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]: [-0.0189, 0.7986, 0.6174, -0.3794, -0.0219, -0.033, 0.9996, -0.0208, 0.7971, 0.6109, -0.3832, -0.0116, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.185 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2954 right_y=-0.0005 right_z=0.1816 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.4701, 9.2513, 1.8584, -0.0171, 0.1392, -0.0562, -0.4581, -1.0051, 9.7846, 1.9121, -0.1197, 0.0904, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79780e694a895d782faba2c1257e4919e20fea5ec750ad17066378120385dac8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c164c9c559136ac639fb24a0b4ef800b08489227c1151bc00a88a14fc886049",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd5e05a570c8b1863aaad609bbbc78803dd4c351815798c90c17195011643175",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsusepMq4inSKv-Qz6QkTtkz5Kc37EA0DA4wJX9WV-S-fV-qrq0d_BlFhBCw_-D7_9NMMDyPmhCeS74QntxFFsftOb68KDx0XVvr8pSDOuKGeKvRmkCK-e6051EYwQsbbQjRuoy-uRGUk_m5zScbNrwkOXA5J-GDo1xPfnKcPRFPwYuaQ288lWuDU79DCAo4CiCtN6A3YUwZyJKMXc0e6oKcRHVYfrg7zCkbOFnPtc0ZCzJUGxiMEEBUayYv9laFSua0IYGpnWiNz-1vpcrztYUG3inVspaJH13OQOzuHlAo8J40RHcpS1lcGy3lB8kYqVrhPOwFT1K8ojpDwP445hqQODbG3lgtqPneaRx4f29G-7GtpK-CzVU65FmQMmxjR3TApQpZVgKuNvqU-j7k12L8LuJi3ScKC9zbGx3hk7LFTJO--_THH9HVqezTPZwDRFfUdlKv0uBr7ORonxYZC3l4CeBvzX81XyRcZF0HKR3kcu65PjKnNTsxXDOYsn82o9JiSATfzh-xbyqWe8wOxmb59WR6c3WE3o9gol2F1k8OvV5Ba-pLqs2eDroMGflMa9XYyGeY9Q3EZ41TaozoXMR8I4BC7DNMicY838bqopYd20Sci1TFdbDsKphR4G4WxnI5O0QKhIbq4I6IMzDY4P_PfJ4sradPgZDb_IH3CuBN_qEGVPyhRE_OkRt2aDrboA9Fx7F1cydmdialTNb27cr-6Sk_mCjB7yCz7v69aHHJPh1tJ34skpTV5jMY5wIXQ5BwWe5FrqsjD-gLr_DZ8-pVdP0owekGPrmzcmuXKIWByD9kvYUK5wyotd2ySvAygdFUhGi93l4GIeT6pxQVSuKf4PMvdLUQgZXKclblXmnD4qxk2uEEgMg4H-bPgto6uIAKwK8rb0C5I9kXikGbL1hmqsc95a2puDqMjOGqwrUbuIIIvnIdMwgJoL_xp3F0VKpf5fRIeuD9hO1Gu3lbiChNc5r_eniOFctIWa82CkUpyYcT3vkpzZTQOp5hEnph7BBWyPQk5H6uS1jkfDqpKFzIKoY31eBF2QYgnwkbYAti4fUQFiAdP4UzJ90qbyTMxAFajXq-KvqJyhMoTUZPlgGMesk9lZv7PIbCUOsuhC050fyQdInXdEXH1XphPLu_u1FobJNxBQCLkvk_ffrKmpEQJQcEAl7gc__ATn2LVhho4aduLU7fPzNb9Mzv7wgt2cVFxC5ln8DeEApoXfDkxBEhb1nIiWvQdhEalGC83uSh6UMHG7YypxpCJn0OXK0n-sKFDZcKskvEWtSjigXjUq178uuGFjxWoPAj2-Zc4BalKcb4FEkUwQzYBElbuAHcpFQ-nmkwbXRpPreaWi4dCOTsEcx9wW9iL81rDUmZ1LEisrAomqJSPURDpWwIQthQzQ-qFF123Kqb2Kh0M9HVwHume5VZwN126P2iDZ6lpugd7EyPiBUgUECmXfmQB59EurlBLYudcapcgs7b8RJEsajRFRwpPnTXBpthgsPsJ8tHYvJI3Y-CAFQS62nIngpQqitYIy33tLfe_ysUNYyznOpVyn70GZYoF7eNRhw1eWDM14ay_jkyXOxwvQnLCoWVDEPFJaUOh55Z_-ikLZsKHWOf1IjB6Z_uxWx0IX9Zbs3J2h-0kWTP0jX3gjiYmk-28FScPG6WXre1A6n-KU1-bqDwpkA==",
  "id": "rs_0ac434a9828d52db016ab2eb1745c487d080e10c79d4188b57",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.23,\"left_z\":0.17,\"left_gripper\":1},\"note\":\"I see two baskets and a group of plush animals that appear to be dogs and sheep. I’ll start with the brown animal on the left, keeping the two types in separate baskets.\"}",
  "call_id": "call_xSYcyKfIzJl6IjVg9aK85oIL",
  "id": "fc_0ac434a9828d52db016ab2eb1cab0c87d09b54ab10db922490",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xSYcyKfIzJl6IjVg9aK85oIL",
  "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]: [-1.0344, 1.4189, 0.9321, -0.4324, -0.7979, -0.7563, 0.9996, -0.0208, 0.7986, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2866 left_y=-0.2275 left_z=0.1577 left_yaw=-0.0136 left_pitch=-0.0283 left_roll=0.0136 left_gripper=0.9996 right_x=0.295 right_y=-0.0007 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0057 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -5.7504, 8.8274, 1.1941, -0.6178, 0.0024, -0.0611, -0.2803, -1.1009, 7.4462, 1.7411, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d14baa5b6e6d73547b0709263761b96e158c1001516c611712169be54037b457",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dc4975f4b53ee6f3b436cb6a08cdd1c344ad42adc1a6172c45b2ce454e047d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be9b3e0a2a89aa6f80951788cbdbf28201b8be939d2a4f21d71a225a6b5a116b",
      "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]: [-0.0189, 0.7986, 0.6174, -0.3794, -0.0219, -0.033, 0.9996, -0.0208, 0.7971, 0.6109, -0.3832, -0.0116, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.185 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2954 right_y=-0.0005 right_z=0.1816 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.4701, 9.2513, 1.8584, -0.0171, 0.1392, -0.0562, -0.4581, -1.0051, 9.7846, 1.9121, -0.1197, 0.0904, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsusxtN-JIRcSiM3Q7lhOWgNeS51ptgsQlnnsk0xbVHxBSajGcaVAB5M1ZJ2zRk28nPO_lSj_Q9wxZkglCHMB-UOQpISoFHzjeDVnKg2VaRcKb0nX8d7PlzV88XdPmJV6J79ei4XFzrl-mCyngcbjg7Zhz8L85pJOxrM2O0ont4sKunTTdfsbj0Q9_1hqxSfBhG65G0maP3WSLBKviv7KX6OipF1QYjwMRk18NY7rQBR5v0lyhwhqjvd9DpPXLeLGOfBU5n0jOgcQdByo7m6zDZiTf4xsGgX8GdD0_hAP-i2PaDUL4L0oHGxPwsmLCGpOkr5xItQcB-OI-w3b8G1AA4ndCY7h1PD4FHrXocA8KtFMQNoqYo9P9PwyB7WsN5ntgZPpepAHhEsCnaFnbqGk2IGhRrywT-UAiMZLG1Xx0cRb-0fRNXe58lJZEsbnvjdATwJ95LYI_ct2W3SMUIsOjjjghJqO8cX_alf7fKxfMxvoqu8sJEGV3eEaIi5-dKz8R-rwGijbm8l98-ljXovfxLI4WQ9W2mcuaKm_BosE5-AHZGYjWMJSu7dRdn1zE-y7e9ayEgz1ZPbUzuqSF7hg1ppuf1FmQer8feUeNPNX1psbCD6_sQQKv48cZcSXB58cTwqshcf9otl5Fxi5ZMp1nHkKF8oAuvUWV3HDtpt6B15MXdpJJD2HGtwvTJXydsGrlzdngtthqe6Mt93KsBE1mu1RN2t899aedshhccdKXbee6i8lHWsZEudRwF1pI7Y_k_jLOvRcLlbAMucFwoyTZ3wFQ1gYBQkjlmx4EGBlZOXRusdz6KuO7YrBzJIn0YB37MUBab-L3BOeKL9AJMdVHN-rd9zxyNsO2ApZS7q74Tr3BbWx32MqryH29bLeoKmsj5dbYZaJ096WK-8ILy7YOCeCsTTuqWiLf5CBkVB8NhfJ6E2gpT4y1kNIuv_T4lu9CA2B7erK7t6qvJUSlUihHwP0O16Ryruy9HU11r7x6LhX0PTnfvQtbA9AuyN_fj7X-3yPZLpK73X47AI0hjuCEgTJ8O1pE6x00NER2e4xfb34kUOU-1AYXFRNuBsn4_r1kFS4UxErp4Voa7qA2hoZCm6V8f_9LjzmJUIUz5dMsvQOzyvomygSpA_HhN_y2GtpSJQTIVI0c17kzIEn7KTITFI8xpTJhxGJOW5kJTnuPL8XS5COjgF1ByuD5ZgELoOpWmsq6QBfSPURKr2eY7fnl_ER7cm8RSG0jXjiVTuoqc1kMH88kEQqAD2bayB-M1DPf6YA1PaqO7QnZ3Nj4ZjlaHr8xotqwg4qnvq2lwjh7lCfh6K9_XKDpzWjyQu-mKspXWLRORup4XTe6piPESgBY14Y4GDvcFkWLPe73R1Dqa_R48JnFlAr6Lyc1IuJ6QGUoHwtkAF-ZDNFXvISKNiNjvar_AYAEblmN7jL8BM9Vok-hvfYwecS1iCZVtnOZtsK8AcHy7E1_QKsWHolPahkVk_ep5ZeIFWgS65TmTAzVPn3M0Yy1QVxfaHyueLg3LUOcHSDlvF4moLvCFpGt5IW9cJ2WhSIkIobQuQU55qcxPO7jbkiGjy-oPfOTCahsLJztf3YKDiGVwnWvq5JkZcVm2eMeoYISxFPL0qgLdQ2ZNpPKK1ubjC16xrygjXIM9Z9N0iCCSDhdNLlYjI4Y6-jeDyGzkxkZdkSZWHgCrorj_HI4TtqPQ8bAiBHZwCVjQ21wrx0NosIGmQ0eJ5OuGf7A6Y1Y2VICg3gNT5bbBdDt0fOC2OuGuLuQPhbnPQ-G4S6PlvEZKkYtJhSI3HSfcVkokWMKTAcMcjY-RO38-0q1JNYIVqQuswjBdNiTpACJLb_VY8Rc-ttWgvKUSK-SvHWnDp7tgVuct50WcFbqlV6m3w53UQvKZbm5Q_tsuVnhFJpA4A5rAyFTGnaaU5CUA5ZC9xUk4WqZ38V4TzClcLNdpRvmmwxhAiyjfqtyRqtgoTUWHZI8b78EU7Bqj8xyGcJ7_bvRa8N5THGstyJ83H7QD7laIQg6yin5KbKX0ew2WXf7gGrOr38FQIxOcPR-qhQJrJJyuPZUW4byHW9DIEP_oGSbBlHYRnEeXqsO6gJHKPCZ-IMVsdF-86vfYewxcnVLO62xKudNRjnImLwqupm82ZfiBweHET_7iTHXpIOqnG-U0vJwXA9Lx7ghsD_9kIaqaTaaXLn5v5PrLhLfk5OdILDwD4=",
  "id": "rs_0ac434a9828d52db016ab2eb27e7d887d080f6bb8c639d0f44",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_y\":-0.185,\"left_z\":0.06},\"note\":\"The wrist view shows a brown dog beside a tan teddy bear, so the categories appear to be dogs and bears. I’m aligning the left gripper over the dog’s body for a gentle grasp.\"}",
  "call_id": "call_FP9cVwT4pgOEnuRfp4Lk5pxo",
  "id": "fc_0ac434a9828d52db016ab2eb2eeba087d085b4555f2a7e8c5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FP9cVwT4pgOEnuRfp4Lk5pxo",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0191, 1.417, 0.5018, -0.009, -0.7895, -0.7563, 0.9996, -0.0208, 0.7986, 0.6086, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2638 left_y=-0.1825 left_z=0.0602 left_yaw=-0.0034 left_pitch=-0.0366 left_roll=0.0144 left_gripper=0.9996 right_x=0.295 right_y=-0.0006 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0057 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -4.0957, 5.3949, 1.4481, -0.3736, 0.1587, -0.0171, -0.0615, -0.9778, 7.2957, 1.7411, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68ed36e2e436f4d4b6df0aa90f5ccaaf29d8d0adb394a6db47abc812afd83461",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48f3c26192b888315d556271e6e4b7a6accaae3a071fd7ea61ce83e993145014",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a4fa4eb3a612ea43b271fc5215cc1958d673fb356d5e366f9994da4c6dba76d",
      "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]: [-1.0344, 1.4189, 0.9321, -0.4324, -0.7979, -0.7563, 0.9996, -0.0208, 0.7986, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2866 left_y=-0.2275 left_z=0.1577 left_yaw=-0.0136 left_pitch=-0.0283 left_roll=0.0136 left_gripper=0.9996 right_x=0.295 right_y=-0.0007 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0057 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -5.7504, 8.8274, 1.1941, -0.6178, 0.0024, -0.0611, -0.2803, -1.1009, 7.4462, 1.7411, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsus4FEzgr_V5ELM9lGihpX_OyQt-dYZSHYCxrPPZjDAvif9eMgXunSNc4XpUgCPU-Sla9Qg0yHAxBi7DZHpVOxhgrZ6Q4qNzX2DPBKtJRrTF3su1GLocvIp99I4nm05bG4gzW4x6RMiAuW8fAG1W3J2W9V3YmIZtQU23HLKKaDKMBImvF5Pq24V08hhPnkjNjbXbv8Z-h3_LrtjsW1wQTtwQEqK8kxsvLFUbtwnwGDZMbHkGT1Pm5ISFe7VAZsNQfoTplf0ilhpEs6NHrbSZzXfAFy-J_v2firV5KyKABGdSKxBv6k0gRs-2jrtcem1XnrD4lcDQuhcGzX8NyXH56jV5H6Dd7ifwuFDOT00TlUKqIos8B4mgIHWdYiSlS3_kWBgyX_029Wuk4gIi5CXjxUqNlGtkuPmcW-1t78IykQDnIRmN0ruHwaXEvoW_Oql4Fk9SLfUe21QwUS-rUIbn6KQHZ0X8gmKGDKbwNtRjQ-um05j04rTgQb-FlOTpSzNujLYnsYBYycyoKt2XrHQubo_ZAZ8ITFQxIyNoeXRfoBgLOe57j5NTqNyj1lvpDL-KPVFU0Q10kBEePP4eXztaHbZ7Fwtobe-bhpoPSeCby-9ycRmsxYJQja5PauzQTxa7Vq2s370_54K4QalRQoZSKilR_l_9FujwdrPcZboN1PNF6zqAL-Bvm6zzwPOrIqmmYyqh9HTqZxP4pZO1PTbwmI75SJoaXDA7D1OcYIN4DqG_C3N7SzmBuSry9MPKCyrkLo-DbckAImOjLfAgf-pl27ropeYdadR5udyya3oBAtmCUYLmMQa4xVl4cpMX5F-7oW4wXT7dsYCri93ZLZIYBFRnrQGEkXlIjEydBsr1ViwyPl85Dy43xouqZEFAG5JXIPeIPeiCpUAsLEfZakpqeoQ8q2O8rKco-V4N_jpMcaHyDdW2iJl3-5wE84N2v8l4igiubuPN8Lr1YnnC2FF6FVz-v7XztWmaWyy7zP2hBiqw_LPREpbg9T2JpmQPlvFKySD2I8pnUKNfDMoEQlijEFex71pZc3entjzK7esRTqzOBzIWaYgiP4tfp9BANDQj1Zb3dBe46V2AIwJt0rfHwb1GT4GL-ct72vbKBZ3oSC_VQIsOGUUagvP_zk0gXQebpiQgFNwMWbLe1mjXq8c8mMpuiAuimOP2xv6Nlsyw4I1pF3Ri0KHyd8XJwb0cHS3cesXg02CBmx7OpJNRXrGPdcW76K9ndyHTSvOelX92qK6GJhkDIf-LHGJO5S517yfeZlq4FxOuyL7xiVkU5es2pdEzpsfantfStU0kbTuByJZoqBvDS4SBEn90t7at4n-tB5n0YKUL2TK5xK9HxLHhI-z7MA==",
  "id": "rs_0ac434a9828d52db016ab2eb35931487d0a2b4c943126d0ebb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.168,\"left_z\":0.025},\"note\":\"The dog’s torso is slightly left of the jaw center. I’ll shift a little left and forward, then lower the fingers around its body.\"}",
  "call_id": "call_nO8De94ZaOjtXQOeZrXGomca",
  "id": "fc_0ac434a9828d52db016ab2eb3716d087d0843cd47d4636d758",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nO8De94ZaOjtXQOeZrXGomca",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9184, 1.5505, 0.411, 0.271, -0.7399, -0.6682, 0.9995, -0.0208, 0.7986, 0.6086, -0.3851, -0.0101, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.2803 left_y=-0.1648 left_z=0.0255 left_yaw=0.0169 left_pitch=-0.0388 left_roll=0.0194 left_gripper=0.9995 right_x=0.295 right_y=-0.0008 right_z=0.1798 right_yaw=-0.0003 right_pitch=-0.0057 right_roll=-0.0015 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -5.012, 4.1231, 1.3309, -0.2173, 0.1636, -0.0122, -0.2393, -1.1009, 7.0632, 1.707, -0.0171, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c01e2c15e77e0c4d45a180afb64b059afc963792ab4b7323da51fb74a22646fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d782a6eea0c1e565fb7684b04e6db192f69e7fcea6b2cd6dd70f54bb1e0af0bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b63a2c0742b1819fee565dfff5875c4616f02c5bbf5858558fc4b13cfa5c9733",
      "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]: [-1.0191, 1.417, 0.5018, -0.009, -0.7895, -0.7563, 0.9996, -0.0208, 0.7986, 0.6086, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2638 left_y=-0.1825 left_z=0.0602 left_yaw=-0.0034 left_pitch=-0.0366 left_roll=0.0144 left_gripper=0.9996 right_x=0.295 right_y=-0.0006 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0057 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -4.0957, 5.3949, 1.4481, -0.3736, 0.1587, -0.0171, -0.0615, -0.9778, 7.2957, 1.7411, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open fingers now straddle the brown dog’s torso. I’ll close the gripper and check whether it has a secure hold.\"}",
  "call_id": "call_QZSiMnJwuLASP4UvtgqjO9XB",
  "id": "fc_0ac434a9828d52db016ab2eb3c464c87d08bb7a62562042f1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QZSiMnJwuLASP4UvtgqjO9XB",
  "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]: [-0.9195, 1.5505, 0.4103, 0.2779, -0.7368, -0.6689, 0.1257, -0.0208, 0.7986, 0.6086, -0.3851, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.2804 left_y=-0.1662 left_z=0.0259 left_yaw=0.0139 left_pitch=-0.037 left_roll=0.0124 left_gripper=0.1257 right_x=0.295 right_y=-0.0007 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0057 right_roll=-0.0013 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -5.1897, 4.8068, 1.2479, -0.4078, -0.0269, 0.9158, -0.3624, -1.2513, 7.0769, 1.7314, -0.0513, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8479cdb8a20f8e93dac224b5ff9653f5123e9bea3d0a09b4e00f940891bd055",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:224f34bdb306c2b92e01c4c0cfb521ce5fb7cf55294f89cbabd38f2a8c80206d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbf6bea53d06b3397e72e00c43aa748631c9e5061db8c6f87a67374beb2f00ff",
      "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]: [-0.9184, 1.5505, 0.411, 0.271, -0.7399, -0.6682, 0.9995, -0.0208, 0.7986, 0.6086, -0.3851, -0.0101, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.2803 left_y=-0.1648 left_z=0.0255 left_yaw=0.0169 left_pitch=-0.0388 left_roll=0.0194 left_gripper=0.9995 right_x=0.295 right_y=-0.0008 right_z=0.1798 right_yaw=-0.0003 right_pitch=-0.0057 right_roll=-0.0015 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -5.012, 4.1231, 1.3309, -0.2173, 0.1636, -0.0122, -0.2393, -1.1009, 7.0632, 1.707, -0.0171, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.095},\"note\":\"The gripper stopped above its empty-closed width, indicating material between the jaws. I’ll lift the dog a short distance to verify the hold before carrying it.\"}",
  "call_id": "call_9LloR47QRlvZGv4R7ntakUqV",
  "id": "fc_0ac434a9828d52db016ab2eb44074887d089f7591c02f07ab4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9LloR47QRlvZGv4R7ntakUqV",
  "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]: [-0.9195, 1.314, 0.5419, -0.1024, -0.7292, -0.6701, 0.1252, -0.0208, 0.7986, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2782 left_y=-0.1649 left_z=0.0847 left_yaw=0.0099 left_pitch=-0.0489 left_roll=0.0178 left_gripper=0.1252 right_x=0.295 right_y=-0.0007 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0057 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -5.1077, 7.8974, 1.1306, -0.4371, -0.0073, 0.7546, -0.1709, -1.1145, 7.0496, 1.7021, -0.022, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97045eda03aa9355ad13f31d07ff88f348ef4bef0d217952e63781216ec3c07e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf21e47ce5302ddee8577426122eac9aba43aec3dda4a49c1d4eeb866ad01df2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0171078f1147cfb729944b4783ff83df249762aff7fee5b3d68a4ee88e0b5d80",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 17 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9195, 1.5505, 0.4103, 0.2779, -0.7368, -0.6689, 0.1257, -0.0208, 0.7986, 0.6086, -0.3851, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.2804 left_y=-0.1662 left_z=0.0259 left_yaw=0.0139 left_pitch=-0.037 left_roll=0.0124 left_gripper=0.1257 right_x=0.295 right_y=-0.0007 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0057 right_roll=-0.0013 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -5.1897, 4.8068, 1.2479, -0.4078, -0.0269, 0.9158, -0.3624, -1.2513, 7.0769, 1.7314, -0.0513, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsutSP5AK0NqW0_vcCOenU30smnTnWCzVwW2tWIWdWw-HPoZa_A061PlYZzn-9aWB_7IwLVNZd42Z9aB5trXqJtfFsZaChXepQn4XSJGIkDDl_3wdhgi-sUJtsDQN-nZF4pFbJhh_ubACmsGv62B2RyvCsAb8b4t8Hx6SuRKezy6ilM9mjTyoxAjca1CItpESni_HdzkUrGtMkTTtxUE3PpWH4fdNELGQvg1svP7m8XCRZkxS6RZwwiGBIE2Ooq4a2SLwMHrVjaOHcsAanmCkapm6crs-LHx8UcoulIeKqlHbOew0x4KSV5z2kCh3ahwpnGcqUGvOmrnqiG4utMsXW6VeUL_H85sXVRUEo4PGu8SrculirQjAHRixl13zzXejuMRqAQgXYWjAtbuN4XIMPmZxlogBlyxn0HU7LAyXcm7cxEi7py0l820gKqjbe2Wk-Kj44qP7OlTzGIpJSLRbBAhEX4uuki9AgHiIJMqGVvw05hXMF5tg2RznMnbWZGjxOSjKLI-Bx2UVMC9F2nbkBHBI2PNbsqP7w2afs1_529n1ZjV-BqYwzBWTLi1fx37YbzkBxeEC3EXVs8_Aj4jNGpyl9kAtehaJSRMT8EilBCOnv_8JqG0BuGTV_LxyRqeIZBiTH-betwUxN6RT7HCKSB9frFhC-25JOLhaSHpCzqXJSc97-J_6u9Yu-MlskMXA5nmzNA11eDdyhfyjOzW8oC_AtTvYq3cLx0aYUGagoQf-Xx1Rog8UPpBxAObXkbeAMrDeSy8ymBEEzXBCriypGa5UtEb3_Cum-CO-Pkd_agwW0Jpod15ikZUeMkrSRuIJHXYccD2Xk4BKSGJNSmjlFphDJGzZd-tnx1CH5dXVBp0XubwixPD1usjwRVjQ0jAcfz2lw_wsVJITqOwsKviZfjMVq-_PUgBxsL9Tyw0mUWXq8RbfRhqbH-QudJfIzZFRfJANWgpqaHFl04aXx4yyrTmj-m4smVOuYoGSuopNQhfxg47SNAQTlIFwPBVxTWPbbHjqHAxahlGafhNEB-2g4zA-MkbCJ0SUbzx8RUs0lnED4RBDBZosJgA-OmCxgvMfvrgC0c_Tg473aS6qXb45tl0A-uaerjpMIgcRFYai1dKC4F6d2NdEBjnqLGlb-TBXM5y77jh4AIMEJ16CVkiIMJgWTIrDra3WBt41T3SKiF2qg48YGQQbE6SLOUOhfAP5YHLRoDKQIXAUTc-zgk6mp_YwlR7-prgtFRexp78AvVGI1cjT6TrOF8X9dpl7ngZ8Va876C-YtNKSCk7yfZLKIzLvH2XAjUyqILpOuwgiU1rmxlRrOYJkoPabspkzIvJelIk6H_Sab6TjpQK0-X0d-XnyYldoZe5tI38Z7zwWZcORgxIsxdxGNSv_FOu6ZK0CjmlXecMS2Lw0M59eC-oBYSUwxLMmnUXCoL3UQEdN3BQDnC8peIjIlkEIcHE6UMSGoMgEwUo6LoTlKBTkJlM3019yxQNWzLo2ZWVfA8ah2mLJz726fgQ0SzochNlmcfJtE1AieeaFNakrifEwzYFCFVO-s-3vZ9tkAV8dEF7HfxlBO6vxTKPBlN-_5JCFg2_8wBLijbWkRTkCxA0fxhxO0g6hhfXDH0zwAIU5me9b3Kn1ELpflS1mC2zXJVDVulR_-3KhMzZCaiKWpVyAjTlycqeN7y3oLNZuN_-w2qyWeVOwXAQX69ZaHNlF2qH2He0_4fLjgB_0lYGhnlX_L4OY2pZe5Wo-RqM4eArY7BPzivR-wHk=",
  "id": "rs_0ac434a9828d52db016ab2eb4c255087d09e8ba507f4ce5092",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.17,\"left_z\":0.25},\"note\":\"The brown dog rose with the gripper. I’ll carry it above the left basket, which I’m using for the dogs; the right basket will hold the bears.\"}",
  "call_id": "call_g4tGU9aBbCZBXfhi6xp1KPfY",
  "id": "fc_0ac434a9828d52db016ab2eb51329087d09bc3ee9730fcb5f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_g4tGU9aBbCZBXfhi6xp1KPfY",
  "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]: [-0.5007, 1.734, 1.5543, -0.5102, -0.4358, -0.3431, 0.1262, -0.0208, 0.8028, 0.6083, -0.3851, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4694 left_y=-0.1678 left_z=0.2414 left_yaw=0.0295 left_pitch=-0.0547 left_roll=0.0089 left_gripper=0.1262 right_x=0.2952 right_y=-0.0008 right_z=0.1784 right_yaw=-0.0003 right_pitch=-0.0103 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -8.6359, 9.5248, 1.4579, -0.0611, 0.2222, 0.5641, -0.3077, -1.3607, 7.0496, 1.707, -0.022, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edfe004061f1f96c11b8d9c3f0795d2de9e9776d0f5f3c1ae2736acddabf45dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f5d19d43a391ca1f9101b4543c2d213316fd1deece7881674d8be02274167bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab32638eca810ae566abbda389f906b7068c110317ff015ef58fc731404f5813",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 20 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9195, 1.314, 0.5419, -0.1024, -0.7292, -0.6701, 0.1252, -0.0208, 0.7986, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2782 left_y=-0.1649 left_z=0.0847 left_yaw=0.0099 left_pitch=-0.0489 left_roll=0.0178 left_gripper=0.1252 right_x=0.295 right_y=-0.0007 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0057 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -5.1077, 7.8974, 1.1306, -0.4371, -0.0073, 0.7546, -0.1709, -1.1145, 7.0496, 1.7021, -0.022, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsutb1pV6AncJDtQ06tTP0xtzMtoDxCXpSozg7jvbt66Wanuq7J-B_soTCY8s90F84hsBfDshPjSltZ2IfmPi0m-NUcCR7XWO-8WgWQCvWdHrgHYBwY20BtrbTph-czOIzkNGGE5kuyj2aeJtwdfRbSiTouOdzZDUPfjyW5R1Xf8oOR9Hqr_Z1Bguq0R-ixExliPC-RbnrzxY_ksZ7gZmLFQuWj2neOX6Sr9yfGoDHCoa4eVv7ops73AmFJ2f5VONsMRXxCk4-yX8KZQk2DIh0pDdlL30U3GCCUxszUf822ynB0RKfmlQ7ZjxQzQv1MyeKFWfzkslYUnn52Xq11SjcTTEa_TUxktCkaeRVInk899LbkdbXY-5agu6SL719oh0VSUk-pr2Qx6Ca_wM5aONtxqcuSfru-coF5dCdqj10s70JlK9QdZskgG_RW2qXT8Tw_LMaAOw-Dh-emAFvv4rbDWbAdBKK0-50-Ci8U-YAcDpp3MPLuJhdFjx9tbE1-fj9GC2FD0LHvAziukhX2MilFtU81NTYfgOaLctma3l23nQ-F_ipHu0pO0MbkiaZ4Y9hx5g-KFtBxdBkFZYrlGsOf3XVKdlFt3WZ7PDhsCpEV6p0d_vkoyRJ3HiIiZURoeIMJNidS4h_c16W-wluU1kgDwMQdGz5SZD-NJtpKaDX1JvNZp9SsxmqTnx3RE8yL6xdxEYYZyVPNTtQzQaOBPAJLWNkj8RkG4lcTJxIOsRkLOGehZ3-11_nPQdp1YtnTJaUMNgAT5eNs8HromQTi5vZEiBlzu51ozlw0jKwutJLaoC8hen1JdtR0Tf-temawwloscekuvsT9bdFtXijfYKNhHXwADc5AvP6OiqbRS-I12Zdg6AhzvWLj7rNQzG6bvUuZgNh6ZmY5V1hJ9cRGSILHUEHxMTdzQogQFAHbb73ZqL5MtwFlSfP1iMTDtIcvh78uNh-_5yDfok8cy7icL0GhTIXpJdAPmnnypoZBJB5rnfxenv8CU4VGae1FuXGbxvHsdmfbj5xkZC0KMAb2VUicEDkh3Xwb-9TxYi98EUt4KjmhxipnHiqa-vWpq_iUOntLx3hM764I7PjBbdunvYNvlmb4vf4j3sCMVk2mKulxXCptyWQ9MDo5cg_T61OXfrZlrxdZWwqnzGi01Yp7Jx3W4AiCp1M-RNSYHy3BgXWuutTJ85pTe5n-rvM71TLcRqBgnycshGrzI8qpcFifGqwItPTJWV_NaR1JispVQSxe6plWz_m5OPxU6LzGS52cj4epXDqXxfKabPJK9AAhdNgbg3FImaavrZFvrfz_V3XamRivQufjqFZtpalMclZmblVcFmieKWcQviguebadcFR1_F4D086TgPLCBxFoqYATiWxOMMmwZ-rp1YXtz2xhoTepd1Np4XzA4X_pLzm5akI4WVyAGgSFGGghe_a7RiJv-KSsWgWCBYmzAIA630l5xHDM0Qrsv6YARumZOmISWyYRcLqd7wa2fwNOxueESdTGMO5ELSIV-syv80IEKVKqNQkvO1",
  "id": "rs_0ac434a9828d52db016ab2eb57848487d0809a151a74c4d94f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.14,\"left_z\":0.14},\"note\":\"The dog is above the left basket, slightly toward its right side. I’ll center it and lower it into the opening before releasing.\"}",
  "call_id": "call_dYMZyV0qxGfr7Vj18jL5OpBx",
  "id": "fc_0ac434a9828d52db016ab2eb5a5f9487d0b4c4a4c27301aaa4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dYMZyV0qxGfr7Vj18jL5OpBx",
  "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]: [-0.421, 1.7779, 1.1942, -0.1127, -0.3801, -0.3027, 0.1279, -0.0208, 0.8051, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4768 left_y=-0.1377 left_z=0.1354 left_yaw=0.0429 left_pitch=-0.0778 left_roll=0.0134 left_gripper=0.1279 right_x=0.2953 right_y=-0.0007 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0126 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -9.1419, 6.735, 1.8974, -0.1099, 0.1001, 0.3687, -0.0889, -1.1419, 7.0632, 1.707, -0.0317, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69c2949724a46c496aeaa15aa8fac131cd7923809721249e307d7dc66d4b51ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9010ed095af1dad8b573c833f9d8dc57b7a7e878bfa05bb86c981398a30729e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:441c160e1381300d0a863d89e76f6f8addf95fb1327aa1053d1841da0e8fe9d1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5007, 1.734, 1.5543, -0.5102, -0.4358, -0.3431, 0.1262, -0.0208, 0.8028, 0.6083, -0.3851, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4694 left_y=-0.1678 left_z=0.2414 left_yaw=0.0295 left_pitch=-0.0547 left_roll=0.0089 left_gripper=0.1262 right_x=0.2952 right_y=-0.0008 right_z=0.1784 right_yaw=-0.0003 right_pitch=-0.0103 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -8.6359, 9.5248, 1.4579, -0.0611, 0.2222, 0.5641, -0.3077, -1.3607, 7.0496, 1.707, -0.022, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The brown dog is within the left basket’s opening. I’ll open the fingers to leave it in the dog basket.\"}",
  "call_id": "call_UR6GFiy5i1ykR0aAxehBqpQm",
  "id": "fc_0ac434a9828d52db016ab2eb60ea6c87d0a49878e820406c13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UR6GFiy5i1ykR0aAxehBqpQm",
  "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]: [-0.421, 1.7786, 1.1942, -0.1181, -0.3809, -0.3073, 0.9954, -0.0208, 0.8051, 0.6083, -0.3851, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4761 left_y=-0.1373 left_z=0.1341 left_yaw=0.0462 left_pitch=-0.083 left_roll=0.0129 left_gripper=0.9954 right_x=0.2953 right_y=-0.0008 right_z=0.1778 right_yaw=-0.0003 right_pitch=-0.0126 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -9.3744, 6.653, 1.6484, -0.2125, 0.0171, -0.0708, -0.0615, -1.306, 7.0496, 1.746, -0.022, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4b0e917b62821fb4f15591e60fa431043f764edc6170530b5d2527422aa6b8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4db8d86b3eb3940a5bcf723302397e331aa592b5d3dd6646c1ebb1d82c8c0b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48c258754f6411906a74dca2254a0ff6f71c78148b47c51bd9243b6cdb5c95f6",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.421, 1.7779, 1.1942, -0.1127, -0.3801, -0.3027, 0.1279, -0.0208, 0.8051, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4768 left_y=-0.1377 left_z=0.1354 left_yaw=0.0429 left_pitch=-0.0778 left_roll=0.0134 left_gripper=0.1279 right_x=0.2953 right_y=-0.0007 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0126 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -9.1419, 6.735, 1.8974, -0.1099, 0.1001, 0.3687, -0.0889, -1.1419, 7.0632, 1.707, -0.0317, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsutqFhw0XBdA521sUVGKGa4EKuGKwC60BkKcsIBdIiIuReNvdHEZ11-sGOsJvuZrfBZLvB-0QeSLmbkH8al4yEQDiuLj8G82lz3-fPNGpzbiJb_QpMabtrqLipC4F9GRMXbTkhb2gV1aAyL5QfYnzysSVrKuSliq5pfsF3t-JnJxkVsdsnJwMFMGeTNYue3Heu4466s5BT8gCZ0lcwy50L2PCl14p2NyG7n1X14NW5OMgvO3yCHDHujXPrxEdmoRYPmAuDHNNmE5ikJmRHBtmts4Tw6OJ3p9N-VIlA0CC9uH7b_Q7IU-wOpXxBoGfYDtvmsutqaWdkupRDIwrffaiKrIMNkw8TDXi28hT3YxkTYsk7jI3XkZIv59BbaVshVPKZsBrbF1ePnX8aTuf59qy6lIN2bSnOkE81sAfTYa_TuuKTTAIi9S0tyYXZ2rSTGGCCxgJwAQtyOyU3KNCHb-HfU7zA96xsNr2Oh23eaWl7trIWzF1EbqeKNBEWA5hDp50gSkQU8D8FBziRZI6tLOqmLeSR6YQijtMs9zkEjOp-owHeobJalSMPJwUF8Li8uYTTZ9hIGR6G1gI5mHqHUxk2WfRai7UVUKaM9itucMeMHuTBA5sv6YcxrF0pqBOdco97Er4WL8gaVc9lgTFPdXX-KJRPSUe8cLb3XGxQODN8UmY_-jWu-yfhHercFY88AcMx-Z3xpS27hn08adtq4AvljvXsetf2zhRkCq0uVQakpiqkaNYDgERR3_O7Wxojo-vMlfFyUjk6pPctmBUxt5AQpwQjifI2HBFK_8LTPeL1ffWVcRmgO_5Ziha9u86Wc8KWXORnfCVymKa3SJtxCw1c7pZ8wpsk5-OaRfGU1kuBTKQwRXaVEHOl12usTLxFqpWL0kuEBHvDw3221cxDyMxcONfsoRIBUyszHqv5NRfEQxktJoIl3WGDAdXXf_KE42207Lbn-9mhp1GwuY8Va2l7k9voZv6AyEJF4rBigynDnQLZzOz50AOYxrwu4f44lgudcKpV7lShT_kjKpbDz7JqUc_5drb5_eY26oY_tc53VGkIW2_hphL4oDuRpBpDlH1g_3JdBxt4cX8_gMKOfvf6rK2scnq_Xwapo3HVtqRoyPnaY3n4-icGMM2Ap3O4F0BxJxLq0zmn2OZEvgONFY1RoPE1DFmLHjMpGzlSw4NX8oVaxoLbyd3SAgCtY7qq282RvYhui_U4rc9OYv0ZVjLHHtNjGkwHbJ5z2LdNGABaCMkW3_zTcmMpq3gdvfKxoNXvBFyciPhxl_CtI6WgJcLNTlgIoxF3n12OGlhvx-eVAZAs-taH7XhM3EP6nN9lZ1iHyTWhE27DftCqNo4ZJXaaq_QgNlDhCexheDi2_-mrzHDOAVMX53F2byQF_GbdnlXjZGKdY8BKTBCjwRSMH64jRDRj82sDwfNd7NeqfB8GE8NT_YJM1rEe4Ib5vhRrlhVKbYK0quqR7Kr-x-Ark_RpvdKLp9ZNyIgbtFjKVuUAM1GtNmxIjHjoVK5egjj2X14-mEOsWuT3Pa48Px2BGQbvFm4rrCYbFV8cIuNuk1lkdawLXQ0CntqGwtDu-sauhJIqxxEpGRY098w_TzPXh0Muq0I7u7nK7NlORrpTXGreg1v9mkQngYC2-es6NsI7Tkajkxu6xerEK-dmoGh7MxGV87TQ==",
  "id": "rs_0ac434a9828d52db016ab2eb6498cc87d095a41485da891381",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.23,\"right_x\":0.28,\"right_y\":0.30,\"right_z\":0.17,\"right_gripper\":1},\"note\":\"The dog has been released into the left basket. I’ll park the left arm clear and bring the right gripper above the remaining tan teddy bear.\"}",
  "call_id": "call_JaANhJeFFbvm3abfeTPwD1Xj",
  "id": "fc_0ac434a9828d52db016ab2eb67f66487d0b0f1e5d88ab1275f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JaANhJeFFbvm3abfeTPwD1Xj",
  "output": "executing move_to over 26 steps (2.6s)",
  "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]: [-0.0799, 0.9012, 0.8898, -0.6468, -0.1261, -0.1036, 0.9967, 1.1397, 1.6646, 1.2034, -0.5816, 0.8379, 0.8547, 0.9998]\nstate[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.2263 left_yaw=0.0652 left_pitch=-0.0918 left_roll=0.0094 left_gripper=0.9967 right_x=0.2772 right_y=0.297 right_z=0.1571 right_yaw=0.0198 right_pitch=-0.0473 right_roll=-0.0265 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -2.4274, 7.1726, 1.6337, 0.0171, 0.1294, 0.1294, 0.253, -7.9521, 8.6769, 1.0232, 0.6374, 0.1294, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f6151c7c7c0114894b113f04050e51a8c0954018e36bb1c2992b90f60e27f7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22a33a99e10be0e4468b5bde57afbe88a6f4c274160d48149fda13b1cbbc461c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab942d225c9caaddfef530e5a17562f0d648c49286351a0f3f74338bace6d0f1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 31 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.421, 1.7786, 1.1942, -0.1181, -0.3809, -0.3073, 0.9954, -0.0208, 0.8051, 0.6083, -0.3851, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4761 left_y=-0.1373 left_z=0.1341 left_yaw=0.0462 left_pitch=-0.083 left_roll=0.0129 left_gripper=0.9954 right_x=0.2953 right_y=-0.0008 right_z=0.1778 right_yaw=-0.0003 right_pitch=-0.0126 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -9.3744, 6.653, 1.6484, -0.2125, 0.0171, -0.0708, -0.0615, -1.306, 7.0496, 1.746, -0.022, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuuEIUF7Wro5ZmXfCFRwaR4tC0z8wVz-qFfSKKZj7igs_yob1p-mxkM1MCpu1VyuRm4_ACNuy1L7rHkIXiC64w1eHBsJz9-t0ayidwB422UZAmPy2XuprZcJBPkSdQyQ_g0c9CSJqq_McIMnOVEABofjhIKZ1p7PUJuqYs69l61-yUPAQ8kTzKtNcShC29oAWg-DibPekl9jciREv7riJmrXczev7JWgiaTTpOqw3X4g-gM6tK955B2B-A0iprnjfBdDxcUkxo0kXFlTglSRmh6wftfLQhx4RT_c8uDSyQtI2DvWuECvC-UH2Yf4Ovec2P_uc1loA8AdT9OfTjuuM4PqliVNP3q8H0A2qB0EWR9sYZUoGgwYtOBSYvXfTjFKRtL7O6UICvjOwxBC9MBa-U2rG9dYx1TWHB2enpUid18q_7O9iL6yChLx6D3L7xkRFS_LL45ezNh_mjzKQgaMQqq-UNuKi6DteWNIiYMkPm8q2eat-foMi8Oj_D1OH8w0AYo-US_lCI2rDeshGX98LoYWe2LkTs58dergRXxrV7J_wJ_d70OFwt8GhqN6yif93cohiDheuJvj7edqLbetIq7UNSlFAlBgyIxaIWE2xqeri0A5n4glhfhxAx2wUhZuQDlk1rgkevi4rNBmnPvMveZeha13Ar_OxDdU_mdnWoLtNe1KTpRWSGZsJdnFhGNd6hKguuej955XR4DO0hSJwChM_oKLtvmnXVeKFO0R4N1brzHR5aJ4q79jqp7Mq_D9ntls3mUani00uo4TecxixTvGVfJ87pE3DHn2ij7L2HKgHRIWDmu6e4iTROUHHeliP761EAHqEaKvYyKFpkK-QgMR1E8J0HiCRj6dJX0OjGfd5FirWZuQfNreVdHQ1qPcUEPNKJdARb6baEG4GPpuvz_fjhF1PXmghQibl6FtD5HXbv31jaFd8iU312grkNJx0Ta22KhpOessoJgXvIQmuPyCU1bNHTMKCsMa56e6xdnRkc_RzgwA8kdp2FceZGqrZMpTrQSJeI4FolV9x7Q9l32A4IzWhEvPbtht7dorK2EuzWv5yQ-Y735-jdZs0AADW2ZFwYB0hwaTC4EiUqlGhlQFBRpyWYXuezB9r0Sz-SlcT4kVQus5h98_8_psqrbjlTeNEHutMtDfN8qCXISVVs22CDNwcuSdOH-SAQF1i7aMGnxZhCyxO0DLtwBVVR_L-fYNLOHm-l3vn1lVcoe0BZ8OugvThFRVpml5PTPEG3Li6SttXo_KCUb7KZqXTdCgL43Vgs5v3pQPb4Je-q2rU7vYf1RqbXREkXUe_XcOAsaBXPL_PlG6U-PWkPVxC51GfH7qG9zGW8F-Upxa4fEUnQldqptISuaFHtHGUvsHnqC-7TsGWEyreIVqB6xmcujx7z-oSDWQNMq6GpvjECL0JPxcmOXjuNwQ06BFfhtHYLRo7w9lRbQ0T-hapGVKk2RVlKHhe13YxlHI1zI4Rv2uHnwhN5IyKmFiA2RXy1MCT0Mz7N5jb61zu6iQzFdnqhiNjEjfuUGxVnWB1B5meqXPnHglg5EGGZaj3XelgFrK-GBik31ytAifFPNvpLIfumheZvasPCL8o_JcpvecdTWRt3_AubeYLIhCD-_qCk6lKfPVvtY=",
  "id": "rs_0ac434a9828d52db016ab2eb7db31087d0afa1684162534cb5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.32,\"right_z\":0.055},\"note\":\"The tan teddy bear’s torso is centered in the right wrist view. A gray plush animal is also visible near the left arm; I’ll sort that after placing this bear.\"}",
  "call_id": "call_IAu1M1r0vHqDaio1MZVeLfC9",
  "id": "fc_0ac434a9828d52db016ab2eb82a50887d0bcd91e2883a0339d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IAu1M1r0vHqDaio1MZVeLfC9",
  "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]: [-0.0799, 0.9031, 0.8898, -0.6506, -0.1265, -0.1047, 0.9968, 1.1122, 1.9038, 1.0946, -0.1886, 0.8558, 0.7963, 0.9997]\nstate[eef_state]: left_x=0.2968 left_y=0.0022 left_z=0.225 left_yaw=0.0662 left_pitch=-0.0974 left_roll=0.0096 left_gripper=0.9968 right_x=0.3021 right_y=0.3188 right_z=0.0696 right_yaw=0.0155 right_pitch=-0.0149 right_roll=-0.0413 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -1.9077, 6.7761, 1.6923, -0.0659, -0.0366, -0.0073, -0.6359, -7.6923, 4.7658, 1.2967, -0.0464, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee5ecc99155345e3199328fee266011b9a1e264e7cefb1e7f89b4141fec3dbac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:662e7fbeee759640a2c19e4efd56b0bdea08f9e098bce60f6e4b8827e9a34743",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb716057707db1030994b06036fef0460c926f1181ccba811406b6f051dba2fd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0799, 0.9012, 0.8898, -0.6468, -0.1261, -0.1036, 0.9967, 1.1397, 1.6646, 1.2034, -0.5816, 0.8379, 0.8547, 0.9998]\nstate[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.2263 left_yaw=0.0652 left_pitch=-0.0918 left_roll=0.0094 left_gripper=0.9967 right_x=0.2772 right_y=0.297 right_z=0.1571 right_yaw=0.0198 right_pitch=-0.0473 right_roll=-0.0265 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -2.4274, 7.1726, 1.6337, 0.0171, 0.1294, 0.1294, 0.253, -7.9521, 8.6769, 1.0232, 0.6374, 0.1294, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingers surround the teddy bear’s body, and the descent has met the plush. I’ll close around its torso without lowering further.\"}",
  "call_id": "call_Q72BSsebAjBojYWH5KdNxrJK",
  "id": "fc_0ac434a9828d52db016ab2eb89337087d09bd2780ee3815dc7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Q72BSsebAjBojYWH5KdNxrJK",
  "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]: [-0.0795, 0.9031, 0.8898, -0.651, -0.1268, -0.1047, 0.9968, 1.1122, 1.8999, 1.0946, -0.1696, 0.889, 0.7849, 0.0384]\nstate[eef_state]: left_x=0.2967 left_y=0.0024 left_z=0.2249 left_yaw=0.0669 left_pitch=-0.0977 left_roll=0.0098 left_gripper=0.9968 right_x=0.3058 right_y=0.3176 right_z=0.0768 right_yaw=0.0033 right_pitch=0.0198 right_roll=-0.043 right_gripper=0.0384\nstate[joint_eff]: [-0.0479, -1.6205, 6.9675, 1.6874, -0.1001, -0.0366, -0.0122, -0.3897, -9.1556, 5.8735, 1.0427, 0.0122, 0.2125, 0.9109]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a8a1d10a917ceda8f6ccff5cf8c81d1a76547c1147967017be72c899fad8d33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76df1d603731d301255ccf17dfa766b4d8161b59cba31c1e8426fa7174d721ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6eb3e4033b722ba963b07fcd02e8dedf3de4d2e570aef6e9398b1eb599ec10e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 39 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0799, 0.9031, 0.8898, -0.6506, -0.1265, -0.1047, 0.9968, 1.1122, 1.9038, 1.0946, -0.1886, 0.8558, 0.7963, 0.9997]\nstate[eef_state]: left_x=0.2968 left_y=0.0022 left_z=0.225 left_yaw=0.0662 left_pitch=-0.0974 left_roll=0.0096 left_gripper=0.9968 right_x=0.3021 right_y=0.3188 right_z=0.0696 right_yaw=0.0155 right_pitch=-0.0149 right_roll=-0.0413 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -1.9077, 6.7761, 1.6923, -0.0659, -0.0366, -0.0073, -0.6359, -7.6923, 4.7658, 1.2967, -0.0464, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuuRMDhfnSW29C9uhu0mUONPiqSWxQkd9lICk-tI30OyvoGj5Xy-X3ypm1RJq6TJaqXnRAn3DXTE3L4_4vgu2ImRzKwS9oQnBp1HPrIG31_upc4J5TsHI-w2PlVDhmOkKv9UEAqMGHsJgnK6oIH2OKlaWcwU0NjMexbD_BAK74H-w38a7-Y86LBmDttRVuzn3KsVKDdE3HVLxlnezY28mRrioIk0vOn1SjnW0qVzU4lb-CDPBAlsKwdRms4CTdeVfHEKnRvBCNKyXOf_0ICgQnqbQWNzmAw_9p_LwnmSpJkjv74itjclvFHujYUGc273XpWfiPxxl7YiGJLbIDZhlL0yuxmOduRlm2B8ObxVNsd3ZO4XO46u1qTGfp1l90cesCuil4dWsoHIvW-u1HeY73GFdKmVP6fN0NyOOnX-Tm2TasBLLMwixvaisdZ9BSTSvrsavjkcCjbJe4ktH-3t-iZWj_qYt-1NyW8zP9IWfkZSxI4BDDnwF4l0v4_sFlk1kkJ7lbisnTSR-QNpJLPPOlyEIQGONgYbva22mrkGxSu_dmbEHEZUtOi9VjU6_Zw_btzjB5kfcI8YdpvYyCCy-oNcHq30bFCKPcW19K787vbdrohNkvToJ7CJ2_t9poHZUT-Lg3Ypjxo2W42RPYR4ZEbIcyzzCP9pAuXzwjPk6GRvrN3yqxGYh9z6VjpexmZvnZ9hP7nUpb_kv049NIsVryFxOJ6oPmN6abMMmZQ6x1aIpYju8uXzct4aQzW_EgSIajZJgU83WfD-upT-CZDo8aJES64UPmmq06LUrOwpi5yUgw0472sdFGokSik86fmYpWu5G82YF3HtPdt6DXG7v1xkHA6pKC7Co6tZr7zVx0pX5P7T1EmRah-O3TDTSjsKI8nzrxul8SZGbl6JuXT-CFoteHxBE_Yqu6hmn10SC6fT_bv0b1juZgyOYedxiQRVeYyivRRNesvgeFVxjWgic_QWJ5Suv4fLvCy3o_KPp7KvlEm5PNftv_N5F9grecmh4ckDGHC9ub9ThCLloUQnwSOrseFJrqZtj8hoT30Nr7fkdvu3gqsSM_2TfySgY3TQaMCToC4zXfgSb5-Qiqti-K6tYJllQ9qZYxwXfqIQeD6xPBxFB3zVj34ZnKqzfFa7Z1I9DnDmHCCHh-Ykq7yyT88Jun3O2YPMYThIETVxmaXZT6Cs3kBBEjbKqRVNQON4VtU89RP5zpbNKnlzavRjVVwcVA==",
  "id": "rs_0ac434a9828d52db016ab2eb8f748887d0b41dba16445d8d46",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The fingers have nearly closed, so the hold may be on a thin part of the bear rather than its torso. I’ll make a short test lift and check whether the bear follows.\"}",
  "call_id": "call_dbtp1mTe1Jx0FtH3a8E3Pa5B",
  "id": "fc_0ac434a9828d52db016ab2eb9010ac87d0a704e23535bd7e63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dbtp1mTe1Jx0FtH3a8E3Pa5B",
  "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]: [-0.0799, 0.9031, 0.8898, -0.6514, -0.1265, -0.1051, 0.9968, 1.1126, 1.8584, 1.1679, -0.3153, 0.8661, 0.7841, 0.0408]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.2249 left_yaw=0.0664 left_pitch=-0.0982 left_roll=0.0094 left_gripper=0.9968 right_x=0.3036 right_y=0.3194 right_z=0.0997 right_yaw=0.0167 right_pitch=-0.0113 right_roll=-0.0625 right_gripper=0.0408\nstate[joint_eff]: [-0.212, -1.7573, 6.7761, 1.7118, -0.0952, -0.0122, -0.0122, -0.3761, -12.7932, 8.759, 1.0232, 0.6032, -0.0073, 0.5006]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f033752af8efd40f0c3346f3451755ad32a3e7fe84392be51e6c54bf6bc70f6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a294dc570f47b5ae0c41f972f77eb32e330e22bbcd79383078dff693fd44c2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfb475843e654a55639ed38b9b62e53b43a96900137097355a5cec5f21c42834",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 42 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]: [-0.0795, 0.9031, 0.8898, -0.651, -0.1268, -0.1047, 0.9968, 1.1122, 1.8999, 1.0946, -0.1696, 0.889, 0.7849, 0.0384]\nstate[eef_state]: left_x=0.2967 left_y=0.0024 left_z=0.2249 left_yaw=0.0669 left_pitch=-0.0977 left_roll=0.0098 left_gripper=0.9968 right_x=0.3058 right_y=0.3176 right_z=0.0768 right_yaw=0.0033 right_pitch=0.0198 right_roll=-0.043 right_gripper=0.0384\nstate[joint_eff]: [-0.0479, -1.6205, 6.9675, 1.6874, -0.1001, -0.0366, -0.0122, -0.3897, -9.1556, 5.8735, 1.0427, 0.0122, 0.2125, 0.9109]\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": "gAAAAABqsuuZnvvMgSFhe-baCD2ZIbsBzcxE9P4X0dQFoSnlDOjXNC7dSQq1K3p6lS2zk6Lme4Re_snZecfqsopazkoK3-U1hK9wkUeyyNKbav2pbOUGOpbnzg-15XUHgyOF62zEvDjzlbrq1Ivljpyn8ZU1_eXAn5fOQldL4HamoeP7hWH4hEBE9-xYXQtEj1LToAne3pk2QPdO7VKxbdV7moaHYw_gVXtFK6_K34lruAKU4NRJ2a8r5E49sQJvlyZMFWam0fSrVXUPmQ9A2JOwl8S32Dte_sCTRBugcIPuY6wKSwVJkhM7ep5SE1nDTV2SX_PNoOkVIlUVSlwU6rGHnuxoSmzsKeWwl6ZW-cDeVkNLyj-IA8gfzvj2lpmjct_NONEK8KbigiffLS-bVBs8ViZmaU3Y5TtqZKvkaoqi9nOAF_djGV4i-QSmsDOh1bAJm35ZCmtgXc-f9Hlc0QoFIcSl4vO5Qoo8tgzN7wDc-1f223k03i4_80XO53naPBenrTXujKpQW17BTtaKXPDDNhZVGWSqdhzzIR8uIjcoQJ8w4idJFIAZYqTLM6abjiE64g3wOQuaobBIH1BPcjl0WNez7cU4Xnd7KOzJtLr553-d__7uWGd-TUuT4LxuwramOSQLiTNxTFytgKNZTA8pDP6gxzfEDfnxlk2Qk_rKbbOt88DDJp0CgGjHDtjnyG0l2IloZMCXVxS4ZcOLKJ15ipWU3hM9oEyzRcP_VEGk8euPQVbfDmqEf5p5_gYXO4g1lvSfv2gKaHKwN0xm1wsDq9aBVMe2EJPwJrDgUTJh5UlTknZ4niHEoLTeJOzOqeW42TwBOM0T3nRpFZg8P41Kdz9h9IiTeNMfF9SqzvTX0WHWak9xhe48H7WCbXQI257or8hON0AScv2elygpQ0uNobbYp92dBqxhoYuMeQe84OYlvy_ApMCP9Z0G106CAtPlzD6yrCdppHEChz3nuMA8gek5b7x_dFlPDRcg_4XNf5b3TQC0edqA3e4QOC5p6NhxlI8-4Bc7kaUG37iXMRP-B5CPz8prs-HnDrzn8S3shAbBYiTbTzkeXe7bVKndMmHsT39eg9XIkJHS7eqKKrMzLyXt0zyRd7e2UtS0Qkx5Kr4T9pSX2dz-3pCZ2-jpNj_Rc4E8GZAHHaSpDKpcd7jUGT6mi12OlccPrfaXUn5aKOGhyJ-ItBl7YV8YlOuBOzNnLpYTUtJ4T3FfGZoc26waj2R93jKAtx7uar69-_Eu51_2N_5Mr4W_cy8_wchpVpzQvzwJ_PRj9wuv8a9nEGKoxWl4RY25amFdCF-eAVqfU2oPeag1mU21viYZ3WqZKx4Q_yIBjWWYTO5MERGRndZdJ9hdZGLkSP8N1G-j5j6RVpEDRHiarJ0cujALr20WZJUvze_KFEi7mq0eXUDNbFkYuVrrWOqBhsqapATEP0GbG5J7xwlYcjnlqML-5BdnYVhOSJuc4Y2xjkUYFKhgtr_8DXXk0L-ow7CfhlKhLHrrMM5k0wx3X1DzNQI9gbf7IFls1PPosCFw",
  "id": "rs_0ac434a9828d52db016ab2eb94a78087d093e601195a6e49b2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.18,\"right_x\":0.32},\"note\":\"The bear did not clearly lift, and the arm fell short of the requested height. I’ll release this uncertain hold and reposition higher before trying a more central grasp.\"}",
  "call_id": "call_zF1ccKHi4GhWif4O91xGasRU",
  "id": "fc_0ac434a9828d52db016ab2eb97303887d08e576a92b8fc9781",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zF1ccKHi4GhWif4O91xGasRU",
  "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]: [-0.0799, 0.9031, 0.8898, -0.651, -0.1265, -0.1047, 0.9968, 1.0809, 1.8244, 1.3678, -0.5507, 0.8284, 0.7322, 0.9948]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.2249 left_yaw=0.0662 left_pitch=-0.0978 left_roll=0.0096 left_gripper=0.9968 right_x=0.3158 right_y=0.3232 right_z=0.1533 right_yaw=0.0335 right_pitch=-0.0425 right_roll=-0.0915 right_gripper=0.9948\nstate[joint_eff]: [-0.1846, -1.7573, 6.9265, 1.6825, -0.105, -0.0562, -0.0073, -0.7453, -12.1094, 9.0462, 1.0281, 0.5299, 0.1197, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adf8860e9e34e07f5459cfac6b81cbcc6aeb90592a0f733f1003d01acea5129b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a881097d76eccc681b007381699dd765bd2d4fe4955e244e4b3a3c28ef557a7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2afa94a62fcf85e901dba77e319900bf958790c9188edad33aaab48aa8e6b2b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 46 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]: [-0.0799, 0.9031, 0.8898, -0.6514, -0.1265, -0.1051, 0.9968, 1.1126, 1.8584, 1.1679, -0.3153, 0.8661, 0.7841, 0.0408]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.2249 left_yaw=0.0664 left_pitch=-0.0982 left_roll=0.0094 left_gripper=0.9968 right_x=0.3036 right_y=0.3194 right_z=0.0997 right_yaw=0.0167 right_pitch=-0.0113 right_roll=-0.0625 right_gripper=0.0408\nstate[joint_eff]: [-0.212, -1.7573, 6.7761, 1.7118, -0.0952, -0.0122, -0.0122, -0.3761, -12.7932, 8.759, 1.0232, 0.6032, -0.0073, 0.5006]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuul-yM8gH541IU1CmC8j0gK75ZIdZjiUb4YVsOY3P4V6VpY6htw5ZyFQ2l_wLwbHpqRMCFdeX43vRnZYgauRlwwCym09H0J_C64cB71vGrPPG9XDsWcQ8pHQ2DjQfnM1xQkZ0ldaMbsf7Px4IgvVR8gAssLrtkoYuTxRMJFRwneM5T0PZdAeUmcjKl-sg7mscTlKOnD1SOZ78OBb4w7jluQvIQiCsIprkqBZzXHqkjIxEsyyvjmoqoA-S2eCWLAbPkd26MsmsrC6_okotUokRWp_qHkRRwQjHg5pjxBcrRUegHHyDeYiJY3fV2tyJ-gIvBiuvGB2bUw7m0vvJfRSk427fH0Gm48hHxd7qMB0UOBDBXJt-_DIDeuz-zjB-24K2cLDOqonq1P3-kFwh6njCqfEnVLlpfcd9YD8BNUyJoUl0qs1fU-I-tY3hjceE1LeOU4tcGT3WotKq2qSYJ_jWjbF3NFaUL5JHrCGVcHNk6uj_VzmiSCjk_9ps7c1S_1aGcaspxIlKEzj7FDBHuKlmFrBAbvOgFcTHfdpWXn-vr8hY62cFXTPe1Y5QFd9IjnxdT9BpgJ0h3uZx6O3M1k0YSHfPHcEkxWdvW94mBidpkHF2IdzBlW6CgsFFGktIyRUKvxp9cQ1WPZwhn-zazRijL2CpWfMYfMoZ0xc1XWukSyk7DxPH8_VTuxo30oxsYcJ9hZYs5pdbmj_Sw0b3ASJpvvPBA7BPXOao_MwbHSst67GrvQYIvMEaTDFKxt0Arig5bSHFvGKzclcw4Nr__UZko9D9br4OG8ODLYBQL_CdFIcSM8xDyUpd5l8IDCxFeeHa1qxfUWU6XMseEPWFwQIy0aNWVnDHmGhjb8FU0qWOmSSfNwNVTchfRe_ezSdhePpW5KJ-lQb1JsJHAulHezPte6ina4Scs0i4QYkqzPW-V82ZLJcpTarf_7pXwhG-Fl8xeHmrVcPc8Od8pp9LQnbQvMSor3A_AaV-qTHHl1JgcthC2fhge9EdawhdFrKfVd4w6gKxSEbIg7N3ESFdOCbvaM5FzAa-LeX3fEylrbObNvEdACkRPkbxqeNvPoBMkJ0KbFPTP6EvqzqCi5qbieoMl1FRAfAnxXUSbbNEygCOG18bXP7Patx0IKE2_vth6sOAqpw8HUCF5UNv-TiTlYfXTRX4uKltGRfbG1szY9EdEI_xZRU0gQyjdJPUt15vsvGWYLIrlhSoLS8A9KAfQfruWLlQvf-S3yNMYu0iiUuSz3Vaehn7Bn6LcS9Jeeg0cvc3R_kAEjj8KX4kIj6-kwYAslxyF53ly1WN9Aq5ABE5o1x-5QxicmBBipBtRORqSn73NIeIo28sM92gtoQNgKN3sM6yNsehCS0aeXSxQ2DLOaRGYFci8efCUatw_qW0TPmZUMYN3yvvdQJk9PVMnSKz2fNkYQl5Dq2MrmQM6kfLcdYgqJk7fcV7Ur85gzx2aX5Q4d6yxrbIRwCK9LHuT8w12NCjb4vgRFCi_UGxUX2lhiGseAnZJZvWzrC3KmviG471BYmFiwiugjFYydVlduwQFMUZenGDZgj6YRvv76qWUyZlObG4mLs2s0IvIAThoH_-9fUCVpbkA8O3EztWfzjkJJNmQUhWECWqc4g7T2nkzcsMetPMwGMx8yboAI2thG3azLw-k0ycIyeHJPWDcEtk92XRNL-VzieYVk3I4V17N261KaxI48LMO-ANCDY2YdMSr_jON3Wj0dzZJXkAxTM34FT4LzE99DMBN5RTnT5CkfWsn69NsUTPGR1nowBEPtMX_X",
  "id": "rs_0ac434a9828d52db016ab2eb9db24c87d0aea2c8b1f3db9b68",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.235,\"right_y\":0.3,\"right_z\":0.07},\"note\":\"With the gripper open, the bear’s head is ahead of the fingers while its torso lies closer to the base. I’ll move back over the torso rather than reaching farther toward its head.\"}",
  "call_id": "call_UOMyKvamjNOQ3Qvi4Kpd00Se",
  "id": "fc_0ac434a9828d52db016ab2eba3960c87d08cbd96e11c16eec1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UOMyKvamjNOQ3Qvi4Kpd00Se",
  "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]: [-0.0799, 0.9043, 0.8898, -0.651, -0.1268, -0.1047, 0.9968, 1.2476, 1.7988, 1.0248, -0.4255, 0.8993, 0.9318, 0.9962]\nstate[eef_state]: left_x=0.2968 left_y=0.0022 left_z=0.2246 left_yaw=0.0665 left_pitch=-0.0989 left_roll=0.01 left_gripper=0.9968 right_x=0.2427 right_y=0.3005 right_z=0.0732 right_yaw=0.0509 right_pitch=-0.0557 right_roll=-0.1298 right_gripper=0.9962\nstate[joint_eff]: [-0.2393, -1.5795, 6.9949, 1.7021, -0.0855, -0.0317, -0.0122, 0.8547, -8.6085, 5.2171, 0.8816, 0.4029, 0.232, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ea1cc4a164dd76f3e9515aa10914e71f7c1b0b15ccc336ded57c8f427e3f31b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8863300f22d75caff0e1a59511dd88b3e9f932a72ea9919987715710406e8289",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d19309e85fe4ac9bf609f13ae7f8f537e9714dee58ee96db8beb59253aef538c",
      "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]: [-0.0799, 0.9031, 0.8898, -0.651, -0.1265, -0.1047, 0.9968, 1.0809, 1.8244, 1.3678, -0.5507, 0.8284, 0.7322, 0.9948]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.2249 left_yaw=0.0662 left_pitch=-0.0978 left_roll=0.0096 left_gripper=0.9968 right_x=0.3158 right_y=0.3232 right_z=0.1533 right_yaw=0.0335 right_pitch=-0.0425 right_roll=-0.0915 right_gripper=0.9948\nstate[joint_eff]: [-0.1846, -1.7573, 6.9265, 1.6825, -0.105, -0.0562, -0.0073, -0.7453, -12.1094, 9.0462, 1.0281, 0.5299, 0.1197, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuupswEGde8B3WSrOC8mZIcJ_dzpQAPQE-z2gqDephUZNptgiB03w68sZaZn2XcZw8Hi1gwMmQVQxACvwAM4dIfDo_srIGgy9OsL334L7-xT2fepEkgrmmiO_J4EVhm0nO9yVYrng2Z5KTfdu3_w1iJ335b5Y8BGnJOptaYfvQYUKB3xkDKcHFSaV9Hgk1hMJ2ZpdHXlanxeh0tTHVkn5aixoLLLe8dBvTK39MCWw9XvGG4nABS1TUO-mq7SRySS7vwGlTx1C7ko9-_lRXwJkPdedXRgaAse1rBW-2GSiAofsQCs8z9b0or_CgzPA3gUE5ChfMweohnQgm83ZnVmptKUS5DBVd3VN6qI4o_c3uUAtyDqfYyw1tDyANcXRvsrlo1CoQgf5GY-2vCP4lipVfjIMFRACpUh3kBtRwGztZSmb3qca7uEQnUTFudR6CKj6feqgyE6BhLXZjdFa3Tx1TU7TGoHW4OiAdu7ZzLdxZbbNMIefetW6y0oLFSkycfWjB-xyYjKniNGnAPYb2d117YiKELS8KQuQMJy3i-CI0uIpNCgl-s2fX9YhgREpcNeJDoL9kMPdVbnTxsMQBRE88wUY3MujENk9P2nYC-6OmwjcIkhMR6O1EdbfXuSx-QsRIdh9gxlo56npvkEctOmxmMmmTdQRDMLiB-oL5B33GhE8y13Eu7Htu8EIs75NS2u65MXZK2io_t3bc63xilnduverSFqJUJjbf2ZG0ExGrvA2mH2RBNVqBfUL6bY43pdE08_vcyrSVAjGymAuXDEdUGyEOEpzVIiQ9uPk4cabADI_H6ycV1Mw6z5ozQIHGJYHuMc8q7yZXpsXnHhtQMLb_RaLGoLTe7H53wJpu-c8_s2FtXt-8q8dk3Lo_9YyT6HPtqYl2liWFg4gReuOcx7Ly7_ZbxLX0iaVCKcZtl9aNopdr2mqRsLv7uqVzo1o3S087u0fo3X509vjgi3mOHb1i7TJdDjcsHEELfqxRbQAaTMe1bFdVJOO5V9eP7pPCl94jfQgbjur40oQm1H1poT9J71v2nCv9vsMxgfTocB7FuUBHZgmgby9OYj2UyLNphsKfQmasfgXLldswK8MrCh7lgzWbhRMuij18k1lp9IUAOjbmG_erZNPNJppk8mAX8muVCrPFwrLowzxFrx6TiXuwbCF8tjnPEjaWN5nMpa3IiKHrzVuulSg16VCq1EtO0sR-I8khc7v3ElVuFFLNOksHFW-Q==",
  "id": "rs_0ac434a9828d52db016ab2eba858e087d0890d24d99d381381",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bear’s torso now sits between the fingers rather than ahead of them. I’ll close around the body for the second grasp.\"}",
  "call_id": "call_bv7SuZIhN8iSOJLW2Qcr8bl9",
  "id": "fc_0ac434a9828d52db016ab2eba8ba0887d09ebe7ac45d984869",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bv7SuZIhN8iSOJLW2Qcr8bl9",
  "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]: [-0.0799, 0.9043, 0.8898, -0.6514, -0.1268, -0.1051, 0.9968, 1.2469, 1.7988, 1.0145, -0.4244, 0.934, 0.9211, 0.1324]\nstate[eef_state]: left_x=0.2968 left_y=0.0022 left_z=0.2246 left_yaw=0.0668 left_pitch=-0.0993 left_roll=0.0098 left_gripper=0.9968 right_x=0.245 right_y=0.2948 right_z=0.075 right_yaw=0.0425 right_pitch=-0.0297 right_roll=-0.1588 right_gripper=0.1324\nstate[joint_eff]: [-0.1299, -1.7436, 6.7761, 1.6532, -0.1099, -0.0366, -0.0122, -0.2803, -8.1299, 6.5709, 0.779, 0.0855, 0.0855, 0.9402]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02af35eb700e68b2a76c9df18c7ded4ce89581af963dd929a671abe6a82e79f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7f064b075eccdbd37d88631e67a15f93247921ce97f09ad4bf3cf40ae19c3e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:687a7a650f14263c089f0dc174181854a7b77848986d523ad64711e6c1928121",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0799, 0.9043, 0.8898, -0.651, -0.1268, -0.1047, 0.9968, 1.2476, 1.7988, 1.0248, -0.4255, 0.8993, 0.9318, 0.9962]\nstate[eef_state]: left_x=0.2968 left_y=0.0022 left_z=0.2246 left_yaw=0.0665 left_pitch=-0.0989 left_roll=0.01 left_gripper=0.9968 right_x=0.2427 right_y=0.3005 right_z=0.0732 right_yaw=0.0509 right_pitch=-0.0557 right_roll=-0.1298 right_gripper=0.9962\nstate[joint_eff]: [-0.2393, -1.5795, 6.9949, 1.7021, -0.0855, -0.0317, -0.0122, 0.8547, -8.6085, 5.2171, 0.8816, 0.4029, 0.232, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuvE8oK8owzBzeo3pgH-TY3tvptVDRc_RdOnv5qwuA6MviaY01Wsa_K7cbXE0JVCNnG5ytx-8CtztanlWuW6UWb65inlDER9UuAblpgoPOlxA3avWKNyWfoKxKUdPbOOcgoqfSfIGlVT4XEOCFTT7REXT-mzXTG-HOUYJvXFYbGUUJ-hBLPFta4xpEiQOs5vodW3y_XVRGWx2i8iE2YNp3IewTOTG1-LOW0BN7n1Fj2ScPj7Zb30L-SukVqZDEiK2qOFs7W6-2CiwBlGnhKJheVQEo7xpxJNQ864Rroo6ZsJ_tis2JRgI2x9JVcCE3yZdxVFXpTa_DkreJA6Q_I8z_L9c1UpF3Z8M_HqDOurkiIEKQXjiqfQC9txK6yrJr1EnmConQOOVZdGKeA6bfvaZUSgGyZtmCgAcWl3Ac10iViszWZkxhgQePgmAO5UIm96cJUjepUfQqKVeTJkRZl6txu0mQHeU2853pL9TCq28SssRPMIJsbLbUekPuThltDKZrAbmQ2upBgf5KlD8OTj2jOKiX28nGAcFEx9e87et_EjWaA5UMdS_Lcfssband4DoQBzL48LQB7PCON-Gx01WcjTBbbJhZMUurATL3TXCciAJ2av3sO08vPnf89X0vVvjJKhDDAZH3f3kpNOrGnkAFGVWEuqWAoXsJ80c_k127Xhu4myxqcJ6Lcswuuyhn6yKCxrDfrYYKQx7NqqTMETsNSJXtWvTn_H96b9oE6YuqQr7jre6tQ6RJaWVSULb0Wp-oQtieQiE8VDY_AlHAtG8Sl7U0sdrY_IhEwAzjBvTgJC3Homt0XI_LFLrDMKwwUprH8VxXa-UOFMYzuTIFQm8GVNlWevYsD8Muep2pssqdZa5PTabu_s2wapJ28HovKxKRM6qT_HsTQ4j0CnV5VGhufOg_P2Guzuia-zK13MAhjagVZtk9kzYSA6pJKIIvmzkQE5cLKbav8a6WYYEHoKE-LLQp9NR-i6NaiNgwKcErtrKT5ovn3tBSuVgaH0JVAFpNEacT5G6rvMZ0JEjh_ZiqrurQ9ZMyCMY1VIv6-7Wod66V1k_hUz_-KEW7aNwsPh4Ac6n8am6H5y5xqUh4QPhWDN52sekD_18tgAoblcFg9QyOiJPIph2n5r0_RC0n_VBJpqh0NraF9cit_k-yk29IGfuDWwn1OmN9YQkvP7vkqNwPOYJE9SgVJMnFglwdTCke9nchA2x1qfqZijQIRZcxKhlTbGfk2xq4vb_2K1ebH3tIk-o1zchTXNG2m0NJR0KqIFiA24NTjY9dFRMuV33UNzE70lLX9YkHw7i6ZvPLNFlTOjL97hStBIISYT1GEQzYUnqb3HwthZ1cxHeXkNSpEHh2s_NxrjDnK9x2ButKSkDOmrhV9s-FaPlMVZddfojV95E8kw3FvbH0jzkUKOYhOMlI-lVGOGFe9AZ6Sx9oLGDsFhVO4KTduTEvbRDvvvXFbE-tAqPMgr2ISv-3W0Tuu7IFYu_LLZrjKJ0djfPrW9JydYoWgQ7yBEKaeo6XIopI_HHT1_rXUCcst13IHnJf7OiGq6jR1pJb9DTgoLPtw6u3lxQfcskP_Se8SGeWXFiit8suBGTLC53VnD5kU0NQ-FZMI76IjIjx-oMt91qxx9NrgydGZyM2JJxqXRTQlhbkxWGAYSVmDwT_vmM24xfiJMrJGej7eLulcftHryB1DTKctMescpNF1cEsCNTZ1OxB_7V-KCHBpBgtNMrC9llj4-y_H3ZFMF6SQHP2ArtmzRTjBdUEeg7vU5QGzMeuR0yd3BxYftLoBlhIipXYctP6VA56Lrslfoe0Hb7Fc13WHQyGACK0CW40L65x0Lc5ItjJPn__b6pyYzpG2vKW5kifEOyk36NSxtQaS5155KWXGr7asLU5Llu3nM73EeQBCxk5vyqvXZi0nr7gwsaSmapLx9kWMjwNn4RCf3bD9CdtDtAu5fQwAz8tb3sjOYfhYmqLa7dmHqOOVOBOCClmXB6huxoFuN14B0slGCUmM95lkHg1AuINRjU1-cp6ZSOnehPOi_Og901lubdB0R9QFVYw4rjEff4DRq_CKV7nJtw0RUGt_zhnB0RZkNz-s_Pfgqu_l4mX__Ld5e0w8s-GuamMIswoADqFQ4uLzFaDKq7KiKxvAea_8npQ0WhU4iy8dhOCXZ20bMLs4bpDgJ2Lks0KEpWpiH90JKvMXKkY6ORZMDvbBX9EECJ7k4QzcA_RI8L-XK9nVFzXXFDy6tT-ALwekA4MVbK7pdcXSALBGEWCM925u-J3Ik3y_6oSGOA81FzuLfTKZcYSy79_VRMJhupKSxXvbsY52DfjcJedEmUTn_jL1Bw7QtDuSbP-0LXuV-EnvvNqkd_1YGcdsQvuA3x8GnseOgtn2tSakPwCSKnExrq82z3GaB10ihoFGgvpL4jsq-GP5BjIihFE-UGP0YI4UlyrZoN90Kdyt9PigAEW7zdqLoHM-iRrprkOoqCaV-y2IApupMRXJu8BdzOFHBkLv-mQhvWlMlpE8zuLnggKkLh-wXV9Tm3VGZ_ygZceePTHN1NaG8lqMAXv1QIdOyOgcci9E6jhcW3MC-xgauDFJkMIOM8lqmo6RID8EirjPUDEf6reMTT2D0ZYg--3AumQdkGJOJ6Wz9zLPW3C0N5RFSPXlhnDC23uKgTM0ikMK_EsfIpHsltKAUzs24QxX5TMDwQPQFqRapXnJIGitlIj62SaHGnL39weRAx7GdUWBFmUgiwPyeRl2GHe3RHJsDCwOZVeObmCfgosac29lWLSpan3NNZXOaFX24HlE_ZJaOrlMrujjoOJHtXH5IVm-g02YGGC3ResK58ZY_bsQD_yPQs6AL7HdVPtWJMH8qpsD6uq2_Lrcu6fD_PIynL1w--kWmJsk516ogoURIIFLhYAuXhQwdQ1tPW0XsUZ1w-9huL-h7u8HPgupghf7aWIcfVgOaNcLNIt_xdCD47ZEp8m0d1KONnJoIwXsWjjKPyFMqpBtIvV-j27IXuhaZ8Un3dQ650AE32z0jG5M8eucOIvceLXoEYxPyT0JX6K64ymmksTei0_1dGUdAZB9uOSO9PFOpUx-rvoBYTOnCDP_UpVSxJ3nGr-kgr7bQb1Q86awoSF4d42ra4AhUzb7b4lmaP-eaNiTAsyEAWORBzSmzYWnBQKDPFgia1a5IFZNnctyeXl2tltlhFDML7_hPqyqBsuvcwIY_2OwTH-8y-63zXoc-b7AIighkzeNh_c_QP6_rsJm0w_fhA8v5HOLpb4FiNkZXMZGOCCydZdMU6xuB5PiqyoGTgMwzwXAc9alNE1X5aNXnqcPW_9B4Z_Ca_Em6wdKfOjmqAS_4_ainh8tvvy7KuO8eaXuO9njg_gV_TM1m7hdKl1FpcWlvbIxLDOEsr6vZ4i60EGQj7gn9O_i474mP_ze461dZWkF6IzQhX7c60Uk0ka2KaaDK0__AezbB9ht0l1svX18QOtkHCXVlL1SbAVEwqiytJGaveVu36Ti-vKu-m10z_dEEBT81jSSigC1EgjgFYdQ-lQe1_ZdTIQWaWunhJUj9k9fgKiQQGN_ogIJw0n-JxUv2VrjrHBhI0u4EdtmJa0PxQ-gEhUn21xGT13_V-SwVqZmBnTkARGbmaVmsNnUbivel6N3_m9hh6xvBf64t8v8WVKYaeRhC1IqDCSSSFF4ZAgT9EAuTJ1YbeKz6RaYeSFVbe1IOoz_LtFoXsE871X34zyKz6i8RJDr6ELDH9eYZMgARbDpOsWbzN_kyN6hYkr5inZpT7hHReMiTwd7tmdPv9W69i3rRWCZzvRo_nXysihaaa7AhzhP10DpjbL-q8lLzhrOkJ8Kr96tyFOsibVRhfOWh94Uytc5zC6EXjzqX8GV3nD3QN5mlzxDbjriswv88VBw9FjldKTwSSAYtzsxNHrjRG7i9B2MKnj6YSczQL44HIiLhxirKNZgav8UowbV2JQq-7eGIYSQCgffFAnhsWVU2W1rEqEVvuSaEwRW6dl5LjpArYj-ffjq8m3CVXyrxGzG9vLeTgBZNk7YYoQRLrLHtwJL-Yyk0bkqXnK0g0YAZL7fUaWjhzw4aSFtDzRfEVAdSFslsLVVoV8RBjFZ7qbWgYUoVdUPBlm0_zfCmNIdGHn-roOmGjOWKtDsH_qzOtgtFqXM9C_msnbJxwgyklUk6Ae2737DnHZE=",
  "id": "rs_0ac434a9828d52db016ab2ebb0572087d08eb3c88d7c5575ee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.2},\"note\":\"The bear is held securely. I can now clearly see pens on the table too: the two object types are plush animals and pens, so I’ll keep all plush animals together rather than separating dogs from bears.\"}",
  "call_id": "call_4Vi50ejFuKLMkxIVRyjZeCff",
  "id": "fc_0ac434a9828d52db016ab2ebc2ca6c87d0b551790948f0f4c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4Vi50ejFuKLMkxIVRyjZeCff",
  "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]: [-0.0799, 0.907, 0.8898, -0.651, -0.1265, -0.1047, 0.9968, 1.2469, 1.7023, 1.3247, -0.8497, 0.9047, 0.9199, 0.1344]\nstate[eef_state]: left_x=0.2971 left_y=0.0022 left_z=0.2239 left_yaw=0.0663 left_pitch=-0.1016 left_roll=0.0102 left_gripper=0.9968 right_x=0.2444 right_y=0.3027 right_z=0.1705 right_yaw=0.0529 right_pitch=-0.0623 right_roll=-0.1672 right_gripper=0.1344\nstate[joint_eff]: [-0.0342, -1.9077, 6.8034, 1.6435, -0.0562, -0.0317, -0.0122, -0.2256, -10.7556, 8.5949, 0.5885, 0.7595, 0.0024, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c45edcd28c5515bf58d17294d8c7bebce21fd1e76d264f1560f9b1f0d1b8a9b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc9ba62266e602320d56fdc4cd33829efbccc6d3bdb505e56df8534d4f08f05a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e83260959238383ed7035b956bc9374134e022eb689b6072b4126d163122ef9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0799, 0.9043, 0.8898, -0.6514, -0.1268, -0.1051, 0.9968, 1.2469, 1.7988, 1.0145, -0.4244, 0.934, 0.9211, 0.1324]\nstate[eef_state]: left_x=0.2968 left_y=0.0022 left_z=0.2246 left_yaw=0.0668 left_pitch=-0.0993 left_roll=0.0098 left_gripper=0.9968 right_x=0.245 right_y=0.2948 right_z=0.075 right_yaw=0.0425 right_pitch=-0.0297 right_roll=-0.1588 right_gripper=0.1324\nstate[joint_eff]: [-0.1299, -1.7436, 6.7761, 1.6532, -0.1099, -0.0366, -0.0122, -0.2803, -8.1299, 6.5709, 0.779, 0.0855, 0.0855, 0.9402]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuvVGJ4uGgLdZWAR7fh5bPMLMJGtsDcE4oraZdkELJS0IYR2o2gA8Xeg3jw2FFPbNSG6mLgIc8k4le7evpPi_nnFed7xFMWTGdb4UDZmbOLDay63xKU9vhOpVIv2AVcRxciopkW-nu7xesZR2ABRaNOFIyem9BYh1nJQtklpnr6KojS-DWEzg-ZKDcf5EdVCMsZOHlGP8dW7j7hoqmzyerZ32-kLRgvG4bPcnTID1H_U_1Eo2oS9Jq1X3XrQX2sKt9sehV_LcSP3NlB90Lnw90EkJjoEoTlVL8dpKZT4wkyVVRDmOWaDp035i6DJ5JkspBOb1K9y74DapTKPqUqPXjaO_NWBLWfrin-QUBfrskYSHgxIrblASHAvGnXFmrM9F3ra-J3uqTCmGcAJBlgRPt5A8X0sQddjoUMCV6TXFgVvlHQ4GOWLxj0HCVMOwcEt0zXbcmOSwwYgiyc2rGr4ETbihLL_p9c3huk2Lm8Ak86se16YtC_XjjHMAGkMZ3TpEccux5Zolvk1kVCKJNzZcgEOc_G1VJ-NpE-t_ZuRzvLgwI3kSLt1b4wd9qbtlcfgVI-Oh8fqozGvYfrt6HMHc7CKW_OqNhb4qtg0S-1If9aTdx-A_-5IxLR_v_vvfVqjDyhG_VmK4uXw2_rC_H9Uil-K1OgOwZWF6DP5DkKy8bxRP332ekh-6cX3sl8-xWLQ6tAdNaXIjl-dcXDqvPlgDh4GmxRbQ_RwMVIrpEPE23bitWIooX07ymyq9_4VP1k2RdXWqqj-Lj7GEkYLZquWQJbCW9x06pqK1tjbKIEn028pfTaGTC2HAlCk2p29Z2hzxEwRSyaun7HebWhg-3L-FJAVW1vxihQd7S-HJFvVHsKCf9kQyeTLKseeEvUSX7PWEDfmBSTkQvoc3LxoJAVBizmA3VnZ-T3nVT_kcwx5G84PfSieYoQhCzKzYd_k3VfjXwwcFB-YOe1YLzxR4qRhc1bwofY4PTOrpeUleholFSAIVBhmYPuHIyWylEI4MZT9depEeyDmooU_yNkoj4nsanKj9lmIAtLGxFZeiQGoVEB4AqNQiKaoamsdeCrG-Jd4_NpsvPIiqF-U2_bQNUFfK4xT3zA3ffJziypGrw-GfQLD-ovJqDnWnwGf2nUatdi79IuRT3nBAS3lUZdFgPEZxJ5mRxaZTLDuEVUMZR4eb28eaKtsUFlZDGc6oCiFKPyBMtTw5518d7heHCTg_oeL_C77dMot2avA3ZdsyCOgrvAmiKBqqWo7FAqt4a676WsJ8FaMfx2SVGtJnDsUTWn0q25h6raA7ST2ES9LcYbhL8ZT7nNPDE1GM2MegqtpykvV0OGn4n0Yo_zDCRqszyOxBrU8FOE3bnt6ev8Cc36i36HVbu4H4QPAwND__aUbKGo7iNJ-qGoAuqZo_a1sseXldB_lArSZVnRuh28wG0O3Vh0cXzg-JPNBAAVx7_0CoiUUYJHrstzd6tdpwROvCshGMxIbcxpm8L-AfmuUesbNMBKT0oeRSG625J1UZEFBZzvqF7FUsxH6M7aNQp8M1vzRkKmTQh88j_eWioCmZuTzmPK08AvfMyE3U6mDCUcZa8rdP8Tlis8UyL_S4OjKINTB9lGX21UBbYUlBY1UE3KU0OYaSEa3CUsZ6ldFLL8lMzDVcofgglrorIzdoM7rNQCJv7VPysbZSbY4HQz_MFiZ9ILNup-OauKtjhp5E27K2AVEAvIeSglrOaGmAcclgnKdoGFGu_3LGbVWmJ35Ch33jfC8JvJ6EQVASWlWtPV4xVadIZkPmDspYlR0WPL0OgKjSf3TN-M9G70FlKMDc1_yTAzxTb77jmul5NP1FNsbrUrsSqIdT7gR54AegDCMabbCSBQRA3sBh23ge2OmWp1yYvHZ8lXfZPgk7y1VnTxER7OrbL7T4fUcCamHBB9NM91cu85wzcZtVNXdPQFt6jpfhUnXE6aH5rUi-Aum8zNcUyeuKUeP3UeXlVIy-8MrL8L8Uvoyd3lbrSXspDBLKDbBA2-d8vtYDNxt7slOrSOKiETz7nGKx1Bt0dQ2tCYt84PjDrDkmI_ZZYLPpJxnKi_xhHtOh17HZ526E57YnHB57peXhxHv2uMCGwTb-ZA2WnvLtYuuZE_h3S2I_mO7TtyhOjNCxZiAI4rKRtmLLkJ44Daw9N6NIkoIZpOHV-HYX-wEnXs0JBfBi2SBst8EDb1I-VvTHtiwx14RdsaVcht7n3PHArubaeVYV94WCYkgGdf8VCcMe3-iY1sPsZvo9UfdAWk4aH85T2Blw9Rize-gEgF9rxYx78jl-2Ny4-N9RfmGklmccoLK_kpyIkH1NzLIOhSCqd9a5lwDZR5_dAH8akyJX_LYPL9JI-jN8cyqcG3VHy1KuViMalv9GJ1vaVomh63tn8Q=",
  "id": "rs_0ac434a9828d52db016ab2ebcb449887d0ab1be42f48410ad9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.4,\"right_z\":0.24,\"right_yaw\":1.2},\"note\":\"The bear lifted successfully. I’ll carry it toward the left basket and turn its longer body inward so it can join the dog.\"}",
  "call_id": "call_qV1U9VCVCKIZekwIVJ97GNp9",
  "id": "fc_0ac434a9828d52db016ab2ebd4206087d09292ac41f33d8647",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qV1U9VCVCKIZekwIVJ97GNp9",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0799, 0.9104, 0.8898, -0.6628, -0.1265, -0.1047, 0.9968, 0.5911, 2.2967, 2.3039, -0.6983, -0.3103, -0.4778, 0.1364]\nstate[eef_state]: left_x=0.2957 left_y=0.0023 left_z=0.2207 left_yaw=0.0665 left_pitch=-0.1167 left_roll=0.0124 left_gripper=0.9968 right_x=0.4857 right_y=0.3952 right_z=0.2195 right_yaw=1.1073 right_pitch=-0.0938 right_roll=-0.1686 right_gripper=0.1364\nstate[joint_eff]: [-0.253, -1.8667, 6.8855, 1.7656, -0.0952, -0.0269, -0.0122, -0.6496, -14.0923, 8.2667, 1.1893, -0.3932, -0.0464, 0.6471]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96ccc3bf6c62e3bcb7f5fe67d98c398f37f103e69910453718ee4dcdd9087e22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11097c8f5b2d9e7c8775663c7000333a09ba2f45f01ed1666cb1b3b0336b44e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:630fba33e9b1b33e22e5219e97027c87c2ad77f4eb9c87f4eb1153ea43840802",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0799, 0.907, 0.8898, -0.651, -0.1265, -0.1047, 0.9968, 1.2469, 1.7023, 1.3247, -0.8497, 0.9047, 0.9199, 0.1344]\nstate[eef_state]: left_x=0.2971 left_y=0.0022 left_z=0.2239 left_yaw=0.0663 left_pitch=-0.1016 left_roll=0.0102 left_gripper=0.9968 right_x=0.2444 right_y=0.3027 right_z=0.1705 right_yaw=0.0529 right_pitch=-0.0623 right_roll=-0.1672 right_gripper=0.1344\nstate[joint_eff]: [-0.0342, -1.9077, 6.8034, 1.6435, -0.0562, -0.0317, -0.0122, -0.2256, -10.7556, 8.5949, 0.5885, 0.7595, 0.0024, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuv-u10OHTV_zFsiNNpqTyBJ6iccHW_XGyH_H9C-aZyO01cKbT-DSF1U2xBlnKZz98BjDuabygjaLd3pkEm0f0y-p2U8sLTe_u2onpm0jALkWshe7QxxvbcsS_MVh5HNl4vMvWIS4ZCSc3oIie-SczLeLaEC9600EqcBX5JJV24zk7J-yDlsMThjVUR8oYC6a3n8RlI46JIdMiWMJdrU5MJfdUFa_8gwl8vHUQWaOos2Jv8GeltqJz-BKBTtKH_HgML7KOIZieJaxOyjSpE5OxFQZftHi4rOm7brHh1BjTXpa-GdFH7K5tRE9GSlRKxhdLAXrjKlqVLZvsrKWqNziuImE0ZYt3aIypwxUZG6NHRrqJmi5jtqc_6XCbdyoAf2w4unkAKpL8QaaruKQiYdUUUn_z3o8LCIdQD7lS_uK4kC9sRBC6rja4QLpLTqVr0miq4qGFiJ3OFrf1lMwX528taKRrD8brvWnh3ed979ieGxgapldS6_2X-LU4DdGYnlf5A_8p05KzlGdq3_pkq1h_GR14-55_Xg8ow67E1FiS69k1df9jWDd2FDQ-4DJAshxvvc5P2b3vP_QixeCY6I9cM1Jo8InFgy9WvU7rzNASQt5mUdivN5-i4wXQGUWQYF_9yraVLDVWkgvsAp5HJmt-eNox8PZoz4wQ41_jhcsH2JxR1Gb1Hu4_eLGUn-Sh7VdyKc93LT83eZGBDWGyK6x2f9nVoj-gC4mt4fCmdw5Lr9RZo4gigLWXPrXOnRyANop7OB1N6g95oytgEzMrUO_sWmvNGuFJZqGYJx2b3xmmkGY9aevnnue0mnN_KkpgXkGikbzo4feNwrjJHKAF2QYSx_XvDI5LX21vd0CQ8FMazEg2euMlr1d5t4exbdDF-xgLvrlwF-rXRGEWmw6Bj5KD--B6MvgIYciUE3o81pn75K7PJn0t7iK7XtzptxBvR6G4WdKNaAVEkPXguKy3zI37OmjGHc-iVG3YXPqxxaeezKFbKstbfgMp0aB6FIr6ynKlx29eEgDZKMLE27XLrT5rvyaza4jjj2CN9-tqt7QmFe9t62yXl9XqDSnovUczKCcX7dl-WIpqc7493REYUAztd8CJy-CvJQbsuB5dzk_Aob39gRGwua4KI6hnl_j1By_DYeVztjOb6H8LqbkTqb5nCjUOm8TJ4CIPFlZa1FQxvNiP93fW4PsZ4Rvpn3C1ex25fbuKZb-55nFqKA_IFrSc9vJ4Hx3c9PrFR4xLW6zLmcL-sIDxjVTns_9kBFkJ7_mJQgMtpn8LS0IwjlX27lawvFUNADrt2BXWN6Ca4i1wD_Qsgg7HBBm5Qof5ya1ksU_Bqfh65H0Clrbq2UdPiYcwcAICZCepFM-1dNLQL_6B0emaiyjYWGuJNTEBZSCSIrYo5rAjey9A5mSYHCK4g34mBjYoOcg4szEVIS_wQkPueZB5M9fussXGyx59JHH42IJN_qemfVEQILfO3xaOuu9AJuOuC5iPdX7YbE4M6e0VGRM1G1zF9TtluFTWdZpINAnDUchZ8ZUg4lQLKpHWQ98whVhrWcDSX52sLeOxf7c76imoRr-DcVzSPAjXM7AJFBwqrKblFZrWoFBEm5Cw-j5w_BtezlGBc6AhYiHx4-5x6nAP6rkUkOLTNnL0LaaRVxapQ-gK9E56VJzBVAvTYSksocyjlKwDxPGMUDnqg30QYTBEv488sIpI1GC_jBx9qZbjWWYnnchVzZ0zphdrI6DybcsO8OxgZpgVN-c4NREF7DOoaqdo3Q38GM8kfSS2TH54Qa-s6BrZRZTyp6LR22uYIWXqWpEMUNW2w0pi-SlkU1M0o1ssgqTWs4HwG7XtesgOvVzT0qldjGcPnkbpnnP9ULBDPrco7v-qX40JkeHNd-tMaJXa3SqWhvXZ7OEf2z6uiSo3Ji7c83mJ26LU6iq6GX0-ACEjGe8Xse5awAVTAO5dwGmO3rMIUNVDz1Ueejg2878SPGqjWwjOGaXbEb5EMSQx-u9LjhMzuGQs1l379rAQHPmDYCLGBTGROOmhbMcqinuhMDEmz0l7fq0fdd20i-aaMJIkFp5gWh9mjZ2hTMaSR06M7eMGVMe6QzgNcJLaOWQkRMh9q_i9akVzHIV-85SaF8fejiMqfdcNUEgQcNaLPjYA4VXICNeNPCx6eMVGovAzA3c9DJFeZbEftS6wpfibhYA5nj6puXIz0hPz_fBEnZOsNihwnldU7Qj5RJvwmouBgaPO5weaooqeG7HnjXP87EyjxfZClKLXpyMA65E7oKJfIN_aqq2J1jdrJY575dkAbbo4HORKxQ8h0rRiLaODFgWeXIzOGdx7SKwc0x0Lf22gPdBAuTxoY68G68dSFGF0XwDyn61FHDcP6DrH_W5mN_XG-bbE_Ar4UoILMz9M7KF_RJFeAMnwe9uysVITKctw8kZA70L5mLjSmtN6svRGraM6x0epocxVdaE-5Z-bHhpv9VGonQPWH-DAkBoUo86Ib2l3CzT3ciZvAIzibfDafPS4hLoQA9h3tsJVpFZiStuF8iOAcFF3olcBj8Qu-XxWo7NphNCqFlj7aEQ7C7-zUkaNBl6olyZiz75xrHKjzlTox8AjkntL2S_QKuNrBAmllF-sXcf0NUsx8a66i1qkBvCs345gb8wRCqpgqmPyk=",
  "id": "rs_0ac434a9828d52db016ab2ebf142a087d0a33691f72c712da1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.4,\"right_z\":0.145,\"right_yaw\":0},\"note\":\"The bear is still near the basket’s front-right corner. I’ll move farther along the opening and lower it, keeping the held body clear of the rim.\"}",
  "call_id": "call_rWj1SrsqLjBdg7tZIAQElACu",
  "id": "fc_0ac434a9828d52db016ab2ebfc61c887d083720e66beae26dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rWj1SrsqLjBdg7tZIAQElACu",
  "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]: [-0.0799, 0.9154, 0.8898, -0.6666, -0.1268, -0.1051, 0.9968, 0.778, 2.8235, 2.8155, -0.9085, 0.5323, 0.242, 0.1359]\nstate[eef_state]: left_x=0.2956 left_y=0.0023 left_z=0.2186 left_yaw=0.0672 left_pitch=-0.1253 left_roll=0.0136 left_gripper=0.9968 right_x=0.5245 right_y=0.396 right_z=0.0764 right_yaw=0.1929 right_pitch=-0.2062 right_roll=-0.2386 right_gripper=0.1359\nstate[joint_eff]: [-0.2393, -1.9077, 6.8718, 1.6484, -0.1148, -0.0464, -0.0122, 0.3897, -20.0274, 12.3009, 1.0476, 0.0806, 0.2369, 0.6569]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5d2728825f6a2dc14ede5f28cb97029259db16ce2f5258ea0e0c95ebfa089a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b2a333c1454225b78fda6047056873654cfa3beb97f9c90ef4cd96b8bc38cda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1852dd6be9d7751d33d1f62496e2ffacbc16a9befb4eb3d9a9403b3ae7247ca",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 66 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0799, 0.9104, 0.8898, -0.6628, -0.1265, -0.1047, 0.9968, 0.5911, 2.2967, 2.3039, -0.6983, -0.3103, -0.4778, 0.1364]\nstate[eef_state]: left_x=0.2957 left_y=0.0023 left_z=0.2207 left_yaw=0.0665 left_pitch=-0.1167 left_roll=0.0124 left_gripper=0.9968 right_x=0.4857 right_y=0.3952 right_z=0.2195 right_yaw=1.1073 right_pitch=-0.0938 right_roll=-0.1686 right_gripper=0.1364\nstate[joint_eff]: [-0.253, -1.8667, 6.8855, 1.7656, -0.0952, -0.0269, -0.0122, -0.6496, -14.0923, 8.2667, 1.1893, -0.3932, -0.0464, 0.6471]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuwHUU7KSpvG2IUwRz-Z-jPHRIXh_mhOx3HIjbKHZbw7JOAuJFcp_Tiz4gY3yLaM_i0dVuQkbokGrP56fQGuRWIeuwXZjgZ3q0eoDd9D2eNhSH9ueXg43-1dlWDmK72-YNhMPn2DV7lmzjirZChLM2aZKWtrQCOZgfHM7Td7v9nsClgEzj_h_E6gXrRt9Ufm-YQ5cyqjk5WboZdpQTQyvlShcna8PlDVPjzy2lzbbN888KuWgc92YyMiPmop2MQavhP2OIsMtX79jaaTzYJBX2VKcqxjfl6Kn9L1sJBzjXqeG7GxLjZ_PFEvFx_4ET7yx0iWQRgJENL96ataYtriE1JJhuMvvwSMU2ENeTbID13R0D2X2TM-NTW2GY-DW3jvFZk8kgVk1qP1TnZcUhFtltUeU9StfZozmskq17LkNeZhtW1jyTlq5KS42BH4o5S8NY0HYIP0CLKC5zLAKFP-j9kCrFJF4w9iF1mKyFul_asIaUrx_PXNhUaf7BKb71l09-qM-oFEF9FpkCh-3EEGVZpxyKjgZBw8-MUIDPo3OhmxlkZnsVscWVS4cWQnQDaUV_czRsSQ7J3jCwvmwGttUE_oQ6o5gKEHRxo_MA8SrYtouM7C9lLBvyh4O03n34s3RgqPAqtmEmANZ1B_591TSLcNjl0HD2errx9eOplzetx1bjONh1GaeklPC7Mh5Ggyr4_AiAUAizEk_Ao_ao4asP3-DO9tDnTXSqO3QBTRKOSR8u6X3h15XyTD5cmnBGwVFho2M8nUwgKOW-zxL36BUf4B8L32cDmzcwMsxyxumsAs9vydgxuLDMd9yfkeyFbqiFpmZ9iinASgxI2ClQ2VmawESdFAtNhAY7bB2fTDXEo_Hed1ynziMSx-DM9rxO4_a6BNd1pjvqGPf-9D06eux1lkYPQmSdWci9RfqhOTZylgi013N4puPVLRCBYCkSPUV-YAEkckwPYDDfRDS5BzFnjpNfcyH1ojQgxs3i9UWeA2eoWFWnBQnIhxK2R30wNX-2IarOmj2NUK4RoLkc9fWhBhfrC0ztWenHKJHebm9N3CYyFiXcCM8sm52fSidW-SVcJRf9CML6-QSZb-Lb72d7kHGs_1fEnhtfq2gJph_lbDCvpe8QyOrSV5YY_xSc5x_QcKOuUZz1pIIgEhDypeeVsArbHX67Ppqd3vNgw6c2Uz6acE7lkskgp2jw8gZu9S666oZ9T0vG5z0BpmyMSanAbv19k1BJreJJ9lQitmWOXaDf_tJTEt5qpWygN8u8MNM61IajkKA_GbcdFvEzkHnaShIDt5Yby1K7fHNHnxSoJSI4FGXWEnFj4OQdcvaxWnYeN-WAZq1JffcsMv4FjAvOEaZy1oibDzA9GllqKYw_dG235uFvuAPMstiGbVuYI_oQQGTQysN_GT2ZVpZ1baFqrm0PgDW83YwaIl8FO26L3nTcL6woeYr9dXYrOVO-eKDzLwhmNltAtHWm6oWn_SP8NYPBBLYM03bpkVPeOx6BOQnqF4VGnkQSs6DsEHlOeT3BOivKIDEtMeuL1TjEy-SGxJHbJf1RYNgUeYkuJ_OOQDOdd577uJ2ltzUqlF3X7ajlHlDfwnT4ox80i6or96DnpQ7YX9r0xpNK2r8b8HVtPtHgTuIsZfak5b47loT_T5b7F0jDNmPyIgV8UY2yS-JFUJDf03IIf121oSlkNa5JaFVXQ=",
  "id": "rs_0ac434a9828d52db016ab2ec01c45087d0a49bbcf7323a913e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.39,\"right_y\":0.28,\"right_z\":0.24},\"note\":\"The right arm reached its limit and the bear remains outside the basket. I’ll release it onto the table and withdraw; the left arm can place it safely from this side.\"}",
  "call_id": "call_7bKJQgvcgAHCe3W0ze0JkxYt",
  "id": "fc_0ac434a9828d52db016ab2ec053f0c87d0a13c33a2bb64ae74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7bKJQgvcgAHCe3W0ze0JkxYt",
  "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]: [-0.0807, 0.9218, 0.8898, -0.6682, -0.1265, -0.1047, 0.9968, 0.7994, 1.9011, 1.8252, -0.8391, 0.5346, 0.2584, 0.9958]\nstate[eef_state]: left_x=0.2961 left_y=0.002 left_z=0.2165 left_yaw=0.0661 left_pitch=-0.1333 left_roll=0.0149 left_gripper=0.9968 right_x=0.4035 right_y=0.291 right_z=0.2271 right_yaw=0.2039 right_pitch=-0.2018 right_roll=-0.2272 right_gripper=0.9958\nstate[joint_eff]: [-0.0068, -2.2359, 6.7761, 1.6484, -0.0904, -0.0415, -0.0073, 0.9094, -11.7812, 6.3795, 1.2137, 0.4029, 0.0415, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:494a2a9d884f9cbb3dd38224646e42289a47e37404e5a6b9dc8e433a3c6e85db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35415d9f81fb2cb966837ae4b94144fc972852eacd49c4e036356df33af6f0a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0755bd28983aaa448dbca59f633f95ba2a7d11d609a2a0f0404b61b2dc9b1c3",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0799, 0.9154, 0.8898, -0.6666, -0.1268, -0.1051, 0.9968, 0.778, 2.8235, 2.8155, -0.9085, 0.5323, 0.242, 0.1359]\nstate[eef_state]: left_x=0.2956 left_y=0.0023 left_z=0.2186 left_yaw=0.0672 left_pitch=-0.1253 left_roll=0.0136 left_gripper=0.9968 right_x=0.5245 right_y=0.396 right_z=0.0764 right_yaw=0.1929 right_pitch=-0.2062 right_roll=-0.2386 right_gripper=0.1359\nstate[joint_eff]: [-0.2393, -1.9077, 6.8718, 1.6484, -0.1148, -0.0464, -0.0122, 0.3897, -20.0274, 12.3009, 1.0476, 0.0806, 0.2369, 0.6569]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuwPwh9ZOdmh_cxnRfKuuK0qP3xNBeecCU5pQjXTnYGtQ7wuyOYki0r1mKfHIzUidQcYUPzJ-IWP0gPKZboMuq6-TTcK7wvgWp2dfiyNc2HlpMddkLTi6-OrK7Gw0R0aiGYYWNMxsIyheObah0bQy3stWLStUo1cIiMq2yaYqt-r5fKznHyxbErHeXCYk8SDGiCLnvB9Yn7RJqlE8yYlp5dfDfvDtio3Ayad3e6HCA8VKH_67tUwlTx3CbAaZHCDluR-DgUJGWXuP82TKhPjFOdbXx2z3A_5PEo5N0FTx5_uXtWrhCfr1lWZT7yrshlhgXdUW5FnK-q8GNXpX2n0cpKmfwgq9XNQoPtO6Kog16YieKNLRh5i5xiqVxGT4IzjI5oQFlEHclztQqMeqJIzUvHHmAMnAKAzW7F9oQo6xxG1gzIG3XBtoKMxeqKbBVkJwl4ypV85AEdmZOXFraGubiMRUVCLZGR0i-fTTEohNn5V4VDHNHLMJXuLtA0qg9IZrHm597hBZEXYjRgIjZOD1342DWz1PN1hc3YLwpYiS3uaYckXBWE_muQF7enDOEWP_rgab_KojHSq20h2k3z8hPsN6kf-dFfb2YCytJNqXQiE3S1HdlX34FBLUv2X1ck-KvUh4eDN_7kobT7ztk05GpZyHOfg_UlkHy9jADiXJRYXiqCrZwCmRJGZOU8Ap4Luo86bherW8ejWlcwt7K6ewHTNCGlNdLEX2PyoDkZJewraumnItCDFZAvVramMNyKoaK_FLOrEnbBt7jPyJZFVjKF30A-7NCvCpTnK1Ml2rs_m8hQcwaaR_HSKhlG58tAPFmbr0o-AfnLtFbChWWY2inDrAQdhO5N8icQ-oF7tBD72lLYgdUaWG41pbLvJtw4kCVcrBm4g6TQPQUrbtvKZ2KgXMselmipOaJfZOoEP1VPbPFzVCfUZTgMF3N6JAvoe5Lcet9DlcsRt4ooCh2lt-C-wbgT6V3u3wECoP4yFhmfjyio2oF-lUitmff4Zt-atiXs8tLEq4tLaDmvTBP586AFqAKKvbJCdMZiiiDkxYLZCcazlutOogwXWaqqseh_fK20-PhSWVIqcEBIK2rwdhRQ_MMzrA0LR9lfOnAldXqqVBLP1bP0NjhOYK-QMdrn6KFOvgnwjtBs5u95PDr59L5T5yC3xkmMhaLOsYi9hq1lbSVeWrydizNUi8QPBj29rzPfqJW8OrGObQtXCgs-7jO95aRvmu0wklgHgjzb5SREFJ63idv_3i7f0KS2-Z9m2b8-I9Yohhgq85crpgmflsdX_1FOVVMsLD9uoSniC_49POicNYkyf2UR2Dp-_4eh_G5Lb3b483aVzO7h93HKraFdbCc34LOdfnoNXAKigBezuMruy1ZlgzSgJ6GuOwEhNm_b46owqGdsy94skcl5tXPsqtbGyr-oUXQjBlDnYr9qgeWgd0Ze_COZ5dgU8CHQOseEcm5Dq3glXV2_PEpjPXEYcEHbFnvQCfJZp9jDfDiodk-JNnfSnsA4kugGKs5FgCFfC",
  "id": "rs_0ac434a9828d52db016ab2ec0a825887d09250c63a41fed8d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.29,\"left_z\":0.15,\"right_x\":0.24,\"right_y\":0.13,\"right_z\":0.13,\"right_yaw\":0},\"note\":\"The bear is accessible beside the left basket, and three pens are visible farther forward. I’ll approach the bear with the left arm and the blue pen with the right, keeping the arms in separate areas.\"}",
  "call_id": "call_Xgan0bulRtGKhpl9wU6hIWnh",
  "id": "fc_0ac434a9828d52db016ab2ec0d552087d09306c712e6009739",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Xgan0bulRtGKhpl9wU6hIWnh",
  "output": "executing move_to over 26 steps (2.6s)",
  "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]: [-0.783, 2.0071, 1.6146, -0.5365, -0.6113, -0.6483, 0.9968, 0.9058, 1.1595, 0.7567, -0.6945, 0.6804, 0.5602, 0.9968]\nstate[eef_state]: left_x=0.4352 left_y=-0.285 left_z=0.1411 left_yaw=0.06 left_pitch=-0.1553 left_roll=0.0187 left_gripper=0.9968 right_x=0.2438 right_y=0.1366 right_z=0.1287 right_yaw=0.0243 right_pitch=-0.2152 right_roll=-0.2253 right_gripper=0.9968\nstate[joint_eff]: [-0.4171, -11.1248, 8.4034, 1.0867, -0.4957, 0.0269, -0.0073, 0.5402, -3.9179, 6.5846, 1.033, 0.5201, 0.1587, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f943a024ba39137839b7a832e0ad9f6d59ae8dc95f902881c90bf94c4950c21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5c4b61057a77bef74babe60ff20772b1eab3d7b54898f04031208a07a0da276",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:755d2072d20ce06e10492ce23b98aac7930e2c4fe6bffaca18dd11ee8a658a95",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0807, 0.9218, 0.8898, -0.6682, -0.1265, -0.1047, 0.9968, 0.7994, 1.9011, 1.8252, -0.8391, 0.5346, 0.2584, 0.9958]\nstate[eef_state]: left_x=0.2961 left_y=0.002 left_z=0.2165 left_yaw=0.0661 left_pitch=-0.1333 left_roll=0.0149 left_gripper=0.9968 right_x=0.4035 right_y=0.291 right_z=0.2271 right_yaw=0.2039 right_pitch=-0.2018 right_roll=-0.2272 right_gripper=0.9958\nstate[joint_eff]: [-0.0068, -2.2359, 6.7761, 1.6484, -0.0904, -0.0415, -0.0073, 0.9094, -11.7812, 6.3795, 1.2137, 0.4029, 0.0415, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuwZ-9HHYPJ7LOoO3u_gtMacd4pePIrWMYa9pfuikghXc9ETRZ18chDlvZuupLrAQ8sz1VAUum91pXligauxQ_43IMUYc-HgDZHQWlYAcdyULpxhlbUyzTIb8NsccDeeSndzgDnm9ZsFJPOIJAsgYheG5NZ42dg1JvINRLPqMYvBRZSW35R7R6O5OKuUNzFrpQJwFqJVorDfDsqFK9hIssLkjTrKmBIKXK0mQyjtfDfb7IzizC7zxpY2hfaitb19_u_kDhnre8RNN_K7AVY1BBacvWjopc2kwQYaQUh28aWzKUda4d91coavQKpwuiWgY1tf48YGE0ynOr7mybinpetZUz-JDBJ3xBwMt-uXXdgCvHK9nR8cDpaqS_A9ZYenaabo5oH1n4K7Z6T9Hrvx41NI7WdWFlpBGvYDcWYNqTIBYfNsACNORK8w-wKWHzBmWmh9m4pdPEVQK7BzSkKQznzigr70izk4PI56HHBQSXHKiD5Z0r_3fPGoltEISjOJbB15umY1JIFqYcinAmj8g7u3o8IQxthcxGKQ9NW1HYfXn4MOUlKtcdPx8-ZFi2hKzfITAN6-jDrbtzge6vBgHiG26U3h9Rdy9In3xUuIw9B9d2kl3mfIY7unZ-oEN2NP46PHGqUt-QecuPFicbVmQRYVdmzRukSfRZvYZpDrRvUWF-mHFVsEJfqzi55PwpAX6eH1mRFDly1YO91jZyzyBFKu9Az_x_1Ie4BFILxaD_SOMTik-rSmFjyQKM609SYqSfpPXOicp7l2bsWcQ1NmDHzmS6ardLrJl_vwtXlYRFdGJC5Mg0NETMek_mZ3spajo5UOg8MWIh8lINYEzCZYr8m5-6Cws7U4S_YaMgUZnw1kCzGteuYT7sDmZSM2XpCj-_MId8pBsVF8nQZI7Chl1ofPDOLpz3uV8cRu0RZlOanBAPw0bS31ATr5nxTQWBpFdjYOpNYpoCd4aA3tewIDQv_uOzac2iJMPqCNodLx9DP8QlJorKMsKkUcLCVesUT01NP3P82hR2CGaz4orUOR_rKQfG2W3hYPNTqlGARzOU3Ql1T2Lql0-wfm8HVS4Z9eNsVjL8OBSQR2yGdkXYYvRQlPb3E5mpdvlmA0DEnokGdiSJbcA7oGAn6Ngh5grZhFMxjMOVwlllDnUL7gn9Rva55VXBFdRwG8FY7Bh8QcKwE7bV3qBDlWf_hLio3ihJh0Zo6Y8eWRhCCMDSEtnNo_G-7zs7lJpuNu24yI6BKZap1DRqjHSx37A_dRVZP8vmtGAf9CcsWB-tXgtewDYVHpfiLSLLSmRTs20lktMvYEFkxHr6bQ10qHhlqmLoCiZHJBzA83NDBlG6Qt1YMskDw8UcKIGq8afAQbpdBJF3PtvAeiICWvROFtBa_rIKxfTwPwf5X_f7XDHl8tlPIZQhKyhyEizfy4qQ1wAG4u_ZUCcu6dhV1dAcK5ID2Ab8feBybP9Fws",
  "id": "rs_0ac434a9828d52db016ab2ec152c9c87d09ec36fac1e372884",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.285,\"left_z\":0.055,\"right_x\":0.255,\"right_y\":0.15,\"right_z\":-0.008},\"note\":\"The bear’s torso is centered under the left gripper, and the blue pen lies slightly left of the right jaw center. I’ll lower around the bear and align the right fingertips at table level around the pen.\"}",
  "call_id": "call_m6SDvtevrT2wDfd1T4O5CoSZ",
  "id": "fc_0ac434a9828d52db016ab2ec178fec87d09a5eeca2a25fef20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_m6SDvtevrT2wDfd1T4O5CoSZ",
  "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]: [-0.7868, 2.0575, 1.4208, -0.2058, -0.6273, -0.6743, 0.9968, 0.9031, 1.536, 0.4793, -0.001, 0.728, 0.5671, 0.9969]\nstate[eef_state]: left_x=0.4418 left_y=-0.2911 left_z=0.089 left_yaw=0.0732 left_pitch=-0.0891 left_roll=-0.059 left_gripper=0.9968 right_x=0.2645 right_y=0.1514 right_z=0.0162 right_yaw=-0.0038 right_pitch=-0.1568 right_roll=-0.2155 right_gripper=0.9969\nstate[joint_eff]: [-0.6496, -7.9521, 4.3966, 0.7009, -0.1636, 0.1343, -0.0073, -0.253, -2.2085, 1.9487, 0.0122, -0.5446, -0.1441, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42ca142d922d9bc3242918aadb5aa251c9ace55d04722c682fd02ebdab887df4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f5a8ea496f417262172b1a56307cd0ed76e9c84fb42dbf59c585491fa61c206",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f365dd1bcf58c7e2a662c73e9e1a49f78b54c3dea83296ec795c2f354db01e49",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.783, 2.0071, 1.6146, -0.5365, -0.6113, -0.6483, 0.9968, 0.9058, 1.1595, 0.7567, -0.6945, 0.6804, 0.5602, 0.9968]\nstate[eef_state]: left_x=0.4352 left_y=-0.285 left_z=0.1411 left_yaw=0.06 left_pitch=-0.1553 left_roll=0.0187 left_gripper=0.9968 right_x=0.2438 right_y=0.1366 right_z=0.1287 right_yaw=0.0243 right_pitch=-0.2152 right_roll=-0.2253 right_gripper=0.9968\nstate[joint_eff]: [-0.4171, -11.1248, 8.4034, 1.0867, -0.4957, 0.0269, -0.0073, 0.5402, -3.9179, 6.5846, 1.033, 0.5201, 0.1587, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuwhTDCepuMf_71CGpsl0I3sy9BCzUEeFEtkJpRMRJq_C2jxU53JTjgE2NF6Z5y15RSHrx-92JXQCmFvHiEOkTYvarvGRezpQf-Iiq6nLUAQPZOAqgjC8Y8M45kjHu6TAbl_9D9Ax4WW3VhahXXytFpnr4AZaoHaEFqnFlN-4dqWBR2GmMWWxJwPxZW19rMdgZ4WMQ4t0J8kqXT6pfjYxdFqg53OcJt-LB7m6qEeHFN1_0hFbJA7wAGSntAJ7kszNmbDCNa5vKO4I2yqT4uBtwt4L_Xlmw_exLtaRG4Bocjm5h7rRvYC3grDblTMVM0BsIxDslvaAZIXaAguEEIHPWRtoJJsOFpaptCOjN2meBKn8ba4L9c7nU-x9JkuuTfyZ76LJOfCIjCBE5r1qLW9CiVtOQP6zu22nYDgD_TNVY1mSV6cTlO3B_JENSUUWglRh8dF6HpQWNzWnD6QhyFFzfdQcCNL_RQ5lbmsKEwTCE4VxAVcKef4Po0NEKNMATzWodYI0J0ASG_YgeaqZOsdgcJCb1pXaKN9VupGX9Ioszh5LYSRTfClICarCcCrhSQCXq5so1zraPf0Nz1JPVJDWpr51_rQjRE0vUEndGFKnYtaGlBXuBnMstLnP8Z5Ri0EM7Zrl3lGj-FajY-n6jIOBtQ2P5RukZEa11lCey-JnvNm7RUGYqvW7QQWipt-E-BdY6oo2z84kTuELX7iHb3Sqw_x5H5G-QZD5XyFOUprf06MHIwHdqwmJYKzQVjd2V7o9uXJLXO9mo1aNUlPtAPB5AP8tZLX-9FQ5bTebNivgcKuHlKl7R8a-rd3LZPRAg1do-to2_PClWZ5f8Myo3z6LVURPz-nFUJnlQI2U11cb1z2V7PKBuyKu1hChbZXMjmcSDYhXQ3KZaaPW2Pl1pH2lWU1q0BvhyV3POQ_g9WlmdydaO5A1DOXJnx0ZE5Fb0qLgAMGqGpZyvRHfkuyRAV6IrFgQUySqV60ulm9AtR1HHeBiITEacroS-5MoOR-21sMwgPDpbdEFAV5O_Zkc4HxAgpILb79Z0z5GYd5idsUlMS9VzuSe6pezksrZ1_JI-OBGRklFoZ5LJ729f6LUYWSVupAJ4mxzoGr-bi_ZA-dhnIyFKCNIMHiyuAEAIfck0QSP8bzXoi7l7PFSyCf4E3-0uR9yABoM9GzDpNUchRWGyIQRTJIuA9ne3KSNdC9tp0jqN_cTzWhewZjBt2GKVIeuTIFuFVGlqP2MJOzzauggacEN7BPKhZv6rJBcH6WS5e0iyEqCrjhWZLt5963thbSBXqZBDEgcZDuTqX1qBknrgR328EDiPEkFDZQmQ1itHDVaznl1hrXUK0YqXKIdPqpFuYywmhyGJX1Sm3RXAJC3F5alAZJUA8tTp8rTk55aZi4xX6kNq-a1YEOrgs8-qBmhH7ax66-A58tgNqg-21MYgFAKamPbVwu53JThAwdK8vpFUoN23yxX6oLfKuKCFWqeTcjqg==",
  "id": "rs_0ac434a9828d52db016ab2ec1cd49087d0809a8978f7fd1fba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_y\":0.142,\"right_z\":-0.01,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The left fingers are against the bear’s body, so I’ll secure that grasp. The right arm stopped above table level with some tilt; I’ll straighten it and make a small lateral correction before closing on the pen.\"}",
  "call_id": "call_fOpHRkQcxCFT6gttzV9skozl",
  "id": "fc_0ac434a9828d52db016ab2ec1f605087d091c20fed3db0cd32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fOpHRkQcxCFT6gttzV9skozl",
  "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]: [-0.7879, 2.0644, 1.4151, -0.1661, -0.6136, -0.693, 0.0436, 0.8818, 1.6642, 0.2474, 0.696, 0.7322, 0.5842, 0.9969]\nstate[eef_state]: left_x=0.444 left_y=-0.2969 left_z=0.0881 left_yaw=0.0704 left_pitch=-0.0797 left_roll=-0.1012 left_gripper=0.0436 right_x=0.2746 right_y=0.1533 right_z=0.0091 right_yaw=-0.0237 right_pitch=0.0556 right_roll=0.0615 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -11.8222, 7.2137, 1.0037, -0.4274, 0.315, 0.989, -0.9778, -2.6188, 1.6889, 0.398, -0.022, -0.2222, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33a3814033ecad9de7dd32caa085db1a0572af67b0cbe422b2b9cf4cf76ded28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8b91674caf6af95fa0a24f11bcd8bd480ea6b6c20a2f25ea995975357f768c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4bf9e015091d1ac5d0c9c542769c11629c2aa65b4730f6850d00070a1348869",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7868, 2.0575, 1.4208, -0.2058, -0.6273, -0.6743, 0.9968, 0.9031, 1.536, 0.4793, -0.001, 0.728, 0.5671, 0.9969]\nstate[eef_state]: left_x=0.4418 left_y=-0.2911 left_z=0.089 left_yaw=0.0732 left_pitch=-0.0891 left_roll=-0.059 left_gripper=0.9968 right_x=0.2645 right_y=0.1514 right_z=0.0162 right_yaw=-0.0038 right_pitch=-0.1568 right_roll=-0.2155 right_gripper=0.9969\nstate[joint_eff]: [-0.6496, -7.9521, 4.3966, 0.7009, -0.1636, 0.1343, -0.0073, -0.253, -2.2085, 1.9487, 0.0122, -0.5446, -0.1441, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuwnJFhsZAMO-iS_z9rOpVxmQhM-v3HuBbrTamlN5ya_Mxa9pjWY1YW05OHvLaaUUScJYjMcs0ThLNSwz7mxj0yc0W3lLc-EgfF7hAfHITxds2Sj0DakU4TxV_VC0BvTtu2A2XN9ujgawn-eHjlsxlhtkrtmXBVnaQVg239aeZS6cAhox52YsCIRBV_jH1ILKEz21fM6R8uHroHo8h_cpZyMFmcRt3YfRdz5Tv-NMsx-3BVuRn9b8YtWjUktpfrLHbkm4BsCntgyxJ_BtLI0KtLwObpz2GZS0H3b1rIg-M9VYuBOXOy1g9wc6ecmstUvtsw1MxWW0A531vFvs77HaQLGfd2-1EHwGDe2goTBqJAlFxprkjfSpqJH8zOpbHq543i0v0cFV3viRb1xq5TX2xEJqAGeibvJu119FW2SuJ-BNVRfh7B9Atbfg-Vk72DHnaz2jrJ6AilKlmukGM3EIzRVlCxFi2oabUMhM2cXQuynfzC0MTAtt8GeDCFlIQSZWLttwFSRPklbzxVnkzCvqHn8cbYxbHob7Mmlne358eCNwjYQSf2RuBYfzEi8f9I-E1MaqU1dsIpxlzLG3fY8E7vYXFzpqxt4dAtj6VqKlp4kPTShFK5kyvfo7rZVZMwBbUFkdJRwM7hR5mxYwowAu4MQ42rcr6mQQkZvKG7K1owXgk9W872qxmhZ7rNtUOXTPsRPFZGE7tT2o4vS4xbCuwQiMDsNK68RA5GNvWfo29Lm1YHaWigP6iW-gr4oloUgKloa8rZ6gLQc-fr5C_9YAlJufU7lkQoOsh5hotjq-pw00-0vtYEq9Iv3cf-tnJdCKi5CkQQN6bDFgg7R-P_Os1PdKJQh10QhBlMp-xNpCNcXurgihVkswUHrMpSvHoGG4M8-Uc4cWCrqB9XBJy0fiuAJE0jFfQUJAK82ucSD9phU2xL4JR3f8jQvkYf954ijsdv1345YW0UHz2hcHLiMepX2PRZWUklJDcJ8RHl9FaIcC63Yo4xsUuZ9RWTRXTRx2Qbx9Pk_JB7G3_I8OXwxBDkmRDhtcjHwvvaGnEFjCwnIQxLwjyAqPkkck1HsfYgUgyUbP0p1zH-YV0SatdH0bhn0yOM88V3hONp-h1oRnUsXSbXFsCxHe39DRFoxZWkGn51wCfH445t7eOoW4n9WGgyLdMsVBDMOTuKhVR8lnPlY5alF8IniFKavNO2Ig7GQ_6AjAoF0FwrgEfV9rYUFI0lru0K3faWxgEH3eKwSp14MYB9Q21hJD7cXpR_vJJs2vAkOZuJ8iatfSKlpExWQo_phVbRYnGxgzoMFdJfvAOXZ3G-sVn8wDkG9yq8B-lgdNa-GJuPqgceO4F3OvDFWSQXv83ug_EIQIIWyRR13RrQGxKY=",
  "id": "rs_0ac434a9828d52db016ab2ec2489b887d08468bd3ea6aa0b87",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.17,\"right_y\":0.115,\"right_z\":-0.01},\"note\":\"I’ll test-lift the bear while shifting the right gripper onto the blue pen’s centerline. The pen is still to the right of the fingertips in the wrist view.\"}",
  "call_id": "call_O6DkDQlF5OPtaFmlLAVOCWZt",
  "id": "fc_0ac434a9828d52db016ab2ec26594487d0bde1de257570dd69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_O6DkDQlF5OPtaFmlLAVOCWZt",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7868, 2.0453, 1.5837, -0.4099, -0.6025, -0.7109, 0.0452, 0.7494, 1.7584, 0.1326, 1.0515, 0.6647, 0.4877, 0.9969]\nstate[eef_state]: left_x=0.4445 left_y=-0.2989 left_z=0.1266 left_yaw=0.0775 left_pitch=-0.1233 left_roll=-0.078 left_gripper=0.0452 right_x=0.2851 right_y=0.1213 right_z=0.01 right_yaw=-0.0623 right_pitch=0.1245 right_roll=0.1136 right_gripper=0.9969\nstate[joint_eff]: [-0.2667, -16.4991, 9.5932, 1.4286, -0.4225, 0.1783, 1.033, -0.4855, -1.9897, 1.347, 0.6081, -0.2711, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67074eb1c5f99d896e0388b8168a6d99a14b5491ec1c17094e36d51b4cc7c2bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:338197729f6475e39457a8fed7197359e015ff986286da7412557e50fdb151cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1fee5ddfa8ded6a35922bd594139dc79ecf328220162d7f67a0bad7c450ea5f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7879, 2.0644, 1.4151, -0.1661, -0.6136, -0.693, 0.0436, 0.8818, 1.6642, 0.2474, 0.696, 0.7322, 0.5842, 0.9969]\nstate[eef_state]: left_x=0.444 left_y=-0.2969 left_z=0.0881 left_yaw=0.0704 left_pitch=-0.0797 left_roll=-0.1012 left_gripper=0.0436 right_x=0.2746 right_y=0.1533 right_z=0.0091 right_yaw=-0.0237 right_pitch=0.0556 right_roll=0.0615 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -11.8222, 7.2137, 1.0037, -0.4274, 0.315, 0.989, -0.9778, -2.6188, 1.6889, 0.398, -0.022, -0.2222, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuwtm6Lhc3pexlY6NgVeIHIG44o2e4rOFxEZ56lwUEwiHHY4Dne0r_ndjCtkF87TycLoWyLe-bQU9Rjh8Z76YE-jtOXWq3siTqtNyTmYiAqbM4bCsUf1q-ZlQ8IGYUwi6Qnw1rMXz6elrHdlzxLtB_1axun_Vh96Pw9RH2Tny35kSY6Zi8rDdV0OtlP_JuiexvUiqAT_jyhQqNTtD5PtiiGVPjSyuS3hqdFaSSevKCLLMiIsP9lqt-RsVoiTGARG99oBJ-FC2L2Yoy11Q8DFQhx4cb3c1r_6NBDKqIvosck-Tn6QiIfiKgjzXJW3RFJwB9AT2rOF55Zihu3qUWLThwg7GJ4l-hn0l9tH3vSleDyVssois7ruF6MvpJGZfzs3QgJ9w8SgBNDiqvJ8HMG_kFLdqbyDoJPskXxyRpLbOd8xt585kVDYQXa7DoDIOi6QFlIjOE6-YRu7o984mlHsu1gh_JohEt-usKr2UhMYJ5-4zwRMDR4qS2RrALOcCT5IXBcL6pMNUdUCh_folGDbkuSDA5ES2jLnzq0-ctWn5I9VeTzHQFltonHtcV3u6zOB002FPG9t85VXPsyxp02nplYZPrU4vsylI2NAUL9rr-K2hX7mLqtgLix8Q_0GDXFyCvXbjwasY3iYfbp4fpSSM_IVwDBotF4HdmT0FFHJ8Dy_M9JUuFR03B5pwNSODF1XQh03peMMsVzIpwjOiC8YPCDf8fgEjPGCtPN5EJHHYPTeU70LcdA7KSqzhqPoGhd7mPk_k3_cpaGhnIqGgwp9Gq5gg6LXhGA7qqj0QXjw3w_AVOaLK34DtVRhdXF-8tnl1B5PxL3XgwDfVmU9az_LkokIJYNW8vxs7ubIPsMa0ASqpC7l2tAXAUM3k-dl6jViekcN-eLnd8fPxG4zVXAfjAuqrEpGJLpySnrlDgOtq29_AWV7-Y1US_QgLU5oOywQ9V5-R87VMcO_fOg_vmHSqEl4Ils8yR4WixL6Txo_6ALwzJlQll8AYunn88BEVY-WDyI_niIuFz0dCxgYmX2Ohcu-zqchook1lW7LHH4h5HE6_-VzRlDKTvsEyNtwJF64_sIn2bb2AD73n9jSIKuaWPs0eH9v2clyv9Mk94kVmO8PubdtuZ4LNtQpm0-44_4EyAMx_nboyAbcyHULFSS4FlP0NUGfGoURlH1c50BPnYLdaZZoipNzm0-vJ86jwu5eTvx-fzJ6xA1GZPq7TqCqiWblyFtzmUtRUZsjVg5v_4S6fLXhw_FHqvdOAu_QUkLVI11oAcjgc4A_AFTJ8g3Kgr4Q0iCo3YGBAecnkvaFFcUJASHkzEnC4ciATNPsCtUIEdDBBhL6wpcKVfW0fiwIHF_5_YmNKsLiYbETjzsCa8M6SXhLUm6tHcHG5V95L-rFVTtZ",
  "id": "rs_0ac434a9828d52db016ab2ec2a894087d091553decf8db243c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.4,\"left_y\":-0.23,\"left_z\":0.22,\"right_gripper\":0},\"note\":\"The left grasp appears to have caught the nearby basket rim rather than the bear, so I’m releasing and clearing it. The blue pen is now centered between the right fingers, and I’ll close on it.\"}",
  "call_id": "call_ex0OSiYmoiyGjc8um2ccQNO9",
  "id": "fc_0ac434a9828d52db016ab2ec2bb6fc87d0841bdd498f98dfc5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ex0OSiYmoiyGjc8um2ccQNO9",
  "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]: [-0.7406, 1.7435, 1.5013, -0.6117, -0.5682, -0.6838, 0.9954, 0.7448, 1.7622, 0.1299, 1.074, 0.6533, 0.4828, 0.1499]\nstate[eef_state]: left_x=0.4072 left_y=-0.2386 left_z=0.2066 left_yaw=0.083 left_pitch=-0.1301 left_roll=-0.0876 left_gripper=0.9954 right_x=0.2862 right_y=0.1227 right_z=0.0117 right_yaw=-0.0566 right_pitch=0.1314 right_roll=0.125 right_gripper=0.1499\nstate[joint_eff]: [0.1846, -11.453, 6.6256, 1.3797, -0.2564, 0.1001, -0.2173, 0.294, -5.2034, 2.7829, 1.37, 0.2466, -0.0122, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a78dd332897e50fa99772bbe26ebdbb16dca15f71600ae268a428f05d4f842f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2757f262b000609ef7f9224d162ced0d2482cfe87eb7d8215eeeb0f536d74a43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:380006d36802fa248fdfb3aad1da85d53c993a221f12dd92f225be85c665fa78",
      "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]: [-0.7868, 2.0453, 1.5837, -0.4099, -0.6025, -0.7109, 0.0452, 0.7494, 1.7584, 0.1326, 1.0515, 0.6647, 0.4877, 0.9969]\nstate[eef_state]: left_x=0.4445 left_y=-0.2989 left_z=0.1266 left_yaw=0.0775 left_pitch=-0.1233 left_roll=-0.078 left_gripper=0.0452 right_x=0.2851 right_y=0.1213 right_z=0.01 right_yaw=-0.0623 right_pitch=0.1245 right_roll=0.1136 right_gripper=0.9969\nstate[joint_eff]: [-0.2667, -16.4991, 9.5932, 1.4286, -0.4225, 0.1783, 1.033, -0.4855, -1.9897, 1.347, 0.6081, -0.2711, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuw5qxwSpqyoEXN218hZ-bj1wMqewu5NGp14nQ4cpg2EmfrmaZm8Cwu3p7NMKR8z3baDJGE6Snc-TDU4ck5Iaf8uWKVTEbalPPzKgZLfZF0XAblSQOozE-o95NQLMZZPsirTewrIKYJOC-fA9utc_dak9qCmB7JgqHrlIU5unaMaUGrrawy-5cniizFEJ54bQ-9g8UI4yJwtwsp-YNb2MRB1jZ1-EBm1po5sCdZ78hLK5p7EyOa62_E9FD4wIPKTgRSo2MpAgSGU7GyQWEeP3xBBR1otEP9XxRkmplkFBxKNOzUKEOjMyVoMFvJf02C0VOOdZVQ3b_B70QBJi4c7_n2ZX7PR722McO6w9m4SRawlhAjRs4J-y3i5eMC1Zx9ZbIb7U7dAOHGle425whEeXKZ0yHUXHoFZNyyqQ3_oMWE17RMdBOQLy0dEO9nOZvtukBKVA6NXm7aS6mI4AVVom3Me4gPTpJaTr-FzIPG_ZsZBGwGZ342nchfhheYGnWTe-mpCzwBXIW_lFGESzFN08cYmJMsADN_BEx-0KDIXM0rWLa9mIB8M80VCA4lpoQvSMDNOK6CBmgNHt75HGJ4zZ7taRRZLO85hUM5tp2LrA7mkSf1ZsDbrlLGcA0z1xW38cSmU6O9wC4zs7KsgwSTIsXA6H8ftTopJ-LBusaUJsS7iMzhhAb0LpKLQerCjReV8vKVLxTS1mPfNbOd6-VQb-6lQyX-2va-k2JGu7pUj25Aor2Vy5I1tst5f5MflePj2w2RbRVvmU1nf7YpCTHMSJ9hAND5ahJ6xAHkLnlGf0LNT-bM_xz_zPiAhN7KSLAEGpjzVCObai82g2kx7Iy2qtV8WfzR6zUYNWS4zwcwGmLAZmB-G_A7-K65Q9CabxNHGbdK3Rxyn6vjApBXZD5aKF3PdxERXFY_OYhHnX9fbWnClUx0WQADy-_sO3OR93djUI3UsbP-Ft9wt-Rca_XJ2obm4vLi9E3-PP-fsKCb1DaZ8cACK3Lindk7KL3bGgpzgNY4yf0tzEMdI0ishFzhgI50YPecputUfnxMpCl8oO8hlrbHE6Kycz9NChKR5w4TCnhN_G6aApY0Dc3lTLj-LnbPSqUpUlIHvJcav9mY3RbuyaJgg-KhyFoMFLG1Q4ZRiaEXy0SNyUlO0WYlByeQfGpAWBaMeLF862M07xSRT4j1wVmdctqenvYOPqsQ3GL9THeJtC7jYzd0E_oTOAazNVNLaSU9SIw5BCwFy5MAV4R3GISKvNy48aad6Ke7-FmuhA0OpiSbq4QaAblN2Vn8hSBBm_7fouy_9f7_ULnDX4MBTgBEP_26AaR6zW1RUSJ7_Y_58lOr0tIuoUwoT6SsrMyKxlyEiOz1oUQF6LQq2v2qSK_qVxb6R2KZEia46xOV9bi84ZoADXfTETHpiC1NNT0-Efxbkf0cdJ2p8nTNkQ45--zv2byrF7V-m2Jp8G1Dk54MNXlAcJZVJOFgSez2i49HW0-rjqKh7XYx1_boBEgsJ5TMWMPED14qG-n7ouiHmC-EFgaPllxgl67qR6GtgFYgrEQWpstnXksZWr2zw8pmB-n6B6ZK7AvljjHH5E82GeV6VKVq_nBH1cZFTI86-G4S7GEAk_nWzLKGdsinGrhjJiIOX6UdA2V2Xj6ZVpPYJjbO_jv0aGm6_LK-H6ijwpkYEAtMHDvaur6IfD4uMfpH0yNFLEhvLTZymZzSRIwtf7sOA1gNlZHiADOgpjGiOEdBdHkrmHJDK-yjdPD85V6eAt5E=",
  "id": "rs_0ac434a9828d52db016ab2ec32688087d08990b62603bcc543",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.225,\"left_z\":0.045,\"left_pitch\":0,\"left_roll\":0,\"right_z\":0.09},\"note\":\"The bear is now clearly visible between the baskets, left of the previous grasp. I’ll lower the left gripper onto its torso while test-lifting the blue pen.\"}",
  "call_id": "call_f8I2qgeK2UxOeE8JqZDPoL53",
  "id": "fc_0ac434a9828d52db016ab2ec3785a087d0bb5706ceeb0c8577",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f8I2qgeK2UxOeE8JqZDPoL53",
  "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]: [-0.7181, 1.9694, 1.0409, 0.1375, -0.6346, -0.5453, 0.9967, 0.7448, 1.1805, 0.2333, 0.3912, 0.6426, 0.4816, 0.1547]\nstate[eef_state]: left_x=0.4227 left_y=-0.2255 left_z=0.0442 left_yaw=0.0757 left_pitch=-0.0494 left_roll=0.0111 left_gripper=0.9967 right_x=0.2834 right_y=0.1221 right_z=0.0808 right_yaw=-0.0476 right_pitch=0.129 right_roll=0.1296 right_gripper=0.1547\nstate[joint_eff]: [0.1846, -9.4291, 5.0393, 1.5116, -0.4615, 0.0366, 0.1245, -0.0615, -3.3846, 8.4855, 1.5067, 0.3053, -0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:199688723701d6edc0c975fcf845b241c4ba9c71708e9af7ccde37a9968fa187",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2b017b29cf45b9b7e6ff9b81d0d9830a4f254e176bb82ca909763024e6e057d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f01c85ea82d8d30a4a80e87b2b547c5ad41c225c501e727cc5a6062cbec66b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7406, 1.7435, 1.5013, -0.6117, -0.5682, -0.6838, 0.9954, 0.7448, 1.7622, 0.1299, 1.074, 0.6533, 0.4828, 0.1499]\nstate[eef_state]: left_x=0.4072 left_y=-0.2386 left_z=0.2066 left_yaw=0.083 left_pitch=-0.1301 left_roll=-0.0876 left_gripper=0.9954 right_x=0.2862 right_y=0.1227 right_z=0.0117 right_yaw=-0.0566 right_pitch=0.1314 right_roll=0.125 right_gripper=0.1499\nstate[joint_eff]: [0.1846, -11.453, 6.6256, 1.3797, -0.2564, 0.1001, -0.2173, 0.294, -5.2034, 2.7829, 1.37, 0.2466, -0.0122, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuxAV-7lw5DC9n4j9y2yBarx94H7QcHMjOHda8Yj7LM9pkVZWYpBteNjTumEYPIqzI_DPNO93RDCtjxatpa7OlifP76SL6cPSEq_8r37wSmhG9f-B18LAAQxbYPBUigSValQs6JCKpDJCTgomfEnbXjRtfcIapepYvHdlPg-ZPenQn8mX9Z983B481UXlgX9eGHKH3jU3nw8JJu3EEihD3BAPKwhJWoZ0EEd21aaDZt6VeTCVjid8c9dv0HNkO0WFnUmYrQw4B4zqKKLWCQ-fhBIGPOrrGn7xTwqys6_o1HS45RA2uXPOd-is5O8Fr8YOXsn2hAqrVzSfmkycanbWXekoc_bmsMBVqdiqvEZ3oIG05OwaZW3sMXlK3RwLPGblHw0hcrfYDq3aQ1YFHV0EvVE0qJ81aKF1B1O3fXNTclMHzbQc-u-GLjDzcvmSHb-oIlhHp-KpSUjxsV4FfmgHevMyj0pQvlOMwJ1uNGZgAhuSNch448W0szLor4lij38S3dB_mJ40O10kDD37oNWuTJ28Stc96NtJ00gFGhFiOaYm6dBKn30XJkoLqiuT7G9rgzwINhc2m2aklQEXwx9BzmusgEDH9niDHNd68uUgvbUKOohJ0KDoileFMDS0TVqVc9ZiwdFsxTzWwVT9fywN7jG17Y-h5QHIcavna4X_Ys_2FpG2_EhsaHiD0u7r9QKn_764IO7GQ7mhFeTZa01jI2fcxyRF04KwfPCkA3ZnIhP0eWBDvh2D_Pllj5lRykb_IaoBWwuDUVHqeHJAv1puALJPPtzCPRavMJYDqRELawvhyCp9lqmnsJaikkKjdZUtnu6Lu0ab1Cb2pySgYNFtxhwxHXuawrYhWHWtKHXlctwvTMbhZGTBNJ18kJdqnqLo0L9KIhU7MrCt40OyKt-8jMlGI6bz-dB5_eIBeGietvwkTpGk-wbNycZBgJ3GcXoW-3jzcogLBdUMhI60u1TTWBJyCNLZyt7_MK_5cG0Ebxvv1siwbvHVRWPKpEFMS36JmRWFUvl8kKXZbL7pw8xipmGh5mi94Y1LjOYCu9_AgmPo2rPgNXTSQE4PWd04F2C_VrwPOwit3-3QSORFF0vKJ0pvt0jLTcAw6qz1hgrYAS2edxhG7AzUkQktBBXPEk1vvAtWu8eckKyVTUW-sgRWTSdwuDYf_o2MaBgBYTgaYVAwOz77Y_vt5iIh7AT93plp9XkJdXB1K01PsCioSMppFX8Tlo2vqElsOkRzd-50pwRMTKkiJCBAjjbGfnroGLgnLHeU7lEpZAPRXcmLBtko9B21ilKo61bQ_hSRlkNTgU10TDKuEMCywi5hp5mY1b-jVXLgiLqpGYTMFk3xSlXNUGAfmWdOK6fQbjN5Mj9kTIxp8AsVF494FlTAJXu6GqrMWAo2-Uq2VjkTWaWA_0gpwv3ppmUYqdXI0pkjCPw4b0ZXdU=",
  "id": "rs_0ac434a9828d52db016ab2ec3cfc8487d0909f96349a773207",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.48,\"right_y\":0.19,\"right_z\":0.22},\"note\":\"The blue pen lifted with the right gripper, so I’ll carry it above the right basket. The left fingers now surround the bear’s torso, and I’ll close there.\"}",
  "call_id": "call_LOX9EDepkSacbPQEZglc8K5l",
  "id": "fc_0ac434a9828d52db016ab2ec3e8bf087d0800867c96e9c6a86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LOX9EDepkSacbPQEZglc8K5l",
  "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]: [-0.7185, 1.9858, 1.0321, 0.1616, -0.6506, -0.5468, 0.0731, 0.5274, 1.7123, 1.243, -0.0345, 0.4427, 0.3508, 0.1547]\nstate[eef_state]: left_x=0.423 left_y=-0.223 left_z=0.0387 left_yaw=0.0878 left_pitch=-0.042 left_roll=0.0186 left_gripper=0.0731 right_x=0.472 right_y=0.1915 right_z=0.2054 right_yaw=-0.0353 right_pitch=0.1143 right_roll=0.1229 right_gripper=0.1547\nstate[joint_eff]: [-0.294, -11.3162, 6.2154, 1.1502, -0.0952, -0.0317, 0.6716, -0.8821, -8.9231, 9.1145, 1.5604, 0.1343, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f473a5673f124af62bbe4df61b104d4fe3d1809194960ae3ecd9d95b15790019",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b3a38831752676b9d7bc2b2ee39a1ec1a9695e97946a5240d9295c4c2c1ded7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:950bf42aa42ff9c31cde0dfbf92119a510f9fcada622b27a957af712bdd9f498",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7181, 1.9694, 1.0409, 0.1375, -0.6346, -0.5453, 0.9967, 0.7448, 1.1805, 0.2333, 0.3912, 0.6426, 0.4816, 0.1547]\nstate[eef_state]: left_x=0.4227 left_y=-0.2255 left_z=0.0442 left_yaw=0.0757 left_pitch=-0.0494 left_roll=0.0111 left_gripper=0.9967 right_x=0.2834 right_y=0.1221 right_z=0.0808 right_yaw=-0.0476 right_pitch=0.129 right_roll=0.1296 right_gripper=0.1547\nstate[joint_eff]: [0.1846, -9.4291, 5.0393, 1.5116, -0.4615, 0.0366, 0.1245, -0.0615, -3.3846, 8.4855, 1.5067, 0.3053, -0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuxH6Qfx2rUEcGX8VniIDlZzrA-ULbTmusu6p6OjLCkJKlayL3ECwsfnQp0_wKcx_kz0sbOZ_tKK_sVCvECxUTkkAQWTd5QBNYP3P1HjuxUyM0isQT49KzqLQRU7V81wN5ZWarosAuGuXowp16_GkbHl6_WN2GBgmh_bDteRTuslHzuuNcIluZaPqvi6gjEKUq1JopApsCuDsAc8L2eKdkVa2utJ7o_hBESGI6OnodaS2-js4ABeQpaPNSTgZM8IwtTTBL8ljMw9TUiz8iEMe4fu2EpMK2GRHmTeeisaDPRcEC-z494WONqIGkf5hdtlyYnx1DbjNiYj8ekxcmpMa8mduIDh_tR9tcaq-UzeRCzqyIOgO2Gd_yLaTs3lcTsOb_eDCHCYJ34Shyg4eS_5KoSOfxkLzY_KV5NUonDLVJeAMYg1v5NuwVOjngIBQ9wNJcCjYgk0T3K3j9EHF9KWcdsr2pNdeZrpYTNOjOJJkIV9a2WEOCau5pbnkmdYk1esgFdpBtn2lOwPg0bp1luEZ9CpYnkJs1q-4cuRnMIW3yOVYo1ksaCnACaROAzkezAHCB9ES296ZY_xb0cOhDtNh0rRmOU7V-B-GW6XZlNDm1vSMF9y_RacdtXlc-UByPlDxkme4acufIBUteebweC32_WMlBrc2pVJZ_EjKfCSOc3TInB8fD8_DsAWlevvbowSPBrQQX4IyCmjdMzioobiZpprXeXGviuqDUskepyA78KfhkgZmlL3JZwQ8Rm2OZWAMFwvavXhrwmjHiif0dhgP1EV0UA1IengaGzmPtH8o87RL7q-TD2AaL2v1ICojwpR5Q9Vf9pdXwS_OspmYTbtc-5Ua_gg7MXjAP1Innd5hIVS73wl_tCQffOrgodDFOJpOxlMuVrPUAwUR8yuVpWGIDJYA4DQPRHR74G-pfJn_pXXkP8s39na-CAYea4oqBO_fmv012zzf-gnn-t-OUCOOaO6DESBnA-fW3WZ_Z7gZ4x1lCM4vF0CLYPDoFlLwAFq7FKiBXCyiuqqjWrjrYc-e5rBLDCkFPKa7Yz9LhIom1NrF82rjVOAfrPlCDsse2mt6QJLsi6t4g2bG7DqbG5C9wGJdB4AXNlCWJ0_ltffnGbGUvRXO3doeFWOajs5xxBV4mwnSVwiAw2C7CqAE_Fi2msp42xWJSDxVcUAB8R9DSBpwYGmDIiFG-9JvRDNhA1jr0Zr1cL-TXG7Nmtln9ltxyXbAy_G3JWoXXhyAM77ZnHnvkfYKXnYkPJWwk8hpFNHamUT-FQLefoFXpXNw4tJ9zukzVkhQ3Xo4bVa22gcZsLiwbzeVoS_flj_GS5ZK1fvrROO",
  "id": "rs_0ac434a9828d52db016ab2ec44fc6087d0a801a392526c64fc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.13,\"right_z\":0.13},\"note\":\"The bear grasp has some material between the fingers; I’ll test-lift it. At the same time, I’ll lower the blue pen into the right basket.\"}",
  "call_id": "call_PhGClR2zkYHR2DiSAFWXCVim",
  "id": "fc_0ac434a9828d52db016ab2ec46096887d09554556b987fd71c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PhGClR2zkYHR2DiSAFWXCVim",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7185, 1.8549, 1.1603, -0.1398, -0.643, -0.5541, 0.0752, 0.524, 1.8103, 1.0603, 0.1833, 0.4328, 0.3515, 0.1547]\nstate[eef_state]: left_x=0.4204 left_y=-0.2221 left_z=0.0981 left_yaw=0.088 left_pitch=-0.0751 left_roll=0.0395 left_gripper=0.0752 right_x=0.4659 right_y=0.1878 right_z=0.1218 right_yaw=-0.0281 right_pitch=0.0582 right_roll=0.0945 right_gripper=0.1547\nstate[joint_eff]: [-0.0205, -12.5744, 8.7726, 1.5263, -0.3492, 0.0269, 0.2027, 0.1436, -8.7863, 6.5709, 1.9512, 0.2466, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1fb487e61c66e4b07f2203af06177b44dde056e5dbd66dfe4f380c192b7b416",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:664d798796cf8713ccd125e5e87f5b8184294b17ce95668b2e3c1063082aae14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfd677a6dc743a55d4d8050d5bc72898bb58a9184dbc8c15ffb4083c5add4e85",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7185, 1.9858, 1.0321, 0.1616, -0.6506, -0.5468, 0.0731, 0.5274, 1.7123, 1.243, -0.0345, 0.4427, 0.3508, 0.1547]\nstate[eef_state]: left_x=0.423 left_y=-0.223 left_z=0.0387 left_yaw=0.0878 left_pitch=-0.042 left_roll=0.0186 left_gripper=0.0731 right_x=0.472 right_y=0.1915 right_z=0.2054 right_yaw=-0.0353 right_pitch=0.1143 right_roll=0.1229 right_gripper=0.1547\nstate[joint_eff]: [-0.294, -11.3162, 6.2154, 1.1502, -0.0952, -0.0317, 0.6716, -0.8821, -8.9231, 9.1145, 1.5604, 0.1343, -0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuxPA5fTjpujcnko4ZJU0-rTsIXAKRZP-UlyynLmqhrhRhZpb4-pPkpSELP4O1hVb09Fi4uMLCqQEMOGSYc719CvSZxX3u3z_j2fcF1kb_RdkRNp_wrruSi7-JyTpQ7V9SoLokYuYx9QJN3V2iYrpbmCLpb9-09LlJXC_griv7ckEY1F0PXXOluy1YhrG0XQtHS6by195Dsya9FybFbevLeaKlhytCvZHfwx60UHKEozH_y5Droys_N89wDBDXLU5gUYCKZFvcsFroExLLc44vdB79SCDeepaaIUkLV8qafNKGjwKE9UGm7WjqN_LfaXSPkAf22z9ql1wAbjRbSmoTggjFwqjc0HYM47MgLIyeQgkznL5bAdQ9UOAcW4z8hzSRN0wkeq5AGdFktrFL8c2T73ZNxt2RSPGKpTUPPa_Q5bGy3QFirT-zkUyif2nGxoFukCgJwh4V6sP1biyHye0fqECmvF0rG6CXNz_jMZWnPHP9K9Y2D8ZG1dzwND_OJxY1lKk1flHAmTMpySRMpuWC_1of7qEUrwG6_b5knF8axJq74noWLnM_8ppuRudMXM0EmClwM_6U6OOz9ZFA0iQoHxrk9Wj31ERU6MYdOeg4JpEAj3ya-P1PRLWFKC1X09TB4uIjTQBgI9Ly23C8hqrjoXF5mbtZkElOrtir171Qx_Hw5mk-myBOaTw0fGXeV0fzIAN7yPd_5LZUPQ0iNWY8umMw7ylr6VkmOwSHT0cJLCi2yLt_YtNvJHum1nEkwZe6t04PQE6Kou0XzHk7ZTu71CVoSlkKqC6fKo5iN4PSNv7alnK1LUfajk1ovDXdE0a1aBgRGbI_1hLmnZc-1k8E6nGfIWpn3TwnV6KwPVN4dwMGrDFNCiTUmzKc3Bt77_bb0b0UHwTYzKIIp3p1UlZnG62Uehvc0LfSd-N6Jim32aB7si7vo1sccSFjM7cNc0_DL0gp6lW7-W3RTx1T049M6z0azup5BZPspPMRCn5aw9uI_7xvlIxN6PCTyRIgMzO1OF-0P3EuiRmxN8JLVED_a49TeVb44fEuPKyZn0iU9aXvuDSJmYbUAn6loIFka-txw7-iIE975u1P8aZUFHH9yndneXVKlb07-JqizGC-djVKW2JfDdcW9W44Q_eIREhzhRazqwzSEVG_dcwEGDmaJmJq6fpQcE2LnFTFg-ig0Om_p3lyRKgWSL7sNwLXD3DUhuNLMqUj6441tEKxE4X0E4-Xwxvb5JWZ4YcaYmLvnl9vnRsZAPKZYT8tY7BUnHMJYpkUi32Nl8lfK9laAonQvtsiZQyabiTDsxnO4NSuC97cHuF5h_7_HL2-gRbnC8Bp5ARpIRYrwoqI_R-fk7QJY04Q==",
  "id": "rs_0ac434a9828d52db016ab2ec4c845c87d08475bc3e750b2970",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.13,\"left_z\":0.25,\"right_gripper\":1},\"note\":\"The bear is moving with the left gripper, so I’ll carry it over the plush basket. I’ll release the blue pen into the right basket.\"}",
  "call_id": "call_o35l5kzSC0g40UMVhkk3Evm0",
  "id": "fc_0ac434a9828d52db016ab2ec4df98c87d09d4aeada73d04303",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_o35l5kzSC0g40UMVhkk3Evm0",
  "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]: [-0.4076, 1.8271, 1.6428, -0.5591, -0.4213, -0.3447, 0.0766, 0.5232, 1.8221, 1.0462, 0.1925, 0.4324, 0.3439, 0.9964]\nstate[eef_state]: left_x=0.4975 left_y=-0.1322 left_z=0.2251 left_yaw=0.1139 left_pitch=-0.1056 left_roll=0.0263 left_gripper=0.0766 right_x=0.464 right_y=0.1863 right_z=0.1121 right_yaw=-0.024 right_pitch=0.0441 right_roll=0.0792 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -10.7966, 9.4427, 1.6142, -0.2564, 0.2906, 0.1343, 0.0889, -10.2769, 7.6239, 1.5897, 0.1343, 0.0513, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98603cfd936d133990aa803a9aaae0f80f5bf35c76c3d1538e321996b1626e58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3de4124880ae04924d695a09bf503bdd116f2394faefdb8050dd86b9899d8d5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91186527029abe1715f08cca549b1351ed256a31990e0aefafefaa65cb5ad12c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7185, 1.8549, 1.1603, -0.1398, -0.643, -0.5541, 0.0752, 0.524, 1.8103, 1.0603, 0.1833, 0.4328, 0.3515, 0.1547]\nstate[eef_state]: left_x=0.4204 left_y=-0.2221 left_z=0.0981 left_yaw=0.088 left_pitch=-0.0751 left_roll=0.0395 left_gripper=0.0752 right_x=0.4659 right_y=0.1878 right_z=0.1218 right_yaw=-0.0281 right_pitch=0.0582 right_roll=0.0945 right_gripper=0.1547\nstate[joint_eff]: [-0.0205, -12.5744, 8.7726, 1.5263, -0.3492, 0.0269, 0.2027, 0.1436, -8.7863, 6.5709, 1.9512, 0.2466, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuxWttxEB-sDkeWFcxDpsxku3DrYNaIBbTKJFeio31WWWG15K_5zRNlI4W3BJf0zc41LM9qIhozI3cCu2y_88NofVk_1DnaBMSK7O55Z3tfiBJN0vQWnd61ihuLJkKdhRWBm_zU45Auia2MvgYoyeaa81LOZTkgZ_e4yCq0h8nEX9PldTQHDPqYm_WB3zvZtOVZqGxv_mSc0j-6huVMidlCzDIzSKmkS2veDtTvD6vF4ZCHLnzmsGRGk-FfpcgS6ktLTmlF6PFrevr1fV4O5NBIjDtq6jyu9_6O1gG2GZIKq_M1jv8JYd6kJJN13VB4J7Qkx9XZHiFeIJhXEObKT_wDB2N5vZmPC6TstoKVA3gw2mSXrAy3UVHg_WC5Mo_mqLEN9l2sGPee4Dp1rW-NOwK4qmwHZuyGEil_Qk-cR5_4EyFbGe1FfHSPHt1PU9uXMJqrjkRqGnJYeqRuk9onf-3dWuymByvMnHXAoEJfdakMLffjXIdSVD72uhTYETb9LbxdyMdi4SVfSUis2lx29RB1MJH2ujfCgoWAyDNqaZwO9y_UCZ156mxKF6gkZUz7mYqL0QgYyejkUm4bQykHTBTY7TYQsqMmD-NYvmrqKswjIIq6ax8Rw9Ng7eWdoWcL4eYc_gGJxx578jejoLHo9E4tz39lz_yB_IJzQOhFLer9x1f2Sukh30QmRFMp3bqyAR8xh7dOzUpzVt7rLOFkpQ9fT_EMda992XkYYM_AEycZ30zq2wI_qGIkzprSbp98Xx5KdW7SggUxxDsDmJ9d_7nEBHCu61WcG_6Syi47EloYy0Wk84UkcQXMdgtKTscbTRk0phhyfroYu-fVmWHn5mO8-Ke3Vmk9JX_xcaTQFITWUv0_rL0MM3Frv5i0SQzArlasNp5rnO_-f5g9vEaNSK1_u0-TIs5aetqBeTnPUTMdUwqhSKa7-Pg25W30TCNlPFCbyyS6NJCtivdy11HzdybSb_1yBrp4LMSRrtxSGJWmkYw8L0EqNaJT-xcUTbFrLx6o7ElWf6A2LffPIlwwaX9M3zs8QMEg3nKR8TqIk1aubjBkTed_02Mw8LWfqEfFimLQefE7WSzh0oCyU9umbTZBJdNnY4sMUqeIv-3v1nqp_5vQjLlSNGCsgnTAYhfoBdpq6P1GOvOrpyQ9mOEKoPei0JH7TX4RvdVaV5nnE0iQiPvOsZP9gBShWUuUZW8rTFoSiA7jGXKt-z-tD6XgC-c3LwSniSw656v7_9n9KPQHlxjUSK1QvqFnE6Lm0j-R9Uk6u",
  "id": "rs_0ac434a9828d52db016ab2ec52eeb087d08f6d98f0d1bd81f0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.145,\"right_x\":0.235,\"right_y\":0.075,\"right_z\":0.14,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The bear is now above the plush basket. I’ll lower it for release and move the right arm above the black pen still on the table.\"}",
  "call_id": "call_pPWNyTtAaCA2vAEinBniWnov",
  "id": "fc_0ac434a9828d52db016ab2ec539b2c87d0860751968f09b59f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pPWNyTtAaCA2vAEinBniWnov",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4133, 1.8355, 1.3891, -0.2306, -0.4103, -0.3485, 0.0771, 0.7017, 0.6937, 0.4503, -0.4038, 0.5697, 0.4152, 0.9969]\nstate[eef_state]: left_x=0.5032 left_y=-0.1398 left_z=0.17 left_yaw=0.0988 left_pitch=-0.0514 left_roll=-0.016 left_gripper=0.0771 right_x=0.2455 right_y=0.0874 right_z=0.1482 right_yaw=0.0078 right_pitch=0.0366 right_roll=0.0393 right_gripper=0.9969\nstate[joint_eff]: [0.1026, -8.1299, 5.0256, 1.1844, -0.3101, -0.0073, 0.0317, 0.4171, -0.1573, 6.9949, 1.6923, 0.5348, 0.1148, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:627db21f95cc339f321e2ea29390dfcf745b345618a6a11fe7c6f179f6b4ea84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fecb70954dcc84c45adbab51b41ee276f931c0e75c2958a4ba5e94a04b02a94f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:274c49f877169cd5fc288fc61a08841f0d6efbb6e5f0e03ab914dd9c3762616c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 110 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]: [-0.4076, 1.8271, 1.6428, -0.5591, -0.4213, -0.3447, 0.0766, 0.5232, 1.8221, 1.0462, 0.1925, 0.4324, 0.3439, 0.9964]\nstate[eef_state]: left_x=0.4975 left_y=-0.1322 left_z=0.2251 left_yaw=0.1139 left_pitch=-0.1056 left_roll=0.0263 left_gripper=0.0766 right_x=0.464 right_y=0.1863 right_z=0.1121 right_yaw=-0.024 right_pitch=0.0441 right_roll=0.0792 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -10.7966, 9.4427, 1.6142, -0.2564, 0.2906, 0.1343, 0.0889, -10.2769, 7.6239, 1.5897, 0.1343, 0.0513, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuxdOF93zj1-hU9cPKrhPl32apJXqVH9UQNc_5Tu-QREfx12CAd0vEPPks9im8opa2ItBRROiSS1mZTFNtpYcU7txe-zU-hj26JyMLd_NIENNgwLM_9hJ6AcpFCRHyzn8gNK8YPEGE46Q0AI37iiyggaVZx4c_rnhhH_WD_DF8YQMAUwXVh9plBO8O_CK0VKK_A_EGv4I4pQG1j8sY992mHzQDzuGjdNZzji2TEZC29QdeV6f8VdB1HgWH5pEHbxGtmqTGP5dvyp4I7CCpKucmfDHSj4ig-eYx-tbdvpPuCG6BnnsOF9UMmQiNqA_Q9i5NTgmDvhwxmxbCE_wPjr41258gplY1L7NnlIPG54Il99wLQyoKAYb7yZkcpWqHQ9a84CUNKvEK6SJylH0zDMHR3A_QOvdKTiR8lYsJvipSeB_Iv2hrCulJJXmrLg0OrYpyP0rxCjA_bftdbYSQHWUVUlnAMtA41on7Ax-ycqGH1vNNa00hO6Gvko9_Hu7MWrhxKvjKzmYythVzDnC-ullBxZFR9upycxyG5VZvReOT9eJ1CreYZ14SKFTD6K2lvBzxyl24015HYNkv4ww25wl8cAVO4r02oyTHwhlB1ZdheSP58jGwjxJjSmxpeAnI9ZkTm3rZ32Tl8RLrPjhd9WoFMuP5leFQQLqhCi2wbMwiD3UesQ5qSA0SRiro9lpINcl0KWApymeuAuf2nf1KpLAL1OLTWy1mOorqJOXn_e4iiFLsnRGLO-bDsq_X-babIeN5sqqut7LhPK1uStrKD0ul5wHcXu6ZK4xwY1o3FwXynSxAC4Rk3lRICWTOQwd0-o3FV6sEhdh1sVuSody2h1cxbgCanTz9Y0Jk9P8cIxcAVxguQJB2GdKIApw-a1hiAHGlEaQ_QpiaNIwFz4af2yfLQVMSMb02HJ5RGMcSQGa8lGdnIhWcniikXwfSKG4PWNE7A-X1Yhw__vHe9LNf9cIprO4ilj3Vn6xjohZO_YvxsxPg6VHGM6XGByqo4nEM_NOjzT1sJ8K5aoYvywfoWr8UGcRZQrTKS7pZpX3jyHOAKiRRkBO0hlm9VxFs7JcvhrpVrA1ipdt9LPS0BJ-PNFf87nbwc1hKy4ecFcNj8yI9GqCkEfEZmzTIbCXT3SknvKJsQ5wezgCOUrzGIum0OVyDRJ0kELi1aqSOOj1MKDxh9OFBPKqlKh27edjvaSWcsVJqQvizcKHOUfACrncvgHybCS0R6JSr98Io5_Cuykog4XvOg=",
  "id": "rs_0ac434a9828d52db016ab2ec5b002887d0ace0c08c25810dd0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_x\":0.255,\"right_y\":0.06,\"right_z\":-0.01},\"note\":\"The bear has contacted the basket, so I’ll release it. The black pen is just right of the wrist-camera center; I’ll align and lower the right fingers around it.\"}",
  "call_id": "call_TAtMDOvO42SMS08idtjPsIGm",
  "id": "fc_0ac434a9828d52db016ab2ec5bbc5887d09447f334d1726be2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TAtMDOvO42SMS08idtjPsIGm",
  "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]: [-0.416, 1.842, 1.3796, -0.2287, -0.4068, -0.3557, 0.9956, 0.506, 1.462, 0.0219, 0.8436, 0.4236, 0.3134, 0.997]\nstate[eef_state]: left_x=0.5016 left_y=-0.1412 left_z=0.1629 left_yaw=0.0976 left_pitch=-0.0648 left_roll=-0.0169 left_gripper=0.9956 right_x=0.2732 right_y=0.0725 right_z=0.0097 right_yaw=-0.0174 right_pitch=0.0313 right_roll=0.0505 right_gripper=0.997\nstate[joint_eff]: [0.0752, -10.5094, 7.5966, 1.8926, -0.1978, 0.0562, -0.0757, -0.841, -2.7009, 1.6752, -0.3053, -0.0611, -0.2418, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5417852e33aade614e25a262bab8c0a2605b36e554cc438a7b2e529df98ec976",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2843de16b12a9e6f45dd154ccbf3f2109d94d223241bc01617e96f0df5cbe3d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d828030f244cad70c76654148e97903a617a7fb973e886f190df3976a18e174",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 114 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]: [-0.4133, 1.8355, 1.3891, -0.2306, -0.4103, -0.3485, 0.0771, 0.7017, 0.6937, 0.4503, -0.4038, 0.5697, 0.4152, 0.9969]\nstate[eef_state]: left_x=0.5032 left_y=-0.1398 left_z=0.17 left_yaw=0.0988 left_pitch=-0.0514 left_roll=-0.016 left_gripper=0.0771 right_x=0.2455 right_y=0.0874 right_z=0.1482 right_yaw=0.0078 right_pitch=0.0366 right_roll=0.0393 right_gripper=0.9969\nstate[joint_eff]: [0.1026, -8.1299, 5.0256, 1.1844, -0.3101, -0.0073, 0.0317, 0.4171, -0.1573, 6.9949, 1.6923, 0.5348, 0.1148, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuxk170nIYoVt79P4y5bMcMyR8hnJ1djDnted4w4YDELp5bxeQyVT3aeA0w-eT_NxG0Qqz4bf19cAfg-m7Y_GtjAx0_1QNVxtyt6VWuNDcWnKwQrSx-mBQ-CoBL_-Yn4DVnfHcdlBzMhFzViyfvjj9vMojjQqFvtqWI7-8HKbo6UOn7b-zL6H36HQOfbX-PXx-r9CGk-Kt6rocnGpqFQlCLAxA3b2e9fX8K8QSd5qyqjVdReSEkEf0s_7m9O3_L7-WWlmyxwvv-LUwTj6TCLuAv_58rA4MLu-6BDVDy14uA8Nqp3uCfFVqRHv-KVpdUk3xLNj4oGH3cqfSFAmmF_1xsypIvAhMyoA0sTLS4Sbudf2PmOL9zAMO_UdqFqwdORqD0ubRL6-uZGihdZ1CxC6TZ1NDteNGhvDIbW9kOMjBN7ek1mLb6wDSHOrYUwZP4Nue3vjYREs4dFV2zhPpSosXV-1ZVlqLSZCobXoNpLoy1RLzG0c5kTwEga_trgwCgmcDQy_tMm23IeowSsO7AeoC6HvnCRRWAdp4da78OzDhKVkWCyJvVHUDpevaFTOyM7OFgfnKLtoQaavytIVzFA3LNkPnwBr6zsU9G9P4QvPRQdaQAIr1QNOb4VKpgStLRRIJAY53bfpjJn2LZ4z3YFEZUP2LjwU9olPScBrQrrzi_AIqRCnmN-cfichHcBOY97HmNFHq-HaaesEjXcjWkUZTBISQJS5GNWPGreuIG1h5hUWEp-QHYGqckYN7VYoBFJUO9wX1GDzhuhx0D14GJ1wcJPUKxly3XpZuG3ssIJu9P6isDljhZ7W3tY3qaXLw5UTTEppnSW8yH7aU2gCCCg9rj-jJC8vsHQgAtXrQLXHPSwcDC5uAjeBrQSmuyh22SIF2LEtX_koNUGKbOSEnxqPPFg_I06zjGfWJfM4WAMtzryXBiXLLCxHpt2We_Lf6AP9ZcpQICVbEgcBglxwtZ4Yx0X0VyA1tOcKIEBSNeZnJmucJDovXeb2PCJyg3LreHJYkHxJTVoQCT-wMVJhSKIeIsEeVSZt0goAsDd3lmL5sot-jFk50zrzNCO7bz9VzcQDhcH6U-HOSC24piPeb0Bb6ZXLgdU0ous7fbcWOGXdOjm6RD8FPZgoeUWodalioa-_Fz2g8W5-Z92KTTusRVFz7M8p3m9VeMPOdif9YyXlbqTLA58Ss6Hq-n7WevFi4dn5sAjO-JEgrll4s2fkPxoXx-Z9JT-2MrvC0ZorHOeVKvjc3LVWxstjovhPpuKW7i1d2fxisYyYQ8CZwHs5TkTA5fyOSDqmg6vmXMZfWM1UjnQeyja83Yd4OVq8egL5-OiSk-Ax_jsiph4ySoGe-0IRfBUj4AFBYFHGHxOytWnShmNhtp6m5GkgbRb4JkJvxz6ifD4_P-UnUN0nxYWneqce-VH1g==",
  "id": "rs_0ac434a9828d52db016ab2ec61136487d09702e74d387a6b3e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.23,\"right_y\":0.04,\"right_gripper\":0},\"note\":\"I’ll clear the left arm to check the plush placement. The black pen needs a small final sideways correction, then I’ll close the right fingers around it.\"}",
  "call_id": "call_WBT86w8HbBei6y32yQHdsGU5",
  "id": "fc_0ac434a9828d52db016ab2ec62a76c87d0b45e272c9dcbd280",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WBT86w8HbBei6y32yQHdsGU5",
  "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]: [-0.1284, 0.9131, 0.889, -0.577, -0.2039, -0.1978, 0.9967, 0.2974, 1.4071, 0.0055, 0.8406, 0.2497, 0.197, 0.1495]\nstate[eef_state]: left_x=0.3081 left_y=-0.0001 left_z=0.2377 left_yaw=0.1319 left_pitch=-0.0266 left_roll=-0.034 left_gripper=0.9967 right_x=0.2812 right_y=0.0443 right_z=0.0129 right_yaw=-0.0205 right_pitch=0.0273 right_roll=0.0519 right_gripper=0.1495\nstate[joint_eff]: [0.1436, -2.1265, 5.9829, 1.7607, 0.0415, 0.1148, 0.1001, -0.4718, -3.9316, 3.5077, 1.707, 0.0513, -0.1099, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:473d947ccf12f5db8b8cd146e385ef82a4dd59192962cbca66d6de5353da0710",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:344095171fd145daf147c6cb97134cc527f108ea339d9772048339a16bae8bdb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fcafd7da256d9bd8ec9cf08c157ff9247dc1e1ffc44168145b1af789a9812ef",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 118 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]: [-0.416, 1.842, 1.3796, -0.2287, -0.4068, -0.3557, 0.9956, 0.506, 1.462, 0.0219, 0.8436, 0.4236, 0.3134, 0.997]\nstate[eef_state]: left_x=0.5016 left_y=-0.1412 left_z=0.1629 left_yaw=0.0976 left_pitch=-0.0648 left_roll=-0.0169 left_gripper=0.9956 right_x=0.2732 right_y=0.0725 right_z=0.0097 right_yaw=-0.0174 right_pitch=0.0313 right_roll=0.0505 right_gripper=0.997\nstate[joint_eff]: [0.0752, -10.5094, 7.5966, 1.8926, -0.1978, 0.0562, -0.0757, -0.841, -2.7009, 1.6752, -0.3053, -0.0611, -0.2418, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuxvfejZbwVzwCi8784S8PqbXE_LWFHzcpqFPzUwmhVPfD3OhCGPolB_7BjOHB5W_YU2gE3B25sWt7EBAhYNusIcmNBGDesPXfoduubMImarY67vXRT7f3ywoOFUEblsS2Ove8UoiqBCGgw1hVFpVztIpGpQouq5ID38OUt6jt5lqgjZsl6sVIgyFBQ5AloF3gQTaAfyHOmHBNGeEZ5XwnqzSTiYdcOh3kIiJ4vqovpOIAb7DF_6YDYeroTWbUB2-4x2JYMMufvWB5UQVvPB_YAjicT5XYoTVTHDJ85aTjri8YNhWNuzPNLOhIuobgltT2OrK8Si1iWZ9ofulrhCtT9pMev_FVOdfG8AndGri51HNoOPUXRgoQalbEVc23KFu1BvlMIbR0pfesxQ-qfKubejyIkHntymNsvlISWIzGllmB0vK6hiDfN9w_-FcP7hr7sDUgZa0QaIFPxb4oNrfbzZj3lrjQlnWXM9rF1tmlyLyxjwoyggwvt9WxMEO-oL6SSmKgXQs72ShUSOjrEC0_51aZQCcOfZftMQfFXVi8om7Wb7nbGk9bQqHmg9DkSQ3SlBqzzmZ7GX1Pdtx9ktVgJMLW0WCJeVTFFf6GC9I8QXYhD-wzuYThyi7AbVqkgg029c6qvGiJaN-Xm1lDrSOZAF5N9dkXKYBtAGEWA9WgqwG1hkLOPyXinUYa8rwS0qnd3R7W7707hkh7O36EQyeAnG03gVWsirSVxcg-CQU1vYwMH-1IHF7-KeoAsnS1mcZC3s3e9bYEgDgivzeHf6MWqh0i-K3ildLcCeADzSYKN6OIBs3mmfJb1brZ9PvkqGGd48jPIpdFk7mfrrX8axokb95jNDWzkuhKMTHyloVsHeMdO37HUoXx57fRKVmibOuyhA0Qqljv4FiGjQ5pD73k1-cSykZHf00PIdJMUnMUZ5JpmKWcUdoWSqJkf3XfEF6djqqVyB5xz3LVOUug2NpeDlm2Ai1pL2Uk2RCODYPVZ6zgiq65nxHn4xhN9uqbolfutsVghlClhjUA5VtC9TPRsP7cy9kUqeWa7UrlWmPzscdeciHmiKRPmWCqcGcTmhUuitN1OloJKsu8Lp2AceiSD_De0B2fUngm35zPnDpBY2E_ySkwTKnMynVI1LdsqAdq_NrOfEkYYCuyzxg5W0MV8vYesIDEIb_HBrs0DCE8s1HZ86FAZNFrNf8DrB0eF0V0LukBgdShSCT71vJMp3VnPy8NM-W6IAoDU--BlG4xU8isn0X-8YeVenLWs5AnKdVloQzIPQAABRNL6Fft-zH9zDJ15M3CuLdKhQEoG-WLORgQUlyaVw7s9SRYSM4F-td7Knyi1Y6cCv6Nc4mkz63fL72xsyOGP-GGjwzUrKPI7QfKyjGmnR05L8rjyYZ6BpTuJM76oxQPl5KlZXmDGv1qHVreahvJm-6Xe11tCcsS2qitIWtKDS6szWcnxIiWK2xRK6mLQvdWVbwsfiQY4TGjaz9wuPhaw_bol-pca76c2Y39nBII9Q5A3TaN_1cnoYwLjg",
  "id": "rs_0ac434a9828d52db016ab2ec69a2c887d0b7db8a8741347766",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.19,\"right_z\":0.22},\"note\":\"The black pen is held between the right fingers, so I’ll lift and carry it to the pen basket. The overhead view shows that the large bear fell outside the plush basket; it still needs to be placed, along with the gray plush and yellow pen.\"}",
  "call_id": "call_iYTE3R7MSWqF8koL2usnCOTV",
  "id": "fc_0ac434a9828d52db016ab2ec6c5b8487d0b63b59cfb3aa2ab1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iYTE3R7MSWqF8koL2usnCOTV",
  "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]: [-0.1287, 0.9215, 0.8879, -0.5892, -0.1871, -0.2016, 0.9968, 0.5095, 1.7439, 1.3663, -0.223, 0.408, 0.3008, 0.1524]\nstate[eef_state]: left_x=0.3074 left_y=-0.003 left_z=0.2321 left_yaw=0.1196 left_pitch=-0.0501 left_roll=-0.041 left_gripper=0.9968 right_x=0.4751 right_y=0.1892 right_z=0.2064 right_yaw=0.0056 right_pitch=0.0236 right_roll=0.0453 right_gripper=0.1524\nstate[joint_eff]: [-0.2256, -2.441, 6.9265, 1.8535, -0.2711, -0.0024, -0.0024, 0.2256, -9.2376, 8.9641, 1.4774, 0.3639, 0.1929, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8883f27a6069881f810232185919a63cf09491d990b8de62d7b9aacafde137df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f9bd5770248f75b3d4784cc86859c77b5ebba9b84c15b3da94d30a6fdf8b229",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6f4bd72cc8b5ac2f552a96d81ab087500bce1b7c65b2b65447cfbbc82b0e3e0",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 122 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]: [-0.1284, 0.9131, 0.889, -0.577, -0.2039, -0.1978, 0.9967, 0.2974, 1.4071, 0.0055, 0.8406, 0.2497, 0.197, 0.1495]\nstate[eef_state]: left_x=0.3081 left_y=-0.0001 left_z=0.2377 left_yaw=0.1319 left_pitch=-0.0266 left_roll=-0.034 left_gripper=0.9967 right_x=0.2812 right_y=0.0443 right_z=0.0129 right_yaw=-0.0205 right_pitch=0.0273 right_roll=0.0519 right_gripper=0.1495\nstate[joint_eff]: [0.1436, -2.1265, 5.9829, 1.7607, 0.0415, 0.1148, 0.1001, -0.4718, -3.9316, 3.5077, 1.707, 0.0513, -0.1099, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsux16V9rrz9tl_4Pf-davGR951RcNSKgz5643NpPU2hT_GAAHxFt5CUuG4625sCdEw1wsUFsYiEYu9epcXNibkoPzZOIXD6lzKKCnR3vtHXylZenLXeaMyxZZbKXl2CCb9TM84TVhDE_hquQeQNYucPqlJPRPldPJawUcMXC7lHx0pggO-C7sBr6my1Nuyrm_n-0wW3tncLpFkW18Hf9dONQYKPgsgTrg9mv07CrGJn4qkz9W3tZV2tkwHMtge0fzPgzTqM8GLQgxAq4koVPBCoYqdONkSwQ30erCZKH8_iqTuHVmEaphIA0Qn7xUiprZ6xM0z2ujCtdeK_C9oMti1bmYof947mSsiqqG3GTMLIXNymAseqK25iSm8cSRMF83eahxVghs77wFpXUhwmxI6lSw9fJv1nmei0_Dyb6Tu5o5lINS6bC2_v-oyD0rjxXUMFjDoKAe2dXc4Qei829ZhvoUX-hnV1NCl-mR9ieyKY841sa3bPE0DpQ60P77nVRgVAI5uhfbty0EnSptUOxDyl8VMH9-04HdOKgUbZR2XwdhJXYhbepf-19SYLEY48ItLHk0A3o0q8xzIoHeYrYhSGh1PG_dkWD6jQNzU0gFjxJ1CpWK2Iy0vYOarCBPstvtwTb9ek7XGXQUNqgaPMl09UBw-XR-dR6vaseXWCBo4iCHOBWaGEPhWs-R-SuD9n33AEtklRHcZfm4IHND7_PdOsNFPjJXCJd1r7RNc8wp_wUwxA6GlNRJSPcIWkJfZFwu80X_GfALkZoWqKxt2hRi1GwAMdqidl0lecPkga937SRe3TNBZFMUx8XOfdb6Ung6bng6qF1Eezcm9ElJ0FwA38kcSZEPursg4z77ZFqosntrSqWYEv77BGQ3eskgvDkJILHBPnz90rS1ZRCk2lrRsJ-7jFYNu8EcQLJ_IQMOcsxBQ9BZAmwOI7mPp2B6JIvoaWUsQErHMVUYLuwHN_QdKAF9HXfb3i2Z1CDfCwG8Gcj07vS2J5QXlARqXLkYd5gif4PUKSD0hRMzYVd_36O8X-BU3TAQbteePUWwstJMBU-pyEP2wsnbObN_dfYO5mex89IigNk6oQAi-zTqGHzvmBjUYcQZc0xMjI1RZkHqZtICzOUO-HvyAOYAHKwDx4vJLvDm-79l1ukHO5ghu8o-8P3rxxZt-M8OgTYVPWlLp_iIrzxN6injL_fOsAVQrUadTOY3jeBYoQnc-TbXaJqj-fFk8MLoqDWNLCA4bpSBmAauxfzgMkdVgmvn49dGHd47wId",
  "id": "rs_0ac434a9828d52db016ab2ec74283c87d09f082d23373b345f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The black pen is centered above the right basket beside the blue pen. I’ll release it into that basket.\"}",
  "call_id": "call_eZCeJbc6enycm6i6UFLmV6Pj",
  "id": "fc_0ac434a9828d52db016ab2ec74d8b887d0b9ce9c5595b99d75",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eZCeJbc6enycm6i6UFLmV6Pj",
  "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]: [-0.1287, 0.9222, 0.8879, -0.5911, -0.186, -0.202, 0.9969, 0.5102, 1.7599, 1.364, -0.2493, 0.408, 0.2932, 0.9951]\nstate[eef_state]: left_x=0.3073 left_y=-0.0032 left_z=0.2314 left_yaw=0.1189 left_pitch=-0.0529 left_roll=-0.0413 left_gripper=0.9969 right_x=0.4727 right_y=0.1883 right_z=0.1926 right_yaw=0.0106 right_pitch=-0.0155 right_roll=0.0174 right_gripper=0.9951\nstate[joint_eff]: [-0.3214, -1.9761, 6.8991, 1.7265, -0.1245, -0.0171, -0.0073, -0.2393, -10.5368, 7.1316, 1.8486, 0.0562, 0.0317, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4728b1f28dfccd955bde341675733f793fc92eb600da2acb50e6f1dff8154555",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf4c5cb1a307bcd4354d977594a78e213d6ca617c6767b111408e2a741003d3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ade0c476c858f787d5d5d9aa97c63f564a913d7991b2345f16b4c83158efde8c",
      "type": "input_image"
    }
  ],
  "role": "user"
}