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, 0.7986, 0.6167, -0.3801, -0.0219, -0.0299, 0.9996, -0.0208, 0.7986, 0.6109, -0.3779, -0.0116, -0.0254, 0.9994]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1845 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2962 right_y=-0.0005 right_z=0.1823 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -1.5385, 9.3333, 1.7851, -0.0317, 0.0952, -0.0611, -0.3624, -1.6342, 10.0034, 1.7314, -0.1441, 0.105, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:652de615cd6a7f73152d59203176911aeda84a00637bb5b47fe1388793a87bbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89d708be5c8a270ccb0c42601c552d69cdb44b74cd8cd9ea15dc0704d9cca9ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:accbdb6b37247a3f6ab977a03c494fce75bd732417fcd1de0434c1ae591733aa",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqstPQgQukK0riAXRH93ct5OkWQOdasVVTcTAmUzTw4rPzml9D7lwYL6lHtAmz2ynsThkAFjkJ6oOt-SwB9aRKeAQEFYNGQBfryNJ-cWEzeor6Dz35YCCExzQTyV1dmnUUQBMCfeK-bhx0GPz3hWXgREVK4iFc3ZPY7Xc7RBPdXRu3OwGC5McuPWE0UgeJs-CKSt3GBTdZ5d8sWAytVPBBFKnMn86LouqzbCKlzRz_TbDjKgrHIHjwcd5UA4KIu6fL5-tuinvvkL868dbu0pXO65-0FVW200yxlc0l4EuDJutBbWb2TaeoVQNOItgTjnDAkbtffoBW2umcSXRXLbOW_kGq8JfPUo-ygvOAYWYGnKt1EiLIzOD4wGC_EcOjiqX7KocqW1a6Ex15qb1SUMU2EIEGMzPxiSYT-UnkhbSHg6R90k2iN6NR7EWFHYox03Yg2n5FFKgOjcSGPO0uILpGNzIPoiPjlU-QxlYAuza0WmQ8fE-d5KSv49HK36k0_JoE5RYxjb41yZSOzLRz3T8-aP0zBqQSZ6DLOud_u_VI-jkZCmSHvBzxsruQJZ0afyYNmvL8QQGf_3vFluzFZTvT6QchZkFerRHQEmC2prGdk_zs6IpRZ9GQYk18OiQubgz91-jCYHbuPbDnYAS3wB7xpqfd6avogWkwiStE5hTld5EvYzHCYmG9HXxgjUBhoqO8NIv45d5qWsX1rlzCYpIOUUxZS_BzusVu6EcTTpvzrgyuivi8bPgKeDevv8sE6qq3hyw7i9jt_Oosfca_yxAIphEAwWcgU25p1vjjtPvHL0klIb2dt8SlwPVts9JOkb1t1kdRvOzE0ayyRHs_HdkbNPkdT0VZiJyd2wIkyoDeKD1mTwALRi6rpP4Qztj-PY_GTaozMGh_YigZADNWouf_EdsUvOlmZVzkcEC7KGprJU7QBRRoKbgac6d98ugiovwc4ROTeXvE2gMILsWauRqcD8xTsv-sKX4wyzhNgEgMoLwkoLJMqmYmrOBKcv8WrPYoelhm2zx2DYqZc-30yUbedMlXXGh1KvShj-ib7tIiqi9HheVxsBhRjvwoydD2Htl7g5aKs_Vh0hEcABxU6TYMZdEsXNPcKGzDgrhw7L7Em3NvT_g8YSGR8Aprf7MhjkGv90V3diKndDV9ayciFCVyA4nMaoMe0_DR8A999Pl3cCoaZNDSDgmI_ugBPlhFM8OIoqXRYY6j8vU7ZUtKK1dMRPaLrZBCybaHPTYkbVlaP29qUB87xf3n9GLl0fpywqh1CXclK6j2K5Xr1c9sNg8O1ymwJ6tdGNQKrjd4CNCIEam1DBsaSig29SLpON40Qu5JrpGnFYd1J1nd9j7Fmu5rGmV23Rv0IiMksZc2YCsDmVo_hgbRvhfpJBmVGbQtDxjoKFKHZ7c2HTqtYdv4X5VEYeNZOomT8W2skIQCM0wVgO14xEmMxvPWjsTZd3YwBrZlv1FxTkiO6CGtUcCxslz011RBi73UBtClQIIXB3-2_Xmf6-Y8fweNx71VMck-tC41csUgu7uXRVKJwUD_tPCZ-bav3JfhL2Uw5Cdjl0cqBXDwvKSVSRKQWYERff2Vu4lSIsBYKQqRfIHJKOk69SUm84O7Fr3FwNNEOgND0pNouT9vwWLbmIxCNsTkxTQzpuFRZv_EiW4843MyMg5YhthNFKNWFrvvPaKGVIT_O7QFpJwPb2t3Gpx7hWUOVlT5DzMyvxGUQOPCO2a1DYxkWuCTvEQitLjK9KLy3bxVzQiSsfv6d3es7JanjxHCA3vgTo8lZ5ksxaNIgVjfr-RJyul2Qe3oReb5gmcvyW5bvKMNEhOQNLoPDj6cvaj54XdN_9IrHzjXnRwD0kZKevTXOht0D57KyC2ftoVnJ9FMYZaUtdcP7VRV7fp0xCEPh3tw-u-75cHEIexW2UVmzof-bDtlRb_JTzjYNPOUh-uH_HHM-nBdPMc=",
  "id": "rs_04e665b47f8ad8ff016ab2d3c786a487d0bc668bd02482fe70",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.18,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"I see plush animal toys and slender pens/markers, with two empty turquoise baskets. I’ll sort the toys into the left basket and the writing instruments into the right, starting with the leftmost toy.\"}",
  "call_id": "call_PNBuAkqQrr3SgGIiKoyEennJ",
  "id": "fc_04e665b47f8ad8ff016ab2d3cea31487d086de5f8cb25bd3cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PNBuAkqQrr3SgGIiKoyEennJ",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0832, 1.1847, 0.6922, -0.4706, -0.8173, -0.8055, 0.9996, -0.0208, 0.8028, 0.6086, -0.3855, -0.0109, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.2453 left_y=-0.1799 left_z=0.137 left_yaw=-0.0214 left_pitch=-0.0346 left_roll=0.0161 left_gripper=0.9996 right_x=0.2952 right_y=-0.0006 right_z=0.1785 right_yaw=-0.0 right_pitch=-0.0141 right_roll=-0.0011 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -4.0137, 8.4034, 1.1746, -0.6911, -0.0611, -0.0611, -0.1983, -1.5795, 7.241, 1.7607, -0.0806, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:159a8d73a89b76aed4c7c47a1fee5accd14689147a405783069448d36cbd6cc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16bd8c629863e77d357ac04f0068a379b24e041d26990891813b045c785ee09f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebd8a606ae51202ff7238a63bfdbd080dbd88e3f468f41a5c6ce298d9b3db983",
      "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, 0.7986, 0.6167, -0.3801, -0.0219, -0.0299, 0.9996, -0.0208, 0.7986, 0.6109, -0.3779, -0.0116, -0.0254, 0.9994]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1845 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2962 right_y=-0.0005 right_z=0.1823 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -1.5385, 9.3333, 1.7851, -0.0317, 0.0952, -0.0611, -0.3624, -1.6342, 10.0034, 1.7314, -0.1441, 0.105, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstPcMfgxEuU9PfIch8wiVpg9RJXvvWrUGRKJs7Uv5LE2eK4DGBCzxG8-4scRJVsVnaRYOIgWzztkncHHrCdSnxdMmMIXSwtIRk_svde2WF8srssnBduPt-pzrM1g-mFs08BtyEz5Rr0EAcLuhi4OcZ5wnsXMbq3pY9fH-SUXcWNJM9ebwGke8l5epRVbGUkV5PzGe0avz11yEwgS15sIO8ZNmfzyRTIq6VpTH8ndee8CnDjN8KmRrR4DZF5DJE-6bXNEffUfF0DBhzbIwEXQMM9DlFl5gvFrjZX3n7vLPEsbCkNiZN0IbB4PkyTKWNNkP-APWpZ4d1eJBKdH-_NebuPEfB4Nj3jvwjvXtvwZFEiIYBWTaUwJ6EsH-FgEYoN7bOGCsOaU5W96ZNUO53SeWJxzk8yKr8LFuAjnK4kV_ccye8RFrrEGNIMucqT2fVAo3BWhFXO8_e4p2wtoHTPSjuLga9SQ2rsz_KZ1OTWdXR5j0YQDtsDuH1f-wC12MLfALTsqSOeeN9sjr9CWJnXeI716GRMCHkDfkx2rcgN1feBK4zEhtTpjQM-SWPo21kIfvehgqjfr1470_9FN_QpHnyqYJoqxnhZTAc6jZU3yuciKsMhD16XEi4DIUoZpX6lKNuOTws5GXoHCIzoyuVU14pVIgnj1-gMoHt6hWjCrypeBHK-9D0Cu3QG6SQh2M06RUwVIHj6n9G5R3AiGpxu_YGn8HpX1qsXah5orSx-L4Dzmg6epGdiMiJEZMH8iBhXWEgywGDschDbpwR9DhDzB-4DwfTYh340nbkGWnkE8hbX69HUe5LrT6fiC7qf6iJh1HjA0DCugckqbvsspvpxUYJ-LOfbTOh9ECzYmtA0w8nVHwmjSVAYofMGJq7f0Qmza70Hk0qzudIKavNZ4wKjVPjZ-UiHBtQHUFHadzAseC44JpPjJkoQZVhoMgTVd3X3uSN_twQXe8wRPZjSeKhE_ANRyP02m7WVZ90OQquehuc9hIacC3aS7EaotgDzminE9j3fRXDZ8B2uPwxml_OEsO_7TNd65wWm5s6K8I1cAKSxFJUw0xZVgCE8D8VP7_QegCTMB51HIwQYM4IG4gl_JTEweDdQxrtRYY856ykl0nLm5RWWt-thBiCOphtUjccnC3EHGVhntkXv25Gm4ar20Lc3H-Hv_UQERXSgo0HFwYPAY1T-LwgtXKbAbvABWdse8s26KlMfM6ENErPglOBJJROC8cTKnoPBIgCPYH77KJ2t9d0YVA8korZbzF_nS6IuSvXeJvnkPDXCtBceGD1yYROKG6-2p0CG3Sml_dBWIGb_V9lwqQsCyh83y0xADR4wNXzmhj4Z1_EianJEwP7cZqWBAHjyfgU1CDxF2ROB7lXv1u5GO-w8UOEAQcrGRTQDT5KbK6yjE6rBxGJZQ8sEi5Fz7Y-Sk0TNWh0zDGOxcsiq58EQvvqoj2N0Q7j1dGOu31CkXtjKRXwatfXrc516Vaew96qVIpl-NKHokNkajs1jqT1JBCK7Ukr2Q5JHkEtSg3o96jCFRXu7gDon5D86XvIpF_8LuJicn-B1TU18h64l9KOhs7kNTMdYLIiGh3TOD9tX_EvOVRQpInxKM2L-S_5ilIfTEcTJP-rfMzWBzby10l9q3ExMntE-4QO0azPUj47qtGAYCSboQ7q935nvKAq19-PihFeawr-jLF5qj50YhOIQ=",
  "id": "rs_04e665b47f8ad8ff016ab2d3d6eff487d0a226c8d67714c1a9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_y\":-0.145,\"left_z\":0.035},\"note\":\"The wrist view shows a small brown toy just left of the jaw column, beside a larger tan toy. I’m shifting left slightly and lowering around the small toy’s body.\"}",
  "call_id": "call_WppAq47GZiyA6NGtSsdwORyK",
  "id": "fc_04e665b47f8ad8ff016ab2d3dadf1087d0a8e9b42fa5082ca7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WppAq47GZiyA6NGtSsdwORyK",
  "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]: [-0.902, 1.3655, 0.3157, 0.2081, -0.7288, -0.6155, 0.9995, -0.0208, 0.8043, 0.6086, -0.3851, -0.0105, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.2654 left_y=-0.1403 left_z=0.0374 left_yaw=-0.0009 left_pitch=-0.0286 left_roll=0.0341 left_gripper=0.9995 right_x=0.2953 right_y=-0.0007 right_z=0.1782 right_yaw=-0.0004 right_pitch=-0.0153 right_roll=-0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -3.2342, 4.547, 1.536, -0.0513, 0.0464, -0.0171, -0.335, -1.4291, 7.2684, 1.746, -0.0269, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9248dbe784c0ff8c6df88cb4b580f985c148610ff251c4910a2ce52f8612cdcd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a42926327411fedd36d2f3446e82f601fe245349a2ae16a8578813ef4f46b15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2c0d7b2896912a29f175be8f566309ce6894aaf51bf719cc29b1c132abcac6a",
      "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]: [-1.0832, 1.1847, 0.6922, -0.4706, -0.8173, -0.8055, 0.9996, -0.0208, 0.8028, 0.6086, -0.3855, -0.0109, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.2453 left_y=-0.1799 left_z=0.137 left_yaw=-0.0214 left_pitch=-0.0346 left_roll=0.0161 left_gripper=0.9996 right_x=0.2952 right_y=-0.0006 right_z=0.1785 right_yaw=-0.0 right_pitch=-0.0141 right_roll=-0.0011 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -4.0137, 8.4034, 1.1746, -0.6911, -0.0611, -0.0611, -0.1983, -1.5795, 7.241, 1.7607, -0.0806, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstPlpWpuLLnG9rvrwU46udFX0-luX-6KS3ui3zW51mCOn4AkWuw6r_FBdxK-1Rt3ZeRm2WdrrTEMFVt5NOyn3vLyTeNkzmvsRpHu3QDpoBqvf0SGIHQaHcO3dsV3c_JkZvlmRuRhH5z4IEUNoJu5FV4O3QzgswwUUCSlayEp0Q0ESNB4AIbcfbkcrc2NuDO1M8wVI7tJLcEbYOwndOxHlok3_ZNxDDgHJ-nL4jQOglg09_2Cca532qxnOTEu0xYsWo0v5Ncy20ZmIEviGrgiomCk33aZCW5DxGB69JQ0Zt2ghwfn8-POzp3Jv-AkkFf6I39h-nYTbrbZZqLu3AVOaCZvphPBH4t6k8d5-aeHfg_rRmTaSrVFq0GBeyfm1HqW0BAY4_HayH-WUxlaNWvr4IStoVyw1xQSYWEpeBHWgS3g2o0Qad4SQeCKNqGXkUq3Kg_99CzWXkX0urm3S9eXK1zjOiabYuGmf4910-iUd-Oie8l1YKQqqd2h9zqiBT2p_KRAY47Kn0YUBpUPY_IhTSZEKOaIAxXF03ZkJYAn745dMc4tXqKotnaLLHA7pmArM8MOXQ7h2ux7ITAOUD1gnrOMduSZMb3AYBYtGFd11zL6VjmIGSWxF-yVPFYq0NZkPFKSoDeo40pk1AFsC80dxPaUAYMgOUN84oH6gyL5iWFju775S2ay0GAl2Nkwfe9NpMse40QvFfEGsKyp3Nib2SMyCt85Pnn-vs0oV43sJ7PxCy3h0N02edO33zNh-79XobDu6sxI1Gyo9zGYbNkzpUhFx2Gr2fG3VaFLGdorp_N1jh3HpnteFN6k_phw1ON2EW84eZEmFiOVuz9xP3FP1gAQoExJe7ZFDcsKEJC9BG5sKGzMeBNEjiUn3t9g9dHy6g0Or_VQ96UnHqw5PbTeIjKaEjwbPO8OPKxSGcDFM6gH3KfL_1MjB4LH2TQUjgbrieqHO7RX3Mtop8wb6AvJ_twja5uZCx0HvZzB1GWR5ZjsANl96q8DZnmZwA7nHvYW1nqBahU3-4i9mljbbU8xbKETlw6gJo4iVtHtL8EyQTCEEW-XQ291apz2f_y2cnt4EiH4O_gjThEreB63CHQiY4mnnRR_0LGtJuARwgp8iLsO07YZJaCnqB31K66legxEnWrs28hrAe1uAWfqGpCk1XZOyJfovTwmHdGF6K7DHrmEeUHvNCpPxDdUYrKaK-eyjGOPH4l8N2inf9jm2bO04v8AhkEbeXV-znBvd1peQ1I7mB8K2vMumPI1eV_e5vepJ3x-lSuoVI20fqOXn6noobK2iQpS_TPS6EKll3t9KBaDzHGVFilgYl9H0ASYhdvA9R_u4fy1iWt4mjlACnhKFoG03ZvoQDKdhFpAYjNGQZFWy4XrZsn6NaiPH_gWeKNUBtWkw3Z9-2coL-XYt5JrJ2hCRw==",
  "id": "rs_04e665b47f8ad8ff016ab2d3e1184887d0a7fc54b166fed186",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.115,\"left_z\":0.02,\"left_gripper\":0},\"note\":\"The small brown toy’s body is within the fingertip region but still left of center. I’ll make a final small sideways correction and close gently around its soft body.\"}",
  "call_id": "call_5Tkh7YlSqP4uIyQFJs32Pp4x",
  "id": "fc_04e665b47f8ad8ff016ab2d3e30df087d0b19cda748a2d6d24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5Tkh7YlSqP4uIyQFJs32Pp4x",
  "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]: [-0.8154, 1.3651, 0.2195, 0.411, -0.6884, -0.5415, 0.0379, -0.0208, 0.8043, 0.6086, -0.3851, -0.0105, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.2729 left_y=-0.1209 left_z=0.0337 left_yaw=0.0171 left_pitch=0.0179 left_roll=-0.0037 left_gripper=0.0379 right_x=0.2953 right_y=-0.0007 right_z=0.1782 right_yaw=-0.0001 right_pitch=-0.0153 right_roll=-0.0016 right_gripper=0.9994\nstate[joint_eff]: [0.3487, -2.6598, 3.6444, 1.1062, -0.1392, 0.1245, 0.8962, -0.0889, -0.8821, 7.0769, 1.7167, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54576a3ddeb571298719d0b07a2ce942ced3e31fb372fc02c51aad5ac1c350a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca1a27bd423d838b649703ecd1928e91686ea0e88d99786014217a1fda6072ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb3ffebde2c08bfc5bf369ea757d29f15b3d1505c8b3002c1a985d7a00e8f330",
      "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]: [-0.902, 1.3655, 0.3157, 0.2081, -0.7288, -0.6155, 0.9995, -0.0208, 0.8043, 0.6086, -0.3851, -0.0105, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.2654 left_y=-0.1403 left_z=0.0374 left_yaw=-0.0009 left_pitch=-0.0286 left_roll=0.0341 left_gripper=0.9995 right_x=0.2953 right_y=-0.0007 right_z=0.1782 right_yaw=-0.0004 right_pitch=-0.0153 right_roll=-0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -3.2342, 4.547, 1.536, -0.0513, 0.0464, -0.0171, -0.335, -1.4291, 7.2684, 1.746, -0.0269, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstPrccuPd4LZP80mDlwPe3Ie7SvqMqT0egaSvgiQWfZv32FyibFgn-yQrFl0H0cnEAPneU4oC5NNJ8gMtJ-W8RPK1_06kLZqneVrzqCiqD04wnryPpe3l8jFcA21_QEdOEEVD0J-w5pp63x9z_LmaUeVvGgczlarCGQZ6UNKmwP1H7CwHayGFyX-b8lbSZm9adCda-MjsQpxkF1Dk7Ty70b1U-ABCs-jxrTWN5OJd6-HKxbfVC40ua2WdHzevWnjyouXh8BvecYNSBnZvHpepZ2Z7t23-1im-ah0sNzGUtmPW4yZEY07_yM7p3kN5sMBUJ8R5OgJaSxrKapPXi3H6tMHVbcixNU9KCwgEyDXuhZ_z74S8S6JQqIXeb_Uc6xhq7lsWk2oXjOglkUs09Da26esrl-j_dHl362ETyN9Yb3ZcJ7MpL_Tb1TvhFMncl7K4mxUXezdmdyU-PhFYhnKXFlNd2VzsLJ4vC46eQHEDjz2IZUd18S_g7kDAUvRsecwACl8Yinw73pRe8WXzj3onlMupGof6Bdyu0HlEc_F8xzspae5km-VWXmx0kCgSmhQWcjaErLibFhMIWxJNws5q5nziTq5SjJK-yjlmSn7lt4U7uoYqwnNTFeJjice5UkIvMdYr1VyBA54WQxU0ryWDUXScpKPd9xabGOImPAnIgN5I4IBZyrQa7wROfl9P565EfZHSzx4y8lbYDgcpMnEVBSqDc1fIJi3QquCRb2kpEhoDAOHWZFYrtUUxa9ii-UZP6toInQYFZiWoyY7mRMhXbYUdGpfVRByg80BRJ9e_q9j84VrEOUeWKbAJk-Zbvsdenj2l5BHrJviU4Hhxt185Bd6czK2iNXxSoezKJ7ZpGcrUy0fz3MyhuiKdmaB5viu0XR9GcYkQyVC5Ik2l7GKDnoPr2FM0UVoPb3nP6pbjf_os32Hl5jOULvvbth6GsFX5yPpFyzBBJyEv2Te2nq2P6UatgEVn5j7zGu9-AtzIPvUoH16lKdmIapu3qK5DrCb-P0qrwSnThrmWiApt3L-rdaADMt7L3_637x_kKluTPpWFmKz2PMUYsFFFXvRCb66QDUY4oDxiSSA1ttiIpW1he_OTGrX_RQmK8KddVDgOxKsJAsK_06s7gYM1lXNkdXhjUNqeQfe296EZLq6G5uZnCGsHrsUHOG3OATjT77PifPo6ku2eUDD6bFwWA8m4BozIwkfg92zyPbwTLjpBIw1WeeZHgpK0H0YHO27wk6vDUzlzuI=",
  "id": "rs_04e665b47f8ad8ff016ab2d3e8af9487d0a79c2b9997fc7b49",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.305,\"left_z\":0.035},\"note\":\"The nearly closed gripper indicates the first grasp missed; the toy remains in front of the fingertips. I’m reopening and advancing four centimeters to put the jaws around its torso.\"}",
  "call_id": "call_bq0TisGpLiWm7Uw7ox4OW31z",
  "id": "fc_04e665b47f8ad8ff016ab2d3e9767887d08990589709a446e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bq0TisGpLiWm7Uw7ox4OW31z",
  "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]: [-0.7036, 1.4654, 0.2771, 0.5217, -0.6266, -0.4526, 0.9952, -0.0208, 0.8043, 0.6086, -0.3851, -0.0105, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.3034 left_y=-0.1169 left_z=0.038 left_yaw=0.0363 left_pitch=0.0374 left_roll=-0.0034 left_gripper=0.9952 right_x=0.2953 right_y=-0.0007 right_z=0.1782 right_yaw=-0.0001 right_pitch=-0.0153 right_roll=-0.0016 right_gripper=0.9994\nstate[joint_eff]: [0.294, -3.1521, 6.0923, 1.4725, 0.0757, 0.0073, -0.0659, -0.0342, -1.2786, 7.0769, 1.7021, -0.0317, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bc669b5221d283fcbfa37dbe332acb6d672628d65509a00118b6f42e181a7fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a001d8c1a88689a4dd48ed70facf0265cab7e33d33c1e15d627339a3da6809f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3b3aca18ccf0f24165a7d6a2893b8c5aa538db0d71f8b55d875a27cc41b2b80",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8154, 1.3651, 0.2195, 0.411, -0.6884, -0.5415, 0.0379, -0.0208, 0.8043, 0.6086, -0.3851, -0.0105, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.2729 left_y=-0.1209 left_z=0.0337 left_yaw=0.0171 left_pitch=0.0179 left_roll=-0.0037 left_gripper=0.0379 right_x=0.2953 right_y=-0.0007 right_z=0.1782 right_yaw=-0.0001 right_pitch=-0.0153 right_roll=-0.0016 right_gripper=0.9994\nstate[joint_eff]: [0.3487, -2.6598, 3.6444, 1.1062, -0.1392, 0.1245, 0.8962, -0.0889, -0.8821, 7.0769, 1.7167, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstPxMcNEAdBxiKWYocNuC5a3I6jSZG8dNU34hC1EkpcbQYctLOlFipaLRIKn0aQ3i7ZlFIAs9LbnvgY7vurCWIiWwomP2X6Mbjs6VFRHxSv_Q4ZW3-Np59tMwz8IZIdWab0Rrn5Yfwj-ZWYto8iVQdrlLy7U9R_olDfAN518AaOiZ-17lqeM-z4dYCzF49B7Ja4g7VmPCZYjqTiEoIDq5uTwoxf30iQa6TknUhfiPB_SLE4FORmyzqZaToh82cE7_oGZEhhDxKOcFzrhqVJxFpbFNcd98HaWtWF3on9SzHhM4jfXH8xhG9AG7hoQZaZWbGXSOg6-5ZKewrbct2W-7s8xGs6MgQzN6thG3tFqxoPTUHpWXBs52V58SXAT95P7f5klmBn58NP4lDjythUC_5MB8XuMf7NEPWJHAryt_AzKvvKwGgYQghb2eFHzhopAogiQa0Lp51AmjI5MBp6_VXG-n3BxaiKvbMtyO3efNJoX5o-eWHMlbusKdn7SGLKeRdOJfez67K4Criv335Gu2UmVlqNCZFuxCDqCwhir--GhNbkPz23a7bNAUmG7UQGrtJdOC1F58ljjxb5D2CFG4P4Beyz9aHQdLiMZ3SSVThPGtudP6z320Th3MpjlZYLzKt4AWCbhsGTCKSEB2V1xCWwkPTLIhRx_-lhI8gJGwcPyR1GNZ2W9K7tZpI20REa_JVdMfspVijFx3ka9t8rPCkNbGSitjtTIEdmUsQ11I6z6QzZrqvqiEanJrhewWFT8X68wN96twAgq-fOJQXjoxQdMvLkKs0MrBxo_6MUbMi64WX1YqLv4JWfN1mJH-EPtBAY-tRglVOmwSZgcFPcBHnN5BS_O0OhM4rijXQeb2Y82O89lIm9PMEYlN0JdaRU7l7hiB-n6Xw_CtcbmRUgSviUvB2nxvZD6VxY4PvQtzOgleZUIXj0K1Ko4waDVY-eb4JxKH-dfsBzE85NCLr59KFe8cWJ8oE1CYiXgDEPwdfh_n9jS2Zseweuy6SvKiRgPDL4elRJ215-H2mjg0hXVV8w2_WqbelP699neDhR1LaCOMNmqo8nnui_JdLO1L52w64L3t5osExpYZud51-g976QSKwzSe7bLbRaMx4umrhQHMLzKMSFu2Zo-55idwfV-J753VnfldPiBvkxVS3zQk5mJi1VfQW33aGrX0jBmtDE-ichkESXrzKySjv8fdVwY98YnEqzWXcJ950fgo5paeEZnWL0nMQtd7xD3goXB37RWzc_RX0sBQpA9Xmv5ZEuX13s1Or6lF03KQsTnU3RXXxpO4w==",
  "id": "rs_04e665b47f8ad8ff016ab2d3eea0b087d087994c36bd41224f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.07,\"left_z\":0.025},\"note\":\"Advancing revealed the brown toy’s torso clearly, to the left of the open jaws. I’m aligning laterally before trying the grasp again.\"}",
  "call_id": "call_AzVus9eCXxDiYZcWOlZeW8r1",
  "id": "fc_04e665b47f8ad8ff016ab2d3efee7487d0a304343125687e3b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AzVus9eCXxDiYZcWOlZeW8r1",
  "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]: [-0.4892, 1.4578, 0.1486, 0.7238, -0.4812, -0.3206, 0.9967, -0.0208, 0.8082, 0.6083, -0.3851, -0.0105, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.3055 left_y=-0.0659 left_z=0.0281 left_yaw=0.0674 left_pitch=0.0502 left_roll=-0.0056 left_gripper=0.9967 right_x=0.2955 right_y=-0.0007 right_z=0.177 right_yaw=-0.0001 right_pitch=-0.0195 right_roll=-0.0015 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -3.5761, 3.8085, 1.6923, -0.0024, 0.0659, 0.1441, -0.0615, -1.347, 7.0496, 1.7167, -0.0317, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f8ae56c2641e5c22fdff0de6d53a56e678f276559823f1ae00b6dd834f55f13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:991e3dd09eac81584af2efbb575403d717d851b3646d50bf9727f0a4f0d7b347",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4ded9c2dc3675b6648c8ab06dd28adef7afd146088e1308f474c761c1e7b47a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7036, 1.4654, 0.2771, 0.5217, -0.6266, -0.4526, 0.9952, -0.0208, 0.8043, 0.6086, -0.3851, -0.0105, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.3034 left_y=-0.1169 left_z=0.038 left_yaw=0.0363 left_pitch=0.0374 left_roll=-0.0034 left_gripper=0.9952 right_x=0.2953 right_y=-0.0007 right_z=0.1782 right_yaw=-0.0001 right_pitch=-0.0153 right_roll=-0.0016 right_gripper=0.9994\nstate[joint_eff]: [0.294, -3.1521, 6.0923, 1.4725, 0.0757, 0.0073, -0.0659, -0.0342, -1.2786, 7.0769, 1.7021, -0.0317, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstP4CpVRQfACegvl9On7B4J9QU7GDou3PfcmTmYcMf4FFa1IVWCFJv_xQtce96CrcT9-V-ERf6coSScIB8cqmeuBtF77Rk0Irvw0LGGTT9-2lFkek4ZjyUkgz68gt4aRs_QOTEmB_OEm_blz_sVeucG_cu71kM2OzP9CV-G5ghhjrRsjODNuNQ4OO3NfoOf2spISKMkHv6KQRNvGPOeXg0nIWu7ac-8Q-SoaMn_ev-R7PBYFafJUB1LPcPsmXETP5EpdoJXNQsGsNwu2762iHozOW9rzc_BZy5tpa4J7sPL4keiKdky5WJlwD7H5vmXVe2kzCR3EY-dh0SUlmjwXpX14L6HTK43QBEdiHu7rJpAgNVDPKi3QhqKqgqqfG9rms7gJxS4OsxOZb1FqV8iPNrxm7DRXpoYy2hh9VusPVmvp11ooDTFAM53ZleelSHwwFxxCFFvjQwjAXhcdyclT3R7HXey2PGPysTrWeC5iBKbN-Na09h6TdxbeCeN2Q8eusUezIz94ep0rjOOtyhhfWduWQ79ZFpcNtu5v0AkjlhgR1wH2v7daejJCxYcvUV46_s7_sHoYa0zFM9je1Xx0EQPTprXuoNPiiuUe3jHCld8_Gnoscu3gU7zm2lgnMRJ3vJsXgTbgLV2QztUt_LvNJPJmPo-MYGHVVhTwNp7aE_P6e20LfzNDze-As2YtRdP9-sqyD35_zHXKmiI9ZWE9R9jPoLzMxwwNGLRnIC5VPOMxClZl_cfmBogPJYbFJcZ11urnFEizm5zszib5DJu594M_4fAchdpMSvLSCgM7GShm9lq-HiVm9McQqi5YahDrak0ORM2T2_XADfEAwl2PrahnedW1jmufjG223mojhqTfQCCIRKIvRjET1ebm7qW8X9LYlkUlQAwPtlvWx3qi1zZ9W-jT6e8S3leRokV_Qv2wA7-gGRwXe_0KGu1AUbVJcKKv2dSfjYFZpeqlCZy36UwwftfT38ooeeMx0Y37qk0_I2QcHLrHNKrHR5voRF8zZKuc_RzmS9t35qub70hkuMRgr2ZKmNU-rY5591vmncaNh_XZzkLqYX2EEuaIaM4SoGU9VeBV6e25Hf57QrNZ5qeLcDqQqdrVxu05g2iYPtA4RbNVDCdaP88PHXWjE459WcwWWAt5C8ANBw3Zf8TCynJHUZEJpoMX-396qAENQrFsYa0uk8SHziNyIwRObj7JWAny",
  "id": "rs_04e665b47f8ad8ff016ab2d3f65a0887d0ade768e2bf6d09d9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown toy’s torso now lies between the fingertips. I’ll close the gripper to secure it.\"}",
  "call_id": "call_sHFEJPv0qeSk3wiUGpCIlI6F",
  "id": "fc_04e665b47f8ad8ff016ab2d3f6efa887d0842155990972c7c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sHFEJPv0qeSk3wiUGpCIlI6F",
  "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]: [-0.4892, 1.4578, 0.1486, 0.7238, -0.4751, -0.3218, 0.1117, -0.0208, 0.8082, 0.6083, -0.3855, -0.0105, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.3054 left_y=-0.067 left_z=0.0278 left_yaw=0.063 left_pitch=0.0484 left_roll=-0.0095 left_gripper=0.1117 right_x=0.2955 right_y=-0.0007 right_z=0.1769 right_yaw=-0.0001 right_pitch=-0.0199 right_roll=-0.0015 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -3.4256, 4.2051, 1.6484, -0.2564, -0.0171, 0.9011, -0.1299, -1.306, 7.0632, 1.7167, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3d988e31a64310ea9e84ae1d867b76273cd4f6d3473820614b7abc60a146934",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5482250876f80c75496170cd515a91b380efe5f07f1737acefae8c605d90b28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4295160cc2938f05710144949e8b88e43417a8693074bec1799f4149605e8e7c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4892, 1.4578, 0.1486, 0.7238, -0.4812, -0.3206, 0.9967, -0.0208, 0.8082, 0.6083, -0.3851, -0.0105, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.3055 left_y=-0.0659 left_z=0.0281 left_yaw=0.0674 left_pitch=0.0502 left_roll=-0.0056 left_gripper=0.9967 right_x=0.2955 right_y=-0.0007 right_z=0.177 right_yaw=-0.0001 right_pitch=-0.0195 right_roll=-0.0015 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -3.5761, 3.8085, 1.6923, -0.0024, 0.0659, 0.1441, -0.0615, -1.347, 7.0496, 1.7167, -0.0317, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The gripper has stopped above its empty-close width, suggesting it has caught the toy. I’m lifting vertically to check that the toy comes with it and clear the other objects.\"}",
  "call_id": "call_hMeuI9M4OIjrw2zbsWRGiHhH",
  "id": "fc_04e665b47f8ad8ff016ab2d3fc254087d09e7e1a8af757d15f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hMeuI9M4OIjrw2zbsWRGiHhH",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4892, 0.9318, 0.6247, -0.2955, -0.4706, -0.3286, 0.1107, -0.0208, 0.812, 0.6075, -0.3855, -0.0101, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.3057 left_y=-0.068 left_z=0.1783 left_yaw=0.0626 left_pitch=0.0324 left_roll=-0.0086 left_gripper=0.1107 right_x=0.2956 right_y=-0.0008 right_z=0.1755 right_yaw=-0.0005 right_pitch=-0.0244 right_roll=-0.0016 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -3.1658, 8.9231, 1.58, -0.2759, 0.0269, 0.5299, -0.0752, -1.4291, 7.1043, 1.7167, -0.0171, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71f5077e1725269d2151f783e21a86db305b12e5597bff882e6b4f75d76f6904",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aad9090d8e591d13554583e8e05f8ef670bb421c83be0275d25c7ee9853a8267",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:383c67be255990e246e19f06f344cbb21f670f19eecfebfaab41a9358bba480a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4892, 1.4578, 0.1486, 0.7238, -0.4751, -0.3218, 0.1117, -0.0208, 0.8082, 0.6083, -0.3855, -0.0105, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.3054 left_y=-0.067 left_z=0.0278 left_yaw=0.063 left_pitch=0.0484 left_roll=-0.0095 left_gripper=0.1117 right_x=0.2955 right_y=-0.0007 right_z=0.1769 right_yaw=-0.0001 right_pitch=-0.0199 right_roll=-0.0015 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -3.4256, 4.2051, 1.6484, -0.2564, -0.0171, 0.9011, -0.1299, -1.306, 7.0632, 1.7167, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstQJBKJlERWpgh6VwenuSYd2KQeuqvJnGnOJ6qE_ZUCtoFHKE-ppgSO3OSJRnxI3d8_A_NWiT7cIJziIPLM0w1cy3Utg9M4tGNda6DGa3NAtwatt2mvV4RRgIc7IaMg1jo3tpH1uaym5Ct5Ljx5tKam9667bbBYCJLA-xFsj4fyKbfA4AiDxMzRmjzlaVx-smo-f9cWXuVwLVV35kfc48RL8EJCcPxuqkfPM6-P7dx9dcrJ3hc8U33cOl_EZx0nK45yjeokQGcT78Tg2ujY0c1raRccF6BZxA61lelh842FDxOMj93EFUGW9-l7j-e50ycckQu5HEHXxy-eLLekT81s39rb8kp4EG1gn8WeKOSfj1P0e68fwu6dslYxH-I8iqWRN-cpdrRWsBYPbaMmXUwSKJMulUGnGZlhk8ps61ANwkzcTjyzPfgNdHZb7lpyExpf_MVkUEYBcSBgzcGYOx7Xrib6ESLjDDsqmNYDNg5IwWriZeMjSct2s-LxdPPsqGrOLq47GiE2MiEgH6lLw5LyShQAnvih9uUkIxNFyPMUr9xRhrWifRZo2WFlggVErRN0xnLy_uDpyC4Cye1i3wN8C4SwGRjVhsmZK8DvyJF34-fyFMXK_OsjoYDkf1EvT-kJ0QBMVrjy9F8f8UoBDeqMPBuVWdsw84nKoq0TLAxchZcjufm7pdHeKZk2e_u4vqAMi7M-U1ERk2hwadWgKm0HVvMKOZXB5F7Ri5HDMm3j0mtFToSeOXwn4xz1o1lwEJP2uShGKcEszMQKCVUSI8mq-iYWfpbB2Fj-HQVnzjJEtGsPa0ApmtKU0qOeu3AYZVbOB5BSEbvdApxbZyj_HdlEsec2qFDtzbyrmiB4dO0zwzNkYxNcjD5Ryxj-GILoM1jelPH4tKHUOBAN7Lah_iIzwXzwP7EW4SEz5HMchS3vlxlFeS8MvZwzr3V9eSAJixJSIsV84jlPqScFBQ98j0DLpiM_jup8JOSlHKiAmIk04Xek2mw4PFiUWkMIUnl5gUZcutBs-93vU03if4M2gm-BUezRidXhkZS1uchzDEZe3RU7W_GtIGZ0Z_Ntw8vAcLSl1z6EJrVST2e3t7cLvbB6dZI1JufF6hhoeeS6XGPEHlZyu9X4Vu2daLPa_Oe6FPRdYuc4OS7FVY_bTySXU0OOfU29OXSNLvASCCbFf0LwqSyWE9XdI2V-tx607D2x-YYiQ0qXNtwpKlgf5eVMv2kIVztCT7wgt94GVFQShhsWAX2oUhAxTgm_rMvDLa3nhAnlP90gDFY4kRRQfjrpchFPh2MobJcNT8FwzJSLDBC_-oXBSOXBrQzT9p9vtqGp_FlT8BKcYaLwHue31hi2l0Z4VC4i8BUGY-K35z90w6VGLD4BKFflsr2-MB0jDqO_yIlNk5gp8KqrCTLUOX7nnzAX7rK6PkV6vcDS3Ta02R98bYKimEn2fU7pkSH1tYBKd4rq1plM8hgMKIHvQ7_9HG86CguRyf0qSePsfNxfCBNhCmRA=",
  "id": "rs_04e665b47f8ad8ff016ab2d4045ca487d0b33b1b59779e98f7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":-0.12,\"left_z\":0.23},\"note\":\"The brown toy has lifted off the table. I’m carrying it over the left basket, keeping it above the rim.\"}",
  "call_id": "call_E0L0ssNDjCiLHeVqUITTXla3",
  "id": "fc_04e665b47f8ad8ff016ab2d4087a5487d0a2a676d1bb527743",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_E0L0ssNDjCiLHeVqUITTXla3",
  "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]: [-0.3584, 1.7664, 1.4311, -0.2951, -0.3653, -0.2718, 0.1128, -0.0208, 0.8165, 0.6067, -0.3855, -0.0105, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.5033 left_y=-0.1173 left_z=0.2086 left_yaw=0.0775 left_pitch=-0.0211 left_roll=-0.0007 left_gripper=0.1128 right_x=0.2958 right_y=-0.0007 right_z=0.1739 right_yaw=-0.0001 right_pitch=-0.0298 right_roll=-0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -9.9897, 9.5248, 1.8926, -0.1294, 0.2466, 0.4615, -0.1162, -1.5521, 7.2137, 1.7411, -0.0317, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a476516213d1e63073796acd310e748b91daa2a62412c49c6966c393c8a88522",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e2821edba46f3a8abd227180b2a81ff9e0c299685621c2097dc113857f2439c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6bf077bbc2edfabd953087662b37ca47e684d5593b0a878d50351741a5f1322",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 29 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]: [-0.4892, 0.9318, 0.6247, -0.2955, -0.4706, -0.3286, 0.1107, -0.0208, 0.812, 0.6075, -0.3855, -0.0101, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.3057 left_y=-0.068 left_z=0.1783 left_yaw=0.0626 left_pitch=0.0324 left_roll=-0.0086 left_gripper=0.1107 right_x=0.2956 right_y=-0.0008 right_z=0.1755 right_yaw=-0.0005 right_pitch=-0.0244 right_roll=-0.0016 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -3.1658, 8.9231, 1.58, -0.2759, 0.0269, 0.5299, -0.0752, -1.4291, 7.1043, 1.7167, -0.0171, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstQcxCYikmtMPsV7aMec_v4v2rB3IJQVqxUbSen-efTsABL9z9EujtlG80IK5YxPGeV4zq5aQpON5S_anziPyQbNZ5E6Z8grPVx4pB6SjXK_c1YVdt4AiL-BuheCDxbMuzy9TdKxFnMt1b7wD-FYY_n5iZL91xEzT1aD-s7eWXflGz0uD9qhCe59cOvayUDbCTwagtwSNDbdgcHnFt6HC2HoHZAiDfleuEl8fKhQBzRExGeVo3OBMuAdMZpjIo7_MQBOyKYf_jtrlptgkDCLhQ1041mCCa7a5RooUJkoHnwGbGLt-fU6dKmqmoU6wTTzu_CD9Fx-pdNXykgtcqvXFvz3IZgbssYozHxwPjvo-XNAMMnFWQoyiRpUlbnTzrJbfBPA6AUjv3VnPJHoqvuf-v2jCErmFAZe6_ote-ZIbHhYYt_V-mM0dVVU3lMbHWh-ZQYwvIQMcU-W-5t5gW8CMMxdkRXhhK2LPuDC_9ahaEVJ41Cs5Da8f2WsizT8BWaVVysW7I45i8CuVhrySs3wytpIDs-NjBh15LSC-3R63lalo4RzRrJPu8DKzKQ5nZLUPW4dRviFb4IijheBB8fZqGhTP83bveEKv7QQs9H8MdbLpHLbuiPgumkrme3nr93xb1Yfdnz0tD9jhf2S-7zsRj132N_YEY8f_ukLam7Ic749szl6A1P_lgatkB4uK3zQ2nQISs0FLRco1hC8QOU2MjUXjrA_RXPlVeQ8kelbfQ8qEvQ36mL-XMCV1J0nijGFWniy2FoSaLe1bWNrge-RwZutZkCqvJvuXxiUQKamc2aQdLgqJBX2vsvFyLwmBqtSFYjOEckr5QosTY0uEB9ihIt__zsnkYGxFwD1mNQn3PQyj1CZh5l1JPhUhMifRBxxiH-Ceg7O7bcDac0cYLf4Ypl2iD5uG6SIrVtwvSRFizajugiTcHWFqtLIxYCJ2BGJEtwRd9lfjeIOoGVJogq1koAgVCv4IKRqoO-IskJ0DItZxM7SYoADX5rLf7dCjtiQgA9GyJbvKT17cEjsaLkKtm_S0ROu2B5NUpZmjsC8F7XweRpO6ztztb38Nr0_-juzxJNb8M4ZMgUHiX9Y3PAqFhMhoHkIEoycTEK2QXZR9ATVRpO2YNDLGjsi6Bn2NCCKmnLgwbpTLPwqJFTSHuMd79aZVxaEt0gETxXChcEYCuL-heiCw-mjdzX2Cuub7abyBuIjo6iUO667309nn0CoWlomc_zQcZdoqZ2PSSVZC4y-USvx5H92QZFxoDpjVQmTg3tI6f-qoAhXJYGsAWJ5Tz281V7Nj2upgMbzgvAHSJi-5MLu1tjZseYyw7IFoXLa5BEU91ZrhC_NN5CwYiMNpxZ8kJC1j0CQpxRsshV1DpCuq-ZfCTgKF6yzh3x4mlnUMJfz9XDNwzoHUdCU0lP-EXwPQtNUOsD6Tpqgh0O2sN_naGwCl9t2enfPgv9LBD_ThB_T5HluN-2pjsXmlVXNTB1NJNaxy-Hkv1hqhubGS8uRyrA=",
  "id": "rs_04e665b47f8ad8ff016ab2d4186e1c87d0bc3b4074ac61a0f7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.16,\"left_gripper\":1},\"note\":\"The brown toy is over the left basket opening. I’m lowering slightly and releasing it inside.\"}",
  "call_id": "call_jgr1sx5vZDhVrTQWh5lY6v5C",
  "id": "fc_04e665b47f8ad8ff016ab2d41b019487d0a0439f8530e9162a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jgr1sx5vZDhVrTQWh5lY6v5C",
  "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]: [-0.3592, 1.787, 1.2869, -0.1364, -0.3653, -0.2802, 0.9983, -0.0208, 0.8165, 0.6067, -0.3855, -0.0105, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.5005 left_y=-0.1167 left_z=0.1655 left_yaw=0.0812 left_pitch=-0.0266 left_roll=-0.0051 left_gripper=0.9983 right_x=0.2958 right_y=-0.0007 right_z=0.1739 right_yaw=-0.0001 right_pitch=-0.0298 right_roll=-0.0013 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -8.2393, 6.4479, 1.873, -0.1001, 0.0611, -0.0171, -0.1299, -1.3333, 7.0496, 1.7118, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05be00a5f10c4c646ca2abc8b02ef64b4208814427f473e7e5e729153cc7e65a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:454ecb78d21f3109e53cbcd831280de7c7df87c29aef29e241a1fb5ca35b8ffb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40698eff9de4217dc630a9c1a3cbee815afeb3f71c96ffeb490144c8044e04a2",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 33 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3584, 1.7664, 1.4311, -0.2951, -0.3653, -0.2718, 0.1128, -0.0208, 0.8165, 0.6067, -0.3855, -0.0105, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.5033 left_y=-0.1173 left_z=0.2086 left_yaw=0.0775 left_pitch=-0.0211 left_roll=-0.0007 left_gripper=0.1128 right_x=0.2958 right_y=-0.0007 right_z=0.1739 right_yaw=-0.0001 right_pitch=-0.0298 right_roll=-0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -9.9897, 9.5248, 1.8926, -0.1294, 0.2466, 0.4615, -0.1162, -1.5521, 7.2137, 1.7411, -0.0317, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.23,\"left_z\":0.15,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.19},\"note\":\"The brown toy is visibly inside the left basket. I’m moving to the larger tan plush in the center and refreshing the idle arm’s safe parked height.\"}",
  "call_id": "call_dkXfRwx5sBZ0PrGVqy9RiqKD",
  "id": "fc_04e665b47f8ad8ff016ab2d4205fb087d0a841f81f7087d737",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dkXfRwx5sBZ0PrGVqy9RiqKD",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9401, 1.5715, 1.0222, -0.3447, -0.7525, -0.7227, 0.9982, -0.0208, 0.8257, 0.6373, -0.4377, -0.0097, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.3275 left_y=-0.2378 left_z=0.1442 left_yaw=0.0353 left_pitch=-0.0434 left_roll=-0.0017 left_gripper=0.9982 right_x=0.293 right_y=-0.0008 right_z=0.1747 right_yaw=-0.0008 right_pitch=-0.0607 right_roll=-0.0011 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -8.9368, 6.4479, 1.3211, -0.4811, -0.1001, -0.0171, 0.1709, -1.4701, 10.2085, 1.619, 0.0171, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:930284c77a19efec413deffbf17efe2481a2c52b986b4490496119023cd70605",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6908a3a479a5f79a4479bd96cbf0809269174d214ded345098d299fab7944366",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b690ff61dd87c264a8ec35a05039296f75d56f1c7fc523927fced4c262c76982",
      "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]: [-0.3592, 1.787, 1.2869, -0.1364, -0.3653, -0.2802, 0.9983, -0.0208, 0.8165, 0.6067, -0.3855, -0.0105, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.5005 left_y=-0.1167 left_z=0.1655 left_yaw=0.0812 left_pitch=-0.0266 left_roll=-0.0051 left_gripper=0.9983 right_x=0.2958 right_y=-0.0007 right_z=0.1739 right_yaw=-0.0001 right_pitch=-0.0298 right_roll=-0.0013 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -8.2393, 6.4479, 1.873, -0.1001, 0.0611, -0.0171, -0.1299, -1.3333, 7.0496, 1.7118, -0.0269, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstQwTFKxhnqIGEwHgSAK2MlFcib5YAHXYRvIAWhOkYpNlEY5sbJYQuFrBlKrlFk6bRx3gg1pqs4A1eem6xuQc6yqNCCvAFejgvfYnhVu0fDKAg-Ws4rqAWHcQQr7Lg4Zp1BfjMdKrceGYDjEvvyc3Ue3ypyOXDNs5wztcACtrsBB-VuPiMI4Bs93s7wVyJxQzURGXpx8TCZZC4KFOzc68PMwUfB6fwqcF0opV64E5zi1QC6AUqHJ1I8_Grp6ff6p6OeNeYPgkR1Q6R1W2Ec5W4WCVjurLCmFLlZaVs7Ghi5yE1DrEbTclFuWn5S7j6oBBnK_pYWFNBFvvJ0L59GcWhJaWAoM3G4QHTczxge_nFxitDCX3khgaHfEdFtaMcvkz33RqiHxezK1HSlQ8z2mserVKtigGVALvnkquAPI7l908WDkEDi6wY3T283xq3wdULyXTvJX14vIz48k3mceq9I6Hj3zf0k2_5ZtajL3qhLIfcNLxT62YBDA_D6vAKd7SVNnG4UZx4Tva1swQxmY6C8bp0hjZErKNIFT4VhKn9Kk2_XTGQ6xrR1Az-MT4YyRj6q0HuJfiil8LkbC_vXA0A2GCNb-wsS3cDvFX4TOM0PUbMyL5uSE87GJiTcNaIlLucSg5DyRzCQUuZhYZY_wRhgWqjc3JSD7C-6ESpHkotuUtA6So2UMmEEuXkzDqCuewNesB3-q0iLwmN58D87jAE0cAg4HFiEEpFdn7fnv6lW5CdR__mRnTGF-y4tOvo4yx5O9nWlzVs6ANGnKuFq3qg1p3DpCvJtEw8GTrurRHlQGlgzJhnZMgqGdU30CDhTR1EEyzzNP_6vO_sWJXFfan90N4CXHiFbOBGfiKDD87kHyS3gxTAvqDB5yIqGgNiLrcxogvYSfWr0RBbg369T3u5xETtZjtwM8dQipwDxRPQQ--3aqt4nnO9fxBkkkQRa5WAkGtrrGJDoic3A2O0NTa2KtoNYHkGERElNtwZAw7sqMG1sUA-42Y4RtiPI1TnU3b0jLKHasQ0ArdIyvB3kcsVSDwj9l5omxMpbY2Ba0HgWzcBLZSyUhDG0yamy6-uHccXkR9yMhZEg9ZEXaACG5jvRWPldmqlfaZNf_0mrPfMO0Xj4MUIW95GKzSqVzLbV6rulJZiWzwI4unf400oPP-J66ZAFXvPKJyvW51nvX7Nw4_gjX7HMf_injs1EloUolJNRAMg_9j0scD4zH579Ul0cMFBuY-stJ1c4vI-45KeTetyW6nlMsdYLMBAVmDmfB5MJvRLmIxu1O_1lWmIMrSGQT6j28knasvK7mgkRD_r-hzJ439bPqM7ipmyX861Mss98X",
  "id": "rs_04e665b47f8ad8ff016ab2d42c821c87d0b69193783104911e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.23,\"left_z\":0.045},\"note\":\"The tan teddy bear is centered on the wrist camera’s jaw column. I’m lowering around its torso, below the head.\"}",
  "call_id": "call_tVpnCGuTcu3I7oM55AHzKTgg",
  "id": "fc_04e665b47f8ad8ff016ab2d42e42ec87d0a1a2c9a15682d96d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tVpnCGuTcu3I7oM55AHzKTgg",
  "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]: [-0.9436, 1.713, 0.7795, 0.0319, -0.754, -0.7341, 0.9983, -0.0208, 0.8253, 0.6365, -0.437, -0.0105, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3208 left_y=-0.2304 left_z=0.0563 left_yaw=0.0392 left_pitch=-0.0467 left_roll=-0.0041 left_gripper=0.9983 right_x=0.293 right_y=-0.0006 right_z=0.1746 right_yaw=-0.0003 right_pitch=-0.0603 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -5.9556, 4.3145, 0.9451, -0.3443, 0.0317, -0.0073, -0.0615, -1.3333, 7.0632, 1.6874, -0.0122, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dba927c2084c54c61e478ca710aac8178f0e5f21c1d691275e893ca44f816527",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b16205c7d6824491b554451e9b8a84c230d04775ede6949ffd5b5f48edfe0ff0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6ec4c2b1c6373f4a8c3b25ab24623267b45cec3f3ddf62a1d6e6ddd98c8c253",
      "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]: [-0.9401, 1.5715, 1.0222, -0.3447, -0.7525, -0.7227, 0.9982, -0.0208, 0.8257, 0.6373, -0.4377, -0.0097, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.3275 left_y=-0.2378 left_z=0.1442 left_yaw=0.0353 left_pitch=-0.0434 left_roll=-0.0017 left_gripper=0.9982 right_x=0.293 right_y=-0.0008 right_z=0.1747 right_yaw=-0.0008 right_pitch=-0.0607 right_roll=-0.0011 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -8.9368, 6.4479, 1.3211, -0.4811, -0.1001, -0.0171, 0.1709, -1.4701, 10.2085, 1.619, 0.0171, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open fingertips bracket the teddy bear’s torso. I’m closing to hold the plush securely.\"}",
  "call_id": "call_yzQiuEF9Sm6tdadWOhtrrKnV",
  "id": "fc_04e665b47f8ad8ff016ab2d432e85487d0bb723438508fb6f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yzQiuEF9Sm6tdadWOhtrrKnV",
  "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]: [-0.9436, 1.726, 0.775, 0.0711, -0.7555, -0.7414, 0.2017, -0.0208, 0.8253, 0.6357, -0.437, -0.0105, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3232 left_y=-0.2333 left_z=0.0553 left_yaw=0.0433 left_pitch=-0.0337 left_roll=-0.0275 left_gripper=0.2017 right_x=0.2929 right_y=-0.0006 right_z=0.1742 right_yaw=-0.0003 right_pitch=-0.061 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.0889, -8.4718, 5.7504, 0.8913, -0.3346, 0.0171, 0.7106, -0.0205, -1.1966, 7.0632, 1.6728, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01f100b7037a7b6a4afa7dabf012125af4c419dca160269a37a5180521041fdc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d9ac537663b6ce7dfd31e3dde28beae2ee49acd0e532d7544d3e412d02534cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c29394f4a3c9d17c15ac043064b47b0ed739e6f271507a4fda66bd1bd6997f1a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9436, 1.713, 0.7795, 0.0319, -0.754, -0.7341, 0.9983, -0.0208, 0.8253, 0.6365, -0.437, -0.0105, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3208 left_y=-0.2304 left_z=0.0563 left_yaw=0.0392 left_pitch=-0.0467 left_roll=-0.0041 left_gripper=0.9983 right_x=0.293 right_y=-0.0006 right_z=0.1746 right_yaw=-0.0003 right_pitch=-0.0603 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -5.9556, 4.3145, 0.9451, -0.3443, 0.0317, -0.0073, -0.0615, -1.3333, 7.0632, 1.6874, -0.0122, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.23},\"note\":\"The gripper is holding a substantial thickness of plush. I’m lifting the teddy clear of the tabletop before carrying it to the toy basket.\"}",
  "call_id": "call_fQwWkLqMTiGj9RMSxDUpilk7",
  "id": "fc_04e665b47f8ad8ff016ab2d4374ba087d092c2e2b4be9d14a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fQwWkLqMTiGj9RMSxDUpilk7",
  "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]: [-0.9436, 1.5276, 1.2316, -0.6125, -0.741, -0.7567, 0.2029, -0.0208, 0.8295, 0.635, -0.4366, -0.0105, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.3247 left_y=-0.2386 left_z=0.2038 left_yaw=0.0432 left_pitch=-0.059 left_roll=-0.0224 left_gripper=0.2029 right_x=0.2931 right_y=-0.0007 right_z=0.1728 right_yaw=-0.0001 right_pitch=-0.0656 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.0342, -9.4974, 9.1829, 1.3162, -0.4615, 0.1001, 0.1148, -0.0615, -1.7709, 7.3231, 1.6972, -0.0269, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e7c532eee27dd793cb4f8877fa7f5847e63170c4518c9963b1e1a931ff8e371",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bf592f6b37a568855adfe8347688b8580ffa758002a4cc1ae89d05f31080efc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfd6195a59c89c1bda2b79916927c770242f84c79addf1b5849586103fc124b3",
      "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]: [-0.9436, 1.726, 0.775, 0.0711, -0.7555, -0.7414, 0.2017, -0.0208, 0.8253, 0.6357, -0.437, -0.0105, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.3232 left_y=-0.2333 left_z=0.0553 left_yaw=0.0433 left_pitch=-0.0337 left_roll=-0.0275 left_gripper=0.2017 right_x=0.2929 right_y=-0.0006 right_z=0.1742 right_yaw=-0.0003 right_pitch=-0.061 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.0889, -8.4718, 5.7504, 0.8913, -0.3346, 0.0171, 0.7106, -0.0205, -1.1966, 7.0632, 1.6728, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":-0.12,\"left_z\":0.27},\"note\":\"The teddy has lifted with the gripper. I’m positioning it over the left basket, with extra height for its dangling limbs.\"}",
  "call_id": "call_ZCpEMpIg1TP7Z2pVLTOFnx1g",
  "id": "fc_04e665b47f8ad8ff016ab2d43c1f7087d0bd138e3c4a3851ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZCpEMpIg1TP7Z2pVLTOFnx1g",
  "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]: [-0.3477, 1.8103, 1.7031, -0.6163, -0.3321, -0.3191, 0.2042, -0.0208, 0.8314, 0.635, -0.437, -0.0105, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.5007 left_y=-0.1164 left_z=0.2451 left_yaw=0.0889 left_pitch=-0.1142 left_roll=-0.0185 left_gripper=0.2042 right_x=0.2931 right_y=-0.0007 right_z=0.1722 right_yaw=-0.0001 right_pitch=-0.0679 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -10.2769, 9.935, 1.7167, -0.0073, 0.3248, 0.1294, -0.0342, -1.5521, 7.1863, 1.6825, -0.0122, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48f7d92d08d31a973d22dae26a3f210285f79aa7f6395847a68fbe420c7165e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2666c95a5998571f7905ce63e500ca954e4238ea2f8c910a97c7af6aa2f4aadb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e44284c4cba0358cd980368bf8f9066a69d73af216a87acb8ae04242a6f7acc",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 50 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]: [-0.9436, 1.5276, 1.2316, -0.6125, -0.741, -0.7567, 0.2029, -0.0208, 0.8295, 0.635, -0.4366, -0.0105, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.3247 left_y=-0.2386 left_z=0.2038 left_yaw=0.0432 left_pitch=-0.059 left_roll=-0.0224 left_gripper=0.2029 right_x=0.2931 right_y=-0.0007 right_z=0.1728 right_yaw=-0.0001 right_pitch=-0.0656 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.0342, -9.4974, 9.1829, 1.3162, -0.4615, 0.1001, 0.1148, -0.0615, -1.7709, 7.3231, 1.6972, -0.0269, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.19,\"left_gripper\":1},\"note\":\"The teddy is above the toy basket. I’m lowering it toward the opening and releasing it.\"}",
  "call_id": "call_8cx9m8xGDUnJheK2FMCb1o9T",
  "id": "fc_04e665b47f8ad8ff016ab2d441936c87d0bebed2071a80befb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8cx9m8xGDUnJheK2FMCb1o9T",
  "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]: [-0.3481, 1.8194, 1.4937, -0.4248, -0.3225, -0.3214, 0.9953, -0.0208, 0.8314, 0.635, -0.4366, -0.0105, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4999 left_y=-0.118 left_z=0.1844 left_yaw=0.0834 left_pitch=-0.1415 left_roll=-0.0147 left_gripper=0.9953 right_x=0.2932 right_y=-0.0007 right_z=0.1723 right_yaw=-0.0001 right_pitch=-0.0675 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -10.9197, 6.4615, 1.4579, -0.2466, 0.0122, -0.0415, -0.0889, -1.265, 7.0632, 1.7363, -0.0122, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:929a51d08895187c31dda35659871ff9ced50b5703b15950cb735f1d8c991bfd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa5a738167c4ace498ce6d097061e07238c618f3fdff9f1170cb0a2a15e1db2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a363aad61fc899041a77a956c150834aed62354e3f6ce84d27e22c62835a1a6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 53 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]: [-0.3477, 1.8103, 1.7031, -0.6163, -0.3321, -0.3191, 0.2042, -0.0208, 0.8314, 0.635, -0.437, -0.0105, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.5007 left_y=-0.1164 left_z=0.2451 left_yaw=0.0889 left_pitch=-0.1142 left_roll=-0.0185 left_gripper=0.2042 right_x=0.2931 right_y=-0.0007 right_z=0.1722 right_yaw=-0.0001 right_pitch=-0.0679 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -10.2769, 9.935, 1.7167, -0.0073, 0.3248, 0.1294, -0.0342, -1.5521, 7.1863, 1.6825, -0.0122, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstRJZcKPu_q_YK0vPCkEvLvxUPtHDTH39RKbuD3-kkAgfzutjdwL3cmS7Ws_qfh0WBERWnbcaKKK1-7i8feXcC20DBhAbPe65ah_ZYGxBblInF0e2wu0Ki7JA8W4i9IaY_Lktz6rnkQAkhrDPWU4vx5X4M9d2-WObJCptIGy2BPhvxg2yK6N-YBVW7U3-JvIweT7reG-fhdA3bKrsFsV7QXmcZ4z1JymCXxKfZULV_D2Xi9xyM7YG5WUJdgJHlDl9GB78vsjUzogoL6V2f7gV-Ue-CyIuKPJztQmezH_ZKAWaBov2KyWcZDu8CvNYx2km1O1RJx0fifFgsvQQJdRztsUPzuqRc8-rUrTHUKwd6R_jPNIcfRJU7P4diZmIjpJlH0BeDKtXNQjiLbw2_YNSogEplCe3xu68QBT_mXOPPf7n8L84jiicfRvY-9FP3fybcy4hbUK53_FZNv6SwWKSSLDTaHVN2VK4FoXS0yS0f44lBYN5-Guo72J92ZBe0CxC9_DbRjxjPEL724Q51AIWrvVE7UXqtkWmN0uUeikt9Ek-8ImoueBfr2OZjHKaiSBQP2jWxIfvRDech6JrBuBzrjKFe8sPQgBgfAOG2fcgZq20DJcP7ftk0dAJm92V67F_34inxYlKdGB6AuRRGbGW0zk9JuPZCnbjA7SxgWrDVjGXAKWfN47PwHaWfASlZXrEg8MxQmH4oe-ZuOUVUIykcsQsvDzi5ilFMftwJ_n-kNy8w2gxSZ0i1Wu677wXL7Fn3sBrEKoZezqaAkvx-wxvtkWCmoRpSJSV0iVSIhyDRRG26tiXkMihRA2Xa2LabvOvcZdRMYDQjG-IZ0jfOKTUipG-YA9ibXWdJfP6wu7GuVwNUcLzbmzPKcMHRL7eaTn0GWu4Qj4dKUAeWdqPYp4CM-p4enRs-u9dcnlhUWpoiKcThNzPHsDEltHwknCl0qFIxHc6uDutdv7xbcmmh-PkWFPCr2b12-hqxB5t4ak57RhTdD4LY0Ue4Phyq08KSjuIZNTlu9OZ4j9bZBKyVjbYGE0k_JJHfZ4YGw1rgdNJ8FgUA3MRE4PtuA7YMc9N7rTjnQ-govWWkfYo4cR5lAZx1AE9O5PFYOM5J6wPaNyUpCwB6pKlKpHz0AdcKkx1poB3SgiU0nfFMzL-ZZGm7N-E7E4LOjB69V7etw2uDAFWwnQPJ4e-VWTbUcLle8_YPhsWNAbZeFYIcAKpmCH64i8Uaw_CW57_x44Ikqa1oZ9qnF11Ss9WaCiZ-w0uGfKzC39sYysflfIaA1Z8XRlIIvSzk7k9rzK6fFC2j3YojswKEun39XIjLgx63IAoymPstgIBkADnL0BFJHpqiydMsDCPr4luuj83BFzQdVz-6lTDYaZmEMH8ydYgzH0wfpkVAWJr32ZAHaL578lO_A9cGtNLaqF-g==",
  "id": "rs_04e665b47f8ad8ff016ab2d445da8087d097205711571e351b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":0.025,\"left_z\":0.16},\"note\":\"Both brown and tan toys are now in the left basket. A gray plush remains near the left edge; I’m moving above it for the final toy pickup.\"}",
  "call_id": "call_fdyVnXR6ARXpVXL9KwyUdyv0",
  "id": "fc_04e665b47f8ad8ff016ab2d44808b887d09aab641ad3e54c93",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fdyVnXR6ARXpVXL9KwyUdyv0",
  "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]: [0.0422, 0.9985, 0.7013, -0.3985, -0.0647, -0.0921, 0.9967, -0.0208, 0.836, 0.635, -0.4362, -0.0101, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.3172 left_y=0.0284 left_z=0.1618 left_yaw=0.1315 left_pitch=-0.1319 left_roll=-0.018 left_gripper=0.9967 right_x=0.2935 right_y=-0.0007 right_z=0.1711 right_yaw=-0.0004 right_pitch=-0.0717 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -2.4547, 6.9402, 1.8193, 0.2418, 0.1343, 0.1294, -0.0889, -1.8393, 7.0496, 1.7363, -0.0366, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57c8aa43c68957f47a83829f29868cb69747cd30ac2a51fef4ad2f6498d8bfae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:968e3182732e06990c7f744bcec4f7e862b107a7bb4985241d4c9686e5e236b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edf37681925e30cc0181f8624595581094004c84a306eddd6f5cc2907f9574aa",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 56 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3481, 1.8194, 1.4937, -0.4248, -0.3225, -0.3214, 0.9953, -0.0208, 0.8314, 0.635, -0.4366, -0.0105, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.4999 left_y=-0.118 left_z=0.1844 left_yaw=0.0834 left_pitch=-0.1415 left_roll=-0.0147 left_gripper=0.9953 right_x=0.2932 right_y=-0.0007 right_z=0.1723 right_yaw=-0.0001 right_pitch=-0.0675 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -10.9197, 6.4615, 1.4579, -0.2466, 0.0122, -0.0415, -0.0889, -1.265, 7.0632, 1.7363, -0.0122, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstRUbjXRKY8_RFwXHUj1uMPNM0bZF84i5qCX03xTnvsuRPvDtFdwIzLEMYmJib_JwD0K7Hl90UCX5yhDnnzg-XpqzOv8v--PKzHFr8Zg9D55oGRmMHIFh-4HPOpweVwaQ7wP2AUi4Z_3UJYQe2Db69saAuAfTfBhuyz4ANtu_apByKpg4EJaOlFG7z8SA1ZNVvN7wb3qjNU93SlkAYEWIvXTfIihYSdBip4ploTqnv4ST4Py-oOBUZaRCBlPn02nyepT3w8HCz8BPY40aCOzXnNCRqNKG8Sm0bHQQ6aKN0IKD1hRrx0-Paht7y-7SPmAuB5hvoREV6ZCRh22icfAs_FhejJkk5s3rKDsAbmDU5h2js7Ld7OMBhTYytiRitNnT0F9IqrWoZ91_qiyAX1RE0SqEC0PgslMqDJugsAq6jw0b-DHZCusyoFUujb-Q4mrjkXiJgA3Zy6rf7RKIdV5EaDLt6SWE2thz014DvFa3WNBjuLjFlwJcpTeLiMW7TCtdjzT5uAKLrAGQYlooURMONetAIL6fJPuKjuyLjIj2ZDfnYqk-lkhqii_-jTeIiK9B4kSTngEjbO5Vym6x-oWK-1QD7zfnX4ySvXklaySwi-tdwQTmXnsxMaVyI-L7Y2-HB12YZK-2_B4ZZuu9w3lQdPI_8LddFyxQ1wuBJwLZ1nP1kz3s-CMIirZum3psfyPNWuZvJNNaxCKT4w831oFKtB3TVX0mJxGoObf0eLQBuDnq6d9LYzb8Af1x37ssy0ZGtyBdTrSJNXp58bm9gNeYiprf6PYTPMkD65e7zeFbAMGUBriQtCgyvxxR3GNir4BMuRgQMD07NI9ZKrvX3DdkKyIy_fwp0gveM1QoyNaOnGwI78rtJ30hrvz_Oa5UZ8w0KKwFaI143nZlIwcxq0SWCspqGOmMayWKdeXLjknaIrQ3_abQrg2S49Wj4ji2mWBu6aucyG3yz9TWXz7SIwjSgeWOcXDDAgwGj8xQYoelsHOppNCz0vp-2E8xeRulSqdZvD9PN1ITZCqXBDMEWmqDGwoOGFaEf1gA60_LMTuG1GkoQhQoLkiFWTFRRtb-RSJJKXK7SIuW1K_OWTFr3o7Zcg9_3V-GR5su0gNC1bOZWWBD1jMcb3HwCUonTxNONqJVG6jT1_ofAemIrfVfxmb9Gy-s2QRCD2yyUtRbdYrXgGsRaoW2pcKzki3sSlvIlafU5ylew-wdFsyfd-0gloJl80VbeTVvzky0oUEUALRIuLGBwtI86Pgbj5cU3fHhLOifIHCKqDvVDes3ljjiLCxsQxUBhQUCwJiDmn3a5m4H-Si59_bpasCmDg4KZh8bHQ0fnDnWXTLgSukczRYLQ75x0sdBF8Zp4e36RHjXIDkq-iergB0SsF3J8J4v51UL2ZZT9biezjRezCztJQ2I3_MjJtSUB6gjx6RSsV9p09kEfkplHCWZXmD7FZ0p1z4pZdnGR33yxGyeVpBvtdqVU6QSOjz0umGxKfQG8aQ07soin2-d_HrTRDK1AWJpoeUhZehzujFOdaAVA5KNreUiTh823IQa6xaB3HjNuABRF4QPknMW8piJPqpfTM5ohqtSLSixwjbvrznjmnqprmO33Sxn17bbAcwYm9jW65FbT_buH9kcWzcsDHaxm9Dn6QsAbHmon-Q04amVceB8a9-UiOv8XNFaZSkcnVvf9-YdJBw_k2XZSa7pT77nZRsjpM4-5KgM-PiGle9YUhNqc978oFDlncroEwfamP2tuwC4zk0r4pKtu1J4twBvdMk1vptO8_veGE9",
  "id": "rs_04e665b47f8ad8ff016ab2d44dc67c87d0bba46f801c4b0525",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":0.05,\"left_z\":0.035,\"left_yaw\":0,\"left_pitch\":0},\"note\":\"The gray plush is near the left reach boundary. I’m moving to the boundary and lowering toward its right side, while keeping clear of the fence.\"}",
  "call_id": "call_Y6CxyvqbDQYkbXeoQV3gRfvy",
  "id": "fc_04e665b47f8ad8ff016ab2d45267b887d09c8d8f0c44aff386",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Y6CxyvqbDQYkbXeoQV3gRfvy",
  "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]: [0.2256, 1.4158, 0.3084, 0.5419, 0.1661, 0.0917, 0.9968, -0.0208, 0.8417, 0.635, -0.437, -0.0105, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.3457 left_y=0.0531 left_z=0.0497 left_yaw=0.0212 left_pitch=0.0051 left_roll=0.0028 left_gripper=0.9968 right_x=0.2937 right_y=-0.0007 right_z=0.1694 right_yaw=-0.0001 right_pitch=-0.0782 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.8274, -3.5487, 2.7145, 0.6422, 0.2125, -0.3639, 0.0024, -0.1709, -1.8256, 6.9812, 1.6972, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce1be5a7f3cf12e35f796fb2c585c33e8cf9aebd62dd3197c6657ef8425a1091",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9491bb9fd95536b516f18b152f012868526259baf32e655cdca7c2f6eef13791",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab7cb399cd825e25e4ee6ea0b4971aa3bb6efa60e52deb1e5e377b4828b3d747",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0422, 0.9985, 0.7013, -0.3985, -0.0647, -0.0921, 0.9967, -0.0208, 0.836, 0.635, -0.4362, -0.0101, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.3172 left_y=0.0284 left_z=0.1618 left_yaw=0.1315 left_pitch=-0.1319 left_roll=-0.018 left_gripper=0.9967 right_x=0.2935 right_y=-0.0007 right_z=0.1711 right_yaw=-0.0004 right_pitch=-0.0717 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -2.4547, 6.9402, 1.8193, 0.2418, 0.1343, 0.1294, -0.0889, -1.8393, 7.0496, 1.7363, -0.0366, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstRcZlhjzmpOEfvCoVz4PFQBplbVmcj3r08v73euONoKNmnJQeTGAq-UVfDXLgJAd4jP3CQXYNVa9sUcqIOKXGWyIwwS2hkOmcYC4SYnVAk5eYNJWdbnilCUpZOxUPomxyIBDqWmRcEa4IhxdCF88q0AP9EFHxnKwezjjOlCUYQSrzHYhhXElSzjfG5pYhIcWg4FUjZPykFhilIcY5_n9oD8d7pMWGK56EApCSsWAN9Xt01D1GdXAzcvF_peA9NfUw0Rv2SHiIktpWNSoM8M_yG2XW1NVRQArRgI9blw4e6bZsZBysPjYTtVdJ26-AMFNvarpRIq8RhO4Kw2IeG5N532j61lMhBLsnLerT6-JVDaw1qA_crJOa5bFF0GudpOb6EDiLeWwofUw6Bp2zK8RwJzfi3c9BCejK4_H9XAV_JDVN7h0eh5Y7ZBShwj1cipO_NJYA1patojjUHcIvObCdO0_2N_nWMhBDkSPAjtrormn6F7ahZD4YRRWjEC4uU4kcuCF3w1nQIWERBxbDCf7aKVfNeEu-xDzKw9brMHqynSjvxuugGEvk0mIsitYqYW4lEgsDmyyoX9bgcHHcOqnUfm99mcMtAO1gks9Ou-FQ6C0n7CBZUU8gt2eVDthurzX0lUhZz5uDEk7-34N8fGoyaWBHbJg7PhsIFe9HykgdaoiSaYFcoTGAN_Wkc4hn50nZxhl1EHoYBljDmTM7Pue6F3ue0taUZZKoS9odI-UwGiVxoym0vINa1PqdA6xu6sJjdmxYKjsYGvUoKqVZnIk7ClVV_3r6avxJBkrEI6X9bigZoimX5q__1fpNgD0sxJevc5ZhfwXykC3IHEfSiZnmuSbglYq3_3GlzUYQLaZ80EZgOGP4NPb0RDh3v0sT917OZ13FQau8athhZW1LYO_prgFOBDDiWHFc4VkR2M2NnwN4Ikk4IV5uPTVNFE5QP6xXuIm9QZLXmIS2eg0ITvZmlTQXwFwhl8urOSTiSl9YwGjWB2d0gdZGhf9djiPG-1qMe1ESpr6nIaYRuwR2TrjW1nAvCEcTG-S8THIDiM-nP0T-AeOAhqwUE15gmKvDxyuAbMylIYmLYJ5KcV5jt37qCNbItAMEQxayLTnd2PfqUvYVgRcpgHxGC8VvUSqSMoSFsF5ZWPZAStc_fyrudEmMn8FqJZgq--4MeBMqi3lRV9G8D6UomP90GOEwfHxEN2tq_q1zjTkZGhZZ5b5Z9eQpVrgF-xebUHro03xjth5lQsh6EpvuJfXKi2Zi1Qq8ZPZP1w1uHe58K2TXUrcM9w3ca_009pUZgQtlbiYhJKpZwusDanFC6a0lWOnfO6xVfq_PPk1FFRnmHo6pzrUamnzJ64JA_bi6LI9qbSrk5WT_z_wG4qOTuaAOaBa6ejZbz6_sxZ5DgPw8qISDcLDGviA0U4Kxc2FAbBzLulw0S5_243R1moxsxHANhQvIHbYuWlUwujhC3KacSwEiuBinwXEsLJDKQJptI5RZK2Xr96Mz7Rv4tN0MPI-khIvl8P5GcPu_zPRy4KqDrs45ca0f7_8dkUiXffjW2ufSut9h4hdPwHoq0=",
  "id": "rs_04e665b47f8ad8ff016ab2d457b1f087d08c32a2209bfa65a5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray plush’s near edge is within the open fingertips at the workspace boundary. I’ll try grasping that edge without moving farther toward the fence.\"}",
  "call_id": "call_CgrXrDZJmA5LWbZRDbBlS3gG",
  "id": "fc_04e665b47f8ad8ff016ab2d45b26a087d08159bb3a4c76ca05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CgrXrDZJmA5LWbZRDbBlS3gG",
  "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]: [0.2077, 1.4155, 0.2974, 0.5678, 0.1574, 0.0887, 0.0323, -0.0208, 0.8421, 0.635, -0.4366, -0.0101, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.3463 left_y=0.0484 left_z=0.051 left_yaw=0.0122 left_pitch=0.0192 left_roll=0.0078 left_gripper=0.0323 right_x=0.2938 right_y=-0.0007 right_z=0.1694 right_yaw=-0.0004 right_pitch=-0.0782 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.0752, -4.4786, 5.9829, 1.5116, -0.0269, -0.0611, 0.862, -0.0068, -1.5521, 6.9812, 1.6484, -0.0269, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5067910d9efb90b552e9c76eb8b7093b59efcec02b1234f1601475c422270451",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:287b3d2d95ee1b1f4771cfc19718d96a24bd343ec0297d1adb876283b21a1c48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a4f7824c5aa53d06342cf2f93ced7435a13d12c56650d37f888cffd46e842c9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2256, 1.4158, 0.3084, 0.5419, 0.1661, 0.0917, 0.9968, -0.0208, 0.8417, 0.635, -0.437, -0.0105, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.3457 left_y=0.0531 left_z=0.0497 left_yaw=0.0212 left_pitch=0.0051 left_roll=0.0028 left_gripper=0.9968 right_x=0.2937 right_y=-0.0007 right_z=0.1694 right_yaw=-0.0001 right_pitch=-0.0782 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.8274, -3.5487, 2.7145, 0.6422, 0.2125, -0.3639, 0.0024, -0.1709, -1.8256, 6.9812, 1.6972, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstRldN770lvcBmZDMKmANU8e9SIFMYtC3bm9HKmwEyOdSKA8ePSCb7f-PpYYSfB9q1KIBqP4nIeR37E_Iywi_PG8a0S2HblN_G0Y7q2iakYtNAMXBbGTNRDL1MHd9YW8QvR8gSZZp7yQWcJT35ETwJ2m4Jw_oyQvhIWs5ekJc-X9IdFZbGBYOIatkyUIsLTB8hEa4X2-AAT9ub8b1l2Us5x5RxxylYzhw04opg-4JprmHtKbBy8jV7dgCDzILHTxRXtrMB6QdihIWPX_2rXLZ1_Gzkjxry2oDkxDDTOaLYoyUs_QtmdLIb7latDpm89Y9uKhoTpiHkTqYkoSmLEFCyHEtDk85iihl0Y4-EcBAvvCffkrB6owy1OS1qrTTXN6i75t__sMJMt9w2AQAVquL6JgsiLcKvv4MdFclMOtCRJUhv72ixwa5TkEsRgeRW13mwFVCcqItao6Bt02aCLDZpTWWZiHfle0xioitZiv8HHchI4819Xtj6hJnMiBKlhxYohM-igyuv1Iqoa_px1s5MgCelDldlXyopJJrw2FfbS7EkBLcajuukh2LeoZ6cH2sr9N45w2G4vfmvsRhbarL7IAgGd4jO9bW5VIrRlO5MdqyFSeTjSbm3GLTpPh5K0BQlPOT66rnF1_a9uKVUs9FyBw39_RHMy5luZn559t4GThgtEvJOw_vC7CF4-gLjvWGV-9l2-ME5tN_XP1aBO32EeCt7gcA8c70X3NCdn1aGDLaiGgxoXATNEIkx5l7_Js0x4IljpN61m45M6el-9E8QoY43US6bmkQYSnKlf5_gIphGsaTkFamkj9pGx604sFsdzZNFczWBeN3wuKI30IMWBuhtvLu2oYzHLk8BFy23VpyTwA2FVUY4PHHWgzv5C6jfQ1onAqARdTa9VntXy5hVR76LRiPm24FKJ_G_dV_ypV0wQTWOdOsTBbwYY6a3xuzYEUuSt3M2YRVsDkc3HJ_Lh5HqAE4iqjhu-1kBHQdRhXoLd7ySj4VdoSfdGmRGyE5ZH_5GNVKgxZBlTtdj2Xck_iYpZ2Wx6ejMkPwbe_CcMf3lVvocqakujjaVYc96dyOyEeTW2Eeb-wPq_k3Ep9z31sraVk7cqPFE1RSDk_YLJylh8-QI4mwlQDaUl5U7xFeK3blyPTqoEvVBGOyL_nZwjRGiDfRIcwAg_9N1HZNQA3VdvlZGWaqFqDLn-zVy_JybGMwPlOkmds-AYgYCljwb9dds6sjKqLsGsaWOrfI3xJ7ny5uXQJkx5TeN-525wt50UEZ1L2qN0T11vLlarePD4gn6N-FiANo4q9uoDjIB1bpjYkrZY6y6vgQUixQvoJVVrGMihHJGMy_YlFkQYCmqOKd8v7B3WBN_Olj7kxBGDsTHUgkPTE8kH4bQ2nZ-6zIL44HFIANtrZAMoQZmHW_SOI16aUDWTob8vSPgI45R4G8hWMiG0BS6n2zbWhhAujTISmq1Ag4Jx7cbuTj7gTtf5qpOQTtCBs1J_SHNqcAoPYlXRvzt-PJy-3Vxox1nRcqz0Vk_hhP_ZQYRAVRXmrIw0eEpNsYp91BSEJjHf82CLVILxeKlDMwEfe3r5iHV10Ubqtm8R1FQSGTB1IXDqGiRly0I7Ll9eH3qrMrvmy9xDdIJpucPwV_XjxSSBLAA2U3Z3V",
  "id": "rs_04e665b47f8ad8ff016ab2d45ff85c87d0b2ac8aeade0dba0f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.12,\"left_z\":0.23,\"left_gripper\":1,\"right_x\":0.30,\"right_y\":0.16,\"right_z\":0.14,\"right_gripper\":1},\"note\":\"The gray plush grasp was empty, and its center is beyond the left-side limit. I’m clearing that arm and positioning the right gripper over the writing instruments to continue sorting the reachable objects.\"}",
  "call_id": "call_2IqQ7T9Amn8dGMgIMgAmfB5z",
  "id": "fc_04e665b47f8ad8ff016ab2d46314b087d0bc01148e9f73a08e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2IqQ7T9Amn8dGMgIMgAmfB5z",
  "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]: [-0.4622, 1.364, 1.0378, -0.2779, -0.3874, -0.2749, 0.9972, 0.7624, 1.2339, 0.7055, -0.3332, 0.5526, 0.4721, 0.9994]\nstate[eef_state]: left_x=0.3979 left_y=-0.1197 left_z=0.2162 left_yaw=-0.0066 left_pitch=0.0082 left_roll=-0.0031 left_gripper=0.9972 right_x=0.2917 right_y=0.1553 right_z=0.1223 right_yaw=0.0432 right_pitch=-0.1378 right_roll=-0.0444 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -5.5863, 9.0325, 1.5018, -0.2808, 0.0904, -0.0904, 0.2393, -4.7521, 9.0872, 1.4286, 0.5006, 0.1441, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ab0cebc42dc108f7274df817ba87b17fdf2c4f39b08b2af54c708a7e9fbc073",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:883e4fd18eabff0ce7f048ed64016bbcfdc204b5147828f32789aa00c5f5f775",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fa18086dae80093e935a75297622238e73f544083b29e0da27000fa0eebc425",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2077, 1.4155, 0.2974, 0.5678, 0.1574, 0.0887, 0.0323, -0.0208, 0.8421, 0.635, -0.4366, -0.0101, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.3463 left_y=0.0484 left_z=0.051 left_yaw=0.0122 left_pitch=0.0192 left_roll=0.0078 left_gripper=0.0323 right_x=0.2938 right_y=-0.0007 right_z=0.1694 right_yaw=-0.0004 right_pitch=-0.0782 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.0752, -4.4786, 5.9829, 1.5116, -0.0269, -0.0611, 0.862, -0.0068, -1.5521, 6.9812, 1.6484, -0.0269, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstRt8PE07FsBLJeVnFJuVu0Dt66PWyV5KvNUu2uthHKm8PZMDu2RA-79Vks2w0alo-q__tOnvnGhaOdggcjOK-XZe0K2F6vUG39dpmKM5200EhyKgCCRd1VM4evZiuSpsA11W8-jFd_G4492OvK4siGRIzd737n0GQUjWnJl6wYWk48HgSY59yAu4m_WCScEEw88DyCLDKVjTDmtbiU8NEmpeteeBMuB9NeiN29qpkL7JSFKM1Q4RvB93F8cd3RudExOfCNombftrf60_gcbwHZ-dRWhpq_weTVVOGELPRk1dg_OkzvdNEUMCvm7kKhV3LJCIDY6zOFp3I6sakquyZNKPFoJt0ykGCyrHLH77nuteiOfZgQDqrdnfoqpmZxP24Wbqamjk9bpiEglaXfosmIxXFh7Yc5h3FLxBY9h-izY2_mb8iuzDo-NjTyB152b0Z2rDanCiyj9gnP5mLtxjdC_aDqv08FS6IwguhG8qWAcEyOweVCNmO6jPK-68OCEhWizP18loktUkzVnZztOMSlljLpSa6ZoxYGLKHlIu4P61TwLuJ45-7zRJ4xj_bPdsNS-H_NcGe8rfF7qe6XQ28C5OW3z2mY7_fdZxkoDP-R0wJAhWd2hiAuUabFB7ULsSNIllGWdte1YJF1--t4LQnVnp55qTkUIZya2O8hZ4QsWcGgEnSRqGs_ScNbPAcZqYn3x_2csIKDEdCkFvaWj2KvN0cKIX37X3Ff7NSO48ixvyyeVfSWQv6W31Ltc55iV6i19sgQ8FZQyyf2ktsOagjSOr3drNiqBpMBMBESGORWXQMTgKAFGZEW3o3dPm9d8qm9Qi8KmfVll5yXhd7zZCbacwlwIVNBvMZ1v-9qmfUEzbsAKBZnZF0TZSUdsuxinky9qSIvO0EAyHqeMfmOLGY2l5lpmwawA6XSeJzXd9E7_72yUkrMB1_pBscjtJCx5_3-WwdPOwlMlBieUXslxyQgnj2vO77LAxcCoF6YZTktAY-u57kb0ukcgUakS_UTWlu5A9lrcATiTuQhwVhOmO6nS28H7tNJHXI4Og5MIh5kJzBrpcacvZ0fweyQjpQDK8dj3A6Z68lj7LBERaIxm2RVfOo50CmyHgH6_SFqdheAdF_lvCuZztMq_-p_2S8QVcXRw2X0yupt4HgTRU1hd1XfCzOS6lhw4ifhSv9LbkPOtH3PazbCuVYlu-jzkBdoSzIYcHpksarSMiojAj4IXtVt9rqr9s2ItgAyl9cMbKT6JTslPXi-iNMHGGQ2w11NyM-7430iZ9cAwJdQ63DY26n5z4vtIpXdG8ZQWjMF1Xq5c2O-vmK7cLbYf8SldSLFO3ThKj_kaCVZr5nRlicAcI8yWHDyfuIyBcDlxAb7KnQwGjTtuwDbXfnVZIHNj2X-7gLQW",
  "id": "rs_04e665b47f8ad8ff016ab2d469f5dc87d0b0021596c58a4a2b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.145,\"right_z\":-0.005,\"right_pitch\":0},\"note\":\"The black-and-white pen is aligned near the right gripper’s centerline, with the blue pen to its left. I’m lowering across the black pen’s shaft for a tabletop grasp.\"}",
  "call_id": "call_cxpxoco8RqJcGPt0mmsB1OpU",
  "id": "fc_04e665b47f8ad8ff016ab2d46bf91087d0803b346cb7e2b186",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cxpxoco8RqJcGPt0mmsB1OpU",
  "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]: [-0.4633, 1.3708, 1.0412, -0.2947, -0.3923, -0.2855, 0.998, 0.6796, 1.7432, 0.3943, 0.6983, 0.5602, 0.3645, 0.9994]\nstate[eef_state]: left_x=0.397 left_y=-0.1188 left_z=0.212 left_yaw=0.002 left_pitch=-0.0086 left_roll=-0.0006 left_gripper=0.998 right_x=0.3311 right_y=0.1514 right_z=0.0134 right_yaw=0.0201 right_pitch=0.0267 right_roll=-0.0018 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -6.3795, 6.694, 1.8437, -0.0611, 0.0708, 0.0806, -0.759, -4.0274, 1.4564, 0.0611, -0.0366, -0.315, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f1452f88cb430bbc430218d90e3ec727f912eeacdd8c679c5173edecd0bd30a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:224219b124d3ab620e8aaf53653bee6b8b229710913b986776257323dfeab944",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1954088bff21cac807f23325181f6c34ba5695335c9e9efbbe52dee9a685860b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4622, 1.364, 1.0378, -0.2779, -0.3874, -0.2749, 0.9972, 0.7624, 1.2339, 0.7055, -0.3332, 0.5526, 0.4721, 0.9994]\nstate[eef_state]: left_x=0.3979 left_y=-0.1197 left_z=0.2162 left_yaw=-0.0066 left_pitch=0.0082 left_roll=-0.0031 left_gripper=0.9972 right_x=0.2917 right_y=0.1553 right_z=0.1223 right_yaw=0.0432 right_pitch=-0.1378 right_roll=-0.0444 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -5.5863, 9.0325, 1.5018, -0.2808, 0.0904, -0.0904, 0.2393, -4.7521, 9.0872, 1.4286, 0.5006, 0.1441, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstRz48NHhpvv_tRjWV45D2Un_C95vBg9fp5r9rRCnsv_IoJMON5wovXKuJmg51_n-yy4t1Uxw9rI1r0rXo2ZBABueVJTR-_h_7RmP1mCcq_ePQdd90weucobSUpfAMf4yc3d5gsJUKNFLDzlGqkl0nNHfMmdVodn1dq-BJJHg7h-yDUDeNPWz0N6FBn0FruiXda7X7ED-x066k5CpzPhSBiLupbO75ZMB0y_2PAzrRcZHbqri41WfJ8xO5EquUsH-ZSIsKnF1qTNCRldfh3VPcHBAAdSgMYY6gkxRUnmnKYvVV0mapXoW1w5QkVrWzIRehrJJa3M7VSCRRpM5OYHVuP-0UOvdRDYxWLv43jfLnj7R4Rm3Wzv_-pfsscEDNWIf2jSUf6yUuKJZjViFuWkjdJWs2plF9_BdLV_UuyOthXXZx3KMoQK_SXRg6iaukkDoomEFc0gGrM6Of-M9aqNEe5qHypY7-lxN9quweFb6GMJpihn7nbnUpQsrFhsYy_23Ly1Ftxg1GCPwmjHtOXlZkiaAN37N5GfJgKoEo5ZKHZ0amTEC9Rsxc6lc0ir-EaH0ra6K2Mq5mScYO9ej1NZBmrKRJEGXqqLmTuvAnO9ecQgnAVvsCVdbcc6qJilNXMqUbH5kMembKYfcyGzMPKtlor5UgYRl92NjmZdpGQR9q_000AGUt-ez22dQ_HkhSt6lO0ZMBy-MMhJsV5QyJ8olvaWlTprgvKjcqC1sm_IKeGFb9w2zvEf3a1TXn6WKtLz9RVWBBANx8JT3niJ0_YiHpmweLW8p-snzkJB63PKkjZNDepRO0wG_FqEON7xC_nR_mM16dCEB_qABWHcS3cP0q0Xa3yDBuCtoUIKJbNCdCpQbQfm_vv6mUKD4pO5YzViPpom66szHc6AS_uistoXElV-RgYJbBqBZY4qsyufYFRpZbVlF-6m3SRkB3URZGz5TgtVmOZerv2pZPJWmmyEQ5CbNufssgLN73oiOk435iYWBxp2GMMGJGGqR2U7kBXmBk1PWPxg-mPfTNCi-nBXnqMA2tXY4Qjd3FebS_h1MQB0anwmVLtpjiTvZwM0AyN8JV4A5WzpZ4xoUs7rHbtvrTFGNKYYcZeXaZ5vBrFqSBx5OilGr_5JdDUDbthwm-Am8c_xAWzb-cHLktF5WSeGI1GxEya7Y49mfQxdIIhAQ5LvdhaYw84cK1iAtdeBa1fuUKduoGNjprQDHQUgvz9qVaTrm96E9QbynRDXe38REzpN-HY=",
  "id": "rs_04e665b47f8ad8ff016ab2d471615487d0809f87485dce0162",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.115,\"right_z\":-0.015},\"note\":\"At table height the black pen lies a little to the right of the jaw center. I’m shifting three centimeters right and seating the fingertips at table level.\"}",
  "call_id": "call_U7EZ4nGit7jQdYgjT0gufd5i",
  "id": "fc_04e665b47f8ad8ff016ab2d472447887d090b182276cc3aa4f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_U7EZ4nGit7jQdYgjT0gufd5i",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4633, 1.3708, 1.0412, -0.2993, -0.3931, -0.2886, 0.9981, 0.5674, 1.8465, 0.3149, 1.0183, 0.4702, 0.3176, 0.9993]\nstate[eef_state]: left_x=0.3964 left_y=-0.1184 left_z=0.2112 left_yaw=0.0043 left_pitch=-0.0125 left_roll=-0.0007 left_gripper=0.9981 right_x=0.3445 right_y=0.1289 right_z=0.012 right_yaw=0.0003 right_pitch=0.1112 right_roll=0.0766 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -5.6684, 6.9538, 1.6923, -0.188, -0.0171, -0.0024, -0.7863, -3.535, 1.388, 0.398, 0.2076, -0.3443, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fca5cd832b022870935b247be6d195aad52673a558b1ee1a5cee99bd1531a4df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a9da4d9e266b1659fa75759e82e2dbf21c808c7d06958a9fa2523bb36d813aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b932c9828b8e2d38812e34c70e4e90a3f8d4d779a9186970b33c90f48b075d0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 76 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4633, 1.3708, 1.0412, -0.2947, -0.3923, -0.2855, 0.998, 0.6796, 1.7432, 0.3943, 0.6983, 0.5602, 0.3645, 0.9994]\nstate[eef_state]: left_x=0.397 left_y=-0.1188 left_z=0.212 left_yaw=0.002 left_pitch=-0.0086 left_roll=-0.0006 left_gripper=0.998 right_x=0.3311 right_y=0.1514 right_z=0.0134 right_yaw=0.0201 right_pitch=0.0267 right_roll=-0.0018 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -6.3795, 6.694, 1.8437, -0.0611, 0.0708, 0.0806, -0.759, -4.0274, 1.4564, 0.0611, -0.0366, -0.315, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstR45SxEY_YuS6zQFg1gw9gjMuyv_zkeSRqxndzxdPWNfm5ioCFQ4Xkob5pjKyzfQcR31a8jvJRwSameUnyOzRBPzVevLgtlvkS8tyCgR6Bq24GYW91s2b4xBQlLYyr89XT4zJftDZgr6get_6nCKFe1J3zvhhGGPkiggWNYa0WkIu05arqFqMJ1AAEh9ZqSImk4xuk5RyP9BRQX0FSJPuR6_Aet9cCSnwg7Wezx4-zRLDb9onqDu-klQ6NEcA3l3_04Zg3waF3iW6qQzMMIL03lnl-1Yyz4IuIzK1fZpQOts57nkIk5vFgfCnS2ezBCuaN4lzRS2YAScu4n3QJU8hI2AqlfzxD9WWp2mV0-F313jsApwfKPq9NXWDbC8Z5CKrXz3rTPh-aYhN_J1gOH95UYW_QGcRGox6RV-vY-6WuPth0P2QrGVWUvKRN0CqoiP2xDV__WGEWIsmn6MXkBI1htHuR199gPf4uHbDxXqDwhkPs05LBXj-ZHIX-KkRF3Fm72EBa6q0WMgSrtqZs1El9ZKLXGbjFmlZx0N2LziOEFfo-Hy4dyiAB7FCDv7M7H8nWgp7AAJz6JYWaczLH3_21Gff7S50ts1b1vnfJ1Uv20pPhY342UOZVb7TOZ-5tvTQb2xWWUaofqQRtuY2USm8_j9L33tkDbWylATSOR_IasysQUliTHrMd7-W6kv7KoW-slCuD8gAjROrvrTNQx5gMSabeoUuW-LYRLaxGZUlGPYT9pHvmzPG0UcWggoPH9ys5GQETtB4rnb6mpjuswKvOaSKMzO4HKhdE88p5pDX4qdBMe33n8vXgv-vR9clUQMquexr17B6o_ajiwe9aMVnbJMJfXfCDFnfRDRHB8OFAKtn4i2gmlZxW0gSuWrz-8m9swTG19h8d5aCm4L19ioMBeorUD3yewBfPXj73vnjwxbEnMzcduCAF0jCeytD9qxgVXstnMHG9o3UKSrBQOsvQy7SETZY4Ds-R9KTcP7nbEYvDjKPDrLJrN8xy68loUro-k58GRFXBTn2HkqhRH1Fv20f9FOWUX1alOJibTz13rexci5OKdUuDGIrkbpC5NQJyMb9Y_8HrvV2rbb0qzvDTLYjlX6JoEyw_UtiJkO_GEVMTAmO7lJO_A9PDj_M7mLi2qL76q2oniQCArrlcpjy6rje5UvsV31swigAAOtr46NbFUPu9ZW-ZOuzenmoUxOT7W9F6Zv0qSsRVNg-hBldRwog==",
  "id": "rs_04e665b47f8ad8ff016ab2d47651ac87d09d668bdf6c440e0b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The black pen is now between the fingertips, and the descent has stopped at the tabletop. I’m closing around its shaft.\"}",
  "call_id": "call_LeuYgHuBmCivK7QehB5BNnfN",
  "id": "fc_04e665b47f8ad8ff016ab2d477122887d0b634ca29cc18870e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LeuYgHuBmCivK7QehB5BNnfN",
  "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]: [-0.4633, 1.3708, 1.0412, -0.2993, -0.3927, -0.289, 0.9981, 0.5491, 1.8664, 0.3016, 1.0801, 0.4553, 0.2729, 0.1531]\nstate[eef_state]: left_x=0.3964 left_y=-0.1185 left_z=0.2112 left_yaw=0.0041 left_pitch=-0.0126 left_roll=-0.0012 left_gripper=0.9981 right_x=0.3465 right_y=0.1252 right_z=0.0135 right_yaw=0.0165 right_pitch=0.1332 right_roll=0.0572 right_gripper=0.1531\nstate[joint_eff]: [-0.0342, -5.8598, 6.9538, 1.6923, -0.1978, 0.0024, -0.0073, -0.3897, -4.0821, 1.7709, 0.9353, 0.0366, -0.0122, 1.0427]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:674dc92a97b8ceeb6896a7273645474fe9423d448bed54db371a4f4e5af82951",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:505894c0bd716c5007142d34443cd35826f5ee31b7b8509f397074d97e93e873",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbe3e12d585e259b91944290ff210357b387ab470fb477fa191a3eb5e6c20665",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 80 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4633, 1.3708, 1.0412, -0.2993, -0.3931, -0.2886, 0.9981, 0.5674, 1.8465, 0.3149, 1.0183, 0.4702, 0.3176, 0.9993]\nstate[eef_state]: left_x=0.3964 left_y=-0.1184 left_z=0.2112 left_yaw=0.0043 left_pitch=-0.0125 left_roll=-0.0007 left_gripper=0.9981 right_x=0.3445 right_y=0.1289 right_z=0.012 right_yaw=0.0003 right_pitch=0.1112 right_roll=0.0766 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -5.6684, 6.9538, 1.6923, -0.188, -0.0171, -0.0024, -0.7863, -3.535, 1.388, 0.398, 0.2076, -0.3443, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.2},\"note\":\"The gripper width is consistent with holding the pen. I’m lifting it straight up to verify the pickup before moving to the right basket.\"}",
  "call_id": "call_fsEoTSY24P1sI0EnM9mXrmcl",
  "id": "fc_04e665b47f8ad8ff016ab2d47d405087d08256ea0eb009f0af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fsEoTSY24P1sI0EnM9mXrmcl",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4633, 1.3712, 1.0412, -0.3023, -0.3927, -0.289, 0.9981, 0.5495, 1.1664, 0.6685, 0.0097, 0.44, 0.2684, 0.1543]\nstate[eef_state]: left_x=0.3961 left_y=-0.1183 left_z=0.2104 left_yaw=0.0042 left_pitch=-0.0156 left_roll=0.0003 left_gripper=0.9981 right_x=0.3472 right_y=0.1286 right_z=0.1828 right_yaw=0.0323 right_pitch=0.1267 right_roll=0.0575 right_gripper=0.1543\nstate[joint_eff]: [-0.0752, -5.8462, 6.9949, 1.6679, -0.1783, -0.0269, -0.0073, -0.3624, -5.2171, 9.6342, 1.7656, 0.2271, 0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fc5fbada49e8b6a7fe3c334c1529fa4484a7259d6bc495db0e802452278cbbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03f1719f5bbd84abfbd8355d5c0f1a494be71454b2b873d109e5d392968de950",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9e4b9a3a63609f4628e4375deb9fd489c35d185d23c7f17fc8b5c2eca9276ed",
      "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]: [-0.4633, 1.3708, 1.0412, -0.2993, -0.3927, -0.289, 0.9981, 0.5491, 1.8664, 0.3016, 1.0801, 0.4553, 0.2729, 0.1531]\nstate[eef_state]: left_x=0.3964 left_y=-0.1185 left_z=0.2112 left_yaw=0.0041 left_pitch=-0.0126 left_roll=-0.0012 left_gripper=0.9981 right_x=0.3465 right_y=0.1252 right_z=0.0135 right_yaw=0.0165 right_pitch=0.1332 right_roll=0.0572 right_gripper=0.1531\nstate[joint_eff]: [-0.0342, -5.8598, 6.9538, 1.6923, -0.1978, 0.0024, -0.0073, -0.3897, -4.0821, 1.7709, 0.9353, 0.0366, -0.0122, 1.0427]\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\":0.52,\"right_y\":0.15,\"right_z\":0.21},\"note\":\"The black pen has disappeared from its table position and is held in the jaws. I’m carrying it over the right basket.\"}",
  "call_id": "call_S7fM3vhx5BXUZcwFNpDt3r54",
  "id": "fc_04e665b47f8ad8ff016ab2d482719487d0bc6f27ba17da5d91",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_S7fM3vhx5BXUZcwFNpDt3r54",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4633, 1.3735, 1.0412, -0.3031, -0.3931, -0.2893, 0.9981, 0.3714, 1.7756, 1.2816, -0.0013, 0.2745, 0.178, 0.1543]\nstate[eef_state]: left_x=0.3962 left_y=-0.1183 left_z=0.2094 left_yaw=0.0047 left_pitch=-0.0183 left_roll=0.0016 left_gripper=0.9981 right_x=0.5093 right_y=0.1508 right_z=0.1932 right_yaw=0.0415 right_pitch=0.09 right_roll=0.0445 right_gripper=0.1543\nstate[joint_eff]: [-0.0342, -6.065, 7.1726, 1.6239, -0.1685, -0.0757, -0.0073, -0.8, -9.4427, 9.4017, 1.8242, 0.0317, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27765c7540cdcbbddbb71c380e517378f96986612cb165a99d18187927c7938d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d58e4a38ca727fc68954e4d5b69bc7d0dcea84763acb0fe984dcf143107a2d90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc44b1e7eb1695be505b0d5f574c06d0f99c6212d65e14ff39dd303f9e9488b1",
      "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]: [-0.4633, 1.3712, 1.0412, -0.3023, -0.3927, -0.289, 0.9981, 0.5495, 1.1664, 0.6685, 0.0097, 0.44, 0.2684, 0.1543]\nstate[eef_state]: left_x=0.3961 left_y=-0.1183 left_z=0.2104 left_yaw=0.0042 left_pitch=-0.0156 left_roll=0.0003 left_gripper=0.9981 right_x=0.3472 right_y=0.1286 right_z=0.1828 right_yaw=0.0323 right_pitch=0.1267 right_roll=0.0575 right_gripper=0.1543\nstate[joint_eff]: [-0.0752, -5.8462, 6.9949, 1.6679, -0.1783, -0.0269, -0.0073, -0.3624, -5.2171, 9.6342, 1.7656, 0.2271, 0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The black pen is suspended over the right basket’s interior. I’m opening the gripper to drop it into the writing-instrument basket.\"}",
  "call_id": "call_PyD6KksqsuStdLCFwoIVWuIo",
  "id": "fc_04e665b47f8ad8ff016ab2d4881b5087d09135d5750039f81d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PyD6KksqsuStdLCFwoIVWuIo",
  "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]: [-0.4633, 1.3735, 1.0412, -0.3023, -0.3927, -0.289, 0.9981, 0.3668, 1.7916, 1.2812, -0.0101, 0.2752, 0.1726, 0.995]\nstate[eef_state]: left_x=0.3963 left_y=-0.1184 left_z=0.2095 left_yaw=0.0042 left_pitch=-0.0177 left_roll=0.0014 left_gripper=0.9981 right_x=0.5101 right_y=0.1484 right_z=0.183 right_yaw=0.0398 right_pitch=0.0663 right_roll=0.0313 right_gripper=0.995\nstate[joint_eff]: [-0.1983, -5.8325, 6.9538, 1.619, -0.1245, -0.0464, -0.0122, 0.1573, -10.906, 6.9538, 1.8388, 0.0171, 0.0073, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9470f7d2da4df2e9e2b18c1c201949be730d18313ceeddf3c2858fba8e2a2dcd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfbc61494b0cb4fbf28dbbb7d8d69e656f0361c9c1ced7d644ae580bd7a91d72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb6d57f12e7cb4f483e28d4e3b6439cc5d641317e99221d394a7566996bd35b5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4633, 1.3735, 1.0412, -0.3031, -0.3931, -0.2893, 0.9981, 0.3714, 1.7756, 1.2816, -0.0013, 0.2745, 0.178, 0.1543]\nstate[eef_state]: left_x=0.3962 left_y=-0.1183 left_z=0.2094 left_yaw=0.0047 left_pitch=-0.0183 left_roll=0.0016 left_gripper=0.9981 right_x=0.5093 right_y=0.1508 right_z=0.1932 right_yaw=0.0415 right_pitch=0.09 right_roll=0.0445 right_gripper=0.1543\nstate[joint_eff]: [-0.0342, -6.065, 7.1726, 1.6239, -0.1685, -0.0757, -0.0073, -0.8, -9.4427, 9.4017, 1.8242, 0.0317, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstSVE34yzfBpTlGMX2RVW8BdEix3fLqIZ6WkRujt8aHO6DlpQJN8xKZw_hwrqUkVx3XwRNc25S1Jsz0U2imYD2zujP1h4w6HF5gUhcrOIvenyL4M5sJy0RWIWyjCtCCs4w4BafY_-HDJL4nGEPBCYisth6eBIieBSl8EmItRCXx2r2J42NChB3JCbFrOHlNpElSpYx8EBcvqmLdnE13lfjcbKyF_1cQALnjAaaTJL8j38zSdttUOqLZNbp3gRFBQklXELIlGncVaY78--rAQx9eyFZzwf3NLTwwzMAsfMJiPu-q_qT9QyBqGkMRj8o6X4iP4TgLIlS7bRWJGqGwqpHY3_UayfMdrHvLAiYUaA0DENBrN0Zr-Am8dRguP2q4IjtxFv5q1ZmMpHWAVw5UwTnK8MncfSoPs9fno5BYIV8yZZReEjGAYMhlCIO-yxJr_eDKLLSZEpgM9IVU0cbOINXF2Y26gFn6xfzpEvXVW0SEMSZGChnyavId0lzw-cnR6DI7UBgcz5oESw1mTdCf96zp89-uMSyK7V9xwO45Lg4pz3qD706jNaSLcb7iwwsCUxRGMdzAH2CFPLazgHS3QJ7I_t3wW4EDnDpnoVr3uH1cNbUSpnJvEVanuJhcC7eBKYL1SJ-YCOYCCNx1Bt3_3bbRUtQ7N1BWCbMy0fbw0Gpa5cPhmXQyg96e68upvFb0T1DEbkqsVL-u7c1vKszKtx77X6VLnwfDBm1vJ_CkXqX6nGxGTIoQ_IhfexeWeKxxWIblnwxIaVU1xw50FmsIxtjrfgrZ3y-I7pFENWn8coHSNdQjKNmUCPRB1_81bK6LEncR1A7bxFB7nVn3_QJvZjkfvsuMFKMs2_N5TXC-SKMLZ-gdiiM_c5ogyyVG4xLKqU9Qwm-cUap8dD9Ju03StZAmLh5LpkJG2PDTVriD_lCMeXyVbFvFovVFmw8On32STpOkh6YrwTxTKQ6D9nTsbcYMaSJ3nn41h3l1W2L7_LjKycMhRaw68aYVjNCkV8jvHB-6NX8iXkAvP7jrenzhB-nkPvIMnsuY2boyf8PuxdCekqAvLg_XhOCr0DdRSYQ0WhZ15igIScZT69RWRtMG4c4_es_0gfanJIqmlDwucMrqEm7v9CjDXUcUWt3_6hFLB_pfIXWNnZzbzLZSbVr-yViXWpZuxjsbNx6X4oXkKXmjK2d_BhQJkeS4E21O0j7hTMRATFW5WduzFlMVFHRG00p-D78Xupwlc29u7J3J2eoISu2g3saf_SvPfqb7KZ1D-0nECkb_IT3TQSRW2Clh4nso9gRo9PSKusFGaxigdgIHnUcb045QaG1MCXGsj10GLS_6xW_ZhXBp33M4K0u9VgT2Y300fhj-v9aS4Usu1faOGxxf4MGsYD2HtH0Rb50yQxyk0Dh80g9onnkfXuWxW6mzlnpZctIl8N2v_zoL90EX_wC5DpgNj1dU50ESP4pKinrK3I2_JdIu2ZwFCuHoINoyVdVq3Hzb4Q8gY4PaUiieohf4uxGYQSOnOuml9Migs3Um3uAM9XRi6j2GuDy7gC3Q-1vMP3c7jlZd4zY9jMFoZGXgwLE1I0LxaKxYMeMz91zBJ7R6n8O--OeJNYxQQA04XHeYL85WvNPZWQdjsCW5DxwTV8OiNwoXxdiGk864jlOt1zYUVIZyLDEZumeD5Ad3WnTFDuiogYXKnUSuK--67iNDxS0IM3fmjAyu-eiNScwaEkBJI5FTVbvB4X3nhOsnLbjVwR0VuBFgmjP8vF6Mq8GTnJyRP6NauQzJ5w9hkL_b6lMzkcznpWCHtDsekHN_p9Fm9JxzGBRsHpKiW8m5k9gN1_A9EnTpojVhmoVHqAABRKaNRKf6q2iMldO29Qwmm8bqynoz_JKt1hUVbB_hBRxzZNmaEe-PhZpCwLU4O1P-CsFBvIn_l0ouER-Y7Fq8CIPqT7Kx-U9YiVZ-70SLSYWA=",
  "id": "rs_04e665b47f8ad8ff016ab2d48cc52487d0b927d802a4aa9131",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.23,\"right_z\":0.12,\"left_x\":0.54,\"left_y\":-0.12,\"left_z\":0.2,\"left_gripper\":1},\"note\":\"The black pen is confirmed inside the right basket. I’m approaching the blue pen while returning the left gripper over the toy basket, since the large teddy appears to be draped against the tool rather than fully settled.\"}",
  "call_id": "call_wbMceElqL2WxiW4W1fzoqJSE",
  "id": "fc_04e665b47f8ad8ff016ab2d4928af487d0b73b8d97f770e584",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wbMceElqL2WxiW4W1fzoqJSE",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3092, 1.8767, 1.4868, -0.2974, -0.2947, -0.2504, 0.9988, 0.8558, 1.573, 0.786, 0.102, 0.6415, 0.4473, 0.996]\nstate[eef_state]: left_x=0.5252 left_y=-0.1102 left_z=0.1746 left_yaw=0.0585 left_pitch=-0.0904 left_roll=-0.0009 left_gripper=0.9988 right_x=0.3394 right_y=0.2351 right_z=0.1111 right_yaw=0.0899 right_pitch=0.034 right_roll=0.0089 right_gripper=0.996\nstate[joint_eff]: [-0.1709, -10.2222, 10.1265, 2.0293, 0.0366, 0.4957, -0.1392, 0.2393, -8.9915, 6.065, 1.4383, 0.4225, 0.0904, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69758eb751c33c48eb318c17cf467f09f924dc09c949a1b3eebac2c0c07540d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c2fd9a84ad7112f57788765502cd1b8f35826e1826f137d0eff6c9ec72e9e64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7046c8d24de20d608993c751705ada750a006d31aa6fa6ee787833dbed90a678",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 93 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]: [-0.4633, 1.3735, 1.0412, -0.3023, -0.3927, -0.289, 0.9981, 0.3668, 1.7916, 1.2812, -0.0101, 0.2752, 0.1726, 0.995]\nstate[eef_state]: left_x=0.3963 left_y=-0.1184 left_z=0.2095 left_yaw=0.0042 left_pitch=-0.0177 left_roll=0.0014 left_gripper=0.9981 right_x=0.5101 right_y=0.1484 right_z=0.183 right_yaw=0.0398 right_pitch=0.0663 right_roll=0.0313 right_gripper=0.995\nstate[joint_eff]: [-0.1983, -5.8325, 6.9538, 1.619, -0.1245, -0.0464, -0.0122, 0.1573, -10.906, 6.9538, 1.8388, 0.0171, 0.0073, -0.149]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstScsD7OP31g1JOk8ZhFzSSOJ1PL0woE8_l4vm_PeDksRubudPWCTb45WTriS0Sn0gsDku4cgmnfuhmxiNQ4bJt4w7khsoik2uAEEUsdeIVF11PqhnyWYEWjGAJIEP3xPPbJLvisCKobOPdiNY_HrHrjAOHlbJWlI6PQtKrD4V8Lx4QTi4c5Z7tKILTfri-QnQ_-pk28V0dVuJbdyi5N_hYbeWoHXTrJkLbjO9GqFAEuq52HjFfs8EsIJRbcvUvTx3Picjy2K8TyavkhKdp47JcoP6BDnunU4pr1eYI-tRUcXY1XUJ6ERtNxNImXEdSRDGkPYZUVnRdvWYhVDuq8nu5sKhjMeKamhnD8zp23srxh0bFvl1GHufb9LFlX5P5MrlWae5WwZ-eTi2RsY04W1FoGqoRVwnyGzfja2Pib7XJfYJN-aniKVX0GRrH5of36sOIKk7xuWkSkLIambGti34J7iNtIA-ndHki96luhECz01xzo_2rrfKlkygIEkIxpK7TM98wwDNdkcvonRVlIIrpYv28bGOOrNpjIr7LL6pUIoU7soHEYrKbrHqzXdhNeZhH8uy-wQzxCzRf26ZFSx7vcLYNCxnFRh2VvIGnMtZjttP0HUpEz21CGi4Z2eyyqU8nctlDqgVKLDzcPO3qj3BwzgJdLSzMHiQ1TwoVEC-_iTkvh6rtrX63aacl0vG7MU2xRnHzdq9fqVweKI5k7tsaMzPdEdjOHM6aOYkIqjlZAdNzOLO6O-3MTCPCXU6dJv9XCLDlWfG9G9eFqaCMqTSdVNBbEKl0PCP8LAcz2YFyC4oOK2BKBM0MB6vf8tOIPD540Gjz79EFCK1psAI7tQT12AAc6SkxBgcYypHFid5pj_-TOH4qklRZ_hJwEASbsUHmdivk2yw3E6oldk99Ilu7-1ut3LB9Cnqks5VyvgcHswSoX5lboBAr9Vfo0h_RvArpjzquxQJkPtqWi-IgYZHSV76QirxyMAgaraEvRXXTbFUIDGZ22a2xNAKGsyED2L6MFmkqHNGRoaF07QqvT9h19gv3hbnQlWfjad8SugjiInGyl7PO9Rjwd2o6YpGQimbwmPCxqYld6zq7sSJfXVbUi_VsfQfJeUX-z80MfoUdUcywUCZbIlvn-ZH2efF7JT0T-aGYtdMNvuVcy08ntrhlbMM_FF9HQ3ujHFd2_U0Xf3fdLt2a5ap8_Rlpay4rGnO43tLThAwbY6ZM9oLex0PEHPUJ4-wzRsff2irpEREkicGF9Ayx0Oc_U8SuHdivwgh35nuvA96t-gdyUjutbCuR4N1e27mpa-HY7AZ4LR8FExY0=",
  "id": "rs_04e665b47f8ad8ff016ab2d498ec5087d0bf96452d7236132e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.23,\"right_z\":0,\"left_roll\":0.8,\"left_z\":0.22},\"note\":\"The blue pen is centered between the right fingertips. I’m lowering to grasp it, and gently tilting the open left gripper over its basket to free the draped teddy.\"}",
  "call_id": "call_IigYvIXqoH2JG33fm3sFsQ6V",
  "id": "fc_04e665b47f8ad8ff016ab2d49a28c087d091586ffab7c1a01e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IigYvIXqoH2JG33fm3sFsQ6V",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4515, 1.9667, 1.6482, -0.4694, -0.7712, 0.2379, 0.9983, 0.836, 1.919, 0.6403, 0.6369, 0.622, 0.4347, 0.996]\nstate[eef_state]: left_x=0.5161 left_y=-0.1094 left_z=0.1965 left_yaw=0.065 left_pitch=-0.1374 left_roll=0.7218 left_gripper=0.9983 right_x=0.3481 right_y=0.2371 right_z=0.0151 right_yaw=0.0904 right_pitch=0.0572 right_roll=0.0363 right_gripper=0.996\nstate[joint_eff]: [-0.5265, -10.0718, 10.5915, 1.7949, -0.3883, 0.315, -0.0611, -0.8, -5.7778, 3.2615, 0.906, 0.2076, -0.1245, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4fb0cce83286adc1f234b2f780be6577bd89fed3105ba63efefaa3d5f6595c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78b690c6288bf6c55e6eef9e3a8495e0ae588482faba1c86c1f03d08d54cac03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c45f10aac4073ef6734518855387bbd1389efd40cc723006524d165558630c98",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 97 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3092, 1.8767, 1.4868, -0.2974, -0.2947, -0.2504, 0.9988, 0.8558, 1.573, 0.786, 0.102, 0.6415, 0.4473, 0.996]\nstate[eef_state]: left_x=0.5252 left_y=-0.1102 left_z=0.1746 left_yaw=0.0585 left_pitch=-0.0904 left_roll=-0.0009 left_gripper=0.9988 right_x=0.3394 right_y=0.2351 right_z=0.1111 right_yaw=0.0899 right_pitch=0.034 right_roll=0.0089 right_gripper=0.996\nstate[joint_eff]: [-0.1709, -10.2222, 10.1265, 2.0293, 0.0366, 0.4957, -0.1392, 0.2393, -8.9915, 6.065, 1.4383, 0.4225, 0.0904, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstSiifJaxLfzCRPM-_SSxPFE4IdFw-2ow1QDulCMJAb55u5Bq_60aYHONa4RVQOjcR9A0HqJx2DI8o19Z41bcmBEEt_YC5lNsBC1oLCgLw8rJkFGox7ExxUG5tYnWjexfjDklfQmFaXbyK0lMx5mIywNU_fWjcOvgl_-KssuqDUGf-4AMh7g61jsROlmOwGqWUumwIwvZyJ9RipD81nTzg-6SQ3JHIY1fsb--H9I9PSddW6CwvQpqI25Z1ZT0ZkVYtilRbreBTiomkx24kZ0fhcAxXEeg8JIV7xGtNmk3LVA_ICKcfx6QFi8vaJVwVEljJDf-c8DSKxHMD2FzIRlf4xR3bH2WIvN3WTlRbUI_bY956Sy68N-oGyQPwvc-V2ZaDzdMw89acegQSnpEG-zkcyXnG-ybtRrHIkWTQvoiLypp9yu1DjqIOiad2ig5b06qJ2nEcTTaHB8v8uHtwUwXSWDideF7PSTrajs7c5fxT64kbGoEFPXpCwfL4ncH3AQ99eV7qqNdVjGuwqIxYbVazxqpiLD07YxmfZ1czDz0f3xjHCEjMCfpRoUxkOMjfc1iRjOU2EHzATqftdoxmK2xA0GJLG3qO7-3OiVTdYYnYO39AoKB3SoRcETw7msewhjzAVhjctiSUSnX4AQCYCqg-gX5dnovLNnTPPNkxxrEACQKbAvwJn3wHalh17IRqm23UNUEF2dDgxNbcMX6yqphCxIiYpoT-1LAEbYvgRfu8DDclwaD8o_R30iQUznLpHLuYj109ZOOihPRkYuceYxm9_nNnGcsyu_a7Pz_WZnmP42Z9ADVb92G_UQ6XzRKwwHDynaeuVYEHM-ZBSCfs9pU2UfrHMcNtdHLVZEUbByrV-RDWlKxJ3Z93yY-KnDXs3_Ep6MxI8Fo-U_bYHM5hPNv0dcYkuSLOOAdwzcanJEqsX6FCEBfXmLiX9ukwlyefr5OjTUkGj2clNsKB4Y9J3DD-eBarg1fSP6L2BxmVfDq2jwyImhSeO5U6pFY293ee5_rrA1oH2ZfyufGZM4ekgXpMYNNvjZMFsOLrhWKScfqGwoMuMcMwrDjjo46XXPhLSYaphrbyewXrs8-pNZ37ixbo2y-upz83TakhL2JwKbCCqlvOjCo1zMq86haibuWK7qYj7b13zroF54iTRjrpBmiqWMFU_tuzmVrBo_DkHHSiXph3bgRHNmg-or65YaAIdkie5aOYwBZNu_mPMo7aScD88MDSc9aRiSePL6xtmuhr4v0cA=",
  "id": "rs_04e665b47f8ad8ff016ab2d49fe12087d08788ca768fa6804a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"left_x\":0.57,\"left_z\":0.24},\"note\":\"The right jaws straddle the blue pen’s barrel. I’m closing on it while moving the supported teddy farther into the left basket opening.\"}",
  "call_id": "call_KFCI0URk6NNixCwA5wljQekX",
  "id": "fc_04e665b47f8ad8ff016ab2d4a078dc87d091bf88ab3933af0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KFCI0URk6NNixCwA5wljQekX",
  "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]: [-0.403, 2.1799, 2.1029, -0.7177, -0.7528, 0.2474, 0.9983, 0.8364, 1.9347, 0.6357, 0.6682, 0.6205, 0.4309, 0.1581]\nstate[eef_state]: left_x=0.5633 left_y=-0.105 left_z=0.2276 left_yaw=0.0955 left_pitch=-0.1531 left_roll=0.7212 left_gripper=0.9983 right_x=0.3486 right_y=0.2381 right_z=0.0129 right_yaw=0.0936 right_pitch=0.0648 right_roll=0.0412 right_gripper=0.1581\nstate[joint_eff]: [-0.0752, -11.9726, 9.2513, 1.4823, -0.1783, 0.3101, -0.022, -0.1709, -9.4154, 4.5333, 1.2918, 0.2173, -0.0171, 1.0476]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06d8750939b7a5f38267a5abf9f51d457911654f26a67d54a409982ce8413cb0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22157b5bf4ac25204c1fe399425a33b8227aff54bbaf71d2909e22cf5b97bb83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8495f596837f9fd4eb00e836a4295de5cda109a1aa32a4cab92390d5733ec21",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 101 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4515, 1.9667, 1.6482, -0.4694, -0.7712, 0.2379, 0.9983, 0.836, 1.919, 0.6403, 0.6369, 0.622, 0.4347, 0.996]\nstate[eef_state]: left_x=0.5161 left_y=-0.1094 left_z=0.1965 left_yaw=0.065 left_pitch=-0.1374 left_roll=0.7218 left_gripper=0.9983 right_x=0.3481 right_y=0.2371 right_z=0.0151 right_yaw=0.0904 right_pitch=0.0572 right_roll=0.0363 right_gripper=0.996\nstate[joint_eff]: [-0.5265, -10.0718, 10.5915, 1.7949, -0.3883, 0.315, -0.0611, -0.8, -5.7778, 3.2615, 0.906, 0.2076, -0.1245, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstSquKArFBiKjkoItr9biIV2rdQk9QOdr__WuDz9NdbhYqgKllJt-UTmsNfKq8Z_wqdoEnVzTrsy_YtREfGc4PkugoIUQ3DFClSqBPKKp6vE9Uy7Uow5G5GI98yV0k3xS0wFxHBRaWhEa7R7vf3lmKbxfNDHPHkZgOEBxMTFek0bmARVugA2o_27G4_6eeEnQRcr_yhJmqGGBNDJ63wh0FQLvWhOy2oVnCXYcD5X2Z0Yc-XaddLkV1QlD1OdPMTfgEboGEieNZMdjcj9HOdp8zYKVcml1YLEJmif2ySdLcBfxsUfSB2B08oNFPwkpQ_dmspayJ75BaruWX7J-kEQVz80D4NDGZnm1QkFWWyb6iVlgg11KgJ1n0oR4tKs46_qgnLD8OaMnFQtlgfEPkkIoMUmyV_JwUXkpWz45lUKlFAC7oYGes3OehQxmqXxv6zg3FgJomH0GYTAOEOIra-9uzV59iRdC_sIea_zFvjw_WiG5hr9MHYHZ4VSQqQS2wcZ16EM76-8IZAueCvO8kf10PcpsIwOXHBVO2wbw8irOZNmwS6ieVgBQYOFXjupjKuFm-SDEXE7uD-gO_hWtFbxVt6o0U71176G9vlaVt9TleCyCToWzPrPlxxiueCdvbG7E-mttXU4J8KX1e2W7WNmM2ym0rE-tfhQhGbweYFbd-eEgot7v_2i9tMbzeaeqpsLB3mxaGgasCesEi78ed7kX88M6V0Tkyk30hqaxysAO9T3aR2FkwGUyY8ofIoofV_OoQfiprKlg1HHSdw5g4-RJEM-UYwatwWc_JNpFYJ8oi9mcVFzyd2O44kroWcZzwY8dTxPaDnQrfsUnb5QDnH0NVovc-LQvMnoS-RsJNcu-bOsIR5zaUUlJHq7H-UvNZc-eE1LnizP9X0ujQsYHVxMUGiOExsaUKFtwCDP9LOt2mXjaDsou3F2qxOP8DnuawVbwF033R1xjfmFeBFtpxYzHM72ORLCk_9-AGeB4Qz2NS-UegCFO5iAO4vey61b7GhX5tq8gBgMcoKxPK5q1lvx0f9Ue71pqwswZXd0_m9J2Zu7SqJBBSHyd1jiEcJtMx3yvKl1XD90fXlKGc6NQLqUwOcrdSrbvHnVAACpzIumVeeMCJ67jc7aMw25Jr5UvBUc55BvMxomBmrUeLQLx71U2U1xubAaFrQ0ebU8He3HSD_xwLB4UGogPu5U9HrbED6lnVVxe5Tewprxyo4uSjwM6fJJANyAC5NR86ZUqsPUnofZ6OtmO3NMeBjpN5-wQN3kjYGaos6eoIQu5Z8E6l4fkwG1DeQlHcJChUEauCkViLNOP0GvvDxa2bCdjoehQpP1pG1-vIXcM6SNq_lBKCqy-L2UG04354Kd36spdjW5tbgaNpkW9ESPCEtVxrfqfM5bspEqQTCQBLg7wLB3pxoMUcnZoYBtURmIEbRLj0jv5g-oM8-r5GJLu_afTvJ0vtraOObQR1VJ--lxS5_iVccUnDLxmw==",
  "id": "rs_04e665b47f8ad8ff016ab2d4a679b887d08ba2b36bd2963560",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.2,\"left_x\":0.3,\"left_y\":0,\"left_z\":0.2,\"left_roll\":0},\"note\":\"The blue pen is held at a nonempty gripper width. I’m lifting it and retracting the left arm to see how the toys have settled.\"}",
  "call_id": "call_MkOTS7TqZP3l17XUgFt7IAtB",
  "id": "fc_04e665b47f8ad8ff016ab2d4a8509887d0bfb55c25f5c455fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MkOTS7TqZP3l17XUgFt7IAtB",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.9764, 0.8688, -0.6067, -0.2077, -0.1429, 0.9982, 0.8371, 1.4902, 0.9806, -0.1604, 0.6086, 0.4267, 0.1581]\nstate[eef_state]: left_x=0.3084 left_y=0.0039 left_z=0.2051 left_yaw=0.121 left_pitch=-0.1346 left_roll=0.038 left_gripper=0.9982 right_x=0.3472 right_y=0.2397 right_z=0.1746 right_yaw=0.107 right_pitch=0.0309 right_roll=0.0164 right_gripper=0.1581\nstate[joint_eff]: [0.1709, -2.4, 6.4479, 1.6972, -0.022, -0.0415, -0.0171, -0.2667, -9.1829, 9.5521, 1.6386, 0.315, 0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:263270d344384eb7cfa3a7d9a2bc924f4686e69fe4e6585239d4bb3c06182f3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9511a92fe294c0cf7429a3baeeb10b945ef3691de5083decf74215fef5c354e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eae594a1a06424220d460efe5b3d7efe8f53a6584a11b25281e3b43a5a06b2b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 105 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.403, 2.1799, 2.1029, -0.7177, -0.7528, 0.2474, 0.9983, 0.8364, 1.9347, 0.6357, 0.6682, 0.6205, 0.4309, 0.1581]\nstate[eef_state]: left_x=0.5633 left_y=-0.105 left_z=0.2276 left_yaw=0.0955 left_pitch=-0.1531 left_roll=0.7212 left_gripper=0.9983 right_x=0.3486 right_y=0.2381 right_z=0.0129 right_yaw=0.0936 right_pitch=0.0648 right_roll=0.0412 right_gripper=0.1581\nstate[joint_eff]: [-0.0752, -11.9726, 9.2513, 1.4823, -0.1783, 0.3101, -0.022, -0.1709, -9.4154, 4.5333, 1.2918, 0.2173, -0.0171, 1.0476]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstSz4vYM9rBYUD7WCVkdRM36B2baB1kjXB26OknZjtwrhIJv-UITf84Xj0BSF5dHVC4FxVyIXr7IGyimuniAVSzFEwmMXeLFIPoVcb6fORD0bTjhinjE7tXuX5Uaq80fuo6QXYygiwMog9JsXnIT_-Zq_7ZEhIu6EfEUeAClViaJqYeKG8r3qDeJd9qPfynYT4gDZlc8gJRazOH55c8KPXguZjDNSAb-Wy8QWpIEZZ6J4fe21swsJ9XfBTszWL7LCfRXLtbZ2Io-ORp2AEH7G2L6g3K0PzXCoZQCH6GBfTWfRuu4g1Iv_2UU4Jv8hZowaOZlfDelya6Mq47Y_MSEAj3iexmUO7FrpiCGyiZKGmmk9Ju18VRFHv2NJfjxAuWdkRfRwmWdkSS1pu8yT1LMFuYIs9sV2p7mq1hgoTzYBrsak7iZ2JhlBDDew_8lcdvL3ELccJHrpZEsbVR7zDjgqVCnxZMYCzUSblkvOBYhhfPiq_ehGo4QpfX19GyM9c8mFAaJwRGTFzjtvezVLq5Yj-3MYsDtlxt0bkdGR5NJPkVDqbrHX7mAuTfvHfwWjPzKGvPVxh4hroWjQwKWrcvVs8X5R509yMNs-UPI3C0slat4-JCZBTdfzc53-Kly4PCYoK88VKclHL4elrA5jZBnG054j-ruRJl6M1OS_CIaA0PQw66lLq4RD0wSMpqEmyvsM4syYkmNIYgBHFxk9vhZIZW2JvzFXGBBBok7ldEowBt3K8z09LBu3w_MnHbevoXdTilhldhTwBXGql9r7RuZAi0tiOVMphcyCJ9if6LK1vAF62lG9J8eecpmYFA7zQ-K3-9uYhMgnhnUqiH9cMnK5C-FDqItmNVdufmFowixmFKNVfVZJrVKYNjOYIyvbmVe7B3nsjKHH5dJatTzsx_SIPb_Sek9_6jQKVMkGCUxcwDBexbmkRBLRR-tlDyBEfCiDUG8X399iqFSFT5LQiUS1oSF5hrwLo9zy5S42z0WB6S2agygKfIYtTyzUnvtxNLgklLAaQXTNaTETj6c9LCsIIzLL5gW6KyFJujTga2eCLW6ANGw3Jig1KLl4A5jWt4MQPolKlU3AMjpWQkY3idCgVmMhMt16nbBpgKW6Vr_AfF8DmQ07B3c-oiHtTduQrjtSae77xkmJOnMB_7hpDypDDyZkGfh7oya6UuyMX8Ljqo14xJEmqcbqP7hfxwNqOdmf3zaYzIOEHlxFpzJbDn4uISACjh5GQeOMC3rIye4YUvJnn3f7IbyNtZFjM6GOEVg7DbdWBcIa1yB4lIfonvzNy9BACpDOB_T8VZuSwM-GsdGtB3TNs3jupm92jOrM5TrSXpTKSyY3p-UxV3Orl52OpKYjdwPU2vg_KQVF5cJJN4BcZ8Es0ItHAsRG9m8aM4vwZ3o4io_C5YnsZzlZb2DUoeT0GWs3YxmowMjVENux8mDPRnbuy6AbjZINGx0S_0BBrDV",
  "id": "rs_04e665b47f8ad8ff016ab2d4af61cc87d09904c9214504e45d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_y\":0.15,\"right_z\":0.21,\"left_x\":0.30,\"left_y\":-0.025,\"left_z\":0.09,\"left_pitch\":0,\"left_yaw\":0},\"note\":\"The blue pen lifted successfully. I’m carrying it to the right basket while approaching the yellow pen with the left arm; the large teddy is resting across the front rim of the toy basket.\"}",
  "call_id": "call_K28Id61AwQmuTetOrH5CYUch",
  "id": "fc_04e665b47f8ad8ff016ab2d4b179e487d098ef29d223d20049",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_K28Id61AwQmuTetOrH5CYUch",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2138, 0.9356, 0.2939, 0.0036, -0.2058, -0.1196, 0.9982, 0.3515, 1.7962, 1.3888, -0.1833, 0.2157, 0.1295, 0.1581]\nstate[eef_state]: left_x=0.2927 left_y=-0.0229 left_z=0.0814 left_yaw=0.0087 left_pitch=-0.0612 left_roll=0.0378 left_gripper=0.9982 right_x=0.5088 right_y=0.1501 right_z=0.1924 right_yaw=0.0979 right_pitch=-0.0097 right_roll=0.0042 right_gripper=0.1581\nstate[joint_eff]: [-0.4855, -1.4838, 6.9402, 1.9951, -0.1441, 0.0904, -0.0073, -0.4034, -9.4838, 9.6068, 1.7607, 0.0024, 0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:702b888ffb004ee2b98240d6b17f0d03aacd5edfe30c586c575d5592a1f2f446",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31043b697132d26dd537bf5b89f81a212389bbc49ac4537772d4b26fdaf3bb0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7806c52d021fa7083950db4bdd0d5f292394d145e3a00455121b5af911a3ace",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 109 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1173, 0.9764, 0.8688, -0.6067, -0.2077, -0.1429, 0.9982, 0.8371, 1.4902, 0.9806, -0.1604, 0.6086, 0.4267, 0.1581]\nstate[eef_state]: left_x=0.3084 left_y=0.0039 left_z=0.2051 left_yaw=0.121 left_pitch=-0.1346 left_roll=0.038 left_gripper=0.9982 right_x=0.3472 right_y=0.2397 right_z=0.1746 right_yaw=0.107 right_pitch=0.0309 right_roll=0.0164 right_gripper=0.1581\nstate[joint_eff]: [0.1709, -2.4, 6.4479, 1.6972, -0.022, -0.0415, -0.0171, -0.2667, -9.1829, 9.5521, 1.6386, 0.315, 0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstS58ZpreXlUL5S5XuFGG7yfX5lZMQMSC0VhgTwN3luwwQaT0v3jiNtKTX0MVxu571ZnKutx8YT3159GeuTX00GUZMnwCO1XNWPID_gpUzTJNjMGKaNMUxv_w21t1I-nMVwo6p8cVGbpbqNdU38Z5SET27O7T6uQZHXIrBcQrgV4aBoF3Zl-HI5nAz0k28XYqftQ8USfPR8e1HghfAC8lu1jVXLV0N1fMxH6ktyXo5ySE7MphJDOGB6tZuowFAR5SSsjOsPOImISkaEa7mkWFcLnPE7DMa1dBaJmVo6FX8Sg0F6N2EfLD_VfThuIjrXcO7AGqomoulAgdwdi8RAQKlYDRrokZA6Lqj6Nkl6c5GYEgxrB1W1M0nfDM_3j2ybD3gSa9KCRSGRrUsFP1Ym3iQ-Z2NWowhO_jqLuAf9ThVOufLHWFpCYKxd3C8BVl7XWd5oRPrTw84I_6kKAwD_lTx9m4_zqCqZQd0-enZt2RDwuft5Z6y6z8LuurNHD3_-IRRtR8VOR_qCmGcBK8C48dM1XxUurkAbHXA9qgWGY8dZStjf6KqHgmVS725VKiMv3sYcaVWEnjxketA5A2kM3QJQDDmVYMx2a7uccloNK4vL8eO9FKuZjRN_cZjTuLkL5wwircBimF8f9vUuLHcFMZdsVbLEdQ-szOvZaKuFn2QpXBJx0uWrSCv98NtqXyGWHMgg8FQbyitUTfyxOnNumCwmorpTH_8ajtuQWC8GmQattUay2l64uOHeDtD4CYwxxVb1L4M9dEcrqlkMMaHHyCFqGgsq0Gw-QR-6WYDfJv2gQmDqWZRgbRz_KvCmFCkw1iAR0MG-ZINzzApNyEaxsBE_Do2Eri4xU6iAXfENTqtP_WkwEZgBWy6v8UFYmWEvtCiDaWB5v3vGe_W-t0FZscP5l_RQoduwica6IwTjbjhZpI6KeWNAFjLSKC0x4vAVMNu6UkrBTUJ-Z3I_NFidVNiCfRpTnPZdVadS142Fga23udgXQCTkEEYBjro8zHlHFg6UZJRpc38XVcL0O6OjkoZkfr3dMIScO7mk6Drdtz1TUOo2Di1g_jxn2OIN9sb5Se6cpgnt1fCD2i-jovNXZy4o4Br4Oq5LPheMCHLllaBqwGGBXEPkNKMYg0rMf65zwGwfbI7HoQBjsCS-CPF8YR23ARXpWNj7oMxk0Xv62ZZ4wFTvpfJFpmuc_hjlMUXpWkA3jdZEZCXZPbUWK3UuB38oyt4l589eT49W3gEdbYKEiGLI=",
  "id": "rs_04e665b47f8ad8ff016ab2d4b7781c87d097e835a22d1e832b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_x\":0.32,\"left_y\":0.01,\"left_z\":0},\"note\":\"The blue pen is over its basket, so I’m releasing it. The yellow pen lies left of the left jaw centerline; I’m aligning and descending across its barrel.\"}",
  "call_id": "call_7cXPm6XWsGcBh0xSRMWEXicS",
  "id": "fc_04e665b47f8ad8ff016ab2d4b82d9887d0b400dc595d26e8ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7cXPm6XWsGcBh0xSRMWEXicS",
  "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]: [-0.0071, 1.5379, 0.1749, 0.7185, -0.0559, -0.0116, 0.9982, 0.3458, 1.8088, 1.3857, -0.1928, 0.2012, 0.1204, 0.9951]\nstate[eef_state]: left_x=0.3178 left_y=0.0112 left_z=0.0006 left_yaw=0.0313 left_pitch=-0.0821 left_roll=0.0367 left_gripper=0.9982 right_x=0.5083 right_y=0.1494 right_z=0.1824 right_yaw=0.1091 right_pitch=-0.0362 right_roll=-0.0015 right_gripper=0.9951\nstate[joint_eff]: [0.3624, -3.3436, 3.6991, 0.9695, 0.1001, 0.0904, -0.0122, 0.3077, -10.8376, 7.2274, 1.8632, 0.1441, 0.0904, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:475ffa61977dfd5d5feb6414c2365bef10c366ebaee8431103e7c5f71e523a2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c6290644ceff8655240f63ef7d70d31949f8e2b25879fc8c400cfc81077e92a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f7666893bc8b9523a043c697ec6018fa1b661406ffa231bf5464aea4cef1596",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 113 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2138, 0.9356, 0.2939, 0.0036, -0.2058, -0.1196, 0.9982, 0.3515, 1.7962, 1.3888, -0.1833, 0.2157, 0.1295, 0.1581]\nstate[eef_state]: left_x=0.2927 left_y=-0.0229 left_z=0.0814 left_yaw=0.0087 left_pitch=-0.0612 left_roll=0.0378 left_gripper=0.9982 right_x=0.5088 right_y=0.1501 right_z=0.1924 right_yaw=0.0979 right_pitch=-0.0097 right_roll=0.0042 right_gripper=0.1581\nstate[joint_eff]: [-0.4855, -1.4838, 6.9402, 1.9951, -0.1441, 0.0904, -0.0073, -0.4034, -9.4838, 9.6068, 1.7607, 0.0024, 0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstTAyNauSl0GyhQlXjWWj8XYgaeHxoJlenflvXlE4pI039Rruzea0JyB_opXhy_5YrmU12sX_v_p7X7r4iuT4uPgCGinyEjH_zVFBS1J22x3qRA1pZWXu6du9s6JWoUtXzGu_EWNc6qBiJBDk0uclFnE5HhGSpo5NjuZGvS0DvZmP9Mz8E7w0bHMU38MPYftQA3r4rPRJYVdLzV12eHGQAPoqRWZt1bWKNGGFb-0DCGXnnZD6aFzTl1xFP31TKmGjzsJRY4csNPhzQkzxRomAEoDaQkSsdBtNqlhk6iV6EbloHKgg_NDyCjmCHzzvbDNbsJ4o5tnVaDi4a4YXPXn0Jnhxl4-ncnB93CC08mKU2YE4QZYbP0REceEL_8QjuovB3llaq3vxT6cvKTR-I4heqwfgn8q-x7f3DHwQCtO4I_kNm2SKsscvQcxxUfjQtkSuEi3wA-YWExAxAivfQmPp4wew_HYNgSpfg9El8LKpTZrnULbCNC_zZRRd8Yp3UW8PyUg3HqxbgB58wl06MUILxbsQvBHshuSfLKdVSguaycv9CRtHSuTmRy_TFU0-5DkpR9D46IOu4JFcLJj2ednFdZcpb3FVIHB6Uk9nKcynoQIzuvBQIYFhOVcYiP9ny0VQ5Oh-P4OmsyWVXfrJxow92VT7sJ42K7tUKc7TmfiEFm3xyR04ByduGOSLlh4v848rgIeWz7Ba5EQnpo7hpACVOwsq0G6LhfKDLa8KWrZnO1B9EUfZbJxRQX9UoytypfRa7-hIfSmj0UNcUZxJbk2m7uHgyzdN4NndfzGYsvOz8-W1FId4ik7UkBpG42wuVcEhpEvEp8zl1M0Zi2ek5obrgUkc_7dQPa90XzTqXXbP-oTJ3xnVma60EmOQmvw5ZPKWO9y5Oa-nbMbeAmoAios5YP_UsKHJEI0SpGM8Alb6USXiq5GbGS2o2sHaE8Z3OncCguw496vasJnfwfKMYmaLnHs5UZKNjWlj18yqXK6Zpg4Tog3wTT4JcE0KRPrpy1ZpueO3eE9w78qYzQApD5H0e7vvAryBTsLHYeFlJzvUzk5zxfldnVEnXjyG_8Lf-uLwIO-81q6lHiLPfCZEnECQ-ynozFh6Wih2gR6GYfyBUTdW09pqaa4X4KXN3S0Dt0ozG6JW_OHA163f3j6TKOUIkFkvyN5piXCz0ipgqxjsKdCmczSLCKtk8hgWQobjIyQSGkhJyocSFzvoP9lVlySWir-b6JtMjx80UpW_I_B-w9BXUg=",
  "id": "rs_04e665b47f8ad8ff016ab2d4bea0d087d0abc494a94b460474",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":0.027,\"left_gripper\":0},\"note\":\"The yellow pen is at fingertip height and slightly left of center. I’m shifting less than two centimeters and closing around it.\"}",
  "call_id": "call_xJpNL7271geEoTxttF75cWw4",
  "id": "fc_04e665b47f8ad8ff016ab2d4bf418087d0aa78187e7a2ee997",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xJpNL7271geEoTxttF75cWw4",
  "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]: [0.0769, 1.5482, 0.1692, 0.7479, 0.0006, 0.0303, 0.1526, 0.3454, 1.8088, 1.3857, -0.1909, 0.1967, 0.1188, 0.996]\nstate[eef_state]: left_x=0.3177 left_y=0.028 left_z=0.0014 left_yaw=0.0449 left_pitch=-0.0699 left_roll=0.0368 left_gripper=0.1526 right_x=0.5085 right_y=0.1501 right_z=0.1827 right_yaw=0.1134 right_pitch=-0.035 right_roll=0.0002 right_gripper=0.996\nstate[joint_eff]: [0.294, -4.8615, 4.588, 1.4237, -0.0171, 0.0855, 0.9988, -0.1983, -9.8803, 6.9949, 1.663, 0.0415, -0.0366, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b64c402730d0f1908eb339d07daf263f1c5faae8f33d766172096013e7f1039e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2715a3b956a253f3bd9ed66522e938b2b95ff6d35268f02f097c831fe30f71f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:669f2189de93e8742303273b873aeaa7df83aa948eb2c8e6edb4a6ce4668753b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 117 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0071, 1.5379, 0.1749, 0.7185, -0.0559, -0.0116, 0.9982, 0.3458, 1.8088, 1.3857, -0.1928, 0.2012, 0.1204, 0.9951]\nstate[eef_state]: left_x=0.3178 left_y=0.0112 left_z=0.0006 left_yaw=0.0313 left_pitch=-0.0821 left_roll=0.0367 left_gripper=0.9982 right_x=0.5083 right_y=0.1494 right_z=0.1824 right_yaw=0.1091 right_pitch=-0.0362 right_roll=-0.0015 right_gripper=0.9951\nstate[joint_eff]: [0.3624, -3.3436, 3.6991, 0.9695, 0.1001, 0.0904, -0.0122, 0.3077, -10.8376, 7.2274, 1.8632, 0.1441, 0.0904, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstTLYWuteoqpX9Vse7vPCDVE85aYR15-EY3OYuL85Nagut8fOWMqFvUvqSVLoR0kAs303Og9KfgTFB9_LAn4_T7QBvRgQCtkuvdu0NtYr8tJD-idS7_FlyVGVwR9pNWONk5WCReQkm3GhJfa2GFUE3bHRHt70Xq1A0liBOUMHzhWnRLfAMcaxKQalIjYQMnx5y9jx1kjUfc-l4QWb27nNWZCeCPjcZVhZz6m8u-aFGIOy2YMnnoByEUKEMSHq0zE1GZKm5ruF3gsXNwHJj0sHRIEfyhUX58sewekFBPPbIqsHY-Ey1z-2fkbD7AbHMJZQl8kSdSY1aCYS2l0lR5hQNyS05bT60XxTQ4hs_pdly9Lr3qrnwXLxoCYpd7KpLm4AXIGI-McNjlxzUT7yPKVuz3P_6vspzZGrXK3aoCvtHTsW6_RupXKTQd1a-6VSYO1QCsXYzDr5-BuT0KcivqCIKncsv9lc1_TyqtKpn9xIzBAkfNC4t3m5yjrYjiE14MEhB6kce-D8gjRFpB_fRaPssK3EgjKvVQuPW7D2i7XoPkiXvVRmzdrJAFLZJfVaVK_zmfAYcmdaRxltReVf1ZIrDwtUV2QoytImoCea92JwbIfnuE232zszRST7fBpRoQMpA8AuY7Zi9znoVl05_ass2bfhZDLx-cxwShuJ-6Wj_bqSceUcjMi909GtwJqm3Vb9BwmTTjnkjZ9uGxpqnVfZinJEF2IWxo7a6ayW7MSSc_1Y1lZZoJYY-ohDJiUj94SNOsI6lGQmrEgLJHiABq7GwOAvbrELR1TLOJvI30ofZyw54C2kCCswWe-3a6QhpqPA268Er_JeW_BuNGMz_JBnVzEuLDmMXLY_Yd7trpDKBjPex9-FzkYEvPuvPeohIP-L0F9fvkUwUlxS3neKFdyki2mm_TCBLcnAD4vkeJ0za0TAZpmCUslMX0i7xMJjKq1devkBS8XyG9uYPRgb1Tjbauit64PuSI-TP5GqU6vv0QKxb-XiCntgD_ACdTdiPlsoMjBkDkC0nepaVqxJvTdUO_j0659u1ST_ZQBVtktnAs2VzSUlPp16U5pONh3EDUKHIAiggO5yB0O2f4ltZjswmbcayAoVtFUWB3qQ-lDtHDuJQnk56AJMUT2K5WcEw_iVYHi63Lf_ljycd38Jcfi3_BMxaDiYAc0nfKdvjZMEBVDuxANzq3XosaEqthhOjBoGEamxjOVvbliPWEVO16jSABH7ut-NEFelqG_HJurEjXA80r-h-byIecZCo5ELCI7FSBrW4Jhynt_Rk51XaXn7uGx_4O0C_1nWSyX_6du2o5eTmKv2q6OJBgHDJqwnOIYSinN2FisHm3PLTrlvQ56xPyIir19AEl5DiItLSvRdjXIJy_N_3uUazsUSsjO3v2j-ft_Kc8lMhO1yNkcZSFTZHT1YKFeejCc8TuoNPLE8irf5kNOBDBZXFsSGeyC7aEx16u0UHHUmAmBshNxsd7wyisBA3fpioBP-Zngl-NZsVzos_5TR__OWzyACT4p1_015vSDLXUBqnG9vyRkkL-gtt4nz7S2DeNl7DLoI0hHM1Avm4JPAuRXJuAYUR8HG2koeyVEyMkzgfXKuMpY5RldPB1AVP-OiZToGjhIgmrwGY3rT04XFbU8h20I9ukycH8rgPSktCd2UH8a8-KJxq2hA2xi6s3-6j3ZpCbobuq744VKulQ=",
  "id": "rs_04e665b47f8ad8ff016ab2d4c5ccd487d0a3c0efd5f00692ce",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.2,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.2},\"note\":\"The left gripper has caught the yellow pen. I’m lifting it and parking the right arm to clear the writing-instrument basket for the final reachable pickup.\"}",
  "call_id": "call_CIYBNJ3vag0kG5yn9xBil9yn",
  "id": "fc_04e665b47f8ad8ff016ab2d4c9c75487d0814d06d6ca115a90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CIYBNJ3vag0kG5yn9xBil9yn",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0772, 0.9703, 0.7403, -0.4129, 0.001, 0.0261, 0.1608, -0.1024, 0.868, 0.7311, -0.4454, -0.1337, -0.1139, 0.9961]\nstate[eef_state]: left_x=0.3194 left_y=0.0282 left_z=0.1846 left_yaw=0.0472 left_pitch=-0.0816 left_roll=0.0328 left_gripper=0.1608 right_x=0.3063 right_y=-0.0042 right_z=0.2048 right_yaw=0.0687 right_pitch=-0.011 right_roll=-0.0069 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, -3.2205, 9.6205, 1.5165, -0.0317, -0.0122, 1.033, -0.2667, -1.5795, 6.8581, 1.79, -0.2711, -0.0513, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a48e2c447e1deb084342fed6246558226cdcd11077ec65cf355df79d0dca4389",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe8ef0a401ca6a8eaadf7939b62dd03f84ca89b2bb5d4e06813eaac08d0ca4fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 375):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cdd6ae5963b26661004a7331a895adc575b77522cc2c5ae5ac2159f2cce2a87",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 121 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0769, 1.5482, 0.1692, 0.7479, 0.0006, 0.0303, 0.1526, 0.3454, 1.8088, 1.3857, -0.1909, 0.1967, 0.1188, 0.996]\nstate[eef_state]: left_x=0.3177 left_y=0.028 left_z=0.0014 left_yaw=0.0449 left_pitch=-0.0699 left_roll=0.0368 left_gripper=0.1526 right_x=0.5085 right_y=0.1501 right_z=0.1827 right_yaw=0.1134 right_pitch=-0.035 right_roll=0.0002 right_gripper=0.996\nstate[joint_eff]: [0.294, -4.8615, 4.588, 1.4237, -0.0171, 0.0855, 0.9988, -0.1983, -9.8803, 6.9949, 1.663, 0.0415, -0.0366, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstTTNR5Z1LIq3qMBYZaHfSvHjEpjo_0onUNRP6YsjjHm7z-dpCxUTSS_D5nSJ5Rvvt9w7sCDfJh2_s1OAUtPEQllu90lJ1SV0dHkc90sgw83-_HbRtDl03xEVeW5N2mEfK22Yjz8at2JtA8tl5nY-wm-72DUqmkF_TB5ByhuwdcZraWVQqMSc_9WZpIGT2pwzzBh-y8kSSTk3uqD9PCeF032X2x58sNU5D03P1DVqFdNY5_DLzYYayvpA8vIlyZ4UX52dlROs4lD-GhN6LKNoRyxGgBAAAjsUe1T9VH89GBt-BHUjvriV-2hJTL470Z5HeZXvcUoR0US7c9G0ZcYrg6rXB_v9uGxHGX_DLfaJnuk0DkUEWJEIW5uhJZy1OVn4-E9IbA3euD2GJYKtoAli-VYjngJEZaM-9y9FEQnluKcWYWYimNICwFgg5NogKDcxrbMZVqZUx6vuhpPzJdT1Nv78fP6H9l7GE1IpQdtDXG92dEq52WC-aWRgrIo2xdwTKgYQji8Gr_8PlEl85EtvCixp2W2m6rXd4VU6a_KXZEjrZHQEGeM7CMJWidf0l7BaHa_k8Aoy7zilGlhW0cTyGfwNjoKj4MyZAdSI5dXgcoGAwWVfTl3Sbt3gDV_jl0njrMPu54z9u56V5_Du8OLVfrcxuVC5vMNZDZrP3SrsvQq-59KjenWXUpOoFMHis8v-UDfPvFxTR9KwO7nz2LMHGVbQEOzQdm_NN_P894CGd5HLi2bRZMMnlefWWDFVZdaHCklba2OClTbpxKwgK9_x56ozCUNpavRYj5rNYE8cLOERctwrdPKNRyrgF95xFqqaQ3srQRRM7s9QcI2UB2qB74LnX0gdxzR4kTYHVgoXrVK5S1qPck5LXGJCE9TRw4EhV4NlzDp3dnZixHcHC38jgO7bexKhQPt2qI5j4C6onUS_5U5gtfnf_AG9YFFNv6m3PG1CGRmEUIC8M6XFYunRJTcCZqQNhwI8-y3WiKubK9AUE6Du8AyL7WkdZxUBuuOK9-Y6HAzPxYSUEu1Q6Wdi4KV42VuRYAuG8PLUK9vFekWNPRq8EmFvXwYie_GtFM-60wmbpUQ2kS3ny3rhnxbF_uRlY7EZMf00O6UZPZqkt5xoMAKcEI_uVLFqiEvIhcHg6FyXDThVjT49MHHkWzkBz8LW5hw1T5A--dmACrOeZA0tQt2s0J3ldhuWtKoApnuQCbwEaUWfCILLm7tOp0URI1_hy2zp5rK_Q0bOI1kqYHaqeuyDRUH9wFnlY5AKLWsilBhPDXz7QIVyP4-jTnvS_PVSaAaEiCYiZeTWeFQBCzega-mXyK60jX_JfSEPQvu-eK3w43T20tSiL4mPi97pDp-CSMFEDOdSEEraRNKKnlLnAWpuEhKJFED5MePuRV9Tb0mCaRtGa0I_yfSTB8mupkaGRGysFeyAN7i_sxSZ_-g2KYeq16oEeD9cNg8nOuLbEkv",
  "id": "rs_04e665b47f8ad8ff016ab2d4d017c487d08f08128c915de328",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.53,\"left_y\":-0.4,\"left_z\":0.23},\"note\":\"The yellow pen lifted with the jaws. I’m carrying it to the left side of the writing-instrument basket, within the left arm’s crossover limit.\"}",
  "call_id": "call_MUmQfqRNr28iObtP2E7OF46i",
  "id": "fc_04e665b47f8ad8ff016ab2d4d1d81487d099c5886f112a8a05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MUmQfqRNr28iObtP2E7OF46i",
  "output": "executing move_to over 39 steps (3.9s)",
  "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]: [-0.8028, 2.6492, 2.8811, -1.1316, -0.654, -0.6113, 0.1658, -0.1051, 0.8742, 0.7261, -0.4591, -0.1394, -0.131, 0.9961]\nstate[eef_state]: left_x=0.5023 left_y=-0.3602 left_z=0.187 left_yaw=0.0484 left_pitch=-0.1098 left_roll=0.0455 left_gripper=0.1658 right_x=0.3044 right_y=-0.0038 right_z=0.1981 right_yaw=0.0802 right_pitch=-0.0351 right_roll=-0.0136 right_gripper=0.9961\nstate[joint_eff]: [-0.4718, -16.4991, 6.2291, 1.3895, -0.398, 0.1343, 1.0379, -0.0068, -2.2085, 7.4188, 1.8584, -0.0122, 0.1441, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 414):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6465b537453502a9ae06302afcd984f73cbdfd1404a5bf2cf38f6553dfa0b5dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 414):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2c33a1ceb1ba4567698ec2555c11c157b39cc210b054b1c337f3f49bb2815c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 414):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d63ea05a148a92e3ce11a3becd7b28b9b8b3471a2cc1e49990f254d115e2809b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 125 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0772, 0.9703, 0.7403, -0.4129, 0.001, 0.0261, 0.1608, -0.1024, 0.868, 0.7311, -0.4454, -0.1337, -0.1139, 0.9961]\nstate[eef_state]: left_x=0.3194 left_y=0.0282 left_z=0.1846 left_yaw=0.0472 left_pitch=-0.0816 left_roll=0.0328 left_gripper=0.1608 right_x=0.3063 right_y=-0.0042 right_z=0.2048 right_yaw=0.0687 right_pitch=-0.011 right_roll=-0.0069 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, -3.2205, 9.6205, 1.5165, -0.0317, -0.0122, 1.033, -0.2667, -1.5795, 6.8581, 1.79, -0.2711, -0.0513, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstTkgWYogH6ZvQHtQhVfdhiM6-QbHs1Bay2qMVOpu1dy_uQgZ0SSLZxfKYK-xQaTe7g-KriK2cMPut7Go5rvPxETiSz3LHneE4wEhPHKW5SBBhQm-0Duse_EXEEFsXqwC2Ze_fxsq8x-_iVnWpU5jRAksvt4PrWiNGjFoDUz_WtVStpP7bkq-LYyEuSpCU90N2GPoJ-wcKBS_ewTAeZ6qbHAYZOTchLMXv3GXpvpiaMCMZkYOUKVg_JmzvtRnZcI7ZIr6UCPB0kLnoEsLSS4tkn7-QxqGtxrQzwOqibmIEziFDoOOsVT9C-qXH3wQnFUSRRanJ-yvH7ntiC-3kiSXclNor0YLeYn5AfZCvglPbTZ3NtHmUpMBeadZJtqK9yRvKL7UV9n_ub8vWcgJr8jlAKYRzlwijl4qzJlv7f6ZNGowAw0lV-AB4QRoU0F0C1V7m-hDHwQr2SiMJi7LXfZy0C7IPZiL5k6n6oxG3QAqkps0CwZpjq5sOsNEJvhQy-IuZNVikDjoJPbS2cJ4vZLLfRkKiYWvWmESPrhpV5VXz_SNEnQaYHSjqbxGLmIywyYPCaBrv4ioS08CQpPVFwCyFC6JXlRkEPkiJOAPyjzFilfpSm04OLplyS6GUZeNhiabN8W13r6jPPpto6b2jL3gGLn-FTQE2Bljd4LgTD3FWws7eZ0EjyS-TjVXWwAWwiCaKIW7ZQhM3DHsAvTVxLiwd1Mbdbn6IqT-GZC22YTOUjN0uo3OHyEijDHrR1fyFeMvgWwJeaZ6uBIFereHR_-e6t8iB_gHV8i0bC16Gm_YfH-L57jtdIpZq7_iYyrpYlJ9f40csDKC1ZnbpSt-OI3mGzswULya-LNoDXv5fu1oLarAjcgPlWLt4pjxxUClwu1ikzHqcz6HYz2DXSk4-R1A1ll_TmTxa-8zfhQM5oUdw88geXU0IrR7GWbScsNkywIiDv_wRnckuq-FZJUOQ5HiYqEYqxPhm0ofvIK-olAlUaH6lIcd1qAYK9vt7g2uwby5yhHGTo23Ite5f41iYPQJWZ_VOTegHWIDeuAuMTlz0biK06icCxmqocIkcQhDDjlZxxvIk3jUrRPC42qRxAJzC3oh70g8qteqyEM1ZCjPmKQkuId8l4ZD092ugI2PgwsAtc4tzMAK7A0riAdcBGl2I9Od-g5Vwu5lQNeSxgrao2RvjXqjYwsjd1E0gkepuh82VwxMVSIFNDInYjGNMDZuBCfAQ5pRvIwmNWHxRyL5IQHb4pHSiOBqT7HImvSexv7SfZUi3lKpjAWYvw_pDTcGyU1kvrXwA_1mhhx7ZbawiDeixdaHsmjrEvRIRmpnHmn4CIf978AhPCIIcfJTmbUGXWjgzT5WqUhKxJ62PKcj3eoPRfosi8TvGRhgaA41xXsGua2KRs48iXGuZglkH9Y5-z4rLr4xPo1H7w-v2eBBwCzh_Gz8e_B_8N5yx7NodWw0vT_4xgLVprDC-7u60LK5KCKSYPCpZTdzmzer36LiNWqZ1mHUwF5KdKyVWQcICdFRUFTiZJ7788-aQEidUgvcBZuZp99PCWQP-jbWoN8SbargKHbYwV8apsYtOYf8vcAWBxUIazCKFzPw9-_UhWrUMqzrRv7zMDeJdO2y2FNmiBur_1N21G28WUNW_OuJWqS9Na4RfP8wH3Cev-hfn4n3_vqM63EJPZyUt5OumegXe6qpGDksbifYfJDhceFADndVOMb31q1Wntd-5B-cHjZVnWQqA-Fsxkv6pzKJKtfzRr0VOm6-1GZyBHcE51XIXNvR416JM_A3vCBV3wmTN_P3PkC7_r3WFo__yXZPGZYpSECIyKgjU5WVV_SrM0Re5O5JhuzfRWTzHWVKUs0WSq-oqGXIOYhNLphrType5s_NTdPh_Nq9ke-6VUctg4_DNVG6psNlMyELnF9BlakgsOdho_IVOGh-MWAGadnF-ZMLtsCTeLjyXW-UeU3hERpn_9rCZ25WVvELjSLeq4NQ2sgMzCcO8x-vtlF2QGBZ7Ye7HJmAn_OBvxphBa80pKVupsJH8ffYexCGgf-hUx1bTuArzP-eUTfs8mN6vfAZKmJWUAvBnC1j7SR_g7sKdrcT36yXM-EU3Sj9-zYYLHpiaLK-yGqGEUsX5YHhv45vRCQzetc1bJX0IdE0DsPu8e9hoQFBzKVA5uLyhI5n0n7wKflnLANXtKdzvXzELShylBSOwHKn2lrxmpk6Rkwk4IEV9wwtQ3b60BtTQanO1pYeD06KbDIoQ==",
  "id": "rs_04e665b47f8ad8ff016ab2d4d989e887d0b5d296e46825e62f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.4,\"left_z\":0.18,\"left_gripper\":1},\"note\":\"The long crossover reached short, leaving the yellow pen near the basket’s left rim. I’m shortening the forward reach to move farther sideways into the opening and releasing the pen there.\"}",
  "call_id": "call_AAEp6SzQM8YRYRF0IH0GwUyy",
  "id": "fc_04e665b47f8ad8ff016ab2d4e1e7e487d0b34e4b961716d53c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AAEp6SzQM8YRYRF0IH0GwUyy",
  "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]: [-0.8028, 2.6492, 2.891, -1.137, -0.6556, -0.614, 0.9956, -0.1051, 0.8753, 0.7261, -0.4595, -0.1402, -0.1349, 0.9961]\nstate[eef_state]: left_x=0.5021 left_y=-0.3597 left_z=0.1899 left_yaw=0.0505 left_pitch=-0.1058 left_roll=0.0407 left_gripper=0.9956 right_x=0.3045 right_y=-0.0037 right_z=0.1977 right_yaw=0.0829 right_pitch=-0.0365 right_roll=-0.0161 right_gripper=0.9961\nstate[joint_eff]: [-0.4034, -16.3214, 6.653, 1.3944, -0.4322, 0.149, -0.2466, -0.1846, -1.6752, 7.2547, 1.746, -0.0708, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 423):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82bfed8f0065eee2d1a41e245fe75e1a72050e5c44e56c7230ae6c21baaed02e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 423):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c5963fad283753ca406c078f476ba229729b34cf5f960c7ba2bf7bc1d6e1f1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 423):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f70cc584d59f6029f5864256802e2ed4ebcf6c8dd56548ff0d41383df379549b",
      "type": "input_image"
    }
  ],
  "role": "user"
}