adhoc

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3897, -0.0193, -0.0368, 0.9993, -0.0208, 0.7937, 0.6083, -0.4015, -0.02, -0.0185, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0013 left_z=0.1785 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2924 right_y=0.001 right_z=0.1776 right_yaw=0.0007 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -1.347, 10.2085, 2.0098, -0.0611, 0.1685, -0.0904, -0.335, -1.4154, 9.6479, 2.0635, -0.0659, 0.0269, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66bb026225bb7987f2b025d821a4420695bca8b906afa0442f54a60626e92be7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0da5a954229b3479013099afb2e31527bdc665afa592b5254a61a6e46aa34e1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f143e2ee73779889f3860baff5a00ecd1961409c5b3bfe9a05e90f1c22b41ff",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqssBTIb2sWiQPuc09GmM73LHV2JP2T1mnufmBwHlHSPDXFf_zn716JVW8JL3zzwKzDVHanh1Ff587WO7mct4ahvoXEng9jozuNFN0OjkuO_kLGaQ4H63A8hnyD3r51qXu44TDoZLSJxSvcOZqtnOdGJsbjZReAnl3XPluHm8jqL4mkWuOKlnRWeNou6oj5GHEliFpFJ_RCOajncFACQZk2MySerO6S9jd3svIgBo19mv0COYr7f-ZlKa9gY68vcU4_ZPwGu4HG9dhFJxVMvvpPH4PnnYz25coGM4_Vgf1q14bRIPR5Um441U8_3iTKcfjZGV-_p0A7ROPT1ac8XjOzi-92PP4pRFn1w_O0t4xsaO1a_Z0haL4Yf1kFxNPS42NH0MEDHiFIJXXUCxd5_AzVyycRPq8x0BvMWkV7W4WZrXnr-hv-iOwpzSfkOQAzp3ykxbDPXQ8hQ9gacAT6BW8VOi0yRNE5CZltDEPfTpg_RpWpDmEYs1tma0BS8QLQRnmv98nWhISXrz1eOQDCIySHR7UQLOIeg8SbGmFsjtojc-wy4dqC4ym5qiL-LfKpztGUXBN2X-n0eF00q-AG0ah2PZS0LkJLhrTBYgJs6tugkGEeUgIimdyHMP3_SqEmcMo6AH0A3h0E0o0q9Zs2jblj2hEP5AO-gkg4BnEatJFRp7ATrEiW_FOI1kKBnGbsWPnIqum1DNwtZ_QxEy13mVzZRHgy1KOGnXHFWhuIoaAjf11owwkux6FIeaaIl3o6hPkSY0j24TXgj0TnH5s3rqU9CGQs-5dbckuw8jIcgUxlLCnHbMlraTl6PhP17ghXVLIp1fJeMzsuyv-hvJQsTx7s9y24kBd8Tec81UrgYElxfUOoIpFvfH_c4QBaQFCqc3aZkOEpqJXAMJUuY1yvhkzJzU49NmRYRjfwgEh_F_JCJW4KZEGKKvvFqBEPeAzskghHXCaeyOZNoPPPjiddXwE6w-FAiA39PZ20pCb4g4G85F1BKfJWpf2tfTFMzdvu8pUpJ7FpmbBkX-m2oKBqIIkgb-oxaO8s-HmChK9H2sfMUtbEXB13m2XXwO204ljEZ45T4LxXJ3SNS3HMkTDUtIrN8DhfgpKcqJInxe49kcC5B5XfEstgay97lZzoLjBcg5ZvQVn6aVMp1wfaVLWhIjP7FJbm_K7YgptNrm2_oBYMd7byULMqwD8nAHEnmEpWQRakgsQljZjk5lP0puDo4UxMxSzC8Be8XYKpOvqkU2e6LPWB1hgl51kVBDtOqI9sODqAaQ9sEzbdJ_v-jP1xB8v8QZ-nByfwQCQfcehrkIAeiGASzST0qp_4C0U22Sb7Fk9cUEaZ7GMRKL77K-uKGCEl_TAOBcUPepEIjbQZa43Iw8NxrMASNly-7b2qZSyhpkQPHaURsOFtfOPCjhJF7f6a2kAmsVin12qZQEZUH2xiZc8QPNbUrR5KKGgCblgzNVCP-7rkXJ3jTvRrUGIfg4hWdDmE8VEfqOtxoHfn0hClQqiaCkOfPVnaVX7ah1wVhwNwY631keKzpUzlRV1yIHZ4x-hu_Eu__wlXguOE3f93OBDcOLkJ2Ujw3KzO25JGnE1_pS0xfQStjlXwRWjATetZTdK6ZQGWy4xjTyS3Yi9yrcpni1mFY_Ic_-23eQgLCoRGNzI",
  "id": "rs_0e7f962b9b7961af016ab2c04e722087d0a2b1f5ebebb0174d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.14,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"The safe is open, with a white plush, a brown plush, and a yellow object outside it. I am positioning the left gripper above the white plush first.\"}",
  "call_id": "call_3w1WMCFfTDzvLBNLGDtsnn6g",
  "id": "fc_0e7f962b9b7961af016ab2c051dee487d091899d4adb41600b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3w1WMCFfTDzvLBNLGDtsnn6g",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6605, 1.2263, 0.6773, -0.2169, -0.5125, -0.416, 0.9993, -0.0208, 0.7986, 0.6128, -0.4332, -0.02, -0.0181, 0.9996]\nstate[eef_state]: left_x=0.3181 left_y=-0.1329 left_z=0.1287 left_yaw=-0.0282 left_pitch=-0.0716 left_roll=0.0388 left_gripper=0.9993 right_x=0.2888 right_y=0.0011 right_z=0.1719 right_yaw=0.0005 right_pitch=-0.0324 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -4.4239, 9.6342, 1.7167, -0.3443, -0.0269, -0.0904, -0.1846, -1.6205, 6.6393, 2.0049, -0.0317, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b9e9c0d32298ea9d868dd60231b54866f8c5a4feee67115512b8247027b8c75",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f1b182c644e26715b8f9cecc0571fd2e01a18de7cba8236ad709cda10d1e915",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbf4235a010ddacada568aa1421c1b58be38a7fc506fd2c209640cf6cddc5627",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3897, -0.0193, -0.0368, 0.9993, -0.0208, 0.7937, 0.6083, -0.4015, -0.02, -0.0185, 0.9996]\nstate[eef_state]: left_x=0.2935 left_y=0.0013 left_z=0.1785 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2924 right_y=0.001 right_z=0.1776 right_yaw=0.0007 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -1.347, 10.2085, 2.0098, -0.0611, 0.1685, -0.0904, -0.335, -1.4154, 9.6479, 2.0635, -0.0659, 0.0269, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssBZBnk9KeXzFdEMP2qCEVvPG-jT4Psz0XNaahIMYYGiDtWMhvmFp9OWialLQxYkxvrdzYdH3a8u5LSRp5qGy43Ls98ooZOIuQXgp60TL8VMY5YmxKJqNwb4awnjoyVTBYjb5DRk__wlxCRFUoORCKOMTx2VcZ_nXXQbW-3LqZ1lFxS65l1MDMWRzvH2HM7DjlCRuh4d0gCFiWCjTFmZ_POKaAqzdxLQMZTu2VdmVT1dZiK7b3ufGUFAPtJ6C1GOwz0_DP7D9p7OTI8ofGr0q8WKaTRfMo8jMnSMU9YAiqpgHQj71WhbBU4_4YJZPlUvEW4fI4axzqptkmQX0EmEqZamW69qmlaKbLeTmi8VoNHUFLfjrBDmHMwiC6Bo5BondZ5N_X5vCb05h_akdDm3Ghg1yeCZ7RHvDSTIdg5jDJKC2xM1J_bfodu5r-7t8kiCCWicn406Lbe-OoF8PIHQREuOn8_EsFRMX8cHGrJCQa_57UG1hn3XQuMRHdLjegTN1JcOhYFfUrD0HmAcVdRlQSp3KggNBI0j-GlzrKtAk4qwD-z4Z-MEtEtcy-H74Kb0CE5RDG2cnRcXlvU7JhXg6agq9BVpGRGbM1Pjl4AnZ4xhtYXdvoprTNa4vl-Bjq3FArjrBl5j3i5qUUuatkgEqQc86nn06Ir_HpVKxjuwnPgYw3rFs3p7yIC7P9Tj95ABCBhzFmRYuH9VvUUCk4RcjgRe5XgkPjbljaahFCUE8aAzbAzJfZxyNPCB6sGPSwRHqQ3DtE_nmjqCdkZNfdQ4ll8DA8eAEj2_vSTyQjitbBKGmzq6bmkoxYBy0SqTExhvhZ9tpXJOKUFCTDQL4FogSus6DIHMfoBUeqbIS-BPhAA9Af9iGne1IkKkZzE_fGhwfmGP5C1uYjVSbMeqMtDptMQmHP_3NEGObb50sJcg8ZnHp2_ihbrTdxmFdRQMnQ-nS63MaTZMxIO-pAwO8zXQ6OXY5bA-Fd6rmOjvU-WQ3JXVvTpdMFW1-aqFVgzrOtL4yzeO45xIZANYo86n6_4n3ahHhZgQAbfXFFByzF831gXUe21hsHmCMIUC9of4cpWSRQJQ-2CgeEHa4qpjOTgylQjN89Ror6WTZMLfNvsG-hhZtZiSntzRqz-DmjIouHfCLIXcNX_vt0qejjI2yCflEjSQrivDR4451Mk3eHZ7aYz3UTZmiGm6FUMhVjEIN5dN9q9CY1zICcs16f90jzkYG7aDbRi5WhqYn3AebsiZx1umzBcokN4Ju8gsGhbSuhoCA6hN51i1mbZWRn_RBqpxckYFaDo4f2x9yZksOdqpf88TcNs=",
  "id": "rs_0e7f962b9b7961af016ab2c05685b087d08d27ac32c5519740",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.11,\"left_z\":0.045},\"note\":\"The white plush is slightly left of the jaw column in the wrist view. I am shifting left and lowering toward its body for a centered grasp.\"}",
  "call_id": "call_4VT6RJfQS9YbjTpiVDWnzDxC",
  "id": "fc_0e7f962b9b7961af016ab2c05802dc87d09b5feeb2979b9a27",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4VT6RJfQS9YbjTpiVDWnzDxC",
  "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]: [-0.5102, 1.4948, 0.5011, 0.181, -0.4217, -0.3279, 0.9992, -0.0208, 0.8024, 0.6056, -0.4549, -0.0193, -0.0185, 0.9996]\nstate[eef_state]: left_x=0.3363 left_y=-0.1013 left_z=0.0349 left_yaw=0.0066 left_pitch=-0.1491 left_roll=0.0785 left_gripper=0.9992 right_x=0.2849 right_y=0.0011 right_z=0.1633 right_yaw=0.0001 right_pitch=-0.0652 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -5.8735, 5.0803, 1.8242, -0.0269, 0.105, -0.022, -0.0479, -1.5521, 7.5419, 1.9023, -0.0269, 0.0073, -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,$blob:da56be7395a3a5d11005a4e8e1dff85c87337769e33c514d3bd9cd5b224a11c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d2b573ba83f36d2cc6c91431f2db38b8ce7edb0ee96a8cb3c4af5ae44c88609",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c9dc8234e3a096d3f10c3a39906113b6b4c2ea7fb659cc19ad0c7b805a2d2b2",
      "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]: [-0.6605, 1.2263, 0.6773, -0.2169, -0.5125, -0.416, 0.9993, -0.0208, 0.7986, 0.6128, -0.4332, -0.02, -0.0181, 0.9996]\nstate[eef_state]: left_x=0.3181 left_y=-0.1329 left_z=0.1287 left_yaw=-0.0282 left_pitch=-0.0716 left_roll=0.0388 left_gripper=0.9993 right_x=0.2888 right_y=0.0011 right_z=0.1719 right_yaw=0.0005 right_pitch=-0.0324 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -4.4239, 9.6342, 1.7167, -0.3443, -0.0269, -0.0904, -0.1846, -1.6205, 6.6393, 2.0049, -0.0317, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssBe0ymysuNuO1BEoFPiGlKKo6hyY2Kqc8Z6N7P5HGFZvSFhGvsky95zE2L-w_YM0s1DnG7-Hd-W06Wvxee9LDTmXSO3Tuje4dzrxQwn3nNakLRfxGggkUCmWQKf89lfgznhcPKSvQaMdWXVjNjw5-jfGjxULlYkYbnlbOOq3ngpQnKhNmpYRqFj4ATP-uym_y-LMcemIp8ED_q-cUbohdK2qMwWZnjsaA7cgFFi7m1B0nCrJJxXiaEwhU_AG6HhiMNvr7eRhsLuAOi6GSLHs1Roqy_QvEIduvsq3JyZaOaZN_AGQgFMw01p6KBoAMjV0AHBu5NpiMA-bIeR9-nPSPeNkC9NAaAG_-02cpK406c6ubdcq6ioby2DQudOk5zRP9boIYXRQs4aG-stj3LNgwgXYh5GMT7AJYAGzlQgXiXSICrUs4-Q86dbgIF34ezTNZfQMUdc4UiAVtiL33AVLEmHZnhAcN9_U9rzSZ9MrDlqQ97DtvgKiLN4yzSoFHGQXL1PNk1A3LD83pYMEQE8RrjvQRYAydS888_SCL889HNSP-yoUPWQ1lz6Hs2HUox_MTePUq-bLVALCXUDa-pbD5bnWe2qASuZfJPOPHbRJksIOr2ZfiiBY9krCAATbC05M76qzcz8KLjvDrRJlrvOeCB96bLsR2Et2Og4I_3wC_-yRkjEAkBfNjQAend5nVf5nEreKNroVp6CWAscfcluEK5WbB_q5rh3nioisUYOwsfzH1mwLGjutR1tKT1bkJFkbyTpHpmOceWuR16oAsH9wkuC3kE4CDNGxjd-N2j8J7xyc7cMRtIcDrKbQlK_rvZG8cHeL-xZyyLKNhOFGak2_J1cd3WfWaBlje2kbkNVkF94f_tjS8ngyUhuCm6IUL7lor5eF8zgZ5CDgWht6CYm-iWIV5V2JLOE9vgPH4PQJnqbADkgPzi9zhbf_U0IeaNkhlr2_lORI2IC3RG1-I80YOoT5fFaNo6voceNhIfwb9cZH4dQfwnLDxMwiZp8bq702N8zXDnRKoYxJ4SEz0Mw-EWSDKo1KMXCHdwakzptdp6RcSoXXHgMadvDe7cqakCQjcmfI3JzcqMmNaQULGe6yY9uCmAPbbwStlvZw_5kXZfSs-4Jvj6rTXYpdQP0v1jP3TOqHvAoj8eVUj-5t4BpJjwQTpH8Xb1qmWhvJ41VN-jbPcd5SpfK6GCG0QdQTKBgqF3AqGa-gptpb3r5rR5m44FtEyT6ZU7R13UDdCZAfLnZw2LGcPmmGy-Zk_J4YcajI3yn",
  "id": "rs_0e7f962b9b7961af016ab2c05bb32887d09c406e68f25ecef0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.09,\"left_z\":0.02,\"left_gripper\":0},\"note\":\"The white plush's torso is between the fingertips but still a little off-center. I am making a small lateral correction and closing around the soft body.\"}",
  "call_id": "call_ecVLY1p3Q4EDXDjURYvBnFla",
  "id": "fc_0e7f962b9b7961af016ab2c05cdac087d09d46561a14403e71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ecVLY1p3Q4EDXDjURYvBnFla",
  "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]: [-0.474, 1.5246, 0.4595, 0.2672, -0.4038, -0.3038, 0.0166, -0.0208, 0.8024, 0.6056, -0.4782, -0.0193, -0.0185, 0.9996]\nstate[eef_state]: left_x=0.3371 left_y=-0.0909 left_z=0.0241 left_yaw=0.0145 left_pitch=-0.1434 left_roll=0.078 left_gripper=0.0166 right_x=0.2813 right_y=0.0011 right_z=0.1587 right_yaw=0.0001 right_pitch=-0.0885 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [0.6496, -3.9863, 4.7248, 1.5311, -0.0513, 0.0366, 1.0574, -0.0615, -1.1966, 6.9402, 1.8828, -0.0024, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae9cfb911a3388a50f50799e9742fd41f67e246566f7b2ecf3107bd6a55621f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc85ec7a2f9fb806393e89147605dc2c99465ce03bac2af82d256bf0aaf8dc26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aeb4e8bbe778ac86accd6f917ea149730991b5650dad3907b5fcf63b1c3246c",
      "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]: [-0.5102, 1.4948, 0.5011, 0.181, -0.4217, -0.3279, 0.9992, -0.0208, 0.8024, 0.6056, -0.4549, -0.0193, -0.0185, 0.9996]\nstate[eef_state]: left_x=0.3363 left_y=-0.1013 left_z=0.0349 left_yaw=0.0066 left_pitch=-0.1491 left_roll=0.0785 left_gripper=0.9992 right_x=0.2849 right_y=0.0011 right_z=0.1633 right_yaw=0.0001 right_pitch=-0.0652 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -5.8735, 5.0803, 1.8242, -0.0269, 0.105, -0.022, -0.0479, -1.5521, 7.5419, 1.9023, -0.0269, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssBkA2aoFVCJMrIhT9LQMD1DgMyvQ2c19o6RHj0JSX5ouNNKdUUsL30mFs-v07HVqeyY0hfS2ecbK7JHrbSPOP-2Xi0oBSJI-mL0y0xm1myTt2cwKJMvqyrzaguLd-y8arxuvQAddEBmu9HGMxpfHTnqhM7rwXDBNVJqWF1szhNveUNX3yu3RHOjvAIPx0i5dOEK1xU2yiOr8wBmDLRJzI3h5WsldEftTptdhpjZi7BakoBRwIdOjA_FH-tnK9AgrlRQpbrbTRjwYtG6x8CETa1QzdsBYb4FuFl3q4rZthxc5NCBnPhgOFCfuhzNhEzZjqz2oFzAMih5jcEiBn45-pDB3nN4euNcmXB5QtQHpFy-XmUjhmdiB1p30Sd_0LX3u7w_EQ0s79DaprpIjzWHROFc1kGQpl91SnT-A87rEwh8v2GwbmoS0E95coZLd43rMJhtSa-2jeC_eR6_w7tJ43ZqmjifqcgsYzKnO-MbouBKWm05n2Cuz4uVzuFldMmKlOXPCo9C8s_7U4HozNU_V7SrNgd014vDHcq974qQNDgl1inS2F-aHHFCjVKT16ZMWOqFhWjCJlYWKx3se98rc1QVh8z-sC9UYHD65--cHaRciGSBq5rmvwjCiA2uRtCzLI5x2sxfk8c2UyRMpx6ZqTNiBWrtAKILkBcSF8OcixfD2y9TrHHn6qfrnqxWYRokN3wphFI4cMjE4wHzLmETOyAQK9MeU9GdOpgjIZsRQjAVrrE1bxE04f2ld1nJ16e8znaO9Mmm-DixbrKKrmrh1KSGQmp6nsv9NdLvj2KDX93nV5pByvtm0NjlQgZ7Lk8Tjpl_3zaSKspXSj66xIPVAzsX2RWHPMOXqNG7akPKNduK63HvI2qZwDCU5MB6YWrv2Kxz_ankDZ_KoAh1XIP1vdV5GXnHaxCD6Hgrcn2z-UxkWIeia-ZMlQRZxIf649WDcVVBqaa-vyX8ZDtO_K4IrnSrfEEC4jrdNl__fjDlRqM2RtObU7CCVETbQJVg7X9B3i6wSUN5d8ORW8BtdnXhme2v2W4RgG-cxjZXc-SPq1SZXLPYikkUsLWDeAFPOHvpuoegVqor_ICGaG8s8lJYv_jdc_g1Qic4hn6pOYWqqaABCRecOpV4LQB47VB1xk353FVduWRYcDDHMr46cJIWfsWich9L3TWq74NTsor7QiqTSaqSkqKY9liSq5yEuLpFt6JOLogxJcd2dBCZHOuhq7jW7A==",
  "id": "rs_0e7f962b9b7961af016ab2c0622a8087d0aa16fb211da48a89",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.39,\"left_z\":0.018},\"note\":\"The gripper closed nearly empty, and the plush remains ahead of the fingertips. I am reopening and advancing several centimeters to put the jaws around its torso.\"}",
  "call_id": "call_YtNyqf3TOB79Y9LGFMB7S5jQ",
  "id": "fc_0e7f962b9b7961af016ab2c062ccc487d09293b5c9eeb8286e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YtNyqf3TOB79Y9LGFMB7S5jQ",
  "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]: [-0.3912, 1.7081, 0.6022, 0.2932, -0.3656, -0.2577, 0.9953, -0.0208, 0.8078, 0.6056, -0.4999, -0.0196, -0.0185, 0.9996]\nstate[eef_state]: left_x=0.3779 left_y=-0.0837 left_z=0.0109 left_yaw=0.0425 left_pitch=-0.1713 left_roll=0.0945 left_gripper=0.9953 right_x=0.2781 right_y=0.0013 right_z=0.1532 right_yaw=0.0005 right_pitch=-0.1156 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [0.3077, -5.9556, 7.0632, 1.7949, 0.0708, 0.1343, -0.1099, -0.0342, -1.4974, 6.9265, 1.8291, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1583e78e88e1bd30d301435cd5a2ec8989992424ef41097d43fe1f18843b5daa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2cf2c125ea516dd6a1e0fd718ff59cff5ea1d26b157294d5989ed13bb144ad4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7bce34bead2db012d9a4871e3f2c23207f507b35dcd34c26ae73c0e373aceb5",
      "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]: [-0.474, 1.5246, 0.4595, 0.2672, -0.4038, -0.3038, 0.0166, -0.0208, 0.8024, 0.6056, -0.4782, -0.0193, -0.0185, 0.9996]\nstate[eef_state]: left_x=0.3371 left_y=-0.0909 left_z=0.0241 left_yaw=0.0145 left_pitch=-0.1434 left_roll=0.078 left_gripper=0.0166 right_x=0.2813 right_y=0.0011 right_z=0.1587 right_yaw=0.0001 right_pitch=-0.0885 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [0.6496, -3.9863, 4.7248, 1.5311, -0.0513, 0.0366, 1.0574, -0.0615, -1.1966, 6.9402, 1.8828, -0.0024, -0.0464, -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": "gAAAAABqssBqk9og1icWEBiU_dfvsh_0tGfO5z_kFOwPqg1ETP6RSZhwGunZS8jeVmvNgD9hM9bjv5mpvU-Yt7kb3yj8uJ6_I2dsH9g_ieam4m28K2hucDaHrYXFfPKwziZ3gZqeBoYAt52NpthiOiPh7TiBQYefNeQBdSO-q5NiT5JPi69rB-WbpliUoUaoi3SFzXIttOlVBpbHdjWoGFLIVkA1Tuy64CWOiV5i18nGT5wWYK5ooJHaVDcuNKBE1FqI-fk_9PxFFst__fctxzGK1aDosElCWFr7oisAgjUOrQdH_STQPb4JSfDHWX89PCW1R5V-0mfOCtjO7z2BlDanJyGbn_1SPAOk55bL76M0dyrJnfd-9E0pPz4bjs6rvQ_n-4Y6J02lVcOr5a_0HnyTpbdpauEZTY0XCqPEBWEn7imUazICua2tBzhfGwFGZ44o29TZjz2V7FJaP1u7x-ibi7mfRgRnRj6zrvw7ZLSLSlK1fElThIB_iLys7R86SRhb1_kOK6Bx7yz84oVnqLlvVeb5p35fX3KEH3NkqC5E79veT58tww45WRMvTwIri8z2dVwviBYKV2xnr1vA_AyJqK5_g4X9Zr2gt3q4b2xIspkI-e1SqAnNPtJKSP0IGj-oeCzUDbt07RnUKQ_wrvjTVJHgXik-vIkQyXVccdF7QhKBBIWbyLTwUJU6lQe8kaRzU1n0TfvOBgoGACCCHC2GZ5cHfY5Qz3wJgO1_xbJ9N2s3_TFUxCCG3UDutYiL4qjl8tMlLXrugUFBYwsPOKOdPiTOS3bp1ovUHictnxu3LUIEH3PsTY6yVly5vOVp0dMFnb2xgxvB4utgUsZ2wk6wgggRgwmyxz9oMaChtfYgesV_4m_KdiJcl9rgcPNTg7D-8rxtC1TlJPVExG9dbNyloVrWwyg4bdYvXbbjfez2ImnAccmcefIRIlaQvOV0rWBrnoKYBK6PW8LKcptnIpGSsXIW_lDUEk-GkukqZeJY5vAIrkVtCdDy_AEgMgF_5p3BYCG06jaCJWv62BxXrp3mMS_B4auHZzGa3YVpf7-F3OIcQJvQSfHiKXZFa9IwUXbP5kqDCvvToFSPpSBNXzuLUobrcXfMcPbiogBKBZJuabcnipTlmCUayCeAQiB4A72FMbq5RchRon1rlP0p50jEMYKnFDkLncNMRfmbd3L8QLnrqRRDNA4y583-w16zQzJ5g14v0VHMW7jw2lWlCwWg9TSAPvTZ3PkNJ1Q6JQsrrkEdwvsiDpCW-VOtlYT3ccrFxtDWHWjLtlt_t2w3nNBdj1k-B93As8z4PiXFyG4Xq1sc4qJvlW1IKuc8oCGuSTfxSm-mhR2Xprxf4IPpPLTMYuFtn-gmjUX6XICWFLJTwVDyhpT2whVjOxyYAr1AoGEVvuRHnSh1",
  "id": "rs_0e7f962b9b7961af016ab2c0674b2887d0b90029cb56fc7c6c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.05,\"left_gripper\":0},\"note\":\"The advanced view shows the plush torso beside the left finger. I am shifting the grasp left before closing again.\"}",
  "call_id": "call_nBUxrvUX7wOVrfxI8BFLIP8O",
  "id": "fc_0e7f962b9b7961af016ab2c068b1ac87d0adaadb5e2730bf51",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nBUxrvUX7wOVrfxI8BFLIP8O",
  "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]: [-0.2806, 1.692, 0.5671, 0.3374, -0.2966, -0.1864, 0.1132, -0.0208, 0.8082, 0.6056, -0.5228, -0.0196, -0.0185, 0.9996]\nstate[eef_state]: left_x=0.3808 left_y=-0.0523 left_z=0.0097 left_yaw=0.0561 left_pitch=-0.1704 left_roll=0.0913 left_gripper=0.1132 right_x=0.2745 right_y=0.0014 right_z=0.1488 right_yaw=0.0006 right_pitch=-0.1388 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [0.5538, -8.2256, 3.7402, 1.5214, -0.0464, 0.1734, 0.8864, 0.0205, -1.0598, 6.9128, 1.8388, -0.0611, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b302390a5a53c543ba728647975d86809c5f249c838fe60233d296568c06c12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44ae0fb41d12ed6fc86b2ef7ad799b1e66d60ba850f3edaa96336aabc78869fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39a56abbd984e16930e5cfcb64147e1b1ca77b4f43a57628f2691c61131b0612",
      "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]: [-0.3912, 1.7081, 0.6022, 0.2932, -0.3656, -0.2577, 0.9953, -0.0208, 0.8078, 0.6056, -0.4999, -0.0196, -0.0185, 0.9996]\nstate[eef_state]: left_x=0.3779 left_y=-0.0837 left_z=0.0109 left_yaw=0.0425 left_pitch=-0.1713 left_roll=0.0945 left_gripper=0.9953 right_x=0.2781 right_y=0.0013 right_z=0.1532 right_yaw=0.0005 right_pitch=-0.1156 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [0.3077, -5.9556, 7.0632, 1.7949, 0.0708, 0.1343, -0.1099, -0.0342, -1.4974, 6.9265, 1.8291, -0.0415, -0.0415, -0.0122]\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_z\":0.09,\"right_x\":0.292,\"right_y\":0,\"right_z\":0.18},\"note\":\"The gripper has stopped above its empty width, consistent with holding the plush. I am lifting it a short distance to verify the grasp and restoring the idle arm to its parked height.\"}",
  "call_id": "call_y44hpXFTax6pQBpENm6AZQ3z",
  "id": "fc_0e7f962b9b7961af016ab2c06d8a2487d08c414dc7808c10a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_y44hpXFTax6pQBpENm6AZQ3z",
  "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]: [-0.2802, 1.4788, 0.6895, -0.0242, -0.2924, -0.1951, 0.1165, -0.0219, 0.8997, 0.7204, -0.6147, -0.0204, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3757 left_y=-0.0514 left_z=0.0695 left_yaw=0.0595 left_pitch=-0.1954 left_roll=0.0907 left_gripper=0.1165 right_x=0.2807 right_y=0.001 right_z=0.1583 right_yaw=0.0044 right_pitch=-0.2074 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -7.4462, 8.8821, 1.8242, -0.2125, 0.0562, 0.3394, -0.6906, -1.6205, 9.5795, 1.873, -0.0611, -0.0122, -0.0122]\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,$blob:991172023e5286555317c2d2c72cfbd8333e88e5352af7a25c509f120832217e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69a9af6c00fb39d206de866007a14431b57261a3ccda9a67ad2bfab5c841d7c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fe633d5effe6ad62eac2668bcbc0e59bcb395719cc96b29746f91d91520a5b4",
      "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]: [-0.2806, 1.692, 0.5671, 0.3374, -0.2966, -0.1864, 0.1132, -0.0208, 0.8082, 0.6056, -0.5228, -0.0196, -0.0185, 0.9996]\nstate[eef_state]: left_x=0.3808 left_y=-0.0523 left_z=0.0097 left_yaw=0.0561 left_pitch=-0.1704 left_roll=0.0913 left_gripper=0.1132 right_x=0.2745 right_y=0.0014 right_z=0.1488 right_yaw=0.0006 right_pitch=-0.1388 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [0.5538, -8.2256, 3.7402, 1.5214, -0.0464, 0.1734, 0.8864, 0.0205, -1.0598, 6.9128, 1.8388, -0.0611, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssB40n4chDfWp3i787uPBM6VSncIU9jppidqlevUgh3Tf_D-3c9LyY06Rh8XhlcNhQQyd_UuRnCi31O6k9B0qDMts8tVBP3oq_JEt49pW8kEdI4auRpgtFa2IkvNMooKI-BKxltTtG1hSBWfmDP-2PBZsZCG7URBy3EPBRqUtnpIyiy2zOa9V4hs2v49SJTLf3CgJxjjCfjT824pyJYycI3RLiOj7BLO3AHkda0LlPCUx71wNShyvl_gB9cMEbgdhyUcwktrKGDO7-rbjNtiax_XAZTgZqsSA5s1ZgmfRCWRmGSMzt1Io0UyhylsjQppE1V1tvdDVEhDzAowBdDyPx81We8LATvkjqClhtUmeR1FIMeqjpUsdKeAcusze7cd3kpDNWr9qu58Q7IqcB2MhAeNPz-1-SVP_YxTPmQBH6HQxigy_YJoVhh5RD4rpx8gWkbnBYgktCKSwUzoz_WRk_Tu-nIDhREQUVpfU5sO4KVjiBj6HCquKoQBbRVqlAamuvRN8aIUB8ebs3wlUrc1PdafGI7Z7FmNzuSlnOQILietuVEgc5UjQ2fYiyvNYplathXyFEYQo70I0BckINnsK5zh_n5qU-_1SvQrluHbR_fdsaeDbGNBWY_Jt3_VMEThlEj6WvjM1pQwGlXr8KKzcmY3tFMOkcwHfRjdSFZMJ2cZn1DlehIMVbwuEV3nw5Cx2GbtM9Rx6FJHlmB8668tIagRQpbu-iRq0neUJ5Z6Ekj5jr3SSTmTrveWVwzM2R5VUl803Hsk02W2uBWpMys-Ua5J4T_BFcfCLq-c_f6u_Jms_B53YCcp_W6iM24d2YLHA1b4u7PiZCVh57AlfLDtQnyFnBLmib5evwn3tiEWlB_rh032rDCzWPOtyMoMd2Gx3ylhKgv6vh92SDn8JIu_FPIkH9ndwWFxn2MM1bV5ytCKZxPGj7kT7msZVGL7LrpjN8FCmn2p7qartBEOygvhxBrpnaiL-SAeN7hrAY0bWqvfac7avBtqlAJwFGyC1kXWKZQ4xqYL2AKC8VDUvc8tzoRNepZpuuuAiMbtSvhHhzeFuP3fNcVGautEe7Y2lE9WP6br1OiY75AOqvYII48kmpZzaTCZ51SVtkvC_-Jfs759uV0V8WEBX-0isP55tuaJsLB0Uu6Ei0J9PXsrt1JLPC8DMApBj0P2LeecobJgmmprBvm6Siq0bXzSNyXyMyTyfqkU2RF9-4rBgSXjsyH6XBypp2xAoBqDCt-PQO8h55DmC4isnT0nytq3ZJUBdLSCX3u526WSfj8RrLRkNnUwEq-tZi_4yFkHTNFdZVoShVZs0Pq5E1cOHvaMdZkATNsOWFIxdj_rvwwp_cJRzw5UFvf1e3upwZ7MiEyPBljq62F-kYNWWL7tusdQhFN4PPwmXmWjFPTs9ZuPjz76dIals6f01xx4_IFGN_DzGW5Sfa_hAUFBj9qQkWLSuPxEhXLWkP5Y0OhAjLfS8EjXXC8PXb7bRvyMiPW7Sn8ZviLLGCa887cRBlSo0Zpl9CkkCRy8vb6dNwkApNif_OKzTC21DvuFjK7LcGNms8q9MpxwGqm7iQUI0sO9YZ01dfGBzqSGdk-d8IjU9ksZ_sQla3F1Q9f__aFHPItVGXBrV1rN8JvcQ8b_YLAMKcgYTRqja94eTK3N",
  "id": "rs_0e7f962b9b7961af016ab2c0729f7c87d0926be3542d7004b4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.23},\"note\":\"The plush rose with the left gripper, apparently held by an appendage. I am raising it clear of the safe's rim before transporting it.\"}",
  "call_id": "call_UdNDnxOr3XCURoAp6CiSLXeJ",
  "id": "fc_0e7f962b9b7961af016ab2c076b40487d0b7fa358947a5e702",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UdNDnxOr3XCURoAp6CiSLXeJ",
  "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]: [-0.2798, 1.3613, 1.1839, -0.6731, -0.2916, -0.2031, 0.1193, -0.0235, 0.9031, 0.7242, -0.6353, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3752 left_y=-0.0512 left_z=0.2064 left_yaw=0.0664 left_pitch=-0.23 left_roll=0.0972 left_gripper=0.1193 right_x=0.2778 right_y=0.0005 right_z=0.1555 right_yaw=0.0024 right_pitch=-0.2277 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -6.3521, 9.3333, 1.6484, -0.188, 0.0611, 0.2711, -0.0479, -2.0718, 6.5026, 1.6923, -0.0415, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41ede119c2d84002d1a29ae4e01715c7c0a7e2bc1df98713b5dd315aeed78a98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf4250976b7e7e069ca46ab30b5ac4e355d9f059f7f79ecc77644335b85634a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7569ac86156b2b9c6ae963b72e5bb884b61e6a82fb0ed065a6a4b5cd93d010ff",
      "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]: [-0.2802, 1.4788, 0.6895, -0.0242, -0.2924, -0.1951, 0.1165, -0.0219, 0.8997, 0.7204, -0.6147, -0.0204, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3757 left_y=-0.0514 left_z=0.0695 left_yaw=0.0595 left_pitch=-0.1954 left_roll=0.0907 left_gripper=0.1165 right_x=0.2807 right_y=0.001 right_z=0.1583 right_yaw=0.0044 right_pitch=-0.2074 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -7.4462, 8.8821, 1.8242, -0.2125, 0.0562, 0.3394, -0.6906, -1.6205, 9.5795, 1.873, -0.0611, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.255,\"left_z\":0.23},\"note\":\"The white plush is lifted clear of the table. I am carrying it over the open red-lined compartment.\"}",
  "call_id": "call_6qDLWJjcSrNPz1X7OBeRgvvT",
  "id": "fc_0e7f962b9b7961af016ab2c07b318887d08498a2f2fc50a090",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6qDLWJjcSrNPz1X7OBeRgvvT",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7658, 1.916, 1.8732, -1.0267, -0.5529, -0.6392, 0.1223, -0.0238, 0.9031, 0.7235, -0.6575, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4002 left_y=-0.2512 left_z=0.2168 left_yaw=0.0552 left_pitch=-0.2694 left_roll=0.1018 left_gripper=0.1223 right_x=0.2737 right_y=0.0006 right_z=0.1515 right_yaw=0.0025 right_pitch=-0.2505 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -9.6205, 9.2513, 0.9841, -0.5788, 0.0024, 0.3101, -0.1709, -1.7709, 6.8308, 1.6972, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e85745a9f8f6f3b1e099b33a1b89510900044582d6a5183d71e640680ac935c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b24b9ae17a458dd4121027cdbb8fbee221ada8631f92e9dbc760904d3a465e80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcf5d9354c9715eb8cbb9a6635a59e1163bcad552a164f90325b88d17b86bb21",
      "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]: [-0.2798, 1.3613, 1.1839, -0.6731, -0.2916, -0.2031, 0.1193, -0.0235, 0.9031, 0.7242, -0.6353, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3752 left_y=-0.0512 left_z=0.2064 left_yaw=0.0664 left_pitch=-0.23 left_roll=0.0972 left_gripper=0.1193 right_x=0.2778 right_y=0.0005 right_z=0.1555 right_yaw=0.0024 right_pitch=-0.2277 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -6.3521, 9.3333, 1.6484, -0.188, 0.0611, 0.2711, -0.0479, -2.0718, 6.5026, 1.6923, -0.0415, -0.0317, -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": "gAAAAABqssCB8vXoJVucpXO1-VO8rvgcDDFL5Q7P8Vvy27NzbJNQwPlYub8UUnpV2bX4kE8Lmdg967xkftHEGpOaPgxrTc9zMfKX8eZgt6lITWRt4d_DyyYu374xaLNZEWUP-3Vetwv_6F9NktTfYsvdNa7piN67iktVuIrRviDQZ9KiF-_dzT3HYjKABhwYH-6Cis9QcIQ2K8caHkFsAx2aXd1n-VAR42KMo9OFs6xPv029c8bY2ellYo-vZ3sx8QKUjH5Y4Z013tP37RfS8wIERqiwmp-b49_vF6wSW9Op18GsnBN_l7DuNURH1cI-GtQMAjNwokHq9igA6lz4mdyVAE0vvNd8loo3zDOSEpJbbt9ksQcX3ggPpQ-l7Qk0rxOvrKrP6dgLJgoce9TMMiZjnnzo-M-AUkf60WJXxRmKjB5uGBj3TpZr5FdYaw1Vm0LE0pW6gMwfNwPdqZP72DZ6DZxakvCUrTVwebX6rONgVV3CoS5leXB5skLKZ9EzB-p1wCh-nxiikhAw8VL4odIw3ghmMr1l3A-TqOhE8A9tg-kDi5j6-6J4ksuGY32WNoF-C_87HZ8FOf8U6x8tOetSdvcA88p-NlvfvtjIWUbIefK3bTuDwq3EcJVhzKEFo8KIrUPHwqUKvcME1TaVbUThjAovaABEfib-wkpOtX9N9_IL_ia0EHtERikqeLP6_3V5_c2LEWKykYF3wRTRSExqntu-hioR_RKKIYBdKMytup8WN2-EE8-bDLGeJ4Ihyz2uizz9UmMgjuj7XNqhinFwLWFbuStf-n0VNeNUTvcfVru6aCLWTHBce1G7TYVke4LsYbqh91K1TVr9dTtyVPTacGCC8thXZM4TNHNQCCrG_d07TRJAJFYJDJYnz5ULmv3ds1uKDlIfBtLYRPWfSlNjiD4Z2d6edrd7oV6HUYjVbZbKAw9Vj1aFyGiwiEjOwZXf1blu8kbUoVJ7ANzLxVGPSSZ3TY1UXRz-6eLrB6bZOf0uXTLXAPNl-06fLCNoh4njJLyHTeDhLvhL5Q8Db9QoU0c5TpYIqEg3HdvwsTiEBL05aj8djdcJsONvcNeyilgDBTUr5_3X-6pJfWqgcpsjc4q0mK9wPbg5YOi9RYeHwINTDjNGBA10prd8FBB8rsyPALfMELC8JYl2K8fj01AP3_PuP-nbijBizuHrxihbJZIzBZrskWsBgM6bcFKEJyx8WXgbnMns",
  "id": "rs_0e7f962b9b7961af016ab2c0806d8c87d0a28bf91dc6c9f8e4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The plush is above the safe's open compartment. I am lowering it into the red-lined interior before releasing it.\"}",
  "call_id": "call_SYF2S7nc4MpjhdXS4MaG43sY",
  "id": "fc_0e7f962b9b7961af016ab2c080e3ec87d08eece235d8669160",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SYF2S7nc4MpjhdXS4MaG43sY",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7673, 1.9232, 1.4147, -0.6048, -0.5434, -0.6437, 0.1244, -0.0238, 0.9031, 0.7235, -0.6765, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3912 left_y=-0.2455 left_z=0.0945 left_yaw=0.0597 left_pitch=-0.3051 left_roll=0.1263 left_gripper=0.1244 right_x=0.2701 right_y=0.0007 right_z=0.1484 right_yaw=0.0026 right_pitch=-0.2696 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -8.9504, 6.4752, 1.3846, -0.3883, 0.0171, 0.1978, -0.1846, -1.7573, 6.7487, 1.663, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecf96ba180d31875cb588636397c3088fa2c17e238e59a5a86e1d982e077a0fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03827911091c42b5c4de4d0b0388168d08caf12f78ec97a3de74a55cb2f06863",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04e1a90aabc3e03711396c53e881c7435b96930f67db7157395f81d6cdec898f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7658, 1.916, 1.8732, -1.0267, -0.5529, -0.6392, 0.1223, -0.0238, 0.9031, 0.7235, -0.6575, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4002 left_y=-0.2512 left_z=0.2168 left_yaw=0.0552 left_pitch=-0.2694 left_roll=0.1018 left_gripper=0.1223 right_x=0.2737 right_y=0.0006 right_z=0.1515 right_yaw=0.0025 right_pitch=-0.2505 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -9.6205, 9.2513, 0.9841, -0.5788, 0.0024, 0.3101, -0.1709, -1.7709, 6.8308, 1.6972, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The plush is resting inside the safe. I am opening the jaws to leave it in the compartment.\"}",
  "call_id": "call_G0jH1aErYIUZpO3fIuH7vEZl",
  "id": "fc_0e7f962b9b7961af016ab2c084f5bc87d0b076050915a68a72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G0jH1aErYIUZpO3fIuH7vEZl",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7673, 1.9469, 1.3994, -0.6098, -0.5426, -0.6456, 0.9949, -0.0238, 0.907, 0.7235, -0.68, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.387 left_y=-0.2416 left_z=0.0787 left_yaw=0.071 left_pitch=-0.335 left_roll=0.1587 left_gripper=0.9949 right_x=0.2696 right_y=0.0007 right_z=0.1469 right_yaw=0.0027 right_pitch=-0.2769 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -12.1915, 7.5145, 1.0769, -0.3394, -0.0317, 0.0562, -0.1846, -1.9487, 6.7487, 1.4823, -0.0415, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:332ffd2a638ae16f8d5e2cfffcf91000dd38df010ebd734834d0e2d04b64c04e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f35c8fd0e32e764daf49b5ca6d587334a232b15d0cb8665c740ad51271cb9c06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94c2f8e8a8b84c7c87beb1f8e10351ef36bac79db0dbb573105178b0d154e4d8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7673, 1.9232, 1.4147, -0.6048, -0.5434, -0.6437, 0.1244, -0.0238, 0.9031, 0.7235, -0.6765, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3912 left_y=-0.2455 left_z=0.0945 left_yaw=0.0597 left_pitch=-0.3051 left_roll=0.1263 left_gripper=0.1244 right_x=0.2701 right_y=0.0007 right_z=0.1484 right_yaw=0.0026 right_pitch=-0.2696 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -8.9504, 6.4752, 1.3846, -0.3883, 0.0171, 0.1978, -0.1846, -1.7573, 6.7487, 1.663, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssCMIS-24gIwwha1gzZFo6gx2kGcegU2twWCajMq8vNtkwfEssb0mHvsad_Inz7KTsiy2UdpMROqnVR9agvldSNZNhug0v-5IOpHCW3AA7nMsXoi1otofl9Rus9C1n9q-2dcT0glTS6IDtUMnGsZ3beBJPjLA3ueiyGbYjBB6K1bCboSoE2FwWSC0j4CJ-AUp5fxYhIM1GGKToC_3HBopLfv8Y34ViZtRp1p8e0UT8hH80saWDPp4XmTykuZU_1ei-Er9r0hRkPd84I374q-dvFY2fmJnaj3rKtA4NBTPlIQQimfMajAsgAJ89j1v3LiA1w8kXcKYKDaFNV5dbNmzIHCpAEvtQbZQMDw0AtMn74Oq-ILEy97wn9NufQO-jPSTG15npeENvyhL5jA80u3h_5PXqO5eCGQKMOh-OuXzB7riS8haRMv2LK_CE6JH2Rj7E3GJr5Sz9Sm36qVlYyHKVrsZTKp1GLd6rIDr0WxM7HAaXJAYVV6SBrXe1C30we3eLSG5lj2Sg7KVhsQVqYgMIpxx9vD8iEVGeT-OL862p6BOnVPk8YTkf-zAEZKUrEbk0wu5bHKjfrpTcNrTi_gVXItGon9uPM39L1Bpg_sx3JJ_rWW93WXBBYV7zlUubYiiCDTp07G5M10fiVWIJWKXW6fDgIDedmIf6Q97-5ScJxzyVU5ye-XoNzuRwbbabx1d5oRIV6ryF0mmUYetAup-aFaIFs3zrxunxpK9d62-zony83pKJoLy_RURkIk7MbB33vclPn0uO4yYvym82BMxpSwar7zmULWoMg4EHHFC8wN69dqa2LLKoNIVhTCi7yF8Ye3KEhVIEVNxhtWf_5-AIUlNjPVRmiNH5qIZ_ppV5RiXMaJbExkTj4NSkbrgrFyEVh4U7F1qjziO8CmQMF0xC3f0Zpk9N1ggg-ULzh8r5RYxIZeEUoGs2glwOcOz2AVzqZmLgXAwIc9O2t_lXcV1hLr-sQH5jihD3dFob97fyAtTp7Ft_qsMjd9FT6VqhS4cvE3G9c8usyWEFcvyr-Y2OtoCSQYV0yfHZtNmRCm1CyzWmaUgd2-QQRCTM-wNe93S41CqvJp1FDGM4zRN35dFNj-hzouN9gW4_pJvHCD4Id5q6s9kCvMy_xaWg71-GJvzkN6yLRq2qv7PQZ9RZbYCDoT-orPCWb3FO0lqWKRtY1xB-dXJKOlqVHDHT4Wfcvlzzh0EupYMxj-MKODzNwZ0OKrwOvGRPoPSRa7saUzIhZnAbHgMiLUnoczDuFMWU_BXvfrnML3DwITNbhWeCijkg0e4MiPVPCgY9U8Qk-I7IPlm4qY2cqEvzuwMsmdMS_T2R8DNYEaA4OvHQffzdvEt5v2CclIOVXa6qT0YoJFH1WBK6o5u7nayQHvArig-64cV_uZMo3kdvs2dT7SUeHtP8RdSA==",
  "id": "rs_0e7f962b9b7961af016ab2c0890bfc87d089a8443a1f22f704",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.24,\"right_x\":0.46,\"right_y\":0.20,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The white plush has been released inside. I am clearing the left arm and bringing the right gripper above the yellow object beside the safe.\"}",
  "call_id": "call_8aGjj73c7vg7t6zGRlqpiEq3",
  "id": "fc_0e7f962b9b7961af016ab2c08b052887d0b89b01d5508550f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8aGjj73c7vg7t6zGRlqpiEq3",
  "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]: [-0.1677, 1.1408, 1.1862, -1.0187, -0.2543, -0.131, 0.9963, 0.5114, 1.8805, 1.528, -0.6262, 0.2996, 0.3706, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=-0.0006 left_z=0.2239 left_yaw=0.1178 left_pitch=-0.3612 left_roll=0.1562 left_gripper=0.9963 right_x=0.4462 right_y=0.1947 right_z=0.1371 right_yaw=0.0252 right_pitch=-0.3292 right_roll=-0.025 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -3.8496, 9.306, 1.3602, -0.1245, 0.188, 0.1197, 0.2256, -9.853, 8.5812, 1.5263, 0.3443, 0.149, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26af15cb801fa95407418c92ee8bd7a9c94c0ec87dac3f90c0f09e088d28ae54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:579cc3138695760bd03dd08179e5a1e6e6c4fccd212513e42d1a20cd19088237",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0b8d25dfd5f40e711afc0f2b02fe86152b4879f2fe648dcb11d680db38d33ed",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 39 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7673, 1.9469, 1.3994, -0.6098, -0.5426, -0.6456, 0.9949, -0.0238, 0.907, 0.7235, -0.68, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.387 left_y=-0.2416 left_z=0.0787 left_yaw=0.071 left_pitch=-0.335 left_roll=0.1587 left_gripper=0.9949 right_x=0.2696 right_y=0.0007 right_z=0.1469 right_yaw=0.0027 right_pitch=-0.2769 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -12.1915, 7.5145, 1.0769, -0.3394, -0.0317, 0.0562, -0.1846, -1.9487, 6.7487, 1.4823, -0.0415, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssCULvOhVk6F7-xsaJeP3-7KaqZi8SAiEYqAMIWOmmrMyZV3zJ97DEod3LCHPd8-_coxlZwpQYL90e917YNynzi403NrLLyG721zgsUfO4oBE6nda7nXb4tcBD3l1Z565iaKBSSmMDAXOVONiBDGQKq8AyYJlx1Frw897CGJ4iyJcHL0kCaHkL4V0yQxXWyGFG-8mfSWgSQUWuENEe9diLSSceiDOfOMjBLBeQqu1PKB0qcNugnLsQLMVy7XwteN_YfuANw9t8JNIuFyaPNQQHlHxsLc0haXcU6HaiG82v-yP0HcYoPXNfFYYUmf_xnKrZgxgEaBEg-FAqXNnWU-_PkKTjEU9I86vLlP5dB-TS7Rc5MdoJ-KsoCxGEMByS0yoOD7wmkX9GvWVF-RGSWlaXp2RLJADOc-BjT1TTzRjpHn7ehrDwS75ZmccMNytDgtZzqKyflo19UZvYYmEp2wj9iMUakiDexuAA0iWns-twsZKyu1quXEUAnbygu1XNHxfEsWaIwAtmKV6tkjMgMh0Fjo2LZp3Lop3R3OktOR_kXDs4-Wvnl4nbTQ-k9QHSiLRAudpZQnA1E70J6CyEPUSDkhOuzGvHt_HlL1fqvoH8Ft3l8FvkrQavcwbb754yHr5BetdpQgSC4eGbv0MLoFIIMYzUtqGccLfbCyh8RzdW8qNZBUDIJivDHCb91yrg2DYYZWwbwY-IyAcxjiE0KtGCWtvf_x3mG3tgP7HJWvonuMadmV-MVmFftNmV56B1p5V_wLz7049Hqrt7x0uo1d-inDUCSPDbYCxt_ZyXnS3w8TlHAHYFdLc2s1NDfeCng_4MxKwR3_AJEbVbOOla9U63YLtIY4wl1Z345w8wlLCZY25IA91RFXxtN3IyeVwBll23E0JnJhy6UVc9uemIlIWWRsyvOJ6VZ7o8a5HkprWebHQGjt2lO8nKQqkjNHe7zRmac0eOkWILUCMKEDHmkk_LYrxKUBSOe5N_c4BlrTpEKfsrXxZOl0lNKkafl2hb3mK04pc3sQPx21eP-_h762qahBvjAP8KK3OtKevoMTZC9y5B8o1aCVyfSF8tkGgTeXjGIPyzV2gdnIyqON1f-QFvsW9On9pja5XwsUUsLxBAKv4a3osYy1vKIDuxjlGvBdgl5VIoFfBzF4qLJWttRxl8wkJTEVxuton3RH6wdrVINFsK9M1rBDBhc3ehrqf9v4GD_5dmbWlPHGCqi9kEi7TYXhA9wh36pzG0dM9cKV9RfXLMtviWSknBbw1VeyhhUZyU9P",
  "id": "rs_0e7f962b9b7961af016ab2c09224e887d08e2b12591618423f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.19,\"right_z\":0.025},\"note\":\"The yellow object is almost centered in the right wrist view, just ahead of the fingertips. I am advancing slightly and lowering to grasp its middle.\"}",
  "call_id": "call_ZCyNW4UuYd3znUUCaIdMtbiR",
  "id": "fc_0e7f962b9b7961af016ab2c092ccc487d0ad003b661223f638",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZCyNW4UuYd3znUUCaIdMtbiR",
  "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]: [-0.1688, 1.145, 1.1893, -1.0477, -0.2436, -0.1352, 0.9964, 0.4622, 2.0914, 1.4338, -0.3302, 0.2607, 0.3252, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=-0.002 left_z=0.2197 left_yaw=0.1132 left_pitch=-0.3923 left_roll=0.1534 left_gripper=0.9964 right_x=0.4792 right_y=0.1918 right_z=0.0379 right_yaw=0.033 right_pitch=-0.3523 right_roll=-0.0273 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -3.453, 6.0376, 1.5263, -0.2711, 0.0171, 0.0024, -0.9915, -8.6222, 6.0239, 1.2527, 0.2125, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6954340be0bc940940889692e42f1d805ec6a1f012b44a66ace4703acb5ad9f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aea927fab4552dfbcaab802540e82f1cc448b8358cc998cf8e490c467ff404e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acbbbf4a0b9b799f0588e66b7ad3a838660e9b29868cc518a701c1ae4b6ead66",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1677, 1.1408, 1.1862, -1.0187, -0.2543, -0.131, 0.9963, 0.5114, 1.8805, 1.528, -0.6262, 0.2996, 0.3706, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=-0.0006 left_z=0.2239 left_yaw=0.1178 left_pitch=-0.3612 left_roll=0.1562 left_gripper=0.9963 right_x=0.4462 right_y=0.1947 right_z=0.1371 right_yaw=0.0252 right_pitch=-0.3292 right_roll=-0.025 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -3.8496, 9.306, 1.3602, -0.1245, 0.188, 0.1197, 0.2256, -9.853, 8.5812, 1.5263, 0.3443, 0.149, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssCZwohQBJidU8LUDUOGwZRy5RiV1b-SdZ8tPiZVbJfZWLqLmF28IbS5jEaZKTVfxT8JPpav4FqDKQZ3M2Do7g0RdzvTywFX6--XtiuE6sgFTq3e7FivN8JIKNoHxIjP8LJTWfmA6r7sferm70Nc0NnuGJIBgV18hceTcZFxi4OEnR7BGBn0AWJ85_Dt95VzoRIboJ0dqXlnYSyqsh1fP_W8KHvKn30BUKkE3Edgm4YjTvoZTO_LUWdoZr5lYiJFxDKbq08PBBf_PiYrGmPYJ9Ps9Ap3FTanqMhdtJ-xclTDoRz66ouG6hs9sGI9mo7TzGqAr8JAAmNRPHtv2McLRMVqspwvJ6YXABHnKYM5GHUmlDdB1k-90jRa93CRwxWeeE-myv1_tlemqUhOww-qS37KjhGGp4wsS2cy9Wajulp9z7a-8jPQmdtzrnBhuTAnD1uMe-9uGBWqdNpA_eXacbF54cjqRHmD_9LqEgwvJgg4KdVZ4q86JXXV4B0utEfbVLb5Y-A3WoeQfU1roqoJZUrvEfdOdzs_0EM2YmTlKCBh3tQmuAcJjoYzv6yL3bkFFNjFS_0mEp5ToPmw68N8ffsWXs9zqpd6JFQt9tZfuxGII-zE5xytluUxVHbpcM14pEFEn2vpEWfMSJFvOQq8r5BNxpS5QQSfpQuyFJqCA48_C57x5SUCoXzYgB7NOCf7tNeXVE1IDbhKXiunyZgwIoNWwV6qrsUUD5x6whYQCQJMvB3fQGNvuP4w7ianbG89KIgUt_pOQJV0qCUkIJsupl3hzmilw_EHr4Z7Calv3M3gGCXE7yxxCGF77JdsdRLB6chxxWLezSiu2vgOYUrjBCjAz9vJsf1uhqhVvsR5YtvjVWzECn3NSVASd7Z6m0ZSPyQqhFATYYVOhVDHGVmQoSxfUjGOKMvauurP4yIRtpYDuQ2oTm6mRAdHf4Z3Ovi0FaaYSVOa57g0gipjgntmP7psZwL2iTWD8PLG4yY2WDMgVxsuMcQ--i_UJSpwAGNrxUbvsABffrmPY_rq2I9lKkStzIcx5vb4cpGOe_fMPnul0Zv2uITWrweoi75xC0LIIjR0pGdKf3nk-dvc5_NJ9L-GKN6RLuSv2-Yc6PwgakzFNZtIw9ioNmHw2QuYLpT58PFwBNfWIQGly4ko8Bbslml1eyCygrEqD_PiXfNKkZFN0jCh8tVw9eekScuXnkqpnWBfyI9XR2harmPyHUCoykb9GWBxTxst55AVgslGoD4cRp8=",
  "id": "rs_0e7f962b9b7961af016ab2c096b11087d099789faeb4485770",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.17,\"right_z\":0.012,\"right_gripper\":0},\"note\":\"The yellow object is between the open fingers but offset to the right. I am centering the jaws and closing around it.\"}",
  "call_id": "call_I24zBtUdN41kc80DoMfcuQ1E",
  "id": "fc_0e7f962b9b7961af016ab2c09782e087d08faed58e74ce0a77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I24zBtUdN41kc80DoMfcuQ1E",
  "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]: [-0.1688, 1.1458, 1.1893, -1.0561, -0.2428, -0.136, 0.9965, 0.4282, 2.1067, 1.3472, -0.2359, 0.2184, 0.2848, 0.0305]\nstate[eef_state]: left_x=0.285 left_y=-0.0018 left_z=0.2184 left_yaw=0.114 left_pitch=-0.4012 left_roll=0.155 left_gripper=0.9965 right_x=0.4745 right_y=0.1784 right_z=0.0104 right_yaw=0.0575 right_pitch=-0.3735 right_roll=-0.0208 right_gripper=0.0305\nstate[joint_eff]: [-0.1436, -3.2342, 6.2974, 1.3016, -0.1148, -0.0562, -0.0073, -0.7453, -11.3983, 5.1487, 1.5165, -0.1343, -0.2759, 1.3602]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b047a20f99ea99f668ad8edff65405d43f29a2a00843a33c2bbe7e69436a6f2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5062038548fcab2ce5741c10ff875dbbc4beca77eac3db00897a8799d0b6ff6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88ce0e34bae1f35003c4084c3a8e3c92426c8da1cdd8afe0d21dd6606bab8bfb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 1.145, 1.1893, -1.0477, -0.2436, -0.1352, 0.9964, 0.4622, 2.0914, 1.4338, -0.3302, 0.2607, 0.3252, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=-0.002 left_z=0.2197 left_yaw=0.1132 left_pitch=-0.3923 left_roll=0.1534 left_gripper=0.9964 right_x=0.4792 right_y=0.1918 right_z=0.0379 right_yaw=0.033 right_pitch=-0.3523 right_roll=-0.0273 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -3.453, 6.0376, 1.5263, -0.2711, 0.0171, 0.0024, -0.9915, -8.6222, 6.0239, 1.2527, 0.2125, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssCioKKZr0RbaawqxFOFulHa26K8qF1pdV-R1vB2T4s03tTFp6De4dFlpLl2Bgd4qdHUVAZsMVO7ql4rZBcUjY7M24nxihCk3XUgMBxyCRxL7ck_X0uNAaGO6mRAGjQ3OgWvoGzi_NErr2E_xwhi1EOPn_REMFC1Ghq5gVgeVIQ-mxoLmK6wrDtcIldNbCPLjxel90UHL8muAh0OVWCpSOztYV-A9Ql53BNt-pYjVH7q0AmmFNW0YcwbHex_1y5TFjKVQyTD2SCvr0FlmmzPkXq7BAa4jMJY5jSvr3AODspcaVi9M1WbI0N4GJlSMxHlyJ-F7sbbxJ9aaY6AmdOJR0aoC2nxy82h0rwNcu7JJ-nw0V_uIcBTDkrjR94EgyIq98Fod3HunJjIgQuM-Uaoofeewccgzn4AFcOv3If7JqmTnENemyc28hqsSYW0JOgLR37u2K1RVfDmnnXeSjMhtaKX68FoJQ8hcCOwhSnV9iSXTneje-ljzqHTNfG9jI6u3-wjKQtxqHgR764oqOjvce1ONUfNUVGDOyaeZTj6L4acO9LFYxMFBXJVgLZjtSLGKTBgrJbz8M61-Gombui4FoX_qTJKcq9oDRvYZoOAdCt3nFUMSNNP4ILcZw5XzekUTYnOT9WYFR34IiZ3A391llP9TgOzUG0U0ExCCq3oIwQxBOpsefQlHA44oU2MCYCZ0R0OD9FGpsy1WTNA11cr0K3s27LZ0hGaN8VNlBEUggX_6332Z-byRCTNMaVMEtUdK4CBDxvKKdHMGAClPy3KIb7g9_WzCUykqXcOAwtAMwlOhbgQfBx_7Ebbs3CQEhWs_CNQRicPIQdSY62zqsxM31pBywQx6rvo2LatTXSmbj8jBbmlLfQBaxdp6m-pZEeBfjArMmF9b6HOAImuwzpjQzA3E2qViLIrhbpVv-QwxjEYIaCer0qg9maRs1MCedyZkzNmwmO0_-c4_BTqtk6vcvSHjUsXMuDmvDXzejEVWltPIYZIYntCSQEBidgzLIIe9ajtWgV6k8BKwZaGyEBxW4GxOXki5JV3dZsRhBvvTIQbgavKFYbbIhbceNlAr02CPCR4y9aZfg11p7frD8B3FHiXu3PkwvuDaF5kUtrOdai1HYNIitwLVbukNSw5G3aAr5DW9ceofBd9KWqR5LAex9dBtHEiSzEpUlYJy0TqlIrhOTn4YOROx2QhZmA60u-5ldMxSWZz8Q2zj6cnflbp9DwONmZoxrWC_jZ2MeDkeDwK1a6DihR_d3wfi1i7jhHAYh9tjT7Lsj1SnzEq2s8NaAY2ORCUe3yDDvgy-DrM1FQqV_lSTwgj3x4C87sydLsUH3Bf5T5jKP_4C3t1Q9uVg937TJ1pzx9b4UuGs1AChSRoBLPbROTdiOzgeVqqzRG4JpK168Ajy__okTu_zj3ujheFhDF2BzbHEOhkF37HIdYrXTryn5MdZN1jC3wstjQfwTEh5m-yUXLpqe6xvmZ4c1pEocZV9MoBZ4Bj2A4QdFzq7auM32xH9aCuWSOx61hdrIQldDBRjddRLk2BSLsiJOJaC4yoRRlfDOHWL_raQRxLvafErvIzW7RVQLU91xYeJ52U0GPHMtFmXvViVW6ZlbZKfP5PZqcgFeo_LH1-wscuda2msQY1sfoWPJX_fiWB45Ut_QI-f7IrbNdaW9QMole2L_CcDvhXLBxlIxc6Clk4Ra5Pu8zQzLOrbz9yR8YbsiDCNWUlNQDqJ9TKtygWIP2P1pDHklqxxRlXGvyvOHWb0csYWqQJCD77vNJ_D7tPL8dMdtq1oWXCOzYcGm7IQD1kYlT878-4Ilj5Z6YBoWlXZuyKwE6EHiElvueuTPLfXFhcAsaJpJT-LnprlqiuF82jMKcyHNAKLHo2qBcix0lXvMPVT4D5Mo8y-5e3gxdvgc-a",
  "id": "rs_0e7f962b9b7961af016ab2c09c349887d0ae98fba8216b335a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.13,\"right_z\":0.08,\"right_gripper\":1},\"note\":\"The close was empty and the yellow object slipped toward the front-right of the safe. I am reopening and repositioning over its new location, away from the rim.\"}",
  "call_id": "call_UfisbkIXGdt82ipIXHgupsb7",
  "id": "fc_0e7f962b9b7961af016ab2c0a0943487d0b8a2a95a4e850fbf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UfisbkIXGdt82ipIXHgupsb7",
  "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]: [-0.1688, 1.1461, 1.1893, -1.058, -0.2432, -0.136, 0.9965, 0.3599, 1.824, 1.1973, -0.3809, 0.1822, 0.2283, 0.9945]\nstate[eef_state]: left_x=0.2846 left_y=-0.0017 left_z=0.218 left_yaw=0.1146 left_pitch=-0.4033 left_roll=0.1561 left_gripper=0.9965 right_x=0.4311 right_y=0.1319 right_z=0.0665 right_yaw=0.0524 right_pitch=-0.3959 right_roll=-0.0285 right_gripper=0.9945\nstate[joint_eff]: [-0.1983, -3.2068, 6.3932, 1.2381, -0.188, -0.0611, -0.0122, -0.3214, -11.1111, 6.3521, 1.4042, 0.0317, 0.0415, -0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c6137b8dbaaf62075fafe7cc0f5579ee4f31450246173db36fd69c64f5a44ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90a75178a5d224c13a89245af29c3355112b43d01543fe2c8a451c1282e67882",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db53cf4c7fe650a0a48d880caef578597291dc6af1aca0ba06042125232bba2b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 1.1458, 1.1893, -1.0561, -0.2428, -0.136, 0.9965, 0.4282, 2.1067, 1.3472, -0.2359, 0.2184, 0.2848, 0.0305]\nstate[eef_state]: left_x=0.285 left_y=-0.0018 left_z=0.2184 left_yaw=0.114 left_pitch=-0.4012 left_roll=0.155 left_gripper=0.9965 right_x=0.4745 right_y=0.1784 right_z=0.0104 right_yaw=0.0575 right_pitch=-0.3735 right_roll=-0.0208 right_gripper=0.0305\nstate[joint_eff]: [-0.1436, -3.2342, 6.2974, 1.3016, -0.1148, -0.0562, -0.0073, -0.7453, -11.3983, 5.1487, 1.5165, -0.1343, -0.2759, 1.3602]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssCngtkw3mbBZ74UGjDOTs7zFqIZRMgxdYrP8v1U24iR9-KKljYA4GhaGDUz937KjlrKJqusl9tahjz-umg21YeRYk4_KGDTVii_TZkNdemEkqVKeykyryK3Tp_cVtgKiYDZg02C_aQ3TpPVbGboXwKF5VCqREC391TyRYm9VLTFcg8qmMHVh9Q2dWOSYVmWe8qxwVipkoScksYmAP_9pXWUU5_GsC1uhFiBW4a4XRa1eav1gG1O7zOUXPqCa4cfBwjzyGdUeC9qL1Af07FTPhjs-yO90_23INdrRMxTOzL6RqQlnS1rhcNVoHcf5PfinB9zb4wTjAfvSA9peD5VLN12Z1DN0VORinK4lowXcebr6A1vWZS5pxAgZ8Yp7ZoEcswGGeyvioZ-kbXNGC8qmIT70LFE-DyyL3FWhpnBfIg3DwifQhDK6q-YrmVwIwiBsETbujha6TjZgKB6do-dNzNA06AH7kWgiN3IU93UJKje8F1totsnG8oLiXN4IZlQ7j2uxzSyJyZQX1fxX9FUGxu3KyMVN9P1T_-LuIFnF5q-N3RemB1R7Pnmbzl2StQTOv-zqKpOWvHBBTnxEqg7hiwpLKdhh0pvhLzUHiXa24qrjUearUDFtDMbvVzeLKaKhalfuYfbz1Nay3VAM-IvwSS1wl1NMt9JmwtUlGBWvLpUl83eDrsf4C_ptDAL1QAJwTqjY0rSm5yXjnOEFN7wdAoJfzuiYno_rl7tVpCdvni5J3Q1ziyrwYqDePgqj1lslkXmUQ6l3aIgCpICoFTKbeYyGNC5KERuIT3xnL66uOk4sCucsE0XcQkpbkKZ5POnNMX2gVlNMdFaGHBQKhuifoCh71MOOiYHR_rGZBwd4sIlhnkUMaG3n1E42RoBnrlSK_9YzPH6V2qJmndz1rgu38YXe36tQX574PN-3-Qa1jCFWs9IfPBgwdPLCOmXUf_IFXrLW6-Sfy4DA2y1XDhemFPlpnKUQkS3rSK_bCFyIbghyan3kBAF4GzQEKQoiB4yChKp0tgEs3ezzA_f4fE0tIIzQTLVvWbumBsVoiPaU_Qm1RnHSVY0HzZSPVALXy42wgxfy1c1WPBpPGIFXjpkedQSPxeLAmLg-lYpgMW6S_6oS9m7_srrMsG0zoYgMNiUY_BKYbFRTsejCXHFhG-lbXZjQCW26lCWs4bnsHlOnFq1DZ5JfhAYlJTLNfl_3GKv_Dwv2-SsiqvqpXQNb7YH5vg4rXy0a_VzC5jf1Ckj8-Rl0MTIEUjKmOhuCJ5yEecHIF3fFBiEE4dC1Jti_mHUPDHKm1np5i-27DuyZ_VWk5jomORe88ikseH7en4Iuua-_MnyaYxl6DkSzn2xLPfD08jBts4-AR7wx_kNN_DwmWD_AWg-okVkTNrSF7qqcmu_WvoV",
  "id": "rs_0e7f962b9b7961af016ab2c0a50c1087d09613571be1852d0b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.015,\"right_gripper\":0},\"note\":\"The yellow object is now centered at the bottom of the wrist view beneath the jaws. I am lowering straight down and closing for a second grasp.\"}",
  "call_id": "call_D3DEhnJZtkEC7uhVOg5W1pFJ",
  "id": "fc_0e7f962b9b7961af016ab2c0a68c5087d0a322d6dc0b97db73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_D3DEhnJZtkEC7uhVOg5W1pFJ",
  "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]: [-0.1688, 1.1461, 1.1893, -1.0599, -0.2432, -0.136, 0.9965, 0.3588, 1.9007, 1.0981, -0.2291, 0.1825, 0.2245, 0.0081]\nstate[eef_state]: left_x=0.2842 left_y=-0.0017 left_z=0.2178 left_yaw=0.1149 left_pitch=-0.4051 left_roll=0.1566 left_gripper=0.9965 right_x=0.4258 right_y=0.1293 right_z=0.0182 right_yaw=0.0501 right_pitch=-0.4187 right_roll=-0.039 right_gripper=0.0081\nstate[joint_eff]: [-0.0752, -3.1932, 6.2974, 1.2527, -0.1538, -0.0269, -0.0122, 0.0889, -8.0342, 5.6, 1.5214, 0.0806, 0.0122, 0.525]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9aebf809623e12af5a92743e9eb202f7101811b823fabd05d3e1c8b029ad9cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df8e4767924f0b8bd8ef4d413a2d71de3119e0a5d484ede2fce9f0b987388d1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75715cd7ffaf631c08e9400b1b6b01890efb1eb7eb0c37cb57629535afb80746",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 1.1461, 1.1893, -1.058, -0.2432, -0.136, 0.9965, 0.3599, 1.824, 1.1973, -0.3809, 0.1822, 0.2283, 0.9945]\nstate[eef_state]: left_x=0.2846 left_y=-0.0017 left_z=0.218 left_yaw=0.1146 left_pitch=-0.4033 left_roll=0.1561 left_gripper=0.9965 right_x=0.4311 right_y=0.1319 right_z=0.0665 right_yaw=0.0524 right_pitch=-0.3959 right_roll=-0.0285 right_gripper=0.9945\nstate[joint_eff]: [-0.1983, -3.2068, 6.3932, 1.2381, -0.188, -0.0611, -0.0122, -0.3214, -11.1111, 6.3521, 1.4042, 0.0317, 0.0415, -0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssCwU04vK7WjouN40NQR-eXtgaXrY65i8zj_HSXDgS3jYecKpjx7Uigyed27IxE5TEoVeMbpMC-clGHq3Sr_noHuG3LToZ93pEpxnU_TKxMhz5uGldBLVy4JJgI4M4snQcFqTLP1WgznWSjgBPRG4JOyZd3OhEUSMAlH6Y6vU3NRkTZ1CTNMC_mWCtba-lUDVvwoucnjGpAZzE8UF6ogKKGQhNAeh3XmzmK7QKYD4zFXFvaTFj_8kaXBr7gMEsP2nOlkDuw_LOqSWqEN_JGR68cvw_IFkf33AUxA6UPaIz0M9QmkIkw1B8UWIJol1eXr0ZHl0sKw-WDsx7_e1YQpfrM8Pc7X1zMcKuymgiMMHBOpYGp0lU9uBbIZCCjQ0RtDUdglqBiJbDOBurf7dFs0lqXyvLD29Ij0XYzKoISvuZgG4eJxqxue91gi8r6RTVOKfOSo9xwBaNgYY49PtN8_YctF3vzku0OYC82EkxKlhPRrKS6VbIDkAVmFcO3Va-dlE_CuJG6V_u64x4hvT8e3aEljds0juX9CJUgdxR8fzBA4tF4-pOWRxys3_0PAUSBFP5UjmD_w6VIMRSU0V03Z1bZitj7whSr6_LS5bdBupTDZBaYSuUyAOMfNcd7uikYgvtMWz39qM1sTu39WxA7skwGs8LFX-7RV75Frit5pohJaAtMH-MGhw_izbcE8VXA4LhI8n3H-iuxXz445se6-0-4TwKqGIttpB1P4udZ4G27Z3KJ-fjHJMFl-ddAUop0Cfw4cDSYP9M7LSGCi7MLtv1cyiCPg3jqa_-8NVhBI1Wx-AZl8ZWay1b83ojma_VBvQ4QCTTTnHng-ZQVKiygRqI2TvgFKV1tqAIR3QKzHo5XE6BggbwljhppDOf2cmSXwkkOaPr0AqKQxFCoej5y671GlFOpHaywzFMJPmr15eFCJpkOA1zJbIK1lml-48YPnS_Q3iedkCgpLXCfeDpzgQYHntPDYznc3zBT8xLyfhtTktmBvzYfy-GZCN3oZBk4UKMtpk5vRrFdtIlA0l496cwzQpipGkme4sD0j_GGYFS90OXCi-F2ftcMXWH6YvuVQhldrNPZHgN-b38Zc47JQFIxFi-6XLG0iX5OQ3yojSngnW1ms6io9j1KYIpTmDgmejoY7BAPx-Lm06WOTQT0w-rcmJHm0-rNLlkCmmocT9jL3i4kC-ey8LolA0mNqkG6ddTPr1YYyfdxNEH8sZHRTHKEgSWP0H8JsmY7e05ZwsYXyEGPTLlPUpP9Is-Mwf_kfcRknvmquvmJUCjTn9lGUtCPGgRkl3WLz8Ovqx4TVjHoQtRPjQu68V7UOUBAxOa4if89jf47IQHjAzzYzDsL0-ozFsw==",
  "id": "rs_0e7f962b9b7961af016ab2c0adb3d887d09f819c634653ab0c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.13,\"right_z\":0.045,\"right_gripper\":1},\"note\":\"The second close was empty. The overhead view shows the yellow object nearer the base than the grasp point, so I am correcting backward rather than advancing again.\"}",
  "call_id": "call_SZJWcih61u6xwDPkCzrnjxIQ",
  "id": "fc_0e7f962b9b7961af016ab2c0af399887d08f6060a5ce115a9a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SZJWcih61u6xwDPkCzrnjxIQ",
  "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]: [-0.1688, 1.1461, 1.1893, -1.0603, -0.2432, -0.136, 0.9965, 0.4004, 1.7512, 0.9977, -0.3058, 0.1905, 0.2546, 0.9945]\nstate[eef_state]: left_x=0.2842 left_y=-0.0016 left_z=0.2177 left_yaw=0.1149 left_pitch=-0.4055 left_roll=0.1568 left_gripper=0.9965 right_x=0.3858 right_y=0.1308 right_z=0.0357 right_yaw=0.0623 right_pitch=-0.442 right_roll=-0.0384 right_gripper=0.9945\nstate[joint_eff]: [-0.1162, -3.0974, 6.2838, 1.2137, -0.188, -0.0464, -0.0122, 0.4718, -10.1402, 5.6137, 1.2527, 0.188, 0.0562, -0.0708]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2ba6c1e4920462f0ea0b1334ecf6352dea63317f7dbf5fe8d00b502379b39da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86245cffeafc0ee8409de55f17cee14d6979d9438d8d11d606d40dc6bce472d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3a61a76802c755b7a8a677c988647f4b1ee70ab69d17aec0c92cc161616adce",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 1.1461, 1.1893, -1.0599, -0.2432, -0.136, 0.9965, 0.3588, 1.9007, 1.0981, -0.2291, 0.1825, 0.2245, 0.0081]\nstate[eef_state]: left_x=0.2842 left_y=-0.0017 left_z=0.2178 left_yaw=0.1149 left_pitch=-0.4051 left_roll=0.1566 left_gripper=0.9965 right_x=0.4258 right_y=0.1293 right_z=0.0182 right_yaw=0.0501 right_pitch=-0.4187 right_roll=-0.039 right_gripper=0.0081\nstate[joint_eff]: [-0.0752, -3.1932, 6.2974, 1.2527, -0.1538, -0.0269, -0.0122, 0.0889, -8.0342, 5.6, 1.5214, 0.0806, 0.0122, 0.525]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.005,\"right_gripper\":0},\"note\":\"The yellow object is visibly between the open jaws after the backward correction. I am closing low around its body.\"}",
  "call_id": "call_TW19r8GVkHQFp3JsfF60JU9b",
  "id": "fc_0e7f962b9b7961af016ab2c0b4296887d098ae18d1c90b9f1c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TW19r8GVkHQFp3JsfF60JU9b",
  "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]: [-0.1688, 1.1461, 1.1893, -1.0611, -0.2432, -0.136, 0.9965, 0.4026, 1.8076, 0.9436, -0.218, 0.1864, 0.2508, 0.008]\nstate[eef_state]: left_x=0.284 left_y=-0.0016 left_z=0.2176 left_yaw=0.115 left_pitch=-0.4062 left_roll=0.157 left_gripper=0.9965 right_x=0.3804 right_y=0.1303 right_z=0.0063 right_yaw=0.067 right_pitch=-0.4649 right_roll=-0.0451 right_gripper=0.008\nstate[joint_eff]: [-0.0479, -3.1795, 6.2838, 1.2381, -0.1392, -0.0122, -0.0122, -0.2256, -7.2137, 5.4085, 1.3797, 0.1099, 0.0464, 0.5739]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50eadb1e8a7330443b73cad8122e778bd63209810474b77e6de47fe0bf7b585d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c374468bcee478cccc27568a70a2aaf4e0657be608e5c06bf88c37614ff0810",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a9ce5cd4638b669b135c39e470635e903106147fcb3acbfdc71ef83e457497c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 1.1461, 1.1893, -1.0603, -0.2432, -0.136, 0.9965, 0.4004, 1.7512, 0.9977, -0.3058, 0.1905, 0.2546, 0.9945]\nstate[eef_state]: left_x=0.2842 left_y=-0.0016 left_z=0.2177 left_yaw=0.1149 left_pitch=-0.4055 left_roll=0.1568 left_gripper=0.9965 right_x=0.3858 right_y=0.1308 right_z=0.0357 right_yaw=0.0623 right_pitch=-0.442 right_roll=-0.0384 right_gripper=0.9945\nstate[joint_eff]: [-0.1162, -3.0974, 6.2838, 1.2137, -0.188, -0.0464, -0.0122, 0.4718, -10.1402, 5.6137, 1.2527, 0.188, 0.0562, -0.0708]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssC93WQJxn8NiWHqTusUmpqEu8RgcXbCTPyNUvaZQyrmeMKVoTAFkK4MnHRP0ZcFWtI1fMFCQDAJIymMSmBHtt16S3BpVBY8-Ayq-XPoc8SFdv6BPypVBVzxZPWS1a5vG2fflPROIIdYwfdqItel6oxGjCinPLa8KKRrvlLo5pvK3ZW2JlC32rU3cSRuK4piJqmV6hbA1fkJeHfKBgE7fSEjl6FXgNMNt0mHG4yYYxEaRZiQ5ikaJBSW3Yzlsm21b-8Nf4ttAAuED2x1kEy574FW1fcvZfbwfVrMkhV-uJxVulKGl3UpFGY_qaIXGkRzxj0JQmX2HP_wL9VyDWvYx_N0KwwRpK60F5dMhpSvst5tfXUn3EPBi3Yhn55pJKDjT3lZI6wRreYntGRiTy3V_aXwINKeNGJeXh89aZ20MKpo0d4H4KeizLSUivgIJHnChuwmjhznnofeiR6w8gKsrLBprs_sI99BYsUdXeu-KjKeLgdOL5c1Mk5IwT0V2GMab0P50WSVaNgU8m5LdK-kAFgfUb1wogcMClRHTqfoN5McZlZ5jTeuAzIUEnnC76yYWj4z1-0Y1mwFaqAVfD3NXVJOwn5cwNSqmyj8LUuMEBM4dGfEd5xaD5BNFTRkHP63Ry4EfbBDkiJ9Wr3lQIbvNHQ9_IaBUqi4CKFVhuk7F6Nq_OS9adR-OZounJlo96dsdBxGLL1-jDyz6n5yxAOesvLVmztiAPU3ZfqqZFxAM8iM8uoKgjwE0yM_p5qSOW1z2tY66DNjcx7PT7-zMcHi5RYAotkuIf0Q88fCvfc2NmhI8lYJx3a_AYQ6j23TnehoqldC2t7cZNOR9KysZLEkk6Y9dUNHD8iIuIDgDgDxypAWsa5PouSIpBZvPvQQDFTQeptkA6Idc4i3YvvPq6R-26v64SahIn_YaKEF7zvuAc7kCMwi3nUDGWrS9EqAvopv58UG6rvy7zde8jpnqpkmFfZmZG1FcSULutQub6ERsV2rs5t5CVLFBCF3saPsHhkjgW3w2nGOwBkiNHKj_7r8waZulZ7ZVhYI8-AYzP3E1Ut2yq9fUhhmjpPDLwn_jAXXFSGRjL2gOeJOIZ30SxwgsyqEd6eNEXmh-fFYE_MgpdwxNYMkFq7DU6Ju19zhD3CRJ1mJ1MUIsuzLrnjOOMOWqoBfHv2e4vge2cEuPplJgh6UetMrzXg3yoGo4LpDbdEvjgjCFPv989ePYabRMa70Ncm1FDKXtV7VvYlnmWLKvAtoTJt3uO4QSLyy9-iei1MtyCeHKA_Wlq1mjXf9cB18SbZBGTme2KLHwPZ3--YwHJlKHEOND-BAnWEWY_m6-RunjJKx8O_H3dzdp-9y4CgELRXeK4jPhcDaUwKKsEFaZX8SR-vgu_EIKrW8TwiKYMVH4RH3Y27XFoO7rKaZtHBZSB176E-m1DmiQdbmoMVnrA3ALTzpHtMCTxpNfcqpjGAISEn18G7K6IH-RAUTcD8W5uNTgRHEiyD0DTot7x0WiO3cPh4IQ3lFa__Ff9oz7lr156EQ2e5adsA0mT6oNWPEIlK7X5zvLZ5NJQd5v64fPaxUOHlDr67DTf9QqZWRdEgnwAoJOjev19LyqMcaECFDL48vZw==",
  "id": "rs_0e7f962b9b7961af016ab2c0b962cc87d0b436c04823862b84",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_z\":0.055,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The yellow object rolled backward again, and the wrist has sagged into a substantial tilt. I am restoring a vertical grasp and approaching its new position from above.\"}",
  "call_id": "call_LAFcHlk4zE2QTvXrCwBUL0qH",
  "id": "fc_0e7f962b9b7961af016ab2c0bbfd9087d09ad0e4f226a905a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LAFcHlk4zE2QTvXrCwBUL0qH",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 1.1461, 1.1893, -1.0634, -0.2432, -0.136, 0.9965, 0.5716, 1.5173, 0.4717, 0.2916, 0.4343, 0.3302, 0.9964]\nstate[eef_state]: left_x=0.2835 left_y=-0.0015 left_z=0.2173 left_yaw=0.1153 left_pitch=-0.4084 left_roll=0.1577 left_gripper=0.9965 right_x=0.3315 right_y=0.1291 right_z=0.0362 right_yaw=0.0251 right_pitch=-0.0839 right_roll=-0.0322 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -2.947, 6.2838, 1.2186, -0.188, -0.0464, -0.0122, 0.4444, -6.8034, 5.4496, 1.8828, 0.3785, 0.0269, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d80835cba5120c12c8a259827c827060365b77e8c80ab850f00d013fc8701ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdb4290250494c90b771b3596aba3b4463a6d2099865e6728c550a78bddf027b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97224d34f42adb31a4a7597868b5921b84fb012c4c3c66389543a5e18967dcc7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 1.1461, 1.1893, -1.0611, -0.2432, -0.136, 0.9965, 0.4026, 1.8076, 0.9436, -0.218, 0.1864, 0.2508, 0.008]\nstate[eef_state]: left_x=0.284 left_y=-0.0016 left_z=0.2176 left_yaw=0.115 left_pitch=-0.4062 left_roll=0.157 left_gripper=0.9965 right_x=0.3804 right_y=0.1303 right_z=0.0063 right_yaw=0.067 right_pitch=-0.4649 right_roll=-0.0451 right_gripper=0.008\nstate[joint_eff]: [-0.0479, -3.1795, 6.2838, 1.2381, -0.1392, -0.0122, -0.0122, -0.2256, -7.2137, 5.4085, 1.3797, 0.1099, 0.0464, 0.5739]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssDDQPPP7br7lBLtTgOhPxtHIpmHT5nefSH-fMPE6QZg2T4GguRy8MlRvC5AiZwp_MaMeCfJ1mcM3czbGciEPCEMEgLQRr3vsyQ1i6Hx7oO83xhayHIQs6xk-m6MNx0fA7nb_t4IQ1AuqlOIoyRaQWREAPvW7fzmWRepOn5XH9miVFqBuEYWn2GpmWE4S9Iu89oE0saG2XhA9d-nZQn9rJOyQ4ETvQ8a6_TWsua6pbsmYh4syrWvWEu_oiqY-kFhbDCwCiYpEwECKbf0z2wr6cYeVCVREd17PvNk7167AYA1glSlI7ZJfp8m3L--SnJWGhB1o-3hKCa5MIFiNkG1ideW9Qe51alyL9Tk-G-s5sj5I7X6hXgC8RIBrwG6VSX8pieltp_wySxaSuZbJmfnU9aVhCx65n0QaGxY8EJSSDl-yx8mepFXkiQqiGnm8T3tJYVqlKVCOM5u5sr3Vb4vavxRIs_kmKVmW-Y9xUfV5Xo5x1Difcn6uOxz_VRJmAoCTJpH-O2J6JHj1GsGw_1aXAiyk7hipi66cy9PMzh_bZvQO5PczyvjsEsbqKL-vvjH5izM-iJhNKoAxZG5IyAMlxsyqINxCnhV-ZhAcK_HiMefUNdQKuu1Y1ArSkoCAKMXFBy2gk3muLMcOkUb-Qw6pBSS9b59IFbZ6atx9nEw2LiSMKudW7NjtxIxqLpxHaBD7QWIMConFCTUmUpiyXFiCcg_cROcZrVLTlPDe5sjDFNJ9CB0rt322WPtAtmPF-4NlJL78zH9jaBKghbPJ6C97DLxcZX6MnOumLNJCCPCUSvMNTVUq36VTELHz7iUKVHx0nnN-MOBv_5Nv1JGFWwWj7KdeV4eogoj-PJZyRbj5n9d5n26b7A0ITD3mQJNrbn_M0jBwYmXBN3t17I59G0sEd_fhNq_EpmNy-U5MZrV2xeLg2r9_GU2i2-pKBXuOtm43PaG-rymQYZWHo7ix31d6RK8DUkyUJK0t7EQi-8HgSM_b6d9VpokD4IT8vb6HWXTbeEs-Id60R8B7RskpU8jBldvcZrYtjOFxkbQc3JT6bH5UzqMYXeBTs7gqkLCQ41OkzmvPdIfv33b9UXQM6NrLkjYYZXrI6qluUfjVXvRibXJJc097TgwP8qIkLUl1uzsKo2F8zG8yZpiF0IPDTH4v36E6xm1ddAGTIFMMrQBXZegkHmQx8j3yTuJ6QSnW0V5X8Lo3Zajc6EtGzU380mqzsUjPn63vTBLVl7PsrxaajW7ez-Dyr_Za0jjVmez_m1iRSVQJ4IHOp-yIRwPMclNZSHdrA==",
  "id": "rs_0e7f962b9b7961af016ab2c0c125d087d0b46e089db2376f39",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.15},\"note\":\"The vertical gripper is now directly over the yellow object. I am closing gently to reduce the chance of ejecting the rounded object.\"}",
  "call_id": "call_i6mUHByERGBt51jlN611togm",
  "id": "fc_0e7f962b9b7961af016ab2c0c1ae5487d0827e5a654f619ec5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i6mUHByERGBt51jlN611togm",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 1.1461, 1.1893, -1.0634, -0.2432, -0.136, 0.9965, 0.5747, 1.5127, 0.4652, 0.2821, 0.4294, 0.3225, 0.1545]\nstate[eef_state]: left_x=0.2835 left_y=-0.0015 left_z=0.2173 left_yaw=0.1153 left_pitch=-0.4084 left_roll=0.1577 left_gripper=0.9965 right_x=0.328 right_y=0.1291 right_z=0.0336 right_yaw=0.0357 right_pitch=-0.0956 right_roll=-0.0412 right_gripper=0.1545\nstate[joint_eff]: [-0.0205, -3.1932, 6.3385, 1.1795, -0.1832, -0.0513, -0.0122, -0.4308, -5.0256, 5.9829, 1.5897, 0.2173, 0.0317, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c30d290590f76eb406851928d07d733c151de0e7f3180a55282ae5fcdd3d8a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:615cab6094a5743a2efbdcb73590badc88afa7f3c1c113a86d78900d07bac322",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9d326bc1ec168932589d927bf4cf3b0eb7b01f7872fd7dce18b82fd1eaa7c1e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 1.1461, 1.1893, -1.0634, -0.2432, -0.136, 0.9965, 0.5716, 1.5173, 0.4717, 0.2916, 0.4343, 0.3302, 0.9964]\nstate[eef_state]: left_x=0.2835 left_y=-0.0015 left_z=0.2173 left_yaw=0.1153 left_pitch=-0.4084 left_roll=0.1577 left_gripper=0.9965 right_x=0.3315 right_y=0.1291 right_z=0.0362 right_yaw=0.0251 right_pitch=-0.0839 right_roll=-0.0322 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -2.947, 6.2838, 1.2186, -0.188, -0.0464, -0.0122, 0.4444, -6.8034, 5.4496, 1.8828, 0.3785, 0.0269, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_z\":0.1},\"note\":\"The jaws are closed around the yellow object's location. I am securing the grasp and lifting briefly to check whether it comes with the gripper.\"}",
  "call_id": "call_vmGxdx0JVpaLtwXYjz8sOzpT",
  "id": "fc_0e7f962b9b7961af016ab2c0c69db087d0ae642633cbe15a38",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vmGxdx0JVpaLtwXYjz8sOzpT",
  "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]: [-0.1696, 1.15, 1.1889, -1.0782, -0.2432, -0.136, 0.9965, 0.5751, 1.3289, 0.5911, -0.0322, 0.4259, 0.3176, 0.0069]\nstate[eef_state]: left_x=0.2808 left_y=-0.0013 left_z=0.2144 left_yaw=0.1169 left_pitch=-0.4267 left_roll=0.1636 left_gripper=0.9965 right_x=0.3266 right_y=0.129 right_z=0.0873 right_yaw=0.0413 right_pitch=-0.1009 right_roll=-0.0453 right_gripper=0.0069\nstate[joint_eff]: [-0.1299, -3.4393, 6.2701, 1.3504, -0.1538, -0.0171, -0.0122, -0.1983, -5.2034, 8.4171, 1.7265, 0.2027, 0.0464, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b88782b2ae0687c2119d1cf083590e545eaa8d52a34aa56a3830cb8ffff25fe8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ae22ff5930745e0f8395c94da99d56f6d48a8fcd24208760db5ab7edfb548b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:560ec589293d6343b941d8e60567d9e5aec4896584d8d4987c9b3580bc9f310c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1688, 1.1461, 1.1893, -1.0634, -0.2432, -0.136, 0.9965, 0.5747, 1.5127, 0.4652, 0.2821, 0.4294, 0.3225, 0.1545]\nstate[eef_state]: left_x=0.2835 left_y=-0.0015 left_z=0.2173 left_yaw=0.1153 left_pitch=-0.4084 left_roll=0.1577 left_gripper=0.9965 right_x=0.328 right_y=0.1291 right_z=0.0336 right_yaw=0.0357 right_pitch=-0.0956 right_roll=-0.0412 right_gripper=0.1545\nstate[joint_eff]: [-0.0205, -3.1932, 6.3385, 1.1795, -0.1832, -0.0513, -0.0122, -0.4308, -5.0256, 5.9829, 1.5897, 0.2173, 0.0317, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssDP1ctqXSaMn49WQhMUQap2THI3BTWUOJY2maFMaS5T5bPsWyqYRW2la0SpArQoyIQOnU0VDUCn6Hym0K81S8eXNOpMpv-sbnBxU-10-wnUqi13FBuFufCuPHYl5zbrIYHLZOzeu-cE-dbDj6EWVt13LP1UKMOdf7lzlslbAuQTDBCyUBYP_V1ZERPfAF9dGaV94ihirsyss3To7ZT7DrBJxt0PK7GVkmIBR8GNP6cz7RKcfrXJ2cn3Tupg4IRXxvgM-kXQh7t8_-LiB-XPuvxPwrT_49Tfv0TT7nHgYcmow-4bhRXSuEriB5HBLZRdT645TSCPrCCYEWN6I_BaFUjSTEUsqzVS9_3H4k9NtcDNa1NtEg1gtN-4QpNcJj0-J79zga9Gunt3XZqV4wVMTEIVb96-qf2raBh6Md48Di1kOSOVU0gexkhrOTZCef6pSajp8ycp9r5TH3HYw8hKTYqt2dXFtBW5v012LAEnXCTBTvTdLlhJPk6zIuhONtWFsykbG-RqHVMLZ2YM-c8y1hLm6pUG5vdxxvqtvcoUoDC180mRNw0KaVxJiRoJswvm6-tOczk05KtBrKfxabhmo1OOafOJ175A8xIJkuu0DT9f2ubDdO3Gos1d-XYwPfFKAXj88jRBqGintSNiGWRxLlpKZkMHM-Uv37DF5RX_Q91INNq_hOGwMZYD425hX5O57sZbIF92n9nOk320NB8j6910vKUnMZQLdGwKrz8Gq0v9duVxdxnPTxOu-5m4knegxjP5P1EGbiyumu_KLKFhczho9na09FDbsQugBH4-ho2dXiegtMVhzJI8T0l-XDcjNB-riSnoBJ1kSPwM3OlSFjFd4svw3oC4rUVmeFO0PieqoFT92eelAuWH544oyREKesphWp8DybNH_ixRN7XmGRIjjoZF7debeA5lHoh_sIcASiRvZ3bPhhSD3nNg9Eis6T6AEPSCFl7eFI2baIx93EKrw3g04qDp5nl3GvMF1s1ki1k92bKwhhgW20rhBjRYkOhS9rx3WEhFMlqwsycyLJO-xt_S6buWVZwHxnH7CZsVk8xF3ChE50N3EqEafdOUt975v-DI8uB62es2pXZOkVtf88nqE9xQb7xgBqb9RqQ_30uPemIITJOt-JWEPA-r7sPJdVkmrmTjQBNAIXNSdyXnELGg7jYhT8GSujx7Cyoqz8G8vTqUKFbhzmIuxbCD9Y4h6zNzbSlgwcLI-XZbq2H8cZ1LvZPICDrSE8QAIH4nv9nyvNLkPNOaE0jj6rNQQSewnLGMoAQxhe7Pqiod29Gf_hNQrVB9yzC0KUlNP8n3mNeLPb5s86YCzgA3Snak4Nhf9BROUB1FW1ojz92-dtX5ivvVh0vAqttyNUSbvmKwdSAWB8CPUwe3mdkLu441xFXmmbIyjHCjQNe0p5MLKWBKQw==",
  "id": "rs_0e7f962b9b7961af016ab2c0ca6f5087d0a969f01742f6cd6b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.2,\"left_x\":0.28,\"left_y\":-0.265,\"left_z\":0.11,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"left_gripper\":1},\"note\":\"The yellow grasp was empty, so I am clearing the right arm to locate it unobstructed. Meanwhile, the left arm will approach the larger brown plush.\"}",
  "call_id": "call_AiYx6tX2H7Uxtc5ri8dThAGF",
  "id": "fc_0e7f962b9b7961af016ab2c0ccdb7c87d0b51456324779ec3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AiYx6tX2H7Uxtc5ri8dThAGF",
  "output": "executing move_to over 24 steps (2.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1114, 1.5986, 0.8967, -0.3553, -0.8143, -0.8726, 0.9984, -0.0208, 0.886, 0.7624, -0.6319, -0.0017, -0.0708, 0.0089]\nstate[eef_state]: left_x=0.2723 left_y=-0.2526 left_z=0.097 left_yaw=-0.0129 left_pitch=-0.0643 left_roll=0.0502 left_gripper=0.9984 right_x=0.2832 right_y=-0.002 right_z=0.1768 right_yaw=0.0149 right_pitch=-0.1698 right_roll=-0.0474 right_gripper=0.0089\nstate[joint_eff]: [-0.294, -6.7487, 8.2803, 1.2039, -0.6911, -0.022, -0.1832, -0.253, -2.5504, 9.4701, 1.9414, -0.1245, 0.0269, 0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51ac0d4330f01142e848913faa291f80d3a116971b0271e1cf4ff0645a3d68c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:099d5ef118155fbb7906b9c78c51d1b9d1ba14ddf694e90f2abbf5dc2a45ce22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d22208d9efa3b6dc01966ec9ca85a946289347f5a16adb84dca94d9947b06a75",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 77 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1696, 1.15, 1.1889, -1.0782, -0.2432, -0.136, 0.9965, 0.5751, 1.3289, 0.5911, -0.0322, 0.4259, 0.3176, 0.0069]\nstate[eef_state]: left_x=0.2808 left_y=-0.0013 left_z=0.2144 left_yaw=0.1169 left_pitch=-0.4267 left_roll=0.1636 left_gripper=0.9965 right_x=0.3266 right_y=0.129 right_z=0.0873 right_yaw=0.0413 right_pitch=-0.1009 right_roll=-0.0453 right_gripper=0.0069\nstate[joint_eff]: [-0.1299, -3.4393, 6.2701, 1.3504, -0.1538, -0.0171, -0.0122, -0.1983, -5.2034, 8.4171, 1.7265, 0.2027, 0.0464, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssDYnR3TN0XiyXW38zBxwA7b2ZMCqp-0Pov3k72ODwL775Y5tANuON4i1tGwJ-gyIJT96YV2sSuyCSOpDTRXEzkpL36EQhcm-aq5MfJnYKsswEfNp-t21AowbZBhrj3tqCAvp98Q3vqkASFfCNPUrG_sCYgWp7fnVGTIXmN2B5auMvvkySFBMVWe5XHIn_Rqkc-IhEtlROk_9g4B7M13aifck9wEadqYtvtINDjuXgg5shgDtr5CgcDRvSUARzdIogbY3pZ62n2pGjigMQ4pcyGs3wkwEeDaTSlBRQQu4E2iSyubPAVyfHD4k3RBZ_o_RaqggxVUhijL26Yxn-murGCbGw7ZTokUmdOh1CXRSG_-RXiBFN-eXlUaYRS4WiwaKj_TDT_TsUb1jm-nxByHC5eVTluMwss6xrC5YOB5nSLuGYN4rRSkrLSR9xTHKxtxBrER-UCVZPw2hy8Fj0OAInVdcHUSX1PWW_xaGxIsYD9nZnKhl_DbJmtvfNiLi55nB-CgAaypTrAtg8Wdlg1bjUMhWK6Anc-WF32EXpqk1A-gGWNDtWFfP_JHmHBJHlXLmfdpVFJnf2nw3PQs_Knj-jEsVeeiDzBJ9qtFAUg-NdOgOMG-l-nH1lA-TkI8iG-FOJguMVF2D_kluJp1IaSDCq9eS2jaDKVXIUU7H1xMfAEl9_uZ2INAKyEI8La5C7YggczGPhkrOPk9i_by2-8iAnfOAIn2JNC3wpqxTQxWG2U5dQlmPlevU4pYgMOOWwooZmEIFBRlJYYChYkpqqcgXyLZEgCjffLTOzlUjFOQfzI_K7V_Z6dH2Y8VtzXW2s6702aC6XJpzIPIrYrAuOfeFKZVrf0y8n-l1PBeY1k13id95Yb5LzjhGD04eEzYcE8Kfw8PPaIN5wZ6OQgLv-xghm_es1P8xIVoxJFO6u-g8789OTF85ufMkIJJrHgXZI52pR5NK3xH98bU9Yclv2RatfiuUqasMKiMGRcuGVaQLIn_sbo9-VEUVOjDlcKgTd09xaW5OBOGet_owN9zoO3ocXx-zPbJZzhn9qov5-NWWEa4rKUNCqD7I1MhIFblYUEc0Bexs2BpA9e5QpQAfLc5BZ7cIlYHIr6e5NAymJDfMByrsxDLv0CpN6t2lwBETQ-DiVY7Kibsk9mrYXEVK81k4uZms4v5KSxHmKoffEQd_HRteZuGEjX7qOIsUEsT8rD1XymGT76ik2kyI06C_g3iN6qkt7airRH4T6hr3W1odnbu3_E2YNYKL2LivwyzSRMbejp68xRdXXKcUh_-w9srFsxki8GFT1oiTrGVIrNuX2vfqZLwFVQjIFgsC07fc429qiTpnNUwEAQTIrSEYABaH7WpcyW-p22risiE1_cVbsxzHsQqkVD0RefiPB-BzhUe5ldmm6N2knmTBQ0lPZ9khdjMdQ==",
  "id": "rs_0e7f962b9b7961af016ab2c0d4a01487d0adf1df424a238ed2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.295,\"left_z\":0.025,\"left_gripper\":0,\"right_x\":0.275,\"right_y\":0.115,\"right_z\":0.06,\"right_gripper\":1,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The brown plush's torso is under the left jaws, and the yellow object is now clearly visible farther forward on the table. I am grasping the plush and aligning the right gripper above the yellow object.\"}",
  "call_id": "call_6OUaZPxAix0P4hvld5Mdr3Qd",
  "id": "fc_0e7f962b9b7961af016ab2c0d6002887d09fbbfeed69fc349f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6OUaZPxAix0P4hvld5Mdr3Qd",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1637, 1.882, 0.9131, -0.178, -0.8433, -0.9451, 0.0105, 0.6884, 1.1439, 0.2966, 0.0166, 0.4927, 0.3737, 0.9946]\nstate[eef_state]: left_x=0.2694 left_y=-0.2825 left_z=0.0245 left_yaw=-0.0059 left_pitch=-0.0764 left_roll=0.0845 left_gripper=0.0105 right_x=0.2594 right_y=0.1099 right_z=0.0419 right_yaw=0.0686 right_pitch=-0.1238 right_roll=-0.0758 right_gripper=0.9946\nstate[joint_eff]: [-0.5265, -7.2957, 6.9402, 1.1209, -0.3297, 0.0855, 0.8816, 0.0479, -3.8222, 5.9556, 1.7509, 0.5495, 0.2076, -0.0513]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da47250d305c403e549674bcf5f635c191ca3e8cf65bd7d1f07f3748c27b61ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f313dedfaa81521e52f025dd003e89e77823cf808bb003c0671c1282f1a437d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:496d8fe54161804a15d5c7d8a3801c7bec74dd0d064864c9a34d0ac111b98460",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1114, 1.5986, 0.8967, -0.3553, -0.8143, -0.8726, 0.9984, -0.0208, 0.886, 0.7624, -0.6319, -0.0017, -0.0708, 0.0089]\nstate[eef_state]: left_x=0.2723 left_y=-0.2526 left_z=0.097 left_yaw=-0.0129 left_pitch=-0.0643 left_roll=0.0502 left_gripper=0.9984 right_x=0.2832 right_y=-0.002 right_z=0.1768 right_yaw=0.0149 right_pitch=-0.1698 right_roll=-0.0474 right_gripper=0.0089\nstate[joint_eff]: [-0.294, -6.7487, 8.2803, 1.2039, -0.6911, -0.022, -0.1832, -0.253, -2.5504, 9.4701, 1.9414, -0.1245, 0.0269, 0.2027]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssDg8isSHUtx2aQwNbmOKBCTeamq6UBPr2T6J03-TcX_2ugXqvQWhtaBxUEK7vo3aHQGxXksfcT8JkgI8rjGDCs3_BmqW1qmjMXC2HTL79c0Fnqk8K3Na1nYwrY9p3Ryh9uQUhuIuLRCHFMqvqDPhGvdoU0Q12jgGojymMjN63CEhWXQ17EY4_TiA8RqXUD5HtNL-gVsM1R7YWxoZ4_sLaHXkVbmXG5C0yu8tA4CBb_B17_N6jw5YWHh3xjXG2qbvwiDX3wGeUkeNLlkOFAKsRbFcPflPg74JCa1HL0KLzpJxmRor9RZ1jouc08xyzgEVMIBLXCu7aZAZASxm-mrGmqZSdwVZop6MrQFlzUQ-tuFB_YzHHJu0LjU-bYiyHQInjl8O13eXeLgV15L6LzZzgUfokh7WA0_MFO0iBeK80c4REnW_SDCwE7lB13P2Y82wOAcdQMy_g_0hywhcpYv7-YmcXdZDFZhRRbc4uSneJk3A7sU2IgK9KOzoWAl5Ciz_-vtLZfQr8wpJORcWRX98tu8lwTftOJrNEHCsupsQBXUd_QksVhtO_w49gMBCqwL6p1KwyD5VJEHO6R9plNwZSojH__V9vEUWihG4uVTfXvXj6PWhz2OzorjTU04rH9BHD8oLvhWbSc6bBFrS4G5A7aKbr8QGmH_7aLqFoAoEWPvg1ZHFOJYjO8j-iLYDrpboWpT-J1C9oWROIzPjfqanFwKaSkzf2TdVJAiSUAIgHioZjqoVTBZqndwKCbUY8Ei3rxM4PyUA4sh1eTM5szYu-sea_mJ3OPoO65KFpUhkc7BaLISPJOU8FroPIdzGg-MigVnuTTFlWWrKEwGWtlGzCa2egG-SLuDrjrZYKCovgG7Z9n2QTrHuZZRffU31BML2hUOyOMcR1RLBY_eQ9R09PkHj_7IDGSkCI-ytbbaBDCF4-y3EIpJWS_kl-qgKxWmSKhAmJDgKqrj9Gfr-R997RcyZNuZJdrqFlLhmIz6k8bAnPyuY3ZS5YKB3OTduiTR-o7NcH1W2uSbNGWBnvIrb-mkl2hdUfoVsgwhdzpnokdYk1w-wh7sp_M5ftGY_MSVSfmLPwlfgfBFb1KGG5UqBJE8CAbqx6rtqW3dwQaHb98uA-RGn2cKF0_A07us79aZ7S2iyXUSJsqg4JGUoTn2-llvZ6mAy0Tgn8NA793GGpz5aNU4b8wKnZF-rrmmtPtRgXPlHYyuZt5h_C9LXXEup9zpgRWOt0_li9d3-TthIofaeB2vAq_hDe3ju4XeGf2nDSwAsBmTA6tSlkFQ6zKeNPetpaV-NOdHHc70Qul02KJ627R7kpLkisITjcJzapE6Q5cZlDy8jF2_q-4H5u_JvaKjpz2YIS_dV8skvRv7lvKs8UjtKvMPW5NOEau6R63Wo3a3ojg-SCX5BDnjWMBq9BpXx3UO84SY7rHpNCv9dR65ZsvUgSeZOJWPTpzi7tmDNP3LZRjntazAnklYFVEaf8fI5wcgPmbPaNCPSnZ7eawEVBeevrL6NvzQoMP79KzDFm0lIDnjSmxRxdkVJN-SZ_7rRA==",
  "id": "rs_0e7f962b9b7961af016ab2c0dc472887d09847b4a4f08742be",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_gripper\":1,\"left_z\":0.035,\"right_x\":0.3,\"right_y\":0.11,\"right_z\":0.024},\"note\":\"The brown plush is still ahead of the closed left fingertips, so I am reopening and advancing onto its torso. The yellow object is centered in the right view; I am moving the open jaws around its middle.\"}",
  "call_id": "call_9V4N3upJhZETIqPJ7PcMfN2Z",
  "id": "fc_0e7f962b9b7961af016ab2c0de7fec87d08b6c63ac5a1086e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9V4N3upJhZETIqPJ7PcMfN2Z",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0115, 1.9133, 0.976, -0.1089, -0.7769, -0.7837, 0.995, 0.5632, 1.3918, 0.3183, 0.2192, 0.4042, 0.2787, 0.9953]\nstate[eef_state]: left_x=0.3204 left_y=-0.2716 left_z=0.0292 left_yaw=0.018 left_pitch=-0.0911 left_roll=0.0954 left_gripper=0.995 right_x=0.2849 right_y=0.102 right_z=0.0099 right_yaw=0.0622 right_pitch=-0.1835 right_roll=-0.1029 right_gripper=0.9953\nstate[joint_eff]: [0.4718, -7.4325, 8.0615, 1.3993, -0.2857, 0.2759, -0.1099, -0.3624, -3.7402, 7.6239, 1.7753, 0.1929, -0.0757, 0.0562]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a6bf1eee7c22f226dea7c994fc838960aa6c9a2fd862007b1b93ba077d170e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac442df68df0f8acd16d607673a71815b88139c33b89b640fc67397bcd27dce0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01b556b536754593410d71ed7d0f56eefd34d60499add6b203fe300d3c740be5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1637, 1.882, 0.9131, -0.178, -0.8433, -0.9451, 0.0105, 0.6884, 1.1439, 0.2966, 0.0166, 0.4927, 0.3737, 0.9946]\nstate[eef_state]: left_x=0.2694 left_y=-0.2825 left_z=0.0245 left_yaw=-0.0059 left_pitch=-0.0764 left_roll=0.0845 left_gripper=0.0105 right_x=0.2594 right_y=0.1099 right_z=0.0419 right_yaw=0.0686 right_pitch=-0.1238 right_roll=-0.0758 right_gripper=0.9946\nstate[joint_eff]: [-0.5265, -7.2957, 6.9402, 1.1209, -0.3297, 0.0855, 0.8816, 0.0479, -3.8222, 5.9556, 1.7509, 0.5495, 0.2076, -0.0513]\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,\"right_gripper\":0},\"note\":\"Both objects are now positioned between their respective fingers. I am closing both grippers before a short verification lift.\"}",
  "call_id": "call_oyAhHlqw1xNOhHzuJ21TA6xK",
  "id": "fc_0e7f962b9b7961af016ab2c0e3ea3087d0a575dbcb26bb8042",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oyAhHlqw1xNOhHzuJ21TA6xK",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0103, 1.9152, 0.9798, -0.1127, -0.7746, -0.7902, 0.0094, 0.5617, 1.4006, 0.3187, 0.2108, 0.3992, 0.2699, 0.4524]\nstate[eef_state]: left_x=0.3208 left_y=-0.2719 left_z=0.0289 left_yaw=0.0216 left_pitch=-0.0934 left_roll=0.0909 left_gripper=0.0094 right_x=0.2829 right_y=0.1012 right_z=0.0061 right_yaw=0.0679 right_pitch=-0.2005 right_roll=-0.1141 right_gripper=0.4524\nstate[joint_eff]: [-0.4444, -9.1692, 4.9299, 1.1306, -0.4176, 0.0611, 0.7643, 0.0752, -4.8479, 5.0667, 1.5116, 0.2418, 0.0562, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ebfd224b818b816c4ebec880cd76d7204b028a33e54457b88b1e9d924ac153e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f0568f5969e9b6a32d221047e8935f8da9595fa7967b99060dfba3a2742ae4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbe4b1ae5f0bcf427d0ce2b98c5bf4b487279c76c952cc519fb3d58057407cc1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 89 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0115, 1.9133, 0.976, -0.1089, -0.7769, -0.7837, 0.995, 0.5632, 1.3918, 0.3183, 0.2192, 0.4042, 0.2787, 0.9953]\nstate[eef_state]: left_x=0.3204 left_y=-0.2716 left_z=0.0292 left_yaw=0.018 left_pitch=-0.0911 left_roll=0.0954 left_gripper=0.995 right_x=0.2849 right_y=0.102 right_z=0.0099 right_yaw=0.0622 right_pitch=-0.1835 right_roll=-0.1029 right_gripper=0.9953\nstate[joint_eff]: [0.4718, -7.4325, 8.0615, 1.3993, -0.2857, 0.2759, -0.1099, -0.3624, -3.7402, 7.6239, 1.7753, 0.1929, -0.0757, 0.0562]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssDrNdQcW7EhwYWbhecHwzsXLBcxKNvOZV6AzLtrgFAb3uO_XHAoQBjoZcPYl4ILsj-SGPEe6HpkyI8ed6HkvIBXLVyfu-ZUCQHxtPWhQdL1IasYd07z2ebNwTRqCKkJI9vi7yVe0YocOGjX74JRrgCFHz_l7A7KTTPNHhe75giehk_kB0rOYNxGyU4SVzwmX7HoQhZRoCtLJsnHaNtt5gFn8SJ9eH1lOutaGgWNXP08JOKnCgvcQYcGAH72DNoijptm0ZXsqg8Qx2lrhActyEEH7lOwk2EJP5LDzd3uGa5kWjhRajPs6m5LybmNARzsMvePep6BW4PVvGfZT4jBMg4JbKpraKdRXMvi9YmNevN8mcbky_HRBb6AYG4Yqj8e9Y95bF964cF3rZUk7Mc2mz2cfs2KF0gy7BtZSML451LcTsDxyT_atNRuQR5bmHxscDTwMtAlkrT0LOiTIQxVRz2EsVVxgsDosC21LEE-gao3WecqT3X8mBLPocHMAO4A4iEihPR4-0oZ2pXAZgac4cfH5TyLfEfVcLk4h_tUAAhVYyKI_mWf7QwDmWCU8OLRx3u5JleH0FLgAJZulKkh9UrOIHUXwv53Oh2w1n3hKihv7JbaP5dtP0YiAS6fp49u1W69gwZE9OvO3ebqHDKSV2GJz6OWD_MMUXXxsin5BuNuXsA-RgJxTucTJftTSJ0VSRTyP--yF48W7mAe-ZyWK-r6_09i90ZrLZJvi3i6G2R-gMlz1oIA7SXGgCIzEIs45V4bSQS_TI5aWmEKJ_3STvEtKkW-4_Nf79jBQK14s2_e1R5LV18mDZtkZCwVpqUC6Q3FEc92FLxtr7md02MW12JGnULiy_Z5m5B-PdTqLpraAnRyXq-sptq5XjHFBQq-yBc5vxlZbxOYuIv-N2TlPWuYkzuWv--ou45mPB_l3J9eQ168RwB6WR8i30Xd7CsoQyXVWt9BYDi3GeZOm62bNpeF-6BU3MYLGdGNes5UMlGl1uvdETRo2KTcHotInbWEj-k_wxR8l3JrvZ9-76PZv4C-2bAFtFLKsCQCBeY7uUuAnJHGjrmOUZGH4ynr91jhUJG8O3YeuArmASIQc_unBcSpZGdUxbNutK8e0JsAXW-KfJCQfuHuH3gF_fVkQ0y96B95CkfySf1bmbjhyLuAJLVj70lpbLVlOdSqyeGOLaRYsvEdInuOuv5tDY5Ey8XJ0A6dHv6xJhJ8xugivM50kHGFOkIouceJoNZoHVipcqdozqwGFzbVPFpVS2Su0dnHcIQ4gqbWqTIxUk6QpK7LMBRWXSiCh-SusFMNJuQj5BFKXwvEQOsABmdgdU-AK17-PMfU9chGhiq9wUJHDbE65wS9d6ZJA2AzOFh00lYbMNGaJkU=",
  "id": "rs_0e7f962b9b7961af016ab2c0e7af1487d08f77c4e48eee9f58",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.18,\"left_x\":0.285,\"left_y\":-0.32,\"left_gripper\":1,\"left_z\":0.025},\"note\":\"The right gripper has a solid-width grasp on the yellow object. The left grasp missed the plush's narrow appendage, so I am shifting back onto the broader body while lifting the yellow object.\"}",
  "call_id": "call_Skdtd3c8KTUMzryDAwuaRdmP",
  "id": "fc_0e7f962b9b7961af016ab2c0e8e9cc87d0af43f4c70da83816",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Skdtd3c8KTUMzryDAwuaRdmP",
  "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]: [-1.1561, 2.001, 1.1141, -0.2985, -0.828, -0.9821, 0.9963, 0.5613, 1.0748, 0.8375, -0.6613, 0.3954, 0.2642, 0.4524]\nstate[eef_state]: left_x=0.2846 left_y=-0.3146 left_z=0.0244 left_yaw=0.0186 left_pitch=-0.1026 left_roll=0.0854 left_gripper=0.9963 right_x=0.2813 right_y=0.1008 right_z=0.1627 right_yaw=0.0709 right_pitch=-0.2265 right_roll=-0.1288 right_gripper=0.4524\nstate[joint_eff]: [-0.5128, -8.5128, 7.6786, 0.7937, -0.5543, 0.022, -0.0855, -0.212, -3.9043, 8.6769, 1.5946, 0.1832, 0.0122, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8ade5df442047261c7ad07f582dc83f5b4691092b6e882e26f45d06eed97347",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1c6c7b60cbf412ab0e200f75e4d3904d22920ee05a75a587ae6df539663bb54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f5a901c8afa7bf1e659b520686a817a3af07234567cca1ef34dbed011456da2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 92 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0103, 1.9152, 0.9798, -0.1127, -0.7746, -0.7902, 0.0094, 0.5617, 1.4006, 0.3187, 0.2108, 0.3992, 0.2699, 0.4524]\nstate[eef_state]: left_x=0.3208 left_y=-0.2719 left_z=0.0289 left_yaw=0.0216 left_pitch=-0.0934 left_roll=0.0909 left_gripper=0.0094 right_x=0.2829 right_y=0.1012 right_z=0.0061 right_yaw=0.0679 right_pitch=-0.2005 right_roll=-0.1141 right_gripper=0.4524\nstate[joint_eff]: [-0.4444, -9.1692, 4.9299, 1.1306, -0.4176, 0.0611, 0.7643, 0.0752, -4.8479, 5.0667, 1.5116, 0.2418, 0.0562, 1.033]\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,\"right_x\":0.47,\"right_y\":0.32,\"right_z\":0.21},\"note\":\"The yellow object lifted successfully. I am carrying it over the safe while closing the left jaws around the brown plush's torso.\"}",
  "call_id": "call_uI6Ng1ean06kDNhpbnjrlb0x",
  "id": "fc_0e7f962b9b7961af016ab2c0ee1b8887d0bdaf100671a5e15b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uI6Ng1ean06kDNhpbnjrlb0x",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1564, 2.0125, 1.1191, -0.3145, -0.8268, -0.9894, 0.0089, 0.7361, 2.2734, 2.3497, -1.0477, 0.4858, 0.4007, 0.4566]\nstate[eef_state]: left_x=0.2835 left_y=-0.3128 left_z=0.0202 left_yaw=0.0239 left_pitch=-0.1119 left_roll=0.1002 left_gripper=0.0089 right_x=0.4665 right_y=0.3161 right_z=0.2053 right_yaw=0.0909 right_pitch=-0.2391 right_roll=-0.1361 right_gripper=0.4566\nstate[joint_eff]: [-0.2803, -10.5778, 4.8342, 0.9548, -0.4664, 0.0415, 0.7595, 0.2803, -12.6291, 7.3915, 0.8034, 0.3639, 0.1929, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a1f0bf1688fe08f9aa4a63e86f79220f711348f5fae0ee6f0dba8d38dc14caf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d541a296938ab37035fcefd7130c5772122ab7c2c0e79c956596e06c0842f113",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ecdb75fe609632fd2d5730af6e314ac19e29a200ca7c0ee419e6f435bd2dc00",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1561, 2.001, 1.1141, -0.2985, -0.828, -0.9821, 0.9963, 0.5613, 1.0748, 0.8375, -0.6613, 0.3954, 0.2642, 0.4524]\nstate[eef_state]: left_x=0.2846 left_y=-0.3146 left_z=0.0244 left_yaw=0.0186 left_pitch=-0.1026 left_roll=0.0854 left_gripper=0.9963 right_x=0.2813 right_y=0.1008 right_z=0.1627 right_yaw=0.0709 right_pitch=-0.2265 right_roll=-0.1288 right_gripper=0.4524\nstate[joint_eff]: [-0.5128, -8.5128, 7.6786, 0.7937, -0.5543, 0.022, -0.0855, -0.212, -3.9043, 8.6769, 1.5946, 0.1832, 0.0122, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssD6nCsm8qZGSw_lPeys8fAeeSIkxVZWzb2r764DBiJYweXTu9nD8Hhz_Czd7_W1juJxfTbP-34k84G1Os0InqZa22LWHl7fwdxQ63OYzXUYehCklSXVZ6IjMhpzdVy7x5wunbeq-K3ZOMuoRLsqqOBvHdzykQAoGvvapTdXjtxZ0gWF1lrQ8S7Vwh_FyuvO8oWJLYU-38NB1rfPw3uRKcQPX_9KhhR3KidCHTzGCq2b5v7zqj8lW67ErzJbqljvzcXUbi90Gp58IPt5pu7ovRt_kOJuc11MSb2iHiZOTiYQaOQsxu7NwVGud-gLf1XixbAW_JDbn1iV_fXodnUg_iLrhkISv3d-ZL1UL0nKO4a9W2otWetiHIrBnqAZbdx9yLZq0WSAOkso5smH9n5DYBQO-kqQNoPCPo9MiycPIcph2xHjL4oDjirmEQUHOhl1LZBvArO151sm3GwWYjM4NIkhZiFni2Zruki_mmAZE-4X_gFo3vUR7lR_Zh7lsrrWWZE7J3SsDeJqyLH_q-UkZu2qOrtZ2iV8Y-H_FdipO8bpbUMC-oyUd2gra6p78Jda3wmJTvP258GOVqS0CudP9hYIp9zLgJXBMacX6nIllVcImVGJarIYkcQruby-zwITP-U09pQIypCrIoUxyQnA4XNQd75AzDo_sa8TQ4MGYSXu5uGudPu0lK2nr_Yn9B5WKJRK7PhZ5kcJiB_rvxkYe6n5i8CSzNl4HSeVMxMEgGUoPGYWGlJrur_RAQFbmO4D4Xwdxk4EQXywz35JHj7YZkForRU4t8gz-030fOeegxXY6mNJ6SxS4nygJOOGVcOuAl7Dgl2QrhcOZxzPKzlrLmJhZoaX29LaAphkGPUIj0a9VBz6-d1PRR79AU-2ZzZb2gfkkTfBFiN2Xd-ZS1uvSDVUcAMytThZCTraT-ZUQ9MZNv-UQT-SECEtoQhw_2C7k6tTuEEkQyzQSIlOJdBGcOaZdH_hiACRr7PiXuTQDwXCo5MVjockWjqeltZJ-A3zUXdu91wh-_JL_UdoYaPWMZuO_nK44z7TZvTeaUz4H_3JxfY6IM2hxYWnlxbOj9et6Qh_xxaNa6JVii350H_cIOX-wmA2g5-Ty7nIs7-2C46I01YkQnNb3jFSfT605SI-NoksPhqDWmeATdUNYq2Plu2r9STpvQjnRKIXXZIRZWnTi5wnWLa3ZAeXz9-mgSSV5u-ONu-T0TR1zT2zL20Y99Zxy8xBgf91W2KAoYasI6QVqNWM3DjypAHyQgkpHNJbF7CR",
  "id": "rs_0e7f962b9b7961af016ab2c0f7c2ac87d0941d758e3b0b784a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.10,\"left_x\":0.235,\"left_z\":0.035,\"left_gripper\":1},\"note\":\"The yellow object is over the compartment, so I am lowering it inside. The brown plush's body is behind the left fingertips; I am moving backward onto the body for a more reliable grasp.\"}",
  "call_id": "call_mJacQq3PtkSJNUAblS688RWQ",
  "id": "fc_0e7f962b9b7961af016ab2c0f8768887d0b40abd0a34057e5c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mJacQq3PtkSJNUAblS688RWQ",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2766, 1.9938, 1.1107, -0.4839, -0.8352, -1.1561, 0.9952, 0.7376, 2.2456, 1.8526, -0.6685, 0.4782, 0.3965, 0.4566]\nstate[eef_state]: left_x=0.2356 left_y=-0.3134 left_z=0.017 left_yaw=0.0174 left_pitch=-0.1456 left_roll=0.1266 left_gripper=0.9952 right_x=0.4555 right_y=0.3089 right_z=0.0818 right_yaw=0.0848 right_pitch=-0.3151 right_roll=-0.1901 right_gripper=0.4566\nstate[joint_eff]: [-0.759, -12.8205, 4.8342, 0.5836, -0.7888, 0.0464, -0.1148, -0.1436, -14.6803, 7.0769, 1.5702, 0.2759, 0.0269, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:192a6e3a0dde03548493cc18a3dcb7d665651c5c4d86de5be3bda10da6ec8bf3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24b74473254eb73eb5d30e51db6bc86a31b949287f59b6e645af20864fd5ffbf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc9ede8ee42e96768c82ecc6cc02368be60412a6a8ed9f2c09eb3db852b0aa20",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1564, 2.0125, 1.1191, -0.3145, -0.8268, -0.9894, 0.0089, 0.7361, 2.2734, 2.3497, -1.0477, 0.4858, 0.4007, 0.4566]\nstate[eef_state]: left_x=0.2835 left_y=-0.3128 left_z=0.0202 left_yaw=0.0239 left_pitch=-0.1119 left_roll=0.1002 left_gripper=0.0089 right_x=0.4665 right_y=0.3161 right_z=0.2053 right_yaw=0.0909 right_pitch=-0.2391 right_roll=-0.1361 right_gripper=0.4566\nstate[joint_eff]: [-0.2803, -10.5778, 4.8342, 0.9548, -0.4664, 0.0415, 0.7595, 0.2803, -12.6291, 7.3915, 0.8034, 0.3639, 0.1929, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssEBu1oPwXfsy5T7gkyirH_eiPSAdWRMYoE73zF40-ixUNPj4kuSgHIENBcaHGInfFiNz6Q0cSsU0wbwM9kFi5PnIvApPKHro2cgTcfaAcWOqAtGmQWQ5foJ5Dq9tua4-AzbfezWItEcGvp3vtcjt5m8BKSZRdZuA6tBQMqDDdfhvOEE0-BdA4fR-_DiRhIeJ3waIRvRqpbTnrw_Ar_9bxG0GoZqoSOR_w1eADr6EfiHj6MntDFoJwXMfU6ZQ2Rc-xnCPyL5uoWTiQaYGYSfGtIu6aL18VqKCVlBToOPYskgsYAQpWej_kEdYp4FpEDaATbmH_YWHwodCcMp-ZlfXIrsYiKW63QUp2X5ihzz0qulXthKS7oDh9WvDI7GXntbXoTCJ5XOU1v9AnfMgpLqC-qY-Roi_PBjPY6wh4ETm2xW8Tx64eEt4Iw70VrQKrYpIC-CsGIJCc5uuBO9MV1HWslB5GIkjvUSG5l1bolPAPjDyhBD6rTfoTTZMhOLEPGJZnzm-w93_Shc1UyKhGIXIUIMGbtA8nr1uwaa327ZgYStpcjjLKn80XnzCWc-K-LaBveVrYdugqwZgnEyliuzr6QsyD7gDN4edYGPUyc3ODwAdiPitx6S-u5gvT0nkXVKPBeICOH3FRyf1NKzeSlcYt-Ug95apsJYdxMHBLET512b-SlC2V10hiYqxUR7A1JUrx4NMIXRFl8uXKqo7wEOQb0RKnh_kkWPzIQ6phrEiq43MU7ciEIA7Rs0Dn_GtJvfoPXwpWq25u9-hMtgLnWf-QXPNWpfximFUzv7lJJ10o5RmAbjEnESFwYMqYPJNVDTSXQTkw8yYz4AxtFyH4zEHv6wXEuwXkQj7_vTvOnUATxX75w90LKUvReoX0iMESEhUrZpj2o-NcvwojeijFz9tVLSi7SnbPPWI2tQrvtUoXaQuZ4kxO4XFsPxOSU80aKEQaqJy6sCVmSWOnlEb_S_5mGXcPhm1PcgJtnHMeOydlyFsIRzNVq7PKaSw0LLKOArsYShpTMkFO-2daE5N8wq7Rp-Hq68ZzKdTXXWTzlE8yGFDUEgXd10MVj2GSJcuPl4J-jrnuHrIXpukEy4wKycj3WQK3XRl5CthYT0X9eRJuFvq6n44d8mK9AQwmKlQ3YeiD9RUrhOsjUSfHh71i_N248ICqO0TWISQ0UuBjIz7hAPYarn0kBmYo_ISjMBgAA5Kp22fYuqhctKOBT7AsagczVHx3RdyQW6FyGRw5Zbav0ugbo=",
  "id": "rs_0e7f962b9b7961af016ab2c0fececc87d0b2021c088c275001",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_y\":-0.27,\"left_gripper\":0},\"note\":\"The yellow object is now inside the safe, and I am releasing it. The brown torso is offset left of the jaws, so I am correcting sideways and closing on it.\"}",
  "call_id": "call_iOQjbf9C9MPD4CRdSNEOqHwq",
  "id": "fc_0e7f962b9b7961af016ab2c0ff9ba487d0bbecb741992abaf0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iOQjbf9C9MPD4CRdSNEOqHwq",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2419, 1.8904, 0.9195, -0.392, -0.8234, -1.1027, 0.0104, 0.7376, 2.2456, 1.8397, -0.6762, 0.474, 0.3931, 0.9967]\nstate[eef_state]: left_x=0.2326 left_y=-0.2692 left_z=0.0084 left_yaw=0.0193 left_pitch=-0.1598 left_roll=0.1594 left_gripper=0.0104 right_x=0.4517 right_y=0.3064 right_z=0.076 right_yaw=0.0856 right_pitch=-0.3341 right_roll=-0.2025 right_gripper=0.9967\nstate[joint_eff]: [0.6906, -10.1128, 4.506, 0.8425, -0.5153, -0.0024, 0.8816, -0.1299, -12.8615, 7.4462, 1.2137, 0.2173, -0.0122, -0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5e449f71b5233edb042065ae82ca6c51063b55329596ba31a6ccbddb1afe89a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63a65f0d18f4cc0ff0c15cc429c38c013dbee957b0c2882c51ce50eca1030f2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b91fdc7d1e0711ff21b12e2f6f09d02a13556a9f4bbc46c51ff81b5d5f733135",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2766, 1.9938, 1.1107, -0.4839, -0.8352, -1.1561, 0.9952, 0.7376, 2.2456, 1.8526, -0.6685, 0.4782, 0.3965, 0.4566]\nstate[eef_state]: left_x=0.2356 left_y=-0.3134 left_z=0.017 left_yaw=0.0174 left_pitch=-0.1456 left_roll=0.1266 left_gripper=0.9952 right_x=0.4555 right_y=0.3089 right_z=0.0818 right_yaw=0.0848 right_pitch=-0.3151 right_roll=-0.1901 right_gripper=0.4566\nstate[joint_eff]: [-0.759, -12.8205, 4.8342, 0.5836, -0.7888, 0.0464, -0.1148, -0.1436, -14.6803, 7.0769, 1.5702, 0.2759, 0.0269, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssEJtEAmxOPT3AABXWj53LdEHmtsygH_zm89B-_Pu0LEvShClRVIq_Md5y_A2W9eH8bCihk_QC2FSj1yXdroAAbHcmHuIxM7g6-KvLGjRTLUch5HtttVo7QNIVF69ifWCMF3J0sG2CDXv1Cx7BUwkWF7h-EVfbBF3-6kWZUSE9tXBmFyG7PYz6wNAnQ7XaW0J0zG2ujsczNrcqB219Lo9s895svloMZFWxXRKybYAcYjS3huCgq2ZxZbkR1dJAr2ttruWdchd9YZsHRhLjNcXH5yhNLNicmGQUm9eVpHozutzPZAJ4KOPsu3RGjCjhCruovuF4dZZLeKJHUq6jGXBfbjylRrZb4S3MF6lYtX2c23fsZbXqURa1CRDZNE6-t3VFQ9LaGupC2QzTUuLxwRcyO-4D3O00QI7HMG69z-v-punN1D1yjVWiIO_K0E47DKoeJW38FkKgm-HpYuEkdTfqfRmuvh__-4il3IBNNtn2yP-N41JZGFV9ZLKTuG6uYpGeTK5B1tsGwRXDVsAYmNXM9YJmIN2hhX7lnzPJSLgthLVmeh91Gq5I6zFB47AbsW1Mdt2EGdfxac9hoyL7Gf4KZp9zf1EpBrzLwgsy_sMNxcDtR-mspBlPVI89qpHLszfj6AkbaHzhccWFjuzkpvS7AyfAja4jGUh97KjK-DpksXMNiKL3knPEHU3tgqdtNWOQNQs1P4c1AfpdG6F4bDvHd-zZftHty6NiNBcyJUAVo1OGx3S2ojEGkBm9oXPA6BCdKpp4bmk7mOOCsUtcXEF0WnJ0c8e6V4goscCJM5jJmyjWAS3UXfz8Z2q9-nEj3WrYCIKp-S-03xfmeFZZAJcJmC-jmOp1HmHlP8f2fQx2XEolab8MPcicGroIuITt4HWD_rXhanAa2bZ8CbONH4Zw1JLa9wQjtRu1DV0BpsxYJVfsGkcqjDNeHRkdTYfKRs2xNEWorl3MMcJP_fuFw79BljhecXsfq4fnKI3TWpXFvbbeY637dYPSOVWnMCBp8qpRNnLx0irtrcV_ZN0zsL-g9NLXQVmsLrci8_cVtF3ZxUtPqeh96zEWS7dQ3Y3HBKraSkpQJBMu9ixMaKyM1fzFHvpKZ0-WFHpcvS7yzf2G4tpQzPHtNL1mb1FXkHp_UohiGYWcTzVg4cEa-GZz1PucZgXadCMVU245fmoGw3BOIrQ-OdJGmmhs5TG5reRbNws8bTsIB5Z0dZvneDe9ghN7AwCGUrJQbCGZ4_LVeTGFhar4nBBUwtKmwucOod7TRTpBFDNR9yOzFb1Iv-9CcCLIJ3upnIKKHc8-9jPehGO0iPw25Yi93CTGWBTefMa0RKY8cAKHIunYGBuECn4a6PQg2xrQ==",
  "id": "rs_0e7f962b9b7961af016ab2c105e09487d0bcda63b638d3b5de",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.22,\"left_x\":0.255,\"left_gripper\":1,\"left_z\":0.035,\"right_x\":0.29,\"right_y\":0,\"right_z\":0.22},\"note\":\"The brown plush is still outside the left jaw rather than between the fingers. I am opening and shifting farther left onto its torso, while clearing the right arm from the safe.\"}",
  "call_id": "call_1hAL0sxBtDPYwz9LJnRyRgdF",
  "id": "fc_0e7f962b9b7961af016ab2c107321887d0b3a60b7b5e9b0fb7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1hAL0sxBtDPYwz9LJnRyRgdF",
  "output": "executing move_to over 26 steps (2.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1099, 1.7027, 0.7727, -0.3206, -0.7876, -0.9264, 0.9977, 0.0578, 1.1004, 1.0935, -0.9321, 0.1211, -0.1612, 0.998]\nstate[eef_state]: left_x=0.2534 left_y=-0.2208 left_z=0.0285 left_yaw=0.0264 left_pitch=-0.1678 left_roll=0.1727 left_gripper=0.9977 right_x=0.2913 right_y=-0.0009 right_z=0.2077 right_yaw=0.0388 right_pitch=-0.36 right_roll=-0.2031 right_gripper=0.998\nstate[joint_eff]: [0.5812, -8.9504, 4.7658, 0.779, -0.3932, 0.1099, 0.0024, -0.294, -3.7538, 8.4444, 1.4774, 0.0122, -0.0855, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e92017982c353a7273b86345150013e6a302aee11695498853b4f174e357cd6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0314564683e6efe112e3e0ab82a54ab0f0f586d6ab27af12518c97af4b3272a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a67aecf0b917081f91d4a97f3e2a0912c254faaa004dcc2b1c441fddd33004d5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2419, 1.8904, 0.9195, -0.392, -0.8234, -1.1027, 0.0104, 0.7376, 2.2456, 1.8397, -0.6762, 0.474, 0.3931, 0.9967]\nstate[eef_state]: left_x=0.2326 left_y=-0.2692 left_z=0.0084 left_yaw=0.0193 left_pitch=-0.1598 left_roll=0.1594 left_gripper=0.0104 right_x=0.4517 right_y=0.3064 right_z=0.076 right_yaw=0.0856 right_pitch=-0.3341 right_roll=-0.2025 right_gripper=0.9967\nstate[joint_eff]: [0.6906, -10.1128, 4.506, 0.8425, -0.5153, -0.0024, 0.8816, -0.1299, -12.8615, 7.4462, 1.2137, 0.2173, -0.0122, -0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssEQKO9frWlzVjOlbUnmDtPRBO36oHiwBqOp1v6m6gwNtFSxxQEpRerWXF08tUZTrN6-By6vAqWMxVLB7Qj3iM1r1a6eEVA_cmlQjjmJjnNUpDeHJv6t1AuxpzIk35kSiFTQlS-U4k6SukaV1EebXi86u_eNo7uY31uX27nT5jtXQlXWqYPzcs-f0Z1yVK-NO786-_BVk6ENfQAOLBe6v2hUsZshIvy3n5psOPkqmJngIqXrwWhPif9hiNY7ezlY7zo0c0HGrzEcTX8FWeJNtGLZacB34J8gIHMJ41b9WEmJ2vQoFqaHqF8D1iVt0AeQrcQsSv_B-7CK9tdCO_N0fgY6QU4c47gNyfpAvWaF5g5p06Moye0c_sRpiGoEIcCWrWcyAyBPaDnP_2_Ua5Y8HgN0nHxLhqB7j_PdCdH2gSZbpsmpRmVV8IRJL5NFXu9iiXUmdA8lAmGtiDTCI-FgJJmshTYWdKK7So7yVVexT6FZqNaw4ab9Mk7BJj5HBI3iil7RrIWiW4xU7m7XBzhJDErngFRiFniI9buFUJl7j-X2aeMOMcwFK5FuM_GQ2QpmYi2sRxoB-H6ZmI7xDPY9wMrifPwYfTFw1iqkS5uPjHx1I2ZY5PVn-OYGC3f0wu0YYhtPJtRu7Tgy9ctmTZb0HKH4HCKRiYktAmBR8XLgLXyKRtJxWl0pl4PbEU1CCInS2Vwv3AC2DZOWkzSamIQx-v2DvpRuvoPcaC2Blz3d_9_fdZbErCr-vRxZDYJDauNZEeiax4sowtjqg6Ko7BUON36aMsoT3fQ3uYilW5p3T5prgg_G3Oqd-7TP6WzFINyMX7LASWcqqBqZyIl80Q5R124RDMB4K4XC_9MFY-hMSqw78SIt_QvsflXgelo-FuScLnyK-Q2jRlZWVdWQRwJGBEgR1-Ama-JSzAE_vQr3ldFK1FPf2lt_5rcUatxWeAS0S3CF8EvurFsffF_QYrFqn01aTbAiPP15WmFDmUrTFbb2bf2F7zn9BaAOC6OrX0wipQe548kh8XapvTyuc9CbJNRIAzZbMUyZ5l807jw_AHK8UkrAPn2SgVH6X_pJpNrvsgHAv34-AFnttcUN59b9IEWRqXkqh3xiXacsx9CjBpAulH6a8dJV4sm-I2DnQxcoRMPsHHitTFPwkyQoiF9W4mQEL11Q111yUwkjb11ofPXBvcGoToc0hDVUMMBDDC7iz5t5",
  "id": "rs_0e7f962b9b7961af016ab2c10e41e887d093fbb41a759237c3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.185,\"left_gripper\":0},\"note\":\"The plush's torso now overlaps the open jaws. I am making a final small leftward adjustment and closing around the body.\"}",
  "call_id": "call_ebeTA7EUYtAS5eSR84PXKn5I",
  "id": "fc_0e7f962b9b7961af016ab2c10ed0b887d082ba765080cad628",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ebeTA7EUYtAS5eSR84PXKn5I",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.05, 1.6035, 0.6411, -0.2531, -0.77, -0.8558, 0.0099, 0.0578, 1.1042, 1.0935, -0.9638, 0.1154, -0.1795, 0.9982]\nstate[eef_state]: left_x=0.2522 left_y=-0.1854 left_z=0.0246 left_yaw=0.0353 left_pitch=-0.1741 left_roll=0.1859 left_gripper=0.0099 right_x=0.2853 right_y=-0.0003 right_z=0.2021 right_yaw=0.0544 right_pitch=-0.3976 right_roll=-0.2098 right_gripper=0.9982\nstate[joint_eff]: [0.4991, -7.2684, 4.7248, 0.8913, -0.3248, 0.1099, 0.8083, -0.0615, -3.2889, 6.612, 1.663, 0.0757, 0.1392, 0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:893b23fa110292fc030fc53af393148cce3879f89d5eff8f629d8eda76f3283b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:199c29714fdb560d0b2d263820256e647fb7296bc06fed0d44db5e8bd9cda75e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27781ea5be869843edb20db10d49f4332ed11adef7e5009c435c2c22bd9095f6",
      "type": "input_image"
    }
  ],
  "role": "user"
}