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, 0.617, -0.3801, -0.0219, -0.0334, 0.9996, -0.0154, 0.7975, 0.6109, -0.3737, -0.012, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1847 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0011 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -1.6479, 9.347, 1.7705, -0.0317, 0.1587, -0.0611, -0.9094, -1.5658, 9.894, 1.746, -0.149, 0.1001, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af0a27c0b2e6bd1ded93b33f676df61a03ddbbd725ddbb1997294f45658d9788",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa8181c490525c5eaeba335dd99fd54e772d1910d2662a49b0eb9faac00345f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6230d331b18f44bc65b8bcba0b62c2aaaa8b134bdcd075f5e226f77dfd9fbc69",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqss8oK-a4IhETV-BnejLpzDIoeQbw5lsYzlFYbBZZBYbbAjPNE23ZpSFA73dyqhwLeP5nCVzi3AXxD5Ojlk_z5_RyQU-lUCZQLak-NREikNohb19bKfF-jvr5x7Xflg_M-PNP6n9XM7jDMzNp7sqb7U9HZu7gwAf0B_wHnEAOjlZ9rnuC0M1Y2b64unJPWLbPNclttHyfPBlUSBBLkQf_G6YpVtUBPbmQ8enmI56Pzbd5pRoOTft8tVQVJjMNcFZL7-d7owVgx_LbULW5cCL5mlc767h-LL4ZTan_rVIiNjHLGIBo_DMcJG_jDRogWhIaNuu3GZoSCeZR_p3MyIOBkN9OE1VcfmSoaViU8wWmXmlUp_nrGv5MnOJbOB3hzRuJmzpLZklxte-1LGqwkbkcwQO-VQzlUdov1Lz7DxN7E3mKRiHDo6qO1znL80kbMw-E2_jfIADXViqGoh8--Nc3M-R-OmLtkxuuFvjH4ierdFLAciMMBgIZmNlMBASijdrr8xgJslvKmXfNLBXIo6f47lwOEcJUoNhlo6rDaJlZYOYR7XDAWl5eg1A3AfpVwWjB8HcgIVyOaFqakXPLs62V-1l40kij2HwTIkxWtZd7us10XNTOZ82A0_BzcGa8db57IVnd5PHUa9-FvUNvOQ87Z8ZBasp0yKAgQMO6yssPVbV0fxNZtXqcOZ--hIQsl3m1ZvYhJWqKVGTRfNgaN0Dykpl-CsyN3hp6fjR7kQBKjcTjUkvlv1MY8NAl8zLlFEjNTdNjfOEoIli3Ed4OAY7DzJtugoKAoZpdF8NHJZLlmIQ8wbEJPuoIA8dShjIl7-93T5pQW7cmX51T0cDmJOnjQWcc5R9EkOr7ODUEyuml0UX2U_taVME48GRlhFUM_zn5b2FKlrTzUcAhhf9iAJ44yPX4YZQmPqXaOt1vyZ1L7YLl4whMj6XW3b0G72j1ZbeUMwFlaR8vpu9hh1ZWzXMgdKRibzeyamSxu1Vbv5czPgirAG0ETkIa6EPvgYcX5UGMiFTxOU4OxiS_PKGTz-IeUobiWCxKl2-hPG5V6FoerDfIjFyutA3WMckYDFV1DE2OJsbQKJYFbQbqmcB_Rs3Hf0vK7DEyjt50Eht3MBb3coN3jPzn2Hhv1pXHFStmmPBm9LczArcn3lfPWN942w9RHFd5Pk3CvkgNzuIJpVNUZhrdjiDxaeKyEv3BNQ9wDmvI4hu0oTQTC0Wpflg6eKhot5b_daTK8TvqkTEpTNSlSNL9Imh6swskjoBeDK9weoxHL9clrNUNM9pOkU8vTgI0PS9sw3w1HpZH4CqGNvao2FcXGQdhPDhM9NP__N5tUyqesBJH1TnIws05LUgSGw-UgssmcxKBO9q977Z8KfP0OF3mgMuTkvcnkDWXe5pJaOM5RFvs_MLZ6I3zwOVu4_mDn9je7CCx_Ni95Qbk5BbvmoOqMN5bhKj2CvNX7Ce0aTAhLaH5fEgmislfXa7qQhEkIUp2aVRZnWje8WIKEb98Z1-wMIA7pTDBa6TYPSrQWGngBlK2TP_rPd8oxXCTX1-3W0eZJauoQiRD33twhf6CXA3zzOgCECw7r0LNkeJF-fo4jyC8h99BW_dd-52JZaCSfENsrivYXY5zqAvZCP1YlIki0XRM33HY0pIkTWbafw8GQuIgjTTFEdYMVaU5Yaldejt8PfiwkfmJfjuNXZrcn36iwX4n7gfor8ctJX0mBf8difkBxiSKC1WdAl21u9ZdExXOKaYR2RZ3ieP6vn-5n9VmtO2yZpTT-d6kvF0IPlut2UVrQtGkfdxNkmQbu41-nov84ne_oNHGwmIiebrUaWY0i5c=",
  "id": "rs_072fb69332fe3b57016ab2cf21042887d099aec6e0955806da",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.23,\"left_z\":0.16,\"left_gripper\":1,\"right_x\":0.2967,\"right_y\":0.001,\"right_z\":0.19},\"note\":\"I see plush animals and slim pens/markers. I’ll sort the plush toys into the left basket and the pens/markers into the right basket, starting with the front plush.\"}",
  "call_id": "call_A5l0zIJwLymx1FRK9unBk1e9",
  "id": "fc_072fb69332fe3b57016ab2cf2678bc87d09b2eaa73dfba456b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_A5l0zIJwLymx1FRK9unBk1e9",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0702, 1.4178, 0.8883, -0.4267, -0.8162, -0.7982, 0.9996, -0.0189, 0.7986, 0.6106, -0.3931, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2752 left_y=-0.2275 left_z=0.145 left_yaw=-0.015 left_pitch=-0.0326 left_roll=0.0185 left_gripper=0.9996 right_x=0.2941 right_y=0.0001 right_z=0.179 right_yaw=-0.0033 right_pitch=-0.021 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -5.9556, 9.1692, 1.1551, -0.6081, -0.0366, -0.0611, 0.0752, -1.1966, 9.2103, 1.6581, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90f7bc0dc986712ce401097ee776ecc027f7e88d1ba198d16ba5e856bbde3c9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52207e8856d73a45b093828494b256300e5bcd0986fa76936871658bd2780060",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:557d1936d4631b5ec73503a1311ee134975231ee7c340b2245c912262d48e810",
      "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, 0.617, -0.3801, -0.0219, -0.0334, 0.9996, -0.0154, 0.7975, 0.6109, -0.3737, -0.012, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1847 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0011 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -1.6479, 9.347, 1.7705, -0.0317, 0.1587, -0.0611, -0.9094, -1.5658, 9.894, 1.746, -0.149, 0.1001, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqss80pMJSMVY8ejbqartS79Tik6VhM3W7Y_sRcowjKzc5FqxNm6ZN0DFKdNjs-19FWirEmAGtpFe0m0kmnXma3DtUwn8wRxeNdqSdzXvY8h4HjEFzSLpWhtcDn7NrQ8seeU2V5hBXjrl8cAVizCMY4TSSJ839Iw5a0LNYlkEE_BBu5DYYpmO9pEI68YZFPNN9cN1ZgHAKKjuTSRZVZhS-rLOKc6MzLXatkCUNBqxqn8tgzdq2XwZ-z0wjOsXpPBAYW0oyc5NmbkNBzHcGoCgfC-pMpcgRs5lNH8bmCLTe0Oa17bNuJ4bYM8e3IZfBx9QhZh375iBjgGYOc3gfofFmOmSrMSsdexKbJsHhlUcQap-WgrB7Un6-gsTb0t7Tgo2IZpq1fcVVxGjRG1dSwCbyNit6XaIVjTcZ6fn4BaIgC1n7Z7_f-nShIaBUNhXvfoW_8oS1x5Q4hy40Cmm-2d13tUVsvcgk-o0gk3pfNEmc5aPreGPq5uFV1pKl8MYG_4i-1oc4O-R1_jN5goqJkgEIvNJt5w4EQsaXWEl4T0H2RDKXYW72KXPmMs8wzn3u21it1_gL2pWRSVLXGw1j10ZpK3l56c5OZqlxkonyBKPL6iaQV8GCO2ipoXZBMEG7Anwy8tdJCNX4nXcykBDSvZL6aGNmCho4IufHtfo7VZiXJv6PLbR5dml6fV0xI6PpQacxdSdYJMou5dDLiiY3ieuYd_Esd0UtNJuJbMGVjHZbbtZlXs5cy1z4g1fg6n0odmajHBDtsuRMw8oZ0soLdsMWi886meFa1UjBVflR7SX7oRjuHwbbee_UsPyi8SlOJ1VtQZEz4ZNAx6GnkMl2PDyVxuGZ03eSwNuXQAWk6dBSrZ-90mMg30nwqcTzJ_ItAAwDdy_y5GX-VeaHPqNkMLva4w_RiC-zN65The8ewHD9zg0FSKseTB6QpD7qaWRLvBefMLrsh5cpAwFh8vD3eJ3sq6UujhDVznBBryRU6X90hVTwZDnRaoe-4dzz66S-Tp2b4UhOS6ZpGlH-0pA0TD3gF9IG1e5bzoaEQUwWzV22p7UbLciT7zvO7ehvq7Q16W-tAsBMKrvCyC6fG26ahbblvqoqwtmqmlhYed93ExtNpsiRG8amiNrBZ3yT-9Yk3u-DAhzdaH7mdAbKZcW6KgJopdq0C29VF8BxYSYQJcbFfAU5cErvwZ3r_E2qHUzFo7GOo0JCBE7XOnEnq6mqbDYDZWLUdeuhmiqv0flTmXzvjBewITQe-qTWKhjAcEhRTAb41ig7uHcFYSgh7d6FWkTa-y0Vaf2lzi-sVFyBq60VOlXkqLtu5RK_onZqyc-2UEBPcYyLYiJ8CCrs323pdpbv7ghH5-z33YMFTQ1qSyz69bRp-nUqDBfCPLgsrQ09kqWoXbvBEK69h7va9or5YzbQcpOgnbBxt5KMOKC1FhB_MSH6gOrizwzwvDm_OeZh9naVoeO73kg6BC9T17_8j70PPZiszD8mO5UrQ0PznVi8NsHUTZkZoLpdo3bpvlkxSuXD-PgJ",
  "id": "rs_072fb69332fe3b57016ab2cf2ff45c87d0a50d43d81fcdfa66",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.23,\"left_z\":0.035},\"note\":\"The front gray plush is beneath the left gripper, with the tan and brown toys farther ahead. I’m lowering around its body for a gentle grasp.\"}",
  "call_id": "call_tdm7mCRH8CdhMU511tYcecFC",
  "id": "fc_072fb69332fe3b57016ab2cf330c4087d09dcf421d2d051987",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tdm7mCRH8CdhMU511tYcecFC",
  "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]: [-1.0634, 1.676, 0.6544, 0.0803, -0.8127, -0.8009, 0.9995, -0.0196, 0.7986, 0.6086, -0.3927, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2803 left_y=-0.2327 left_z=0.0422 left_yaw=-0.0091 left_pitch=-0.0277 left_roll=0.0019 left_gripper=0.9995 right_x=0.2939 right_y=-0.0001 right_z=0.1782 right_yaw=-0.0043 right_pitch=-0.0225 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -5.6137, 4.0821, 1.2772, -0.2955, 0.0855, -0.022, -0.0068, -1.0462, 7.3094, 1.7167, -0.0415, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02c2713e69d81c6e5f3fde8cbbfd1a8b60c707316b43c26a6c672740b6565c73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b7480f8cdd4ec31ab7b989bfc6650e1b94f4054e8d0de144bdfb6bc2e5bd923",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:320d11f80d5e3f27f830ea999219ff4cb845c81f20305f1c33504b28b1ba7319",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0702, 1.4178, 0.8883, -0.4267, -0.8162, -0.7982, 0.9996, -0.0189, 0.7986, 0.6106, -0.3931, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2752 left_y=-0.2275 left_z=0.145 left_yaw=-0.015 left_pitch=-0.0326 left_roll=0.0185 left_gripper=0.9996 right_x=0.2941 right_y=0.0001 right_z=0.179 right_yaw=-0.0033 right_pitch=-0.021 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -5.9556, 9.1692, 1.1551, -0.6081, -0.0366, -0.0611, 0.0752, -1.1966, 9.2103, 1.6581, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqss88FNaVxkcVr8anLz16hfMF-jA1vzKi5xIaqaeOTsdIUDTb_XMVv8K1dO35D1uKHCgcnmM4pAjZg1QpO1C_lZeLoyeu_CgpeLzqrt66hiPIFqSM86yacycM7AGTDwksOzo-tLxSfaDpy2ZoqFEcft3e0aevYfqM5ppO1kjRCP9ZvNgvbgoESeuhnC2--EWFkKaenfD8QROd1hhnY2DbUlC8J0ufsaRphLdfWZ6PEOqiao1bVJvjavyTLSJ9ypVUs_3gDoYcd661xzimbLg2LLhrOe5BfnJtnFg_iilW0ob9Bq66igFzvlR-bSaBze_2jSQK9kSCLZXh2CxEeRP9qpeeYiStiow53c_ejWzlOcuD4av6cTr7Frl7UK52_vsIEVgrz0c13shln-dhnocjArbwLvgcpwBAgnO-t0es01vITcMhx7cw54391ndzoqSrI7p2gQsycGChFhwuhEaH5OdFzNEWr3TpuyJgo3Y733BZcrgx7rIwV0CvpkvVGBzvM1mM_Vn93zw8_6KicqQpDmSnslR8-kK28HE09pVckxNAUB2jLtnTZLnG1mojgarQ1VXGHBKGjzdgok-OoMVYPY5QdhJaVUCfOGVceg7go0-T3Je_uiWyS4uO4ChkDDtffw6Fr0h5R7PmA26P_xU0qMXYpsHOswWow6cn9CKsrTxh8_MxHIldgwnDRppQI94yPCHmL9oK8G6sW7_JBEciLmdqWe6NNmDlmVVp0VkDyNLz6vvVjn5nnS_bZN5yJuGpGd6Ij0E-i7bJdl1cYrvHCl9lOx9cR0NJuXMEk7yY7rbP0hIj5RmEqTeqAZrRlDSlROPnQsqJ8mA5iLU0dW8XXQhmPDVUdsOHdCvAgcdbMUcV76BRYDecPM24nGgtRDNyplSfNYyQ_C8TdGwEJGvb3DVafiVghVydipQ4WJc6YDa6Mn5l8GE5d--x5VndTq3o-kM2SCAq63XYkBtqbdPifhnAvxbBVuKYzXgbWh1qGI6yHUyDHgTAOUaYaYvUrD65WQsm1EoDNoTheztj3B8LZs8-AYvSPcr7RClmTMFbMGOjT_8nCD5kRUI3rr1Jh-LuynPNj_JgUvO2L6TAeyg7XOiHeT2ZPb5VMhastdIwsQsN85xjreegL8uxMwN13P7JiAMG001CPoH8r0wI9miVh_i4VxXe5ipfWA2kiY4yDefRyrAUsc-5XpS-353tHQyVdjdOfTS3mWuDnS1Ko66gCVRuvqE69CC2SEVa9sNK_OnmjLnRG-nMPoZo7nWMGiT2HljhpJVcFUF6_ShmkwB8n5sJ-adhtNxQ_nNkWL14oP0taDtXVltwuNiYtZqhHgjh_RDwneTkrNKCdG-oDb2khCAD8JvKzD4OhccNKxKba12GYanAlcJQaQhpsEqFEGSrDCzVh2QCSagAQ-4y530KA4WnCwxG1fUXk4WOU3RHgOxXGiD79SWcc80peLdA49_XxZ_gQRyNVP8L5E7Y2jvTwRLnWNT4Qp3W5c2RoCktiQsC_eNt3sdfGBbjY1yfSMVyyUoW",
  "id": "rs_072fb69332fe3b57016ab2cf3843d087d0b9e8d32d82789dd0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.29,\"left_z\":0.045},\"note\":\"The wrist view shows I’m near the tan bear’s foot rather than its torso. I’m shifting forward and right to center the grasp on its body.\"}",
  "call_id": "call_xOPVLiQeJtLl2kYVV5X5pEIo",
  "id": "fc_072fb69332fe3b57016ab2cf3b15d087d0a256eb7e1ae1a2cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xOPVLiQeJtLl2kYVV5X5pEIo",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0309, 1.8923, 0.9344, 0.0387, -0.8085, -0.7925, 0.9995, -0.0196, 0.8024, 0.6086, -0.3927, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3234 left_y=-0.2841 left_z=0.044 left_yaw=0.0159 left_pitch=-0.0196 left_roll=-0.0119 left_gripper=0.9995 right_x=0.2942 right_y=-0.0001 right_z=0.1771 right_yaw=-0.0043 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -8.4171, 7.1316, 1.1893, -0.2222, 0.2711, -0.0171, -0.0068, -1.3607, 7.0496, 1.7363, -0.0317, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeba8a969154eb7f1d457a541097f1684ec5859dd3d8e01e6b170d9fba5f22fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c552e7fc73b56a55cae920b5c0e46d2ecddc665ee50bce843fbd668a62d819",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c65e28c247867f38aba8e07330677b5bd637653eb9a73591a976ab10546e5d1f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0634, 1.676, 0.6544, 0.0803, -0.8127, -0.8009, 0.9995, -0.0196, 0.7986, 0.6086, -0.3927, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2803 left_y=-0.2327 left_z=0.0422 left_yaw=-0.0091 left_pitch=-0.0277 left_roll=0.0019 left_gripper=0.9995 right_x=0.2939 right_y=-0.0001 right_z=0.1782 right_yaw=-0.0043 right_pitch=-0.0225 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -5.6137, 4.0821, 1.2772, -0.2955, 0.0855, -0.022, -0.0068, -1.0462, 7.3094, 1.7167, -0.0415, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqss9HFgbadCRNHKLC6pqv2K_4pBhKYAXlX-18WNsPyJg9TXcDUdmcTk0JuhmRnZ8GNiYAGWYzB73r5VZ4YMr04IjeIPf-N8fvBFz9sODOcdELFL2rSZywjlrkNwMImqNA8YCYVTq1Ot3-4OGb4YzQzR1J0GRAsHrzl06ZY9cazytYB8uV91W-C3stzNsUJXlxROgPnxVbyNI5pemYqQ7huqSq9LHTLJZQRp5aVf4Pw8r2ZFBiy1_00YONO1kUgTux5wUK5HAxi5KctdgLuk5CkHsPHeXZ9cxerQ1CsH6UYG3x3fLL_pGB_eO0_nRKVLseoudJIAj3j1nELA2vBBLCr823CdP4Gks1m_9Zn7K87TW9rxTZ1Elp0ogVTTI6eJKU1EnYFBTsDhJ7BfkIKt92ZiOe8_b7BtEhNLwRJ5h5jyym9NixQUIVoaFG8EXN4rbuQXKs_qn7hIPoNiVnHDqcFosFictXnibNGpazWR_039Sj-IZEi5vNAe2A1olJfJAgrefIJOe7bSur-f9oeMJdbSVcUc-VuSSmbkEbBqNNSRgBrXRebJ9mlvpSXra9FJs3FgDhsIDvpJORUFHSnUJ_ao7GMWs00z-5Z_ft4pHbq9yvWF7PE13p0RgREXx8Icw9hoOHdzXC4767G2okDvDx7GJEUzQijm30ujQYRUB_EE-yRI2ODJhwMCwqDuyeVloQw3vMJmfoLrogemDXORGToO8f8x5-hR57FLVSBsDHnGXbMQNfhH2a_iQ_A23xImpfBoqhHzCv038eSm_ZylWfJzASdfPXeis5YXi69Gv4jxway1Fjekwj2BkysYYfJ7ZmbxOQtJ7wbt2RT9__kw9ZS-W-wFmN9WCcsTeWpCsADY01Mp1pmTRck41dQTDvSeWg1n1Cw8RJxoqVnR6b4iajM6FaGufA9Z7QQu8Oc1rLRUt0g5-wMnz3jwQqaRcS_LxN0sN3hZX-H7lvcy3J1u00w0dwdMR6E0FdrjQpqsCmXh0LNWmFylF9ck8PwDyToe_P1HgNysMMwupQE1mTFp6_iLoKik5YBE8mizPelQDpOMlzJ4Buqw_dLQvdEO8JU3MuR-ZX-SgyaaGZ9y3TTELK1WDwHCwLt02ACZpLYjKSdoxI5gVTTfpKRgSH4RZZmxnyY02JDB52rBdgacGSZSeALS87OV77Sl7DrUqmX6LXABlgUpJ_ieghXAk-cisRaMo8fbD8VkdzwNaXe0nZ-_u1QqKxVPfPZTzM_-cUWG81ZsyEUyvWT9KUW_FKfmFqWmPOzIfo",
  "id": "rs_072fb69332fe3b57016ab2cf44203c87d09fd0dd715f3af849",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are now around the tan plush’s lower body. I’ll close them and check whether the toy is securely captured.\"}",
  "call_id": "call_XttkJgtR9iESL8hoRug11Bsq",
  "id": "fc_072fb69332fe3b57016ab2cf45088c87d0a958059b95d1c8a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XttkJgtR9iESL8hoRug11Bsq",
  "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]: [-1.0309, 1.8923, 0.934, 0.0414, -0.8085, -0.8017, 0.1168, -0.02, 0.8024, 0.6086, -0.3923, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3235 left_y=-0.2844 left_z=0.0442 left_yaw=0.0207 left_pitch=-0.0185 left_roll=-0.0216 left_gripper=0.1168 right_x=0.2942 right_y=-0.0002 right_z=0.1772 right_yaw=-0.0045 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.9915, 5.5863, 1.2527, -0.3541, 0.0659, 0.9402, -0.0615, -1.2513, 7.241, 1.7021, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb6a0a24bf97291df010f649a88f539e20f739b428bd2bf2767bee1ab194e287",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88f61b76f4a920b13738ae7e897af8a420398b409fa88e6ebd26e8e64f90c28c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37673ff295d38c572775f88ac277fd8febaf5e07b7556c43fbf4acc2ae9eafb8",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0309, 1.8923, 0.9344, 0.0387, -0.8085, -0.7925, 0.9995, -0.0196, 0.8024, 0.6086, -0.3927, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3234 left_y=-0.2841 left_z=0.044 left_yaw=0.0159 left_pitch=-0.0196 left_roll=-0.0119 left_gripper=0.9995 right_x=0.2942 right_y=-0.0001 right_z=0.1771 right_yaw=-0.0043 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -8.4171, 7.1316, 1.1893, -0.2222, 0.2711, -0.0171, -0.0068, -1.3607, 7.0496, 1.7363, -0.0317, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"The gripper has stopped above the empty-closed position, suggesting it caught the plush. I’m lifting a few centimeters to verify that the toy follows.\"}",
  "call_id": "call_RXBi26LGbLBjC3ZwyAXgZFk9",
  "id": "fc_072fb69332fe3b57016ab2cf4a4b0087d08de6c439b73cb969",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RXBi26LGbLBjC3ZwyAXgZFk9",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0309, 1.7611, 1.055, -0.2691, -0.8082, -0.8089, 0.1192, -0.02, 0.8078, 0.6067, -0.3931, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3198 left_y=-0.2782 left_z=0.099 left_yaw=0.026 left_pitch=-0.0476 left_roll=0.023 left_gripper=0.1192 right_x=0.2942 right_y=-0.0002 right_z=0.1747 right_yaw=-0.0045 right_pitch=-0.034 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -10.7556, 8.3487, 1.199, -0.3932, 0.0513, 0.5885, -0.1026, -1.5248, 7.4325, 1.746, -0.0806, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f49cbe83b2e8d17cd21967b16ce7af7755c67db49d63535501e6523b722afef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8af306b155a039a6e81994ce3cd87529b521ea908b42eb958923bf81ad17d7a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e754a9b5ea78c2baf61505a4d3b5119a3eb493770eb48ec3eb1cb671382faaac",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0309, 1.8923, 0.934, 0.0414, -0.8085, -0.8017, 0.1168, -0.02, 0.8024, 0.6086, -0.3923, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3235 left_y=-0.2844 left_z=0.0442 left_yaw=0.0207 left_pitch=-0.0185 left_roll=-0.0216 left_gripper=0.1168 right_x=0.2942 right_y=-0.0002 right_z=0.1772 right_yaw=-0.0045 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.9915, 5.5863, 1.2527, -0.3541, 0.0659, 0.9402, -0.0615, -1.2513, 7.241, 1.7021, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqss9Y-dZ3JUUVOkWY3dLJ-rpYG1LMFLo0p6QboLqqCjU165ft5DW2OtYHvJYnvpxDRePjpKx9oTle50rsuXkfwaEL6bNkPE5VWx4c-JMY_cYv4j3--Xm98FrQxHO3YYjwcHKwOKLlF-RiijmM-QnH-WC_kEyKIx1UOlvpp28DMVLEPu_p58AisXoUsozs-O-xIiPKFZRVldzlo5iav_xvDiqOHCouSlkYvAoTIB6y2Z3Nc_uYwrs_bERnwpib260rFK0CLZi5wahZzbElC24AsXaq3zYyX4n3hZl01zf6oHINHeZ816J7upwkcTCZbI5B--8CvUvm3JDdrTikR4TM8-P-GerJpWi4Dabsp1biy0OZhIky2bbHzp4w7edvLhOALBQI4m2KTw-ighSi7IOeUHijfCNNsfUwazitKOsnQA-CTR9gu0-uG5svz0FeV3d-5iSXIK3sl3tm_zS73J65cTyaW6vCht5qMBvDF_JTeQtVz0__rL51gVidNmjqOTVjHHErRGRe5L2IRzWgsYhhrFG9yHRQ3wzKOLJXVRRaUIMA24MOqYqqu9NjxI6yPh-pDw5iAoSDcDLV0DpC6hA98F1bk1R-pNM7-ELrCO5wic98IGRx0atYD84__k42MjAklNSd6xuUiXFAmaCCt2dxG1w91DOcxlhg3LKzDMCx9hyJbd9zAWvLKwD489QziFwSeVFDaAApTSe9qe0Om6kM76lleZljIKJO9XQDS6XrjHguuwQzHsvZp2mI9iqMvrWgtYVu8kMimAJMu6l8UFovwaMbi0QrusBmInOjMsoQXGqJpRiQIY-_lN8UQAiy9yyNoxVxuMfgEKPvdQ_R0kDXLGmbtLw0FqwB8LYl7OJxM4It8ErfM9SORX41ITNlBy0sA-0r4VR4Lp1QUks34nxbAcVHk2liSDElEIG4MKcRm-O3b-X83UedxVWJD_02FCCUNgFGEP5aj3Q7TEJ33rM34PbNf_VVyYriQlJ-JwXZMj7VD-_Hlb2tk8WHD9E33hR4HtZKT-zyosLBHhSQkatr0QWvZRMMyeXMsUargdEeDD5u2wNQYeUAr408NVKI5qqfSwKZ-gLJDNB1SQhIwSoZj2cQp5Z9Hjt7aMZvp8xH1lIvHbc21re5E-YcJn9wmB-w5M4sjrW461yfHcuPJ2hOtKH74A0urwBuI6gWUTIanBmJI2S2nx9VeCpQ3fZAGtYHdZDe0mOPTRrcGmTIVT3hDBma329HGRQE9pYo3QW2iqFedVXHPWkZQpPTHQgsh5ItwDAt-8JGucL1dj1i-XcMFu0QMu0eI5CKVOaNfScTwAiRp2KRFUgZqlFqBaxKx1YSsTSgAlxtVLoBZYaeh7iVGFhxf0g1GlY50QJh3unvnJ3A3HaQtrn50bBwhDhltb85-z3uw-PjS52SIDd8u86KJXYuIT2T446vxRumpmAyOsJ6SzLsqmp2bW636ALio6SUfeI8B8j2IcL_7RgyctbZUt09hg==",
  "id": "rs_072fb69332fe3b57016ab2cf5316dc87d0ac06af7edb376f90",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.27},\"note\":\"The tan toy has shifted with the grasp, but its body hangs below the fingertips. I’m raising it enough to clear the basket rim before moving sideways.\"}",
  "call_id": "call_IibGk8kaf3hZGaJBmLmT0QkS",
  "id": "fc_072fb69332fe3b57016ab2cf560c9887d08a1617bf8764458c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IibGk8kaf3hZGaJBmLmT0QkS",
  "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]: [-1.0309, 1.6978, 1.6295, -0.9421, -0.7864, -0.8207, 0.1194, -0.02, 0.8101, 0.6067, -0.3927, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3188 left_y=-0.2817 left_z=0.2521 left_yaw=0.0218 left_pitch=-0.0805 left_roll=0.035 left_gripper=0.1194 right_x=0.2944 right_y=-0.0003 right_z=0.1742 right_yaw=-0.0043 right_pitch=-0.0359 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -9.6342, 8.7863, 1.0965, -0.6422, 0.0952, 0.8523, -0.2393, -1.4838, 7.0906, 1.7558, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e65cd3e9de3ec2f6c26e0a5a5045e8e71034b6ca2501bfd6a8898a1beaf868ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1754efe1f73dc3fd8025ca18ed2ce67a4ab1dd6ded79bee4a395faf3601769c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74b5156bda6b54c59c057ad9dce5efc4fa2fe22cf586a672ca23d64dbb7c45eb",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 21 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0309, 1.7611, 1.055, -0.2691, -0.8082, -0.8089, 0.1192, -0.02, 0.8078, 0.6067, -0.3931, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3198 left_y=-0.2782 left_z=0.099 left_yaw=0.026 left_pitch=-0.0476 left_roll=0.023 left_gripper=0.1192 right_x=0.2942 right_y=-0.0002 right_z=0.1747 right_yaw=-0.0045 right_pitch=-0.034 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -10.7556, 8.3487, 1.199, -0.3932, 0.0513, 0.5885, -0.1026, -1.5248, 7.4325, 1.746, -0.0806, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqss9nGlu10AqWt3ujxqxCJDwuW9f6aX6cAzRlI7s2vBkFYBLnVx4k_QoJH2OWSBQcWYWe0qY02h4LH0yeF9IJaAIhyt9OIxl7myty6R93-RM5WA5JaNOIAY57qxDM0nZhD_py2akk0prj9PyA8ZUqLAYyx_EhUU4BYtpKs-1MN8TGROJ5KeGd8OZmhV1PTJ8gBz5fR-8RJKnEWVYpTeIHizkw7qRM7SBFGEl9BrboG75BQa0AZmxIQ4DxUvBLrpAXbkNtRmaLu4Fh7Nx6bNJ-EdqBFPANp3N1PV7gWlZRwNIC9c-qgmD7conzx055k7SE0hUu72BPLBscBFAyTU7mbQtYUDIKrDWmivvi88clcr3qL7BDI-NTk65O43D6HICq3HLR2GVAIw2c2HwkptfTivx9rr-g4F_dv8174rhKkO0b0tS2_-9cy4bdvs-E3TJfRff3dd_9_oskPr4JWMGojIPwnz0qFHbF085vCz0dYx2DErmEciULmhAcJUEd8qdvn6yNLiCtr_4DhqjytnqWIcTkukyxq8eW7r9co1EdNPhf0SvROSmka7eGl-i-VKaNudHGVRgGVy0qQAgp_2uz2XVitYBigvLeUjxNwdo-rjx0tcVH06aUpxuxieG8WCqy8Lk2sm8ZREVglg1HS4Z8fVXB3klWJmXYnDsrFS65-X7Sn11faJzVGqmWT7kBR_r8oR2Te0RLBfHbcAnxSkt16KKkjSiH0B0HbySJ-xnzRKLJjqpvGb9pzKAsG5Gvx3f1nmkaILOplW3ZWE4VawBKtcwaTp9pFiR4rMRKztFsOmwHqkkyb-VKMYY2Y2zrj_heeQ6mrZknrdagQ3R1CIX10lOpdmMTV1bTkqFBEDxrJIHopZfT1mNI9pmx-Ez6uqVojthjDs4VQRtuA9pI0s-UeNDElDaTD-dHBn6U9OsP6UjN-3gBbqOJ2S90SViZnGG6o0uJm18U3uWSgKJ3CiDahacIyDi4GgHQ33aPsKLu5tXBzXGtBXDyj9nHvgXj28K4r93_X3kkr44fej5xSFNyfjP6Xc7kZ2ExTo2z-54sO6ka0vSS3T94evvtKfU0dZB5xpNpg0DPnyXqYuOvaMQLeGXJxV8PWBN1ivismkY3tBIQZzNzGE1rqxt6QfISbavea0typTW71Srr-oTLIUlKnsQVObGqB2abw9M-B5gRUvXrDE3R-RriU79g1N0x8_gF0qA1tEUoGuCVTzOBiqX00WdpyuLI8sNrJLnle3u20Ppe8V4=",
  "id": "rs_072fb69332fe3b57016ab2cf65a74c87d09719b6235204c3fb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.50,\"left_y\":-0.14,\"left_z\":0.29},\"note\":\"The tan plush is lifted and hanging from the gripper. I’m carrying it over the left basket while keeping it clear of the rim.\"}",
  "call_id": "call_yCT2wXlUZSPD11NiLvX1b9Rk",
  "id": "fc_072fb69332fe3b57016ab2cf6688ec87d08f96418be377801d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yCT2wXlUZSPD11NiLvX1b9Rk",
  "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]: [-0.4118, 1.8439, 1.858, -0.791, -0.3805, -0.3107, 0.1213, -0.02, 0.8135, 0.6067, -0.3931, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.488 left_y=-0.1377 left_z=0.2657 left_yaw=0.061 left_pitch=-0.1482 left_roll=0.0442 left_gripper=0.1213 right_x=0.2946 right_y=-0.0003 right_z=0.1732 right_yaw=-0.0045 right_pitch=-0.0397 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -9.8667, 9.4838, 1.8193, -0.1832, 0.2662, 0.5885, -0.2256, -1.3744, 7.1863, 1.7265, -0.0513, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6c6c9b11aa352b528784ce8d9aab5051ed319eab5a62052e1726c905e005168",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:122db1f132502e10809544148b09b4b44ecd31ee6e387e2c7e18fb8183123fef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89d3540ff20186f31181de5622b5d816de910a4e7055cbf6a1757561111d51e5",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 25 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]: [-1.0309, 1.6978, 1.6295, -0.9421, -0.7864, -0.8207, 0.1194, -0.02, 0.8101, 0.6067, -0.3927, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3188 left_y=-0.2817 left_z=0.2521 left_yaw=0.0218 left_pitch=-0.0805 left_roll=0.035 left_gripper=0.1194 right_x=0.2944 right_y=-0.0003 right_z=0.1742 right_yaw=-0.0043 right_pitch=-0.0359 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -9.6342, 8.7863, 1.0965, -0.6422, 0.0952, 0.8523, -0.2393, -1.4838, 7.0906, 1.7558, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqss92djl6GeSQBs05zeNrJ-FAfbl4Oc8bm2nUGSdVQiSiZHzOQ1uK-uJAL7kJ_yQhukMWPacVAbWpbhwB7faM8DNIaimdPBPIutmeXydPNSO2TSRvnhkvQOEiWob8Tflc4qycTlh-SnunJFFZVRoXzo7KGzqVgBOQw0NlJHrSRrlN-be_l_FH2AMipxXSqIcu8m1c0jqGJtxT_s0KjHI6Fr9YnZRaED4lxKlgQ9wgG-I6r9PSwuoGUDIeBaP9aWESdwuYGHW3cVh6IYvu0KaP92eao3YmkQRuPN0tj__V6ipLsj7J6KtFUk2sJAH_1MXxdfdFdSEHCE9-XoGDJaxqF-_i--tN3Qq4h9q74Mek6dKBUUOm2BoouUP2ndECTs7InV2bPvfqZuC9yBltvUdtVgdqqI39fJ-r6tOUD2KFfaxCMExY_5TJ0gdRS9E4P2SZ9SVrPn9Rc7Vm3RkzaQ5dFTSFu680XvWutzyM-SPH9fWDIbMLUy0XTVWqr_YOEpsfuW7ijkXNdpA3xMprzrOMp0a-cashdQy0ydt9bBHsp0JeyIV9Pp0-tCn-1KrN5obWuNODYgB8FHuZPN5VVevsNvwI7c9KL8PeVd04CXFeE4FW4xaNmoeFC_XSb3zvx_TTfWkE-FwtfibIxmO1TCpljrMo_hZuhNlUuYgekBuac7g2-obOmqKFwdDnis-6fz_JXoa_9HiV8D9v-S_X-05oTdH1VDX6SE92VAXw1mnlrGl-GVHIlDhqDrS7hxntSs_92iOku6u7qQ2eKAJUx_ONwW5ERdnOfKJiPCDLAwpdKrr8ipNWrGrvctm0vEy7NIluCfP4QQmpJZDnyqIGcMdTGBYhI5x-Z9Reio51Lnz8hAhqI6FKiiRQ9CUp6chiOFwolnMrR24yfzL8DZA05S8_GytIafCplK3DPom74dWAc7Wwk1VKpDngJP1_YzV_EiYkqEo434uzUAa5e4l1oMd2Vu0OUbenZa67pBkzyFv-eSfDww2KPhOQID7M0uX6kVcmLSdeo1MB4eo2BIl4hlQYngyXSnptJxw1JIMb6CdlmTCD4IrzF8g7nTQXO_XAR1UueVbF9-Azh7Mpnk3h8EYq9-SJisB1-QGDa4ixHxfJb_nC_vYIgw28yjeg2ew4it_68RTZdM59b4MBzEsKmKtDfe6QDyXpqak-GNGxDvOq3hnccmT9P-LRNlOO8QEo10FM45Qfuk3A04u3q0jMnLNQoMJLGtfmrE_ZMV952LMYnmfdUJ5R-0ss0gvmr47_2hV_Dx5r2OibmglEnGizaX76yVS69V6pT3LtVzuJBDRAPkZlbBFYm442pS6V7g_XcFWCw0N1pfaLSmQkLoiYPKgW_egFug==",
  "id": "rs_072fb69332fe3b57016ab2cf72fb5487d09a321dac69881c66",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.535,\"left_y\":-0.095,\"left_z\":0.21},\"note\":\"The plush hangs toward the right edge of the basket. I’m shifting inward and lowering it so the entire toy will drop inside.\"}",
  "call_id": "call_aKcLW94QhwVDclPnXSanrduY",
  "id": "fc_072fb69332fe3b57016ab2cf74c04c87d08a9213dc0ef7249c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aKcLW94QhwVDclPnXSanrduY",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2852, 1.9251, 1.7458, -0.6422, -0.2962, -0.242, 0.1244, -0.0196, 0.8154, 0.6067, -0.3931, -0.0113, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5205 left_y=-0.0951 left_z=0.2001 left_yaw=0.0849 left_pitch=-0.2159 left_roll=0.0581 left_gripper=0.1244 right_x=0.2947 right_y=-0.0002 right_z=0.1726 right_yaw=-0.0044 right_pitch=-0.0416 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -11.6171, 7.1863, 1.7998, -0.2418, 0.0806, 0.3101, -0.0889, -1.5385, 7.0359, 1.6777, -0.0415, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4606374f10219c331d2e614ffd89584978181a27e3b760bd47f84dcd3e6eb154",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9062d3593cc554b0f9e004e97f5b425952fd8340d82eb7928c2431efdc15ffc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66d1845f00af809cbd549abe759ac67a1b7cf7659ab045b2d3acf633605bcd3d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4118, 1.8439, 1.858, -0.791, -0.3805, -0.3107, 0.1213, -0.02, 0.8135, 0.6067, -0.3931, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.488 left_y=-0.1377 left_z=0.2657 left_yaw=0.061 left_pitch=-0.1482 left_roll=0.0442 left_gripper=0.1213 right_x=0.2946 right_y=-0.0003 right_z=0.1732 right_yaw=-0.0045 right_pitch=-0.0397 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -9.8667, 9.4838, 1.8193, -0.1832, 0.2662, 0.5885, -0.2256, -1.3744, 7.1863, 1.7265, -0.0513, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The tan plush is positioned over the left basket opening. I’m releasing it into the plush basket.\"}",
  "call_id": "call_e0lCyAnGzFTCmVrCxWIoSVAq",
  "id": "fc_072fb69332fe3b57016ab2cf79628087d0a0f64c2e4a0a923e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_e0lCyAnGzFTCmVrCxWIoSVAq",
  "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]: [-0.2752, 1.9533, 1.7275, -0.5819, -0.2832, -0.2241, 0.9954, -0.0196, 0.8158, 0.6067, -0.3927, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5307 left_y=-0.0948 left_z=0.1874 left_yaw=0.0732 left_pitch=-0.207 left_roll=0.0573 left_gripper=0.9954 right_x=0.2948 right_y=-0.0001 right_z=0.1726 right_yaw=-0.0041 right_pitch=-0.0416 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -13.0393, 7.9521, 1.7656, -0.0904, 0.1343, -0.1294, -0.0068, -1.0735, 7.0359, 1.7314, -0.0464, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11a3b952d48704f92dc39b46ef77a061f3a26a3b6618170ca69dec3a02657701",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c91dba71d9e5f644821266c589b6832c31d12c900ab8aaade5e4aecbe208d32e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19ca9e497e73473d902117ec745b9397e5fe88d90123b1ee21ab328af71e7eef",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 33 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2852, 1.9251, 1.7458, -0.6422, -0.2962, -0.242, 0.1244, -0.0196, 0.8154, 0.6067, -0.3931, -0.0113, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5205 left_y=-0.0951 left_z=0.2001 left_yaw=0.0849 left_pitch=-0.2159 left_roll=0.0581 left_gripper=0.1244 right_x=0.2947 right_y=-0.0002 right_z=0.1726 right_yaw=-0.0044 right_pitch=-0.0416 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -11.6171, 7.1863, 1.7998, -0.2418, 0.0806, 0.3101, -0.0889, -1.5385, 7.0359, 1.6777, -0.0415, -0.0611, -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": "gAAAAABqss-GcmcYxlwUemOSOat_E8C9JMczdGv2wTZovga2OxQsB1gESn36gLDbhN3lvOrDZiSbHUwuurCxL5EBTjf802MSQAZeRT-2gN-xxK1r7QT2kgN5QUwBlsQ9Hg_xv1pUI0gPOCR5mqlYhAQs2zPMBN-HR6eNGF0YNX80Zq2maVOc5pn8WE_G8lts9INlM4dCzzQHzJux6-gSYqCv3KF0UmWEnfLrTmldnf_CC9vgvYCTlJVEzRhw5X8L7SkyFmRmrp8-oX7C8vnWV6hJ2lRpmp8lDB3bKDn-PjgMvB-x9euEctNbChSV-OPUMM7cD8mGkCDgedZTs6MHjh3DwSNKmNKHxR1SeOJbxwiRy4EhJeO1dD_7S5NWlHwbd9UbDr4Ih6UIOmN8AmULO3RNcj2xfULtv1HzzMLWnazysLQ-gEJY2XUdkyWBhJ4uvgQnuFCGVyKxeifWjAjD8W3V5J6QKcJoUhGszMSIL27t3UAf7T6-Gz_dRpK6bkQaEgSH2cF3JhD6vMSEkbT17JFiSSY7svquckmuqz0M0sX5B1Wy5c4udwjYMKg1H-ni5g0d2TfR0ThDGvY8KOPoQ_PVMdseFqDkHl5QKQlD7aQI06_cX92hDvaj0uV3_fgQmHgpUmC4lvFrl2l9QJiHOSK01JnzRQiQMiXFsuGIZd-2jLZzag_io2yVbHb3EWkfzSQHzzwF1v18ydgxwdLffDdrP9rQ3tFKovI_jqJ2bXMVFrt716R_A3NtBQIgqw5MkZv9ZtHtexa6BDkMXAu6KSJDM7zmoFla_cEUEVQwN6kGD-uWczUJkdYPSvx_VxwWHIJbwf2QdayxKyxu4iVHGSEWWAiUjW4IN0ks7BFZt1wtDEqN2B48rJu6vro_yCpneytLEedNzfIVcp70EUlcFdZI8kwHtKXxfieNL5RIulM1CtMJnli4IP3lBr6OZsQxfugXXQQMaXvApZddf2YBddblUbczN4kJhY_dY_zwGCTetnh0BVRCahCkMS-ota4Ukmw7fk260pCjKFzmRtO5G_uvKM2Y8HjJWDkEkIB6lTALHPln46dqx6YCWDMoSrbTqoof3HeZxVIMgLAjirt3WWjwA3wAUrLrtkaG9jPX2TVeUUVUZw-mRk3Qk79b7wFZpMtr2s3VyNL8CJqAVI1ZdUyFpcrx00fu-iJLDgz_I7yYfmO6RMBh08HC05v6h7ECzYX7eRGUfO5P4zJZ5S-N17IlOjFcLcL-k_6-9l_8U1CDhbcI-R77zH4RTm2xOEXgiDVjsH1WV_S-gn2ya3-8G9jgruut6xBH-IMGNPMqHyHfvEB6Wd8cg4fH78B1xshLv6FhrKGMaBwdxK0Ss1KFfoRoLwv0j-Iomo3E15ayztjnoU1ZfhyJP8-2iYPBX2vRFe1XMwoha9F8uDtUT46iEx0IpZz6SLEoIdlAb3lAOhHLyfMMMWHPjxD-PsXyCtPWvPu55Ky299K7HjkwckI37sWvdhNdan2j8TfAy4Z9tsXMg6XNyDtmy5CaH1EyErD8lx4jsjellXcw9ICr0NJzzJmpk09go3YlgOjuAkjfyhXQFaHYHjoOl-CBcyoWpI444pFPm5--EIfrjgQGXN6DgHGzOR2LeqxM50oykpOcdnaRB8joK8Q_Vfn5sZGmOO_bSW5ijC6ah5Bx9dhaOd9vCgKSWnA38i93haWQvm0k0r8ACRnnDKjaTIHY-8nVp8s31BkW0cwtEvhAXG300PedbJYB45TomfnZjA==",
  "id": "rs_072fb69332fe3b57016ab2cf7f701c87d097672077b0da5a21",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.10,\"left_z\":0.18},\"note\":\"The tan toy appears to have landed at the near-right rim rather than fully inside. I’m withdrawing to see its resting position before correcting it.\"}",
  "call_id": "call_1Xq5keXpSLFCkWMZ2gSnKvgW",
  "id": "fc_072fb69332fe3b57016ab2cf84a6e887d08901796d2c91b39a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1Xq5keXpSLFCkWMZ2gSnKvgW",
  "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]: [-0.4057, 1.5322, 1.1851, -0.5148, -0.3523, -0.3149, 0.9967, -0.02, 0.8192, 0.6067, -0.4, -0.0113, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4061 left_y=-0.1042 left_z=0.17 left_yaw=0.0539 left_pitch=-0.2333 left_roll=0.0613 left_gripper=0.9967 right_x=0.2939 right_y=-0.0003 right_z=0.1702 right_yaw=-0.0046 right_pitch=-0.0523 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -8.7863, 7.0632, 1.5751, -0.3394, -0.1441, 0.1197, -0.212, -1.4154, 7.1863, 1.8242, -0.022, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50b5262aa4f337f01fef2b4caef23acae150d9317c63e208a2b3d5543b093ad0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3685688afcdd324c10cb0b1e01aeed19b73e69232331cd878e113343773a087",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f235ba17c621474ba97dd5d3123535d4598578608c91ad2a26a2220317856e29",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 36 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]: [-0.2752, 1.9533, 1.7275, -0.5819, -0.2832, -0.2241, 0.9954, -0.0196, 0.8158, 0.6067, -0.3927, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5307 left_y=-0.0948 left_z=0.1874 left_yaw=0.0732 left_pitch=-0.207 left_roll=0.0573 left_gripper=0.9954 right_x=0.2948 right_y=-0.0001 right_z=0.1726 right_yaw=-0.0041 right_pitch=-0.0416 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -13.0393, 7.9521, 1.7656, -0.0904, 0.1343, -0.1294, -0.0068, -1.0735, 7.0359, 1.7314, -0.0464, -0.0659, -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": "gAAAAABqss-W5rxE75THWfNgE8xxRMObLLDDmEfz8Ca7oJdNdJxaPypwgbPVvng00FEvdWFBCGe28U-cineyP1rzYMRaq-BlKaHP7EuTY0urQGCZsEFsURVwsqSPSGcUfgwLA-boEa9SSENOSMJRbhP1bi1b2LYodDYkrivuHKZSe_8e-7uDa96hhCSuSdyWfk7eEv_CQzPyVo4y5siDukGUeO64Mx6cWZ3wQKQedgWpv47fK6vnMZ-TPMYRGPaTJTZyxrNrbI0uOkmUhKT-_WpXwULFm4yyBJaxgiExwikoz9OfZ1XalGpP6HXPVAK5Wf52yWCOOL4isN7yI3fikR4PXRqHrvrUxTBc6kOu3xjsVZ5X9QFbBuPWdOlp7PNJqO0rvUauCWWWPBg65lAtXKLKwzcpL5ejBhOqxKY4EzP-GkeRBaO_DhF4kC4Ieqd4unwMvqG4FFNmyFhiUVv5Ybk7ftiT9hNffUjGXM40k7fFaa6xFQbKUZG1KSVAq2rzHtow6rdlNnmE_pVy8sWbEVd3YNxoB-mef2QgOW2SQFozRst0gDBBOFKQxhe3gLZP8klXkWgXxNcEvvE5wqI136Fkn0kRBNCwNQXe29vyXdiBq6m09MEuIw6vVkHz5SqMDN5usv773-rzwSlm2jp9cmJysw4F1Fo3pgglwjmupZLvCx6Cdvcv7abouEqvFW9V_YPauwVcUdc40alhcPYhWZ0kNfv8Aji9JKj_IEd5eF42LEV8UUcj6GQpqDvE6axCTaNg9IbPz4jvJUldeiDjEWpNa9GC_BTmhUqHjvbVoGbEcvHuIOzwNhqhslnoN-Nq87ov4KqF6c5q-1RP-VQ0snjqhGIycoi5SA9Ldtw21WrUmuMYUOXcMZJ82dKdAIDd2rlJlmZFpF8D8OSqjgfly6gEOg_oICyrdSj4w9QOwRJwHDnMkqwLozZC8EeSgzpWcQaQOVI_txqcf1Egi7eAeFlozb73HqWBCjyezKrU9i85HfUA8H7zL_3mRDXbXQ6Zb3YR8UHsSt7BMppUSjtgIWBJA_F8IGjldt67D0JQiq7ZbiElk-f36CyLdcbzATw7Af9HwMoDOHHoKhvdT6y96dOSGBHe2dsFPsSdKffUTlE1z3AEofdZEZwI6ErqSlfFfFjZVWi-0BSNIFXZH3N_2J-Vnaocgb_wbTaZBNBNNNkZU_Pr9ItLHmwYAIUMZ5CsHpbsFvNM-5eEiTAXQdZKrq3h20WeYhvlnzOmE_YrEAPL8Ai5Lqrr11O2qZSp8ObYomA5zr_9NpnCTlT6swIFvkRWKGmuYIhNjwNi2AjB0k1jkEpzhqZrOsaty-guZSSuttmxzPA7wcvsNdMyc0hfR7ebr28V_Yz48K14EJl8YQoPXu91WX1B9yflR7z3bK8BKjFgPhJ3TfIYKQ5toQoIsmQKql8v5P56edZKmtt1X6QkDG9-bXpoFzP1ZyProrPfILUHPMTqmdCLzB49CGU00T5-Z_lkE8bfgTZbvdfuJljXxk5edVXcTkGpgww03cYpldaNLpSC1cbaXaaupzk3H2lZSmFUOE4zgw==",
  "id": "rs_072fb69332fe3b57016ab2cf9208ac87d0bde4735cfcf854a4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.19,\"left_z\":0.045},\"note\":\"The tan plush is still on the table beside the basket. I’ll regrasp its torso so it hangs more centrally and can be placed deeper into the basket.\"}",
  "call_id": "call_VMUoVfy415HGWVnlWJ3euI3U",
  "id": "fc_072fb69332fe3b57016ab2cf94d12887d0854958fc58cc6328",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VMUoVfy415HGWVnlWJ3euI3U",
  "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]: [-0.5491, 1.9614, 1.2278, -0.1898, -0.4374, -0.4316, 0.9968, -0.0196, 0.8238, 0.6067, -0.4084, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4516 left_y=-0.1844 left_z=0.0533 left_yaw=0.0494 left_pitch=-0.2482 left_roll=0.0685 left_gripper=0.9968 right_x=0.293 right_y=-0.0001 right_z=0.1673 right_yaw=-0.0039 right_pitch=-0.0652 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -7.6923, 6.7214, 1.1844, -0.1441, -0.0269, -0.0024, -0.1299, -1.7846, 7.2, 1.7265, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffd0cd604c888b703fbdc25aff201f55850bfe2db5ef31d15375e5a74267ead6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e66ff344337f4da2d94bf45e1d19479e0a3d7ae402cea93d1d43ddc004956bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e632266ce83680074374807de042b4170e5eacaa9598c412e2c4e76a5bfa034f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4057, 1.5322, 1.1851, -0.5148, -0.3523, -0.3149, 0.9967, -0.02, 0.8192, 0.6067, -0.4, -0.0113, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4061 left_y=-0.1042 left_z=0.17 left_yaw=0.0539 left_pitch=-0.2333 left_roll=0.0613 left_gripper=0.9967 right_x=0.2939 right_y=-0.0003 right_z=0.1702 right_yaw=-0.0046 right_pitch=-0.0523 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -8.7863, 7.0632, 1.5751, -0.3394, -0.1441, 0.1197, -0.212, -1.4154, 7.1863, 1.8242, -0.022, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws straddle the tan plush’s torso near the basket. I’m closing to secure this more balanced grasp.\"}",
  "call_id": "call_iPA2kHecB075DuMiCYxSw4Ja",
  "id": "fc_072fb69332fe3b57016ab2cf99ff2087d0b839fd03e4b561a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iPA2kHecB075DuMiCYxSw4Ja",
  "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]: [-0.5503, 1.9633, 1.2396, -0.1452, -0.4492, -0.4458, 0.0283, -0.02, 0.8272, 0.6067, -0.4095, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4617 left_y=-0.189 left_z=0.0638 left_yaw=0.058 left_pitch=-0.1976 left_roll=0.0343 left_gripper=0.0283 right_x=0.293 right_y=-0.0002 right_z=0.1661 right_yaw=-0.0045 right_pitch=-0.0698 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -10.5778, 5.2171, 0.9402, -0.0904, 0.2418, 1.0134, -0.0615, -1.2513, 7.1043, 1.6923, -0.0415, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0319c2611006f6bbdcd2bbe3b1bba6d31979486af96427a710c35b5a14d9ea6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ce9837c4fa83cb45a09d2169efb0382c03173ea24121800e9cdc5807beb22e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07d4356adad47149c8ffedf560a55ea82bf005dbde27ce6cdb104018680edf39",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5491, 1.9614, 1.2278, -0.1898, -0.4374, -0.4316, 0.9968, -0.0196, 0.8238, 0.6067, -0.4084, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4516 left_y=-0.1844 left_z=0.0533 left_yaw=0.0494 left_pitch=-0.2482 left_roll=0.0685 left_gripper=0.9968 right_x=0.293 right_y=-0.0001 right_z=0.1673 right_yaw=-0.0039 right_pitch=-0.0652 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -7.6923, 6.7214, 1.1844, -0.1441, -0.0269, -0.0024, -0.1299, -1.7846, 7.2, 1.7265, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqss-jaZHehxaSeC52gbvqnNs_0FdSCdFOH87fLe1-pZQWmp6M0LCBwku3Lwr3T-7aR9byWu5SA1cWPDyU705lJnrXvmuMZSXOWDujbdPYCo68_d_dafeEooLC4jM9KC3U2zgxj-hWImH6rioP7RQB4LsYqkdQBXkRBNajVeGuY1P70ujqUdiThdrF752oGIob0aI-pIneBRzk8iA_HVk_2OztCHQM1qXiAy1ksDxscuKkO8pLlPvZSqQ1LYbhWMaW-2NMo8HmZvkBOtkav1netssn3_d1hcg1tAF5Zpfuu0-4Ihwb05qKIR0z65RzfWR-BTdMasi88aa88X-dfbcVjWWW9Z-Jw7NvIQtK9kL6tj46-IWCPNzYMaLpx_q2KnL3xvUTVtctBcgfdfpSG_PMvczPSTO_9Y2erogWhuat4miGK8aR3cqQIS0aN_oUzg5dwPJ0YB3CCmqLVQtw0BjfJUDttStT8SiX0RtuDgiq8qoYnmDeEZv39dJLr6qb9QBVafuOu3UH0Zvoiil7XLnoe8sCvIdueStmuphgAEvK3LI2V-eHwN1GUa-87mnHSxyL0zWGOS_C9oZUT870qbxfVdQe4MyxnBfd843Tdt19xVoRuSV2E37NH7EEFm1nzq0YdikmgQU2vhka1TcKDvAVV_8HfGNFXUkCVXYSZyN9AI2jBWxvE7IYo6a6pH43LGQlYX3POgcj8J_g_Ua_gp_ifFHbo9Q5Gt8AZ1hOq1FqGxEfQZA0gATHGkA84cOjggGYdK_-UVFoPegg_-cezdop6GEAYTaYg-ibhhjgSTThWSuz6CHeynBUbY3pdQnK6j1uYlXin_lIdfy_o2f7BbU7BydySAZ8MUKUJMCALc4x1hqgx_1wfQy6P9466b-1v2VuvSNFlPGt_Ny6hSk1UlQiHEVN2lHDqC9r3gZ6YZJIJpptRnDewn4_88OJ8ZoR41qAhjkWdKsYWOPulwsV2NcdnDZhtxAtolP2VAPEH6hH6DF4bwTkYyCqVz0tZe5RbSTKz-9Ammu5vAsa2In61eHQDvojxRrFbG4HAs_ouMNXiUB5VHymKxk9xJe5vbrdkexThnG_NyzQY1momiFHnGEIU69TAZzLXjyLfZOUu6mFboaxx_scJIJFhQJwfarh-NdVAf-M-IvYvyDjrWy291o9oOc8eo0T2Zu5DZZQGvUHUan3T15_tUZtrW8VWMOHpnu6x67tFy6OhTCbuMu-yiHDaId01ZOXg1OVG1tMh4DjQ72stTQw1nWQWrNVVmJXQk8aP19jHLTze9jgjHnxMUOTSP5DGCbFOrbXUJRUlsj0xG5lYEnOhxW0Cwd5KwEV03BE-TmbJBsXyRrNaeBs5cEUb5WF54E7YNnqlmzQ94VqYBy6jC56FWzTUNmSvYt8yPlq8Vy2",
  "id": "rs_072fb69332fe3b57016ab2cf9eeb1887d0b0145ca7aa7e9126",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.42,\"left_y\":-0.19,\"left_z\":0.025},\"note\":\"The gripper closed nearly empty; the toy’s body lies nearer the base than the fingertips. I’m reopening and moving back four centimeters for one corrected grasp.\"}",
  "call_id": "call_SizovNHbhDo2MlAah9ieQykQ",
  "id": "fc_072fb69332fe3b57016ab2cfa0fdec87d09124c8ba47ef9409",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SizovNHbhDo2MlAah9ieQykQ",
  "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]: [-0.6048, 1.9217, 1.0615, 0.0826, -0.522, -0.4744, 0.9952, -0.02, 0.828, 0.6067, -0.4091, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.443 left_y=-0.1948 left_z=0.0569 left_yaw=0.0668 left_pitch=-0.0922 left_roll=0.0007 left_gripper=0.9952 right_x=0.2931 right_y=-0.0002 right_z=0.166 right_yaw=-0.0045 right_pitch=-0.0702 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -8.5128, 3.3299, 0.8425, 0.1636, -0.315, -0.1636, -0.1846, -1.1966, 7.1863, 1.6972, -0.0464, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a1f60e136dff473a63592cae9abbeb9dd10960ab43a3a63a57e87f90bd73312",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e5042fa180a01521c1181e944cb427b2cc41fe78a60fae33cc3413c46a879c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57860b2e5ee0c34057951740acef30c9d7a9f9015cea37b6ac049ccee9887b23",
      "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]: [-0.5503, 1.9633, 1.2396, -0.1452, -0.4492, -0.4458, 0.0283, -0.02, 0.8272, 0.6067, -0.4095, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4617 left_y=-0.189 left_z=0.0638 left_yaw=0.058 left_pitch=-0.1976 left_roll=0.0343 left_gripper=0.0283 right_x=0.293 right_y=-0.0002 right_z=0.1661 right_yaw=-0.0045 right_pitch=-0.0698 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -10.5778, 5.2171, 0.9402, -0.0904, 0.2418, 1.0134, -0.0615, -1.2513, 7.1043, 1.6923, -0.0415, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open fingers now surround more of the plush body. I’m closing again before testing the lift.\"}",
  "call_id": "call_l7BYckg0JsPTaVkyPcmdXnfN",
  "id": "fc_072fb69332fe3b57016ab2cfa7079087d0bd94ece96379f521",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_l7BYckg0JsPTaVkyPcmdXnfN",
  "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]: [-0.6018, 1.9163, 1.0657, 0.1287, -0.5495, -0.4805, 0.0346, -0.02, 0.828, 0.6067, -0.4091, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4515 left_y=-0.1938 left_z=0.0701 left_yaw=0.0919 left_pitch=-0.0371 left_roll=-0.0249 left_gripper=0.0346 right_x=0.2931 right_y=-0.0002 right_z=0.166 right_yaw=-0.0045 right_pitch=-0.0702 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -9.1556, 5.7915, 1.0427, -0.0073, 0.0708, 1.1258, -0.1162, -1.3333, 7.2, 1.6972, -0.0562, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33f752fd85b90d496e07d1a159814f67cbbd3a1b23c367356f8d8d4d4c492978",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d851530b4f4c70959bdbf2fd7033fbc8f74ea5054e8707103d5dd29ec5800d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:342924177c0b1961fa5a5e96d2a35c0a609c27c70a0ae92fd7cd844c565798dc",
      "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]: [-0.6048, 1.9217, 1.0615, 0.0826, -0.522, -0.4744, 0.9952, -0.02, 0.828, 0.6067, -0.4091, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.443 left_y=-0.1948 left_z=0.0569 left_yaw=0.0668 left_pitch=-0.0922 left_roll=0.0007 left_gripper=0.9952 right_x=0.2931 right_y=-0.0002 right_z=0.166 right_yaw=-0.0045 right_pitch=-0.0702 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -8.5128, 3.3299, 0.8425, 0.1636, -0.315, -0.1636, -0.1846, -1.1966, 7.1863, 1.6972, -0.0464, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqss-wjU0T0brUU8hkl9AOdn3f-mdL2dIjWPQ4zum4ozyj280wZVd18rrE_tvPSHIVwhimgnnN9tZHYIX-KzaRyqKavQDMfmbAUGE1X1bVsMQW1VZuIAqBWcIpNKe72eK_r4aobb6qM2cakcOEfDiM9igE17ge5A7fYQZ8HcepPFampHN4PvPS1lxPU2pbHyro3iYezZ3avAb7po_oYku6kizpnhdsUyMwGqSFu7NOfosEvk7iah4fy2ZpbkRwPGpiBAW-_bJ92YYJ_cU_e90OWzvGXR31YZDrCXZEBcNevAY5VnCB-nKzPjaXiK3TrfyPjeCK0ifICglNAtNssX4S1t2pPRRhTz1-Kjds75_5vhGt-FfaUcMhwbGmRFQ5X5331htH1dsvUc-TOsrRnesrnJfY4zW-aPXXi0UaHDf8z_O1vLxb-0b1ZRxGb5hMmavy1QOorpGcM91cwAp5hvHeS8OTNEWptXx9vSq38QNYnwgYdUkTGcqu7WEfPhLI0OGdO6YioNHFjJAKSA5FVhjuad_HGmRACOZlGZAN97J5HDuhKum2nWn87T1BeE8WvC8ZZKI-cSuf2WbLpCU28T6-5habQfDiq9aGjvFQcCmBETDs8U_oLdDysK1gTXGKLV4mcO0xDdx7Ht4BwalxJbzMsCndjHlqihYG5TjLU76zjUJd7XLkUqLWUqVRSfY8vdmM3nfv-bYZFMjccXqOH1NZRDxKIOEZI5Te8yOUkx0l2bLB5NpVCQ4u1KmTP7_IwSrCtzfGI78I1kNl1jKnI3r12EKa5OObTq4ubWDGs-XgCw9W-OEyKIaLkbTBKK1c8bWepyYuclf5Jb-ZakW51wQb3wEx3bPpNq_6uoQSP0dTHQLCKjTZP1y7WoyEzom3TCoIRetIrwpxtBkMdg0vZjphEHlRVj6Zw1I4yrVQr-drME6BSN9x-6Fpsu7LUZ4S-P77qk80FVGSViXA0f-6pd3Qb0HC8M1pc7QTj-YGHnHXi02g25Aq14QkeU8aD690gwp5oYB0p-zfyOK8_Twi0KocysHaipPHFfU6Ko84auc98I-6qLfULWT28CS8uWlx9icPFDHIkMv0j1Tm3S103WUGGNRupxWQTUBbKXUrI27JWwP1HR9O1TSeSl4lWFobz_CsaSsMAiaYY_FtP9xwUOWs16Rmq9D54D3HcIByVJaRvMK4O21qLB6fP1JLi8x1m9bx77VuTFQrja-vXp_0pAMNGby9S4AMpHfQ9Y3YUfjalP_qGg-2uVjYO5563kN8Y5qjhtDcwfq7Rem1aATV5OrHdelahgdpKDjMDftfUTqzOdl2vJiaL4vAQ7hGz0VcSbEKSG4jAGM95e-EmogEQLgy5j6n4ldtV7NG27yctvfDs4AW-_rC7LXcDFdTY7MFDuxHSmaXR9vpn6G_Y66r6xw5ZsClNdhiZsMUCroJvAiZfvigD73IwXvSkRmEtbA57ROx4Zjg9zzSaKkmxI4q6h9_EvmE-w==",
  "id": "rs_072fb69332fe3b57016ab2cfabe19487d0b08e6addf65f3a7e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.28,\"right_z\":0.19},\"note\":\"The second close is still very narrow, so the grasp may be only fabric or may be empty. I’m lifting to resolve that uncertainty and keeping the idle arm safely parked.\"}",
  "call_id": "call_ALK3kl1x1Hf49WmUlBTMK8Qw",
  "id": "fc_072fb69332fe3b57016ab2cfaea8e087d0b9a52b61a2ecd230",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ALK3kl1x1Hf49WmUlBTMK8Qw",
  "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]: [-0.601, 1.7779, 1.676, -0.6518, -0.5423, -0.4915, 0.0357, -0.0196, 0.8326, 0.6632, -0.4904, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4541 left_y=-0.1965 left_z=0.2538 left_yaw=0.094 left_pitch=-0.0647 left_roll=-0.0175 left_gripper=0.0357 right_x=0.2891 right_y=-0.0 right_z=0.174 right_yaw=-0.0038 right_pitch=-0.0996 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -10.1812, 9.7162, 1.6484, -0.3053, 0.1148, 1.0281, -0.253, -1.1966, 10.5641, 1.58, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:233c63ee1fe4cd95a4621c0ff757b42926175464e60ef8738c7a51ae96eb8e75",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f452849f29732c60f8b9013aeb9078c399c5eb2053ad93b37253e6e8e7b99067",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c0d7b1cddf9114602300a11229f74d70dd0c64ea185b2bb967b64cdb5fae12a",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 54 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6018, 1.9163, 1.0657, 0.1287, -0.5495, -0.4805, 0.0346, -0.02, 0.828, 0.6067, -0.4091, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4515 left_y=-0.1938 left_z=0.0701 left_yaw=0.0919 left_pitch=-0.0371 left_roll=-0.0249 left_gripper=0.0346 right_x=0.2931 right_y=-0.0002 right_z=0.166 right_yaw=-0.0045 right_pitch=-0.0702 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -9.1556, 5.7915, 1.0427, -0.0073, 0.0708, 1.1258, -0.1162, -1.3333, 7.2, 1.6972, -0.0562, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqss-2-ZCRBbfTXiQuTJX40k9LZOIdP8mm6LCzCiEIZXfz2LWY4-IlLm1m2tJBSUxI85ZS53tYlSvzjOECvVb8fxsVM2eozl6RViD8GBMqVLr0RPHaxHM9eabBhMNNeoYM8DQRMblNQimTEabYOrzMhS6XcNEBP7SMg3uI58uR4EYXCU3tFyPoWq7w5PGukKE6iFO6wLdK7KWn0gZxpikeg1aQjGpQCDRcErzdoeDrMiniUC3DeZFJ-Pt2yUTLsUEBbONFv98NaMu-v_6P6q5Xz7bk82O1UykYCtD814FZoPBynslJBEf2mNlpkz5UOKizMs6p27HVfefC3zC6V9iaDB4_cSrZmMtxxf_tPUK-s-abLj3C9-EHpE3aibNf2AGwr7bIfDYApdjt-ZVHuA4Vxb3NFrGpRFTozQHAnr7bk3b_EPjRW66YCwj7ZgrlQk5CDuWR_CHasK-o1_OmJ7Xdo5qjtXvg2e_zvFxnzrtPcmHINJ--9XT06DAYWz8ycN8glgBI0fVQBM_qdv2PpnWiPxvv0BRqVQnYtVo3z4cIJgOvyIBT1lWsRBMcaid3V79R2V7DEOJ0-T8li04ytleHlIGKE6Y0pn6cNQ9u3UoqUTM6SEbhcnlIisUXR_71wIhJmv13fyDMwqQGP2FD2z6fpRfhrMsm-aBgkjkt9erprVDrqQXesCOJQjlZV3jo9j4mmdQMypMTujMb7DVeD5yFfM9WHOO-FT4jsIFr5M2cXqsOSgePOIh7r0DMYbVZMUcyHvrnJRq0Zzd59ll9SXuHtf9i3v5khYobsBz2sNIsDhCsZFJ9J5Y2wrwbq74JG_sXOzF5Igt9Bxh03C8dilemHsDVLOg6JFfiID7N5QrUdMm2WMKTFQGZpDHp69N7cKaHTerCSd_73sjLZ-NU3GRAjYAjjoF9VxGAByPcVFxMntzgbNWchbOqSiJg8NbcyswF3sTJMWazDXG7BEFwoqVWZ7BbNJSXCgXZrSXA2PQn63f5g_Dg-eOW7HXT3aQiy6Zof_87yYZKPEQKewXwyGi85VT8xrPyB9W3EP-Bdy_4p1ygb4NGhNyWbbVI-Cy3c3UjkTd2uPecHxw4JoUSkEIiy6H-KaQJbsz-iI16kMyYUFBCLOaQTc3zSxrbjm5zWD17fPg3rVNFjim778LT1twigA0CAsMTDt4HaoPs9ofjclALagb_tE3jYduXD1gcSoW6TkUR",
  "id": "rs_072fb69332fe3b57016ab2cfb45db087d094ae3e28fa19ce1f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.59,\"left_y\":-0.065,\"left_z\":0.29,\"left_pitch\":0.25},\"note\":\"The plush did lift, confirming a thin-fabric grasp. I’m moving farther into the left basket this time, with extra height for the hanging toy.\"}",
  "call_id": "call_MeIPCgGUWJiyhXKpZspWlHPE",
  "id": "fc_072fb69332fe3b57016ab2cfb4c52c87d0864f11e4775e258f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MeIPCgGUWJiyhXKpZspWlHPE",
  "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]: [-0.2058, 1.9224, 1.6493, -0.2108, -0.3099, -0.173, 0.0357, -0.02, 0.8379, 0.6666, -0.5037, -0.0113, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5738 left_y=-0.0611 left_z=0.2408 left_yaw=0.1317 left_pitch=0.1025 left_roll=0.0057 left_gripper=0.0357 right_x=0.2878 right_y=-0.0002 right_z=0.1716 right_yaw=-0.0045 right_pitch=-0.1148 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -11.6171, 11.4803, 2.3761, -0.0073, 0.1832, 1.0427, -0.3214, -1.812, 6.694, 1.7314, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0c8f3c2d170d1b52e9b39513a6a56164d9c629c96e2463cdb11f3004cd4de91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea667d0ff86914ef594f7cea732c6dad49097ea13c230a1d41ed6755a9488c2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d5824fc712401c1252a2db6ae2a4b980346cb8443dc66f67ea798990eed84d7",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 58 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.601, 1.7779, 1.676, -0.6518, -0.5423, -0.4915, 0.0357, -0.0196, 0.8326, 0.6632, -0.4904, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4541 left_y=-0.1965 left_z=0.2538 left_yaw=0.094 left_pitch=-0.0647 left_roll=-0.0175 left_gripper=0.0357 right_x=0.2891 right_y=-0.0 right_z=0.174 right_yaw=-0.0038 right_pitch=-0.0996 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -10.1812, 9.7162, 1.6484, -0.3053, 0.1148, 1.0281, -0.253, -1.1966, 10.5641, 1.58, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The tan plush is now directly above the left basket opening rather than its front edge. I’m releasing it.\"}",
  "call_id": "call_MCq8Pgughuxpcqn69OLRDTV5",
  "id": "fc_072fb69332fe3b57016ab2cfba10b487d0a799829e68ed7f17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MCq8Pgughuxpcqn69OLRDTV5",
  "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]: [-0.2062, 1.9377, 1.6276, -0.2165, -0.3061, -0.1802, 0.9953, -0.02, 0.8379, 0.6662, -0.5045, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5722 left_y=-0.0616 left_z=0.2211 left_yaw=0.1308 left_pitch=0.0617 left_roll=0.0117 left_gripper=0.9953 right_x=0.2876 right_y=-0.0001 right_z=0.1712 right_yaw=-0.0044 right_pitch=-0.116 right_roll=0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -12.3419, 8.8, 1.7998, -0.1636, 0.0269, -0.0952, -0.0752, -1.4701, 6.9949, 1.663, -0.0073, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c5e05055c92a2071739aca9a0d753e5a70b6682de1aead2fbf653df67c62856",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c55aaf4faf01233f324144be2c70631b7ef4e52d19e3f82679cdc8e9be7d7f20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b50fa655c456e4c1ee5f5827b2060c0c578a649f7b9d44b92c7e1f5e195d3828",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 62 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2058, 1.9224, 1.6493, -0.2108, -0.3099, -0.173, 0.0357, -0.02, 0.8379, 0.6666, -0.5037, -0.0113, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5738 left_y=-0.0611 left_z=0.2408 left_yaw=0.1317 left_pitch=0.1025 left_roll=0.0057 left_gripper=0.0357 right_x=0.2878 right_y=-0.0002 right_z=0.1716 right_yaw=-0.0045 right_pitch=-0.1148 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -11.6171, 11.4803, 2.3761, -0.0073, 0.1832, 1.0427, -0.3214, -1.812, 6.694, 1.7314, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqss_EEkJWbVBa1gk32OeYbIESWXzVm7cEVkIJbtCQYGffGzce3IGhcTytvADfjtXsbCmOS1t-CR7BQCk7rCqBLuQcp1kdSaxdv4ek14ucjXJWVHeXQm8hDXQCcWP7PbLVme8KgFjGslYjAyr_FFG6b-xGnZLT-xg8DQhAuj7cC6d-Gg_NQUC-hicfcLq2OIuRbCxxmoWkf2rpU127g0gnOM-jVl84ylSYRtvbB04QI9TRpoHcAM8QipAs5I1sCAcrxJ0qACbvxGYGzhayhuuAIMJBXL4g4eZtXNhk2k9HuujppZ9qAKmWPUn1UGmRktufM2Cv81aj4m-ob15a1e8A66gnLLp0gytKeeoivPPxgYt-qiOfqd-K0sEJ3qh22nbjU5lRnW2bhGnx_tWZVbxNctxjcIrB11aq2jlwibyK6fNROc0ZMvI-Ub3RX7bb58QZ_NE-VTvlwjbFC4CRz-RlVMLU55uStX1JOL93p4X5Oli07YYPb3xDFBBPqtqRvjGAbIZVU9TqrWvod6q6ygFBAGlz4CWNgQeBkadquP2gUkqnrnZTFqY4W0AxvP3wzIKNvQQm7Lbf4B_rO09UwpbQ14ZQcp74jesrcvuhFKrbJ5CNgKerLe-J3zWM-zDqEW7ERCYfUopZjrxfFqDj44x1DWYKau0HuI0QbF17v9IxH8jvUctj8_RCPfAWp27m3nVBBg-JUpJESjvN7nOPXMmaNdS4ezSCgp9nwhTen-ySwzg0VdB0Qb06HK4S_vAx_ZjN-U9oV4n0HDxS5RpNicSaWrM0Gv221h6xw68Ed3yN1DxyjrY-ZgwV1xOmIa2juuVRvrNRDxCwW1Mvym9pFd2KpXLNz0sP9_sw8TkhZTzH0z2MsnB6T2_gg7gT85Dt40SZyZcOUfPvEK1F5YjQ37t_vTnKcn92Rn_JeIigNCeQXpxfMQBsZmk-8iw_R2tmwFhvW8Mq69h_felxP3iVen19aJUlqZSG08LihTVBSaV1Tg4vkG1iYkj2yDVXtc0OVaxL4YF2328WU30SoMVRbi8y3q3vQfDrNX0EKQfvDCnd4qTq7znVJ9WTYaqyFTDbJePNUs8f08f2843B_WWiCvpJbebBm1k346y1Y5_GOBGHXFxaTY9YsGxRfrFKDWJuwxFXkhQHumPI3ndfoKkSw4wzihYEzNivuXI_Xu9Wsx54_RE8UgUJ6CEjZGEqRMFIQA1KfXR8Sj3FW5tEtUIu0PCDVYgVzrLVOzGsOHU2YxpVK-aNSEWuFBM51edwzRg5FS0Xh9fZMI1u8sKQGPY1rnDEj8DxVBdhsAH-1ZIFrK3rT-vx1O3LqEuaUPXW1slhUtDaZ_C2FfntJAA74z71ugaxWLDNpBCwM6oUlEv8SSCHmiP0z7S4t7Vs5Oa3Zd30672gl8xw8QLM4TfLv7oRTJkoZQSVgna9Eh9d2COGvCr8amz9XZT2OHwY8erb-56P6DRi_PtwjWhvqr7eX1afDKi3yFepfDO9cFZpk1Q2vDjPbITLdn0wR2JReNjasMNdLxttBClvXr65PzbMRzYZnvU8jWAn1-4MjK40BFIgHjz4mQVCrMvhgpostfcZmlVXcEHa4GBpUd4qxgwnGeLwOpO32fB28fVk3m7cyKx0P0rjZ8aj3w4GH2ocaxkN9eQDdaaUBXZ2bMZy4lz-Qod4OFhM1k5mVg==",
  "id": "rs_072fb69332fe3b57016ab2cfc0243487d0ba2d674a864e3cfa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":-0.145,\"left_z\":0.11,\"left_pitch\":0},\"note\":\"The tan plush is inside the left basket. Next I’m approaching the small brown plush in the middle of the table.\"}",
  "call_id": "call_MiGGVV75j9qVEjxzUUtbg2WK",
  "id": "fc_072fb69332fe3b57016ab2cfc3287c87d087d54d1ca9f9da40",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MiGGVV75j9qVEjxzUUtbg2WK",
  "output": "executing move_to over 22 steps (2.2s)",
  "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]: [-0.8478, 1.3182, 0.6224, -0.144, -0.7486, -0.6472, 0.9967, -0.0208, 0.8425, 0.6647, -0.5045, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3004 left_y=-0.1534 left_z=0.1082 left_yaw=0.0817 left_pitch=-0.0156 left_roll=0.0181 left_gripper=0.9967 right_x=0.2877 right_y=-0.0003 right_z=0.1693 right_yaw=-0.0051 right_pitch=-0.1221 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -5.6, 6.1607, 1.3602, -0.4713, -0.0757, 0.1294, 0.0068, -1.3744, 7.0496, 1.6728, -0.0513, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3e837bdfc52553d65c92e79396f6c1d279eb34f0a4d77f453ed01405bb235e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f248027689b4118c5f09ba19fedf401f9cbd842132a48504105e23699f048e29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89b0bf1c763c8227b6f3320dcd9da95be45cb42c83e44238682a299547ea060d",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 65 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]: [-0.2062, 1.9377, 1.6276, -0.2165, -0.3061, -0.1802, 0.9953, -0.02, 0.8379, 0.6662, -0.5045, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5722 left_y=-0.0616 left_z=0.2211 left_yaw=0.1308 left_pitch=0.0617 left_roll=0.0117 left_gripper=0.9953 right_x=0.2876 right_y=-0.0001 right_z=0.1712 right_yaw=-0.0044 right_pitch=-0.116 right_roll=0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -12.3419, 8.8, 1.7998, -0.1636, 0.0269, -0.0952, -0.0752, -1.4701, 6.9949, 1.663, -0.0073, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.02},\"note\":\"The brown plush is on the jaw centerline at the bottom of the wrist view. I’m lowering to grasp its body, avoiding the yellow marker alongside it.\"}",
  "call_id": "call_4MwIeuNu39hifKd3YTC849Dg",
  "id": "fc_072fb69332fe3b57016ab2cfc94a2087d083908fc34ca0fdd7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4MwIeuNu39hifKd3YTC849Dg",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8494, 1.6077, 0.4442, 0.2501, -0.757, -0.6487, 0.9968, -0.0208, 0.8452, 0.6647, -0.5049, -0.0113, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.294 left_y=-0.1452 left_z=0.0176 left_yaw=0.0885 left_pitch=-0.0541 left_roll=0.0799 left_gripper=0.9968 right_x=0.2878 right_y=-0.0004 right_z=0.1686 right_yaw=-0.0053 right_pitch=-0.1251 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -5.9556, 4.0684, 1.3993, -0.188, -0.1148, 0.0024, -0.2803, -1.6889, 7.2274, 1.6386, -0.0269, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d90d6025f416ae4660d1e5efe6c1ad1f8a8e99fbfd0311ce3ed8aa0d3660152c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf45f46746afa52dc87e5941fb2ad0d4990217cfa241ad04f59f6c2fde6c00f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fbd2c6bf22432507b253603d6afa849c9e4959bcf20741ad6225949671a57cd",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 69 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]: [-0.8478, 1.3182, 0.6224, -0.144, -0.7486, -0.6472, 0.9967, -0.0208, 0.8425, 0.6647, -0.5045, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3004 left_y=-0.1534 left_z=0.1082 left_yaw=0.0817 left_pitch=-0.0156 left_roll=0.0181 left_gripper=0.9967 right_x=0.2877 right_y=-0.0003 right_z=0.1693 right_yaw=-0.0051 right_pitch=-0.1221 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -5.6, 6.1607, 1.3602, -0.4713, -0.0757, 0.1294, 0.0068, -1.3744, 7.0496, 1.6728, -0.0513, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown plush is between the open fingers. I’m closing around it.\"}",
  "call_id": "call_xDjKtyQkcbhK6RSh18I7CIOk",
  "id": "fc_072fb69332fe3b57016ab2cfcda89487d0b9ff6e5b838ce9e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xDjKtyQkcbhK6RSh18I7CIOk",
  "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]: [-0.8474, 1.6157, 0.4374, 0.2768, -0.7639, -0.6437, 0.4982, -0.0208, 0.8455, 0.6647, -0.5045, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=-0.1443 left_z=0.0174 left_yaw=0.0917 left_pitch=-0.043 left_roll=0.0776 left_gripper=0.4982 right_x=0.2879 right_y=-0.0003 right_z=0.1685 right_yaw=-0.0051 right_pitch=-0.1251 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -6.2154, 5.1077, 1.0281, -0.3053, -0.0562, 0.9939, -0.0615, -1.5248, 6.9402, 1.6484, -0.0415, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc191a408c5b2861ed70c9c2f82573ccfc431e17a42d7a8fbc339e5fe545495c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:652d75c595be42e4b37b1df3f9aa1bde4dac659b49ee3f3e865be28df0a30cfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f935b8bfaf17337402184d9b10354dced7ad5864b1dbc81123b81b5b45dc087",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8494, 1.6077, 0.4442, 0.2501, -0.757, -0.6487, 0.9968, -0.0208, 0.8452, 0.6647, -0.5049, -0.0113, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.294 left_y=-0.1452 left_z=0.0176 left_yaw=0.0885 left_pitch=-0.0541 left_roll=0.0799 left_gripper=0.9968 right_x=0.2878 right_y=-0.0004 right_z=0.1686 right_yaw=-0.0053 right_pitch=-0.1251 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -5.9556, 4.0684, 1.3993, -0.188, -0.1148, 0.0024, -0.2803, -1.6889, 7.2274, 1.6386, -0.0269, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.24},\"note\":\"The gripper holds a substantial thickness of the brown toy. I’m lifting it clear of the tabletop and checking it follows.\"}",
  "call_id": "call_pI1fqSQPyUn9Z1SgKJpyVKji",
  "id": "fc_072fb69332fe3b57016ab2cfd61f0087d08a31e256c8982868",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pI1fqSQPyUn9Z1SgKJpyVKji",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8474, 1.2358, 1.0801, -0.7277, -0.7563, -0.6476, 0.5013, -0.0208, 0.8474, 0.6647, -0.5041, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2991 left_y=-0.1502 left_z=0.2293 left_yaw=0.0882 left_pitch=-0.0368 left_roll=0.0562 left_gripper=0.5013 right_x=0.288 right_y=-0.0005 right_z=0.1681 right_yaw=-0.0058 right_pitch=-0.1266 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -4.8479, 8.2803, 1.0427, -0.442, -0.0122, 0.315, -0.0615, -1.6068, 6.9949, 1.6728, -0.0269, -0.0317, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d68457449f48a94f402784fe6fbf7e775f467f16bdf1d9449b745ea588a4c507",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88185068e9bf09731b6080fa4b51c121ca781b30b07934986bfd54e1d4ddf6f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8458da0274073e855b8ddfdaa0cca04650474def8a7c740e08d284bc080e0a19",
      "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]: [-0.8474, 1.6157, 0.4374, 0.2768, -0.7639, -0.6437, 0.4982, -0.0208, 0.8455, 0.6647, -0.5045, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=-0.1443 left_z=0.0174 left_yaw=0.0917 left_pitch=-0.043 left_roll=0.0776 left_gripper=0.4982 right_x=0.2879 right_y=-0.0003 right_z=0.1685 right_yaw=-0.0051 right_pitch=-0.1251 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -6.2154, 5.1077, 1.0281, -0.3053, -0.0562, 0.9939, -0.0615, -1.5248, 6.9402, 1.6484, -0.0415, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.58,\"left_y\":-0.065,\"left_z\":0.27,\"left_pitch\":0.25},\"note\":\"The brown plush has lifted with the gripper. I’m carrying it to the same left-basket position that successfully received the tan toy.\"}",
  "call_id": "call_hWxoBIcWfGHxP9Dn903g5TvC",
  "id": "fc_072fb69332fe3b57016ab2cfddf8a887d085cdeb246d758bd1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hWxoBIcWfGHxP9Dn903g5TvC",
  "output": "executing move_to over 22 steps (2.2s)",
  "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]: [-0.2203, 1.8828, 1.5375, -0.0692, -0.3511, -0.1043, 0.5036, -0.0208, 0.849, 0.664, -0.5053, -0.0113, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5684 left_y=-0.0613 left_z=0.242 left_yaw=0.1183 left_pitch=0.1723 left_roll=0.0626 left_gripper=0.5036 right_x=0.2878 right_y=-0.0004 right_z=0.1671 right_yaw=-0.0055 right_pitch=-0.1301 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -11.0291, 9.9077, 2.0293, 0.0269, 0.149, 0.232, -0.0889, -1.6068, 6.9949, 1.6093, -0.0073, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:941b3f7709bb8bd21721f2d4f7af27ead12b20f4b3041bdad5787097d4931697",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5924004936ee76f42e0e94afeafaff0b25ff7e0340d733e4ae840e65a2bf5672",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22b9980dc6fc50f1d75d86a3789bb5c7c06541a832a5c2b2c2257658ed854185",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8474, 1.2358, 1.0801, -0.7277, -0.7563, -0.6476, 0.5013, -0.0208, 0.8474, 0.6647, -0.5041, -0.0109, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2991 left_y=-0.1502 left_z=0.2293 left_yaw=0.0882 left_pitch=-0.0368 left_roll=0.0562 left_gripper=0.5013 right_x=0.288 right_y=-0.0005 right_z=0.1681 right_yaw=-0.0058 right_pitch=-0.1266 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -4.8479, 8.2803, 1.0427, -0.442, -0.0122, 0.315, -0.0615, -1.6068, 6.9949, 1.6728, -0.0269, -0.0317, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The brown toy is above the left basket with the tan toy already inside. I’m releasing it into that basket.\"}",
  "call_id": "call_ufkoVCdT1YC5zxcUY5BtuSvV",
  "id": "fc_072fb69332fe3b57016ab2cfe4be2487d0ae5937d9320aacd9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ufkoVCdT1YC5zxcUY5BtuSvV",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2153, 1.8984, 1.5398, -0.0769, -0.3428, -0.112, 0.9953, -0.0208, 0.8494, 0.664, -0.5045, -0.0113, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5703 left_y=-0.0603 left_z=0.2326 left_yaw=0.1191 left_pitch=0.1517 left_roll=0.0592 left_gripper=0.9953 right_x=0.288 right_y=-0.0004 right_z=0.1672 right_yaw=-0.0055 right_pitch=-0.1297 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -12.0547, 7.0085, 1.8535, -0.1978, 0.0171, -0.0708, -0.0615, -1.2376, 6.9675, 1.6435, -0.0122, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d97a17761d72e5d2365e6db7e03e23021da4e861e46b3d083f60475bdd350d7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e909af94fb0a2afbb1d4bdbf18b9450fbac7a358f22fd13551e849e285f33d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03ae968dc19d2001b4b6cc023a0093e638dc0d470f1edf7db5d638a561a64e25",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2203, 1.8828, 1.5375, -0.0692, -0.3511, -0.1043, 0.5036, -0.0208, 0.849, 0.664, -0.5053, -0.0113, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5684 left_y=-0.0613 left_z=0.242 left_yaw=0.1183 left_pitch=0.1723 left_roll=0.0626 left_gripper=0.5036 right_x=0.2878 right_y=-0.0004 right_z=0.1671 right_yaw=-0.0055 right_pitch=-0.1301 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -11.0291, 9.9077, 2.0293, 0.0269, 0.149, 0.232, -0.0889, -1.6068, 6.9949, 1.6093, -0.0073, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqss_uMiUV0a6fYkEw4BsQr4nLzMwGyS5-ST06-oJbX0HtCztLoR_aSJpN0TRQu-_t2Y2Ukl88JearAYKOhBcTl5OBWLDBeFwyISlp-Ianzc8J3vyn_9cO1_U5SKyeKu0-I2rgLxcOZHifwU2w_1C3CvdrPt4oQvrkMRt7Hio3ADEaCPT-tXFK964FLiDTgmbz6Mt4kYlnB2Z6xHxwewLkYpq7Iq0_PUL8K9GWze_7-a3Q42nz61JieZA-Np_mk3scjYV971buy4j3hhLPKOVAGrqDgXt5giGwkhkC-gh8skcLBjz5BL-4XNIqN27I61UolB9wYl97x3KwsgtbJzszsfk78csLs5XqwIFAw01ZJctiOKfn8vvvDp-OS4AE-dszjs12hmumnYTjCsvfUu3qd_VZ2aRzi_5hxVlEHRIBN4MoEJ-cuNsg_BEwO9OGioNdeyas2DJAL1ENZpPKJtMBvq1r1dfv-rDplYy1HgPbDKeW5VAj1-iAU-CMrInC85nL3D6p_Eol0tTCvLgLciFkea39fEGzd0WJy3MI8qTZBGZAX0__j5Zd1WwScVp7ruq440JQLrnHKq9NFjFffBAuk05cr_2jVfSnWaHDDoAdwOorAl8c3E6vnXkO0zI4EslFb4drYkDkMI4Hf7XeWUue6z8L0ykzkgh2lwx8JJnwY5gN2M2pcN-lR9mqHAKw7BGKsTGfZrlrSKK5uW1YZa3yihvYbXfQtwV5-2FUHPFEO4ySPYBLR-e7wEnYWQmd0cNEYTk88NLZaQfWaqNCOc7Bei4jUJZPCZvomzyFTTuXy0AbD02jOf6DNvRberbHvXJM_nqaMG7UWLVbBSRiZsCZth8oP0kSOSuSjgs9OHN1oHE1LQSCqK9ZgsfyDSAqkWXw_uGXFkNaAv68xEZKwB6bwKSrDiuK5OWTnRY6F29Egc2s9NXwevHhagCpR3oE6B5kSaH7b5KDggXcNDQP6ofaRJ3AMvIxEUB8vz2-O8pqGfGqu4v3iqImzfQopRBd2DeDwkcdgwChfCTdn1f2VZT8xFw27-OUgg3wughSVFCKfSwkIXFxZDPV0RtfU9fPRHy_C_16R30uLLSf_N6cAiw7NscnK9nXgjqb0ez3XL6TFR0YeeJuAmyDmSJP_w0yfO4KfifpnfPpbcCr93_q1aaBobMdTLoE38GBeDowS6b9P_5z5aEEX3obcSnlWEFCQNcpMLV3vQPLr4EQuD5reHuVYCeLlUkkuJIDUaBYLNNWRVJthbJ82-12chyx5DQo2dctoc8Js01kgxwJdwunRcxn-vcO0DEsPUJ3nQkoF04TvITqxwR4SjaNJFYgNyrX3-F3qo4udfUf_AzlqBWYR9W0GZnB0tcb5wePG8hC_iEqhzvTRzIsv6k6SD1UsNOPoXWAU0DLgMvMy-whEnJZS0vJotkJQpi-gvLbIbIXmXK8qbIyPAw=",
  "id": "rs_072fb69332fe3b57016ab2cfe9245c87d08de804b78bfea026",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.005,\"left_z\":0.13,\"left_pitch\":0,\"right_x\":0.29,\"right_y\":0.15,\"right_z\":0.13},\"note\":\"The two plush toys are in the left basket. I’ll approach the remaining gray plush with the left arm and the blue marker with the right; the grasp points remain well separated.\"}",
  "call_id": "call_905htSt7t9wzq2IkDv1Iuzvl",
  "id": "fc_072fb69332fe3b57016ab2cfeb780487d08c1ea553a0f70380",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_905htSt7t9wzq2IkDv1Iuzvl",
  "output": "executing move_to over 22 steps (2.2s)",
  "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]: [-0.1631, 0.8261, 0.4168, -0.1471, -0.2832, -0.1307, 0.9967, 0.7467, 1.1984, 0.6758, -0.374, 0.5266, 0.495, 0.9998]\nstate[eef_state]: left_x=0.2981 left_y=0.0046 left_z=0.1372 left_yaw=0.128 left_pitch=0.0286 left_roll=0.0528 left_gripper=0.9967 right_x=0.2819 right_y=0.1448 right_z=0.1137 right_yaw=0.0242 right_pitch=-0.1819 right_roll=-0.036 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -0.8, 7.3094, 1.7705, 0.022, -0.0122, 0.1343, 0.4034, -4.1368, 9.2103, 1.5067, 0.4957, 0.1587, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af92958098ad6d4b875834221704f4f3a6b6fabc553154254aabfd98ec4085b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d1cdf8dbd7cafc3c7c0b3aad68e21c18f43a58429fc05012cd1ae6f53be75a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8392c9eb56ce202bb014d54ec4e8f855652a7513b2948c592773ac255baaad3e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2153, 1.8984, 1.5398, -0.0769, -0.3428, -0.112, 0.9953, -0.0208, 0.8494, 0.664, -0.5045, -0.0113, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5703 left_y=-0.0603 left_z=0.2326 left_yaw=0.1191 left_pitch=0.1517 left_roll=0.0592 left_gripper=0.9953 right_x=0.288 right_y=-0.0004 right_z=0.1672 right_yaw=-0.0055 right_pitch=-0.1297 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -12.0547, 7.0085, 1.8535, -0.1978, 0.0171, -0.0708, -0.0615, -1.2376, 6.9675, 1.6435, -0.0122, -0.0415, -0.0122]\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": "gAAAAABqss_43krZZZm35MkOjHQ0FzirtupxHZIwJXQZYf5QM7znAfE_LLYcH5dQitMqPEWPPkiN9zhxibuRVHRyhNKavlkWwoxlUOX3tKNtJC9m1s58fEKPn75U6ZmPNXIdDC3uXth4d9fcknPm9o-GjbeRBOzUCoZ5ye8O0KJoo4T0RAKO9GCl5gRb1hiH7AhjZGAOaaU8NS1BFHzE1AH_Yb0JT7IQGJP9f_ZYAOu7YlkSIz2pyrG89CgnT3FFj1H0OuG83Zgil8lMYrsJg2egrhHUIc0RAUS8aoVic_2rr6JAOx37P_Wfv2aTxFltbjXrHu5ARtvi-Onj-xtd6fI9VyAYzIbvj1LJw7Bd00vn_UyRa00TXA1XR4fGVxvh_rN750cTbEzdlcFkuw1SNIIfz1iZl2okxD_MgeWl2GHJ9Y05q_ggNCYRUHmHjs-jVRUSE03iUidmyan1tr6q1V4oirla8FQvsHOo2yY85eNbRx8Cg-knlb2KACJSmkt7sIj9TUz7r87GN7weJA24NXMtWr7WMI4NvoFE2B5h3T68Pgd6xyIxOFRl-oZ4J9ddP4oIZghtjBC-RnlZv7xo_DdRTuuVeNc82YRo57oqPlnOMmm7mFgJBrsj9-KVMKEzYkdEiBMr9UBVUp9ykEWTAPQCBujCqRq-Zc31rrtpcWaKPcb99OA3KdJHICiXdNsok3CBndeGKYQVhZ-PXOJO4VNTygTMzRyBbyOrqJWdmKm0Q39oOHasbfgy8MDTPiqf-XAAtO1sNL7eUEiZRSh9P2oijGf2Z4Q0MZv9pjS8o_fbyJKk5VRt4pamtqrzXnPUIBvi1sdwHfU5PMXsaRR3R1TFiGVnxavmVHYrkxK8oWEeaRsP0L7qwUv9zB4JFr7vycpXkttdzz9Z__eF1fWfeBfU0klwDt3WrWuwsA71-_kdUMdKu-vqbOd4s151LNGKhq_nJHSJdWtuOaTzxlaG4nzyWyxMaaw4BVnhYWZ4LhBtjouv-6RCVaKsNoQ3K6cO3XOoLxRX_TuFnoUGHcYMTep3Ip22oyEgravboC413inGBeDcXz-F2IbbveY1pM5OlDm6kCYJGH_JkydXppSKyf7-61OBGE_9e7td22KK0qA6tL0OW5vA0CDuMfuD37MBwwtBnAwltg86JX8O0kwV7sETZdmHE9nWfrerXgrBVNHV9pTWTx0s1AHmiMAP0_xTTwAgTkdYnlAD7jZ7W-h8fmXG9JTX81gJSqF3kEQY2pqRomMPitzvt93MsWPJGzJ69c67DcviIOgrPPTNWlac0mhztnbOPJAATX1bZN67gZ3wVWbm1qgIS8kWedfPBfuQXYnObT_BEpvU2FjTyBJETP-vpl3q0QZuPkT70XBFPrcb84CsrpHeFdWkkq7pc5aOd4b0QNSLk2E-6TFwoNgVbkuB8WHBHrbEbCV_66CFUfyndA84AMvXHWvxjtUlb-Z6HKdkIsrjw4sj",
  "id": "rs_072fb69332fe3b57016ab2cff36e6487d0a08cc218c33e9a72",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":0.02,\"left_z\":0.025,\"right_x\":0.30,\"right_y\":0.17,\"right_z\":0.005},\"note\":\"The gray plush and blue marker are visible near the fingertips. I’m making small lateral corrections and lowering both grippers to their respective grasp heights.\"}",
  "call_id": "call_tpV5DW4xTJDxPbkT6DssHmYp",
  "id": "fc_072fb69332fe3b57016ab2cff5f20c87d0b96e1c92be52943f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tpV5DW4xTJDxPbkT6DssHmYp",
  "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]: [-0.0662, 1.2854, 0.1146, 0.6731, -0.2539, -0.0547, 0.9968, 0.7643, 1.5978, 0.5243, 0.1535, 0.5419, 0.5182, 0.9997]\nstate[eef_state]: left_x=0.3108 left_y=0.0275 left_z=0.0481 left_yaw=0.1607 left_pitch=0.0783 left_roll=0.0898 left_gripper=0.9968 right_x=0.2995 right_y=0.1658 right_z=0.0132 right_yaw=0.0152 right_pitch=-0.1905 right_roll=-0.0436 right_gripper=0.9997\nstate[joint_eff]: [0.4444, -0.294, 1.853, 0.3541, 0.5055, -0.398, 0.0024, 0.3897, -3.6855, 3.9316, 0.7302, 0.0269, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8774e2532e1d0eaa058759c7ff3a057fbe087d270724aa52dd77a939bb006185",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c34f07c271ba6bc8a7b29b648f43ba0140f619e452d2f06f199bf23ff7cac2b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd94035e5cd50824051a51fa536e739fc50e2305c28353ec5d77d380050178ee",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 88 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1631, 0.8261, 0.4168, -0.1471, -0.2832, -0.1307, 0.9967, 0.7467, 1.1984, 0.6758, -0.374, 0.5266, 0.495, 0.9998]\nstate[eef_state]: left_x=0.2981 left_y=0.0046 left_z=0.1372 left_yaw=0.128 left_pitch=0.0286 left_roll=0.0528 left_gripper=0.9967 right_x=0.2819 right_y=0.1448 right_z=0.1137 right_yaw=0.0242 right_pitch=-0.1819 right_roll=-0.036 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -0.8, 7.3094, 1.7705, 0.022, -0.0122, 0.1343, 0.4034, -4.1368, 9.2103, 1.5067, 0.4957, 0.1587, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"The blue marker is centered between the right fingers, and the left fingers surround the gray plush. I’m closing both grippers.\"}",
  "call_id": "call_ZBWIjMVLK46oEHgq4PmOYtFz",
  "id": "fc_072fb69332fe3b57016ab2cffb9efc87d0b0a2bd28463506b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZBWIjMVLK46oEHgq4PmOYtFz",
  "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]: [-0.0631, 1.2808, 0.1089, 0.7471, -0.2642, -0.0528, 0.0104, 0.7639, 1.6104, 0.5217, 0.1684, 0.5377, 0.5159, 0.138]\nstate[eef_state]: left_x=0.3169 left_y=0.0298 left_z=0.0636 left_yaw=0.1734 left_pitch=0.1502 left_roll=0.0792 left_gripper=0.0104 right_x=0.2995 right_y=0.1666 right_z=0.0102 right_yaw=0.019 right_pitch=-0.1931 right_roll=-0.043 right_gripper=0.138\nstate[joint_eff]: [-0.335, -2.6462, 5.6, 1.0769, 0.0317, -0.0366, 0.9353, -0.253, -6.7077, 5.2991, 1.1258, 0.2027, -0.0122, 1.0916]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:486efaeb6f62d5c14f5e07bcf4dd4511849f6db74d01162504d6050e567ea816",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e904abc2e94befd9c8fd198c59440e19dffa9ede76be5522b87a612fd9f416a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06b72bb36d330f910e264e07ca835da49c5bd77ebe1cbc5250e62a5b926301b9",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 92 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]: [-0.0662, 1.2854, 0.1146, 0.6731, -0.2539, -0.0547, 0.9968, 0.7643, 1.5978, 0.5243, 0.1535, 0.5419, 0.5182, 0.9997]\nstate[eef_state]: left_x=0.3108 left_y=0.0275 left_z=0.0481 left_yaw=0.1607 left_pitch=0.0783 left_roll=0.0898 left_gripper=0.9968 right_x=0.2995 right_y=0.1658 right_z=0.0132 right_yaw=0.0152 right_pitch=-0.1905 right_roll=-0.0436 right_gripper=0.9997\nstate[joint_eff]: [0.4444, -0.294, 1.853, 0.3541, 0.5055, -0.398, 0.0024, 0.3897, -3.6855, 3.9316, 0.7302, 0.0269, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstAEeoHkjeucmaTGMiezT3otCfMQHBC1AQ4-_F_S2bwVb1uzAaKFHlH5nWfMIhIJq3nGh59BR38ypfcJudjGOmVXUx52rN6k_GUXl7yuyH3O2n0botLyEJgGCNasSQsSPOZh22rSQBNNfs6vqxzM1uY89mHfMhI48N0fZrfRsAa2wIqCC2nZBF6hfjI6j4rOrFUIbdWrZmuxETnccofocKvejs54n8tU1eap_jqlzQgADQFb-I77gr1cEZuTom9TDrhdFGUPQYZyvHZABLb2y1JO1J1j55Lx5zhWuhTL5WQ1loCLw2PPqiTq6eqzZujv4-U-x39xFYf2koGC8Q_zb1T2x4Y0pGmJW7KdBFeP_RxTjSXOovpO0AezSr_kjHgLVqoObieh4PtH8RIUbRhQb8kHCWgQXmVERUMtozMtwuvWe-pYm11ZDa69j_IeoI5BDrftqOPzaOGAcALoH58NTgU0xYZg1ETnS0LT62SuCv_Q_BIWjdhyQhEfSBr58f83imbsLLWNemjKX1vhcsPAdzYdDdpy4m6IAXQUppWeY8eTrObMdLoIPLrwYVSVP2cwPKU-GpPUbFCfRmumepG1z0sceqfZATq_U1YPwbXH9inAr4-xp1CXIc9Y--mEDSxnTSOCJzIwTUOnzFVwRd0F2ivGuWSjRiD1Ep6qiteNWMmKdxxQ_YZa38np_rySM1N8zLMvFtxx1CY5OqxbCKVVJBzAg2LcXKB5KUOqf14gocUJmkmEHslgQzhFZx5mc9FzDDOHhALCnLgy1HTKaVvcsPCMSMFBERYNZ9zjo_e_-zqW2orfiVL3IK1RZuwr90C40ftr7OdQXQ9QFZ-JfSyy7MeiJg-iw1zT6w7kojGgavEaG27vTZcJLQQtL-vOscQ1oLJBojsg3kBik06_xBY5hT9rWolUfEUD8bjT_mYq_w7fGGe2xo8W04AqqCw7IhO88p_iGtaKJN5cdTPx9qYO8F_9fXjyLqnL4663RL4T3KJo_6sxPAIM8DCxR1GwXV3qMfcM7nLcZWRwNLUxzPifjzR3mLovwY1mpxx8V1Gq1_B7g47clgPSYs7n2Vjz4D4rsaH089nQpaKIPVInmHrPSuoSCUmxtcrg9BL1-Dma3kiTAb5jZ69_r-0sd6xPTUV3B1yQzmAcqJnUTYvsFnqpi7xrYXz5vufyhv1fPKH_Le2wwyBRe0dS-KjbS-lVcNPDZgd8F_WFrV9tzvczk1jAvZsZIlZ-Cw7pjgdo0loHpQ23n_95QN-Sb8IV9Uc42LwjIcZmF8xTXBP8-MTOMRSWKccGmg==",
  "id": "rs_072fb69332fe3b57016ab2d001769487d09b700e92560c06ab",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.27,\"left_y\":-0.015,\"left_z\":0.02,\"right_z\":0.09},\"note\":\"The right gripper has caught the marker, but the left close was empty. I’m checking the marker with a short lift while reopening and shifting the left grasp toward the gray toy’s body.\"}",
  "call_id": "call_6YIftnmx7Bl9J1qdHLA2O0PP",
  "id": "fc_072fb69332fe3b57016ab2d002577087d09e5acdac4bc95ea3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6YIftnmx7Bl9J1qdHLA2O0PP",
  "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]: [-0.4561, 1.5524, 0.0044, 1.0103, -0.5743, -0.2295, 0.9951, 0.7639, 1.3964, 0.6662, -0.2054, 0.5228, 0.5129, 0.1385]\nstate[eef_state]: left_x=0.2849 left_y=-0.0288 left_z=0.0207 left_yaw=0.1276 left_pitch=0.1139 left_roll=0.0947 left_gripper=0.9951 right_x=0.2962 right_y=0.1666 right_z=0.0738 right_yaw=0.0293 right_pitch=-0.2125 right_roll=-0.0468 right_gripper=0.1385\nstate[joint_eff]: [-0.0889, -3.3983, 3.1385, 1.4481, -0.2808, 0.1587, 0.105, -0.2667, -6.4752, 8.9778, 1.2772, 0.3639, -0.022, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff665b8f70aea3c108ccfdfaa374f3875f553c3585a6335eabfd40078b085ee4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7af8600ee5067bcb29807b75a790a6b86435bd956928d408c13d438c0ed3937e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:289573d76639bc96986f147320053a903e2827f44b01eba2757c251ab3229891",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0631, 1.2808, 0.1089, 0.7471, -0.2642, -0.0528, 0.0104, 0.7639, 1.6104, 0.5217, 0.1684, 0.5377, 0.5159, 0.138]\nstate[eef_state]: left_x=0.3169 left_y=0.0298 left_z=0.0636 left_yaw=0.1734 left_pitch=0.1502 left_roll=0.0792 left_gripper=0.0104 right_x=0.2995 right_y=0.1666 right_z=0.0102 right_yaw=0.019 right_pitch=-0.1931 right_roll=-0.043 right_gripper=0.138\nstate[joint_eff]: [-0.335, -2.6462, 5.6, 1.0769, 0.0317, -0.0366, 0.9353, -0.253, -6.7077, 5.2991, 1.1258, 0.2027, -0.0122, 1.0916]\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": "gAAAAABqstANE7fm2HmziNZ-w2-zULu4m3NK13ujz8vXUOkFKNH3MXD5IhCzYNdkatLvBRr3pMMLroDPlxu5q7UZMVDDSheLq1oT0Kd8FK2okyrgVZmXfT-9kg9FsI_Sjk298a746Bywp2wtSSNMkcYxA7iO4NfGRCxkC_TvmeZr71s3bbm62ivuSYvkzDqCzaKzuqrhmj3fyDHwPZ1t9RLt9Yt444pxTgRzbSWYNhF8gMHx7apj1xAQbSXkEUQIE7AmHw-YRUuP0oJXM7aXPfh4EkdwkdtHe_hqgmP9UcrXq9vmjukWSEkh5ULLP-_OPJ1RAqUzKXIJybSfk7QrGVQdxpnmSDuXygQORvVX5G3YMkLGr2ul6M9V5UHPeVYQiUeDa4rnjOp0aHX1o6gnZ7_4bwEIl4WwWig2527e76X8pW3VARX4Cj7K4F0pnGeEEcFBh4fXVTjIfpOb_f859-uj-358mBIXFQIujcF61oUut2H4x_8UjXmfXrltDjbNO24HMTs-KuYqMWh4yiwYi0MT-cqZc1UFYn5Iy6A7o9wwCHQvx04Ior6F_1VPiE0l7mKQlUGQ9f4fxR8TxrYRZznWM9G0jMDYHu7ziHkjMYbwSgK6fcRBUnjiATxX2XgAtQgT6-f23Lj5AaIX8SSPEb2VUnuEwMlEQ1iIVOevGa_b86m5hvpDMFGWRvxRnnXRmN-HVxuVRhEoyr7pbzhfPHfr0CUzEmrIfLcoU4tuw8xG3w9QMz3Uy-q35pjS4sTQ4crFBXMdLAuUnAGTPUrERLtBTF3wuyXENWcjopDBwmPuCV8mVdgkdpUMoVUunOD-0RIU0eQluxPAfJPAe8nSXCB32Z2m0y0S7ZMvrWNS2fvM8gxt6iX2cnMZXbVj9ZCRFPQ2qB3GfDKho0JhSejRcWslKbPvks2TSuEy0Hqr9NwgMysHN9qvWw3A87LaTHXWLMknNQbjItI2oCnTa_-dOKFiP7Hiiku2hf2NZtPR5-KIwJagN93iyejoMcA2jQ599zUKrMkNbGYwfidv9JxjDyYASJJIn_niknaYtNXj4pDDZCx7d6VoEvMPisPOPP5JDT77stFGMRgl6urXuEI4Hq1pVylrzRM37p3PXBlygk6ieCinBQiF5E9yrid1IffiUCSiPPcj1VsTFZTPzG9JdKBrvt8DoFre5o_aJaDvlSLpmDMBd6_wb72DzUEkQaSJkTvip1bPz8R8z-mVdQ2xSVJOyMMOc3IM9p1kzZ4qHqWXcAylJzMyhFOevuN0CHrRch_umsg9ePQXgW9pHcfADlJq6vLi3vxiB8cOUjVIOEfIN69TmeoxTasMmgQQGJJ14JyXCodfHw-tb2Z-DtXzBFaNzQNRV-dH2PqGzux45b7uQwuUQrD9yPuZ2BiysFCu_RQF1A79502kv9tmH8xK4TW8JjwJa5eQUc5tOnxUfInU0aI9dV-I503wHJCXGXXdlhI73TSfvSHnC2kp5j6Db92N71l3wkiKztPFouZ9gBp5GZ0HBo-U94JK0ceERMlPqIU3E6O89hNH",
  "id": "rs_072fb69332fe3b57016ab2d0081d8c87d097ecd922f66c688f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":0.05,\"left_z\":0.035,\"right_z\":0.23},\"note\":\"The marker follows the right gripper. The gray plush has shifted toward the outer edge, so I’m aligning the left fingers over its body while raising the marker for transport.\"}",
  "call_id": "call_tYysgsbQKBgc4bokb6g1J9AR",
  "id": "fc_072fb69332fe3b57016ab2d00bda4887d0aa95f988b4a7627c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tYysgsbQKBgc4bokb6g1J9AR",
  "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]: [0.0689, 1.6337, 0.1829, 0.9977, -0.1387, 0.0097, 0.9967, 0.7639, 1.3025, 1.1755, -0.7994, 0.5121, 0.5091, 0.144]\nstate[eef_state]: left_x=0.3433 left_y=0.0517 left_z=0.0324 left_yaw=0.1645 left_pitch=0.1104 left_roll=0.0882 left_gripper=0.9967 right_x=0.2995 right_y=0.172 right_z=0.216 right_yaw=0.0404 right_pitch=-0.2115 right_roll=-0.0368 right_gripper=0.144\nstate[joint_eff]: [0.1846, -4.3829, 4.6974, 1.8339, -0.0708, 0.1636, 0.1538, -0.253, -5.2171, 9.0325, 1.0525, 0.3053, 0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c324cd89e8537ffca18556b45c34ce956d1cb60c2f68de72209a5e16a9205eef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13e83a875426b2156b9504df9cb08a013711d35089927b7740f2c71b9f355732",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd7b98a342d20d0afe4202879b98c8942c60b538db671dcf59a3049539e0f51f",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4561, 1.5524, 0.0044, 1.0103, -0.5743, -0.2295, 0.9951, 0.7639, 1.3964, 0.6662, -0.2054, 0.5228, 0.5129, 0.1385]\nstate[eef_state]: left_x=0.2849 left_y=-0.0288 left_z=0.0207 left_yaw=0.1276 left_pitch=0.1139 left_roll=0.0947 left_gripper=0.9951 right_x=0.2962 right_y=0.1666 right_z=0.0738 right_yaw=0.0293 right_pitch=-0.2125 right_roll=-0.0468 right_gripper=0.1385\nstate[joint_eff]: [-0.0889, -3.3983, 3.1385, 1.4481, -0.2808, 0.1587, 0.105, -0.2667, -6.4752, 8.9778, 1.2772, 0.3639, -0.022, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstAZ7Es68Y-LG0zEAH4goU1YzzIEDEBteynOdDLmhplZEEtf04XEayEiAoYG6wKnKwtQmie0P79uaNbkV2v-IWpVjEOHtxryOPTdXn5E5f4okC5dPsCPpdKpv0N2bhRTHXtfh7nc4qB7Sdhcs2nvpIBY-49_bYtxYRXvHsG5CUpOJCyqdRA51u1lMbbmviF8ARDWNP7Jc61ZsuYvhOdhPNb-ntwZwNEqte2oUV9wFbx9ZNJT1ycerNnE_uzajn49gNqt7pR-iyOMxx26cYh8h3cDwvxWWtdxPO33PWva8uBGl_kd2i-UMQhIJgrVS5bsYEYosJPRsLoLy4z-HRslSg_60IY8VSLiVtKiwChbUJ-yaMyFtdb6Vb8ghF-hrF5MN9ACinTOJsxKtRJHLaACKGOPw_CgPjIig5BgaMlrRjMuZymfPZM42bZ7rM9GhPum3d-33jGe4xHzB-jOBYZSVgMAsABWgubTWYNN3McBE4YULzdU91fEfWrKTrsjSCTDTade-fBQdtD1m93VH-DKc4CQLptWDrl8dMcz3PNOtuYmrM_kcxftWFi-6HXtbaCdHpUt-y_-0qBqdX8hMU_tQryIfz6mCvPV3YvaFhr46UopQ3tU-u52t-XaIEoIufsbgcrIy4vu1PoSJjf8mKDnrWpZlXVzB5JIXTAfoDNu3rz7hoQ2xqB-6Jpf_WzsbRIojmm4NysvIy4x0qH0bPshuZePXnefUBkwQvuDMZD6dxWWHEaRD2szuSPU8LaWEzot_zEp5rQm35nRb6pgWfy7zHjBEP4FtDvEQ2dZ9KEizoscQIVt7yfIVI3FIJ4QIqCnSLNn47WQ0WVT8BZck9vVebVmnv6n_QPxmEYpr8XS9h77J_ukaKXkiY20nSp63WSnCxHTYff4Z6JTJYuD0iCFqn8ij4O2van2uc7vKcNr1I9cxxUnE8frc8mCwGqAOaUBINcgBEmJMT78fx66Z7H8b-ykKJydDqXA0Cd2c38_gEdHL0J4Yxu3VrqrcFsF3y7vrIpIlVs05XQdbCGiuXv3_JhRbixhhq09LNmpAMMfnGvqtU6oPd03-XOMyVsB2O6knQNEZySDwK_3c9J9HslYt4K8cCmwtD-hgN52_cIQzExvgrK2EmKVDB5rmukydPmzvBlvZLkA386GU1hhQYtILOB1WvgZv7B0uAVFSWsa0COhMA2UfL4pJXz7-ut872_x3GUq7_qvVkvPCmxEcwxPJAyGZRXWiFN4ijey70RUWrp7-dTBC51oouPGl-8pQ1WfXVD6-qJP-PKqAMjdY72RDDi5HS6vjZEevM4V7_8FjKdP0iCIdJtI4BjD5RqIAG1LEoxEQR9IIPKgO6fdUmaB8tYeAQuid7j8iEZo-Fdh07ApT8vC7YFCHCPnqrOAnYz39oIYp_PWcDhI7sNehT7o5-bjMvz05u9hWPYUsp4-vhXAhr0=",
  "id": "rs_072fb69332fe3b57016ab2d0153b7487d0908b2b296fc02e3e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.58,\"right_y\":0.18,\"right_z\":0.26,\"right_pitch\":0.25},\"note\":\"The left fingers are at the gray plush’s reachable edge. I’m closing on it while carrying the securely held blue marker above the right basket.\"}",
  "call_id": "call_fDDi4uWNlC6a9PitTk92aFm9",
  "id": "fc_072fb69332fe3b57016ab2d017787887d097b61e5f64cae511",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fDDi4uWNlC6a9PitTk92aFm9",
  "output": "executing move_to over 22 steps (2.2s)",
  "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]: [0.0593, 1.6348, 0.1844, 0.9859, -0.1421, 0.0036, 0.0095, 0.4068, 1.9865, 1.6482, -0.0845, 0.3557, 0.0734, 0.144]\nstate[eef_state]: left_x=0.3428 left_y=0.049 left_z=0.0299 left_yaw=0.1611 left_pitch=0.0995 left_roll=0.0853 left_gripper=0.0095 right_x=0.5673 right_y=0.1814 right_z=0.2323 right_yaw=0.0556 right_pitch=0.1642 right_roll=-0.0599 right_gripper=0.144\nstate[joint_eff]: [-0.1026, -5.0256, 3.453, 1.9414, -0.1197, -0.022, 0.9402, -0.6769, -11.6444, 9.935, 1.9463, 0.1685, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a34347960597e9e2f061b6a0dc71615a645f9b530d1a97269adf35fbb301aecc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6a561eec15205313fa9c1ada329189c9d0a2ea3f6c7efdc16b1e1390369cd8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97934ad7b5bcec363275e8f571ad2c4d884d67d324985088a7cb92caeff0f8ef",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0689, 1.6337, 0.1829, 0.9977, -0.1387, 0.0097, 0.9967, 0.7639, 1.3025, 1.1755, -0.7994, 0.5121, 0.5091, 0.144]\nstate[eef_state]: left_x=0.3433 left_y=0.0517 left_z=0.0324 left_yaw=0.1645 left_pitch=0.1104 left_roll=0.0882 left_gripper=0.9967 right_x=0.2995 right_y=0.172 right_z=0.216 right_yaw=0.0404 right_pitch=-0.2115 right_roll=-0.0368 right_gripper=0.144\nstate[joint_eff]: [0.1846, -4.3829, 4.6974, 1.8339, -0.0708, 0.1636, 0.1538, -0.253, -5.2171, 9.0325, 1.0525, 0.3053, 0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstAnZ1jF7G2Xv0PBgZupxJeT1Tg4W-A_4NllG1ir1fqxLX1y5sFlaOdrMnSkf0qFvbxL7qm6ofwMty7P7gv69WOeJfTrIf-wnQm_hfhVa6GJrE-D-wXnTJSvuSN4DPs49FX-BR5K1srLrXw-Pp1w_z6qKHj5n3iQEJNldlpO-53wAgn6E0cLscJ7RHcwVYmaSAHlGaRkUNsW9dOTCLhzLybE612KGb5VFx4tPQhQgdox9GVJPNz-5wTnlW7L5hPjdeP8bSSIKXXUQuEkvuD05ugUIrwkdBXAIT-Nk5BYKZ0_t_CZB9PLrrkxXODn7ulQbGpCFFThWmwJKzUIo4eUuehFM11wBLviuuwZnXJoXJOVAqfCX7MAb_vsSW8Fg7L4YthUGF-3CCzzCYKtbPAURtc6MehBXTMoEiA2YxEvHULNioZWubglUcSvYYiY7U1FKZCNH-YkUQMYukER7dK5k1W1FxNflO-aaTdyU2smLL5XxwphWJQcBGkJryJMLKU8-1vxFcJq4gaDFP4YQgZJHzpvKyPcCytcfajTkIJ6kvgw0dqd3JtcN7L8iLTNW6Uu8Pidx2s3SIlQQnSBf0lWwo2TjyXNLpA4kRhnluHb_iUAxKNBR1cvfDf4MlnUoZ-N4s_8KfHPThu6st7pouALN80L3oTrREgf7qkpXUKU8HFjz_ImwcsViu_9Tu8C4qZWvDHvgNGPmoMAn61q1CSF5reZZXABeiaheJvOzNkfRWei0VMdgzRtGSePp1e4pfmdUvPbp-sE1jdplXOOkiFif3QSOzn6IKWjczJ6YoD7Sjj9Lego5bq7Rk_yvE5d26UDjWVUPYtFqdwJZC9TKFUJxDofsGgpC6044-1McBJ8l6iaF_sTkPrOi7lF5f4CaBnkMKhsbyHueTQaKZCgvzVFZNATEFtIwVCTzcLHLqV-tr_oW6yiJvq_8BDyadkOuxmfNJu1b8riahWm0JdiJJTdxZPBoev2hUz7-tbQTSlrLmhISp51YlaZHKndzWutcTLQX0jcYYmD0PgfcjAU_fM5KzQ1WXJJlYgMnazpHGGZp4o9_nbYqYuLhxTZ43TH_87xBOY__gwE03Zyu3xpkddjhvUYOufga6EkwfLRmIne8RY6D0T35J6PImffAqNYVPBWgcnhCbQxYNvujF0f7Fwml-uxFjlpIHFoBh6ug5_xJiumzITzpd8K2M4QS4_r6EJO21TnCu25ws5XWtJ3MMZNX4HH4rJUtmg3sictDFf_nfKe5Ryul4gUcYMXolDZ0hzuRkxmTiRSVpWm0n0LWABTMgcE6AyvuD49HJAIcyYctNX3mTn_IxPApdW_Qf3txjxuDc4jbReA8kssAdIAoe4AI1ltMTu0sJmBOWqIzVz6y1Do9XuD6zINXDcNwPxrVNTslyJtwGDjfPem1Q3JZli3jjj8RRLZNh22bUv8SdinEJHWkS-pZt8FraEwyAT61QOrhzzG7JX0Quret-ev07DtHarvj2mKM8hXFKY9ewGcBBhSynzRt5o08cojAA2NmDko7ILRJkzL7SvsBd_vgEJEHeoR37EYGJ4nSDPc7qrW8wXvmYM=",
  "id": "rs_072fb69332fe3b57016ab2d021d2c487d0835d11fffacd89f6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_gripper\":1,\"left_x\":0.3,\"left_y\":-0.11,\"left_z\":0.08},\"note\":\"The gray plush is beyond the left arm’s lateral limit, and that grasp was empty. I’m leaving it safely in place, releasing the blue marker into the right basket, and approaching the yellow marker.\"}",
  "call_id": "call_8e8AHCeWoMF7WlWeBYXnfVTB",
  "id": "fc_072fb69332fe3b57016ab2d024cb5087d0bde955a3b2687cc9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8e8AHCeWoMF7WlWeBYXnfVTB",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7818, 1.338, 0.3729, 0.2634, -0.8104, -0.4934, 0.9972, 0.4053, 2.0029, 1.6444, -0.0937, 0.3534, 0.0662, 0.997]\nstate[eef_state]: left_x=0.3017 left_y=-0.1141 left_z=0.0779 left_yaw=0.1136 left_pitch=0.0987 left_roll=0.0687 left_gripper=0.9972 right_x=0.568 right_y=0.1811 right_z=0.2191 right_yaw=0.0614 right_pitch=0.136 right_roll=-0.0758 right_gripper=0.997\nstate[joint_eff]: [-0.0889, -3.0017, 7.2274, 1.2967, -0.4127, -0.0122, 0.0562, -0.0889, -12.7521, 7.3641, 1.8291, 0.0562, 0.0806, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7e1732e25f70c8699a9e940ec4bcd390b62cd512da10a15fa29d4dc90b0df5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41ec0aaabf95e2989da37a2ccd88f9b2cba2005559f440d2ede1432bf6802f44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:696f1d76d11994d95b19a9b31c07ff776f2942b3b5b5398bbf005db5b8ab4726",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0593, 1.6348, 0.1844, 0.9859, -0.1421, 0.0036, 0.0095, 0.4068, 1.9865, 1.6482, -0.0845, 0.3557, 0.0734, 0.144]\nstate[eef_state]: left_x=0.3428 left_y=0.049 left_z=0.0299 left_yaw=0.1611 left_pitch=0.0995 left_roll=0.0853 left_gripper=0.0095 right_x=0.5673 right_y=0.1814 right_z=0.2323 right_yaw=0.0556 right_pitch=0.1642 right_roll=-0.0599 right_gripper=0.144\nstate[joint_eff]: [-0.1026, -5.0256, 3.453, 1.9414, -0.1197, -0.022, 0.9402, -0.6769, -11.6444, 9.935, 1.9463, 0.1685, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstA0n4CQ1r0hgTQJAN7cUSRBwGUUCvHTQMceouPp00cYH2scebkKXJVwX5Qe4aN-6ane1xadNj38Fik4_7ucZ43y9ZyAbEp8-risM7o_85_a5DBFD52Tly7j6a7h1zdHIHC-9NhwCjfIAZC8dvBtePcR0Mqwn6dvy0US6sf2NGJOlbIGsEHA4yXdKydyTB2ozbEo1qtpwaQR0XWHx61jse7SwnDJhwy2SIX6PXs4k4PVFZfxXbZ_DTn0hfx27pTQscQ1GIegm6-tXVpXPf_xLGz8jKAU02wEWGTBlNt6vlu0Jr94dqjjSy7jFqGcvxw0rrz5EZTs2HuThw8uPgPXYKtqG9MD8tsE0mH7t7rbq-fE5ut9U-6H6yI46KcgK2zvu8gjc5G_TgAgdhXxVUQJvfzAWaskgpKZkmfxLctDkBZoDL_ZbHz3v43AT_cKsgQykdLIdSKBm2bzq1jcDHtXrxbu2bVceCL-5A-o--RZVTFkamLZfsIMZd5PoKMZub3-Mq8lV8s_DC96v5PBuUtx5xlBOOqup5VQn7qMJyrrFLG6gPUDM_z9hO62c__cpptg6AaVLRcIwdrHO7zNmrnqWO2ALVfl4fyXJbXngm9DYEunE8w5o7iBlQmfxE9uA3icCU_O4ALCwhlqxlkSowzDxlHUiqlYWMMtu711-hA6boyDygjgMJoY9HoLGflQfXYLSFN7v0X8HCP3A2D4noE1pJ0Xnw3LADHUwedVOw_MobnO9I6dl1Dq8qYMWyobAHCFyMYJNydlg5YdHJkMQqsxmMUHm1u73vpkLLhHAb4ShVIY-DwS3PLwudHL9r7ABj1vrcv2v8-_nl0RNwNnnVeTSx5UjNpvK-mVn_pe5KlK_ISUGgR8GuvFaOxqf7W4SI0JD6ETy1cc2CuBs9adxh3Q_P5_EBpd7yx2JbuZsEIZ6XjJnh_Yxi7WcSRpjRuFNBSGePW7FVWtTsqfG25QlLYh5GYJlW_0lMkTdVwYug1lMOBHPyIZo_Q5w7yqPdKz6AXACBjQc2NZZKNIUnxWKPvFfp9Uiqh_2eUW5beppc2hA9d0gmlMwPH7ChBvWofczW9mrTRZ2QGPOQ1KQbbIwEda_b2RzQmN0-CKLpJHa7ClqnkZnqsK2DrgI8TXhuxiq3dWPS07QfpYLsbTqYfkLN0OzQFg_3G5-VPzjGZfER5JsQqi_6q4FowbjWI19gqA1DcxxpIkXjRjcLOMBlC_a6zkJDzYqmsUFuO8AC7eqLiuXt1xBohVUhqam1RHv2VAKFw3hUlcJWMOHyz9PD71M-aPqvkT4Ny7LCRf-Ctdc7jjAnYlmGtdgHmKPDtLCGssjXAZHRVVMRLSeeGgLYIRSR2b7NB2xpW5jVS0bMFmrYseVSn_wMcexHfCbkuD7xzBUHLCXdYeas6Y2kkpAnNPiFVKPLmibIvnzCud12LiXavSquNftfc0az-gvz9MK2PsqaDPcFWNT4GSWbi1eizQGbFryoMixb4emxiQtxmuG3yhz0DUV6htpVOtfnY3t1jm3mESGBXVS78TyZ3WadU4rKA4leAlOuapt_sYo2DzizMFUTIwDAbytPq6x_Eq3F1pDUL5oq4L-yeTx3Gx5gmwd6tDlxq3TY4AWIRRBi8fgkk6SD029k3MA4ilSuzkbufNY8Knry7q",
  "id": "rs_072fb69332fe3b57016ab2d02f0a4c87d08fa126d322c2f651",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":-0.095,\"left_z\":0,\"right_x\":0.3,\"right_y\":0.07,\"right_z\":0.025,\"right_pitch\":0},\"note\":\"The blue marker is in the right basket. I’m lowering onto the yellow marker with the left gripper and approaching the remaining pale marker with the right, keeping the arms apart.\"}",
  "call_id": "call_rCL0h4XEvrQh39UmxqqVQK5s",
  "id": "fc_072fb69332fe3b57016ab2d032aa1087d0a99c77f5e9d77b47",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rCL0h4XEvrQh39UmxqqVQK5s",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7052, 1.8019, 0.2188, 0.9199, -0.7555, -0.4343, 0.9981, 0.4053, 1.404, 0.1585, 0.6189, 0.3271, 0.1089, 0.9977]\nstate[eef_state]: left_x=0.3048 left_y=-0.0957 left_z=0.0011 left_yaw=0.1211 left_pitch=0.095 left_roll=0.0698 left_gripper=0.9981 right_x=0.3001 right_y=0.0709 right_z=0.0203 right_yaw=0.0637 right_pitch=-0.0309 right_roll=-0.0843 right_gripper=0.9977\nstate[joint_eff]: [0.4855, -4.588, 1.9897, 1.3553, -0.1832, 0.1001, 0.0806, -0.2803, -4.4103, 5.3675, 1.9512, 0.0806, -0.0513, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:115f3d0afd7ccad40d9210585238c66565569536d34385ca8e10c18d8e067e63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:414514004d7b7fdd5e018b7aa6af37f259084253cf5c991dafb82dd24f13f965",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9801c9c8ca4cc6aa74654a130d508a64ef1ed13f5f41abb7aa079de3cb5bb0e",
      "type": "input_image"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

medium

temperature

n/a

tool count

3

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7818, 1.338, 0.3729, 0.2634, -0.8104, -0.4934, 0.9972, 0.4053, 2.0029, 1.6444, -0.0937, 0.3534, 0.0662, 0.997]\nstate[eef_state]: left_x=0.3017 left_y=-0.1141 left_z=0.0779 left_yaw=0.1136 left_pitch=0.0987 left_roll=0.0687 left_gripper=0.9972 right_x=0.568 right_y=0.1811 right_z=0.2191 right_yaw=0.0614 right_pitch=0.136 right_roll=-0.0758 right_gripper=0.997\nstate[joint_eff]: [-0.0889, -3.0017, 7.2274, 1.2967, -0.4127, -0.0122, 0.0562, -0.0889, -12.7521, 7.3641, 1.8291, 0.0562, 0.0806, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqstA8yVF20ZfPD8C2OlGErBEwIbUeNk1J6Vcy29Aq3jAux8EpLMtrJLsZSiFlfbmjj2LLYpR8Fw_mQ30HZD1xPVb0Rx_j2b-UBp-g8dZzuIiglnuNU9VB41ZBcOsB7UGbAW9gRin80IkkrCEuGKs777dBV3Hbw8rxiLCMKOSDyaw4DVMRi_X6pD5d1WuT5eJvtITqfX4G21Xnu2zcmfHFPylOFLc0h2FpjK8EyqwtgRTSpuSrH1id69t6WNtPcIf8X5HhNwO6199fXiw-SSWKWgWzH2c-76AzKsha2ofFgwJC-TbZCgPeqP9vKTKLFP2ml9qbeekJECEyuVAyYSWGuCgIpAsJ2n0NgkYnW-piAuS89QoHuUDo07UpheDGeAKAXAA2GRHMyDV0ukmujW9gWtCyx25mAQBammDQT3981C0S82DLzMdRPVAiLoHqRD_WbfxiuA6uSEs1hAsq8wFGz6SkZPZJQ7Kmf2dObQxFXOU-xPDHeYcgHYITiBJ0mIBazZQK4Bu8yYXKiZTm_TzCFWNlRthDidJH4WbLKVwbnRzvt0QvYosg96mT1oN_usaYxUq3-1R8N5Tvzu0vdokdlhyE3g2Ztb_WU4nAH2Bpr9IzVM3Ehcci8ywdD4DovZtYh8SLj9RajFa7-xNMFJlGekUG6OPS0LcMTfBu9JpCQVJXVMmUDoVoCd3OhtMf4p-gTZrIN9GTut-4sPXEH3zX9rw5mSomiFhuUMuJFFFoORrdE12FkC9R0Ew1VXY9q4xU99arRdWHl5_xM4aJ9R7A0pYxoh6WEcTPRCI4cjWyqV6_mkk6zku6CTO3w6X3s6kiDYqUmla2RcOHz-B8EaT0qU4YyxgmBbjcwexA70emGeVJ8AJ-Xvdt0Bdyms-JL92N3EK2AsZmTiDkFRCiWFmECMf-yuIfpiGVkPn0PYbIbopP3wGpy35YKcPzFNsKwTnNQhJV83yIp2769K-jpGlDayoxhRuISnLzG5mikR0CD6P3gJhCdWNUC-QbYuIo3fKiM-AGa7nEbswWk11Ph6VFlp_ijdnE5Rtf_sHdC7WsXFL_ED-IOPon1BhMwEhEahnWidc6GGNox15yfH2XP-_-NVC0wfQbyqLk5Mk1MrZmMLiw0Y2zMYAh9LaPGBaKok4y3n7TpW4QdRqhZQDRpbbvv3csOmqQCs_uOILS8urqhbMDp3lelyoDKCXllL-IHcGWx3aMmLjfnjBH_6_c2n9OaJR9-W6H6zxCLPOJFHGW1E1AHUNakQ_kEDsYNni4umhQqvdYXCbEjmicYQ09UMYhm2HUKPuMeE4-VuV8UqaNAtFp4JHVYC14mEYTy9AfP7gwtgTn_Ly2P0RM7TRQcbXvAwFpHflKhynKiL9yS1v-8uXemQra3MwVmywl3hGtL4HKDh4yipfbxDJ32swmp6uiXolx3lBvlX5ZWaXv4eMBntUI_vQ=",
  "id": "rs_072fb69332fe3b57016ab2d0397e0c87d083d17c61ae7042ef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.24,\"left_z\":0.16},\"note\":\"The right basket tipped during the approach, so I’m stopping the sorting attempt and lifting both open grippers clear rather than risking further contact.\"}",
  "call_id": "call_Bxvrbv1zPxfiKidwkzHPC4Zm",
  "id": "fc_072fb69332fe3b57016ab2d03b3f5887d0a3b178ed1cf4cccd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Bxvrbv1zPxfiKidwkzHPC4Zm",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7055, 1.0855, 0.5488, -0.1131, -0.7547, -0.4385, 0.9981, 0.4053, 0.9421, 0.8631, -0.5396, 0.3202, 0.1047, 0.9977]\nstate[eef_state]: left_x=0.3065 left_y=-0.0974 left_z=0.1517 left_yaw=0.1234 left_pitch=0.1039 left_roll=0.0558 left_gripper=0.9981 right_x=0.3031 right_y=0.0735 right_z=0.2283 right_yaw=0.0717 right_pitch=-0.0249 right_roll=-0.0813 right_gripper=0.9977\nstate[joint_eff]: [-0.0205, -3.8496, 8.4171, 1.4725, -0.3053, -0.0122, -0.0073, -0.2803, -1.8667, 9.3333, 1.4286, 0.1685, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:576ecb0b141e0adfcc98c365c84f51a7a868169fbac3f6a1b57b6db2a10aa93f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0297d8546c3fbd5231292c22e77df051e4b93bd8e8d8dce8f23bd63f9fe5f41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 389):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bc1df4a7a67c32090cbd94f933bfb1267baf93972f0366e8136ad9dbca873f8",
      "type": "input_image"
    }
  ],
  "role": "user"
}