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: Classify the two types of objects on the table and place them into the two baskets.",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 0.7986, 0.6174, -0.3794, -0.0223, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0124, -0.0254, 0.9993]\nstate[eef_state]: left_x=0.2968 left_y=0.0008 left_z=0.185 left_yaw=0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1836 right_yaw=0.0001 right_pitch=0.0 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.6479, 9.388, 1.7607, -0.022, 0.1734, -0.0611, -0.841, -1.2376, 9.7983, 1.707, -0.1245, 0.0904, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3c15b9cb84e3952740ad764de5c2866916b0f84d1f9e4b16fdd0c5a62127045",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e086f723c7b93084849df51b0cbfb17ccee079e4c27f577974cc8eaf1ac2a60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57628f10d47307111ce12a45e15868ce84e1b56c1f37f141333d216cea79280d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqssuN2KoZxnz4HzXApymMbfLmqM-xjCbkGioeXTo87EeX0ZMia3UqZN9Tikbboe40tkWhFZ_Ga0j3W-ae5n5w28HMlDtLLJ65ruF0hcUT_wT3d0C_-Vdw44UxDZTLpxZK3oIEefBros7GrvgNRZvjM3Dtmh1AsNNdhRCR7102QOl1rTw9RKNYxl5qT27Omz5J04dITovKrSihmSqOrnjadIdQHa1biQULYMh19LKclt6rds25cgMddNePW1WR0gDFaVouX2pUWX7vgMt7K1M4-oHb3wwlRtciG3_LkmNLHyBQ7b1jU0O8nTI6iDjJaipX3z3S_v8w9iiHi83dv1BgWHMt_GO-WEDlyQYHAjG1viCWeUFReJ63jmiYK8eqx3jJk4UKYoTzSmM20EuGsVM9cBWhEF5lAoCAsfE-ngjVIbCdQhIzUVtyBFxF_S_0Nnkr_IHawl2SD5NavDHE5IhmHlaVyUeb4OseBLWxWUovkbHn4ImFhAYE4vgJcmzBte5C2nbcs4v_gRFroHbEr03Z3P4aCaf9IJLruqRKktd9Yy92T53ahaurwy3dbrFc3l6zTgyHW6aJuXf9xSTK8oFD2MAosIdM7TraRGjIDPwt64fz7eCHOfua14f44ew4l8OJ-ilqUsQpyuq7oFnT9Jk96X2M2LGxzkUjZldGtT0r87Ebg4X0Jo-l6R9H9fbQR9za51kKN0w6zjcHImvsbd3Zd_nX6r1QqPVtB5OG7AZfwhwLVZSHCGVTaTl4PLV7GENPHp9p9to2SkV5ZevfwBRaNgNmggdIXjQAT8lAF--Sm4WIlsCUnWS7dEiPLzSxM95PcxXe__jnXHtBk0WwFwK4N21M27v4fFs1KZQcz1zXP8jbjT1eEIy2vYigCrYbaXOtoNRK_GxD55Uk1X19lONI7BivRZCPVmluCXpVfCg8N0cnOAH90tFaBlIJbN5k06lMo7t3Z4gwKw9lfxrXGhaetPmQZP7ObxYEbYvWwDThlo-AXWH0I0njA3whKPptPKvxCfI0a8SfE-e-P9-PgYuIJcT5xQxqC7ji0r9IrQkaPFMinH8cA2KyjtLZ-SvDbbTpw1715i0ZPS4P_w9ygYu0lSTMDPw-B7AnZehwKwe99Q79-KrnHgpqmRA1UHLfsPJiXNX-IM1ACqnkDG_jqBgRyIq7L2zF0WhyxPcZu3GTaoatZtCP3IM8EBjGnmLlXP3s9zOIfiE66gcSS3KDip10pNBUB--uElH-nWzi9C5En703UH50KX-tioebRtSl-gUxiBiP2Is4jIVnxbAnG-lHln73B8YvFHrivcrBKtCmj_pNWQ2ff0m_QJFH14qV3AldOAEZiDnecdEawyQpRmtR4jaxuXa-H2GXglDITBvp0rvwF6OplC33cLvQ_w_58EWKltlVs8WtbLhPSlWCv_k7ExRteLz__bTzAQ1MRJclqe0kl5ganRcVdIYX7gQe4ABS1O0DmAN1rK3rMinUbAs4EdCt-5Opbgw4IDAwSdffh9cPgaekIty8_SeoOPouSdSRVa1xmq8nFe6pP94CQ_De3rD6tCS7BO3Z9-lrLBkevTxlS3znRRSlbHyZ9kwiPEQdiVhe0XBXIiSD_z8amAM51Yi1_4lzjhnoVa5KapfPQpYLwh8WXtoUFgg5OmLsRMQwnWrhwCcXDCBTx0wXwLXhfBSZ0v8-2a06Y0m2isviiSZGI1Pux1WadapDvUsa0KKGBHFvSdP2dE2D0VyipyHHSZOHu7TahnkBANjW_aVgoOrFsrFFnoUT4dBVsI811Jo-sK_5MeLN18kdptOpVl8TWVRT7iNlRT59ugnGJilSbG2LSW6gF7Qu1tYCFZXFwxF_2loHRQTSqiJGsdem3xzu9vC5KOSHSTselpjbEVdgHOP41jIEx1TgQeFcWiTIAncv2n5f-BRefMYIaY3liXT1kAEyEaHZccERtV6Eazxv5BMrFxpQVDuQBZpDGKU597VA4ypWIMqrZEm9dhv_-AUY9Myr7JWewwfDKhHT7Pg7zkrYw6RWVilOMG2P08iB3Kn4_rA6-hGYggXz4gac6HQMwsnq5ggatSNX4bvBZ7CHCml9maM=",
  "id": "rs_01903b0452d703b2016ab2cb83f16c87d0bfd0be817a975e51",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.17,\"right_z\":0.12,\"right_gripper\":1,\"left_x\":0.23,\"left_y\":0,\"left_z\":0.22},\"note\":\"I see stuffed animals and slender pen-like objects. I’ll sort the stuffed animals into the left basket and the pens into the right, starting with the blue pen.\"}",
  "call_id": "call_w6JfbX6Tvtv1MILDPDMzRoOX",
  "id": "fc_01903b0452d703b2016ab2cb8b42a087d08c14959907a23e70",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_w6JfbX6Tvtv1MILDPDMzRoOX",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0494, 0.5327, 0.6926, -0.7475, -0.0376, -0.0456, 0.9996, 0.7975, 1.3186, 0.609, -0.0742, 0.625, 0.4587, 0.9993]\nstate[eef_state]: left_x=0.2305 left_y=-0.0012 left_z=0.2078 left_yaw=-0.0067 left_pitch=-0.0268 left_roll=-0.0014 left_gripper=0.9996 right_x=0.3021 right_y=0.1666 right_z=0.1031 right_yaw=0.0312 right_pitch=-0.0504 right_roll=-0.0418 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, 0.4718, 9.3333, 1.6386, -0.1441, -0.0952, -0.0171, -0.1573, -4.9709, 8.5402, 1.7021, 0.4176, 0.2125, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:925a6dce3689fd39bef7cb7d37d3ec69dd08d171df86ae7082c790def3cc0c83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c8dee95dd56e9daa118e96d6c0e08a880f42f86f98eebf32f3f97da8208625e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec72cb4579e16fec99b78103002448d07357b725a8328b96aae65bd5abc36af3",
      "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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 0.7986, 0.6174, -0.3794, -0.0223, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0124, -0.0254, 0.9993]\nstate[eef_state]: left_x=0.2968 left_y=0.0008 left_z=0.185 left_yaw=0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1836 right_yaw=0.0001 right_pitch=0.0 right_roll=0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.6479, 9.388, 1.7607, -0.022, 0.1734, -0.0611, -0.841, -1.2376, 9.7983, 1.707, -0.1245, 0.0904, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssuaENwrsIF0ATs4z542LINAvYSrsHDENBjDW8Y6m7ytQz5M3VJQ7raH7Dkgk6i-mhWe167jYHZTgevUFMhaf6Uk9byKSKvgGVwE_Amm1FdrscM5nZKOlNKN4cKEYLP766g0E672Iwy5-HJX9MBPIRBScmo1Tv7SqLXexStZNLyzJABbx66GjBSpUGNE7WST6reFD_5NlqyFw7A_VUBFaSsskgnoiJl5GeA0kVguMP208dtAnVXieMnOuyDoDVX0bYfBOvvofHunH_fXyDwITfdCECnG34e-M6PNl1jm6rJGuHYfUvtlStHUWzNR5_7AiQemeG60Y5n9Q4oGXySLoU94gxi4Ci_upQy_qmFaB9OOTIZ7NRb6xQPGW4XmiMcSkC4XU9w_Wg4g64pPRE-N4KRX0Q8ZO1ASK8P1YXtSH6St7SYhfpOL8HohdTM1qoejazvdxJr_VT1G1Z3KJJthEciWbFD3prro9ltPnbeE8oBCNwWc-c4pNueWiA0r5Xblav_PbOvkUTOCG0e4nWwiREahz6B2YwyRRxvoHnaQywe77vO7Pasli26gxGF31gVGZTo6esffhmZLYyfq1cCdH-kxAIpsHFifj_yum96uBi96ACeIE3tzzdIh8WMaLCgz67Ayt2A_ZgYghPWdQuHRMbAmGj5-Kb2bg9XQEzE_lLs6ylWBPQSYmaaworSIOVWyyIPvEAD3WHaGBbsiuBonryg3B6KhEKxeS-IRvoOG-VK3ccI3NqENefPmu74nZgsJa14r0pgF7Z0olzwrR26MXfGzDmqRR7CuFjpyhiPW19PXb0ZNrg5Gow_96eggRPiGGo-m3bnPOVz0Pt4nwWXKjli0UNGiV3nFgDqZQWh8urv45Q6AiQz6Tz23jBG8l4KkNAFzqB6mV-7bnekGafxTOw-XXk7UzVh6l7iN_h1G_2AlW8B9Jyj_HC9OCrMSsqWYY9Q-VKSx9X-3d_ZHtXj1IAohHB9qLhfWX6cSkLGWMOqT6x677Z0euzmsKcIl6KKMZzCtEny6-FyQanxBqzS-0kRmTxZfZnViv09kA4JHbG3upEpM4SLsL-wuz2Y8E8R01vRrfDpgMlhCge_lKKm9cbc50_953SHoK3LaLHKXFoiLNvYOdZ1arVmumR5BKxH7RPUlS_Id_cnO0L-XTybENKKxv82HPnknqhcpeUmsHpU3winopxYOMEsAFixcGuGZxEhuq2L_7N97gJy0CjRGiIo787_jyqzfFfMuOZIXY3bnRUO8lCFNxAQQsQA_uYj5uZjA23H-Dsf8t-X-WOlLFMB50Cc4N4mKFxl76QSCaYBgAVDuImqmeqyEtMiGvTQbfao6699PrkAC-prhnEjXKnDJhxP3ryq6k-MYp8YdMTS9PTxOYO8kj0xDvgVyMk_Au6vssKKgKjrbM__KfeBgiNDO9DvWg3Oidin-plxv1eJAa-Q=",
  "id": "rs_01903b0452d703b2016ab2cb96b3f487d0b707933b4b5713be",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.155,\"right_z\":0.008},\"note\":\"The blue pen is just to the right of the jaw column in the wrist view. I’m centering the open jaws over its shaft and lowering to table level.\"}",
  "call_id": "call_6r4gpkZ4LgErdrwLmKUutpNq",
  "id": "fc_01903b0452d703b2016ab2cb99241887d0894bf1b756ac02f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6r4gpkZ4LgErdrwLmKUutpNq",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0494, 0.5346, 0.6937, -0.7475, -0.0444, -0.0452, 0.9995, 0.7013, 1.6855, 0.4442, 0.5125, 0.5594, 0.3885, 0.9993]\nstate[eef_state]: left_x=0.2308 left_y=0.0 left_z=0.2079 left_yaw=-0.0011 left_pitch=-0.0274 left_roll=0.0028 left_gripper=0.9995 right_x=0.3258 right_y=0.1572 right_z=0.0156 right_yaw=0.0233 right_pitch=-0.0403 right_roll=-0.0295 right_gripper=0.9993\nstate[joint_eff]: [-0.212, 0.5949, 6.6256, 1.7314, 0.0024, -0.0611, -0.0171, -0.4171, -4.7385, 4.1231, 0.9402, 0.1245, -0.1343, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81fe96d6b47573413f9579bf0a04480955968f6ceae2988f59ece93e81bb2680",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30ea178ce2231680a8f181c9603a3d9713035128e7a6f980b2b6dde55833acc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:045ce2f6b30588efed34bed8cf45792b2bb684bb47cf393b5941e158d59ae52b",
      "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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0494, 0.5327, 0.6926, -0.7475, -0.0376, -0.0456, 0.9996, 0.7975, 1.3186, 0.609, -0.0742, 0.625, 0.4587, 0.9993]\nstate[eef_state]: left_x=0.2305 left_y=-0.0012 left_z=0.2078 left_yaw=-0.0067 left_pitch=-0.0268 left_roll=-0.0014 left_gripper=0.9996 right_x=0.3021 right_y=0.1666 right_z=0.1031 right_yaw=0.0312 right_pitch=-0.0504 right_roll=-0.0418 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, 0.4718, 9.3333, 1.6386, -0.1441, -0.0952, -0.0171, -0.1573, -4.9709, 8.5402, 1.7021, 0.4176, 0.2125, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssulw-4BYz7ysd7ngPoG-gf5Ep4NV9tL0CzLZ6pXq7i5fAdEdRTn8-dxAwp3qbyFI_RFwAIbfEDeOrdoLX-wkSmFC_2Au2N3J5WD-EQ28AB4yRf2bcoAWyhDu_O1j02DVc9o8eKeeqy1I_PSqJ7c_FY-bZ5L5vgY3Y_WNzzg_UYFurMQlyaUbqTuHD0zJL8XS4aFxF_0BNEGhoBBg7e5lzyaCwSm8EmolHYi2o9nADXUv3nbBVXVc8HpeuvBftkcILR5F2E5e5OPI7-Ix9Tj5V15VBJty1eRuiMJuNLEHnQ0viuD1UK5bh_QqFrvUFsYON3wrS3-6OXxwwuq-iskF4CLJ91GLlc6l8h-QEL4VD9ARKMjjYvPJNkM3E0EPVTqRcbR0d-gPK7RrNCIGrfUy4j4OWN54zAjEJFyTqc0NzWJGcZW4ehmdXUBovifozx6MOPNKTkdwIrQAjXN0dPeP0AMLnGmFTgbeRYDEtNYRb4Tby0RUIV3gRGWcMaP25Z78G0G7XKteBmXKNB7hOr4z9FfTqA9gwlX_xTY5jSf2B4CH4yjHJJWFBQkgZyFrOA0e1m8uRqkS3Qks1EtLIlx2NKVidZAp_kcSMwbKozZiU1AcptSgbSs9zlE1OWjVbW05n1P93ij97Mu8mTAz1d1ktC7LcKWgsqhIDHVw5kuHOKaTVx4Uii_mNUEeXpktze1xveZ-upep4GS4RLJPfmP_hylv-Q9VqON-KWkFqJZIJUeRTZJfoDqRb_qvke423CItAE41mGnJkIBZEWTI93YS5Ee3a6FaQ2AkZjBQ6T6tY-V1nBVNyqghqrlwSGoMDmCPtX3LkA1GSgKNzSVgnlgFjC839aX2C8Gq9JcsetfcyNOjHW_d_gsICRzI4co95e7cx9afZvz_GWCoLvcy8A3MQC54FWMvKpPxMsrM469ZvQ0KQyLB_ok_EAnFhyg_KfgnUIJ7WpHt379k5QZk2Gf6ZeS8RL31rb1uDIbqac6DKwAlOqYrdcr27RUeDCohk5IK5gNyZLNQxAOyqsZWc1WIf8FJGbdw8Cd_U2tqFyYrb8rBDLMz_DhoUnnxxr1XPmsH2Ef6Mz8pH40slONRbniWVIeLhZq-rp9J7qhOa6B_Zlf2oAV-MD4etraoGBctspespObcp58iyEI3FqVW84M8uBgs1mm7dj4qNkIUVMofHDLK95eMd_Ec4MZxB9v0G1b4zOdlRyt-rSkrFxvPJda6BphfRJkeHjhZFrCQllNVcD1NcP6JruHptrMgUOvO6AlqOKUWyvrJIz_rtkGf2OfxzbJ3D0SxTs4wTw78tnYlrSBZ_xlDPUACWlIoDJSDqPhqnuiPPJu0AptWAiwVHbKtLE-NguUpI0skFlp1lYuK8wqiYQdvUsvbYd0T1aa8-6nUQku2iaH3KgLh9JF1VCu8WQmx8cPkBZz_QdRUkPoFcbEJb7dFa1QA50EPrQNX46pHBDXKhItuLZzqup3ZEo8-gy0FLzkzLk10jl-YF2vWwx36JWqk8xwcrfVczb9V3sAg0rQix8cHqKdWRaCsIPan2irTsU8bfc1llcaiJJL1iRmJoQOq8m4Ipab6jxvXo9HwbL2HwRSNCkiC9l1cOh3wR7FbWEhYNHXpFSt2iL7pZXeAs8zw9_H_T1VXhWCX4MM3hu7gIFt8DhipYXKFASTMeHYUvGP2NmAIvFH-uZ5F493c_7Jxvq1yhj8l-yiTdVXU2JJ4ZbJo9_6EqK28HtaLQBzM_HkHtVveErxAnsSSnALOCzC8MmNZiY1f0VpympdRlIiUo1kVtxVXf7XihJz5k7xEQ==",
  "id": "rs_01903b0452d703b2016ab2cb9e8e8487d0af118b5344101485",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.127,\"right_z\":0.002},\"note\":\"At low height the pen is still right of the grasp center. I’m shifting the jaws sideways to center on it before closing.\"}",
  "call_id": "call_IKr4jGqtKFPd7V8VQFFDXqpC",
  "id": "fc_01903b0452d703b2016ab2cba3d02887d08d6984ced7d33d4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IKr4jGqtKFPd7V8VQFFDXqpC",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0494, 0.5354, 0.6937, -0.7475, -0.0444, -0.0452, 0.9995, 0.6003, 1.6943, 0.3641, 0.6857, 0.4885, 0.3393, 0.9992]\nstate[eef_state]: left_x=0.2308 left_y=0.0 left_z=0.2077 left_yaw=-0.0011 left_pitch=-0.0281 left_roll=0.0028 left_gripper=0.9995 right_x=0.3336 right_y=0.1323 right_z=0.0147 right_yaw=0.005 right_pitch=0.0005 right_roll=0.0157 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, 0.8957, 6.5162, 1.7216, -0.0171, -0.0708, -0.0171, -0.2256, -4.7111, 2.8239, 1.3211, 0.1832, -0.1978, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40f3824a4ecbffc363e148a991c5d8505253e991887e28fd052649f157d608e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1968562b67bb5ce39ddee51d9e1311157416e9f99fcc152a5acc0aa10bfc0edf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8213176ab599de23027c966df8d3f86d92fa8890339e572d73415e326c2241a3",
      "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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0494, 0.5346, 0.6937, -0.7475, -0.0444, -0.0452, 0.9995, 0.7013, 1.6855, 0.4442, 0.5125, 0.5594, 0.3885, 0.9993]\nstate[eef_state]: left_x=0.2308 left_y=0.0 left_z=0.2079 left_yaw=-0.0011 left_pitch=-0.0274 left_roll=0.0028 left_gripper=0.9995 right_x=0.3258 right_y=0.1572 right_z=0.0156 right_yaw=0.0233 right_pitch=-0.0403 right_roll=-0.0295 right_gripper=0.9993\nstate[joint_eff]: [-0.212, 0.5949, 6.6256, 1.7314, 0.0024, -0.0611, -0.0171, -0.4171, -4.7385, 4.1231, 0.9402, 0.1245, -0.1343, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The blue pen now lies between the jaws. I’m closing around its shaft to pick it up.\"}",
  "call_id": "call_zn9KCdTv8OudcuXONDxihglA",
  "id": "fc_01903b0452d703b2016ab2cba8a74c87d0857db278800ddb83",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zn9KCdTv8OudcuXONDxihglA",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0494, 0.5358, 0.6937, -0.7475, -0.0448, -0.0452, 0.9996, 0.5999, 1.6955, 0.3538, 0.6945, 0.4774, 0.3065, 0.1589]\nstate[eef_state]: left_x=0.2309 left_y=0.0001 left_z=0.2076 left_yaw=-0.0008 left_pitch=-0.0285 left_roll=0.003 left_gripper=0.9996 right_x=0.3311 right_y=0.1325 right_z=0.0123 right_yaw=0.0309 right_pitch=-0.0054 right_roll=-0.008 right_gripper=0.1589\nstate[joint_eff]: [-0.212, 0.8821, 6.5162, 1.6923, -0.0415, -0.0513, -0.0171, -0.3214, -4.5333, 3.6444, 1.3651, 0.1783, -0.0122, 1.0427]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8dc43e2f3ed59f4caaf26adbede189f804c6c5be74af987941360d907070b9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbaad9b169f2be3225e06f5db8f5442d6fb959ade1c4df6937501e2d08596985",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7892c0afa06ed2b8086c6268b59c86451cecd3fdf4ca2ac522d0eb0b9ee1df7e",
      "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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0494, 0.5354, 0.6937, -0.7475, -0.0444, -0.0452, 0.9995, 0.6003, 1.6943, 0.3641, 0.6857, 0.4885, 0.3393, 0.9992]\nstate[eef_state]: left_x=0.2308 left_y=0.0 left_z=0.2077 left_yaw=-0.0011 left_pitch=-0.0281 left_roll=0.0028 left_gripper=0.9995 right_x=0.3336 right_y=0.1323 right_z=0.0147 right_yaw=0.005 right_pitch=0.0005 right_roll=0.0157 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, 0.8957, 6.5162, 1.7216, -0.0171, -0.0708, -0.0171, -0.2256, -4.7111, 2.8239, 1.3211, 0.1832, -0.1978, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.085},\"note\":\"The gripper stopped at a width consistent with the pen rather than closing empty. I’ll lift briefly to check that the pen comes with it.\"}",
  "call_id": "call_Z5tl8aDMjXO9pZ3A7M94IaE3",
  "id": "fc_01903b0452d703b2016ab2cbad9f4487d0ab46e493c9507e25",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Z5tl8aDMjXO9pZ3A7M94IaE3",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0494, 0.5373, 0.6937, -0.7475, -0.0448, -0.0452, 0.9996, 0.5999, 1.3651, 0.4564, 0.2497, 0.4618, 0.3061, 0.1601]\nstate[eef_state]: left_x=0.231 left_y=0.0001 left_z=0.2073 left_yaw=-0.0008 left_pitch=-0.03 left_roll=0.0031 left_gripper=0.9996 right_x=0.3268 right_y=0.1325 right_z=0.0745 right_yaw=0.0435 right_pitch=-0.0205 right_roll=-0.0066 right_gripper=0.1601\nstate[joint_eff]: [-0.1709, 1.0188, 6.612, 1.6972, -0.022, -0.0464, -0.0171, -0.1846, -4.9573, 7.9932, 1.5458, 0.2906, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20a0e230ab7cc8689ffd42a1bc5e8a3029bf7c7d9dbe8d12d53e5f0ede87b77b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9de0d5fa6e979d12a096757b7c4b08539ef855b825a8e8e1e6f6662fabab2f26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85ade9edb4f344838d495ca2c33169e36454a1012ae8b44758de3c96e1fd0c6b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 17 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0494, 0.5358, 0.6937, -0.7475, -0.0448, -0.0452, 0.9996, 0.5999, 1.6955, 0.3538, 0.6945, 0.4774, 0.3065, 0.1589]\nstate[eef_state]: left_x=0.2309 left_y=0.0001 left_z=0.2076 left_yaw=-0.0008 left_pitch=-0.0285 left_roll=0.003 left_gripper=0.9996 right_x=0.3311 right_y=0.1325 right_z=0.0123 right_yaw=0.0309 right_pitch=-0.0054 right_roll=-0.008 right_gripper=0.1589\nstate[joint_eff]: [-0.212, 0.8821, 6.5162, 1.6923, -0.0415, -0.0513, -0.0171, -0.3214, -4.5333, 3.6444, 1.3651, 0.1783, -0.0122, 1.0427]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssu-RLCtClr_65d0HF5qZkpC9cFQFvzAqejVgk-0h_4Jen4dZOqYh-hox7nXxzhgoBL5RzszFgv1A5urN6gaAzQcgvXAQbmx5AYVgxc2LxaBNNvBaJqf6rUIMXdPEM7aUULiu0SERkdZO61q3iRv2UghxfL_Y9ggTkaFsYM89TDEraO7Ct4aQuMtm0lfT-O_4dSkm4fPGN7POxkeFgwWgzWrP9xWUSTeeGOt6Ym0XIzj0V0bW5bW4f-eGXbTEIdbHn9-e8uRUnWnkyfY1LLVwH0BuQoJZfVf6XHZkZeYE_c9uncggBbZeAiFKkJNB8jfG7Z0T-YlxU5hFKgHoLSHLV0hn7o9H-0MmVXvPLpWUcIsF1CW3PBqWUK-rJKMwI2ytFg9_tyMQvmTAFALmv6X5UQc9VrLdrPdL1JU1EqLAc-GmUR6P20iNrIHcobiF4uDZPpnKjMvRhc3F8EtVQZTDa2aXtFUMOzhHk3ek0WP9pj5s5UE3xwdoRjbeLoY_yntKMo6GVt9JRHIB5XEALvDxfCvd1L-01UWf6r3h_3dQR8g89pOFB6VrxVZoBN8UREJ9lNaT27N32P7f710uqnab00d2drB_FI7smpDQWNfUpIX6WXR0cM0YzvZwhayVx8erzxlOaM7pjXyf9Pgs1BooFsDJOjsr4-dLqL0YaeoLT1bcgy80yOjZABGsJpicFirQuVDFzf9QDTQoYH9gdS4EdPM49NTojLYJ2BbRjkp_0PwHGCiHBu3MjxnYS5X83wzasKCE7Tua_6_97VBKLQaQkZKqyvWy7Qyq54rAXezRtoZw7393nM3jMFxmwn3-2-G1DqQAIwZe4HlysZkU9a4W4XHrjckquTV_TS49BXxNAjstXfJt8yDQt2OqWTvA0Wp9s9IpgxuJUMAGowmwLpz1hvzIP-4PtUl8RSAUg7naQxS4s9xnfAGUnbH4CoQspv4phlxmpLYpw5W9c3jDyqH0Cm2EU3PApWlbxpkw2Y8YTnClpxA50T2IUG26_nRXFGenxbdXaBv1bfdlmM5LSd3B2Gkz7F3TbK9SC-xOKHHYJXmhMs6NGb2ZfGpcrfZFInwG4BpzaZ5PJXy8qIyw56dnNO-WqD6Lq-2swRee-zbCrmSIrIKyED1LkDrz5IzBMB7ZKlRszR_Vbvw1uKvP24-t6jE-7HP5_Jr7DnUrLJSugI6rfSFPbVIqB6f_iT2V5JCvNB4VPRdoBoi70rUTctQR5ZRBHqLg81nZHwK-19uFO5GqxotvZlnz-RIxJVUQidKziby7gCj0EFzgx5PwfVT4_cGvA_dJPVnwDElzTZY6tcq4iIWLu-4gHtSRSt6rD70DxkjenrPsnj6poEt0jvr3mI_CREfxhXpEsOsIyzIZwwJZwryNKXZ-ENWLA8PY-w_oeXFG7Fw34FUS2OkX7EfyCgMcACiBfkmOmmDa3aTyTN7Y20H2OQgRaHNxA8ohNfrO1-Fg8yj8X0X9ggI9tnG6oj-pxBBdGiLUQmo8ob0rBYKvRvzdSS4sys94rPG4WoHukyEiIY8X-klNrejuUd8cGxMlQnSYKYZOjWNxlXhCUGYs2WCdALFAj6Yc7XFqomVFEpVibMCS5WuiIw6yazNKOSdkEGdfuJm4W_JbslbjhhyGBXlC3yrOFXz4cKtceNYrHzHVbD-af2CZvC4DGEEs9-quywMmplUpx56duMZbj_XtZ5YXUxUdqw_AJy17fZbJKSmkAOrxSeYdXqzFzoant6SppMH7tazn3pHk22AQEdwNtHVeG7iT7NpvMcGclEoAA2sseN7MT1k6ysQn0N_gsYHJg0U2ZZtazP6G8NHT8nj2fK5-jtx9ZD70VTtFnJAbyJThPK20IY4oM39RrfXhVbcbhGiCAQguVBoeuAxCgh1JHcbzbpTGDsShxFPkY3So37edrpDLMfZ2psCW-zoe6YE0eXjrKJRK5okFYAEbdukdTg=",
  "id": "rs_01903b0452d703b2016ab2cbb409cc87d08a23cb4221ff6baa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_y\":0.21,\"right_z\":0.22},\"note\":\"The blue pen lifted with the gripper. I’m carrying it high toward the right-hand basket, keeping clear of the rim.\"}",
  "call_id": "call_OP2WMcy2RYkk80P9Skyrfavz",
  "id": "fc_01903b0452d703b2016ab2cbbc049c87d0b4dfa8bf5cddfa08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OP2WMcy2RYkk80P9Skyrfavz",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0494, 0.5415, 0.6933, -0.7475, -0.0448, -0.0452, 0.9996, 0.5014, 1.9415, 1.6711, -0.3927, 0.3717, 0.2386, 0.1666]\nstate[eef_state]: left_x=0.2314 left_y=0.0001 left_z=0.2063 left_yaw=-0.0007 left_pitch=-0.0346 left_roll=0.0033 left_gripper=0.9996 right_x=0.5139 right_y=0.2126 right_z=0.2061 right_yaw=0.0537 right_pitch=-0.0512 right_roll=-0.0161 right_gripper=0.1666\nstate[joint_eff]: [-0.0479, 0.4581, 6.6256, 1.6923, -0.0562, -0.0708, -0.0122, -0.841, -11.0017, 9.4017, 1.6581, 0.1636, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51e194e09db8c4f09f261f37b5fe43bfe0d425a5428248364b26cc3131cc08ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c02496e687c21ee923d0d8412e48a4d3a59a0f7215ad7e9e94812b17cb647f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:816a701fcd17f954a51caf967227ef17c5f383c23d109bff113800deb60ca582",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0494, 0.5373, 0.6937, -0.7475, -0.0448, -0.0452, 0.9996, 0.5999, 1.3651, 0.4564, 0.2497, 0.4618, 0.3061, 0.1601]\nstate[eef_state]: left_x=0.231 left_y=0.0001 left_z=0.2073 left_yaw=-0.0008 left_pitch=-0.03 left_roll=0.0031 left_gripper=0.9996 right_x=0.3268 right_y=0.1325 right_z=0.0745 right_yaw=0.0435 right_pitch=-0.0205 right_roll=-0.0066 right_gripper=0.1601\nstate[joint_eff]: [-0.1709, 1.0188, 6.612, 1.6972, -0.022, -0.0464, -0.0171, -0.1846, -4.9573, 7.9932, 1.5458, 0.2906, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssvPwDRwgkzeSccCh3kuVd6vBi5Pbulo-K6Dw-7ixBlz5rsHcMf0pT4gqgtXHoaknKEoLKeU4mbSpgxFTh9Kp_jhfjcc8vOG6Zrra6erjffPyJcBSl9Fks5soDFdLBWaiGQ_vujxkNRPoRUKGlxqDEQnqh-6MdfKkbS_Q_dZ6MKSiciVolqql0wzwiRMX9aMUmA_DCjfDWUhbefyY5SDEIpq8LQkyAu90alHHioU-kuIxhp9kDnJ86Tq_9zgVflfz4S51SiyvEKUbXm1L-1pWz3Rovz0MR9obbnznwlsO3wdep_lZt415gVIXzkUCE_FcvruZOLH6Y_GA2hXhHXPzuv2mrcK0EnJp2V9uzBWi4MlC2uUiOxZ74-gJBYEZOwUft2AUU2aohVWL3aq3wGyPnRD2JrpLaerKJkbEFmmQbfvBSBuBdPuOyk9PqiWh6XFcSgM_ALTQGdvkf6EeDflL9kwK5NB9YkiXbhFP9v6anuQHyAV6mPlobxsRXk1VlNYWRSVjgKxZ7vRAMbQcoNBiOLQxGz4b2OcYpVBxzukPRA7ODwPTDMLX2CqUoJNUEKfPrx4FGnCsx2YlcNi5SHDhvcWzHzORfHMXemCXI9rg9ZME7utnqW0BrDYeQq0ph-tvNklc_0ibMITpRr3egk2Bl9CiD3DRDwi10FyyuOljJEY8kBC3e6t28o9BZE6w2R_iZeQI7g4DF-b249CEr9of2lNg7aTxaGKSMCeoGl8TVYDKLL1rw2Rq-niejMkIiHy-jGLjaejBskyNy4EB33x2GrizK7YrOZCvg_YR3o8YjaCwBhyS7mwzjBryQT9KPHJY2xm-1d-obTt0yDV64oxMF_-76HV6jLwr-SMO8AixCs0Aj319uFjQMUI7wtqu6ki29KZ4EwRpIp_JgKeulSnXbZo_bDxfNwZgqy-8Ru1KvvAsaxNu0Xt1kgAAoKLefI3jKkXnfh7rZQ0KCDk6g5QM4cRjK_bVC-YVLqMPyuFmSG8xXxnEQx2wZQGYizhFT0JIT5TQcxkW_rMy7lVmLpjA3dzDaRXO4DrWU5FdsngiJIPBkcp6o0GUaJe_g27afOhtR4M-Gm0R3I9te2cTAL7liLh89zW75YIHtgmKrFigBR6iRQs9OOo2BfpjW-l90V7FmJL96vCYAEdZ8EgX1FXIvUEwHKHoo5rz-q6V659YmmydPBuaxh7mhxFgIBJjkiKYyUdcFbDbiqAA9HVani_AZ5BnyQet6bLBEowsZECx0cJ8Efx4F3FsJcNP_h21gddohEKUgX18xxnEavPnj8SV2zEQ2F7iwULi2Dvcr5xz33CGikfBzmsnTGvkS9yFUH5DKncfy1is9fG43ZP4D3951boJ9EYjudXY-SKIFBdaFpMJnCgEG6GNvl2NtFA2SuFQg-q2nEqlcfgU4G02I2k82UWcPGLeZy39pfaKQHslHbgYjRSUWS_1wDozKsv6UjhjeEfmVe2t2HOXhTT-iP8FWPX5whezercxT173M0G1phY7AHNcdNoy1vG7oZh8X3RBYenWrlCLurMe-kVEK3nSS0EzmtL_bhIP5htNWesw-Lv9r-tS8_nKFQtfZsVr4fvd-OokiJL2jHy4FrCaNv0cZQd4VBMabd8jKHGKB4SqseMrE_6h1Uge7hiTle6Srte60AwO92u_28ZhzHwRVljxR6SXKKeDXXHb5ZgNi79yPK_2kAwJ9eYf5sxPyvWXhdtcTK40Mw1aqDJ3P81CsA2bu-98xIqMOTRbjPc6rFexE00wV-RB2DMTaj_m-r8WiZ_E96Y2UdCg_tgZSmT-XdxfRlNGJvFYVp57CTMQ9o5Fy0WFfVKi90Axx4jElY46ETv35iFsM5NRXOaE2qpZQy5pwzHnV3PwLsENPZHfWnQjzuAxwwqTyM6IJcEdM60WzXhm33Jqa4jJDKYNHkmvI_quNP8qQq93wk7WDFXDt6bM2yjp0thufj3g3qxj9mlrkVp77xMstp-Z7IO_SugYcndIfhqQErTVO_Ap_j_2SzWMHYVKf1fXOf0sLyVyF6g0ToOblcVTV6CZ0wPrqOn8AZDMERK8vVY-QBj3-JDRc8VhcTabh7tg3yCVgiSBS4FaRwgFfWQh3ylf5uPoa2ORDCRrEDPKw==",
  "id": "rs_01903b0452d703b2016ab2cbc7bf8887d088db62285e54a31f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.145},\"note\":\"The right basket is beneath the gripper in the wrist view. I’m lowering toward its interior for a controlled release.\"}",
  "call_id": "call_buIwyX0YHZh63QP8wW9Vl3Ls",
  "id": "fc_01903b0452d703b2016ab2cbce37c887d08975800df13bbd08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_buIwyX0YHZh63QP8wW9Vl3Ls",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0494, 0.543, 0.6933, -0.7475, -0.0448, -0.0452, 0.9996, 0.5026, 1.9755, 1.4769, -0.1905, 0.3611, 0.2386, 0.1666]\nstate[eef_state]: left_x=0.2315 left_y=0.0001 left_z=0.2059 left_yaw=-0.0007 left_pitch=-0.0361 left_roll=0.0034 left_gripper=0.9996 right_x=0.5099 right_y=0.2132 right_z=0.1407 right_yaw=0.0629 right_pitch=-0.0775 right_roll=-0.0212 right_gripper=0.1666\nstate[joint_eff]: [-0.0752, 0.5812, 6.4889, 1.6777, -0.0757, -0.0611, -0.0171, -0.294, -11.1385, 6.5983, 1.7998, 0.1685, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94402b3389e5cb58b99edbe2a550583ca442db68328fba136a66e6bc6646f520",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30a7c3c4481e6d0cc8436ad03bf7ce98a397cd014fe3aca5a3916d442abd13fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:086fcf020e2103754678b06d40c0233d9ba960a0dfa39c28f824152a3bf02d49",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0494, 0.5415, 0.6933, -0.7475, -0.0448, -0.0452, 0.9996, 0.5014, 1.9415, 1.6711, -0.3927, 0.3717, 0.2386, 0.1666]\nstate[eef_state]: left_x=0.2314 left_y=0.0001 left_z=0.2063 left_yaw=-0.0007 left_pitch=-0.0346 left_roll=0.0033 left_gripper=0.9996 right_x=0.5139 right_y=0.2126 right_z=0.2061 right_yaw=0.0537 right_pitch=-0.0512 right_roll=-0.0161 right_gripper=0.1666\nstate[joint_eff]: [-0.0479, 0.4581, 6.6256, 1.6923, -0.0562, -0.0708, -0.0122, -0.841, -11.0017, 9.4017, 1.6581, 0.1636, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssvYP2nULkwt7TbUPGZyKl3PBRHVep2t7wNrLVIhP6rKDjfW5M-7NYAqBVVRE7VAksHAY6iqWGSY27cX2QyASp20SAf2byNlSK7wFgFgEGWL9wi3zdLRos-e10RRFwFalci0qgrrJxZ5aCgiXmaTwPBrlLVQ_zkfgtVpCOgCGuzjb_lw_ZJxIvE3OvXWQRScBDf8Qo3XIsUOqln5dBTgBzcEjmA0KsLwdkQFYQ-BnfUy-ShZfAVkoq5Xp6UejpLfHlBCaEcXINGP0eWLARIT-n3iQURjY5qewUGjN5ROYB1aWQc0cy1-pa5GWqA5UafM8aDisV79HQxQX1ArqO_Zive0tzvtGPSZsqaUUy6yYNYRgtEteJoMqSTiQxd4ou15JFTDLtGZ47jKsZ8Gog9TuOcagG5ixmZSUKIucI7-JS1WCtkI22Fo3qjRQNHRMJaNfM0hcTAS0qMrt1VF4kFyiYFGQNW7GL55ANScHma1sFEN-f3jvxzIXFGNzIOMW_VygIS55HRTP-034BPjlGKLlpd_N0YwZJ2Rd6BFgbQaPjeDK7GPIAn0Z1--Kf8XSUTDFTDsHLL_HLKfjd2yjUdWt3Y-j01fHKG0AAW5bJPxfQCh_WuNBHmCArCOc79YJb-II6YKyqE-fzP230e8wpesl-DIiPNYZBnmq03y4Hc073kva760BB6jXQhDOhSyZkLA5tid2y_Nt01u5pKEK2itntJSSiNSv579IDmMtGkz6m4Ue5baF-K3mSYa_jfRTfO9ArHSgiKlCny9MxxbIu0mLq31NDksj9ec6TyHHt0yYNCWmBDpXZgIXIWUO3kAJS9SYU3tpiawkNH_iKn3_Lk-mWtBT9j3zrGazaUXLwxJtx9Ocs5oCqrIpx5ffX5GSqih79F8tjZUudQ11ULALVbsvZHOeFtw4FhwsZeYzA4rFd0nrKo_tAj7c5qgFmz9naD0u_5EuGF-3qboLQGNmJc7CB8tVvi3e_yuAO24_IX06s507__Xc-ehZATHZXC3hhtzTrl_dPzo3_6o0M2-JreoJwelS6A_umBH9aYYyg53uXE_wXcRFxj2-g8BJqxdzbd_Td96ONe1zebCjV5bf1EXAHqsdZJ_RQcvZq8duTPXR9zVhGlO5m9L5WR7TteLzHH9PYgHmC72RhAjFFE2bFunlrfK7vLu6N5UHKI5q8eYahZe4IFvhTO3bH5SZCqsVCNeA4aW9x4ftul7FzGvvcAIXVLlQS1p09nkxQOc6WFfkQAfZN2fPCLF-8mDzT4bbgRxI_OopJuhyiPYtV6I6pI07jiPG9Fi3uKrmphH5g1zoikt9Ew=",
  "id": "rs_01903b0452d703b2016ab2cbd6495887d0af7a585424a060f9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The jaws are over the right basket’s interior. I’m opening them to release the grasped item.\"}",
  "call_id": "call_T98hiBnOTaqEEV5RsiXeXIZ0",
  "id": "fc_01903b0452d703b2016ab2cbd6eb5087d089c9654c4b45395a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_T98hiBnOTaqEEV5RsiXeXIZ0",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0494, 0.543, 0.6933, -0.7475, -0.0448, -0.0452, 0.9995, 0.5026, 1.9755, 1.4769, -0.1898, 0.3542, 0.2317, 0.995]\nstate[eef_state]: left_x=0.2315 left_y=0.0001 left_z=0.2059 left_yaw=-0.0007 left_pitch=-0.0361 left_roll=0.0034 left_gripper=0.9995 right_x=0.5098 right_y=0.2144 right_z=0.1406 right_yaw=0.0722 right_pitch=-0.0787 right_roll=-0.0224 right_gripper=0.995\nstate[joint_eff]: [-0.0615, 0.7043, 6.5026, 1.7705, -0.0708, -0.0611, -0.0171, -0.3624, -10.906, 6.8444, 1.5507, 0.1441, -0.0171, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37aa7229ab0f0cb26a676f2870e4a583aaeb9714bce7bdadfd565a6f7ceb6278",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d697a37115a62f796fdea786988f4403df1f822e28554c72fc51bf58d201b427",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d2096ecfb841077519ab01baa23a429d27bddf41ca63dc82d503d6c90779186",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0494, 0.543, 0.6933, -0.7475, -0.0448, -0.0452, 0.9996, 0.5026, 1.9755, 1.4769, -0.1905, 0.3611, 0.2386, 0.1666]\nstate[eef_state]: left_x=0.2315 left_y=0.0001 left_z=0.2059 left_yaw=-0.0007 left_pitch=-0.0361 left_roll=0.0034 left_gripper=0.9996 right_x=0.5099 right_y=0.2132 right_z=0.1407 right_yaw=0.0629 right_pitch=-0.0775 right_roll=-0.0212 right_gripper=0.1666\nstate[joint_eff]: [-0.0752, 0.5812, 6.4889, 1.6777, -0.0757, -0.0611, -0.0171, -0.294, -11.1385, 6.5983, 1.7998, 0.1685, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssvkpDLhYceKF4H9_AjhjnEQ74cQn1Be6sOBdU2kopnsL_0PeQyG-uGEibtfko01Bf6kC2A0-HoFpin_uw-Wt1N-CNX34EnhYi0neBP8LIKv5FpHaQga0zGYjg1RKXQnZY_uOL6GdvF0rZdeW_K1y9EnkO5p-uNNLeHhe5P0cnKw0qjWI6vCCd3JfI_09KRDYJogNpGN2daFdt3M7eUdYxGCSRB8gtDvdCk9ucvyrcUT8RAP_gx1QPuwPtjHJB2QLVONJDWQo3x2caPrnDKp_J-RMSkyAnek2Zp7zxYhgqdBHimT4AIQzHF5Kd3hi_OQPgLczeWMcz8Q6z90xObXq2Ngz1tJCLztHXwkAG2z3KwlyG8Id0F_bIX6qvuP7SYP6PAKDwthlkjB7GXVCquGEpXQLvQbfyCakJ0DaeIxrNTfc0cvvxi91fw76xOnrQPnVwBRtZEHhG-6rBN2m41rV-ypcL5sIxYaYZ0Q4AUvSMvmJF9qM-19m6YSCg9yWC2gKCFdT5nQpvJEKvZ90kMQq2UijOA1GMz2OobyE6yzZFVSbfvjb3PC0S2iGNq6w0Or1KyI9pRKB_hDnsXjvMMnI_TXAHkOUt8R3dBdZaSbDJnfxoanQA4FE-uxFfSs7G2O-iG0ZgSa4XOU7HoTIPHasC48eHq8CrVKaSceX1vK1e5J9n_wYaiHI-t4Lb2cRg4v0zUJsLoNJtYHrbxleeirWL8AkSD1-kHW2X1Hp-KJ5Y-K1BGOkJaowBsgZ1dUDcmhgj8LYCI2Jw84rNnopgofuzEHyu6TarfCNnj0ccW55IJitGpFDUiBJx7V9ezEaqxbsVkW3rLLNH8dFt8r7_cVl_CdLD2j0lLq0XibtXYR2XoUnfLGjCzjpdZAPmcJZp_oiNGHLpn4GfrmsS7tD4HxP5eeduzEGL1NQ0x_xY4Km_2sfLmRAAIrhGyUNR9HawI0sqnqGBchsxwTkPT8gkcUj-GWSfuP6OeepYnfkoqyeA6HvGnaa91MM9Jsx1sNNHC6h-nWEd5wCiOTtF01GN2SEfZhKsycL6n4s1HqIO0Umqk01osHZTmj8_Il3iJK0-z1tDiCDDc1wMqyu6ykCGF3bRGwTOiwYigitDvu592z93CQezt93YFgyRAivzrQcoMR0pxvoK4qKJUUtYHhtqxKT4-VAfaZj7ZP__sd_uXG42UCH8ddQdL3IzmbdhAX9zd-Dq1PKywRTC2_JMeUl2JKK9IBXumMYSI0bFzwz52Jc2oKks_SlGOFvgB1FV3be2jAktVxMgobNc4rYx-UAanGHRg--EbldHTW4z6Wlad7mp1MPCEzkgENnb8ihdjTvoeV6VuioHOKTWCi3WUzxYcNbL9DEUNg9BD8E1jDWORk5rzOfm8=",
  "id": "rs_01903b0452d703b2016ab2cbe037c887d0936a786ab1bea24c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.23,\"left_x\":0.35,\"left_y\":-0.055,\"left_z\":0.13},\"note\":\"A blue-and-white pen is now visible inside the right basket. I’m parking the right arm and positioning the left jaws over the gray stuffed animal.\"}",
  "call_id": "call_eXQdw01Etb87PStmMKJsPtxO",
  "id": "fc_01903b0452d703b2016ab2cbe21db487d0975b45e68844edd0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eXQdw01Etb87PStmMKJsPtxO",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2813, 1.1728, 0.5739, -0.0608, -0.2325, -0.1814, 0.9995, -0.0742, 0.9131, 0.8886, -0.6106, -0.0738, -0.1066, 0.9959]\nstate[eef_state]: left_x=0.3439 left_y=-0.0533 left_z=0.1187 left_yaw=-0.0012 left_pitch=-0.0787 left_roll=0.0114 left_gripper=0.9995 right_x=0.3038 right_y=-0.0059 right_z=0.229 right_yaw=0.0368 right_pitch=-0.0735 right_roll=-0.0275 right_gripper=0.9959\nstate[joint_eff]: [-0.5128, -3.9179, 7.4598, 2.0049, -0.1783, -0.0317, -0.0171, 0.294, -1.812, 7.3094, 1.5946, -0.2906, -0.1392, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:599fda3261f9f6d9594dfb323bd781a357cb6c1e07a7398c2b533dc00eb1ef02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66975941ff1e107287d4b1d255ebd0e35ae86cfa374c6077412f16a7400d161e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:120b1fb69186a5913099f673f4c55a72a6024ecc64014465cadceedf106b5c01",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0494, 0.543, 0.6933, -0.7475, -0.0448, -0.0452, 0.9995, 0.5026, 1.9755, 1.4769, -0.1898, 0.3542, 0.2317, 0.995]\nstate[eef_state]: left_x=0.2315 left_y=0.0001 left_z=0.2059 left_yaw=-0.0007 left_pitch=-0.0361 left_roll=0.0034 left_gripper=0.9995 right_x=0.5098 right_y=0.2144 right_z=0.1406 right_yaw=0.0722 right_pitch=-0.0787 right_roll=-0.0224 right_gripper=0.995\nstate[joint_eff]: [-0.0615, 0.7043, 6.5026, 1.7705, -0.0708, -0.0611, -0.0171, -0.3624, -10.906, 6.8444, 1.5507, 0.1441, -0.0171, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssvyKFgvtjxNnp7wnX1SkllcNfWoMJQ3vPnmMaaN3D80QpacEI7n9DYRv5xQC7i9vL5LibX4TT6mdz06qUMgEiQsAGpqmidOs1GzDYSz1EEmr8c8NjEYESZDjoiR9GVEhHbK8PlMstcQcsSOwtZnnxHC3SXR2S0u_4s6QMep6D3pHt6FtFSK1Zbww1Ldr-yGIno_P1qf3kB3oXXMP3KWIyrRmDp2kqeX2rZkkBfRFdyA5M2mmGQOYuL-xN9t5_kuB5aHZuB9ZZS8wq1HIfCCa2DYyukwH1lVieGLCi0RDR8mhtPx5UDzQaz5aiyvM-mVd5EAm0tEpLKS_5F844xq5DV5OEz8JFw-Nywfn4X7YcGUFPcvOo9RfazPPm95s6vARsW63vjDI5eJwE6SymRpip-w4SNgNtymhKQ6Ru6PKROZ43SlpJ5nZTyUGTfl2TIDpfpUBsMP5Qygp3HidalzhQn5eF83ONcHW7yfx0B4EbzBj4Cxu_1lLqeBswVK_cRxGjvpwqQu6WP-I7QF7omGMI4yCHbrVacEq_NY8mvKy_yg9EYdxYbc8YTivoOzGNZZx7MlO-yFYDStyPz_MGip2AP4fQhrbo_arneLYw3lqg4oJLf5oM46ABY-fr_aIW1kRLU8xKfnya0EdOw_Vy-D4lb9XULZYzqwALfBwZSxCAOpxGfieuixSNAjzBoOb3kXn2iSBE6TetEfNBV1YgE39c5hfNjbhUdq4jEBYQatsgabJU-OAymUhpR_wVemDsaxHH7LftmJ71I-WVOblwN6jZ1klKjsqNekV5OjsnCzdsc0FDIqOTmUziHI4Xi7-bZ6kTjqwlxyZCOF6NFtr_IKmMEFAJxPfjGpxeR4ZXB7IArpkt8XjxYp-Z2T-PK9tvXTLkn0pETUUvLOouO02DTL4Jyz7nfIXDnXGCUq1x_rIEZk0yEUQctyjSslwDr-j77soy-bMGP2xasWKjD6nRGq7R6NdlAzEqmVqDqMlxFfzSjpzBXXJfTTo6o4nWtXwIM1kJzyNM78gLrZjDiB1hhkeUo4HisO9L1S2qFzNOGGvjZZvuTpe5mUKKHcp43BOvrYJQaIT9dagxcrtCkvD5jRMhbFWolhSzLhupe-_GSGUb3Zm-miuTWAQktpxwMMHUxSTYRFKYH5vxYdTq1Fc8Rv-E74pHxKjF4L0TmuXVb62YVn_zrNcaAA5j-H4ZUBV7RAxCcx9rT6-P9elYSzFRibamLkTNqCKTBP3gYyWmOFaiJgFrdy0kopunkqPOf2X31Pmn9WdaOGffXl-fNAHVmE0jaJJp0dp7TYEJoDHEBacUlMf_gZRmnnvEKI2WSwHeax-2WGYXgEBFMDEdSTszXDtOkBgNnSmenqzTmpyCY2LvpUBLe3PUlykUII7ctWbz3m07BV",
  "id": "rs_01903b0452d703b2016ab2cbeea1f487d0b89f0e7e291939d9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.008,\"left_z\":0.035},\"note\":\"The gray animal is left of the open jaws in the wrist view. I’m shifting onto its narrow torso and lowering for a soft grasp.\"}",
  "call_id": "call_7qrfsl49KkHibSxCwGxGQazV",
  "id": "fc_01903b0452d703b2016ab2cbf08b5087d0b08bf5262517f5d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7qrfsl49KkHibSxCwGxGQazV",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0769, 1.3132, 0.2859, 0.45, -0.094, -0.0517, 0.9995, -0.0734, 0.9161, 0.8886, -0.6308, -0.0822, -0.1192, 0.9959]\nstate[eef_state]: left_x=0.3376 left_y=-0.0058 left_z=0.0545 left_yaw=0.0169 left_pitch=-0.0143 left_roll=0.0238 left_gripper=0.9995 right_x=0.3011 right_y=-0.004 right_z=0.2243 right_yaw=0.0517 right_pitch=-0.0962 right_roll=-0.0298 right_gripper=0.9959\nstate[joint_eff]: [0.6222, -2.0171, 3.7402, 1.1404, 0.2125, -0.0317, -0.0171, -0.2667, -2.0991, 6.8171, 1.9121, 0.0171, 0.1245, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5fc863132ac4c7c1123c46498e52726d52f87f92c762f1b00700594ec932b6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5cf2646ae8700337837f77d18856e3e2fa515f0856d11ef90027e76001249a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e17f6240f51b16b76a2a1df33cd8f85042bd9653c06c676e2da83d6a2c4c6806",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2813, 1.1728, 0.5739, -0.0608, -0.2325, -0.1814, 0.9995, -0.0742, 0.9131, 0.8886, -0.6106, -0.0738, -0.1066, 0.9959]\nstate[eef_state]: left_x=0.3439 left_y=-0.0533 left_z=0.1187 left_yaw=-0.0012 left_pitch=-0.0787 left_roll=0.0114 left_gripper=0.9995 right_x=0.3038 right_y=-0.0059 right_z=0.229 right_yaw=0.0368 right_pitch=-0.0735 right_roll=-0.0275 right_gripper=0.9959\nstate[joint_eff]: [-0.5128, -3.9179, 7.4598, 2.0049, -0.1783, -0.0317, -0.0171, 0.294, -1.812, 7.3094, 1.5946, -0.2906, -0.1392, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssv7Bwo3BjcDQHnpdce1SKm8o7Gr9W6IvLJWmXPl0ISA0B4OqwpE7QKTwLu2_id1BK-dQ8JTulN2YZwLbWbTwgUD13fLPh_2azHttjYu1icdEKi6faH07tacb5zsMNxjdZdLgH_L3yekYGKrbiJx6Jt63W-Cc26N5w7YHLeeLCPWY5nbKa3HWf7zsZBV-I89RS2UhU7_ZDyK_A1-VbARlSSmCIeiB2GdUgSvZNpClmKzzRnohQsULaOJfbJR9-Jjhbi4mRbgiJBWtSDIeVu-LsPz2UoUiofGRO0Z81VoRSXW1TiJym4shzdI29yXz8wAuaFfvzLTlTHX05XmEBraSVvJZzOQuuzXeR8Qb_HeJYS7OJO7Zbt8N6BEYBV2MJc9iAVcqkaSHFRWj2jMDMeAoksX429P0s0H5uLz7t1RgJMJ-ls8Xawx7B-84GOLSyF_IFL70x_ccrPuS21R4FYnUBGCWXKMvAF9I98GLOfYe0PT8UcBdDUpjiXo6zrRtBuB_otaC-_q_hAsj4HewmGx0gsWiKaLM5F3hMUZjCPF4NconPr522biSQ75x2-Vis46O5lNbomr_HYQocKCoTPaAUNwRkBIl3R91ZM2mHxFSIZSlrlVvZHTR-EDdJQjkyz8k_mw7XHDU5_mR9QkOSk0dhKRzp_HIPB4GTW2fpUiuTrfdUilnl0RRusttRpa8pJ873TkCKCC_NZy5aK4v9TnLa3Cg1H1owuv_1RAiZTf0U7ar6MOAj8c3ANAfdg4mbkeytjlGvXUP-DSYbg1ZzFr8k400DyuCOTvPrVLIm8pfQNc5684rizRpcS9OzRYldr7Ou0xAUGs9tZpGX3efdrazxrH1yzyzzVrTCNw53sk66f72haRQ0GfQHIFeaZtB1o-Swz5Jh6Lr12mhLPpDcSQcuqHQlrPqNMVP1YpPVqcZAFFloqsBuNVBjN72EB-R6i_gKY2ATvok_JFYZbi_Fz6AF2Je3DJ0RssszWnFHCMVhQUfpicXhXKQqo3Kh0MnQUs8118Uld4F5eOGgeoSM4NB2gTK1pwHw9senq9ituw1kHD-26cW233v5jFK9DPqlRK36gOTwomtm6nfaA6FyhvqLfbQV6iy_3X9kqipTcd-YfxD3icClH64NeXFmCgv5tLefiMTdykECFoM3S_jQhQz7tB_3mzvqGe7evrAHrzPsFlFLqmIP3PDr4GP0YIJN2x8ZyXFL_pNr7uR39ohY-2OJySi1cl6Stczcx8dDs4NurGHd8xIxcHieWxfraw07r2HrKNMVxNMWhqbFaHL6fWkdPvAv7sukjA4k1gjWDzq_k_FNUDknFERFwmbHIXXqYcbd475r2lFfTW2R6vkZnNY3CXHbCpbdpMtQALvMsWQFWgDSHn-lLHIJH9mIgyiV7yc7ZxjtM31Knsp1f1ZhKtcOQ5zoeqGWHJ8CQHr5MgjZbIFNQ=",
  "id": "rs_01903b0452d703b2016ab2cbf7196c87d0baad8e4e21309427",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":0.025,\"left_z\":0.045},\"note\":\"The gray plush is still biased toward the left jaw. I’m making one more small sideways adjustment so the jaws can close around its body.\"}",
  "call_id": "call_4i0X3n5P29odA4CRtdgBxZXF",
  "id": "fc_01903b0452d703b2016ab2cbf94ce487d089fea1d68e5a22b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4i0X3n5P29odA4CRtdgBxZXF",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0807, 1.3552, 0.2794, 0.5545, 0.0128, 0.0273, 0.9995, -0.0734, 0.9165, 0.8886, -0.6327, -0.0834, -0.12, 0.9959]\nstate[eef_state]: left_x=0.3456 left_y=0.0293 left_z=0.0601 left_yaw=0.042 left_pitch=0.0387 left_roll=0.0339 left_gripper=0.9995 right_x=0.3009 right_y=-0.0038 right_z=0.2238 right_yaw=0.0531 right_pitch=-0.0984 right_roll=-0.0294 right_gripper=0.9959\nstate[joint_eff]: [0.1846, -2.6051, 4.4786, 1.5214, 0.1685, 0.0269, -0.0171, -0.1983, -1.8393, 6.7897, 1.6484, -0.0904, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:717a5b1a5ef505496ecddf1de31cfc9207ad4d0d91579be4939f4d9ed82d0b15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb14b323a95ea5854c87713832f730d0f8b7b02cb4cd782410cfef581efd4245",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8749beed9eb86fbb02ca399f97d3de657185d0e3f6d229939da0048c113c3a2e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0769, 1.3132, 0.2859, 0.45, -0.094, -0.0517, 0.9995, -0.0734, 0.9161, 0.8886, -0.6308, -0.0822, -0.1192, 0.9959]\nstate[eef_state]: left_x=0.3376 left_y=-0.0058 left_z=0.0545 left_yaw=0.0169 left_pitch=-0.0143 left_roll=0.0238 left_gripper=0.9995 right_x=0.3011 right_y=-0.004 right_z=0.2243 right_yaw=0.0517 right_pitch=-0.0962 right_roll=-0.0298 right_gripper=0.9959\nstate[joint_eff]: [0.6222, -2.0171, 3.7402, 1.1404, 0.2125, -0.0317, -0.0171, -0.2667, -2.0991, 6.8171, 1.9121, 0.0171, 0.1245, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsswDiGnB-8o-HAGhpaTInJl7Dh1oouCwCJL3J1LzuEyIBEjlEiVr7QHet8XR5ksx706sWVef13nUN-9Xc0zQoMMXzp2ih_qWfBSv9uXh4Z-GvV1j9amKgqCyBnE54svZaeE9FlFPSO2ITra0HVOrSK2e1f4HNJ9RVNCU01uhUnbgkQTZlsp8D1kUqAZ5w3ZOij-I-4jVeIfZok-_J8UzvWnPBDdtJIosG9_YPIxL2Y1LwLAr8d7y7Uvm_NiMr3GFTY_8mZ7kxmro2bMfeZkPTWxPgvv2UqNw5UMPwAnH_xLFMLU3LtPGXsIkWIZzj1_XG4bAAUThARFDKpO8_LqXAQ5Q6--MxBuxO2SyPGCyazLYmGlh2plkFVJXDsoB-3UGE4cZLY6N5WiG562VxUHozn3KwgMl7Q8Ho0fR8hjVsKvqGfWqNxhGentFOh9Aje2yPWa5YpQm_O-V4VEpDh7Ja3M6d9cf0kFg9eeqnn_1ANHXU-78g7oI7mt7eBmsVmfHvM436zLJB36HVlBtt0xkDZApNWt-g3TLvbXuWHgQIH3jz9a2b3zuMiFQgao1lRBa2aUmNpsQr2GWthbmQP8dSymj7Zjb7WQmD2_1LiLOMiUR0lpDIvHfefu-Lx0x3MQHJsPOJm8hcVjEQG5NqcgkAPmqn3bDZR8GVKfDw5o0ewTQRNAmpdYfTYFyTb-hscyGKX-IsmEMtuYTqblwaepUhMyiT3xfmA77y7rXG1Dq33OLHUF1zvfJlZqtRNkXz8ul72U3kksddeO8KioyQ284ghYIssepmjUlTreHlfH0K39yUGRKv9RzeYRTf8g41kdrt8WLquHvtX7zRaI86In56mxjj7Ydp5evh09CRVOy1PQEnFd-T3i_GT4ZSUPwT7mbAE7S8JW0DDWChFxIjxyMQQC870bH6Cmkr9SWh9Ps1RmNhJfqDH3gc16YZtTgjowFmvndEwP87IX35Mws3FVtHTjjRXD57hynjL3rU19y1lTaa05DF8Uii86TKxCahRQfECSufBk_YuGwQQJWKvn7ukv5-9x0bhBEaS_4ky_HzjwEiM9YqjbT0CAUgJ7z2tPp2Y6WheCD5HROqEuxdnWbpZ8bhGLAS8BZCqLBkyClFiWqE_lq3zg8eeyiFJfzstgpsd0Z4tb08vQKIehahbUsOxSmzT75UZwbVlqk1_vUQKF6uSB0RX_8C078Ne8Pdyz8MJWx51zrynWIZRhQa1wz7kV4ufgavEUSOjSAUaITY3gkD0oiTqcAA72P29_k1-aPtgZUZ56Rpf0uNSUEp3d8sHZWQWVbl5hrO4k3PmmjSBnpPTppZBvO5jw091GVBwNP3B7i3l4qCdmSyhfErTYNaRCJNImyq9_TpcnYDth_lE4fuGntn1JND9b8um-V78NZNM9_GSogl8bsRZc826_JdwXqoLQ4Xhm_0TbR-bS562dKNrCIO5sMTh2e04OSMUpslI9ptBiSdh3goKIo-K-Xt9GIYMRMysdE3cZI6hRkkILrTqQbBr7Z5PePRKB3ksLHPyIcIjdu2C1dOHN4t20HI7iG4g==",
  "id": "rs_01903b0452d703b2016ab2cbfe646487d0835b801659430e6e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray plush’s body is beside the left finger, with part of it between the jaws. I’ll close gently and check whether the grasp is secure.\"}",
  "call_id": "call_DYFZDeKxGaKRqCUmxb5aKE9u",
  "id": "fc_01903b0452d703b2016ab2cc015c8087d094e4756de7fa2226",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DYFZDeKxGaKRqCUmxb5aKE9u",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0818, 1.3548, 0.2794, 0.5629, 0.0078, 0.0269, 0.013, -0.0734, 0.9161, 0.8886, -0.6357, -0.0834, -0.12, 0.9959]\nstate[eef_state]: left_x=0.3465 left_y=0.0306 left_z=0.062 left_yaw=0.0475 left_pitch=0.0474 left_roll=0.0363 left_gripper=0.013 right_x=0.3004 right_y=-0.0038 right_z=0.2233 right_yaw=0.0531 right_pitch=-0.101 right_roll=-0.0291 right_gripper=0.9959\nstate[joint_eff]: [-0.1573, -3.6991, 5.4085, 1.7216, 0.0464, -0.022, 1.0916, -0.0752, -1.7983, 6.7897, 1.7265, -0.105, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6081181de3cc0d32ae1c5760d3a805ebfa9ec05e404ecdba24a818c099c087c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14a14996aec740262092be804af8053966f53afc6ad1ce513f2112d5320bcbd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e9ce27e2a2ba2bb8e66f0c68526d8f875da5593345d8058ef5bd646e91191f8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0807, 1.3552, 0.2794, 0.5545, 0.0128, 0.0273, 0.9995, -0.0734, 0.9165, 0.8886, -0.6327, -0.0834, -0.12, 0.9959]\nstate[eef_state]: left_x=0.3456 left_y=0.0293 left_z=0.0601 left_yaw=0.042 left_pitch=0.0387 left_roll=0.0339 left_gripper=0.9995 right_x=0.3009 right_y=-0.0038 right_z=0.2238 right_yaw=0.0531 right_pitch=-0.0984 right_roll=-0.0294 right_gripper=0.9959\nstate[joint_eff]: [0.1846, -2.6051, 4.4786, 1.5214, 0.1685, 0.0269, -0.0171, -0.1983, -1.8393, 6.7897, 1.6484, -0.0904, -0.0366, -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": "gAAAAABqsswKBGDMFJ6THmUfMGTq3jsCzaJDojThV5VE4WKwetbxn1c_p86HCI8M5uaU3k40iRmFR-HRR2mnIKDPwTAqKzRV-nFWV_7uQoqGp2urJlF7ZJVXNu2hABg8FtXqoG11UH4ppTOfCHDfuUD1FnKy94KzPFt4fEIXPIvYZf-UsA3jMpvM2maF7S1eEHj4OZoRxGSpUpurjNd_M63EOiIQNBOCKUcO3NLLq7t5q27-YHyR2Q0BqgoVusq2-sNtRq0rJPT0WW2C0iadpsofx-I5k3nIQ7im-6I1qUcooMWkXAgIyN-9Dpi6Qsq9jFBcdBXOttG83ZiSOEzpem6Za9qSZS_Oklb9JQcbVJ5cBFNDvp8A-ERGraXGHVbH0ntHKUkQVKTAP4cJ9mKK5P5eUeI-rNF6ZDLjuB9AYBdbAdAy1i2WkPSMy97z-vAQcYJueENEXuCKxXIxCLYiwvtkJ4YPAmd_IyZTq5ILDmVoOfuYr-dGkP2FHt5vbqwn3_MA_ZMqD_ufg30nV9Wd_fqAhCjBThtrAvj_T0zc0DtKFkyjPuZ05hYoreXXXvRiPx_rwXjmtxIKGKN1_aa-pbisO6kYbJsbkGmFH6cSO5SDCY0zjUK7swPs9qxFXzHTK5R4vbBSy2oVN8XEQZiHIvYJlNJwJY4H3rK7pLL3jwUEXI8sxmJnuTYR4rvenDlFIHKXCh1XdvuoZnZY09I4eMNAUU4zgLiKP4faLm3jHxAkKGWZjxJTWps_nmaZhQ8LnwoYKtV2ajJqW23X_pC4DfqF66H2bRttB2iHGooz9jcoD335Zx9tT1quFXR68J1tTXWTJP9u9EJhXohO2iqhKry-ecn2eOUvhw_Up8GpEySw5bdBCW7jP3-KDjGqyJFwlSAEWr9LRJ1fjbU9mvZD64QeLjx6RQiMsnSyNtpyge8ofwlnX1h8PVjzkz_v2sn1XwlkyGgaMgcz6Ap049p4Uelh00xYxxqlIX8Icom1dY-0AqrN9qJ1vZuiqK3H9L1N94ILzZaQGg-InSh5Izji3H8dPXaBVqlxzIXfV-_FQINEFaGavNV-5J7yoXM0FmRGUUCpLUYytZY6N9hhz4ft1GG5kv1GyscSfrR6rWj98J8JiK_iW_uXho4eanom5j4oMAZ30R8h8JAfvH1_HkpZ4QUpnCevxX_iYwkhBdJZj2UlUW07lgiL3v4w-Nvivr8aBgrGtms4E8OIJToxRGrGOwmS7Ex9Z4v_Z9ieWsJZKXv6J7zfIkyHXyOJJGWP0PZiX2NXmTBceIxE1QXJjMxSHwjYv8vLfmf0kFOmoprPDJtY_b47om5HklXA7YrxAPCMyzsG0yBhOHHLs7Dswd-nUgWkr4saW1ErqcKAVsnHyquo4UWPpmi0KoY=",
  "id": "rs_01903b0452d703b2016ab2cc06a90887d0a9ddf6d920e470d6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":0.045,\"left_z\":0.085,\"left_gripper\":1},\"note\":\"The gripper closed empty; the plush is farther forward than the fingertips. I’m reopening and approaching its body from slightly farther out.\"}",
  "call_id": "call_oO1DBfBZgPqgLLXwy1HZJ9zu",
  "id": "fc_01903b0452d703b2016ab2cc08452c87d0a7efd540921ae19d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oO1DBfBZgPqgLLXwy1HZJ9zu",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1307, 1.3857, 0.403, 0.448, 0.0349, 0.0418, 0.9958, -0.0734, 0.9161, 0.8886, -0.6361, -0.0834, -0.1204, 0.9959]\nstate[eef_state]: left_x=0.3668 left_y=0.0456 left_z=0.0755 left_yaw=0.0655 left_pitch=0.0257 left_roll=0.0346 left_gripper=0.9958 right_x=0.3003 right_y=-0.0038 right_z=0.2232 right_yaw=0.0533 right_pitch=-0.1014 right_roll=-0.0293 right_gripper=0.9959\nstate[joint_eff]: [0.3624, -3.9453, 8.0889, 1.8144, 0.1245, 0.022, -0.1783, -0.1846, -1.8803, 6.8991, 1.6484, -0.105, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:502e340f3c8bd99ca6d78b0d4eb0e96bad760047fef0bc572d7d06ebb5dcf1f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc2b35aa822603877e605ff4b356f22b0f9d115ac8e652fb0c3bc74466e66004",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1cf0892863191ea51b110be117b32448ccc117877258987e728a8f317bf02e5",
      "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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0818, 1.3548, 0.2794, 0.5629, 0.0078, 0.0269, 0.013, -0.0734, 0.9161, 0.8886, -0.6357, -0.0834, -0.12, 0.9959]\nstate[eef_state]: left_x=0.3465 left_y=0.0306 left_z=0.062 left_yaw=0.0475 left_pitch=0.0474 left_roll=0.0363 left_gripper=0.013 right_x=0.3004 right_y=-0.0038 right_z=0.2233 right_yaw=0.0531 right_pitch=-0.101 right_roll=-0.0291 right_gripper=0.9959\nstate[joint_eff]: [-0.1573, -3.6991, 5.4085, 1.7216, 0.0464, -0.022, 1.0916, -0.0752, -1.7983, 6.7897, 1.7265, -0.105, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsswTTTRwVaZUBRQPYD0yWDT1vC5XPhW9zfHYldoapkdkXPMIFRPQv6b8b-Cf3GXsPxM59cefL3HWoOsgO-6myPLCCtb8xLrFBO7lqFtNRhjg3JmpGilwX3BaufUBKjZrc7WGgEVoklgYHAgPNqT1GB7D7HIvJmf-xr683BSsAr2df5_icnkcmrwPjy7t-K48XmqVLlMKqHhH1f4zBTNvKklM2ay9peI4V2Wh5B3eo6dU6OX4Ai2C6WsltqjuCjmOkGXN4W-dARF40m6aLKL4yqvpKBIgPJatdnV1PEq23A1r4xAHRrHrpNr1RL2ox2OAuxyB4pkhYmrwW5zWK0iAhiSqSzruG5eiG4wYqGWbcLpZFTMXZyO9ENmRlT6cQzTK0lwJ1wkLYuxYczqb2Y2G2a0T7YmT52evIMHS3FbBukKNxDWMGqEfGplY9NUrSAhbJkVB5BTc1IHyV1Z5zeFJrCaBH8d8ogRL8CFlQ_R9sP8bv2PNd5Orc9zzKb79nUkiGhFfJgIcFtSaQtGXpT9-gTm5Uel5mn-LLSRE4HvFvlVFVBpOzQ0fAblnWmvQbHoGUClOHidsacTwmR8wF-IAXRVw3Pm6QTZMrg_2QuYAciCd4d5edN2QKJqTgmfNTavywleUSFD8ky7YrxZUIjArUOoUsa7MUfM9emvAlulAfAmbERHVEDpl3avr9W2TijKTYHhEww-MMg_T-eJS5YzGgOKm8bO4JdFgH6RMM6NLMT3d420mOGv0lTIR-zhSjFX9DUaQzPLaX-pMrpmFDMDUidol39SrWvGeem0u-TCLLZANA_f3ql9MCto_Y2sL1GHsTDpTvS--6mO3GAkJnDcArBw_VHEL4IXj-ph7RLUpsssnHhGFIm45MjcAxoaHefnK8NgThT_ZkNbIZiDigA_2kAhQ-rrWpn1HNDMjcWsgEsyvGyCe249UjVsaHfEcpYfe6PcqN37DPa0NG1Sm8umIUpcPgW2onMYJJMGX2KejR7p7q_L3JhzBVdnR7cB7GyG_6AoGJuR45QsCKjJ4cmfQIzux-AWRpNIXUQz90UXa6LYD_hoy9pbKdjXBqF41RyIpww8F7m5IZDkcyKa0gS5mCDfNVPWTcD85CsXGx7gP3Quv6_ixfCNoRDqAYROkbVM1Xh4Iy_D-rgwe3tS0Jo1wYZNOxT4LCrCJhPx5CJiI3ABhVufg2LvQSLgcm0bPTMzqar_r9APo768GoNllg9EvJAC17nQ1E0bclhZW1slVAqiie7UfyVytNg7N7yLHL1a3e5kdiDievQBpkolBkCPVP5OgC8u9Da8AHPqg43BfwqczKs1CM5ua9V4dHZiw8RM4o639D9LaENChcKIwSQCtrL-9poKMo7DTrEen77UxLHHjIUssM2hKPcQB25XCAHMzd9Y1HtvtNgTLS5_eNfXye16NuhvVQ4DhZrH-2bTNIUj03f4v3MvYLbcOuTBA-0Lr8Y3PSyMSeSv54NOIwptkdD9zkYFu6tEneZtIlSTnIV9zdQ0HzRTHD9S_bP-l222Rc8iifGGnxZoqWgW6nlKfAIzN8xDYSYBKENqerijlKe_dU-0Sb9S0G4elsf9zdaQzQIIM",
  "id": "rs_01903b0452d703b2016ab2cc0e30b887d0a5e9ba08ff25a85a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.397,\"left_y\":0.05,\"left_z\":0.025},\"note\":\"The gray plush is near the left workspace boundary. I’m targeting the reachable portion of its body without moving farther toward the fence.\"}",
  "call_id": "call_3aI7YscLYx86SFK7yskWe4tU",
  "id": "fc_01903b0452d703b2016ab2cc11660887d0ac3cd09c74f80ddd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3aI7YscLYx86SFK7yskWe4tU",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1345, 1.7168, 0.4473, 0.8543, 0.0006, 0.0601, 0.9968, -0.0734, 0.9203, 0.8886, -0.6392, -0.0834, -0.1204, 0.9959]\nstate[eef_state]: left_x=0.4102 left_y=0.059 left_z=0.0577 left_yaw=0.0882 left_pitch=0.1434 left_roll=0.0733 left_gripper=0.9968 right_x=0.3003 right_y=-0.0038 right_z=0.2215 right_yaw=0.0534 right_pitch=-0.1086 right_roll=-0.0284 right_gripper=0.9959\nstate[joint_eff]: [-0.3624, -3.8496, 3.8359, 1.0476, 0.2759, -0.232, 0.0904, -0.2393, -2.2222, 6.7897, 1.7363, -0.1001, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0abc73f176fa72a8c3e68d50c33e063c5d6b71641207d4c36662ac60f6383d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc89c06bdbe27c980da07cf1b97483f6c02f53903e06e9e68494c18cf00f59b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:614f861e01746806f9205a240c0c9aa652bd46cface53c9639f438f773548639",
      "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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1307, 1.3857, 0.403, 0.448, 0.0349, 0.0418, 0.9958, -0.0734, 0.9161, 0.8886, -0.6361, -0.0834, -0.1204, 0.9959]\nstate[eef_state]: left_x=0.3668 left_y=0.0456 left_z=0.0755 left_yaw=0.0655 left_pitch=0.0257 left_roll=0.0346 left_gripper=0.9958 right_x=0.3003 right_y=-0.0038 right_z=0.2232 right_yaw=0.0533 right_pitch=-0.1014 right_roll=-0.0293 right_gripper=0.9959\nstate[joint_eff]: [0.3624, -3.9453, 8.0889, 1.8144, 0.1245, 0.022, -0.1783, -0.1846, -1.8803, 6.8991, 1.6484, -0.105, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsswZCtDb_oujKKeCoSsKlhJ_9hl8UcW4zr5qpgP2aDu9VnF4h7unsU8JHAzoqBFLxU1uFr-1A4z7e0ER16F-MI9dGMD8UqLs8YmpLAutSjnYYLpYdspDCvtcSaGlDlVP2xPub7RL-KHBn5sxoQFXbzBe9nt8Or6kWDok2IJc9nfwDmxUoZG208KEeae6G8dcVOibCPcZ9yXMYtRxAcdH1aRXovbjmJLzQFEUI8nyhMwNsEKXYizpkJiyrD0tnDfiEoTAuJBPiAXsO-So_4hOW_YYjkLVbMFbXlt6LearU_zHd-usSlg1OHxtY4_7bFVYA6tDtEjJvNm6Xu67DEVofrlGKY4xXrTWVqOLOYPzvFTLP4YExJV2QW37TAc467ZayR7AJctm9jko4cp3-7oQWrfe3bHv6W5Jf0Qz9BAMD37_uOgdYS4idpS4bY7Xoj7sFz9Doq7OZb8iSHz9tMF_qHrXUdsIX0KtlfeU43Gxx4hBOEGTqcvpscG0HCg-Ch6U1zWEDfC37UG0k1Cn4bVC0TXFyyBIbukK3nbVWXrlks1XXyfXP955YYOjuQal3PP-xh4HqTJ0zQ6mCuc-XIhvU3UFGqeh4_eHgvFVP4up6J8hmgzzcB7nXhmjnn2igFngopNHUyQyXgNnXdhFyICgrc1dmTuytApIzxfRtFuRLGwD_54i1cgHZTJgokuFV7yTLndeFgfOC-eDEVwFoAdf5qlRxR62OkODvm2EjO2Aw2BnMEvA3x_R7EqyHq1rwgLQxijFAgzjHnvsXe9y9P3uXgpDM2yJibkb9APaP1YJzcFbd_WZyKO43Ixiau-JNCRRRtXakr4LavE7R1Uti2Vaw7N_NNb8ETbswkKv2SO83MLzp_vpFHqDxRn39cWZkR217iq2rzwllQ1jtp7Bl9D5jSa4DS803K9bPYaQJWazyWBq6pjrCS00KUeJUUqFs2_dgvFbsLbsxiBlnw1cAgdaGhgSDC0hp1mGAqbh90-fKKxlyGGv2a9cQr2fDOgD-TYwfsbzT24F97o45t_rRG6dCvIuUT7Cfc6MKHfjJbiVu5xQ20_mMg8fqzrTc1NXSsTRq12Q2nLnsITtj5lvVGbnfdbZdJ2Zw3QbWLdece8jrAnnxu1fXfNCx_1yImwEmaFn64X8wAHcaIiX3ZhnDjVFBt50wrtH_eD6DryGBD9Qy9SD5Z_AoLfR9Y5LkjZej4B1InNZhz2i5zy1l7zTvygpewhQW6pKOznQZ7iaAtJhXC2RWDs2_UjYNvRjUe6dprxSnzOB",
  "id": "rs_01903b0452d703b2016ab2cc1780c487d0b6ff523a6073dd4a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The reachable gray fabric is now within the jaw opening. I’m closing for the second grasp attempt.\"}",
  "call_id": "call_PpEfAHuHQT3ZgOLnw8pVXQn2",
  "id": "fc_01903b0452d703b2016ab2cc18265887d09c81b1b3797fefff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PpEfAHuHQT3ZgOLnw8pVXQn2",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1005, 1.6867, 0.4732, 0.7742, -0.0483, 0.0448, 0.0124, -0.0734, 0.9211, 0.8886, -0.6392, -0.083, -0.12, 0.9959]\nstate[eef_state]: left_x=0.4124 left_y=0.0538 left_z=0.061 left_yaw=0.1043 left_pitch=0.1196 left_roll=0.0792 left_gripper=0.0124 right_x=0.3004 right_y=-0.0038 right_z=0.2212 right_yaw=0.0529 right_pitch=-0.1094 right_roll=-0.0283 right_gripper=0.9959\nstate[joint_eff]: [-0.1846, -7.2957, 5.4496, 1.3358, 0.1685, -0.0122, 0.7643, -0.0342, -1.853, 6.7897, 1.6581, -0.0757, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4a0a732bc37a3822f109904c228fc2d9bd1c1e529fc1f94febc3e7ce3ef7fd7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a6ba506de5c61d3493000d78bda3ebdaf6040a74a7dc92547a9a822c666eef1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b501cfd6e9b1a9aa9a423f0428da1a590a8852f94e2da5c7a50e7dfdd4a63c90",
      "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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1345, 1.7168, 0.4473, 0.8543, 0.0006, 0.0601, 0.9968, -0.0734, 0.9203, 0.8886, -0.6392, -0.0834, -0.1204, 0.9959]\nstate[eef_state]: left_x=0.4102 left_y=0.059 left_z=0.0577 left_yaw=0.0882 left_pitch=0.1434 left_roll=0.0733 left_gripper=0.9968 right_x=0.3003 right_y=-0.0038 right_z=0.2215 right_yaw=0.0534 right_pitch=-0.1086 right_roll=-0.0284 right_gripper=0.9959\nstate[joint_eff]: [-0.3624, -3.8496, 3.8359, 1.0476, 0.2759, -0.232, 0.0904, -0.2393, -2.2222, 6.7897, 1.7363, -0.1001, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsswojWaQW7AUTeCnY1spsi15fatWYVTUs7ZcUAHTcOS4-nZuQp48rP-UlRnTE05NdFfLdFN8VFvc78MmWIIDKyvE_CZwZxN7pPBdYHnEUzAE6EG9aNomXQDkm_ElE6urHhmMEddv4JHpuqI7HtN6EWaPp7NGyw2oG_3KbLM4aRCaSlcePQMUojCtEhhOAP4gACOOse_4JFwdh2vqMSrhFIGKI1OndJQeDtCagtcEAHvDQi-7OR0VlxSDreKZgK-HUQs-myWcg9v3xj9b-i1vQfnRhugPe304Id3OnApGBw11OiRnMb3RRzPh4DDw_88rF8x1XRFihVJvSPiDqYisO4ziROREwLQ4JaJntEyu4u6Hwk-9YDysN2e-VaPP5k5hpF1i3GSuLcHVABYxA1gAamWZtzBbIvWqtnZ0oHhmKj5NpVWmgrZWAAdpIaVJC6JOA7JHO54IsoFEc1KfHyzkJNg94hKMJnZ8dhirmDdhtJLS9xX7w4fmABWVuPqnnsdWu_cL17MZm0MEeP_E8V-U9_swt7xckVivZNWkQpDQn1Bdzu9O7pWiCzFi5wqDWulPj_EI5XQDfrYB5PVfas9S_zYZo34d2jA2a_fgrIKvkjG8Y_bxZmjLPQg6d9bJ_CNg5fjN6eJAr_ue8l3DZAoz0SZdGpsiiY5lgLKpE7jtx624yt0MLxVDkXjRPGQZFW4cU4Cnx-sk-MfO3oOhs0SSLOXdpT6i32E9ToFdk3a989sKMlHaB6BtWMsS84x6NrYb9yqlVhu91SEcEYElAtech88Y1aHbmKXR_UMYDEQPqWBVCDXQhr-l9a2OeMYphiMsp2ytKWcBFkCTbXBVnS4tZyOtTpmYB7s7G53gBq9km1g9ChN_zRIo_XQSOtUAJ6y7BuacJF7Teizdm9fIHIlhsp8i27hdXa6rW_clR2DJT3L2D2YkxmFWCeDLLeEwh8Jw0q0Xyt8Vy9X1n6HJ3uI81c23blHOUpQqQHcA5QKcSLh2iG_ORuHJOHq2Vij3Zgur-_FohZwm5-zmGvA93-toTk7NF-cwV7LDXsMwLW0UR_jXZtj-8Bm4bhdslHeR-eTjRZlh8bPg_TsLoLDUhISqkGkT1OSlf1FgTCnApdYoQ6gNrdktqLsynzkzoVg8GNl28shaAzD8r3jVa5WFqpg9BZBj3LcyKbOgUDqOAJBe0g8Eo8-ZmoW2zagtfVc4jNPnCVTlgrrzsFYytpmCY20__5W41uD4ItZ2nuB82gqrNwZU4BnrqG5eVjdYxuRQA95bnK_9v30S2HYTl9lYq380xP9sFRD2JQD_rOC1RiSqtIN0hAxj228icRySTV3s7J8JtKrL9mKDkRb94eiruEpfjq7wIYaWNghG7jmkG0y7d8d_1n4bf2rKgO1UUpxVSVBeuuXXcFy6NjMJbJjVUAdvy_xzTDrVttEWtQC1KczuinauTG7z436dGoWnDsi-S75sgNPC7oW_j9PO1UJPot-C3w6idwGnPh335MXjCUHaxCvFxu7RiSHrf8YVppPLO8XWHA7aM3zA1Uqi_gw2XJLSnDD4d1j8C_PPgnEHzZ9yIteEHPrWv7pX-vuEoOSa3xtbkmraWWEiFrrRURYx8d7gYcKSZ5Z-55XUvje0BkRhPMlL5Y-FcYqMRxhbOLZig08zVuvPHq2A-wKZIej1jkrHh38aL1wYd6uDsZ8EcasaMtGRBQsvUejdOy-Y5iKZdtZ6kKFW1bYutIER4atZ-OOMLImG8_KCG57qyPszaC8X-WYPOYjvEs5U7IxBfJ62KO7LMbAmVClcGx5_X-arcxWQHzupkBUqEA_3sxFkJbTep1EWP2iQIfi38Q2txxbb4wYyTX8GChOlL875iedlSE_4qtCSOg==",
  "id": "rs_01903b0452d703b2016ab2cc228f5887d0896f481c97de03fc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":0.015,\"left_z\":0.08,\"left_gripper\":1},\"note\":\"The second close was empty. Rechecking the overhead view, the gray animal’s body is farther forward, beside the basket rather than near its front edge; I’m repositioning above that body.\"}",
  "call_id": "call_A17ogEwzKjxvtJfu9V6jLGIW",
  "id": "fc_01903b0452d703b2016ab2cc26fc8887d09b292657843dc1f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_A17ogEwzKjxvtJfu9V6jLGIW",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0368, 1.7161, 0.6117, 0.6365, -0.1776, -0.0231, 0.9954, -0.0734, 0.9211, 0.8886, -0.6392, -0.0834, -0.1204, 0.9959]\nstate[eef_state]: left_x=0.4409 left_y=0.0186 left_z=0.0715 left_yaw=0.113 left_pitch=0.0985 left_roll=0.0768 left_gripper=0.9954 right_x=0.3004 right_y=-0.0038 right_z=0.2212 right_yaw=0.0534 right_pitch=-0.1094 right_roll=-0.0283 right_gripper=0.9959\nstate[joint_eff]: [-0.6222, -6.3932, 7.788, 1.9219, -0.0073, 0.0952, -0.1245, -0.1983, -1.8803, 6.7897, 1.6532, -0.0904, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0686fe6972d2cd74cee7dafc04d9fe8e0b71710054aa29f0618639ba5c326b36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d58f44c32ca590081cecf01acf14ef6bcf0eeb67850abac5e75178c6973b39c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a79b9c1508793cb4d23c8dea8d0001578939c69745f69248c2631f9f28618ea7",
      "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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1005, 1.6867, 0.4732, 0.7742, -0.0483, 0.0448, 0.0124, -0.0734, 0.9211, 0.8886, -0.6392, -0.083, -0.12, 0.9959]\nstate[eef_state]: left_x=0.4124 left_y=0.0538 left_z=0.061 left_yaw=0.1043 left_pitch=0.1196 left_roll=0.0792 left_gripper=0.0124 right_x=0.3004 right_y=-0.0038 right_z=0.2212 right_yaw=0.0529 right_pitch=-0.1094 right_roll=-0.0283 right_gripper=0.9959\nstate[joint_eff]: [-0.1846, -7.2957, 5.4496, 1.3358, 0.1685, -0.0122, 0.7643, -0.0342, -1.853, 6.7897, 1.6581, -0.0757, -0.022, -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": "gAAAAABqsswxTuAgKjUshfKOkXDLuKhotxHr-EcW4gqbLO0PfMR98JVl6RASVd5wfamwz3Z2E-m4TXhE1PyZfon3LulSlMVbWuwylVeuwLGfebTEIYSBt1tMjbojIHomuNPbGiMN4waQKlsux37dBRYziXFxyLbMyTdPHpyrkODOzbg-9tlUnNdY6avEnPDQ1FJvdiWvFLVSO09iUbrZb58XJ_hDvo4M6zZRztE3hnqTOwz4__F83tHpL_DETrR3tiuaFVHOxFEKiw3AK9V8-fldUrtG8T3J9-jkzaXs9uXZZxhDKJ0ATkYjWlIbRzQcEetYiQ49XvSQD7OxnXYOLEIJBW4Fd0FHhuhi-URlUWYAezgIjtxTLEolf9_vkClzbcngcnyZducKCIP8VaEmTTcMw6Opw0OwUL_PLt9B1kcOrFC-nCh0CwqdAP5IIBec-CCFz-AmtEp9tZRXpKJhofyYPzeyE0kRQFni78wwbBiSshzNm64y7tH58E4OFWHFXTkdV-OMLm2H8ZmAdGTnF6bJLtIhfXiL8SKtEwLlcYnK-hKv_-c9g1b_d8MPUwS54ZspYrDdfC51x_ItHgn4zEp6ZTIpppunK7OLlfy4GCo7awHsGg2DzC3Pegc-CcDTU4aV4OQ6Eb1J4kPp--wGMcSl5qBOSKCirKDA0K65fjsOa-1ZbAYGUcjjd7qASzqwxL6_VnqWOXGDhwH1U2G_fsTLAz6tj36RjjhF-I2s--8BEYJsCS5W__n0vsLUJLcZMrMYroz9NCRPbLkvGn9uwPIadP05e1Guku_c9kNLD8Lyc-bfK3bgPbtJDfw7ADW3KfLfrMNK8cm2CT7CSAR3WzMCx4t0OGEru7TcR2uEoNyhjC7nz8FbrVMG17XIPuVd783dXswtDRYC-iYIBvZzbwaPZ-bZUm1um6ZgIHs140zBtX8dvppUr_BCs3D30RowHvDqmmPniKkoMkEv97C0iKwyG64Hi0fQJHx6OMMAlJCOohCMnOhThyUybiQRN-gpBa2rCSz8xXnSaTJ3749fM2S36mmb2N7qCN_d0V3orbbAGWD_bWSYXBqSTURXazwX9cs4M3YjgKZT_3V0EGS1N7ED5lgUeJ1whAMLoD9KBpc0HruSkoi4FDo1k30XZmqDrIl8nxG1ueCViH9h_4xspt7404vv3czUus27XpsSPQlplXjmm0XPZ8SqGB2lF4JEmMKQuosRF82qDhNW_-5alMqPWnds_dsct5U5bSHC4id5Qwo_10ll9zMUyhf5wR71GinbNLZO_v-yl_8dQyKQ2b025TNs5fNxgkMZPdv2zhvMQcpExJOqcuz7vlX0Srgbxo9p9io6cYkLZuNVEewxWhc6hWK5ftNf-_Bl_HB64Y4_spjY6pRCq7lrEBhJEQubcfp-vLNY1Ng0Sdr3NeZ_FKpLa_PIMBx3alRvx32oHQCAEn5DJpw_f1fnRebyf57Sp1GfRv8UQ3eaiJTpBf4ovGX8s4Q4CRvPbxoguokprrnEaHkAIdBx3bGTE5B701Re9fmV9htIFjVz",
  "id": "rs_01903b0452d703b2016ab2cc2dc56487d0b15817b562a8c5e7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.30,\"left_z\":0.16},\"note\":\"The gray plush is now too far toward the outer boundary for a centered grasp. I’ll leave it undisturbed and sort the reachable tan stuffed animal next.\"}",
  "call_id": "call_6OVnJEPHMFQj7NbdVQn9NEpS",
  "id": "fc_01903b0452d703b2016ab2cc30080c87d09ddd1ef40fdf8ecd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6OVnJEPHMFQj7NbdVQn9NEpS",
  "output": "executing move_to over 29 steps (2.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1042, 1.816, 1.2648, -0.4511, -0.9962, -0.8692, 0.9967, -0.0734, 0.9222, 0.8886, -0.6392, -0.0834, -0.1204, 0.9959]\nstate[eef_state]: left_x=0.3217 left_y=-0.3011 left_z=0.1511 left_yaw=0.0906 left_pitch=0.0833 left_roll=0.0628 left_gripper=0.9967 right_x=0.3005 right_y=-0.0038 right_z=0.2209 right_yaw=0.0534 right_pitch=-0.1105 right_roll=-0.0282 right_gripper=0.9959\nstate[joint_eff]: [-0.294, -9.0325, 8.2256, 0.9011, -0.8278, -0.0317, 0.1343, -0.1026, -1.7573, 6.9128, 1.6874, -0.0904, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b70c5bdf39d441808dc15df0425fd8a5ae9c309ac9ebe783c9592f6cafd89a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95057b3c665142c2799ae6821de8d9fc097f742dff77924de5045c204631f2ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0971a9902bbff38e68b6f68f535b9161a49204a2f5b31a76d30318a40646c7e1",
      "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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0368, 1.7161, 0.6117, 0.6365, -0.1776, -0.0231, 0.9954, -0.0734, 0.9211, 0.8886, -0.6392, -0.0834, -0.1204, 0.9959]\nstate[eef_state]: left_x=0.4409 left_y=0.0186 left_z=0.0715 left_yaw=0.113 left_pitch=0.0985 left_roll=0.0768 left_gripper=0.9954 right_x=0.3004 right_y=-0.0038 right_z=0.2212 right_yaw=0.0534 right_pitch=-0.1094 right_roll=-0.0283 right_gripper=0.9959\nstate[joint_eff]: [-0.6222, -6.3932, 7.788, 1.9219, -0.0073, 0.0952, -0.1245, -0.1983, -1.8803, 6.7897, 1.6532, -0.0904, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssw5wzleImNIUrIolgm4cB1kiqwnk49z2N9Ml3mnAK44Lx8mPL_972PYv5ULs46pcejoApKhgLqy4KLxA4JfvgbfmxmSqsEhIsDXuMoUsrXNgygi4Zo2qchEw56isN7DFKCY_K7ppSfmF-AyG8baMAc7U1jR-yoyas-EpgcVZnxzgvDAqLiIlinw-PAzxd-K3HJiZGQ1fwX_KP03PLMcpijdF9MvEuA9XEeph4QsLvzD99l-Pc6d-tuDdRAfhB-ElFNM2x-Zu_XrOtnsGcR_lATwJ15a_CIWxUc_WlsnN1CJc6Bu4kJaMtLOG1xWR_EvGLpLI0iF_kzuDZbLtzLkKPVHrWqwYo6bqe_MVf1fPOEGszxCeItF6LJd6jlOnYWlN79rZmBII9nnpStt0PaWHwklp90fFAlfvb-FSU1UpZBKo0uxV-lwDkana1dNOpBZe3-53ANyNmJoKNW2SyZPrZfuAsEEuSGYmt4tAfKipJStmcq4RzQi_FKU0zWkJFtTYQUg17zn6DZX7GbHUqEBP5qkuTU5cLcxic34pVE8_D1qYJ5WRELu5ik2jyHVxfphIUVj5RJnahNyTaxwCsPxdeYUADnPVUnJLxvfUbQc9NBgGrx21bA1qHnoR4pbmaRzVtmsfbag3iMdVKqq2CJT7gTd8tVXnPIjmDn5UbLbJmoqN9NxyYAsXhULWj_6KPcssPtey0duOaFDRmiiTJ9JQ-KiHOwgukhwBY-NJjoW1x118TE7AazbBn5JEhuiWnvR0NJ63pEz7aUF_8mfBWvgs7WHJf67Wy38uDkETYn-G4YMgAcPhEIhL-I57lJDtLutn1IQaFaGGfEkLIJu8A8X5bH42w-8h3LLIX3Cj_MvVJONuH1WIReKsuUyduoJDEP83FQuCDJASakq9tkPwuZUY23F0VjXSmdo9QdAvrOfxTkOQKINJ_U7j9Z_DZziYcVUbfNF5Ai8AGfVnh0xgF96l2VtcP1I0hxMfT-ykHT9DEH2VpfkD_79XFhB0EvIrLnWxErBBq90PvuuYt-57frl_d3mQ05lqmWwvS2_-cF3VW5iyvxESSXqDwnghAGjOogKnIAR7fjSfVrBjxFFkGIyVB9rAqmCLS2rjhYoz3cKKnJrtvl0w58QfLYEKjMcZywO3nYJg2D14EEsvmCtB7nEPTHy-u52zCzuABYepoWLnZi2Ca1Vjtf9me8qytEuIiP2xs1JRqOZOk73qwk3SqOxlmVOWzuJ484kxtcyimDi5K52nHXtBHWWLaUPQnyDwp3o-GuTaMhjLrsm2k_dGkqVK_bnMnd7lKiwe4wB8m-Errs5r01-xs0f_VEpKXFLrXESwwKkxBW4rhn_OdD_sv21n4dyZw==",
  "id": "rs_01903b0452d703b2016ab2cc3710d487d0a8c044ab7174a02e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_z\":0.045},\"note\":\"The tan animal is centered in the left wrist view. I’m lowering around its torso, where it is narrow enough for the jaws.\"}",
  "call_id": "call_5YOhjRHKIbbqOoQIaqIlPE1T",
  "id": "fc_01903b0452d703b2016ab2cc3886c487d0a79c448ddc227e9c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5YOhjRHKIbbqOoQIaqIlPE1T",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0527, 1.9965, 1.1187, -0.0555, -1.0126, -0.7925, 0.9969, -0.0734, 0.9222, 0.8886, -0.6392, -0.0834, -0.1204, 0.9959]\nstate[eef_state]: left_x=0.3458 left_y=-0.2968 left_z=0.0709 left_yaw=0.1165 left_pitch=0.119 left_roll=0.0728 left_gripper=0.9969 right_x=0.3005 right_y=-0.0038 right_z=0.2209 right_yaw=0.0534 right_pitch=-0.1105 right_roll=-0.0282 right_gripper=0.9959\nstate[joint_eff]: [0.335, -7.1043, 3.9043, 1.0623, 0.1099, -0.105, 0.0024, -0.2256, -1.7846, 6.9675, 1.6337, -0.0806, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec884059e9f410fadcbf6b85cd81c2924b855dd65063938d93da5d091a4689ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c9b38e6b7a31cba67c88c7833bcd350d0a13339f4faa017f7b1d859eb6dbd91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eb6871e37d57d951fdef60ba55325fabbe32b23c9b4f78c4c6ace6a132161ee",
      "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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1042, 1.816, 1.2648, -0.4511, -0.9962, -0.8692, 0.9967, -0.0734, 0.9222, 0.8886, -0.6392, -0.0834, -0.1204, 0.9959]\nstate[eef_state]: left_x=0.3217 left_y=-0.3011 left_z=0.1511 left_yaw=0.0906 left_pitch=0.0833 left_roll=0.0628 left_gripper=0.9967 right_x=0.3005 right_y=-0.0038 right_z=0.2209 right_yaw=0.0534 right_pitch=-0.1105 right_roll=-0.0282 right_gripper=0.9959\nstate[joint_eff]: [-0.294, -9.0325, 8.2256, 0.9011, -0.8278, -0.0317, 0.1343, -0.1026, -1.7573, 6.9128, 1.6874, -0.0904, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are alongside the tan plush’s torso. I’m closing to secure it before lifting.\"}",
  "call_id": "call_INENaH3cpTMDfBiWYNPiABCg",
  "id": "fc_01903b0452d703b2016ab2cc3efb0887d0b075380f4a40e753",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_INENaH3cpTMDfBiWYNPiABCg",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0496, 2.0026, 1.1164, -0.0177, -1.0401, -0.7856, 0.2073, -0.0734, 0.9257, 0.8886, -0.6392, -0.0834, -0.1204, 0.996]\nstate[eef_state]: left_x=0.3496 left_y=-0.2958 left_z=0.0747 left_yaw=0.1351 left_pitch=0.1502 left_roll=0.0602 left_gripper=0.2073 right_x=0.3009 right_y=-0.0038 right_z=0.22 right_yaw=0.0535 right_pitch=-0.1139 right_roll=-0.0277 right_gripper=0.996\nstate[joint_eff]: [-0.335, -10.6188, 5.6821, 0.8278, -0.1636, -0.1001, 0.8571, -0.0615, -2.0171, 6.7897, 1.6581, -0.105, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a670881568506877f94fa8f2b7dfa2df042062a9ec11437e34aa247adeb726d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb3523606cc77d174cde36de8624f8edc70777f467bc86eff3c93ed6606f477e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:037b88a8ccc6e449b635b63f5dbe5931664d69250ef059d13fa479faa019c664",
      "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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0527, 1.9965, 1.1187, -0.0555, -1.0126, -0.7925, 0.9969, -0.0734, 0.9222, 0.8886, -0.6392, -0.0834, -0.1204, 0.9959]\nstate[eef_state]: left_x=0.3458 left_y=-0.2968 left_z=0.0709 left_yaw=0.1165 left_pitch=0.119 left_roll=0.0728 left_gripper=0.9969 right_x=0.3005 right_y=-0.0038 right_z=0.2209 right_yaw=0.0534 right_pitch=-0.1105 right_roll=-0.0282 right_gripper=0.9959\nstate[joint_eff]: [0.335, -7.1043, 3.9043, 1.0623, 0.1099, -0.105, 0.0024, -0.2256, -1.7846, 6.9675, 1.6337, -0.0806, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.145},\"note\":\"The gripper has stopped on a substantial thickness of fabric. I’m lifting the tan animal to verify the grasp.\"}",
  "call_id": "call_Z9pGi7ZbGYSVM5Rri6j6CpMq",
  "id": "fc_01903b0452d703b2016ab2cc44182087d0b0e8c2e001675e16",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Z9pGi7ZbGYSVM5Rri6j6CpMq",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0496, 1.9202, 1.2011, -0.2245, -1.0321, -0.8005, 0.2099, -0.0734, 0.9257, 0.8886, -0.6392, -0.0834, -0.1204, 0.996]\nstate[eef_state]: left_x=0.348 left_y=-0.2944 left_z=0.1138 left_yaw=0.1334 left_pitch=0.1299 left_roll=0.0811 left_gripper=0.2099 right_x=0.3009 right_y=-0.0038 right_z=0.22 right_yaw=0.0535 right_pitch=-0.1139 right_roll=-0.0277 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -12.5744, 9.0872, 1.1013, -0.5348, 0.1197, 0.2662, -0.0479, -1.9624, 6.7897, 1.6484, -0.1001, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cff9cba56b76ddb1577b200abadd3290868d45e731e25b8a3f8a7d197d988d60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc73c93a3552e756042325ecb8a123d29002fab386913276910a00ceed94c204",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b397b66795f49d3405fe3bc461d5527299af850366296b02518baef71b91028a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0496, 2.0026, 1.1164, -0.0177, -1.0401, -0.7856, 0.2073, -0.0734, 0.9257, 0.8886, -0.6392, -0.0834, -0.1204, 0.996]\nstate[eef_state]: left_x=0.3496 left_y=-0.2958 left_z=0.0747 left_yaw=0.1351 left_pitch=0.1502 left_roll=0.0602 left_gripper=0.2073 right_x=0.3009 right_y=-0.0038 right_z=0.22 right_yaw=0.0535 right_pitch=-0.1139 right_roll=-0.0277 right_gripper=0.996\nstate[joint_eff]: [-0.335, -10.6188, 5.6821, 0.8278, -0.1636, -0.1001, 0.8571, -0.0615, -2.0171, 6.7897, 1.6581, -0.105, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssxL02TL9GRDt0xfO-S27wfQtCl443nQBZ-RHhE8jFtViYndMaDU74J1-jYhLvcDU_34Mj8rUIRoNL0iGpQt5OzAilDJp4mAbBR_z-ZY8dEcUka2gicmZuYNVglOycj8_2KwmlN3oj2XYgc9wzU5gx5ZnJcnOhPrQMgVmAeOf47h2r39Ai47GZNwkMMlRiwxNmKtwSWBlOrMUxKcUw58jMAUjTo2NH1uW_88Fbm6XaQzUe4MrUSq6Cd78qFO8MvQIQ_H34TGmC06H-EUeQu1vqDo5VDHw9SSixW0VfeC2syZHzurgJfuu23BRPiho2YkmLfGFK8IL7ybwyiXpXuTlqannmHi1CiP0vn89zPDhiRkyOG0FceCl6PEAvTggmTp5l7lk9ff08ovcbZuoM49B5w3EjY2OHgWiwkE13tf2IF769SCDrVWN48eZEawiJ8ZRLQMQdytoFYi9CrtFq3HAcbLgteTC_eiUjmYlc94LEzP944jyJxhKBLy8e29Gwj6q5jRII0bk0fgQ5TNH0xugQkRPhc0I9to4Md3NppzTfV6SppyIRbStUSIdSygESNf78TMqLNN6_wQNx4Q77tnFXy6vkGnSkPYIjgEUxZGhbfcC_isErrXw37WFnQf5t8Sr3exn41Bnos0BNpJnw1bP2d0b9GZDZcb_4oLO5hYQcIYXle135INnCYAhUMLYJNvNeMvNFwG4citqE3FRB1d0mQHIX5eROK09A4o2joKjRJikZ7TUoFbJS0lPxOaHXPIMGZpPAeaY_oDt9-Ybl3WdUhaAsfvkXS0aLD_hEYgya3CYPYELUSncOXIJylfiGE5yifMlClPgjOvNx4Y3d6FXdR5QGoWttj5nCmLPFo-ljgzJ7kV2APQvuOJPvYSrLl3zCCInV-TUUcXxCPjhiOwPTF5sjHpS8AI8Wj0DvzKOgU0nNRSWNEeMT7bkMTe-L0YHWKxUsUzL9grd7r6L76wbe4dCF5CqDwDRHImWLWfUnvDfAO-VssL1d1z1b6CiQLyqGChXGa3h4OlCKyWdii7KKgO6mjRebzCopCxZoj1B5_Hp04-uYNT2wj0BH6-Rm_6e6Qn-dNwLvO1WVzs7BOJ5ZtQJcieBj0GbgDVCR4jXBUh7OZinmzDpRUeVlN2LbwdSSx5vipcqPmGtQ6WKnBnGB5A7ix6TLebLVuStkFlaulWvuP3MPKaUg2A9p7FlawO4qtHCwVtlxFNUQ5om7X2uHh7yQ==",
  "id": "rs_01903b0452d703b2016ab2cc49274c87d0a8aef8656afba7cf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.145,\"left_z\":0.27},\"note\":\"The tan plush is moving with the gripper. I’m lifting it higher and carrying it over the left basket so its dangling parts clear the rim.\"}",
  "call_id": "call_nB1bM39Lrbr8CVTRxkKLWiN5",
  "id": "fc_01903b0452d703b2016ab2cc4a2d7087d0b164c5d6b0ff648b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nB1bM39Lrbr8CVTRxkKLWiN5",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5064, 1.7538, 1.4624, -0.3004, -0.6415, -0.3073, 0.2129, -0.0734, 0.9257, 0.8886, -0.6392, -0.0834, -0.1204, 0.996]\nstate[eef_state]: left_x=0.4865 left_y=-0.1449 left_z=0.2408 left_yaw=0.1728 left_pitch=0.0946 left_roll=0.0849 left_gripper=0.2129 right_x=0.3009 right_y=-0.0038 right_z=0.22 right_yaw=0.0535 right_pitch=-0.1139 right_roll=-0.0277 right_gripper=0.996\nstate[joint_eff]: [0.0889, -11.0291, 9.853, 1.6923, -0.1343, 0.2564, 0.315, -0.1436, -1.9487, 6.7897, 1.6435, -0.105, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:015687ced5fb57fc3f614c5df509e2100060f34fa70c35ddbfef1e9d21b965b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c7d50c861e3983c5d6faa19bb4bb42045b2b2554f0214828adb5253bc44c9e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94fe787704dcdd9545c4e745a3bf4f8de10f264a5ab59ba30b0ee206adf31acf",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0496, 1.9202, 1.2011, -0.2245, -1.0321, -0.8005, 0.2099, -0.0734, 0.9257, 0.8886, -0.6392, -0.0834, -0.1204, 0.996]\nstate[eef_state]: left_x=0.348 left_y=-0.2944 left_z=0.1138 left_yaw=0.1334 left_pitch=0.1299 left_roll=0.0811 left_gripper=0.2099 right_x=0.3009 right_y=-0.0038 right_z=0.22 right_yaw=0.0535 right_pitch=-0.1139 right_roll=-0.0277 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -12.5744, 9.0872, 1.1013, -0.5348, 0.1197, 0.2662, -0.0479, -1.9624, 6.7897, 1.6484, -0.1001, -0.0464, -0.0171]\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": "gAAAAABqssxVJd_we8oUFhCtoSC-eixlkgGBxFaJV8J7YiWv5cdyctbW7Gpzm2zDLYZaty2jKJjaatMRvdcLBK_o1bxyvv0ykQp0P6avCDKeB0XpWA1UZDaAyJFIbyA52E5h5Z6SwG_hOY9WQAP3ZCcohdyb4mtDmDKO3nugL4DDdgEzskxsP_Meab0_ojx6JT6WHqeMf3t6uP7KMVQ-duse6I3ejG7d-oE-9lTJErnlH3s_qxFhoMbwy2GEVTjtXO2Snkxk5R4Mkn64oxNleWjsIj-AFl37zGrskp3oHIxWraTg8HQNi0aoDCzuot670hpcH3E7Pm8VRdFbkP_-CIndVbYYotGUv91g73W-XULXob0TX7XoGO-2aMn_k6IhSUqBnUOquGXM2zPNZal560fbFU6FUQ7gYJoNuxD3oQ1yjAUDyKFef170F9ebvfYH0fpmbSMC5Cr02rqpxfBg8qxZpSieMTwkjzMzLdkULKjr4X9G3Krrj-9ptQ7tc9sNbvAOm5SWxhXDQB7P9L7DtA39FYDL9U0qUiApvs8FViX9O_gM2wav3UvDgBWx2z-7qnScpUU1rrCFdH5dAwXLae_VvURkNZeB36-QwYPtsTavXDqH45puOKPej2XPjtQULe9T1GJKFb1luD5avt5N2ttnaruehtv7iTWhk9NX8tdqjNQyIAPXF16eneCWDTI2OppytzPYWZ6tKtw6i37H1svdeP37kblCfornXNvLsIy4bT4yBSYMYkIWyTEuXu9DJkTE3qj2-RguJ7r3rvv2r6O_CUxwI98L3A1eY2Giuz5FUSZeBLNv4PAuAm8fZD9w7i-pB8BmrCtgAya4rSoKCUkzwO909j2VScMHYSN_NQ4OUN7nx1AcRQrOFy9S91b_oJ8xQnWrX2HdpxK4cR1y6BQDl45gd89ZybYPp2JSLnAsDMutfR6h-U2yxoHj-mHdu6fpMkXRLbzDqDknKkS0R3fYYMrcNl-co7V4eCjiotc43eesnMbXjedjkVGh9K-bE6wclNEuQv72VZpKuJ751fntxRMhWgkqsSwUW2MQxC-xerZeZTj6Kvb_kGHOuQJ-fUQcOXPbuQKhXvgwaH5vPr7vXkEKxlpbiQl_LL7llwm4qXj8RcantJVle1QzQJND_ydRV2qo4BzLvI2_JVerAGfVBPUXvxUIZ12rhCOmzLJRrAL5CinS3sQ5WzHZjT9CLQ6rh2DRFD1oYomWwwxIDaKgiT0KGEIf3cnoqkM-hSvCuJNJLoXxH_6i9y3BQ905CJOmv25AM9BJ5rXsNDLTuWPBOg9O-7CNAtl3quGwUf5WNyQ5KS6OZkP9gCP-ARKh1tYx316amH-5m-kuEymkCekNVmGVUyStjXIW7QadshXMxvimVakyZHE=",
  "id": "rs_01903b0452d703b2016ab2cc521a6887d08e5425a92dabc2d3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.55,\"left_z\":0.24},\"note\":\"The plush hangs toward the near side of the basket. I’m moving farther over the opening before releasing it.\"}",
  "call_id": "call_cxWzu7wbHRfWyoZWVyN1ATzE",
  "id": "fc_01903b0452d703b2016ab2cc54133087d08629d5dda83557c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cxWzu7wbHRfWyoZWVyN1ATzE",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.437, 1.9755, 1.6726, -0.3538, -0.5919, -0.2874, 0.2149, -0.0734, 0.9287, 0.8886, -0.6399, -0.0834, -0.12, 0.9959]\nstate[eef_state]: left_x=0.5392 left_y=-0.1391 left_z=0.2067 left_yaw=0.1905 left_pitch=0.0244 left_roll=0.1187 left_gripper=0.2149 right_x=0.3011 right_y=-0.0038 right_z=0.219 right_yaw=0.0533 right_pitch=-0.1177 right_roll=-0.0269 right_gripper=0.9959\nstate[joint_eff]: [-0.1573, -12.3419, 10.4137, 1.8095, -0.1587, 0.1587, 0.1832, -0.2256, -1.935, 6.8171, 1.6093, -0.1001, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ab287ff838eae29af14a279f017234e28e60808a8c7f1a9b70fdd77144065e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49b6ad009fa7c042c0e731a6114dcff18d96cf26830343694d061cd0533133fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3abe5a3d3e93fbf93f3098a6dbf19b8be20d8b16ffd798d50bbdf0850d7f2f25",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5064, 1.7538, 1.4624, -0.3004, -0.6415, -0.3073, 0.2129, -0.0734, 0.9257, 0.8886, -0.6392, -0.0834, -0.1204, 0.996]\nstate[eef_state]: left_x=0.4865 left_y=-0.1449 left_z=0.2408 left_yaw=0.1728 left_pitch=0.0946 left_roll=0.0849 left_gripper=0.2129 right_x=0.3009 right_y=-0.0038 right_z=0.22 right_yaw=0.0535 right_pitch=-0.1139 right_roll=-0.0277 right_gripper=0.996\nstate[joint_eff]: [0.0889, -11.0291, 9.853, 1.6923, -0.1343, 0.2564, 0.315, -0.1436, -1.9487, 6.7897, 1.6435, -0.105, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssxdFVRAihd5hR0LpJ3_PM-tCtTGJNWyY34ZM549bquzM-YoSt1An60TgGbHeAWeCI42MewoWTvXJffZ0X09jMMXShXRJxVBnBHUmQL1PIBIs_bEvQKpiV7S4dVSMZxDJ3t3S0ig5H68qz98spVO-FgOxwO-ul0a7YWUgy3J-X9QuxL281PeSv81cQkIBCDpNm4WfFNGckXPflUkQEMybQ8lpe_RMB4t5uV2l3RnEue5cyXP3p3FlvQNdNIl5lAjdSa-ucG0L3rN65Ti2_b0jjZA2XsA7k0Pi_odYk-wbQB21-txYjpyHZHvsiJDvO1JMaq-uHh2NubpOc04sok1VSPjd7__yXpaVQpQF-kn-cmJXy_InJQIDcxfoFppTYmh09gt3KxROjxnHVriLWgbw0u9EdvMtIffA_582t3cIxyP3ZYBfn_c3CFgRNnlt-B2qCjKVdlXx5tfGhKa1mASsXd4WDRHI5w0c6sr2wM9Eq_E_WflwaWLwEn5SFcNf6itEztM0qfmNaRn643qsz8Ys5xY_kef7qh2eHUOoG3OUndB6pTyTRBrTRqVpeoxzHV7Wa1l4pROp-9y1BnMSE09JzruV6zyWKsuawVf1DwSt7A0UY9ABjkzL5W8BTRtBi6fN_W2zeuqm1le6TwRrH3SujiiSlWvlwHVfaI3-y3kE1siIdGY7SoIlJXfYm8g0G2xJKE1tlYAhPtoxXoJVnvnJfRqPnAWSQCiM5lOz3zk-851eYTMbb2JVN8B-4ARfzovJ9nXmIaNjqoJQ_E8YStzb4zxFjd1UBcPMTTnXxrArIChBpjegqNInaHa8_qal2nN2mhhHlcaSgbwRt9ljTNZXmZFvPHO09Oa4K6xyc7nqGW_EWDi4oZGEPrHQTXvAUfXpBzKdWTMAAGNN8VMdgqj_Rz__63xrvD70cNUgLN9M5_FgIinJzo3Ke-7XSqnbwkx33qzjoTlDxs0Z48sIzEtpvciLRCBpReHrnIDuTFqidq350elBq3zNESFDpXwMb6DM2CcrmJEeia1xKOg4fiFH3qtxrvypETpcgHcv-rih87dvB2-8Bksw6D8hnx1zY1D0G7eliA_rtF7MgpIZdhLjX7rhBD-1QS_Rrr4ef8mtCRiFTpLOiW-UjrAF2ztDVzKJV8uvbgfW3s75rimB-0f0ZeLMp8J-IfU2JbzOGs2ZyI2QT3mlFLLuB17razEe1Ak4Fma2hNz4NClsqisebCkDDrFoWK-AQoLaknFXIQJvBi-Huug5NsPjufQKvxfFAOVIkIqipsrwJiPy1eGFaBzcDFKuUTFgN_2XJPtSxxZ5lqlwi_tYJ94HhcA0en1Iznx2zNzr19pNTI-qFelpQr0SkH53RgaAaP-l7c74AJcYP-fXHx_5V4NvH5-lB5qbingMOSGm-bw2eIsDkk2YmbCRcPtUDQQyJRfhMjqzDx-YSc1ztL4afmBFtycjCgPImFZgIPnlNXr4jELCnzINcwmAY1OhvCHttLEpEthBKJdBIstVvRb8s2z3IyCvq9ousufucFjd4c4qvoIVvrtQ9au9ZpITQCDvBPJr-vKbM-OJ-B1MMDs8jzvDDNlGsJjszEsox-vPAqAhjN_xhog6tBNmC2JFCB4nX1ShOhhpmTakS-vnMuVEzlOvavSwI-oEWwkxwZtrAd2cUE4EpjVBgt7cNEK_xY8KV2L_1vM7kXlUh54jmEV5nOq_fdF2msGFGz83DubujY6aeIcNHU1g-ieenX5U59o-GO05ObNNDm_DqCWreNCJI32WePUViUiPrCikaHm",
  "id": "rs_01903b0452d703b2016ab2cc58465c87d0b2c2756831cc2475",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The held tan plush is positioned over the left basket. I’m opening the jaws to let it settle inside.\"}",
  "call_id": "call_6wDlet2oxWt24z2rG62PYj3c",
  "id": "fc_01903b0452d703b2016ab2cc5c433487d0a399626b62275281",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6wDlet2oxWt24z2rG62PYj3c",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4332, 1.9896, 1.7058, -0.3508, -0.5827, -0.2779, 0.9958, -0.0734, 0.9295, 0.8886, -0.6392, -0.0834, -0.1204, 0.9959]\nstate[eef_state]: left_x=0.5458 left_y=-0.1414 left_z=0.2133 left_yaw=0.1825 left_pitch=0.0386 left_roll=0.1096 left_gripper=0.9958 right_x=0.3013 right_y=-0.0038 right_z=0.2189 right_yaw=0.0535 right_pitch=-0.1177 right_roll=-0.0272 right_gripper=0.9959\nstate[joint_eff]: [-0.5402, -12.6838, 9.6615, 1.8242, -0.1685, 0.105, -0.1636, -0.1299, -1.7846, 6.7897, 1.663, -0.105, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:279650ddfcb5e4e77390a78ca687b9d679a9f577614be79ffa3b0059c109234f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4bfd2a8b4bd240d26a807194f2f048f3efd283073c5f2743abbe6a946a6b4ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e797bc18761411eb954313230bf55d1cd5d203bdcdb94aab84f1aceadb499053",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.437, 1.9755, 1.6726, -0.3538, -0.5919, -0.2874, 0.2149, -0.0734, 0.9287, 0.8886, -0.6399, -0.0834, -0.12, 0.9959]\nstate[eef_state]: left_x=0.5392 left_y=-0.1391 left_z=0.2067 left_yaw=0.1905 left_pitch=0.0244 left_roll=0.1187 left_gripper=0.2149 right_x=0.3011 right_y=-0.0038 right_z=0.219 right_yaw=0.0533 right_pitch=-0.1177 right_roll=-0.0269 right_gripper=0.9959\nstate[joint_eff]: [-0.1573, -12.3419, 10.4137, 1.8095, -0.1587, 0.1587, 0.1832, -0.2256, -1.935, 6.8171, 1.6093, -0.1001, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssxmbY0tsbqH2udSx23UFoN65M95_uerppCq28WP4L7kY_LWGXjILu-L6tFOzN6jr8pNNbWqwktBcOmLr4bpjAEpI6pVIJcPASiN5d5lk2jYi3tqzykK6UmCSRMTUzSESGuAnMSlmjI5SzCh5LLlRkw8vHRnu1npCAzj682gEKFgCNwB8njeX6fqDhMl8EOFG66D6GU_nmkhexyIB0VAO9ZF0gMzp13X7GOj2QZ1p5eftmoJ3mvcPX4hOqMGvORb0X_wiXxQIo-1lE9edhJrdyiY54iZf64e4MsZ1yFG6FCKB7GlDtR4_3NDLhZia3yYNbDBrKrX88h_BndbW-IyhhqBXQyvEfa_8cIUCAkbMfMFIlFmJCMTKVIgLHqglTZoy_vc0PyW0NvucjwvZ2LZYJf8fFT2EiHGaEiJkP66b6w50RLMVm9MYr7V3tK9OfBFxEJl0b2GP2f9hVFTEFUYDZSZVCza4gECAoUsNGqCEnHy76hcTpA4LxzhRFeG-8vreGLfGeS13Bk5QU6Fj4L73TxGYYywFEb4TvXJGT7Lw1FgmedqjFplCGY1gWfKbOwWfwz6vr0oVCWVnQ4OgLFgddLU0WzB1N2SL5hzOYwAkQEnMbgJH1yb7QTlfOYgagp5YEkPrq8HI7Z7uojbyvrbG9zB49pzuuUH9qMbw9K0eqMqujxCILVqYAZ0udH9Du92BM6JilJfvj2eLSZYieldkfbNWQMQmtjgwdMz5lnftfDOPlhiEIFvzAUO-Ecm4hKZ7srFm10Ros9bmjfbjDdwEnOO4zidp3DwuYGH7bYgL3hmerY_E90C81cgT2x7_1KApldy_fP5qPVkrSZ8zzdYdceVO63PN86fibFgakPamdyQZyqTnpAaDQIaZCBeTa5X_r7wtgF8rZCvxg4jb2tvHVILJxEXTGTocQrL2KWtFkTDrMvGjOPKxzC_2Jdb7AlI2rfzY8bIqffAlUze5CslLctpi4lVQ6fiBBeM7oBEIbVrxmVFGjs80mcCPjBV7Qf2Z0Lah4fs8h_lCvJK2TX5A48SngXicq31vEWYWDES4Ex17ku5m_19YmqD6eYDjVyu8e5DOMl-JfnI8NStEDgG0auHARIGdzjjkbU6uF8N8XGu7Llv5QvPQSYuM8gIDamYizCG71ApaRwo0j_mIO1lAhAd59i_XcfS6Djvhp_SQcdtPIGZAbgSXdvKSzbVPL8SWhxosU7N7mqFx0SAnGf7RWUWt7xw7IKb9oH6u7EA00znf1JMruNJjflMz8n9FkV5R6Mc4f9Xu53zVbfi6e-XJn0yWrB-ikP5GnZUGMSk-pGXC_-jThKuHTFAtIhPTPKsWiOXMPKBuR5CRLpP9brQg_icfNZ89JRbDiKisXTgoQffnuJZ4lZ8rnm4opg5qibPgOMlHJJO9HsqFzIjI6m9q0B6NIBYCLH9FobaU13n2nI2uhkytyp8Fce64DX49UjZDcLgAF6hZ4Y00xGQ0pKad2afiFlqAkRoqvtPMQwu-RV_E4CmdQIiSwNT10haY5eLqCzTVK4J5SomvpgA9hIQp3Pn_JYEm4wXs1QRw29dpdoonMEbhnqflyyQjY_Tp_3nI3wit2RZAUBQ9tYimabSyXDSXwwrBWtQp6VOMsgM4f0V_mIWfv_Y8XJcak5lPn-1p7jxalPrPifYhjzoVxy5XIrB4V8i6HHflm_FYGRa_gmT9ZqnbePbtdiC32WYM6Aplap_7Yq2rp_YSZG_FIgnzPqYPACMuDLJzFK9QzZbFC8jgZUhS_nJPCepbm90EL3_UGQS2OonApojH0sgG9-O1hx2MhQ-ci6ZWL21bsYKklFvcnyc6WhCa7hK4UZpLsavRLfv",
  "id": "rs_01903b0452d703b2016ab2cc60660487d08a9297310f685c3c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.12,\"left_z\":0.11,\"right_x\":0.29,\"right_y\":0.035,\"right_z\":0.11},\"note\":\"The tan plush is inside the left basket. A yellow pen and another blue-and-white pen remain on the table; I’m positioning each arm above one pen.\"}",
  "call_id": "call_Ix8gRrmBlm6eV5sZjl7pfXi9",
  "id": "fc_01903b0452d703b2016ab2cc64f0dc87d081f86afec37390fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ix8gRrmBlm6eV5sZjl7pfXi9",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7647, 1.3705, 0.6235, -0.0887, -0.8017, -0.5415, 0.9968, 0.1658, 0.8906, 0.45, -0.2699, 0.0883, 0.0143, 0.9959]\nstate[eef_state]: left_x=0.3194 left_y=-0.1256 left_z=0.1053 left_yaw=0.1481 left_pitch=0.0129 left_roll=0.1275 left_gripper=0.9968 right_x=0.2858 right_y=0.0356 right_z=0.1067 right_yaw=0.0739 right_pitch=-0.1478 right_roll=-0.033 right_gripper=0.9959\nstate[joint_eff]: [-0.1026, -5.9009, 6.653, 1.2918, -0.4664, -0.1001, 0.0904, 0.4581, -1.3744, 6.9949, 1.8046, 0.1929, 0.105, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39970e4b25d49ab4f87bef9c1b7b031ab55524438adcabd909f0f9d7fab5247a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d009cb6b5dbf2a375b2e2aa9abb138ea22cf2480dbf680c86e9da7220987a8f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b3196dc99f28a44fa8055c02c58fa23653cc05e16ee3d0ca20a8ba8393326d5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4332, 1.9896, 1.7058, -0.3508, -0.5827, -0.2779, 0.9958, -0.0734, 0.9295, 0.8886, -0.6392, -0.0834, -0.1204, 0.9959]\nstate[eef_state]: left_x=0.5458 left_y=-0.1414 left_z=0.2133 left_yaw=0.1825 left_pitch=0.0386 left_roll=0.1096 left_gripper=0.9958 right_x=0.3013 right_y=-0.0038 right_z=0.2189 right_yaw=0.0535 right_pitch=-0.1177 right_roll=-0.0272 right_gripper=0.9959\nstate[joint_eff]: [-0.5402, -12.6838, 9.6615, 1.8242, -0.1685, 0.105, -0.1636, -0.1299, -1.7846, 6.7897, 1.663, -0.105, -0.0415, -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": "gAAAAABqssxyeu3Lpq-xGon_lbT91yGjTuMI4PQEkbjbmjXdJfZ2mlzqagAW8qbBG1Xz-V1cf_U7OGuP21rVIvWTaPUskoCQBYiy3m3E0EZMbfjKYFKG5hyFFgUU9EzuSN-4td5y8LRbaTQiUZHTLLujC8STKXbfYriqn32X7kSYtvWP8Wtf871QX8WdRTBO5LNh7nSTwJpAnprt7Q3bmTfQ3-9XnWXqKx8wuph2okzVozz4GbZCUTPx29flmteML_xwGKqscl72DB5nh4uFlTBxGNJfPXIS0GLNn1HcClhnWUKecCRToDb80beyYAeIkNY0X9rCcOEuc3zP63tMDbKemW_2qutz4wYflfiy6ylbIwKCJViish0yhAJ3UF8O6nd__efVuCKRqCXc4hD-fpBl86Y5RNAsoeKygPqpWtuASpzqmZ6AF3ABdVBMWnqQOi5WQ0e8R6Rp-89AiEpwckVd5U_djblMsn-blRE_D4-4jE4UahQvZ1FIA5hqefYqQ-CjQZNW27yBuDoqC0R2g1hk0wnSWDxOgXHuEXkEUvLAn4M6t2LDEZXmSkafPIYcjq7JBoR5bH_Htv79EMuZL-cDP1pwN4jsJuG4HGsVpo3lMPFB-LD4UuP83lTLr3CEjpaisV-nvBoqq6p565qjPZYb7ZcxtI2iEIGVfFuZ3s797x4ZoQrHXKhdKFULFkHPmNe9h7OgL6gG_C2ZoX9ArotjIl_qf5aGLRCnT2Jfy86IgPpEQq2B8Bi4e_GDK9A8BB-g_YwmYwfN2lycdFhnDn9ayt1dH4LrSf_LeeDAPgzpny64zrHvIWGu7fA53euIK-l6ZupgtbkXyvOm3oHIrqzsG8tTus6pHyr0p4h8dp44gcHjFqzu7sNC_aHLx5epRetFWHwwIVtiIZGg7S2KGY9woMPR3P_5ij4oEk4ihRed5XnmyAXlNtnNxvF_wigKlH1FqKfLVaoe7Ym7jlstp_T4bjIrfDdkuqbeTDQiJ8kDJE27hPzNyNHHWyEpvguIbM-Fh4Q3-_nFfcMv5XUl8FejokfkUazNP1fIg6msa1YhvQ2ZoIr89e_EyHJNjoVHs4Zshv7Rg-vBYvx29PmSs4LQTfhC2AODmy7Xa9oX6uC0r2lzYkEcVWa0u90wfA4rIPAjMisEXp2BdzSa0NtSqSgIH6xtFyT3pEbzY0lkqI71gSNXYFfeCjsEh6Q6Lu-WmcLswdsVDyf4eGspyFn1X0P04Ig09LSidMlRgPYNa2Vjeqp9JhV3rXYcrQo3sRNgLb7b925_QqXBZe98_rg0Uy0TFrYkZT-b4HFe990u1RQLDHou0MjTyOFXMf9tSuUO9nCQKrnI0ycsudiJseYe50v6EEHrnv8giI9ZLROYGHawu5Y9Z5ew3mpWJunZAAX9TQvK2iSTF9d7wPXSnvoeY2covaOQDaarEaJROIOjrI4XItkpLT_slepi56uXZvNVnIW5WBJZ_hPcnsf4vwXNT6wFN9T_H0cywNHJB9IYb2OWHBbl7kvjULU=",
  "id": "rs_01903b0452d703b2016ab2cc6dae0487d0af67c8fbc8b22951",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.095,\"left_z\":0.002,\"right_x\":0.325,\"right_y\":0.027,\"right_z\":0.002},\"note\":\"Both pens are visible ahead of the fingertips. I’m centering each shaft between its jaws and lowering to the tabletop; the arms remain widely separated.\"}",
  "call_id": "call_YeAlgfAdlXKjDrYRCbDHQVnN",
  "id": "fc_01903b0452d703b2016ab2cc704ab087d092c28dcc84de204a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.617, 1.7515, 0.4141, 0.5583, -0.7174, -0.4301, 0.9969, 0.0952, 1.4429, 0.2832, 0.4442, 0.0132, -0.0177, 0.996]\nstate[eef_state]: left_x=0.3361 left_y=-0.0916 left_z=0.0046 left_yaw=0.1791 left_pitch=-0.0042 left_roll=0.1396 left_gripper=0.9969 right_x=0.324 right_y=0.0322 right_z=0.0116 right_yaw=0.0849 right_pitch=-0.1556 right_roll=-0.0082 right_gripper=0.996\nstate[joint_eff]: [0.4308, -5.9829, 3.8906, 0.2515, 0.105, 0.4225, -0.0073, -0.6769, -2.3316, 3.2342, 0.3053, 0.2515, -0.2271, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:561ba2ec9132da5127080aea5a1b8c4d630a5898640093db778e0b328db9a503",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dce447f06e965a0fcc6d03d5ec4454d208fa32376876b5df91d961aaeda1bb5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c32fc3221a5d53e4c8149cd6a296fc13bbd75072c3bdef406ebe37ab73854c9b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7647, 1.3705, 0.6235, -0.0887, -0.8017, -0.5415, 0.9968, 0.1658, 0.8906, 0.45, -0.2699, 0.0883, 0.0143, 0.9959]\nstate[eef_state]: left_x=0.3194 left_y=-0.1256 left_z=0.1053 left_yaw=0.1481 left_pitch=0.0129 left_roll=0.1275 left_gripper=0.9968 right_x=0.2858 right_y=0.0356 right_z=0.1067 right_yaw=0.0739 right_pitch=-0.1478 right_roll=-0.033 right_gripper=0.9959\nstate[joint_eff]: [-0.1026, -5.9009, 6.653, 1.2918, -0.4664, -0.1001, 0.0904, 0.4581, -1.3744, 6.9949, 1.8046, 0.1929, 0.105, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssx5vPYskTW_tItOWw-pOSZwspJydzSp4IeB3Xxd1sg-M0YTH3I6YNUpRCPh6Tbcgm3JwoPPlM0Nie9kv7XQ1wgWT5qa2B0TftDN9dKx9_gU0QTudEwo6GJIc9YEHR3RtMVqvXbdGUWbZzpIytpqA9T6lAxksx8FVK-8ZESlSTp9kIZmztCK4YanJF-NQY5zxQ-0q0R4dMZZEH-T8UCJxGJ_Y-_JOHwoad3wXpHSluU7YreFwZoyJfyuR46oxDzgcVIc26bqV2nHDkYY8L0zcjGzHb0zjr9qs59J--wROYfKgd2u6zdEtPT-JBbxE-2hiU-cnG0EiwpMKVhh9CVVlG8Ql0fFoI4QfNs2_45lAKrc5rWzY3ameT8VelDqWbdgHH87zofBgNAlIWmJyC8lgCqNLeG7164mH3S-u-dXWWC4uAcUWzD4JNIvGiXIvPmzJEM0XNkf-g_pqK-nvjks696f4FhnFz5em-LPKF3ljj6Aktuqvz6lGHki__gW69OjpAq3bmG0jbuF3LpERGLQ_Fps6giYbhVyOGQ1ddXC-5YwLxGkGcseK772LBRuuYXBAsXL4XFn1RoNfP9Tci38NNoNhisowxNqUuo9crALFJ2S__e3f6MXUXLvlewZP27flbq98kv-AMdZV7A2qxSORWbeg9K7zKXRKSGJNSMBa-m3KNl37u4OspWOU0-77-hfchsH8IaBBlWb3HefStxqme-MVPp-IrLHxMrtVdOZtvHngEkOgUiVKYe57wDZ-tl2RPoEhaM-MoiB5R676e0uuMBG2lzlczb38dCJ8k8E2RN21shmCSjSQBs5vTSTinx0TUIbhRKnHiQBH_IM_z-bY_pMkV3ILBbZEg-ZIMyv9hmmegciyShHEdfBKGb_DxZc2n4RwpNgYUHD8AdXZkBxB18Z8diuM2TZ8gJXHsm4vLIoqgvdRSbpQ1d5LzjVnkhzPJ1vd3u_3_E-84NW5a9EN9MhK8vTqj4lnLqck_zounD4Tlkd_7knq3T7pXY1aU5hm4IgI9JPLKER0dqhOCFSf-tOK66DopV4dyTsET3axWofsh5_4kCCiTvyaiS4otvxUzvNJXn21yNQr4OeVJstb_HeR5F07HM3GyvDVECZxE2tFhnKDl3VodK20NRdaK_k0p-kK9PDEe4Ia7PrPYx-5etWm2wia6LfS5UbSyo_feqLDQfhyke2cG9S5r0Pk0jEGUl7AHJI-Ass1Wf_feIR_VjK0p3EtMgrnrZjMFwnoGmjgoKaQAN6BFk8bAmWMl7VU9ho4tKGDeCuKZp8Ucy5YmutX6cfa_GXt54GAhdKy5C-VemS1ZaVK_hpTB-NiObaqZV5",
  "id": "rs_01903b0452d703b2016ab2cc76377087d0ae9ca251f1483cf2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.062,\"right_y\":0.015},\"note\":\"At table height, the yellow shaft is left of center and the blue shaft slightly right of center. I’m correcting those small lateral offsets before closing.\"}",
  "call_id": "call_MK45KBl0yPBIZwq1wqxhV3cF",
  "id": "fc_01903b0452d703b2016ab2cc77f7a887d0b0af03ec9a49d145",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MK45KBl0yPBIZwq1wqxhV3cF",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5194, 1.7348, 0.3534, 0.6575, -0.6643, -0.3683, 0.9969, 0.017, 1.4494, 0.2737, 0.4824, -0.0307, -0.057, 0.996]\nstate[eef_state]: left_x=0.338 left_y=-0.0636 left_z=0.0048 left_yaw=0.2055 left_pitch=0.0064 left_roll=0.1276 left_gripper=0.9969 right_x=0.3273 right_y=0.0146 right_z=0.0135 right_yaw=0.0653 right_pitch=-0.1332 right_roll=-0.0102 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -6.5573, 3.412, 1.453, -0.0659, 0.1197, -0.022, -0.2803, -4.9709, 5.4496, 1.5946, -0.0904, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce880fb197adb0689219985037e5893bd919b912308267f878c420e17459728c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e069d106737a8e99f6c2da2e0714c84cf0326a421c840ff756ccd6c6f7e7812",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f233aab1f7f754c9ead130370d18bf7602faed3080802e52e9d3cab1350fbd9f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.617, 1.7515, 0.4141, 0.5583, -0.7174, -0.4301, 0.9969, 0.0952, 1.4429, 0.2832, 0.4442, 0.0132, -0.0177, 0.996]\nstate[eef_state]: left_x=0.3361 left_y=-0.0916 left_z=0.0046 left_yaw=0.1791 left_pitch=-0.0042 left_roll=0.1396 left_gripper=0.9969 right_x=0.324 right_y=0.0322 right_z=0.0116 right_yaw=0.0849 right_pitch=-0.1556 right_roll=-0.0082 right_gripper=0.996\nstate[joint_eff]: [0.4308, -5.9829, 3.8906, 0.2515, 0.105, 0.4225, -0.0073, -0.6769, -2.3316, 3.2342, 0.3053, 0.2515, -0.2271, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssyAAS7K8nxifMjyM3X2a4Htl3RSqqDcuRVI6KLlLGORGesiuqVGvhp9f7U9Ez-bbCV3Z_lqxiQ9Zb7wnjIPOJnGLe_33NwR1BBnDoO4DP5FgAxM8ThfUlQfJW2UQDgDjN1JGE0ipEKOyb-zz5p-rts5ufUk_b2nBWHRK1MqFA4AK4Ljdr2uFkaljH1560z-8RNYmfQWaYk7BT2UW5YzAZfIcDTVMNCg-2s4hM5HN4-CRRTQYeHAR-IWTpaggZrViTfwVPPhcau1cL60mhc7b1yUmk9yfsoB6hlYbac5QF2ViYzcmT856h26VwykjZXveUyODHz1pw_iWrcUEXhtUbQrlYehwghvqvBdXOd5Od0whDzxzcFfK-qspu-F4E7Rb-TJUV2JWb0K-MYJqnaPQTHSz-nnLvVLDuPzS0gaXqOebPEWId7wBjlBL-t6qLcNIv6AccGkxzqm9h_3SD4hpksXD5gAkJs_DUB8fhPr9_Gj2SeIutaPn16Gvcn5vitHHYAYxacEVFtQjKjQZjoWwU4E3IubxHEYzRyzmI6jDaCGSoFXDg22q1RBtq-aNSlnPIyv9ixST9MUEfP7i9rvVMLVkxliVcjvrJhpBjNcTzI95QTSXoo3bYjUpii9h7sgo_-v-i9t9fNCxqmt1sYGYQ-wFHfZdcOCFidYn_B4drBEr1kVX4tOIL_wV86MtnNQ-STr9x5tozELUMLHeUBfq-22xeoXxttYfR0koBCcUZzgi1w6ObqjHmkJzJufvFFEsBVSOvOjVohrZYyFz0LDef1Wd7V6sfXyUqnh2D1XWuCaBiyf_PS7oqupzcne_6r9gdWICFE9LT-hlygvI0IXkLzxTAtgUXJGkvu7hzWhZ7qK4FLNpRJWeAQfQ4avmXNegXqcMq_nH8STGxcX9GY6XiLQHkutjDLGbZdSgiafZsK6Anej6MLd-kO8PTpBwRXSdTdyjvzO4Qc1WQUG7BBkjORSU37_1ZshSxTena2b2UVcZmA6WPKAHJ41eioXx1f4HGjgr9ky8NfyulSXLwMSkVFnHIf9-Visg97ij0k3Rj9y0Yez_HoOWdqXcNBGkkHJdprZ2Im0JuBVgG1ncvxJpmanjL0o17W4q68MU7BlKYjxo77h_OVJ0UBUY3eMmp0t6Xcy2QsqVJ91RqMECHqFZGO7s6UKHYClVn2g5bO8blS9pduGIZpRKNZgrCz4sTBex8pRmZTrhFKeGfc-a99KkbFL71zA0M2eDzId-9rIZFyDBGVPk4tW718TaV7DWNEKIjcWbhcfKv7FSD9ZWvS4EYaOEgIoFq2npQkIoyWXjfAlhWQqFWlF2a6YHImZ9hQLWhfp1Cn4ZroKDa3GIUbXDpK5lFKIZL0-d10YGcQDw7M71Wc=",
  "id": "rs_01903b0452d703b2016ab2cc7cce0087d09b0d08978c10d0d7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"left_gripper\":0},\"note\":\"The blue shaft is between the right jaws; the yellow pen is partially obscured by the brown plush near the left jaws. I’ll close and inspect what each gripper actually holds.\"}",
  "call_id": "call_WpQ0kDf7t0WrCFdu1D4j3WAI",
  "id": "fc_01903b0452d703b2016ab2cc7e43c087d0aa0f5973da374437",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WpQ0kDf7t0WrCFdu1D4j3WAI",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5053, 1.7313, 0.3447, 0.6678, -0.6464, -0.3359, 0.1963, 0.0128, 1.4437, 0.2737, 0.4717, -0.0368, -0.0658, 0.1469]\nstate[eef_state]: left_x=0.3376 left_y=-0.0611 left_z=0.0039 left_yaw=0.1891 left_pitch=0.0001 left_roll=0.1429 left_gripper=0.1963 right_x=0.3262 right_y=0.0143 right_z=0.0133 right_yaw=0.0711 right_pitch=-0.138 right_roll=-0.0127 right_gripper=0.1469\nstate[joint_eff]: [-0.1162, -6.9675, 3.3573, 1.4481, -0.1636, 0.0024, 1.0037, 0.212, -3.8769, 5.135, 1.7021, 0.0171, 0.0708, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54782b81798c17368eafda4f5642b1a35f0fddd3c095a5a45e89f2a6fa25685b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5508e4f34b31300e8b1c13ae84079b0d7666b7c8cea1ddefa3978630888b8e33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8e5c482bb4123a8880f8f8ebba49b5f2f70daf84dd2d4e7739c95ccb96dae5a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5194, 1.7348, 0.3534, 0.6575, -0.6643, -0.3683, 0.9969, 0.017, 1.4494, 0.2737, 0.4824, -0.0307, -0.057, 0.996]\nstate[eef_state]: left_x=0.338 left_y=-0.0636 left_z=0.0048 left_yaw=0.2055 left_pitch=0.0064 left_roll=0.1276 left_gripper=0.9969 right_x=0.3273 right_y=0.0146 right_z=0.0135 right_yaw=0.0653 right_pitch=-0.1332 right_roll=-0.0102 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -6.5573, 3.412, 1.453, -0.0659, 0.1197, -0.022, -0.2803, -4.9709, 5.4496, 1.5946, -0.0904, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.09,\"right_z\":0.09},\"note\":\"Both grippers stopped on objects rather than closing empty. I’m lifting a short distance to distinguish the left-hand grasp and confirm the right pen is secure.\"}",
  "call_id": "call_RIyC0LSK00FRi0DBKoOh45bU",
  "id": "fc_01903b0452d703b2016ab2cc86d2a487d0bc70d861472ca877",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RIyC0LSK00FRi0DBKoOh45bU",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5053, 1.3582, 0.4629, 0.2081, -0.643, -0.3367, 0.1984, 0.0128, 1.1511, 0.4278, 0.0498, -0.038, -0.0681, 0.1515]\nstate[eef_state]: left_x=0.3399 left_y=-0.0629 left_z=0.0824 left_yaw=0.1872 left_pitch=0.023 left_roll=0.1203 left_gripper=0.1984 right_x=0.3285 right_y=0.0145 right_z=0.0823 right_yaw=0.0731 right_pitch=-0.1133 right_roll=-0.0153 right_gripper=0.1515\nstate[joint_eff]: [-0.212, -5.4496, 8.0889, 1.6288, -0.3004, -0.0122, 0.6129, -0.3761, -3.9453, 8.9915, 1.5849, -0.0562, 0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75cb44926f88f500a5e63a990cbb0774ad935790f58c5a5143857dfeab10cc21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce711063856be820d33b208bacda82812d9e0433601d177e601829f847342e08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1acb5614d2cd46efb3ee76d4c04e1af619c8c07ac03cf38e991864a1762d8af4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5053, 1.7313, 0.3447, 0.6678, -0.6464, -0.3359, 0.1963, 0.0128, 1.4437, 0.2737, 0.4717, -0.0368, -0.0658, 0.1469]\nstate[eef_state]: left_x=0.3376 left_y=-0.0611 left_z=0.0039 left_yaw=0.1891 left_pitch=0.0001 left_roll=0.1429 left_gripper=0.1963 right_x=0.3262 right_y=0.0143 right_z=0.0133 right_yaw=0.0711 right_pitch=-0.138 right_roll=-0.0127 right_gripper=0.1469\nstate[joint_eff]: [-0.1162, -6.9675, 3.3573, 1.4481, -0.1636, 0.0024, 1.0037, 0.212, -3.8769, 5.135, 1.7021, 0.0171, 0.0708, 1.0183]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssyTMxdLoPZjkJuSVIcpcUtmYe7Mnz35FbnNcecTgn2tq8NRAGGdM2J3HZbG6L4PxOowksCSmwpouqD6Lb-dI4WckI45GK74n-yTjDzqe918bqAcSvNVFSctVW60stWX9XG-DY-9b0TKEEahu21cw9mPWRXH0tCE3kBCYiYvHcgcgubxZeqZlVjT4TGyjFz6BkFHf1ZeWrlIdp3datbwMnvEkrEMYbmr2cTdNvegipBCdjkqbf1k5vHkx2kj17MT2f6MsnuMznsHl1g8wToHNREcShaKfI_Z8JPMAExJkKDiUS85XP9RjH4JRbQx7lFFA9Zkr469nOflCK4TYUSoprCddLZsqixHf3646FLvZ2dv69ZcqWBuv0VfAyF7euKBDuwrSaJP6tuWzvkXJGN7qGtCozCeDGJ_cDkCmNwQZo6-c8Ik85iAaks_Zki-qqnnwIuMKL98HwhlDsZaH5Yav5uZ5gIfXdoWsijEd7vetw1grpa9aA16LhmkDT9Uyt9Xmy_uxvpxFsAUkZcT1uX_9TMImVWRAnZymf5eqMH8Sm6HfFPgUznUkbl4l9O2FUBHIVesejyFThtaZiumCaTqRk3AUlZIpmydNrKJn6RVaTRWzXo3AUuUvtt_l2KEC6hSgVbmB0tecZIVJfHqBM-yQXX9iHBlrQpZJV9zdl_C1YOL6I3tzA5rfBe2zA4XPFgFSc0PjSwRDTLLig6FZ3dkl98sYw4FwZyWakMPOpgRtyTNo2ghCqaY3BgBb-HPMubjoRSMQ0Lt3iVM1oZ00ry9Y6BwPLBzLCQcWHicJF3Q2zc8aIYQ69KoXddLl3fc1tzl1Qdrgz9ytvRHeTVteM9YxLX98_hubTE4wZLEfKflwbcDQVjfTbjcoUaayERmd_7cFSp7Y8jG4SFX0BmjcVwCSzPSZVu8aG03o-bPu3pdNV2rdSSaGF1xEnzZOG3NWA8n60Rtr3KJZFoc_BVfo1pITp83WKcPyK5b6NS6G4vVhgzLpAyXIH33zOr-7_7HTcCeyrfLzn_6pWvfJ6EaJrd19olglbNNDFi3n6HWg6LAivBgecE6Bc_jKAZKYX7c6Gt8hw8DTr7wvK6kkhNp2C1HuDir3rHmU_RPTfIWPyejBKJFfRkRRVxYLf-i-TqW-c6_WntYAtZo13KHVP0KT2MUDKkKexMnemrCZZDYD7Ko_wD97Yuj-afU3oMUC9kDkGmKvQAweEjsNv8Vj0Bljkr_aGuyN4ukw6P9dHFjpRYjg88TpLhsYMBWHXA4UoTHck0pZT85T6j3BcDmSWJ48XYhKMfvYvnoK2NmSuPYrUD2dZOorZ0WB0w0Av_KmZMQWIGNYks4GpVY2i1VQKglPQKoi6Mu2RCeXexi6KYZ-gvDD_f-O0E0TRCDYCE_kAmacoJ5utjoCHrNPBonGWTpI8U2v4DiINKe2MXCQyRy6KAC8LgYJ3-yqSyyZoFiSLBBVEOQR0UKg6HnCyLmzV5yR4qGcJCrhNOx9jbYmVXfeK8LWrbzQW1jDO_spa3u34IMzMr6A4ZXiY7AjNwn8sGYsQfHyXc35CsOt0AuRq_UFMAO5RXfItL8Ray-XB01GW8olNdt2iYk1vI3we8CJShmXAiPwSNoiTqBPImdi-UmcaHxhON5r75C8CJ_SuN0DvbNkh9K0VTo",
  "id": "rs_01903b0452d703b2016ab2cc8d70a087d09523606ba49e8f97",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_y\":0.21,\"right_z\":0.19,\"left_z\":0.22},\"note\":\"The right arm has the blue-and-white pen. I’m carrying it to the pen basket while raising the left grasp clear enough to identify it without dragging nearby plush toys.\"}",
  "call_id": "call_OwvX0MDQPDjhz0hfJPXZSFWi",
  "id": "fc_01903b0452d703b2016ab2cc907a7487d0a72548085243138e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OwvX0MDQPDjhz0hfJPXZSFWi",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5053, 1.1648, 0.8707, -0.4221, -0.6426, -0.3405, 0.2004, 0.4706, 1.9663, 1.6482, -0.3985, 0.2928, 0.2035, 0.1515]\nstate[eef_state]: left_x=0.3393 left_y=-0.0626 left_z=0.2022 left_yaw=0.1887 left_pitch=0.0008 left_roll=0.1354 left_gripper=0.2004 right_x=0.515 right_y=0.2088 right_z=0.179 right_yaw=0.1047 right_pitch=-0.1205 right_roll=-0.0191 right_gripper=0.1515\nstate[joint_eff]: [-0.294, -4.588, 9.812, 1.6532, -0.2857, -0.0171, 0.5446, 0.2393, -11.1795, 9.2103, 1.2674, 0.3101, 0.188, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bebbb8e403bccc4627434b1133b4407e9afde64c4cfc9fa618abcc92e164376",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ccd70322e083d2257567c161b2742f5a091351d76ab6600e24c33a2f98cb39b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddd78d1fc484f685f52739db694f79b05485bd0cfaf87c3658237d3e25a04895",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 109 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5053, 1.3582, 0.4629, 0.2081, -0.643, -0.3367, 0.1984, 0.0128, 1.1511, 0.4278, 0.0498, -0.038, -0.0681, 0.1515]\nstate[eef_state]: left_x=0.3399 left_y=-0.0629 left_z=0.0824 left_yaw=0.1872 left_pitch=0.023 left_roll=0.1203 left_gripper=0.1984 right_x=0.3285 right_y=0.0145 right_z=0.0823 right_yaw=0.0731 right_pitch=-0.1133 right_roll=-0.0153 right_gripper=0.1515\nstate[joint_eff]: [-0.212, -5.4496, 8.0889, 1.6288, -0.3004, -0.0122, 0.6129, -0.3761, -3.9453, 8.9915, 1.5849, -0.0562, 0.0024, 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": "gAAAAABqssymjiE0oOJhncmaYV0h-XbKjHB75J4CIu4eJOS8tj6HHuS7w1YoZqchub1TD8xJnowUEH4ait-PqY3oAoU7Hm9sEqTB-MhBqD1QxNnLPGJpk6t-ar0M0aEoEWrjSt5bEtilMYznAMFwMkAXIy1-Osrnz3LKsI2QWf9CgfLfZ8-riGnieQXjQvXJ2pF9D6zJ8H3ydM7z-LZYUtEqOoo3ngk1jkv2RPzXALUXsZMN84_Oqk2kpShlpXMcBXWmUU219Lj8cjbfAedCWdWAQsqQUdlNmlWScEZz6Yi6vX_62xOOoxWfLp6xewoEl-GSx6ck-tOa-fvRxnuclRLB0VtgXC3hNo4VP26VJRrtVXbDaZw_oxypIJctc1LW6rgv9vgbI7P6IIjc4jMsk119-C0KhVxgMCO-s8eFJ3Ly54fxoJ43P7TBQHv_kLNYjIaOzXvEVnLzCW9yv5Ms17T16spF-lh0mhgdnGMOfLGXVZ2oIUK1GNWIa74vfOWoKXmZGt8TI8EOx5Kyc2zlZFRGrCeBWoMquYdlmZnWo0t-MiDuT7Rx_IMW6KVh-00tXu5M6WfjLcKtjgYAc1oyXFyappJHXL16eNJnG6L9T9oJ2EdSOvA-uIrJmpVVNhmmZKj4JcWO3GTpFDJ9j-5BgDos_hbZkI3-ti39zCBfoSSeqbgUozPRjfkmhelOOQ81wLcQaW8DRILPUznq9GEJOrdp9SM4vPeTjIVcbX7l-AQcCrMRnLe67SdgD2CwQMMwEG2xod86Wh8G2OgdSAUBMegKD1JmkSfnP8cYfjtHvQrMuTbs8zojkLfc62RWrklz4BQRiaz_Dj_SYLFtX0i0iFNfFKHeqWh3e6mwsgPQfylLoTwcrcwN9a_AsEpCNmQ2ykn7oNysOxTs4to0yGsDWVdCAPlVuuYWggbIPHEf8BdD2Z6eOWDBcQC4jROR5L_GkPBZ69vFSciAi0w3IThHNCLkyjZAZZ3n2FNXU1qsXNRQ4gCuqLFof1pTcDhER_gjXEu_eRJPsCG3L4qEal2H_LPcbHfVOHc2NGhuQtwRyPSu_a8Q2pfYbW_l83rxJjt3A_Acfj7VC3Zfm9wcfF_OPfQoc6Vd-eQV2KzvPxJ5fsTjYGnYZFiEL3MCxCjO2waCD8cdNQJUHU1zF_QTEuIeTK_zLGxZArpgUU8ZiI-FyJhzz0mKrDZ-nbyg8rmIruJ6I7J59yVTuTs6YDs2PeM-e8yn3w2H2fyOqhh0O1jIUew_VwFhzC9wPe6yXHVvNoDgJyj8WtOV9AcTpVEr6BaZHx96RW0TSDskCh98IhYAa4d3vjoOhPtxJ6B4ztzLEHQcCZz-KuZmBgj-6zme9PJtew2msMjEd9pUrUDzONxlRoyMjvf5TCr5G7mKy4jDWo4P0wam-rhmpty_2NSvywB-GDiW15Y-Qf4uZ66cPFBAVQzQS-EObqRpdqvkgkthqeeR5T4hL59ugmIaNd6U-totumeUrb-tVh2AyEviBrRnQbcFul-cUPjpIkevmlfaJU01Mto5uwZm_k38QGWHA7YgUtb5PE78G5UdZbNZD-KRQGR80IU8AaVT4852Wfm19cjIM3czMs9yhOvUDR3JMFMvnkKaLutGhxrO5-Y4Oa9j4c5uAI7yYoco1LuraydEn2APV4TuS2LSgTD8fHo1jKBAUvTjRrlkN3u_0R9A2R8y6jXUQMWzthV0dv7XaR3zTGajHxFefrJN6zs-gKY9y2OeKBgmJccSKyrBMYWb9TOBqPDC_QYLzMC4989X_rt90ZaXSO7ttt1Xiglm556h7gwNx7_N8wdCPviHK2PNQyg8YMxO0kGHdbzbR5M=",
  "id": "rs_01903b0452d703b2016ab2cca0e6b887d080ac44303345e39e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_x\":0.52,\"left_y\":-0.14,\"left_z\":0.25},\"note\":\"The left grasp is carrying plush fabric, so it belongs in the left basket. I’m moving it there while releasing the second blue pen into the right basket.\"}",
  "call_id": "call_QH3mEX1EgwtVKDNmVL48ZLz1",
  "id": "fc_01903b0452d703b2016ab2cca4a77887d0a82f19bac9e37fa1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QH3mEX1EgwtVKDNmVL48ZLz1",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4595, 1.9049, 1.7416, -0.5526, -0.6239, -0.3283, 0.2026, 0.4713, 1.9862, 1.6444, -0.4091, 0.2836, 0.1986, 0.9966]\nstate[eef_state]: left_x=0.5127 left_y=-0.1346 left_z=0.2409 left_yaw=0.2139 left_pitch=-0.0075 left_roll=0.1359 left_gripper=0.2026 right_x=0.5133 right_y=0.2101 right_z=0.1646 right_yaw=0.114 right_pitch=-0.1548 right_roll=-0.0294 right_gripper=0.9966\nstate[joint_eff]: [0.0889, -10.4957, 8.2667, 1.4774, -0.0904, 0.2662, 0.5446, -0.3897, -12.9026, 7.3368, 1.6874, 0.1441, 0.0024, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4183f8ecefed4e3f9849dfb4cc5775eba7aa1c3b713d57dac9ee64d0acdceed0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71baf13cb10c7610a8bbaab84c5c41be2af5722985e5e5400f59e485ddf3cb47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ce61f9694997b91b6fa1ae5680d778705132cfac6fdb380d3ac1dc25db1c08b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 113 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5053, 1.1648, 0.8707, -0.4221, -0.6426, -0.3405, 0.2004, 0.4706, 1.9663, 1.6482, -0.3985, 0.2928, 0.2035, 0.1515]\nstate[eef_state]: left_x=0.3393 left_y=-0.0626 left_z=0.2022 left_yaw=0.1887 left_pitch=0.0008 left_roll=0.1354 left_gripper=0.2004 right_x=0.515 right_y=0.2088 right_z=0.179 right_yaw=0.1047 right_pitch=-0.1205 right_roll=-0.0191 right_gripper=0.1515\nstate[joint_eff]: [-0.294, -4.588, 9.812, 1.6532, -0.2857, -0.0171, 0.5446, 0.2393, -11.1795, 9.2103, 1.2674, 0.3101, 0.188, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssy1XKuAuRNDxCPBnyEVbb0lzPeXf9LsIOROyvQSPQJuaptY3cIP2zbUQ28fxTttX-q1D9Hu8OyIpuQIkAMN96a_xOg-X88_B2x1WergLveV0MSAreIhwHp_sw20U4d3QDjP-wlLy0aGcg36-SROkqIfd4zEP58HlluTi_2zo-dnb5b2uz1sBtvKKpnhXEErHtiiSb5S24Dm3WdXQmOvxUnW1t0YxkkJTKWijx8oJFycgpCJga4ddVfCjYTMXzvio0n_Uyow5ySmqiagK3KeNGRE-1y8-VdnEVaXS25hN3GEIENCP4vpOUtbx_aCjojznm73pqQPV9JpZKE0bWzrtt7JN6gKdAYET35uqRKHhQsNLhysA-pdSKZ55gmHyTC9UKf72lii-if9WZaNG-J67UuUuLTDiEEQu2zL6bLTaMcraFVMCC1U4vpOW_hRWsyIJx8yeA9ZDHK9kqS_H1WJkXAhuSgXudFeMs4UQaPhczAbsErszGk87L3kJlaymhbjAmvYU5jNYwcdPPT9imwSJIbIpyvcaYLY9W74AzK-jLEiO-HQlEZB2NFrYCFk8-N7qb32OlrI_7BZGS0gE3PkUbRCaqd-Fp8Ab-wfsXDLo_C49NztFOU32YxuOrfB06jYcP53Le13AvJmw9iGK3GW-RWjnBXUgoPVaVVSelFY-mrLtGiWf8CSpYHRC72HbCyU-v8BFovguuERngMsSNBKueI2i9bFyZ4qcRw-BqJTdcYamCEBH4V-g3yZd-MHKz_hngjXrdnvTSz008ggUrZmGUEIQzW372WQFRQX1xy0GdF7k2xSakf6TA5lLaDtaeXfrrdPcw9QfL0ldppz5oIzsTyDFkzJNc4fJhdKjHLownvUYGGKAQVEzChD6BcynI4b9tShx-4sIWrulTXbHj5y_5PI3hN3Lz_d1qfcdIrIEVl34UF01J_5OJzPbfwsyAbSfeW4if67HrHmQzy9i0gXc245cHkgVEejHcWISVduEdZFxP7NFkKHueko80SZrGWPV7FiQi-gFjhoQdqRmFbjRTuxAG9ZVnVII19TRVYqLRA9pKJypstYwjJjBD2YLuNvfrgQYY9VMgDp49Oj2EHynVhc17BgEfcgbeN-ZU46UeZJ1Vsxsbjy0uzhLC_n_RvmrCaltFKqY4Q5Ycvfenq7B3xbkC_78ontvw8fLd6Hk6SznNDst4FjfhloboXUVwkoevGiFN5n8risVerGQCy5lUoX18P_tmEj2DT-zi3mv7UofxNPEHroke5rl_Z4DNsYT6z6ceSTL6lkj3hcSirJ4U47Dx666blkLZeAo2ty4VZublZ8cDFkfWI-PqfCXahGKZ6gLfpfwCslU0eYJqAmoHPmZw2c2OuLDdhxGVgJ_wIeFvlQDehfp91nuufNTSoQSUPCRmnzMYmDjp5a-145JDa7RLv5IKZyNPqTbg1lg74PYQ8uVvvBHW7zRWoc-hJpOETvB0u17Y6C-qzhW5ltiMC4xTyMDhndQYSIWCDUDpEaTNongZppA9udKj35ySapZqTW2cVbDz4RZVaMPMrZjPKMlx3aubm9iDPViNXmZv7jBXMwMv_Ir0fCc3O011IIG0WiD06dtcICcyUyLlXefCoB-4iap7ky9nOxC4jowld5BVSvovCKUbARxQjHy5uf9C9miO5Ge6UmLaZ1WJ_iAe9HDO_PVnpm74OMN9Ld2MIl_w-mhgSQxlGicvBeL5zTy0wSb2HkInXlHYezFJjX9HM5mWivMt6jtEOVieT5K7d9BkTfW9DYrUYZ-2w3_72tFYdj_XPaPXVST0JF8Dh65Ua0uGXGVkknF8yg33wbrAos5Tl2BU_PytqEBFj6RqcXUuiUNgGLd1VgTHxGcbVdKn5zB9l6U7Q5oO7YaPgqHstGuJSZaiJb2K2naQJl80SwZOoEQ5v5xTXsdr7hCg9EDU5ICB1lcYOIAEBdmyR-3cUWhVOXa0g-t9YA4oIXrf-mrHCc--rYY1S4yVeDU8o6NzgH9uTmmJyRD4FPLeZMBJWcFEdXv4Ed3gAWKXor_2-_xed4XiVVswLvjdGbb0lmw2ELRg-A7hKAVdlxCOJI_P92_wtftWRc6UPNaRylXABuYABJ5nUE1V1FvARGGSuYk91X8EP_Cke9I3oRF0XYKvE5aiRvDo7XpcR_N9Vw4CoXXfa6GS4QcGINSRMXNfyjfMmCiC988NtKfaWwpxdHmvWQY9sHKrQMceO71b_9NHZSZ-djebU1Cs4BEJh-DEso5FrOnwdg3BTNzXK6_F2QxbI4Fku7IRp8Pc85KkvrB5-YjvYCBYH4ZYCZH654p_Ty63HbMBb7MyWp_OqMO939URu-oE-NDCITuuZB19-cCH3G7YLHluSiuzEuKWWzqNyMzbpHvNcEmppXGstrnBS4RQyHXWLO6-CuT8RIfHKqPUd9v-5N0khzHSEqUtMvh39eiiUGgO8Vh8acIBwRMBIwSPG6Mb2k2323dBzFudhewTzjsrCxTpyJHoH2zsbDrR1CYgiXuMAw2DZIhgGCdZ8gcjd1CfGNrbMsSArqWlsYZ0ZwBAJUn8kZVZU2d8C7mz8V-IyuAHaB5gM5rjoOXcbYpjiIX09ELVzb0q-JRJ0S2gL23UzG7RMs35JGAcSgmMqdzFP09iz6eRoMBFbRB-ZgSQ8NBAkfa27bwgzpC5GjBIRvmJ6SsgdoFhWFnnJ9FHeNfiQ6EOoK2DlHUy-j3EKGpeZC8-w1_EnszWeDTReVIshK7AYB5Cht2dBnPXxpSUrjDp3IsGVJXntTumn_u8VogJzfEV-hulQEpxZiGoCUu2BHVp-T",
  "id": "rs_01903b0452d703b2016ab2ccaaed4887d084349941ffb25cae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.23,\"left_z\":0.29},\"note\":\"The closer wrist view reveals a yellow pen in the left jaws; the brown fabric is the plush already in the basket. I’m keeping the pen closed and moving the right arm clear before transferring it to the pen basket.\"}",
  "call_id": "call_s2m0GgFBfBpMzFw3Lbl02Vws",
  "id": "fc_01903b0452d703b2016ab2ccb3dd3487d080ec0f9ee5627748",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_s2m0GgFBfBpMzFw3Lbl02Vws",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4603, 1.9377, 1.9549, -0.7673, -0.6243, -0.3405, 0.2048, -0.0681, 0.9928, 0.9783, -0.672, -0.0818, -0.1307, 0.9972]\nstate[eef_state]: left_x=0.5087 left_y=-0.133 left_z=0.2773 left_yaw=0.2203 left_pitch=-0.0332 left_roll=0.1474 left_gripper=0.2048 right_x=0.3126 right_y=-0.0033 right_z=0.2337 right_yaw=0.0632 right_pitch=-0.1244 right_roll=-0.0354 right_gripper=0.9972\nstate[joint_eff]: [-0.1162, -9.7573, 9.6205, 1.5995, -0.2418, 0.1245, 0.4713, -0.2667, -2.6598, 6.8444, 1.6239, -0.1685, -0.022, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffdc2811560a9e41bf4b7576c79e5e2bd327428d0a9cb943c5c29268c6d2183f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8f1fce6b83eef8d295dde9f65f0de3d8e84cbf29fa3d47ce3606ab021770711",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:558c535ab6cbcf5b0fa779f853ce25a02c3929aec97517e1494c763a81897f4c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 117 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4595, 1.9049, 1.7416, -0.5526, -0.6239, -0.3283, 0.2026, 0.4713, 1.9862, 1.6444, -0.4091, 0.2836, 0.1986, 0.9966]\nstate[eef_state]: left_x=0.5127 left_y=-0.1346 left_z=0.2409 left_yaw=0.2139 left_pitch=-0.0075 left_roll=0.1359 left_gripper=0.2026 right_x=0.5133 right_y=0.2101 right_z=0.1646 right_yaw=0.114 right_pitch=-0.1548 right_roll=-0.0294 right_gripper=0.9966\nstate[joint_eff]: [0.0889, -10.4957, 8.2667, 1.4774, -0.0904, 0.2662, 0.5446, -0.3897, -12.9026, 7.3368, 1.6874, 0.1441, 0.0024, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsszGFMRdk-c0aSD2jdYFUeH0pzcAyT8dUuFqBt6YJJyFYCyh16rnG63ci7K2-LXV1BUkg7Y8rkb7j8kHXsQi7u_MFrCmjYiVq18lP8azkO6BPIlYS-IZOCm9itKsymMYjhqycuSf6wPQNCd3rxdQjce8K2zGEgpckaLbaLw7bI40MN6WWdxk6zkoMhoIXMvEPJzyxVd2HWMQNyWYHSmjBMWttA86ygfWknDIEwAjBuCOvEwA5j58hiirhR6-ZYirp9A-fziDviMvJ_MGtHjtahigE9JqR2y4BpyjfFqr-92_VrnVsbEiDeycry6RD2Py8Mui4EHUc4zX5l1Z96XMuRW-m8t-pJ5Yzr60lUVtTqfB_BxwSkrW6j5-hMzsY7ZVCw7rYLHeeGBDTRlFPb-TsVNzp5TkmW3jBkRTuo9jGsavJATxxXGkBfH67OJsZROwXO0e0x3bTrB0zFVS2kyIx09Jq9wdRsQB60FiH0nL03F8I44MpPcn0rVvLb-nlj-qIy7rMNE4xLcrpFoUgv7u4j0QwhE78UJ2594jrt0pyz4bFTEl60O0wyPw3v47Sutu4y15vGE0euxgN8cw2Met-2VwEXuAGJKW0Z0bEXaLgn6ic8ShdDknZsIl1zxBz-ncUtInYaALG03pQvkxDf-z58ysJAuUo-VYF10X9WOtkHiSJr3yWK5-S83NGLzfSmd2o8erGfs6sN146YK0fWzy0KqEzQxzgA2cb52u72rF7gI2GPRhDuB5TsN5uvQK8e-fqcO8qP03lg17134gj2x1hO2NVODpDLthO7O_nisOTY4TLswdJZGH5ErFF3xTvF4KxAwDHIP6Dzi5vpdbzgzzecwvEZ82wGb8R54S0T_ya-4p-8xse6TDypGqVLqnQj27uv4DsGiX7d1F501YJRFWMrxR0g5ampJ0SO97LQ3v7qhsiRvurZ6860U58ZSxKka95kL7p2TVgLbNwr7LvFqoKXclgfa722W3CK8RB11Gy2yefu_88DtvjeCY6hTFXwQn8gwwF3MU6pTGtN80F87jC7W1jP9yWFCRvrOCgGAhsbOdTDsORzEko2JnspSkjnTFIDi8DANHBKMRKA6XHMcZOV4P_Y6iv_M47J4Cw-X1OJhdXB3c_MxPzKoyxqXCvZisLIHbcl4p7lr4oBV2dG9qMAHmlafgsdD0YHxlFnnIXyoH2D1BSFLcgvQO5szBjoVIiTRol-xpOIyUtharpVpEDICaOc2BOfk87nQZY8LUQ6icTIc2xXAu2AB6cw1u4jkm383oQAFCu_PLmYgvHas9EQ5L5D6epSDcGQdSVL4uFgg9rtVX2IgfUtrDXNfeskzW9a-TCQUzI60Xg0jomSyB3JKaQhNPYjf22YPaO2ku28JhajusKWyX3LokEXTTnIlwRg-u2H1ODZVtLOjCKklhSJTrze-EvSCwdSOq7zuXb2kwxU7RJdJlH3yisPwrWOilzfwrbli19Z5zfDbNcckVBogLh4cjKXu3mFmgKAf55cPgJzgwXc-emhFo1aWHDbCufii_WtoKwR9s_EP6srOZFG3XD-WLfYsYg3GKFM_5-5BBPVJSfhNX3E7nP7LrImRqaKLwhzsQwS6CpMimq4yTyxUnnZPKekUvTJRrHSUD26mETF7MdQjSJRJAmIp63RNjlAMeptAfGJjkFDaCINhK9pJuByShoGv8BdzlyJ-AlHhTtj-iDa5LFuOeEGnm842WjgN1iSlFq4HfNz0Po2T8MFRQ8rzDWNqCpMCBTVx7SqCBjnAhlCicHQL-uNRgqYa8ESMSAsveOxrRbCMUUU7iy00VrflHBL9JlVtpEif8kCVow2tE0_tjrjrHcO7qYdJ--ysk9y-XVy3B2GI2kpck2Q5MHX5XaO34IZwNKFGxNKRY39Y3I4hvdC_x0pDTwcVhUJoei12esV4VUtYiZs4qXQ8odW28ejRbSjH3jZmXYfC3RlhR4TTMtvJjeg-0aWgLt6nYIy5zJrfWyjuUBE34-AxKaor7JDbY5nN9HhqS4j6EYmmBgVt_nEJU8vYeNXjBAjQdOG8CjdA08HOnIlLnJ3U49w2tlQFMCyjNwRYBzDZLOdwKCnfcQijFX_1Q4jndQr2YOHMEFbExZg8Rcl1F7Nxzv6vwHDucPIAEI2pyCuJ2Ie5mAHZZljEdy5XZJONvqFcufOkszLV9FsCz0mJ6qcpPT9Gg-PTy4cszUgjNWipzbL9_MvuTQkS__bo4Zw_mXbJAr0J0LY8pwqMrVrZ5lwLR9uMwXq7N7U698T_nO_6jQIwuoe4WALvUoStae0WPrHPySx_s0zEnqlE-Mtb5pIyaaGB0F8PbmZImGH_rCrGjq5qnFVxq9urDB7Z8LC8rC6w5HcR6rtMfFonSPiuTBcUTSUdEyPwmiCpav8t5VFbDg_8ldI8hj5pqUU1wYfLgPkTFblw-Ke6vw5PxZVMT_IroctJHcSOIzB79a1i2ShdgZALttREwodvwhwjF53Mc0DzXKIhMZVQ9-ivlKtmUBe0AwnRbXreYUEhE2TUSRJAbVOCqInTx_s1NI8Qd4CCYE6ioIp5zkIN9BZFeAoSsFyvVJwOKE7XMoZuPzZxS3LAclCC1T4cS2g8CTteWILraKdXt",
  "id": "rs_01903b0452d703b2016ab2ccb9ff9087d088856fe3a7192f0f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":-0.36,\"left_z\":0.24},\"note\":\"I’m moving the yellow pen toward the right basket while watching for any plush fabric caught with it.\"}",
  "call_id": "call_HaFHQvhNY9hxkpecF7puW6zs",
  "id": "fc_01903b0452d703b2016ab2ccc4bc3c87d09e3343392a385d40",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HaFHQvhNY9hxkpecF7puW6zs",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8192, 2.6446, 2.8933, -1.3083, -0.8219, -0.6914, 0.206, -0.0711, 0.9989, 0.9737, -0.6903, -0.0872, -0.1493, 0.9973]\nstate[eef_state]: left_x=0.4849 left_y=-0.3241 left_z=0.1905 left_yaw=0.1919 left_pitch=-0.0888 left_roll=0.1967 left_gripper=0.206 right_x=0.3099 right_y=-0.0031 right_z=0.2265 right_yaw=0.0753 right_pitch=-0.1531 right_roll=-0.0424 right_gripper=0.9973\nstate[joint_eff]: [-0.4581, -16.1436, 6.5299, 1.3895, -0.7741, -0.149, 0.3443, -0.1162, -2.9197, 7.1726, 1.8388, 0.0073, 0.1587, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef055dc5a9b19e201fc88f4eaa83d265257d4e46e69b7e2770df539f2ce9af75",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99136a13293845ddb849312edf13aef6e7d0d4381293c8cbfe51edd168038985",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72e35c8d59d4a2806e435fa88480b10ae25d0a3502a5948407be033f7daf2c4d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 121 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4603, 1.9377, 1.9549, -0.7673, -0.6243, -0.3405, 0.2048, -0.0681, 0.9928, 0.9783, -0.672, -0.0818, -0.1307, 0.9972]\nstate[eef_state]: left_x=0.5087 left_y=-0.133 left_z=0.2773 left_yaw=0.2203 left_pitch=-0.0332 left_roll=0.1474 left_gripper=0.2048 right_x=0.3126 right_y=-0.0033 right_z=0.2337 right_yaw=0.0632 right_pitch=-0.1244 right_roll=-0.0354 right_gripper=0.9972\nstate[joint_eff]: [-0.1162, -9.7573, 9.6205, 1.5995, -0.2418, 0.1245, 0.4713, -0.2667, -2.6598, 6.8444, 1.6239, -0.1685, -0.022, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsszc6jTOQOAwOJQR1nQFNiboaOWTagkmSfjQRxk6H3hkcnY-NR0B7WHUUjmz6i71uIU9sbq9SXyV7QcKT5g4Phr_2NkLthM5oDcBwjRB7Q6TECwkYTV28RnL5mkRoYavZ7FR6Qq0tXBoTJtrM4aZB9XFOOPF4zLWr_hBeGNTQLpWe9PhHO6Pq3fGjHRZPdjSizjqlMVItAaIytDJ5-KMdWnkQnvvSekZaeqCgNQ0xt_aWDBcTNbCvSFmJaRudFPN8ERbPV2RbNQAQ8GbbTMUj-NU1dzs03HzROQ6PuNj7pSAV28dTMqlGdbqIzfXp7iBjTZPRelpjkXL2lZZ9yy8Quva7VbeHc1I4NdM76UC0o6eofcxQtrC5NqSMZvr4SrUtHLzYCGFoWs2T9PkB9v-54z30bCFYzYyDATAMrmYh5iI2eQwh_gve8QKcpwyPEBudsQI17PId9_cg8oN-tH-f_yl_g88IKjhMYSHhdyJLRxbjgNtASQZRTIpNoExKZY-zLloG32gEqne28vpMc9quwjavWHGWXkuKDFHGRh4hPc5cpWUn3RwNwSyOG8q-i9eMsakMIx9Kc0HdsBuB0O4f8ixWmN4R71FO0X0rWDdwJPU0YtMNg2IxuH0EA7fV7-zXRnbib6oh2RRSJ003nklHmr6a6kXLPgLuypf3Q3Z6HgOvtoZLAbsev-Mt9B20l4dh7pp7OucDSNLTA5ko85A441cYrrsxkAN1Q8_5OE-kLzZSFcWkGsXW58kghstBrlHJaM2QTt4DngYAPrmKbuCfSUQ-RPQ7yKmeMS27K8LPhr_KMbxgxboN-cUt3dmuV-e3dsORk_gDtPZ11TIAsfLFPZX0tx1F3j96Ox0Lg27xE-VML8NroBL4iRUuXXshwtMYJ5KrtSV04vaNw5rtCxoNRyZbi_ShwNfxWVJPGpWpvBeJVb3j39w_KKE_YLtriqQu2HomQ_0NzESzlbUSDf3un5OAfRu048BzMaYWP3ZfjYwU5NSM7D3pr8yhU0-oeitQRArNPBtTACwXmkfmJt6Gu-NG80GAztFRDrTzx_ejKPcRfaIvQbgake89KNLOLnqvtdpzFjz2rjcpvTCNHca8c7C12Q8PwXhReJwTR1qIIMv2A2fPtmxPcLCY4JAbTfiQM-dcy2_4HOz5wYB7Ct_jJh8GXv5FrLJY0bsgdXROdYXBcC9F8iZLZpxJSigW_LgXel5NtgI3BW2Z7wuTJ8ANTPN-38vlwxWX_45FTGQpV0J-quIwEAWQ_SspLBKQ3BmasFGExsbxcyme-e1qZErvLhqUy4vGz0-YPKICCPzs2SMNU2lewslYInH9wuDMXu64NLza4cWu1RqlzVLpt9nivKVGyREhl7VIswI_tFd2FznJQGAvgsebIPGp-RujJ4Pf7klEQy2UCdGGMC3po-c_W3IOIU8481z4emHP1MPMbNhUjvs5fbzDW57rBTGl0e1LWlAXCQeq3VGmKNvbHGH1AVHudoRaym-pq1h2eyGghrHgmkbrFCQu-YPnymySX7s6oUInmT-Sn2W4q87w-LT9_ofZQmhHKm24iUZWq6_ncipKgNf0OkDnzQirKy6g-kdWBKDYDo3_bh_zESLq_W_0XpUcqJ_xhmc-fHgZ3WAy5lRjyWu7SwhrfDsb8KCDrFySpW5pmTZEpZVDfEE3GyyJK_dafSMM7cadb63aPdTc5mSsOGeg_ydkdkOLtr-LWjNMFPLnFqZ8U5ruKjvUtSLJzcRg7vmdgFHeizux0wmXR6zpDVB8Fjf_RB-Yv679Jt7181CwtSyO7j0Oq6nw79J4xMjhHLDtwpgXLIZlJInBScLBLfoFTAajxo4c8zO-B2Nt5A70XyAZKTKIy8q42rdiFoGZYtJQx2YANrQW5fq46l7e3-PwKTRin-5L0f7ZWgkSRIF5ZoFUVSBC9N73wDaBywp7qO5ArfSvXIuLXo7_6sUHWzGFUjb9NI7RMeBwLzCTt6Gu_-27o2sHUJMHcUEVA8OHpr_2mvcGWc5eaKpLl8_V5A76nn4V1BBTMUxcuJqgK8rYAGrBCUMuqLH89G4O4BaerVVcaNJgx9X6p0DOhbDAEVKztLBBE3kSw9R7gEwzBZH2D0Ho4REQKfbVC2t9l8yMzarZknVop7iEQsGqGs7vC-cAc5MMCUV6Zi7MEP_zrH-GHp3JIgEtz-KdLMivQ6Rds-UazjXUQJZJ_l8Ymr8JIwFIzQHMQC534wOMLUNzqmVqW3b50K9kBfRs6xWkxTEb9mdpEqenmNTNsThdt1382g6aJv1RDkjPzh00ERcIh-rUxZQwdaxMebirQX_-coseCNZ91QKAVC-Ol8jhATGw6nQ3al9ZBakEL-02GCUycA3O_y3xOxpeC728hZ8vvjk96p-RmfqKqaI7noeZIm3aMhUuMsdBDnfITMwIKEFxkfXKFmmv5ZqYdW8LkXadj8j8llrSwO416U12GWj_9oHt9FBsu5aZ5Qx4rky9DvMFWY-hw1-HtHEOxVk7jk_dbsn9XogKixrBsxE8CaTA_A46ChADJNiW7oAoc7AzBerjw4TBuuXluxUAXrl_oIxX6Ns2iO1jH5E0NKNFbvCdrz5pD2K7s2WYCRe_GFxWsTcKqE74VNyfulwsTKE2sk1yXF_Bwv7V8-yTLXQQwIk7MgdmlqHJ8_MCtg8yYkqOMuLqWfhZuutVAMoPRREISOXXhLRgWSWgZRA92wkxB-hgvgqeBEIQ4SgUPkS-IsTTYNE1m2fNvG8HbsOpHsmK1qjNVb7muwWOTZwd2gpHkuAH7epuUpS9wSI6wPpf3tK1AVOQReY-TbdTnI7W5Mt0KqYQrpF_uwYDIoP2N8UlDprSucbmVS9f930mfxYE-7NbZaOZ5Eog1fkhBv_m20yIPquBUToUpviQkjnwQGp_TCMXabXPuBaO5tWDLH11XZZusCTnHr-wjiOnXEMIP4296r0Hs9ul3KDqnrsRh3nGds2uo8BpV1iZBFldjAbLjIpd1XmtSV9AVyIhTG5oE74rU1eN0m9N1LC7W-pTVHNmatlUGBkrsFhRcliSn4QdCo1ThIrIlIjCo5GkV_JjjTgmpymLVBB8Mq6Si3T-AKBIiIMFM7dAFvnuHoOjTOTyNcfDoub5D2CYIpxPL9Kxwfk9aRAaqhwohJLZPh4qqK1_TL7oIP8-nZ7EOLzzAxc9OQc_0-T-HgbgTluOVH_Kcbb-wNsfWqfxjQ3jf03FdQGzhDFxAX-RCSvbzDGMix9L_5QUbVbVCR1FeS9y-VuR1DA39nR1AcG4avrhJBhx1Eq7XmE528lzIAbJKttt_4_W4byLjG9aSaFtKNuInMQjKT5X8CC01lSEwR-zptYapQxYXnAIA4JX4SvCWqNzg5o9VPk_dpDFI_nlMaGw9HDdUjeO11pfX18LXYDKJIwm8QdJ-7R4YGnFsj3Mn_WYBtaX5sM3M6acBwQMpgbt6qeGHIRgdvv6_WNujLE725ucslDRbnHCfjHLTJKRgQZF_T1DiulDx3k4tXthicgoffXhe8gbSGGJkSaYCg6XIhVe-B8bNdOaf4m68o=",
  "id": "rs_01903b0452d703b2016ab2cccb727887d0b058b0a1063c909f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.28,\"left_z\":0.08},\"note\":\"The brown plush is caught together with the yellow pen; they are moving as a pair. I’ll set them back on the table rather than mix the two categories in a basket.\"}",
  "call_id": "call_3C0oc9mKpCem1bjZelr5il2b",
  "id": "fc_01903b0452d703b2016ab2ccdb275487d0b8297170a6ecc3c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3C0oc9mKpCem1bjZelr5il2b",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.963, 2.8693, 3.1214, -1.494, -0.857, -0.9047, 0.2081, -0.0715, 1.0042, 0.973, -0.6975, -0.0875, -0.1501, 0.9973]\nstate[eef_state]: left_x=0.4303 left_y=-0.3785 left_z=0.1266 left_yaw=0.1931 left_pitch=-0.1227 left_roll=0.2051 left_gripper=0.2081 right_x=0.3093 right_y=-0.0031 right_z=0.2233 right_yaw=0.0759 right_pitch=-0.1663 right_roll=-0.0407 right_gripper=0.9973\nstate[joint_eff]: [-0.6359, -12.9573, 7.0496, 0.6422, -0.6325, -0.1148, 0.4029, -0.1299, -2.865, 6.7897, 1.6386, -0.0806, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2250abd07883d333e8984a33303152f99114864b88a488222d57ffd6b0977243",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bd343e3a6706bf929c32a187ee1ad3f0ad91863fe8dfad311badf53be29e642",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0785dd1b45cd638de57da639f3200c4569e16054706b4c56b1ecc81fdcaf04b5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 125 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8192, 2.6446, 2.8933, -1.3083, -0.8219, -0.6914, 0.206, -0.0711, 0.9989, 0.9737, -0.6903, -0.0872, -0.1493, 0.9973]\nstate[eef_state]: left_x=0.4849 left_y=-0.3241 left_z=0.1905 left_yaw=0.1919 left_pitch=-0.0888 left_roll=0.1967 left_gripper=0.206 right_x=0.3099 right_y=-0.0031 right_z=0.2265 right_yaw=0.0753 right_pitch=-0.1531 right_roll=-0.0424 right_gripper=0.9973\nstate[joint_eff]: [-0.4581, -16.1436, 6.5299, 1.3895, -0.7741, -0.149, 0.3443, -0.1162, -2.9197, 7.1726, 1.8388, 0.0073, 0.1587, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsszjf5f900hg5bgXBP3Z1O1VZiyeKOmo5UdIxcBWjyVsLLTPLRIu9ratsDwnelkL6hyVbI_Ani-RTYHka_S2FNvjI9Iy6qIbZbE6sgOkJVU_7BVSVBs1q1bFyxCa1dbvFi4IzU1EYhXL7FNHbMBwVuBngeDhm3aSV3OG7tQWKPUiEAaBuPM4Sr-hDyLBdcpr4z4vpITgwkHI2mvQS9dgb4tbaddXKUEGpmrSt_y6tuRPIgzdS0OSu3XxzYcgA5C_grGgYb_GEoQlIrjXsLiVNdfp8aEdCqftkjDW5hSUpImLb1FfhuVqEq6HLrghrWxX15zokF5GJrpZx6fzPNLTg93FEv_LHgOYGlv6P6zfNTiWNNgMi8w0SwaEmhij-DpZwd_3Z2TDZRDw28oxEnfhaa9jr3p-oYSI3z3hb4KVboU6DBuK2zIaaziaEuspFTvbfEXAZQknT6GF-JwZz5z-faRL50NCiyakV1XSUfk8omEA6mN17VgSgTmX4Lx6IjMnh9Yw1yemmojnMG4pC_28M1A0DobcEnoc_XAnoJlMS5gvY4wo6CG1aiXP0fSY_giGS1ZwiBV3gc1GBX7FeWbFCeSY76uLI4oh53MAijYZL-0XZhKBVG2FpnUe2Fwj5kx1M-hnAKhBSRUT2Ua5eWwSWq-je32fG25Lv_7AxU3PxZiO8HfT__2pWBCKcI32j9Syrdgvnn-x-DhHE0QEFPKdE8SB8J2G6MUeF2-4qJylYW3P6jUrrBgEJCGF2HsfgLF3W9VvXEWDpmIwiqe_zZtMn7_3y77N7o2jslk-REUZo27csTAQBGgs_r52UCpQ4dypdLpsriG2GzrwC6xGO8Vf6s-ZskhIxhEY2TA1wI1y8CwAJQjYhpSM2WD8derrfnrgC0WUoeqNnXlBRmkjjCJJmHra0gVgD7Ih23l19uyURas1ASwEorc4a0rzGXpUIGO8cLdouwPg2c0WTkLx9kQdI1wiIyTSKyvlblXTev-bAUnmmJot_xKVB8glNGQpviSQ4mBr2mnwWaoeWOwcJt2_13gNQ91lWAdmsQf1b_L08xrmkATGlt2jJo4rqnJzseEhw-f74hCDz_KINcwLiSQPMqGRLWcXUmNxWanZz-d6SnKRXbbJyRoMOrGjfQMqzO1-ca3ED1ZePsG7yU-fZG1WG22yxIWHuScglwvpgFKTLY7Gg-Hhn1K6KgVrunWLW0O93CZzhW4kKQYj7hsmV8QoEl8Q8q_0DDOOtTe-KrH3IfBECODwVLlWjkjZJCUvCgaizbDV",
  "id": "rs_01903b0452d703b2016ab2cce072a487d08c90181db5d3f4c6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.2,\"left_z\":0.3},\"note\":\"The arm did not track the return target and remains near the right basket. I’m raising it and shortening the reach to recover a clear, controllable pose without releasing the mixed grasp.\"}",
  "call_id": "call_qNLRHV3cqJRLz540H9ahkNyT",
  "id": "fc_01903b0452d703b2016ab2cce1b0a887d08e11875644f970d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qNLRHV3cqJRLz540H9ahkNyT",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9749, 1.6909, 1.8378, -1.3758, -0.8387, -0.9257, 0.2099, -0.0715, 1.0088, 0.973, -0.6987, -0.0875, -0.1509, 0.9973]\nstate[eef_state]: left_x=0.3071 left_y=-0.2124 left_z=0.2922 left_yaw=0.1839 left_pitch=-0.1312 left_roll=0.1698 left_gripper=0.2099 right_x=0.3096 right_y=-0.0031 right_z=0.2218 right_yaw=0.0765 right_pitch=-0.1719 right_roll=-0.0405 right_gripper=0.9973\nstate[joint_eff]: [-0.6906, -7.9385, 6.0239, 0.7643, -0.6764, -0.0513, 0.1832, -0.1983, -2.8923, 6.8581, 1.5849, -0.0855, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa8637d42e3cce0a9915b089bbda5ba4b18306344be296ae294806a2d91d6469",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77f2e3d1e07b28ba257e066af773e105588e4ef09878c29a62cbc03997fc54d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cd3e4928f4dc514b18f6f7ec1216ef645d14bba28341ae2afc107809ea12df2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 129 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.963, 2.8693, 3.1214, -1.494, -0.857, -0.9047, 0.2081, -0.0715, 1.0042, 0.973, -0.6975, -0.0875, -0.1501, 0.9973]\nstate[eef_state]: left_x=0.4303 left_y=-0.3785 left_z=0.1266 left_yaw=0.1931 left_pitch=-0.1227 left_roll=0.2051 left_gripper=0.2081 right_x=0.3093 right_y=-0.0031 right_z=0.2233 right_yaw=0.0759 right_pitch=-0.1663 right_roll=-0.0407 right_gripper=0.9973\nstate[joint_eff]: [-0.6359, -12.9573, 7.0496, 0.6422, -0.6325, -0.1148, 0.4029, -0.1299, -2.865, 6.7897, 1.6386, -0.0806, -0.0171, -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": "gAAAAABqsszrWmecQupbB-3m6l2832Bky5nY8kdXT3ASa12mp_xXigZ4QX8TbFjI7yWIpwLvT7Y3J2lB0tuStah4xQWASZT5ecGxgguh3F62JzYXMVwbqk53MZl1iMq5ZmXhZ6ET0zz5yDbYIuIIQXdraTWIxUz1LRsngA0Sl00Wh_jAkjgcoMMSyeKc4_zZszSza9Gj_kgid0NWJFtKiiMx3oAqkiMlICMQFPG0KqI09o2Fe1W_vn7AJGHQnerI8rDIYjyCCZjCX06k0bqmHz1OR8ZkbdWnINS6l7fARzQzHgZ65VHsRb5AZhQ_OSvmd_wQV5wDhl62sDiLnj2bmkDG8uY9TboUwmg-YrprOpf7SniBvH0mLrs1Nq3AYHlgbCOekXsjJQ1ke0mjy50VOTEQSaMITH6bJe4eSZnoisT4h3Cawv1ikjnvvWxPjgylCQqSSQon-vhIJ_WiKoPy8VZTfG-BuBy-dFHrdPC8QryoegGYN6uWMhoEQVx5CQb5-zrGBExjXZGACjGCYn6meXLbdf7eZfc2Sa0KDPFRKFPIwZuE-jE9SsKE81YOisr-Kk7KRVqRcU4iXShrjSiQeqH2E2oPxi6taxPaB7HYHAqvNSaPUmIq3nx2MCZvMrj8CynYQNCYYUiR5r5xqsa2z0SY2Sd5uB13q4eoxPCNoGUkjjmE9AEQTpjn0k0f1oCb_X0kGji22Qcrrc9rvvt7XaEDqj_BdRvg6KrbG81QRVfMYlLDJ9g3PIqrfsD5mAu0trcw87tz5d1pYiWOR2CgUrxFxbfXeLzv8AwM6D_oEwsGHDHUYo7GYieEagbwdG0caOwvjIeSBvGtg7_FHMsnFCYIxPn4teRBca7bWD81ktVcxXXpZ9yh5iUHHZxCYnRnuPB_ze0aWnSxB3pN3eaEokPwqkbRPik9ugGaPbxiljvsbodOVEEQcAVam9xZ22OC1J7bFuUoMfl4L-HsorzOvQxfCaL9lKQf7-0UqH8XFiQ54eO3B-7iNUPMzwksczjVz_paJhimt3LCu2z9qwYA2wHXCPL0-WcsVQADyYvTpJ7oaT6A6MkxdjwOk77Rw1hIfoUL-A1IqId5K3fDJZICGLdftTVeJY99kABfJvyS_7bwbB7JCIOhPI7LG9x6qT_yTUHEHbcn875Gvt-WfYp7oGajm7s4eL5TIQ95tXBTKZLd3LIvath_IPWrJTtKS9oN8FQLRp4IN4QzX_dT-ruQRgbFhqlNfUVgjmoxOnmHB_CSx2mtzBI7wGFJZSyNWnLtI5whcE8b2g-B-UXUFbqlN2JfqgmwwZ8bewaeq7tNBraFXEDdG3LdpHPl7ecA2zNOd0UwfSHER2AW",
  "id": "rs_01903b0452d703b2016ab2cce90ccc87d0a46cfcad34f0fff5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.22,\"left_z\":0.075},\"note\":\"The arm has recovered its position. I’m lowering the tangled plush and yellow pen onto clear tabletop space so they can be separated safely.\"}",
  "call_id": "call_AihQgRm9QK8jNIE5fhXBEqGL",
  "id": "fc_01903b0452d703b2016ab2ccea181887d0baf63bb2dd41754e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AihQgRm9QK8jNIE5fhXBEqGL",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9775, 1.7512, 1.0473, -0.5728, -0.8352, -0.9287, 0.2121, -0.0715, 1.0092, 0.973, -0.6987, -0.0875, -0.1539, 0.9973]\nstate[eef_state]: left_x=0.3059 left_y=-0.2129 left_z=0.0786 left_yaw=0.1878 left_pitch=-0.1529 left_roll=0.2103 left_gripper=0.2121 right_x=0.3096 right_y=-0.0031 right_z=0.2217 right_yaw=0.0781 right_pitch=-0.1724 right_roll=-0.0427 right_gripper=0.9973\nstate[joint_eff]: [-0.4581, -7.4872, 5.559, 0.823, -0.5006, -0.0757, 0.2125, -0.253, -2.5641, 6.7487, 1.5897, -0.0904, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9049792918e584f82bbf1f3e2a230e6377dd1f70b481bdaecff90bc9e644f685",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddcef448dc426965043f404d2e1217e6c682eeb7c8029da8e794db97e524731d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b7c123b3e62128a1d051217e42b3ec4e2cdf43738109c6626c7f2cdd91c56df",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 133 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9749, 1.6909, 1.8378, -1.3758, -0.8387, -0.9257, 0.2099, -0.0715, 1.0088, 0.973, -0.6987, -0.0875, -0.1509, 0.9973]\nstate[eef_state]: left_x=0.3071 left_y=-0.2124 left_z=0.2922 left_yaw=0.1839 left_pitch=-0.1312 left_roll=0.1698 left_gripper=0.2099 right_x=0.3096 right_y=-0.0031 right_z=0.2218 right_yaw=0.0765 right_pitch=-0.1719 right_roll=-0.0405 right_gripper=0.9973\nstate[joint_eff]: [-0.6906, -7.9385, 6.0239, 0.7643, -0.6764, -0.0513, 0.1832, -0.1983, -2.8923, 6.8581, 1.5849, -0.0855, -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"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The brown plush is resting on the table with the yellow pen caught beneath its tag. I’m releasing both rather than forcing them apart.\"}",
  "call_id": "call_z2BvGbuE6mCR99vDoeqq8fXF",
  "id": "fc_01903b0452d703b2016ab2ccefe1b887d0b76e2d4e2fdf7ff0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_z2BvGbuE6mCR99vDoeqq8fXF",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9783, 1.7679, 1.0359, -0.5606, -0.8307, -0.9321, 0.9952, -0.0715, 1.0111, 0.973, -0.6987, -0.0872, -0.1539, 0.9973]\nstate[eef_state]: left_x=0.3043 left_y=-0.2121 left_z=0.07 left_yaw=0.1896 left_pitch=-0.1628 left_roll=0.2208 left_gripper=0.9952 right_x=0.3098 right_y=-0.0032 right_z=0.2211 right_yaw=0.0779 right_pitch=-0.1743 right_roll=-0.0427 right_gripper=0.9973\nstate[joint_eff]: [0.0889, -9.4291, 6.6393, 0.6569, -0.4078, 0.0024, -0.0513, -0.2256, -2.6872, 6.7214, 1.5507, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:257603554a5dcf48336bfa12899d4194a3bdc074728902777a02168363e63982",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23a0b08e7d53d8adae851d0765a17261c0a029bc64351102bc1f805cc5ad2a95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:064a6cdf910e6e6d4ac0cf63f683011234bd4565377996a5594c0ba1e5c7cf09",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 137 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9775, 1.7512, 1.0473, -0.5728, -0.8352, -0.9287, 0.2121, -0.0715, 1.0092, 0.973, -0.6987, -0.0875, -0.1539, 0.9973]\nstate[eef_state]: left_x=0.3059 left_y=-0.2129 left_z=0.0786 left_yaw=0.1878 left_pitch=-0.1529 left_roll=0.2103 left_gripper=0.2121 right_x=0.3096 right_y=-0.0031 right_z=0.2217 right_yaw=0.0781 right_pitch=-0.1724 right_roll=-0.0427 right_gripper=0.9973\nstate[joint_eff]: [-0.4581, -7.4872, 5.559, 0.823, -0.5006, -0.0757, 0.2125, -0.253, -2.5641, 6.7487, 1.5897, -0.0904, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqssz6-u1nDjAKwbAM1JNJN4y9ErSdo5sneoIkmMYjVeuiDdr8Kb7UBqUgED_866eTpjtEBmeWcHVzHtTAkj3n-39Mui1d49h8ehMz6k5s-E6DOlJu1DahQqQ-TyFDfVy0-wFLEICXRyciZgvko5PO9d9gfcLK9ySMUrxJBlg00pA6XMdL64CaSZlkGF02n4IgbU6QpEvkQGS_09XF1b4NH5bsXNNZCOQXq6uBOdOuOZdbQf6B9_hxSENuAp5ADL16Q_-z99ORWTRqKG2LwSb3bewLC_quowP3kWvhzCz9qFl6POJmH-D0FG5U05Imnwd_5mG_Ojg1thq51-UASDpzC9I24yeEp6UynBL6iqptKw7veFerfhctMZplcRkKyh-GiVftKiVIoqNAmIPV2lTXVlnfYQVM8ZiSqUxYRYz3HslF2sw7UIBfJdW3kRVQiGZ1dx2gzN5bhmVdck8wMnpoF1rrgggeJJw5rHlFO4hgKLBZsGXXG8AIonawxRRuAEOtrFIdEjbYYyvjt9QFEd-1bZKZ-8z5HrkznBAsXw1m3FPdc09YiijdHrJUENBtV6wtRdAiQZ1ZpjjjYUI_gEReeXnNRGljK8A38zwrg4s76Rnore035Zz2e2szHVdt6cEBQO7QrpiFBo9iaoZcMVlZKmMwnHhnQVjECN6Rm40sLC1ChGQ_fnUTp-yB7mKRKS8yI0PVZoKYt4OJej5mQ1fD7Cprjx9dcOLbT_P_pcTUWLjGQo7mDY1OFSR1_J9VlxvuDBu1ZZf3_5yuHsCEYCQpkbOs-KUWti35zRoeZuNwb_9DplaHpg1kls3rhtlb6z8E1X-9nSCU42KVUbi3IUcEIGlefLSPnbjf-sCObU3nTSUUIG7gZ0rCbOPkeGI5ufz7vL3U2KaD0140GFmdInvTwAsf-jX9zimTn7MfKiktT8jd3-GGz7yuV2mWX5PnS9syHFbOHD-ei1DN4D3_I0qg6PyZV2zqCohp91dP76OH1QCrJeLB4Ui1K1r-J5WzUM20K8kwDl10erxZQlhx05dJV2NE7BBtUFEv-UcGOVnPw6F-pD1NPsxy_to9-Fm8p7maAhkSKPNoMGkplC5ibXoYSaGJAvj5wW-HrTb086k4jE_SO9qP-EQw9MgdWwRBW4Hv1dWmINl7GqNgfpkHjgR4OpWzeWQ6Gw44xivOohQPQo-R0w1QXmG2gMwDhlVIGvpCD9v3-P-yuF0vD9__GW6kNZpRN9C8XVzNuZFvsArbPMmhYGFVdFV0GCUvjl6wzmoPzfV-VYec-n-V2mk3Wa8_ztQiXy2vLCE5jsoDax1Mxi0IK7P9wVE9bDpS1t0-Ik183TWUSaizpIlW7_HTUHShKrY36WRscBx6w12owC1yEoG9Mx1UMWJg6RMvERwAxZZfEU1svZZ58sWwx-OQ9B3ncM9rJ9Xl6JKP9JutLS3ToT64_gVHn_TyBkrXl0tQRp2hLXZ7aG8J_UuyCUoCliIPu94oRM3l33N4t5lLnQ-7aK4r7pL-EwbKMB5uLVviVVvKqfR8fPE7QiRUH_W8k1zmCnsoFCt_bbcxZCxITi4sWqMM_jGkqHcN25atTOjiLK46nKLn2cp8MeJL70xWVfhq-P5OahSdqHsxcT-1mwcDkqqg5wUAgKNHOLaKwCxah9fBS2pNSE-0tUW8rLw2wPebz71uRA==",
  "id": "rs_01903b0452d703b2016ab2ccf4bbf887d0bb77c2ae250b9f2c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.23,\"left_y\":0,\"left_z\":0.23,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.23},\"note\":\"The mixed grasp has been released safely. I’m parking both arms so the remaining gray plush, brown plush, and yellow pen are visible and accessible.\"}",
  "call_id": "call_VtblXntggZPuEHqaZtA4P2py",
  "id": "fc_01903b0452d703b2016ab2ccf8499487d0bb76bd553efd4f0d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VtblXntggZPuEHqaZtA4P2py",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4706, 0.8162, 0.9119, -1.0119, -0.6117, -0.3935, 0.9967, -0.0647, 0.9966, 0.973, -0.7391, -0.0864, -0.1535, 0.9973]\nstate[eef_state]: left_x=0.2331 left_y=-0.0007 left_z=0.2173 left_yaw=0.2391 left_pitch=-0.1616 left_roll=0.2048 left_gripper=0.9967 right_x=0.3015 right_y=-0.0007 right_z=0.218 right_yaw=0.0846 right_pitch=-0.2 right_roll=-0.039 right_gripper=0.9973\nstate[joint_eff]: [-0.3487, -0.5128, 9.0462, 1.1306, -0.2027, 0.1245, 0.149, 0.5128, -3.6991, 8.5538, 1.536, 0.022, 0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86d1c4444d2d797b49eed036f84b90bfafebaae10ec5759745467c33bd483da3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bb720c1fce4c0c6b8ae5f220c9bf9b4320a2288898791300cd6eb363a949509",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f92b5d5f0ac0edcaffc81f0703755c789f9cc072e430362796dd8b68f41e970",
      "type": "input_image"
    }
  ],
  "role": "user"
}