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, 0.8024, 0.6174, -0.3805, -0.0223, -0.0334, 0.9996, -0.0208, 0.7967, 0.6109, -0.3851, -0.0113, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.1837 left_yaw=0.0003 left_pitch=0.0004 left_roll=0.0002 left_gripper=0.9996 right_x=0.2951 right_y=-0.0006 right_z=0.1813 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -1.9487, 9.265, 1.7851, -0.022, 0.1294, -0.0562, -0.4308, -1.3197, 9.7709, 1.8144, -0.1099, 0.0806, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73fce9e66acc1ed6dfc5e4fd0017fb600cb2f144e2e42ace644264e105df2ad8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc585d792284ee3fa5f82754318c9acca32c314970ce91ccf8a9bd1ad9db343c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89d7dbb296dc5a31bab6b6422a25d662bdfe96bc7c26fbb586a161610a64d627",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqstv6lHp8XHvz_96otTp4f8c4fVaqfJ5RV1u5NKaV9E19O9hrQxE7rl6nK4wQlVPkHgjx3Pv6RpWYMnLEASqpXXm9N3tUfcPN_5E09k5H7T9vfvjZUYSnQ_XJQJMWvD4a--jQFAR_FbjPLGlvYyyLZF5R1ZsX5Dp_XR9PSXP6aVsyLH6ocFNk1Ius-5JjoEufnMLysu5g_THyzkFbjvNt9oUAhscjZDNMT8X94fXrYY7aLI2T_WE7DNNEN5n--KVu-miyKWmGQpFaViobTirs9syrDuxOVnbGqhtliqM-e3xAsG4dkl7p7wCJc4wR24N2LntMnyaGXOVtDhZIdlOhtVq2DxQhS1HhXIoXmRbl_2OLwZN-db7H5o9pn-eSEY4vts6Vm0a3nLV20oPAvpaUR9nQwina4ao3YQrpVw--mahSwMRB5FFcbhIQ9Owb8xKdbreZgNlJrT6Iv2WtiEpKB_u6-L-okp0nGWJLjybB96sZgA91kIdJHn2Lj1u1LxPG7hhwqaPxUZyS5h_y6VSjpNAzTi1Dj0dVL-ehapqrmf7JIa0R_9pH3fzv5MFxM29KemnSJ-U76HpQxVttSYXsnV8cvIroj1_5N_woXAA0FxPeceLbCJ2bJx2VH3c3R9luwC-yOhmunOPE5NZrwf54-wzcoJqfh5hSmIiI87O1abF1YVXlZ9YiFvbeCbYPlzgbZWE7FJS3iyHUcITqb9_AfiqJpGOFaVXLlzP8y0sm3erGJjqHUukvyRvtW8ayZYR3fhlW1d4WaomZSeqpJRViRGWcWgwHb-jncJW9NLkMIcQeR09QFDxjcO9NphB0JoMK8iQeyFVCg0iAaKLIFs2PWK4FazOA67r5lJiv6i_x2NzzM0AiOlNkBXKC-kWw4lC3C_zJZbEHpi36saPcprdxjRBktCqUgcf5CmftklSy871HxrsNq_ZGjyIbrkFk_pjFGYxS7JkUpkpCibxLKX1OEE5K2ae9I7UX9cli50pLC_O7BfbCjQEdIPo3t2qDR8fiGNviloNB7BY-vZyP0U8zyrde6cgBS15L4bUMHsdfrIG8cOxI5JHLBclDFKcaHBX2rPDAFXNXDjrhmcTAKGCd4aEdcUNnFBh_oLK0sAXpPsJAfmkT-SC46WMkQI7iQl-70Semc7ON88bv6iybYQwyZjmjadBfNdPk7QDoI693x31qFUYY8uFJuDHDWcWpKfb9z__k6sStnTcEe9bxgTPvzZFKiqJijbMD70bWk6F-SPXSwBQQTfa96g94wnS11372hGgafVK4LsUfbisoLA6BrVrqGNovpNFGGfUo57zKVudqdhpk6pEZ8CMl6_5oM6j2vr2xzvRKGhZmczsVLKHfBUv1T8JNhwcuXYNIQJBjoj73JdVaJ4mBC_w0A8C84FQgRjsVa3V_-ziDo4JlHtzga2fjG7-LJ7wYEiQVZvLZPEZsR7MFCblB_K8HdrCCVgf11cKIP2dd-5uX97IZg7ik_5gJGaJwMd2G9K2abQ4vRspG9Sv16CaDb8nQ9fq7Z3MOcNBXYqwwLAX_4-siKiUUWrVvCIlG46NBV3I2_hVtSZs6cKzhcp3NVv8hHtP13uO1dzONzWIYtcsX2uoQMh_rsKM4lkF-78HqjoWbwSndVzx-T__FVEOyvBnEiHNvs1CoH8xS1WiSuk-NKXkReQs5j9xbTXy6n9DlhHiCkxTm2uPvU35VzwK-ejSZzpxAvkDlR4sRfhQ2oruK1mXzZrWcZYdwm7rtUNLfEKW37jClbeFdxzpbQb2EgzMqR36_3Df1DSHwQAtNZgQvtpZqHViP7F0DIW-mDz0YGbmSQ0bAw3hq8kFH5_jqB7-mwrCO1V-YakwYunbzLzAJLjhso6na1fmzJwdC-7Fy2qD9oNmNsPjseQFpK7IWso9fRJCqh-WzP41eG2xZM8HMMzB2fjdr9OeODFckSla5U_LBY7gdk2XLbnY=",
  "id": "rs_04040ff75e0bed75016ab2dbf1609087d0bf9993bdc514a41c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.19,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"The two categories appear to be plush animals and marker pens. I will sort plush animals into the left basket and pens into the right, starting with the small brown plush.\"}",
  "call_id": "call_dqgyfz3NCYjPPmBiv4kAyd04",
  "id": "fc_04040ff75e0bed75016ab2dbf83c8087d0855bc020ac3b2254",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dqgyfz3NCYjPPmBiv4kAyd04",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8497, 1.3563, 0.7849, -0.2382, -0.6731, -0.5678, 0.9996, -0.0208, 0.7979, 0.6086, -0.3851, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3138 left_y=-0.1848 left_z=0.1373 left_yaw=-0.0155 left_pitch=-0.0364 left_roll=0.0254 left_gripper=0.9996 right_x=0.2949 right_y=-0.0006 right_z=0.18 right_yaw=0.0001 right_pitch=-0.0034 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -4.7932, 8.7179, 1.5409, -0.3785, -0.0415, -0.0562, -0.253, -0.9094, 7.2547, 1.7753, -0.0317, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b201f8d4accc5ee79c8fe5f0ac2cf30bb4bf900cb0f9f2cb81a26a93bea6b6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b0c82d94745433fc73b8dc0fd20d7fc4289333359a76ebf75199a218d6f0b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:222269601cedbc5f7c609cbc59c68599316c0c9c1f1752e964a9b5265b4b0563",
      "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, 0.8024, 0.6174, -0.3805, -0.0223, -0.0334, 0.9996, -0.0208, 0.7967, 0.6109, -0.3851, -0.0113, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.1837 left_yaw=0.0003 left_pitch=0.0004 left_roll=0.0002 left_gripper=0.9996 right_x=0.2951 right_y=-0.0006 right_z=0.1813 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -1.9487, 9.265, 1.7851, -0.022, 0.1294, -0.0562, -0.4308, -1.3197, 9.7709, 1.8144, -0.1099, 0.0806, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstwINFRd8Ny14sbZ97cBQdlGu7I75kUVhHMZd3tZdLVsoRxQPnL1TBwZIiUYbtkECvs-RbXpH5uJp1x83M2CFKnl6ZbwVJf3SLBqlu-a3o1rpgZ6CUhzlsIzacMjsQusBmBLvKFkntFt4N2Jg4wyExfCGl7FlSMkkQQQZUYsB9eguEYP90CeX4GD7o3XSuNLz7A_UU-uxd3f4lc2zrRyFvl5b1NEYrjT0GK-lO7dEYP5CTBEwR7UKlVHJKqU1urTi3BJwDk79FQ5fMBqsguqpBVIxhnE36h_p_TwsNvyuWyoYv7ZDA8ZtQ-g7yS6bUsQPxJ4uY9bQR029qE9OVIzjC-uyQkC2RQ0rGLpI7C56Z507khWs7P9VibNkSWTal5xd4D6LYq-z6MrIgpfyDPUMXt3Ide2Q_kvottaWEbw11OkPqT-qHQeKlRwlkCNowWsyeINRbmJEy7VgwiSYFjuFh3fuHkAabMwnIG4chLEkGqltHQ4jgNN5lY118DWQMaM7vllsd-Yt0q9NCfUiPQoYk4qV7T4RORoEcjocr5wOLIrzqqgUYIvQICdtORbfRmbvpnP41yl6yHwNmEKlqrlwffVt21JGw1ddK483XKvW1XEJJI5cQAnjovd18XXp1NrXZ7OImbVbK0TT3_eVdUAYAzdFowKJ_h-wrOmUajLOhi7K0hOkzvsbquxDg32xox_jSN6-b3_G_A_XLfsidiJ2Yk3_jI16i-oIbYZesGz_Zx14j4c81g5mtrzKSxSKEz5jHmG4IiLz1giDkdI05zFBQ7S9ttptM8q8j79EysSMDdV1eiqZPjowmLbF0mftP6fnHEeynumOmjZHuhp6r0uUo1dBAbcVOYtI9ENeppp58kd0tfY_ywP_D3l330eg-PGe2YgeqnsmHuq_YfgUbxiiwU-lxhvj-Rf9Y5ddRmnb-ZRiYCEN9KPROIobZcNxTLj8uX-TSmkjvfS3xEyCEMFPWfELlttjdrbaqJzPTnPxfWZk0AugHNLnPVw_QtZjPdPnwFDBQCOyHI3Gf3cxUb2o3wwCNCLNlQBzfqdQoblgmruWarMSnN_4eUaJengI17AAkZF_9pNhHvVgFjlPYKeP1jB7OCnfKJqjDEq-cciG4-lfDO9pR_jUaEfCTYyuI9VjIk1vAdL3EEgfh6nCKnisREqb4pNRSjFrWk3oq4QU6uzGTcoHtWfq8gbqn-U_fX92Fd9MdFg5s6dBL7IXHp7cI8GDcFlpoEkRs1yUvGheLT9yTyhc5GksXr_-U3WYDo_fjn5wa0Q9xtl1X62ECePYREOcsOT8KvjXRr0X_Uw5jLNqLdEOEkZKPo5d6JWEDkbDpc_FGE5dOPbMZmRY9CoGNRFVLrbHesDB6sdLjecqVK_jpMtK273iHimT0tSNS6Jm-su_qciPkr2Wa0YB4vGeuQOQQ==",
  "id": "rs_04040ff75e0bed75016ab2dc03336087d0940adb062e65b2c8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.18,\"left_z\":0.025},\"note\":\"The brown plush is just left of the wrist camera’s jaw column. I am lowering around its body with a small lateral correction.\"}",
  "call_id": "call_d97trxwnw3MncpCfAjTsSF5I",
  "id": "fc_04040ff75e0bed75016ab2dc06a67487d0aafd9948b8c54fe7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_d97trxwnw3MncpCfAjTsSF5I",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8192, 1.6638, 0.5362, 0.3321, -0.6685, -0.5385, 0.9996, -0.0208, 0.7986, 0.6086, -0.3855, -0.0101, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3215 left_y=-0.1784 left_z=0.0303 left_yaw=-0.0043 left_pitch=-0.0299 left_roll=0.0371 left_gripper=0.9996 right_x=0.2949 right_y=-0.0008 right_z=0.1797 right_yaw=-0.0006 right_pitch=-0.0046 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -5.0667, 4.1778, 1.4432, 0.0366, -0.0415, -0.0171, -0.0479, -1.0735, 7.0769, 1.707, -0.0464, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f10e25a1bef5793cd4700ee97da704a31085451b231162190353b70fc5a4423",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:704dbf5478d2d9a52fcfb38cbe410b1710ad2221460f3fedc14d202075cf84ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a81956c4850f3f6665c5df2a4b1afde742128a3e210f5d88fec744fee80fa780",
      "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]: [-0.8497, 1.3563, 0.7849, -0.2382, -0.6731, -0.5678, 0.9996, -0.0208, 0.7979, 0.6086, -0.3851, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3138 left_y=-0.1848 left_z=0.1373 left_yaw=-0.0155 left_pitch=-0.0364 left_roll=0.0254 left_gripper=0.9996 right_x=0.2949 right_y=-0.0006 right_z=0.18 right_yaw=0.0001 right_pitch=-0.0034 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -4.7932, 8.7179, 1.5409, -0.3785, -0.0415, -0.0562, -0.253, -0.9094, 7.2547, 1.7753, -0.0317, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstwQ3s7Q1_l93QiwGBjU_TAVCJyqbZjGmnN_2sbNk-eaDzX9LX6I8brGH4J8vBWrJmRx5z7kkvLU7-cJ3MCg_Gd-wtZRG5tOVdfYUJcA6l_MaBNUwR9yjvH8F3l52Dqg5IyQeq4c47bdIDkjHHcA48ZAYxja5nvANya9EIs6cueVRlW4dfACiHxkfL75QpffSiKChtIY3e_ZrBomK2IeqTO3fDbcPo4_YVHgpJ8OHGPzpFfjVAcWoqGg6fuA3VF6xBkTM2hodif4n0pN6BcgIJIqNhglO6Leru5tLTJo9fH4TZTxDYGQ_FZJz32CbRkph8pGAKulr9Pvd1TwTbtR2Kwj6NN59C9TDhiULd_QxBCtAXx9rG8_slxBscUG0-2jAm1diM9jwIxfT9xIo3HAGZmYGQDXtP40E8IdsYKWGVq5jUGTodOZ76VGF7WCdTe7i_88Ud61xKyOelnmnN_pJ8euJZOLs2sYIZsA7buBlemv0aDJVsMgm6GYA0ki75Z1yMkiUXEZs0QNgbtMBqbBwuYRxB-uzecFcFlgt-0xy-QrrsYrQxQVz0PNGoz9jVwO_8KnVy4ZKBTLwz6iEcG8RdTFIpyyQ-y5knJo8LPS66vOwssFnJwRRuCdWG0eGmtPRSWTbc8Uar0fmOfBQofemb9z_Olc4DXYUAcZdtGNSPeOFZ0VAOUJm6QtgAR9yEU_DMfMgJ1anUpyUjl9IzPqehnjNFkHBOvah_TGqfBKI-mZ4h7uDEGtfzUt4R2F9ZggeDQaqEogqDaJiy1dOVO6fTgNmCW_EXztpjbMcJwJ2MSdm_0UtK6T0dRhChLznC0m0grv8Gxffv7JokZiuB4XIUp51M6Pn-FD6e5vf3-w2ZdNDa4N7cnXcFveleeDzx2K9qWWyCOnXcpwNqQukt7KKAn-oQDg1hXAu4rNgv44d_4sglk8ROz0aNzeaMd3_bCBS6XkaLZu0ZGlM1NPup4L93gtI3WyofbcwQxgM1zvWxWSSBh8j0_R64eWKpG0s_irZQJPsNrETs7seBua2b6s3HIcDggaQgAeVxZHjB4nZHRCFSUGd-4XoowmDD1XBH6JVwl9g-bHocTkxSAt0aW9BXaQuj9_PXf11FAwgOqBhrnX-dy4rdfScC7K1-E4Uowv-M5FgEa0z7ZlaGhtAsaOjdn-Z30VrXvpW_Ew--elxVCTsNxm6EgKBOheEDu1-Lttzsi8F-Ei5gQw9AKupukw5iG7aPSyOTkP7UaK6Ez-0As4eevHF41G9yJj865E4NeWdzq_cTxBaxDhqe4sicBM9m5hFzAGfmBFUsgpeP6kmNAFR1sPjub_7xCFL3QOTXqVcQVizVRaU1D08S_LDpAgn3CACw==",
  "id": "rs_04040ff75e0bed75016ab2dc0d356087d0b7f33359edcd0a76",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.158,\"left_gripper\":0},\"note\":\"The plush’s torso is still left of the jaw centre at grasp height. I will centre on the torso and close the jaws.\"}",
  "call_id": "call_gOgtI0pIK0zQjgPCVb9JGXiS",
  "id": "fc_04040ff75e0bed75016ab2dc0e818087d08292dc5a16038291",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gOgtI0pIK0zQjgPCVb9JGXiS",
  "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]: [-0.7647, 1.6268, 0.4904, 0.3946, -0.6491, -0.4953, 0.0393, -0.0208, 0.7986, 0.6086, -0.3851, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3274 left_y=-0.1612 left_z=0.0363 left_yaw=0.0123 left_pitch=-0.0029 left_roll=0.0252 left_gripper=0.0393 right_x=0.295 right_y=-0.0007 right_z=0.1798 right_yaw=-0.0002 right_pitch=-0.0042 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -6.8991, 3.4256, 1.3016, -0.0904, 0.0024, 0.9792, -0.0479, -1.2923, 7.1726, 1.746, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3df6439063f824fa5932819e89120a0b77366aafcd7ec7bf9ba031aa41e083a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dacb4eb3ed6956686ffbc5c437e0d576bb8ddf40242dcefb2eaae5d24aad1a2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ae796d887067670dbc10ef25fa4466387c814e3167b697f2fe7035f58f5cd86",
      "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]: [-0.8192, 1.6638, 0.5362, 0.3321, -0.6685, -0.5385, 0.9996, -0.0208, 0.7986, 0.6086, -0.3855, -0.0101, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3215 left_y=-0.1784 left_z=0.0303 left_yaw=-0.0043 left_pitch=-0.0299 left_roll=0.0371 left_gripper=0.9996 right_x=0.2949 right_y=-0.0008 right_z=0.1797 right_yaw=-0.0006 right_pitch=-0.0046 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -5.0667, 4.1778, 1.4432, 0.0366, -0.0415, -0.0171, -0.0479, -1.0735, 7.0769, 1.707, -0.0464, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstwXiFDkkueieoIHiJifWQopSqXYl24kKjR9lG40Mt-MuXBLzVOEb8agsnKl17XKKHJtdKMwBFYRkM6P4_264bS-fOcRgAKGrAVwf4xlp1Jh7HQxwZsSWWJ6eGVS0z71UeasL04dIK1YJW_26HaKEUKNAQVTMyuF8_INYCu5BhhYkabQqwV4va5lt_R62EDWP_3hiWQeAo3zBrRFb6i9knyZK07VmsIHYqsrKTOvwSCPb8cUHHFMyHONZ_VCaEKgkMBDFX1q85QdN-deFT-Hc_KnyCgMu2ndgCjsRV5kweY5nBeH0RkkgPAhYqgtkQLORok3O43j8upW_jvJVPj1UA1xUjhaYGw2BkZe9IvfSQffB0L6NxyLvdEri2wFatlWy9bWCcln4uRt2tfktGxcz2u_iXg_tG0-kJ1caIMi5s1QvcKyxXS919oC4ymhzANlCVrLZQYEtDHjNSqp0VyPg6JnREIXUqA7veKujD01lMle1xfgikDQ6AMH1KW-Zm-mUZtnRW6OagQofaCaqwJqP5FSV8xhOk8N6nBIHD2I1lNLbM7gLDu7f2mTpA-pp6iptXgjx2zLPnDI65uuvzJQ6Pp5QVbwui--fyR308tTFmWYPrruvnLYStURy-P3A7IIF-9xwIvxC4Yp3mcjaTC_bqrFZf7DWbOVb-PwMUz17NLy8gLE-PfRxvmr9io8Canqk0eleJy_zS79RzvdDzvDjv86AmyWOgXYvaAC9Ez3OCjJbb1fKpGwPv_93N6zhdLHzmsZ_o6op5H8pYmhwQNzqda-dpLtYTL3rnuaEhZUV70bCYGB7LQ-Iv5qm_SaegSZ4haGkI5ZXZIvtMH5w8rg_Dx63QukD-Qw9O4LmDTe8iGZZsdg-CSPi8wGdszB4beAYCL0g0upo6cSI3fIRaPHg2BgkUB_vlN40vvVClB4BXbVKRQ7u4zJgnOu3kT4XzbiUjCSGhou588lSs25Hcq1jXGmQiPt5IzvqbSbaCgVFd3CNJLmXM1OpmdYCdsmJ7wqfKAMsnHvz-VxsiMip-6PdPdXZp5oM5iTFQ7QckDlcWmWIZy7Zt-MFBimsP8RTK6a0KoHjhyGpDhzLSHlzkuzQXsnmMGcbdT-fSxrvFUnO5O8q-0gC7LxZTeaz5KKHSaP1WIeMbWobj8ufZisyeBtwpBv10fQz76DUyb086KTKN8MNZruAgZjrfjZp0LL7fyaXketD58Nh7PKDCzR8uQBDFKw4_D-venEkzFHnmyd-J8ke2Fww4NWARBAuUaPk1gwRUoZ",
  "id": "rs_04040ff75e0bed75016ab2dc13b4b087d0bb3cb73a8d842bcd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.158,\"left_z\":0.005,\"left_gripper\":1},\"note\":\"The nearly closed jaw reading suggests I caught little or none of the plush. I am reopening and advancing three centimetres toward its thicker torso for one retry.\"}",
  "call_id": "call_7pD8TvrTUukcCfihsfELwhGJ",
  "id": "fc_04040ff75e0bed75016ab2dc14ff3087d089c396082ccb2f49",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7pD8TvrTUukcCfihsfELwhGJ",
  "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]: [-0.6838, 1.8252, 0.5106, 0.6182, -0.6205, -0.4339, 0.9989, -0.0208, 0.8024, 0.6083, -0.3851, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3545 left_y=-0.1518 left_z=0.0087 left_yaw=0.0391 left_pitch=0.0162 left_roll=0.0325 left_gripper=0.9989 right_x=0.2952 right_y=-0.0006 right_z=0.1785 right_yaw=0.0001 right_pitch=-0.0084 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -6.2291, 5.012, 1.4774, 0.0317, -0.0024, -0.1343, -0.0342, -1.5658, 7.0906, 1.7314, -0.0366, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89c8a205c20e9cabb7bda432e33a3f0bc8e690b7477b0018eef1588dcddcec72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cedd68296dd05cd5edfc89313652d0bd874f9b37c33de1f9ae1cd08881edb03b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b805ffcaa011d9961fb24c73e2a527b709557dc62d1e8ad8a890051e5a6aa9b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7647, 1.6268, 0.4904, 0.3946, -0.6491, -0.4953, 0.0393, -0.0208, 0.7986, 0.6086, -0.3851, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3274 left_y=-0.1612 left_z=0.0363 left_yaw=0.0123 left_pitch=-0.0029 left_roll=0.0252 left_gripper=0.0393 right_x=0.295 right_y=-0.0007 right_z=0.1798 right_yaw=-0.0002 right_pitch=-0.0042 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -6.8991, 3.4256, 1.3016, -0.0904, 0.0024, 0.9792, -0.0479, -1.2923, 7.1726, 1.746, -0.022, -0.0513, -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 now fills the space between the open jaws. I will close around it before checking the lift.\"}",
  "call_id": "call_J8eE5MRaAWaPzKs2tKFaYtBM",
  "id": "fc_04040ff75e0bed75016ab2dc1ea72887d0b02bbe253754dcbe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_J8eE5MRaAWaPzKs2tKFaYtBM",
  "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]: [-0.6838, 1.8252, 0.5106, 0.6254, -0.6289, -0.4351, 0.2069, -0.0208, 0.8024, 0.6083, -0.3851, -0.0101, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3555 left_y=-0.1511 left_z=0.0105 left_yaw=0.0461 left_pitch=0.0252 left_roll=0.0308 left_gripper=0.2069 right_x=0.2952 right_y=-0.0008 right_z=0.1785 right_yaw=-0.0006 right_pitch=-0.0084 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -6.8855, 4.0547, 1.4286, -0.149, -0.0415, 0.8425, -0.0342, -1.1556, 7.0496, 1.7216, -0.0366, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5240a2d1b655143166c0622e054fe30624e34cfcefbb248af6bdbff05b63035c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fd8156d60ea4bd8981bf5e772a9d32383ed598bc8f1c8a4af7ca9e5d2b3d89b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d40a2ab3bfdd2cfe77ba37ab8a35c88ddf4822ec14db7c07d7d629ca16fe8678",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6838, 1.8252, 0.5106, 0.6182, -0.6205, -0.4339, 0.9989, -0.0208, 0.8024, 0.6083, -0.3851, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3545 left_y=-0.1518 left_z=0.0087 left_yaw=0.0391 left_pitch=0.0162 left_roll=0.0325 left_gripper=0.9989 right_x=0.2952 right_y=-0.0006 right_z=0.1785 right_yaw=0.0001 right_pitch=-0.0084 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -6.2291, 5.012, 1.4774, 0.0317, -0.0024, -0.1343, -0.0342, -1.5658, 7.0906, 1.7314, -0.0366, -0.0757, -0.0171]\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_z\":0.18},\"note\":\"The jaw opening indicates a substantial grasp of the plush. I am lifting vertically to check that it follows and to clear the table.\"}",
  "call_id": "call_hlVwm4UQtmL6kog9wKwveTgr",
  "id": "fc_04040ff75e0bed75016ab2dc23622487d0bd61811214247bfe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hlVwm4UQtmL6kog9wKwveTgr",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6846, 1.3701, 0.86, -0.2039, -0.625, -0.4423, 0.2103, -0.0208, 0.8024, 0.6083, -0.3851, -0.0105, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.3557 left_y=-0.1523 left_z=0.1639 left_yaw=0.0461 left_pitch=0.0052 left_roll=0.0393 left_gripper=0.2103 right_x=0.2952 right_y=-0.0007 right_z=0.1785 right_yaw=-0.0002 right_pitch=-0.0084 right_roll=-0.0009 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -7.4051, 8.8957, 1.2723, -0.2808, 0.0122, 0.3443, -0.1983, -1.1829, 7.2274, 1.7118, -0.0269, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02f4f0d0ccc56a7b7abe87c6b40ce389f9db2794e68d7e56fce3e933270fd014",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0f9526541f87375b8f3fce7ab58c53b217ce2850d950906a3ad49a61dc2813b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50bb3d53ddcc18cdacf5b1610f4126d2114495ee6142b9957949bf7412689e38",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 21 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]: [-0.6838, 1.8252, 0.5106, 0.6254, -0.6289, -0.4351, 0.2069, -0.0208, 0.8024, 0.6083, -0.3851, -0.0101, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3555 left_y=-0.1511 left_z=0.0105 left_yaw=0.0461 left_pitch=0.0252 left_roll=0.0308 left_gripper=0.2069 right_x=0.2952 right_y=-0.0008 right_z=0.1785 right_yaw=-0.0006 right_pitch=-0.0084 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -6.8855, 4.0547, 1.4286, -0.149, -0.0415, 0.8425, -0.0342, -1.1556, 7.0496, 1.7216, -0.0366, -0.0366, -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": "gAAAAABqstwtkRB_9kR3rXDrDNN6J8nRrRJvPEBGzeIwqs4qrvwaGvj7Tv1fGhEeB3ps-UjN34lKafRDrY5UxPZvf0Zq5kZCCUHAUI3N_S4EgMUjwxqxP33I5TeWLgc86Wu5fwVDn4JxZi2yrUatKuLYJHtsqw9yCmd5S_1SeflnFqOnuHemD4mm6_IS6B8pgCig7MKVPcMAu8bn9tftRYmnf35uI19TtJRhqT7rnvoWsaELiAe53pCVq1x96avtH_-KSk2YhvKQcpEOD5yJJklhOyA9pGaeaCIPm7aL4E8ff7ZIsdHGI5WkfwbPat4jTA8xI6qahUpiK4qp7c3BQu7EtkkysulASwf_dHy-sEdpuctyNe-mhI9wENRxFcrDsyAIo9wvA634hPQ-jcHaOAVEYsAPF0y0B_tr6dIZiQUFNO16uflIiUPNzyR4QbhLAvpl-CPSTMERS3o38wKqOO9iANcsuci3Avd1Wj4TJi6WNiBddggmQ3IYsA-jhd1PhhbVzOatBX3Uo9-7qzJJUqDdL0fgA2iOqv-LmbGK4uuQKP_pUiGq01DL0O5B8Q2tm8hasJBThwW2dbyWlQ7uD5_xiZh-STUg37bQIUVV6a0eUbBbmOkoPFg4ymVgFVYYQqFJN4PnQIj7-8gQxL_IdEsh-SZ6sc68wYOrM3ixHybAQ8OcSprYckkDaOUkZ2a0nnE2rqLFP2vY0gAM8bQCVyQLj1fSaezlwbS2B-KbKdUELjAAdVCSAOqPXwnLOYtPsSXhlxLYzDy2LLOLWf6eJJO9J2D_WGQFC0nLbjvR5xNJQIBrdH59UXOu0hjH1XJ8aeP1xr1Pc30MktNqdAKKA-capBybaKktFlQF9grDC74KMG547A5JHXGxlAhDW8qUyKlxORHmh0G81vweG6hsFIFp6nyXkbqURIGCmVgFYipwwafod8x4nwX6xlw4frUIu_RLKhXj9jwS_IDpaR73r8BcFLB7HpcoyKWhVS8YMGvoQoK9oTyCOmFCAcFNIuKA8do-xFcD7HUq-dDCQTgluXgi3pikNfjFoO6ujl7UjFidOlNsY8jHd4p5cLbTGQB47SGeQ0zqbzyJhxrxJbz_XMWlpRRdmGAJMGomoK7YaFKxyUcBv5HsZKUBJQj46Sz6cnyNuPTA6pr2Jo1KnpV9mu2zF5IgynfjE12HcTZm6p8GF3UZHHWYM-MsWnXLbiAq2kTCNjptFIPafYkrIwcl2PghEd9GJEsF_1aW5uNU3t5Da-LswvkRa6i0vns3FsvAbVoc6iCENcZwV9hyHzAw6RVlDPPaitcK8RznKkA4n1hYksegDepm-dvtLad9ll8HZn2MeCuXIsJQqKbQwty2Xx3dpo0QDxEu7uoDDBsDkyyanALQrl3mdACDu90PWWsd7I0GXrrk8en8",
  "id": "rs_04040ff75e0bed75016ab2dc294bd487d0b323352305a1967d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.53,\"left_y\":-0.16,\"left_z\":0.23,\"left_pitch\":0.25},\"note\":\"The brown plush has lifted off the table. I will carry it above the left basket, keeping enough height for its hanging body to clear the rim.\"}",
  "call_id": "call_Joh9XpHFEe35P1aJv6fGrDW8",
  "id": "fc_04040ff75e0bed75016ab2dc2bc82c87d0b1a26ca160782577",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Joh9XpHFEe35P1aJv6fGrDW8",
  "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]: [-0.4538, 1.8404, 1.3388, 0.0761, -0.5148, -0.1825, 0.2123, -0.0208, 0.8051, 0.6083, -0.3851, -0.0105, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.5233 left_y=-0.1545 left_z=0.209 left_yaw=0.0643 left_pitch=0.1971 left_roll=0.0551 left_gripper=0.2123 right_x=0.2953 right_y=-0.0007 right_z=0.1778 right_yaw=-0.0002 right_pitch=-0.0111 right_roll=-0.0008 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -10.2359, 9.5932, 2.0391, -0.0024, 0.188, 0.2027, -0.253, -1.5111, 7.1726, 1.6972, -0.0122, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8677034a3f55f3c97160925821e65d25b3287eb9fd3d21e84cf98687975d1856",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9fdfb06d07167f29233f8de99f6b9a7cd862326b6c3b024ee7fd86418674116",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b70b11563de3dbc5c0f87fa1b14812bd6eec3097121a8cd9713b65923ebc6b21",
      "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]: [-0.6846, 1.3701, 0.86, -0.2039, -0.625, -0.4423, 0.2103, -0.0208, 0.8024, 0.6083, -0.3851, -0.0105, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.3557 left_y=-0.1523 left_z=0.1639 left_yaw=0.0461 left_pitch=0.0052 left_roll=0.0393 left_gripper=0.2103 right_x=0.2952 right_y=-0.0007 right_z=0.1785 right_yaw=-0.0002 right_pitch=-0.0084 right_roll=-0.0009 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -7.4051, 8.8957, 1.2723, -0.2808, 0.0122, 0.3443, -0.1983, -1.1829, 7.2274, 1.7118, -0.0269, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.15,\"left_gripper\":1},\"note\":\"The plush is centred over the left basket opening. I will lower it slightly and release it inside.\"}",
  "call_id": "call_6XUmiV4c72EZr5sLxKphRbuT",
  "id": "fc_04040ff75e0bed75016ab2dc3cb33c87d081e2b59fd1dffc6c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6XUmiV4c72EZr5sLxKphRbuT",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4549, 1.9148, 1.206, 0.2523, -0.5148, -0.1905, 0.9953, -0.0208, 0.8062, 0.6079, -0.3851, -0.0101, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5206 left_y=-0.1538 left_z=0.1481 left_yaw=0.0647 left_pitch=0.1705 left_roll=0.0631 left_gripper=0.9953 right_x=0.2954 right_y=-0.0008 right_z=0.1773 right_yaw=-0.0003 right_pitch=-0.0126 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -9.935, 6.3795, 1.9805, -0.2515, 0.0855, -0.0611, -0.1162, -1.0735, 7.2547, 1.7656, -0.0317, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2a2c57ce25b8577c0eb4451bfdd8c7ee851fc0a32e06f8222d6f04aa47f793b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d183665eb79cc3d029bf2edc7af65d7fc847d153eb296b8b9068fcd14b8bbdd5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ec129a09ff08b8f5438ccf242757eeaa5e1820d4a886706b8ffa48f77a5d340",
      "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]: [-0.4538, 1.8404, 1.3388, 0.0761, -0.5148, -0.1825, 0.2123, -0.0208, 0.8051, 0.6083, -0.3851, -0.0105, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.5233 left_y=-0.1545 left_z=0.209 left_yaw=0.0643 left_pitch=0.1971 left_roll=0.0551 left_gripper=0.2123 right_x=0.2953 right_y=-0.0007 right_z=0.1778 right_yaw=-0.0002 right_pitch=-0.0111 right_roll=-0.0008 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -10.2359, 9.5932, 2.0391, -0.0024, 0.188, 0.2027, -0.253, -1.5111, 7.1726, 1.6972, -0.0122, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstxEFh1tM9RI4Whf6JEvddw3vs_THrUtUYn8Ky7EMDhBkLN44yxjcHFN3P-X4oLQIevWX1C7MYRbskyvPwvigS4syA1gdDyPapbG_AeLdZvnFuSCMxbeGBcQb93GXpWWNsoMbeveXGm1pEc0V8QzYgmUbmLr3oIKBR8s5XOfo8wxtYU5T9hD-cV0MMrEvPyGgaZoxK4XSq8pQ1hnjQ1wlWGJtzdOGKK1s5QbHqb87bqIXyIHB1510lfRkxhbnZHZQaLxmppjgvo8e2TKXPH2XO8CfvK2f23pCDHljU8nCVhfDkCYh7fjFLd9ndKtWfq__FZMQ3rAnQZE9sNavorRtkRivG1sobd0vPUjQyEs1pd9E7bqoGevlR221lMC149_E416o7C4GBzhIkg5PKiavJ1ZrWGcabsuxEhKtKVh3ubeOP5Pmp_PyVHSmyzkSKb1WwMs-wzFEZ6XTaQXvM4dDXMex7Kk0gp3bDP6pdM-FLvlif2PM16gGEGu1CMkeSP1pwVG3B-wjzI9kgcnKsifQCk1GlKhQg6i6EbFqLqBZRopWzcbVycbYRWCHlKqy1mipJEfFt-15CqgzEa7w23ic1g3V46Tc1X-PpB4BQlhtHvx2mtm2NUOs-sJhhaK60a9-OW0dtTypTkWenaM84XBgxpPnDE_LaKJZngj-bRoPVNw2WKKpxi1Vi9NAwqN-UoVpW6ov0bSQ4QdTt6iq0w3bptk-5tVImY2zqnOs1i30U8WkWiS7b1TLPBWnSxjdlQs2RPaB6IGrDpyxe2v7eN8x6MMwd0S0FLMcubEVbk5u81-N3tRwTo3j9yeYdiBcpEdfCHk_yyb185GafJIY292f0puMaIgsAYwDcV6rn5FOJvoRRZ9UYNO5RaE0pL19A7w6ZBn3h_t7fQG3htF1lvGMNd2ulWeYJALjMd8tAetGjDuwkIAf6LjZ2uUfaDMPBDF-iRqGQgZfNpOLdn8suGvQ0kuOfPPg2cfhdV6Uuev7fLZfslUgYHKdRXkzEnsTWv_p9zw24SXZFqp-K9Poo9epTJ6gvUOckAlLB7_WgHpUlOh6440gZLHYvig37yLA9-AEI0p0h9X6zfJYJtV2OisRJWwKxk_Lrm8CTzYkaN4q6Xu_ZXduY9Ktggh1xztCG1pPt-DG3ceUNrdgVZId17g3E9bJvXK-PKwZ7CUgpKLF91qwtyTh65BuHJkokyXBSXoLtklwdGO5bjTtYyeiDVCCXBBltdhCBX4Emls9wT9wRk4f1ds4clVZu8ckPlPC_Zg0y8UO0s75_NPwqkYBD4jxqJ54PLPOo1YrDrtaUqUy0_bAEU=",
  "id": "rs_04040ff75e0bed75016ab2dc41657887d0ab5f5140237a8f0c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.015,\"left_z\":0.16,\"left_pitch\":0},\"note\":\"The jaws are open after the release. I am moving away from the basket toward the grey plush so the overhead view can confirm the placement.\"}",
  "call_id": "call_xX389u0r8ycfbp17cJ8Ilqcv",
  "id": "fc_04040ff75e0bed75016ab2dc4239fc87d0af2944014248ac01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xX389u0r8ycfbp17cJ8Ilqcv",
  "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]: [-0.1715, 1.2217, 0.7033, -0.0383, -0.268, -0.1188, 0.9967, -0.0208, 0.812, 0.6067, -0.3916, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3796 left_y=-0.0146 left_z=0.1639 left_yaw=0.1003 left_pitch=0.0298 left_roll=0.0553 left_gripper=0.9967 right_x=0.2947 right_y=-0.0007 right_z=0.1739 right_yaw=-0.0002 right_pitch=-0.0259 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -4.6291, 6.6667, 1.8926, 0.0464, 0.1099, 0.1392, -0.1846, -1.2239, 7.1316, 1.8681, -0.0415, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1242a9ac915c638e30e4990400161204c31ae055027bf0bf79f3867682ba470",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:068e6997e5ddc36190f059f20e31be7161bc7c1c2b694fb6c550eab5b20743bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:533e4419d9115ffbdecde11490f2aa323afda4f79c3cdd0ac4374001e986a9b1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 31 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4549, 1.9148, 1.206, 0.2523, -0.5148, -0.1905, 0.9953, -0.0208, 0.8062, 0.6079, -0.3851, -0.0101, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5206 left_y=-0.1538 left_z=0.1481 left_yaw=0.0647 left_pitch=0.1705 left_roll=0.0631 left_gripper=0.9953 right_x=0.2954 right_y=-0.0008 right_z=0.1773 right_yaw=-0.0003 right_pitch=-0.0126 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -9.935, 6.3795, 1.9805, -0.2515, 0.0855, -0.0611, -0.1162, -1.0735, 7.2547, 1.7656, -0.0317, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstxMc7RmVK3wZO6iiwUz5nQmEYJu4CUQX0J5vgstYhXqmqA0TUYlIBivcoCGrLLPKmRw-Q__yQrM4xzqJot9uIuOYFKcfzbRxLA1fPbKH0UINzF0WqPQBSJELPP2tQcRtjnmZaDcsj2bimBcs0c7go-RBl2nXLLwXX8aGJ91TLv4IxJSHoB6r9HAwXKcZ9Igc2EV13N60QvPvgCqXmau_v4WLGNenQrXqUoR8Rk0ZqMkNKtCnYcGgM3qgBujQfEoKb1wl9tM8DwL21ORK5c8jsw3QkghCDYiiULNEvO_f1hLpUp6fFpE3HXxADtwXn7qzdQ5GLHjmC7jcW-q65EPX6zd7ptxcZO4KPJYndkE2UvoJjeHMfda6Zm3p8m2f_RpfSHVGUAQHWPGvSdqsG7EOYvqmXvNK4F0CEbghcItOnXtG4bHJ88wb9LCoZwFq-v_9oiCtW6jjA_baGiQDZiU5iVLN4iSJguOLkSvWp7kOw-lOfNJE0aVsqEb-K7Eh4FwKd3Y3Uoda0-iWSEi0cIEJU8antQDjQKhAEt0V1bHiTqXaAqpnX6pGJJnC0P31sfFQE2M3cV1_YDvFlSGs_7NiYz26tF1QaImBVlz4l6k9OcqKhfSfkCOEPJUZGq5yCuN5JsyhQ--FBJvHwipaCM_3Bb1CjvFKkSDzb_rwFBN_ec2PwLqEgcjSBwhqJIJl94zfdfjEKRox169uriLwAsnpjgS9xKuZ4ePmSA68-C71cwOIoouhZxfYAq7x_qes6eEec6OYgVjs_LBd50IAA4SC69mTimkR3SyNZHzM4wUzwyEwfdkwvgBlAWOZ2N_jjNv_srF2fkZbAsET4ieHZeSXRk0-hmWmpNoBYq6z_ue4XBvSXU9FwvEIA6VQmSEpAbtGlwW8AOFhWDdu8GfPpArtJBq3sanV2qsjnKTH0T5xgRkl1hRJS5JGyHdxSDEITza0rgo7RtCPhaE0fLMDK9GvHgs3ZQO6iXvN6apF32EDuIPcyiB84JQEPhdCD34Q5fGeLzcqh78LD5p3eq1GPLyR2Km3vMg9Z_kmIOhB170yYQ4aOm6dPAUATFKxV2CbAArhOOAIFFLcJLzHHzwy9wahGQq4mkORLFrmrqzvA867byEIkLhXiYoOtVy0Cn5uwWJjwKSKH_gxTfKTj0RQ4EDKk_Z1Jv7m4qHvddIWcXZl16FOX1ZjbpUxIfeFcG87zu9b0ooV0bFztdgXdpYOCnMGDNMDgCfkjGfugmfbj0a63Z6EYjUa0pXQjeqSzFQDJyJpnSHxaqpYAlYduBhJFaeA-f2n2SqWdbHQidYgPaBhHZij4ag1iRw0cvtU9hObHbQcu6NX_beR54QnzCMgvUlAefXNMnELBY_MeVntTt4OvhG-rW6wcFLdK-Cz0th3egeSi1EDIFnio0-OxtDYSGWC1Hv4w==",
  "id": "rs_04040ff75e0bed75016ab2dc482f3c87d080acd06eae034b25",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":0.015,\"left_z\":0.015},\"note\":\"The brown plush is visibly inside the left basket. The grey plush is slightly left of the jaw column, so I am shifting toward it and lowering to grasp its body.\"}",
  "call_id": "call_0vXeCqQ5XAtJXYgpW7TAVZOx",
  "id": "fc_04040ff75e0bed75016ab2dc4ac6f887d0931b9f7b99631aeb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0vXeCqQ5XAtJXYgpW7TAVZOx",
  "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]: [-0.0463, 1.7557, 0.4854, 0.8089, -0.2165, -0.033, 0.9968, -0.0208, 0.8173, 0.6067, -0.3931, -0.0105, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.4173 left_y=0.0222 left_z=0.0474 left_yaw=0.1377 left_pitch=0.1133 left_roll=0.0849 left_gripper=0.9968 right_x=0.2948 right_y=-0.0007 right_z=0.1721 right_yaw=-0.0 right_pitch=-0.0328 right_roll=-0.0007 right_gripper=0.9997\nstate[joint_eff]: [0.4034, -4.2325, 2.4684, 0.4176, 0.5153, -0.3736, 0.0024, -0.1846, -1.7983, 7.0632, 1.7021, -0.0269, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3343691be35c757ba84047028bedc6f73c353e017117727f722ac0359879b50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b493de9fc2a1e4414a71370f198cb18b759e244e6d79adcb530c9a277e6def4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5955ef5f8c32d76d3505dda574a0db9e3593178c3d9e8d4efdd7aca2f827fbe7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 35 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]: [-0.1715, 1.2217, 0.7033, -0.0383, -0.268, -0.1188, 0.9967, -0.0208, 0.812, 0.6067, -0.3916, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3796 left_y=-0.0146 left_z=0.1639 left_yaw=0.1003 left_pitch=0.0298 left_roll=0.0553 left_gripper=0.9967 right_x=0.2947 right_y=-0.0007 right_z=0.1739 right_yaw=-0.0002 right_pitch=-0.0259 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -4.6291, 6.6667, 1.8926, 0.0464, 0.1099, 0.1392, -0.1846, -1.2239, 7.1316, 1.8681, -0.0415, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstxUnWxK8dpwD9mFR5vo7u6TZpcryLdTcmX8hwB5aANrWVc6oeq9X2cNlvVgtAJADX3AFaXsnYbZxYHHknS91IdB8VBjZBrtRgYfeC1dSHtfgo_B9URYO-VQc9fi4n3aIDK7PkxvS9LKJJqlnFEfCnMiS5vmg8DqNMzmmb_gRkeu4mv17iR8IbsbaA1z6hR9BnMjTR1XKdRowZBwFV3rbQxv6F_5_cy_ryakt705s2gkCRw3H-2Xakq-4gEwdasdU39zOQpWYe12ST2khDz5vuwyXynR-fT-AvJB6PUrf9qYFQLb6vqGH9sWMxjnRALEJRvkR-pBbX4B53Pkyasw30t6gK9nQbH_0SLPaCJTW-rRw85BzWvL2u1LGoLgkansqNREl8SGSaw3yNX4hlIug_IrRHlm6QGKEvXjC27bh773xG2kOH0xHfQfPrB4O2P5xyAhGmaUbRfT60uMDraOGvPU7mQbc7Shz3Gq_0MT8LVmp38eNYtN6rwxmXZxu_ILMrQbABj3pxL-rvI4O2Dyrfn3edE5rQGk39u2AAdJKjrHcCLuqkI465K1MLIkMLPoYwknS2szgEVt17qd1Ybod8eYTzgyf2kBWRXMdKEFpQywZGOK78rbn_rHzg2rh-bwg5vJ5dujSD4WkenG0fs5PIbxNXTlgm1mKAgfaq42SJWTT_8JwrwOeNsyO182BNA36rdRFrOgm7crcgnx7XCxwYZ4V81BXRSt84fskg9AfG3lYfMIUaT4LV6kPIU0gcpjFGycSfb8yD__DA9AHeTFMeHhqbZAHrXoo_oZYVjPYy6hGwuAdCxsFXIVYhY7q4wj5gdLq48KWUSou5OECluHKWMWwGAoLDbNZ0ZO4Udph9oRN60MkBZNPswlBsJCt15ZhrEGRs4jn2OUIu6znmfVQRI5NOFMS2wQ4mIdx2y2zDKXT3ODoHVbWyX7e8PXzqA4wR7moKe_wuZo30y0VP8ERdD9FATRNZMVeMihdhdB5pRHAEX9wZU58FHXMMwwBmh4rH6V2d-fitI4mMpRzZOafT4ExjvIS8fdHEb3_7tjJWAzhpQW160_ErzHCuZvhPBQbvTGjwq-yZ9nwFzTJjzkr7j7jui2q8KlMHL7k_VuJaR6mfF8kTJ-YqO7zWWY0V_M1BiTqOweleaCU1CZJHYXcKipTRQ3ylDYk9pQxK6DtxEkkYwzkA5ILYUI0SzLNrLXs84gS-XVXJFcYlH2dlNpJf8eq4E3SE-ahMmQo9ngA39CurdFpPkRJo6xD3_78GBqm6pnHyTHeAQ9YFis6xq8FVwIf9UN1sIeCC9p6jkEHAVq5khlqe_GQjttZcszJtGhlBKHJbDgEDCDRq6FKSJJSHG2ow==",
  "id": "rs_04040ff75e0bed75016ab2dc516e1487d0bd5801b4e50d5594",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":0.045,\"left_gripper\":0},\"note\":\"The grey plush is at the outside edge of the open jaws. I will move a little farther left and close around its torso without pressing lower.\"}",
  "call_id": "call_USQ2kID4J1B82gWvNiH7NKqe",
  "id": "fc_04040ff75e0bed75016ab2dc533adc87d0baeae5e09ee76990",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_USQ2kID4J1B82gWvNiH7NKqe",
  "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]: [0.033, 1.7596, 0.4824, 0.8696, -0.16, 0.0036, 0.013, -0.0208, 0.8177, 0.6067, -0.3923, -0.0105, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.4212 left_y=0.0457 left_z=0.0574 left_yaw=0.1505 left_pitch=0.161 left_roll=0.0866 left_gripper=0.013 right_x=0.2949 right_y=-0.0007 right_z=0.1722 right_yaw=-0.0 right_pitch=-0.0324 right_roll=-0.0007 right_gripper=0.9997\nstate[joint_eff]: [0.6085, -7.0906, 5.1624, 1.3651, -0.0073, -0.0904, 1.1013, -0.1162, -1.3197, 7.0085, 1.7314, -0.0122, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03751d8417f78fe9296d3b07ec079a8ee92921a387d59c96be8ecb6c5dadfe4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4704bd295d72ccffea7614016f4a528eac6ea66e82565869f2c2dff9f186436",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fb11a94a91b225bf65ca304c9b9a500003fc8707e555a6fa20e28e00f1e835a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 39 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]: [-0.0463, 1.7557, 0.4854, 0.8089, -0.2165, -0.033, 0.9968, -0.0208, 0.8173, 0.6067, -0.3931, -0.0105, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.4173 left_y=0.0222 left_z=0.0474 left_yaw=0.1377 left_pitch=0.1133 left_roll=0.0849 left_gripper=0.9968 right_x=0.2948 right_y=-0.0007 right_z=0.1721 right_yaw=-0.0 right_pitch=-0.0328 right_roll=-0.0007 right_gripper=0.9997\nstate[joint_eff]: [0.4034, -4.2325, 2.4684, 0.4176, 0.5153, -0.3736, 0.0024, -0.1846, -1.7983, 7.0632, 1.7021, -0.0269, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstxbadnoggSSRyOJIoxoSbPpY_aB1RBWgoVsM0yLMTEZI2rhaT3AGd27bnUtwq8sBqqOghuXeV4AR-cp4OEKJ61FBeCYlEuAxS2bg8wtjREV0UU19j64AglMTPZ_xZA6PcPkWSrODg4qYshHY-lmZcXI3nm-1aszwBuM7KdTV7v9V6l60WqZfF0HOejgeG5ng0O28gcdCfTPRQQFz-QqsO954joaV2tUtkxic5tYlJtwqMnnMRXPBULhShdwt_K5hVCSqeapckNQRInDebZyY4f7JkaN1QxZBKTepK9PvExTn7OjD0tC2EyRRi4qtZTc15MPsOCbd0w1kwYloXpAsxwYGZefw9ZjYjcVomPBUuje0fijEyJcO2pkk8rTvFml0N-pOTeAcoBTTzwlKJxVZJZOoFa56SLHsHogTfeXsjGmmBmFjd1T-nkPyvJrAbe9AFXochilI4hRWpr1apTDBxShaSfoXlvg3eMYUjK7qHEEGY7wCOIbYh9wWVp8_fFcXb9eswgckUOPRwOAxw7AsL-XNr_56gAaXSt1J367CgCpp3GJOKe_JAVBDEMuIWayMFoVE6CIHe_WCAfycTt8-Pkg9PZaLPIrRCjYFv9RApt60T-R_R7tHOX4CiFRKFcVCs2w1xoYNedOv9mhm5-jXeBGvdLuX0W2quCv9gO39s6mJldv2DqmMkuzFnvdh3n4ZH_1MhqSWIqE5VjKm75sKZ19iJomTu_ODSjzx086eAETD1VCIb2Iwr3mVYFK4p0MMa-m1ObM04mtTRxKUnN0_PwJNzuyIMpX0TrurdyXjk4r_pFCupeVbhKySaoTdMRya661JkSypUUY6CQmuy3WwHapEDONVuSMx59GjN0LywASvYnvLZOErD0wME58jNio2ckZ5h_sVtWEMZnDhfF-EB9KpBB4IrNyUK7rBPuIDimk9dsOKbVLFVLN2wuB4_G40P2d3hW_twkVVLjv0sHdgheuCCHxbTd24kaLlm_gy4NA6T468UAqP3B_k69OpESAKk0aA1QuM82mMeduRq3i0cRQzvBsjzBdHv9HVSV1jAcHwqGkBVrnjeB7a0DBsaseLSt0Sfjl38G8lTOBlYNEX6ffkl-0e37-1i9AuLXs1TjokPfMwkceqinbqlpMUYMTBrFKzF38WDI2VPpGN1V3kP6fU2Sr6-8H_Uxc354fLfi5-YYC0dsPp_9bh1Sno8mhQTRtp46fpUpTWKqTLwsmnXnAYbI2Y_j7t18WhvVS3p_75MTiKCepthWrPiAYx7_gz0XP",
  "id": "rs_04040ff75e0bed75016ab2dc5886dc87d09aa2e6189e7b4444",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":0.04,\"left_z\":0.005,\"left_gripper\":1},\"note\":\"The grey plush was not captured; the closed reading is empty. Its body remains ahead of the fingertips, so I will reopen and advance for a lower retry.\"}",
  "call_id": "call_9vsf8HU2zRIEZldfH7cCPvYe",
  "id": "fc_04040ff75e0bed75016ab2dc59885c87d09ce4a555eb9488e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9vsf8HU2zRIEZldfH7cCPvYe",
  "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]: [0.0109, 2.0632, 0.5453, 1.1091, -0.1791, -0.0113, 0.9951, -0.0208, 0.8192, 0.6067, -0.3927, -0.0109, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4413 left_y=0.0399 left_z=0.0064 left_yaw=0.1526 left_pitch=0.1616 left_roll=0.0805 left_gripper=0.9951 right_x=0.295 right_y=-0.0006 right_z=0.1717 right_yaw=0.0003 right_pitch=-0.0343 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.6103, 4.5197, 1.3993, -0.0464, 0.2466, -0.0366, -0.0615, -1.1829, 7.0496, 1.6972, -0.0562, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68b96162d07eed8079d246a3ba4ec1fa0e2218036001b8e4c3a56ec284f4f14f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd71991a79ab74bbc5b5894dec50da54f3da895a3a730bd7d24a5378461bec52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f89c3b144a88d830860d7287a93a3a29fc7a42b99a16d7fc942807e350e7aabe",
      "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]: [0.033, 1.7596, 0.4824, 0.8696, -0.16, 0.0036, 0.013, -0.0208, 0.8177, 0.6067, -0.3923, -0.0105, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.4212 left_y=0.0457 left_z=0.0574 left_yaw=0.1505 left_pitch=0.161 left_roll=0.0866 left_gripper=0.013 right_x=0.2949 right_y=-0.0007 right_z=0.1722 right_yaw=-0.0 right_pitch=-0.0324 right_roll=-0.0007 right_gripper=0.9997\nstate[joint_eff]: [0.6085, -7.0906, 5.1624, 1.3651, -0.0073, -0.0904, 1.1013, -0.1162, -1.3197, 7.0085, 1.7314, -0.0122, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstxmdIz4eZDGS3FLiYhX2CY3leQMxBglZTm9ix5lNfD_igx0PKomhThfZHdzBxjOJkZZTn8yUyw1_P5RXV_K2gy9hviZbbcksPwS5z4c_UlXv9bwjOeqx8GHLSzBILAFqjJbkOWb16NyL7ZWo0MWLp2VtsgUryvlKGF5p7-XTULuZpwpc7M5s4XuYKQCkmgAIoJhB4UguWNlrArtPkMTGdsH75MUwI6K5zapmbYvYas85AKTQ__dIBYPrOUX-TK0IINMvkwarlAGUIav01rU6ymhFt7Ce5iAei86qgKPFdj-n231WXXTcS3Q1RuWXAntIp-XOhORnmUtbi1EclJ5CSEj2mWqc-SdQnPW03QmQGXXGJ1P38jOFbViCin94hydPz_IrPMyrDEzi6paxisw860s534gOPYne4li7vavBahOKM07JpiNQOKJBH0tHWvY01QTJ8Q704ZTKN5HlUkk_GsMPcpBTELojzxaVWmyNbpLKN3ED8oykDAHspgacxz_98ayFAufHbEE-Qk28cKnDSC8BlmM4petU6u-ylKX1Pm563adXE-EBNwt7oK5fvZImuZZMGCow9KH_ayyeHeCBvnTjnqD3OAzoCzg99r9ooH8lLogaGGaeNoldGbHdW9EgT9uQB9EBgkPxIllsq5ZBpzJQkEos_LmSgMK19Z4M_-OCTB1usyciZMTVUhADbnnP1twKo9kBbC-wY1zAT6Rx6pp79sjrk60yow-DYsaOUvUey9KF8c5f1lKh5nZTMRsqlqAlmgCbQ3TaZg5BykapXOO_Nr71Za7PhpsfYAb_vnu5Ub4pJLM5IlsVZntxBqAi6_a_96UnQ2VzFc2NNdebn9atBFbqWj3DeJvb0mu1yQRfC5QFAhjVjS_vUNu7Sf7KzryOxTbYBUAwfQSsQtPrXRHVs60s3QfNM8CbsY8sQmk9AjJevIADZ-6IfUnVprEYIp9vH3hgdnrSObaLfGXZ7pWmaJpCJ80093UhUAXVDRwITkFU-NTwpvmHncoUgdGHMUlFiscvP9ceE6eGiDhSknyAsGzGy1GAsvkwB78h2UEvUWgUHoGXwo1ipvB_4RsVTdLwTNRM15TUSY0e9qmcMCXd371bvhSx5LoUnDQqwqZcL42SCsaqyQL_UIDqWheXsqcGRWnatcjbwYs0BLKpECBXJbmqP92O62CtNvrP-ngO2WkH3TZP8kRYaF7WEzdK3BQDbUIvYQNBFtt-EhFOE9iv36uNtmNNqXo4BylozQbVjOPp5ckq8xZJw9GBOZnQpLhrOv96TQgeyKuMkL2dcH9wtwvDcvq5xDY1gswuSmL5pQnV_OYNlD7brguLFVNRp5tXPn6tCKioGs0dKJ9WjELz155oRZ_TrtHZaeX_iDVmGwrb3GxF3nGjQodvX9mDtlEJ3GgCEnIjHuKpeEX7tUNyWgFYmlpsstvBD3mowxNdQ9NWa5nQi7Yt-E3Uo4H4FZ98LtQuzi38k-6SQ4ZJuNAUzG0k9wQ5zK_pXg41H1K4N-yz4li6-0upRP9IDffErNl3_VfYylCemHfDFLrLh_r_Xqfdhq6jxm9_OswCiL8SnHW6BffEcBsrEyTfqVZNH_lELuW59_9ATsXxk6gAjXPARrmkd_jVm2bb8CpemJSFkjRNir3wvRTgcXjSfP3ylIkQM_1gqr-1uF0W1Lb7u0BLqaOaZ7XrjoSXLREzz1S2_SlpSZWUQhd9Lyo1hwb5p6AOoebllOcUmiF6WlBay5xXQ0cuy8LZnI9HgR6K9X3CXUK5nSs5Ntdl0irq638qMXhxoQDdwsf-IvWiE2QQDGN3MdqMyHd33B2ZE8xrATo3tezTLNrdzvVgXOWE6GGvBuT",
  "id": "rs_04040ff75e0bed75016ab2dc5f489087d0bbc97ff95498611f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":0,\"left_z\":0.20,\"right_x\":0.32,\"right_y\":0.25,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The grey plush has shifted toward the outer fence and is no longer safely centred within the left arm’s reach. I am parking that arm and approaching the front beige plush with the right arm.\"}",
  "call_id": "call_QcFFQybiDTTKl3tZqBEms3lS",
  "id": "fc_04040ff75e0bed75016ab2dc6445cc87d0b8b2ec62b9b5c9f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QcFFQybiDTTKl3tZqBEms3lS",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2485, 0.7811, 0.503, -0.1406, -0.3931, -0.1154, 0.9967, 0.9386, 1.5558, 0.997, -0.3473, 0.7002, 0.6205, 0.9997]\nstate[eef_state]: left_x=0.3063 left_y=-0.0042 left_z=0.1937 left_yaw=0.1311 left_pitch=0.179 left_roll=0.0699 left_gripper=0.9967 right_x=0.3148 right_y=0.2432 right_z=0.1356 right_yaw=0.0338 right_pitch=-0.0759 right_roll=-0.0389 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -1.3744, 9.5521, 1.7265, -0.2808, -0.105, 0.1538, 0.4444, -7.2137, 8.8957, 1.1844, 0.6129, 0.1734, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:802391dc8c904e96f98760df1a34daefb01d77191c739fc4069517dace875a77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e4048c2811e5ead8fa0e10e90d2dafa0f1394e7fc0b206085dcc0e9d27fa4fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53e59b293b994cef9560e3ca0a4622efd83b7fc6f872298b11a8672a479628af",
      "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]: [0.0109, 2.0632, 0.5453, 1.1091, -0.1791, -0.0113, 0.9951, -0.0208, 0.8192, 0.6067, -0.3927, -0.0109, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4413 left_y=0.0399 left_z=0.0064 left_yaw=0.1526 left_pitch=0.1616 left_roll=0.0805 left_gripper=0.9951 right_x=0.295 right_y=-0.0006 right_z=0.1717 right_yaw=0.0003 right_pitch=-0.0343 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.6103, 4.5197, 1.3993, -0.0464, 0.2466, -0.0366, -0.0615, -1.1829, 7.0496, 1.6972, -0.0562, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstxuGLCFWpLvED-ZZB6wqzWzX8ITc1thWVGWkQaohxlJg3UMQKbf3tZ3UQfU9V12ieD6w3bfgsjhwHTnR3g2GCPf4a5HrL-4cIr0ZhPZrRztU3MKbdkPH3wXF_NiT2oyw7Jmp1UnjZ9xIGUisSP8e1LEUfG41BPcohUTI43JG6Y2K9fm8Wkpk7_qji7KbaEDWrPAGe79mBc6TMPn8N3AWRmeDU2mfXH554qClfeWF2iVgYSELt1fXf0KNB1SAD-kPBCSMEZZtbMzFZhFjp3GyBnJejd8Om_D3IckenwkquxLdvqbiYfagNLMWQs-SHycPwm8UiaKZia8Q6K6Qm6QqFS5BSAgAApAOOre6MbLHF_BP7n-jrBb0IXSvvtsZxrEaFHIy4RcG_SonR1bb_SKJjNDbPUkfaQBJUHO2IZI6oWJe15E4S-PdBFtOgkDyZgPi1Bwo-x4kwaE-oS9wF2do-0euRIBQB6QanwRG1qX2f4yZ5Kpd1_2pcqHHyZQFKmV_bMOhaQP5CBIPpDvjlGxLFotchyyxtepnd_SSxHq_-Hlv3MZBScNrbgpRKV8ySUHeQKGxbtZsbuxjqfjI70WBelEvGtcgRgE7tuq6S84NAikqzH-PyR0fHEYiNdTS1l-Ch3sfNm9TDh0RfFCpuwIeTlPs7Wm6SueAqtbgSpKi2Lfw-h-dDCwxaIML5h7lHIp472guFZTUs9PIZKRyE3cGAPc4bUtGn49hoOmEQC_aGoveCdNsPmBIsFbt5XjX8bu3bXp7nmpAwPixMjuPBSjZqhMrz2cCWEyWn_bxXCnz0-LHQB1F67rd6JIFxvP8OrNPvIdmkfcWVX6k3Xb_fp4ugZ75myCCSyrUF3I4IH1wYvEdt_ZmB56Xr2EFdQ5Z94NnnRTtQMvHOYzvt2QrTv7-6-47rjnWSj65Ydy4p0Hh8mgcXnSMZBkQmf2UO9S0TmSjSLcWJyRO8WV_1ZF9n9nRFP8IEOxD8Oru4innUSyIG74emTOWClykw37Gyq5K-fZO1ZjTn__NpE6Nii7eLXamX4L1Ri1nBLBtRqs_C_Py9QemCnYIdq6QdOHC9ozvFyKmXzvM-E1l62oG9p8ePRO6vgnWvNM5gRFJVd38sFyU2099XeasuuyFDe6hF0XvTvQ8mlLqq1UvDsH8LutQ57QopN1sTEy0vT_5jaxcm6AjHqTMnqSdqOlBkXYQAXud90jfsXOVZtLb5oUE-GjN8h07Wfs7nDBAAvWAUYuJpos3aU2D7Y=",
  "id": "rs_04040ff75e0bed75016ab2dc6b8f7887d0ae5b998c4b51ded3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.29,\"right_z\":0.02},\"note\":\"The front beige plush lies left of the right gripper’s jaw column. I am aligning with its torso and descending to a low grasp.\"}",
  "call_id": "call_0SkMER9WiVC1K7poUaG8Q8kv",
  "id": "fc_04040ff75e0bed75016ab2dc6cb56887d09a294b40622d542b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0SkMER9WiVC1K7poUaG8Q8kv",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.252, 0.7853, 0.5087, -0.1585, -0.4004, -0.128, 0.9968, 0.9405, 1.9209, 1.0199, 0.0746, 0.7258, 0.6254, 0.9997]\nstate[eef_state]: left_x=0.3053 left_y=-0.0038 left_z=0.1916 left_yaw=0.1395 left_pitch=0.1654 left_roll=0.0671 left_gripper=0.9968 right_x=0.3551 right_y=0.2939 right_z=0.0566 right_yaw=0.0187 right_pitch=-0.0117 right_roll=0.0164 right_gripper=0.9997\nstate[joint_eff]: [0.1709, -1.5521, 6.653, 1.9219, -0.0708, 0.0611, 0.0024, -0.3897, -4.9573, 4.506, 0.4664, -0.0806, -0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d82751cad27fb911018f0e45dc8f6e3dcf2b5096ac70348d18854f31b81048fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5e12982a25af5c47e90d6fb4a7197d2d49f93011dcfd5daeb70120f685280f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5717a96f265ac322faa1174af2df1a517975988d2d2165d32070f2bf6687715b",
      "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]: [-0.2485, 0.7811, 0.503, -0.1406, -0.3931, -0.1154, 0.9967, 0.9386, 1.5558, 0.997, -0.3473, 0.7002, 0.6205, 0.9997]\nstate[eef_state]: left_x=0.3063 left_y=-0.0042 left_z=0.1937 left_yaw=0.1311 left_pitch=0.179 left_roll=0.0699 left_gripper=0.9967 right_x=0.3148 right_y=0.2432 right_z=0.1356 right_yaw=0.0338 right_pitch=-0.0759 right_roll=-0.0389 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -1.3744, 9.5521, 1.7265, -0.2808, -0.105, 0.1538, 0.4444, -7.2137, 8.8957, 1.1844, 0.6129, 0.1734, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstx0TnaONJES4ia5IEfGItHPbGQe3UbqEHrGwz1Ne2_Oxb4nrctbBiIPKe-2fLnQZ8wNRct-u-dEoh3BPyAuX8OC420yJgRsO40A2AA7AR_PcrZmznT_yndHq4T-sGBLNVw7v-stKdO-LpxwOiEvsbJiMlDAXk87kKIXeRbklx142ATqKzgYmBvByu96O8tDUMwG7fotO8Xmra5s0Grl1iX4BAr2sksaRxFXsL6wnr7Q6egSQEn6KEaHMEtTAXc9200uuWtOqFBohEcfsZhkAe9pvBiOAs896KYd64i47lhyzFwCYS0_RRTo9MuC4JQpEvmj0QuGQETqLxWiPrRN-9Xm6VLmYN8LeWNUrl39UGuSI3TyRr1QaN_wxCbAWKJ020r8mlMuwDxVrMq_1-vbn7fa4wukm4fZPXJdVU_xbsCQkbBguaOjQH_sEfTzz8ZRVHFkRVs-g_Y_H44fDqyuETkKcbTPYKZC-8H9lwyjifMTH2xaZaDgze0kwYY8PjMtBRsS9KoFKwABbMbHpSflA7nBBKrZbk4qKcOQx3esTAAdmEbuBB1z0uaqjEM8ZU9TIBiJqYYI6EgrjzbZSZ6PbkXPkhcYfYfbmmnsu8w9QGsH0c8i2n01OvFcfNS-KKa5QaUTTqHF5M1j7j_3MOOt6UxS4yuJmmE87eU5O-Q_jnwDZiuX4KmGbQuW5sKzGzSRtUvHdxJ5vT4qMVEcgneaNTEDDCJzzvkCSUtO4E80EAByF73bjcwT58g5XI9wsZW27obT-76rPaNDjIYGyDJTQVecHXGcu-dSSRs_PZ1gCOxDZsR92KNBznnPxSR_46VRDr1VRv_Pd8bc_dS_GIL-QN0fCqqHDRgNItlxNQxw6An4yocF6PdSr1sKl2lclAsIPiEeScjAJ4Ucd-7teYGshpxS7Qngi6kH9tjxOTy1dV5B0O0thlcvkUAFCP-hBYSynyNU9u0yTHAeqGW_QK_GRLGblHO8H-62YLWq0iqGwawAUESbusK4XLmmkrLRy8zT-XovjDD9m5KeOJM0cK2fDvouiNucqQLnVyz5jvs1Knq9zuvw7pOaeZZIYCmqKNLh8fxf1_nKE77qcbf3k61IfsN6q6hOktqAZYxaZ3UxcJ12mv2EBG-eLjFFs7Tqg_lazvE9JAK1MxnolV-MQYr8H-gihUgb-WMW0mWb_nGHloO5e1GfF5_CAfleSUpYqnmUVJ7W1ZGrceB5Zc3wZpLfJxnsobGrDH3Q6Hn0euPDOT4EGXcMigUcrD022U6iYgxxT7fTUyEV_ZhfVWXTC9W6-8tSTA==",
  "id": "rs_04040ff75e0bed75016ab2dc71671087d0a8be12d715e798be",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The gripper has met the soft plush before reaching the requested height. I will close at this contact height rather than press into it.\"}",
  "call_id": "call_3kpVfDOBIg7fFtY5StJ9oW5J",
  "id": "fc_04040ff75e0bed75016ab2dc72464c87d095745816d2a2bf05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3kpVfDOBIg7fFtY5StJ9oW5J",
  "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]: [-0.252, 0.7872, 0.5087, -0.1562, -0.4007, -0.1287, 0.9968, 0.9413, 1.9179, 1.0279, 0.1265, 0.7166, 0.6327, 0.0331]\nstate[eef_state]: left_x=0.3057 left_y=-0.0038 left_z=0.1915 left_yaw=0.1403 left_pitch=0.1659 left_roll=0.0664 left_gripper=0.9968 right_x=0.3603 right_y=0.3037 right_z=0.0672 right_yaw=0.0217 right_pitch=0.0211 right_roll=0.0766 right_gripper=0.0331\nstate[joint_eff]: [-0.0068, -1.4017, 7.3915, 1.746, -0.1099, -0.0171, -0.0122, -0.0889, -9.3607, 5.094, 0.9011, 0.4029, -0.022, 0.398]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82c67946264e2d7e6d9cf0410f3235c8b829a72b4f4d3321f14ab8239d6e70e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ea06a7cd3962ecd80544d4598b2cb8889277c04ce075f460584c75e5f9c1535",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c860e6bc25be03c7562305d5c096e3adb58d8738a695d7672d43d32836a271b0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 55 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]: [-0.252, 0.7853, 0.5087, -0.1585, -0.4004, -0.128, 0.9968, 0.9405, 1.9209, 1.0199, 0.0746, 0.7258, 0.6254, 0.9997]\nstate[eef_state]: left_x=0.3053 left_y=-0.0038 left_z=0.1916 left_yaw=0.1395 left_pitch=0.1654 left_roll=0.0671 left_gripper=0.9968 right_x=0.3551 right_y=0.2939 right_z=0.0566 right_yaw=0.0187 right_pitch=-0.0117 right_roll=0.0164 right_gripper=0.9997\nstate[joint_eff]: [0.1709, -1.5521, 6.653, 1.9219, -0.0708, 0.0611, 0.0024, -0.3897, -4.9573, 4.506, 0.4664, -0.0806, -0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstx6SIo8_PNv8Nw05vPFgkFDmWbq10VQKUTZlhFQE4xMSEzzwfhy1-F4bjUz8U0LiqHBhqopUJx4XGQulp2-EPH3S7KV-SiVKt6dwUOb9YGAgtf2K-XKPZsShSYWvcuXY47QFEjOvJ4qfBkOamVqTZZWMXHKCgEM12f3kGzAvrUKVfqiEjN4LBVr-LMtGTYt5qKLB1nON8q_K8oojufj3LyB138WSbJLuDE9lX6jk4ZDmpdXeM52vT3QdaK2oSw8JeI6LA78n4mH_zhmdt_B8OBPpidK4ZSWT4NF8o0z5XiFmuDhzVg9dFm-4Ue5stoXm_gN3YUPbdtTA7kyvf-AcNH7B4EgRp0HtBpBRXqFlBdQPZk0V4JZgAfZzS6Ooi6d8KGS6btfi6pICmEIsL8qs-JdrW9RR0FkFpLeJF85Ri6TrjbfFNqJmXO8UNveWw876CWRwTFQIWbDEazqmKxdynb7GCycv7Jdia-gmKxZDYZyD_L1_8kZz_LxBsP7bOH-lhxeDSHcdjBcpAiFA4G__BP0LYISZJhZXMYlI1ENL-rA3AasmmZ8600guNpghuI3ngOCtYSXwMIGJ30k7SkHpoYcNYFIda1mMT8CLhjVWjxSwdLePBiTZ4Ue3NAgOa8pZPNBHb-SzQ0aqInae4m0TLd0l73xN-s75QnqPfMGSDCobgqhEelQiXv-8vvN1VllNCuWZETD-LqA6bZ5ZEdeJJkLpelyi2RT4hbeg24jAqeHf1--fJVSUVZUOWfx8Ir4cYPGF0DQ0Af-jTiJYLC206JM3Szh8g8BnjKHdUaV3lU6e_H8cMAcyVGXXqHnDfn5CE_JwFwjZuwHwi4K7F8AOMHPJJuPvSV6_NE-ovrnkIkmhnssb86EX9YGsxFhC--gwey1bPdxn1c5XsPsuZv6tCJaPeCKDm3JUUI9jMAXbkS2ebcTfGhnnGCx3pcF-q2NmYxDaJIdF3QHRw3XIZCZfaJCOlmxmcbpGrbDIE3JVOg_3KleoRoD_pNySN_SL_YcFjompV-rxCC4IuEnU_AfRm3k5N784bCtt5Tcx4TuQ4e6yFYFCJt1Fwxtw1y45EGjGxS7fQHt-BkqxIjLYlTF0b6CgAqfjFQx6xVQpFMwW49Axkbro5f5ZIOR_sxkoScCQhVy4MCuqojMf_OMYfaJdcdrw4n8MuPPypXL7BrYvdEd7eJUyHJ3N-TjpO9NzesBd49PQPuvg0kbqRhW3d_iqmINGPkyEu4m3eh8A17zSPc-yfjtomS478hwcK2feMdgxgHx",
  "id": "rs_04040ff75e0bed75016ab2dc77a56c87d0a06652e2e5e24670",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.29,\"right_z\":0.005,\"right_gripper\":1},\"note\":\"The jaw reading is too small to confirm a grasp. I will reopen and reach farther around the beige plush’s body for one retry.\"}",
  "call_id": "call_rwxoYyGcpQL1BAZNLG4eL7Zx",
  "id": "fc_04040ff75e0bed75016ab2dc78aa3887d0a4dd6174d138e2d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rwxoYyGcpQL1BAZNLG4eL7Zx",
  "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]: [-0.2523, 0.7876, 0.5087, -0.1566, -0.4007, -0.1314, 0.9968, 0.87, 2.0476, 1.0157, 0.4801, 0.6636, 0.5888, 0.9948]\nstate[eef_state]: left_x=0.3057 left_y=-0.0039 left_z=0.1913 left_yaw=0.1413 left_pitch=0.1653 left_roll=0.0642 left_gripper=0.9968 right_x=0.4007 right_y=0.3118 right_z=0.0576 right_yaw=0.002 right_pitch=0.1319 right_roll=0.2236 right_gripper=0.9948\nstate[joint_eff]: [-0.1436, -1.2513, 7.1179, 1.7509, -0.105, -0.0513, -0.0122, -1.1556, -5.4222, 3.1658, 0.442, 0.149, -0.359, -0.2027]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:061242f6a0afda66d03fbc75ec7cc8cbf82849a712752a3b47909087ea81fe5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ac0639efd95297bfffab14099a2ed3cc5405bbde233a9360093af35ed8991cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd3341cf259a561a5ed3328eb250ab68b13cc3f86c86623be059769ac70aa037",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 59 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]: [-0.252, 0.7872, 0.5087, -0.1562, -0.4007, -0.1287, 0.9968, 0.9413, 1.9179, 1.0279, 0.1265, 0.7166, 0.6327, 0.0331]\nstate[eef_state]: left_x=0.3057 left_y=-0.0038 left_z=0.1915 left_yaw=0.1403 left_pitch=0.1659 left_roll=0.0664 left_gripper=0.9968 right_x=0.3603 right_y=0.3037 right_z=0.0672 right_yaw=0.0217 right_pitch=0.0211 right_roll=0.0766 right_gripper=0.0331\nstate[joint_eff]: [-0.0068, -1.4017, 7.3915, 1.746, -0.1099, -0.0171, -0.0122, -0.0889, -9.3607, 5.094, 0.9011, 0.4029, -0.022, 0.398]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstyB1SRIDY0Z1WM9UqALpoiZlGEdSmix4S2nM3yvNPon7Tx7Wa93XK4-iahcH4mU-YAefqt1AvJyyz9AbXL58iSvF9dkic1YBK-nAbj5wftKMUw2AjsQDMBXIp3gAFOe3jGAZcp-CYVRE7zbmMjRIT8mjjb64eErG9SIjIBFdZioZojGtDScumkWwL3PvhI7t3gTRbDhKGq-I5rSSVqc0OP3kpdcj-9rYCA14GNWDsME-CL9J2h0-NeSFsTJbi6Y46FS-GqHVDqepfKjoNiZg82NW6z3xZF7f5qtPZK6nN8uB3hfMY87zl9fDuOHV_Si0ewCv0s-zgvXrmW5Lj2jur7W5htExHsxH8pdClj6gRnKI2mmh8Cf1F0Kkqd8ZVPthwT59iANDzxGv0T9W12uA4Mxnky_oJDNGO-joUV5Ju3CForq2PtFMtvGd7IIBh7dq9UlJQJglzbw5sfkFqPJTZoWlwDNLQRiZqnTSSCRTdpnt3FZmOOLTSGpESgQQSU04nHbRvpnpW3ZqDuGsSYkga18pvL9vdNBBaZH_8bpK5VFIFIg5xSCDUsob184YeuBjP_4WjNGoISaFgPzwAKHXwvE7mUk4Sn5K3GIpvhoRFdiieYBAFrDiBMYPs30jZ5q87V1XqexR7N59LNkTtpOgbT73W_KaW0ndSj4o7Hj4G7WH-AzoKFfwm7GNT849prEQPuESDdf48l8CGArD-ydmuc1VNued6BpOBG4UxDVI7p5P9G3ofKTatw73YWO8ux7QqKyuNy-3hQ18tt-_pZ-6hDO0NMru1iK9sLixuLcuW69kBGfm4I9y8XYIJ4EjjNpGTtyNeSWjOIf4gKYkLZvdwNm3a6Eant0FyPW4I1u28TeqKnmG_BRIH53fZTDDSSRxJqgOmLm8ZDY6XAIi4KwNhNhJtFzTw88ei5vdjH3IpYR4QChLiJl-ZyFk5be2KMbmztf7ftBCqbgpAMSRjkPPLYIttl04wbNQQT3sOCky3Xye1UIyd-C6F73AULzTHpw1A75dohd_Gz_mAKSdpXoQhokAvi7c61WS6ImnkdyPqbRGpU4NBi6Bn8kiRFxa-KsHUBBaHNHstg7u50obQNXXl92z1vhe7yUiURFAlKIkTukrqPi7jKcuygZGCFGyCXpLJRYb9miwzVovjZPrEMliSjufSYXOBCyfTtba1TFNgqawUGq1gfRWBydx7NOggIh0FS0P0XRlWDMp9xtZk8rQXgzJ2TgmSwuJuF744hd1ykrUJ8=",
  "id": "rs_04040ff75e0bed75016ab2dc7ea46487d09174fb6daa969d3c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The beige plush’s broad torso is now between the jaws. I will close gently at the current contact height.\"}",
  "call_id": "call_e0LXsoR31KYPeByVHAKeYl8H",
  "id": "fc_04040ff75e0bed75016ab2dc7f20cc87d08fc497c568656248",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_e0LXsoR31KYPeByVHAKeYl8H",
  "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]: [-0.252, 0.7876, 0.5087, -0.1562, -0.4007, -0.1318, 0.9968, 0.8703, 2.0438, 1.0149, 0.5312, 0.6502, 0.5949, 0.2042]\nstate[eef_state]: left_x=0.3057 left_y=-0.0038 left_z=0.1914 left_yaw=0.1419 left_pitch=0.1657 left_roll=0.0637 left_gripper=0.9968 right_x=0.4035 right_y=0.3182 right_z=0.0677 right_yaw=0.0039 right_pitch=0.1611 right_roll=0.2754 right_gripper=0.2042\nstate[joint_eff]: [-0.1026, -1.265, 7.0769, 1.7705, -0.1099, -0.0611, -0.0122, -0.1983, -9.9897, 5.5316, 1.1209, 0.2466, -0.1197, 0.8718]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c37992bcd939cc604f196ed7b5cbfcbd8236bf5417fe767e5f313509e69d1a66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9e335a314d740d80634b260c68a744678db449d6ed5b0edf7a87baaa697f8c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:050395332237b1b4c0af0c5cf4310689c442599776629f62455136d6c35744c6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 63 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]: [-0.2523, 0.7876, 0.5087, -0.1566, -0.4007, -0.1314, 0.9968, 0.87, 2.0476, 1.0157, 0.4801, 0.6636, 0.5888, 0.9948]\nstate[eef_state]: left_x=0.3057 left_y=-0.0039 left_z=0.1913 left_yaw=0.1413 left_pitch=0.1653 left_roll=0.0642 left_gripper=0.9968 right_x=0.4007 right_y=0.3118 right_z=0.0576 right_yaw=0.002 right_pitch=0.1319 right_roll=0.2236 right_gripper=0.9948\nstate[joint_eff]: [-0.1436, -1.2513, 7.1179, 1.7509, -0.105, -0.0513, -0.0122, -1.1556, -5.4222, 3.1658, 0.442, 0.149, -0.359, -0.2027]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.21},\"note\":\"The jaws have stopped at about two centimetres apart, consistent with holding the plush. I will lift to verify the grasp and clear the neighbouring toy.\"}",
  "call_id": "call_9qMYG82ErdKC0A86JEgSya5O",
  "id": "fc_04040ff75e0bed75016ab2dc8532bc87d0bb650fb720316d3e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9qMYG82ErdKC0A86JEgSya5O",
  "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]: [-0.2523, 0.7876, 0.5087, -0.1562, -0.4007, -0.1314, 0.9968, 0.87, 1.8229, 1.24, 0.0254, 0.6353, 0.5903, 0.2055]\nstate[eef_state]: left_x=0.3057 left_y=-0.004 left_z=0.1914 left_yaw=0.1413 left_pitch=0.1656 left_roll=0.0641 left_gripper=0.9968 right_x=0.4022 right_y=0.3197 right_z=0.1708 right_yaw=0.0245 right_pitch=0.1168 right_roll=0.2305 right_gripper=0.2055\nstate[joint_eff]: [-0.1573, -1.2376, 7.1453, 1.7509, -0.0952, -0.0513, -0.0122, -0.1983, -12.9846, 9.9214, 1.7363, 0.3394, 0.0073, 0.4567]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a1d64239855ad643b56e7edb86dbdf971a796aca536e6af610b7b56a2d5dc58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1100773f59af21a34f5bc0c46aed76f487b9328680f68fcca35694d3ab2c2260",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82e998f66482ac19257936b15a213cf8b72477d9eb567b1131d2a5905b9a9cc0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 67 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]: [-0.252, 0.7876, 0.5087, -0.1562, -0.4007, -0.1318, 0.9968, 0.8703, 2.0438, 1.0149, 0.5312, 0.6502, 0.5949, 0.2042]\nstate[eef_state]: left_x=0.3057 left_y=-0.0038 left_z=0.1914 left_yaw=0.1419 left_pitch=0.1657 left_roll=0.0637 left_gripper=0.9968 right_x=0.4035 right_y=0.3182 right_z=0.0677 right_yaw=0.0039 right_pitch=0.1611 right_roll=0.2754 right_gripper=0.2042\nstate[joint_eff]: [-0.1026, -1.265, 7.0769, 1.7705, -0.1099, -0.0611, -0.0122, -0.1983, -9.9897, 5.5316, 1.1209, 0.2466, -0.1197, 0.8718]\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": "gAAAAABqstyTDMiOdRTNNXeMVorNXi5UHx2l8QJiMLLFWJZ5_DwfNvT270dQl-tQg37S5IEfs3n21geYCNY5FXIW7TydU2aHgvN6b_mQVljB8S4Fobki60SrfnByH7VmI9WLVKBDyoKv9jPvwV4Eq5pxnZZgfYdM68S0_b5bnR3SbrqVHtUyZicbbwMjfVQRJ43en56XVVNLmhMOES4Su7unYSHeXTayr-i9jbMK14Si5bgzbDAhuOiU3gdZSnees3LrWOiCS50d83AgQ38BJFt7QgqRwHk_dMhFxzX15w5S809lBW7C7rKmUKHx3JaOaIZLObMTt2O-fhcjgROPLDAE_UYOLLkJNIKoZHxwpU6KlLoLJFNTs8SPVVyh0SvWhA88PzHp0W462i2dE_j3JqatKUqhNCDoWDw22t41zCjgyC4Wy7jTqLVrdZc9QYA4V5kU7LWLPvKXoxZ866Jps1_6YmxG19v2FBi16z4PuBGEeUipLltXQSnmNnG-16gMH44lQzMNsWP0QmJGjjqFQaPmh8QNo4q2NTsIbT8-8KdfNiOnxgHzYyTuH2roJ0uVWF8sjGCnq2loa0iBFUXK2XOYBg4tOLvfo0d5PNnYrKc0wu5ZW51FjyUrWkNDIHHMnIX8yRg0ST-qKBCFOvbobVxZB5WCEKnnmN1WmRv6MePGhKo5l9yx5V2SUwsamf4wJk62edabs4y_2M6fTO5fbtuYuRDI2Yo-uACgC8XqP7FyDfTiBCsosZRsQMrnRhwnUcyPjIyxtPG-B6XH4RRNMwB3Y6mHsAkRSXrXV1qHlifYGYjXKWSSXoC5GwhpGv1A5sqHibF6SZSQLEJYpq_Og7QGdLVxcVNQZyf-A5WnRTyYdLcgQkq8yPzs47jQUy75xHhGkIzmatlRKKuoMppEGB3vV0wmBnq7B4-nkbAJHhmkIiyPlsC4Ft3z5-LGiBLUA5zZ8fxPCbTrupFOUB3ftRi8KnlcMQcpWZ1pS1_Am0z_ah37DZEe0ZZD9Os6Tci-UDnRy50vqh6iS3tJAqBIukDtz2RyJ3ufdTCz075MySBEfgTuCpxXXrOQIB6EP_nbEvUSie_ks__6Y9yvod5yUnxStKWI6arqjMgEquXvE4SiiQTeyNrEWWln9Tdq50xmEWkxUXGn85xIvGDlH7AiOlqT-xqFoBBtk0OHp0hweG-JPj9ypmLBc0cuNq5q62h_wZpvoCN5SQv6yZb3C-ZuxCMbrtD_ut2VmyX_jeQrkaRolea95yn8nJa2xGuBLapvKeiN92oAUfl3JJ9YTy2r8gU1wIYsMdyzWFhaMKk6At_BhnuqvrDoFhJJtBWv3ZCpLSNFxZQAK8Vip1VEGZA-blzaFkOgra0istMEsmKBNPoH2Gl2bRopNnrFR4F2ZnYjKS-GCYHZkIpP0cO7xskEC0zKJ041cq2zN5e-yfjXrLj30h5T0wBexg_ymXHaw8pz4zLQx3R5zOSAyr_aI9fyRELCahObA5ePnnjXrkD2C9CJct2tl6CGx7qq5ef6YRqtCdLKEIf3EI7c3HitTIjf7oigTQ5T6UD7Qaf-mAUTnOx1UNdmd1vFw7lVf94-vmU1b4m-u0Ap3ULQxl9qmXN27hG3cnSjUbGmaPqH1GtIQZ2gms4BAcj5P1vf3zS-iV0bFXtr0Ocp6FBcyXpzswn0RKJPW2WjBPM1ybnMGpUr4BydrHSRg3qo_mY=",
  "id": "rs_04040ff75e0bed75016ab2dc8cf34c87d092ac52f286a8147d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.4,\"right_z\":0.24,\"right_pitch\":0.3,\"right_roll\":0},\"note\":\"The beige plush is lifted and hangs to the left of the right gripper. I will bring it over the inner side of the plush basket, staying within this arm’s lateral reach.\"}",
  "call_id": "call_kSRh9gEawvl5wQfzBTZF1Jx5",
  "id": "fc_04040ff75e0bed75016ab2dc9173c487d0832375ee5e018595",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kSRh9gEawvl5wQfzBTZF1Jx5",
  "output": "executing move_to over 12 steps (1.2s)",
  "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]: [-0.2523, 0.7914, 0.5087, -0.165, -0.4007, -0.1318, 0.9968, 0.8112, 2.5076, 2.3913, -0.2909, 0.7067, 0.271, 0.208]\nstate[eef_state]: left_x=0.3052 left_y=-0.0038 left_z=0.1885 left_yaw=0.1407 left_pitch=0.154 left_roll=0.0686 left_gripper=0.9968 right_x=0.5426 right_y=0.41 right_z=0.2188 right_yaw=0.0606 right_pitch=0.2649 right_roll=0.0143 right_gripper=0.208\nstate[joint_eff]: [-0.1026, -1.5111, 7.0906, 1.8584, -0.1245, -0.0708, -0.0122, -0.9504, -16.2803, 8.7453, 1.37, 0.6032, -0.0415, 0.5397]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbb2aebcd004ffa6c0ee1e48752380c79c500a352f819f0e0a4bad7efdfe0538",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb8ba3901e0b2ed72aa340691e69d3af711915a08d6960367a5dad1dba441d28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd146a5fe5787f87dbb06fdc3b50ba36a07996c9fc38f9c7d1140bc86ea02198",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 70 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]: [-0.2523, 0.7876, 0.5087, -0.1562, -0.4007, -0.1314, 0.9968, 0.87, 1.8229, 1.24, 0.0254, 0.6353, 0.5903, 0.2055]\nstate[eef_state]: left_x=0.3057 left_y=-0.004 left_z=0.1914 left_yaw=0.1413 left_pitch=0.1656 left_roll=0.0641 left_gripper=0.9968 right_x=0.4022 right_y=0.3197 right_z=0.1708 right_yaw=0.0245 right_pitch=0.1168 right_roll=0.2305 right_gripper=0.2055\nstate[joint_eff]: [-0.1573, -1.2376, 7.1453, 1.7509, -0.0952, -0.0513, -0.0122, -0.1983, -12.9846, 9.9214, 1.7363, 0.3394, 0.0073, 0.4567]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.17,\"right_gripper\":1},\"note\":\"The beige plush hangs over the left basket alongside the brown plush. I will lower and release it there.\"}",
  "call_id": "call_5i9dy3Hfg6DfdeZeAqZDSNZ6",
  "id": "fc_04040ff75e0bed75016ab2dc9708a087d097000efc97bd272f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5i9dy3Hfg6DfdeZeAqZDSNZ6",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2523, 0.7937, 0.5087, -0.1646, -0.4007, -0.1318, 0.9968, 0.7982, 2.4722, 2.1342, -0.0486, 0.6964, 0.2619, 0.9948]\nstate[eef_state]: left_x=0.3054 left_y=-0.0039 left_z=0.188 left_yaw=0.1406 left_pitch=0.1523 left_roll=0.0694 left_gripper=0.9968 right_x=0.5453 right_y=0.4023 right_z=0.1739 right_yaw=0.0576 right_pitch=0.2774 right_roll=0.0227 right_gripper=0.9948\nstate[joint_eff]: [0.0342, -1.2786, 7.2547, 1.7363, -0.1294, -0.0317, -0.0122, -0.0615, -16.0342, 5.5179, 1.3797, 0.1245, 0.0073, -0.1929]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78a893efc2ecf277aa95934f2fac9bb58d043de9f536cdb4002ebc0cdd9f45f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a897cb8c7e58448f2de11e6eacd0326e3238dc67ee86e92360edf21a5b795364",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76a51992dd24732806d2a2c200f69456f21da18d4ac1b85c404225eed4aab705",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2523, 0.7914, 0.5087, -0.165, -0.4007, -0.1318, 0.9968, 0.8112, 2.5076, 2.3913, -0.2909, 0.7067, 0.271, 0.208]\nstate[eef_state]: left_x=0.3052 left_y=-0.0038 left_z=0.1885 left_yaw=0.1407 left_pitch=0.154 left_roll=0.0686 left_gripper=0.9968 right_x=0.5426 right_y=0.41 right_z=0.2188 right_yaw=0.0606 right_pitch=0.2649 right_roll=0.0143 right_gripper=0.208\nstate[joint_eff]: [-0.1026, -1.5111, 7.0906, 1.8584, -0.1245, -0.0708, -0.0122, -0.9504, -16.2803, 8.7453, 1.37, 0.6032, -0.0415, 0.5397]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstyf1E6fYiMcH-bUGZoAp9AvrD5rm-y1AdfEpJ4SSygAc4Qg46yGryfuStKmfmROIV0gPqIrlgOxTNq-F3qJ2x4qBUX-s6SeX9PxeVkNVV6TlLdNvSw3kNLyvs2pzLytfY41Ald72SM7aKQ1tHCljD5-WQ-iQibMypdJUU1t7wZAItAJQETChZJ9BU0bVFDyJ0bndfKHhKErt7R6tgdpl6xD79S-ZXPZVpwxd0QkhjZVDkgfpAR6Lh7V_fwZmUt34WpDTpNIEhczf-11S1CDqKV36h3cwo465jtMG2YbjJ3Z_yjivCjiEUc85owlMwa-pA7cK3Ljo2f4HAXMJIa00HBf59FNzhktRNvcjTEtjyQ-d_4Ej35MEBxapONIPR-1QGEa95Fen6il_mS5X3fjDw2OtrUlIl1aP3o7DF0uuh9Oj9ppf6Eme7TnPe6oMfDPhZQdBjs842hdi2iWw66aAzrpGsLoPzWVFSR_QnfHYuvId5UGxWlOcU0Xy_biEMzAd4KF79QYBFZjmTN8Sv2Uqqcykn-hHIqXoJPo-pnvFAvyRENV1ykUwLFZM8IrEfR7HbMu8pnKMZ24Dsh4o0aUwmX5LzLN2vd-cYJwoRATqtspTkvcIH5RrAWkWRP--6aU6XL8FUIE47t9tSFO-2OQLcI110jmJhBqlJCU1krE_flq1dolxq9QiOJKa5bzrrH-_o8cA9B4xvy_QFfLZjYSq-ybKtVHC4jwI5Mz-6700V324fmCXeR04SD89cvmmZrLI45cxkIkjJ9ZfMu8G_TGbXWAVYQRa-WeRIe0eTU65rvQhcKOfin_W-0wagtYsK3daKdQzoOgwiPsLuKPF5dKsOGIn2CVIvrVL8HzrvZeGjqA15GYNAkoPnyF_pd2oFHvxImC9SzsbugEmt4Lb0ajZaQRv8jNFzpC7eCLqZaedVjElkLz9tvKRf_xFJVMqoCQ2LHhxW2mugT_7dZOSP--jQsBI1zOL-rKXAV3Lg9FwwdpCwQ6JNuV5rPtsJchZzWGZtTI4hI30O8vrchdkVstyxJuhjJOxaYmbHsMQIUYKFHihyLqBBYVqTnVhIvABPsANiSwJtgoozlibXbBhTog4Pub_AJ6PocqEkFoy_yCpnGU3_huFJELYodd-PjVxIZc0Gu5TK_mzjklDkyHcJ63ceJF0ya43D2xBOHJAaz7HnztAHQqncVi2hQlNyclgKGrgXZrcXPXjteeaipjCeqix5FhSfwRuPC5aW541lZNCfAyeL87Im2W22af3LQoNuy1gam2xlmb3p-pEMkp1ievikgkuV7g-yGqyy_n-jLb21mp_9d52kJ08gbzaAUiW4NnMdFMXeHLrEO8rUiY0RDVGBPEDtSBrKUv1hCWNe-0g7C4lD_gvYSk9oXE54d62jHRGCo4_MMmNoQRjiIRyUoztWFQq_DCMTPcbJZfTfqqzqejF6FpTWupWUhYSsz8dUet-E_oL7F171HvkdCkp4Ym-NaX28iXkyBNv4jvtRTtEP-DpUXTRnLXscN1e-qeZiIl6JFw5FwUKzve9y6qs2fZ-g0_Cg==",
  "id": "rs_04040ff75e0bed75016ab2dc9ac7b487d09e20028bf564df5d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.085,\"right_z\":0.16,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The beige plush has been released at the basket’s inner edge. I am moving to the two adjacent dark pens to collect them for the right basket.\"}",
  "call_id": "call_KoSBxcRGsKb8JY58qicypG3l",
  "id": "fc_04040ff75e0bed75016ab2dc9daa9087d09941c174c6e91770",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KoSBxcRGsKb8JY58qicypG3l",
  "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]: [-0.2523, 0.7986, 0.5087, -0.1696, -0.4007, -0.1318, 0.9968, 0.4187, 1.1542, 0.6762, -0.1207, 0.3687, 0.2314, 0.9962]\nstate[eef_state]: left_x=0.3052 left_y=-0.0038 left_z=0.1856 left_yaw=0.1401 left_pitch=0.1431 left_roll=0.0732 left_gripper=0.9968 right_x=0.3464 right_y=0.0884 right_z=0.1618 right_yaw=-0.0162 right_pitch=0.0173 right_roll=0.0073 right_gripper=0.9962\nstate[joint_eff]: [-0.0205, -1.1556, 7.1043, 1.873, -0.1197, -0.0757, -0.0122, -0.212, -4.1504, 7.1316, 1.8388, 0.1001, -0.0366, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce84d9925b93f5da1ed65e82f4f562d360c6738539d284ca88c92630bf75269e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1f8100a42c22ddf6baf30b608e2c42462065071f15061423ed0cbc6ebecc562",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f8a75b22140072f1c8fb3e242d4e1b412fa3c66765be9c9bee2be0acc5829ce",
      "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]: [-0.2523, 0.7937, 0.5087, -0.1646, -0.4007, -0.1318, 0.9968, 0.7982, 2.4722, 2.1342, -0.0486, 0.6964, 0.2619, 0.9948]\nstate[eef_state]: left_x=0.3054 left_y=-0.0039 left_z=0.188 left_yaw=0.1406 left_pitch=0.1523 left_roll=0.0694 left_gripper=0.9968 right_x=0.5453 right_y=0.4023 right_z=0.1739 right_yaw=0.0576 right_pitch=0.2774 right_roll=0.0227 right_gripper=0.9948\nstate[joint_eff]: [0.0342, -1.2786, 7.2547, 1.7363, -0.1294, -0.0317, -0.0122, -0.0615, -16.0342, 5.5179, 1.3797, 0.1245, 0.0073, -0.1929]\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": "gAAAAABqstyr88BE5LbK3tvd5hUw4X35fblhom5vgnf8hNSfnOliXClk1hfUahHpP6Mq_1WjS_MsGxiRasTdYQIpDC5M6OVJSa52Ajqd71AeFzyKT2VHtvmvq7QbbhZq39LnvGqBaLKeQCPAbCJRhV5Cvvip7hD_f3JXvgPjrz9_GIL-uTfIbN7OW_Oe5G1VhSXLuVgt9Qwhf9ipq3LPUO95AWNv9dI-xR2jx5TlztIQnOsTGMctBiYwcWRJisNiuEKYWgxaQ8SGZpdRxJ8w2ej7hwmrbTHq1vV3WlOGDrNP69fiIDCf1I8ycnK8VzlqCYM9k2Op9yCu-z-Cctk2-2tYDyzMI4ulq33e6G82RZLfGcpv5CDdOVL__jt2sXfooDyF87nQsZkrVn3ipG-Klsm6CMyNvVQlum-8EcX1SGUxBW0J8hnshKs_AZfACRnpWo_K_5yATdTadw_o836HECpphubcaurDWVuOTenLR2Ig80QS6--u-9jOKRgj_QcpyrNfKa5LrrRs839d_G4YorhDZy71zgc0Csq_2cccXPV3ibpuAnzTi7c6eWBV15-0A7yH6q5dvNssuDzh1_gGenRWdXDIya5q1HNfh7c5NG9T_E_eWWuBKEmOXOU3hhn8Sg4fkEkKgtPiT8SPRDUK5AcP9HPJUuqRvBJxFoAqJtMLbJC_1g1aEC2eOt8D3O5q8YU7zBk072lo25qssHeMsAVNJP3lE6Ca06Z-eXSoM57BRdy-x_EwHy0FM9RtjMN44OHv4nehPfl-epqBIBZaSKg0Prymbxo2pmrZSAziL7n3dAPuJvuiXrF-iC8YBlricWWtvN08D1m5Y56JJkPhabUcDV5My3Z_RABAckPRpNK8QyC11dSFVKHaeqzVFgV9W__yMR6MLFm1KmwI-6mjzo_YbkshLpBVIjHXQNrFQY-0dhpH5z6HE4EuSlKYPgDq_nUgKV-uAZTyxyHuC657odXMTa28grFI26GtRgJ4Dnveueb1eG2ZVvkUdd1XbA0-KKROJtwW5t1ZivEbFtS0w8YuUTbhOHKGChj-cejcVgQcQm73FyosjQZ1dCXNtKhzdlULdiLqrGlJli5aQAzGnkfGCiAWPE-WTMknyq_S48MdMYAp49G34oLxh1JskHjnCs0WpGUkKWh1uQ7Ga74UMXXGbbDAxFLvZqNdB6m_c2tcVnaFoZ4qDveSlXLh-YYp1jtMgWZU_zW6A1vzo9CMjwvSTXQiADpEmEtFTT68Qp7-qLFUglCo5tZMO9vJVIiVrYSyLlLYjQNOgJk7mJtc621ffyAPzr-w2TpRWqrVivzUC3cQU8neftr7v46mNZ-pj_seriNZ6B-Y",
  "id": "rs_04040ff75e0bed75016ab2dca8b75887d0b2a6fe7282285b60",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.085,\"right_z\":-0.01},\"note\":\"The blue and black pens are aligned together under the right jaws. I will descend to table level to grasp them across their narrow bodies.\"}",
  "call_id": "call_vfae1AYdH7yMBKIaxSzo7txE",
  "id": "fc_04040ff75e0bed75016ab2dca9777087d0a96ac7e2143c899e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vfae1AYdH7yMBKIaxSzo7txE",
  "output": "executing move_to over 12 steps (1.2s)",
  "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]: [-0.2523, 0.8032, 0.5087, -0.1722, -0.4011, -0.1318, 0.9968, 0.3893, 1.8118, 0.3664, 0.918, 0.3347, 0.2253, 0.9964]\nstate[eef_state]: left_x=0.3053 left_y=-0.0038 left_z=0.1837 left_yaw=0.14 left_pitch=0.1365 left_roll=0.0762 left_gripper=0.9968 right_x=0.3705 right_y=0.0931 right_z=0.0137 right_yaw=-0.0156 right_pitch=0.0751 right_roll=0.0477 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -1.6342, 7.1043, 1.7314, -0.1538, -0.0757, -0.0122, -0.8821, -4.0137, 2.3726, 0.2076, 0.0904, -0.1929, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3973cb97089b59e7ab4e32aef3c7f72fcf6606e8691c21a686f69ef61a5e905b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c35b70d388815bb621db340b6732cb0f45b0a1cb61a1428cd9f33960af74e1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a33a81c72e5db715148f055df966d4917abb9e73a05e0d1e6a18a1836ac559c9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2523, 0.7986, 0.5087, -0.1696, -0.4007, -0.1318, 0.9968, 0.4187, 1.1542, 0.6762, -0.1207, 0.3687, 0.2314, 0.9962]\nstate[eef_state]: left_x=0.3052 left_y=-0.0038 left_z=0.1856 left_yaw=0.1401 left_pitch=0.1431 left_roll=0.0732 left_gripper=0.9968 right_x=0.3464 right_y=0.0884 right_z=0.1618 right_yaw=-0.0162 right_pitch=0.0173 right_roll=0.0073 right_gripper=0.9962\nstate[joint_eff]: [-0.0205, -1.1556, 7.1043, 1.873, -0.1197, -0.0757, -0.0122, -0.212, -4.1504, 7.1316, 1.8388, 0.1001, -0.0366, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"Both pens are between the open fingertips at the table. I will close around them together.\"}",
  "call_id": "call_rGobJpwbUm1PhGz1jt9Acz3T",
  "id": "fc_04040ff75e0bed75016ab2dcaf6fe487d0a8d226b052651cfb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rGobJpwbUm1PhGz1jt9Acz3T",
  "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]: [-0.2523, 0.8043, 0.5087, -0.1715, -0.4007, -0.1318, 0.9968, 0.3866, 1.8194, 0.3607, 0.9531, 0.3275, 0.2237, 0.3208]\nstate[eef_state]: left_x=0.3054 left_y=-0.0039 left_z=0.1836 left_yaw=0.1396 left_pitch=0.1361 left_roll=0.0761 left_gripper=0.9968 right_x=0.3718 right_y=0.0939 right_z=0.0163 right_yaw=-0.0121 right_pitch=0.0938 right_roll=0.0582 right_gripper=0.3208\nstate[joint_eff]: [-0.0205, -1.4564, 7.1453, 1.7656, -0.1441, -0.022, -0.0122, -0.1573, -7.0906, 3.9316, 1.4139, 0.1245, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc2e3a88216ea1f9e90f17e153c1adccc484af1f69297312eec63207c1949e82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1037b521f8eeb268c687db4ca2f9ac4a1d025d6d3b3a1e0925b41cfaa37c7c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:691fdf2342d19f3226c3c7620a8cd29c2356046b4fc5250686db770882d3018c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 85 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]: [-0.2523, 0.8032, 0.5087, -0.1722, -0.4011, -0.1318, 0.9968, 0.3893, 1.8118, 0.3664, 0.918, 0.3347, 0.2253, 0.9964]\nstate[eef_state]: left_x=0.3053 left_y=-0.0038 left_z=0.1837 left_yaw=0.14 left_pitch=0.1365 left_roll=0.0762 left_gripper=0.9968 right_x=0.3705 right_y=0.0931 right_z=0.0137 right_yaw=-0.0156 right_pitch=0.0751 right_roll=0.0477 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -1.6342, 7.1043, 1.7314, -0.1538, -0.0757, -0.0122, -0.8821, -4.0137, 2.3726, 0.2076, 0.0904, -0.1929, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The jaws remain about three centimetres apart, consistent with the two pens side by side. I will lift vertically to verify that they are held.\"}",
  "call_id": "call_D9KF49AdJceuiJgjRuMhjUtB",
  "id": "fc_04040ff75e0bed75016ab2dcb42ac487d08f16a7355856a23b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_D9KF49AdJceuiJgjRuMhjUtB",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2523, 0.8097, 0.5087, -0.1715, -0.4007, -0.1318, 0.9968, 0.3866, 1.2427, 0.6701, 0.0677, 0.3199, 0.2203, 0.3239]\nstate[eef_state]: left_x=0.3058 left_y=-0.004 left_z=0.1821 left_yaw=0.1394 left_pitch=0.1311 left_roll=0.0782 left_gripper=0.9968 right_x=0.373 right_y=0.0958 right_z=0.1648 right_yaw=-0.004 right_pitch=0.0931 right_roll=0.0589 right_gripper=0.3239\nstate[joint_eff]: [-0.253, -1.4564, 7.159, 1.7705, -0.1441, -0.0708, -0.0122, -0.2803, -5.8598, 9.2513, 1.7363, 0.1245, 0.022, 0.6618]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe1bd0fa6db9f01ed7168c5e760e857245c08ba300d5d89c81897273abbeee4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a923b0d8a74a7858798741b2d2e9112f61d3446f5e8cd4b247358de11e3033ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53ae0208245d3225d22528512101f5fe3f1c333490c604297f15931421d0d567",
      "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]: [-0.2523, 0.8043, 0.5087, -0.1715, -0.4007, -0.1318, 0.9968, 0.3866, 1.8194, 0.3607, 0.9531, 0.3275, 0.2237, 0.3208]\nstate[eef_state]: left_x=0.3054 left_y=-0.0039 left_z=0.1836 left_yaw=0.1396 left_pitch=0.1361 left_roll=0.0761 left_gripper=0.9968 right_x=0.3718 right_y=0.0939 right_z=0.0163 right_yaw=-0.0121 right_pitch=0.0938 right_roll=0.0582 right_gripper=0.3208\nstate[joint_eff]: [-0.0205, -1.4564, 7.1453, 1.7656, -0.1441, -0.022, -0.0122, -0.1573, -7.0906, 3.9316, 1.4139, 0.1245, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.535,\"right_y\":0.16,\"right_z\":0.2,\"right_pitch\":0.2},\"note\":\"Both dark pens have lifted from the table. I am carrying them over the right basket.\"}",
  "call_id": "call_WbxbLGtGi7oml6TYkBUqjGfJ",
  "id": "fc_04040ff75e0bed75016ab2dcb9cdd087d089ef0316b38a0d88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WbxbLGtGi7oml6TYkBUqjGfJ",
  "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]: [-0.2523, 0.815, 0.5087, -0.1722, -0.4011, -0.1318, 0.9968, 0.3866, 1.85, 1.2713, 0.1268, 0.3252, 0.1825, 0.3258]\nstate[eef_state]: left_x=0.3061 left_y=-0.004 left_z=0.1805 left_yaw=0.1394 left_pitch=0.1256 left_roll=0.0807 left_gripper=0.9968 right_x=0.5242 right_y=0.1564 right_z=0.1785 right_yaw=0.0097 right_pitch=0.144 right_roll=0.0424 right_gripper=0.3258\nstate[joint_eff]: [-0.2393, -1.7436, 7.0906, 1.7216, -0.1783, -0.0757, -0.0122, 0.0615, -10.2359, 9.4701, 1.9756, 0.188, -0.0171, 0.6569]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae66937ebbf4c51bf5f212c23a82addb0434ed71a7bbee191a7629b402ed9e88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fde43929eb9f742a5ecef12dff5d4e18d14c6e25f78b92272157b1caaf83e0ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11065481fc0449db8c22ee5b8417a0bcc998af217d5dd09f5f66d61b000b5e83",
      "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]: [-0.2523, 0.8097, 0.5087, -0.1715, -0.4007, -0.1318, 0.9968, 0.3866, 1.2427, 0.6701, 0.0677, 0.3199, 0.2203, 0.3239]\nstate[eef_state]: left_x=0.3058 left_y=-0.004 left_z=0.1821 left_yaw=0.1394 left_pitch=0.1311 left_roll=0.0782 left_gripper=0.9968 right_x=0.373 right_y=0.0958 right_z=0.1648 right_yaw=-0.004 right_pitch=0.0931 right_roll=0.0589 right_gripper=0.3239\nstate[joint_eff]: [-0.253, -1.4564, 7.159, 1.7705, -0.1441, -0.0708, -0.0122, -0.2803, -5.8598, 9.2513, 1.7363, 0.1245, 0.022, 0.6618]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pens are above the interior of the right basket. I will release them into it.\"}",
  "call_id": "call_UaBGo4dABdsYiVMUdMvb9vOO",
  "id": "fc_04040ff75e0bed75016ab2dcbed43887d0a773efa499ccc3d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UaBGo4dABdsYiVMUdMvb9vOO",
  "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]: [-0.2523, 0.8165, 0.5087, -0.1715, -0.4007, -0.1314, 0.9968, 0.3866, 1.8648, 1.2694, 0.1165, 0.3202, 0.1761, 0.9948]\nstate[eef_state]: left_x=0.3063 left_y=-0.0041 left_z=0.1802 left_yaw=0.1388 left_pitch=0.1248 left_roll=0.0812 left_gripper=0.9968 right_x=0.5236 right_y=0.157 right_z=0.1675 right_yaw=0.0187 right_pitch=0.1181 right_roll=0.0286 right_gripper=0.9948\nstate[joint_eff]: [-0.3487, -1.5385, 7.0906, 1.7607, -0.1343, -0.0513, -0.0122, -0.2256, -11.3709, 6.9538, 1.8242, 0.0708, 0.0952, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bc2066c4547d7cafeb380acb0ba30f783456e184bddd09ebca547c134bb53d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbaac3212a1b076ba607bc27f5482c83571d553ff71ee55f2f40381518f9c2f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f06cf23e86ebd0da78bc6298109391cf2b5f89902d97dcaffbf2d7184df5c58",
      "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]: [-0.2523, 0.815, 0.5087, -0.1722, -0.4011, -0.1318, 0.9968, 0.3866, 1.85, 1.2713, 0.1268, 0.3252, 0.1825, 0.3258]\nstate[eef_state]: left_x=0.3061 left_y=-0.004 left_z=0.1805 left_yaw=0.1394 left_pitch=0.1256 left_roll=0.0807 left_gripper=0.9968 right_x=0.5242 right_y=0.1564 right_z=0.1785 right_yaw=0.0097 right_pitch=0.144 right_roll=0.0424 right_gripper=0.3258\nstate[joint_eff]: [-0.2393, -1.7436, 7.0906, 1.7216, -0.1783, -0.0757, -0.0122, 0.0615, -10.2359, 9.4701, 1.9756, 0.188, -0.0171, 0.6569]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstzFdtB30kV2DpZLoNhaT6_oEaBAACI3pvqnWBfEpv2l36dAHZ0e9Zoa70-p0alzgA506R_HVdAsJC_nH5FYgxB0AnTEjc25Ee30h27cwzhdqI0O-8ydH64m2Ko5QApEgJ0FEdh15HndVCJO3uxPQ893QVBDT_I8AC-QScWHEzGIBh6NGVhsFFraQ0Plyqozge8JKq9Oh2of9lpDoslas9ePIjSJ4DLBoFw6AQEcRUxBFV-6UWEE78yRrxQmptTVFhfxknN87K_EBGrg_lnp0yy_OkljcjTQmhk9apNumQx1Bnp6CcEnamPG0HxdwKvUaqOP7HVCKs30ohWLf34cp-XIgcQWqG8l4riSwdVww5gmU1P6orgiZKWhozp_jUuB9HfINWS5Atq18-DDAFNuyBj3BLeMClL9HdQCwH_jIdSSZYNnEW5nlY4OwSBsM8m5qxmggp5Er4HtKNGicr5XdYkBcCTXa6R4AFNVZ8Yk0fwRXd15rC6ZL-YKnu7hVXQ6FzVfjK7B5KoYWOHGbsKizFblZIPTZJruY7yR0PvcoHZi_d6wneN3ZR0R9QFBsYnJETDQDOnSO755PBAap5G04zMU6B948xYyTZPn-npnUtd24ByznOX3-eZh2-tXrBZg9d4m6aYCEXVFbXFMkFhMmK0ijFi4OpVA4b3Eb0rnnrWvXJn2hV-S4F7oD1Rnsgmwu0_8NxjxB8IASuhIAMkQntKnBrISFqSizmFm1bk6ZocpjB7jr2vLfw2HIVXRk2L5iZ1vz15nCrxQ3wogbDd95oAiiFxPN4bQ5qL3o4Pnjn-jbkzcdSHESSa4h0zr-zxmY04uT6hCq4XyJEFDQhiAam6zhajbO-x-qm1ndXtgFXgWhO9OtJcBJpYSA1JLKu9u1qWYYUbhnkJ4h8VFxSS3JVA5V2ibdY-hkEips98b4e8z9sPg_B2GRtfDouRu3kFXEaHnVRgbtsm7rE_PUrv85Fg3qLoVayKURYedEMsIc5nt7JQRAF62zI1Ru7x9_DcWrwONDZhpOBHQQfIDzdfONAJNSfj_weZ29UDwSdwpSmgVVLT_YgWFiBzpYD-oo15nxUtI0uw5eewEoDg1_1OEYwyMgJU8djsrA9uLwGWiU1UVs2C9sPuaevqtPdWRWQlFIXiE6gcJki3zXgu52s4r7z8lPGHQnzpp4Fmo1dgDRVilHJzUfUMk5Dr66MXzthVIvU4L_2W6agJCNyLBBRJ-f5BKe70I7jOb8L_sDSyKAtdmOXdDGt07uPWsANuZw1AL-RE4",
  "id": "rs_04040ff75e0bed75016ab2dcc26b3887d0886bbead800a794b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.2,\"left_x\":0.31,\"left_y\":-0.09,\"left_z\":0.1,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The blue and black pens are in the right basket. I am parking the right arm and approaching the remaining yellow pen with the left.\"}",
  "call_id": "call_mLyzJF1Mh7bL8uPBZhIGDH6l",
  "id": "fc_04040ff75e0bed75016ab2dcc36ea487d0b40e6f1f2535064d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mLyzJF1Mh7bL8uPBZhIGDH6l",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5293, 1.103, 0.4213, 0.0338, -0.4458, -0.3161, 0.9968, -0.0349, 0.7788, 0.5789, -0.2226, -0.0208, 0.0029, 0.9963]\nstate[eef_state]: left_x=0.3097 left_y=-0.0888 left_z=0.1015 left_yaw=-0.0062 left_pitch=-0.0103 left_roll=0.0157 left_gripper=0.9968 right_x=0.3094 right_y=-0.0035 right_z=0.2066 right_yaw=-0.0214 right_pitch=0.1484 right_roll=0.0272 right_gripper=0.9963\nstate[joint_eff]: [-0.3897, -3.1658, 5.5726, 1.7509, -0.1832, -0.188, -0.0171, -0.253, -1.1282, 6.8581, 2.0195, -0.2076, -0.0464, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bc927506693143832f0960ecf4b273f61d20290206e8fa5e2e2f64f1ca2909f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aba96413c7cab914ce3cb076f8ecbd5daf1843e47a6671c4efaa2281f1203de5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65a98f901cf239005e1d341a5ba5cb259dc1309f271622b8dffb2d8ff91a2b79",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 97 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2523, 0.8165, 0.5087, -0.1715, -0.4007, -0.1314, 0.9968, 0.3866, 1.8648, 1.2694, 0.1165, 0.3202, 0.1761, 0.9948]\nstate[eef_state]: left_x=0.3063 left_y=-0.0041 left_z=0.1802 left_yaw=0.1388 left_pitch=0.1248 left_roll=0.0812 left_gripper=0.9968 right_x=0.5236 right_y=0.157 right_z=0.1675 right_yaw=0.0187 right_pitch=0.1181 right_roll=0.0286 right_gripper=0.9948\nstate[joint_eff]: [-0.3487, -1.5385, 7.0906, 1.7607, -0.1343, -0.0513, -0.0122, -0.2256, -11.3709, 6.9538, 1.8242, 0.0708, 0.0952, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstzMu77FBxoODz3x-1OMyj2c3qh8qXrGEPRGZzsYvw9XarHCQORiEEBZL-ii6LRuHcHwHvljsklsq0BAYncBSIlmIxjMlfwOMjTZ9-zApNl28wj2BfIJa0VvNmkvAoHmA4jYGjaRowLib2nMxHwEDblOrIonItNJ-twIt5yLyxbw7W8a4GBu9G_lXUpqKS968xiZdir7fMVoJpLxN7uepeS74IZhAewmz2LQncRkVnJa63XSb15_g8MYXBDJO0vg0yj1GlwyX-u6_mv1oXUH2QykGymD5ajAf47sTD5dOqAur0iZyCTc9hLylFYePYrnn4MF4ibXm78rJaFl-uk92RKD6KGkcts-6w62dgQyr-7pwnweFeVciz85F8QTbvd26UiPQzMe_Jwc_D3jZrAYAUkvPPZPTyjP2aCAN-OSc6HeIVi7wQJjijCJf-3-r3zY6_4jch263AYswKpboKZe7WylTj9VjPCsPhQl3sZiNHinJ4ZEAe9hF2zSGV9tXA-IzIVn9_OBnCCSy28RXbi1h5pnyfsAgqzIviUHTDet1DX6-C6GlXizBW8wDfC-k7RfPFZD5A-qaQ4HRFKG_SrGaPphXoBY7XXMyFT4arwPtRff64PSJ2KweTk5z73vLN7pYgbQLkKXJGqNIPATd3vidtdByYb-u1tHYdh19xxrZqauT9LR-w88WXjWtUEXk0pjdXAF3j-0WHB76BU-2BhBevm2rGvUp01Fj2tepI3D0dFVa5BCJUZvjhhvnNeLpNUbgqFRUr1O4Lp5TVSolAkBzjZOCk9cSYAOS50XUIjgPF_c4aMyhzpqTDfwQOHnHTB-LGkBkktJK-0dqdmhNUuyxd-Ot64Oi4WdvhvXMWGzOuR1eG3Myzce66H-OEymD0JOLnTZWm1xoFNps_7YhyG7cptLCD5xOstrIucBGq2eVRzSzLnkwwWmCnTmaxUwxCPPg8o1KJE2ENon4Iz4fBUra_JPLnYe8uQWBp4NjNpduY2aSnZ0j-upoh3JXCLMWs8rCl6AkgF6tWkJwb_46uLqP-nMFiio_RhugGOMO1zRIAAnlqlArx-BJ1rXdDvWUjTwusBKbSBa5WbR15QJ6S8OcW5LY0MyBe_NG9U6irWTbbffpbK2GcUPIFPeRkx5Ego-oAcCRpqOS6hVYxxGTzLEnrj4qxz7pZsx-q0jKrvCSw32Hql9T_CNtwluwbizdDUS7iRQsyRAHwpXGpmp3vukcuRl3A==",
  "id": "rs_04040ff75e0bed75016ab2dcca44fc87d0a2502fdf7c7fb20f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.07,\"left_z\":-0.01},\"note\":\"The yellow pen is slightly left of the jaw column. I will align across its body and descend to the tabletop.\"}",
  "call_id": "call_AXfwevU2OUzzvycJGhhL3r3d",
  "id": "fc_04040ff75e0bed75016ab2dccac72c87d09b5b6499b1855057",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AXfwevU2OUzzvycJGhhL3r3d",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3744, 1.75, 0.2882, 0.8486, -0.3527, -0.2325, 0.9968, -0.0383, 0.7837, 0.5743, -0.2497, -0.0338, -0.0109, 0.9964]\nstate[eef_state]: left_x=0.346 left_y=-0.0666 left_z=-0.0008 left_yaw=0.0282 left_pitch=-0.0051 left_roll=0.0213 left_gripper=0.9968 right_x=0.3066 right_y=-0.0022 right_z=0.197 right_yaw=-0.0065 right_pitch=0.112 right_roll=0.0211 right_gripper=0.9964\nstate[joint_eff]: [0.3487, -4.1094, 2.7692, 0.4176, 0.3004, -0.0562, -0.0122, 0.2256, -1.3607, 7.5009, 2.0684, 0.0757, 0.1441, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6edd963bbc7153bcbab91f6f472f984f651c5e4e6c338e44d91fa347d83a2f68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f04b840b3063860961e23d3ab4c04d5edbfbc9ad0b115029bd302b4b47260422",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce7a0a7486cb91930783c35a42b0b8da8982171449d8fd2aada7bcd2f58ea868",
      "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]: [-0.5293, 1.103, 0.4213, 0.0338, -0.4458, -0.3161, 0.9968, -0.0349, 0.7788, 0.5789, -0.2226, -0.0208, 0.0029, 0.9963]\nstate[eef_state]: left_x=0.3097 left_y=-0.0888 left_z=0.1015 left_yaw=-0.0062 left_pitch=-0.0103 left_roll=0.0157 left_gripper=0.9968 right_x=0.3094 right_y=-0.0035 right_z=0.2066 right_yaw=-0.0214 right_pitch=0.1484 right_roll=0.0272 right_gripper=0.9963\nstate[joint_eff]: [-0.3897, -3.1658, 5.5726, 1.7509, -0.1832, -0.188, -0.0171, -0.253, -1.1282, 6.8581, 2.0195, -0.2076, -0.0464, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.05,\"left_gripper\":0},\"note\":\"The yellow pen is still a little left of centre between the fingertips. I will make the final lateral correction and close around it.\"}",
  "call_id": "call_WPC6iKPbtRtHnTf5nLd0NQO4",
  "id": "fc_04040ff75e0bed75016ab2dccfadc087d089ac0ea81cf94e1d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WPC6iKPbtRtHnTf5nLd0NQO4",
  "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]: [-0.3058, 1.7557, 0.279, 0.8948, -0.3058, -0.1978, 0.1561, -0.0387, 0.7856, 0.5743, -0.2508, -0.0311, -0.012, 0.9964]\nstate[eef_state]: left_x=0.3515 left_y=-0.0514 left_z=0.0023 left_yaw=0.0396 left_pitch=0.0139 left_roll=0.0147 left_gripper=0.1561 right_x=0.3066 right_y=-0.0028 right_z=0.1962 right_yaw=-0.0085 right_pitch=0.1089 right_roll=0.019 right_gripper=0.9964\nstate[joint_eff]: [0.4308, -6.9128, 2.2769, 1.5897, 0.0122, 0.0464, 1.116, -0.0068, -1.4154, 7.2821, 1.8584, -0.0806, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:761fe918843b73db8124f47d9d467076622a2577119649d87ad48e24f2d899f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5424462bcf3c64e188e4c9b7243b8682ec0b729c69041ea78edd02fe034d08e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97c0379c72b1c4aa269202a0113f5f616f5c66bc502ed8e61aaef82f0c36ee12",
      "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]: [-0.3744, 1.75, 0.2882, 0.8486, -0.3527, -0.2325, 0.9968, -0.0383, 0.7837, 0.5743, -0.2497, -0.0338, -0.0109, 0.9964]\nstate[eef_state]: left_x=0.346 left_y=-0.0666 left_z=-0.0008 left_yaw=0.0282 left_pitch=-0.0051 left_roll=0.0213 left_gripper=0.9968 right_x=0.3066 right_y=-0.0022 right_z=0.197 right_yaw=-0.0065 right_pitch=0.112 right_roll=0.0211 right_gripper=0.9964\nstate[joint_eff]: [0.3487, -4.1094, 2.7692, 0.4176, 0.3004, -0.0562, -0.0122, 0.2256, -1.3607, 7.5009, 2.0684, 0.0757, 0.1441, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstzXpZplHyZ0MQj7rh74Vm61N5ItMwPCR9K4IeolDhRmWUXE-_ZldrMdC5pzouqU9YNMeImZvN8mGJuBqECGaG8yD2H14JDIrbb_GOjXdmIGkKyBVnn53p2atg1NJoVzckwtRqklSkA0FLc2CK_fxZ8ixDVYgGtA9VMGhzQD5R65kcUVa1zzXam2RR8QrLlwd4dPwA2byhEDNW8cgxvgnyIm5PrQvE35zoSu0J3Ik4ocuPRlvEsDJkSpGeog5tr6xtzgvUw9U7U5WzOin8VF29fR0gmx-GEk7xmJ_J_lo6i5RwsMNZ1-eEgKXgW2yxOMp6paN26W0j12YQOUsyjcE0Pux5_iTZ64NfoT3K_LMDLLSgbZSL5Qu85schZrgmnS3klhBHMcqPtAB6Iyct29zJ59eYfjOxBH47MfBBuIsNLeZhWmZoP3LSXicqNVJkQh0s2dDBywN1By7QsuT9tHjGK9zNSj9-OC5uiEO9pbIl0fau-jkWV8iHYGK1nl6OqofXFXANIUuS4KgmFDpBi8lhC2_lFdflo2S1QJe6ppyZEvnR9c_FnEvoJiiFv4-ZdidjEfTVyHwfqLBbhw0xH2gvtFrqIKsmmSuRTkIODNrq5_i3KdRrlSEAOKP2fechc1SPzpQU0tDrl_vYSFTv-cNrJiWcl6qQAC08NI_Zt7FzdHE4gM_7g2qKNroLhK9ql03H-VuS2TvX1deQIqoFtkoFOaEqdZid-LonQuwS-dLeH8IkagGP96YL3Yo9r3te3LLibdu5im8lVmos5ts0oxEm7DNCRSmQQPXBUXG_ionM6lLvb_wbzKJ57rZUnVNswFqS8_SW4oKr2ab_Z_R0nqCIaCRnl_vN47lHkjKbi0IY2ByKhto6-TKQoL9esClmyNpQ3x_5L7LSdsl3_aphAFX5rBSGUHj8S_I33D_ta2STqpUbBEzJkp4YwVMq0FTLpQIr06gko83u67QDBiBDGzpmGkjVAjQzjs5IW9bZcdMCwvF15qPfu2jrkRuJzMzJPF4M_cFGcqAS93scDyo6ofA9-zvRfX31CJQ8iYR-9Ueh_TSuK2YAuRiLh_Ag0rNMtfvI818TRj169MkrZhYYOFWTHcODHhnWyDmMuo4Wz79ePjhhXMQStB2l9YLgToca__0hJ9DN-ln-GVpQmMlwEewcTNKRlkKKAsYWpiDhaDtVEyW9uy9CeiROuwwCH-F3vV8X9q9uoUexnbyeccUWEDfgi2L_6AmntxPzhtGzDcABPu0i4B3xmGM2Mi7F-11A3mzXqrsQ0MZgt_Apvnc4IhQq8GzEpJ8kCtj6gTvueeN-X2HSk=",
  "id": "rs_04040ff75e0bed75016ab2dcd52ba487d0abf1d0c76367508c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The yellow pen is visibly pinched between the jaws. I will lift it clear before moving toward the pen basket.\"}",
  "call_id": "call_wDWCV92lNcVuAIrRgU1CcT8H",
  "id": "fc_04040ff75e0bed75016ab2dcd64a2087d0a140444d78153b96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wDWCV92lNcVuAIrRgU1CcT8H",
  "output": "executing move_to over 12 steps (1.2s)",
  "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]: [-0.305, 1.1305, 0.675, -0.1158, -0.3065, -0.202, 0.1576, -0.0395, 0.791, 0.5743, -0.2535, -0.0311, -0.0124, 0.9965]\nstate[eef_state]: left_x=0.3554 left_y=-0.0522 left_z=0.1681 left_yaw=0.0433 left_pitch=0.0241 left_roll=0.0079 left_gripper=0.1576 right_x=0.3067 right_y=-0.003 right_z=0.1941 right_yaw=-0.0091 right_pitch=0.1009 right_roll=0.0189 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -5.0667, 9.0872, 1.6239, -0.1343, -0.0024, 1.0281, 0.0068, -1.5658, 7.1316, 1.8046, -0.0269, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4589e614e44950b415409fec6b826d5bbea188aa3f11851514bf2a9db5515a6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed85fedc2d017234d1c19dd3cf22a5f83b7f7c81bf9ba4f1aceb7f4916bda569",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ebe38f96a1dc3c2d4968888fb09e27682644858eb74e1a66ecb00742e7767ec",
      "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]: [-0.3058, 1.7557, 0.279, 0.8948, -0.3058, -0.1978, 0.1561, -0.0387, 0.7856, 0.5743, -0.2508, -0.0311, -0.012, 0.9964]\nstate[eef_state]: left_x=0.3515 left_y=-0.0514 left_z=0.0023 left_yaw=0.0396 left_pitch=0.0139 left_roll=0.0147 left_gripper=0.1561 right_x=0.3066 right_y=-0.0028 right_z=0.1962 right_yaw=-0.0085 right_pitch=0.1089 right_roll=0.019 right_gripper=0.9964\nstate[joint_eff]: [0.4308, -6.9128, 2.2769, 1.5897, 0.0122, 0.0464, 1.116, -0.0068, -1.4154, 7.2821, 1.8584, -0.0806, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstzgcnuwGc1eFmeN9YhP_ggbN-Q-HMXgME-3CDSn03xSHNrecRP4jUFT2QSSeVerM1xkHjopcN4obxs8yv2PcdxobsVpMuPLcSnnkbHRR98kPog9fG1XYfcKezqKRcfhyVwu51V7Z5g8q7BMzuCeQ22E_tbWF9ZGjSK2EJu7fmNh84gMPUYq-WHXcHhVaV063-LA9_4cqvtxzwzeDk13w9cVTLVMIbNbVROCJWkVyAd1vBqJREgH7ed3cVz52Dy3USOa57KZOo3APG2QvmJlrBS-0in7TvlkBdlXQZXhqmmhRw1WPD_1jGXqIzR-A_ce5SLoz8Ofu5ueSPRbTro-hJxT1-AFQTkcE2PICAk8edDV3LuAhXiiiXC2NVH1Mnf5SaTFaz4N737HZJBCU6A6D9bPJ5LyX03gNyrkWximG0BiHY8HBkeOeZYXZtJ1EbfdCt75Up104hFkdGdNjiHnebDF28-qhiNv13qFZahF-ZYGiowJxX0kDsFdHFUMxKxtvNlFbtPDAquVlaSgrLqEQlrf7dxqSGkP-cg474eG-nTRFS9mWkCHTvfVYerY2dxvirXUKL5x-m-_67d8_OM0zRdtd_bixGRNgA9a6lwoj1gviVhe45BcMb4ZIVuwGgoHJTbhie-DqODzn2mBgjq5e_2oNT8HAaurKHFdHAmuLNSaapvcDc2ksvw5uRtbL8Wuj4ApWSwCGOKBUsXsVGnOHGTqEVlOTugdwrWwJZ3usABfh8gXIceBvTz06EbjI4euXEHeK4zwmhLN8pcktVuK6pqo--o-VvJ-TpnpCNckIRCaSD_r9zkv2R3GWXi_rA5p4gPm7Fvsff0AhgjOi7MtN6W0Z-8bPhg1yLIFgnpEFmrag1A6uHDBtI2_iYk_qFQywhpuPkg-XIdhBTYdYnd94kEsZqUirx0vo5GDdpu5MKU9xSlwHRzaBcHKlnRUBCkllAA3kLAeeEKU5YJCl3baog-VRS48kNUd_jcqEKooMRPSjp5GO9rOIZHlWF3uDampWgNOz0yTlgM0e7T_-R2rynBiZj6RLPMcxi7CQbBUBHSwkImBNVLW1P2snkXn9iUi3KLiK5XDZbt5Q6C_E47LcXcCSeOcrb649PXBCkj36kG3pUpOz1mTKvgAp2LQncxJVLknZwgVK3ybqEVuXRRoMGuc4hwDBEJoSk_VFcuPe7JTzxLqGDO2Z3rBzaKey30ZqLAR12r2OMhO2AbQvSMKTiW0w4BNpWqgaz3O7WEYO_CybJiE6Dt8WXLdO-rVyNvnk3oN",
  "id": "rs_04040ff75e0bed75016ab2dcdea4f087d0beb84eca08551d46",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.55,\"left_y\":-0.4,\"left_z\":0.21,\"left_pitch\":0.25},\"note\":\"The yellow pen has lifted successfully. I will carry it over the inner side of the right basket, away from the parked right arm.\"}",
  "call_id": "call_Bqy6OkPbsJZGFrBrAdzEjlhO",
  "id": "fc_04040ff75e0bed75016ab2dcdf63c487d09878fff3b8fa7919",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Bqy6OkPbsJZGFrBrAdzEjlhO",
  "output": "executing move_to over 31 steps (3.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8196, 2.6049, 2.5294, -0.3801, -0.8173, -0.3996, 0.163, -0.0395, 0.7956, 0.5739, -0.26, -0.0311, -0.0124, 0.9965]\nstate[eef_state]: left_x=0.5523 left_y=-0.3974 left_z=0.2045 left_yaw=0.0646 left_pitch=0.2598 left_roll=-0.0346 left_gripper=0.163 right_x=0.3063 right_y=-0.003 right_z=0.1912 right_yaw=-0.0091 right_pitch=0.0895 right_roll=0.0192 right_gripper=0.9965\nstate[joint_eff]: [-0.4718, -15.6513, 7.5282, 1.1453, -0.3248, 0.1978, 1.0281, -0.0342, -1.6479, 7.4051, 1.8388, -0.0171, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:537cf8976a6f1ba54767044c5bf64cff4f9fd25c8eec02925987f205f0d875fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ce3cc10d8771d64b8005c4b8e0558a49c0cb4fe2b487ab4099a9d80d80316bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f06fc0357505f9fa71f45bc5f9fa1f566a44926ca345c82f94b42b4798de0c06",
      "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]: [-0.305, 1.1305, 0.675, -0.1158, -0.3065, -0.202, 0.1576, -0.0395, 0.791, 0.5743, -0.2535, -0.0311, -0.0124, 0.9965]\nstate[eef_state]: left_x=0.3554 left_y=-0.0522 left_z=0.1681 left_yaw=0.0433 left_pitch=0.0241 left_roll=0.0079 left_gripper=0.1576 right_x=0.3067 right_y=-0.003 right_z=0.1941 right_yaw=-0.0091 right_pitch=0.1009 right_roll=0.0189 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -5.0667, 9.0872, 1.6239, -0.1343, -0.0024, 1.0281, 0.0068, -1.5658, 7.1316, 1.8046, -0.0269, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.145,\"left_gripper\":1},\"note\":\"The yellow pen is above the right basket opening. I will lower it slightly and release it with the other pens.\"}",
  "call_id": "call_78UpT9SEF23PuGEFj7cUtYzf",
  "id": "fc_04040ff75e0bed75016ab2dce72c1487d0b817907af292475f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_78UpT9SEF23PuGEFj7cUtYzf",
  "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]: [-0.8196, 2.6205, 2.2726, -0.168, -0.812, -0.4049, 0.9954, -0.0395, 0.7967, 0.5739, -0.2619, -0.0311, -0.0124, 0.9965]\nstate[eef_state]: left_x=0.5513 left_y=-0.3973 left_z=0.1219 left_yaw=0.0519 left_pitch=0.2194 left_roll=0.0063 left_gripper=0.9954 right_x=0.3062 right_y=-0.003 right_z=0.1904 right_yaw=-0.0091 right_pitch=0.0865 right_roll=0.0193 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -18.2359, 6.4889, 1.6972, -0.3346, 0.0611, -0.1148, -0.1846, -1.3333, 7.241, 1.7998, -0.0269, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7263b3121d5bdb1de61602c56c967cc48875d781eda59ce1e37c6b9791e8a29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:143810fcb212ce21db9cf1871a22a7ac1acb64dcb96196b2ce5194a661d6daec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a99d24bcec5f392fbe793ace5163f4292a9dd2912540f1b359f542957e94d954",
      "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]: [-0.8196, 2.6049, 2.5294, -0.3801, -0.8173, -0.3996, 0.163, -0.0395, 0.7956, 0.5739, -0.26, -0.0311, -0.0124, 0.9965]\nstate[eef_state]: left_x=0.5523 left_y=-0.3974 left_z=0.2045 left_yaw=0.0646 left_pitch=0.2598 left_roll=-0.0346 left_gripper=0.163 right_x=0.3063 right_y=-0.003 right_z=0.1912 right_yaw=-0.0091 right_pitch=0.0895 right_roll=0.0192 right_gripper=0.9965\nstate[joint_eff]: [-0.4718, -15.6513, 7.5282, 1.1453, -0.3248, 0.1978, 1.0281, -0.0342, -1.6479, 7.4051, 1.8388, -0.0171, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.21,\"left_pitch\":0,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.21,\"right_pitch\":0},\"note\":\"The yellow pen is now inside the right basket with the blue and black pens. I am returning both arms to a clear parked position to check what remains.\"}",
  "call_id": "call_thi770VtVYkEH6RdA5WaqySe",
  "id": "fc_04040ff75e0bed75016ab2dced2ebc87d093f9ce731a19ff1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_thi770VtVYkEH6RdA5WaqySe",
  "output": "executing move_to over 36 steps (3.6s)",
  "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]: [-0.1104, 0.8536, 0.7364, -0.4263, -0.1898, -0.1379, 0.9967, -0.0254, 0.8379, 0.6952, -0.466, -0.0269, -0.012, 0.9965]\nstate[eef_state]: left_x=0.3076 left_y=0.003 left_z=0.2162 left_yaw=0.1063 left_pitch=0.0332 left_roll=-0.0041 left_gripper=0.9967 right_x=0.297 right_y=0.0008 right_z=0.1919 right_yaw=0.0012 right_pitch=-0.0375 right_roll=0.021 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -1.9214, 6.694, 1.9951, 0.0952, 0.0855, 0.1245, 0.2393, -1.2376, 10.2906, 1.7753, 0.1245, 0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0c342f2ed0d97034cc415a587c9b14c2b594137b4fefad2d6e913cb5e5927d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a149b12a90a93612bb69911804bec8c06dbe202b2a512a462422aadfa9c1e3f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 425):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68172368a204f411d519e53c7a67363ebbebee3329fea211db10b660268a4c25",
      "type": "input_image"
    }
  ],
  "role": "user"
}