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, 0.617, -0.3801, -0.0223, -0.0292, 0.9996, -0.0154, 0.7986, 0.6106, -0.3779, -0.0128, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.1836 left_yaw=0.0001 left_pitch=0.0 left_roll=0.0005 left_gripper=0.9996 right_x=0.2962 right_y=0.0013 right_z=0.1821 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.9761, 9.3333, 1.8144, -0.0024, 0.1783, -0.0611, -0.7863, -1.6342, 9.853, 1.7802, -0.105, -0.0269, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35b9c47b9e539639229fcb315a2d803d9371d48fe221136d2222e2c6ed21ac74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a52431ee6cdae082ab13c29509574ff31a0c21c0d4d2713e064fbd19d17a6ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:386596a7f894298256384b3388b4df023b86656284fab80696f42dc406aa1592",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqstCSKei6yS0LdByY8UkhbS8XxELic3Lrt6rxy9P-RTcesmxIbbapNDe3J0a5kOagkaRoluqjSavph1hQqp3s5jQuZFU3Ky8Y6EPVcwmUAOONJRvBKO54CZf0tYZEycvd300xfH3OFAWQagOkXKxiWN5XnH0Drbii4QjFgVNLZecHAw7pLWd0QzhBeLtCa_rXpLa-GKWwNEutFAZMyTRWdMrWMPU4vpKLK-fB-CJFNsAxcsW6RAaW1WSDviWJa5vYMOM0qABD1IfwppS58ZMUP0EsxpfhG7mboIOXMc-egiVO72VnOLG3SxO2JJJSA9jL0Y6WjS-m-OItXaTO5KudGMJtwEpqJaWy5GG-4kKATl1RI2GadK9BFNqzw7c1IizsLdpGZhQTsRQGlSI0uoy7paOI9J8S8m0Q3-IP8p-AI1LLinFK2BdW6WYHosp6wQsqM4wWsoF4C3e_1Vxd0ApA2rsll-KiO5FTiNDPu-KzqUAmPXgDw4T33JI84dOGnv-_wSe1WzdCNeOtm92JzwAIoM0-gwuuGsJZ7meN7y1QiYrZdTEa8Cdgrq1ZUu_4JfOrMZISduorHn1ga4TlASWz7j51hP8fbXFmoEYpWix-rWZxGdd_4-wtcsV0TA5VCtWCJt-fH9st4gDikzykKtrJZexa3IXhmy0iREQcg9hP1GLiybUkji30bBNjmzxq5eCTRZdM5XcOkz8zzSDnfQcKPlCSUCW3RHqUi9hm6yVuUtD5YcnQBwpZ_6gxsdXm3_LbqjO3HwFtBOKXwugrRo3Z-j2F8V_w2vRzGiyKGGlN7qj9dljnn3NKRQExOBIWuEjYxKpEAKh5PyJyt430RTGMk94g73H1C5Bbm3FgAXPai3MK7e0PNHapZ82LayULCHc0NkGbRHbpt3n-4y3PJpOo1IpBx005y5lO4oBOcbVUgOyRmLH_h7DWCyXpXy_i4nYp-loVypy8FIykXEDbnH0ulCtaYbWQapnD9nijia35E_2wJ6UVbJqgSMliE9C5SgAt7nQi_u_ZTfRY0oZrqTlTorBAYZizbu0rSVUc1IAxuF4bZwd0le6K1ZkG7IReFcnoqzsmiaug4vDRRxyWq1ldFXXT8xFQAS2OaZWWFpxtpK6xwE0xSLoJMJk0uiFkvkV4yaUvExqesT0nc5fWEAdR0Q2RD1B5oJ9dceu0mExfu6GR9JEec2KzsVrfscnHGWZH6s25LjShkW-dKtwmYuctzYFZTORWXKqsMnjOxid70uSpITFd5dhy2ZU-J30iY_hkTZL39_q1BRysioct0WeJnXg_xZL5Ibzv-Hp1Bv_l0nOZbKLZ_xfKEztISUZV3LM1LeAMP9XsfAPh3iG02jAjtU8glcQJfi5yWprjCyS2k8w1mMwhDN2La73ulzUJas5Xafyp1PnYQp5QX56d6uiHBPX1W4SBwE_-VDyE-Sb6V_I2ry0laLu2IFHm0Pkm_yTEMKOpwQz_IoVCmuaCDbmB8LrgooYx_Pc1mcuYoDioJ63blGiuut_bBomkBIuQc3a5az7iuAF0Vzh1YAHPrT6NijDhwX5q0y0kp8UneTHHlHGkZf9DxTboFlU0ZAvUpam7bMPwb7uMDFOmY460zY-sYZc00yeFWmbWrYOgERQ5PD1KCItOPkHfFi_hMw9V7zfNazifXYwMrA7g2ApWM-pB9qPdOo8PqHrN2x3urK0QcGZkNHkiIK6vP7BuJfRL-T0nAKVTCUYn0SXHhWvaqdHnjcYkGpLeFSj-DKISwt5wK0KNbccCL8_A5lZ3-n_JkH48rKZCAtJA-Z1Pjf_7DeBnj_2kwC6ehxFRI-LVyvU_YoUz5JQ=",
  "id": "rs_0b017203ed221803016ab2d08a9b2087d0978c2046cb371020",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.19,\"right_z\":0.12,\"right_gripper\":1},\"note\":\"The objects appear to be plush animals and marker pens. I’ll sort the plush animals into the left basket and the pens into the right, starting with the blue pen.\"}",
  "call_id": "call_nROkdOrCuietlySA4GeZHTda",
  "id": "fc_0b017203ed221803016ab2d09109e487d0b21e750a10abafad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nROkdOrCuietlySA4GeZHTda",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6151, -0.3805, -0.0223, -0.0341, 0.9995, 0.6945, 1.5486, 0.799, 0.0128, 0.5442, 0.3977, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1819 left_yaw=0.0032 left_pitch=-0.0049 left_roll=-0.0036 left_gripper=0.9995 right_x=0.3623 right_y=0.1874 right_z=0.1044 right_yaw=0.0279 right_pitch=-0.0468 right_roll=-0.0271 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.5248, 7.4051, 1.6972, -0.0806, 0.0366, -0.0171, 0.1983, -6.7761, 8.5812, 1.6825, 0.4078, 0.1587, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:248583ea1f49ad22ce37345fe652c6a06cf5d005f0ae0e725ec322546d4c84e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f972828f364f3212ed73a3a49bfdaeda52c092f49d84ae3ab8bfc6e93fdfd60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3be3c73c91d4a2ea008843a60f3d7e31e4957cd0e8f3ca0b5514fab9567e3a3",
      "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, 0.617, -0.3801, -0.0223, -0.0292, 0.9996, -0.0154, 0.7986, 0.6106, -0.3779, -0.0128, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.1836 left_yaw=0.0001 left_pitch=0.0 left_roll=0.0005 left_gripper=0.9996 right_x=0.2962 right_y=0.0013 right_z=0.1821 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.9761, 9.3333, 1.8144, -0.0024, 0.1783, -0.0611, -0.7863, -1.6342, 9.853, 1.7802, -0.105, -0.0269, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstCeRn46eBQJcBZ_l6tAnHuaI0p-7OAMqKqTHcSJ7syK9FM6h1OWggBsogSlS3YDPGKVuySOkwu2yOPN8Knz8dmIQXwPdsrGs9px5DITfi1w48WVTlABxrDwVrZNpps7Yyzm5_eRMRHQ3S0I9CNzSsiMZDSAnq4fLvqnn-x57H_nHjENyViDqpPyeK-uQpj08q_UKN8V-Fmg5_rBupVILX7IRJaAeGbALMEh2wYrt0PQXN045lAbcHbHWerkonsOtZQc87S23vItlcVORU4J-KnssmAVQeheHRof6TGvKM4odApzGzSD2WFCQunPYG5m6L1wUekQSd0VFSb6WLemXgGMIdXxq2izTOL9q4ADSCSRDfXgjPV7yQ7cgAh_0fFd0KrfowcY1LPT9-dsNzGrw8pS1m6Lq5ldkV9z5GSSxesrcZdylc9qk7xHECoDdmIgSBKnVt58kT8iu3eqb49vPa9s4GdmLwstz7tRyM9FXwJJ-rEpf-nWGBN-kDdsnFi8VMUBaSDnfgkdrb9xU6FS8ALPMT6owQU7RZCERxYCnDB465tAmIfzlYh38rLCvQtwiWtJ-a1icehtHnUm8Rq4nr2qrk3EsqcdXEi1UXkLEAO9E-CH4qajreMl41rY4YuBnzPECKjCVNnmcgoKmZkFRJUVru4Wr0ffIwUFKePdH6_rrOPUmcRfPEQ6VGqBwNr6L4D3wUeZxxhdw9RrHMKgmTwUYRBleor3Z9PhutlBkaDi2Aik6oXiVLrQllEOilOOO0mzrWHRP5ZPseLRfqtVery40BDZqK-MFsDPxWE7pgct8xi2hbNbJnXxGIsxi_OjNtqGjE_FnpG-pRsQpb_Fdkc9njr692mEbAHichsdAz67DnQaXRjqrUbmv85Vl6DH7BoV44FPvpBGZ3HEgqFGGKJxkk8_QxAU7drZejwk5KMDwS_Z_rLC1F2Ksv94NjWh6NRJS_d6DpoUjTAWkPcnL2TSUtWyN28QThJ7WLSDabiUwnZqmCs4QEPS0miEjwVA6NIz3WXdj-PvcpAGYa3VZZyFQWaggDQ_l_KGT4kjB5XfZpBTtwMcPQyT790Dg7ptAH40B61BD3IzvCX9wnRN4LwLOAn1Fu0a1Tz5yrA_bCn_Sii1RlgPj5HuyRJ6rtsm_BsNoWNesg3s1OvU6elppYjyLiBOMawhPOIs9WMhAAivZvIJTG-V6V7nOW9gKjRECiFsrZufIbQ3qC4mLPp7ToK2RvZZeC4Vbq_XGoF9YH9FbKLcj_ate_pnfPNIrOT_NBc_xmBhLlVq-cCtO6kJ-x78GQ==",
  "id": "rs_0b017203ed221803016ab2d09b283487d0bbc7f2e18f91a711",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.18,\"right_z\":-0.005},\"note\":\"The blue pen lies almost on the jaw centreline in the wrist view. I’m lowering the open fingers to table level, with a small sideways correction.\"}",
  "call_id": "call_2fUlLwGR9Bqpavpne55LhE9V",
  "id": "fc_0b017203ed221803016ab2d09c975487d09295a248209cd7e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2fUlLwGR9Bqpavpne55LhE9V",
  "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]: [-0.0189, 0.807, 0.6151, -0.3805, -0.0223, -0.0376, 0.9995, 0.6632, 1.882, 0.6456, 0.5823, 0.5156, 0.379, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1814 left_yaw=0.005 left_pitch=-0.0068 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3789 right_y=0.1901 right_z=0.0156 right_yaw=0.0299 right_pitch=0.0079 right_roll=0.022 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -0.8957, 7.1179, 1.7363, -0.0415, -0.0317, -0.0122, -0.8, -5.4359, 3.0291, 1.1697, 0.1148, -0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4787421435055e401a549b21983e368f21a912da52d21a0b9f396d25202cd05a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:393ed0ee2a034701b02d86f13ad6db690106c512bf5ba706785bedd0c07cdd3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a00a2bdf3ab9be388e3d2c34c51d9587f5678ee64297c2f130790a0219ace42",
      "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]: [-0.0189, 0.8051, 0.6151, -0.3805, -0.0223, -0.0341, 0.9995, 0.6945, 1.5486, 0.799, 0.0128, 0.5442, 0.3977, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1819 left_yaw=0.0032 left_pitch=-0.0049 left_roll=-0.0036 left_gripper=0.9995 right_x=0.3623 right_y=0.1874 right_z=0.1044 right_yaw=0.0279 right_pitch=-0.0468 right_roll=-0.0271 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.5248, 7.4051, 1.6972, -0.0806, 0.0366, -0.0171, 0.1983, -6.7761, 8.5812, 1.6825, 0.4078, 0.1587, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips have reached the table beside the blue pen. I’m closing the jaws to grip it.\"}",
  "call_id": "call_vzQDtGUGNGiSKUkNOogg7dae",
  "id": "fc_0b017203ed221803016ab2d0a2b3a887d08009b13ea1be2872",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vzQDtGUGNGiSKUkNOogg7dae",
  "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]: [-0.0189, 0.807, 0.6151, -0.3801, -0.0219, -0.038, 0.9995, 0.6636, 1.8866, 0.6418, 0.5995, 0.5125, 0.3752, 0.111]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1815 left_yaw=0.0049 left_pitch=-0.0065 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3792 right_y=0.1911 right_z=0.0155 right_yaw=0.0347 right_pitch=0.014 right_roll=0.0255 right_gripper=0.111\nstate[joint_eff]: [-0.0342, -1.347, 7.0359, 1.746, -0.0562, -0.0562, -0.0122, -0.253, -8.4171, 4.7658, 1.3993, 0.1148, 0.0171, 0.8474]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72b6ff96e40ba6cb189f9d5b87ca1de83309d62461b8f1220f3cf8aebd13e540",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9fae4e637b439b9775d914e4040e59c58f617cc793723b7eddbcee3971997bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:536ce275add4ad36a4364f42ebd394652f3450f3ec4d783d8855906f5784be28",
      "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]: [-0.0189, 0.807, 0.6151, -0.3805, -0.0223, -0.0376, 0.9995, 0.6632, 1.882, 0.6456, 0.5823, 0.5156, 0.379, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1814 left_yaw=0.005 left_pitch=-0.0068 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3789 right_y=0.1901 right_z=0.0156 right_yaw=0.0299 right_pitch=0.0079 right_roll=0.022 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -0.8957, 7.1179, 1.7363, -0.0415, -0.0317, -0.0122, -0.8, -5.4359, 3.0291, 1.1697, 0.1148, -0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The closed jaw spacing is about one centimetre, consistent with holding the pen. I’m lifting it a short distance to verify the grasp.\"}",
  "call_id": "call_xgpT8FF9iG6Ou6qIyaHsu0QS",
  "id": "fc_0b017203ed221803016ab2d0a6fcd887d09c8fa78d76954914",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xgpT8FF9iG6Ou6qIyaHsu0QS",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.6636, 1.6474, 0.7216, 0.2649, 0.5037, 0.374, 0.1132]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1803 left_yaw=0.0049 left_pitch=-0.0106 left_roll=-0.0068 left_gripper=0.9995 right_x=0.3757 right_y=0.19 right_z=0.0777 right_yaw=0.0423 right_pitch=-0.0018 right_roll=0.0197 right_gripper=0.1132\nstate[joint_eff]: [-0.0342, -1.4838, 7.0632, 1.707, -0.0171, -0.0415, -0.0122, -0.1983, -8.2803, 8.0342, 1.4921, 0.2564, -0.0415, 0.6276]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0f16fe8905d4582bb8eb5f7b7fe49e3e01249f73fca0aecf964e393032882af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a355d12d2ae1e3fe66d61d31ad762fbcb631bb388452966414259ecefc516259",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59d85d8d0f527062ae56a7f82fa1c295466826a2a28b74311df3f38ec56b908e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 13 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.807, 0.6151, -0.3801, -0.0219, -0.038, 0.9995, 0.6636, 1.8866, 0.6418, 0.5995, 0.5125, 0.3752, 0.111]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1815 left_yaw=0.0049 left_pitch=-0.0065 left_roll=-0.0069 left_gripper=0.9995 right_x=0.3792 right_y=0.1911 right_z=0.0155 right_yaw=0.0347 right_pitch=0.014 right_roll=0.0255 right_gripper=0.111\nstate[joint_eff]: [-0.0342, -1.347, 7.0359, 1.746, -0.0562, -0.0562, -0.0122, -0.253, -8.4171, 4.7658, 1.3993, 0.1148, 0.0171, 0.8474]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstCxh-TB8lEJkVc7IWwsrQkN4fTaniHeBUpzLzQwTxly0jOWWYHdEsIgTC_C8VHEQohPOSdK3E2MBeMPpaN5sO3UYcq1ZKU5vQfBXAvaD52mh_gLlDGjFwlFT5wW2Kr8FzmxXPBZMQCmRFgY5Z89QPP8bmZDzYRF_1dbh58wUfTHNIHCnNIev1Q3-E7Rg5gHuSFN6m36al7Hl7PA6DW9YHmw3mDPqwXJyogEtkzOS8PnhIs-LbMN9dahF5cUSMu_48SZ7xiGD4zGShPjdLr32-BOlRcCEu2fiPdSP0rte6ySnpsS0Wqsn23HyhYL3c6BqQle7tE5buj4-bryCxZqGn3DhzbdyKBTbymWYTGihKvKRMemTl9FSn-7a6P-X67iKCHlQgFfU7ENJfv7qC4qFqzNy7fXEDuXtTZ0SbS9Sz2YSfRIULkCN1TEi3zxNpsgQTQ0JohGfjfnWlGnhNVwO_G72JuuNZAS8XWMdyd7EStFfAnit62UOKR24DtK-7EDsUmHRVc3YaqZOCN5TbrJrqPeaUvbeFHr3kDLBI7Jz7ERymrlMulisKRPCKmr2KLzKIONiodJNA6piSSevTU2waW8zd-S6kR099TLVx8Rq7zanAA7HDaoW7Dil-29i2cbg_AVkccDf37PTcYmgwJaKXglwcflSEMOQW7JDbYV7y94Tbu8g0B94xcK2xKMEWLbLoQlKu6Vr3DA_Jo0MuvTSuXqnaLtdLdIDA-wQzBeYzxPTRJHB4eK8gzLCu6zmRcElZPZpqCm2CoHmIzTkm0H-WLBZjLQtinjIKSrLCSHCrex4o3mwBeJktDdxUFSiMaU9AM5JwM_uFMlo6OCGkVpRAxjfPeMRoT0egEJYVx22JuJYLmmt3WCkw-2vb1cwMGWuGc9Nc1EQy4qSGDOgCyLLhDIZny80iUqmYJLVYBnoP0KAST2R6oy4eIi5HQlMYhKl2zTd_I4VmxfLCMK9-J7r_t8eQQMA9ULO8dyDalVOcJHGt-z50DEpRyBqfA6i_BdvlqqqdRtMpfJt9kGWXKItIUs5Z6Dsjfq0klLg1NxjYI0x5uZsAkFOx9FJhs7fnwVv824Q45DG53tyv_YMxVo8561BtrvyUtGzUew-A4bzHWSTpM82EKo5w9bSqUFMPHUYMhtLA5SDFTjKYDvcV3ka0qmqZ-IXcIiY0AQb4euMZdWBwkoAqz7zGXR3njkHSy8R12pjqq1OpNV9uSW8GbRMyV0nInIUr-Iv64S6ClN90EHB7xjw_XG_wQ7shYaUV4hK3afDdZly8hIN9Wxvn3B8bW1OC0CGzQLKUkuHGKszEDuEsRr2dSchYDF2VKwjSBjCp7poUUse5yRC491lBFHW9W-uZpbdNAh2C_hNk-ZyeRsinVBRKi3jmYWYOGHY07d0nIRO6qMfi5s4KD2TIjHVPmZQilO_Z0bqRtS-iX79rndpqmpfr13QTPcfqSeCj3c5CSyMyUKUZW55b7jzZ1Fu7Py3zXXDx_BO3Br5or29UHh-uM__0YNFOjW1nccSwJhoEk5",
  "id": "rs_0b017203ed221803016ab2d0ac341487d086ffc97ba1769f9b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.56,\"right_y\":0.18,\"right_z\":0.21},\"note\":\"The blue pen has lifted off the table with the gripper. I’m carrying it forward and upward over the right basket.\"}",
  "call_id": "call_E21nUzwwrpu1tPxIznyCDyed",
  "id": "fc_0b017203ed221803016ab2d0af847887d0a1f1de776fea6489",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_E21nUzwwrpu1tPxIznyCDyed",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8127, 0.6147, -0.3801, -0.0223, -0.038, 0.9995, 0.3923, 2.0216, 1.7271, -0.3328, 0.2752, 0.1978, 0.1157]\nstate[eef_state]: left_x=0.2973 left_y=0.0019 left_z=0.1797 left_yaw=0.0052 left_pitch=-0.0125 left_roll=-0.0066 left_gripper=0.9995 right_x=0.5542 right_y=0.1813 right_z=0.1952 right_yaw=0.0513 right_pitch=-0.0345 right_roll=0.0096 right_gripper=0.1157\nstate[joint_eff]: [-0.1436, -1.4974, 7.2547, 1.746, -0.0659, -0.0513, -0.0122, -0.5265, -11.4256, 9.6889, 1.663, 0.1197, -0.0171, 0.2466]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2569e0df3ee3057f51fa3ae5fa03d1707c79b3deb558724e071f9c76083f5c0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b14e4c67e66bf4cb16673d49297284adeacd13c6fc4451b97e6b2befdeb72690",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d682bd9732c4bad9ee628c68db24abc9aa5b7f8ebba9c632433148ec4b383b5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 16 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.6636, 1.6474, 0.7216, 0.2649, 0.5037, 0.374, 0.1132]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1803 left_yaw=0.0049 left_pitch=-0.0106 left_roll=-0.0068 left_gripper=0.9995 right_x=0.3757 right_y=0.19 right_z=0.0777 right_yaw=0.0423 right_pitch=-0.0018 right_roll=0.0197 right_gripper=0.1132\nstate[joint_eff]: [-0.0342, -1.4838, 7.0632, 1.707, -0.0171, -0.0415, -0.0122, -0.1983, -8.2803, 8.0342, 1.4921, 0.2564, -0.0415, 0.6276]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pen is positioned above the interior of the right basket. I’m opening the jaws to drop it inside.\"}",
  "call_id": "call_m1w846PxIZ24nXU6yRdFNfow",
  "id": "fc_0b017203ed221803016ab2d0bb3ea087d0a1db3ca42311e5a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_m1w846PxIZ24nXU6yRdFNfow",
  "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]: [-0.0189, 0.8127, 0.6147, -0.3805, -0.0219, -0.038, 0.9995, 0.3923, 2.0216, 1.726, -0.3328, 0.2749, 0.194, 0.9961]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1796 left_yaw=0.0049 left_pitch=-0.0129 left_roll=-0.0068 left_gripper=0.9995 right_x=0.554 right_y=0.1812 right_z=0.1946 right_yaw=0.0536 right_pitch=-0.0356 right_roll=0.0063 right_gripper=0.9961\nstate[joint_eff]: [-0.1299, -1.347, 7.0496, 1.707, -0.0611, -0.0659, -0.0073, -0.3214, -11.7538, 7.1179, 1.6435, 0.0952, -0.0513, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ffca7518c1dc9b12677312addca22f4810b9c867f772a7ab5d91ccbd694e3a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:547657b07f93faa8aefe1600a03c877fcc1f2110cbf7ac1a60260f00cb8173cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e046cdfa458be8b93e53a784c65611aa035f80c8c84b5197b7df7d39d6eb8edb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8127, 0.6147, -0.3801, -0.0223, -0.038, 0.9995, 0.3923, 2.0216, 1.7271, -0.3328, 0.2752, 0.1978, 0.1157]\nstate[eef_state]: left_x=0.2973 left_y=0.0019 left_z=0.1797 left_yaw=0.0052 left_pitch=-0.0125 left_roll=-0.0066 left_gripper=0.9995 right_x=0.5542 right_y=0.1813 right_z=0.1952 right_yaw=0.0513 right_pitch=-0.0345 right_roll=0.0096 right_gripper=0.1157\nstate[joint_eff]: [-0.1436, -1.4974, 7.2547, 1.746, -0.0659, -0.0513, -0.0122, -0.5265, -11.4256, 9.6889, 1.663, 0.1197, -0.0171, 0.2466]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstDDz0zrIMZbR9EAxb4VjFrwOPbbxD7KUeaTyXVfGvJjWKcw1qz-AjYxMXmfUx4C5HMy76BFnh5xmOx-XoExOZhX9Knb6yUtIyzhmECobg0Tnn-LeTKa-q-HfN2Q_x3v6Sd1NpcBkcTZWH1aLkicVGulchjhaLhkgukGxo8kcnYBpjZYBnqFc9-FzFlecIzJl-3kEox1djOquayOxDPhxQ2YfDyIxzeR2lz0Il4L4vDFG5F2zjJtK-TZziSs7VHTD6nO6KlgyNex03dcNnCqBsybfwvgokDzkPQbSOzHPktLqAI5mi8vOlfQWI0iRRUYpzI0dhM3BU47aSVPJ_C2OnvShM8NM-xYgo4GZLKuxj0YxsBk0At_rVCBIVKTEcm1ZiSru2vYif0QanWxknNY9QYAzz7hlwSJduG2iMw2gQJKVdYa65WEBThKVp4eJ4SKKfOeqMPcA9KdT1r-HPX8rET3c-ZX2F93SjjgEQ4F2hjRkQNtO7Ikycdb9il75NnXWLpFp06sMZjPwyFDChm6uMnDgNwtJYBArf4Vyv75e0ulFo8Cvy_No7zMtgRbJRjPJJgum8jdabw1zQcXkuDCE59TvxXXHIrH9zQbLwycozDAS6fFepoSeVh5jCWV_wPU8EI6UckOiwSiKAh72OKYK4PiXK965-ZxShdtLSsTFcXbghFZAdvK4_RXj32VEqQopJceWOCigJ74Emno8qS7kbiMsEOWle8qhpRAveydAS3pA1pY-KTTwdjcmXC_eR3hWaklgSGRRb7Avnw_lCxta2Sr5lpi8IaqtLPgaBujoLlZzgzH1Shpsc8-F33qTpJCd47rNuN20XTXX6Mwf9fWbiIuKo7evWUZl7jlGCoiL4HbePlVzwDn_gOwAP_KJYm-qFYxOPWIjYNpOT0KK5seNzr68u0oKQkUZ-7oMwlMkHwegXFptCtem2mKAA22Y-4YSC5Rut1dahPwgp1kw-hUj2wZzhSRmg5rZZE-PV2AszxP72AkTrxhKkwj8EBWJI2oSjku9OVRh_bYlX65ws7yduENJUb33qz5ojEVrE_lLILn3qthv-6cPxlJfrk46k6H7oS-5Rzcc22EzPFIqD8H5VQhuvfrnlHr5BrDo3BZZo3yB9LP1YFRmhg4weJTlZ_OaBnW6pBW2yvS1nwSTpl8J7fdjQA_f9MqeB21qu00zK15RTINizNgbHh3GDRQF0Yu-r36YvnxVdpsbM2vtap_0IjpOsyXRfmgd6HiYaJcBjB-XT7jZMXIY-tyA6OqHWf6wnDHIYtbpRbnAKasefqvyVU8IorzTJjnLCjTf_vVoeQuzlcoXkccQns2tdJT_eOU3ClTPFT6sYb4EtBFqMPJUobDVWwHWGErMi0BpstW-pC7WTCZL3raTKzquVdBPQkfLloCY0ma7wg-FiS1UNkiQ3sX8xCrmEX7ltZ47cnu-EAcOo3nMxqR8dM2Hu9EqVp2W0TWDNTM4LBgmN7iNhwMZW8aPZqlG4hMbw8PsvdtC3dgy9tlKNl6HGSIaxAoPLCEqR9W",
  "id": "rs_0b017203ed221803016ab2d0bf3d7087d0bf532a727e1f645e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.085,\"right_z\":0.09},\"note\":\"The blue pen is visible inside the right basket. I’m moving back toward the white-and-black pen on the right side of the table.\"}",
  "call_id": "call_LXLxxxvqSd9pY0HxfDzHNre8",
  "id": "fc_0b017203ed221803016ab2d0c251e087d0a877fba202be0728",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LXLxxxvqSd9pY0HxfDzHNre8",
  "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]: [-0.0189, 0.8177, 0.6128, -0.3801, -0.0219, -0.038, 0.9995, 0.3813, 1.2301, 0.45, 0.128, 0.2565, 0.1864, 0.9969]\nstate[eef_state]: left_x=0.2974 left_y=0.0018 left_z=0.1775 left_yaw=0.0049 left_pitch=-0.0194 left_roll=-0.0066 left_gripper=0.9995 right_x=0.3307 right_y=0.0882 right_z=0.0851 right_yaw=0.0615 right_pitch=-0.0615 right_roll=0.0027 right_gripper=0.9969\nstate[joint_eff]: [-0.0342, -1.2786, 7.2821, 1.7851, -0.0269, -0.0122, -0.0122, -0.5949, -4.0684, 6.9675, 1.8974, 0.1587, -0.0904, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:568c7b9496aebdd5c224ad8756ef6ec4cdb7f297771346de70a98d65b9e3f9ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf555136327ba2f626cf654489e8127183155326bbd6b50026f69bcc9cd83e0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da6cfcd31113f844a36aea2a7c188cb22cab51dc629b16c9d27ec6e6acea3b35",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 23 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]: [-0.0189, 0.8127, 0.6147, -0.3805, -0.0219, -0.038, 0.9995, 0.3923, 2.0216, 1.726, -0.3328, 0.2749, 0.194, 0.9961]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1796 left_yaw=0.0049 left_pitch=-0.0129 left_roll=-0.0068 left_gripper=0.9995 right_x=0.554 right_y=0.1812 right_z=0.1946 right_yaw=0.0536 right_pitch=-0.0356 right_roll=0.0063 right_gripper=0.9961\nstate[joint_eff]: [-0.1299, -1.347, 7.0496, 1.707, -0.0611, -0.0659, -0.0073, -0.3214, -11.7538, 7.1179, 1.6435, 0.0952, -0.0513, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstDRPN8QpJXnyKzTWhP1omKfij-8uJp9iWT80XM_1c91cj_4hbncNYbGnWOP_fMgNkQ4bbAhMV83-MazRQS7cGZ9K7ILRMj6pmTgkNuJHy6en_VRUKSWDxqiTgX9r31GCAnrrjxj_-0NKFaS1-oqI3mA3lRglDUCgU61q-RgaLvvjpfPDu2fM3sBmnkw938TYt_LdHY89SDaGLPBFm3fh8Kiy7vYxEWUeMJ9-7fSUYYMnDHJEYEMYn31nVnMuSbz7fk-Q5qKtDGN-6sxrPiRXjgPbkb2p4WbR9B9t07-pcgC7eqsUo4R8cH4jipR4QSxUHCGIYwRPV_opXR1Am7ZUx1bIFzfaUy26gmA_ewW7xbYh2zaAHQxGRw8VhyAu6L8900-L8FE1QTUag5vQ2aaKsDyFphd3EFHtNaZC1a0tsTe5z6CFhzD_Ylp0wJcnsYxgU_KLwdM83yop0xlHYFvEWG8TYbE0ED7Ow-mmM_ZXvIzNV4ab4s1RALOicGIzoMzclSff5q0WP6ndiYGWGTnVn_TJBNeSjzF-b6LYpt8M-qv2HFKLcGwUhlLfJFv8gv2lA1h-eLcSkQKOmJpb0V8om5JgkxOw9OfMRCjabnGI4dYud-szQjwZGnaBQnl2-cOAUpEr8g_dYkkoSzgcc9XM5BPdwcBeveoPtG4j_4czR1dslj7bzKiBxaWCVUmBKW5nFb0oKcwHBctBQiYj-hlv3l_01kdSaQnH7K8SAb75XIeUOXUXvbxROihL8N9A2LgejudNQ3tiQxPFivBV0p7WZLNpcIv2KmZd0Qbi69vaL1l_MF0lMDpurk8n5piIi2d3ur41B0BQ1FOrm8IxWZNlOm4cOp_kcK-Z7DoYQkuNVY5xKIumtZ2WnSZcUWr4P_5qec5mkbK2tbvdY6hwN83M4b862n_FnyjMEmMxRZeb4yMQItVzhTIlx5tbJ8hkxpM3WZKFdi2k33_RkCer8hksNThZeiblRqpZ7kmwd3kim7221Ip2lNm509YODnj_wjyIcixmDwW3xT6oLDtU2rYgQiY4jzxE3DM61CtqyGr6bry93iy1gVgbmk_mUp0zA18qxFdcK039SRufETKeTvQB0rru2m7oKndArOwmUUUA53EVe1uFLTRujvuvh7GfJslVw9X8RNAF7gFADWH3pEo0AhGNPPc6LXW2CmLnd9IcJdTq9DR2dm37I8GFMVBfi6bWefuLSgWa2we6ny1rTTbMMdicB_hxMiduZ_txXw_2XYWboX1a5IZW__H4fipX6WrPS65tPfKVdmctZP1IDRnufNx03K0dJIKGv6fG4D6C13Z6tQ=",
  "id": "rs_0b017203ed221803016ab2d0cdc1f087d08b864abbf76175a1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.064,\"right_z\":-0.008},\"note\":\"The white-and-black pen is slightly right of the jaw centreline. I’m correcting sideways and lowering the jaws around its middle.\"}",
  "call_id": "call_L4I0mxbVJGKhm6MvRr1OtQtt",
  "id": "fc_0b017203ed221803016ab2d0cf231c87d0a97cdd5ad877060a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_L4I0mxbVJGKhm6MvRr1OtQtt",
  "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]: [-0.0189, 0.8238, 0.6113, -0.3801, -0.0219, -0.038, 0.9995, 0.2554, 1.7035, 0.3077, 0.8368, 0.1425, 0.1265, 0.9969]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1751 left_yaw=0.0049 left_pitch=-0.027 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3581 right_y=0.0713 right_z=0.0131 right_yaw=0.0638 right_pitch=0.0127 right_roll=0.0393 right_gripper=0.9969\nstate[joint_eff]: [-0.0615, -1.4564, 7.3641, 1.7314, -0.0464, -0.0464, -0.0122, -0.7863, -3.453, 2.5094, 1.0232, 0.0855, -0.2369, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9137503ccc703d7a9488b9c0eb3e40ed540c68eb7cf90ba53a490651a7dd278",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78263906bc70cdec41c135b04294d769461caf0970f4f187f3578eef51dea4bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1bace038960883d03d3c171c4f3b312a6f9180c1353d8954400e926da36fabd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 27 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]: [-0.0189, 0.8177, 0.6128, -0.3801, -0.0219, -0.038, 0.9995, 0.3813, 1.2301, 0.45, 0.128, 0.2565, 0.1864, 0.9969]\nstate[eef_state]: left_x=0.2974 left_y=0.0018 left_z=0.1775 left_yaw=0.0049 left_pitch=-0.0194 left_roll=-0.0066 left_gripper=0.9995 right_x=0.3307 right_y=0.0882 right_z=0.0851 right_yaw=0.0615 right_pitch=-0.0615 right_roll=0.0027 right_gripper=0.9969\nstate[joint_eff]: [-0.0342, -1.2786, 7.2821, 1.7851, -0.0269, -0.0122, -0.0122, -0.5949, -4.0684, 6.9675, 1.8974, 0.1587, -0.0904, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pen is between the lowered fingers. I’m closing the gripper around its barrel.\"}",
  "call_id": "call_9gMBiexJoeYXdN3ivO44n37r",
  "id": "fc_0b017203ed221803016ab2d0d638e487d0bb5e7f5bb58f437e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9gMBiexJoeYXdN3ivO44n37r",
  "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]: [-0.0189, 0.8238, 0.6113, -0.3801, -0.0219, -0.038, 0.9995, 0.2539, 1.7039, 0.308, 0.8463, 0.1368, 0.1226, 0.1572]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1751 left_yaw=0.0049 left_pitch=-0.027 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3593 right_y=0.0721 right_z=0.015 right_yaw=0.0691 right_pitch=0.0216 right_roll=0.0408 right_gripper=0.1572\nstate[joint_eff]: [-0.3624, -1.4291, 7.2547, 1.7265, -0.0562, -0.0464, -0.0122, 0.0342, -5.8325, 3.9863, 1.663, 0.0317, -0.0073, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10aa87eb6d5b0665ccf8e65b1004a0fae10e17fa7353fc00d2b5bbd1dc8e0f63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c3f19db0289e1fcd4b7fefdbfebdee85db4d32561ac0244ea793a2cf872457e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c25a6dc0df3d4fc253ad0270e8dd30f723f3fdcfced1a1436ff1796865af40",
      "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]: [-0.0189, 0.8238, 0.6113, -0.3801, -0.0219, -0.038, 0.9995, 0.2554, 1.7035, 0.3077, 0.8368, 0.1425, 0.1265, 0.9969]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1751 left_yaw=0.0049 left_pitch=-0.027 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3581 right_y=0.0713 right_z=0.0131 right_yaw=0.0638 right_pitch=0.0127 right_roll=0.0393 right_gripper=0.9969\nstate[joint_eff]: [-0.0615, -1.4564, 7.3641, 1.7314, -0.0464, -0.0464, -0.0122, -0.7863, -3.453, 2.5094, 1.0232, 0.0855, -0.2369, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The jaw spacing indicates a grasp on the thicker pen. I’m lifting vertically before moving toward the basket.\"}",
  "call_id": "call_StxdZMs7aciIHQH17c5ajtKb",
  "id": "fc_0b017203ed221803016ab2d0db9f5487d0a85496046c27c98c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_StxdZMs7aciIHQH17c5ajtKb",
  "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]: [-0.0189, 0.8288, 0.6106, -0.3805, -0.0219, -0.038, 0.9995, 0.2539, 1.1587, 0.6556, -0.0711, 0.1272, 0.1184, 0.1628]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1733 left_yaw=0.0049 left_pitch=-0.0331 left_roll=-0.0063 left_gripper=0.9995 right_x=0.357 right_y=0.0732 right_z=0.1552 right_yaw=0.0794 right_pitch=-0.0036 right_roll=0.0378 right_gripper=0.1628\nstate[joint_eff]: [0.0068, -1.2786, 7.1179, 1.7656, -0.0464, -0.0757, -0.0122, -0.3487, -4.7795, 9.5658, 1.5653, 0.0611, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0541f8b3bf8a518468b3dc4c8e1a63807048ec965077b47b4f86f56c340c0c9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66d205cf946653fefd3c7d341883717b542c77af095be82fa039199784b7b7d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cccca3a0cdf622606f943255af435ed5963c006bef4584bc9b25a9a48ed5da72",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8238, 0.6113, -0.3801, -0.0219, -0.038, 0.9995, 0.2539, 1.7039, 0.308, 0.8463, 0.1368, 0.1226, 0.1572]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1751 left_yaw=0.0049 left_pitch=-0.027 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3593 right_y=0.0721 right_z=0.015 right_yaw=0.0691 right_pitch=0.0216 right_roll=0.0408 right_gripper=0.1572\nstate[joint_eff]: [-0.3624, -1.4291, 7.2547, 1.7265, -0.0562, -0.0464, -0.0122, 0.0342, -5.8325, 3.9863, 1.663, 0.0317, -0.0073, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.18,\"right_z\":0.21},\"note\":\"The white-and-black pen has cleared the table with the gripper. I’m carrying it over the right basket with the blue pen.\"}",
  "call_id": "call_bAuoJ1GO0CPnylBRbI8TbE08",
  "id": "fc_0b017203ed221803016ab2d0e2eccc87d082ac5e9ca1fb4841",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bAuoJ1GO0CPnylBRbI8TbE08",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8318, 0.6094, -0.3805, -0.0219, -0.0383, 0.9995, 0.374, 1.9587, 1.6318, -0.2764, 0.2134, 0.165, 0.1657]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1719 left_yaw=0.0051 left_pitch=-0.0373 left_roll=-0.0065 left_gripper=0.9995 right_x=0.544 right_y=0.1772 right_z=0.197 right_yaw=0.1022 right_pitch=-0.022 right_roll=0.0237 right_gripper=0.1657\nstate[joint_eff]: [-0.0889, -1.6479, 7.1179, 1.6777, -0.0513, -0.0757, -0.0073, 0.212, -11.3162, 9.1556, 1.4725, 0.232, 0.2271, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f657ce369de245c173005ebb98165c3ecaa1946dbfc72e1795e0e63d3ff5093c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1903b8406c4a4d361f44442501ffcf3117c15cc1e046e4f6bea7a5d50f2447b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15b81cecfda81943da3ca5706520d4ed7212f5c9c514a64e9757c8520e803bf0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 37 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8288, 0.6106, -0.3805, -0.0219, -0.038, 0.9995, 0.2539, 1.1587, 0.6556, -0.0711, 0.1272, 0.1184, 0.1628]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1733 left_yaw=0.0049 left_pitch=-0.0331 left_roll=-0.0063 left_gripper=0.9995 right_x=0.357 right_y=0.0732 right_z=0.1552 right_yaw=0.0794 right_pitch=-0.0036 right_roll=0.0378 right_gripper=0.1628\nstate[joint_eff]: [0.0068, -1.2786, 7.1179, 1.7656, -0.0464, -0.0757, -0.0122, -0.3487, -4.7795, 9.5658, 1.5653, 0.0611, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The second pen is above the right basket opening. I’m releasing it into the pen basket.\"}",
  "call_id": "call_Xw23YTWXMTvodxsx9epHJtn7",
  "id": "fc_0b017203ed221803016ab2d0ecaf9487d096ea1f0be448171c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Xw23YTWXMTvodxsx9epHJtn7",
  "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]: [-0.0189, 0.8322, 0.6094, -0.3805, -0.0219, -0.038, 0.9995, 0.3779, 1.9766, 1.6333, -0.2943, 0.2085, 0.157, 0.9957]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1718 left_yaw=0.0049 left_pitch=-0.0377 left_roll=-0.0062 left_gripper=0.9995 right_x=0.5423 right_y=0.1798 right_z=0.1841 right_yaw=0.1141 right_pitch=-0.0558 right_roll=0.0108 right_gripper=0.9957\nstate[joint_eff]: [-0.1709, -1.347, 7.0359, 1.6777, -0.0366, -0.0562, -0.0122, -0.4718, -12.7932, 6.8718, 1.8388, 0.0952, 0.0073, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78141fb3812fc49801bd37ee1bfc3b470875dd29e85cc5fc719f8d68aa594e93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c3cbfa34788b5b5a377966adf1907feacbb6c990b33ffc77dd2272741b86a52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0877c476131a74d81556e0890af3e34648f6b43911bce3675219137ee6ecf1e2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8318, 0.6094, -0.3805, -0.0219, -0.0383, 0.9995, 0.374, 1.9587, 1.6318, -0.2764, 0.2134, 0.165, 0.1657]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1719 left_yaw=0.0051 left_pitch=-0.0373 left_roll=-0.0065 left_gripper=0.9995 right_x=0.544 right_y=0.1772 right_z=0.197 right_yaw=0.1022 right_pitch=-0.022 right_roll=0.0237 right_gripper=0.1657\nstate[joint_eff]: [-0.0889, -1.6479, 7.1179, 1.6777, -0.0513, -0.0757, -0.0073, 0.212, -11.3162, 9.1556, 1.4725, 0.232, 0.2271, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstD33pEqAoDqU2H4bZPkAa8pi5X3YKaDCTG_deJS11yfyFCgzFoKGZQiqzdGoQ3HSC4OaV4ASxpXTQbmgUSeFIxZE_5i42WrtPB_olFnC_tt2H0QKRU01ZDGfg5O5VVLydCZ2GRLD1BIE706ljXgvQ9WNC4I41A-9YhM1b67mfr0_JRUbrzGqp-KjnrEx1yhavgW8ofM6tp-5yYqXugqapzdkCFJ7gtLoYEe9Yhqo3GXKJ3phYPza_6Ye7mfbu7maDZFhliH2MGGke8fLqIX0fTEpfSb03kAFqjDBQI5yEl-9-gsiwPmOg6rvPKXlWP3XD5pkvOw6djJxhqT9C4fLraxOwsx-hqAp-wQ00TEtTmNr4Rs--hJqLA9z2SftDqHCeOy42bL7V8HS0ZvABa_m-G82IpkpXLI4EyYtRWlIApNXvCenV703zjUOLT7Rm0VM4oelZi2L4lgcPcaMv27JZuCGWMBePELnFZ8ttgi8AlK36Tt03110ZsZcsWV8RfbP6672_8Dlg0qsXtH0mUKrtI6WVOXyAMbapup_hC845VkCzvbo90yJD7llIpldkBsFtV5n4QkHHuoyKeH2haD9ivnnF9tBNsTcD-IO8Rm2UhgjMH3DAWmqzL3BNh71_Rd-WmpJ9jiaeKTgDeE-FUtcJBZUNR6AN1cFmUmGT0K2mNG1bjH-__z8RPJtB2GxdTiv8NXZrnjJnlCxgQg3dfKzXDf_W1c86rUcqdFXgm3hRz13MvL3LlYkKhBedVu8KoSENXQZypBcPIkDKhDggeSLX26ZByk3V0GxoXFAJdJZUnloE5fICg6hsulxjCZMV67UXqd-i-9w52wmpfyJmAGz_dFc_B9ttAFyhYtyroFx_IQez6eb2bLBHcFL7pGWemErqVCYcxzJvVpGuFkw47iBDReMBclEfRUkhbAVk4nS_xfAKlHiibizZa2xCRhjxA7iQErwvxaOUImOhCDT4UhH3huEIu4LimDjJAGuTKbj1JkhhC1tCCl73T6QzQMHgOhYrm5E3gTDObBESgInvKOOjYswz5PoQ0WCYWIFwdh9-8Qpg5RfUYOx-TYzPiAkKslKT4x0snbUu-J8LktANWIzxoa6siAVnXh6CDhE42lQMBptbRoxvXZp_rnZWE09YBBIq5_tAdG2YpV4ndPCzK7QPIuxnnONB8iDRwa-tLNSiSVGk_yrRUhjFIsqaUsCl8CrVstDO0XSc-mcLIu-_mnFAq47yJ9WuE_rLLmqCeS0MqrHgfmwRfoz3asrii6GuPytaxqv046m3HvhUHV2U-k0uSc3Yp2BS0I6ylfSUN2oAIdJB4hrU8XBJmvqwwSqKbe8O3JDbrgWk3TijVHPFQ8b7MD9ogrwNmKZxR_xq36MF25h3pWy0ykJhrVzSurSlgDwOTA",
  "id": "rs_0b017203ed221803016ab2d0f3962887d08b12ae0b147479c6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.19,\"left_x\":0.37,\"left_y\":-0.125,\"left_z\":0.095,\"left_gripper\":1},\"note\":\"Both pens are now in the right basket. I’m parking the right arm and approaching the yellow pen with the left arm.\"}",
  "call_id": "call_JdGP4Kus0SliLSnTTs4HbE9a",
  "id": "fc_0b017203ed221803016ab2d0f5c8e887d0a812b92d84d26434",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JdGP4Kus0SliLSnTTs4HbE9a",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5198, 1.4448, 0.6197, 0.0906, -0.4107, -0.3378, 0.9995, -0.1112, 0.8818, 0.7143, -0.4374, -0.1474, -0.1059, 0.9967]\nstate[eef_state]: left_x=0.3575 left_y=-0.1192 left_z=0.0793 left_yaw=-0.0088 left_pitch=-0.0966 left_roll=0.0183 left_gripper=0.9995 right_x=0.3066 right_y=-0.0045 right_z=0.1951 right_yaw=0.0662 right_pitch=-0.0315 right_roll=0.0031 right_gripper=0.9967\nstate[joint_eff]: [-0.294, -5.9966, 8.212, 1.6777, -0.3297, -0.0317, -0.0611, -0.2803, -1.5658, 6.9812, 1.7753, -0.2662, -0.0122, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1a0010867f392e360388537083b0081568a6bb25906faafdfe15ec06db797a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09d56852502ec0eee9e02d13ca201962993f4baf0e380f644a7ec35bb1212e52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a4903cbf3e567c839c633a27f98f0e6200f00ac3d86e37726347facc74ccfd4",
      "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]: [-0.0189, 0.8322, 0.6094, -0.3805, -0.0219, -0.038, 0.9995, 0.3779, 1.9766, 1.6333, -0.2943, 0.2085, 0.157, 0.9957]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1718 left_yaw=0.0049 left_pitch=-0.0377 left_roll=-0.0062 left_gripper=0.9995 right_x=0.5423 right_y=0.1798 right_z=0.1841 right_yaw=0.1141 right_pitch=-0.0558 right_roll=0.0108 right_gripper=0.9957\nstate[joint_eff]: [-0.1709, -1.347, 7.0359, 1.6777, -0.0366, -0.0562, -0.0122, -0.4718, -12.7932, 6.8718, 1.8388, 0.0952, 0.0073, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstEA9mjdMszxOU5oRziCFuhk4It_c8f5nSxQRgsY-Pspr_GqEUjnvhNBsfdztQspyC41rxm8WOkAjVfe5oBWLfDFvTaXTVM3qlpkSnttlGnV-YF90ymPkOzc9wIl9KVzZrih6KxDtlbj-_TYVAwE9MeXkPIAWx_eaFmUgV1VjAMzwAVIoeeXPydWanEMKP5txXH4QlIKC3tEE0FRxwr2muiVmfDVGqAgpyjilmUeGCQDQpICRfq6rupkfFzlPvtRHiHNiLP9IxCitlmEArS4-Q5LLNNFwtARKuQzG2HBQFpHJ8NuCUlnEuO7EeC_QwjLtLywuedwd5t5HyI8-teTfhOnou1jhIA1esewLJLPVn1W6YkO6BSCMEYSZ7MFZaFEX9446dthacHtYjFum09TR6QO28QLYA84lj4Re6PsOzm0wPaGCtl3yLDqpODh8zxQYmXwJFKGJQ_wkYLy0nOAIIUkMaSpBfjqr8yE_xXIjmLSR-Fi3yEUQaQL50ZI7Tjk8PzkRZU1duPSlTWDAqagDkEEdx6VDBpPN83LDBQIyywN43zolVN9d0SiqAeG2Rl4EXKViZT1zUYZVeE9ADxV9GBOaZkh3uAOtLjV3CORlzQRB5tSckI_yeJOgxWqDxeCd-FVfY1pEGXZtkPIiFrCQ83UgRZ20ipt1fEvx3_p9Bbj8SxqKQwFHakzfinnc-FMjFephBj9T4C82HtfDc78DKfuj5MFpYrCt-nH97XFeaq496gQ3iXNApPON-abM-v3dVxsGUOsYbwAmZOkadpT3M6qviC7QT69qbcOPr8SAlzsmJx_bqQHdwaIkiwYPn8f1BRCnuUN6aknVnJ3VjTEdUtqVdGOy8okrne9-UaRGseLRiRLm9GNU5mcoYFX7AMav19QezRftGNVpA4VAMWDJVkVYi3VOQymXwFpNO-E5O1j9oIf_UXKOdRW9nHyrfH-4AQ3r5pQDVrnB6ITjYBhmdUEknfz4f9p1KuBF3RzqHQPFchEu7FT9fbfL2CGusPhScSt0t7GPzX4hON5TKmjlfDcDdVqDGDSA-CY9qGT2zjeU6poNbdlYH7V9bSE4BbfOxBjsnbWIeagORSqBKi9ampL3Ha-belxC6LOI0P1-YKxDk55S1hQg_BLpn9_9Ab1PF2uidCIADUWaY3Ciy0TFAljTUa1GTPNFS9zvbJd7eJMjKbg4VaAkNF_Ki9Dq6Wxfh70lkbYwfKABYc4kI4AxC-XryfEpUAYjSsaKBAIjn-Xebk=",
  "id": "rs_0b017203ed221803016ab2d0fe874c87d0aaa5cafe4ebc565b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.103,\"left_z\":-0.008},\"note\":\"The yellow pen is slightly left of the jaw centreline. I’m shifting left and lowering to grip its barrel at table level.\"}",
  "call_id": "call_eauthH1htCXsUsQzZKgkZ1oA",
  "id": "fc_0b017203ed221803016ab2d0ff5a6c87d0b30b5a2372aed9c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eauthH1htCXsUsQzZKgkZ1oA",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4473, 1.7538, 0.5068, 0.5346, -0.3656, -0.3088, 0.9995, -0.1123, 0.8864, 0.7113, -0.4545, -0.1612, -0.123, 0.9969]\nstate[eef_state]: left_x=0.3723 left_y=-0.1045 left_z=0.0049 left_yaw=0.0109 left_pitch=-0.0913 left_roll=0.0045 left_gripper=0.9995 right_x=0.3042 right_y=-0.0022 right_z=0.1892 right_yaw=0.086 right_pitch=-0.0543 right_roll=0.0014 right_gripper=0.9969\nstate[joint_eff]: [0.4034, -4.506, 2.7282, 0.8816, -0.0757, 0.2173, -0.0122, -0.253, -2.0308, 7.3641, 1.8632, -0.0171, 0.1636, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c1111a759fdd7b7e59b04ec5fc75ab402e2a4a9f4a9cf4e7f199bf48577c5f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3585c419a17122d40d7315c7b4474b01352ad927594dc0189f72733fc0c58e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:971cefcf33fd1fae791a5f6c77abc4e4d5ed3097dff88a4f0060e5ba829e85c0",
      "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]: [-0.5198, 1.4448, 0.6197, 0.0906, -0.4107, -0.3378, 0.9995, -0.1112, 0.8818, 0.7143, -0.4374, -0.1474, -0.1059, 0.9967]\nstate[eef_state]: left_x=0.3575 left_y=-0.1192 left_z=0.0793 left_yaw=-0.0088 left_pitch=-0.0966 left_roll=0.0183 left_gripper=0.9995 right_x=0.3066 right_y=-0.0045 right_z=0.1951 right_yaw=0.0662 right_pitch=-0.0315 right_roll=0.0031 right_gripper=0.9967\nstate[joint_eff]: [-0.294, -5.9966, 8.212, 1.6777, -0.3297, -0.0317, -0.0611, -0.2803, -1.5658, 6.9812, 1.7753, -0.2662, -0.0122, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstEHo3C46OP_d3Dn5SAiEMYfepMN0Duhtcnmz00ZdnGmw7pX29rmBbpvbIhPezY2cNGFv_j-ILvl7dEa2h9nTySUvqJfQMcpc9lumJDiYkyWnjBrJVZYr6ora2_8X9epPmHAFrFvetAY4j547uUsuAw1B7O2NHCmpYLkJ77RmeWE8tyQyd9ZkfV61BpZ6UKZBoJh3miZ7aE3liUQcijWisB15XJrPhj6B9UZs4c_qYuEhQ5y5WpAtJbSU9fA_b8m9zP9tQAnGnaRwfcrMyMyfIZ4CLGGjyE1gP9OeAlvStfjQFBDYWVXpAkW1zIMPvl9iu4xLXc9xI73XLrBHFK7udP04m3O-3GMd8o9Ck_iFOagCP6CiMSDIYXt49Dm1TCc6t5UeXy7GaieKl88vFBj_HGhmYKYLMaFQ_YlQZIhbik2Ap9snrjyaP5YngJo1p3DJqSPvgXOx4vQ1VZ9dZOEr5yJ0-_KAiJfRIBnHS-9M3utP4OJMnkKWeQPfdhHk9rqysPEzLCbNDN2UgLP1YX-dA2vfH6QLPs6BbR7DhGozKoktmjiUlW6dR1pMXfOELTMCA3tNNKAVUPq-Lbj7GKyNbwXH669I39oIaAi7XszyFIuv4YSfPuazORYlRkkz9OtQqDgIO3f6t1JFrvWaqbuWNcKkqg_qjKGQpqf4J0g-PT1wIyJGtwC2i7EUa-zHZ7ZD3Sh2XsxRoIzxEkaMPMjSpp_02SA1sBbSoJbirHtGM6ny5hmLrvfvjKRMQCwUWsFzsiUeXwfq16ODDYrA9ND4YPvy3SAh2xCYo4HEBvUHcwguRJAl7SkgCJB6Uu_p_hxSjGrpDesvRD-HeACMPVLMoYsAGSoVvvj-kxRiIoPOnxZWRCK0EeF2aXjQ8IK8EXoqSN8Ekbuc5KZ-WhB2rSnULJL68hmGmpJaDuOL6CG0mQEnEWQEPVl25qj1GedxBQGLcBp8YJWMbh-ufWxSripy_K5dwtzN8X34XufXrXl_iBTKQoFWKNPgTo58OawEDwnjNhDngK-a4vxklMoTj6e3z39g0UnLHu1h2s504GWZDbCn2YGAUZD6hsGWm4FVr-j2wG-rxM9mzCTxFWpmVYftUDGGQ_d4ORb9DgU8OZJVO9at-eha1L5pQU_WyvrzhSmUMRkjqF6cnk1wC0o1Rv91VKGH1Wa4z30LzFGFP8TvpEXfPt48hdYXdyGN4Okz1LhHnS-F9tTYqwgdhM2g13VB8dCc6ojPukopL7F8oewtT-mDZONjcfeiiLuCro52TQMz9-AafwPOpPW1SUyrIOZ44Rq7-l2V3NMciMYQy6F1lUhiON-d_so10y-yaNJsaAGdAr08znYmIB0tmyd9jVBGgbpxW8FlHR0y08uJDFKVFmMuWdZdItjqOwkOUTv5NOnt5XC",
  "id": "rs_0b017203ed221803016ab2d104100887d0be0f1988b77412c8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.073,\"left_gripper\":0},\"note\":\"At table height, the yellow pen remains left of the finger gap. I’m correcting the remaining offset while closing around it.\"}",
  "call_id": "call_vueczEyPWw1ayI08kXLR4dde",
  "id": "fc_0b017203ed221803016ab2d1064e7087d099cc48f4f0b0bb24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vueczEyPWw1ayI08kXLR4dde",
  "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]: [-0.3382, 1.7332, 0.4747, 0.6224, -0.2871, -0.2535, 0.2111, -0.1123, 0.8867, 0.7113, -0.4561, -0.1619, -0.1242, 0.9969]\nstate[eef_state]: left_x=0.3837 left_y=-0.0781 left_z=0.0157 left_yaw=0.0238 left_pitch=-0.0409 left_roll=-0.0264 left_gripper=0.2111 right_x=0.304 right_y=-0.002 right_z=0.1888 right_yaw=0.0873 right_pitch=-0.0561 right_roll=0.0013 right_gripper=0.9969\nstate[joint_eff]: [0.3487, -7.5556, 2.8513, 1.2772, -0.0366, 0.2173, 1.0232, -0.1709, -1.7983, 6.9812, 1.7265, -0.105, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adacf9eb67e6acf5200ae14d136254c06ed720a94156c91b058ef44ede61c4ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c707f96a3d83195d5d0a46496351abb3da7ca7ef18cd0ec003f930ea43c96c6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7a476c56941066913c98aa5ef3eab6cdabd878b41d65e832ece4b7002e912d0",
      "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]: [-0.4473, 1.7538, 0.5068, 0.5346, -0.3656, -0.3088, 0.9995, -0.1123, 0.8864, 0.7113, -0.4545, -0.1612, -0.123, 0.9969]\nstate[eef_state]: left_x=0.3723 left_y=-0.1045 left_z=0.0049 left_yaw=0.0109 left_pitch=-0.0913 left_roll=0.0045 left_gripper=0.9995 right_x=0.3042 right_y=-0.0022 right_z=0.1892 right_yaw=0.086 right_pitch=-0.0543 right_roll=0.0014 right_gripper=0.9969\nstate[joint_eff]: [0.4034, -4.506, 2.7282, 0.8816, -0.0757, 0.2173, -0.0122, -0.253, -2.0308, 7.3641, 1.8632, -0.0171, 0.1636, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The jaws have stopped at a two-centimetre gap, suggesting a grip on the yellow pen. I’m lifting to check that it clears the table.\"}",
  "call_id": "call_TqYXrp12NkB5zWIwP95suzUh",
  "id": "fc_0b017203ed221803016ab2d10bc0f887d0817c747c478884a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TqYXrp12NkB5zWIwP95suzUh",
  "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]: [-0.337, 1.3243, 0.7975, -0.1074, -0.2874, -0.2623, 0.2125, -0.1123, 0.8925, 0.7113, -0.4599, -0.1616, -0.1276, 0.9969]\nstate[eef_state]: left_x=0.3863 left_y=-0.0785 left_z=0.155 left_yaw=0.03 left_pitch=-0.0391 left_roll=-0.034 left_gripper=0.2125 right_x=0.3038 right_y=-0.0021 right_z=0.1864 right_yaw=0.0889 right_pitch=-0.0655 right_roll=0.0002 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -6.5436, 8.9504, 1.6093, -0.1343, 0.0611, 0.7692, -0.0205, -2.1402, 6.9812, 1.7265, -0.0708, -0.0073, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ff54c407673b4a0758b3d2674172bf906cb445541ae3a9b3302b523b1d32af5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56152f1246a57c2f923044d169f3e962cc7ab9ea4f63ccea1850bac7339314f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:612fe066f9e1fdd3852260d7fc78ff4268c88246093fa4b26ddffb507aa253e4",
      "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]: [-0.3382, 1.7332, 0.4747, 0.6224, -0.2871, -0.2535, 0.2111, -0.1123, 0.8867, 0.7113, -0.4561, -0.1619, -0.1242, 0.9969]\nstate[eef_state]: left_x=0.3837 left_y=-0.0781 left_z=0.0157 left_yaw=0.0238 left_pitch=-0.0409 left_roll=-0.0264 left_gripper=0.2111 right_x=0.304 right_y=-0.002 right_z=0.1888 right_yaw=0.0873 right_pitch=-0.0561 right_roll=0.0013 right_gripper=0.9969\nstate[joint_eff]: [0.3487, -7.5556, 2.8513, 1.2772, -0.0366, 0.2173, 1.0232, -0.1709, -1.7983, 6.9812, 1.7265, -0.105, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstEVoIrWaiuKHbSijMpgV61G7cf8vGIkRm5bAwjM2CMEZIsmuOYtmR7rnBt7-kNeDZfQ-7tepr3BtLj2oXwUJLL_e3Io7C3sku26EufQjgOYPLYq8yUJWwq7QrSK0Po1Hex3GgmlK9LnZlbrxHThrca_Zstz5VOt6qVAxlcelBALzlUtfAHOSeyRsPS43C3ww1o9zW3m68GCjifwHkkGue3WD5nlkaFhjQyNTrLqUJ3xDTp-5qclJKEsBILhfCGs0GIDHuKpk029bLgcNGWg9gH6ZGnS32POoU3xkeg0anDrtfq3s-n_ety86Zvftk8MvMEsju54aJ9TDB-h0kEw6TJnseHc0cOsCnTB5INRXkPbZaOaxlu7fYVGKfnVxUzU_JJE0UaODdgi8mqNBWA3cXezZtcD_h_srx6inhfee1WQgqeNxlHactz1WIs2MCqeT37T3Z3PJg3RS53DFuHDTb1HQUq6aEI9n_EIQbItysG5LVHCjiQdwTADjykYwAs6QQYwNTpO5Oej-f8QuXPzdJKNug_fby-N1agHe4GBoSJq6I78moEAl-uBRFGsePZbkgJ7QbVyOW2w7afGJnxHH0CFJ_YpbC_EOk7owd8EdlYQIoGSSaabhNzr9PKvyjHMj6EmKCYsARajExE9y1nGNeusG0CMjeZM6vVK3uFiFsyNRLLhIdZ79IKn0uWgwjiMjHDw6TXPJISze7XlikQw4sNY7SPl_KUWQcm5vMbKFuYxyXTf8zvJMVw6UABR9BDDmFAga0Nwo4UIWzdmjAJn47vDOuyTrwkY0gAU8jVR1WSlhXNH22SJP-rt1QWd1GIr2OrazGDJ6mQnAzQkL4zK3W2y5-Y44Q3hqmx-3LlEogtj1Mb5O7jMM-V1PC3KQahayMcOlIx_YQtvZ9fejfw6DZLCj3yLnx3pXXMcAkfrldEBAcWqTHyBUGapeOnYtgpd2YsRFPJ2oFRxM9J3kgj-j5hz1awkjEAlZkYpAa2wcJakddA8sSLehLfP6uZ0JCTeDsiXPDCbPqiR5CcqFinJ7kWzJoqfRhqpEvwWVepi23IWGXdCJOa1DgBn9RcehsojzHLIA4bucjXq52aNisuTzEWJprAk49hK6ylkC2-8exGR3oQ5UvSW3ShfaeRk4NEjFyQ5G2CyXzRZ3TFbg-ZrkRYWxHXb6yQIB9-1RIp_q-356y7hkUoXIFtL6TwzSq0HvkerbyTIrs5iXZhr7EFgcdcZndH72kLSHZrcGPVQt6vQxeVftzAQ7Wubm8qDv9uPxbt2Y9EJ7_Ow8T0hv771UrN1VuT9YTI0RhVlL_WgvNn8cBgyFXsUCz5FspoFAvPGvmtBFssi4Swztvxz1z8NNdkvol9_BXLeL0BQO-ME4SoYPBYcMDlq5YuYaFBlLEr3zhOsHVkTV0GPb95C_Kqr2XULSIwoiXsv-I2_m33vSNiJgTfkYyE7txmQ-Vuj9Ms9fwsRxoIavpTrocL4joqXnqhe6A==",
  "id": "rs_0b017203ed221803016ab2d1110a3487d09cbdc17498dcf9d8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.395,\"left_z\":0.22},\"note\":\"The yellow pen has lifted with the left gripper. I’m carrying it to the near-left portion of the right basket, within this arm’s reach.\"}",
  "call_id": "call_8w8ICNt8nEBLRKGgScHGWtu1",
  "id": "fc_0b017203ed221803016ab2d113a38087d0bfca1c0e02bdbd36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8w8ICNt8nEBLRKGgScHGWtu1",
  "output": "executing move_to over 29 steps (2.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7856, 2.6957, 2.7651, -1.0, -0.6144, -0.5922, 0.2138, -0.1123, 0.897, 0.7113, -0.4599, -0.1619, -0.1276, 0.9969]\nstate[eef_state]: left_x=0.5175 left_y=-0.3686 left_z=0.1309 left_yaw=0.0313 left_pitch=-0.151 left_roll=0.0616 left_gripper=0.2138 right_x=0.3042 right_y=-0.002 right_z=0.1851 right_yaw=0.0893 right_pitch=-0.07 right_roll=0.0013 right_gripper=0.9969\nstate[joint_eff]: [-0.6496, -21.3812, 10.4821, 1.58, -0.5006, -0.0024, 0.5543, -0.1709, -1.7846, 7.159, 1.6777, -0.1001, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acdd15b71bfc7b55b7f790d161ed3e4fcbf3b8d5087e087f5312d922f6417be5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb2863158ff081a2f8c50d87eb0df35b8a87d18e17a6125d1568ffd3d1096639",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f146ba514d9d040d94c57a718a0723785dbdb8777ce51abe137475fbde3bd234",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.337, 1.3243, 0.7975, -0.1074, -0.2874, -0.2623, 0.2125, -0.1123, 0.8925, 0.7113, -0.4599, -0.1616, -0.1276, 0.9969]\nstate[eef_state]: left_x=0.3863 left_y=-0.0785 left_z=0.155 left_yaw=0.03 left_pitch=-0.0391 left_roll=-0.034 left_gripper=0.2125 right_x=0.3038 right_y=-0.0021 right_z=0.1864 right_yaw=0.0889 right_pitch=-0.0655 right_roll=0.0002 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -6.5436, 8.9504, 1.6093, -0.1343, 0.0611, 0.7692, -0.0205, -2.1402, 6.9812, 1.7265, -0.0708, -0.0073, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstEmWT42WLyP4UZcQpJuqpKhr33QushJ1g2U1gyBUuU5XeKKmtziyTec5RgE7dPwY_9nWfRbLeaX0I0mxDadPzmR5AhAe95XrkR40yusSwDrzAexZnpuakSzTIpBeZtLFb76MtpRg9V9-H0EbkEr-RgDd35Mm3YaeS9nY_nMjWriqOlPTcBAG7oEDR7D5U086ybboVD7pjkMyoJeD9IEWQxZEdKmwR41hSVNezeew_mmUs6MJZxeUfxu1Uz0IhmsQnqv-TyuSAtPH-pOBTP1z8J3_AFD2acsKu8gi3DwpVPrjvFRS2kgLxJur-QAu8f7MDROmnngiEjhLxa0Qfl-DYeki3s-CmOGc8kYIT2OcbIPdx3ri889ef81g7dGAhV5zSVOEGwfTp8q7i3WCMiyOWJKVhVep6gHz51qIG1VAnjUC6RhyiOfeqV8wm4RQtyOagniyEw1JKa7DNVNHAJGaIT7kNDLdYu3NsawynXs2m2Z-azDx4dt6Ry9dk4C6Trb-GUo9RhKoJn2u4Vt2rJaM47Qu_nfseRUGJCydFXLs7dDH2wVsyprOPJd47QhwH6gZVNm4uDZ3hl8pYUInceyRiR4Pos_Me8Ug9kaG_8xrhuJ9PpiEzjxOIKkxOauDRPVJ_2dQwkcDxcfPYo4idQwhQzmVCWMPbYCOI73e3IMUET_pZ0L7uhvwz858VSOtRNQSjnUMLFAFFckKi99m9fVf5fCS6iqMSC6fbC0Zt24sLb_pS2RSClftMdNBZbM83ZLNKSOHLOQpejk6fBXAk3jRcfx_aCSAihRPsDqV1euUPJAepH59Qr-UNtk01K_pLwf30apeJIbTwUfC8nt8IDl8yNoeb1Ys767yhMKfuJKxBYHTxz0qzuLXwVpWK5kjp7PgqC3nSoYe_0PlX0FCqH1e6iLTnJrgQGq9WzCQQSlSqkkUCcweHl8BHZFUVrskAlHilGC-YcKXVee95oSB4SR7jiJF68Oi0JCI4FuZqJMOU7RfStYx7w5vNUdRek2IbXBpN2hcR6vmqiBuebSTYk7A0aaZ9PLuvV9Fzi5Nb_En_QAZHIZFZm283vOcdWfnXmtE0_bo3PV6ep8vnxZhHOXDUYy-Z--4RjkNBug1oEM_rs1jRxsjEg9M9JvaQbfU133z5ZGKLGwg3v0QROul6Uc0UM1kz_a1MXi1WMWW_pLPrMwuvJNAnAu0fzy8wktg6Yu2OgzWSxWtRj1e5lfr_noCDNNkEy_QdCFhU09ySJUjFQvKH3rlNc0Wd43LiiaP2gVpA4Tv8iGq8mXq-d7tV9VINlWB1pW8bFs6LAm7DuAFkiunXS43VMMfHcrHSbrO4ufDwhU2A8VBLhFBdIdH62iPfa62Xt3moZWTyyL3u34e6dDdZH67JwMdzTu1LHNOFhDJl0suGaC9XoT4e-eX-V20edNB_Amea3yUFekXoUfehe54kru8AiuaaRvYEiD9jt0sJT3e_fngQRS9FwLV1y_j3sBJIlhpGNaG7yJVyNGw0l4cRLHjpBvGt3GgJbSkZ3MXW11YnU78iy4dj5HwPVqd94poT9ZoI6lgICdFv7ix4hY08riskKIVHJTKVaRirZk9cCBBKV-dZ-PIXX50WxwW23nxZdI7jWmpzPr4Vw_aAzl5y8c9eQvbX6FmAKE_8jpQA_Tl3Xcqc3XeXE3PmSngjFqwre1YYW6kCLccDqANU_-WKSs1mSUqyOiRRqpbAeFkXXlf09ooxWnktLMddARWQIE3HCOvDqXGEoZ_201tlP-9Zhh6f3XPke2QEK3FRe6E-LsSVcNNz_mOIpsrlgE9ggcHhrkK1JBpcwt5nhI6ewZSozdlI01zOBER4LsA780bAcHZqm4KNmXOftKnOCEGT5t03ovvGenZxHpjWRum3kVpmea-XU2xxeeV250jFiCwUaO6N0U_OLLUV4NDz1HYJ03W8RVFTHWQHFdhn5iB6XrcVEaUaiwTiW7p78rJ-zxicMgOKf_noOCbcNm-_uy855IVt3qGd5zkqdLPDdhsH9pui2xZ42H5HIt28C7YMkcd0XC4IFnuEBNwpmgMnMNDtFEtBxBj7huRQUS78_9MkEENdreYa4L77YyOh2yfzlu1_yMAGawMMeS8FBJ4Vxy3aLEV7zTbU1nrE0aIMiZytAKY61NHcaeAc8uaHmxWLyujnwMniQUczzBjOStUio6-RQmpJhK0H-E2ZZ-_e3nG58D3sUWhwSmgH5ExNUAAL4TrTyn",
  "id": "rs_0b017203ed221803016ab2d11cdda487d0be3356f68a55e30f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.16,\"left_z\":0.21},\"note\":\"The yellow pen is still visible on the table, so that pickup did not capture it as intended. I’m moving back over the left basket to inspect and safely release anything caught in the jaws.\"}",
  "call_id": "call_LsWmCLnz84dtVm3C5oJ8OiC4",
  "id": "fc_0b017203ed221803016ab2d1240d8887d0a9a546aa0c453cc5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LsWmCLnz84dtVm3C5oJ8OiC4",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4599, 2.6442, 3.1203, -1.3621, -0.4236, -0.3649, 0.2171, -0.1123, 0.8978, 0.7113, -0.4603, -0.1619, -0.128, 0.9969]\nstate[eef_state]: left_x=0.5612 left_y=-0.1929 left_z=0.2247 left_yaw=0.0884 left_pitch=-0.2218 left_roll=0.0834 left_gripper=0.2171 right_x=0.3042 right_y=-0.002 right_z=0.1848 right_yaw=0.0895 right_pitch=-0.0711 right_roll=0.0013 right_gripper=0.9969\nstate[joint_eff]: [0.7043, -18.0991, 7.0359, 1.5311, -0.2515, 0.315, 0.3346, -0.212, -1.894, 6.9812, 1.6532, -0.0659, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:247fa94920de8c26ebaa6c3e6eea94c24c7fa18d439d87c13dfe77a125befca1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d82456cd305649de11a4ecc66d63087645b63d2015808e2951f8b10789ad406e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ccd69ab59bfceb4addd251dea560f588b6f884b02ad177a06fc10546e661685",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7856, 2.6957, 2.7651, -1.0, -0.6144, -0.5922, 0.2138, -0.1123, 0.897, 0.7113, -0.4599, -0.1619, -0.1276, 0.9969]\nstate[eef_state]: left_x=0.5175 left_y=-0.3686 left_z=0.1309 left_yaw=0.0313 left_pitch=-0.151 left_roll=0.0616 left_gripper=0.2138 right_x=0.3042 right_y=-0.002 right_z=0.1851 right_yaw=0.0893 right_pitch=-0.07 right_roll=0.0013 right_gripper=0.9969\nstate[joint_eff]: [-0.6496, -21.3812, 10.4821, 1.58, -0.5006, -0.0024, 0.5543, -0.1709, -1.7846, 7.159, 1.6777, -0.1001, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstEyTzE9lrBITgpunMXC3Al89iHzM-4ydG2cagPGZTMVX6E7Bp4pWuv7Sr1pKAffaCzP53JsR7ifM3kB9yq8skb88aJEgHRREMyfMmVetr8vaO61Ec88241M73eupfCuMTrMTNGVpcLU2Ix9q43JBIjCHfjud0mnT7aX6pK9tJBrLN8-2NaWoOHCl7x2w6AKrv08F0lWVFQLVP8bG_WZmF1DcqiAAlVS3Z-7p_bXiQc-A8CedpqqNMXoQRhDSPmXX6RbaFfaZLzbrnTdgSUx8Wzhyv9BAZzvV8-ETPdiH-xJsH8iBzhrovcF9S-P2JJajWaarlYfbrC6bzRMA4sckOGyCY5wwtq0JQnuS7YmN8bTdH3CgcBlN0Z3IuUr5nQXIkei8EpDrAjV1EVegpdU_8gsyKuoNsfGlwmfUI1nLT5dnFGIMWrLkD6iDokl1Y2UlNyv_viUu0YWVpAPyd3TnUwx5T-u25RMaF6sfsFbe7Ox7rmjn_y9pcs6YPjBLsKkbza7tEHODwuj10vN1GUG1Fq69zngOw9b0FqB937BdeJ_iXIYWBOWh6MOS9umX0uDxALHICgh8GJI2Grmd_mCzuoHHSWeAmbx0TuuO9FdoJCZDa9HYVtKjpJPTOuQ5M5UCP46_d3Aa5k4vlWJ5gguLIdQn8_tVazMGO9bL907cbEvdh0mEq4fNtz4opduxZ6yz388ktdr0nQmBdz6NYropri2xA3mtNBOL4Ji8TlPlY9Hb9DQyP_uBFN9qGgt5ZyB4mxuec3Wb0qeFVd5TZDXxT_8OQ0CUZzzqcf2aRAGZluxcUYqKjEaDhnHPoSOm87yxqARJGWJ1N_ux9EEcdw8qibzNFttYsuMzMa58m2Y-GFWXbsCCc8uMOoVniGIiaZF88HdSr43pLGrqDVnxDy0B7CUj2GRE4U__Rq7yXwv9idIQImWdLpW9rLgu9swy5xvB-W8ePXMLYVqMi8unuup4s9rG5ooQ-8FqWgmJIeRXbjRL8VnlGgZPEu3E9CiJ2ik9EiRgF4CnfnzHuR-LDKPcefRqfacRyvbN8CsJyGVfn9V7iUwbAFeFygV6Gsp2Gct5CiOZ2RGJpqY8dq1chjTg-I6yah487HkAdrA03V4UW-vwII7COWesTWnxgGO5g5yvBnZBnXEK0U7e0Mn-ewuZfY4_jKl6j_9A7mPVa0M30tzPSYj1PlDVVBpCYsFG43D1lKBkZFhcaFUnzOcgXdHpHz-7ALF3MZsKbV6ML8vdy-AL3mXB3eylLiVeOTElA5D2dVgGgLtfikDoYmBPBDJUlQV1PbYvqyrDBt7HosWaTlcgAaUpVA2Zocctuy9XwlINbNnafX3ojn8zChG1SZY5KqZsY_-i5p6T8r_F-Vo6bUNR17K1MYs9bDRZa5xUK7OPL-awVPZ-eJ7MVjx-PecWQprVRU-Dgs9fEpAY8EM0sNVjDUG4DoGYLiINOPRe1lsaCdHFVFBGwUZadgrB4t8qoUN8OxuKQOM5kwiGIsyf8ucrtP4QK3auID8wMjIgJQj4vCq",
  "id": "rs_0b017203ed221803016ab2d12dc83087d0bd3911951d5e3a1e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.085,\"left_z\":0.18},\"note\":\"A small tan plush is visible in the gripper rather than the yellow pen. I’m centring it over the left basket, where the plush animals belong.\"}",
  "call_id": "call_sLFscvGsPGsUsFkRfnaIb1az",
  "id": "fc_0b017203ed221803016ab2d131233887d09e4a731f211e9913",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sLFscvGsPGsUsFkRfnaIb1az",
  "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]: [-0.3172, 2.6438, 3.1203, -1.425, -0.337, -0.279, 0.2185, -0.1123, 0.9028, 0.7113, -0.4599, -0.1619, -0.128, 0.9969]\nstate[eef_state]: left_x=0.5706 left_y=-0.1221 left_z=0.2115 left_yaw=0.1224 left_pitch=-0.3144 left_roll=0.1113 left_gripper=0.2185 right_x=0.3046 right_y=-0.0021 right_z=0.1835 right_yaw=0.0896 right_pitch=-0.0756 right_roll=0.0022 right_gripper=0.9969\nstate[joint_eff]: [0.3897, -18.9607, 6.8308, 1.3065, -0.1343, 0.105, 0.1392, -0.1026, -2.3316, 7.0085, 1.7118, -0.1343, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d31b603c45dc7cc3f18fa549f7b468726a21de3adb99e81d86797136442e62f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:851f5b683add91ee96aa13581100f1ab1b4cd99b762578beae2c5c5cf0238f93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6a676c8f2890b78429612c383ec070c83c81f16ac12497a44b5ea9873d1ad98",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4599, 2.6442, 3.1203, -1.3621, -0.4236, -0.3649, 0.2171, -0.1123, 0.8978, 0.7113, -0.4603, -0.1619, -0.128, 0.9969]\nstate[eef_state]: left_x=0.5612 left_y=-0.1929 left_z=0.2247 left_yaw=0.0884 left_pitch=-0.2218 left_roll=0.0834 left_gripper=0.2171 right_x=0.3042 right_y=-0.002 right_z=0.1848 right_yaw=0.0895 right_pitch=-0.0711 right_roll=0.0013 right_gripper=0.9969\nstate[joint_eff]: [0.7043, -18.0991, 7.0359, 1.5311, -0.2515, 0.315, 0.3346, -0.212, -1.894, 6.9812, 1.6532, -0.0659, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The small plush is now above the left basket opening. I’m releasing it into the plush basket.\"}",
  "call_id": "call_IDmnCtWEOwuk8J5dNkX3QNZz",
  "id": "fc_0b017203ed221803016ab2d136e6d487d0af6ccdb69b66863a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IDmnCtWEOwuk8J5dNkX3QNZz",
  "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]: [-0.3107, 2.6442, 3.1191, -1.4464, -0.3355, -0.2913, 0.9955, -0.1123, 0.9035, 0.7113, -0.4603, -0.1616, -0.128, 0.9969]\nstate[eef_state]: left_x=0.5674 left_y=-0.1173 left_z=0.2079 left_yaw=0.1378 left_pitch=-0.3348 left_roll=0.1123 left_gripper=0.9955 right_x=0.3046 right_y=-0.0022 right_z=0.1832 right_yaw=0.0893 right_pitch=-0.0767 right_roll=0.0022 right_gripper=0.9969\nstate[joint_eff]: [-0.7316, -13.9009, 5.1624, 1.5067, -0.1832, 0.0952, -0.1978, -0.2393, -1.9897, 7.0085, 1.6337, -0.0806, -0.0073, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e099f39bdfb1c8cfe75484593ce8fa9fbb52e43536ec36fe312eb83954172724",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eac3cc0d3f577c673761bda0cce26e7b7004c4d6c7bf8ad4746207e5d09866e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5a772945e2ed09d9ebdb5a8dbd55674f758e89e1f331ebde1f513235ea133ca",
      "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]: [-0.3172, 2.6438, 3.1203, -1.425, -0.337, -0.279, 0.2185, -0.1123, 0.9028, 0.7113, -0.4599, -0.1619, -0.128, 0.9969]\nstate[eef_state]: left_x=0.5706 left_y=-0.1221 left_z=0.2115 left_yaw=0.1224 left_pitch=-0.3144 left_roll=0.1113 left_gripper=0.2185 right_x=0.3046 right_y=-0.0021 right_z=0.1835 right_yaw=0.0896 right_pitch=-0.0756 right_roll=0.0022 right_gripper=0.9969\nstate[joint_eff]: [0.3897, -18.9607, 6.8308, 1.3065, -0.1343, 0.105, 0.1392, -0.1026, -2.3316, 7.0085, 1.7118, -0.1343, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstFCakoLIK8VLAAQQQhgLABluNep2SGLuAPCS_vojVPei9NjIL8eGvJ7OKsqmwOnCZPNPmWDL0lUTXpkIAERaYP0C58c3Tvc-6reNWjWTXe-gwNGd5JHEieVoZ8Ui023kf4CGVA3Rt1U3V_bt9azLGaVUjw3uuBgYT0ZnylocyTQ2kQupZywPfkZF6yTkQw6BVI7or_SWWF8uXKUQ-bun-9L4upAV8QVQU1wyxn5PlOEQLAkEIZWlV1TrQOvOdcfGg7YwZdC5aL7MfB_KRtfey4QE2tx91JTZYhw94Xl9AdOms2pADiHIXM2J94ysPJishEP6ahpr-U8t34EuN07uOXJ5J5gKgI_rK3rpglNMXHKTWw695mmQIME2FNzOEZKSEESI-ZvZB-39Be23LGnmZVIfgs_4czRlIYb7tFY_rWxPLLvBvaEVWNOWOnA7QO-zB27-bidYPomproAMbOJPYtm4esPcVPYocNTO-jIHpf46kZ2XoE8Yp9T2YUsWI_p4QNWI83DexIKVCUyaHu3cbll9Q-hTZEVgL00clM_Y-f6eMxfAzfDJebuWdx6KutCxuIOr1USzL_sHytpGrC9BWso8_rpOPVkXAYGwLoxJQSG4nESIpSZZyloUFIdpOMPomnDQ5RJSg4AoUSOZRY4IdIJEuNFwXNgFMjJ_y36qUtXTWKGuGoGk8KTmJznaFwq9e476arCj_QQuv9bfgSc0KxSo7zGSddxi5j7HgtSMeOb1_2NqkTMwwYl8x6IafbTM99zPyVxSb0fL6rkB6k0PxgQ58aolZ4rQxbwnnIlEcuT49Yx1ymuJODOlw8HxRHsjo1TMMqWffALoB-cBxcmQn7jOnyPocX5GAUwHHAgDaNLym6KCL06fZCNZzpHNW8BNufZXFbG6SWZu5Zcfd0NF8Rk17JATqrtrs1AYFc0I79Y6U5QF1ZRUzDGxYLaG1vbmWqX9yHB-lR473OBZMRFGeuesx2VYan3Dp3XOIOsF1SSEpmTR8N2Q1t792IWq1l5uSt-O3c8SrZ2bTftcBd0pnAVjVZBs7Hz6mGi-prLV4XKOhD6xNjNIAph9JH9O0wEJJs9PSlxUnGAhRy8j9RHY2uVIQYf6iLGhH1arAHMzFl2aCseyT3YI500wEHznvQ9PJE2RSMHu7jRwkgBR_S-QAhEso9ezV_96wnK11jQ2HW55k9rvDMgX8JqD9996eqe6ZOWy51ctEhEzw3Dv_N9--Iq8RLdn1JHP-cBlJ0WpfF4Fjk3Q8u_BzyNeRKJpFCELHPqJ3c1b0v1DevbN9HqrKEBs056WJcyLNQZT5mGvHOr3RTy2yQQXG4LpWEhZ4fX25ZpU4FVCZhUj8_Pg4iz9k821SE9qyUkYWxY0vD1y8UK9UMxouxl7TfjGXGiow79V9BN",
  "id": "rs_0b017203ed221803016ab2d13f2d5087d094262cfb0840ee6f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.22,\"right_x\":0.35,\"right_y\":0.33,\"right_z\":0.14},\"note\":\"The small plush is confirmed inside the left basket. I’m parking the left arm and approaching the larger tan plush at the centre with the right arm.\"}",
  "call_id": "call_WAnjp0PutkZWLRpKJpf36kCT",
  "id": "fc_0b017203ed221803016ab2d1414c2c87d08db6f3cecf62fead",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WAnjp0PutkZWLRpKJpf36kCT",
  "output": "executing move_to over 28 steps (2.8s)",
  "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]: [-0.16, 1.1568, 1.1576, -0.9215, -0.2558, -0.1787, 0.9967, 0.9676, 1.8313, 1.2949, -0.3504, 0.638, 0.5987, 0.9969]\nstate[eef_state]: left_x=0.3084 left_y=-0.0009 left_z=0.2222 left_yaw=0.1518 left_pitch=-0.3188 left_roll=0.1038 left_gripper=0.9967 right_x=0.3465 right_y=0.3238 right_z=0.1293 right_yaw=0.1162 right_pitch=-0.1063 right_roll=-0.0187 right_gripper=0.9969\nstate[joint_eff]: [0.1983, -4.3282, 6.5299, 1.4969, -0.0415, 0.0611, 0.1148, 0.5812, -9.7026, 8.6906, 1.2479, 0.5153, 0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f76b3b378cf9dea7aac8731748d2aa4da71dcd61e426f27c4b5be3f44fbcca4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:250e395286252f59f97d399ffd3ee951d7d2f4de9eabf194d0f3e7d532f37596",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37edae3fa90a54c1f4550023261a05c57fa08c0efd70561a220dbfa0fff5a4cb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 73 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3107, 2.6442, 3.1191, -1.4464, -0.3355, -0.2913, 0.9955, -0.1123, 0.9035, 0.7113, -0.4603, -0.1616, -0.128, 0.9969]\nstate[eef_state]: left_x=0.5674 left_y=-0.1173 left_z=0.2079 left_yaw=0.1378 left_pitch=-0.3348 left_roll=0.1123 left_gripper=0.9955 right_x=0.3046 right_y=-0.0022 right_z=0.1832 right_yaw=0.0893 right_pitch=-0.0767 right_roll=0.0022 right_gripper=0.9969\nstate[joint_eff]: [-0.7316, -13.9009, 5.1624, 1.5067, -0.1832, 0.0952, -0.1978, -0.2393, -1.9897, 7.0085, 1.6337, -0.0806, -0.0073, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstFMtW1UgkfNQ99rZTHKxmeVihncmQJ4Us453zU7Xro1oKuoBxYQ9q64MmDO2W9bZ6oO_lAJP5M-zPgD3HpVS1QOeAv-t_sZNB77XBlhXPOLZRSzuFUePJNfvy5u4DXNe2ejnYoRkPi1OICQ5tCcT9vZxss98Avu-Z8RtllXXSmyHtTHOYEvqg4I8nK2DkdqqgZd3kA-i9YZYJk2qO6opBVHsoOapsAjMkdrebzVZcocztkBkYmNlCeqtt0boV_KPjwG8MuVSUQzoG3dcYR13V0GWIKw0cdnwTiJ6EhkL9Qf78AmOwe2NfbthKZC6aiYRaJzpAyaOZOnsD7nGK8wOra2bWvTOK2v4ODRdrCqwCsnOlck1VxopzC2CF5--IUNLYnJlYldCwsl4TNe_AFXGvupSDqLMdaGPWXza6qz2EVLxVl8n-d51V2hZ51behgM9aQs4qMufsvM8ld1R5gx52oCqEz-jeBcBpDCNtBP_UVN2CIssxBqZ81Pd0M6PJ5dZ859k-jgV2gwYXXoWaP7DLhJUiaGrSeKOn_HoTkWP8ljYyh4yMwRGg3mK0_FD0ZXdikQSphy7D2qpBfgqXsbeAmvAe99weERDSuz-axF7hFAGZcaAmtodz02o-ivK7uwhcYzd0PwWHekHhK2Aw2Gtt9C49e7_xfCKp288LiuSObgcnAfA94X21H6kXEP4TUhjBlry_V86eXAZNASKSblHPcQcTSW-X85FIkLslYiVhGOnmyJefSQZO6zF7jYcBwH7JHR6rF69fXac7_Gr3hI91UXUW699pwbZqV8uH-aWzSEq8Bg2uXOBwDqe9yvsmQj3tyK8Nnm6-Cg8U5Zk2QrXCeCo4kgVVsrsEaH9mEG3vDCi2ry9Mf4tCK_7mQ9WLEts-hwtS0AmhUp5_Cpp0oQX9h4rW9mPz-qeOvFYRNk5p5VytcySMzbUvZMLx-744qaWAzEWN43sjOPycHVXRTvX75uEm5RSXcLChXQSY37JNCQcmiao43U34Z4D3V7TnYpHS-uTAq-fUfYYpg77VVPlE7gIG4a7yI_MrQ5rlH_-99HGMWdOG6DD3Qge6RDvHTfmLDQyCpi4q02tlM5ajedkXxSiRbwlrtNPEhN_v-cjxS9i_IOopiz8CjtfnS0Gt9SOPnvd7xl7ka7_Ib_BM9lDnA6vGPKz6GVJA96u3m1BFIcRQyQVSsvqmcpCn_B-MeDXJybKz-SPcNoTggYr2dGkq-wKdy5tCyKiIwT_IzLQPlndiuc34cMNvhJYNwrhqs4FrZALmD0GkdcxS8nY90ZadcTpR_YiZ0c8mX_-BHXqzrJxw9MxiX7q8L5PacKePCtZ-PfbU5Wq-vLiqU6wFuzfsKkwlqAvIYrmECTfLvuEUE5GtI=",
  "id": "rs_0b017203ed221803016ab2d148d9c487d097342ea147b615ef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.34,\"right_z\":0.035},\"note\":\"The larger tan plush lies beneath the open gripper, with its torso near the finger gap. I’m lowering around its body for a secure grasp.\"}",
  "call_id": "call_rRLdJvTcCI5lbBvc4GmnOj35",
  "id": "fc_0b017203ed221803016ab2d14a8c2087d09be51d0b02bb8e6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rRLdJvTcCI5lbBvc4GmnOj35",
  "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]: [-0.1585, 1.1595, 1.1469, -0.9268, -0.2535, -0.1799, 0.9968, 1.0153, 1.9766, 1.1648, -0.0708, 0.6743, 0.6365, 0.9969]\nstate[eef_state]: left_x=0.3063 left_y=-0.0005 left_z=0.2164 left_yaw=0.154 left_pitch=-0.3371 left_roll=0.1072 left_gripper=0.9968 right_x=0.3378 right_y=0.3418 right_z=0.0575 right_yaw=0.1192 right_pitch=-0.0818 right_roll=-0.0035 right_gripper=0.9969\nstate[joint_eff]: [-0.3214, -3.535, 7.3368, 1.3846, -0.1929, -0.0366, -0.0122, 0.8137, -7.6786, 4.1915, 0.9499, 0.2173, 0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76d474cb3700a744abff89bb07dd8beea7250fc2a4fd0071e10f7fe2e9ace823",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09bc31b6fc9b2e0cab9c42eb5aff104e441a7f0413df5eff876fd0a4a23c1235",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caa7d96bd9c4c44fda0a1d60ec3e5df66c3577926b9a8c90db35b1ff5f6180d3",
      "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]: [-0.16, 1.1568, 1.1576, -0.9215, -0.2558, -0.1787, 0.9967, 0.9676, 1.8313, 1.2949, -0.3504, 0.638, 0.5987, 0.9969]\nstate[eef_state]: left_x=0.3084 left_y=-0.0009 left_z=0.2222 left_yaw=0.1518 left_pitch=-0.3188 left_roll=0.1038 left_gripper=0.9967 right_x=0.3465 right_y=0.3238 right_z=0.1293 right_yaw=0.1162 right_pitch=-0.1063 right_roll=-0.0187 right_gripper=0.9969\nstate[joint_eff]: [0.1983, -4.3282, 6.5299, 1.4969, -0.0415, 0.0611, 0.1148, 0.5812, -9.7026, 8.6906, 1.2479, 0.5153, 0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingers are positioned on either side of the tan plush’s body. I’m closing to hold the soft torso.\"}",
  "call_id": "call_y3MjPaDJt9bOPr0D9NcmerE6",
  "id": "fc_0b017203ed221803016ab2d14fc0f487d08949b3883a4807b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_y3MjPaDJt9bOPr0D9NcmerE6",
  "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]: [-0.1581, 1.1595, 1.1469, -0.9272, -0.2535, -0.1799, 0.9968, 1.0145, 1.9743, 1.1595, -0.0399, 0.6884, 0.6277, 0.1166]\nstate[eef_state]: left_x=0.3062 left_y=-0.0003 left_z=0.2164 left_yaw=0.1544 left_pitch=-0.3375 left_roll=0.1073 left_gripper=0.9968 right_x=0.341 right_y=0.3426 right_z=0.0621 right_yaw=0.1151 right_pitch=-0.056 right_roll=0.0045 right_gripper=0.1166\nstate[joint_eff]: [-0.212, -3.4393, 6.5299, 1.3211, -0.1734, -0.0513, -0.0073, -0.0342, -9.894, 6.4479, 1.0867, 0.0952, 0.0122, 0.7741]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:603cacc9474a8b1e20817fd86cd396a77416938307f40b0c9229592ca3522821",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c4c787de8eaa347cb748640257f5130ff264472ab82141e2b8e9c40d3deebfb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:117aad35d1b44fdd13860e31dd74ed3322150966ff4727b01e9266676901c22d",
      "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]: [-0.1585, 1.1595, 1.1469, -0.9268, -0.2535, -0.1799, 0.9968, 1.0153, 1.9766, 1.1648, -0.0708, 0.6743, 0.6365, 0.9969]\nstate[eef_state]: left_x=0.3063 left_y=-0.0005 left_z=0.2164 left_yaw=0.154 left_pitch=-0.3371 left_roll=0.1072 left_gripper=0.9968 right_x=0.3378 right_y=0.3418 right_z=0.0575 right_yaw=0.1192 right_pitch=-0.0818 right_roll=-0.0035 right_gripper=0.9969\nstate[joint_eff]: [-0.3214, -3.535, 7.3368, 1.3846, -0.1929, -0.0366, -0.0122, 0.8137, -7.6786, 4.1915, 0.9499, 0.2173, 0.1734, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.2},\"note\":\"The gripper has closed on part of the plush. I’m lifting vertically to verify that the whole toy follows.\"}",
  "call_id": "call_f7Th4eAvTd7iQWzZARmAdJYy",
  "id": "fc_0b017203ed221803016ab2d1549bf487d08523374e4c1ccd2e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f7Th4eAvTd7iQWzZARmAdJYy",
  "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]: [-0.1581, 1.1641, 1.1469, -0.9272, -0.2535, -0.1829, 0.9968, 1.0145, 1.8606, 1.4704, -0.4995, 0.6701, 0.6243, 0.1192]\nstate[eef_state]: left_x=0.3067 left_y=-0.0004 left_z=0.2151 left_yaw=0.1566 left_pitch=-0.3416 left_roll=0.1068 left_gripper=0.9968 right_x=0.3416 right_y=0.3484 right_z=0.1654 right_yaw=0.1274 right_pitch=-0.089 right_roll=-0.0169 right_gripper=0.1192\nstate[joint_eff]: [-0.1709, -3.7675, 6.4889, 1.3114, -0.1685, -0.0122, -0.0073, -0.0615, -13.6137, 9.4154, 1.2381, 0.4615, 0.0024, 0.7937]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51f9aba95eacacfff122e5f970ac8b0a56fdddc0c8f5e5a62bd291b905b242ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25f669de4919af4649df2b19339fbce785ec49d5c59bc42d157fcfd59fa6f315",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d13c49e5aff503bb90690e22fa7f395c6bfffb49a59cb59ba8898b36e6a6e28",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1581, 1.1595, 1.1469, -0.9272, -0.2535, -0.1799, 0.9968, 1.0145, 1.9743, 1.1595, -0.0399, 0.6884, 0.6277, 0.1166]\nstate[eef_state]: left_x=0.3062 left_y=-0.0003 left_z=0.2164 left_yaw=0.1544 left_pitch=-0.3375 left_roll=0.1073 left_gripper=0.9968 right_x=0.341 right_y=0.3426 right_z=0.0621 right_yaw=0.1151 right_pitch=-0.056 right_roll=0.0045 right_gripper=0.1166\nstate[joint_eff]: [-0.212, -3.4393, 6.5299, 1.3211, -0.1734, -0.0513, -0.0073, -0.0342, -9.894, 6.4479, 1.0867, 0.0952, 0.0122, 0.7741]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstFl1Yxytt4S7ZwkTqt15xl8RgRasjIFEUB5rq_aZeansVX9VlJMLJgNkk_tj_w6qdMxDucO4O9Fv5-gnf5nmuCW6zps45qSj1aULas3rrjH_VoxTotfCthg5buj3uUj1OmystOyZe7qBQoBeM-hXfMdQ1eQqHUV3HRyc2eOQdlnGGD65J0Z94HBb-bO3N_hFhR3To_6uQ9nE4BhzSaEiTuwtQblz6pkpH_T8Z95f11Astj7mCs2GUewapPcnpsJTZrf9caxHZN0yhUPW7VIZtbkzsKnpMumkCn0eHryVkJxZkyS05mnujSL3_D31sQ8ZnXcz1lohkkE7ie7bPxsephGQo3MD9HxXzNVN3vIiALTv5br91GHf4iwsj-ykwqe4ANEUlcOLsmGjEPN0dKnsnCJ9G13x-jiytxgfhzQd8BTRx9peJwzmnZIKo4n-J1xRSRa88fQs1_ZACwL0Hd01aQJryrMp6UiYzBNwjl4c47A8QrXDlmjaeEL4xZu3LuM8skjd12G6Ondm_sJLuzjhXKHEFO7YhPX3aXjnWRyrDdReN_SmGa-grdZexm1qx79CfawPT0Q5KjCbddOYo_Ab10qV0lycKJKJzK58DuxGT00WW-vjoNMWIJ_Gkxxh8eP78okLW_7PQF7as9T-TvQ0knWM8urRYUlCuiRhvIaaAjkHVK5X1klofJ4et6fdialY3tOj8_e-5zziNlQGTTio7TPmAO9M_B5_YWoJARGJRQVqlNE3yzCMezy3osiEiZiV_krlt4i4KMq9kt0Q0reWaiRNJwZYFRrsS5cf-71kEsoPoyR3_YDHq-75w0j4jbuW387cVE7KfLCnKmkj8lmZQ75YJ7hpSzoO1S4j9dTxl3xUlximYtSEmMI1Kn9GF5TjReCTqxPyvLm831m5NxQymagQ8QNjXY3PAoV0qnkMaQzxEidDYnXPrOLbaOIuf_wBWM2pmAo3qW6nBD5MQYsQXi0Sw_u2IxgeTZYyPRPjYCnGyUvucTKDUEY8QMf2E245g6hk96lg1i9W4bwG5hkWJc5lyloSWPwrU7d6ZiQ6OHn_33UL8sR6S-YcHIbi10DPcaqWuT4AsCOdU9O-6ChFgLs2tr2sI0KUYAFDonCfAatPLMgTuRGbgsucUNfm8WFoOtHp0CKixaSHJy7HVfdFI4tOf-ijfSBB_zGIOjYFegC8YtCqNJQekBeX2yXuoG1TZeW_zyrQtFT7v-YP-w7EsmUPDVqt3HOiQgHnsUd0fvJebUxMEKdd0aUxr53QsI8u_4DRCvxWJsnwK7Hoeu8lx3Ozf3mzpfLskGKPt4OsSLmI_MC8wRlJ0diwVoz1b6c8fINYedN1f-ctPi2tOiZTMksVpN0yBXaJu9r8jhsXrrDS-y6z3ONGqTRRDSDYm9ifa3D-imAZv5CVcyGwLOSyhLi6mFkWpDyJHOeJ2o43ObS7FwYCQDhl6qgO3qCbfnKiNTIakAvnk00Zq9qSRzxby7YDpLw2aclbVnJApCPEgxzQswhZ3gtAZ9_XORJn5IRqjeAwVcXAsk86vUxZYa75uexfXRPR_V4lvrEYC-6yGe9cV84TUcUjwN22SyxgiVKOWr9pwLoW1RS-qqqAwch0_jo9mMvajFg8mqPSQpNkdhRg0SWzhsqsCS1nY2lOpqZNnf3jaCeNiRdPtwk66UuRBc9dWzG-nhorE87DyDTUpEscOCqzSLZDfCxI_X-RRVoEhpWp0PdBqaMI18Z9UjaaITKKpzHT2F9IIeZsQTr4l74ASASkGVVmbyLlnTITqaQrUdxGkg6ssfwI9AlLuLZvhngivcrs9jefpPmrN1SXvIvAQvLVnc-dS26AZswWtF6OMNoqW6crpdzk8hmAdEpn5-0R2_lUX6YbPpZkXXtdMM-mW_9GNG2Gt0ymPAeemRUpKoYk1J7W6eZstzHBCdRGASYfsl9myTOg_ZmsGMVuvOTL6RHvJlcQq5WNKjxP0XV7k-jI4-mupkyrlf7wnvco3fSO97mo26GoJSt_hjZ59GvUZwAiTXD0lNQluxbCeh6DACnUsWwYM9DfOzwTDBrveCNlBMGtw3_CeFVqIOMhnFMxljDkQrkkzEfTj6FVlgWXDAB-xZxrAq6JPaIcc7KLldyK42zGHxMPMcuwPmdZi4SZSg0O09bIeJE-46DK9EzEDlsKe7DptLWdTzA6eUoI5mvO8ZCYlQpLfAjtFzf54IY_rRzH6AWSeLCxZKTww1Ly3t0PwUz4sCK_hybbSb9qrK4JokItX0J3Jb4Ui6XfG2eFLFmWnCMZb240R7EUw0TTG2RjrRTqsc_pTe4hWVWvPFYXW1EnZw1QUpnOWI-8I45Ql8=",
  "id": "rs_0b017203ed221803016ab2d159138887d09eb1de909ffcd363",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.4,\"right_z\":0.25,\"left_x\":0.37,\"left_y\":-0.05,\"left_z\":0.07,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The tan plush is lifted securely. I’m moving it toward the left basket while positioning the left gripper above the grey plush.\"}",
  "call_id": "call_6mFGE0q9WkgaRLfCH72qxK3e",
  "id": "fc_0b017203ed221803016ab2d1637e0487d08095fc7a25badab8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6mFGE0q9WkgaRLfCH72qxK3e",
  "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]: [-0.2401, 1.3956, 0.461, 0.2272, -0.2237, -0.1642, 0.9968, 0.8791, 2.5134, 2.7331, -1.0538, 0.5663, 0.4919, 0.1221]\nstate[eef_state]: left_x=0.3522 left_y=-0.0422 left_z=0.0532 left_yaw=0.023 left_pitch=-0.1215 left_roll=0.0295 left_gripper=0.9968 right_x=0.4573 right_y=0.4093 right_z=0.2169 right_yaw=0.1403 right_pitch=-0.1096 right_roll=-0.0265 right_gripper=0.1221\nstate[joint_eff]: [-0.4991, -4.7248, 5.9692, 1.746, -0.1148, 0.0952, -0.0122, -1.1829, -11.7128, 5.6957, 0.4615, 0.3394, -0.022, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:721963a13b2738763858d996e847d9e1017d4b59e0f33a97aa193a32af4250fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d4dd8d5ab4f9a52e016b54f745099f15ea1906d961d08a52866d2dccd2f29e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1288df7aa39acb60c45a8f48f57ec59b2dc85ab1df42c519928ec6ceaf83954",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1581, 1.1641, 1.1469, -0.9272, -0.2535, -0.1829, 0.9968, 1.0145, 1.8606, 1.4704, -0.4995, 0.6701, 0.6243, 0.1192]\nstate[eef_state]: left_x=0.3067 left_y=-0.0004 left_z=0.2151 left_yaw=0.1566 left_pitch=-0.3416 left_roll=0.1068 left_gripper=0.9968 right_x=0.3416 right_y=0.3484 right_z=0.1654 right_yaw=0.1274 right_pitch=-0.089 right_roll=-0.0169 right_gripper=0.1192\nstate[joint_eff]: [-0.1709, -3.7675, 6.4889, 1.3114, -0.1685, -0.0122, -0.0073, -0.0615, -13.6137, 9.4154, 1.2381, 0.4615, 0.0024, 0.7937]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstFxpVFYL7xAgklrWt8QW5DbEoohnbcF_4JM68BUUoXjF9TIGanmRKOgPue5_wfWQsiCEqFzu2VqmOHGS7L9Bws9Zs_d01Ayuyq0s4Z9hsxD0JGjFON_1gBwtPOQEoXZU03i7Q_JSH5mj3O3mbhmaZySW69j3S5O5yLkLdKl0GMOr8feWz0l7jyC5tCCRhG77Gv_lhh6c9GJ6iwdDCOkw8GpllO_kHrzOxTZfP-moAbq-rtxhZ3eSrnybnXY7fnmANhzPyupRId51sgfTd17JP2iYzLxyXfStm-qUP78cqlOJwVBjH8oxSI7tMnSK6SEXXJQaszcdFOT-_CCbXMOa0Y_Q8yKXOUrLMDSaVllktsSzkxNTpGaeLWglHSpcPjAGbcpDL6ZRfLlIuJlK3VpniSEDpeLJpXLWpUWkGpZxBS5P9hsGbEN7CXrBSv-T2sNeTZ8XPeKaWmmuOx0jfC80Wca2rjXxY2aALuDnZ1Gcug4VU8rGQi8xLJTBpvqiH2PxoZPu9D5KovnhHlg6KYN9DNBk2h2ymjtZrd8LELL7pqGe7oXRpJmYM3VWXmD2Y2eAzHnByj9WeYiybpDw74adYAK-Vj7Sd-1wW_P9Vn-k8DMf2IIsaEomS3khToW5GrpYWnVAxRp9on2WbEa9dhKcOS6_13OiphXfwZRUwv2kbjlC1daCBTh1vswsIXGUFv7TeEILOyz7Jn9g6uDN2uOUITPazR38GCeXaSGlDxKmPudY6u2EoDIIJzDVGgtM3s4ZnaVYBBwot22SSOd9ysQ7ji2Vh8O4SXjHjMdh229E51LbmZBT-u4FTuCytM-rHWsnWX8zFIAxXYWqGMtjlVVTlkXUi6AC5fLiWxVScCaRUCHx0Fy_upsMbnFntvRa9SwKm7rMyAKigoJmkcntG_S8XTd7-0OeAApJZxSE21tfErAu469NIvH3uJeHuxRe_GOZ-dbK9nBFOev8OLPBhyWGrqiyCA4JTj-P2WNLq2CwSlYqF14qv9LLRRrz9nSBnQA6kXC7SbPAlTfiBHPYnkcaYRYYAwxRe10wkYj4rL0jdcUEIqOQrP1ZiG3LvGANwDtKzvU50yMLZaqKpoS8VGBFRuf4eZxZSk9XRQmV8OUAj0-roeumO2lNza6Pj7pgJNr_5wSfdhvVtOCV2XSNF1EaCdTJwlHJ2DxqwoFlekjrTLrs4KPUyxv9h-i4l0a5fE3jNJwr8BzOtKMsemnq5H_Ji7MAucp58Dhy0xBKPpJbRd7Cda6cs2lM0cW32JE1ainORBkLQ_lrsOa7To7zcf_0ddZrSo1VmwzXPCI29v_d6eP3xwAt05742oqCskGimqEe7ut6Vwz_b_MDrZgTAzlbuOUzaiQIzJw7ZM8to2lmdlxWOs7WsjwdP632uFV2UI-X0Lek68Q8ROKKg8O9-MK-V7EaxNRmioN7db5aFHMF1MnV_1S9T9YJ8UdbONScQyd4C08AznPfZ-nIhN4W4T3vDn4OFRubtbnZSyQ4gOhWBx71WTLE7r7pcsDSKvr18LRy4M_Z1ny38_o4xM1j9zOV4yNmobDGdEgDijHn6uStGJBMjM=",
  "id": "rs_0b017203ed221803016ab2d16b96dc87d0a1dd53d3a1114f7b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_y\":0.4,\"right_z\":0.25,\"left_x\":0.33,\"left_y\":0.015,\"left_z\":0.015},\"note\":\"The tan plush is near the front edge of the left basket, so I’m moving it farther over the opening. The grey plush is left of the other gripper, and I’m aligning the fingers around its torso.\"}",
  "call_id": "call_HEdilRoO40OIUvo1ytf04m4K",
  "id": "fc_0b017203ed221803016ab2d16eaaa487d09154ca4d3d4565f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HEdilRoO40OIUvo1ytf04m4K",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0044, 1.441, 0.2966, 0.4522, -0.0669, -0.0307, 0.9969, 0.7799, 2.5843, 2.8162, -1.1004, 0.4889, 0.4084, 0.124]\nstate[eef_state]: left_x=0.3315 left_y=0.0169 left_z=0.0185 left_yaw=0.0627 left_pitch=-0.1255 left_roll=0.0305 left_gripper=0.9969 right_x=0.4929 right_y=0.3759 right_z=0.1939 right_yaw=0.1407 right_pitch=-0.1753 right_roll=-0.0673 right_gripper=0.124\nstate[joint_eff]: [0.0615, -3.6718, 4.7521, 1.619, 0.0611, 0.1148, -0.0073, -0.3214, -15.3368, 10.0718, 1.4383, 0.3883, -0.0171, 0.3834]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6cc97b68c43e828fcd9eb9d361c4bb6ba4768d10ee6bd99264456b36a528931",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aefbf02aceac63373c24b07a481e302b68bd6e382b53700cda4a3c83e55cc6e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce3c1a5f9911e977ccf807ce615f5e3e56fddcf315629a3fe0063e4d4f9d5c6c",
      "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]: [-0.2401, 1.3956, 0.461, 0.2272, -0.2237, -0.1642, 0.9968, 0.8791, 2.5134, 2.7331, -1.0538, 0.5663, 0.4919, 0.1221]\nstate[eef_state]: left_x=0.3522 left_y=-0.0422 left_z=0.0532 left_yaw=0.023 left_pitch=-0.1215 left_roll=0.0295 left_gripper=0.9968 right_x=0.4573 right_y=0.4093 right_z=0.2169 right_yaw=0.1403 right_pitch=-0.1096 right_roll=-0.0265 right_gripper=0.1221\nstate[joint_eff]: [-0.4991, -4.7248, 5.9692, 1.746, -0.1148, 0.0952, -0.0122, -1.1829, -11.7128, 5.6957, 0.4615, 0.3394, -0.022, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstF5Ua3eN4G16NQjuYXocwvI-p5B2cd4HYbFVE4d8hZiTEJQPupWy_SsmuD6_tOilAtA02L17k6gWEGYAWVI44DQNMpQty83cmONE83VnB1ZDaL_bI33rhJ1ihhNiEbpDWFSB0FbuREpbquGTfOlQd6f7P6csgiXeDbgT-e_sfg-ryY4-mwsv5U4jBewWni2CvG4i0nB4soU4NUIHcA_Rd84xerQ5VFBecwoVoq8aI5dVu2eWS0mw8O6CHJ2OJCA9EUy81H2gQOxTmVb1wkqRXvwpQqgkek8t5BQ3TJue8tznofdtSuZ2I0Dmzwim8tOenAD0KxjlaqYpJbBWpmnuUOx_2EeLTm1IhNcBQ3OPSfmKU87KQZSqyFUiL-lP0RRMh6O1m6OGQjdWAf73PRRb9pF_HNTkazv9IRIFJ8HzYG2bU1pO2df2CfCkuSGFb3nl7taU6LzhL6h01clrCK89H7_ieQeYY1QDctEqxeL37VTr1Gnp7KRJ7HpYEIIz5qD5qYy9gQrviXNgnY-KdwYSiN48L3WPGbF0oWGISFKsbR4_k6-9sHW3saoGIOOcZfRC1Rv9VL98gF7M3YtzFl6DrBnKtDhxsZSbJrSdG7e2hyHf0Uf3y3GWMRhH6hLa2KM__OlMRBZGj6FefqqoDZVQsq06WI8dpX3RavVrCV-2j56Ef2VhCkF5P8MTW7V_v_UhOCK50o4HSc_77HDwRaIGO9MZRMLzElBVyzvnW5Q1ta4ihXJDu24Zp4uf0d-H-m47X2qaQvfnqQbrzqgXcyUYrZTk4mC7S2dd7jv90Q4rW0BN7YySAOR0pZLZjv3wHDHi_LnC5X6yVbuLzZkklRWUIhIAlBwWLaVaYSN-v_my_3w7IfeiFtDQhXfUj7TBD2ngJoL-HHnxJI88Igp4SlptQ7IerVGWyKj7OZJ4YGot5NzLruCGXQJaSuUgUEvowL9NdtfZnGpC-4bFQNtEZmXLejOuZaYidbs0L7lmx3B4pLpo4HhJ02SLp6hmPqxVKCivjgaggQg_ZL_Ke4F8jIuXAKuPkCwvqGZ40bqANUh4DZ0ojbH7u-7g46_vFvJmAIU_jFCsfZuZKYA7gcGqWL_EQOKGPh8VqY3FPdTKyqFS7kWPZrOUKzRbohqgBBi_iOciaiyUc6KEIImKKdQlBCfEtpG2Eghu4ME50B4qvHVbtcXmB6o__Krsu9_l7ffZtcAfqtK7D5G7fq2nQkTEtof90yOcbFSP39RJcn1DHSF1PT9lBeUOmGWpKuzW8sV_6yzkTwcQvP3MOQtJ6KCa3Oxf3bj7ZA8pXAHNh6MF0N-79XTFAYy-0nmyXBTsA3BpIqbY3V9hoXi3eGAvpMsfiVqnMpmtLanEIxRHdwvKA2m8e8loX3UAO2iSNesnQ7OlMKAXMYLfZ8UttkUR37gII-6634MaIAnm2SNHbsOaT79rUH87no=",
  "id": "rs_0b017203ed221803016ab2d1742dbc87d0969cbbaa89ccefa0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.57,\"right_y\":0.4,\"right_z\":0.24,\"right_pitch\":0.5,\"left_x\":0.35,\"left_y\":0.045,\"left_z\":0.02,\"left_gripper\":0},\"note\":\"The tan plush is still hanging over the basket edge; a forward tool tilt should improve reach. I’m also closing the left gripper on the grey plush after a final sideways adjustment.\"}",
  "call_id": "call_sqhRER46lg0L13wG86Jh2ikd",
  "id": "fc_0b017203ed221803016ab2d177278087d0b285a4311057d6fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sqhRER46lg0L13wG86Jh2ikd",
  "output": "executing move_to over 23 steps (2.3s)",
  "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]: [0.1291, 1.5177, 0.3515, 0.4572, 0.0143, 0.0387, 0.0086, 0.77, 2.9414, 3.11, -0.3893, 0.643, 0.0025, 0.1244]\nstate[eef_state]: left_x=0.3419 left_y=0.0455 left_z=0.0136 left_yaw=0.0807 left_pitch=-0.1441 left_roll=0.0313 left_gripper=0.0086 right_x=0.5858 right_y=0.4255 right_z=0.2187 right_yaw=0.187 right_pitch=0.3854 right_roll=-0.1309 right_gripper=0.1244\nstate[joint_eff]: [0.4991, -4.1094, 7.2, 1.619, 0.1197, 0.0855, 0.8181, -0.5675, -15.4325, 9.0462, 2.337, 0.1636, 0.0513, 0.7106]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf98e290bbdd5c24dd6e7d49b33ae7ef8b6f8860ef19e74c8aecd9644075af27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77bb850b7a2eba7148bd1a5abfdb9ce70c7ca21710e6ac79a8459377948234bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6024528895bec7c3b81aea0145bf6c49466c896c031a2dd85b2af333f9748549",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 95 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]: [0.0044, 1.441, 0.2966, 0.4522, -0.0669, -0.0307, 0.9969, 0.7799, 2.5843, 2.8162, -1.1004, 0.4889, 0.4084, 0.124]\nstate[eef_state]: left_x=0.3315 left_y=0.0169 left_z=0.0185 left_yaw=0.0627 left_pitch=-0.1255 left_roll=0.0305 left_gripper=0.9969 right_x=0.4929 right_y=0.3759 right_z=0.1939 right_yaw=0.1407 right_pitch=-0.1753 right_roll=-0.0673 right_gripper=0.124\nstate[joint_eff]: [0.0615, -3.6718, 4.7521, 1.619, 0.0611, 0.1148, -0.0073, -0.3214, -15.3368, 10.0718, 1.4383, 0.3883, -0.0171, 0.3834]\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": "gAAAAABqstGEAVkURADbIVzpieSifqy9-_wSQMD2n-QZtT4Op4cpwJVKEJRy2OYRT0B0q0vdyFuIFdUdbLspvRZqWsm_xFhCm3ayBK-mGkNjIwUrP6aDYOq78i6ETgDiEceI0QiF_b2eN33rdja5sdgoQNN_FD_LtWhgkTBiur5FRstEugVHB0S8AGf7aXVXO6ZvGXy46j4Aytg1Hg5whax5hsW8tPTsdAogv6fmQ7WdVO9FWSEMhYWE8LoifSNjokp2ApNNXO8rw5oQSyRi7-ByW_TyyQ2s2seiUx_-sWj_4fGaLej8gz4Uy7l-NDses9k-tzUVEgY-Va-Mr10y0Iqvwzqg2A6DegD04FOTVF1jh0XXQMo_wv5myneRwBuUG7e79Hza3wgRbqur5CSmR8haeE2Fhdn2g9gZke8Uqhgo3I8V2Mc6XTmT9QTw62uoww1usRGEjskWvpusZiTYaEpmT9RTVtBHftgLsK1nri89Nr8WejrLvCl2lJ5BTTYYoVSXWgMyxlXWy70uPjBF5mx9eWMxJcirBmrgSKJzxATfY6QdLRY9U_r7LTLetVSlNBZXes8NUtiL28a1aejE9z0uDbrHiSDsMkGxzmmDs3RK2HvTz96iZ3064t0HTk6fDTQLAWtTn-VmhowuKAxLlmKszCeluD6cA6nKrxiuRt9eZxMQsPvJZ3sPk_bRjwi1Ag6kPT7bgb41wmlGlfcuqEBtSRpi4Z6MWK8eKt-SB6red2MUsR9f_jCw3OIuRgd-n5Jmz50XYlgzrqkUEg_9QIIXvzyHbQzGtyz2DpAsS2A4MuIYP4whqGbKwoVxecow0Cj6PRoBsN5pA0AezCusDZFn0yIQSCkcyqmpofiavSmCB06h4CMcKwV4hPzlLirsKNJa1XrYQ_b2YdR8cahQBWHLBJ6TS7fhIxUxoMvCFJnZ5w7MOZ6YOIgIGrgwCZoE9LhnUq-ZAqL1pk-E3ROPuAPMZeuarx5zz_4AASOsfD3YynlsGT7zq-CstxzgDLJo4ORVUX9Yvg7oShmgPfzKM2QCTAqwAT2dyhjr-YA9LlmZ9k1QI-ipaXU-uEEarNCvR__-J7DsW0hf9RB6ADSwY2TG27qFTKpXegnNf_0bzRO6r4x2-l2ASbTODAKY2qo-Sas3lnL4X7E0sJluxx4fMh6vxND-fqPMosOK_zUnewD4aeXQWcrPKS4hGwrSJ9DSn59fJvCls6sBsl2DMOnXwhahn1T7JxV2T4QzOA5N0dBZDKHlkbGY6uoathne3gQ9gEHzu_9YupWFstL9I_mX6fQ9ZEY16ywGQJtNLiV8XawtkoF79DlWclGsvfxq_v46FiPRhj5lM7nULt2tTS7WT4jFYS9AnZol5XfoocTxBLPdCuMxVzGbsHzMCKcaHhCF5IbvrMpS29aJX6WshiVmpNW6C-Zr0yQFmAMsvlNTHAy61K2FB9ppHY4=",
  "id": "rs_0b017203ed221803016ab2d17f281087d0bce0727619e840ff",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_gripper\":1,\"left_x\":0.29,\"left_y\":0.05,\"left_z\":0.04},\"note\":\"The tan plush is now over the left basket, so I’m releasing it. The left gripper closed empty; the grey plush has shifted toward the left edge, and I’m opening and repositioning for one retry.\"}",
  "call_id": "call_0jJ3zLzVALybcN7aiKZIYnq8",
  "id": "fc_0b017203ed221803016ab2d181d9e487d0ae245b797a962e7d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0jJ3zLzVALybcN7aiKZIYnq8",
  "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]: [0.1894, 1.1397, 0.255, 0.2035, 0.0647, 0.07, 0.9949, 0.7334, 2.9524, 3.1119, -0.4332, 0.6086, -0.0154, 0.9952]\nstate[eef_state]: left_x=0.2989 left_y=0.0493 left_z=0.0453 left_yaw=0.0815 left_pitch=-0.1145 left_roll=0.0253 left_gripper=0.9949 right_x=0.5993 right_y=0.4088 right_z=0.2019 right_yaw=0.2017 right_pitch=0.3345 right_roll=-0.172 right_gripper=0.9952\nstate[joint_eff]: [0.3897, -3.0017, 5.4769, 1.6288, -0.0269, 0.0952, 0.0952, 0.335, -16.8821, 9.0872, 2.0098, 0.1343, 0.1538, -0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72fc6661dc97d10fafd41f63550017a82a085923a2758f29b205df389eebe145",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f65ef0a291dd9ed7c43dbc095f79c97df01f646bcc8b8abd32c8555ed172fa93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12eaa444b916428b2e632c5978b7d5a937a284c1afa3cbb3502bf73303dace44",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 99 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]: [0.1291, 1.5177, 0.3515, 0.4572, 0.0143, 0.0387, 0.0086, 0.77, 2.9414, 3.11, -0.3893, 0.643, 0.0025, 0.1244]\nstate[eef_state]: left_x=0.3419 left_y=0.0455 left_z=0.0136 left_yaw=0.0807 left_pitch=-0.1441 left_roll=0.0313 left_gripper=0.0086 right_x=0.5858 right_y=0.4255 right_z=0.2187 right_yaw=0.187 right_pitch=0.3854 right_roll=-0.1309 right_gripper=0.1244\nstate[joint_eff]: [0.4991, -4.1094, 7.2, 1.619, 0.1197, 0.0855, 0.8181, -0.5675, -15.4325, 9.0462, 2.337, 0.1636, 0.0513, 0.7106]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstGPhszr4VG7WwnEVXGYV4kxoNaeaOlMwImUuQhv_UZIVymf6ryc_iwC6U9-O0UumIp0TMUdZYRhVGW2aBNgmGdHQZahd1UfIwX7jq5IZ4_9l9rThEe2UNZnzkXS0T0tObuCs4InXa3OgzwxDEen4sTjsxX9ygOPfjbPRtWEcxKoqfjAbIjpkdHSXaQTvzz2_tlIHf1u1P-2qyVJ6Vqv8-Ub3W02_2P0U1UYfcgVbXeY2Vs574YO58YTsEYDS38CjoZWaz-D-6AkZ5wRVmSHkZxu1s-s1Xl8B7qKGm1fv1Z-C0neN9wl152rKcNpvelmuek02Y5AQBOOPQXBRZLehPXdjzx8RkDknysUurLoIEj-kKK1i6aRLmg7UH3bn-LT3UX_tqUKvpTB19vzsnlCxY6XT1oN2vtSrLJpXfS11gX8T1ArOYWwUYQBCQnmnHXuEMT2oogmu-TPCf4-j-OjGYNxYZErQldJ3l8ZVP_pMqZxMICfWT8yWVqb9AW9NmFAgruuJStvb2g9t4fUJUJskht9uEQtP4UX-ErCtQNOTIiqj7C9OSwCE8GaZvUTdUD8bprAhO030ZAc2a5SKHPf1Kzw8dUvfyTkCDyral-qP9DwmEZKy_ECv-9AcQX9ZuOysv12L3RECIfXVEcWqvWhUchsR6LKlU3TiwXLH3YCsOnzJ3JQWbRlRn0LNoGX-5N3a2o5sY7UvxueQgiHUFtqfbryNHX8jxprnIyNLwd5oYgPfj-Qo-BqpfbonBf97AXEpa2bQK1TSBFW6d-C5Jq_yU_avdeStL_eimwVEItonJzr49nBOesAwIfzzaGuWZjiI-HTsPo34cHRwA7WqbTey8t4vFTRzY6-nokpQ2AoMJrbBftw5B6d3Z12_9XOAvKwgQSZsxFQqOs0nHLantocqczveQGLBsSO06Wa__0WaLAB6EI6idJWIX5Md5twj1QxFX4vk7ecz2HR2WWwZoqkEhp15ve9SaX_LnDZAyOncK5iCuIMoPfFP6g7JDAGCidrMeq4UEjlImNVYUVLfquKTeipN4zYtZauvb36BKxThmMWsLb_swsqUwP1eKkV1jwgoMNMqrhlYYu5lae-XOA6wlX9uB0BnWWAS81XfhXhSdi4qNu_Y4whLwe3_lviopfN8QFdy-28T6g8KYgGxYhX9mRsIbbZVZ-HYiLHwW9WDQ11ZfyJqW45o_1yqb2hnxPUEkFDPkJuaOfZjAEjGRPfcGzEZyPJ0wR5Bo7LPJAJ7xHxdYDJF1ANP5zZsrqBsdzbWX5x5l2ApNhWb8D02pAXVcOFG7R2sY52gzTqYvhQFKxzDGQtQj6I_6weoGYpeKJA1WnqoPA7mnCGnsSGlc5t4ZZNqlh_oSsbWBU99BY-5rKEX-YsLEmf1PQni_yEdDndB1PPu85aQDq-z0azC_SAvh15omWk3JcLWAvIgBSaTNnlOunGUqtbWXrIddCUrGaYkGCz64-Uuwm9kWeYx5FfImIXDwui2v5Y7C_Nmltb52QGyKsjwFd2G8KjuWvLYsH5nVg0WLmAqyFU65jC4cc-fvuvtU5AMueErWzLBE3Clc7fYWgH4Q-2YsytWEuOPzr9SsNxaKUGdNpLQlOEen1TaQAPaZzigGMkcaPsSqoS3Mw2DNhbh6IRyH734C1GEgNqWuSMPyQFC9stlLG4ztwNNzqgNs_1AUxcN-rrRVUk52TLM-jBmjwPoddK9AkImYthNF_DkvSrU9NinIId9FI4LzmiEjCPPFuvHr6yJNULTI55GqQ=",
  "id": "rs_0b017203ed221803016ab2d18839c487d0a8a8e9cf09d3d0a9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.23,\"right_pitch\":0,\"left_x\":0.21,\"left_y\":-0.18,\"left_z\":0.075},\"note\":\"The grey plush is now beyond the left arm’s sideways limit, so I won’t force a grasp against the edge. I’m approaching the yellow pen, which has shifted toward the front of the table.\"}",
  "call_id": "call_594vgazADXiyeKy8pbzf5zHO",
  "id": "fc_0b017203ed221803016ab2d18cf31087d0b831d2efc34eb68d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_594vgazADXiyeKy8pbzf5zHO",
  "output": "executing move_to over 35 steps (3.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2179, 1.3521, 0.6098, -0.5278, -0.8318, -1.1446, 0.9966, -0.1017, 1.8668, 2.7037, -1.4162, -0.0986, -0.2829, 0.9963]\nstate[eef_state]: left_x=0.2087 left_y=-0.1786 left_z=0.0679 left_yaw=0.0585 left_pitch=-0.1341 left_roll=0.0336 left_gripper=0.9966 right_x=0.4224 right_y=-0.022 right_z=0.4522 right_yaw=0.1289 right_pitch=-0.0203 right_roll=-0.1759 right_gripper=0.9963\nstate[joint_eff]: [-0.3214, -4.0821, 7.2547, 0.6227, -0.696, -0.0562, 0.1685, 2.0581, -13.7641, 6.8855, 2.5763, -0.4078, -0.0073, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10a871f2e115e95fdb878bf7575e33be01bd7b4c4e3e41f269e0f72f818be178",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4dd45aae6a4ea84cca79b6e49c09a47aea8617bda32ff93a4ee5c65973aa7c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:188b9b691de88218f1ea3556ecd688ffc16cb8d74e20e5883c800f261025d565",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1894, 1.1397, 0.255, 0.2035, 0.0647, 0.07, 0.9949, 0.7334, 2.9524, 3.1119, -0.4332, 0.6086, -0.0154, 0.9952]\nstate[eef_state]: left_x=0.2989 left_y=0.0493 left_z=0.0453 left_yaw=0.0815 left_pitch=-0.1145 left_roll=0.0253 left_gripper=0.9949 right_x=0.5993 right_y=0.4088 right_z=0.2019 right_yaw=0.2017 right_pitch=0.3345 right_roll=-0.172 right_gripper=0.9952\nstate[joint_eff]: [0.3897, -3.0017, 5.4769, 1.6288, -0.0269, 0.0952, 0.0952, 0.335, -16.8821, 9.0872, 2.0098, 0.1343, 0.1538, -0.0562]\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": "gAAAAABqstGYSHtHzkl9OltnU1WT3hCAOgb8k47-RBBBlPmkupyqFw3nwHqdTxUZpAiTlWcJJwjd10m8vf2aqsugi0ToNuZpb5ejKSk0I4F58ICQPEo8CyNMTqSLUIW-W3kPJKzrligl5uK5DRviL3CFXXzBjsQ9usyGBeIYVHx8IYk56RIs6mxcv27a3VGsp2DjnDRpXQvhF8KiHHzUoPRV7BryTECDB4pJazdrX14QzoUJ6IuXWidhXzo2PmvKPtaFAqWCWOMmC3thLyHLBDja1HvJKmvGp08PEPxAHtRF4AaPsDZRd4ZXq23Ht2XleKvjf4tgULh6OKNYz08ZPWHy5q1_tSVJc94uCglDIm0isQUHXJBVuUNcZb18GPDX0xcm_oufdl06LKquUykSSObXAWRIKqI4jfw0gzcAb88f22N5Mrj24bVC93QUGhI3dJq79sdlKL2B9_3-VrqnEdHqXPAlYlHqeIraVvYH7f30hHtAd_U3q6zcwYxQeIAEdkwDRuSYhSoS4v9dmzVue_f3bfAaj5rwUdkLf7yXT6Nw0PJr__LfRp_1S5ggyYO4TC4lwnckhwuuJYQ0ru20jD_FcRFQTY-HykDIPYl0D6Lsr3vhVivJ4Nkuty9QK4nZ24FJGl3b5LEsJjZNZTI5mCIqIVPdlNNiRR1_zzp0Tucc9c0SYLRP0ALurChy9rnvhf511M3nYPGJl15ubZ8oD3WC23VRJFUMFDK0f33vMByOhcxJ1iUb3FkcxI8zPG-Ru6CfIgoUTjVaqhs9rzCt7_ARz7hWSvrQy9FBXMjfhH_uIjrYeyzWJZDwugIbv_MSbYo6RsbFMC1joNfm2p3aUfagO24XNdxz39WBWfJLWqRWRIwc1A8wg5yIY7_INucCa3rYwD3L9Nq0st-jn9U4cGCGsZFw6dzUU6dIQ3oz1-CI6v4_I66d2ffvxDulsJkiG97hGON2xNnl5NTMiRz1QeZnqLMgBqaU9oYtPwiJAscsWZx91urVyd2myZqxFibmmhvBjfRCjYeiHIWH2ZjKgg_zN6tixveGQ1aEE8eFyUg_UHqx50jhFQUltB_KK-bqt8qpaCSVn4FntIegiZphmV1HtV6GAbxq7rVJcwid0ldARXOd1Cy8848jrHmP1Fupuss6idPEQMH83NqptbqWzoi8mtLyG0ZJlJaIGHYhnLF6X2zgq7U8HGzC-s806--w7lHy6gd_xBMNSdGax4ATSkbfa4k51fuZjS-1gD-9PeYwsRsBNIuubkwv-x-LBuS4Pme52LxGmqThGJ7JWJAUuyv8DwnTluxI5Mghc0hkdeLV8RW8FCmdtuCZ0Cor7CK1KzgJvq2SDJ6DRfczWb2EP6b92it2uG91v7bhXJOlCkgjjSC3zhAXvDE=",
  "id": "rs_0b017203ed221803016ab2d195744487d0b60339b40ce10907",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.205,\"left_y\":-0.215,\"left_z\":-0.005},\"note\":\"The yellow pen appears just right of the fingertips in the wrist view. I’m shifting right and lowering around its middle.\"}",
  "call_id": "call_wWDVChdv0bkdgrfUPzXqMJcH",
  "id": "fc_0b017203ed221803016ab2d197581087d0985616233209b048",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wWDVChdv0bkdgrfUPzXqMJcH",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2804, 1.6985, 0.5964, -0.2825, -0.8486, -1.2289, 0.9969, -0.1047, 1.3262, 1.9724, -0.8478, -0.1215, -0.3061, 0.9964]\nstate[eef_state]: left_x=0.2027 left_y=-0.2028 left_z=-0.0011 left_yaw=0.0616 left_pitch=-0.1448 left_roll=0.0846 left_gripper=0.9969 right_x=0.3569 right_y=-0.0124 right_z=0.5147 right_yaw=0.1743 right_pitch=0.3448 right_roll=-0.2849 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -6.0923, 5.4359, 0.315, 0.0464, 0.5201, 0.0122, 0.1162, 7.3641, -0.1709, 0.906, 0.1294, 0.1783, 0.0024]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d30ccc882cdbb9c5d24c3e04a74a23785ff2c5062c5d5ab852a290261e16fb33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca8a1d8a7df374267d732c5c70abc3667e9e9a340a6b6ea5d70045975d0981ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 388):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72351b44a1ccd7145934993bd7649c51ca0a4f25f445402df3b88f5000ac47a0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2179, 1.3521, 0.6098, -0.5278, -0.8318, -1.1446, 0.9966, -0.1017, 1.8668, 2.7037, -1.4162, -0.0986, -0.2829, 0.9963]\nstate[eef_state]: left_x=0.2087 left_y=-0.1786 left_z=0.0679 left_yaw=0.0585 left_pitch=-0.1341 left_roll=0.0336 left_gripper=0.9966 right_x=0.4224 right_y=-0.022 right_z=0.4522 right_yaw=0.1289 right_pitch=-0.0203 right_roll=-0.1759 right_gripper=0.9963\nstate[joint_eff]: [-0.3214, -4.0821, 7.2547, 0.6227, -0.696, -0.0562, 0.1685, 2.0581, -13.7641, 6.8855, 2.5763, -0.4078, -0.0073, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstGfCNwiP86PMblYXsGM2gSStyFgNp4gVWrrKj0kkAdSmsVt6DP3dQ9YXUynmdIXQsCZro8GNZ9IlGC1OxWIJ6etK57HMJJmwhbJsUmjJ79gwhWKybWFfS1jIOH9cSaA21htSaHSIYsvNblX7w5X97FyTTa8QA87RuMFHyg8i2HtUlwDHi2BavBxTmoU5WYJpEFboUqDid_VkBRUP-UJp7___QH6rZImtq0iWdw98vTSAVMu3g-vHH9TOmskgu9-0BLcghm_0oCBdt0KcTx-vWnv1OdO6H_NuVyK62A3pHkYP3zZ7B-659imTPA_hOPHFZZ16umxNj5e6tKiGv1Gjcj_OksdpfmPyIaMqIPc3KyUIOwRr0jf1cCP2JCUFQyVfMRJKBCMV4NEOxzlW7y069x7Pany_JWJvDnhBYZUjDZU9wcq5xHQA0w5uGcny4Ng4ZkJVBXsvb3zG1ODSQAymoubyoR7tl9DBNAVCzX4FbojGALxI_t_EFxaa2C9Uo6XL6BTlk_LNMF1Hi22jW0OFWdzNrA_HGWb5cGb-sV8HIp9dnwG30wRhnWkSaGHvfPr_UqnKsEWDq7FFX4xIQum8q-xY9-lqEa7_7RTuL7ucKyny_pH6QF_rksCgjJQBDzaLyyC8t6PDdDjyUi64dLPNQR1ZYPJrA9chKwF0sODqFsbWyqKmh90H6JaVDEH2hz0DXF4ZyXCnZzwHjgPkMdBXvvRLX-wNdJSmG3eAzUH3FJZVEg1mU5BTFid4JYu1B0_L0B3VB8_BGLqLPk1m6omJxmiOluwucQXkFJuuchVoCoeK8z9DOmBUACnXH74ETDK-S1rtV2lLthaGDE_9SsK6jw6ZfsvCraUhocYaB0eD6u4O82iDPpLybXGt4c60_WdxkZ1z730qOuIfCI0S3mT5F_dVOZ8S3bOzE8NZGbKdvbZP-axyYEUacvpUwuOJ67fnPY7roExwyU5-URm6IUzYV1dzFYqPENP1QH4_4PTfP3peSVkZ0hQz6SjtTYsfGhGMgHE4kmPX7YfU99fGJp9V2zEzR57Ygjwpd8DbRtk8o2yiHy3qp9JGpw0p29zfz0tWT01LrT7zvjkJIiXH9VVo9W4dorqV3MqJw1eppWoMM61pRCvALg3eLh30N_vHKQXPwJfTm31TgpORCy_H12BgSd5KJrnB3fz0D2IZvAOrnfIY_8bkPGy02gkQq18a5a4OoIIAX4dGtzVn6sG5XnjXjqpCZpEp5qwJw7J8NDHFyGU455-ib0v-qrVWA0hHxdvv_RmdsVK-gNxRLXcGsG3LmI2oDdx_QSiL5dKioHvEv0YAYo=",
  "id": "rs_0b017203ed221803016ab2d19cae2887d08fefbaa56dc21311",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.24,\"left_gripper\":0},\"note\":\"The yellow pen is still beside the right finger rather than centred. I’m making a final small sideways correction and closing the jaws.\"}",
  "call_id": "call_gh4ipyD5syuEMyuXi0eOYQDO",
  "id": "fc_0b017203ed221803016ab2d19e3aa487d0bb078d5d96c07176",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gh4ipyD5syuEMyuXi0eOYQDO",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2854, 1.7264, 0.5999, -0.2146, -0.8536, -1.2465, 0.0094, -0.1001, 1.3449, 1.9614, -0.889, -0.1165, -0.329, 0.9964]\nstate[eef_state]: left_x=0.2051 left_y=-0.2135 left_z=-0.0038 left_yaw=0.0615 left_pitch=-0.1297 left_roll=0.0294 left_gripper=0.0094 right_x=0.3634 right_y=-0.0123 right_z=0.494 right_yaw=0.1805 right_pitch=0.2728 right_roll=-0.2886 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -5.4496, 4.5333, 0.6618, -0.4127, -0.0024, 0.7692, -0.4034, -4.9299, 5.9282, 2.2442, -0.0806, 0.188, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3d98572a2fd215ad55f9bf7fc0eae13695f7992af755f3656a113fe4506bf83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dccafef39b4b8372e6372e452a9ee21e80858d74059646288f2b2c6416cb0fc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 398):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e028a2ecfba0b38277d9cca36223e6db6c405bad44e89def98bf538f8b641f3e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2804, 1.6985, 0.5964, -0.2825, -0.8486, -1.2289, 0.9969, -0.1047, 1.3262, 1.9724, -0.8478, -0.1215, -0.3061, 0.9964]\nstate[eef_state]: left_x=0.2027 left_y=-0.2028 left_z=-0.0011 left_yaw=0.0616 left_pitch=-0.1448 left_roll=0.0846 left_gripper=0.9969 right_x=0.3569 right_y=-0.0124 right_z=0.5147 right_yaw=0.1743 right_pitch=0.3448 right_roll=-0.2849 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -6.0923, 5.4359, 0.315, 0.0464, 0.5201, 0.0122, 0.1162, 7.3641, -0.1709, 0.906, 0.1294, 0.1783, 0.0024]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstGoZiTy3xWdzxbEO5wJtE8WZ-BmgKOPbP0b9thU9aaEuqO60gEfQH47sxaQmWaVimvNG59ld_Vh0Xp-CZhLzIwfWS5rAm5_uHnZx02X-fbT4FFEGDOAvO6-Zac_PuLwqsJLzl2lqhniTMmeEI3Lbl62VtX8665_MbEcjn3Y76Y3snzTk8ZSDaTxvCIur_DjuC8Tw_xzgEdsPRjZeROJIzd3qQOu0zcdmxPWq9loN0yTNFbwrqEdoQplj_GPBIQkcUtvJ91Q30lQDrmIeRXWBLRZcOXnp1gcUScOqASgTFmFzlKyxXvMUpXi4OjIuh2ygMbEc-ftHsZrnmupWTag-1q9st4QwbLDiNyt7pTD8r0woXgrCdV8xsRUT7sOn0yg5hTrPbgCjsdA9W9dqXYEnhTEV6XhzfxdXTrULhLl_ruJJm6Wo6IsiwH8m8Lfqs5wetAAbTw0sHzRHzThTbZBtrFmWjV_Hb65O4wg1guGN_E3vnogPj3jpd0o1QEphIHgp8S7AevZdjD7dBNMsDygBzTk-bu0nSyLoHduBByNBB5_XoJSKq0VcWtYVQRKeaLV3R8bVTz06jp1IpETXst9_2pDVCpqFp1LlnR0QJDa1vq8XB0nbB25hmv4EiI6tGn9s7oBzb3W4StDB_YrnAwWrH_S7u866e2fUve6LSwwg1ZmP4yOofWOe-yA2XyvCR8ZObmxhOnsP2qtLjtF-rIu2SwosMDDa9QSG0duGchzjJQnCP1URqtZRRaXstx2QdTNhgwm-ijlB8eHzVcryewbdVqwBmv3S0B7jqVIZT9YGnvMxzwZE3N3Uspqae6cgEUkIRbArDk98ECTgpbrhVFzFyuIMsiozN_5lWSt0XGv0fArKM8vGQWNP7hbVh8Y4K3Xgc2KPPoDEDXnWcbxemoxvTtxDFqbm0z3JqFjL5kjzzchI8n8k7svZIiciY2f8dqA0B-TAZszIoo2GVgNxZPuCGMS4DjakzxHsY_RMguYgc9KJt91y9FFWxQEOdnreE1JstwOPDQ_KbltRnaw5xHUoUz1qghTUJQeiE5CKx-K0nwpi3RapKUwg6-C4jncMOmNgwsR_6e3IFj_dMBIuS5mah-Gv0eeMczY_2wMn-SBJ3ADZEzJAk8RyfV-wNjyaTF9wBSmqOYxtD8T4gCg7SxHEzHI1M8PETmzEXh6kSk-3he7oTI6Lk18Flk4YYcm_8apA5P8famzGH3JQdZWDRe-0y9SGA==",
  "id": "rs_0b017203ed221803016ab2d1a4f3a087d08c86cd4e4b3ce251",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.12,\"left_z\":0.18,\"left_gripper\":1},\"note\":\"The pen grasp was empty, and the low sideways motion did not track safely. I’m opening and lifting clear; the grey plush remains at the table edge and the large tan plush landed beside, rather than inside, the left basket.\"}",
  "call_id": "call_sqWWuSFaPD05wg0bO03bONzs",
  "id": "fc_0b017203ed221803016ab2d1a5c2c087d0bf25bfb68a800d97",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sqWWuSFaPD05wg0bO03bONzs",
  "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]: [-0.7757, 1.1179, 0.8219, -0.6174, -0.6415, -0.6762, 0.9957, -0.0994, 1.351, 1.9556, -0.9009, -0.1165, -0.3347, 0.9964]\nstate[eef_state]: left_x=0.2805 left_y=-0.122 left_z=0.1679 left_yaw=0.1032 left_pitch=-0.1217 left_roll=-0.0017 left_gripper=0.9957 right_x=0.3656 right_y=-0.0122 right_z=0.4868 right_yaw=0.1826 right_pitch=0.2492 right_roll=-0.2874 right_gripper=0.9964\nstate[joint_eff]: [0.0615, -4.0274, 8.5265, 1.072, -0.3443, 0.2027, -0.0806, -0.2803, -4.2462, 5.5179, 1.9707, -0.0757, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99f65e120477e03a3d574b1edd8f60e7cebd60216d6af6bc3b21836e6539b2c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f668d273bbc1ff3d7521d22349932ac4744b004f7ee6ca1e2b9256dd008edaf8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 410):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f43fa43757db8b44c7e5b6e769e8d8ea2e5eda9f607dd4b368cf898d7cfffdc",
      "type": "input_image"
    }
  ],
  "role": "user"
}