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, 0.6037, -0.3901, -0.0193, -0.0345, 0.9993, -0.0204, 0.7937, 0.6075, -0.3962, -0.02, -0.0189, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1782 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0011 right_z=0.1783 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -1.4017, 10.2769, 2.0098, -0.0464, 0.1587, -0.0904, -0.6222, -1.4017, 9.7299, 1.9219, -0.0513, 0.0415, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3651b8ca32d1f2806b7cf0942dd34969f8a643aba040ba844cdb91e05bf554e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49ef5fa6e67ea9c7a24c7f1231af0cab8ac347d69ff0630bfc9ba13f434c0241",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2db1e6ae0c9d8025c937a6375824e882c3fd3bac7755a4f0325365d37e402300",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsq1dhFQjf6YBzKOmZuaui6vU50mgz7M3yolmtinfXo-AF8igO4MOWmJoT8X2KCnElRy7qEAVzsNfUx2-V4E31Lje0aXjc72-BMRTmVPQNGww7BQvhuuUmYt7Bn4zUJaOhliPYkwai-IwiGFzE45ekTyqZpXA7mVgGRQGIDz8nou0mPYguwYqt2F9jCMlHGLzgsrQbaYqcjZzJO1ToMzisyk8YllJqtZwbVVnp-EpIZKXKnCS_YHWVFsaBkx0EPItbes73vNdfdvlKWF5kGMoDae0UtrON8ep0rC6OUBsGMO-oA198U-n7xiaCWDaLDpvNe1Lm6pu4uCt0O9se2eOzrDNwyck2THvKjHsO-gOQAYmPMi_j8KA23b1a_ZuqQFUtwQ819wo5vhKw3p-gRA1iHRtHmxsano_rZaeay1wW26T971auTNtNAK7FIg3e4dB8nWk1mkrCRC37SogNMciOyhxdJJgx9YESPDyK2XLLVIGwCFvVsSfdcbkaoD0kKQcxvgEOdkGOXPQZXFhoEHvJLVfDV0OvJi3BlXse-pnk_oQJTjIimK2ImIc8-10OSnQ_4EmCeLTNP4LBjoRcBZnNUQENBBKFYXd5xVCflghIcNiWbVI_SxEIVRrymtmRYacwzzp0L9gJ2IvWwi7hYcdUq_4XcNXxkI1MBxUAXcOnSkQ-5sS7HVzmwj3VGLvdhJ8CB9WMiM4Mrehr3NZtlIfyVhmmQYg4wxN06ejHF4rDWteOskjN_709U8RqO2zvAchCWc1nADLgTTSvKgiyWmdi_8j5nctVEwJGf8cfa5oUC-3l1ZNd5znPAQT-pzOuOnu1hBBAxU9r_AG0Q7mM-2RArvfmWBi2f49X3e1r-k2TfdRKLsdRIHs2exe4QncguHjk7A0EVnWGtsfp8X8jRW1uIuqizw0axTlIi-8J4QsgL5ZmixQh9rMUfW-oxjoab0wzo3HeJKkgcrxYbh1ck2aj-Ca1CCPflDp4tK2a7KMggL2qNkopznRbLpRdExw3Yq13775cyWCSLtURFL26uRaRDB_XHUeeDD4rz4K7S_uYsWh6Cl8WAg8veKuWRK-IKDJrFWX28ze9NsAI91QytDomwdDTtrrElb2pp0sSw1Ez50CWlauqtcipZulHbhkUXdYXFu59Zn5v4mCiYjoNxPiem2Kaj3HAS2eO8zkFlMcYHeEJde33YYf1ePIvcXroIIvAa_kwPM9C-bozW4yxOr0C9N7BCN4EfHw3nTmeBnTbJNudDMdWPmaRWp8SXXHrOSW-g8cGRnC0o7dwuTibOhXgNgZfNU2U9yeJdWp6bDGW2MyPUN-nhdiGzof95JrbLgefnpP4eYORMbudvD4PTmHHcbDpTUuHnVr1oI2OF0lMowNV1dohvcdIf5RfxIF5bXu8HoaKDX_BjAW6LzwPR8V8H5XuP4jFL1c18NaGB9DpggJDarq8oNVxkKkorfHsiqjw5Oqj_7HWgWZ1tI8qw7Kf5VvgJhANyvbzPPbUHwSTG3NYSULE2Q-Efm1rMqYbyfdeYJB1goweT7TyMF5-3GxmxCZiUEWS0FegcU6W0gaRfCN9CsNZWba8bn9LlhGV5AhJE0UBdL78h3PH952VpxSIx0vb-j_gGcDt7M_71cs2U7GepE=",
  "id": "rs_09ec560fa9a846d0016ab2ad572af087d0ad2faf32e25b5026",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.18,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"The open safe is at the back, with a white plush, a brown plush, and a yellow object on the table in front. I am positioning the left gripper above the white plush to pick it up.\"}",
  "call_id": "call_BD4z8n6QIkR4kp1OoRQFi4sK",
  "id": "fc_09ec560fa9a846d0016ab2ad5b42c087d08c6df9c3ea723356",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BD4z8n6QIkR4kp1OoRQFi4sK",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6155, 1.5665, 0.9482, -0.131, -0.4919, -0.3962, 0.9993, -0.0257, 0.8005, 0.6151, -0.4347, -0.0204, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3921 left_y=-0.1707 left_z=0.1292 left_yaw=-0.0093 left_pitch=-0.0661 left_roll=0.0317 left_gripper=0.9993 right_x=0.289 right_y=-0.0002 right_z=0.1721 right_yaw=-0.0012 right_pitch=-0.0377 right_roll=-0.0046 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -7.6513, 9.0325, 1.7851, -0.3199, 0.0708, -0.0904, -0.2803, -1.7436, 7.1863, 1.9658, -0.0904, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:654b07bf01e60c9ae0a08401c70161a76508af6d826c0ec43aa536a5ae466f7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:377d68a68418671550a922bbafda4656c472227b2f63fc4d6aea7be047316239",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1c37c4dcfbe023372f95f53aae7622e40caf79f05e6a2e8c90ba9e126e20428",
      "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, 0.6037, -0.3901, -0.0193, -0.0345, 0.9993, -0.0204, 0.7937, 0.6075, -0.3962, -0.02, -0.0189, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1782 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0011 right_z=0.1783 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -1.4017, 10.2769, 2.0098, -0.0464, 0.1587, -0.0904, -0.6222, -1.4017, 9.7299, 1.9219, -0.0513, 0.0415, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq1nHUxUvbDTHVdMxk6MndsfEOsWHKLAM7qA-Bj_QjCywrVXq6YB_k4guFnRtmt8fdEfvQL5KT63FgjSeXhO4WAYYvg56qPYyb4A07E_8GMtzXN3dQWa_The-5IsyUpmoQZGvG_YOykHzHyvwVZr_sepUZPK1oESXbrceNAm8KqmN4BvpVtXVFxb6YrQyn7WD8NrELzCdle7rDhMgPabTjUJXqpz9V7OyWJSQiSH7bZG8_hin83td3z81wKfxKCuNPE4yB-0626kb0d8vrqtiOjSEJVn67A87LDECUVxFU1Bv1KLWwIZyfpfCt70bHaMcbgnKktDpQhDCbbCDRAf8-6-FC-TP-LGCZ6CqD7gOs48F-Q8Cl8alx8j3NrYnPWrHYoFHilUOjcU8RQPpD0ZEPkZD61LJ9GBWv_VEHBshS_d172PhYl_0eZneqCnPfULr0lYvvvyANo8hxq18Kj72x1Wadh3aZAgX0dNHZQjFvHfsy2zvQw1vO4Ydznm6vzbkonNbOmT351B46u0NcN7eFZceChI_HKqhEVMlj3pSPykhA823oKZevttiSGxt-xQiBMKVnzVmznv-x2-trHlYDvwtf1NmFao1zFxDuGyPclTHThlpsIB1RuFxOVPaI41jOYpDaBH13_caCk5PjpcZBS9XW55FA5PrngAsW1evMj1jLhIecYkqSoUCNa8SbI2Tif_AQcAkHJqU_MEDpkqeTvubzwissyEV7XZZrmoLcwTWTEwFXf_GvtURbbZe7ghZvCXhHnpKcEk7OpllBt12tleGlhBg0eJTeNoAdLrBxcyJbeQYh_4pQxwCdXfNzHxChOte1dAbYaujq-mjsMwn9lJN_SQVa_NlU-_bC5SKZaPLy22k5fFMkUbt_v6Sbuau9497l5_mCp34PhjS4YIvX5PrTfuGI-Yw0cqtOUqKxJC0DZ3NCzCWS60UnBSVXSEoZr6aW6NoWsE4sHfi1-K05eQyItBOYbguCmKBL2Q1GwtQCIW5BP7J9NlXZ-SSN4DPUV_IhsEddZDKE0VAsEuVLNHoNrD1J_LIh3neRR3UkmpcSSE8MkyrrjQan0Y0yYTn21E0_RBf1KajIzFW2qlxYCJtkV7Hnb8uOtdCNHVwBejg9F5AovbsRwC91EqSuCf6FMZTCR1dHyWAKdFBZ6k308TJ7XVzu-q_ooYaVnU96hN9XYLQg17mNbgee8dJWYsm-jUcRAtDqVWR5tGutUkU6484mBhgo83XZ8TXuXYE-FLCwhM0FZtn3Gexl2SqxwRPyz_wifhxOBaMTF0gcQg4ot2qGoMkOYvEhGWRtHcjnqY1PKJfc9MW6wbAcZ6WGh866efFMApE0tTPryp-ybg1QNUSAwNPwHzT7qnAVYfiHStV25m-lCsb4qj1krYs92s0bNogQa-x1zZK5a3ILCKClhdfiOoYmecZXkYKPyTJ_HoViI=",
  "id": "rs_09ec560fa9a846d0016ab2ad634ae087d0aa2eafeec4546497",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.143,\"left_z\":0.035},\"note\":\"The white plush is slightly left of the gripper center in the wrist view. I am shifting left and forward while lowering around its body.\"}",
  "call_id": "call_b8JGTlc5CfFgRCKM0kFVAMEU",
  "id": "fc_09ec560fa9a846d0016ab2ad65ee1c87d0bd59e2004084ce7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_b8JGTlc5CfFgRCKM0kFVAMEU",
  "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]: [-0.4938, 1.8076, 0.8104, 0.2443, -0.4225, -0.3305, 0.9991, -0.0257, 0.8024, 0.6151, -0.4549, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4183 left_y=-0.1388 left_z=0.0375 left_yaw=0.0226 left_pitch=-0.0958 left_roll=0.0453 left_gripper=0.9991 right_x=0.2862 right_y=-0.0002 right_z=0.1676 right_yaw=-0.0013 right_pitch=-0.0599 right_roll=-0.0046 right_gripper=0.9996\nstate[joint_eff]: [0.335, -7.0222, 4.6701, 1.1648, 0.0659, 0.2222, -0.022, -0.1983, -1.4017, 6.9812, 1.8974, -0.0757, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8d7c9a9e678d9a1ef386c65f9b6389bdc3627017ee62bc2e602209b4e50b8e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e5f85c821da15a2427dfa0429709dba12bf32efe55f7667899258f0cc66ba24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8657c17f28e1e6cd2494be927b994cc3f886bdb1fd6119b1f8e6edb6109b2da1",
      "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]: [-0.6155, 1.5665, 0.9482, -0.131, -0.4919, -0.3962, 0.9993, -0.0257, 0.8005, 0.6151, -0.4347, -0.0204, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3921 left_y=-0.1707 left_z=0.1292 left_yaw=-0.0093 left_pitch=-0.0661 left_roll=0.0317 left_gripper=0.9993 right_x=0.289 right_y=-0.0002 right_z=0.1721 right_yaw=-0.0012 right_pitch=-0.0377 right_roll=-0.0046 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -7.6513, 9.0325, 1.7851, -0.3199, 0.0708, -0.0904, -0.2803, -1.7436, 7.1863, 1.9658, -0.0904, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq1t_pcMnkBxJNcxdWRIpplj0_wgIwuCiuBn-Tz7l9tvtw_20OxcqAysAEfY2LeUI8il4AnYg52uOsnNI-xzKEbjQ9QGw1jATM5woclTaGLhG_4eY4FOr4_p0QNAm8OGQd07SsqDTcBB54pNYmS61OE5qFrX3asAvUqzlddlRutyEYGXXUMoc1bO5-KYYCQjLVgmgCIfdPGfX72vpBegjfMSDunDNxFLNyaMk_vEiivc4TOrQf7JMvT-7d2JBUNKtpj32bopvzuahbe5d-Sb3wem63tGvjT4ditxb25CcmbdoQQ-XCDJT3PPbxgA3WLIGUgncGHsWcydOeywTBG93HfcbDAYFS0CPjvrvAqXdEp80of4vtBONZGD7j-0wft6FGWMaHTypL-j2r_LQiTu5f6U7KqR5GrUDdo7Fw9rTxo14B-he_F57Ckn3w0uEnpx8S9PcErt9zJBnLc-veg0nGTskWZzLDkg_Vz_hjkHORO9p_UoegCqtYdaLE7i_xo8o2WLfWA5G-3aqt8Yp8KrJUHtLV3NoYx7GSk5IpEInLg9f7aMZTis43kzF86mzQSq37enDXHmNM4FHjvtYLl1h52PvYNvrz2IGVoXGRViSRVMTiGFpW6tPmwcGPTmVCAuDuz-YXX6WPxlPGNkgoxsJf56w__CepFKCQFt8wxOMaQY7Q5mH5SH4O8n7aDKoVvVviIXlRN-JyxNEWqHDnYYE1THkPPAqlOLA0RW77-vLDvoZ4ke2_AQmBUmGHKHZUVdg0ORdqrto_RHFIBjJpPzfSHMToyqEhS7cgNNGuL7JoGu-iPVlDNsjJMqXIxo4C9M3Dv0qQ_2FwbtZlBY43Qq4XQW7OgP5rdjAc5wbp9FgG61zqTc8ntqt0IEuliUM4IUYQb9rLxfTeERRWS_dZUNwnancOf179p4y_A_eZfNz3x9E7FjRGG1E-F9qy3lWH6RUhEmyC8jyM_RYY4Bcs8zvJ_XNdZynOZY80t01qserUWnqTc7z8BUu4ct_FCHKFD9c4kiDSSb1-f_zW8C4ArYO9XCq4_xKu1yfThxEjO13oaOYIHr8jcyxepSq9XxLkJbBbLiNuDTyFJRjfz3VICN2dM5qnJ8MMRqEmOKkmOCTiFPSiXozFEryTPxHOH4EsbBQz7TUQ_SLtjtZwqCWdVrxZxT9cMMWV5PPNamL81XTdXDbhy7ruWeUWsRwrsduikzSvqV7fjAYp6IIKxwVkB7BudIVxrWcm-1rUug1zrsFDatX_z2aZbGSdSYLKVN4pHnxN4g9s4RXhlTbObAxdfPSaX-q_uV-yaUWf0sgS_uIbpXXF01IgK1MSObq3pVsf4E3vn8Jaf0-EH6Rqx9YRcg0v-jyey1QRz5ppF3Dzj-YY4gLw4-ST5Y3xNQadz46bCFcGjP",
  "id": "rs_09ec560fa9a846d0016ab2ad6a705887d0a86755224c832eb3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.118,\"left_z\":0.012},\"note\":\"The white plush’s body is still left of the jaw center. I am making a small sideways correction and lowering to grasp its soft torso.\"}",
  "call_id": "call_zz7tmIjFHGgm7PkJYR8tY9Va",
  "id": "fc_09ec560fa9a846d0016ab2ad6c050087d0ad454eddded3f76c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zz7tmIjFHGgm7PkJYR8tY9Va",
  "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]: [-0.4576, 1.8435, 0.7834, 0.337, -0.3969, -0.3027, 0.9991, -0.0257, 0.8024, 0.6151, -0.458, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4247 left_y=-0.129 left_z=0.0278 left_yaw=0.0221 left_pitch=-0.0786 left_roll=0.0379 left_gripper=0.9991 right_x=0.2857 right_y=-0.0002 right_z=0.167 right_yaw=-0.0013 right_pitch=-0.0629 right_roll=-0.0045 right_gripper=0.9996\nstate[joint_eff]: [1.1692, -5.9966, 4.3692, 1.4188, -0.0855, 0.0024, -0.0073, -0.0479, -1.1692, 6.9812, 1.7411, -0.0611, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c3e85b719160a2055db42cef0192b8da7eca739e2f8a4db8356afe9f185382f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e95d0ddb74d9b504121c7d90f52082e9c09c7dd59cbf21f5872cc5961ee17680",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6caf7a08547867b43e7381227bc49e581429e546e6a43e6abee738320113bc3",
      "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]: [-0.4938, 1.8076, 0.8104, 0.2443, -0.4225, -0.3305, 0.9991, -0.0257, 0.8024, 0.6151, -0.4549, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4183 left_y=-0.1388 left_z=0.0375 left_yaw=0.0226 left_pitch=-0.0958 left_roll=0.0453 left_gripper=0.9991 right_x=0.2862 right_y=-0.0002 right_z=0.1676 right_yaw=-0.0013 right_pitch=-0.0599 right_roll=-0.0046 right_gripper=0.9996\nstate[joint_eff]: [0.335, -7.0222, 4.6701, 1.1648, 0.0659, 0.2222, -0.022, -0.1983, -1.4017, 6.9812, 1.8974, -0.0757, -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": "gAAAAABqsq109coSulTTN6owqO7YfuTgiTyzDYVRb9pNLdvAWiXZcNIOARBDZY7njR3XRlbVnM00hkCsA_EXCRfwpoeHPSbMXDKYFPodzZBDLZt6nKzm-wulk9BdXWnGFeCwGkh_3PgkKaKhhDPbK15TlzdQu6ccj8HtzSMlNK6b7WSQbx63Gh2L9xxvzzm7xTG0g1raYcK1F7wVXYRMcd-4_O6gt8hJWM4bvQ2NXoTvcTXHJy6aAolVDDLp75k4ii8K8-_N3AQRiiz-T8sOpWkKtDqN634QggjAa1gJOvzjtjZLwDrvSMtaE3CCIZtB8WkvHBiMwBwqhVJR5gI2QhncSGWIqxtCrIm71wS0wh1yr-8NLojfQ1klLvtmkf2WmjDK0lgdtX-gom--icwiE0wAVA1WxRaLlkbtcsr6JEIZGMM4KIWHZkQczP7E2QOeayXzZBow8VV4BLxMqpVhlNYbmXHE5RiDc36ZeyUmu6djE0OP7_jqFFmtpHv-rdWMG3DNxQz45fiXn7kWuSIAQL34uhjGUbObI6fyttt0zHelpGZixU2IY-pwqua45yxS027Atu5HJxChI5wLTeSkMXA6NbxWIX4iPmDa7f7KRwxvpTNmfzZxPBmqnoX8z7-nb_1PTbjsoAyA9TbRq28zbUC9d4VpMIzvT7hjrO99TRD74WOlx99FVOUzXWOsHzlI-7XJFPpCy9oQtB1DEa_9NCx5yyOfpsyL33WkAfYjwBfkMorQPUDd-e-h90FFHY5u8hlx9K1FcjysKjn828Uux54fGM951bSYPSWRYh-t4bJFjmeEF0bbqUnKEhWcYudtLINK6pAkHSyQC40jMlKekOWWVO8ab0xS-YFrxPbct3f7zxGKR2geSBp6NNY40UBMSkokJA7hXBvGA2zzJNFEl6QAskS6e_VgimOcTmSzwfjf2B0Ur0gG2c1LFU5SJiSiriIrxkCzhyPDeDzhCDBGl5IM8le4Zfkw9XqLwO6N1BkUccXamCZ1b5_NWL6gWmacJN0JXy6POmF3AQqWuTi0uBewL-wRTBkOpHBoYaTNCcHFb5dwQ2JrBVSs7C2-Qr1C00Zjw5YCS1164qFHESU4L2QB9IolMlDmf0dVDIKn7oq4CZ8cCdmI4c9nNIQ188BlwTMu17pKt9XIKAy40YaByn2qh_PQumjbPUg3Fij2tYYQEBj7oSZIFK51_3K7QXDTgvcofmqxCb99Ieg_EIpkv1z5toqDijSanFBitxcPy5KOWuWHoi-1rL-zB64MysWtKCg8vS9IgVNa2q3OTyDGrGXPvWX-XpU43Sqd5UjSTugJN3EaEsxr5qSqcTQcsQer_cgTogHt3GFSrpKVz7C8ghYQRnz2-gE5v99HmOEBkN4O_ly2oMu9Dao=",
  "id": "rs_09ec560fa9a846d0016ab2ad70b18887d09ca6f58f5bb19868",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.10,\"left_z\":0.012,\"left_gripper\":0},\"note\":\"The jaws are at the plush’s torso height. I am completing the sideways alignment and closing on the body.\"}",
  "call_id": "call_SIwwCWDV8YXvnRPTt7rB6huU",
  "id": "fc_09ec560fa9a846d0016ab2ad72ecd087d0ba07c7a5dc94b81e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SIwwCWDV8YXvnRPTt7rB6huU",
  "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]: [-0.424, 1.8687, 0.7662, 0.4084, -0.3965, -0.2852, 0.0175, -0.0257, 0.8078, 0.6151, -0.4938, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4313 left_y=-0.1159 left_z=0.0239 left_yaw=0.0449 left_pitch=-0.0534 left_roll=0.0384 left_gripper=0.0175 right_x=0.2805 right_y=-0.0001 right_z=0.1586 right_yaw=-0.0012 right_pitch=-0.1041 right_roll=-0.0035 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -7.4872, 4.6564, 1.4139, 0.1148, -0.0269, 0.7839, -0.0205, -1.7026, 7.1043, 2.0, -0.0757, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:268262154fdbee8ffa1c0142a6e43762907c18686660c2f3a96c65a4c891dd82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a789196839a0ea055d262532e9ac334adb1699516c8dd35189c1147b8a2c4435",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e4f3b8042ad221a7b8cc53bd79c9100302460d128dc0e7b0fe08d36c0b2940d",
      "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]: [-0.4576, 1.8435, 0.7834, 0.337, -0.3969, -0.3027, 0.9991, -0.0257, 0.8024, 0.6151, -0.458, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4247 left_y=-0.129 left_z=0.0278 left_yaw=0.0221 left_pitch=-0.0786 left_roll=0.0379 left_gripper=0.9991 right_x=0.2857 right_y=-0.0002 right_z=0.167 right_yaw=-0.0013 right_pitch=-0.0629 right_roll=-0.0045 right_gripper=0.9996\nstate[joint_eff]: [1.1692, -5.9966, 4.3692, 1.4188, -0.0855, 0.0024, -0.0073, -0.0479, -1.1692, 6.9812, 1.7411, -0.0611, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq17r81nnJZkDPYVVQdXf_4ZjwXBuec1BCgyvOe7VRDAxp4K8tXaMLJ4ppOnAd2gPHFbhtbbjO_fBBFhiJrp6weB7dKk1u50kq8w6bfDES49V_ynEYW22kYFvRvNbl-Heto1-jEZS75jz7x7Sn1ah-AusCeRxR-Iq8zi4jv3zpoRoU9lRUFEhCwDziCO9gjTgMXmQG9Av3UmMIsz1iNPS5FSmxx58aurDMLD_PB3bFaneMLfhle1FV9nvuPzZIAzxcUnT0urh9pCbKt2wdTS2sX8LB92upLVNUvcX0ryqLa3xDLVNtaIZ62RMK-Gd_YLvZhsBQa7L7pIlnJbjOS76kc8CU7odaqYmrRZ4y28b1ltrvyzuA2mxeJy62oltEfalubMgQ8cLO5OS7E46NWhC6S81ZxMWyTGI6hgWCjwnfYOgJd0idAsyvSR0vQQxPwPOMLsH2K0_dVYItabdwAFVS8GmwTqeU6rQbOAweR4GKvbMDrp-Kr7WZCPh6pfbpmVFS5kGBQe_n_zFZ7SCZjBGBk9pws00s4cCfhQ3ArysCZn0VAz8lr5gMHD07piPtfFKwFzwf3YbM6lwM4jksrfPBTEk7QFbukZiT_q-YRHOEu47-5dW6Tk5MsOFOBTaZ1YazW9vxAcDlzoZVI_Ta89_P3HgaQ7t16CkwHBw-nydf139l-m0ka4ZUl_i6Y9iQMmStHfeNsAw5-hmZn2K7PIEWfiarIRb4_alizRpqbEsoxWUp9WeDK-2RlgaxNeZQm3I7ba7JNvjyfEMjIyQs74DWyzqOZm7aDfl4l7-Tj0pPjVZL1DZ-OIyBwsJt-Hyx8EcMjtbuGiLNWwJCgMa3Vl7lWR3sa5EeugpSQbi07q7IEzdWh8clWQn0gD3-HQECTvLQnKS_Cnf9T-YR87O8rK4c36EFYauVsoo0Ea84OuduDpAtlyJ9exUN1UVVRKufN9Uv-1mtcH2BMzaOMXR8O0SV4irPRO1voMm2dFrXiwKBLJCY4cOUPxRi--UVfbiAGodPhRupHrlbUSkntQ-Te690IcDw-cibkTyBiFaAQyIZXNnz_HARVPlZcHUOD2geChviGKOnmWVefzPUvRHZeuNGHItVYs7KIj5CORqhX4O53ax2919yj1lJlk2SyHzAbNpAAEdiWRL39qNP0_TM05jvBzOSjIqBubXmD9_3WslKemJWYgfxB3JPKkuhTLFma2nUV57b7R_c20a9jnfzgcOee7BcYeSNjY8zRG1ZBhG73wYpq-5sd-20U5tgW7MC5Qna0A",
  "id": "rs_09ec560fa9a846d0016ab2ad77ef4c87d09dc13c616b61fef5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.113,\"left_z\":0.018,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"The closed gap indicates that the first grasp was empty; the white plush remains just ahead of the fingertips. I am reopening and advancing a few centimeters for a second attempt.\"}",
  "call_id": "call_AeL5p1z6Qqkmm5yayZpRDXaQ",
  "id": "fc_09ec560fa9a846d0016ab2ad78e7b887d0ad22b6f16d339ba7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AeL5p1z6Qqkmm5yayZpRDXaQ",
  "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]: [-0.3862, 1.9533, 0.8673, 0.4118, -0.382, -0.2657, 0.9949, -0.0257, 0.8749, 0.6865, -0.5678, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4603 left_y=-0.1122 left_z=0.0222 left_yaw=0.06 left_pitch=-0.0401 left_roll=0.0372 left_gripper=0.9949 right_x=0.2823 right_y=-0.0001 right_z=0.1585 right_yaw=-0.001 right_pitch=-0.1739 right_roll=-0.0018 right_gripper=0.9996\nstate[joint_eff]: [0.8, -7.3778, 7.0085, 1.58, 0.0659, 0.0904, -0.0708, 0.0342, -1.4017, 9.6342, 1.9023, -0.0171, -0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7bdc7b5d718c4e36da033121bab56b123803982f2da70398405819298d4a8e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1318b3180ba9048df9db1079d9b21dac09bce4227c56e607a0605c22211a77be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da0d5a2ceb0a79067827be416d5cd792ef8410781aa6aa938cf4c3c0503e3bd3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.424, 1.8687, 0.7662, 0.4084, -0.3965, -0.2852, 0.0175, -0.0257, 0.8078, 0.6151, -0.4938, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4313 left_y=-0.1159 left_z=0.0239 left_yaw=0.0449 left_pitch=-0.0534 left_roll=0.0384 left_gripper=0.0175 right_x=0.2805 right_y=-0.0001 right_z=0.1586 right_yaw=-0.0012 right_pitch=-0.1041 right_roll=-0.0035 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -7.4872, 4.6564, 1.4139, 0.1148, -0.0269, 0.7839, -0.0205, -1.7026, 7.1043, 2.0, -0.0757, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq2C0axjcWpAPqKqLrD_cR-tqFrFqh1jHTRKWnMLXXIG3p1OXNrEa5Mmp3WqaiRSlDoHkVMO3rg5LV5N6MQwAtdlVFWCbX8v6boIRubuqNFqZcKoRWRnhFmNQ_4_T-2rG1cLzvPFv3scovKI5PeZbiOlA8gmMm-9rxMXi_4NfvH4-V-rOOUVmgSVhbqkHrbGA0rW-a2sw6ZYQSOqvCUcqyYlemqprUqciSClI1yqy3HPJYw43kbRKVmodgS_Gj-r9Vu370Like15ZLfdbyALPbV-j_QlTuYJiRymZZc64EbKo5VfRebH_aTbLTCi4zKKkpnik1f6MXOPaXnAYHg2pWF9nsYIidhJMX3vfUnXbkLokFgqLEJS8KZM9WY7cUxj2rDnpTlF2_Q_DrJ_P0P0wY1qph2EoHNSHEJaLXUirq2_5R1OKM1rjluaosmDBWBsDL96eO31st0G4CC9KqYPgTwIC1guGL-ndDARrXPZ5eiJ2h3GDt65acKsgt9gNZWBJ6ZUiH1ormeJxib-KLVvRibNAq6fM3ABQ_LY1o8PD2_45CbM3jf1WmC1scs_MTNKPwmg3LGrexkQ7qL6hLnwumdf-BnjC53UMbzKXqhSbi0U7o3dxuLubmr0fjZpLcfT8EC6hOnZOc8iYgKXyqkAnHPSl26-jqItFw6K7sNPCWK8jnQ5OfPpIXwGxwBiQupgxnX6KBOt5JdSqyv_CGrAzzBD-p3IRyLpOEympkbVuumD_dLRaSTdPPVZ2Mbdlis5bktUxcWOMi0kznJcjKnqveuutuYDfdyCF1e8ATXkOcQiNFmVqkR_-vAkC3_BmcwnTGth6J7vI5Zk5uoGyMyjGYhXDN7fBSY1paemh1JY0N43saYTCQ3ydKAeezf96NEB5m8m9XNl2s8K6dhCVkyscbMNEGv7AqJ0VfsDRhdvKjApl-LbgKs6-zGOH5kFQgdyjntqkYY7g_uG3VRTVOmUDQr2Lzn6lXpmjMT-qfxdjJ9wxUbfp7Bw4K0wcrK3me4RgCj9Ma2bBJuyN5YhMXTPMQIonhXT0cHqysGb0Y0lNb6Bgh7ojRq6wjp-IKIoDJXub34b0DToYTCBH4loFVR-uwuU5zQYMvWtxjLh3EPRboTy3yWe9iqoyWl4sYCVb-zSyQTF9FzPjZBMRNxHBsWP55dB7GKjd7hMPPfDWHZ1F9MGBFdIdRipWIaYdFNoGvVbBC1qgfWhp-1h0BS7z4RAaUSuEuQ6oV7g_v5lm7gp4ykO1Y0FA8gXr5P38_Lhcd94U2JWUBMQUQR6CWXKA5d1FgffNYdkMbq1o8W_fInr8BzzPtNDv4u7l0JooB7B0goSK4BO8maFHb2ZQxgvdL4Jh0s8h84zScxi0jAGYjbKBQJXdyJN5uOsb0noq77KaaLKj32D",
  "id": "rs_09ec560fa9a846d0016ab2ad7e600c87d0a35eceaa5483f8a1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.072,\"left_x\":0.47,\"left_z\":0.005},\"note\":\"At the lower viewpoint the plush is clearly left of the opening between the jaws. I am centering the gripper over its torso before closing again.\"}",
  "call_id": "call_VRM6eSRA9ChOnWqXDFzYvYsF",
  "id": "fc_09ec560fa9a846d0016ab2ad80558c87d09375db4e1d5fce2c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VRM6eSRA9ChOnWqXDFzYvYsF",
  "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]: [-0.281, 1.9762, 0.849, 0.5079, -0.3279, -0.2123, 0.9962, -0.0257, 0.8772, 0.6868, -0.5953, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4749 left_y=-0.0741 left_z=0.0215 left_yaw=0.0917 left_pitch=-0.0038 left_roll=0.0295 left_gripper=0.9962 right_x=0.2777 right_y=-0.0 right_z=0.1532 right_yaw=-0.0011 right_pitch=-0.2033 right_roll=-0.0007 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -7.3368, 3.7949, 1.4139, 0.2125, 0.0415, 0.1245, -0.2256, -1.7983, 6.8308, 1.8388, -0.0562, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65febe7c08bbf8590b82f490bca4abf07311514c53c772df8fc2775cec5c0310",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:141588703cb22b8156f19b5c55fbdd144339dbff38fb79dbbfa4558aa00abd0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5ed7ef077c67540e501255619b947871816d2badb7289f9f9e986300d196fda",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3862, 1.9533, 0.8673, 0.4118, -0.382, -0.2657, 0.9949, -0.0257, 0.8749, 0.6865, -0.5678, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4603 left_y=-0.1122 left_z=0.0222 left_yaw=0.06 left_pitch=-0.0401 left_roll=0.0372 left_gripper=0.9949 right_x=0.2823 right_y=-0.0001 right_z=0.1585 right_yaw=-0.001 right_pitch=-0.1739 right_roll=-0.0018 right_gripper=0.9996\nstate[joint_eff]: [0.8, -7.3778, 7.0085, 1.58, 0.0659, 0.0904, -0.0708, 0.0342, -1.4017, 9.6342, 1.9023, -0.0171, -0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq2JKatI6gL0cHaJvgsK8g0odXFcmMYqGuhTGEjywjnIdkjMPU0ovD5YYMTqeuBGJNs8HPcS2bFMXfPaDMBg3qVSCc8NF7IQwCPzUigi7t8MAkKAxgkJzWZ_tww35fm_9Jic19ImVxRpSvy3MAVHrCWWdfBaqKF7h7wpxVZNWJM5I9KbHi7lBHIKxRYA8w3rmyH3EfWdzR1ZJZNrvf9JwIpirRorfCtproIlTspstfS8RwRtVDXJng0K7yZxd12sDk-DPhVnPpttWkcb5f1m0GmVF_oYFyTu2TEJ0j5jPIevvMBPXqeVx_AFeY09DiPV6hs7mWX5cQjHAmfcnKA_X-M1b5XHfETkr-Tdq8VrK0J4wMLQIPDjzE3klGBYrS5ZJ0lyQBN9URPWKKqkLo4ffFJ_BZjc00UeRrOOoO3vqanGTrUEFetfLJx5yD6czrOzmB8rACuG5t7puKVFXOJSDKOkbxgw3lOWLW99SyqFMNj-qqCSBx1vzb_F3Yk-qMxJqZdW_elWMS-VtM7tIZkBfi3TBte4CotQSVhghuag3A-I848N1WWzXqd_KMi3Mp2KXmhswOb6q7xW_w3wO49tbCXujKS0QpUgO04zP7Y35fIs5haktlelbAjTnqHFmUmKz366mIqUWPUTFSTO1s7RrxMxA42EOVPmkG1_MBIMtsaqNcxd9uIb1KE7f15iqGgV4a18KlUNxJtBx76qSmSoPQlPr8AIP6J3gTMyLQc1FTR8Ambsn-00gl0O7BY1j762PF5OoAw3GYoAOahZwJIswudq70DZGeZSc75sNRSmiVjOsJNPj_ZRP9lq4spJicATWBi_vwNjwAMggXl8IkRghUqVXqismoVFmWI3fFdbgI_TXZ3N_5IEIVakxTO5ewf_C5ZVlNsSkjIE9524qPWwnjqy0lG_N6r1RrpMrT8s3w1HRNVsjSWJW-OodJbtSgdAPGUN_6ib6T0Sa2nPL0IgHvbMwkUVcCu51l_lZDR9CMFOUg2TffzqSCmG3RdpB4IweYqZSAaWKZeNAL3mQI3MyHSchkTApk8xc21McxW4Rv9ipeWMyaV3AA9B_LM07y-60pW9GP-dzSIWRG2jJ_7Mb9XQgc1VTior0JasYSiu6oSjfJnvi8G-JoMs5liPyI6MF9FBvA-rgSaYOKogsd7b21D6dlwYS0yPw51zsFyP1cXid8dZg9fZYzc5fLW695NsERbg8sSuNf8vgXWTYjG3QCwnAHm96yRgnncSobpE2cIJSBs_RwddN19QEyNfmV2YtOvLUohaFosqck6fw3B1CZmYPA==",
  "id": "rs_09ec560fa9a846d0016ab2ad86f0c087d09b9d11f8991d4e87",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers now straddle the white plush near table level. I am closing and will verify the grasp by lifting.\"}",
  "call_id": "call_XX14YtqRCRT8qASL551PkoFw",
  "id": "fc_09ec560fa9a846d0016ab2ad87ec9487d09549df2a79f0d013",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XX14YtqRCRT8qASL551PkoFw",
  "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]: [-0.2649, 1.9804, 0.8429, 0.5468, -0.3183, -0.1947, 0.0165, -0.0257, 0.8772, 0.6861, -0.6132, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4788 left_y=-0.0689 left_z=0.0247 left_yaw=0.0904 left_pitch=0.0206 left_roll=0.029 left_gripper=0.0165 right_x=0.2744 right_y=0.0001 right_z=0.1498 right_yaw=-0.0007 right_pitch=-0.2219 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -7.6239, 4.2462, 1.4628, 0.2173, 0.0952, 0.7937, -0.3214, -1.6205, 7.0632, 1.663, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:298f8f4ee7041eafe54f3e50c2982268db1050cb9fd6519824da1f54a7a93a35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f0dacc75875475c6a07b84c187afe5efdbd9a0c4d34da811b95b5443516b25d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:979a873e4e878462abb14102a3df8f2aba266a2cc2eb3957fdf623c4be0b2c36",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.281, 1.9762, 0.849, 0.5079, -0.3279, -0.2123, 0.9962, -0.0257, 0.8772, 0.6868, -0.5953, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4749 left_y=-0.0741 left_z=0.0215 left_yaw=0.0917 left_pitch=-0.0038 left_roll=0.0295 left_gripper=0.9962 right_x=0.2777 right_y=-0.0 right_z=0.1532 right_yaw=-0.0011 right_pitch=-0.2033 right_roll=-0.0007 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -7.3368, 3.7949, 1.4139, 0.2125, 0.0415, 0.1245, -0.2256, -1.7983, 6.8308, 1.8388, -0.0562, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq2P6_Qrj9weSg-o2VfNQvLkIBLjye4Iv6xKgBxcBzgCHfhbIeuh0ryJV4IC22FrCU_cRTN2GXA4tMPP36GyNeP-p7WCd77RhAe7r2ObUAYV4S2-fpQgilD5tiUYQCvX5eyRzw_T4jY5NH8nES6QiA4n2i6tnoKh5HGkrizOsvLx-HexyKXL5fMvIqYtZn-5GiPdFR4oQO5DVl7_3NTS-mYjV8KwuwDVF8lacrTWmQWUdEY3_uR4bZC4K-T0TMsToGBsFK1nqbrG5543Z_arXnLV5zzRYZZJHVOdl2GD9-HAiaKei058ClczPB0DFMgo2M9Y78fjBKm2JGaxh0ovpJRdjo5w8M5jqTnqOP0wvJ7ravzoxIrSYkIaogswyKMZdlc5yNCWPb_E_VIui9k8dPD02ZAf8CrJV0M37JcBet8H3ivMMwgB1s9jL1aQ8yfmriI3yRpIP1_a43qHjQfggAkeoFTxBCBQGTQndNu7S2m-2miv_Z-mim9ZVx2YkkgCx_QXxK2uYkI2mfEc3vIpy6e-XLXdyG38E-9d-HyPaVQ3vspJi7H-t0h9dVfvsK1YrESs2KfD5Qw38RyBBrk1YxhmkbNqhpwzyoC00NwXzOlH1lGZjBOdBRS3GEBc5I0KwTogCNx-5Z8g24vA9s87GnjZL4KYOGs_S98GHd7mrWHFcgwgkTCB9qNvKDRaAK7-zv344ZM-7VeGdyzg1GdR151g8cXj_c6mOoRtgE-Q5dGbHkrgxsGhLPWmNtupwfjXcjTSxq9PMneqVcqf1nSNGGJq7Lobu_NbXifrYE0jcDxZJaHrsqcpV3SEdHPvJ8m81BAAO5SkhleTzUs0dEApnKRVQnhcv_DZckzRSuZtkxHzQeO25xKn0KMyauzpVDtRLUe4A5_wTcnYrE1fwoy0j4bU_5ufSdVBiKgOlSmxvfRh9L_GG8fwXBwY3NADR-QTWozvN_6dGTW2Uq5kzYdHEunOD7VEbiW55ujVhaXZPeirDaxXGz9erp-40duG7bH48G7hfh_g7MbA3eFKqsDGl8kGNYbHdUtdFaWnCEp9hbo_oqEODuDNasWpHcomDYk0TnjlpjnCCFq3p_DOQZMPmcv6Mr7OUjX2_SRiBAj1hL1YkOE-woLPOrcLZa68tsnLO-zF_L6ZJH1Cdo8k2D6trl2KC7l0sH9QZElxXdeL8MEe-ezFuiwfkSRTpNQO96MRHHJfYqfZMz1traLmP2XBUg1c_BubXoHd4MJ_5Ly0dm4X9uB-9G_0Blo_Q59ZpfRLWYk7h5yAM3PQfiaKsRpZxbS9Xg==",
  "id": "rs_09ec560fa9a846d0016ab2ad8d014087d08ed2dde28e8d5f39",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.05,\"left_z\":0.2,\"left_gripper\":1},\"note\":\"The second close is also empty, so I am lifting away to reveal the plush and reassess its position rather than repeat the same grasp.\"}",
  "call_id": "call_1nvb9HElimNiHbumEZ7OSkcr",
  "id": "fc_09ec560fa9a846d0016ab2ad8e31e487d0a3decb1401eabaa8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1nvb9HElimNiHbumEZ7OSkcr",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2943, 1.2602, 0.8326, -0.1787, -0.3367, -0.2214, 0.9965, -0.0257, 0.8818, 0.6861, -0.6353, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3834 left_y=-0.0515 left_z=0.1816 left_yaw=0.0905 left_pitch=0.0102 left_roll=0.0217 left_gripper=0.9965 right_x=0.2706 right_y=0.0001 right_z=0.1449 right_yaw=-0.0009 right_pitch=-0.2486 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -5.3128, 9.9624, 1.8974, -0.2222, 0.0611, -0.0952, -0.1573, -1.6342, 6.8581, 1.663, -0.0122, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ed35e0ea99c13f86a22ab3ac33ea86b34e0de1341e49a97722841c7a14d868e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9de326b4caf5c96b80c81f6d020d810b80bc0fbb114e922c053b25697e4bcd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dca629ad5f4e787840956d89117c1a6471db2f1face359386f9b9c1dddbe47a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2649, 1.9804, 0.8429, 0.5468, -0.3183, -0.1947, 0.0165, -0.0257, 0.8772, 0.6861, -0.6132, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4788 left_y=-0.0689 left_z=0.0247 left_yaw=0.0904 left_pitch=0.0206 left_roll=0.029 left_gripper=0.0165 right_x=0.2744 right_y=0.0001 right_z=0.1498 right_yaw=-0.0007 right_pitch=-0.2219 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -7.6239, 4.2462, 1.4628, 0.2173, 0.0952, 0.7937, -0.3214, -1.6205, 7.0632, 1.663, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq2WhuZjXMSUK_oSWMzSWDhaT1hs7LgOmksPgYTVANTR3x2iMAjjFPAf24pGm0JbLsrBShqBUr5vegaCjOaFxHuPLiXg4kkzK_37_F9L6GcIY6EyGQJZb3ZLMsZGhiyv9ut9YrJs5WDKoysk2kGDL1FJNRnyrdS8eGjk4dg3b-h53HBCA4kbpwFTUzGuU62RRJOYzppkRJ373N2Rgu6aT--UtSnGKjdAwB_3AWhXNUr7IVxrzEarHCRcQ35fyjw9yiCGdFD6IH4YxZsvHn-BDlUttUoccx-Tz2JQKsllfv_uDyr2vT0TTN80BM3Keif9Lx2EUIEjz1dnpnBGmYl7kyloVVZGdir9lvcxsTCem3GpXOYHHqSk7cjq7syLYK2liq7iS9QcHlPVpUkvtLMo_UC4gQyf-Qz91ZWAxr9PSMo9SWP2GtWsbBE1pSbGCBKNyR24yV296VE6uTxq3czFQCg5qEjkzEvzjZyGyWR3ijiYjP3wVwONchdOhFXYZ7qf9fd2Wkb-4WK-xBWevmUx_YRG9gN7LhtoaasRRY8K2sl9pQ5Pb5yb_WxwZTYPRe07Rkd1XFKIGtPD76t7nYMktRPGzoeBvLmAgDMv5QSHpToZYdcL8bWKe1cwEmcrG3HFJ30hrn8wF_kR3bCZkXxVp9RF9dpMX1Y__zZk68GBIxGMjqq7YXILbydBNpvcLSqLzIVdo3tB5mZzkVOv7dDaWapuYpoJ9sUlIDY5ikc2UuN8-6nYR-F6UPUoagD6xULkZY7UCJPpxXKi67endJnatxGN6MkNTTqzYGmst43jlDRdFIm_uXOdHs37OCdY5m5l7L2uYAKgZ2O4qLQxetkg9i3uI6MU271dTpLcFrjgy8rQ2w5u_zhIbGmAtLhHtQpZ38HV95IE9uqxTeFHpKJKtucObPHBbXT7lnV-LiAq6J8mkvIaZdk0srSyEU4Qn9RNbKqqtgFlZnoaqnTT_FoSIyMhNSGRnSiGLRPmRUtYNTwfmy9s53C71m2lK8Qbxf1CVegMZ9ktSx3M127vKHeojfbyHOTulmk1I6IUHsoaTNK2wx6ypY8mTw1_H7rd2q-H_RAH7RgrhmYfvRjXBk0sKQwdWHOf-sn7KlQNXyKexY0Jelx8ZrlpFWF1Ca_-ZFX4W-lIlvYhhHKYt2mOqJqTKwZMJWFzVq_zwX4_bR-DmG7tpzXYIfkFmVvIvmD5yNms3aqXLUzKdBKgUHAli-iU_5HgZi2PeIwyovbN5wrlDoza_FWAeiF9Kc8GWKqR1gHvlZwh8QFOc0J_liP9v5PTb82ulBwbIcbI1ma3MYO7N9oZbs_DYg4X02J4RNST4B9NyHoJlFkeCM0bLWW1XZmyMJhXYKEpTyR2iyOCOUUl0Ic5coHAgfjuu0SPC7M-6UWUt0PwNs4HUrDw7cOnNH0fTN-OlHZ-PkrLxlR9CkOsi26zzGU=",
  "id": "rs_09ec560fa9a846d0016ab2ad92ecbc87d0851330e076eba020",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.515,\"left_y\":-0.075,\"left_z\":0.035,\"left_pitch\":0.35},\"note\":\"With the arm raised, the white plush is visible farther forward than the earlier grasp points. I am reaching to its body with a slight forward tool tilt.\"}",
  "call_id": "call_B3sM8CdSyjeVKtOguRZBAZVx",
  "id": "fc_09ec560fa9a846d0016ab2ad94c6dc87d088bd2ab863e9629b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_B3sM8CdSyjeVKtOguRZBAZVx",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2775, 2.196, 0.815, 0.9932, -0.379, -0.1188, 0.9971, -0.0257, 0.8879, 0.6849, -0.6613, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4966 left_y=-0.0698 left_z=0.0084 left_yaw=0.0952 left_pitch=0.2185 left_roll=0.0518 left_gripper=0.9971 right_x=0.2658 right_y=0.0003 right_z=0.1387 right_yaw=-0.0004 right_pitch=-0.2818 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -10.4, 5.4085, 2.2051, -0.0269, 0.1685, 0.0513, -0.0479, -1.9214, 6.8444, 1.707, -0.0464, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:867885bce39a1220b8d4c3ed05f1158f736af5f2bb7931f561b32160329f5fae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2af035bee8104e0182d56fe88fa25668aff5bb861fb738820b825f04ddaf6d9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:548f2849546e9aee4fe6c099d20045a349c251dcf67125775b036a2cb5263f2f",
      "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]: [-0.2943, 1.2602, 0.8326, -0.1787, -0.3367, -0.2214, 0.9965, -0.0257, 0.8818, 0.6861, -0.6353, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.3834 left_y=-0.0515 left_z=0.1816 left_yaw=0.0905 left_pitch=0.0102 left_roll=0.0217 left_gripper=0.9965 right_x=0.2706 right_y=0.0001 right_z=0.1449 right_yaw=-0.0009 right_pitch=-0.2486 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -5.3128, 9.9624, 1.8974, -0.2222, 0.0611, -0.0952, -0.1573, -1.6342, 6.8581, 1.663, -0.0122, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq2bMfaW5HES6WWCU635nDLI32EyBJ_rNvA-61_4VyHnMYiK08BBQ6Ek3EhQ5xRHkKvHzHXS4KykHnTVjPRG4-a-6PvmzYf-jSdTBR-05Y3h0m1mOFk5ZafATnRH0-uXvM_er8WRfBVy_vdmZD5RiUhaSGwzpZqEINgWA89ZLUjDSoDR1rkQVT15xl-tVFaUz-F_J0ZJuBq_wbARr6cBDjTVCUGVJ8HxKERkqJI8_ViU0wcr-5TQ5iOGx42Wk1hJXYpNipufBQHkLaI1J0XvUE4QsEGrvocXXR82n0cj3xuhC4wfY0-IcoEQf2twMLG77cNlFF1k312CEiUVrR2_Bndb39h-wx2Oiy0aEqjV2SUqpORniyn9jQR1YFkx6d_sF83Ne0hob0jrMkeNpA7dxSPAu3BRRSoKVJGhY3Hq64QHKM4zvyzhDVFn3lX467iXIshb3uus38sJ3Mz-QG3PSw2haYDDcn7eWQmDTdTY5zwizD68EmMrVJxn8cDzhuNDdptJQxh3U7bjpeJkJz9ytnmFRMzAHVPeJrI43EX6Dw4eqGdAeYB6IhoHx6W8_GNH-jAquDot9T8RMgJBQ9tBO5m0shJJolHuDIUF44-SDxWM-aETbBsMhMJRD2HjPgqFCxFvAcF8duQqPEyuE1NkPsRnQ0AEeqbCWKOAEvRsb-pJeyb3QRK97ygANk7cAd1NXxE8HOew6vrodzNT-aAGyvAH78rrZ0VtH-uEqGdiUAK208RyHlzd0RUzCYGArwZZNand1peh4cZ_c5hu_X0xoXhk-7N-MiDN6d00wdr0nfjwfotOKRc5qCuMiFkrSvWqjAasVf7U76_mScCg8DwgHL1CyuZT9a4VrkJpOnKkEbJy3EuP5sn3gV_PuqvACAWF0kocei3mnQ3GEj619Cx1wK64dojUyP_CMKLMmfOgLI9bGpMCWA50ChEscniuC3tud3OF8VUaCA_Xq5kcQz8i4IMtqdmg1e_njqZviEvbl3WUI1trokikAPs1gX_5WnjoKl1TggVYlOEga-xZgqoyRFQxOuPGLqk8n0dTziXtitXeprwDCthY8InLrIZN9owGE1gdWcEL2s87giOd6Ezq_-JWOjivWyA3goQh-IEX5j40O2YqSfwx6x4dknXDgo89xPH255uRpG-eBs5vRpaiZDOUsLmPe7_LiLOY0BNpDQg-d6Agl6wZ_yjPiC3zC6UscJVp",
  "id": "rs_09ec560fa9a846d0016ab2ad99fd3887d0a70bb78a5119797a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white plush’s torso is now centered between the fingertips. I am closing on it.\"}",
  "call_id": "call_lzUmZUXM4yfXYqB98NP2NRGn",
  "id": "fc_09ec560fa9a846d0016ab2ad9a786087d0ac49ccdb8fb81f1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lzUmZUXM4yfXYqB98NP2NRGn",
  "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]: [-0.2764, 2.2093, 0.8188, 1.0321, -0.3862, -0.1204, 0.2909, -0.0257, 0.8894, 0.6846, -0.6765, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4996 left_y=-0.0688 left_z=0.0119 left_yaw=0.1059 left_pitch=0.2468 left_roll=0.0417 left_gripper=0.2909 right_x=0.2628 right_y=0.0004 right_z=0.1357 right_yaw=-0.0004 right_pitch=-0.299 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -11.2205, 3.6034, 1.4237, -0.0317, -0.0513, 0.7057, -0.1983, -1.5521, 6.8034, 1.5409, -0.0806, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1ef56718f429cdf07e8456beb5bdc5a7eddbd3f81674d96a8020b96229446be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:026260e9eeb34d71594220adc0291b44eeb1344b1dfb10616a72a0586b48a9c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbb9ebfa6b182992ad46eebaffea3cd07d13cac008a2f715a0352ab368bef2d7",
      "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]: [-0.2775, 2.196, 0.815, 0.9932, -0.379, -0.1188, 0.9971, -0.0257, 0.8879, 0.6849, -0.6613, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.4966 left_y=-0.0698 left_z=0.0084 left_yaw=0.0952 left_pitch=0.2185 left_roll=0.0518 left_gripper=0.9971 right_x=0.2658 right_y=0.0003 right_z=0.1387 right_yaw=-0.0004 right_pitch=-0.2818 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -10.4, 5.4085, 2.2051, -0.0269, 0.1685, 0.0513, -0.0479, -1.9214, 6.8444, 1.707, -0.0464, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.12,\"left_x\":0.49},\"note\":\"The gripper has stopped at a substantial gap, consistent with holding the plush. I am lifting it clear of the table to verify that it follows.\"}",
  "call_id": "call_SEp7mY68OJzvpXayUrN5WpPV",
  "id": "fc_09ec560fa9a846d0016ab2ad9ef4e887d087075a3a6229a2ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SEp7mY68OJzvpXayUrN5WpPV",
  "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]: [-0.281, 1.853, 0.807, 0.6552, -0.3904, -0.1352, 0.2932, -0.0257, 0.8902, 0.6842, -0.6872, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4849 left_y=-0.0662 left_z=0.0949 left_yaw=0.1104 left_pitch=0.2178 left_roll=0.0413 left_gripper=0.2932 right_x=0.2607 right_y=0.0003 right_z=0.1337 right_yaw=-0.0007 right_pitch=-0.3108 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -10.7556, 8.9915, 1.9902, -0.1832, 0.0659, 0.2271, -0.0342, -1.6752, 6.7624, 1.4823, -0.022, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a39f9f9579c118fddfc673e45aba506bc10aa52e03586a85a0d48eee3fa0608c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34c48116fd98c94b85949b78bca42ed34c92ae06ffac4e8db3d0af48984e0ae3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02b152ce87e7ab111ee55cc70e50aa5c12c9a7855bce8bc0513e2073c69f9519",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 42 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2764, 2.2093, 0.8188, 1.0321, -0.3862, -0.1204, 0.2909, -0.0257, 0.8894, 0.6846, -0.6765, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4996 left_y=-0.0688 left_z=0.0119 left_yaw=0.1059 left_pitch=0.2468 left_roll=0.0417 left_gripper=0.2909 right_x=0.2628 right_y=0.0004 right_z=0.1357 right_yaw=-0.0004 right_pitch=-0.299 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -11.2205, 3.6034, 1.4237, -0.0317, -0.0513, 0.7057, -0.1983, -1.5521, 6.8034, 1.5409, -0.0806, -0.0317, -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": "gAAAAABqsq2n0HK4_M1twAN6QBomPZQfiUrR827_p2IW4nZM9qHtUaWVVrEnFPbA937acfwITXlfDu75mcof9dlwqNz5DDNzWZ59mH3t62Y9Ejl0rBMwH3dD0WyM5wOWx-pijlRRDXzHyKC1mS4-klsQL7UgY7nfNeKiHv-lwN9_BljD7bmXZrPslvZY73btp9-rekxEQB0rw_UR5agGqlbmQxLe90vvTcK0CxIlR89_dmhkV86PLZrvivlCnFGUYgPyHHcN0UBZ424aKd1beLatj6VG4dZdkLxkzMcU5QF3xFkcbD9MogtHoVuHl9YklWKIiuwZ0vGke8HBncMjF2TGr6dWhmB6bmOlmSIcjdpmNsk2y8C-xkMdPqmFtS-inIzao-leSzXbBqY7dqvalwUnjYfnMrA5BJr5sEOA52otZ_AwiRmqlFnymYMDD26UEnKYTxFhRWkxeCUSmOkRUcsoJ4jqT-NVH0EQxheFLY9TcvmY52CR5-KNU_ypxr5JLVVdbiEFoXtRDEUyB_2W6wh7ZnTvR6cO6ord96HEXUGjxS3lu_BTjHu5r3tP3XH57kVac3z5JDGv99QUfwIu0q0ewghJsbs3d9MHrNrWE1VDNINI9K5cbcWAEeC4il5ZETlkOYBhnI5kieCsjOnEUZap5QdbZfsAaf804sO3ainD-oR6VknXr5fzaU1eMomgMHbRWmk8MD9_kkQ7RyeFTLCdYUTGM9BS8y6PehPnEIFdaCgyfRWu043vcP9_VpFmrn5LnPxOjxnepf3jivDtfeO5YO_Jr3p-KXRkb42k6uwN8SsEQLJGVRHBGYj2w9omQd2C-pkLYUyorMKC7t3nxpaovg4Psh0YYaoiq-52rgeFoefdbkEoWKGOaJsu7YR9IZVuUqpLj6heKFmtK2kxhJ0y9Bd70hDIyynd28dDGzpLSaHPR1Gys_pkHfhq_vyyIZyXsMPsGgtgtC1e3PWSFSJSevXdjqvFZAl_a_dwH5UyPJ21uVLmCXDsb8Ly2mO_3iXTKK0RVrQ2iXCe001TA-SIbFT9WC9Tvv5WRnKxtOG1c-LAw7uj2S4i0SppI10RnILykUIa66d2cowBU_1dpA65nckDLNnTb0pB7Ix9CnA2QJdGBEmMd0cnZOnqunEequ3MSwFdM-dw_M39JZA8g6-jQfEDzBvdIGfLSFv_cjL607u81Pqd6KLE5XgeTjkEnCO_nOHV5KbUbJ_W5dR4KLlICKvxNnGVudoTu17t36fjHDzhjeSxSH0J7mEzCqdzem2SdSEXc1UbB8xxuYQPxLYbXjTwR2bncdauGS_4lpyx7Vf_GoRvTwO-QDwD80rTDgrYdcrdVM5tpkdIAbY8m2JzZN5sHfNDyQ==",
  "id": "rs_09ec560fa9a846d0016ab2ada3691087d092109061219728ad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.535,\"left_y\":-0.285,\"left_z\":0.2,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.22,\"right_pitch\":0.2},\"note\":\"The white plush has lifted off the table. I am carrying it above the safe’s open compartment while raising the idle arm back to a parked pose.\"}",
  "call_id": "call_YRUfbXcH9bKuRWWQAww9eLqc",
  "id": "fc_09ec560fa9a846d0016ab2ada5041487d096e4e5782d2fbfb7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YRUfbXcH9bKuRWWQAww9eLqc",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6895, 2.1628, 1.7477, -0.1127, -0.7502, -0.3542, 0.2947, -0.028, 0.6857, 0.577, -0.3557, -0.025, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.5326 left_y=-0.2784 left_z=0.187 left_yaw=0.1042 left_pitch=0.2004 left_roll=0.0444 left_gripper=0.2947 right_x=0.2866 right_y=-0.0 right_z=0.2019 right_yaw=0.0005 right_pitch=0.1179 right_roll=-0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -12.4239, 9.1419, 1.7167, -0.4078, -0.0073, 0.1441, -0.3761, -1.0325, 6.9402, 2.3858, -0.0806, 0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28c4203e375298f4df2721c477133f9af979dc0820bcff88681ba8c3f0c7e219",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cfb25d2e1856007afe0b84e2bfc7259115f6efe1824312e5f860a8b7ed34a70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d80be9a05e6bf1f710a84c5dfb32ff9ea83ce37a6d13a9df14322015b684136",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 45 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.281, 1.853, 0.807, 0.6552, -0.3904, -0.1352, 0.2932, -0.0257, 0.8902, 0.6842, -0.6872, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4849 left_y=-0.0662 left_z=0.0949 left_yaw=0.1104 left_pitch=0.2178 left_roll=0.0413 left_gripper=0.2932 right_x=0.2607 right_y=0.0003 right_z=0.1337 right_yaw=-0.0007 right_pitch=-0.3108 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -10.7556, 8.9915, 1.9902, -0.1832, 0.0659, 0.2271, -0.0342, -1.6752, 6.7624, 1.4823, -0.022, -0.0415, -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": "gAAAAABqsq2v7DjUiU70j1eN-kRP25ZpE_rt44JdMTQbwGMJ6uBSt7u2PwnhOA6rMcPOTj5_OfE3rETj5GuObY0G_19LaO96mriZm03XwoYSBViSZlNhxESYlC4Ri7iM6zVmvS1Ws69AgCIEy_BpBr-QVw9RSRbgj_Qfs-5Qh6kVDHWleY5EC-H3QchhjN1G46cZaOIyjjfGG6-mFMbjzPgA3AzWclO9ggS0tQw4EgOUcFJFXxnZ3IKMse8T_QGvjfJTwtHaDUGOU6XlhrGazSDP9QZnrOjgEUGtXv9qaziRPE3Md7g_tfzEtxjmjRdSeX5tWkq2IIiLG-YWhKDbJzQ0jVHBJsh0RryZNQ_fzOoQ5D7WH4ZWq6BsTmlAZfGm4NVLWeaGwTGizRksal7BUltromTEprQE4idylJai8RfNO1BIqIk15XNIQL4DRE5MCpq0oR41qhRd3xokICaN-_O0LPFspsck8oOjVUthCo5sLSkPZn2kiZTKKkw5wjiCzPdNaCcmoJzx4Yizuf3mGctXk6TWRIwh668P2wKuZaL2CqL3CNcgD0c2B1DGyApMLLmUt8T8zWoa8503aSELe_rxseZn2_XsGoy8D2Uk2qlmix1_snZLKWhu75bbZeerICNnvWP68g-zif3ueIJzX5UeZupJ_f9LQk6FbV1iKofzCWTUr-A1FLj7qk83AjWPpxhj-5gSDww8DZWfmiD2Tm-ySPtAgQ9PoBw3_DNcraqBavqqVcIGVIhRSQ_Y8RDCKEAUUiQFlDW9Z-TGcOahVycyKkQODu2Dk68y2sIL0MpcVwYrXJVBc22rSVp7OLciC4utRrSETDlz-FFOGmtWZ0DtIkv_bF2ZfgfZDHnM-KPqaWCtMeNDDVzCjH4zO5mm75_btnG9z4A9TuSxt1UZFmmFIPTvm53956gkWtygZMIkXPBwb7JHH6tR4jD-a6FGicck43OHCMGFa7mS0oNd4_XKvr6ilclWtTM6WwD_bX8rJOo8ub6Z5KDP_xLxTTAmk7wKf_TnWrQsXEQVCJWKlUI0aCUqMQQaGKKLp-PwC82DLz3QaeUnOmsnI8FWFEXdODV2KfyKD3ERnJeSjjzySVTlcn9smYupeRu3Eh6hiXREPYu0fiDLuLIYDcZBG2T70b7y2zpytkFQBBoDwQGf2VqoN71PrI-q-1I9ZuKMyZ3EG9j-ThxAsXNR0rzO_LAi4P7QZupebhCqy2SDnKh4YX_BRfb2uPu0HSskjlmrUgaaq_X1NXjt0cBmo8moSNLIcUFpSvnmmkXLDM1c7wtQXAZKF7h1siHSnmxJSjFQv8njVPoKN8qm9MQ=",
  "id": "rs_09ec560fa9a846d0016ab2adac894487d0b73f8f6242102ad7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.105,\"left_x\":0.525},\"note\":\"The held plush is over the red-lined compartment. I am lowering it inside before opening the jaws.\"}",
  "call_id": "call_56x6NCth6iMLL1V2FF7fsn6z",
  "id": "fc_09ec560fa9a846d0016ab2adada11487d0a641bfbafa1f624e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_56x6NCth6iMLL1V2FF7fsn6z",
  "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]: [-0.6994, 2.2261, 1.552, 0.0856, -0.7532, -0.3611, 0.2969, -0.0296, 0.691, 0.5709, -0.3729, -0.0269, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.5204 left_y=-0.2752 left_z=0.105 left_yaw=0.0927 left_pitch=0.1592 left_roll=0.0831 left_gripper=0.2969 right_x=0.2846 right_y=-0.0001 right_z=0.1939 right_yaw=0.0005 right_pitch=0.0893 right_roll=-0.0046 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -11.5214, 6.2017, 1.9121, -0.315, -0.022, 0.2125, 0.0205, -0.4581, 7.9111, 1.9267, -0.0171, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d12123826db4e8153d589c570b778b7a219dc67b24bfe5ca60eca3d6ab4f695",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f091aca438545a4ad4671c218e6fec9d72b6f47d0c2cdd96ed063dd8d769c325",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f28261b3c1cb10934c1f33d9017d82609d6a7d28cc8423e0a53dfcf604a82eb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6895, 2.1628, 1.7477, -0.1127, -0.7502, -0.3542, 0.2947, -0.028, 0.6857, 0.577, -0.3557, -0.025, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.5326 left_y=-0.2784 left_z=0.187 left_yaw=0.1042 left_pitch=0.2004 left_roll=0.0444 left_gripper=0.2947 right_x=0.2866 right_y=-0.0 right_z=0.2019 right_yaw=0.0005 right_pitch=0.1179 right_roll=-0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -12.4239, 9.1419, 1.7167, -0.4078, -0.0073, 0.1441, -0.3761, -1.0325, 6.9402, 2.3858, -0.0806, 0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The white plush is lowered into the safe. I am releasing it in the compartment.\"}",
  "call_id": "call_Nedqwr2p5654tZZhJSyRkfvk",
  "id": "fc_09ec560fa9a846d0016ab2adb3070487d0b756cbdbcb79a310",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Nedqwr2p5654tZZhJSyRkfvk",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6998, 2.2433, 1.5394, 0.0708, -0.7532, -0.3683, 0.996, -0.0296, 0.6937, 0.5697, -0.387, -0.0269, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.5166 left_y=-0.2723 left_z=0.0882 left_yaw=0.0917 left_pitch=0.1282 left_roll=0.1085 left_gripper=0.996 right_x=0.283 right_y=-0.0 right_z=0.1896 right_yaw=0.0006 right_pitch=0.0714 right_roll=-0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -14.2291, 7.3504, 1.7021, -0.315, 0.022, -0.0952, -0.2256, -0.5128, 7.0906, 1.8877, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3070dff1c438a83a938167f4dbae6efc552fb1fa3144bc3b93398e46567d5044",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:573f1bdc1a7c5469a4fcf8fc1cc27b575790e5c36da53ed2b8dce23c9d7fb59e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74fe4d59cee8b87d8ac91f24c41882c4d7ff957cc5f37d1e00be5c005a09c3d6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 53 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6994, 2.2261, 1.552, 0.0856, -0.7532, -0.3611, 0.2969, -0.0296, 0.691, 0.5709, -0.3729, -0.0269, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.5204 left_y=-0.2752 left_z=0.105 left_yaw=0.0927 left_pitch=0.1592 left_roll=0.0831 left_gripper=0.2969 right_x=0.2846 right_y=-0.0001 right_z=0.1939 right_yaw=0.0005 right_pitch=0.0893 right_roll=-0.0046 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -11.5214, 6.2017, 1.9121, -0.315, -0.022, 0.2125, 0.0205, -0.4581, 7.9111, 1.9267, -0.0171, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq29dOXSGSpUaDX6GW28Vm4m4ecSMr9aNwTiliwgaGSUdyBZTw-s6M7Sa82SX7tzSYYU3D4AYjiiwMxQosdZBNtXSIwmzQS281AaOvijXz88i1Rw_0eyvVb60zYBHL6xuO7C2Y9YfQbKwysKVdegTyPicYXuTYA2__wTjAQ5HPIImPjhNYvp5nYw14h2EeGm4zKywSo-0z7-bLo7pGFvstGzrJDlMfmO_lezxeQ1dNnXeu3LE5tTEB2254-xRTSelXYWFxXVN5zUUQgJtsra2pik6co3M5zzO5FOMq8ZwvjATWPzxIOBsy4SZJElsUNMbEX9cQWFwHoKCI_AIyDME24sodQ4bHEp_txjWWRG77NQDrui0CIsryL5Pnp7tkL_h2FuHbieceSsZhd9_iLCukuFEEJPyUIlBpvZl_nS0_k4kpKXH83Rl5o-uIh-pwen2XoyfM0aYQyB7UO7em_KR4XlYLaoA-GatFNP_9dRrOLfIFhXKrVeDCFuD-OmJM28EaXolDVmNcCaRBm59stgoduOblRr5KFLFNCpq-APW50zcTf8bcsxXn3OQ6Pnb4jzk354wTq_QavIosnyS-aZB7ouUmWK9p0F8EARJIFcvElYLV62LImXuelJiMY2a3IGNG4vv9oxeYwphcJS7H5yb-DR5QHmaxb4cfv-jYG7t3QGDgrLVy0HClUma1Xdip4sY4R2F_HHf9YO_Dj8Zz1iS1l8taSSRLiuE1b8uAbzhVraDKtk7rKc3K_UBaj6XF4e1Nkj2nHUN4cQOSB8GoXiRslmkJIClu0i6NsOoMV4wiFlVLJ_EnvIcl3R0TcJIuifu15FB9xs6evMK3rI-9Wifl2ydwiK3mjNzkHdtq3O8K621ce2sLpn6PqxuNA9ohzupHuQarSSb94JVarlKsOcinjjWhtkAZ8OMiV3KaxniIFKnBFlSPLU-UYEpJ5K4GX0cN9WJ5Kw7cMCRTvJzjWk2SEzcfHLQK0l1e9REOJXqXzXdd1J75wuh5nMfq5BLIzu5qvs_-8Yt889XErzQ10oLvJYPD-3zoz5cNjFpLXGNKHDR-RnvFejx_8Jzo5dixt_IwL6QoeLG6QX7imPXAmSZWXMvW2FHU6a85ZIH-WbcCN8S-ZVIJRu3XJZ7KE6aazHkkKFeDYL4j0RvfKH7SB0LgFUqP76LsLFCSjZXGG7zn4tyfXK9bwemiX1mSfC62PxyfqT7lvD8JcBj8K8b46uUoy2uE9B7pu-oWtsvgCa4TNs7XC4A4HCFo4URFfmBC-rAMWHJ5exVx3t-nrJH9IpBizRA0aVD16dYBMvGX8RiwUs9G_3mMbOBmo4jFLdnn2kbeWr3208D_jsnI0PETlujjj6gla0VuNZ2p1ur3w1uMwrbrLw-cp3-6WJ24qanu47qDaJkeq_PtR_C3ORRRLCR0ndHvse3IjCjgQh-3CHzep2AZ059Lzg9frsPOST4f8VofyHTnzoZjBqN_Ikabu6P9y5si9ofS0YNxPfr_IfvLf2CRUKbxaxNgdlUUJppBL7AGYXMWOfmKahVNMcYMJuNp2Zldh6nC4nAHK_Ku7_V-YU9eQ9Bu_djfNaixpn_vLrn3RL",
  "id": "rs_09ec560fa9a846d0016ab2adb75e2087d0a6d890eda747b13f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.32,\"left_z\":0.17,\"left_pitch\":0,\"right_x\":0.45,\"right_y\":0.17,\"right_z\":0.15,\"right_pitch\":0},\"note\":\"The white plush is inside the safe. I am withdrawing the left arm toward the brown plush and positioning the right gripper above the yellow object, keeping the arms separated.\"}",
  "call_id": "call_yiNEIKkzVrztjZWWdklRxQvY",
  "id": "fc_09ec560fa9a846d0016ab2adbc1b2087d0abaa0a3e73447708",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9489, 1.9965, 1.5547, -0.6495, -0.8791, -0.7799, 0.9969, 0.4675, 1.66, 1.0496, -0.1001, 0.3759, 0.2508, 0.9995]\nstate[eef_state]: left_x=0.3817 left_y=-0.2929 left_z=0.1399 left_yaw=0.1341 left_pitch=-0.0345 left_roll=0.18 left_gripper=0.9969 right_x=0.4351 right_y=0.151 right_z=0.131 right_yaw=0.0111 right_pitch=-0.0701 right_roll=-0.0397 right_gripper=0.9995\nstate[joint_eff]: [-6.6667, -13.3812, 10.0171, 1.5897, -0.1392, -0.1832, 0.0855, 2.359, -6.0786, 10.3726, 2.0391, 0.2955, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f85cd452c590b4777295adaca98860703e88daca92d5773fdb98c21d73fab70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7547551a20267ba95d9f93cbc24474df4c9199f6e09c4ad0b92060728eddf665",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c8c4d1028448e754d2b4d76f46035d8876aed54cae9435a230cf30f77538865",
      "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]: [-0.6998, 2.2433, 1.5394, 0.0708, -0.7532, -0.3683, 0.996, -0.0296, 0.6937, 0.5697, -0.387, -0.0269, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.5166 left_y=-0.2723 left_z=0.0882 left_yaw=0.0917 left_pitch=0.1282 left_roll=0.1085 left_gripper=0.996 right_x=0.283 right_y=-0.0 right_z=0.1896 right_yaw=0.0006 right_pitch=0.0714 right_roll=-0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -14.2291, 7.3504, 1.7021, -0.315, 0.022, -0.0952, -0.2256, -0.5128, 7.0906, 1.8877, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq3Fr4p7ybs7LyHHRxUj4pSUSj0Xn6aXgO3SXF41oZDZkENYecXV-6Tvg2Oqesy-CgS2btcPAxbHJD5h1QEa0Mss7PvPrGGvgrI4zVdqszVgGoBSy25rl0jmvcGqcgzj5BFeuAtVcykjTq0goCRU6AP_lMmfIhxNMv5LxpXJFJBNihGvdqKavD8fU7XVFiM0sOs3w4VoeKBzFqALHgevWlA8nutPM9V-Dl7gTzRKMiJHJR2dkAb_KDcu2UUNt0qWyprY6Tw9mp_hjHYAI22ManRq5uGIbO7INbdi7lcEruAxPdWB-tf-myaesMfqFf_qj9OayoKCnBYj2kBhe4MsBaSFHqv98KOK2py1luKkPZlOYjSB9hFnrlcJVcJH471ZWESpbJqjEBDunIxmSnwDmbutWeQklVmEtebw9drnjS-UzaM5llo5Vh_rguy_M3OPzOr_YBRCZidhm-UriqfJMayL9MRcIe6B-mBtyg0yk5WGBA0H9szYwFZdWneRG5PFmwq5Eh8M6IO1STAaMvrbxV60LYojQCuOB3fCyuS51GkM0SIjjhUlPkjEJnZ_9rBpSZ9AIefxtA_KyLH0BHbFxRvqlqtRStNHhjVTAe6LyYKOVk_GfgPJSkoHlr6mkGZSls48udOU0BFwfgELy9dZdHBPZaTEfKggDB_upSw23Lz4aJvQogKuwKDR_TZDCuwMhWvmp5FTMrKpBrogKRn07i8c2XPhjf8C3Q0SVvFBlBtDwAdC-GdbOesax81rV_K1rms_jHxq-peX8R4vau-36mmth3afmVCYJU6vHkWTh647jNuO77XIqH1jfKNjxNbv_U3btbjb1eN8SuZbhuuuJW1R5EQJK5bl3en8fG6EIvUaF-wC0UwwB_BBYOboqlsCaQnuJAEkJpnm9vROGKyQkr0D46Wpu156hP3ZEBJhXJcT2EtP8CgMz-FF9A9vrAog0NDLRkCNTfTy2c9WIZfYUm0_iMHOZD4fqgIsV4azHpDSr8xdKpWpMFn6QsL5XDMOfu-rPO004Jtl4i9dTRKqovIBukdfj3C_0WBQNKyqjFqqv1uwewhq5SWkpxx34vr8yaIQjvyIh77np33CM6HVaXOzliEkCHV35PXOyb2UXj-eQ7PbuzExkKsEICKEY3JrreEAo7hzsP276lSOvY3SNJqGroCS4OtBEnjZvAM-ePl2GNPbvwAGPG0E8VFTdXq_zjVcvGCT8G6okwJbVHOsDK2s9hBHMlHdMnLcRDci11Q-cQaw4Fe4fZGNbcEA3AxoPuaCB9gN2cNaqoNeMKtiQQBkfWjNvVNk4UoN9LwBHalaoLon38Nbq5IboREMWkqo7-8AgLRtraDR-UMVZ7JmJkknLkydTKDleJbJ5dK2anXw8izjisFscA_A9cwqZ5uAAzy-fCnuH8Jjxxu2JcW35wTp0g==",
  "id": "rs_09ec560fa9a846d0016ab2adc23af487d0ab0bbeaa24d93442",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.472,\"right_y\":0.17,\"right_z\":0.025,\"left_x\":0.30,\"left_y\":-0.22,\"left_z\":0.19},\"note\":\"The yellow object is centered in the right wrist view just ahead of the fingertips. I am lowering around it while moving the left arm out of the loading path.\"}",
  "call_id": "call_9AZXD2YskYHcQa2uKoM91XqW",
  "id": "fc_09ec560fa9a846d0016ab2adc3f5cc87d0b8a35fe7e9f785ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9AZXD2YskYHcQa2uKoM91XqW",
  "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]: [-1.0176, 1.6226, 1.2781, -0.807, -0.8894, -0.8711, 0.9971, 0.4702, 1.9778, 1.0229, 0.2287, 0.3729, 0.2531, 0.9995]\nstate[eef_state]: left_x=0.3081 left_y=-0.2309 left_z=0.1839 left_yaw=0.1213 left_pitch=-0.0442 left_roll=0.1637 left_gripper=0.9971 right_x=0.4648 right_y=0.168 right_z=0.0335 right_yaw=0.0144 right_pitch=-0.0849 right_roll=-0.0429 right_gripper=0.9995\nstate[joint_eff]: [-0.6496, -8.3624, 6.3658, 1.0183, -0.6716, -0.1001, 0.0024, -0.335, -7.788, 6.5846, 1.0623, 0.149, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79c84d7151ed9b90f49b1b1ba2f80ec11a633521dd1296e06ce355971d11e2b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ff74c080c26f876889985e80a27c9a1dcc9e73b5b2e751cb51203190bc2a7f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:545007e0e231c554e7585d64c9828fb7e1ed7b516bd8c035ce29ec9eee5a020c",
      "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]: [-0.9489, 1.9965, 1.5547, -0.6495, -0.8791, -0.7799, 0.9969, 0.4675, 1.66, 1.0496, -0.1001, 0.3759, 0.2508, 0.9995]\nstate[eef_state]: left_x=0.3817 left_y=-0.2929 left_z=0.1399 left_yaw=0.1341 left_pitch=-0.0345 left_roll=0.18 left_gripper=0.9969 right_x=0.4351 right_y=0.151 right_z=0.131 right_yaw=0.0111 right_pitch=-0.0701 right_roll=-0.0397 right_gripper=0.9995\nstate[joint_eff]: [-6.6667, -13.3812, 10.0171, 1.5897, -0.1392, -0.1832, 0.0855, 2.359, -6.0786, 10.3726, 2.0391, 0.2955, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq3KMhNoPl1c8myKEPIn1i1G6V-RApcBV9iwRXgiKv7b6-9eeT9jChzxzX16EdHfkrZkungwl8-oxouXypBYXgeUFRfOJgrQzCzFPr33HdyWXBz-YmemY0PB7-TgS4pXRBUUcsNM6eqW1LAXRs2e96WQ3kDM0kB7uAElF0AE5h8YAXO-jetWmQCyBJMAb71bD6BFIhOOud1mbCQdYP0BJXj4n3v4O4zdds_jGWrEgPatVbIJUzyPhQav653I3kP2YsZ1QxBu-00rlnyRtxMrSKUn_SmDfPI675eliX0NngqLf08Mkw378Ruog5xOMy9ZHVUW5ihprKRBO1UbzBHA-dbiOZY4FGpiam_gCBxy-Ry07NTy7xHlrqXgjsUudrHN17GqsnWt2z26aNWbKnJMVogDqsxA8RXzaz8yyxloxO2Q13u3_CuC7yP-qr1TJJmj27mlaB1nUC4jqHurgxA67CHaQTAk8EFNZh_YNr9AuBT1kYWD-ywT2mw2Xu-Weh5OZxAEI-MXgUcmBFtwa1wx0yhPmT9IHdglNxnmbH8qg4EqA4blTx_-iTmK5sAcQZrUPbU-dJrsbh6wxBbYR_ue7jrWCbvArPcXg4IspGwJlp5fuWmSlfqsg36bfvWVZcExra_PtcDluerMk3cJump-DuonKzIn76eBgbBh4n1O7FvCzBK5auQcNmwXgTvQfYBODXmQz7CY35NbRIQLUTxjZxW4i8JzECqwA6tDJ7TbtgSTgTNQKdy9eyhx6Qq9pIJQXWdHnGbm-i850FDWgL8sjAVQhfwI392O-JkgaC9ExZ3ZRS8gD0rEm0ugms5CEpSvvSBhF9slcILQSFHbXCB_6ccsuxDyW2gy2z8lUTEGbUFtDuKPkVrkSX2-CTxWT4QCtXHYvNFj-KG7vc_Bwk894JsEWwEERR8_N0XrUcg7QmS_FckztYUtXBv10JAUsOKBEUjh_jDEjKIvHVmeb2e-qeC-oMxfrf2o4DtNTba9x9j7D30Iu4EScp7Z-gK21OmSPimVzboZg8tQzQhscNtMW2qbzontZAS3Yf4kSEBx4Q7FcAo_5FlelxFZHOm2W9bgLb8AOebQSAv8ISxqQVXbLd6mH9szZUWrDJ5OYPPTBKXuSsEMD7ZGMzPITu7G2weEUaPjKbV1g8lZ4E9RUnWAkx8kYy0FERN0wO62VUptd4N7QYDPaq62yJAo1YsckiPE_BHT_xz0nYgSrHH2qcx8VHODkg==",
  "id": "rs_09ec560fa9a846d0016ab2adc8875087d08a53a5c391a6c08e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.155,\"right_gripper\":0},\"note\":\"The yellow object is between the fingers, slightly to their right. I am making a small centering correction and closing the gripper.\"}",
  "call_id": "call_0xv3g9JvqUYTbF4dfOrebT9y",
  "id": "fc_09ec560fa9a846d0016ab2adc8fa3c87d08bbfedea398ded34",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0xv3g9JvqUYTbF4dfOrebT9y",
  "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]: [-1.0195, 1.6169, 1.2682, -0.8227, -0.8799, -0.8879, 0.9971, 0.4519, 1.972, 1.0077, 0.2611, 0.3046, 0.21, 0.0212]\nstate[eef_state]: left_x=0.3044 left_y=-0.2283 left_z=0.1803 left_yaw=0.1254 left_pitch=-0.0588 left_roll=0.1646 left_gripper=0.9971 right_x=0.4661 right_y=0.1713 right_z=0.0338 right_yaw=0.0757 right_pitch=-0.0828 right_roll=-0.0266 right_gripper=0.0212\nstate[joint_eff]: [0.1026, -6.9675, 7.0906, 1.0134, -0.5788, 0.1148, -0.0122, -1.5111, -10.6872, 4.6427, 1.4969, 0.8132, 0.1148, 0.8718]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13138fdf11fceb02b9b063471fa87e347e3846221864a7543f32e8f282086292",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86844f0ff236f6996293cf7d398ab07121cc414464182ae051e8b71ad5419dc8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40e3c42911a2b20bad5d62f5ffccc3562339764c8ed4b9a558d6a09bc737d8a0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0176, 1.6226, 1.2781, -0.807, -0.8894, -0.8711, 0.9971, 0.4702, 1.9778, 1.0229, 0.2287, 0.3729, 0.2531, 0.9995]\nstate[eef_state]: left_x=0.3081 left_y=-0.2309 left_z=0.1839 left_yaw=0.1213 left_pitch=-0.0442 left_roll=0.1637 left_gripper=0.9971 right_x=0.4648 right_y=0.168 right_z=0.0335 right_yaw=0.0144 right_pitch=-0.0849 right_roll=-0.0429 right_gripper=0.9995\nstate[joint_eff]: [-0.6496, -8.3624, 6.3658, 1.0183, -0.6716, -0.1001, 0.0024, -0.335, -7.788, 6.5846, 1.0623, 0.149, -0.0611, -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": "gAAAAABqsq3RPwkDmufyOC4dgcMbOIlUvxmkI3LGjJSkcB5-1xFMA88ulzWd_bMAxYi3NDvqj1h_wKde4wFy1fOmcmjP_LmpOIn8vHesZ40uqb_AkwTf_XkipTr29nAvIc6dqFV8dFtU45WmiTYprlmc1BbBizJBw_iRap54dW5eKGQcRzVynyKHhtf92KYxg_mGhXHWYLkqcU3WMBwCGtBVVntolyY_git5mIJNPQzKpOqWnpNa7jJgZdiQVL_3n6_8nguhvPcNTq-Rsw6rtsA-oEuAVeDdV6FCZrDszrDSQeYSTUhysKYOuLmgkfqRI7Z61MlEnapPTsENbSFtapshg9G03Gg78_HSMgMm9DyLV04NZGF5Z7VcIwc5qudypbJG8Gto37CNbZBPqsGOxd2vu8zR5LWWWzXINCg8IAODUUL2x5LFUzaDPAwbK4H15AnRypBZ7I_soGtDLmCw_AOig6C2wqRW5Xptk2sSnyaK7oRwVyw2jcgtLNC1zvpDM6zuE-TfDhKF0wECCfTDLYHx963A8FvqbIZiyoCaIMQjWp0l_5pUJ88TbtcevWFxbD6EIjiRetpXyL3ZcjqJ5P01sLWUCT7tQdaDumL6SLr-rSrt1C0JpW2FElh8K1-2kkVn18OwsY2x9H_B_bTciNN8Jr4BJZwjVfsapZGxWToUW4ak2o-vYKlnxvEwuAyAdBj2eRr0blFp2T2_Tjc00jPFX_xKykcvR1VSs-A2mQ0J-oVSCQanAPgkH29TQ6t9NNA0ZIsoSN4luLjwrLgSXbZj4kSdsmLsmjgTKL3C7fM23_rQcHoY1tM2JuaAdq1N4r9raD8ZVckQcZle8Eh1Moe447g0uk5jRik4iXWC6-aGIV6jq0N8flyPLnL4raI2E4wsS5xZ0TDDwg_u1bS-z_jako17vEkkVDOt0QTbHPZqePNPSHRT8wkqkMn-EzchidLZcg8pEJJPjjtsIQwNV6LDDUm-j9JQBy2ErjrtugYz71_uxAQtb8yWiYMRg5WDPZu3jJhR2tRH0NyjNWOX4F2pnY3CRB0hDwxmfW1xE7doFVh4zXBnaKUnq1eX9HAXGZPL6ALtpDQNQmC62j5EYiLuBjly3hNAUTPuPyk8E8RQabM6zFDd0CLpagdol5EwPq7vwPECsP-T_3s7cvyzmQ5ILHNlb4KSVD_hJwLb-L2zWDW-G9qKlFLVOO_QeEGR-ncZri8a0QRKsh15f29WPSrS22VIz8v_XrplTJG2vrhoh0R8eQUJ-cIfvK9NQ4IPaGghGCQwvjhI",
  "id": "rs_09ec560fa9a846d0016ab2adcfb02087d09c9dd6d32a0e9cad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.14,\"right_x\":0.43,\"right_gripper\":1},\"note\":\"The right gripper closed nearly empty, so the yellow object was not secured. I am lifting and reopening to locate it before retrying.\"}",
  "call_id": "call_WsKt7zWh8DTvTiIOpLI1fGNR",
  "id": "fc_09ec560fa9a846d0016ab2add02e4087d0b34b9fd56285eb8d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WsKt7zWh8DTvTiIOpLI1fGNR",
  "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]: [-1.0195, 1.6169, 1.2682, -0.8234, -0.8764, -0.8921, 0.9971, 0.4976, 1.6871, 1.0504, -0.1287, 0.3248, 0.2295, 0.9945]\nstate[eef_state]: left_x=0.3041 left_y=-0.2285 left_z=0.1798 left_yaw=0.1263 left_pitch=-0.0616 left_roll=0.1606 left_gripper=0.9971 right_x=0.4247 right_y=0.1706 right_z=0.1124 right_yaw=0.0917 right_pitch=-0.1348 right_roll=-0.048 right_gripper=0.9945\nstate[joint_eff]: [0.0068, -7.2684, 6.2838, 0.906, -0.5153, 0.0122, -0.0122, 0.1436, -10.0991, 9.1829, 1.8535, 0.2369, 0.1148, -0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6753ff17a23b424ab94142dafb92ddf4979ed7bc42056e1907b25f73d24da9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc473c6f3bd7b5440c54c04e8aff39b02a872e4d5ad28125e2f9c6ea1b541717",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d4ccdfc1a76f31b0064782139ec3377ab50604c12189cf50d49205358799d73",
      "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]: [-1.0195, 1.6169, 1.2682, -0.8227, -0.8799, -0.8879, 0.9971, 0.4519, 1.972, 1.0077, 0.2611, 0.3046, 0.21, 0.0212]\nstate[eef_state]: left_x=0.3044 left_y=-0.2283 left_z=0.1803 left_yaw=0.1254 left_pitch=-0.0588 left_roll=0.1646 left_gripper=0.9971 right_x=0.4661 right_y=0.1713 right_z=0.0338 right_yaw=0.0757 right_pitch=-0.0828 right_roll=-0.0266 right_gripper=0.0212\nstate[joint_eff]: [0.1026, -6.9675, 7.0906, 1.0134, -0.5788, 0.1148, -0.0122, -1.5111, -10.6872, 4.6427, 1.4969, 0.8132, 0.1148, 0.8718]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq3bmLuZlqjHWdq7qg_ROUzOdJlKHzF5wR64zidEKZADmuFcC2vY4oOd-WHjCmZPMgwhizaUBpj_AAIhEfCxAADgR0HMeD58vcgwz30Y9LUtlY7ghU1SVOyBg2d67WvXNsqBrNMcSnHEOM20Gq24Eh29zUWA1RDKpD9FlORjffVkR74ycfaLW8LEtFn477OO17invqYQgqV7IXi4PJFiy5GSMzVIccYxuyEYZgJ86HvjbOpWSSMgSohS7iGTMDwKPdrtVZT3vLHlu8uIP-IMNPYqq2O1uRbEDuXRjGqiAis4g2qCEdkhf-cqEIWw2iflGRUorYpePF2VFDdCMwMTEqbidua2JUV8XlShB3mWmUQA53kDXkuN04-WpJmKfTaBBjzVYC-aSDPF6EQRIYzYx6ryN4INr-hrENPq81BTymbby48i4jwrDZF8duC8whaZVNAiOmazwVHZXV8qPjsNXdli_lcQ46bj5VJdYtot35_Q_So3fnVcWOHqW3hoLXaaBgihCeD8FspyAUZ4dKaRrVACFozy8pkJnKNGKeQoDrN2isVuYXNFz0xjCmt3boAn7FFMzOXf5qYcdeCY1YDLyt_5eCtWI9eY2D13amIYX9mwd4YwtzBnCqYg1O5-3GzC00wfRqWdhYLovDxk_20_Q20cy2tU7r2w72iAxBBoA2IhqaEIXdeaCDfxqTp_DL81RqXWpHjl6cBa9gR3imlunEDcw9iV2SQwcfEF8WbnGIJCdIWyga1VK-TU_5haZp64xf12tytklYODJWwIEC3hdAfI5m7L-kf7GLkoK52G3bkUMct-QwI49vnnJ2womdhKZfnsBCnzjn-4KTroDiI8f_6SDiaFGsdzsiXZvD2Z349Q3QPnKnWwUUXTIvzwpotV_KdEjyHm569dy2kjmNiHkhT9yqnCcWSqklkNdUNZ8pGsBeYv_7RxPaaOxJzyWcGPJ-nifvFFZamXbpM2Bq-9GNjhAAwcbAzP1WSQJVHKQxwIYtdWALVmpRC8r6UWx_6lt4I_gm2wV2bce6cwM6YhGgd3j0Gi2Wo9SY0AkistgHh97YYy2w6L4492Ybm_4KVc6aquLEiYVpwpSWOGE-upg0zSbs_Q4qIk1-JO6S9cZ0K-Q0tHAl-qv_xofrHoTI1d-U3kQXLjVsTR5kGLKgfOM1foFIrZtxdwWPCOovrBXegjnHcVy-R82Zn-iHt12-dHYpgUWMqvYSj-p6wsniV38d9FW6MQ6F618r6c7hguMqazzaiMuYZYpfMm2Z-KBZEHyX8qsUzRbE8IRzDevNfywYksAnoLsdCq1hGe08dpyXgPENOFvo5uVl1tLCqX1X7qLWhynV86enYcxwkNNsOnbRszSBGSFMt20_Qmr6a4J4sMy68aoILIoPNN4jxa5j4q8MBFY7k_BrBsTid5iPLxMq4sOIAaK1mfxsFbR0tbTbbXjpEbuwqXCJXBpTTbvfVF7UafBXrUDZr1o_489Ik3AexdxR5y2A02ipdvWMVT3pxvw_QUVUbuPLKlRLV6sgi9f622GV3oQymJYvxWDmCpbelVig==",
  "id": "rs_09ec560fa9a846d0016ab2add6870c87d0b8d9598ec54a071a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.14,\"right_z\":0.018},\"note\":\"The yellow object is visible near the bottom of the right wrist view, closer to the base than the last grasp point. I am bringing the fingertips back over it and lowering.\"}",
  "call_id": "call_ckYLYY6KTgvNwttOYjA6TLiq",
  "id": "fc_09ec560fa9a846d0016ab2add8dc3087d0818f7b54bc4859ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ckYLYY6KTgvNwttOYjA6TLiq",
  "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]: [-1.0199, 1.6169, 1.2682, -0.8234, -0.8764, -0.8928, 0.9971, 0.4667, 1.747, 0.6914, 0.2237, 0.2985, 0.2096, 0.9953]\nstate[eef_state]: left_x=0.304 left_y=-0.2286 left_z=0.1798 left_yaw=0.1264 left_pitch=-0.0616 left_roll=0.16 left_gripper=0.9971 right_x=0.3791 right_y=0.1369 right_z=0.0118 right_yaw=0.0889 right_pitch=-0.2039 right_roll=-0.0707 right_gripper=0.9953\nstate[joint_eff]: [-0.1709, -7.4188, 6.5299, 0.8864, -0.486, -0.0366, -0.0122, -0.5402, -6.4068, 5.6821, 1.79, 0.1441, -0.1343, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39059a389f7b9dc6f2d3f2eefd2f197dca1c2d1cd294e0af90cefa34356e87a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2d6b24610434cd4dd71e8f5c43f9b0ec9d26f581509363693a0bb1cf577ad31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:681c35e28cb41e21fe788ce2927a240c9a1eac6f4d462d4b7862c29a878ca8c2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0195, 1.6169, 1.2682, -0.8234, -0.8764, -0.8921, 0.9971, 0.4976, 1.6871, 1.0504, -0.1287, 0.3248, 0.2295, 0.9945]\nstate[eef_state]: left_x=0.3041 left_y=-0.2285 left_z=0.1798 left_yaw=0.1263 left_pitch=-0.0616 left_roll=0.1606 left_gripper=0.9971 right_x=0.4247 right_y=0.1706 right_z=0.1124 right_yaw=0.0917 right_pitch=-0.1348 right_roll=-0.048 right_gripper=0.9945\nstate[joint_eff]: [0.0068, -7.2684, 6.2838, 0.906, -0.5153, 0.0122, -0.0122, 0.1436, -10.0991, 9.1829, 1.8535, 0.2369, 0.1148, -0.0269]\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": "gAAAAABqsq3gziK_C0KgfrI3fiSLpcJYmlW26qtolqHzJFSn1eextdjGOJkAq9xi8_nfr9U-fZ4-_Me97AuvYaKgYvcA72V-MPPeKXq4qmc16pH-kkBQGvcA4wArbFO1Kuos9PkNbarCLi6r72iJhiiGNk_swrGH37Hhx024quC1YMfNDX7H7zrydrRm2GWYU1dqUamRl2oEyHhvEGcmPoOcYPMnb8CPZWzsFN-dJZVZYQBpN4tv2f1m9LaERZmQWtkWkRFxDq0RYLd3UAltx5-NSFV4Q8VJV0JkNZ03BoMiJORjWx1p3B6V_eEIxo2Pc_QNlltjkUCeiacTkyOR2UAfBKKAYgjC_qRHAYF_dUqIbduDTVsz4Suw7DN5CLIpQTX7XvT-ATnhvdN6oMygIz-8dhpXLil9ANaExavO6b16-8pioK75SSbgWHAdoN5SqusWa7-_VOV6tyB1cUQ0848JY4M2NkndSKjj0C48IJ8TZ0_cNfufmn0jfhrczMbwZ08uMtdjIiW8lOarLRNMOJHQO3zzXWi-YHgZ56lWpshSCehTGRyfkk3VO-1QFuLuUm3HL3T57WYYpH-N3vcaETPkl6o0s_73H5ViJOkwGltTjGJljxtLIoHLFQMACz96hfZs-TUMvZAc_dki-nmWuQOikkFjf5ZOKOiMUtAinCPgxQD0iVI35hiLhStrAoD2BZcqakRH_FVEAzcou6XCR9ShH1LS94yOdB1zqVjutNPWWUMD2rgYEPqcdL7lwE8sm33ObXYXymovfXGyVHkqjTvLjWx5iQjOBL6iNKuEJQxpINGZTy4pxqaRPRhEA5W7DDE8CXI5GSujeFTHzrklsa2C1zobXJVxxBjuCOSaiEju-1qC5uTNpeO2Z7sd352qfsxpSrh626IkgmvBuIfgsNuyHhsdsSVtkRD8B8_EKrVCJGWFmRPM6ZWPP3hkQn0JtI6u6NspWa3jeYa6raRn0kMFiUUnFCuFo6kwMgFzWbE_I663rCegXF_kQ56ZdK26371N9HC_4UCqy6N6w0FMlqyvv_KSeLIIWGmOltWYG39Z7vx8Wb7ZWzeSmb3ikfJUySw9T1Sa14oeXKw8pQ5qOaEvFF0uvl7PYEnzFSFBtQJQMrivvuKxCEgzaKlCr85h8jumGaQaJ34QtPZEeFDHr4zC5mOn7TQelCaDCP2K_WZw4U6WGqTfTymCGl_W8l4sJX2ilLOGqiNy5-E-xD-E7d54mmBM9hk-_uKzkeOwqGia5TFpSGpqX3w=",
  "id": "rs_09ec560fa9a846d0016ab2addf13dc87d0ac56ed7ad7384d07",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object is now centered between the open jaws at table height. I am closing for the second grasp.\"}",
  "call_id": "call_ZUU1BUCOS17hgTnISKIRBrd5",
  "id": "fc_09ec560fa9a846d0016ab2addfd41087d0993176bdc71bf7d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZUU1BUCOS17hgTnISKIRBrd5",
  "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]: [-1.0199, 1.6169, 1.2682, -0.8234, -0.8761, -0.8951, 0.9971, 0.4644, 1.7599, 0.6739, 0.2226, 0.2943, 0.2028, 0.5025]\nstate[eef_state]: left_x=0.304 left_y=-0.2287 left_z=0.1797 left_yaw=0.1274 left_pitch=-0.0617 left_roll=0.158 left_gripper=0.9971 right_x=0.3721 right_y=0.1331 right_z=0.0008 right_yaw=0.0913 right_pitch=-0.2348 right_roll=-0.0845 right_gripper=0.5025\nstate[joint_eff]: [-0.0068, -7.3915, 6.3385, 0.862, -0.486, -0.0073, -0.0122, -0.0205, -8.4991, 6.5299, 1.4188, 0.0952, 0.0269, 0.9939]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58c68d21118b4c6a871d24680e6b753caf2acb5fc5d057e504b180970ca36a1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4d060ae7194d79d5aa4b8fe27538c9e58cff82fa0db12d5f20a64e2d30358ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fa8edeac5be8eb65df33835ed57bc586ebe5eac1f6523e669d48c91855300e7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 76 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0199, 1.6169, 1.2682, -0.8234, -0.8764, -0.8928, 0.9971, 0.4667, 1.747, 0.6914, 0.2237, 0.2985, 0.2096, 0.9953]\nstate[eef_state]: left_x=0.304 left_y=-0.2286 left_z=0.1798 left_yaw=0.1264 left_pitch=-0.0616 left_roll=0.16 left_gripper=0.9971 right_x=0.3791 right_y=0.1369 right_z=0.0118 right_yaw=0.0889 right_pitch=-0.2039 right_roll=-0.0707 right_gripper=0.9953\nstate[joint_eff]: [-0.1709, -7.4188, 6.5299, 0.8864, -0.486, -0.0366, -0.0122, -0.5402, -6.4068, 5.6821, 1.79, 0.1441, -0.1343, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12,\"right_pitch\":0.2},\"note\":\"The gripper gap is consistent with holding the yellow object. I am lifting it to confirm it is secure.\"}",
  "call_id": "call_MVz8DrsTRfnoG7aXu9azZ6uP",
  "id": "fc_09ec560fa9a846d0016ab2ade5400487d09b34178edd14eeb3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MVz8DrsTRfnoG7aXu9azZ6uP",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0199, 1.6169, 1.2682, -0.8234, -0.8761, -0.8955, 0.9971, 0.5247, 1.4574, 0.5137, 0.4271, 0.424, 0.1055, 0.5043]\nstate[eef_state]: left_x=0.304 left_y=-0.2287 left_z=0.1797 left_yaw=0.1277 left_pitch=-0.0617 left_roll=0.1577 left_gripper=0.9971 right_x=0.3666 right_y=0.1324 right_z=0.0971 right_yaw=0.1077 right_pitch=0.112 right_roll=-0.106 right_gripper=0.5043\nstate[joint_eff]: [-0.0479, -7.2957, 6.4342, 0.862, -0.4713, -0.0415, -0.0122, 0.4308, -6.8581, 5.5316, 2.2247, 0.2955, -0.0073, 0.1783]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aee67c784b9c33935a1cdbc684a136c450504447a871d2e0639784341f99379",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c784637a2da801c8662b61c6f803092944bae36bd680e9e47f2e54962d10c72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f14208ce464b46500819ee9c5e638093b98771a60d15b00d6d070b04d44e1b55",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 80 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0199, 1.6169, 1.2682, -0.8234, -0.8761, -0.8951, 0.9971, 0.4644, 1.7599, 0.6739, 0.2226, 0.2943, 0.2028, 0.5025]\nstate[eef_state]: left_x=0.304 left_y=-0.2287 left_z=0.1797 left_yaw=0.1274 left_pitch=-0.0617 left_roll=0.158 left_gripper=0.9971 right_x=0.3721 right_y=0.1331 right_z=0.0008 right_yaw=0.0913 right_pitch=-0.2348 right_roll=-0.0845 right_gripper=0.5025\nstate[joint_eff]: [-0.0068, -7.3915, 6.3385, 0.862, -0.486, -0.0073, -0.0122, -0.0205, -8.4991, 6.5299, 1.4188, 0.0952, 0.0269, 0.9939]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq3uHJwe2GtdWrPZsuhTgWZsUW7c7s1qBbLt0u8WSpiysETHYuiMqnsnnut9Infh-TevOxGzzv70kLnS7KYjNer0tfwQPrMRb-BdPvtAhXGB7HcqR0X8rJde6sZLISF6jOfkdvalD-RlCFzyoZQL_eTZ5AlNthXHlFwamGgHItr2R2egcc4DFCRJhbVBjrCf-fadu17Xa7_cT6BSM4OQgMr0YTsY5Zdusn6vcI9INzLaLG1hwjkR2OJLrBU-uoGlj3rgyOruwig1r3yLIl0OcH7pnaM9HMvWIIjl1_OPoMszqygteSSrFeYlHvHJCI9WTlTFRrYkXsqrOfznb-ODn1f7hXibCe8PYFDFfZiAwJvcECk63x0HxK9JLUdsEk3HmBgALy53i66DXpMFigBkBNoOXf-sYiiGCG10Wz4rUFjcFcLZqleqmJLQ1o4D22vGJIDiFckprGKghrnYpX2JKnC23qb799GlTTODR8VIr6qSVockYKWdfnGvsnq-IIPi6q5DxuIZ_SF2g5qxJCCks0u1PYrZptsp4lVWhBfMiwcokYvDD_Lm8v1t4KmamGWh7fWHcrbHhkZQpNxPUoZDxVhkLKky3MQxD5Oh8u4eY4U5Wg9eRY5tv41l4p0XQu1TCt9DOeC3V1g4Nj_8mNRKE0HuFIVQzTaMzKVGJV1_05Ke_AfjwISvoLm2-MmqbEvldBkMVVp3PfdDO4iV6QKtb9oORwD4znPDUI-JLzrzrd20f82YtIpXnF0bmVmpGPGigVst8YJ5dmg5qSoChoZPoNuM8460icMMq9zvqalBXo1hSw0AC6dvXD_BWsxDfHuvZ6q79nftjsyUXwMOwUHJMx67RjRFGgs-GyZtC5J1Ufn3Nvv63OIybH6KpmlqBQaGTLwzE2ONKIsvPdBM3EXVGMEP32mur1D5RlD5H8lEA_NJiLvGg9V9H7pi45u7oJ2HY7U1d8D4d3agYcv29wFBW0gksUufaDwZC5wvrR2TLvzjpX3SWC8nZfMaLhx7o4pItK2C13Sw-Id0Kj2UV43IjOO9qNofYNPXOV8qrK9EAtaXqW9FfXXSa5eN4uGbZvzZzYbSOXXibH0Zj6v_Y5J6UXoYRPYQx3ByiTs4sHGX2oFUx-TNCm9PfTJ-j0weAnSoU9-67TQpUS9bJ_KG3J3ng3nvAEmMgeLtJRtzFh1qHvWtExqG0gwZ0Bamk97vrAyAJ7wJrOKAXVP58JVxOdnMjrF96cZyP-d2JkngUgICnvvbzrt56aT1Fc8oT2XVqc2UCfffy5l1JUEL4Vc1hywx-9o0lGeek6n7sHUlmbfGSjwR_Wg=",
  "id": "rs_09ec560fa9a846d0016ab2adeb1cb487d09c241c09a6d7af48",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_y\":0.29,\"right_z\":0.2},\"note\":\"The yellow object lifted with the right gripper. I am carrying it over the unoccupied side of the safe.\"}",
  "call_id": "call_qs85c1X1k3pisbVOcK8ZetxU",
  "id": "fc_09ec560fa9a846d0016ab2aded208487d0a500e8de3ef060de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qs85c1X1k3pisbVOcK8ZetxU",
  "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]: [-1.0206, 1.6169, 1.2682, -0.8238, -0.8722, -0.8963, 0.9971, 0.6518, 2.0609, 1.6802, -0.1864, 0.5129, 0.1574, 0.507]\nstate[eef_state]: left_x=0.3035 left_y=-0.2293 left_z=0.1792 left_yaw=0.1258 left_pitch=-0.0649 left_roll=0.156 left_gripper=0.9971 right_x=0.514 right_y=0.2876 right_z=0.1894 right_yaw=0.1365 right_pitch=0.0908 right_roll=-0.1237 right_gripper=0.507\nstate[joint_eff]: [-0.1573, -7.3915, 6.2564, 0.8571, -0.4762, -0.0611, -0.0171, 0.1709, -11.6855, 8.294, 1.7216, 0.3834, 0.105, 0.2711]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24a9c836fbb01bc1fcae9d90589278e59aa7907e172a300c7d3a272bfe0e5409",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e6c9a2f6d2587caea01ebc6f5f7f5e23c0f1b0884779303dae205662d05a0e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f4e7ba748ee3fb29361e0efaa7471fef0b37a3521f2a83e735256ea305b8f27",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0199, 1.6169, 1.2682, -0.8234, -0.8761, -0.8955, 0.9971, 0.5247, 1.4574, 0.5137, 0.4271, 0.424, 0.1055, 0.5043]\nstate[eef_state]: left_x=0.304 left_y=-0.2287 left_z=0.1797 left_yaw=0.1277 left_pitch=-0.0617 left_roll=0.1577 left_gripper=0.9971 right_x=0.3666 right_y=0.1324 right_z=0.0971 right_yaw=0.1077 right_pitch=0.112 right_roll=-0.106 right_gripper=0.5043\nstate[joint_eff]: [-0.0479, -7.2957, 6.4342, 0.862, -0.4713, -0.0415, -0.0122, 0.4308, -6.8581, 5.5316, 2.2247, 0.2955, -0.0073, 0.1783]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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 above the safe interior. I am lowering it gently beside the white plush.\"}",
  "call_id": "call_K5LzcQ9OUngFi5hiF4k8aNDD",
  "id": "fc_09ec560fa9a846d0016ab2adf288ac87d096d272269ce8a740",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_K5LzcQ9OUngFi5hiF4k8aNDD",
  "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]: [-1.0206, 1.6169, 1.2682, -0.8238, -0.8722, -0.8986, 0.9971, 0.6533, 2.1372, 1.4815, 0.0101, 0.5114, 0.1574, 0.5086]\nstate[eef_state]: left_x=0.3035 left_y=-0.2293 left_z=0.1792 left_yaw=0.127 left_pitch=-0.0647 left_roll=0.1541 left_gripper=0.9971 right_x=0.5042 right_y=0.2816 right_z=0.0982 right_yaw=0.1414 right_pitch=0.0219 right_roll=-0.1616 right_gripper=0.5086\nstate[joint_eff]: [-0.1162, -7.1179, 6.3111, 0.8571, -0.4908, -0.0317, -0.0122, -0.4855, -10.8376, 6.7487, 2.1368, 0.1245, -0.0513, 0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f44d62f0ad1fa42052f8411aa9fd3a34277cb81b642e6ed4c63fa8dc322a87a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50e9d66ef8f77c9fa5e6e17ed1dec247be1a36e5912ef11d1a440851cddd9d90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5406bee349ece01e4708488e459b4e143b5881996252421949c0aaa0a9260d27",
      "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]: [-1.0206, 1.6169, 1.2682, -0.8238, -0.8722, -0.8963, 0.9971, 0.6518, 2.0609, 1.6802, -0.1864, 0.5129, 0.1574, 0.507]\nstate[eef_state]: left_x=0.3035 left_y=-0.2293 left_z=0.1792 left_yaw=0.1258 left_pitch=-0.0649 left_roll=0.156 left_gripper=0.9971 right_x=0.514 right_y=0.2876 right_z=0.1894 right_yaw=0.1365 right_pitch=0.0908 right_roll=-0.1237 right_gripper=0.507\nstate[joint_eff]: [-0.1573, -7.3915, 6.2564, 0.8571, -0.4762, -0.0611, -0.0171, 0.1709, -11.6855, 8.294, 1.7216, 0.3834, 0.105, 0.2711]\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 lowered into the compartment. I am opening the right gripper to leave it inside.\"}",
  "call_id": "call_KahvxzdAV2hgSuit0XXch5T4",
  "id": "fc_09ec560fa9a846d0016ab2adf79a1487d0a65c5c9d48b6a551",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KahvxzdAV2hgSuit0XXch5T4",
  "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]: [-1.0206, 1.6169, 1.2682, -0.8242, -0.8719, -0.8993, 0.9971, 0.6537, 2.1471, 1.4696, -0.0063, 0.5072, 0.1532, 0.995]\nstate[eef_state]: left_x=0.3034 left_y=-0.2292 left_z=0.1792 left_yaw=0.1273 left_pitch=-0.0652 left_roll=0.1537 left_gripper=0.9971 right_x=0.4997 right_y=0.2792 right_z=0.0849 right_yaw=0.1475 right_pitch=-0.013 right_roll=-0.1814 right_gripper=0.995\nstate[joint_eff]: [-0.1709, -7.3504, 6.2564, 0.8571, -0.4811, -0.0073, -0.0122, -0.2667, -13.053, 7.4051, 1.7363, 0.1197, -0.0122, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3411a4ddb251a827b39aef87ee0208646ad4fce80c8acf6397f46d0705f1df2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a97a8d54f3ead91774dff16f9011d5190b7b217f8fc8b7bbaadb86dee681d88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29c5da169db4e7cdc644e0b07cca19e4f1b750577672b8bc0f9771e220227f83",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0206, 1.6169, 1.2682, -0.8238, -0.8722, -0.8986, 0.9971, 0.6533, 2.1372, 1.4815, 0.0101, 0.5114, 0.1574, 0.5086]\nstate[eef_state]: left_x=0.3035 left_y=-0.2293 left_z=0.1792 left_yaw=0.127 left_pitch=-0.0647 left_roll=0.1541 left_gripper=0.9971 right_x=0.5042 right_y=0.2816 right_z=0.0982 right_yaw=0.1414 right_pitch=0.0219 right_roll=-0.1616 right_gripper=0.5086\nstate[joint_eff]: [-0.1162, -7.1179, 6.3111, 0.8571, -0.4908, -0.0317, -0.0122, -0.4855, -10.8376, 6.7487, 2.1368, 0.1245, -0.0513, 0.149]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq3_ydLa7oXYkQzSIzSSJ1U7LqC9a_ESfiMg6cwCyscASL-WrfvSrZq4CXQx_f0cKPC5x6AWfl2o-hHVJJeV8Z12u1UBhQFILrVkv06oJeup1sqJJwsF8m7bri5WEBh9Wn9bPCHMhWofafBu2osrexAfUPQTk8glmVHIeuciIpgifGH80yuEImKsQ6g1Vy3EcuGHiGptN131B_4yRF2PbtFHf0bJJzWRF6pYHFFkToSdyTS76cpRKMRKR7dhYvcHXlgYYCAyHRRNGrGq14cOrdvATwLgyR_C4IX3I8wLgbL4pRy-wTZchC0QT9RivR3SxoPVrJJWIvRvhEIFpI3xG_a_X-Ky4MLPezd39Si3qO-6wQByyT0FdCUh3WB2AGNjcKcKDAAnRFN8bwV3gPi81GlR5NMA5RjkegF7sAeFMQD9x1loQvLwrwau2haPg7YCJta2RnfH3DWQ971-05JEDtwJqfjEDL5o8nobScZn4LbeCZ-liw_60vAyQnisb33N7Pu-uPRNGFRpxsd6Eh43VS1hIk3Rahp4NBSBckzFXgaUY-YjMJWiUmbJcy66fMJ1J5aMlfExN67CtyMMmU1_tpZnc1JexAUelrnrlQnGhRYxqmF3fW_7zonTP4-X964lc6IUb3DirQXQ2ZlcNWr-UnxoZ0QyhrwZXfseQ1nq6W_j9jzLsWSQmSvjxIUDoGrOahZPyeAMCTxFwXgerUiZSznOCVtRPAZkp7IR-Vrw1vVu-4c4hHXangE5GBlPTwLijaLuMU7Q5XK2ugWkxzfq_aFgav4inZXqutmqFwlgPCmsI6zphKXahkPMcMRcAJcN1NysFTiJUpTBLGmqnwnU5oFC7iuo7zIJS2vUo7Ai5kNfZ3nXwbjuWSEWjL3nK57WxG5BFgLsvBAmp_Y_EZqcp4ybaSx5yRVTb7S3wBKKcMZhMswZjeycF4JIOwc-ZD614YkvtUfN-9ZSjr-WkxQjqr6bLuYrDJtohLLvHxTbAhe2r5w5ztkOmJjua31vmvQoVD7RWP_dIKgBUHorgDn0ityY6TBM5Fmd9KZFFyH9PNYCu-ph8KBxB-h7XqzTjvrOqf7nyAIpphpsir0amicLZ-upqdmgMWsYgKDccIr8RDCh2I0hDXO1UPOtk21nZ9UI1X-5Ux0-DqCwXRSAdk083wMdbwuNgVGCnYCfnV7bjkIczurMpxIiMhw4l5Ba9suWjypl6f4QK9JsqlQ9cC80nsEv2fzA3ONuK9MBHVHYA5LLDrGwQ2x7XOs6r7ES6_bGxEOJzm9VDFMuxbzcvvc8q3zMxbzDXiI6EMGQgu-HMJtBEv_T1CNFm2GI6O-MLR3waitsJMorXICL5zo1Voqly6dtc6xJeRo1l0yMyZ8hpeW-ZS8=",
  "id": "rs_09ec560fa9a846d0016ab2adfca82487d090300e7cd2cf189b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.04,\"right_z\":0.23,\"left_x\":0.285,\"left_y\":-0.31,\"left_z\":0.025},\"note\":\"The yellow object has been released inside the safe. I am parking the right arm and lowering the left gripper around the remaining brown plush.\"}",
  "call_id": "call_q5irqbddig7swTloUdjTLsF9",
  "id": "fc_09ec560fa9a846d0016ab2adfde41c87d0865f945d75fa6220",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_q5irqbddig7swTloUdjTLsF9",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1706, 2.0636, 1.2285, -0.5312, -0.9192, -1.1316, 0.9971, 0.1986, 0.9836, 0.8589, -0.4702, 0.1734, -0.1093, 0.9967]\nstate[eef_state]: left_x=0.2845 left_y=-0.3027 left_z=0.0299 left_yaw=0.1306 left_pitch=-0.0674 left_roll=0.1654 left_gripper=0.9971 right_x=0.3255 right_y=0.0381 right_z=0.2242 right_yaw=0.1068 right_pitch=-0.013 right_roll=-0.1829 right_gripper=0.9967\nstate[joint_eff]: [-0.5675, -8.3214, 6.7624, 0.6129, -0.4567, 0.0513, -0.0171, -0.1846, -2.5641, 8.0205, 2.0098, -0.1245, -0.0904, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8124c58909d19a690fa470cfb454b762cc0acb15e1894a5c9f1032432389da9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0885da3a0fa1d7bf91d8a2f7709b32ddbabbd836e90a59572238fca96ae2b08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e0f57eed7d3e8db4ebac5ff3a165014470338c4dcf583cc5d4d5956b23abd10",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 93 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0206, 1.6169, 1.2682, -0.8242, -0.8719, -0.8993, 0.9971, 0.6537, 2.1471, 1.4696, -0.0063, 0.5072, 0.1532, 0.995]\nstate[eef_state]: left_x=0.3034 left_y=-0.2292 left_z=0.1792 left_yaw=0.1273 left_pitch=-0.0652 left_roll=0.1537 left_gripper=0.9971 right_x=0.4997 right_y=0.2792 right_z=0.0849 right_yaw=0.1475 right_pitch=-0.013 right_roll=-0.1814 right_gripper=0.995\nstate[joint_eff]: [-0.1709, -7.3504, 6.2564, 0.8571, -0.4811, -0.0073, -0.0122, -0.2667, -13.053, 7.4051, 1.7363, 0.1197, -0.0122, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq4GsaNIpj6OkJMFz4NzvsSIBVUlN842lMxbRpUX2ZvEnrt5_O6ol2IIGFPBw_-M6UknEWHO1ZZFUkWyY-0ZULRpJcNAQKBqxcfVNuNq87e5rE8kpQCnJ-7626PmYFVGMXiBI8no-ns0thUDRSLrKICydRlVUjTphvsNT5W5Xr66NrIXxrA1YLyHCnbX-bLzqSEbPfLTJe_Gn0250gz8v0_h0zfvPQEhi4yhvCRbGzexMWRxfWtbLE_Tr4geHTmiBQwHfLmyh92ryQOoMLJboYw7qlYaZwBmacJbViZN_grbHyR6F-u4WolY04nhZNYqMvQcpBZ_bZ6x0uxhANMNoAtHYeNi4sBhK1hz2rlDXBlS2KKh6kAp0H4437sjRuu5Eteg-nLPs6vGYrorT1SdUU9zOeCiWFumzyak4srHxhpPtu76JJcWDWDxEjpZ2xr9egsMQijQrYGu94K5CsCufR2OSgCA_DAn_9u3NfVuXIRJjCroPZY23HDWD_0QoBNPNM0KYMxpGVYmqMrvQWWmgqEE9s0NPuYIB-D5R2XfsYwUlOmF8NSvVk1GJA50CHBLqRhax0Eth_ITDWFx247G7M3DaZYEQiwc7fqkRxjtsO_U-6WHAk-eqXJBiY9zL5uJYua5mHdhi3RHJKfZHQhW846kV7eQ4tHibKYnt0MTy8LNZUrqd-ySK5ZRz1eubtLKDujdSZd9IsIloBfj7J8WIkMmZXWoRoSznCCD--JdhazbKBlgFco7HnPWQTtZp9NcQ0ViR-vXENZtO5znJGkI5-mUWi1_E8S18Jprx-CwIuOiyM3-RYCYib2KbG7CtLnJk-juIBQuqA9SDwiEctjGbJ3oUWwdGPAcOHHJg7_tFkgy0ORuZVMmTpKiLH7FCw6z-zhhYL2VueR3JeHENjlekelzvDEj08sb8nnltjr3YgbJpMeRBbJkX9kvLEbJClS5igqXnPkBM1bF_MT16fs3vZDB9cvbtIAze4Komu--jFK4hAjFQiEC8TkgePeGKzGjeK4E-_dWRkBP_oqeCZehsfW0SKio1q0OT_49aojz_ciQjN3dQFmyhUMd6D-PL3r01kRo-O_3t9TfPgiPkTAcqRen1fsUTRm76nx0qXT5T22tgowlNkekvPenbk-ocKmUjvZTSz6IK-6bHiaiMBeVE05NvcpjjXQ9D5WiDOI-2CtQRMHgo7F1FUf3pL31RIVbECZa",
  "id": "rs_09ec560fa9a846d0016ab2ae045ef487d0b5b3b65a986dcf18",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown plush’s torso fills the opening between the left fingers. I am closing around it.\"}",
  "call_id": "call_fPC3hejCxf3AX5EA452Bu7ho",
  "id": "fc_09ec560fa9a846d0016ab2ae052cc487d0962c4cf2c38f5853",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fPC3hejCxf3AX5EA452Bu7ho",
  "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]: [-1.1713, 2.0686, 1.2308, -0.5243, -0.9203, -1.1351, 0.01, 0.197, 0.9886, 0.8585, -0.5217, 0.1638, -0.1272, 0.9968]\nstate[eef_state]: left_x=0.2849 left_y=-0.3043 left_z=0.029 left_yaw=0.1317 left_pitch=-0.0649 left_roll=0.1588 left_gripper=0.01 right_x=0.3187 right_y=0.0379 right_z=0.2122 right_yaw=0.1228 right_pitch=-0.0719 right_roll=-0.1966 right_gripper=0.9968\nstate[joint_eff]: [-0.0068, -10.6598, 4.9299, 0.5055, -0.4908, -0.022, 0.7106, 0.0615, -2.865, 6.9402, 2.1709, 0.0855, 0.1294, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:decae0ec55fbf45269cbbc290c59abd7ee536a26a5b3880c00850b6ebf463aaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6ba83b69bf369b313cdc4d56c39b8f84ea794edd31bfcc84d71d839ca7feddd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deee5d62a87185041fd2f542839f6ebc619806b3e3331b9bb925c5c024d06d96",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 97 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1706, 2.0636, 1.2285, -0.5312, -0.9192, -1.1316, 0.9971, 0.1986, 0.9836, 0.8589, -0.4702, 0.1734, -0.1093, 0.9967]\nstate[eef_state]: left_x=0.2845 left_y=-0.3027 left_z=0.0299 left_yaw=0.1306 left_pitch=-0.0674 left_roll=0.1654 left_gripper=0.9971 right_x=0.3255 right_y=0.0381 right_z=0.2242 right_yaw=0.1068 right_pitch=-0.013 right_roll=-0.1829 right_gripper=0.9967\nstate[joint_eff]: [-0.5675, -8.3214, 6.7624, 0.6129, -0.4567, 0.0513, -0.0171, -0.1846, -2.5641, 8.0205, 2.0098, -0.1245, -0.0904, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq4NJCatmUt1iyKfQvBMdkQMenOygxAt0eK2-_6ezMCibKG98x0fPwC3e-0NREI5VLSL7xEwQ1kCg97juSWKFE46STFBfDvKgfq2kiUWE_f-KgmYm9r0HR1EMoXa5PB_tNjzFoNN0f5cggFI5CTxz7ahh4pp6y1hIufk9icviOrf6jXqwY6a2wl8OOKWLPncSC0rOKBivX9p_ZEIC5GlnHXloHpc3N_a72AhjKcS8rRlt5A1kA6s616re5moJJ53Jb_7wZxpQgRI9gJ5Dpalzc0tmcqr3mRM-qAQzrpQyBVa-NSGTEThvFJtFkbibWyl8dVsHtG9hP0yrMQxnqkwgPj-uwOtznb4a7zL-x34Glfh0V_qEYuRmVHEL94M1T7xxbVB-Fp6bTHLJseonNWPSBBml3ZIgAUsbSt8BLX6pe1DJ4nixzqKiz8JfJ2Knx2EEvfaaIdb80tOMVE_ToBkKj7r5FttG2HyJ_wVWGMbG-ypFBFdzrEy6dnJCW3tRZ9So7iTHc-lfncFd9PhhnUrTO6z68tAArKbnDDDm1rG2D3sRp5gTkWz9MUfH4K0pQVyQYper9m-XJ2IevTyT92iNxRHZ6pzlgC_7LvD1LurRk6RpJeBPM6x2D4DM_zbyTWqX9lyKqAUW3w4xBpEVgRr4DtXpYklTqPWJYaZgnlbrbdyN3Skjqc9SekRv22sxNJ4qRIkUE75PHUQSdr82hmqFm6iMAGqBEO8yys5eFbGmznN2O6Irs2uVkBjyMMDk3cSMV-rn-25w4a40v8qpAlkOWocBOriOzeHtLEuEUIwHieZa72c3V1-wkx1ZewX6QY8DqrMEfikuXq-huaDA4Ic0UU25cfMYlnd2qGeXkG8pEiZD6UiytMuju4GICfb6t3BQESDyU0eajQkiQny2eLAWwGjf2C2oUFG7IzkAAaHSSlq93usVeXDoWJxAaCW3gBT1oJihaQZG15RH6Ps6tOmbgfeIyr79a_gk8pOKMvSURbipKnnj00bzpFX-2xppD4f42ZK-RQ0hYCFiyv0mhLlAV2MB49CzhWH2Niw47Recl4HhItJM5Jg47gPEJ7JzhK8Y_Fi1Zk_6_-15xeZzYSlIpYsoTX7oj9-zqWDkrFj5z_FHSF-CgEqVqs8vJpSbv0kCDXZTZ4z6-UVCltGmPzWqpqAmKJcj94EevTBMGMDDeTVVnXJOP2cuD4MD6SznJZ3ij58MVsXH_Gt7oQmNyNijJ_RkdBQwNw0C1lZ6bgqoo34bX4=",
  "id": "rs_09ec560fa9a846d0016ab2ae0b3ed087d098aeb5f5d8452207",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.33,\"left_z\":0.016},\"note\":\"The gap shows an empty close; the brown plush’s body is just forward of the fingertips. I am reopening and advancing onto its torso.\"}",
  "call_id": "call_4X8K4VDmeOhMckGfGfOzBVyy",
  "id": "fc_09ec560fa9a846d0016ab2ae0c04a487d08dfbf86263816018",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4X8K4VDmeOhMckGfGfOzBVyy",
  "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]: [-1.0725, 2.1124, 1.251, -0.3775, -0.9176, -1.0096, 0.9947, 0.197, 0.9886, 0.8581, -0.5541, 0.1631, -0.1314, 0.9968]\nstate[eef_state]: left_x=0.3266 left_y=-0.2992 left_z=0.0238 left_yaw=0.1555 left_pitch=-0.0409 left_roll=0.1419 left_gripper=0.9947 right_x=0.3138 right_y=0.0371 right_z=0.2057 right_yaw=0.1255 right_pitch=-0.1051 right_roll=-0.2018 right_gripper=0.9968\nstate[joint_eff]: [0.4855, -8.3214, 7.2137, 0.7057, -0.1929, 0.2857, 0.0366, -0.1846, -2.3043, 7.1316, 1.9121, 0.0513, -0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c90efb920ceddd3e222f6008cc1bd15023d6136ee6ba6a1989aeb6a5b2979871",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4501b4e03b1b7c8ef278174bc33a03f8aec5d231addc607eb95d450a731f00e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9af47fe684efee06ba84eb35b5c0bcd37280c43031c8933ba5ec273f979649e6",
      "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]: [-1.1713, 2.0686, 1.2308, -0.5243, -0.9203, -1.1351, 0.01, 0.197, 0.9886, 0.8585, -0.5217, 0.1638, -0.1272, 0.9968]\nstate[eef_state]: left_x=0.2849 left_y=-0.3043 left_z=0.029 left_yaw=0.1317 left_pitch=-0.0649 left_roll=0.1588 left_gripper=0.01 right_x=0.3187 right_y=0.0379 right_z=0.2122 right_yaw=0.1228 right_pitch=-0.0719 right_roll=-0.1966 right_gripper=0.9968\nstate[joint_eff]: [-0.0068, -10.6598, 4.9299, 0.5055, -0.4908, -0.022, 0.7106, 0.0615, -2.865, 6.9402, 2.1709, 0.0855, 0.1294, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers now surround the brown plush’s body rather than its edge. I am closing again.\"}",
  "call_id": "call_7z1wZP9mIvEbKkwJfB8Bimq0",
  "id": "fc_09ec560fa9a846d0016ab2ae11302487d0b1af99bf26faf663",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7z1wZP9mIvEbKkwJfB8Bimq0",
  "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]: [-1.0737, 2.1136, 1.251, -0.3714, -0.9176, -1.0107, 0.0096, 0.197, 0.9905, 0.8581, -0.5907, 0.16, -0.1314, 0.9969]\nstate[eef_state]: left_x=0.3267 left_y=-0.3004 left_z=0.0237 left_yaw=0.1548 left_pitch=-0.0391 left_roll=0.1363 left_gripper=0.0096 right_x=0.3082 right_y=0.0365 right_z=0.1983 right_yaw=0.1277 right_pitch=-0.1437 right_roll=-0.2026 right_gripper=0.9969\nstate[joint_eff]: [-0.0889, -10.8513, 5.2444, 0.7155, -0.4518, -0.0269, 0.7595, -0.1436, -2.5368, 6.8718, 1.9707, 0.0269, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fa44acef9d3d26f510586897e191c65f3bae8b9b35e166220be9fdcfecabeef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c7eeb1366a20eb4e837594c4104519f4d1a16a9ea40f5cc2255102c98096b78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27e4217053cbb856bdca5e40ca3fbe6b6f7419b295d364c51605143ee8c7fdf7",
      "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]: [-1.0725, 2.1124, 1.251, -0.3775, -0.9176, -1.0096, 0.9947, 0.197, 0.9886, 0.8581, -0.5541, 0.1631, -0.1314, 0.9968]\nstate[eef_state]: left_x=0.3266 left_y=-0.2992 left_z=0.0238 left_yaw=0.1555 left_pitch=-0.0409 left_roll=0.1419 left_gripper=0.9947 right_x=0.3138 right_y=0.0371 right_z=0.2057 right_yaw=0.1255 right_pitch=-0.1051 right_roll=-0.2018 right_gripper=0.9968\nstate[joint_eff]: [0.4855, -8.3214, 7.2137, 0.7057, -0.1929, 0.2857, 0.0366, -0.1846, -2.3043, 7.1316, 1.9121, 0.0513, -0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsq4bHTdXdTLfa0XtchMs2wOGRuHRHy3e3c7jrlbGfFgwLPZ4nVLrivq1yQq3Ht-_jc1pAylCXFiYdksKBBmaVdTG5FVnYWs_mRVfQFlFrP00DPbgv33HW2o_TOkMgddVzpW4lBFRQRottO4oHMFoAR_MzlT64TXGVAXkqypA8L34uhgU1ui65jqa6Zb_UlC4gG00lfyBiNZGJ2kId8iXEybVSq0AeDxuSzmmfX215TwRne7XnGUqUmcuxJjYmSJkfJa1pCC2OZnKBmwYpaeJeoNR5Tk1loQUSIM9211VXdFv3zXzNbCZ-YRfZZP6Q3a_A3GGidaOCKiBJc-SimHnU0MoIrk8jUzpJ9G2XhQuA8xyCypYG__pShBao7AyQWEiiYjF5nhmbWxiMuzqvN-MqRKNF9irdTpc8hOb0dpxTAdkGjR3WcuXent_a6zvenaMWUn6G1-h1wWVUFEtYIahGibjRTePZFLtfOSnXo2IKOBob5wUI5eGuawsaS5Ic0D6U6-MGVRr5nL1mzP-UghnnOFRCS-XO_TftmYyG7kzHzPOs8WJL2RjMjnhMVnlTcOUd-I3vO-2CspCZJxnhdpYxvNFbI63ydESUoB_PQz0578NPT7hsnOB337ZKhbrai9-sJwLfAV6w-W9Nb76pKnxj5Z2NkHwLjkQv-0SdZDIq6pgq1Xwp0uYBfCpso8GlRJ4t4QPPh7Jq5jnndp2sW-izY0-Hu-t_PjZPci8owPCpzgz9993yVyskKMkbGFryky93mYjfLokWHnUQmXuWKQIb-eDVBTNn8EUmEcB-y5N-JRM0Ndw2DFqtljbWgZ6GGmoxIYzPMir_UhAmMCNRwBYQUiNqw_hf1AWoDFwfx1Xe73UKVuN2d4kEWDTJfn5CVZmcb1mCQ-CXSn54OVUBFvSHgU6el2CYCTBb3pan97_LR7KzifQDPXJtEESTeVdh39a1qLT4xwQmjK5rwW7T2StVq4haoWWVZKruOdOaEk3E-yOdLmRvRprqzpxjGhkvpvXnv9Lmtyggg0CVLYil-0HdqX_RX5BJ3phs0dfC_YbSrdbZjNd9hdAy3FDkKfZABXW0yH8i_TGJ6lujiT0nv9I3dngHIP3ZhxdkvIQoPwdxYG02HyvjhyqzcxUr24zsgXB8X41oSCrBli2PSmKd1wN6RcwBUlPa_OSnnDacVp8W2mia8nIy571FfSs3AjxMBzlHz5fktAHqEhi_rKGhlZ7NaOtMDMqyb8hxTp3qG3SCXCHPOcdPODDZzquWHm19d397TNtTDfIilArpZcL5KrP2NAct80HkSSallvQJXmMuIOOSSI4NxdxDpYShPXRSYNGz2wEGoX4dZA0iNDRBz1JSK_qB5j3ix9p_rqOw8eL3sWFqGNe1pbzR54PZWtCfgZVEB9nd27lJ5wmpTSPkKRi-PrmBa5UsztMgjqKx8CB2Iy0fcrztdty6YfWO_9SNK4tLyWjUyuy9z8JtJUcDYTWHcpbb3pSodgzrvr6Eisey8bAXb264BWeJd3QE1ALVgzGs3fAbCXXW3kGPVJmuT8d0iLn57E7CYcrAty5QMO0PRrzHBk=",
  "id": "rs_09ec560fa9a846d0016ab2ae15ac8c87d0ab6ed71dd2ef1d72",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.30,\"left_z\":0.035,\"left_gripper\":1},\"note\":\"The second close missed as well. The overhead view shows the brown plush’s torso farther forward, so I am repositioning directly over that visible center.\"}",
  "call_id": "call_dac7ZAibnRj8njVqT0wg9qUf",
  "id": "fc_09ec560fa9a846d0016ab2ae19083887d0ab896faaa03c720f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dac7ZAibnRj8njVqT0wg9qUf",
  "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]: [-0.9508, 2.1567, 1.3556, -0.3183, -0.8757, -0.8577, 0.9951, 0.197, 0.9905, 0.8581, -0.6159, 0.16, -0.1314, 0.9969]\nstate[eef_state]: left_x=0.3803 left_y=-0.293 left_z=0.0331 left_yaw=0.1736 left_pitch=-0.043 left_roll=0.1403 left_gripper=0.9951 right_x=0.3042 right_y=0.0357 right_z=0.1937 right_yaw=0.1275 right_pitch=-0.1688 right_roll=-0.2044 right_gripper=0.9969\nstate[joint_eff]: [0.6085, -9.9487, 8.1026, 1.1795, -0.3394, 0.3101, -0.1099, -0.1983, -2.4957, 6.9949, 1.7802, -0.0024, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3391d197360462ee2e766063491a6ec497a5909869ebd8e6e28acfcdb0a9dcb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f89bfa3aedf73f2fa9207cfdd8fe1286b5f250b3b332a745c6f8d10fb9a744d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:950c53d794f88c7d964e66440c69e25cc99eb8297e076fb89d02d10e674ccc5d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0737, 2.1136, 1.251, -0.3714, -0.9176, -1.0107, 0.0096, 0.197, 0.9905, 0.8581, -0.5907, 0.16, -0.1314, 0.9969]\nstate[eef_state]: left_x=0.3267 left_y=-0.3004 left_z=0.0237 left_yaw=0.1548 left_pitch=-0.0391 left_roll=0.1363 left_gripper=0.0096 right_x=0.3082 right_y=0.0365 right_z=0.1983 right_yaw=0.1277 right_pitch=-0.1437 right_roll=-0.2026 right_gripper=0.9969\nstate[joint_eff]: [-0.0889, -10.8513, 5.2444, 0.7155, -0.4518, -0.0269, 0.7595, -0.1436, -2.5368, 6.8718, 1.9707, 0.0269, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gripper now straddles the center of the brown plush. I am closing around its torso.\"}",
  "call_id": "call_XE3PsaZizD7Jl1TjAYLFiCSu",
  "id": "fc_09ec560fa9a846d0016ab2ae1e75ec87d0a065305e042a81d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XE3PsaZizD7Jl1TjAYLFiCSu",
  "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]: [-0.9539, 2.162, 1.3613, -0.3176, -0.8722, -0.8646, 0.0098, 0.197, 0.9913, 0.8581, -0.6353, 0.16, -0.1314, 0.9969]\nstate[eef_state]: left_x=0.38 left_y=-0.2957 left_z=0.032 left_yaw=0.1727 left_pitch=-0.0447 left_roll=0.1323 left_gripper=0.0098 right_x=0.301 right_y=0.035 right_z=0.1901 right_yaw=0.1272 right_pitch=-0.189 right_roll=-0.2058 right_gripper=0.9969\nstate[joint_eff]: [-0.0615, -11.9453, 5.1214, 0.9695, -0.4469, 0.022, 0.7741, -0.0752, -2.3179, 6.8171, 1.7314, 0.0122, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34abb0e8f5c160f026998fcf80b6caae4080e046e8df910a685338cccb4abdc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97988e27e4dd87c74937b3732845e0d9c0f11707473c296e1574c02544ed66f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:207f1f58361d1d7e67fb4ee25cf438ffd5ed0bcece86866649200c38b45cc2a5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9508, 2.1567, 1.3556, -0.3183, -0.8757, -0.8577, 0.9951, 0.197, 0.9905, 0.8581, -0.6159, 0.16, -0.1314, 0.9969]\nstate[eef_state]: left_x=0.3803 left_y=-0.293 left_z=0.0331 left_yaw=0.1736 left_pitch=-0.043 left_roll=0.1403 left_gripper=0.9951 right_x=0.3042 right_y=0.0357 right_z=0.1937 right_yaw=0.1275 right_pitch=-0.1688 right_roll=-0.2044 right_gripper=0.9969\nstate[joint_eff]: [0.6085, -9.9487, 8.1026, 1.1795, -0.3394, 0.3101, -0.1099, -0.1983, -2.4957, 6.9949, 1.7802, -0.0024, -0.0562, -0.0171]\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": "gAAAAABqsq4qmPQh2TvTqbKmd61uU3mJu-R-QMYd1c_xWYT9tm5RpfgM0tlxt7BlgSDRgKdw9dI2Ym4mZzO1pRhWm5vWYiBhxEJu23YPOQF0nmMOdxE1KW4a_IplGfyFMRs4EqRwU8VamIwCJbGYXgL5ktpAoyi94ao7vw63FTY_bVBZKb3UZy20Bvh6fLuPMt-ggyZVuPQ6M0G-jDBozL1fZcx1Vpa2LRjufpv5R9iC2sQSSLEeZJYpd-iGJ88JP7vzDoTRF6d1HFqMnw5sr7qdhOLUce5Xw3g0Y_B_wqnrSX1G4Bdl-jH2cT6PxVyaOYNfVCI_pVW3OkylP13nXhrPMNthiBhwvVfFjXoQ8M-srNxn-OVrfn71m3Xu4sh_JupYJ8kvmXlHrMa-YgUMwfmxuGONGrriwn8kqiszugqQlL_sgOq5sgWNKYPC2Gu6jBT8asRy9FbMtDQPi1VKdy4qzxlbH4E7cOUlA7GThNL0ycbeBnM0L7XBlRKcVYAkLzSx-xHkZ9QvBH3GVnliYLjiD9XhkvcOySYrjaEgZnG67dvOu9cGNfFAl7EJlWnJj9ROO5h7XR0yDW0--7b8h7xqJFZ2lF8ZJXRUOOj17k3_I8eaKHd99C3yWYTIQrYWpA4hRrjzUYiSLtef-MiB1zFBOlcvxMhZbD3iw18Vl8XAc2rCATorI1vtKjQ2bbeFJsfN2HS23leq0XKPrWyfEPtoeBpzH-5ekGgL3oujV-k7seK9JvK388vvdrPFbgEhK2p2Sb1CCq29zpcyWO2P0AEmoEd0q5J8WRibNuXNoTS4Ql8LthqrfyoHgZK2P8bU3s29HWuM5IemVRhOyUmILknfHImm3zq-eZj7A6vxmvF9DBH1acql8H07TDPP6_ynhIyXIpHLXdQU7VNHKK-uZo5eplnIgE28EqwrOLknN5QBSUErgNAGRL41gRMDTkfbJ3FVRqPO62mPxQPS7zpk249X1B_j7EbrNcmFQFeYE4iZvWEnUJIoqSZsRI4izkB0R7mZzCMu4olVl7iCyn8pfQHRWSa-Izw1AMZYMXktG4raqA3fVG4mY412gleBYp0tQzZXgR_RRUc5L6KwdzBoPD-SlZtRdXl1ZzPv2tmTbcthvj7_bjZIqm5G7R-bdlqPtsEFU6f23hy0-5pMe6IG59f0DoI1t2lkPpN3zT-RLYVuydzoJDCHAS0Ed24p_LxSeZWL-xZHY8VM1RBJCOLbFdpFOxK2tSfIgwqma2GAMMxi-eLwjFXuKz2JthP3qP0Ls1B6DC8K8KL_j0dG2QvcMllDb8Jw2tQmx0kTkupzrLjr0cChkUgstIO0o5FdOEln5krFoqzDI7_ai46dnQ_MovlXMBQcLzRVkYy-WJe247z_KzREwY7PVcu_bUZCjj6WAMQGhk1L92Vmh542bX5twm2BQnjL0yT7lsZkM9YQeNX2hMlBX28NTeiFWssGxRJd7BqANPPUj2vX9ZWHqs4z5-pFfITcr5-OikOvToXehCkmNiQ9sk97EZTHKpJd7FKs7tCtvvFLOZXh7aJh94J-hXKFUVfSCpRHRWQZiJ5ZtpcQug_4emfItcgR-cOZtHqpQTeq0ejPlS1iM3yDF0Rm4amuUzOfUNmzz7Rutl9GQO1puBj1bZr8fMBDxwZsf7gCHnew1P7VQo4lf96jKvkwfEn_tLawBLKiwtaXvfQnj8ywm_fqOaUNpD0=",
  "id": "rs_09ec560fa9a846d0016ab2ae2491f887d0a18364efaf08789a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_z\":0.06,\"left_gripper\":1},\"note\":\"The fingers are closing below and behind the plush’s thick upper body. I am moving forward and higher to grasp the torso rather than the thin lower edge.\"}",
  "call_id": "call_o3PS5epjLxJMcGImBpAKQB9u",
  "id": "fc_09ec560fa9a846d0016ab2ae286a6c87d0afef192dcb99c0fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_o3PS5epjLxJMcGImBpAKQB9u",
  "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]: [-0.8597, 2.2002, 1.5185, -0.3706, -0.8307, -0.7643, 0.9948, 0.197, 0.9913, 0.8581, -0.6575, 0.16, -0.1314, 0.9969]\nstate[eef_state]: left_x=0.4261 left_y=-0.2892 left_z=0.0534 left_yaw=0.1893 left_pitch=-0.0544 left_roll=0.138 left_gripper=0.9948 right_x=0.2973 right_y=0.0343 right_z=0.1862 right_yaw=0.1269 right_pitch=-0.211 right_roll=-0.2074 right_gripper=0.9969\nstate[joint_eff]: [0.4444, -10.7419, 8.6085, 1.1306, -0.398, 0.2369, 0.0415, -0.0615, -2.441, 7.0085, 1.7363, 0.0024, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0bf08505f007cfb3f35f7ad096f0ecbc0a9f8bc00e3059989e72206b59d07a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ee988bb6580c9b34d2fd0b1e149174bd6ad8e64d25a7c09126c9154a6aea011",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9aa8ec0cbd20ab4cebe16f2a2e0dfa576f852deade986d9597fed3d4f3b81893",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 115 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9539, 2.162, 1.3613, -0.3176, -0.8722, -0.8646, 0.0098, 0.197, 0.9913, 0.8581, -0.6353, 0.16, -0.1314, 0.9969]\nstate[eef_state]: left_x=0.38 left_y=-0.2957 left_z=0.032 left_yaw=0.1727 left_pitch=-0.0447 left_roll=0.1323 left_gripper=0.0098 right_x=0.301 right_y=0.035 right_z=0.1901 right_yaw=0.1272 right_pitch=-0.189 right_roll=-0.2058 right_gripper=0.9969\nstate[joint_eff]: [-0.0615, -11.9453, 5.1214, 0.9695, -0.4469, 0.022, 0.7741, -0.0752, -2.3179, 6.8171, 1.7314, 0.0122, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The plush’s upper body is now between the jaws. I am closing at this higher grasp point.\"}",
  "call_id": "call_BBJUt2VDbuWQoB7RAF05pmO4",
  "id": "fc_09ec560fa9a846d0016ab2ae2e533c87d09bb882aacd3f45c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BBJUt2VDbuWQoB7RAF05pmO4",
  "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]: [-0.8566, 2.2036, 1.523, -0.3744, -0.8268, -0.7708, 0.0094, 0.197, 0.9913, 0.8581, -0.6762, 0.16, -0.1314, 0.9969]\nstate[eef_state]: left_x=0.427 left_y=-0.2887 left_z=0.0525 left_yaw=0.194 left_pitch=-0.0581 left_roll=0.1334 left_gripper=0.0094 right_x=0.2941 right_y=0.0337 right_z=0.183 right_yaw=0.1266 right_pitch=-0.2297 right_roll=-0.2087 right_gripper=0.9969\nstate[joint_eff]: [-0.2393, -12.4786, 5.6, 1.1111, -0.3834, 0.0366, 0.7741, -0.3487, -2.441, 6.7761, 1.6532, -0.0073, -0.0806, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1166b9bf9adac5add02d0e04a388eef75952766b69daaad027e94eeef1aa549",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:678f1bacd991446e6ead8b4028459688eae3b09e1c16f201e2f497959ba06779",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eb887facd867b98a98b80b9a42dcd313e845b91ae9c00666e528e0df7b39d1a",
      "type": "input_image"
    }
  ],
  "role": "user"
}