adhoc

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}

{
  "content": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3786, -0.0223, -0.0257, 0.9996, -0.0208, 0.7967, 0.6109, -0.3779, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.1852 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=-0.0004 right_z=0.1828 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.6205, 9.4017, 1.7558, -0.0366, 0.0806, -0.0562, -0.4991, -1.4838, 9.7983, 1.7509, -0.1245, 0.0513, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8fcd2f58be4d042e18b8b26927b9d0f40a915504a0f4ffe61538b49d2240d69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f6641c3e2cc54a00e87d26bc6d4104feb3020e6fe38394d4a855fcb42111281",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62e4fcd5c2920ae88110891cd00b2e1ab2fea03c00f7a728667cc7763522e3dc",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqsuCrFfkpkgaxqWS-_jBOPMSew6Cdh2JhTfTbcndZ4N65ZMvf-UGwGploiyen_EVReCG92qpZbNtdBStQxWUeEhEChIFdMG-e7OUEnFLQWcI6Car7BelCKdlkJNxy6kVopopZKzv_oFf0EVpZ448DyNPKz5MEH9CqUbUuFcohvwfD6MvFSGtZgxobdgGrnZ5D1v4p-kWsuIHYXim37bHQlIXJRso4JPWS6Q1ryrEnUON2egfM3yH_ZJpEGqexgXrKU6J7qbPixUJS55cD5lqHV5y1mXHb5rBIQMsohiGtE4ZVajEM79qR39hp7AaYs3gBCQ3Eadj-vmqVeEh0Zw6XvoHwzUvxybeVGf1cHcHudNB6tbua1LywR1oNanq80SdzKBoRlAdfnBwIgfgw1_ydM5JbTv956eVHpBIvWop9V1L5zdaTBMs39aRSPklq0pFJ3wxClP0-IbZXZiwLUI3m1f7vCQqPprtBUkKN2fGBTgs7u0JoQvvChREVguOPWwO4dWCVhONugrlIK6o4Y1O-0KimvqJ2VZBBHJu0nK_RO4cLPBaYbO5cAKa-187dtDDgNyTP7kEETJEx4Oa-fErXvpl_4i0MhwZ9_ghBgEnG_SRMZkzKbqoyoqL5h584TOKSe8nxFKofibYyQHLse1x_NeMIPdvEJtHnLTjryycnpXXNhgc9OLyiXa_rJZJ-mNTxl7N_1IKKJ0YadsVGes-MhF0zxgScbgfqLmvBIbTaosjfFEsvlWH1fvTUJQWZ2Ou8aRwXNuYI9gwsdOlNXZ_sfOwfZitWMnYRfMnquGWGT2dPI826IbUbmh11XUI1Rkln_sD4FeMX0EPhneDjWEcmtRtL7SRslHNep2OW9qisJaWlRTTyY2if880sO-0WU5vyS5PK869LBQtzFAa1175ejVR4i5x8ux5sOMA-SdFC74QJELbH3bRKfha6EB8rhIz8i0yx865MNzkRZ4WhLQpcbFLMnrvCeDRBAB0Oemg96bC4rJG-PsKM_HyyZoldq39che3qPOEtSUDuUWjxfiEXaYIGhiFBSUdbFm-9GK2hcmSwoE6BJJRBwm2Ly3jTXr-LPuMfMPXQBb913tYSoL2yZiP9ECoupPumC-UGfxb8fQ4Eq9c4PsHplbbgjbj2qDp7sEF7aUDeX88EKf4OhBdxznS0cRnxJaEBUAieVXiKSCUK-pH5oQlfTRfnuAk5_6j6cKgWif5vO8bWlIAxi7T9QTvDfBn9FhUa_-8GCvX3-GkSo735Z69CW6FH_yN_Gkvxu9Ykp4MGX2DS2Ke4t42jzP1S2GexRWQo7L9vMPsfBQp9fxjRUGzsnTJaRKDLCPDsAmyOQ2OqLtBntF-Gkxaccze99TprMQS1zy4JojR0n0ACxTOELWZEaNp0-X51NPOiSE_aBcB28sCE-J3GrdkiqOawmWjMy6VVkQxNasAraLCft0wBly89Hc8fzn0IhQtFtZ3tzh6Uc_0KFMquchCSsbqlKEYrXg-_xeOp9aMStKePfnx5fR1iZrJuv7HOhlcsNkhhqldE9lU67ieO3Q7-X_x5-4ll_rtq-h2ALQ9cp8j-0rjThuDafZFlVmuhRW79XYqDoQyk_Rzh2ePdOi2oAnD63enY71xlAhdBWCsi7wRZptnnO-PUmLbc1XTLdPvJx_IVAcdVFXtTHZav8dgTsSlEHoTQ8nQwyVHe-rcB3o3jNBeKyYf5lfQrAwufkwzeqyjF4mZU7lNh6t70yILEFHqMhenAUEG2bFyl1cEb4EQZQ3aD6HGtQdKxShwnA94H0JqIBK6vjV0a8mCZelhs8bVQbmHtbrsXKthyrsFfv69VbmcKNgyacrsCUtL3RNSg_c6CBevZG8ybmvFgvPkaS21ttw==",
  "id": "rs_023f6d6233d73000016ab2e0a3a0f887d091f142a0bc7f9840",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.20,\"left_z\":0.14},\"note\":\"I see plush animals and slim pens/markers, with two empty baskets behind them. I’ll sort the plush animals into the left basket and the pens into the right, starting with the smaller plush.\"}",
  "call_id": "call_4RbP8My92zuYwxMZthvgGCTL",
  "id": "fc_023f6d6233d73000016ab2e0aa138887d08246c3df9830d051",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4RbP8My92zuYwxMZthvgGCTL",
  "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]: [-0.8749, 1.3994, 0.7776, -0.1905, -0.6899, -0.5755, 0.9995, -0.0208, 0.7979, 0.6086, -0.3843, -0.0113, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3141 left_y=-0.1951 left_z=0.1286 left_yaw=-0.0208 left_pitch=-0.0349 left_roll=0.0228 left_gripper=0.9995 right_x=0.295 right_y=-0.0006 right_z=0.1801 right_yaw=-0.0004 right_pitch=-0.0099 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -5.4769, 8.335, 1.5263, -0.5104, -0.022, -0.0171, -0.0479, -1.3607, 7.2547, 1.8095, -0.0806, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d07e71d9304a1eade1bc0496c4cb567a5b432f4a9a64d9a326703ea497ff28a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa06c5bb5b688b6efa6bf7ba6f3f46bd8824d19a3404c6a354f6cd236aa7168d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2c7ffdaad4fd47735611403736c20931aecbd7e1a87c6cbbd83da32f2c49606",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 2 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3786, -0.0223, -0.0257, 0.9996, -0.0208, 0.7967, 0.6109, -0.3779, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.1852 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=-0.0004 right_z=0.1828 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.6205, 9.4017, 1.7558, -0.0366, 0.0806, -0.0562, -0.4991, -1.4838, 9.7983, 1.7509, -0.1245, 0.0513, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuC2WpzYUKDIq12DfzW-MjKpMXPOHxyPSF7i89nAT80IV9IRZ-bX54skABDhkoBoVmKFqxRLfxm6rQaAsAkcYazhfqDRjEgTsbBMllgYrGgwAloJtVa_-GkHvP6P2bM3VymJwUKmugfDcVTTmikmJqdHerng65wsd9slJsr3U9t8HvOhjbHNrqFwtAtmTAcPFB3ZBa4B328E36p1VGdOd-_qes0JvGWbyCN_jJgCvkXGWS1po-nuHthrs47S_TrOZVFX9VGl8pYQ7-2aKAb9mlEYPX7bYsHtmBMQXydbdFToxPWcV6SevUKsQ48xW7r4XlgPyCZ34K_PMwPw8B5nSQY2tklxg6AJcMx5Ifob-2798Kb0gvbSeqI9-TRYAr_0FmCRVng8_fl3JLFG2G5QfYYCmbLnNm-DkD-ajkqrGia-bbVZAYa_ccAl8bmzmGAGv8fmJJGYoTtuUEwdJcIF8Uq2cY5l2TY9jfQFKnngS_a8qzPvqHY6AbvrnBDfHpAYOGVZd30LKxq7AsKcb-fcJy-Rj_PHn8UI2UQ0u8JE_dltVKGx7xvpb903DVQX5-AkOogdGjRubixT3CRl8Yunxenc59RUrbPfotjah92kuCyHbF6bzqTeZIeswkII9-sVcTiB-euG29x4Bo2DeqCK511hdc252GGlc_dlK5vZ8VsHTDooLv5sg_hdfFCFPciVhKIG0HmJoRUYFVe6kLK06M0dJIx_3b2U8E6L_sZaizy7wtT_O-6Gz6JqAicliLu_ZAxJF0IV0pnsBdUx7WEOjS2Zl6i9XKcgwxMqt_VkYFfWZaXUzF9c1w_KiEp770_vQFuCDIOZBpil1RNwzpocHkkBC7lU_CDRR9BCSTKLXcX3cvs6ucaUI3t2SkwycERZYtz6acrcBxy5TvRZRw0EaY0RO9OrSW3No181Ozo59yVUY-OoipN3-kDq6iQnCf3nX0FnBC8ICm-oYTZWcsSDqBIWTmUdD29ReomPVkdW8d8Tk7OqL2DOaAjw5C_d35kiA9YJ1Gu7WnfCr06w6r3lktAUVrfcUCIp6DgJ_9BALotZHXbNHFElBZLZbKHUBzzAScYNpkCNdy5CJHcrJj3ZdxjpLrpAy6F1GHVrUrppvhCoV-yDx1RPdzs7jUwfBXg2NyzyfvCvwbDPm3JdaKpE6uj5Vle7ynl3_adA9d9XmDi9ico5eM1xpYIKqOuVDHE_X0-T_fPwtiNmSySLp84ur6n8CgWS4EWdzs3e0buR4boNWdRLi0QGVvgGG5A-Vn9erXKaSvQ58Z-f6GsLG6ENPhJcleMEiIqGB0BjqBPxX6bwmKUSfaxyX_KvBGwnFMBsKHMb1-kqQAK-2ZY5ryIwUfTovHwNjLTt7NgThPLgnnfXvsRroHHN7ZEdp3skJmqrdOTwx1G5aymWLOW5JPesiw0Ix0gPbChtyuBAEgtj7nP8Pme7IL-1oSdGanxtpSBxcZHgSd6u3pok5tEuW3D3z2jR173Xv7Tw718gT-pLA4_OVX4=",
  "id": "rs_023f6d6233d73000016ab2e0b3275c87d087195e35266a2ab9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_z\":0.035},\"note\":\"The small brown plush is centered between the jaws in the wrist view. I’ll lower around its body, moving slightly forward so the fingers straddle it.\"}",
  "call_id": "call_6tCFUryz5d8wkk97OYNJ1T3t",
  "id": "fc_023f6d6233d73000016ab2e0b5567487d0bbe0ef338338dd78",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6tCFUryz5d8wkk97OYNJ1T3t",
  "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]: [-0.8062, 1.7191, 0.6304, 0.2943, -0.6502, -0.5236, 0.9995, -0.0208, 0.7986, 0.6086, -0.3851, -0.0113, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3383 left_y=-0.193 left_z=0.0337 left_yaw=-0.0085 left_pitch=-0.0449 left_roll=0.0331 left_gripper=0.9995 right_x=0.295 right_y=-0.0006 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0115 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -6.7761, 4.8479, 1.6825, -0.2173, 0.1197, -0.0073, -0.1026, -1.1966, 7.0359, 1.707, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7306562ed351fdd13707e236041a6c64acdb469e86c6ab03aaf4545998bdfab3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dab18b660a6bc79e69fb4a36b7a65ea90d1cd7c4e496fbc7069a4c37ca214bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eca64c184ef805fdfd3e4bf7769d5da178270cc274eb0d7773e39d276455c20f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8749, 1.3994, 0.7776, -0.1905, -0.6899, -0.5755, 0.9995, -0.0208, 0.7979, 0.6086, -0.3843, -0.0113, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3141 left_y=-0.1951 left_z=0.1286 left_yaw=-0.0208 left_pitch=-0.0349 left_roll=0.0228 left_gripper=0.9995 right_x=0.295 right_y=-0.0006 right_z=0.1801 right_yaw=-0.0004 right_pitch=-0.0099 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -5.4769, 8.335, 1.5263, -0.5104, -0.022, -0.0171, -0.0479, -1.3607, 7.2547, 1.8095, -0.0806, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are down alongside the brown plush’s body. I’ll close them to secure it.\"}",
  "call_id": "call_S5EQxCCI4lH2IMLwebavgxny",
  "id": "fc_023f6d6233d73000016ab2e0bb374887d096dde35d78ea9de7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_S5EQxCCI4lH2IMLwebavgxny",
  "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]: [-0.8078, 1.7191, 0.6262, 0.3008, -0.6506, -0.5247, 0.1073, -0.0208, 0.8032, 0.6067, -0.392, -0.0109, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3377 left_y=-0.1931 left_z=0.0333 left_yaw=-0.0093 left_pitch=-0.043 left_roll=0.0307 left_gripper=0.1073 right_x=0.2941 right_y=-0.0006 right_z=0.1762 right_yaw=-0.0008 right_pitch=-0.0248 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -6.8581, 5.3265, 1.3504, -0.2711, -0.0464, 0.6325, -0.1846, -1.4564, 7.159, 1.8291, -0.022, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30abfde3c5950a081da478f902a59b7d2bfd65de910317343d1b6bd9f937a1a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:946fc56501ec50ffed3933b2baff86f53a4fd074a2b4a1cf232f8cf5e932c9cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b88dbba7235ffc12d9f443228317aa6475a1053fcc4f8308d6883f2af6e82005",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8062, 1.7191, 0.6304, 0.2943, -0.6502, -0.5236, 0.9995, -0.0208, 0.7986, 0.6086, -0.3851, -0.0113, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3383 left_y=-0.193 left_z=0.0337 left_yaw=-0.0085 left_pitch=-0.0449 left_roll=0.0331 left_gripper=0.9995 right_x=0.295 right_y=-0.0006 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0115 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -6.7761, 4.8479, 1.6825, -0.2173, 0.1197, -0.0073, -0.1026, -1.1966, 7.0359, 1.707, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.2},\"note\":\"The gripper has stopped above its empty-close width, suggesting it holds fabric. I’ll lift vertically and check that the brown plush comes off the table.\"}",
  "call_id": "call_2JRIf84TIV2linGl2xcecM34",
  "id": "fc_023f6d6233d73000016ab2e0bf7de887d0be1801b35ff72ba9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2JRIf84TIV2linGl2xcecM34",
  "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]: [-0.8082, 1.4185, 1.0382, -0.4347, -0.6468, -0.532, 0.1092, -0.0208, 0.8032, 0.6067, -0.3923, -0.0113, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3383 left_y=-0.1948 left_z=0.1843 left_yaw=-0.0077 left_pitch=-0.0608 left_roll=0.0393 left_gripper=0.1092 right_x=0.294 right_y=-0.0005 right_z=0.1761 right_yaw=-0.0002 right_pitch=-0.0252 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -7.5009, 9.2103, 1.16, -0.2857, 0.0513, 0.1783, -0.0615, -1.0735, 7.0222, 1.7753, -0.0366, -0.0562, -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,$blob:20bc411b8078b38efa804f5d96568b445dce029152a8df0d9a1ba9362ef537b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81d6153716fa284add8ca8946bbec93809b60117b5cc55c371f947881d669149",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d75d854d1700ef1274a0268d3c7e2a9612a7c075e342f9285912905bfda52fd1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 13 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8078, 1.7191, 0.6262, 0.3008, -0.6506, -0.5247, 0.1073, -0.0208, 0.8032, 0.6067, -0.392, -0.0109, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.3377 left_y=-0.1931 left_z=0.0333 left_yaw=-0.0093 left_pitch=-0.043 left_roll=0.0307 left_gripper=0.1073 right_x=0.2941 right_y=-0.0006 right_z=0.1762 right_yaw=-0.0008 right_pitch=-0.0248 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -6.8581, 5.3265, 1.3504, -0.2711, -0.0464, 0.6325, -0.1846, -1.4564, 7.159, 1.8291, -0.022, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuDIj-toDDB4g0n1MBvwc21Ptx4wSOYBDfO3njey4JzCGLMGd3DCAh58pZ9JTa6fSv0c5GfhqlKLLsknPjkcii0Qq-Q8GTzr5-rj0aZtI7Ifczubwqvon7z0cLpayWOfYvOWNQtOE5sOiDlKkt7mDDSMva6pyD2h4TVx7ENjQC5ulXc_9XtiuSx-EZqaN7vhmE-hMRJ27YzWxtRpAw413KlEsqVLcuqoUVTRBQen1TQADXNV8370-_79aAI1exkp-_UgepHRFbbIL0mvMIJH-Ftx-iVcu0DJ_vIyQrHqWA4Gl3z_AL9r_XuxE5FROCYc1JmsftmdmU7qJONOx29ClyVP0B0MAkgXF7ZbZbkoUe-Cuc2jPcj5ItUepxM32IU8fe_cqwF3DrTVl1_2k1Mt4ryApgrHMGJHctUUpgPNDr2OHViqNlbCO2_E6zJcuo6hkTu760Y5_q9FAQcAj8PBqbM99fjMKDz4pgdetDYD9JC_6fqnU9DtMp-zRm2KmtAyTXYrM85Tk9rTGZP5YYEd3aY_O0J-i3ftbKqs21L5VJADxqH39RcdhJ_caWnsLvPVM-0z508QswcrGDjSVEN06AwT4Maqm3sxp4rrZ-HmnQGshyULfv7gyxXm5a8UvrzhDHuqEPsUL3-y9aIEpRnFoyVlQPtRuNVkE_rNORhD9IeD85ZyL5rrvYHdi4RgzzzlheIwzhlNLDB6_o3G38OVaNmaZWDb2bfpdcQyYuNx0Z4k0ckRdUWQ6SSjWfvKA_gT4dXhmYPBNhwnDj2PUCx3Xnx259jmB6Rud-7Vo46E785ZPraGNv6fKqueOim-iY5BPRRScU3-YW64ZBWxnTk1oYuCSILaOgtSWcYMRIavWUOWfxYpgEkzuEo784LLJBG-QtqH6lA7VSSm2n51_uSzf05zi8Im_UhD2rsiDhkdgBfXsjIuXlQ0O-X8gc4iDjzqLli5PEqOtIcgo1ZaKFvCu6xlOZtqRrprvlp1IZKWz_V5sXulS8PFvAM1m_DL5TPYeur2Js3_Sx3v3FpNR53p5lCf6CvTDg6eZyGSanf8UgTg_4-BjvBTBGRGnVmPuck3t91QmJCpsDUbX1N1uXg3I2Cl_CybxhVPizy7_h4v70zV_H6z6kjBvrqTLYlpermg1KC2awSwCrQuW1Lhh5NV4Cj1hh5VwmSkww2HzJsc0XccJDF0JxXaA7VYY6e6NkVbYOwW0Thp7CSq0fz7dk1tFynFhDATl8XYjgvXSDcZjAZiK0L6_M7CyUIKI4CnpafBkIbjaoh1OFA8krx0fDDZKvxnUQMiXnxwb3IChG5b7d9ig3G2A9iinU4p58gnosTDR79-BA4YLzBO23UovaX77Jk7lLaHit-lBJaBh4dDbXcxDo7EuRIciBMcEkzjs003IlvoOlZrPCBlKXqs28BbOENkqA==",
  "id": "rs_023f6d6233d73000016ab2e0c5186487d0a513296eb4a46fa0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.15,\"left_z\":0.27},\"note\":\"The brown plush has lifted with the gripper. I’ll carry it over the left basket, keeping it above the rim.\"}",
  "call_id": "call_mkKMZHnsaT6KWacOWkmUNgU3",
  "id": "fc_023f6d6233d73000016ab2e0c6d6d487d0a4566b2c1b64c834",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mkKMZHnsaT6KWacOWkmUNgU3",
  "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]: [-0.3763, 1.9778, 1.9484, -0.6739, -0.3351, -0.2317, 0.1113, -0.0208, 0.8082, 0.6067, -0.3923, -0.0109, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.536 left_y=-0.1455 left_z=0.2542 left_yaw=0.0172 left_pitch=-0.0982 left_roll=0.0406 left_gripper=0.1113 right_x=0.2944 right_y=-0.0006 right_z=0.1748 right_yaw=-0.0008 right_pitch=-0.0301 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -11.0564, 9.6889, 1.7314, -0.0855, 0.1978, 0.2125, -0.0615, -1.7162, 7.0085, 1.7411, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cfcf28a6277149edb865c8759f0e790a1b0517670c0ea598655166681e0e196",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a4e2e4df48f236bca9fb028cd8758748c71c8880cf978ac5c22d9db83103b03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c63b18ac1998d30654925fd7033a2c99470c606575e015f18e0aa887428d879",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 16 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8082, 1.4185, 1.0382, -0.4347, -0.6468, -0.532, 0.1092, -0.0208, 0.8032, 0.6067, -0.3923, -0.0113, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3383 left_y=-0.1948 left_z=0.1843 left_yaw=-0.0077 left_pitch=-0.0608 left_roll=0.0393 left_gripper=0.1092 right_x=0.294 right_y=-0.0005 right_z=0.1761 right_yaw=-0.0002 right_pitch=-0.0252 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -7.5009, 9.2103, 1.16, -0.2857, 0.0513, 0.1783, -0.0615, -1.0735, 7.0222, 1.7753, -0.0366, -0.0562, -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": "gAAAAABqsuDdSHMC4jkhDjjIzmzy2E3tNaxOLykQ3Vij9RYZoLdeQBRIRgxWnjHQU-y9xyefJk6-a2IPlWilIH8mHyyeZKTUclSdO2zRNHIrlyvQreoMLNA2brFxku3TcB0asVUfua4T26F12A7HB7H3zuV65B-7U7Ufm9Q4SFZ96b3UmIYx3pBEya7BQFG6tG8jTHdbx631MtdQYpm5Tt7XOPmNUd5EN9V-dWB-J-Q_J7jtEGHYCb-x6pUJHBfPOtlr6GPDTrHTw6Ulh4vnqg5i4GzlymonBD-2uiSZH20CPnp-WcF1BQ6vFleeW_nxwe89Nw02vmMOauIluZousxj7rnaDuh5glFe2Atdg89MUQ0LYEHiQrmMXwlqs89w5Vk4VBL-5k4sdmEhNXlku46GThvZ7F-uHgXNYGvNZbEjpNLAj1L-1mkBNKnSl38qZyCQ2DP6ZUVU83HqIinAolFPv4BHRTZUcOL_YB8KbNbW2ZjbFES-D6zXXjUaSGRpHQmgER3sgvd64YZmQg1T5Ff2DxsvjucyI4u9OCPPvv0JlQxU6fMNkDJM-SKThQgX07Jv9Fi26BRy6IAqAyDo7mg8YrkIIlc4TRK6MAJ4DjXGDFCXG-Uo262XE7kf_CvOzesmDeJ5lQ-RdG5gYuZIk9cpFouMfw6AD3sle4YL8kh5RASJkjupjmzZL-jRnNsj_uc_wC3iq5yT-4eoIEOLEuHwoZjOlLpQNMOXKV_PFSZTQPHlSJWCg_JiL3LGbJEJnlrvXKZbuIJjysy51RNfiIN3oaAThpm59GXMNUxYK_dCVnXyOuNJjnGGVQaBCo3PuyplwkoFTzN161BUV3JOTNTJ5_lUsBU2qzw1P4vR6p_lO2uLhsfnEelE_6iknFdjvCPOu6QoIp5lsppknnaGkxqaetSjtWrvgZyfeWmzi4U8ZwyaQazCcnSwjnK7G2sVHWS-KXhEjUqtpkGAqF0e3ZpMTPq4ccHJ-8AEaNlMTQOgtEQUC6Qo5dkdJbcgGYfAG0oOX3lIJ1DETcrrhwOf9fPsocMJMuj4pyE42Nsya_iV50bQoBb0J0g3DHQLR7q0sDpsxLvH8S32BXQ2KeWtJXu4OIENlDVZOJu2CIsNdXOeSIQ0nXWabQIiQk-CFhF0vlL2zXx5zeDHhd6tLma6jrDwmI6L12wkDiyKCL8koRxq2N0zhGqCZVEOZn0QajkN9thcKaQFABxiTfsDbgjW3h8a_zZU0oqR9zLaEvXjeWoDuP-SGLqssUumMcNhWaT28tklXX3n2gzbAcPaM6FQ-ZdrAz-JlxjIGv9kGAONbXEpM2Lqd6jbdaScit585vw8zjEzn-SCgf70oZJz68ZwXrkNJxOy3co6bk1gZvzBa29qbscGZ_kvyv0QGShZOVv4DP3eSjhk3bfCqz12AvTNbRdYM9Lq5L-Xxt9GGoHA3qVGYemak3CyKN3HnSzOn5Ua1QcOldfeaPe0wf0jjd1l3ESSpOxsD-Ckiv1_nhVOSy6D_Ke7CVALgp7EBgrZUJi6OewiYpZZ3jpxuACnnrz01CnoxbxIEDtjTYKdnEgsP2bp7bUoDnho-Ya277OjaCshKU7Q3zudHqZinf5hFjxeBInSaiBWOFppRL3Ky7wAgjKWmrMp3ULkplxM=",
  "id": "rs_023f6d6233d73000016ab2e0d8300887d0aa2e07f70263445b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_x\":0.34,\"right_y\":0.10,\"right_z\":0.12},\"note\":\"The brown plush is suspended over the left basket, so I’ll release it. At the same time, the right arm will approach the blue pen on the separate right side of the table.\"}",
  "call_id": "call_2nqL6PmET3XojgsLAYuDFnmV",
  "id": "fc_023f6d6233d73000016ab2e0db792487d097fc2e280da1d7da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2nqL6PmET3XojgsLAYuDFnmV",
  "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]: [-0.3763, 1.9778, 1.9484, -0.688, -0.3359, -0.2428, 0.9988, 0.458, 1.2266, 0.5621, -0.0334, 0.3592, 0.2386, 0.9998]\nstate[eef_state]: left_x=0.534 left_y=-0.1445 left_z=0.2517 left_yaw=0.0243 left_pitch=-0.1107 left_roll=0.0378 left_gripper=0.9988 right_x=0.332 right_y=0.0984 right_z=0.1055 right_yaw=0.0266 right_pitch=-0.0823 right_roll=-0.0259 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -11.0974, 6.7761, 1.7265, -0.1783, 0.0611, -0.1099, 0.1573, -4.7658, 7.9795, 1.8877, 0.359, 0.1636, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:940b229199a611b7e63432b686c0808bc02207b8cb47d9d74ddb2abf231f7a10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0615f2846cf17f7fc565ebce4e715c32864b1ec1707c8116e73a0975da22c9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fd9b2c3a5594aa5b5d32cde3e40096088f40ef5b082dc79b9c48c9ea7749621",
      "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]: [-0.3763, 1.9778, 1.9484, -0.6739, -0.3351, -0.2317, 0.1113, -0.0208, 0.8082, 0.6067, -0.3923, -0.0109, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.536 left_y=-0.1455 left_z=0.2542 left_yaw=0.0172 left_pitch=-0.0982 left_roll=0.0406 left_gripper=0.1113 right_x=0.2944 right_y=-0.0006 right_z=0.1748 right_yaw=-0.0008 right_pitch=-0.0301 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -11.0564, 9.6889, 1.7314, -0.0855, 0.1978, 0.2125, -0.0615, -1.7162, 7.0085, 1.7411, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuDk1tVIVIu20UqWh6mOYx1GTj9Vl3cuBZV3nJR4B9_8CGWN7W3ndkAgRpr4eXTPx7QPyGksfoBD_UUY0gRi-xBZpX88o2EtWwFtPbV0_UeSd76RkgKCOTFjVxuXFkH9XdzqE0G_lr0qjEapFlSEmHeAM222blJIQB3njpZJdIQbzzmmQZRT0Esw1QWdxujZSyn4MCJJbzLX8a33y6H65OVDqwWl7DlxWybr0n57XWbc9tuoBogTyB5JBqJHAufHUvtDoto461gF4R-nZ-AwDTJsXdcUKTnZdpZuRNR9rHZodvl4p8u6h-5T-o-Yua4VubSzvbnSgc_8z91ytjZVMAFr9D66KR65g-tcpiDw3-uWzdA_ZzkGQeu3iuzBLaWMeuLQDX-lgKssuiaUWduqY4RxauSEvJcd9nPfgEiAdGSwlFA0qqD6Y8e-M6c-tWWkiuPc27k2X15ua0FrXNfn3Y9j2PQtQ_6NlRN-6ft8VdmgKWbXe-8lnif0xqlJkrgltGegBXIeeB95JGQwuFYCWq7iA-aUtVvUs8uq_SyiGa700VaXse5sTP6vkpQdEpfHM5IMnJJ61GCrxg6x2k9VlhCN9S1rsy7SD69yeBlKF-LDE2ChmR8dJsg4hZ54u2j3RBHfboKN9KaKcTFduztIk_OCDlI9VNSQOz7jdQZXzlH4AC13DFCRCMwQiVra7OlKY_aTtXMmUG0eZD9Y6Hk4GsHwaV2TQTeHnOiCH1Q8LwwQOjihho8mxZ7_bcmwG3bmVN_V-UTQEDhZ-98rePHIOdq-tzf5OaCznY1s4t8oxtaTDliMMktpJHMhooBxIlZV5VjMKKzvI3smWPbJIBJ1LiAGHMTwOMvzl3mEpwApC9ZDbcGPlvX5_XfC9-pTYqsC8qz2oyhQ-5baMKmoaqFqgjLqSJWK8-Fyott9_UujALCX09MBHzTxUPBn2NmXGBa080NidiHz9b8UZMkRvwrQlVKnvPargN8Qb4ktBlo7ElZs_6q1OzDVGF9GOIuTpHNlKh2S-Uyk3wQgwn-B0mK6Egxy2e91yr4D91MqJzSr7cXJ1hObRsN6fI_TI5HjZheNcWryFxYkXdQRrBJtElt7P9Y-bf2JW1O_t5ILvkXvpBfjsoB4droQqzsHl2-h7lKI6Ed7t1Wf34t6p2NPp5JsHEwV5r4aHNK7ru6XaNb9DqVIV1PWbehYOkhjZlhUhXdURjrqksYS0Xuqae-A7QITVWrQv1TVKcRmn1OErRqC2FwbMSQcThueTGTPVXp-RiCpTVst9GlEX066FvxNK0lFzmITPhOHrVgCVWLhGC_OfDMEd2nX70QttyaLyofyC82nVCpH4K0u4mDIVdPpJ8Dll0J3sA==",
  "id": "rs_023f6d6233d73000016ab2e0e189e887d0a146ad12bc1347cf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_z\":-0.005,\"left_x\":0.30,\"left_y\":0,\"left_z\":0.2},\"note\":\"The brown plush is inside the left basket. The blue pen is centered in the right wrist view; I’ll lower the open jaws around its shaft and park the left arm clear.\"}",
  "call_id": "call_SR6pXwTYqqZGWfn2M0Dj9fzZ",
  "id": "fc_023f6d6233d73000016ab2e0e2b86487d0902c4ec5a6384638",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SR6pXwTYqqZGWfn2M0Dj9fzZ",
  "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]: [-0.0875, 0.9348, 0.8146, -0.5407, -0.136, -0.0776, 0.9983, 0.4145, 1.7294, 0.4347, 0.6739, 0.3195, 0.2176, 0.9998]\nstate[eef_state]: left_x=0.3085 left_y=0.0006 left_z=0.2043 left_yaw=0.0561 left_pitch=-0.0946 left_roll=0.0306 left_gripper=0.9983 right_x=0.3685 right_y=0.1054 right_z=0.0151 right_yaw=0.0285 right_pitch=-0.0215 right_roll=0.01 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -1.8803, 7.2821, 1.8339, -0.022, 0.0952, -0.0659, -0.9368, -3.9863, 4.0274, 0.735, 0.0659, -0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60b3acc877955ea0cafefb414646648c609b67f1751ec23c125f8fd8bf0a1f39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0bd892b997e4207e686995efe3984688ca87344a75bfe935bc2fc01ac13a6c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:590e09949c758d6390abb584c7d33353b6dedd425a880b4cb425e3b7b9ffd476",
      "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]: [-0.3763, 1.9778, 1.9484, -0.688, -0.3359, -0.2428, 0.9988, 0.458, 1.2266, 0.5621, -0.0334, 0.3592, 0.2386, 0.9998]\nstate[eef_state]: left_x=0.534 left_y=-0.1445 left_z=0.2517 left_yaw=0.0243 left_pitch=-0.1107 left_roll=0.0378 left_gripper=0.9988 right_x=0.332 right_y=0.0984 right_z=0.1055 right_yaw=0.0266 right_pitch=-0.0823 right_roll=-0.0259 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -11.0974, 6.7761, 1.7265, -0.1783, 0.0611, -0.1099, 0.1573, -4.7658, 7.9795, 1.8877, 0.359, 0.1636, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuDwdTqbUhYCzgIB2b8SejtQCLSMyCN766QjlwuJzTE34YxHoouQzLjG7mfSrjDmQY-44-rMd8_FvqlwuiJm8TO9q6dlZVSI5Z4YR_m61IplcSdGrFPGlv4Arig_EjO82b3E7RT5ZowOY48wfh9nhm-r92IzYqO7eS9DqUKG8vjR2AXGxrnVJHfWsXm6e1vUoj0k-OF4GdGEXZrjYTJrRvr5gzG0rR4IDJwcXFVZeWO2sQXrSRpU8D8ggiL42D4yr8ts0p6Xd_fleNCwm3_AhM99fL_DCPkCVlG7HTZjTqkwwt4fxGQoeGvwkaEkGe1SZv1Pts1i8hIzyOZHdST8Ct9o0cpdgW_slqjoHCSdGh74apBBcypE0F_Phd9oyDDJSIfruztTj2On1vN0W7SyKctNxHVoWlxdD69BduDklJRpCkcvJ1_FWhE_eZuliIkrWkLRjOSyQjuK74KzRQgb7KMDlu-NslTVD3_UG5lLmpRLDtstusH16jdoN9v8NeOZMpUhzd5y0rS2lbzwIV0Hdnxc8rG1Vz3Vh7UWKqzhRvU5M-FnkKhi79WophcqsILZBlKvQDOkqBg6xGzfw7buy0z9yZ-46vJ_ItyXuV4numGiLV-tuBOU0UHMqLIMweKZXG9P4ToVSJo3eLdemGtu0QTjtqN7_bWAkHw8eXgyRjjrHuThcA3TXQg7z4uZTTk40oPZ6ZT3bY8k4lUgIrAACcdSp7S9UIN5os0d_K3AgTQp5fIq1akEUkjzwBJi1upK04YB4X7dm5tVd14FXiMDoN5l5BelpivxSOjGYlOxy6SjZXqTts93QdzikQIdSOjR2QcR8fLkbGcM3qIhTR8VZF8gJnTdIhuKyqsHaVcYuzmCGucrEpG3WuKNIv_IXi9gdMzYqohZz-VizdmD7JQjm1RFsavoqS17NnRMNxEUqCl7ntXe5iwq8h3rBT9JDrViZeD8wxMKsV2aB1iQvAB9cQg7LcbdPbA3FRcwwEGLMRZOCLYB0gFEaDTPOIBDoDrI_47s9TzIt_goS2D2qmKPi4xVzywfTxmnfST4Jf2JWKGNUNSxA13nP8QPezpXQYRHle2bn8-9DpDbZJxsrHF-X_H7rjlKyFUwdZ0fFfhbISYGuKpb6uJi6nl15m_gLvKR6hLHE94Z1vibTX-_T5SkiO2c7S9rc0lxVCto2VLDJXQJy-w6VU_IbDClDbP2P_cQr02LfslQuNuKQM6VLoni9Mdk9Sn61OorpqAMWr37lxP96eKGSYuHxerh2XyRDPnYTXwHrOtdmPwdLBb6kym20o45QQ==",
  "id": "rs_023f6d6233d73000016ab2e0ed18d087d09e7a98ce65263757",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.087,\"right_gripper\":0},\"note\":\"The blue shaft lies between the open fingers, slightly right of center. I’ll make a small sideways correction while closing around it.\"}",
  "call_id": "call_IH0Q9glAm17IYTNSbs4CGjIM",
  "id": "fc_023f6d6233d73000016ab2e0ee7ee087d0b0fdd7205c485106",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IH0Q9glAm17IYTNSbs4CGjIM",
  "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]: [-0.0883, 0.9417, 0.8021, -0.5556, -0.1307, -0.0788, 0.9983, 0.3508, 1.7279, 0.4156, 0.7086, 0.2611, 0.1787, 0.1453]\nstate[eef_state]: left_x=0.3052 left_y=-0.0003 left_z=0.1938 left_yaw=0.052 left_pitch=-0.1291 left_roll=0.0312 left_gripper=0.9983 right_x=0.3716 right_y=0.0912 right_z=0.0147 right_yaw=0.034 right_pitch=-0.0169 right_roll=0.0149 right_gripper=0.1453\nstate[joint_eff]: [0.0342, -2.2632, 8.1026, 1.7753, -0.1441, -0.022, -0.0269, -0.7726, -7.6786, 3.3436, 1.5849, 0.1538, -0.1099, 1.0037]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e881e14d56b46b5b2952833e085be2481e8db71e0e84f1fd888f169f3990053",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bb882fe1501cc159491f4847be741aeb8d85ca25ceaa006237d2380ca615395",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4ed99728a7e6236343b79270b91cc4ef94da60dc1a3c37837680c859c30058c",
      "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]: [-0.0875, 0.9348, 0.8146, -0.5407, -0.136, -0.0776, 0.9983, 0.4145, 1.7294, 0.4347, 0.6739, 0.3195, 0.2176, 0.9998]\nstate[eef_state]: left_x=0.3085 left_y=0.0006 left_z=0.2043 left_yaw=0.0561 left_pitch=-0.0946 left_roll=0.0306 left_gripper=0.9983 right_x=0.3685 right_y=0.1054 right_z=0.0151 right_yaw=0.0285 right_pitch=-0.0215 right_roll=0.01 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -1.8803, 7.2821, 1.8339, -0.022, 0.0952, -0.0659, -0.9368, -3.9863, 4.0274, 0.735, 0.0659, -0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.19,\"left_x\":0.28,\"left_y\":-0.07,\"left_z\":0.12},\"note\":\"The right gripper’s width is consistent with holding the pen. I’ll lift it to verify the grasp while bringing the left arm above the gray plush, well away from the right arm.\"}",
  "call_id": "call_tabuoV1EF2cyWGYMeWke7dVQ",
  "id": "fc_023f6d6233d73000016ab2e0f3f0c887d08963a13c4b627af7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tabuoV1EF2cyWGYMeWke7dVQ",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5194, 0.9524, 0.5453, -0.3943, -0.4198, -0.3573, 0.9982, 0.3473, 1.2579, 0.8005, -0.157, 0.2527, 0.1726, 0.1497]\nstate[eef_state]: left_x=0.2778 left_y=-0.0717 left_z=0.1192 left_yaw=0.0155 left_pitch=-0.1565 left_roll=0.0392 left_gripper=0.9982 right_x=0.3732 right_y=0.0919 right_z=0.17 right_yaw=0.0408 right_pitch=-0.0285 right_roll=0.0111 right_gripper=0.1497\nstate[joint_eff]: [-0.3214, -1.8667, 6.5983, 1.6581, -0.3687, -0.0611, -0.0171, -0.0342, -6.5846, 9.7026, 1.6728, 0.1294, 0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7abe3c2a28202279316049218fe03e2bd86bbda5bd7895b0c0100fe3eb35d6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7ec3bd0b8fed6e089f015b2170513c0b50ff2a84cf9ab7d66cca88acc9e3e0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd158d12689e1ba5be63d305a5b0d3c2bb1beb3228122550f409bf5ef49449a1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0883, 0.9417, 0.8021, -0.5556, -0.1307, -0.0788, 0.9983, 0.3508, 1.7279, 0.4156, 0.7086, 0.2611, 0.1787, 0.1453]\nstate[eef_state]: left_x=0.3052 left_y=-0.0003 left_z=0.1938 left_yaw=0.052 left_pitch=-0.1291 left_roll=0.0312 left_gripper=0.9983 right_x=0.3716 right_y=0.0912 right_z=0.0147 right_yaw=0.034 right_pitch=-0.0169 right_roll=0.0149 right_gripper=0.1453\nstate[joint_eff]: [0.0342, -2.2632, 8.1026, 1.7753, -0.1441, -0.022, -0.0269, -0.7726, -7.6786, 3.3436, 1.5849, 0.1538, -0.1099, 1.0037]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuD-hMLtHqnG6pcPovdcQ6HGraqffRSQbSiKDsVAybmmoLf8vKZUOdQ1bbK65oCkt6nHkV13ewZvYNcZQ1GSaiwpTr4uDI4HLnOVLpuDi4hnzTCv8pVNJFSwgc4jX3bCp1Ukj0oD2jaH5qiEKtMYk-BMHiy_ZjoS1exB4FLbbry-5EdOrpZ8lqGcid-LKdoYhwFZ7DsSLjuKX82ZmrE5HRtMxJJdSLWSTJgex1RF6wWnwnRSsi7gFPLIGtBJGKAeCXnkTP7hM5ss9Qm4hCOmpwVwH75epoKjZZwUTkoLDiajKUigyR6kYtAhhK-jzVWHEH8dyujEQqjj_LsQAfLgmYI9P97-b12UL9w5LR1X5lHyxFJLZTiCy5dsMy8sH6uS0rI2cFBFjkY-czn6aLmikixGSrd3ySt5CBdMqeNlXUgmnck3ctDFrJBOC4hc-UMxJhZ7weY2MC1QvM20xH5QBkGLVZTW7oolUduN9oOTMxA-whM-LU8iADwYuEewEtR60sGHQvSM3Fk2YS_4SJJ_LB0TcXsuCTsQfPZ_5On7Qvtc913KTQAXHyPNLaRKvuReoYaeWErJPW5HwfNvx0tAnSJgCudWt5LH8EUrDi5xteqTmQXeSjxM1WRQK-iirG7_-7g8Eu3rMV77e2d-92W65va5R_7NNHCLBgm_4u1CpyFKzSO4-AnD7_4HLnTgwu9TztOBHMvq5nuoBuQjuOR1h2oJnJMjbQSOjoNUjdBba2EwkcAghjBcsViRPCJjXTG8s077voEjHWaC9t2aZduBHaQr7xKvW9Gh_JntsFgHc0JccCy2Yxv-bNsGkKW6SYp6D5yr4-FTZFpC7K1fnT3HQbKwR4OaMOH-bs7CjrEiH2_NQhExO-osmptz6oHEvRfumESqsWB4yVU1hMEEXCK-QAeWLXrzOe66ik9mIG60J7Hqr8rfrJLrVSIt_i_lkonrsNNcVS_1CQqU6u28K9PBIP6wusvAfZk4LtL4_RXBhfIwyasDuopnFpmSkBoTZqZlpHCD0a3yTtOgQMHTlCNi1k4xJLSfsToGCMrWPjgVKO7_2HVtFsflhvHrnaLNUYjs8bZ-CL_sUvbB8BG9rqIMGwgydseOB1PcIf_TwX9Kmi1e9FSBKCaQmiaMCFYMa-raizfdOgXtpJhBb3OzwLXRJK4bWPjJyebvbIQzGu2jVpd7CXgTNkd_8H25mktvS-QQ6d2qlaxFIMPnRZ5_LoxzBrDw68Ypzrd4cvQUK4Gnehvd2kMZm2fkG_LNJNJQiGr4YfD-DCGOYioJuyjWlvbNxCHzLQMwfovKaHVdA2WsRHLNSOg=",
  "id": "rs_023f6d6233d73000016ab2e0fa44cc87d087638ac000cff091",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_y\":0.15,\"right_z\":0.24,\"left_x\":0.31,\"left_y\":0.005,\"left_z\":0.035},\"note\":\"The blue pen is lifted securely and will go over the right basket. The gray plush is left of the left jaws, so I’ll shift toward its body and descend for a grasp.\"}",
  "call_id": "call_gVcbITiKBfcapE4vnBjMye52",
  "id": "fc_023f6d6233d73000016ab2e0fc6b1087d0a8b2c9a72d3bb15c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gVcbITiKBfcapE4vnBjMye52",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0437, 1.219, 0.2943, 0.1566, -0.0986, -0.0471, 0.9983, 0.3462, 1.9011, 1.6882, -0.4171, 0.2413, 0.1642, 0.1532]\nstate[eef_state]: left_x=0.302 left_y=0.0078 left_z=0.0297 left_yaw=0.0536 left_pitch=-0.2048 left_roll=0.0424 left_gripper=0.9983 right_x=0.5334 right_y=0.1513 right_z=0.2264 right_yaw=0.0535 right_pitch=-0.0454 right_roll=0.0059 right_gripper=0.1532\nstate[joint_eff]: [0.1709, -3.1932, 5.094, 1.9805, 0.1343, 0.1245, -0.0171, -0.4855, -10.947, 9.306, 1.4286, 0.1245, 0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8afe8e46cfeac49ee6ac58d1d8d542d9c0092b2fc2f4a17ca42ef5ec73d0110a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b855307a546718f6b38fbb8b99c960c6cd1e1e8d91c0869ce33306006fa28e5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:565d8196db9f097c96a40e996f55356840f7926d301bcc840f92bbd5bf147fa0",
      "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]: [-0.5194, 0.9524, 0.5453, -0.3943, -0.4198, -0.3573, 0.9982, 0.3473, 1.2579, 0.8005, -0.157, 0.2527, 0.1726, 0.1497]\nstate[eef_state]: left_x=0.2778 left_y=-0.0717 left_z=0.1192 left_yaw=0.0155 left_pitch=-0.1565 left_roll=0.0392 left_gripper=0.9982 right_x=0.3732 right_y=0.0919 right_z=0.17 right_yaw=0.0408 right_pitch=-0.0285 right_roll=0.0111 right_gripper=0.1497\nstate[joint_eff]: [-0.3214, -1.8667, 6.5983, 1.6581, -0.3687, -0.0611, -0.0171, -0.0342, -6.5846, 9.7026, 1.6728, 0.1294, 0.0073, 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": "gAAAAABqsuEIs1_7YXERuMLvuvsn8QZk5TL_T5tswA453s03Vw2upKMj4eVmsE6ltb4wmn8g1jLhvxJwZJ_VcocsRUPUrSwAUcIZRJo0hDKI3fOgDuBSJ7Pz11_rMkxUUrOPxPDvSBsaFNE_xjepzFoy3iKPC_k5q049f5UNz-tZtctswTl65EoelRLBFwNU--Omo0B32ibudt-K4muRPYZ36m0O73Gq825x1-DoSynfpLV0OZlRtzuBqSGWC8Xynz0xwEN2LMVDb-l1GhkCqGAfhkEalDUE-bgFZsv9vLEGOvibxWGLbYsHMcqlqM-QQ1A_GSRhSVY5_TxnKcHVickACVlzZm1z5_Wrm6UssL8ZUE4HQyhTuHlzRhdG3Fhj3jbZF31DsqspUzWOKuu2dFRxsFfaJNgrOQnisNV-F5j4AMPwBZDic6CX8O8FgU-bik83WVYjMnllsJuxLiIgYk_5iaYzgqdGKcq0EwgsLJmzyzcVlXbroutkL5lsdSU18iydB5DOxwMLuk6dWqrX5nI4uEaYIKwZU31mGpGKmj9ujSfMlyRc_UTz7spr10gdypRflbtqNdtRQJPuUd7g5Q-3MIS3b-ZKzW6PS_yZnbOwZvq-peTD2OqIkCcoVgk7wxJ1q8-c_DJDvMzuepRdSSiliPevXIiG0JEP3UN1zlSo_gHMcTNFVjML3SlEpgTJt7nrNqK6HZbgpPItr6xcyFv2u6xmNB9LEhaHNxNvbp0SpzkthiYZQ51bV5ln2XbvEvrecTyYGYZgqtlBQDH05eYmLprg-5AZj0H1S4Z0KLMoVh7zeCGNsMdYZATwwHhMEo_z8D4-cyhoKRvedjl0at6VcAnqxpgy23hhcakwne9w5c744QYICVMT-3syYHwHL7joRN-RGF1Ya1oBnmfqQgdahJ1KY8JKLBLVpapVxJxq9DktzOCEnPICsgPCFnKHGIsPHwUa0mbuW2ohuuXx8ZvNyinWVE8XZmKZZMCGDTUlMQmr93ufEkLfTDDY5Me_RNtQ6PdK_vZtH-_2wZVh-gFD2Cs0rwAGD_1_B_6BRVK4OAN1c9NXZuvipKEeTMPidfS1dEpHuvFEx97C-HVgji8bBJ3uhk7ETqJqBSGUGLDoqYzuqqYDDgU091UkNQhF0yDohlagpcp6D81FGrPw7Kb9k3D5ZpuZKqaBRuL3O305O6t1BJoJAISgeRur2vLQKVj9k3oQ3XTGK9-TAAlTNHyuoQK0g-s08MkDKaMeeuc1JiCnO-n6bCxFw4K2Dbm1V_BfoXjQyh1A9IYVtNgSTlrE0WGLp5OJjb4-2ERMoBi1HnZX4iWEIqjc2364cwFfT7HS4RHXTJXbO6SFCt_gKk4mJ0T0UXP6sw==",
  "id": "rs_023f6d6233d73000016ab2e1054ab087d0804086e6bcb52dc6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_y\":0.04,\"left_gripper\":0},\"note\":\"The blue pen is over the right basket, ready to release. I’ll also finish centering the left jaws on the gray plush and close around its body.\"}",
  "call_id": "call_AQPyod3RWU002bukMmLFmXmR",
  "id": "fc_023f6d6233d73000016ab2e106c33c87d09d564731309f8597",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AQPyod3RWU002bukMmLFmXmR",
  "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]: [0.1303, 1.2343, 0.2913, 0.1696, 0.0101, 0.0578, 0.0105, 0.3466, 1.9186, 1.689, -0.4332, 0.2337, 0.1566, 0.9954]\nstate[eef_state]: left_x=0.2991 left_y=0.041 left_z=0.0259 left_yaw=0.0765 left_pitch=-0.2147 left_roll=0.0422 left_gripper=0.0105 right_x=0.5328 right_y=0.1528 right_z=0.2141 right_yaw=0.0637 right_pitch=-0.0782 right_roll=-0.0052 right_gripper=0.9954\nstate[joint_eff]: [0.3897, -3.5487, 6.5983, 1.6044, 0.1832, 0.1099, 0.8132, -0.3487, -12.1231, 7.1179, 1.8193, 0.1099, 0.0806, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:190e10c3f4fac8c0b132df9e2a116343dc6ebe1043bc27845a9cfb04d611b5e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47c8d77089f21672a3109cb4d01fe58832e94f741d9b32a110461e25c9d1da6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec56b7a59f7d98c1dbdd98e29607d1e956b02c76ea39566ebacf08584946363b",
      "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]: [-0.0437, 1.219, 0.2943, 0.1566, -0.0986, -0.0471, 0.9983, 0.3462, 1.9011, 1.6882, -0.4171, 0.2413, 0.1642, 0.1532]\nstate[eef_state]: left_x=0.302 left_y=0.0078 left_z=0.0297 left_yaw=0.0536 left_pitch=-0.2048 left_roll=0.0424 left_gripper=0.9983 right_x=0.5334 right_y=0.1513 right_z=0.2264 right_yaw=0.0535 right_pitch=-0.0454 right_roll=0.0059 right_gripper=0.1532\nstate[joint_eff]: [0.1709, -3.1932, 5.094, 1.9805, 0.1343, 0.1245, -0.0171, -0.4855, -10.947, 9.306, 1.4286, 0.1245, 0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuESFnV8Aan_lLd-yEUVN5Ip1VozBY3ok899CVkV-aBsEGRzUcRlTQTMyutAJo02hiFOqt6nRLd85Y3UkpH33yE0UW50cswn4CrXXbTWsMcN9Rx654ptunn2d0kiW17TG8WSinkXBsp4owuUE40F1aP8II1OtaMDjFbfcx6X8n4GIsDT_0Nprx5xO054N-3NAnBjExAUtIiYyEdp1npzFNs0Wfi8qr9Pqd4VVkfKZQN7pDh0sB2tj9oWqx-EFi8qp93dG58Fj-2kV199UrzhthqvyH2dUTM0rWyiOG5m-Yu22sWHn8-KX5SelTttTeDfE2qs3D5TRthZ0Rcfd9haJ3o4WUmHtO8hBpEM2y4C24XnwgMpqCNR0Ag1AhFtR6WPyDmMqEfpBfzbljjj5G21h2gdVonRNxfYkrm1vPWz1zww3HgzmpRNRwT6G-qLzNYNGEU_8AwSZTzwfzrIr3i8Z_YkyzlXOU2-CsvPd5lSTzYzRq8MrtMtpcK3xFW1-9tEMjSAuPqW5b0Ev8Hsw39AOUCXit79O2iv24oarYnV6j01NHukPipS833WXmwZrwfqx2BYYJgiIGOn7XKFIacwrZ7ZC3o-aq3sVrTZHuHJY1Jg7wKTkltvmwuZyhbH0KfDI8bX_2GCiQfrBdsuLensX6H5Vf6ayubq8Jf-QdO476TgYmJZ3NPjm8vB5flonPH4lhDgdcWb7R_OekEDyYeXOiflHpetK71n9XN9Co0yYTqm7W8p6GTneCzYx37ZABz58bROGcxff0Hmxdpn9VcAvujlTdIZLQvuCrA3-bT9T7sEv1g8ptcwtl5eEOaL7FR50CoSIO1aSg6ULYWiYXSMZqXyN6kmhRUs8dWuSkqQDkI0OQy00sxnPwitTzCYRrrBEZ97aO85bcliTeIGMQH2sFlUkbg5m9W-LG_Jzi1rqmTBexDRajBzCNUQBT_ahR-psOO4ATp5jFg-ErlTADB3_-a8ua4MU99utFbiUghXarSKiTEvbsGblEaLqynlA7U8Sb72CpXQOQALtQ0eFz1yROIrCGTHEghoSHAzjNTVsFHw87LnacIteEGk1AQxnI-TRKYhnyf7vu81Iq1Q8Ds4GsLYsi54Nhgrkm-Zj7fl97HrOcsHaWoNDvqP2JHq8h8wkbiRnXGR-tU-GPwtx04CYIGK-NDx-VSoiQYCGVOcR80NH_Wrah1R4toZ2lglDtyxqBj9kU_bfWi5OiciR5JLb-9YRcYXD1FsgkICGW6QZF3t0coWcgKQLiRZNtU1UA-meE70fhm6daENqFyIWsROsQo_zA18pT3d-u6_NeX39YX-KxDQGnuaLWQyUNIOiJNyQBPybcNDxFeBd4HSEsDZV529b4zWnI0tBPeg11M4M9_E8GVPg5_d5BWzFg8tLDvchEWQ09f4LNtUnFEnHjBVgaKQDA==",
  "id": "rs_023f6d6233d73000016ab2e10d559c87d09382ddc258157c1d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.35,\"left_y\":0.05,\"left_z\":0.02,\"right_x\":0.37,\"right_y\":0.025,\"right_z\":0.12},\"note\":\"The left gripper closed empty; the gray plush is still just ahead of the fingertips. I’ll reopen and advance toward its torso, while the right arm approaches the remaining gray pen.\"}",
  "call_id": "call_MeV109REWyIjLP540j08cOPT",
  "id": "fc_023f6d6233d73000016ab2e10f7a2887d0a0aceb48d02133f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MeV109REWyIjLP540j08cOPT",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1341, 1.5024, 0.424, 0.2405, 0.0269, 0.0555, 0.9963, 0.0769, 1.2964, 0.6575, -0.0463, 0.0387, 0.0086, 0.9963]\nstate[eef_state]: left_x=0.3329 left_y=0.0437 left_z=0.0047 left_yaw=0.0659 left_pitch=-0.2783 left_roll=0.024 left_gripper=0.9963 right_x=0.3711 right_y=0.0253 right_z=0.1123 right_yaw=0.0378 right_pitch=-0.1212 right_roll=-0.0054 right_gripper=0.9963\nstate[joint_eff]: [0.1299, -4.9162, 7.5966, 1.7558, -0.1441, 0.1392, 0.022, -0.2803, -5.5316, 7.0222, 2.0781, -0.1685, -0.0562, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93d3668b04898fdab9e84bc209af55d4ecdd77f19013a584b6dee518ead7d0e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c9c087618ff58ab64a0890763745eb2c65b4314e46eb30ad9a5b61bf6ddea15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed4e6a9fcc73547698b8773522573d15431f6bfc902427af910d6ee67a65d619",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1303, 1.2343, 0.2913, 0.1696, 0.0101, 0.0578, 0.0105, 0.3466, 1.9186, 1.689, -0.4332, 0.2337, 0.1566, 0.9954]\nstate[eef_state]: left_x=0.2991 left_y=0.041 left_z=0.0259 left_yaw=0.0765 left_pitch=-0.2147 left_roll=0.0422 left_gripper=0.0105 right_x=0.5328 right_y=0.1528 right_z=0.2141 right_yaw=0.0637 right_pitch=-0.0782 right_roll=-0.0052 right_gripper=0.9954\nstate[joint_eff]: [0.3897, -3.5487, 6.5983, 1.6044, 0.1832, 0.1099, 0.8132, -0.3487, -12.1231, 7.1179, 1.8193, 0.1099, 0.0806, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuEeFbNlqjb5RgePOuOUgvILLxhsM7n9FGPplZVJnEdzKAFJaMCqfT2AWJNJ1QccculXqEZWo3N4PKlxa5qPKpMPpDSVNbB-a-pEajwp_Ib6hm4gBdEzDz81X5hwnMcqntwmTGgVreBalsDLHIi0WDw-VTcvI0mEXEJXRIXed29wX8slcaqoUZyXy8k7Tdr7ojs4QPbbFPgacDpcDNidhHfHPu2ELubDt4h_NjWINI7CRqVbUajBJgCEsty22WOe9gL3amH9iarLlEN0g9KfZoWFA-zcVZSQVHmy--PsB2XPFzi8AB5jnCMz9allpJ1Zi5AjM1MKaCp7LfTJa-iT7Slb4Kni5WHz5J-3pJbkhNq6k1kr7vsAsnGODT8sq3w4ofPz5zSK4Nh-45UbOjh2ajJywdcWIx5AHznDWMAFUy0RqrqWMoJtsKva4IVL9WGZjI2MuI8FMTm4eCMa28foNFnv2sxXECVk2X082xJpCySZcUKWYFcU5sE9HSnVRHxXOBoce_IYTkOC_lh3z-r0bRF5rVyKlmEyaSGFUvh_cWni0iAfM7QsY-MK8KT98n5aLKpHLjKT1Z4k8P8r9fm8qQAovkK6sPSAZ_90GtE-Ug-zF4lpnbcL8hzuNSZYHdtlhBbJL8bDSPcU1FB5x_MA9LNYO8EyEEZcKF-zDKlGXU9z_LypsE-b0D55LCr-L9g8JW5qC7tX1rWF88eeKwQIO8tGYFYpEu8pcacfcrxBra78256Oh2wXKRwYDDzdMwoTv4m11Toq9F96TsmQuKzqWjyx-4sQLlxEAxZ9qmtOHs8N-NKWm6Ptwqstt2vzwsSjdueCWQGi4cIcFqjVRVdAIki0jEiiv7lKAJaOQDLtPNiqm9ztuqNZovgS1_psUN0rDynFmIouC1p4cDsADuUMunq-3zPwfEeMbQAHroUxFErpc_-V58WJY2lGmNn2V1sCZzfu7Z150a5JUFXaH1giGwRvHbNIzQ_MxeMer9j6eKXwyd8tSgkExnDUXWeEROeanb-24uVDYaPn_9pgrQwEdnuONjjbJQAaIrff0xpjxvMQzNqp2XxSvxNbJkUPQTQx4VVNzFVhB1MwSP3lbcEYv4bCcppeMfeRU6bkFvMH8jLjYv1APvpUkFw2aN_RBaqwW_m9yEvOHpd-p5k1ryVnHpd3C3wuAiR5QxpNpjxbvxf48GHZyh7BgiaZzr-mMRCEWyLlrNKWbSuZHpGKBNSekGhqcKiDRMXCVh0hvWwjbwrBOp_lVhIFX-3q717pa0SL52BZFHOQO_-tB9Sg25Y8AyoK6C09ufUPuzYEZ1_-TMzWV1xoO9raIkTanRM-4-7Kdx-3BDQkE9xdV4rahf1nBXM4GkSbp5zG5Fs45o0dgTvY4syaRjxgm9IDuF88K-PJfQipBNgJtKtNpfp9P-G9AysEHjYWqCXqW8WSfF4eRK_Polq5iFCXnXZKwt5XfRgrlZCmZpcdrqSrkVGwL6LW2gBQxxBAXRCRHmO1Y5bVW_lsR-1DYQ98TF7ApBxJcG62Wl8M4E5wig5dplKxKeAxgzIJXAh7ZppPyvmk-nhrOdCWRBIPl6o4GQsL1WEA32gAo5qUb4S_gtPJOWK1lJhnj25sH6025dm4f332m3s411chadQ=",
  "id": "rs_023f6d6233d73000016ab2e116baf487d0ae87dc3819239ce3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_z\":0.05,\"left_yaw\":0.7,\"right_x\":0.39,\"right_y\":0.005,\"right_z\":0},\"note\":\"The gray plush lies near the left workspace edge, so I’ll angle the jaws to catch its nearer side without moving beyond the limit. The gray pen is visible just right of the right jaw center; I’ll lower around it.\"}",
  "call_id": "call_MTKmoonWhjScvRO8QLm4Quvu",
  "id": "fc_023f6d6233d73000016ab2e11ad93487d0935e1e53e5541ed6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MTKmoonWhjScvRO8QLm4Quvu",
  "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]: [-0.1295, 1.6157, 0.783, -0.1539, -0.4507, -0.5789, 0.9968, -0.0006, 1.7069, 0.506, 0.5262, -0.0399, -0.0273, 0.9965]\nstate[eef_state]: left_x=0.3748 left_y=0.0324 left_z=0.0439 left_yaw=0.5748 left_pitch=-0.2899 left_roll=0.0086 left_gripper=0.9968 right_x=0.393 right_y=0.0104 right_z=0.013 right_yaw=0.0465 right_pitch=-0.1104 right_roll=0.0162 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -6.4889, 7.2684, 1.1551, -0.4371, -0.0073, 0.0366, -0.8, -4.4513, 3.2479, 0.779, 0.2173, -0.1978, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3e7cb858845c0dc4fb258d17b15762634dd716fd7e239e8eb6f6065defaffd1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8585eee1fb7e679a5490787bbbdb99ffabaa8301c9f7beda369cb6e54af69c59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bab562854ead9bccdae405e1197a3576683ea6da55226ffe03066f7ae3c80e39",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1341, 1.5024, 0.424, 0.2405, 0.0269, 0.0555, 0.9963, 0.0769, 1.2964, 0.6575, -0.0463, 0.0387, 0.0086, 0.9963]\nstate[eef_state]: left_x=0.3329 left_y=0.0437 left_z=0.0047 left_yaw=0.0659 left_pitch=-0.2783 left_roll=0.024 left_gripper=0.9963 right_x=0.3711 right_y=0.0253 right_z=0.1123 right_yaw=0.0378 right_pitch=-0.1212 right_roll=-0.0054 right_gripper=0.9963\nstate[joint_eff]: [0.1299, -4.9162, 7.5966, 1.7558, -0.1441, 0.1392, 0.022, -0.2803, -5.5316, 7.0222, 2.0781, -0.1685, -0.0562, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuEjK_X7yQ1aSPaFFxw5nDDfpnHueDYZIoI_nPfUd1KqjUSns6OGK0wROEZWqBw-vUSjA5113bu3dqzYKKSLdNQM9lh1OcnCKiEer0IlUUM4gpou_eG8aXqNqXuf-wuHZPg_CC9QxL-F91MjcWjR_gqcBj_1XpqwA0gbTVh-I7SIKE9o5qs3yLSWzFvn6DpYHsD1k2xay_K3tw1MqFRwHNBYAUEsVIWYgo2qDu2erg3VJXDO3efGXoFPI2KcGd8f49pXUgjriemB35OWazOpV5bM2AvfVSaQCjXkt_qoANKLDoDFF_kcbAQcVxtr9e2FCrwu-L-4uVgKOBuyRY3GSw-WRWPJoGEsTCgdUiIfDWo_jDxgbD6EXQSpSROXyRe7vn2yX6lfZpJGGqP-iVVmt5U0GlMGkvDk1R4SqtIn_ldyaJjTZ8Ba5WoJA0PEdnZH0kbP4DN6j7vM9wz004-3PgM6iufucxaygt8EvIEQ-CXEeRsp5JxPs6nOP_oz_eEQSdAGz_T-M3_wIK5GXNVStfZoMI8jf4UjcgBSCaX9NgdcgUPvG7hAm9eIwKesOt2xYloKI2zLjuDCWuEtOxoxPPjKHocSR8ngdMUArUlorsQKD_4A2JCONSH58AjqUIEwwLFg6kVO8xtctcA3JflpPOJmaAdSS-hyaDjjM6-LBELtFyCiF12qH_yaNbBfKDJH3GT7wVzCXP7MMA_2d5H6BmC3dch8b8N-Bvo4WjLb8BS59G2lyu8c8wc3cA30ZxOzal5Uc-l1At4hTB8ilsN5zz2ekrcWE83_uoCS4iBt7L5gYhYsRNkJnD9l8hGJPfw18yPchDyQ_PY-DdZsQEHj9UloOmGbrrjYv83gdZqNugvfONoHK-IBvTzcTDNFIr9sp2ghyw-hgDtQmHSJwq3d_3eqJL6C4ETbGY3mjOisiiQ-fB_JvHbKb3hAIh1SxubrLCBz_B8oQF3ifbXLdZCc_gRW9ZX65-Ndt93itjmtI-o5hPeQGsyH276hmhYMuslna2ERHPDdQ9TkmfPZt4er2qb1GX3XnaSGBY6q1KG_TFoeUWHNWu09j7fH3vOh1RHOVUxlQEzKjorXvtNzG3dJs2jgDZcJzf8Dslo0iMZKLKHIrf2QDA3Jn9bKrRc3fHvM7lW92oxsOx49kOIa73z-QBST6wW9fLAsDIy6_Wl4lsZv1pYYz0qm7MgIm9mdiDb7VuvB6_SgClKxR2Sg_w5ekGrCag==",
  "id": "rs_023f6d6233d73000016ab2e121183087d0ad86d01268ae4500",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"Both targets are alongside their respective jaws. I’ll close on the gray plush’s near side and on the gray pen, then check the resulting widths.\"}",
  "call_id": "call_y7u8Yp0JnS1ZymO3WyEX8KC1",
  "id": "fc_023f6d6233d73000016ab2e121db1087d0930cd580dc289954",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_y7u8Yp0JnS1ZymO3WyEX8KC1",
  "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]: [-0.1333, 1.6283, 0.7887, -0.1631, -0.4484, -0.5835, 0.0104, -0.0013, 1.7203, 0.5003, 0.5686, -0.0463, -0.0277, 0.1424]\nstate[eef_state]: left_x=0.3742 left_y=0.0307 left_z=0.0401 left_yaw=0.575 left_pitch=-0.3033 left_roll=0.0148 left_gripper=0.0104 right_x=0.3961 right_y=0.0112 right_z=0.0143 right_yaw=0.0513 right_pitch=-0.087 right_roll=0.0187 right_gripper=0.1424\nstate[joint_eff]: [0.1162, -7.9111, 5.2171, 1.3602, -0.2271, 0.0171, 0.8571, -0.1983, -7.7197, 5.1897, 1.2527, 0.022, -0.0317, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b9f8582ff5b36e292b07b6a99f4518e1de029fb27433519164b452d835ed3e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1195638beb5f27062d264172a6d5d6a998952906f746c696ab69a46ee9c945aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33bcd1273df10eba1a96a3d495d51c973654f3f2e4e9a2d533ad37e19e77ba8b",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1295, 1.6157, 0.783, -0.1539, -0.4507, -0.5789, 0.9968, -0.0006, 1.7069, 0.506, 0.5262, -0.0399, -0.0273, 0.9965]\nstate[eef_state]: left_x=0.3748 left_y=0.0324 left_z=0.0439 left_yaw=0.5748 left_pitch=-0.2899 left_roll=0.0086 left_gripper=0.9968 right_x=0.393 right_y=0.0104 right_z=0.013 right_yaw=0.0465 right_pitch=-0.1104 right_roll=0.0162 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -6.4889, 7.2684, 1.1551, -0.4371, -0.0073, 0.0366, -0.8, -4.4513, 3.2479, 0.779, 0.2173, -0.1978, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuEthZ2qq8rtEeuMS_6UthhMVhvpq4IzdLaCy_Quw3NrCSWceFTipf2mPFVhu2NSsEa1O-4LS8NWYbnL0nUViXPYIMpfNy0DnW1su5FFAi1UdjL98IXT31W9fi_IVei8ZPyU_W5EquTtiA2027H1axZDLPWcMut6nKslBKx4ZOzPxFa0wGUm57-0hSq-oQqBbAQBaFpEr4M1MXxv_oXm5LgYoUtoy0h-WHOQ9adAIX3-E2-_hBeMV8C4vTFjR9-ojtmH5A4Rn64_snqEp-wgkgH3Ih5AUpaZM5Kyw6Zcv6fYVHD08suVFJcMPmcCUoQz6Gh3wCZuvSnFK4kEPCx25khdnn-_p2yGNUxFLeP2gea1Za85TBlRaIquRNYNIHP4iJbSSmlqo-SkVtdFoUXhLFM7GIoK4DEO9VaK7hZ3ysh7F5LU3RBoz6yi4VyzAkeztzLaxRpsZDQpbg81D7dAk63TTtXJEc8djzk9ESy9Xt_a1VquQNYETt4v5tdWCOtRx89izQgMWrjFR-1Kb55RZJEb11ib8mXSZu8zs_h5OwIpHnAOMC9W-KREOy15uDVgEJDmcU02YAmLh4hn0hRpc2BxpEr8YZSZhnLVYBCTDOtwObe-nZx9ZRYhttxdX-JM6son-0X88sU5iy6Vnre4x2b-ymHQjVaUbxx0bI-ho8q2tQRasiqiNxcnO9Pq-vnBG9JlApdzZRVajjwrCL3iUvP4f61QelkyIwDmy-l23WsCiTwVFTDdoskOn9eSPs4m7pbZteer98p9McsyDftDlsNCXYvPwgUneBQOqEm_gOXrl9c9v-qm5J5XPvm3EtN8Ja2eFDJkdea3dGayONGZWBux3Gjjrkh9ph1MYEOub37XeI_hikFDa_Y7z0ObL5cTUbOMKpWOey41Jt83L1jOiPuGs4IlZXH6q4VzQbUtlyRoIDQsQcMRyPY14cCERD6NID7HwP5W7yqtcRiNCEZJugKBpYKkjZE41cJHk1y8FOsUfWsTD9Nan4RrPFkTo5xxxXwS4l9aHge9ZJbByUa31BtTcV8jDclAmzyHAIM6YAwhNUd-j-rbC1FA6jVAJNMMObzLTpvPxrrRMlbeJxsyhd_Gjeos4_g4tjPtHNLNMJuDTVAt6v4WhBRkPhEJuPS6WG5xDbZHmXbMyhYls_C_alvSL0Dv2rMjjS0se9UIvHip_pzJcq-3QgwRXj5s-nB9Qek9YN4FoLUHOohUwCdrxEE9wPSQIzJkacpXP5Tw8UB4LFjeP262ppT_8WTCCAZFHenBhN33iAm_ROYBzrSMbVFhs4SYsroDqiMwljOcoUx_iMgyQ0qCA5VK1uw_72qeVFUnEbljg2vWiKTGBrEJMP_isSYA0gmYwABq-_j1O_3PGNtVsKt1r9pLZ9L0hD908ioMDapkxr5vCRdON3de6SrCKFNRjqJSzdpeIyAiDxWjWMKW5x2qkW3bG5XHwB0K7GawmqbJpjOaIKjhzl127-Smyu2AIKTGX9TUhn6E_ZNnKLYDDnFU7K6BQp1H6LAY6CNH5jKNZhIsXnUEubbQKYmeUDl1NgMhoA5i2S85TB7eMAI=",
  "id": "rs_023f6d6233d73000016ab2e1288ce887d0b0a2fba6cf64b386",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.19,\"left_x\":0.3,\"left_y\":-0.12,\"left_z\":0.14,\"left_yaw\":0,\"left_gripper\":1},\"note\":\"The gray pen has a solid grasp width, but the plush grasp is empty again and its body appears beyond the left-side reach limit. I’ll lift the pen and switch the left arm to the accessible yellow pen before revisiting that plush.\"}",
  "call_id": "call_I47KW3v6diejsMb5wMFUz0TW",
  "id": "fc_023f6d6233d73000016ab2e12ad91c87d0abcaded59fc14dbf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I47KW3v6diejsMb5wMFUz0TW",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.588, 1.2484, 0.8371, -0.5659, -0.3904, -0.5011, 0.9972, -0.0013, 1.3285, 0.9016, -0.244, -0.0463, -0.0303, 0.1453]\nstate[eef_state]: left_x=0.3018 left_y=-0.1161 left_z=0.1261 left_yaw=0.0253 left_pitch=-0.314 left_roll=0.014 left_gripper=0.9972 right_x=0.3978 right_y=0.0112 right_z=0.1684 right_yaw=0.0529 right_pitch=-0.1064 right_roll=0.0177 right_gripper=0.1453\nstate[joint_eff]: [-0.1573, -5.5316, 9.0462, 1.0427, -0.2125, 0.0757, -0.022, -0.2256, -7.5009, 9.9077, 1.536, -0.0464, -0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b63eabaed71ef624687d3ec9327bbf0133100eaed501f4f14b4cfb8f86a948d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc957fa53d64928b6233914822e0f2cfd1c6aaffccdd94789dddff4e58f66a8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3aee7ec86684db0a5fd29115ec95b44d403e3ebe8829e4ad59e2a2f446e439d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1333, 1.6283, 0.7887, -0.1631, -0.4484, -0.5835, 0.0104, -0.0013, 1.7203, 0.5003, 0.5686, -0.0463, -0.0277, 0.1424]\nstate[eef_state]: left_x=0.3742 left_y=0.0307 left_z=0.0401 left_yaw=0.575 left_pitch=-0.3033 left_roll=0.0148 left_gripper=0.0104 right_x=0.3961 right_y=0.0112 right_z=0.0143 right_yaw=0.0513 right_pitch=-0.087 right_roll=0.0187 right_gripper=0.1424\nstate[joint_eff]: [0.1162, -7.9111, 5.2171, 1.3602, -0.2271, 0.0171, 0.8571, -0.1983, -7.7197, 5.1897, 1.2527, 0.022, -0.0317, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuEzpE7fYotA0dH-_2TTCLUd_v2cnqK9QErLx_qwC_WyM3BYt0sy0smfle7yIS708bfSxVYbrYh52SEeF_LuEtEBgflnxh597b6MjcszMOeOYTD5u43oY3O70cnCQEgG3J6sww5WOZLgWjPrAcy6nM0lqNPNJRkCwfz3sQQbqU1BuGQoIK6Lj2C_Uk82FxPXnNhpZWEqOW7OupFgCs_DGDjFzhPhf-oIN9R5gfw6h90E5wqkWO59hicH6S4HtRdVk-e8hVk3WbQUHZfhogCLmfegbHHHQuq3CvUR2cihzju3jmqfwvTVCvl_MsxT9WkMPHxbK5Zcy7MCX61yC3HK9SWD68rTaUGv_Z0G7MDCd7nC4_w3AH-ZOxe0nbbP9ubRk1giMi5NIkT6yriwB-mvXzEbrclXyd8MnCmaC05qGK6iebsJc2hZChX6a1OpigCD1srjCTs1B4XgDfXhnOZbmxKBgGFgNEK6FifekQ4BVViwHG70PtuoiviQYZr-0F9w3I-o27EOJGaC4UjSAYbk8UVuIfFJcVztV8zPIxmYakcSg7Abo0NQKij7WfuijCqNfN2LYNZvsYZDx6khxIGHDfRH3XLnGBEsEh2DZnpn5GG52I6HHtZvdio-20VEbFDIpfZv7DhlyMF7lmH1xOOxh3WIVSpeVx0ExRTIlYWrSGMPydRqtQ7de5RcVqFkNeLzuFalk5FZGIkPLZEYkTeLeY9gOTjs4L1-n8h2iYplmMGcJ3BR0wYPlr9z6p56Dhk80t8AVrtqWyp5pY2FJeJ50c584wVDWgFe5fJj-KO-pt5kjsWR8p57UKwzxAjb1CbGNAFHP9MnzucU7ZgFOzsBzK8LqtVwBbX2vQC_sNG5NPyNucuY59A4g6oqaEvEUM5qClno395TIu-0i_sNHaDMq_z78PTTfdnzZs0TNC5Nmtp1osuNvm3SzLnK0-zXWZidQTrcSKTy8llPieEeVdre5-NN8697V64nyJM84rrpeIJjBitVP7PfjV6xLDaWBtxb03gAXs7BL9oqszoR3w14kbA9RJLW2kvWj58kWJCZXFDUkIwHf1DSStuZjpS7EjNDU6L-P_bU_doaA4hO83fGya_vuSegcZc01bZFsgLY11_9PfgDwyjMZYlwqt0grcEU9Yq3cGfAjk1gs957_MaAgVCzIs3ZQUePHvONVct6hGWWE-lWteD0-Y5T6R6jK7uf62U97J1OS7kxxvSQq9lqFQ64rw==",
  "id": "rs_023f6d6233d73000016ab2e130f30487d09cbf11f21260acf5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_y\":0.15,\"right_z\":0.24,\"left_x\":0.32,\"left_y\":-0.087,\"left_z\":0},\"note\":\"The gray pen is visibly lifted and will be carried to the right basket. The yellow pen sits left of the left jaw column, so I’ll align sideways and lower to its shaft.\"}",
  "call_id": "call_b8AZVHbiSPKlfbnxEjA9pWkA",
  "id": "fc_023f6d6233d73000016ab2e1318e0887d0a28f8ba59155fce5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_b8AZVHbiSPKlfbnxEjA9pWkA",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4412, 1.5227, 0.495, 0.0559, -0.313, -0.3908, 0.998, 0.3218, 1.9472, 1.8118, -0.5533, 0.1841, 0.1478, 0.1481]\nstate[eef_state]: left_x=0.3137 left_y=-0.084 left_z=0.0004 left_yaw=0.0472 left_pitch=-0.3448 left_roll=0.0268 left_gripper=0.998 right_x=0.5367 right_y=0.1486 right_z=0.2291 right_yaw=0.0846 right_pitch=-0.1113 right_roll=0.0112 right_gripper=0.1481\nstate[joint_eff]: [0.5675, -4.0684, 4.4103, 0.8864, -0.1099, 0.1392, 0.0806, 0.4581, -10.947, 9.1692, 1.2967, 0.2955, 0.188, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5f32635c1b3c166648a40b53b1a3350ff97da968dd9aec973c5c3685d7f01e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0c1054c6d77211545d8a2ed5252406d21f2eabfd453ce75303882c9f7a4ff5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d8cba61c58599192a222dfe33076b8b74c269ad964fac8c198af91684131ba1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.588, 1.2484, 0.8371, -0.5659, -0.3904, -0.5011, 0.9972, -0.0013, 1.3285, 0.9016, -0.244, -0.0463, -0.0303, 0.1453]\nstate[eef_state]: left_x=0.3018 left_y=-0.1161 left_z=0.1261 left_yaw=0.0253 left_pitch=-0.314 left_roll=0.014 left_gripper=0.9972 right_x=0.3978 right_y=0.0112 right_z=0.1684 right_yaw=0.0529 right_pitch=-0.1064 right_roll=0.0177 right_gripper=0.1453\nstate[joint_eff]: [-0.1573, -5.5316, 9.0462, 1.0427, -0.2125, 0.0757, -0.022, -0.2256, -7.5009, 9.9077, 1.536, -0.0464, -0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuE6sYx2k0EiDpu6RxN3SSlbeJM2Sn1C6OTlz4TaSf4PuS-qPkJYFBSvDa5TOEDl6Qiet6CvFvRbBan7oeRSd_ByMXAFipigReemYW1gNToKvDcbBzflbpQ8-8JZmiGqzBTUfPC0dUhcRl2PjG2UlsPBrZzBD_yBpwAe0OyRLqRmny2VL8imqKZNkMz5owg0taXJB9GE0yiDPjN6jxhA0g6N5VRnOyrfnA41AmfVTmSMFI2xNrnqrOLGb3Ux2i4IwHKsZQwOj-d5xV7Di5k-y8QjoGLT2YUHRaZxIqlTRrkhtLPKulOcB90ED65X5UXIbYz_nodYu3f3dQBaxjOEKGs3s-jXmU4SWC-0zPyR4SuV3G1oFeZsrcGwONFIUbH1UJ3HTC3d0gjWMCEtNZ4N8ZJDZu4f5nTW759TnAlCgr4OFL9SBNpUIwkAjkvIRkSBQsSdYMzjXJVMG1fFldwnT9JFUAj9vhWLoYkHWrDkv0eycH-kL-p6qGnlH5B8H9rHS8RbnRs4lYJRkbYEuK7HDXLKaiU6gdvNNx0AmtOAsVQUUsP1W0eh3fB76kucDktHFykJFp_6pwl5tulI-YWs0NJPrT9MCUg_Ps_SO627nm7iNXTlkjri47jGAXIbWk4JJz1YsJDRrYspeZK4lm3xjGZTPnn3UxEOWVxpn9w5BhSSCieD9S4ULX1gMphMJ90IRbpo3mm_9Ds8SSOuYyv4mXb2b8rB1yBBGhkXDMVs9Xdnoam_HqTUPLY5YmPkUnm7Xhfv5DildzHUOsA2F6TuMje4qPbCsW7TdscVTOr1wUXtNSaadI-PY-V_gq_x_1RM0r1gg5s3ZD2yf9Md3ggnCQS8i_yZLy6yPV_FU-cn1abbXZHW7xCUDTlSyPPkZsMX5MDtBIetFARucUSFKs2m-5aq8jvXnvHGrg2p5tVOiotnNFWQd6s-3rC4w8dKCArGE73Efk1QK3Z8XPw8ffomz4O6KoEucmTLkKKFJpUxE-Y0a0tve1v7lxUwWVSPQ6UabKx93nWy-b-HNtVXBuuNBzjZeLdmPKoIh9dhcyHJTIUrUScyLTzSCWfY2FVkpjb7trZabdrLygNA8P6Yqj4uV0g5DUJV-X4_iEK_RXwsb68BHAEvPiCwvTQxXrgZh3k5OSpISykxRzh_hQGKoMX2elb_8hr7vi2s4PiIYytYieGTH8np_jtGdOoBPQ5aJAdh1P0u",
  "id": "rs_023f6d6233d73000016ab2e138002c87d0bfae4f955e4adba8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_y\":-0.071,\"left_gripper\":0},\"note\":\"The gray pen is positioned over the right basket, so I’ll release it. I’ll also make a small final sideways correction and close on the yellow pen.\"}",
  "call_id": "call_nvvbwzrfgEV7fnUy8clqylNC",
  "id": "fc_023f6d6233d73000016ab2e138bdc887d09487458972780165",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nvvbwzrfgEV7fnUy8clqylNC",
  "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]: [-0.3927, 1.5219, 0.4866, 0.0811, -0.2909, -0.3546, 0.1487, 0.3252, 1.9694, 1.808, -0.564, 0.1791, 0.1383, 0.9955]\nstate[eef_state]: left_x=0.3183 left_y=-0.0732 left_z=0.0005 left_yaw=0.0541 left_pitch=-0.3381 left_roll=0.0251 left_gripper=0.1487 right_x=0.5363 right_y=0.1514 right_z=0.2135 right_yaw=0.0962 right_pitch=-0.1477 right_roll=-0.0015 right_gripper=0.9955\nstate[joint_eff]: [0.5675, -6.8581, 4.0684, 1.2625, -0.1441, 0.0659, 1.0769, -0.4855, -12.8342, 7.4051, 1.7411, 0.1294, 0.0366, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a263d508a30ce86e50049a8c56ef087b2be2bb2f6a4686b713e1e139fff9a779",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5dc0ef7767dc7292b2900ee02419b43900e1a8803fa851035b52d0449337c3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:723093acd436e29c5311cc3f84538b2fc3abb23406ef1dfa7df787be2839004c",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4412, 1.5227, 0.495, 0.0559, -0.313, -0.3908, 0.998, 0.3218, 1.9472, 1.8118, -0.5533, 0.1841, 0.1478, 0.1481]\nstate[eef_state]: left_x=0.3137 left_y=-0.084 left_z=0.0004 left_yaw=0.0472 left_pitch=-0.3448 left_roll=0.0268 left_gripper=0.998 right_x=0.5367 right_y=0.1486 right_z=0.2291 right_yaw=0.0846 right_pitch=-0.1113 right_roll=0.0112 right_gripper=0.1481\nstate[joint_eff]: [0.5675, -4.0684, 4.4103, 0.8864, -0.1099, 0.1392, 0.0806, 0.4581, -10.947, 9.1692, 1.2967, 0.2955, 0.188, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuFH-rnbsev76FPHlC7XMmqFvV4YMaQIARUYhoY4R_z6VyPOA0tn4S19yTnJgJXA-LcnTVy5vb3pcLvZj-renRxkM7ZP4oWohha1pZano-ljoDRgRoJL-dgKvJne4vPclyGrETRpnlx85o4XztyNXuD3vGJvD_HiaCC4Jgkln5syaueDi2z8mfvpeaeB20Xf2Z6GkFi-57ASUPXkglzjG6ymLvmmDjpsg9GxsfhruqATGSYOyc83GCEMwK9fP47ZLyJSJPdYQFIKaPWFJN2Q8Jk-SFFxIvaRrNYe_7rOSrqtrSvai0duIdZ5lQlo5rqNXrEEK8-pR2FFQwUjcFa7SuxEIdarhWyCPSqWIG9rb5qwlnpurLo9CrzSH8pFPgJB8pfuf7LRIJxVx2rlWX660jT6RoW_SpNuVI2fRBlronx-QG30Kzl9NLj3m_mUhLTonKb3QgtEG3RdPUkrNSR8n6f8yvfjsf6zuKRb0YFWku3n9TnY4W8MsZZiiNbsLvmtkWfAyNq-8f3iVnkVf8n1UMIaYkcJgwei6Wxcj-dHbC2WcYufM8c7Rr40e_-AaHaSC00P298pbb3oqz8X7yI1xtc935MWd7HU8ATsgzl_kLLmaCYakwtCByx_RdJmtzEvPjCNBR4S4-3OsrkoiOnCt0SAacU7EF52jyp2JQJb9uAFASG89x6krNcufAfewaiZFIXF4fRIKzBpd1BbUVeESF8pU0FsqM_l61kjsvXYnIo-buuLQVUXDi8ZmyWnDx0J8S9DaX4EHNXtiKkqvKMh3YCpy0k5s0F7FAWvSELpixGy07m1p3w8lrZq8zgP3WlBGU1a_fXu9o8fW5V1t-rZoEj2jV-ybsf55HXY09OL89qaPCfL_WOPP-r6sxSPl1I-7p1PD30qG0fpc7D_kJniUtin-1vENMUMqFyMqS5sWhKJE7ycINJBuufjANb78peEo3LI00MJCbeigqTOozFBqOVxkvfFtHkbQP9EgQ31uzAGvW_RQeUKuPQKwCMcVUb5ODUao-rZvIryE5Kl1P90a8yFtCxlTNojzou_72vNBYzJgqbg-xaSXnnrHvGAdORVWhHYQMHdLaN56vZZ166AT0ggioicTaqFFDSUgwBa7no0WUb3jM-1hlGXWD3T2WQabuHkpRJ6KPnoxQsD0vBlbrJdjFqZQeWfB5Pp7aoGpP6M3QqhMVS8dr1e3FrpCrqcWBfEsVjecrmv6i_sAwXdTcuzLwa-RFbXLXfDBeyicPEismyFuo256ldxDevTyOX1ST_t6M9qzUmk6hSu8GiG2rBnDw9FsNBCbLLZ4Ijl6rcS_jtdRYjo_5mSFnf4NuLTpBJW1BOq9DY9Z3ohhLpCvtY2ARRlVNrIW13eyq2c5DlkcFtjtcO9R_DXysX1t7p3dL2jFsjw5sYvCts0FVi7CspgD_17EqRa7xuEiCs5gmTPpiYU8gi1-KmCK6WOlo7PkiI127PhcKw1AQ_VleC6Fg_3qDeTlZZ-D1m7W82r_zXxB_xd12dyQ74lcLxssDvjEbVn6Qd6CqgNcC6c63lZBatrZVpEyGb05KEytODwJaEmBEe1UG5U7nrOJYiCpkkihA1fIngDAYCnxFU3VTgu8zsJw7PjFuTfCp21Ep62WRjX_8aPwh40KKcAuh89qe0tRZS2Z63k0D1trzojYrXpiWhFhoilYZASgz3f7TAczpFwTxSnBGWoO_Csto9IMQ_7oR7XOQb-WQ4c_oZsHC-bjN-eOLyySnAQUzpmKwSHoxYKd80dtZAoNEzMq8fzkc6M-Hs2U_REiw5DXB6VclJu75MqucLFcpNgBsLoo-6JJFVxTD_O7rw8tFmm-Qkis3Hd2q9Za8p31-Vnf04EBNAzudhn3XrpUQ5K0lWeeipmCmHofcTg8ZQKxqSmm6vuY5pYcS0qISIDI8zehXOHmRtPN4xw3WdP0t5zgh0s9MKZob56uCTN4lpe7oC1CJW3_NL-vgWNSP0xhFhZgSAKAEGv-FFTtQ==",
  "id": "rs_023f6d6233d73000016ab2e13fb01087d08267f9e715834f4c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.19,\"right_x\":0.34,\"right_y\":0.27,\"right_z\":0.15},\"note\":\"The yellow pen is gripped. The gray pen appears to have fallen in front of the right basket rather than staying inside; I’ll recover it after clearing the large cream plush, which the right arm will now approach.\"}",
  "call_id": "call_woel3OLXXKNIWTOEsW9l9vbj",
  "id": "fc_023f6d6233d73000016ab2e14535b887d0951e1df06c404644",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_woel3OLXXKNIWTOEsW9l9vbj",
  "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]: [-0.3931, 1.2453, 1.047, -0.7521, -0.2874, -0.3588, 0.1489, 0.8631, 1.6772, 1.1946, -0.4099, 0.5232, 0.5148, 0.9963]\nstate[eef_state]: left_x=0.3225 left_y=-0.0756 left_z=0.178 left_yaw=0.0526 left_pitch=-0.3358 left_roll=0.0179 left_gripper=0.1489 right_x=0.3458 right_y=0.2739 right_z=0.1404 right_yaw=0.14 right_pitch=-0.1769 right_roll=-0.0176 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -5.2991, 8.5949, 1.0574, -0.2125, -0.0024, 1.033, 0.3487, -10.4821, 6.3932, 1.2674, 0.442, 0.1294, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:037d2d932a5ff3adf27e37964ed1aa931fee9446e36eb7e72945850403a678f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e0e843bba4c8a49cfb222d816ab8b9c2d5dd40b264dfb5e7d98e3bba4d85538",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2844d4099345281be6482274312caf9b8c13255f3fc15de6a561c28c1c54349",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3927, 1.5219, 0.4866, 0.0811, -0.2909, -0.3546, 0.1487, 0.3252, 1.9694, 1.808, -0.564, 0.1791, 0.1383, 0.9955]\nstate[eef_state]: left_x=0.3183 left_y=-0.0732 left_z=0.0005 left_yaw=0.0541 left_pitch=-0.3381 left_roll=0.0251 left_gripper=0.1487 right_x=0.5363 right_y=0.1514 right_z=0.2135 right_yaw=0.0962 right_pitch=-0.1477 right_roll=-0.0015 right_gripper=0.9955\nstate[joint_eff]: [0.5675, -6.8581, 4.0684, 1.2625, -0.1441, 0.0659, 1.0769, -0.4855, -12.8342, 7.4051, 1.7411, 0.1294, 0.0366, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuFTajFriTe6p7_rwDankkWrW3NvnH9XOkX9CGvUslJqwcSrsqOpwVUrgErtkW737SGvokJbsv4-y0KdF-QG8QTdRBgAf3ousYoJXEHo_AgwWsbuZOp9QXOzwHPmjTDxjAAyn2vkCwH9kwUsA_BxWFoyawlR-2R4Oo813CUQF3pSgOL5DzDxxa0bVCcDbEGke64IYKfD-X73Q2A_CEeEGaB-Vm-3GKJdS10vj-etnH8wH0S6KMDvtjxshnki-lnz2c44g9GpyqIXSBWXXeF-ZdFZe0LMiAYKLhLSJVDT2ZQC6oJBSYTeuk9P_vw22B3VU0nDsI-1P55fTEzWF12UoajXiuEdNk68MX5nLEmlEeOpz09-MVIsbpMPeNAxxB-HAXTaQ7VYnZuR2rq6yMGzBDwXHZyLKQ7Kn1Wz3JPI1K_o_jnDCHaO-J0gFdjWZLimrUWou5KYUuDUxE8b_aVwq0DTtUt8L1LdFDXAFGD5O4yNzy6T_eH4A0-b_XpcZOzTbczsm6FlI1wfYV_1CqfSr9e3pkxvzhS65aIAAVqXQyoD8B_u0G25BQVKxzyb_VCaLUivzLZsqU0h6uleawUlT1jiHvQpdJgVN-9QTMxbhiVbkcTsadd0kj8WvpvYyfQK1CHYZUcl0e5R-CtcSe0NmRkhaPoSj2G0Qd4VUClqHGnBUHZRBAh-W8ayYp6nmLD7cd5A3XwBq5z7KMeqJwOe6jqG30mILgrzMtlDxioqELcFhWlRLvduHKwolFKO4UTkJriTLxQJn3ZKILE88lIug5lZvKv7UQvf4rIkebWzH5zfWsE0Rtl0BB5vFYea6aOmSoLJ4ZF-USnAtAzuUrXsqrTMtA3KneB36jfMs85h96b_GHJIaE61MT-icDIJ-kC7_jKhv2QukX328retDOF_9AT6yhhVrFTXL5pSu8Z57uV6CTR2NgHJzCH6kxEboMb1Hu4h4d4MG_RceSjfeE_kSaVa_y-WE2sQ-NkTWnXPcegZjuEQ2F4dlxUa2eEXkNmkJXZ8QE4qbhwoZRo4iRT4qhFVRZODqOPWJSgp6_TOrhjwhtBBYC6u4xTHdG7Wa6mJGD0_Y7bKrMjVMYy4OGxKRCcgvdreq6EZfpoNY1UAjD1GYDaVW94NUUQkwMV_wVVGPfjWx86mMEhcorhjOqxfCYYg1ToRT3sFFos7ksULSYpm7dPQO_WRKxMllS4q25f_hCrVtkBsDRpBXJ4sBdBB-ygfqT1jEss1yfl3xGFXaP_D9C755aZ4nzJojExKtmTrUX7EFR1GgXKdtPSsJqUZPLcKH6fedL-IR0sl_d7egqdIK2WfsHqFWIHD9FxRNUzQth43x2MPr1WAqTRBwjAK7AWWIBU0h6pfq04OC09RSUYis3ta0ZKLJUqiAXDA9NrLoH3xTpkkgP-PKJllQ4uu8iQemmqQkrMYZ81y71i3o98itO4zXMmZhIBiSLd_duMJj2wysHaj1Ek5pJfKI6MD99ALZIj8TqEiflSeLkGBNncubi8aOBlUbmUzHF3tNN-SysXVQD2mBDDfYE348lGoUwH1AINDGkvDSN7ZQiX7yUrBZ18QjqaBO408kiF_7lpKvvDi8wDXcDkBXkyS3SxLv_ICdG4DjbpT55BdTXa2j45HKoT--_NfJT9QLBmxx5wIRSRwahGlrBamO5XqJSXnP6D8kghYfxh9ctJl4_RUmRk398ixzznyY9ORHYU7IE34j7-hSD_aZQiw_Q1QJjD6a5OpYT6AoNBxPB6LeTRoUHmLt4_VE8k0_rQEwAUGytGTlHhDuR0_WL5F-bwPyWwSmxwaMvWmF6lVxH6aBKMMh4w-8aPVikZZgV0v9GPAq4KxCGToqDGq096_QdDSAH5jjCMx2w2QAq2g3pAxkm90vHI0yvb1WhqKokMfsAWN1_8hhCn8M9GmwMvJhAkQDAPSqZeap2tZIueinKy4pgePrGDi6kHBW8SnSMMp5lZ1RgV7mmucTW6YVwLNvjWn9XZ1E9W2DTy2gmA_NUm-fVBHEPi2Esp9zAFgwDq8fznewr85DUYhLqisnQdu2WPPcq35dCGNYgJXInCw6ULbGI8nLTmhjRQ=",
  "id": "rs_023f6d6233d73000016ab2e14b711887d090ba10511036ed98",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.4,\"left_z\":0.25,\"left_pitch\":0.15,\"right_x\":0.36,\"right_y\":0.28,\"right_z\":0.045},\"note\":\"The yellow pen has lifted with the left gripper; I’ll bring it toward the right basket. The cream plush is centered in the right wrist view, so I’ll lower around its torso.\"}",
  "call_id": "call_lbP2TCa2nRyBMigG00T8Edw1",
  "id": "fc_023f6d6233d73000016ab2e151162887d09bf42649c31214f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lbP2TCa2nRyBMigG00T8Edw1",
  "output": "executing move_to over 29 steps (2.9s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8272, 2.6259, 2.714, -0.8185, -0.7715, -0.4892, 0.1567, 0.8486, 1.8481, 1.0439, -0.0238, 0.5156, 0.4931, 0.9965]\nstate[eef_state]: left_x=0.5232 left_y=-0.3816 left_z=0.1924 left_yaw=0.04 left_pitch=0.059 left_roll=0.0714 left_gripper=0.1567 right_x=0.3647 right_y=0.2876 right_z=0.0664 right_yaw=0.1495 right_pitch=-0.132 right_roll=0.0128 right_gripper=0.9965\nstate[joint_eff]: [-0.5128, -18.3179, 7.7197, 1.8388, -0.569, 0.2222, 1.033, -0.4444, -6.3658, 4.4923, 1.3651, 0.1392, 0.0073, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:818581cc477b097d9d20abd674cfb3bd450364d619d909bc63bb22b71bbea847",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:371bbe43438c9dc9022d9e146a2bc969c9b3b8dc85034fbcae0a2a374764d07e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e282c28fc3306f913efb7bb68fc3870bb23ec4753bb9e5efcdb2d5c678badec1",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 71 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]: [-0.3931, 1.2453, 1.047, -0.7521, -0.2874, -0.3588, 0.1489, 0.8631, 1.6772, 1.1946, -0.4099, 0.5232, 0.5148, 0.9963]\nstate[eef_state]: left_x=0.3225 left_y=-0.0756 left_z=0.178 left_yaw=0.0526 left_pitch=-0.3358 left_roll=0.0179 left_gripper=0.1489 right_x=0.3458 right_y=0.2739 right_z=0.1404 right_yaw=0.14 right_pitch=-0.1769 right_roll=-0.0176 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -5.2991, 8.5949, 1.0574, -0.2125, -0.0024, 1.033, 0.3487, -10.4821, 6.3932, 1.2674, 0.442, 0.1294, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuFkZvRHbeX7kzIxFD-k-6lElajYkItpRhsY0E6wdGEvLX0rcIDPlO-Q2DZQxaoY9XBnheLgwm_dztkD9z5dNc-g_kThPS4C6m2W7SiRx7iiG66tG5Ot9G4cFe9RoZJiX58ype7shrQu90zlc-AlDkYJxubUgJr5a_rPKwsxjgr65_ZitBnUXYyfBhl1bxzgH7AWUkt3EkcigiP08mKmmsZVhtqEI8Wtf1EG_4MURxJKbT0HYPozWQMxRLXEE8C1lMQhl9qnRaBOSHdEmUMbq0UY-9aTxTI_vHuby-w_ucJu4omC_5OmwQ5lmFhXtyWNv3MRWxeBBonqjlVJjABcERs9z7tF88IF7OuSm4yBe9j0ENUStgB9uy6VdvyrZcLG8ku6Q5ycVuxYfN2sBJWUto26OkWGrLPccj28GD2J1RdxKW-Rw8tqHLxn4QjAWWnvQI1CiYy21RkR2qXG1I3wEaEinAXGXPdmi_xZsgJNtrVj-Yq3OQjqkT6z1RSEtzlXQD4WZD8iP31ZrY8LVjEG0rIaZ4255NkM9Fvbe9Zj-3cbG5_cQLvkbflMcx6RTxsbdprAUhbdeiiI_R3hDp_-sAuZ_4nvK2fJ3hGExsdGCl7M_lTGPslSo5drxgPSLqCTp27w3Ya5XcuO_YV4olEVZDo_xIadriGBZNtZKUFpzeHhHWsOiEXxkaCiE8sAKgvLyYQ_x0DWKowvdIcwHyV438gtOXXksouR1tZdZ6LW4Q9RQtcPewtAPxXPk4N6uDe2FsP8UYjy12_LgtuHOTdaw9zjCbAphuR2IB43Jy1L-Ex9YR6YO6kcjRGu-asqufdT90JSr27qM_r5Biopn6lixHA07gDhB6c6m1Foce7NH-MsU_SunrjQh4osIpc1RyontWhdHVuZGhOEMNI-dY1USHO7RDGkrn64hD7VF0KV6MTLlCJzBfObrA1yBhNOLv2JL-tC8go-YEjcY2aVONV13ePvxJRZdrjjkje7tY_T9ntsgzTaLvFa8B7uh21-VlpMIrEI_t-6VQgPe-FtVwvm2JoqbAYPz3qS4UuarpartYrYjbNTx70svQNcwZ3QgfnhDlawyd38XOwbRpaY695vECWyPqRdexnD9prknsBhx24UZPYGiF8NxtwZ5g7nvyE4VS_OKZUfe9VgcuW-1lXv_y_RT-XR2k_qIZbDojoTZvzMLFXUh-M7A3Lchw2tuA5Jjcr2EdMf1PglIjJo0Mu7NDHgowlU16pnIIUS8OtYOK_diJHgbYhzdZTJ67LeWhVtsgjaxIKkOW2Hwq82aZDlVn5H9fhPI9Fy0e9Zw6lRQlYw0VvBNoh7dBtCBUQULdPuRqOIiY1JnE9d4iJG5196rD7WRZZwzJ3pVebEqgyx6SiZO7NrR6A5z4c6LpAuplJ-UlOfehMdlPuXoHZJ7AR5SniiptgvLUYvXxw8BnjjFnL48zE4_Ajw5hxv0Lw-FvAQyslBiYskNlJIeN-B1cNzHdGXGl5i_aqSl6o3bOfEt-Citp1wia21AJ-fCR5jB6BM3M2kyp8ms3Uva98JL_yN505sMdf9HpmXIEadHjKER9gewuZmZYh2b6iE4i_DvuGmPeA8cF6vdPl8coSlKkOS-L0adKTC-pvxFz99kFQxid9E6xnpB5w1a1wPzQeani5ZS5CT-kpFqHjkZFjto14yDj-OuebxXRmCileCwEwQitjYpUU=",
  "id": "rs_023f6d6233d73000016ab2e15e833087d0bdbbda74dbbde83d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_gripper\":0},\"note\":\"The yellow pen is now directly above the right basket, where the blue-capped pen is visible. I’ll release the yellow pen and close the right jaws on the cream plush.\"}",
  "call_id": "call_JHjd6N8yvLpZ4sV4SFQxiCNE",
  "id": "fc_023f6d6233d73000016ab2e162c92087d0bd0665b2adee512f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JHjd6N8yvLpZ4sV4SFQxiCNE",
  "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]: [-0.8291, 2.6522, 2.8265, -0.897, -0.7864, -0.4862, 0.9956, 0.8486, 1.8515, 1.0405, -0.0021, 0.5343, 0.4828, 0.4905]\nstate[eef_state]: left_x=0.5205 left_y=-0.3777 left_z=0.2089 left_yaw=0.0476 left_pitch=0.0713 left_roll=0.0746 left_gripper=0.9956 right_x=0.3676 right_y=0.2866 right_z=0.0682 right_yaw=0.1422 right_pitch=-0.1118 right_roll=0.004 right_gripper=0.4905\nstate[joint_eff]: [-0.4718, -14.8444, 8.1846, 1.5409, -0.3541, 0.1538, -0.0366, -0.253, -9.5658, 6.4205, 1.1844, 0.0073, 0.0952, 0.9548]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f9e6dc68362150ba3d78f9e9c3b0ee99b77c435bd9668cf5928eda8de20b802",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cadc89816294ad41b77b978bdb3dd9d85cc0f96bc1f1ea4de91e8b1db00519d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:620f5eb3c377f23dca80dd09daca1d0025c3e500c433977bd4dfef60fa2a58cb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 75 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]: [-0.8272, 2.6259, 2.714, -0.8185, -0.7715, -0.4892, 0.1567, 0.8486, 1.8481, 1.0439, -0.0238, 0.5156, 0.4931, 0.9965]\nstate[eef_state]: left_x=0.5232 left_y=-0.3816 left_z=0.1924 left_yaw=0.04 left_pitch=0.059 left_roll=0.0714 left_gripper=0.1567 right_x=0.3647 right_y=0.2876 right_z=0.0664 right_yaw=0.1495 right_pitch=-0.132 right_roll=0.0128 right_gripper=0.9965\nstate[joint_eff]: [-0.5128, -18.3179, 7.7197, 1.8388, -0.569, 0.2222, 1.033, -0.4444, -6.3658, 4.4923, 1.3651, 0.1392, 0.0073, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"right_z\":0.22},\"note\":\"Both pens are visibly inside the right basket. The right jaws have a substantial hold on the cream plush; I’ll lift it while moving the left arm out of the transport path.\"}",
  "call_id": "call_DZ3tCuhd8m9GHH9RmgpPTNdk",
  "id": "fc_023f6d6233d73000016ab2e16810a887d0a4648c0474dac365",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DZ3tCuhd8m9GHH9RmgpPTNdk",
  "output": "executing move_to over 34 steps (3.4s)",
  "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]: [-0.1463, 0.8486, 0.6949, -0.3981, -0.2504, -0.0872, 0.9967, 0.8501, 1.7329, 1.4414, -0.5869, 0.5125, 0.4717, 0.492]\nstate[eef_state]: left_x=0.306 left_y=0.0028 left_z=0.2056 left_yaw=0.0981 left_pitch=0.0252 left_roll=0.0656 left_gripper=0.9967 right_x=0.3643 right_y=0.289 right_z=0.1873 right_yaw=0.1599 right_pitch=-0.1724 right_roll=-0.0343 right_gripper=0.492\nstate[joint_eff]: [0.0615, -1.7846, 6.8581, 1.6532, 0.0269, 0.0513, 0.105, -0.2667, -11.8222, 10.0581, 1.4188, 0.3736, 0.0757, 0.5446]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28b9d8e7701d91e05cedbd0966547daea837f27c1d55c7f570d092458d7af3a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e30dfa48bf8ffc73085501bebb2a9fef8664e5cbde29751787d8c89b20c1bc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47f5b0d4a6f233f572e17924a2711e0b7601b9460ca4a426e10c09b810a5b0f4",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 79 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]: [-0.8291, 2.6522, 2.8265, -0.897, -0.7864, -0.4862, 0.9956, 0.8486, 1.8515, 1.0405, -0.0021, 0.5343, 0.4828, 0.4905]\nstate[eef_state]: left_x=0.5205 left_y=-0.3777 left_z=0.2089 left_yaw=0.0476 left_pitch=0.0713 left_roll=0.0746 left_gripper=0.9956 right_x=0.3676 right_y=0.2866 right_z=0.0682 right_yaw=0.1422 right_pitch=-0.1118 right_roll=0.004 right_gripper=0.4905\nstate[joint_eff]: [-0.4718, -14.8444, 8.1846, 1.5409, -0.3541, 0.1538, -0.0366, -0.253, -9.5658, 6.4205, 1.1844, 0.0073, 0.0952, 0.9548]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuF-S6UuYrRoJ7OpvorIZP7zxq6HpLy6hdOvBO4tZzChxgnMs1XU03XYKjiylbamd7qjLZJtBD6QmFeK13QVF_DUPZmPXFAH4Vz5H4PCBzwTWTFHfzzex4ezBp3bT9noEd7piiLXhIJup9d6GO0E-vZJbWsvj8HyJ4yKzdGEtgOSVatdtZd3t5IYfOdw5Y8C3LhihRDDyG9fIBwyBtuVKGZfxp-jLx1dabp_YK3js7iLW53LzYsM57W0ctfWP95Be6VJLzdWe5ODqx_Nods7GG8sgOwf9D-OlwsdKuuCiCM_ROYEO7T6KDWLx3qGRgOJY5ixpw4_mkNX7Wx4stXiWxwNPEvSyxUaRkDJv8Wd7kU55Z2w2l438SgvF1Vl1U40oaxznPaUbxF8Ssp_p345V5oT6fK9AQqlVEquOdzmbYR4Q7QThBRaOoATBDMawoYoqbZmc81G_Jcem_LUTJD9qTKGDGOpu2_3KFD7dpPJJzLtKnAKzeXmNsyiqejK5Xvl7NzkVZr-wIxVIcHSOkJFBoLqUeOXk7b9_y-YeWbpV-9AWFbwyFB32sBm3vo0TrGPQr8_YPC1_m62ncCZ6pR88ky-Z6Gbdqp5Wjb0xBmmpCMw-elRv692A7b4CWChLPiHcOE-WNQWodj_TDY3zVf51JvzV0udmlnqwgiD8ozGU0bx4w-e2G75MoEE4ruqdT9R8qqsoNIqpV9RULiu3QEuaHO-OD5q43_5VzVXoV35snkuMBY0T-Wh_hrJPb72xVxMowUcuhG8cffpqOeUtRU6tZ0eVLRt4VwsAiiqz2C_hN8K8xq9xONlS2KkaD_CWYKA8XXvQBL6j7vKAoRUq_ZMzArn76Yp0EEku51xn0yi1hWgyaYxo9Rnp8umRPaexdg2tpPsppTUG_Dd4miw7hzibIHoL-vTPHSlsg3VN0gD8_salrrO_xqvnUd7I-s1m-G4p9ssJnpmkwSnOc953X_Y2P_lGuad7YtemJEwhRUhqRrvUg4HHWfoIy92eh_9IWm5Gc9hY_1P2J59yy65GL5cgypfNKLyweZ1juglnjZJv-_IbnCmdBNUDJbDdrWfUGURAHKUxZwWrUfsqMo4ZJDnnvoI2Tznyi-CBMopnZhWZWIP0AoLjuORPWubn2Hv_vhXaEmDZKNNXiOkzAshwrMddwQk1qobLXXLmfxMkGq4fbm8BKoP7G1_m5unUkRyoeaZt4fyyEK8e5rQzUwZYdOLO0iHCn9I8tXcRBGwOl9tZj0mcl-kxr-kDrjzB_SCtucdcZs-m4laAMiR37I16me7wBPexPMcf6D1fAPxf-DzY1G1BWqNkhV_t_v5HLpjKq87NFQSl2YFwT7D0aSaC6riUFC1cKSPeNHB2Z1Q9Ww2YzwPov6GIUrLmk3k3KCRFmxE6Fy1M4I3fP7qvGjPvyhL4aZPdGaSx_zQm3zpqWM-33mCLyXsrGDWHnKLUGSzXrEhPd_MDmEc5bOkdhXQHF-JtQFbARwlf_Iz0JI-LU9O_z3el5sUGe_eQEBJqK1H-Pwe7gN3DmHRwG6P4WSGzGtQtj2Coswj3vAdvnhJ4Q2Kr_QV46PmdpK9pOtGLHjwUDrCjzm9vgaWS54H5GYOlR1-nWuRYYU-n6ktJzPlOvX2bregn0RZwMks8d4XKf56IRZY7bbLCwWIJQ7wdgZzjK7Q32w0xcR63Zjqp9v6qlDYETXHlRXURF-U1EbTQ-xT0eig2O_9DH7Us5FXcGf0biyLBbGZoW1KIJvRvpyCy-9aNgcjesG2IPnFuzUF5ZbZgQGAZnQqSnbi15rY3cx-CdoCAXYRmUvssvNQkmE1xNCYMOPGx7Y2kxT9a0SASWZFfH9TOdYiKF_n-UBSCY10eE8x3qLU3r3lJpkBa04jj6l2f4t_wEa3_gI9B2UbOl5y67Se7G9p4xuLBOr9JT05CIxxl2T9cjPVwrTanP2K9NSBoh_YUiiHejIoi3drSMN3dwENzpwaMpaDcrkKcQYyxZD587Y164JgXRi0sb_3hlj_X4NG0UQGREv1oWiALev4GJOBTuKtZptv_ZZfEV4lE6gYMKpqsQQXANWZUjjlek4eHHhgVUVEaI_vklv_4CRFjbVHmwf417l-UHZf2yaAcuDl4gtknbGhaw5I2anNfEqGhLNfKnTzkH6lRWyLRJA9OnIf45VPU95ZlhvFMk4C3pfVEkHRvVMBLBFzX7KlCL6822uOetGSNaxA8MBZK2q0X5XZZ-53hz-HT29Ns1BnLHjKIlUu6Q6enxIG9sVAlDpJqv2Bx6Z1JzES-cLC22JkFt0y06vANsbtQhaETFyFHUeaQTHlEAMNJcTRwz6aM1njlR1YwVkv6ALY5k2CPVUXV4g5oXUSg9w5nqqy0O8uiMfH1bMOIfpx874VQ2SQFW6282imgX1ONdHNv6IV7ne9DYWJqle5wWrI9GRdxP3oKUZUBjb-caPhuU06BVGZdB_qUbAhoASh77G9Fa8KRjndhzidIFc46x7jVuCqA1ao8In9YT2_oEMc9kcCVkUezCBeKCmK_wankpi7VA91HerUwJVY7xJ9PrdBnLqQoGlRWLzLo56tXwbF6V-PR7BLq4EOhINcnpTgrsXNHYukXgGBNf-b_pO1sYrSs_Q9bQGzvcYP2jFJOrPM5evgbywuy6COxovP7rerajYSpJ8EYj9JQy1u9r4bahGWIExTv5KRw83J6uWxScSB_jjBEc7YKUxRyN2mJScrQLE8y-Tq6vQTQSzsMNhuLTzQzUgdakqgmLUwxPgNA7msIQCcC0KYZWntI5eQoHI-2eW60-WV7rMjxfXuu0iLlNq01TinwULR1cmPaerA3_MImBtaR_hy0BVr9gO2LfvWUQkz8YTvjD74qJNQGJUywsJF8TENqcHndGBxovF6B8RUdbje20gEDDwZA17RPSI=",
  "id": "rs_023f6d6233d73000016ab2e17027dc87d0b0bff50da251e5d3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.31,\"left_x\":0.37,\"left_y\":-0.36,\"left_z\":0.1},\"note\":\"The cream plush is lifted, but the left basket is beyond the right arm’s comfortable sideways reach. I’ll hold it higher with the right arm and bring the open left jaws underneath to take its lower body.\"}",
  "call_id": "call_q73ACrwsrkx0885bdnu1qoOv",
  "id": "fc_023f6d6233d73000016ab2e17cc1a087d0bb65cc0f9dc4d13b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_q73ACrwsrkx0885bdnu1qoOv",
  "output": "executing move_to over 33 steps (3.3s)",
  "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]: [-1.0485, 2.1204, 1.541, -0.4271, -0.9241, -0.8551, 0.9968, 0.8352, 1.8462, 2.0155, -1.137, 0.5392, 0.4252, 0.4951]\nstate[eef_state]: left_x=0.3698 left_y=-0.3527 left_z=0.1041 left_yaw=0.1012 left_pitch=0.0244 left_roll=0.0492 left_gripper=0.9968 right_x=0.3658 right_y=0.2744 right_z=0.2841 right_yaw=0.1392 right_pitch=-0.2299 right_roll=-0.1435 right_gripper=0.4951\nstate[joint_eff]: [-0.6769, -9.853, 7.9795, 0.9109, -0.525, 0.105, -0.0024, 0.9231, -9.4017, 10.7282, 1.6581, -0.0562, 0.4078, 0.3101]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02011ec819a16470253acb1836e40a8cd0bc4b2101bac8c805afb5305cac7938",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47c51a5fc9630d755729879729b7bb27dfe6abe428f465657a9bccc412676028",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15eb18e3b316b16aa22bcbdd8654a8d016568ee13c24d3d795cfe1c7a88d811a",
      "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]: [-0.1463, 0.8486, 0.6949, -0.3981, -0.2504, -0.0872, 0.9967, 0.8501, 1.7329, 1.4414, -0.5869, 0.5125, 0.4717, 0.492]\nstate[eef_state]: left_x=0.306 left_y=0.0028 left_z=0.2056 left_yaw=0.0981 left_pitch=0.0252 left_roll=0.0656 left_gripper=0.9967 right_x=0.3643 right_y=0.289 right_z=0.1873 right_yaw=0.1599 right_pitch=-0.1724 right_roll=-0.0343 right_gripper=0.492\nstate[joint_eff]: [0.0615, -1.7846, 6.8581, 1.6532, 0.0269, 0.0513, 0.105, -0.2667, -11.8222, 10.0581, 1.4188, 0.3736, 0.0757, 0.5446]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuGO2rTAfn3qm3i3QApdz0U9SeJj0qjrOYL-rbUXnqpfn9-erwD5eVx2GNvz43fF1XMKxoO9F1wOHwNBRJ0Ql4n1Xpp8AsOQBbTu6aNV4GgVySi_t4fyIPCMTK4MhiBFSy7rqSX7eBxg8IHBVB62Cno0k8ZGy-mBhBeuqVt9svh_U-D4Xk17gfNC-AOnzoPjUQMCpGrlWc5eOodKpTr4SpaG--NeyRhx9Bd4A5ErLHtOuXZm_3DMpyORS0YwfMHcQ2Fwst0XjgKvCMZlwBOx_tKJXExmxHtMxDPRpCR8ZVacHfmbmPpZ2dPy1WEjguRSjUuyGsMsu_pYftL_9YGkyF_QwFZlDim9Wo7rOyv-PyvRebrS_INkGhCSiJP14UHu3k8jOp7Sr4jiXQmcu6EthQnvQX0Rs39stworDHTuuGWd38X36jJdWFdtIib9h5VKOzAjuvr9JYjFTjNUM4YWnOImfx9gvTWOGkwSFsoRj6emkFRp2o5Yoh89JOus2lSM03eo8OS-09pi_kRRu-giNfBSw7i4joW5-UWkqLaYj6P15anM6DbDqj4FRXAn7hq6Nl1wGwWqIvpg39vuf45i00AdJdrYQyAU12WEmR1gIuZOINoYLdAO8K6WE7Jxlzvfk_vjbPdGuwcmhTs_rG2dj_Kd_3W_ikYveBDqQMSCggwcAbHDkglzChHbLGp0dGSbygMQLGaCHu-vLE__3EVw9sTxuMuEweuQitUeJ4YIJIZ7icnJH5HMLqWSC5OjfTdpFmngErkegaxWAVSis5XQU9xOF_8ZkmgL8lQPA-6pvM5elrJIymVuVAjMgXhJJk64rZOkTSbtUijSBwrk_BxYnfQxDqpKlFM61c7HA1ggvLufP0MDvqzpx2DlG-U71cWK784QFSAh7HGK-cMAB61X9-LKM1bsBRtDdd83XG13rhxW55TTLfsN82Lhx_92ugFYH4QuB4NXvF4RQMsccux4G_znJjuGO5Irm1ns3S2EDXJIJYgNIT0vFi5EsCMRaNejS6z44-QfMJYGJS8tYv7zuulJUATfJ87UZiqq7xfYwwKGpuEt1TSVBaDfTKgwVDdr8xuX5hkhnoqqDrDsipL3u7kYYz73PPUsYwJfPSEEG608ZzKVilMeQiumwE40QwDQdt89tM7coBH1J-RrMF0o33sN2qzObAGk3FLo1GDLbpHlo6Sv-ZO8RWOz8p-mXsdy6lXu6L8gLa5H4Fht4J0wz5dGbnmfPLfObDkDRWEn_ZT1Hh6CNWZkkwI75NYqT3_dtjOX_Sex8mjIUiY1AviJ3E24oJBt1nfMlgoVt-KOpQ83PkHOwirxedGbX3_8-PvarEMclT_I05bkfUECZ3Sxn4YU-80AtwOvUnHkeYoDU3om3edRMD7EDvH0IB8kscgcm967Y2qrg9K75-lHk57w-cVV57HIXeA4YMFTHqweOasIEP-S3Z-78K54C_nCaZgWcnPWfde0aZUxeZbWx6y_2yUBwdxfHY8-TpeUMTRvHmWIlGqD3CUxttfK7CIxrAhwP6Kded0TtfGq4xcBIB3vxfQ2M4N_mTVW5QMc2dr8-evxDwASF3npKc0nNCYKvK-hmH-JDpeVFrbr534qgQHSqQ1MldKNQl85esMbtlmzjtrymUgyMTWQ9HI5G_FTLcRKbpcRsgwyYF2Ubd1C9ee4twMpcz9-5wcA7WwWp7PHeo54x_6hWOyykyJmR-UOVyBGo40_p42p3a1hS4WC3LFYXdmiYjp5PvBicDwK_NXQ1Wb6yCqTKqyiFE3zTndyEF7Fb621CaAZxw872OpiLQtUBK-J31pu2UxjAlRpp_EmmbNLCN4V4WgtpRVo53mQB0c763h1G94tNS1kRz8xcjkSec4bLzQ3H5PzNEcHgEYMPnXFEF6lJ0PXAKtrG6l9Odj5kLfod-7GYEwD6GalVgHxQ2LWXcqYFjsOPIagqQOgaN2seFd7FyzSswgRf3eRBJuNaxOWjYJRRSPwZJlP-X8JkPmJ3eKkaNyu2WpKUwtJuMzV1t8kB2CatTr3ObcT1XG7SWMgw2rsXY3UvJWHvDm96BUcX0JEC2kVSnGbdmF6zt0TpUyrx-5ZXszWag5zYaIS9SkGLuRpD305REaHw6nyV9XcmEVmAC6JcFgKn0E-GUEKuwk=",
  "id": "rs_023f6d6233d73000016ab2e186b4e887d090c10621f53e0a54",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.16,\"left_y\":-0.38,\"left_gripper\":0},\"note\":\"The cream plush hangs above the left fingers. I’ll raise the left grasp point slightly and close on the lower fabric, keeping the right gripper higher.\"}",
  "call_id": "call_6A6fcBLL8n575BICYSxH9a9n",
  "id": "fc_023f6d6233d73000016ab2e18d130c87d09270e48b28d49409",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6A6fcBLL8n575BICYSxH9a9n",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0779, 2.175, 1.8011, -0.7292, -0.9161, -0.9051, 0.0104, 0.8295, 1.8462, 2.0148, -1.1408, 0.5694, 0.3958, 0.4972]\nstate[eef_state]: left_x=0.3632 left_y=-0.3725 left_z=0.1372 left_yaw=0.0941 left_pitch=-0.0183 left_roll=0.0926 left_gripper=0.0104 right_x=0.3691 right_y=0.2675 right_z=0.2856 right_yaw=0.1273 right_pitch=-0.2202 right_roll=-0.1874 right_gripper=0.4972\nstate[joint_eff]: [-0.1709, -12.0274, 10.4821, 1.2723, -0.6471, 0.0562, 0.862, 0.1436, -9.2513, 6.147, 1.2381, -0.0708, 0.2173, 0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:879451a501127564301f2e2443834060d8296b87123e9d4bc053ce4a57dda780",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9b332747a03e1d228d6868e9403b4fab35c29acc00b7472261dac7f20c175d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8435b8b3becbbc25a99c4fb0b42900d3776e18eadab13218c8f04fbae45375d",
      "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]: [-1.0485, 2.1204, 1.541, -0.4271, -0.9241, -0.8551, 0.9968, 0.8352, 1.8462, 2.0155, -1.137, 0.5392, 0.4252, 0.4951]\nstate[eef_state]: left_x=0.3698 left_y=-0.3527 left_z=0.1041 left_yaw=0.1012 left_pitch=0.0244 left_roll=0.0492 left_gripper=0.9968 right_x=0.3658 right_y=0.2744 right_z=0.2841 right_yaw=0.1392 right_pitch=-0.2299 right_roll=-0.1435 right_gripper=0.4951\nstate[joint_eff]: [-0.6769, -9.853, 7.9795, 0.9109, -0.525, 0.105, -0.0024, 0.9231, -9.4017, 10.7282, 1.6581, -0.0562, 0.4078, 0.3101]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuGaTNiE-VKL14lMlvDD3BwL2qeqM9ljtHLrI-LZ0qdvDBYNaMlCeRXMjmouq3atHRaA9uqVplTaZGLgapexW9qwFTwedMxbdCBjxDvrJe3e9ju6eg8aHDErzJXaFP4tnkjOF2NwCBr52yunhuyt3WlnPebk6wcLiYB6E-xASLnMfhaE02BbLETpt4pL6qr_PYVVmGkgbI5UxJDnmOHtB6mE9_rEQEQEdNLsH2JMSDn1C0gBLAwkuMU7eZg5VJse2yzqLotQD9JYw9QcdMBMw2aoYTx-nMd7NhNlXBAUn37raN8z7pKj-_C0W6WVC79L19QHLZk0uK5FvpPIMBs8K9wbZ-Hc2B-ZcSGRZoYjMhh_VX41P_DX3O8smJVyRXP0B0HcIk_18d9OjpPGnvZPSQPBNoxPO5a-w0GT9o95-mxBfG8H7hn5QlJeQVwk_ytzteh9mBNsmLaM1rLF0kX5OVPssEZFAtlQhj-vj9Rgj9OjAU4VE1Fm2NkKXqQYD-Z0V74oZ2u36ZgKWqj-gzpoHoaXIPa531nWuzXz9SzYzvnMK2Q7LT4XJsgejDs6u-Q_arnp-Rr_ExWB0Csj3-pIrdYezkJGbk1Jr095WwdViu4q-KQNL8vmRiMnKv1ghNp1M7-KVjzqTPCqSqW5qo-t9QhgpBFOYNFIcJhVwMLSN6syyjNL7imYToXGBsCHnMcL5rNBXOxl1uC1XivY-o3CUrYBPaUjPbLqqsEVDK3DV6a5h6Lgyk5QowVpnCitaOt2vq-2ws4zb9d9HI2IXeUxUQ9Eit94WPQBd8R9ZWyNaoVbg50Lj3SiRliBm46Q1eXnuKBI_U9vNL_hYx6BUdaA7Z47iqD3_XSf2iitmjl4Cgbet6IHFc7xcQOfLiwobaYllmh0h7Hsn2YVevknXpLfJzbSGOuV9qQbzmyaJi2nmyba_9DsG0lEytUiimbH5XkK_1Rnl7c67DzjKqcLrpYaLpHcD81O3HIH7G5DB0g1sSZoiU51gsp6ecX5C75-K_ZnZ7LBc1qLhfoc79ZRWeOpDzO4X-tOaOcxEl3kv4NjqiGHCZCIn9TQqa2jCBITAKWCmurjzVjTbfZYJXL_FLkw9DqQhNyuuISlq2L3KYiqSJCH8sI3U8l_Heo5ubEiT8So1lzA4DV2XUKiRPmTEXf05JLxraLYn1wyhi-V07l4WTDPcRQducAJ6a3HdQ6lCTcmfsY91_sFlHq6_enx3QcD6e5G-h-3guYuNxJfqTge1IqpC7ZhJlJmMvK0s--TblAHxDkBvhL9MfsU2aa1DfjtRRFtTjAaWqPlaUTw3VUqLJz9LMqrUvJTGlPVTkU6Ca80k7rx4Qxc3dqPLGfJjn2dp_LvAwcyiMapVpqr0IYZONKTuBl4_xu3VxqVq8MMo7JXYuGODWDuHQytDzTedrmBs9cCEGvE14JQ90bauFUHPXfW7GH001bwPyaO2oBC804FXuJNU-Zrw_BIkPjZfGtgcwGpY3uqYPH-zbG3aMLvk89VfQ4k6tklj78H-ICtOmxWXzVUWk4UPnETIY5HtNFTdPjkVTEdEnv-MP5WLf-ZU2H7zB_emBKvszr1Rmump2fAjfkKB_5vGsr34QbcwUV57D89kmvsnhvush_-8EJBFVCq9xGpL2D83jnNNmJVnErV6J49SMyDGV_7z0Qe0VeuXWIDLsZPan4S1WCmZL6Ip3Gq8KLMFHvspxuKaKcvXe8Wxkc_7c02jU338gKaRifG6EHm5hGeaDwAgLnGKfCGhnCQf0V6wBM0N-drFhq3ijhN7aq_bLdLWiie2boGvUc8Pd8q13nUkB_DWLzewbbG0X1bLOI8GJu08lvRBD-04KyU-TC9-4tCAe_edzx6bKFOvKNT1EGqfAdX7znSaR_7IqBWPkOZud5rHcRqR2uQ8I8SPvxvKnLePJ5_hR1XHHpCuDJRvBWzJxHY1SP6WIIMsV3aI8rGD22VNm1kAvDuEjJgWl6XyIrn7CjNWp87dFrbmAdTHVNqGLWuvVV74_cpM4M3P8uf_nQLZBZx1SfK0RwXiKNYe1cAavVSHOT3Hhb0Cny64gJtuvN4JW07umlvNUtNVDw=",
  "id": "rs_023f6d6233d73000016ab2e19241d487d0b788e5da2fd3b3f7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.2,\"left_gripper\":1,\"right_x\":0.51,\"right_y\":0.4,\"right_z\":0.3,\"right_yaw\":0.8,\"right_pitch\":0.2},\"note\":\"The left handoff did not catch fabric. I’ll clear the left arm and turn the hanging plush toward the left basket while moving the right arm to its sideways limit.\"}",
  "call_id": "call_ts6Uc8Tko91c6kTrZ7FioC3w",
  "id": "fc_023f6d6233d73000016ab2e198106087d0a195a938d4bd9e88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ts6Uc8Tko91c6kTrZ7FioC3w",
  "output": "executing move_to over 34 steps (3.4s)",
  "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]: [-0.1989, 0.8703, 0.7204, -0.4484, -0.3386, -0.1429, 0.9984, 0.6586, 2.1735, 2.1094, -0.3927, -0.0113, -0.2176, 0.4988]\nstate[eef_state]: left_x=0.3032 left_y=0.0024 left_z=0.2034 left_yaw=0.1483 left_pitch=-0.0029 left_roll=0.0775 left_gripper=0.9984 right_x=0.5024 right_y=0.3959 right_z=0.265 right_yaw=0.7829 right_pitch=0.0963 right_roll=-0.1781 right_gripper=0.4988\nstate[joint_eff]: [0.1026, -2.1538, 6.1744, 1.6679, -0.1587, 0.188, 0.0073, -0.8137, -13.0256, 10.7282, 2.2247, -0.0464, 0.0366, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65cac3ec971576846cb3c6fc5a1d1e7224e870230af4b1067953b63af9ee208d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8c4d80d3107fe858b6a61890a465296aef81944d654ced2f5308924ba0621c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0319d8ad8e4a2b3c57ae4b1a8877147d6788fc469ba3905973f384fad696051",
      "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]: [-1.0779, 2.175, 1.8011, -0.7292, -0.9161, -0.9051, 0.0104, 0.8295, 1.8462, 2.0148, -1.1408, 0.5694, 0.3958, 0.4972]\nstate[eef_state]: left_x=0.3632 left_y=-0.3725 left_z=0.1372 left_yaw=0.0941 left_pitch=-0.0183 left_roll=0.0926 left_gripper=0.0104 right_x=0.3691 right_y=0.2675 right_z=0.2856 right_yaw=0.1273 right_pitch=-0.2202 right_roll=-0.1874 right_gripper=0.4972\nstate[joint_eff]: [-0.1709, -12.0274, 10.4821, 1.2723, -0.6471, 0.0562, 0.862, 0.1436, -9.2513, 6.147, 1.2381, -0.0708, 0.2173, 0.2076]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuGpEOOVYxE6GOgUCOiKKQfRaWf_9i10HdlsEjJos31k8xLZhhgyO4ibh6g6PnedR5e6hJknjNXX6dAWmL8HiV-VBjlHHSwgNG2hFad7iIfBE4CD5Kt6FUWgHshCvEAbhqUoC_q4lTJZz-9ZpSw1nHofPvpMzVH0t5ZcgtTtMkl8zGZM6eb0KF_SoAdJAxvGlmy_UuqTG_x6T0dvQSxem4B_JlCuzlJrlTaWEqEoLt84lwfR1PtTS9z9jY17Y1wN_rZYCUgnHacTlWZp9mm5tXDmDLgWzr7SO4sE1GIvCKlqcxeSoHBjIHCjnh4c1zc7_ZC0RdU9nUIGXoe1G2GKbssRWvGO1YRz1_N4TmAlVo4Qj7FhS-EvNFn1m01AIQZgB9K6btiTYkphWAjs43tnYz0NB0kXsUZBB-_wFZLtcsXVMfHVN5cZGMkjTpmojul3sos4_vPFfNTPGKh4sbJv7PSP6zUFQU2_-AJ3_EaQDevyJQ1pCkc3XHx2_T4HXDuYczef-3oLSjyuZnJ1edL7gxcL34TBgB5nSPDl-Vs07syd5nu43vPxdjMgSLUTLirBV2PsGpyW2Jr1j9FE8-vgRaciC_ELwT5VLX7B8Lq8WdvK_Lza5EiYn4-svnqPnSxz52zYMXEjpvSC7eOn5FsRTh-0I2ROfTmddzoprJpMVAGeTHJWjpjlSnzlzg549qRvcdfi0acCyp9vaexfHc7azSF2vOtVUW1zqkx9I4jT1TbB4i_6s5QQPYYvriqLwbMikizys-rnsZwIxZnA8HvBYocBzay5JLGD27Nr6INLsSlSbGQAsbOXqsWybxfyAdHzsKn56TvunT2OXOH_h6zLAQ4HBs--Xruh1j5_QYybQJF6p6loPKhCgD5vSUuXmR6l7uKOizuXjzG0SIsF9np5AlQF0zpuGkmLZsEx55i70pw4bxEG1HoqPs2GPZ-_ttI3PlG2qtNkIjVM-aVo9ukO6c8TIFztLYSvk3ecqQaFrpm8OZrzmXhs5-3LRZtay_0GXBQh7-UoZu0W4MYW4yQESrnwcfo_bmJY5vHB-B-yn5APZhv0i9OVVxy0vuM8IrZZa_dnNsF-6cEctbFK0LUhIQVa52Z5fgEyox-mXb5cqe9hg8kaCRoRpf7Gws0WEVzHCndcHyzKxL5BWKt88Aa3i_8gC-LMFgkRNyOQ-W79HLmCbj8b8AdC90UXP_AiCRkHMA3GgUK78eWaXFVYCz_M44XxmIcu6MxwJNfvOkY8soQ9Un0HS3TUycYVXwE6dgGlojRs11AtnASIQ2Tl6fX_MQmWl0ZGPr1okczY0_7eci2Nv39GbiS1XmNwRB3j_zRbZQ7fqRquD-bnP5Dysr_ByR28vaXpDtkW1AXrYm4UEfIXF2CPV_p1UOn-6YSGwyGZxDUV9LFdFFB0sAkj4HXUCdI4HQsU9su47gjN0J5FbrX3xXfDKkeYYEHw17PodAweuNChrEp4z6UNZihoCc1GuKlCJowlW7Fi7aIszWkeFGk8NqLvWg-OQ9LLiC1mbfGxlMXP3Z3GGXWAtz0magn0YsEBV9Ea_pJfqI97K0sAjq461X5MHqW0E2i6Ms0B29GjOgZaaw4_wMnWNp9U0DXv5jnzcGGmmsSLEhyTlU9X53PfIlMh6jsSJ8rIPQe7A4gcWuOBRiBNX3Mmp_vrsZfeugP_CeuvdqNERwZySBLF6mdJxSC2yNxaM7hAkpwXxKLhgKKpFpRxRUEtg-smJyfFIz2-sgS1dBsAeA0Yj59-v6Gd6MAVV84vtFOd0fiOOIBYQZ9NbrvrMhpKNtYoLhrU6UmvWFqVppQEGHzlhIU8YFWMR3AgBI5ufopg55k_QVduFYgG-8SUwRCkEBS0QbM_QXrNskLSIv0k_jZO86tSR6VlJWxZMS8CqKm_8RWQn28aFGxzjNb5COhQLw-naP7h7_HP27JBfk4c4SzmlbxMc8rOf3fBtqdNsd567HvlOfBIH4rx0NYRAgYFGTW4rOM-RGJFIafpJn-72F6vHHP0sZrsrHLyKXblOWWFfeAS4V-XHkA4b84DKrgtBqcCHAmgF0zznyvNIPS12fNGLUu7qk3yc2M82mkpDW6ht24EBUl7xmbbQEh_ghKHmWeapKd_8przppYrPunk4XGFlNQXo-zWUO-sS0pS-mE7-KH8NujjDyFW",
  "id": "rs_023f6d6233d73000016ab2e1a0350087d0ad46729db166d3e5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_yaw\":-0.7,\"right_x\":0.54,\"right_z\":0.29},\"note\":\"The plush is still hanging outside the basket’s near-right edge. I’ll turn it the opposite way so its body swings toward the basket opening before release.\"}",
  "call_id": "call_6VQgXowmFzzXCoy2J2YQGZ88",
  "id": "fc_023f6d6233d73000016ab2e1a6d1c487d0a107b31f9dd22462",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6VQgXowmFzzXCoy2J2YQGZ88",
  "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]: [-0.1986, 0.8761, 0.7204, -0.4545, -0.3332, -0.1425, 0.9983, 0.8307, 2.6724, 2.8548, -1.013, 0.7414, 0.2707, 0.5007]\nstate[eef_state]: left_x=0.303 left_y=0.0016 left_z=0.2005 left_yaw=0.1441 left_pitch=-0.0151 left_roll=0.079 left_gripper=0.9983 right_x=0.504 right_y=0.3803 right_z=0.187 right_yaw=0.0858 right_pitch=-0.0415 right_roll=-0.2924 right_gripper=0.5007\nstate[joint_eff]: [-0.1436, -2.1265, 6.9675, 1.7216, -0.188, -0.0366, -0.0269, -0.2803, -16.5265, 8.6496, 1.3504, 0.6276, 0.1245, 0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cbc030ffad15ae7e50d288fee7f38c11b4cc30b9198e9905008eab6a8a777b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb0eb73e22da5ef09c25626eb2d138160ee0cf876d0dce9d2d859ca8fd074848",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb2023db3aae5aed7f1b3ae7a7c96026a8f442b2baf2e3021b240bf587a1970b",
      "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]: [-0.1989, 0.8703, 0.7204, -0.4484, -0.3386, -0.1429, 0.9984, 0.6586, 2.1735, 2.1094, -0.3927, -0.0113, -0.2176, 0.4988]\nstate[eef_state]: left_x=0.3032 left_y=0.0024 left_z=0.2034 left_yaw=0.1483 left_pitch=-0.0029 left_roll=0.0775 left_gripper=0.9984 right_x=0.5024 right_y=0.3959 right_z=0.265 right_yaw=0.7829 right_pitch=0.0963 right_roll=-0.1781 right_gripper=0.4988\nstate[joint_eff]: [0.1026, -2.1538, 6.1744, 1.6679, -0.1587, 0.188, 0.0073, -0.8137, -13.0256, 10.7282, 2.2247, -0.0464, 0.0366, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuGxoIG2pT-fDY5vKKljV4_tdRyj2BUZ9pHcFfWlRr-aTX6OVQQDMF3-Q4-6YQ7XWw9InlAWdjomCQK_i8tcLk7PFxlBoMvo8uBbBNpK9x8hmw3zFi9dyX0k9JsIrJzLmSNGVpSa_aCOEIoVub4iRFHz89mXEpGOTJVuYsK7MeyU2eheBcp2xXs0JEp5FCjOM35Axpccz9mc4uEz8MakHCyVREFj0TWrtnuGnEVhz_Op3iWLk-3cOVA6FKyv-bLeb2DoWk53obcSZ9POsZc9ETwcAdclaknEFSaHWbUf0ITIV1rfFOHj9IdYSQF-45w026h-cz1qHNywfymOOhNuP5pW1NPYv_ncSVTkop5-v9W6L9HM-bgbuMoB8mR31AE803taTGydCXOtaHdYDtRnwZ6ze9hepubn-fPLRgMZ-wywqU2pwHqOd5WgTq6XnqniKiTCrvg1qn2JpLLPK2Gr_jb_RloY-SYYQetOUeZJlnSPzUZcwidaLPU9BZ1MX7FfVoeHkvoQqfbk6He_COMOVUkk9dmEX8YfBWrEe7bR2C-rC7VnhiSTqsgwynrtTNGDCa4_7-YQ15_fzxIT187ykMKrxBQ-MPwyzbx6I2h_MlvPDH43kOTWEx5sAB1QkR05qY3EQSKd-TBfxWw5p0MH6sF0HsoTkMwETIf_AbT5zNSR03nx0ytjtITjSzJolPX3f8h9KZ3QcJssQLxeoOZD7tUcwT-aeOLae5Vy1hTvT_xvhqCDxpSRVuJW2L3wKssxw9-0q17HeE6-i6d0pW_HDCAErBX5uiCa01jwnIlUA2kFz0tScR8QbUhCwY6Mvjj4d6LSkEFzCEAlANvfvqW5epxhmkGTgabrENvGlLsNYxROomjgElYhFB-xe1mtyZ96siSKGKYYsxRkTl8c2t463uOUI1NTyDT9bPOOsnY9t5p7sSIa_D4wV6jM5KTypy5idGRmOjh2OB_979AjeVnkVBP_bVCebm-SRmtrjr8PLsXFn-AmpgMTNWjKrHdzoPngtlovedHbGdKNrV_8_LhISMpPb-lL1BtqnuzOOca7H5-0HnWcdRPm3J1tcWlrZ26b90ZKHXtQab29SaQAxunmTJsT03VoS1DOgvLkpz_Y2lra4-tC5JFcTYZzzr8FlZoX-4bR7lG4pFd2SW-5b6vprxK_yOi33JfTBK73O2PQuLLtpGuw5BOiiCTX5mUbP0wKCFs7S1DRxTlEkMtu9DCwh4xSJFhOvTazBBMTqTitjmdCSVs70H8O_X0U07wY0gMfXlNR20hddXtYnSKlJAglrYX0OihawD8ro3xXIPYA2mOx_uJ7PR2c8V7te5jZtprgcp-mRDJWOWeqYhtn1YvLx1B08Ub6_Dy2AlOIQkfMQ4PHqY-eOEoLd77-9cfbzFowRfDBOYYPKNJlX-h6fwREjD0_15wVpBm9pGax64VYu4jEcjU=",
  "id": "rs_023f6d6233d73000016ab2e1ad833887d088a5a3bdf7ea219b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.28,\"left_z\":0.045,\"left_pitch\":0.15,\"right_x\":0.46,\"right_y\":0.36,\"right_z\":0.22,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"The right arm cannot track that basket-edge pose comfortably. I’ll bring it back slightly and position the left jaws around the plush’s hanging body for a lower, better-aligned handoff.\"}",
  "call_id": "call_1KyhkrESpHYpoY472WItHSkA",
  "id": "fc_023f6d6233d73000016ab2e1af460887d0b5a902c1a93e606c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1KyhkrESpHYpoY472WItHSkA",
  "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]: [-0.8536, 2.1315, 1.1568, 0.2443, -1.0618, -0.6323, 0.9982, 0.7914, 2.4924, 2.4062, -0.934, 0.9047, 0.358, 0.5024]\nstate[eef_state]: left_x=0.424 left_y=-0.2459 left_z=0.0625 left_yaw=0.2925 left_pitch=0.2278 left_roll=0.0435 left_gripper=0.9982 right_x=0.4992 right_y=0.3127 right_z=0.1577 right_yaw=-0.1072 right_pitch=-0.0573 right_roll=-0.4485 right_gripper=0.5024\nstate[joint_eff]: [-0.7453, -9.4838, 7.7744, 1.3162, 0.5641, 0.486, -0.022, 7.0769, -22.5299, 8.2803, 1.2821, 0.0611, 0.3346, 0.1685]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a331060db6388d43c0af0463a83625885dd7202d5278e0e89331f61079c74a32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb0788f3afa214703c5365c764933adda769f2bd5300a2ea1766e1e664b31037",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8005d2caea7f1d7a5e58b4024649d3ce5fec84312bf12b3066e2ead797458802",
      "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]: [-0.1986, 0.8761, 0.7204, -0.4545, -0.3332, -0.1425, 0.9983, 0.8307, 2.6724, 2.8548, -1.013, 0.7414, 0.2707, 0.5007]\nstate[eef_state]: left_x=0.303 left_y=0.0016 left_z=0.2005 left_yaw=0.1441 left_pitch=-0.0151 left_roll=0.079 left_gripper=0.9983 right_x=0.504 right_y=0.3803 right_z=0.187 right_yaw=0.0858 right_pitch=-0.0415 right_roll=-0.2924 right_gripper=0.5007\nstate[joint_eff]: [-0.1436, -2.1265, 6.9675, 1.7216, -0.188, -0.0366, -0.0269, -0.2803, -16.5265, 8.6496, 1.3504, 0.6276, 0.1245, 0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuG8Zf2EBDrd2SPe9W4i2kVHekS2yBo2JEVGaW_RprCXoaUyRcfBxspGrFAIk9InkRFK5XYlZvXcYt2Ho-FnH4FDDVhwq52W4zsZIgvEWgKTGWmg5VQ_R3BkuZnFL7gx7IA-DR9taWK_gZvmyowTJFZZLqCRp0Niw3lJotPFozkwqR9nKH7f5DMa7mn2vZk7YQt0WzfR7xWK96ho22c29kikLv93jefFmgUsnjEPr_Jyj5nnct1SeZlra5AMPF-Luw5iKBEtLvWGHez0S_fWqArmxcbn3cV4dtgB3wXdq4lxk2iYaqmnmgjQmBhBRLq5uP8o1WX1QOAdGYuUNLFZKC5aoV0iHu3wSGwfezGVT2vtetCX2nXEtO0T28K-m8iC4GkGPo5ArQno4agV8C2-G4v2N7lOvc4th3AeDxCt0FtYqiPJGS8tonk8VihuvTQ1fJ7H98QAy4nk-ZDg2lYfviRjqp1xR36Um-UHU6sj2LV27nX2zaW_wYPh4v3IvIXfCZSTMtmbwlhiyhMvCdUsr0WigfNPs_MlC40xsjI-WFsbSjo5drbCvrNRzNqt6_SgJeUGDAHeXvn9VCkiqJkQc3ggouHwAjCdAiIeUwC5v4L9TytCqRArPttLoyM1JbAngeOnZ9xrayr_6_yrqzTsx3CrNlw2Ldor-dBzXiAaKQvXJ8Nv9MtFaDf56h7H7XRZBHzt0hTRrb6R2VgnC2UfpjhRmsLQ3JcZGzUWeIUWm7SZF0uJpP4TWSQ6_KhN9VIauG-Rv7ZdC4AwWXLzHdqD124GKJIZe7YV05bG0zkbWhegbQYmMm-Je-NJqwpgVHwPXeGgRnudIEmz0XHpvT0opMb-iWA1IgLuMAd7Dv7gBvem2a_WlaYid3O8BqvQGb17sxtVJG5DfddT41bE8z0BEbtZQZWRLDqCVlf-6ghAK4fAFb1wtuQiQ3_tGunV6_nIHjYcJyjudNdVMDsh7Ba6cCiTeDYzPpgFm_P8WuRDMrHzhAXOMTW70-4A6zp7Or39iMAsrGPhCoOwfec_jQPLupqYkxkQOCLLsHT1paSocr1xAdbAOcY6Sohaaf3hJoQmhJIZX15apfWx64VToZLKf3tFQbQDbbq1UDmf9EiU45qewP9GBZ-CGmpD1W57eAnZcQzv2r2qAnTy_hvCFvbvSGcSJ_Y2teXAQwNkA3OJZ_p0_9bpmUnhI44FT2Gl3I_mDDSQTP6TemY4Q6a9oHbJrzP9dVhtsiM3PmrdMo15oh0Sn_qTWevu42ZtAEM7ZhlswwXvs4838IPWi8MTxlLUvCe7UYEG7v0rAGy2GnyB9w75F37o2aPYtOvQ7rw2Zuw-BLEKy3yO5adf37c0SQDK-IEkAZjtlXL4L8gdR1FGUXpqBiWu_6bJtD9C3oVgkIQcOE1zjUSsxr8l-eSHBBdRGKpztbhQsozq-ZggPnkHNpzGsmTozbtI7ZZNX559ljbSCvjpx9Nphbs499rq4K60KFlqsBitbX7QNshjQjBiRMcPHIo=",
  "id": "rs_023f6d6233d73000016ab2e1b7622087d0ac4c292d0e61d4f8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":1},\"note\":\"The arms are too crowded in this handoff pose, so I won’t move them closer. I’ll release the right hold while closing the left jaws around the plush below, allowing it to settle safely if the transfer misses.\"}",
  "call_id": "call_Qqln8UeGkRI6TcixCxEGbRl8",
  "id": "fc_023f6d6233d73000016ab2e1ba2d1487d086eece4cb61e58bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Qqln8UeGkRI6TcixCxEGbRl8",
  "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]: [-0.8532, 2.159, 1.1622, 0.2485, -1.0557, -0.6296, 0.0107, 0.786, 2.4954, 2.4073, -0.9333, 0.8822, 0.3447, 0.997]\nstate[eef_state]: left_x=0.4244 left_y=-0.247 left_z=0.0517 left_yaw=0.2837 left_pitch=0.2165 left_roll=0.0611 left_gripper=0.0107 right_x=0.5005 right_y=0.3132 right_z=0.1538 right_yaw=-0.0936 right_pitch=-0.0761 right_roll=-0.4481 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -13.2991, 4.8479, 1.3455, -0.4615, -0.0952, 0.7937, 0.1983, -14.7214, 6.2838, 1.0916, 0.5934, 0.0757, -0.0708]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 413):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41454e9671389b00fa6027f5bb1a96e59dc71c06bbbcd7bfc9e5ee4efd813cbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 413):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc889f6b65fa9967fd10e038c8b42787d69553b333169d9e9247d58f49117e54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 413):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af140e82d6aca51e168a3166caf530e019f5844f28eb4f19b2bc5d4516013939",
      "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]: [-0.8536, 2.1315, 1.1568, 0.2443, -1.0618, -0.6323, 0.9982, 0.7914, 2.4924, 2.4062, -0.934, 0.9047, 0.358, 0.5024]\nstate[eef_state]: left_x=0.424 left_y=-0.2459 left_z=0.0625 left_yaw=0.2925 left_pitch=0.2278 left_roll=0.0435 left_gripper=0.9982 right_x=0.4992 right_y=0.3127 right_z=0.1577 right_yaw=-0.1072 right_pitch=-0.0573 right_roll=-0.4485 right_gripper=0.5024\nstate[joint_eff]: [-0.7453, -9.4838, 7.7744, 1.3162, 0.5641, 0.486, -0.022, 7.0769, -22.5299, 8.2803, 1.2821, 0.0611, 0.3346, 0.1685]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuHEKGteKYTevQpNAHN9kna9WL-vT2oyPnuLDrNngzEiKSPdlTY1zHIXD_YURtImAQHnsVibxKMzySV4Ztv2V8cJhRSRKq4bBD_wGLN8hLb62cL1_gXJehvVcE45_HxcVCcXei9P4JZq3WmxRNj2QAXK9QCSQZLKOXtQmi9zMGU9ABzmax0w-ejWaWlbRc0iow9IKxEGU_G3UDFDy0ulFhDw-5Nw9G4Hyyh0Uqmirb6ELk-fIdW_bRZalW096ijkIprpenkEG7ELEaO8pzXrq54uzZP1hdPDOpuIak7SiItq45pOhnzuPSvPpxZn8M7RTVZfL3DA89LnvWQU1syq2SLUX1b3wM4bhCcvYJ8zCJdwlLpJ2sB1VufYQGRhmx-153CwTAgZOIfVPkDZsxRfrRZbjJdGQkkhx8p-w9zgE4m-NoB_XZCaKiFOsH2lNto2NzsSkagrRi1TPgq33FY_FTiJewhgk-2NUQrap1rUGe3OvJxFDtaB4gZ5BaF8-de6uJBkCmUJ2I8lbY26J6_1KrRmaxc4g8024kbnHe7Crn7F_kcRshHDFxJ-Npcqeg9Hv0bJgoolW2IP_ySi4oodzq53IP5bRVQ7GyARGIVWncrRlJ49b5l04R0RYaX5bBaGUgHDKy12MREi9p9FWsDH6iiyK5X4bsjkUUJaykE3TBSTupHlbhfLSYSeGy7JrgzkihDbEeVwf2JkNY45QAUFX5xk_EAPY0_O7kVIwfegI0ucGp7h08ID1-5QdonDceKNRVJ8njgfbjxIu6faGDeQ9OAirDTfrfjR3NlmN_GS38y0NMtdFXKxN9PyLH0zZ8XD_xkOoLiDOAQ6vBlGIDW6Zw3-bsEAOgerQr4wrmSvh2TMcgUevWowykWkwMcxuN4nWQJxRXdQmWEVnoe9o6S3fW-Xededw-SUq5qkUy9pYdWTJFaXRJQeOtVLinm2ZjgWt8MenGytFajLb7rgLxWwSUgANsocdnbMLbJEzgctGRXProNdTC5CiFIMDEvNRKCMJWIOgnh0ySLJjBUVAM3YeL3lWwNfFmJITl78itXxmEL28wZiUWG78JZ5E_3t3-aHeSTgF93UrTmLGMgHjz-GdNlA8r9ckL9ZU7OaSyqHLALPDKoUCYV7OwvRHr6kKSOcM6s3bvBbbI_5_oDGmxBbDoNiANiUSnzsSg8z3hxQB5K0iQgdGHFVlm4x99jQU8DZfqdfg9NExPB7AaFl8TkYMoSBUJFiPZ-jO2ccvBAnGDVyBcnvm1q2coqGMopVhv5lLmfMYf76E7mOoCYIQjGlvvpGP3k0ZmuI8OFAQLU1NEMUFNnQy9VLKuK5EJEH0zhamo06pKEBpUJY-p9jM4LcZJ1soA==",
  "id": "rs_023f6d6233d73000016ab2e1c0a47487d0a94cf9928588f8c4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.24,\"right_roll\":0,\"right_yaw\":0,\"left_z\":0.16,\"left_gripper\":1},\"note\":\"The plush has settled on the table beside the baskets, and the left grip is empty. I’ll separate and raise both arms, then make a straightforward left-arm pickup.\"}",
  "call_id": "call_zNohzAFGXLBt4YIppuKMX5ZT",
  "id": "fc_023f6d6233d73000016ab2e1c2659c87d091f58454dc52869c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zNohzAFGXLBt4YIppuKMX5ZT",
  "output": "executing move_to over 27 steps (2.7s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8532, 1.9835, 1.2968, -0.1165, -1.0473, -0.6376, 0.9982, 0.0124, 0.9329, 0.9382, -0.6315, 0.0746, 0.0162, 0.9976]\nstate[eef_state]: left_x=0.4227 left_y=-0.2462 left_z=0.1311 left_yaw=0.2723 left_pitch=0.1882 left_roll=0.1016 left_gripper=0.9982 right_x=0.3072 right_y=-0.0058 right_z=0.2412 right_yaw=-0.0609 right_pitch=-0.0608 right_roll=-0.0179 right_gripper=0.9976\nstate[joint_eff]: [-0.1846, -13.7778, 8.7863, 1.2039, -0.525, 0.0415, -0.0122, -0.1573, -2.3043, 6.8034, 1.7558, -0.0806, -0.0806, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 440):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:251862ad8fb5ec8721cb1fc8a68448badfdbe8fb5b7167d5802562e494347bc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 440):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea4244b332feaee87905fe8ec4f521bb88f4d7a0f426c4cbc70957a3a81a6a16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 440):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84a3acf8fbf31fe247304e09523b1384dfb6dfd7f893aa2ce61f138d123f579e",
      "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]: [-0.8532, 2.159, 1.1622, 0.2485, -1.0557, -0.6296, 0.0107, 0.786, 2.4954, 2.4073, -0.9333, 0.8822, 0.3447, 0.997]\nstate[eef_state]: left_x=0.4244 left_y=-0.247 left_z=0.0517 left_yaw=0.2837 left_pitch=0.2165 left_roll=0.0611 left_gripper=0.0107 right_x=0.5005 right_y=0.3132 right_z=0.1538 right_yaw=-0.0936 right_pitch=-0.0761 right_roll=-0.4481 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -13.2991, 4.8479, 1.3455, -0.4615, -0.0952, 0.7937, 0.1983, -14.7214, 6.2838, 1.0916, 0.5934, 0.0757, -0.0708]\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": "gAAAAABqsuHNfmXdWLYYkEZGvzsno5-MMsTr0uezlOmftR1WBOyJKC_-WsbfVahYVMHh1GbbGpm8rklsicUGFEQ1Meu6W6XxnKeOw5kS726AC4pU8SNQVwwFH_Yc5oUpT1zvqRTSrKZOiAqiCLjZkU74EL2xN8sjyM2YDvY2LL2ls4X1FKmWkSsQ-cxzYfOjpzeacRgDNXyitwjw7fW8qZN7JxMEWOFRMT6Y3GOJj-ognZdpxLFl7FQBhhnhgJfet6YBxuic7dmix_8xqe3f0r_7DImCfP-icQ7FVNs01dMRIFveT8i0o3uPmPz1K-PPq7BhQsGBdl7gsN82FUAMjeJHjhN52aCYD2POVhfvbUrZvmZ6HCL84q5c2zSpiiQxyRloMFiA-cAMzwHeumXAmmiBzLgEV2f0d0WyMaJaZFJWiVqNLQqxzqUkcBJXfQu-kz0uvEYmL1KGJ7UKWxgHqfanbyM_3iOcVZ6650baXNXIBSBlM_w3WgsuoEmL_MoliJ3vsrbIWprDmLBCNU1u3Q3cKEECNZ3nc8JIT3DDEstaj1VtMogFmW3ct81VjUHLZUGQu1IfBlWA2qAzfq4JMVmNWq-VUvyRzfLC0A5ivO5gvFR-ICU5I34ivZ01M1qr5HrkFeQuJ5XSPudTgoQGsof6U7WSG1oDiOvpI2aiaM-JGdXHOXyNCpZaW5pPmspOmRBt_5k7fxJCcEkLevoH50sP4kbeSAftDZv6cG8-z5W3jGko0BJhz4cVGyfAgdkyekKWtHOdBCcHNXO7IDd_AsBZya55JtjTcRwAHQLDiTo6EfAmz4Y-gwWFCyvx0Xn53MyhqdM5lSW4GzuH-ztp-wHZWyeQba0geuC6qMNSq-ErTorPYxYqpSZGeDOrIG0hprpeefYf4B49bhwboaO0nTgRbnPYbBnm0pe-a2b9ei71Wz1sqOA26YLh-LiZdwsUO9efA3l6a9qW8IesUHRYhkmhFjbxFSHJiFrGo-CZeeMMLU_nvKWbI0Ww5Q0tgw8m1sUcSieyn_xu77kM0hOopjIccPr5kApBhK2-Nct31bmJHCB9OWmmsf0M4_14oIeMeGJJ9yY9IXT3rzlnKM9Qk-U4PTzVStvX9jds54R5tFwRpwVcXl6cQidN9Frlo2FiEtPseAnWHm__fIMiktTQ4QjtzSpq3W12y1ScYFWADgD0d44465GAY4tm78cCKdsMZe3NehCw61OA1WhfH6TWb-3JY8nD0a2nzm6WohgysuUwwNRe854z6r70VLGfUzcTzOO8Lbm5PA5OST9XLncUpYuyq7YzCGzyFt3JWyOuh9U-bZIzt11XjBtqGPO4fABTLnOOIo0Cr3278ouDbpgH4g4HC1gTHzIuL2pXHxbHvqLWFUTEhcuyKUOGlESB1GE9PKtIi3xVkgumTi-jkCtw95LQIPqCi9BirOB5Yb1B6GFMwmZkRvBqjIn3moY4dNDx0qaochrDZSk_OSA6iPZh5Dd80XAF7yl0XQ==",
  "id": "rs_023f6d6233d73000016ab2e1c9882887d0b9ec00030eafef53",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.34,\"left_z\":0.05,\"left_yaw\":0,\"left_pitch\":0},\"note\":\"With the right arm clear, the cream plush is visible to the right of the left jaws. I’ll shift over its torso and lower the open fingers around it.\"}",
  "call_id": "call_5yr53DVEMcLCO6bdMLFFE932",
  "id": "fc_023f6d6233d73000016ab2e1cbe40487d09d47a539190992bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5yr53DVEMcLCO6bdMLFFE932",
  "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]: [-0.8539, 2.2654, 1.544, -0.0879, -0.8207, -0.5453, 0.9982, 0.0093, 0.9386, 0.9375, -0.6537, 0.0639, -0.0002, 0.9976]\nstate[eef_state]: left_x=0.4576 left_y=-0.3229 left_z=0.0603 left_yaw=0.0743 left_pitch=0.0395 left_roll=0.1056 left_gripper=0.9982 right_x=0.3047 right_y=-0.0048 right_z=0.2348 right_yaw=-0.0463 right_pitch=-0.0901 right_roll=-0.0266 right_gripper=0.9976\nstate[joint_eff]: [-0.212, -11.0291, 7.788, 1.4188, 0.1832, 0.3932, -0.0122, 0.1299, -2.4684, 6.8855, 1.8584, 0.105, 0.1343, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 449):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56cad33d1440a27b66e52dd2a79e725609aa797ab62d86b8594058578b87ee0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 449):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e74fc19b455e2347fef5b66003e1d79d376de7645540beb133eeaaed790d476",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 449):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c79cd8c1f64ccd635533e0b2b5ef438fc0ab93fda809dc17fe72631bca04037f",
      "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]: [-0.8532, 1.9835, 1.2968, -0.1165, -1.0473, -0.6376, 0.9982, 0.0124, 0.9329, 0.9382, -0.6315, 0.0746, 0.0162, 0.9976]\nstate[eef_state]: left_x=0.4227 left_y=-0.2462 left_z=0.1311 left_yaw=0.2723 left_pitch=0.1882 left_roll=0.1016 left_gripper=0.9982 right_x=0.3072 right_y=-0.0058 right_z=0.2412 right_yaw=-0.0609 right_pitch=-0.0608 right_roll=-0.0179 right_gripper=0.9976\nstate[joint_eff]: [-0.1846, -13.7778, 8.7863, 1.2039, -0.525, 0.0415, -0.0122, -0.1573, -2.3043, 6.8034, 1.7558, -0.0806, -0.0806, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cream plush’s torso is now between the left fingers. I’ll close to secure it for the short move into the adjacent left basket.\"}",
  "call_id": "call_E4XJjjeRETCk06ZOWRrbFYxm",
  "id": "fc_023f6d6233d73000016ab2e1d16a2887d0bf1974482d7a58d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_E4XJjjeRETCk06ZOWRrbFYxm",
  "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]: [-0.8585, 2.2753, 1.5558, -0.0742, -0.8116, -0.5533, 0.0102, 0.0093, 0.939, 0.9375, -0.6544, 0.0593, -0.001, 0.9977]\nstate[eef_state]: left_x=0.4587 left_y=-0.3296 left_z=0.0603 left_yaw=0.0682 left_pitch=0.0441 left_roll=0.0822 left_gripper=0.0102 right_x=0.3046 right_y=-0.004 right_z=0.2345 right_yaw=-0.042 right_pitch=-0.0914 right_roll=-0.0244 right_gripper=0.9977\nstate[joint_eff]: [0.1983, -13.7094, 5.2991, 1.2479, -0.4225, 0.0757, 0.8571, -0.0205, -1.9897, 6.9402, 1.6679, 0.022, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba478149357df83f531e86d651a931be51858653f077d3bfceb69c47f4893768",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da2009932cd0a4b61ea92649648cc4c7bb65b1748860ea7682deeb28e44699fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe42c8a7ea879880a2dd5ea74de4ca7c41581ac5b36fcb0acad4c189ea9b1dd0",
      "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]: [-0.8539, 2.2654, 1.544, -0.0879, -0.8207, -0.5453, 0.9982, 0.0093, 0.9386, 0.9375, -0.6537, 0.0639, -0.0002, 0.9976]\nstate[eef_state]: left_x=0.4576 left_y=-0.3229 left_z=0.0603 left_yaw=0.0743 left_pitch=0.0395 left_roll=0.1056 left_gripper=0.9982 right_x=0.3047 right_y=-0.0048 right_z=0.2348 right_yaw=-0.0463 right_pitch=-0.0901 right_roll=-0.0266 right_gripper=0.9976\nstate[joint_eff]: [-0.212, -11.0291, 7.788, 1.4188, 0.1832, 0.3932, -0.0122, 0.1299, -2.4684, 6.8855, 1.8584, 0.105, 0.1343, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqsuHdlrhTSyzEENQiABFkPTDtSEmBq5nLtDySV2vDJh7Hq4t0JvKN9SmWzwQt25mqhexIIyYwdyPzY5NRuF4scRvWzfGOEXX1SRZYkLZj5QD0hgVeoSo936HQNEC0mQ8xiOWUpzdkTMu_81cp0OPTWcMeRO-Hldiu3jTi5MTw-wILbjAQhLRFbcDxgP3ptax3q8Uw5p8ADlMu_WtiTYcyNltpKO30G4JovfNhhDSDTjQAiuO8zQnk0W-BVVCs6MnntRSx3Iosb-Z6pKNqmIM5odSLR4ZIHvy9WCXjBIXctdgfoCzOCXDZV8QfBNnzQwqsgMnOKIDlbkI5cgfKGm7NHsjWGIvqHyTwf5dwmLv8epQhZB_VceqVTd18Z-tWRQogKzkTT_nXLHW8ozQzXZgHdWuiwhSF25JOYKsHUDTgBap_QUCbBtHiLdOg7zOV5bzU4M78gD6LkNLvk5FtF3TEV0BVOl5shNmNTZq9fNneyqRpymuQusx9cduP2Y91m2b2BIkCM2YDS6CHieI2BLRC9twGH2R6dJ6t4F-KuSKtTZxbHeCGAy7AXPEujYEP10B8QSimE2HWBy9pV5sQhrOqUEDVV9epGeo-AKpJbj8JDrDYE957i0xH4Nbg8mhcRYhMcH4QqZxtdxpJsOy0SSowfacOKWuu6NTfe4rWNOYjIO7vTQqOuiVK15Y6mVuZ7wj1hv5c50GVkMHFr09WgKUV19oraQAELKOmeKWeDQXGw_HxdqgDkMesP9WrJAUzKdNje6NO1HpgWfCC0PpuBp6mvuggNpDeDcgSEw8eqS2GHTI4a0NYU9bM85F2DjJAA4TyRjzL4vHLhosr_SgohALXhhjyHTHjY98k0-zE1xQeqV4gcKlz4vbACk0HwYhvjIEqqWbz0yt0fHHFMs4MIwAiJgwjsInIirKTASUbgrtSmf0RocVmwtibIxaHz80hPDhw206hk69yIHv1pqx_RmrkWuyzOc9UVzvy8Es-jWALnxow-FNVXYsafjbDqRTV4V4EBQI1prJZpJhEj5kiuvcYTM9qoddIrsQyHbWwZyEhkeR4AJqN-R8zR6rAGIT7P5-f_-0mdwTuNichY33fIZxDRbH_broErN0_hz7Z4mMKoMRMqeGtYykfO4y8_-Spg5yluD9qODA-a55Ez16biXP5XWjGS2Wv14RIobBIVR8j8m2RyMgl5MWLrIT4jn0tf-JeSX6Hd-dUbRlx5H2bhfQxJ3TrpCRrg5SsxW3C3Hlw1ysjzxznQ-DpOGowU6V7l2M8qSeguc7fzXPYREPez-NYQgJ74DpiM04jhXMMGxeBASLLR0kQ9-n6P_QsffDvV4umVmPMpRuNbBfLFCALnGaRghMqpJUqpRgIhLfPvC9_YhF7DDzXA8XeSBmuRCrIzmykasi0noAjWQDYQEm79NYI59ohNowhkYMmiMNqWNYN_xvl5lxYYMu-XDvbKlP37rnjFLnvI24vDkt20W_InzHGSZNbNnaS1Wv3ubkgkwfk5HulpZ4SMragzkGDuXHSIk-EFWCEGZzsqOQqclMparvi7DkAhjnD1mC2j9p2rbOS6nMmOJc5-vxa12tMAxC9Hvs6f9HrI-_qGgvz5c7bXrqzvKeIA-1HgdUdFOQeck40PrFjaKdciAgrxKbBtP3pWp2NIb-SH3B17pcSGMLyzrPVteYGFCGZ70eaKjoAgOtnzOAJFbECliGkHB_bAO-lX0z6E8pTpjv_8KJPNQjMuAnML4hV0a94YlWNWxtzDEry3yp7KFF-fUW2J8DjP9oLw_1m1-skWyrXGzCeU8CyrSxF9yXWS7Og-LcEsKCVK6II5X96D0j2Psq5L4rgAA0sT2L-PChYwlTryTDdRy4kf17cnx3q0g==",
  "id": "rs_023f6d6233d73000016ab2e1d6ae8487d0b09190141975259a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.23,\"left_gripper\":1},\"note\":\"The left gripper closed empty again, so I won’t lift or drag the cream plush. I’ll park the arm clear; the gray plush is beyond the left-side working limit, and the cream plush and loose dark pen still need sorting.\"}",
  "call_id": "call_1waYDgYF9GFAEF1euQKBqo53",
  "id": "fc_023f6d6233d73000016ab2e1db67fc87d082e6918ffab03c46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1waYDgYF9GFAEF1euQKBqo53",
  "output": "executing move_to over 30 steps (3.0s)",
  "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]: [-0.1768, 0.8391, 0.7403, -0.4366, -0.3035, -0.1032, 0.9984, 0.0093, 0.9424, 0.9375, -0.6548, 0.0589, -0.0013, 0.9977]\nstate[eef_state]: left_x=0.304 left_y=0.0029 left_z=0.2224 left_yaw=0.1207 left_pitch=0.049 left_roll=0.0738 left_gripper=0.9984 right_x=0.305 right_y=-0.004 right_z=0.2335 right_yaw=-0.0415 right_pitch=-0.0952 right_roll=-0.0247 right_gripper=0.9977\nstate[joint_eff]: [0.0068, -1.7299, 9.2923, 1.7265, 0.0562, 0.1587, -0.0513, -0.1709, -2.2906, 6.7624, 1.7118, -0.0171, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 489):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78591b712935d43b44b845ae326673bdcf23cb576ab82d1c072249d1923b4198",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 489):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63a1e056471d4818c1ba7c9dd2b4165f2a9ee8065978db63be56f9c142d9a937",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 489):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f4c5bc769902a58a5618108566251077fe0cca3951d69222ed3dc04a18b5e5c",
      "type": "input_image"
    }
  ],
  "role": "user"
}