB6_NjdtWeuhtt0eVvBf_xdz4ZhQIKIGPRg-RtnWmBmuyNsa85hj4fmLu5Ew2WtY180QC5ZYqgtU3k5qsVS5t_UxgU6BycegB7X-nfxa7FbeVyDvxodOZqq8XNatMrJso1iwOit7UAh8oRPfCcdbW6dKLc-AFYj9gcO5SJlg2Iy0pcAZ-jqA-CW54wG_DkIgyBSx2np0BmXaB4H61vGtVJsuNMfoWMhpSR-rCc5wVm3suyUqgRBUMuGYkP2NLE6DNwpGG7ULZvR1at8zn9FeSGy0PKua3c9hxXss-u1pBQmWzwfUhhrYO1KlIUfiSca3DD_Jp4lw==",
  "id": "rs_033dfcef11a96bdf016ab2bca8bb7087d0a28481c71c317196",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.045,\"right_z\":0.13,\"right_pitch\":0.1},\"note\":\"The yellow object rolled farther right during the low approach. I’m lifting clear and approaching from above rather than sweeping it with the fingers.\"}",
  "call_id": "call_7nxyGZxvysoE21Fx6reANy4d",
  "id": "fc_033dfcef11a96bdf016ab2bcac192487d08411e09450a67a35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7nxyGZxvysoE21Fx6reANy4d",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3426, 0.9802, -0.3042, -0.5423, -0.1425, 0.9966, 0.165, 1.8023, 0.9485, 0.4114, 0.2329, -0.2356, 0.9966]\nstate[eef_state]: left_x=0.3889 left_y=-0.0759 left_z=0.2017 left_yaw=0.0722 left_pitch=0.0039 left_roll=0.2235 left_gripper=0.9966 right_x=0.5049 right_y=0.0464 right_z=0.1203 right_yaw=0.0906 right_pitch=0.1249 right_roll=-0.3087 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -5.5453, 6.8855, 1.7118, -0.2466, -0.0171, -0.0122, -0.2803, -10.2222, 7.4188, 2.0049, -0.149, -0.0366, 0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e560d9610855b25ab4acee20cf7015f0a80c701e8af282b04921724c2b50f8d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e17a9090c7691491ecc1b3bf4c986511300bb782a0b5c0969013cc44b0a7a01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48a04f29f89e869a2f7fddccaece24cd5fcf8bfcc2dad2141cf7f4f475189fa1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 113 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3426, 0.9802, -0.2966, -0.5449, -0.1429, 0.9966, 0.3447, 2.3692, 1.1015, 1.0561, 0.3962, -0.2138, 0.9948]\nstate[eef_state]: left_x=0.3898 left_y=-0.0759 left_z=0.2031 left_yaw=0.0745 left_pitch=0.0114 left_roll=0.2209 left_gripper=0.9966 right_x=0.556 right_y=0.131 right_z=0.0316 right_yaw=0.1068 right_pitch=0.3638 right_roll=-0.3042 right_gripper=0.9948\nstate[joint_eff]: [-0.1573, -5.4359, 7.0769, 1.663, -0.2564, -0.0366, -0.0122, -0.4581, -13.3812, 4.1094, 1.8828, -0.0171, -0.105, -0.2418]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsry2F8_XvWukWwrtdlnrcsGjW18BhW9dFL5HQyph9r6ZJVtaMLOo_FEnd8xCQFgLqVLyhuRdGvGm2fSYnfocRsAX99ybBQpFt8oJr6exnkHdLiMSzTpC954OCB8KAJZA9kgf0ZUtjq_4A0asyOmDC2-P0bt_dEnlewycb8Cb59bjpnO0SMfurK61s5lQqJ2RvkLEN0jZAjIl-_V_dixf2_Fh4B3NRGGuluHjZlsWsjV6hwIUg-slLQTQ8K6IdTLiguPPt6ZeA2_-uhTKX3kUHNxJz-3JbvQ4SHl9-2jJ3VjUZ28q8KobBVRk10Wb9isOotYr8tmjFfKhxo_i5J7TMV9PHqKvC3zopIY-A7Ri_4-tG0Jc7bkE8bttl7eGhzWjDbyg7H14HzOeO4v-J22q7PsQo3UMTf5vtqAP8HzXwzSboZhtXtSOiRbkn2lpdrlSsBx9fO8xZdWwOEjeJCJqAFKBBc5ZKOiULOjBeJjEMoWCZ13a33q68XJnqtd3Q2_mKAZZxbQwEP-PScOW6yVJO9xdVPsRoxD_rsAy8aOpU9V8jbME018p6vykPElOI_AzC7-XgCO5BlqAfYcFiR9x7EEZyjLibfhWXw0oiwcKTuNg7_PeTtA_Ou7XddeOfqDOQyTtoSH50u6g2Uf8d_4_HiI5EA9RgkDOYl13qM0LCpSjUXj55zg5socWU3SsoUjx3Qds1qXKEzmX6CXxTereisr2Ik3gOKhlk6Ms3OCTFlPscfK_3tGvsWb4hdGTAnbeQ-C_St1S6JuYjr3KBkeJQg6Fig1Fp1xjPPysdIW4ZAQ1wTDSEZVNc_bGXM7Nu8dNJC3U3_OnvJtQLrHF0HowCLQ7flrEeK_zmAzC4sD87is35zrkKjZw1LmloP1UP-GgkDSNsJ3ziN_p0vR7gUFPVuZJgxRndk3SRb2UNs_7mnKSHBn2LuIahE9dsIGMS1x9-h5M5MNrpZBxAEVJjD6D87HEiuSAIEwSCv5x5c-eCkounGRfyFSR4kPHDTuIWoaC1ABaQmNKnJqlTFSbytGDtsa4WlwnRaFepijh0i3vLfXGiOTp0VVX41Xqe4VG7cjVLoGwMeGBVcPbBafeBMmc3b50pg8i0sOssgBgs_IBKH4-7IbwphqjcpdkNVS6_Eipme8pMZx-gBMMztJhP0u266Nx3ek2rECBzDjbfzp5z24vpQv0-nDtD9us1Fj9U-D_bG_hfjiid4q2PNVZf0po3eF4Gf90Lrj36GJ4tvZeYs2Cfa9zRUqKzLLwD2xDfWh7N19PPTZUktdseqT8uzc6tvXXpwTOk8zjAblTNAtNW6UZjKOYXjjjM5YHiBSsBDyaXaTQu9mlzShUkayvJ-y0rlfyW2hAbzjS63WLOdlIYqdr8eogUbKwZUR--EEkU4Jvav34rZ8rzL0j_oDl5nqOhrjpsA==",
  "id": "rs_033dfcef11a96bdf016ab2bcb1fb4487d0a0ec386e28b95897",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.125,\"right_z\":0.08,\"right_pitch\":0,\"right_roll\":0.25},\"note\":\"The yellow object has rolled toward the front-right of the table and is still reachable. I’m repositioning above it and leveling the gripper before another approach.\"}",
  "call_id": "call_NoCUbbkc3yyVqk3EbMDeSjiq",
  "id": "fc_033dfcef11a96bdf016ab2bcb4103887d0a2f0faa4f78c5ef5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NoCUbbkc3yyVqk3EbMDeSjiq",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3426, 0.9802, -0.3161, -0.5423, -0.1429, 0.9966, 0.3538, 1.462, 0.5076, 0.334, 0.1047, 0.2707, 0.9968]\nstate[eef_state]: left_x=0.3874 left_y=-0.0753 left_z=0.1996 left_yaw=0.0724 left_pitch=-0.0064 left_roll=0.229 left_gripper=0.9966 right_x=0.3635 right_y=0.1184 right_z=0.0665 right_yaw=0.1118 right_pitch=-0.044 right_roll=0.1646 right_gripper=0.9968\nstate[joint_eff]: [-0.1299, -5.3265, 7.0085, 1.6532, -0.2662, -0.0611, -0.0122, 0.1299, -6.2291, 6.4615, 2.1026, -0.0659, 0.1197, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a56485b89b11b0918cb34f9c36aa3486643c6fb321f99caa9e2ae0db0ffd67e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:404ab25d2fae34dd36fcc31da57b3b54d2d6416624e9b3e370f2aee40d3b613e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbef20300ba3ce4dd55acaf8309c83a3c3494b7e3306b072276817faac9cef84",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 117 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3426, 0.9802, -0.3042, -0.5423, -0.1425, 0.9966, 0.165, 1.8023, 0.9485, 0.4114, 0.2329, -0.2356, 0.9966]\nstate[eef_state]: left_x=0.3889 left_y=-0.0759 left_z=0.2017 left_yaw=0.0722 left_pitch=0.0039 left_roll=0.2235 left_gripper=0.9966 right_x=0.5049 right_y=0.0464 right_z=0.1203 right_yaw=0.0906 right_pitch=0.1249 right_roll=-0.3087 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -5.5453, 6.8855, 1.7118, -0.2466, -0.0171, -0.0122, -0.2803, -10.2222, 7.4188, 2.0049, -0.149, -0.0366, 0.1734]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsry8b3goiB4HuggsKDUy_h_iMu2PBLbd48f2xFeeSUGDxT8559FNlZMoKuC14GoL_p25tX41XJlkLbHYc5YmpwPr-raiekZBUHDVW02Bl7e0UR-CJGvLLFXvhgZLQy8yum1bw43kGc8Dc3kSGg-ydjzy20wcXx_8VsozxNlw-am3xzW72XeKMfBOgmOjl9eHggyXe69Ny9g4Xbo1mfyCearPMAcHjT4H_FxA-tiUDCbDMG82-SYCN1_kiAFfiQ39rj4ZjlojNGy26kyoTm23pcKNP_6xu6o2Pa4ElRZgCUNspMM9mhHMbSWIoT-XnCyR-bRsts77Gu5ZOsOgSd6ysb7nsxb5H4OEWl9aJ1xLVyjc3HjIH4Cerdop0AmSBIS0IyZDoC6NLKqL5iUss0kyzcJFoytDdLzLHHOU1IOUuuwVvKlnXwS3RpNoCcsLpjcd8MY1PnxUPPhSn6bqynj44lQfXLduLhJKpoxh1edIL9ek3TRQ3Tm4p6_u0T1JrAk4hbr0w9uJJw5yMfYRtp8kXq-eCf9kdwKWlLVCNQPWnDVyAk-E29aw0k7WfNeAFEDXblxOLqj1Qdnuyz-x16JN4DDMGZO87lKIHdeGRPcFBTdxXhW0H62cDLF7HYVCmXk2KybrWHu27ItGzdzlTBbvYJgNytu4bOXrQO3efU8fRqvgI44dXZvMznWn9gtyFClpUxPOstf7VYIhSy-ytIl1oEMNt09d0wqaOReLyNkk10vbJSW7atvCsQcosA9H7Ye9wPfA65ifhffJoIvqBWFYCnDmvq-LA5s5jAJRqdft4JsAETEhs1OGhvli2ty1eW4n14rjbEI3K83U4JhqemzKaDRyXekRgY4wlSv3Cgz8kNDKLizw3kMqzuiSfzkkyTFIWUGsqEH28d3ZYlLYrges3CCFHzwEgsw1FdGToO_LZY-1MPZNC5IXTQ6WEvfpDCNFvVDeQKKDPt_kwWIcRTJGPCMiJqOtlz8uxekc3QzXcuQ0oBWnAgS8mgJgrAnNHfsD07C6m70Z-f6hPcBK3Lr5Sb34Bzx5FukJCNmyhRDg1_harm4_6UBCHCFHdWoHkNZDLcAtbD2-6eqggU62n7MzGXPtFGTBS8RjSss9tBUuiFuuz-lg_fXxercmLNzoIVUj9sYnA2tf8vrzhXB9W7dD1Q-V-Md_q0H534-TntQGc300QSwfXh_zGvem9EGLjbvgwSSnW06irHHx-8cc3F2ubDQwuA-cq5Q5xx1E4zSrD0upFXyKOfjTpVCg2L27692jHDXD",
  "id": "rs_033dfcef11a96bdf016ab2bcba368087d0bc70836ae1bbbfad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.13,\"right_z\":0.018},\"note\":\"The yellow object is centered just below the wrist view. I’m descending vertically with open fingers to avoid rolling it again.\"}",
  "call_id": "call_gSGKc8JnDDVEfZ1iYows3Wgm",
  "id": "fc_033dfcef11a96bdf016ab2bcbaed4c87d0a5e148eb531ecf00",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gSGKc8JnDDVEfZ1iYows3Wgm",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.343, 0.9802, -0.3241, -0.5423, -0.1429, 0.9966, 0.3923, 1.6768, 0.4496, 0.5217, 0.1276, 0.2905, 0.9969]\nstate[eef_state]: left_x=0.3864 left_y=-0.0748 left_z=0.1981 left_yaw=0.0725 left_pitch=-0.0137 left_roll=0.233 left_gripper=0.9966 right_x=0.3526 right_y=0.1255 right_z=0.0051 right_yaw=0.1185 right_pitch=-0.1244 right_roll=0.1448 right_gripper=0.9969\nstate[joint_eff]: [-0.0342, -5.5179, 6.8855, 1.6093, -0.2418, -0.0562, -0.0073, 0.0889, -6.4342, 4.9299, 1.4383, -0.3932, 0.2369, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bd2cbb498b4cf1f1738661fe92c849269f93e8ab574b574f1e5310598ec7401",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5a14c93363f2cd4698ec655f5874b28fa09885a40c50c81b0a54c2d18031228",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07cd461c6f0e42dde0659a45807750933e5edc9bad549c1b0114fc6a4ca774b5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 121 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.3426, 0.9802, -0.3161, -0.5423, -0.1429, 0.9966, 0.3538, 1.462, 0.5076, 0.334, 0.1047, 0.2707, 0.9968]\nstate[eef_state]: left_x=0.3874 left_y=-0.0753 left_z=0.1996 left_yaw=0.0724 left_pitch=-0.0064 left_roll=0.229 left_gripper=0.9966 right_x=0.3635 right_y=0.1184 right_z=0.0665 right_yaw=0.1118 right_pitch=-0.044 right_roll=0.1646 right_gripper=0.9968\nstate[joint_eff]: [-0.1299, -5.3265, 7.0085, 1.6532, -0.2662, -0.0611, -0.0122, 0.1299, -6.2291, 6.4615, 2.1026, -0.0659, 0.1197, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrzB6PLgGnh4mjk8e3phHOfBXtWbP43YXPjYWk08cesk_40d_StbwkRNYyKGinpmtu45V-l2i50bWPyobjU36lzQnom-5jZzBGoXyg7x88j-s4yQ7Egsl6XwTNqC2TwbIMur9bog10WsDyxtvocRqaRJYWbsYJn0nOF7Ptk5G0h1337i0Nz95ZZuGb6UB_-aV3Ga0zF7kzZKIsLKdCn_x1oxW5rbPHBOQfp_TASVWA1RgfhuHrFD_DfET8L7XGKo5002lmnWx1BlI0PAXenZKQMFH63qTxfCg6t7HO9s9upkmDl2ix6ENkkvC54cYOgkgcgiGdMYHzfY-Ks7W0APAlos1PaxCwclEI0Hpd2NeMIvD6zTlWOROlws3rPGgYGK3xetkdXQNib1uS14wkrB28Boyd7AYL8BvL9RTnWayFmxhdyBoBSE-1JTFrrLml-FuadlERbAoC8P5cylrM7QOWgjj81gvYNkO5d_pGQwabdgY4Rubw437nn3ehybjBCPExhIymMdVxG2pEBid-UxcfDToeQLcYQdQi_7fiylCLAwiS1PhlXSZBPWIwAVQ1YdX4CkslKsZZkvWAYdUI2SD7AXbnCjrswIFwAerQBNx6FA8qpO_w_bFMQvaNlxGD48PHmwc17IELDlPQQMwCIxz-Az_lqVqhB3hoULRv9hvsZYgVgfAXCACAWl2T8C0D04ULD41YyA8UP3sp2ROwB7s5ZF8Rc_xEXU55ethB-BLwHNFI_Qi2Y_xnV1TqblkNvyuZ65womQmfyMFnMJ9E3PPl_HaKvXhUIXUA8Erm-P7DEQ0lK4HksJsbKTGUwybFsZ4frrlCbBV6k1LD3E8d_ykk2At0z9jOcGvJxiHgjGNu10PUKX--TXXz5jbv-QSoYTV_W0QZAXEw-P08OFUSVhyIfhCSnH9YKS7uN3Q-ZY5lV9ZWCQ4h_VFNZcr4FPb9z4ranBALJb93fG2Q9jO0bjtxtYXZ8UGt5LT3NHm5kK5qU4ZdM_1yEluUGLRbopABcmc_m3VPHqdJUkHU_fIZjl7HfAXDKrkIvfMI9AOoXt2TBXAxC3g_QOigi6po3u5mXvpW1oFmRYod6dSa_q2QpHcb53lJrsnzx05rNxIXgW2qq7cHrL9_g0FTwO0bNVwZ3uvCE_nFULKRKXp5xCtd-unI1RVbMFAr3sKNHUnJimWWIJsS5-TbolWDnA6K5aPtwiRMXD3L-KhuaPlVZTAxKc0QVAIQ==",
  "id": "rs_033dfcef11a96bdf016ab2bcbf561887d0ac6abbc3d1ba9239",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.14,\"right_gripper\":0.4},\"note\":\"The yellow object lies between the finger tips, slightly left of center. I’m making a small centering correction and closing only to its approximate width.\"}",
  "call_id": "call_gaNzndk3NPyn7FUxWyDLNdWL",
  "id": "fc_033dfcef11a96bdf016ab2bcbff55087d0b383c3ea5eda05fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gaNzndk3NPyn7FUxWyDLNdWL",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4343, 1.343, 0.9802, -0.3237, -0.5423, -0.1429, 0.9966, 0.4412, 1.6871, 0.4587, 0.5098, 0.1459, 0.3115, 0.5369]\nstate[eef_state]: left_x=0.3865 left_y=-0.0748 left_z=0.1982 left_yaw=0.0725 left_pitch=-0.0134 left_roll=0.2328 left_gripper=0.9966 right_x=0.3475 right_y=0.1396 right_z=0.0026 right_yaw=0.14 right_pitch=-0.1351 right_roll=0.1456 right_gripper=0.5369\nstate[joint_eff]: [-0.1162, -5.4906, 7.0359, 1.5751, -0.2613, -0.022, -0.0073, 0.3487, -5.5863, 6.2701, 1.58, 0.2466, 0.1245, 0.989]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ec2eeda41db5badbe7ab56acf90cdb4794f893197db6f59a908a259dc87a24f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:568611a10029f07e4d21be3cdda6253ba3ab4e4538ba435c2f3fca606d18f1a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b88ef5c2ffaf1e915680a78690d0633de7c77007bad2a09dc84a1bfa40f75765",
      "type": "input_image"
    }
  ],
  "role": "user"
}