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, 0.7914, 0.6037, -0.3904, -0.0219, -0.0341, 0.9993, -0.0212, 0.7925, 0.606, -0.3965, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1784 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2927 right_y=0.0009 right_z=0.1779 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.7316, -1.4291, 10.2496, 1.9951, -0.0366, 0.1636, -0.0904, -0.4308, -1.3607, 9.7162, 1.917, -0.0855, 0.1294, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d85375398abf8ba4bd5edfe6dd05ffd4b1fe2fb5488510b866349d19d9fcb300",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2cef19cb189008909b22cff26eba89c34e7184a5eab1dcc3c283145482b7c7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee4e45d91942e4f7fd9794ef318cfea4fe87a5fd270bf0b2a16fd89d726ac8d5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsseJB_96ESE8v4hL647iPHUoGdAb5BlFjRm2_JmYwYsqIZbum9CCZy68v_f67YSZwK5cjYBmID4wlXv-DZHPWDrng3asKa6d8WEp87We2v-cb0ZhjfRBUH75FqjoEPHbgBV_2eDspLm-fxPcLNZ7BpaUR1OqbkUhwth_TRyVniFCi0rMaS5POKtsm-_TWT1U3BUEd1ndGEWST7MdNP6KUl8HJipVf3jrGQ0SHqKvPpvYgVTL5Yw4aRryfe5iHkjVFFBBPZS_JbtIhm1UAzCiClsNN0dAvK4BiLuxORK7BHoDvZe_OmYdUFDrE-04IJEeaGEac01ppRyID6x_4Ctszaqqpu6ljHzO8oZ1WZvOTi574agGR-KwH3QG5LW_n0no9JKMUgAJsd2zWrZQ5m3CYOs4jAQVfOyDxW3eVfI4cbeoABXPRahi02d_vKRHmEzd1xgu38FmQPYGFoIPb-qwHVRz2H1ZFZ2b9DVYZSm89QdXmWkQ4081XR-iPLhg0a3BttSk83woi7P6ophszDcVEC_ToDXDVInEGsnUIxRIPoKoK64nnRw_3gAKP2VhjGMSmmv1XlPPRrsYkixjVTASwaJjolQJP3ZIPcV3U29yWfxzijeBjfRVyJXea1ewyyXb6DmnWC7Dp1hMxEwWE4SwM3CopRnS6jNEUM7Hmo3f7LLMpYXyyYbJIzQ8_zWPFpK94PtXIAoKznSNqYVLnRkDgSdTcPJ_jedl6hz-lrGtsGte5ri4w_Qv8hzNNPatHbw24SQXTnuhnQqdVZYURkVlyW8WDsK4qpbCxQgXLJ0inoSTjkZ2yc58t2ms3RWI384NsnGwV12a66JRJg_xyz84FkA3bIWce4TF49MkEHULvYYatYmIvywY86pWgFlubsMRIyXGZpseMMvqlLoCf637X7n9rtG-mjJm1Ty-EPVVpD6TMhk_a34W1qtf-08shQz5ix-zXV-n1uB3iGunkNTwhjhkuZUALjnfdYjgf4uwKUopyEPV9wNeK6c9q0VS72qdZTp2GjSs78Dnv-qBSp-fQgEOUAobw7sry05SKsx7laFlq4O8dUkxouCjiiJkZlilQfc28ANLZGYNbCyeI9JD3ZDyWzySzhng5vDsaBcl2aonymyE9NZrgHhpDRonwKPhVUjGsR2cEmygZleQnkoQx_iQ7sllT35sCSUdadFwPIRx5YkN7IO8I5vwT7J6TAyNHIyeqmDb1PWXPE9xmY3OiAmgALAnqT0_LllKMvf7JJ4uXNOYRvpQnC4MI76XMugv7Y2J2rX4vf1aQqo4Jdpn4aPxZHv9dS11Z2-8sNrseluMvNQdO7Q-rc4jU2oGbThwkOpMCTinK3-7i1LtdqkcfUE_7gIZIQ__pDjzUY08ce00mkUhIPvgNIy462_A85BHSTzJ-TWunh_NMmiFzoDAZyd3_7SkfCMuw4sLKy4mfN0IhIm6_fDHEjE4WGcwdx-iO4GXHJPd9jTG3LJJb8ieUjpBHwbX_VFmHYEf51wY5TS9ENM9CLk8KkWzOczQhEGqylAng-nk6enqhBNzc1D63ZZJ8xcbkIBnhwIJ91aQyDTynIzYzug841JaDS9VWURBpoVetIejdpBhPKwcpA59cCMTjiycfUkBMKQZa0xzkxv2PYgDpaD5c2icvfeiIFpQYRQSf3gLEQEpul534QU5fcqWKuXWIyuKQZ1ViaplGRXqjiErTCAxkkUdMwBq6Vf0i9sR3tdXYocw-O8d4GAGj_Z3su1y-eEPfPUX2jQwTFd2CvXzWqfAXJGf-pQZ95Hyh7PyIGGcZUtkpc13KNRVDFPIYfeewV1cQsBjlKAJ6NKtad3cIJZK0QJ20zpLEhc7Gw1n",
  "id": "rs_02966c8181c9840a016ab2c782936c87d0b84612c40fe3183b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.17,\"right_z\":0.15,\"right_gripper\":1,\"left_x\":0.29,\"left_y\":0,\"left_z\":0.18},\"note\":\"I see an open red-lined safe, two plush toys, and a yellow object. I’m positioning the right gripper above the yellow object first.\"}",
  "call_id": "call_shEgB8pjQ3zTSz1XSpXDdCI1",
  "id": "fc_02966c8181c9840a016ab2c788011887d0aee40fa8dc030acc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_shEgB8pjQ3zTSz1XSpXDdCI1",
  "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]: [-0.0288, 0.783, 0.6067, -0.4267, -0.0227, -0.0391, 0.9992, 0.5102, 1.6455, 1.0363, -0.1001, 0.392, 0.26, 0.9996]\nstate[eef_state]: left_x=0.288 left_y=-0.0007 left_z=0.1746 left_yaw=-0.0062 left_pitch=-0.0248 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4257 right_y=0.165 right_z=0.1324 right_yaw=0.033 right_pitch=-0.0633 right_roll=-0.0357 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.6752, 7.1726, 1.8877, -0.1343, -0.0855, -0.0171, 0.1162, -8.3214, 8.5538, 1.8388, 0.2564, 0.2125, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:893d2dab228ebd7e8e5f3288466d360307c15ed4ba5606ed8f4ff5a67610046b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:821c04a5ed2cd944857d7b388fbf18f927b21c5567628d6e4d00b379e823e44d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c25c44e9f5dd2f645edc357140b0647d4f8e3e2d5d3ec6cf18402ece28ef62f8",
      "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, 0.7914, 0.6037, -0.3904, -0.0219, -0.0341, 0.9993, -0.0212, 0.7925, 0.606, -0.3965, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1784 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2927 right_y=0.0009 right_z=0.1779 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.7316, -1.4291, 10.2496, 1.9951, -0.0366, 0.1636, -0.0904, -0.4308, -1.3607, 9.7162, 1.917, -0.0855, 0.1294, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssejY_vFA9iI-l_2l51U-UGh-cR94m9So7OGlcEoOuX6hA5kbX1hKwbef7ef2EPxyAZUJr_Vvkm_8etODNzzAMSDNGRD5PuF55GlKp76HST25r9o1YAX5WggLg2fvzAZpfB3IRABX8vVuYhwlcBG_JcitSHd7KoWoJjS5z_9q36dUf85USw6Va3zcKflGuE2dUqj7SS65xbK6Iv7jdEbhaR3Uy_vPZSoZvSBHlKSq-rQhvpl__20jaQMDf-j6lqT_B4iYky89kekDywQvujvOckCVHWwvTgwV_GETPO0EgPlhBELCVvGvFsAonL_r7lRHJxzLwhafNfNA3y1qbtLEN8GBDWE0TOVgFJmLLxEV4Cms-Q8bOHGCgY9cidcDaArTWQqZ3KI0UcwwWosPUftbpi0w6PCfXwZ-xb5FVSOzGWDtLirZXBLMhM5SZArwuOdo_mt6BTsw8-tiCUS17vqfE4Fp39HQpuLdihjj7fm9e1FzB2uY9jnctd6ywqd3txW3KapqdXPULq2SHQ1KcnmB3zx7Q6FCn0ufLKJSXqbgvYB_Qzra9WxBrq7FKgIEln6MUsCLd93Vfcpnn5mYHRK_6t8apWSZ1FbOeRBIEaknH9RGL5GXeep9Gtdkah_LWtsZ4vTW6CSCmWhxoy546iyk4u5yvEjs_O-aZ3uBxKO2TLwTadGXhHiszn3-ba2mFMhlrcUSyWAgscWKek9_DbfRpBO-LEni1Y7vi7kGhm-x9-oYe8px8p2n_eYRb62oV8dN_Ca3JLzjvNesXlzw1mFzs1blaUvEanzuzKGq5XS4EHh14mJ6MRQqLuxzXZZndsvWryt9plOUx8Uvay6e0wMqtSCCriawiGWKmSEx0kRm_z1K_u3VXujhWmD6ie1SRTpbaFtDOPm5q2FdE3UxvqyIC_iYB3yz82OGdGtmcdtoqkes7ABIu1v_g9UdD6IejgYLiDB8NAFWNpeQwp4g4eQap1HMQy8mkmLcz0DtBPBlG7BbNDnRdUrRg-5lnsGvSU5lfL2TETPbtek2Ue53BqkjPhNmSIGCWt_-mfo_lREtYHkyEv-ljoZaJLaZEdxzG2ND9L2ZqVF1Vd5IoML911bRbWdPRy8xF3W18qv1fko44K3ks6ff7TvTmBmXR0D_Q7P-L2_687Ek7mrpIWwDnHDxXJkgXlKRitsVVYA9PUGl1AlWdIFtIiht0ioz2ZMRwmVvlXfCSWxnw1SL8ilPius0qEdVuf4tdhCne-_TnV9w6RAeM6L6hwsdBtf9_GMSsHCLKCf0hY_N63CU_O1iXHRC0DBvA==",
  "id": "rs_02966c8181c9840a016ab2c7a0ec2c87d0ad92e8bd2a85d588",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.155,\"right_z\":0.035},\"note\":\"The yellow object is slightly right of the jaw center in the wrist view. I’m correcting the alignment and lowering the open jaws around it.\"}",
  "call_id": "call_E3e0EthXkFur8317U9ZVPIUe",
  "id": "fc_02966c8181c9840a016ab2c7a209c087d09198657d0fc5f36f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_E3e0EthXkFur8317U9ZVPIUe",
  "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]: [-0.0315, 0.786, 0.6067, -0.4362, -0.0265, -0.0422, 0.9992, 0.4492, 1.9087, 0.9531, 0.2123, 0.3374, 0.2173, 0.9996]\nstate[eef_state]: left_x=0.2869 left_y=-0.0008 left_z=0.1719 left_yaw=-0.004 left_pitch=-0.0373 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4493 right_y=0.1556 right_z=0.0355 right_yaw=0.038 right_pitch=-0.1105 right_roll=-0.0511 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.3744, 6.9949, 1.7558, -0.022, -0.0366, -0.0122, -1.0735, -8.1436, 5.3128, 1.7167, 0.1538, -0.0855, -0.0171]\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,$blob:7c9c5cf9743505a2f76b879ef17017c8c371bb056370a6178322b4b2aeb047d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf7dee121986972386ff611ed0cd093e79e3b4deade333cdd7a1e712da35926a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f71ae6b570e5ae05925241832539ea30ae35d6ca10555b10ba21bd0177927517",
      "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]: [-0.0288, 0.783, 0.6067, -0.4267, -0.0227, -0.0391, 0.9992, 0.5102, 1.6455, 1.0363, -0.1001, 0.392, 0.26, 0.9996]\nstate[eef_state]: left_x=0.288 left_y=-0.0007 left_z=0.1746 left_yaw=-0.0062 left_pitch=-0.0248 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4257 right_y=0.165 right_z=0.1324 right_yaw=0.033 right_pitch=-0.0633 right_roll=-0.0357 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -1.6752, 7.1726, 1.8877, -0.1343, -0.0855, -0.0171, 0.1162, -8.3214, 8.5538, 1.8388, 0.2564, 0.2125, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsse0T0TYpLFJ0eSOGBT4TkOsNWPW4gwFwK955hyMi0nlZcgWtCwqITYgttYpa5o09yl3uAu0NERvWQcsU4ITyMpWTP_-Xn19uF_MkXP47TPlbOYww_rWjdntP4W-8kV8HM4bhc4Zd6z5ssrqBtMnmGtXf9tfGd7GCTkurFUCPvPl_NlDu4iOlPK3iwOWl_ua3ZVXHDZe0052uQtY-CYt9ZJg3Y4SYFhDTRSxqXcAqcX7PjQ_8mQMuSbLSdnjcFMrkdfQj1psAfJpexkwe-8n36iY9VGIz4Dms5wep9o7MTFcoXAf6oeRRElokAQ2bOOwUGk_zKHcsruqmmaVhInzzDByxuHXeLYc-FMUaY_aX5VCy1hnk1ZfUEItHGVdEc4jgjJzK_FZ2bua9fe7g88_2BWv3ggDAde-o7AywCkd2aaQSuLJxtQpa-Vz4ru5dpjKAjwX0M2pN70lbLB3FKjmtyCx0T9emKUJSF7brYX8FxK0X-CbYZWddIph5Kd6peHo01dpBuCH00pOtBBZQPi4wVr3spbZBploWXcaTB4uuHdBQrJEeAf0QhOo-jSP18gRdDKDqZJ3CmfBIYgNQnFWW6G6mAx_7kCWyhmeRQJ0PEmKm90Oh4VN9fuN9Le1FK6pDTJSqprGkSHGbZ-CLbM4yxUDJpLkczYbjF-V1PdA1oFMujTm5IygSx8uRImtH1tX1rvBbpLm0nRZslcqCVqrZYuqJpdDFS8O21HbyJFwQMwgTcXXzhzUROQBr8_dLQmV_G33iD1bk0081-LGPruJxdHrhm5HL0_A2dAswylYngFOXGWBlYRp296wLu4MB2XXArNlM-zf9rzUQwXEQXHAegJ8_rCyc9MgtTYMQqspl4_xDih8J_TTQRORo_A_sOL6gI4fddMgUUKgSGraYN5S_QQT6umaYxhnAGebAfcfMkuGOfTXd2AIa9b828RIKCoxVoGpjupWqhyH31EwYVsJG3rek-roKDhlpPdEGmFdlBc6gMVq-Fn220ksHeTKzrqeYvU-B9ht4TysiU4CzuJz--PAfo_BNraCtSYTRQcwY_FwTpXTx8BYuUzkAC9ETlypzcM5YZ5nu8-TCOsgEfZjRWq3vJxvSi9tpv6-KSGyWMHUXIdmQM8J7J4in2NPxnQGC00wfEciqWxQHvKngt3bYE9_4uUzktzE4eArYwrp6_8jehhLQutJeDPp6iaFKjlXBFoPBIdbEm3b_6wgxwezx_718MkufbwbtO6OZMOvwhEx2GPkeLI3hzGtw_-Y2Bo8r04y",
  "id": "rs_02966c8181c9840a016ab2c7b265e887d0a55147bbb570d030",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.137,\"right_z\":0.025},\"note\":\"The yellow object remains to the right of the gripper center. I’m shifting the jaws rightward and slightly forward before grasping.\"}",
  "call_id": "call_GMjfBJCbocKa7CL6TGDtGCjZ",
  "id": "fc_02966c8181c9840a016ab2c7b3529487d096dbac426eec0f08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GMjfBJCbocKa7CL6TGDtGCjZ",
  "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]: [-0.0315, 0.786, 0.6067, -0.4511, -0.0265, -0.0425, 0.9992, 0.3923, 1.9682, 1.0035, 0.2546, 0.2745, 0.1814, 0.9996]\nstate[eef_state]: left_x=0.2847 left_y=-0.0007 left_z=0.1689 left_yaw=-0.0038 left_pitch=-0.0521 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4727 right_y=0.1477 right_z=0.0318 right_yaw=0.0533 right_pitch=-0.0956 right_roll=-0.0276 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -0.9094, 7.0222, 1.9316, -0.0708, -0.0513, -0.0122, -0.8957, -8.1026, 6.8581, 1.5018, 0.3736, -0.1832, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6e0e746b3703926a1084c778b6435baec7647ab4e999cad5677fd85eef303f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a315463df16871813b65e80209970e8e1cfd0d15015cc14fdcd55452bf83e5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8bfe96453f7c37d27c6f7529dc5454b8a100b3cd274bbb6cc6952c140b12cc6",
      "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]: [-0.0315, 0.786, 0.6067, -0.4362, -0.0265, -0.0422, 0.9992, 0.4492, 1.9087, 0.9531, 0.2123, 0.3374, 0.2173, 0.9996]\nstate[eef_state]: left_x=0.2869 left_y=-0.0008 left_z=0.1719 left_yaw=-0.004 left_pitch=-0.0373 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4493 right_y=0.1556 right_z=0.0355 right_yaw=0.038 right_pitch=-0.1105 right_roll=-0.0511 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.3744, 6.9949, 1.7558, -0.022, -0.0366, -0.0122, -1.0735, -8.1436, 5.3128, 1.7167, 0.1538, -0.0855, -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": "gAAAAABqsse73y8eJL9iEIq7xG9O-XY2usJHoO6L3bBCN7wxFjBBVcsCBiP8twYlLuyC0tgbDetZZ09KVlZoyeJqu_qhgJpdxxK10F6JQ1m4zvn8rn7y2cDHPKvkWAmtx4oQNQtsRNZ4yA79XUfmG3Yq0UW-JlQXdJHbasbLVX2SSCM-LAi7dijmIj5c2vbb3Cx2U255JtksvQMgWtadG37aznnt6AThaM7mxd81JHLPF7V1rUVHhcjjQ_XpJAT9haRCKLj7QGuzrIGStVM8AF1Ue3zRs5oQSHfaXoaXLpkDQGUn1KALXNE25ZpcoXK0KQlNXC_L4oM-FYI4eJC57o0uUF4LZIoic_CFxlj1Hcpk_YiDy8jJ7Ke7zOrv2uDp0lNYpWDQqM3vt7wzrBgZiXgu4acgtZGes5RVGni7oYCBx9FBMKxIma1ITMMNKJ-3IJgbqHDPI72P9r2VeGLpp6am26TmPitpdNTQxxb5JO_plazHL5zIryiHLY33zZnkFD4errGUCWBFrWX7Z0eYzqzKMXKR-Nnz4hfXKhFIefSW0G6_URTQ2EgD3WC9bT8ZiMUbzzHkXhsv61muNkSo7az1g3gKp-0Ey1GvIYatz891C-v980-rlKa1onQo-kYkFwl2M6brC55Rhx93O1EIfjBrUyMKFTQ7uR29yentbJPq8uL27oWGv1JfG1sc_X4KU_V5mlZFjB98Y2QOEgi0TBLobng0TbL6wWWJN_gEwCzSEN9kFRPxo5fNz8YhUIU1CYtQPWxiwMHkSTjqXPLNFswGxeSFvReOAsC7GaUk0o1C1zpEpnqs9-b2BRRR7snLcyH9VnHeS3chYv-FqilmNh534afumeYAKxCrkrCXfGrA4E0kYrWT-CPedwSq44BbeMA66TEHQgRM6FhXu83B8h9qwISw06j83gF8jDydM91Yb5F0QiVllBF6jjBqUuSJKi1l2kRTc-MQiJfU-5MXsx3GH48TyvcgMVBup3Em8UzdpZFcZHHXzkTjhdJ-Kw0BxPI8R3iOycLzgiMSGv5AvI9tazclTDoyWbY7t4TWxirIhleiho2IA38MuOWze_QxYQxYU_TOC68F9HCXd8JlYr7rykzDKVxsTvjsRu7dZ2wVHUuI7dPjdV9iJh3TRt0_yAWmDBgclS2w7f8GwukXQyDXPBe_tEux70GoSvR70ZswXFrAHxsonb4WgpoCD-MkqY3QPsXUZyaN",
  "id": "rs_02966c8181c9840a016ab2c7ba355087d0a6a85a41738264ad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object is now centered between the jaws. I’m closing the gripper to secure it.\"}",
  "call_id": "call_yeDlHEllhQBUZrD72gW47Eu2",
  "id": "fc_02966c8181c9840a016ab2c7babbe887d0b7a37812aa8cf289",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yeDlHEllhQBUZrD72gW47Eu2",
  "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]: [-0.0315, 0.7864, 0.6067, -0.458, -0.0265, -0.0456, 0.9992, 0.3954, 1.9766, 1.0134, 0.2646, 0.2722, 0.168, 0.5219]\nstate[eef_state]: left_x=0.2837 left_y=-0.0007 left_z=0.1674 left_yaw=-0.0021 left_pitch=-0.0594 left_roll=-0.0053 left_gripper=0.9992 right_x=0.4759 right_y=0.1511 right_z=0.0333 right_yaw=0.066 right_pitch=-0.0855 right_roll=-0.0329 right_gripper=0.5219\nstate[joint_eff]: [-0.2393, -1.1692, 6.9812, 1.7216, -0.0366, -0.0366, -0.0122, -0.3487, -10.7145, 4.8752, 1.5458, 0.0611, 0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c76e9170002e0bc17a9565ff6dc763a247916dda8cfee35d9e073f89ca989835",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f22c435fc2e5c879ae4de2617ee5e85747324fcdd826f02b4fa0fb0a4d4e18c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4788d937595b25d9da9de8860aa122ce814dd990b02bac02f62110ea532dcc5e",
      "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]: [-0.0315, 0.786, 0.6067, -0.4511, -0.0265, -0.0425, 0.9992, 0.3923, 1.9682, 1.0035, 0.2546, 0.2745, 0.1814, 0.9996]\nstate[eef_state]: left_x=0.2847 left_y=-0.0007 left_z=0.1689 left_yaw=-0.0038 left_pitch=-0.0521 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4727 right_y=0.1477 right_z=0.0318 right_yaw=0.0533 right_pitch=-0.0956 right_roll=-0.0276 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -0.9094, 7.0222, 1.9316, -0.0708, -0.0513, -0.0122, -0.8957, -8.1026, 6.8581, 1.5018, 0.3736, -0.1832, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssfCpDyb2Ng1lc2vm-UEuv32TX8Rp7j2oJNbnn7Y3Pub07bUy7PEXJ70jDAhK5H5jtmakVclae-cmptl5cx_FaMt8N1DanI9uAcuyHkcTSjehlYqkVyiGJNcq37uNCgl1GPfalRhSailnu3YEsfu0JHGRGVLbc26wkzi7sVuSoQu7d9KBRpoCrzpP7pm4L3uegyVpbvnsMukel2hDslgla6BNKUSuFLpeHZ67NTzg5MYBQa_KTUIeqGl0rxsOlDpHSCLPwBRO3eIAP47QuKDCBSqEbfE6QXer02iwIpVCGIcqcEwIRUD-2HMOHl11zKMA-jxCvEx3N96eDzopggyPnD6cL_9HA7Oc9fMJYnv39MwYKlr26LGmYCwalp7Kj-GI80LaTDOTTA6juLWmaW-zyafy8YGEUcwpYizYsgLvwHO2LaXEdBK49MKX-vPrkrpc2ff7-4PeZozZxcyO4tUUM9A_zShvuPdDHemqU83khCr6Elat1R8tt-aOc_lv5l1ZItWMqEaH2jEINvS1d0bA50rJBl2ZPOpl1T_hAezXL0VO8kO5NlrUO3gCaPK3CxDaJ5buQaS6rh8V9kiRRY-AVZQv7hN_ssiTeYQNWQNIJ8g-wCB-YOwDfmuWCVabDkJ7nPeE5A5iKnTngSq83OVTpbU2nb4w_u9qmlPdtbPqiobOh0RS8DXu-7Q4TOg6oW4ApDjW6IiL6hPS_vm1TF3iOvLZgTekAi6aNpBmjwZi4H0SExv9QZDrqyVB5nikDSzjAGHDzkO0hm5d90MjKF6rxCM_HcW3sY_QMcPF4XYi4qOaJZ5kPnhuMzSUsHCyOa19qDHLVJZkHXFwtEpo_VXWgrdWyIdbSfgBNr0oZe2MoNE1DNRC8Ec2OiE8r3VH77ehB0OL1VJZLz9xhYbXW15jqEi0KOpw1IQOACK5j8wdMNh0j-R4_7vNC3eTSjXC3K38HNvqkmUQgeaSrm9cY5Za8hp3d2cpaRCxfIUfavRVpxIjpfc4L1lG8rSd-3RktvTA3eH4zxluEqXae-6rjCKKkhkCQ8xsPt97g_4K--8VjqiAWTmmGt68exAfojx6JFDBNu97xqL3vOg0VcNryu_e0yZ8c58yLJEv1WoDdDNLftFPjZThUC9JlPYpmMrBkXoEjv7qsg7CZEu2Y9sHyvIDc9xcmgQAU1-HsFEHfz6pZZArw_ulIfHscLLQUfROXCzYamjYBqx-Ct8KNNyWav4AHZuoMBg2F0yRtyb9w4B6kx2ebA=",
  "id": "rs_02966c8181c9840a016ab2c7c04a0087d0bdc04d05d8ab9fc7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The gripper stopped at about five centimeters wide, consistent with holding the yellow object. I’m lifting it a short distance to check that it is secure.\"}",
  "call_id": "call_NZDJDBG8pK1wmi52yoor1frw",
  "id": "fc_02966c8181c9840a016ab2c7c0c8d887d0b3d79ede3ec81d57",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NZDJDBG8pK1wmi52yoor1frw",
  "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]: [-0.0315, 0.7864, 0.6067, -0.4583, -0.0265, -0.046, 0.9992, 0.3954, 1.8816, 1.0901, -0.0277, 0.2718, 0.1596, 0.5176]\nstate[eef_state]: left_x=0.2837 left_y=-0.0007 left_z=0.1674 left_yaw=-0.0019 left_pitch=-0.0598 left_roll=-0.0056 left_gripper=0.9992 right_x=0.4596 right_y=0.1443 right_z=0.0558 right_yaw=0.0653 right_pitch=-0.1999 right_roll=-0.0785 right_gripper=0.5176\nstate[joint_eff]: [-0.1299, -1.0735, 7.1726, 1.6581, -0.0708, -0.0659, -0.0122, -0.0479, -13.4496, 9.8667, 2.4005, 0.0366, 0.022, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d047212efa55246da063bc3e1822d7b7cfc09eeb17592520a36ee169725f001c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdb88da62f499718985b14aa1b724ba64ee5789a91b9aa635eae0f2baad74aae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37e8e2ea5f69d6f41ba7e29b493b5f9f025ef60bd3564b41dd9565c418cc4465",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.7864, 0.6067, -0.458, -0.0265, -0.0456, 0.9992, 0.3954, 1.9766, 1.0134, 0.2646, 0.2722, 0.168, 0.5219]\nstate[eef_state]: left_x=0.2837 left_y=-0.0007 left_z=0.1674 left_yaw=-0.0021 left_pitch=-0.0594 left_roll=-0.0053 left_gripper=0.9992 right_x=0.4759 right_y=0.1511 right_z=0.0333 right_yaw=0.066 right_pitch=-0.0855 right_roll=-0.0329 right_gripper=0.5219\nstate[joint_eff]: [-0.2393, -1.1692, 6.9812, 1.7216, -0.0366, -0.0366, -0.0122, -0.3487, -10.7145, 4.8752, 1.5458, 0.0611, 0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssfGUfJOD8gJYQXTtdXOmOfH0O0nFEt_lzPGcjKYFe-wHbzOpxyf9IhnEGKPxAkf3cHKikN1VanRnt6aIx8LlLcBfoVHz0vh8BXvrQd-2NbRJwPMgMQJ4qfKmZ7iT4p5z8DPiI4vaMJDSanIjChco-Ce84Czmi97wD7cHkdKLDhjZhSMHBEHixdlBWqaRJkcdPQaJyTQcTEkuY4P7LyBBRh6qnQKjar4R0k-x0qfegp1b2g9xs6ahJwfLM5lprEgImOZ-mvsYGCEoFElwnp2-97RVjsPUJ9TqUuYFkqeBa0Cgk4v7OGLJtVpsINyrt-pZTTwya8sUJ2ltRr9kDQF0tVyhNYaoHMsfiBhT5EQJOzrx4xHqq-p1YTuK-ObLyYbhFrBuoCvmUfXLxQ6z8eO-jZE4ISXBlrC8X14fundR82rVFOZSEYgqlcL-FHAPC18-iOETGOUmMRKearInAFu13L193p0j_89LKy8r1GcFexabS3gO6N8ZTQV6z_b8McD99ygvRo0a2vVih_xPaW0nMuPuVl5Apjzg5812MNq_QhIv7bjT6nHPaNAsKDMeQu4VYNCTZzYoRLuOaKOVz6lLqwFkHhsZF6z_8nQixfJz0C1dXKlKEJXWxh_3VTX3nSlA39LJH6-uEvn4gyzJBglqaeLJ5fx0dhMGv6aLrPvGaudiEhe6Ky3B7BrJwTSnL9BwE7e92hVcFj3-mmiEbYotrIYuZXtpo0m8NbAM0ZCYg4lu204S1s-fsH0QysJdScvpiEb0w-f-rrf5Ilje4i0CZfMS_tBPDvpvHsQEh4qgF3n9bpOMLn6aDUnEthkM09GCofwy-1dHDqTS2rdfWOhkv2ZMMeGOCdO255yFQ8ItoWlOsph2KTYfewjU2_iUZLnSfcbbvaSkMHpovAAxbcx2k3OW1fGrP3hwaAJ2UakdxFACfVgaIoGM3Y83juZmndyyDbq2ZHMyl0h8pZnWtuwf8R2pUbgpqNYcZThWosUGkcKAPOxVVQmrb6rlqKq6jVKp7cXa2bddO0rx_7UXfBeb0oo-kWDF2Bt15iYp2ub9Y9o-Bd7VBOK9uuDKxpyT7g28t1oy2t8eFJi7D63BEpaIlXXIamzjuy4OcsOsoKPqoSPWKtpL0UTtYSjFSxRmuFYZk-bcUmRyOEgRi87X7d7gL4DHsBiKHWcvXPAp0qtkm-_GLCFfhqSd8GJPVRcSodWRDdV0zxvL69ENe15rObubA90jfho9Fi10cdj4Gt8oJ52Gyc=",
  "id": "rs_02966c8181c9840a016ab2c7c4df2c87d0b78f56cec659614b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_z\":0.18},\"note\":\"The object remains between the jaws, but the arm rose less than requested. I’m drawing back slightly while lifting to clear the safe’s rim.\"}",
  "call_id": "call_fItMaBL7mvlq3nOsFXgSvwS6",
  "id": "fc_02966c8181c9840a016ab2c7c5810087d0a533419b3f229a54",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fItMaBL7mvlq3nOsFXgSvwS6",
  "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]: [-0.0315, 0.786, 0.6067, -0.4728, -0.0265, -0.0463, 0.9992, 0.4141, 1.737, 1.2911, -0.5613, 0.2764, 0.1566, 0.5206]\nstate[eef_state]: left_x=0.2815 left_y=-0.0006 left_z=0.1646 left_yaw=-0.0016 left_pitch=-0.0739 left_roll=-0.0055 left_gripper=0.9992 right_x=0.4197 right_y=0.1357 right_z=0.118 right_yaw=0.0633 right_pitch=-0.3762 right_roll=-0.1495 right_gripper=0.5206\nstate[joint_eff]: [-0.3077, -1.0462, 6.9675, 1.8242, -0.0562, -0.0562, -0.0122, 0.3487, -13.5863, 10.7282, 2.6007, 0.2466, 0.1343, 0.6618]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16afae1178141593458245874f5394ed533b5512d789b5be9138cff4180c5b35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10d9fe03d6ae301e5347cb49614695133f82e96f999d9bf042e64525ee2571f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:682947c6a1a670589287310e387ee6627227790dc086b328da3185a484f96646",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.7864, 0.6067, -0.4583, -0.0265, -0.046, 0.9992, 0.3954, 1.8816, 1.0901, -0.0277, 0.2718, 0.1596, 0.5176]\nstate[eef_state]: left_x=0.2837 left_y=-0.0007 left_z=0.1674 left_yaw=-0.0019 left_pitch=-0.0598 left_roll=-0.0056 left_gripper=0.9992 right_x=0.4596 right_y=0.1443 right_z=0.0558 right_yaw=0.0653 right_pitch=-0.1999 right_roll=-0.0785 right_gripper=0.5176\nstate[joint_eff]: [-0.1299, -1.0735, 7.1726, 1.6581, -0.0708, -0.0659, -0.0122, -0.0479, -13.4496, 9.8667, 2.4005, 0.0366, 0.022, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssfOjSvzflHcIW9ry5PPkPqcgZtD7IMJY-4JDc5_pemuNZiPAg8JoEoIwbckKODWM8Pr8rm7RjD7J5sPjRBqjfFl6gsQPQDTLZbJe-1qHNOJv2rCNamUnTqeZxwLTl2MGYa2tuQOkaj0_GO2ymo_LpNCnmx3CqKc_FvdfmCd3N3HU_PZipI1bKQ9yKTGcsvVDi9vukD8_0U8rMVwccovG3ooT9h8ezeOyvGwKPnlMyMkTFpKXN0PSlh-eR_wYGRvcveSBKYHicgHgxkV4HqMlorGlsjqyklaQG1eTFheOcejat6mgoRFOoqI6yET4HbjArPd9j5QXViALPVa3chrVzph_7FOuFIFftyP4DKhZ41-jHtxB2CjyUmaM8xuvMptgWJzSGf0y1nd8thDZt1uHWf4Xf1XFXjBiHVK4LcJPfKzXjdPTnnNA8hc1VlG_OfYtQb_VNQTayvWCv7rJV2grYJYo4d7PAerZaAGE1D5j0tRavXBsI5xpPycpHiAIIp3IlWYHClVB11rNouMbiMOqcAYeAXXERXP-ptcwtEBL0aXKDWZQG3DpPlodT7CR8X7_24FIlVNAUf4By2MU7_yZwzsV9OW0FMs_bcVzGVZEpqDrQ17G0twT65CcFn_OFjOZGjqWCxodrmAGs7ZcipkbRlmndLwQxbMzbSFcXKj6uMhCGsXlaqCtmrjpeUOhtJInpPYb4u2fyJaGq1w9fl7dKXSexAs_sUK_M1JFqPTMG5NFYmkEtUZQoaT_nipGIRemRSDgXQd0SS71DxkboYKLuGWLeh871Sm9do5p9OmGD4VnLiJHmJ4izTxxTF5M94Pp3ALzUPAuJwiozKE12WcVgjnXHYkIMK2Br2Kes5lHQ7q66AdCSQy8OP5F4dEUGRiHwV13bh7WDPIqMhCauYv9daHjJ1tUvpBUYw6YLDYHmZ64FW8EKbWefcLyUUW4LsLF3U0xVtM8wHYbPk2bl7rplOpvt6B-uczo16qRh2IiriErU0cPSdnuNaH2ULwUYzs5xNWcqYiskgFD34rAvmVIQswWWJM_00I7q2ZPMKUNxLDnsHFO-oCYGO3-kY38RZdWbf6cLtDz07Gy1t8Rb2RKHafwltRUDynMbaGIqpR2zHsvewoqWbZplWOp7FiDv6I3JnznBfbLMikbTi2t0mGUimPtrQ51r0h3lmYiO5dCcUtJc38mMNE4E0vUbduWlk_-sXAPLyVGJuGEmKSM02uMOOCfrgkfIuAcNLVlZCwWkVLzKH9q5tfbrineFQwFB564y6cdwLUBhGHnLv1pupcVny5u_TxPAK7DIz7UWkHbtdxxgiJDffkcGnEtQfD7TgxntmDrA04KljlSVBYVS-38kRDMRVaY4asPNIl79HLyH9Qpa3h9ACi1pUvNORIlSAjDKxy_dOG26rrTQjZKF1G5eT2wjbn_Ds4N2Dp2splKhxvl0g=",
  "id": "rs_02966c8181c9840a016ab2c7cacd7487d0b676baf3fd6fb755",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.055,\"right_gripper\":1},\"note\":\"The safe appears to tilt with the lift, so a jaw may have caught its edge along with the yellow object. I’m lowering and opening to release that interference.\"}",
  "call_id": "call_4Rj9nlRf0IKjua0skHPmBFf7",
  "id": "fc_02966c8181c9840a016ab2c7cc845087d08198433b8d612259",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4Rj9nlRf0IKjua0skHPmBFf7",
  "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]: [-0.0315, 0.7906, 0.6067, -0.4801, -0.0265, -0.0498, 0.9992, 0.4179, 1.8156, 1.121, -0.3977, 0.2722, 0.157, 0.9954]\nstate[eef_state]: left_x=0.2806 left_y=-0.0006 left_z=0.162 left_yaw=0.0003 left_pitch=-0.0857 left_roll=-0.0079 left_gripper=0.9992 right_x=0.4028 right_y=0.1308 right_z=0.0443 right_yaw=0.0574 right_pitch=-0.4572 right_roll=-0.1779 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -1.5248, 7.1453, 1.707, -0.0269, 0.0073, -0.0122, -0.3761, -9.5658, 7.5009, 1.7949, 0.0952, -0.0317, -0.1929]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d477b0893d9bdbf74dc1a2eaaf613c60be200236e44f1ea51508b10e8e004b7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb4459eed2d7b739455235d8a1ffacc550bceec4ef2b70d66b109597ace7e3ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e67f0a763e30fb32181d0ce5c21e9806bb940fe888aaea04504c54c970108d7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.786, 0.6067, -0.4728, -0.0265, -0.0463, 0.9992, 0.4141, 1.737, 1.2911, -0.5613, 0.2764, 0.1566, 0.5206]\nstate[eef_state]: left_x=0.2815 left_y=-0.0006 left_z=0.1646 left_yaw=-0.0016 left_pitch=-0.0739 left_roll=-0.0055 left_gripper=0.9992 right_x=0.4197 right_y=0.1357 right_z=0.118 right_yaw=0.0633 right_pitch=-0.3762 right_roll=-0.1495 right_gripper=0.5206\nstate[joint_eff]: [-0.3077, -1.0462, 6.9675, 1.8242, -0.0562, -0.0562, -0.0122, 0.3487, -13.5863, 10.7282, 2.6007, 0.2466, 0.1343, 0.6618]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssfV9x2qdxXQP4UJQ4ANd2qAc2VAF1jMIUp9pc9Us9dtTpjKwr9PdE9wXlH8eZocq07gV6d_JYhVZ0a6f7A8Fy29ygWzC3urDm43o-WhTrXUhmEG-eLlhgGn8fPheHGzEB2pdI5vjJ3xD4o58UJWrny5E89dUorVEwvbcDbV2BbY0VOdq8jfc-iA2MAmgaa-BlLY3NofJpAJJ6hJaGJnIdf7X4TU0kKRZcVVjQuK-6zvxmGKqaSxvRUjwnaXZrjN33vo7OBmuoNDeEY9As8klsbbwPGalWtDCoapIXNiW2jgzntCs1GkD83aLOkq1Zl7ZnKZac16ebxMFfKW5IngzCcHoh_vTB3GKRZIpqoDCPNUkBkEwxCLGFJc69hLA8-53F_7UtXNQO6a4um2ZCKBBYuCyMPRSyXKRZrQzLs48LNC1UvfnwIgFUAnyRHOX4u3Ok_6-Z_cBnxgRRAa4HiItAVDIo5sE6M8bO6DzeXfEVypQr4h_bI5Jeu0SRqIAu0sD6Zi9CHpqsWjzgTKLLU9z1dGYvigIAhewelfLTgq229Zpqhl0kpSJiFc8Ji8_8GZhOcVjIlxf1ikyWk4287wD-Oq7P6B_6EB9Rq6C_Nf_FfHMXpnK7_2P7fG2SDT4QR5zhba6nz8yvIMeknw9mik8tARcE1coZmFfa0LjddNHXNh4GvKaN1r6wkpzNTsS3NYO8FD4WcboMH7EizhjulzAILVFS2ymbWjk5eGBPVKSZn19VAzpUaU9rW3d4oniD9XmnQZdr-_D6Q0wq7Vuh52E3TvoY29l6wtbkavGJpppMBqyWMSO4bumgl42CTLwazZYh2MxLSPUTN-khzKyJBXdUFi7iVPdP7tyq-8HjHh_gkeIIVXUnSlwyCVYB9zZ6vv4T4DONB3SdctHnPrKxH4caXZY9RK4fbLpp1S9Wvn3HG1Skr_3m27hjmUn8idE28acTt_BqBmxk_uU6q3eNi6X648dibNjGND8mq8LS69_tTAW8P4JYl0TW4R8HB3p_wTgA2uSYSoy-Jw1NHL5lLRJ1mAFJwnZBtnwd8rPM-an3N8Uh1mAlNV4T-7t389h9zA-i3yCBlYGeRsjsu5OSSHuifisB8vctYYaWiv8hE6sKp5WdN5jZQDQnunX8QPikEtfByDV1Dap7jeaLMUZGPmS7NcLL_4ecv_rmE9vfbLTu9b8gV7HU3zDzQuN9QIDoabqPUYTMuMOlAmEmYwmgAzM-zp8sD436giV332wbR6zAEeyBpsFAoumSzUBPXw5EcTZaRFOjlujqNQyLgw3OVGDw64ek416m1QnW143RfC-3CFydXRWq0zARf0i7ZZ056FNLbJcgW4nhgBVuKWdvANVquzWI6QhgcDWrm_-JhKwZpSkhpVpFctvaIABCK6l2WIIfTv",
  "id": "rs_02966c8181c9840a016ab2c7d16e3c87d0ace7df054c96d469",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.10,\"right_z\":0.14,\"right_yaw\":1.4,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The safe is back on the table and the yellow object is outside its right wall. I’m approaching from farther right and rotating the jaws so they won’t straddle the safe’s edge.\"}",
  "call_id": "call_pcN2EvIs5PPuwnR26qR6ZefG",
  "id": "fc_02966c8181c9840a016ab2c7d33eb487d0831b2b326fa3b4f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pcN2EvIs5PPuwnR26qR6ZefG",
  "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]: [-0.0315, 0.7921, 0.6067, -0.4973, -0.0265, -0.0536, 0.9992, -0.1165, 2.0254, 1.6096, -0.9127, -0.9005, -1.3201, 0.9968]\nstate[eef_state]: left_x=0.2781 left_y=-0.0005 left_z=0.1583 left_yaw=0.0024 left_pitch=-0.1044 left_roll=-0.0103 left_gripper=0.9992 right_x=0.4409 right_y=0.0914 right_z=0.1307 right_yaw=1.2868 right_pitch=-0.0647 right_roll=-0.034 right_gripper=0.9968\nstate[joint_eff]: [-0.294, -1.1419, 6.9265, 1.8242, -0.0855, -0.0171, -0.0122, -0.3214, -10.7419, 6.3795, 0.1197, -0.6911, -0.0904, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79f697c5a4cb100d435ef87c800604ec17eac74cdcfec34a61a692f2a46341dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c5cf08b8abadd1f6cb1b6896fcd72b2bbe392e1f10aed97e75abb56deed1840",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:741b968e3446418b661af684d35d4acbd245271dfcb907cca4b7b666b9ed73c9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.7906, 0.6067, -0.4801, -0.0265, -0.0498, 0.9992, 0.4179, 1.8156, 1.121, -0.3977, 0.2722, 0.157, 0.9954]\nstate[eef_state]: left_x=0.2806 left_y=-0.0006 left_z=0.162 left_yaw=0.0003 left_pitch=-0.0857 left_roll=-0.0079 left_gripper=0.9992 right_x=0.4028 right_y=0.1308 right_z=0.0443 right_yaw=0.0574 right_pitch=-0.4572 right_roll=-0.1779 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -1.5248, 7.1453, 1.707, -0.0269, 0.0073, -0.0122, -0.3761, -9.5658, 7.5009, 1.7949, 0.0952, -0.0317, -0.1929]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssfiLDBXM7nUEcYZYQUJ8CcEwOKy9LxXIpSD7INFmNhuqvHLlvq3szMiz1883DfYwOIKmJls2B0Pe8srvsy7S3_DNCEeZHZ3to98WD2QUSdOndQpF07FLXpsWUdk9DdcZeHfHYGnvAFZ6-DvIPwEuqUD37vnvBOjj5lzIDCT8GSb_Nkx-wTStl2PQtuQr5lZk8UcSOXuYnX3Y7YYcQg2vz-BdyaU5-_2G5pDxl3y0b9daS3MTYb_Ma_hosWg0c6w18Peyr1UoATzFrlVjRkjJkR1iW21ppfeijSXU6Q-lyHRxI5ZomuXj1a8sxwhOmgU8b3c32mXAGA-TBD23XzI3ySXneqsvbcbA4nlCRnoYgfW0mYklm3q3vDJcPwufGZQT9v__H-ZEUPiy4DlI3cXaYHI-Jjc3FCIv893Pjm0wh8dzhQ6PsaPf9CrYAefoM9ltXskWk-lzHk5CPsyiJlEjVqSXfv-DUeP2puKrD6SWdCeUKNzqzeodwI_vt-obSfwyeWGuEynQK_a2ji3YbhQVU4QbRQ6QAzq6RCOGQ2DzE-bavmvUH33R7qElUM5dZ6i4DSbs95sSc9p8ywUOFIkqlPFtF-sztCmZFOkrFtKLNRhcUAAmm90eqR1EVgRWnb-TEd0U74LlJ3ypnulwprx0Oc0SaeWn7PiOkb_hoixZmYnXMHjTxzdhYMphyx_0-Nzl8J3mqKOU1P3kssMGmH_ircqaV-CaKVFTwuDiHggTOfh3LHxJf4QLQxJede3k8hVVaWQH-Tlmzvjpm5aGRU8p-8rsQGk0JJC3cYxjPssw6fzwCfIrjSPPoAWk0C3_vamQ8QBTLSRNNUUNUM_p5QePYx-TJWPS5ERDCn-HOMjvgYgoYjtyU-X0NcDEDI8Kvl-aD66SxQbNc_DfCLGaY1JTGNtNi_SCZLoxE0GP_4jfv9uZd-Btcf3un8MTR6cnwtZvtVGR_RP02wvrDh0r4_yLehUsLbl4k4l-XVlmxZlMXabiEpahbgM6jIfERm8IFKxdHMxvxJ3mwDyNLRZ1YGRsbQnCXIBt1K9SguN9kjNocbqgkc7WkrEmOsqnhgD6nvwsja2qxTjfTX5ZMb47Tokn7arQDRH7UJysIdRXveCl4bDV3f6sX7JIwMlC0itwo25U8ysnT90gmJqshEwfMUiC8mg7IpRbGq0o3cFkBp8u2h5Q0fVIDMJsVtvp5B4EtjVZ9xf60VwH-dEhSxvF53GiVOU7nCrqOaLYgTIG1TpZauv6K3_K1359kUOJll1te2cONrHv6jh473sdWHTT48Fw06_FR5Dqu7VYH0n2rgeI8oPaGrz5pkcox3DA0hGq41H-gdYLndAlcoYs64EbH8IIjB_b54nj-afFSIgCDygTYVF9HhAKiWwxyw2oc2uWJZ_o_PokCDdhlLoxA_8k5_K91hgZovq7lZRqsSuEUkgvq0DZsA4Hu1rhv2QfmqP7Oj1VaDJn303IwRPMl9jSu1RNFj-NxaKWgqWYPQSjeoM6HmMV7F9fQEwjQKv5CKzJc45V5BXTRbKKklmfOdVSN6SbMCdDK9JP3CAFdPRIBwAXgRKahDImCnt4ytkmwtvrRSEboBradpFl6yaMRUkN3Y8rsWnLbTmVJJBIwXU_9JGw8JtDPkGv-H_nNQ8CCwTcJvz2tI45ihSwEqkPjSoOkTNwX_34-GVH1IjvqPeq6omIGSFgLwd3VcEXR7f1iWlHfGe-vVgwoPhYE-rOJrOP15ZatrYHQ==",
  "id": "rs_02966c8181c9840a016ab2c7dc4db487d0a5f0825c6fdefe8f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.172,\"right_z\":0.035},\"note\":\"The rotated gripper is clear of the safe, with the yellow object visible below it. I’m lowering toward the object while keeping the jaws aligned along the safe’s side.\"}",
  "call_id": "call_s8Kx2HdPlBcmEyViGPKSUpCb",
  "id": "fc_02966c8181c9840a016ab2c7e112d887d0a663e53714f31cf5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_s8Kx2HdPlBcmEyViGPKSUpCb",
  "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]: [-0.0315, 0.7929, 0.6067, -0.511, -0.0265, -0.0566, 0.9992, 0.0719, 2.1311, 1.3891, -0.4458, -0.8513, -1.0901, 0.9969]\nstate[eef_state]: left_x=0.2759 left_y=-0.0004 left_z=0.1555 left_yaw=0.0042 left_pitch=-0.1188 left_roll=-0.0121 left_gripper=0.9992 right_x=0.4401 right_y=0.1685 right_z=0.0415 right_yaw=1.3226 right_pitch=-0.0747 right_roll=0.0009 right_gripper=0.9969\nstate[joint_eff]: [-0.335, -1.0051, 6.9675, 1.7998, -0.0659, 0.0122, -0.0122, 0.1983, -9.7299, 6.0376, 0.8083, -0.0611, 0.3736, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29948048b0b5cfbc3047c6bb949bb1d13eeb63079540d0e0cb6e8f1af95365ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3139fb9489f9093590bcce39968a6b8539c10f7b323c0c5abff031658884577c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ef77822193047f49c9e735ae3490d936e489706f75c702f0189987ef308c0e4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.7921, 0.6067, -0.4973, -0.0265, -0.0536, 0.9992, -0.1165, 2.0254, 1.6096, -0.9127, -0.9005, -1.3201, 0.9968]\nstate[eef_state]: left_x=0.2781 left_y=-0.0005 left_z=0.1583 left_yaw=0.0024 left_pitch=-0.1044 left_roll=-0.0103 left_gripper=0.9992 right_x=0.4409 right_y=0.0914 right_z=0.1307 right_yaw=1.2868 right_pitch=-0.0647 right_roll=-0.034 right_gripper=0.9968\nstate[joint_eff]: [-0.294, -1.1419, 6.9265, 1.8242, -0.0855, -0.0171, -0.0122, -0.3214, -10.7419, 6.3795, 0.1197, -0.6911, -0.0904, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssfnOu2Mvhdz-INbOBccD7Ys1CXH-DYUurUVYmE4P6abZ7tj9BGgNWkGpVsPkI9ppITkWU8QBbD7j3rwoKmAQIeMqBpjovxqUBtc99lgU1LPiUqRe-grUQdn1PZVV8lyFwygML3sKTpCp5n8WNO8YMF2b7PuBXwnnHQXLSyHsiLg-JlHwTK9YLe7Nm4T7uAXLDAX14QSBPZj8qOq7TbGc4AD5aXC99iy0WZJxsp9NO1FShUz0hcCM89q6s8oXxseqhF9HtEKKpt630KJxFe2wc_DjCI8HQ-vf9eFzV7xwFge3VKESWw_M2JgRs40KxJv4NJ2DbB1BdNGHS_VI6uOHuKKio2adlOzCY_VkljAgJibC14RCSmNnV1AxWWif3iZSLK0-bBRmpD5NjnDg784zsV9YicrXnYTHPnJyHAAlHDM0-Ccgkiu1DyYHmv6ECXUMeMwbtvUCl7mVLvN3g0LuU9q6Dw9nQSfr16WGvDlGObu4w3ZyLBU09kmqv-0QXmaAdeYExPDJijhubJYCZrIHr0-uO3HxHT6sczL0DOuXgke4L7l57tdVXDUrKQvxI8kggD1NAuhOfo1a0n9Pc48EM1B-ZVlWH28rHTOhMt20XDHsKIDg9x7IhV2dXxEezn-DmyvXrDRnARrbe64i1eBKgVgi5JtSTaiMR9TDyN_N3lTQk3li7Mqty9yNO8vXxGp4wtdmCJsjpU_NGk-U8oXgpZtz1B1T0RNtrb8zwM_t8TIM7zMrT2bc6CETDRx31mul94DxnlgUqUMVfE4_kVg0yczho1hMY-y-NKmVCk9l6ri3iyENEC0_gH_ohHA3lGOi2enN6QFQMVl0lhk95O5szcYxXsjd_1zKG6JEaAjuvG7xzi7gT0os-fST2Gh2xN6EPDneEwqSXuXCPKPkwel6Y8pRGqrsLNNcaeFHQHGcv6Jti6elgGPUQW_fmwmnjkr6kTAzo5trUlXDsDAPwGqSFmwqXlVSF3n7eNe3MhQ8T9O9q8w5yNPeX5lsWL_H9mxbisDAQK0l-PJTHnkDNMekg8A6mUZJ4b_KiXSllf0kVVO7FH3ma6qZhFsBvvlYJZi0eXLbHqo9btWmUbxVT6x3h6rrjKq4LcxIkVcsadvvdIsMsxWBqNb55vkLipYhq3qrvxvMEB6tVwMpdW2l-qYR0Of4xqr0oZeJcnuCn9Ln9u7fup1cmIcjS1eMzh9qu4Cr-vG",
  "id": "rs_02966c8181c9840a016ab2c7e5e0fc87d0aa70044f91cb7205",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object is under the rotated jaws, just outside the safe. I’m closing for a new grasp without catching the rim.\"}",
  "call_id": "call_CuQxXK0T6hgygxxGnisnsXvD",
  "id": "fc_02966c8181c9840a016ab2c7e61d3887d0bd628b601bde340f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CuQxXK0T6hgygxxGnisnsXvD",
  "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]: [-0.0315, 0.7929, 0.6067, -0.5186, -0.0265, -0.057, 0.9992, 0.0753, 2.1376, 1.3865, -0.4324, -0.8574, -1.092, 0.0088]\nstate[eef_state]: left_x=0.2747 left_y=-0.0004 left_z=0.154 left_yaw=0.0044 left_pitch=-0.1265 left_roll=-0.0121 left_gripper=0.9992 right_x=0.4402 right_y=0.1708 right_z=0.0396 right_yaw=1.3292 right_pitch=-0.068 right_roll=-0.0028 right_gripper=0.0088\nstate[joint_eff]: [-0.1162, -1.1419, 7.0222, 1.6972, -0.022, -0.0415, -0.0122, -0.5265, -11.8906, 5.9282, 0.7253, -0.3541, -0.0269, 0.6032]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfe27f1c29667422e613251d4f19076c3682c3d1b4ecf447ce6c694e6d80fe72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08d5e55ac375e7fdf0446deeac34c8483429f41de86dc87b9a89a13df8b28950",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71d1aeaeb32b5d1c36538646731f53f9ce16adbbc180b2dbf1e3cfe357a27872",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.7929, 0.6067, -0.511, -0.0265, -0.0566, 0.9992, 0.0719, 2.1311, 1.3891, -0.4458, -0.8513, -1.0901, 0.9969]\nstate[eef_state]: left_x=0.2759 left_y=-0.0004 left_z=0.1555 left_yaw=0.0042 left_pitch=-0.1188 left_roll=-0.0121 left_gripper=0.9992 right_x=0.4401 right_y=0.1685 right_z=0.0415 right_yaw=1.3226 right_pitch=-0.0747 right_roll=0.0009 right_gripper=0.9969\nstate[joint_eff]: [-0.335, -1.0051, 6.9675, 1.7998, -0.0659, 0.0122, -0.0122, 0.1983, -9.7299, 6.0376, 0.8083, -0.0611, 0.3736, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssfwI4PMvFWY-1i4d7F4r6wbrpwr4uQSDBLIl9KbXUfE-gl4aG9gIjFKlOt0gK8f4UuWzUiXUwOWUnPZJUwYFhY5-k-nLxWtBrr1IL48NM5_us_KMHat5nf4KfuHvdG3co7UeaniNNxS2kfQyC29SaF23MXPhq2tv5HwFe-THyQGABVTOoLxZXUGibV-jkvMPGdf5LH4HR1rr-WtGuz-FTcXo9bLAogvFKW9LD0U5vGaWJzkCX3y9o-nb7V8QATajleUABugkFVGok8VSzOPhspyfTBhArSQx1Q6mY0PdzqhcKi9vmiakiDUAD_4HgLyH8oHxpF7aomRdXIqend_vXwS4ibmh5sRpov_7pw6Fsucut1NtY-1hYnOU9vBeZCN_gsEXVsIBgJp4s6_nfabN-zIhXzE_lY6HUYgY7HxdFux666N9LtgEhPfbpRlN099iHP3EiRyingfNaTJXV2xCyH_CbH8XuBEwmSddl77Z7pAfq9m3UMBqpT3IrEDPlIy2HVrrR1Ht8gfxbs69cboVbLUW0NaxEaqIHJbt_uRhUJVyM8gUKlu83eQLgzWAWVPOKuktV4l3S2QSxIJihVXYMdCXgwcWYbXh8NJ5cQs4uCLDHLlIv9fJJNv4czcnj-vpDStN1PpwMKv2IZWkj3CADoIYiufrlucQdPwSG2O4jteyDC12UaIjGaUenEFgk6gaeNkxYFbAwgzaEqJGPn-Q0UV7FLAAb2rw4670FWLinG01f9zDSfH7be2CTwdjoDn1PHeXlwz7Gt7OZZvRFSPbRISNlo-O6jj2o5Lz6w8kFggAi9xsTR5OXw_rR54l_PYxKJm5o4yOfpSMV_tgcLAkHkqDXzBBF28lkFbEonaWRlHstXKBfKJHu9_8m12PJwjM42dqhp5bR_Uu0A3TQTMJNoKF3zpU4KcegDu4ea0dCJS498Kseh4MQEjxsq7GfUoDgoSmLxtdVUZ8c1rrQBDPfL740bjv8oqh1jZxVbvCEx4d7wODSp5opTV7_BpGMcdtHDzMpXZwvEATc_qVBNtCryuMuB_GjhwZttUNdzO3NZYpA-Jf7iE6fD9a2xIZOP4zvSp7hZzhhVZ_zP78I60s0urRP3g94XMKc4PvFNvnWi7EfQx0fhTPjMq0avdfnOKcG6zNCWuJZ2EApKRKkfTkYt-iu2EITJ8DwD6wngSGpmoQ7gu9XxELYAnL8wMNMcBtYgQTfiBnEJ98YnUhLbPrDhjZHVdq69y6meoNu6vjIam931Gh979CXsfTWsDXaVVqWMeqvBW-f7jLifvP_ZK4Jb8c90_X2OQLqpSCNioeG5I5-CpA03DP2odEnhUQIEOFjy0zWOhlk9akKf9P8Nzi8eQlyUOnmgMJgYD180x_Hyy0sOwZqKMoojJY099A6StufRb",
  "id": "rs_02966c8181c9840a016ab2c7ebc77887d0937c53704c4dff83",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.411,\"right_y\":0.161,\"right_z\":0},\"note\":\"That close was empty. The overhead view shows the yellow object just toward the base from the jaws, so I’m moving back and down for a table-level grasp.\"}",
  "call_id": "call_jbaXJrVwSrmZX9Yt3t98HvXC",
  "id": "fc_02966c8181c9840a016ab2c7ee51e087d08b959e83c2c5aa47",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jbaXJrVwSrmZX9Yt3t98HvXC",
  "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]: [-0.0315, 0.7929, 0.6067, -0.5331, -0.0265, -0.0574, 0.9992, 0.0628, 2.1113, 1.2251, -0.2325, -0.9363, -1.124, 0.9944]\nstate[eef_state]: left_x=0.2724 left_y=-0.0003 left_z=0.1513 left_yaw=0.0047 left_pitch=-0.141 left_roll=-0.0119 left_gripper=0.9992 right_x=0.4236 right_y=0.1728 right_z=0.0294 right_yaw=1.3655 right_pitch=0.0192 right_roll=-0.0704 right_gripper=0.9944\nstate[joint_eff]: [-0.0752, -1.1282, 7.1043, 1.7265, -0.0366, -0.0611, -0.0122, -0.8684, -9.0188, 3.2205, 0.4957, 0.3248, 0.0269, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0711155235394e32e19e1f2691c83e336bfa050fb5473002388f5a6692f9f18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7426d8ae082e1919d6bfe78a795d5406b0447d5fccf4531b9d089e235817242",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7376c4ead98225892a4467ddc330f727e3ec7b9715cc2d221227409240d8157b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.7929, 0.6067, -0.5186, -0.0265, -0.057, 0.9992, 0.0753, 2.1376, 1.3865, -0.4324, -0.8574, -1.092, 0.0088]\nstate[eef_state]: left_x=0.2747 left_y=-0.0004 left_z=0.154 left_yaw=0.0044 left_pitch=-0.1265 left_roll=-0.0121 left_gripper=0.9992 right_x=0.4402 right_y=0.1708 right_z=0.0396 right_yaw=1.3292 right_pitch=-0.068 right_roll=-0.0028 right_gripper=0.0088\nstate[joint_eff]: [-0.1162, -1.1419, 7.0222, 1.6972, -0.022, -0.0415, -0.0122, -0.5265, -11.8906, 5.9282, 0.7253, -0.3541, -0.0269, 0.6032]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssf6s_3sNMpsDAMNSAIw-TT1WybUKFn0O81SAG8W3-9GGVKyn7I48qLXH0Wm-el1G3MiLUV7Fs6hDbJg01ivMtZUhmTpX30FdrOvfDwLFa7YatB2jZ6gkCCz9wAB6VS9igNkq0lbtTc-gYxCLaWTovYz8-N36WJH2n-7Cz7-nFgPdbDSGS7A_Vmzd0U8REtOQh-C8yXjdrzi0isF4tDlO1JBcDa7TsaNfojA4tNnyRY_xpqQbbDPEU0gZh_pOAVgi6Z-FI0fbEp8V_276m2HA2NA2gy4YSgymau6mLeXbse8JlWdcZl1guq4v8OjaJWR2AeYFc8Hs7HB8QsqUekg6sbKtVEFp5mr66LKn3XeQ-R6AWl1BC1uTw7XAsOaD9cssSwTYzx6vMUpmDIYkGlPbKevyO-LJtA8K5VOw5w6v3SNYg0oyAxdNhxZuFxnVUhBI5YYgzlNvN7PrEzIo8jJShPvEWkQOCOM8ivOCzpqvSSg9vv5Xjs-O5aMRushP_zTCHzAKTFqL70YNpkH7hiUcJFL9I66enYMnEqTeMa-rR7rlm1vNreuM3qokOxhabWeu0dPn5iOfll4GN-ZSvRn59Zf191tk6NAzNNjlstKJHxKmgPYxwDr3m11R-ngTaTGUvr2G_rHiKST6QsbQSrhK4w87cVb3GWoD8a9MgF8VOppXmQi8vADM4o2ae5ISX5Lw9EIVmN592i8Y5V-m7FHuliorcR9CrJ-Hak1Ov0ZcLpF4pbwBx_JlJyisPcpnkWL3GaoFc54XOOHJz2eSgFYJdMM50pChiv1JMZeeztrsOZjbs033fZVv5Tm1hrZN8cs3fIzkXXpJyvnC3OJFz6PD_QhoZhuBK3cBvYBXiMS5gYCRaKGh-JQxe6aaPiR-fJdky-z_R8XB011TloTQRuyU5BJsyIi34ei9N3skYRw5hpTQjoab-NBV1vxj3UO6qyY5cMJIOmAyYSzG4OwWZUetKKQn7MOQlNkOdqd8Kv8cGEy-rPMb94WQ7keK7qlsFCviW_Uer1_lsTKkUN3yMcVqzB2wP0m0V3ggF4lSxlqnoq3VZRfSIieH09tU47nOk_J1Kr0e4JD4L6gU5V6qas-PgtRJjBCjbH3nv5le4m9h0RibNmQxYS8wUM_4A0lkFYeP7PAHhMvaNJ0tOxXYlTtLf2rtWHPKPs65KbLUBFV9hC-Oe7B_jrRZsIS6qpymYIFLP9rQ5sPQ-mjt0__wkW93J9siXRgKv9yZewa5--t2UCrqgpa7d2ZzCzE2tvNKLe-1lO4luLRlXz3gtEGtXJNPJYcW4ue3U0oMgeLebAPszHoezsaICJ2mYw52RnNsXM4k0ZkA-iDY2D7caQzh_PKP4A_5DmJJ7UYRt5_DICojpeP0IkUO8aK8jEQIpPdaTjJR22l23cVu-ejCB-8zdanknwuCA==",
  "id": "rs_02966c8181c9840a016ab2c7f5f6c087d0aa4369613c45133f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.11,\"right_z\":0.045},\"note\":\"The gripper is still contacting the safe’s side rather than reaching the yellow object cleanly. I’m moving outward from the wall to avoid dragging the safe.\"}",
  "call_id": "call_P4ixZWI3vCy0ZuTnDqe6uKqw",
  "id": "fc_02966c8181c9840a016ab2c7f8188487d08cb04812c273a15e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_P4ixZWI3vCy0ZuTnDqe6uKqw",
  "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]: [-0.0315, 0.7929, 0.6067, -0.5404, -0.0265, -0.0574, 0.9992, -0.0948, 2.0499, 1.198, -0.4446, -0.9951, -1.327, 0.9953]\nstate[eef_state]: left_x=0.2712 left_y=-0.0003 left_z=0.15 left_yaw=0.0047 left_pitch=-0.1482 left_roll=-0.0116 left_gripper=0.9992 right_x=0.4057 right_y=0.1139 right_z=0.0416 right_yaw=1.3362 right_pitch=0.0304 right_roll=-0.0573 right_gripper=0.9953\nstate[joint_eff]: [-0.253, -1.0735, 7.0906, 1.7216, -0.0806, -0.0366, -0.0122, -0.4718, -11.7265, 4.6291, 0.6764, -0.4029, -0.2515, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1889bb28f81231aad88a04fa6af4a2857400cadea797aeb92c04a4b1a8043652",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8108395f5242b9f0bae4d55cc3921315963db189615d531517d140318f6d4bdf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85a0876daa04b892e7f37b882923c1f5996a2e36d5620b0d1159438c3c2fe4e2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.7929, 0.6067, -0.5331, -0.0265, -0.0574, 0.9992, 0.0628, 2.1113, 1.2251, -0.2325, -0.9363, -1.124, 0.9944]\nstate[eef_state]: left_x=0.2724 left_y=-0.0003 left_z=0.1513 left_yaw=0.0047 left_pitch=-0.141 left_roll=-0.0119 left_gripper=0.9992 right_x=0.4236 right_y=0.1728 right_z=0.0294 right_yaw=1.3655 right_pitch=0.0192 right_roll=-0.0704 right_gripper=0.9944\nstate[joint_eff]: [-0.0752, -1.1282, 7.1043, 1.7265, -0.0366, -0.0611, -0.0122, -0.8684, -9.0188, 3.2205, 0.4957, 0.3248, 0.0269, -0.1245]\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": "gAAAAABqssgA73JBcaUuHH_McO0ix47AB_1G7Nottt1kTKPRqvej-SJDYtaUCMRtB7jCmyVg2vIuqLnG_2bp_lqZ5Tje9bAsjS1YgRwZeSkPVXsk2w_AJtHTgik92tHTnFJuIiZXxHw2Zh4z6QrTRNE59P7xQ8yO888hbTJV0dnmF9i-MsA1XCNLLMuJIHvHS0nxp5bO1ytR_0vYXXGcqU3ohRFo2RcxElx7jc77_O_LAM1HXjRRLVFrFDvHtMFDASHXgTF-MRKPJMVq1J2oFHX3Yfwk_9VSRHZ-N2pkpsNPFcBWQrdMRBlWEeWxyQxtDra9aENp6Lk7ZycA6bNodirlfoB0d-4Q8ws3v3Egip3h9RYSqYCN98DNJH81hiAiN_BGHUiw4o-JGPDq616F6er03uZUQJkAmpD_tAIfEkrefIM7bHYsj_BtmTloqxUWLi2uVwpMMxHT0nTGDmSoCWA34GewxrXILUfz8yHHSGbiOhd6NnMF66pO2QfI7QrLRdvkQV6qq-wzY7G3rY3YDrTX83YVNYRjEFn7aKUnt1tjJbWA_cdn-4GeegSVosIEy7zaRtB-XWdJKwRzWtcy8xbAt8sDXr-R0q4LrVtb38gR4uB-wsVbzSaMiNfpkOfQF62Amp51nCyXyJT79rqLjy1gEXRkMKc5HZxmKTIHTwpk1u2WjEb1k2dH2cdEjB2enNOtHF3efb90w88OckQYMJRm8S4nQJ0gOGDOyhTJvffXrCkwPzFM29IthZyPn_WtNy76tqA2gIdEGbCW6ACQc1XkHY3gSDJ3g3l_RfUNDAjdWjY_-9BWuLvQiDV6HZ-MyS0CZXbA8zkhJ36f2ZS-e5vQqi_HWMPeZRph4-Msr6Gjxy72LOqfYygVSANeJ9FSe2VDz1P9pt_ExHdWmxfeehBq9LrpEVuUcukYkcM306UcQIwf4f3ruUPUrhwSC7LIut2qQTKpCMRsfAuzFzFtFfrvrAIoGZlTrljHR4iROh23h6di0kU_IvDWLLOIh6e0mZpyCbT5RB5Ot6pa0aCd3zuByfQ2F9Ic6OscLYWbBM9JhqsP-KgZmayuNvdNxaZHT0ZVQd1__h1VCeC9rI_GkanDAz9CRyCZ0LeWw3krwmxpwhWT5aj3lZnsklvdiD7oPipcjPfNcgSE7qpY-ihTWOKHEuJQzjNKltXXpWkTKVQlfAR94H2rQe8Z9wnyhV_nF_BgFGJhf3YZtzZSTfSkeLtmeZHUoI5OyIxjxt0iMIdsipprxs8FyymKvpS0t_doyQqc4k7PRaLxeBSqwd2XBrTbOUN1u_I0fs5oOj_g_ovRVBlSoDx1TNGbqTz82jt7uOLstjz7d7J_",
  "id": "rs_02966c8181c9840a016ab2c7fc79c887d091c088e310772eca",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.14,\"right_z\":0.005},\"note\":\"The yellow object is now clearly visible immediately beside the safe and beneath the near jaw. I’m making a small inward adjustment and lowering around it.\"}",
  "call_id": "call_d7KIIlprQgibkvXx2oiHLJqy",
  "id": "fc_02966c8181c9840a016ab2c7fe9fc887d0956e671768371c99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_d7KIIlprQgibkvXx2oiHLJqy",
  "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]: [-0.0315, 0.7929, 0.6067, -0.5556, -0.0265, -0.0574, 0.9992, -0.0402, 2.0716, 1.1423, -0.318, -1.0374, -1.2514, 0.9953]\nstate[eef_state]: left_x=0.2687 left_y=-0.0002 left_z=0.1472 left_yaw=0.0048 left_pitch=-0.1635 left_roll=-0.0111 left_gripper=0.9992 right_x=0.3981 right_y=0.1398 right_z=0.0317 right_yaw=1.3639 right_pitch=0.0797 right_roll=-0.0345 right_gripper=0.9953\nstate[joint_eff]: [-0.253, -1.0325, 6.9538, 1.7411, -0.0855, -0.0366, -0.0122, 0.2803, -6.1744, 3.494, 0.7448, 0.5739, -0.3394, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:293d34fa7d472f831054a6012b6ffd34c239d79151979fc7f4debef71a47e6c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06138870c4b27410daa75ee2eb2be9f4c9942f5e1d9325aafda747b5a27ea69f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa05cd4dd44e19e6b5160e9f6a4a842f85eb399442d131f94887be2cb31fb723",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 50 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.7929, 0.6067, -0.5404, -0.0265, -0.0574, 0.9992, -0.0948, 2.0499, 1.198, -0.4446, -0.9951, -1.327, 0.9953]\nstate[eef_state]: left_x=0.2712 left_y=-0.0003 left_z=0.15 left_yaw=0.0047 left_pitch=-0.1482 left_roll=-0.0116 left_gripper=0.9992 right_x=0.4057 right_y=0.1139 right_z=0.0416 right_yaw=1.3362 right_pitch=0.0304 right_roll=-0.0573 right_gripper=0.9953\nstate[joint_eff]: [-0.253, -1.0735, 7.0906, 1.7216, -0.0806, -0.0366, -0.0122, -0.4718, -11.7265, 4.6291, 0.6764, -0.4029, -0.2515, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object is aligned under the jaws, and the safe remains on the table. I’m closing around the object.\"}",
  "call_id": "call_IBJ7qtdn29IPgHuNpPJ3PfbM",
  "id": "fc_02966c8181c9840a016ab2c802fbd887d0afcd556531ba9b86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IBJ7qtdn29IPgHuNpPJ3PfbM",
  "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]: [-0.0315, 0.7929, 0.6067, -0.5636, -0.0265, -0.0574, 0.9992, -0.0387, 2.0655, 1.1408, -0.2955, -1.1007, -1.2491, 0.0088]\nstate[eef_state]: left_x=0.2673 left_y=-0.0001 left_z=0.1457 left_yaw=0.0049 left_pitch=-0.1715 left_roll=-0.0108 left_gripper=0.9992 right_x=0.3982 right_y=0.1458 right_z=0.044 right_yaw=1.3871 right_pitch=0.143 right_roll=-0.05 right_gripper=0.0088\nstate[joint_eff]: [-0.294, -1.0872, 6.8855, 1.6728, -0.0317, -0.022, -0.0122, -0.4718, -9.6342, 5.2855, 0.5348, 0.1245, -0.0513, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:332d538c0d179be76fdeb97d135791ae2e1e9a8c14595d2951aa5c495d05d107",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ae4d05c03a62c15c9a535fe378cd29876e42e5729d96020717fb0dd29e6b71f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57e4f5f1673f283eae3ab59dedb0376bb410c5d112c38fc69faf38ca2c6751d0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.7929, 0.6067, -0.5556, -0.0265, -0.0574, 0.9992, -0.0402, 2.0716, 1.1423, -0.318, -1.0374, -1.2514, 0.9953]\nstate[eef_state]: left_x=0.2687 left_y=-0.0002 left_z=0.1472 left_yaw=0.0048 left_pitch=-0.1635 left_roll=-0.0111 left_gripper=0.9992 right_x=0.3981 right_y=0.1398 right_z=0.0317 right_yaw=1.3639 right_pitch=0.0797 right_roll=-0.0345 right_gripper=0.9953\nstate[joint_eff]: [-0.253, -1.0325, 6.9538, 1.7411, -0.0855, -0.0366, -0.0122, 0.2803, -6.1744, 3.494, 0.7448, 0.5739, -0.3394, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssgOPqguvDXRS_ffLUDpd5h7SfZiTV7iZ8iV6fhDBvtSS9lnxKhG1_4AZwHsW2cRc0E8E5DVMqr-TltqGV-ZN52VaLFQbrnviWoYAlRqZDhBC0mebhzTcFGjBw0sIEvKM8NCi9ZgyccomUFLWz0Z_rOtosCl2ZKCI0ez4ZBX-YIMvIjeVujJMHoJqK2Wpp3dChAgnKi6Sy54Vx4OxKa_meEqq4BIFNdMYy1Su859oT0BhZ7AE2wBVwVRxUfpgvvBLiTZi4kI9JG9RqAN23pnNsuq75o5mW1iXla-JkFIf_lfHPdq95G-1lugCzW98u7lLFLIXd6mAbZYMF4yWGLqfeTZ6P-z0NbelZJZCtVhnslYelBUOKNzo0bT2eFyH7tzK_FJtM-9y9U2Stl-izPRZCcTUeWiTZlba4PcInHyDa25bzIMgwBOZyt5v8wF8bfc0FsxtQ3CBnH9va7mAcdjowmWfn0OPlOrdQWiXAxFtucgHPRWxALqrQUVDEai179PeOu1Ok4hniHutlJLPPtdRriz_9rdi1Gt75gD6G2uJBnyiFHA4krH5CZYHegViL3CTnzXrd-RNmYTU3-K3mnSy6NYNrT2-a8oUEmaipXgQKuxBa2JwBT-AeTAO3LY8TolEcpGUuqfQxJU8MkUj2TcJUEzHoHL6_6LZd5OYtt6TqDF_BdxBMmcXrVdc59Ptdr9V82ML5TMSZHRO0Oeo9gGkFPp0tFYrhHNWaljfUI4EatrjhVD-gVUXF5cGRVQ6RJ3AX_d_9e1j6cWO6TI2NdeHWPu8bcVYGB3m3s6kbWQ4ue64ZGqr64LkZ3Cfc3tEOUnd7fFb8onEOS8-RG5mKcyrKSsuG4ewgLs0maGtls5QTqnUNGxqo-HJNKjh5ORPBH0zEf12Zws6fniIts3G_CLWjEHsI6xey6ayC3CgCJGtfMLKlXGvbj4XCeYpmwS9UhYPTspljw1CHxkYSEEuKslgrhEY-fg-YA6lwDWbC8wQTK0abGWvKERpND70H-LLAmyb3uX17VIwHlu5AP8NmxAiabB0XbDLdRO4veyyUIoUv_70MRUTLjRMsr1mYcLyXfUErje5wTKT9c6YQjUHrYySX9QlZQ_tdFxRbHC8uhRm0jsO_okgkjAf-3s1MuDlF9WGm1MM0sj7_VLctgRvxVeSQRXTwkftF-WlVLjGMtZak3qfFEYbvMnqL1Z_QCf6yLfHH57U6JuL-UGzgzpAl7TvbPUktq57ijbGWNHMCiOv710gZmEseIFe14wcda6SsP7qIMxQ-H9nsTGqv6LKVGsBbzp0kIwDJBel4pUyiriYgHuoJgshqaZBCpxNxyQgu9mX6esLFXstlvKIVIA3JgoOxMj1gQVAZAUT9x28r4QAGj3nxOYROa68WH7jQy0CsC71ZoV5GkkJRwai4KBz2WELZ4ZsIu_LNJK00EZo4aXjF1rIRmPNWcvctCn99hYz-gQH-COh4rVGhCFftZp8t-aWCh2FeqZu-kPCYTZTo1JFsnO6dSgbw0_J7K0kzvda3QHj_aNvFfFOVjFLFbN_VE2xZtjdA==",
  "id": "rs_02966c8181c9840a016ab2c80895fc87d0ae2f97612d38a1fb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.18,\"right_yaw\":0,\"right_gripper\":1,\"left_x\":0.39,\"left_y\":-0.2,\"left_z\":0.14,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The second yellow-object grasp was also empty, so I’m changing approach rather than repeating it. I’m parking the right arm and bringing the left arm above the white plush toy.\"}",
  "call_id": "call_M8haVIg2MM0CgyZVB9JgNT1W",
  "id": "fc_02966c8181c9840a016ab2c80c2de487d0a194400f584167d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_M8haVIg2MM0CgyZVB9JgNT1W",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6968, 1.5837, 0.9325, -0.1436, -0.5556, -0.4671, 0.9992, -0.004, 0.6975, 0.4179, -0.1902, -0.0879, -0.1215, 0.9964]\nstate[eef_state]: left_x=0.3757 left_y=-0.1882 left_z=0.1182 left_yaw=-0.0036 left_pitch=-0.0742 left_roll=0.0361 left_gripper=0.9992 right_x=0.2894 right_y=0.0179 right_z=0.1604 right_yaw=0.1274 right_pitch=0.1143 right_roll=-0.0575 right_gripper=0.9964\nstate[joint_eff]: [-0.4444, -7.4462, 8.9504, 1.6581, -0.4225, 0.022, -0.0122, 0.2667, -0.7316, 11.0427, 2.1709, 0.1148, 0.1783, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1e7c5cee58f99ccf4cb30f4564ab702b51672598b6b0f358d549afd8f25471c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a73b63601b8318fdd25b76cd494ac283a68ff263c4dfa44a21707f81be9272ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36c79a3361b0d4657a8a362679d28b404e25ba4c9d6e9335a183359508a15fb7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 57 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0315, 0.7929, 0.6067, -0.5636, -0.0265, -0.0574, 0.9992, -0.0387, 2.0655, 1.1408, -0.2955, -1.1007, -1.2491, 0.0088]\nstate[eef_state]: left_x=0.2673 left_y=-0.0001 left_z=0.1457 left_yaw=0.0049 left_pitch=-0.1715 left_roll=-0.0108 left_gripper=0.9992 right_x=0.3982 right_y=0.1458 right_z=0.044 right_yaw=1.3871 right_pitch=0.143 right_roll=-0.05 right_gripper=0.0088\nstate[joint_eff]: [-0.294, -1.0872, 6.8855, 1.6728, -0.0317, -0.022, -0.0122, -0.4718, -9.6342, 5.2855, 0.5348, 0.1245, -0.0513, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssgWGQmR-8ig0giyD8M5MQBudBRWb87jP_0PvueYbiU55UaBtVgxCtEdozsXd37n3ld0rvOSlbmAnLk136vDzLWa2azFsfxUp-OHezwBewcRWbLrJaH4IwVZONNTYhjzVLeY7Ts8DwfUtFalp6sluYLR3tczvFAxA0bApUrxhT9aipwWrQtM-8kQsAGekgVx2vqomeBM4ig_WAle68uzQaV8bwPO8vhFaRl28OQ_8K1_36MJEQSYHZVtLbpqcEdvXWNYI-_438sSq8zLVfFhjLUOKE4H3nkXEhIglRv3NQBOCgIwQMizr9Mb3WSG9VMNtV5KBpBHK7vMonZAEa3tyrvEkYN1ljKc1M6n7Jw9y_49Zth8gc6Z8qRMifFiXp1u4RShaqL8QU58Yfg9EIGbvHRTHtSjDsfLHCi9xI0gFZR4A2ijfbbNp6MWiENWg3WZ26qivOoqHpVjpKA4cTY56G838LPLY8ESPtKxu4XFWpU096-vev_ZgB8s_JnDIxv_kUOhH37FUu3NWidoW-mJzd6wQ-u069e6v-Rm5HRhRlUfy1c-LN2uEWrXy3tNfUl3dHDB44t_nQzjie5n9rCREAg8ppeNq3Ad8QNMYQFN8znML5j13ec1cAjA9iw2jJxWYGy7ztS7Lhb6XIUtNoG3J0CPkQbrnAvHM9FqE1OHfxs-7SpLgkLjvKT_CSt4HXx-4YeDAcNUJC_a19J3IA_1uQVKFumxC4IRsj25YjRrGG25tEfhNtsHF9hJruwx5xjtmXZyiNs0fbwlZh1hc3MEk22Qsl4IcY_aIuBJcoDdq5MhlKiNCdf3otT3UaSL9xVI1YEn_tBaC6izUO5DPkOqtHde4gjrinspNifR0QliPYToA13i4ah8viXYHX89WSxhxbfTSxW5BwtcFjcWU8y_doIFRFAMehvUdBkqjcM-MK8mAqE4OZRTHdlAwhFnxAF-k20_WxbD85DgsHYAVdcUnK55mA9UDM-AcnvZ4hRnOzxXAdxOLNRjM0M7ernqXpMtNFrsND3ItgQLtze1tBaQqadbwKMytdqRaoyLTqT-isZpMOa0jGqV47HmAAMX-pEjJ3U5pc1SzE-HFFiVRlqVKsWPbEQsan6aGaRRjehVS845LQAohzXXzP_6QxN5V8qvDoT7951YW3_djsAcOdRtHDrQU8M5mayChrSMpGr9lRkLgZW-ZC-zSM4lwNw07dc2cXGEgjiZBcaZHUaSZH_v0u5Urtbgz6CX6aQOvOpJMDkustK34BNKS_MXxfhMK2M67ze-eN6D2I5zthDflowN_y1rvpwRBa_dlKI4GleeE5jYt-DMLk5xCRe3VEAjeoynLeCD0WHzvzRsITHqEnbi2BjdklQnP38hmgAfbKEEljfr8oNNvZ4z-DWEYe8ta7OxqGUv",
  "id": "rs_02966c8181c9840a016ab2c812fcc887d08332c2e21791a7cc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.18,\"left_z\":0.025},\"note\":\"The white plush is visible just left of the jaw center. I’m centering over its body and descending for a grasp.\"}",
  "call_id": "call_6r4JuSV4kqZUFdXKaaBUMMF5",
  "id": "fc_02966c8181c9840a016ab2c814fe5c87d0b3a931083c9272c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6r4JuSV4kqZUFdXKaaBUMMF5",
  "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]: [-0.5919, 1.8874, 0.8833, 0.2024, -0.5056, -0.4053, 0.9992, -0.0013, 0.7033, 0.4194, -0.2455, -0.0803, -0.1234, 0.9973]\nstate[eef_state]: left_x=0.4154 left_y=-0.1718 left_z=0.0271 left_yaw=0.0304 left_pitch=-0.1035 left_roll=0.0606 left_gripper=0.9992 right_x=0.2833 right_y=0.0174 right_z=0.1476 right_yaw=0.1241 right_pitch=0.0547 right_roll=-0.0552 right_gripper=0.9973\nstate[joint_eff]: [0.3077, -7.1863, 5.7504, 1.3553, 0.0708, 0.1148, -0.0122, -0.3214, -1.0188, 6.9812, 2.2882, -0.1343, -0.0513, 0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a5c0fd51c4cbde6c01d3fd076e79aae76af534e0e6bc4a2d70c059e6cce72eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f8062fe9c2a4fa143e9a7f5054c8d786e6a1b7d54e49589243ff4c21353ae7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07c0e6ac2e8fccaf156392b026db759079ec61e6ed2a6d58084f9eb1899b9fb5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 61 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6968, 1.5837, 0.9325, -0.1436, -0.5556, -0.4671, 0.9992, -0.004, 0.6975, 0.4179, -0.1902, -0.0879, -0.1215, 0.9964]\nstate[eef_state]: left_x=0.3757 left_y=-0.1882 left_z=0.1182 left_yaw=-0.0036 left_pitch=-0.0742 left_roll=0.0361 left_gripper=0.9992 right_x=0.2894 right_y=0.0179 right_z=0.1604 right_yaw=0.1274 right_pitch=0.1143 right_roll=-0.0575 right_gripper=0.9964\nstate[joint_eff]: [-0.4444, -7.4462, 8.9504, 1.6581, -0.4225, 0.022, -0.0122, 0.2667, -0.7316, 11.0427, 2.1709, 0.1148, 0.1783, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssgc3KJwziDApRC1Tctw8uaLAGfqbHsCW-wXqQd6rIqvKcDW1oI5bhD_SRrax1aXswfyJrJm_PNVTm8wymiHbYFzAdy3HRqI9eb26ce3yt8zYxGIL3oXJLuZGO62a9Hzco58uV42Z_8_VsqFv1TUaB_FnkXweDvm7-Pu1hjG7aW9M4R7RnOcd2mavkxR89cEqbmvBv93u8m35-zh95uiEG8uylCHuU8n-SO7SGlxA5IdPQV2kutb5d2WKramoOifiONwVlYKP_0uq-BgHlHkSWS-u1dsfSIBNY56RMNp9HN_Xj6G5bRoAhQ9pR2myZ4gRIJeT6Jj6q3iiqGZ2AR2LM70p2T3GDbKmUpUfeq78QipN1ljQNLfy-TVrPzXsnRFAxIf7wOWp320ZoWPU-YKkW72tOp_-Eyb5aTVx3Mc5zjhw-kHw993BKC34ouMQB-wkO3EDcgJvfSdBCr3MwfmmAPbrllCEmELjSIkzNsj8GXlNRsjD72RehwPfQLlNoSBKaNTsGxU9BLAZEI_nIMLvrF_AeWI2oQ0fmURSKBvFXntUTXbEy4N-2OhXxyvNrk9hQbAYB11YVm0FnxX39oh3OcRR07mmlrDw_wS6Z1rVhdQt4CaoPpueDlMknSqCy6EPb50_elAikKPeogEEZhNGHO8hyJ_Bzh5xZk2x5MaCY3XrxRPleGfBExba1IxcPb9Q6ut5674s2JGxIrfadn_JjFRFTaUU33icDPbzR6-3kO0a726CIeFKTw3C6WMTm_p6WvNjPu-pDPfF-gvh2Ms96tqvDEmjlKB1Qg4UKW4XFkj1ZP6OHa7BlwYWfNlgtk0oR50WLGFNnsDE2AKEIXhgLQbI20dwYhNIw74R4i6cHoavkPzEnUJecuY8Vix5QnyHZPXRGxzzbdQFQEGjt5H3qJ82DdNlzOOayOvNkmeR193FQfjuPXPlvyc6FyZdX1xDRVpYGfCkl_KuoQ0yjCQZSdwwA1ajZ1hrOeiDaNBlxcq4ErQvF-mofn48bsR9KPY9but7Vbh9Qmxu-ehET8D1ojaFLpmEYXY5TOabSGzScBNxGV39iC0fhrOh5IPtN6Ud_IHxuCXoIORslRRErRIkP_7MZetawYk6VZpy6egsThbj2vI396YRH6qlXufm0muFmwZ7JWjMJdlBmdL1p3u4oVKjRqh-vZxGomMyYdO2Z9YF0aEwArfq5z_n3x241PkaOg8hbFhU9lhaOt9A-xaKjsNSbGqxzaoNyHeeXgbWXlV-Lv0x-LRfL0OkN4Yetz_GY8c",
  "id": "rs_02966c8181c9840a016ab2c81a548c87d08830e8fb360214a6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.145,\"left_z\":0.015},\"note\":\"At grasp height, the plush body is left of the jaws. I’m shifting left to center the grip on its torso.\"}",
  "call_id": "call_jTAT6OunHqeBJHhX2PlsNDnK",
  "id": "fc_02966c8181c9840a016ab2c81b6d7887d09fa82d67b1ce5f4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jTAT6OunHqeBJHhX2PlsNDnK",
  "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]: [-0.5385, 1.8942, 0.8219, 0.2932, -0.4896, -0.3656, 0.9992, -0.0013, 0.7071, 0.4194, -0.2699, -0.0868, -0.1234, 0.9974]\nstate[eef_state]: left_x=0.4175 left_y=-0.1485 left_z=0.0172 left_yaw=0.0487 left_pitch=-0.0931 left_roll=0.0694 left_gripper=0.9992 right_x=0.2802 right_y=0.0185 right_z=0.1415 right_yaw=0.1293 right_pitch=0.0272 right_roll=-0.0483 right_gripper=0.9974\nstate[joint_eff]: [0.294, -9.5521, 4.506, 1.5897, 0.1294, 0.0415, -0.0122, -0.3487, -0.9504, 7.0632, 2.0537, -0.022, -0.0464, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9900d552079286a498cea279a0e97c35aac1f41a3c083dd7452c23a84bb56efa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de1863f94f391a2dfc6476d12281ed43802eef7649eaa7bf547e180f0eb1f8f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f51523b3815556b52cb37dc637845b6c8e0184885c2eb7508ea24abd742514e2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 65 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5919, 1.8874, 0.8833, 0.2024, -0.5056, -0.4053, 0.9992, -0.0013, 0.7033, 0.4194, -0.2455, -0.0803, -0.1234, 0.9973]\nstate[eef_state]: left_x=0.4154 left_y=-0.1718 left_z=0.0271 left_yaw=0.0304 left_pitch=-0.1035 left_roll=0.0606 left_gripper=0.9992 right_x=0.2833 right_y=0.0174 right_z=0.1476 right_yaw=0.1241 right_pitch=0.0547 right_roll=-0.0552 right_gripper=0.9973\nstate[joint_eff]: [0.3077, -7.1863, 5.7504, 1.3553, 0.0708, 0.1148, -0.0122, -0.3214, -1.0188, 6.9812, 2.2882, -0.1343, -0.0513, 0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssgi4kytRCsttXKF6e41JetnuejGKBizg6B-Zzj9yeMYI0rKjZmKH2stspSXqlyY6keA7HiAVq1O309_B7rU3wEXAVjfXn1Q3pbKsOOyzKU0cSZVmAIM2yLMhjAqn7P3eeFlqmzV7uedIr6H_3K0VN1mrCxFWJdTcK4NL_jSzyCJgl4tHEvMatUPoKW-W2nWEVpJ0St_0pYxiZf9nqvqjSn-gCIYdZA1ItxC_h7phH76_FnEdiazzazK57KAevgg1akaJoFZjS4dCQgzUSmGKMO8cvaE-lNOg4i-iAfm2V4T8gymDqQclHrV_P-lNvpvCKU30gDST_v5sCRoOlkCGJ4PwI_3FanoHtTGUvwZqPnCUH6oTumRD7Q5T-8GSYA3oLbiHxW614gTzWfXCts2jibERqc7fGM0TV8Urp8qcbhUE-Bq1XRPgkls6lSHPQvy8QHI0LkQ7g93-1RU1_oLrTOolOHQxhZzeCMplZZLT_61rVPbIjOcfU5dcswcynjBDQDSV56b9HupLG_5r9I8Y2gE56qGbR7F6RFoiTiNfrbmqOPlMvZV1eRAnISP9NR2eMVhT1L8MwnUXaZ7MIBlBE4wDGKyTgw7FpdWaYCUmWWAcZe1yO-p6ECGvuOO-iTuyNHbXhlY3U6H4X_YmirF5Lnf_MItRanX8OoLMbPeZ-15tgdtJbx2JOJda0bvbDyG7sJwIZBn0XrXAAD1jB3xx3osT3pp4gomwvpCyV1FjwxOvRSe3o02fx_0HxcGdbKmIEtKSZbFE-ZS7b07wxCBtdTFnfSoAsa0P5rVHJVVT2WaiCdXHAH35kL12TGQofboBCTgDwNAGdoK_iPkmxz99edlp9zQadqBDckh8lwOwz-eRd3oc2OG_DQ_JobRU5l6aFX9brmXNQuYUrN64FGzypGEBNHUOkSeprkv3J7pFd0g9qxtmhtA_XQAc4aPxQj0oUkMNI7AKYM9ZMxze2vuIwNwznOGuiNBkqqHVZOkQkQB7TUGRpK-6uDV3RJ9vlb8_byAEEqpMyF5hPwCTxAJgeDPsQPJNgVCuJoe7RQLpwZaG1Gj-wvnPXVlFWL16BJdQk_Jw-U90LEbM2Ie1auBZANx5R5ozvjOY19E8ZiVkQzscq6F97fNOXbtj5cskvYXwyADl0eWBDv6-_goQRKfS7e8PBkd0C7osIZxR0-tDYiXFfVawEj3SkLF2qVTlTnWoJGRWCUUy5mCz1hjUE6qrgtRS_kCMVLlT_95qdlyw-N5WLSIS3ZXNrnfb1ya9sr4XUH-ySOH9aAbETsHtlRtzz50vP4J25sWKvywreqBE2U347mP4j8GdVWR6bK5OjFrJCUCMTYKrzqOgVtK3L_xy0tLoT8oFFm4K60_3M160U2UbYo=",
  "id": "rs_02966c8181c9840a016ab2c81f717c87d087fb589c99a47a99",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.12,\"left_gripper\":0},\"note\":\"The plush torso is nearly centered, with its head extending forward of the jaws. I’m making the final lateral correction and closing around the body.\"}",
  "call_id": "call_7tXCWdDolDOIZGn9L15SzWAZ",
  "id": "fc_02966c8181c9840a016ab2c821a0c487d0bf8980e169c668af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7tXCWdDolDOIZGn9L15SzWAZ",
  "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]: [-0.522, 1.8942, 0.8093, 0.3138, -0.4751, -0.3534, 0.1145, -0.001, 0.7071, 0.4194, -0.2981, -0.0872, -0.1234, 0.9974]\nstate[eef_state]: left_x=0.4186 left_y=-0.1434 left_z=0.0155 left_yaw=0.0468 left_pitch=-0.0925 left_roll=0.0661 left_gripper=0.1145 right_x=0.2764 right_y=0.0187 right_z=0.1357 right_yaw=0.13 right_pitch=-0.0008 right_roll=-0.0444 right_gripper=0.9974\nstate[joint_eff]: [0.0068, -9.5932, 4.5607, 1.4042, -0.0757, -0.0073, 0.8181, -0.0342, -0.5402, 7.0222, 1.9756, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4412a2949f920cde5e329a04dd3d36dd2cd8c91fc72c52768faa8fdc418df70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc2edcaca72356b513a861aeb121d957a4bef0e3dda6c72160d3cf73df1f1be1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:345adcf307f6354be2a5edeb588e82ed97d5c28f5db2d2fcc4d9a7adbbd85bb2",
      "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]: [-0.5385, 1.8942, 0.8219, 0.2932, -0.4896, -0.3656, 0.9992, -0.0013, 0.7071, 0.4194, -0.2699, -0.0868, -0.1234, 0.9974]\nstate[eef_state]: left_x=0.4175 left_y=-0.1485 left_z=0.0172 left_yaw=0.0487 left_pitch=-0.0931 left_roll=0.0694 left_gripper=0.9992 right_x=0.2802 right_y=0.0185 right_z=0.1415 right_yaw=0.1293 right_pitch=0.0272 right_roll=-0.0483 right_gripper=0.9974\nstate[joint_eff]: [0.294, -9.5521, 4.506, 1.5897, 0.1294, 0.0415, -0.0122, -0.3487, -0.9504, 7.0632, 2.0537, -0.022, -0.0464, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.09,\"right_x\":0.29,\"right_y\":0,\"right_z\":0.18},\"note\":\"The gripper has closed on a thin part of the plush rather than fully empty. I’m lifting to check that the toy follows, while restoring the idle arm to its parked height.\"}",
  "call_id": "call_zjEqKerMEzSVqnLvl2VJjPcW",
  "id": "fc_02966c8181c9840a016ab2c827907887d08999f9b5189e153c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zjEqKerMEzSVqnLvl2VJjPcW",
  "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]: [-0.522, 1.7378, 0.8898, 0.0456, -0.4751, -0.3637, 0.1178, -0.1219, 0.7883, 0.5766, -0.4206, -0.1703, -0.1841, 0.9974]\nstate[eef_state]: left_x=0.4138 left_y=-0.1407 left_z=0.0651 left_yaw=0.0543 left_pitch=-0.1183 left_roll=0.0751 left_gripper=0.1178 right_x=0.2851 right_y=-0.0011 right_z=0.1623 right_yaw=0.1118 right_pitch=-0.0392 right_roll=-0.0391 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -10.0855, 8.9094, 1.6288, -0.2369, 0.0562, 0.3248, -0.3214, -1.0735, 9.1009, 1.7753, -0.1587, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18ced469bfb9d1a393d0eaac9d571110438c895e41009045c1436c7073c0085a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da43df8e14f93b85a32a9dda76211907ddca9c92fad945f3aca116faca959a64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc475db25b93a2a8205e9ed25ec39060077e0fed85f906c99e848e8ee3242276",
      "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]: [-0.522, 1.8942, 0.8093, 0.3138, -0.4751, -0.3534, 0.1145, -0.001, 0.7071, 0.4194, -0.2981, -0.0872, -0.1234, 0.9974]\nstate[eef_state]: left_x=0.4186 left_y=-0.1434 left_z=0.0155 left_yaw=0.0468 left_pitch=-0.0925 left_roll=0.0661 left_gripper=0.1145 right_x=0.2764 right_y=0.0187 right_z=0.1357 right_yaw=0.13 right_pitch=-0.0008 right_roll=-0.0444 right_gripper=0.9974\nstate[joint_eff]: [0.0068, -9.5932, 4.5607, 1.4042, -0.0757, -0.0073, 0.8181, -0.0342, -0.5402, 7.0222, 1.9756, -0.0415, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssgvdtJgwn6ZLP-1uj-oHUQL5x5M2piHeVW1I5TIZXP8HcILT20U1IYLQaG7ym8nZgNLxCJcWqoCfAck42IOJ3wwbvXjovv54SU8VtKRiL_jnKuqhXl0FjOUC5joev0EVgWJAHcvDVZAKRUyGjokT5svVZLKDPAwOL3mLnnuFRFtxQRxo7G5sZjaHx0YGHchDBm9rmIZqCIaEOpeTw1UmOaTfE9sD4qXaHNCrA3CaPFxSV7yOsCWLWxCXCGlp8gdjrEfmrUptqQ1wM45cxb357oDGS8F-_RpE6A50R6kViZjCc6kTEY2V5THuxRbFsyNwu6mL_6jUP9SpFOiwQ9Dh2n7-OoccDJrqGHH8AOBHZH-7QW-gtZWFe7N8ntiar6BQjzDRSmtUGRojDPDCQBrzCTbnfSq5GKtGSurZtm5YOzyQeFAyy-GyFIG5y0nh8QywqWnEZ-ZdAfkHA3PnbHCQGdGEgf16vMcspOak6Rm7lXj9fRAZQuBPdSpNeRPxDhCVNgV3_09G1_V2WR6DNzZGEyayW2ainBtwZ5OonFDtTtVpGI7CgDBfXAF4yPVZrGC-iquELHt1zpwVeq4vMQBQK9T5jyLIdIbEZ4-DE6iGSQvIigFCqKFnSXgHeZPJriuIYxmvh_GT_BPJbfVbx7k99_e-bj7tcu4tUEmCtjIEJ0Ybbv7EzQBdlOG4ZQt1MDwBEu1gNUuXQJUfNM-d5M44JQyReSwanCQLvvqOMYd0SV71cY4FCSlC-b1rKgCIESPY04MS0Z5VFLlyNOoAqHU6FE5sMAJYsKyRlddFV5zcjIHVR8Wm5JS_x4azunzgcXFf1nzQPg0Uv9w52uyAGGecKNJ_8peI2it1ZOLGCwuid3O_MlEIKMv4lSg21Xd6-R5KlE4IH6DJQIECDFQNlSUM1_R0_GSitdnYgAxK_jpQKYwgKkICphFUy3cSgtSaNZkP4XJFVL1tE9JrBYNkJDPrLGIT5scAdsr2xjG_lrSfczSYbyQnZFF8vCoEykqs8r5YrfvD-jtMGIsDijBIETHBboKMkFHEtpakZg6seFiyqnb7h9dMSBjdZmcBjh2Sp-2VJTs0i_jOjHOZPnG-5z0hBGjvlYPWw9sbz24WZWSwLWGe2xAkg1Ek0G6Ai48EJxxxcc0Y7d9Ws5G7MCpZvcZKuah_fo3Qcwv2W4PruAs3bPeauquCaBJQeB58ovQGP-lFr_Z70tVxTjSjh1dYnoUkwhm0qMFCgew94CDO_ZfDnlF0N4=",
  "id": "rs_02966c8181c9840a016ab2c82d66c087d0955a4d57cdc90cff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.29,\"left_z\":0.21},\"note\":\"The white plush moved with the gripper. I’m lifting it above the rim and carrying it toward the open safe.\"}",
  "call_id": "call_zkUIYkvAv9WhPnz9wid6Zaki",
  "id": "fc_02966c8181c9840a016ab2c82dc67c87d08c9d72a2eab5171b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zkUIYkvAv9WhPnz9wid6Zaki",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8379, 1.945, 1.7535, -0.7696, -0.6518, -0.6559, 0.1208, -0.1238, 0.7914, 0.5774, -0.4484, -0.1764, -0.1986, 0.9974]\nstate[eef_state]: left_x=0.4094 left_y=-0.2894 left_z=0.1976 left_yaw=0.0386 left_pitch=-0.1337 left_roll=0.0595 left_gripper=0.1208 right_x=0.2812 right_y=-0.0001 right_z=0.1565 right_yaw=0.1233 right_pitch=-0.0679 right_roll=-0.04 right_gripper=0.9974\nstate[joint_eff]: [-0.335, -10.1949, 8.4991, 1.1746, -0.5788, 0.0513, 0.2955, 0.0205, -1.3607, 6.9128, 1.9219, -0.0464, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:694e7dc63b1dec25dcb95f365a1da9c0f7bae9b3634adb51f411b8b6f81b0047",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccc93d51e6a3e58920e1e6a3fdaf669fd0f82b0e187c22076c1ee56fa27ae316",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4b112b5f110c2f169569ffe7ac0110120a4d42d6d5996ecf40e0235572d17c0",
      "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]: [-0.522, 1.7378, 0.8898, 0.0456, -0.4751, -0.3637, 0.1178, -0.1219, 0.7883, 0.5766, -0.4206, -0.1703, -0.1841, 0.9974]\nstate[eef_state]: left_x=0.4138 left_y=-0.1407 left_z=0.0651 left_yaw=0.0543 left_pitch=-0.1183 left_roll=0.0751 left_gripper=0.1178 right_x=0.2851 right_y=-0.0011 right_z=0.1623 right_yaw=0.1118 right_pitch=-0.0392 right_roll=-0.0391 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -10.0855, 8.9094, 1.6288, -0.2369, 0.0562, 0.3248, -0.3214, -1.0735, 9.1009, 1.7753, -0.1587, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssg2qkwVcuow2Pv0RrGHXPpPg7HVgch63wVDGwApEz8d_zpiEmapQOFt4Jpi4uPJVSybj8in4S7fyZwjKNyU4A9mS9UozREiVv_z7GD1iZ2lSyE4tN-t13qG2saZjTZ7DeI5gRJJu8jWzFA3aO3SCF5_Yp5eYfBV7FsZ_4cC3nlzyNTD9hv5ZaTb4rlvGAIRTLUGpxwvjpPWMzVonHaqB-npfjFVwWRV3OGRnxq1PecRzlcoWgrOH-M05DPUN5Z-qD4z8mejmUrATM-VHgsuS4_NungvlwIcx4nXWckSgh5eK2R3hT0W1-zibBQFMaACH7PH3CxiDNoiKdhryow2xDmJ_qA3q2HvFeS_od5RU00j6XpvknqsV87pW4O_tXaMCNSlaL4XoXIU0Glg2Un2gQnmrTX1fk_icxMQs6L3RU6xKXlf9aNPpE3nVyeAoA49UH04qi2WCyMPuTBEb5yS2G6k9LrXjkp4dHKSg9nJ4Lq9eSw3-hCAC92Jv61Nu6me_OQgDn_hWfTxd_gSXRAdxoCIN7r84GWjWUEw0RxQ_2mnYhqz-s8F5ZMAG62AX75HVeKap-KEuWq9ufnDeJbkNnk_O3avD9nSMyO0uC-ScHMbwKczwglwl-swUK1E3JnqDvA-tbOZd38lJb4o4YHLpmJJIpwk0KtIw9GV1mX3KtSl1p_-bw8gG3xfKKi8eXTKkmxMxiD_m26PdkWJmyZOLNXIzEcsL0Gx5dY2bnciWuI4LyHU0bKUzwsVIEiwKR7FH3TDb9NwU4uo4jD13Kg12TAPtMO4SVUWV38aGtpjboJ_l3SPwyeS8fyFct60im4xvaP3v-hL1Avnx6TgKbn_L5q93Yg6TlCDQ9s66mX8kdvqTYI4lZaoCYWcUg_m5xK2QGrDUZ38jOc_c9yjjuoQeXaL_a0YKLM0IB1eamM5Q_EUVuV1I8ChkaNQPE2bzmp_4XUHQLneTkWv27tWJJVxe46eqwCyFWVy8h3K6T31MgvaEph5g6auSqE8aibbDxMunUNeiADkm9bLd010Dw39yHEwcdD8hyGm29JGk2Fq_pqyaTf51ljpcrGcQ9Bo33NViy-S5NQTNN_xZexVv2L_Ap9fQJGESut6abob3UjACnNw-lEmj2lW-AlekLXO9J4HdljkKTKRWQb-mqt-ezuKn_Bq7qaq4KL_ilxgk-qLUgGwdO3CppwMZVQJ5jDkPuEP-SaS4xsYmclWckxfxn7Fx95EzCJ3ZuDERJ8DGBY9v4fhQ1MpcraND9snj7AVFoZy-Bce52iiKRXZg2vzII_XsAmLvOqdwS8qUAo0aKHxRnZHKAlNQXiX2iEiBd3hLMPZDR_c",
  "id": "rs_02966c8181c9840a016ab2c8337ff887d090952623bff175aa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.34,\"left_z\":0.13},\"note\":\"The toy is above the safe’s near side. I’m moving it farther inside and lowering it toward the red-lined compartment.\"}",
  "call_id": "call_9rgiq1Kk9VKX5VpOlKkmPgCc",
  "id": "fc_02966c8181c9840a016ab2c835863087d0915fd0e795eaa2bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9rgiq1Kk9VKX5VpOlKkmPgCc",
  "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]: [-0.8242, 2.2692, 1.9274, -0.717, -0.6399, -0.6628, 0.1234, -0.1238, 0.7959, 0.5774, -0.458, -0.1772, -0.1993, 0.9974]\nstate[eef_state]: left_x=0.4498 left_y=-0.3255 left_z=0.1041 left_yaw=0.0615 left_pitch=-0.2032 left_roll=0.1243 left_gripper=0.1234 right_x=0.28 right_y=0.0002 right_z=0.1535 right_yaw=0.1246 right_pitch=-0.0814 right_roll=-0.0367 right_gripper=0.9974\nstate[joint_eff]: [-0.1299, -15.2821, 9.935, 1.1844, -0.3639, 0.1734, 0.2613, -0.1162, -1.5248, 6.9812, 1.7167, -0.1343, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1438023f84fd9a60c3ed83a16be2a54e8d66f6a61857847b5499ce439129871",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6c83df113a17ebb94facf43f8a2add29f57a23514310431fa8a2f6e2193c1e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2ef23ff86a2bd37041bb9ac26f2cb1ccefa169ce4091074ef474432e5fec2c4",
      "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]: [-0.8379, 1.945, 1.7535, -0.7696, -0.6518, -0.6559, 0.1208, -0.1238, 0.7914, 0.5774, -0.4484, -0.1764, -0.1986, 0.9974]\nstate[eef_state]: left_x=0.4094 left_y=-0.2894 left_z=0.1976 left_yaw=0.0386 left_pitch=-0.1337 left_roll=0.0595 left_gripper=0.1208 right_x=0.2812 right_y=-0.0001 right_z=0.1565 right_yaw=0.1233 right_pitch=-0.0679 right_roll=-0.04 right_gripper=0.9974\nstate[joint_eff]: [-0.335, -10.1949, 8.4991, 1.1746, -0.5788, 0.0513, 0.2955, 0.0205, -1.3607, 6.9128, 1.9219, -0.0464, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssg7lUX002sIXsrz2w2RivJ78RfmTUpQYRxlY8O6z59x0Y3Zezs0t_4d7sisQtFbBFKnjMZcvP0gL3mo0BMaBRB2XUMJXCl6dbvklZJ7Cy67APfct7l2NXZ8SCbhjnrs4XLDrN6SKaeaJQmFgEhvzixBF7Dy3yGL3VojyV7eyMbx3mZNjaMoV485jGUdA4J5HmheOXc6HWcGKO_iWgXddESklYMP6Or2ADwB6IfoY3Lwr6x9fwMBRvgHkRIvO1waLB0VP5QiRWINPql6sTxsNmhGAobUeVfA0oAx1g0yE0Fvn7Tb9RlIAuuiHTbX2krM9KVC3jV07jIhFDEKeHnmaspEmTk0ibsQPxvnN5EhxJH37qAk6NdGd-ryM5-EKKD7NPOwE0k7tWQKCsvBp6rlje8LY5xcAjx0ZZvEuzw1zKLp0auyUS5yxIUrfM2LH03xhnvm-GhTcYLslWkkScuobfQZNNO7Qdpt8JY7Yh25ItZi-vwpPfBQrw6T1tKVN3jVe43_F_0M4CwvKdSMdaXmtfJu8m68zKtQYxKt2KYIGhyNqZkb1FzhLQFY_B6glLvz5H5hpKj8Ai5Sd0eYSWRx98csySD6I4dxuQkGEbAl2WvNwq6rMBSI-ML_i3mNW9KjkdE8hfqQVUj5MlUwjY_Cd4KArSw1CEANkf0oaSnC6gET-I8o0oqoocBPVZswIb-dJ2iWbte7tND1gLIIDZmSlMQHkXVKoE-mMfLM03ml4ntKmBdstQMV8bcQsrX73R-jUVFMEwbYSY2SJOn2mHWN0GQxrXVENV0u5wsH2kvR0YLm32KRn1dJvsUIiKyoSHqvGnphFZtAwKwom4c5kpqHPkDvVQ5ITnT8g_einbOHtEyRWJHGgz4-CHVeauEJ9UCTWKutdjNUIEWjZE1RdBfYst8AptDPhBP5fPIPqGKauxfNFtCfkBKojC1FF4vd8pt-WF-UJ1HYx2OYAM41WbIf6QosiuB-Q2WHQmKCFQ3pDfm-h8f9bSiXmOHz6gIYj4yl03Rmvsdzo9OwrtqUATMIeg9nPfc3IApVUSYWzp7cRt2m9ktCt46sA1RyJVr3aj3I1CnGG-AJUm81kSSlOgwAUyjUWGouQdhsI9zBAH67L9X2dl2BGC871b5rVnanCu-t2G27wt-o8GkfHE68GMsM9cOSxqsi7jQxEacz9p7fjWrW-PO_T3HzmTPlqDuOtYkY_XWV8_Vq4go6k3aiRjT4UVT_Tw==",
  "id": "rs_02966c8181c9840a016ab2c839b58487d0a586e94a0ef3a90a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The white plush is positioned inside the open compartment. I’m releasing it onto the lining.\"}",
  "call_id": "call_nVJPuFZXtdY5gP01rKWHrqqj",
  "id": "fc_02966c8181c9840a016ab2c83a24ec87d0a067d1e7b17fdd74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nVJPuFZXtdY5gP01rKWHrqqj",
  "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]: [-0.8249, 2.2906, 1.9572, -0.6914, -0.6373, -0.6521, 0.9953, -0.1246, 0.7959, 0.5774, -0.4778, -0.1772, -0.1993, 0.9974]\nstate[eef_state]: left_x=0.4566 left_y=-0.3341 left_z=0.1059 left_yaw=0.0481 left_pitch=-0.1841 left_roll=0.104 left_gripper=0.9953 right_x=0.2769 right_y=0.0003 right_z=0.1497 right_yaw=0.1243 right_pitch=-0.1007 right_roll=-0.0318 right_gripper=0.9974\nstate[joint_eff]: [0.1573, -14.4752, 9.1282, 1.4481, -0.4322, 0.0904, -0.149, -0.1573, -0.9915, 7.1316, 1.7851, -0.1343, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7f04d290959ad5486ef18e5f0132dd4e79c44f35df6d7033fb979e8f9841820",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d60b2cd0d2fbb683ee6a0acf09ef8fa765436d036b2ceee03dcb5cd1f3091e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:606a06d14f759948f2ed3c58561ce6f47e067b2f1c569c2cd8f181b4cb6bb372",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8242, 2.2692, 1.9274, -0.717, -0.6399, -0.6628, 0.1234, -0.1238, 0.7959, 0.5774, -0.458, -0.1772, -0.1993, 0.9974]\nstate[eef_state]: left_x=0.4498 left_y=-0.3255 left_z=0.1041 left_yaw=0.0615 left_pitch=-0.2032 left_roll=0.1243 left_gripper=0.1234 right_x=0.28 right_y=0.0002 right_z=0.1535 right_yaw=0.1246 right_pitch=-0.0814 right_roll=-0.0367 right_gripper=0.9974\nstate[joint_eff]: [-0.1299, -15.2821, 9.935, 1.1844, -0.3639, 0.1734, 0.2613, -0.1162, -1.5248, 6.9812, 1.7167, -0.1343, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsshDcvqfzuQb1DN83vw3UCBWKXfz0ktBCA2uKLe5TuD-WalTnN1PKinoRrgf99sxEpB8KISwLxb4A2A8bextabw1-Gh_qu_fKmOIZzwqWV6MKAGHVhHwSrVkQlXLhOlguZwA3aDr0RMFz16nW6y7iSGNo7BlPrKiDHV-5qUTx8WXwAiITOo_WRjxNCZuJQmgpe8cNLhifQfu0AIzC4S1M4BW1ldEi5FerhZCwdKbfoGyHojOoatlE_wIiYW1zNIKXDiGknfY9dBw9_rGbgsqOWBxbMU-D5IyD94rA6Afm5bKgP4Zw7kR7wsnFkJ0eiVKWaRyIoXiUsqIrNEwmgAYIYQRbpx5KikMXI4PO_bWItNfilH-dOG-7B6lgG_wGIGdo7V5S9dki7J--fZWDeQeLKEDwruVruHO-858xsjXIDBCgw1p24opAOv8HshaEXa6pBaCwsJ1lMGqyRXVV6VxiJJm39SOTiK-iBEMJambS2_x4T8_6-4Pod1UR4bWggNsCHkCCPAd4fTP9sMAS5A9GNaT7m0WV5wAQNGLXOFh8tTBcAwfyUrnotBHnCruX9HGlpG0hsS002KPsnPZ_yO8kw8zi6MO3KFvD9KNEGyOjY1WC0drehmX5s0SVYYcE6n1BWtxbcG2Rm3pLKlFb1xYIPYDT3mEIJSP385uOqjKG-00IWDm5-eJy0b-HDePQU3I-BibdJsqOmIFg_pAmUhCfRIyOEtF3sVDx6dOa0zuGpdI-asgUY5aeuFuS2UN3fR1dk9MD1mXF9xYYVt2Cr-vneSk266Hff7nxo-NbA9u0sFqpuxY-oIgly0Hb06ky7ItRTh2AUyC1NG6p3NQzFHshVEp_4ziqS46gWr3L0iKFgbpFK0coj6kTLQ7iOXQproFvZoA8s6q-KsUDYTb3STcM4poFGcWHdqfleNgoDZeC8XKKryUHLKu_ocw-87NmxV441iZUzQFCMltrgKRCqjZRg-PIb6avgkt4NWkoYQykhNAM_7MS9_BcbzyMJ9yyx3_kt979ALpwnT_x1KF9yVqqqBxph6o1ExF3t9joBbZoN_Z5evkJ62ytvkogMY78C9AnsSCvLVlXPCClMSAdhg8Zn8Sg6vCVjSpDbt5HVkcs15dAnv3S8pWkjKTG4adU9cfsXXQBhCqQN6Ghq7VN9onIQiFSlpSkcsOLuDwRkr3mi5R1Gvf0xyUKv7zuReu-or59livl1jMx2t2fgmInS_4eL4VdwdrYtJUbLUL7d3nLeEpwM-pdeHhU-jSM575M_-Jqe8ygttvkudDvhoIVs--f6aC6XyLpKRAmJ17jXB40bUD3ngvgq8ZES7Mc9XxSMDFBlQX",
  "id": "rs_02966c8181c9840a016ab2c84030b487d092b0e68acf435c6c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.28,\"left_z\":0.15},\"note\":\"The white plush has dropped into the safe. I’m moving clear and positioning over the brown plush in front of it.\"}",
  "call_id": "call_vylVIfEiuTvhewnZN4NRuopk",
  "id": "fc_02966c8181c9840a016ab2c842571887d0b56c501cddf6b394",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vylVIfEiuTvhewnZN4NRuopk",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0676, 1.7863, 1.3735, -0.7982, -0.7204, -0.9077, 0.9963, -0.1246, 0.799, 0.5774, -0.5003, -0.1768, -0.1997, 0.9974]\nstate[eef_state]: left_x=0.2963 left_y=-0.2892 left_z=0.1369 left_yaw=0.0231 left_pitch=-0.2084 left_roll=0.1179 left_gripper=0.9963 right_x=0.2735 right_y=0.0007 right_z=0.1448 right_yaw=0.1249 right_pitch=-0.1255 right_roll=-0.026 right_gripper=0.9974\nstate[joint_eff]: [-0.3214, -10.9607, 6.1744, 0.9158, -0.6081, -0.188, 0.0904, -0.1162, -0.8547, 7.0222, 1.8242, -0.0952, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:343d2c50a2ecd787f6751f13cbdc07841c33db0832a4ec78c2dc81f9b6878c3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29e1e993ca628baba8ed8877083b1f17ad422df68aa7a2fd9a4b33f01de0c439",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27b3291d1cb34bf8aec2de92fabbd3f9b877e04c751ff62bad12f7567dcb01b4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 88 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8249, 2.2906, 1.9572, -0.6914, -0.6373, -0.6521, 0.9953, -0.1246, 0.7959, 0.5774, -0.4778, -0.1772, -0.1993, 0.9974]\nstate[eef_state]: left_x=0.4566 left_y=-0.3341 left_z=0.1059 left_yaw=0.0481 left_pitch=-0.1841 left_roll=0.104 left_gripper=0.9953 right_x=0.2769 right_y=0.0003 right_z=0.1497 right_yaw=0.1243 right_pitch=-0.1007 right_roll=-0.0318 right_gripper=0.9974\nstate[joint_eff]: [0.1573, -14.4752, 9.1282, 1.4481, -0.4322, 0.0904, -0.149, -0.1573, -0.9915, 7.1316, 1.7851, -0.1343, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsshJ4irK2Rb92mAYgUKQ7vzH1Kyw9wd1Pt-1Dok1_eSDLLI38kLxFiW9k6H1-uUDjhGuReOPdeJD42c8syFruCyOivB_se6QdOH-mGArPtinGLazzMIBkakEJ-wUtvmZPtNjtkwQ1u-11ZjL3-Dti17bU6GNe98_AGIDnG6_geeTWzD5evoVFE2Jl5AHfN_SsdFXCuGqDj6yfv_N7cskkz2KgFLeSGK46q7sBUvaXgHcPL6Xbk1h2wJdyJNqL1ubgHB1cIssm8i7-F3TEp-Zgn22XaioMTwQXixa4uJEXNx0qOojTXp7rudnG2yKdnPdFNYrcrHYbZv2v4i9_0safc6Klq2MT0lFWhx_YpO9-vOEGoDyDIy2x96p2YtRVyiCoPmul5DBJGLJcPHqk85Iggpc0yU_M8wKNaCFs65kyptA23Y_mEXCGd56HHLyqX54-pDTnEea693TIlEg9mbzUb7WikSqABWV2ly5rPLy8bXT87-asjnWEKEUlLOiVCG7ayTyjraS7-roGcMRdVmVMGzH6LaXJlxJkbZAWs7fZOnv5kwx8IVu56aJx4DSZ9pRfgAJvfy_7LgLBOr-Vd6F2Bdgd1XCbSlBORPK_eDfpnt_DeILsX0pagvglYOh7ujDaKzjnM6JskmfcKMiyKFoz42-MxCrk0cUVs1OOkY62sILQfM1B4YjH4bbJw0fOaCl1InjZfKtCandr7edMzyrdMqSgr8xavbab6sq1HfsaHZ5aoCyZPlQCC7xAfiGROli3fJdXJv9AWQeJBel69Ci1h0hzXSTDQyQ5YsXuKYcIHGrMO4BbujlvTPTBxIEPmlyjj82zrumj25-XZP02bxFSbeNZ4bF0NrFTGmwi-CEeZri479J5cay9xyai7-FxRRR1T59SjPlYe6LdY5DrSLvemTEnMcryO8fT0sNKu1QUaWYfqxqLtnFmeyZCptHKXkVVFQnhfdAnc0vziFpf__sIUox90_BR2lEr8G5MR6kBoTU_JcXRJnEzV6BlbOJO60_ZMEssK2nHU4DBSQ6E4nMTq0xYPUGz43Ii5H9IvpHugkq_Lf7xlcaW43GX6veUqzxVDG48Ts0beH-8qGQ3ySQQOFC_qzWHwGgztyrZHXbVA0fJoxLaB10uZIYkOH_gHEQgK88G0k3G2d5aAtpIcjFBT6Oii51Po717MMaXFHAmhYq_z-ATK8xa8a_-Yt8DZZPVqhC",
  "id": "rs_02966c8181c9840a016ab2c8473fc487d09498caf8d02abe95",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_y\":-0.28,\"left_z\":0.02,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The brown plush is centered below the wrist view. I’m lowering the open jaws around its body.\"}",
  "call_id": "call_EBcd3rjTiJLMGnKK8MwS4Y9W",
  "id": "fc_02966c8181c9840a016ab2c847f10c87d086e7d4f959e0a6b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EBcd3rjTiJLMGnKK8MwS4Y9W",
  "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]: [-1.1271, 1.8835, 0.8749, -0.102, -0.8474, -0.9211, 0.9965, -0.1246, 0.7986, 0.5774, -0.5228, -0.1772, -0.1993, 0.9974]\nstate[eef_state]: left_x=0.2798 left_y=-0.2718 left_z=0.0205 left_yaw=0.0164 left_pitch=-0.059 left_roll=0.0684 left_gripper=0.9965 right_x=0.2698 right_y=0.0012 right_z=0.1408 right_yaw=0.1258 right_pitch=-0.1469 right_roll=-0.0199 right_gripper=0.9974\nstate[joint_eff]: [-0.5128, -7.5282, 4.1778, 1.1551, -0.4225, -0.1001, -0.0024, -0.1299, -1.1145, 7.1043, 1.79, -0.1392, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e91f10dedaf8cde2892218af74a40e7afdd9ca4c193729283f5064e75f07e00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fd1ebaa8d244a820e07173a4574073a3cdb0d669a4644656c6481144ebf8454",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b57f21596fce48b6fadf88a0167f91f14628429746978c1b9be407b5fc0a52ad",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 92 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0676, 1.7863, 1.3735, -0.7982, -0.7204, -0.9077, 0.9963, -0.1246, 0.799, 0.5774, -0.5003, -0.1768, -0.1997, 0.9974]\nstate[eef_state]: left_x=0.2963 left_y=-0.2892 left_z=0.1369 left_yaw=0.0231 left_pitch=-0.2084 left_roll=0.1179 left_gripper=0.9963 right_x=0.2735 right_y=0.0007 right_z=0.1448 right_yaw=0.1249 right_pitch=-0.1255 right_roll=-0.026 right_gripper=0.9974\nstate[joint_eff]: [-0.3214, -10.9607, 6.1744, 0.9158, -0.6081, -0.188, 0.0904, -0.1162, -0.8547, 7.0222, 1.8242, -0.0952, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown plush fills the space between the jaws. I’m closing around its torso.\"}",
  "call_id": "call_o8gXTCOrrjpb25Px4nek2zN7",
  "id": "fc_02966c8181c9840a016ab2c84d7f5087d09aef61141acdc296",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_o8gXTCOrrjpb25Px4nek2zN7",
  "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]: [-1.1309, 1.8885, 0.8703, -0.0719, -0.8806, -0.9215, 0.0417, -0.1246, 0.8024, 0.5774, -0.5461, -0.1772, -0.1993, 0.9974]\nstate[eef_state]: left_x=0.2826 left_y=-0.2721 left_z=0.024 left_yaw=0.0276 left_pitch=-0.0235 left_roll=0.0614 left_gripper=0.0417 right_x=0.266 right_y=0.0017 right_z=0.1357 right_yaw=0.1269 right_pitch=-0.1731 right_roll=-0.0131 right_gripper=0.9974\nstate[joint_eff]: [-0.0342, -8.9094, 5.7504, 0.696, -0.1245, 0.0122, 1.2137, -0.1983, -1.3197, 6.8581, 1.7558, -0.1197, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9ca71b35ec1c9c48bba23fb0b6365ef5249a934fd7eb0ece4091ac9f45e1149",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a5b55785dfb91672de88c99fc1d235ca4888ab1082e327fd91a736840adc324",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c57f1dafcdfa19973a2d05d56ba31b5ce680354edc1dd165e3bf885c4720e231",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1271, 1.8835, 0.8749, -0.102, -0.8474, -0.9211, 0.9965, -0.1246, 0.7986, 0.5774, -0.5228, -0.1772, -0.1993, 0.9974]\nstate[eef_state]: left_x=0.2798 left_y=-0.2718 left_z=0.0205 left_yaw=0.0164 left_pitch=-0.059 left_roll=0.0684 left_gripper=0.9965 right_x=0.2698 right_y=0.0012 right_z=0.1408 right_yaw=0.1258 right_pitch=-0.1469 right_roll=-0.0199 right_gripper=0.9974\nstate[joint_eff]: [-0.5128, -7.5282, 4.1778, 1.1551, -0.4225, -0.1001, -0.0024, -0.1299, -1.1145, 7.1043, 1.79, -0.1392, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsshUUhnNwHpYvwTy5ZbkwV-lfbfeKnHO0M_a31L-qv6WIIw8AIMYkk_LKyRVQmJ_dZFXjTouagsVRrf_AzYEhD26Db_kJFBgjtOQNV28j_uJcc4Rkug18VOXTU7W91UoZGHbl4PPxYe85N0DuN9zj1-usK5KG8yh1Ntpwlq1s1xXLD3YRuDeha_hcNjN2CpKr2KJXSlyhhHl3sjSloJL6LCL8GWLcAnM96QFWCH6OTTLIKBCOQHuaaigobO9_tLZqPpoYb-KQ_lH1yw6dQpWIAO3CRpRa0BpUHIFrRpBTyu2ii22EPV7wDJGjbcxYA1yGj4kfbrHugysiSchbyS4JHIAmKQIelNG54UkQZQmGyfyoF7Ge5iGEyLgLUd31c80gj2ewA3PIIBny2cvySpUMurWjvS0cB8os4HwWxFdCLOWTGiMKiTQqNK4RO2UO6vDZwRTYviod3owkFadMHTT4VRzBhq2sWm2AGyeXFTxL38FAdRSnYEiSoNHXJ_YTQJdCwPBIkaZW6LFhyb7xRvv5-MhbA2RuBSXWsT4KRHEvCOFqqyZ137Pii7jWVZvHaHQVuKJwcna9k_Cck-c8B-oqK361P3l5vvjv1pcii3OXmJdBC_5OrFAOBX9G4-mzhOTDLoXjVbWeIFziVbo9SLk47G24QO0gIV0tqvaDHqc2E86ci90x6DOwjk1GZjdgxf_0bRBJTlWspusDSl4__Q4kAUqX_3V1HGqdMNsHe-TtVJhWLK2AUVcJ4yax3RX6BmjkesNJA3jdzBLmdHmshjBNkNRVSzIQ5KDl5Xk_1XOkhHMoCwtlRpW1ppD4W_bhzy5dOSIaDU8HLZ5fh3THicSOV8dckSD_zC_pf77FtaI9FhihXidIqIIyliNgKtpqLIRFQbRjBmByULYKDaW9FJEY-lxQUW0an_oYHdQ5H4DQYRU31gfeIF-lsq9fZKS3U1lmn-nKaooYYLuO0WQhrhOsJ_x4DjFybld6RT_wK65wWMD408TK65yZoWXYBbDmNauFyywwi-3iuooTK7Zw3FX-jWWovUxSBuZ7HO-A-kM0rMEMU9wm6GUUONwoBcnlyT77nf-5wSaOxcl_EhAjOs3N7IwnWXeoypfyPDqHcv1-NyH3UrM7BHXBB7KprWVHucUbekHsZy-LIBzeTnoEtCpesbyPcMLJXMXqjPfqubJ8O54VREA3291J95PZmc-fYPTve0nrmP_HdTCT7-3i-DL33IT40UHgjPZv3Pz04281YA94j8=",
  "id": "rs_02966c8181c9840a016ab2c851e4d887d097e0e9cb0d612b70",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.1},\"note\":\"The jaws have closed on a compressed part of the plush. I’m lifting briefly to verify that it is secured.\"}",
  "call_id": "call_vbYewxSM1zyT1gy2CMIVD8J1",
  "id": "fc_02966c8181c9840a016ab2c852e7c487d082dd2d2276a894ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vbYewxSM1zyT1gy2CMIVD8J1",
  "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]: [-1.1309, 1.7531, 0.9661, -0.3256, -0.8711, -0.9295, 0.043, -0.1246, 0.8024, 0.5774, -0.5682, -0.1772, -0.1993, 0.9974]\nstate[eef_state]: left_x=0.2808 left_y=-0.2708 left_z=0.0757 left_yaw=0.0282 left_pitch=-0.04 left_roll=0.072 left_gripper=0.043 right_x=0.2623 right_y=0.0022 right_z=0.1319 right_yaw=0.1279 right_pitch=-0.1945 right_roll=-0.0075 right_gripper=0.9974\nstate[joint_eff]: [-0.0889, -10.4, 8.2256, 1.0379, -0.525, 0.0611, 1.0281, -0.1436, -1.1419, 6.8308, 1.7558, -0.1392, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4409c7fd06d2e2389543320b3fe7c908f460a86eaf6e590b985755e5fee293c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52b047de70e1b1f45fcbd79fb2a8c1ea63999137e4b648ad869d7bf62f2eaae1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b08fd8d4b9b48de88569fafbaa4fd0e1f051fe1e9448a236b9625de5f405d9f0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1309, 1.8885, 0.8703, -0.0719, -0.8806, -0.9215, 0.0417, -0.1246, 0.8024, 0.5774, -0.5461, -0.1772, -0.1993, 0.9974]\nstate[eef_state]: left_x=0.2826 left_y=-0.2721 left_z=0.024 left_yaw=0.0276 left_pitch=-0.0235 left_roll=0.0614 left_gripper=0.0417 right_x=0.266 right_y=0.0017 right_z=0.1357 right_yaw=0.1269 right_pitch=-0.1731 right_roll=-0.0131 right_gripper=0.9974\nstate[joint_eff]: [-0.0342, -8.9094, 5.7504, 0.696, -0.1245, 0.0122, 1.2137, -0.1983, -1.3197, 6.8581, 1.7558, -0.1197, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.34,\"left_z\":0.24,\"right_x\":0.25,\"right_y\":0.08,\"right_z\":0.08},\"note\":\"The brown plush is lifting with the gripper. I’m carrying it high toward the safe and positioning the right arm near the yellow object, which has moved to the front-right of the table.\"}",
  "call_id": "call_XctwpTrdSDmPvZSXHlJlVcjZ",
  "id": "fc_02966c8181c9840a016ab2c856b10887d0bb2a59c8e01b745a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XctwpTrdSDmPvZSXHlJlVcjZ",
  "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]: [-0.9043, 2.1353, 2.0968, -0.857, -0.7471, -0.6849, 0.0471, 0.4332, 0.8478, 0.3916, -0.3927, 0.1814, 0.1596, 0.9974]\nstate[eef_state]: left_x=0.4268 left_y=-0.3427 left_z=0.2298 left_yaw=0.0449 left_pitch=-0.0323 left_roll=0.0314 left_gripper=0.0471 right_x=0.2414 right_y=0.0805 right_z=0.073 right_yaw=0.1765 right_pitch=-0.2477 right_roll=-0.0215 right_gripper=0.9974\nstate[joint_eff]: [0.3624, -12.1504, 7.8427, 0.7155, -0.3785, 0.232, 1.033, 0.1026, -1.1556, 6.694, 1.6923, 0.3101, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d73d9a08a05a5b4bbcf716e30b23506c948b61d873ddeb7991fe6ebc9f165d4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:734faacf64ba88c7da12cac0b6ed758fbf1e0442419629696154fba8253c7495",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c9e07810f3addb0e9a213516e83d2d162d695bed2d37a7fa11104864755d8fd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1309, 1.7531, 0.9661, -0.3256, -0.8711, -0.9295, 0.043, -0.1246, 0.8024, 0.5774, -0.5682, -0.1772, -0.1993, 0.9974]\nstate[eef_state]: left_x=0.2808 left_y=-0.2708 left_z=0.0757 left_yaw=0.0282 left_pitch=-0.04 left_roll=0.072 left_gripper=0.043 right_x=0.2623 right_y=0.0022 right_z=0.1319 right_yaw=0.1279 right_pitch=-0.1945 right_roll=-0.0075 right_gripper=0.9974\nstate[joint_eff]: [-0.0889, -10.4, 8.2256, 1.0379, -0.525, 0.0611, 1.0281, -0.1436, -1.1419, 6.8308, 1.7558, -0.1392, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsshfAZZRcDl74JGYlBsuRDSsr1W6V1ARVL2IX1Drvh8sChCN5eQzTQEoTk5WOdVey0vLSxvWlpHqJ4ScNG_m9fGWn2FgYdh_f35o-lxYabwN7bWnLw_3RnUH8v2ZYsdr-lVt-cgclJEEpkOxjDHyZ3zzQ4GDla2HjPJc8ozNVG5edegFGQO-mZJ0vLDbRxzF4cSiS4BRoavFLTiS0g7OKBIEAp4E7md1Ka2PwclWaMhEub4qcgo__IMbEKwI3p8RIFj5fqfYMzMvOruLxK8UVAFi8y5jZffVAGu6GkDKzjGS7C8P22QOhgH8tQEM8rz3Y0p27zlKzqFqkdyVCkAMyQGmz_3UX2u6Yo6l6yKBpA81ALKuoO5nbR3lBRnIAHpd8VWFOIe5iRxvRUDEmaS4JImrYdUd5g9-_LAxvuKzxnKdk0D4KWQzqkYWUHrW3RETfuVC-NEVnC8h_5254jWIbaJEWZhd-0luu-m4b12M5KBYOBc-L8WVuCFzh5vXuGhbD2yjJpPSmOW3Gxp2hYBjyji07SxDfbElQqVl3Zf-jGaOnMsFq-bRUTzdNWbQWIQPG5hwHys4LK0OjYLQMISURlBbBG86FEhsWy8M_4WZo_gaiJ0AYfCh0QbgIZjjskxNu488bSNIp_XyeR_Sb5shAbHYUMZb5u1NEnWNr90D-gnH9099dixnL07Uyl95iCKCpukU-6rDI2Nu4NKC-m5mNxTsal2gVGGHTh9aCf3I2JYv3B7IaxTW7ot4EThiK9lsy7HWzaTb8kORNemaYHDP-wIr-C1YH7j-X9JkHWROXfd1mHrqMxVgqQYT483Tb86CsGsWJFBay36TgZdgcUz-BrWwNNpaiFnaSQCoDY6zd-VCkYeclio0lEsrQeyIFQAQxErvTdYG9n3JQRku-L0Iom2auDa4NwyYJ7mBE2PIHqIpDO4un3diZM398kDYgxlebC78DV3_96kIFGJEwnOaJnupPorYj3_hgS3-zmMlZt4yU6iIbgaHRE9pHBhBkXuohS8VLtBBXzGnwSvH58z-KL1aq_YrGnBp6biNKQLUrgaYhHEF8iX_x8u8Bzgj-b0As1d1w92BDsGB0nZv_JpR6Cd52V3bhkUpLZAX_Pe58qiC5-0NGx_7OkqVTmXUlSWf0cV3C4tcU4Ck_BISmlt1zIKny4nz-ArbVRBw0Fk3XKX9aL1cNY0LmpaJIPdN3fsCW9W0AZfhuRNniGm6tnCL9rPk2y9xHaqvM6csEVx1pK5n-nNLseppuTRO8ZEHrniaDo3N9J6s4-i216bSFuS93tuP1emXevNtuC91qFAS_Ny2A5u2OA7NdF4w6WfVHj2u8pulHWt0IyxstBMv-XC4coB4Jg==",
  "id": "rs_02966c8181c9840a016ab2c85be70c87d08d6c91ca8a10e7cc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_z\":0.14,\"right_x\":0.245,\"right_y\":0.065,\"right_z\":0.015,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The brown plush is above the safe, and the yellow object is centered near the right fingertips. I’m lowering both for placement and grasping, with the arms well separated.\"}",
  "call_id": "call_xfsLopZ3iXeTl8Gunp655D74",
  "id": "fc_02966c8181c9840a016ab2c85d489c87d0b18b2fb07f50d697",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xfsLopZ3iXeTl8Gunp655D74",
  "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]: [-0.8566, 2.1998, 1.8587, -0.5617, -0.7101, -0.6426, 0.0471, 0.3462, 0.9264, 0.0071, 0.1883, 0.1425, 0.0914, 0.9974]\nstate[eef_state]: left_x=0.4517 left_y=-0.3398 left_z=0.14 left_yaw=0.0458 left_pitch=-0.061 left_roll=0.0541 left_gripper=0.0471 right_x=0.2332 right_y=0.0613 right_z=0.0012 right_yaw=0.1656 right_pitch=-0.1392 right_roll=-0.0176 right_gripper=0.9974\nstate[joint_eff]: [0.759, -12.2325, 6.7761, 1.5507, -0.3785, 0.1245, 1.0281, -0.2803, -1.9487, 5.8188, 1.8388, 0.1001, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bb089d1bb201100b127491d7bd8d4f29c920b9e6b9e18f40ec53e3807c9cb2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bed20844551ec52bfe2f4403a031adc44ec307d937f399da3a9a161bb58bc53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffa677f766f84c5186bf25f8f4bb7305a5afa389f757afee6d5e36affc1da338",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9043, 2.1353, 2.0968, -0.857, -0.7471, -0.6849, 0.0471, 0.4332, 0.8478, 0.3916, -0.3927, 0.1814, 0.1596, 0.9974]\nstate[eef_state]: left_x=0.4268 left_y=-0.3427 left_z=0.2298 left_yaw=0.0449 left_pitch=-0.0323 left_roll=0.0314 left_gripper=0.0471 right_x=0.2414 right_y=0.0805 right_z=0.073 right_yaw=0.1765 right_pitch=-0.2477 right_roll=-0.0215 right_gripper=0.9974\nstate[joint_eff]: [0.3624, -12.1504, 7.8427, 0.7155, -0.3785, 0.232, 1.033, 0.1026, -1.1556, 6.694, 1.6923, 0.3101, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":0},\"note\":\"The brown plush is inside the safe’s opening, and the yellow object sits between the right jaws. I’m releasing the plush and grasping the yellow object.\"}",
  "call_id": "call_5WthqxZ0N6RTnbyTNEx6n8L7",
  "id": "fc_02966c8181c9840a016ab2c864b37487d0bf45492b7e04506d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5WthqxZ0N6RTnbyTNEx6n8L7",
  "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]: [-0.8566, 2.2105, 1.8446, -0.5686, -0.7029, -0.651, 0.9952, 0.3466, 0.9276, 0.0071, 0.1883, 0.1379, 0.0864, 0.4448]\nstate[eef_state]: left_x=0.449 left_y=-0.3382 left_z=0.1276 left_yaw=0.0476 left_pitch=-0.0848 left_roll=0.0688 left_gripper=0.9952 right_x=0.2328 right_y=0.0621 right_z=0.0009 right_yaw=0.1726 right_pitch=-0.1409 right_roll=-0.0186 right_gripper=0.4448\nstate[joint_eff]: [-0.0068, -13.6684, 8.0068, 1.3309, -0.4371, 0.0611, 0.0122, -0.1026, -0.9778, 5.7504, 1.5653, 0.022, 0.0024, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd4a8969c4fd3f72e6bd9eced1f06e9b0a329ceb9cc3e0960288818119cbba61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99e14c3a5daab77e770776951b6552f4aad68c5892a5dbf83d22b4c469113b9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a2e0c62bb7d9f79e075d6906e6d8d7a843a762231304be7806bbbfbdae8d7b1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8566, 2.1998, 1.8587, -0.5617, -0.7101, -0.6426, 0.0471, 0.3462, 0.9264, 0.0071, 0.1883, 0.1425, 0.0914, 0.9974]\nstate[eef_state]: left_x=0.4517 left_y=-0.3398 left_z=0.14 left_yaw=0.0458 left_pitch=-0.061 left_roll=0.0541 left_gripper=0.0471 right_x=0.2332 right_y=0.0613 right_z=0.0012 right_yaw=0.1656 right_pitch=-0.1392 right_roll=-0.0176 right_gripper=0.9974\nstate[joint_eff]: [0.759, -12.2325, 6.7761, 1.5507, -0.3785, 0.1245, 1.0281, -0.2803, -1.9487, 5.8188, 1.8388, 0.1001, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2,\"right_z\":0.09},\"note\":\"The brown plush is resting inside the safe, and the right gripper holds the yellow object at a substantial width. I’m clearing the left arm and checking the yellow-object lift.\"}",
  "call_id": "call_KPkJncdXURg4ayJ85N8A1pVb",
  "id": "fc_02966c8181c9840a016ab2c86a1c8487d09aeafed348a8a919",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KPkJncdXURg4ayJ85N8A1pVb",
  "output": "executing move_to over 31 steps (3.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1452, 0.8806, 0.7837, -0.5831, -0.2314, -0.1257, 0.9963, 0.3466, 0.6319, 0.2962, -0.4549, 0.1375, 0.0856, 0.4477]\nstate[eef_state]: left_x=0.2932 left_y=0.0017 left_z=0.1996 left_yaw=0.0997 left_pitch=-0.0824 left_roll=0.0609 left_gripper=0.9963 right_x=0.2238 right_y=0.0589 right_z=0.0698 right_yaw=0.1716 right_pitch=-0.1984 right_roll=-0.0291 right_gripper=0.4477\nstate[joint_eff]: [0.2803, -2.0855, 6.4479, 1.8535, -0.0611, 0.1441, 0.105, -0.1026, -0.6496, 9.7299, 1.7753, 0.0073, -0.0171, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76ee7828d38a3cb40e2b7b065186836320c15ab2aa61e8720d8315042b780828",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36db948d7bdf222318a805632f38aa146f81132d952217debde17d347a3d5ce5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a3fec11de99e98657a8eb1f92d4e952c2af48797dfb48ed2c17cdf300bfc61b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 113 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8566, 2.2105, 1.8446, -0.5686, -0.7029, -0.651, 0.9952, 0.3466, 0.9276, 0.0071, 0.1883, 0.1379, 0.0864, 0.4448]\nstate[eef_state]: left_x=0.449 left_y=-0.3382 left_z=0.1276 left_yaw=0.0476 left_pitch=-0.0848 left_roll=0.0688 left_gripper=0.9952 right_x=0.2328 right_y=0.0621 right_z=0.0009 right_yaw=0.1726 right_pitch=-0.1409 right_roll=-0.0186 right_gripper=0.4448\nstate[joint_eff]: [-0.0068, -13.6684, 8.0068, 1.3309, -0.4371, 0.0611, 0.0122, -0.1026, -0.9778, 5.7504, 1.5653, 0.022, 0.0024, 1.0281]\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": "gAAAAABqssh0Y_4i3PfRt9P-PU-Zznb3Xo0dh2f7E5-KY9gQ-aN-sHaBWqWwseccJ4JAhd28RPZ4U3ZGk8SZ4WQV7hOl9TMcpeVhxDlfYeHuuitIlGnheQ8-V-BNQmjfV9cscdy3KWJV3MQS9T0LDhWCp4OG6xgR-kgQ6aYEnQr6KMiVLFClswZ3EPfK-A12GSHs-xWLg5h_vrXSgR8jaL6wHmGVPJ-UqCnAsoiVcw3Hm0jl5j3u2mDuDOU18uZCCMsoLzR9R0gTLgPsMTcyNZfURCu5jL8KUP1KywxNSXfcNQ3jq6zZ3tk6qExCv6DeXTySsfvkMJIyQwhV2iHEiZnL_S7MsIhiGk3v4j0tpQpF8FQQMz2JfZFgtBumrST260godPFrgPKlnaD8rTyF9D3mnrfckfkOr2IVxv0rH1Q3Kkcw_Pa8MtvI8CsT5hUxu6I6BOhuOsLGAYMkgVBxqT6hY4egKEWmLCwDBkxkNXFImwERqB7leiFLJps23ernZ3BSxm09jbxXS66hi_2isS71fTt5-fhL1Zt4hCHXx7dqEaKun606YRk0AHyd4mUGMHD-YMFNHB890BOSy7e2tB_6bA21AChRMJERxM0CM9wnedHk4NjLs-8Dft6j47fHDmBUzD36Fz6VPE27ff6FSJczFxtaYT-M-UFht0WfL5afmXMeUK0ZL1Tu2VgDK6L0w8fom0OaC5GRUhinhogBP-O2aBEC91ulP4cL5xFR8dCgBG20W52bh2oZ3BnJvgkw7Tu1TW7cCDcFDjnaAKhcfdnU6ZNtJtlQ6PfnNC63_MHWUtdJCB3qKA-0Z_HOWaorI0ojokrmSxWKiqhu2bMwuMBSB81YrbzUpicv9lWwxd6elvIrZAhbRC0Z9nzadX89gTv-wH7b44D9BF00fz7V-fXffCrGm9FzXZyv0Yaz3FL0pWqdhVdSX8xJYGukSpDpX6cblfvMIY9yfpJD2wHfZlvdip0ZXou7L8KpykWTlOOIh6yPwWc5aZS3ak7myvh9M4J09rHcIoUnZ-ZmYfVOGIkPg38PkpnmCIbUMix6BIUQjULgSW7PExIFXkD5l3JCgQtTbT-VQ-J5YHRhXy5QajmodR7IGJXSmQ1ct0FruUSL-r_z0U1Wk9bnluljrTNZNcGtW6oo7bpSFwdahB6HzlIvF1ZxiaNXnG-X_9lgQfO9nNWjOMgpOMoY_DOv6kKpKZtAsZrEBGfKTtQkKnjdmN2HrWZfVMyulR6u0d-aICx3UW-YogleLDaNqA2XAFGc0dgX-owPSKmziy9dvZy308wvQ8Q7zZMx2w==",
  "id": "rs_02966c8181c9840a016ab2c871fd5c87d080e58480c9810796",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.31,\"right_z\":0.22},\"note\":\"The yellow object lifted successfully and both plush toys are in the safe. I’m carrying the final object above the compartment.\"}",
  "call_id": "call_CYiPW1T5P89XJHkBRJiTUzMn",
  "id": "fc_02966c8181c9840a016ab2c873106087d082d76f33b5e0b7d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CYiPW1T5P89XJHkBRJiTUzMn",
  "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]: [-0.1436, 0.8864, 0.7837, -0.6071, -0.2253, -0.1284, 0.9964, 0.7475, 1.9717, 1.8759, -0.7918, 0.3897, 0.3714, 0.4477]\nstate[eef_state]: left_x=0.29 left_y=0.0015 left_z=0.1934 left_yaw=0.0983 left_pitch=-0.1121 left_roll=0.0622 left_gripper=0.9964 right_x=0.4246 right_y=0.307 right_z=0.2104 right_yaw=0.1976 right_pitch=-0.2175 right_roll=-0.0382 right_gripper=0.4477\nstate[joint_eff]: [-0.1983, -2.1402, 6.8718, 1.8388, -0.188, 0.0024, 0.0073, 0.5265, -10.9607, 7.8701, 1.1258, 0.3639, 0.2125, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86ea2369cd75b5a6dd050a8ed1cc6561aa03fe12aa935180b2c4a6c3cec2d6bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8891f405a21afde1ffc8ea85dec1c1eea853980ac76350bfe7f7f1654ac6063",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a96448a87ae8fe51a4f0a1e5316f3f6def68cbc01dc66b564300f53878a11e0f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1452, 0.8806, 0.7837, -0.5831, -0.2314, -0.1257, 0.9963, 0.3466, 0.6319, 0.2962, -0.4549, 0.1375, 0.0856, 0.4477]\nstate[eef_state]: left_x=0.2932 left_y=0.0017 left_z=0.1996 left_yaw=0.0997 left_pitch=-0.0824 left_roll=0.0609 left_gripper=0.9963 right_x=0.2238 right_y=0.0589 right_z=0.0698 right_yaw=0.1716 right_pitch=-0.1984 right_roll=-0.0291 right_gripper=0.4477\nstate[joint_eff]: [0.2803, -2.0855, 6.4479, 1.8535, -0.0611, 0.1441, 0.105, -0.1026, -0.6496, 9.7299, 1.7753, 0.0073, -0.0171, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.14,\"right_gripper\":1},\"note\":\"The yellow object is over the safe beside the plush toys. I’m lowering slightly and releasing it inside.\"}",
  "call_id": "call_Z1cDrNbxCeDdXRsM5pJICak3",
  "id": "fc_02966c8181c9840a016ab2c87c2df487d0b1dde00151c3ce66",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Z1cDrNbxCeDdXRsM5pJICak3",
  "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]: [-0.1436, 0.8864, 0.7837, -0.614, -0.2249, -0.1352, 0.9965, 0.749, 1.9701, 1.6058, -0.5976, 0.3813, 0.3668, 0.9947]\nstate[eef_state]: left_x=0.2889 left_y=0.0016 left_z=0.1921 left_yaw=0.1019 left_pitch=-0.1185 left_roll=0.0583 left_gripper=0.9965 right_x=0.4135 right_y=0.2996 right_z=0.1322 right_yaw=0.1983 right_pitch=-0.2845 right_roll=-0.0756 right_gripper=0.9947\nstate[joint_eff]: [-0.0615, -1.6615, 6.9265, 1.707, -0.1099, 0.0317, -0.0024, -0.1709, -10.947, 6.9265, 1.7656, 0.2125, 0.0073, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b28983d08c56c7b0896a712f1027c6972eb8f3e92f0927e27911c06355eb87b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c2e90ac17a4f7039289b2d15c6a9027db65a31200b6c4051df8a5bbc7d65d09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:331d2b520965f5f1b955ec54a6e950cddd194d8904505286a49784e73c448eea",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 120 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 0.8864, 0.7837, -0.6071, -0.2253, -0.1284, 0.9964, 0.7475, 1.9717, 1.8759, -0.7918, 0.3897, 0.3714, 0.4477]\nstate[eef_state]: left_x=0.29 left_y=0.0015 left_z=0.1934 left_yaw=0.0983 left_pitch=-0.1121 left_roll=0.0622 left_gripper=0.9964 right_x=0.4246 right_y=0.307 right_z=0.2104 right_yaw=0.1976 right_pitch=-0.2175 right_roll=-0.0382 right_gripper=0.4477\nstate[joint_eff]: [-0.1983, -2.1402, 6.8718, 1.8388, -0.188, 0.0024, 0.0073, 0.5265, -10.9607, 7.8701, 1.1258, 0.3639, 0.2125, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssiDa9B6_gOSzEQzYK2qI0lMn4ZmZBXziNF0OFHvg35Hv61t0Mqxn4GFN49_ivDv7EFlop76Dnv4frE7kNsx9DmvNd2nznAeTzs0B0NcfsjYqXo5IUHxr5d_-knMbHHAcvy6czLx-zJTUdAJubf7gq0drcnGLVtVcNKK4NZCkfteu0-kbAOT6RpC3Jfu_tcIqMuzR0yWLn0bf63-1mI-zjyZNW5V7wUlGcargDX_H0ok9CCIzGnqcdHDWlNzkYf7_hWjc3lVaICL-RPNLKQhTSOUCmKEq7uWR_X6_l1_2Rzf9-kAJ_0MTx39a4m0ffwacr49bNciCq7S84uX9lMcC4-NwDHs-pSt4x61ajwKfblW-0pUsRSRzj6uyXaQrhJmBhvfmw4z17x94Vo5dF7YoxvcFAnJzePfz4yVhoxhDaP-p4uZM-IvnjH-WGkdqXKVHpdRrDs8pvY_BWmjNMyrl9bl02uWAI2GC9DHUbY7hxOki1_tO_NeqDwOnPZUmZHjwT0EDXVo9pLL8q3jfROhKuij6w0TdAzn244Oym1IY_7YVCm_77PSe6RBfSTQJ22T5NG6fmZsac4ZJGqesgrcVs_iMpGIyEbmuq04m6aEq7_UUnujTySJv9piJLRYfOj4TQLwQF2kEPEZCcHgvQjXP3shLNVB7AamPN_PWvHgKRrSXgnSoIYDv_RWOzNgsX53nVHhScGikeeHXOhNbfRKVhL2IvhGJjGFSHSGS88Wa-_SHQKryaO5QFUOyRp5K9HM7y2ArUkOfabjgE2E5WVA6EXTHzhEqe-uh4vBp9E_LwYhwlePad649lHr-URCd6DuPWWp9qjH0_QQ6pPx1GTOk1j_7kAMze-Qr8NosjtpJAICGfXKXkEbA0ILCvDuCyvrkoO2cjEo7AdI7Itc1e6iF-CFJ66y4OC7QL2zYwrUH4hwJOBgXP5iiFzZcTAlNv_TxG3ne6mA0Qx1BYlY_y4MrF7gqcH4QgKqqlufiij1DqAdX9RsxKGX_N_Uiggc9Or836nCdnjHVtsjd8SDKvyUJsx7lKaEuApZyitGFvUKRxlMjRfiermF98OM-xpSl40MbNRzxkPo2ye2K1tGl7-Tq_JKyxPi_eq3-d4sElAt1gAYwT5Fs6Gchx3QWfDiNCBkJzOVZk1gAyZK8JIKdUBu3KIUOR0fXShV-7q-asy_4pSDeF1G1lwcNgcUSLwEwU0aIqWV",
  "id": "rs_02966c8181c9840a016ab2c8819df087d0bff7d901f857f119",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.31,\"right_z\":0.31,\"right_gripper\":0,\"right_pitch\":0},\"note\":\"All three objects have been released into the safe. I’m lifting the closed gripper above the upright lid to push it shut.\"}",
  "call_id": "call_y6UTRxoXciKi1GMMduSLbqGD",
  "id": "fc_02966c8181c9840a016ab2c882003087d0abbf27844d4e3f2b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_y6UTRxoXciKi1GMMduSLbqGD",
  "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, 0.8902, 0.7837, -0.6334, -0.2249, -0.1356, 0.9965, 0.6178, 2.4767, 2.7369, -1.0393, 0.3737, 0.1745, 0.0082]\nstate[eef_state]: left_x=0.2861 left_y=0.002 left_z=0.1876 left_yaw=0.1029 left_pitch=-0.1411 left_roll=0.0637 left_gripper=0.9965 right_x=0.5374 right_y=0.3072 right_z=0.2312 right_yaw=0.1994 right_pitch=-0.1351 right_roll=-0.1215 right_gripper=0.0082\nstate[joint_eff]: [-0.1709, -1.4291, 6.8034, 1.7363, -0.1587, 0.0122, -0.0122, -0.4718, -21.1624, 8.4034, 2.2442, 0.1587, 0.0073, 0.5739]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:904b5a61b85f6e8640e15510dfd237d26e885d0566ba5f1385f3d4695bbcbb61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed0dddc3237f9ec9be6e8ba9906c2e5113d009cc207c7ae60f0d683db107ccf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5936f8454f941003689435b144023a3697a282431348739ff207612ebbe90eef",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 123 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 0.8864, 0.7837, -0.614, -0.2249, -0.1352, 0.9965, 0.749, 1.9701, 1.6058, -0.5976, 0.3813, 0.3668, 0.9947]\nstate[eef_state]: left_x=0.2889 left_y=0.0016 left_z=0.1921 left_yaw=0.1019 left_pitch=-0.1185 left_roll=0.0583 left_gripper=0.9965 right_x=0.4135 right_y=0.2996 right_z=0.1322 right_yaw=0.1983 right_pitch=-0.2845 right_roll=-0.0756 right_gripper=0.9947\nstate[joint_eff]: [-0.0615, -1.6615, 6.9265, 1.707, -0.1099, 0.0317, -0.0024, -0.1709, -10.947, 6.9265, 1.7656, 0.2125, 0.0073, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssiLWvxqwahZcTSW6f37-yZVZYn0fkKiOMXHg28zIKcWflUXLJQ2PgrvSqHpLTsxdMbHL6cwHyCnR_ZjpRyLKOpWUlCGOXQBTrqaaowmUXTwfPCjc4ur0kjpgFCNZruXNjB6P_4PKlXEpL4n_iMblnQlbeeahvrA2wgm12HhF-OLqOEXM2WES7K1nnOotLDeNsArnBW4OVMGlhp5Gua3wAziEmTBxsAWu7XqU7XamJAn-af09C-9is1AHRPrYcpGxlS9zGGp1FvchX7pb-pyE5f2QhV0XXgFR9jej10iKxksZuxDWcHJEzu4I1VpP6OprMPPFba0X_6ScF2Sx4ct_mn33qx6pbcDzxDnXSbQ3KTyfcVkStvG3e2CfSWxJMw7_6_Ao86kbW2eSXVQ1vAguehedtsd72ueP7mkCGMPGiSw0q3MWIaNYZVaJNJnPAIOg_XV16kHX0ktZuw64oLdT1sNbC10aPbuJo36pAC023Qq2-2vS4SSNZ3_BhvSNzW0QjGjoO72p9EWYyezG7Mf2rHzu0MXIJZJ0e6x7R90D00GyuDWVoPQeTDYYG_wwYobO9H5sodxkEsfqjJfrkPoxOzee0EzftlAMrlhc-1l0BCbM6tjpUs2i0cudMvmekAYOAoWrS0WSFkDxqnuSmCouk2JXOGDvHjBhlU0hxn8T7pee3J4rHujuBgP370S7aX5J-ynjAuhOqiWtBBfIlTJw2AySVX11HjGSSLbuV3kG4TEidkUk_-eRpbj9lAobzkrR3ion7qisUBA1-xHsEsTeDdAu_8BtmhohLwbkcMOLEPul_4TdJV4oeqUiaCRg2X8sFeoA95rtGnm6-zA1ssqckfKpPuEhnCz7LD75zR-cuqbjXgzB9P-nUuUS_VUJB2cZ2IzLPDsjQsy_2iQ2LJWH_HxYEEXdgA508J7eHCLhwHx-1i_d9Kk4RSURY9skUM65E38JqfOygGsmGYX9hyj6fgGQjsmB-Xnb_G_J0xdzW0VD_MCe2b80kmimhogBLfMCKbVnvmG2UznSPpAIY7xwuJLk8tSIxataFPzYzeyfbvF4UoYtl-62yOja6kzD_Ds__sBW35pmkwEw5pgWyaSjWCQWEIDjCpO76Unu2T1zsn6HqTN3gmEIHSrNZ3EwKivrwCSNCI1oGU9ffZQBClwl--d_cRNYS_q9ov6hbG2KJvzvbGo5nfMy5gilRfT__LGu7cgjZGFA4OExRAhVoGK2-zObggF4uTEQtSVeon6aFyQJ951biEElq2HjkuoNYxelY96ArZnQuvTpHjY7G-xKoGBgg==",
  "id": "rs_02966c8181c9840a016ab2c887cba887d09b3ca3b7b67cc1c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.31,\"right_z\":0.095},\"note\":\"The closed gripper is at the lid’s upper edge, with all objects visibly inside. I’m guiding the lid forward and downward over the opening.\"}",
  "call_id": "call_wRmzsCvpDUybHVP9bOK79dij",
  "id": "fc_02966c8181c9840a016ab2c8897ac087d097804cb937dd3ab7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wRmzsCvpDUybHVP9bOK79dij",
  "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, 0.8909, 0.7837, -0.6373, -0.2249, -0.136, 0.9965, 0.6403, 2.4718, 2.8799, -1.1511, 0.3935, 0.157, 0.0101]\nstate[eef_state]: left_x=0.2856 left_y=0.0022 left_z=0.1867 left_yaw=0.1036 left_pitch=-0.1455 left_roll=0.0646 left_gripper=0.9965 right_x=0.5194 right_y=0.307 right_z=0.2706 right_yaw=0.2174 right_pitch=-0.0976 right_roll=-0.1327 right_gripper=0.0101\nstate[joint_eff]: [-0.0889, -1.7573, 6.8171, 1.58, -0.1197, -0.0464, -0.0073, -0.1026, -12.8068, 7.5556, 1.7851, 0.315, 0.0464, 0.1832]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d41c63c99ed82a23e4f5bf36a17d94fa2289bcbf2a0fa8a8a304d08ae7a80e4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfa50e535cc8b79c24a2fc77671819de21b2de3d9aea8b6ba2ae3c39b558753d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:277c05e8c1552476a14bb46171fb17b4e8684772d251197cebf284c9a58127f5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 127 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 0.8902, 0.7837, -0.6334, -0.2249, -0.1356, 0.9965, 0.6178, 2.4767, 2.7369, -1.0393, 0.3737, 0.1745, 0.0082]\nstate[eef_state]: left_x=0.2861 left_y=0.002 left_z=0.1876 left_yaw=0.1029 left_pitch=-0.1411 left_roll=0.0637 left_gripper=0.9965 right_x=0.5374 right_y=0.3072 right_z=0.2312 right_yaw=0.1994 right_pitch=-0.1351 right_roll=-0.1215 right_gripper=0.0082\nstate[joint_eff]: [-0.1709, -1.4291, 6.8034, 1.7363, -0.1587, 0.0122, -0.0122, -0.4718, -21.1624, 8.4034, 2.2442, 0.1587, 0.0073, 0.5739]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssiT7DZczfoRfC9fBqwODYuUoA9xpGC_PRLdIA1a0rCso5FHi68mjd9wSfJLec_boT_XjpCIG9d7JrWYpMn4bBjWHIVh91wASsdcL-ISE2bdmVsGNt5dy3dnRbBLW6BEONgu5XICGFnOtL7uSi_inyNVJUUUn1x1ku_hStXp4XgR5W9_0fznDDfVe3yNN_keEKu2l8XncULA8GJJs4wiYnzjo1XrTmUApGmqqs1MTIORK8IEjP5-Vz6lIzFBO_YHItIBNcCZr5FQjQZoUvF8EVgkgLKn0kaF3JdQG-h9nECT01M8Gh7ENeML__gUoUyMvCf5rcnDfoGqjBDW-IhlV006hOzVUXnWEiAwS1m6U8EPQcqaS1krBfk9gXUx2bhvhUqZVKdbcCXdjo4ooxijyy4E-UCePrinVuO164vrbkR9smXe_Kzh1qhSHy9t3Lu_kb84GGMJDDjUlb7Npzef0RX6vFXR4ZbkbFGVzUR7xCsQrkLx1BRxax1fGCdZhoBbgFZHX9cxYNLsBCpyYK4FtoIaYuY613mzzMX_R0_z6cobKvupBOnpDE6bKlkp4Pchx3tUn3Th9h6wsPqscSgpvphjvpmfuWWoHLlbZEvlgL4CGbuuZxW9mIu_JOqv7o13t1Jv120SSXgazWJFVQJR7rfgzUIRsi9NclPeBX3vMpHLDQ69lTEmA9uvcFfWAlKXaXYhEbStOy8nHBKDWuZHV3vcP3tS1_OlWmZBw7iEQTCir_1bI70NLva11Xo8JX8sXxKU7ll2X52E3J60xLir27m9eCK9z6UIUAk4f_TqFPqmd-1uthqSvRCruxRD1JQ2snpmxTDOI4GkVBQbBo1d-IpXBXT6UwW3dMfagkwjUgXRRnzednwInVvasjinW6tEek1hXlIwmlsdBVr4oaCFkrc4MccTHbYY6eBQ9rEHAkqtD7srrTRNnc4oqst3yzd7l9N8etKXvmXpWZRcee83Kc2hg5sKAhdH9a7650WnBxD_Wxq8h78M2NgPKnawAnGUvk1OjDPtIvaAQ0zrwswe9y_EqV7rYyH-w1ScROAW545uU1V-3cuImf4FwuBSTtozpstuohfrhgmFHDwP_yb0jzt3vlD9cyd7Ecx_14L_UJju3mM3KbmSvWDMDjHZGvu6JbnCw44Nw36Fqv09O0wE81FhsKsa2x-a6a2G0vYQMu6QH9xMVc7AyqsrjybI1mPJkUrDjoW0aFfTvvQQbUqvAG-jQ_MeO8taHtxV_CUZLr_eLo3hQK0iTWwrGFZuguMdm2Vz6U9TYQAD31sai2ME4x_mjQ==",
  "id": "rs_02966c8181c9840a016ab2c890c52887d080876d91d1561581",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.27,\"right_z\":0.31},\"note\":\"The arm did not follow the downward push, and the lid remains open. I’m lifting and retracting slightly to recover a freer pose before trying the lid again.\"}",
  "call_id": "call_UIAQcr95vIzw7xVFFOVVfZji",
  "id": "fc_02966c8181c9840a016ab2c892181487d09582e388b88fb7a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UIAQcr95vIzw7xVFFOVVfZji",
  "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, 0.894, 0.7837, -0.6411, -0.2249, -0.136, 0.9965, 0.6868, 1.9293, 2.228, -0.9184, 0.4114, 0.1696, 0.0119]\nstate[eef_state]: left_x=0.2852 left_y=0.0022 left_z=0.1853 left_yaw=0.1035 left_pitch=-0.1522 left_roll=0.0663 left_gripper=0.9965 right_x=0.4432 right_y=0.2767 right_z=0.3541 right_yaw=0.2447 right_pitch=0.0197 right_roll=-0.081 right_gripper=0.0119\nstate[joint_eff]: [0.0068, -1.4154, 6.7897, 1.5995, -0.1538, -0.0611, -0.0073, -0.3077, -4.0684, 4.506, 1.8779, 0.315, 0.2027, 0.1734]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5422d1f7e723e5e862cd701715bb5c8f2eec06d50e3d689b4922a2397e0aeaa8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9e838191ae3e83357cd0d3c80c8a0da0a4d40545543b1706c93f6d1823601a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5484a11845febe7dce843b8e277325991668bf51c7092f158b6b0d2517533aee",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 131 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8909, 0.7837, -0.6373, -0.2249, -0.136, 0.9965, 0.6403, 2.4718, 2.8799, -1.1511, 0.3935, 0.157, 0.0101]\nstate[eef_state]: left_x=0.2856 left_y=0.0022 left_z=0.1867 left_yaw=0.1036 left_pitch=-0.1455 left_roll=0.0646 left_gripper=0.9965 right_x=0.5194 right_y=0.307 right_z=0.2706 right_yaw=0.2174 right_pitch=-0.0976 right_roll=-0.1327 right_gripper=0.0101\nstate[joint_eff]: [-0.0889, -1.7573, 6.8171, 1.58, -0.1197, -0.0464, -0.0073, -0.1026, -12.8068, 7.5556, 1.7851, 0.315, 0.0464, 0.1832]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssib-MBwW6jFye4KV9Wdu9fM9fonTtVTrLMel6_Hsr5uG6mR0j2YBGg5NVVa8Kv5bCUKSnjkHPWfo--K5wsFBBWp33f_YpH02yma7fHdm945Iv3NpLcjRGcSHWv0w4JD_QPJhQsgGKHJ4sNdP1QXo_JAGqjRs7bqjQDwD7OatSz_7urKVycEOgBqPhbyWlHYxVwWzKRtMSDLWqm7Cf29y1oYjWTy2O8s2-Iui32xn_L3m-9Ml51mtseeDw0_YM_JMcN-cBW22WhzdxmEFQEN3q0MFyU0MZNvuqzRA0T-l3aeBxBAxL7eCzHG224rHD6JddkB-gtZO4Cv7sU2HRmhMDtqZ4B8qkOpGxb4PHLmZ6a-AbaK5wMp3ieREQHOiC3IJxHDfk3HlDyei5sDqt3bRNPZJExMzB2CvmZ2P2uxIDts-fb5GNBBW7ib8D5TR0v6sXfPgpkGSjxZW1H7ktPGGRPoKfWwUTwf6-0QqOERh7fuY95dpUVIntpBvBbjg1HiihcnzaISGcmxaRdLteU0cFmlgcXMfP31yofR9bvuEjGotGcyaKY2d8vNh1KPZwz7SozpFr8X11anvQ28b-KBs7_nEkEGcjnc2ls-wrTNioafGL5HHPgcirDIaYf6rmOdx7kPNquEetpGSOtRZN6lUFmrWYV6xjB64XWU5salGVkUMpTjNWio8DgZv9h12tb6o7NWIBzABA9s4x3UkzXxUtQQj37xPp4XWT9PkHQrGUAaTb_lV2bR7BDPMOiayaxlSnFjKNsoGr11C0zfLIUP099N7rrdwJU2vssbXNQl6gPwbIFQh4f2XhnGkW1r4v28xwwKRXlkGoDJIbDPdwd4Yqe_2mSssMaDkfAlAqui2NB5aqA-p4CjK3JOg8KeAgnNc3-Z3vhjz4gy8B19Ge3dnr8HHRzoCUUiSC6y7RJbeMS1HS6557CJBho82Wo8kKijU5r4wpj2M0xYJvhC-AGf-WYtKKyM0MydG8a6esGdNb8Nt_i3BwGB47zyvR0FHm7fR2KdbtVXi20a0kPcLEciXH-GHO1KqsB-qlFLCp7SsIzFq2ERQycfn06eTEYXE1vWxgDWURQ3odaDowbA2T1Kg9kC59NXRXZjzTrv3fcbuqmX4v3zorF4IrG-ctZ_Yhi70tcv7hIm7AqOw1abrbkP3pRj-sNwuULO_z0CFXl0zEwlVB_kpz6iSwsAWRJjFlSONaGaRRaA0aVbb9f82ZpE34DeOndUA7GoFXLFkp5ihpPc4-QIdLYz5VYAl7FxCsF2qszJ4W54_UY6FfazxQ0d-blQu6WF4VmnMP7Lw66RSmgvQOUn0kJnLzR3FiU3ZNYcfzYPG25IXV1SKPPMH23ZngWz3wcMZ-m5O6U_F-zMZtO6nIs8_V-EUOd6GmpT6IZ4rPtA59-_M9PH5PDNueDzZaM9HdIxO_RIVNf3TQLjzWvXLKDolxRTq6HTFdKgUtiitgOFq9vSDw4o_Fk9qe5sRN7DSEqJ9ifzAtemqLt873X8zDFKxzByYH6OuUnklXDiByGggbYqRENFEIIbpNj78ea1bw==",
  "id": "rs_02966c8181c9840a016ab2c896bd4887d084fabc73cf652747",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.56,\"right_y\":0.32,\"right_z\":0.21,\"right_pitch\":0.3},\"note\":\"The arm is clear again. I’m reaching toward the back of the lid’s upper edge with a forward tilt so the next motion can fold it toward the front.\"}",
  "call_id": "call_vWFI175NTu4SWcBl8JIu89Kv",
  "id": "fc_02966c8181c9840a016ab2c899da6087d0a62eb87b0c463984",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vWFI175NTu4SWcBl8JIu89Kv",
  "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, 0.8974, 0.7837, -0.6533, -0.2249, -0.136, 0.9966, 0.6258, 2.1429, 1.7542, 0.0067, 0.4042, 0.0406, 0.0133]\nstate[eef_state]: left_x=0.2834 left_y=0.0026 left_z=0.1822 left_yaw=0.1045 left_pitch=-0.1673 left_roll=0.0701 left_gripper=0.9966 right_x=0.5479 right_y=0.3147 right_z=0.2101 right_yaw=0.2495 right_pitch=0.2305 right_roll=-0.0992 right_gripper=0.0133\nstate[joint_eff]: [-0.1026, -2.0034, 6.7897, 1.6728, -0.1538, -0.0366, -0.0073, -0.4855, -10.441, 6.9949, 1.6484, 0.0415, -0.0855, 0.1294]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e9eb5abd57b4304e631efb824b2402803ac684feaf1168e19448ae6d6da0b7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bba2177aa012b52385ecdc80134a2d8b072bd06baacda03df0cd3bbe53e9e1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8052861670fbb3f888cef89803b0246826c0a78acea38b9fdc7b6f3cd3ed4100",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 135 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 0.894, 0.7837, -0.6411, -0.2249, -0.136, 0.9965, 0.6868, 1.9293, 2.228, -0.9184, 0.4114, 0.1696, 0.0119]\nstate[eef_state]: left_x=0.2852 left_y=0.0022 left_z=0.1853 left_yaw=0.1035 left_pitch=-0.1522 left_roll=0.0663 left_gripper=0.9965 right_x=0.4432 right_y=0.2767 right_z=0.3541 right_yaw=0.2447 right_pitch=0.0197 right_roll=-0.081 right_gripper=0.0119\nstate[joint_eff]: [0.0068, -1.4154, 6.7897, 1.5995, -0.1538, -0.0611, -0.0073, -0.3077, -4.0684, 4.506, 1.8779, 0.315, 0.2027, 0.1734]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssi8HSOlfHc81UlZlcsmELzL-fe5Q5r-xmN8_k7kAmKJyjmmIp1oTYG8EKoFPzOI2_1R7IwAc2grZaqIf9hwfE7DovLK6eGmTBJyyQmmMLtn9kHwk3SJmr09RQPQ6qWBmP0Jo7qcmjEbbiwU9rgKYrqinjijFpDTJikGsA2i_FMWIdhklkzf3m3UVKMmvxMjWrN0qNAmtNay6xYAPMz_0QEV2LtTG6BJHvMDT0fEofQbtBQMxK0OPzKRvCloc2abN41198wnBSDT5KOmIeX5yvqKP-CwKSLgAnOuOED5ZUHZ_IZWxTMUU-2ExJ0bkDIZazSKPjAKp78Ry8xT-_vDgYOAEs0NgxNNyr6RtehyOIbiTcGz3jFZU-ejXgPGPAazSgorTxBuarUDN6OPoRwpkPVckm8r0h-oPPumFfJNuFa5OxzmRmlHatu-c_Xk-v5EtPjEmdM69fUyS2_bvrT0-4ityKt43AAghcKzAqwT-1y-9XAeqdXjkDCdxrMMJdQIOIDX0X5xlzetYnW-Yh0NPV-qtFXYNk98QQiAnYKvHOg3-ZDR99ZQsGHGKldz2j6xZAOHVEXv7ynghBd15FW6SqZtHZjKUwxajMs_6m6rPT8L6MgVBBfWK4otD-ETGqAJP_ct1WT44TvCita7fKyQziM38jLIDyiA8-g0rwGazFxcaE3NWUCWWc5xjR5ZxmWL2SKwX5UhVAXdlptNLIrrNzX8nGvVoaxpfxoFjpfcEaM-sG0dhZwNXJ3tg_XShL41GmGSOl60BeGrwdZ-xGAva9cQGXn2hJTRweGQSH_SQAcl8mTxkmEKTH6w7jQ_dSUY4nTXJCqcvOSWTX-bMPYb9HT522pLJ9MYkXJfbClO1MfzulYJ95uZfHuIVSMx5Mbb0hfnjV4cFngFvEpHeNgRnZAsOQl0hBscdyIXZqv-yMo_kH_jMZPqEj2jqmkXsZEClYQBHiSDS2P3qYWKySWkBxDxGWDuHyXEDpxGIGpjrRm0gfxKVMIUUpAKsKW0y_C8iV5sC_KX20BKPn9pxtAzMRCaIkr7YNZrT4REqnYtLRqHjAuiTrYgDDMsSlYQiS_neYAFauelDO9qPx6f6F_34vl-527iZajHXRHX1tiCVK4wwCgH-CXDYXzcTNh3pUzP_hcz__04e-hWH6Jxsz12qC6MNZZOrg88BX_DC_YsPwPC8s6cZhOuf7WfgbkSt5xfI5ACUYpbfzHRgJh5T657acl8lmJgecPZv7kB3pPyN4LE_jsaoMW_qTRQpDaVpHI7_HwaaRbGNejxB2GbqSf9IjDH14shI-WldeQiHiCAtXRi28U=",
  "id": "rs_02966c8181c9840a016ab2c8b8cd1c87d086e4a6b818a71493",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_z\":0.145},\"note\":\"The gripper is now at the lid’s top edge with a stable pose. I’m drawing it forward and down to start closing the lid.\"}",
  "call_id": "call_BFRIV3idJRwhf6lMFHqLHjia",
  "id": "fc_02966c8181c9840a016ab2c8bb275487d0afa56fc504358603",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BFRIV3idJRwhf6lMFHqLHjia",
  "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]: [-0.1444, 0.9016, 0.7837, -0.6682, -0.2245, -0.136, 0.9966, 0.7097, 1.9888, 1.372, 0.4004, 0.4835, 0.0608, 0.0138]\nstate[eef_state]: left_x=0.2812 left_y=0.0025 left_z=0.1785 left_yaw=0.1039 left_pitch=-0.1859 left_roll=0.0746 left_gripper=0.9966 right_x=0.4935 right_y=0.3204 right_z=0.2121 right_yaw=0.2304 right_pitch=0.3915 right_roll=-0.0291 right_gripper=0.0138\nstate[joint_eff]: [-0.0889, -1.6615, 6.7624, 1.6484, -0.1343, -0.0024, -0.0122, 0.3214, -7.3915, 3.8496, 0.2125, -0.1392, 0.1929, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba0dc8c96e1962a4a5058d082ffd6027dba59ac260ac152a007c84b2153c9809",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d92e1e432f06f0d82e0c81e0f10d5f85ad397057cc8432052951a854aff1b360",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52a78c31507b25413979ddfa5d8c7559bc55d21649a81ca531abe6db2598eef0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 139 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 0.8974, 0.7837, -0.6533, -0.2249, -0.136, 0.9966, 0.6258, 2.1429, 1.7542, 0.0067, 0.4042, 0.0406, 0.0133]\nstate[eef_state]: left_x=0.2834 left_y=0.0026 left_z=0.1822 left_yaw=0.1045 left_pitch=-0.1673 left_roll=0.0701 left_gripper=0.9966 right_x=0.5479 right_y=0.3147 right_z=0.2101 right_yaw=0.2495 right_pitch=0.2305 right_roll=-0.0992 right_gripper=0.0133\nstate[joint_eff]: [-0.1026, -2.0034, 6.7897, 1.6728, -0.1538, -0.0366, -0.0073, -0.4855, -10.441, 6.9949, 1.6484, 0.0415, -0.0855, 0.1294]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssjCBc1KUWtNsK2E3oowzIju4DHV0YNJwl1ckzbYVG8xUmN_-7xv_PBMXkhRmxQqqywmFndmFYtOQlgmTqeNhsXeclXujOFZOEolKqswenpWltmT-HRYzRtKDJaZ-UdwmkQHq82PMpaIXTjlrbP2Bbk1_2usT06fELRspUNPdPs_AoYZIp82e08Q_jBEbs0_ITalmR8Lzzsc20kNecVMTsd6oQ7qHMV2f8pYeUvVSRCf0iKNL6bmLpe5-eq6Ee4emfMWEyGlk0onapIplpt38X-vrByWPWXdti02ScuZikwu7CpZTcm37bstumPpNX3Gsfp_EmLsTPMJCU8wpor-58kjJwHJ0jKUz_RXr-T4MtsAPVhTQ7wTDzxcApKSjtvtnZHFTq6gJYiK2YcGT6CN_GG6R6awVBLkjHYjJsgZrh-HOHFQEDedNvxUaL34obLqrcQif2lTbxbm7D29xj00L5-Fbp9EbxeL09mJ_JDzEYql57eRNduA8kwzXgfIHuRjb4MCeAxK96spXQ5tGrKjnV9OaXybKHGeA_nl_q2q2eThLWqBoqRIKuv6FRMxy-Oc_mATUFiCP-PIGOg0PeCMwKbacUlg5Hj8RozykUkpggCPAJ2x1hv85sArv7FHR0kIQ-Z6G_m7ojcFeJ1BbIr6tgLoh4av0C88AoPMaOsBp6iktHEyqjHBdX0kOYDXM7wJbmuK4APoSenfSRRYTyg7BQhPxwOH2Sz5mF2pbLqXr4A5IkawAJw4MRmEj_r2N2bATU6N8_hoK2eeE3v5XBd4ibKBs6ap58GABQKWK2_PeCqu_DtNDJhGxP2qZmAdZvgHQ0aDXGtxSAUYv2QVrf-WZtTDMar-Og_X9x8ZGIbwBwqwD39C6zZ1jkMnwpKB0SjR2Fk47Kfcj9CvhbUDIERaVWo73-TvEk_x9O7yOQnrYrBz_TeuM9pNai3FigcJWp1Ob9nYzFE6Js7WoFFjnBAoz_h6NLu7GBOi5XQYHoyYwplVsCcJfRFvZ8CPqf7A_xuELnWykYpBDQ6whOqGkVEhrW7m0OTdhK9v_ZlrgKgT9OZ16h24467YF-KF0qOogjaJVS2lbcev1a0W71WHb3m2edG8POrXXnYW9rqWGOZP0Rs9VHgvPW71l5zM99YEZ7zbO0mu8nwd1A_qE5kktT7qys7uNM2ZdfEitKRfXWak4HoTb4D3y4dCJCfsxE8aNBrc7TQB",
  "id": "rs_02966c8181c9840a016ab2c8c04c6887d0bf5c2caf16a89a62",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_z\":0.11,\"right_pitch\":0},\"note\":\"The lid has started to tilt toward the compartment. I’m continuing forward and downward to fold it over the objects.\"}",
  "call_id": "call_ma40v0XXEBOt3dZ8Ykt7p49M",
  "id": "fc_02966c8181c9840a016ab2c8c0d15c87d0a200437067e1be9b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ma40v0XXEBOt3dZ8Ykt7p49M",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 0.9016, 0.7837, -0.6827, -0.2245, -0.1364, 0.9969, 0.8433, 1.8824, 1.1835, 0.038, 0.527, 0.3099, 0.014]\nstate[eef_state]: left_x=0.2787 left_y=0.0028 left_z=0.1761 left_yaw=0.1048 left_pitch=-0.1999 left_roll=0.078 left_gripper=0.9969 right_x=0.3982 right_y=0.319 right_z=0.115 right_yaw=0.2329 right_pitch=0.0232 right_roll=-0.0426 right_gripper=0.014\nstate[joint_eff]: [-0.1026, -1.6752, 6.8855, 1.663, -0.1587, -0.0513, 0.0269, 1.1556, -10.4821, 5.9145, 1.6435, 0.1294, 0.1099, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5348cdc77da64e31b85128c74dbe6060553116b7c6420f61c58940aa54cf6408",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21ebda50a752f3e38fcce00b432a9195b7e6b0d50362eda89f5d82d48e0ca88d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70f112374d6c23ef913aa5dd2fc7cb67e39caab5601a55231d42d42f18f6691a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 143 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 0.9016, 0.7837, -0.6682, -0.2245, -0.136, 0.9966, 0.7097, 1.9888, 1.372, 0.4004, 0.4835, 0.0608, 0.0138]\nstate[eef_state]: left_x=0.2812 left_y=0.0025 left_z=0.1785 left_yaw=0.1039 left_pitch=-0.1859 left_roll=0.0746 left_gripper=0.9966 right_x=0.4935 right_y=0.3204 right_z=0.2121 right_yaw=0.2304 right_pitch=0.3915 right_roll=-0.0291 right_gripper=0.0138\nstate[joint_eff]: [-0.0889, -1.6615, 6.7624, 1.6484, -0.1343, -0.0024, -0.0122, 0.3214, -7.3915, 3.8496, 0.2125, -0.1392, 0.1929, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssjI7pcuhXG2gipHC9a4T5ahVQ3DaT1X38Hf5Zl-kkjYtMpVpoktlRsoxCz7mi8M75va5_oLWOF5TdUREcRP0Hx6lV6Jl1brMS7Jt3_LaArnRO-4ct43J5ll3QY8J__MfMn9ziJuc6LoqEjloOau3wGynFQoN7gp082TeHrx-M4SwX5LWhckprqLMVMTc2hJ3MjPP1K2Ji7EMJYOb1Q59suWAJvCilRDN3ogg-063mKWIeeC-q5Uzc4Y820wMtTkH5OdKLn-bJvXaKGWRzVcsZEsv6qGQEp5HktBQuWp2MhJ_ivFZsEenyaHxASzswsKnBBz3Nw9OibiVCcbj67ER2kaFMxlvJtLb2kr-isrz2akQDofBUYXtV2T8jrDAMKdOdx-mTnrgUGs2DMY-0HzUquEWDUuK6rNwWzkx6X-Q5huzpLltxE8VIfGNk5_aEbqTo0xwJB7_KwmnbQvOY35wn4CkyXfh6vtttuWRk8zovi0Ev3dEXHtKDbPZlIQu-IvwwN0UP-X5AKQTTI06YZex2mKEHyynxNR0X3S-IZsKioraBXS9TJsyhXW9BJmDYYIPIkvZk6KWeavbqcYEYuLq13mC97wA2RlAcWrINXmpXxi4mS85opE8CyqK4Pi2arpftpQdiBN9yE6S3YsXah8fzlG1b52wYgcXUAtOrtMA7dDE5a1oQqlchOj2ykxas4z1srcoWocM2YZMrYTLVm97dO-JujY8bcWBpJAYvZV5Mz40ykEbgD9zdI-NEz-jMsT6ryoy3mXq8TkLPYCXfEutbkfCvim4pLLCFZGQwZVwrE44tYdD71pKfzArXgSML6MpyNTBl_IL0YL8v7lzyNDNRhAXJtNBHmisNroGdSx8Z-FjHCGt6zTlXxj91OsrWNlMRiWTVI2GfHm-4vXz6i2OMa1f8DbXF228X-EXwTDODUmwTFL2i7fsDd6WC2AB-kVVdgs6x_6zUnZ16qp5EQyq9d-vEmmNPGMSGKnT0EwaNhg79ij2AD5JHSYZItf-Rw9H4tFwy6bZFZ5dSXkfymasGN-VIcYUtsbprnr6uFv7sFNafQdsq1kAAysigOI4OdNuSncmDLUncUEjTJ8YGsz1vgPmeyd8bB-NSjVdWcgou0DFtCT7dmsko9878FtTzVI2r8Mrz2Y4YkgpcVXHgzxoloBQN8yn5P4U4V4IYGHWFCDUwWn1PH53Y5CZO-KHlNYj4wwX9ma6uPUSzg4RN5YuRddw-PoZS_ds-5jC2Wqk1c_7G-CERWreI47lsLImxREmMWISfiypUrGHOqVOSoMUFNZ3joeyjHuPyRq6_6cSkZ4xdE=",
  "id": "rs_02966c8181c9840a016ab2c8c617d087d0a9a361812624c5be",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_z\":0.12},\"note\":\"The lid is folded over the compartment, but its front edge may still be raised. I’m moving the gripper onto the lid’s center for a gentle seating press.\"}",
  "call_id": "call_aXK4zSr3iaCiIsNDiM9zzKvA",
  "id": "fc_02966c8181c9840a016ab2c8c71fe887d0814f2fc0b2bba7e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aXK4zSr3iaCiIsNDiM9zzKvA",
  "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]: [-0.1444, 0.9039, 0.7837, -0.6952, -0.2245, -0.1364, 0.997, 0.7471, 1.9953, 1.3598, -0.0219, 0.4458, 0.2535, 0.014]\nstate[eef_state]: left_x=0.2766 left_y=0.0031 left_z=0.1734 left_yaw=0.1055 left_pitch=-0.2143 left_roll=0.0817 left_gripper=0.997 right_x=0.4479 right_y=0.3159 right_z=0.1153 right_yaw=0.2316 right_pitch=-0.0017 right_roll=-0.0461 right_gripper=0.014\nstate[joint_eff]: [-0.1573, -1.8667, 6.735, 1.5751, -0.1392, -0.0269, -0.0024, -0.4718, -9.4154, 8.0889, 1.8144, 0.1245, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f861eee43b438ab05d1700b0159d8923a244d29ec4b04de68a5e3f8993e432e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5fa478d4c3e14418089df5d59c6713ec025c56fb428f23365ad8c1e2cc74430",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:891da26b96ce6c8f3d3fbf401b96ca7be492de56d8b4120cf7ad51a7d5348303",
      "type": "input_image"
    }
  ],
  "role": "user"
}