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, 0.7933, 0.6048, -0.3908, -0.0193, -0.0338, 0.9993, -0.0212, 0.7948, 0.6075, -0.4034, -0.02, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=0.0013 left_z=0.1783 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2921 right_y=0.0009 right_z=0.1765 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -1.347, 10.1675, 1.9805, -0.0757, 0.2271, -0.0904, -0.2803, -1.5385, 9.7299, 2.044, -0.0122, 0.2076, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5602a1a2cc820360464f8bc6eaf2745a37bf7c0bcfde9821928b4e9d5bf0ffef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a1adad01dd51ac029ea1223e80e6792da2bee1e99188ad252fbc1cb46d40423",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:993f13b1a8a6a5bebb93f3127c4a71a332a6146e7e760d904bdb87dbfc74d9e9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqssY5ntIN40v_Tr13mtwWU6z_fcxXA8VcOGBNCzbHacAlkWZEeK7oMEs6U8nt0y_8OSTAl6uEpa280FZBUTLVvsgegTsFtQ8VguyEQXHbrIsCCpRVwBdPmuhdEHn2ZPdJmOlIT0dypHBwilXQdzcFq0hWbSDpt5QNMp1U__807WQ-JUvBwVCX1rseOXMQIS4IlSzwa2Fsr1zfNBrExDWhsYvtIW_Diy64PBsW_Oi_KUDEll2SC_lUC-1Ui4EfkvW3ux9OJbS2o1kT9oXrmyWubNmguOMtApWFErL6o9TS-K13gt9gKAkHSw5aQBxUUmcqBLwcNt-6Lao3AjrkvclmB-7uE-4LTPTQ-iLmotXueR8gFB3byjQ3xn_gLNNQwLZJBcaV1VUHhQdJSJWhv2TQw6O_6j9eArbR2mby9Ov9pbb-v_QOv4qOuhQzk32BNtJHsM8b_k3HVCAK7auST0teGfFI2D7HvY5C4sZGsc8vJuQlFKDuuLMOiDJQQk3nYep3fteTBSGsCQvgywHm_vvvRzdz3XVD0A1ZHd6ctg6APDFRMd5SrqbKtwaUf1wZfqZHrmXRY1ML_Vd3UsGbA2lKguTY1cVVkR5lyM-9-XH6Tac3YYz8Meg2HgOZn2TUyZY-R1VT2kaU7Y_R-MLabv_hnVMuiIW4wOzV_9s9_N16U_FqaJxKm_3PIepi-LYwLAoHuxqmUoI_ajVdXHeLwTFLVq9GEJdx0Kl7fB_Ev6LUIK83hErRjCdQOuKGqePAck9hW4X7RKoXhzdl-h_uYxNZjo8DDKxk__gBHTQ1OWrOk1_iQrNf-00z7qjh9pcOzFUmw_QNCid06Ms_AYE9W3gjQtywYLE91ertaJO_UFhAJVwcj_rMIDq0qFzd-Mt6ZS19qmq2fdKGggknfVkroA9npf_vhnOa-_ZDUPlKp1yDkRdkIJDxSzL-IuZqI-nJVTWfr1EOJz_pvjzJFwKiMW9KIcjfr3zYadUDvJFXXoYG_RsInVyAib3dTvShzOgPVN9gUeNEdg7EeUXvxBYEbwU3X_sy6vq0IfCiSjP1_BXUFMk9krZmd4IQXj7thdvwWiijG0GaHBGPuuGlObU7cTMjZSsICZKB1jtwsPY_YpBCqc0ZRSWc_TpigH6xa50EN-CM5Ts4I7Fynz-3VRTETdoQtj6b4_wHCmAPfANeIbE3yd4RfKRCu_qcYGt6aGd_2yTfB_IuZOZSIaSdL67pR75ZB7LildeolQ29y_RlAGyIGPnq34_oxXoizAqRkckSvG2BSE9LysJAQt3jiCXnahNealHH-L3C9b2B9GVg0-u6jjH1_ZkXxQ95TRzn3eUQIEdZ3yJHjhsgj8fK1v-jD7JQ9N2Gs023Ltt1ZJ-2Noq1CYJABvZDKClPpH9Wv5jocw8Ttdr0jY3Z5xX_F2NY2A8fY26KJ_EgbOtPG1zQy-Aqz7kjjwVSpGvO_vpwyP5tH5xr8YKlx2ShyUundpCL1ZmTaU5xqWf8uzYk6Rvj18xzdsO8nfNrCqdnjcOg7--LPs6pbbLAp5zZWyIRlZofT8xHoOPzFY652O8LxeMHYK4k8FN8YMjMi9Gw0Nqgx8-FA6pimccbC7B_PxPMR_F4yt4D-cbGZ8O2t4X_1LbrNcDbxUw-QZF25tJydgk8tSH6fn7ApGb3ewWbFuAxaV49kGo_vy6Sgg==",
  "id": "rs_041a3387134d6542016ab2c633813487d0a19e8319debe7ed9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.16,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"The safe is open, with a white plush, a brown plush, and a yellow object on the table. I am positioning the left gripper over the white plush first.\"}",
  "call_id": "call_1lob2IWPptW8l09oRbvGf3BV",
  "id": "fc_041a3387134d6542016ab2c637ff4887d0862ea34fc0179bef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1lob2IWPptW8l09oRbvGf3BV",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6746, 1.3453, 0.7624, -0.1852, -0.5274, -0.4297, 0.9993, -0.0212, 0.7986, 0.6086, -0.4332, -0.02, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.338 left_y=-0.1519 left_z=0.1299 left_yaw=-0.0218 left_pitch=-0.0654 left_roll=0.035 left_gripper=0.9993 right_x=0.2883 right_y=0.001 right_z=0.17 right_yaw=0.0006 right_pitch=-0.0332 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -5.2855, 9.4291, 1.7656, -0.4029, 0.0269, -0.0904, -0.0342, -1.4838, 6.9812, 1.9512, -0.0366, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6663de43aef920eaa175bfaa9e57a2bb345e591eb74d8e7119d266ef41a2265b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:035b39aee3d06f7bd6a3564132b7df0cc933ab3d251bcd4dd1a873e86b62ef90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40c7cdc6287340b3f44560e29e603c75ea20ab2e455430b06dfb8042890ddd92",
      "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, 0.7933, 0.6048, -0.3908, -0.0193, -0.0338, 0.9993, -0.0212, 0.7948, 0.6075, -0.4034, -0.02, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=0.0013 left_z=0.1783 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2921 right_y=0.0009 right_z=0.1765 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -1.347, 10.1675, 1.9805, -0.0757, 0.2271, -0.0904, -0.2803, -1.5385, 9.7299, 2.044, -0.0122, 0.2076, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssZCbUhmbEdEZ9AYdZlTKzRnEFWk4sLcoswRJBjNSW1C8BQf0IGagPtfyaX2_DFTWac4wpipywM9PNGL7T5miK5Il1Ndj1ZA1Xhr61o1IZ8AND2bSYIUO7I9BuzmAh7xedN4dRJzP8KRqPOlc7hFU-bXhT5uqmgAXU-qrW-AMJiqNLqdtRWugDzxD1kZIx4u_MUevW0PPt6agniRIqtsfui44Y7hrcQFXRZThQTbPzhQzPjbQUGJU-sgadDcald4_pgCaRGa11s9HzhlYzbcihuskSmhQeAEAhxKu1owUPS-vUMBH46zsCriSXYVb65NM_KY-uy_Xpk6Yf6O0vcMzpBOum6rBI7L6sRJo6yp-CQOAjEpsUVl1fOP0bvyon1ZhZPRK-qTB6ttem46NxR8MkizorUzyd637pYqLv7p6rZ7mK-6DawNVamNg7Ac4JqJHCylC55E3j6hCb42IP3QoXOtBYicWiiqi-yJlG2orUuK4QRnbSRy6oS5YP0tS_gdMne1meK_nG-CsuhRyM5L3tR0X7ZFtRQWij_eDAjrDLsKGmXmkgaFZMV1R6FTBnJECM6HNPKhKnrs-YRs8nPBbU4_CaEwOXxzcTUfyT68o8KZzk2S3cH_xsmElufuna4qhyFs_B5a5206Dfn2LakZ5Aky4oMGesjE-wxjpNpwPuE9lkjz95SDPr5hnuX68bz2l-llyeBO1bsK-RSQ-KBiAjggjVswA6VIUo77CcbSVrx7nnbeLKvMnkMUTdDxEbBVGSq83FWrhDDMbyxMrZu3UL4liW8tKCQmyrQmwRy286z_VL28GnSnIJGqw2IjGUPxpdHFtlqzlw-CEDZdi4euTuzNvku9yBd-q3aysPubw1WIOrgE9Voiz-V4PrsxgpPqPEFEWIzdRvgoiVJIyYNZJGknk_jfu6WrvYjy-4zV_SogZRKDJKzl4Vk_S419Kf7l-NCPqQcr6Mmqq_EeetZXuCTSCO0YbsAjyz7FBpHJ0uJC41KgjD_vng--bcQioag9qnqW2LObKbla4SHccElWahjo1qc82SugpazowZMIhJPjTwrNSZVcmHeoicR33o4FAGB5WptUzpypwa3vO_HxVQKmqTkcI8w1hnggMBKbKySd77319Zt4fZ3fKyKOCsJdCMYBqZk9rDO3q3JFniTK_cXv2tkMgLy3MQ-631wzEiOmW1NJ4ZrFp7XOywRfiIJm4jUzDx7obg9i3D6qZP220wkuYeEBhBdx4OKkmI4Q35VLOqpvY2mGQnAhHZjda9DJWxyVcF9lRRiPjVdqppFNt6yf6A==",
  "id": "rs_041a3387134d6542016ab2c63f16c487d090e23da5c697d60e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.145,\"left_z\":0.035},\"note\":\"The white plush is slightly left of the jaw column and still ahead of the fingertips. I am advancing and lowering to grasp its body.\"}",
  "call_id": "call_yqzIrLSBbKBCxrfONR8lLHdH",
  "id": "fc_041a3387134d6542016ab2c640a6dc87d08705e40c22cdef5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yqzIrLSBbKBCxrfONR8lLHdH",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5785, 1.6756, 0.6331, 0.2291, -0.4675, -0.3714, 0.9992, -0.0212, 0.8024, 0.6075, -0.4553, -0.0196, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3632 left_y=-0.1378 left_z=0.0278 left_yaw=-0.0007 left_pitch=-0.1289 left_roll=0.0721 left_gripper=0.9992 right_x=0.2851 right_y=0.001 right_z=0.1641 right_yaw=0.0004 right_pitch=-0.0603 right_roll=0.0001 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -7.1863, 4.8479, 1.7411, -0.0806, 0.0952, -0.022, -0.0205, -1.4838, 7.0632, 1.8779, -0.0171, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5e2628db703dc1032e620efa6409ae6fcdff5a24d475a6bc327bbd8a3dc25b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3942fcca7a7acd70faa404034ca38592a009fb2aa05bc68d72b64eaf2913e707",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f33156cd89678dff4bbbe57b92f8b54ed2571447516d39becbd877af9a30619",
      "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]: [-0.6746, 1.3453, 0.7624, -0.1852, -0.5274, -0.4297, 0.9993, -0.0212, 0.7986, 0.6086, -0.4332, -0.02, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.338 left_y=-0.1519 left_z=0.1299 left_yaw=-0.0218 left_pitch=-0.0654 left_roll=0.035 left_gripper=0.9993 right_x=0.2883 right_y=0.001 right_z=0.17 right_yaw=0.0006 right_pitch=-0.0332 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -5.2855, 9.4291, 1.7656, -0.4029, 0.0269, -0.0904, -0.0342, -1.4838, 6.9812, 1.9512, -0.0366, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssZK9XC_jJPFQGx-0F-PgHrGkxtOX8prf3q6teB2NgI7xdjCUNH3eXLr5-FNcmVKEhYJU0j4Nl_h4XG1Zg8dHbscDVMp8EwqTTzwYfG7XPEMRLFKNlMcFcxRqjA2m9j-ppgGl6eg9mVXQ2qCs2GkptNvFjyVxtfVvMy3cAd-lSkqk2qcNtDeH3r7GmsmVCx045MqGtD506iYQkE6WbhWgxWUCfU7F6Aglz9MJmWBzTECLBjGzvjufkADKSkfn4U99DwUP8v68xo4Vxb8A5uxbcELoE9VUDnRoMKLqSn_F2QvDmwL5_uoEl4sjI49dU-rapkx8vOz-Qfb1wgkog1MqKWvWR1KHCHPEiUS5KnTZQCSbT5rjojVYnp6fIG_ofSjYkHUMLeQjK1rUIi29_5g4-Sp6GgeAFYhEXfESs9kmky6I6Kwq4F3OclDWyx5CybNdKr2ktqtSsNC8PLcTIaFQwErGAXkCGNhl6yT8H7XOmXSu2NSuNdBEgsyryOPUTuky_NP80nc-pd_OnixEf68jG7UewXedKr89LyhZRaWyDEI398roqVqPhjITPAfsPeAgpMgxurBkqfz3Sn9gVF_OmRCwIz3hHkWSEhfIsMcF0tIwxSFTl3Nfr1_2jtFwEEQTbptjZRGjOejokDEj0YOBs_SJAXigErOPUzv1InDXPFwUbhKmOCcRsJSnRpGI8lo0hUc4I-FsmnEVESXj1htavMtONoD_IK7zTbQLaPoQUo7jlIfW8AfES3jra50VHi7WFKObgJJl7KNImIZhNZ0C32f7AhbhCiAy-nDFDsdK6zyBae4NJsjoE1OClkeNcGG_RZhqMVdnpR196mzA1Hf6gA0iBcUVh1iocM6R0O75X7XJT-FCVJ3h7NzirlPaWSq5jM4caWJq1ouo8KJtYLL4tbnml0fLLWwbzZRGLr1CwiWa5QxEDj_jWRXuKemMGLxlyO8OXH-N8TFVIA0joU6nSQ_4alq3Iao1Qg1iztmzn98B3valS5yp_pwzU_qlPL-ERdtDOhRe6uuMs6tGYOLBhokk9SCWbg-VGRCDvFAMtAUL4KcSibvFddVFPXRQroAO--jFiyn5ItrnsjQvGSQNeH1OKHELqTUNNOXeEL0rf1z7rS8xd64-mUCyLcMXjBNL52zT802nL3u8oJjJI3G26bLJ78nRjgeW2sNsllfdbwMPf2QWyTutZOxdNSGhE7E7mNitzSf02zazxBMEGAs4MiVib5_7DG9J0p2PR6FSDK2y5I9Ez9VFGMGMlEhucl48ak_A1irhW-wo-utZLjlFiy1QMR3e8r8SPy-hRbKACjFzPmpYitVRl8B1-N5raKx0Aq_notVmZl7CxDRcNfxNDm7CgeRTcXGM_T3F86UUfzItAkDEQLbEfoux56tqdYOZfXLSqDXq-cwn-9IKmgLsz1hCg==",
  "id": "rs_041a3387134d6542016ab2c646b0c087d0842034e88e2d8d25",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.132,\"left_z\":0.02},\"note\":\"The white plush remains just beyond the fingertips in the wrist view. I am moving a little farther forward and left so the jaws straddle its lower body.\"}",
  "call_id": "call_38tyEifLEUS5pgHWN9Om7eZa",
  "id": "fc_041a3387134d6542016ab2c649679087d0ab797fabf90bf7b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_38tyEifLEUS5pgHWN9Om7eZa",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5064, 1.7817, 0.696, 0.2756, -0.4335, -0.3405, 0.9992, -0.0212, 0.8043, 0.6075, -0.4652, -0.02, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3888 left_y=-0.1267 left_z=0.0147 left_yaw=0.0279 left_pitch=-0.1403 left_roll=0.0727 left_gripper=0.9992 right_x=0.2837 right_y=0.0011 right_z=0.1616 right_yaw=0.0007 right_pitch=-0.0721 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -7.6786, 7.241, 1.5311, -0.0317, 0.188, -0.0171, -0.1299, -1.3607, 6.9538, 1.9072, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f0435668fb44e84ebde4f834685a347279c4ea4ec677e65a4c8522dc9afb8c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd2eafbe458f8f62e49ad3decf6479a1a2f3e5fcdee71d7d684dd97984d5c7f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfd7d9866a48eaa622f7e3e02cf6835464309e8dfb49cf1c25fc286c5e28c43a",
      "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]: [-0.5785, 1.6756, 0.6331, 0.2291, -0.4675, -0.3714, 0.9992, -0.0212, 0.8024, 0.6075, -0.4553, -0.0196, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3632 left_y=-0.1378 left_z=0.0278 left_yaw=-0.0007 left_pitch=-0.1289 left_roll=0.0721 left_gripper=0.9992 right_x=0.2851 right_y=0.001 right_z=0.1641 right_yaw=0.0004 right_pitch=-0.0603 right_roll=0.0001 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -7.1863, 4.8479, 1.7411, -0.0806, 0.0952, -0.022, -0.0205, -1.4838, 7.0632, 1.8779, -0.0171, -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"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The plush's lower body is now between the open fingertips. I am closing the jaws to secure it.\"}",
  "call_id": "call_ECOPomBujA2AA6z6b4qzC7vq",
  "id": "fc_041a3387134d6542016ab2c64dd45087d0bb1e48e0522e156b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ECOPomBujA2AA6z6b4qzC7vq",
  "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]: [-0.5064, 1.7977, 0.6991, 0.2615, -0.4309, -0.345, 0.0236, -0.0212, 0.8043, 0.6075, -0.4965, -0.02, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3862 left_y=-0.1257 left_z=0.0072 left_yaw=0.0305 left_pitch=-0.1644 left_roll=0.0816 left_gripper=0.0236 right_x=0.2788 right_y=0.0012 right_z=0.1556 right_yaw=0.0008 right_pitch=-0.1034 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -9.0462, 4.6838, 1.6239, -0.1783, -0.0171, 1.0232, -0.2393, -1.2376, 6.9949, 1.9658, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d543e042403fad562731f36ec7bc4dce8290f240ae10b73aebda27b9eff94883",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4a0109e7fe89ad014c0fdc9aa68b3a528dd2a268292614c2e819b4b10982aca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ab28260f3f3a62c57ca54e77b049267b48d65c4a9a808cccb3126a895e9d50b",
      "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]: [-0.5064, 1.7817, 0.696, 0.2756, -0.4335, -0.3405, 0.9992, -0.0212, 0.8043, 0.6075, -0.4652, -0.02, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3888 left_y=-0.1267 left_z=0.0147 left_yaw=0.0279 left_pitch=-0.1403 left_roll=0.0727 left_gripper=0.9992 right_x=0.2837 right_y=0.0011 right_z=0.1616 right_yaw=0.0007 right_pitch=-0.0721 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -7.6786, 7.241, 1.5311, -0.0317, 0.188, -0.0171, -0.1299, -1.3607, 6.9538, 1.9072, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssZVlPit2DUKaIjPbR-89oYYoU5lzAFupFodRFowhM2p0zVvrM5KXZFP4AS4OmiJ_wGKUTPbiXjSII_njwocm7EN42yXpJklfeFfXwN4-2ZOrUGinSL_obM4aeKf2TtfGZZL_flgwdxdw9zz5PjhIgpgA-b-zIFCs-KxvBZm8Kepuks-dSAlDt4n1HkRC6OloMdEM96Gdt6F9RlswUSSVFlGH6lCKYbQLIMjOH0bSxP569gyb0UjMhJj3p5-KHyLEM8OcpIpaNkSYvBIIKicnpZoHAZDlCcEJOD4NXd3AaXp_8C5OWEj0KrmWsp1h2Do9MM7aVSovwxPczVrHc4ptDU7JfJABk8ycX2eZmkhla_eY2ko7TjRN11INrfsRNLYgWGi0W68ninBofemiXibjQmXU5vl60b0fmfaz6McuKIPpgiwv0sdYeAWkUwVolHhe-6glSTp_W0e2idqn6i9cst9dtSM57f0K4YhcrRsaV0iUOutKKt4UEmV2_hEHtMqfbDJ2b1teDOPsmXXGg-d8u63cSz5FKRC3WILgL9BKm51ToLDnl23QN41IkShvjc56humRrX4ju_XxymuBSoOvry61JMjMnX3ZZM10_DX2wxDF0GFptt_gVnxrDP4WxpEiidsg382tNe6G-3P03IJZm78UZEsiS2i4d0yjumnGyobwEr8JmTqx-OLcohrRAeZVpvAat2to-USQ8wBe4Irhgo8NHFc08i3x-RIV3sRCWftqfXUcDNSnVbQXQ1Akmzti20PK_ztMUGfjLBXhnT_DLlPzuaklNASpjClbx9nz8zvUwIILhTpuDTSRqx_zqWJD09vKj0VaVHmNXrUdiolnEGyVR5QgkvYsr5S-kugj-z_IV6is8f8yFbZ-JbP-AYm2wvV_id_yl95e4qlpZQsFLJJtZ_JIgZh1mz87IhyvxCdtgwCki9Gfkq0JJ_7C72oGZaZPG9jYSJUKyhOUt3O7EIbTWNjRztQucjR6b5jqCwfRQGc8785-hF5vTbZJkb0Fw9eaFHAgl5S-HUBeRSGovLYfYShdywH8FpftRfAfrsXbEYA4mTCdqnzwha7Ra-Ngp3XVkLIyhGL4Xsyk7MW0kQorF7SzoPe0aN9k4by5qTyPsVvgXgByB7N5SJ4HVAEOrDOCauj_F4eAj0veWCywbEkgJC9Eu4WdCBR0xGo20B1pBZT2D4q8LEXOQ2ZCpxZUt_JddYMzK6N0OV7Mtjq_tQEbhmvTHrXkRTfvmo1uihnpxBYmjsM46IwZ5nM8JRuHQHpn_gsdVkQGsR8p_TUNZDg_aYxDjAp3WzaS9J_FFADhrTO_DTvUmGfym_a25_1SY5u",
  "id": "rs_041a3387134d6542016ab2c6519da887d0925fca3304f7320a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.425,\"left_y\":-0.13,\"left_z\":0.018,\"right_x\":0.292,\"right_y\":0,\"right_z\":0.19},\"note\":\"The near-closed jaw reading indicates the first grasp missed the plush. I am reopening and advancing onto its thicker body, while restoring the idle arm's parked height.\"}",
  "call_id": "call_A8qhppYEyxBcjRMQqGDf90Sf",
  "id": "fc_041a3387134d6542016ab2c6532cf487d0a784aea973738eea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_A8qhppYEyxBcjRMQqGDf90Sf",
  "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]: [-0.4675, 1.8671, 0.828, 0.1753, -0.4107, -0.3264, 0.9952, -0.0238, 0.8818, 0.7246, -0.6174, -0.0208, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.4117 left_y=-0.1248 left_z=0.0074 left_yaw=0.0458 left_pitch=-0.1961 left_roll=0.0956 left_gripper=0.9952 right_x=0.28 right_y=0.0006 right_z=0.1643 right_yaw=0.005 right_pitch=-0.1846 right_roll=-0.0041 right_gripper=0.9996\nstate[joint_eff]: [0.5949, -7.7744, 8.2667, 1.536, -0.1441, 0.1587, -0.1343, -0.4718, -1.4427, 10.4, 1.8828, -0.0562, 0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64e105742717bdf27cfd5261272b16ba14a8c8dc4eda9b74aaa951d244cb821d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4c317727d59ca25e369e5a7437844b67ccae26ee58717ac4495262ded4a7826",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c549423447c859a7f9fd4848a2eee88259b7734c692aa76ffbadb88b5e20d88",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 17 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5064, 1.7977, 0.6991, 0.2615, -0.4309, -0.345, 0.0236, -0.0212, 0.8043, 0.6075, -0.4965, -0.02, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3862 left_y=-0.1257 left_z=0.0072 left_yaw=0.0305 left_pitch=-0.1644 left_roll=0.0816 left_gripper=0.0236 right_x=0.2788 right_y=0.0012 right_z=0.1556 right_yaw=0.0008 right_pitch=-0.1034 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -9.0462, 4.6838, 1.6239, -0.1783, -0.0171, 1.0232, -0.2393, -1.2376, 6.9949, 1.9658, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The thicker lower body now extends down between the jaws. I am closing for the second grasp.\"}",
  "call_id": "call_Ezdal70pA7ezxDr95DDJusAJ",
  "id": "fc_041a3387134d6542016ab2c65921e087d08ebf7dfcb2e543f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ezdal70pA7ezxDr95DDJusAJ",
  "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]: [-0.4641, 1.8702, 0.831, 0.1669, -0.4118, -0.329, 0.0242, -0.0238, 0.8837, 0.7273, -0.6357, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.4115 left_y=-0.1229 left_z=0.006 left_yaw=0.0524 left_pitch=-0.2028 left_roll=0.0986 left_gripper=0.0242 right_x=0.2773 right_y=0.0005 right_z=0.1617 right_yaw=0.0047 right_pitch=-0.2021 right_roll=-0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -8.8821, 4.9026, 1.4872, -0.188, -0.022, 1.243, -0.0752, -1.6479, 6.5983, 1.6874, -0.0659, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a9d7d8b2d3287676c8ab9e30c13881f41ac02304384a03d8c2798b81ba6ef5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0df453ee1c94f719ad0c77710c96839fbeefb50202e39edd26a587d183ccfd3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ced4b05661a392644b9e0d1736d612aa941853491aeecabd2e1dfcdf1e2dfb0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 21 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4675, 1.8671, 0.828, 0.1753, -0.4107, -0.3264, 0.9952, -0.0238, 0.8818, 0.7246, -0.6174, -0.0208, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.4117 left_y=-0.1248 left_z=0.0074 left_yaw=0.0458 left_pitch=-0.1961 left_roll=0.0956 left_gripper=0.9952 right_x=0.28 right_y=0.0006 right_z=0.1643 right_yaw=0.005 right_pitch=-0.1846 right_roll=-0.0041 right_gripper=0.9996\nstate[joint_eff]: [0.5949, -7.7744, 8.2667, 1.536, -0.1441, 0.1587, -0.1343, -0.4718, -1.4427, 10.4, 1.8828, -0.0562, 0.0122, -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": "gAAAAABqssZkay4SeIgbDVBW7i1jJVNsql4dbabXu7QJJWNerNgzhzS_hqYYzAdWrNqjhZHloQepqB1tzuAlZPk4W-IwwEDoJDyZpdYjf6L6NX65klKKvFfp6x02u4MsIWBx-DrQcLkOi-IxjrkFoGhmSyYN8uk-76odFxUtUHXXlYpncD3ToEb_5yYewL7ZDLd7usawWyzCH0v97QkeUDg-eZ5yYfgKir9TqRICqTx2TKdHUxj-6QpFqCrC0hgXGKawD-PNMEeG4qyHbLo59uLlqTn86UndPuaa3TBRqlAmRXqTQNOBwivcZFzY3xAdnyF1NvmSyGcDKFZt2SqXFTkvEF49b52RQqk7GwydoLX1KFzyVS-TsL8hM_wfeOoh-WBS6k2U_sOpHI83jklCdEQ4WgJ-bZ6jgzzpr1Er3IrChoviAQCdt9P6g1gP6YxpcmfW1njLuBJoPKKKyLIjEKzl8cK5-HiqSnLuknlmdAyVyqARtyPCmS6YyHuC6zMnfA8Mj4y6fA3GWjA3rAy6YNsmWv9uGDl-Nw10ltOyukx9Obk_4iwX8CX8m-uWYW_bsj-HLC67FCfAfnHiWCFmgmjwBWv0Rk_HwL5gmgfRgv9TTbwmGtN56-GlQLv6T8D_KOwTauSXLelsJnGOPJ6D-ojwWiPj7X3P46OSBOY2959Q38Fci1mg1UKUnVZi9feld0l2XfZ0wQaAUoVIZ4dJNbPE-mnuqBkWQ93-d634ztacVbOpPJGeOCp8JwtizTDgxhjHOiBF26K58rHMFN3ZBzrWs1XBPfPnxalv0Zol6jHp-mlKo3kPhvYjDRNG6_9Y-MpPOrp1CFRLhkVcM-08d3huGG_kKFquu34umCTCNfjpr_8EprXwzjd9i9Kp2mNaHIZg-GGAwfqL9Vbl3oFSXQJJ7lLUqENQQLK4o3IGEkydB6A6zL840EDXtjunGE9b1DkYrylS5_4Zi7FllTysP9e9Uk0icBw4Jt3JugoOsEznt21W6d1zaGtCKnhwPbfrbbPtm9MZobwZmSNfwjzjR53-8p42qn5zBHptt2eZJ4INvDVDVizlaIE0FpHrB-IJfxHQpqmId0edUaGn8MDpHmfh8D8QBcAAyj-G2K47dfuVxP_BpGF_zdle4Gc7OLb74GqquE7aVbfOc5rizLabzJtJC8r_DoRC-ayA3sKEfvi38eJKrHa0WqSdlp8dAbYlvpRuoys0B9RLMoVyRioMcH1NJi3pnPTr99Dn0irrsvn4SxcYqnoZKc8yyK6iWnQ6iSytpWH9z_GMteCrCxweuP017z7vcgwDFoqjXeFYu93G5bOxR4r2XOVP-r2hJQFz2hZOPwE6gaoApqsbRXQ54vQ5rFz_k1Gk1_nhawYB7E8wOtEYkYQafQKrGqNalRqU4iBOpqWWEepeVdUmJtzrjlzpGtokSl2R0-fc228izXdKINy97vzO1looQUgYnCVMvlJpgBdlqJq5HNfAFNUYJLiTHwbdDnylpCTWB14xEyPcHTIln5nC_SLFfedY13cfTyyu0rj7yNOOyZ3WLXQr8soVT34tjw-PdA==",
  "id": "rs_041a3387134d6542016ab2c660035087d0bc02dedb270f92b0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.13,\"left_z\":0.13,\"left_gripper\":1},\"note\":\"The second close was also empty; the wrist view shows the plush still beyond the fingertips. I am lifting and repositioning farther forward to realign over its body rather than repeating the same low grasp.\"}",
  "call_id": "call_FX4qJYhILIqpJY7xlA7eXcf1",
  "id": "fc_041a3387134d6542016ab2c662c53087d09ff8110dc033b201",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FX4qJYhILIqpJY7xlA7eXcf1",
  "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]: [-0.437, 1.7874, 1.2037, -0.3237, -0.3992, -0.3218, 0.9952, -0.0238, 0.8837, 0.7273, -0.6579, -0.02, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.4452 left_y=-0.1282 left_z=0.1016 left_yaw=0.0695 left_pitch=-0.2386 left_roll=0.1127 left_gripper=0.9952 right_x=0.2734 right_y=0.0006 right_z=0.1579 right_yaw=0.0046 right_pitch=-0.2242 right_roll=-0.0035 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -12.0137, 8.9368, 1.4139, -0.1685, 0.1099, -0.0464, -0.294, -1.4291, 6.7761, 1.6679, -0.0464, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b66ef6c68418454a42d22f41dd27a3cba50a174ce83898167c59eefdd740d2ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09f01415cd31e068e83545a42d88eaca8a734f2bcb5cc3c65e8c14aaca750ffd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f76cb2cb5efea6a2c8b604a0d8648707dd737ca5751bdc68c836b209d9a4ba63",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4641, 1.8702, 0.831, 0.1669, -0.4118, -0.329, 0.0242, -0.0238, 0.8837, 0.7273, -0.6357, -0.02, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.4115 left_y=-0.1229 left_z=0.006 left_yaw=0.0524 left_pitch=-0.2028 left_roll=0.0986 left_gripper=0.0242 right_x=0.2773 right_y=0.0005 right_z=0.1617 right_yaw=0.0047 right_pitch=-0.2021 right_roll=-0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -8.8821, 4.9026, 1.4872, -0.188, -0.022, 1.243, -0.0752, -1.6479, 6.5983, 1.6874, -0.0659, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssZvaIZaAdxWyJdjC8LnZdEII22FRr50VsGOfwiP5rgpgUYtivERdfmYDWoDnzBYyZu3xCfzQnMqDMuGRb6IBlK4YNM1AelbRj3lW8cl19aJI19nftsfqwCaARrW4AjZnEdukE8SxeN3F2MSoInp801qflj3z2LyrpG0XJmXPBAKp6QQkWC0BqMtq-eMH0ADO-ddmtD_JtLo9LSR9oQ0M_Gjosbd2wSK9w5loqBl3GBGgHOFAyYzZbc-TlYfe1mTcIne9LgiT0qSE4dVq7TE2-GIhyKjS2Dpnl4o_7FgUVzlUuybyLiskPCRfxYh7hYzynhb-nYUS7SI4pr_xOZmpuN9zVgvbsfckb9FO9wP_JQbl2tiVK9_tkiPJcOcrblZM5r_XVDhD0wUk23IjAsBCRVoPV4wSwblXzmiasYt2mH3-aIKiTq6M4mtn658ogbt2M-lnx6-NP6s6CDzS3sJpoBddEH3vqZzL9yuexnLEWkOGrUTY5_RzUU0u5KvYS3NZefmAwYpRuoN5CJj7AwM5wYMcQlYzydRYl846cmIRYXLTqQOyEgX5IpBQGm2xBogtMdFaIF7SaE53av94cQf_adi_DO5rHjE5xW51B02o6PFhvpJsLCp7n5aUr6olw-aQE9cceV8g4GP-DpQwxkXesCpqH77eDUINhFB-29dPuyds6R5_BXR-R39WPkb8M-XyGcBNxvohPApV_D460udL7uwgbcJ39yEQ6WWlx3dln_KKlR8M4ukcSaeCySp2diexRVYqiLAUgsVh2UvHTdg1ZjVdNYKxrjkP6mMWDPP0ejGQejnKNIITrgQjR0n1Ics9SPaexBhCNzVO1Yo685FNkOaMUold4ABjDroYcgrsWq6c7SGUgf10AZwI6zMxnS23sYTPM83NX_EHONUW43vGppdZpsQzcufxcDBibg1u87Nh3j9QHvgGQKTAV4cPYdFVCLFtHnINdaZclZNQLBs2KhPxU3SOXHy_UnywYiEyWiNoZLr_euBnRJ9bfADU5cdbRniKYaf_ceQIm1OYVk7J6OSavlRU1LQuZrjESGb11i4nSqsuWsYYYyCtoVjMqn_09uJYu9_kbQ_C2_tKQhYY_nHq7MsyX7ynL1keAGB5Y1bwyWa7KJwCfvOMgLBW4y0Q43kTgAldAs0ckBoP-tf7ogIovD3oXPnCnGQFVmu7ge7qnm8dXRZXSWvz-ZijlUyDuIsUdlbfzTeBLRzw4VQ8SU79zMyr__wBfXz_sL0s8UhN-Vdj1XLYFDOP5hez76VbsS_0GBxfYrMl8lNo2HgT5NsfXN4Eu7YDftvblWo4Quq2kFwDdVT4s1bz08WpKMmyi_xpcEjiGQKwiMfcvBuWoNCGhGGkBlngpwcdECJoAJW-qGbmWneONr-qJp54v4kZO01tBM9es1yIAegMpZNNCssYzcWwSZfDxb2L7jIASC6W5kei83PXHVN-tht5xRotPqyuwt8lrRHik4wJdlD-pwDdRMLFz1Gw6Oo5IoO4YKd4555dNBhzn521YRbud2MKEJBgmAsgvSPKyhHz2cLap09OtUCVxHuvbzPcXb6aZ2g3UU=",
  "id": "rs_041a3387134d6542016ab2c66a614487d0a3a2a8e95b5fd5bd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.13,\"left_z\":0.025,\"left_pitch\":0.2},\"note\":\"The plush is centered between the jaw columns, with its body near the grasp point. I am lowering over it and correcting the tool's backward tilt.\"}",
  "call_id": "call_RXI2ziIcd8tZrclMChhxPoxK",
  "id": "fc_041a3387134d6542016ab2c66d7e7087d08a64c449238c10f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RXI2ziIcd8tZrclMChhxPoxK",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4522, 2.0911, 0.8642, 0.7204, -0.5514, -0.1757, 0.9963, -0.0238, 0.8837, 0.7273, -0.6769, -0.0196, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.4768 left_y=-0.1248 left_z=0.0239 left_yaw=0.0861 left_pitch=0.1487 left_roll=0.1186 left_gripper=0.9963 right_x=0.2699 right_y=0.0006 right_z=0.1547 right_yaw=0.0046 right_pitch=-0.2433 right_roll=-0.0035 right_gripper=0.9996\nstate[joint_eff]: [-0.8274, -8.0342, 3.8906, 1.4725, -0.1587, 0.2271, 0.1001, -0.1983, -1.388, 6.8308, 1.6337, -0.0562, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20e15dc72429e559e1bfe089b9e7d86c046bad6bf110b30d745277097a6195a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e94dd0533b9c7f25a18812a10a67965c11d6f65899e3215fb7611fa97a5a142",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0af165731d0e9c78dee386e23628001bbf3d9f1db2dda05d85b041f8dd167b2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.437, 1.7874, 1.2037, -0.3237, -0.3992, -0.3218, 0.9952, -0.0238, 0.8837, 0.7273, -0.6579, -0.02, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.4452 left_y=-0.1282 left_z=0.1016 left_yaw=0.0695 left_pitch=-0.2386 left_roll=0.1127 left_gripper=0.9952 right_x=0.2734 right_y=0.0006 right_z=0.1579 right_yaw=0.0046 right_pitch=-0.2242 right_roll=-0.0035 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -12.0137, 8.9368, 1.4139, -0.1685, 0.1099, -0.0464, -0.294, -1.4291, 6.7761, 1.6679, -0.0464, -0.0171, -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_gripper\":0},\"note\":\"The white plush fills the space between the fingertips at table height. I am closing around its body.\"}",
  "call_id": "call_UtjAtjohjAPvVnRjl5e9wKnO",
  "id": "fc_041a3387134d6542016ab2c67907fc87d08999959f11f75f9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UtjAtjohjAPvVnRjl5e9wKnO",
  "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]: [-0.4564, 2.109, 0.8581, 0.7361, -0.5621, -0.1802, 0.2038, -0.0238, 0.8883, 0.7273, -0.7025, -0.0196, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.4745 left_y=-0.1241 left_z=0.0171 left_yaw=0.0924 left_pitch=0.1445 left_roll=0.1234 left_gripper=0.2038 right_x=0.2654 right_y=0.0007 right_z=0.1494 right_yaw=0.0046 right_pitch=-0.2734 right_roll=-0.0023 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -11.3573, 5.2171, 1.5067, -0.0904, -0.0269, 0.823, -0.1983, -1.935, 6.7487, 1.6874, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5a8daf3dbb9e4d5592b87aa61ff062308191a7d69bfaed2f2cc6a855e8d8ee0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe32a5780b97e8d39fc1e780b4979f9d756f993e92f86a47b4d4380b68732ce0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3d5bad629301a0c4e69bce20164bfa02afc96341d2ac0a13ca73dbb845c3a88",
      "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]: [-0.4522, 2.0911, 0.8642, 0.7204, -0.5514, -0.1757, 0.9963, -0.0238, 0.8837, 0.7273, -0.6769, -0.0196, -0.0452, 0.9996]\nstate[eef_state]: left_x=0.4768 left_y=-0.1248 left_z=0.0239 left_yaw=0.0861 left_pitch=0.1487 left_roll=0.1186 left_gripper=0.9963 right_x=0.2699 right_y=0.0006 right_z=0.1547 right_yaw=0.0046 right_pitch=-0.2433 right_roll=-0.0035 right_gripper=0.9996\nstate[joint_eff]: [-0.8274, -8.0342, 3.8906, 1.4725, -0.1587, 0.2271, 0.1001, -0.1983, -1.388, 6.8308, 1.6337, -0.0562, -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"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.1},\"note\":\"The jaws stopped at a substantial opening, indicating a grip on the plush. I am lifting briefly to verify it moves with the arm.\"}",
  "call_id": "call_kcp5XqLHKi8jKOMiYfOajXQ0",
  "id": "fc_041a3387134d6542016ab2c68098b087d0b50811ffcc153e80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kcp5XqLHKi8jKOMiYfOajXQ0",
  "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]: [-0.4568, 1.8965, 0.8928, 0.4461, -0.5629, -0.1875, 0.2063, -0.0238, 0.8902, 0.7273, -0.7242, -0.02, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.4677 left_y=-0.1209 left_z=0.0718 left_yaw=0.0938 left_pitch=0.1088 left_roll=0.1396 left_gripper=0.2063 right_x=0.2613 right_y=0.0009 right_z=0.1455 right_yaw=0.0052 right_pitch=-0.2971 right_roll=-0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -11.5487, 8.7179, 1.8535, -0.2222, 0.0611, 0.2369, -0.253, -1.3197, 6.7214, 1.6337, -0.0562, -0.0415, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70380ba166774a3859d3546c8d671ab66c99beba7de87af3ee5a560626f41ebf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:187574c00407ae959730215e1b35f24df897491b0fdfdd6ddbbd0f2ece0769a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1421b5d016effbed29b27ec407bdd9d7509211a7737dbb2f1ba5d897ed9ef3c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4564, 2.109, 0.8581, 0.7361, -0.5621, -0.1802, 0.2038, -0.0238, 0.8883, 0.7273, -0.7025, -0.0196, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.4745 left_y=-0.1241 left_z=0.0171 left_yaw=0.0924 left_pitch=0.1445 left_roll=0.1234 left_gripper=0.2038 right_x=0.2654 right_y=0.0007 right_z=0.1494 right_yaw=0.0046 right_pitch=-0.2734 right_roll=-0.0023 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -11.3573, 5.2171, 1.5067, -0.0904, -0.0269, 0.823, -0.1983, -1.935, 6.7487, 1.6874, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssaM8CqFGWAnL4rlsACPmgrlK93yz02IFowXnExOGBcuNes--ni89ursJ6go_Wo3cpe0_yPILvzNLARvZEvS4ygxKi6TZZON0Uh1boTOQ1jmv3H6q9sxk2VqcKrLl-z_FFLz4Fst1nUIStrtKVrV5CDHFeFowSq5JL3JDRq2gwAtDnott3EoS9uCQv8EfN9XU1pj_B1r_fPagj8o82sM0U-9gOyI90TYAuCCUR2AeLFzSFJpwZ6K4nBqt0PCOhqWoqNL2qrqemlb2V2EVSwILZCPlmEm8EtHtD2__Rh2D7H6Np6_q47wIef34GJR4cs9FR_nidXgOwlfkh2VTQumweKiuKjJRL3jhZ_WLA9OMtqsatM8WZHFkxIni8o8g4bli-PCKCTBjZ7qhkYSxscxhJazrfAOsl_2fFc3KpnHIfpqWlOFi3QYlaMAFAh8l1tqx8qowV6D6hBqd2jXkU_nCTEXocrT7tsxmzqe7SOTeUEqWB9jh1m3-ocMhKLAZZI62sSuPmMq-sXgQW63xQB8ubm-2FdU5gtjh-kkdYg7LnRzxHybHgnHakIFzTBZovile7pAja1tLlEuLAjy9m_BYxYXVliN0OEvEfM5RmptRcREbxuwxgI6IoyRCHGQvc2riJshsaHUPtSukiTGsuoXddHnsa2X4pl-6AtlYWEz0b1R-qa9kbQDi85rRtMEJVY9gjgj09LT7oq8yiWmBaaZf67Iwtcn3vOoLsOWEHmemd3qlzKEAGtP2iADRbXMlrHsVvMwq1kjSGqy8DHk60nUGbV0X8MocABejrTjJX8h9IqxX7FZBusRjgaFcYEyz8lynSPdeW_XxBFMu6gFP-UY4e3qcp45-8On69-00JWgCIboeMgLytXrK06DwmUaJLfG3CHwxDt-Bf5fmPN1S2VXc4cC999ESUuOX55v9DmfQT3NjvUdNc_NcUeVozrSc9JSbDyHwaj0Hry9H0qNQv3sRflMwY8V3sQNWF9TDSAGgpiOJSB5glUF-j3X2449aAxd1Vbu8EWntfcSFBfEoOzdX2sHLw6N7tGelm3G_nZVlSa0pEPZ0bA1lMjhd45LiDrD8Y9JVHE-RA-eRCQ8E_TxDm5QCs4QARlNCxn5nDBWAkBNB5288p2tJZWBuUvKaghbJaVvGPdTBSwePVMqljUSIulDtA0gpG4sBpu00uV5_8Qg0h9y813w5gUlW64r2ioZ9xUSOwt7niocggnwLVD3cDnUWdQAMJMocjbiKxtPyg8I8GkIAU2TqPjEmC_Jnsrut61pT1Xx4GPr7QoDFkMtpBIGfiEHBavkEZtfIkzemArvtEuKVXlpNV0jC6d7kSi1e7S_O7eTSubnWbSAuz1cKTvFGf04KKAEnjYE3o6SAK81Mrasi_CCEeRD7B0xtKz8hxv65aZoW3BkDO1SPVqA0gA-OBdIGWg3ltBS84L8RlDvF_weV20hNujxpZycTltMpcCv",
  "id": "rs_041a3387134d6542016ab2c686cfb487d092c6ff6cba9ff120",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.53,\"left_y\":-0.28,\"left_z\":0.21,\"left_pitch\":0.3,\"right_x\":0.292,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0},\"note\":\"The white plush has lifted with the gripper. I am carrying it over the open safe with clearance above the rim.\"}",
  "call_id": "call_YULOJJUNUsOv9o6w8m6BxBxH",
  "id": "fc_041a3387134d6542016ab2c68a566c87d081851844fa5f893a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YULOJJUNUsOv9o6w8m6BxBxH",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7059, 2.1372, 1.6672, 0.0174, -0.8215, -0.2298, 0.2092, -0.0277, 0.815, 0.712, -0.5728, -0.0246, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.5266 left_y=-0.2743 left_z=0.1942 left_yaw=0.0887 left_pitch=0.2714 left_roll=0.1332 left_gripper=0.2092 right_x=0.2815 right_y=0.0001 right_z=0.1845 right_yaw=0.0081 right_pitch=-0.0857 right_roll=-0.0102 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -12.1094, 9.4974, 1.7021, -0.4713, 0.1685, 0.3053, -0.5538, -1.9487, 6.2154, 2.3712, -0.105, 0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daf039f898cc8186a8ca8d85fb359ad668d6194032afdb5ae687eeef894cd585",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17bf37d0d493317feb3b26fb5de122dd091e1a9fa94d4523a8d32f4e78bece81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17ef71e9bfd36c8f2a20424139d588af0bc23b4cc597d156e4e19b225236db6f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4568, 1.8965, 0.8928, 0.4461, -0.5629, -0.1875, 0.2063, -0.0238, 0.8902, 0.7273, -0.7242, -0.02, -0.0448, 0.9996]\nstate[eef_state]: left_x=0.4677 left_y=-0.1209 left_z=0.0718 left_yaw=0.0938 left_pitch=0.1088 left_roll=0.1396 left_gripper=0.2063 right_x=0.2613 right_y=0.0009 right_z=0.1455 right_yaw=0.0052 right_pitch=-0.2971 right_roll=-0.0013 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -11.5487, 8.7179, 1.8535, -0.2222, 0.0611, 0.2369, -0.253, -1.3197, 6.7214, 1.6337, -0.0562, -0.0415, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssaVsg9h2XZ_hYHdFidHYVmxVagiwbgjjKqeAGxKIloftZ1jYVEAxTe5CzBtXlWQ-t1_PeQIPK_Al2UvGpKrAENvZleyWnKeMhhVHZU0_2xWnS0ZEsqU8UEfDeSadyE3NeOHm3jCBncmDmF9olC4FCDZEX2MltReA3Om_FrGzP4U4P0rg_LmjfAqsWir-qjIIu2toSgLxvFchelpbKETX9M91hMT9eIfZMBbXWQZuiK-p6YIIraL1ZiDE2_-vIWSxw_cS8PuYBivuYMRSw4gXKPq6FygquP1kVcm24vSOMEuM3RXxzsvxsyLpYOIfFFWacY_9pWVvg1K4OuZhleLITht6T0PpFouGn_010lT08s4pxEquCd6GltJywIe3gFpJQOK7UnU68sL2t1ZqBSOXZwzwvKrsRMvyDmaML1CR8kilxcIyBL0pxNIxrh3I0YPxooQFEGOb3aux28FCMIJGje6IqYXZQE_S7aP9slKtxUPDOSQZvj5ANvrq6dHD0wqjYQrt7etvQDplWahe1vDo3pSpYHdYWCOHEeKf0F6dmmS4unnlBjsbmWxmJvrmdWWtmsu2HXB48QXnu9k_DJ4l3K_wHeBsNfoSJwYRP01FBET2tEC2pyyPvIG6A9-v2LuNT7zwVleS1l58alsGeLkxO33JHpNZ8w6LXGTUGpLYyMyWWCIyoiI--Yv4D9bdJLkaBI5Q4TsJbTBcwxqruLlUzkdukQIpckcgqPeDtAYnwUjIJ82Ks9CeFx0kMOX0YMv-1He6tObDvhfrZs1a6GvEqOOuouVCLreUmPae7q8Fa5YrskAsdd7Jo5JN3AM9__IIBgAwA8cvyBvbhl1vi7Q0TDiyMiQPWOdMFRzLl8wHSGfy8u-DnIcODa0vlVmk5nFd0xNW0pYzy-4zRNLEMAsW41n4ue-_yZy_nBfZqL0t2885x9AU7WhQTXIHStePuqIDdgwajUgpEqqzTAuMkkyi_6-BmX7u5O8ew56o6b8ZIXroWZBXFyVoRBiTe7XqFMDbJ6_P2OEx4TVX3BV2GyFbXN7B_wY-gP0bl8RBJISy9434GCc844cYU8fZuadEf9JytYsFRzUx6RxtC-MkSbgse9GQIBX5v0AMUgdjSWheHjwiVXgkyDfh4UNBhDekTH0gIodmEy0K5-8Bqlneky0eIq4CUo23RNNt6-oWokJ1GoFzFAIsAFXp9Gn36yY2KTrUjjdL1ReH_Z9nNEZr9UzYz3gy50xybSMCVEjo5dydD2Cwt2jlw5JCCl-A7hp1yNtIn-MYnbXh_rLM_Xc9MKF5VWNtZ-WSluOfxbT6k__9cSgAbT7_QYjGvYE42GCdWFHbXkvW2ZzaqzsYkrcGOjOoV8sBA==",
  "id": "rs_041a3387134d6542016ab2c690835c87d0b85cca4a2e931445",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.515,\"left_y\":-0.275,\"left_z\":0.075},\"note\":\"The plush is above the safe's open compartment. I am lowering it into the compartment before releasing.\"}",
  "call_id": "call_fnp1DCTQUcwPgpVELFUE02Tv",
  "id": "fc_041a3387134d6542016ab2c693854487d0b7d8e3b6f55eb7b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fnp1DCTQUcwPgpVELFUE02Tv",
  "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]: [-0.7189, 2.2799, 1.4384, 0.3344, -0.8276, -0.2344, 0.2113, -0.0296, 0.8188, 0.701, -0.598, -0.0269, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.5138 left_y=-0.272 left_z=0.0777 left_yaw=0.0731 left_pitch=0.2355 left_roll=0.1709 left_gripper=0.2113 right_x=0.2764 right_y=0.0002 right_z=0.1739 right_yaw=0.0082 right_pitch=-0.1257 right_roll=-0.0073 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -11.6034, 5.9966, 1.8877, -0.2955, -0.105, 0.1978, -0.2256, -1.5658, 7.7333, 1.8632, -0.0464, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99eb21866f5fb378f72f62de58c20c5a7a03ed6008af2b3751bdebfa593482de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeecae5c7f040170426e64eaea8b453f4c1a09db01c89a8c0c6cf2f010dbbb9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85e97538cbac958c92db2ce5b996a46be54f4e383da4676c614fe188c069ce9e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7059, 2.1372, 1.6672, 0.0174, -0.8215, -0.2298, 0.2092, -0.0277, 0.815, 0.712, -0.5728, -0.0246, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.5266 left_y=-0.2743 left_z=0.1942 left_yaw=0.0887 left_pitch=0.2714 left_roll=0.1332 left_gripper=0.2092 right_x=0.2815 right_y=0.0001 right_z=0.1845 right_yaw=0.0081 right_pitch=-0.0857 right_roll=-0.0102 right_gripper=0.9996\nstate[joint_eff]: [-0.6222, -12.1094, 9.4974, 1.7021, -0.4713, 0.1685, 0.3053, -0.5538, -1.9487, 6.2154, 2.3712, -0.105, 0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The white plush is inside the safe, below the rim. I am opening the gripper to leave it there.\"}",
  "call_id": "call_8bZhiyQoQcxPtAc1PNkQapvf",
  "id": "fc_041a3387134d6542016ab2c6983a7c87d0a25c644aeaa67c8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8bZhiyQoQcxPtAc1PNkQapvf",
  "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]: [-0.7193, 2.3047, 1.4239, 0.329, -0.8276, -0.2405, 0.9958, -0.0296, 0.8227, 0.7006, -0.6163, -0.0269, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.5098 left_y=-0.2688 left_z=0.058 left_yaw=0.069 left_pitch=0.2047 left_roll=0.1976 left_gripper=0.9958 right_x=0.2735 right_y=0.0003 right_z=0.1693 right_yaw=0.0083 right_pitch=-0.1482 right_roll=-0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -14.7897, 7.0496, 1.6093, -0.2369, 0.0024, -0.149, -0.0342, -1.2786, 6.9128, 1.7705, -0.022, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0272e264bc7efc45e5375aabb2215b4006db1fcc790da2823ba23f14e1d31b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d89a8bfc2449600e43541f7f11e16fedad5ed0b2e8c5543821772ff2a08f78c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6a9c39f3b0837eddcf1e5864b88e724365d9527de7ed2fe152fd41ba938aadb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 46 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7189, 2.2799, 1.4384, 0.3344, -0.8276, -0.2344, 0.2113, -0.0296, 0.8188, 0.701, -0.598, -0.0269, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.5138 left_y=-0.272 left_z=0.0777 left_yaw=0.0731 left_pitch=0.2355 left_roll=0.1709 left_gripper=0.2113 right_x=0.2764 right_y=0.0002 right_z=0.1739 right_yaw=0.0082 right_pitch=-0.1257 right_roll=-0.0073 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -11.6034, 5.9966, 1.8877, -0.2955, -0.105, 0.1978, -0.2256, -1.5658, 7.7333, 1.8632, -0.0464, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssafC4nk5N_WtUa1YNzn7R7G3UU-pbLwXra73-fk_H5GSSlSW4GJKSSyPwov1r4x-cNEcgXb9oEmCeQ3xJiKKAZDZxT0T6E1-aq6TwINXSvxVzwT27pAUOQlmhSxd9M9-_p771zzrNxoaIwUz7VVkQFrF-SxsXeyN8atjpFXRNBv0Ahz6wTtB_omwIU7G_0F_py5fJJ68XwTKvVujG0skbWJa2bSfck8Qm6aWb_jRI9FNGx1pe2RrOV0b-lu-b26JiF6Ku2oo8nGMd-lasq-hKH5OSYCT544mbQQWvjSaSyZ7gEjL3uudnGP0Yoc-hX_7c4V3yUIC_P771SUKHm5WB6poxCHknLN__JO1Pap6KH0dOhsovD2s35h9jOwScJT7cX2bCZbYCLI6TE0q1v5f81fFe9ah46YkyoSXPl-TlKfSSotrW9tv9BPHbKtw87mhtwVjeBrlqlQRIAOj4bC46WR4wXNT4JaZeIa0wZfFJSzgqSsrY0rY0JDpJ9Qxeh_XhunTBag2GX5HWU7rpH58Tf15ecSEKH-uZus7x_HXVF69gpjQEDHR-q0WxIn6Q_pCItUHuUZ_9uE0OCaEIO4BDwC52vIutlaRZSsXkWHCb4zo7dbKynrrJsuNgZkLxhMqszYXw_79bdr1NsfxYf1wKyf8I9VsKlIKGKcZM2bRTJiddTD8vxXmp5e4ICIjocZLnIYZAc885XLHEk2p4Sik64TnCn6i5ZUcGAf6XVIgyv5SoTUcR033kvTaETAzIPDJtkknPMq3qr-rTa4rPI-8Knrocnyi-8uWdNEtxuzF5ZrIwoaQ3vPmvOe_Qeax-4Pw-ynsl-gtu8bh-vMZlBDhAIUtpJlxkUsx38aKPYtA5bMMopCM30k0sS7TYrFlm5_WP6SZLkCYyzvVY-lqVKTJkD5xZbe8KIo3u5vsnY1xj30cAjMNRwCvnXNScTCcEsiPK63GXKfMo2q3aJsRSvdZjNCXIihPXrk0nAJggJ-n5uYRiDDckvEMvoudh_QKp5eFNhqYz1ES_VLyMok4bFBe8HtTlX6PShW8-cXfAsfLkuY0HdsYnxQPvOz5BGX-hydIJNVWI8wafPuMJSnG8aZOybQmSlkMGzuZZSD4Rvy062gFL1PHIE51FA6c-saWYBoVkoy71r8m2MX-bLm3bo7qfPAVwTRjIswVcLaK0hk4wcJZvTrdP_hPcGXIBCsNPf64czFzteiEHfnBI5moFajc71Bx6Q6P6YjwILkiARfIjJNzQs=",
  "id": "rs_041a3387134d6542016ab2c69c43b887d083d42d8d8303a86c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.31,\"left_z\":0.16,\"left_pitch\":0.2},\"note\":\"The white plush has been released inside. I am lifting clear and moving above the brown plush in front of the safe.\"}",
  "call_id": "call_YcBVupoisnMLLelinUC1VYEG",
  "id": "fc_041a3387134d6542016ab2c69d603487d0b4630bcf243102ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YcBVupoisnMLLelinUC1VYEG",
  "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]: [-1.0401, 1.9663, 1.3155, -0.2081, -1.0363, -0.564, 0.9969, -0.0296, 0.8288, 0.7006, -0.6388, -0.0269, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.3658 left_y=-0.3159 left_z=0.1339 left_yaw=0.025 left_pitch=0.1675 left_roll=0.2261 left_gripper=0.9969 right_x=0.2701 right_y=0.0004 right_z=0.1638 right_yaw=0.0085 right_pitch=-0.1768 right_roll=-0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -13.2581, 9.0325, 1.2967, -0.6081, -0.2173, 0.105, -0.3214, -1.4427, 6.8991, 1.7753, -0.0464, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b4ed4bbd8e97e4ae93747adfc8b5df7ed9cb8bf7a7c5d5ec9ff58ae0a30543f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfb2de02b6d2ade313de511874886052696d660f16e42f42cecb7f473a9a5f89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84e1cb6f0b83844981f81f67d5727ec83bfb359326c59970732ff697964d4b3e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7193, 2.3047, 1.4239, 0.329, -0.8276, -0.2405, 0.9958, -0.0296, 0.8227, 0.7006, -0.6163, -0.0269, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.5098 left_y=-0.2688 left_z=0.058 left_yaw=0.069 left_pitch=0.2047 left_roll=0.1976 left_gripper=0.9958 right_x=0.2735 right_y=0.0003 right_z=0.1693 right_yaw=0.0083 right_pitch=-0.1482 right_roll=-0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -14.7897, 7.0496, 1.6093, -0.2369, 0.0024, -0.149, -0.0342, -1.2786, 6.9128, 1.7705, -0.022, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssalxWQ9oZ8t31iW6q-Xj4P1DkkQHVUl5_HX3xr9xwFtbUsasCqLpjslR7Sx9KK6YnF0T3OfTP7J-RX9pAoQHkwNx4xiWoRKJFA121NvaBTX11ijcc3EQvcyQL3yN0WHcbht5EPnq_zTB9OwXOQ2jYkyR1J_y-lbKAXP1YsBTC6kSi1K7Qey-Ky-7Z8stW676NgAdC377AmfmPncrZIXG5mRtCFCP-KlOY8CAeexPmCHk1K-KK9gAU79n1Uin0I3NqF9HszhHuNxhY8Mfr7KsDxxNnqrogLJ0mQ2jeNjVc6NX7ujzyfJ06j-x851Jy62bWDGvR9oPv_ITNT5gyTes-NyaDG1cZmw4YjhoJx5ZFawAoLVSASZb6hrM4vcq6dFpcKz3t2S2WS0mHtJ4R7XQALMkGFZ3LLuKP0RC5I0w_6P-25OoCFGNV6Y8jhAmgX16cmswXv1t-kONS6Dx_KcN7g96q6bwmwvLEgMhWjlxwb8sXTD77jp1moRj2OfyedNtHCJydf5I0gDy5WMlrMzbJ6xZfpBtDqOtICXUJaCBNibA5p6EsZ7ORylbbZFeH5coTB6UkB3m4ylfnKQ7sVRV-83nJSHXIUxWxeBkzKz3mMYHXDxNSmivl2qRST2VaMCaC_9ipbQIX_OUB6jYaSvMt5jEoPRv_laSDqE_T7GS0HvXogaVr89fIwh99LTl1dxApvcWk_bNgETju9bRdPtS9OZMsr9ZVm6gsMXmZoiupiaQjUX8YY9UhbLtUglwGWdxfyV4HClLl7V0DFD7m_HVi3mdvPgUlrJHO3TNl7qTJyQlKGMAGCaWI6Rsjou2ffFvGq9PoWtZXYDkQdJLKBaAPoIeslvR-2TTufN4oUvfsZC3zVriGwbNQqSb3dzsNRWFA7sV1nY5o4T4K6EysJ6fi09EWro_9fPLID0cxvILQFOzI8QENQ0cy7wLrgIyBYUj8ZHIDid21hF5cbHze6j4M_NkMP0YLKVa3iEzOlcjnHxJNSoobyotaMOjI27hEkKvSQhmFz0sC3brk3zSwXClSsGJLeDjJXSRxMjH3E_K0KXTD35yGjPidGrUKXo7B1UkooHNc67kyLqzSMc56EUTwR28Y9do4dZIx5H0EeC_313JWW7U1TLUh_ClTjZ0FYewot99jqyp_ufTEOePyANtF05cLiCjdUoR5RjeXG2RHuaYppUS3TINsNRDvO2JyZHpf5KoFmoRwdRDJ9XnVm6aWSJ-9zKo3l26QOoG0sqBhuRewsma_EAqkNtOrLjNwedgpdvNRaG8tYFtYxyHAl-B6FBZiLod1rmSEYKf2z4Mblhc_YDVHU1RJ3qV3RN1vDXyfHyi_pT6BHzCHu6BM4xp59KBg57XnH2lH75ahSmj-NZla0Rc5HoHPljmBTYRJqqLkAM",
  "id": "rs_041a3387134d6542016ab2c6a21b3087d0b13c90b2980ce568",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.325,\"left_z\":0.025},\"note\":\"The brown plush lies just below the fingertips, aligned near the middle of the open jaws. I am descending to grip its body.\"}",
  "call_id": "call_mSBjTs7GmduuFE5fNMTHi0TZ",
  "id": "fc_041a3387134d6542016ab2c6a4127c87d0b82435e82cfed3a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mSBjTs7GmduuFE5fNMTHi0TZ",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0489, 2.1853, 1.2236, 0.0757, -1.0557, -0.5762, 0.9971, -0.0296, 0.8291, 0.6998, -0.6579, -0.0269, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.3662 left_y=-0.3212 left_z=0.0396 left_yaw=0.03 left_pitch=0.1692 left_roll=0.2461 left_gripper=0.9971 right_x=0.2667 right_y=0.0005 right_z=0.16 right_yaw=0.0087 right_pitch=-0.197 right_roll=-0.0045 right_gripper=0.9996\nstate[joint_eff]: [-0.6769, -9.0462, 4.4786, 1.3114, -0.1538, -0.1148, 0.0024, -0.212, -1.306, 6.8308, 1.7363, -0.0562, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:790561b16f3232d4cea5bbecc5d03112f7320c3117a5bfbd0578ab120dfe382a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e93b09acc419d7ddd148bc8a0bf36d735f2faae9c7b6c989f750fec1998eabd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3156adb1814bbc1285c047dd675ce5e0448533701f1c65e0b1b6d70627d56f9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 53 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0401, 1.9663, 1.3155, -0.2081, -1.0363, -0.564, 0.9969, -0.0296, 0.8288, 0.7006, -0.6388, -0.0269, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.3658 left_y=-0.3159 left_z=0.1339 left_yaw=0.025 left_pitch=0.1675 left_roll=0.2261 left_gripper=0.9969 right_x=0.2701 right_y=0.0004 right_z=0.1638 right_yaw=0.0085 right_pitch=-0.1768 right_roll=-0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -13.2581, 9.0325, 1.2967, -0.6081, -0.2173, 0.105, -0.3214, -1.4427, 6.8991, 1.7753, -0.0464, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown plush is between the jaws at body height. I am closing to secure it.\"}",
  "call_id": "call_8kBAUEbF9JJTDAHsCUNfXLGM",
  "id": "fc_041a3387134d6542016ab2c6a8d75887d0a54329c05d238481",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8kBAUEbF9JJTDAHsCUNfXLGM",
  "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]: [-1.0515, 2.1971, 1.2255, 0.1047, -1.0847, -0.5632, 0.0108, -0.0296, 0.8333, 0.6998, -0.6762, -0.0269, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.3676 left_y=-0.3212 left_z=0.0412 left_yaw=0.0401 left_pitch=0.196 left_roll=0.2516 left_gripper=0.0108 right_x=0.2636 right_y=0.0005 right_z=0.1558 right_yaw=0.0088 right_pitch=-0.2195 right_roll=-0.0037 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -11.9863, 5.053, 0.9158, -0.2711, -0.149, 0.8767, -0.0752, -1.5795, 7.0359, 1.6532, -0.0464, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a10167201136f726ba319924cc5d72436aa9dcd318cf9a731cbc384b48388d35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5223bdd7866294994a3d276a47b160b20110855d9052608a6ce733c53943680d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9dec8b246eb8c8cb857c2a436cae53e6e1a166395c7021800987160bc510ea3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 57 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0489, 2.1853, 1.2236, 0.0757, -1.0557, -0.5762, 0.9971, -0.0296, 0.8291, 0.6998, -0.6579, -0.0269, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.3662 left_y=-0.3212 left_z=0.0396 left_yaw=0.03 left_pitch=0.1692 left_roll=0.2461 left_gripper=0.9971 right_x=0.2667 right_y=0.0005 right_z=0.16 right_yaw=0.0087 right_pitch=-0.197 right_roll=-0.0045 right_gripper=0.9996\nstate[joint_eff]: [-0.6769, -9.0462, 4.4786, 1.3114, -0.1538, -0.1148, 0.0024, -0.212, -1.306, 6.8308, 1.7363, -0.0562, -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": "gAAAAABqssazoN1Mhbyretaa97CwdS-H5xSKXtW8JmHgBrK2ikYJt33HTzZKsVt9QEXZ769-pwcwh9ToLEz4zvLh33N1xloEinNtHxLos_lfLrDnNoKXTsfa-isjDa5y-xaZXffPhxFEBstEBg8nfF_LNpf4IXRZttAusC-qXu36tnQsn0QONeOCHPdqMJURsfIfqEmQc53bLwNxbeUTg-kO_39Mm9LEpm612t2blhi5wWR-eo0nTUocw-2b12OW-y0zycy-GtXw7gEucEHpxCocpy5xaRB4KaDiPPDbY64DJgLB_Uv7OVOGd7NOwf3Qns5BUkmZDCcpME5FU5ygyrXfdyJF6SWAwupQ7Hh_-XxY4o8TZkhMYnju4GqXI1R07nlwjo1HuuuON8IpDFJVDDhYvaoGZtUnsJebGGGrUZvsABRa9yQtXpZvFaAtA41FwMp_Y0IHFZZZ3O7BE4ZHJmg_-hlvLpb3cC3Ucdxm4_xC6D0WQEjYZcKpMFuTb83g9xUcTOtI_fbphWPJSxLVdGjr-Q5_em3hwfTLMpKId6_yLg3rdatUnIEV6jT3cJOHf_hmjhlpQfxX0HP-a8iS93VxnJYchRDKgStIVCMzoH53tYI-3bNj108a6apkfCA_NHZAg7gQM7v7B1HWoz5sRrYLhxc6Mh7YS4oOf_zx1AIVmd9jLGpqpfxLjB-jRcvK2HgGCzQdzdziiNOpPHwfOA9K4owKJJHNXyZ6-RHPboHQQ0-chXSNOc-uoCiDpldy7hXulk5fRJl6DfZalxc7iNegG-dVkVWVVB6YKVvYJreP3u4BE8nBLwyIxLonelqWEI7hYUwp8v1QFhux-5B24oi9ZcacbWbLaENz14xDkCMjIuQgKpeplBzvZfDBOHgBzvw2ueXsooBk0HZaUNLuW_00ymiozPc0awKrCDqZfL9sdMwLjBmnxaVRqnK6oNfZjuXwO82Hmh86InH4U3hZ01qR1_g873o1M67Kw0FO4pt6pssehyDCXbp-voVLTvLgi2xorh4B-Q_Hx7mVUc8GEjwxqJK9CIgdeCG8TxtT-3l6R5pMxTtuSoD4HWXDvF3pCcfLwtd436OzEKH7D19W8avYZF1rc92ZcdVfPwvNMlyMw5-0ifRFf3W7H4M4jG_ZO__-B9djfT39lobqZZKvokbFEPTvsn4EP6sSgDxcycvXvD75lLyzft6mS-s8M6xHUdt-h28qKyqV7_gw09rWoJadbCmol8qs-ixdX1gqIpH-hxm6bdHjBcn11OQ6-3EJPmzZq2toFvra1CDdoCJ7zZqnwj0MDJtPSwCJp_QnhCCv7XkcSWLQ96hZ2NNFD2ik51yu9lIl6zZX",
  "id": "rs_041a3387134d6542016ab2c6af8d2487d08c6045e8f12f760b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.395,\"left_y\":-0.355,\"left_z\":0.035},\"note\":\"The jaws closed almost fully, so the plush was not securely captured. I am reopening and shifting forward and right toward its thicker middle.\"}",
  "call_id": "call_LEq4kKIzkqVREbFufw2t5fdF",
  "id": "fc_041a3387134d6542016ab2c6b0e48887d084741dc0cf2e9d4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LEq4kKIzkqVREbFufw2t5fdF",
  "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]: [-1.0435, 2.3199, 1.4189, 0.0448, -1.0779, -0.5556, 0.9951, -0.0296, 0.8341, 0.6998, -0.683, -0.0269, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.389 left_y=-0.3517 left_z=0.0346 left_yaw=0.0419 left_pitch=0.1953 left_roll=0.2467 left_gripper=0.9951 right_x=0.2624 right_y=0.0006 right_z=0.1544 right_yaw=0.0089 right_pitch=-0.2271 right_roll=-0.0034 right_gripper=0.9996\nstate[joint_eff]: [0.6906, -11.3709, 7.6786, 1.2137, -0.4078, 0.1001, -0.0708, -0.0342, -1.265, 6.8034, 1.58, -0.0415, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bdcfde60bbb9cade358c78c7a0e2e9b7aa15d5606cb19272014cb3d78f93efc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:834f2d46bb8bc575cf37dc2163de3e1ebb58c95b765d663a12ad1919a0c4c782",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caf0c3e88e7e6cd5c1712d6ea286072100fc52dc3db5c12acfd974eef153f818",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0515, 2.1971, 1.2255, 0.1047, -1.0847, -0.5632, 0.0108, -0.0296, 0.8333, 0.6998, -0.6762, -0.0269, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.3676 left_y=-0.3212 left_z=0.0412 left_yaw=0.0401 left_pitch=0.196 left_roll=0.2516 left_gripper=0.0108 right_x=0.2636 right_y=0.0005 right_z=0.1558 right_yaw=0.0088 right_pitch=-0.2195 right_roll=-0.0037 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -11.9863, 5.053, 0.9158, -0.2711, -0.149, 0.8767, -0.0752, -1.5795, 7.0359, 1.6532, -0.0464, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gripper now straddles the brown plush's thicker body. I am closing for a second grasp.\"}",
  "call_id": "call_yp6OANVAoTghLtD1RFgVZBBR",
  "id": "fc_041a3387134d6542016ab2c6b8ba7087d0aad7112516949666",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yp6OANVAoTghLtD1RFgVZBBR",
  "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]: [-1.0401, 2.3283, 1.4246, 0.0444, -1.0832, -0.5579, 0.0155, -0.0296, 0.836, 0.6998, -0.7025, -0.0269, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.3907 left_y=-0.3504 left_z=0.0328 left_yaw=0.0491 left_pitch=0.1978 left_roll=0.2492 left_gripper=0.0155 right_x=0.259 right_y=0.0007 right_z=0.1507 right_yaw=0.0091 right_pitch=-0.2484 right_roll=-0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -13.2855, 5.2444, 1.2283, -0.4078, 0.0122, 0.8913, -0.0752, -0.8957, 6.7624, 1.6288, -0.0415, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c024ad8f2eb285764f4ac12eabcd2a45452d0be93251e7be94f19fec088ac46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39a53a1e96755246828e79b61a442763bf33442805faebdd8f2bfb3d875f7b7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1563111689e09366a0cdf581beadc8813c8e718ef06930c2db014028e94d3b16",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0435, 2.3199, 1.4189, 0.0448, -1.0779, -0.5556, 0.9951, -0.0296, 0.8341, 0.6998, -0.683, -0.0269, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.389 left_y=-0.3517 left_z=0.0346 left_yaw=0.0419 left_pitch=0.1953 left_roll=0.2467 left_gripper=0.9951 right_x=0.2624 right_y=0.0006 right_z=0.1544 right_yaw=0.0089 right_pitch=-0.2271 right_roll=-0.0034 right_gripper=0.9996\nstate[joint_eff]: [0.6906, -11.3709, 7.6786, 1.2137, -0.4078, 0.1001, -0.0708, -0.0342, -1.265, 6.8034, 1.58, -0.0415, -0.0513, -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": "gAAAAABqssbBwDI6aAynUWq2LgQgz5NC4vDxbs4W_r2IGR2c7RSahwGHxIaKSnfyti_yS0FVE761gAqWqK0SfAuPfs0boW9pPHKaN8DeQsRm_Bqlz6c4Za4o0sRSgu3wQpjPz7ighIwNNFdvhb3bNSG0I4IUuK-jECWagiNEczBjSstP0jwNjkPGGzfYlhAy-HdqbDNfATG34Slb6meHU804B1Q4wSnwTinpst_e1ZD7v9mMz9zKLoyEjslACLA35Wfz7XukMJRUDrkFOKwyj44tcWlN_zcmorXe5eD7knlOakYaVORRRxtc1_IuAKluQmhWEYbRtXS2qUvcqiYwpFC0qNDBpIuC6OSp5JTyEwlxAZJqF7iXYDErQruB914w5RDINyu5Xgsk5oVa-JkLHt_t3cP8rGcrvh2sUn_hagLynWd6KXF7Lgt3KG3BTnGArCwbf4od7uLembFVEIg5Q--G6We1D0KmJg6TyIrKsm1h2P2H5QY0r60d4_wQMcI1mwj5UyoLrgfzKKFqU6rRPYhwBJG71s667zzkWbofA0BrJj71xEcMtzlctUAsZLP6OpweI-zF7QL0FOkxRA8HMIWsihP1XWJ1lDcAcLeo8JR6RFBPezKSNfb6jxQEiEXfurGTbfzKGL-WXlktLReazs57bi-aCUC5h3u9T78ReNlbirpW_IOwkGBR7_Z8_oJJuuzqFBhex4kbgFm58dbdS-CdOozC-94qEm3h3IUntiVTQabRYbcYvJjxU0AoVb6_4F9vpApJjM2Jkd4EbX1hT4f18BrlLvx5fj_j65g4lMaQs3JuxxDiMj-4wwHFIu6y4GFHV3OfLSwFZOF0w6n_RNNK0RwG6savwwYkTOEZRBX0O24AdGTlbOygIDZu_8siXwl0kGpyjBjm0_R9KmxSJwTzLmjFvkrn7aUodqgh6kK1IJpKUTQdDCG6DxbpJuar_d66uveKVd5zJ_e_cVrZzPPoj78D9DSt7CbpjlDtG2JVAYIVBNhRLpSl93KkrAbamb71TxZD3ABk9YfDtJdaPbfP_sKtDzmsOjzrkK4nuW-mr0OE659H9_GgL9WREYg9UxXi_sf4Euxq1skiERlzmNt5KY7NdWOryEGw-X3EMma42aB2XMXl_3uBW83iARPMkeRWPRARvASGUQh3gksk7JYWvEephwah6hLWpZerJDRkm5mydD0q1ZDkzn0E8zq85i9uC-LWdxJLY9v5oD74OJOt0ytd4KqWXLrEv92gLNp4iLMG_Xenw1HFUEmWNhIpJ-lfW6igxLqOPa9jXmfCQdTp4vLz05DjTI6Hp6ON1AOajBWFEe7ih_Kf5dPZk1ykldRvgP4zyboP",
  "id": "rs_041a3387134d6542016ab2c6bdab8c87d0859f6cc7cb39ac24",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.35,\"left_z\":0.12,\"left_gripper\":1,\"left_roll\":0,\"left_pitch\":0.2},\"note\":\"The second grasp was empty, and the brown body is visibly forward of the jaw tips. I am lifting and realigning over that body rather than trying again at the same location.\"}",
  "call_id": "call_zVqZlayCAz5SI7VwN30mrUFo",
  "id": "fc_041a3387134d6542016ab2c6bf074c87d08778e0f57fc29a8e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zVqZlayCAz5SI7VwN30mrUFo",
  "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]: [-0.9138, 2.2314, 1.4822, 0.0448, -0.8982, -0.5243, 0.9953, -0.0296, 0.836, 0.6998, -0.7246, -0.0269, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.4418 left_y=-0.3407 left_z=0.081 left_yaw=0.0614 left_pitch=0.1618 left_roll=0.078 left_gripper=0.9953 right_x=0.2548 right_y=0.0008 right_z=0.1471 right_yaw=0.0093 right_pitch=-0.2706 right_roll=-0.0016 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -16.3487, 8.9641, 1.5751, -0.1587, 0.1099, -0.0757, -0.0752, -1.0735, 6.7214, 1.6679, -0.0269, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06f65d68b828761f5c0fe59fc3db6322bd4405e92c9e2560dde5222ac85772db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8856ceffc2dea2a8d4ea48bd600480c911a9f628eafde8d3d1498e04555640e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc98dec9b763b8471163ce5211da7542826307a1d3a6235ac696bd8250e86e90",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0401, 2.3283, 1.4246, 0.0444, -1.0832, -0.5579, 0.0155, -0.0296, 0.836, 0.6998, -0.7025, -0.0269, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.3907 left_y=-0.3504 left_z=0.0328 left_yaw=0.0491 left_pitch=0.1978 left_roll=0.2492 left_gripper=0.0155 right_x=0.259 right_y=0.0007 right_z=0.1507 right_yaw=0.0091 right_pitch=-0.2484 right_roll=-0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -13.2855, 5.2444, 1.2283, -0.4078, 0.0122, 0.8913, -0.0752, -0.8957, 6.7624, 1.6288, -0.0415, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssbHmxzykjHmF1T6IRNkwOcbmKGju99C7fbTLiCyTfZHcNkZPLvLrv9YTyMve-dOX7ntK2AwCxBuR_UI9zA9JzptG2zCvZ39IDfR9tCH4__wKV1FrrzV5lQmM-auhIyNc4E32nTLZUb-AtFVF2D5aanB8ozjROWKVwCvxlyyqWyLVZEIr4bZEaEmBekVEGN59n-Rg5QlxEh6ZATaHlikrgb3IhLeN3l-ybJA12PMSDocZdpwUTLXbc_hy1drsO8YZ66ZATgkFhG7E5ip9vU71i3rVZFL3wQTi_HWN8mGisOlNUVQ5Yj5mTQXbw5WN66B1f0n2DbZFjdzzeQz5IPYdbRI55xoGKoj4dGxI62L_xNI1FIVmYZTpvUaMasKW3ZN25ktMCfSY_YPvXP3vtJ2f96etkWr0TLzKk4vZHq9s3JtxeOtyFa0Yu6q4IFXnGCkGhcK-MSwD1EWITDc_sq9sQncu5Te7l8y6O3yDfgGKbhWcyjnrf1WOxqeB8kc0O9qlhzRlM-kNQQmoKkZ6CcrgFu8oP0pXVW3Dofnf2R2KJM1eCphfSI-kYKc30ILTkwOh8ZZk9V6qTvpIZebzC9agX0y7QVJYoQLo53aPqPvNpKhY9qCG6Bso8EK7AN1N3ibSX7KnIONdTIz0EKRbLBibmswGzQghnh1knHUH6Rw4WIksfaiTlIJ8DZQVu955STZmpNpt8KAQ9TsFHzVPjNKn5D7kiuvLvYheygY3H-eVMBlogHfAwkXd1CQw2jy7_QMZQT26pf0JyU5vZHIHGqJH17_Z2EeRmSWfUqgt0DJ6W6cvJUc2DcR6toiLujJ0B_HLgyZm8WWPLpVsk5K9HzRggN_Ls0Bz6CqoyjKhbwR8v3QLzIid6xmR9vfmzczfKrVi8My1HjR6rLv9-VmHCiAsylUmAJFrn48UpciscdonRgr98O69nx1KRV1dMpDQwPHORZNH0Vx2nCX7s05OcaAqgo3gxfsF3RL6v3Ip5QRM4vIFM_5tRdfVnGmjrRZtZELynk7yP-gE6zqa_PXdcYIJSkfP4CqiZSiRIjdLGINUAc-yykpnO1B6RPYFdpG10S0VEEf2ytz5hbKiyxYwX7IFGV8Fm_qrbAxb7P1coaKJtOrxn2AifsksLUC7WCcX24kRuVn3Id40wVhWiH1YRPzmfvZLNYx54ifAeBPI6QAPh9d6XyfF9TM5gcyznK4HYnfO1YWCIFGliTiVO2n8DNFXMhrzQ==",
  "id": "rs_041a3387134d6542016ab2c6c5c80887d0a4ab8e379f74cffc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.015},\"note\":\"The brown plush is directly beneath the open fingers. I am lowering onto its body for a centered grasp.\"}",
  "call_id": "call_zJoQhu1g6UOPw3AFQE4lYoXI",
  "id": "fc_041a3387134d6542016ab2c6c6344c87d0a2ea16b3170f45df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zJoQhu1g6UOPw3AFQE4lYoXI",
  "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]: [-0.915, 2.3417, 1.4403, 0.1997, -0.9169, -0.5125, 0.9963, -0.0296, 0.836, 0.6998, -0.741, -0.0269, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.4425 left_y=-0.3393 left_z=0.032 left_yaw=0.0672 left_pitch=0.1727 left_roll=0.0936 left_gripper=0.9963 right_x=0.2518 right_y=0.0009 right_z=0.1445 right_yaw=0.0095 right_pitch=-0.2869 right_roll=-0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -9.6479, 4.8752, 1.3797, -0.0415, -0.1001, 0.1001, -0.0068, -1.1556, 6.7077, 1.5849, -0.0171, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:030c3da5eebde272465311a5a9fbe756b06f55e695616a3599fd8f66a8b04598",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7d8489f79be2a80faf9d4ce3c4ab3c902238049956e661cbec717c9a611d663",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70fb536ed427f72e96ec8b982337ad5cf678bca1da541e624ec2177b4c06c902",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9138, 2.2314, 1.4822, 0.0448, -0.8982, -0.5243, 0.9953, -0.0296, 0.836, 0.6998, -0.7246, -0.0269, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.4418 left_y=-0.3407 left_z=0.081 left_yaw=0.0614 left_pitch=0.1618 left_roll=0.078 left_gripper=0.9953 right_x=0.2548 right_y=0.0008 right_z=0.1471 right_yaw=0.0093 right_pitch=-0.2706 right_roll=-0.0016 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -16.3487, 8.9641, 1.5751, -0.1587, 0.1099, -0.0757, -0.0752, -1.0735, 6.7214, 1.6679, -0.0269, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The plush body is now at the fingertips rather than ahead of them. I am closing the jaws around it.\"}",
  "call_id": "call_wSlWaURVYGSUkDTZ0m4tqPUo",
  "id": "fc_041a3387134d6542016ab2c6cd364487d0a5918c63b508d095",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wSlWaURVYGSUkDTZ0m4tqPUo",
  "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]: [-0.9165, 2.3489, 1.4422, 0.244, -0.9405, -0.5098, 0.0104, -0.0296, 0.836, 0.6998, -0.7547, -0.0269, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.4453 left_y=-0.3402 left_z=0.037 left_yaw=0.0873 left_pitch=0.2063 left_roll=0.0712 left_gripper=0.0104 right_x=0.2491 right_y=0.001 right_z=0.1424 right_yaw=0.0097 right_pitch=-0.3007 right_roll=-0.0004 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -13.5043, 5.5043, 0.9841, -0.0904, -0.0562, 0.8083, -0.0205, -1.1966, 6.9812, 1.5311, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:915222a8cafb02d98f02545ffe64441fb2a1423ceee3574480992a7fe7827c44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2103f81c7091bd53c51e24817ae6e47477f64b574641c850cfc1b750156a77a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50763c5e5365536112d64032e68ce359cf7cd64a6423fa6b4dba8772773f5d4e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.915, 2.3417, 1.4403, 0.1997, -0.9169, -0.5125, 0.9963, -0.0296, 0.836, 0.6998, -0.741, -0.0269, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.4425 left_y=-0.3393 left_z=0.032 left_yaw=0.0672 left_pitch=0.1727 left_roll=0.0936 left_gripper=0.9963 right_x=0.2518 right_y=0.0009 right_z=0.1445 right_yaw=0.0095 right_pitch=-0.2869 right_roll=-0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -9.6479, 4.8752, 1.3797, -0.0415, -0.1001, 0.1001, -0.0068, -1.1556, 6.7077, 1.5849, -0.0171, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssbbjgQ0Zj9eF8H0shCK9tmjVmb2sj5u8NF7mc6JvuXIWnXPz2UE3TGTik9aowHlF2UlMhf66v7-snYwC0Y_Wo-TZoKKKTFRrFfdrmJBCzCSLoBpBXDnx2cHLsyHosxmZgtLnt7CViY76IUOoe4e6Zmn4HG7WNw2IhqMXtSBSI8OH3pmBJ6Lp7SriPhqN9q1rsNxT4HAvaB1ohuKLBt5VkJDecw2Ckz1C4tkbb-FkTPUY4GOUnJvm_Gt8T6p1sGJXR77KsfNpnAsCHnjtmgr1BoFrMyAsuygGzK5wMJn19f0IjElVM6UmwwsoZd6SrKCiMHnWgBNxa-v5geW9UMRGIJV-sEKNwfwcUC0PDcVBaFu5HBrRC5r7tP3045Xu_ViOfglYNosNFGPqgtlPXJlh5pR2IJ35xHwId__6U94r_KWtKYWNcBCj02qxNa4nCqG2CLhFI9cS88p7FnAzmZewxzLKMYOoGezL1S2CFUDfPwYaY1CijDGE8r9uMDI_HY1awPQMGqWmQr5az1uDw9ntmUEjFTtcTjv4Sdhyh8vYlK_ubbxn-2XrZHOEamJDPccT1-AiarZwTU7CmW0C9dHADTX7-0l8YGxPA0LPbzgdztzNWekEm9h4rBJZqhWV8YB22t3K-JmOFA3752ZkToBynky8RihYoJ4Tymf2AO6G2B6lavMjahOvZpl9YEgzdVyXxrd4z66bXu_StnN_5u3-0dLPHtJzpR538IKMlYWuS4qVTONPj40NbowX0APNSSOeG1Gek9dTOWwRY5-30HH8kSWDv8MyQ_FfhnE_HGxBNhHAgi0Cd8nEkzOdmi1VHcBEUwDx9P14kqDX6FqtJ2a-hkDvw4ZfXO_wNFtN-_tF99Ul3FVSDEqzTnEXGECYvBi68AYcfPtdbnLFH1xJCSJqa3uNE4ZBSDndHWs65N-sV3yR201SlP4CTJgIQ6VuVFEBMG2LFKi_iutJaA7JNNkMLiAYnTcS8arBZOJ-G38-iv12bFmSds5171UQHLMfOFtbLheJd1_pzALiPvZaD0N8EA6RbFZLeP2HxyM0eNocidT-r6mNZoe9Vb-hp8I2KpZhk0bosQ6sonTDCRmFMivnLO2fPFrT3C3b2AufnrVXS0xG-5-MvJ_8lx29B2XRyCEaXYhVs7bnmwZ0Q9Y6IWbLU8TINSCvSVTO1Xs6d9n532AiNwGTa3AvQg1TM4XrbUu6AIs1Y5gRbOlTrtEJtaMtrKq65hgNC4uFiWlJzJs1b9OlBdRs8URQcUqwEkH2NlUngw_cQawvLN_XPOfK0VCejdFdrM3UtmoRVL6HM2xtjBAAU_MRW_ehOyyUoPQSiHZ9xvWv54Xzm0CBAJSBtRTGP41GIjbH9A6cui1Jk01fSkadcll1YNOwl9ycOoU5OBkWnY-lvTJPcMq9p774o5IF5eyNe2YSjr_I2G3PdN4cwPMS3GD569ywh-6JG2pXa9zbBKxhtuaHHOWWiw_UvzXadw7z3cXi_pk48SLMLyzbzI23v8y3caCofnKgJWtxUa6FZBVJi00WnzoyqUhjKTuphhhtjyLuO53kvof2ZUlpISCTGfohmYp9lZWx8vbfrHe6DrPozQOfiAxWwA0vxmNVP1hiw2C1d8Wo5d3IiyiywOQW0DL3AgH22SewtJoqIfeIz1h5KBwC39kZgk8vFOCI2oYliO68dT_FzqIyxePgFU_YKtzVS7WW9sezb1kWAH33Js69mCU3r4pUhD3WOQh5mMhg5mitHWB_LNOzhK1bVc7nzk-YyoO69uq-yilPNjglJwyx4Z-NzojW5epRKRIc9IpmWgkISvkxx_Kve5P79iHOx8YnbS4z3-v-9ysvED9vdSQgGwszZiezWL0DsLhsUJyw0mR92AcFxi9XEJ3cSyBktQktNOyLjSew26oMF_82-C8egs_ypoacpGYGVRGDQfY7fjeERusW7LM0vLFjh7Ih7XCKOC3gagNtp5xIfE8hREtANaQxa-q29MOTjCMMulhb95Teidwx0NKUsOIxkf4fqg=",
  "id": "rs_041a3387134d6542016ab2c6d1db7487d0b62f007cbfefd152",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.37,\"left_y\":-0.29,\"left_z\":0.005,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The close is still empty, and the overhead view shows the brown plush behind and left of the gripper, near the safe's front edge. I am moving back off the rim and lowering to table level around that exposed body.\"}",
  "call_id": "call_BQXVOzUIzie5D8a2mNHJ4y45",
  "id": "fc_041a3387134d6542016ab2c6d9643087d08631608fb89c8c5b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BQXVOzUIzie5D8a2mNHJ4y45",
  "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]: [-0.9405, 2.1452, 1.1057, 0.1734, -0.8379, -0.7452, 0.9949, -0.0296, 0.8417, 0.6991, -0.77, -0.0265, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.3808 left_y=-0.2932 left_z=0.0095 left_yaw=0.1018 left_pitch=0.0443 left_roll=-0.0048 left_gripper=0.9949 right_x=0.2462 right_y=0.001 right_z=0.1384 right_yaw=0.0096 right_pitch=-0.3224 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.8274, -12.3145, 4.2872, 0.8669, -0.1001, 0.0904, 0.0611, -0.1162, -1.4974, 6.7214, 1.5116, -0.0122, -0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06064a30873c9280295528918277f8309336e8c8437c6fba83785dbe68717ee3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87383c3709952df5a86b690e4291e7ce78cce2dad49a4d0d37833458475b9422",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0084d17600811b36d89594e1ef382c0ea4bd91c255f450b00f667fa060d1268f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9165, 2.3489, 1.4422, 0.244, -0.9405, -0.5098, 0.0104, -0.0296, 0.836, 0.6998, -0.7547, -0.0269, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.4453 left_y=-0.3402 left_z=0.037 left_yaw=0.0873 left_pitch=0.2063 left_roll=0.0712 left_gripper=0.0104 right_x=0.2491 right_y=0.001 right_z=0.1424 right_yaw=0.0097 right_pitch=-0.3007 right_roll=-0.0004 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -13.5043, 5.5043, 0.9841, -0.0904, -0.0562, 0.8083, -0.0205, -1.1966, 6.9812, 1.5311, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssbi0D1Oz9BzyAlyKDb5uazdvqhISXC-o-H9PMNO_Q56nmsixMir14spVe-d-mpjsWS8i8v-VWmtvDOKnsI6bLLd9kF9S4tLWCAZ-IRze5ZGYOddUSWXx9MPssghWS5MRZLLlDdbk1aBQlYspGXm9f5N7GTHrMqcCBigFe-wzNjIgThT7Nucsv1O_TmoUp0a9g8XhwcQ-A_TH5mSZklzvV0yduipcaBhgOv7-KiqUMsMO8wbcnQ8eq1OU9rWq0uPKOPXUsqxFw8RZ6yRFzScG6TbWXOuT3PlVVqlTSswLa0QjCrolSvq18hRX7WCKUxEbv31THJN6Ivh_m7FMFnPu6FlQY79KO2nRf6PGDcLEzLFeLmVTZHk3ndr_Ke4g7K7IGHeLj27Kw5Fc1ExXpeCQN3MBYvmwRW4hKEI28h6TLe6TzqnWMJUmo9OHWP3iZbpMx9XMG42EIkTNziau8IwAXw6EJQNA3RMulKUFPbqQjrHzsNpasZu9EFflNpK2mzEK0OoPL1ucIhqwt8h6xogfvWh-kPEbr-Fc3TQ1jJC-mPTyfuighN6g0ZvmWwNscRFFMsnA0HY1Fo2b4m5RoYX04vyoyyZS5gZsPZDDHhEVBqjycRgh1o1GFH-lBTXi_gOdhHBfrj6qWjbYoVJhv6D9dq1Qi5Bu4xFrq2TxMM_ciRRAxLpV9aTxhL1b98wj3wb5iSRxzx1EOlIRu1dnc1nr9w_15rSrvf09huTSs2vMwJVXH6SeKP2cvDC9URyJ8v8SA1YkfPuE_2oeqNJVmObwr-4mT2P5mI5l91zG9483saoeUoaMr2CbuopQ5YGTd9gDYSVhpcPcaZK0dXdwMG2RLNMxAUj7CDgea6cjnTpll1irGbWAIMLHykSuq1hr90z7HMeOV_rZNLlJLeSzCGZ1XqWcTRZMgCC1HOmPpA6idRjTjp_m62nJWpAp_uEZ_r7xft0921j7Z1E_EpS2uXpoZTBS3ojmk96YfFokPSQUfmCsZHSuXLTchBknclVGjd1VG90q9hRJxeijnDvTsZ-AD-q89To5O_mQPmbDQ4txD8JVF2aMeza8n6vmFN9dKyCb28mzzZjJpPcHLnYas6wr774F763_ToX3UJe35Cjerognq3KNtagcs_rfWuHT3OsPmGY8eDcvQt-sEX7ZDToqt-oCvarJIROva1e7gcznSL49_C8KcD5TSYUgCTaF15trMECAk0gp4wqvffdU3kbxjXIe4T7hhbTsegxEmkQiLPeTs4dqVzy63Fo4CAU0StsnfS6efsgjWGzo-Dmv6pM2us8jkzgNTJWqBgb06_5Y0MRSSY=",
  "id": "rs_041a3387134d6542016ab2c6df6b4c87d08bdb6c5277f69cd9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.33,\"left_z\":0,\"left_gripper\":0},\"note\":\"The brown plush has shifted toward the near-right fingertip. I am centering the jaws on that body at table height and closing.\"}",
  "call_id": "call_At8Qumhyxd1D5nBhMXduYEEK",
  "id": "fc_041a3387134d6542016ab2c6e11d9c87d0b0194bb1747faf50",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_At8Qumhyxd1D5nBhMXduYEEK",
  "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]: [-1.0565, 2.1788, 1.1793, 0.0509, -0.918, -0.881, 0.0171, -0.0296, 0.8455, 0.6987, -0.7918, -0.0269, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.3502 left_y=-0.3272 left_z=0.0111 left_yaw=0.1042 left_pitch=0.0629 left_roll=-0.0203 left_gripper=0.0171 right_x=0.2419 right_y=0.0012 right_z=0.1342 right_yaw=0.0103 right_pitch=-0.3483 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.759, -8.3077, 6.653, 1.1306, -0.3736, -0.1148, 0.7692, -0.0889, -1.4974, 7.0632, 1.5702, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b685a67b87ac30c8a78f593e206e4e875e5b8e46eecc33741d659b4116ae51d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a4c2e70af277b98ad74966504f19d9721e85600ca99763ad8e1ccd7d703e769",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:376b10984888ae4443d3736219b05cf5488b1487f225239336db4991bb85fdb8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9405, 2.1452, 1.1057, 0.1734, -0.8379, -0.7452, 0.9949, -0.0296, 0.8417, 0.6991, -0.77, -0.0265, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.3808 left_y=-0.2932 left_z=0.0095 left_yaw=0.1018 left_pitch=0.0443 left_roll=-0.0048 left_gripper=0.9949 right_x=0.2462 right_y=0.001 right_z=0.1384 right_yaw=0.0096 right_pitch=-0.3224 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.8274, -12.3145, 4.2872, 0.8669, -0.1001, 0.0904, 0.0611, -0.1162, -1.4974, 6.7214, 1.5116, -0.0122, -0.0024, -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": "gAAAAABqssbp8yCh4aVAJXNf3DHEG6khQLAytSyD-vErB0Y67GIIWe-k67G54YqChmHT5VVwuOx_XBg_bm5EHoIE2m1-SCRTbM9MV023Xbdq9STQxntufPOPOgGnW532MYMBz7R9NNGjMq4YB5HcmchAjof35Lrta4kSJD_STrnQJ4A-JLfNsA4OYs71AaJOuYwRC1uQzJD5mMN7EgG5h-APti7Gjebh_BvzMMFHEmmmva3t3CxdOTSfKNnrjeBAy5C_HGs3mDwuXWHB6rGAajE9sy1HpBqwYn02BstDLpsc5Is12O8HdPZM8Ke4udAbeJCb_F97CEhHG8S1F8BqQ7ycrR-B7UEKYAp1hRAvBWueB67tTjq0fqMC2EfHVCe99BKDblktoCviv_UeTbzHwtr3U6HPAwoL1IjRV1UInBRs5RpNQ-ybWCl8C6iLGST4it34szVswlz7Bkn9CF-nT6Hb9D5-C_FWaGMllyshvx5MC_kIunBRfeJqlrPUR5z8P31LrcauP6RPOg89TehF9DeTGIScHW82tXmidHNVsB7JdI3H5ag5pxUmG6k-yUvY73jlKfyhD15oC2r3exL_hOgYmHcXu2g5u2Jzio7YZvtnVmrEXA0AL-wJVOS-Frx7bdXgi_UqJ04jkfPycj9gClVOvbDOy21taf0ttgM1ChnKfBzh4opvSrDgyBFd-txmdoTsOtlI_l0FTS26C2aG0kj_s_D5Ac7vELVeQ2Upaatxwip9rrs5NVxarxrD0L32preVUVVilKzqwTCHlBAshjT5pAby_nlxQUcJaovqiCfSbIP_-5IPBHZ47lkcw_GyMGnoHwM7GQf9D-94UE0B-KuEjOwMkWnwCUekcz9SaIQfGV69iwbBJPGYhT2-jnGq8vgSljcMxOsM5qDLFYifRz2EQcxCpv85G6IvtM9YXFxnjbqyOtCktMO7io5RPA-Ogif9-sWipLTHw7fRdHpn09-SaZj85eJ2tzb4fjFEYB6b4q4CAemN1k3phg6mxpHjIK-1vpNHsn58Fre0-oXqWoXOfv5K1LqebbrJmcdWD6NtcpKS4mdDgsEk8y3hk20QmwL9Xz13AQZZYi5gYHjoIwiLe-iPmVi59KWqtuBTyFhynYwyg2P4ib3tRvY0dhrLPVc7WF9vCsbArQjbq0QgPHd7Tpj3AcuZ10fCcH-3OZP8iRhyxQrDi1INMrde-2SGWefn168LmcH0lpwkbZc_0-RTBrSI2Qv6HiaTOcSRGEN-wN0YGLoRQn5mmXWtvDrjCaPiII3TkaGj3EF7H5PKPCOQmAuMrhCmXNTPifN_wn2ZiEkgo39zbjAJNRCmIdMet-atzr_cpE4iw3NKvu9h_XRz8t-3gD7OUpBJKjA5Wf_W5duw4jZh9i5yYvzYeltMdnax-Jqv1D3wJax8FDqMU9ptTEv4HbyJco0z-mevFm1oETbp5yl_2EPkZ6h6vUn13AggyeAbJCpyrbkyJJEqlB9RIbE0wVb8rQ==",
  "id": "rs_041a3387134d6542016ab2c6e62d3c87d09eeb86272dcf53d6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.365,\"left_y\":-0.38,\"left_z\":0.005},\"note\":\"The wrist view clearly shows the brown plush to the right of the closed jaws. I am reopening and shifting sideways to center it.\"}",
  "call_id": "call_6F35GVcvrCGkTMPW1PTNZ2mc",
  "id": "fc_041a3387134d6542016ab2c6e8656087d09bc4f33452677d9c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6F35GVcvrCGkTMPW1PTNZ2mc",
  "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]: [-1.0794, 2.3302, 1.446, -0.0914, -0.9401, -0.9283, 0.9951, -0.0296, 0.8455, 0.6987, -0.7998, -0.0269, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.3654 left_y=-0.3729 left_z=0.0078 left_yaw=0.1178 left_pitch=0.0689 left_roll=-0.0295 left_gripper=0.9951 right_x=0.2403 right_y=0.0012 right_z=0.133 right_yaw=0.0104 right_pitch=-0.3563 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.7726, -11.3573, 7.2137, 1.1306, -0.3394, 0.0562, -0.0708, -0.1026, -1.1829, 6.612, 1.4139, -0.0171, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53283cfb685dc116b834a0046d495dae351ca18f100d6f1df595ff05de5cde50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5e426192a14e7e31616be8e5e31098a7a0b0caa5a2e7ec1a56c6abd4f12d62c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cda5646730962ade9489725c63b7c277768b72523bba4aa0901c538e5e40537a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0565, 2.1788, 1.1793, 0.0509, -0.918, -0.881, 0.0171, -0.0296, 0.8455, 0.6987, -0.7918, -0.0269, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.3502 left_y=-0.3272 left_z=0.0111 left_yaw=0.1042 left_pitch=0.0629 left_roll=-0.0203 left_gripper=0.0171 right_x=0.2419 right_y=0.0012 right_z=0.1342 right_yaw=0.0103 right_pitch=-0.3483 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.759, -8.3077, 6.653, 1.1306, -0.3736, -0.1148, 0.7692, -0.0889, -1.4974, 7.0632, 1.5702, -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_gripper\":0},\"note\":\"The brown plush is now beneath the open fingertips and out of the wrist camera's forward view. I am closing to capture it.\"}",
  "call_id": "call_rIMtNdMf9hAkwL9VWi21YiOj",
  "id": "fc_041a3387134d6542016ab2c6ed567487d0981dc3959a90c2b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rIMtNdMf9hAkwL9VWi21YiOj",
  "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]: [-1.0794, 2.3394, 1.4574, -0.0975, -0.9405, -0.9302, 0.2922, -0.0296, 0.8455, 0.6987, -0.815, -0.0269, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.3662 left_y=-0.3742 left_z=0.0063 left_yaw=0.1188 left_pitch=0.0677 left_roll=-0.0275 left_gripper=0.2922 right_x=0.2373 right_y=0.0013 right_z=0.1309 right_yaw=0.0107 right_pitch=-0.3716 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -13.0256, 4.8342, 1.1746, -0.4127, -0.0464, 0.7106, -0.0615, -1.0462, 6.7487, 1.4969, -0.0464, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7abd1df31e70d7943eacce7cecab930d3723ea91c051a02eaea2c1d0abe9388e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed5447d515ac9c9b52ea10c490c7c77fd1d0cbf6c460adca4dcfeaea4d87b5d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e8d3c8d2eeb0c6569697a1b5a2e4a29202993058ce4e66f170b02efac1a4324",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0794, 2.3302, 1.446, -0.0914, -0.9401, -0.9283, 0.9951, -0.0296, 0.8455, 0.6987, -0.7998, -0.0269, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.3654 left_y=-0.3729 left_z=0.0078 left_yaw=0.1178 left_pitch=0.0689 left_roll=-0.0295 left_gripper=0.9951 right_x=0.2403 right_y=0.0012 right_z=0.133 right_yaw=0.0104 right_pitch=-0.3563 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.7726, -11.3573, 7.2137, 1.1306, -0.3394, 0.0562, -0.0708, -0.1026, -1.1829, 6.612, 1.4139, -0.0171, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.18,\"right_x\":0.49,\"right_y\":0.19,\"right_z\":0.15,\"right_pitch\":0.2},\"note\":\"The brown plush is held with a substantial jaw opening. I am lifting it to verify the grasp while positioning the right arm above the yellow object.\"}",
  "call_id": "call_z3y59I1Z4B2GQeY7fOP5WA0T",
  "id": "fc_041a3387134d6542016ab2c6f272f487d0a8877842a17a97b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_z3y59I1Z4B2GQeY7fOP5WA0T",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0657, 2.1979, 1.6749, -0.7921, -0.9257, -0.9501, 0.291, 0.4812, 1.7782, 1.1038, 0.1974, 0.421, 0.1909, 0.999]\nstate[eef_state]: left_x=0.35 left_y=-0.3339 left_z=0.085 left_yaw=0.137 left_pitch=-0.0662 left_roll=0.2636 left_gripper=0.291 right_x=0.4828 right_y=0.1747 right_z=0.1582 right_yaw=0.0101 right_pitch=0.1574 right_roll=0.0027 right_gripper=0.999\nstate[joint_eff]: [-0.9094, -19.6991, 16.0889, 2.4737, -0.5739, 0.2418, -0.1441, 0.7179, -4.9436, 5.3402, 2.1319, 0.2515, -0.0366, -0.0708]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49de65d7b6c689b96836090b220361b15744f5d64dbb6524de9d84708c06254f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ccacdf94bb03f13bbed2ebad8b23352c3d6a9383d2d73f0b20b1e15dcb0e9db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2edd382fe6f85206fa178ac0738d64f98fc3c5433f21c850d23d1391af988cc6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 93 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0794, 2.3394, 1.4574, -0.0975, -0.9405, -0.9302, 0.2922, -0.0296, 0.8455, 0.6987, -0.815, -0.0269, -0.0521, 0.9996]\nstate[eef_state]: left_x=0.3662 left_y=-0.3742 left_z=0.0063 left_yaw=0.1188 left_pitch=0.0677 left_roll=-0.0275 left_gripper=0.2922 right_x=0.2373 right_y=0.0013 right_z=0.1309 right_yaw=0.0107 right_pitch=-0.3716 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -13.0256, 4.8342, 1.1746, -0.4127, -0.0464, 0.7106, -0.0615, -1.0462, 6.7487, 1.4969, -0.0464, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssb9H8s7i74Q7z0Jv0Rg2OTixdLUmqyjeDhoXFLPd_eoMtzjtYXyg1bOsgBdHhVYMEIV2AZK_3xVJPmlTqecXeKyq-alnLWcyCjDRorpamWPywmEK-IEVodRmArUb-ltsIysk21hRRSbcnzBU58nXVQojntR4sA69WxtNFe1sxw5d6oQgVZTwqIbw8LHnz74H3YpkRsZzIC_X-uPCboA2BQYaHZqKUVlMnnrKPhlPXqB-OzG68bvgeshOKF5RZhOjqJRZgyp4oXsj999t0tF5cJVFvGC7AOHMmmcKQzs2PTnmSe_tt2T21d1C0VAq1MQiZE9g4a5Vk9qJfWOcY4MRnETDq4Xa87saqROg7np3gWLNKSXjcUfnFU78SQOCAKnG2xkWSNmaQgjFkWJx3IPcw5Jdm7_Zf7ZuyiFBghpeznfcFWbWflzA7FwQzOE4czuujOXLcsNU9O_lIKohJG0eM4cc0v-YGANaqeYL7TbpN3kgnltD7Zetkc8kzMsPHfsITCdEX9vC2dAA2m9l2JLz5H0duAySkI8CNvAnpKzwVYquFATkfLC7HYgWnK4wBrgQKiK0BvaPiRJ7bv78HguMfMM1B8k5bAYrV7GSHy_rFq95gs_6bOMA2RqZGW5fKr3dkyLtZi-tNxuvwEATIqZiGLJ28EwutWbcp2IRbsmpzF8XvqMOHtn_9PDtEHUy9dGOsGrVjyvWB4tWBl4yzqeK5l9JjNekT-lDsgDR0pd4I2QD6RfF3Oi_hvOyprWspmlngq9ixz37WDTXlKqavT-cWuxW9gH_1Pj1aineNU99aN2HWrctEVnOY8LMb9SSuPPRd05fQosGoxw_mmNfRkN_zEQjpSQBTFul3uSaLeYE12VsPzqqzJix66W0oz1dwBoAUszh_8Tlr6Z4hMZi84G3bV8RVU_-tp6wdVFDtE5jUYTLu0sF7fTvi3urmZmbNwINdwuDcAR7WbWOn7zOS6PFvQG0pWCJ375sHtkqUAXS4E_k1BEkNlXwkDJ4rzDClAOQppmfSoWxgc4MCsw-AkDJzXSeo7wGTvKBgfakWv_hBTi_zdoKyd865QaRKu709YGMKdRXiCSsaxTki7V_WCqXAsqiuwpFEvLf54INNSj6vP3_koDnkOPrt_yBatmBrS5AsXkq17ingtLzDAuMxJsvA2vVSxwpNG_lHbDFBtcrd4hLKdIVPEYSasSv80VXCpHGwtRHnhPHLI1Yh2ezkmvovflFA==",
  "id": "rs_041a3387134d6542016ab2c6f9bf0087d09ba8927049c0f5dd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.505,\"left_y\":-0.305,\"left_z\":0.24,\"left_pitch\":0.3,\"left_roll\":0,\"right_x\":0.51,\"right_y\":0.16,\"right_z\":0.025},\"note\":\"The brown plush has lifted, though the loaded arm sagged. I am carrying it higher over the safe and lowering the right gripper around the yellow object.\"}",
  "call_id": "call_cVF5cmhppoFAGuKznb9K36gR",
  "id": "fc_041a3387134d6542016ab2c6fa6ed487d0a2347be64be67420",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cVF5cmhppoFAGuKznb9K36gR",
  "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]: [-0.7788, 2.2112, 1.7233, -0.3664, -0.8719, -0.4377, 0.2909, 0.3828, 2.1456, 1.0069, 0.7136, 0.3786, 0.1818, 0.9988]\nstate[eef_state]: left_x=0.484 left_y=-0.2826 left_z=0.1234 left_yaw=0.119 left_pitch=0.0495 left_roll=0.2658 left_gripper=0.2909 right_x=0.5186 right_y=0.1423 right_z=0.0398 right_yaw=-0.0521 right_pitch=0.1961 right_roll=0.0341 right_gripper=0.9988\nstate[joint_eff]: [-1.5385, -18.7282, 8.4991, 1.072, -0.398, 0.2222, -0.022, 1.9624, -12.2051, 7.6376, -1.0281, -0.6422, -1.7216, -0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc203fb5b53a980cf221d01ab94ab46d466108cc131a880f8ab37a0516266956",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:464d4f910a096cf146e45dd8f27e55b1fac4dd95fd4d0c28405df10ee64dba9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b787d5c45926413c03a3d4fda8793621caddc4662326cf9d95a62a48c1bba59a",
      "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]: [-1.0657, 2.1979, 1.6749, -0.7921, -0.9257, -0.9501, 0.291, 0.4812, 1.7782, 1.1038, 0.1974, 0.421, 0.1909, 0.999]\nstate[eef_state]: left_x=0.35 left_y=-0.3339 left_z=0.085 left_yaw=0.137 left_pitch=-0.0662 left_roll=0.2636 left_gripper=0.291 right_x=0.4828 right_y=0.1747 right_z=0.1582 right_yaw=0.0101 right_pitch=0.1574 right_roll=0.0027 right_gripper=0.999\nstate[joint_eff]: [-0.9094, -19.6991, 16.0889, 2.4737, -0.5739, 0.2418, -0.1441, 0.7179, -4.9436, 5.3402, 2.1319, 0.2515, -0.0366, -0.0708]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsscDL3mISzzjf_f3mYjh0VzgrE7dtAQRL7XPtuV5mE7FHf8qHCegTce1EwcC8Elr81g4itzrBAM9oSVLRGgETX5Vt3PPnzzFeSknOsxzeJydhR-BmCrhg3P_SwHN3WrhHDmLm2EJhl0KiQ3xpvDTW7_v62F3r6_GBPbn-DjyqUWs_npvDtYED5-yGfRBsdFAYc6HLyDLAU2xcoYuLQfSdQ1FKjRnSmIJcrT99k50nKwHHRrvIA_a8bEiKa0kuP38-gn4m4HDUT8laKksxWSSt7GPbJ9Jpgle8TwpdM1WksB69SsL39TIkks2ejSEwGLZWogaFiDovJS-0il-0r0p0SU_FmjSosUdHDfsgScI16i3JtAMmK_jd1gwoxhLQrtVJps_p3pLRuWaMxV5MfaM2BvB-bj-nZd3jLz9yYFIQAr5dnWBppyRe3HkNppTgOFZAVI3dC_CGV7M7FKNc3hUkHYw7x0_9LvvuYRny8CD_kxXC-k7QSaQ3kEFYlTrBDDTrYm5gkptAJ8Cm5k2x7yzs_JeLqa-wGfhgrmydY6-26TtkU9T2ZQjE51HSaylBuosT2OEfeweFF5OjqGXv6T0_1jCGWXS5uffBkdC2oY9LzhvopXf3E_ZRbimPM_CUzw9po0Cf02gUMqg0zNUHgDC4SoJZPR4u1HvTFuyTFlwGmNp1-Dl8i7GlRFcWVopgB3go4jnsCUdK5cnOBc9OF1q8mnAcw__i2AhKPIaVnc5VWeA0D4itax96Io0F0P14sEY1RUgTw_VIUCLNa2nqoxcoxS46fzKT_XexVrbdg5kZ2Q8c9H29ZHJYZlLjH8GHgg8pfYq4DVbcOwIEfKyw4QfulXjAoMnsi_hnjKlykGRndwiHQfpZ_UtlF0fhLo2uzihvSU33vbkX-7doPePubA1J4I7dyt6J0hlafP5CSAOL_G5GPJ9TT47mBy5Vu4ndUfSC9F3f37IP7OBKRuQpcxWK-cYi5__ntb5xPbeBOuNzrmKwepYWLPrk6pnzmvbA1idLkfxVMqAjGfZPQwvqhmuVmwnYwoOrHZ-mnDjNXIVdgWwtxN9M6ASWhDkzomucIpMeiBaNvbU20J9RDgQJCDbciZud6YCXm3WqKWvzuVEPTtsf4nFkIX4GWKDji1BKin6zIXmODrMhHJl1CnXeTjFYQOlmSaYvd1Z-KP9cje9X2Fgo2rcdWe_cnGbatdyPUDc5u9qvL6vfoUJiVPYpSIG6WkdtA92ILLhDVLlTNSHhpRhLESyWjHgJJ8sTlmlZYdlA9B7EzypuM0ZuLpqejTCMdYOrKct1mogD8aCqTqN09W0Vh5QpvrS3EKPGC09fZpaCPPU",
  "id": "rs_041a3387134d6542016ab2c7006b6487d0ba51dbca6e9c9156",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.565,\"left_y\":-0.3,\"left_z\":0.21,\"left_pitch\":0.5,\"right_gripper\":0},\"note\":\"The brown plush is above the near rim, so I am moving it farther into the safe. The yellow object is aligned beneath the right jaws, which I am closing.\"}",
  "call_id": "call_uWxF8ToWNfEmQ52TkrIdtREj",
  "id": "fc_041a3387134d6542016ab2c7021be087d08e0f8b874bbcc98d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uWxF8ToWNfEmQ52TkrIdtREj",
  "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]: [-0.741, 2.3692, 1.8454, -0.075, -0.9562, -0.1585, 0.2909, 0.3828, 2.1521, 1.0054, 0.7246, 0.3779, 0.1761, 0.4086]\nstate[eef_state]: left_x=0.5377 left_y=-0.2915 left_z=0.1289 left_yaw=0.0938 left_pitch=0.2106 left_roll=0.3592 left_gripper=0.2909 right_x=0.5187 right_y=0.1425 right_z=0.0382 right_yaw=-0.0484 right_pitch=0.1988 right_roll=0.0303 right_gripper=0.4086\nstate[joint_eff]: [0.2803, -14.5026, 9.7846, 1.746, -0.5495, 0.2564, -0.0122, -0.0615, -11.4256, 5.2308, 1.6972, 0.0611, 0.0464, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c6dfe8a5191d9575ad9b70b9b7209a3c16345b8b61f248a4f47ec98524f7957",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:326738340e5f1ea48e0abd3189ff6793de16062b51e320c3e62e39e07ed7140e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a431e6b260fb374e07de95d71435f967a5e2189b57132d6bc00a58934cc42774",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7788, 2.2112, 1.7233, -0.3664, -0.8719, -0.4377, 0.2909, 0.3828, 2.1456, 1.0069, 0.7136, 0.3786, 0.1818, 0.9988]\nstate[eef_state]: left_x=0.484 left_y=-0.2826 left_z=0.1234 left_yaw=0.119 left_pitch=0.0495 left_roll=0.2658 left_gripper=0.2909 right_x=0.5186 right_y=0.1423 right_z=0.0398 right_yaw=-0.0521 right_pitch=0.1961 right_roll=0.0341 right_gripper=0.9988\nstate[joint_eff]: [-1.5385, -18.7282, 8.4991, 1.072, -0.398, 0.2222, -0.022, 1.9624, -12.2051, 7.6376, -1.0281, -0.6422, -1.7216, -0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsscOPYKAgZLXFlM-OPV-QCWMGILXxQUeOgOxDORvcKvxqWOquIxDd_F5d5qw0rRqPJzF7DLwd891aCHJXOunDpf0dPRDT_28aMrkD3eYNS642z7DjfNxLpGic5CgV1d65DX1ZY6NSvAvX9N_eSupLHA0rvNJNyCeTuCqZByfn2lwJEYJe1DTaViCxFfX7DkW4CRO7BFRf-TSUARkoHekFgB3sppbrWVu0dFkw1zjBupKxGMXVitQdDkF-6cBPHy6ekc9Ov_KwQD2S5sOuttx6kcpfwvAUZWWDfSyFw0PmzRSd15BHDhidoGdEetidT66vVPJJuRt_xMt0B-VKZSArqy3Cg47OOthdveNJ4tRq-ntDEAE1SoV5iXe_w2V33lijr6_YQsE18PT81ykxrCmWV_w7gqN5dnz5KuBeY96QRacc9KkuaBUQ_Se3w7e4J88-mnVVbahPg5OmVRJJe5-DjQddrcQ8aWm_01HHfpvyT13biQSuG7ry_bM_FOZtjjOpCVhR8rCmAmOrpVGIAkjbFXQPlSF1Lp-AUs1UaULY4XA-cvtJzhW0OV0cPVWZHbQR9VF_ZdAC7qd_gR5uMB4ztzliKdUi9xugsAj8umMN0zn3TwQUGWvAzHe9VNasdKNTc8VV5xV5q_FbIJGO10DwlcnuVjSBtHZflKIYOdEDrfWBRVdJb-ht_-rePQsm5XqVA9GR4o_HFVAbJ7oQ4tlFA4jbFXmCTeEITNRHGTVcgnZHZBDKqby6xCm6rvzkBNPKIrERmG7-Kj8KShlmQU_lK8AP3F9-3h1Ogj4reEK1QsxnKmMca2rZs8sTEdXmiFetIccjw-Hf9r_n4BZT2HM1qYYvbHp135qvh9_kd51hIcSbKUSKliIejTOETiDprd5YYHfOnklvDDoYQa4gtSkZIPBiwt98dYR6KN0jLmKLDH-mTeel__mn0t5erZ8E-4hz8ZjfYY0YJEc-VAgyngOGStDIBRxqj6x9ryKXyAFDyIiONtSmhKKo5CuXuEg7qxypeST_Z35PMzLWEtevYnmN5Vox8tnMP_TggV-7DEUKG2KxmMZq9cInR71izkOQ6cl8saP-CdrGSaS2zjfnVD_pKeLX-Qk-HFSw80IbCLYhGyysMnWKB7uJGx93_2bMpER8l93Opm0lpmgbcCasdTgbWFmYu4fHNMlSUCdyO5kkWJ-xedCQjRFC-1OLdxYxyoq_VF6TIod77-fg82OASdnbmmOniUDN1bTlqrVJqCoH8uK_Vu4vh6ApcxoLMzd5RiyBVXlIPan2LIIxawwA2MaLSrKkUt5ulG2hBXOatGURPnyjS8hg_S9Hpgl0WFIQSwHgWJdRsMr8zXvXZP5h4EP_oLt6r1CY8UrQJAXsbsvfJCb-ecdPg6OzYFYcE1J2meap7dRUtAzLRT0z2yxsUKQv3dA8YRkt1dXlKv_K7zIMhHecGAqzKagWX3PYy8R-z7ou2kYKLNS4hxHLifGJ7QkJeSn5baLf-hN84D6CI5yTmm7C6e5RbSr3uBLwxMrUpFZlT41l_zKln9BOyp7eYzAihWwJDXaXePDOkOJ0Q_KdqpQEWuT0aHrjMf3nHI54vJPhCZJPomPSRbcWBHaZAg5HATPH7cd6NB3JSIS2Is8HdCEYl6-ttR7MWqWm08rGaNTMzFFzAou4j3su3rcIyKI8C29TnjM6UvnsHJ1DuSg80inWuQ=",
  "id": "rs_041a3387134d6542016ab2c7075c0887d0a137c77e5f7a5ef6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.59,\"left_y\":-0.3,\"left_z\":0.15,\"left_pitch\":0.5,\"right_z\":0.15},\"note\":\"The yellow object is held between the right jaws. I am lifting it while moving the brown plush deeper into the compartment so its trailing end clears the front rim.\"}",
  "call_id": "call_uWyvYyHaRcc0dvajbBQP11LF",
  "id": "fc_041a3387134d6542016ab2c70cd46087d0808b83feee7d5886",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uWyvYyHaRcc0dvajbBQP11LF",
  "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]: [-0.7074, 2.5607, 1.9221, 0.4255, -0.9985, 0.1524, 0.2909, 0.3828, 1.9095, 1.1004, 0.3149, 0.3737, 0.1722, 0.4099]\nstate[eef_state]: left_x=0.5818 left_y=-0.2974 left_z=0.1242 left_yaw=0.0879 left_pitch=0.4257 left_roll=0.389 left_gripper=0.2909 right_x=0.5115 right_y=0.1403 right_z=0.114 right_yaw=-0.0378 right_pitch=0.1324 right_roll=-0.0018 right_gripper=0.4099\nstate[joint_eff]: [0.4991, -14.7624, 9.6479, 1.8877, -0.0904, 0.2662, -0.0171, -0.253, -12.3966, 9.3744, 2.254, 0.1245, 0.0171, 0.9792]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65195cba81b1207689c9c2faeead861b345351cf208b1aaa258660b10efeb15f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c696a70863fccf6a039e44591af3213ec88834d8703c4e4e8ada0084303df2f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90fbb37707cb7c597c905ea7e673d9a0384b04c1da65017c2c342c49740165ad",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.741, 2.3692, 1.8454, -0.075, -0.9562, -0.1585, 0.2909, 0.3828, 2.1521, 1.0054, 0.7246, 0.3779, 0.1761, 0.4086]\nstate[eef_state]: left_x=0.5377 left_y=-0.2915 left_z=0.1289 left_yaw=0.0938 left_pitch=0.2106 left_roll=0.3592 left_gripper=0.2909 right_x=0.5187 right_y=0.1425 right_z=0.0382 right_yaw=-0.0484 right_pitch=0.1988 right_roll=0.0303 right_gripper=0.4086\nstate[joint_eff]: [0.2803, -14.5026, 9.7846, 1.746, -0.5495, 0.2564, -0.0122, -0.0615, -11.4256, 5.2308, 1.6972, 0.0611, 0.0464, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The brown plush is now over the safe's interior. I am releasing it into the compartment.\"}",
  "call_id": "call_ck96MPcH7j7EHfGNNuBDycDy",
  "id": "fc_041a3387134d6542016ab2c712f37087d0b51c3d1831b52a5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ck96MPcH7j7EHfGNNuBDycDy",
  "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]: [-0.7063, 2.5698, 1.9285, 0.4179, -1.0, 0.1452, 0.9954, 0.3828, 1.9022, 1.1053, 0.2642, 0.3729, 0.1722, 0.4099]\nstate[eef_state]: left_x=0.5826 left_y=-0.2969 left_z=0.12 left_yaw=0.0912 left_pitch=0.4203 left_roll=0.3896 left_gripper=0.9954 right_x=0.5072 right_y=0.1387 right_z=0.1094 right_yaw=-0.0354 right_pitch=0.0971 right_roll=-0.0172 right_gripper=0.4099\nstate[joint_eff]: [-0.1709, -15.747, 5.9966, 1.6777, -0.1685, 0.0317, -0.0513, -0.1162, -9.2786, 5.8872, 2.2247, 0.0562, -0.0806, 1.0085]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dea7949a2a47b249a03949b1b521c201111cbbe59339907c12ce4c01e3e3041",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2dead579efc7900c37228f8a54e03b1372bf9be1681540a46d029914755ac3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b72135cadb3367a78f776263137da491ac4102eb2e3243ad0058d2e450e55fc4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7074, 2.5607, 1.9221, 0.4255, -0.9985, 0.1524, 0.2909, 0.3828, 1.9095, 1.1004, 0.3149, 0.3737, 0.1722, 0.4099]\nstate[eef_state]: left_x=0.5818 left_y=-0.2974 left_z=0.1242 left_yaw=0.0879 left_pitch=0.4257 left_roll=0.389 left_gripper=0.2909 right_x=0.5115 right_y=0.1403 right_z=0.114 right_yaw=-0.0378 right_pitch=0.1324 right_roll=-0.0018 right_gripper=0.4099\nstate[joint_eff]: [0.4991, -14.7624, 9.6479, 1.8877, -0.0904, 0.2662, -0.0171, -0.253, -12.3966, 9.3744, 2.254, 0.1245, 0.0171, 0.9792]\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": "gAAAAABqssccnkJLAs_fMoZM-SxTJfFH2-VTUlf6Ie2SA3_4BLGaiO_BnvNseagyOEEDMU6FdszZIgC9PKj_GMyr2_O0NVk2nmTu_p0VlMeJbxxFlsOhQ_sPSOBNL0X61FFwdBR5UyjemBheEdD_KzxMaUmYnTMOLzi70c8KKMHkkQ0ItJw5ZGfEwa6pfrDYDepjz71aXbUHwDbTUQ620A5tdE8qOOjE4iAs_D4Nnu2m76EPmFM4OoMFtqg5HogpLiTIbzt0PZO1dgD9GmfWnbsV2vomYi4Mkz4N7bhEnCpz_xBEWDaZ5wP_K7pL1V5qu_xPkxuJ_PC1nKd-EtwRU1oD2qNsdvadXnPpIpHQlGSJnJMn7hy4H6F5UXHgGB7hElY0sLFM37502AW_j9-rmnxSfFd_OMAyMyYRyFFlzK0nOhiEBfA_xohqS-XVtmMkAsGnTS95_DvdcIRBhLyoqiPQhvYcd9MMS31Ro2k25ySVSRmia6zqEHIw36BmRP7Gv7YEeE-AIkEr7UfDtUoBZRCBEZ-5R8I-oSqhXH1upOnx6LHZkTA4yI3R81lwDxCCylSCZEQPMyEnu4Q1EVb-kbRPCWfKQCPru4F4RNDx-z19R5sudmz1YBBxAD6-umAvMIOqqoZaQPAqdvYKkJ9XbpVwyvPzOovM916BFpNRazR20uioJJ_HlNlDhC2SR90nV1XfQVjXtjCFlLGfwOup0lg1ITzX6oTQJLB6rdRvKYoQPGJFiCf0pI0gmFCcyUKNxK4PthMcAafqFtrt0OFABZZ_lv3jkapLO1d7vHXTKkUb14sZ0zTx_C6jRkoNurjGC_-8bUGpCtPqYSMmUlEnJl9lXQr5Nggy6zAMgTAkKQ6NO7mqX7w9NIWD-ZY3IUBp3nYtHue9AQyiBCBbnODqA_OO0BpX_NKgaVpdVonif0MDRqhvRxd_t_cweF1cxNFkmQEsovDBUZEeJvLT7_l22DJQ0xDdGWGW2fJOaBjc5woftFa-0DHZCO_BiDKPs7kpoluILoSD0pVla15cJvYydTeEW4Gw2N551PCGUnhggF1Zb9MWF0qARi-rWg6-8NB6RP_MVGbFqIJA9ZF5fXVdgF2hhhB9-4CMkP6k2NAPnMUJKG4kp1njBXcYDeyFTQY_9FN2ijnOdOqq97i2y9XTkUh5bTat1b5yNyHvwxRI8UUfc-4ymf915SUcNFsdDubT3gehef97f7MiqRQOKG2YnqPKMJ9F_g6HgmaOJjmmFgw5S1S571smwnN_KZ4dbqw2E5Pg1fvzy38IrJTs6Lhy2kW5U11cqKI4Ug==",
  "id": "rs_041a3387134d6542016ab2c71879cc87d085c0c9d85b1322ff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.25,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.56,\"right_y\":0.34,\"right_z\":0.19,\"right_pitch\":0.3},\"note\":\"The brown plush has dropped into the safe. I am clearing the left arm away and bringing the held yellow object over the remaining space inside.\"}",
  "call_id": "call_MthSQoAF4d4QjGYlYAG7lsoN",
  "id": "fc_041a3387134d6542016ab2c719932887d09d34a2fdb8311199",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MthSQoAF4d4QjGYlYAG7lsoN",
  "output": "executing move_to over 27 steps (2.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.152, 0.8677, 0.8673, -0.5976, -0.2626, -0.1764, 0.9963, 0.7147, 2.3421, 1.9533, -0.049, 0.6964, 0.2142, 0.4118]\nstate[eef_state]: left_x=0.2975 left_y=0.0045 left_z=0.238 left_yaw=0.1479 left_pitch=0.0042 left_roll=0.0166 left_gripper=0.9963 right_x=0.5552 right_y=0.3365 right_z=0.177 right_yaw=-0.0005 right_pitch=0.2579 right_roll=-0.0558 right_gripper=0.4118\nstate[joint_eff]: [0.1299, -1.894, 10.3043, 1.8926, 0.0024, 0.1294, 0.0855, 0.3077, -13.012, 9.3607, 1.9267, 0.3736, 0.1148, 0.9402]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a195d34c256770bc2eb21860019fe8919074e7eb98191cf96cea78d59a32db73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68f2b60c222b4813c0c23919f7c27ad54e0ee671800839cdf39fc83cd354b947",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7be24423638e5df6020731f1799424b0c1fa958d290f2483f0b8dc2e9344ba0f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7063, 2.5698, 1.9285, 0.4179, -1.0, 0.1452, 0.9954, 0.3828, 1.9022, 1.1053, 0.2642, 0.3729, 0.1722, 0.4099]\nstate[eef_state]: left_x=0.5826 left_y=-0.2969 left_z=0.12 left_yaw=0.0912 left_pitch=0.4203 left_roll=0.3896 left_gripper=0.9954 right_x=0.5072 right_y=0.1387 right_z=0.1094 right_yaw=-0.0354 right_pitch=0.0971 right_roll=-0.0172 right_gripper=0.4099\nstate[joint_eff]: [-0.1709, -15.747, 5.9966, 1.6777, -0.1685, 0.0317, -0.0513, -0.1162, -9.2786, 5.8872, 2.2247, 0.0562, -0.0806, 1.0085]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssck84gPOkq0ECxVP8-ApO5WCm-oMfh9GrVr_gx-Y0baQiHwFv-FAWpPU77pvu5mPQp-XaU3pSYxkWB1oIWueGtMlRLG8a56Iy2f92KxuiELPozaGzS2w51LAnJUuI2vXA5m68c_dOopo7cbi75b6sDX6gXz10Uj1v95MrCDq3wpKZ3sOhlnBgHn6UytX3NfFiQykh6bsgr50sEVPDLTitSIIbzP7rSGVvdyu4pqheZOCUfq2ognUGiXsaL3jWY_Bl6rG0fJj3iTadJhsvTAMOZ2r6LNmV7fevnZCTJMequeKunqiJODXqYmn53rR61m81mOWiSqIlr44zxS2L8vrZSv0TUuDckoBSNWeZ7hKXG9_Y3SU5gItKhwMYXIR4xhVDx7nGVZcdr_Lwu85IRhecz8Kz4ORlv5tpFzsSQFgfnRCgUQdYGggnE8SUR9iblXT9G3i5vPUV1pW5nFsGj1OPwF1uRVOZq59sbDPfvPQMeiZa9W9O7UP6aaiMcPxwHp-_HgDJKXi7fV1unJS0OsJSgctWpG0D6z-IsLQErlnOB4Q_Q3qXAHqjsf0JmOUmqmK2yRo7uU7aaWtaSb_4lLKc3LRh8LCRCcmK1abNg0LlOm7ZaOMiKhGQLr8dnKHlL7H-xGGdA7HwiE32f9t3xp2LwM53Nt1wGx7ltPGwhJTA7e618pZSxIA14vgUrC1qR2mJuw4ex7_FqaGn4dkce7_Q0q-gNqtj_8q5qc6yQ5bsaUNg1icGbDiPbmY0xTQak8J70EhdhNt2ctUdweL3jWXM2f5vpgtiM4NGGlsrbwdovMegv_XGQf1Je4z9b61mIJsk0ysuXwD8k4eQU-E4USGx13s6dsNy3AQ14np1Ekydq6pfyjZf6RfB4PXqE-ufW0iHOnmqShTGcDjcalCaozbhc9sWcy4UDYYw_xlwvXfveODsV4BWnUJRKEAFunpaXJq0MSZH00gHLaO-rRXrU5zl1CxQ3wwBYURg42PFFrt-GefwUtmysj0pCy0N-JyxvcZyVKPN71whd9i4Qqxy4rKrxpXrymahjKyGOWPPcaTTc6xbO4STEU-XP4ojN5-slUgY1td7-c_yl5rU7UDuf-LlVuh3OP6NtGx-K8VcIdBQ0EdF_U4kloY1KKsjcRrQvdhjmaBs2ShZTQ7OAMIs4VH0w1Yn14qgqdLw09pxfgCRaX8wRrv0fy5AKR-oVTtXoK3OBeErRxdp-AWNdYRed_PmA4f8KyAIFZw6K40-04iB6cUWDtA7uFyLcOO7mGxSHlo8ZD5VuFQjtMgZJukP5byyWbnOFUMFoQ0HM6-20yZ1iYaMGZxb3OfXpqXcrvw10GaowEC5fXOAiF8R7jmuGKK4IJGw==",
  "id": "rs_041a3387134d6542016ab2c7215ac087d0b148a6e4b92804b9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09,\"right_gripper\":1,\"left_x\":0.6,\"left_y\":-0.27,\"left_z\":0.36,\"left_pitch\":0.3},\"note\":\"The yellow object is over the open compartment, so I am lowering and releasing it. I am also positioning the left hand near the raised lid to prepare for closing.\"}",
  "call_id": "call_MsV4tfmAMYZbRQcQzcsQpT9e",
  "id": "fc_041a3387134d6542016ab2c722b6f887d0b836dcbb8b178aeb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MsV4tfmAMYZbRQcQzcsQpT9e",
  "output": "executing move_to over 25 steps (2.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6033, 2.5404, 2.7502, -0.7685, -0.7189, -0.2863, 0.9965, 0.7139, 2.4268, 1.7927, 0.1814, 0.6884, 0.2104, 0.9985]\nstate[eef_state]: left_x=0.5927 left_y=-0.2628 left_z=0.2636 left_yaw=0.1246 left_pitch=0.1644 left_roll=0.1171 left_gripper=0.9965 right_x=0.5535 right_y=0.3358 right_z=0.0981 right_yaw=0.0099 right_pitch=0.2442 right_roll=-0.0668 right_gripper=0.9985\nstate[joint_eff]: [-0.6359, -23.1453, 8.8137, 2.381, -0.3736, 0.1001, 0.0024, -0.1026, -12.1504, 6.2701, 2.0293, 0.1978, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baccc8c3a4d2bd48fd8acd7a28ef14f457ee494e57581fe6e58c469b2d0614b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e266188e90de1d0da0d490465f55f26f07b2e88af87eca8e6a7cc8f369b50a39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57d76a61503c5855c02ce1d81d9c0e881c01112a9db75a903879caaa5a88b061",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 115 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.152, 0.8677, 0.8673, -0.5976, -0.2626, -0.1764, 0.9963, 0.7147, 2.3421, 1.9533, -0.049, 0.6964, 0.2142, 0.4118]\nstate[eef_state]: left_x=0.2975 left_y=0.0045 left_z=0.238 left_yaw=0.1479 left_pitch=0.0042 left_roll=0.0166 left_gripper=0.9963 right_x=0.5552 right_y=0.3365 right_z=0.177 right_yaw=-0.0005 right_pitch=0.2579 right_roll=-0.0558 right_gripper=0.4118\nstate[joint_eff]: [0.1299, -1.894, 10.3043, 1.8926, 0.0024, 0.1294, 0.0855, 0.3077, -13.012, 9.3607, 1.9267, 0.3736, 0.1148, 0.9402]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsscwthS-1J-s38rNBcvBq2MQqwsyCpx18OgmuDQAPlWdcZ5my1uPSMVHBl7ra1DaFwc1hKY4TCaSTDGkqb_4I5guCYjLlurSHeho2goPFGILIE4eDWheFH8cxQje_A69LlrnoFLmyN65EiJd7PoPDLw7tC8frfaOfYznXQuBiZd2fN0Akod8Ao-vszX7QshFdC9bhNEcoIlPmT7lDXOpxXsPIF6BguKR0CW4IyiQSBLNPMRQIsGlb9_0Gcb1opb9WAGr-nqP-RHdhzyQ_bC-mccv4uX1mwmbD6EQp3vS8UvFTLQNE1JkMYbrm6OcoevnP93KF5JQ76GFw8tf9b16MsukaalYE_qd5yIiHqHZkxcg8iknnOIvWaYbDIUHNFDqbFj0ue6TZMLlKdH7Xy1C3Jf3B7QEY-6UYgshm6oKmU3q6NuCjGfwqnyC9FkPcpe_dS1I5kq3g4HJiJ8500Q0T8LCdcOOQy08tFyTmHZSxvONuWvPADubTtAfcac6nEhQ1ID_PGzIiGOy8qHxmItjOhjELpZLcKUe-qaQPDgJyHbvbB7UlzTA11vRR313IYKLZ5Xxjpd3MX9oBlQbRcxm4E6p9pCHnofgEpIaK2THdqqI0-dLZMPdopuwrd6hvfILcvXurbZQsoKp3eXajn5aZMR7C36bvYl5xl_cq8nXEbGN28X6CxtguQgseEPU9g0Xx_Hd4T8wW5uXRFg6stElvKuuo0us92b74E2jFzNqMd7HRhG41GW1N464-exUCCMqTzVf0PNpdqh6ymnVzrwzuhjIt12bRa7_lSIab0yGwSwVQVt63zi8nB1OHwn8F8cuXNlVozRT4pn1H9ZHENgHQcErOIi4csxPlUNMqArTyuCaT6I-FamqbeOpOwSKnRTQs1OksKXnnWwsjPbHkZAo7GH1QHt1U0ZX5qkGVYXJMQk1BDOXFy-yKbbvZmNYP2kI_JpDVNAOB-6ZJ1_QxUsSOs6LaYtR_dUT5lETr14kctDBwBziTM1at9dubHW73XF2anl7wOB6RhtDSVTBX2zs1D4IOlCIz2EttvNtdGI2FcDzGA64ihJPaMKNtNHYkpsm58uaG-lfu358VG9NexlP_zlciIH04sW89ld-fB_tuK7wzFS8bbABhZ57u60I-RLbdkGOHYxjZzUrjoaFUMysTbqjF4gUb-AgOb4GoT4wCNgsOtDOGbjC5b78GVOgAG840NkbX_0Eea4YvRaAuDCz_X8o-XThDS7fmildLtQZ4F-vv8RWE6DtlNYSd13Gs6Ay9xMKP901x2y376iIqAL9v1UKy6N5z58iQNzYmZqGyWoveBI3n8ep-CWhY2JLPxFBMsn_xQKMiIMkIPu_SJYOiJLX6Xh_JaHVVpB_q4Nv4073_qdkyV6xhsANACadeugQ3z6BuSzFNdbM5zP8_uyyUD3Iea-wZDfmI2FBfHY4DWsiDrmuUquvKlZ2CY8eBbTVokS8HdSBLrlNRXssKpEjQ_p__trPR9K2m_Efaa5QNzvghRtMZL5v6mWJ8vQoC-lWPnzkAreXzALKUJCq76PgTk0mRf2SigY7thXX4kbmk3x_Pd8mfXSiv6rsK_P-13r2yrai",
  "id": "rs_041a3387134d6542016ab2c72a709087d0ac27ce79b6315bf2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.23,\"right_pitch\":0,\"left_x\":0.6,\"left_y\":-0.27,\"left_z\":0.29,\"left_pitch\":0.6,\"left_gripper\":0},\"note\":\"The yellow object is inside the safe. I am withdrawing the right arm and bringing the left fingertips to the raised lid's upper edge.\"}",
  "call_id": "call_lM1xuUcyZ1IwDFrApjKGfHMa",
  "id": "fc_041a3387134d6542016ab2c72e0d9887d0bae98014ee879569",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lM1xuUcyZ1IwDFrApjKGfHMa",
  "output": "executing move_to over 28 steps (2.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6216, 2.867, 3.1111, -0.2955, -0.8284, 0.0601, 0.0091, 0.0319, 0.8829, 0.8028, -0.5293, 0.0994, -0.036, 0.9989]\nstate[eef_state]: left_x=0.6363 left_y=-0.2913 left_z=0.2916 left_yaw=0.1272 left_pitch=0.5394 left_roll=0.1411 left_gripper=0.0091 right_x=0.3034 right_y=-0.0043 right_z=0.2156 right_yaw=-0.0445 right_pitch=-0.0176 right_roll=-0.0704 right_gripper=0.9989\nstate[joint_eff]: [-0.7179, -14.7214, 8.9231, 1.9316, -0.0415, 0.2125, 0.8913, -0.1573, -2.0855, 10.1265, 2.0781, -0.1197, -0.0757, 0.0317]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeb62350c28af26ef9b92e6cfb5d4f0d19a7dc9eb00ed0dde083c833b898badc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f41ab5540a39eb701b964df005e246bafb6904a0bb3274d41db2c56a1539858",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbf706a85b035f8da317636b8f438f73960964d197e3ba6fbf505efcbc0e738c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 119 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6033, 2.5404, 2.7502, -0.7685, -0.7189, -0.2863, 0.9965, 0.7139, 2.4268, 1.7927, 0.1814, 0.6884, 0.2104, 0.9985]\nstate[eef_state]: left_x=0.5927 left_y=-0.2628 left_z=0.2636 left_yaw=0.1246 left_pitch=0.1644 left_roll=0.1171 left_gripper=0.9965 right_x=0.5535 right_y=0.3358 right_z=0.0981 right_yaw=0.0099 right_pitch=0.2442 right_roll=-0.0668 right_gripper=0.9985\nstate[joint_eff]: [-0.6359, -23.1453, 8.8137, 2.381, -0.3736, 0.1001, 0.0024, -0.1026, -12.1504, 6.2701, 2.0293, 0.1978, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssc5UlrpN1G1lL-ZPSWfAoVJl6IVcJZX_BSKQllpYCVcUq0I7F-lPu4iX_8YthILpGen4cw4KdSqXzcyoOgJvHkxIR0eS1KN7stACyk-8qtlBe-yrT7weuB_lhaVaO5ksJ5QKgV6bdbEBgzfxh71kcaHO2UBvBHfccDsu2U2bMXJ0mJT3LcMJKbueq9vRbGqcLhUzF0vVAhxH1f6uk0ueZfCOIa8XrdjMm58UXofmyLIBcmo3nrdeZVBCpBmEsQ6MfYfD9jf5sSc52b-wYKvWtOmYwmB4weHnwmyDk11nhfKoFAHkaKZMmRz-kclPXonvqe9ZV0GyDdmzYq9ToZmUdYXflFBG1oklKDCPsDZvx3UnIJ0SpDi4yeOS_QTha2PAaPvQesWkAYAGmgVu4Nye8AElJKcT4Beci219fKFbrXErYD_FmBQZEM_0jiMvF5daSkC8HHGvJWfNtUFmbsnh9HTgmbSRqNIlEf7pP4vNKMFmDyqsbvSvVUpqrOU0gn-F72OFR4UkTHgyrCMkj51GUQpxNRR6G_7KzMYmieFhOgX1rHdaxB_GKGleEH0OMIR6W2gs6kYOnQHEQWI5bxalbqUTnm1jLnxONyDctQsNUnZ-6c87lZRXS1Hx-RM1VgJ85XwU4DsWOuWXFesOMN07xuwxqfV2ocZxPcxx7N-bl25-H6G-i80abz5wuH5DDzA4lFO0peCKW-KzY6zFYcbPe0_chk6oqVLaQ4eBhP57GkG0Bg1YfFjR1ac5Myp6bR7yBDEPZMnNuax3Nxn4Id5mPxZzHtPSf2zuBhwRrT5p9jaA7ab3uVhOeEaYWbrxcFmCGI4ohiraTS-6olZmqyivzBkj29mEj1hxBrxGO9yeCTe1MbA7QvUJ8fo96mrQ7_VSRNnyrvc837OzZhhnv8lbvV4Za8Yq9KETB9SjDIuplim-va47M-7s-zuL_YYesjoBn6i6YdW35SlmxhgWPoQ7IVexmqTbxIRjPQ227RPAxWIIBfe0dNgaHKVqNEaFUxdrZK5m429ubGamw6V8j8c57zMeNQRRdTRmAMNwiRmp0YlSGILHENL5agyFjM6C8u7nC5XF1e1yF2LptA6I70k_YRVK-UAMBq7Zuq5DvZj4d1cGVUi_nozJgsF5-NIJEUPakFFajlmr-I8mWF8dTcE3g2NBE6anEXlv0jPFeZY91j0Kc3mJGOzJhJTrPlchPVnUi4fU7CHI_YBgsghZ5slEYGUJkkwrwIap1CnYIUvjgdyTpjssmcfS5EFqEIMhhrQp4uUqn_qvqdJyQ3Os5G9LnhSARVloAmWRSilZj5AOMfXwew=",
  "id": "rs_041a3387134d6542016ab2c735c04c87d0926c15aaed819792",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.28,\"left_z\":0.095,\"left_pitch\":0.4},\"note\":\"The left hand is at the upper edge of the raised lid. I am drawing it forward and downward to fold the lid shut; the brown plush's trailing end may obstruct closure, so I will check the result.\"}",
  "call_id": "call_xFPuMryRTvobVAxdzLTsbMIc",
  "id": "fc_041a3387134d6542016ab2c736610c87d0b5cdc6b5b6817dcb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xFPuMryRTvobVAxdzLTsbMIc",
  "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]: [-0.7887, 3.126, 3.1184, -0.355, -0.9707, -0.1562, 0.0112, 0.0299, 0.8883, 0.8021, -0.6048, 0.0902, -0.0517, 0.9989]\nstate[eef_state]: left_x=0.5911 left_y=-0.3831 left_z=0.1142 left_yaw=0.1104 left_pitch=0.3687 left_roll=0.1784 left_gripper=0.0112 right_x=0.2927 right_y=-0.0036 right_z=0.1989 right_yaw=-0.0304 right_pitch=-0.1001 right_roll=-0.0829 right_gripper=0.9989\nstate[joint_eff]: [-0.4171, -15.8701, 8.5538, 1.7216, -0.4615, -0.0952, 0.5397, 0.1026, -2.1402, 6.8991, 2.3468, 0.0757, 0.1294, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94f71fc97d1a2c4a2270d4f3d0153da7127fd8587e3d685bc04abe42d74d93a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:305f4898b9cf23260ca1f0c15cb72431714138c65a729ff6e8069258a17840e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c13927dafac10563d13827df43a39f191a507150f428f49e796cf944fb52227f",
      "type": "input_image"
    }
  ],
  "role": "user"
}