adhoc

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6048, -0.3882, -0.0193, -0.0341, 0.9977, -0.0204, 0.794, 0.6086, -0.3962, -0.0204, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0014 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9977 right_x=0.2932 right_y=0.0012 right_z=0.1787 right_yaw=-0.0001 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.3607, 10.1675, 1.9805, -0.0855, 0.1441, -0.2564, -0.4991, -1.4701, 9.6752, 1.9121, -0.0317, -0.0366, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e656656f4210587cc1f6036a2143ed06003a619736fa9264ecf76096aa3be059",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54244a415cc6723991840e4fb571b924129f25adc7255fe1b981980ad9422407",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cb2d95c514b535897107f5d01031231cd5074ce64aff2986a1d06e5b6866a34",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsrTKT9VEbwfTQ-i4SFw0p2oOifEV9k3ggq6CipFX2aMXCF0j9Vn_zlGZiGFt-CQaQ0Zd6qx7aRCGafbNpfnOFJVjrVU57TkmaqXed1O6MD8nHq-X6A8elw_kKweFxxjzAQ9zciasRPMtNfqhgkuuM9tMFF13vk1zSiIvDqxDgN96B4gW6QO7nxJXVofNJU3_vQe7EWOao2Scbr5hrs31YeotCPWg2lbulwa-wP-7-b4ObXkdRMKNTpyhozFtb1mSbPFJI6slMNP2ez6jATYDUb-kMhmcpgty2Gu6xmuU7pIYz_flxHTJJogrBFbVy2rG7EWM2uj0bXi_oA5ttWpWNUWij-M9pYDUOwEJJTdZk-U5OeVN2G18FURIR3289jet0-LfnGQV-n6QtLGP3_U0_bKTzJONpBX_E2cWpR0boVndvUxYTBlc8-96shSF3CInEDQfWELYkbCeGGHkYHr5xiKqIi5Dr0fahAGqVfCrPFMiODsqTgU0l5xgLCEkTXImhfQSPqnxC3rI69VberXg-ce1WODpjBl9f6wu6gsLACNkonffoTRuW31LLf9nGtbrp4T5r5bzn6lL2DbNer8TjWe59Efg3IhyfhWsjF4R7Z05Sog9_oxknOaF16lzKuHHfnzVVar6w_pT5hyzL2_qd26qmph78b38_0B5Te3rvrDQws7YG7U9K90KIRRLbu1KSIJarorEPbyqlT0RcPW-JxrMJDMhbm7o_AV0eBDAEcQkIzoNJLC8sWFfGS-5F3RSiZ0-siI6_PPsFqZvNNqnykuAMXCGsY_q3AtYnkqlA6jd8QzSiwB1qXg0xAukT-WMyq7YyiSy7YWcJB0ij880RxmFSBZxh5vW4WPXkar4hgqOX9fA9wCWojtW-NAGRcCXptvgeTWg1nUTVK-NhbyUFRY3MzHy_gkri6UMdVgNrRPY4i6LlRAr_LztXAPyU-9RLYfMQ64tyLRZIszSXzp2_CQ9zpWMeNJU1Hssf7m4OWGxTeN_PlqjE8enUovtDHWTkQmztpULU20w1Lb7_l1hd865lqaV9ioNEvfON0ZgY5y2tJ28_bp6D4W2Pfe7-nN8rIdLeVoYdQGK04tMwtQ1aRtz5zsTbryI5DOxK9pBjvrgAADdBaz4Y9Nc_bAy6Su8WMhM0zOLfB8iHWUhhuzw6bud5yDJnfgT7BQtxZOGuXh8wfeXjiBmU6tNrwAeNb4Cu71V55Wp0pJOCpoPoYvuti7_Lj7mu2kxX5rYAQPcZhWtyQMjx-xXBGG4ICJqHsPojlC1vpl1owkRIP6CsSV0iQAbgkfKtBmKuCVMdt13XIKLRRfKLjaBDtp0Xrsqmm7Gw2Gp3Tzf9ms-6V30XHT7o--ncbjePCRgUepNgneCH4H8XTAtFmBdhP-1QjkYL2G0lK6QhQcG0fXQZ01ffc-JXeYIw0rJjiPxr1sfBsy01RFKk1agDuMdhN0P2BMpz3d0uILcuRS3LF47fEy2GpzegT-WU8aCR0yqR_IFI-kNQGnpUZOKDmNX6mLbfB2VOGDwqlhf9O1_6ERiez11IYgdv0nj-Lh_dhOT8OvYK8pWm0lx5DonVjQYnXiR7KmvRT_nprvOT8c8-LgfqExWlxomvZtRsTB6orCs4lR-MtHB8YJ-ZolikA9TdMsS4YWV3WTzV-z8XBNMGMMFrP2sFVWBdZtU7moNAQFAUzBpFQuSzWx0HiQAVoJaAij-tTpB7ALDIbvw7NfENOKbrYdBocSTbsx2s8h7bkb9B22T7Y4jmmpa_t4=",
  "id": "rs_0409c3aa1c04475b016ab2b4c4698487d08bc7cd670dae17e3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":-0.16,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"The safe is open, with a white plush toy, a brown plush toy, and a yellow object outside it. I’ll bring the left gripper over the white toy first.\"}",
  "call_id": "call_js5GbsPDu1aDjfSUVqkvYwZL",
  "id": "fc_0409c3aa1c04475b016ab2b4c8643c87d0a83d37ac76d93c1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_js5GbsPDu1aDjfSUVqkvYwZL",
  "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]: [-0.8185, 1.2003, 0.6758, -0.297, -0.6266, -0.5335, 0.9977, -0.0212, 0.7986, 0.6094, -0.4324, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=-0.1544 left_z=0.1314 left_yaw=-0.0343 left_pitch=-0.0599 left_roll=0.0405 left_gripper=0.9977 right_x=0.2885 right_y=0.001 right_z=0.1705 right_yaw=-0.0011 right_pitch=-0.04 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -4.3692, 9.4838, 1.6044, -0.5641, -0.0269, -0.2613, -0.1846, -1.6068, 7.0359, 2.0488, -0.0366, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5d6b575adbd677c515be444e1eb3a39455ff31e99f4a2a4c9cc93b2425ce275",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f202b7e48b5d8ea10bd367cf311ddfb8acc9755c4ca68f04574fd5c86cdd537",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f6cea1360ef84bfa95f339570825d4ff10c1b1f7c4a023758c2cbee0e7d55b9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6048, -0.3882, -0.0193, -0.0341, 0.9977, -0.0204, 0.794, 0.6086, -0.3962, -0.0204, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0014 left_z=0.1791 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9977 right_x=0.2932 right_y=0.0012 right_z=0.1787 right_yaw=-0.0001 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.3607, 10.1675, 1.9805, -0.0855, 0.1441, -0.2564, -0.4991, -1.4701, 9.6752, 1.9121, -0.0317, -0.0366, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrTRfKTSV0pdZHlSa0bfDOJveXBUdjgEG2IXAz_24-eZSmuSb9BvSC5aF0R-K4vM1paXS5aw3oLdAGbPCoktEzFW8RxBFkXu6bMPpc9MZgNvGNvsCA5bDQJz5bK0YZ1LS-vovhifetlYnsOxSbHhw_-1nZCK-pagSmkyDf6X4Z9JPlB7ftnKIWYO3fqfxtOb24G6-owssnH6Z7ow_6Kmzh0PNzc_iyPzvyKLdbkI81B9Dhzq-M0E73oO6i8RJg-qiq72EZ_C09ST-aI1dVFK4S_OMGAL0Dr_L2jn_SMoIRpWBi37MY3-kvxeOxDfUQU8biABJ4HLqcM6tMTXtFbLL5E_J4zZ_bVhx6-67v7F-JNcCVUQT6_2QQAPU9Hzp9P23fElXqipurnpx-7mTftoJ8J2xCE_aDlFyg6NCZoOmbLWwMvlcpqJG3i6sGVI8zUwMY9z9S7d5LnX3v5XK6GSOx1DG1MDmS409CaDPCvdv9MMl9wZCeFAYNrW9qIc3VGmx5CEKBu2-lERNE7dj19eZGwZmH7cGeUW8dVHGR4NKvsLlBLDRYjtj3xPzSRqSxazqxiSJQjKsWfxuvYlxyoOb9xxN-rcq7eAkFRrfLYPd71eQcSjBuXiKLxutN-heDr2g27fvoRRqpicwipo-Y5lo23IV6yRJkFgANK1KJsKKkMJIhrxIEJO5DrIUl4UtNrr5CS1B37c8jVds4ACJUQzk_cBqTZxjIXBXtRydhizHcAxP3t3A_IXEtSow52_GVgDe11lz08LgymYUizDPvITGsKVq6jrPo9FHcpXQvyfH4R-ZvrtAD8reBQVxXVsi8t4D1ojGiBlturV5dxgNdQnMLKTY3iCQ6ApxDw7F2pRZfGcHGJ1BXKdUgB8t7mJNpeCARg59SOLkIDZmBSZbAxCogTOHeUDnHUroyP2wfRs79M4LwHz6OySWN-7G1ult0z5tJKVIVCY4dbQQAXFNGTB-TV7dYxGsSs_Whf8E9T9N1sB0I6XD4CJFeSFQNr8EbjNiHXCAxl8VfG9vAjw83jqpl8b5ebZ34XnVrHiPOK5qPjj9wW92Bad4TPM0ChIVd3ej1FE8QVBwT3cmmqtN0fx1XEyzTfsOM1m3CL5XlTIqJa62VPhSEHMzg-OwjAjml9a-ShDrRx--y1ltFNevkuJab9n4qXAyhfMm33YsbikJWsdkgHClJuV_hJrclxca77ymAE4LRhdjGCrQdq0QDPCOQn6uXgOApLmDVFbo6EjrhvXQ9fJIRUaRco3Dx9kOT_deBy1YVjBDU0bw-TZ4rK2XI-vEtm486wG5c1Ofr3Z6WqAjjW38o03W7f6WBekTRnUM2NOYYOli8yJuxtHSPcSGBjLtn7H-ZI8x7Jcio0gr_lYxzw=",
  "id": "rs_0409c3aa1c04475b016ab2b4cd585487d0aafc6ce222792791",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.12,\"left_z\":0.05},\"note\":\"The white toy is left of the jaw center in the wrist view. I’ll shift toward it and lower the open jaws around its body.\"}",
  "call_id": "call_DLj3WjlEuIwciHixUuSobzeW",
  "id": "fc_0409c3aa1c04475b016ab2b4cf690087d08f004612002a5383",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DLj3WjlEuIwciHixUuSobzeW",
  "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]: [-0.6243, 1.3869, 0.4366, 0.1188, -0.5083, -0.4, 0.9972, -0.0212, 0.8021, 0.6094, -0.4549, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3073 left_y=-0.111 left_z=0.0414 left_yaw=0.0012 left_pitch=-0.1289 left_roll=0.0856 left_gripper=0.9972 right_x=0.2854 right_y=0.001 right_z=0.1651 right_yaw=-0.0016 right_pitch=-0.066 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -4.8889, 5.2034, 1.7509, -0.1734, 0.0952, -0.0611, -0.335, -1.4974, 7.3368, 1.8632, -0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e7f9fd3a9608f31e128f54d0be6d58ba502c0259ef027e0f80f9eae701381ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98a61542f51ac43d252d91ebd562b20fa1136790e0a70489b72fc7833a88923d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6fc4c0318d6cac7e4101b03a2144be9bd9c3f30529a3a99db354d9cc0a36374",
      "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]: [-0.8185, 1.2003, 0.6758, -0.297, -0.6266, -0.5335, 0.9977, -0.0212, 0.7986, 0.6094, -0.4324, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=-0.1544 left_z=0.1314 left_yaw=-0.0343 left_pitch=-0.0599 left_roll=0.0405 left_gripper=0.9977 right_x=0.2885 right_y=0.001 right_z=0.1705 right_yaw=-0.0011 right_pitch=-0.04 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -4.3692, 9.4838, 1.6044, -0.5641, -0.0269, -0.2613, -0.1846, -1.6068, 7.0359, 2.0488, -0.0366, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrTXp6xT1UHeIwtn1_h9x6A6FWavJFeDiC16RyVY6_xQaQvjpPhkBq86CYDQkQcfSMLCksAcfe4ZODgpUzFwz1VTAFFZdQM0BLfOg3094QgVYl0NnGWmfJ8t3vJj_etWdr2XRos3KFc62P8Q46RfWnYoqp6LzDDYeaTpi13PgKNN4WaLBrq6_B1Gf3jMSyYwrXXVitsao8f4-1XiaZWhdETLwoHAkC5crlD-S1lxLAEWKSw6QK2Y-0Xg1X4fse07TPR231YeifUI8Ww0qHH1Q4SGbXu2H9V0QTin2R8exbWTx2NgkqUD5a_10jLdMrcTrPmggmsme0eYFqD_pIn7wj53NNEi_i9g730_fPZ0P4V8d3y9U4_AJgOrxRW3C_kKiH5EqKxJjVP-Usb8gd0po-UI-uHS-ZllFFwznI2Gg3POqdeMjadJQYBb0TPSIDi2PpmiykiQenHqArpiwUGmFfdAddEx4ZOljVgcFC5XwmaX0nSfzqnrwMo26rv1F2CPRtTS4Mqd0L2f0yJ73dKdQkeYf8BdQ-iCAPJrhdbd1ZdwPQBLVoPYzLlpldB67xWaIflTfp5ei0zlGJ4bQazukMyFj3pfZfZWZUWHzCAeJvbOmSyjvhpvwsb-F01Aic2FfnJiaeH0XkZdPi7_bp2B91KhNF87uTuI99P0Wbl90Vc0mxtehkBfCj5OLRPa5Kz8UAjcKBUqpR88PLQOkoG3FdHRilrWgu58RGQNI6RmDgz6YtGxTDY8qq04BBVa9DLcSu4lvC06U76F72oxI_8uCOqHXn2sVR8m1HZ7p0U8k3N_lmGV40T9csghrWhWSDBICH5E_nF4BAf_Xx1Y1Tpr4PdTAElmnhtXOlZzSwzceUetaauTrmq3gCVBqud2mEPFbDgyYlAs-iJvyhLn39_GbeWa9UiZCCHRKpZrrjxD9uR5rIjSd90cPR5ViuwsxGE5DicqLBq7q8GSOp6s1wxuOHWw7ZD2PQMaQ5OSODnbBBGlJact07kM_ozgf3MeVefRKQrbCKB0w5SNZ52TQ9tkzHxS5D7rowGxWLq4hzQZYAF4yQz3AdJlgNBzW3FWBXnbvD0FGiaT_q_gphoRbYuQwKJS2Tr07ENMrf8bZx66O54jnv4U3aVq4FyBX-MZNlUtepf3o28lsaiSvp0KffuJFwu-Ahme2ra_TT-oOPIWKpG6YXZ_dZhN_BXE_erWtGLnzZNHkqKNTLwjirC9hz1WL5_LpoRyae3wEdA60DTWR38Ty5_4ZOv3E8SHHkrTSxuXdhZ9g9LlrsnVPwnW7XMe_xFYnnB8f673CWOAiDgiRB5RLyE=",
  "id": "rs_0409c3aa1c04475b016ab2b4d3d28487d0be0b600683b1e0c5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.101,\"left_z\":0.015,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"The white toy’s body is still slightly left of the jaw column. I’ll make a small alignment correction and descend to grasp height, while keeping the idle arm parked.\"}",
  "call_id": "call_P0lOBNTMGNqImQjsPIhw9skn",
  "id": "fc_0409c3aa1c04475b016ab2b4d5a85887d0b7b4c9fdf61de9c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_P0lOBNTMGNqImQjsPIhw9skn",
  "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]: [-0.5388, 1.5391, 0.437, 0.3267, -0.4522, -0.3592, 0.997, -0.0219, 0.8444, 0.6369, -0.4969, -0.0204, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3328 left_y=-0.1048 left_z=0.0243 left_yaw=0.0177 left_pitch=-0.1065 left_roll=0.052 left_gripper=0.997 right_x=0.2849 right_y=0.0009 right_z=0.158 right_yaw=-0.0016 right_pitch=-0.1228 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [0.5265, -4.3419, 5.5043, 0.9695, -0.1587, 0.4078, -0.0366, -0.5812, -1.4974, 10.4821, 2.0342, -0.0611, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99eb4af7fca8efa220001571804b0e9611d73e3b83f8d7ef5e4d07f32b375d33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc776def9d2d06de9a5fd254caa217cd6b5f8c222667fe8a6c126752a581e75a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:318d8b2535b9584e167f20a005b8f0a3031fc62b13d403262e97ddfb42ba5de2",
      "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]: [-0.6243, 1.3869, 0.4366, 0.1188, -0.5083, -0.4, 0.9972, -0.0212, 0.8021, 0.6094, -0.4549, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3073 left_y=-0.111 left_z=0.0414 left_yaw=0.0012 left_pitch=-0.1289 left_roll=0.0856 left_gripper=0.9972 right_x=0.2854 right_y=0.001 right_z=0.1651 right_yaw=-0.0016 right_pitch=-0.066 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -4.8889, 5.2034, 1.7509, -0.1734, 0.0952, -0.0611, -0.335, -1.4974, 7.3368, 1.8632, -0.0317, -0.0659, -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": "gAAAAABqsrTeniC3Gmtt1R3BFhL-54TzHgJXdoahzkWGVQYK3OPIXtDP5W_YvxFkaW08wc2yWlvMlGSHcpa8o-E16WJ5ZehLHFN5xo9yn_3-nRl1OCaqgoam-Ip_LjvemUmlxqCpwrCx-rXZvfq8R4kLEtb8iRh90UYpA_sm_O9wPb1Zzbha8jkNsKRLYzmawUmXr3KoPS44zlWRzJjn7SQi53pgTv0iLTpC-xIY36IR03jyK52Ckmi8rv2SubFwVQ-zBlBTduZIOkFfm5HkZsEJbmLzTHxejNvzmbeGxdPaG45QqDU15KEhC1GH-kZcF9-t9Xj3uPUnrlF07Zd8czIG-gZmtB7WBgci_vIVCEznnOeA4ZxrVG8EM7IdvbdnAm9b-sYWsGWhuTXY-nv3NbGFhpd7aDRKI-asq7cf8Ubgoec92ens92oD1TV3vf00hFHqyWBFEuSD7WyonLFtP1aWR4GCSIMDjv4YOsAF93h8boz43g25Uau8xxMau5GzuW3ku9-WFI_XWQkwgP3q6qYdhHcLeQJ6bGJUuCx0gXkq_qrnTHhd4hBoQkQMxZPhyJLJnF1pvbsh-1oNCRGMzlzxrIranaUAuW58f2KRrojkr-lXChuuzPUIRfWCqUu1AW9diIksdAwFC4egf1hbYM8OW-d9OGKlc06dWxez58TplByFDqkrwPtTIGT4UQpy0HxOF07UxKtsKnL4Vyx3akBRBZh-7-a1ps08zX-ocOPd1PnRbkiJKPBEi5xjQ1wK_8lqnXkZMnMPa6nq0iG4KD74JvxNeO1YKVYDFlMpSq4yuCCW4qlZclLDSv3i2U5MtHbhPyiSEF9nEnn52hiFAfgQu9DNwgFedlmCItoNpfj2wDJungyN3F9LOiuB0zd1ot8gSHTiq4c7wwceF7NA6FThqAdDuPIB1bVTYCuJe3J6K89S6XHV54Udg3RlcjQh6cIsxecFfXxyXLpF_1k2e5yXJV44Jn4IzOBsf8pBaXhH7RbTrxp8gP_xSWQ7QVRn2b2uj47vI3Qr7CvDNcVqhH3Qcz52fBx_7JRVSBSwzPivA8liLFNnyVqVapDUyNuZ9TcpFzxaZQ-YDyy7Tb3j0kYU5w4NVyOWCVeFj__NPomXVHVUM1_b9JNKORqvFN6qOETd5q07kHGjT-a1wkYK84NhfAp68waKjpIrvKzvAWa0VTMN_sKPSYpIIhvGux4VDOYn8kXH1QS3n7MxKuMrdYKS4VTspRkSYxnnoqza_FPAvwYgAf3g7VxiIP-l1x81LcznqhPl-exbUN2MFJkn4I2GMRS8GXNc9cWQgkCL4MmnZaBbSzbB0XdOX_monAS4t6W_LUT_e8On",
  "id": "rs_0409c3aa1c04475b016ab2b4daad9487d09a6f69d849587fe9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.073,\"left_z\":0.005},\"note\":\"The white toy’s torso remains left of center, so I’ll shift the jaws another few centimeters left before closing.\"}",
  "call_id": "call_YqKWBxEz8PmeOb8u7xJ2g03v",
  "id": "fc_0409c3aa1c04475b016ab2b4dc860087d09d0a8b6bbb7f3798",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YqKWBxEz8PmeOb8u7xJ2g03v",
  "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]: [-0.522, 1.5654, 0.4412, 0.3676, -0.4484, -0.3405, 0.997, -0.0219, 0.849, 0.6403, -0.5087, -0.02, -0.0189, 0.9996]\nstate[eef_state]: left_x=0.3393 left_y=-0.1027 left_z=0.0237 left_yaw=0.0203 left_pitch=-0.0925 left_roll=0.0546 left_gripper=0.997 right_x=0.2838 right_y=0.0009 right_z=0.1561 right_yaw=0.0019 right_pitch=-0.1358 right_roll=-0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.335, -4.5197, 4.8752, 1.3016, -0.0904, 0.2271, -0.0073, -0.3077, -1.7026, 6.6667, 1.707, -0.0904, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1b3f7ca72408a69ff7f3a69837cf29a43c0f8a97d86450c94e72ee6b5ae0339",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fec5e460a52e264fd2a188de3b056e103ccce495b1d09f2be37809d71dbaccab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c6fcb44bd05d6d4eeb0dd8d6a93c9393c52d43bcbb22ee95e9ff9d4646cfa82",
      "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]: [-0.5388, 1.5391, 0.437, 0.3267, -0.4522, -0.3592, 0.997, -0.0219, 0.8444, 0.6369, -0.4969, -0.0204, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3328 left_y=-0.1048 left_z=0.0243 left_yaw=0.0177 left_pitch=-0.1065 left_roll=0.052 left_gripper=0.997 right_x=0.2849 right_y=0.0009 right_z=0.158 right_yaw=-0.0016 right_pitch=-0.1228 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [0.5265, -4.3419, 5.5043, 0.9695, -0.1587, 0.4078, -0.0366, -0.5812, -1.4974, 10.4821, 2.0342, -0.0611, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrTifFadfhx1WvuV7Mb8rVuNGUjP9H6suKjrN43MOcIuwSuol-BXzw2c9Q8lELrsmo-jLSbXvnCSDhkRVertdvZ9vChzloeMUGr-qmnCR0l9XzQZCoaCNmSZ4WOkm2KgfPuA-PxcPD6MnPpu5B0I42SQm9Xy35gBKcQlVOH9xOStOS7Ont_gBNlOt_Dtk_G7w99b1draqqp4Mwri5um_8t4nKTZYQGpDqmT54ZVW-VkwJQmkdp9-nin-gZil4WNrWfH4O6FcSK2_QWDOYbRr6KS981FjV-0PGdHtkITqmdOL0HV1Jbx5mspDHqf_hX8xBQrZCQ6YsoSfAO8tQUKaGCqdXUKIQAen0jRKBuvki4OgQC2K5q_Xf7OvayPw5Ua4f2WTh3oOgir6E8SvycuxV9fk1RdbBu-B10lh6KS4DuEU2hJm6WnzvX8BCzC8wwUUH4B-d2QAC2Ord6XsEpO2hNVbY5jiuSgje_yCnTOtZFDp9x5tm_LzaREir0iLP0gjoan5CUQ5oMAXK5xh4QKlKjrN_UeBWsoe0ErW1RB3eV2vfMMrAAUYhj0g19bGPyA1MmP6caMcg-18-yBNrVDRTvcZjVeiKioGpHBP7sGRRwTLA7CBZa9ERPk8ogt3x7YuaK-pna1SzI70duDkAeO3gElnIsGO_J_b3U59hlXidlg9MG7V2zMf0mNidxKAlDJnvtkM3ob6rILdoLtLr_ENXl87nf9Aad2TYXlclgqyJXI8ymdwrSl7s0WV_dUvZ_GQ_mEkPDXSE_Ec-0wZbd114p8EjK4zkHWbROSjgRCsvU-0AhPF4-mvY2fBS2iEvqY4LEnxVt7TCDEYIFh7U2be5elc9ihalXpiRW4fCxzLZgboY1WGOQhoFrYp5tlYxU3kg67Z_KUaiy-yAe9Nnkfpz-zf--7eGdJ4q6C9LFbTHbpylE6gcwVwtFBEjzEicfV3klPqysmCqwQCN-3ld6bt2Zv-H50fYvkAYA3VsJ37fyMPnjQh59XjQIvL6GpW63k73Dza-jNZrB1HfX_ksj1MfuwonloAAaUIODk4-X0ImfXEdxtVDl2G2O2d6yigB0Xa2zgps0Rt6EOPJGNeYEjhCHkfGOcaUmRGx0IyEhr5O4m_GhsQBeA5Ot5aqzu6_z7OPX498nBBNRJKE8i2cSflXfcY16edxxAk99T0W9j_lo2kbTKG9neq68tD2u4_pUWW0oPgoTHAbsI1UNuC-WHqWKMIdOXoePVIzdtW6t3x_mon8UY=",
  "id": "rs_0409c3aa1c04475b016ab2b4e046d887d08f3d29b6db01012a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.065,\"left_z\":0.075},\"note\":\"The gripper did not track the sideways move at table height, suggesting contact. I’ll lift clear and align over the white toy without dragging the fingers.\"}",
  "call_id": "call_7jEHZa9ml6VvCnjxeK15JcG0",
  "id": "fc_0409c3aa1c04475b016ab2b4e1245087d09f7b12965558303f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7jEHZa9ml6VvCnjxeK15JcG0",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.522, 1.5654, 0.4412, 0.3668, -0.4484, -0.3405, 0.997, -0.0219, 0.8494, 0.6392, -0.5232, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3392 left_y=-0.1026 left_z=0.0236 left_yaw=0.0203 left_pitch=-0.0932 left_roll=0.055 left_gripper=0.997 right_x=0.2812 right_y=0.001 right_z=0.1528 right_yaw=0.0021 right_pitch=-0.1518 right_roll=-0.0021 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -4.506, 4.9162, 1.3358, -0.1197, 0.2173, -0.0171, -0.335, -1.4974, 7.2, 1.6972, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:754113fd8349ad1fce2de06048eb48a19904a3db1639bcc9b8fffd100d238f02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f9e90ae961040539e0b6579164b7dd09c800e118cefae9d523f8797f0b6e070",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:895f98cabfa71c135fc47f1b6071e5e9feec9337ea8e2dc7febe5990fc5d554b",
      "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]: [-0.522, 1.5654, 0.4412, 0.3676, -0.4484, -0.3405, 0.997, -0.0219, 0.849, 0.6403, -0.5087, -0.02, -0.0189, 0.9996]\nstate[eef_state]: left_x=0.3393 left_y=-0.1027 left_z=0.0237 left_yaw=0.0203 left_pitch=-0.0925 left_roll=0.0546 left_gripper=0.997 right_x=0.2838 right_y=0.0009 right_z=0.1561 right_yaw=0.0019 right_pitch=-0.1358 right_roll=-0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.335, -4.5197, 4.8752, 1.3016, -0.0904, 0.2271, -0.0073, -0.3077, -1.7026, 6.6667, 1.707, -0.0904, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrTooycuB7Byj4pD7tDPl1G_aiiC5r3edQqgaK6Ppn2qwdulX_lPfWEAoFGsQNpL6dqoz5hsG7sbSUiah0abW83BqQiIiYpNBYjb6BZzu7FbXoud8v1Wv8n_PaWHcrexHqznsXdwQuAGYzXLDkL5mAj-hzoBwGfFO0KLM3ObE6I2n0aWuifWRduwawpBrDLfVooxC25-EXTBqbt71yRFiaeua80zUNLZvQtakaZo_0O796Bno7cso6MkMxwcHJXc0OTXkMqcA_Y552LTDWvjmEefxr1uWzrx2VP3BgEFLskDDj5An3I2MPBrY0DxdZzdofEn7THIFUN_cm7MsDLg_WtiPFqWzz2Aiz68UyaATM6aMdsMGWn5pkW4sgYW-us-P4lSSh0J8vveW78hb-nWGylbNrOBWOZRA0tDs3FIqF8veA8rGR00fwhNJlJgsyes-1oXPRuMr-gf4HvgQFl2Kv2wWvUxzuzaQryfXF0l1TlZ0MNxtyBMYP_gmLQIybvGN0rVQj5sSTvdq-9H2z9Nouz6XHlhjFHn4RJAvu61NOSOe0oyZIcmHg4WiQUvfGV_Fx_zTkMEv1JPRkWZREFZ_FV24i_iAnD62EdMBvjqKcPo330p2wabBo2SFrmpud_3RQ_A-eVCn0FGriCkWPPH5b5i14VMbGz8iEUG5XWjlzN5PdG-JHtOg5WC1yL85aymqpFMJ3v1aMrFSmA275iBCsOieQuAgqpVlKAVeXqic1aFgIp2jvJ1mT1rRLYhyhJxisOQUcqMmr0ixr_ROiEiBmwMwzg8mzd7PVZzE_YMaBPWmHvhvAinMgriIemdc699LEThyeRykkwxplwGjPUPCz1FzWZpm6NL_Wgz3tNQ6xzyX45eGMvxbQ1Tg3qxp12WgMSM5l3lxjFPZFZOX48mIx22GKQs-EvOgP_8_rscF0fK-Yjlw9OgqFyG1jt4z0FmoZumrmP_Gcab0g_9Ajnf-SKPyTiA59TWIkXL0--FIXKT5JavKss7rZES7KyXY2PzETa5UCg7p3hykjIc-gAlk02J-cIu_fXejW-n7LDmPeossplgLEsAvLQLUFB4fx6v7yfCoNH2A9jfhCSUkrBh-pOLcKzMbvfmrDr3SlN4tmlaLyx3J7PrCAh3Q6efO6tn_WFIGuNpMFIK0C3-bA3AUf26GeWLRc9gGhu_qlkBClQVRjbUpb532OuAKRWaP44mtPKWhVamdcDgZMijfOmgMBS5cvH1I_03czihE-5PrB1dtRwHXdohVhP7S-dHl5aUu9ux",
  "id": "rs_0409c3aa1c04475b016ab2b4e51a9c87d0832e11ed1702eed1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.1,\"left_z\":0.16},\"note\":\"The left arm has stayed in the same pose despite the last command. I’ll request a straight clearance retreat toward its base before attempting another grasp.\"}",
  "call_id": "call_iC2b4uwXeKIuetwA6TCygaKv",
  "id": "fc_0409c3aa1c04475b016ab2b4e5d6e087d086c3b10c903d7c11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iC2b4uwXeKIuetwA6TCygaKv",
  "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]: [-0.6659, 1.0183, 0.672, -0.3462, -0.5327, -0.45, 0.997, -0.0219, 0.8528, 0.6392, -0.5533, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2963 left_y=-0.1141 left_z=0.1682 left_yaw=-0.0002 left_pitch=-0.0068 left_roll=-0.0247 left_gripper=0.997 right_x=0.2763 right_y=0.0011 right_z=0.1465 right_yaw=0.0023 right_pitch=-0.1853 right_roll=-0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -3.412, 9.4564, 1.6288, -0.3687, 0.0562, -0.0073, -0.253, -1.5248, 6.8581, 1.8974, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d34cadfa2659189f55fd3a82f186cbb4ecef261e03d1ccdf041817b8297ce30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a075c48659e6badc48192a70ad5d479e47a3d84a9e7c8566e23ed8f4907b872a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3f54698ae4f9178c15f95bf3243c3112eb1d9046d798f4f8cd69b51c27169ab",
      "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]: [-0.522, 1.5654, 0.4412, 0.3668, -0.4484, -0.3405, 0.997, -0.0219, 0.8494, 0.6392, -0.5232, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3392 left_y=-0.1026 left_z=0.0236 left_yaw=0.0203 left_pitch=-0.0932 left_roll=0.055 left_gripper=0.997 right_x=0.2812 right_y=0.001 right_z=0.1528 right_yaw=0.0021 right_pitch=-0.1518 right_roll=-0.0021 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -4.506, 4.9162, 1.3358, -0.1197, 0.2173, -0.0171, -0.335, -1.4974, 7.2, 1.6972, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrTz1_vJhwIORINHHn8tWVMa3MDRsHB1eskZ5jxx2h4sgafxKD1oV6EHAR0pZxAGR2LPu7sM-JQQEDTaFHjkcYIFVKeoos77iptHEkSOVl9ftR0VmeaqPFo7zT6lVyt7-Br62L1HyKaqR-mUnVVYQEL_PPEF-7zZh0nfZChXCku9QlRKZUifSLmT0mqKDmTRQijnC_zrylWrsIvoONb5SlcxlmiacVyRKyTu99FL-eekt4Y_BqsutM8_Xqf86rSDXEZ1ZY3waT4uQu9egQq1aFE78fDEuunugL3sT5R3sT_tY-toZYSt6X7wllvJ809k7im8gji5BgPUkGPZYVYenwd2eHHWL4xi56_Mk0dOk9VJ6m8vGin4jU6Gr-Df0FpHxsKCBAwWDS0BcqMA8lI2BPkQVeP6uy73oAo5AMQkwwGnWFPDkWQD56gIA_raYYhadEk5ly12PWLmWdNOWgGixQ6VLams8wlTX9FGVYR66S1ja-eUQ7Ux9WPQ92lbJbnXSfIiOT_NYm2nHn-Ut0LP1j7X1F6IaAUn4JF4ECuanZIQYPX3QzelLpN1FL-RzvMkwsPkPT4BdHlMQvxdX2Twk_e9aAwkwMBnNTqK65VV4GrIg0DwpLKYjMiOalCmnsD6nkKfOe1IjBQEiZH1H0xUXeV-4zGkyuZPYZl5eGpVhkuIJksWov-Hkn_UL3EAyWxYxpG0LKEPc_8C5LdoPSrbRFyw2cH-Vzalxs62Pd0EqcgmyUHlX0ZWsdTXvQxLYgz2bZwonFnCFX1K1lmzhkA3mleC2eDMqHOhNoJUa5xK7iwBFRule6vB94pyjMp5ZSWVt76FOiCxWZlga4ZgUk7rWv8HoiW6VoIUmOm_rONEdfgQ5tzaYuXCJ9uhkPONPZKqOUaef5ILTLycQ1ZRMQ7jGiD7Rx_baaYNWPySKKShiz12h_fdAFmA4Bh9gU188ZuvgZjzP9y7QBitaQuOSVaTjqgtlwxlta78yqlVXZDQukA3u-SqAftbU0WyOUqPAzO2EAopIs3aOxGg2BSbGrNo2TLiJZ09iFbLyMdq0gcWxBYg1NlkwgSQwIkdoxoASH5GbGNXwRv3eexWnRsaGwHhy-p9Q6oRuh3RezzgGXuWfPNcZmas5l2QWdA1MCqecM0gwW-WaJVozibfKUxXVeshRXIKmkyEzL7xzSc782L8ZaDlRGGp4DUb1kDEmJYYOZWDQ26avgWMFiEzEXh9LCPuZd0Knggokjq6Iot52EusytfEEqO7rKrU0B4_m9aGjb44o_IbHC2hIfI4tzZVYk_BOYEB9PzPJS9qAr6P0G7ZEGpWUssog1Vrg7FApgzPNfTWIrW6liSxqoiK8edQ6s-wFbDxBFkdamwo81bvdAkjFKt4qXkZ75HiFpwLZ5YhekDQG449BpQ0DVJ_SquBSKGPNOZlbIHbesQ0wiG6YwuCRyTS6YsR3YbHOQiL59JyQyUhR2OOb-uSuIHUsC4PrbQYt2O6umWehtl3BlelpAFB3plx_ZjmnNRTO5A9YR__w-1NB6SwfLUyYI6ThnNnAET_uSp9cEYgFQkeJdaTrguWnlhidl3DkvzCxzeLCOIg11ONT-wW4bZpi0E4RY5T2MYh8Q_pcnQyNs39qSXeFMZD0bdiitdWHAuhwxNNvtca84Z-C_S7E9po_Eg7F0aiI5wIbcl_uaBmxj8KeWlzNyTg7jp4YRfKZLjvR9JJ2Ia05aX9SRC-bGkM8pWt_MSbxyY8C7JOCNSzaoOdB2Sm0Wkj0zzyANZxR5jz028MKOCEfA1KYKJWJHStG6fyCTfAnIlYw4fdv5pmjKC-0E1X4EWTW0vpb2eXng7cMSX0ILgS_jNsFsaWkcUgZ0UfLPi2OfVPzSkVNY4K1sQeG8NQIwdTswiOQcBYfnQ3jjrr2KZcKVHu-YJdzhMwR3qQP1BWbX-SuzTnQJRBKx4tvB6N7AiWpQzPIdmDphhyvRcY__OLhmuKsSTMWpbpEra7cnl5ueVioKLJ7Q==",
  "id": "rs_0409c3aa1c04475b016ab2b4ebd0cc87d09c5520c2302c968f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.07,\"left_z\":0.065},\"note\":\"The retreat worked, and the white toy is visible beside the safe. I’ll approach its torso again with the lateral correction applied while clear of the table.\"}",
  "call_id": "call_Upm937OddedMlz3RVtcFcd1Z",
  "id": "fc_0409c3aa1c04475b016ab2b4f213d087d08dfeccb54a76a3a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Upm937OddedMlz3RVtcFcd1Z",
  "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]: [-0.4107, 1.2125, 0.3305, 0.1539, -0.358, -0.3046, 0.997, -0.0219, 0.8558, 0.6392, -0.5777, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3061 left_y=-0.0619 left_z=0.0517 left_yaw=0.039 left_pitch=-0.0973 left_roll=0.0152 left_gripper=0.997 right_x=0.2721 right_y=0.0012 right_z=0.1414 right_yaw=0.0024 right_pitch=-0.2128 right_roll=-0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -4.2188, 5.9966, 1.9316, 0.0122, 0.0952, -0.0122, -0.1846, -1.7162, 6.8308, 1.7802, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d75c8a00f267c157ddda8b94adba4cbcd63a5a56af3847817e820878f9020833",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bea58d028b88c9bb5290b818f69690b0d37724a2e67d8eae4e21672652b1025",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbf1431ae38ec8f2a24c861a5e91c83ceee7821894619e55d89b8b7afa339618",
      "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]: [-0.6659, 1.0183, 0.672, -0.3462, -0.5327, -0.45, 0.997, -0.0219, 0.8528, 0.6392, -0.5533, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2963 left_y=-0.1141 left_z=0.1682 left_yaw=-0.0002 left_pitch=-0.0068 left_roll=-0.0247 left_gripper=0.997 right_x=0.2763 right_y=0.0011 right_z=0.1465 right_yaw=0.0023 right_pitch=-0.1853 right_roll=-0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -3.412, 9.4564, 1.6288, -0.3687, 0.0562, -0.0073, -0.253, -1.5248, 6.8581, 1.8974, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrT5tUIxUNZeecpho1ZnySBMsqTN13dWaQWm_xK2JbzhK4X2TTPgMr4YE2RZbNTBoPI5e80sNw96O3eIXKWHc8nKST9Dw0QbkSXNc1fOuijmREgsDsyVxRrbaPL3LFy0RMjO_Vvnvj18mZEpf6jWCMN8jr3FoN9lsCWxBVyqu2Vz7Zu-bF4MjLbaiX-1ih_F5o6-2J4tOUYy09LZ69J_OMG31nSL-s2OcY1aW_iR0qnB6xcyQJayf5bVjxvZHPtpxTo-WsSfI7ijxk4dlMythCTOZXtpC06I0cfE006iAj52LMAZWIFF9rmXBotH2ceTNpGNiX4cAgYG0a1UI0tgf8lufNhIuY0Xvli9_3XyEZq-3u0kewb7bw5WbMn1CHA1e3RCqSYUYs38ON0e9VJ-HlAWRNHuWo-cuNTc5hTsKtqcKWlXX93-lBQinS9PwCWZzN3rMebdxuGyYRb2p-cCZlbLrMMJy-n21mpkDLIJN0yBYeyFACsnFPNsyzwEyS-QV4mHSCTQ2pR1SeuJD5-Ve7UE2TCkw3jNT2iSWN-sF50XqtfiLTkPFVEa5PHabwBbldHkh1fSEK0DAGY0XnFw3Gs8ima96O2imgncUXlfcyNcEheHBxFdDhEax5JcrF5CSNmURudBGcJtGjfQTsn-EKnBJ40QJ8nrXgmjFEtO-uEHphkxw-SsZWV63CztNKZ1hw-nL8NfUmv2AluTAfSbSIVbAMbUwQBObfk84AWIDlwA9SXlf297JzPzfCPaA4hpNRbq6M9l1gMLixnRgAcWMPOCXn0ZuMHu9c-dpbuoe2bcEXSRnxvBWmHHao7yZ9IIt3XmK48ULZ12lPXXn9GdOsbB0yLTVIRon7eOf7chKG7DNyEON4tS8TKw8_-KLYqWsIz_vH5LUdxML-CBURGx85yZ9vpUD24nMU8Lp3N6Hz-gsVQBmgtwpuBCb37Bge1BGjSpIDhsf6BDcSGrQSn-0LGmxOikp5DfjBeWkvDfAcUYzH7ebY9PMnVljDq2MPJyF8YCRrrQmdnu7wBJImKRNGGcCSfnEKpxCFEpNS6HTV8S3QlumUjYkHqwkMt4wqwvyaH76v4-C2YogqcgGga0ughGUo6hYZgjMMC-rJ704DSnVj7lgPzK3k4KkXTzTYrmyWfyLRLEgWuFjfHvQEdmpgwhBf-4xd5ottWjq2B6zol9meBk45HsUtG9BZLYcOG0Q5OOdJa-Y4mo5uMsBfcbGquEW5vK7vupcfSXrrPx5QnX0bc=",
  "id": "rs_0409c3aa1c04475b016ab2b4f6eba887d0988f23152e1d5059",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.07,\"left_z\":0.01},\"note\":\"The white toy’s torso is now centered between the jaws. I’ll lower around it and move slightly forward to seat the grasp.\"}",
  "call_id": "call_VLwKuP1QbczxSx1rwBUyJewW",
  "id": "fc_0409c3aa1c04475b016ab2b4f7831887d09a8ee942eae85b7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VLwKuP1QbczxSx1rwBUyJewW",
  "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]: [-0.3969, 1.5379, 0.334, 0.4023, -0.3393, -0.2996, 0.9965, -0.0219, 0.8585, 0.6353, -0.6022, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3191 left_y=-0.0661 left_z=-0.0012 left_yaw=0.0392 left_pitch=-0.1694 left_roll=0.039 left_gripper=0.9965 right_x=0.2672 right_y=0.0012 right_z=0.135 right_yaw=0.0023 right_pitch=-0.2437 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [0.1436, -7.3778, 6.3248, 1.2967, -0.1978, 0.8816, -0.1197, -0.0342, -1.4974, 7.3094, 1.8926, -0.0513, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f78477f716d6ab5f94fbb870333db3c9d057b00a7e81e4dbe2bfeadb74c7304",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b1d3f6b54f34731030852df99831cba98f295e85481aac5d6ed7672d9e5df4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19790a9aa0b0a0c5f1d27a484e2176dc925eb66afc206230918eb5f2166db5de",
      "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]: [-0.4107, 1.2125, 0.3305, 0.1539, -0.358, -0.3046, 0.997, -0.0219, 0.8558, 0.6392, -0.5777, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3061 left_y=-0.0619 left_z=0.0517 left_yaw=0.039 left_pitch=-0.0973 left_roll=0.0152 left_gripper=0.997 right_x=0.2721 right_y=0.0012 right_z=0.1414 right_yaw=0.0024 right_pitch=-0.2128 right_roll=-0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -4.2188, 5.9966, 1.9316, 0.0122, 0.0952, -0.0122, -0.1846, -1.7162, 6.8308, 1.7802, -0.0317, -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"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.2},\"note\":\"The open jaws surround the white toy at table level. I’ll close on it and refresh the idle arm’s raised parking position.\"}",
  "call_id": "call_psmKZCTe1LghiFkFvYMWEEgr",
  "id": "fc_0409c3aa1c04475b016ab2b4fb729087d0ae4a51b1cff6d1a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_psmKZCTe1LghiFkFvYMWEEgr",
  "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]: [-0.3965, 1.565, 0.3359, 0.5045, -0.3519, -0.2996, 0.2046, -0.0219, 0.9989, 0.907, -0.7887, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3328 left_y=-0.0695 left_z=0.009 left_yaw=0.0454 left_pitch=-0.096 left_roll=0.0139 left_gripper=0.2046 right_x=0.2838 right_y=0.0009 right_z=0.1811 right_yaw=0.0071 right_pitch=-0.299 right_roll=-0.0032 right_gripper=0.9996\nstate[joint_eff]: [0.253, -4.7658, 5.4632, 1.5116, -0.1099, 0.0317, 0.8181, -0.6359, -2.1265, 9.2786, 1.7949, -0.0513, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b44da6eb7175069772545400ea21001ed7fa860f6be733fda9ebba5938509e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec2fe847050e664029a3aa0232705f232f2bc7460371207a9894579a0f223aeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5ab175496539481379b08b8eaca73329115d9f8629e9cc675817d0dde3ebaa3",
      "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]: [-0.3969, 1.5379, 0.334, 0.4023, -0.3393, -0.2996, 0.9965, -0.0219, 0.8585, 0.6353, -0.6022, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3191 left_y=-0.0661 left_z=-0.0012 left_yaw=0.0392 left_pitch=-0.1694 left_roll=0.039 left_gripper=0.9965 right_x=0.2672 right_y=0.0012 right_z=0.135 right_yaw=0.0023 right_pitch=-0.2437 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [0.1436, -7.3778, 6.3248, 1.2967, -0.1978, 0.8816, -0.1197, -0.0342, -1.4974, 7.3094, 1.8926, -0.0513, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.085},\"note\":\"The closed gripper reads about 2 cm of material, which suggests a grasp. I’ll lift a short distance to check that the white toy comes with it.\"}",
  "call_id": "call_dJCr2kxOje0FaxeZjJmcbRrI",
  "id": "fc_0409c3aa1c04475b016ab2b500956087d08d5e7c440404009e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dJCr2kxOje0FaxeZjJmcbRrI",
  "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]: [-0.3977, 1.2743, 0.4641, 0.1078, -0.3523, -0.3038, 0.2074, -0.0219, 1.0027, 0.9092, -0.8074, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3342 left_y=-0.0704 left_z=0.0761 left_yaw=0.046 left_pitch=-0.0759 left_roll=0.0013 left_gripper=0.2074 right_x=0.2808 right_y=0.001 right_z=0.1782 right_yaw=0.0073 right_pitch=-0.3192 right_roll=-0.0026 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -4.5197, 8.6906, 1.7314, -0.188, 0.022, 0.2759, -0.3214, -2.6325, 6.4752, 1.5849, -0.0513, -0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74c800c820126b496afa771708aea4ec5d9eeb2ef2c6d09b3115461296ea1b1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5768a870ad067c65f01f717a6c87dd35428e1c0d8287afac6aaa175587a46b55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b896f422ebe435d82dbf7ed3733c73ee65130091e73a14ff8c697f3fd6d63bf",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 37 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3965, 1.565, 0.3359, 0.5045, -0.3519, -0.2996, 0.2046, -0.0219, 0.9989, 0.907, -0.7887, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3328 left_y=-0.0695 left_z=0.009 left_yaw=0.0454 left_pitch=-0.096 left_roll=0.0139 left_gripper=0.2046 right_x=0.2838 right_y=0.0009 right_z=0.1811 right_yaw=0.0071 right_pitch=-0.299 right_roll=-0.0032 right_gripper=0.9996\nstate[joint_eff]: [0.253, -4.7658, 5.4632, 1.5116, -0.1099, 0.0317, 0.8181, -0.6359, -2.1265, 9.2786, 1.7949, -0.0513, 0.0073, -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": "gAAAAABqsrUPQN78nym7j_3CUdJe4HPxjUQcdXLsBfy6Gi7kPTEwp4x5sH3JNRIlwBkuBYfvqKD4h5nsEfX4UCjzisf6Cn2i8_1pnQm_jw7S-tKSkB-z6UBaoJtGWA_9UEunmK8Z4soGzT7dDGCm8lQRcHC3dwCd9bloT09_B9WuUJx4ItwqB7jrps8lZrbtNiOUdYtb6pNmbjPah92d7rb6J3dCJb6cybnP7kIcYhXrgvCQwUBbPgGEmYToDL89uCjDPMlFh_f1s6uYNhKH35gFF6qhLVNs5qP7uCmNN7Uj7sl_Iih-i7z70Y3KhAcERIqASRDwjO99C9QwWaAiBNP8cGnqlOlJ9wZLWBFyTcfA7oFV4NMP3YxRHIBNcWKgr4mJztDaP7uB_EzY1lyj9W8Tu8X-fHO4MUlzRW01tAP5nDCNmVF0RKcxRL-50QQixH5_EVcCDLpOIJp16PSwA_XJFyKcGQhMtb02HqlX03WfCjdZUdPxrAnp_Gl4XyUva9STwIrQzEE1Hq7djuVyS992aYtKIcXtDEV_fQReapbCZECFRe04oEGiPFiuijT6Q_8tiIFYQjv4j3-Bq-RKiie9GC2PuGS82FTbb2lx_AQCrOaxNE_sAhNadiaIsPvL2H_yf6RuFRpn_knKEeVWedaKUHELXZQ1A0UrPg8LirNbliIIKbnKsRBHDarP2VP1Ys9n8SdXCxcqB0bXaV0iiMFzbpQwmsFA-SBkpy7cMShB4npZ-uUbSuFMK_I0eAcoMtqEXUqtKYGfLpdp55SGCLtHgDCfjcogtfK7ZEZK92ZeyTa54iVp0JpdcG2cFXr4xIEne4OKSzjwRbMrruD3Lgy9l6KXMYWYXA-P3MMHU6TFa7fUXBdayzqyh3QziTzYYoYZ0UwJe3S84KeH2EXVnDYfcMr3eLYKei7ovGkuZqoMEw7Q-aHlL17eWSxBHN4HgWsWeLOdN_lTgKOTwY5iLJwSf3aCpD78eqKbX7y8gsae86oSqC94EALFu6iR6KdsBTQqAKcM0YmPP0wFMfhDKS_GN4A2dftEQxJadRbhrxQUZjcuQsWstuTBmS7jRjuNiWq72cKkFcw93xn7xIKmjeu2BfREq0qhGrSlcjrgor0A2dSqNeYzpPc4CD1nzH5wmem7o59DlPZ1E1tP0sXliivS5o4o6RSrwH7EeUiGUhgeqXBpuaiaOHBiIepriqFCC9kyr6wZg_PVpKziHh57T4i8HqxcD9mI9yGh_u55T5GQ8kPPqgVFhNmFnnYA-b4nES5W6bHufnnmrMRl7xVvLo83vzGsSz0mPGGIQHY6DDsFIysKUfhrVUlBG7NhGa3q8WmQAM5pT6XhbsiD9i1KDazi2qns6dVORIRhnypSwr7eNzwYRhzbQ2yj9dXjF-OkT6ydP8M4fTuOqcOqka7gvA3hojYA2GONuGmKb9pM8-OQk9a6VjdKlhmHCI4UPoQwdygGXmf1gnRq8m-a5WT-G3j0TSvGXxV5MeRygslDP32h5kvkpCQ1Ut8=",
  "id": "rs_0409c3aa1c04475b016ab2b504901887d0a2a571598d4475fb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.23},\"note\":\"The white toy rose with the gripper. I’ll lift it above the safe’s rim before moving it over the open compartment.\"}",
  "call_id": "call_azm2mNEUrm6s24Fbo4tja3x1",
  "id": "fc_0409c3aa1c04475b016ab2b507807c87d0980cde5574d85a32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_azm2mNEUrm6s24Fbo4tja3x1",
  "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]: [-0.3977, 1.1286, 0.955, -0.5507, -0.3519, -0.3157, 0.2102, -0.0219, 1.0027, 0.9092, -0.8177, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3343 left_y=-0.0705 left_z=0.2112 left_yaw=0.053 left_pitch=-0.0955 left_roll=0.0011 left_gripper=0.2102 right_x=0.2788 right_y=0.001 right_z=0.1766 right_yaw=0.0074 right_pitch=-0.3295 right_roll=-0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -4.041, 9.347, 1.6874, -0.1783, 0.0855, 0.2857, -0.1573, -2.359, 6.612, 1.5214, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b7de6cb6b678459b51b4d2387676adbb2246e556186d655a5a5f996a5d5dcbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbe95b5a7ffe51887f4d2f5574f10ad754b0c9c1a22c7ec89949f60f7de7c872",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41add626d1bbdf877f1bec5f6014ff2abf1c9c4968d081bc5384bb17563eff4a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3977, 1.2743, 0.4641, 0.1078, -0.3523, -0.3038, 0.2074, -0.0219, 1.0027, 0.9092, -0.8074, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3342 left_y=-0.0704 left_z=0.0761 left_yaw=0.046 left_pitch=-0.0759 left_roll=0.0013 left_gripper=0.2074 right_x=0.2808 right_y=0.001 right_z=0.1782 right_yaw=0.0073 right_pitch=-0.3192 right_roll=-0.0026 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -4.5197, 8.6906, 1.7314, -0.188, 0.022, 0.2759, -0.3214, -2.6325, 6.4752, 1.5849, -0.0513, -0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.24,\"left_z\":0.23},\"note\":\"The white toy is securely raised and the safe’s red-lined compartment is clear. I’ll carry the toy over the middle of that compartment.\"}",
  "call_id": "call_KqiUnvf4853hy8aWfCpsas6I",
  "id": "fc_0409c3aa1c04475b016ab2b512846087d0b6ea69c4de96c95a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KqiUnvf4853hy8aWfCpsas6I",
  "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]: [-0.6979, 1.8172, 1.6333, -0.704, -0.5476, -0.5602, 0.2123, -0.0219, 1.0042, 0.9092, -0.8448, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4259 left_y=-0.2325 left_z=0.211 left_yaw=0.0493 left_pitch=-0.1485 left_roll=0.0227 left_gripper=0.2123 right_x=0.2735 right_y=0.0011 right_z=0.1722 right_yaw=0.0074 right_pitch=-0.3581 right_roll=-0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -9.6479, 9.3744, 1.4872, -0.5201, 0.0122, 0.2173, -0.1846, -2.4821, 6.653, 1.5702, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66d3619c42ee033d8d5211ba6a614ee161523bdf089d7dc4f51e560be11ddcdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f30bc336042872b25c5d07ddb747b7ff94dd9b3575f395d012106068573ce3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9e261a0c8b5f73afff2202bc969494cde5d0072b8d7a7b6f36a64b5b75a7a81",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3977, 1.1286, 0.955, -0.5507, -0.3519, -0.3157, 0.2102, -0.0219, 1.0027, 0.9092, -0.8177, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3343 left_y=-0.0705 left_z=0.2112 left_yaw=0.053 left_pitch=-0.0955 left_roll=0.0011 left_gripper=0.2102 right_x=0.2788 right_y=0.001 right_z=0.1766 right_yaw=0.0074 right_pitch=-0.3295 right_roll=-0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -4.041, 9.347, 1.6874, -0.1783, 0.0855, 0.2857, -0.1573, -2.359, 6.612, 1.5214, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrUZM9u9VhYHKxATR4sFjGB64lCVtAyT0rk6jkqDOkXm2E6BRisGvv3KANdjiO8gMFpPQm2GLRQYO1zPSpKHNM5zccWhF0bVc693-UfFbfQuP3f6l2AEGeoVZb5CJETciisIggY2lhBWZr5zHzGasvUl4o69i34R3X-Byr_6Kvl3ADFqBGuXxLRmwr7sCZ09pGEVoHX9C558IvL8hcU4AObAz8w6KfUHGJJEEu2oInnjO8PJ7RbM0GGsL61oNygzrJo2PqWB3J2N7xVBEVU5dCXJYl1RugmLBv0LKjyZUOvm3stog6nvyn_p5Tp7E_amsz-qewjGSeZ5IDQp-pPqj1WiSqAvsbawve3Xvhx3OzXtby_gcePgzeEqVjCOzKphe-8rwsGHdT_1G2j9mS4iq0myiNWCW4Yhgj4zOHgBmisRY9DLR80ttCpRgjbhSJIqlR6zxTucxtBbNAviwxPohKNXKZF7FSBJ8A_PkkEHlwHkuC13F7ubg7mDfg_tSSe60s-r1k49V_mhvdIYPzrQCi05ZH-u7oRg2PsmdsgNQUH7h8wsMgEWYZqe8L-fziVouhiIrbPtfPlYcbBSSxpaNdxJf1KNZVSDcZrkYxPMk7jDIe68TI2fx_JZHPxWjz25vlOrbFqD6iRKrfFcp0v88RqG5V8ybV-A3SoFX3YZ1eVYZUa71GUTZLvHQBXUVOIRPCgm0f-6u8bwZCt5mGeut1xg8jcQduasyAt46-jGZ6gCwuyCWONNJGYsKwIlNKtpz6pnvy4MtDAQtNk3ffaPLLn9atoxWLshuLqZzXcjPtMAgLC3-tNfpjgoPrsYXrO_2v_FTLDVHye6dctpdwwjDcQxzALMh9MoRkVXmEHmcmEpmxce-eImtXnN_HcYm4SVtx3MZ-N8aizPEwGBwajfv8vCteekDwgIXTNOfpZmXhUDFNmB2p7VOGkH_peLi1TZJVSrjIR-mRJt51sBmOGacRDd-PnRT591WYMWNVkWBCYT0Ig59H3Zzunlmbcwp44zlOYzOdODIp0tTFcbFEnp-b9GfJFho1iBaOOLOTbFDciSKGgQHF21axk2lz6cAn5MgBBfaIrfzKsNWRo9cZR1qf_Nd-ijmQ_vVwaivPUsvpHOB6etMWmXMSti5mzmpv690HHQSLkFI5Y9YY3_2yCcNkCPreBqU1lSQGFeHqxzUI-9T5H0iSTteRCI96kAh79sm8nCvMhF3XdcfwdsyMN6mPlT3FzvsFpsXALAzLGwwOb4mTwMnYjTziv49E0lZNJeLGK4",
  "id": "rs_0409c3aa1c04475b016ab2b518471887d081f2cafb07fbc87a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.095},\"note\":\"The white toy is above the open safe. I’ll lower it into the compartment before releasing it.\"}",
  "call_id": "call_huI9UHbOlC6WQlt0JCdF01ru",
  "id": "fc_0409c3aa1c04475b016ab2b518fbc887d08651938c5037f2b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_huI9UHbOlC6WQlt0JCdF01ru",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6998, 1.8755, 1.2762, -0.3355, -0.5426, -0.5625, 0.2152, -0.0219, 1.0046, 0.9092, -0.8593, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4182 left_y=-0.2282 left_z=0.0972 left_yaw=0.0505 left_pitch=-0.1855 left_roll=0.0505 left_gripper=0.2152 right_x=0.2707 right_y=0.0012 right_z=0.17 right_yaw=0.0079 right_pitch=-0.3729 right_roll=-0.0009 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -9.5385, 6.4068, 1.5653, -0.2564, -0.0122, 0.2808, -0.1709, -2.3316, 6.5573, 1.4383, -0.0513, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5c8bc5e905b6f2ef381771f987c58743c8d537eaf784fd5244da44863974d50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec6c0debcbbd7f6d104042a53b8299ed6ca171b119a8ce1ea9edf2b469a9e7ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59df6160a694ab1cbb1cb1f7ebc16c3543565682f4b5deaf5d9b8088c0f0e96c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6979, 1.8172, 1.6333, -0.704, -0.5476, -0.5602, 0.2123, -0.0219, 1.0042, 0.9092, -0.8448, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4259 left_y=-0.2325 left_z=0.211 left_yaw=0.0493 left_pitch=-0.1485 left_roll=0.0227 left_gripper=0.2123 right_x=0.2735 right_y=0.0011 right_z=0.1722 right_yaw=0.0074 right_pitch=-0.3581 right_roll=-0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -9.6479, 9.3744, 1.4872, -0.5201, 0.0122, 0.2173, -0.1846, -2.4821, 6.653, 1.5702, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The white toy is inside the safe’s rim. I’ll open the gripper to leave it in the compartment.\"}",
  "call_id": "call_5hMnI7hj3z4Wa6smwPKZOky6",
  "id": "fc_0409c3aa1c04475b016ab2b51cd35487d08b31351378aa9ab0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5hMnI7hj3z4Wa6smwPKZOky6",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6998, 1.9018, 1.2564, -0.3443, -0.543, -0.5632, 0.9952, -0.0219, 1.0046, 0.9092, -0.8814, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4123 left_y=-0.2231 left_z=0.0774 left_yaw=0.0591 left_pitch=-0.2252 left_roll=0.0886 left_gripper=0.9952 right_x=0.2662 right_y=0.0013 right_z=0.1669 right_yaw=0.0082 right_pitch=-0.395 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -12.0684, 7.8427, 1.2869, -0.315, -0.0464, -0.0757, -0.1983, -2.2906, 6.5162, 1.4969, -0.0269, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:181608e047724a2badd670532543bc6c1c1c49bfa6eabc615c38bee6346d8982",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:720e58f9adeeb22d20e9fc2b00415d274c195ee1f8a77cfc9e7a36ef9cf0c647",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcc422ff8434267492d9273ecd99616d8fbdf34e1be16efcf655ab178af6edc6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6998, 1.8755, 1.2762, -0.3355, -0.5426, -0.5625, 0.2152, -0.0219, 1.0046, 0.9092, -0.8593, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4182 left_y=-0.2282 left_z=0.0972 left_yaw=0.0505 left_pitch=-0.1855 left_roll=0.0505 left_gripper=0.2152 right_x=0.2707 right_y=0.0012 right_z=0.17 right_yaw=0.0079 right_pitch=-0.3729 right_roll=-0.0009 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -9.5385, 6.4068, 1.5653, -0.2564, -0.0122, 0.2808, -0.1709, -2.3316, 6.5573, 1.4383, -0.0513, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrUlKTF-Kz-4GHh6rHfOfPj8JhDd272e7KpI1fbrkl62RNzFzVVtT3RJ3AXnVdPELZ859nK0BPH2TLuYhIv3IcZo7ppZSFqhDMKd5T8_Bg83H_dp9_wssTRr_UHIy2_-fwLuSaqzyl0nxz0-pgn51zw8vEePG4E7PBq4WLjJFLOEHnnW8r6QyWO8ntZZ5f7s0kpct4vPjXMWhwhE0fAok0H2_PuY7TEAInEF0op0zKgr2WIXaTZZFbXnpIomGJ31cXQSHlZ4fowgawQLorIDUe-soH9ttfSaHiOZCfCQo2AA7y8f-mlMqjDOxrP5ohoLo3x8Biqmi5A8j0zyXY_mKXPLOkyBdiJCqkc6-9CcLUOKph62vfEUf-T5cfcs5z7HNEzbKNaIpri4N4dFjFitbYZ9bg7V7SnofIF_FkM_32zUELDruySS9ncWTm1T6buNQbVF-3LlwcIznEQ3HnRmzfhd5dNlBzPuiduyqUDePPC-bS3dVnlOMYI27Wi9jgl41G8xWncojgKdiw__EoFswVo66OCbeu6elUO1OrgN7sy_eEEdoFBbwsTtYq6oUaxV5pP10UGJxhalUq3u_mVlRQTiIpNGJKaQMkz6N_RKs-kRj-xPQ7T6UMgBiXWRTNWf67rWETafAFmmaO57WrYN32QpDdJLVyDyaXX4dJ7Bsln2kNTBkwcCjqcdzX5zJ5XQ-D3KLDx0ZJeSe4QgnQZ6Lc2u0nwaTcXeGWTblEi4unnSa23M77jWMTVevHcwwSjYRCU0nzdTA2z2L1lgtAyUMifch4WKZTu2c252QcEC5zwR2hs8l1dkczKhYe_fan0dNgnvIssHbioxNrBv26h6rVR6BIMKLnfhtbLYjCA0L41NUWZKz9wn6qzzdjBAIo2YiB9M2DsO-H5GDuaxP7oZ99Y1SJNYbZTnxFKT0_FOq6WnUqs8bH0xjV1kn4CWlqDkhE7Req_vfNHHRnFdyetmQWop-Cx10tIed6lty1sAQYBIZQFx9Nnb8ArjmAtLileZVGpGxFKRWDMtpk6u4crKAUabVSdi9R94-3-chS5IXIBwuFKWMntT0Da9Oi0aNfjJIv-0Lyuy_gs2ET6PNLeO5C7d9IsJF1S6sRr5cYwyj30I31w0rIP5QLik-X8Lgvh41xBmcpG2zMQUVy9Hkz7BNBDOIEH_YamtAUJqjdBCKfGZBRe_cHRYT0e7icCIcAJSXzZig-pbh7p5zfCyWZh06GRrJpFHxfk4qLR6-3F_3hCeseJc7fbIltN77KOqztXvuicZ3AjKeLFh2C9tSQRbv5WvF-Yg5iPTcOcoxprdIbjB8VoV4TPJ6yBQT2tCBv4P-2KRn047y-rerhnNDg0uf4u2m-RqBXajJeIdG4efeDYjiiceGhtCQOhzeKn7HAKyhDJzRJASr2CenL9yC-mto4yUiw==",
  "id": "rs_0409c3aa1c04475b016ab2b5209adc87d0bf6b492a4bdf6eaf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.1,\"left_z\":0.23,\"right_x\":0.445,\"right_y\":0.19,\"right_z\":0.16},\"note\":\"The white toy is resting inside the safe. I’ll clear the left arm and bring the right gripper above the yellow object.\"}",
  "call_id": "call_vnMrkMpOmTOuCxpL8CY0hRHG",
  "id": "fc_0409c3aa1c04475b016ab2b523803087d0a453799cd392e712",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vnMrkMpOmTOuCxpL8CY0hRHG",
  "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]: [-0.6601, 1.1736, 1.1095, -0.9195, -0.5186, -0.535, 0.9956, 0.4858, 1.8793, 1.6306, -0.823, 0.2379, 0.3733, 0.9996]\nstate[eef_state]: left_x=0.285 left_y=-0.1059 left_z=0.2137 left_yaw=0.0651 left_pitch=-0.236 left_roll=0.089 left_gripper=0.9956 right_x=0.4317 right_y=0.1849 right_z=0.1492 right_yaw=0.0341 right_pitch=-0.441 right_roll=-0.0223 right_gripper=0.9996\nstate[joint_eff]: [0.6769, -4.1915, 9.853, 1.3895, -0.2222, 0.1197, 0.0269, 0.294, -9.8393, 8.1026, 1.2186, 0.2369, 0.2613, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88f595238e944f030950c2ba6b1dd1286a7c403c6c0b18198fb384a67867b461",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d62827df7c800c0a4d96d888269a548d7e1891cf90b52248e74c06246142ea7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2f8d1518a8c0e5b2bb2e08ff32b9888a35bcecb46c5c25ad52c15d7390fd6c6",
      "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]: [-0.6998, 1.9018, 1.2564, -0.3443, -0.543, -0.5632, 0.9952, -0.0219, 1.0046, 0.9092, -0.8814, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4123 left_y=-0.2231 left_z=0.0774 left_yaw=0.0591 left_pitch=-0.2252 left_roll=0.0886 left_gripper=0.9952 right_x=0.2662 right_y=0.0013 right_z=0.1669 right_yaw=0.0082 right_pitch=-0.395 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -12.0684, 7.8427, 1.2869, -0.315, -0.0464, -0.0757, -0.1983, -2.2906, 6.5162, 1.4969, -0.0269, -0.0464, -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": "gAAAAABqsrUv-aVlxVm1EG-T2wDU2zbc8NDNWfN3e0dokw2hFi4b35_AKwU-L6oEUNypv7RUXWtoGyM4Mc0dtdAyDB9Xe5d2wJNT21NpUi3CYD_y5foi8BWlAfL9PmlNVp9oPQhjlQ7bgePrIgZnnK_p8uMi6izrzeK0m1M6a9Ie0e62NAxHpYg8BtPbV96yW-seARXv3uCeh2oUL43ApIJuSmjoD6sVdlwsmaBH7gVzHk6f-1QsXMllxBijfW-Y6uiMQ9ohvRRYmxbhZ9gDmVG9B1qToS7TpOHG_8EFsHb5OiO2TKliUL-UafNHDlQx9AdbuL6MQCJFQUZMza2A3cI43BzZBEChxEAaWIdM30wXHzEwv3wjntIRC2bU2ICO5aUvxtFA-cyrvWEjFwiP5SSb40epjU-CRVPSgsNO1DXALYdxWyR9-FIomCmRtdptH1B7l6cSdaM1Q6DALMlZ1IeX79fQyoqdIjyZJgcsFDpyqGwlhRzHH7lEUerS_0IcrKzNbP4mO6vjsZekHcFpLoO9Z4hYDQopL1wp5HIJXeKeQTxrWE-2FLb_onu8ktNuR_zV5E4heBhED5hTsBaMEMAjZNTwQ4znkXzBWwixotJrPOQcxXuUotsg4RqeyIkd3walkjBSxLy7tHMi6m8yRFhbOZ8dQ0PAObOrh07ojKhBcSrkkKfqApt9UioQpr4JCfyTfaBhFjJ1aE1jdZfml4iD0BmeZ-fVvfVgEVVLh0x-IwoJV4R44ZA3-elrkwPed_VSWEbGIJ3XQrSZFzbNJg2qb7pnyhl7IUii28rmv8WhQF0TUBNLmfB98I7m98YsCHKuc20VanI-Lnn6WkJh7JkHEZ3HjsyP9HpVEQHUxnpBQVcIIvdq8_WhF4fjtaXw3a3tlmNy30JMk4vRhEZEoiFmkOAlvp2_i6xjNZW2GY5rrRLZljrHzl77pspuFqtLmeaHKSXxGcs-vtr8jbggmYIiahY6VWkYBwmAph6kOXbWR8C4tSldV1YxYjkLxEIKjcrUUKcJLu2XyA0SIstmosJaFlCJ545hdZ3C8gHl0M8h0wnazxUxGfoycE_XjKqLhaYTRE5ogXdjKkaFvwhLn02mTbM2ylQKZ2mOZSgN0MlLAM4NK9qHuwEJPgFvVPrr8Mldu0tr9TiB_BC6VtaL-lKlXEV0p2OgARcmmd67sFo4Od7e4edul_XBWNC0DM-PU1AL-XA30WrfcVzWcDvuH4yXjSd71kMB-J0tvoMt6NNIxIxR9GLoX7tjhxrJsw4ehBOv8SubclB-e6ZhBvnwzlRZic7B0G3OqTLAHWu6ERpA-VwO4-CgREU6bg4MXZnBPI0JMeWU_pdsxytrFuAId3Lr_lDQoT4UedapdWr8j3v-q2gtx03lxAIiERZUP3TpLVn1bIFBa91Adf9XhRHa1hqmfkh3ZlymbyDAmBuf_f6aMkpB989jaFJke9bW-IK8uw3UG2Asnk-g1FM2XkooEQjJSpyKPnVNLydmsgWOHykFUPM1JNQcudXd1Fkk5_6Kuqqz6ugL3YxK",
  "id": "rs_0409c3aa1c04475b016ab2b52ab98487d08eb9bace8fab4eef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.19,\"right_z\":0.025,\"right_pitch\":0.2},\"note\":\"The yellow object is nearly centered in the right wrist view but remains ahead of the fingertips. I’ll advance and lower the jaws around it, with a slight forward tilt for reach.\"}",
  "call_id": "call_bTAURDygl0DM9PLiWaqEGcnh",
  "id": "fc_0409c3aa1c04475b016ab2b52da7b887d08c9cdb713c1da85b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bTAURDygl0DM9PLiWaqEGcnh",
  "output": "executing move_to over 22 steps (2.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6605, 1.1763, 1.1122, -0.9424, -0.5167, -0.5365, 0.9956, 0.5049, 2.1342, 0.9726, 0.7143, 0.4301, 0.2001, 0.9996]\nstate[eef_state]: left_x=0.282 left_y=-0.104 left_z=0.211 left_yaw=0.068 left_pitch=-0.254 left_roll=0.1024 left_gripper=0.9956 right_x=0.4905 right_y=0.191 right_z=0.0347 right_yaw=0.0291 right_pitch=0.1774 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -3.7675, 6.2017, 1.4383, -0.2759, -0.0513, -0.0073, 0.1983, -7.8701, 3.9453, 1.3993, 0.2271, -0.3639, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a381caebffa9bffb5bbf12e52740891e85d4a404deabdf756803117722bc788",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:323fe3530c31c2b00451848bfc6a48a2ad06488ae908fca80cc06300b2e7d7b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22d92dfe10f4a7657dffaa0f5927d2df398f58fccce466ce0f684fe27e8a3d3c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6601, 1.1736, 1.1095, -0.9195, -0.5186, -0.535, 0.9956, 0.4858, 1.8793, 1.6306, -0.823, 0.2379, 0.3733, 0.9996]\nstate[eef_state]: left_x=0.285 left_y=-0.1059 left_z=0.2137 left_yaw=0.0651 left_pitch=-0.236 left_roll=0.089 left_gripper=0.9956 right_x=0.4317 right_y=0.1849 right_z=0.1492 right_yaw=0.0341 right_pitch=-0.441 right_roll=-0.0223 right_gripper=0.9996\nstate[joint_eff]: [0.6769, -4.1915, 9.853, 1.3895, -0.2222, 0.1197, 0.0269, 0.294, -9.8393, 8.1026, 1.2186, 0.2369, 0.2613, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrU2fcvwEKqWpmEPn92WZ7rZKbIJO4pBnsJ3Wn6yDAePx5twpoUGHSU-WjLV_4PBXfIhGAqJ2j7Vc5MLSVqUUh0KkxAbgBCYgVfPMyjCbt3BRo2ZrBw_-WdjQFLvx7TfWioCXP8JN8QdxsbA8gzq69XKwcK7SRScpZGASqduyjbl3iOHUOHMPWur2wmmhOd61e5wwZi20jsxxkET5WlC_WIqKdOhxfUhbGPzGh_VrCM1fvDcgktZdG9nulCBNGmxuC3Ynd8wdJm0rn2rueQb9RX-TX_D2cM1jMo37qcUiKFZuO_fLiHUagBg4TJGNmxjQMoQ4nQXVS_FpexLW8RVq3Ukk6dgX1Wx-W8frTio_obihBvxcvJHLl7alkf9Bn8YUZWiqOxwdcEl2ciqv4sopGX-GXMHJFTIaY9gCRFYhXEy1xaj-0eyN6Gd8LYxsC6m2NaTkbRaoMGOeKLqpdWMJE2gnPgZrUonsPU4QMcPrnrGfCWD5cA1HKV7uC68wSE_h5k1vqD3AaO_dzg4RhhJBTml3eyV1aP59ugzbwokbZxJMqFKVV_kpJvlia2scy6tjxMrZ7lSgrPcKb7KTZb0DoDbbKUhXxJpih9vc_Wwc2Ywka_NC5vzIfnsQnyNnHGaHBka2ScKzUS1zR6fy0V2Rbb-td_yFFjeiyEKx7ATFQl9hI3XgpOB2ODe-XPslRnhcs44xyxr6gbKWIJh2M_9KQfuaeVXoBcm85tpX7MzrrYMbeor1F28wKG92lihTFI2XRC9p53HhzHoo1_HEuQlmstzoF-3hCXArLi6wJw4e5EqMMGofBvQ2Jp8LpiQ9MXZxc7Tfjk6tr2N3XeN6Y6obN0EoNVlGO7F10IonYs24IoxadXhLGdjPh3__M-yTqpXbDEFs1BBuYUJV0XiEnO6RZt1_BPcf-_1A_rZOV7xCV4pnNc_D6N8b_d1zUUaWE-swwpOTzInPkbZcH58otRFjF7XXJTUwBTh8ma6eUcM7TXexApm6f2jAUxiwKJQ1Ynv22pjbu4S-N74pN3l3kS1_bElkM8y9FhGXl-A5ZxKI4udE8hdhMOc7VXF7zMJIsmMM_s2ZWWB-MoWSUseLyhQUXr1xJ4XwGDrc0XmyPyyTsRly2_bEvjPGJPkHGiJhiPTDHk3E2NPQcS7JNIK5ezASmaiCO7tRRhWjahTlav-jVyng7ZXhBpFOkNQ2zqM1Sf-p4dD8nahuiBRmzEVr_ogezd9Hits9NXAFCSYy9mIVOU9fpF6Rarsb5QmVVv20qnoYFPdYmP_HYN7l_Q4cWjeBT2PJcxayT8DMz-1Rx7f-30G3fE=",
  "id": "rs_0409c3aa1c04475b016ab2b533d90887d09c672b43555082b5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.25},\"note\":\"The yellow object is now beneath the open jaws. I’ll close partway to grip it without squeezing the rounded object excessively.\"}",
  "call_id": "call_lDGfQqAX3gZjOPvIHxBU11wA",
  "id": "fc_0409c3aa1c04475b016ab2b53560dc87d09d2e49b2a37c6bd2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lDGfQqAX3gZjOPvIHxBU11wA",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6605, 1.1782, 1.1103, -0.947, -0.5163, -0.5365, 0.9956, 0.5041, 2.1509, 0.9627, 0.7086, 0.4263, 0.1909, 0.4746]\nstate[eef_state]: left_x=0.2812 left_y=-0.1035 left_z=0.2093 left_yaw=0.0692 left_pitch=-0.2605 left_roll=0.1079 left_gripper=0.9956 right_x=0.4861 right_y=0.1888 right_z=0.0215 right_yaw=0.0391 right_pitch=0.1477 right_roll=-0.0193 right_gripper=0.4746\nstate[joint_eff]: [-0.1026, -3.5761, 6.5846, 1.2039, -0.2564, -0.0317, -0.0122, -0.0615, -11.9726, 5.6137, 1.7949, 0.0952, 0.0562, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3636487a770285f22410188063d2f7d855b721a0ee1a8a14110f6cb213b6b62a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e19977fd538471e163c8c4a4010a0bc6e1ab430623ea4d0768c7e48b5c497884",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b884e51b75b6192c6feafb51ebe42a1e2bd241bae3cd24edb6149906b494ef89",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6605, 1.1763, 1.1122, -0.9424, -0.5167, -0.5365, 0.9956, 0.5049, 2.1342, 0.9726, 0.7143, 0.4301, 0.2001, 0.9996]\nstate[eef_state]: left_x=0.282 left_y=-0.104 left_z=0.211 left_yaw=0.068 left_pitch=-0.254 left_roll=0.1024 left_gripper=0.9956 right_x=0.4905 right_y=0.191 right_z=0.0347 right_yaw=0.0291 right_pitch=0.1774 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -3.7675, 6.2017, 1.4383, -0.2759, -0.0513, -0.0073, 0.1983, -7.8701, 3.9453, 1.3993, 0.2271, -0.3639, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.095},\"note\":\"The gripper stopped at roughly 4.5 cm, consistent with holding the yellow object. I’ll lift it briefly to confirm the grasp.\"}",
  "call_id": "call_fmjVdzbknsRR979h7Z1TdnMq",
  "id": "fc_0409c3aa1c04475b016ab2b53ac02087d0944fdeebc912857d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fmjVdzbknsRR979h7Z1TdnMq",
  "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]: [-0.6605, 1.1782, 1.1103, -0.9478, -0.5167, -0.5369, 0.9957, 0.5037, 1.9808, 0.9905, 0.4709, 0.4221, 0.1898, 0.4763]\nstate[eef_state]: left_x=0.2811 left_y=-0.1033 left_z=0.2092 left_yaw=0.0698 left_pitch=-0.2608 left_roll=0.1084 left_gripper=0.9957 right_x=0.4804 right_y=0.1863 right_z=0.0676 right_yaw=0.0451 right_pitch=0.1113 right_roll=-0.0364 right_gripper=0.4763\nstate[joint_eff]: [-0.0479, -3.5487, 6.4068, 1.1697, -0.315, -0.0024, -0.0073, -0.3214, -12.041, 8.1573, 1.9414, 0.149, -0.0073, 0.8913]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92a4bdec4b11520796668b2c33852d14381ac439ac52a2b1104aa52de1abe94d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4740174a12f369cb6ca16297097f4f53aabdaa86d82e5645659c5c0e278c7ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:807a9cb8b3f7524d045bc9c9445adf8625905d38786d7ef08841ee94117a9ac9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6605, 1.1782, 1.1103, -0.947, -0.5163, -0.5365, 0.9956, 0.5041, 2.1509, 0.9627, 0.7086, 0.4263, 0.1909, 0.4746]\nstate[eef_state]: left_x=0.2812 left_y=-0.1035 left_z=0.2093 left_yaw=0.0692 left_pitch=-0.2605 left_roll=0.1079 left_gripper=0.9956 right_x=0.4861 right_y=0.1888 right_z=0.0215 right_yaw=0.0391 right_pitch=0.1477 right_roll=-0.0193 right_gripper=0.4746\nstate[joint_eff]: [-0.1026, -3.5761, 6.5846, 1.2039, -0.2564, -0.0317, -0.0122, -0.0615, -11.9726, 5.6137, 1.7949, 0.0952, 0.0562, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.23},\"note\":\"The yellow object stayed between the jaws during the test lift. I’ll raise it above the safe’s rim for transport.\"}",
  "call_id": "call_ArcRUKkBYgfYHeIEuVVkhwq7",
  "id": "fc_0409c3aa1c04475b016ab2b53ede0c87d09112f7f9a3cdff83",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ArcRUKkBYgfYHeIEuVVkhwq7",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6605, 1.1782, 1.1103, -0.9504, -0.5163, -0.5369, 0.9956, 0.5037, 1.7615, 1.3197, -0.1375, 0.4221, 0.1829, 0.4761]\nstate[eef_state]: left_x=0.2807 left_y=-0.1031 left_z=0.2089 left_yaw=0.07 left_pitch=-0.263 left_roll=0.11 left_gripper=0.9956 right_x=0.4806 right_y=0.1863 right_z=0.1943 right_yaw=0.0511 right_pitch=0.0573 right_roll=-0.0689 right_gripper=0.4761\nstate[joint_eff]: [-0.1026, -3.6171, 6.3932, 1.1697, -0.315, -0.0611, -0.0171, -0.3761, -12.3009, 9.4291, 1.9707, 0.1099, 0.022, 0.9158]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5ba24f0a5b6853858b324ba4fc4e03725673440218ff73766f3bf1ae5ee944e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a089918f02981b72ea962f671b1673c6b2b27bffb83732a4337add06af6ebc0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cc3e9bdfe8d945c72560561b280f6db42e80a73e599dfbacea71a5a4a3e2083",
      "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]: [-0.6605, 1.1782, 1.1103, -0.9478, -0.5167, -0.5369, 0.9957, 0.5037, 1.9808, 0.9905, 0.4709, 0.4221, 0.1898, 0.4763]\nstate[eef_state]: left_x=0.2811 left_y=-0.1033 left_z=0.2092 left_yaw=0.0698 left_pitch=-0.2608 left_roll=0.1084 left_gripper=0.9957 right_x=0.4804 right_y=0.1863 right_z=0.0676 right_yaw=0.0451 right_pitch=0.1113 right_roll=-0.0364 right_gripper=0.4763\nstate[joint_eff]: [-0.0479, -3.5487, 6.4068, 1.1697, -0.315, -0.0024, -0.0073, -0.3214, -12.041, 8.1573, 1.9414, 0.149, -0.0073, 0.8913]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.335,\"right_z\":0.23,\"left_x\":0.25,\"left_y\":0,\"left_z\":0.2},\"note\":\"I’ll carry the yellow object over the right side of the safe, beside the white toy, and park the left arm away from the transfer.\"}",
  "call_id": "call_wojVlDGdA1JiPbtSUb8YVU4W",
  "id": "fc_0409c3aa1c04475b016ab2b543649887d09a07c0b44e917378",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wojVlDGdA1JiPbtSUb8YVU4W",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1925, 0.87, 0.9134, -0.9363, -0.2615, -0.1726, 0.9956, 0.8864, 1.9442, 1.7096, -0.5217, 0.6941, 0.4255, 0.477]\nstate[eef_state]: left_x=0.2479 left_y=0.0019 left_z=0.197 left_yaw=0.1164 left_pitch=-0.2811 left_roll=0.108 left_gripper=0.9956 right_x=0.4125 right_y=0.3324 right_z=0.2181 right_yaw=0.0947 right_pitch=0.023 right_roll=-0.1003 right_gripper=0.477\nstate[joint_eff]: [0.0752, -1.4974, 6.3111, 1.6728, -0.1392, 0.1392, -0.0073, 0.1983, -10.0991, 9.1009, 1.5751, 0.3834, 0.1587, 0.7741]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ccbe8d368bfd391a941fddcb60e1c8e6399024f583a5ec533773b9d6d53de00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f63de0e547e40b188e948a25fee5252851dd9d9be549cfffefca479cc37d433",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e22dfe3e4e770a1a951721506f0b75cfa3669059064e7408341c50b378256a6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6605, 1.1782, 1.1103, -0.9504, -0.5163, -0.5369, 0.9956, 0.5037, 1.7615, 1.3197, -0.1375, 0.4221, 0.1829, 0.4761]\nstate[eef_state]: left_x=0.2807 left_y=-0.1031 left_z=0.2089 left_yaw=0.07 left_pitch=-0.263 left_roll=0.11 left_gripper=0.9956 right_x=0.4806 right_y=0.1863 right_z=0.1943 right_yaw=0.0511 right_pitch=0.0573 right_roll=-0.0689 right_gripper=0.4761\nstate[joint_eff]: [-0.1026, -3.6171, 6.3932, 1.1697, -0.315, -0.0611, -0.0171, -0.3761, -12.3009, 9.4291, 1.9707, 0.1099, 0.022, 0.9158]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrVLWzTW1cVUWs6YXi4SmZqclatNF_qtpy9em5yw_dCDsvVfQUPVqOeH7IM_okmVQ8Lb65PPHNmXX-l5uD4DSfcZCMQx0pgOw4K3s2Fbb_fo0Ix81eiK54upKfRbpAqK4N6UTxNv7pQLklnEseZTBg2x-1EozAsDxHK1ftLUJZCpE7LGKucvzi639bsc5IEwQqUJEWPtOSRUg1m5yM1MXASgP7Vit3xcl3J8T8AqVXnqcs36jXLS80tDGvGqlqJieqFQWrACKmPmtee51Tm-lHihgs8sF76T01w3teLbahFHGae00uVVx7_H6o1QUDicN_bHfOFlBfSVS1TsRzoq32WyAKWooJ-c5MkoFrDspX-BytexGAEjjSGrG1DpjY9PK517puOvKKn3H3ecFJsmnCgNDYziYRFiq7IykF7T_miuvpPXp3sVWg9-AsZQMuIMqjOstbzLDEvsFRhWedxyoifqDPSsRjwLYDRH5ytKbOLp2P7i49_F8RObtjbWmLUFF9SToaCuLBniYTRAXb_MVdksFqnhCTZRFR0TtGWjjp91GtsvwzgyKGCIfHfm8xkODw7ZtGg4hHdxFHUBstjFQmhEJ5RZNJi8SbdpYTWXyb7UaqcPkJ6KCmx38k0Ar-uvcXa33DIzB4knMWrmnOmAWlm7vpa8CEF0LXdgzfp0jjuwP2i-VLzqln300kfV-hIRGBJHBmjR32QIDJaWYr6q8OEbhu-SZbvmj3QUilktMiVdqVYOSYMVMAbLiz6VmnitQX9O0bexI7P-6A6use8dli20mrYgq9mbNngi2GjoeUkE3nLPUec51AZhCdChm-KyGTXQ-r7iPzrWmMQTtP-l-MUL36E2dlg29QZPs_hlnQzwEXbC_vmA2bXUgzBbJtPkBpV7Htdi7j9wuaOEU0XMVQeMyZaLRIXgV2YsF-YERUzCpvNKF70Yu0f3Xem3_hT5O0Ly-PKT-DxK4rNsgPhIom-JyiP8wsNvk4N6hJw0tmBZo3ecHh5MH-Xp2qtnz_8hEpQkcw6NNGPdIbF7FRf1gnQ7SN8jdcMiQ8Sksn5At-1wTuaWPmg1LS-irZhIo5ZUCu6sJElMbedzoneBzAiSZI95jmCkcadJjkre73MnaVTboRQfVwOtdvqgGtTeAhuVut2gQl3BLbEYVViQIlKfIIY-8t3rkZdjl9XHyGrZ1MHhYOj5oq8FzmsZILr2_sNXmxYn0m6eBOQcEl6ZCHK57ne--Q==",
  "id": "rs_0409c3aa1c04475b016ab2b5495e9087d0bc7fd716a5717d2f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The yellow object is positioned over the compartment next to the white toy. I’ll lower it inside the rim.\"}",
  "call_id": "call_tinEkcXIhfKtNoJ8cV8RBOSY",
  "id": "fc_0409c3aa1c04475b016ab2b54a187887d08bc3e449e05b28f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tinEkcXIhfKtNoJ8cV8RBOSY",
  "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]: [-0.1902, 0.873, 0.9092, -0.9466, -0.2512, -0.173, 0.9956, 0.889, 2.0415, 1.3548, -0.1307, 0.6876, 0.4263, 0.4786]\nstate[eef_state]: left_x=0.2457 left_y=0.0011 left_z=0.1928 left_yaw=0.1118 left_pitch=-0.3003 left_roll=0.1053 left_gripper=0.9956 right_x=0.4048 right_y=0.3265 right_z=0.0879 right_yaw=0.1016 right_pitch=-0.0232 right_roll=-0.1398 right_gripper=0.4786\nstate[joint_eff]: [-0.1983, -1.3333, 6.8718, 1.4383, -0.2857, -0.0513, -0.0073, -0.3761, -10.3316, 6.9812, 1.7607, 0.2515, -0.0562, 0.6618]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40d73d7a43675da93d4eb0a93d158c7a8eed7aab7f9f695b8cb151a6f1c37efa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f3a82e8c02dfc70fcf6afeccb2aa521206c222114d365971f42c429e6960c47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8716df3b7b4b22e0de2874c89c67375bf867927561d2f81f441b8f79bb6cb91",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1925, 0.87, 0.9134, -0.9363, -0.2615, -0.1726, 0.9956, 0.8864, 1.9442, 1.7096, -0.5217, 0.6941, 0.4255, 0.477]\nstate[eef_state]: left_x=0.2479 left_y=0.0019 left_z=0.197 left_yaw=0.1164 left_pitch=-0.2811 left_roll=0.108 left_gripper=0.9956 right_x=0.4125 right_y=0.3324 right_z=0.2181 right_yaw=0.0947 right_pitch=0.023 right_roll=-0.1003 right_gripper=0.477\nstate[joint_eff]: [0.0752, -1.4974, 6.3111, 1.6728, -0.1392, 0.1392, -0.0073, 0.1983, -10.0991, 9.1009, 1.5751, 0.3834, 0.1587, 0.7741]\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\":1},\"note\":\"The yellow object is down inside the safe. I’ll release it alongside the white toy.\"}",
  "call_id": "call_5EMrxTMYq8B86AGCobKJmpa4",
  "id": "fc_0409c3aa1c04475b016ab2b54deb4c87d097083d953bd2a198",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5EMrxTMYq8B86AGCobKJmpa4",
  "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]: [-0.1902, 0.8734, 0.9092, -0.9504, -0.2508, -0.173, 0.9956, 0.889, 2.059, 1.3365, -0.1402, 0.6834, 0.4194, 0.9949]\nstate[eef_state]: left_x=0.245 left_y=0.0011 left_z=0.1921 left_yaw=0.1119 left_pitch=-0.3044 left_roll=0.1063 left_gripper=0.9956 right_x=0.4002 right_y=0.3218 right_z=0.071 right_yaw=0.1069 right_pitch=-0.0581 right_roll=-0.1752 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -0.841, 6.5436, 1.4042, -0.1783, -0.0269, -0.0073, -0.0342, -12.6427, 7.5692, 1.4188, 0.2418, 0.0269, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:569b7af473395204f27bc13b57ef71ad689bf904f2b8a4bf29b20261f4f60442",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c8fa287930eee4f693b119368f1ee8ef98f3ee4c378dfd4540ed37b91ddd584",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58f7f2e2ed3f5b11d9d995ea49216569e7796fc1ca6be2e0764563dee1048e9e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1902, 0.873, 0.9092, -0.9466, -0.2512, -0.173, 0.9956, 0.889, 2.0415, 1.3548, -0.1307, 0.6876, 0.4263, 0.4786]\nstate[eef_state]: left_x=0.2457 left_y=0.0011 left_z=0.1928 left_yaw=0.1118 left_pitch=-0.3003 left_roll=0.1053 left_gripper=0.9956 right_x=0.4048 right_y=0.3265 right_z=0.0879 right_yaw=0.1016 right_pitch=-0.0232 right_roll=-0.1398 right_gripper=0.4786\nstate[joint_eff]: [-0.1983, -1.3333, 6.8718, 1.4383, -0.2857, -0.0513, -0.0073, -0.3761, -10.3316, 6.9812, 1.7607, 0.2515, -0.0562, 0.6618]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.02,\"right_z\":0.23,\"left_x\":0.225,\"left_y\":-0.255,\"left_z\":0.14},\"note\":\"Both placed objects are visible in the red-lined safe. I’ll withdraw the right arm and bring the left gripper over the remaining brown toy.\"}",
  "call_id": "call_YYz0hi1Ni09wldg7fgbev1On",
  "id": "fc_0409c3aa1c04475b016ab2b5517fec87d089084620de4ecf90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YYz0hi1Ni09wldg7fgbev1On",
  "output": "executing move_to over 26 steps (2.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1851, 1.6363, 1.2545, -1.066, -0.6537, -1.1954, 0.9956, 0.1333, 0.9199, 0.8429, -0.6231, 0.1547, -0.1032, 0.9967]\nstate[eef_state]: left_x=0.2205 left_y=-0.2479 left_z=0.1313 left_yaw=0.1097 left_pitch=-0.339 left_roll=0.1265 left_gripper=0.9956 right_x=0.2966 right_y=0.0159 right_z=0.2055 right_yaw=0.0564 right_pitch=-0.1196 right_roll=-0.1808 right_gripper=0.9967\nstate[joint_eff]: [-0.4308, -6.9265, 7.9521, 0.4127, -0.6813, -0.0415, -0.0073, -0.1299, -2.5915, 10.3863, 1.9023, -0.0952, -0.0415, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40168923dc943c278832c37a096670fc3f8a070e9f197bec7f891a8f1e6c7736",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f87f9b20a7bdd74a67fa925d38b14092922cc20c2d805508ef46e8be71a4fc41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5d35144e67e371b8e619fdd1de467cc239f00d586284c7b7b3168a5f3b41150",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1902, 0.8734, 0.9092, -0.9504, -0.2508, -0.173, 0.9956, 0.889, 2.059, 1.3365, -0.1402, 0.6834, 0.4194, 0.9949]\nstate[eef_state]: left_x=0.245 left_y=0.0011 left_z=0.1921 left_yaw=0.1119 left_pitch=-0.3044 left_roll=0.1063 left_gripper=0.9956 right_x=0.4002 right_y=0.3218 right_z=0.071 right_yaw=0.1069 right_pitch=-0.0581 right_roll=-0.1752 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -0.841, 6.5436, 1.4042, -0.1783, -0.0269, -0.0073, -0.0342, -12.6427, 7.5692, 1.4188, 0.2418, 0.0269, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrVcsAzikUUFvl3zQkkQ5aFAz5n6kCFD0s9ISL2QQeU6h7ggsSlFTDGwjl_zDrl-Uv97EU5Fj5dlpLFo2cXRXSOmtb-PzJk3ybB4uD8oKCwv1QCY8xBeueKcaGnmRDUPr_LvoLEs_PJrEnRTuEAsK7rD2dvd-fT2jrrPaLIMXGwBLJWEAY4FoGukWkmXz_rHLE-8fN7-KI-K6NZXNO3fsbrw5dvexgIytBsmg_mcaekU4CDrwfqFNtqrZ7LPyMwbyN4LXQv8zmH7pl2aRHwnFQGAO1JQM9F59pYKaplAsAwspy-26U3HBaYv0zJ49aCjciiIjtfc7oRdjQxlcijnNn_z8e-oLUkKgumNDEAFQZxAPN--fZ5KkZ4Wv3i6ZltRIUouN1xpKcgBu3RRilmxPSt-ktKL8Ojxmcfd-L19GTM3BXVVCwk0d7mht4VO9CSdt8zt6h-h8FNqk3_49h9rjG621ujD-7Ko-UYJzLOB-zZVHb6XcMuS66uRRqju7c818YKlYYJdy-nwhNQcGu0MUq-oQWw0IOV5hPy1jfUfQgblNaRMpA1hYl-YrFlOF_WpikgS7uanfZc3OHpAxtl17gTUXoXQCUMJUtJ6Cu3Pg6M0FtBWks1yC4VBBu7_kb_eTQORs935PLmwfYu-4f0-Pn-k9b97qR2XNWppBzfhWq2TqxBnRR67RY7fNbXrEkceCybCNplRehVobOGhkA408TM87X20zz5HMfLfkcuJ1w0iwOSsNkmekjExyJ8Dy-NG5B3gkS9AJNE0JooulUWATk_hyyJ9Of8rPVbkIe89ETtz4Ilk-2XHf-Fs4N4Ya8X7VusHG4GQyL4RAtVqFd28usK7PaZQnPezf-Ij6wmYDdb6Vf5jnt-R7govF04nZMfjjEBQA87bXcDdwfZAZYL8LQGvIJZq9Yi0_P6nCgwg7ZL9THGBD0YlbDnPAAZxhLl2hE8gCCeWWQHEhv4lCav_JU-s80BhktUjFk6Axry5wpoxPFONC0UUTQ8Bf6DYpTlrTlT_NKcPGtuN92hv-3iL8opivrtwnfcUr2Wn90JDNzrbxZiQgqE8fL4_GC902P1on-UQKHSIENDaxzV2fKLv5yqnviE2uGXydFCVNoiBWnPiGa2DSUc8iyn370BPZ8KUlRoi-8RtlGFFo5XJNQfKPfSFVoyxU9b8iNA3nlIHLEMwmlE_OIWLWrkX6VLGSpOHIdVwzBjqHGYDpZMhwtNHpCdpyvL7V4qkMUs6eu5q8y_aSpshE7MtJH7zdYCibgcIF1b-V1OE8GpRjtyw7F6RQ0qS4lDrAp63Bbh_HWT5gfc3v1DQwYWmJ3EBOPnpZyrF4y8-NrS15xE03TksvXeRczGNCA==",
  "id": "rs_0409c3aa1c04475b016ab2b55970c887d0a76b3f7023beaa7f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.29,\"left_z\":0.025,\"left_pitch\":0.15},\"note\":\"The brown toy is slightly right of the left jaw center. I’ll shift over its torso and lower the open jaws around it.\"}",
  "call_id": "call_mh9wxVGMlRWoULrbhN6DS7Rk",
  "id": "fc_0409c3aa1c04475b016ab2b55b4e1c87d093adaf977ad89331",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mh9wxVGMlRWoULrbhN6DS7Rk",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2987, 2.0293, 1.0386, -0.4187, -1.1069, -1.2667, 0.9956, 0.1337, 0.9249, 0.8436, -0.6579, 0.1421, -0.123, 0.9968]\nstate[eef_state]: left_x=0.2484 left_y=-0.289 left_z=0.0297 left_yaw=0.1081 left_pitch=0.1125 left_roll=0.1319 left_gripper=0.9956 right_x=0.2915 right_y=0.0176 right_z=0.1979 right_yaw=0.0779 right_pitch=-0.1609 right_roll=-0.1901 right_gripper=0.9968\nstate[joint_eff]: [-0.6496, -7.788, 3.8085, 0.4762, -0.525, -0.022, -0.0073, -0.1299, -2.1402, 6.9128, 1.8974, 0.1441, 0.149, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa22c74b6596c51e9aad07f72f2068fa9577c21e77d61d8d1b20928357624fe2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d73f7a36434eeaaaf739fc77cff18963c8f36e1681c295ed4f1e215802a88bd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ea0ab9a0994258c11d2d321fdde5837236993c5e2af338f7295ee1ee4552f55",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1851, 1.6363, 1.2545, -1.066, -0.6537, -1.1954, 0.9956, 0.1333, 0.9199, 0.8429, -0.6231, 0.1547, -0.1032, 0.9967]\nstate[eef_state]: left_x=0.2205 left_y=-0.2479 left_z=0.1313 left_yaw=0.1097 left_pitch=-0.339 left_roll=0.1265 left_gripper=0.9956 right_x=0.2966 right_y=0.0159 right_z=0.2055 right_yaw=0.0564 right_pitch=-0.1196 right_roll=-0.1808 right_gripper=0.9967\nstate[joint_eff]: [-0.4308, -6.9265, 7.9521, 0.4127, -0.6813, -0.0415, -0.0073, -0.1299, -2.5915, 10.3863, 1.9023, -0.0952, -0.0415, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown toy’s torso lies between the jaws. I’ll close the gripper to grasp its plush body.\"}",
  "call_id": "call_hHraCn2HT13GWJLOFVD4qo9H",
  "id": "fc_0409c3aa1c04475b016ab2b562567887d0842cec0ed24ff74e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hHraCn2HT13GWJLOFVD4qo9H",
  "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]: [-1.2999, 2.0457, 1.0386, -0.4042, -1.1198, -1.269, 0.0134, 0.1333, 0.9295, 0.8436, -0.6765, 0.141, -0.1242, 0.9968]\nstate[eef_state]: left_x=0.2491 left_y=-0.2894 left_z=0.0267 left_yaw=0.1098 left_pitch=0.125 left_roll=0.1338 left_gripper=0.0134 right_x=0.2888 right_y=0.0173 right_z=0.1933 right_yaw=0.0789 right_pitch=-0.1843 right_roll=-0.1915 right_gripper=0.9968\nstate[joint_eff]: [0.0342, -10.4957, 4.4376, 0.3687, -0.4078, 0.022, 1.2137, -0.1983, -2.0991, 6.7897, 1.8242, 0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e502c2ff0a4aa3855f4503e94fb1a3fbeb590bbfa5bb2ec4ebe5f35936bdf2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c28b47a3886e2c91e518314dd119d8fd806cf48f57e39b548754bca09606be5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59607cfa4fdf182ff7806bf8d05c8107718e1854fc579595c37fe21ad03274b2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 89 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2987, 2.0293, 1.0386, -0.4187, -1.1069, -1.2667, 0.9956, 0.1337, 0.9249, 0.8436, -0.6579, 0.1421, -0.123, 0.9968]\nstate[eef_state]: left_x=0.2484 left_y=-0.289 left_z=0.0297 left_yaw=0.1081 left_pitch=0.1125 left_roll=0.1319 left_gripper=0.9956 right_x=0.2915 right_y=0.0176 right_z=0.1979 right_yaw=0.0779 right_pitch=-0.1609 right_roll=-0.1901 right_gripper=0.9968\nstate[joint_eff]: [-0.6496, -7.788, 3.8085, 0.4762, -0.525, -0.022, -0.0073, -0.1299, -2.1402, 6.9128, 1.8974, 0.1441, 0.149, 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": "gAAAAABqsrVroMY4mwFRCjtxFh0bhsAUg0z4uaP37XqD4INcN2Eq8O5rJESJ4Vv_Ywb-GrKk2Ip9NXv5BCdFtLjczGtX-UyTy_Y7XBfgXxxM066CPV8s7FB9jYa7PVduz1W1tK90tMlLSJpD1DJd0xC-zJpAhTwoNSCgJCzp1I2vD9Z4uRS1ucnzHSyPVtHnUZrDEyNOb2V1SkuzKGv8HAl1zQe_bTc7xsGuW6x0fgmQEL3wNdewuhJjBqlE5sjcxkOOTgoq2yCa52bN9dz-AgXgqg6u0GHekwgR5C2Ad37T3loo5MVLTq5zXZpyvbLtc_33cxcW1JLG67gfIRBWnPze4oOtcEn1LFXtjpARWCmmwhOruAB75uJJtBSbwuZOybHrlGTkp3NqdKT_7UXi37PDidP6SbwmnHXFLHqyB1dkCGOyufnZWwU0EUkJ94paIpoXU6XjP-C1gKisQUwL7ifbdmEAawl9t05CSthERsIo-pnX6GkYmVPltNxilKvNEVT62ucJ1_14PxKcGyLDR-cqtwEEsL51esbjkM4W7qDy0PfaJRMHbdqxhlemGiIYX3Mas7ioROEpqKGYZQfJvBr_OjO2ULX5ugmkp3TtizgaD48nJm6otxt7_D764OP7HRD0lbxj5x6PAmlqlKz4G7Ihv1EiOK6eQ8KN13SvRezGUrKy7QL1TFqClgg3TPFsKDm8-emjGvYiD3l2yzOcnzKv8KOyw4NR-gSY25ZbogfsRV1T_Tv3-E032D41_waZe5WA7uOq2AZRRTld0KCfLN8_COIDM-WJBFGduX3-5vPzeIeBkEvcwgQYMjJr5RVmF-wNpOK3XGhQ5ct7Mk-g8FL2XOShPsn7I6Q2r06sn1d5CCgHNDbedtyxYIMbET4m8JdPBdgpV49hPFK0ARdxad33KmxiJCjMUdSAyolF-CqRFOMnHbf3nyOA0kH0tJ-rgrD_ZgMnZBABZMkMD3FMgtQe5zEPGJz1CcKRD4bP1L0vYuU8dWWC3r-T1ttJT6mCX1xbe7YXV772Jf0jvvcs1k-OymPotZ_qq98va0QO46aesrHF-IhUWcxdM_-OJ8RRPbLrX1IKvhHt6j41KCy4etfjWj8LnIETZcrERQiAbLfayNSlPDB7m2K1qQrbvDkz8FyTyzcwNQloE15BcaxXpUP0hBAzY0FVzkKbm08ZpIwPJKax1M1mhili7aOBr9yF3V8YzDWE1JRcWPsmpLc-lvkTXVNE6tw1aRW-0KH4iFSGCTllVOHeXfR6DeywKUIS_j2T11IttpZa",
  "id": "rs_0409c3aa1c04475b016ab2b567814c87d08334cb7f8b6331ee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.28,\"left_z\":0.055},\"note\":\"The gripper closed almost fully, so this grasp was empty. I’ll reopen and move a few centimeters forward over the thicker part of the brown toy.\"}",
  "call_id": "call_3fvOgKaHcNktfyIhFfimuTDw",
  "id": "fc_0409c3aa1c04475b016ab2b56882f487d0a56f07c4d47cb047",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3fvOgKaHcNktfyIhFfimuTDw",
  "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]: [-1.2201, 2.0136, 1.0389, -0.3408, -1.1076, -1.1194, 0.9954, 0.1337, 0.9295, 0.8429, -0.6998, 0.141, -0.1246, 0.9968]\nstate[eef_state]: left_x=0.2747 left_y=-0.2805 left_z=0.0375 left_yaw=0.1178 left_pitch=0.1191 left_roll=0.1721 left_gripper=0.9954 right_x=0.2847 right_y=0.0169 right_z=0.1889 right_yaw=0.0792 right_pitch=-0.2083 right_roll=-0.1931 right_gripper=0.9968\nstate[joint_eff]: [0.4855, -12.4103, 6.5709, 0.7595, -0.4615, 0.232, -0.1148, -0.0889, -1.7846, 7.0359, 1.7265, 0.0366, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6370c0daa29dd3730ba6ab1bee622b9606d9019243b6610e2d5a97e63f64ada8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0099b9182becbeb45325ba36b1f4c96fda145b29066369b2eeebf1bc7013966b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:972f3fb034495c1e81e6cb20b3a17be60a7dc4e7a883e7971f2818e13eea5d2b",
      "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]: [-1.2999, 2.0457, 1.0386, -0.4042, -1.1198, -1.269, 0.0134, 0.1333, 0.9295, 0.8436, -0.6765, 0.141, -0.1242, 0.9968]\nstate[eef_state]: left_x=0.2491 left_y=-0.2894 left_z=0.0267 left_yaw=0.1098 left_pitch=0.125 left_roll=0.1338 left_gripper=0.0134 right_x=0.2888 right_y=0.0173 right_z=0.1933 right_yaw=0.0789 right_pitch=-0.1843 right_roll=-0.1915 right_gripper=0.9968\nstate[joint_eff]: [0.0342, -10.4957, 4.4376, 0.3687, -0.4078, 0.022, 1.2137, -0.1983, -2.0991, 6.7897, 1.8242, 0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.005,\"left_gripper\":0},\"note\":\"The jaws are now around the brown toy’s broader torso. I’ll lower slightly and close for the second grasp.\"}",
  "call_id": "call_1nl8IRZvDzlklF41Wy7E8poR",
  "id": "fc_0409c3aa1c04475b016ab2b56f14a087d0bf0001db972f831c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1nl8IRZvDzlklF41Wy7E8poR",
  "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]: [-1.2232, 2.0689, 1.0271, -0.2199, -1.1313, -1.1259, 0.0156, 0.1333, 0.9295, 0.8429, -0.7242, 0.141, -0.1246, 0.9968]\nstate[eef_state]: left_x=0.2782 left_y=-0.2881 left_z=0.0245 left_yaw=0.1314 left_pitch=0.1538 left_roll=0.1184 left_gripper=0.0156 right_x=0.2805 right_y=0.0162 right_z=0.1847 right_yaw=0.0785 right_pitch=-0.2327 right_roll=-0.1945 right_gripper=0.9968\nstate[joint_eff]: [0.0342, -6.6393, 3.3573, 0.6813, -0.2613, 0.0513, 1.1893, -0.1983, -1.8803, 6.8991, 1.79, -0.0024, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:189d48916f44328cc57b5ba5509f0f1c4116363b3c50366170961ddb2a6a7f79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d13e885748b59f5b4a041d302ac26e830e029d6b0f057561ded951909a3536f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:043ed4b2a5596ee57267d695c9f4fc73c7d8a64c05a52f1ad57d992f4e1c7186",
      "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]: [-1.2201, 2.0136, 1.0389, -0.3408, -1.1076, -1.1194, 0.9954, 0.1337, 0.9295, 0.8429, -0.6998, 0.141, -0.1246, 0.9968]\nstate[eef_state]: left_x=0.2747 left_y=-0.2805 left_z=0.0375 left_yaw=0.1178 left_pitch=0.1191 left_roll=0.1721 left_gripper=0.9954 right_x=0.2847 right_y=0.0169 right_z=0.1889 right_yaw=0.0792 right_pitch=-0.2083 right_roll=-0.1931 right_gripper=0.9968\nstate[joint_eff]: [0.4855, -12.4103, 6.5709, 0.7595, -0.4615, 0.232, -0.1148, -0.0889, -1.7846, 7.0359, 1.7265, 0.0366, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrV6UUkVfWVDGte8_DxwK1wrW5AcVt5zi0PdsX2-HuD1pO397_9LwzX6h-Y_w3lyXHRKXcnAmwZTf28RNUIeUDgW49TuwlbzzrBSt5Rm9_tCog96fK6a3u69wd-LUJsGcwfwqsvTz_anx4rbZES80lLgDeQGD8D08AoGfkLI2dr5Fzk3Nz75ZbJOgxY2oSohPl-o2Y-kREbt-OXOGCj7Mjm8lTm-dcaig6sWx14GhfhGv5aETwAIWiPsOmRZ4WGdj4O9knSttXF_GXAwYrj9cGZIEdEewUZnk0fRZj5V5cX_dWPL6EUerUqniKEDsMFD9AyFLijx30BZiZyTnodPQHX5UNkSMNvWN55uzfZxfNMVKxmvUVDt1i82MsvkrWeTAZK-oIm2vCTGJ2AWjBEidDFpnrmWxl0J-OybVzTlkggiui1SVB4SniPHoBu7EKCEwOIa3goB0gBilvhywdCJOSnNyeEFF4nhYsg34r__O1EbzZ34Blpc2vejJOEBDHL2Cmkoz3nMBvwQjrqCZt205sCXAd2Ggg02qNyvuZw5bPwBDJErgBHoPqcY4eWbM6sebhaC1Peua4vPE4DXOXtO6O-68gV4T78zm7RuhaRyntNnU0djG7swTt5DX8ipEi642DIazxhiltg1Z6pJ_lWLOybOgPHMg6bLIyvLENPERaWDFKPQj8oxAUt-YAyqJKuNJac_ZusgK_z3p5iqJWCBtPmf9Z4TDcD5KayiRN5IjI6D0tieRktI9d8BZpbi0oPndNcbnsjT2owA6rgtZvnQbtwbCysZF1LP9JIjTpeXrm0aE73h8eKJGRLKDPuanGbmV8cK4mLZsVIaJcag8cAAC88IiXu36prFzy5fCJHfkSBlAcBvcn6BvvfX5G-BGGRjEYgCj1nxs_IBfPp5WsR4E1HSH48kd66uBJ3Dfc4VCWkTMUknaQ12UqiFRrS6fjmN2n-OjHmvY9YQhU0YPceeU95wopQWkaf188KOncz3qAQUFkcfOoDc3uFCAMu8DbUrCHOad3kVZi2pyR5JXsEf1AsUTix12BBNvsm2WJkiQbBnluB1Irxwp1xmNVx5GSMdTtcxl3Pi3llpJgfhzhvfCxtM9r4Ojp_xekE_-sk0nN015ZqnHxK833lds7IO4aYUwkDDmIzVLyAlqi_oHoKfbVwXT-b6MyKw9i_ek_yDOs6Q38dvqs42MzXGfJOvJ04rLNJ9oGTxIfc6jwlNArdOnpDnALrCrZUe2WRkjID4x0o3dbnEnbRmxh4Thy6FHYn93cQBrmLd_Sin3q3roQrssnaSkPeRsOz5U7iXGP-xf-AxTHI6sdlDzblqm34tpB-KbgraW7IjzOSsfw859OetdN_gk_WeGunZqyW7cUwrzWxxMNJMQ99ADzvFaea9IDZVvwr5f97KVKpAEGS0dEAsVXw7PGOjjj5il4xm3qZ_EGQoAZxnKUJCXdqY3SeYUm6ayjkg_pEwsCim-UIOmLmXfK0yBMidheFjm3Q6-btQ4iuC04I=",
  "id": "rs_0409c3aa1c04475b016ab2b575138c87d0a93f0ac8146196e4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.34,\"left_y\":-0.27,\"left_z\":0.085},\"note\":\"The second close was also empty. The overhead view shows the brown toy nearer the safe’s front edge than my earlier estimate, so I’ll reposition over that area with the jaws raised.\"}",
  "call_id": "call_aNJv1xIkoqP7hU3sAJ2qJIip",
  "id": "fc_0409c3aa1c04475b016ab2b577a36887d095cff38298a1e926",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aNJv1xIkoqP7hU3sAJ2qJIip",
  "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]: [-1.0485, 1.945, 1.0195, -0.1051, -1.0584, -0.8265, 0.9954, 0.1333, 0.934, 0.8429, -0.7471, 0.1379, -0.131, 0.9968]\nstate[eef_state]: left_x=0.3323 left_y=-0.2614 left_z=0.0639 left_yaw=0.1472 left_pitch=0.1345 left_roll=0.1499 left_gripper=0.9954 right_x=0.2767 right_y=0.0162 right_z=0.1797 right_yaw=0.0844 right_pitch=-0.2609 right_roll=-0.1982 right_gripper=0.9968\nstate[joint_eff]: [0.294, -11.7538, 7.665, 1.3016, -0.3541, 0.1783, -0.0855, -0.253, -1.8393, 6.7077, 1.7411, 0.0562, 0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3198852b25d7a4d8f317a65ae1a0407fed9db22c26f8bb26013e3ce026845b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d65c81ca057253f51e3c9a1de6637203b57ecdd0c23b5f330891de3b2b9ed0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8af3a967189928cc13ef26d479fc14bd8d4ab1cce968a61d1ebf66cf4f5a6b3a",
      "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]: [-1.2232, 2.0689, 1.0271, -0.2199, -1.1313, -1.1259, 0.0156, 0.1333, 0.9295, 0.8429, -0.7242, 0.141, -0.1246, 0.9968]\nstate[eef_state]: left_x=0.2782 left_y=-0.2881 left_z=0.0245 left_yaw=0.1314 left_pitch=0.1538 left_roll=0.1184 left_gripper=0.0156 right_x=0.2805 right_y=0.0162 right_z=0.1847 right_yaw=0.0785 right_pitch=-0.2327 right_roll=-0.1945 right_gripper=0.9968\nstate[joint_eff]: [0.0342, -6.6393, 3.3573, 0.6813, -0.2613, 0.0513, 1.1893, -0.1983, -1.8803, 6.8991, 1.79, -0.0024, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrV_S7jiJyswiMU9oAfvRMeRhBNuP0RJuxh4lu2__zAEQJObqodWv2IefYmfw_-8iIdYjZh8WlUTGp-IJEhYIyXcrzZHnEch4KRib2ssm4nxPepLU0Siuewtyswqi_FFTn6SB3izPiMMOT2AlbrKrvC216UIEIP56BszN_1fwNjmUwNjOR02dmGDrccg2oUjhvw2Y5f73Am7rB3OsJaapM5hhkQUApEL6mL9ywrdeApcTGGH9ehIhsu2v2qg0qFvU84FmUGjfQYP-jJX7XX4fBHK911YuySAksE8-0WPWCDzHfYhTfZ9YLRDuSLB4NZtOqZJv4gokJqdzy2eBPEoUli8Ar71bgJa7zIXRDNljMdhrBEB5s6kQHZYzrCnbbsFOA_V_rg9Cj-RSj8tQAbmCeoNPEF2GCr9OU9OKJVQpDlTK3zT-_x2-ihqxpd4bb71Bcwcx4yUSIa1j6xdBnoz788QxZzHVrbKznPSQYQmlZNQ3PXtFM1eXk2JZZqKqZGqwu3yjxSH0sJz-ztIjzpfmeIj0BCWxggtiBv3aQ3xZqnUIoV60gJNgYmptcV689ZTVbdb4GNZZjlH8qV1HBlUZRDbH8nJJoT2pn-5NfPjDr7cKFptB0F0HH3U7KoFWjCff8FTiZuFeNROvmsqKm6ljEnaPwzmBPkr8gCwnk4q0ZT9v7_TmH9BesIJ36ey4SQyXMNO7zwb8NpRS_nM9SIZfvvptLx9ArciQYx1_rRLKPINa8qayGhOxr3heZ9Uo8en7SCkCY4dk06w5dN8mKC7pZzsHh6ve3RQPSzC2ALUwncAtXmzSUoUlASsTQgx1ddwZGAFM6gW7vA8aNGvCKCjxjUrLAPaJdlhwbjkJoVqkyhxkb7glPBA5sr1sgR0qEVF4VjZODkZjddgHnFBWv2eDVWUwWJUs2JPTuOF50vrOu4oFOk6maeR6y1FMhI4i9Q_UJGgmHNXy1yzL6G2UfBRUUusVpJG9FfyuqihOK1chujtojZ4299LtSk5s1LpFpERTzbSt0SGspekgr3_MEtXFyoD8QFZ3CZ1ybu56lSc9veWzgVlSj3RL6RMFxPKjPXJpHcg186qg5soRZoib6q-vRA_oY9Y-Cikd_1eJEAZFrVHXIPCYP8YoXYmKzVglJ1s-1zXsjibF21GztS1zUVppakAl2DPyeVd2atZPRJDHVLGPn0ojvH1aty48AY1WpaMb4XCjF9QV-HQfk74awdPxmWaNNt6j_dOF1MMedS98ot_XLI=",
  "id": "rs_0409c3aa1c04475b016ab2b57dc4f487d092ad482e201e988d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.025,\"left_gripper\":0},\"note\":\"The repositioned jaws are over the brown toy just outside the safe’s front rim. I’ll close at its body height.\"}",
  "call_id": "call_7ykQmN1KoQ1EzzoG6h5MMXya",
  "id": "fc_0409c3aa1c04475b016ab2b57e639487d0a7f3f45eb8204c57",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7ykQmN1KoQ1EzzoG6h5MMXya",
  "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]: [-1.0466, 2.0315, 0.9878, 0.0265, -1.063, -0.8268, 0.0128, 0.1333, 0.9344, 0.8429, -0.7689, 0.1375, -0.131, 0.9968]\nstate[eef_state]: left_x=0.3342 left_y=-0.2624 left_z=0.0344 left_yaw=0.1532 left_pitch=0.1431 left_roll=0.1385 left_gripper=0.0128 right_x=0.2727 right_y=0.0158 right_z=0.176 right_yaw=0.0844 right_pitch=-0.283 right_roll=-0.199 right_gripper=0.9968\nstate[joint_eff]: [-0.2256, -7.706, 4.0684, 1.1111, -0.315, -0.0317, 1.0965, -0.0342, -1.8803, 6.6667, 1.6777, 0.0024, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d7a75ff6f198de71e0436f88dce485be34cb4ac931eede8d0e0c39785478bf7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c02631228ec65a7c9e436b042a1e3986fb59680de3efbce56bcae8501400925",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4a209b2f3fb14cd1cc72db390a3c6877d740cc985ee20f06b638d96b0fb4627",
      "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]: [-1.0485, 1.945, 1.0195, -0.1051, -1.0584, -0.8265, 0.9954, 0.1333, 0.934, 0.8429, -0.7471, 0.1379, -0.131, 0.9968]\nstate[eef_state]: left_x=0.3323 left_y=-0.2614 left_z=0.0639 left_yaw=0.1472 left_pitch=0.1345 left_roll=0.1499 left_gripper=0.9954 right_x=0.2767 right_y=0.0162 right_z=0.1797 right_yaw=0.0844 right_pitch=-0.2609 right_roll=-0.1982 right_gripper=0.9968\nstate[joint_eff]: [0.294, -11.7538, 7.665, 1.3016, -0.3541, 0.1783, -0.0855, -0.253, -1.8393, 6.7077, 1.7411, 0.0562, 0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrWHT_9t0A4dcnJNiut0REKjxouMF5MzJDiJnI6foAbBQx6_V0dBOKYjUcrupr2PgOdbXnN32DluoCV8hGQBxY1nCfqqRVtf3IJl1zZsvgZrIY6R1HS0TwG_iKa1ZQwVZF_01YlfRj1IdDEVgPC3CHtrc0Cc1jZwYWfbLcWw15w8X_W8f3ZEnwITkTVxv-bEB5qaDcR6s9WY6ijdb9J3x2BgURmvIE_YtFIafaUqQMmStqj3k8_VZHCvn82KLY09tMWfAOhcpzI_bIHlt3lqu8d56vq7Bhr9pbc63rBrMv7OlrMoDfK6u99r6rONH3JPIvcMmbXQnpMnFYuh9qtygoM2pg2QqZ4Q5H5KR8u7pGg7F6KP3-RQ-OhNydA6SsJ_kw1ri41SKRcImU5ZKO6U1Vf1uKFNMQWvfExMUkF4Q6o7QPpSp_3YnnQRPY3KDYnGghMg81N7HZGgGtoQuqtAdItBJEjgXm4_nfyr2eUZvH5eQ4S8aUp95vGCLjtwV1WhQho2i9Prkcx98_TQGxkQ5lPUWLvhaJdJXVjpJOg7y_QXaAxdZacfQXpEHcMAhze2WTArNpkM1xZ-EIfYLa-N14CX3NptDDI0wnfMQPyY4m34CAsbGVT9hr3xqJ91VLKKgzonI2eTdMITIafm-hbJlGOReC3s98ouNZNYFdepk0ip7azjxQm6HwTbuZU9nm-MObne1DBoDAJxChYxD1cHrBWoHGjPwJMDglKem5g9v7TP6OT-cOhZ-l9vqlfidDaP6PJYnqX6p7NPvBMPZFtNI0_r2vGKqOr-g_p3GG4EPmkKTIFRTEJIVy1kDaEObYLXYBbQjBrj3aBXGtXclpVQoFxsC8iRYO9JSzXm6ATsMecE8nXZ3TT-GsqASwvs7y6r15FCD-Vkymm0P7OumupnQT9jzesn8tgp7_t-kon65h2ORv26i_G-ulHGzpXNJyZ1SlGgKxdFXFlhRguWVTzXpH1Zq9IiA6jW5VNl_RyKG8zfXmQf97DayhRdOAdgwTAxTtucOyyTHKjSwjwSPWQP7me0pmqWBgxpHporFyhmLpknP1G6DcGTlQnKoVkc6pZFruTA5vd3xk_vtO_E7jYKXyVMeNSQPSgeYYJvd1h6DfHpbnthWMT9otQPbeMXbYg7y25HSETDGm9QqIryYE9dg3hgRc4BP9lEJiCrVPfqJbIXzcfpjC6EXTaNj_EPIurulOwsAPP7qrU-eP99EbJDaRUvLV7jBy-VeX5M8_I_samHzFtkk54PACk3jfJkwyHUwA7ZPoyThMTXkr5k3P8bS9Mg0Kq1ixrT8AMAI6pBsOKFWs5_YfiI_vw17ni_TInP5ZjoNfyc71iAthjOmmnryO7fJD6EVfyTXTSutuWirTbyVloNUKPbYdbLMyoJPb3ilwrjg7V3_vPmCIg6UVdclmMLDpOqwxZ8UUAPUJEndFay9fxp7t7A6ivyv1Gqe93KQ7MA",
  "id": "rs_0409c3aa1c04475b016ab2b5831de487d083187a7d78075114",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.32,\"left_y\":-0.32,\"left_z\":0.075},\"note\":\"The brown toy has shifted to the right of the gripper and the close was empty. I’ll lift and move sideways to center the jaws over its current position.\"}",
  "call_id": "call_xlVYgNOme8GOYgDJr2GAxlx0",
  "id": "fc_0409c3aa1c04475b016ab2b585199887d09379b67709ff50a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xlVYgNOme8GOYgDJr2GAxlx0",
  "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]: [-1.1439, 2.0674, 1.2778, -0.3721, -1.0904, -1.0214, 0.9952, 0.1333, 0.9344, 0.8429, -0.791, 0.1375, -0.1314, 0.9968]\nstate[eef_state]: left_x=0.3203 left_y=-0.317 left_z=0.0733 left_yaw=0.1547 left_pitch=0.1341 left_roll=0.1069 left_gripper=0.9952 right_x=0.2686 right_y=0.0152 right_z=0.1725 right_yaw=0.0843 right_pitch=-0.3052 right_roll=-0.2004 right_gripper=0.9968\nstate[joint_eff]: [-0.5402, -8.6496, 7.7744, 0.7741, -0.735, 0.1538, -0.0073, -0.2256, -1.7846, 6.8991, 1.6484, 0.0024, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73cca51a0a79f6b88d05e9c4cf952e32023f95cb14f80f11656710114db447e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61887c446e9c695011f2beb7c8bcb0021208c7fe08ecba6c4c3b9a75e657904c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:028caf49fcd9c0745ef425f1bd7168c438ff1eac0e86a9a18daba0627703d611",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0466, 2.0315, 0.9878, 0.0265, -1.063, -0.8268, 0.0128, 0.1333, 0.9344, 0.8429, -0.7689, 0.1375, -0.131, 0.9968]\nstate[eef_state]: left_x=0.3342 left_y=-0.2624 left_z=0.0344 left_yaw=0.1532 left_pitch=0.1431 left_roll=0.1385 left_gripper=0.0128 right_x=0.2727 right_y=0.0158 right_z=0.176 right_yaw=0.0844 right_pitch=-0.283 right_roll=-0.199 right_gripper=0.9968\nstate[joint_eff]: [-0.2256, -7.706, 4.0684, 1.1111, -0.315, -0.0317, 1.0965, -0.0342, -1.8803, 6.6667, 1.6777, 0.0024, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrWM6vWBLE-8MjtwiAFW0MpEiPIuDJkpmFR0hOqnNrT_bLlUvjHdvItgCbe3ZzGzXD1VrjWNOE_nPKi5CxtiTMcrItcoB7GH5wAPvIv2Elp3u3Y_2KZVGJXeInAI6Cmtsme2huSzPlJTI_woc6hBBugUAUKOeYUPcYFRbtyszi1hIkkTH7O-INDP_xI7kaTofYj8mhEBEaJyf_xG-WhzTUgh9S67Sd91ZQezS_VgF3OJu-um0BRr4PtKiUPZcBrKfu71VYpFZXQ6M-_a9wuOrTaQgVcY2YWnGUu7P6WGVbX7HTCIe20BzHjxwfWSfo96_COM1H6v6Vx13YS_KSW9bd98R0Vyf3ePD3NFytWbhUYDT3Cv1EAYqg9_cbUzPKQI4oJ4pRKIK51MHzH5dN0SNf-cYEs8fasYVDUX_ubHNnhLPZh8zp27WCZOzUqsKjueDvuDE2IuAw9nqnXWP9c_CimL4iLxaGaraLT3l_MuA5YN6oTSI9H4Vs5DO0lKROXVC4N-nvMIgSdvpZUNBrMcanYoLA0TDmlXnGsYadxvzqUXLW_Dz1W4VtSAPvFyKoaZ6ba1oWJKgJBlubUMHizmGl8dQuvTut8poVwFRKUq9D3z595t2YSA_-YEruHiu4VJd5nH4OZ9NHoUtiJGlCTTGkv2s7SoewCiCM08vqadYsOBP5V3wQaUxmqt_INUDoVi8sold2jQWp95EH7VHLnK3PTQOVU_DHpHfLY8at7TvfBQSuzIEkukHMpzjf4HmVUldwwB7D0c2IAACk97hMJ87b885fWY_veAwNAVxIdy92JRavMdtLcKgx2y1G3WP1QQVboMkgtq9JMx9KGRXzQciiTaACUBwr6wm1cbGm_2ifHlgtJ5zLQLDQlLVUS3xkX1IC4g3xHa0tsz72M4gFXUQ-UOiXdrvUdJeKlXFh2aqHPhI0UhHuIbnis7jTZGliOcvW_W3PYB0gYpB5o_cjvyJZMvAWa3hhmSHzoPc-WDFd7cF3A9DjAPIR8Jr9vqSDOVQJeIOHGIvxX76yw_vZFdy1dToMvbk79wK5PfTTy2W18ATQleOZ3tWuLz2qPVSzfF1mT8T3XahE7QGDGLIbh9vErg35NNROhH5n0glzIz0Z9yO7MAHJ7vmUUbH7UvEgUPmIfc4JEi6foICvT0UedKikFKtaatCRmxg4X6weE97j8INHji98c9-ya2xde8FAVlaCaT",
  "id": "rs_0409c3aa1c04475b016ab2b58b81cc87d0960313e4e4f24574",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.01,\"left_gripper\":0},\"note\":\"The brown toy is now centered beneath the jaws. I’ll lower and close around its torso.\"}",
  "call_id": "call_SyjsVB6mU8BOF7WVDtTxzzUU",
  "id": "fc_0409c3aa1c04475b016ab2b58bf31087d096dda3412604b4ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SyjsVB6mU8BOF7WVDtTxzzUU",
  "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]: [-1.145, 2.1872, 1.2251, -0.1795, -1.1076, -1.0267, 0.013, 0.1337, 0.9344, 0.8429, -0.7959, 0.1375, -0.131, 0.9968]\nstate[eef_state]: left_x=0.3223 left_y=-0.3193 left_z=0.0254 left_yaw=0.1657 left_pitch=0.1548 left_roll=0.0865 left_gripper=0.013 right_x=0.2677 right_y=0.0152 right_z=0.1718 right_yaw=0.0844 right_pitch=-0.3101 right_roll=-0.2004 right_gripper=0.9968\nstate[joint_eff]: [-0.0889, -8.7179, 4.0684, 0.8767, -0.2369, 0.0122, 0.9255, -0.0615, -1.7983, 6.653, 1.4286, 0.0269, -0.0073, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2dc6871c69aba117790e797f403cfcfe828804464c2c2d164c06ed23e226263",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46048bd5edbb9837a74de0fa33f02dfa0092ae35f19a53b8fbb826cbc976ffa1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da0c3db3153171b3d80ab58bc6adefb3f2102b6cdf2170cb9118b99e3ce9465c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1439, 2.0674, 1.2778, -0.3721, -1.0904, -1.0214, 0.9952, 0.1333, 0.9344, 0.8429, -0.791, 0.1375, -0.1314, 0.9968]\nstate[eef_state]: left_x=0.3203 left_y=-0.317 left_z=0.0733 left_yaw=0.1547 left_pitch=0.1341 left_roll=0.1069 left_gripper=0.9952 right_x=0.2686 right_y=0.0152 right_z=0.1725 right_yaw=0.0843 right_pitch=-0.3052 right_roll=-0.2004 right_gripper=0.9968\nstate[joint_eff]: [-0.5402, -8.6496, 7.7744, 0.7741, -0.735, 0.1538, -0.0073, -0.2256, -1.7846, 6.8991, 1.6484, 0.0024, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsrWW7hRUEs4DTk8oO6cVwZs8HZSuXjbQ23iQv0DW-Pmhdf_tRHC-0EOj9OCjDj4xXcc4RrvwiDD3fFVoG3S5vJvz9_f1n8wMZp7iLQjVXzmRBR2drjcKYmSLIn6-hD7yKj0vz1reTWBe4OTFeJXiFh8csC-FSzV-3aR4Xu1-UQeZ6GsGRy8guZ06_dH8SyHKnSLyjezknkchsAGF9U4Q45roY_hL1cnSQHGu8pcoL9DQNcmf-AIOn36aYYKPqwaAv54q6BBUqZouF9n1ndXawsbyPjLYlaH7xGq1d66n7AJcYBtH15QpMp32bC8E7u1KB39TGsmb6JZwwiuOUkTSbDkpgOjEdtZwd5-1LIgw1eQrFiVakny6EITH3K_eUhUgWCxPpxjNamRQ-1tGTVUwrcDkeJ5wYTl-DFQjINvlyqkzQm3lK9DrV6FlD0-oLIx2iuVPuC373dXmSkoTWxpu7S5PGOM7EqCLv6VYOfVC6K1ivhy3f9De6oKOy4n_o9kf3Pw77z70WmDdmAgw-5_yLNczsTLeMVOa8mYztlthedyziuVfSxmDC0qF8YxxqRabVYEH_XRmQ7-k7kZDJYrZmvLgrsMmJ3rRGn6MdJLIvUT7bPfjuoLKipebZWW1mmF5sPjJgM1IeGPMlpjK4tXHtDpAVBTYVp9l4mLs5P5wp1QTIQPfmgwbW8s9I1cMBp9H0VBa_BHYX7y5FHFo3q_2PhnJ6d0SXgLZaF3BCsR_BrlMmO8VupZGTmJs3fbO6LTB1uaPEPenwYgmzD9dbqJ713pXEORJ6iae81TaUzrPapAOCAYNT4S2vjfzbs780YZdBnVbaz5OONFhGRawbF87k3hpxn6A-gq7bYnVH3upKuRnEMharFvtKwO7vm4zraJKaac5GZ53VB5wJPymV0P5Jwb3PwjFwpgF9EprHOn4WwQi1Ry3rMj82zgzQwSQGnWe_wgEwAOY1xGaQxqGbUAC84WmBrIlN-oM686LcEOJMWDZQLVlTy1-6LBcgw-O91UnUEK9EQeRtA7lGn1dP_fR7BlYtPRS6TQ1wfLvWCaSlTFU0GFzge-nEyY7yLNum3IhdAdLs2K15nSxXIdt5-bnqo7_cBxLCWmM2LgSSzimtwSufIaglimZwU4lRvC-8pE4w_vJHlGg7hIxt78rLuyhPSqtaxk3dbNEIPKNpu9nf3c4dUFizF7VvKcdqoXsVQ-4TLubqNcPjuhgZ6ysflxxfOra-801rGGY50Fr5Lk9I9KCItSiS3CS4_ZZv3nyTxnWcEZF87XAm3qAjLS4Iio1rKmLlA-cik_cU3xncDKfjffDAdyzgVV-higvTnN-2PsADOAsq6LNtbsfGVd12EO9Az_jF3qkpImn4Tc_37M5Ia_Hg4vSSezmJaa-lrgRKxVBQDFvgkxst1S15X3B71_k2PdmCw==",
  "id": "rs_0409c3aa1c04475b016ab2b591f9fc87d0b721ea67d29e2322",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.08,\"left_z\":0.23,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.2},\"note\":\"The brown toy is still outside the safe, and the gripper again closed without holding it. I’ll retract both arms safely; I won’t close the safe with the task incomplete.\"}",
  "call_id": "call_b1iZe6IYWcjydseZ6aKdxf8F",
  "id": "fc_0409c3aa1c04475b016ab2b593e79887d0a94325b7a36ca2f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_b1iZe6IYWcjydseZ6aKdxf8F",
  "output": "executing move_to over 22 steps (2.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8803, 0.9123, 0.7471, -0.6186, -0.963, -0.6403, 0.9965, 0.0368, 1.0489, 0.9672, -0.8627, 0.0811, -0.2108, 0.9968]\nstate[eef_state]: left_x=0.2618 left_y=-0.0835 left_z=0.2192 left_yaw=0.1917 left_pitch=0.1594 left_roll=0.0628 left_gripper=0.9965 right_x=0.282 right_y=-0.0003 right_z=0.1814 right_yaw=0.0835 right_pitch=-0.3755 right_roll=-0.2042 right_gripper=0.9968\nstate[joint_eff]: [0.2393, -1.5521, 9.3197, 1.3407, -0.3297, 0.1245, -0.2613, -0.5402, -2.4957, 9.6342, 1.6093, -0.0952, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c4657c80c3b68017b482ac890c5f393a58790d6b6f943f4b57a412bffa450e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd8b040c5377368cc95ef48bc7f562e40c01653f7ea860ef9f9f675d82183b8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:698f9ca571e190b2b130be9db67c4ff75f3f7f973e38f3295aa2a8530e220fcd",
      "type": "input_image"
    }
  ],
  "role": "user"
}