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]: [-0.0193, 0.7994, 0.6174, -0.3798, -0.0216, -0.033, 0.9996, -0.0208, 0.7986, 0.6109, -0.3782, -0.0189, -0.0254, 0.9994]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1847 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2962 right_y=0.0008 right_z=0.1823 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5402, -1.7162, 9.2923, 1.8437, -0.0024, 0.149, -0.0562, -0.4444, -1.3744, 9.7846, 1.7411, -0.0513, 0.0757, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2b8314e61e8853b074e4c60b21fb4d045d527de4df2af60fb81314fed0df622",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fbfaca8df2b4fcf4e9c202c2a8dcb5a177ffd34ef1906cd40128fa85c4a68d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81a415c73653db1b08e1d3bd9e3cd6acd204677b60ffa8b4b9afb32dd1308ca0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqstI0D_MgcwUZNVQ4XftktpiYaUFovQF0aUKa3fqowGxEwwelvv3R0-_uibxGn3Hx2N7CmG0oKdi6EzcphHklq8oL9RqiAEIpLz167bfQ78aVdnhyr0dvGEbsu6iC33_UdVo0bH_NfEC_uZOACMp8sJK8BeALsxQYobUe9uO9aG8LKAwvQCLY9LTqh19_4jaAr6t36OBOGZLCVfYjXIRXKdMuQgvO2RCQP4z0aL_KEkLg18B-OifQA9jWlOellmhOs2FwC_ZdtnxbhMtFfLl2CO7zE9mVvtI-fWF57DNdfSSfPxQvEfb1v60XWUwG3ifnLnQsS6fgLYJZI0xewGnqOOjo87Jy6eoDcE7LDS7Id7UyewdXLRrlmqQZGG_tf_Afe5PyZrUjKjnFrBXPJ74mozmYSZm3P0kyrPpefbDGrvPT_NNodzoa1exdT84cC4UwN-3hiyJegdP-Hb9NkUfcdvSunEV6LABaIvDW1ugAAl45k0uYQZe9nGGbXwK4E-Rc2OIIdgNq15dWR4jalPkar93elsasvpUiuFGwBYmPeUuEEJISea4Af4U0ym0jKLG7IbzhVNqy3bN_1bhOJdUyLms_CsTq6mCNJPSTOSHc7JfvMGkyEJtVVaRGcVxq9VWAvnv7wVu4gkSPWgwUkUDpFKQPTi1g2ltKokPmap3chQDtQNvysfRptMavQSCgjhOBop6GlWhB7FTvQxMor0gH7UD-PMvJfmDKySlESY2ROFkBMMh4RiNC7hSfd645taC24EYi08xFOdDQxWfmdigemlz55iNh0zH31-fFs6oXWmgWeza3PsCFvj_rcQOAeiMr8J84SzQDzMbN8uerWYITbDMuZQYeepg8xYQcISH8JUUyOt6Nufg7tWlM4b_oWA51P1IulmAQBGJAqtmtwcbREt1_IS4zJHbAIE2M5HIJAD2F2sdKLkIlZ10VUbkV4psX1Yx2Usyds-SPafknY8cD5R_0CGwCc8EfgZOs27MGyyaKCgjP0wJzleM_CzawM4WL9G_czlmis10_y4jH640P7krs6xnpZVkRm488GJ-0RMzeoQR-gLXe_QxNjWXgftt6Ckl-KHGhV5y5Er90ELOY0p0ePwNYAZNAI1lWbBgO-9gtvvgVTgIljtgddd5zM4K0U4HWdqCvpBRxVyYY5XcdvAtRLOos896kfhZiyfeFuEYdp8ikD3d-Zc7-KEi2cymqzHrcOuoTHugZFsEPy4dHbcBk6nTqi62dNNHAU7i_utsRMVIMILpRqnl8Wz-DcFsXrHUNOvqnKgF6zZAvTMV3c5yjky6bEFwCarjqmdFuPJIO7VhrJLSQCGpzO8Srm-e0m8A1HnTigbcHy3UqKshD6bZeo5iJstBs0GMhzQ6PignbMvHSJHM7KJohhIjEjNFWhaVMbrCRHfwuxGgG_kcL6A3PAN0nNnohsNEQ0NROCUofjVfg8JXO0vZev57atBskZirRTvkUr-Ud20F86XTy0B3Jo7LWlh9SsB9YhUyQV-ZfDZ-iel0fG2e7HbY-aQYnwdFYvqWKSnqETH9__oAjpj8duW2_cZ5uqpPf4GpsSck1BmphLeD4D59uX7-6yoEdlcs56RNxW0HmaGC_cfo94vhbeZL3ZmAxUuIMF8LGfNCf-fMHTF8fpZxZuY_MX5CuKu4bp5RVCnXwm8hhj0iAvIe7uPATIPOyHJfDX8KGuaO6fHQ7FKv3Rf13KN4X2OArz1Bb4kHRc8d9uUioqXQSvnMRn0WAKXHYMqEOynTcbwkH2UtczfQ1yWBiQr1LBfGI0ciKXQQEcVSQTkxRL4pg0yambTFRr1RfjHG21ANrnPj1AegFpg0e1XfPmK182VSmstaI7fpkZjGmONPjhO77egGsITjP9Y3uxw6QXPET78Mnei7FR4THuA82BNwSLlOq-oheZmdPfIEAwwvWc9bwVbOJ56VJIrdFu5DuNr76xHHULjXXnMfNbWXXGIfEYMXqNJ_z41vGruO8T3224_MkktRtlZCOYbqC2b62Pj9V1DqxDRcmocy4hYdmmqFAGGAQ2cUy",
  "id": "rs_04fd4c784786bfd2016ab2d22a566887d0be8f568abc15ce6b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.15,\"left_z\":0.11},\"note\":\"I see plush animals and slender pens/markers. I’ll sort plush toys into the left basket and pens into the right basket, starting with the small brown toy.\"}",
  "call_id": "call_veLyEkRUvahbwdfPO3VgXMPn",
  "id": "fc_04fd4c784786bfd2016ab2d23314c887d0afcd32a3b95ce35e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_veLyEkRUvahbwdfPO3VgXMPn",
  "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]: [-0.8742, 1.1809, 0.5064, -0.1394, -0.6823, -0.572, 0.9995, -0.0208, 0.7986, 0.6086, -0.3847, -0.0189, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.2748 left_y=-0.1493 left_z=0.0996 left_yaw=-0.0305 left_pitch=-0.0384 left_roll=0.0295 left_gripper=0.9995 right_x=0.295 right_y=0.0008 right_z=0.1799 right_yaw=0.0004 right_pitch=-0.0088 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1299, -3.6991, 7.3094, 1.5604, -0.6227, -0.1001, -0.0171, -0.0752, -0.8547, 7.3094, 1.7802, -0.0171, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a709b6c9616851bca075015ef98898ddf35049fe9a762dc94ee7698a4f2880a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db46ddb80c48aa9382029dd9b29a5d4b0397cd2c937577b06276f63868287b1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19349f0ee01cb898b40e0c5a059d3647f9a2a59d0c378f9ad2d1c3c54ac74dcd",
      "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]: [-0.0193, 0.7994, 0.6174, -0.3798, -0.0216, -0.033, 0.9996, -0.0208, 0.7986, 0.6109, -0.3782, -0.0189, -0.0254, 0.9994]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1847 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2962 right_y=0.0008 right_z=0.1823 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5402, -1.7162, 9.2923, 1.8437, -0.0024, 0.149, -0.0562, -0.4444, -1.3744, 9.7846, 1.7411, -0.0513, 0.0757, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstI_BF57-gx48njE6TGMe_7Pe_VgBndY5cZhu_bxLtgLq3vGzm8t-ELg9Gj8qc7DbnlTrnixNBPlTxKwQfFnIsl3UMo7Yzvf5_kQPnMayp6scXPBsHgjoczcTb6rSOwGEK8L8-fpn9-0z--YmRSdCW-G40u1N1rN29znUTXuUTeTX7sTs5zqmYGTpkrlYXFHJrIztVnOcKrxe0TYAvn7--UnRCNGkIueaXNFPWA3mZbWY_v0U5ZSqYWfhK6sABIgE-Gt-eBREf551oACVFndY928yGc66PzmzA8MjqeQWFL9T_OtJesyLjEDayYTRh7ieItvf6SnBc82rYiYL28k3BAHoCG_a5pUHfFhP_3tEDe22puf99XTVxDGBcz_018FkE1gAk7XL5E9ITkSq41CUsA_1tsOzpXrrAXo52sofj5qlhzu0Z9RXjMszQ9lWTgKz_gughB6T-EAhLXvjB_cdHAkYpQOsjSs3tgQQm5V7RHr9Bm5g3-TqduqlFmdI3_itNlxLeCkYco-AbtaVmDbdPoA26nIYn2UliWG1JhTubj8o6a8NVyn8PjGOZTE5Ge7z91Zv8fDlN5_thIgDdnktDLhHc8rSnWJeEEa11BeUKJDeZeN58fMQdYLn7x2KLt0HdYRsInHuDRzan9nzu9f9vwj9WC_UgdHN5r05SazNHgxGd1CTDRv0-fyIhadhsms8ElhNGMDIZS0zaeLv1TgjKGG7rPu5EpBknjhS8TeUWjOhsxVXPpA5_DUg_Xc1uotX0WoFScNr3B169O77NIvOPfBbg0gPVR-iK6cRZxlSKQvsO2KcDqZR1jela5Ah7wnvStPZmS7pZIJPpU-pX3y1iS3XRKmBudi_6y-BO0nRFtYgnPMf0FzGKeOIzuv0D-Hr7qJJMv6cuDK-fp38gKPiopvQvVmcuE6UiN8vv5UZNy1WNs4rm9eszpJlCIncn31LY8BjoSsy8t9RsvSVlbPCoI5LS7Hhq-5s80GXgW5PDDq62ScDEKMExmxv7HLxPyBOnZ_8DCZeHJyhrDKHXhpaorjtLLfMqEEEGGBr9vz7wfGr7qn83XWgScmJaC1dJw1robjmMl3zgi4AEKFeOd-8kUk85nStCsHL-oW7atC8i_HTPAIqH1gnbcvJH7VeNHd39YZ6AiJJvKXEkkcMbvGb8IrNzYjrdPhQRKr5jbha8ddhMPbp8iR2JBh6LjJVvnY6y2rrmFv0BOzo9MBl92PpOQdVrqc9QXAK2dtrKs4jpz5LEccn1x7p9xiVLGLrL5vqeaELa81gbtydipBEy0Z60iBFuCUmpBP6KZKt6odCjEbXqs=",
  "id": "rs_04fd4c784786bfd2016ab2d23c1ee087d0a7cba224347df961",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_y\":-0.135,\"left_z\":0.025},\"note\":\"The brown plush is just below the left fingertips, with a yellow pen alongside it. I’m centering the jaws on the plush and lowering without catching the pen.\"}",
  "call_id": "call_EtI6PfkHKsVLKt0c56DnsEsl",
  "id": "fc_04fd4c784786bfd2016ab2d23d79fc87d096bb27b5cfc4b806",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EtI6PfkHKsVLKt0c56DnsEsl",
  "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]: [-0.7856, 1.4586, 0.3, 0.3687, -0.6308, -0.5083, 0.9995, -0.0208, 0.7994, 0.6086, -0.3855, -0.0189, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.2836 left_y=-0.1313 left_z=0.023 left_yaw=-0.0136 left_pitch=-0.05 left_roll=0.039 left_gripper=0.9995 right_x=0.295 right_y=0.0008 right_z=0.1795 right_yaw=0.0006 right_pitch=-0.0103 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -4.2462, 4.4786, 1.5311, -0.1734, 0.1245, -0.0171, -0.0615, -1.1692, 7.0632, 1.7021, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d888b9e05b6e0e56642e936f99b56c532cd20ffa93702bc061f931801c742350",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:522714c428dd4237cdc499c07cecddca51cb15b7810cfdf5159e3eb70a7fd7a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbe86dae33ec512834fc5e06452fa6ab7b9d2bd2756dcda94364be7742106ddf",
      "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]: [-0.8742, 1.1809, 0.5064, -0.1394, -0.6823, -0.572, 0.9995, -0.0208, 0.7986, 0.6086, -0.3847, -0.0189, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.2748 left_y=-0.1493 left_z=0.0996 left_yaw=-0.0305 left_pitch=-0.0384 left_roll=0.0295 left_gripper=0.9995 right_x=0.295 right_y=0.0008 right_z=0.1799 right_yaw=0.0004 right_pitch=-0.0088 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1299, -3.6991, 7.3094, 1.5604, -0.6227, -0.1001, -0.0171, -0.0752, -0.8547, 7.3094, 1.7802, -0.0171, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown plush’s body is between the open jaws. I’ll close to grasp it before testing a short lift.\"}",
  "call_id": "call_9ttGD0vHzk5p7gMQThVKJKNl",
  "id": "fc_04fd4c784786bfd2016ab2d24338d887d0bfc68009e3ae1e09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9ttGD0vHzk5p7gMQThVKJKNl",
  "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]: [-0.7856, 1.4586, 0.2996, 0.387, -0.6361, -0.5117, 0.1115, -0.0208, 0.7994, 0.6086, -0.3851, -0.0189, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.2857 left_y=-0.1324 left_z=0.026 left_yaw=-0.0084 left_pitch=-0.0345 left_roll=0.0263 left_gripper=0.1115 right_x=0.295 right_y=0.0008 right_z=0.1796 right_yaw=0.0006 right_pitch=-0.0099 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -4.3692, 4.7795, 1.243, -0.188, 0.0073, 0.9255, -0.0752, -1.2103, 7.159, 1.746, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aaaf9e45c6b8ccf83f16e043eaf894418578870c05033077d45488007c58847",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:573297d6101db7a7c0e38b7809be2bae132599da4866dd50e88957c8e79e65f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fd15848f4eecf9ef12172df99c671edbdfea5632ff76aea1823577287020d5d",
      "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]: [-0.7856, 1.4586, 0.3, 0.3687, -0.6308, -0.5083, 0.9995, -0.0208, 0.7994, 0.6086, -0.3855, -0.0189, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.2836 left_y=-0.1313 left_z=0.023 left_yaw=-0.0136 left_pitch=-0.05 left_roll=0.039 left_gripper=0.9995 right_x=0.295 right_y=0.0008 right_z=0.1795 right_yaw=0.0006 right_pitch=-0.0103 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -4.2462, 4.4786, 1.5311, -0.1734, 0.1245, -0.0171, -0.0615, -1.1692, 7.0632, 1.7021, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.085},\"note\":\"The gripper stopped above its empty-close width, suggesting it caught the plush. I’m lifting a few centimeters to check that the toy comes with it.\"}",
  "call_id": "call_i50KZXzTvqSrXlFWeJegev4n",
  "id": "fc_04fd4c784786bfd2016ab2d247a32c87d086f192145f510067",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i50KZXzTvqSrXlFWeJegev4n",
  "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]: [-0.7856, 1.2121, 0.4179, 0.0177, -0.6281, -0.5133, 0.115, -0.0208, 0.8017, 0.6086, -0.3851, -0.0189, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.2837 left_y=-0.1319 left_z=0.0774 left_yaw=-0.0134 left_pitch=-0.0417 left_roll=0.0242 left_gripper=0.115 right_x=0.2952 right_y=0.0008 right_z=0.1789 right_yaw=0.0006 right_pitch=-0.0122 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -4.0821, 8.0205, 1.2723, -0.3492, -0.0317, 0.735, -0.2803, -1.2786, 7.0769, 1.6972, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a353cc752e3c7db71ad029235c09d3e63922d037c0e2660c1079406900366ce9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b8ac611e19080f205572c49182243c2cf50109f3cbf28487d092e70b891d60e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce1a5f8f75b77c0687b54d13cfa8c2b1d9a566c011e863c734ed98f3b0347a77",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 13 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]: [-0.7856, 1.4586, 0.2996, 0.387, -0.6361, -0.5117, 0.1115, -0.0208, 0.7994, 0.6086, -0.3851, -0.0189, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.2857 left_y=-0.1324 left_z=0.026 left_yaw=-0.0084 left_pitch=-0.0345 left_roll=0.0263 left_gripper=0.1115 right_x=0.295 right_y=0.0008 right_z=0.1796 right_yaw=0.0006 right_pitch=-0.0099 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -4.3692, 4.7795, 1.243, -0.188, 0.0073, 0.9255, -0.0752, -1.2103, 7.159, 1.746, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstJPCTcWCBuZZo-k2W9ltKHc8YWTNY90cRalWgxTOM9NZ64eseqyZVjZXPMRwKGCRae_0v6lmu8gWHR6QTTPNG0Cd8AE4DxF5c1fXwrWmV_NHz1IvDClLf_JdPAgzLU3wv2H7JvntsP66fuX1vXJYG_plmQdefK80Q7hKkmezRKvclEeC2HFIBNrp8xnP3ouLrhI_lD-E44n9JapEY3k2EVygmWFCFgASiuBGOHJGPcqZ8xK9QaCO_vhBs9HmTHnZ7SwCKCkyTlXkD36ZmN0OBrOyF42FLTIRPqb4rjTcOMcy5_eekDm4nscFDLjGCk3GRnRuUd5E0F3HFuGum60uGpg3EKYDFMdQBE6Z8R_ipAYrAW7pS2C1gy1hxp5hAi-EN5Dqglf2J0j_nXNFVuvfhFfIjbL3LImC0OUHXOEVHP_-PLh_LBwPpY1DdLp3lvApHijqK7tyiYcYy0-AdUpYJBkwf2RtXDf92KzH0rpTfHLVfRObTXdmfq-PRsvUi1T5n1sILGJ3xaVUT8SgLcJ-uaIRWdoxfncx0KGE1o8bBEBZyZhsjNY1sVEx-sPa8k3Zt46b4P8YO9qXFHs7ySRvr9daSjy7IBXeCk4bHhtR0mY6OGKakCUpQ0mXJGnutmoYS4ndRb0e4JLJvuBqMOkaLC3dQO4MkxG4IyWrmIwtFivCFuvAVsmPbqChO5HCcDUgxfl65yS9X1I8pV2G-APFTEp5CEeC8ie-CS90vMKHDB4T-Q-U1Cdz2rcW39lR9fdKczP4XcGjpDhPUBsks_ZCb3LS65GCa4lwXmGOtlLEKZZW35nMLwwYzCxElPJIhgQqssPkJOmFlb4npYwpt78Ka18_G6krsxbfb6KdYSsGzZW5sYdOaIQdVp_f6lEn2W305-kpnslU2g55noriEE9y6aD5xq4F2y842pJ6R-3aUwNRSS6Etmg7EXYei8bg_CLRYHv7Cvbihr_TMTgG6VLAAd-guJd4VHqCDILyfmIYYtFxdeZwvVGg3c9qrS6d98MvQsEkNjUM3IsO6T-koy6VI_WrrrshHIgIO1YXgkfqPs5BLdWi-6vJ5aO-MsXnPKBwSIj7oTAjH9C1sZfXfPIRZEyQsqXxorL5RickngunAdwsyD08jbpQAhDN4ggIbLTggL6gn4WNVVzeVDDEF5SOoRHNUQR6Lo-oPx0xnRiCd2IVwBdWBX65Gout1oMyjcC33AZ_jrGqNEf5Oq1O2PXepc-sV5JamVvbeoozaFMlsq7X81wgeW9xU_W2N2FaiGa3Aq4CBpzAxkFoHowCrOcv_Kxwg==",
  "id": "rs_04fd4c784786bfd2016ab2d24c5d8887d0a0e7bbee9e8c9031",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.14,\"left_z\":0.24},\"note\":\"The brown toy has lifted with the gripper. I’m raising it clear of the other objects and moving over the left basket.\"}",
  "call_id": "call_6rx8w0MyO4hPIEBnnauXpGbi",
  "id": "fc_04fd4c784786bfd2016ab2d24d659887d0a849d95ef0d42917",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6rx8w0MyO4hPIEBnnauXpGbi",
  "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]: [-0.4267, 1.655, 1.409, -0.445, -0.358, -0.268, 0.1173, -0.0208, 0.8062, 0.6083, -0.3851, -0.0185, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.4605 left_y=-0.1374 left_z=0.2236 left_yaw=0.0012 left_pitch=-0.0785 left_roll=0.0265 left_gripper=0.1173 right_x=0.2954 right_y=0.0007 right_z=0.1775 right_yaw=0.0003 right_pitch=-0.0172 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -8.7179, 9.388, 1.6337, -0.1538, 0.1783, 0.7399, -0.1299, -1.6615, 7.2684, 1.746, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18150f6e13b4ccc203402ce52d85115a49f17ab539c2a5229315feac6bdd869d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09e2ca5e4b78158e545460fd387a6291abe1732970ba5d3f5f55d79226a0a02a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1d390f2c76f3764205811d1891d164a3b5298d363365bc685967d24e6d56151",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 16 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]: [-0.7856, 1.2121, 0.4179, 0.0177, -0.6281, -0.5133, 0.115, -0.0208, 0.8017, 0.6086, -0.3851, -0.0189, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.2837 left_y=-0.1319 left_z=0.0774 left_yaw=-0.0134 left_pitch=-0.0417 left_roll=0.0242 left_gripper=0.115 right_x=0.2952 right_y=0.0008 right_z=0.1789 right_yaw=0.0006 right_pitch=-0.0122 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -4.0821, 8.0205, 1.2723, -0.3492, -0.0317, 0.735, -0.2803, -1.2786, 7.0769, 1.6972, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstJaebTu36eCzkKPIHD_OJj6Ndj2ZTri8oByYP53m9lbC4GwWFNsFfPIxGnkgQFZKy3RjdUALjvjAlyBY45zJowzsEvwkVCFa-xEnZv14QtT_JC49wPmbVR_ccDm0W4NuD0Jy0I-aAxMiIgBsaG5rVXN81gCnZG7IUFCLPgkt6MpPNkmX5gzMSC0325_1YD5rI7VWy1LUgvwudoYdwR65dK148-TXNuI0gGUDEA2iVAK--i8A4ZlvBS-mekAfm49kQ5DyimWsZrtieZM7fLtdJWfN-yzWLqu6dMSmk9K6fx4CLoQ0S_w4GuKZopYMvIE1BK3BIUaEHhnogAEkiJzWA6zy9lw-sioqNRHJAYk9ir613CSBp0A3K_4fT-qk9_HILJEnXBoTWtok6KG6jvfzxUHU-xb-y2E-0WwZOuVjTGYieMyUU6bMhPvSbJgzQLb8jdsjsMhes_BD0eqOcIgifzSHnpcVfNeUuTxrzM6zC6Q6k3gVn2xDMN0SP1tDQ3xSHgnKRe8h1eQCWw0QhQpVqIxBeyKW57Lk5Od-YhVZXROfaZvGJjqZSKt3E9oqocmQj2IhgdCzCRfdsD9f5f-6VcIueihPr3VM6eEly0VGRNLG79W6CPQFlEURs8c5kPyP4mUdauvuusE7vCnWaFVvAzvQoBY4kU55kIEAuTcb7NDV0VWbjEGEZUMJGH12QN5--8twtxXXMLSR2D7fD3SlBsOUlFTVS7fajqTXsDWOk5nnlFHcom4btPDoq0NIx1m9o5xOEVgrU_qKotmP8v2Kmp2MxyU9eTSHMyjt8rAIkdUp0jabkuWjNuwGyNvl5Oo-ntj4sVeDHiH52hBnqZDYrLQQVwP_htj-TmM19zkebpUaTfR8lYDyPQwSoor-5QWEGkwg8mbS8ujT0vBPLh2VajWoNrVxBMtMNtmRhF4W1C6fx-O_MeeHyZJ8vt6evUu_PonT3mtNo5dLJTuLPniloTwZw3Kbz4BAxjBMlimmEG45hBrEU8NCYtYO-_ow0mtBKe7aLuo0l9FchinQvJkALb-WMvtCGOmNRQ97FGPUdS8U7xyn3rcuPGizl9YOFcEX5TtzrxKe3VFVinxoENSZoPseMtKJyu5djDPBvDOWeDoG8HC6WXad6zl-018SRgdT0sAt8pRiIEJnH55FwTVKzUJCAoDQ0ROepnyFoA2zCLOtwPkrUBPo-E2KHY4PyL_JZyvYneT1ve_N0qoEmoeom-JXK_mgVxo7k9uGTnabvK0gQ231PMkziLOIgqdAwo0zdycSZz4CR-Qca3XpR3NNZS3SZuyMT8314nqfWPqT3QZxhBZ876iIRDC5olMZlqYuJeQ1Zu3-c36G4kChQayvI3PCu43FKNWjDA3TfTBGHtcCCNvMRRt817ifR_ZcK9_PxQuDRsL6S-L5VInXsmZSV_ZJCsPb_Ykib7TSrk3Lfw92sx7R8F6MWgYYROB_wJBPxdXaeEL85t6ZZ6yZz7a8INczXVccIr9oWEptrVr9y7LrVfDYUgiIcCA6l14knzCY_ZimqY6Pgvk4nrmrvu2N1IOZuVcBTePLYUYCbisU10Ui_1D8metG7yVgrJh2dpDYYjANFrboDtAVLkwtZOrPbx20zFf4Ra6X4NGDBjko82OWM-mTCubV3QRUPCF4Mgh02jnR_bnpO07LsgDt6OjgK8QDxEbNvO1rctNsp9f2KHPpGnNPvAWOFuoelc0T4hv2rsiI7uIJ66YD9lqs2BWcO5vw4x4TvQVtw5nLoGqkiPNyOo=",
  "id": "rs_04fd4c784786bfd2016ab2d2543a5c87d0aa69c81411ef4808",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The brown plush is suspended over the left basket opening. I’ll release it into the plush-toy basket.\"}",
  "call_id": "call_kC1MqL4sPtchbwPTdiMQ31eb",
  "id": "fc_04fd4c784786bfd2016ab2d259003c87d0b5dc492823d6352b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kC1MqL4sPtchbwPTdiMQ31eb",
  "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]: [-0.4267, 1.655, 1.409, -0.4561, -0.358, -0.2783, 0.9954, -0.0208, 0.8062, 0.6079, -0.3851, -0.0189, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.4589 left_y=-0.1367 left_z=0.2216 left_yaw=0.0071 left_pitch=-0.0884 left_roll=0.0229 left_gripper=0.9954 right_x=0.2954 right_y=0.0008 right_z=0.1773 right_yaw=0.0006 right_pitch=-0.0175 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -8.4308, 6.9538, 1.7118, -0.1685, 0.0708, -0.0806, -0.1983, -1.2923, 7.0906, 1.7021, -0.0464, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46bb2626b0f5c9d7b19ab3607134371e4e12a80120491ce80dc737133a728682",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f420c0df5f40c5f7e1923f66fead59eea76f8f5aadb7d1eb312dead84f7baf9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2434bb41b7086d32671abacc53ae65e771e120a50f5ce10045e5cace85e7c16f",
      "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]: [-0.4267, 1.655, 1.409, -0.445, -0.358, -0.268, 0.1173, -0.0208, 0.8062, 0.6083, -0.3851, -0.0185, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.4605 left_y=-0.1374 left_z=0.2236 left_yaw=0.0012 left_pitch=-0.0785 left_roll=0.0265 left_gripper=0.1173 right_x=0.2954 right_y=0.0007 right_z=0.1775 right_yaw=0.0003 right_pitch=-0.0172 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -8.7179, 9.388, 1.6337, -0.1538, 0.1783, 0.7399, -0.1299, -1.6615, 7.2684, 1.746, -0.0317, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstJiS77HbrO4ny3j7v0yD2NFSWECeRPN7UxYukUYg_m1sSwi_nJgfsZ2pCd0Je0eZKXUP17XNW_pk44wT1UFfV4AHmAv5hxgKANBuNnIQthdn3aEuj3E0mIT7871983Iw6AVUv8yM8nT1wuJqZiWnVm8FZwH6MM1_M2lkBzEaLmxH8WbnlmKfP8mz6M1mDH6n2pkcyrZPAXvv4aWOewhB9rTmrE9jwCc7qa9bWzo_qrG7s6gPLkoFQF3eqyOYflIupvTgNLBgYdq8lRcP7Ob6xnMamoIR_qzJY7zHZ_vwU1Wf6qZ1ME-FtzFNdyCgyi3JeQqKASvzwRsbl-qHemZDAr_AqU6IuD7hrK2Lm7IEq8-viReoLCRjGyzF7Qdm6thdnUmrQA8kcBe5XtwiQ8SkI9AKzvJlWwrL0HhFq48BZUdokGifSNwh4vB9lYVHOdZ25Wsc_1-dBm9KDM2xEEchaWZdmW_yqnaRhZfggO1eV9VY4ruf3ZfBvFrf0LVxQRC74YFS3_EaQ9ScrwGqe8cXj_XuMmicmwOoORfp71LBvv81-SDkXkIoJsFycUJ3HiUcHkH-Ei_F80bG8Ibdc-1h6L8b-vLHeb-nB2jcHDZvOyDg2YjVy2ATZ8JJJ0SI0fOU-bE4JnL8LTlTiRR88PXr32jLYOnQ11Dh12xz_qPepbSwyFZzl-Pqj_wGb5QSP3uuoGqo4e3_4YUrhWY7RRe64qYmMHvwuuGPQPec0nby4nbF3a6L5YziakR-rdEcvH7YInnyBhPmmnluYSgJYBdWXOMAUPa-D1IW5PiJGdjcWLkwNfcJrOVFb7w7kGj6dJdb2UkaiuGjqENtsgjoNtjAe8F2p89ZBcHKP3h0WbFEPW_zYJI6DdokRPUut4D3otmPM1LhuPZ9jo8zQ8yKoAcordPbVJreXg5gEePouUEoglvjWE9xU9IIdVmWlFkbGBeD3ibj_qeS8Jq4rwfX7H7O_gAazceVEK4XykoZDRSBZ32zaE7V_QFkVgGqb_nRPQnbmJTppGDAYeSDh0aF128WIGaN6SKtmtnyqDWx4tLEh0JZR_QyAWw3mtjPC__pRkcP-CD4t50k0mu2bC5YQZfJ5_et9PnDFlXQNIhnvM7h1mUxHckhiE0b-cZQ24fk_cD9PX5h-0wTimDuG3iZFAgne8sAKcSXjs4i7WLB-9sDWeUI1uOPPWusm71i313DS5MDfJDLiRgHPu_KlXJM0brdJJWzNzNlVfeLRCxPz6CUXU4Vi28LHqB5g-jnzckk_JogEshas-xq4aHYG3iviKsaYLFiSSEsGy0b5iZjb7HL2dgCXMaJAPh0xFFdQsN9Z8CauQ7z50vC8HAvp_DhfgepAGix5xPvn57I_0l7qRgQyQfvIW7yD_0xu2NkALPg9ymBT5e8xazDNfOT0jCZzH9DMkVlXtIGWaRHvjGGNfIhnwXVpwXA-WD6DuGQ55sOUCxnJLY",
  "id": "rs_04fd4c784786bfd2016ab2d25e816487d0b01e864efdfc3a6c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.255,\"left_y\":-0.015,\"left_z\":0.12},\"note\":\"The brown plush is now inside the left basket. I’m moving to the gray plush at the left edge of the remaining objects.\"}",
  "call_id": "call_0QWN6ULZS2P4OlqrJlawnDgd",
  "id": "fc_04fd4c784786bfd2016ab2d261273487d0954dc4b6616ff8d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0QWN6ULZS2P4OlqrJlawnDgd",
  "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]: [-0.202, 0.6575, 0.408, -0.3965, -0.2073, -0.1555, 0.9968, -0.0208, 0.812, 0.6079, -0.3927, -0.0185, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.2602 left_y=-0.0125 left_z=0.1249 left_yaw=0.0398 left_pitch=-0.0686 left_roll=0.0141 left_gripper=0.9968 right_x=0.2947 right_y=0.0007 right_z=0.1742 right_yaw=0.0003 right_pitch=-0.0309 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, 0.5128, 7.1863, 1.917, 0.105, 0.2027, 0.1294, -0.2256, -1.6068, 7.1453, 1.8388, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:579dc716b3010cb8810231e78b5a209a6b6976f2e7046150a16b5e2281ba3141",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58a2c3c75f47399c3a6d35a5f134659302603237461ec1c10ad90afa604bf394",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e36c2dec268f4e07ff2176c8d11ccba7443a4bfde39ad7279760083d9f7b5084",
      "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]: [-0.4267, 1.655, 1.409, -0.4561, -0.358, -0.2783, 0.9954, -0.0208, 0.8062, 0.6079, -0.3851, -0.0189, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.4589 left_y=-0.1367 left_z=0.2216 left_yaw=0.0071 left_pitch=-0.0884 left_roll=0.0229 left_gripper=0.9954 right_x=0.2954 right_y=0.0008 right_z=0.1773 right_yaw=0.0006 right_pitch=-0.0175 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -8.4308, 6.9538, 1.7118, -0.1685, 0.0708, -0.0806, -0.1983, -1.2923, 7.0906, 1.7021, -0.0464, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstJw_no5pIfZzPzcLDZAwBVpVVf83wpEbGxfdkK2jWClX7XQYH_wnYtc1uS9Rkm7AXDj6omNJcyfwsEBghe7sPd5TGnw8-DQYekAXFQJsKwNjY03OVEsEJjzGu5YJOTHDRmFs5U_9HArW73Gzbb9o-EwRgVsTbApYxa_2AsnQ24Fm5LY-h9o_IvGFv4Yl45-h5gQ4YTGpLXmNDWqrmRRL6KOq2YQUmpqniZ050hU5a5nXd0G11HF0o0vElOIbqV3J9lY_GaXpczKCndFHs30INw5KHnjdglSwUIJ6PtoiBLdn5oXIsKqHmg1AfkoEJ86HWvhaZ5ms6PmrD8nAACMgDQ0yWXU9CfUb_85LU3qrXBixphg7fRKm63SRT1yjTTDCpAGp9ZAYAC8AJMR_v3HABlYjHIGqphMCuzno8b_vyYOprEH7hxKTbwO0m-SYhNKstjIkhvUpDHEl-zv0G4VPSbsW81hK4zUj5r6EAUj-uQov7X6987i8Jwrc_rXTIwMLdTbH4qTgC3D2stJC9QKi4t49PHX9R6wTKgG7DoEfwCRc-d4rVI3Ems6FDr-n3xGw1cwYn4A3PU7xfg-5w2xFjGcqhvKE6lNxE_RGr392UlVQTvC1wAkdWRiNuVzGhDCluZGaTZHs9R1UjKoPpwlQ4G8iUk0JMJQSwnmir3AM63ZKq37klvhf1K8B2Nm2SAbyzSMmg2GL8yudVxlplWtssV7gYv8KNMn9zL59bCjRfVCUSqlEmL_HPNQQuGNyvrJILLuYlKxY7saf7NIk8CwRDzuiewIA9kQvObohyWTpS2TTvp1B-CR8zPVtGX1ENBIQSZ4WXUyHlRKJ-3xNTHH3RGqqFCGODCBVI_Jm02ouxo26GTAitRqsQLXGv2PWEQOntD-4y1pQuqcshhr9SffBFPzAptmNYF4p9XA3rUhnjMA3nyHZ0Xqv_Jwfjx3JeTrD9iK6BHf-bOsOJ1ZKwUOkL2rWS7nQJW5URc3AlxBFx5Pb6mJ-t4ICfq-OUpbKXfxSNGq2sJEqA1796pLZ9juAthSl1N3MRtBa23oqrXE2a1Wrpp81tY0YrfZJSp62pZgyP-6rE0QwMVsT5thT2bhRaBKJieTp3hDrAOgZYCWQwjJPyoy4TJK0gEC4FWIQQjing1aIEm5-cuzb_ASakVZ-BUABPPU7bc8zwT7vGpy9eyfnSvgbkTdjs8M03J3-v7rhFRGSk4MbwNBwH66PYth4Tv_rUyAz_drlDx1m-xFzOXNmtSsjBsPBikgjF6VtqBYH2cJtl-Py8cNSU5OlhLBKTWsHjgykPgbVIl6NLNliFTiYIkOlOlvVqKtRQtq6NrbeadkJuPWkTf2aW5ko1IKZfcyKyYhES20US1ozSIKbhOyNLztCE4xp_rbaPRF5Btng8PntJIfsRwvyqf1rhs2v-EwReNQzcTvw78mR4ZEWQsdaMV9sQwjhysWcmQnkDz5aQcsloTbFmo1gisfzmbV39jbgU57iQrtMqOsv_ZvOGXtkKnWXdZ4MiizPoLvxGQrrVXBp9wadJ4V9ydq_6dLxC7nExdpWU-3SgiqEj87IhVLxQI=",
  "id": "rs_04fd4c784786bfd2016ab2d269a0cc87d094a2b2fa187317d2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.275,\"left_y\":0.01,\"left_z\":0.025},\"note\":\"The gray plush lies slightly left and forward of the jaw center, while the yellow pen is to its right. I’ll lower onto the plush’s body with a small leftward correction.\"}",
  "call_id": "call_NH8Y5vUxhHyyY4danYZ7s22A",
  "id": "fc_04fd4c784786bfd2016ab2d26d76f487d080c24c7d35fcbdcb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NH8Y5vUxhHyyY4danYZ7s22A",
  "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]: [-0.0162, 1.0454, 0.1005, 0.4358, -0.0883, -0.0219, 0.9968, -0.0208, 0.8154, 0.6067, -0.3923, -0.0185, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0144 left_z=0.0573 left_yaw=0.0537 left_pitch=0.0539 left_roll=0.0412 left_gripper=0.9968 right_x=0.2948 right_y=0.0007 right_z=0.1728 right_yaw=0.0003 right_pitch=-0.0351 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.3214, -0.5675, 3.8085, 1.0134, 0.2466, -0.2418, -0.0024, -0.0479, -1.6752, 7.159, 1.7314, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:932dfb2c0dab895a02bcf9a93c7c7e72eaf35632f08240eee4e5532c6f6e1c4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fb582c99ce55e99b1b7000b4e2b2f9996fccc40d2a3f53dc9ca586ebe745373",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2df61ea545233f2b9e1e5c7aa818ed521a1fc4bc7c041d70d855f056466913b8",
      "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]: [-0.202, 0.6575, 0.408, -0.3965, -0.2073, -0.1555, 0.9968, -0.0208, 0.812, 0.6079, -0.3927, -0.0185, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.2602 left_y=-0.0125 left_z=0.1249 left_yaw=0.0398 left_pitch=-0.0686 left_roll=0.0141 left_gripper=0.9968 right_x=0.2947 right_y=0.0007 right_z=0.1742 right_yaw=0.0003 right_pitch=-0.0309 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, 0.5128, 7.1863, 1.917, 0.105, 0.2027, 0.1294, -0.2256, -1.6068, 7.1453, 1.8388, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstJ34YQ7PZXYRsT6lIOVKkAhNr4t_dikEvY-SloHIh_L4CsmVUXpnGCRDbipE8Ludnj9RHgbMymaAP-DISguA4wnek01VXEhnw9elgRmdwlgbYUYt4GE--ixn80I54P1f5NryoMbFTE2BxbakR-I88jU73J11LIFYkWCk_5nTXxN0oHuxWfxBC8M8O6oRXPnmda06ZCjnKwXNCyKpBe2pYQBZx9V6bUwrm3B0J30p-cpO2kzMd-BkkT1wefFWCNAOM7z0Q8z-UwOnoBuuCtaZc4QSEgQuLG7n4KxIVwGdhfXvvZ8vhQA0ycJ5oLM4MoFxcyPCbdvRgCrDcV_bJVPKuMIcKPxetkRg0l1ldiTf6xfUmJVDlKOC1h4e8IlTb9X8L58FqSnvYU5_O6KWFPKRxYNeTqx02jtXTNGeAKwKF3k8eLj1bExGX9QQPkKYocKfN_47E9zCHdnA7nlOfBiHdZwf-U070pGXMwjR2p4IlQA_9oN52tHFVprrm9rh0Y1PkREH_2qqTIzLz1qHkj9lSRH11w4wkXuqwZJea3AC2soiWnVViExdLbf9obrG2b5fFjgOjDR83kPx6m5rMamzSxylXdKHvtx8qnUwhgD4e5RlbKv4MWznrab1n4uBE0hTm9pmmC1vTkpo5TlVA0ebbg5L-P4vIlMc_muft27DOgtVPGnfmCF4r7a-g0aOO2ghjQZ8Las4qR2oVENYAyWNTkkmUtyuIYZgXMB_VT9Px5Jg9Bk8NvCQFwxjgfzSB205pRtqMioqiQ1mRT7BUt50cIUDN32JvHfTGC5tZ7ZYzwCn8XbGrjgYyOHabtjtHkGlA5U9iXq2ELGGmsyJ-9LZg-nXIrAf0F-7ZzosehRw9yTyNWPY1NPDB7r2GMa-Ei0rf36Ore6jKG8XtujQ7m_CimQrxRv6cYvjMFFrvze2P6nT55rDxN5tFDgIetvMdvKe8P4MsTC6fmC_akeAtrcsbvD0Do6YS_y3G-T6sAnnaBnW-JL-v3cXgOoTDt0xYLgQiwTlxavNsRs9IsoE7ym5r7_taqjntFGhxYHGbJBCqw58iS3rI_GAafiSvLDgZqCSB3vAj9X-VGqmn6QZJHcSxfcjt6VuQZmWU42DpPiRSi5l7LI0uHH6ZR0xgD5ecfsq2P6fUyRywD3wHml5-4Vgr2hKd1bqnqnNFs5QWgR3AVtYgg0aTKtE7Nq62vjz_qzmf36",
  "id": "rs_04fd4c784786bfd2016ab2d2753d0487d08fae248c4a361e31",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descent stopped against the thick gray plush, and its body fills the space between the jaws. I’ll close gently around it.\"}",
  "call_id": "call_xgPozWz8ygcqzQXUEnyI9jY3",
  "id": "fc_04fd4c784786bfd2016ab2d275a24087d0b9b856f2c0cb5e42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xgPozWz8ygcqzQXUEnyI9jY3",
  "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]: [-0.0162, 1.0401, 0.1154, 0.437, -0.0959, -0.0227, 0.0108, -0.0208, 0.8158, 0.6067, -0.3923, -0.0185, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.2995 left_y=0.0157 left_z=0.0651 left_yaw=0.0607 left_pitch=0.0755 left_roll=0.0426 left_gripper=0.0108 right_x=0.2948 right_y=0.0007 right_z=0.1727 right_yaw=0.0003 right_pitch=-0.0355 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.0872, 4.7932, 1.8437, 0.0366, -0.0366, 0.9988, -0.0615, -1.3607, 7.159, 1.746, -0.0317, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0af64dd6931675bd900d034cf4825e7754c105cc2cf328825c9f708fee3c50f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8bdac1ccc1329aafe6f23c2a2728d46d9514ce44a535d0655901eda245b2e44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59497b509ecb4480fb1b59becf19ea4690a4f121eca17a3f4e130b94f99e4b87",
      "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]: [-0.0162, 1.0454, 0.1005, 0.4358, -0.0883, -0.0219, 0.9968, -0.0208, 0.8154, 0.6067, -0.3923, -0.0185, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.295 left_y=0.0144 left_z=0.0573 left_yaw=0.0537 left_pitch=0.0539 left_roll=0.0412 left_gripper=0.9968 right_x=0.2948 right_y=0.0007 right_z=0.1728 right_yaw=0.0003 right_pitch=-0.0351 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.3214, -0.5675, 3.8085, 1.0134, 0.2466, -0.2418, -0.0024, -0.0479, -1.6752, 7.159, 1.7314, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstKAyJky5m7_kVyjyydxlWd9z0oEh31LZ0iO6pHh6ANgmF9381dNWYZxgpTD9Z3Bgo8OErHPk3Msf3b0sbvJ4DibgP7aTRrh4LyMxrExV7IFRE6UnIYhdvTLiluwMm1-yiFymjQ-cdrc_VUZXdRm5LP1chmMrfQ3xZyIkW7VFvTGnZYqSCZi8VmojY1mfOx9F9t6goAi_aZWWuE364zjK2F8XLq7bL5mMy02jUKBTcm-OC9tS5rpyLyVCnZW2kg0t8cu6j0L2_ppzfOiGlnjGXWF4ptezQrhOeGYYpAcc3ETxzibzkCuNC0e1oGQadM7uFRoY-_osoWzHL_Ei2yKzsigpJLAJBxu03a1LoALsXmrWb_dNmh1ZQIXmwOstA_fEcWmbPv9HWLbr3GZujgeLtyYYtMQc64UDoaP1DEY7qc2AhFDz24QWjc-rbGDOjyCmqjgkGCNba6x89m0EVPOcnwwcFn3VpiYsUPeznDmlA52eNUzd7bGL3Dkgxi8eyHrVi1v2Z0LMrRHC8aDfOqipR8G7lMxiXtZbwo7yV9csLuQWTgjd9rj1rdzVTRf03LBr6K_Dgjuc83EPIwwxsQ1m5sdywlVfjOVf3cIy8j5tfGt_4rYZg5BQCdcKsyONkl8Pp8ALyZtm5Fm7vFftF-CjoW2VdHgvJv8Lxxo_ZurENbKUug4FjsjCEf7APUeSQ8zVQ-fIVsS56rBQ5Fim-gbKr3FJ33Zjg8y9TXp5hvS-USaagJnfB6zXIxBuoawDIihAvwqCwgYLBhk95Q8-15ZGuexqJj01OpGiA78nF7jdRU3kXG7TT7psFk0-VofQDYeSu9qnlinBeOMtdslbM3j14XllaaFfMxj9myH7Up5b_QranCLND0vgjQPC1eqm-KHKKbu-RBYEsV1tYLJMx4rj35lR08a1Ysh2TfOsMqz3x7VJp51g7O-m01qS5-Hr-9kQsiVwxNx7YScJ7s53HRbOMCEQX-INcnvzXup52a8iM1UiJKwX09P6GawWyUX96qGNcAiyAu7QC-cwzkURcqsIoEK-o1dYsCwkTj2mrGWNBtZqhbQdv07IsJVLGyblJr5ntqJzuXSWzJNB1lOPZtDA6qe-f2y3Z7dY9Z67rUQM_yamXoU3MCV1N8lA6NxZ70IqyCS4r55F26aJEXu6AXQD7d1czMVHstqAgZa8hWTV_mqdf8yhr8JTBxoAN0XmqZe5g9jKKj1EkOA-NZatmnjJ0gmCmFi6BCaNwp94PlXFswoH3GLZhwJWQ8NbOTp0QoZI2DzD43rhewkNRAKXQyMqBh4GrWrF__KOZkoeeZuW37uxaGNn9DQLAKaa1RhM8mZw9sk0Be30sLN1qbNuFcIMT0VlgGXJGdUxeEKcqCuH0w6gxQIp1pRt1bGU8l7eer3muqKy8eWSPj4tox1KMAK0L_GulaGs5lsGLmi_f0-rNkAvZcpTLibYw3kcebYLbQHcjIVuY6Peihhm3UqoYDdqEzRXAztvTdn_T7iPLS3mbZE1bptF9jQ0gwqWAHB9w71Ra09I6ZH-do6fvdfpIuvKxIBY4-GI67tAi8QSQ899GBcdWc_jPPcFqY2JJ6oahmpIODQlqpJXRA-SzChIJIlCcV4pg==",
  "id": "rs_04fd4c784786bfd2016ab2d27b5c9487d09ce176924b947cce",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.32,\"left_y\":0.025,\"left_z\":0.015},\"note\":\"The jaws closed to an empty width, so the gray plush was not secured. I’m reopening and shifting forward toward its narrower upper body for one corrected attempt.\"}",
  "call_id": "call_zBTGzW7uEoTv56fC8BiptVSr",
  "id": "fc_04fd4c784786bfd2016ab2d27e248087d0852a18c732bb58b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zBTGzW7uEoTv56fC8BiptVSr",
  "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]: [0.0406, 1.6569, 0.0837, 1.0569, -0.0509, 0.0002, 0.9988, -0.0208, 0.8192, 0.6067, -0.3927, -0.0185, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3159 left_y=0.0254 left_z=0.0084 left_yaw=0.0671 left_pitch=0.0452 left_roll=0.0425 left_gripper=0.9988 right_x=0.295 right_y=0.0007 right_z=0.1717 right_yaw=0.0003 right_pitch=-0.0393 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -4.3692, 3.0291, 1.9512, 0.0464, 0.0073, -0.1392, -0.212, -1.4291, 7.0085, 1.707, -0.022, -0.0415, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d5639eb9a74d063abfe9fa4b78dab1772a8b9a81497b00ee5eef235450cc3d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dfbeac0c7467637bec63b35f6739394313b018f9f009d9d6490c258713d0f58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69c16b5643d2742c69ec89d18dfa31e5ed1d8f22ad5b30e106f6ce8473ab94a7",
      "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]: [-0.0162, 1.0401, 0.1154, 0.437, -0.0959, -0.0227, 0.0108, -0.0208, 0.8158, 0.6067, -0.3923, -0.0185, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.2995 left_y=0.0157 left_z=0.0651 left_yaw=0.0607 left_pitch=0.0755 left_roll=0.0426 left_gripper=0.0108 right_x=0.2948 right_y=0.0007 right_z=0.1727 right_yaw=0.0003 right_pitch=-0.0355 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.0872, 4.7932, 1.8437, 0.0366, -0.0366, 0.9988, -0.0615, -1.3607, 7.159, 1.746, -0.0317, -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"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open fingers now straddle the gray plush at table level. I’ll close for the corrected grasp.\"}",
  "call_id": "call_vg2SiuECDp28dsXak19dGtv9",
  "id": "fc_04fd4c784786bfd2016ab2d286036c87d0afd03ccf1b855a1c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vg2SiuECDp28dsXak19dGtv9",
  "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]: [0.0406, 1.6569, 0.0837, 1.0603, -0.0517, 0.0006, 0.011, -0.0208, 0.8192, 0.6067, -0.3927, -0.0189, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.3163 left_y=0.0256 left_z=0.0091 left_yaw=0.0676 left_pitch=0.0486 left_roll=0.0431 left_gripper=0.011 right_x=0.295 right_y=0.0008 right_z=0.1717 right_yaw=0.0008 right_pitch=-0.0393 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -4.1915, 3.0291, 1.7363, -0.0122, -0.0073, 0.9548, -0.1026, -1.2376, 7.159, 1.707, -0.0415, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:606438ddc35c8a28d0bb982d8a592e23f7c06e9186e77dcd952c33c988bdcc72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18dd2d198406d72a54b028a142dddd9a4268b2c0bc1b3372dfdceafd157631c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:864b6a4b85566570fbcd71e5bea9eeaa74eaec671dc665bd856bd17fa6286183",
      "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]: [0.0406, 1.6569, 0.0837, 1.0569, -0.0509, 0.0002, 0.9988, -0.0208, 0.8192, 0.6067, -0.3927, -0.0185, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3159 left_y=0.0254 left_z=0.0084 left_yaw=0.0671 left_pitch=0.0452 left_roll=0.0425 left_gripper=0.9988 right_x=0.295 right_y=0.0007 right_z=0.1717 right_yaw=0.0003 right_pitch=-0.0393 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -4.3692, 3.0291, 1.9512, 0.0464, 0.0073, -0.1392, -0.212, -1.4291, 7.0085, 1.707, -0.022, -0.0415, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstKQ9lVDFftwv4E3hZGow7BVzcyTaJwl1mVjXyCCmAnL_UKxBu9p0LX2naHUwnoXCP4eqHB5Yr-6DECexZEqDGzupu_ZoUWDXX005KxjwYDRHZKuJBozdqsmJwVL8FX6piyr5pXp-a4nLMRAInBqyTONCQ_gLRygpkbUeLcIOJ1Lh4E_8NyHcODXz2FwXyLONLsUQwd2v6dxTyW2G5l7BH0wuZmVcdlKCblDFzof_EIuvbXdH4UVgkNOKD4Xm1j-8C_LhINpsD2A32QCH4BxOdNSEvfsAnvyQ8HjKfEESt3U4LpuuSKo1f0XtjYURVvmZVUPzgKnBQqURy6Ipip47pakMPvFdNa1cVqqx3Acw1x9TQlNYR0878W3Af5XnspAAWIc98HsOpr8X_-DsZihfibxT2r4sCRfyKpQRksGdmMdl_3HL4jCyEjoY8ET_4WDM8WJqqjQyWDYLHJaAVkSMmHJVDK9ilPdZxcCSny-wTe05kVf77JDaUDajtbHB-h2ZMq-JA_Ivx3pc1iYp-Wgg5yYnRJW43uJlWflBO3A0X_1gi5MnFahhkNd5UFvfiVV0uUesEiHUMjY5ecTp_ayyFhDA_RpNK9dXkqq_LiwN8KcWxfOt5bS00vySq4vn38V1pG67w36rc2Eep7qBsgfXavbUoShQmQ0W7Ozni7n9lZ6Td4IQZBTeHczulpOKLdoCg9mS2KSWcFYgRGVpPBCgt2mevQYWG7NTQhbjZraWrKvL1j4T5Ry4lfDubqQJy0SAjQz8d6Lb2eivrG-jtjZMzJhW0Ixsgdb_VFfeKEnsD0ey-o7B0TpKPt4Jjpcu9o8r-yykHVTXAkeoAvnB8vEWwXQ_mDmMfeCk8o_cUcdm8b9y6YrbVhvwi8qf4YNtJdkbmLI2eRewsdxb0_gyKDkdBmYj6cf0fRksdjTndoQwatPwm0-Kri5g2LRXIV_4nqF0Ehpt7wDeOfbIxnyugyIlo0m-Ly-Vv0djxUrBH7wA0mxYRfMOQ4EDNFAYaVd6D628MA5N06hDqi6lEdUWSrv76pcJa-mgMeiwK-XaPvRkAK9z_1gC1Txi245sg2Az3oqSR-pyxkGCopOHcUIuE0L5mgpSwWrsSNubi67T7cdnCaFrDgOV42S_pcRaTvc3ZoGkePZsuVvu5_nLxC5drfldZbQeyn6H2XfTIaVgBmw9t-dnfnMI0NHGZ6AsK1geVHNreFKY3VzMX8I8rJ58j468L3hrpcts7ub11GnS_IT-OINpYbn7zYnhzkxcf5HWQcY05BwY29N_z7hZf3P9Ajy3LPIJn9kNclDuV4ysx35VTT6xRuz5yrmNHpwTlvyd6M6JrGetsxueb3yVjkFSGcLcCdTpBvbQ6_6GWzsXECyTxq0B7m93s8CuslbhmStDxxYzkT8r8vidLQRguQKrSnpZt23aOOdn6UaM7qaj-yB-aHUT-sWb275ar1G9zT39kucRPw0-uU4bPFb7nNyz-rc4zZvhSoZGTpD-ggeKangGZlANZJsNFia7yRB9hHg6JF8bq6wZtPMDMG0BnT6r1xH2tSGn6W7nrKvJuhm5rCX69DQ5sr_Hnls0obzCzvIs5q4Ijc91s5NGXum5dENOxfSlR3c5eWhrIQLa50TZM1oJ-XhCzMlQWIptCmdyb-qyZDZO2UL",
  "id": "rs_04fd4c784786bfd2016ab2d28ac89087d0a994072aa2b8b1d2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":0.04,\"left_z\":0.12,\"left_gripper\":1,\"right_z\":0.185},\"note\":\"The second grasp was empty; the gray plush’s body lies farther toward the outer edge than expected. From the overhead view, its head is more reachable, so I’m repositioning above that instead.\"}",
  "call_id": "call_619dATz1ReKo5hj2OgSDPMe1",
  "id": "fc_04fd4c784786bfd2016ab2d28e5f4c87d09b6b795e761a5e42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_619dATz1ReKo5hj2OgSDPMe1",
  "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]: [0.0895, 1.3315, 0.5293, 0.2535, -0.0216, 0.012, 0.9988, -0.0208, 0.8249, 0.6258, -0.4374, -0.0189, -0.0296, 0.9994]\nstate[eef_state]: left_x=0.3793 left_y=0.0414 left_z=0.1055 left_yaw=0.0848 left_pitch=0.0123 left_roll=0.0382 left_gripper=0.9988 right_x=0.2915 right_y=0.0009 right_z=0.1698 right_yaw=0.0023 right_pitch=-0.0706 right_roll=-0.0019 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -5.9145, 7.9795, 1.7509, 0.0611, 0.1099, -0.1343, -0.335, -1.5658, 9.812, 1.6142, -0.0464, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a5b0fdd327caebbbc0317e8a183ef5c41f5a6ec370c9f88cbbbad3d4d52cb71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceaca21ad38a31722ddf4ba7af4b36d2306355f735b72219a06144f94add0022",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:733804796bfe3c8f78b96661d6da113808c63a0e3bfe69fd51dff3ec82a1a47c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 43 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]: [0.0406, 1.6569, 0.0837, 1.0603, -0.0517, 0.0006, 0.011, -0.0208, 0.8192, 0.6067, -0.3927, -0.0189, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.3163 left_y=0.0256 left_z=0.0091 left_yaw=0.0676 left_pitch=0.0486 left_roll=0.0431 left_gripper=0.011 right_x=0.295 right_y=0.0008 right_z=0.1717 right_yaw=0.0008 right_pitch=-0.0393 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -4.1915, 3.0291, 1.7363, -0.0122, -0.0073, 0.9548, -0.1026, -1.2376, 7.159, 1.707, -0.0415, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstKeQkC2LFesig_mNQtiMarFnWGQpQFvcF4s0pD-jZIM0P6n93gkDhFspPhWHsmOt3Xe1W2aQ64y3RwKrTSvYz6VuPVXjAfBvHhkNgcPLhztXNtnDOPLqsCl2xjq3XqSy2DvZcbZEFEkwZOYuV4PuKyANi8dJyYHh0lD3lIH3MGNViWirjHb2grNLU45tyE3hVeLeFFx3rs_iCUCwrVZidW8cYNjUrfkZPyWULRWrz-aXGeX4X_xVzjXgxEpJwPaqqYTPsDxx_RyEiGKSlH6kf364t5jVPp6tNUo98_pA70ng13P5hY57NlF5C0Vt3CJJsMDYaCV5M9AjMMWjmakw1_gkkSZYOHDwt-VyfsX847949b461xa1_SN4O4IWYZLr3ILG8_OcziHdQxLpz5mz1tFN67AtQaASmyKKz2dhHtZ52A3mdXW5IRufgH4L57hlaS05C15bwTIglUoUa1shd2L_H9VUZsvXO30grmkWpP8pkHkZCcU90To0mOnWVynvXyikIOTTkj5U2r5k800vGEVMROMH6keV2a4gUI6pYJHn9aC0Ont0w7VozhfPqLsefrR6iZpeHF86P1vWLfby4xC7R02Z12tsCT8CIGceRGKQhiS2kHVkA9Je7ikwdq5Eco7IXl9p8kYHmYDV7wtzfqRtOKEwpbCN62OWqPcIBpbwEVicaWzltecvlP2Y1hcIaH_keBmKSZ_UYEBKH0Uz-IrdqGlhyIG7hd7hc2i-8hWPBefZ7NM7SbXezy5AZkuik7SP2fyMbmVJ7MRza0A_eszQkguoAN3DDA3BkwQHtgr87FOXVxigeJIxQJwdE7-zA7JbI3k87nt8F1BOVFb6cfd0ME-_4mR0mDzcu2yA3S-mTGERlBDg5PCQE2GNJDCcKHb1A-UXL7OIr8y91fFHYAB_kd8IUjOif4zmnK2vLBOr-iDKQg9Rh15dKTThQwRepIOqqWgqrMPDdvvyJNCd-PopomH3q_P6pJYDH-lzCwyori0on2UA78UZ8DmPleYEMVFWYgqAv-cJ5c52EQQK_5CDQIBNzu4UE52PgAZ_CF06ki-st4NW8Ja1NG1P80PTlbMWPFeI0cvdz7MNdVFgGI_l2q-c4mXWwam50Q89mS8FTrYs0KQr_bNUUPF5mV7tkiocw6LpNl-0ITbSCUYoPKfdylw44PizLAX6JM-aa7teMkWP71XTe6RqccIrN6U8YSFP-neJZ1YgvphVjnZl-s4xUxdgoxkMldnrZ4cE5xVz1Eu9AlAM6ZB10q2e3QeOBMUZduHOjaoB05IVi2bJKKpdASMvcBzfsYkNgOV_0an4UCyqF8YzVNkZlL0NfoXO11hqN_8kp94kJuiExdFrtU2Dg==",
  "id": "rs_04fd4c784786bfd2016ab2d29a28d087d091cd26d44ee8bdb0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":0.05,\"left_z\":0.025},\"note\":\"The gray plush’s head is visible near the left finger, close to the arm’s outer reach limit. I’ll lower at the reachable side of the head.\"}",
  "call_id": "call_xFyOEvuR5ozjrvXrJ1ojGYzH",
  "id": "fc_04fd4c784786bfd2016ab2d29c948c87d0ad953c749b1ca081",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xFyOEvuR5ozjrvXrJ1ojGYzH",
  "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]: [0.1242, 1.6314, 0.3607, 0.8333, -0.0143, 0.0525, 0.9983, -0.0208, 0.8303, 0.6247, -0.4526, -0.0185, -0.0296, 0.9994]\nstate[eef_state]: left_x=0.3857 left_y=0.0543 left_z=0.0549 left_yaw=0.0916 left_pitch=0.1223 left_roll=0.0725 left_gripper=0.9983 right_x=0.2893 right_y=0.0008 right_z=0.1648 right_yaw=0.002 right_pitch=-0.0923 right_roll=-0.0016 right_gripper=0.9994\nstate[joint_eff]: [0.5265, -3.9179, 3.0427, 1.1453, 0.2857, -0.2662, -0.0611, -0.0205, -1.6342, 7.0769, 1.7949, -0.0269, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9804764ecfa378881d12d1351d78431e34458b08a75a545ba12a41454ec478b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eaa328f7af7c8ddda67d7ec9ab061f42d493e6961642021e9f90a2aeccbc71d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:672416f070bd3b556d48dc5331b87f84a0f628ab1bb22457bb23de58db7709ba",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 47 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]: [0.0895, 1.3315, 0.5293, 0.2535, -0.0216, 0.012, 0.9988, -0.0208, 0.8249, 0.6258, -0.4374, -0.0189, -0.0296, 0.9994]\nstate[eef_state]: left_x=0.3793 left_y=0.0414 left_z=0.1055 left_yaw=0.0848 left_pitch=0.0123 left_roll=0.0382 left_gripper=0.9988 right_x=0.2915 right_y=0.0009 right_z=0.1698 right_yaw=0.0023 right_pitch=-0.0706 right_roll=-0.0019 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -5.9145, 7.9795, 1.7509, 0.0611, 0.1099, -0.1343, -0.335, -1.5658, 9.812, 1.6142, -0.0464, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are touching the gray plush’s head at the reachable edge. I’ll close around the fabric and check the resulting jaw width.\"}",
  "call_id": "call_DipVO86eVFOHmAaGF7j7Z61f",
  "id": "fc_04fd4c784786bfd2016ab2d2a2aa8c87d098fe0605554252f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DipVO86eVFOHmAaGF7j7Z61f",
  "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]: [0.1078, 1.6176, 0.3683, 0.8516, -0.0448, 0.0452, 0.0152, -0.0208, 0.8314, 0.6247, -0.4534, -0.0189, -0.0296, 0.9994]\nstate[eef_state]: left_x=0.3907 left_y=0.0538 left_z=0.0669 left_yaw=0.1051 left_pitch=0.1621 left_roll=0.079 left_gripper=0.0152 right_x=0.2893 right_y=0.0009 right_z=0.1644 right_yaw=0.0024 right_pitch=-0.0942 right_roll=-0.0014 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -4.8479, 3.8906, 1.7167, 0.1148, -0.0708, 0.9499, -0.0615, -1.3744, 7.0222, 1.6972, -0.0317, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4135cc53cdd3f6687aa51378fce1cfd2ac97d0a63bb98e02c14c3585f2f2824b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9466c83d05dafd0fcb0a4b98c5c700d9adaa22b414007b27916fe4840392ff4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8f1ea004214dcb910b2c325f7aae61a50f863c02698926f9c4e5aeb237d98e1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 51 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]: [0.1242, 1.6314, 0.3607, 0.8333, -0.0143, 0.0525, 0.9983, -0.0208, 0.8303, 0.6247, -0.4526, -0.0185, -0.0296, 0.9994]\nstate[eef_state]: left_x=0.3857 left_y=0.0543 left_z=0.0549 left_yaw=0.0916 left_pitch=0.1223 left_roll=0.0725 left_gripper=0.9983 right_x=0.2893 right_y=0.0008 right_z=0.1648 right_yaw=0.002 right_pitch=-0.0923 right_roll=-0.0016 right_gripper=0.9994\nstate[joint_eff]: [0.5265, -3.9179, 3.0427, 1.1453, 0.2857, -0.2662, -0.0611, -0.0205, -1.6342, 7.0769, 1.7949, -0.0269, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstKuRSvQ2ZUdhB-o3TxYf6Uvz1nL62QoZrsolmvvq4mvVmDmc1BL87Pe9_K3Fs8HTH95XNQsjFqRSd9p-FuFwfxpzOy2ISLO3bnsZJ3OgdL1i8W_bkVc8ljpdZI7lR2bnBYVGgHJatU9QwUXLShK2ZtXTK13HcW8bRZ2Nxz2LWlHB3dBgnVlS5mpzQiemONJqoRq3Ror0aE7ZmD53IGyIYI2B7_HrCgf_7ubtmQRntGBoBHOGoGaLexBTtn0gcfNBoyj6g-ZL4AUD5xyPth0o0OPyNCZ3wp0Jc_-0kSR5r8KbRWtCoxJY3HjNVw0ymoaDWOTGVkWV_urhD7ar9kUYwtGwJuk_5Z9nZLksc6jz59H9dDownLrPSxd52540uq4jTdxVj6AQpmfdWPFoSLWuq3YTtqamfgNWrtndrW6HqQMk9aCDsqxuW2KGtfxxLJxtvF6GiONZU0JGq-vGthvTShE0O7IrpHkkrx65plLLlp2QibICoxyeQC8qJkgxK3Eh9q4XcsvHqlRfwIIwzrE45lGuIdPtq6kRijmDZseTuYz1HSXSgLkwrH4bJhy6ZExDFel3L2KkSmsC6D-6oYDhIeizSTNXmxXnWtoeXkZvzw9R5WP81xWLwmjmoOHgVqKrb-3xrwbimx2YAunOqD3nE8QBka24ceF_vFal1SQie_ahi9Tj0um0ZoZY3Xc_yTDHZhiZzc4jE3B7nB9FI5T4O9LNOr1aRXo3BVn74hVL2FjuYvVbMZZFDQ881ZqYrbRTm-NrAyNktLDScwZK9iNVAMF5pfBwiQqNTFiYWszNPL96bheO-J2IP4U76s6s0L0XsY-D395QC_jtRzM8Yrs1DFaiU37EfCd4dP3-TmB3m1aOqcO1ie43ktkt4b0BTu0-JIvEtQo85pRnUJUuOKQstzeEbomvPVz3oEIt9d2VyLPKNsjTiNHt-hkAAx-CmWE4L7T4EgPW0tmcUZK5nC0v9mmJ6a6nLPzmeoM9ZKT__GMnYANQPTo2p3kmMWcnZ-_T3PypVCQmk2Oetkk-XtS7CTerED1VaaQs7vYYyiYurJ4a5uMYOYzh24o2_XisXLixCiRB6MO3-YNqASLpy_tJ4WY2VDuulgedmp6HfWjvOZXDFh7De2MZwGBYVlmjjmirnDlUODJC4JwBCNHuGkrtLmyhMAyB8HOrGanogAxtAcj3Mq9VY6j3h7HXfO6ACzTd1DYg_vJaVFZE9MvLkxCFJUAyfJx0Ds_5rdLeESZQUzn4U7pUYhlt11QgqzkOfV-J904jHDPCIi5wTjFD3rZF39PDrc4TO2ujKdX2MoC07Tg6hJ-kK5c5NatNCoQ8geeD0BFVFL3VzDGB9lLJ0XcJPv71-JcKUow0Kkstl8WP8ZhrF2WHfzrT_tp2eZPAvAsUp7eIHQtFEwRtaCW8IR4oqXTa8LdP-2MwRIGlOhT5vHpSZGXE1uAltqf03AryCmqCwH8IyiDxa8DyY8MSRi-tbw3NMhGi2CRi_znsoD0TYa3m6yWlsZJ_Yy3AySf8C1jGEqJVPGhP4VgYR6r5aZA17LawfwE1er6VCSmuVat2Yyzp0gCWUou-cNk4BYP2xYs6cP9l7baDOeB8tFeYV7kDpT3jmnPgmUWtaeoyvwnB3_hTxc=",
  "id": "rs_04fd4c784786bfd2016ab2d2a8100c87d0b0b9e4892e426e48",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_y\":-0.27,\"left_z\":0.13,\"left_gripper\":1,\"right_x\":0.27,\"right_y\":0.135,\"right_z\":0.11,\"right_gripper\":1},\"note\":\"The gray plush remains unsecured at the outer workspace limit. I’ll leave it in place and move to the central beige plush and the far-right pen, keeping the arms separated.\"}",
  "call_id": "call_JoJ0MeyML3cGKDGynurnanmb",
  "id": "fc_04fd4c784786bfd2016ab2d2ab8cf087d086425d36b5c45f90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JoJ0MeyML3cGKDGynurnanmb",
  "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]: [-1.1843, 1.726, 1.005, -0.3386, -1.0866, -0.955, 0.9988, 0.775, 1.0996, 0.5316, -0.2859, 0.5655, 0.5106, 0.9994]\nstate[eef_state]: left_x=0.2834 left_y=-0.2722 left_z=0.1235 left_yaw=0.0906 left_pitch=0.1419 left_roll=0.0658 left_gripper=0.9988 right_x=0.2659 right_y=0.133 right_z=0.1009 right_yaw=0.02 right_pitch=-0.1243 right_roll=-0.0214 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -7.4051, 7.8838, 0.7937, -0.7839, -0.0171, -0.1441, 0.1846, -2.988, 7.8154, 1.5214, 0.4615, 0.1392, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f753e9ceabd9a0551243abfbd6ca45f928a1e205fecd592f913013ba351787d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbbf6b5439c0ea5788001cce1b97a676b84d39db2fb7d0d59e2884eac16cfc8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19b11ed5f22c95fadd432e6bdb045c56c4b5ae0c0127acaa49813155c90c0c27",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 54 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]: [0.1078, 1.6176, 0.3683, 0.8516, -0.0448, 0.0452, 0.0152, -0.0208, 0.8314, 0.6247, -0.4534, -0.0189, -0.0296, 0.9994]\nstate[eef_state]: left_x=0.3907 left_y=0.0538 left_z=0.0669 left_yaw=0.1051 left_pitch=0.1621 left_roll=0.079 left_gripper=0.0152 right_x=0.2893 right_y=0.0009 right_z=0.1644 right_yaw=0.0024 right_pitch=-0.0942 right_roll=-0.0014 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -4.8479, 3.8906, 1.7167, 0.1148, -0.0708, 0.9499, -0.0615, -1.3744, 7.0222, 1.6972, -0.0317, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstK5fG7H_GctPw23MA5AVJ3lYlCwMsB6-Jr2TH7Db6g3lU6rfGj5iydZNvXMK72EflAUf5aWc7xJ082YD3bl1QRozuAETZKrFkutLw3nU3oGAedd00aCBNIZvs23Xiyar8xdh5XWokL-Kme00MVc9Kvc1_0Jts8w0bM0SrQlq5ugVjf6fE1mZX3sWF7nol7haPhrJXHND-8OOdpbum6pVeKgdp0ia4y5SRAPb4z83QI1NUY8wa-zUxKkPpyf72Wra0UGUTYGGayVcRonuuNTfid6bJBx-IRQhiIvEG4agvFA0zgO00t6EwhLigO4NvS56Kv8a_lHbdmCbOT2taY7281h8SPR5MMRhjwNEENnl38CzBSqpFijdr59EdOjdkxqlu302FhMo1Et8y0IbMKpiLNsnMk_ooy3Nr_-xNs8QiU480mF6yuVZnfKS-soiWnfak_Rrn0uxq5B61C9zN1MoOisIbWu2K7YnrNt4_quZP9fs83X_bXshtwC5xFr84fKi_XFktLEM0M_0MEJjSoxeqgdWAPyibpa5Tn1048nSxvogSpe4QqsC2O3bqp3SOoxVZitKIkO-eB1ZYUWkU9lgU9Ka1RvKGJb94W2QF9TNwnwZ0VaIfTPcx9ZNOgx9U68_YUMz2ns7-FlJs_X7LBi__SYHnblr3i1Mq2IBYBGUPKnlvKDcRlD0uH8Zl87PrPrWoZ9w5GVW9GY2Pe0C5wckrSMdIWIz87HlTRUjCYiuMzN8Ltpooqb2wQGr7iwBvGudx7zdsX5U5soVt-aTsAsIeSQP1uHPIMmPt-89KPXgMwwyMCAjq_suGAoI4ZGrr9_cKXoCcj7NREZlgr3D56qZiLBuWheXM-per7Dmvvp7Pg7FXnGVCaYDS9H75E0I-Pi5OIZv_tHHz9YVaQboG3sW9GTcVOMnM94I7qcxJZbnxSHCxJg2bM1I9ysUdDfUD882y0OhqIHJ7FI30CgtahvyjZ_v-iHgdJocpx5DqdD6G21B0P6FXIUGgqiLzwrUGDhpFqWC0VK9DbW2m7u-_V-MWzdtOnKHRNcMyG3kORYeDQZASeJaOscjJnu5w052T2dijCvS-N6XMoJtGidBTr8Bd1GgUnM8v9LZQoUQ-aYoustKwTrGzaIOYOOzkwSd1Mnrr9PJzB4_3lUYv-6oTATJK7mK6XAgFQs6ChTLevaojlsnhmKo8JxzhZpCmnl9VS4LDubkaszcnCdhMusVPZBBpgFF_psD0Wp06-6RsCw0djydrxOscTGAGyfdM3I76awvuZ1DhZo9jxgY-zE8p8wiIlSbQ==",
  "id": "rs_04fd4c784786bfd2016ab2d2b69ff887d09d32fb26ec24bc61",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_z\":0.025,\"right_x\":0.28,\"right_z\":-0.005},\"note\":\"The beige plush is centered in the left wrist view, and the black-and-white pen aligns with the right jaws. I’m lowering onto the plush and down to table level for the pen.\"}",
  "call_id": "call_buP3iouO0JXExg0lGKV2bY4j",
  "id": "fc_04fd4c784786bfd2016ab2d2b7dbdc87d0a36735fef670e876",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_buP3iouO0JXExg0lGKV2bY4j",
  "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]: [-1.1439, 1.9705, 0.8852, 0.2005, -1.0851, -0.9047, 0.9983, 0.7307, 1.5494, 0.3054, 0.4885, 0.5453, 0.4786, 0.9994]\nstate[eef_state]: left_x=0.3056 left_y=-0.2859 left_z=0.0486 left_yaw=0.1312 left_pitch=0.1914 left_roll=-0.0569 left_gripper=0.9983 right_x=0.2902 right_y=0.1419 right_z=0.0117 right_yaw=0.0142 right_pitch=-0.0609 right_roll=0.0303 right_gripper=0.9994\nstate[joint_eff]: [0.5265, -6.8581, 2.8786, 0.7692, -0.2418, 0.3101, -0.0659, -0.5538, -3.412, 3.2889, 1.1111, 0.0171, -0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79e9a463ef63fb40bf1cb8ccf9107622bd88c67e363ce2dfb2e8a9a383a542b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d10525b730ea3f0fe436ca0fb4a9136328f01a75236a5f7f1edf675d61b18a5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4069080103dba1ad59664aab1ad79b4b8c89d367977dbc6213856aad23976e2a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 58 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]: [-1.1843, 1.726, 1.005, -0.3386, -1.0866, -0.955, 0.9988, 0.775, 1.0996, 0.5316, -0.2859, 0.5655, 0.5106, 0.9994]\nstate[eef_state]: left_x=0.2834 left_y=-0.2722 left_z=0.1235 left_yaw=0.0906 left_pitch=0.1419 left_roll=0.0658 left_gripper=0.9988 right_x=0.2659 right_y=0.133 right_z=0.1009 right_yaw=0.02 right_pitch=-0.1243 right_roll=-0.0214 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -7.4051, 7.8838, 0.7937, -0.7839, -0.0171, -0.1441, 0.1846, -2.988, 7.8154, 1.5214, 0.4615, 0.1392, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstLCdBqDRaVsTzUGAQlYomMlQHsLbz0N-6fXIGRHFSPixdjW8gUGsnw8SMWdizN1cLdGgEouxPK5yfW4V5GP4vKN9k6MI6ovomzJe0HTS9T6ggq83Jd5GwrvGIbfVCPvW6Gdf2Zrvn4WyWTAKt7XuM-sF_YGyjm7evZFyi37PIjhop-6cWqzZ8Sn81kskz4X2T8wift_Q30nzoWVnZ-IFH9CaYkMI9c1vcCozYY05M1KjHNJ_XTIjzPjdzO-lzGXFNyW3eJiRq-6P_mh8aMa1EzCA45HF9iuszY1OmHJ-cX5E8_Cy0Ds2sNsub0_4IK0eo-P9VjzZqzVO_Xktc4F1AcVqVpJKPlpSFRbM6rnZzT8THx0N1RyVWUj8EE7eCV_C4pOP-CZDgcHUCZG7rR5xU6cL58hHMddhk8dHCGq-NC8YxZAw-kvea5gbua5KrSo4GufU8eP1Rx_HTMqmNDZ8niJ99kTL3uLZ5-2Z415gbNFTs4L__ZSXWoUaLRpoUEREZJ0bjkOhHbkMOfRhqeTb8311tWhAfiSy9oMC_oodycguTWvVrNmV9mtnKmZ2jJWOX2pMwbt33fE9dkav0HR4NKn66cVAnGa1g-zmIJFg5ogKI-7oG1cBLySdU9V9ANqPulPzHD9YTAfUHrpo1nWx6Zj9OMS3QQXnV6d4fLY1iUmh63RqSqye-oO8pA0a8im-OSwt3e5uWyVAHjYF1AzpJ1jdMyzUZL-VPsu6qRNv6B8esw5s-56V_ubUvxe6F2PGvtkA4EbLuiS6bpPjwGE2_sy3PobyyzxG4zRDyQsmGVtuGzkdf1dZOK9cwCRmaK8qJQKJ3urXlCw2FmhlYZm4N1ZhYNII9TdCOkkCWNg8QoA-UlntV6ae2uwrc0GqyH4WMXqPcIIE6hHfL_V-lt-v-cu_PYbz-I9EU6LvxhcDrXCY4fjNgwCTCfHqPrOjXLfsdGrsMhLuOgjIq-9m0j4CD1D3njuwQJThoPUngSBL_UxBfkQ2YCzmIPPPytKNtAyW81WR5DoQv9qSg7sRe8FjSC6i79LYoVVmnZob4bWYZMvd1nx8iA62LziCuuHJWdWPuezOR_vV8mwdSiP1c7ukpb_8EyJx-BIeCFd6ITAXODnfGV2HOJ4ck_XdJ_qNU6K3YOHtIhKMe58Gnla0_6wpk5OpuirnDEpMTqs_sI67ZyAXGV1lyD5NAJSfb_OMVG2vBAA20ef2V7nmaW3MX6MyuF917Nz6PMF6p2FJ_LUyx9nDLhAhv-v5a0dGSeK0RipQJUtksVslR8QPMcgM9HwZQ3P0njmWkAGpFtovPZU-YNYPh5I4TNZP0FvqF60ksuci8GM",
  "id": "rs_04fd4c784786bfd2016ab2d2bf308487d0991fc2bdb1070738",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_y\":0.12,\"right_z\":-0.01},\"note\":\"The plush is between the left fingers, so I’ll grasp it. The pen sits slightly right of the right jaw center, so I’m correcting that alignment before closing.\"}",
  "call_id": "call_IkL8w1D6nBk8lt1UWH44PGnJ",
  "id": "fc_04fd4c784786bfd2016ab2d2c0a22487d08e186d176c194069",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IkL8w1D6nBk8lt1UWH44PGnJ",
  "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]: [-1.1446, 1.9701, 0.8856, 0.2333, -1.1007, -0.9169, 0.1694, 0.6521, 1.6386, 0.231, 0.7795, 0.4854, 0.4187, 0.9994]\nstate[eef_state]: left_x=0.3075 left_y=-0.2878 left_z=0.0539 left_yaw=0.153 left_pitch=0.2118 left_roll=-0.0981 left_gripper=0.1694 right_x=0.3023 right_y=0.1316 right_z=0.0106 right_yaw=0.0164 right_pitch=0.0166 right_roll=0.09 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -9.0598, 4.8205, 0.8962, -0.2906, 0.1099, 1.033, -1.0325, -3.3436, 2.5094, 1.0085, 0.0415, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bc77d5f9313054792c6096fb6145e1c7c5d1b46c1b94826a434a5a12e9b24d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71037fd510142e6f7cd39398fa7dc035c4ce967193bad13a1b94490c696fb700",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56876754d14c5677106b8805bfaa8ea90364b0590d9f2d901611a7fdd5ff6918",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 62 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]: [-1.1439, 1.9705, 0.8852, 0.2005, -1.0851, -0.9047, 0.9983, 0.7307, 1.5494, 0.3054, 0.4885, 0.5453, 0.4786, 0.9994]\nstate[eef_state]: left_x=0.3056 left_y=-0.2859 left_z=0.0486 left_yaw=0.1312 left_pitch=0.1914 left_roll=-0.0569 left_gripper=0.9983 right_x=0.2902 right_y=0.1419 right_z=0.0117 right_yaw=0.0142 right_pitch=-0.0609 right_roll=0.0303 right_gripper=0.9994\nstate[joint_eff]: [0.5265, -6.8581, 2.8786, 0.7692, -0.2418, 0.3101, -0.0659, -0.5538, -3.412, 3.2889, 1.1111, 0.0171, -0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.115,\"right_gripper\":0},\"note\":\"The left gripper has a substantial grasp width on the plush. I’ll test its lift while closing the right jaws around the aligned pen.\"}",
  "call_id": "call_JEb38hoFB8nGQVuFoNyGnySX",
  "id": "fc_04fd4c784786bfd2016ab2d2ccaab087d081330c509edb1916",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JEb38hoFB8nGQVuFoNyGnySX",
  "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]: [-1.1446, 1.8431, 0.9352, 0.0059, -1.0924, -0.9207, 0.1711, 0.6521, 1.631, 0.2306, 0.7761, 0.4778, 0.4152, 0.1479]\nstate[eef_state]: left_x=0.3044 left_y=-0.2824 left_z=0.0914 left_yaw=0.1401 left_pitch=0.1915 left_roll=-0.0538 left_gripper=0.1711 right_x=0.3021 right_y=0.133 right_z=0.0118 right_yaw=0.0243 right_pitch=0.0172 right_roll=0.0929 right_gripper=0.1479\nstate[joint_eff]: [-0.1709, -11.0291, 8.2803, 1.1111, -0.525, -0.0073, 0.4176, -0.2393, -4.2735, 3.8632, 1.6435, 0.2271, -0.0073, 0.9841]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37d2c72d37ea46bde116883b0931908793ea6691db086fb857d30b96438dce59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6ea5513c30e2dd824063d81fa852d8c7fb790867c7a613c3ed3bc64034a2f1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:955c525fa4bfb7c88e6bab2f37c08b0ab124440bdf5070b0d2364c6792b9b98d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 66 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]: [-1.1446, 1.9701, 0.8856, 0.2333, -1.1007, -0.9169, 0.1694, 0.6521, 1.6386, 0.231, 0.7795, 0.4854, 0.4187, 0.9994]\nstate[eef_state]: left_x=0.3075 left_y=-0.2878 left_z=0.0539 left_yaw=0.153 left_pitch=0.2118 left_roll=-0.0981 left_gripper=0.1694 right_x=0.3023 right_y=0.1316 right_z=0.0106 right_yaw=0.0164 right_pitch=0.0166 right_roll=0.09 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -9.0598, 4.8205, 0.8962, -0.2906, 0.1099, 1.033, -1.0325, -3.3436, 2.5094, 1.0085, 0.0415, -0.0757, -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": "gAAAAABqstLWED5fFNPfXD8f2HZ_valjtyUzKBSOP1gokpQYXFKT8CtkOPbL7ZmMLTbI79wykVcoNydLfOu4Vj0woVr3zDNlBSBF7MjMhPJU2y9PyJb7kuKsR8knWziFgemmEh7NWqLYNAr_I0Io69kLw9JpUxHfbe03ESO8IwLjQspFqBJhUHa4NEnRcYXccqCa8rtkAW7JNZMRfACWoDJ_S0Uv0by_J2iXQwpGEbQD7Z_G8gBuzmUFxRikXSodgdTKjDsuxghGYqY5G1qED9TQJPLzEGRX30pGj-GsUQ85eStW9dlsjjusVrPkksWKarWDTR6e8ZkJJJTlxRHf713nrqW4wPHreE5PpVIgTuVxN9mcA4XBXlef-qtFkiSHJ1NcoNUwoJ-EHcSPm8riwffiuf0Ew45w9WDfFeB29_NqvrWmvj0wdeMsUxYqvPhRkyshHF_GcOz0v7EI0K0vPenK_4rj0pPNlVKAiUbxNEfb2yo4rHWaV__GMpfMNn9O_1evMfyOluvOvB1HIERSAdX77vPlTsYZO0JkHs6coiWYgOBgkUR5nU-HoItgJook_M2EoiTdIDS44fsfkOmz_BgKFk9DOHTQqKyNz0rA_JMHQ9bt-h49UhfPwPp8uFhKjTxjpWXirKUMv_N-LJU8Q4_sXvXjCA42AazV57gEUjJEF5-BkpTED3QsQolNP5D6bKcQ2PBJ3ZBdv7Kj1pEzkznE9aDRXBQZ_upiEm7odhiGviNjWjvGgfXZ-F5E392F7XTy9iwTVlBk_-9KDHwUiTCdG0r2K92RCzny6DNiBUHKKKvogm13ksaBR9ncQUeD3jtoaQ6vpyPl4bZ7LzDX-Y3j9bPmha6tQXv_cB0D12RvDFKzfSliprdB2ptscY0C5M8OvQBpkR7xPxa9Cr5DPquYoERvy6nOWHoAFVorJc8BlJx-zVVe4uyu4RWNgASoiZLIr4XmBg4p3nVwLyv0zuK_h9cmxpWj3Bv_9vyiAu7dvh18-eJBlsltKyatXW97pNLhkBwQCWl9vga5-1tXvwOCh_6Fd_BozkmnFdOHnSov-_qb-gO2-NR8Q5N4OXdfoEGWxCGk-fT0960xzsLkNs1dKeS6vME3Q3sYiNZQfn06zPkLjJjukBEdkx8GO-13r-fTWu2IM_RRMGYjgUo8o_sYN1hei534oNSWWzgW2w9QjuEgalQQNo5X9Xf5ZWszYI7PZfdge8WU7EvQJG6aZBY_hzTwztw8u9Hr1mP23I3E-uZ8sO_pQhE=",
  "id": "rs_04fd4c784786bfd2016ab2d2d3d80887d0acd004f37d95789a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.14,\"left_z\":0.27,\"right_z\":0.07},\"note\":\"The beige plush is lifting with the left gripper, and the right gripper has caught the pen. I’m carrying the plush toward its basket while testing a short pen lift.\"}",
  "call_id": "call_qvvnr7YGjlqwEBRW937O8erW",
  "id": "fc_04fd4c784786bfd2016ab2d2d4c4a087d0953ed394f31bc505",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qvvnr7YGjlqwEBRW937O8erW",
  "output": "executing move_to over 13 steps (1.3s)",
  "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]: [-0.5117, 1.6047, 1.2434, -0.1398, -0.6102, -0.374, 0.1733, 0.6525, 1.2972, 0.3065, 0.3466, 0.4622, 0.4145, 0.1529]\nstate[eef_state]: left_x=0.4593 left_y=-0.1378 left_z=0.2424 left_yaw=0.1822 left_pitch=0.1566 left_roll=-0.046 left_gripper=0.1733 right_x=0.2965 right_y=0.132 right_z=0.0573 right_yaw=0.0377 right_pitch=-0.0043 right_roll=0.0883 right_gripper=0.1529\nstate[joint_eff]: [0.0205, -8.5812, 9.7709, 1.8974, -0.2173, 0.1294, 0.2271, 0.0479, -4.4923, 8.335, 1.5653, 0.2613, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:819698c9d5f6921f1ef2146b3ec35bdc3f07bd0b43b93cca8ac8ef87494cee43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:488b60fade2a8faa51be7cd39a68a77e6e8d6cc119b03434eb7d50b1932ce0ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97392f1d45bfb121079041493c5b05a48aeda15d8d140f300c3c221087590b61",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 69 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]: [-1.1446, 1.8431, 0.9352, 0.0059, -1.0924, -0.9207, 0.1711, 0.6521, 1.631, 0.2306, 0.7761, 0.4778, 0.4152, 0.1479]\nstate[eef_state]: left_x=0.3044 left_y=-0.2824 left_z=0.0914 left_yaw=0.1401 left_pitch=0.1915 left_roll=-0.0538 left_gripper=0.1711 right_x=0.3021 right_y=0.133 right_z=0.0118 right_yaw=0.0243 right_pitch=0.0172 right_roll=0.0929 right_gripper=0.1479\nstate[joint_eff]: [-0.1709, -11.0291, 8.2803, 1.1111, -0.525, -0.0073, 0.4176, -0.2393, -4.2735, 3.8632, 1.6435, 0.2271, -0.0073, 0.9841]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstLcu0-e95ls3c0gvO_AleYnSyq4sJWWl-mNUKXFeHqNdwWaxWcs5VwUTyg1-yXC_vfaufKDalrwGbcTTc9FkSd7DgksO9eBSwp_B00fQh9aGw4rWAY9gs983DojdzsI0wv7sJjKbpOGeMLT91iRMAGrq_eP5F1IJaiDAONPnOCgtaEwX_vAgPUxzqSK12iKc_cg_8pvpcGKIuqZTt6Pa1XpWQsxq8HLKdP3QK0GzUXexH61OR2vvh4vyHbOdwxcLUY3E7wxcs5URMg7a_BnmU8tHTYPdxsux9SRlZpFB-1SFxUFi4g3aBgoraNYswGWZIvEq_3O3RTf1E60azwtru6efC5RN0eyalvGQQC9zE0YmfzLjfPd3wZfzg2tak22l4qsbsbbsvA7dUAZacI0Ecz-IA8h5kKT8CM4P8ZF5UnXZ49EvUbg4_mATB3KAHTJxDqSKguNOoYHh_vxKaJ8EOCFmSsU8MLCZMMH7J7K0uYrFpc4l3szYD2T1v4oXuDw7PjYe-NfRIpTRSMfUkTDDcSHoyWxCFUjJop7hXotn86QB6zbZjd36RSpYmtnZkxtdhzWOmf59f2aq7_Opt_yG3BPs8Tb-FoU28rNAFrO1VE68ll0SuNeOCfHqd1zZwH3SYPnH2A6oqdMsyjLeHzy3-ZHdDXT4OxKGXN8SFVXBYW7q1XcBhdiRrtVmA10Kp6P74XJ9xROGDCamV-ib3issyJFBJ8JFT545HPe6oh5oXz3z3o3t4k9zuf4jxnWBcxloWZijBqNJJAabRrG19IbG521bmw3RZ2GG3s5sDZVlSw4ez1u7LQRWIbBtBjCdcfE7UhGT8KoiESwPuQET5-_mN2qRvIVQVt_kKMJ0d9elX9lvCaGLtmqZYXOfao6prQbvq1bOvO_dk0xaq6vvpGt8clvbuiWJemWIDTLIozIWxfLzsgh9cktWmOz-RghckGdIyCvUjgNTBCP0Jb1L3SjB3qZSbSNgIxaQsGzqBhQyw_PFUAbKiNySB6YQKpVkP3-cVG0UdI8cvQnnIQ5NuyyxrbZ-HEE6SDzWusftWafjPFIJzL3MlkKim9OT-If6OjWn_-fZmpGf1CIdo2_TqDIaUijw9QYquPpcUbTObr8W1eYc69TxhmKnFsNofYM4jANTH0IeiUJbnM-3mUsTr9DLdt0aCHgCFCKkw2fRt-k4MURVXFjkqh5Kcz-yxCDB1dw-R8yCUXt4DHQiidRBZrcIfWXHK9Hc0NJg0nRrnzIf0PpFdZ3vvDXHPSoIiq0lN1H9BkcohfKtFNFsDfHhBq6lDuHYqgjy_SbJVWCKe8HZt2ioarQzhHcoh9XiboqZvjgCPWMS0h1svt3DVdUT4P5lUzlsQ==",
  "id": "rs_04fd4c784786bfd2016ab2d2da108487d0b47250ab6d65262a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.18,\"right_x\":0.465,\"right_y\":0.205,\"right_z\":0.24},\"note\":\"The pen has lifted off the table successfully. I’ll carry it over the right basket while lowering the plush into the left basket.\"}",
  "call_id": "call_4eQMfrdeKfbttJfsjWEQSIQL",
  "id": "fc_04fd4c784786bfd2016ab2d2db477887d0bb05af96a235db97",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4eQMfrdeKfbttJfsjWEQSIQL",
  "output": "executing move_to over 13 steps (1.3s)",
  "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]: [-0.5137, 1.6505, 1.0615, 0.0772, -0.5995, -0.374, 0.1762, 0.5388, 1.7092, 1.4223, -0.3218, 0.3599, 0.3363, 0.1562]\nstate[eef_state]: left_x=0.457 left_y=-0.1393 left_z=0.1834 left_yaw=0.1705 left_pitch=0.1451 left_roll=-0.0432 left_gripper=0.1762 right_x=0.4607 right_y=0.2071 right_z=0.2273 right_yaw=0.0489 right_pitch=-0.0017 right_roll=0.092 right_gripper=0.1562\nstate[joint_eff]: [0.1026, -6.5983, 6.3658, 2.0147, -0.2857, -0.0513, 0.2857, -0.7726, -9.1282, 8.9231, 1.3358, 0.1832, -0.0171, 1.033]\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,$blob:ed16080080f2443f308c9a512cfba26c69c06c0016cc18aed6ed198dff2c22cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f82617ff0feff7094a3e34da709bd4c06019c1abdb90ae44416c61eaea904fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c68c9ee4bf71801ce9a1edf131e31ec3525480711dff82cf16f778ce48c3f8a0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 73 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]: [-0.5117, 1.6047, 1.2434, -0.1398, -0.6102, -0.374, 0.1733, 0.6525, 1.2972, 0.3065, 0.3466, 0.4622, 0.4145, 0.1529]\nstate[eef_state]: left_x=0.4593 left_y=-0.1378 left_z=0.2424 left_yaw=0.1822 left_pitch=0.1566 left_roll=-0.046 left_gripper=0.1733 right_x=0.2965 right_y=0.132 right_z=0.0573 right_yaw=0.0377 right_pitch=-0.0043 right_roll=0.0883 right_gripper=0.1529\nstate[joint_eff]: [0.0205, -8.5812, 9.7709, 1.8974, -0.2173, 0.1294, 0.2271, 0.0479, -4.4923, 8.335, 1.5653, 0.2613, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":1},\"note\":\"Both held objects are above their assigned basket openings. I’ll release the beige plush on the left and the black-and-white pen on the right.\"}",
  "call_id": "call_p9Aui0EVQ85e1uombBX8mwIq",
  "id": "fc_04fd4c784786bfd2016ab2d2e0dd1087d09ba56dd9f972e746",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_p9Aui0EVQ85e1uombBX8mwIq",
  "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]: [-0.5137, 1.6554, 1.0527, 0.0689, -0.5983, -0.3817, 0.9955, 0.5362, 1.7245, 1.4181, -0.3397, 0.3542, 0.3298, 0.9949]\nstate[eef_state]: left_x=0.455 left_y=-0.1384 left_z=0.1758 left_yaw=0.1718 left_pitch=0.1274 left_roll=-0.0365 left_gripper=0.9955 right_x=0.4597 right_y=0.2061 right_z=0.2144 right_yaw=0.054 right_pitch=-0.036 right_roll=0.0721 right_gripper=0.9949\nstate[joint_eff]: [0.0342, -8.5812, 7.747, 1.7558, -0.1978, 0.0757, 0.0415, -0.1573, -10.2769, 7.3231, 1.79, 0.1392, 0.022, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bed1c424fa7d68989cd3d5d19dbf257bc9ff20ff870adb2edb8b686e010866c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fee3adbf2d37414f0b8a306bddfda7b053d86e216fcbdae2de20a11cc16d8d3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbe35aef6eb1abda8e7c72997645847b4010284136e8d68c3dfc25aa324b687f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 77 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5137, 1.6505, 1.0615, 0.0772, -0.5995, -0.374, 0.1762, 0.5388, 1.7092, 1.4223, -0.3218, 0.3599, 0.3363, 0.1562]\nstate[eef_state]: left_x=0.457 left_y=-0.1393 left_z=0.1834 left_yaw=0.1705 left_pitch=0.1451 left_roll=-0.0432 left_gripper=0.1762 right_x=0.4607 right_y=0.2071 right_z=0.2273 right_yaw=0.0489 right_pitch=-0.0017 right_roll=0.092 right_gripper=0.1562\nstate[joint_eff]: [0.1026, -6.5983, 6.3658, 2.0147, -0.2857, -0.0513, 0.2857, -0.7726, -9.1282, 8.9231, 1.3358, 0.1832, -0.0171, 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": "gAAAAABqstLvvZu9LqJZO9bicIVPTU388pB7IAZxoEWb3mkCeNnKtjivtT4iUg00kd6a2kumT2cGmBhKg0FYT71UcGdSMDRbrbYss9KF9Aa0jwzr1Tn2eOOmu3PtYFejh_A0VeCKQJV-q21dn9-uH-fd8lkHHePU948TthX_jLj_b6yXkPoKb9v0TWgmpIbfRi2r7M7b1oJgrzNTsp4djTAaJ25Ok95sYV4BHWCGu9c-IEp0e2lIVMvbrf3ZRtgy2eJtqavzmcVdxW3ON-X4-sN_iGmtKWMnEpk5pKBJvyjrdKwoDgKqQewEB8M5vxialQ1lA0L-aPahMoMzpPMKHL2788oTFwo2XxK2mKd3RoFPZTgfj2xCfXeNnUWMHwIOeIPq_vb7wqEacro1sZRe1o7pMoTplTdsh8ypbPtnJQ96WS3GB_7XxivsTNTOH7tU3TfyqfEz2209mZDHIY-FoogxayzBCYJSxTVP-IPNq5RMlyLAkt2a6jN8coG5v4KrOlwofBXROJedghsINY7MtetKrN1itsM06-YEMjJCaP47rEzcodwc_c26EmF2geI0p6Rj__PNl_K8KKCOkW6AHK29Cd1BkgyWwQvTCKiqnowXt18lNu33YMp9jXXCtYkt1qRX6e5ulPMUEKVY-o2n7UDFnGUX3UZYWnRimlHmpQTxkhoFCzODicaJP0IQcpA_jNKjfCk3epa_3tAatY7gNJ7T1dUpJS7NI-pS_kSyqPbYv0n6oM4Nk6BrXfWYtXfA0dsvxQyhwimu5mtgWA9PhTjUz6jiO3C8TYEbnD0Lwr80apVseN03WTOMPLlMwJCjDsNr5DqDDgkXenlDokWOWqOfugR4NCM14ThqarNGmb11Nv2IJZ9m9hl0CUiRPaiCrqK5cOKJXTA61qNY6o-4k4rXwsUNfnqZ0jeJX8_axZUqcaggE-gmzCBg2p6WvwJEgtNGQVt5S5Hiyl79Dca3u687RlezS4fBuCRpz3LK4KWNC13l3RwrRdU1KLZC7aToX3QPiOqf_2p16Aa042umPmJ_2LkXss4quGx-aNPILAs1T8WT3gCYylGnUYfRF5AM7L2S7RLZ5ZvsnlsRHb_yOx2eK2gRd0sQh_F8ugFnSLT8rz0IVph8O2jrxPa92OtUWfyS_Q4j_7TG46xl0vxgT6qefOoPPk_qr4335FLuksOQujkTTUzHtiv7aKAt2UWbfVt3Z4z2xQAe8ZpTSufQBsaSLghrIorfD-E23n52pxkPfK9KyhcZctDdYRPLKhL5fxdSGDnBeOzxG7K63r7o5myP4EVsfznfvOzY4WTeDqIsEvjlWvoGUWMsuzbE9rYHMcCjFQPsIb1QSNWO4ye5c2YVJAJHSc0dkd3B7NoJJ9Mw3kwn7_KEvO9bS5Vsq8ND4fVeb7yoO0XzmFJxwYchcC0cELism3MV4vaiFhUUpBz947DjoAnMCfloNLVfIZaksz5fZIiReTbVSCLWkNm3vsfi7_uG2b-Xx3_r_ljMEEN3n_9e5SW0zAILd9L2BeVXmoPHmhMt96XCHwfCAds9bLSu0VHKvXpA4IraqfiKbU71SyaRQ0Mby_eafLArogunUOMRgx88bvyAOyPN7w6taw16MEnw97hY40Uq-2S9rPooW1QFSfwTnnjrPbYrMFjLFCZAaAXOxaRsLVKlbc0ue0cVzn0gbumfShm9gWp7gS-La5x6E-IAYvEbvooTzKt7lmbcleJIx2O4HOrjZ8GxzNA-WbqENoQdj0iXwqydO3lo0SnTiHshhfObSLSTGbXawYOmDIEgkkWAFXpyRLRjwk3131Ts514BiA6xl3J_7Qldwi7iDYG52gCTX9hyBd3RoFsnmiZQ7w30-VBBeM_Xqyj5n1ZQLH9QpFhRw7A4Xt0ro9nu1v0ZV8SONB2VrXHZG5ekaobVy-Id0Vhak4Z416yZZq3BlkOieYma9Zen0aqWqhcWAPAGTbcNIBYNEqCzv3nN3qm9ZjWHmODtb9EhmG-ANiQI5lcrYw==",
  "id": "rs_04fd4c784786bfd2016ab2d2e66f6487d098e72e8d3e2af68e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.095,\"left_z\":0.10,\"right_x\":0.26,\"right_y\":0.22,\"right_z\":0.1},\"note\":\"The pen landed inside its basket, but the bulky beige plush slipped outside the left basket. I’ll collect the two remaining pens next, then address the misplaced plush.\"}",
  "call_id": "call_xnuueu93w4AZP7ubtS9VPY7T",
  "id": "fc_04fd4c784786bfd2016ab2d2ecc7dc87d0b46f85b56f6dff7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xnuueu93w4AZP7ubtS9VPY7T",
  "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]: [-0.8745, 1.0382, 0.3157, 0.0193, -0.8536, -0.6411, 0.9968, 1.0233, 1.3853, 0.6525, -0.1303, 0.6769, 0.675, 0.9959]\nstate[eef_state]: left_x=0.2662 left_y=-0.1053 left_z=0.1022 left_yaw=0.1314 left_pitch=0.1221 left_roll=-0.0476 left_gripper=0.9968 right_x=0.2625 right_y=0.2249 right_z=0.0944 right_yaw=0.1008 right_pitch=-0.0689 right_roll=0.0454 right_gripper=0.9959\nstate[joint_eff]: [0.0205, -2.0718, 6.694, 1.4774, -0.398, -0.022, 0.1148, 0.2393, -6.5436, 6.2154, 1.2821, 0.5348, 0.1587, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:145de4f5151614d467876ec5843da6eda1c7075a3b8ce4cc1a1727385160d611",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:359963fa0cf8fea2200bb97473eaf2dc5d807a1b4089d8c56a87be444475459d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df32a18f77f98170f1693291dc390192a59776ac363c85e5f16fe3bec7881943",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 80 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5137, 1.6554, 1.0527, 0.0689, -0.5983, -0.3817, 0.9955, 0.5362, 1.7245, 1.4181, -0.3397, 0.3542, 0.3298, 0.9949]\nstate[eef_state]: left_x=0.455 left_y=-0.1384 left_z=0.1758 left_yaw=0.1718 left_pitch=0.1274 left_roll=-0.0365 left_gripper=0.9955 right_x=0.4597 right_y=0.2061 right_z=0.2144 right_yaw=0.054 right_pitch=-0.036 right_roll=0.0721 right_gripper=0.9949\nstate[joint_eff]: [0.0342, -8.5812, 7.747, 1.7558, -0.1978, 0.0757, 0.0415, -0.1573, -10.2769, 7.3231, 1.79, 0.1392, 0.022, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstL3c6C67ia4GGSyMZFlLbM6Ydzs98iyX1r3opg4FiJyd7R6ksb7RtOFGx3vr2yZE64PSAUx7r65UdVzWfCytYo9-oULHyldXSxmtbW6nNUX_67cRmdduKLZ2EGpUTHukR0PWw5WCxzStD5Y2SzGDZ7QK3UD17kYyaQ2DkbF8hPB-yY8aFF4r2Z_qPVF6wvahy5WRYYnxhyiMuY_b_qraG1bFVYdaxy6TRx7XdaQTfToi9ZOcORrKOEl8Vc3ly40TnWGNKh1YXLhQvYCqy3tAyMJpGyg3sRwMVj0vK0cTkSBDA_zG7Z2ypB-4JPfb4Mj7saWPW6x3tX_t3YYmr9vqbRLeOlbUq5jxxcMLNi1koGiDQ2QUbkq7xWzfgHP3XRJumCPk4je04VTUOKHrL1NpBvF7Cxk-DSp7Z4TvTwL6berw5e0AwBcAlReIGXAW3S1i_5UR8IhhMRQ8n8vYsTyPqzZB6A7Z2l7N7RnGEjNU6z8WI887f6cNQl0r2iND5Q0RTnGfsQXCuIpJBwheCgV2-r6ryScxvROugRmu1zNm6iHbaIB--U_zcxInK7TJRkXSSoiz4tRMGjptsfmQGsA3DfeaESovA3hoQi2nC96qJGBzGpqcJyO3qF58_URK03XDvQiG1fbPFRcYYOXx0ZHJv_vWbr-8YGhJ-8tO96KLm4hSsCZUnS34vljZLBZwBPLr2tvFJrA91NXpQnNuWsEo6RXw-uQlA9l6b59UIJOFmIK8EmJtv1fTg_ajutsKkrDZKnqGKbCsBMScduKcwwI-9OO4ZewlCFJwS010JE-KcyBeLvoypjZCl_nZxjkdqawNszL2IJrpAnoh45uoIweNynQ3U6NpkrQ7szVdACxEpjSw5nGpshII-pDyn5u2rznFc-Ab7vCtRQozjwwiqxsCG5qyEUolomHLLp4-BpUAPCmaidbHpM7Igk4-PDqLgmzVcaWH5uwObxe162ByfEQ-VMnVhM0QdqhOUuBSdGxmOuQlaETKlY9bIc9ecI7d74dpP9nVJpq4nELDqpmvGHNYOHLYVfpOX2i9huLRGfz99xJAyxWZ1svD8mth4T8Dtd2lv5T-KNIsHCU0Epxv2wyaAir5mfX6fdUKSOgnDCiPmx_r1zSSmtcJVSklptvs30b7e9x_oBEsBEOm9AK6-ND1fJJPrYeD_-2zMsuDqKBHZaz3ljoR4_dB0knIUD9P52-2Nr6uYIJkvPc9YTZZBu-Ruz8ug==",
  "id": "rs_04fd4c784786bfd2016ab2d2f4b3a487d0ac8411ee42662b45",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.07,\"left_z\":-0.005,\"right_x\":0.28,\"right_z\":-0.005},\"note\":\"The blue pen is centered under the right jaws; the yellow pen is slightly left of the left jaws. I’ll correct left alignment and lower both grippers to the table.\"}",
  "call_id": "call_dQMidI3pm9YUMSQUK2SFm9Pw",
  "id": "fc_04fd4c784786bfd2016ab2d2f5737087d0a38793d917c33b31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dQMidI3pm9YUMSQUK2SFm9Pw",
  "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]: [-0.7082, 1.7805, 0.0319, 1.05, -0.7845, -0.5304, 0.9969, 0.9726, 1.7351, 0.5148, 0.4038, 0.654, 0.6399, 0.9961]\nstate[eef_state]: left_x=0.2659 left_y=-0.0587 left_z=-0.0069 left_yaw=0.1889 left_pitch=0.0887 left_roll=0.0225 left_gripper=0.9969 right_x=0.2817 right_y=0.2288 right_z=0.0098 right_yaw=0.0871 right_pitch=-0.0524 right_roll=0.0642 right_gripper=0.9961\nstate[joint_eff]: [0.6906, -3.8632, -0.4034, -0.5885, 1.0525, 0.1001, -0.0073, -0.9504, -4.5744, 2.8786, 0.3101, 0.0415, -0.1734, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f422ef6f0f978826f4f7d4b394dbda61cd621931339ad1203f7a9c795b62f33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5438b7608fbded048cd46f3eeff6f877939a564a5218a1977fecfb6bc795ebea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4f8ae0814f11c6df7b8f48b9458a623bb4fc5a3f2d87b734ad97955ef6cfb57",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8745, 1.0382, 0.3157, 0.0193, -0.8536, -0.6411, 0.9968, 1.0233, 1.3853, 0.6525, -0.1303, 0.6769, 0.675, 0.9959]\nstate[eef_state]: left_x=0.2662 left_y=-0.1053 left_z=0.1022 left_yaw=0.1314 left_pitch=0.1221 left_roll=-0.0476 left_gripper=0.9968 right_x=0.2625 right_y=0.2249 right_z=0.0944 right_yaw=0.1008 right_pitch=-0.0689 right_roll=0.0454 right_gripper=0.9959\nstate[joint_eff]: [0.0205, -2.0718, 6.694, 1.4774, -0.398, -0.022, 0.1148, 0.2393, -6.5436, 6.2154, 1.2821, 0.5348, 0.1587, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"Both pens now run through the centers of their respective jaws. I’ll close both grippers to pick them up.\"}",
  "call_id": "call_qlXucHLrSgn57Q8ZAPTQLBrr",
  "id": "fc_04fd4c784786bfd2016ab2d2fa8c7c87d088e381adda858d6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qlXucHLrSgn57Q8ZAPTQLBrr",
  "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]: [-0.7082, 1.7844, 0.0307, 1.0813, -0.7895, -0.5312, 0.1634, 0.9684, 1.7432, 0.5079, 0.4358, 0.6468, 0.6353, 0.1423]\nstate[eef_state]: left_x=0.2682 left_y=-0.0599 left_z=-0.0028 left_yaw=0.195 left_pitch=0.1075 left_roll=0.0031 left_gripper=0.1634 right_x=0.283 right_y=0.2299 right_z=0.0094 right_yaw=0.0911 right_pitch=-0.0453 right_roll=0.077 right_gripper=0.1423\nstate[joint_eff]: [-0.3077, -4.6017, 1.7162, 1.1746, -0.2564, -0.0122, 1.0134, -0.0068, -7.241, 4.8479, 1.1111, 0.2711, 0.0171, 1.0476]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52d057052ec2a2ec09f08f810b0acaf8b6838e3ad4baf20d2254e676e4061c84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d8634e3237e4d35b8a0c9c3445ef60a11eab70082b8275740f17671a7475f30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de24cba960db0c45d01976cadbc0aba92e4d2ed57d6e9a8abc8bebf715068c54",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 88 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7082, 1.7805, 0.0319, 1.05, -0.7845, -0.5304, 0.9969, 0.9726, 1.7351, 0.5148, 0.4038, 0.654, 0.6399, 0.9961]\nstate[eef_state]: left_x=0.2659 left_y=-0.0587 left_z=-0.0069 left_yaw=0.1889 left_pitch=0.0887 left_roll=0.0225 left_gripper=0.9969 right_x=0.2817 right_y=0.2288 right_z=0.0098 right_yaw=0.0871 right_pitch=-0.0524 right_roll=0.0642 right_gripper=0.9961\nstate[joint_eff]: [0.6906, -3.8632, -0.4034, -0.5885, 1.0525, 0.1001, -0.0073, -0.9504, -4.5744, 2.8786, 0.3101, 0.0415, -0.1734, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.065,\"right_z\":0.075},\"note\":\"Both grippers stopped at pen-sized widths rather than closing empty. I’ll lift them briefly to verify both pens are secure.\"}",
  "call_id": "call_QMzD7it1EZiyGqunQFEtbz03",
  "id": "fc_04fd4c784786bfd2016ab2d2ffd92087d088f26b6b119ae0e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QMzD7it1EZiyGqunQFEtbz03",
  "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]: [-0.709, 1.1103, 0.1188, 0.4282, -0.7856, -0.532, 0.1699, 0.9672, 1.5246, 0.5869, 0.1627, 0.6353, 0.6315, 0.1428]\nstate[eef_state]: left_x=0.275 left_y=-0.0665 left_z=0.0724 left_yaw=0.2038 left_pitch=0.1729 left_roll=-0.0858 left_gripper=0.1699 right_x=0.2836 right_y=0.233 right_z=0.0653 right_yaw=0.1011 right_pitch=-0.0357 right_roll=0.0978 right_gripper=0.1428\nstate[joint_eff]: [0.0205, -1.5521, 8.1026, 1.5897, -0.232, -0.0513, 1.033, -0.0342, -6.8444, 7.8427, 1.2967, 0.3101, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb9ffd341707c9e4ccadc21d83053ac434c30f0b1e4ae596a86a86db0bf414ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d68e69dbee7fc65d14950ecb20264b8b41cb2b0f015a7bdfcc8d7711df3e0405",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89f913fb9fa9f8f91ec69cc728ed596e847a9446ba7766aab7b842913cc38ae1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7082, 1.7844, 0.0307, 1.0813, -0.7895, -0.5312, 0.1634, 0.9684, 1.7432, 0.5079, 0.4358, 0.6468, 0.6353, 0.1423]\nstate[eef_state]: left_x=0.2682 left_y=-0.0599 left_z=-0.0028 left_yaw=0.195 left_pitch=0.1075 left_roll=0.0031 left_gripper=0.1634 right_x=0.283 right_y=0.2299 right_z=0.0094 right_yaw=0.0911 right_pitch=-0.0453 right_roll=0.077 right_gripper=0.1423\nstate[joint_eff]: [-0.3077, -4.6017, 1.7162, 1.1746, -0.2564, -0.0122, 1.0134, -0.0068, -7.241, 4.8479, 1.1111, 0.2711, 0.0171, 1.0476]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstMMKRZPCeo0Obf1enmn0waZsv3tmLni0-k2xP_6EOWa96UG-8SdDif4f5JzZsKRtFGbwLcSlWsP-TD_TMy_lpuI9dEXsfVWWTAoowmuru8emiprdm3-lIaO1gYtJPT6JZu1lymWQYYzcnapK1rOhVDWkCo4LjXlOGtkOdeFbt6r6OnMwQV174rnq0hvvd8lm_-PF-lMbSWjyw-blISGNcmllYX4xUUgbZwZNDUREoeP8jkDAuFjqb4ELLWQj4oKe2CqFxkY4gxJn-kizzbIrfLi_W5SKc0J_mFk6MuUF7ymtZrfAO8Elw2-Mo1wJOrCgyjorf_n1D9GvODcmVe9E30zy0DZ3qh-Rp2PRqX_ZOKIG2DnSNFNBc_EKe8NdY6rJxdxtmPQhX3J_XnxK-ftaNH97HYC1W81BRZf9szD2jFcmuUJBCGo94d6ayzNRYBCiHDNaJrvHko_QEVjgHDEZxotjGMS2RKOvXV6KuQwYDcNCvRNctF3VhcJ5NBFdKq0Zj9lyZch8F2x0CXsMPSIIxvpqO9CknCW-a36OvOcLlBl7n3o7_l1ynhI5TJWcfpIi6mMbF-L4gF35Gzf3u0ryYYngIxJf2vT8KBL4PFEJxIpRdMsfq5l4Rt_BKXSZyVm3XRPhAFdCioByUqWnN-7QlhJAGqLN4LjOQqy33S-mg8-6fwLNjmzxezJ1p2B0Gr71UAyd_wNNwMhnyiIjaYdVDdnE8O8HJrdO2a0FzM_VwI4Ox6oNStfwuSnmKSbAv9HQH-GoXzlb7rPzJKQWfx80sXLhqrdpR4473ZoOJgaAW-iXBqO7ypA4rQx7WhIrZvjxZi_Wt6T6l5x8KcCioNftXIln-J0WiNV2ZLsDTHo524ewmZ1eYJCM31J6e8t45ebG1c5PhHqHWQrD7EIv6SyEU_FOJtjbWsRc0QtRsHibmCF1COwtNm9K9L9VDnMih9KAz8C4y-3bI3J32PXInKA6n8ZjZlYNXs9Q1-TbOb__E_pv_cCU5Tw0eBvUUZJmbW2GJH4AvtMmVUw3BdoVt55nTs0_PCorUNB6fkUktk2stB1BzU42IWW2px37RaM6LqJqR3zpoiW1br9E307q07mfeAMhN2phFLLR1NHQP_XKi-nu7of7GuX7BARZRIKPDomY2s-7SpGv54okz2PnBb7-8NR5SO9JuG7jg_S9vFPcYKtcQDwj98pqRqSQRmoP9ODYr5Io6XlL68sXTimZ21bgL6-meXtgCJGd-5RolQJ9I_76xiELYymMFEHIgWw5Qfvtyb0qwUQ2ubPagZzRRZm6mm94EQv9lvbKf6GlIx2mTn53IzEwxsh0vTHJwiHkfy3oB0sx1apfGnu7rXK2k_aQqssGLUeDfgQQ_K2ZjD-VZJHUO9x7wUMUNkoxy_U3Pn8p6o12cfZse6jK9V1mFH26nwvaTVoxMO13eiBNFYGib-7cZqDHQZoSi6orc8gGSkLZlnycWGqbfbGW-2mbUxg3JNKXwOr3CyBNsAq3zXK0kaKb5Ihv-Chx4A9d2WTAMBzT6BePnpiZlOhXux_2l9Onzit0HqABDbGi8c6jCKTqEWxDKEuMfsgoZSE3AA5j9sJhqOz",
  "id": "rs_04fd4c784786bfd2016ab2d3047aa487d0a6ef4bd9146fbb79",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.165,\"right_z\":0.23,\"left_x\":0.38,\"left_y\":-0.36,\"left_z\":0.27},\"note\":\"Both pens lifted successfully. I’ll move the blue pen above the right basket and stage the yellow pen nearby, maintaining space between the arms.\"}",
  "call_id": "call_5otGmj9W8xDMX7dFaVpCFKnr",
  "id": "fc_04fd4c784786bfd2016ab2d307ebc887d0bfa62ffbb9aed50a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5otGmj9W8xDMX7dFaVpCFKnr",
  "output": "executing move_to over 27 steps (2.7s)",
  "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]: [-1.0351, 2.0384, 1.9999, -0.7437, -1.0443, -0.9306, 0.1746, 0.3996, 1.6073, 1.2957, -0.3374, 0.2134, 0.2535, 0.1428]\nstate[eef_state]: left_x=0.3891 left_y=-0.3492 left_z=0.2864 left_yaw=0.2471 left_pitch=0.1904 left_roll=-0.1905 left_gripper=0.1746 right_x=0.4505 right_y=0.1535 right_z=0.2112 right_yaw=0.0747 right_pitch=-0.0688 right_roll=0.0868 right_gripper=0.1428\nstate[joint_eff]: [-2.3179, -8.5949, 6.0239, 0.5348, -0.4908, 0.105, 1.033, 1.347, -7.5556, 10.4137, 1.7265, 0.1148, 0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7049552fb1435385df257ddd971b9db3d778d5fef4d6e6fa3fa6d0bb459cb2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17e9db76fc0dcc536867f6887f8bf3b31d2eaefe58792285808f4cd344260eeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fd28667e6059ac5ac4197be2c45545c2aeab668383bf924f09ca48e5bf9b83d",
      "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]: [-0.709, 1.1103, 0.1188, 0.4282, -0.7856, -0.532, 0.1699, 0.9672, 1.5246, 0.5869, 0.1627, 0.6353, 0.6315, 0.1428]\nstate[eef_state]: left_x=0.275 left_y=-0.0665 left_z=0.0724 left_yaw=0.2038 left_pitch=0.1729 left_roll=-0.0858 left_gripper=0.1699 right_x=0.2836 right_y=0.233 right_z=0.0653 right_yaw=0.1011 right_pitch=-0.0357 right_roll=0.0978 right_gripper=0.1428\nstate[joint_eff]: [0.0205, -1.5521, 8.1026, 1.5897, -0.232, -0.0513, 1.033, -0.0342, -6.8444, 7.8427, 1.2967, 0.3101, -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"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The blue pen is directly over the right basket, next to the first pen. I’ll release it before bringing the yellow pen over the opening.\"}",
  "call_id": "call_2Z1B6xZ6oV0qeQbF3CuPNkSI",
  "id": "fc_04fd4c784786bfd2016ab2d312ea4c87d0a5e41019d06b8781",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2Z1B6xZ6oV0qeQbF3CuPNkSI",
  "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]: [-1.0348, 2.0495, 2.0136, -0.7391, -1.0397, -0.9356, 0.1761, 0.395, 1.6169, 1.2873, -0.347, 0.2001, 0.247, 0.995]\nstate[eef_state]: left_x=0.3908 left_y=-0.3525 left_z=0.286 left_yaw=0.2484 left_pitch=0.1889 left_roll=-0.2032 left_gripper=0.1761 right_x=0.4488 right_y=0.153 right_z=0.2011 right_yaw=0.084 right_pitch=-0.0972 right_roll=0.0808 right_gripper=0.995\nstate[joint_eff]: [-0.2393, -12.3692, 5.3949, 1.2869, -0.442, 0.0562, 1.0281, 0.1436, -8.8, 7.788, 1.7705, 0.1245, -0.0122, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:092ddd8a5247f5f0540b57ccaaec58f559f1c297a96433a7ba598bf5ce34754f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d5478495c34ed928c9979c4ff39599e75229a623b7852e2699d835b50b48ed3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbf7e2d9934f2144f869d1ea02c57693cc86b3f78445c670ff2cae5956d087d7",
      "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]: [-1.0351, 2.0384, 1.9999, -0.7437, -1.0443, -0.9306, 0.1746, 0.3996, 1.6073, 1.2957, -0.3374, 0.2134, 0.2535, 0.1428]\nstate[eef_state]: left_x=0.3891 left_y=-0.3492 left_z=0.2864 left_yaw=0.2471 left_pitch=0.1904 left_roll=-0.1905 left_gripper=0.1746 right_x=0.4505 right_y=0.1535 right_z=0.2112 right_yaw=0.0747 right_pitch=-0.0688 right_roll=0.0868 right_gripper=0.1428\nstate[joint_eff]: [-2.3179, -8.5949, 6.0239, 0.5348, -0.4908, 0.105, 1.033, 1.347, -7.5556, 10.4137, 1.7265, 0.1148, 0.0366, 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": "gAAAAABqstMav1EV7xiXQsH_NM8MdwP_eEKOUtf4BYCu1PXp0AF8Fa-pLbKUwE9zaufM7kAHBxC3JgOQicB68VAlyrsu-JKG3BbEFMmAUaoABrIEGN06SL5LcSpI0uA_UM3HaH0fne3Fqshd9SZp9dlCCL5yo3CGhznyzSRbgnscuBYp6LrQlZRn-TPUzSEdyvFuGd0C3V9SnA_95hpXJfZaoAiyahSP8Vv1L6nkZUNb89yi9TfkU2QXTcZ1rODRcZryFS8N8CxkD-vEp5k5L3-VXI8SyFWRJddhTJ8vg_n1oc1vALE5EcG8FG_c9DDDvtFZkAPr-I-Qa8VPMlI4rXExfHFdZaf3kvJPIGHFlTg_2pyWLssbZfgqxx0gfUOfFlMPt4Z-EiyuFOfO_DbdxIsoyyj30DfBCVEtdYNCPmiz-TulQHTUTZW56sIwjG6hP_d3SWJ6rdeW0elyDw3B8e-z_gJMG7n_6DuU-DFOa20vmgK14EUWpDtLC8TzRv0mrrnjv_US1qFYlJsy6MmWd_M0HYuSnP3_GCsBXf6ms_Hl2cYNX0x9w_bqLbE5g5EQZZ_2v9TiOuqBochCihyeQ4gV5-5WggWsTgjmcBxP6QRr_3Dr6pzFNXPD3KrEtODAiLRPq72I6M-czSzCS-kLM0Cq0RUQ3y3aOAW_pb85BmZ8_kfOtoxwVEsOpDxziCtUk_dljxNIcvax6t8q-CpdbqQTHCN_V-McUSvQ7zkEVR8odHd9Oigm5v8gLCAxiCqJCpPm_UwTc3cTbIyvUkv0oCcuSuYY0TZjeGQ7xxM_lr8xUNcSvJtBHlM_BrB__n-zzayPNKdP3SUVX1JCi-6RAQcDntEyFlZqy3Br3eZfYCYKKRJviwbZ7xS68gMBZbKegjjMUGI8xPmDTH5QHkcNCXdNz-PZLwk3s_wuhkfIrdzS3EiNIhiyLwmhCcGM8J_WU3TccsPEQrFQKxIzIGBNbtKz5tOs79tjlYBoIfZlxy62PGNcN1Sg2OnUsjcr06QpCvpiT4M2WPMkkMylg3T8pnUPHF-BARNsBTtD1QBWXSRPyVb1afr8ATlk_15p-9w3dI9Ui50LTX2aXb4ooQAFxoBQJnvPXXSzNfCBEZfK2KpeF12oWPVV7EHdEI6AKA7ioYvA8P8llTpFPcz3j3RM55_WM6JlLsmHjLSF9WrLiQU-W7bLXRSZTnQ7K6ULANsPsBgBi1EYYg3D3R6F70O0PfV7a8g5z2x4FLu_Mj7upyNXtOJTOX1j7aObNpsi3PqM9ZW-XoKp-JiwbEkTQ9HfcMMYyGF5XRx_CQ==",
  "id": "rs_04fd4c784786bfd2016ab2d31791b087d09ad0dd8c5dae6d73",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.185,\"left_x\":0.465,\"left_y\":-0.4,\"left_z\":0.23},\"note\":\"Two pens are visible inside the right basket. I’m parking the right arm and moving the yellow pen over the basket’s left side.\"}",
  "call_id": "call_omGSDenvApvgbVITTFTCSDUf",
  "id": "fc_04fd4c784786bfd2016ab2d318a55087d0b309ef60b4b5cabf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_omGSDenvApvgbVITTFTCSDUf",
  "output": "executing move_to over 13 steps (1.3s)",
  "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]: [-0.9634, 2.4069, 2.3409, -0.6643, -0.9867, -0.8734, 0.1798, -0.1211, 0.9039, 0.7334, -0.4877, -0.1585, -0.0395, 0.996]\nstate[eef_state]: left_x=0.4602 left_y=-0.3977 left_z=0.2211 left_yaw=0.2578 left_pitch=0.1748 left_roll=-0.1992 left_gripper=0.1798 right_x=0.3035 right_y=-0.0052 right_z=0.1876 right_yaw=0.0254 right_pitch=-0.0848 right_roll=0.0761 right_gripper=0.996\nstate[joint_eff]: [0.212, -13.9556, 8.9778, 1.4432, -0.3541, 0.2564, 0.7839, -0.1709, -1.6889, 7.2274, 1.8193, -0.1538, -0.0513, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e64d2a363bf43ce8a8a11621571efc91f4d238f853f386610239b562e7a6440",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e49651f7bcb2438cb55109e088c4aa2cfe81ab0935f15fae183dea685ef2b43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c933eb4ede78234f6ee2695acd714b13efc9beb1a7b5f26b7bcf4d65971274b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 101 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0348, 2.0495, 2.0136, -0.7391, -1.0397, -0.9356, 0.1761, 0.395, 1.6169, 1.2873, -0.347, 0.2001, 0.247, 0.995]\nstate[eef_state]: left_x=0.3908 left_y=-0.3525 left_z=0.286 left_yaw=0.2484 left_pitch=0.1889 left_roll=-0.2032 left_gripper=0.1761 right_x=0.4488 right_y=0.153 right_z=0.2011 right_yaw=0.084 right_pitch=-0.0972 right_roll=0.0808 right_gripper=0.995\nstate[joint_eff]: [-0.2393, -12.3692, 5.3949, 1.2869, -0.442, 0.0562, 1.0281, 0.1436, -8.8, 7.788, 1.7705, 0.1245, -0.0122, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The yellow pen is centered over the same basket as the other pens. I’ll release it to complete the pen sorting.\"}",
  "call_id": "call_HUtG3hL8SyVEpYCWuFy808cP",
  "id": "fc_04fd4c784786bfd2016ab2d31e5a4087d0a89fd19b81e45adb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HUtG3hL8SyVEpYCWuFy808cP",
  "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]: [-0.9596, 2.4165, 2.3436, -0.6655, -0.9871, -0.8837, 0.9955, -0.1238, 0.9089, 0.7307, -0.5117, -0.1658, -0.0597, 0.9961]\nstate[eef_state]: left_x=0.4623 left_y=-0.3967 left_z=0.2165 left_yaw=0.266 left_pitch=0.1712 left_roll=-0.2012 left_gripper=0.9955 right_x=0.2998 right_y=-0.0043 right_z=0.1805 right_yaw=0.0402 right_pitch=-0.1146 right_roll=0.0695 right_gripper=0.9961\nstate[joint_eff]: [-0.5675, -14.9949, 6.3795, 1.3407, -0.3834, 0.0317, -0.2027, 0.1436, -2.1265, 7.1316, 1.8339, -0.0562, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3934e9d5fcc690eac292f2dc3e185890d954a51bde7671883ed8cd63bfac8a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5124a916d4ddd489622092df24aa2f8a0717f77758bcec643e446128108548f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd575c005493d517d51c26cae9f26053df5aec2430ba2a0e549bd4e586c207e8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 105 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9634, 2.4069, 2.3409, -0.6643, -0.9867, -0.8734, 0.1798, -0.1211, 0.9039, 0.7334, -0.4877, -0.1585, -0.0395, 0.996]\nstate[eef_state]: left_x=0.4602 left_y=-0.3977 left_z=0.2211 left_yaw=0.2578 left_pitch=0.1748 left_roll=-0.1992 left_gripper=0.1798 right_x=0.3035 right_y=-0.0052 right_z=0.1876 right_yaw=0.0254 right_pitch=-0.0848 right_roll=0.0761 right_gripper=0.996\nstate[joint_eff]: [0.212, -13.9556, 8.9778, 1.4432, -0.3541, 0.2564, 0.7839, -0.1709, -1.6889, 7.2274, 1.8193, -0.1538, -0.0513, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstMppwshzcOnicVE2NdaKIyAS3tqIHeOXs3X3I626X2E3j-0NSqnqMtc0wbBQqVHvKFCqjKaJJbim88tWrP5kA7zc612Q6Zq6dQu38fsIvJQ6bToHiysCQ8n4r2nBAi4HAp8XkX3H8_3FRCZLKThvgQOB_Q3NAJKkVCSgQrxe56ESnMgN8UCu3cgbaa5b1b0iEeOkmQOplfv2Za5jX5Wfq6_uibQVQkQEz0FHF7CesLBOeJcr5TL2TQOX8rPSWIVMVpT6r62nN594if18fz8yRhbo9pU2le_A3l2jqiaMJ9HCixtIawkwB-i2q4J50M0hMx3iYdYhhOM8vgEGqCXN0qsO3i54_UYguBoSNQvSg7AUPQ8PJqt5Y-U2AcNHkV-MLRQWTZA_qdlGoBGKJzscPgM_Ux5ZHLN_JKNlvOTgsiv4TUfHOaApL3jZeRDKjTTZX_2F93lDRx_oiigAZZPXyXzuhlm1E6h26bzGq0svUzF4SyPa2r2z_yVySeCY-Axfl-jFzpegAXpzauHYjlkV0UB_OxkhAipYQyQqOSKU-j0BaY04qBZ3hTF1J5EsGsVKXljCwP5vzXJzFNrFMg1GO2uFE99x6mvz3pYomcdnkD_Fn40u882ffzWDA16iIG6IwFd11IZ5I9xCBI-ojivrh7T6OtaJ9rtknJdX-FUZQHSP5Z0GV5Gnh62yTASBqrLJo6Hz2bkllElzL-6pV1Z4V8f5-8KwkBdH91ZoVlx55tYxMAZNwSpyUResFYHIZve0e3xnyHgTgIa0mG5my73u9MCPp8RthBaNqE3H8UBD1U_BO0lZ8pZcdhtAdZSezdRA8UiCRGsTRHZc6hr2nx9g9jFo_maZLdg54uHgoHcjUl9f1oWqktBtAkTpWXxZmF3bVQAPx2c8TmU_CRiuc9NNE4tGf_bfiL8DJvHiJQyG7U21qS5gRJIpVNpj_g02Mq5iIZi4XTJfYpK6-fu4bSHcF1-96WIRXMz3Fw2ReH1l8vd6rxqGe96Q6xkYU2sYxUtgEpyQUmxypF-6rnhLDgvd-Fus0VOJYTEcXS1aZqKwzMW5k0tARW25AIkBuUzvs29IY13jpASV1eguhm09E5P570zRzvWduumAvqNFiLTf8auF4vVxytJ4798g2enze6X6_56PLRDUosCMtSb9zLnz91ltlw6lyvlISrkq7ed9sAU4Ok5ld19Fo1zEFemvZ6kvbObMIg41CicSHhgrT5ClUUYjN0pwLYyGcOhCDu_E8gT-XFxELggnWu5w9jnvdpffg16I5LtlajdrEKbU0hQK2QmX0bece0s6hjA2rl3j9H3jt2Ad0g6XCf9QX7-LExpVX7mpFtmNDLqjMQIUH6BLRuecXSMiPr6a601w9zrEf1T5EanLAKCKx4V0RnqjCkTdhpyYKFdOKiZKKfqOo577muDSC-lQVJFn4A4bYYpgkoX6OnRfIZzSw3rE1GrM0e5DaRSsayXKUjmWKh0Zvz_Nl6a_6ZbvWhLRkEhDwzCoOt_cyO1EzJJxV6tnJ2jg0LnceY0F4LmtJsknuqwefJ-bejvm_0-s6K2MIBxfg0CVJ74psedvT5opTyAnP23dLWTSkZ-ZvncV4ApMbwz-uR7LXnZumK_sFa8XjdmkB-_JgGE1b_Cacf1E3TUoEsMDRYc1Hp-GR0fhVTAl6wsvBjkCcPRtkiHK9n1q5ipVuG1qkkfkCc1uEQHyXGnWEE-IQJAmOMQWsM2WhGEbo9TJoSQiWZrL8uVDHPPxlgOTo0GYUgfV4Jm1tyUZfdYYmTqn6qXMOGfrYmMKYTPvQhtD3zdw5lwhxHMjMvww4zaWRluRpemqeJaC_6pa5GJdiD-27WSmhL9Yra_cvHFolrDura01OxHIyEopCDSZU_OPMa040e7QxQ=",
  "id": "rs_04fd4c784786bfd2016ab2d322a82487d0b9503ca472b4815c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.22,\"left_z\":0.16},\"note\":\"All three pens are now inside the right basket. The beige plush is leaning outside the left basket, so I’m approaching its central body for a more balanced grasp.\"}",
  "call_id": "call_b8RtEpTtZ5iGOrbKR14QzJSf",
  "id": "fc_04fd4c784786bfd2016ab2d327e40487d0a439ab0843ab7610",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_b8RtEpTtZ5iGOrbKR14QzJSf",
  "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]: [-0.807, 1.7561, 1.0634, 0.0315, -0.8753, -0.7418, 0.9968, -0.1238, 0.9127, 0.7307, -0.5144, -0.1661, -0.0608, 0.9961]\nstate[eef_state]: left_x=0.405 left_y=-0.2217 left_z=0.1488 left_yaw=0.2737 left_pitch=0.1498 left_roll=-0.1698 left_gripper=0.9968 right_x=0.2996 right_y=-0.0042 right_z=0.179 right_yaw=0.0413 right_pitch=-0.1209 right_roll=0.0699 right_gripper=0.9961\nstate[joint_eff]: [0.1983, -10.2906, 6.7214, 1.6874, -0.2613, 0.1148, 0.1245, -0.212, -2.2769, 6.9812, 1.707, -0.1099, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1ddb2ada4669f8e9dbc89c5ae2985d76b675fca69f1630225936b76f1ee413e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f6fbed958fd870bb15755331da58c3229b8c938ad99302717361c23940c491d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b60a7a8a8bb5c19d3a2ba81557a8e3609d002480dc030aa99556a450f90fb41d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9596, 2.4165, 2.3436, -0.6655, -0.9871, -0.8837, 0.9955, -0.1238, 0.9089, 0.7307, -0.5117, -0.1658, -0.0597, 0.9961]\nstate[eef_state]: left_x=0.4623 left_y=-0.3967 left_z=0.2165 left_yaw=0.266 left_pitch=0.1712 left_roll=-0.2012 left_gripper=0.9955 right_x=0.2998 right_y=-0.0043 right_z=0.1805 right_yaw=0.0402 right_pitch=-0.1146 right_roll=0.0695 right_gripper=0.9961\nstate[joint_eff]: [-0.5675, -14.9949, 6.3795, 1.3407, -0.3834, 0.0317, -0.2027, 0.1436, -2.1265, 7.1316, 1.8339, -0.0562, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstM1vJqGahCZjPeasjUagsyek09xg9hboHawQLhr0rCvHt8aj4xuMsotI_B3ua9t1dHoyurDUUga1yePb1u8syXGbDYT--xU6lpCGNbZfU_V_41c8L-eWP10P9japKK62CYYZFZ0WC_N13xlgvrC0a-_lMyXfvH77xesaokI4innprJDaosClE5Lg4Al6nT3YIgqmj8KPDMJMQPAzPlTag40KTOyObioLcWuDDEk0LQokpBc_5hOm0szyOKDLrvtH6EneX8c06C4-UnzlymdXA_jUf4jP82hQQ6LEOlBVHP6U0BsW_8jB7RTQN5a7d3cR9sc5iDWqrB7EHcT_nxHYZyPpKYAuxTPJrF221YR0NnhqloSR0nqHzRpiNdl6fLqgpqeEYRcb891xRpb8nK27UYjC9jG7DDeOJYiayqhM5tFfvaScW6zld7zoOgKfYCnT7vb_KFddzWQiO5qlSp-wextqSEklDJurU86yRylRUTUOReWEC46DVkejwf7PyYnzT35TWtJq3jZquN0h24MJFte6SSWPMfsSPTmrCZeiVDiHAe-etXCfLWDanpv92XdWBH9AgfXz-leS1wakDlLzMtQkFng3EZVtOBOgGHpfkFSjOm-4ZdbwLw3PKiT3U8mZc7Uy5Ji5uvKDFqGzwkB1g7Jjm_48WIYRkxuhhvaIrPkZ4PpnIbvQpnB3FPlEvy4dCxTgVRFSazK-SUzPmFLOkGzX-1JsInzysh8bclnaP0Vsjgc2weWg7pxxiMUNx12QzaEmu9pARKBwKQf7e7xUTM6JZsnMCsPocu1ztC1ifrQFSEgv01RkR7cLUtfDFgHiIB5WjSZ9xL6Ym5uLCOBltSRqP98YsGTSQ5sYNptjNzeVD6Rit4DpN23kpHY0m9V7xzXX-bWF9h80J6J_UoRB6lNWjMwStWb8a7TD3UAiW3a9MHqfILVLNzWdOt1IkwiDp55VvQX5Cp7bISG9M61IGS95Vn9a3x4fyP0MXl_rCQ9t_s3_1r2flvxJ6HEjmIdL433caBja0tsiSy8W6K5NGuCMCKFUInkwhzpsuFP0qrligzkqLKxzLGcJRbdM1pFV-V97MXtTmssVb5DJli3DhOAjDVOlQoQSvigLQ1cBe7PdHNV9UDiGS1jQm0TG8k-YKm2ZnkcQBicFMrQF_y-6NeOCyYapoL6WxnvsDX3824SbOO5MvdHQISoXUklNMsDPzkj0OS2ZB6ZzCVJVUwbqAmzwNsHH8x9SNobS3OlMamsQaQuRaoZ-1DfcGPklG1L5t2AAR7kxR0LmhXs7lLLGM7xmehrYFv0W0dPBETruaY1gRY_7v9zgt7tnqQ86x65WpS-uw0zuGloe4JNIbiLqmrx_3DYTzRxAzMQ72oMW2VzBcSZWXLleHYLOvYjJJ91dJQPikoWhK-yKbRd0JsvjsZZQU-vqKaacnLEs_XnW1F90snDTZkIhsOm-KiDNZw2eivMF0YXhV8c_QRwz0P-7MpTKZmV-yTiq_7bnCFfdpA5wX6wl_xg_qhLnKrja8jM6G3smfBY6p7-NJlc5rFyjxZLStornEwWLpT8jC_0tTHOEMovYsJxv-uKzun72k0aaYBag5BOiaU362By8cLaCaUHyvjy0iHu4HQ5xbvF6uocdunTS4zXCmdXy3Q9_hbnQTLyo5cZyn9NueeGrkpRy7JE9A==",
  "id": "rs_04fd4c784786bfd2016ab2d33046dc87d09f31c46dfe7a2354",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.225,\"left_z\":0.055},\"note\":\"The wrist view shows a beige bear and a lighter plush clustered beside the basket. I’m lowering around the beige bear’s torso rather than lifting it by an extremity.\"}",
  "call_id": "call_a0AVh7Pak2YHg8ePCYJfUW9A",
  "id": "fc_04fd4c784786bfd2016ab2d33401e487d0b0e15c0875df56ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_a0AVh7Pak2YHg8ePCYJfUW9A",
  "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]: [-0.7906, 1.9945, 0.9783, 0.3504, -0.8593, -0.7288, 0.9968, -0.1238, 0.9146, 0.7307, -0.5159, -0.1661, -0.0608, 0.9961]\nstate[eef_state]: left_x=0.4173 left_y=-0.2264 left_z=0.0616 left_yaw=0.2707 left_pitch=0.14 left_roll=-0.1586 left_gripper=0.9968 right_x=0.2995 right_y=-0.0042 right_z=0.1782 right_yaw=0.0414 right_pitch=-0.1243 right_roll=0.0705 right_gripper=0.9961\nstate[joint_eff]: [0.5812, -8.9094, 4.3966, 1.4725, -0.2369, 0.0708, -0.0024, -0.1709, -2.1128, 6.9265, 1.6093, -0.105, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1416ab960bd822fb606ce981e62ca24ab3cc9b253df51817640dbd92027f4d43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:708442da38f12e7476681ecdda521b93f3b5a143638ee185086c348b328773e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bf18e7e853859c77dd8809dcabdd1289d8d7acb89a2cd418824605ab2138434",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.807, 1.7561, 1.0634, 0.0315, -0.8753, -0.7418, 0.9968, -0.1238, 0.9127, 0.7307, -0.5144, -0.1661, -0.0608, 0.9961]\nstate[eef_state]: left_x=0.405 left_y=-0.2217 left_z=0.1488 left_yaw=0.2737 left_pitch=0.1498 left_roll=-0.1698 left_gripper=0.9968 right_x=0.2996 right_y=-0.0042 right_z=0.179 right_yaw=0.0413 right_pitch=-0.1209 right_roll=0.0699 right_gripper=0.9961\nstate[joint_eff]: [0.1983, -10.2906, 6.7214, 1.6874, -0.2613, 0.1148, 0.1245, -0.212, -2.2769, 6.9812, 1.707, -0.1099, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bear’s torso is between the jaws at a more central grasp point. I’ll close around the soft body.\"}",
  "call_id": "call_WakQ5ai16kZpfauFZMRE9x1O",
  "id": "fc_04fd4c784786bfd2016ab2d339e8e887d0af991f954bbd0c17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WakQ5ai16kZpfauFZMRE9x1O",
  "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]: [-0.7883, 2.0159, 0.9699, 0.3534, -0.8593, -0.7322, 0.0187, -0.1238, 0.9146, 0.7307, -0.5156, -0.1661, -0.0612, 0.9961]\nstate[eef_state]: left_x=0.4155 left_y=-0.2231 left_z=0.0501 left_yaw=0.2717 left_pitch=0.1267 left_roll=-0.1382 left_gripper=0.0187 right_x=0.2996 right_y=-0.0042 right_z=0.1782 right_yaw=0.0416 right_pitch=-0.1239 right_roll=0.0701 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, -11.6171, 5.9829, 1.4335, -0.2564, 0.0073, 0.7155, -0.0615, -1.9897, 6.9128, 1.6435, -0.0904, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49143fbe7c1eebcebb3c2e7f4dbed830da4319cb1d219fc2369c39d99c46a584",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a9396452bee5ae5718674995d25aa1cf6b005ed3d7897cf04b25cdb9693ad80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7927bedaf385270b4977a3b63fcc9f3f060516aee5e8b5aebc66bea9fb87115",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7906, 1.9945, 0.9783, 0.3504, -0.8593, -0.7288, 0.9968, -0.1238, 0.9146, 0.7307, -0.5159, -0.1661, -0.0608, 0.9961]\nstate[eef_state]: left_x=0.4173 left_y=-0.2264 left_z=0.0616 left_yaw=0.2707 left_pitch=0.14 left_roll=-0.1586 left_gripper=0.9968 right_x=0.2995 right_y=-0.0042 right_z=0.1782 right_yaw=0.0414 right_pitch=-0.1243 right_roll=0.0705 right_gripper=0.9961\nstate[joint_eff]: [0.5812, -8.9094, 4.3966, 1.4725, -0.2369, 0.0708, -0.0024, -0.1709, -2.1128, 6.9265, 1.6093, -0.105, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstNDp6KuwY98k9Q7jq99Z6cX8CNH1pW5Xs8RMx425y5fFuc2fDHsgCgsrZG0DqqBy0XJfEtoHeL5NR506Qchq4UBOfxIdWZs9mY6pHPSSzKztQwuyR3yo_846eXmNab4B8Cs2YIMrvZdYZtdBUhDAFOTKVEdjaHPXwsq3aaKJQ4E9c3jITZ2MA8Uc_8WottpWc2qsL5iJSlWcfad3AwhJpZMC1-OFpF1FlfqVfKC6hAY9xkv44bGPvSfLZl09kvqnrOaOL5vt5FX927K437q0qYUmNgRuX_-UihhD5npcq6OpuzV3wCX1ODr7dBu0KYDsL2Z4BpDwwu6dvALjSCBBk_2FQT4XTtlvA-YOWtqVwVro4ue-x34FJ7n1r6DI5Mlj7zFkQ6PxLhw0Q2DexFJDgZAlo2kSN3-Gv0zRFTHon1X76W9DDm_L6ZMFExrrYIBl1F9_7E4px9GMyocGkppejh-K74CNMM5KATHiuPcdpwJZtXMlWyD7h_GCkAlxhXq3Yk98y5x8UY9vCRV3ZjObkYPyUawR9zcLjZZASaK9uVTBmES2T5qbSE0-3RvXnChIbgFdfcx5oEOfaJcSBDj8KlXprecBVAsoQZmwPH4HfqrmHN4CnDuSj_Qg7bUgVzA4hzdamp5aaRYpiCcnQV7dTxqqcTIFz00joCiJCGpi8KS6EN0Sq0ZY4yISGHp9Gv-LKp_d8wyzyMcI2Rrt-vFTSghGSDzxuyQxEwZl8A7YtNQyBXUTB2z6VBjNMVIeEbxxB40nq1w_Tfk3dBnmDASmWUDd-UQUenhhvz76snO78bHZ2VHpoOIXFmAe8wgGsz1tvJ2xL9r25RV3IJgWO9zp3lamwcYQ1Gtl4VixkairW5unnWNuVKE0-sma1usTNp8_RehDvUF7SkBZQ4oUZ8_LxXQFSV5-cVkDqfDbnvqMhMhcSw5P1ATGmgWtwTEFk2VSZHtn4LualVbFVljoDQQxQ_yC6-XdA0XvOqTX58_ShXXTBH2dH-yJ2_Q3hvJGi52epdnilbiWwk5Hm1Wrpg5XjXZY7puqtdpx2w7TGIvpfMPYphs_yQX-UHyIfOo1W7B5Od44S9cXgVE_5jz0dCR3OOw2f8tXzigohnI1fMXYeXyOtH8oQvmIaJ6hxMKCQtol02jOW3p7SbUIxcE7p5pGIC2cUTkMF94GC9qhXOhLIEFvR6o2bGVlzWSq6j5zK_8m3z6BCgkpjMAaJUKWbYmqAxfYXwWmJfJ2LAGUVr_lhpPigMPbDkdOQcRTCoJVr1Qwt6o0eM477vIFIA0EPnFAUQ8tA==",
  "id": "rs_04fd4c784786bfd2016ab2d340c35487d0bbc064cd3c9b9624",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.455,\"left_y\":-0.205,\"left_z\":0.035},\"note\":\"The jaws closed empty just short of the bear’s body. I’ll reopen and move forward toward the narrower neck and shoulder area for one corrected grasp.\"}",
  "call_id": "call_NpqXnzv7a3VrwGqCoF2vKPNp",
  "id": "fc_04fd4c784786bfd2016ab2d341ac6087d0bc952b12af4ebeec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NpqXnzv7a3VrwGqCoF2vKPNp",
  "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]: [-0.6903, 2.0945, 1.0042, 0.4538, -0.7921, -0.6575, 0.9949, -0.1238, 0.9146, 0.7307, -0.5159, -0.1661, -0.0608, 0.9961]\nstate[eef_state]: left_x=0.4484 left_y=-0.2026 left_z=0.0359 left_yaw=0.2859 left_pitch=0.1261 left_roll=-0.1399 left_gripper=0.9949 right_x=0.2995 right_y=-0.0042 right_z=0.1782 right_yaw=0.0414 right_pitch=-0.1243 right_roll=0.0705 right_gripper=0.9961\nstate[joint_eff]: [0.4444, -8.8547, 6.9402, 1.4969, -0.0904, 0.1245, 0.0122, -0.0752, -1.7436, 7.1316, 1.6142, -0.0904, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08ae8ab0c88eb95988eea7fd026469a595e71e9099fc7089cebb7d19963ddc17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45aa71685bf0b3ad59153891e96fe23184ef8807164ecb1a79b1c30a8f943d2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0effc8e6c8ba316906191486b344b8b2c3b87624f6d7ff5942a81d445a3a2d7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 119 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7883, 2.0159, 0.9699, 0.3534, -0.8593, -0.7322, 0.0187, -0.1238, 0.9146, 0.7307, -0.5156, -0.1661, -0.0612, 0.9961]\nstate[eef_state]: left_x=0.4155 left_y=-0.2231 left_z=0.0501 left_yaw=0.2717 left_pitch=0.1267 left_roll=-0.1382 left_gripper=0.0187 right_x=0.2996 right_y=-0.0042 right_z=0.1782 right_yaw=0.0416 right_pitch=-0.1239 right_roll=0.0701 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, -11.6171, 5.9829, 1.4335, -0.2564, 0.0073, 0.7155, -0.0615, -1.9897, 6.9128, 1.6435, -0.0904, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstNI0q9aaQ_UtGdRjAG43MOhdf3EU6DZw9dXjqBZx3OLc5jlXfUpzIO1vfRS7BD8OXYD9WJhDzP7SF4W-AxyYytIlZPbLLY6GdidgiLuFXGv2wc87YZNilnU-m47JbHmYaike0R8kBYJxus-jzx13rcS3BVN_bQ96RS10gBMtISc0SW8Co24KGcawBSGvS8XLF5_hrTnFQUgu1SpMcNpbzPoXZHB2C0b5JOnkhkJRCyDM_nIf-NXXmslJMVjpKLvUZaURWKEuLr7rR4lSDUEj6TKHRA02BYXtF4rINRbSVNeyacihNHAF1ibEZQtRwJeHv-7QVuJ0SEncpZB0iwoIzy9KInOe2jO4VOBu-JjKcMoyKZ0-Kq7Q6xITeJCZUxB__LTmtJYx8L9B91ztqFYR22cA-8Gxatqm_mGr_wp_qtyGRn3pinGelwJRMcx_Bki_34_PNF5sookrurdehTfNHO6-nCfhP1PT2DGkYDY2lalybVu6w8npgjzj7iOnk3egAoo0fhBuswHpABhiIS9MF85STgLe28EhakXtv076_57OTo6DfHxrubjTKdUJJBc57j_gXRH-C8w-bg0MMd5odJXdDDeMjxPmQMjNwj8--WcPmBrGYEaPGY1AX6rc4YBxkyU5VRVkZTzxvsjMdV-03ZzkF78OHaG6vak7f-lS_k0Cp5izPtzL8rInU5W0a9XnR8dySRNuOBOmfWfSjJmat9iKNAwzu8TblG9Lv3HQkGt80VFxKDcWwWdem_Adhm4zvNxnaqLqzs9tx_WRIKBbLUPJdKmvyb9300peLWKaM2pLYNGNZv0xCT_bQ2FFmQqLnpZW8z4i11c0BHsSVurIGZ8DTjr4g4UlmXYx028Lj93hGF2Mknf7rs-_v36AKQEBK9s3SuZlurO2S1fPp-qCBE3lAV3F-WuaSiMTq8jNUMr1mNgAryAd6or6lwsYDl9LjgVsIZdv3ywwbhUQ3zuA7hquxg-oTy2nVueRu2n2MG805Zp2Z5o_TNSBZpxZZtr8bNM7W7KaoKO7uKv5L4ydVpjPYjiLCc3wZVT5Mh35YpH_gsG2Z8r5aYMEU6HossGBLfEs2yZiLBzggILV0Hni_RNfpzAEkobAegOY7cR86-Z8rhd_5C8hIf1tV4nlJce6_f6s_DJFm8Zn6x9WYAMclDvchQ2RHhTF0Z27DoVVMKUPBlGW5lyexBAtUzIT5yre4le3aYf_reP4sxdU4NmS_0C1wzWWSRmp_rpsPy_EVNZpik=",
  "id": "rs_04fd4c784786bfd2016ab2d347496887d0bd548083ec52751f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bear’s shoulder and arm are now inside the jaw span. I’ll close for the corrected grasp.\"}",
  "call_id": "call_dMB2st15agq2eKwi30DtjseT",
  "id": "fc_04fd4c784786bfd2016ab2d347aad487d09e3b388fda1eefca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dMB2st15agq2eKwi30DtjseT",
  "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]: [-0.6865, 2.101, 1.005, 0.4576, -0.7887, -0.6628, 0.0377, -0.1238, 0.9146, 0.7307, -0.5156, -0.1661, -0.0608, 0.9961]\nstate[eef_state]: left_x=0.4493 left_y=-0.2015 left_z=0.0335 left_yaw=0.2897 left_pitch=0.1229 left_roll=-0.1443 left_gripper=0.0377 right_x=0.2996 right_y=-0.0042 right_z=0.1782 right_yaw=0.0414 right_pitch=-0.1239 right_roll=0.0704 right_gripper=0.9961\nstate[joint_eff]: [-0.4444, -10.7009, 4.9846, 1.4823, -0.3199, 0.1001, 1.2625, -0.3761, -1.9897, 6.9128, 1.6239, -0.1148, -0.0122, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caa1ed5b00f7074c05aba1341ab96b4b0cd8e00699feb3f4577b843b6a306f22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee7085415e2aae8064222286f12af5aafe001a378bd222669039ba7cd37b8d6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0994bebdfb35f72a03759ea958192312dd80433c86c5fe03572c694c60d1bf7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 123 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6903, 2.0945, 1.0042, 0.4538, -0.7921, -0.6575, 0.9949, -0.1238, 0.9146, 0.7307, -0.5159, -0.1661, -0.0608, 0.9961]\nstate[eef_state]: left_x=0.4484 left_y=-0.2026 left_z=0.0359 left_yaw=0.2859 left_pitch=0.1261 left_roll=-0.1399 left_gripper=0.9949 right_x=0.2995 right_y=-0.0042 right_z=0.1782 right_yaw=0.0414 right_pitch=-0.1243 right_roll=0.0705 right_gripper=0.9961\nstate[joint_eff]: [0.4444, -8.8547, 6.9402, 1.4969, -0.0904, 0.1245, 0.0122, -0.0752, -1.7436, 7.1316, 1.6142, -0.0904, -0.0171, -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": "gAAAAABqstNOcr8GsT7hmSG5gmop2KQwDOjgQTL4nc6ne1qZwLqDUwU9fBWbnLB5_i2RS0bFuu9kd79VWZtgQmm-wZWZWoIGGiJPa41OAPx3FWjXjZj4E171EvzCtGcM_A1YSPBwiFXEiefR2otLb04GEa26sFOKeZiwIDWWJhl-wyDwKvXCAnoN-2VFRF-b0ptBItlJ1U_kFX6DCEZnwwKzFN1uuuxuy-TRLrunzH4YVWWPLbXPtS6xmMgXdBYTH4UinnBe5G2gFfIWGkPKM43Ig9F1E6qlliZbi5T55os5qqVOTnYGXCh295q7gXoAymfKkXEPedrJd-bscOzP2KSjXf9ki9F4m3lCQD8UAhLwM0lK1XKnKLAzU-6x_KsJY4ClhFRluaD-E2Ze2pLHDH_CtaFXByuebL__6vCo66tuDjmP0jb-PO3LHm6S2toKlwifre4wY85IKwj2_TgUQIMUVRGQl_mEEuuqswX82EMXPeMx4KevEzIYqfd5bfgJ1rzbhQL_lwrlpWyVwHqu2wmZVH98qxPtW3d4zyWKcVmA1fWYmiWjm6_nkW6WlgSF53Bvmg-sCtyUxBYkGEXoXD-FJsmnJ7dpZSQN0V4D8LBp7YSNb3uVV4kpKKCk4hWFvL9abWvjCpWY6ihToCeayEw8W8tkPmCHAmHzvgqFtldFOzzK-K4QGJVh_IboAmXiCCTUyHc-4hN-8G5U73vm8XNs1x4PAdsA-trTcVZtp_Tl8PzrQO7VaJx7GUSC2vVP04ADKlBpKNARkUqz9HvfCviGCcuIId7SdaPQ4jj6AGOl1cwzCbpiB5506G0rKJftycvwF20rcMPxnJ8AP0BtrDhq6deSyJ_RDETO5j95CMrRakRTTEBzit8_EHDaTHlW-znqpj6Jl_Pyu05VgXnKXT-S25TC8Sc9x9ACce123rAIoIZyMNku11BTGCA9ecD7CqwOGYxm7YPNAI8ChxUUJ8aogzCM_3UWjkv-UX2UKynhsUIhiIIz9H2KTHhV0J0GPesIQt2ynptKcSFGxdvmONdDY7_95Ku7PmMIom0ZAQ4FT8uVdg4gBPaLZx0XDCG8uV52NqllmBYHRM_Pf12E9SNArZSm14ZLf9icf_DkAmEDFp-9PN8DuLH4yjMiGB73CVb3YzYyxZvg7wLvVEmliXudfGnfArJL0XYlE9fot6PUd4Wpus1u70G4WUbxabTWD-peCBO8eb7HAtIWbNN9LsJ01oOj9GHoNuUeJ0xq35BKH5Vx2AVokd0=",
  "id": "rs_04fd4c784786bfd2016ab2d34c09b487d0bfc134f00a66af8d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.11},\"note\":\"The grasp width is marginal, so it may only have caught a thin fold of fabric. I’ll make a short lift to check rather than transport an uncertain grasp.\"}",
  "call_id": "call_bVyHYqJM0Qang4NEPDz4yA8T",
  "id": "fc_04fd4c784786bfd2016ab2d34ca59087d09e1ea3b8f8082c94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bVyHYqJM0Qang4NEPDz4yA8T",
  "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]: [-0.6853, 1.956, 1.0557, 0.226, -0.7849, -0.6712, 0.0378, -0.1238, 0.9146, 0.7307, -0.5159, -0.1661, -0.0612, 0.9961]\nstate[eef_state]: left_x=0.4459 left_y=-0.1986 left_z=0.0804 left_yaw=0.2891 left_pitch=0.1003 left_roll=-0.1234 left_gripper=0.0378 right_x=0.2995 right_y=-0.0042 right_z=0.1782 right_yaw=0.0416 right_pitch=-0.1243 right_roll=0.0702 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -12.6291, 8.294, 1.6435, -0.2857, 0.0464, 1.033, -0.1436, -1.9624, 6.9402, 1.6337, -0.1343, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6abc5dfed2b6a6038d5d7daa684fca24e9fda349b1677c8485b511ef94af8350",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47ace73c0862e415f7dc96aec0ea815136460b542b845b0290f996f3cff83c39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e7c61b4513d11b653fed1ecc1846b64561ac19c777cd13931e665a67669668f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 127 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]: [-0.6865, 2.101, 1.005, 0.4576, -0.7887, -0.6628, 0.0377, -0.1238, 0.9146, 0.7307, -0.5156, -0.1661, -0.0608, 0.9961]\nstate[eef_state]: left_x=0.4493 left_y=-0.2015 left_z=0.0335 left_yaw=0.2897 left_pitch=0.1229 left_roll=-0.1443 left_gripper=0.0377 right_x=0.2996 right_y=-0.0042 right_z=0.1782 right_yaw=0.0414 right_pitch=-0.1239 right_roll=0.0704 right_gripper=0.9961\nstate[joint_eff]: [-0.4444, -10.7009, 4.9846, 1.4823, -0.3199, 0.1001, 1.2625, -0.3761, -1.9897, 6.9128, 1.6239, -0.1148, -0.0122, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstNWVFTRyIzerDCCQTzCjRZDEXWlXhTU_tyBu1kIPUQb9N2lFpVZAz2w10nyF_BgGVGBEyXvudS8rrNsxiTYVDI8acjicWo8hsfX5_zp0RxU_iCHhLRKIkkjOOAnMfqhFvhgTMRRV25EJCvc-xm3ulAjDsBC6hC4BckH9ckfqfk00CxStMxZtnjBzzOJDqIP_gqctNyXmPXB4DR4WdaSZqwH3YpsNLWETP-bxcfubHm8OOA0rzahe8YM7iI-v-b3eKyJsy8F6NGpxKUwJufsVajhyfRJzD2xMDLpMkDsUiQpJhsE7JqTmK76tMOKhhTzgU6CeS1GfAOwlswMtiwFqZNUWR-FS1soI4Jj04RVzT8wR5WgEVVITaIzdsYwk7075-q-CazA6dDDE1v7Hqxn-PALanJ3DdSgo_H9izqYeUN5QEpqMp07jCZZER1j2Pu5rYoG-D52d4h4Cd9Lw27iLt0AtOc0NWq5Q5gg4CNW-YAwywd1MTbz-8-LS_RnAJp5oppASdYgdKHziSGTxJTKTtWhCMfCBZ56yQhuJ5Ve8hNAoaBBqh3nEQkz6f_E_CpLa2vqwGbw1BVhJhNGG1o6npYhP2yenkw1vTooJ3efu4FfkgiR10Koji9GDlGirg39-eqr55PvfxU3lD5ku2zIPhwiucN1By19SkvwCOu4KNgeMN-KPYKDhNWf5QkR9iFzM9j9lPf7BEhXLy1xe1WVn1E9gmSSyaui9e3dIDp16GDMUeGhxuoXwMyXY2hgFuFSoI0A0xLPoOrWvmYfdEEUs_fmPh2OCK6d1hUmix3gzIzd1pRntIkrAQDRO7V8WDKjHH0j3QlmhB7TBCycmw_kTJLujpjVlsRjbxvpnNgTJ-AwQeqVgikdZqhd0JqvSWdryTZaKyzAgQBuGibVMT_35iHCfWOEo6e6OJXURuk_MLF7l74R5Zm_4ke6EAR-xYMzP9WJVBQ5870bZCi0XybOBqj8AD_zPRBIfnbb8iXdbYP8G2961RLqKlfqg0zWB_dqMajoAyil8hR34EgSLUEeBNji7ii3nKu_CyKUhYWiDRWc_txAtmW6ec1TtfmZoGCqXj8N3pMNqr0Uj8sa7GYRhQcqyzwESUshL9jcp5XSYZcQ4YbdJrdCM0bcfd-ozIqFcvzu1yS5XMADiCPHenc8Gbn1pIgwlMH8LEkyfaf3wnzEbzkK1cZb9pJ4XOYHi2sveUPFKtJvb38R2i9hJlWZ08JT3yRToSdMnGbKuqWHu23bQ5SNxr8rvVz_3H7DyPv-yd0aw9lJbiG69Q5eSmN7k8nXWx0mX0dgWAMbot11m9053NYiaAsKUJMGcqShizVEP_jg9OexOlTy0ZMWWe5YhPoGGXHk59yH7biU8OflJlow09aD4UfGkTZLwf01Gddb4jduBoMQQpq0CzEBIi8EaFL77yqXuSe0UdRaMid38BG3U4s=",
  "id": "rs_04fd4c784786bfd2016ab2d3510e0487d0b4fa6d62f08a4e74",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.095,\"left_z\":0.28},\"note\":\"The bear moved with the jaws despite the thin fabric grasp. I’ll shift it left and lift it over the plush basket so its body clears the rim.\"}",
  "call_id": "call_KsFWWxXWXiMR1aAY5Makvj0K",
  "id": "fc_04fd4c784786bfd2016ab2d35324fc87d0b3fc17b973939230",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KsFWWxXWXiMR1aAY5Makvj0K",
  "output": "executing move_to over 13 steps (1.3s)",
  "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]: [-0.4164, 1.6382, 1.3655, -0.3534, -0.5648, -0.5106, 0.0378, -0.1238, 0.9146, 0.7307, -0.5159, -0.1661, -0.0612, 0.9961]\nstate[eef_state]: left_x=0.4674 left_y=-0.0994 left_z=0.2388 left_yaw=0.3059 left_pitch=0.0409 left_roll=-0.1056 left_gripper=0.0378 right_x=0.2995 right_y=-0.0042 right_z=0.1782 right_yaw=0.0416 right_pitch=-0.1243 right_roll=0.0702 right_gripper=0.9961\nstate[joint_eff]: [0.1846, -11.8085, 9.8803, 1.917, -0.2369, 0.3248, 1.0281, -0.212, -2.0034, 7.2137, 1.5946, -0.0806, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 393):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd165a69f0ffac20c457146a7d5e8dfe3d2cfc8de184a816a81b5613c1d8f765",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 393):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db9d09a3eb8479f468336718ffe9077d4a15b38becb39c2ce88bb6f41bf5cd7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 393):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8dd0d8449a9359ebe0a317800fc74eaf2615e2c53eeae29af03aedbf231e9c9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 131 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]: [-0.6853, 1.956, 1.0557, 0.226, -0.7849, -0.6712, 0.0378, -0.1238, 0.9146, 0.7307, -0.5159, -0.1661, -0.0612, 0.9961]\nstate[eef_state]: left_x=0.4459 left_y=-0.1986 left_z=0.0804 left_yaw=0.2891 left_pitch=0.1003 left_roll=-0.1234 left_gripper=0.0378 right_x=0.2995 right_y=-0.0042 right_z=0.1782 right_yaw=0.0416 right_pitch=-0.1243 right_roll=0.0702 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -12.6291, 8.294, 1.6435, -0.2857, 0.0464, 1.033, -0.1436, -1.9624, 6.9402, 1.6337, -0.1343, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstNg0X4dEa6sXiZMhI_Urg-zcTH4TieRtwq_YZSq0hWlN7KZgN2dchlTVVtLhQRixQH6_sptkuu7zfQ1fCsk7ZNM4UvdeXPU2c33CtVhDsMhEdFB7FP99mEUi07bvXA6SRmuGXTSYbS3So_pDq58rI3Uh-8ya-LdNsKlncufthu8wvhfs2L5RgrkBr8YClQSo0CDwLome5hHNvHqn9Sy26bTSs4bOXIaG2tohH3bZ4uJlFXFiEvxBeUoP9p34KBdNZkmhtoCTjNBwdkN19adcr_e98LmVgbhedkevLVRHWu16wXVtcV8wRBrsP-CoQR6y0XmEAPjVUhopMt811ISTLids6-iPm6xrFfpfX5s5SGkX5cF81d_qo0nA5BoI96Fv3t3vh6f1-CROucnzr19NiOq4H7MqPqqvOw2RROiQ5o7y1nELXN3m471yeMhE5bOIOOon0aR7QxcsLmDn0iZrjnW7FYShc8fLU0dFI2_2usCgw7_2cEb9I2vheedA-GxrKGjoC8ZKXD2E9rc4VcuRB6UXc8HgF57zn4-BfKtx6ociWmOaZxUfhiWA4fsL1fqv30ZsIX46csXM1k4r0wuXwHoxX_HDK-iuQT18LA8E4FVU4h4mqgWFv_MUkYrd7uuw1qardJSGWuchtVEzfic2OBKUxm6O-q7Yacu25LneHhDpOkc7GFkoIBICRoITQTg-7JSA_4GfckDWhytgx_d8747yvoBbweomFqww873D9x9UCE_Qi4rBPQad1jICHJNDbq1xvNTDOedvr_MqRSinvHO0zf5N3NbQaPlwRdEYgnhJk-i3AguLWhLc3QC_hvJPiHdJ7lC0MLPxbF2g9Szv7dvEu9rsh99Qr1LtyNyzIyAV57V_F37_mw9m3oCwvxcZuP52s0uRoI8gDpqSD4N-IeSYgbLxf16z1x2HX70oTnLsMwxQT_fz1u-0d1g7P9rslFLxYT_aXr1dCjXy30rXP6hW07BME4KYHO9qg2IhmskFUKOiMv7SRgODpWtElGK6Nu7CBZk5LmpuqyOkTkSYe8awwphwnm4x5X5dud4Mj8tL-zI_QxveRvsSQarFT5ZFc0s28yDwe3gGDg2vltopy_hfsr5KMeRtXSYqHZ3TWpvQf1ZRdCya6WtPAwUrjQc0XhfCfbVXF9mXWCy7Zwtds2QWOp9Ov4USJEsFzp6NWT_Phay0zM9nEwlPmDfCWhm8w4V3Sz81WmCQXOE7J12-jeN4kM0aiYRnfTSbQl5p4G1P2CqkcUcpGKxWF_eGfxyPxjrbMqDy8Hdyz-drBrKWeWG-mTCBPeB9bWMCFP0pEOwaYu5m_HHnyG_LJYquwq9S5JU4ddCDClgocvEoEdFVKpz486RVtaQQPw1F0fMPZLGciiW9fRjyg22TAg9az0kRrdnQzZuclqzcal7sGXkQwMH_Hrxz4ouN5ofo-t4TlvuEYzYQW6I4F_6yFdBy6Zf_TJR4A4-axhbfEBk5S-WZcyisVKb5M5_sgcjuuLgTaqXv5n3EE2TqCplJU2c4BpfPs1algI3w1WAbmsr7aZ9Y8wRXRIjxCrlcj73-9F2MjWmz9XuWfjFIAzU1AUD_L-x_oew4IbltVoAhopk86Fd9SAvN0NlylHlKX28QNRRmoODnIJqfBF1fYI78yq_ed9p68eRjFWxg1TH1rzYjRkurfVAQJHaVy9jVJCbgwOs6EqkRA4Wyz3VOf5TpLuz1oOO1IcgIKEB4xi5r2av3R7jN8WQqYdisyWaewjoV2DDFpBhaYNM3JjoXcx1-EoZBNt4cTJaHqdqRIQZnZl5mDpZfR8ScWomNLNwdReAzDizW2BZc2wilKp1DTnhkCTAfwysK2IV4_Xz-ONBY5-sb81IrMA1V9cs_o4vMzkV9mFu0KjIg-XBBGJ-85XgOxomeaw6WB_HBtOstN2OPSFY2NgmmSe3Nt-IFs9aMCNjli5aaV1PeTgS2QUyjfrcvraLPKAKRC6g",
  "id": "rs_04fd4c784786bfd2016ab2d359d7a087d0b28886ff108c2953",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The bear is now over the left basket rather than hanging beside it. I’ll lower it toward the basket floor before releasing.\"}",
  "call_id": "call_q9zMJeBXDBjf63T8Udjo0FSD",
  "id": "fc_04fd4c784786bfd2016ab2d35f188887d09ce8dd49b10d06f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_q9zMJeBXDBjf63T8Udjo0FSD",
  "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]: [-0.4263, 1.668, 1.1599, -0.1413, -0.5488, -0.5129, 0.0378, -0.1238, 0.9146, 0.7307, -0.5156, -0.1661, -0.0616, 0.9961]\nstate[eef_state]: left_x=0.4628 left_y=-0.105 left_z=0.1746 left_yaw=0.2841 left_pitch=0.017 left_roll=-0.0995 left_gripper=0.0378 right_x=0.2996 right_y=-0.0042 right_z=0.1782 right_yaw=0.0418 right_pitch=-0.1239 right_roll=0.0698 right_gripper=0.9961\nstate[joint_eff]: [0.5812, -7.2547, 5.9419, 1.6093, -0.359, -0.0366, 1.0281, 0.0889, -2.0034, 6.9675, 1.6484, -0.1245, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:203f22fea06d6e838e04ab5187d2f507be78e692b7e2b14d44b292899498d595",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:516388c48cc3be85f615001167b7f31c8387c159b02c72e8d368afc5bcb6659a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b660ef58d8026e2a0c0b1a3de097591954c091600f5ab4ad98bd67651b90805",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 135 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]: [-0.4164, 1.6382, 1.3655, -0.3534, -0.5648, -0.5106, 0.0378, -0.1238, 0.9146, 0.7307, -0.5159, -0.1661, -0.0612, 0.9961]\nstate[eef_state]: left_x=0.4674 left_y=-0.0994 left_z=0.2388 left_yaw=0.3059 left_pitch=0.0409 left_roll=-0.1056 left_gripper=0.0378 right_x=0.2995 right_y=-0.0042 right_z=0.1782 right_yaw=0.0416 right_pitch=-0.1243 right_roll=0.0702 right_gripper=0.9961\nstate[joint_eff]: [0.1846, -11.8085, 9.8803, 1.917, -0.2369, 0.3248, 1.0281, -0.212, -2.0034, 7.2137, 1.5946, -0.0806, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The bear is resting against the basket interior and rim. I’ll open the fingers and let it settle into the plush basket.\"}",
  "call_id": "call_n8f8PH5k6NpuLsUCCmSymq3r",
  "id": "fc_04fd4c784786bfd2016ab2d363f58887d08254a66fe32bbcb9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_n8f8PH5k6NpuLsUCCmSymq3r",
  "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]: [-0.4271, 1.6794, 1.1423, -0.1421, -0.5488, -0.5236, 0.9954, -0.1238, 0.9146, 0.7307, -0.5156, -0.1661, -0.0639, 0.9961]\nstate[eef_state]: left_x=0.4599 left_y=-0.1041 left_z=0.1621 left_yaw=0.2889 left_pitch=-0.006 left_roll=-0.0891 left_gripper=0.9954 right_x=0.2996 right_y=-0.0042 right_z=0.1782 right_yaw=0.043 right_pitch=-0.1238 right_roll=0.0681 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -9.2239, 8.1162, 1.619, -0.2564, 0.0659, -0.022, -0.2256, -1.9624, 6.9812, 1.6435, -0.1197, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 408):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:769833e8acd330dc5c836ec5933ad2da0aebdd94ae6b60819f7d81a11901acea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 408):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:613a3046290fb91764497120cfe746d9f82c5b7961a1e7e7a3453b2b736dd5ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 408):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7840a4afbb0ed3579f6a351a1e28e6cbc01bb96e730eaf8a185c03dd64d57b47",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 139 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]: [-0.4263, 1.668, 1.1599, -0.1413, -0.5488, -0.5129, 0.0378, -0.1238, 0.9146, 0.7307, -0.5156, -0.1661, -0.0616, 0.9961]\nstate[eef_state]: left_x=0.4628 left_y=-0.105 left_z=0.1746 left_yaw=0.2841 left_pitch=0.017 left_roll=-0.0995 left_gripper=0.0378 right_x=0.2996 right_y=-0.0042 right_z=0.1782 right_yaw=0.0418 right_pitch=-0.1239 right_roll=0.0698 right_gripper=0.9961\nstate[joint_eff]: [0.5812, -7.2547, 5.9419, 1.6093, -0.359, -0.0366, 1.0281, 0.0889, -2.0034, 6.9675, 1.6484, -0.1245, -0.0513, -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": "gAAAAABqstNwJO9MiSs1uOPR1hE3SVHbeGQyU3PMN6lOwIMc4nSvykuSO2RDmIH1tP_RIJIOFXDSUkPhZAzWgGiJfjqqJIO7w-PfB4fwbGdHuLCnj8UxuGeGZTOikDuBDOmoJKWZkz7G-YA2Myx0S6ivkgkqhszdX37yrg8Nl6tnWO0ImNJTvxxB8JUzwr8PvSeFs-8smjPIDLgoH_S-t4BNjCqQpa3le7muYddq20pAsGmw8kK6ZuejoAfVHoZKsSGN_lObLQccaiOZtXDZ90mIsBdHWfc9bS0CJg0vDVxkK9vwlxobiUbwofwcAGaA7HfBmR6mzy8S_j_01zc90E1UJdXOJD36kkYNyLDfnJ9CbVnmYlMKDmpGvIoI6sgpc-dmku_5lMARZO2G_OTOe1-FOILOgqK1SBOySJEpT5qXSzcYOozEUxd6l6cgPzrkMRxoc8p6EMrW1W0hlkY2uxvN4uMhIkpMqtCfXKoAN156RQYpxdU7IPDlXdzoe3BZDRmUZIeEEzTrxXtseVD-XfuxeaEsukGHkomTg50nPrfCoQxSJ17P0NWHXNZv2GCn1FUBSa1G8cX9RZV1qzvXu0IAUSftA2-An6LYeEg8nJ8V76LsM4lIIAlXKb8OcHnTH_s7SqR_0AIFIF4jn3zoDRSvRzt74bKjzkjsvbxEhrjRVuEm6ONUrGNFJcFCbu5OfkyvlZpvguGahy4HlPKB4MOjWvO0EDce6SX_zbJSLOAcIM87Gba4aq3xHPJYpn-xorkXjFT-RaRYx_PKrRKKtch01xS8ZJbEVZ2BGS_4QuJ_hv-bPPnF8DZljRbciTKQUF2KMxgVker26kVj0sC0BMo5zXyCHAvbzYi-joSoFeQTajhHyRIh-biH8AJobLrX_uMrekDETOIqnXSZyz7WphwFVT_rQaQDXmKc63_o6uUIyIIcsIudDwkzVFQR0MMZrVl3ZR1bEyxi0ehJ9C6mrxNku-4vR7mwuZs3m7hJyssrEa9BhxQpDy_e470mUJJKfCS8bNLwintkRH0rq1azdF3KwE_KOYcTsoS18CiredZW_Pd-PtRl8ZPTwTjV1NTb4ziW1H37noHYwqPFOkCJdu9vfOEFJO6WdCAQKBoH-LSWWxPQF4BZR595AzD8LzS3dga-v0Ly5t-NH3uqxDoyvlAO6oRaU5I7QqiEsH4GOW_1pTmgdjs5jc3lKbgYRyVSB_E02FaY-XuI_21UgWkegnYW3dmjKXVavoivhzTNPBnyZxlezwoI1x_QvnZHAdtHh36pfpn0H5fJyXXU5iKqRMJwsHJeFZt9Hw==",
  "id": "rs_04fd4c784786bfd2016ab2d36a1c8887d0aeb3d030228b0267",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.185},\"note\":\"The bear slipped back outside the basket after release, so that placement did not succeed. I’m parking both arms clear of the objects before stopping.\"}",
  "call_id": "call_YLFz4JwCaGJyyKoo6DDhiGGN",
  "id": "fc_04fd4c784786bfd2016ab2d36b82f087d081aa583349e3d270",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YLFz4JwCaGJyyKoo6DDhiGGN",
  "output": "executing move_to over 13 steps (1.3s)",
  "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]: [-0.2646, 0.8833, 0.7216, -0.4271, -0.4332, -0.4332, 0.9967, -0.1104, 0.9016, 0.7307, -0.5438, -0.165, -0.0631, 0.9961]\nstate[eef_state]: left_x=0.3057 left_y=-0.0023 left_z=0.208 left_yaw=0.3114 left_pitch=0.0295 left_roll=-0.121 left_gripper=0.9967 right_x=0.2943 right_y=0.0002 right_z=0.1765 right_yaw=0.0553 right_pitch=-0.139 right_roll=0.0705 right_gripper=0.9961\nstate[joint_eff]: [0.1299, -1.4701, 6.4615, 1.7802, -0.0904, 0.149, 0.1294, 0.5812, -2.3179, 8.6906, 1.4969, 0.0415, 0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9c35bd58bcbdc54968998501a04c8502efdafad31628cc1d91e8fae9b9808be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efeb86dd57cd8c0a433bec0d5d0c2402434dcbe77e230af63d0945e2d77df30b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0b356a062465be3e84041fa9122d4c8442805c783bcdbadeb2a9396c660364d",
      "type": "input_image"
    }
  ],
  "role": "user"
}