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, 0.7921, 0.6041, -0.3893, -0.0193, -0.0303, 0.9993, -0.0212, 0.7933, 0.6079, -0.3965, -0.02, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2934 left_y=0.0013 left_z=0.1786 left_yaw=0.0005 left_pitch=-0.0008 left_roll=-0.0001 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1785 right_yaw=-0.0001 right_pitch=0.0004 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.4991, -1.388, 10.2496, 1.9853, -0.0317, 0.1392, -0.0904, -0.3897, -1.4701, 9.6342, 1.917, -0.0269, -0.022, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27dde2860138460af239dd5c81139e3ed79e6580782e5ae33bf6f1180617bf28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aed29b5682b8489fd269eb2624521f06fb9c03b02fc3e0b671b90b03593abfeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8662433014715095a34cc8876b9ff0dbba86e25d81178f8bdacce2943d70d024",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsr65-MX5Tdrq03s0pFK_gS5jwxo1yHvhSkE1KnOkY2QO8d32Fb-3blU1i6JcGT78k94mOatRNqutOan9ezQMlIvN-1wXKgAdYGS0B4tbpstNjkfnKJd9oo3Gx5D3u2IIsO22PlvVos2LEsyX4hFaTv5mSIy5iWzzhNEpdDbXssoEZDIysv1FA3LfP3p87EWGacBZdSb0Hcn-t37kKU7s6D-Qa3lEC1UtNsiCEEyT1SbE8MhrmtkHWC-Q4yefyDjcnSEG-x7z66tLV595wJc7FKUaQgND-sNXokpuBNZ-k2jSttn1u-nKUOgOkGVlXBRnY4E8bj8dJa16oImY90Smv5E__DvP7J-0l4lgXSlObT-gnYg6TjxSQ3CEGg5Z6bM3lvZT7W4jWSUpAu5x3hfj3tusX5gtspLfCg1oEHsY1hAb6r4rMi2-CnUOWrWZWwKkQYP-yVh8NMnsZ3uChUMz1y_upjp_RkJJQLdN77MywnsUB8yIQCrBmonECRiijuDmBXQ9oMHcHecKTMKmuduDtKSWC5F0ukk2M33QLPZGApsXyPM5AthTx8LF-70hA4CdKeT6Hj6E9UhsWVxLWoirBVAI74eLeIfMJaCa8Yh-rDe0JKAonQvSpAw3MwhDsAGPN6VuMYDqCbXO90seHExvgXUMEPaUWYXMz_-ZdfznBn7E8o9VrlXSxOlxtkA3WOw7ATL3eZw8bkIBW7EvuCuoR-3niTYF-jiwKIehzzgrlUUPnH01wrDWy2yTr5hN0JKF5d_X55RHGS2uGlJCGlv1ZmnyaANZ-hJfr4mVRSW086xv4ixDJN0qSugBaNgUzyII3UaN0KJ62YPMD5Mhgt0QaE-VJUaKOsQGun636FDQriYibwhGMd3E87NNizx8egDZjXF_HYPMyh3qVRuCJs0X5mHhLN77v9IWTx77iIyBQZGna7CwJW0X8UjdNfdZSO95hoPKTU6sQHdyH8kbYd6qC7venWXO18p38eNLEvUoYzRKWn84jcEW2inHIC3f66ezjvwo2g2RXTaOlXfVpmaHT27TccGWShHibYq-lXszEtBOr1JRZNogAcAXmgm4ANZ1Y1qeMLa6zaCXdMUuXVXCGEQISaDD25J3-LzvCFWc6kMbyxbt7R5W6ltzMJwM8TI7lfbduXcnlTvzAE7_LT2Kx78me4f19OJ3tsYgkRbpmo1iHUeJ8Ito-kGVVUTVKzGLMogi8Stdooj-4ivFmkesJ4lzwxUy0OW4cWmHsdGrerWtPIji0_JymY0YPQJkokgl4uQgMR9giVFxoBXGpHM9MvCDmtkjnnj2jaLsbN6SkR2yJnypOK2TKp8VB9ZgUT3bBPa_7jebaKoQnN60IUSVvvHkwewSMmF-GdeYbSQcCcEjmcFIZj6DXaRN3HE4bfbm1CVinV5sJlBELWQtvhdfaQ2sx8kr0JX7jTYsCXr6Lj6dXwEU3OT7KN3_QWT_CHbWFMhakohDhq9s7uRPq2lODJzio0VWVnvNLUXI8SLxrSGM8RTeLV7o6BNwWfA7tFKzuTehPGlAGl6xeVe3ocNNxzx_EFFADE9UBFagAgciLrWn16eQIT-kI6Q8HUwIFU9y5l23yf8Uoi5TlLzBBwJeOXBi_s2fbaIB9xcPgXdjEPLbI4M=",
  "id": "rs_007c6e2d6c5b9aea016ab2beb3969887d08e86e2ee0e0cff82",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.12,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"The open red safe is in the middle, with a white toy on its left, a brown toy in front, and a yellow object on its right. I am moving the left gripper above the white toy to line up a grasp.\"}",
  "call_id": "call_x1AaDylTyWKhmRdtNen8ckMJ",
  "id": "fc_007c6e2d6c5b9aea016ab2beb7665c87d0b26fc7486241c3c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_x1AaDylTyWKhmRdtNen8ckMJ",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4992, 1.3132, 0.7261, -0.1364, -0.3912, -0.3023, 0.9993, -0.0212, 0.7986, 0.6125, -0.4328, -0.02, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3544 left_y=-0.1124 left_z=0.1272 left_yaw=-0.0213 left_pitch=-0.0825 left_roll=0.0316 left_gripper=0.9993 right_x=0.2888 right_y=0.001 right_z=0.1718 right_yaw=-0.0003 right_pitch=-0.0366 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -4.9162, 9.4154, 1.79, -0.315, -0.1197, -0.0904, -0.0479, -1.5932, 6.6393, 2.0537, -0.0122, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87fa9da8903bb844e65c5e38db7986e5f382e927c61ca7cc12100bd075a7bd90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b0f9b14cc25203b2b5630ed5495d5962fa9d6a78825539a9ffac52dbe0472da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4541d6db5a3556c839f5accbfae03d6cea9bdaa56d08c37fca22be3ac27167a3",
      "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, 0.7921, 0.6041, -0.3893, -0.0193, -0.0303, 0.9993, -0.0212, 0.7933, 0.6079, -0.3965, -0.02, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2934 left_y=0.0013 left_z=0.1786 left_yaw=0.0005 left_pitch=-0.0008 left_roll=-0.0001 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1785 right_yaw=-0.0001 right_pitch=0.0004 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.4991, -1.388, 10.2496, 1.9853, -0.0317, 0.1392, -0.0904, -0.3897, -1.4701, 9.6342, 1.917, -0.0269, -0.022, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr6-i0b20Sp5jnRxGNI_CUhR-Y0g5V2J1pgWHFhjsGfjzR2J_nKvor5wjc2i3WqP7t_5TzhWtGmJFq9Are5sHQa9ejg6FYGNq73PGiDuOajwknnmRZKzJhLtARxP3L7bsuffacQr-FwxHGZdWD5HiY-fprPOK9pMs-xH2jDEXPFR1ZKG-ad4vpUuEJ9m7A05fb2CWpvTpiBlCQC9eiNs0gdlgrIuAAo6oYvB0PFnpfFS_xXhAGSZXmycMWIAf_DuC8HuE3-WJTdo1mYUCZeimzntFmQ6VhruTSD6zUE46b-23B-JLqueXvPI4bCmvqRyrNfVBAR807BMjPXv5Vk5IQkPmHuVH2eFvi7hVAAnoVZXp6BZs-lTyE3pF3J2TBKgrE0tbeENXt_NGlOEaL1cI4fyU8r2086-dVxj9-kqEOVlokNjiWbVzXLu1uZAZYONFYQt5aK8lGfpaugGGtXrPjHE-qlD2SnHlJBoOifXk7eyFjdQFlncSzr8iAAV5HFhsB5kdfuzxKjrYg9em-DIZQ-nRSPd8RGDTJ5Opr4z6g-8sEpNSGHdWe7NnfsVvax3KeGqN-VQyGOaMxeFv4DkoibbRa1cIWwpZy-tVh6WNhdPbieKKslqH40EUHIMS7qz0yxCYpE6kBQEkqmy40ckHQw8VcUwZpzHziThq7yYkm7xDuhYuVaQaafKbABZgXOkSRxGVFOj0U4b0hiWLLXrMaQmPRss97y8rK4fDGko7ZxZ2t9AAF5J1mS1SamH_TIUhEJoK-PwnTStKQWp2bHLjyAomi6J9DvPMdzGfhexqDsIUd0n_EoVFUwFHMJ3TmQT4wPfPUjE7re7TvGVRBF2JnMTdCpoTskR8CQW4DNcx8dBLeocotDLDINtD4w4_RzLVLm3hJ009dA7IZkuR7_cf6jFGuaVm0I1iH9Y2bs4jxLv60QXRhebyoMZfoEfsAq8pU_fZuYhUfT7uMRG6a09jwVYnMnKbTm1i1ExebtsgllBePjQKT2LUYjzC0juJsLkjDVgsrRbhoso1t2fyS2IS8qr62-Mo_9NWCxCZjU3SU4Qdv1irWbm4_MIdgsLtqA41re_gsZd8b3ohDi2QthscIGU7ePmgT_SWvq91eer_Kh0KGT3XFRClA08nJpwMsp_b4j_dGHBUaEZH63-UaKDDuKTfKp9uVzMM0aGIxF3XnGixyGvRbHwUsHSCfaK9gKl4F3Dm5Y8ILrYrzPhn75KSC4dXguChTO2HPr0Gcg4g5bfgfnY4hGvGoQwEZeioKVVbS_xz6EEraPrhs8gJ_l2uplWORd5RG_YOMhOTzEiNjFFcnI=",
  "id": "rs_007c6e2d6c5b9aea016ab2bebc634487d09d0fcab96be2ece3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.108,\"left_z\":0.035},\"note\":\"The white toy is almost centered in the left wrist view, just ahead of the fingertips. I will advance slightly and lower around its body, staying clear of the safe’s side.\"}",
  "call_id": "call_UrHvrRr4niIAL6X7clsdO8xa",
  "id": "fc_007c6e2d6c5b9aea016ab2bebd714c87d09d92d7ba2dac8e62",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UrHvrRr4niIAL6X7clsdO8xa",
  "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]: [-0.4278, 1.6558, 0.6159, 0.2398, -0.3527, -0.2695, 0.9992, -0.0208, 0.8005, 0.6056, -0.4553, -0.02, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3749 left_y=-0.0999 left_z=0.0251 left_yaw=0.0053 left_pitch=-0.164 left_roll=0.0668 left_gripper=0.9992 right_x=0.2847 right_y=0.0012 right_z=0.1637 right_yaw=0.0001 right_pitch=-0.0679 right_roll=0.0012 right_gripper=0.9993\nstate[joint_eff]: [0.2256, -6.8444, 5.0667, 1.8242, -0.0757, 0.1685, -0.022, -0.0342, -0.8547, 7.5966, 1.873, -0.0073, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02c2490c22c69cae1670e90c319678b97be7ea3357250f7b48febd12947b930f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:586273f7146846389c303d34a093f37d4b9ad9eeff36d08cd1ff1b5bb9c2a034",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33d49b86b770d75b1ec37863f210046006b829fca705823cf440d1f253178d9a",
      "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]: [-0.4992, 1.3132, 0.7261, -0.1364, -0.3912, -0.3023, 0.9993, -0.0212, 0.7986, 0.6125, -0.4328, -0.02, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3544 left_y=-0.1124 left_z=0.1272 left_yaw=-0.0213 left_pitch=-0.0825 left_roll=0.0316 left_gripper=0.9993 right_x=0.2888 right_y=0.001 right_z=0.1718 right_yaw=-0.0003 right_pitch=-0.0366 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.4034, -4.9162, 9.4154, 1.79, -0.315, -0.1197, -0.0904, -0.0479, -1.5932, 6.6393, 2.0537, -0.0122, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr7E_xTpQ_dATbCFEHjJqFBhitq52GQWRs9mP7rM_3mOxsU_5VOoh29YjeAA7o4DfVwRrvJE2ARLeg3JEanWKmOBq9Fe8dDViTdWKHXZAgLEiwyMjOOnX_Lat7ELt7t5UNUqLPS6VZSbIr-ywmBns_D0e_iER0q47rrIMI70kDnSBbhTSLBqzgJjx-tEj2t5jXVA1y9oAWDxNvHCDDMNQL_0vNkRZ4CKluzrk96wLCLOqcNgUmQgnXwg7nOoRjpcMFOn5jOFIjsbvK8mWlGysCacvJotX2VcUXNkxEXYbDhplrGyMdXiVN32HWmG7o0ppn7RdsqjwX2PRNEDvNva0qAwvOi7-v4FSm0n_0SgZYKA2JMLsc8YvwsTsiWm0vq8ki5UcUsH5J7loSc2iex8Dl-6cFcxF0Cg8LFcVuDvTVoAcqVQe7hRmo4W1IqENLPLe5y23-8gPDEHeYqjT_6dnIRrLED-qFStZgW37QJpmXZCpfOIR6FZuA45tcwHR59FqeYZCpbnGCLYH_zeRlBTQ7h-_-3nsog05nSBV2gVh-QhIT5eSM9PxhmRHrSi7UoHm5IR7WIUkRS0_yjEHGv2V8VcOdwipML7Vv0YgGAaz2zZk-wZeP4mT4ix06XSPPfeMd12MiV8-a7nzESVt0KkH0GaUMjDLwRgEZt6X3ZaTAb6ZodJmgVxuAsjb8ruH-D83CsJ2CRgXjOYujdhGaDlD4kE6ooXyDV3BajoIXdyYZ7-ytzB1ml5Vdko1vE_wxEPcsb-eglv5fZsEKO_n0V9tR9gWLFjRvz1Grdbx6Iy-aEGEQzr1dQcGOYk0ILADYMwmKrVbNt4tap8XL7AfJv9-iBp_Ibx858gYMoGepC2sLF3FTEf3BzMMrZbJ9XfZBmvG0aMEulS_uhnR6Jc5IK-s5eUIhSEJv-F8PFD1oAw0tXv3ubFMvrzS2qdNNTL0OoKPZIGRIYtw_027BI0Gmth4lSbr3GKHRTro-4tsR-dyhtCmJjx8zBYCHtFArqKVL8_kHgmDI00gT38X6aWHrzx3SC6g4ixMordlAB98xkDqhBGQhO9R-qn_8wTvtRsi6QSbxrHPM4NsvYzYatQel5uYRDrXm_wDFJzu7hnjNayjOi47V8XE6_Fo0sG4AHP7UEdgDlKbDzWsruKb7wjQq7wEZuJ9q4iU5aF9A4oD7vCdAYY6hr4nrtG1ITUNfa2YvZv__7At8FLbuF_9TAcb5PrziSQrYYHk3-bM7X3ylhAWQH7c941fLJH_PCO5VhO6j9sYXHB",
  "id": "rs_007c6e2d6c5b9aea016ab2bec1a59487d0a77adc24345ede59",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.095,\"left_z\":0.015},\"note\":\"The toy’s body is still just beyond the grasp point in the wrist view. I am moving a few centimeters farther forward so the jaws surround the body rather than its feet.\"}",
  "call_id": "call_q8XhQUBlm5C3YHfIE0YTQVwA",
  "id": "fc_007c6e2d6c5b9aea016ab2bec28c2c87d08ab1fda08a9d00c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_q8XhQUBlm5C3YHfIE0YTQVwA",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3519, 1.8221, 0.7414, 0.2615, -0.3202, -0.2398, 0.9992, -0.0208, 0.8043, 0.6056, -0.4782, -0.0196, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4112 left_y=-0.0879 left_z=0.0062 left_yaw=0.0399 left_pitch=-0.1922 left_roll=0.0748 left_gripper=0.9992 right_x=0.2814 right_y=0.0012 right_z=0.1582 right_yaw=-0.0002 right_pitch=-0.0946 right_roll=0.0015 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -8.1299, 7.1453, 1.6825, 0.0317, 0.2222, -0.0122, -0.0068, -1.5385, 7.0085, 1.917, -0.0171, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d37f5a95569742b70042cca47272f1f6c57b65598d5c2c9ddda07a148e3665a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c97b08713d640545cd5a1edd9e202f3fcd018769aeea618dc3d6058aa9ee2f7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9a9529200dd504da88cf59cbed1a05f58599ef67c2a55c01a3df23770bf58fb",
      "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]: [-0.4278, 1.6558, 0.6159, 0.2398, -0.3527, -0.2695, 0.9992, -0.0208, 0.8005, 0.6056, -0.4553, -0.02, -0.012, 0.9993]\nstate[eef_state]: left_x=0.3749 left_y=-0.0999 left_z=0.0251 left_yaw=0.0053 left_pitch=-0.164 left_roll=0.0668 left_gripper=0.9992 right_x=0.2847 right_y=0.0012 right_z=0.1637 right_yaw=0.0001 right_pitch=-0.0679 right_roll=0.0012 right_gripper=0.9993\nstate[joint_eff]: [0.2256, -6.8444, 5.0667, 1.8242, -0.0757, 0.1685, -0.022, -0.0342, -0.8547, 7.5966, 1.873, -0.0073, -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"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"The white toy now fills the space between the left jaws. I will close around it and restore the idle right arm to its parked height.\"}",
  "call_id": "call_45iCXGF0FRYH2ZQnrlSFAF3f",
  "id": "fc_007c6e2d6c5b9aea016ab2bec73f5087d0b06329f06c08a9e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_45iCXGF0FRYH2ZQnrlSFAF3f",
  "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]: [-0.3462, 1.8336, 0.7601, 0.2691, -0.308, -0.2211, 0.2019, -0.0223, 0.868, 0.6739, -0.5591, -0.0204, -0.0193, 0.9993]\nstate[eef_state]: left_x=0.4179 left_y=-0.09 left_z=0.0086 left_yaw=0.0243 left_pitch=-0.1825 left_roll=0.0745 left_gripper=0.2019 right_x=0.2815 right_y=0.0009 right_z=0.1565 right_yaw=0.0032 right_pitch=-0.1708 right_roll=-0.0017 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -8.0342, 6.7077, 1.5116, -0.0513, 0.0708, 0.7204, -0.7043, -1.1966, 9.7026, 2.0391, -0.0562, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5650cd2b92f4e6ce06ca62678519a9599e03ffa47429c0159ef7806f2d068ecd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90aad2716cf18b007e40c4f5c3f8ddd09005e2a2424568d1acfeb177dd211727",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6afcc4ebe26e73728d826d3e0feecdc4ef1333754f823d8f21610aedcfc17c28",
      "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]: [-0.3519, 1.8221, 0.7414, 0.2615, -0.3202, -0.2398, 0.9992, -0.0208, 0.8043, 0.6056, -0.4782, -0.0196, -0.012, 0.9993]\nstate[eef_state]: left_x=0.4112 left_y=-0.0879 left_z=0.0062 left_yaw=0.0399 left_pitch=-0.1922 left_roll=0.0748 left_gripper=0.9992 right_x=0.2814 right_y=0.0012 right_z=0.1582 right_yaw=-0.0002 right_pitch=-0.0946 right_roll=0.0015 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -8.1299, 7.1453, 1.6825, 0.0317, 0.2222, -0.0122, -0.0068, -1.5385, 7.0085, 1.917, -0.0171, -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\":0.09},\"note\":\"The gripper has stopped at about two centimeters of opening, suggesting it has caught part of the toy. I will lift a short distance to confirm the toy comes with it.\"}",
  "call_id": "call_LKD2ohztHTEWBOBJ7WsVoOUC",
  "id": "fc_007c6e2d6c5b9aea016ab2becc19e487d0b4dd7b3728220f59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LKD2ohztHTEWBOBJ7WsVoOUC",
  "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]: [-0.3462, 1.6592, 0.87, -0.057, -0.308, -0.226, 0.2043, -0.0235, 0.8688, 0.6785, -0.5907, -0.0204, -0.0193, 0.9993]\nstate[eef_state]: left_x=0.4112 left_y=-0.0876 left_z=0.0649 left_yaw=0.0302 left_pitch=-0.2213 left_roll=0.0865 left_gripper=0.2043 right_x=0.2768 right_y=0.0007 right_z=0.1526 right_yaw=0.0022 right_pitch=-0.1987 right_roll=-0.001 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -9.4701, 8.7453, 1.6777, -0.188, 0.0024, 0.2515, 0.0752, -1.6479, 6.6803, 1.8291, -0.0659, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd5a455a2f5eac0e2e10c89133a9351aaf8ad35a68ae0d4f2217e0d14e74847a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e49c48c1191ba5f6e726d2a5259efc19b53b5f9ab1606ad245d5eaa1b8b2138",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50a959eb27083fc4875e2a700aff4e332605d2eb377fefb834a521e4393edbb3",
      "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]: [-0.3462, 1.8336, 0.7601, 0.2691, -0.308, -0.2211, 0.2019, -0.0223, 0.868, 0.6739, -0.5591, -0.0204, -0.0193, 0.9993]\nstate[eef_state]: left_x=0.4179 left_y=-0.09 left_z=0.0086 left_yaw=0.0243 left_pitch=-0.1825 left_roll=0.0745 left_gripper=0.2019 right_x=0.2815 right_y=0.0009 right_z=0.1565 right_yaw=0.0032 right_pitch=-0.1708 right_roll=-0.0017 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -8.0342, 6.7077, 1.5116, -0.0513, 0.0708, 0.7204, -0.7043, -1.1966, 9.7026, 2.0391, -0.0562, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr7Tj3WYtA5lYk6bFMuz0_jxoy-C3dtf01GZC7A_ZAjnAVDANxxwydmEzT5wvPg4tjLIb_UvyYo5_Dl_AFib2h1sn7vOWUYwq0GlXDLCQt5vDnxZwLFjYae8t_cmqRJdx798NMBtSodj9uZEcmYJ_m2s-ZgXHzPwtC-7WSG-l8m5jmfnZz0MJzi335VIY9GeDYdFXJ3HtfK0fyCB6JFQua4UqnBpMaPev1rWQCoINXuUv4Ic0kKHdap56nJG0tqnXpIDfld72nBAvGGq9sQyXTtcqF3kexPvnt52aWiWix3JEQbjwlSv5n4VDm3Ia5Htj9ZpnWicpQBQTT19JpnvcY3RBJ0S6n-XaNuV51tINJvILwJsJ-RUSbZG2l8S-gRP5SCiqgHxF73Clmlnp3a2TgVEvrXAoJyL6XySpR8mJ7FbA3Vm2mQeAMgB6AwtTaaDv_pmuQ1eA5NfnvEbWpf-Car1OQhSo5mdO9howf-uGXxLk733_gnIgArOMNJERLpvTW7RqaQTD0R-_DP6vjr5CbWmm-9Et4z0BGOebigNnwk9JwBsJumUPhk4fnVjLQxtWSgKt8IK-ZofEC5kQG6rrjzBv6AP7QkemSGFHFAvivU8bft0VMi1Z4-B2ItPJEHk_slKuL3J3JtCmyStmb3csCehbkZum08ZoNq6w7Ultd5L5JohGOd3N_zfjqIunU2Y-ala_hv6f6nqjgFyyZHWoE3h8fsb1Y6MnhVfTHFRuzuPQZtBVYrvp0wBrNCgwc-_egqqQc_RTV4kE2HvE-02WJ-W0rbWUK7f4tfK_Rew0-CrU1HOx-6WNFDHMmJOHxghBE0NYGdYDxnDy_q1hV8wzc2TsEzKDxAk4WEl9WbrfiXSd8Kx11FruMSWsWf7XxRYxRxmworUgOdeRaIsSjR36IuZAVmJce3m8ziSerOCX_6Uub7Het_te8QvyXFMFNCV9BKFoXiEhC17H6gNdN25suLrGPQD72yxSDbJPa5EG1CK0yDIVbjcNiizl3-rAT-ZU1H30cPYtvmf0rIwMfefQhkUtXbKgSoXHS4auwpGzhfMXw-7e7rBQ2ZaNvpmpeKs0TbZ2yTd8f1_YAPxKKXU1A9pXmpR_TOZi4h1PTqiNNZuIl2JGoJOxgb7Gx2rwOpD097U6yRZpukABQmeyVXyYJjZk_TLBaomDGY1i786DozvwHT5z4nduua2B_MMIYKnW65f9npWmhQoGpAF7tF2A4fhY4vMJbtydO-1fAvDc2BB2lM=",
  "id": "rs_007c6e2d6c5b9aea016ab2bed1eb0c87d0a8cc77f40f150590",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.22},\"note\":\"The white toy has risen with the gripper, although its larger body extends ahead of the grasp. I am lifting higher before carrying it over the safe’s rim.\"}",
  "call_id": "call_FzaNvajNfvOZ1aG8QPm0lQ7B",
  "id": "fc_007c6e2d6c5b9aea016ab2bed2930487d08ddadb207ec6e7fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FzaNvajNfvOZ1aG8QPm0lQ7B",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3462, 1.5471, 1.3163, -0.6601, -0.3077, -0.2352, 0.2063, -0.0238, 0.8734, 0.6731, -0.6144, -0.02, -0.0193, 0.9993]\nstate[eef_state]: left_x=0.4106 left_y=-0.0874 left_z=0.193 left_yaw=0.0391 left_pitch=-0.2624 left_roll=0.0969 left_gripper=0.2063 right_x=0.2719 right_y=0.0006 right_z=0.1451 right_yaw=0.0017 right_pitch=-0.2322 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -9.1829, 9.4427, 1.5897, -0.2027, 0.0708, 0.1929, -0.1709, -1.9624, 7.2274, 1.7118, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d21fa257eabd7d54d8674d9ad0dc7ee79a1e2213157870f0026f443875a5ef8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8be724ffa8f8a7efc7a8ce241bd879f22534c80ed84adfb0e8ca539a341a65d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50581e9807b6f86a47c35385e7048b56b20e7e0b18d17d4df3f0a450e8dd538c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3462, 1.6592, 0.87, -0.057, -0.308, -0.226, 0.2043, -0.0235, 0.8688, 0.6785, -0.5907, -0.0204, -0.0193, 0.9993]\nstate[eef_state]: left_x=0.4112 left_y=-0.0876 left_z=0.0649 left_yaw=0.0302 left_pitch=-0.2213 left_roll=0.0865 left_gripper=0.2043 right_x=0.2768 right_y=0.0007 right_z=0.1526 right_yaw=0.0022 right_pitch=-0.1987 right_roll=-0.001 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -9.4701, 8.7453, 1.6777, -0.188, 0.0024, 0.2515, 0.0752, -1.6479, 6.6803, 1.8291, -0.0659, -0.0464, -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": "gAAAAABqsr7dSdxgC4xgJ6j4xlOl1IQv0kZg4PtQM53WumH0naehRTf7evMpSs4ZsutligJ5PQFfRtA40ZB3klOf2cVt0cOB9mhdRYAIO2o2r2uTQUJ5T02LrKQFVFpyPGIx4SI0UVaGo23qX79wBV234RDzdo8KqE2DlqvW1DZAn_Ve1PdNBiwpD2aLhEIisG-3cFBbfgSK-I7bOnh17eLgOVWFpHX1CmR92gOoy5FaOcu8DQ_2q2s0mhrB3GCyeSexGGowjWO7wFiDmOTSidFIiXu1nVPKknvCDOhGV0eURpM4Swwv1HImdBgpxub9mmUX90o7zB4RKGOBRk0D1Tyt83rl2MV_RW7fUdAh4lMHWapeknUUso0ai7HHHPqcBo3DENtiWQsuq0JHYzXhAE2UFWeC_rfOHgJAyGUeSkeo8W2UAkwSuh3XinTaNkhXDm_xl5O2J2nzze8D8QnlmvW39XF3FH89zfF1rISnuefQRG-8YHaPXDYwPNyk5Jxwdd8-ydC3PNG6ORe-JNo5uhibf5hYWPbOqpHZFtOxu8OhQ8WmKxn0CObUGoooQEu8sWyIZipWtvDCfoGlaXW202hoDo3ubEkoFX62FcvemE265fAaZQrV3Rd1pZfXEbnij7qD5Gmll8ZFYITGBKI8HUCqAix1U8rdU1jhpuuJ_IBjeSoDJSmIHbunYVUKuOE0_IVbfbJBQWGT58xRFwdKc9_HTCMz3yyGQ9ZcPiYpJPAKH1hXdSQoSURN2FMwgs6zTec5xO_8_6CJdcd3ug-fIUj1tHW01Sh61NWl5ntYaJPgMQNsTuDl50Zj0eEdQAEFA8KQkazc9_Xsp_tYVltKKzFLsuUB-jfvu9Mw19CfUg7C2voaax7S0Azw7l9KO-sSS09D3HoZ7etmZ6pO1OelClBCja8JnFPUtjF6QS4m8C5trC4o3wE1rp_fSNqAB4QRKorUvhBCw6PKT5z4UD2t8Zenv3V67HIFWVk7TU0hYZVH_CQsqJiQ98-r34zLXVBXQ0Px2MoSWOd8OkJ6zqhYQHfVf_TGYtAt8JN-HIaE4iT2XcmvejkmIZf9OxILRbbReY0jfFsUUe2BmSlgjQvxXRVjjWr3HvUhzHUvvJd6uYRVZVjn4bF-z-3MGHzRPFNZQrFWdXjrKpZA0Vm-dUcGR3T0lYdlcuswkf07-n1G1rLtCDyeEObTNWQhQfYMurM9bM5_mLHS805MxBa_zFO1T548M5EE6RbfNSNqo-Ao1zVgYD-U3KYNCvBjM6Qx73cjrVGcOT4LyzJ0aSaR49CtGe5LIKtPP3oKuwBurp-7UFsU8-P3i-fIoKj1fuGnY3qYXETO9JOvI82UjwzSavbxbpRlOuGldEJjd27KsL5F5bGU7hwU116UVLwNkp4b6PhI2Gxsa4nVHQpdc-mpwguvhOe8YpSuQjaW7heu7TE8dHgOyFN-mEZMUas=",
  "id": "rs_007c6e2d6c5b9aea016ab2bed946e087d0a5095e9ebc346dff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.265,\"left_z\":0.23},\"note\":\"The toy is securely lifted and the safe’s open compartment is clear. I will carry it sideways over the compartment, allowing for the body extending forward from the jaws.\"}",
  "call_id": "call_xQrLnxr1nPYOkjnrWKRVYA6s",
  "id": "fc_007c6e2d6c5b9aea016ab2bedb92f087d08f68565127673e8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xQrLnxr1nPYOkjnrWKRVYA6s",
  "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]: [-0.704, 2.0884, 2.1372, -1.092, -0.4927, -0.5575, 0.2086, -0.0238, 0.8753, 0.6731, -0.6353, -0.0196, -0.0193, 0.9993]\nstate[eef_state]: left_x=0.4421 left_y=-0.2611 left_z=0.2184 left_yaw=0.0294 left_pitch=-0.2928 left_roll=0.095 left_gripper=0.2086 right_x=0.2682 right_y=0.0007 right_z=0.1411 right_yaw=0.0015 right_pitch=-0.2551 right_roll=-0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.5538, -11.3846, 8.5128, 1.1013, -0.5055, 0.022, 0.2271, -0.0205, -1.7162, 6.7897, 1.6581, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0f1cfc24e6cafdae3b18988dbf062b02cbc274a70b19417395b5d210dd8a70a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56e76c95353e84403b3cf6b7a8649f6f3853641a463fbec7f203263240348412",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17e4a014c87494d821e9aa1414f860e847c034db729ebf87496a0111319d4bef",
      "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]: [-0.3462, 1.5471, 1.3163, -0.6601, -0.3077, -0.2352, 0.2063, -0.0238, 0.8734, 0.6731, -0.6144, -0.02, -0.0193, 0.9993]\nstate[eef_state]: left_x=0.4106 left_y=-0.0874 left_z=0.193 left_yaw=0.0391 left_pitch=-0.2624 left_roll=0.0969 left_gripper=0.2063 right_x=0.2719 right_y=0.0006 right_z=0.1451 right_yaw=0.0017 right_pitch=-0.2322 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -9.1829, 9.4427, 1.5897, -0.2027, 0.0708, 0.1929, -0.1709, -1.9624, 7.2274, 1.7118, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.10},\"note\":\"The toy is directly over the red compartment. I will lower it into the safe before releasing it.\"}",
  "call_id": "call_Woflveuaq6oiMtRaHWug0OL1",
  "id": "fc_007c6e2d6c5b9aea016ab2bee1131c87d0b9d324657eab2f93",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Woflveuaq6oiMtRaHWug0OL1",
  "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]: [-0.7055, 2.0682, 1.644, -0.6891, -0.4839, -0.5602, 0.2107, -0.0238, 0.8757, 0.6731, -0.6575, -0.02, -0.0193, 0.9993]\nstate[eef_state]: left_x=0.4316 left_y=-0.255 left_z=0.0948 left_yaw=0.0391 left_pitch=-0.3497 left_roll=0.137 left_gripper=0.2107 right_x=0.2641 right_y=0.0008 right_z=0.1374 right_yaw=0.002 right_pitch=-0.2776 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [0.0068, -11.7675, 6.4889, 1.4432, -0.3883, -0.0024, 0.2027, -0.0889, -1.2376, 6.9675, 1.6337, -0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50c171a11d1b9de0847e3cb9415ff1d3bfecc0113497ddf9eb75a5fcf809cbc2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67aec0b8b63e9dca952e400e59fa225104eced0e2831bcc51950b205b5b2d7e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a89c6d01fcfbdce020713fa5a63b5a20cf933b5bdcd829ad6f43c7427b78930",
      "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]: [-0.704, 2.0884, 2.1372, -1.092, -0.4927, -0.5575, 0.2086, -0.0238, 0.8753, 0.6731, -0.6353, -0.0196, -0.0193, 0.9993]\nstate[eef_state]: left_x=0.4421 left_y=-0.2611 left_z=0.2184 left_yaw=0.0294 left_pitch=-0.2928 left_roll=0.095 left_gripper=0.2086 right_x=0.2682 right_y=0.0007 right_z=0.1411 right_yaw=0.0015 right_pitch=-0.2551 right_roll=-0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.5538, -11.3846, 8.5128, 1.1013, -0.5055, 0.022, 0.2271, -0.0205, -1.7162, 6.7897, 1.6581, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The white toy is within the safe’s walls. I am opening the jaws to leave it inside.\"}",
  "call_id": "call_DIYBU5OX8yMLewRlTDsF2hdM",
  "id": "fc_007c6e2d6c5b9aea016ab2bee56ee487d08d7fdc0355d845b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DIYBU5OX8yMLewRlTDsF2hdM",
  "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]: [-0.7055, 2.0701, 1.6257, -0.6949, -0.4835, -0.5625, 0.995, -0.0238, 0.8753, 0.6731, -0.6762, -0.02, -0.0193, 0.9993]\nstate[eef_state]: left_x=0.4271 left_y=-0.2512 left_z=0.087 left_yaw=0.0468 left_pitch=-0.3687 left_roll=0.1541 left_gripper=0.995 right_x=0.2605 right_y=0.0009 right_z=0.1345 right_yaw=0.0021 right_pitch=-0.2959 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.0068, -11.6444, 7.9795, 1.0427, -0.3199, -0.0269, -0.0269, -0.2803, -1.5248, 6.7487, 1.5751, -0.0611, -0.0464, -0.0073]\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,$blob:c3426ccaff199c84abf91010cf1dec0a3a99b372e34ec0a026aa120b5d238ada",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5db3ee4508cf3942024d0e86a52af7f0a95511927ff3e009c18401e3fc39b0d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33353c9c51fc199420b515e0c6cc740f159529c5bd177521e3dca86a7469fae7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 31 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7055, 2.0682, 1.644, -0.6891, -0.4839, -0.5602, 0.2107, -0.0238, 0.8757, 0.6731, -0.6575, -0.02, -0.0193, 0.9993]\nstate[eef_state]: left_x=0.4316 left_y=-0.255 left_z=0.0948 left_yaw=0.0391 left_pitch=-0.3497 left_roll=0.137 left_gripper=0.2107 right_x=0.2641 right_y=0.0008 right_z=0.1374 right_yaw=0.002 right_pitch=-0.2776 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [0.0068, -11.7675, 6.4889, 1.4432, -0.3883, -0.0024, 0.2027, -0.0889, -1.2376, 6.9675, 1.6337, -0.0415, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr7re6y7141nMYeYEMTnj1KQlz1ahpoO9ZMwsMihNYxLyRVAZG18yeP6tdnQNyeJ91Vg-FUEssZkgtQL9V5oRVj1LNTSdtwaG0IGpIbTH6S24Dz0o5ztg4Jp_BIN8ijSRJiF3r-n-eKVmkopRJLQyBcgxwWxP9dS95e2YJgdd9liX6ZtsGGKj2VgQ3po89Xb-wYh7GZbIeh4wWT_oUR1BQkyWXj4hzDPGnu0EQW_okhhJolaHlvHk38OkVx77lU4xCRxP3m71AiMsfjhgKB2GVnkpG-PasnLh13h2BLObwgCcYpE2Bu-KYgawhbNenwyf8tGGDugsVjxWTJqUWmNsxgbZT9oSHm7QsK30_tqM1Q0XfPTKh3_SYPUBwgumxMBoWDmARWvPsIO84yIj5T2Av-6U6Pw6xIsYFpmgZVVKOuAgvMDT9mr4kkMW9lzb92RPIKbv9dIJiR1sBG6-ffAnTQB5nrEUvD9LkPaQjfY2a4RPO92MIYDmHdHoj3fa1UiDGdX8y7sVSkZkEEn5ciV_giX7M2GC5mXOzUu5tMLMufuEywXa5AAUS8TFUZXgKJ99vO7LB4muEZ5SXnXdKGgX8CPyte7Coqour8UzWPmTyTXNXGAzysjNr5JWs7CoU6brHmNUuBPjmCcI01I042fI_GG11DLBzLdxySlDQVyj7D39TvG7E8NCDlctmW1FmqIg-um3xfXmAt1QeO86dHBZ9ImkdWTs-em5ALtzB94xHK-aZ8v6E4ltrh88VSIlv3O07zJKZswOnNmKrQ1RtIL7EUl5wZBGqiZhVOvBtVW1TWkTbW1RDLN4hITx0leX4WDJzUx6QWNwYhsqCIdRZg1rLGXm45bUWK4xsckzjqXiZgLNXGB_dpqJv96N1F8IRqf_YUcH11bsOHC1u0f0l9sXg9hd0u87gs_3hH4ZrsTBEWt3sxUUZyVdgWCB6H55aq3u7F0atA80zYxBEPmTMFijxFqbp3iJ8LDoJ5zc0J5n3bHsrHfqJ-JDo8Nid4dqBuAihFrpXBNrA6AIBFolYeVYRs3NGhfPg0mVAKtbG11cWr6A8IcJB4G65Z6ng0ivOGtkXAPI5MjMWrMq1qse2Y5JB6ZDv5miiM0CLe3Mb0kQjRjk1CVNW67c8ctt8DYeYZdDk73Rcp-mNy3QTUOfEnLJSoBdFCy00uhrxlm2VyhLwFfQgHDzP8TqDPM_Rplrjq_NRCtDJtOH-fyeEzS0KesuSXL_41GjLh81mnnBPhr8E4AaUY=",
  "id": "rs_007c6e2d6c5b9aea016ab2bee902cc87d0bcbd034d6035a6f8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.25,\"left_pitch\":0.25},\"note\":\"The white toy is resting inside the safe. I will lift clear of the rim before moving to the brown toy in front.\"}",
  "call_id": "call_u2pKjG6eXCaqBoXsoLzIVsH9",
  "id": "fc_007c6e2d6c5b9aea016ab2bee9b5e887d0b55e36f7bc3c167c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_u2pKjG6eXCaqBoXsoLzIVsH9",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8146, 1.7885, 1.3922, -0.2321, -0.8612, -0.3313, 0.9963, -0.0238, 0.8772, 0.6731, -0.6842, -0.02, -0.0193, 0.9993]\nstate[eef_state]: left_x=0.4268 left_y=-0.252 left_z=0.2218 left_yaw=0.0409 left_pitch=0.1736 left_roll=0.1789 left_gripper=0.9963 right_x=0.259 right_y=0.001 right_z=0.1328 right_yaw=0.0022 right_pitch=-0.3058 right_roll=0.0016 right_gripper=0.9993\nstate[joint_eff]: [-0.5538, -12.1368, 6.6667, 1.9365, -0.3639, 0.232, 0.1245, -0.0889, -1.5795, 6.7487, 1.4579, -0.0708, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2959deebcaa77aea876370630d42ffbe1786da76047d3742b8f237b88c2fd837",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:128c93f4a755e3ae2d956d4e11e2eec0518053cd1e9d620ca0c51b884c792484",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc936bfc808767d0cf9e4147eed86a561a6acde4842447c67457c22fd1db0136",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7055, 2.0701, 1.6257, -0.6949, -0.4835, -0.5625, 0.995, -0.0238, 0.8753, 0.6731, -0.6762, -0.02, -0.0193, 0.9993]\nstate[eef_state]: left_x=0.4271 left_y=-0.2512 left_z=0.087 left_yaw=0.0468 left_pitch=-0.3687 left_roll=0.1541 left_gripper=0.995 right_x=0.2605 right_y=0.0009 right_z=0.1345 right_yaw=0.0021 right_pitch=-0.2959 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.0068, -11.6444, 7.9795, 1.0427, -0.3199, -0.0269, -0.0269, -0.2803, -1.5248, 6.7487, 1.5751, -0.0611, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr7xzv6ErmW6_Ajv8IJaBRiRzSyvBML-lyZjqJpsUo72MzILSGV3Vz7cn7gIUcriBFFjF629h31gzikuSC5LQhY2SDJ3NZs0ruJa0-hbbXuHPQiFc8EUlKQ0O1XjYZbbiu3-5DrIXtYLoFc1lRYKwFd9qtXOfo63TAByB8Fr9LNyCAzHQWve7VvkW1m41Nu5mR5czl6wZ-DaL-BH9rX3PAGo2nA9XWN-ZzED-X6ixrICgVBItvK6hB-t9JoT5z9cDke39xojTkwa7BPpppsiqCcAOwr-aGpMA1Pd_f0-aC7eRsYmYUGlghfFMXVIES6gwzJn2bzbB7u-H_S32sYybeNFD1yDoHX73BY6vL7ncXmKmIhmRfSKUrcE3BtXaRtqg7FwVwkhelCFWYq3-4J1T9EQ4N6yr87H2s38AgVSKsXXlxWb11TNwZVxyuN24M9phavAQRe3j4C_s81kPzsm2I1bYJgWHPx5HUhL-Xf9_p-CepRZ2wAD3J67Gp2UCnfrdpJqtJQAkRu_S7MYcETADzKom6x-QZWT2AENiwTQK79o5TXSNjkVsy-IQvmjIAbyYoGoLTYl_ouiG7haa8SgNFnnGUC3CfcyLcU_FhYF0wfQoaM5mQo5JY6SrGRZziCqpXRY838I2oq6at1xz4ZpATC-Ere5gIB5sp_UsgvwpzY9XDVX6Ao13aB8Km8qFZbr9cTXv19eCm1bmna3KPYkH6tNXKtXZXdZ8tEe_KlYn1xK9CpkhG1V7C59jqLuT514PHuEHdZzzi99S1_nGNhC7szzJ-Zkrf02CSh5xYxVcvF-NyZc3vcFCksjiGR3joWFoKw0QwZvDgTPaptsQ3-ai3k0tueeeopXIz9M_ojnynZYShMmcodF10zjZQyrigZZNZng6yPY2TEDvdQ0OUwVQfVU8S-q8H-SzjDiy432H_rWH1F8LlJxJmUSQqOQqWRaj_S2kjIQ3y59daZRj9rLC-IFVNfKZJ80u2swKK-UCfDwr86ubAtvqPnFwCPMYv7gLN8jYcORY_GQhHR_Fe2PjrHqHDB-fCMb_bC-asKHVkKoppSIGU4JYFEUHKUbDapSd7W0_edG4_B3i1cpCKCsVZYQBvLtYhHPkudG-o_EQnaWlAroJXo7uHO3yGQjCeOuir4IT2ZZyyBZSY3OQm6LLhwA3QOtNigCNE_Gs59HkJhGZCZQ-NLeLv6YErXddVY4lPUl3UTWIMeTn6u4cb-NXdIdUA==",
  "id": "rs_007c6e2d6c5b9aea016ab2beefdf9087d093f13248f7f43be6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.315,\"left_z\":0.17,\"left_pitch\":0},\"note\":\"The brown toy is immediately in front of the safe. I am moving above its middle to grasp it without disturbing the white toy.\"}",
  "call_id": "call_Bj9avxKBvwc309G1PuHV1GrG",
  "id": "fc_007c6e2d6c5b9aea016ab2bef081bc87d0aa46fada333ec608",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Bj9avxKBvwc309G1PuHV1GrG",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1679, 1.8408, 1.4429, -0.7738, -0.9409, -0.8825, 0.9964, -0.0238, 0.881, 0.6731, -0.7021, -0.02, -0.0193, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=-0.3172 left_z=0.1665 left_yaw=0.0018 left_pitch=-0.0094 left_roll=0.1884 left_gripper=0.9964 right_x=0.2556 right_y=0.001 right_z=0.1292 right_yaw=0.0024 right_pitch=-0.3276 right_roll=0.0022 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -8.1436, 8.6906, 0.8767, -0.6716, -0.1832, 0.0024, -0.1846, -1.6615, 6.8308, 1.5653, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebbc16e89befba7a5781ce3ea54bbb9fe29a4f1ccbe76132dec25d40fa94a71a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f61386f997be943c5adfa9ca9a91ebd5490c508202ccbce0fe68846ec68ca5bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:483b66c108c06d89d5add977b2eaef647b49ffc23b06e04f26923936a75b7f75",
      "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]: [-0.8146, 1.7885, 1.3922, -0.2321, -0.8612, -0.3313, 0.9963, -0.0238, 0.8772, 0.6731, -0.6842, -0.02, -0.0193, 0.9993]\nstate[eef_state]: left_x=0.4268 left_y=-0.252 left_z=0.2218 left_yaw=0.0409 left_pitch=0.1736 left_roll=0.1789 left_gripper=0.9963 right_x=0.259 right_y=0.001 right_z=0.1328 right_yaw=0.0022 right_pitch=-0.3058 right_roll=0.0016 right_gripper=0.9993\nstate[joint_eff]: [-0.5538, -12.1368, 6.6667, 1.9365, -0.3639, 0.232, 0.1245, -0.0889, -1.5795, 6.7487, 1.4579, -0.0708, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr75O4PAn4CvblhIDCdXpkqhiQEzxkFJwZcB-yiyGEoh4GXCeyNn8af8_kwRQLKyxYsUVvaDjTtfwCS2wvdD6SKSBxkXRmAAZrNJCTZn7KPNd7JZ0nIT8rJSYfZH3eshrDQe88Gq_30QoeZSnJIcaa8-a5Z4yOW1MxTnECDKs9vV3_1K1LX-VUGFRs9aDqVGuy72MDOvhhuJyx1ge4jVCrGmVsliR8bA02vaWszrO-LwCfQmUt61DcXcg4oZbCzU0uvYZCKK8a0MMO-ez5io9oz5x9wVAc5tkqbSS8jgbIgK1mwJellya9CeKt9TFcKbG4B00Qp0Oz4nQH7u0U42s6Cuuex1AG04kCVSUKyTqeCNYQW1yDBdXeTwBGiimdeybv6lWeQYWWZSCSjJBFF0STKsI9D4pc4zowFniEJsTEvUW018xtcrmBmwjhddhhgtIBfruYzDyevGLa8lF-m11bSkBkMHm-1rF3cXYBPZxPUz7BNVrqWhU7FTUNgYTYnOx4CKgbvu8BW2vuC87itlRpootYkYhoIf8zG2EBZi3vfYKk08jrgfDcWkGpDsdA1tuZgjvfAYnBuFFxh2fNnaOREEKPkDqhN6vvulfu_B4QZn0zQRfuDo-kMRY9MPTKBoYuBdssLO88Ux_D08glPaNSsyrdkuyB1LB_czocKopbG_sywYJwCSqkPGn-jcZFPKWvhR62xDYtZsdpT_PInP5g0CyEyK3I1oYkABosH2l0pxxqBfxhuCXf8g7HAiQVw8dxdSkZzAUii4_7bn2Kh1do8ZkqLcEuPri3_6ZeIN_mPPKVxojo2TeAhBdC-os5snv9mdMfGIPGoThd76ZlR3wgNHOCk1dySoaVGKuhbOI8SFLHWyyqYruHZLM2erQneE4xGSOEKuxpetA8ydoI88x58186iNMLUOm8Ds7ZjYZZRWsAHXTiw5XAH3UNvJ6hknbH7Kn-vuHmCxTPUrYK5rley3htEnd1aOMv7O3Pfp22GPeDZMUyBOpYPr5CKKssKYgcpyMZBxkAkJiP6SYzMzAroKCBWgABBoFsIwrq4HETGk-aap7RqNCc7_ERTk7Ed3Vl_dx_ujVjV_F-qAZztv2w3auZIliRiKWbV6XDOy9sd6aSCefX6JjKypw31txADwHjZ01zBqHjJdC15AU01Rx6ED7wlyURS3NiWXgc2MBaW91BxqouRt31amJU7NSzetMKoRR4LGB__AyX8iOXjVwnbRJw==",
  "id": "rs_007c6e2d6c5b9aea016ab2bef6e46487d0864a4916e3e412bf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.325,\"left_z\":0.025},\"note\":\"The brown toy is centered below the left gripper, with its body extending toward the safe. I will lower around its torso.\"}",
  "call_id": "call_gPze2fPsy2ySJaJ39Me6l3EC",
  "id": "fc_007c6e2d6c5b9aea016ab2bef7984487d0845fb244075ed914",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gPze2fPsy2ySJaJ39Me6l3EC",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1309, 2.0823, 1.2037, -0.2863, -0.9253, -0.8268, 0.9965, -0.0238, 0.8818, 0.6731, -0.7242, -0.0196, -0.0193, 0.9993]\nstate[eef_state]: left_x=0.3104 left_y=-0.3196 left_z=0.03 left_yaw=0.0028 left_pitch=-0.0261 left_roll=0.2225 left_gripper=0.9965 right_x=0.2513 right_y=0.0011 right_z=0.1257 right_yaw=0.0023 right_pitch=-0.3505 right_roll=0.0025 right_gripper=0.9993\nstate[joint_eff]: [0.3761, -9.9214, 4.9573, 1.0965, -0.4811, -0.0464, -0.0073, -0.1846, -1.5795, 6.6803, 1.5507, -0.0366, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab5c5272baa186804087ae0275f3e4013135c867116a26ee0c7b533c77cc7273",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d8f65fa4f422c1eb61de3dfb68ea3b54130deba6666148421c7b29b9849d361",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9401cae6115b62302823374de09bcce640df4eb6ae379c07e3c2642352ba09a",
      "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]: [-1.1679, 1.8408, 1.4429, -0.7738, -0.9409, -0.8825, 0.9964, -0.0238, 0.881, 0.6731, -0.7021, -0.02, -0.0193, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=-0.3172 left_z=0.1665 left_yaw=0.0018 left_pitch=-0.0094 left_roll=0.1884 left_gripper=0.9964 right_x=0.2556 right_y=0.001 right_z=0.1292 right_yaw=0.0024 right_pitch=-0.3276 right_roll=0.0022 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -8.1436, 8.6906, 0.8767, -0.6716, -0.1832, 0.0024, -0.1846, -1.6615, 6.8308, 1.5653, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are on either side of the brown toy’s torso. I will close gently through the gripper controller to secure the soft toy.\"}",
  "call_id": "call_zWvCkNtBdPp92NsxZaWG44J2",
  "id": "fc_007c6e2d6c5b9aea016ab2befd9e0887d098a9bfe9e96be9ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zWvCkNtBdPp92NsxZaWG44J2",
  "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]: [-1.1316, 2.1017, 1.1984, -0.2886, -0.9394, -0.8238, 0.02, -0.0238, 0.8856, 0.6731, -0.7368, -0.02, -0.0193, 0.9993]\nstate[eef_state]: left_x=0.3095 left_y=-0.3152 left_z=0.0225 left_yaw=0.0066 left_pitch=-0.0261 left_roll=0.255 left_gripper=0.02 right_x=0.2488 right_y=0.0012 right_z=0.123 right_yaw=0.0028 right_pitch=-0.3669 right_roll=0.0033 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -11.8632, 5.7094, 0.8718, -0.3346, -0.0513, 1.0134, -0.1573, -1.6479, 6.6667, 1.4139, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f65278d34fb074bbcae2eb49197553cd9528c294f28271a885b0999f1ee3f38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ad67dfbcfe21198f0afcee1f95141d65886f20dd67a3dd9fcc8e75eab3ea5b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4994016efb578dda857d37ef91547bfd94c49be0a6bc1365f60c1f3cdabe7b8",
      "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]: [-1.1309, 2.0823, 1.2037, -0.2863, -0.9253, -0.8268, 0.9965, -0.0238, 0.8818, 0.6731, -0.7242, -0.0196, -0.0193, 0.9993]\nstate[eef_state]: left_x=0.3104 left_y=-0.3196 left_z=0.03 left_yaw=0.0028 left_pitch=-0.0261 left_roll=0.2225 left_gripper=0.9965 right_x=0.2513 right_y=0.0011 right_z=0.1257 right_yaw=0.0023 right_pitch=-0.3505 right_roll=0.0025 right_gripper=0.9993\nstate[joint_eff]: [0.3761, -9.9214, 4.9573, 1.0965, -0.4811, -0.0464, -0.0073, -0.1846, -1.5795, 6.6803, 1.5507, -0.0366, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr8F6_VGPdSnAqN6_o89gU1FJZ_YHVCTs0RY4MB6nXev5ECIM5n4mlzvo85Vy5jaE4YFhX2zFWhLyFs-gOFOFf64KoG9lIGPiBuhzEwPOR4YVnXAdbtD3BJMmZsD01oERzWIa-eBGemweomMeJHKwd9_Swgsu9_P9iV-l_iY53wAUBlrjMpVwEqNmO0VjYIaHN9-ov-Yetp7wKuQG8DVH8j9VfR0J30WzqnLdTd6Zyt-1DrkHwgbSdjb968Rds4zDRtrzaMks8rgMEP5aHj1-AFsgeBjvZpPuRqlNGsGHu9hVS-WAT7he6tF0Z9qH96dnLCcPpHuwWSNsNbYbJvyiplsGSNm5ODSWaYn5zAvDmA0a1cf9Pk_Fhtlh5Hhf0BbetCIuVl1pYxvY2aDzZNw5JXMb4RsfQJLblxR1z-vGKkgr3-cVyGLTR8lAi_954vikuRbG6c69eQpiivB7ckHLMJ6ctlTUq2a45BcG6A5WX3Q8fy_dBoICdtpBUrsvJHTWq7I0gv_3g23swGb4cDn3j6eL9qyhyZXrViOgwARHt4IHLcDQ6U3DtU2L6n6XjMQt-dX6W2sAbeBFxkaJUeQ8MZsK-Xrs08SYcB02xVEctkBzaJNpuMlcei5IQi6YQNxu8tAIQ6bgLbsAkwtGy-37uJjs2hnwZ7NlXItxVOzxdo4n89vJptfl4JO-zLq3wVZaANt16OfgkMYYHNDWBsdi-Ifb4ZrdRoJAZuwi0QK5weBAAJ09fgtCdoN2HpZfzDI9CQCR-UMKibS470rt5UIwM6lreB_AC_ZUmgifdrEE8pf1xCmxzkp2QycU6SZA9Kh3ojCkfp5JMzpiSLumDMykw-K61Ln_0_Pz21CMDIDnDkiqR7ewWsGgT7jh5EBqoaw2LRacDeVf88oWrdkKOQpOeWtSGA0p4UgdD_CCN_5SsyWQjNS9EdUZDJr1dWEbcTZFt4DHCIpURre1d76P0D155pXB7hXL8T-xA2NwIBbSajT7c49fN-Jey4-0O2YOBXnjEFCuHSpkgoCgZ2ueRfxuukK5slDVWH7fnCMg5KK7Iabn-wpQ5YZEVke5WNeUG6zOXnYWnP6DxxgY6TykPWNI9BuOvvzq70CyfA_vsAnFUL1dEaWbkSNluet9U3IRdWBnScC7HDJ6yEJlfLJXCok0wt7OZssPD8xSpf4xe-pXtAvKHduYWZ1YgRoSvsw1zYjmMrh1qW9qnoGgJN77d0uNpfEgg==",
  "id": "rs_007c6e2d6c5b9aea016ab2bf02ae2c87d0962050f63cca5070",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.345,\"left_z\":0.04,\"left_y\":-0.32},\"note\":\"The jaws closed nearly empty, catching only loose fur at the near edge. I will reopen and move farther forward onto the thicker torso for a second attempt.\"}",
  "call_id": "call_WX1BKbZ6V4IPZejkIaxiRvUi",
  "id": "fc_007c6e2d6c5b9aea016ab2bf039eac87d0b983faa8c7406221",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WX1BKbZ6V4IPZejkIaxiRvUi",
  "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]: [-1.0626, 2.1078, 1.2636, -0.2916, -0.9123, -0.7387, 0.9954, -0.0238, 0.8856, 0.6731, -0.7467, -0.02, -0.0193, 0.9993]\nstate[eef_state]: left_x=0.3382 left_y=-0.3127 left_z=0.0341 left_yaw=0.0182 left_pitch=-0.0355 left_roll=0.2637 left_gripper=0.9954 right_x=0.2468 right_y=0.0012 right_z=0.1216 right_yaw=0.0029 right_pitch=-0.3768 right_roll=0.0036 right_gripper=0.9993\nstate[joint_eff]: [0.4718, -9.894, 7.8838, 1.0818, -0.3932, 0.1734, -0.1392, -0.1026, -1.4701, 6.6803, 1.3895, -0.0366, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01f3abe4cf307d83796acf911293668a28b9d5cfdd8fcc629138a8847c65d8a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33681703844b981ecb22fe72aa0a9234143a21b2bff4b7dee7f5d3b25fd2018e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe4748d53aaf108bc11fc688b175f2803ab18ea018b345f44407478f98d093ca",
      "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]: [-1.1316, 2.1017, 1.1984, -0.2886, -0.9394, -0.8238, 0.02, -0.0238, 0.8856, 0.6731, -0.7368, -0.02, -0.0193, 0.9993]\nstate[eef_state]: left_x=0.3095 left_y=-0.3152 left_z=0.0225 left_yaw=0.0066 left_pitch=-0.0261 left_roll=0.255 left_gripper=0.02 right_x=0.2488 right_y=0.0012 right_z=0.123 right_yaw=0.0028 right_pitch=-0.3669 right_roll=0.0033 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -11.8632, 5.7094, 0.8718, -0.3346, -0.0513, 1.0134, -0.1573, -1.6479, 6.6667, 1.4139, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The thicker brown body now lies between the jaws rather than just its trailing fur. I will close for the second grasp.\"}",
  "call_id": "call_GRywvaQAISvq6wH13g9aA7ht",
  "id": "fc_007c6e2d6c5b9aea016ab2bf086c6487d09a612606a8070c6c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GRywvaQAISvq6wH13g9aA7ht",
  "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]: [-1.0599, 2.109, 1.2648, -0.2924, -0.9108, -0.7414, 0.0192, -0.0238, 0.8883, 0.6689, -0.7685, -0.02, -0.0193, 0.9993]\nstate[eef_state]: left_x=0.339 left_y=-0.312 left_z=0.0337 left_yaw=0.0217 left_pitch=-0.0367 left_roll=0.2615 left_gripper=0.0192 right_x=0.2416 right_y=0.0014 right_z=0.1163 right_yaw=0.0032 right_pitch=-0.4054 right_roll=0.0044 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -10.8923, 5.3265, 0.9402, -0.486, -0.022, 0.7888, -0.0342, -1.7162, 6.9538, 1.4774, -0.0464, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8f8bc2d05fde72b3469746cdb58c695a9e47f741c1db46fdc852870d09b5da7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d76a5fc07b934e8aad9997dd0193e25415f90a9fe19e27d5bfa6a9385745546a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c77f0171224dd82402de3bdfb767dc3dedd20e692029663de7638bffbf8a6b2a",
      "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]: [-1.0626, 2.1078, 1.2636, -0.2916, -0.9123, -0.7387, 0.9954, -0.0238, 0.8856, 0.6731, -0.7467, -0.02, -0.0193, 0.9993]\nstate[eef_state]: left_x=0.3382 left_y=-0.3127 left_z=0.0341 left_yaw=0.0182 left_pitch=-0.0355 left_roll=0.2637 left_gripper=0.9954 right_x=0.2468 right_y=0.0012 right_z=0.1216 right_yaw=0.0029 right_pitch=-0.3768 right_roll=0.0036 right_gripper=0.9993\nstate[joint_eff]: [0.4718, -9.894, 7.8838, 1.0818, -0.3932, 0.1734, -0.1392, -0.1026, -1.4701, 6.6803, 1.3895, -0.0366, -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"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr8SO5voBc-2A21Tw8WJFcVqTZcO-25EQ_csLAbpjaCWhjCxw8wU5gUGFKJGtmPWweU5SdZ-JRDVg6d1n9ltj11pzDA0aelf3wkz4wZcqwAIlPky6drOJf-KqQY36R-xgfMb6T_U0lokNCJ81cd9-Z65KdoY3Y_gydRBtJKKyLm7FBahfUN6IFuZNx2paWULOSi2nZAW_SqP1hwGlD5skWuDhM2iLp7N2sv_w5tyKUAq_SWUwme5jQGel9lgfhqbaEoNaMHrSsPWK8hjwmsBvCVzxnmz7m-UGPgbkxItK01-wtUGgRslaEpGfBRBlc8q22hdsoFoCN44Yruk0TNp5g7unSB3aN78V602SgFE9uX4rpsld_rCLyjRoHBsIGM2Ot0CwnojjprZzbHQ0WE2vZ8qKf69S7tq0xmnzVzCbOlot8aWJqKh9Gwxa5J_n5_aN0Tk77YiwH-a0iSlINymh9mo1ILCfhxcUXRWKxO81juj41_0uNAXXkEO1dgQYGZajzExcTo3A-eUBSfifHoouqlWkFg_8EjmP0qNkEUKqYL5PElf-eK-s9MD0sXrfFNQwgUR95NmBcT5chlYpTgG9iKbSAjsNjfZSEG1lYEJ7fid0KR631kT_X5IehNDTVzueiuhhtMFKb6cUPue8x_KAtg_9dT0T_SC2x6bRSq9Gm4ppNr0li_G3ZYCyPGB-yY0KXaF3--1Fd_qQw1MHAjX8RBCXemWrog3bHhtQhwOI16JHESM94c4rwvY7b_UPUHq8u7rgVuHxpAvW2WA6Cfn0IEg-c_Ewig7s2q3JYP8iD2doLHl5yNBIEMjqFeAdaLTY2wswl3LI2D5hXhePunoV296idzB5c5U7N3zt8mrQK2rvrcm-372KwTAr150NO-GDnzPMXFtd7rxf1yKnRJH9RlKVF9ZLE_J7Sc4PKv0NiuVU_rMQ4Ffyzu0y-vCsl2HogjhbALPYVwboEPxrgvpDhHbzEDmraGm5x8pbsVPQs3s6ZmGQfJhAc6W5IA9aVfOZUVE1zb75DHT9_FWzF6-Qqildn0ELtv1D8v1xPe3bEjnZeVXqHrbja-nM19cZVJ93vGzZkmmyBoP4KBUT06pN9Oti3yhTZVryvTTxl9nyomBLA6e74rqx5zg8rt2BxMIat3ncZUYI440N0ocNnt9jSvhpzdXn5rORFhopD4TESDggEiKT6NgghtZA7ue0NMoRe7M0zjidUTOnVt5knB9Rn5TRTUrNMi0bnn7SqA-0dLCQNCgNsiQJqqORbTu4stSyNbWOX5fHBHfT-_SthXqtIK9EHwDRGFqyspiMG5yWys9tJEtxoQN0ddKjWUVIk7hLdrsyGMtG8pF0gG0Xme3JHNdpKCm--5JKK5tLu_XyXHC2SGZWIIROviI_0yVOVtEtSj6dvvKGDDsZhAA3LXQzIOSiE4wnMNZikWK1GxDzVer72ItYq8od_lsQ_1SzUF3IVWORl86Y9cSISkoxXBbyVz2BWQhrxgxOuzOkggzgnLexditEKvfYc_pacHD7HT7FdmLUfY6Z2GIz6COz8G-ZFw-bIvurS04gx6cAr8cCLwwoj9AaGtpDGK_8UMZ9LQ-nLZ6JlztX8T_9I3pRg2Gg3--eA==",
  "id": "rs_007c6e2d6c5b9aea016ab2bf0d217487d0ba6c288855ae2d1d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.23,\"left_gripper\":1,\"right_x\":0.46,\"right_y\":0.20,\"right_z\":0.17,\"right_pitch\":0.2},\"note\":\"The second brown-toy grasp also closed empty, so I am clearing the left arm to reassess it. Meanwhile, the right arm will approach the small yellow object beside the safe.\"}",
  "call_id": "call_SevEY691GVtHz7eCLGq9rCc5",
  "id": "fc_007c6e2d6c5b9aea016ab2bf1012ac87d08886fd341e0421c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SevEY691GVtHz7eCLGq9rCc5",
  "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]: [-0.242, 0.868, 0.8082, -0.6189, -0.4007, -0.0032, 0.9977, 0.5777, 1.7256, 1.0264, 0.1463, 0.4953, 0.2436, 0.9993]\nstate[eef_state]: left_x=0.288 left_y=0.0036 left_z=0.2127 left_yaw=0.081 left_pitch=-0.0633 left_roll=0.2593 left_gripper=0.9977 right_x=0.4451 right_y=0.1942 right_z=0.1428 right_yaw=0.0327 right_pitch=0.1015 right_roll=-0.0382 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.8667, 9.8667, 1.6581, -0.0073, 0.1441, -0.1294, 0.1709, -8.4718, 9.0462, 1.9609, 0.4078, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6c9c09ac84bfa4933fd214f9fb5453ed3bb9d97d22b851791f9a4416b5a642a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a87fca302a29d99ddba25f6ef0f7b8378e42387d10388c8fb0506ed4c367eaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bee316bfe8567f950dd9722756cbb4b0221552431bf5dcb2d11f2649a7e9536f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 56 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0599, 2.109, 1.2648, -0.2924, -0.9108, -0.7414, 0.0192, -0.0238, 0.8883, 0.6689, -0.7685, -0.02, -0.0193, 0.9993]\nstate[eef_state]: left_x=0.339 left_y=-0.312 left_z=0.0337 left_yaw=0.0217 left_pitch=-0.0367 left_roll=0.2615 left_gripper=0.0192 right_x=0.2416 right_y=0.0014 right_z=0.1163 right_yaw=0.0032 right_pitch=-0.4054 right_roll=0.0044 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -10.8923, 5.3265, 0.9402, -0.486, -0.022, 0.7888, -0.0342, -1.7162, 6.9538, 1.4774, -0.0464, -0.0757, -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": "gAAAAABqsr8Y1YVIB3nt920eB-XdB-_Ucx02g9r2HGQf7IMVGSEAPcvifTXnuhnv--0EHHV9NkkPjKgBGGE6tz5ue36TrWsJeEa0BkyAouhJelqjD7OUUm80PLL84__-yC-vfX3XL6VefPlU7kHRvxn855Re5fFyGJdNYeRbttt3-VO7w2qlpIAEGBAOxHlcHFQ4o_XeOYhrxFE_TN7SYF0wXU1-sL1MEtas3xqdroGhfO-iqgrlPbcqYxZqu_j53DEHS_DyS3fTZQyA6YWqVteKtAsD2b-gmUdwhP3StOKt8SSmTX1kCLbOhhdxKTXHRSENLbL_ofxmQhtKDkUrSMVJplrzz5rFe7aDHvo79EhNL8K1AhQAsMRD1uXqzJJcfbJlUCooMiGbUk93tM7khcCHPbztWb66uw-WK_YO4WsY-Yr1RJpmI32veqRtNqgSMAGb6mf9YKrx-gOG9QIYwjkZ6QTjlJQbwtRr8d2QQFLq1YtDNOPyRGKd1vweq7eQSRri8oS6STrQc2hnfISlE0QLXqMCY7ZcbncLBrM_UVTcvie0bnzNbAUoDLXJ2Hrrbi0TP_8Le5sC6PxXOSOLiWM8Z73sdXJVA2pQcDHICvv4ZkHlOmbda0xBauLc06tK7fEh8HAIzAzFPc5QnWKn1mafx4wB37Ro_yifqieJNqO3GcZBnKbPQ390jKd-zsPTM1zeLW3kqPrke9TId-tDHEPO4ntRxw8XdU4AUQ1LNUWOtdxW2aWSi2w1GuUQhfpm1J-pobGctMwExihQ3wxbaxZiIt7jXvaf62imd0ZzO1heINr7Et_20rfR_aJgBF1mPFKglJ_5pBuhTP6U_5XMqLxOKza156N7N1AcLOV5GJ67sp2va9xVOukkgN67OrNRFeiQUgw7iilgCmO7b0VNFFlezQ6VCiFpdQhrclUQIWANZVU276F8ZYx4p5U1dFLZEs4eLYnCq_WSHjqnbcRApCNmhxEhG2Bj95Lvwip1xSXhGXMNH7iFrcFaGzyXfcchkKjpTGo0mnPxU68-a7DH9DEbRhpv1EjTTp77JJRjrAfIrRHS4YozAiEybk56S9P_YiBfsyvseU-q6Qfqha0tkOC3XxJbVjIe5kqkNBS0wXSuZv8pg6kl48UBAQRtoIbMYHq4s-cg7C5ehNu9B_aftewxRjBiJTStySRnM8-vWtDe2D5n3T0kOfOJnzfbFk1Pafj6l1dO1fxMty_hVSxitGsWo2LtqHrnxg==",
  "id": "rs_007c6e2d6c5b9aea016ab2bf169a4887d08031543be4c1151f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.178,\"right_z\":0.025},\"note\":\"The yellow object is visible just right of the jaw centerline. I will shift right slightly and descend around its narrow middle.\"}",
  "call_id": "call_OtmKMvOzr3P3zNWCTRyrUgq2",
  "id": "fc_007c6e2d6c5b9aea016ab2bf172ce487d08b6f1d9521aec038",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OtmKMvOzr3P3zNWCTRyrUgq2",
  "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]: [-0.2417, 0.8711, 0.8116, -0.6369, -0.3897, -0.0048, 0.9978, 0.4946, 2.0476, 0.9447, 0.5705, 0.4294, 0.2104, 0.9993]\nstate[eef_state]: left_x=0.2862 left_y=0.0023 left_z=0.2097 left_yaw=0.0735 left_pitch=-0.082 left_roll=0.257 left_gripper=0.9978 right_x=0.4769 right_y=0.1777 right_z=0.038 right_yaw=0.0203 right_pitch=0.1024 right_roll=-0.0278 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -1.7709, 6.5026, 1.7705, -0.3248, -0.0171, -0.0024, -0.4308, -7.2957, 5.9829, 1.0085, 0.1294, -0.2222, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1e52852087f5bca7b2d7faa700ccf3f2d3d11a0666a044b834a437a49190185",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b68d3a3f2a9cb3281155aa480e10e8e639b040e6f79bc6ce2199a829e646369a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c90c3bff829237f8140f601a04a23233b176aaf1db03979e32117934edd4b9db",
      "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]: [-0.242, 0.868, 0.8082, -0.6189, -0.4007, -0.0032, 0.9977, 0.5777, 1.7256, 1.0264, 0.1463, 0.4953, 0.2436, 0.9993]\nstate[eef_state]: left_x=0.288 left_y=0.0036 left_z=0.2127 left_yaw=0.081 left_pitch=-0.0633 left_roll=0.2593 left_gripper=0.9977 right_x=0.4451 right_y=0.1942 right_z=0.1428 right_yaw=0.0327 right_pitch=0.1015 right_roll=-0.0382 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.8667, 9.8667, 1.6581, -0.0073, 0.1441, -0.1294, 0.1709, -8.4718, 9.0462, 1.9609, 0.4078, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr8fZtnT9E4axXH2W8Aao4dG4-2-F2BMuj6M3lvnNLPetEWOEPy8Qz4vmGHM8Vz3H7NqZBM_NlMsSG2CEGZmC3gbyW7osMPlT--JkQC3AZUuoCcQ1e8ca6GyACFVSJJ8n5CoOqiNxJCNMoEiJsOh86z6_0bKdaa2O46wle2HqoBwmcMFlsduIlPCnQ66WiDenvEoGXmMZtlobkPUQMem1fEROxiktYAgMkHdCuoeIle8FuW2JaUWBDHbhQMGEI17dcLkF995t37wmwk_fVaHwEKZFq8yJdymWFffrdAH5EfiEOGYhNY_Nx8mHxi_BCSIRkaIY1E2UKrMXMPw_e5TxY-B-Nd-8wPvvUayLUs2Rasjl9R8UOwiVIdBFjJoLIn1W_GUvuwiKBW0CWOQYGfoPaHQXJK_Rm9uA5dLAZ0gnRYJDc49Cnk78oZxv7bFpQxhyXmDi_MJKfD7Ebuw6D_UfGPTu59AF3dwjiPhSSQXnJfOZ7t_WDBt9Odq3Ne18T3fV1ncbRnO2-kjOl_B8Zz29ZOvkX3Zj--tcnBJc4k-VWNdKizNpoYm6EAH2v82AiB6mJTscoP3763TvG2_N-e2Cu5zGcSu9SSOhj7WEX6X4xp7FkVLtgkt66NPxQLMVPKdoQHiahIxcOMm9wGv4VnQsmU6hAddjiEZehQGR6xRVxfUKn-9ecHS7ZYmT3sApPe_fbSdpML9hQaI1-ZtEHNbgq-fvK-CsBN_c1RvsWNt-A1tVK4uMhxUMmW7QB5nV2y7VsPkihGLJLK4zypmwlrHLzuoRNeJIumwwwxEaoc0X9pDig-gf4y9xHmCHNtQmLEgV9tLdCcWGQ0cuA8m_deF-6qhnYUesbq2Wky-ohJEn77q_oPx0_c0s6zCe5LNxfcVBBsIuywXDVopz1Oqz3vSk2K54-y7ZadOW7Xv5cSgiWV7Kor2e8t6nWqIZ-ruhRCsDQRi9uM-Xg_CDP_WWz1fnFl-_hWutaoMjTWYenmGbwwV1b8b0aYO33rPSUJpYcKNaVWI49YtF_FBuzkqQqvdJYdvsJ_DVRunhf5X9DhVL0EbhQlI-whXj7TZaBbf_vokEDH3dSe76a5kb_1ZDjn8-iVI5-jv74WN0Mg4DvP8_LgS-CGhtm0G-age3bz3_jh9KtQW1YDBjTGy3vrOdXj7i4HueXCUcZQPslenyzHSoRmS8IA2DonqdNLl3QqEL7tUo_If--fM6OhTAjIFsVteQXX5fQ==",
  "id": "rs_007c6e2d6c5b9aea016ab2bf1cfc2087d0bf32ae78334e0784",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.157,\"right_x\":0.5,\"right_z\":0.015},\"note\":\"The yellow object is still a little right and ahead of the jaw center. I will make a small final alignment before closing so it does not squeeze out sideways.\"}",
  "call_id": "call_X8beBVhwUfexZ3QqlNdossCy",
  "id": "fc_007c6e2d6c5b9aea016ab2bf1d955487d0a034e5b6ca8f2420",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_X8beBVhwUfexZ3QqlNdossCy",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2417, 0.8711, 0.8097, -0.638, -0.3893, -0.0051, 0.9978, 0.4583, 2.0987, 0.9634, 0.654, 0.3885, 0.1909, 0.9993]\nstate[eef_state]: left_x=0.2859 left_y=0.0023 left_z=0.2086 left_yaw=0.0735 left_pitch=-0.0849 left_roll=0.2574 left_gripper=0.9978 right_x=0.4925 right_y=0.1724 right_z=0.0353 right_yaw=0.0256 right_pitch=0.1395 right_roll=-0.0048 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -1.4838, 6.9128, 1.5702, -0.2173, -0.0366, -0.0122, -1.7846, -7.665, 5.7778, 1.2186, 0.2759, -0.2955, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ab2193ca58447a073b9b8f90e1326f0a0ce0e974126d4a4098dfc9feacf6c90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb1bf196745c7fca6564e62f5b396cf24f4416a6f83d4c42887012e61bf1f687",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b80c8e6f3be0efa7a4f3070f82f69f641fe2f76432d52004795c213fb8e69ab6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2417, 0.8711, 0.8116, -0.6369, -0.3897, -0.0048, 0.9978, 0.4946, 2.0476, 0.9447, 0.5705, 0.4294, 0.2104, 0.9993]\nstate[eef_state]: left_x=0.2862 left_y=0.0023 left_z=0.2097 left_yaw=0.0735 left_pitch=-0.082 left_roll=0.257 left_gripper=0.9978 right_x=0.4769 right_y=0.1777 right_z=0.038 right_yaw=0.0203 right_pitch=0.1024 right_roll=-0.0278 right_gripper=0.9993\nstate[joint_eff]: [-0.0479, -1.7709, 6.5026, 1.7705, -0.3248, -0.0171, -0.0024, -0.4308, -7.2957, 5.9829, 1.0085, 0.1294, -0.2222, -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\":{\"right_gripper\":0},\"note\":\"The yellow object is now between the open fingertips. I will close around its body.\"}",
  "call_id": "call_jep6p7jsb7d68GP8y8OhzxSK",
  "id": "fc_007c6e2d6c5b9aea016ab2bf238b0887d0b9a09abeb22746d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jep6p7jsb7d68GP8y8OhzxSK",
  "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]: [-0.2417, 0.8749, 0.8097, -0.6529, -0.3889, -0.0082, 0.9978, 0.4606, 2.13, 0.9646, 0.6373, 0.3805, 0.1837, 0.4961]\nstate[eef_state]: left_x=0.284 left_y=0.0027 left_z=0.205 left_yaw=0.0754 left_pitch=-0.1023 left_roll=0.2606 left_gripper=0.9978 right_x=0.4881 right_y=0.173 right_z=0.0165 right_yaw=0.0408 right_pitch=0.0951 right_roll=-0.0273 right_gripper=0.4961\nstate[joint_eff]: [-0.0068, -1.8393, 6.7897, 1.707, -0.2173, -0.0171, -0.0073, -0.3077, -13.0667, 4.8342, 1.8632, 0.1294, 0.0024, 1.0134]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af5d95d942664a1f4d5d82c89669f98e19dd05dc2f832631a2a0f57f724a7ee5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b05e4792e365b0b14c08e40d53fe531db9ddacaec63e8e3ad7561c31a3588e42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da3c7efe400597e35156f877e021c0689b6d7f03666be08a309fba6b9661d75d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2417, 0.8711, 0.8097, -0.638, -0.3893, -0.0051, 0.9978, 0.4583, 2.0987, 0.9634, 0.654, 0.3885, 0.1909, 0.9993]\nstate[eef_state]: left_x=0.2859 left_y=0.0023 left_z=0.2086 left_yaw=0.0735 left_pitch=-0.0849 left_roll=0.2574 left_gripper=0.9978 right_x=0.4925 right_y=0.1724 right_z=0.0353 right_yaw=0.0256 right_pitch=0.1395 right_roll=-0.0048 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -1.4838, 6.9128, 1.5702, -0.2173, -0.0366, -0.0122, -1.7846, -7.665, 5.7778, 1.2186, 0.2759, -0.2955, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The jaws stopped at roughly five centimeters, consistent with the yellow object’s width. I will lift slightly to verify the grasp.\"}",
  "call_id": "call_SnkJ6pzdWay05VWp1Xl9mFiR",
  "id": "fc_007c6e2d6c5b9aea016ab2bf27e3b087d0aa303fe4743244a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SnkJ6pzdWay05VWp1Xl9mFiR",
  "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]: [-0.2417, 0.8749, 0.8097, -0.6678, -0.3889, -0.0082, 0.9978, 0.461, 1.9648, 0.9997, 0.3992, 0.3759, 0.1829, 0.4982]\nstate[eef_state]: left_x=0.2818 left_y=0.0032 left_z=0.2024 left_yaw=0.0759 left_pitch=-0.1164 left_roll=0.2652 left_gripper=0.9978 right_x=0.4824 right_y=0.1712 right_z=0.063 right_yaw=0.0466 right_pitch=0.0596 right_roll=-0.0412 right_gripper=0.4982\nstate[joint_eff]: [-0.0205, -1.5521, 6.7487, 1.7265, -0.188, 0.0073, -0.0122, -0.1436, -12.1231, 8.1846, 2.0293, 0.188, -0.0659, 0.7204]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:786a1385f8ecbb86b34c0645cd720ef6da3afb5e5136670cb126c00bf89fadd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32f42b72cf5dea5dbc69968fadc2b79a2ea411dd3bb3b117a58cd6290e0bc65e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea7747fa7ac85119e7b8a3d12ce5f7bfa22b116214af6cf5c52b06d089d978ce",
      "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]: [-0.2417, 0.8749, 0.8097, -0.6529, -0.3889, -0.0082, 0.9978, 0.4606, 2.13, 0.9646, 0.6373, 0.3805, 0.1837, 0.4961]\nstate[eef_state]: left_x=0.284 left_y=0.0027 left_z=0.205 left_yaw=0.0754 left_pitch=-0.1023 left_roll=0.2606 left_gripper=0.9978 right_x=0.4881 right_y=0.173 right_z=0.0165 right_yaw=0.0408 right_pitch=0.0951 right_roll=-0.0273 right_gripper=0.4961\nstate[joint_eff]: [-0.0068, -1.8393, 6.7897, 1.707, -0.2173, -0.0171, -0.0073, -0.3077, -13.0667, 4.8342, 1.8632, 0.1294, 0.0024, 1.0134]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.23},\"note\":\"The yellow object moved up with the gripper. I will raise it above the safe’s rim for transport.\"}",
  "call_id": "call_HqBWZMEYozreC5y43zk6bwoD",
  "id": "fc_007c6e2d6c5b9aea016ab2bf2db86487d0ad70798207795dbc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HqBWZMEYozreC5y43zk6bwoD",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2417, 0.8753, 0.8097, -0.683, -0.3885, -0.0086, 0.9978, 0.461, 1.7576, 1.3582, -0.2279, 0.3687, 0.1829, 0.4998]\nstate[eef_state]: left_x=0.2795 left_y=0.0037 left_z=0.1997 left_yaw=0.0764 left_pitch=-0.1313 left_roll=0.2696 left_gripper=0.9978 right_x=0.482 right_y=0.1723 right_z=0.1937 right_yaw=0.0532 right_pitch=0.0017 right_roll=-0.062 right_gripper=0.4998\nstate[joint_eff]: [-0.0615, -1.4701, 6.7214, 1.6972, -0.1685, -0.0317, -0.0122, -0.294, -12.465, 9.1419, 1.9756, 0.1636, -0.0659, 0.5006]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a0751ed34474a1206ad48f1f6c18fb427f9c5ba5c5b4cfb43a51b742efa7945",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33ed71262a541655da12442aeac5b6bbdf4405493562e06d6a3195df3a9a5891",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60c42257164ea3b70a519c31e1394cce45a132b2e786a6011da5cc2bd661ff46",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2417, 0.8749, 0.8097, -0.6678, -0.3889, -0.0082, 0.9978, 0.461, 1.9648, 0.9997, 0.3992, 0.3759, 0.1829, 0.4982]\nstate[eef_state]: left_x=0.2818 left_y=0.0032 left_z=0.2024 left_yaw=0.0759 left_pitch=-0.1164 left_roll=0.2652 left_gripper=0.9978 right_x=0.4824 right_y=0.1712 right_z=0.063 right_yaw=0.0466 right_pitch=0.0596 right_roll=-0.0412 right_gripper=0.4982\nstate[joint_eff]: [-0.0205, -1.5521, 6.7487, 1.7265, -0.188, 0.0073, -0.0122, -0.1436, -12.1231, 8.1846, 2.0293, 0.188, -0.0659, 0.7204]\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": "gAAAAABqsr823EOVuiLujFJ0dAZAjMr5HxRZ7VZiFw4lIRFoZprAyEb5skCSDUjahoLHzOGDiK7XbaWSDeQ1zDGW3MCwtawSlYdIxQeAMgVwKiCWvWm0NbOVcz5FRmTDnOMgkeICHC57DLCl0EYEfxvt8jUOChQ1-0W2mjyKrM2Kdf7VCK2I0l9YLd5qtUHgg2rOE1IwLhjUNHbd3eVhd82ZfPdF99uYPE6Oa3qJpy4QQv4eiAgd3rL0wL6QfFBs1yJ1OXWo3Q0LZ3Pv68MusKsIe2I3EH8n8NepDS7SqSvVr2mCW8O7dWE8DAQMw85APRGTBUz3U_654NG5E_rS4H1jWZPXznJQNwQ1jzVHed7s_HCRpzyMcrwxrRXodIcg37e2hsQhkRw6JhU7cPlvX7ecGJ6_isU54Ve3ph1s7q9FomxdVR8UHkEQFG4ObEXB3wJ9r3U04I9buX73fIKcN97628osys6AqvdV7HduwCR6QsLPNU4b9kQ-M1jr4p_y3wb72BtX4DwpzXO7tXX2rkU06-ptXhm8avAT5FX-zUp0VgFEeqN6CggftoGOBNOqN_j6sb3YylRuIytTPfF6mFyOgUEoymCRDZiYtKXtISlWdWdCufKwJ20qmpB1NXrHRBVTOhWmaA4y2m3Hi6SNj00b_aZEIMSm7-jYk2GE6fy9hd16dtavIzSxZ00ub1vKqANjWU2uBOenEiidywHceR9E1bncTAz-DWYR8qzzoG4clIMlZRZRO933Uk9wdyAXILjOvDDTWaNF09pYxpUau43TWyYNF2Z0SS2bjT4MKeBx96aXDQ5JcLpOvuEC9JavBliQ6jEbrpFTUOTdjZ670LNolxFCIPMPTVIIimC5u5_bjkFkYLdavvQyA_UkGnttBZQ5Waxdh9VyyngF0cG2ZG8ImQOA4dCYz8SdDuFRH7rmpoXuIiBDteTyyl2L-ZI2z2R4BLjhGwX1lqy5KajmmWcv8vAzWnZXczGvupwHou9nUXanUN7iRJ6RXFC3Q3BSCq-yN-kco81sgUb_lAtf02RNF0cjn4RlR-PqRxbka94MPuPB7T75xOIE7EIbfuqdXo2P2sgVx6ocqSiMudnhSImV-UBJ8ceH2JJ9UX5StMNjndr6yyyU8x9j3l0PJn21AQQdu2JYv5tk4RNWefMAVnKRsMACOAgeP9hog7BiKvWrzYyovsW0tsI10EANrcWyOD9X3P7HjIrazreOTFSY4l27owK8juprBvee1RYFhf77FHUfQSWSRmAJA9MYmFtgohpg0RO2a69o8ABnUiQiamwp9cTzHTzyu7w2-_JIHN3wBHA9b0Lh7N6CjpQ3MsU7b22Zo50JAeut2XTasrcCfmjGlg1QM5MfotYiF312FO0WzKvjSiW67nTUK5qqGRKq_7eAFGm7KpiN1EyNKQ9YgG8aLzwWdN9tgSsC4CZ9NAW35WIqqhpNpLttqWvdCXyI9IGTWfvcnMBt_qiiZbZPnLpRXgf7CjmaOFDNz4RqgMzXIoYIYTI08ooRgorb31OQeaIS1P1YBuVCpBTiZVhPev3w8RpB55MJ-hDOq3N57WZ3CKAmthXrbQk=",
  "id": "rs_007c6e2d6c5b9aea016ab2bf32bfc887d0a18f718be1eab9cb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.33,\"right_z\":0.23},\"note\":\"The yellow object is clear of the table. I am carrying it over the safe beside the white toy.\"}",
  "call_id": "call_CUm7JK9Pn0HPwaUByMkpSvMr",
  "id": "fc_007c6e2d6c5b9aea016ab2bf35dcc487d0a8ed2bf24332288a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CUm7JK9Pn0HPwaUByMkpSvMr",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2417, 0.8753, 0.8097, -0.6975, -0.3889, -0.0086, 0.9978, 0.7799, 2.1017, 1.9766, -0.6403, 0.5884, 0.3801, 0.5028]\nstate[eef_state]: left_x=0.2772 left_y=0.0044 left_z=0.1972 left_yaw=0.0773 left_pitch=-0.145 left_roll=0.2745 left_gripper=0.9978 right_x=0.4652 right_y=0.3272 right_z=0.2184 right_yaw=0.0911 right_pitch=-0.0345 right_roll=-0.091 right_gripper=0.5028\nstate[joint_eff]: [-0.0205, -1.4291, 6.7761, 1.6288, -0.1685, -0.0464, -0.0122, 0.2667, -11.5624, 8.8137, 1.4628, 0.4322, 0.2662, 0.3004]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c00561d7c4c3d0ef92e4f156a57e2090c16afad38dff32b1faa1ec73683696f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:124ad29691382219ec9efdd8693466d3b0a114e4378a29e4df39cd9b8ccdc580",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f4f3650b740a826faa199821c9611fdbf3bd2e502db59805800a8427b11ff60",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 77 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2417, 0.8753, 0.8097, -0.683, -0.3885, -0.0086, 0.9978, 0.461, 1.7576, 1.3582, -0.2279, 0.3687, 0.1829, 0.4998]\nstate[eef_state]: left_x=0.2795 left_y=0.0037 left_z=0.1997 left_yaw=0.0764 left_pitch=-0.1313 left_roll=0.2696 left_gripper=0.9978 right_x=0.482 right_y=0.1723 right_z=0.1937 right_yaw=0.0532 right_pitch=0.0017 right_roll=-0.062 right_gripper=0.4998\nstate[joint_eff]: [-0.0615, -1.4701, 6.7214, 1.6972, -0.1685, -0.0317, -0.0122, -0.294, -12.465, 9.1419, 1.9756, 0.1636, -0.0659, 0.5006]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The yellow object is positioned over the compartment. I will lower it beside the white toy.\"}",
  "call_id": "call_HcvJjbp1mJMbwvCl6MmVeEBU",
  "id": "fc_007c6e2d6c5b9aea016ab2bf3acaf087d0b637926cfb3d7b2e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HcvJjbp1mJMbwvCl6MmVeEBU",
  "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]: [-0.2417, 0.8753, 0.8097, -0.7052, -0.3889, -0.0086, 0.9978, 0.7815, 2.1246, 1.6081, -0.2966, 0.5827, 0.3817, 0.5042]\nstate[eef_state]: left_x=0.276 left_y=0.0047 left_z=0.1959 left_yaw=0.0777 left_pitch=-0.1522 left_roll=0.2769 left_gripper=0.9978 right_x=0.4572 right_y=0.3217 right_z=0.1098 right_yaw=0.0944 right_pitch=-0.0739 right_roll=-0.1169 right_gripper=0.5042\nstate[joint_eff]: [-0.1846, -1.4564, 6.7214, 1.5995, -0.2125, -0.0415, -0.0122, -0.1983, -10.5504, 6.7214, 1.7314, 0.2515, -0.0513, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abe8886d1a33dc74ba5465b0403233461366b70d92420a1b18a3a10f10c5d287",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a78206ff88ab5488cfcb38fdedef7ed3dea5d8d4f430588bb572956bd54f4112",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9970c44a664a8e2e786611b9de4e4f8f7c210eb77d255ed85f061568b8895de",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2417, 0.8753, 0.8097, -0.6975, -0.3889, -0.0086, 0.9978, 0.7799, 2.1017, 1.9766, -0.6403, 0.5884, 0.3801, 0.5028]\nstate[eef_state]: left_x=0.2772 left_y=0.0044 left_z=0.1972 left_yaw=0.0773 left_pitch=-0.145 left_roll=0.2745 left_gripper=0.9978 right_x=0.4652 right_y=0.3272 right_z=0.2184 right_yaw=0.0911 right_pitch=-0.0345 right_roll=-0.091 right_gripper=0.5028\nstate[joint_eff]: [-0.0205, -1.4291, 6.7761, 1.6288, -0.1685, -0.0464, -0.0122, 0.2667, -11.5624, 8.8137, 1.4628, 0.4322, 0.2662, 0.3004]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow object is inside the safe next to the white toy. I will release it now.\"}",
  "call_id": "call_fCoz7mS8J8jcxkAMo93XAWCO",
  "id": "fc_007c6e2d6c5b9aea016ab2bf3e640087d0a03e58dc6f320efe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fCoz7mS8J8jcxkAMo93XAWCO",
  "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]: [-0.2417, 0.8753, 0.8097, -0.7193, -0.3885, -0.0086, 0.9978, 0.7815, 2.1468, 1.5894, -0.3042, 0.5797, 0.3744, 0.9946]\nstate[eef_state]: left_x=0.2737 left_y=0.0051 left_z=0.1936 left_yaw=0.0781 left_pitch=-0.1657 left_roll=0.2811 left_gripper=0.9978 right_x=0.4528 right_y=0.318 right_z=0.0895 right_yaw=0.0977 right_pitch=-0.1133 right_roll=-0.1517 right_gripper=0.9946\nstate[joint_eff]: [-0.1846, -1.4701, 6.694, 1.6532, -0.188, -0.0513, -0.0122, -0.3761, -14.065, 8.0068, 1.4432, 0.1978, 0.0122, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0993128ad4e882b99f745e58d234c354a840d2864e94c4db7856bae8170b408",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d95549fe7ff3adadeec394142a3e700ce3a085a673488100d394e035ef8c482",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f01706c814119de807f8b866d0a21b2ca32ce39edd1d31f1c8f178ca144b8d65",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2417, 0.8753, 0.8097, -0.7052, -0.3889, -0.0086, 0.9978, 0.7815, 2.1246, 1.6081, -0.2966, 0.5827, 0.3817, 0.5042]\nstate[eef_state]: left_x=0.276 left_y=0.0047 left_z=0.1959 left_yaw=0.0777 left_pitch=-0.1522 left_roll=0.2769 left_gripper=0.9978 right_x=0.4572 right_y=0.3217 right_z=0.1098 right_yaw=0.0944 right_pitch=-0.0739 right_roll=-0.1169 right_gripper=0.5042\nstate[joint_eff]: [-0.1846, -1.4564, 6.7214, 1.5995, -0.2125, -0.0415, -0.0122, -0.1983, -10.5504, 6.7214, 1.7314, 0.2515, -0.0513, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr9GEjzZy4pDDhrGPmAHuYiG0eE0F8PPPc0CexqLeS5HtWLFcLoAnNi_G9ghCmQjDj5isWJOkIyNdxFk-pZnrbWtZmdPoD7mWmCNGrHlcG3ztmujZKXBehQmYJCZE7OFwuQ559zCfoESPymVGYmhhQnjld32yBwfwJdWAXH1qEmtwrT4afx1beGDXVeOJnajhtT_TXTcI2tc9zAB9iwh9-zpGYdNzjmowTDyCFV12sDVJNF55omGAwXA0g-tQmyV1OJwTeRstRf9hWc4dDQ2cNl1Nq00UY2heWJ4lrz6gbZdB2SPyrdbria2iPIsncxQNhaPMTSSSYCg78BzVlJNH1QcbqJ1BaB5xCzBgiaGJQr6o7WJkLBhBq7-wlmL4LsEsUXe3nsFEprgUvjKX2DYM5KayGP7x07_Pbjv_dWfPcMohA5X_Mk5P7a_74Ao7HXE3B4ayoOS2UgiqvrpeP9erNgcrK6M-Nr21j6sqmTWL9QAGSiKHelqozGN94XNvFwG1TQZnSlNn5ZGRBNDRSf0XVcPaf1TJgb44Hhr27d1yDDuHWoWywLXUdiIKBSrLqPh9cGHlguhhi3cMP1hFwuLzV0OwGX87V1DLXcwxlpTh7ibRmrqZYFWbTvA-YfZQ6vi8nS-gy5bZTXmUIdUnju6Je-htSvfRDNA4rON0KROCd8DjfOOLC9V_UUwHjUS7n1AiT66Edk-feIrkrrDTq_2J3bODKsLe8w5wt6ukypwMY-uVoBEJD0jXQgESrptTHf07rnHRo8G7YQCBOqusVokjusjhXRS0JLnwcOwwivHme3_xSMcsBgtMHY3F8jbeJZuILgKtsnfJAEQih0NQDzr8wpOTg83JLd_SvBXoxtr-2YZQJoUpE4lmBxpGre6q8ATnUIIKTZlzYIE6FEhQHCzzDlHMst_px4sBuWZz4mFDIUAqQR3vNObT74MvvPZPyaXMfifY-906ZPaUT0R0eBy3WOammZWdNqNA7Rfk1cXqgeT1Xs6Y1jtSB0tnmieYmSv78KC16eVwE53dJ1PRa7SkgV8n3IOeFcIDXoJUTv31h4QqLzWzkAdlYynF58gu1x-c9XajpLxaLceck4SMtiiZhiyGtAGm5lhb-4gmS4B7pOW_mymxI6ssc1bDsynWKWjkokJ23FddsXsXI6ckkuIwO2qUvMb1cU1w9xxOIYbMyhAGyriMFZumDM7MWK0SMomuI8B57Id2eDPpvdIp2oTvL9fKZXzj7Epxjlfc4xgLVCuYSnFwkKoZCpK05Y9Z9c5pttAZSKHRAfCyW61SioLY2X_aVBAvdMJ1LmcXWIGqdpENUZCoJbMRUAZuFuifcks8SXSuxDckNmD1zdodzG9mO_eK1neNcLfO0Cr5QjEjI9yxJNFgG_FjZzHyCNxHUapkxv2QU5df_kwIX6wtTB1nb-M7L-BM5VQ1ue0yLzUySpO1oEZnyEGCUP7J3fSAngx8XrV5SRhtykWjuHEbhpJvX5zxipQb7NY_fSsnuRkds1J2PGdPsWZ6A1toD_RtZNHnulWQOhkG5TVXmSAdWbtmz78xrPa4ZhWKc91dtEQouCUuc6kCVPkuskGBfjNSYu3vFMixtKppNRzgQNOzJEdC73OSisS4ZRx8cuEQfJNLUApWqmVeJrtMPDba9i1fWy3BUVqu2i49KGHQVqWfabmJbTs9A==",
  "id": "rs_007c6e2d6c5b9aea016ab2bf418da487d088b6a2811f9ea5d0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.25},\"note\":\"Both placed objects remain inside the safe. I will lift the right arm clear so the remaining brown toy can be reached safely.\"}",
  "call_id": "call_ixXYC2LI8KeW5hqFguytiSej",
  "id": "fc_007c6e2d6c5b9aea016ab2bf4541fc87d0af8e0082978328b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ixXYC2LI8KeW5hqFguytiSej",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2417, 0.8753, 0.8097, -0.728, -0.3885, -0.0086, 0.9978, 0.7822, 2.141, 2.1948, -0.9062, 0.5644, 0.3672, 0.9951]\nstate[eef_state]: left_x=0.2723 left_y=0.0055 left_z=0.1921 left_yaw=0.0785 left_pitch=-0.1741 left_roll=0.2839 left_gripper=0.9978 right_x=0.453 right_y=0.322 right_z=0.2423 right_yaw=0.1141 right_pitch=-0.1139 right_roll=-0.1424 right_gripper=0.9951\nstate[joint_eff]: [-0.0342, -1.4564, 6.6803, 1.536, -0.188, 0.0073, -0.0122, -0.4308, -10.7009, 7.9111, 1.3797, 0.3443, 0.0415, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:585b19cd363017c8107608dc16319e35b51b9f53b1939b66cfbe44278b097354",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:218f27c0b3a8cfdfedb80eff37350ffc1e412d583f5dbd05a9598358221201eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c67d9a3acf3d64bb2990376e148f35bcb7ba34e444779448f3b9760babd75af",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2417, 0.8753, 0.8097, -0.7193, -0.3885, -0.0086, 0.9978, 0.7815, 2.1468, 1.5894, -0.3042, 0.5797, 0.3744, 0.9946]\nstate[eef_state]: left_x=0.2737 left_y=0.0051 left_z=0.1936 left_yaw=0.0781 left_pitch=-0.1657 left_roll=0.2811 left_gripper=0.9978 right_x=0.4528 right_y=0.318 right_z=0.0895 right_yaw=0.0977 right_pitch=-0.1133 right_roll=-0.1517 right_gripper=0.9946\nstate[joint_eff]: [-0.1846, -1.4701, 6.694, 1.6532, -0.188, -0.0513, -0.0122, -0.3761, -14.065, 8.0068, 1.4432, 0.1978, 0.0122, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.22,\"left_x\":0.34,\"left_y\":-0.27,\"left_z\":0.12,\"left_roll\":-0.25,\"left_pitch\":0.1},\"note\":\"With the view clear, the brown toy lies left of my earlier grasp attempts. I will approach its torso with that sideways correction while parking the right arm.\"}",
  "call_id": "call_bHyPLiDZYVEOmgtd0jdAPPrQ",
  "id": "fc_007c6e2d6c5b9aea016ab2bf4a4efc87d099eb0d32891efe64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bHyPLiDZYVEOmgtd0jdAPPrQ",
  "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]: [-0.9623, 1.6581, 0.8394, 0.0498, -0.7612, -0.8021, 0.9978, -0.009, 0.9127, 0.8913, -0.6857, 0.025, -0.1608, 0.9951]\nstate[eef_state]: left_x=0.3296 left_y=-0.2537 left_z=0.0996 left_yaw=0.0654 left_pitch=0.0405 left_roll=-0.169 left_gripper=0.9978 right_x=0.2924 right_y=-0.0034 right_z=0.2155 right_yaw=0.0563 right_pitch=-0.1312 right_roll=-0.1409 right_gripper=0.9951\nstate[joint_eff]: [-0.6222, -7.3915, 8.7316, 1.7411, -0.5006, 0.0024, -0.0122, -0.1846, -2.3726, 6.9675, 1.8046, -0.1636, -0.1099, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d620e7080fd4c0ec1507e234116f76c785ec87a7c3633923a33e428c4d3cbe8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9ef9d228ec564fa44c2726d1cb06a9d8fa23426e39466ca0187201355af3896",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:475972284650008eca46a92b4b053cee24934c831d1c39bce3e3b1d3f548cebe",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2417, 0.8753, 0.8097, -0.728, -0.3885, -0.0086, 0.9978, 0.7822, 2.141, 2.1948, -0.9062, 0.5644, 0.3672, 0.9951]\nstate[eef_state]: left_x=0.2723 left_y=0.0055 left_z=0.1921 left_yaw=0.0785 left_pitch=-0.1741 left_roll=0.2839 left_gripper=0.9978 right_x=0.453 right_y=0.322 right_z=0.2423 right_yaw=0.1141 right_pitch=-0.1139 right_roll=-0.1424 right_gripper=0.9951\nstate[joint_eff]: [-0.0342, -1.4564, 6.6803, 1.536, -0.188, 0.0073, -0.0122, -0.4308, -10.7009, 7.9111, 1.3797, 0.3443, 0.0415, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr9T5vNSGitW1mPsQuXknZK0STDT3M6QCTjwru_FjcyxO7b1QrUnEvLIQ7UrM-eSpD0A8XB_5GxOM2IdfjVCiOLALNKGQVACFAnRm6zr89fGmhGv4wc6tl4reSbryO-I7_h1-FvNj_Fs0tEpVtDyIYt9D0wDCVH-uU4hVKsmCSswos6HfCaO3d3zzi-4UArPgouAe-eNrY39rnCf4_Btg2MyGakVs7tPFLiRt_CKQLblO0hA30RObJdMXuTyAl3haFH0mC5QBFN2IDjXbIAlaSn9sdFycHS4S9EvhoPIWG_gQRyjOu5Ntn-FH5WEdk33C9Hb1flNv_YBr7lqodVV0Fi86bjEoE_gFxF60pMkC__McMXm-yYY0Kccof0EANwzaYxzt6dc0lDhIU9jNa6ZC5AeCbINZHwHhcfA4qWCXb5wf5glCgCuI3dtjh8U-a63rbOoODatxp7wv5K3ey3_BMIXbftjTxuWrQIZM05gH7rEr-e4pLSIJH8YdzjT9d9Dy9zSBqEwuecTtEOwYaSZays0jyGja7StgPv-pOpvUS0kw1EaTFmqRoPlboegvmFXoNhLnt9czK1daY0KS-5KgmuSmkWvpwDvfhCsLL6ei81u89IRjrPwz2va5zOuekIDF8iyq6W1_L7PkvpssXiJ1mZTh6sqqDO0EU1RNfVF6U5fGxEOMuUUvmPLOnPrU339w14PhEjd_1aM18exBmsD5LMCmXXRYTCeP6ODLJqOPS-e_K_cYQF4sEFUSNi5ICsgvyh3HI8UNplEq_hdr_wJqhte8t0mmHYfvcuX3-LIwn5HASpZKgAoSmWpJi6iZssf7JHZHgVHc39TOsKAoGd1WfIZ0aWb6Mm5NZ0Hc6tA5QHZuAEfNFe93IVdjae9fdONMvaY5Phbk3xLJx7t3_a8nq5psN8i8Z81Spx2DMSl5umSv4GmV-Fec0btCFZtYO02r4wEa5TUt3ybNL1s9Bgg64FFPItL7kgU0eNdMo7E-pDVVO0GUjagzBoy6N5WnMXU0e5sPGZ0ZbzPbv10vxHKg1Vwp3RXu4B8YwPB-mOeDb-giRdTydavrk5quHWDA8lV1l8pe5QIM28XJJuAFDOmchy5ovpNNmaESf4CQqLhaHZhXGY0VsAb5VFTeBsKMzuNSV0OMjJpP1CyI645urgOB__Cm3Xe9ZbqL4_dRgLUJ2QFd_0z59FbH9vMMcCl-CNY8twpP3f4c9eplAo-0VDa4wLlqV8IT0cK33il1NnivOm3H4e80Hz_n37rgfz6Gabkiabx",
  "id": "rs_007c6e2d6c5b9aea016ab2bf51878c87d084407496f0e78a58",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.275,\"left_z\":0.025},\"note\":\"The brown toy’s torso is now centered between the jaws in the wrist view. I will lower directly around it.\"}",
  "call_id": "call_3gJsxKgQaM07cgNjYkGzANr0",
  "id": "fc_007c6e2d6c5b9aea016ab2bf522bd087d0b615437f2819f972",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3gJsxKgQaM07cgNjYkGzANr0",
  "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]: [-0.9661, 1.9285, 0.8322, 0.2718, -0.7692, -0.8036, 0.9978, -0.0078, 0.9176, 0.8886, -0.7036, 0.0113, -0.1761, 0.9951]\nstate[eef_state]: left_x=0.338 left_y=-0.2667 left_z=0.0243 left_yaw=0.0666 left_pitch=0.0166 left_roll=-0.1196 left_gripper=0.9978 right_x=0.2897 right_y=-0.0007 right_z=0.2097 right_yaw=0.0778 right_pitch=-0.1572 right_roll=-0.1414 right_gripper=0.9951\nstate[joint_eff]: [0.1709, -7.9248, 5.5453, 1.4921, -0.1538, -0.0171, -0.0122, -0.1846, -2.0991, 6.9402, 1.79, 0.1245, 0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ffc6c3d606c2aa61bd8242c0ddf00a12814b4a5eeb4d2738034ebb78299b453",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60318c8b0886e42b21d28e4fe941935e2f443eecb566db2992b3eb1771d2abeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc630525d7f1fde6c221b49b35460a285ee0fa5ce37835c38c02bc077f187c5e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9623, 1.6581, 0.8394, 0.0498, -0.7612, -0.8021, 0.9978, -0.009, 0.9127, 0.8913, -0.6857, 0.025, -0.1608, 0.9951]\nstate[eef_state]: left_x=0.3296 left_y=-0.2537 left_z=0.0996 left_yaw=0.0654 left_pitch=0.0405 left_roll=-0.169 left_gripper=0.9978 right_x=0.2924 right_y=-0.0034 right_z=0.2155 right_yaw=0.0563 right_pitch=-0.1312 right_roll=-0.1409 right_gripper=0.9951\nstate[joint_eff]: [-0.6222, -7.3915, 8.7316, 1.7411, -0.5006, 0.0024, -0.0122, -0.1846, -2.3726, 6.9675, 1.8046, -0.1636, -0.1099, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are visibly straddling the broad brown torso this time. I will close around it.\"}",
  "call_id": "call_PkAlRUu8vvtOE9ymMIOASipp",
  "id": "fc_007c6e2d6c5b9aea016ab2bf55e21087d08dc814d7080c98dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PkAlRUu8vvtOE9ymMIOASipp",
  "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]: [-0.9665, 1.945, 0.8322, 0.3408, -0.7792, -0.8024, 0.0218, -0.0074, 0.9173, 0.8841, -0.7238, 0.0139, -0.1764, 0.9951]\nstate[eef_state]: left_x=0.3432 left_y=-0.2722 left_z=0.0281 left_yaw=0.0739 left_pitch=0.0496 left_roll=-0.1603 left_gripper=0.0218 right_x=0.2858 right_y=-0.001 right_z=0.2041 right_yaw=0.0765 right_pitch=-0.1817 right_roll=-0.1414 right_gripper=0.9951\nstate[joint_eff]: [0.1436, -8.0479, 5.5863, 1.5165, -0.1343, 0.0073, 1.0525, -0.1026, -1.7983, 7.0769, 1.7802, -0.0708, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41238edd7512e59b9474c5b098ff3705362fbff0b513649def0d345657650218",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:648371b1ca6c5eec83699bf47e62dd8e70f57f107b2ec17d03bca2fd36026114",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e71c434d7cb1350d319701fed81d1a4ef9f9986cee04541e53c9c3f925b2e7db",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9661, 1.9285, 0.8322, 0.2718, -0.7692, -0.8036, 0.9978, -0.0078, 0.9176, 0.8886, -0.7036, 0.0113, -0.1761, 0.9951]\nstate[eef_state]: left_x=0.338 left_y=-0.2667 left_z=0.0243 left_yaw=0.0666 left_pitch=0.0166 left_roll=-0.1196 left_gripper=0.9978 right_x=0.2897 right_y=-0.0007 right_z=0.2097 right_yaw=0.0778 right_pitch=-0.1572 right_roll=-0.1414 right_gripper=0.9951\nstate[joint_eff]: [0.1709, -7.9248, 5.5453, 1.4921, -0.1538, -0.0171, -0.0122, -0.1846, -2.0991, 6.9402, 1.79, 0.1245, 0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr9jMMN0vqDn7px0g10CrZewfLIO_N4nwHL15hcyaJJSOnQoCqMIsq4icMLoYfm800F0jcg43ycDw3YKZ48nCVH9AH_wPZfU7ApWFLOpYxP4r4GQp0eZjZewVKDY5HYjbmZf1mIQqCYrirSAqNv30cbX-cYncKrD9orDrBIKypRF1fj3zFNt-n_2D-XiLXyDjOh6-NfCBqTUfW2NlY9L5bZfyUF28OmQZh7dci9agH4q5vDqhv9Ujww4nV30C_ZbeCsRH-hRPlwExYCpFKGTX9k_P1NCmnPvln4dlk1YbTLPDGaAiHrW52SGzcDl2s-JXTnwfeGWVQLbTeBC8v6Re-0Z6t1bhjMi5n6Y855N_dCydy5nmaxO33bwF3ZlyvO0HP1PG2Jv7UyLFKBr6JBv-3UzF6u3p7GjC2eskhqy_qqJrC5jHoH74rWvI6-59a4Y8yNILF46mOZ2L7i9mGMmVpfgTzWQ8br0Uw3TXwHlXbIE3MZjwCvoRjy7JjVKEzD_d42dzm5J5os6hp9HWdvYMd7y_u7lXOAD4-kGr2mSpunT2pCJ6IH0N-uPEI3M11ptagrxaf6_aDacUCQzCrLSwCYEmmdJS9WRvTmEIe8smK98HBHL4CicZ7y3MLeXx5xrLaGuvzsN_nmh7lH0Qnv7VIFVSMAGPtmhiqbY24glM9GhKe7ZRCgmZSMn8l7SZe8qXvjLMfGFmvaKD86yb8E7bKrCtdfXb4MweDcoZ17765BHlgZa5YSmC5kotoJEk3sF9WfDlidYihNeKaiwt_8NzWV4oILMziyL_aWC5fgYQyOKOZllWNVvbnkf9YoOGecEGP9aCQklWI8rQzP-INrhru8Jy5we7XfxR2H5udMUMH2qLhmB0Mf6YNTZxUUurGHwtDnq-on08G89i14eyuvaMvHWl0CgBJ272oRuGrGmDvw1XvN8g7n8niAvsfFRmdIpOWGgQPzI7SIYfCg_fUlZzj5FEJgHytAVFUL2kV0SzvF4ZswM9mwx7aRkirElBT-tSX1sYJ4BY0Ge6TWp6Nd7MY34LrrNLVNO1APKQNVEPeWKJSoskDR7NzuzUd_B_8pUKXmwsJgfy1DVy6ybYqW6luEnNcokEK3QJ_w7Dvbz_jcRRMQ2BHqzbyrlrEVafj7WIIwSBvJDYetX0-9VqjRUq2DD251eOptoIQCpnIERZw-UY8O_6K3HTskZRp38w7GFYI99Aa3_8eFkQj-YiAtDUfXpvutp1mdgoC-_HkCNtrgWGsg=",
  "id": "rs_007c6e2d6c5b9aea016ab2bf614a7087d0b4ce587861e5d47e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The soft toy compressed almost completely, so the gripper reading alone is inconclusive. I will make a short lift and check whether the whole toy follows.\"}",
  "call_id": "call_RoQ902EkKkdmyagPwSQcKuq5",
  "id": "fc_007c6e2d6c5b9aea016ab2bf61d78c87d09f6075e9369be9ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RoQ902EkKkdmyagPwSQcKuq5",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9672, 1.8137, 0.878, 0.1356, -0.7795, -0.812, 0.0235, -0.0078, 0.9173, 0.8837, -0.7319, 0.0139, -0.1768, 0.9951]\nstate[eef_state]: left_x=0.3399 left_y=-0.268 left_z=0.0663 left_yaw=0.0775 left_pitch=0.0349 left_roll=-0.144 left_gripper=0.0235 right_x=0.2843 right_y=-0.0011 right_z=0.2026 right_yaw=0.0764 right_pitch=-0.1901 right_roll=-0.1409 right_gripper=0.9951\nstate[joint_eff]: [-0.1436, -10.1402, 8.3077, 1.5458, -0.3297, 0.0904, 1.0281, -0.0615, -1.7709, 6.735, 1.6435, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69221d4368344f17734d2f8d128ca153c90efc6465cbe5da173d0244946860e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:158db512a1fe1b334465d37579c1e973e9a06a1e6e02a7fa91b2f95d7677c221",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c30f2b717fbc9d4c70bb1612ad0049abfa98d52e6bde4baf1cc90d3fd2eeb01d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 101 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9665, 1.945, 0.8322, 0.3408, -0.7792, -0.8024, 0.0218, -0.0074, 0.9173, 0.8841, -0.7238, 0.0139, -0.1764, 0.9951]\nstate[eef_state]: left_x=0.3432 left_y=-0.2722 left_z=0.0281 left_yaw=0.0739 left_pitch=0.0496 left_roll=-0.1603 left_gripper=0.0218 right_x=0.2858 right_y=-0.001 right_z=0.2041 right_yaw=0.0765 right_pitch=-0.1817 right_roll=-0.1414 right_gripper=0.9951\nstate[joint_eff]: [0.1436, -8.0479, 5.5863, 1.5165, -0.1343, 0.0073, 1.0525, -0.1026, -1.7983, 7.0769, 1.7802, -0.0708, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr9mIu8i8BjytA95VAGtBojp-5QfyXV8-1wD4wm6-9rn3YMxUHSEFnOd54TsC194j4CQBx2LEbITVhag4oipaV5q7DHpLWZPsCXwcoMZINPPGNffJvM3uO0w8mS7YwkxpdqpZbrYniC814fRn-nxdWuapGz5o7xesa3A4_p5zzH15ktAA2ykbkQ2H3HtvlpqzRv_saxcnSpBKhaxr2UD09VULRoxZjC5G2o38f6eXnRTdOVcRVaxNYjoa7HnmmRt2QmKZfrqHrcFwPpS12Jy_qYqoTtGvwa1StwUwuGmLVYxHIuu05Dz4-dYnpgf4i_DDMr-E9P0ad7WgJTVhsfCy-h_LIB1hRljxwoW9EPB206YaiKhu1J-u5JZJdvtlGvzpRJ-1BwuvohaeYXD25-ihgvmMwU6n4V9ei9_3YbrmFaZsBMqIj3_p9X2k8ybaKTA__Yh6H3L7ktBxSkmFDz1-piWKVv1NUWBMX01S-VL9i1PRg8sxocXrBHrc7e7MInFHxSL9g57VXISGUOgfy9R7LDIOeAus5iQa2RxUXsPLALMM4slb6dqtlPo577k7RuuAcnwe_v7TzX0EX1dzi42JifHSAuUk8yTvALuvn8uKz6N-evVhHFS9nnEpibtS46AQkkFAFOH3cf3KzSYzSWp2IT23J29ylxSO1LyvH_l7WfIduoldUsx5OLSxWsFc-RigHmhqba5N-sVTqs-PWgklRvv7zu0_kSnxE5mG5J3oNVS2-sEqBOu1gyaBS8EKExgHy-6tQnMyIf4ded_eEZoBwBftFmh2mtWwCqRM7j3r1nF33_1vaQnPhY82HVH4m-CrO87mPyOchkBpEi4kOWOBllTdtzH65ZMWVHpxIsL6PgbFKKv_e21-KCfYFPz5NYWXVucSWhAvdE7N5T9sbazjXn_NNRhqlhkttH1UMa7-_8ZsNFzSkLH_fYttzNn0zmugTnnGi02sDGTcbyElW8sesfmj8tSgOX0Cy1G1SZ84yN0dMUOF43G2LRafE-QBsbt9gzESu8KOZ9iePsZ-S8vyWE9k9gk_RMq7CMGIYMh8P8SnmAcVQ_wbEXjltMpjCmBM_UD1o-FMPKwLIiRVmAIz9N9krgV9ntE9_l834AUSdtpPCNN8RiL31sPdhvUlOJ3cFon75X7Zoi8gOlMqzuHL8dF8DWglbaxYsHb9ER3Li0N9byemMhtfbxtsX89NyRdEvRW",
  "id": "rs_007c6e2d6c5b9aea016ab2bf658adc87d0bfb126cab2da80f7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.23},\"note\":\"The brown toy moved upward with the jaws, confirming a grip despite the very small opening. I will raise it above the rim.\"}",
  "call_id": "call_yTOZYJyg4XtCgBBZoRxEGATd",
  "id": "fc_007c6e2d6c5b9aea016ab2bf65c35887d0ad7748e4f2cf70e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yTOZYJyg4XtCgBBZoRxEGATd",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9672, 1.6299, 1.269, -0.4896, -0.775, -0.8249, 0.024, -0.0078, 0.9184, 0.881, -0.746, 0.0143, -0.1768, 0.9951]\nstate[eef_state]: left_x=0.3405 left_y=-0.2699 left_z=0.1978 left_yaw=0.0806 left_pitch=0.0059 left_roll=-0.1131 left_gripper=0.024 right_x=0.2817 right_y=-0.0011 right_z=0.1986 right_yaw=0.0764 right_pitch=-0.208 right_roll=-0.1397 right_gripper=0.9951\nstate[joint_eff]: [-0.3077, -10.8376, 9.7162, 1.4579, -0.3639, 0.0904, 1.033, -0.1162, -1.5795, 6.8991, 1.6435, -0.0024, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b863f844148e921945c91834d9a41cd094858c7fc3bbaeae637433a0df136f99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8ea33cb6036f0e1e6ed6b27c40d2aacb28bd94668305e85399e57f33a6b8f0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9083256547aa3d2e7526c2b243b4e7e789ca92023d5482034ab0d4b4fb313386",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 105 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9672, 1.8137, 0.878, 0.1356, -0.7795, -0.812, 0.0235, -0.0078, 0.9173, 0.8837, -0.7319, 0.0139, -0.1768, 0.9951]\nstate[eef_state]: left_x=0.3399 left_y=-0.268 left_z=0.0663 left_yaw=0.0775 left_pitch=0.0349 left_roll=-0.144 left_gripper=0.0235 right_x=0.2843 right_y=-0.0011 right_z=0.2026 right_yaw=0.0764 right_pitch=-0.1901 right_roll=-0.1409 right_gripper=0.9951\nstate[joint_eff]: [-0.1436, -10.1402, 8.3077, 1.5458, -0.3297, 0.0904, 1.0281, -0.0615, -1.7709, 6.735, 1.6435, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr9taMJnu8iZaZa41DGLpzL0KrsBFkV2JwDq-POtkaK-o9U9LCtpvUX6knAZMY4E20duxf-pHF7w6gw1KRYW9YB_hMr8F6p-2tLQoQd-35jsVcMcT4hXhkIxHuk5T8NjTqH_BYXPJKj-rH6nMvfN3dIa2hhlha4pkg11PnW6m0XV4Bw1gXy9H9-1IlRBGxVdaoHWCnPuRRfST8FEbNjOsnKiFZYA0zQpww2zB6j4OODJgTA1k7UOYjU5FNxT8o3vbYOdnDqfDkCFJ5proog2rIkSNAWYnYciO0KX4MVaUzmNrnca2saQobmuCGgFQfOlKoVrQFjJJOR_KWhzaDywoEyqyR_rwxKtHmBMg8cnCg28pR9sEcaYYRj8-Mse9sfd087UGQpDGdAm-6OaH-d5z7YA-mRkSMUQXsEabx-KVQsnjhLY2tSWpBvCatUWD6r4ttOp-WBGuDAtlupTP-7B0rgWg1Rdoe-7rKXcXd79DkuS6OU5H7AfhIUMK_unB4H96DpGBPoxW8-IbMCj5DecXQjFNCnHKuL1ov_BbVX05OS4-_cB-8xf1jCELd1Z89ilqvPAlDVU9-7muPiy25pKJUT7BVV2yGzZaf-C9hoeNLqSqhPrc-uCrToY0yP9e5cO9-s0hJI4123aee08D1zA0Pc5vVU7F8c2PB9hRvsjv1hp3_99rtLRFQ32eEZO7qATkTKvIzs5T-7O1Knz0saytPdYL6Wa_V_AeJbfMq1ZFrWnNhzMOxFcSMpegyq5vhqlDayBoUU5m6ltDyobxDQ0GErImJLoKoNii9oxFQX29_kmCDrzL9iMLjH9cK9a8vJDG-__KnOw4z63eNNjJrt4LOLK6MIzZJjyO2-_ZnF4mX16Cv1icqG6nA8lyIqpSDJgyBSFh3YTrPc1F3WfCCmgQLIspf7j-bqGodsDyL1pxtI4u_oFcqBGX6wD4asWkEXLIbhMsUpy8angixi2eqtyjX_ofJDYwo8LiqE9kSu4fl1FlV3LX6ghRt_urzLltIV8dUpmeT739s-Y7QoaMwUUMy0c56kiUb-7L8yZIXg9GLoXGpllSCpV1MhELshCisvk9UYpN8qBdENipNI8MpJeEchmy1UbQhELTmTiWEshdqfuEcdlTziLyCBJQ-Gy5stVwmOlaz3skIPgtp293WbBK3YFWX_7zIh6riFk9s7rKX3nfZ4PDivKw2kVZc6PTTLT6SoBEPr96ObjGQ2VKtx791THde8UCMvXF95UkkolgGZr_cqfeOBbsx1zDGFkTLE2v1jDDpCyvfhUCPsh5-DyeT7oZA==",
  "id": "rs_007c6e2d6c5b9aea016ab2bf6b6b2487d0b750a9e739488c2b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.26,\"left_z\":0.21},\"note\":\"The entire brown toy is lifted. I will move it farther into the safe so its trailing limbs clear the front lip.\"}",
  "call_id": "call_QqDwuGZTlTtzerT7FAXJWe28",
  "id": "fc_007c6e2d6c5b9aea016ab2bf6c795087d08776aa812c617b8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QqDwuGZTlTtzerT7FAXJWe28",
  "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]: [-0.6582, 1.993, 1.6981, -0.4488, -0.5602, -0.585, 0.024, -0.0078, 0.9184, 0.8803, -0.7689, 0.0143, -0.1768, 0.9951]\nstate[eef_state]: left_x=0.4883 left_y=-0.2544 left_z=0.1904 left_yaw=0.1057 left_pitch=-0.0369 left_roll=-0.0924 left_gripper=0.024 right_x=0.2775 right_y=-0.0011 right_z=0.1944 right_yaw=0.0769 right_pitch=-0.2315 right_roll=-0.1376 right_gripper=0.9951\nstate[joint_eff]: [0.4034, -11.1658, 9.894, 1.663, -0.232, 0.2222, 1.033, -0.1983, -1.7709, 6.9128, 1.7509, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d87e970ce9a6ec7d7095b50e9e568545aced9b1e1850926464b3e3bfb3d8dffc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82b736e41cba7181c7e206faa6231437941172aa167b70b1f8f90874c416e015",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccbc6ba41719d5707f357f97994e666995475baa313d4abc56a9a2ba714ab7a8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 109 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9672, 1.6299, 1.269, -0.4896, -0.775, -0.8249, 0.024, -0.0078, 0.9184, 0.881, -0.746, 0.0143, -0.1768, 0.9951]\nstate[eef_state]: left_x=0.3405 left_y=-0.2699 left_z=0.1978 left_yaw=0.0806 left_pitch=0.0059 left_roll=-0.1131 left_gripper=0.024 right_x=0.2817 right_y=-0.0011 right_z=0.1986 right_yaw=0.0764 right_pitch=-0.208 right_roll=-0.1397 right_gripper=0.9951\nstate[joint_eff]: [-0.3077, -10.8376, 9.7162, 1.4579, -0.3639, 0.0904, 1.033, -0.1162, -1.5795, 6.8991, 1.6435, -0.0024, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.085},\"note\":\"The brown toy is over the compartment with its limbs inside the footprint. I will lower it onto the other objects.\"}",
  "call_id": "call_jaeF8gC4tVBLU2FcT9dlgg5h",
  "id": "fc_007c6e2d6c5b9aea016ab2bf724d4c87d08fe0ef916f9c92c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jaeF8gC4tVBLU2FcT9dlgg5h",
  "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]: [-0.6598, 2.0693, 1.4261, -0.1551, -0.5533, -0.5842, 0.024, -0.0078, 0.9203, 0.8803, -0.791, 0.0139, -0.1768, 0.9951]\nstate[eef_state]: left_x=0.4796 left_y=-0.25 left_z=0.0873 left_yaw=0.1008 left_pitch=-0.0796 left_roll=-0.0576 left_gripper=0.024 right_x=0.2737 right_y=-0.001 right_z=0.1901 right_yaw=0.0777 right_pitch=-0.2555 right_roll=-0.1352 right_gripper=0.9951\nstate[joint_eff]: [-0.1299, -9.7709, 6.2564, 1.6923, -0.2662, -0.0317, 1.0281, -0.0752, -1.894, 6.7077, 1.6923, -0.0317, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74d6b4c0fbd661165ef5555af198de0c20e347363d667aba80094389981218c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e572b46ad30576e0937fbfc2ce693b43418e6924db8ed5c5195682b083bb4c44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cedb273f34fea180dac66fda4e0d34ede37c0e229c9024fa5005459ad451514b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 113 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6582, 1.993, 1.6981, -0.4488, -0.5602, -0.585, 0.024, -0.0078, 0.9184, 0.8803, -0.7689, 0.0143, -0.1768, 0.9951]\nstate[eef_state]: left_x=0.4883 left_y=-0.2544 left_z=0.1904 left_yaw=0.1057 left_pitch=-0.0369 left_roll=-0.0924 left_gripper=0.024 right_x=0.2775 right_y=-0.0011 right_z=0.1944 right_yaw=0.0769 right_pitch=-0.2315 right_roll=-0.1376 right_gripper=0.9951\nstate[joint_eff]: [0.4034, -11.1658, 9.894, 1.663, -0.232, 0.2222, 1.033, -0.1983, -1.7709, 6.9128, 1.7509, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The brown toy is resting inside the safe. I am releasing it before moving to the lid.\"}",
  "call_id": "call_1UFNNxRGj92TFQG3PIQC41qo",
  "id": "fc_007c6e2d6c5b9aea016ab2bf7607ec87d0ba893b895cb796f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1UFNNxRGj92TFQG3PIQC41qo",
  "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]: [-0.6598, 2.0888, 1.4181, -0.1585, -0.5529, -0.5877, 0.9954, -0.0078, 0.9211, 0.8803, -0.8116, 0.0139, -0.1768, 0.9951]\nstate[eef_state]: left_x=0.477 left_y=-0.248 left_z=0.0737 left_yaw=0.1043 left_pitch=-0.1022 left_roll=-0.039 left_gripper=0.9954 right_x=0.27 right_y=-0.001 right_z=0.1866 right_yaw=0.0782 right_pitch=-0.2767 right_roll=-0.1333 right_gripper=0.9951\nstate[joint_eff]: [-0.335, -13.2171, 7.0632, 1.453, -0.3053, 0.0024, -0.149, -0.1436, -1.812, 6.6393, 1.6337, -0.0024, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06169b5d09f708ef4837906f64b0880b0a422700c64671921fb4bf7b0f9b247f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec5beb4502bd7e31092417bc058777dc2dd061bf9af743be9a849454c0139f35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c655b85c9c694af927a9678bff851c9fe7da8a1e8d3db36c1ec728d49635fc0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6598, 2.0693, 1.4261, -0.1551, -0.5533, -0.5842, 0.024, -0.0078, 0.9203, 0.8803, -0.791, 0.0139, -0.1768, 0.9951]\nstate[eef_state]: left_x=0.4796 left_y=-0.25 left_z=0.0873 left_yaw=0.1008 left_pitch=-0.0796 left_roll=-0.0576 left_gripper=0.024 right_x=0.2737 right_y=-0.001 right_z=0.1901 right_yaw=0.0777 right_pitch=-0.2555 right_roll=-0.1352 right_gripper=0.9951\nstate[joint_eff]: [-0.1299, -9.7709, 6.2564, 1.6923, -0.2662, -0.0317, 1.0281, -0.0752, -1.894, 6.7077, 1.6923, -0.0317, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr9-x_mCF6bZ4WxE6K1KIVN01VjSydX52Qjsy5_3CN0d_1wQXc0tc3iPIl4wysmjmggWKIY8F3AXROKJHHURSxdFm8tWgKZ4YhEtl1katrF1lYKRJ92-xs4g9pAhgoeri0KXRczMbEKQgPORUqbXH8G5GTiOJVdq2KXoDtegANHSeJ41phLvuhQjlmMyMWifW1B7tYR6TaohjvhKQQ7GROtH-0JgPgNqA5ng1qufePVRxAuGCsuUoCzWG26JS2fn7vwZO7rkr0afHHnivRPgr7fuCMwkbPqT3biOsBqKfVfiGM8Vb79XU1DpwnPx_JSp3eJOZ-4Pcf52fJ00LB0T2mBiwzxyOR_sRiXANlTpFzHwOizqBUkjlR7FwOdWg4Gx7RABEddoJT5yq1KVCNhMZqdpmbaKG97NFwHMWyc3ObGZMSJ4hSkAVgEiQXpVOVaMRkL8xWmHn2XwCiNP7cT-DE5HRuJDphSY889w5NeIaggaR-6tlZLLoc4jd63LiKfGdUDk9_PVnGpWjnCjBqjxlqZgKoTI4m-nrG9zG8EYSej-VkLFuC1th8WSXLifSGcHkDKXlDexVbkdNb8PoabzswwK8xWLbc_voUxBbkJ9jQtsjPCn4WSO4u_ynW2PFwBZ9B5a1DGViCUoGt30yrBuATVv5MSrhkighcZ7xLVSoWj4drCCpkO-34Wxy9MQLz3GD-OWVw6heYalPVV05iSKiXQacfjAYmd7GPaOrmr5f3l-lIvE_09WWaSFHEiNIWE9OJk5yzs89U7N7uilRXfXDjs7zylwDgMBQ6EVT7b2gxP2aSsRKt3bkw53AOFQHpFDCCjwZdBPXwURhz5uzIyNFpjimBhjyDUSp3VgcI7Ai2sGdFW7dL1Otn39x4vD3PEFJC7UG2PGMRtrbBYTAHFsSOSGtn4ro9t4FTKsWHorZtzmC5lhbGA0aw-utSZtOKqX9M2VyCYsrbWCBDu6nM18CCLuGPR1nhSscdnOdFVaW0lhQVNn0Y-0laoiKeBiP_5l1PFJm3IXOuVV__5omny3I8KoUh8hEhMJfrsHjOfXefuSeB_keT1r68pSGqo8nCxpEwoayCf55mZMpZTHn14L4AZ9EHFARFXL_hJbqkZ3JEDqv6qYniEqU0RXI9gVIa3dDyp_zPe8OoNoyJGnWPYaPUwPZ3LbNLbCCqq6tRgcQEJ2Hn8AdBUFjn2MD8n-C0x_m2sDNMyTCZViOMmzTFV4L6bYB6M9v4OJ0MDjRcGHdA4GZ4I7VmGBWbmvMmQwBfUITke1SGQV5-DfmWCctlgV4RKURm5ud2Q2yCb9sXzSB28K2QOAcfMNC45KzOPPdidQE84zAqrdatxho8MgopEizvvgzg==",
  "id": "rs_007c6e2d6c5b9aea016ab2bf7a8f4087d0bb429d9aa2855037",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.59,\"left_y\":-0.25,\"left_z\":0.34,\"left_gripper\":0,\"left_pitch\":0.3},\"note\":\"All three objects are in the compartment. I will lift clear and position the closed fingertips above the upright lid’s top edge to push it shut.\"}",
  "call_id": "call_O6GHLVla8P86Mw2OpTVQ2oz2",
  "id": "fc_007c6e2d6c5b9aea016ab2bf7c6e0487d090751bf729fdabae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_O6GHLVla8P86Mw2OpTVQ2oz2",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5739, 2.3157, 2.4729, -0.5175, -0.627, -0.3069, 0.0092, -0.0078, 0.9264, 0.8776, -0.8452, 0.0139, -0.1768, 0.9951]\nstate[eef_state]: left_x=0.5883 left_y=-0.2527 left_z=0.3287 left_yaw=0.1222 left_pitch=0.2858 left_roll=-0.0707 left_gripper=0.0092 right_x=0.2636 right_y=-0.0009 right_z=0.1788 right_yaw=0.0793 right_pitch=-0.3182 right_roll=-0.1296 right_gripper=0.9951\nstate[joint_eff]: [0.6085, -13.3402, 8.3077, 1.4188, -0.1197, 0.2369, 0.8864, -0.2256, -2.1128, 6.8444, 1.6825, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37b02146f7a0c676b92a2ad0ecfdccdc9cc7d6251dd2b6a3405504c24617dab1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e081d2ec6902d8bc56458553de149eee6b7a163d2fe5342c0223d3b5d4edcdf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90cca942424681a43b5262c529bf5a6d4f7ecdf25fdfc9aa5c25610e5d45e9c7",
      "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]: [-0.6598, 2.0888, 1.4181, -0.1585, -0.5529, -0.5877, 0.9954, -0.0078, 0.9211, 0.8803, -0.8116, 0.0139, -0.1768, 0.9951]\nstate[eef_state]: left_x=0.477 left_y=-0.248 left_z=0.0737 left_yaw=0.1043 left_pitch=-0.1022 left_roll=-0.039 left_gripper=0.9954 right_x=0.27 right_y=-0.001 right_z=0.1866 right_yaw=0.0782 right_pitch=-0.2767 right_roll=-0.1333 right_gripper=0.9951\nstate[joint_eff]: [-0.335, -13.2171, 7.0632, 1.453, -0.3053, 0.0024, -0.149, -0.1436, -1.812, 6.6393, 1.6337, -0.0024, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr-HU0HYuE2N2EQrsKxNxvM9YVTpRPpMairKSD1cZOgLtk8Q109OIcZNZLyBjESjvCsUcdn7h-zcxgwakqiv_N7t4qrdZBQSHMbVlxp3P8zcmS8YzjTj-llYUJ0Oavh4ZW2njoMWVdvICFB56-oyehgwpFuUn9tqunggq-3q-ln3bAIBLTOulPU_lJXCsLgVkJV-JbQw1Uq8QZuul9bfNRrt3XtHwWZcgYWLrerro-NoI2vaj0Fg19EOmvTERM7HnD370sue0BAQSOHDGIFCEU3YebZbNE-pbLViTXcuTuFahZxaJOnrCyGXhxscWZgeS4KRDvq0CVrAs9d82kSXGXC8Uqo3qdJlHAgCNKX6PBBwKZr4V1nDnvXZuFe-GnKoMSYT2LtU7GeQVPmpN0L6RX6kYXvjDsY19JCZfN2cZnJzZ09JTQU6ya9W0LoiBckPjvfzo0oYJcAjPwkyyhrkmu0a7BMTJTcVAhJ_vNw7d0qRwZGK4GluUK2syFPA3YPJLgIixNn4Tcb7sI7W3S6mqi4o7e4nZLWOrWEwPWF6KVrw84bTWSxT4Ndz0oUk7c2iPMjLjy5pdkQdxKiWoaPV4McXHI_8r6Bt1wRCXZAf4kKnJAb0NwPsU_L5BxppewzP3AZzde0nGNQnUxd-C3Vo3q-5uMzoCzexGlcfUW-6ri0u2FRs8qV1-PhURKHMHn2JdpOSWf6Tv8wKzioyf96tRS-sbbDvS7j4iHXnuk9egNlerDR3IwNlFAwpLWC4db7mZZFu1iyJknRYiUfaBH4TOZymlbQZpafSamJeMxlcGb7ucZleQhMnmDVNUlSDALZxJGxDt-kfiYCYD3Koqi4MKLn2lJicL0EVwjPSSoW7111jzjhasKQI5eKmdyhefKAWvHBeCmtFq7nL0TwGfl_TWTRRkMSXlC8v9FE7OqZJYuKkL32v5u7phWonhcQL65Nz8LfltfSKflEpdWVrNFmd8-TjB1xJElm5yxLj-EiZ2OyZm7gOe0OxQsFrGFWdcFtwAi3R-YJ2jA3l6EFq61TN44mnATn_yUMB-dpZz5xu1dGn9GY4y_JhqPpVAdF5l-Vw4HkfdFM-AcaRHs0gpmiak1Yu2HLUsNmtbejlzxNlODbMhxwoxxUNGKlMQrVbsyZbQjqJEq0A5sJDQsFsS-7lptOixdOPETepO1eVrDtpeno9ItBXd_Fy3rgwG06zVFVC8dg7wuyushbj27FckhL6u39B2io8SKiATUmybBDwZBh6Y8rOPqIiTjBzG1RwQftZinsVBKXf9j66xq8k7OohbM7zM-hRzVci805TMvIl9p5CBiP_BOZ9wgkoDkdyHHWzY6OjkSux0EFxel69qnMRUjw1K_Gmtqj5sXLJ-WWYJcopDlU=",
  "id": "rs_007c6e2d6c5b9aea016ab2bf848fd487d0942efa81253b37f6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.6,\"left_z\":0.255,\"left_pitch\":0.4},\"note\":\"The fingertips are just above the upright lid. I will lower onto its upper edge so the next motion can guide it forward and down.\"}",
  "call_id": "call_j1dpdJfEs9aqmjfnrnarZwuP",
  "id": "fc_007c6e2d6c5b9aea016ab2bf8630f487d0803226fc8d8f566e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j1dpdJfEs9aqmjfnrnarZwuP",
  "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]: [-0.5705, 2.2543, 1.9377, -0.0826, -0.6327, -0.2436, 0.0103, -0.0078, 0.9279, 0.8772, -0.8597, 0.0139, -0.1768, 0.9951]\nstate[eef_state]: left_x=0.5922 left_y=-0.2516 left_z=0.215 left_yaw=0.0878 left_pitch=0.2575 left_roll=0.0191 left_gripper=0.0103 right_x=0.2608 right_y=-0.0009 right_z=0.1761 right_yaw=0.0798 right_pitch=-0.3345 right_roll=-0.1281 right_gripper=0.9951\nstate[joint_eff]: [0.1709, -14.6393, 8.2393, 2.4347, -0.2418, 0.1099, 0.6374, -0.1026, -1.347, 6.7897, 1.5214, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44253a192af4fa9a1735c25f4181836ff4e337374dbc9181570e8dadc6148016",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c24753d239b9197c35ecbefe42c384b23c658c51dc4ebaa5897718eaf024d241",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6203b96a876675867fb6039844c33e4dd7ec682b2769298cbb212888fb2c3599",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 123 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5739, 2.3157, 2.4729, -0.5175, -0.627, -0.3069, 0.0092, -0.0078, 0.9264, 0.8776, -0.8452, 0.0139, -0.1768, 0.9951]\nstate[eef_state]: left_x=0.5883 left_y=-0.2527 left_z=0.3287 left_yaw=0.1222 left_pitch=0.2858 left_roll=-0.0707 left_gripper=0.0092 right_x=0.2636 right_y=-0.0009 right_z=0.1788 right_yaw=0.0793 right_pitch=-0.3182 right_roll=-0.1296 right_gripper=0.9951\nstate[joint_eff]: [0.6085, -13.3402, 8.3077, 1.4188, -0.1197, 0.2369, 0.8864, -0.2256, -2.1128, 6.8444, 1.6825, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_z\":0.115,\"left_pitch\":0.1},\"note\":\"The closed fingertips are against the lid’s upper portion. I will sweep toward the front of the safe and downward to fold the lid over the contents.\"}",
  "call_id": "call_IiNOptZzN3VzzsVn1UBNPP8Z",
  "id": "fc_007c6e2d6c5b9aea016ab2bf8aa14887d098b09481292b861b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IiNOptZzN3VzzsVn1UBNPP8Z",
  "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]: [-0.7738, 1.9495, 1.1847, 0.0437, -0.7319, -0.4767, 0.0123, -0.0074, 0.9314, 0.8768, -0.8818, 0.0139, -0.1768, 0.9951]\nstate[eef_state]: left_x=0.4336 left_y=-0.2536 left_z=0.098 left_yaw=0.058 left_pitch=0.0616 left_roll=0.0632 left_gripper=0.0123 right_x=0.2566 right_y=-0.0008 right_z=0.1718 right_yaw=0.081 right_pitch=-0.3603 right_roll=-0.1257 right_gripper=0.9951\nstate[joint_eff]: [-0.4991, -13.3128, 6.4752, 1.7265, -0.5055, -0.022, 0.6374, -0.0752, -2.0308, 6.5846, 1.5849, -0.0073, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:179b2c893a3e29a89b0141a57a0ac0a86ad81434a5a8631e542a900c375e2d8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25ef9aa8da51d2a1e7bc64241736c7b77bfd026cf7dc4aa9f34b040ca6204867",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:257849e735dd3edbdc6831c204231e9840070ce232d4de8ef9b1c894159cb318",
      "type": "input_image"
    }
  ],
  "role": "user"
}