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]: [-0.0193, 0.7929, 0.6052, -0.3882, -0.0193, -0.0341, 0.9993, -0.02, 0.7948, 0.6086, -0.3965, -0.0204, -0.0185, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1791 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0013 right_z=0.1785 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.306, 10.2085, 1.9658, -0.0513, 0.1734, -0.0904, -0.2256, -1.5248, 9.6889, 1.9219, -0.022, 0.0024, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed03662c2d5c6694307561f250c82901e2fac45ab8d481a7ee9462fc0fcd6bba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f3c3314ea6e153910eed1c1064194ccc637d5781c04c413fed670a9cdff5303",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:455e5dd41025cbcf70c211f71a307885af90c590fa66381b2f1ce5391c7333a4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsranyobd2lJl1pWNi6qLp-nnejCA9EX-KO51bV4g-R26Ux7NuZWc5bfyIdQtGXR3Ol3Is7sfZ-viLQatlyd5-HQJQZwsXv12lELKiL2EIeLF46f0nmNShrQebzprUHjXSA2Jl5jTccL9gSxsKsZJt7NOji6wfBw3swdy41C5iUnO8r2FxhZoaHd0JI4QhJTsPZ-tGecqApRWWRqq-YnzWmWwW_OqKjbNePh9rf8rXDTqDNMd0iBroc57V1U5hFnlcvg4d5Nf5T_sWJZuKlV1Pkfd5TFv9aUcRpcBc4_bxO-51ND3fHgi89kM5UF7EPB_Y190bZnx4fdVthR3yKac1DyzgA3FKR9e3B1kX9LekyhRMZVYR011O0-uN_kCSaFO0Mf6AZMAMFk-vF-VJYYx1fCa01qEeWarD8IZmNbo7wMsVmmOslRPgFLyZjnQD1d0i2_kN6_6myPDEV43IRPby6HRPmtrZDoZutKSlfnTgBXphbetfaEQsERxyNSTCCRTLjTF6GI8Pglyxfl5Zt__dXE8MfKYdrscTry-mSC8OrfEnPsGaqQ1OqKzE6LpBI84dPsBRjHCeed4XvIfBY5U-Tvl_Jb9O3hIqY0oMNr6r45dd_ZzvoPL9zRHoCCAZpjD018WksKmOwNT5LvtVmpD_YBFM_vscqDrcvHfOxLE4NjG1P3096w4RBKWAu1QkIa7DxCEnAAHVarstf9pDJdbdbakygn9VBL31PIoy45LoORSNGVhOgSK5iZ-uyNc2OJutezzykxsWNuzzvpadFBZCVRN7HDsn7eXjPTu-4UA7o6TGJcdZfOHRiFfVCPkOyGPkRfThraOPuOMxzZMYHulZdp7Q3utDRpfVQzGEAsKBHWUFHJ_U7DsYbsetTtfNXT6Extt2hcygB2sy6eG6FGuvApHUdGXRYpl1P0Edeh-2P0rmnaI0Bi7CV1JTunJltxUIZmpbV_MncGtueD_pJh63n35_p1c9O_IlXdUb3xUgQxUwQ2xa6DMXP3LgLpySqiiXThxK_g6zbonRCAbzgiKntff600f33ARWUDNtQ7mJpcPCdka6FFTFMggRkDERMyePwkssrLewVWdTa3SFqqrCgwyYNCip8MeYAv-dPtnmP7OUHcC1gD-GwJr2OmnF4YJdgouYyFroLQo-xas9swayHQaMNz2C7rzifzLE7j0ECMxnbRRblFi2EFCMOtRxKuNKdcNEAgLV28sjmw0SQs0Fu1Es-tlSJG1B4HH41U-KPyL5_MqjPsWQrQJyWDmK20OREs9_T_LUOIJ5DFlxySByPRLGHXG3LCGdbXicgfbJMKF7nRBK5n4TPqP3w7BZ6krWqDJpXrr0egN2swrc3bGJfNfQvxWqe6LN5-hQ_5QlAQTku8V3fGQZ0TeFsnyuNgZoRlrjvQcAYuUoAAVtUWkd9XYZKNXwpsoA0Pd1rtWc5ibf99iYLUeRIhDWZ6kGfAS-fGBUNmcyP6Q0VGmpBz0mRH867xcqT-KEShBaqcBj5COtObJdPljcS4bN_1Fahzn7esoc9V1gNQhBOYCkPK4lnsrfTTDREu7zFLGqcMXbgALOWmOHp9aPRO-Uf3VvITZovzGjX7n4YYywU7VHNyqd4P25tFw8YuEt0pNrGFudzz-iO207tIHZdlVPXGOMzgULcUxlam4A5sp-DINOByHB7tu-eokU3U0jaRPNb4QFW_fhday5djWr5jIX8OxDS0ChFTFsX1FE92eeOHkjjl-qEbCTSAFNCcJw6NtzuFfW53ZAWxsUgGyxX-TjJ0naKSCPWLGeZ3MjPFO5RyNB8IMZO41ZqtGXIM27bY5P7S0ketWLpq6jUHTjENLsPu0SuoJAUM5yfCn2RMVLfY6Osy-VDitlA==",
  "id": "rs_00d04184113c2a1c016ab2b69f8cc487d0bef18fd391f13f75",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.18,\"right_z\":0.14,\"right_gripper\":1},\"note\":\"The safe is open in the center, with a yellow object to its right and two plush objects in front and to the left. I’m bringing the right gripper above the yellow object first.\"}",
  "call_id": "call_UtVwlb67rGtvdnEvQem2tBSj",
  "id": "fc_00d04184113c2a1c016ab2b6a603b087d08edcf35983dce509",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UtVwlb67rGtvdnEvQem2tBSj",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4061, -0.0189, -0.0383, 0.9992, 0.6796, 1.4368, 0.8028, -0.1387, 0.5152, 0.3759, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1747 left_yaw=0.0024 left_pitch=-0.0217 left_roll=-0.0033 left_gripper=0.9992 right_x=0.3465 right_y=0.1727 right_z=0.1208 right_yaw=0.0432 right_pitch=-0.0714 right_roll=-0.0532 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.6342, 6.9265, 1.8535, -0.0269, -0.0317, -0.022, 0.1846, -5.9282, 8.9231, 1.7411, 0.4957, 0.2857, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb470da2fee3cab730b8f8abab048e993921989233e05dc3db4a01ce5402588e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca7ee3750501df959322aaa6f21fc1af3f0a53e239063ed4ceff135e2cd38090",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef2eabd47494040e13aef07148b71a55e43867a5fd04177d55f8bf855b35cfa8",
      "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]: [-0.0193, 0.7929, 0.6052, -0.3882, -0.0193, -0.0341, 0.9993, -0.02, 0.7948, 0.6086, -0.3965, -0.0204, -0.0185, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=0.0013 left_z=0.1791 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0013 right_z=0.1785 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.306, 10.2085, 1.9658, -0.0513, 0.1734, -0.0904, -0.2256, -1.5248, 9.6889, 1.9219, -0.022, 0.0024, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsravzR85Uz8j1QL0_INUX6R8I-BQDrBtEdMfSd3LVFQ6eJNxFBd0wthytrAVWFx8PpfFR9PLge5upFoZkvsWRNlaojwPe7Ic4KpaawNo6DKrtgTct9DDqk-wFfQGVSaVWzRbSOLxA3i4-bfVckomRsBEE-iG_aZR6gRuJR_XWoRCQuImERRjZTDALUbPsa6y0J4g8AqWNAkN2nXPCgnGSm2QvwqXRaA0RUymFOfmkL3EAfX8FyFF_J7CjMgshadIuyEBzPorPJE0oUkijadFTkSOI4KHlj6to354goNw1a8PvYhNK1GV4rwowq-8CxT5ohBU9pRC6n6X6vSO8B9HeFXkDQ4vbeGqV6dkJ1SjiReZ_sLXRA5wiQRfLorhRWnexaVzuWGk-6oyJhlBSN_YRNXXISN-NAYg0_-ITVh0b1rxxbdANft4husA7mqsgy-0tddJshygPQXbTn8OhnNpQNpGmddTTKua8hf-IaAkaf7YBtga_IkelCJS8emIp7plNiyPmkpaURQhkoEuZ8BaV09cJ5uTbU49334k8EP3KhHw6UnODs8l2l0lLmkKTAFYXfCqIaq4PiFOPlEmZJRWDI5bFwRyVVMjq3wtkv98ibqbeMpTCO2l2GbRR5WyYWWKRjyc-EqixcSLCsbz6CGc4fch0UFkj-EawB1-uV6GZyamGDHCTaxuKx48WpbdiSuLrpPjoepp6k1fsxNYGF-782LP4_9OsIi8f20y54i4HQgLDzM0gXZxVSc2LOB7Z2LAyeEIlQgcp12DE8tJ8pgrdicDAbXPr3KcIh8vdm-hu9d5MN_Bvrn_flAl29LY3y8k9Hnn9L3lLEvc3vka9kz9GR1RkJOS49BzEFAol8QM8Uv1QHJ-c76QHZ0-9QN8ylj_Ng4ty3iLYh3nCmmxZA3m5Ku5Eia9L5sieFSg_WmwxC-0wWt_r1TSQASXM6bLXo5YA1krshSxTqWvm6RfjMKmR6UtUd_5BhmVXQiIdahPBmSHK_pG0nKCeoHf8M54Ml3sanoBZP3L4Uxc_PjSTFyD-gqWh_KeIP1_ZpCE22LWFv9jBpBzi1enJmomo4GAPfBPPMZeoPr3mYvhX_63bpPCBrg7LxN3ww0O1JQPCeeCF7MAfoUVRxbzhIQ6kmF4-sfjNVW_V_ULPq1yxsWbMfeKauc91NL2GVcDYuN4cltcYlJIITtzcZ-EPYkksI4yjdrl3Odv1BjA_fn04guZlMefuBe60BRJoT-n2CkZuzQUMvYJoNlAfXPiUKzT50eCbISmAw3-PlysR-BZgGY_TZBu5t5mJgkuqO2Gt7L_LOtN9UjaUEeZetBPA_YBkgBsBbvdFLCXuPNF5aldN5tJFfiQBAb3DsxN7fG3p3rKYM_J_VHfMWiMML4dMhKKXMySco2aKawhpDM3EGksMZtjw4DOylpGjxr7eLVKmmD8Sm7PRGOgESksKkJSBa4nw2btBla1Pmqa0PMAwhq055Uo_8oSjiZ3LWmzkkuhysi32kkV3gSIscg=",
  "id": "rs_00d04184113c2a1c016ab2b6ab8b3487d086e03c80d669643b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.18,\"right_z\":0.025},\"note\":\"The yellow object is centered between the jaw columns but still fully visible ahead of the fingertips. I’ll advance slightly and lower the open gripper around it.\"}",
  "call_id": "call_AT4saapXi0lKIHwgR8vRMdfW",
  "id": "fc_00d04184113c2a1c016ab2b6adcaac87d09f8508772fef30a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AT4saapXi0lKIHwgR8vRMdfW",
  "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]: [-0.0189, 0.8009, 0.6067, -0.4133, -0.0189, -0.0383, 0.9992, 0.6331, 1.7714, 0.7158, 0.2237, 0.4767, 0.3408, 0.9996]\nstate[eef_state]: left_x=0.291 left_y=0.0014 left_z=0.1725 left_yaw=0.0024 left_pitch=-0.0317 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3671 right_y=0.1733 right_z=0.0194 right_yaw=0.0417 right_pitch=-0.137 right_roll=-0.092 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.0325, 7.2547, 1.8046, -0.0513, -0.0269, -0.0122, -0.4991, -7.0496, 5.1214, 1.619, 0.2027, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ab8e6d0c301283e2b400cd40a28eef2746dc0af11a389c309fd2ed19e84fddf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c797965bfee94cab9ed645661d8511e6beebf29d2c61dc84a8d4bcf950daf75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13dd08a41e9d86676a5e1b7caa31c519292252fb5f10449d51ca54b41c29e40b",
      "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]: [-0.0189, 0.7982, 0.6067, -0.4061, -0.0189, -0.0383, 0.9992, 0.6796, 1.4368, 0.8028, -0.1387, 0.5152, 0.3759, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1747 left_yaw=0.0024 left_pitch=-0.0217 left_roll=-0.0033 left_gripper=0.9992 right_x=0.3465 right_y=0.1727 right_z=0.1208 right_yaw=0.0432 right_pitch=-0.0714 right_roll=-0.0532 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.6342, 6.9265, 1.8535, -0.0269, -0.0317, -0.022, 0.1846, -5.9282, 8.9231, 1.7411, 0.4957, 0.2857, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsra0p-x86ID-PTGSSuVNv02G-6wgluU6TkKnSuBfMdCbQb6x6B2EH9Chg0-pJat6J_LfZMUTc5dc99AzOG7zK7Tv_8Zy6LyhP_hmUI4eE6U1SIbf5NNwL9eOHYMmNlZHGXPm8J9jO3hq-Hzy-EuYp0OAjgoZddcxaUokMs4J1IG7bZ4q31ORdXmTKK7g62_UzjTOMtolkTWAGwMll6ZU-6x3Tfq53MEsHrmzDDb_cdY46X8sNPCiSqH0zdV0wQbNongk2eKBerRQ1wxez-TUzpnEO7RVMT9aZTNkG5Qs4tpTTD15jr_qn_q9Q0Ahxsr4g-rVUh3m0dQ7IcA3R37kXKccOQZUD2mLrHGCf1IZm-SvJa7_doYaoW302pN1xwcYxwYfsOuPrLKVxil8EI52muO2dEY2Ei5PE5604gxO_-qkxDk7KMLXJfy9XGfxDFoT1eH04vtmcBq_DXzXW3E9yarV9Iaix26EUnB6UHR0lNYlrxaEHBVRxX7PFwKRige5oQJHyXRkXHvmsCsTQysFT4A5ccMG_PUqvBjkxi39systfoLBWvPbLmjYYYC2tkE1dz9uerYz6ZULXzJ3bvIAN44nkWG4k4Xnhp3ihEM5yJzRL_EJ9EY65EGX_viSnT2ala7CA2PxzmhtXysx7_Uco4dWK4o9wxNjRnwK69_GMHfIN9ZGwjBzsxDi7mUH1OGTks4ExRJ1iEW3RPEurkqRLrFbsmbS_AZ1JkUheR5Z0UzQm5CeXoqzzF6FxCQ1Co7gwn7IKNHg-5l2B2JSCyqbNb7TZpufdYXR2aesaTnc7YsRHBKpZ2yOxowMjWDKM5Fm5YhA76aaXceERLliQ8GInnlnIiM7esupQIxPTax_eCQER3KU0Hpl8CO_13cuIwJFeQoWKIV0vjCx0zXeYzXLfh0Vy5L7bV0p_sNAzCMHzgHNky5BfOFuCRe5OJ1XHJfStSy9ng6NOH9OUU44pv50OP4_jntfP9RtZKwbGhHJ9rPfRpEscKgZKCFYz7xqRvYQIwwxmpxtVnWyltkE0wv4HwBD8V1umhBuEuqlTJ-DRP-6jBc-4d-J_R5wW4WoHjQG-KHny8vuaH397YWeA1jTmCo3Hw_DwVesfP_cSd5OVeLrAeG6y4Ekk3nS0Zjhfv7Q6uUHGzKHP6UD1xbAqwEQeiRev-XYe4Y6i7S13YtasbkSJUDO1exL3-2yovwD5pMQPuyuamCoT1uSfJj0pqd3_oYzukWSZR77S8KRy9_nY2-1xr2BQwWDQh0qJ3wnU1I4kp_d",
  "id": "rs_00d04184113c2a1c016ab2b6b2338487d0a18ccf16e4e08731",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object now fills the space between the jaws at table height. I’ll close the gripper to secure it.\"}",
  "call_id": "call_g0YpxaGa7IQdV0XVmMkIwKdC",
  "id": "fc_00d04184113c2a1c016ab2b6b30d5887d0aa0b9ab0553134e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_g0YpxaGa7IQdV0XVmMkIwKdC",
  "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]: [-0.0189, 0.8024, 0.6067, -0.4278, -0.0189, -0.0383, 0.9992, 0.6315, 1.7897, 0.7128, 0.2207, 0.4744, 0.3328, 0.5062]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1692 left_yaw=0.0024 left_pitch=-0.0477 left_roll=-0.0027 left_gripper=0.9992 right_x=0.3645 right_y=0.1711 right_z=0.0109 right_yaw=0.0443 right_pitch=-0.1587 right_roll=-0.1103 right_gripper=0.5062\nstate[joint_eff]: [-0.0068, -1.388, 7.1179, 1.8144, -0.0562, -0.0317, -0.0122, -0.0205, -9.2103, 5.2171, 1.4188, 0.1783, 0.0024, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:898b132e6588ead33dd31ad532ec4a09182506d3f94bc261d5f4625bb54e9c6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a922acd0c8e47285fd7d1c40ab14cae09b116519a2015c9d9e7d683020ee396d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9765c4cd547973f6ced8a38143e9d12d708f723d828b0c2e0f524044fb336f66",
      "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]: [-0.0189, 0.8009, 0.6067, -0.4133, -0.0189, -0.0383, 0.9992, 0.6331, 1.7714, 0.7158, 0.2237, 0.4767, 0.3408, 0.9996]\nstate[eef_state]: left_x=0.291 left_y=0.0014 left_z=0.1725 left_yaw=0.0024 left_pitch=-0.0317 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3671 right_y=0.1733 right_z=0.0194 right_yaw=0.0417 right_pitch=-0.137 right_roll=-0.092 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.0325, 7.2547, 1.8046, -0.0513, -0.0269, -0.0122, -0.4991, -7.0496, 5.1214, 1.619, 0.2027, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.10},\"note\":\"The gripper stopped at about half its opening, consistent with holding the yellow object. I’ll lift it a short distance to verify the grasp.\"}",
  "call_id": "call_Lb17XMqjWaWQFjW7WUH1MAtm",
  "id": "fc_00d04184113c2a1c016ab2b6b9f7ac87d088e59c328ab612d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Lb17XMqjWaWQFjW7WUH1MAtm",
  "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]: [-0.0189, 0.8032, 0.6067, -0.4355, -0.0189, -0.0387, 0.9992, 0.6315, 1.5906, 0.8539, -0.1413, 0.4679, 0.329, 0.5065]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1674 left_yaw=0.0026 left_pitch=-0.0561 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3617 right_y=0.1703 right_z=0.0807 right_yaw=0.0493 right_pitch=-0.1797 right_roll=-0.1212 right_gripper=0.5065\nstate[joint_eff]: [-0.0068, -1.2103, 6.9949, 1.7705, -0.0317, -0.0562, -0.0122, -0.3624, -8.4991, 8.1983, 1.6142, 0.2418, 0.0171, 0.6862]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b32e8207c2b64b438f60b35f472a0d900849e8df272766f58df7948fa676ac66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d74a1a86bd87f24db0824db69f528da4f9bffaaddc2ca264caf261567ae6ef7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a33e7bc8042576a5943af61c9cac7e1b67548ba0e6a198c213c5387e1458a62d",
      "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]: [-0.0189, 0.8024, 0.6067, -0.4278, -0.0189, -0.0383, 0.9992, 0.6315, 1.7897, 0.7128, 0.2207, 0.4744, 0.3328, 0.5062]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1692 left_yaw=0.0024 left_pitch=-0.0477 left_roll=-0.0027 left_gripper=0.9992 right_x=0.3645 right_y=0.1711 right_z=0.0109 right_yaw=0.0443 right_pitch=-0.1587 right_roll=-0.1103 right_gripper=0.5062\nstate[joint_eff]: [-0.0068, -1.388, 7.1179, 1.8144, -0.0562, -0.0317, -0.0122, -0.0205, -9.2103, 5.2171, 1.4188, 0.1783, 0.0024, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrbHVgi5zis3dYNP1ckwXWQyL9kHdE0uj34PIFX-NCzhiEB5IEOM8RXux__MWHFvZq2eaf48wNqnyZsJ3GRSnsJdRXv23SuIktwZfChCAPpX7nHeKc5-u3HICfOFP3A0GdxF-sYFvmzXb3FxNvZ4rjDPVeRqE2K1NvxushqoDyzXkapkPykn2mraHQKJjRG5MY3sEIVYKVTN0Fs3cbp9yWel3ZkisJ8QSnnFC08awj4EJTnIBc60v6DZXzXuMBCGtKHze45ESMwV1XK6nQ-PtXWrUkXf1wzamV1VBYN2vLbCxvfzBLAVD6tk6ANW3SVYKxHXyDZWJs10zsh10SA6Mti3_Yr9csA0DJ3sp7wyslW320auXdZYTQQ5AnBWqV6AGaqZ2fDFfSVtO3i2G7fuaCmP5dPOj6A_aBIPG5pjL1FpEWqyszWYTgF_mWPBwQ1klH1Am0nWmIiZXomVOUtupRtSvU_139l6rRORKZSnYgQcGoi19AcQcCoVRGkoQhjdzgxYWwEQu73nthv6BEHKI-Y4gZMONbaBkcSbnnxU14C-Oh5isEEyBMr-INGgBK3jLLal6K1AhUNeyN5rlwC0nJ8GyWNXtNTy9DHzDrK6NUTzP77_AVCgyDw0ryXN7KMRWZG_NkgdPKeF_6MkryZk_PWsJ98ncVXMx1MS-1KdF_4bGGCt5mCa8rnTVGyW0lJhQfu5zdC8wZG6H_bUGbwFkEeY-IymA_16lBSJ4wboa3o1x4Kuf4FNltYEnwJtRhua-RFg0vMwXddBRCU4sl8artBBFGUS0oveW-CXRD7XiRKzLUCMWjLzULv4YE640N_UwGVcAtRMYrBwTZmBcQyXWBDf4K6p7VL2zHV80YUybrixHGhi-7H73LKwyIa4uzlbIhaOvmaFdfFJsM4899YtCKqottgWDkJdYYY-uzDUA1hlaJmMTLlK0NNDNmo0mH598XfkP0Ymt0wW5t05vDCm-Fb5kJnh871aGNpvpz1-jwHsAzuj5zo5gtEul7sqrYfgTukc2I2tLzhY9MoCF6Ml6YLUpyxb_J84cAzh3kfPfqnzduxvcNe3aMdLj1Duoe95jQ662IOverVFdoL_YUS-Hq4jqT1h0EkHYkpersg5VHG95D140ELIFATUiCb5B2GXe0_rbb1cmWc0zPSmZcHBZWuRTWvmMLQ9JwzNo3xy8TETUZtP2Fe86sUNHQRAA-4UCkNgNc7pQYVygTlHbw0fp_8Jj_T-b7FfvgtYKQpv08pmw4lWbUQo2ou1JFENX3mzYH5wqaFYJ0q9QRkfqd29BV3hGcwywmh_dNSm43cLbtCr-DG1BFm2xk8uvfXRqX4-SpDFmAlBZjadVm5nQkrlbBYb2Vd1erPaz20pduCRNhcYsOz32V9oM_T0R3fK0pnL4bfE",
  "id": "rs_00d04184113c2a1c016ab2b6c2352c87d08b7b0e465564058a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.2,\"left_x\":0.2938,\"left_y\":0.0013,\"left_z\":0.18},\"note\":\"The yellow object has risen with the gripper and its grip width is stable. I’ll raise it above the safe’s rim before moving inward.\"}",
  "call_id": "call_Ztih9YfWwtBmgdJIaqwi2qJk",
  "id": "fc_00d04184113c2a1c016ab2b6c4e1bc87d0805a1ab242e79586",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ztih9YfWwtBmgdJIaqwi2qJk",
  "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]: [-0.0189, 0.8364, 0.6312, -0.4782, -0.0189, -0.046, 0.9992, 0.6315, 1.5013, 1.1885, -0.6086, 0.4561, 0.3214, 0.5085]\nstate[eef_state]: left_x=0.2867 left_y=0.0015 left_z=0.1611 left_yaw=0.0066 left_pitch=-0.1075 left_roll=-0.0074 left_gripper=0.9992 right_x=0.3598 right_y=0.1713 right_z=0.1751 right_yaw=0.0576 right_pitch=-0.2218 right_roll=-0.143 right_gripper=0.5085\nstate[joint_eff]: [-0.3624, -0.9778, 10.0991, 1.8779, -0.0269, 0.0122, -0.0171, -0.2803, -8.5265, 9.0598, 1.6825, 0.3004, 0.0366, 0.4957]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3b328ce1fa7507d136cbca27dea2332e8674134050e2ec461e9a679577e5420",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:848261a1a12cb173d8de543c91ac303c2f2f7dda4b8a682ea07a4eb4494af696",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1a91c1fbc1fd5d9a30c86447388f38b63ebeadbf3362f77e3fba5223e3cfc32",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 17 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4355, -0.0189, -0.0387, 0.9992, 0.6315, 1.5906, 0.8539, -0.1413, 0.4679, 0.329, 0.5065]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1674 left_yaw=0.0026 left_pitch=-0.0561 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3617 right_y=0.1703 right_z=0.0807 right_yaw=0.0493 right_pitch=-0.1797 right_roll=-0.1212 right_gripper=0.5065\nstate[joint_eff]: [-0.0068, -1.2103, 6.9949, 1.7705, -0.0317, -0.0562, -0.0122, -0.3624, -8.4991, 8.1983, 1.6142, 0.2418, 0.0171, 0.6862]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.345,\"right_z\":0.2},\"note\":\"The yellow object is clear of the table and the safe remains open. I’ll carry it over the center of the safe.\"}",
  "call_id": "call_8VelHUUGW3l4RXwIjjQeFeqq",
  "id": "fc_00d04184113c2a1c016ab2b6cb375c87d081d3243348d3a025",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8VelHUUGW3l4RXwIjjQeFeqq",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8417, 0.6334, -0.4995, -0.0189, -0.0463, 0.9992, 0.8909, 2.1304, 2.08, -1.0096, 0.5728, 0.5438, 0.512]\nstate[eef_state]: left_x=0.2839 left_y=0.0016 left_z=0.1567 left_yaw=0.0069 left_pitch=-0.1319 left_roll=-0.007 left_gripper=0.9992 right_x=0.3952 right_y=0.3423 right_z=0.1928 right_yaw=0.0887 right_pitch=-0.2493 right_roll=-0.1544 right_gripper=0.512\nstate[joint_eff]: [-0.1162, -1.7436, 6.8034, 1.8144, -0.022, -0.0513, -0.0122, 0.1983, -11.1795, 8.3077, 0.9548, 0.4615, 0.1538, 0.3492]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b8ee258c17663a185f55984f1294f9f3287e4c81840bb6f5538831310856577",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de4c4090182119c11f031b240db16d18910c01395825d077dcddc71498f641f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0b871d4eb64e8c86b4eb04fff15b5d734b05bcf172f3f553a90e1526b275215",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 21 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8364, 0.6312, -0.4782, -0.0189, -0.046, 0.9992, 0.6315, 1.5013, 1.1885, -0.6086, 0.4561, 0.3214, 0.5085]\nstate[eef_state]: left_x=0.2867 left_y=0.0015 left_z=0.1611 left_yaw=0.0066 left_pitch=-0.1075 left_roll=-0.0074 left_gripper=0.9992 right_x=0.3598 right_y=0.1713 right_z=0.1751 right_yaw=0.0576 right_pitch=-0.2218 right_roll=-0.143 right_gripper=0.5085\nstate[joint_eff]: [-0.3624, -0.9778, 10.0991, 1.8779, -0.0269, 0.0122, -0.0171, -0.2803, -8.5265, 9.0598, 1.6825, 0.3004, 0.0366, 0.4957]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrbSOCfsDX98gELD6cUrVsr7kD-Vv4YEMp5Z97k-K88Bh9N59TkCwNcIcLXwrPheKiK29eieWJ81jRI2wRzCL-XfvWF75Z6vUaBOWPO3-EsjWBg16hLl1u3zGZpZObzsQnZ3981uu1jC06QVdCt6oYuAPrVFvMKiBJESnxwYUeWlIiJuEmC32tQqiJgMZdzRC0oaVBx_rS-DQFJErxl3v7DLORUaWcapEENtPTIkGGkYtCDQhQa5fOR-5T4vqbU6hpPvKQTMQZ1CegHtD6zvr4MWsi8tT7DcxTnW56qKl1zA0MX_2hzVOQzZ0KPbFBXU6nhI8f4VvQaDWWv7cR49twxhDPFGX9vwMRwmTXku3W-8vMkzDltiqHC9SOtQ2XOQDKe9W_pcAATVObrhbo2vcwyr0FyTS6FKGN13v7wwyAutvDv5uU22F3ywngJtcDU5DVDHyhjn50X8sYimIN6WCo_2jile5YNDDG6OgzDWOtQt4Rpk7ZV8HW0zXdowEJPHW2HSvw1IWouqF-kUqtAx6WklPpcic3Q2O4wU2_CzO9F1EShlIvkkbydyZ_VnjJ9eYuEGWI4iUuFwi8-vFuh7M2qHRjjmQHpIWA88MvLtVgP39YF0vE1OM5SqVdNC7B2ryL6E6sYp-nnlK7GTfTUlR2ApBWzksqQjvJke7lLOn5vcYXNERKScu7ckYkCGUvXvsXd2_qF5CQI8k_RBJY8Q56HhjSOcoIiPCL3A10prphvSEYBK0yD19-tSVVfM-bE0jLA75KuZkRd0ZoosW6Q-X8QNB8JeubNYDJslmu7IjPs7xhBRW2_E3HgJjZitmPOo_l8eUYmJQsjtVVLDBAMPn5OPzpCYUAE-ldFiYmSJQ4bMZ_ue1NG6ecWjPvH9v6li2NBJ63aN-p-qPng9cNUCx_H31BkRnwnTdReZqVHkJsJ67eRWsQj6bxbsBJnESFEKECOuvPNbLiR5UBwTMQeI2PecLtGfnfr3Qfc_3eDGTens-k0gXmuxxtLbqmALE8vWnDSspB3wYUzAGvJfk-NxNnSNEjbdWnY44cIREUhUmxfDJNLbOLFtOnFXpTNoCbFVL5PgHJkqPAhKmhU5EDQsUzoIuz0gA-qSUmDu92wgJ2DGbvsDaFJ9Xx3hAREMeu_vNj1YoIFWJqWTOZxfehGXVdm5uKRy6ABfGVnosdKIoB9W8zUvBF8DbScErlnckxzpTnrpF7pDBW2LQjamx4ghnHlcefHk4WKev__hWyMPaLJqGa_D1hLC4avQ37p17_ig8HjikwIbsLizUFmcwvdVdN0VVQ==",
  "id": "rs_00d04184113c2a1c016ab2b6d01b1887d09275ab42f45709ed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.065},\"note\":\"The yellow object is positioned within the safe’s opening. I’ll lower it into the compartment before releasing it.\"}",
  "call_id": "call_ZjJTCWurusOCXc5DQUSF1KLb",
  "id": "fc_00d04184113c2a1c016ab2b6d1ca8087d0b0527b2fdc6a8e4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZjJTCWurusOCXc5DQUSF1KLb",
  "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]: [-0.0189, 0.8429, 0.6331, -0.5148, -0.0189, -0.0463, 0.9992, 0.8948, 2.1384, 1.6276, -0.5976, 0.5644, 0.5423, 0.5142]\nstate[eef_state]: left_x=0.2814 left_y=0.0016 left_z=0.1534 left_yaw=0.007 left_pitch=-0.1487 left_roll=-0.0066 left_gripper=0.9992 right_x=0.3855 right_y=0.3353 right_z=0.071 right_yaw=0.0891 right_pitch=-0.2884 right_roll=-0.1863 right_gripper=0.5142\nstate[joint_eff]: [-0.1846, -1.4838, 6.9402, 1.7509, -0.0562, -0.0513, -0.0122, -0.4444, -10.1949, 6.4342, 1.3944, 0.3248, -0.0122, 0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eab55aad5d77036a6dc3a0f4aedc52e00f90676ebd7ddbbe3d5833af8eb5562",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dcee952a52d7a194554c5587d614c95a084cc689b34809ddff8b813a5a5e1a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6df9ddafd7795127eaaaa89187243aad0f3867d9fef495e823835a0c0578732",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8417, 0.6334, -0.4995, -0.0189, -0.0463, 0.9992, 0.8909, 2.1304, 2.08, -1.0096, 0.5728, 0.5438, 0.512]\nstate[eef_state]: left_x=0.2839 left_y=0.0016 left_z=0.1567 left_yaw=0.0069 left_pitch=-0.1319 left_roll=-0.007 left_gripper=0.9992 right_x=0.3952 right_y=0.3423 right_z=0.1928 right_yaw=0.0887 right_pitch=-0.2493 right_roll=-0.1544 right_gripper=0.512\nstate[joint_eff]: [-0.1162, -1.7436, 6.8034, 1.8144, -0.022, -0.0513, -0.0122, 0.1983, -11.1795, 8.3077, 0.9548, 0.4615, 0.1538, 0.3492]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow object is lowered inside the safe’s walls. I’ll open the gripper and leave it in the compartment.\"}",
  "call_id": "call_ZZn5wzNWycPUPa4qApfrcmnN",
  "id": "fc_00d04184113c2a1c016ab2b6d62a8087d0a0f16cb833d7ef82",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZZn5wzNWycPUPa4qApfrcmnN",
  "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]: [-0.0189, 0.8429, 0.6331, -0.519, -0.0189, -0.0463, 0.9992, 0.8948, 2.159, 1.6154, -0.6041, 0.5598, 0.535, 0.9946]\nstate[eef_state]: left_x=0.2807 left_y=0.0016 left_z=0.1526 left_yaw=0.007 left_pitch=-0.1529 left_roll=-0.0065 left_gripper=0.9992 right_x=0.3816 right_y=0.3315 right_z=0.056 right_yaw=0.0871 right_pitch=-0.3194 right_roll=-0.2179 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -1.2786, 6.8991, 1.6093, -0.0708, -0.0513, -0.0122, -0.0615, -13.7094, 7.1316, 1.1551, 0.2466, 0.022, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b1454b25ee3006b1944f310e411ef1a9bf0ef8c4a87f889e451134e7e2af13d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21f54862b23da74ef43e732e23f0c4e88011519c2d2d77471cafb9a6c5504397",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd6c4972f0f16fb4ecdbeaebd1e6d13258b690ab4f5f628fa0c5a0e7a83dc9fc",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8429, 0.6331, -0.5148, -0.0189, -0.0463, 0.9992, 0.8948, 2.1384, 1.6276, -0.5976, 0.5644, 0.5423, 0.5142]\nstate[eef_state]: left_x=0.2814 left_y=0.0016 left_z=0.1534 left_yaw=0.007 left_pitch=-0.1487 left_roll=-0.0066 left_gripper=0.9992 right_x=0.3855 right_y=0.3353 right_z=0.071 right_yaw=0.0891 right_pitch=-0.2884 right_roll=-0.1863 right_gripper=0.5142\nstate[joint_eff]: [-0.1846, -1.4838, 6.9402, 1.7509, -0.0562, -0.0513, -0.0122, -0.4444, -10.1949, 6.4342, 1.3944, 0.3248, -0.0122, 0.2173]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrbfliTPTC-1C3kjt_9GFlgUURIrwZ23XujkMTkUKJo1P6u-fmns8C3ZRuljXbcI9JtrB5P3mPH5sLUdiwyl7kZuoB_IjS7eCe6mUzU9NkWAmtx5SGy4ko-J18KmiJMRkzp8gdY-ZOWAoISRZUe9Ph5GfHd-k9o_TM88kIkfFFUhSI1dsl4BYufRQ_yKCwoMKj0uzxY3zYsTRrrWQOzXuNiGw8ejF4zx_XMVzoW0xFV1bR3z7T7NSZrl__QaYkcosiHNsZzb3TIQildrlm9n8maUoXq3vOXW0OUZqeqrPkFj-oP6SvKh9UdAkhVnVIx_j_ab8bbDHEA7kAoObkmVQbMTfeQ5ZFMxKCP4ZAXhtCiIGftWuXI4QY8MISjUhsc7ZwfMmBS0DenxG6kCdIuOB5nj--NL6Y4IIo6GO6g-zi-OF2bca4AaeSlSmQ86PxmgVLEGQz6b0u3S_nsXzpYQqUYteoOiDGgpdzkdbE4SBfcEkIVsIadOMBqvdFHJ0zXRTVDrtchNpmTj5tUIiTGSHhpArDlRnQ3gI7f8Nl_iuSkAC6KbSYmJW-xbmsuSSBguiZu79Xd_caEi_afNFshUb_C-CVwV8EWjXjxrHpqoJ7lWutPbDXf22oMqF38twiYX7901VJXJvthrfRPH_qX8wx-33OyaXcoIflI0e_QTbhGBab1adbQUlE_r-TV5klOZyAbC4iaQIqHLmSLsaRNB1Z8WLVZbI6WPrPZ1Fes1Lk8kwZsWco4g7AymbD3F9PFo3mWd-mT9SFurBYZbWI_cSGlGueCMOxAHUm3zG5yFYpTF-jeSxp-4kacZmD6leGpxFnn-myj1d-n00Zbufct0HR4tV6XI01XGzKIKq8tvkUhRmv5h9pbrnd-AM6Na83DDstiRD2cBcqnM4JbRpXEW3Dm6ybGkIqrg-grPH5Y8BC-rOYFKk8ABg4onwr5jOdXqKLvBJBhSFUgAChPti-H8xEwlMqg_h4Okcp3RRNlMAh7ff9H6sTzPjOJZ4cIa8a0uJVrcY24nHZHb08c3_5osyqHnROIw8ER85r6ak4wZSU63Qg0m2zCqLOeklKn9X2ZfHZXMEu6-qqjkdiOYCNitz0LoWgq9va5LabC4zA-cZEJj987jhWgCTU4KtUrgBl-4l1DOP61p70T1oWCpmF7vyjhwUyGLFXh-xW7iGYatU2K5zjZk4n_VuXOHumICmd86VlrjxI-zui_JMM_sVwIXH-wtRqlZyCnXF3SnywMCSkOQVI_EL7Bj_7a_vQSHZzzU1TYTfKg40fYBXbGnPlFy5dVyJXp-IuP6qCgOftoXmDBUalniAxXig6N-53r1OTsvubLnrrj4xbTRLEKEepp_zmhkIgg0vSck9neEiunyEtxc6-E-zHLjcSOV-z6Us9tv2d_evdLMTLFBcKLVVN24QsqmDg==",
  "id": "rs_00d04184113c2a1c016ab2b6da828487d099e470edf0a7e237",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.22,\"left_x\":0.32,\"left_y\":-0.17,\"left_z\":0.13,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The yellow object is resting freely inside the safe. I’ll lift the right gripper clear while positioning the left gripper above the pale plush object.\"}",
  "call_id": "call_d0E0BNUyxZxCjmDzO6b56ZSZ",
  "id": "fc_00d04184113c2a1c016ab2b6dcb6bc87d08bb75fad2c7c187e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_d0E0BNUyxZxCjmDzO6b56ZSZ",
  "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]: [-0.7864, 1.3193, 0.6731, -0.1806, -0.6121, -0.5301, 0.9992, 0.8955, 2.1689, 2.2784, -1.2507, 0.5484, 0.5255, 0.9953]\nstate[eef_state]: left_x=0.3085 left_y=-0.1604 left_z=0.1103 left_yaw=-0.0138 left_pitch=-0.0712 left_roll=0.0395 left_gripper=0.9992 right_x=0.3801 right_y=0.333 right_z=0.216 right_yaw=0.102 right_pitch=-0.3234 right_roll=-0.2116 right_gripper=0.9953\nstate[joint_eff]: [-0.253, -4.9026, 9.265, 1.6679, -0.3248, 0.2222, -0.0171, -0.2803, -10.3316, 7.4462, 1.2576, 0.2125, 0.1245, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:769269b53612a4aa83c42be4fec7e6bc57880a752376a8e9f6ed379e391233dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33894dfd8bb38f76de0594d5d050250dbd30a2d83748a84a0a7bbde6875195dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6142677c0ee0e5e101a8e913b39215ccd3967759e997141644cf4e0a2184b90e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 31 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8429, 0.6331, -0.519, -0.0189, -0.0463, 0.9992, 0.8948, 2.159, 1.6154, -0.6041, 0.5598, 0.535, 0.9946]\nstate[eef_state]: left_x=0.2807 left_y=0.0016 left_z=0.1526 left_yaw=0.007 left_pitch=-0.1529 left_roll=-0.0065 left_gripper=0.9992 right_x=0.3816 right_y=0.3315 right_z=0.056 right_yaw=0.0871 right_pitch=-0.3194 right_roll=-0.2179 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -1.2786, 6.8991, 1.6093, -0.0708, -0.0513, -0.0122, -0.0615, -13.7094, 7.1316, 1.1551, 0.2466, 0.022, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrbmT-Be7EVhCawAGKRETASN2tSB4ya1THjjsDnyZyOgqwBR9-ZR1Z-uHpPDtOjKtdgIT2TGz45P2uolfZFh8sgQLjTTojPyMuJjFuPZ4dd9KM4jKWREQ_CHIaGlLZ6hX9XiqJPXMUVC35AomNHmOhcsIoxHLql074dGOjcfWHC2a0RwSbHOv9WE55TeyWB5c-dIvXK-Sh_rB6pfzkhsXvMYPBp9kvFST5jmPSsABeIj00VTGJICj--b5W74-opIoWzu7G8KTX-NlhVwj56Em4gvD7EWvLHNPqxdEBInSs_WLFdMgKr-aLOTtJqDrxuqgZJSE5QUUIF8VnbND5crn1mpzHVdm7MlDZffUPzkKe1Bqft3e-ZQksfIhR_IpOLrmG3f6Jgy3-sGYHlfdblUqzI-Dav7YpW8YUYGexiUQMrVSsmu4oigu1KwRIHAxks-z66pBqnd3KMf5doDmqAFr1Z6MlBygJnGHvb4NULRnGbacAw1e-UmB7XXiOGq7nh_7sEyrPgEumMbtT_POMPP9zrzxK0gYyxX5hGAF4xQMv6x0pdD00JJ6kyT-e5z_jg4xZLNahaIuXCT6EIQoaJtHnawGryMXIjYOYAsa7BvRIC3GtNFrfTmOF8HQnNsdgotI6E2swmHta4IS4PG_WPgljNoKDvGQ0xyne9ImkLb6UGYtNp_R-hn0MJ6xy4v_bAzgJoPhwtFjoRBH81n5BQ9gzte5wsF5bIL4cH-8dWQRRhjerQw7lmnL3qiWisvN3aTU6RhebxFFudjB9R3dnFVCzO2VJZJPZ8o-T_Y-R__iyfdTdmVY49S9DGiCc5YS1JqJyIXbsMraIwKjz98c3rhOsAyQOjfMT8i9qNEiSaB_iUkjKIANodhBPK3LDAB_-GDWpqePQES-3ipFCW_4udLaKgkM5J5KM6PpofC08EkxxJATQmdDR-MK55bjXlidf8mwf6RGU1MAezc0t8sqNWGaHxKwNnfH9Do8MJwyeHs1vo9ucu4GUmr8txrEqAnCejacrEXg6tTJ_hiDel2OEjIQrettJZjt2FPjqyRpjFeptYaxXQaSPHhbx96bglpTBKSkgcoB5I4mc-E6bT2g232T5xxv8M7i_Yh5Ut9pmIIoYbrCldj26_RXnxjZNi2mFOBdgUArRkpoTer8aLB9bZvg6gOMpnaIXJuI0dx2VwlXUhixAkNm71DzHd_qeHVu01pobtgwZGMVc2P_QYVQqCqTeGvvTwQXvT9pn71xhjgpmUrMpaQHY179HhNhxEsoLTUrqui_cHL8GjuoJs0xAu27JDMqK4htaKGZ6LFCffUmued7O2AtwlVehRI1RNi1fQLVZAoGWTh9mzzgOYqsN4j_GEBRvIy6LKczeri8hSZ7qZSmik=",
  "id": "rs_00d04184113c2a1c016ab2b6e2f52487d08c5fdb8f6d5ba59b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.12,\"left_z\":0.025,\"right_x\":0.293,\"right_y\":0.001,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The pale plush is left of the left gripper’s centerline, so I’ll shift toward it and lower around its body. The right arm will return to its clear home area.\"}",
  "call_id": "call_rFFVpIcRujPfsJMbpHJsP0u0",
  "id": "fc_00d04184113c2a1c016ab2b6e4a60487d08c9fef6295169222",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rFFVpIcRujPfsJMbpHJsP0u0",
  "output": "executing move_to over 28 steps (2.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5961, 1.5421, 0.4301, 0.3618, -0.4881, -0.3893, 0.9992, -0.0937, 0.828, 0.7033, -0.5209, -0.104, -0.086, 0.9954]\nstate[eef_state]: left_x=0.3301 left_y=-0.1195 left_z=0.0288 left_yaw=0.0038 left_pitch=-0.071 left_roll=0.0352 left_gripper=0.9992 right_x=0.2892 right_y=-0.0052 right_z=0.1878 right_yaw=0.0338 right_pitch=-0.0594 right_roll=-0.0024 right_gripper=0.9954\nstate[joint_eff]: [0.2803, -4.1094, 4.1368, 1.6435, -0.1001, 0.1978, -0.0122, -0.1573, -1.853, 7.5009, 2.1026, -0.2369, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d6e767c2a07df2cbfa02203e594c1345d819a8799266264ffdd1e982c737d7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:619fa517cae7847e032c74942444df67ead00a8d6068a15c6631540a38f7d6ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfcefb27d2e81cbe636c00d815b226a3398ba2d9e5be41193e3ac893c1a9027b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7864, 1.3193, 0.6731, -0.1806, -0.6121, -0.5301, 0.9992, 0.8955, 2.1689, 2.2784, -1.2507, 0.5484, 0.5255, 0.9953]\nstate[eef_state]: left_x=0.3085 left_y=-0.1604 left_z=0.1103 left_yaw=-0.0138 left_pitch=-0.0712 left_roll=0.0395 left_gripper=0.9992 right_x=0.3801 right_y=0.333 right_z=0.216 right_yaw=0.102 right_pitch=-0.3234 right_roll=-0.2116 right_gripper=0.9953\nstate[joint_eff]: [-0.253, -4.9026, 9.265, 1.6679, -0.3248, 0.2222, -0.0171, -0.2803, -10.3316, 7.4462, 1.2576, 0.2125, 0.1245, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrbvadUY3qC6PM1YTE93ObbFoqbX-6f7C5EJxOigZdgxT4AQ_KoNobieP-L1CurQ8Om34vwewR2SB9PmcrdssTV4JtT1BScnAY1mLTeWF-vOU9q1B6_BsZxk78PC2qB25GpRmWr3Obn5GqEYN6WRQYhIOfrBA_kqeVPbQ6StnCLua9d9MABGWT3dJt3F4RrKbb9iAld4mfopmf5b4-oD99Z9L58kUUMSjfHe2Ye-UhCfXrHO5dFzAGiBbC5PSH33VwEwCZ6dP-1EX_PNiN3zPk1zlIxtrkTBMF21yp1zAZPSHZxyl50mCDSLCqzR3exQ2eTEd3u72XI3XvLdduk1qW1mwhYC_gFd90JgBAJb-WGWOyOM4FNzzjxqqR4UReSyA_BfMg4Tl_db55XxDf4ztSSiEQ_sqSOk0rpjT_cDlRosEwNtKQjcB6aPcCk2ZIwgFojLjn-BIV-jzWt323YfrTNBi1xEsWt_pOJ3NIRZugzU7J3kHZ_Wv5VoI_X1DK8aP_y-86weBGXzdslCPoT0QWCCV_bpVS7Ijra2dfcPRWe6Qg52fQz83Nb98Tgp57-4GTxyVLDruI7OLOx76MlFimpyaZQdWVryzKUnTxfo-hxitJY91LVFGEGhqE3zjZwonaS3PSLF7uJh9-EsatvIczxrPlLDoBLMh_4KCMc_gWuGdNkDHnGQ7XCVQjW1BttG71WhrD94m4U9WVgoCiNGrAGQzZGTVvzjUp0mgb2KQEhClorAuCGEQDeCtiPIRFmoHHH-EmkLUWgyfSduHM0pj_S3BK7JhCG_sdMMy_jJm3yUZGIf4qUH4e8PiY46baNx2eWA0xquGmFXMhtzjTa-HDvrcgKq_S4qukb3WYdDmJIeSp-2PM_hjB137pKKaoHu2Ng0ZZuMZJnqrVwPlzA9k8PmCzT7h3oAG6R32jB8d-5jeyCtm5RXK-oqFpeMHvG-YVRQ8fSrwm43VIdUIjhKwQZ-ASaw3Kq75dBABlTcbOXVi876aAg8xTaY4Q4dPlovMKTz86Z9SgO0klxxNqYx2CMfJJygnZM1kb6XinDaNlthjpHMugGWoT9GgU0ntm8lUdrvD43k2kpAJjVo1SCf2EZBLFWW7R81RhGWr3gpUgM7u-YX9cuItcnbPc-YzG88DfaOX7jAAHOvEAZMYwh5smtlvWcgszhmwmOlYzMUUrvZtMeM_XxkVNZKCLi_etgObFMtbJ7RHuWX2hvsoMYQzSsYp-BV5Cloq3D9Gam27e85P_04stPGYt0rwbdDm1776MModVe_ql2MiEaSvl4tbD1yDbnzIkkKA1eoFONeRHFvjqVIHa3ehmn3kJg8xCXDG0szXD-C7P44_N482vl97RCrqM0A9VdqPkQFIhGRvN3jXCiErnf8FPNPIx7NCsyBbwPpHiO5OFZfK01c3K9IQVrvpBWx4YrQbgePJBqYe2XKCc94ra6yHvxZnKKGxxDnE8y9Yx7ZpelK2r0pO_rMsXZ0Z-HADjt4lxcdTiFE02_hdWolaYQr8uq5o_mSqfrUVqk2KHQzc2YB1Kcvm4hXUEfxJ8eem89FUvu3mzPLwKT27m4U9WrkkkgJNsxXk-hiZdkB",
  "id": "rs_00d04184113c2a1c016ab2b6eb3d2087d083a779ce3aac8b92",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.08,\"left_z\":0.03},\"note\":\"The pale plush is still offset to the left of the jaws, and the overhead view shows the grasp point slightly behind it. I’ll move forward and left to center on its torso.\"}",
  "call_id": "call_xsxCLG99yDTRoSVs6Y6lKBAX",
  "id": "fc_00d04184113c2a1c016ab2b6ee2fec87d0a13ad42c1ba40492",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xsxCLG99yDTRoSVs6Y6lKBAX",
  "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]: [-0.3996, 1.5791, 0.4377, 0.4107, -0.3691, -0.2905, 0.9991, -0.0929, 0.8322, 0.6987, -0.5369, -0.1192, -0.1009, 0.9954]\nstate[eef_state]: left_x=0.352 left_y=-0.0756 left_z=0.0216 left_yaw=0.0518 left_pitch=-0.0967 left_roll=0.0341 left_gripper=0.9991 right_x=0.2866 right_y=-0.002 right_z=0.1817 right_yaw=0.0557 right_pitch=-0.0826 right_roll=-0.0016 right_gripper=0.9954\nstate[joint_eff]: [0.253, -4.8205, 7.1179, 1.79, -0.0904, 0.2418, -0.0171, -0.2667, -1.6889, 7.2821, 1.8535, -0.0122, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c01c0812d34cb24547ccdfeeb8c7e0eeb5080dbc0d611f3e952a66dc2e88d3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a89b36b96ba43863bf71b7492f6a60d5985ebe5c6e72666884578ce2d5e2d3e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2fcb8d237e6472efbde289e7d3133918093f6f7523f75c039de59058a9167e9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 39 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5961, 1.5421, 0.4301, 0.3618, -0.4881, -0.3893, 0.9992, -0.0937, 0.828, 0.7033, -0.5209, -0.104, -0.086, 0.9954]\nstate[eef_state]: left_x=0.3301 left_y=-0.1195 left_z=0.0288 left_yaw=0.0038 left_pitch=-0.071 left_roll=0.0352 left_gripper=0.9992 right_x=0.2892 right_y=-0.0052 right_z=0.1878 right_yaw=0.0338 right_pitch=-0.0594 right_roll=-0.0024 right_gripper=0.9954\nstate[joint_eff]: [0.2803, -4.1094, 4.1368, 1.6435, -0.1001, 0.1978, -0.0122, -0.1573, -1.853, 7.5009, 2.1026, -0.2369, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrb4vrI7jR8CrgzYJ8GxOp5RCvsuBhyd9ypWo8fzd2XqyM2GDdb6ayENAcmN0nmJRbAJYNnFIUlFNffI_ynnBBMHnfD0g2I3Z2MmWWKw0tXfEGifYKvq7PBAET151qzu5Y5bhQ3-OJIlMxWQ8mfd44d3MmJX6eXNPWkv4m9VSFJZIKNgyNUVQL20DNES1N1AnOTgCkJE9bnswapXc4geSnQjkDxTj2Nk9tjJWqIWkCDo7wsIJNbmnZ98ND3MoBCh_dtqJL1sQYg-H1XQxeJYOfup3hcWY2gTPAap-iTtboTzn2YhAN2ELZ3GA18HIEViWxjjXWHwghTM0bacOZ58JxxkgTPVXwm3X8yxDRflsmvoqyFujvKpF6czmEzZqknF3R7Wxh--dieUP2BvFZTVohY79QVL2xXLWURyk18GsZvVtubAj8NMXlfv-1tXx3YOmdZafi6nGleUltLkFHcDcvVJ5gdxfsv1JoMNlVXpsrLGNh0LSpKvx_S-B2W0Lwf0nCvElifNv6E-5FFbxozep10ROSpRAfEoM9maigF8rwzoNhc-LvSHMqj_q9cm4n1pbzKG1UZNrCSGEy4UPsTrdsVRWKS0WUISCAfTuGY08BnMowjAppMm-hn88uAu7j3TMyq_6hX9Yf1QtXNSB9G4-wGiADAm6wlFZcsSk5LV1DJtW4t8NBNHemd7ydvyD-jB772YDmfNWFB-6IUv3pIdN78m23AoTPVwDGzZ-UilR4DBks19HY6BEFh_Z4ENwgquDCd_9IXoh20BFp2efd3VNhqCEOtLyzZl-qaAH96zNcAYjR0wgqs3NpBcn-iXOUSGgLzD7lDY2bTar9iXkDauRkMZDF3lqiqbITqWPlqpuhbTzBN9pCtygo83G-aWhepOORyFvbz2ZHBvgORWISWXEuFwPl_QJ1SHSC8RqGgV5UmgCw33anEfY_jYN2YQ8lOMplzPb80dCfg0-O3-QQtzKX6PKWqoN7jTuOCY1f5QS26hPOn0LNzIvkwRvxIumwg0Iqhdzd2HiZINP6cmlDlxvVafMuRnPbPHjtygjD4DkPBH8V81kja-UHUTKwgEvd-TkN70gJlP4BVT2CsHvJ8nFgFH4kdD9z1xdYpBqRgXAMEuYQrkVz7Z33wxVrNbvWX8_8Q1KlbZKLiJ03BAFfUM-bTXV1O0B6UYNfcCalVolS9QgCb_p94ZqExpsPxKRUW8KUDKq2tBeedm2VF7KtamG88XCJWir6uWgkusfuPy9vaoG6ZyQ7Lxo6o7YI757EUrwiYL-WTIawww6dsvYYDHv4SPx9JoAxlI3_FPEaOg81jfHCl-8RR5303Cdzg2uQCuegBMwkxZQdtbPNCAJB_6SDTCxzodsyKA9FKMnFZr6v9ar4fIGCIUNBhlK9b_Rtr1oqCr7I3Jy5kWvP48QWzfPytzOEB9Dmbu0wbmbKB6Duy8Bbpt8YeLflBS0oOVhEtY4wGWg13Jo7R4LL1hFMPUctAPqKY1d83BbzqsQr_aoa7LfDE4RCFlVoH9acdI8SESCb6DNtQ9_mYrkBJkP6Di-D7k6Pa5pMUQqFDlymrT-CC010pEd4BtZbqSD6JLyxctBqPvwIke74ylo86q8jEgNEo-HKET4069CFvmYqsD2v4wDp9ZM9MD0gk5b-qYu83YQMaLeGjlqdFqhmKrF204JBqesbd9tq2mEWKI3N4JIvRYlRQ=",
  "id": "rs_00d04184113c2a1c016ab2b6f2678487d088736346893d632c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.035,\"left_z\":0.01},\"note\":\"The gripper is now beside the pale plush, but its body remains toward the outer jaw. I’ll make one more small lateral correction and lower to grasp height.\"}",
  "call_id": "call_EV6VryqeJ9Eg97LooEeWuEQL",
  "id": "fc_00d04184113c2a1c016ab2b6f6954487d0aec8851f9bb3e325",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EV6VryqeJ9Eg97LooEeWuEQL",
  "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]: [-0.3779, 1.594, 0.448, 0.4259, -0.3328, -0.247, 0.9992, -0.0929, 0.8349, 0.6971, -0.5598, -0.1169, -0.102, 0.9954]\nstate[eef_state]: left_x=0.3573 left_y=-0.0759 left_z=0.0213 left_yaw=0.0201 left_pitch=-0.0979 left_roll=0.0419 left_gripper=0.9992 right_x=0.283 right_y=-0.0021 right_z=0.1759 right_yaw=0.0548 right_pitch=-0.1096 right_roll=0.0001 right_gripper=0.9954\nstate[joint_eff]: [0.1573, -6.0239, 6.5299, 1.663, -0.0904, 0.0952, -0.0073, -0.1846, -1.6068, 7.0496, 1.8242, -0.1392, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69c687b44fc9f3a2a9708eede37086aa56c13ea573e2a1457b72ba7e05786ece",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbbc0cdbbaec6f058f29ff0df175f696178c7ca17d86f44df904687d200d9e78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:783c9fe41c768e7116db650d3b005eb16f3c1aa95f25062545e2208da04737d8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3996, 1.5791, 0.4377, 0.4107, -0.3691, -0.2905, 0.9991, -0.0929, 0.8322, 0.6987, -0.5369, -0.1192, -0.1009, 0.9954]\nstate[eef_state]: left_x=0.352 left_y=-0.0756 left_z=0.0216 left_yaw=0.0518 left_pitch=-0.0967 left_roll=0.0341 left_gripper=0.9991 right_x=0.2866 right_y=-0.002 right_z=0.1817 right_yaw=0.0557 right_pitch=-0.0826 right_roll=-0.0016 right_gripper=0.9954\nstate[joint_eff]: [0.253, -4.8205, 7.1179, 1.79, -0.0904, 0.2418, -0.0171, -0.2667, -1.6889, 7.2821, 1.8535, -0.0122, 0.1294, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrb95KC7JNozSE_MtNz-La5j718ScNOR4-F3Nyn-03jiFkYH4x8b4A1vdZJSF4UOFCbHS7YOjTrDT7deUIB60P7A2Lrc5qKrF_KVh6P387b2OFGxnu2_Amhbnbohm2F2rrt21izQDBPLaPCmqGsxCoIc63XFuJ8hZjnGvZfTsFdl_-heaCLDj4MkLcJRNI99hGddVdZ2GCBbjAVCAEZrZkMHwO8IfZDgrmkuuk5QuaIWG3Zgdm5jJAKbxPGM_GN0oAIkp_EJvVY5uYWAxaUE5P3BmOkVNAggj-mjqqOPripigZqpTCWUwvqCyJizbrGhwgcQQvcNKfsf0eWacWsfg___po8-csB3mc7z21hwJ8UJULcw8uW3R1g40sY_dOesA1x0rAsx8cPaBvtE23zplNauMg3rb89tEjHpfPdmecnQeIW72Sp0NaTWAJgyOn4u01QaICkFmAHWENiBJcIvqt0C826Yg4-SnrnIF84qQiv_DnxXvu2toD2BjHd8NDJKYM4cLjGsrt2dMvsyo5uyTZ-VFYGgWfpBeYKFGY06MKqUSNlnQg_erSKHznK4b4KZKUhdk9gpnDHqziSHV72PDsDMphTyyfllTkBxYDYA9GJKnONI1edcq4WW_U4MO_76lPjeH1aC2i9--z3HlUMhUaiC_bFh5PvbjONyLLT3OZmY5bnnq_khYjJHxg-vtVNjQXgNDOpusl61ssKTAkFEM1eUSmMu9f3F-l8SNE0_kVNbzPH6VALqLRnU2WAdYmjXenNprBh63oGAr50cxzMsqkG0yD5iDV0YOuAbA6uXc7d_6jOolzK54FSgbAvA5KreKTXxwKKKfwo9M5Qjg7EIrHritx98f2pFUyaOR8VHMbDdtUmwBPiS45llS0Vl5HZoO3Qd79X3_iKELXuSoDTYTVIbmBHhRyeSJV-C447SGQaAC-xO-xG8oafo0yJBvzAFvbcHbpc9H4dNgrGAU2DMk9zWU6NA30h6NICDVzzx1l92nrYtrmfYfm9Y4vzyWUPhwNgvw7mlmhPFvP2VocbyAwLNvmfST2zgfKiL9LrY8iNRQSEl28xAFQ2ZceHTqhUJhLWwA4-Ngzw0q_QIbL7RKG-sZ7-9dfqe9sO2YtxSa_z06H0Lk58j2Wm-WiYtMjytagTTCF9mKMAHKWHZRvUOuAkskz-K7l9yiV5k70m69-b_WpyXlWAi0wWoU7VfV01LrCxQzRj5zXKtZXxDlg54vGPgG2d-qeAaaCDlD_h4jIY1EP-bRK9VEDsynZtQf_nol2BYHgmDGYv15EtbULGX17ehncedvkmWwRROzBDqwJVYStu3cCcJEPqBsdr-_Teit9fw",
  "id": "rs_00d04184113c2a1c016ab2b6fa7ec087d09207b8394ca1fcc1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.1,\"left_y\":-0.025,\"left_x\":0.365},\"note\":\"The last sideways move did not track, so I won’t force it at table height. I’ll lift above the plush and reposition before descending again.\"}",
  "call_id": "call_JyTupADAbX0MEE50WNCYxJj7",
  "id": "fc_00d04184113c2a1c016ab2b6fb745c87d092448b05f183695f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JyTupADAbX0MEE50WNCYxJj7",
  "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]: [-0.3779, 1.5944, 0.448, 0.4263, -0.3328, -0.2466, 0.9992, -0.0929, 0.8349, 0.6971, -0.5751, -0.1165, -0.102, 0.9954]\nstate[eef_state]: left_x=0.3573 left_y=-0.0759 left_z=0.0212 left_yaw=0.0198 left_pitch=-0.0979 left_roll=0.0422 left_gripper=0.9992 right_x=0.2806 right_y=-0.0019 right_z=0.1731 right_yaw=0.0547 right_pitch=-0.1248 right_roll=0.0021 right_gripper=0.9954\nstate[joint_eff]: [0.1299, -6.0239, 6.3248, 1.707, -0.0708, 0.1245, -0.0122, -0.1846, -1.4017, 6.9402, 1.7753, -0.0757, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d77e6ab70e0758ec2576305ab91638faa67518d18851bafe678647cc3b575885",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1860c581d72445770c1bfa337dd805dd244e82e0ac5eb582b693c82a58ce0261",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b297b4010e5657025abfb529dce00e8abeb4c0363b03a1e69e397b769030d06c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3779, 1.594, 0.448, 0.4259, -0.3328, -0.247, 0.9992, -0.0929, 0.8349, 0.6971, -0.5598, -0.1169, -0.102, 0.9954]\nstate[eef_state]: left_x=0.3573 left_y=-0.0759 left_z=0.0213 left_yaw=0.0201 left_pitch=-0.0979 left_roll=0.0419 left_gripper=0.9992 right_x=0.283 right_y=-0.0021 right_z=0.1759 right_yaw=0.0548 right_pitch=-0.1096 right_roll=0.0001 right_gripper=0.9954\nstate[joint_eff]: [0.1573, -6.0239, 6.5299, 1.663, -0.0904, 0.0952, -0.0073, -0.1846, -1.6068, 7.0496, 1.8242, -0.1392, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrcCCmjDFlk0IQWOOKV-QNQDd5l8cCSDt9uO0uA3JPWBI1e7uKdFAk-_xyvAmmYtfWroPDp4K45EAo5Fv8jyVWlSuu3tzQi6W5Mv0J7UESR6GA0OEZMi3aGtknPivm8MLbciEQJPZvyyWGAuWr6m67cNjpZNC6FKxTKOr8EGiEp4RRANUh4sFUwvUyTAvx4qoEbWtr2avlcrelaK3FR3x1nR8IIEWDWBabNp8kYXwaHAX9jdZcr_qjcjA62kCxy0KoM65VaIFvvNXwvxwJXB1U_ZfL8sSjd7fmmIqbETS07kk9SmQSCmGNqI1v3g7sd8TPShfgsB-6LVqFoSmfXGusN8ftZN42hdUU2BMUPsoxvHhTT9JJKfqUKM8On9OcrujPiskYa0mYXY4pNPoiVjOcB89dVH816RxEuTreR76oAqw9m1ncizUnCZf_hTQGPK0vbwRDaC7pGRkFiBHL9eCqofpz3ywjI4WC8QNL5g74a3x4B3JPC6xeQOQ0rBpycVOQ5a9C6W_WsSBAvvTHtXhezV7M9N-VGXZ_CMPw72YgXKJDuIm9P_448qAAO9o_LYnp_K8j2uY97Q5Gr4atCqwfk39ub4CNonIwybpiG2MyUjwxO6Ic1Gi-sKEt_ZZyKAQ5Rh73RlLLWa40gdg71pbuGIoBv6dzI_mYLGSgiKmcgB9D5L6hQArSOfP3B6wx0t6WU8lcXXcz7w8UCb_vOs7UPyLS1obP9SkRNJYpzwi8dmX3Enf_YTwOwooyI-jEh-nosXjdRVTQSeV81YY0mrXCIuFCugfS18He6zMjZD5Yh2_41BGPfrMOfRfbVTlk_ANEY3LF5Z_wNH_zJ4ePmrIWwetOZf0uV3T9q2NXf8SgO_OwtNENbTMSMw0r9Lt-dhuFlUlf8bNdVVErJCVloi5vgdcGO2k14GMFOzSn-izOWOL_ixhXpjKRLfO2qG0LZArb23BjI4jlk8nqpXD90NvS9fKWCgM9AGSK_7X5VtoimBPj2wFAwWomFOazO_LGwDFqTa0YSjzCJ403h5jxIFfl1sIrU-TTOG9HpTUnQWxstLf2ms_Gi797T9giPllW_BTeuLb8YQr6KKkAZYfF3wH8SiD055J0zsOKkuCVRvSON_SxbLMOlCwXh7HeDVcjBN06FOJVgGHqEzbXvIz3LPIJqT_OkgFJ-CLghB7DqyxAso9bsAeXvHW7OYTZgQJo-qeH3yTy8yWbMnB4iNN3xRwPswjmcsW_T0uBu1xga8SDnzFMsBXVi6daKLhUHJFLFK8DuDVXMBcT0xI_r_45Nd6zZ-WTmhTUoF-FyO2358X-VB6T-DCzL82plnAsVUmn6K_Q1m",
  "id": "rs_00d04184113c2a1c016ab2b6ffdb5c87d089765545a6a0b87c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.075,\"left_z\":0.18},\"note\":\"The left arm has not followed the lift target. I’ll use a shorter-reach raised pose to clear the stalled configuration.\"}",
  "call_id": "call_MsuasSlNGQk6pniYot7KCJ0f",
  "id": "fc_00d04184113c2a1c016ab2b7013e7887d08de57729be8c81b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MsuasSlNGQk6pniYot7KCJ0f",
  "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]: [-0.5098, 0.9859, 0.7124, -0.4755, -0.4129, -0.3431, 0.9992, -0.0925, 0.8398, 0.6971, -0.6102, -0.1165, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.2949 left_y=-0.0796 left_z=0.166 left_yaw=0.0061 left_pitch=-0.0981 left_roll=0.0276 left_gripper=0.9992 right_x=0.2751 right_y=-0.0013 right_z=0.1654 right_yaw=0.0575 right_pitch=-0.1644 right_roll=0.0061 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -3.0427, 9.3197, 1.6337, -0.3053, 0.0806, -0.0171, -0.0752, -1.7299, 7.0222, 1.9414, -0.0806, -0.0366, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b670a178e6fa65be4d57b3a73c177a7bf3869ac34adecf581d60a61571f4285",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaea80a744d4eeca5810f4186b8c3622efd78caefaa0c50c5c0104bb3a48dbb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d657a76d983287ec1b49f255893273dffcbbe74d7e98b186146e945431036774",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3779, 1.5944, 0.448, 0.4263, -0.3328, -0.2466, 0.9992, -0.0929, 0.8349, 0.6971, -0.5751, -0.1165, -0.102, 0.9954]\nstate[eef_state]: left_x=0.3573 left_y=-0.0759 left_z=0.0212 left_yaw=0.0198 left_pitch=-0.0979 left_roll=0.0422 left_gripper=0.9992 right_x=0.2806 right_y=-0.0019 right_z=0.1731 right_yaw=0.0547 right_pitch=-0.1248 right_roll=0.0021 right_gripper=0.9954\nstate[joint_eff]: [0.1299, -6.0239, 6.3248, 1.707, -0.0708, 0.1245, -0.0122, -0.1846, -1.4017, 6.9402, 1.7753, -0.0757, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrcKZgjE5_LxEAVsbqWhxPrCemIGU1-TGQLFIvOnKWeJJY0Vh9_1F0sAf_6Z_AfyMrk1bNve-s3nWlB7o_xqYNqmIggT8C7uLxeN9Lw6lw1HmPuRHaT_GJRQlBLUSCIeQItTJuedIHzqCbx2Zsk4TEalezld4N_kELWDOlCs4kuTZglRphHJpfqvN_WGdEOtgpFSp0iyQuVne0Fp0zf97FhtawJz7yo13lZoTCWv7whEc0CcfR3EGOAVsZv3o2k4GeCcr8ZxE-6-Oa-xQzLNwNY0jQ7-SXT71SRn9B5gP1geGG0CiAyWT7f5-ZxUpuoMbBFt-a4OYqhE-s16MpzlSoy3MqzK4_IQD40DkgDmVlPCChMac6ZiT2-4PCc36tPgzI8h7BxAiuYT32QOeD9yEwfjuur-sYRQ6R6g5_SiUD1or6XkdFVnlHDzMfE3AKW6PCxhOmDHEhbO66364a67q-IlP82YhFs4oOXoTw6aPvdmpYns_z-5kajwHG-LtpaVNFlXkjWRR_iC-0R06miHzt0VbDTUTeJvWQH9hQOFOWL_M3kNYVqCeKsrxQgTditHmZwCo4GNy58HZNxz8LK8qEukRUKgq23ui5xXh8dwSZrnlYNaxlmB5A165Z3cCccyuGfBn3ZpbMvZykkJ_Ia8kw5nPm1FQjLx-7hV9H6HNR7nnVOThDU0hYDNFyn3zBuNfuXcDNyqZWdPm0ox-69byiv4wOdAweQKiZ8TIFCqXIW5SxvzanIrrMU8lAgg1Mzx_dwB3LnCjmpnugnEjg_BoaHArmu7FBJH6v5-XA5bVhJiV8DPgEzxqVR13DONMwv635qEED4DEUb3iZHqGmlyFP0fRztijjFBJi9wrrYR_WeJz2yKin_-QIrHXa-HTvT-YBck9mWSLEuFB5EJgz8zVDzOkHz_ULra3MGQKQNu-B7i4zPtar4cggjOd4KDrQ8LKEs1HX34Lkx4odWqYw5TwQQCXYP5gp_9dWV7PtazHOd7428QdWqhkDA9vy3X846bRLlEFqA68oexgYij_PfP4SvRsETeVaGVHIX1LMtKdOUbeMmHcxJtU5QLn2iXNmhtf1pAo0MSdOGNcLjaoTFEF1A9MXB7dyCxT-rPLsHKQrruAt4BSC4EqPQnj4SW215mAIepwdAJwZXpho9Fwv2EjtjgfbpyEt5rnWxwnio2tDxc5T_NQLlIcvWeXjCSS0djZz4a7XAVqWr_bpSKuUFrdjF4cnSgsjFSgnYk6sCY1kReOP3c5R3rBL3NtPFJ5tH8ycDeU2bsJziuUN_kVaUMd8Es1N_Ew58A5DPbhz5RaIKdqpfTrL2TXvnvy2gsuMteXrBKIcoqr0gkXDL2tHNHt9hYDUarHUDfIaFwaaRTvrsdZCwWI0F_ARYvsGn3O2_YdQIxYp0qG-5qX941A5YAk9Vwrj_KCAe48Vi3YSPv2pDYm_EhYISaOmRb_jOZXuh62i35wGHxn92R_7zA5dJ5_EAJ5A==",
  "id": "rs_00d04184113c2a1c016ab2b7070d7487d081acb87315446bdb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.035,\"left_z\":0.065},\"note\":\"The raised retreat worked, and the pale plush is visible just left of the jaw centerline. I’ll approach its torso from this clearer pose.\"}",
  "call_id": "call_jo07DrTdFdglRyeNZxuoQSes",
  "id": "fc_00d04184113c2a1c016ab2b7091dd087d0b7f9fb89f1e2cb64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jo07DrTdFdglRyeNZxuoQSes",
  "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]: [-0.2359, 1.2129, 0.4171, 0.0082, -0.2325, -0.1825, 0.9992, -0.0929, 0.8425, 0.6971, -0.6216, -0.1165, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.3143 left_y=-0.03 left_z=0.0549 left_yaw=0.0473 left_pitch=-0.1862 left_roll=0.0483 left_gripper=0.9992 right_x=0.2733 right_y=-0.0012 right_z=0.1627 right_yaw=0.0575 right_pitch=-0.1783 right_roll=0.0083 right_gripper=0.9954\nstate[joint_eff]: [0.1299, -4.0137, 5.7641, 1.8584, -0.0659, 0.1441, -0.0171, -0.0205, -1.3197, 7.0496, 1.6532, -0.1245, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0705f8ae1c2b486a8098c8cdd366e6f43beb77e4d645909b161878aacbab914",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:644c3982c2c89a51df21ebf9c56ef24041c99c397cd0f7c8830d3fe2e143aab4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fad2d61b7b706c6cda2d92b5b2f206e44665fbc587a0ca25960bbde197c016f1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5098, 0.9859, 0.7124, -0.4755, -0.4129, -0.3431, 0.9992, -0.0925, 0.8398, 0.6971, -0.6102, -0.1165, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.2949 left_y=-0.0796 left_z=0.166 left_yaw=0.0061 left_pitch=-0.0981 left_roll=0.0276 left_gripper=0.9992 right_x=0.2751 right_y=-0.0013 right_z=0.1654 right_yaw=0.0575 right_pitch=-0.1644 right_roll=0.0061 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -3.0427, 9.3197, 1.6337, -0.3053, 0.0806, -0.0171, -0.0752, -1.7299, 7.0222, 1.9414, -0.0806, -0.0366, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrcSrxS1k1KqsFcx11hZHShhKie9rgEUFK6y2h48fwsRJsS_bIMXPjWRCILbTSbOjpz-VSdUKsmXJMAD-vgCyOiEOaobpNbEZxIR48obymMtQkzFu87UG1pnuaLrUfN9kg6E19YKDgorySQ0XZ4CMTjW4fPy3Jp-TtbHvHv3SiQd67rGTTfNghsXxmfUR-b97-V1FMDFWvlhqZtjy45ypob91PydXcYDbAJgL8GrxBcvM_QagHX3syb6MZ79ySDl-9UzLCmtZzY_NJLfJt8dxJnKZY1DBPoiJJFlYzPZwUyXe2jfzDORkYdqhSBdzJC4l8zxr8OugYiHpFn10mJ-JUhXv8Z6JtZ79xufXzA6xQxCbzhV8RKtvhMxiBow2vT_vK6TYKbIVT_w_BHagaOBpfAcwhfF_yXK-xNclVA3Yt-JCUVIk1tKY_0DiRemBC6fXd9g4iMK4yKyPMC-JoWQQo7zsJehTFFjQYZyjJXIvXeEBCsRjSatpgvK_SpP47mUHyr0hfxvcjAvUVnwvLJxFuoH-JZOJyHciVZ9Fa-ev7MYpkGS-Ghq8kEpCR7bylqrfSPVE3jlbgNp_AlretL-ROYdf4Ahd6tL8bnpglR6SbBSHR3o5GrIz_KDDk9oKT2IL3oKJUEYONh1pz-94UK4q9H-sat-QWQRAJLGoDH-rZsZ8Jxtr0ttv6G-xwqpdFQa20G-4Y_JMfWm_b09_5_8R-YeuwNJU4AVHpkp4_tke5g--AZSYSqTdFqGCGQLkJKKUQmo3MN-g4M1hyz5A_wuQNhQmq-whTHgHQkKgTFyraFLhT5QUxz-0nGLF63i6Dlb-yRgdVX0jjElPBA1tdBKcIPaoVYiwx2hGyNjMl-g8NqvOSAfVhxrrSsrLIPcdwn1avOMNRPPzJFy_2Bsp2fzhJ18-8ae5yYt8jU5Qe4stu5pta0xJQMxtbMgzJGvTloMMzlOHEk0N3BgkI7I-GdSHzPW06p9YO67Q2pEIMdsvaYKmbY3Q0hOSpNbTI0WMk8XRc5fiGtLsKfKbz1iyop1IVlQ-RhijWEd9NCZ-nDh60sK1G8CD6vjoyME-33Px_wNu_pha3fOA0-LSy6wpSPm_yFB28OlMPIrIvLw2Iw8OLS-k-zi0iKgOJir8Fp2MPp4Ib_RJa55m08DHCs-wKGRHDUSJW7MwBReYcE0Mohcax6cAMcjdLF_gbwSBcfugACRhiWL5_7E5HnAv__f6KIzS0tU1Zd9Vq6KHAmN0cGpro-WGNg=",
  "id": "rs_00d04184113c2a1c016ab2b70ef72c87d0bfbcf80f45f4a5b9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.02,\"left_z\":0.015},\"note\":\"The plush’s torso is now nearly centered in the wrist view. I’ll lower and advance slightly so the jaws surround its body rather than its feet.\"}",
  "call_id": "call_gF9fbaNkAr8C8vaS1yEGR6yn",
  "id": "fc_00d04184113c2a1c016ab2b710598887d0ac26cacb3db2f86b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gF9fbaNkAr8C8vaS1yEGR6yn",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1665, 1.4937, 0.4152, 0.2276, -0.1982, -0.1448, 0.9992, -0.0929, 0.8459, 0.6968, -0.6388, -0.1165, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.3306 left_y=-0.0167 left_z=0.0049 left_yaw=0.0704 left_pitch=-0.2552 left_roll=0.0672 left_gripper=0.9992 right_x=0.2705 right_y=-0.001 right_z=0.1586 right_yaw=0.0581 right_pitch=-0.1991 right_roll=0.0115 right_gripper=0.9954\nstate[joint_eff]: [0.1436, -6.4615, 7.3094, 1.8144, 0.0708, 0.0855, -0.0122, -0.0752, -1.1556, 6.8308, 1.7949, -0.1099, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c01b430fa399f624f377c4cb6ed7e9b87823d4d1b7ffdcd3da78c34d9328d7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51c231db11f38b504c072956af0e198db177c9444278faf38150bdb9bd97dcda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92392de3e09d1dc089c5fad52b8305f24684c943806009d3a91d85c489712976",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2359, 1.2129, 0.4171, 0.0082, -0.2325, -0.1825, 0.9992, -0.0929, 0.8425, 0.6971, -0.6216, -0.1165, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.3143 left_y=-0.03 left_z=0.0549 left_yaw=0.0473 left_pitch=-0.1862 left_roll=0.0483 left_gripper=0.9992 right_x=0.2733 right_y=-0.0012 right_z=0.1627 right_yaw=0.0575 right_pitch=-0.1783 right_roll=0.0083 right_gripper=0.9954\nstate[joint_eff]: [0.1299, -4.0137, 5.7641, 1.8584, -0.0659, 0.1441, -0.0171, -0.0205, -1.3197, 7.0496, 1.6532, -0.1245, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The pale plush’s body is between the open fingertips at table level. I’ll close the jaws around it.\"}",
  "call_id": "call_q1p15gL8NctbbHpwwp5Cv0ji",
  "id": "fc_00d04184113c2a1c016ab2b715f47487d0a2e73eaa32bbbe17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_q1p15gL8NctbbHpwwp5Cv0ji",
  "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]: [-0.1562, 1.5261, 0.4198, 0.3126, -0.1867, -0.1352, 0.2163, -0.0929, 0.8463, 0.6968, -0.6575, -0.1165, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.344 left_y=-0.0174 left_z=0.01 left_yaw=0.0627 left_pitch=-0.2017 left_roll=0.0524 left_gripper=0.2163 right_x=0.2672 right_y=-0.0007 right_z=0.1553 right_yaw=0.0589 right_pitch=-0.2179 right_roll=0.0141 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -5.1077, 6.2154, 1.58, -0.0073, 0.0464, 0.7888, -0.3077, -1.3607, 6.9949, 1.6972, -0.1099, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b886713670fa952f8ee19ae499c3f2d7b5fc03582a99c43b5195e2d63785c26a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:959df8a6fcf0b03d34047ae3c4c002717d367d31554229137d621d957a9d938e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82a88cbf527f73ceac93e924f38d0b5cc76c03788fde72b19e4af55aeb4f7187",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1665, 1.4937, 0.4152, 0.2276, -0.1982, -0.1448, 0.9992, -0.0929, 0.8459, 0.6968, -0.6388, -0.1165, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.3306 left_y=-0.0167 left_z=0.0049 left_yaw=0.0704 left_pitch=-0.2552 left_roll=0.0672 left_gripper=0.9992 right_x=0.2705 right_y=-0.001 right_z=0.1586 right_yaw=0.0581 right_pitch=-0.1991 right_roll=0.0115 right_gripper=0.9954\nstate[joint_eff]: [0.1436, -6.4615, 7.3094, 1.8144, 0.0708, 0.0855, -0.0122, -0.0752, -1.1556, 6.8308, 1.7949, -0.1099, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.085},\"note\":\"The jaws have stopped on the plush rather than closing empty. I’ll lift it briefly to confirm it follows the gripper.\"}",
  "call_id": "call_ehBDrfOXG3RpyTfUEMMxE9El",
  "id": "fc_00d04184113c2a1c016ab2b71aba9487d0a9f324e74d477014",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ehBDrfOXG3RpyTfUEMMxE9El",
  "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]: [-0.1562, 1.3018, 0.5568, -0.0444, -0.1871, -0.1429, 0.2185, -0.0929, 0.849, 0.6968, -0.6762, -0.1169, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.3438 left_y=-0.0172 left_z=0.0717 left_yaw=0.067 left_pitch=-0.1973 left_roll=0.0461 left_gripper=0.2185 right_x=0.264 right_y=-0.0003 right_z=0.1515 right_yaw=0.06 right_pitch=-0.239 right_roll=0.0178 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -5.4359, 8.6632, 1.7411, -0.1099, 0.0415, 0.2222, -0.335, -1.6068, 6.9538, 1.6972, -0.1148, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8bf2018e93625daeb6e52951d9c880241fcc046e4b12b57ccd745973ddcb816",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e137d331aba8e64d2bead9c5d4ceaf77bd0ab2c5db046faf6122af67f5d96bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd719b123d93b1427a5bade0c5b4c850864399509acfd22677afb3811c0c8641",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1562, 1.5261, 0.4198, 0.3126, -0.1867, -0.1352, 0.2163, -0.0929, 0.8463, 0.6968, -0.6575, -0.1165, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.344 left_y=-0.0174 left_z=0.01 left_yaw=0.0627 left_pitch=-0.2017 left_roll=0.0524 left_gripper=0.2163 right_x=0.2672 right_y=-0.0007 right_z=0.1553 right_yaw=0.0589 right_pitch=-0.2179 right_roll=0.0141 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -5.1077, 6.2154, 1.58, -0.0073, 0.0464, 0.7888, -0.3077, -1.3607, 6.9949, 1.6972, -0.1099, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrcijddhRs953InwfbNDeNSv-ZLhjhImK8FY8NEmOd--_gRQYLlbPC272s-0FOJA0uWzMUKqppJOqhfbDpxuDnROr7aJgZKgcJ_Mlj1KwZlMmRDsB6BKWRmntfZ65maPVq6RI2fzqfhadFJiYJHioWidRCE8iLfu86bkCf9DfpYAsmd__8ml271hKe5gKVPvXuqq8IcBEN6UiLg4VrVtpsXI0yZzJC18euy2hd9ZG_yvkKEFoHv5ZLl_A2xhgTufauDl__qhpSuRgIHKNfRE6gHQFc0HIeFkARFGxitnpBRDQA1ZYgjU17_V6BZkuZm3XW64pXb5tM7n-qnJDeLjzf05WY_0KS68Mzpl988ldRgmq4ScA-Rc2zqIAxjNOzNWahAFjFrerFBKvtAQs35n3ZQw8wKusJvLbBbVe-Hb6NT1PEfn7F7VYk37ascEUvngDGzhwblSat8OlgKlMF7ncwIXMe1QVw4mI3kjsNnZFGGZBNobE_bSSAtP8VPmOEM3GvHQN5PnvsEdSDgBqb0EkkARCGJKuUWbm8n9lXwJ8x1DbSqs6iWNlLJwchGTTC3qyTfx6bmNG5t_Z6DCMBMGGcz62hSshOO_OSXs5I15-Xmb79RvCqzanWViNsXlvOv4pPwis6OY0xTQWy8v46te3TETO87eByrYnZit4WttT03W_tXyp-semZgI747vdqBv7EsPhuQGsCespWqBvB5j6eEajd6LGXnbMMw31SCgwol_4KdhUvFeq8DW1uuzBLM99ECEhkEsm4ajd4mRUCCApEFDmfZ81wHRK8gCs49ocd2o1TtMe8Mjes84KZMc1TMj6iyKbC6GENCS1ROYnDxymFJ9TATAAORGTmuP70owzXd21zo73jP1-Mw40GH6ee3pWh7NJ6huVGoakPFmtPFsvwFQo-dkf406QKRxWYm5DqEhYNsDCw3tybgRBGoT2tp7KBcMf5DvJ6eER0OEe9OKLOz2u16c1DKYgZeoD1a-6ZtE79VwwyuFdMaizho6Zo928MD_BuMAep1BFGdsbgeGCNrmC4-mdQFYspf8Nw7pslSFuyEwFkCPF7zvDNMekjfj_wo0y28dwVwUNuc9idol8oxfPCQFc84FmAc6iBOuhmaYrMdXcLZ0ideyy66laQXn6YNx0GD8E42iMsbWAA3zy-Sb8XJncD8NNbBYYP_4ab4wLDnwKfMfB6ICNnZfd3rY8KftXh6X_CGoOkPS7Sk1onwG4Q==",
  "id": "rs_00d04184113c2a1c016ab2b72008e487d0a49fca79c31489cf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.23,\"right_x\":0.293,\"right_y\":0.001,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The pale plush rose with the gripper. I’ll raise it above the safe’s rim and refresh the idle arm’s parked pose.\"}",
  "call_id": "call_Uw5ABmTJ1J5qFJakgEvpfaDt",
  "id": "fc_00d04184113c2a1c016ab2b720edcc87d09cafb9c3fc5343ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Uw5ABmTJ1J5qFJakgEvpfaDt",
  "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]: [-0.1562, 1.1954, 1.0805, -0.6971, -0.1867, -0.1505, 0.2206, -0.0895, 0.8188, 0.6968, -0.5579, -0.1169, -0.104, 0.9954]\nstate[eef_state]: left_x=0.3427 left_y=-0.0171 left_z=0.2125 left_yaw=0.072 left_pitch=-0.2191 left_roll=0.0455 left_gripper=0.2206 right_x=0.2822 right_y=-0.001 right_z=0.1803 right_yaw=0.059 right_pitch=-0.0923 right_roll=-0.004 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -4.2735, 9.0325, 1.5995, -0.105, 0.0464, 0.1978, 0.3897, -2.1949, 7.3231, 2.1319, -0.1197, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a42c837db865de15836ca6369d380da97afb0a5631b008e94304b2dfdf188930",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab16dd7624a41ac6514da4f52b293647f2d327cd5b22c8067c549fa899e099de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a14e6ef63933deb8c1d13db382919794d62238ae9b39f5c18974a6353ed9b763",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 69 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1562, 1.3018, 0.5568, -0.0444, -0.1871, -0.1429, 0.2185, -0.0929, 0.849, 0.6968, -0.6762, -0.1169, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.3438 left_y=-0.0172 left_z=0.0717 left_yaw=0.067 left_pitch=-0.1973 left_roll=0.0461 left_gripper=0.2185 right_x=0.264 right_y=-0.0003 right_z=0.1515 right_yaw=0.06 right_pitch=-0.239 right_roll=0.0178 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -5.4359, 8.6632, 1.7411, -0.1099, 0.0415, 0.2222, -0.335, -1.6068, 6.9538, 1.6972, -0.1148, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.245,\"left_z\":0.23},\"note\":\"The pale plush is clear of the rim. I’ll carry it over the empty left side of the safe, beside the yellow object.\"}",
  "call_id": "call_nNkJq5zU6MSql0V203c8Ribg",
  "id": "fc_00d04184113c2a1c016ab2b725a6f087d0a92a69e86b458ab1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nNkJq5zU6MSql0V203c8Ribg",
  "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]: [-0.7513, 1.8427, 1.7615, -0.9657, -0.5365, -0.6544, 0.2233, -0.0872, 0.8227, 0.6945, -0.59, -0.1169, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.3936 left_y=-0.2392 left_z=0.2142 left_yaw=0.0647 left_pitch=-0.2655 left_roll=0.0624 left_gripper=0.2233 right_x=0.2771 right_y=0.0001 right_z=0.1723 right_yaw=0.0626 right_pitch=-0.13 right_roll=0.0009 right_gripper=0.9954\nstate[joint_eff]: [-0.3624, -9.6479, 9.1282, 1.1306, -0.5641, -0.0171, 0.2759, -0.2667, -1.5521, 7.0496, 1.8779, -0.0757, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:234a57c0ae0fa20dedd80838576d9cd532e5a99a78e7e602fe1c6eac0829279f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6932dcd717ae2698df4895ed37bb1ac0d24da85a705ac3a8a74056c4c8a33dfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b9812dc8b90e923c76108278499f7f74c88638aafa922675ccfac1d994bcda3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 73 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1562, 1.1954, 1.0805, -0.6971, -0.1867, -0.1505, 0.2206, -0.0895, 0.8188, 0.6968, -0.5579, -0.1169, -0.104, 0.9954]\nstate[eef_state]: left_x=0.3427 left_y=-0.0171 left_z=0.2125 left_yaw=0.072 left_pitch=-0.2191 left_roll=0.0455 left_gripper=0.2206 right_x=0.2822 right_y=-0.001 right_z=0.1803 right_yaw=0.059 right_pitch=-0.0923 right_roll=-0.004 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -4.2735, 9.0325, 1.5995, -0.105, 0.0464, 0.1978, 0.3897, -2.1949, 7.3231, 2.1319, -0.1197, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrcwVuimlcyzmISKTorE0hqA0wMyuhQz1mFtwiHxp8-702JYWlTStr7b1OrltliRYPVNg2362xMPfV_s1TVFZF93_pbjuCi4fOC5cf4VcDSkYhZ63G9De05JgEM1LEfE7cem-GwFoFC3ocP_jxWJgT1q3HxU5q5jHNFQKWiU43aC8ToZADwoD1MM8Ce_LA85YQdzT7OzppAaA0b4Hsp9JqXggJJpZ-qyfMSPCt1I7OEnciwDJNGWdhxKWFG89BhAI8GvCz2oUZ6gZLVi9f0RNhSLSY15gJVODTSWQtG7BTzpsZD6vFa2QM4gZYA2fiYTlKvJXUKtUtvOAYee6DJ1pjq2rr1nPtouUUSZQ8uYmRfyVMk-CaeECXcsV05QUG_15C56vmt2simpkpGE6RuTCMc4CkDPCSSU8XSXda1o7wPZmmhjsrSbbDvjC-ZVJVcDK5e-TkJFcqdodbLRE8RC8mCyv_v6nteSP4WEkghqePMZvxBx6oe2NRGPtGHUJehUEgubvSRirgUoM2U7JTOGgo0q85o9Bc_Axmqb-ZnJSuiWddy9GZqNj5rsipqWo9Upu4fT-c-Vw_V7NIamrcySMeS1GUuQI2Q6yYz-nqFFwqvl0PzgNi5-IffgsDSk4YZwLIffpb7ziAQh6iAfkv1O-lmt_lDkzz-Nm7E9BUXJ1GRHdT2fsvnMQBUO1Ppe1FlDmsyR5ch-MymEXHljyRO5Wz66eKMDW6BTENpIignoVIAYwvMDEHm40YU7H44zUGDlCnR00R6r1YiCdEgV6zRKLJEI84chTazwUqLaGZpXD5s-vTW6H0tkxyPxDgRAUll3Wv1fb76O98qYewgnAgCcPNUqdo3NuZ3ar4FIusNn8MPeXs8zW6skzOokAnn1P54GetNuA3qf2XjSsbDe_cIC-gfHQ7_6oefA-84d3QiTSGjOV3HkRjbjJJufZSI9Ywe4LMXgvDwgkqlXW3xZ6I5h_Yi7v3Uagvqew1FQhbZs3Yqb2C_kb-rcSP2a9KUCBEjHcJoM2LO4NMx4DwImgLJ9pIlkWfl-0IesdDXxatxTRVpWliWwaWlPgGV5q0a1N4L21mPzQ368NKaG1nEr9cOOCSsMNf-6V9n5EAZWk4hYVpR4cUv0MQrb-l4XQmxJdY6FqxkcTbvF3Ci2XhMahOkLYt791htWNRZJePNW_41PEn99Uz1nsOSYdCBhmdXfTTvBZKR4BDxzFQ_8IqMTKs29y3ACik8O87d8vIsNcTM4opLrKoKigsHHEWYB8x2dZrGM0_KEOAEKizVjHhT2lJ6Tdz5WHB3fJwqIOuZSKEy0L97H8BNSlG-KV0pxGIMQRau7W86s",
  "id": "rs_00d04184113c2a1c016ab2b72db08c87d09f7f7e12c28dfdef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.085},\"note\":\"The pale plush is over the compartment beside the yellow object. I’ll lower it inside, keeping it away from the hinge.\"}",
  "call_id": "call_azfXGu9LV5fD60FYxE7mn3vw",
  "id": "fc_00d04184113c2a1c016ab2b72f6f6087d0a2c36ee5dca75cf6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_azfXGu9LV5fD60FYxE7mn3vw",
  "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]: [-0.7578, 1.8759, 1.3205, -0.5404, -0.532, -0.6632, 0.2249, -0.0872, 0.8246, 0.6945, -0.6121, -0.1169, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.3842 left_y=-0.2353 left_z=0.088 left_yaw=0.0706 left_pitch=-0.3013 left_roll=0.0908 left_gripper=0.2249 right_x=0.2736 right_y=0.0004 right_z=0.1678 right_yaw=0.0629 right_pitch=-0.1538 right_roll=0.0048 right_gripper=0.9954\nstate[joint_eff]: [0.335, -9.1692, 5.9692, 1.3407, -0.315, 0.0708, 0.149, -0.2256, -1.2376, 7.159, 1.7998, -0.1245, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f823722d435a6e1afddda1b5a186553770c0b9829ec91f1579f944f5c670d117",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e03b1a01f6f5c2efd2e12ec1471beb1ec8911ec15df3ee19e054d3c77c45eae8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:856ce95095718119feae848555801537611e9fd7adb4977670f7382077ebc527",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 76 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7513, 1.8427, 1.7615, -0.9657, -0.5365, -0.6544, 0.2233, -0.0872, 0.8227, 0.6945, -0.59, -0.1169, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.3936 left_y=-0.2392 left_z=0.2142 left_yaw=0.0647 left_pitch=-0.2655 left_roll=0.0624 left_gripper=0.2233 right_x=0.2771 right_y=0.0001 right_z=0.1723 right_yaw=0.0626 right_pitch=-0.13 right_roll=0.0009 right_gripper=0.9954\nstate[joint_eff]: [-0.3624, -9.6479, 9.1282, 1.1306, -0.5641, -0.0171, 0.2759, -0.2667, -1.5521, 7.0496, 1.8779, -0.0757, -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"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The pale plush is supported inside the safe. I’ll release it beside the yellow object.\"}",
  "call_id": "call_z5OUfo184nbIkzlceITtQkj8",
  "id": "fc_00d04184113c2a1c016ab2b733985487d08f894ce9e9a88e6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_z5OUfo184nbIkzlceITtQkj8",
  "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]: [-0.7582, 1.8965, 1.301, -0.5434, -0.5285, -0.6674, 0.995, -0.0872, 0.8246, 0.6941, -0.6315, -0.1169, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.3789 left_y=-0.2312 left_z=0.0723 left_yaw=0.0809 left_pitch=-0.3323 left_roll=0.1194 left_gripper=0.995 right_x=0.2703 right_y=0.0007 right_z=0.1641 right_yaw=0.0634 right_pitch=-0.1734 right_roll=0.0078 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -11.453, 7.8427, 1.0476, -0.3785, -0.0171, -0.0073, -0.1162, -1.0598, 6.8308, 1.7509, -0.0904, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5260dc74ea9709e1bcb1509c8e73bf8bf55133592bf77c7eef304c0e1213b34e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af3b358e56c55a4d72978c6788c7041702d3ac0ec9f30ef576b2ab26da867eaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2b7402de1164556562a0ae91fe84637b147f24a63ea3e3c8e569b306b5942fc",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 80 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7578, 1.8759, 1.3205, -0.5404, -0.532, -0.6632, 0.2249, -0.0872, 0.8246, 0.6945, -0.6121, -0.1169, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.3842 left_y=-0.2353 left_z=0.088 left_yaw=0.0706 left_pitch=-0.3013 left_roll=0.0908 left_gripper=0.2249 right_x=0.2736 right_y=0.0004 right_z=0.1678 right_yaw=0.0629 right_pitch=-0.1538 right_roll=0.0048 right_gripper=0.9954\nstate[joint_eff]: [0.335, -9.1692, 5.9692, 1.3407, -0.315, 0.0708, 0.149, -0.2256, -1.2376, 7.159, 1.7998, -0.1245, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrc75TotcUlsPiPEFdlesQIv3-Peglj_jnOWRXZ4wZv2paIqY6xKlCTaodJVxRi0CJndABomgg3qnbm2EeMaw_YioJ22g45aT_3b45l0SXMWRRc_J5dDyWvg6taYlOpNES3Hp8kEyoOIpIGdT1aB-wA8PoX0BKNF2E4H9EiZPQgbETZEZkQHiae0DKknyhCX16XTWo10XczViVEmvo2eF3M-Of8K_uN3_SSRli4osKVF9suvJ4ribwHIZWsMp4aYvr8SPPAUXsnYWuNSojE2IVoH3zHRl0ROaOiluctlQS3xDg3APLmxQ6bPb1G4TXDMI8Tq5AmZ5K5bmT5Fx8Zh1DXWLJ3vbpTdd4WZ3zMQIXhFU-l_7UnVhQ4t7jwgK4zVpEC_IWP4zW3sOOL-lq1uf69XTP9ZoZFIE0DJ-Id3hj-QlQAjP_dmknGM9avXymBFas8DKZbVL8p2OtenEkFduyfufJs5ewnpHorMl6l_W2pNeRTaqihPbhXIdLv4NC3Er273YGnrKfSF3YY66KEs9zDWqxOa8nh_vrfTn84qTGh6-kNt8G5CtYP2xLBQDE_gYPW53YWnyRIHZmbZP87NOnodB6YEy0t2xtEzG8hKsMIWzE_59TG-wdkiD_PpR3GBsj2KoY5aRsQT0UefVYWdankR3mn3f-OvzmjLuKmNPee-rHd5CVdOT3KnXSXrpRibAk3C3y4EXhtna8R5LzfQWKsL8o7uVeiuCh7E1BNySg3E-iAONtoeFu5IhSsn8OEUEMPpb4P_m8SDDG5Anl-DxXcmr8x3SZmVbkc5U_QOrtXND8qUkr9vp9Tl8trX5dZfx4KblwXOUp3QuQ7B7NiDiyDwV2MkY0_uqkKQftUXJYRITVQ0H7krk5obBL3zJ6inMfp5uWOz4sZvsUSGYYd-MuyCv6GRIviPyoQ-KDWMzf5FIiwj3z7DPzRrbSBhPed7HwNrQpZm7wpbAzK6jpThDbdd7QNAl7TZoYyQPetM8zGNXcTRIHSgOjqnKwehnN-7bhcwTX3E3xNr4DyB4fTy0mCNqu90WWvePjl1WMSk40WVuOPNATdIzGWOF9NGaBvJExLDuxGdVjv1U9GvDkE7V_DMlndXlDEkzUxGcbzW8efyuye--SHzVjxIu83zqjBvtsL_uf6JaAiFu2-jpQWpJhPJ2UIuZVD7MW7adDLKnS--MUnaldYYp7SuURiyk_bnrlvTQ0fyVT0tb47E_ULBrFwo0f7sOjt1BkfGRZvWQTyB2Pomo4U8NedIUS4kEUwSaehFnBJ5ND-eiwoTQXw7VaYuCjyPahQ8nEqgv-FCwZ5Yt_s=",
  "id": "rs_00d04184113c2a1c016ab2b737f83887d08247097f636fe0bc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.23,\"right_x\":0.23,\"right_y\":0.3,\"right_z\":0.14,\"right_pitch\":0,\"right_roll\":0},\"note\":\"Two objects are now inside; the brown plush remains in front of the safe. I’ll clear the left gripper and bring the right gripper above the remaining plush.\"}",
  "call_id": "call_Rn8YvbJfn2Kz2xInIrit0ktJ",
  "id": "fc_00d04184113c2a1c016ab2b73928dc87d0b1c0f5ebab1a8c95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Rn8YvbJfn2Kz2xInIrit0ktJ",
  "output": "executing move_to over 25 steps (2.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7578, 1.8702, 1.8591, -1.1568, -0.5201, -0.6827, 0.9963, 1.2732, 1.5879, 1.0183, -0.543, 0.857, 0.9264, 0.9954]\nstate[eef_state]: left_x=0.3759 left_y=-0.2299 left_z=0.2162 left_yaw=0.0926 left_pitch=-0.3562 left_roll=0.1272 left_gripper=0.9963 right_x=0.2255 right_y=0.292 right_z=0.1279 right_yaw=0.0978 right_pitch=-0.046 right_roll=-0.0495 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -9.5521, 8.9231, 1.072, -0.398, 0.1343, 0.1245, 0.2667, -6.9812, 8.0205, 1.0427, 0.6862, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6939e9bddcf4b21f2668dcac6da7758117dfccece4bf6cecaeb4b21898c57665",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce822b914518326484bb78ef52ed2f9fe211a9ff09b9c840df97d3cc2bad9163",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e36957a430196d31a6d7f6c7219a13492328ec19f04bddfc80682f51d3f372e6",
      "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]: [-0.7582, 1.8965, 1.301, -0.5434, -0.5285, -0.6674, 0.995, -0.0872, 0.8246, 0.6941, -0.6315, -0.1169, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.3789 left_y=-0.2312 left_z=0.0723 left_yaw=0.0809 left_pitch=-0.3323 left_roll=0.1194 left_gripper=0.995 right_x=0.2703 right_y=0.0007 right_z=0.1641 right_yaw=0.0634 right_pitch=-0.1734 right_roll=0.0078 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -11.453, 7.8427, 1.0476, -0.3785, -0.0171, -0.0073, -0.1162, -1.0598, 6.8308, 1.7509, -0.0904, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrdD-2yovT660XblBkWBqnK88pm6d3gCpQ8ecVehvrYJ8CrOnERAt5aDy8-3wURISt7ZngeSDpSiazKmB6-4sn25klKsehsPDNgNRLkhkVKeJw3cstwaqeSCf4IPu2nfGd4lrRg_o4jDt7Kc8_v-lhrTyP-zkx9KocZjpJapDqj9Flf6ZFVqOjqYLshluoQwIdCjvz-tMW9bAlJfSqx2XuD2CB4mn434As51jxwD3XMUSxVpa1IxGxK5kGmr-dnNqB8fdmKzeiFe-EJh0vAArY09R6F8kgvFtqXeYL9euyozj1-T95Cj5Wu15qTJRqbyEAWbnLal_zc0olWUMdJlni4mzgM0UUK-JRIhi5BpokXPcdsZuaPyCQGAq7MprSf_mtwqt1gWjhIbV_bnVS5fUDCo_b_jzKBmf-7WGYTbTpucvgnwT27rSgEhq-MZhIv8V4CAOil6h8aGcfa-ohfmeuX8WdaT17JlJQzkd0HoptAzP0vFCFEwjxGzt-mtwJUZrel1WCsShwplQjEPpITBn4x1xrupcoL-DquWg7qbMLBwS0hdaDZeYSGfiCTpOFEZU4OhMQjip71uwUyo5haG63K8WP7nicE33MJpL8lIV0V4xnhfa5fOcJhPUOf00THGpLo-gWUCIz4yyJSbx7bbci3e4UIArMQ6HX0BBQ7UlTpM_QoAWrIqVEyekzHWe1NI1w7z7akRztxVxVKThJrL2vC9cRgsBeJiXlDCFT4QSy0eQvbmVTJUl1QovdX71q8niMBynuhWnAw5OTdEmwX4o0Y1P2akguvLHdLc66Zfml50GsLjGtDh_XHa9h_wuqMYncau8iPh2Kn2Sw6rOreGuNPtTzoIRDoQ_gYrYH5uIVAXgILSA11g8GIllRf-aGqKk31T4h3SPxO_SpbvRpA9anQzsJybMb6YW-VQsXxcMvmezmosuZ-jNjQCv9GLBobon9IacJLEeSrpP9gwYUAGThgQdUn1ajuqBzJTxsL_OnC64z3SNHkJ4Tp7fxZwDMcZHJ91p3PMGFAdOP0PwqyJbvJ0PrMa1rMG07ornLPQs8MmtPDnZqVsTWbDamoCx8qsGfb0iOwSDT1-1NVCXmlrwBBZToqAzyvfdApVJGTxONyuolvNA7DlXBEi_8BQqvvoKYnFVh16345a4txZTQk4dpH5pKv1ZNXalQ__IeFUZ7AbF_Cq1sDFTfjGUu_6rtOiOkhzCFsJx9wEXmGqWC1nVk8HHR7U-PtknJ5af4rAinJ1MQQ=",
  "id": "rs_00d04184113c2a1c016ab2b73ff06487d0a850f971168dfd03",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":0.001,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.25,\"right_y\":0.315,\"right_z\":0.025},\"note\":\"The brown plush’s torso is aligned near the right jaw centerline. I’ll lower around it while parking the left arm out of the way.\"}",
  "call_id": "call_AHVtLiFpP454Dj6ekoqF7YXH",
  "id": "fc_00d04184113c2a1c016ab2b740e30487d0977f045a4574addb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AHVtLiFpP454Dj6ekoqF7YXH",
  "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]: [-0.144, 0.8291, 0.7094, -0.5198, -0.2413, -0.1928, 0.9965, 1.2236, 1.8835, 0.9108, -0.1085, 0.8257, 0.8639, 0.9954]\nstate[eef_state]: left_x=0.2897 left_y=0.0043 left_z=0.1929 left_yaw=0.1473 left_pitch=-0.0425 left_roll=0.0037 left_gripper=0.9965 right_x=0.2473 right_y=0.3125 right_z=0.0271 right_yaw=0.0991 right_pitch=-0.0603 right_roll=-0.06 right_gripper=0.9954\nstate[joint_eff]: [0.1299, -1.3744, 6.9812, 2.1172, -0.0122, 0.1197, 0.0073, -0.3624, -7.5282, 4.8479, 1.2772, 0.4176, -0.105, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1adc8dcaff288f24b2cb4f6feeca5320a2279819413e5308ea5305f3629bf1ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7a00a4885da7f71133ad941c971ff15ecfa969ff07bc6cc24c3a8b1a3a4ca53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78f1a71accfed35783ea9423631b72b5641d659a52d0a54a7ca9036b26aeeeda",
      "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]: [-0.7578, 1.8702, 1.8591, -1.1568, -0.5201, -0.6827, 0.9963, 1.2732, 1.5879, 1.0183, -0.543, 0.857, 0.9264, 0.9954]\nstate[eef_state]: left_x=0.3759 left_y=-0.2299 left_z=0.2162 left_yaw=0.0926 left_pitch=-0.3562 left_roll=0.1272 left_gripper=0.9963 right_x=0.2255 right_y=0.292 right_z=0.1279 right_yaw=0.0978 right_pitch=-0.046 right_roll=-0.0495 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -9.5521, 8.9231, 1.072, -0.398, 0.1343, 0.1245, 0.2667, -6.9812, 8.0205, 1.0427, 0.6862, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown plush’s torso fills the gap between the jaws. I’ll close around it.\"}",
  "call_id": "call_tD2eiCZgQhTaT0N8BQaRQBC2",
  "id": "fc_00d04184113c2a1c016ab2b74af79887d095ed27813a5c587b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tD2eiCZgQhTaT0N8BQaRQBC2",
  "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]: [-0.1436, 0.8349, 0.6983, -0.5247, -0.2321, -0.1955, 0.9965, 1.2224, 1.8893, 0.9104, -0.094, 0.8341, 0.8616, 0.0365]\nstate[eef_state]: left_x=0.2882 left_y=0.003 left_z=0.1853 left_yaw=0.1419 left_pitch=-0.0649 left_roll=0.0024 left_gripper=0.9965 right_x=0.2491 right_y=0.313 right_z=0.0272 right_yaw=0.0954 right_pitch=-0.0501 right_roll=-0.0574 right_gripper=0.0365\nstate[joint_eff]: [-0.1983, -1.7436, 7.788, 1.7314, -0.2076, -0.0513, -0.0073, -0.0889, -9.0735, 5.1487, 0.9402, 0.2515, 0.1245, 1.1258]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cdd829e89fb1a240f197d8fc35e668dceef9ba775701777bb78eaf5454ba0da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed06f2cad2a94501a77e701dffcf3234965cdd04dcfca3d7eb6726c4e618dd58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cee0f656307a8815d11a8937620a9f04b2fff729bd2f9697b7f1bad5b85e684c",
      "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]: [-0.144, 0.8291, 0.7094, -0.5198, -0.2413, -0.1928, 0.9965, 1.2236, 1.8835, 0.9108, -0.1085, 0.8257, 0.8639, 0.9954]\nstate[eef_state]: left_x=0.2897 left_y=0.0043 left_z=0.1929 left_yaw=0.1473 left_pitch=-0.0425 left_roll=0.0037 left_gripper=0.9965 right_x=0.2473 right_y=0.3125 right_z=0.0271 right_yaw=0.0991 right_pitch=-0.0603 right_roll=-0.06 right_gripper=0.9954\nstate[joint_eff]: [0.1299, -1.3744, 6.9812, 2.1172, -0.0122, 0.1197, 0.0073, -0.3624, -7.5282, 4.8479, 1.2772, 0.4176, -0.105, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrdRk_pf_SpB4cQhIM_N6u4VBN2NTxNG8BeN7ga9k0WpPSNxITkoWUT2pX7c_OAm7WwvGcD_Q7uGr1xx_0wTnFW7_CJzqhI8EmeWkhVNrB7BZTR--zOzNSwbJFlmTVZ2tYsz5tUvraNmMml3WFcg3qWkhfA0kMOs4x7bEyJEUoeCyNyLMz7ULnY3aZXaBqC6QsBJSm7R7UxsG4e77HilrOOmPa0pK3AsXzrGDJJdrhKb8RyEd0RECBdeEQSGrl_E_hYAy64UiUouvvneBOlhATaU41KrpFoLI0QEAjYelC70cOuNpBskZQeq0FysXU1qBEovufNt0jPVwYX6IImapz4IPspZVhvvSWZSHz4A5Y-eW6LYMDvOuKPaNk7kBk90XNxRVSW6Q5mYlg4659hJpd9DJtP0rH4OC8p6C8jR-shyT2vWS_koZTIIyMC1NLTXjCzWqHti8OUi9LjgvRmVEr0S15wQEgAIDBUd4dCz1Af_p-i-z_Fqp6oYQ8juDRWvfaq4EIbkb0mu1fYS27hAgqkV_-nYtI4aZ0wzVKI3IwU3041Nc_rOSPEBcvskz5qNiFva68lAw1YMPtc5634umnptB9I24kVAsaZR2bIlJnM_IXbuRLd8NkahfreNdaJopXwwmXt0l1Vov-VR-kYjvoK0NpnduogdBxC4Gv0mihK9Y0wUMqwGVYeRD-As6MIhwp4TMnQKT6wb4-2PYeiHYycmYTpZ-9M9JFt6D9jm7_KjaOE-eTMpTDJlTNdsiZn_3w1MsjMUJ74bnTJ9czyx7IUD_u0vt_ZA8ow4W9W4gXmWvNYu6TGqCnb9Bripz4-g43NUuuKEX0Ci12O4j2izbM4kVstyolCDQv4iotXvjxhfEUULy7KeDqLVaWGtV26y6x8gBvR1GKspMhoNJeoT8MEW8vkxekfg1Mf51LCAzSk8JeuLs8jZoX9X8ONdJ6qj8fhVVzWgnGvNhSu7WrXHCz6lmQuMX_Z8yExbwMEqz0xZMiir17mPsD_dyKBrGiaS9jPYTiNolqzNxeecvFk8ASZNZW0-HsKqAJwDOLS95UmyfJjgdnA3-NSZdrBHKUbZUhgAZco8OmJU9462ioUeABoGOwuXMquN6EhzyDi1uZnmM2v4MpzDKwjcKLcqOduzMYesBr128ujmXfVgs4B8ZrrIb9VKQiGsCYTFkM8S2CVwIOwY6rfw6CsWh6NQKAPCp0Ne-6u8vwDPfOodwL4fiI8RKhyL13p2a0adDyxtHRvQLQ2JmUr2QcrzKLAM1f7Z5EDZ",
  "id": "rs_00d04184113c2a1c016ab2b74edbac87d08acb819c4e1c112b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.28,\"right_z\":0.02},\"note\":\"The jaws closed almost completely, so the grasp may have missed the plush’s body. I’ll reopen and advance three centimeters toward its torso for one retry.\"}",
  "call_id": "call_ZdQUmWl8Py3wWHPCrwPtI6Bh",
  "id": "fc_00d04184113c2a1c016ab2b74f98dc87d0aede89d33e01fcca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZdQUmWl8Py3wWHPCrwPtI6Bh",
  "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]: [-0.1432, 0.836, 0.6983, -0.5358, -0.2317, -0.1955, 0.9965, 1.1446, 1.9194, 0.9108, -0.0166, 0.7883, 0.762, 0.9947]\nstate[eef_state]: left_x=0.2866 left_y=0.0033 left_z=0.1829 left_yaw=0.1422 left_pitch=-0.0767 left_roll=0.0056 left_gripper=0.9965 right_x=0.2731 right_y=0.3071 right_z=0.0186 right_yaw=0.0987 right_pitch=-0.0664 right_roll=-0.0766 right_gripper=0.9947\nstate[joint_eff]: [-0.1299, -1.4017, 7.0906, 1.7753, -0.1197, -0.0366, -0.0122, -0.759, -7.0496, 6.5709, 1.4042, 0.3199, -0.0366, -0.2369]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e2d5af2e7c0008a6a3350a97755cc4ce211b534e8fdaa9deae09012def69088",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:852431504618f5119594c796557ca5a5a02cd72f3dba5148e7254fbf56b01fc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9066b3e7ed79b42617f8df652bbbb111b95e9e40a9330892580bd7140a3c9d4e",
      "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]: [-0.1436, 0.8349, 0.6983, -0.5247, -0.2321, -0.1955, 0.9965, 1.2224, 1.8893, 0.9104, -0.094, 0.8341, 0.8616, 0.0365]\nstate[eef_state]: left_x=0.2882 left_y=0.003 left_z=0.1853 left_yaw=0.1419 left_pitch=-0.0649 left_roll=0.0024 left_gripper=0.9965 right_x=0.2491 right_y=0.313 right_z=0.0272 right_yaw=0.0954 right_pitch=-0.0501 right_roll=-0.0574 right_gripper=0.0365\nstate[joint_eff]: [-0.1983, -1.7436, 7.788, 1.7314, -0.2076, -0.0513, -0.0073, -0.0889, -9.0735, 5.1487, 0.9402, 0.2515, 0.1245, 1.1258]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are now farther around the brown plush’s torso. I’ll close again to secure this deeper grasp.\"}",
  "call_id": "call_lK0m5hRyYz80Gpaby6jmv1kx",
  "id": "fc_00d04184113c2a1c016ab2b757ddd087d0829f4f6e63514ad4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lK0m5hRyYz80Gpaby6jmv1kx",
  "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]: [-0.1436, 0.8413, 0.6983, -0.5545, -0.2317, -0.1955, 0.9965, 1.1442, 1.9217, 0.9104, -0.012, 0.8066, 0.7586, 0.1154]\nstate[eef_state]: left_x=0.2841 left_y=0.0035 left_z=0.178 left_yaw=0.1424 left_pitch=-0.0997 left_roll=0.0124 left_gripper=0.9965 right_x=0.2749 right_y=0.3053 right_z=0.0201 right_yaw=0.0904 right_pitch=-0.052 right_roll=-0.0855 right_gripper=0.1154\nstate[joint_eff]: [0.0068, -1.8667, 7.0632, 1.7851, -0.1392, -0.0464, -0.0122, 0.0615, -8.8957, 5.2855, 1.116, 0.1734, -0.0122, 0.9011]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b8e8ac901476e626ad930b53cd94eb9df2d9d738c3c98088dbbed80f5e9e14c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19e2c0c5065b5c9c87174daad6470d9a277343e14f51313f49e601bb01d925c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a92c3208f846bf46c5109d3f9e0f68241caa9459d33ba957943a27493263b09d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.836, 0.6983, -0.5358, -0.2317, -0.1955, 0.9965, 1.1446, 1.9194, 0.9108, -0.0166, 0.7883, 0.762, 0.9947]\nstate[eef_state]: left_x=0.2866 left_y=0.0033 left_z=0.1829 left_yaw=0.1422 left_pitch=-0.0767 left_roll=0.0056 left_gripper=0.9965 right_x=0.2731 right_y=0.3071 right_z=0.0186 right_yaw=0.0987 right_pitch=-0.0664 right_roll=-0.0766 right_gripper=0.9947\nstate[joint_eff]: [-0.1299, -1.4017, 7.0906, 1.7753, -0.1197, -0.0366, -0.0122, -0.759, -7.0496, 6.5709, 1.4042, 0.3199, -0.0366, -0.2369]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The gripper has stopped on a measurable thickness of the brown plush. I’ll lift it to check that it is secure.\"}",
  "call_id": "call_eMZ0mAwbfhwewb1eovyOR5qb",
  "id": "fc_00d04184113c2a1c016ab2b75fa70487d0bb62592682b0a46b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eMZ0mAwbfhwewb1eovyOR5qb",
  "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]: [-0.1436, 0.8425, 0.6979, -0.5625, -0.2317, -0.1955, 0.9965, 1.1442, 1.795, 0.9932, -0.2562, 0.7891, 0.7582, 0.1169]\nstate[eef_state]: left_x=0.2829 left_y=0.0037 left_z=0.176 left_yaw=0.1427 left_pitch=-0.1089 left_roll=0.0151 left_gripper=0.9965 right_x=0.2712 right_y=0.3025 right_z=0.0657 right_yaw=0.0979 right_pitch=-0.0824 right_roll=-0.1084 right_gripper=0.1169\nstate[joint_eff]: [-0.0615, -1.2786, 6.8991, 1.663, -0.1148, -0.0415, -0.0122, -0.0752, -10.2632, 7.8427, 1.2527, 0.5055, -0.0122, 0.7204]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dabd31701f903b82354449b9cc7a8bf0c21440cb2ef6fba4f7ea732be3d12806",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf4d09e5bd728286fad06395bc276b98e5a34ad8e069b98a8ff0ce54e0db04c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43bb0005ae8e0fbedfa162ce44ff09fb8ee558c04d5836ed3cddc87e5b2bc160",
      "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]: [-0.1436, 0.8413, 0.6983, -0.5545, -0.2317, -0.1955, 0.9965, 1.1442, 1.9217, 0.9104, -0.012, 0.8066, 0.7586, 0.1154]\nstate[eef_state]: left_x=0.2841 left_y=0.0035 left_z=0.178 left_yaw=0.1424 left_pitch=-0.0997 left_roll=0.0124 left_gripper=0.9965 right_x=0.2749 right_y=0.3053 right_z=0.0201 right_yaw=0.0904 right_pitch=-0.052 right_roll=-0.0855 right_gripper=0.1154\nstate[joint_eff]: [0.0068, -1.8667, 7.0632, 1.7851, -0.1392, -0.0464, -0.0122, 0.0615, -8.8957, 5.2855, 1.116, 0.1734, -0.0122, 0.9011]\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": "gAAAAABqsrdno0EyUquTx8NXMyt9dT4IB2lBTb0ZxHIbrm5NnAFfPPr3xb-vOXmGrkn85g5NXfrsCwOFnhHdELDY4w14_IxbQqBIAITLltxdx5waAMcGTescrX-8NXQ3vRyhCn2n7SDWFCOm3Ry3katTIQ4o7vPNXNCOgySckzWjpqp25EwJKAnK9AcDpD8DlkCLTioSsV3s6kwbULIW_KqK_mqN4AhVmwVYgrbbF1A75clvgiRrsZS9s7UsxWPXIP-nJbAVP1kQITiSMf1QJBNFKjVRfmIPmXNyWNgn_njSjdtq322kQ6SzuAywhMMv4SdA0EHu6oKSCJ68c8QrRWZ2WKrXGwfd4FqVJsuXPx1f7zw2vwk0-u60KWF6kUbb_7UJdww1t5bStDtk7v7FTP9obIJVty8Nkk9sRlkSeYbhx5sQExfr6B7jP_E3czhOsym6kNXp4YFBNkDIITp3utklqnGNfcQNGmu4OgCD0CbwTTvJExtwxQAFICjJNmDYaj924DUD4Rtjcowhv-0AGKsX4gCI3idiWDqkzdxLNWwyIGmHi3hNT3cMageBOL6rb5DCa1niaVnjzILjRSZ-wGZG7YPYVZgFJPtSg4CLQTPvxzn8Dwy2ASLLOCmXvgzqOi9-jTNXBbZSgbdFzWZd42lN1fizEMHZZXXtM1jL4soacSFzmegTg_XBR2Zenr9S4QO9Pz28WJptRksvpIYYcMkkt09kmpQTVbAZZ9T2fX_pGayNjshCzkPZiL-8w0WENR9u0MkqJY3fiyxpIizMqlB1q7a_WjjRDyJe8U3vyf_AfCuID3qtoggYaGqpY2Urw_AH1oorIVv-RqNYWmX_nDK84oPiqHTeaXyJfW403LRSpcXM6BX-fOATyF6uNavhmyOk3x6VX-k81rjcTwQ73eu6gbcA20St5B5vfbQ2p8OcvFPO4-R3q_eKZx4G4HTarYpKRQ1MbEHuE5i2a9MP-21KTk2wHWOIJ0bun9V3htCUGdmB1P52jeS45uZR5sSugnEuzfPAfDkezIULJ_FgwZNERJNyncxUnjuI6g1ehwJNZap5eBv2eEHksi6MbgNbSOalsdKCjNkZ7RIhl8TzPAzHHhulMHyJVaE7pSy93yrvIasKitzAvKdW9ByeJy3B_FWa6oecX4-j-4EcLWKdMWObBmqoE8E-S2HR5jzDNLbeST8xweKHKz8a1tvd9PU1RpsZCJS0MIqm4JKwgn3EwcRpGJ5kw0orBtnwBTGErk0daLX7cu_sWcIgmx3OBe0U_C9QwluaPl9m0WxJqUi1rzvBzrNbfSIhFpsuJV__q7TMfx6CMibIp6dwefnx0vfUaG3yIjJbSXo3oS6WAP8su_Vk1P2wPe4BuTrVf4mIP5nJ2HHxQ4_qnfN5YqZwo6gqp4-Mt2b9p11I",
  "id": "rs_00d04184113c2a1c016ab2b764581487d0a4a7c2d27a191d49",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.24},\"note\":\"The brown plush is following the gripper. I’ll lift it fully above the safe’s front wall before moving it inside.\"}",
  "call_id": "call_aKp9ncEgxiDm0MJpvmfGqudu",
  "id": "fc_00d04184113c2a1c016ab2b7664b7487d0aec5c13a7b24327b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aKp9ncEgxiDm0MJpvmfGqudu",
  "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]: [-0.1436, 0.8425, 0.6979, -0.5655, -0.2317, -0.1955, 0.9965, 1.1439, 1.6737, 1.5017, -0.9127, 0.7673, 0.7582, 0.1189]\nstate[eef_state]: left_x=0.2824 left_y=0.0038 left_z=0.1755 left_yaw=0.1428 left_pitch=-0.1118 left_roll=0.016 left_gripper=0.9965 right_x=0.2702 right_y=0.3065 right_z=0.2175 right_yaw=0.1066 right_pitch=-0.1124 right_roll=-0.1219 right_gripper=0.1189\nstate[joint_eff]: [-0.0889, -1.4291, 6.8444, 1.6874, -0.1197, -0.0513, -0.0122, -0.1983, -9.4701, 8.5265, 1.2283, 0.4713, -0.0513, 0.525]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e2bd01421a3bfdeaf179bff3e6e70a0a4e3d5e222a7956bd06ecd2c9f5b899c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5397c4ab69d9fef707d613ade86e371f873bf8e40a1bf3dd27ccd7d07e402a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8fc4d600f78446f7b70b5318255070f4f1e489b670faa61b45b7dbb2c7f6cdd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 0.8425, 0.6979, -0.5625, -0.2317, -0.1955, 0.9965, 1.1442, 1.795, 0.9932, -0.2562, 0.7891, 0.7582, 0.1169]\nstate[eef_state]: left_x=0.2829 left_y=0.0037 left_z=0.176 left_yaw=0.1427 left_pitch=-0.1089 left_roll=0.0151 left_gripper=0.9965 right_x=0.2712 right_y=0.3025 right_z=0.0657 right_yaw=0.0979 right_pitch=-0.0824 right_roll=-0.1084 right_gripper=0.1169\nstate[joint_eff]: [-0.0615, -1.2786, 6.8991, 1.663, -0.1148, -0.0415, -0.0122, -0.0752, -10.2632, 7.8427, 1.2527, 0.5055, -0.0122, 0.7204]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.315,\"right_z\":0.23},\"note\":\"The brown plush is now above rim height. I’ll carry it into the safe’s remaining space.\"}",
  "call_id": "call_FTuuXIlgOwTtSBKTWkptu9PG",
  "id": "fc_00d04184113c2a1c016ab2b76f350c87d081e522e5f69d2be6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FTuuXIlgOwTtSBKTWkptu9PG",
  "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]: [-0.1432, 0.8471, 0.6979, -0.5838, -0.2317, -0.1955, 0.9965, 0.8349, 1.9781, 1.8717, -0.8379, 0.5858, 0.4362, 0.1213]\nstate[eef_state]: left_x=0.2798 left_y=0.0043 left_z=0.171 left_yaw=0.144 left_pitch=-0.1337 left_roll=0.0225 left_gripper=0.9965 right_x=0.4067 right_y=0.3089 right_z=0.2121 right_yaw=0.1008 right_pitch=-0.1673 right_roll=-0.1579 right_gripper=0.1213\nstate[joint_eff]: [-0.0752, -1.7983, 6.8308, 1.7265, -0.149, -0.0366, -0.0122, -0.5538, -10.6051, 9.0188, 1.5849, 0.3101, 0.0611, 0.232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eec09a6bd17da07553f80f81076b1e24caff76b09e43bac795709dc5acd2816b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:224a3771aac8865ee2918613ffa36a0f05ea321219439c4636b62332b7366c7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bf70cc933ccc22b45e96083dc1fd244701a1995c5622b4c042655142cdc7538",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 0.8425, 0.6979, -0.5655, -0.2317, -0.1955, 0.9965, 1.1439, 1.6737, 1.5017, -0.9127, 0.7673, 0.7582, 0.1189]\nstate[eef_state]: left_x=0.2824 left_y=0.0038 left_z=0.1755 left_yaw=0.1428 left_pitch=-0.1118 left_roll=0.016 left_gripper=0.9965 right_x=0.2702 right_y=0.3065 right_z=0.2175 right_yaw=0.1066 right_pitch=-0.1124 right_roll=-0.1219 right_gripper=0.1189\nstate[joint_eff]: [-0.0889, -1.4291, 6.8444, 1.6874, -0.1197, -0.0513, -0.0122, -0.1983, -9.4701, 8.5265, 1.2283, 0.4713, -0.0513, 0.525]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.095},\"note\":\"The brown plush is over the open compartment. I’ll lower it onto the other objects so it stays below the lid.\"}",
  "call_id": "call_ftn5aQLgQPUFNsNCJq096cIA",
  "id": "fc_00d04184113c2a1c016ab2b773ee0087d09450c1222673553e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ftn5aQLgQPUFNsNCJq096cIA",
  "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]: [-0.1436, 0.849, 0.6979, -0.5854, -0.2317, -0.1955, 0.9965, 0.8318, 2.0026, 1.4731, -0.4786, 0.5701, 0.4221, 0.123]\nstate[eef_state]: left_x=0.2797 left_y=0.0042 left_z=0.1702 left_yaw=0.1437 left_pitch=-0.137 left_roll=0.0235 left_gripper=0.9965 right_x=0.3972 right_y=0.2996 right_z=0.0949 right_yaw=0.1078 right_pitch=-0.2248 right_roll=-0.2016 right_gripper=0.123\nstate[joint_eff]: [-0.1573, -1.6068, 6.8444, 1.5556, -0.1538, -0.0317, -0.0122, 0.1709, -9.6479, 6.9265, 1.5946, 0.3883, 0.1099, 0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b68761d759ed4e8ae106872ccfe7c33ac9d92ecc7add21b78dd2f05d08459f3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b5ccb9e5ec060800679f238e5751c63ddb6d5aa5eb69b4512606f9e881629cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c50dc7d0632c353c9a5b298773e43ec9afe66e04a06e86292d6e5eac5fa930b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8471, 0.6979, -0.5838, -0.2317, -0.1955, 0.9965, 0.8349, 1.9781, 1.8717, -0.8379, 0.5858, 0.4362, 0.1213]\nstate[eef_state]: left_x=0.2798 left_y=0.0043 left_z=0.171 left_yaw=0.144 left_pitch=-0.1337 left_roll=0.0225 left_gripper=0.9965 right_x=0.4067 right_y=0.3089 right_z=0.2121 right_yaw=0.1008 right_pitch=-0.1673 right_roll=-0.1579 right_gripper=0.1213\nstate[joint_eff]: [-0.0752, -1.7983, 6.8308, 1.7265, -0.149, -0.0366, -0.0122, -0.5538, -10.6051, 9.0188, 1.5849, 0.3101, 0.0611, 0.232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrd_BQFUZ6KFc_Um4o4Jbz2zdc1RbgI_a63dVpSQrpz3bvs7zOZVKK4GNNm-OlmSbf6i_DdO02tt_zaC7rFRA9Id97XZ45-06j2BcNzr3GJSbCMotmc_EwbJeGZESHnnyJIIQck1Uq3yw2g-cHDcBs8OfTDYaY4_ywCmWIg3ogebXZydNbE9G7u0uwr5RaN3ZckYSBZSmUPknldAX6b5dig8Zi-hvauRt7vN0qYcLiNchlQMaESFFcb1RFkdta_vd0Jz1srdsnQJS7Ca2kBu5n4SGDp3M_PE5CVfssudg9XXyVzt3ojUfM7KJkiIJkt0v3EI14kqrMqpJ5c9aAu9DjmW2RL4I9B3lpd05k5XWqMqktK4Ck6PhvI0qSHeXdHuVSbKpCP8xyYARAhb-jxg4iunSfJ_6TLr-fDeUWU1fg5Y5_8Y596tDLhKkVfoDTa7csU5aIdLQFYHMIb7fcn4rQ3odpJ8jpVk-1QCL-Ird34lhs7lDLUnA9ZEeOvUTl5GfN09P64zK1_cKJQboloDRCBTRNE_dPJZNaMp_NsTzNu9cyqL1Um_MCvniZLSw511ARYkwkit2WHChmuPrIIrPbvijmxrEifKJ5s7bzpdXrb3uglpRyWG2MazEIiXIvUOXue4znwD_hA5G9M5NHGE5YoxlqgJXDCzNYDi8EK4bq7EfCzubUuII-OT1t9zW_1wPesqcupvkLD8-gkzRHZ4UMdoF-0kysTj8S1uUo5kNxeDf040pWcKnpm1NKybkjOFHzZ1L6VaYHBXUN6ILEggjijJbBJyUR_mKkolcK457fF7C4flehW2olkHbUhGkJpKYVC51iFRDG5kuCkw8ekndMWzNwdGbnze_6H7XASjFvDCLKxXaOrwibBCqjT4lruMjZyxQpYkYHEHZArwwbVcB4Hi-dOZQVd3YAJzn4PN2JgYCNTrhnoP8lhq6snnzG6NRmrJC_QXs6l_eJ2EJWmTLwVUcy39WPhoMR8XXxySJpVuLOLJ_FtHgMKdF3jHOQ_DFiX4XiqotRrOR7TO7SFePAanpXi1SyLRR7PTaQpx2TFAuLN_JHfRI0TsUaipRZAR9gpiGJaJrkOJMRde9vrc1bee0eSsL7LHXulIcOL7YCAvOI1cpcCGvQCNaCRfr159-Tpm5hSo_UsPcYHkk5Yas2rV6YqKR-64xp87lJ9cWUOcsNIpKYJMz7B33G6XWTW1q9IKrWhJk1IYMUA0yjjnjwNKBtangaDVYGpA9fgSPt86uUpq0XlhZA04SFH26hqH2WfZbAvyxf-3ADv3-snk0Os3-35nPraEzlOPkWK1yvjVFgmpuLe4Mo7Li10Oxv4WF_7480smUburimhJiPh4UrIPMBX2OaM0sF83bXwZTqN-2BipAgyViTS_9_WD62MrcHO-aTle9VgKR3gA4LERYBELc6supnrhg1M0dq_NDkDzHStOL3BeUd5R8twJMF42RMQFoe-klI-2DrcGbj_WuFg6HiWKFmcyK2cBm0fGRqhlz4Gjqs2zArXqOAF9yVhxm-joBL0skvGhIiXCMDjiCwoPvF1rAEy0kVnCrJziPIPTThxMnhNWFxJs4g-wiNIId-wBhYuOq-MmJejGESC5SiQB3WQlCoy0lBSe35VJYBD6VvJbzg121oRzzOxhAKULZ-sNwxUhl8cKoCfVqV72NRzg2HNnsrWxw0uLw2Lg2C389bNIau8aLPxJecQ5MhmzPnVC_akwS52hi7nyHDLyYR9tGKzqtn4GFqsN01hYWOAsvC0mFWe2EWREZ9aKrjQnJifScaHPfM05rGsd1Vr2BTnoFMo7p0QnCui3D9AWOAS_7Tc=",
  "id": "rs_00d04184113c2a1c016ab2b7793bb887d0b05a112e7a81f289",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.38,\"right_z\":0.13},\"note\":\"The brown plush appears close to the safe’s right rim rather than centered over the red compartment. I’ll shift it inward before releasing.\"}",
  "call_id": "call_B0bgS460PSZZOfwqasT4PoGr",
  "id": "fc_00d04184113c2a1c016ab2b77e34d087d0926bf8761ec694a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_B0bgS460PSZZOfwqasT4PoGr",
  "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]: [-0.1436, 0.8516, 0.6979, -0.5919, -0.2317, -0.1955, 0.9965, 0.9436, 2.2375, 1.964, -0.8009, 0.5941, 0.5064, 0.125]\nstate[eef_state]: left_x=0.2788 left_y=0.0043 left_z=0.1684 left_yaw=0.1441 left_pitch=-0.1458 left_roll=0.0261 left_gripper=0.9965 right_x=0.3932 right_y=0.38 right_z=0.1209 right_yaw=0.1459 right_pitch=-0.2495 right_roll=-0.2047 right_gripper=0.125\nstate[joint_eff]: [-0.3077, -1.6889, 6.8171, 1.6093, -0.1294, -0.0366, -0.0122, 0.3761, -12.4376, 8.212, 0.9206, 0.6276, 0.2662, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5db93efbf6bbf7d2f8e193bd502aecba9ae670f787359009ca6212af0542ac4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:056aa3e4f2ba8c7a1d151c64530be304e40d2f9ae8a875aaeb55b0c6d17535e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:351b1a831d50d78de2ec793589bc031436324dec401e9a0c933e8b998374e758",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 114 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 0.849, 0.6979, -0.5854, -0.2317, -0.1955, 0.9965, 0.8318, 2.0026, 1.4731, -0.4786, 0.5701, 0.4221, 0.123]\nstate[eef_state]: left_x=0.2797 left_y=0.0042 left_z=0.1702 left_yaw=0.1437 left_pitch=-0.137 left_roll=0.0235 left_gripper=0.9965 right_x=0.3972 right_y=0.2996 right_z=0.0949 right_yaw=0.1078 right_pitch=-0.2248 right_roll=-0.2016 right_gripper=0.123\nstate[joint_eff]: [-0.1573, -1.6068, 6.8444, 1.5556, -0.1538, -0.0317, -0.0122, 0.1709, -9.6479, 6.9265, 1.5946, 0.3883, 0.1099, 0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsreFzBAyVCH81Z1jlgpJL1Hli_MsJEfUA0frK2P0obH_d9OPVPRFL8qsPbAD8IUX2hijN8gM9RIwjoCqaCTS-A0MdS4XcDrcqoi9zyFLtt6u3NdBMDm-usSm5Ioey7Zfb8CF3E2yzFMfPV7hAvOzt102sa3m0ePYMzHzjj0UkZZWnOJCPC0L_rT3hd9gM0c1GVLc_-wU76NTPWNiuh3hPqlHj75Ca_NKcR2EMsH2Y1cmT_0TfwrY2AvSXQqFj-5WcAEKLMuzoOJ4ahwlt8hSGUULG_1T2krCDu1qmTAEkne7Kw-o9uqzdvctt3GLB5ZbjPCiuHY7O3UJ-ezbjKUWTH_9OF0D4KNFmYoWMxSkXrgm4Pi6FhXJIbnhEIyoxJgllgkzzcyi86O7zlGKaziNxVdDaB_1uBJZcOz9fEr5U5PSChg1j0opF-0spMEjFXGYIIFwIZxXxYAbSWAW0E0C8gYZeSUsY5cfHexhO7Ub_ZM6A3t16_sVMAWVSGbbSm3N-RL3UIgSNhdoP5GG9pD7kPlrkVTnBZCdTQcsvJHexMZym6PjAaryexW4pr5iLpRsWN18oy2XwFJ9vR94WkcF73itpO6quszH0EOPwOTxVoSo04QEVAVbAGVS7EBO1TqyvxHtYr2wqxBH-lqMAZLCIgcBenj1ECAppkwHTpAv4SpAZfEDrzvSPz2AtNHNFMidcVSo15_qU91baOPxIDzkEAvpSuiYO3oZhSygIuOKQ_iAyO_pA097imON8uQ2mqRomEdLO3MVGf3EmDnRlIxsgiHAW0bqdKP5MHrMLzSdtmwIdNmcnmEoZofiMiKPxApljdrlq6hr44V3kyYsWpZnWkC2NxkU3zlb3Dv-zSazh8cErSqD-ELRF4ShojbpaDMDTcs8_CJ1Y-DB8Mn7QJg9kNfVMnJRI-vl2q87eJVbciN2LOoAaMVep-W_KMcW5OkhNiFuvwLoYRHlpM5lWvleboAqG_kYA_wj7eWi7rymLsDLjW9IVP_mcU1UIbgukH54Ke45AXI2bF-mNNaXNBYPWW2LfSmZEYXtnswFVP7sxXkDFrJ1RWXVFqHp3eQuAS3iLFTkxIZGqgTo-Zz2TdC6ppf4vFMoOrFRLBpS6LPWTrPKA6o7Vz4p1cdfgGVNSGQOfYSdIQT3ApFEtEsFCQSeK1E_TAwBGHWlS9H_f7pcFFwW5SoVstk4WjmIf8MW2Fb0-DhryscwZDpP5rNdlWy7iwCWeCBVyWnNKDD7C1B1mGDsTZ0=",
  "id": "rs_00d04184113c2a1c016ab2b78300b887d0b3d05845387e04bc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The brown plush is now over the red interior, alongside the yellow object. I’ll release it into the safe.\"}",
  "call_id": "call_jhJVDxRgmGVBXpQCqxdRedIm",
  "id": "fc_00d04184113c2a1c016ab2b78424bc87d092fc422bc9bc135d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jhJVDxRgmGVBXpQCqxdRedIm",
  "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]: [-0.1436, 0.852, 0.6979, -0.5922, -0.2317, -0.1955, 0.9965, 0.947, 2.2517, 1.9633, -0.8326, 0.5858, 0.4995, 0.9947]\nstate[eef_state]: left_x=0.2787 left_y=0.0043 left_z=0.1682 left_yaw=0.1441 left_pitch=-0.1465 left_roll=0.0263 left_gripper=0.9965 right_x=0.3874 right_y=0.3773 right_z=0.1094 right_yaw=0.1493 right_pitch=-0.2882 right_roll=-0.2385 right_gripper=0.9947\nstate[joint_eff]: [-0.1709, -1.4427, 6.8581, 1.5897, -0.1392, -0.0611, -0.0122, -0.3487, -13.9692, 6.4752, 1.3211, 0.3199, 0.0562, -0.232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1242861dbbc7f8731422a59813f52af0680067555255065f435107f26576b4cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3acd815d36c2254ab1d88e725ceaee9a19880c641adaddf89f0d07b08081518a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:801e042429513c6047421fd3d030830fbc204170ce953f424061e70845abe2ad",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 118 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 0.8516, 0.6979, -0.5919, -0.2317, -0.1955, 0.9965, 0.9436, 2.2375, 1.964, -0.8009, 0.5941, 0.5064, 0.125]\nstate[eef_state]: left_x=0.2788 left_y=0.0043 left_z=0.1684 left_yaw=0.1441 left_pitch=-0.1458 left_roll=0.0261 left_gripper=0.9965 right_x=0.3932 right_y=0.38 right_z=0.1209 right_yaw=0.1459 right_pitch=-0.2495 right_roll=-0.2047 right_gripper=0.125\nstate[joint_eff]: [-0.3077, -1.6889, 6.8171, 1.6093, -0.1294, -0.0366, -0.0122, 0.3761, -12.4376, 8.212, 0.9206, 0.6276, 0.2662, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsreOz0ArIDnjuIqSQpX4-WObwuCucpitaWqdWXQFVWtLA0yB6tAAevTXR0SCnFXBtX9K2xtWrwtiY3_lSrgurEK9DkmxjoaQrJ0aUSCgCo1pG6_9e9r0mdJWGEgpEHsD35vFuDUrEbRYFVppK2XTUaY11mnL7dH4x_uTvqGBRvO9Qcit2ge35Zwj0CQzcWCvGcXCNORTKp-gayGPnq3iau8OIS9EHBlE8HO6c2WbyRWAHEpVvvz3zcV3_BbikFU66Q1Z7C2L1ZJxZqkUExJQL-mxpoltzuZQUXJgKBB8jwg1Zsy5EJDVKTN_0TDUhb4gVfl2kh1Msuq_qS67RbHxFCMJ7NiwWoT1a8-qCjH304a5EWTLj0TQxOgLkB_M_F-NHllxeIy4NbaaP287ZyelhSARuzXjuzb9QDprvuEK8ykODMQOHZF3atL-0ZsLjZwfszkdkrPNmL3qJAKIKQH2TpFGvzF4T1IJb-bA7BC5wBBmn9NxEO5YPoKgiIC1ifh3P60wwD2fQJiYKa1X4w22y_u0g-9V0dX66ENRx4ynLR5kd-mypI7jWDqWm7cd4KbxMcPYfgxFY08fFqPstN7Y3mgOFFAF5YeCxjOledSl4F2gfjhHQgk5ogTNciGHxTeiYyiWV0TPR08vndlHmabHqDG_mDKi3_TENxq9wB68Cknr2SVLKZQ0PA7qA2N4Eajk71AKMNEqTP6V1V5AdjkvyKf7IHA2ICfehQZU44mNBE_jwVBdt7lXwBBkTlMC9DHcrhnnf60MlPCL7FrIVYrtQKddGdpkWCCoa0sJtVcHcgSH9F07Q6h53mrY02ic1XplX97j_RLquahJ9z_cI6hzGm1iGonScB1cmlh9QdRkWdp5UjOUvV3q1gKpaaZVJUqx4kYo7Lwce00vKfpGASM15eRIhU7pDdki82nW8NsgC9jpmOKcCdSdiQzUquTkIEm9Iq48UxWGCeP-iymgMtx7CWhioZrWiSNG7h-UZ5LwlOmbnP5wFyeL-qDsvybsMoIN87TD_ssvWxfwt_nbxMbPESdHkL25B9kwuGy_vGOuMPsj8aPJ-9re8m3nWK5IJSC4ktw6fe6HN8O-Ln9PJmODdLOfCmUEVysYqeysPjW_UhLiC2f0jK59uKckBfjCddg9XFdcMFzvgEFolzexq95X6k395WuZDm9QK5MVi8D9HjLJ0FJ-xj-FaSl7oQ6okfT6dBLGlGapzxpRoiuGxzFhyopplOcPIKHyJg3lL5SruUodSdvrkkXeqdX5R-tX3d3U7WHHpisqdZ9DXf61enmbcuAQYt-r2yqwD6Kn98U8KAn1ZpFPrxZ1rMYlfwc1aq6IohvZc6WKqjelWRDruc0fcBWKH6tbqrlpvhMu1ZmJr9AAD4g=",
  "id": "rs_00d04184113c2a1c016ab2b788cc0887d09ba3b627b6d68e0e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_y\":0.35,\"right_z\":0.29,\"right_gripper\":0},\"note\":\"All three objects have been transferred to the safe, and the brown plush is resting in the compartment. I’ll lift clear and position the closed gripper near the raised lid’s upper edge.\"}",
  "call_id": "call_lNt0GzG2t8qPKzx5ZeJmHW1N",
  "id": "fc_00d04184113c2a1c016ab2b78b8e1487d09bbe064ee0ad2984",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lNt0GzG2t8qPKzx5ZeJmHW1N",
  "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]: [-0.1436, 0.8555, 0.6979, -0.6079, -0.2317, -0.1955, 0.9965, 0.7563, 2.5359, 2.8891, -1.3941, 0.4915, 0.2989, 0.008]\nstate[eef_state]: left_x=0.2763 left_y=0.0047 left_z=0.1646 left_yaw=0.145 left_pitch=-0.1648 left_roll=0.0318 left_gripper=0.9965 right_x=0.4623 right_y=0.3264 right_z=0.2087 right_yaw=0.1505 right_pitch=-0.307 right_roll=-0.2527 right_gripper=0.008\nstate[joint_eff]: [-0.1846, -1.7162, 6.8034, 1.6679, -0.1636, -0.0464, -0.0122, 0.4308, -14.2701, 6.4068, 1.2576, 0.2369, 0.022, 0.6178]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:121d07729383e08e1a2a05648da9c9214d281f4c69e8cd809bb0374cd772b190",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7a7369b040e27ee453c8c2fb4a18535da900b9d9f0b40dd7871d99fcdf57382",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39602004b0aca7ddc58fbd5d3f1b35a11b2fd2ba07ad0f253d6ad8dc427cde31",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 122 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 0.852, 0.6979, -0.5922, -0.2317, -0.1955, 0.9965, 0.947, 2.2517, 1.9633, -0.8326, 0.5858, 0.4995, 0.9947]\nstate[eef_state]: left_x=0.2787 left_y=0.0043 left_z=0.1682 left_yaw=0.1441 left_pitch=-0.1465 left_roll=0.0263 left_gripper=0.9965 right_x=0.3874 right_y=0.3773 right_z=0.1094 right_yaw=0.1493 right_pitch=-0.2882 right_roll=-0.2385 right_gripper=0.9947\nstate[joint_eff]: [-0.1709, -1.4427, 6.8581, 1.5897, -0.1392, -0.0611, -0.0122, -0.3487, -13.9692, 6.4752, 1.3211, 0.3199, 0.0562, -0.232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsreXy0ZI8aYeOQFauyK3_W7uweydRzuT1WQ9yFV_Amlay3s5hpKp3pdqZj4i5Hz8F-tRwvwhpMPgxnzCXWvDwLnNrwmAOrNLLOjsifWKB4enydbgDzHo2S9ChLrKct41FxiohO-kO1BRlHXPbw6hxSatH7-n2kzmSPmKTRAqgJjstqP09vOfTgBK-hKscu8WTwaVaQTtJEMyS9EZ2pCgZOuwHzJvNvVb-BSkw9drmENKtP2fzyyMHIOTnu4ENF_lPc_EnTepEgPr12I_5pOfHNjoVTr0TuSSfnhGLNiGAPxNAtrT_q9D1FHLLtZUhLrH3I6XOdhDjXljOPMdI6fWASILFxzfws2EGm-yBiVCVoVbPlusOgZYRZ6V-E32DShrGqNuJF9ihEDbeyfMwQdcvhdSVMbZ9oZmKct4ZNcUEpDVZNlu1yp4gjcse0v5aYMNgQJybRvGMQBHO2zuPvc62_orjYx08bBPFyPOZYV5xiIkyV6qFW7NZcx_f32fTB3OUDY22LuaSMvrxOTO2SUO4RAklDC42Jo2Dj8zS7bJLg6sp2VmVyPdY2jALAuljKuouNj5S2XREp77utwgGX5MssmCSP87tX0_b4otHXQa3cK34LFkomniYLC9B6H4EoGAZfigCRRqk6njvglq8m99DrdKizTDVQAQbjsP2fuN-4sFH1-EZzQMzt71KVmhBrX1GycQ_wYj3EBO2fTAVYSfeeYUhhaymbWpZIWq9igiX0VmDIDYUQRx6eSZFXSHjjU_xGMlGF66hRcNP436JtFtzKSfiB_2DTsMTLZjxVABRFRkwPG4l3NcN18do6I0VkkQCkPahk3aygWazFsjU7GfQ2Z9c57W6nUYmzlqL0hLawWTBo5iF9UMPY3StsZgqiCj85bSDP6_h4G3NdgCF7Rjce_Yc6fQ7jyBfxRlTDktX-izYng_TTH-oRGUV1SpWilvml_waKTibCHhqQf2l6B7Z0GDNSq07cYusXGt56XvkcFcErE_5S3g9rG_-qyJz3J4IQCKqljqBezdE1LNOCTajRxVSD7Or4M82yHrBxFfSR3cqOKKZ-PGIHodg78wiZTJpfoq5pN5DOC9LMnITGxOBXxoFGqKpdXEBLTWhsz07UX0xWJGAX9JjHznXEsjggvkRnGdZA2naEkDgNbtryOIBzZXwb51NYUnDK_1EmSgehtY1IPtqevfKHo-QgGFjjnEhgfEONuqb1r1TuRmy9vz89AupBaUcTHddTDS66HlY_Rdf6Ugfleltcg49qDoWO1juByRFc7ZV1G8TxvsjETJiuNT5tvrT-h3-j0jcPWkl2pAJhoYAO6QUr5d38b43uU-FlalzR_Ftq69QIAQ4u6HxqgcAaZuTRcklFftuPlLF__j6xbi2nmnVayQHrdLhr5s6frXowrXKfRGrXjtgxr_0b_SBi_N1WkpoS3pgqOTtemrBu1J8xBzH2QcHNOdRbUIL9jQjcSKxv3x24RWVdAKrJZ1_w==",
  "id": "rs_00d04184113c2a1c016ab2b793105c87d0a88588a137c58988",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_y\":0.32,\"right_z\":0.3,\"right_pitch\":0.5},\"note\":\"The arm stopped short of the lid’s upper edge at this reach. I’ll tilt the tool forward to reach over the lid without pressing on the contents.\"}",
  "call_id": "call_sNQpDdjkGKL5zuHm5tRVlEBC",
  "id": "fc_00d04184113c2a1c016ab2b795758487d081b25f77d5f86c15",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sNQpDdjkGKL5zuHm5tRVlEBC",
  "output": "executing move_to over 27 steps (2.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8566, 0.6979, -0.6109, -0.2317, -0.1955, 0.9965, 0.7464, 2.7338, 3.1153, -0.6022, 0.7193, -0.136, 0.0099]\nstate[eef_state]: left_x=0.2759 left_y=0.0048 left_z=0.1638 left_yaw=0.1456 left_pitch=-0.1689 left_roll=0.033 left_gripper=0.9965 right_x=0.5653 right_y=0.3692 right_z=0.3194 right_yaw=0.1746 right_pitch=0.3954 right_roll=-0.2953 right_gripper=0.0099\nstate[joint_eff]: [-0.1162, -1.5248, 6.8171, 1.5702, -0.1636, -0.0073, -0.0073, -0.4855, -13.3538, 7.9111, 2.3272, 0.2125, -0.0415, 0.188]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d54529e2187554439b31e873bd4066dc8f50a17e664c066e6c32e57769a8111f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c377bdb72455bb8177b8a4bf4f59ee18b02efc35e21c4b5275190e80beba62e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20221408239f1167f3ea38d036765e51c1a7e2996740b3d7e689ec300632fef0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 126 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 0.8555, 0.6979, -0.6079, -0.2317, -0.1955, 0.9965, 0.7563, 2.5359, 2.8891, -1.3941, 0.4915, 0.2989, 0.008]\nstate[eef_state]: left_x=0.2763 left_y=0.0047 left_z=0.1646 left_yaw=0.145 left_pitch=-0.1648 left_roll=0.0318 left_gripper=0.9965 right_x=0.4623 right_y=0.3264 right_z=0.2087 right_yaw=0.1505 right_pitch=-0.307 right_roll=-0.2527 right_gripper=0.008\nstate[joint_eff]: [-0.1846, -1.7162, 6.8034, 1.6679, -0.1636, -0.0464, -0.0122, 0.4308, -14.2701, 6.4068, 1.2576, 0.2369, 0.022, 0.6178]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsregYMOBJImll7JdA2yD2z9o4S6F4nSITDNrlmQT-Hi0G0L0G1_iX-GJDKA9OvozBRzlUcHzztcbpH9JaWgrO00MStC8aXPO9oMry6G010dnsuyPISxvl2XFV3TQVzFedJN4t2lpuy9_6iYOsDwIEq56Ccul8naGauv-PzSQf2bcxFBuZRkjf05-ODk5qgNXBCUnvCZcVCyS247vJph-ZOjk8y3qLuBBMjdE3_H60vYKBhvTQKuwTHSDtlbFDrW-9hMeL0PNs0P9lh3ajY6sCxxXtovN5R5yaT0z_-V836NXZ-hEFiyD6sBzXH_CqbS-H8QmX8sZEuDDfg5jzTXFU808UcZmceumG1OKMhpmJubvtBUwVOok_n1C6L10hSZsP3vglXJi8sJXLc8qZIZWapgFifZW6kOh3ToHdJOBU51U_6rkjPBJqGlBchvwHZmnHnIol5keEvW-e3wZGTqZrrg64JJd3E_xefXC-uGp2su5Cnmv9kLhKNA8BZmA_qQuCiNmnesxxiKBLmMIOgt_ddG4HRgZjQGOzWBdKwTnNP2YhCP6IMc7aCC6bfjrJoWeilHHqUk6wbf8R98CCyuzHFt25HxXah_lPEZ02NSPsnPBkR3Dx627yueqIZuNM93_0oSGisyWVHKb9laomtIpd048st0LCmW-3SOgWmCx4lbk3TMFT6gtglihBVlqta3_Hcvt38PTh9S4abUtpKkg9hMTFib1a_Y8NQkI_UwMusx0OiQGc2QuN_8j3Apy2l4VBI71tX8Gd3jb-G1zK0hLjDZmWJgZWIYYUfTObbCX-qitZBHHpuKHzEsK40HLVEw4EbYdqS4dPZVNqy0N3-bUn8qUxeofGjwQX7R-yCxTdApDyF-VI8FcXY8E6b1xRn94nUvO1VfDROUWxiVcGzl6aUOH8prA-zkdivJWceyxGACZNOp9mhIyUW5qbFwBnXWpq9ODHTKtkLJyrbbzrHjITutMUdlz9VmrSB-22OCwWbb443xhI5XgS0sgREX38iNsayY87_jA6aUE0z1wyfKrtJM9-D-eHVCBkhnq_abF--cDc44mCw4ixX1vv08t12LDrKVbdaLjVhKlqVhFweiXwbHaPzvpc2veM1TB8z1IES9KzaFOBqk0xvVtz9ShP2XjC8UDpWnrnHPRl2ZblL0e6bKU-M2QdzLQodbS1HHdlyH6bf_YUBUF_0kOOljN3hn1za6B4r_J-na9I_O15cyEH_EsnmsqId6EgUOFTT3XEqI55YMAAwKFU8Z7FHEqUinxYNinGQ3aLqD3XzQxYSfoWbE4qQ==",
  "id": "rs_00d04184113c2a1c016ab2b79d53a487d09717198134ece960",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.35,\"right_z\":0.22,\"right_pitch\":0.3},\"note\":\"The gripper is now above the raised lid. I’ll bring it down and toward the front to start folding the lid closed.\"}",
  "call_id": "call_FNIX34YTVqZlXO065ecrzLEE",
  "id": "fc_00d04184113c2a1c016ab2b79e6b2c87d0a7dc49c86e73cd67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FNIX34YTVqZlXO065ecrzLEE",
  "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]: [-0.1432, 0.8566, 0.6979, -0.6113, -0.2317, -0.1955, 0.9965, 0.8261, 2.7983, 3.1153, -0.7261, 0.7658, -0.0502, 0.0116]\nstate[eef_state]: left_x=0.2758 left_y=0.0048 left_z=0.1637 left_yaw=0.1456 left_pitch=-0.1692 left_roll=0.0331 left_gripper=0.9965 right_x=0.5374 right_y=0.4077 right_z=0.2559 right_yaw=0.2025 right_pitch=0.2619 right_roll=-0.3328 right_gripper=0.0116\nstate[joint_eff]: [-0.0479, -1.3607, 6.8034, 1.5263, -0.1245, -0.0513, -0.0122, 0.2256, -13.3675, 8.253, 1.9756, 0.2955, 0.2173, 0.1685]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 393):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c0457c931b0bba2b4ef70238da177edd2b5fbb2fd638435aff65e20464f78ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 393):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66a4b39866d22741948f5e2aeb894f8da9c9191cd8b6a0fdfa67371416b8fd2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 393):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dba1c1c8587941f6086483dccb3d77499ef631b3fd54ed7ba67f2c9c4eedaaf",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 130 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8566, 0.6979, -0.6109, -0.2317, -0.1955, 0.9965, 0.7464, 2.7338, 3.1153, -0.6022, 0.7193, -0.136, 0.0099]\nstate[eef_state]: left_x=0.2759 left_y=0.0048 left_z=0.1638 left_yaw=0.1456 left_pitch=-0.1689 left_roll=0.033 left_gripper=0.9965 right_x=0.5653 right_y=0.3692 right_z=0.3194 right_yaw=0.1746 right_pitch=0.3954 right_roll=-0.2953 right_gripper=0.0099\nstate[joint_eff]: [-0.1162, -1.5248, 6.8171, 1.5702, -0.1636, -0.0073, -0.0073, -0.4855, -13.3538, 7.9111, 2.3272, 0.2125, -0.0415, 0.188]\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": "gAAAAABqsrelMMbp1VGStvQl-rbH-i8RlQBL_675sAfK9fY0djWYtPk6o860KUEEpnI10YxAOJIfaKtwwo_mQWmhHpusSaMbUSaqQwsr1Obfdd1hiTbI8Z1sev8uAS8jprNA5DgZ7mbXVUC5d93CRs-dn4-O2YxDEFZzoL0sYKKA9xaTpR4WugxkXaZr6_2ncZi73Gwm9aq5osfCkCCDDgVbIQUaXNBXZUrYu5jOMeJPL5T7LdNG3kE57Njty-APupwvUF6ypOXYQAajiMvo6T19Wh3-TSu2ILC4pXOzc5svtun9-Fdq71K4NHO3dK3FV8L-J4BR3N4tu0qRdf18AFFOXl94DhZ6896x_cxe9-X6QtKCp6jO4TjXnlSO8xx6C2dvgyl8WqCPOgo1x_UdxXBneiTvzG_qxKeR3h9q5C1O1rqaKobdTUzwt3O2_PQfkBqdPJEVMlGfTEVcgILQlsQr9OcSP3iRcq-BXvUSu9hdw61_ExX5_l0obzYTdW_Ok-VT_BZeM88VCDLh705ehlJjCdxNRLuPAkHsLGncNOuDNL8WMa4L3dwc1T9CiymnWM7wQuOMUnRwdjfQGGNW-_Nj1PcB_UQBUOc3zf18uSPYL4PJEcpjygg3-JfNQCWosKXPR45BvDQHZQj-Prdrfc9cR8R2huQfA_UzUCZohGzZ93PAXuEpcn3a40lx1TDPkdb7TLxFCPpqUQIYShIglJ118d5ZlkY4rWqCCNKL26EVtR3YJamyNObyPMSlRZg4K2og5uMtuDW1I0fLseKIqTL0q1VyJj8cX6288LtdOTxBvjeKuwt45Nv8yW6_KDYBkRtXzz00kLKg_M8-xgcjyostYQQimF18sigDC3cdWDVV5Gqu8RqPiAVSDe7dvlGP3xxPe9RGdz7WO9--tmjouePFoywFt3LtW4CS9jyvgZSZ6BvhAT1VJclY_5wIJuR6QzPUmb2DE1d5Bv-jEYdEcGirHazzjrvzY-p0NiLi3CRFz-p1UxwfMHIH0a72lUzK-_18We2mZGggi7zrdkxbR5uB2U98vaYrvLRQuNoxz5u2NIZMCa9BiUm7yD2YzXr8nMrus8jggkovVvMIgSJ_7nIuaBOKxA9dz6Dcvl26rzaPYkM9UZqcwgly7DEcHhJGmi6bYgCaom4SsTY2g0RRIdr_52n6qzgYLEmvXZC6ch7Z3luM19zCTnnrQYo9ahzMCiSJQalN93A5NIlii_pKsGI-UlKgjZEt0Ey3UT-98ZCL5QUABXaBDqo=",
  "id": "rs_00d04184113c2a1c016ab2b7a3086487d0bad06e2ad28b9ac4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.35,\"right_z\":0.16,\"right_pitch\":0.15},\"note\":\"The closed gripper is contacting the raised lid. I’ll continue a controlled forward-and-down motion to swing it toward the opening.\"}",
  "call_id": "call_0OnMdN2XrWd5l6F2Z0EXo0FO",
  "id": "fc_00d04184113c2a1c016ab2b7a397b487d0b1bb219b7779cfc3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0OnMdN2XrWd5l6F2Z0EXo0FO",
  "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]: [-0.1432, 0.8566, 0.6979, -0.6109, -0.2317, -0.1955, 0.9965, 0.9241, 2.8132, 3.1157, -0.9249, 0.82, 0.0978, 0.013]\nstate[eef_state]: left_x=0.2759 left_y=0.0048 left_z=0.1638 left_yaw=0.1456 left_pitch=-0.1689 left_roll=0.033 left_gripper=0.9965 right_x=0.4864 right_y=0.4358 right_z=0.2165 right_yaw=0.2056 right_pitch=0.1381 right_roll=-0.3501 right_gripper=0.013\nstate[joint_eff]: [0.0615, -1.4701, 6.9538, 1.5604, -0.1636, -0.0757, -0.0073, 0.5402, -13.1077, 8.335, 1.3455, 0.2076, 0.0952, 0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e14bf64f0482b5a7eb50e40c4eeb433e5b7a1f8f43b226027704ae3e1377fca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c86a77245a3654c3ea51e3a9721d2b269c9a59c6b10f7c269888179542cbd75d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6453b48abde80608134b9237f5879de0b8a23467b876feafbd6adf3c7f22147",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 134 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8566, 0.6979, -0.6113, -0.2317, -0.1955, 0.9965, 0.8261, 2.7983, 3.1153, -0.7261, 0.7658, -0.0502, 0.0116]\nstate[eef_state]: left_x=0.2758 left_y=0.0048 left_z=0.1637 left_yaw=0.1456 left_pitch=-0.1692 left_roll=0.0331 left_gripper=0.9965 right_x=0.5374 right_y=0.4077 right_z=0.2559 right_yaw=0.2025 right_pitch=0.2619 right_roll=-0.3328 right_gripper=0.0116\nstate[joint_eff]: [-0.0479, -1.3607, 6.8034, 1.5263, -0.1245, -0.0513, -0.0122, 0.2256, -13.3675, 8.253, 1.9756, 0.2955, 0.2173, 0.1685]\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": "gAAAAABqsrevMjPN1HMb3zmqjspqghrgwEco8oBKw-VRxpRKqwyczOLI0oR-HPr9ZdLt-ua57gKKoVprLVsxqvUllHsKqZL9FNHoehAy5xhcavxgmqswa25EWigQirmoceWw6idBVh-_qYX-yGr1oTE7PufxbJZr5bk46eIhF3XTFvYDA0JmFHkGbr3E5hXGYuL2Wmv84X2Y3NbcbNxYvrT0ZTWYA3ekrGu1Kg7wb_LVaFCaujBVFS68-jdnAp_R7jVjy5J6TJWuy6wtmtUQ1gYaUW8GLbiTNd2bVwHTJeNjfYwbEPxr0bQDsLONu2F50IZIoykkgFsMKJ4PAAmKG3BitCTxEPmxp4hL3sF9m_HrnF_tLvKDPfHXQWgjZj3fv9PEDDw4GWP9i24YBTel1TWVDs61Yh1sxeukVTu-aiDADrTYzdBY6In4CcHGtshKS6ueCdy21Eqtr9-XiV2xa81LLws9oGOaw_wHeYWM3BusdDh_XAnbF2ERcS-24zWYdO2L2tEgH1BA3-yfb_f8EeVLBkixUrKB8LmRggn6sr-cG11zX4ko2KVKn7s9ftjiCdbr_b1GpD7UYZ2P12UWHBoNUNDRTXBf0ps9AwxUWsiFumFrbesWB3iey8icN5KVzejas0JTGyjNeE6OI3Gg2UcD0HODOn1qrSnJNLhCei00rtRkn2GW-cP-3Dz9a56Smf42xsxqxW9SBJZoz4k5K4LkmkhWwRk8Dzknpanb19gjarZYjEEQrG-DERedpSXzQe31Ldg0vpboxVsBs0EufBhsW3ry0rqM_5lUpI5N9zJ_JYhewFZhiNxSpjeAFDFXAPAr4dTt2hFoFpgFgyyfGTMmeBpLlhGXAY_wZAALPfgUNsD2v3EpHwYaP2JqgZX00hVhyZkZyM_hmdOGcDKYhVqhxs_-OTA9Qw4xpR7C7xuedHeVqCO8ZtfuRHxkxln6f3pWwB_ZbRZqoSugG6LxaHQr9hj0WjGsdSlrBrEdNhOYR1zM-vpBAZjPaqg1Eg8N_yp0e1JwDWOCzDplyD66lmapF26rdsXp-h0gAYGePrash-UZzOBspz2NFH43tyxX4fia9XcUqnIXTP0YcfCAASu34UbvL8nvsgnlwqGFOYJj4ppg5xoNslfnOrkIlecqrqiQdczdoqE-eeQMBY3ozs8U8q6i_90pZ_jR5zZqLFiMG199CkEE0pMNDPnCVJN2YSZtYwQ47rnAZ0dE_DpTSMO_XCwD0CxwLAlc1UDuX9nVTskAr-H82CKJVT1XeJvbk4v50tsHzwyUtbyIBGoXZ58Dc6jcn7fWtrACekJi3W7k4faPHTVSX29c9_Rqa17SoOhBjZUmhE5Y8faBXxKm2DHVwh2yirN73sBVSnKlgRnsN1rVuZVwcBFoBsJ_iQ8xNb28Wsh5RWvlb9cUTTBceHJg2LgJcXiqvnH6HBwwrl3vOJGURTvrUQGnQwQMz8H4D6I5KSkvbrNJyL-NiyzgzSMU2Ax6Cxv-mqcD2dP0iYaXVtdkIR16aUBjG1vkd5eMayuE6pbx_-7vIWciXp6w5gpP1QHaaDwcOQ==",
  "id": "rs_00d04184113c2a1c016ab2b7a9b26c87d0b68ec049f2eaf428",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.08,\"right_z\":0.22,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.49,\"left_y\":-0.22,\"left_z\":0.27,\"left_pitch\":0.3,\"left_gripper\":0},\"note\":\"The right arm is tracking poorly near its reach limit and has not moved the lid. I’ll park it and approach the lid with the left arm, which has a shorter reach to the hinge side.\"}",
  "call_id": "call_TzCB6SR0FZYFobD28swssaSc",
  "id": "fc_00d04184113c2a1c016ab2b7acb0dc87d080737a54b0a8e501",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TzCB6SR0FZYFobD28swssaSc",
  "output": "executing move_to over 30 steps (3.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6594, 1.829, 1.4715, -0.1181, -0.7765, -0.3145, 0.0106, 0.321, 1.9953, 2.7892, -1.5364, 0.1356, 0.0715, 0.0136]\nstate[eef_state]: left_x=0.483 left_y=-0.2133 left_z=0.2481 left_yaw=0.1421 left_pitch=0.2421 left_roll=0.0529 left_gripper=0.0106 right_x=0.4224 right_y=0.1191 right_z=0.4037 right_yaw=0.1598 right_pitch=-0.1523 right_roll=-0.0356 right_gripper=0.0136\nstate[joint_eff]: [-0.7179, -9.9487, 9.4291, 1.746, -0.4078, 0.188, 0.8278, -0.3897, -15.1726, 7.5009, 2.6398, -0.0171, -0.0708, 0.0513]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 432):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7d337d6a703d270e4e7941e28398c91f4be5ee86666625e9b4d93dc42d35fc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 432):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aab4c955cdabace3e8223d46166cd2f0f574837462846dc26d0ba1beb9262010",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 432):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3f4462a53f19acc7f927046cf12aee8650ed9acf19c1e3495998f7518bae022",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 138 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8566, 0.6979, -0.6109, -0.2317, -0.1955, 0.9965, 0.9241, 2.8132, 3.1157, -0.9249, 0.82, 0.0978, 0.013]\nstate[eef_state]: left_x=0.2759 left_y=0.0048 left_z=0.1638 left_yaw=0.1456 left_pitch=-0.1689 left_roll=0.033 left_gripper=0.9965 right_x=0.4864 right_y=0.4358 right_z=0.2165 right_yaw=0.2056 right_pitch=0.1381 right_roll=-0.3501 right_gripper=0.013\nstate[joint_eff]: [0.0615, -1.4701, 6.9538, 1.5604, -0.1636, -0.0757, -0.0073, 0.5402, -13.1077, 8.335, 1.3455, 0.2076, 0.0952, 0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsre7r1uw6e_aWJD1lD5ntbwT7Trezg6_sxa4QP8MWzRBlaRfGzjsgOlSmidSVpFDT-Nqu4EGbPmjLI_qLVWSQUBTOfaRXc7Z0gipTLSjmdUJ6QFbXpcGJ0pqXGkCcJdFAIvtSzb9YNX1FbCCo9XHR828mdZz4GzKGpAP-firSv_PpZ9rKHpSSh1uWvPk2h86XEK8VFVg8rExqIDWog1peLbbcAEDS6Rk8uJeJB8d6pe4LFDwfLxTuhrH3jEyKaarTpp318-LyDouCIq_cWblQKDbDVp2yN5BmplWzxVqhCjO-8ORmlTPGzcuIqWN6FUGyssWXEkhnABRdADR8Vk8MqGinqSeEVUQlACeTNv7oQu7ZGbC9YWj0aXdNwe_6ktZF7eNN26tusmg1v8E2Rbc2RTU6BVOLBwjE5YBwMz60KkiHICMfwVl-KByFXtInoL_3zchrsW_RQE7T5ou3SGEXdZNd6oKEH4pQlRzsLYZP_xTiM70-vSfh6cuVU5i6waDBqRWfYh0MkHHWIfAROeNDRqTXwxnCjpyOExk7ka3J14bHsMta28IKZE-qxadtFuAsg3gqbRUGfP_Gc9QbnfYaOKSrkxFBUEeSBueGTDF4TJWmj_a-nps8DgdHc0g2_L_s6LMzlPUaB1e6Txgq_qAnvS39Pmt2pD8ps3D7qFNZp3_TSF_1kk-s2lXO1xv4tZwyaR-GrTMPlup6vvRZcYQm1EEmerqPQHXBgGyK9MAGuJWYNP5e9hpH7VKV3T8UY2HNZBb64ichj3Vn2LmlGlcNgoz-vViC1TaSeHF79m_aXl9Cfu2kgS7O1_TNfrG9UpIRoUJYbfNGOAv8s8DGPz6YSUut9px-OvfwiwJGIG2ZUt3ok5_omsccXmjbLCU58wIfNVyyS4cLXkVllfTEEcjAoLObBbI0Bn0i_0a_v19kESoGrOYv6QXjwyWw-r1qcMMKL_b473fPLehyiuOusxhkbpl2LQNn4O28Kc71y4fO6X3LQeGQpjMmvflJshUTLUHcJU0tH91Re8WMpLEZ44K8Dac1lQnLA4HaC0qs1xeE9GelMXEHrde-o_0g_eBtxcch7BHccDh56cEV48-pw9BviuN82Fx64Vdn-pttFEUSDVk8J_-FbrLgAicqnAhNSfMmWen6kqvh_OqriI28HrKV6Yv8dzJ6ZGVq6b4StdVpVEGZwJaXjUbTjqCmXZl3bJaf3LCxg3OzYRZESTXp-TRLie-z9iGW63CajtRCnvPO55tfOUmi_7m0AXvEvge6c84HxR7SPwfctOv8KiD62_1HwgegRUZE0nsi5tAKrFXn1eq6R08Z9zdGLjHHKlKXIsTofKPJz53q9RDmD2BmpA426MUyq8NY-zbizDPrOrTNkZoXQXpe3WZpYaXgZSiIXU1wlslceRoSUN7WArT8IVkhsLPJAlA8XylYmt4pd4H0K-gCTTyWK-ec7psCQQ9UhpVhLKuzNedyK3e9ek1nCHm903hTkoiE-7H36_vRP50-CbD6L4SYJaP4epp5yLWEhb7Gbj4UnpXnEXrGIsvarSl_HXDNw==",
  "id": "rs_00d04184113c2a1c016ab2b7b582b487d08da5d3d4bf887ee3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.55,\"left_y\":-0.22,\"left_z\":0.3,\"left_pitch\":0.3,\"right_x\":0.29,\"right_y\":0.01,\"right_z\":0.25},\"note\":\"The left wrist camera clearly shows the lid’s top edge just ahead of the fingertips. I’ll reach over that edge, keeping the right arm clear.\"}",
  "call_id": "call_AErVftbvKVj5MQT7Uack8Wnd",
  "id": "fc_00d04184113c2a1c016ab2b7b94ed087d086a6a28f31030166",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AErVftbvKVj5MQT7Uack8Wnd",
  "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]: [-0.593, 2.0319, 1.8606, -0.2367, -0.7448, -0.2546, 0.0111, -0.0498, 0.981, 1.1133, -0.897, -0.1024, -0.1474, 0.0138]\nstate[eef_state]: left_x=0.544 left_y=-0.2179 left_z=0.2866 left_yaw=0.1613 left_pitch=0.2788 left_roll=0.0528 left_gripper=0.0111 right_x=0.2863 right_y=0.0074 right_z=0.2532 right_yaw=0.1125 right_pitch=-0.1777 right_roll=-0.0334 right_gripper=0.0138\nstate[joint_eff]: [0.7316, -11.0838, 9.6205, 1.6386, -0.0269, 0.188, 0.9206, -0.253, -0.7726, 7.1316, 2.1123, -0.2515, -0.1245, 0.0024]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 443):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:760e33d2aece771d518e180b129140ae6dba6d1c5202cfb6d8be4bc0679f22b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 443):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e78faacf147bf571da028a138f2fcae5a5308bf5d41518124d8e640aa0d8698",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 443):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f616c6ef9cc12f5acec0c9b45229b817d0d564f4e878b680726c69c5fd572903",
      "type": "input_image"
    }
  ],
  "role": "user"
}