adhoc

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7929, 0.6044, -0.3908, -0.0193, -0.0338, 0.9993, -0.0212, 0.7944, 0.6079, -0.4007, -0.02, -0.0166, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0015 left_z=0.1782 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2925 right_y=0.0009 right_z=0.1773 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -1.4154, 10.1538, 1.9512, -0.0708, 0.2027, -0.0904, -0.2803, -1.6889, 9.6342, 2.0098, -0.0366, -0.0073, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7cd239447374da0e8e165efae65cf1f5f6a2e36362c935b29c942a4d4295556",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80735476204e28341821fb6c023bdec85a0b5fa4a83a776fb651a8403597b3ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42814269016dcfe16d2caf902e8a659851d77487a01b50195333c3619128f12b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsskVQ3DAafgbGQSzIORIyRSBWld19F4l4L0TglMm1h9b6yYCi_anFE2Mg7XrrYgdCnHHEXl03CnYUse9gpawo9ewLAwhiirPJTvwYrvWmgnlOe3PRQPLpI5ckRETvhelJUyQn2w_LOhrbT480QQJjGjeEJnwM8sU0BEmJ2aeKp373tJJlQpM5R0ntPxyuJ6EZSQjoTtngfLSyKZsuRZdUoU9Bu_P5zuyyGWSI7p9Xoi5rgMOwQSO86X8IjpTt88cZwle404nqiNVAbHeg20-aVidkKxhYl7BC8JsJZHdfqXU9Ry-ZNiR4owy_HKVBk_iKO72W4QxlxcPYQailOpWndxVA149HjmtBbwa3O_vv1KzLOZQDp4sWqhdYpdMY9XR69yqzV-HwJNh33dlJf-IxyW7mRr8ukvNvDP8YUN5xK9rxHR4AvtOfuRxLugeigW4KV8typhrcIBkJQzj7wsYmFLId42b4djj5fh43_xHKqhWADJ-XyJZqTXw9Y947qsu75Oi6HzR-M43YEuGc_yoaNzSrZoCHnSTTn05JvGPcvcf99xNNTb7L0E02G6_5a7p50F9EMCtdZsuY1IAyT8j8-NGahWkNci0G0H8q_x3eGNk1X5qwyaoErHudjdVo2gTw2dtwRImfTx_eklUUVky6KOr_sy6gOsAoi6KYKG-sfdCWynS9UI-JYM5XqXtPnXFNu6JicwQoGQYc46wPF0lpCBGdLEEh2kt_rFtOyVyeqfWxDYBzcrcDeqZBIMsYoGtPxMhhQ9hCZFSBvrnX-LrTR76WUYSwSQNl14_2RgQbPl-BSk_cL-3D9svfjp9mQTEy0gMp7c2TdEg2ohbnTsY_UKKe90SxKUbeFel3-EPmERHH7s_Yv0FxTW4FX9Bt10FicsOYWgSXKWAAEF_DasFQa3mEjs-f1Amlx0wBRQFRRH382nx4HB34SHj9NeLMoXnIP8c9zfeEkY2ihPE7idHzLj0f0mC7SZP04xD-6Psncr6y546Ol7sKlL-OvGrugiHmd2mFfdtpFXod6uz2uSSRmEFN3VUsVMDUGizcubDqmR3WIKE4RYaNzDaMRGWsWeBY6ygafLjvkCDcjbwS9ra67K6RJTuGrubOZeBPcK3VUhsKG7hIO0rDESt7N2z277YBtoyVh9BB6SxaAkLx6LRZ3yqbR_InDVVc5mMwfx9dqBm6_gmt2aWPqi1wV8s2fp7aeBwYU1f8oVi-STD474mP1EYS-BowbnU8b5v98go58a3Ln3eH5o9Iu9hmUaY-l7cdKcVjgxsfZ3XsobQubW9w-VyaVHAz_pF1OAlaceqnO5lbbyoqmby2d445FU1pfPGaL8cBbWVMNgl5jjyodCiGbb8OeTbL9BiVozkrX1EBAYiBeDlrX3ULv6u5_Dq1kccCqiPMbn0zVJsabclWXfP0Fk0JVlHE-XheN6T9Pq4lsr6GnnnHEetEsRol3s80ZCoQeVDUzfnvNMhMUDMgQABwN7R01XLPz2FJifST3OCWSX_Ha626hr4Gz9ULFAanDRyNmMheWLsQS87-XPk1LmBwmjAaIYO4mafwg9f0tTi7BA79gMf5tOkde_BpxQLpRXFjgdj9QJRcoQ06TRJ1PYxJQ05U_G1mQYRg3fUHpfC5JgFDdw=",
  "id": "rs_089321a63a3a490f016ab2c91119ec87d0bd6b45365022e92d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.16,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The safe is open, with a yellow object on its right and two plush objects outside. I will approach the yellow object first with the right gripper.\"}",
  "call_id": "call_vrJKH4hcjKkbKYKFnEpodXQb",
  "id": "fc_089321a63a3a490f016ab2c913fc6887d0bc818798b414264c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vrJKH4hcjKkbKYKFnEpodXQb",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4061, -0.0193, -0.038, 0.9992, 0.5621, 1.4693, 0.8654, -0.1379, 0.4267, 0.3008, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1747 left_yaw=0.0025 left_pitch=-0.0187 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3749 right_y=0.154 right_z=0.1291 right_yaw=0.0393 right_pitch=-0.0763 right_roll=-0.0467 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.6889, 6.9812, 1.8584, -0.0659, 0.0317, -0.022, 0.1162, -6.4342, 9.1009, 1.7558, 0.3492, 0.188, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0689bd80b6aac76ab0d3440fdfea983fa386ac356c0b2e28aadf22a0a9d7a0ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab71b770c14a68a47672cd1af0c96cb5394a186a2c78218a382d35a6d7a23df6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ba69c5f6896815915f6c3e1ee130262454870189b3776b6a9a229246ebb034b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7929, 0.6044, -0.3908, -0.0193, -0.0338, 0.9993, -0.0212, 0.7944, 0.6079, -0.4007, -0.02, -0.0166, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0015 left_z=0.1782 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2925 right_y=0.0009 right_z=0.1773 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -1.4154, 10.1538, 1.9512, -0.0708, 0.2027, -0.0904, -0.2803, -1.6889, 9.6342, 2.0098, -0.0366, -0.0073, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsskfNMUIjZ4eMp65sgAudluOLZkzavcshjtBx6LS2Bjl5HrjSTCIALYlnzVL0bM9THUKeplff7gj0RXII4J0Y0qknjN5emNzrQ_Wwks-flrvVQLmlCZH2O3MxlQ_xmlCtcdbWAlYAiSqvjrZ1F83j58XHr1Ya2awKhwSssiRbPoBDBE1Ls5EEsRqqJtc43COzgnmkrOsef73-FU3eYNWIILikO51HXxbXqV-eseUzffCkJe7496eLZ8nWStfRslhOdr3vOf9N8A89S75FwbQJs_ycr7KRI5HN5NKBFEIVnZk8Zd8xkqjIhNN2ResZhS_jTRn_xQxNt8STS8P1256Dajm_DoI8-HsVvBgzX9xwj7Dn8Wz8OA8_ttNRhip3RmVZMPldy_kJeYA_SlGYhC8aMIQR75LXLzBht_cm-OOFp_gju1DZMwbG71ujOxwKZTmgn6gn8RmhdTYsGCLauhLR7tQDkuwySr82JBqXpQR3zzAU9u4-R1roZWoyHjQy64R74v8Qjp5pbcNOl_6rdz1mhV-evO86jADL9_pr2ZgbicjuJ6IuDqdsdMkbPmE20rTc2qhQy6Oi9gCBfAy2KIkUDwQd7271fzyXeX8TrgHL1AOc9lWVPE-RznP6yfEHy93bBWceR8yGWu8tAyDgfuIiSm04irL47KmPjDH6MlSSao2vvM7Nu0_6sLAStdLNdff4OslD-UqaPdPbQjWaI3I8gW3-ieBDTxDDDu3aHJcxQp61ixdHkMykjmDtINYYE971sec-8owu4WTzvSMsVK7GOzEslej0jFfCwL7RshSFtdhcqs_5O8cLMqiz54eA0ZZuPRB7QSpuHVeB7OR1PgtY97StK29nNitRE9FqCvjyujV5rwqtBBQ-fuGTYKxy1MRedzN3IR7ClzDLM4aQ26hgMNM9texwIeB1NOjEftoJ8hwQqPbfKVaf7vTWCe3zhVMkeLSkrpA0Kb8GYBXQHMPV_-8geqpNe2gdmGqR0uR44rGppib1CrFw1QpScbS264xM7DKwMR9X8SFzUZ7U5l0YOyz5i2eCK5OIZPvNOm2XF1I6n8MLJCLHohxeJz1HB4A7OWUboS31MQPSmKrk7NiBaXJLY-h7XJFisN-aiDsR1OotiAChZywEl0vKha399O_11-1LAGcRweQcB6m-qjti7tgW8gwKyBLYesg_1wWmxN4vdU4GmqpcgVvaK27yRVacJM1meDrxY2f3jBae-TxizdvqcQQjkezzqvY5YHV41wI73wcCvQg5ORTYABdHKV_KfACumdVADNE7HbBmp3oB5S2cM1M1C0SWIgbM780ltTGwjLuazc7hnnaTbL48dzIImLTdJ9b53BBz78noXPaGfS4xUxBS1PkVclqLhvh3-LusZPEfyVji38Hp6nTQ9UHIw_2YuMTIC-l_ilDxRRyjOCtQed6a1DRuhzZtrW8aR8lEklNtGNJEKnCGXpzQlWert8GGLbgJiKJ30bzmF_--LNUoQjNBbXh3RASqC_qKfDCf3s=",
  "id": "rs_089321a63a3a490f016ab2c91ae03487d0819a0fd017a789d1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.12,\"right_z\":0.065},\"note\":\"The yellow object is visible to the right of the wrist-camera jaw column. I will shift right and forward while lowering toward its centre.\"}",
  "call_id": "call_QxDWsJU3kO5ldRQEzEaOK7Et",
  "id": "fc_089321a63a3a490f016ab2c91de87487d0b64088a82ce8098f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QxDWsJU3kO5ldRQEzEaOK7Et",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8005, 0.6067, -0.4095, -0.0189, -0.0383, 0.9992, 0.3992, 1.6737, 0.7902, 0.0872, 0.3237, 0.2062, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0014 left_z=0.1734 left_yaw=0.0024 left_pitch=-0.0244 left_roll=-0.0038 left_gripper=0.9992 right_x=0.4029 right_y=0.1129 right_z=0.0536 right_yaw=0.008 right_pitch=-0.1599 right_roll=-0.0788 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.388, 7.0496, 1.7167, -0.0464, -0.0366, -0.0122, -0.4171, -7.1726, 5.8051, 1.8388, 0.2173, -0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:447b54ffe77f3d7d928a51fc9c8e2a35dcb8e2a03a1ec1c154e7fe2f8db79815",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc19aac0785b7ca7939ef10e76702bfeea1ba4a46cfff5e1dfc09f1ee546e250",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a44551ee3e5f54830fa304d87ee42090a937bd2638e78c42b7dda0e86a77dcee",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4061, -0.0193, -0.038, 0.9992, 0.5621, 1.4693, 0.8654, -0.1379, 0.4267, 0.3008, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1747 left_yaw=0.0025 left_pitch=-0.0187 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3749 right_y=0.154 right_z=0.1291 right_yaw=0.0393 right_pitch=-0.0763 right_roll=-0.0467 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.6889, 6.9812, 1.8584, -0.0659, 0.0317, -0.022, 0.1162, -6.4342, 9.1009, 1.7558, 0.3492, 0.188, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsskoiRwL0RGoS7d9qC706qfLgx3qLFOzhfo8209DwIrmitCXcVjDANPaSDu0ni7ZL_oUOe4-NufoBHN1CsewugRukOsZAO_BO7X9tDIInqAU4uiiXJX29K-RBW8n-gsYZ2DRbQcqiKAGWJTHEYqJwdDuG-xNcqof2Vq69kYUUDvvsCZ_ftFUu3GDEh67524zgMYrY3NUwHQL9S_Mmu1UB1YO6XvdQMyoZs264o00LVmfSnV7PpQw7NpCXk4_-L3-EUOyrisYQlhD3X4ywt9SrszEnE4rqI3k992melAfQHw5cDBQhBpn-oT756fvjT4EbvOxaCTCUG0BaL6e2qa9x9F2mrRpVG84iL_WrEaG8VzMPMWOrZlbIqE3T8PB9cB_FlW6chmRR0k-Qd9uxda2eIpzMA4ANjFjvJBuzA3m2C-mZEQQ8p47OcMOLxokzmc-bS-nxypmgSe-skelml_FlnWr6friTYRni0qDaa5_QfuiSpMITO_37oschxCnJH1i0V_5Ph2Y36zckNI2QUpEEgFT0612kv6IguxenQjHTL-AKrNHXXupy54KSn8Jl9tMYjkqrXXE1mCthqkzO-P6S0Q3J5MT_YHHC55dDmfJiGxogBOx0w7GX2VJHF2p7LKJWdchBdzkxIyRzSkvUFmSu2zit7Yt-I_a86uF_3RV-XBP6IoGCDyHfcVjlLD2otdJ6SEckYwOX2kPs_fPdQRl4kERC03peglV8P2rUK_NFpm8luUcxjR4ZSG8tt4bxgOe8Wrwqd4YHpo_nD4UY-P4GdN-wksmUo6DrMlKq2Zpm7OWJ2yvV1LkA8-jr8ABUThNxXfTEN8inQB0HSgUW3tNATIA9g8IMWjdEPzDZFAbb19y9lHTrCOvwOtyKeRdRITO5UGZdkmhcAWWM2SIboRvWatizKhESeXjz25t7e1CCFGoQn9uVqsHUy9iNQEbP_rIfJViHc59smOF2-SS3JBOp2kj6NJANlQ2lkp0OfzoW99QWjDPojPPwFDpdPiqAxNSmCFv4Dxkz-wLgGVQsD36QegMfeh3vNvNvSCVca3hUU0GZ9fckNRa_0XoVMP798PA5U8EVhe_X736vQpZdMXYw8tud9v1AbyVfaCCF33R-8kBWhy7LlmoSZ4GR33qN3qwV7ZITvjE5YIUWZLW87JGsHlTec9iBaP7MuTNZNQ_nUu7q8DcBEk0odku9c2o10Dj-oQ6HaNagkdxCwiBFSxYLk3OyoDPoY6Ubulwj-ty49G8sVntyF4cUZv4dC0C8nFkhjeOhHTso3fWnX8DvvwFq1ZVyFo2dhSnuCqIYZiPZ48iIRmR-5mPoSxYLejQwObBi05xu-9fv_99vKAaTxu5opWfgsPzY8FkYYM5VCFXCki66o1EUgVxMFtuEwloA2S9QbX1Kau1jAXfavDl-4Ziys67sa-2EDtVDRUofrr6qbLqaplOzRlzLd1LagfrSslTu9A4iYALbfbbtO6XplvRIbhvieJBLeSb_nYUGW9TkN4QOEm5GW_hiMHho4NpOyLqYGk4RpXrKcnyDfjwBZhcamjMeQ==",
  "id": "rs_089321a63a3a490f016ab2c922a52087d09e835069259da6ac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.095,\"right_z\":0.025},\"note\":\"The yellow object remains slightly right of the jaws and ahead of the grasp point. I will make a smaller alignment move and descend to grasping height.\"}",
  "call_id": "call_pd8EPjX7ip6HJ3BrKT65RmPY",
  "id": "fc_089321a63a3a490f016ab2c9263bf087d0be415907f24dc4a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pd8EPjX7ip6HJ3BrKT65RmPY",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4255, -0.0189, -0.0387, 0.9992, 0.3061, 1.8606, 0.8856, 0.1646, 0.2405, 0.141, 0.9996]\nstate[eef_state]: left_x=0.2894 left_y=0.0015 left_z=0.1694 left_yaw=0.0026 left_pitch=-0.0431 left_roll=-0.0038 left_gripper=0.9992 right_x=0.4399 right_y=0.0987 right_z=0.0209 right_yaw=0.0186 right_pitch=-0.1957 right_roll=-0.0741 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -1.4427, 7.1726, 1.9023, -0.0415, -0.0562, -0.0122, -0.8684, -7.3915, 7.241, 1.619, 0.2466, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac9517dc5532b19cec0c2d4341cf968961c8914b91ffa1dbafa1f52d418021a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:642b16e5da5b0128b4e4d722324b81c4944aed1bae18716fdfa4ee067da8498e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ea506283f309cb2ba0e9397cd2f4957623becc67df64f8d56cf633e8a4fbf88",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8005, 0.6067, -0.4095, -0.0189, -0.0383, 0.9992, 0.3992, 1.6737, 0.7902, 0.0872, 0.3237, 0.2062, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0014 left_z=0.1734 left_yaw=0.0024 left_pitch=-0.0244 left_roll=-0.0038 left_gripper=0.9992 right_x=0.4029 right_y=0.1129 right_z=0.0536 right_yaw=0.008 right_pitch=-0.1599 right_roll=-0.0788 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.388, 7.0496, 1.7167, -0.0464, -0.0366, -0.0122, -0.4171, -7.1726, 5.8051, 1.8388, 0.2173, -0.0904, -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": "gAAAAABqsskx5ALbA6kIKguuOq0sW51l5N-DCwaP0O-NHd41wTTPHVGabu5Lo31mKmIBB7qMNbCRV3Adc58GUNaDfhy2qmGl-eiaZKB-VuwtsZBcY1-xmeOQpaQuyycBJHudKSMXX5vPd2ia9gJvKvOzhqtxS443MhvTtmpcVRTk1Lnxv4hDT1CXtM5ZhzmKLHz2OtzArAkZYHU_rvLDo5OwdWSbUAGtINrZOWe6LvRmC5mPLT6FtcHKYomr95wt_iYZ-u3e0qKHfJf6dpq8uoE5qTYF9wVL1kDQ6foOcdWBN04lYCl7Ri0-BBL0cWMBm6-1Jy_livlcqQ20BcwqDGcz0of4jB6wOmnbyJKviQfPgUY8Zhz4Ruj6cdLCKe8paR5eHe1xWpeTVQdEfkm-yzoS73XWysDfqb-oq2cEthrYEcCvV6s1bhs-qbfulcsAVRAgbXq6vbe7EIALjpGzz4RXfcpCRtqhjudfFY0cNxdD_fIQZg0z76vLgvh3GWFVcaMl0ga9GBMrdVPqJK3ezeSVeXoKt0yXM3Y3hRU3jr3ezbJUQGk9qPzI8eOOp0WvqS4QeF7tnqMRtry6la57CfYUE1OKDxFrIGldV2X86nS_cRvXJdIkVIruwGtsEfjNizaJpIRnT3uxhdQp-gUYbVBWs3KcJUBpSqVKuu_5Ku19Hs6hhMTCmNSMSS5--8lmLkBcW6EbwazFtraM6u_yrIObOxe1mtoKoktQUBAc34wGCXUGPcZbou7368aZ_IB71Eqsp6RwGzzUri38ywqascLRasAL5w4IleR1Wd_xxPJqUAsIEHOvvG-YnhPkEr50-Uheq_hPaBO-V8RrsFeZt_905D8Eb_Mge2IKBo3dUdyXO5pGvbK33D6shqbWB4L6n0Eixq9ydIXDjfv11NGDOtRreYKsPY1E3raIpQLYFY6gjnpK4e7zrNy74SClWxjPss2TRpJsdO1MHzhBThZK0C1j3Dk_TwrynwgcKhdlcsE7gmFA-fF8pcRkGndqQCarizeX93lcOeN7ZARes8rG5rGkjng7nuQEbFPh85NqTbH8Z64F9kuS3nvFWE5jXMTLwfRUYKCkAdpKRceQ6gzjJvo_ULSu_i6LfFSHA-51tM1dXtReJinkpMIpiklig6FI5zn0mV0bsoZM2uOAtieDVr4W1tVhX8RN8oH9_O2RR8Jj3NtL75UUYAOjDeNRpauIi7wapOi2eQvJwNzNEdg54EiTMRxIaQJDiHpmiViZLDVNrZJTtDn0if_kHBySOaVSnUzK85fdvt5ejRk18SG3ctGcqmMb_Ei_DyiDCvT-mdB_AhIovEzVjlawbv0ENj5vf1vIMx4BfmgyO7Z6C-QfLOmVb5daOKiSebAu3ixR88P9K1JdzCKB_F9TblrygIt8ZxFRxUCvuZBR-_URmMmGo1FL1Eo-2vnUsq6yQh6lumJX8aseJNDw6I1eUhQcX1NURuWNkpOMAWJ1vIs4xPuijJ-lbMNI9aKeLRQDD1uFUyYTW7vWXwNyfmYN8Pi3cfs9ZmVUbiHO5W2t",
  "id": "rs_089321a63a3a490f016ab2c92cb27087d0a7fb451a2fb151b2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.085,\"right_z\":0.015},\"note\":\"The yellow object is now nearly centred laterally, but still sits beyond the fingertips in the overhead view. I will advance a few centimetres at low height before closing.\"}",
  "call_id": "call_UxqtSQZGKiSchpS30VtuIwJt",
  "id": "fc_089321a63a3a490f016ab2c92ff1b887d09b90bf78eff80995",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UxqtSQZGKiSchpS30VtuIwJt",
  "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]: [-0.0189, 0.8032, 0.6067, -0.4316, -0.0189, -0.0387, 0.9992, 0.2947, 1.8816, 0.9031, 0.1783, 0.2306, 0.1303, 0.9996]\nstate[eef_state]: left_x=0.2885 left_y=0.0015 left_z=0.1682 left_yaw=0.0026 left_pitch=-0.0492 left_roll=-0.0036 left_gripper=0.9992 right_x=0.447 right_y=0.0972 right_z=0.0201 right_yaw=0.0219 right_pitch=-0.1882 right_roll=-0.0719 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.265, 7.1863, 1.7411, -0.0464, -0.0806, -0.0122, -0.5675, -8.0752, 6.6667, 1.6923, 0.1783, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:749472e725c52efb2161a3ab2f7b346fa11dbf82486330d2e0b6e13871e0a25a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:529bba2aca6e87fc835ea8e601443584833ad25e3d75a070170d6481f9b19e22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da5d223549dc030c440cd340aedcb3a7249de075e3d742dc2848ca93c2f57be2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4255, -0.0189, -0.0387, 0.9992, 0.3061, 1.8606, 0.8856, 0.1646, 0.2405, 0.141, 0.9996]\nstate[eef_state]: left_x=0.2894 left_y=0.0015 left_z=0.1694 left_yaw=0.0026 left_pitch=-0.0431 left_roll=-0.0038 left_gripper=0.9992 right_x=0.4399 right_y=0.0987 right_z=0.0209 right_yaw=0.0186 right_pitch=-0.1957 right_roll=-0.0741 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -1.4427, 7.1726, 1.9023, -0.0415, -0.0562, -0.0122, -0.8684, -7.3915, 7.241, 1.619, 0.2466, -0.0366, -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": "gAAAAABqssk3bySnPlZGP0mZ5OVSnRgvEtpEVTxW_DGeyebzk1gcTK6XeHbw0DCBCD9_Gj6sQzs2NDOZolYijq_6ZD9RzLAFi-bJkVGzMk5h-HXkSd-AtjqNpPa6pwMfdZ8-vlbwM7TsxaBVhVwBXbYoeB7GEVlvQO-MAN8AQ3asHCWZaWpdo8WWOiYFSgv-QU4Macjc-eUvCtuNcBE9fs0lETSqWGqCibFnQ8CFWU5TuQZndkU3MAl6UhxMO_GVq_uw_zdAUH34tDzPq5mbK1hSv0-yyU3AEy6ooEHbyOFdUfl6NKSQSyKS5NzleDn4zc0Wt9ApHraY2CHuP1rUQe1lOTdrxQMqm7L0Dd6ysz_uxQ0PwqXa6qnB3BzNA3K4ccb72mU6ZxlSawp2OlzeY8E0tzKehJjX8SgFtJCB-AHSeu7rwTZQ4Ia6j43afn7uVoCuLup9j7EmOREdQmbOxd7jqEciTdXP6_5kDS7dmSnMxS7-f86fYe5u13oVIm-MvTEOHooc1K9Vjw5sp6H5ESUMueFSj0Pc3DneCzEXziAnqtKx-Nk5Yx74gseHf_VxJheBwOpJ4q7kmNtngwL5LiEI3wclSRhfzBdnh4Cn7dWtumFwRKH9emlxkbesHNGD5F2ML8CQxGQ4HhjgMHiuhXZqgEzUDXYPwbyI_JBxGcJY_uwAoOP4GaQ1WuhA9aLZ3xvixu0QEWV--sdcE9buJ6tFoLWf-JLuKRIzVHWcS86x6uRBOqu81p1Qdtzd8SIJwHFe3fJ_p6YDDp6R9QjBPbP_lI8l6QhTPbxlZGG1GlO1VlYiHQDcv7ogo5ADO6K8Q-5PTfuNFiiA8wRk6WUazeD5MRIbKAFDjVQmkejmmIBt4aNQjDCFFBCAJf_ZEVSQ_epN6DJQhJdYCR-PEWXQwK2-mTE2SVMCjueEHyfmtuHpRYmJxoCwEbHqQZiCpCTJO-YlCu9Y814vLBsPGkiPSr5cnaePc6pTYXxD9NXcHYq67cvD8QrA4P8VNPwPb6s88ZTp26VPUh9qz8ctZH7iEqiWELuUjP89b2Bdj-ZE9fc1_AVLFFPIR1PGQh4CN_apYG6fQSZHm2YZ7vzOHtswQGKSTCc2nYw8IM4xNU7xFKKYpvb1YTgcRL1V5NA8RhPPiTVPHgLLdTP83c9YfPKkVKhCmdlBC-sQQY-dgVsdwj5dQj9DoGqwKjhSKxqdUp1J_qarWaKreW5dw6VrRujbTf8X_fuLcPMhShoWJduWiCqE215P2AIYNvmPVVsjsEh2W-o6XEkpjU_g62xCXwq9V76fROHp8jw73X3pHLp5ehbedS6XKDVvITSs6ejmFM6ujSm4zhSepDrM",
  "id": "rs_089321a63a3a490f016ab2c934538087d0bf5ee683bfea2a61",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.08,\"right_z\":0.025,\"right_pitch\":0.3},\"note\":\"The arm stopped short of the forward target, and the yellow object remains just ahead. I will tilt the tool forward to improve reach rather than repeating the same pose.\"}",
  "call_id": "call_8mXJhhFHgK4toYmuNupQQXsV",
  "id": "fc_089321a63a3a490f016ab2c935499087d092b843c0d3486b3b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8mXJhhFHgK4toYmuNupQQXsV",
  "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]: [-0.0189, 0.8085, 0.6067, -0.4511, -0.0189, -0.0387, 0.9992, 0.2546, 2.1426, 0.7261, 1.0569, 0.2256, 0.0139, 0.9996]\nstate[eef_state]: left_x=0.2859 left_y=0.0015 left_z=0.1629 left_yaw=0.0027 left_pitch=-0.074 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4801 right_y=0.0878 right_z=0.0161 right_yaw=0.0494 right_pitch=0.2357 right_roll=-0.0641 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.6752, 6.9812, 1.8291, -0.0366, -0.0366, -0.0122, -0.9231, -7.7607, 3.7128, 2.0537, 0.2857, -0.1734, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ce9924c4c241c789b6ea566d57556cc09ca4a5b3d72be8ad31f9923245cb9b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eff28ec0db84bf36ecfdf1fee8f3a2f42091a8f28b139d22edf4d5a63ecb784a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92adc347875cbe348b689957f2f22c0c3e2a12503edbf77b817cddf022e3d27d",
      "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]: [-0.0189, 0.8032, 0.6067, -0.4316, -0.0189, -0.0387, 0.9992, 0.2947, 1.8816, 0.9031, 0.1783, 0.2306, 0.1303, 0.9996]\nstate[eef_state]: left_x=0.2885 left_y=0.0015 left_z=0.1682 left_yaw=0.0026 left_pitch=-0.0492 left_roll=-0.0036 left_gripper=0.9992 right_x=0.447 right_y=0.0972 right_z=0.0201 right_yaw=0.0219 right_pitch=-0.1882 right_roll=-0.0719 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.265, 7.1863, 1.7411, -0.0464, -0.0806, -0.0122, -0.5675, -8.0752, 6.6667, 1.6923, 0.1783, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object is aligned between the fingertips at table level. I will close the gripper to secure it.\"}",
  "call_id": "call_cH1E3Le4eHW1XFgVSNpQD9Ox",
  "id": "fc_089321a63a3a490f016ab2c93b72f087d09a6f493ed6f1b26c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cH1E3Le4eHW1XFgVSNpQD9Ox",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4583, -0.0193, -0.0387, 0.9992, 0.2584, 2.1506, 0.7246, 1.0744, 0.2043, 0.0185, 0.5445]\nstate[eef_state]: left_x=0.2849 left_y=0.0016 left_z=0.1612 left_yaw=0.003 left_pitch=-0.0824 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4798 right_y=0.0935 right_z=0.0156 right_yaw=0.0684 right_pitch=0.2422 right_roll=-0.0506 right_gripper=0.5445\nstate[joint_eff]: [-0.2256, -1.2923, 6.9812, 1.6972, -0.0855, -0.0366, -0.0122, -0.6906, -10.1949, 3.9043, 1.7021, 0.1929, -0.105, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:873201ec1cf37fa713b6be94ab86e2a9f3b6deb6048e8aa27513bfd8bb50ee8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfed441c79101a48266bd2f6cb8f142ee14348b0362b5f45c543258a73bd2174",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d98b482ca13e4cf5ed66400f75c93a63807809147f638f675927f62946116e9",
      "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]: [-0.0189, 0.8085, 0.6067, -0.4511, -0.0189, -0.0387, 0.9992, 0.2546, 2.1426, 0.7261, 1.0569, 0.2256, 0.0139, 0.9996]\nstate[eef_state]: left_x=0.2859 left_y=0.0015 left_z=0.1629 left_yaw=0.0027 left_pitch=-0.074 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4801 right_y=0.0878 right_z=0.0161 right_yaw=0.0494 right_pitch=0.2357 right_roll=-0.0641 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.6752, 6.9812, 1.8291, -0.0366, -0.0366, -0.0122, -0.9231, -7.7607, 3.7128, 2.0537, 0.2857, -0.1734, -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": "gAAAAABqsslC2sm-5_O-wO1cYrRkhMfQR3KpwFH4QuS1pZ9vN9F-13I3sZro_wI78eG75gYg4GIZzu3tWemAMPb_h_5Q3T-jEi9lmAHamrge6Yoq1-MsBfkqmW_Dh8Xb3NBJIfiO4_mozUrZ2hRr5VcUJv5yHgC-sOTfVg2KCERxIX3YZcrcIv01yW2_nZD2zWmby_xH1H6LTBgzftUShQe63qiAOdCZmdifzlvJAFKONWd6LbGqn6ZNwJLL8lDlHC1Olyp11DL3a-L1ZTUMjWUPimu5uDaQgz0bNCmFURywGT6ZiBJmKWBUZOF_C7iXOe3rn8il5mKeuVU44cm_ohmqLWPgci_U39wWmm2H9y67niEWkV0nsIAhMqMgIC3AsVE4YW71SOaxLcg5O2borlHKaLhqB2aQOZk5MihasP0Zyb6b48vTmYLeJvAe6PKOP-IZEO8ClVguN_F9sdGgSkCGuEF6EW0BAS206TqMMJWQpn44c4tUZLHsOYom7lVjh0yDQo6MQhMrpzSIrNpejFJhZOyqd6hvC8vB6k1yvCUNwKHZfIIv1eRlhwoZYF_T4SSE9-kfK1W7BbB1AsQjmuTGMT7ymOr0RpAyHsLawvtFSgFlHYzt0Q4JVpgDc4ApTOUexXFRGhBXfW3Tl74b7TMIr7TKJbihpbaMqLWYao_dd1mCF5JbaoSKNAD1I9zc3x-3UB4_4NVTz_UfbzMOLLmJhStS925lvAKCC4l764K0gxm6SPQqP8W3mwSuyRlopZLQUihorFRZgjR9CA69ltk_1fXYEuOWUGtRHgg1ggwXmJIQBZG9iLpEu9Aa0AMSp8Yh-twK1b1gRkyajtSM6IHahHqIjpfuZbT1mrkvv_yFUHO_KayFx3SWJnIxYyQFEQ5EGu7Ybb8XD6elxEkFVHEmXhiFHbyITruB0voGTJeA1QpSdcZibTbn8NSYKVpJRPEHQLVJYyZBeb09tCoEDsdiT1AY3r3Ox_kFasWzTpn2i3SzhDajKUTXSFhH1qJZdLH9JmVZr5Rzsj58j3WpoFVRxkkZOHJyMREwtgdQ78hMNTP-aVg1-KRkndCECIcth0w2_mif-uLgh2iU5cFWJYBbBgDjzzwB5Pv5KotWO1KV5yUCydig9EWEM817TCHeWyfFMkAdhKZA35OcOtMwIi0rcxD1XU9qYhacmsQGNp5D62Y9rMUkd-5SYMDBf01KpNNOmIbq1AZ6",
  "id": "rs_089321a63a3a490f016ab2c94019ec87d0926c19ddd381fd4f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.1},\"note\":\"The gripper stopped at a substantial opening, consistent with holding the yellow object. I will lift it slightly to verify the grasp before carrying it over the safe.\"}",
  "call_id": "call_Z6CjxEx6X2DGmcsBmhulwui9",
  "id": "fc_089321a63a3a490f016ab2c9407b9087d093f9eb9e02ce2287",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Z6CjxEx6X2DGmcsBmhulwui9",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6067, -0.4709, -0.0189, -0.0383, 0.9992, 0.2584, 1.8874, 0.7238, 0.6685, 0.2016, 0.0025, 0.5481]\nstate[eef_state]: left_x=0.283 left_y=0.0016 left_z=0.1585 left_yaw=0.0025 left_pitch=-0.0961 left_roll=-0.0023 left_gripper=0.9992 right_x=0.461 right_y=0.089 right_z=0.0464 right_yaw=0.0842 right_pitch=0.1004 right_roll=-0.0907 right_gripper=0.5481\nstate[joint_eff]: [-0.212, -0.9915, 6.9538, 1.79, -0.0855, -0.0122, -0.0122, -0.1299, -11.5077, 8.8137, 3.2015, 0.0611, 0.1148, 0.9158]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f63c73f450ca35dd69ffabf3c64f187ba7f71b02578653d47c068c8bcde9d9e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f8f7d4750edb579db4cf7c8d41cc19457f85071c00ca3d8e7d3a23567062bda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f2dc287b90960233b8164f002a2e5ddb847fe96485a156cdd151de5805a2307",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 25 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4583, -0.0193, -0.0387, 0.9992, 0.2584, 2.1506, 0.7246, 1.0744, 0.2043, 0.0185, 0.5445]\nstate[eef_state]: left_x=0.2849 left_y=0.0016 left_z=0.1612 left_yaw=0.003 left_pitch=-0.0824 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4798 right_y=0.0935 right_z=0.0156 right_yaw=0.0684 right_pitch=0.2422 right_roll=-0.0506 right_gripper=0.5445\nstate[joint_eff]: [-0.2256, -1.2923, 6.9812, 1.6972, -0.0855, -0.0366, -0.0122, -0.6906, -10.1949, 3.9043, 1.7021, 0.1929, -0.105, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsslIaLu5RrchVnzbUDtEZt_o6f17F-J6cqivv5UHjPHXjKnrnwnApNV5C6YJt23068F72GYBANHcYz-kRllusWBz5m92QZQ1Ux7Jgcvi2k8gMIQvo7z-qjjKmGokNlYsjwGE0j1HvLgbRIVGvPREknisRRFbFO4cu-Bq2t1xt_XEMYgduD-YOWuASqDbKdYY-rcAuHX9N5KUPBvcN7tqw7ez5TfHvLwDym3vNq9mDlpj5q-l6RmuGSgkI7R2TkQgmvxgeg2m3MGU6RE-FkDZno_yW5gY8u4yR_ZhXWkpHR708JWXDQj3aEulciKa0TsdIgjD7-U1PktS3MTqAsM100GjaDAxMErR4ybCnyg0jjSyhnKkJw7JnD74jvZToV0VidPUOmQTfYugisTZ5fClog9pFzC32JKUVIupdyEP7-zGSpTT_Azh25o78MUMDj7wGo6mjhFq56R2SqW2w8sVvkXM08ffafLhGp5shw6nCEoyQ9GzSWRg8HbSfPN4lSpLj1MMCIGOTV1HSYi2F4M6-oAU_sOr2n6jTxVTqCzR1EIRGElDCR7rS2OpazHD_cDFcJEHAkahrJGsTyc5reIF5SB243Q7SvAquWvdCxoF9Gaw4OzFFpwb-2GqetqVOrFMVt4bjd-QySmb4aitGv6EoSKRXw-6nWYQp-FfnkyFnubdG7h05FGVx6ChEXAwS3LvDxu2XKhG7hLvHEZvq-hm9N8g9LcOcmbFMxbou5JUxSP9jCLxzUjsBiP72WMIrhDRqZJ3zoHBccKA0B5ytjVUb2Nkl80YL9NQlV9Q3O4hLgNjmQ1wu7R7Zkn0DLGrErm0PsHTah8o4S1aKDruq7MRNruMCH6ZwltDHo5SEJOwRz0kWFH3PCnWBgivx6-7Awd13ynKOIV-y9rgE1qmT9kA94TSZX2SYS7scGAf4X16KwVXWbbZmwoAKFdatWicP99lXHvxIfKEe_Ul3NR_X1dwhi36zMKcXM0e9iOTxMvCRM4rYt7uKwej_VkoW-nApdiugzg6GstI9aePipaMEPzasimtUiEAeGDne8iC1CmyHyD6gpyDdYhUeXGHw-M2JKJOyd8lwgq0KwefpFJ4y7yK-epTJ28E01Q8gRp53YeQowIGEisd96MLNUAZksHVMwJOT8JIPVPicEV9pht_7BAkQ5_hqtA7EfXq4Xfhq9uxtNvJnOqYIelwOzwWb24uEvk31H9EEcrAWEnWYywfXWZ9k651n_zi4p8g-uMgJ9rd2znsI6g=",
  "id": "rs_089321a63a3a490f016ab2c945541487d0b9f04e6f8347ddb7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_z\":0.23,\"left_x\":0.293,\"left_y\":0,\"left_z\":0.18},\"note\":\"The yellow object appears to be moving with the gripper, though the lift is tracking low. I will retract slightly and raise it above the safe rim, while restoring the idle arm to its parked height.\"}",
  "call_id": "call_1yVR2XjokYHG8mitmbmxEQU9",
  "id": "fc_089321a63a3a490f016ab2c946135c87d0b099e1656fa7ffa2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1yVR2XjokYHG8mitmbmxEQU9",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0212, 0.8665, 0.6682, -0.54, -0.0196, -0.0532, 0.9992, 0.2737, 1.499, 1.0016, -0.2489, 0.2276, -0.0456, 0.5481]\nstate[eef_state]: left_x=0.2837 left_y=0.0011 left_z=0.1578 left_yaw=0.0093 left_pitch=-0.1594 left_roll=-0.0116 left_gripper=0.9992 right_x=0.4169 right_y=0.0794 right_z=0.1469 right_yaw=0.1034 right_pitch=-0.1483 right_roll=-0.1879 right_gripper=0.5481\nstate[joint_eff]: [-0.7316, -1.306, 10.4957, 1.79, -0.1343, 0.0806, -0.0171, 0.0479, -11.3299, 11.6581, 3.2943, -0.0513, 0.5104, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:431f3355d8e01282fa21062d8212c24937736c4ded711792373a0f266b96a610",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5d2a67023420d8f47781b6c1874c2239e5c49cc9bc33da56e4d33ad760470cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87eba50502e6ca8e445f43275ad825bb03f94e0f809fcecca63c2fc9cfbf5a60",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6067, -0.4709, -0.0189, -0.0383, 0.9992, 0.2584, 1.8874, 0.7238, 0.6685, 0.2016, 0.0025, 0.5481]\nstate[eef_state]: left_x=0.283 left_y=0.0016 left_z=0.1585 left_yaw=0.0025 left_pitch=-0.0961 left_roll=-0.0023 left_gripper=0.9992 right_x=0.461 right_y=0.089 right_z=0.0464 right_yaw=0.0842 right_pitch=0.1004 right_roll=-0.0907 right_gripper=0.5481\nstate[joint_eff]: [-0.212, -0.9915, 6.9538, 1.79, -0.0855, -0.0122, -0.0122, -0.1299, -11.5077, 8.8137, 3.2015, 0.0611, 0.1148, 0.9158]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsslTvqJ4DgD1LMQF-6eyNCT1kHwQdkqWss8EswB3Em_Ed0jaSnkR8CKKYvdZMDZ3njZOm7zYuql8nSN6JgF2YSoNOegDMjY9SCjk9hZSvOffi2uGc_93HW1KuJaBT_1Gb37WRGc4J10ja8ggdSo2PWOaNXYDIc5YS-qqc02AjmiUBqhNn0_4BUiiKqtwexY4KOFdA-sKyno0beEA0V43JEkN-DuLZp7ksPcGKUdbdE397SJh1LDLwh6391aN4Yht7drXtDsMyAiRle1QV1n6s7qgapGTctNPl-lBB6Isn7OKzB0shr2LrMgq7gW64Lqkl8aIXnMSwYHJy2GndbhGklIXWzt1-a30_Jh9ULAz6dVmMNVkM6FQyTWfaxjQ9mlSbYDecxzId6dXyaufEDJUl8gA0FIA8itsgzlVNVimzPzpEoHqxmmz5BCuzvdMreLKTBnZwErq7VFOMTPKIIpdFuFjCnUiINE_fRNdmWhk0Z1fg6xgdZayse2e9ONF6xiJFQVzwjGSFHqVewoBcrbsPpGp5SuXSQq7iQCRIUAM5BtsHSQutPT_liCSGxL8BMWoaMHlB08wFyKO2cyReuD320oOH1PNqaCNyYe048VUlwKzlwOrsRL6LtqEX6_C_qNa07zG51U6z5-P_Mh7pfVnepdn1p7tUeYU0ujmCIxTBFd7wdixukIV2k_XGooOJCmPa5GeX_Rxa3gD2zEUIT5u_2nBkB9Y8_nVoc_p0aAS8YpGVPfV5BhaaR8M5_5HTlE12yekDJxXrUYS9cdKlf03MPZvYk60VmTAleWesHYQuQjDe8Y4Bj41ntbyR37_AOcQMq6LjS2dkqMshXNHwoQKBb1S0cch7TeU5O8x_94s5OcCtULkvgBVVDVQWEcgkoG6eGHwTKflbthX8brDMm06wMEQy3CgBL5_T-BDsSng-3XmPYV3tRjKfg8rrmJoqsfrIOCfz6GXygIAIJ2Beq6G3eE-KEbcFMNpIPAS5SSl7pjQZsom9TKnFb_pAhluMuUmUN-U-ZmrXBECG95m_U6PUXmJbbvWM_h5EI96Oh1dbS8etiAlOaN_UFu1r7fX6h2cJOg8V-wFMOwQz-kLniNx-H8WXIwpBt6XCNwiXIxeG-LzKSm44P9njB_buu6vNUgO3WHXmZvVh_opuldNvHPFGW_MepPDPGG1FUEuy34SL1nsoHUHktGBKQi1XzUo5T74obRKKKqlFEKZGMpSUx27VuoKLHt9AA898l6qP2a1ZKqO0wQoett4XK9XkvIlOKCMGeoBUui8mgnZy4QVceQ6VzKTgxxgXsUOrA7bDPwGTWFKAVdnHtoW2Ytz6z2uwM1idf4BXFrVA6FPjYUYTQqoLXPwum1JFnhOY5olNEDQLjdvEM1dLuv6G4US9-K2PYc1Wz58iMts_IcfKqx6WOeAFNPUA5vvbTxc66Ft7B4UPz6_xIIAb0hR9gpmHmjk9PBV-X_v",
  "id": "rs_089321a63a3a490f016ab2c94ee62087d084bfc96045508002",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.07,\"right_gripper\":1},\"note\":\"The safe itself tilted during the lift, so the gripper appears to have caught its right edge rather than cleanly grasping the yellow object. I will lower and release it before realigning farther from the rim.\"}",
  "call_id": "call_55EvytRWuQ3eWuWhkqpND6SS",
  "id": "fc_089321a63a3a490f016ab2c950d3ec87d0a7eeeeef6e429aa6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_55EvytRWuQ3eWuWhkqpND6SS",
  "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]: [-0.0208, 0.8688, 0.6724, -0.5568, -0.0219, -0.057, 0.9992, 0.2756, 1.5806, 0.8379, -0.0402, 0.2214, -0.0525, 0.9948]\nstate[eef_state]: left_x=0.2817 left_y=0.0016 left_z=0.156 left_yaw=0.0138 left_pitch=-0.1742 left_roll=-0.0123 left_gripper=0.9992 right_x=0.4095 right_y=0.0792 right_z=0.0836 right_yaw=0.1132 right_pitch=-0.1859 right_roll=-0.195 right_gripper=0.9948\nstate[joint_eff]: [-0.1162, -1.5795, 6.5846, 1.7411, -0.0366, -0.0073, -0.0122, -0.4718, -5.641, 5.7915, 1.3455, 0.0708, 0.022, -0.2076]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4639a88999ea40eafb38fd563bbcd726f97cbc5f9098ead0899b7bbe432d072b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36cf75222073f88907b02cce083e925fea95fe20f3dbece90fe9814a4810bf00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1caf4134ec8be9006305813894d0d7ca84cae250960f265c5e692ff2b5679817",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 33 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0212, 0.8665, 0.6682, -0.54, -0.0196, -0.0532, 0.9992, 0.2737, 1.499, 1.0016, -0.2489, 0.2276, -0.0456, 0.5481]\nstate[eef_state]: left_x=0.2837 left_y=0.0011 left_z=0.1578 left_yaw=0.0093 left_pitch=-0.1594 left_roll=-0.0116 left_gripper=0.9992 right_x=0.4169 right_y=0.0794 right_z=0.1469 right_yaw=0.1034 right_pitch=-0.1483 right_roll=-0.1879 right_gripper=0.5481\nstate[joint_eff]: [-0.7316, -1.306, 10.4957, 1.79, -0.1343, 0.0806, -0.0171, 0.0479, -11.3299, 11.6581, 3.2943, -0.0513, 0.5104, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssleUqGoT5Ys4yTat0KHVFznSlG5GtFwrXhZcwB2-rqEWuAYphpgdV4fU_IMquOTvsLNa8zWB1VbbHTTv0P2qfHNAhzZe37OgFy8xfrENwvQRqX5qaq7b0jozB7NFg8qNTdidt0cbjqKcTdiVkOCA3nuUAm13xjqDOtGKLu56E14bIAoQ_WoidSsSyYdvCXyp3PWRM_wohOs4r2uEdrZ3C4dMCn39uCrHI1Q1PjrNuBNO14D27H4JpRrgJirY-CgrlWy-liq0asZM9ePUj5Xgif8iZC32y5YhjglbBiuz1iAWOg6o28gRChL-UMxaWiR8nEHfLBn3wfFsR9kPPDR3Xk26fAxYyuKFjQfpznjteT872t5xAuqBDT_J85XOG1vU6xYKOiV0ksZj-a1YSvLOlUNWJ2yp_nXTxEc4UgxQtL7JueKZIJcOa7MHeFL2YlPh8SSH7bCnygf-RU0cxbSiWI9McrTrkEyg6R2Czn2FZAfGRK-9QfTThgFCjts7v7yZDwjS08VwF5iQZ73DpTZyW1krEPODEKbafUlic9b4sf4cB664XTljPi0-2sWm4MtPj0xpn99V988y0IAc66QeYYFZp1WkuVlI6Slxahrhfu02UNdGKIFQ6v9twmNQ0wAWoldu3wU6GXR1xNFMX2jvmYBypt6ZV1L30NOkYJy8RHEnQn0l8eBfSZIo-bC5rQWBu2OmZ5rInIBvBSN6HpRncqmnnAaGsUawP9fc8oLTs7Y-5bSwXmQnqLVLauBsKDn1vjPMyICNFnwk_-39QqNOj6X4ZgEpXX1MPpcEbm45OQf0z-OE0pCXw-G0K4dzctpH4Se8TRztIr1zP5CmoWeGj7_2nEcDsY_ReYE1i_-QpsgXtSMNC8KB6V71gL1oAIiNysVMIWre8pRRAcgo-WrENcJiv_qC5RQA9l5n7Z31Moy2t5Sbunf8fmjdzxl4s2omNHbXZyhVgZbjPZnhYzcawZE-0uBTWK9ZHgDZJurMgcokLpFc7bHMkNHrj8UX5FUxr06t7YBVnRfJx3gZkFJyNES0Q60B3-SWrI0begN-SJLqNkpiD1xVwVkod9tl50G0k6iWagwDYWJd19_xeK5kdZhDG3gE6-_E9ujs0bTeDy5X6Jf68OVB9mDxGWfUZ1548s-r1o2x-X-t6Qbnr9DYcl4l-zGUVWtWcpYYhwQVAwKKWDCfRTlitQd0Qh_7f2BAX7pkavHWb-2ZjyupGkNxbmboiNFCE7QSCeIjoMtgetnL6iZ6wGgpgTu4qLj1AaypVSY8V7cDKkEx-O0SgTi8gw5YFYn0jdEXp4UBLOvVbIQvZMEIh4qN1cA2q91jsVXkAVR3OkN2kViEyTvzqQyogJNlUD-I6ZwlaDozq101w-UZuAfO5TBLwlBzQVPzXmUswddpO898QtaVLyh3I9JKfQyvFHSppJUnFNEnVWesaSO98O4flPvvZwyEp6GG8hbH0_4sZtGMzCSEaeCVMlI2iao2pL8zrUSC9APBrQaoRL_W0k0Hs3Q_noOAnGxq584E1SN6Bp9VKW7t7mfmwW6yMVflXKiVSGhLqDGwgxE0Z5KY4o82IiaZiJiBJiet8cXIozTlZLmSMhW0lHdsfFTl2tLBv2t2s1mA824R0bhDYAYxTxzhOqaWnI90MGG2SFv4pc27-98_3XvkxLs-sqyvyZVrapexeyMeXz_PejwfEYPClfaSq-AQaRFVArZNTEqsMTZ9qSphoVv_G7TnR9GbvJosfgz8ZanE7FCptoIw-1IV0YV09zEpzHhlKD8uPIaWYM_Y5lt2FeLxeqLsgcwxXgWMCrdUeI2EQLF4lb87xK_FX9IS-5y2Me8r_r8dcXc8uNcg83bzowA55fo4mBPlD_ir0NL2cTeqLQD4Px6Z9mcoCsTmdymTAkhPf-sDfcDGORugxI5e02bew1F8fJKM3DWIFVjg6YFhbuIHP6zAfc1kz_HoRUAdwaL33YilWtxdWheu5Po4tQ7CSG93PaVl-W8Lw==",
  "id": "rs_089321a63a3a490f016ab2c956d32887d0a974247624d24df4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.03,\"right_z\":0.11,\"right_pitch\":0},\"note\":\"The safe is resting on the table again, and the yellow object is outside its right wall. I will withdraw toward the object and move away from the metal rim for a clear approach.\"}",
  "call_id": "call_Xhy7mOGAY7K2CuEjRmvEFKgt",
  "id": "fc_089321a63a3a490f016ab2c95be92087d0af86ea598e052380",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Xhy7mOGAY7K2CuEjRmvEFKgt",
  "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]: [-0.0208, 0.8707, 0.6724, -0.5652, -0.0219, -0.0574, 0.9992, 0.1471, 1.2137, 0.4896, 0.0647, 0.1486, -0.1333, 0.9967]\nstate[eef_state]: left_x=0.2803 left_y=0.0016 left_z=0.154 left_yaw=0.0141 left_pitch=-0.1845 left_roll=-0.0123 left_gripper=0.9992 right_x=0.3442 right_y=0.0282 right_z=0.0922 right_yaw=0.092 right_pitch=-0.0767 right_roll=-0.1947 right_gripper=0.9967\nstate[joint_eff]: [-0.0068, -1.6889, 6.8718, 1.6825, -0.0366, -0.0611, -0.0122, -0.2667, -4.0684, 7.1863, 2.2247, -0.022, -0.1734, 0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e49a3537af05318e114d0891e80ae8d4e99677b9f74f08c27f94ddba9100fdd4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c45281cd6d64c1fd4fb222a0336ef87645b79ea8527131de47072d7d68c383e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97873ac2871fad0e34790c9b4d68ec627efd168fb575ba570537e79487f4d886",
      "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]: [-0.0208, 0.8688, 0.6724, -0.5568, -0.0219, -0.057, 0.9992, 0.2756, 1.5806, 0.8379, -0.0402, 0.2214, -0.0525, 0.9948]\nstate[eef_state]: left_x=0.2817 left_y=0.0016 left_z=0.156 left_yaw=0.0138 left_pitch=-0.1742 left_roll=-0.0123 left_gripper=0.9992 right_x=0.4095 right_y=0.0792 right_z=0.0836 right_yaw=0.1132 right_pitch=-0.1859 right_roll=-0.195 right_gripper=0.9948\nstate[joint_eff]: [-0.1162, -1.5795, 6.5846, 1.7411, -0.0366, -0.0073, -0.0122, -0.4718, -5.641, 5.7915, 1.3455, 0.0708, 0.022, -0.2076]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssllW1QN3UivueT99RcwddtgsNVJLl-HBto5zhfUi3ouiV3MbN5ZLwfx1w1bE4lJ0WaiJ97BXoUf92LMYO8odsRtTc8ztWOUT2ul2jorSlmwaVcljaYsuIKxRk23Xxh8FQf8EjJIyU6WaZINELU0ynwVayWzn0Vx067D6u6obcEmse0zof7cUz_TIu6ftmG6AIw1g9gfKLgLJsXbKdQvTjkHgIjGODdaQ4GzPFMr0A7T6NpSaN_APUrr-ZdswiWupzCtxf6jVQfMSQ2FLPsLhLHg0ofMKKn78w0Ykl_TLDlGFtHx-gwkmBXiJBYN5lchQhwTltHekL7nx__jfvzF3djAFnSIHxrxLcsg8MfaI31OX_51ccCpJngumZdEDlgWKrRs5Zq0d8Qj0tX9h8W9eiRGK1ZdZEHHyAyNWylp9J7DlK4XcK2HRIz80t2BFw-DM6GLjHkSoO5x8HzxsIGzgDnQjZmSxw1LFT24MOlZgqYdjttRD9COQRWpNqf0wGQadX566z27F-BcVjjJnK4KAbJLfQpFWQXJ8RpzgpAuqjFO4h0z1V6hqvFcFPhP-1rG2yE9FfU_wqQv6DGYmoISn7yjF6cLO6Jtpkog4gVZIl4FGegbUVlHadlMiBtb6v2nlhl95eFr3Hk_5rQueY9-iIIjgU-ig-EmNMniClFLhex9TEKBOLrcJqNOhUdjZ2-di4OZMLJMktTsnZ7-Bn2PFd8usxjPcGAiVGj7BV7FXsF3nVAcRKpsGo4YbKh9JlrnTc_FfkmPp8-ttqG3e9yHsCeXD1RGE1fN55Urv0ISDnnSaD5TCZeeB5Z4h7PzOZ7xSAsxUkgGHwnTEWqFE-9tEvy9Vj2MmJiPy9HAVq6nNe6r18WPo7gsDMdEMj12QuQbu0d9iE-he5AZKFNer7UTyE8DjCGLKqhY2OtH0-kCl9IU2qD4KMyC-E5PMW47G5LNH0fCROzSa8nwIpjzUzTIyrkuMnB7iFA8NQXWOyq5guSn9J8l2qTzBjJpZO3Y79N7bU1C-G1EQxGPNe3OkY5tI_ztN00QayxPkN7j7QqkSlw7WJ4ZZdD0ZQqbjPlc_Vwl0pUHPP62m2mHc-RbS7C0B-RH-tpTx-Sa6iiH96qiBNusNY0KYRkCPDlBLjUA3d_Uw32XHSna8JC4kZ4l5fjIf4R8vaDg80KHEjOcm_dhCOHNPNek56Jka6PksA1B1meIFbBcj6_lvPoCz-eYpKpe5MZnVEQGdwu7Oihr--V9iascBJPBSBsia2N2Gxre_7uWlXLfiTTGTeYJ_2YON_0_12bQy6HQCwBkMFSKMuhcFJ09vwc=",
  "id": "rs_089321a63a3a490f016ab2c96253a487d0ba1765bbad1dc2ac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.065,\"right_z\":0.025,\"right_roll\":0.15},\"note\":\"The overhead view now shows the yellow object nearer the base than the gripper. I will move back and slightly left to centre the jaws over it, clear of the safe.\"}",
  "call_id": "call_KL2zcQSS7yPmVFYU0w5YjLr0",
  "id": "fc_089321a63a3a490f016ab2c9642b7087d09f166f120fe7a97f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KL2zcQSS7yPmVFYU0w5YjLr0",
  "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]: [-0.0208, 0.8715, 0.6724, -0.58, -0.0223, -0.057, 0.9992, 0.2199, 1.1481, 0.1673, 0.3134, 0.0586, 0.1143, 0.9968]\nstate[eef_state]: left_x=0.2778 left_y=0.0018 left_z=0.1512 left_yaw=0.0143 left_pitch=-0.2001 left_roll=-0.0112 left_gripper=0.9992 right_x=0.286 right_y=0.057 right_z=0.0302 right_yaw=0.1031 right_pitch=-0.0805 right_roll=0.0558 right_gripper=0.9968\nstate[joint_eff]: [-0.3214, -1.5385, 6.8581, 1.6679, -0.0757, 0.0024, -0.0171, 0.2393, -1.9077, 5.3812, 0.8474, -0.3394, 0.5836, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:104c7fae15f577589ec189a6151883ea27aa52bc1b8e8ab989704d89eae46f23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f3bb9840d1c8498bc3bff40fd2930422cea107d10dca796b0e8ccef5b22b474",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9eea72b228b7f0e503d5919d5feeafe0ad5387046d132e6294b9766a5c82ed1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0208, 0.8707, 0.6724, -0.5652, -0.0219, -0.0574, 0.9992, 0.1471, 1.2137, 0.4896, 0.0647, 0.1486, -0.1333, 0.9967]\nstate[eef_state]: left_x=0.2803 left_y=0.0016 left_z=0.154 left_yaw=0.0141 left_pitch=-0.1845 left_roll=-0.0123 left_gripper=0.9992 right_x=0.3442 right_y=0.0282 right_z=0.0922 right_yaw=0.092 right_pitch=-0.0767 right_roll=-0.1947 right_gripper=0.9967\nstate[joint_eff]: [-0.0068, -1.6889, 6.8718, 1.6825, -0.0366, -0.0611, -0.0122, -0.2667, -4.0684, 7.1863, 2.2247, -0.022, -0.1734, 0.1734]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssluATeTUmSACYKirY1wg75DMrzy1HsHl9J95wpHYOuMnfHM6ynCAVoifLt6DxMIzdhOFkkfvFG_2YyCZw_z972PjznYAstbIp1woPbMoK84QilmywMf6JfFnallIDUrvorcRoOBlAf_9e7RADmA76xjPP2Nm9F-oippj1JUnhN72xe1G_15j8mvfA6M1pAKLBpm8ntGCJr6DeZ7NPivaMlD1oPrMJgAJYfWmuqsIZGJ69W2EZ4pN6YehKPSSxe89gR8hMUqnfppUWtAJ0h7sc2Y5yB-CrdD-5XG7MVA3zRuLqGtZS3BpiqVAJnmTkBcsf_KZKbZXzeaZnCJofWeTBBSCaD0g33WEPODYUT7Z0odJ_D7oCYxPZCuGrETOGrCLQYtgEO6ekQUTLAa2W7g5H_jFjIjJ5a3oEIgvNQj7VjQ4c3O4Ly-Eh90wQ7rL_vn5xjyeH3yzRPEb26KOpB6wsE9BbW44RndhsqBn-LwurXXVqYD8J7LxQuO5nr3lXjfkS3KVYm5Ogexh2G8WgIHMi2aAgsz8v1muEsjlq5dluzxuXcEWsjSJpfxwbGlky6zK6NnOajkNn61JbqVxRVMbeUGvaWP7dQi5GuJRqwOBbmoId1SU4FOlh-J0W89q3RSPVSrJ99uaXAKQ2kxwpsKVUBa66dpmHG6ccPe0FxynrfZ_4NK_aCB42sFcrZv9EyGiIxMdcGPAWo_FDfmsZ_Q6cgQRRJ5UO_wDedr-wSotmW7M_y8SLmk8zr1n_mDLqfa4gm41zvunE8KDwlX0XxxGdDPT4pg4MpzIjuI_WKWNRXwv5KKP0AmzOvhO7_pOSc4cTgOzLLdN7kOG_crvkro14KsNhJceQbMDjPM4oO5KQKCELkpY3pCbOUfzmMZwpuzK4Gq9L4M0MPBZC_Vsjay5zBeJDMQDWO1nRkyE_IgPSRMvEWUqNCwgxx3gHO60lYrV49Cvl2uvhiwkXy_5Chz8erexlMJzYYWF8LKiKJFtl8qETA87PyMm2LKVzVTmCy2diS8vtvV6jMNMML1gpf4ixSgSMT6K00QLnN6WSLHKRfQqpDFF5eNgJMNLFvdi3L3ZQ6CsS2-hQKfABu07_HAPq10mUWtzuuFXsvfqZgXVy0Q2d9NGbGP7POeTWSfyrXPbdp5zJ4fUT4zCw8JwQQ5_ASxiz946PBLvZ4mnwLatnGgSWhabpG_NasGy6u--aYsvYTn",
  "id": "rs_089321a63a3a490f016ab2c96c6f3887d0b60d3b24684ff3bc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right gripper is over the yellow object's location and below the safe rim. I will close and check the resulting grasp.\"}",
  "call_id": "call_eADTYuaS3GBYLTwIN71ZeK7D",
  "id": "fc_089321a63a3a490f016ab2c96cd56887d0a160bcc91d5a3a1b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eADTYuaS3GBYLTwIN71ZeK7D",
  "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]: [-0.0208, 0.8715, 0.6724, -0.5854, -0.0219, -0.0574, 0.9992, 0.223, 1.1461, 0.1589, 0.3538, 0.0372, 0.1131, 0.0091]\nstate[eef_state]: left_x=0.2769 left_y=0.0017 left_z=0.1503 left_yaw=0.0142 left_pitch=-0.2055 left_roll=-0.0115 left_gripper=0.9992 right_x=0.2885 right_y=0.0624 right_z=0.0353 right_yaw=0.1248 right_pitch=-0.0481 right_roll=0.0714 right_gripper=0.0091\nstate[joint_eff]: [-0.0205, -1.4838, 6.8718, 1.5653, -0.0513, -0.0464, -0.0122, -0.4034, -2.3316, 6.6803, 1.2821, 0.1783, 0.0073, 0.6129]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e34d0ac606ccc6cc3f79a941bb155d0b34369853e520e2ebfc3d1ef8e899446",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:442b6fd69d84a18f31d2fbca1942464de423922f2f33828b227125d80a9fb7d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de49af5cf2e30b0e8824a368fda805a18ecf8f3bed443fc688710f1edbf6508f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 45 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0208, 0.8715, 0.6724, -0.58, -0.0223, -0.057, 0.9992, 0.2199, 1.1481, 0.1673, 0.3134, 0.0586, 0.1143, 0.9968]\nstate[eef_state]: left_x=0.2778 left_y=0.0018 left_z=0.1512 left_yaw=0.0143 left_pitch=-0.2001 left_roll=-0.0112 left_gripper=0.9992 right_x=0.286 right_y=0.057 right_z=0.0302 right_yaw=0.1031 right_pitch=-0.0805 right_roll=0.0558 right_gripper=0.9968\nstate[joint_eff]: [-0.3214, -1.5385, 6.8581, 1.6679, -0.0757, 0.0024, -0.0171, 0.2393, -1.9077, 5.3812, 0.8474, -0.3394, 0.5836, 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": "gAAAAABqssl5VzFhmIIo4e0CfJ5OTVxO8v_14bJ6z5UV9YgqMGeOXkzenmQ-GJ8kPZI2HmAfIxcNUJLmeBySykykYdNL6xzeKfHTtbqhqcg4o7cXncKBu5C8jRds_b2rmCj7E65RokhXx0qQiMRdXkrKoUSPT7gMn9ZvPGG5wAcefE7qh9QD3HI5u7guh2jDhVKTZLknhv9BPG8ppbHKtSu1iujFMltVReYPbhLk42bqTwWc-S6LyZCO5xOvBmE0Dw46OucUzVssJxYi4OJ8QZPSMv805Tk0jikijaZUpmz5kBVUYTy6qSBVRE1ODb2pb2GNGqF6VVug06JADNTyBUyQ0DW2ZtKOdoHnxjkgiX3PgErJuA0dOCygqa5WIw894Gpxv8KJmd-IYuyQOkuuLNu_YuW01uMRRC1VIo8EVXyO4sjF1PsRiyqYd7cro1dlSWeNgrfKOrBMqB3xtYyD3JRMQljfy6D74KUJnit6IP7hQXLC0QG5coxjxkC6ikCFbAFs_07gurbAQ9uMR8wdH-3Ek89sevtPj_2ZE0J0pRuF3K3LVHPISMR5cl5FFIDlqMrFNd1Jz_yecBRGcaQEf9rIp0Gm2WrryJ3_CEc2oEKxwMZeyoCWUpw05dVj2tox8m7p-qKK4pgMxnSKrg-IZnMFvtNJGvXLlxxuzAF4elBbWqgy1UuZw5162q-ZNIAQQWaMdiBffA7r-C83gRTbxiQmrfvi5FKJCnG8TCoWaWcWajDEAfWZ_17Bb7gsNFvttqjQU_NhIxMiTP8WwO4BP5IFfIWNjF8hWBSZm6VzikE2ddwnQwiO6M0zzUrMwGYoDoKKWY1Kg-nuJGbujKWINntW69fkwttWRlfc88ifeDcAQc0fVX7dAPV5ddo90gbLZVCSHJLbc6t2bdQ9UFJVXgiVmNpgQDd9crV2hDHaPDps_D5nFjhQRqwpHPZsjXM43yyAmqIRt2ngslJNKewI6IZBNzQ621p_OgmVy2lNLnQV97DD2WwjnXZhpydWuDlFYEQHe7Fi3rUxYNNDkajAXxuIFLUqDW97dgyrbAPAvPtCk-XBW0ZvP3TlxxUsJQsT_SZPIadwbbDL9EW8jL91c6HUtBYydYTAewDiGq-bzvtrg_I8JJJnF_NsG0tNuZ8VXMkyuhuWZrgGISj2DqeHkskih7x88U9kEZ_gzmvv26NSRfwLfBfnXZc4mWYrcoj1Y7Qu7UiZzACPcxW3lkGMme8dQ-07eNu971-QfOLrHupwI3x39MW4jy8-vRrPSDEr-trFr787S9q2r4GUKzPu-TrRNLRtaGMto9klXk-B6rmMsem2KDNHi5e7NBcUkQL12n04Y_K5RoAMidPFYCfu2gMTGLIdQsdiXbgFVoRXV0OL-_fScQ3t_oJcuQbd2inpW_qwuBo8LCAcVVcCn11IeC8PtIVUBE1YIcRIwKnX23wwZknP2KGKK4vr2dWIYDuWoTtrCekcl2FDK3tNLz8zcNIHmg4eYjdKKe33m06WHe-PGcdBlKErRiIqeAwVrVoaJpgQPXj_XANOtgVVWgEd-MgssW-gFwc6ArhRD3M4w5I37DxjSpckPdjdWDqNELRBkZLRaP-c70vZ",
  "id": "rs_089321a63a3a490f016ab2c972a74487d08c03752295f5613e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0,\"right_z\":0.22,\"right_gripper\":1,\"left_x\":0.43,\"left_y\":-0.23,\"left_z\":0.13,\"left_gripper\":1},\"note\":\"The right close was empty, so I will lift it away to reveal the yellow object rather than retry blindly. The left arm will approach the small pale plush beside the safe.\"}",
  "call_id": "call_QMEvWvkU2SmzKY2PKizyVurK",
  "id": "fc_089321a63a3a490f016ab2c9765ce887d08b7ffa3ece3b15c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QMEvWvkU2SmzKY2PKizyVurK",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.651, 1.8339, 1.3407, -0.4503, -0.4324, -0.543, 0.9993, -0.2462, 0.7151, 0.7715, -0.7685, -0.3122, -0.1638, 0.9976]\nstate[eef_state]: left_x=0.4194 left_y=-0.222 left_z=0.1173 left_yaw=0.0101 left_pitch=-0.2471 left_roll=0.0003 left_gripper=0.9993 right_x=0.2491 right_y=-0.003 right_z=0.2034 right_yaw=0.0994 right_pitch=-0.0866 right_roll=0.0769 right_gripper=0.9976\nstate[joint_eff]: [-0.4444, -9.2239, 8.8957, 1.3407, -0.442, 0.0073, -0.0904, -0.253, -0.3077, 8.6906, 1.7802, -0.2515, -0.0317, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54a33e3acbfb9a7f6510ee626ee593eeb2b558369c9d65cae06675c520eba0be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f333abb205791ec004d0f2d8fa623dd02cbf2016487c212ff93983be4e2889bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64efddd4efc04a621606e0ce6a2bdd3f32705d506e56ea7b85fefa3253a4fe52",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0208, 0.8715, 0.6724, -0.5854, -0.0219, -0.0574, 0.9992, 0.223, 1.1461, 0.1589, 0.3538, 0.0372, 0.1131, 0.0091]\nstate[eef_state]: left_x=0.2769 left_y=0.0017 left_z=0.1503 left_yaw=0.0142 left_pitch=-0.2055 left_roll=-0.0115 left_gripper=0.9992 right_x=0.2885 right_y=0.0624 right_z=0.0353 right_yaw=0.1248 right_pitch=-0.0481 right_roll=0.0714 right_gripper=0.0091\nstate[joint_eff]: [-0.0205, -1.4838, 6.8718, 1.5653, -0.0513, -0.0464, -0.0122, -0.4034, -2.3316, 6.6803, 1.2821, 0.1783, 0.0073, 0.6129]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssmFcAUOgE4Zt4ud_hNOHJoQwu3YW11rZZeJMJ0XyS3dRwt2q3jeeOL8QuDgS-DnUqMfcBNgcWAzeXqt8TYFbTaaIOaUHihIjiboFKyl2QEuYOPAXxQm46WnarEbUi1PBFNLFuFPT9oVr6TfKKIAc1AbSqGtBbNtMDyzZcbNEPrInvlnPb0Tznpl03-VT0v_tgoZJ_WU9P8ql79WVspGZg-uH6Hg4J7D1fUJpk9pboJCFRRejCU9B4ksQbAfWthghpVpbaeA5Xe7IQqPwCRDFQtb98nP3Bn41dzcMVqUT9DJkjlsb4yvHmxbmVC_RllzesSUkPg2mgqcmjicyg4iZiqNMpHuOWZZYBDvfzAH3vrantiPmHTueCKkaOBTaDsKln-dIwc5R2so1g3hc6b2SbK2CsvN_eEBFX8gJavhv_KuFxSYF6Nie0XlMeIQFprM78j3j3Qv8ktDdVcI0rpLBFFnUnl2GVzBNPM_LF_v5cfkirTe0SSDzSVwn_535zLzLvHyjhIoy19KNKe6YdXXZgRp5ChKIBhDK1zL0t17hcasmtIsdI9kY-ujve_1H10InOpMFsXpcnBkOCnM-EDLeM59rKDnoZtFgt-dm28vZo0dGY3138yqZxE9fytJR6BXmixXw8Y70zQ6hSJDD9aqhP8jfyMufQ1JUpRr3vvFgZXqy_UZdQoV37wOMZx6hybm1htt5eCrqHjiWu9mURkkU3rp7EuuRDLm6nxSAcP5xvcl-4QzNyiizbVcliq86OrxdTOrQ0iw8VKUnvY8Pg2vCrzbCHE1pTduvPhXIIjN6XnA1ro43Bmg6Y4ResiUEMCwnkn0SE7HwqXxQTvE51ZetehSjKy575DhAKf55TXbRly-d8BhtX_a_nNb4JUyCrP1URp0msAOW5wxrZOUg3vpn7C1aUAfj1s1gCqkNG7fNAv8a0k-q2LiQA_z9oYiIX6ZCNrD94TUNMm2QZZ693bs9qIyGo1ApG1kW_iX9hl07Z6Pv0Ed49fQy3Vi-jG_Q8FIngmFOXyoBMXgQUkEIXeMgG342x91TqOUj0hcsTcHmHqbvwE3FWnyvnwXPmTJJGqMJQOmejJp7VBVYXBAtBshZ9sU8jOTeFkBm35zjD_8eeydsV_ixzvZ-imNbOeLYxL5gTfJSawdp1UURKkhl4tw4a3YyP9SjrpuDHqaNivKcKFl6Rtp64vfhXJutoc03gE3987gVTZd2Kl8zCNOSl7NupJKGz-auwP9KZ7dwpgMu_6LhiGyXLP5fRZojH6m5lqJ3hGUhSOFy6kwbgZJfIpfzuJToNzmdYip6Jg1VwsAcE2mJm8Ra7LL8fnhpEbkaoILgHW4bG6QuVBmSUjdN3YK9aW_4JMny1mJkLvZwZwfi95Esk2o16spJVsJ8f0xxIR62dkwl0VPO4ePGhY7UqzZwdvRFCu1CqqLYdN53wsALQzzMq3tKCpYKYl9bBdlkppfvQFIFZMKakH3-p78Rm7FPAGSGbsroMsjUarQmMTrr9HJRQ8xtEoeiXsyGKTLoG34Z-uVEKktMReOpMlvsujKnNOY60p5zrSqFonakoQ3mUoNCXnydRMl1JXVPC_u8RxDAl1iX5qOMvyZ5sTfrCFY934CkODVnzeNMvBCbKvR41YGcQxD5Cu5gKLt9b9o4rDXRvYvGHEMCc71sVhbAtu1xY_fyhI7_Wm6jf0F0ZAjnHNnwNd36zuCgpu3XAHzert0QFMYyFR4qbte1rKk1GcL3VdcnK7EqGa2qvETVoLdr8gFJvM=",
  "id": "rs_089321a63a3a490f016ab2c97ec04087d08d0ad4a3af6f00c9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.205,\"left_z\":0.025,\"left_pitch\":0.15},\"note\":\"The pale plush is visible just left of the jaw column, and the yellow object is now visible near the right table edge. I will centre and lower the left gripper around the plush first.\"}",
  "call_id": "call_tomSPuuV28I60kYGyDR5fDR7",
  "id": "fc_089321a63a3a490f016ab2c9830e1087d0af397e2cf19e4d9a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tomSPuuV28I60kYGyDR5fDR7",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7181, 1.9755, 0.7334, 0.5999, -0.6422, -0.4007, 0.9992, -0.2501, 0.7181, 0.7731, -0.7921, -0.3183, -0.1764, 0.9988]\nstate[eef_state]: left_x=0.3953 left_y=-0.2001 left_z=0.0156 left_yaw=0.0064 left_pitch=0.078 left_roll=0.0366 left_gripper=0.9992 right_x=0.2459 right_y=-0.002 right_z=0.1993 right_yaw=0.1084 right_pitch=-0.1082 right_roll=0.0796 right_gripper=0.9988\nstate[joint_eff]: [-0.6496, -8.0479, 3.959, 1.7314, -0.1587, -0.0122, -0.022, 0.1709, -0.3897, 6.4752, 1.7998, -0.105, 0.0757, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d23d3e7d881d744d0f3ddaaafdc965657229ce0a51e394a98cbb5d1ec83b61c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e1c88b6dc9bc734caee482f2b6caec6dad2584655d25a21ce26e12a8dc7fb76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e252aa4df9337325a02bb35a8a41ec338cb084de7c48043032a957fd5b2f4ae3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 53 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.651, 1.8339, 1.3407, -0.4503, -0.4324, -0.543, 0.9993, -0.2462, 0.7151, 0.7715, -0.7685, -0.3122, -0.1638, 0.9976]\nstate[eef_state]: left_x=0.4194 left_y=-0.222 left_z=0.1173 left_yaw=0.0101 left_pitch=-0.2471 left_roll=0.0003 left_gripper=0.9993 right_x=0.2491 right_y=-0.003 right_z=0.2034 right_yaw=0.0994 right_pitch=-0.0866 right_roll=0.0769 right_gripper=0.9976\nstate[joint_eff]: [-0.4444, -9.2239, 8.8957, 1.3407, -0.442, 0.0073, -0.0904, -0.253, -0.3077, 8.6906, 1.7802, -0.2515, -0.0317, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssmOC0TjJ6mJ3qNWELlTA3SF_saX-9JCGjIsigyrknKV69BDI1U0GvqdtKHML9HRgEN5DTXt_pNyi3KGNF2V1gJK4yCCC6QCVErgdw2UDGQYOvX7oUlCvT35tE-XRlLaApHyaaE-bRZDdYRqHBWNVkD2HKr48FRJyJNvVagLIGFAk5_B6xLRarlv6Qi0-z-uca4c86ZoLLj0nkDZ-_dI6VWrwa_HKwM4lM81pdgsPEJ5Ap3MS6V_6hBsOkGwLUnhzSABFnsfnTP7mg87T1hTOkFY3l44eeuPAcRAR_2ritv-3S05PQ4n4Qewx3FCHjQC3kYpYc0xbimMUHxRv5SA-WenY8tc64H_fn8ZMv705eUYAJIIQKHdb2SYxkeWgqbzCZ6gd_uAZ0ALIBxJ_BOmgb6ksnxOCBX76iRn2esalMS51Th178uBsVfbBAQ6JSGwLQzXQj4v9LWCX9o07slLT_u3EdeYYZeGCcT2zR3APHBJKAssNsyiNRXmJEH4EBmozThyFJKh_skrHluG-x3-Y8IyGxCpmYdJXmxSJ0RpVgaBigZzKBfHJbWHoUIyoyqdWmO1v99FsANBghFLLIJOj_zh0124CtTExKIICYiCamDVJr0JIJte7kbSKJhaam7X_xR0NZ5ps9qHQIBgsOlT3PbN-bixNwk4NUt-p5bjPaM5QTbNp4uadN1K9oULcSTITgCXyp1bf7nHUUenQ-cvbc6RipDCd2JEq6PjGc8bC8BpV0CN07eRvoBs99Nta-0-6gKSyKh2-hTzlnNZ7PE6dy9K5oxsfqmvjnl3xm001r4jxi53xsKXne8Ix089jl8A5rM482zDoINH-ZZVne-Qy4b3dlXStlM2KzgOOYoAAdfKwAEroNssdJVEXwvFbvjOziOGn-C5OEh0htbGQVjJVBSrZkdlf4y7AyHClQatuZpME3v9nEqujnP7afn9XdCPmavHI2XaiLX8jRIBaYK2sG9i7AY-QubeiIZL38URH6HmI7beRMdhKhXhov638RTX2qPZLz6OhxzRRZKsnBnxu8qjyMNGOpcN-sLv4XmYL4S-OkrLTcWKnQ9q8pA4vBR7zSw9y6v6z-Z9nu98D9pO1N2MSYaA5eksObTkicGkePtoE-XccXoMtKMoNePzjQG08iFsApuFOcXsWEY7LJqQxj0hPvGpKUNSRmS9UUG5w2uOfy5w1zPPM2vJzMo3MzAS33H7cY7eAUT_L62Dc9pdGCtY70K4mst4kYz7EtdS2XOTyan6t__qTYyh6-thrW2vBYiUL_5-o5d5zbMrRHJLCSSKGZgZ2gib-13i43v3RZRtCnZHWsM1wV8AHJhepdKl-JxNrk8LLCl_kYG6L4W717QL-95N6ciWJoExfkglm3FsIXWsZaPBDRx9ksGGXIzsDIzr50x-dlttePOQQeJ8JepKDgVvzsRC0zBvvP1IK4bXRs6zHiygmeIloi1752JN562p5yBNkdtGd1P_KjhO-i-ZjIEKmjf5elufGLoPlQfpqO4MRBmC88mgZN8irSilUQaWH2kPB3l0sr8dj7abiaD2MGpfm6IRq4ijcXjx5kBwZME=",
  "id": "rs_089321a63a3a490f016ab2c989db3c87d08cb525665b32ed81",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.18,\"left_z\":0.015},\"note\":\"The plush body is still left of the jaw centre and slightly ahead in the overhead view. I will make a short forward-left correction to grasp its torso.\"}",
  "call_id": "call_qVgnJkXekWtfom3rAGZvVJOY",
  "id": "fc_089321a63a3a490f016ab2c98c887487d089d4c75e71da6773",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qVgnJkXekWtfom3rAGZvVJOY",
  "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]: [-0.5949, 2.0285, 0.7986, 0.6262, -0.5827, -0.3466, 0.9992, -0.2501, 0.7208, 0.7731, -0.8001, -0.3119, -0.1772, 0.9989]\nstate[eef_state]: left_x=0.4328 left_y=-0.1712 left_z=0.0146 left_yaw=0.0558 left_pitch=0.0845 left_roll=0.0329 left_gripper=0.9992 right_x=0.2448 right_y=-0.0029 right_z=0.1971 right_yaw=0.104 right_pitch=-0.1197 right_roll=0.0787 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -8.4855, 6.4205, 1.5995, 0.0464, 0.2271, -0.0122, -0.0889, -0.5128, 6.5709, 1.6532, -0.2125, -0.0659, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c025281b8e34b8ef6802fa1c31d669031f5ed62daa0f6e5ac05c510216add052",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34e06571951fbe8208bb51980dc382ab6d19e3f3a230e1e0d872810470bfda10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dab4e5d631440548e2c7d7c10741b92e25ff960533ee05290fe2c0f244b96ab",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 57 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7181, 1.9755, 0.7334, 0.5999, -0.6422, -0.4007, 0.9992, -0.2501, 0.7181, 0.7731, -0.7921, -0.3183, -0.1764, 0.9988]\nstate[eef_state]: left_x=0.3953 left_y=-0.2001 left_z=0.0156 left_yaw=0.0064 left_pitch=0.078 left_roll=0.0366 left_gripper=0.9992 right_x=0.2459 right_y=-0.002 right_z=0.1993 right_yaw=0.1084 right_pitch=-0.1082 right_roll=0.0796 right_gripper=0.9988\nstate[joint_eff]: [-0.6496, -8.0479, 3.959, 1.7314, -0.1587, -0.0122, -0.022, 0.1709, -0.3897, 6.4752, 1.7998, -0.105, 0.0757, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The pale plush's torso lies between the open fingertips. I will close the jaws around it.\"}",
  "call_id": "call_GHP1r7TMgxMV7ed2NDaRnn9M",
  "id": "fc_089321a63a3a490f016ab2c991091087d0a777150587de547a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GHP1r7TMgxMV7ed2NDaRnn9M",
  "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]: [-0.5941, 2.0365, 0.8032, 0.6281, -0.588, -0.3496, 0.0322, -0.2501, 0.7223, 0.7731, -0.815, -0.3119, -0.1772, 0.9989]\nstate[eef_state]: left_x=0.4338 left_y=-0.1705 left_z=0.0132 left_yaw=0.0623 left_pitch=0.0852 left_roll=0.0336 left_gripper=0.0322 right_x=0.2426 right_y=-0.0023 right_z=0.1942 right_yaw=0.1047 right_pitch=-0.1351 right_roll=0.0844 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -10.0308, 4.2598, 1.6337, -0.0464, 0.1197, 0.7399, -0.0479, -0.3897, 6.7214, 1.7314, -0.2027, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7414da53edc99e32c5f6d570b192992a1d6540de6e5bc503c75a35abfcc0a6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c5ca8e71502ac7418b2c9b69f12ba74355b20daa585ebe92e8ab92ac6d8719b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bbd462e5ba63077b1a520d767afa99b461b485cf3b1f9b75d62536b154fc973",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 61 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5949, 2.0285, 0.7986, 0.6262, -0.5827, -0.3466, 0.9992, -0.2501, 0.7208, 0.7731, -0.8001, -0.3119, -0.1772, 0.9989]\nstate[eef_state]: left_x=0.4328 left_y=-0.1712 left_z=0.0146 left_yaw=0.0558 left_pitch=0.0845 left_roll=0.0329 left_gripper=0.9992 right_x=0.2448 right_y=-0.0029 right_z=0.1971 right_yaw=0.104 right_pitch=-0.1197 right_roll=0.0787 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -8.4855, 6.4205, 1.5995, 0.0464, 0.2271, -0.0122, -0.0889, -0.5128, 6.5709, 1.6532, -0.2125, -0.0659, -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": "gAAAAABqssmeKyQZrY_JiUDIpTw1krrFtcaHTfmvqaDyxz7EFq6rakUiA9H5Laagd0nP9GwImTXLyDXooD_0pMPMdDdvEKvWJ9GAyUmNeC5UXu9s20AMzDxEmPRW7DGSWPgjEFQCRhcuXA64348rMHXYKsWTxw08z35A36iRD0QUT-KuUEEstQEUCFQAzZG3bYNeDxt3aJyUoI-LAZjvH4_zcZHvT8C__s_59MneGPfWD_EZiP1i4duPNLHP44bibYzPThxYnjFNDM18J0DwOolcqxQFaVABjTtVLPuKNIyR9By3cBErsrCTmHsJ7VccU5xgm64AQGjNkMKsOjpPjWr6hZ9so3MiftE7rGir3eaSL-W_rJDsx5vzt6Uqk5y7bvsjxZAuFqFQoWzWxMUxNpI4dANEP31bCm6kZQdzrhsO-PAwkl6Ma1X3inyakF7VYwnoOS5W1ObAHK9S85xyvY6fGtEAh6loyozJt-hnd84MZSfCxNzMS8o4XnHzG2GQf4sHWU67-L2hmx5SU2wCPmjD29Qs_Hb4l4Xkw9NQ_68DCquvu_nXkS-QYKu2kkOBRoY42UM1kXNc68-qEnRQ5EenIUKX2cNRqsLK2sxl-rAYIOwxNUydCAS4En5tNardE7RJm7XSzVeta5qaal6ENhF-GiVmTFva5xTjipUp42Lgw8dwDmLRxOSfCNa8FQfa8j7CqXN6Wiy2nGmnTldv4lyASvaWHGrJeKnOMwGeU4vgLmdl4I4PX8HCqxDMREV4GCcdQjf0EH1IXvay-Fwj3Ozm3qUfJLUXXyBz3w9T7sg4W-u1hI_qh_2ShPfsAs-nYD2Sz0U752bWfx3oMIzjST4vYo5dwD7RymhwdnRzXBMQteaTtCTOYCt58dnN0pt_2LAnlKdS373SLor0ZDTJXiD89LST8gHFli-jYqqjLOtl1PRVmUhszQmwhQESTovuFgDqD_uDKcPCpSkkr3Yby97MmLOEnS96yTNOGk94TfiaSj2-uS5B08EmxwLnYORqSm7vBNl3GKlsY0SYPdeG8BV_AHrZlXgwWs05L0NyCIiHd4wMVrp-GIY6Wn7HGCrNLP43bz6sLMugyCxbeMIb1XudfdSJQLdV184DCOnKqtF2DAL3SnsoXK8m8DX1tuMRt8MAkbTME4Oneyy_lxNLbFcVSRtIQGhLIE62bZ9Kcv3B8ItVFqrt3-YXiNG-c301e08NRfeZOrxeJV82bqKM2EebZJBdRiDHdEEyPNg1O7s1t4UYUZ2AX7-UDD0BVjTDvFYQN-ThR4Zllzh8Pr8DSpnp3H_77BorsyCs8bpWW2yqhySkahpMciuQZkTr8LvEUPcmpemZIORyDP1NZ4T98qLqu1wA8pnsmk44gcRDCFC4YJ-VY3E4b96GI5YZV_JBJMTd-Jk_yU5NX8mVkxpWTpB8ngsnfkyBE6KKc_EGX4LFK8kEG1dA_KD76q3oVGMz5hd10l9Iz5sp5dpejwkrDiFT_WePnrGorGpYhNJjrZFK6dRmjV64sNdtktQZ431mzUfvpdj0g0FThACqwgnqOXos8rFX7LuwweSdTAcIJDeiW9GhYkFjf1FC3qceMLugjvz_aesCloQO8E6UOvhPs60RznNef26qxcGObOlYAwJ8aqaZsNAkwhbwC4Dh0-wXsviXkVgo7hIdETznbdz0DrXNpmxIVh1CWYIa_OOPgSs58oHGT03PO-0fCWmIXGFx7ehHwrTimhV3DkrY86PXsVv1gyB2g2hQ57pzN-z7GfWj2jOcRrHtprwbhZhwHaSKGz_vkwK4mvVc7rCuYtqM8ZVU4j3HqczxxRlO6UnF8KOPFNWGzWrDxtRx1erhv2ctYsOtXxi0P6Ju",
  "id": "rs_089321a63a3a490f016ab2c9971d0887d09ddbb603b197887d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.17,\"left_z\":0.005,\"left_gripper\":1},\"note\":\"The close is nearly empty and appears to have caught only the plush's tip. I will reopen and move back along its body for a more substantial grasp.\"}",
  "call_id": "call_ADNEHNUUzfWYf7cdxdOQNssL",
  "id": "fc_089321a63a3a490f016ab2c99ca0f087d0b2c9c61de344631d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ADNEHNUUzfWYf7cdxdOQNssL",
  "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]: [-0.6788, 1.9984, 0.6498, 0.7029, -0.6529, -0.4133, 0.9949, -0.2501, 0.7246, 0.7731, -0.8375, -0.3115, -0.1772, 0.9989]\nstate[eef_state]: left_x=0.3889 left_y=-0.1712 left_z=0.0 left_yaw=0.0606 left_pitch=0.08 left_roll=0.0326 left_gripper=0.9949 right_x=0.2391 right_y=-0.0015 right_z=0.1899 right_yaw=0.1057 right_pitch=-0.1585 right_roll=0.0929 right_gripper=0.9989\nstate[joint_eff]: [-0.5265, -10.441, 3.1932, 1.4969, -0.2515, 0.0562, 0.022, -0.0479, -0.3624, 6.7897, 1.6923, -0.149, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5d53cc7fa8a07742aa9756d9c02d7acaadbf1886b292a7b654422a57f9959ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b900fd47f3ffb2f04b57f2772c74c8dc898074136753d91120b166bb45dfb816",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8c7d1e149ff8c708f550d884b843e5a49a3512df17498c3cd497a9fc0613142",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5941, 2.0365, 0.8032, 0.6281, -0.588, -0.3496, 0.0322, -0.2501, 0.7223, 0.7731, -0.815, -0.3119, -0.1772, 0.9989]\nstate[eef_state]: left_x=0.4338 left_y=-0.1705 left_z=0.0132 left_yaw=0.0623 left_pitch=0.0852 left_roll=0.0336 left_gripper=0.0322 right_x=0.2426 right_y=-0.0023 right_z=0.1942 right_yaw=0.1047 right_pitch=-0.1351 right_roll=0.0844 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -10.0308, 4.2598, 1.6337, -0.0464, 0.1197, 0.7399, -0.0479, -0.3897, 6.7214, 1.7314, -0.2027, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssmo8u4GFpk-cBX7VL0pcFFhQy2C1nESyml4aUvHJZ_5FSo2QR2RZe2UUmWBHXWob-ZyGwWrc2fS_zXn8us1lsWUMTjIDw2LBD28XWSOMnbnVXi30s_dO57Qi4WLmwLNqEgxH4D_iCqqEEfK-ZYusKyMWS_oAr0q1ghONNwvmu812PYiKSI5scCu-bi942bzHZsDyP_DdhoX8fO2B5jUZT24McMimeSBpcrqkXTv2-7d27XN54o_-iuyepoDlWPPYzpildRia3MYY62e91LGUvaprVD4Bwwoyq_-dekK8YM1fb_Q-aAqS6zBCQqCBPSyaYUNwCb58eCsnUfkYghbbqFLXBkxGMDDmEuKrwcKs6XRme5WKDFlEjqHIMs8XX-T13wRw1L4sjDUEVKs9CM4cL_HVDgMMC7qSS7rc5v2Vyrj1BJw3nGh_atlCQVAhj6q5YsIQ6oa811jDGwWECpHf9UCM-Zy7ZHsa1qMZkd59btwBffOY48HnEGF7XmK_2IjZOrHdE7utkp9THtbLQCzouevXcmeW7W45bbuBX0Svg0st6ioR1Tn7czxf-30gsuYsz1nLBMJsWD6RyywoRInKDe2PLb3n-GDLKuNKM3BmKWNsQQemWkInkc-plF3rOfCEM5jFkO4zaRYgzdCMzLV0Rto1kWoQj0bXwrZJgtf0owMYvbAipFpZaNfVsCqHAt_KuJr0namf-zVbjxvNZ3ocJqgNza_kw1KfAa3ZxsJbGaLaNjZU8kQQf5fsoTqBAQi9aXOQewgIBv2znk3mbMdbG7m9rLsS2ptofJGB1EvODbdJMZ92SA2ZnIapVYtrqYoGc0tq8Cean81HegWM_gkWAD9jyB_jxBB8xKDO2XH3_UTL3YNjQrnmVvi_oCbpSBZXrOPVUxzSIdXD4GbeFwCslZBbUbJkWIdlLrKBiFfzD5gEbVc4M6YNIhF6JozWcbeU_KaB_wP609B5XOzvfUnv39FywQfwpK4pDNxPgaiyFo0F1kTfmzg_rFkQBaLvLZchFgAG2f7TbFSIvWxcXcVdH_UUFlpsPd1qyDjaIfXTnS2JJNP8rtr9CkCdb3Ry9VnAvVLsmt-XQ8JUM3k3vPctV3t5d6ebvYONHNqAMyb4y_A24k7EMgSA-WLLFA56vq5ZYCmI1dnEjP67apygv82ef5LjTi3IVpC14iWIFknGGoXY9VfXP-lOg1jaLjGAcXGRGvdT36spCR034qrBHhjjeF3VBkTmLKE4SV_LtSM6KpyBc9TqLeyZVPH9Xh2k6SKnPLkpMZG1wwEcaPQsDaYsAPBnH1QuD6M7ZILqXtVTNUuJbToIcXK_5-tLq5WtNYxVjW6rAWVRT20K10CsJIPA3XzuPiseTfLON2zcXdqDzk6iBMRjRGm_KvUNFFGSlZJr0B86MpcdxZZso6zOre7u8XyIBW9LxjP2-aEl5kV5-hzMUuLIo9YjRooYzD7DgVndowh5X6jqCiCsoK2UYE3NlR7BQ==",
  "id": "rs_089321a63a3a490f016ab2c9a35a8087d09d03d0dc5d0fab50",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":-0.17,\"left_z\":0.01,\"left_pitch\":0.3},\"note\":\"Reopening revealed that the plush is farther forward than the fingertips. I will advance along its centreline, using a forward tilt to reach the main body.\"}",
  "call_id": "call_zOptShQClM9uoCnLBLoNt2bX",
  "id": "fc_089321a63a3a490f016ab2c9a60fbc87d095b88be49362233e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zOptShQClM9uoCnLBLoNt2bX",
  "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]: [-0.5468, 2.2631, 0.878, 0.9966, -0.6231, -0.2367, 0.9962, -0.2501, 0.7292, 0.7731, -0.8574, -0.3119, -0.1768, 0.9989]\nstate[eef_state]: left_x=0.4745 left_y=-0.164 left_z=0.0048 left_yaw=0.0986 left_pitch=0.2659 left_roll=0.0194 left_gripper=0.9962 right_x=0.2361 right_y=-0.0007 right_z=0.1856 right_yaw=0.1072 right_pitch=-0.1813 right_roll=0.1021 right_gripper=0.9989\nstate[joint_eff]: [0.5538, -9.347, 5.0256, 1.8291, 0.0171, 0.3004, 0.1294, -0.0479, -0.6769, 6.5162, 1.6532, -0.2027, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d78585d3f899d9f9995a45c41228322e334ff7015858a3c3477f717d827a97c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89d0097fa2cfe51f07d0caad9b938b937da8c78c990e20bb97e5a947fb40d52a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:196e4afb7b20fe6d71ed5184cebea428f51d0752a83ed40db26aea12e44d9ab8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6788, 1.9984, 0.6498, 0.7029, -0.6529, -0.4133, 0.9949, -0.2501, 0.7246, 0.7731, -0.8375, -0.3115, -0.1772, 0.9989]\nstate[eef_state]: left_x=0.3889 left_y=-0.1712 left_z=0.0 left_yaw=0.0606 left_pitch=0.08 left_roll=0.0326 left_gripper=0.9949 right_x=0.2391 right_y=-0.0015 right_z=0.1899 right_yaw=0.1057 right_pitch=-0.1585 right_roll=0.0929 right_gripper=0.9989\nstate[joint_eff]: [-0.5265, -10.441, 3.1932, 1.4969, -0.2515, 0.0562, 0.022, -0.0479, -0.3624, 6.7897, 1.6923, -0.149, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The plush's main body now extends into the space between the jaws. I will close around it at this position.\"}",
  "call_id": "call_wIR6iy6ehTiwcPZqJ7SqDQX1",
  "id": "fc_089321a63a3a490f016ab2c9ab938c87d0a6d8fdf0d6de8bd5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wIR6iy6ehTiwcPZqJ7SqDQX1",
  "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]: [-0.5484, 2.2692, 0.8852, 1.0302, -0.63, -0.2401, 0.2064, -0.2501, 0.7322, 0.7719, -0.8818, -0.3115, -0.1772, 0.9989]\nstate[eef_state]: left_x=0.4777 left_y=-0.1657 left_z=0.0111 left_yaw=0.1109 left_pitch=0.295 left_roll=-0.0038 left_gripper=0.2064 right_x=0.2321 right_y=0.0003 right_z=0.1806 right_yaw=0.1091 right_pitch=-0.2081 right_roll=0.1117 right_gripper=0.9989\nstate[joint_eff]: [0.0342, -11.0564, 3.453, 1.3797, -0.0952, 0.0171, 0.9695, -0.1026, -0.5538, 6.6803, 1.7363, -0.1929, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a037b23743d0606c6ef70eaaa46db937cf4b02544f251294126ed8713b8909b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5a9f8428d210993d11910453871fc529b2d4cb4c93a3846f90a9c948564821e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4eb15d92949d638522972c22c844ec006501551a65672a76550da5ebf03dafa",
      "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]: [-0.5468, 2.2631, 0.878, 0.9966, -0.6231, -0.2367, 0.9962, -0.2501, 0.7292, 0.7731, -0.8574, -0.3119, -0.1768, 0.9989]\nstate[eef_state]: left_x=0.4745 left_y=-0.164 left_z=0.0048 left_yaw=0.0986 left_pitch=0.2659 left_roll=0.0194 left_gripper=0.9962 right_x=0.2361 right_y=-0.0007 right_z=0.1856 right_yaw=0.1072 right_pitch=-0.1813 right_roll=0.1021 right_gripper=0.9989\nstate[joint_eff]: [0.5538, -9.347, 5.0256, 1.8291, 0.0171, 0.3004, 0.1294, -0.0479, -0.6769, 6.5162, 1.6532, -0.2027, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssmx8YnyLvi6vtpdW1BxJUD6qKU5KNf_i7-TbN3p2Ma3eL2Ur8g5qzXGvRzb_HIXhdx-YEqa7FlrKUip6Mg-bhk_QJyHoAFZ4h1Iy3O9ntI8QUuc4zNYqhRoryA7nCK2UlK-_zWdmlq98MlV17rvfM8uhWiy8IqFDHfLSlN7oeyyODDbLm_HUNCk-G-2h2ETgsH_430ZL8Wy-0yMcDIt2TIXI-adfgD0d-aduVcwC2MQw6NH2VUrM44-w9h4NPh--4VOPqa2Qoip1Kenr3LeVzaynTJ2k9RicRRlQILTPP_0jLjrGOI8j5bmF6jSM2P_RWDoK2kp7pp_0oZk-c2PLg51EFtMQ11QrQdJTu8vVwvR9aRo4uRWqM6iofv_MexilZqoq44ammVddUuFlkQeK1l-UGphaoEDq5F5mBa3N1I34mRMYwJzwMWHXU6bO8ZkebnreZ2nSaWWAFAUXfT33IQTMGcOGcsOJPP6kjSZ4npeK1RROtk2Y0BVf5xvAc7Lqa8INf3uz_XuIWtfbYDO_ATZnMILd5jZYswm9KEMMzznfdyeo8TXqcRPnmuAfOqj0OEjtZVfBaqCgD7IwNtFn-JTLZcvuwOiDKTnVcRm6fyP15xNkuMEck953EWw6KUKQ-_kcJ1emGWVIOZn14aVT7vLhLgJe7FYEOzfJGYJwxSfdsEzjLaaJkxd5jmk_I1oSO3exPaHOGBieguTLEDFD46Cu_rnsbkD1MJ5_z31WYSZW46pgfgyi0y3OwUqGe5ANzWPQc6z8TogF4Z0cW0TAMruto27ucE4HwcZC-Q6AXCs-__asmneg_BO5j42fi8wRDJZEPOsscLtzzf81peDCp8XtltokGy9N_mZqiDkkU8VEZTNJvjRkc34GR-kVO6GRoTthED5U2VStrRNOQms4HrmAV9j8Q2D6PhLN6mgE48x7esAfIERWkBfHrrFkwK3BMAJfBGce4tvKIMVQq6BsjTkBhADc99LVPihavAi-jTJq4VomOUEFvxGlVEfICuBCStOJtGuQJ4Ez7JLlYN3Tp_vEGj8wg8_7fCY8OLGpvjbvw7rimJPkAaAcMDQXQtpd0GSJOdm6ZmFYOeFy_BB5vSyMdiddQ69gF9TMEse62CT3gGNZtEvVTRGFMNhL3aRMDO7eXrRrf8jUmfmMyhxY8NOSGGq2xt5umXp-8bSQhRTtmGUoX40awPVhV4B4EAGNN0hMYtkagKIAfpfhVcTHEMXPxYcVHN7gvRvtIO2GqsGoso=",
  "id": "rs_089321a63a3a490f016ab2c9afabc887d085f5903c106c23bd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The gripper has settled around roughly two centimetres of material, consistent with the plush. I will lift it clear of the table and check that it follows.\"}",
  "call_id": "call_H6v3gfVCkpu92a6h08jxJLoQ",
  "id": "fc_089321a63a3a490f016ab2c9b05d7087d082d50026088c8bd5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H6v3gfVCkpu92a6h08jxJLoQ",
  "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]: [-0.5484, 1.8107, 0.9974, 0.4206, -0.6331, -0.2481, 0.2058, -0.2501, 0.733, 0.7719, -0.9039, -0.3115, -0.1768, 0.9989]\nstate[eef_state]: left_x=0.4755 left_y=-0.1638 left_z=0.1505 left_yaw=0.1112 left_pitch=0.265 left_roll=0.0139 left_gripper=0.2058 right_x=0.2283 right_y=0.0013 right_z=0.177 right_yaw=0.1107 right_pitch=-0.2296 right_roll=0.1203 right_gripper=0.9989\nstate[joint_eff]: [-0.1299, -11.4667, 8.9915, 1.9023, -0.1001, 0.0562, 0.8278, -0.0752, -0.3624, 6.653, 1.6435, -0.2125, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:650cf956fa2a082c0c87504129814e0e2c4d8cc100b8eb99d77fb0f09122723b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65f0667229dcd6f179f3500e3e3f4b799b81cfa60bbda9ca817e6846a791630c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21ab2f0fd41cce28f3ec29fecc34056e5381f0dd67af190046e4fcaa83a93a3b",
      "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]: [-0.5484, 2.2692, 0.8852, 1.0302, -0.63, -0.2401, 0.2064, -0.2501, 0.7322, 0.7719, -0.8818, -0.3115, -0.1772, 0.9989]\nstate[eef_state]: left_x=0.4777 left_y=-0.1657 left_z=0.0111 left_yaw=0.1109 left_pitch=0.295 left_roll=-0.0038 left_gripper=0.2064 right_x=0.2321 right_y=0.0003 right_z=0.1806 right_yaw=0.1091 right_pitch=-0.2081 right_roll=0.1117 right_gripper=0.9989\nstate[joint_eff]: [0.0342, -11.0564, 3.453, 1.3797, -0.0952, 0.0171, 0.9695, -0.1026, -0.5538, 6.6803, 1.7363, -0.1929, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssm6qt8nrMs1pa1RxjklYBYP1DJ0z-bCL5qYwFGZXL2OhcTMGv1bQsen5wS75Q0NONrlLemCBkL08N7BqQUUQ94Iq2O5P4-1MYHjAsYtWQJ-99Y7BG2d5BYZToewdOBn47uHuFbQPJ4iMKeES2V4pOUQpC2tpZKm7I70Qpgn7E_iIMbd_-SQbLtlpKwMrxn78j0utoHgBaQ9aajudfEfz76lXhlcjWiGeLspFhW8_5YLOk_wXS2oE3uhND0HfGiAASzHSy5J-953peV4ZbouwJj_z_qUWGRV00mBRnJ-CWa1O37mqchBM9ce9gTC-jppSsTVjf6lXrNUWM9_L_nh_m3Qos65zEkRgGdAq1X89OYWLMgE_SMpbMhHjd3CR15wEwTWzlTea28ww9w948c5cctIRTPCYtCdtIb__JhrYuUAGrYDZjS1zjaJfUOhlTCwPdwAKVKBW77oKlFwHGLo8ZTTgCkc6_UgntVxViHpzEL9_PBUB1ul6--KnmVOCxSzqb6DJaOf9YWIzjqKXpyqKrhgT8z8DCsJTYUmf7eX_bzxRRVKj5660VTm6_DHLudciwMnMLoTq86dqCcAHuy-oYOlNBO3QXrHQoyRixqyj1yY2qh_3DoAzaVegVYuD80xDHXF1DrcyoFCED1YZYXNqPEkZj2KU4avSS63_u83K92cofcvJo0ajqvVPlKSzhbmEeH8DKe-GUdZSRGEqh64FSitVHqm3UFH77SZsr5GFpMluEYnktaesnejrhSRdFRY_Ja-6TSY93G7pnGrGwifPiFryAoJ-N-f7-VdIHIVMS3Zyijg2PORleOLLdYbQR7SwwQpc1FZ-0jyYmf3-qukcOmLpv5eWUErrcHmFlnnp5mGjunFgtbQFCyJtXliwYdV5_d1T7EULwquOLwbN2RjCWUMWgJ-g6Cg_Ok4bjWGCwnQ4d2-w0LmalPnjM80JxYEZU_gxGOWNAJRHFgd1jQ7cEC5xEfxvYY-OTLWivppKKnycFZHtDXMLbB8aeVWg_kntEL73vYf86l7zSEdbSHdLS30KgJCc4tkSz9yElO9ZN-JaK04blk3ZMINiUTkc6iWrU7npAsv0LQu_TYOHo00TYTopc5WK5-CD0CR_9Wbq0FHR0rLmtoDlZCIVRAlWx6V-v4wcLwx9ZASLGuJrKgUTDv1usnVkQAmcD2MTnvV-KJyPDzBuCS_qxpr4qS1z8EHl3HQpNkP6Cbi3_32_-yAfL3XItgFZ6E93N24tHgpy6azoVE6EOOhcmeI_zn8UIwBSnDrSH5xrqQSavZEkX4s8Su9BxhnDbDLubeKQRJa0w0IVQeFb7TMvBGYoCjpNYNcA52YyzLDXg4fK62AF-csmdamzz_qVnupI5zYzox4JXqDyTimIMiAwdfEPtbTYjYhmg0uxdfMKxysDj2bUkb2nVMV_-u90lMxEYaJyjefyKXsc3ByWLIgEZcjmpvbIzWywfR8cdwBYg7z9wPm9Yz-zhTO2A==",
  "id": "rs_089321a63a3a490f016ab2c9b5c06087d095d6b2aa88770e3b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.38,\"left_z\":0.2},\"note\":\"The pale plush has lifted with the left gripper. I will carry it over the open compartment, staying above the front rim.\"}",
  "call_id": "call_l9TeiaScQS8PkJyk6rwJE7RR",
  "id": "fc_089321a63a3a490f016ab2c9b8f17487d08fd23771367d6ca3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_l9TeiaScQS8PkJyk6rwJE7RR",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0222, 2.1353, 1.7157, -0.252, -1.0271, -0.6086, 0.2085, -0.2501, 0.7368, 0.7719, -0.926, -0.3115, -0.1768, 0.9989]\nstate[eef_state]: left_x=0.4116 left_y=-0.3766 left_z=0.1897 left_yaw=0.0971 left_pitch=0.251 left_roll=0.0103 left_gripper=0.2085 right_x=0.2246 right_y=0.0022 right_z=0.1728 right_yaw=0.1129 right_pitch=-0.2538 right_roll=0.1297 right_gripper=0.9989\nstate[joint_eff]: [-0.6359, -11.7949, 9.7299, 1.2283, -0.6667, 0.1001, 0.5397, -0.0479, -0.6085, 6.5436, 1.619, -0.1832, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7704e84a675f36accfab4ab54128c386d96e338b784bd14051e18202e3b2b9d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3941ff56898c75d1573584d0c4b9576541005bcc2c123cad893b777a157f91e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feec188e7d309e49432e36ca9845cd991cda489f80bf10b1fcf6ae826760d60f",
      "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]: [-0.5484, 1.8107, 0.9974, 0.4206, -0.6331, -0.2481, 0.2058, -0.2501, 0.733, 0.7719, -0.9039, -0.3115, -0.1768, 0.9989]\nstate[eef_state]: left_x=0.4755 left_y=-0.1638 left_z=0.1505 left_yaw=0.1112 left_pitch=0.265 left_roll=0.0139 left_gripper=0.2058 right_x=0.2283 right_y=0.0013 right_z=0.177 right_yaw=0.1107 right_pitch=-0.2296 right_roll=0.1203 right_gripper=0.9989\nstate[joint_eff]: [-0.1299, -11.4667, 8.9915, 1.9023, -0.1001, 0.0562, 0.8278, -0.0752, -0.3624, 6.653, 1.6435, -0.2125, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssnFk1-y7euipiVNMWY5qCx9gC78n3NeX4HmyjdrNPyIUYFigmEaF1GQR0hxSR3PZUVxNlhx5O8bABCekMJra5laR4kLXYNRu3YFbaivRr7Mo-MGVRXl10-a5ni01EztDYIfVGC2yU94SbWzDvQimT0b_1hhktxDs8Teju3hcL1JiKOhugaqvfA8rYmq5YDVNAC-bkU_V99JNBGk9b1fIix4-sY9FDP8tNV-4PDZwhcPScQwEkcA9QMgsmaQjmEIpyp8ay-TNBlew1Q3yxYWr3SnoKZwkhrEkSinTKNCgVTOyIk65WOHRtaoF2dSnqHTfyqcm8FkU8er2rlxTN25HAhKGmzhTd3R_7HsJt2KxV0y14okvOeTyVCRZhWJ-ddyTvp7XTENn4MNEKlnYu32hMA9a0MrXBFMKwbQj9MsxPvu7-3Wff3HbjVpjBQmEfTaJemWK1zVwa6DJNX5HdlFbnoo32Ko2nZX5WmDkjFyVYRvcoouI26GbuxRilUY9Uq0ov_KFtjtQOlDKW4D1jin0apWCZX7UoNgNK8Z1r1sYv5_auEU1Ryq_-BfqIGxdU761ct5b8b_pi1U30hwQR1RoArHEJNkqt84cw1mR1P-qZeYhubcMw1b3IUuMOmttpooJ4v1PSn8ukTdc-A1EsEsSTjc5KCGzHJcPjAhMlqHlrL30ZMdvuFkrAfPjlwEEGDIY_yaIVg0-eTzWALur6gFWhys2zzqWcKUE_XjoX5UMJCrBRhemQ8pa3gjM07rsExWTiMkHiqJ5jPZslnhUx2coG8NTy6II5OJ7dAJE4COIwo0DDRGyBJ4zlDbLbvap8ywMSmpnrzk42mnYLgmJCKFpcx5qiki0dHSXKcEpEV5gcscEhDEyQrpMLOvPQxM_613POx0VSOLcHvbekBloXhlVN1Iiz2bXe8hosGw1mUmm9IREQdS9eg1_C0J-fjkb3Kv25HYY8EfQeshHWWr-a0fuLhqABWcYVZiJ_hYsIUynHOJnt-Chm-TKDyX4DJNjNuB8nKY1-BAAvhMONCOGlGAdAbB6IwQ8C3FtFOwOcG_DGKAUDvDM3wJJlxKD4Upoj-42IDqwe3mFB-2wIKxvSbdWtpQSLUua4sjLuPoJzdtiKx6DtGiVr8g_fq66fJAEMzSS86p9EB4ma7_-xe1yygWYxDnrGYP6b5Fl3ogPTTee39ruY15oDZmrfYb9ToWmL-xHVeyckDbCO9aranJ7cHoI9pHNHyinamN2gudIh04EpEDzxjg2Vf8rDrblnSQoAfhz9-j_JUQCFgohniq1OPScUi02-KNGfWRcbghCAY_KYSxjo6X6imVG3IxQfNgiWmPQ0bHB5ZRwpvnxPM6whoqciDxyFcYc2Ap_k_FKqOuEFQWclJCf1fNgBYbIcvfXnwhQKqHoCo14BEzfDfowPHZp0nWebu2q3aGZoWRNftgPbSYudHUndTSVwPt5AykdDUStytPlnL7RIBacozzShjZOVD2JuHdiP9NK7zU_BLKuiRt8lJyrXlH_IIee7636Rvd2AZEEWdqCaNmvwsNEVVSHbnvMQ==",
  "id": "rs_089321a63a3a490f016ab2c9c1a57487d0921491dd5207ffc4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.4,\"left_z\":0.09},\"note\":\"The plush is above the safe's front area. I will move farther into the compartment while lowering it, so it lands inside rather than on the front lip.\"}",
  "call_id": "call_3SnoikMTPAex2qDc1WRKQjoz",
  "id": "fc_089321a63a3a490f016ab2c9c416c487d0a384ba4936e089ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3SnoikMTPAex2qDc1WRKQjoz",
  "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]: [-0.9302, 2.4802, 1.8744, -0.0624, -0.968, -0.532, 0.2106, -0.2501, 0.7391, 0.7712, -0.9489, -0.3115, -0.1772, 0.9989]\nstate[eef_state]: left_x=0.4767 left_y=-0.3901 left_z=0.0787 left_yaw=0.1044 left_pitch=0.2185 left_roll=0.0635 left_gripper=0.2106 right_x=0.2204 right_y=0.0033 right_z=0.1687 right_yaw=0.1157 right_pitch=-0.278 right_roll=0.139 right_gripper=0.9989\nstate[joint_eff]: [0.8821, -14.0376, 8.9231, 1.5116, -0.1099, 0.1636, 0.4762, -0.0615, -0.3487, 6.4889, 1.5507, -0.2027, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9175ad78b5a414cf0c0f43b4f317c64312dc91aebb812d6f0b3d87867440fd2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:079fd7e7fb41538508f8d7c0b92bf47afc3168666189d5b8c8128f5a6f9635b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c984faac9e1b3db101969676675288de411ed42e454e049bb1edf5bb3044706d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0222, 2.1353, 1.7157, -0.252, -1.0271, -0.6086, 0.2085, -0.2501, 0.7368, 0.7719, -0.926, -0.3115, -0.1768, 0.9989]\nstate[eef_state]: left_x=0.4116 left_y=-0.3766 left_z=0.1897 left_yaw=0.0971 left_pitch=0.251 left_roll=0.0103 left_gripper=0.2085 right_x=0.2246 right_y=0.0022 right_z=0.1728 right_yaw=0.1129 right_pitch=-0.2538 right_roll=0.1297 right_gripper=0.9989\nstate[joint_eff]: [-0.6359, -11.7949, 9.7299, 1.2283, -0.6667, 0.1001, 0.5397, -0.0479, -0.6085, 6.5436, 1.619, -0.1832, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The plush is lowered into the safe's compartment. I will open the gripper to leave it inside.\"}",
  "call_id": "call_Iv1Y1yUHQBx0BfBsEFWuKSD2",
  "id": "fc_089321a63a3a490f016ab2c9c931ac87d0a4996cb3ea65830e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Iv1Y1yUHQBx0BfBsEFWuKSD2",
  "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]: [-0.9287, 2.5004, 1.8767, -0.0681, -0.9623, -0.5362, 0.9955, -0.2501, 0.7387, 0.7712, -0.9676, -0.3111, -0.1772, 0.9989]\nstate[eef_state]: left_x=0.4767 left_y=-0.3894 left_z=0.0666 left_yaw=0.0999 left_pitch=0.2034 left_roll=0.0784 left_gripper=0.9955 right_x=0.217 right_y=0.0041 right_z=0.1661 right_yaw=0.1173 right_pitch=-0.2952 right_roll=0.1456 right_gripper=0.9989\nstate[joint_eff]: [-0.3077, -16.2256, 6.2154, 1.4481, -0.3443, -0.0317, -0.1441, -0.1846, -0.2256, 6.3932, 1.4823, -0.1587, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a905dc6037332587cd3de8e53e4e2c94556850382741e25eec9028e20157dd8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b76482e1d3cbdd6bea2715b4ca658b59be575475cbc868df591968248ae1f570",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e9ad06c8b10821b8a0eeb8eb06dfe1d8fb3cfe053290e5ae3ff4af19cd99f10",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9302, 2.4802, 1.8744, -0.0624, -0.968, -0.532, 0.2106, -0.2501, 0.7391, 0.7712, -0.9489, -0.3115, -0.1772, 0.9989]\nstate[eef_state]: left_x=0.4767 left_y=-0.3901 left_z=0.0787 left_yaw=0.1044 left_pitch=0.2185 left_roll=0.0635 left_gripper=0.2106 right_x=0.2204 right_y=0.0033 right_z=0.1687 right_yaw=0.1157 right_pitch=-0.278 right_roll=0.139 right_gripper=0.9989\nstate[joint_eff]: [0.8821, -14.0376, 8.9231, 1.5116, -0.1099, 0.1636, 0.4762, -0.0615, -0.3487, 6.4889, 1.5507, -0.2027, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssnS7r6y4WbqeCzC-szfn99thN_n2ksHL_qenhHIrxGSwtiPL9PLunr3nw1BZP-exd7bXWlN1zKdV-kx9oGWgIhsYQV9gUUNnnp_RQsCuNDWi5AVw9Na9A75i_NEiJirkR_BPv810nbk9yeCJsrTIScfJjORJ77jS_G1IMUWJCSuAW-wEIxAz4d8Q5i2wuBE4iwwKVz-wQet3rEjEZKFsDXqGSpndWWuu-KdJgCOEVceCchu_t4ckP-cWVMhxnttZk2jnLhLz9a5DIHD9qpc6E8xsdRnvlbAy2ekqRycaUTSPNqD2Bv25jHJ6FUm8wQu0Re4lCZXrA6C5-vlAi3MKGT7UWV_nVno-xUNS8lQvg30If_Fa9aab4Yx8cW5AnenPl-M-CnCt0Fj4XDHfK8q2JZeffuthMmJA96pL0p4QdUoLd8LhNmelVq85OgNiS4q0gM91EbJXH1knPUgNpNzLZEXLR8znxs3zn5GaD0_f3JV09RLTmn7NfivFmOHJ63IFvetCe2V40KRyK7ABuhLiJRB3bX8TWWhm_IIzU3r5X85kMbTw7SGED6xDC6lSajj8p3c8dwFn8YOwmom5engiGlWLg4rQXLmECBaBi4wzE0bqhgmrog7S-AZ30l56VL7gv8QpHHfL6YMvwZJO0NwEqEDqIsysyBBpU5_rkRvkmXx016yiamlOLXuY8e3ci8iLRPuGJ8FrQzrQst4UoLas2OumAr1pVnukADzf9hQLvdSypU4JHWBNtvWyMJqSsJe7r7kU6SdlXjA9HYGNscQI2yraSHgG8yRF8xQHSdYUzmqKR9Uia8OspOsoaBZepBpXWE-LbjH-mDJXE9rUCIO5FqUTm_VZDsDSqiwaXLD8MRblV9O62eWQnNFSi1wyrLB46LUO95hPb2lMqIWZ_CNZHbQRbXYWy-Gd2fivKVXeXrepZX7KlPHT6JcafnP7--0ePoUuRn15-HMZ2gpYUkKFSOeeNOA9_DnhB-jsCDQA0syF52EccXi0esblTvoDaXJaFi1Jd9JiabSXTxniD46w_ZVTuIwFJvRqj-PrIiC9v6FvCAFE7bnt1PCDMaumahcvYVfAVtcURao20kfcPLYsQesiXBN7luBiGrjCjz22vuVGjryL1LAgH7eVbaFbFIXlR1N1dQLUd_LFT3DQU2QvEXOR6Szo8dVN2zh6W1fPTUbA3J9U8CJad1dPahsGTLKym7ClvUeEdhXepLGE0_g5GAEaedn-RHpL_RnpSScWXWX1GFp-G74Oux5f_RFKep93tWfHWGdw-tisDaAI2IADFYOxAs1uwuWAs4ZYQdpLKc_58jMhwPXObSCHI0ySUK_XGb6t4a4JUAwBHI487cv8B0NjK6mJ19BTkVyBpjjtzqsnXQcz1OmF1bcZlANBxHRGy_tv-pfNw_Tn-fZFipk0TUgeWGMnBtRQyoKFG8qxVWeXkUhBInKvJk8WCPSY_81fOCzuV4tc4xJus-wzwtst61txA==",
  "id": "rs_089321a63a3a490f016ab2c9cd315887d09e4c5019b5e9aa46",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.23,\"left_z\":0.23,\"right_x\":0.29,\"right_y\":-0.04,\"right_z\":0.025,\"right_pitch\":0.15,\"right_roll\":0},\"note\":\"The pale plush has been released inside. I will lift the left arm clear and bring the right gripper down over the yellow object, which is now clearly visible away from the safe.\"}",
  "call_id": "call_bEVkWQ1RoL423kxfj1GnZyQK",
  "id": "fc_089321a63a3a490f016ab2c9cfcd5087d08a6af59a0b3dc4e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bEVkWQ1RoL423kxfj1GnZyQK",
  "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]: [-0.8574, 1.6733, 1.2369, -0.2005, -0.9089, -0.4736, 0.9968, -0.4465, 1.4403, 0.0372, 0.7071, -0.5106, -0.2882, 0.999]\nstate[eef_state]: left_x=0.3948 left_y=-0.2378 left_z=0.2193 left_yaw=0.1075 left_pitch=0.2028 left_roll=0.0725 left_gripper=0.9968 right_x=0.2714 right_y=-0.0302 right_z=-0.0014 right_yaw=0.1245 right_pitch=-0.0095 right_roll=0.0848 right_gripper=0.999\nstate[joint_eff]: [0.5265, -9.7573, 6.8308, 1.5702, -0.2711, 0.1197, 0.1197, -0.4855, -3.8222, 1.7162, -0.149, 0.0513, 0.2027, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cb361f9845fe387b736269a303038622e7d135adc54609b6fd76f708b43050e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3358ec32eba214fe8f4c980b28f287294a5cfd2da5fafb6abf2a90479dc424f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed08d24816f2a570d9491e859e8a059ddac4f59f1568c166ab0098594d198831",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9287, 2.5004, 1.8767, -0.0681, -0.9623, -0.5362, 0.9955, -0.2501, 0.7387, 0.7712, -0.9676, -0.3111, -0.1772, 0.9989]\nstate[eef_state]: left_x=0.4767 left_y=-0.3894 left_z=0.0666 left_yaw=0.0999 left_pitch=0.2034 left_roll=0.0784 left_gripper=0.9955 right_x=0.217 right_y=0.0041 right_z=0.1661 right_yaw=0.1173 right_pitch=-0.2952 right_roll=0.1456 right_gripper=0.9989\nstate[joint_eff]: [-0.3077, -16.2256, 6.2154, 1.4481, -0.3443, -0.0317, -0.1441, -0.1846, -0.2256, 6.3932, 1.4823, -0.1587, -0.022, -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": "gAAAAABqssnYqiPovFptPHfeMEV5k1VS0xmFz6e1Yo-0485Ij5rcO4McDJWQzIKfbQXiSOtrI-PTwxKUcze6DOgryoOQzWE7-nj4UsaCAweSi2SLjHFEcCq6PN4JTzY7zJJUNz5SVhWlnJGfIMvEK4NCtirMaPqVU5XPXEPx_73BWLkS1AIDSHPIBiTRGsdNJVKI9vsbH_HQOTqi9tR2xgW_wpHdk80zzvCi_MjlzHzYHKHhNF6xhqNt_ZDmZqVn2cgop0t3DqbASy4jYNZgwnHvf5oHk35oU9uqG1WodwFp-SYaZ44RM9Q-JkOX2zs0lVj8sdc-iG77n03xL60w4MSH_RG53dNxk0uzSYqQbFwQG0VK4afD5PLrX282P8jYQhncb6H070Tk-9dJQonJUzNn_q6baNv0oGya0iJmsyqeRC2mj-ACpkwJBj_kz78xVpFbf5nfaP1RJvqX49Jm69HT0HST4JI5q8muzJkL7VbXTot5XVJEr4UgsloRK4aXviusup--piztWttAmNWyqUL_FaiTsX4lKwPzRL0KoDkjmvatlKGDtPo7K2zbksbwxNiPUG8AAmzYb9u8Ru55lGS7oWTlqvXWYL-5Oxo3dBPD4GUHQYPFfJozVjqGucDhuTAotTlDMQwIFfvDXwRwjdWDjIfNhec61-oMbitqAdAJcuEn6JiP38ZhGxMbaEvNQedQ5MbKOFJUm782C81lWbBCqRfFzO5_6KKuNkosU8CadaidYtjR6bbyyoTOctSDHnGw8Tl34BBCO9TKssP8coVM940g7BGwfkfx5cIROSZRqVXf4ttS-TjmY6l5yP_HOCczGF-Sfdto6dtFZ1ZgLBGZLKzi9WbH8vWXNY6UhVaWJg0sI3AWdYwPXBSx5atQqAwTe8UrLBbSLSIKYh_MRWglcSXpwPZmPR5qO92gjh8lkCX5UyG8_eo4lLZA-b6iry-GDeibAFFaMjoA1ZVwOiB9FwVLvi9EQkhWLKVH7s2a4Rgfi60taYQJa15fac1YIQlugrfwfHoJkJHhJZuoleYhwT-9ZQs7ekPAX5T5EwJfR61Ev21QZNmKtGPMEUBEAWUf9EytaaQ34FGe16d5DMWm7o3nlf3gXyD9RX4d3TqFPwdCC067f8gP6aW0TQlkU171ENNg52D1kkhdcTmOZ9faZS8sz0j6RqrjQcJ1x2Y3cg2V2prYLwEWoIH3bO_snxdeZu5oF2svUfqvdi0XGVIALUqI0zRPVeHZGAcvGidGtoujii3D8lo=",
  "id": "rs_089321a63a3a490f016ab2c9d6664887d0a8eaeefedf1f1dbe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.25},\"note\":\"The yellow object is centred between the jaws. I will close gently around it, avoiding an off-centre squeeze that could eject it.\"}",
  "call_id": "call_MgesqTWAE7BvUaO9onapyQE7",
  "id": "fc_089321a63a3a490f016ab2c9d723fc87d09cd93747d0cb4283",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MgesqTWAE7BvUaO9onapyQE7",
  "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]: [-0.8566, 1.6745, 1.2308, -0.2207, -0.9058, -0.4755, 0.997, -0.4461, 1.4433, 0.028, 0.7197, -0.5133, -0.2886, 0.4599]\nstate[eef_state]: left_x=0.393 left_y=-0.2357 left_z=0.2134 left_yaw=0.1027 left_pitch=0.1857 left_roll=0.0926 left_gripper=0.997 right_x=0.2696 right_y=-0.0288 right_z=-0.0023 right_yaw=0.1272 right_pitch=-0.0082 right_roll=0.0857 right_gripper=0.4599\nstate[joint_eff]: [-0.1436, -8.4855, 7.2, 1.6923, -0.3883, 0.0024, 0.0122, -0.1573, -3.3299, 4.2735, 1.4042, -0.232, -0.0708, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb799e7d0028ddf60163bb1f0b9219368d40d4b858ca2e0d193f1690bef0d06b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a17e46d3b9497828e5d39beacbe40d594721312d476debce857f167c2df12ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be66ab27f93dd036cb7d312a40cc4f9b9486a42aa61b86ad123493987eced621",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8574, 1.6733, 1.2369, -0.2005, -0.9089, -0.4736, 0.9968, -0.4465, 1.4403, 0.0372, 0.7071, -0.5106, -0.2882, 0.999]\nstate[eef_state]: left_x=0.3948 left_y=-0.2378 left_z=0.2193 left_yaw=0.1075 left_pitch=0.2028 left_roll=0.0725 left_gripper=0.9968 right_x=0.2714 right_y=-0.0302 right_z=-0.0014 right_yaw=0.1245 right_pitch=-0.0095 right_roll=0.0848 right_gripper=0.999\nstate[joint_eff]: [0.5265, -9.7573, 6.8308, 1.5702, -0.2711, 0.1197, 0.1197, -0.4855, -3.8222, 1.7162, -0.149, 0.0513, 0.2027, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.2,\"right_gripper\":0.25},\"note\":\"The right jaws have stopped around the yellow object. I will lift it above the safe rim and verify that it comes off the table.\"}",
  "call_id": "call_I3wfxG0la1pmwUFmhUJuoe1m",
  "id": "fc_089321a63a3a490f016ab2c9dc836487d0ad61287e3d4ab84d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I3wfxG0la1pmwUFmhUJuoe1m",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8566, 1.6764, 1.2301, -0.2256, -0.9054, -0.4759, 0.9971, -0.4461, 0.7963, 0.68, -0.598, -0.5129, -0.2886, 0.457]\nstate[eef_state]: left_x=0.3927 left_y=-0.2353 left_z=0.2115 left_yaw=0.1015 left_pitch=0.1811 left_roll=0.0984 left_gripper=0.9971 right_x=0.269 right_y=-0.0286 right_z=0.1853 right_yaw=0.1271 right_pitch=-0.0241 right_roll=0.0956 right_gripper=0.457\nstate[joint_eff]: [-0.0068, -8.212, 6.9128, 1.4628, -0.3248, -0.022, -0.0073, -0.0889, -0.841, 8.6359, 1.7998, -0.2613, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:023f5741e8110482a8054e06dfdf6f90cbb32a8e3db225fadb6c57230434aaf3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2315e3f9b98749ac932203ba58055f21e65fdbea77cd032419263940a36993b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad64638efbc280d1019b3e1554f10ff187eeec97f728bf6735958feed675af8d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8566, 1.6745, 1.2308, -0.2207, -0.9058, -0.4755, 0.997, -0.4461, 1.4433, 0.028, 0.7197, -0.5133, -0.2886, 0.4599]\nstate[eef_state]: left_x=0.393 left_y=-0.2357 left_z=0.2134 left_yaw=0.1027 left_pitch=0.1857 left_roll=0.0926 left_gripper=0.997 right_x=0.2696 right_y=-0.0288 right_z=-0.0023 right_yaw=0.1272 right_pitch=-0.0082 right_roll=0.0857 right_gripper=0.4599\nstate[joint_eff]: [-0.1436, -8.4855, 7.2, 1.6923, -0.3883, 0.0024, 0.0122, -0.1573, -3.3299, 4.2735, 1.4042, -0.232, -0.0708, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssnlui0JJEitRks3X-CKWFCiihssOyfdJH4OtqdGLQlJwIKDV88grAfirK1NSvUdcP4jPgJS1yclT5k77AMBlDd385ncIr0Say_y6e-WQLYC34KRL53yKrCupSQZ11aSsJ7RCtvbxLiu5djqQwWL7fbWHQd19ZSbmKYVb4rIRcBCVzSXcuB_3KicXv0gJQ0Hrqtsp2IeEdqbkIoIo4SEj5YKTNp7pt3QTQkN0XNGqFa0RCXHPzLiKxLR8iHOde0hOwvXk3c7X3pHWnG3GEWdRbENQ-TlOZeCXUYniGzBYOpqCyTW7TiFJvNDPLxBvHPBPo--CZnbN63M8yjPH8EhskBAAhHW9EeLmPShtSyuc7GkUo_22T4mJMmFZpVj75rO6v15ykTZIlU1049qYI06NfV038H5n3eKJCLSD4vCAESHJmNOwRx4KpDr_lFNnBXJ4pXIrBit9s0MCZXFrhdCgwsoutzuEc3xsM_KQTSf-1jE4niphZSYPrOa5EtRi9_pE7yRxi3PnPXCmWnLOAqidRF9iMVkzlDij_H47mlcFJNTJDjcfw_EllQDnoqPXP7qEhzAaY82Nw7I9qCUKaQTA9tbZ458Jw_lbaTn6IgCYyEGMZuYrqHWaWSXkxkvO9VIE3SdlPa8ijOv5eRNHM7pgOsg_w1x2FLwQ_BkdLuHGfMxkSKt8XaB4RnfLhsM1etkzLOUHWWi5EkxtIhk_61GFJAhGATDWjLzm_BM470trxt6w_ir-gvjry7ljAc4i62UyV8OjqpZIa8jde9CGCFrFY4Ku23VKCtyrIsJMc1viffnj3ic8hhUcAgQlAsqsBMe7Ids7wbxSUOICDdAnbrIErY5bcGwj4GDwYg6zKwkTpEMdOO8zKElg3N-vG21cu8rWWCZfy9hmW_g4D98TsqtpgrlSRxiDG8gCa6PoPZDuEUdz0AkJT1vIryoNJnZ-fIHqImcj8utJKAR9_dDDdv9jcvdMBlqBqWvswzJiuJTDeg2t90B2gozL5prDD0AqSHRdL_kq-e7MJSRssz7cs0o-DD10PMyIt__L7jy-Uts600LSRiujMuiDMmzgiOWG2eM16Dfwm--4K1meCd4zpK_2piqlgNmcAy70Zlk1R1llAN0i1sIz7ubS_mxp5FdvKDIo1CE3V1yTObgzin49ZcBskoByjd-LoJdo60-MGwZoUN5xewfsq-vSMYSdaZxQ96YCNmhaasq6qwCT9wN1sguQEbBLVS4jGkitynZkicaP8o25YwFh0yGPSFx3EFl53PhoHKz9pfH3Aoev2VrtUySsEwkBFXK1OK4aHX5QpUsvGOkuJJj7_LocU9driL3pYHYrQA3",
  "id": "rs_089321a63a3a490f016ab2c9e2793087d0bc879b20a51fb572",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.23,\"right_z\":0.21,\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2},\"note\":\"The yellow object has lifted successfully. I will carry it over the safe while parking the left arm out of the way.\"}",
  "call_id": "call_tTOjBaH2HZJS4Mace4z7grsp",
  "id": "fc_089321a63a3a490f016ab2c9e40e3087d09a18e2b25c48f7fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tTOjBaH2HZJS4Mace4z7grsp",
  "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]: [-0.2581, 0.709, 0.5232, -0.2447, -0.4324, -0.1188, 0.9971, 0.5381, 1.7653, 1.4258, -0.3412, 0.2558, 0.2905, 0.457]\nstate[eef_state]: left_x=0.2916 left_y=0.0033 left_z=0.2016 left_yaw=0.1565 left_pitch=0.1876 left_roll=0.0875 left_gripper=0.9971 right_x=0.4585 right_y=0.2258 right_z=0.1945 right_yaw=0.16 right_pitch=-0.0699 right_roll=0.0724 right_gripper=0.457\nstate[joint_eff]: [0.1436, -0.7179, 6.9402, 1.956, -0.0659, 0.1392, -0.0122, 0.3487, -9.0051, 9.0051, 1.7802, 0.3004, 0.232, 1.0134]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:216ea7b0195e2d66305d440d8e87e29e76dbd6fed9de2ca9bb404fd861b52110",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e93217a870d48d86316565230f663ee81ae7b71898e2500fe331804737828bdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4db6d725b13b996b6d0ea5358b0b795efaf73b2d9675544b0049063c23061fd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 101 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8566, 1.6764, 1.2301, -0.2256, -0.9054, -0.4759, 0.9971, -0.4461, 0.7963, 0.68, -0.598, -0.5129, -0.2886, 0.457]\nstate[eef_state]: left_x=0.3927 left_y=-0.2353 left_z=0.2115 left_yaw=0.1015 left_pitch=0.1811 left_roll=0.0984 left_gripper=0.9971 right_x=0.269 right_y=-0.0286 right_z=0.1853 right_yaw=0.1271 right_pitch=-0.0241 right_roll=0.0956 right_gripper=0.457\nstate[joint_eff]: [-0.0068, -8.212, 6.9128, 1.4628, -0.3248, -0.022, -0.0073, -0.0889, -0.841, 8.6359, 1.7998, -0.2613, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssnt4uu2TewVDnsr7PTSItiNiXl2whu5v8te7R7rm1pLnEZpsIpWsIHkPUydiToJLlwET0iBM9--SECAqO6D5H5gy1ABibBKPJ0tYEa0c5JBncBQvjWFGjPnY48PCHP_HttJnwlMSZEJTyZ_3_WEC_pUCIwaqC4kqZpIsAIVsboj58s_N7smKqnRwSECKWQ_UgOD8VuIjHU9218Ve1xutQNevwGOSBKg2wXZly7Zwsw5muGC6Wn9GTDf2_LX3w4rmpt9qQ84NPwXPPkjUufvbi59nMTptaWiRvIE9ca0OUpjCzoKZDGlwF4EBRmnvx7mAUNcoACv447WY-I6cUN2lUP0j_tvV0K4RN4AorLggJFbbeuI6p3vJCbJj4t_7kd7OBnfGp_115krMPqIkSqGg4s7eVRn6OO_kCULoJf_QV5oeyly_zdlUOn6ZiFAQ5Q25rSgfRh-MBFRmqS41PH_0HK2Bg_ZkD9F98xK1t8D62JMV5zBm3kdDyrGjmSt1ku-2ts98-RqPwLf6OUZTB5Xfw01gLygP98D_peJ-qYEls246h-qEnVS_DFNY33CgASdIs7OQFFnUct_xdlpnXHcSnxbZQQEzj707dnUqYjgJInNufVLPMVDLufdVST2dFZIMXVSmxElHeTf_4yxgfJ6F_dTYJDsMcsnH8imaiGfQFcpRB_oJxgmPyoaTRNLo91JrMIn7eWqpSVhcMQngASpGt-bsCthZShAv2qaDOSG62LOwgKnCqvKk8wJMBvnFw38DTx61-uJh1ULRdF8Igb2f8hRl5j3QuydG5fAm7Qcgt-GKCm4nufvvH4CijwJWBQ90okE8FrXoPRzyRXef4TRe8WeKKvng9xehWusNF0NrMENQZVML5gfm2kSz53dWK19mXGuzHDRKIjowcf2_XB73Yu0hHw4_l7WXgNuGBaIh8tzX2i5Ri86RiLbvG5HKEvaRQ_imtcQdJWGBhP2d_z8YUrnHzKbczElZlgoewt2pCpkrhYsNUTcdbVMIq7BBMMhk0GUZ70EIUn29BpPiQgia1r9bGZdqv437KWdRiu7oJTxEfbGSRAfPEl1KkAZ8fBQF9IlRrji5qppImnQI7_imtutMqGIE4xjTS0WLvhJ8A4JlAxV7wGbD8fAWVGJ7G0wJdj4qYsKX3JUWpaeg7wEL8DAW820oJBoDdT_HxEX1zmerrT3XgKCMEWSrYmhNcs67RA1HbPH8yLl8Zu9morrIBHRs7Pkisda3VQ0BqSxExcLj0HJjLDRNsQ2024RJTARt1xkcUxUpbN4vTXmjF85ks9t6ItjgR_Kjf-eVQnpLUHu5j_sbYgucs7PH6bjl4427njC",
  "id": "rs_089321a63a3a490f016ab2c9eaa0f487d0bb6413465f0c76ce",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.095},\"note\":\"The yellow object is over the open compartment beside the pale plush. I will lower it into the safe before releasing it.\"}",
  "call_id": "call_rNXmidMBsgex7us8wcofDJW8",
  "id": "fc_089321a63a3a490f016ab2c9ec5ee487d08fcc0282974c9192",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rNXmidMBsgex7us8wcofDJW8",
  "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]: [-0.2558, 0.7132, 0.5213, -0.2703, -0.4236, -0.1169, 0.9971, 0.5411, 1.8523, 1.1618, -0.0528, 0.2501, 0.289, 0.457]\nstate[eef_state]: left_x=0.2895 left_y=0.0031 left_z=0.194 left_yaw=0.1482 left_pitch=0.1569 left_roll=0.0985 left_gripper=0.9971 right_x=0.4476 right_y=0.2222 right_z=0.0927 right_yaw=0.1662 right_pitch=-0.1294 right_roll=0.0515 right_gripper=0.457\nstate[joint_eff]: [-0.212, -0.9504, 7.1863, 2.0098, -0.2418, -0.0562, -0.0171, -0.5812, -8.4718, 6.653, 1.8926, 0.1197, -0.0464, 1.0134]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e96c7a97664c78ef0a3648af2508de7edb3e0c9a8011275ca09ed5475f630197",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b36f19fe294757cfbed76e40b69c477ea31976ff7f658af61ffccf3b662c828c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3555be343de0208938775a51729bff57893105c171b0c5a292ced4a9be1ab189",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 105 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2581, 0.709, 0.5232, -0.2447, -0.4324, -0.1188, 0.9971, 0.5381, 1.7653, 1.4258, -0.3412, 0.2558, 0.2905, 0.457]\nstate[eef_state]: left_x=0.2916 left_y=0.0033 left_z=0.2016 left_yaw=0.1565 left_pitch=0.1876 left_roll=0.0875 left_gripper=0.9971 right_x=0.4585 right_y=0.2258 right_z=0.1945 right_yaw=0.16 right_pitch=-0.0699 right_roll=0.0724 right_gripper=0.457\nstate[joint_eff]: [0.1436, -0.7179, 6.9402, 1.956, -0.0659, 0.1392, -0.0122, 0.3487, -9.0051, 9.0051, 1.7802, 0.3004, 0.232, 1.0134]\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_gripper\":1},\"note\":\"The yellow object is down inside the compartment. I will release it now.\"}",
  "call_id": "call_GFnYu30ih4vuXUGUt0nBRaGZ",
  "id": "fc_089321a63a3a490f016ab2c9f0730887d082e2d94373cbca03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GFnYu30ih4vuXUGUt0nBRaGZ",
  "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]: [-0.2558, 0.7136, 0.5213, -0.2779, -0.4232, -0.1204, 0.9971, 0.5411, 1.8759, 1.1431, -0.0639, 0.2466, 0.2886, 0.9948]\nstate[eef_state]: left_x=0.2888 left_y=0.0032 left_z=0.1923 left_yaw=0.1493 left_pitch=0.1497 left_roll=0.0984 left_gripper=0.9971 right_x=0.4407 right_y=0.2187 right_z=0.072 right_yaw=0.1662 right_pitch=-0.18 right_roll=0.0337 right_gripper=0.9948\nstate[joint_eff]: [-0.1162, -0.4855, 7.3368, 1.8242, -0.1587, -0.0415, -0.0122, -0.0889, -11.4667, 7.7333, 1.7021, 0.0708, -0.0562, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c2418199028ff308b3570568d15353d5ffb71bd06082c97ef60ffcd49a5bbf6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55330458d10214fa3bf1bf1057d77857b1467beb5199875dc7e8e4cba93b87f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6efc59a1959d5aa6979fbd5ba1ee71f784e817ff29b97d4820689ecf5b7a39a3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 109 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2558, 0.7132, 0.5213, -0.2703, -0.4236, -0.1169, 0.9971, 0.5411, 1.8523, 1.1618, -0.0528, 0.2501, 0.289, 0.457]\nstate[eef_state]: left_x=0.2895 left_y=0.0031 left_z=0.194 left_yaw=0.1482 left_pitch=0.1569 left_roll=0.0985 left_gripper=0.9971 right_x=0.4476 right_y=0.2222 right_z=0.0927 right_yaw=0.1662 right_pitch=-0.1294 right_roll=0.0515 right_gripper=0.457\nstate[joint_eff]: [-0.212, -0.9504, 7.1863, 2.0098, -0.2418, -0.0562, -0.0171, -0.5812, -8.4718, 6.653, 1.8926, 0.1197, -0.0464, 1.0134]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssn4ZNB4hDnh5dSAcLJWkfklJn_XVemqC_HGhL-OzykOn_-7T6rmxy2joRf_fK__F-IPHqBAHJZWMfsxfa3lWejCtPNTMm6mraIHcUzqOOiQ15ou_HISzXaF7nKQ14ecQCYCzaVU8u6hoWm4KQutmprJGDM8GDHKqqh61s6Zr9t8kYDXZR5wy2LoBi3m20ADxnEquPwp4FA6ZHA7rXF7QyOiLtaoniate8mnLs8S4B4rKWp8cFekC0Ta275KkE6ZsqiBAWtqM3HVtcTcWAZYDvA0AQcZUWyLW86UnYUcekSKRIhof__h-mG8ZLhxeJKZyIpu5h2gglKe1TS68qx4XeA2hsZWGbktLCm0_KeeSkvh9drpZkv6uZRU6dBX3buUHL-s3BfFjjdsL1Aw9fcFVzQS6d0dHCCXD4EpMJfZpaV4VaAz2rmrUby-oGEqkPIcNaBW882Lb9Ldzyvi7Bj-geP6ml1U3GKg-mBKo0CANQ48zh11tW90xtev_zJZRweinosRc8R1zmBxsKUFJKbHPJ9ONxaYpxPSzmRFoK_ukod53w0W4gXCz9i5ZJABwOa589Mhft9VFHeolQ2-33iqu3bUIvFfBAgANLan09iAMG7LDzqoc2RrdA4-gLn70fsAwBxTmaposZrMJYana99gXm-NcO4Yqc-W9T_2FUvvuYcy-OB4A963vF0MVokex1OpC6xNVT0ctAnCixubxEMdGesT8Ljk1XwPHOOul6vlEXMxHL7GH17-jNaz3UJFffJmRJtRM-iYl6k0e_BePWBqGS9ylj8Id9jXNsjuWEyIbk2JGlxouO4oGAzZnKywM-Ql4TvJ85A2MyNTRmFFq2LBeeaN16Xtdyk0rznJLJCpVLNzWzp20fHhHa8xyMcV7X3HkBGLGUKPhlQbmm95834axLLsKyOhfYg_tNdfVTZTgC7mSq4JM33tmmPeLd0tjR4PltRglMvxWGjWGnYLIxzZIjJIF1PY2T0YCp8-EcENqdkUcGsH5oZ0WGVt1PBFG9tU1k82DjVJYgTQ24-Eidy-5dxlSexzilwbFAUVnM3qfB3KboapDG21Uq6v9eDdOLV13PIVhFHKz--R3CZ4LjGLiBIct-KP4k8vc3t10zKFjBHiGdPszgeHAGLuZff2cIIn6KFd7kgfn-WGDv_4KR1sY_hZCoCtCXRKa-MsYuLgywI9SBmk7Kg78s9xK6TT2LMvQERucP4DdIdvvJEO5Dt1HJfJ7ssKyABMLV5JHCZ-vqIkzHzmNLlHjNi5cl7WWb6aM3mEsbPsUO0Kth5WlT9ulNVbpjqVZFZzV3NVI6Hg-d2USFjDKfNeHmRAAWH4edBh53xDDG9ZtwfmkHl_GPcOOKwwGwq1Z5T3WyeHUdWNBUBtI9hPkO9BDW3uxn1hEmqUk9o4Z9fgWfhIsWcbjTMCkhIFLg==",
  "id": "rs_089321a63a3a490f016ab2c9f5049487d08d408ed6397e3b09",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.25,\"right_z\":0.18},\"note\":\"The yellow object is released inside, and the brown plush remains in front of the safe. I will lift clear and move above that last object.\"}",
  "call_id": "call_peCplbl3geRBns8W2rjAjBIJ",
  "id": "fc_089321a63a3a490f016ab2c9f714ec87d0b6d9cd09df4b706d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_peCplbl3geRBns8W2rjAjBIJ",
  "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]: [-0.2558, 0.7143, 0.5213, -0.2932, -0.4232, -0.1204, 0.9971, 0.7822, 1.5875, 1.1858, -0.4873, 0.3828, 0.4454, 0.9953]\nstate[eef_state]: left_x=0.2873 left_y=0.0036 left_z=0.189 left_yaw=0.1484 left_pitch=0.135 left_roll=0.1048 left_gripper=0.9971 right_x=0.3425 right_y=0.2524 right_z=0.1539 right_yaw=0.2011 right_pitch=-0.2175 right_roll=0.0114 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -0.4581, 7.0906, 1.8681, -0.1832, -0.0757, -0.0122, 0.1709, -9.5932, 9.5521, 1.6581, 0.3492, 0.0659, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:249b1ef9fb0c58d33ff2112ef73f6c760c50eaa490286cdc6e973b655443520f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a1cff156cc2e97e080ab97ad01d2df1e4a0a62021301f06d59a74cad82383b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b8bbe96189babab398ab456e9546001a55872fe7fa261714ab2381f05afaa1f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2558, 0.7136, 0.5213, -0.2779, -0.4232, -0.1204, 0.9971, 0.5411, 1.8759, 1.1431, -0.0639, 0.2466, 0.2886, 0.9948]\nstate[eef_state]: left_x=0.2888 left_y=0.0032 left_z=0.1923 left_yaw=0.1493 left_pitch=0.1497 left_roll=0.0984 left_gripper=0.9971 right_x=0.4407 right_y=0.2187 right_z=0.072 right_yaw=0.1662 right_pitch=-0.18 right_roll=0.0337 right_gripper=0.9948\nstate[joint_eff]: [-0.1162, -0.4855, 7.3368, 1.8242, -0.1587, -0.0415, -0.0122, -0.0889, -11.4667, 7.7333, 1.7021, 0.0708, -0.0562, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssn_gdv4uIpUBZ-3U4u9ouckiHEz7dIFPC9rRpf5Bsku3Y4qvgV-uNHS8jw09gmrtH_Obp6o_hR60rj7omqGDaT06pDNHA-uaCu0TQOOmbSFMrHxuvAEwHwzhOffSLf0nJpQiD9ARJjr5GuFG8H_cqc_6vG4wzviSOvq_-ktrVibWkXgi5CVjkA92E8JYx5mrL1DNtHtWFQ2fO-J_UHjZvBcJQO15SqhVyebjZ9UHHAY1Z3o6mDvnjY3d3NzqiBzteggVneQhZF3alMGBi4kjmAQuGaY-9wm775bhP8bqiSKYMmjgayJmDswI3Wgge_NaXrPqFiQN-kXERI9GZ4h8s-Hbl5GtbZDR-8HYIOrPU4mnkYaCvtlThzvPa-N7NJhTRs7cshQFfaD-G96Hle7Q9FGc1zknAHATM14W3ptumzh0NFmSI5lBIz6YrN0Tmezn04kFdd5mDnf3Wast4wTqZadoF8h6AnKLs_i4BJGUT57c19_71m1XJfz-y6Lw3Z2bE7OzblID7MO8xy1X2TP2iXLYraBbNRPhGRM-X2rrv5TzNW2CjC8OAg6Sn2s3DON2QQ25gyQUfUlW6kdILn5lgLAdRkcruRIMS8GvS0ESo7VecjNZDsuvJCN7KEggagyx1GN_rZckBtoW6S0X6J1Apw35nJqVRls9_oj7XRWmbE-Vn1Ec2I5Yvpew-WZoUDyCNe2hXUyTdvgMOaNZnCRLo6xzAuqpVn3hoJW0pLmLbB5UHiwYBsabmPJkqDGCauT1HUmD2giVG-2WMcO-IWXPAObuHelGKYNyIuHucAm_OpXcCFJeaXKvYzfb_vj2rXd2rj6Jz9u-t-unbevcITzzeogQr6-Z9fbpR-54EdEjCeMlv6oij5W9V-biSVirlAVSXKr9MsRQCi2qxVEkz_u-k-uKAOQcQJETay4xlbVcABfhGlmootHh-H-NllyiLBwPXHSHod0mD9S4jKBN1-5aSLDbB3xkO4o9XI2RzddicqWoAuLiJK7f4bdJ8sRqj38vWtvWGNNQki69TWh-EZjLfdrOiqUsoEtPuW6Nbs_1DWJyrA-0PGsvsBbtUSwsqPG9e9vG-6LRCGIWl7RpXaOgwI85IyPto1f93fMw65D18VHYJGVWYeL9CXyIgULjeO_gCL-3J8Dq5eB87-Yly3rNRE2O4n1Gh_11b7I0Wh2NczTROsZsaCFkB-r5J8zOxInEPQYURXKXWP7PI7SxUDlhZb-iwuZJdDusr5qd3W7Wmo7RqTJiZxYmeNpsWVIs3ab5NQpjXrWQGStw1vZ-rZL3rafaFmP8KmV6YLsoYHJzKettxDtaLPL5PDok2BpQDz7Gn2WdxtpvXIX3PekZbgX8LijQ0lWLqx3B8sEc21-t1BN43c=",
  "id": "rs_089321a63a3a490f016ab2c9fcb13487d0bdc92693f270cea7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.285,\"right_y\":0.285,\"right_z\":0.025,\"right_pitch\":0.3},\"note\":\"The brown plush is directly in front of the safe, beneath the near side of the wrist view. I will lower onto its torso with the jaws open.\"}",
  "call_id": "call_f7ghh2JMVvSBBtS4XKvX1T4B",
  "id": "fc_089321a63a3a490f016ab2c9fe0fa487d0b16ccd15c4283ad4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f7ghh2JMVvSBBtS4XKvX1T4B",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2554, 0.7143, 0.5213, -0.2966, -0.4232, -0.1204, 0.9971, 1.0996, 2.0006, 0.543, 0.9821, 0.828, 0.3908, 0.9954]\nstate[eef_state]: left_x=0.2869 left_y=0.0038 left_z=0.1883 left_yaw=0.1486 left_pitch=0.1318 left_roll=0.1061 left_gripper=0.9971 right_x=0.288 right_y=0.2865 right_z=0.0287 right_yaw=0.1925 right_pitch=0.2716 right_roll=0.0316 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -0.7316, 7.1316, 1.79, -0.1538, -0.0659, -0.0122, 0.4444, -6.1333, 2.3726, 1.1844, 0.1685, -0.398, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f7b696796e7dbd569243e6123505d6a901d04c1964cf7c5b354971e86e23588",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:748d78035dfca206963c9a03f363125247ec66f69f57c0bf33dde8a935acdaf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17d3111415e70ae621b1c48445fa153411927366701dbf7ae4242e972af95b4b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2558, 0.7143, 0.5213, -0.2932, -0.4232, -0.1204, 0.9971, 0.7822, 1.5875, 1.1858, -0.4873, 0.3828, 0.4454, 0.9953]\nstate[eef_state]: left_x=0.2873 left_y=0.0036 left_z=0.189 left_yaw=0.1484 left_pitch=0.135 left_roll=0.1048 left_gripper=0.9971 right_x=0.3425 right_y=0.2524 right_z=0.1539 right_yaw=0.2011 right_pitch=-0.2175 right_roll=0.0114 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -0.4581, 7.0906, 1.8681, -0.1832, -0.0757, -0.0122, 0.1709, -9.5932, 9.5521, 1.6581, 0.3492, 0.0659, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown plush is between the fingertips beneath the safe's front edge. I will close around its body.\"}",
  "call_id": "call_i97UrC7G1IRBypdY3hZ9xKIF",
  "id": "fc_089321a63a3a490f016ab2ca042a5487d0a2ee8ab0797344fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i97UrC7G1IRBypdY3hZ9xKIF",
  "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]: [-0.2558, 0.7143, 0.5213, -0.2974, -0.4232, -0.1204, 0.9971, 1.1023, 2.0045, 0.5396, 1.0122, 0.8268, 0.3927, 0.0212]\nstate[eef_state]: left_x=0.2868 left_y=0.0037 left_z=0.1882 left_yaw=0.1481 left_pitch=0.1311 left_roll=0.1064 left_gripper=0.9971 right_x=0.2877 right_y=0.2885 right_z=0.0315 right_yaw=0.1899 right_pitch=0.2852 right_roll=0.0526 right_gripper=0.0212\nstate[joint_eff]: [0.0068, -0.4855, 7.0359, 1.7167, -0.1587, -0.0562, -0.0171, -0.335, -8.2393, 3.6171, 1.3651, 0.1441, -0.0366, 0.9597]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:527e0063c4db318de7d92427e3dac86e0e6dfa968f4a20768a330094dbb107de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b4a9e6484b47e6c7486f19aab4b9b1a74b19072aba3f0bc5fa35c4b9b8e1c04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15065e07ee8214a0db52dac5721e70a129111cc2037cc3dc61dfee49c4c9213e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 120 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2554, 0.7143, 0.5213, -0.2966, -0.4232, -0.1204, 0.9971, 1.0996, 2.0006, 0.543, 0.9821, 0.828, 0.3908, 0.9954]\nstate[eef_state]: left_x=0.2869 left_y=0.0038 left_z=0.1883 left_yaw=0.1486 left_pitch=0.1318 left_roll=0.1061 left_gripper=0.9971 right_x=0.288 right_y=0.2865 right_z=0.0287 right_yaw=0.1925 right_pitch=0.2716 right_roll=0.0316 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -0.7316, 7.1316, 1.79, -0.1538, -0.0659, -0.0122, 0.4444, -6.1333, 2.3726, 1.1844, 0.1685, -0.398, -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": "gAAAAABqssoMvDX6j3FkNNUuEUCjU6fmLraBiIE320D186g-mfsSAViDfXAvtYeBt_7cFPBQaGteoAVuj_AM2WQcv7gdMEfZf_EJWW-Orn0k8hX8BIhyaeA6usgWHJyaU6BU8LNvcWcml2RtTOUzbXdjfc-rVK-_V9UKt_tsa5ijvzHaHn5sDaWHrPKWM-b5vr2VyIzCzCdOTrSoH6LjuvB8JGentR5MuW6WIYAycWLp8SayGtNp23ZFFpy5sURhlTo6x5FZK4xEqKA8alhQuKLSdZfQtDKIXBMPTJc6HToMczh8hsVILdcpbuyqhbmnm6YBbH1HZ5-T7XN-N8IM7aaFlro9Ijlpg_4CMA8c9qMGAaP3JjtNbczt-gw9xuSimKha1a7Xzg5dNy_0NI0UqyNHjacPC-4nhk4Z5wGMR8MkDuJzL2d7Obd8YCNL8ZGSk-sI5JnKpmWlu-MMMgJQaWOa5DZ_KNSOGJhNAa9r0xzhCEnLxGXgSo8yRL4R5Gymeha88DI-IzbTGXcpKHDKZA3ZRn6TXrzxmL2EYzqERC4L4IaWcnsK7hzjU32M_LDDKa4cNQCVaYNcLiNbjjuWCMHXaYFNbCI4dqSE-Cm_6y7zA10_GL_TnR0LItkR4R9HvZxPf8KgGy_ZpbkJooOp3FMNg6GIeLHzA3M45F8xnrJPJ0mUV9B2wDLrI8o47bDWiAO3BjIxrfC3M0CM25piy4qFcoEAwjQJjeRNxLi2jjX1mocB7xuZQFq6xM2ZL2f_MJuooukAL3yBSRNXu5i5rShc6ExpMyedyRAtKwhstBhADxzJVZSici6u7a9kL35EYamxoHy7p5f9uGt4hGWtU-y3qD7sT2i7uSMaZHximY_nmMakf2QoYwAMpnj_3k3jM8Oqbod1Ec-aMhsNu0ZCxvmWfxaxFHP8lUKXZYW7XO6CspZD55v1EUUJKtZrqWnN5plw6wfvJ20JdhG6OiyOvZ8gMOd1uv6vXuPuyStJvx6_eqXGYBruop0x-LnkYNBaWBIfjufAcxjn8lAI9SLOAAAfwXScskYkP6XTUFuGc1rlpF5NrsY6EK0o_u0VvOy_PMooa7sT1HKIff8mNwIHXRANpaurZb2c-hE5x8BZY9iZSUxgiOFS11SyRvOUlZXmzga6V4KrjN4e68lhZvM0kdq9LwFUw0WFf6Itp9x1BwE88MzSfMgx4PJ-K0ttQtLn8Zxzacgq4mR2H3Eux4BHMWLpLI0I47fTHCGKTurN9yVuQaVIgjxSBeDIRPxp1cX2--HCdBYLLBXizyndAGzONcmeeVvE849btNswX1w1pTTl_fmq411w6kw=",
  "id": "rs_089321a63a3a490f016ab2ca08ee6887d0b42020fdd015e6d6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.31,\"right_z\":0,\"right_gripper\":1},\"note\":\"The close was empty; the brown plush lies just forward and left of the fingertips. I will reopen and make one small correction toward its thicker centre.\"}",
  "call_id": "call_rDHBSu0cehttDEFl9b5HRZOk",
  "id": "fc_089321a63a3a490f016ab2ca0a714c87d08383f9ba8b78b7ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rDHBSu0cehttDEFl9b5HRZOk",
  "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]: [-0.2546, 0.7143, 0.5213, -0.3008, -0.4229, -0.1207, 0.9971, 1.0496, 2.1765, 0.6857, 1.1484, 0.7891, 0.3664, 0.9942]\nstate[eef_state]: left_x=0.2865 left_y=0.004 left_z=0.1874 left_yaw=0.149 left_pitch=0.1279 left_roll=0.1073 left_gripper=0.9971 right_x=0.3213 right_y=0.315 right_z=0.0245 right_yaw=0.1563 right_pitch=0.3434 right_roll=0.1265 right_gripper=0.9942\nstate[joint_eff]: [-0.1709, -0.7316, 7.0359, 1.8486, -0.1587, -0.0757, -0.0122, -0.6632, -6.2291, 3.4667, 1.1648, -0.0366, -0.1197, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3562801711e653ce171ed82e4310578babc81889116fa571240595b0d7fbfe50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17a3c2a397a8c81e98dfd65bf35de9c225071f59e53782b53e6c505f280bd040",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11d076cfcdf2fe32950b2a85e301badf86d2e4322fdc00b427203a0e7b7e0249",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 123 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2558, 0.7143, 0.5213, -0.2974, -0.4232, -0.1204, 0.9971, 1.1023, 2.0045, 0.5396, 1.0122, 0.8268, 0.3927, 0.0212]\nstate[eef_state]: left_x=0.2868 left_y=0.0037 left_z=0.1882 left_yaw=0.1481 left_pitch=0.1311 left_roll=0.1064 left_gripper=0.9971 right_x=0.2877 right_y=0.2885 right_z=0.0315 right_yaw=0.1899 right_pitch=0.2852 right_roll=0.0526 right_gripper=0.0212\nstate[joint_eff]: [0.0068, -0.4855, 7.0359, 1.7167, -0.1587, -0.0562, -0.0171, -0.335, -8.2393, 3.6171, 1.3651, 0.1441, -0.0366, 0.9597]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssoSlfbtvOlqaOncA0GkmyyIXnbPwv5_AczZYLT0Y1A-aJrFaCGmucpGZWZmIbIqC6Ub-RqpkZkaqGgTWxQLpFV9OmT5kCMBCS-QmlKghFSiX-Izmu0rpDemnq4rEEfd-eAG0rxtixHQJVkyFuCX9rMT685XsF9I9NtUHIJ8MRgtuz3g2tLQdmXIVnmcK38hMc2de2mg5etv5Vt9I432iPuyzjNkqE9QeEiblfbVEzyrSK9GMjJ9Bzyla9Jq7adsYHsnueN6uMUXhUjc--GJiVEOzrZUOzegGvmwVIRknyaBmZLZqIcpK9rA3OYJoI0fMSe5bXkvkJe4I9vNxF-u_2VBCWGeZ-G5clte0_H_pjUH8dF-uQKFJceRxYFf0dL58IeP8jbJACgqHy7nEXmvVrlVecKH89g7RxVqIz1BzUYVDmAHuVO9g4Ukx-11yNAuc-xdjKrdxRdBI5t5fh1DxfATOas-sUhrg4T28coGn383-LJecTREpueBmAQ_F7GO4x8P1grCIS_hiUojz1u1KbvVRMnkMVhREGC_NyYrO2nLAz3het0h8xdGwLlrqm-1pgM4Lg8QJ685N7Wro6SFF5jq9F8t2oCk7xU_lKl-v5fjF4mY_8DZbc8lmIMIXHYwT14M0jdQkvS-sHJug-KvEfV__KGiNIE2fLhKk__yikIIfAGmYHRU40RSOVEL5ZXKZT_pCecomLT6UBL0KC3aD2QqNOgR8DWxCi80jnodvlRYaSf5lPvkAGUGj5dY-DRXV-xW5botIXVa9tK2uzVLZQLpOW-fpMTo7UdcolLZbeAYS7aoSpcOAEodCRnExYGirjMpfr4YNzYF35ymu4As6rb1Q-Mh1LZRsslvF_UNs6Ab-kS9KasAq02T13wTRom3ZK8MsCz9pGH2mz_Z4LYOM_8cZUNEiFyeNKtNUtMgwI8wInb6Z9t4RHvWC78sjsXgGkgsHyuy5H8k3VZMiRFeROqoYlWmXttyakUzPkcPHwSlexYHthBGeamoG923g1bTH3Iry0TGrlu_aBaqeRo9aFUp15T-c_Hn5jz5mPe868Hm_PxR0mYfOVF_SJeLfgq4vUY9odDlr-eZtXN9cjl6hgzok4avr4A4hewZTyyLzKmWiY6H_Putulj_SofXr4Kl8wBCl-roGe3bT9XICv81nWoFZqajW3S-DCKVL7HuFSSSS7OhgZLgSsjkmfIcyrRI2Z5Q575VfdOF7dSIuA_z4ye2ng==",
  "id": "rs_089321a63a3a490f016ab2ca10490087d0be049c38143ec9cc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The corrected position puts the jaws around a thicker section of the brown plush. I will close again.\"}",
  "call_id": "call_MOdyGNBK8l3obUHeeRKwbtg4",
  "id": "fc_089321a63a3a490f016ab2ca10eb0c87d0b87fe428f4876d1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MOdyGNBK8l3obUHeeRKwbtg4",
  "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]: [-0.2546, 0.7143, 0.5213, -0.3012, -0.4232, -0.1204, 0.9971, 1.0523, 2.1784, 0.691, 1.1946, 0.7895, 0.3668, 0.0172]\nstate[eef_state]: left_x=0.2864 left_y=0.0041 left_z=0.1874 left_yaw=0.1491 left_pitch=0.1276 left_roll=0.108 left_gripper=0.9971 right_x=0.3226 right_y=0.3195 right_z=0.0337 right_yaw=0.1438 right_pitch=0.3743 right_roll=0.1683 right_gripper=0.0172\nstate[joint_eff]: [-0.1983, -0.7179, 7.2137, 1.7314, -0.1832, -0.0269, -0.0122, -0.5402, -9.2786, 2.8786, 1.2137, 0.105, -0.0024, 0.6618]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0e25b4fb2b4fb713796a5d4a0a63f2d09a5052af166a69e25516e49bbd0c0a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d15fad169069f96984a8abb58609544b1cac8b13ecc3447fd8488a201aa43ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c2bbdb41dc9ed7cf28c0f9856c58d8c56f0326a5bd1c2130e43ec14a87ce8ed",
      "type": "input_image"
    }
  ],
  "role": "user"
}