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, 0.7914, 0.6037, -0.3908, -0.0193, -0.0338, 0.9993, -0.0212, 0.7929, 0.6071, -0.3958, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1783 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1784 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -1.388, 10.3453, 1.9805, -0.0952, 0.1783, -0.0904, -0.294, -1.3744, 9.6479, 1.9023, -0.0708, -0.0122, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:934e57f3b04a0612f14551edb20ef69c02ecb880dd6442d0ebe7f213c844afad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1706bd5dbbaa78a3e393da88b32c8c874f6efb87af5bd4199eae081bbcd32721",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44cf3e948b75f8989dd2b04c1f808d73d5b36a5b3100c4de77415f23a523cdb5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsr07wMv2Vcs05fMjADVz9xziyMKsgzORarFHb7IT2Z7-jzMJlBucdRAI0_PRNC423oqnDszM22WT9kBJheMmnvVK6v4cYm9sjNQMUNjsx5AVp4TvnreX9jH-0UuzNjJWhkTG0VoktDp2ryGexs6Z_uG-Ddt39vaZyIB3ypSGDBuGPTnKv00PSL0p1uhs-APy03fk0Y7afebRfPeH-D2ADGb6FGf6JoMsxbZT8YEurdU7n7kDEBbRg_dWsgzEI-Y3m08dwpZhq64LWMSRbxeYlWEusq4alOBi2cHZymwLbV2F4MY5DKfnV5Y_angs8xG3rtudVXwP8z5_MxivdutDD3Mb6o3Yov72W3d7mryfiNoLJc2qVqDDQ23vTDhc93vyMHRxxbzXzjcQbG30_VF8pOIsRiWLySlGdDc4OK8huw80KEjZGmEEb_zRjbTVm0atRw0kjFjhQcjjsQiEgmeG0ThV_d-NdManKywUM-JDOfYcauhCoP_WEFEr5-VXDSqHkflpuuLLYK0qr44nuM82XYj2XwZ_p0ZsnFwcFanazSaj9fC4VMEkeIedimwVrS32z7aic65JuXGXysg0pM0t--0lM113S8BsTpM2_bFptI86AjQ-nkMJHn1p86tvBXbfGdDX8kMAdnkL7HHdIMzMoZTWkTgXIoGTFS_BDV_QJ1qT6znHUwQ1xeA6BWxuxCdFPh9jGX8CSzsxtMAEB7HC-RkLt8QfWqG3mqML4COPAeC4hes3gkDmxgWneEvYXhJ-PhmaHzDeWRc01ofTIPXSZtwjvtUIakmL5mhSNbXc-3LWkA7wuytJiOgAYaoXNmT49qJVFQa5TRJdWOPnjGn7Xu19KDh_WKYjY4Trv2q80x4rNi0KaWWggOUy7Z-MJu60jYlQ-ns16dkSizhb-YSDYskLS4FOUdSy8OlT8Ow788xtmNVMknkRuQFfMuCFnkklDfw7zj9TJAt9k2DHT79QFGU3JzKxaI-b7_NQJ07-y8BDdC7wvyoECZqfpDTy97WuLidpB3Jte3Le9bz6N89fjhjC-8J2CEEFz0unbpiXCTAntoNarh-Xj_vrLs_OhZoLtORGasgs0T-EgHSTP1APf3PUMtOBmriFyX9LQwGZrQPEeJhjfr0ybA2F_zIIz_pF7HxCreQCzZdp4_nMDTFrs4ZM4Tnghytlptmr4QEdzNc8vi_-uQ9exrd2PwCZJ2rTrcbNnRr_WReNjDWZ5FLEAIVJ6PUFTAdl74BTkbSOdvkT21XwbxCTYmjodP8VE2XNp9_u0Ak8XOl5WsdE2ysQVqnXCGXNUv76LrBjCAD3505iNaWApwpmpUYAROPSqyjVh-vkzBqFoAyEMRLibbMH0-aBUIBmOK2W-bdQnwzcOggLabIvl_yke6cqEKAtduVvgq3YNPqqq_MZcdo9qt3-sYz_3KfeMJJ3wUw993FeMjTV1ufLGrcCDF4WabfnaYve75urvLyBB991wlHezBTQTm5tkEv22etn8jVoCcmKVlXPZk0KHvreDlDmcIEkm6akc1d_8xk9U7hT_ycTGdfp-4AqeaWiE0J0_deMrtNd0hy1RRXkG5vFfPJLPern-X4FqwQS28eamKFWEAYR1HVyAqws7ObVq88erYlFrOpg2yrw8zrxws51ifj9pohzGtjjoRoxyXP8Y3Vl1ApWWhM-1N2xP_CdP6gs5GFKJyoHJ4Aq2jrDstd1z-P_C-JlE6HlqL_hBc27BeR32XyZFSv78isLu2_EYzh_YkjIOqbGJmU4vlhEawg799L8VF60iT9i-tiIp53gp35coQ_ruXGBx7nypQfs9Hqz3zV8jkeY1XBvcjrmh1m6GXQstQyUqbl_Cg5zNVX0xvz_smilMpY1cfZRjkiM7cE8c2mSv1Dlfh58fH916QhW_7s4kCC4lv_J_PJ4",
  "id": "rs_08bc5c13ab21e3f0016ab2bd34abe887d0bfad9afd99ccaa7d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.17,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"The safe is open, with a white plush on its left, a brown plush in front, and a yellow object on its right. I’ll bring the left gripper above the white plush first.\"}",
  "call_id": "call_QdDRBdU2vBgai48iy3pw267v",
  "id": "fc_08bc5c13ab21e3f0016ab2bd3a45cc87d0891f64c1d0a7b54d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QdDRBdU2vBgai48iy3pw267v",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6167, 1.4979, 0.8852, -0.1303, -0.4904, -0.3923, 0.9993, -0.0212, 0.7986, 0.6094, -0.4316, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3783 left_y=-0.1618 left_z=0.1308 left_yaw=-0.0135 left_pitch=-0.0614 left_roll=0.0296 left_gripper=0.9993 right_x=0.2886 right_y=0.001 right_z=0.1706 right_yaw=0.0 right_pitch=-0.0393 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -7.1316, 8.9231, 1.7656, -0.3394, -0.0513, -0.0855, -0.1162, -1.4564, 6.8308, 2.0977, -0.0806, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0042a20c515cc363d9c85ed03885dfb6841fda269a9b4a4bb9347cf437d73dcb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5c92a51fca41b4cdd031deeec9ee2c6887e0f1bcfd03d4ecea1073136ece042",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4953c8dd4602aba558e5fd335c58de7eef9525786101c73fa265fac64ff3e2a",
      "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, 0.7914, 0.6037, -0.3908, -0.0193, -0.0338, 0.9993, -0.0212, 0.7929, 0.6071, -0.3958, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1783 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1784 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -1.388, 10.3453, 1.9805, -0.0952, 0.1783, -0.0904, -0.294, -1.3744, 9.6479, 1.9023, -0.0708, -0.0122, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr1EgNeNRKjMHP0gkgUJX_FMXNO48ci2zsMiKnR-vknufCoHe0DwDu_2Xs1d8ooWNhVkzQ4NIprzgHFMpdN7Xyo5OaODmI5s6QxoGQsrB3m5kYda0IUjDWGhXQaf00jVEUrZ2-QOctb5LVg5_-6Bfc8QM9YxZhHHtVTb-xLO-BWjJ2eml7UctFWl88vbxNOEO5i2wifdaFJoI4gBGWqwh1d7DkppfcDJg7poA1wUbKbkpB8CwKRiwvMCFdlkTyKU5heSmocBw6ChT4plwghpozduY5qdYLqts_j2h-WxhOfdwuEeMLgij9nSUfgvj5NhgEfOoDdqJddbQqimW8-UjfnCML6Pe9E3zPNG3GQdUeyekBJzkJXCIPQKqLlCRfNI9CseCetU2eb5gn0oz9CgCVfaJ3jwHh3fGJ3c5IX6eER1LrDNInfDsJqjXcGrvzAVpH4q1qPEOttIv2zh7kDH4YmBFQZAPxoLibMN6wTZa9s1H4b1qM0WflXnwYVpqGCGCfI-m0IWAH_DQO24O2ODEXFRs6I1mjit8XJ9WdbzuyAyuJ6TG6Dj4pvOQ5Qpc_vmja_ubU6PB6-_Fo5_CqCDX2sIHMyvtttegd2PFlwNhi9hVM7PAm2DKWjoaedaC2ol0ARELt5BJlxNAEXaopi6gDlr1G4b2uoI-MtlNK6hvTlm-QDAbF66iMG9zKbtugfQdZAHFdbxBla0oKUw74VOhSAO7jsN0EeS9seSUJQPAamOnsP11cCdGf1f5Wf2BmzmxzPA8Zet6Tbxt5Sjj8VYakbMxmYKu9jiBIu6a8fQLMkeCQt3AWn3sBLWkiQf91YkXDwsd0V5tLmWBST1EKiVj3MhvbVZPf3QRzaMbpWD4n5kVwSc1y8G1f6jWCjmAoLDcWOQuAeN5f-CmKbMV5RSLVp52asCR9-Peu-BjTzWaFoY5oGyzlhCGFO6ZY-rFRC-qkTfsErgawuvZ4u-uJu0UGrgDt3Y5RBeLoE7wmFtIAsTyZPzpgekyIwX45g_cXnvJPQl8DQSKFlds1PsA_cojBkKaLbgAydNklzazozk9ZCxlKTy_Wr2KNTBKjtddk9Ozocr_p8M9qynym3nX0IBrSgiFOvmIKEoOP8r1dc2pj4ra3LU1W28sobzz_Yq3VeV8R8TV5hOtIXNnTKrJH95hTnwiZvjjDrpXZJwEpMhklYV2-UMsTymEI6UVvyxKulh1KZ78ahVcGAFfDBLXrLCh6vzH1iPD7ecaiBvfG2JX511I-WR00rXU8lC3vl6vq9XkjWIRiP2WQIGZhpkeNydPufVkk8AvjkK-bR-kSQsRXH5b87wJXRtolzl54p1Y6bKhwSYAB7vnofcd1-XWJxWJzM7l6dQOaPYd1jj-iBQRPAnkYOSmdiZnVepQKWagmjStqlQYq7vxTtfzSIIWnPsPWRT7Gkth0nKWsH5Mco0tLw1Jjw=",
  "id": "rs_08bc5c13ab21e3f0016ab2bd408fc887d09a8865c34215190f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.145,\"left_z\":0.025},\"note\":\"The white plush is visible just left of the jaw column. I’ll shift left slightly and lower the open fingers around its body.\"}",
  "call_id": "call_H17qwZEhFJEYZZ81BYwqoZVV",
  "id": "fc_08bc5c13ab21e3f0016ab2bd424cc087d0b5f2b310777f6cbf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H17qwZEhFJEYZZ81BYwqoZVV",
  "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]: [-0.5198, 1.8, 0.7441, 0.2951, -0.4381, -0.3428, 0.9992, -0.0212, 0.8024, 0.6056, -0.4549, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4031 left_y=-0.1402 left_z=0.0269 left_yaw=0.0164 left_pitch=-0.097 left_roll=0.0485 left_gripper=0.9992 right_x=0.2849 right_y=0.0011 right_z=0.1633 right_yaw=0.0001 right_pitch=-0.0702 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -6.7214, 4.2872, 1.3114, 0.0757, 0.1929, -0.022, -0.0342, -1.4838, 7.3231, 1.9267, -0.0659, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c24c6721f00b0ae4f04da1649e9671ddc8ed5ab957e018ad4284b2d30beda6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4ba10236b8dfac860aa601b33cf3cdcc233f5d0246588f491a230fc4485dfd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:734a833f33b8f7a0b4aa794ae596168d667c70e1e47b3483070dc38df98c5ad6",
      "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]: [-0.6167, 1.4979, 0.8852, -0.1303, -0.4904, -0.3923, 0.9993, -0.0212, 0.7986, 0.6094, -0.4316, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3783 left_y=-0.1618 left_z=0.1308 left_yaw=-0.0135 left_pitch=-0.0614 left_roll=0.0296 left_gripper=0.9993 right_x=0.2886 right_y=0.001 right_z=0.1706 right_yaw=0.0 right_pitch=-0.0393 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -7.1316, 8.9231, 1.7656, -0.3394, -0.0513, -0.0855, -0.1162, -1.4564, 6.8308, 2.0977, -0.0806, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr1M7fgcxwCan_LV6FbfUr3u3ttaT2CgQ1X4GYjM0KvLzOHBQTpM0KvukOJt4yb4n8zhF9XYUNYwj6GEZ-QVkhaLkwKXQGpL7iEeQiekWh6KaQWHNdpZ5SochXhLKc20aaQs_3eJLyKDJxdvOzF9kDmCC4-XDFcQ6geWdPzKxQVaQnCnBQBvQHJn8fQCSVVaZwMh_v8CI28EiqWrC9-rim6EGJvyLKNFXgpr_A6hJDjoQ5z_93zM2E_alDWkTjqGDh2x5orUFpBcXtzuUatgfMqFwCvnZE0qSXHcBtRS0raHqzJynXkJdQrZOoiNi6bYHsl3_VrlpAfDChd8SHvAVn9M_PeuSDmDkYiI4kF9PU-Cq0BIeN4JlJECwgejOj6rfQ_hYJIxh6-oP75jkuoiwrG8d0idsRxhbUYNKGSidtIIweGNfTaXnak8_roCyT6q8zNJ-apm6RTk5I6UvDP_b9g-KvYUkHQ2Z4cMUJvO3PYbJHVNWlCpmNz0HlZ68Zbxr_mmX7qo3O_ajAxBxgFUVIp8gXERb1fG7T7DighFM7c7Xy13fDOS_Z789XVGDfDTlqkf3L08lFvQ6SlewcbQ-PVL4RRRilw_m-X1hxSm-gTcJ-nZ_Y_GTmSoBrtig4E0L1ibHrUh3ADze0PmNK_yf3Ow7Lq0yH6nQ-bvl7L_7CkVVzPwDyuoHDFEjPNTmvSxBFaiTyh7OzHkTE1zETVYcXW5SexjQqwly2zy99fz6VAAZtCCW3W7hN5_Q9BWwTvPVQrMORyyIyZMKzh0jqCggL46xOjYjbJiX4D9Aapqv-kqn3qd7azM_WMua2ApOZax35AASr75mFUFXATp5S2gFSObf5oVAaturo7-ByBfHry1Ck7rGNo19VpMjhcMW1h3e2mCHmdMiC2eGa2NJNWr3kntcj23iasaWe01E-hxEBL2ZMjxbBJ4YxpQgkks8qatjyMQQ6I2g7xY-3ldRE4Ilyb9-GFw3pxCH_yQsFsOrnY1KfNOe_cXyQglPCcUJtdQfAaujD4oBNZQtg6CEM7O7W1kqAGOsUOMpVg3Ljn0U4PefOyyaGx27SD2ot-r3CWr2YFvTtMadOGdNyuh_46TTPgA3WcFiVd62-39brwWnv2j5qbzYGF2jwOCx5CRT1dsdhWpwj2CRSX8xEjs4wURvSrU9ej25H4QtDdBpaVd_M_OtW_xybr2rynl5Th07vGQxXPxGYIS-UigPWZQcojlkvqQ8UYIfFuyJuavQTpgmTBbWmUkfG99ulveEt-knLFV7hF3eW4nqehuxJII6VziwMURkIy4BKUYgQbM9kH5GWupdGuaX4-0Z6xaSZpuCY098Xnpj8COcECY67ATqn45FvmGtTkzcXITXAk9nEkLxT15zHdSm47ax0TsxjYZo4d4m-dQbV3wJxALkAyfPhwi_UJJMtMKht2GTK30OpRCX8xh25wC7E3pbQDl-zKe4btIWsGT",
  "id": "rs_08bc5c13ab21e3f0016ab2bd47ec6887d0807befae66f972c4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.115,\"left_z\":0.015,\"left_gripper\":0},\"note\":\"The white plush’s torso is still slightly left of the fingers at table level. I’ll center the grasp a little farther left and close around the soft body.\"}",
  "call_id": "call_oKbSct2UDThW2IbtBvxU8z51",
  "id": "fc_08bc5c13ab21e3f0016ab2bd4a93c887d0a77f5fb68fdace64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oKbSct2UDThW2IbtBvxU8z51",
  "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]: [-0.4538, 1.8099, 0.6952, 0.4221, -0.4049, -0.2951, 0.0402, -0.0212, 0.8024, 0.6056, -0.4782, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4125 left_y=-0.1198 left_z=0.0267 left_yaw=0.0276 left_pitch=-0.0493 left_roll=0.0339 left_gripper=0.0402 right_x=0.2813 right_y=0.0012 right_z=0.1587 right_yaw=0.0001 right_pitch=-0.0934 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [0.4991, -7.9521, 3.8359, 1.0818, -0.0562, 0.0513, 1.1795, -0.1983, -1.2376, 6.9402, 1.9463, -0.0513, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d37b0475b5a8ed2fbba65fd63d0f35279e814c179882b19294d822e67b517a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e898f59fc0180272412aae88561a0f2d309a247f47e91ec7ac0b5d5e38ab166",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2f65cef29abc750cc1925030d6bf2ddb31820abee0c22614d5cfb25b5f60a2d",
      "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]: [-0.5198, 1.8, 0.7441, 0.2951, -0.4381, -0.3428, 0.9992, -0.0212, 0.8024, 0.6056, -0.4549, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4031 left_y=-0.1402 left_z=0.0269 left_yaw=0.0164 left_pitch=-0.097 left_roll=0.0485 left_gripper=0.9992 right_x=0.2849 right_y=0.0011 right_z=0.1633 right_yaw=0.0001 right_pitch=-0.0702 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -6.7214, 4.2872, 1.3114, 0.0757, 0.1929, -0.022, -0.0342, -1.4838, 7.3231, 1.9267, -0.0659, -0.0757, -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": "gAAAAABqsr1UdAs5fs7De0FLs5Gqnybzwjk6FBxUYBJapd28Vjph2VX6Zn6FvfJg_fqCV1qOTKq02Q6cLMMwAZhwwDtykJn3xkOWUXgV0UY47-OmDfspHw7YUeN04ySOtS7U2UC0UuA-cHY2iEha0sL0SnIS7bH6RSBeVe7YheiAjMEg2EKUzoBQX-2wC9C3KXKStw8pRKQ9w7X8BnucXC32FDttKc5bHQLjB_MLDfFvsbvZ92nMtvfmeU3vw80ZFCTTkf4DipuflZu_WhaTzVgOvV4vdoPjnuqG5T5DzS4y_5C08IOJ29tp5i4QLglmYFPeNAsNbG8ADX6_EverevaXi_HGCDLWhKPcszqwp0IeKQkthLnF5fSMuw72hmg57pjwnTF6RsZ3eyVb7reaelvngwiglt3Sov90-JspA6dP3rKnYDVRcMBPd8O2afmlyrlFYfEWQpuGdoH5IHruJN6EeBqpBVSPNpug7BByX-hUhC-14EJWku4ojweruwxLMTyVViJVfMnBx9LG3cpQB7oTAD4ugANVe418auON5v0XxWwD3BrsU6_xGvQl9W2DmSZPPvRJL8GQYqlLiJcAw-9bkpsqnWKDBWhyKIDlTLQJZRpJVKDZFzOe63whmZfJAUkCjeHQ_LkwewkoCGGxRtLuIJUQ8cYapg_LtYFlohSNpCQ1RxdmOuDN4tIyWj4wwyfFAUqyyCoMhPgXQ1NyWmBIrvYi7Jv4fZab6SHyVXnxrAMkGUbK4NHRg9on23dqZFMmtfDYVGnK3XQz-c6QPdZ6Kz1k2kERR9bojBveHWGHazsDhrCz_5SemsO-lSH_Q0zdDB1sGLHwwwilt4cUuSBrRjNQx0izbdybf6mIXRgpUAjbrdxpz_GDLVMhuVbRj81H_bgDmFRp7mvKtddwWwUw5wLzJ66CuxyDjrjcvfPbAOxYUKX3xHOk8oHrZYLhXFCe5WNPUdi6DeHWp2AJ16k_9cEQHkqUKkQVXL5DVuUEVboi6ZfYiEdI0NKcf6MVtFzmFo3_8DLKFrEWK2eBHwBnifJGE22lx_2NpMDKT_UbPaHifjAuMhlUa8eLwGdlj3R1_wTH48d3IJG72gNo-Bcli2S72m0J0TmgkngW8Oqn317vfXm1VRxkRIGpxms_Kndf4dbdAhsXrpxRje0i-uw4aWHjh7NGiRrE5BiFiXwEHJcSDtjLIKupS5yXcPueHjRkt-EBp41HchUXxTt9pnGWY8b0oMqmnep544-6Lqo6rHw79Jf25zAnNC4xBHUTg4A7sBBbrU-LRTmpZqqNdCN2IT_e7BAPbVGTvqaBQN6mH_UE3XkchUpjhY-O-IIsFRlHFZQttu_wJlo7hO4IeS-KxP1whwl7iTNFahWkKHRAL7R8j8I6W9A=",
  "id": "rs_08bc5c13ab21e3f0016ab2bd508dd487d0a17bd41e3457b8da",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.095,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"The fingers closed almost completely, so the grasp may only have caught a thin part of the plush. I’ll lift a short distance to check, while restoring the idle arm to its parked height.\"}",
  "call_id": "call_wzz78SrqY0Pd71rd00H5KTeA",
  "id": "fc_08bc5c13ab21e3f0016ab2bd52076087d08878c2a272f34d05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wzz78SrqY0Pd71rd00H5KTeA",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4526, 1.665, 0.7582, 0.1123, -0.4007, -0.2996, 0.0407, -0.0219, 0.8658, 0.6655, -0.5457, -0.0204, -0.0143, 0.9996]\nstate[eef_state]: left_x=0.397 left_y=-0.1124 left_z=0.053 left_yaw=0.0325 left_pitch=-0.1407 left_roll=0.0753 left_gripper=0.0407 right_x=0.2823 right_y=0.001 right_z=0.1558 right_yaw=0.0011 right_pitch=-0.1644 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -10.4, 10.0308, 2.3175, -0.2808, 0.0317, 1.0281, -0.6769, -1.5795, 9.9077, 1.8291, -0.0952, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60aed8edf80da4db7eee6a69f6141392a08caf14f42c20da520f955d2ee8adce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:513a68047dc78deba29447107f6c6543d2207b7b0cbd0df6bc0cb6b695636a1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e3e07068d8dc54215a3d90cb6a2226ede2312780229d8fcdf6d84439e51c3dd",
      "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]: [-0.4538, 1.8099, 0.6952, 0.4221, -0.4049, -0.2951, 0.0402, -0.0212, 0.8024, 0.6056, -0.4782, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4125 left_y=-0.1198 left_z=0.0267 left_yaw=0.0276 left_pitch=-0.0493 left_roll=0.0339 left_gripper=0.0402 right_x=0.2813 right_y=0.0012 right_z=0.1587 right_yaw=0.0001 right_pitch=-0.0934 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [0.4991, -7.9521, 3.8359, 1.0818, -0.0562, 0.0513, 1.1795, -0.1983, -1.2376, 6.9402, 1.9463, -0.0513, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr1dAGbHYNlMbCm-21r41AZbA4DOg15NVizbOJAFWKuDAbwwStSeQRRbLjFnRf05KBEn0Xjw-3BrBW7hgLJwdjH5hRUlh-vG4VXPrdLTHAm0GJMi2312ayFkeJEaQbS-FpRde2nhHQXh3RcYn1rLa8FV8GVIzuvGlUz00exgI0pDau-w6ZLsbiz5s0YSIViY14i0WQF8C0M4hGv0uTLTCgxQ7dTlNJMIHDxE7FK9Kfjmy6QXi9h__pgcrZsI13It03SJtCJNRjNDnuttdWcCMcRghwMURyYkSp4zdAyOTC7FZILN-GWA-9fUvSg7B-WKeIiuJ6jblUV2rX-0fAR_RS4YuvYj2yZ5ke-rJSDDkJesc7YqenEoqiF4POfOZBXZfNmK2R87xqx0cp4yI6q2F7blmYqSTe00GjJDXXt6dl-VSXOEv3GC1B_rYyK6mogyIJonFSZrZPg7N4Jm444VPyTL0kHZ6UvGnLPJjT4G_8jj4-jlu5pl_sd-PyieYz0-ozsC6Jp7-saxs---n6PEgTBn2sFgehXvOGcfypcNf8u1quJ6V75l4smzxE-f-Vh4_AB1h7i6uIqO83LZ2RfbZivUAGW4Ly2cAllNEnrkeN3-50IwPXNBON6qX8sCkzaexPrpSyYtxjKXJL3PnV4jTJjjkI7kC01EhxiSQ4F8-pndBFg064E0WQLvOoCvaAHm650sVRXgZFFojI6Mi75QXt79VKay21uTujS0glIhdKeE7-Otz7JdQawIGZFVgrPczTy9rerhQhe4i7TW96x8GewzJHIkYrzLG8am39nuSN-X1FnJ9kvwkdirklZvUHnfJZkNa--cLgN_4iuPpFQULCsjCLbwwSRzmQ_HSRyeVEz5LGvOyVWfX5vzGbc8Z0EhGSNytehZpO9cKphKvyrj2o09CDxkAwrMUYhmvWWy7kHSVmhBgEyxMWZyNo4G2hpzCiaN45d53W7YJK71J-CHVXs2hapUrQc6V1qYOUde1vgYg5HiJVuwVfNBW8V0rLJbYgq5pe5s1FMK9DT1rzheb8Sb1_axfFY2IY20UFw8ACyQWB2RV_gpko-JFW7QA8cDZzOWxuXdnbhCM5yEGk482uf9pRhCKdvMYi2of4F1OS5f7ynFyF4a-TztAnTSX0_mVRPcntYWE0gvDcqlsvT7Yj61KYc8o8PDUGugu4DW-Ueqq3jIWVeDErJ8NKyJIZrLWFwRxYzIuWbeKUItzBOy3aKtpLCvkRS3ER8ksEWlCElCHHyI1C4Vt2uhdjho7qLHSc7sMEGpQ8e-IJLfKqso-aTM4A9LdbsjfaoZjJZFr-kJdNaXfbM6WL7sIyvWfJssOFmPcxE_DSbYEUmBseTgyQeMIJSA7eroMRxRBxCr07g9UHR1irJpfD8vek9ivaqZdd6mWoEScZ3-h-MyYp5dVWm2c79FiWcTEoYOvS1aOmQxbmbEfo7tPZ5YgL0zTTnv0krbMleDsQ9iDaf7qFdJAzz3oHppE83o92-E76cGG2t3-EDVb7qW5xTJCf4ypQBvKj3jsrFgmuiDZzYIj5HL5lxboECZ_0WXtOpPgQx2uJ-7qnEN-Pw9yLxfr6TxPB5knarbV_LgB2AAhWgZ9BJKUWyxceKUT440VrFOt0cNw5pSbvn95b3M6FqHawzIJd-slgGOCJkkIaj9A7egpXRrgsCJmkPlrTwdO1wwI_8UWZXhg2M=",
  "id": "rs_08bc5c13ab21e3f0016ab2bd57302c87d0af74c2a4356453af",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.14,\"left_z\":0.075,\"left_gripper\":1},\"note\":\"The plush did not lift; the fingers appear to have been too far forward, beside the safe. I’ll reopen and reposition toward the plush’s body nearer the front of the table.\"}",
  "call_id": "call_tKeHmrqmcLYn4qK3QCzzMlhv",
  "id": "fc_08bc5c13ab21e3f0016ab2bd5a95f887d097053ddb21ef8eab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tKeHmrqmcLYn4qK3QCzzMlhv",
  "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]: [-0.6376, 1.5063, 0.6998, -0.0654, -0.5049, -0.4404, 0.9952, -0.0238, 0.868, 0.6655, -0.5758, -0.02, -0.0189, 0.9996]\nstate[eef_state]: left_x=0.3426 left_y=-0.143 left_z=0.0683 left_yaw=0.0113 left_pitch=-0.1583 left_roll=0.0768 left_gripper=0.9952 right_x=0.2773 right_y=0.0005 right_z=0.1499 right_yaw=0.0016 right_pitch=-0.1968 right_roll=-0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -7.4051, 5.7231, 1.4725, -0.3834, 0.0171, -0.0317, 0.0068, -1.4291, 6.9812, 1.8144, -0.0513, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1372107129f57863ffdf22d065996e4f0b7f5b1fb2deecdcbe44c7f4598a293c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbb88daca11dcb3fdaebc527e41eeb1bb5df152c637f9721083dd183c8f02d74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:746e5f3287e898fd0adfa4fd6dcb5e80cc05da80917be0fc058f089ad21865f3",
      "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]: [-0.4526, 1.665, 0.7582, 0.1123, -0.4007, -0.2996, 0.0407, -0.0219, 0.8658, 0.6655, -0.5457, -0.0204, -0.0143, 0.9996]\nstate[eef_state]: left_x=0.397 left_y=-0.1124 left_z=0.053 left_yaw=0.0325 left_pitch=-0.1407 left_roll=0.0753 left_gripper=0.0407 right_x=0.2823 right_y=0.001 right_z=0.1558 right_yaw=0.0011 right_pitch=-0.1644 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -10.4, 10.0308, 2.3175, -0.2808, 0.0317, 1.0281, -0.6769, -1.5795, 9.9077, 1.8291, -0.0952, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr1lL9B5iZV2WjQs-V7tXanm8LLaEHS43LUciB4BpRVilvO3OMMjyPsc2c69aaUGS3ep7OuNQdaWuWh1V3YditSGpgeIvUxpypqET5npRsYiW5OwTmj7tMlBQrECsqRTjHhbdxNdUNg0uon8BvuQVxghYVoigwUdf4kBo0PSpnk-GaiRkZowqMjUPIeoPkAAaXGXGsx5OLcxC2u8EeXCJNkHtJxiins0wopWnoxOX4Y1p9XYxqiCix6RwhXiKB-Wrdsw67lTi_vxU_rfn_3zDdlgrne_7gRYh4kSffvDdj2pvEE1W5csDUyZuh2ba00y8fxoKrsVCktN1vuZoT02KBXw-F3V27Zy8HEbK_KRtKN_n4ZGpKLB0sSt2CWUNAvGMSz2WPmceeF-I6XJ_iLznrVmri7tZyT4HetHcHRrdGP0BBlR-UWUyHMB3SvUMghs4cW5lBwiQXx-eG6YPj11I2M5_kwVtWC85bkZANFAvPBqVXDNEu_Bt3dPspeejodZbbftECbPfHAhJKRJnKE1QXSfWISs4-ewsVoXztP0Rjx0ZK1oK9cwbrrKsIWrgENLmQOr4lhARGf8JC8Kp72_ORHuEuh7EIUmEzWXo7FYBxqHaZx1fByYzdk5Sd6aN6-tneT9pXYSlT94QWxVcWOD8aJ97GiZtItEOqZj-4EFJFIMdRuBKxWc1LaNrrB3jwvti4iVi76ZNuH_qT0wXJvQoz_8WG30gFxifBGrkv7-Kh83Mshqtwi8512iI1qK5zhUS_-3OjZ0NEupVzd3ZcOKe6-7rR6fJ6uv-0zt632GQi6HkBZZvXfJPX_M7hOQ8kP21KC-z3N5C_Tb2Q_h1rUY0pp61pZW9GbIxRwApXXmMWDuXrtDFBEPnCbdOWdpdHxVumWS8iru4oLwIS3Wo5o2a9pGScKyWCL5ElIEsjpjnmYaEGmheD3GhbNhaSESLYhBBV5tOm_Mm9h7-J341Rx7xNRu5zfAjT9w4BgouM33T6FvHXkr7qmm2TswQddFiokhtN5fwEF57x8KXC_WmtmSun7d0esyBl1P7GUspDtK0MtcptZNrWBOukjNjEo_rNQKb6Hxva1ZFUyK4tGgXtSrLvgfwD2kTpCePC22ZI8ZcaNmInIeCcsrvi_s688irsd__fGGZRuQEfpp5oEqpivHOASzFaDvWVvqCnKLBElG-li4-_BXdS49mmN_RFDdDQHNff1bxwX5EyESBQ5UfugvVQxZFpTuIFEQ8ERZ3t6mDeCiSRLItgNlEMPZo53gUhOD18TN20V3hn45Z-Xv1vMqEKQ8ws40YlekGpIv-WqJBb2KaOlaKAiSrUzSOKuBHew4Mi4o-AAJq95Ww9YxAcx0R-P8tfxIvySVixAPq-90pVS1BfeamX_pYLrFXBY_ZMJZwA88MOPNM55QF3IsjymaRfEHTsdO0Jc8QrD_eViNp0ziVrc=",
  "id": "rs_08bc5c13ab21e3f0016ab2bd60ffa887d08223d26fa81a09be",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.075,\"left_z\":0.025},\"note\":\"The white plush is now clearly visible to the left of the safe and left of the jaw center. I’ll move sideways onto its torso and lower for a second grasp.\"}",
  "call_id": "call_GoPNcXnzGbUk0741ednCX0fM",
  "id": "fc_08bc5c13ab21e3f0016ab2bd63a26487d0814e561cca94a05b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GoPNcXnzGbUk0741ednCX0fM",
  "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]: [-0.3511, 1.6444, 0.6167, 0.1932, -0.3408, -0.2497, 0.9963, -0.0238, 0.8707, 0.6628, -0.6121, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3749 left_y=-0.0706 left_z=0.0214 left_yaw=0.0615 left_pitch=-0.1981 left_roll=0.0903 left_gripper=0.9963 right_x=0.2705 right_y=0.0007 right_z=0.1418 right_yaw=0.002 right_pitch=-0.2383 right_roll=0.0001 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -6.065, 4.9436, 1.6923, 0.0024, 0.1197, 0.1001, -0.1299, -1.7436, 7.0359, 1.8046, -0.0513, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34bb2a66601c1af21bc13d0fce513bf898d7e150ac7c7bffdf738c3661124c34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc3e8263b74faf652bff2b8be908aaffbb51f37d0dfb761b540ec2a7f7b03cda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19a7d06b0e3d86007436360b901da170bda654558f803322ca8877a47595da7f",
      "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]: [-0.6376, 1.5063, 0.6998, -0.0654, -0.5049, -0.4404, 0.9952, -0.0238, 0.868, 0.6655, -0.5758, -0.02, -0.0189, 0.9996]\nstate[eef_state]: left_x=0.3426 left_y=-0.143 left_z=0.0683 left_yaw=0.0113 left_pitch=-0.1583 left_roll=0.0768 left_gripper=0.9952 right_x=0.2773 right_y=0.0005 right_z=0.1499 right_yaw=0.0016 right_pitch=-0.1968 right_roll=-0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -7.4051, 5.7231, 1.4725, -0.3834, 0.0171, -0.0317, 0.0068, -1.4291, 6.9812, 1.8144, -0.0513, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr1q2RBSpR5zKsnesC7hUXO6G3xTxZh95N-KjOOeLi9asGlCj8sreg8p-5XBcpV8LCMcPLYD9-J6viXb4Wt1jvmmA16S4PmwkywO54Gyp1LjIJzi19MJqX4Xdz23k4IhRqoQU1c11BZGqFMA-mSGXVpluz8Fqwt3TOna20F_-tvRR_DiRHaYQ4LNx5Xsrf5S7FEiMCWFZnqjDq2rDJ2Eg1a37x_CrxqqkJTEPIj-g7I968oz0PPaQBSOvJMJeDxzaG_GO02BB1fOm9vP84HakwQLgeaeJzdnp7yYC305hkzLuOGX_fpJBJtPC6xtO4DZ5FujDgReKdmLNfq1Gclrm5j2hHrk9S-HtAm4kQq5WlA34jbJy8EsgmeX7Orv3zbMDJYCb-FkwKY1rH86-wT57NghDiBdmd22ohPGWnMviyWAggSNuNB3zUwRbvEJaRR7KIgOUTVUDUGgXdnwfF6T5U-PDUQuITqTZr0gGDsAD_R7lENh3m-zQ4P_laam3tclXcsWC3MyjxAUuuzF8oNAV6-M4nWqI2qJScT51R5zXS79-sj3UhkQB8urSDloIULTwa0oYGeH3F_zvOEMI--7iJySMNaFTVemZDAPF1y9A3mqbCXh0EsML2hHr2H5Y06YhEw3pwaIXezDFdOZDvNPJLvDiMbNJyFkQs39BHtV2AB-z4QWVGf3965GIK1_HuKP3kMceVUAlOLOfdnQVdxVS4FgwaRBC-VXUQBKBi3yalz2x3IMKBFbxNh1Q9uYDIZKhs1Oho9hjVw3_oHOavJxFMUUqzus44YhwqxcjLmSJ3T33pWcn7VU5q-jkqkBHDHF8iPGNKejA8-05cwrpGqA1WhW6d3opdl5f6wj2sfUxP9sV6mRHzuLbNeOUWrMhG9otg22W5-xV49vlIPv6HAGV1sBXoRqK5sBTbzmcHsW1gqvpfgKZtjx-ReM5q3dRJ8i8cRgdYxL5ziAGvRw1T_VeIWjq2_oo6RhxScfkUK6kpsE9mMtIqM-IiQLUSYWjyDupFLJ72x2H08nF2KkCe65w3GJaRZPQ2FAbgwJ8uVU9s0oJ10GdnGhZ0vHjALhxYBdh1DdE2rgHROUEvHCiDrB_H-aohkMdxElZCoVUSkhoUhQfMD6M7cHFmlxjhUio0TeWkbJb4ukPH6taJzgoB3ik8VI1Cxu8zY1dr98SruWWSH2gUzyuzvEY2R1Y392_y_muJsVsgoCCdSg6SaRnIPxbHSfCkDAJLO61ChDO6q9NwrHptJxNWOHJ0W2lZjIyzgpkdsQ",
  "id": "rs_08bc5c13ab21e3f0016ab2bd68770087d080e88cd195324471",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.06,\"left_z\":0.005,\"left_gripper\":0},\"note\":\"The plush’s torso is between the open fingers, with its head farther forward. I’ll make a small centering adjustment and close low around its body.\"}",
  "call_id": "call_PSXWLSHoQnlnauQg0iy3nsLu",
  "id": "fc_08bc5c13ab21e3f0016ab2bd6956b087d0976191f632f2e8d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PSXWLSHoQnlnauQg0iy3nsLu",
  "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]: [-0.3271, 1.673, 0.593, 0.2916, -0.3092, -0.2176, 0.106, -0.0238, 0.8707, 0.6628, -0.635, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3815 left_y=-0.0689 left_z=0.0179 left_yaw=0.0388 left_pitch=-0.1657 left_roll=0.0745 left_gripper=0.106 right_x=0.2663 right_y=0.0008 right_z=0.138 right_yaw=0.0022 right_pitch=-0.2612 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [1.1145, -4.547, 3.6991, 1.5604, -0.1734, -0.0708, 0.4615, -0.1026, -1.4974, 6.7897, 1.6923, -0.0659, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f17d9f93fd12c1194b33e92fde48429b41dc07f4a336701490517bdd432c02a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:857bbedefe25e9e28b44370141a70aee114d4fccbae4d141fab53daa688baa07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4f9b112ee09ce73f9627e0fb81cdc25cd7a376cc0f8dc249fb6c1ac1d209b16",
      "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]: [-0.3511, 1.6444, 0.6167, 0.1932, -0.3408, -0.2497, 0.9963, -0.0238, 0.8707, 0.6628, -0.6121, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3749 left_y=-0.0706 left_z=0.0214 left_yaw=0.0615 left_pitch=-0.1981 left_roll=0.0903 left_gripper=0.9963 right_x=0.2705 right_y=0.0007 right_z=0.1418 right_yaw=0.002 right_pitch=-0.2383 right_roll=0.0001 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -6.065, 4.9436, 1.6923, 0.0024, 0.1197, 0.1001, -0.1299, -1.7436, 7.0359, 1.8046, -0.0513, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.115},\"note\":\"The gripper remains partly open around the plush, which is promising. I’ll lift it a few centimeters to confirm it is secured.\"}",
  "call_id": "call_HCSypcMDCffOPOtLc2pino8N",
  "id": "fc_08bc5c13ab21e3f0016ab2bd6db52c87d0b914191481653f98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HCSypcMDCffOPOtLc2pino8N",
  "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]: [-0.3275, 1.4437, 0.7727, -0.1318, -0.3046, -0.2249, 0.1062, -0.0238, 0.8734, 0.6624, -0.6575, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3795 left_y=-0.0692 left_z=0.097 left_yaw=0.0396 left_pitch=-0.1801 left_roll=0.0713 left_gripper=0.1062 right_x=0.2621 right_y=0.0009 right_z=0.1336 right_yaw=0.0024 right_pitch=-0.2868 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -7.1863, 8.841, 1.6532, -0.2125, 0.0171, 0.0122, -0.0342, -1.7573, 6.7624, 1.6239, -0.0317, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50bb6fbed81deaed4c7ed142fb68fc96623171d41f17353008dafa6ffedf8e0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d603e20045c83fe2b45ac38e2d73da48c88887e5a765bb07361ea7d6b95f8ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d455645ce93cbf10708bc8a0ed5ac608224386f6c0474384ddd2a03abc17e203",
      "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]: [-0.3271, 1.673, 0.593, 0.2916, -0.3092, -0.2176, 0.106, -0.0238, 0.8707, 0.6628, -0.635, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3815 left_y=-0.0689 left_z=0.0179 left_yaw=0.0388 left_pitch=-0.1657 left_roll=0.0745 left_gripper=0.106 right_x=0.2663 right_y=0.0008 right_z=0.138 right_yaw=0.0022 right_pitch=-0.2612 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [1.1145, -4.547, 3.6991, 1.5604, -0.1734, -0.0708, 0.4615, -0.1026, -1.4974, 6.7897, 1.6923, -0.0659, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr13axKNqOP4uzDHfk3LUy90stmsldlLBWdIkIpGTS5RFSg-INWQjRfH5DAMUiaN3BVTtywTdL2ftr1FJlHsnrzJdb98NEKdE6fC0jeMrFa3nj1FhI-9g9x-KpaCvPRiM2XTc17jaM4qJXkie9hfnTZ8sQWwyfj8G-Jm8BY7S8iKE-ZDBPJBjq81YOi2F4BrWos7eYyoZD_HBiDVmQXeSJ5Kdv_WmuZvuwv9jnWbe4g71-nUE7ycNA9zlAI7Xkfj4sjEJJtQLE0P_JPxOfwvxl_mbpKgIDddlMUGZAZXleGi3_A8ONkxMVqdpt-Iq_72f1coGSb69ueyzGr2zSAP4fGUWLrJlr9zFXzbfdBt2KWV5ePPzFyrFJEvDTKOKnULtTetEIAM5ibvvsgeUXR6oUwUE5taTYGeDg0II88rq8q3d0uA3B6oaJMcRhnk6ewIi5kvtJNn8f0oH7KjJkSpG-Ix08-PSxV3aspXaomHG3DLsJWwqDOLA8qXwNr3zfLO0TuDWXTP1jSAWLjT9blpMBOF_2xV14ClVLUrfHMsoCotOtLom9OalyrqP4q9DD4vdOGE4pMrAz7ofAoVwBkCELhjpTYgo67BwPTaf1XICiyfBhj-G9biEU3dxSlKDdrBvgB0lxB60O-wrDzG-5QZv-26NpzzVhlGXoCIEkm_V7pjbctgpJC200YCGzgR3uGzceq2IfG9PqgUrRTyW1AYjz6prCSAxPBd5G2vhv4AAq0Btp_zvfyH4fNw0tHnUK6oH_vx3WWL_hjkYrc88rHd5Nm_akS_F7eGXJkdk3RjDo7N6W6YvovugXGDnGAEwmiYhJWku_BHLCgTCSgxpH-Qzpbu-Bs0Fa_gIYwIDwsR10UvPs7tgu62bXQoJKwgyuBwChtx5rRM99_J2-28J0yqH-pgoCK_pkXqu0M2CT-bZ6MkEGvVHcq304EAnpKIo7fF5pweaph3g4A7vnsl6aK6gZn0T-fTS97jYuAj4EdnaLlCcghd-5cKFp3VB7-rBJEhSA75t2IxNRZcF0DhXZ9lsv3IZRYV7JS6l1SmEbSPpyOyQsHmtz6mEYz9kDUJbRYrFQqfP7_9BzWcYnhtm2Njua5gaK5Qo3zMDfsETAHPjttBKsLSFoS--OAtPAp4P-aTvfJTU1nP4ZlzzL7m6RTlYQ0ZoSSWowtPeKLv2gR8c-qCHCbuSHRyBd0jTJwCa2ke1gDnrVbfdvMSZMNx_6bopkrNP2_-YutvkYfwnUizT8A1sPq6F4uyRgt1UkNi0unP-z7L-1WIJLP1zaVF8eUqWrAxdyWV5ZxZoX7dZd8fCq8YTB0HDL4nbLVPzOQc7sRjxh6s518t5EqlhDd2S4wsruixVQf1zd_Bm2r8CzQu5kDmsc6WuWDlavAmpuTBDaONdEUe_SUvjzn-iStYHllYYKoGuvJ8v7JV1hLlbWSkjULn4mN1mDM2QkcVkJmQRaKrl-4b_OF7-P_eVpTf31RbybOiLdsTpaSxj25NHljTm92KocY4lQSwzrUlh98vtDIm8uZ1nKMG1EJPjkL3Vrq_m6WuODsqk26skOrO8K3swXbrNanHv1wSz0ek4rueEgbfexIskehYfFLeiPPjxyWj9UJxAvfOleFjcWzL8Pg5zKFqckt-zEry7voCE5uc_BtS_gpfVu7L_HR7B5398YotkeDo6P1lxDpACCjEgspa42iNGzBMPV2gw8y4UP52uoNNbO8ygDcHI0xsfrRSvX4Ly9fpPHSleWXQQYU771fKAWwG5oW9JD-lAEoHadOs_h-qzJNtVqJeErZf8EBvKrRfTfx3FQ==",
  "id": "rs_08bc5c13ab21e3f0016ab2bd71eb2887d0a46d8947daf1ab53",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.40,\"left_y\":-0.205,\"left_z\":0.21},\"note\":\"The gripper is still holding a narrow thickness, but the view of the plush is ambiguous. I’ll raise it clear and move toward the open safe, checking whether the plush travels with it.\"}",
  "call_id": "call_Zy0NttBhCh28uOvdka1tnQoG",
  "id": "fc_08bc5c13ab21e3f0016ab2bd75301487d0a631d2d5501122a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Zy0NttBhCh28uOvdka1tnQoG",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6743, 1.6886, 1.4597, -0.7025, -0.5079, -0.5114, 0.1062, -0.0238, 0.8753, 0.6624, -0.6765, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3974 left_y=-0.203 left_z=0.1971 left_yaw=0.023 left_pitch=-0.2004 left_roll=0.064 left_gripper=0.1062 right_x=0.2585 right_y=0.001 right_z=0.1301 right_yaw=0.0026 right_pitch=-0.3077 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -8.1573, 8.9641, 1.1355, -0.4908, -0.0415, -0.0073, -0.0889, -1.6068, 6.7761, 1.5556, -0.0366, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a838e4dad1cf7ed06f45b6e5c80425c8baff0b92cb759abc5a0becedd601b37c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b51a40268a1d60ea5113e62614fc095bdf6e2d20b2a8a1021113698752a8790",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f1f1da2898fd234851e63b08b00f558e3d782e0cc18ece9239ce6343f2fdfd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 33 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3275, 1.4437, 0.7727, -0.1318, -0.3046, -0.2249, 0.1062, -0.0238, 0.8734, 0.6624, -0.6575, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3795 left_y=-0.0692 left_z=0.097 left_yaw=0.0396 left_pitch=-0.1801 left_roll=0.0713 left_gripper=0.1062 right_x=0.2621 right_y=0.0009 right_z=0.1336 right_yaw=0.0024 right_pitch=-0.2868 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -7.1863, 8.841, 1.6532, -0.2125, 0.0171, 0.0122, -0.0342, -1.7573, 6.7624, 1.6239, -0.0317, -0.0562, -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": "gAAAAABqsr2B02Tqwmnm2i5cgk5uNoODs0BMEEvAT6KPqS-GFybsIeyMvKeiLCWfRf4ym0QjdWhw12uQm_ha6EPXF5uuD2kPjenx2Px6ou6TVkGRbKXUwAuLdOv8at02Eny_M3HF2wEZR7N82cmzZVajGIQ-7_gIXmOfx9vVP6XlLc49eDgTo1Y-rE_RDic0R6f8k5oMGakANBl5FLOoE-v4nwU9BfwBQQQ881IIMBlGVBzxUm4mhawy5IlWuUf5xVSH0ocwNegnDk8HpALvE5Rbo38VzsO9vq269OtO00J4e3_Sv4xCZ5UpBY0UeXpt5dG1_YcjKP7Nd3LILh_SiGfex2oZ1viFMG1kF9_o53YPNQU3xHC9JCyBkpqQZbj-qtxYgKpdpSjlWibegJjQIEpXIO998D9oRxEbojHKQJv0LRkxw53nDqO7fpbdhtf20VAW78nk6p8_Xuj0KxvsFSvLtIZKqSUzfQAv0OtwAN4GVuQq3frRrD-bDN1Ycrq-DnYLhJWvME66XO9ilmv8yoUEG5HfVoC7NxHzECP5pFAiYkho3nVLD_eXnkpwH5fma7MVS_WOICLSP9wh-X_FAYEyEDYY7Bf9k4cCb_xgYhORwm824MO0tbyixV14qxjk3gw4HLu-7RHcgcXPyA0x887hjlH_Kh3foZIT-MsVK1Wp-NMuAozpsV9-84ePt-ZIKZVZ5uvbMxjbOKjnk2FhItXqB5iNimkcsB6vFjF7rAH4tOCkhYCPJclS2avnGrY-gJx-VSzzR8RNC0m_ef-YA-nr66PEpxaH44J6cFK_5AeZHWJ1oA28Bg5VvkKnKD2DtmALWKsSvrAzMHuzovlWhbAWl7AZPk_VaevUScHwN4AEU0WYmisvXVK7ETM5myVGlNJjZXDWq6Av701NX1Wb2LT1DrP_CGoSjdPwGw6doSJdbs718xWsEKqE6na7Rdybg8ByEWJiI9l3DDpQDF4EsWk1eVpHc9g9_okk2jItz3mHLDvVTPSoxYC6kweVev8PtPcWypID9WLjaFVzGKUttIGmzCSLkJpEXij5uWKYVxPqS2DiM9yLs9d0Y3m6KGXXwNl1Ce3_h4O-NKLfCCqjClnIrtIVBqIYxwzV16KpxrQtcF3HdGo1XeIGxVd977VFrbIehOPCOTxkVpG-CGRUxbDL8QfTFwkPnD6U8rSYJtWdiKoAOmvE8TkWx8F-Gpy_4wP7TdE5VBXCOlVFnrnGiXwdmiwkSjJ1K5Xj3z8_boJLxfSthinIBU_AlDQRgUndlxuVbFy3iZRLIqbp1MqPCUftYMmt9iGqchYMcz1tiXjNGq8jFhLTlLsC_-rsBMtLPgqzDKEcRNXV9XjZSLQzxTmtJYHE4zEgVHtFVM6F-KCP9VVVnpse1uvQHwGGPomTEpNGVY-AyGnktX22wX4nlWx64_CnxL2rPAgXhUvJ-TOpWBhbUIhu9smLQPIZaElwZQz_WeFr310ThSAbiJm2AcqnPAq9hTNA3dUAqV-tAaiOACeKRvr0IPLEXS1aZiUR4esh_N7C7ui014z5PA_fyeuwh6TkMufA7Zmg0r7gezdOhlCSueR7sPHg2eiOKK0dehkosT4aQNOAOmOoJkeM-svsPOiF18xCLNUBXp236r9VoAocXajN7UiZgB6M2iXmDMOG3134LAiRNVLaHDrCAKsZ1wVSAWk73v0hRPFCI-Fm80ONv0LSbIHUUXavqQB2qTKfMb5drn1Xj0k8s64sbdAvUV74OmMo7hfoS2Ra3MU4x21wv1UwPvNBQpcI9VPJjxzt3Uh4dALpNUCHLsHX6JxlXASrGZDi-SQOETdDxtS6ElzLEJHmqYXTc50AJP7NzDQFNPT27YSHZPoeD1ePZZv1Iml0OQFd8YwvWpeguQ9GPlUhr6arPww=",
  "id": "rs_08bc5c13ab21e3f0016ab2bd7b841c87d0a7ba745dd1ca81fd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.055,\"left_z\":0.06,\"left_gripper\":1},\"note\":\"The white plush stayed on the table, so that was not a secure grasp. With the overhead view clear, I can see its body farther forward than the previous attempt; I’ll reposition directly over it.\"}",
  "call_id": "call_pe6w8btaKtR3fpEXComotXNV",
  "id": "fc_08bc5c13ab21e3f0016ab2bd800a7887d0a331c1d35945a477",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pe6w8btaKtR3fpEXComotXNV",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2256, 1.7313, 0.9379, -0.0566, -0.2359, -0.1753, 0.9971, -0.0238, 0.8772, 0.6624, -0.6922, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4354 left_y=-0.0539 left_z=0.0585 left_yaw=0.0603 left_pitch=-0.2432 left_roll=0.0736 left_gripper=0.9971 right_x=0.2555 right_y=0.001 right_z=0.1272 right_yaw=0.0027 right_pitch=-0.3253 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -7.8701, 5.8325, 1.7998, 0.0708, 0.105, -0.0122, -0.0752, -1.6479, 6.7077, 1.5165, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:809f127c1b4772029cd5927757ea10d18ea98453efe7494bb672446080af6cb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:affa7b5453df43441c9fbcf916f2862cd822d5ad5431f7dac4252cfcf9813a8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ade776c4e765fc70bd52d27e2f7b75f76cd08b19f03f4acdceeee64897c38cf",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 37 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6743, 1.6886, 1.4597, -0.7025, -0.5079, -0.5114, 0.1062, -0.0238, 0.8753, 0.6624, -0.6765, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3974 left_y=-0.203 left_z=0.1971 left_yaw=0.023 left_pitch=-0.2004 left_roll=0.064 left_gripper=0.1062 right_x=0.2585 right_y=0.001 right_z=0.1301 right_yaw=0.0026 right_pitch=-0.3077 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -8.1573, 8.9641, 1.1355, -0.4908, -0.0415, -0.0073, -0.0889, -1.6068, 6.7761, 1.5556, -0.0366, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr2HzS5C4hREyGuRygluoH8OzqvSLAJHEH8bOSKZ9E95-b38pEOLrD6hRLnwdq4Zs-N95zNkJfRm_1XrwmHEhikclFRwQSdnPemanUe72OCKs6dACUtFyUhH5c0rmBoauCDW-eBvJF-j6OtTqKzfkJD7bA_V4tMRxLROQRKwwp7kTQfewF46YSwG_kARDi9ZvOY2lmhC-h6dLitSW7NduxzlXhZlZOEAAmboA5UCiRQ9IEA0U-Thr8pitNHNx-biHvxbhyYk1tPVH7cDvc1fPLn5GJp-TwhxuqY_-Vpt8_Qe_bOqoqCZNDI0i3X6nh8QC2kFwfrx-M5DVQ97-tLUAN-cp-dCLxN23ssLmALVbKL1v1p26KwumNG8rfn571wkKAA93-suUcfGq8WnTxUl1LrO0kgWCkTDrJjCRPtYZtSReyOrBaOiYrmK5WLO-vGo1UX3fVAClD6Qug26UOEHp13x6aopjJemXPgTCMwFDdNp7zH6QH75M1lqPssy0McgmSvxbjR4xQ0JbhQHqNi_H7OxQwEKFrU3H8EGAvmL8DQsAblnT35uAKH2LDR2m1sVbe20dBrgsSwG_g-7DAEyNLN86Kw3KuKxS7emk5DPuW3iSh0NKVWCVtiF0_EhZ1PA_EskeSiPjo0fyT3GITN9jRMSetnQZV4P7JGGGiCyjp9BGKaTl879D7_rd_EK-UPf2AH3wgMpj_UQbpktnHPPKH2fCEhaSY4D_JS0n_u2jr6ccwX4d6wbkOu_PWIUN8I1b1Nhl2NwBfMfpSAhxohqMEeuy606Kzpvio-PG5GCKM1vWZ0j8k_mphe38aaoB5BN7B9KIZm718CrgXOwmfM6pStXpKC0eHJA-McNnnUZHUiTO_SK8-XKpWLLvBqVG9g77XFtlbQ7-XSiCuAEZfcRdGthxTI8t1rrcqpCX5LkUGEFIPoD9gRecWmsI8UZ9ojD504hriaEEVm4LxQ1B0D22bc1cuOCutwmHxJvUokznromKQsNX6y_Y1QKzRWH88kNGKXqFWZcmpIcuw-hhBtKmBL1q98mz8cAXVdccE86GAP75Yhl8sf9HcO4xNTEzTrAfRFyF8mGktQQmmDq2wULr5jZ4D0nc067rTXcOz-Zi7BzgdbvPwgLWzmPieoBWLovpTpDdPERyVGY4e05pihVbCt-YUgqpT0iIrnQ6gAvekCChGQjddtEKIDJMy9MWUhqu8r0FkvedrKb8SwvoeigPzhiKI0Qq6Mj7A8C30BOKX_EhvFRTs0-T8Iuf9-vTHo2D4vHas62EJQS5ytCIuEEKesc5ozA7iqG2X2qMNS4FdOlfKkwLcVuMvgl79wm6oZ4WyDVDOCzE0JIJ6EkvkoFBUFBIbXSfJQuQtn5upq2TzILhto=",
  "id": "rs_08bc5c13ab21e3f0016ab2bd85169087d093e53b0074d74642",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.03,\"left_z\":0.005},\"note\":\"The white plush lies just left of the open jaws. I’ll center the fingers on it and descend to table level before closing.\"}",
  "call_id": "call_uLWDerJV37uxepwGxVXVcuLL",
  "id": "fc_08bc5c13ab21e3f0016ab2bd86985c87d0a61bd67bcf314454",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uLWDerJV37uxepwGxVXVcuLL",
  "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]: [-0.1532, 1.8927, 0.9173, 0.1127, -0.2085, -0.1345, 0.9977, -0.0238, 0.881, 0.6624, -0.7033, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4495 left_y=-0.0288 left_z=0.0089 left_yaw=0.0874 left_pitch=-0.2626 left_roll=0.0847 left_gripper=0.9977 right_x=0.2534 right_y=0.0011 right_z=0.1247 right_yaw=0.0028 right_pitch=-0.3402 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [0.253, -8.1299, 5.0393, 0.9402, 0.0073, 0.2857, 0.0464, -0.1162, -1.7983, 6.694, 1.453, -0.0806, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:276d0338b1fda50fbd68923cde93f0161d26f156526088286dee1a50b7a9dd7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27feebbd38e52be21d1f43a8990d8e3e76c6b609cf5c49abeb4ae6fc8a2a5b52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cc08320813729dd7c43a219e9c0cebdda78eab6977d086c9f36de3c5e46c58a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2256, 1.7313, 0.9379, -0.0566, -0.2359, -0.1753, 0.9971, -0.0238, 0.8772, 0.6624, -0.6922, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4354 left_y=-0.0539 left_z=0.0585 left_yaw=0.0603 left_pitch=-0.2432 left_roll=0.0736 left_gripper=0.9971 right_x=0.2555 right_y=0.001 right_z=0.1272 right_yaw=0.0027 right_pitch=-0.3253 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -7.8701, 5.8325, 1.7998, 0.0708, 0.105, -0.0122, -0.0752, -1.6479, 6.7077, 1.5165, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are now low on either side of the white plush. I’ll close without moving the arm so it is not pushed sideways.\"}",
  "call_id": "call_dV6c13wTPV37fMuUQm8TO5ae",
  "id": "fc_08bc5c13ab21e3f0016ab2bd8a828487d0b5973637eb87fcca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dV6c13wTPV37fMuUQm8TO5ae",
  "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]: [-0.1459, 1.8999, 0.9169, 0.1772, -0.1684, -0.1261, 0.044, -0.0238, 0.881, 0.6624, -0.7238, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4602 left_y=-0.0341 left_z=0.0152 left_yaw=0.053 left_pitch=-0.2139 left_roll=0.0481 left_gripper=0.044 right_x=0.2493 right_y=0.0012 right_z=0.1217 right_yaw=0.003 right_pitch=-0.3608 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -7.5692, 5.1761, 1.6679, -0.696, 0.0708, 1.072, -0.1299, -1.3333, 6.694, 1.5897, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db153779683b3721a93355bf0d26c0fdd135dc4aec93908ea771c0bde140560a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f4a4c9369fcd7323f5b511fd99d31241a44822ff05414b41bb292acfe663233",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a391a5015bf541a593a8494fad5e0a0a534abe26869234eeb67e4c895ea956f7",
      "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]: [-0.1532, 1.8927, 0.9173, 0.1127, -0.2085, -0.1345, 0.9977, -0.0238, 0.881, 0.6624, -0.7033, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4495 left_y=-0.0288 left_z=0.0089 left_yaw=0.0874 left_pitch=-0.2626 left_roll=0.0847 left_gripper=0.9977 right_x=0.2534 right_y=0.0011 right_z=0.1247 right_yaw=0.0028 right_pitch=-0.3402 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [0.253, -8.1299, 5.0393, 0.9402, 0.0073, 0.2857, 0.0464, -0.1162, -1.7983, 6.694, 1.453, -0.0806, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr2TE_uP6scSIFfsLrrNoa1cBYBx9FEFBQy0HZlNc6ZM8UIMEQ8cp3RsKPCRJX7iYJm3pVXv_z7jFATqYGUnl9ck5mC_OGFnUWooqg_T-XNq5XQ8mJqKlhCuYEMxIH1F9YzN3GbmEAZ5T8gw1DE16kQVHDCBAjQgEDU2A9baHM82SXPGW51md53CXLWdmr7lBx3xBtfnYQV8ZC-bS1B5bpdKDfpH3m9JAG9V09XH4kOsgQfNxhnbNn54RdiXTW5AqKJBEi1Yuxz64LK8_ncZb55rb4EMBrR8Rq31gbv4VdzNOLSF3q_2UPAhQQzUCeXN2cBmxUrEpSPQCC0btDu4dq_WG1plN1TXuYdygWtpdGV5gep0QIcU4nnudpX3gkYGpkyWD3Al_OnzbFAxz0ucljcBUA8N2gGuim6Lu0Zo2yl8u8o6NHWmTuza3w5w8vZ1oy9lJTVPXH6dV4bPhNN8GVXfKnDAbD5HstK03j_SAOt1kxM3aTy_8iJWC5rzaUJkqYc0KtHpmtceNekyIwahDcaHNGSO4_K-FPMSOPgDmQBKX70wlQd-OFMXeMdPgMbBsbpmHax7SHBFqsaLtCX-3W5zA_IlxH8xQJFU-lvV4keVmDP-gtAFY3W92paRv5z2i_zPiW7r_r4iC-E2WCjj2knHt-F3_e-f70MMmFTcpkQbGidkdDVSkxRZZ9d4WH0vdL_clLD7ftJQIOoIg_as66itI4xFLWH8VENmWloOjMfdLf1O7BmGTiIetEtpRitVEWc9aEV7UHMaoTTFZ7THKmJU5E6X-AIUXrRUD0YWhqGhl7gX4cJKVcAtCnY7V09ChgyPudBjLQuDXsnCOb5ceg-33cIY_7wLzJWVXZy5CJ1ZH7bbYZYNf60QCeQq6DnTWjoIGEZd7tSsTWo_jNm4B8ilsMi-sLF9Nhc4A2M_sW-hXOX2JNBwdRrXg8C8kMUwQAKtUvdYS8ciBbQEqLYEkkadJJM4tzudBVWseD6u2mvONmrtX62W1Y1FqojUIQH3qqgLdBBjMkhuua65uzKcQ1uDypkWGrpv26iuos53kGLamwSK1ppdBL3bhPw0iQ_BV_G57KlupX8l9AHa4eNwMr055DZvGHc6g0XF2nROSnHgRQw7dZOwSBy0jKOXaM21gJXBi7tbmSpUWHuyUjvEuvgw-kKwnV6bJMhHghK8Cau4huPrH4ol9scUYWH2QaTzyuvEG3RN85kjy1IU66vSHhH3m0HI73T-LaBHS3e4hf_1fxg0Ss1hnGOL7DCSydl6eX__bjAWylU6WDkhPfhBSGsbeLnWn1qLaHjlIWSzy8eatA8kJ1OFQJeGRaA7ANXEdp3hvXDXsu9oF4bcVysANcEnKpIuGkJRlJ95vwG5177GXUk=",
  "id": "rs_08bc5c13ab21e3f0016ab2bd913d7887d094622df0faef67ed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The white plush is obscured beneath the closed fingers. I’ll lift clear of the safe’s rim and check whether it follows.\"}",
  "call_id": "call_LnjEsC6qhJ52ScKK84Hy6q1F",
  "id": "fc_08bc5c13ab21e3f0016ab2bd92aeb087d08291bb8acb63e1ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LnjEsC6qhJ52ScKK84Hy6q1F",
  "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]: [-0.1452, 1.7245, 1.1824, -0.4435, -0.1921, -0.1108, 0.0465, -0.0238, 0.8829, 0.6624, -0.7364, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4366 left_y=-0.0261 left_z=0.0951 left_yaw=0.0772 left_pitch=-0.3865 left_roll=0.1165 left_gripper=0.0465 right_x=0.2468 right_y=0.0012 right_z=0.1194 right_yaw=0.0032 right_pitch=-0.3752 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -13.6957, 11.2068, 2.2247, 0.0904, -0.2125, 1.0281, -0.212, -1.5248, 6.6803, 1.4286, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa640a053d4b298e1d8eeb15e84de6759152e42375d23609ea05fdc57db40cf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32edfc3c4e92b0e15c09091b0dca58162117e1f76f0bc21ef93e6c029f81be6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a9f35adc93b7cf5d8e0b45f11b48dfff769fdd06afd3fbe52590167c06870b8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 48 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1459, 1.8999, 0.9169, 0.1772, -0.1684, -0.1261, 0.044, -0.0238, 0.881, 0.6624, -0.7238, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4602 left_y=-0.0341 left_z=0.0152 left_yaw=0.053 left_pitch=-0.2139 left_roll=0.0481 left_gripper=0.044 right_x=0.2493 right_y=0.0012 right_z=0.1217 right_yaw=0.003 right_pitch=-0.3608 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -7.5692, 5.1761, 1.6679, -0.696, 0.0708, 1.072, -0.1299, -1.3333, 6.694, 1.5897, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr2ZUotCGZ0bcBJL92IP-_kyH3aYoPO_RR1Drw_Eoe4721xs3I8oP_gxbV2PesS4LTjkHM_elyroKL_DvDqLxc3Ii0pFk-S4i_TjH_7ZRsEqm7vrqGRsVuRwcIS2zC8njsNP9N0Vvpe8w1A7lYEkp7qeWE6WYV_rqZ9UOPQrQzYIoNCC5C-tAcjNTmEbPI4f80oIeU586Cma55a_fdGRMtjnXJCD0YRbsjdrRwGDFXZJeTDIS6TaH3bAwgmkjQdnCRgjOFXgWorxBYM5yxqXRHzwQ43swerTh_FvqujiRQYLy8e-bRpGZYJnhgcnKEUliR-WZ63zrAmQ07cQrowc-TypFExkSGHfR7f5EMazkCT2gBBPGF4w1ugSN3rf1flZ_orz1TPm3UiTmGglpfswN3-diQZ4s-pSR5Egw4cobqXPXSy2KOXi0IRhfTRlv1cV8wJy_IUpVsyIWydBbcooZwzAo_4wRniUWA2_85SCjYE3839Ufx65g3NWRvu81KYm7z-QolDovX72npcBM57XJJwGtc6EPSevEXXCQG3WAMWSG1-V3gTOasQqgkeR_H96y3Fzp6Z7LqcYk_Cna2wGvZAErGVvLgHfx2A708bWLYueGz3qbA4aXyNmsDMfR8mjwt6lTbVnAsLHKjPUKcyZYBch6o6uSjiLAtyJOGCqvHSotdPfr671VywgLe5H4m5rB4FPkKxKpZD2MXFng1rrJazEJ0tvOZvXgkPBusx5e2CPvUjT4gurl-_nfxOBwbAV-EkshAIyfttmosbZlKC21Ud4xfkKTgZwMGdT18c6JJYWI3HEI9wr1jsnqdOuHuAs-_ZKRkPAepJFHJSK99rsJgOtfgQLR0tFfpDCfvz-FjRf1wFsAspikLsLQddlrhvnCmyzA06TUgZX11giG3xqKQ8DMskNFRPPjrGbhmFF7AGtluaFg1DYiVixHpLmF9B0FiaqLOsCcFJbNNQvnEooh8r7OAI2TiDoiG-uiBH7xUBLSrFAVfzkWngWYlM2iyNtKTo4q2ftXe7wGcp_-mQld68R7P8E26iMtmo9sV7G3tq4Lzo32edKl2-WXvbX8T4wRqTyqrfw0h9b1o2f6-1NMXwKsdrgRAsWHAGtPxZR8c048YFJO4M4U3H9HWtw_xDUL7o6wIksSztIeWdHkeKScthCtgzAek-UMwOO112o_1yYIHZjo4NHaseSe2TKBAgh_9g-Zp-a8V0g1WP7IsPtm_avw7d-dP7yjAzQlIQotLsQXZmdy0DxRd-uiIoN7jAq4hNT1WxcBZFG2tqIFpKO0OTVf2b29xZx8P9EUYi_rnVNMoZJF4L2VNgwca_fOCJJYvkjGB85DYeKISRUab7zSBVVEg==",
  "id": "rs_08bc5c13ab21e3f0016ab2bd96b88c87d0be385a0270a81875",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.025,\"left_gripper\":1},\"note\":\"The safe itself tilted, so the fingers caught its edge rather than the white object. I’ll lower and release it immediately before repositioning farther away from the rim.\"}",
  "call_id": "call_2jdPVonW60sKnHFnw8RfyC3b",
  "id": "fc_08bc5c13ab21e3f0016ab2bd98889087d0bab9dc7909c0d014",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2jdPVonW60sKnHFnw8RfyC3b",
  "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]: [-0.149, 1.8297, 1.0271, -0.2153, -0.1951, -0.1131, 0.9953, -0.0238, 0.8837, 0.6624, -0.7471, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4296 left_y=-0.0262 left_z=0.0257 left_yaw=0.0805 left_pitch=-0.4174 left_roll=0.1257 left_gripper=0.9953 right_x=0.2446 right_y=0.0013 right_z=0.1177 right_yaw=0.0033 right_pitch=-0.3867 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [0.253, -7.8017, 5.641, 1.4481, -0.1343, -0.0269, -0.1587, -0.2393, -1.5385, 6.6393, 1.4042, -0.0269, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5edb00ee3863abfba65db08a276e01dbb4178fa1c53001c9b340f67b109804c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5b8c027e3dda0d206e0e69674d3aae509447ab828e3bdbb9f721bdc4cbae636",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d2be51d204e8c28388969cc7ddcaab95498f6b02307c837efc5cfb4ed729ddf",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 52 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1452, 1.7245, 1.1824, -0.4435, -0.1921, -0.1108, 0.0465, -0.0238, 0.8829, 0.6624, -0.7364, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4366 left_y=-0.0261 left_z=0.0951 left_yaw=0.0772 left_pitch=-0.3865 left_roll=0.1165 left_gripper=0.0465 right_x=0.2468 right_y=0.0012 right_z=0.1194 right_yaw=0.0032 right_pitch=-0.3752 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -13.6957, 11.2068, 2.2247, 0.0904, -0.2125, 1.0281, -0.212, -1.5248, 6.6803, 1.4286, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr2kiHfbaf4sg-3UHHhkXKdaVLLtf67CL7cyOrRsafI65vA5_aV6Flwr6CXfR3U8ah-nv5HdpeXt3i2uD1UwpLZS5LXFdhv9rcR8ATK9qPO1vkvuPUWBwr7PXzNTyJ2TRTmTsWoItdqA9pbMYkw3D-T05MHl2VkDdKJbndv4Dk7i4SeQHpJeH02KOGkNpp3p0QgVb4FLi6qy6en5S618b67j-qR8l0_4WTi3O1o1yUhtdpY93nUOh_Ghd_XBeFF0ILkQEqDMmUVDWd9UodGSI-jjawGdJZHodYi0ad92clm9BKrIWnOt3dIN_brNI68yEn5ZbiNzjviFEfGsXsRxyP6bU8UdHnuj1Jv4uSGzPqcmV8EshG9iih9Pnw5Is5NR4tDtPWZjO0ejCGXIMl0GWAr7Q6W7bPqDKlVDT2kqCprQeO1FydZwO7u170hbxI95h5yaQoD6e0lQvnSzpe_lSJ-T67lZwYx98zL2bupC7jF0vI4UJb_7-E8mY_rjAANKHTRCQEjBR27UzF5I9rKI1QLoEjBtmqhuewEtR6s0uf1Ybow8FPOcBRmGF16RrMh8WthT48qALSVzlUj9fcI3ix40I0GfAlKeHU0XRDwppSoA3bnjtQqXq1Dpaz2Gm9pcCmnILqMQR9-OETXhWsudGG1PJxYCEjV2SguEhYHpGmxjxo-uzoECnO5xGqf_Vlwupt9jfPlwLaEFUzoTLn_nw0bs0JEmbTQfiHHgLcYesB0PriI0dj5YR002mHfGG0oInDEplTzvhrG7YfGX-GH17E9SHnMX0NKtIsNKsrDpeAsNZXmNr-enHrxdgonh8xab5IBkQMH8dCNn1TKtx46bGpIDGNdcVQgryszI_sbJfNHyojTA3OYn6LUecy5ZV4B-mKwouxHEk9krFZrLrxycCEVJCVjPbomFk4sHNuWLWAANUjd9iArI0YtBeKdiuyF3Pak14NDKd507-zJlTqX38A6yAIQ2yzMdgf5SFg0blkbaZIWEzPLMgy6Tfx368jJI4hC6S_lxCPGZoWUrwoZt-JBMOWwmdgYJIb7JoVWy0LYF_fK68MvQG6JPmOHNzhbb5UikVCpYIF_dtafWz86yno3bukC2KKAuu9GpVBBQCLgM80K4y3zIHKCnAeQvpcTMtlkcmdJXzwZMu6SaQpgJAON0GrEle80vOoKfoUUK61HuI5nsPs7fLRdsRtRmw-yB7cLuNjzyRxVdhBFBz2GkwHsc6VSJgMzCoQ1i8leRb5qml0nV8aOCZ8ofYfGDb90QmLK8glAKww6XuNPYNvgNvbMfYJhkGRwX_s-3eXzzJB50BkyghHk5XMnGU1mhigBIjpUmmUlr1BtjEYe2JLkE4X5WxjLISTCT5FQsruZXB2PiPbvtqu3yJpnJCMtHLExuXww6doSqY797MV6RzD41aBC6j-G1sQNGbMVKwZ4MB_D8QFKMl0GMIG15UwMydXMIX533Nk-6gBrSrr5O0kFCfZVPa8wgcsy00eqOvNgn2bkU7b2IQu8vmlQOMER8ZmImiK5d7zfZ8RZx6p92Dvne6lOjFWOonKKYSy-3MCACzDHgLQfdwjAp9iVXtD0CrGiVbR2EY7TW9fdZRXkdRXNUZCRYcPweTgV2LzncXvYP576W-Ko6pfpslPjKxU047WsueJsdj0EgtLr9P67a86Qi3NgeZh56ux9nPJU7bbDawN_i0GA=",
  "id": "rs_08bc5c13ab21e3f0016ab2bd9d67dc87d0bd67073ddf81e7a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":0.025,\"left_z\":0.015},\"note\":\"The white object is beside the safe’s outer left wall, not inside the previous jaw span. I’ll move the open gripper left, away from the metal edge, to surround the object itself.\"}",
  "call_id": "call_wvg1u0IqEwT6EeT3mFJIE2nO",
  "id": "fc_08bc5c13ab21e3f0016ab2bda1db3087d09a6d8d16aa0d07eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wvg1u0IqEwT6EeT3mFJIE2nO",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0086, 1.8309, 0.9771, -0.1596, -0.1421, -0.0193, 0.9963, -0.0238, 0.8883, 0.6621, -0.7555, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4239 left_y=0.025 left_z=0.0141 left_yaw=0.1169 left_pitch=-0.4278 left_roll=0.1319 left_gripper=0.9963 right_x=0.2429 right_y=0.0013 right_z=0.1154 right_yaw=0.0035 right_pitch=-0.4 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -9.0462, 5.1487, 1.3504, 0.0708, 0.1197, 0.0952, -0.1573, -1.7026, 6.653, 1.3846, -0.0366, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee6cc1df3265e17e30c1d1c9a0c0451b92f25112c59b46c5d59da0a69ea25169",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7fc73c7adb67262ef57c6176393128f065613141b4c547d556d83829b23f97e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9221c014b582791b59ff490119536777a9a818494f220a1a167e2ab08462795e",
      "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]: [-0.149, 1.8297, 1.0271, -0.2153, -0.1951, -0.1131, 0.9953, -0.0238, 0.8837, 0.6624, -0.7471, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4296 left_y=-0.0262 left_z=0.0257 left_yaw=0.0805 left_pitch=-0.4174 left_roll=0.1257 left_gripper=0.9953 right_x=0.2446 right_y=0.0013 right_z=0.1177 right_yaw=0.0033 right_pitch=-0.3867 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [0.253, -7.8017, 5.641, 1.4481, -0.1343, -0.0269, -0.1587, -0.2393, -1.5385, 6.6393, 1.4042, -0.0269, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr2sY5qo5GTJAmkoq5949eu0cDlYOziF9ON0U5mrmRrkwSIRvX5LuOpKLOxH3gqdn3m5uGLHP6KAFrV0yKsE-15WtMta42qlstKbLto5NtpBpfywackVAS0Ssm6YMc7ZusJL-nPNfilUggjwSXxK6wRP4aarMfI8hJUsikwHR_eQh0TiORxkVwMHS6RN2EvluuZ_lYMJ7I9oNTJY_dXaFzPDKku9drdaXndXcNL3zRZJuEoOP-NJ8PHibeOX2UIWnKGNEyfCgHWi99ElnsEhgUHyV9Qqb5yuXmJgGSvmRHG6aiPsp_GIxi7_0x56b862o2nEpjAIp7IdeuUTl52uOYCbA21yHmShsUqrnpY-zlBnldHDnzoD394Q0mAjwNaoN_mzyZmnfzXFhODMxMh36Bvm3QrtwAkksydDAbil-c584mMwazBQZL8j9Wtihq4POwjlmRYiGVvgf2s66TMUEL5BPMrKKetaFZj4OFk39gr42vE5tGGreQkCjXzBA7ihYkoVLfCTIPCSMR6--sHW-yTobgvalpb3j43ccGwZy5fsLwAn1g6MVMSb7cpVLWj1hB5R9qdFJvwKOAXkJJSBF8pe8gNDDNkSIL57cKO0-Oui5xAEBYb4bJaXZOxWkmFP3KOIV3PMPl8WBkoCKAqxm8pGmZpigNiGBhfVkSg7Zi8DNVqXmgCXDBQ7nCOZtjqvA8XN3FAi8-eQLCuYgLqOhvgsIQiL1RW7Q9nFCahOOs2dXZJLUq9Ja0cGMt-0jsgNrUzJDPfL8g_EpLMFhEu-mWAkwZMW7ap4ChGdxt8_EaNb_UEysWpuCUx_DE7jzVt19_vRdgbTX4uchwW4KPOzgwdHBIQXeMC1bQwYTcrgrN_6XiqwqDMA-pjlDhmZ0Jd1h1AP1T8LLCsxL8ZmJ0Rw_UdCkPpvyaYLN8VEw8-rMJ8-H5Lt8FFoGNNFLijmPoitX-DZvuDa9ODS9DfIqh7VUaIK_MV7TyLgs5MVi0JJJrS7WJGEwayU-CQR34XsGAjUErpQDFFKhEFhDt8pLQNW_Tp9tJveHRtvZm32RCVbVsP-REtW5862O_g-ecp45xbEU1MaDfO_e9GuFLK1CefYmleDBuul3FU72d3Ofm3UkUqccYXlUJRv8whYJRkXaVQjEhGRvnnNKNHZtKqXTgJtYfb6uLs2tmX-JFHu5DOQI7A1OIeAsWz3Jt-GlUYyar8IEjFBupvjJK0iIU9Q4mzu1nePh3SupEjuecHPl7O0lfqBw-qTqYAspTtXCFmrEd3pyLdF5eqTG4tERbGjSFSMaKzyl8V43y-ueYC3qxXVs2QjzLNS4XV7mbALM2ueGHL5T2eURb1SO8qAZa8OomZpu6RQeA==",
  "id": "rs_08bc5c13ab21e3f0016ab2bda9b45c87d0a827633a4af68a97",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":0.045,\"left_gripper\":0},\"note\":\"The safe’s wall is now outside the fingers, and the white object is beneath them. I’ll shift slightly left and close on the object alone.\"}",
  "call_id": "call_1Z7UM6i9KlJAVq6xmidWloBh",
  "id": "fc_08bc5c13ab21e3f0016ab2bdab18b887d08728c4b01ad386f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1Z7UM6i9KlJAVq6xmidWloBh",
  "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]: [-0.0017, 1.8301, 0.9733, -0.1555, -0.0834, 0.0032, 0.0449, -0.0238, 0.8883, 0.6621, -0.7692, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4239 left_y=0.0176 left_z=0.0127 left_yaw=0.0563 left_pitch=-0.4326 left_roll=0.0904 left_gripper=0.0449 right_x=0.24 right_y=0.0014 right_z=0.1135 right_yaw=0.0036 right_pitch=-0.4138 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -9.1282, 5.2855, 1.1551, -0.4176, 0.3394, 1.0134, -0.3214, -1.3607, 6.6393, 1.37, -0.0366, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0da55ab3b4f3a5a52f1780a7745a3f73097ed8de342b84545c0601ebbe9fcf4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42adb03d4ed333d45ee4b1bac6d406b2eebc73f67fbc5ee1c1611e230f2756a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b9eefb931360ece69f0135b49d784f438241f1aec4f1603367fb0a3aa5adf29",
      "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]: [-0.0086, 1.8309, 0.9771, -0.1596, -0.1421, -0.0193, 0.9963, -0.0238, 0.8883, 0.6621, -0.7555, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4239 left_y=0.025 left_z=0.0141 left_yaw=0.1169 left_pitch=-0.4278 left_roll=0.1319 left_gripper=0.9963 right_x=0.2429 right_y=0.0013 right_z=0.1154 right_yaw=0.0035 right_pitch=-0.4 right_roll=0.0046 right_gripper=0.9996\nstate[joint_eff]: [0.3761, -9.0462, 5.1487, 1.3504, 0.0708, 0.1197, 0.0952, -0.1573, -1.7026, 6.653, 1.3846, -0.0366, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr23SDjOszGBR5fzz7diXBh5TE_6aEvoEpqO5vkhnYPgnoOf9Rs_IRgb6-FtzGewfzZabm6oe2Wsj9qM3IVPaDMKW1SuQ5DTbsOb8qfwXSYul4hDGw04LP3vXpN9Izs5vFJB4Np84A1aUoT69CefSHabEibbPgS4eWchWgXC34n687pndHIq9oeKpFHH_Ofq4deSGBl5fOqZkuJuck85w-FhGh_d3K6JxSGJHGoy10up2GTEGFGJ1ZCu_-MZ0aw73IBDGsbaejt9DVjY_HJFFxeOc2l_oPKe1vhMxBoJFL9yu2GNTvNxvMlJusqjjMc98GfbUa5F4pG3dIHWSIMBuyKJcTvF1uEKd_3owA-28iQ5hw6BcFV_ResM09EUn7TlIlVvRN_B7FjHQiwMR-Iheo8Zsod6jAdeYlf9IdJqgvdrJjV6Roi3ji39LpFK37X4yc5aX70kTmbj58YSHbkMgh8HmEa6pJQMFAj2ST4BFY7A8flNOUQhga4elBMC9nGqW5r7NMok3d7vdyd-5Xu29xG9GM_qBzKicuUL0UCNTUkBEjT6JQ1DerjFPWSNquVya4uvXkoPxk1BEzFnF6A9kG64WgU38qkGoSAgyXAoKuhnHlj4YWNcJ7ckpB7RKIxBVNm_ws30lWHrMkG74euQByYUbo-0DpyTaaWzMYy5aRyV0ElczMIF517vKB5x_qSjFmhtIr1ujj_3bFt6sAcrLvX2D2z9FGeNcaLxlASU6pYSmllVccAiiQeyedXKSMF9npker12NTD7lZqbm3NO1QbSxffMLjboCIzO-VbpINkTW6ajYVR65oMuZYQzU6bR_bajOTKJUJi-BmdUDFkPSIC9J_WWuzfY3Pqt-zFBuWuN9pZ7_p1LZd82kP7IgLK5AmwXD6yXZgdUtCLsYLkRc6qLABVJiBLA3c5LFOiF9yMpWev2MdAWQH7f-LNCtMFCkyMgdBz36n3XjxJ_yX4QWPJlEwKIIQeMAhUyZWUocwVwKIpPiUDmthSE3iKqmCnfaqF7QOpkpmrSBjO8N6o18N_DCrqeuKGZ3INlFzxtBt4s1v6ZXKseVluTBRuuZr-qm4sPL6FOncV6FfFJdDJy5pvm3mOfS4Uit2KEOi8M9K77f3Zgli0mCrkb7SpeUUb1xRL_9-dRaFDgN4QSgixdjHzz1RhhJqJtwHlrSq1HHo49rhfVzwoB1alHDRKYV3Sogvv1PcRlQdYLnNibQnoSNa4G_LppcQ9usxQUZ4TcTzeyCQRM0SJftx6HO-ALHhurPL8hOgpJZDAbvzYKq8O-EcPdJJLOW13LLJgteMFWQc7rDTRV45O3_0CPoHfHMWt_twCrJ5kd3hwiTebA_bSXWgXLMrS6yhBT7lQ4LbPUX_cmPlwzz9jS5UR-0T082ypw42I-b76W3c0Mn0mYhQ1zcGr_VCXrB7aJSqs2PiAzayrvDcXfZFw0rsdsi4Y5YCKYYjaBS6t0PCmX2CJARCD1vJswu3T4fHrDg1N3_ieOhhTSXayoakhYoMb1cqRDufjBAo69WCrnUDZdss1d2VEI-ejnMCw1FpRMMcTiX3C1jWzB-npAkwEaIhqt8JQ1n_mF84qIYzBgdGh4QMH6iU-GJyJWpi2CgS391qmmiBw_bUxG6KSp9pxkKTCoseUHh0-W6e7F_qk3r9Z8xK8m1GHsV4IEDpRgAaWc3PIHSGYu_3wSjtxChPZMmUjIzHC-VlzYWxHBcmCmdE_xdex3tl4MWJBn-PoK6mt3DynaEuMOjIQmBUkYCNZUBUK3MPq5_ixQfQncI5GVl-oIzGbMdUFVVGL6nwkeiTKbfzVTU-BMe00tKCi5TGmnJYmK6mkXnml-dupPBEUeAqDBWUQoos4Lm2Bv3YDyFBfT_rZt-x745MR9XCFZ0ZO_yXGt21N-BktjxCBwkXlNXwAuc8843AXAzbxU4cYjF5gngbfGtoWIFgOaPHFcQy6uH0T6NjIn_6cMBlOtk",
  "id": "rs_08bc5c13ab21e3f0016ab2bdaf5f3087d088223ec7014d3dcd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.29,\"left_y\":0,\"left_z\":0.23,\"right_x\":0.27,\"right_y\":0.30,\"right_z\":0.15},\"note\":\"The white item appears attached to the safe by a key ring, and manipulating it keeps moving the safe. I’ll leave it alone for now, park the left arm, and approach the brown plush with the right arm.\"}",
  "call_id": "call_1blMsu3HiYDq1MbkfA7Wym9a",
  "id": "fc_08bc5c13ab21e3f0016ab2bdb510c887d0b62c84752e0d1da3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1blMsu3HiYDq1MbkfA7Wym9a",
  "output": "executing move_to over 25 steps (2.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0868, 1.2102, 1.2423, -1.0817, -0.1177, -0.0738, 0.9977, 1.0283, 1.7477, 1.4559, -0.9821, 0.4564, 0.9108, 0.9996]\nstate[eef_state]: left_x=0.293 left_y=-0.0011 left_z=0.2141 left_yaw=0.0513 left_pitch=-0.4631 left_roll=0.0826 left_gripper=0.9977 right_x=0.2625 right_y=0.2915 right_z=0.1404 right_yaw=0.0249 right_pitch=-0.451 right_roll=-0.0324 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -4.8889, 8.4991, 1.2821, -0.2369, -0.0024, -0.0415, 0.2393, -8.1709, 8.1026, 0.8132, 0.4615, 0.2613, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:857ccc7304b95fa985dfac2bbc2b87526f80dcd1e058fd5cba97a11ceb01237d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a29642886b2ff2971241d54d491806f94ea8bb5a0e6a3cc4c26f32f9d877111c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e57c1d64d46039e752d8a9204443d5bcc20d989f409c74ae3303d794030aef04",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0017, 1.8301, 0.9733, -0.1555, -0.0834, 0.0032, 0.0449, -0.0238, 0.8883, 0.6621, -0.7692, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.4239 left_y=0.0176 left_z=0.0127 left_yaw=0.0563 left_pitch=-0.4326 left_roll=0.0904 left_gripper=0.0449 right_x=0.24 right_y=0.0014 right_z=0.1135 right_yaw=0.0036 right_pitch=-0.4138 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -9.1282, 5.2855, 1.1551, -0.4176, 0.3394, 1.0134, -0.3214, -1.3607, 6.6393, 1.37, -0.0366, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr3BKHLUCAQpUrbmHhQd7ybCSI-k_oJrKEmBb4OYTjh62pPVQAhmQrnOlM1vqiVAxjlXRBLA2vQUySVejc4ysmsZfYBBoRJrRnBFiVZjB0NYXT3d_WV8hd2T4wQWFtTtdi5tfuLw928tQwu_idpvowgU0VhPdXCFErM_tpXMH29zG3lgMFnBmURnoYTZ_YJ_2Zrj_lHpL3ePx1eUiVYj9lFzsaWC3NMadXKPEGy4pFnsvKVhqgm8wI0kqjf_Ll7D7V8MSrAe3A4V3C288_pnv-QNvuzideOqsYEEgAGMcRUtWM5j2X3RildTXfr1uALdDlx3t2LrHmL9u-Q7idwQak5CaDkIkrb7b15M8iOnMLzENkYon5vPD27_rDU4p5teaF9TMrWCdCWu7eaWcidREb5-uhgLNQXCiYFeNL0qDI4nSeH4TUiOzuQ2mlUYPrjA4rt8mM0uhRwRPj6HgC5pcUj9CuVu83Cwk-9iqa-9RftDkyUTpQeFJIHpFwYNt-ZZbFIcahCj_2o_X4T0sGpZU65AoX_696GXwzp0nx7IX4L37ZF_sDT3R5iS7WD4_LWccip4gqw_OS4alx9DKO2bP0hJ9wlT5keVchSwrE8uPCg6GaL2FBXxvzdHSrSRn3ZgHnv1nCfiNo5VMpbOtYI7uiPa9m2wk8bHnGqKWBTf7YTMQiGQl0eleixv8B6HJ0rC_r8AYvUtK7i_zBQM56su2UW_iM6mFz2r60aSSxvLtpLQ8g0I61GxVJtF2ro0_xlwcgjawcyD_MDMUDVPRsZ_gz53L3UpQW1UkQoB-rSRtDQnbzBvtrkIJUAm3You7XwBMCxJwZ3_pI_Ow-j0lImcn8Bp6RlEnFuASLXmVp_Oa49CZv8Ba9aueKRsChIFVLioMFpjFaPTEIip-w-YbERiWu7yLrp8LA_7Wr8Y7uxsz1oQhuI2TifJ3qC8_knDYCKM4oKzF5dmoyuQ86fJVb9iedbcgDIQP_mliZJ6bxgdQX0HkBjMQZPghfLmzrK50DL34LDN4v9NHVqg7obCgUghb0nvpKYkraha15yLM5lYppNy23zjCVDBG1vlTypqQq8w8wxvpqYDgPLpQJiqgn1YvZJM35_lF2GvKgrCgGNsAyW9CdJYPEIdcH2F5R5S9af5AtRS4vGwhZzXv0rHFbiIbEn6J2KutHqRyPTk4hX1orzTcIPJZ0y6u1iKtjcZhGaK3tnKeJee5L0wxkNJQt8c_fOPa9I_4t5B6H6gQFm3snMOak5QRwUFUUV18VYfFpV6-StnLYnoHW1WKC68jJNSTByajsdd8U7HUnI1zouXPSuLGLR4gv9upzZxTiP6H_1KA_WgjFFDUy43Z3d-xFYmYj9Cgovvi8h1_R65Z-oFQUgdib-mUAzXSjEw-_7NxFA3UD6yQBJIKzMdXIc9B5kLU7shFvf8w7P7-ahFetnggaLTPCXQ1HDHdYVoqS8HNAkwqX2_0_Q4yz8vYifStbswa8P0Hj0jFEc6My79vIfHkkleSWXVTITUDdsTDx0vsOatvEObFLuiUGFHoiz8CXrKZvcHAmyvf3g0cavjRuDPMMsLVedgwrNqN_-HuKMc9m9OIkG0dhvVJQ45AsaIJvjHnSVo4Pp3fqT5HmaNLvctn7DakJS4-DNepbPWhrzP8FriBKd3PgwRyKgVTsnc_A_PDILcVf5HKbuGcCBFTsak25ixHno=",
  "id": "rs_08bc5c13ab21e3f0016ab2bdbc747887d0b7d402b5b333c5ad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.285,\"right_y\":0.32,\"right_z\":0.025,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The brown plush fills the right wrist view and is slightly left of center. I’ll straighten the tool and lower the fingers around its torso.\"}",
  "call_id": "call_f2EPiN2in5GWWu7AaUMULcfH",
  "id": "fc_08bc5c13ab21e3f0016ab2bdbf982c87d0929f821b6beb6450",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f2EPiN2in5GWWu7AaUMULcfH",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0902, 1.2137, 1.2438, -1.1042, -0.12, -0.0765, 0.9978, 1.1477, 1.9598, 1.0088, -0.1043, 0.8314, 0.907, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=-0.0013 left_z=0.211 left_yaw=0.0534 left_pitch=-0.4868 left_roll=0.0872 left_gripper=0.9978 right_x=0.2818 right_y=0.3167 right_z=0.0273 right_yaw=0.0025 right_pitch=-0.045 right_roll=-0.0089 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -3.9726, 6.3111, 1.3553, -0.1001, -0.0171, 0.0024, 0.4718, -7.9385, 4.5607, 0.9988, 0.4567, -0.1636, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e7912b3fb77946e7412d21b59c2dccdebd00a2339f48b16eca62142f4d762e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d63c33084f49f626dadf2777596586b5c8641271d61e1fc1cfbfd7b15ac100e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f553deff6dbe8e6ab2285edbe1f51c5007f928153338c3b57174f4c9d3aa0ec2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0868, 1.2102, 1.2423, -1.0817, -0.1177, -0.0738, 0.9977, 1.0283, 1.7477, 1.4559, -0.9821, 0.4564, 0.9108, 0.9996]\nstate[eef_state]: left_x=0.293 left_y=-0.0011 left_z=0.2141 left_yaw=0.0513 left_pitch=-0.4631 left_roll=0.0826 left_gripper=0.9977 right_x=0.2625 right_y=0.2915 right_z=0.1404 right_yaw=0.0249 right_pitch=-0.451 right_roll=-0.0324 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -4.8889, 8.4991, 1.2821, -0.2369, -0.0024, -0.0415, 0.2393, -8.1709, 8.1026, 0.8132, 0.4615, 0.2613, -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": "gAAAAABqsr3HPa3m2wveY4g6YZINKLKZeEd2pFZAcRWuMD407DyqCfABZsiF8lNM7soMH7LhRTFstbxvBz0t93qltqj7i_3Varmrr4x7mz5mvjBSDj7Vkm5_OOsE41T9r366-Lk-Re4EqxYIdrYwMmAbbMmRf_KEXl74DNDefhLbMaD7XeADEJX1lXNZAufWApE66G3CLseeOvEAm_x4J8xqkRpkeDOcBkzHS4MoRhB-PlT79qnDyffs_4ieLnnagxTSgISNxzNBvIAoaAjlq6W0xeJsjqVbUg3yYk0KxoT9wzMNHBGoBHYQUWDxi_S3ud8MHHG9eNDj94_jRVP9gDthfE5HdsRFguWmKgmBycH9wNt-0m4HK-k6XooTF3B6xupTHICpIHAX_U_CFezhvnPhs_QT9hPaxhPcfOjPp15nnm1FknYPx13h6lEvYZasAnzmHpLB1OUEiRy0pthARlf7AjQ6qX1AirKJIs6E3ZeXsssSuk4de7sWbvOsGRp5puCfSQxjM6p5rQSsIScX8k3AUVOZJmN1lJasRkc8oDW14sBA2KwuL31Y7TzNAZsY09jw27qZ-GbDpUZWxsRaHGs2xK93UnDOj6ey8uURZf-rO54Iee2fvyacRFkQfFhLTu0wRL5O0PgMKLf8L7AHaTi4Odq_m_yS0tAWKW09Q3bZmkDj1AB2ev63-6eTA-xfAPB6MEfux_Pl_9hJxkFJieMR-8TzIiqWmxt8edl2lgm2MVYcFeOaqu5_WbIksHPCuvw7u_mP9q2dWv9YYJq538yKAoxylETPRE0TjZ53EIu8EW1cDcLPPnFZYCFnwsxmdAk09lCxASAvQ2DMCjxXWNIVJaZHGmvRk5zMH-QKYQgLWwnJ4AONoFSijxdTAW1FvW4jGLEBwPZth9HuReM0zyOQFLqw9TIfMGqyMRou1U7KHw73aoe4GXJgBhrQb1wSxERLyNKkDBjPEZtBPozW9IRkIZLNAX-azK9o0Bv_x8yIdRnmR9Sc4lM6BkbLF7vm6A6uWp0C6EYDOI5JpNXAQtqJ8b7karuvxQRU2t3g5206QwCIm-NNwwv3vJVqy_GgUBZDiXuaJxg7qv0ZzT1dwGVTKycLjteD7RTATLRv2Z2ZaIEmyoToCj5FsbjOM5bKfnh6dCNdUyItNoj6Lsuk3hAVknnSPYJC7U8FVNiHrWy5bcRPOaBkUj02BIyez9V8cfzzpyu_oS7C",
  "id": "rs_08bc5c13ab21e3f0016ab2bdc5b90c87d0a7c9bf13d62d4525",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open fingers straddle the brown plush’s body. I’ll close here before lifting.\"}",
  "call_id": "call_rveYKpZGE0vmYrp056GAZE2M",
  "id": "fc_08bc5c13ab21e3f0016ab2bdc6508c87d095a31387db32c2f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rveYKpZGE0vmYrp056GAZE2M",
  "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]: [-0.0902, 1.2137, 1.2434, -1.108, -0.12, -0.0803, 0.9978, 1.1481, 1.969, 1.0012, -0.0765, 0.8413, 0.9012, 0.0344]\nstate[eef_state]: left_x=0.2879 left_y=-0.0012 left_z=0.2105 left_yaw=0.0561 left_pitch=-0.4908 left_roll=0.0858 left_gripper=0.9978 right_x=0.283 right_y=0.3169 right_z=0.0253 right_yaw=0.0013 right_pitch=-0.0326 right_roll=-0.0071 right_gripper=0.0344\nstate[joint_eff]: [-0.1573, -3.6991, 6.2427, 1.1648, -0.1245, -0.0171, -0.0122, -0.0342, -10.2085, 6.2017, 0.8181, 0.2076, 0.1832, 1.0623]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f809e1e317c6f95dc6936f64fff1da5fedebaa60bf9a1dabee8d464d43635dc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b413ca04be2a06490060ec11a869de38dd1cfd417d18771d4cce4b6a8f5bc63a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73d9670b2c059388a1b5b1362043b7e3b676de989c0be68ed96d9ba947bca6a9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0902, 1.2137, 1.2438, -1.1042, -0.12, -0.0765, 0.9978, 1.1477, 1.9598, 1.0088, -0.1043, 0.8314, 0.907, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=-0.0013 left_z=0.211 left_yaw=0.0534 left_pitch=-0.4868 left_roll=0.0872 left_gripper=0.9978 right_x=0.2818 right_y=0.3167 right_z=0.0273 right_yaw=0.0025 right_pitch=-0.045 right_roll=-0.0089 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -3.9726, 6.3111, 1.3553, -0.1001, -0.0171, 0.0024, 0.4718, -7.9385, 4.5607, 0.9988, 0.4567, -0.1636, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr3Q0euP15AwZAf6YUpyiR-YXS4ne5KZzs51Nds0QtMZSJuOcDZJwA6vMjJTJd6bfpD9D5uEgvbAdzJY0omlqJ61Mu4Oc_yfwtJCkagWj-Ki9pv_KsYomNm8TsQe2VbYGWVQpkbeRdzRyE-xubjM8_HymEKF91QEfEIhq3QJsNmdk4rdDD7-FHKw25bVtO9pgSwpOFLyaibymfpijBo5rEstZzKTa-SOLJpJSpJKShHfg7pvGPgY2jk9pZoiU-kP3XmVBfeo0DbRWraFHFh8cWPvgZ42Te-AsVzrED0ErcBllzuadgKMiBfyfy1F8ld84dtFoe7HI-Zn5sJHSQG1JtZTtYswcsW5LCpjCw-OyGqyzEQak0ODMZ0gygf70xh3QEHPJbgKrljYmd1-M9nOUUXV4e6joUyy_g-cSg2MlmMqTu2MRiuuJPt8LgXFGa1U_Bbf1qWpUYHmxBMjT7oA8D-XvFUqf1i5j7iaZCG7IpSzKRa471cTuJ_2i5EpzJBeWpYtql7M-J5fwX0LwjxGmKzcV4e_mEFjcyN686lSWrHeWmT2eluUewbsnzG0pfLIV7Vghe3wHiL5w81ME9Rf6czugnro338Jc4rKo14nEmHaxrZcV-O9wu3C4vcPXhJvBivFmpQRwEEwtjmtCd3QqIskKa0NTrAn5AprTcXaarN2bjV7nkYxC9-jvFlrLwcl9GJfw6p7Vbi2QEcwf1KWzyLWond6umMjqGCDVzUSPD48_RHbJCpHpSTTmPBAgwE_bLbziv-wT3ICSlvdodHVrZKMI_xZIZqVikU0GYT3n806IUOm6Q70Koi6kaB4oIWziQR54ttAw3XdVgrzXGh-AZSG-1xaJJ-3gu-V2C33DtdqNiOF991FrNFQMMUkLFeg7USsKI62ddHeel1yF0aR7eGQmY6dv1FF8mYins1lq3FkUYITM8YBBTYE2sax6O3kbX8_B2NkWScje9qtOtD4aMtPdfkm7Rm9CuSNK8n3pOFQLR1n1Bt1DyUsL2rOooQ4LpXtuIEdxsVq_d4kELt5kCo9XIz_ZyS0DBr73EUwnCHrbBwZ9HZvQQHiAlaN2bnVELl6PuTONThL4_lYuH9vnavuIg0b0A7UJWiKk6qotdOytn__hEU7b3DIyWEPK6cLx37elPqgNL0eGf9hdikcPqSJepQGHg0Z3oOEUfoQPVvfz9MW0ifbt8kNdGteZY2h88B2-DM_d11MGbqpCvXbrLe9VRzx8hRkMLZhXONxXB1Gs5g=",
  "id": "rs_08bc5c13ab21e3f0016ab2bdcdae4887d080d726f6e72552b7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.34,\"right_y\":0.32,\"right_z\":0.03,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The fingers closed almost empty at the rear of the plush. I’ll reopen and advance onto the thicker torso rather than the trailing fur.\"}",
  "call_id": "call_TqyI5NVnqpv0MW6OyUhOaGUK",
  "id": "fc_08bc5c13ab21e3f0016ab2bdcdd5f487d0b65cb31be4fcb108",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TqyI5NVnqpv0MW6OyUhOaGUK",
  "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]: [-0.0902, 1.2137, 1.2434, -1.1088, -0.12, -0.0837, 0.9978, 1.0267, 2.0228, 1.0557, 0.0242, 0.7891, 0.7433, 0.9942]\nstate[eef_state]: left_x=0.2878 left_y=-0.0012 left_z=0.2104 left_yaw=0.0583 left_pitch=-0.4914 left_roll=0.084 left_gripper=0.9978 right_x=0.331 right_y=0.3118 right_z=0.0246 right_yaw=-0.0014 right_pitch=-0.0253 right_roll=-0.0263 right_gripper=0.9942\nstate[joint_eff]: [-0.1709, -3.7128, 6.2154, 1.1062, -0.1197, -0.0415, -0.0171, -0.5538, -8.5949, 7.3231, 1.4921, 0.4176, 0.0708, 0.1001]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2c07089725700bd52c47dd2dbb7922c12e7d906685d3047c6b8dcf67b436c3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86716f0c64b93ad47c3315f008b02be4597fef20022ee98aebaeb961c3dcf9e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:661132ed4173a7809da180b7ac731d8859913affe79ab6fbb8a95c95e70b6e02",
      "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]: [-0.0902, 1.2137, 1.2434, -1.108, -0.12, -0.0803, 0.9978, 1.1481, 1.969, 1.0012, -0.0765, 0.8413, 0.9012, 0.0344]\nstate[eef_state]: left_x=0.2879 left_y=-0.0012 left_z=0.2105 left_yaw=0.0561 left_pitch=-0.4908 left_roll=0.0858 left_gripper=0.9978 right_x=0.283 right_y=0.3169 right_z=0.0253 right_yaw=0.0013 right_pitch=-0.0326 right_roll=-0.0071 right_gripper=0.0344\nstate[joint_eff]: [-0.1573, -3.6991, 6.2427, 1.1648, -0.1245, -0.0171, -0.0122, -0.0342, -10.2085, 6.2017, 0.8181, 0.2076, 0.1832, 1.0623]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr3YGAqx4y1qfVrNEn9WWuwJYn7t86qsB6VCDakTcpa4VAl06GL54Fvg2p6gJQkffWGtqtl-Uebo0i7oB2_XW5zyYln9DtIEaw9csXeNV71zlSR1rlK68vsA52xO9i3e8lcdBbl5rXK7BzX0kGVyJdIlLdGnIPg5vSfBJ6aY4xB3rgk1jCKsm-CVZwRA90BI7gW0Tr22HcKxb0l4caFQDucj4c53c7-Fa99sOKvwlqIddTdlnuIBoEXFf-Ru5vgaqqgew9JO1FCP2dwjdFRkr8scuqhSslGnqBmehBt5Tw3m2W_YwJ1jwqWwinVVPy0Ir40nVNqTxO5RfgYn-6alO9fRnysaWv5UhuxAgyhgwUGG8ErmSyG_u_xtB47XiBVvnPUJ0UnFexteKcTJXIZtr3VYnu0lQ3AfSJR9loN37EqTuuB8-e_1OnBgVMyHB-u3KeoKHlpml3Uolm-c-17Z3PW-3-sa6b37l_x6RxdGiC_uwEnYFtFzizc0Md4qt8a2ibg8fu8PfckQt4tKls6WZKmyCGF_m8b7UtQyubs--sCCc7WFBTAbnLfONzaTH84lfRlX5TiQmDiQ_Du6Z06BR22X5sTOxlNr9xQSqHyKsYnrxkyKkvuZurEU7Qlrx3DSbCsiMCJxgW1boRAAhA5L1ltF_sYysTOqz-1gt0MMgfUAoaFj7sZghDirbrAOP2hGPwibZ8DL8W40TyDIechx2hagt8q_0GVZR85eVrmxQSTU6ChLDi_xx0RKOzz9b3Sc1iCrdFg2ZR012gawqfF-BSrnL72XLvrusQhEBmsTkHPCjb17bITNSxdVW2UvTBwM-6YcLS57wfSMRGvNBcUnWMDVXb_JcDMP0QBTp0ftOS3tY2O-0SBkWCNVAK7ZSyYnnRGd_Kh2VqnKnOmtjZzTqnx83PNCtp8qqrAzw3QKW4iqDEuaE2YDMGWLE9yeMTwnPm9DtzQKGUbwkBMVlrLLWboRL5dsYOpVdg4zUQZ__2RExegdYORtShxrZdrYM-qgBuu_cF0I1bB32Dip8TK4br5-hqpwSRTJ7rUUV_JNtf1kfqWa5TOzUrGlcFjlRsDXZ1UbSSw7BqxOag60mIDs7qOzJIrhdAPgsslnZECIxgj_Urg2AZkFhlFqz6BE92-BhT43V11PCnY1NQNluFKCqW0NC1mxVAiZHORW32EMtVdg05dW1KSG6ylMVrB7jw3AKxCa",
  "id": "rs_08bc5c13ab21e3f0016ab2bdd6ffb087d09284bfed7a906b68",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The thicker part of the brown plush is now beneath the fingertips. I’ll close around it.\"}",
  "call_id": "call_23h77TYnpKotF46D8dTtzK3U",
  "id": "fc_08bc5c13ab21e3f0016ab2bdd75cf487d09ff3cabac0b14595",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_23h77TYnpKotF46D8dTtzK3U",
  "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]: [-0.0902, 1.2137, 1.2434, -1.1084, -0.12, -0.0837, 0.9978, 1.0222, 2.0277, 1.0592, 0.0208, 0.7853, 0.7368, 0.0087]\nstate[eef_state]: left_x=0.2878 left_y=-0.0012 left_z=0.2104 left_yaw=0.0582 left_pitch=-0.491 left_roll=0.084 left_gripper=0.9978 right_x=0.3322 right_y=0.3109 right_z=0.0228 right_yaw=-0.0002 right_pitch=-0.0307 right_roll=-0.0342 right_gripper=0.0087\nstate[joint_eff]: [-0.335, -3.6991, 6.2154, 1.1404, -0.1343, -0.0464, -0.0122, 0.0205, -10.4821, 4.9573, 1.2674, 0.3834, 0.0464, 0.5934]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfeffc5bc84315372cf05cc0e2efc4e87e9d90f55add895da3ae994388ebe1ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3a4b95e83fa1d30ddefcfd10a0176a4c82e16bc9f1582827c7a6a475041a451",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fada0ac605c07b5d8a3176bfe1eb9c1f7cf30d95ebfa74d8900028128cbae71b",
      "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]: [-0.0902, 1.2137, 1.2434, -1.1088, -0.12, -0.0837, 0.9978, 1.0267, 2.0228, 1.0557, 0.0242, 0.7891, 0.7433, 0.9942]\nstate[eef_state]: left_x=0.2878 left_y=-0.0012 left_z=0.2104 left_yaw=0.0583 left_pitch=-0.4914 left_roll=0.084 left_gripper=0.9978 right_x=0.331 right_y=0.3118 right_z=0.0246 right_yaw=-0.0014 right_pitch=-0.0253 right_roll=-0.0263 right_gripper=0.9942\nstate[joint_eff]: [-0.1709, -3.7128, 6.2154, 1.1062, -0.1197, -0.0415, -0.0171, -0.5538, -8.5949, 7.3231, 1.4921, 0.4176, 0.0708, 0.1001]\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": "gAAAAABqsr3hC8ox-bZRzJgCibSEdZWmJ-wKg6cr87hw5508wQqLHv3OScomLygA_UtAD3AH50YBtt4LP67nNgYSA10LJs7QjlpUaCBTWJ2sKa4rtrJOEzkgxJGxRVrrZZME4ozIwxtUVJYDmkolkkE2_Mi9mDUbg15AASJ0ZovjyIfGQzHLhPEquKd9edA28zfHLcoyPkqLJCIB3POEO_TvgoOtdMc8ThUAgduk9t0TzS6P3rTa8-_umKCazjj-3OddBIwG36rrQ8JUrDLPB7ERC5mTe0waaRVzyvnecd-9_3_2pAtsOUot0vII1sgxu3WnzmYLPEvRKQ-znb9FED9UEPdHvlF4SpvsFb5bDzI8TidPJIw2lLiejh-nTsQdWxX6YkxzfNxTWplrxRZ0Gi1PRLFKU5A0rFUFtMqbVnhFgwRBxIR973O_GIC5dM0rWY7UYxcxLS_PArO9llSje1VGv3Kg8n3ZX4zptCAU4z-inhP8DyfjJJlw8rku7Vfpn78XuELrN0dFI9U08pAvohml5psPT6nESHb5ToVvGlhwBmsp_dojc1TNzHpAKZQwqLBaFUVghUkQ-rOmRbe6bh5GQhhPaHtQndXxIEzKABrQnaOjTz9TPIGhsD32OnhW9tujYGOWVERynFFSs27574k0d2XlLS-IjZmehkRBXP0RbKmQZwdGic2teiU988Fw_GVUfPBsRn8NlYOVtrwCHaUjuPxP8k5i1s5kAgQtzZw-AORWajZipnuPdoQuN1tkpWm1ScT64RpvKn7v2uvHsleMBZ_I60eJf8O5PBPuOgrLUSobZugNHFXtobWoX41gxD9l3nw5D2LjCkzkFl-fhnNvqA2mlc244iAlAprW1VUMvPnhuAmnFZ4Kgck01fNloZo-leha1AXVEAhppe4A82afLbjkhlEK5QMcnRT2Iazx5SWfD0iEn6ZFszBT8gAbyHY3k7cg_w7JjcWhZHnAy8uErnvjDlEsCsTHU5bByFJUxnQdHA21MlOtn6ZJFh1mP_5OrWaHOmMtvzHbT7kw40iKrJR2igV0u3kN2AWRwPKretgZrf-rm7-kc7qRJifooO2_UzJIZ2E2ftmkGmOo_yVP5IYKMoeEus_bSwiyTwwoP3rQEZDojOiZWMJOynUa098gof65TTtKuBrnbAE9e6G7zx8ZEijsYq-upG29TM3TNgZ9Ubs25fhCCZ9yVRyZRDFTZ9IN-aGdMpcOUQWxQIWbXgvWYfADLb5kRjbW4IUVP_Xt-ZHwIeS9_g-IVuf_fqVxGPbNszNw3KfkmJ41jRS4p8pwFWupJigJFpPFDCpe1z1W_EvJ1orpowTHU9WtpDtYg2ujOM15O9E2JRiBVRhX45jt-IWrvnvXckwlPtKE2KKRCfw3q-xE-4VHeGeqPQr4Fx81GaIWzT9a__x8YBBU6AxrB56wwqwZ7760L6EkQcb-sjmaC_sUgG6IJVpIlWqtJsChYm4v5pfO2wZGvbTgPnErh26q1rKBz7R5PYtvlKDneUY4VvOij4sjFUROMO1EBh_3zhneLX38YsFtyVs6yaeFvJ5d2gx9uQ64DtQhiXJ-jJQAjVNm4h-dYXSAGdvfVAEiw7Si-WiMhgf3x74nA0rs9av43VvKUKix3A9DUN7xwiTuwcmmGbFsmWNYEZG6m5iG_HhXL-c6PLLxBtJwx2tYc3PCjg==",
  "id": "rs_08bc5c13ab21e3f0016ab2bddb95e087d09b77932257ad37c1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.325,\"right_y\":0.265,\"right_z\":0.045,\"right_pitch\":0,\"right_roll\":0},\"note\":\"That close was empty, and the overhead view shows the plush shifted to the right of the gripper. I’ll recenter over its broad body using that view.\"}",
  "call_id": "call_ZAVVEBH08qbXlBqfOOaObJ0S",
  "id": "fc_08bc5c13ab21e3f0016ab2bddf14a087d08ba6b2cc24d1e457",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZAVVEBH08qbXlBqfOOaObJ0S",
  "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]: [-0.0902, 1.2137, 1.2434, -1.1088, -0.12, -0.0845, 0.9978, 0.973, 1.8629, 0.8467, 0.0998, 0.7544, 0.6804, 0.9947]\nstate[eef_state]: left_x=0.2878 left_y=-0.0012 left_z=0.2104 left_yaw=0.0587 left_pitch=-0.4913 left_roll=0.0836 left_gripper=0.9978 right_x=0.3205 right_y=0.2621 right_z=0.0305 right_yaw=0.0013 right_pitch=-0.0355 right_roll=-0.0406 right_gripper=0.9947\nstate[joint_eff]: [-0.3624, -3.6718, 6.2427, 1.1648, -0.105, -0.0611, -0.0122, -0.4444, -10.0855, 5.4906, 1.5946, 0.2955, -0.0611, -0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a334851c11d657922013690af697c73a2dec88008531d21a65d0ca957414db71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b30984bbc05d25e40162a50fa27bb03f048930dbd29d46fa522cb1fdcbe3781d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeca08af39b5514e3aa48a8fc6c50770250a423fd65a9eb483f67e332474b1a8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0902, 1.2137, 1.2434, -1.1084, -0.12, -0.0837, 0.9978, 1.0222, 2.0277, 1.0592, 0.0208, 0.7853, 0.7368, 0.0087]\nstate[eef_state]: left_x=0.2878 left_y=-0.0012 left_z=0.2104 left_yaw=0.0582 left_pitch=-0.491 left_roll=0.084 left_gripper=0.9978 right_x=0.3322 right_y=0.3109 right_z=0.0228 right_yaw=-0.0002 right_pitch=-0.0307 right_roll=-0.0342 right_gripper=0.0087\nstate[joint_eff]: [-0.335, -3.6991, 6.2154, 1.1404, -0.1343, -0.0464, -0.0122, 0.0205, -10.4821, 4.9573, 1.2674, 0.3834, 0.0464, 0.5934]\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": "gAAAAABqsr3nlLY4XLvwB8ihX2RvCcboUaYxgkLrjl1hK-1Gst_JROCVzusmSvJ2OloYW-cXq6wkf8OB1Azs07RPNY1a0Ty0vSSJcGX_uD0vPE7J6fh8VgVFwwQwkBHahTHpJTI3nmgkEnqqWgill-dGCVab33xYQR5qMF0r40dbJ4wZVzikFgr9WAiDbTQw6HmCHIAi1SzAbyABKINDSNuuA5VZjo_bLVkvo7-sGTqhvy14n1YPWJfvm8WsfsWnjODZzoW-x-DJMPzn7ty26UpjXWWfJxuFy-oqzy1kAl-yNz2yIRSFZ6jFGsF4T9NQGDa2wFot3B8Vc_a9oecPnZ23uELinqNhIRRIjxs8_px4slVbGL1JujS6VRcw4d-k1JhDHc1kTDYldar-bi0oZI5gU31hL0zOzR5yx2zOgr7OoS9aYzQLXLSfoCXTS9pNBl450fhCuNLKNto6VSun4yYdFDgrcPciX1dGMZ3BmUffM8gOrdB-D_xjAhjktiiaHWte3ionWSJcuDcSY94yJF_akahn1qLa2X1DOD4JSNRysqTfBgjl5FcmtFnHwALv17RNtG_7QfVXBNbDfYO3fFgMyuY9UwqyVvFbtoXcVVd4fDI9zVfuGpMqvahYrMWc8mHWX8a2i3V60RnTytf_AKwwJsbLL6Fw2QKAAbX1BsKp4EJLKwWoH9O_hHluXmHW-LrXTqxnvh5m0og_ADIhHJBijyChTWyvS6bIWKUgCoOg1l0oHPuBFzW78JvblFZtjxMwF_o5RrDND6xo9zW4J_dw2A_Is0pBjjJRW3MxcoPG3oMa9QnBOj_4fAaMuE9Qq3L3sfz9BtxLZo12F89AoI3v33-omrx50NrpLIYVztwMymMdHpWVvtEwE-SvsLs1zrZydcqO_gTHIcoDVWCbuBXkNl-bVqBqeiQhvJlIDsQm6CyC8oD3jC9r87EBJ8TKMnwDImvsxltywEEYJqZNlx8V2hGuCR1MXeM3B8Q9YjAaiYEN7TFYIYMb5h4iWWz31Hgf1MeKcg042YCn0WWkQZ4A9hGnMuITAl1zFPd6KM5M30p-Z8mYDx415bwTQiB5VEYwxcU5upDa3KI09eqgijVzmJ47FnqHGoWSZ0YtME7Ge3sdqU_R7R545cKFUd85J7kYFKwKO4BfOV-s3khDsfRxPKfX5xykJsIHdJ5wpzJu_fZYWU1IcwpsnhiBy9jwPrrJ2xkzob5_NCz5sTNMZY4c_bFErhQ1BcDmX1PfSsBe6_UoyswReva_a8oJLpnVSe8CEm7BqOxOYr9_HwPRce91NeszogenSLQICytUjTbjSbLBV1QL_sc=",
  "id": "rs_08bc5c13ab21e3f0016ab2bde4bd1087d095b4dca44d9c7f23",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0,\"right_gripper\":0},\"note\":\"The plush’s torso is now under the jaw opening, with its long ear extending forward. I’ll close lower around the torso.\"}",
  "call_id": "call_fTgoUckbc5IU3msaNSGQFMre",
  "id": "fc_08bc5c13ab21e3f0016ab2bde6085c87d081d48ff54d8e23e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fTgoUckbc5IU3msaNSGQFMre",
  "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]: [-0.0902, 1.2137, 1.2434, -1.1084, -0.12, -0.0875, 0.9978, 0.971, 1.9419, 0.8238, 0.2081, 0.7475, 0.6804, 0.009]\nstate[eef_state]: left_x=0.2878 left_y=-0.0012 left_z=0.2104 left_yaw=0.0606 left_pitch=-0.4908 left_roll=0.0819 left_gripper=0.9978 right_x=0.3216 right_y=0.2639 right_z=0.0065 right_yaw=0.0039 right_pitch=-0.0364 right_roll=-0.0322 right_gripper=0.009\nstate[joint_eff]: [-0.335, -3.6991, 6.3248, 1.1502, -0.1392, -0.0464, -0.0122, -0.0342, -6.9402, 4.0547, 1.3455, 0.3492, -0.0024, 0.696]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eed84475f7a7960f231e586a8028819c424867e4e5bac9c1378a33e7073af37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8e024470d23aa226ad8fd638528374a773c90594f02b0ed757702ff80cc4fc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e034290d31803b5527ce4d11750c604ba7b965eb37a311f1a24567abd2723200",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 88 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0902, 1.2137, 1.2434, -1.1088, -0.12, -0.0845, 0.9978, 0.973, 1.8629, 0.8467, 0.0998, 0.7544, 0.6804, 0.9947]\nstate[eef_state]: left_x=0.2878 left_y=-0.0012 left_z=0.2104 left_yaw=0.0587 left_pitch=-0.4913 left_roll=0.0836 left_gripper=0.9978 right_x=0.3205 right_y=0.2621 right_z=0.0305 right_yaw=0.0013 right_pitch=-0.0355 right_roll=-0.0406 right_gripper=0.9947\nstate[joint_eff]: [-0.3624, -3.6718, 6.2427, 1.1648, -0.105, -0.0611, -0.0122, -0.4444, -10.0855, 5.4906, 1.5946, 0.2955, -0.0611, -0.1099]\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": "gAAAAABqsr3umbW91DjliVTeVBn1DSkOvfDQ7yWxftD7FodFMF_wole4rpg-CI35WXi2doCHElXdExjlMxmHcZNdjBxFtNx7bIAVXJP2CNqukIeh8aEULEj06HMXDgHpwiylwFkTxgEipdW-TWDqp4gCRmQ56qRdyGvYemjHv8a71-tg8tap9kKHol2brORgjf7Y8ehxVdQyM3iioegL-iXmgLKCWEdaK0TVtvlpY_0ECZfWP2nWKcglixSD_w-kvs_e4Ni_Kk8uzjzm1W86FIhMP_XXHRfb5CMh4MU-_mJFOTeAYydvepzMYGDjdhQx1D2eO0kDMY_4nxzljsj8rh1pIpXa9Uh43FqxE6SpRZ3JahoOg-dV6I7PRr04FAQYqM3CjLEfNYx_CEXpYgckpiKX937_sokeiIKnWayAI4HD9362Gd3UQ6io42Dr-AlKWoqqduGXDGc_NMXhp1BFruPz_luwD70Qsu7_1humbw9W6Ji0jUyaezHjNXCu8w_bdfk2hBkZhNu7M3rz9ATcn0VZLFpfmjM2KtcX7Fq4JSuOSR5vEETV6G8Ks4fMfwm-7pOaDpShgqV-FX_Mi6r69EjapJZNqZBz_tKtCq-x8UnF6I1JVaM8u_7OJJkmSs0tzIPQeFqjJvXbnhe6Zvz1s4j4jX1_cvl-TvgATe_BV967kYTaqvUk9bRV_g3zcOLR4qbSTzw8-X3CfIwe1xppEkuOvfpvc05V1d_OAJW7MTpQQQnkJsBruD5zJOt3t34OG00-bOV6HGB6yvop_M1xlWoORsnFqLt4z3ihDTAQUt-Auv9cCkHdRZRrufotoP-t9tQEvqOervaaTWHGUnGoT06RZhw7w4Vt2cPFWCTUpW2zab-K52dhkcWzpzPncxTK7HJ1yo42D1b6gkYL8oZyQlO6KoGSP6KwhmbCh2ZjjLBCTQxa6N_VSyYUAz1VWcrnkeP4bSKWY_gV22qFwCmPtTYVhwPfZSLVxvjBSlYrx1Mg4QkqgsmTMCJg6mTQwXmxU5kB1lSxCact4yCUCjHpTHnOXdFTGWApNM6PsgiOHRIR1fGsJiAHgWz-5AmGCp5bya3terfuzoSqIteFakxYB8OPYVqZHCW5G9tLhjeiN6-YovVj3v424fdTXOO7QF31W1QnTQWkNLTpm5S0nZTrZJnb3rc55PPKaEtxMceCWpFZ2S6YkiKAZVIi1JoDCmF3Z2IHiypVeuWS7fs0PhlC2QUwUZlg74djGlUI9R1ku5LV5281-XRY7mM_b2hPI-6Ld-NQM79jU1Zhetl_njrJyCno5Ynhd4HaoUgA1H5BzzxFR6unPNdooRcaYNxSHgm3DT4wTKl4KeZqKzg-E1plj4LlIPtqjHpUNlFMFeICs-4JxV3CZfiR7gnolVFc1KzHox--Hrdfb_NBwfPwYVKS8PBVjHAiC4MDUrcA_1c_Vpe1qeUD8Vg00McksPKRHKXT3ROpSw_Tw6m0itqtS50HAOq-v44pLJg2QJfZGwokQejyGoURMgn4NG3bDFwUGp6x4EUjXH-Rzglw",
  "id": "rs_08bc5c13ab21e3f0016ab2bdea149487d0ba77a8671d633f3f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.35,\"right_y\":0.32,\"right_z\":0.065,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The brown plush slid left of the closing jaws. I’ll lift the open fingers, move left over the torso, and approach from above to avoid pushing it again.\"}",
  "call_id": "call_E0lQb1QSUBfgOedagIq7EvqT",
  "id": "fc_08bc5c13ab21e3f0016ab2bdeccba487d09bd90e6497e8b4c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_E0lQb1QSUBfgOedagIq7EvqT",
  "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]: [-0.0902, 1.2137, 1.2434, -1.1088, -0.1196, -0.0906, 0.9978, 0.9955, 1.9533, 1.1084, -0.0483, 0.7483, 0.6842, 0.9945]\nstate[eef_state]: left_x=0.2878 left_y=-0.0013 left_z=0.2104 left_yaw=0.0621 left_pitch=-0.4911 left_roll=0.0799 left_gripper=0.9978 right_x=0.3433 right_y=0.3151 right_z=0.0582 right_yaw=0.0262 right_pitch=-0.0263 right_roll=-0.0156 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -3.6444, 6.2154, 1.1062, -0.0513, 0.0024, -0.0122, -0.1573, -8.2256, 7.8974, 1.37, 0.5397, 0.1099, -0.2076]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a532a38b04fd0945d4c33dea2ada9bf2460a91f81f9833c19622ed47c910d36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c532810c881c7159569767e7c17a776ec1ca7b4a1b0b166746bfa3d69dacd51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6dd7a4b4adbf500d7fc1a8265b333a42acb105f002f9f17eb6f24143d31e4d2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 92 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0902, 1.2137, 1.2434, -1.1084, -0.12, -0.0875, 0.9978, 0.971, 1.9419, 0.8238, 0.2081, 0.7475, 0.6804, 0.009]\nstate[eef_state]: left_x=0.2878 left_y=-0.0012 left_z=0.2104 left_yaw=0.0606 left_pitch=-0.4908 left_roll=0.0819 left_gripper=0.9978 right_x=0.3216 right_y=0.2639 right_z=0.0065 right_yaw=0.0039 right_pitch=-0.0364 right_roll=-0.0322 right_gripper=0.009\nstate[joint_eff]: [-0.335, -3.6991, 6.3248, 1.1502, -0.1392, -0.0464, -0.0122, -0.0342, -6.9402, 4.0547, 1.3455, 0.3492, -0.0024, 0.696]\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": "gAAAAABqsr34IFwHxLrlv32xikw3bZJE-h6fHh6MlYbHKB0ybhJ7B2yz_iZr18TRP3V_QsIkLJaaUWXKLCmxJ7cPdjVwxYSVMMCPZk11-fJFelvmtNU5bFLyMdBXmLBi1GnK0sZjKPgV5hmOYTH86no1VcQ-5JOZ94mDD00Uj9w-FBv_ScXNIRY0yudN8upWQ-Jeg6Yd7oU1xombcJM6dOb4qQwJ4XKx6nbHhhJ5X-ltgeqZoikA04GF0bS3ukjzT7gnsid2tHoiVSwD_2QygYb75Zur2r-YMEuH3L4JbzQ4A95LjOzboe7CWWiJOvebgcyZnOCvCUQGmrMAioxWYHTqFWCiQz1QUlKMhfz9IqCnMbmZJV_FodpNZWk1fWEupyN1Elk6ZTelWLebv3rAvlFqJpEElfpFoQTkBNNjRb18kcI2xSA_GqDX2O2MWPAyIvkOhMbqHouXHlcFVpAUQTrBHdULCLyQL-Siqy7uMigmYhypZB2gYep-ysgkUMspx1q2o-C53l4tZVOXES0wpHJhvba6kI12TM1lpdRBOt6epZEU4sKZKOOLDMTuEzjwTmoY9BhOVf3CE-fMyojGzdYw5dVxcZ49He3ayVIqL8xtfEDDPMpgOIWDGr3q2VY9R1eIGiigbhU7Yg7mpMO1Fwryo2cWCq2m_jdcbquaIKVfuvFNtJVm98NpyU-6WaNKr7aHQaJ0_vTkQ4gPJMX-yB_5Ej9WN_oEzmIZaHmQL30QIRWiy6tv9ZQJ9wLmWPm4Ygma1a6Y_vfYa_9murw9ewAhK6MLpwoIoyKk3f6_vr0aPNs0jRjiJice_CTFtWjguur_38JlnO83NIJkRIx_TMs5Q4c4Lj74djsAYapKE80bHNudq1fzcLO0ch8K8Wf9-Oh0LylOaGBYwpLLvSOWo2E59gJI0etjZQ0FLzxUtgZk0Q3chbiAac8Ipyjn1uU7HbVXqDCkVNYItc18-zZ8YtndypF7Ea7KZ6EEvGocySejWlyLFdQOvT6UiaEs4wfCFEgf1T5zVmKXO-vfLPBsU9oAKnSJPW6sslrZoJ9YPtoGMWocug__-oX9nvkQlXMpdEyT2i6gvLhlDzXtW0PJzii5ADY-NPT1mWCF6pCiHbxzbj_PuRoNLBjc4E-2-W-NogkgnpCWZwNnv-7eYp9kNuk56oGSzC5T5KzVm7SKNZSFBxOyvFOsjLTvldLn2nHoEy2jo8yrBqpRKKaHrCupzial3DLmCyhmZHaxeqvruVVyX-NIDLdpuhhrTVy7_vSEsBN0vWUzV6QYNRqh0xSi9n9GFIIvIzCI4eaznnfA1nNphp6iJnL8TEAHGpXRctVoWrR25kj4M5RqIztZp0Ye0_FCOaNeacZwM1Lv2oNNDwvSHfif9W0cfC5uU3Be-cdhFoum9LUTgrSNbviPYmZwoxqDP3fDkIoX-QD_g938_fiJY0Hmty7AiPlUDlyWW3ftjdzVj0NbOzTpijSDmIjjktViJZCBZfkSm-2hhN-VbMizjdfaeR4IN5056WpO-H5__kUJj4J1wKrRZRfx7G9QdLxBGWOTyrQa9yENfX5cnHmF6KJDoIDqH7F8UtbhxokXczBTngU2AMMYtHJCxroLdXBLhSx1oaFisA==",
  "id": "rs_08bc5c13ab21e3f0016ab2bdf3d5a487d0b8cd261a68a27509",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.35,\"right_z\":0.01,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The overhead view places the plush’s body just left and slightly behind the gripper. I’ll lower onto that body center rather than its ear.\"}",
  "call_id": "call_0fbpBcqedAuyTKm0uKa7k6Mv",
  "id": "fc_08bc5c13ab21e3f0016ab2bdf6f61887d0b02d40a9af35726b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0fbpBcqedAuyTKm0uKa7k6Mv",
  "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]: [-0.0902, 1.2137, 1.2434, -1.1088, -0.12, -0.091, 0.9978, 1.0775, 2.1132, 1.1286, 0.0082, 0.7929, 0.7433, 0.9952]\nstate[eef_state]: left_x=0.2878 left_y=-0.0012 left_z=0.2104 left_yaw=0.0627 left_pitch=-0.491 left_roll=0.0801 left_gripper=0.9978 right_x=0.321 right_y=0.3389 right_z=0.0066 right_yaw=0.0462 right_pitch=-0.04 right_roll=-0.0567 right_gripper=0.9952\nstate[joint_eff]: [-0.1162, -3.6444, 6.2291, 1.1209, -0.0952, -0.0024, -0.0122, 0.212, -9.9897, 7.3778, 1.4481, 0.5006, 0.1587, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad0c9145b2af4e36f3f45b2ed9ac0809611e16f1e2e5a6e6988a88e2cff19285",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5569d98730cf843156e08a6a4f61fc61dc7258ca92e3c37b82e878b2b5f84460",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5cd55ecd9f704dd8162fab60b5f1e479dc8daa72b196f14b51745221364fc5d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0902, 1.2137, 1.2434, -1.1088, -0.1196, -0.0906, 0.9978, 0.9955, 1.9533, 1.1084, -0.0483, 0.7483, 0.6842, 0.9945]\nstate[eef_state]: left_x=0.2878 left_y=-0.0013 left_z=0.2104 left_yaw=0.0621 left_pitch=-0.4911 left_roll=0.0799 left_gripper=0.9978 right_x=0.3433 right_y=0.3151 right_z=0.0582 right_yaw=0.0262 right_pitch=-0.0263 right_roll=-0.0156 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -3.6444, 6.2154, 1.1062, -0.0513, 0.0024, -0.0122, -0.1573, -8.2256, 7.8974, 1.37, 0.5397, 0.1099, -0.2076]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The body is now between the fingers at table level. I’ll close while holding the arm still.\"}",
  "call_id": "call_bJ1im3IRYFW3f1HaDSA3HyFS",
  "id": "fc_08bc5c13ab21e3f0016ab2bdfafd3087d09b7d7a492b9cf93d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bJ1im3IRYFW3f1HaDSA3HyFS",
  "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]: [-0.0902, 1.2137, 1.2434, -1.1179, -0.12, -0.091, 0.9978, 1.0874, 2.1246, 1.1347, 0.0463, 0.8078, 0.7681, 0.0369]\nstate[eef_state]: left_x=0.2858 left_y=-0.001 left_z=0.2093 left_yaw=0.0635 left_pitch=-0.5001 left_roll=0.0817 left_gripper=0.9978 right_x=0.3219 right_y=0.3463 right_z=0.0092 right_yaw=0.0345 right_pitch=-0.0125 right_roll=-0.0141 right_gripper=0.0369\nstate[joint_eff]: [-0.335, -3.6855, 6.2154, 1.2283, -0.105, -0.0464, -0.0122, -0.0615, -9.7299, 6.4205, 1.3748, 0.3346, 0.0708, 0.906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81ae20195d736b0bf6f03ffe34edce62e01c8b33579d596e6dd18d271986ecab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaee1f7745e9ffea65724d4d523977037a6a4ad21c49a97fcb2d0afa56ac4dea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:942d05542ecb1daf46064146aafc0863aefdeb4f60d83a19ebde83a1a970e45e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0902, 1.2137, 1.2434, -1.1088, -0.12, -0.091, 0.9978, 1.0775, 2.1132, 1.1286, 0.0082, 0.7929, 0.7433, 0.9952]\nstate[eef_state]: left_x=0.2878 left_y=-0.0012 left_z=0.2104 left_yaw=0.0627 left_pitch=-0.491 left_roll=0.0801 left_gripper=0.9978 right_x=0.321 right_y=0.3389 right_z=0.0066 right_yaw=0.0462 right_pitch=-0.04 right_roll=-0.0567 right_gripper=0.9952\nstate[joint_eff]: [-0.1162, -3.6444, 6.2291, 1.1209, -0.0952, -0.0024, -0.0122, 0.212, -9.9897, 7.3778, 1.4481, 0.5006, 0.1587, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr4D0kBXOe4km4k7khyAIG14QTW0wvqT818YtuedHwoynQT-1Yt9fcNO1AISXgh-9Pkojb0j3ncW5C2AfGDa0gR0NqRLBozaUAH_yL_AKwdBPBtwOFkcaQYK-WK6cfyYsjp0qaHBO3Ohm0cUPuDFNBRqMJkNEFxD3YwZIJtdQhcTh701UyLAqQ5444l-RI78_MzTVr4XQX_UsqumX0sOTfHDjtYnZEiHZF9g9QEs0gnzZ5U5Go035L3pnkDkPue5f0YU8oLv4nkbnUcDfkYdmEG2bXS64xi00ujwGN8sFrDRUdpxR5ahMyEbowjsB1BhlA1p0s2xaa7umlUGAjoXQt44cgEgdRkSqCAmLq8qfq5JDdOHr4f6dhw_5YSIcB9YqjRUpkrv6iTEAl0luhZc3HfJ26x2fpndCcrXxSTOL64Mv_ukcl7Z8tZcv4W1r8JBPfyTcMufH4Ruj5M7bPv-weWzWq6HzceZcTXuSsAPUSdsnee4RUAOPolImjkV-EFaw94kjrHeN9R9cQNREArgANdH6vIlcFh2CrsJy2Z3pcrAV41eMQOiPiWVc5HcDZK6guxg52b8qIKRM1hW8VSqrzF40uSi4YLgPAQO9YomSLmESE_pu0tV5kB4ZRU41oypDYPJDhg1cHeScIYT5JuW2i5dDQsU1-Vy2YNyspiYZSqwOdODBs9mkZBOtuJaao1Zm9dM-k_fRVytx85m48u5woKsJxCeuC9fjIDwQEzgsArNJTVctcVAD9Kk3F7NyfovZqg2Dwu_YSYglQR8CeDaMhqtt3hu_0k8lvSOo-NAp1nGqi7TlH8KORIYtZqzjQ5Xx6Dt1TndFC_1kWMSZZFYDgTPUCDe7dscXh9m05-1D7RgvboizsRXh40iIDHlWnqfvkJ7-TIQMR7QYglFSdlJMB_72Gd7u39LQCxThPWne6KpiF26zKCvRG2JIXJ3FKiVWCYyjAhBDe662Kt10ZAF3B_6d-psNLQyoK7i4vLrGjAPv6dAnd-eThu4NL6GC17QJxYxLnENQDFs9Xpv4PQbFBPlF5PLXHjHlKUofdAMZ20Ha5Hk6v3yMtQARlsrFwjoCW6ppYx-bLbXZZAWp3U-Y3zlbpoyVNxJbBmHrJo6XFenIXS-WW_-f6qvMjNDu5P1hxeekjQm6xCwr1KmdxeWz_z7QozMAIJN-OnVM2jlG71YLniSFK8jQSN2yc7KJLCo5ujV_WiXU64FvuDAqZD3pickRe2_U4gLHDgkZSUScdxr3SaU_XRmIou8kky9DYEyaSvk",
  "id": "rs_08bc5c13ab21e3f0016ab2be006e0c87d09319ed501a06eaa8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The fingers closed narrowly, possibly on the plush’s fabric. I’ll make a short lift to verify before attempting any transport.\"}",
  "call_id": "call_3PSEPuGJtpAlEhFfHK6HMM8t",
  "id": "fc_08bc5c13ab21e3f0016ab2be017d3c87d08bb230111f1c8d1f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3PSEPuGJtpAlEhFfHK6HMM8t",
  "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]: [-0.0902, 1.2137, 1.2434, -1.1271, -0.12, -0.091, 0.9978, 1.0874, 1.9385, 1.2545, -0.292, 0.7925, 0.7631, 0.037]\nstate[eef_state]: left_x=0.2838 left_y=-0.0008 left_z=0.2083 left_yaw=0.0643 left_pitch=-0.5091 left_roll=0.0833 left_gripper=0.9978 right_x=0.318 right_y=0.3429 right_z=0.0894 right_yaw=0.0454 right_pitch=-0.0396 right_roll=-0.04 right_gripper=0.037\nstate[joint_eff]: [-0.1709, -3.6718, 6.2154, 1.1746, -0.1099, -0.0562, -0.0122, -0.0479, -12.4513, 8.8274, 1.3895, 0.4811, 0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1aa524335e409c572844595114814da47b71425fe577450798591341d455b80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c187b7a04d2384a6dcdeccae32fe079396a4cf494ed4b18b8be985282e35fd5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8b6d937ba8dd8c6a7b70513610856efa128707e6030397374ce10f499fd6035",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0902, 1.2137, 1.2434, -1.1179, -0.12, -0.091, 0.9978, 1.0874, 2.1246, 1.1347, 0.0463, 0.8078, 0.7681, 0.0369]\nstate[eef_state]: left_x=0.2858 left_y=-0.001 left_z=0.2093 left_yaw=0.0635 left_pitch=-0.5001 left_roll=0.0817 left_gripper=0.9978 right_x=0.3219 right_y=0.3463 right_z=0.0092 right_yaw=0.0345 right_pitch=-0.0125 right_roll=-0.0141 right_gripper=0.0369\nstate[joint_eff]: [-0.335, -3.6855, 6.2154, 1.2283, -0.105, -0.0464, -0.0122, -0.0615, -9.7299, 6.4205, 1.3748, 0.3346, 0.0708, 0.906]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr4UXt8FtRBg6BoQBmwHFYgLeestB-8miwj-K74_AFwLP9muu3shfDYHrUcVvLbZO05Esd1SXZ4u1hFQmHEVYkAn6Ax2CHx3WeUNPFLosnghBkm0Ys6uz0g_3hgAgm9BYIYHFlaA-7fivgjrk_NIM80qWF5HkRrRYOZTsOfv0moflTkyO_DWvqlBPMpQ24zlv0PzNvpJcDEXo_a-q3FMoJdZswho05JvSDvM9k_qOrGFK87q6z89U-zN-tdwh9QAYsRsuC84NQP6EPxxL-5ItNNkuTGIbXO9XSOessTQYcCCQ1STVgtqrlX7DIXl_ZglRuSff8Z8RM2JQ1CSFdHlo1bFEsevy4_Bki8C71uxUDh1OwZbx9MpISA-FQpAm0xebtCa9QvRkJ54BzuqXcfSNoexid1kdtiVzZ-uwWqRhyf5R8JvF4Geo-XaKdnJlcaa6dU1cif7Pn9s5sENRZctNaF_G4rD7ECdc2PIpnc9aaNXJ6jY4DiExhFZKdXrxOAilqQWX_xswgqvLlIt_nb4AoLYOXKK2om7xqzDqaExFUBdawhXrzn13On_34LHzgMwjUajU0FfawBXcr1gp10IkUFHA33k9bRySrR-Xcxd7E5--smIDOcxWI__yO7I4Zs1hfkB1urkjQyp4Ewe9SykFhAX5MVw2hZS0KiegBEBSDRmsOi3NnQqPKF8JmjSzH9k7c4WX6uBM35Hr5f41hJ_NgzzL7ARYvHSNhbs4X__FZTASIjF2oF2NSB_Ysqyjq9Vlqqe5d9ufEvC90fDVwE3nnKUysqcwcSwcIm8Ri7ZTloPdu2fT8Hpam2LaAVWr74yLJH38IzXEJl5VUy6Kr4_BzN5Yc-P6Rsf8OPhmCAB7Q7WdLysjHl_Qe9DXo45eI4C0XukY7J3M-6ihzYXGT8WNvkUAX6ajrvMKAxYapI2TLZiYih3sudGbSkC9qefIO-805YxYjdPIl-mj25_U2SbCtUCJQLhiRR5lVapCirk6XpeJwek-kXCj0i1jFRTZw861zzrPLyEAABJolznwsw_Chg_6PpPvGXIUQ-bfUDhgzEDUakhtLdxpMB8fWCJncsUm682cCFktWgEZ9Ai9e9OvCcN3S1cNaDJArEgWZ9a0DSa3tVktB0eNIkHJi8gizUXO7o0PIWdQnGmBtkb_J_tRpFjdYHAX7H8GBgvLW2faVdxWtQxbf4ryPpeklkpR5S6sZNiaKGcd6VK7G8R0XPYIzdQedeXUmB99Nr736dNzIZ_ZXBNQerwBtzD2biSD7CDG8Uglf6Go7bliUpIgWQgdCLW1uekdPNbjOZwn516bOY5yDrdEYuZduERdOYQlSn3fHQith1ocANb4_wqO18igyj4QBL0s6ZMDYN0BZe7bGhpPMNJNfir6mHG76Btbf7wbFH8z6fjzP7b3zZw3B0wpYuIXhVro12rBaboVYq-E4GKj24l6ismGsLJnar7jkswLsA_fawvmm5pdiy-VsG-qHSLUAwHwE4kP6kJqOj6JNvwlWITmcKibnLZuYvYNgStVH87StKFRF6gXLGd7v2dwevmUHH9_GJ_W9gU7dMXjjYIQG2wW_KAMyds9Z_HUGGv7wSzgCZYP2zy-VHLiDO5U_cm0-d6m1Zvxy9sS8DsYLWYN1bwHMX4s38TnfmwciJ5FfjInqkE9kbrLPTjrm5JA6-Bw_S9Q_SPOg2oC723o1QsseAHHcsrWti6ivBpD6jpRk7ruih8XSDIUlFsXvVf8vUClUVQAXJ1KcbGldPNAdGm5EdIp2WYT2hOBB8h8coWEgEbd6WLxlPKE6JYdSGP9fsL1IM5Ghj-IbZBkGtm0LOpAuRFAn_DyaO265r-1zMJmppIwGAFv0HeIzSfBZlXOhOt0Xtp3YY6IUiOwxH8DkC3BDB_FYrZjidncEoOROS7qJwaGeWL6GHXP827e30thsVGHjQGCyhdcJMOvwz6fD8hzv1IkHZxxcQXBSebe75EENc23XESJ1in4SP03uLnN28JUNLPzJPM5sH5FRy0l8232OpfQgnBq4gBaZPRf9fI9We-zUNKfebXSoRKCxop-7K-p5gVyyAIBUbX86-9KQP5VG5Mm8eynKo0KDW3rqbKg7eEj3k4bcaHkb8P1lXuxE6v0VHy4x_rS_hVgcvxa8zPhEAGdk9vvqQ_R02059SyIOSG7Ts9SvMUrF0hzByBP4mnswzVUkkFIV1TLw2SarYWaniVHfpT1KE_wcqgZDXsYWONYdZ6c1rCOXCGuPOQpbRie2RvUyA-zZh22zm6pcnuSokM7uactErWjPBn3NGfiN-mMxFHwb3AIrRuL1iY96MVpZM2uxwcETWLrn6GLRaPnrh4qk_XknZ1wcElkq-TnB8-T5T5giWrPxBPo3A1YULazMN3PU1l49OXW1Uu0-S9nByDn-YvapkrPS9IoL7o2GbWzJyxKfU4YIeJSYMY1c4xmTbfgbelMxysegCwfBmsO5GKJi6rPrTIg1JjjVPLAiNRuAoFVvANPGt6iZnNUqO5eyWB0KaDjMrl7pr9wGwNaXtoG8zTzD0BUYonsyny54eY6nBCIelgi01_tAT0ZbygUsoNYpLYHKR0-lpDYx_eHNNq6bQfMbRZBoQtx6ehVB0Y7IstrrYHKBHZUUSp3YgMDDMkjikAC8bHyNw-Z8FvZ-pXstQDBQbwjSgD_HcWXWLVHjfWqWtXVQg7D8mW_Ufjzg==",
  "id": "rs_08bc5c13ab21e3f0016ab2be07cd3087d0abf9a6d658fe4c6e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.4,\"right_z\":0.22,\"right_pitch\":0.25,\"right_roll\":0},\"note\":\"The brown plush moved with the gripper, so it is held by a narrow fabric section. I’ll carry it toward the nearest side of the open safe, keeping it above the rim.\"}",
  "call_id": "call_AgzU84OMFJkaykPG5HJxws7E",
  "id": "fc_08bc5c13ab21e3f0016ab2be12e5f887d09406a5ea73fe513f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AgzU84OMFJkaykPG5HJxws7E",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0902, 1.2137, 1.2434, -1.1347, -0.1196, -0.091, 0.9978, 0.897, 2.2383, 1.9343, -0.2546, 0.7773, 0.3798, 0.0397]\nstate[eef_state]: left_x=0.2821 left_y=-0.0008 left_z=0.2074 left_yaw=0.0646 left_pitch=-0.5167 left_roll=0.0842 left_gripper=0.9978 right_x=0.4693 right_y=0.395 right_z=0.1995 right_yaw=0.0541 right_pitch=0.1937 right_roll=-0.0321 right_gripper=0.0397\nstate[joint_eff]: [-0.0205, -3.412, 6.188, 1.2234, -0.0904, -0.0317, -0.0122, -0.3761, -12.8342, 8.8821, 1.8046, 0.2857, -0.0904, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9655380c467966166a36130180c97687b169254d65acd793c582520dc480233e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b05d5f5be74536b56a54e426d99394cc5d50ed94511197240f8fcd4326526d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fad8e61ad46255956131b5eb0aed2a66f365b25f41ae37b6d949540928ceb93",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0902, 1.2137, 1.2434, -1.1271, -0.12, -0.091, 0.9978, 1.0874, 1.9385, 1.2545, -0.292, 0.7925, 0.7631, 0.037]\nstate[eef_state]: left_x=0.2838 left_y=-0.0008 left_z=0.2083 left_yaw=0.0643 left_pitch=-0.5091 left_roll=0.0833 left_gripper=0.9978 right_x=0.318 right_y=0.3429 right_z=0.0894 right_yaw=0.0454 right_pitch=-0.0396 right_roll=-0.04 right_gripper=0.037\nstate[joint_eff]: [-0.1709, -3.6718, 6.2154, 1.1746, -0.1099, -0.0562, -0.0122, -0.0479, -12.4513, 8.8274, 1.3895, 0.4811, 0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr4bU8ck-Wn6k-Hwniv1PGGPFADagGL_OG-wxHCgTXgrkMni4v2ZRX6LXcJsJUfnqdqs12Czy61E810eTc6rCY6O19-7MRHbeKAAze6fhjF1E1gGfrV8p7AmsMdiSNR9qSxu0gG94MVbhEEKacLzHu-CIjB9O9d13_unratPLTu_biDn6tvbY4w5dMS4mftvsRP-BULJu3st7jCu1U3P2h98cM-Z94zVvmDrD2YZtjLCu1KaBqDNeYLwhN7DjBkPRwJvCWDav38qTHUxTtun4jwkNoSQVUx0Veu4pz9usSn8ZqJe5r79XAtpEfp8bxiFT72VhLnu1wfUvgH4Ljz71k4uD6mUvDvL7lERxMhbZdhVl6mKezipJD-yrydSN7FIClWNWzBJ38FAGmoBMWB7IBc984ES0gl4nNwkoPkdJbWdLlN6du5W7RxaAePGneZl4ofdVOQvCGYdPqSA6phJ1XJD0bL-QIlKbfzpUSXjyUE0vZozJXHYw32WQMGJw14BPw_kwIGmeE9jb_rPd70VCZyCjxBIQugomic7hBOvpRPJYsGNOXdDCFn956KmkVjctUtB8yf-PY6cSKs3adtUd0GIIeqP-2i8aHJMcx2-Jqk3OJhF__MVcJ6bbDg7-jTHubmdse2FWIa__z16St0pdFZbKsLiSu30Yi1rUVBMwqToKuDCOTyurDZuTbuXi5k0hpGegxa7gRw_kjE84XGP13_bA7GWhZ0re1uUAvfvKyFPM0rE5Ix-NI16CHMaZpazqvkbyNwqVormzcSeqSMaP_lVCpELrBKz32TufOMzFKaTj-19wQdJzk-qEpBLgexbJxcemxC6EmvaTNAJhLq1bnxQvaaAPh9cZZf9I8faDocH037pXgWmkmazP2X57fycCHr7IKHfimPkkYmdx-lmhPpvsMk7GwTQLCborLFmc41kExqF-WEq03hic7uAliALqk6h4tLy0E0nsxTCT4cgSqA51DNaBHq7tB6wgChEEIylFJc-xM1YQmhHhyJmEvpD4FzT917_WP3jQVpmYPyfY4qB-DF8eohwkWJtdfIC8-c0RBFlLIQ0igG2QYVh7IS6CeSUeVqZinW4nmBAIrgE0TETJ3wpDQgh1yPrju3ZM0pbUlxLwOZdB6wzYys4fKRTrdQC4N1B_Gk_4uU5_QammJ6BHsiik9D8H-ipc4yoJaY6s6iQcfwFDM58-gmLuSrFkREjEklsKbKiVKE57MwyIVx0kOPDLtzb9xi2Nyom127PZ9zuwfukYihsamrsNYXQi9Bt",
  "id": "rs_08bc5c13ab21e3f0016ab2be198e8087d0a8de87413c217f86",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.4,\"right_z\":0.12,\"right_pitch\":0.2,\"right_roll\":0},\"note\":\"The held plush is above the safe’s right-hand opening. I’ll lower it toward the interior before releasing.\"}",
  "call_id": "call_CIlZRqD1cEnncRefXe49SnNw",
  "id": "fc_08bc5c13ab21e3f0016ab2be1a446887d09bfff5f1a0594fa7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CIlZRqD1cEnncRefXe49SnNw",
  "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]: [-0.0902, 1.2137, 1.2434, -1.1431, -0.1196, -0.091, 0.9978, 0.8772, 2.3474, 1.8175, -0.0509, 0.7357, 0.363, 0.0412]\nstate[eef_state]: left_x=0.2803 left_y=-0.0006 left_z=0.2065 left_yaw=0.0653 left_pitch=-0.525 left_roll=0.0857 left_gripper=0.9978 right_x=0.4816 right_y=0.3994 right_z=0.1181 right_yaw=0.0788 right_pitch=0.1619 right_roll=-0.0486 right_gripper=0.0412\nstate[joint_eff]: [-0.3214, -3.6581, 6.2427, 1.1648, -0.1148, -0.0415, -0.0122, -0.9778, -13.2308, 7.0769, 1.8828, 0.2222, 0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77bc702684a874641ac605ab33ac3493e15379d8502b83e197cb7794eb6926cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8162d0604b5c7fc0ccbddc2dec00e48786b072c25d45c54383d2b995ca56daa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2e98701551c6ca218223b89344b423421d1f54964f3ccb21aad29f8fe0c23a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0902, 1.2137, 1.2434, -1.1347, -0.1196, -0.091, 0.9978, 0.897, 2.2383, 1.9343, -0.2546, 0.7773, 0.3798, 0.0397]\nstate[eef_state]: left_x=0.2821 left_y=-0.0008 left_z=0.2074 left_yaw=0.0646 left_pitch=-0.5167 left_roll=0.0842 left_gripper=0.9978 right_x=0.4693 right_y=0.395 right_z=0.1995 right_yaw=0.0541 right_pitch=0.1937 right_roll=-0.0321 right_gripper=0.0397\nstate[joint_eff]: [-0.0205, -3.412, 6.188, 1.2234, -0.0904, -0.0317, -0.0122, -0.3761, -12.8342, 8.8821, 1.8046, 0.2857, -0.0904, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The brown plush is inside the safe’s opening and close to its floor. I’ll release it there.\"}",
  "call_id": "call_Kyr73O3Vr4030yuBKlfhHhow",
  "id": "fc_08bc5c13ab21e3f0016ab2be1f4b8487d0b65da95a1b63df02",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Kyr73O3Vr4030yuBKlfhHhow",
  "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]: [-0.0902, 1.2137, 1.2434, -1.1534, -0.12, -0.091, 0.9978, 0.8829, 2.3585, 1.8111, -0.0551, 0.7174, 0.3618, 0.9948]\nstate[eef_state]: left_x=0.278 left_y=-0.0003 left_z=0.2054 left_yaw=0.0666 left_pitch=-0.5351 left_roll=0.088 left_gripper=0.9978 right_x=0.4775 right_y=0.4038 right_z=0.107 right_yaw=0.1016 right_pitch=0.1393 right_roll=-0.058 right_gripper=0.9948\nstate[joint_eff]: [-0.0479, -3.6171, 6.2427, 1.2186, -0.1245, -0.0073, -0.0122, -0.7043, -14.8855, 7.3641, 1.6044, 0.3394, -0.022, -0.2418]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:439863647fdb1752ed38b1ff425c235482fc5658724acea6b34bd2eb7a74908d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f6a4655bfffcbe9f58eeb3c2f2ad1a5c78fd40682ca18a8e3abe01d83854e44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd975f894ef39658834002f21716e348900f4b9b0a902a93c5a28b9be885fc92",
      "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]: [-0.0902, 1.2137, 1.2434, -1.1431, -0.1196, -0.091, 0.9978, 0.8772, 2.3474, 1.8175, -0.0509, 0.7357, 0.363, 0.0412]\nstate[eef_state]: left_x=0.2803 left_y=-0.0006 left_z=0.2065 left_yaw=0.0653 left_pitch=-0.525 left_roll=0.0857 left_gripper=0.9978 right_x=0.4816 right_y=0.3994 right_z=0.1181 right_yaw=0.0788 right_pitch=0.1619 right_roll=-0.0486 right_gripper=0.0412\nstate[joint_eff]: [-0.3214, -3.6581, 6.2427, 1.1648, -0.1148, -0.0415, -0.0122, -0.9778, -13.2308, 7.0769, 1.8828, 0.2222, 0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsr4ozNASZwxujGGsOQPla6b8rB3PC_0apN-A_NKZxkz2WyNVw8C6NJn4Ins_fbYsw4z1p9DtqcMx_bLtqu4lkegV2qPEBgkqNC-COIrQJyHrmi_Sjka2y7_sSBdyLQziGy-Hr02k4hzqVJJxIxwaOVsf7NRBWHZs84OJJ7eftUvFgpadm3Qe5es6DMEHmNQ5qOtAvopjkjBU9dRjJgE8I4i012qUpmAcj7dNLluzLH2u0NXRknsz7jL27SdgG3ixySx6ofQzILohUnUl74ytQ5XEmceszXH4kXtUabFPyGfSvHYdQWVFDUbeiTssFL_jBLUuzslKwoFOnPguj5r8SEG8-WuSWXPspzhPfLsllG9n34PKobpBIpleIxEuWGCzaZSQ_5FDhXKZHQU88etFtNJ3MhlDuKSICZJgh-xdP9eODuHWZ3s5_c7fid22Bhqxhj3BSAQYW-3hUMryR1eARXYn9W5oU3Zk6vgRYZz6mJzA0ZyBmYWMxK8Yws8G6jexZL5f28L2-hRcZwhh2_Takun9A6nVxNghQJ4bQ1QX1FSbp_swrrCT_knk3aWerj9ozU3JmSc33ZWOTMWXo_qmdt_UbWz7lGJj6UaqglL3G8SD4XL6k2Hjc_5Ey0XLuWLj4M1D43FjDlrS7CJ0gmqKVPd6rPC_1BU0IpI6pFo7nirePZJTXMBlQGZgSoIohNHWQ0TeOeHerr7UzlV6FqlFCUAsWb4riLI8Wp97lvqey2p0xBWN5V2A-OvZUhSZGtP2pjTkuAUHLaxZG0BuCVugnAw3u1YKt2yem6mIrWWgC4k7PVCrkpe6yffjnuhgsHg1lR0W9pP2nvRh4o7cXJnP0O7llj99CLLPbPgWp3YomadZ1oZbVW0LgLKk9DuLlw3zw1xnfuwmSI801-iSWZ0bdVAiWRPFzCafC0IZFj1ZVFQmp97E9Vl697vsOiNxakS-RxgHKJoe0TGojzDc1fv7_f0Yzuk5Sc9r6xMeezzepKAoRU0t27ELkGWfv6wcZJDWpZY9tnEuzi50pUKPColiXzbRSwJAHy6lraVRcNhP1xFJ8RxAJMhG0mCP8pkGWep3qEA0FtqHeADkI69RFSYhTXAE_vvWmG7arSY9r42YvNy_q2G9zXDZgRATsCnveONEsBTHEolCfACWOTZSKeTmInePm1-0XoqiNglpR9m8-SpUJiwC67TESVdgMNdJbKW8wh1ojP1-GbyjT3fCnAmP7p6MDY8e2ZL2in3M4dt-M8EXMk-NVGAgRZqqOQI8zRgnBE9gDy-dHm-Kek-ZxWhAqi57rG4OhzzkIQ84kcY6Bm4Vf7bNYwu14d13O5RLSRLkHbF1bUGM5tnmoipB8YBzz5ecsV_rCa5sO7eq0e3mV2sRvJyUZ6PArDuhf4UmK8nK-tGCsvteVXauZRCzVN73aaq4eg==",
  "id": "rs_08bc5c13ab21e3f0016ab2be24851887d081b8844c7a24a2f8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.16,\"right_z\":0.23,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.29,\"left_y\":0,\"left_z\":0.23,\"left_pitch\":0,\"left_roll\":0},\"note\":\"I’ve released the brown plush, but the rim and gripper obscure its final position. I’ll move both arms clear to check the placement and leave the workspace unobstructed.\"}",
  "call_id": "call_bev1gnxGKv4MD1757GmkvIgc",
  "id": "fc_08bc5c13ab21e3f0016ab2be25f78087d0855cd3870c1823cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bev1gnxGKv4MD1757GmkvIgc",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0978, 0.831, 0.8291, -0.651, -0.1341, -0.1143, 0.9978, 0.5713, 1.3632, 1.0916, -0.3782, 0.4026, 0.279, 0.9953]\nstate[eef_state]: left_x=0.2833 left_y=-0.0005 left_z=0.2178 left_yaw=0.0618 left_pitch=-0.0677 left_roll=0.0068 left_gripper=0.9978 right_x=0.3745 right_y=0.1627 right_z=0.2218 right_yaw=0.0836 right_pitch=-0.009 right_roll=-0.0096 right_gripper=0.9953\nstate[joint_eff]: [-0.253, -1.6479, 6.7077, 2.1123, -0.0904, -0.0317, -0.0122, -0.2393, -6.8308, 6.7761, 2.0488, 0.1148, -0.0952, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9156a439b96bae4dd4a38bb0a8fdc48a76949dffef95534dce49b1b71fcb21d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13cc762062ef0d4afa749b39c2a27f2655f1a51fc78a0e9db5a59c85f3f34984",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1668bddd25a79d740f4fb9bee9d430ebb3dbc61b33f0a7fb64318b3f953d8026",
      "type": "input_image"
    }
  ],
  "role": "user"
}