adhoc

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "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.",
      "type": "input_text"
    }
  ],
  "role": "system"
}

{
  "content": [
    {
      "text": "Goal: Place all the objects into the safe, then close the safe.",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6037, -0.3912, -0.0196, -0.0341, 0.9997, -0.0212, 0.7944, 0.6083, -0.3958, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1779 left_yaw=0.0004 left_pitch=-0.0011 left_roll=0.0 left_gripper=0.9997 right_x=0.2932 right_y=0.0009 right_z=0.1785 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -1.3744, 10.2769, 1.9609, -0.0611, 0.1587, -0.0415, -0.4308, -1.5521, 9.6752, 1.9072, -0.0464, 0.0415, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b5bf7096c7eb5fe2e1057c40a9083281a512e43d41492f2fbf2b2461af1a1ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3648d9a851b7f11840f47cfce417008cd2c80d23c63cd01116ab8fad398d29f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d750e08ca186a6b7c7305fe7cb3186af08d7222ee3dac403d72d92433855e2ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqtGBJV2YilB-y-zZCXTFz4fN20yAUR_SE9wYMwDhd6m0-uFcHca21G7TL8m7tENACwN2kyt1n9HLHk9IxBzYpH6t68ipqYdNdLvRYdMX1WwCbX9UPg1t9DleSecirHF6AbUp7KxuC2nyDI1JqLxtFm25LRBvwQC9OUjImorYmOx_NNfn9ES1nSUirV6ZxFpnyMJ9JGTFh-N4Qr1xDrHTVVQ6d0L2m3lGkotKE44EgOojZ9KaPwdqoA4uMbfx3pGzhPqUu1n3qaWYFzFeHNHuFViKqTCJLDiAPxpj24WbyAsyLHO2OR2B4w3Z-0z4rs4njwx82idlgEercawT5e3y-Vh34LJtE0Y9I4Ij09g1gnFYST2b1VkZYXJso0KgYiI3zmaSLCn2KI6iN2DD1QdbMDjN9kF8g1kuf8w-MU_Xbnpv7xbnjnJgcPTzL46GsjNiOGuSsGK2ZwIyTzRnj0NVFgQVh43UJqjuJT8QWNy9y0pYfk5h8Y_-IZ9TPmnWaRkxiDOEfKtCeLZ1-iKJ8lE0_by8RNafC22dPITJkXsc5VwbSyY0pnY8XimuijhF_ocl7KFIQclRuExhKGYyW1fO8eGV1woIdZnawm16agJBIv-Z1XiBbs3E6bAE7NYgLAiDKC0gdRHSI3NOc2bsMRo3hNjIRm4Kmuf-HM-qDD5TGpndmehZHUyukNM1x6QD-ks07rvyAaSbS_FplhMW0l78Fjy9xyuq66brOzMG7v8M3LssB97d5jG_p7TCMuMqEFQ68Gnhizv5lrO1CAu1rVHW7-WnaXth45z_MSQK1lw_vEVyxET2iGuMm_Tkvm73TGw6krvywY8JOcQBWp3nqKUCLeWuRBWXRzoOfavNGSK99m17HhmqXYVXiZK-ggOiFEbYKf5MyUFClhfovwGdtYtu7TQVnuY_E_-5LbNu10xvwvKA17BKD0vEh_r9nP_zxDGunoncARw1Y2lqFjlKrh7jlWHO9sp3GkjKmyJMbJ64oQ9vILLGii0p4CojUxle_UGhJ3qAPxxqlVi4f2rGjUAlXIAGsWmKoE96xsgoDc6TF8fA6si_lWeH2H6iXG6WDC5rIW9XUwePA5jIuYaJL_jjIHhUDhCQ6KkGQaU6Irr3Qwi4uUi9822ixIfVYGMT4vJSVAWLGDGTSS4IHQ6Izi2hmQLe9BJ2xq4EgZWvjPtiJSLY7C1QbrVHR1SIxaTpmBYDoeA_sFXFtFfFwIJNTQGZrJUfffX3v7BppKB34W-JXJ9-jdSTIk7hfWkwAeXw3To6IAHyfuL9awu4q7PkB3htkcpoxGXT30mQZw-K0sk18MUMhMn11hLvjI3jnLD30JGt0bkWqYcECjUFuO0a83l-Ovq9jTwjbMnbIsJszhEBEKUDRzV-K2upoQzOVG1DJnzvLceiJYb1KOQWY_fr78Lv-DggK6p_DwGVG_XhI8Mv1ywySOGUpNSj7AFOYg89cnzgn_jnpChlvmNGnky31h6vpjwlXH_n0yGCxR4auu75ASevIHQKOG2trgdRADiNMYJze7ifjdupgcSWwgd-wMeybuMlaugQ9yUkVi7bGqcMbaWimc1t0Ib1IVEBycGVbKkQ35Hh1GxjfXrhILq0p4jJ6S0-aA2qC8fcGIfuXdglgApH-ie-NK5zJ8E0zNVc92RlMPAqQlIdmpYUc89-8t8IjfXcWgJqzxBy9qQXUVyqAyWL8MRznhR1uwZmxTKPMmptlMU6ARwXYbrESVTgeH4oGU-dGUdSgQLVIBDCi8VCHtS7RTv2wlY1GsSUv-w9ZakpFoZycHFS8Nhkfvf2zgZIYagNvuOM9lOqAMdDKr6LsKvFbUoJUpdG8TrtJcphIgmSYOFi2XEZMJouvR5NGZNaw3hUr2VZw5aWdvwUAeuglXtoLqQzD39e-gNBfnfz3rDku_I_dyHw5bd7OL1GxrAD5qQGaAzrzTPeAR4qgh9rIBrHPYIpbOQEC3yhqMOPLIMvMpycl-I2Yt1AhJMesfBrg019X-p7Vq2UkK0UE33ZWYQSt31MOBpha4xO0yCMAWBzxAHfSiOuswG_1D1ML1prDQnSuFZK9aLH_9sthvS0K30no2cKBbcWECJ8HyfY8zkbPN_DyFq3joN04KrtuqhjbLDbB8vcgYxb2HpME3Nw1wHlEOv5WIMwA2BJ9cZMS22IJe3CbEUcQuxPGt9B_SGzPP8Di1SKFdagrvkvIPMKWWIHKuiN-qPKLJ2pG0piM6NSMb_7Pnuo6Br4Vu93Mm0zFP4kZ2mRpdO__zI11qJCsD1Imidy8HCT19zzQsAsZ5dllcE4U2N_FPWJ6FkjhNMAfv7zyi5t266hkY3sz3u77wFFD4AMagptJJ8dIPCQVkmb0Uwyo",
  "id": "rs_0c9facfef04a6c4d016ab46044199c87d0b73b7220c76262c2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.20,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"I see an open red-lined safe and three loose objects: a white plush, a brown plush, and a small yellow object. I’m moving the left gripper above the white plush to line up the first grasp.\"}",
  "call_id": "call_PIMZEFFOZo38U7wZ4Gf3syr9",
  "id": "fc_0c9facfef04a6c4d016ab46048336087d0bd34e25c3740f829",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PIMZEFFOZo38U7wZ4Gf3syr9",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7845, 1.4597, 0.8673, -0.2207, -0.6117, -0.5228, 0.9997, -0.0212, 0.7986, 0.6125, -0.4324, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3397 left_y=-0.1907 left_z=0.1315 left_yaw=-0.0172 left_pitch=-0.0587 left_roll=0.0352 left_gripper=0.9997 right_x=0.2889 right_y=0.0009 right_z=0.1719 right_yaw=0.0 right_pitch=-0.0362 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -6.147, 9.1282, 1.6777, -0.5153, 0.0366, -0.0464, -0.0342, -1.5658, 6.6667, 2.0635, -0.022, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f70f3a7b33e37c6915fc83234317c5506d2de06e807f5bbd34939c51f84b7b30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a414674b78d6b2f9bafd52630ca6adf0c6639aa6f06019d305b78a2a9700504",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c14c65a7fcdb3934a2a62d4ff434f782052aea36183c0bbe8713cf29d391e2e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6037, -0.3912, -0.0196, -0.0341, 0.9997, -0.0212, 0.7944, 0.6083, -0.3958, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1779 left_yaw=0.0004 left_pitch=-0.0011 left_roll=0.0 left_gripper=0.9997 right_x=0.2932 right_y=0.0009 right_z=0.1785 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -1.3744, 10.2769, 1.9609, -0.0611, 0.1587, -0.0415, -0.4308, -1.5521, 9.6752, 1.9072, -0.0464, 0.0415, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7845, 1.4597, 0.8673, -0.2207, -0.6117, -0.5228, 0.9997, -0.0212, 0.7986, 0.6125, -0.4324, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3397 left_y=-0.1907 left_z=0.1315 left_yaw=-0.0172 left_pitch=-0.0587 left_roll=0.0352 left_gripper=0.9997 right_x=0.2889 right_y=0.0009 right_z=0.1719 right_yaw=0.0 right_pitch=-0.0362 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -6.147, 9.1282, 1.6777, -0.5153, 0.0366, -0.0464, -0.0342, -1.5658, 6.6667, 2.0635, -0.022, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f70f3a7b33e37c6915fc83234317c5506d2de06e807f5bbd34939c51f84b7b30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a414674b78d6b2f9bafd52630ca6adf0c6639aa6f06019d305b78a2a9700504",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c14c65a7fcdb3934a2a62d4ff434f782052aea36183c0bbe8713cf29d391e2e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGBP_ocm2qH4QD3Bw0zX35sTF9cGr400RJ4n7jrpOgv9GSRHFzHUmVz6Etwqrh6gOwujZKTBWdeQiiYoCmveYeZjgFNcReIQHUPMgOhNuWU5yFh9rXlaxBG2GF3bz9dQbToaWDjYa-nGoOpsnjyMO4W6Gg5-CdU2q2WESfuVdeC2cZ4S6lRpRfYLrvXLd1OnjtJ-M6sPxioAD49DlPDxbdUeBkZkt-eAvqx7e9fTvFsQ3WLO1WkNWwL_NSN5lAsVmq1ZOwNLAJi8vZpUMIE4jniLVd_jEtkjRAyOY78lTeFqzWer83zNz7WM4uZXIzqoAZbYems8r6wCyxuhIWAvubwNwNkcSvKSOcpHhJSTTIQHYwPgQdsr5NuAPO43u-61tlCjDo4I_HlpKbMEOuwb_i1wQw4TdRCo1s52xpHqQOIm5q2VahoQxZAO5fYvH1NHDjUr0I_ae2OoRtYjZ-IPkJ6T_3GpcEVSeph1c52Pa5Hz87pMGGjwbn9bh8BgdcZR4WusUQ8N_dnY9Y_kTqel9TykCpZLg-zpZBEnI9bgJmXbW9oZowuCwCkk8Qd2sPZuHVsv5Ih20wK8JZhUi5umdPn_cN03ZxIPFYre68q4NGftSLPd9696QobedSLjK3uPLmrnJ5QWEmpbvPzFhQ0iVfPHW4HmXvF4f6E-SZ8ValfYTQyJE-PC0cH_oZZ1Ns_y1D0HRq8eGnX-TBes27xJ8dckQ2X9a3fr9PLRghpfyUmA_73J4KmpDnG6zKt5nFLUtVRCN82kVo5yUsHvgCm-8OFzi1KhJ6a2QgU-tV1RZlbltRKca6ZYiiInMcyRXu-q8u_k6iBEXDwsFmHZPCokzWtbTC9e_ryz_3H60MzNuKIiqxqLiN_CwEl0bw8AfUarusvT8AmMVVaGCnGtTsOdlws-noOEVVFz8kUh9l76EJ1uTxDA224z8n_1TGQnUDukVdztZqoXoSoe2U6wT79P7fk5Htf1zJY7GqfjpP5eGZaJ0XHkNNKku-vQV-jq1tClFqnUtv2PuN88KLLM0nL4vj9f2dZH6CjIDJQ0Rfc1UwaBZC0OgkR6B38ZP1_0cwXE3xRSGfkUPM03TudzCNmdDDmIZ-oGPU7H02FDsevWQ-vO2XnLLLzYWczyPtZxTaTI2vu6kXnoC27tN2EUP5syloJ24pS1DAfq9QutbeRStegpV8BGLC0xgTdCUqhU9vHoZstItcnjtKCmgdxwlb_6M3Pg13uWCO3ucAeMzcC4eW-ZaOtvlM9vhSjj47Ju0S5lYCPwhnEtYNFb3Wb9d1KmaiQnDiCD5e3DQQIDVC7Sc1RAmPS0kjosPm0Zsw74lpl0lPhLTX1ygk9y2E2_OIxA1j6M8MT6TgcgkDcnThoGQh-R7atnAUlWys2UvUe3o9Y-PTB-_mK2Uve7CYEIPJ1l8L9Ro_loGu5ay3CE10WOq3416a8ijK8rG0bu2LxxdXQtYtLqUE8useOhvRyQCe-7qL53-HOzUBQmDLmUwuhyNke6JoAL5UpVVcBCDlFIIbzDmWXejOcpkKKk-RBq5LLUFCZxW7pFn9Ha0dFepUP42ZEpXz_zOFJpWMVm3ky9pSkADQmPeONgOE7efK_jD8bdL4WdWtZPe8jK-j5vvUDF3w1L3RW9OOGDWnLdAonQuO97ZZ57ul9DESmQu8zaTthyVxEYZA==",
  "id": "rs_0c9facfef04a6c4d016ab4604ca1e887d0ad1e5e68aa81b741",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.178,\"left_z\":0.025},\"note\":\"The white plush is slightly left of the jaw center in the wrist view, with the safe just beyond it. I’m shifting toward its center and lowering to grasp its body.\"}",
  "call_id": "call_xahuNP4SjHpZhljDYZkBmQO5",
  "id": "fc_0c9facfef04a6c4d016ab4604e69f887d0985ab7352a5b9bfd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xahuNP4SjHpZhljDYZkBmQO5",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.675, 1.7718, 0.704, 0.2218, -0.5507, -0.4496, 0.9996, -0.0212, 0.7986, 0.609, -0.4549, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3642 left_y=-0.1686 left_z=0.02 left_yaw=0.0099 left_pitch=-0.1157 left_roll=0.0811 left_gripper=0.9996 right_x=0.2851 right_y=0.0011 right_z=0.1658 right_yaw=0.0004 right_pitch=-0.0622 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -7.9932, 4.6974, 1.79, -0.1441, 0.1343, -0.0269, -0.1846, -1.265, 7.4598, 1.9219, -0.0171, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d8c8762394f8ebb048c386c43efd55c12d6baac0d572bc19cb7ab51dc5d0a61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24c3e6d017fdd8f1581033699a4bdb943c4cf37bbc99638128b4d35d40fc3814",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd4609e0ae7184e3f5a1efb66bca0fd50371cd3782ea971355d2f87461d516b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7845, 1.4597, 0.8673, -0.2207, -0.6117, -0.5228, 0.9997, -0.0212, 0.7986, 0.6125, -0.4324, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3397 left_y=-0.1907 left_z=0.1315 left_yaw=-0.0172 left_pitch=-0.0587 left_roll=0.0352 left_gripper=0.9997 right_x=0.2889 right_y=0.0009 right_z=0.1719 right_yaw=0.0 right_pitch=-0.0362 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -6.147, 9.1282, 1.6777, -0.5153, 0.0366, -0.0464, -0.0342, -1.5658, 6.6667, 2.0635, -0.022, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.675, 1.7718, 0.704, 0.2218, -0.5507, -0.4496, 0.9996, -0.0212, 0.7986, 0.609, -0.4549, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3642 left_y=-0.1686 left_z=0.02 left_yaw=0.0099 left_pitch=-0.1157 left_roll=0.0811 left_gripper=0.9996 right_x=0.2851 right_y=0.0011 right_z=0.1658 right_yaw=0.0004 right_pitch=-0.0622 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -7.9932, 4.6974, 1.79, -0.1441, 0.1343, -0.0269, -0.1846, -1.265, 7.4598, 1.9219, -0.0171, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d8c8762394f8ebb048c386c43efd55c12d6baac0d572bc19cb7ab51dc5d0a61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24c3e6d017fdd8f1581033699a4bdb943c4cf37bbc99638128b4d35d40fc3814",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd4609e0ae7184e3f5a1efb66bca0fd50371cd3782ea971355d2f87461d516b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGBUzZzGOjrvzrMtLQ4hPjumvwn_KRAiPaYqvx8HNVZSMuqo0BqLj_tSfObwDWhzousDYGl_iR4KCEw8dc0cs8boQVbk6f7Fw1UtZmGxTO3rVC6YDM8H-_RLEVG-ojTlj73Ryghh2fREBwswQg5pqUB0oh6s_GqZGSI3EzJR_FRoOecRL-A8MhtGQSsxZSBNS5nmJ0ctBKkO-Vry3o3hVaoZA4UaDUpl_Bd7Esy3QLjMxZ80zBgvAb9wIHTO8DkUoEAKDzVv3GMoDJh0YvbPWQ5jTTtFcED5DuwmEo64TMSIt5GAvWPCYqkBHHCQOHxvezoihD-EJTjKQyW2EdON70YEqRLXHZSsKbUfuzYlL2d5pandq8QDPmjw2cPjD0_83v6tdadzG7kncT7VsL8WbBQ4Sl_IonrGauubciAlyAhOlpXSCV1qkrkpam3J4WqepE441aFKPi30L9_UT7r9fxYAR4TGu5IaKxYeNb5Gt57qND-k1iJ70qNDpyaPuLDGpUnczw8-CK0-o0WNlsubKKyAY9CZEg_KKLHrabdVozX1Ildi52QgwYyOvqofliGKFAsHhgZesWCT6VHBsGCdHMp7QNPH_8uMEhENSQTDO4HcVsiQoG-VvN4eX6juSFsNintGJbH2RIYlc3jUjcvfbBxrqlSnmRHkJ9VJ81T6ECB8oYUrM8TzJKYW6bjaN4JEIbVMA9WPitNNVmwzn8bwtbcYPtrJ4UOqMgR9EFI7rVYCKTuRaBmoLS1kOZLxcGHkwJ1iWFJZ8xFPu6eGEUtcQLXGZkn82a7c4GIrHfSDSRP-RhgMGdNungRXPFeCWYVZmA1xi_VbNdUoevXN3ShMgWESJGYAggefRYin4ARrUUss_mu1pGRkupCDo4KLIvtdX1kDy1jPXIvUoWfM_2GOPfC_Qv6IriA5AAdz2JnH0_IBJFwFfb-0eW9wLwAOod6BN7fIn4SwC1cHcw-rSxK1_s2lTfdweHuUCwe7KFyXSKTQyvX78EtMfRwX__o0hPdFNY8gRcEopN3QucSGk2p7QG-b3gceREA2EvGS13pgMk7rtQ0VZ0XjqoZ1VoEq92mr-eTWJRya_JU4R5VWbloxWF_c2BqB5-Na4z7ymHxnXUuahma0kP1Njm4F4FbyfZDqbIzE4fd8bQHFSrVpfaytJfy_YBBDwPT2IGUUIPAlVs49ZkEOviLIMa-qEFjoLyhtYoTukTkbBpf_fvspufirsJIJcajemvuYDrfKa71tr71IULhdzrWOw6GyNQ3sR-B7J-ocgt24_yB9PlshtC0RVNR5SBo0jU7k6eQ-70aTXNj3JJqNaVYqjml__59s-3jyw63e-n1CnEE2dl7cIJPUkE_eW9ERIZ_AYY3q24RH0Bdy6mycPIyKIO_Q5cvQhUpCA9SlVtEHlJPkC080iqbUpdAQZk5YyynimPcvlor1LKpkku3e-SHnUIgc08Tk6kj4s0r8Ns57c3fQGj9I7iFXZYWP7m1Qg2Cdygznbdo_Kn4LLaSUar58vbyUdCxEjaoxxagAC8bqMW8ESXFcTH2kYxJyk_fPwIgKylMn58naPslYPr7LAHSMEVrIgLMZXjAfiyczCZw6Dfum0poDS6k0DiKoJrgoUdurJ2OwgcDdawJy2Gh6juXvqqJXcEytB5rTHWkq-IG4uMyd8CR7enftHS5jfw==",
  "id": "rs_0c9facfef04a6c4d016ab46051798887d09bbc27c4eed5e61a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white plush now fills the space between the open fingers, with its lower body on the jaw column. I’m closing the gripper gently around that section.\"}",
  "call_id": "call_0PXZdX3ZPuz1coEqbjnf47Ib",
  "id": "fc_0c9facfef04a6c4d016ab4605362c487d08cc17af6c2b425e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0PXZdX3ZPuz1coEqbjnf47Ib",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.795, 0.6933, 0.2169, -0.5434, -0.4534, 0.021, -0.0212, 0.8024, 0.6083, -0.4782, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3587 left_y=-0.1648 left_z=0.0069 left_yaw=0.0115 left_pitch=-0.1492 left_roll=0.0987 left_gripper=0.021 right_x=0.2817 right_y=0.0011 right_z=0.1599 right_yaw=0.0001 right_pitch=-0.09 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -9.4017, 5.6957, 1.4383, -0.3053, -0.0024, 1.0183, -0.1983, -1.5385, 7.0085, 1.8632, -0.0513, -0.0269, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20b07b1d0d99bcc46c1e43a799ab43ab69e7f4f3d8a2718e45794bb65ac3764e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ce533f1908b4677036a35b727cbb7c1af2d1a065a402e08fce0d33cdf27ebe6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45ca527b1d0e493cc7884b2f4d1156c6144f90d22803b901b45b4e37ff22eaed",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6037, -0.3912, -0.0196, -0.0341, 0.9997, -0.0212, 0.7944, 0.6083, -0.3958, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1779 left_yaw=0.0004 left_pitch=-0.0011 left_roll=0.0 left_gripper=0.9997 right_x=0.2932 right_y=0.0009 right_z=0.1785 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -1.3744, 10.2769, 1.9609, -0.0611, 0.1587, -0.0415, -0.4308, -1.5521, 9.6752, 1.9072, -0.0464, 0.0415, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.675, 1.7718, 0.704, 0.2218, -0.5507, -0.4496, 0.9996, -0.0212, 0.7986, 0.609, -0.4549, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3642 left_y=-0.1686 left_z=0.02 left_yaw=0.0099 left_pitch=-0.1157 left_roll=0.0811 left_gripper=0.9996 right_x=0.2851 right_y=0.0011 right_z=0.1658 right_yaw=0.0004 right_pitch=-0.0622 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -7.9932, 4.6974, 1.79, -0.1441, 0.1343, -0.0269, -0.1846, -1.265, 7.4598, 1.9219, -0.0171, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.795, 0.6933, 0.2169, -0.5434, -0.4534, 0.021, -0.0212, 0.8024, 0.6083, -0.4782, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3587 left_y=-0.1648 left_z=0.0069 left_yaw=0.0115 left_pitch=-0.1492 left_roll=0.0987 left_gripper=0.021 right_x=0.2817 right_y=0.0011 right_z=0.1599 right_yaw=0.0001 right_pitch=-0.09 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -9.4017, 5.6957, 1.4383, -0.3053, -0.0024, 1.0183, -0.1983, -1.5385, 7.0085, 1.8632, -0.0513, -0.0269, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20b07b1d0d99bcc46c1e43a799ab43ab69e7f4f3d8a2718e45794bb65ac3764e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ce533f1908b4677036a35b727cbb7c1af2d1a065a402e08fce0d33cdf27ebe6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45ca527b1d0e493cc7884b2f4d1156c6144f90d22803b901b45b4e37ff22eaed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGBZGLzlNZ1oD0-9UtHXQrYtxiw1cVwbLX9dzrBXDDfqj38odYPtqUWu79h_WxbftUSgyHVerApYBmhbxIib4Ae-E2Bd42S3yRaz0QlKS7TLfrF-HibdfWPkJMp2Lpz09YOoyHaPd3lH5odfdV42CBtSwDL0zbuAaNULVq3H6_Sv09KvOuyOG70YNsXF34H8US4A95yqdvyIvTwm0RNq0KRux-wGO55uUwx2RytMT66c18Fh7MP-iaouP0BiWS4CTaKXiNiWMCSCNhQmi56-5TzARo38PlGJbgPyirQUtMvrO3Wv3xo_2L4XLE873pk8iHdg4h0Rqx565mcq9RzfrcHOHTg8sROnu4IFs6eYAqvozqbU7q--j2ayn4XFVbCPjtgW-t9GsUGQdr9tzsiuo8uAOob4TWvWiCpNV10uw_l12juJ0loJBN5oqTYBns-fXIZA9tHtJPEYO2_irQ-650N5zSq6sKfRnil3eiWBgJ-KXCMQr5az1hOnvIDxvJKazt1WlSwhrMyktvKC6vhHgnY1SUsOBFljuCNSWfNXSzel8hrh9Gz-QQGfsjpOfRVHp9F1u4XpL0NjojQ8oOHndtTmMGukUhPU7l5xqhTE9K6H8zPkaVnBqdwBTygfoVJyw8zOtZcIO79Os6OvrBIQBnlBBKn4xwP94NAIg8OCP6ACcZqKtCHQEfuAdeYElnA-6ispiacXxcdcfovkyEzm9lYFBtQm5-m-BewAZ3dMAuG4VbAapxzm58RJ7Pf9gMAAQpro-qFJ9A9gQRvthR9jJWBHsCjHmYLr_UVY6TlyQXq-sQKdu7EMAzYHLPrvbtE1zn0zz-vfuH-D0-9Nc_e5I0aJ3ShrD1EVjmq-AlHBhdw1Bj7lNbhd3Am2eLOObJkctqqN2A26z6Ck3p0BFOVFqlaYiHSuFEORxcj2yzEDbGJeN1-vZyqTyBjsgFmc6InuNX4-O-g4AICXBPiP-nYz71-BNqH_HLHuyADQGCJGKbmjKax8493fBljarcTjg14RL0NnT3BO1B9dg4gDAvWz87u_Im0My2mrlZx7k2X8xI1z1U0psByI4u_9L6r1IZ12b3Q-SiLwgmNY6zjFN6cgv3H2AuY0RlpLJsoS0cFaNs05mJHfFMbgnjsaxknKZJHyAxSineZR71Y4465GT7E5PzTmZWZiadCzZwYtcC8zAxGPZ0Z99JUIq8FNPiYEN2VHSuJkHj7C0CYEO7YtD3U30WiB5E5AdfscaEAxJUi2d1PX1iIgMf63LmrC9da6VQ4gyfdrTjzqm8Zx7kI9_Y8Di047egiJsp0FVRON6z6636PXn3MAgxfu0d_r-5KZWdG2E23BRThc_YLIf6BKvJrO6Qur61ds-kqp5D50EMY7bRTMOf4jFF5TqQq8ErNi7BUloRNDU8cJO0TvUVor8kNHP8KJbNnzVZn_Qgsngrbtr4R9D6N27CwTLsnVUya1n3kcftbjQOtu70sIn8vrQoSTdDDQyzvTj4KGcDBIdk4MmGV0KVrDjE2v1lLt7OddtPhyAAa_zUFOHROC29V29DL6txPtAraQ4lKRz_ioMYUC_0a-2w8=",
  "id": "rs_0c9facfef04a6c4d016ab4605693c887d0bcd371ecde8e5744",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.412,\"left_y\":-0.162,\"left_z\":0.035,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"The near-zero gripper opening indicates that grasp was empty; the plush remains ahead of the fingertips. I’m reopening and advancing to its main body, while restoring the idle arm to its parked height.\"}",
  "call_id": "call_TfmJKbjNwpBMgdKmqeq7urWh",
  "id": "fc_0c9facfef04a6c4d016ab46057e44c87d09f525428c2596370",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TfmJKbjNwpBMgdKmqeq7urWh",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5716, 1.8229, 0.8604, 0.0887, -0.4896, -0.3893, 0.9951, -0.0219, 0.8646, 0.6662, -0.5568, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4003 left_y=-0.1545 left_z=0.0278 left_yaw=0.0374 left_pitch=-0.1691 left_roll=0.1065 left_gripper=0.9951 right_x=0.2805 right_y=0.001 right_z=0.1545 right_yaw=0.0039 right_pitch=-0.1727 right_roll=-0.0014 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -7.0222, 7.9658, 1.4823, -0.1392, 0.2271, -0.1441, -0.3624, -1.1419, 10.2359, 2.0049, -0.0952, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cb85eecb7f2fa7a3924b0614cf6abafbb6c09e0ea9f2b5903db553ad89b3d80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46fd40b2e52a03ed553f8211d0dc28ea914caddce66224c6e85b7210ab520dc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cabc4d86745339485204c705f0dcb1e60c0ee3fecab8bed198dc5be951744b02",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7845, 1.4597, 0.8673, -0.2207, -0.6117, -0.5228, 0.9997, -0.0212, 0.7986, 0.6125, -0.4324, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3397 left_y=-0.1907 left_z=0.1315 left_yaw=-0.0172 left_pitch=-0.0587 left_roll=0.0352 left_gripper=0.9997 right_x=0.2889 right_y=0.0009 right_z=0.1719 right_yaw=0.0 right_pitch=-0.0362 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -6.147, 9.1282, 1.6777, -0.5153, 0.0366, -0.0464, -0.0342, -1.5658, 6.6667, 2.0635, -0.022, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.795, 0.6933, 0.2169, -0.5434, -0.4534, 0.021, -0.0212, 0.8024, 0.6083, -0.4782, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3587 left_y=-0.1648 left_z=0.0069 left_yaw=0.0115 left_pitch=-0.1492 left_roll=0.0987 left_gripper=0.021 right_x=0.2817 right_y=0.0011 right_z=0.1599 right_yaw=0.0001 right_pitch=-0.09 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -9.4017, 5.6957, 1.4383, -0.3053, -0.0024, 1.0183, -0.1983, -1.5385, 7.0085, 1.8632, -0.0513, -0.0269, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5716, 1.8229, 0.8604, 0.0887, -0.4896, -0.3893, 0.9951, -0.0219, 0.8646, 0.6662, -0.5568, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4003 left_y=-0.1545 left_z=0.0278 left_yaw=0.0374 left_pitch=-0.1691 left_roll=0.1065 left_gripper=0.9951 right_x=0.2805 right_y=0.001 right_z=0.1545 right_yaw=0.0039 right_pitch=-0.1727 right_roll=-0.0014 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -7.0222, 7.9658, 1.4823, -0.1392, 0.2271, -0.1441, -0.3624, -1.1419, 10.2359, 2.0049, -0.0952, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cb85eecb7f2fa7a3924b0614cf6abafbb6c09e0ea9f2b5903db553ad89b3d80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46fd40b2e52a03ed553f8211d0dc28ea914caddce66224c6e85b7210ab520dc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cabc4d86745339485204c705f0dcb1e60c0ee3fecab8bed198dc5be951744b02",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGBd8xPH9qQwVuYvSAFw2dvYloYN6pwUa66KAfKMdtWh8Lc6lkSrWJo5xKXVhsJPBAHgdy4HBFKQaZlwZnRR1o0plmRO_MU1LnB2Y7tBk7K_ao7luwdojt348VPC2YnASlwlUa9WaQ_ImWwGv0CAU4x87SZplvnPHEYtq8mPe05piZFVJwrNqIhOdQEakfHhzeVqy6nqLmBEXhzFhmLCNMK9EN_m6PF-FpumSunxySHgXLIUikI3yjfTI4IqkhIhEQmvlkZ9LdWXd-aWN9tnvswKIq0hGM5FqipGfVWRk0WP_sZtwHt1vLfch726OuqLycagaIGaqDXbvt-9c2GWLzQwOXSPDWKgKb5xL8LSw3mve9hjSXljv6hSX6olli2x5nG3ilpMcmKCTXK6K-EVfr-hrj-yDdY0up3ybv20WzLXiuHVtKrIWcqiMIdhxtwriFqihlSTkQAvUIWC38S0jedmwAoa-EekigUOcovkfWLRUBm4p2VKITnjxdDtpeOin7a6Cu0IQ17uQQxHll9TMI4WEtOxtq7gePUhLY9sMbMnEZACE83yrLBphxs-vQRlZJgQ1o4_moYYUN0YPj9n7yWuf_ZOfnDKsbk9I6rPK31-_Gn-Pwd9cxMtLeqo-l_DUEoODmdbL-505PT0NXEC05pmFmCrEDCCb5937HWXogD_QRZA0PKOxHzvMSvJ-ZGZDaShhn1Bt4OhkfBsuwSGLECQU1P6C8CH7tu4ViN0xAk1ZLkGxJVP0kkzo_j2zb2sc397YsngAeWgR2ysEuZtFhtToo_bJNejGSg29dwDIM5MNFxJBwkYBVVrCeJZgHvzOhdCx_XkElBXC8htovqduxWAcbFnFzUANCx9ImEQIllB2Eawl7l0Y4gQB87z23MFxhA3Yu34jHJ1oxTT5oIyp6OJ6yhb40u8pj0xCL5X7_NVK2VSlIh4dDRTYL9kyoCXENnNyVG2fWTB3GYXR7Dq4Z6kW-HVsMqhPEJ7pSxloku3Pp9u4UmZdYBblb_Nhsqx6wfL4lawhHiLHBRLX0b24Ta1xAZjIi7FjjlNxbMNqtqO9v2nWj-0G8gysVWYDK3jxH0D8RjjHRkNx_r2d7nwy8_uT8rwz2vOb2FJvgq6HY97X_kyVycwkx00sW1yDRS_KnN8vMRXeP1_is8eHOvoTHWwFuwNJNwPHv609gFGxOCSt-gKxH-k3GjkecPGklzizBtnY_ncFwN6R2t1Jrxt6OGdGg==",
  "id": "rs_0c9facfef04a6c4d016ab4605bd98887d08256586b30228c54",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The plush’s body is now between the fingers rather than beyond their tips. I’m closing again to secure this better-centered grasp.\"}",
  "call_id": "call_koIXSR6zYX6JvnBnjwxzx77b",
  "id": "fc_0c9facfef04a6c4d016ab4605c098487d09fdfe5eecd3ebff9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_koIXSR6zYX6JvnBnjwxzx77b",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5686, 1.8297, 0.8684, 0.0704, -0.4866, -0.3973, 0.0102, -0.0238, 0.8661, 0.667, -0.5903, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3997 left_y=-0.1531 left_z=0.0249 left_yaw=0.0443 left_pitch=-0.184 left_roll=0.1087 left_gripper=0.0102 right_x=0.2749 right_y=0.0006 right_z=0.1485 right_yaw=0.0022 right_pitch=-0.2071 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -9.0735, 4.7658, 1.5263, -0.1978, 0.0708, 0.7692, 0.0068, -1.6752, 6.8991, 1.8535, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24905693b721cab4238810122da0322dc6ba810e89c2e38269bc8908a8ec41f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:431462d67c4373906db090ba0da5ff9d691f5799e5ea6f18b6cbb27f74dcf823",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f60f083d24d363f593eeadd47a2c079c15d87808719ce6410051dadeec2a4b47",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.675, 1.7718, 0.704, 0.2218, -0.5507, -0.4496, 0.9996, -0.0212, 0.7986, 0.609, -0.4549, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3642 left_y=-0.1686 left_z=0.02 left_yaw=0.0099 left_pitch=-0.1157 left_roll=0.0811 left_gripper=0.9996 right_x=0.2851 right_y=0.0011 right_z=0.1658 right_yaw=0.0004 right_pitch=-0.0622 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -7.9932, 4.6974, 1.79, -0.1441, 0.1343, -0.0269, -0.1846, -1.265, 7.4598, 1.9219, -0.0171, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5716, 1.8229, 0.8604, 0.0887, -0.4896, -0.3893, 0.9951, -0.0219, 0.8646, 0.6662, -0.5568, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4003 left_y=-0.1545 left_z=0.0278 left_yaw=0.0374 left_pitch=-0.1691 left_roll=0.1065 left_gripper=0.9951 right_x=0.2805 right_y=0.001 right_z=0.1545 right_yaw=0.0039 right_pitch=-0.1727 right_roll=-0.0014 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -7.0222, 7.9658, 1.4823, -0.1392, 0.2271, -0.1441, -0.3624, -1.1419, 10.2359, 2.0049, -0.0952, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5686, 1.8297, 0.8684, 0.0704, -0.4866, -0.3973, 0.0102, -0.0238, 0.8661, 0.667, -0.5903, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3997 left_y=-0.1531 left_z=0.0249 left_yaw=0.0443 left_pitch=-0.184 left_roll=0.1087 left_gripper=0.0102 right_x=0.2749 right_y=0.0006 right_z=0.1485 right_yaw=0.0022 right_pitch=-0.2071 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -9.0735, 4.7658, 1.5263, -0.1978, 0.0708, 0.7692, 0.0068, -1.6752, 6.8991, 1.8535, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24905693b721cab4238810122da0322dc6ba810e89c2e38269bc8908a8ec41f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:431462d67c4373906db090ba0da5ff9d691f5799e5ea6f18b6cbb27f74dcf823",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f60f083d24d363f593eeadd47a2c079c15d87808719ce6410051dadeec2a4b47",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGBjF_iQmdf3EUKoF1dfQCLOOwGtoLLUolEuJWx1HV_hgvPAcT7t7XNqnpTDTjXyqRTC0gKivH2lZyaoMouaVwz4u3wpo-CdO12y4CLiNJigQqQZFA55tqftd5kH0NbxefQs7kU232bkAusuOOLBrKM5vTRjJ4S5Evd8fD7_htR_y4XZ-rYMLGjhs_uqcCKLMcLZIr2BS5eHRTX2RvWpI2PejXCq5bhY8BaqHYkHu_naWjyu4hE3KRtr-gSA5DHByc8r6AGvXZ-4JcJ-TmwLPIE5MJ8VTQMKbra9XAO-bHhJrFUKZqZuGeNM1mczHRebEdiuDCZYBLifxL70JYdN3MAwweBOeGeN6dQBZPwVXAsGpKcOdCpLQxyeb40UDnMSfE97lYFPEnTlBoDOLBc8obaqFGTuzulsAAgEn-J9qDnQsuAMG92ntlNewtIRf_F2gAL0wNEGPFRXAJYL4-7O4Fcghv7NIO32XzYOyrCafXsEO2iJFnnBUzo0yQ717Y0zdJeO3wmjalHPlI2h2PAB_bPBMMSwgyR5LiU_VsT5A6WmKxu5mTjSAoE2mOW7QVRkquCJ6XBfTwLZJIXmW5vNBWARjJLFvTN6U_Y8KOumvGRyjZ_YOGJil0BE-mg5Pg1vD3Kzk-CmgDVzytJJuodNMr_zhhE7PITFrRvbF2B7bGGPxx6dsLnbvkz8yJVp-9pgl8VYDEVOJ6VbDOLg94Nd2kopYJFjoLqbvgK92xKxfGbpA7ZYNbaXKbGUl9tSOfT6SP5QAyCpBYAFVMyXOQKx1UMvLXs4ylVzr2XWbAqQ6nsu4fryv4LDT3g--kRzKfRwxB5_9PI5AcD6GUDpo58cwOGoT_nzt8J4eKDvj-rt6ccJ0QiI36E2AOO1JtSulkv87valHiqMWwAD82ja4KjZFY-psrulJwCG621HA5A7AkOnsjx-g46p8WsmuCeihXhGSWpFiwRF55bCkrgv86VCR_opCxHplap3zt8VM762rDgv0Ed_B7gSPOsoCcY0v62cYQyu66mMdLdHXEVjbdDcmEo_f3b8XAn_xikq63ATpubyv_bKIT1on_zLjdRmsa-xOpKMMJQ8cWqxtAxvF_vABvkB-28iHio0bpSyyNmqFnGFSxyGoPxXriwHw3ajLQhGwF1eR7x62G_2wE61ijcGXPZWRAqFAVCjkq8F_IClRxQQlB1oBTPC3ZBS3u0laI7BZdZ4Q2zF-vy7wQvQlV5LmzZ1jpGSL8xBHF29JkbhIQOmlyRWj0TsGjBEcaGaTG4piBBYoEKEq26_ex7Z_vpq5h9QOQSamYTfwOEqwsR-HTNtzU8Nbxz7IKSkPRBG6SQy8TgawyK5EfUfSEYw5aaJ0cG4TcHqArPfqGALk3zMYDjQ1TF-Qc-lMuqN8cxBnMaREwEeT-6k-3pG-3_i5wsvsGh72-FzySFM1RDt3ltY8477zBr2DquWWyr3coDTO-dTicZhD4_R9elPkOWiFa4HA1XW_3ozDiv53urEz5JFlQ_tXMpTp0hnPCaV7SnjaZ-VAsvVgXipHHPx50aocBlE8Ga-tf-hwc1rcyLRgNAHVKkqt7ReIC0-x_EUXZn04QlWhLqIbwYEVhjPjoWmZ7L3wkMUt5OHuBBzXOgzWhS8YirB2DiAiCSvkUE5KLOGI5L4nqHjyzj3fUI0jY2t2efvVbTLfVAWkWx4qOi5KVJ_2Dghv3lVMVgF0vFKlUUMpuvGKJXgYOkTyRrT28D4GFN7yCDGxEwprF8qHSz0XRGWitO0G8szVcYRnfVexgM4YNyMkDpmPqCI4-S70XjLAw6dWxJsySM3t1usmpE9weAhQ8av2GE=",
  "id": "rs_0c9facfef04a6c4d016ab4605fcf5887d09fd66dec87dd70c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.155,\"left_z\":0.105,\"left_gripper\":1,\"left_pitch\":0.15},\"note\":\"The second close is also empty, and the wrist view shows the fingers stopping just below the plush’s feet. I’m lifting and repositioning over its belly so the next descent targets the center rather than the edge.\"}",
  "call_id": "call_6rJdYV1fsraskIlXnlgc1puK",
  "id": "fc_0c9facfef04a6c4d016ab46061ee7887d09198d5f8b6ebfad8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6rJdYV1fsraskIlXnlgc1puK",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5545, 1.8233, 0.8684, 0.318, -0.5823, -0.2558, 0.996, -0.0238, 0.8661, 0.6666, -0.6132, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4369 left_y=-0.1521 left_z=0.0731 left_yaw=0.0446 left_pitch=0.053 left_roll=0.1321 left_gripper=0.996 right_x=0.2708 right_y=0.0007 right_z=0.1444 right_yaw=0.0023 right_pitch=-0.2303 right_roll=0.0001 right_gripper=0.9996\nstate[joint_eff]: [0.253, -10.4137, 7.1043, 2.0244, -0.3297, 0.2808, -0.0317, -0.3487, -1.5385, 7.0222, 1.7411, -0.0317, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f8b6d0e54bc5cebc30d54311a86c7320745dd9bb68d90c5ef0d062444746571",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:180767998b9dca21997359939c837b5b3c8e82e992eeb3c0e7a493578e518750",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3abb44f1ae748347bd9de57383e9ced796733cc779145b62952b3e9dbbc7838c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6735, 1.795, 0.6933, 0.2169, -0.5434, -0.4534, 0.021, -0.0212, 0.8024, 0.6083, -0.4782, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3587 left_y=-0.1648 left_z=0.0069 left_yaw=0.0115 left_pitch=-0.1492 left_roll=0.0987 left_gripper=0.021 right_x=0.2817 right_y=0.0011 right_z=0.1599 right_yaw=0.0001 right_pitch=-0.09 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -9.4017, 5.6957, 1.4383, -0.3053, -0.0024, 1.0183, -0.1983, -1.5385, 7.0085, 1.8632, -0.0513, -0.0269, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5686, 1.8297, 0.8684, 0.0704, -0.4866, -0.3973, 0.0102, -0.0238, 0.8661, 0.667, -0.5903, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3997 left_y=-0.1531 left_z=0.0249 left_yaw=0.0443 left_pitch=-0.184 left_roll=0.1087 left_gripper=0.0102 right_x=0.2749 right_y=0.0006 right_z=0.1485 right_yaw=0.0022 right_pitch=-0.2071 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -9.0735, 4.7658, 1.5263, -0.1978, 0.0708, 0.7692, 0.0068, -1.6752, 6.8991, 1.8535, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5545, 1.8233, 0.8684, 0.318, -0.5823, -0.2558, 0.996, -0.0238, 0.8661, 0.6666, -0.6132, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4369 left_y=-0.1521 left_z=0.0731 left_yaw=0.0446 left_pitch=0.053 left_roll=0.1321 left_gripper=0.996 right_x=0.2708 right_y=0.0007 right_z=0.1444 right_yaw=0.0023 right_pitch=-0.2303 right_roll=0.0001 right_gripper=0.9996\nstate[joint_eff]: [0.253, -10.4137, 7.1043, 2.0244, -0.3297, 0.2808, -0.0317, -0.3487, -1.5385, 7.0222, 1.7411, -0.0317, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f8b6d0e54bc5cebc30d54311a86c7320745dd9bb68d90c5ef0d062444746571",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:180767998b9dca21997359939c837b5b3c8e82e992eeb3c0e7a493578e518750",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3abb44f1ae748347bd9de57383e9ced796733cc779145b62952b3e9dbbc7838c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGBnLX4TxGnC0ljFdOwwX-E4VRC3hB7t2NHA-tglVN9NV8crIwyjm-kWVonj2A9aqRKZHunGaC6yMOWXbtTgCCoRX0rgCrUfV2AfwYF5YJKqcvLP34OdQ2NkBufJdQmmi6hISpWXssp9RENx7php2M-uIoewdu-bwEd9-af_XwORWUyZey8mNx0OpdQOTFIZ4DDH1kpLM4gHhrQUxC_52MFZ2N8ZZToaXpQYjQyX4N9GFKeBPVfO_6WuOvaR6r2HWFILbVZHaacA3_oBO2466IhHDborpticRInZv2bLXJ9yMrzfqf2rr-Qnl4PulIZvVuYG7I9X0r0BaPkmvZvB63TsN8bi-YwC8ODSDhgTfAnQ1ddxefEPIGfuWdWDHqaojKtVX9536bg_yEd-1dkgDYXLyDqY_RJ26RU8zGBNy0_3B2mFwH9-tGz95RGhj7cTj4cAW624Nfz0bqc9eBGgA6plO6dwpO7-Z5_h2v3mvPn03FwE7DGMgXv5JO-swsxdVI7BjtOib9JIdXx8g1A5ec6oP3JMJn9heUMxIEeJXgEApIaPkESHLWAY_iQAMuZXhQj2g91_qdh-a9Deb_6ReJrXS5dNid9bJr1ceTvJb0gTHmfSbT13cTKCvYE47SNULeJTVA4wIf6NbGcMgRmINxO0won6aT2lXWMwYPI6PftgnRR7HIqBiHyGIApYQvn-fcqMLUyUw5JjjrNJW2KYvo_AHcXwzwknDn7jwHKEumGEgJwdKIGiM0FtcTtku9KELgCZmv8iBRW0j7GfXLMY0RAZbgFHKgewTn66Mo0O9dxF7bnD0MQ0MayGjeLztkXV-ePHzKAbAVo5x6G68RcPH2qFU0YPH-1iYhZqIt7IXRBnMGkbia0GjIyYbgh5jaIM_lBJXUfSDDHiiR7hU8SVs7MGLwoEyI2-s0rX0bVQgdVGApxTNO_02EUXhn5UNmOLaCK44r1tWjY4JbE7KrqG59l8DCY1w4IJ6wbIPtSevEyJenc7JBAtNtk2WAIKjmd-X4dBGCLgT13Cjg9aNF7f7M22JVw7B4g1S8naEv_hOXE3272m2CkyTMytBaKsKWVXvBVt6BO2L6vzEmkx1VpvnE1-FDBb8aWKEsZrWGi_QMgEEAZCrCeol0C_A-x17W6uVZtQ0cTrhg2InEupycOLKe6g-js3LdE33sWbmoZSJnWf3txHrk0LBe7WEtyJSDLyA30Bt3yqxQNtTnn1NkxTHI6LcitvPm2Du19BMhbHtBQSzrRywtZAJM1bSX9k9gspuYbHPYoy-21kFdDvIY8h9exhrw==",
  "id": "rs_0c9facfef04a6c4d016ab46065924c87d08815949e0275e8b4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.453,\"left_y\":-0.154,\"left_z\":0.02,\"left_pitch\":0.15},\"note\":\"The plush’s belly is aligned with the finger column and the safe wall is off to the right. I’m lowering vertically onto the center of the plush.\"}",
  "call_id": "call_apeBK0JgYI5LXNmwSczojJrD",
  "id": "fc_0c9facfef04a6c4d016ab4606627b887d0928f215db22fe2a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_apeBK0JgYI5LXNmwSczojJrD",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5552, 2.03, 0.836, 0.6773, -0.6048, -0.2398, 0.9969, -0.0238, 0.868, 0.6666, -0.6338, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4546 left_y=-0.1596 left_z=0.0367 left_yaw=0.0602 left_pitch=0.1577 left_roll=0.0877 left_gripper=0.9969 right_x=0.2671 right_y=0.0008 right_z=0.1405 right_yaw=0.0025 right_pitch=-0.2528 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [0.3077, -6.9402, 3.3573, 0.7253, -0.1734, 0.3541, 0.0757, 0.0068, -1.6205, 6.8034, 1.7558, -0.0708, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f776cb152b0715062ce2b5ec3de698fcf58f47c7832611a63fcdd7bbfa35a814",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a554b9ffe2e0dd9ad9b0e55f96f99ed40788c0efe6e894b66d7e8972c969f39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ba3ef3ecc97d7cf4908b593c5f262200f3dd4c6a2172feb0a1156d01060a225",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5716, 1.8229, 0.8604, 0.0887, -0.4896, -0.3893, 0.9951, -0.0219, 0.8646, 0.6662, -0.5568, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4003 left_y=-0.1545 left_z=0.0278 left_yaw=0.0374 left_pitch=-0.1691 left_roll=0.1065 left_gripper=0.9951 right_x=0.2805 right_y=0.001 right_z=0.1545 right_yaw=0.0039 right_pitch=-0.1727 right_roll=-0.0014 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -7.0222, 7.9658, 1.4823, -0.1392, 0.2271, -0.1441, -0.3624, -1.1419, 10.2359, 2.0049, -0.0952, -0.0171, -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": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5545, 1.8233, 0.8684, 0.318, -0.5823, -0.2558, 0.996, -0.0238, 0.8661, 0.6666, -0.6132, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4369 left_y=-0.1521 left_z=0.0731 left_yaw=0.0446 left_pitch=0.053 left_roll=0.1321 left_gripper=0.996 right_x=0.2708 right_y=0.0007 right_z=0.1444 right_yaw=0.0023 right_pitch=-0.2303 right_roll=0.0001 right_gripper=0.9996\nstate[joint_eff]: [0.253, -10.4137, 7.1043, 2.0244, -0.3297, 0.2808, -0.0317, -0.3487, -1.5385, 7.0222, 1.7411, -0.0317, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5552, 2.03, 0.836, 0.6773, -0.6048, -0.2398, 0.9969, -0.0238, 0.868, 0.6666, -0.6338, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4546 left_y=-0.1596 left_z=0.0367 left_yaw=0.0602 left_pitch=0.1577 left_roll=0.0877 left_gripper=0.9969 right_x=0.2671 right_y=0.0008 right_z=0.1405 right_yaw=0.0025 right_pitch=-0.2528 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [0.3077, -6.9402, 3.3573, 0.7253, -0.1734, 0.3541, 0.0757, 0.0068, -1.6205, 6.8034, 1.7558, -0.0708, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f776cb152b0715062ce2b5ec3de698fcf58f47c7832611a63fcdd7bbfa35a814",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a554b9ffe2e0dd9ad9b0e55f96f99ed40788c0efe6e894b66d7e8972c969f39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ba3ef3ecc97d7cf4908b593c5f262200f3dd4c6a2172feb0a1156d01060a225",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers now straddle the plush’s torso, and the descent has met the soft object. I’m closing around the torso before a short verification lift.\"}",
  "call_id": "call_FBWG8hCNWSTNt5ivHxGt0Ptk",
  "id": "fc_0c9facfef04a6c4d016ab46068d2c887d09389b325ba527ba6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FBWG8hCNWSTNt5ivHxGt0Ptk",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5426, 2.059, 0.8288, 0.7578, -0.6331, -0.1978, 0.035, -0.0238, 0.8688, 0.6666, -0.6575, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4597 left_y=-0.151 left_z=0.0377 left_yaw=0.0771 left_pitch=0.1991 left_roll=0.112 left_gripper=0.035 right_x=0.2627 right_y=0.0008 right_z=0.1364 right_yaw=0.0023 right_pitch=-0.2772 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.7179, -8.0068, 4.0547, 1.4628, 0.0855, 0.0904, 1.0623, -0.1162, -1.388, 6.7761, 1.663, -0.0415, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a252634830bbeab0198b2123e5e56a36cb0b64649008797db65edd5f0ea0005",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d079e3b5ba43402242c0edca11c003c79a575f7669717b0d11ca25c8b2ad6cb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8f598b5447aa0440144db7a6275cd7501d9bf257cf362a9d7796f6ee921ddbf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 22 changed as sent

message 30 changed as sent

message 33 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5686, 1.8297, 0.8684, 0.0704, -0.4866, -0.3973, 0.0102, -0.0238, 0.8661, 0.667, -0.5903, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3997 left_y=-0.1531 left_z=0.0249 left_yaw=0.0443 left_pitch=-0.184 left_roll=0.1087 left_gripper=0.0102 right_x=0.2749 right_y=0.0006 right_z=0.1485 right_yaw=0.0022 right_pitch=-0.2071 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -9.0735, 4.7658, 1.5263, -0.1978, 0.0708, 0.7692, 0.0068, -1.6752, 6.8991, 1.8535, -0.0415, -0.0415, -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": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5552, 2.03, 0.836, 0.6773, -0.6048, -0.2398, 0.9969, -0.0238, 0.868, 0.6666, -0.6338, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4546 left_y=-0.1596 left_z=0.0367 left_yaw=0.0602 left_pitch=0.1577 left_roll=0.0877 left_gripper=0.9969 right_x=0.2671 right_y=0.0008 right_z=0.1405 right_yaw=0.0025 right_pitch=-0.2528 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [0.3077, -6.9402, 3.3573, 0.7253, -0.1734, 0.3541, 0.0757, 0.0068, -1.6205, 6.8034, 1.7558, -0.0708, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5426, 2.059, 0.8288, 0.7578, -0.6331, -0.1978, 0.035, -0.0238, 0.8688, 0.6666, -0.6575, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4597 left_y=-0.151 left_z=0.0377 left_yaw=0.0771 left_pitch=0.1991 left_roll=0.112 left_gripper=0.035 right_x=0.2627 right_y=0.0008 right_z=0.1364 right_yaw=0.0023 right_pitch=-0.2772 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.7179, -8.0068, 4.0547, 1.4628, 0.0855, 0.0904, 1.0623, -0.1162, -1.388, 6.7761, 1.663, -0.0415, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a252634830bbeab0198b2123e5e56a36cb0b64649008797db65edd5f0ea0005",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d079e3b5ba43402242c0edca11c003c79a575f7669717b0d11ca25c8b2ad6cb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8f598b5447aa0440144db7a6275cd7501d9bf257cf362a9d7796f6ee921ddbf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGBt2_EvCFzGoXtX48zsf7cYacFf2TyHVIXAppXPGF64FOWvBVQeR0uU5BpXO7WUbj9hAk0xp4tji_WIGCghkPjR7fuz-GxBX7qNwTVdmkVYhwFaUsnKB-vlm9sENqADwE51Fhlo2AQX8CLb3evp864cHyUfDF_jyIZvGGPT6BRW47Fb0y3hhaPZNe_U6_ZtEtLpY0gr4qqgd7RmG-vquoZx3vs5LM4DPJN-uBPOQiJROp6hoOMHCDpD4UHeCktDOVaw7OABt47okpgLcaLEmylBhqolHrsxIIMgyTU3XFcwKRx98EkkIAXPJBAYqoAwpXTPV4n1PRtuMTNqLVFa7wF62bLJ2yNpuxxwnrrO1XEcAnihQ1RQu7v6riWKh1TdAYLV-W5etgcQNqRphJoiQPyM6R4ED6cQVGc4cQOOKA6bKVGB2ZOd8NJjKN1FKs2263g5CazTAGqkQ5zHIRzEyXxAATTlCsTHdMxRAi1pwa-CZbLp1DYga6qc8k8Uqonlc51iDOkgyuDCl9Cu24qZKAxq70fNQIacZONftE46v-zEgtynN__5ZfPTL8ET2t-5A9x4H45X33koaYfA9OPO6diKsHjF8TKQZDURiGmfIdIr2RNcxZghP7cTMNco7Y8TGrf1vB0-WOv-KCOh8Bl810ALRYisDaE_dAb4Fz-RkS21WRIXhphFtFk1AoPFe0-kyYbqKlK0eJkOLtCByr67mWxwHzVc8wDSYoEsCv7WOE2Xo7rAxRsmkk_G9CdbW0rkwvTvwYfol7YfOgQ87VV6PGy3nkmVr1-h8B0E7Lh_Pay7sA4xzAq8rAIOOW4rGE3yaXX8Pw9ALF0OR4NB9WKBMUK5NAhskWEDqNU88mf3Vby4Ha-JXfUKF0AYtxcLhVq1-Qk6ia7lXFFs_uh8p4xCIVqEBbQU-BrsD_CBxVsWfQBNw-D-2zQHDJCVBsWeTHC0UfoMjkE6zpN03bRZb8EIIBKhCOa4iZ8LQDICkJ7Iofj-oG0awGJ2hw9hL67mu6zPkAyF1PQWQbUz0PLmlU3bmR2pjhWHo7V81VN06gUWlDzCFX7uaBIHKjJIjmYKnmZc_-xLJeGO5b_0OIGxZYO3Kd1rZ2bXP0KlgKYKjGUfAO2E_7e6e0YiT4r8pSssRabsaGGQTIMSO0axdedKK2oSD2HzlrALSH0-SWy-fdrYS5w96AUhluPktgbKzG1pKYwJ58mzIoYAkHYoARErDUxuBGMZ4w==",
  "id": "rs_0c9facfef04a6c4d016ab4606bfa2c87d0b56fa280a46560a9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.115,\"left_x\":0.453,\"left_y\":-0.154,\"right_x\":0.29,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0},\"note\":\"The gripper has closed nearly fully, so it may have only a thin fold of fabric. I’m lifting a few centimeters to check whether the white plush comes with it.\"}",
  "call_id": "call_zQe1vrfx86520TdiwX45waeE",
  "id": "fc_0c9facfef04a6c4d016ab4606c372487d08900d099f8d55c1f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zQe1vrfx86520TdiwX45waeE",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5564, 1.8492, 0.8551, 0.4492, -0.6464, -0.2184, 0.0359, -0.0277, 0.8005, 0.6666, -0.5724, -0.0216, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4462 left_y=-0.148 left_z=0.0839 left_yaw=0.078 left_pitch=0.1457 left_roll=0.1413 left_gripper=0.0359 right_x=0.2749 right_y=-0.0002 right_z=0.1683 right_yaw=-0.0005 right_pitch=-0.1239 right_roll=-0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -11.7265, 8.4171, 1.7998, -0.2613, 0.0513, 1.033, -0.4855, -1.853, 9.0051, 2.2735, -0.1099, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4418baf60c10005c26d3f5fe68dc7f0ebd2a1487e5ff926107a7202bc6c369c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:010483884cb60e94324248af4432cfd76f0dfa2e9accf3ef98d057556e555c64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e09c69ff031cb4a3200e776d8ef2d6352355692c93f2519c2aaca673480fc52",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 26 changed as sent

message 33 changed as sent

message 37 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5545, 1.8233, 0.8684, 0.318, -0.5823, -0.2558, 0.996, -0.0238, 0.8661, 0.6666, -0.6132, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4369 left_y=-0.1521 left_z=0.0731 left_yaw=0.0446 left_pitch=0.053 left_roll=0.1321 left_gripper=0.996 right_x=0.2708 right_y=0.0007 right_z=0.1444 right_yaw=0.0023 right_pitch=-0.2303 right_roll=0.0001 right_gripper=0.9996\nstate[joint_eff]: [0.253, -10.4137, 7.1043, 2.0244, -0.3297, 0.2808, -0.0317, -0.3487, -1.5385, 7.0222, 1.7411, -0.0317, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5426, 2.059, 0.8288, 0.7578, -0.6331, -0.1978, 0.035, -0.0238, 0.8688, 0.6666, -0.6575, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4597 left_y=-0.151 left_z=0.0377 left_yaw=0.0771 left_pitch=0.1991 left_roll=0.112 left_gripper=0.035 right_x=0.2627 right_y=0.0008 right_z=0.1364 right_yaw=0.0023 right_pitch=-0.2772 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.7179, -8.0068, 4.0547, 1.4628, 0.0855, 0.0904, 1.0623, -0.1162, -1.388, 6.7761, 1.663, -0.0415, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5564, 1.8492, 0.8551, 0.4492, -0.6464, -0.2184, 0.0359, -0.0277, 0.8005, 0.6666, -0.5724, -0.0216, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4462 left_y=-0.148 left_z=0.0839 left_yaw=0.078 left_pitch=0.1457 left_roll=0.1413 left_gripper=0.0359 right_x=0.2749 right_y=-0.0002 right_z=0.1683 right_yaw=-0.0005 right_pitch=-0.1239 right_roll=-0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -11.7265, 8.4171, 1.7998, -0.2613, 0.0513, 1.033, -0.4855, -1.853, 9.0051, 2.2735, -0.1099, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4418baf60c10005c26d3f5fe68dc7f0ebd2a1487e5ff926107a7202bc6c369c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:010483884cb60e94324248af4432cfd76f0dfa2e9accf3ef98d057556e555c64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e09c69ff031cb4a3200e776d8ef2d6352355692c93f2519c2aaca673480fc52",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGBz4iZMviHrh5RNBjp6DSLG1wdSabUHd_RWxwQBn27mOsK3Xc7Ckp-2DH_naWWCKycQSU_Y9Jx5HJcBnTeNhDhG8_5YMid-VfIAJH6i8nvH0C0rf7Z2fUCu7HBfSDh-gvZnC0Nq5KZviQHhLXBI6m5HFpb13g-tutxdQ8zt0reTuE4YVD1ceKFCJZislUbxsZaxoTMUTdemd_WQUpMlaJ5PFkmeyy0eQNOmXe6JadUC3eCa3P9uDbWvDjanhRm91GaCYNP_3OiewLVyJkQpGciRJ5n0tAVPqwkWo61vWktVFd7_40-qR_54pe3MoLwQpjMyIvGyV3gsKX5aPS7nUV8wID0LK3D7FA_-DyX0YSiM6U-LbBQJ_n1Q8aYjS8IP1LMVmYKfc6F-2KWzuQT-TScJXWcZ5IpByuhdIVxJuMSzHkzFmFM8bQdGnwseXdbc9a8HCf34pzuz8hqemw3ysxP6-pJgjF9_LfRtktWXLxPMHMZhfHeISAL8pOFrOyGk9Wc0EBu16aNe3MQIFLAFvofhIcJnYxBgJ6WIuSqzaT9h7ZjYYsOWEYCATdLTOGXJFwiSlktJemt-6lhhMNJuyR5KrOnYz0Rs4jU0cvzV6mabjOlo1OMzpsQqN2kfozJJ4GcVJAms8h4mPdOFhf_qaWa4BgzPDlf21kfzeTtDqChQaSlcEonGLUDGFjC2Q_69ZPql0vTIdJKZpJP53kTbRm4zcBOwX58cC3s6Ep0NtT5l8mdmWxnA6BOOiKNrhP0hM7BwaDsEfW3zHhP7s-Yd1V8XnPJ3MwWOJxSgkEeYQ1jHurRuoA8i8eoMw__jPt0j_5O9i0yY0iAubTP_76s5CkQ3Q_ypaI7hfnz8724RZIEnzFsY6cr7olGGIuWOUUw1YtRA1KEW5J45aRZO3DMdDrExr2kotHPsfNBvVTdiZ8yUAwIGuvfJUgMzNIAYf0Z2tiPpfo2vs0AXx_ImY0w5nIYQWULtjTnxvzmGAzYcSuY34vmrMyCjR8f9_fGdSDJVQcmY-5HAGaHQvCSlXX0IhEwJoY0g83GmeCoSZcqGMuYcVR-7AXGeinvkNrVNKYduGVseKv3oUVK6WLWwNRzAAh_Htf4CHikyLqh6E9hlcRNxk-yxSLbiEQ6c0Q5TNpQhm47mrq6tLlDdoLZpnRp5ohfWaBh2-6W7XdxlrWAu_KQy_IYTXcKwGes8gesCSpj7TZMJP-Enu35Yv_z1ngDaDahjnBS0L4rMbyb0S4Gh49OBYmKNdA8rgRN-FY0K7WYpOqWXtg550zkLgC9H_83lgCVkiMj-7fqb_qagWfXWk1IUrLq0xBgNXxjjXX_zxCDy2xyqXRVU3QkDE9P4HXIdmrwgo_BsozJ4wBGQFHNQ6Ix5BMGkS_72f-BbKXtM6Z4EcGcrncxW573BwVIJgGPOD0w0TKw-n8EDoQ9B4o0nUoN08Q8jLfEWnug4E3KNrV47yz_UnbsQuVf2QBvrZ9vLrpG9kTl6iPT7m_DUJOaAb169po7RQUMvHlq6t6ZN2dL5o9bxTDRvvHEyOzgP7MevtWdA6jEkbQY20aCjTee33bQ-mlmPDDgrH6RQySjgwzYiL9Gt8KpfjW3FnvBgTTvxuCszdlpDkw6A-W8Mc6An0FBwag1FP99HUjlzw-gJR9MtuUraJb3S-8izYdynTkSrzaHxXAWvz3r6bGAWL7wk6awHG0HJWQVRRa_FTsJ-_QqdYUlS8jD1MFxBHQW-F_a4DXpHiI8O811nEj1m-b0Y0AHUWEs=",
  "id": "rs_0c9facfef04a6c4d016ab4607010d487d08578eb7041c098ee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.29,\"left_z\":0.205,\"left_pitch\":0.2},\"note\":\"The white plush has risen with the fingers, consistent with a grip on its fabric. I’m carrying it above the open safe, keeping it clear of the rim.\"}",
  "call_id": "call_hqCMxIRPC7EXxd3kQCUOd1tT",
  "id": "fc_0c9facfef04a6c4d016ab460721d6087d0a1a020a1eca04241",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hqCMxIRPC7EXxd3kQCUOd1tT",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7677, 2.0613, 1.6333, -0.165, -0.8291, -0.3458, 0.0359, -0.0277, 0.804, 0.6609, -0.6109, -0.0235, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4882 left_y=-0.2852 left_z=0.1921 left_yaw=0.0732 left_pitch=0.1863 left_roll=0.1295 left_gripper=0.0359 right_x=0.2679 right_y=0.0003 right_z=0.1578 right_yaw=0.0013 right_pitch=-0.1715 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -11.3162, 9.3607, 1.4774, -0.5201, 0.0806, 1.0281, -0.0615, -1.3744, 7.2957, 1.9219, -0.022, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b872486ae0fe2e06dcbe611dd2e8d81baa4b9f62ce5cb931cf7895f826e3d9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00586aacbd15881ac9f7eade9d6af0c243b6b99d1ad0a711ee33c65041776dd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68f8b33e8a337cbffa906992933aaa8a8477a61dec8860dde65bbc396bc86450",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 30 changed as sent

message 37 changed as sent

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5552, 2.03, 0.836, 0.6773, -0.6048, -0.2398, 0.9969, -0.0238, 0.868, 0.6666, -0.6338, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4546 left_y=-0.1596 left_z=0.0367 left_yaw=0.0602 left_pitch=0.1577 left_roll=0.0877 left_gripper=0.9969 right_x=0.2671 right_y=0.0008 right_z=0.1405 right_yaw=0.0025 right_pitch=-0.2528 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [0.3077, -6.9402, 3.3573, 0.7253, -0.1734, 0.3541, 0.0757, 0.0068, -1.6205, 6.8034, 1.7558, -0.0708, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5564, 1.8492, 0.8551, 0.4492, -0.6464, -0.2184, 0.0359, -0.0277, 0.8005, 0.6666, -0.5724, -0.0216, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4462 left_y=-0.148 left_z=0.0839 left_yaw=0.078 left_pitch=0.1457 left_roll=0.1413 left_gripper=0.0359 right_x=0.2749 right_y=-0.0002 right_z=0.1683 right_yaw=-0.0005 right_pitch=-0.1239 right_roll=-0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -11.7265, 8.4171, 1.7998, -0.2613, 0.0513, 1.033, -0.4855, -1.853, 9.0051, 2.2735, -0.1099, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7677, 2.0613, 1.6333, -0.165, -0.8291, -0.3458, 0.0359, -0.0277, 0.804, 0.6609, -0.6109, -0.0235, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4882 left_y=-0.2852 left_z=0.1921 left_yaw=0.0732 left_pitch=0.1863 left_roll=0.1295 left_gripper=0.0359 right_x=0.2679 right_y=0.0003 right_z=0.1578 right_yaw=0.0013 right_pitch=-0.1715 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -11.3162, 9.3607, 1.4774, -0.5201, 0.0806, 1.0281, -0.0615, -1.3744, 7.2957, 1.9219, -0.022, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b872486ae0fe2e06dcbe611dd2e8d81baa4b9f62ce5cb931cf7895f826e3d9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00586aacbd15881ac9f7eade9d6af0c243b6b99d1ad0a711ee33c65041776dd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68f8b33e8a337cbffa906992933aaa8a8477a61dec8860dde65bbc396bc86450",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGB37tzbSPdrfnLTzqUn53xwMktE8sJnxN7_yCcpYu9_WyyPHgVsOmkyhoR4CV8sgjUU8v2jro15xgKYp6M88Wxx_DU4I3TNIXkhn4vYiNa88mjahr2oFQB77i892IIAyJTgnZ593oSVQrXyzr7FZm5XexdrJuFu6smKvaJ9kqIA8X-GTim7Admu_n9w3Rg9Oy23x8xkm4Mem2APnel-ZrILadVZL5mPJ_t-hKphpK1jvsz2yVNkh09EuAGn8Y023YJEXzR-8vW_Nbd1J_BU4LjTyTsNlNv9YW0Yx2bZW5NNKeC0_9zsZlPurEHMQFTyyprQ1jbils-KLYy9hfl4eYY0SV6qCAcX_xaxMDfCIdPEkXXLHyMOk7A8PWbClwjAmJtHp0hB5Q8Hau2OF1FfE81rC0Q2dJkkZKuhm3_4zxzyBAze5tdj29RLEYlgfSeGY5xrz9p-5ElABPkMaxfRaaaPLFyV91TdgZuohlEKItA_MNDWnWoxEFJ5EMsYYCBEQyxGNdYJJAxubo0QmJijK4ImGGl-_g8pyV6Rqll_Vtc_OrA98H1jFqs6yG-97vZ_73NwwzSUX4RSfT7LmQQdkze17dR9-YWuJFGBKWLYpbVXylbnX9mDONVZBZiI16cUU9qYISd4NbEpB6dawMDBZvcAoHKtXmG6jkfk4gTJiUysMT_GQ-eJhfrjpQrVOXU2YDxOy-mREg-2kowtnvjn5ENsZcPSHW-vyry9xKYAvgRJydyA23IGcjmPnx_Ntl9v2v6oJN9oiLWD8eeLc-g6RGYGAQBon7ZPkLjLYM31mNBWsYEIa-6SMO0h3oAQeJ-0e-zVNvwxTT5Pg_ywwBvUeN29ZpqwnacYF67IGU93hgqGWH6_imbQeS9M1GD5emqIJYggfeaqEFUvjV4h6RxdJynbGct45lgM1_fWgtaL0huPxGtk3a-PFzo4SjPU3ylJA2-Q94Y3K4H6jNLeR2Ctmc34GvliVRmZKIfjGRh11-aM763xHorT2luA55hsrxhuN8nr7EEsh4slQoT-5yhg6Bqrkc-cqT1NuWvQoFClaPjAowFxn8WWfNgKQ6xS3t9L0MPaoBQxXSjRPqg-Lds0kg4KDgZFaaEj1m8nVspCV3p4p9a6oIUGZIzgp9IEAx_FsjEsMGnqWRBxlxd_-klweY54zxx0eFP3k9xWtB-fyCB6yYn5iUhxRCwZSvv7vzDbNKoy-vmBnFjbDiE7uky9zfymXw==",
  "id": "rs_0c9facfef04a6c4d016ab46075b9cc87d0ad832ba0163ce882",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.075,\"left_x\":0.49,\"left_y\":-0.29},\"note\":\"The white plush is suspended over the red-lined compartment. I’m lowering it inside before releasing so it will not catch on the rim.\"}",
  "call_id": "call_Fs6pgHANLcK7ZQY6XkhG7TTC",
  "id": "fc_0c9facfef04a6c4d016ab46075f16087d082a5c7f4db9afdab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Fs6pgHANLcK7ZQY6XkhG7TTC",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7746, 2.2234, 1.4414, 0.1394, -0.8276, -0.3492, 0.0359, -0.0277, 0.807, 0.6609, -0.6315, -0.0235, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4854 left_y=-0.288 left_z=0.0782 left_yaw=0.0608 left_pitch=0.1528 left_roll=0.1631 left_gripper=0.0359 right_x=0.2645 right_y=0.0004 right_z=0.1534 right_yaw=0.0012 right_pitch=-0.1952 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -11.1521, 5.9419, 1.7998, -0.359, -0.0269, 1.0281, -0.0479, -0.8, 6.8444, 1.7509, -0.0317, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cee16ea78308ba50cd8b5e05448b3540949befd9e3c2a187ded382e8594d69cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43fd76ea6fa0cc6e384d9f21a41ec5ef99333fde4ecdbcf39b62b3f32e41fcd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1262a33f496b395a8c08c0381b67857c16b02e6eadfe203b04f14e54b460a46f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5426, 2.059, 0.8288, 0.7578, -0.6331, -0.1978, 0.035, -0.0238, 0.8688, 0.6666, -0.6575, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4597 left_y=-0.151 left_z=0.0377 left_yaw=0.0771 left_pitch=0.1991 left_roll=0.112 left_gripper=0.035 right_x=0.2627 right_y=0.0008 right_z=0.1364 right_yaw=0.0023 right_pitch=-0.2772 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.7179, -8.0068, 4.0547, 1.4628, 0.0855, 0.0904, 1.0623, -0.1162, -1.388, 6.7761, 1.663, -0.0415, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7677, 2.0613, 1.6333, -0.165, -0.8291, -0.3458, 0.0359, -0.0277, 0.804, 0.6609, -0.6109, -0.0235, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4882 left_y=-0.2852 left_z=0.1921 left_yaw=0.0732 left_pitch=0.1863 left_roll=0.1295 left_gripper=0.0359 right_x=0.2679 right_y=0.0003 right_z=0.1578 right_yaw=0.0013 right_pitch=-0.1715 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -11.3162, 9.3607, 1.4774, -0.5201, 0.0806, 1.0281, -0.0615, -1.3744, 7.2957, 1.9219, -0.022, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7746, 2.2234, 1.4414, 0.1394, -0.8276, -0.3492, 0.0359, -0.0277, 0.807, 0.6609, -0.6315, -0.0235, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4854 left_y=-0.288 left_z=0.0782 left_yaw=0.0608 left_pitch=0.1528 left_roll=0.1631 left_gripper=0.0359 right_x=0.2645 right_y=0.0004 right_z=0.1534 right_yaw=0.0012 right_pitch=-0.1952 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -11.1521, 5.9419, 1.7998, -0.359, -0.0269, 1.0281, -0.0479, -0.8, 6.8444, 1.7509, -0.0317, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cee16ea78308ba50cd8b5e05448b3540949befd9e3c2a187ded382e8594d69cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43fd76ea6fa0cc6e384d9f21a41ec5ef99333fde4ecdbcf39b62b3f32e41fcd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1262a33f496b395a8c08c0381b67857c16b02e6eadfe203b04f14e54b460a46f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The plush is down within the safe’s compartment. I’m opening the fingers to leave it inside.\"}",
  "call_id": "call_lrVieyS8Ohp5k7fuBsAruNEC",
  "id": "fc_0c9facfef04a6c4d016ab46079378487d0a72bb6b3c0decb15",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lrVieyS8Ohp5k7fuBsAruNEC",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7746, 2.2517, 1.4311, 0.1265, -0.8276, -0.3534, 0.9952, -0.0277, 0.8097, 0.6598, -0.6571, -0.0235, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4815 left_y=-0.2842 left_z=0.0577 left_yaw=0.0579 left_pitch=0.1186 left_roll=0.1978 left_gripper=0.9952 right_x=0.2599 right_y=0.0005 right_z=0.1479 right_yaw=0.0014 right_pitch=-0.2245 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -14.653, 6.8034, 1.6093, -0.3248, -0.0171, -0.0513, -0.0342, -1.2239, 6.8718, 1.746, -0.0806, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb4010d77a701d5b31cccde2c823aca19841bbb1caf7420a079cde639a81768",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd11fb4ca79b41696c17f3ef05fdf2f1adbe2879393763d5295f2e2b6b25e90c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b066059a8b7444b0e142d2dd1ab60ac11ca7412bf0fa3a76ef57e08e4b2fd45",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 37 changed as sent

message 45 changed as sent

message 48 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5564, 1.8492, 0.8551, 0.4492, -0.6464, -0.2184, 0.0359, -0.0277, 0.8005, 0.6666, -0.5724, -0.0216, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4462 left_y=-0.148 left_z=0.0839 left_yaw=0.078 left_pitch=0.1457 left_roll=0.1413 left_gripper=0.0359 right_x=0.2749 right_y=-0.0002 right_z=0.1683 right_yaw=-0.0005 right_pitch=-0.1239 right_roll=-0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -11.7265, 8.4171, 1.7998, -0.2613, 0.0513, 1.033, -0.4855, -1.853, 9.0051, 2.2735, -0.1099, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7746, 2.2234, 1.4414, 0.1394, -0.8276, -0.3492, 0.0359, -0.0277, 0.807, 0.6609, -0.6315, -0.0235, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4854 left_y=-0.288 left_z=0.0782 left_yaw=0.0608 left_pitch=0.1528 left_roll=0.1631 left_gripper=0.0359 right_x=0.2645 right_y=0.0004 right_z=0.1534 right_yaw=0.0012 right_pitch=-0.1952 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -11.1521, 5.9419, 1.7998, -0.359, -0.0269, 1.0281, -0.0479, -0.8, 6.8444, 1.7509, -0.0317, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7746, 2.2517, 1.4311, 0.1265, -0.8276, -0.3534, 0.9952, -0.0277, 0.8097, 0.6598, -0.6571, -0.0235, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4815 left_y=-0.2842 left_z=0.0577 left_yaw=0.0579 left_pitch=0.1186 left_roll=0.1978 left_gripper=0.9952 right_x=0.2599 right_y=0.0005 right_z=0.1479 right_yaw=0.0014 right_pitch=-0.2245 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -14.653, 6.8034, 1.6093, -0.3248, -0.0171, -0.0513, -0.0342, -1.2239, 6.8718, 1.746, -0.0806, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb4010d77a701d5b31cccde2c823aca19841bbb1caf7420a079cde639a81768",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd11fb4ca79b41696c17f3ef05fdf2f1adbe2879393763d5295f2e2b6b25e90c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b066059a8b7444b0e142d2dd1ab60ac11ca7412bf0fa3a76ef57e08e4b2fd45",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGB-QRzcbMFzQhMeQm7V1wSeI1ssKp95ypGuHynhwhTiWWMrxnKamSFXkO476XwMe7oL3WcGN_SWDycTi9aieOiaiWuUGKbs2PcHPC4ZqiUJM32ebXlNi4cu9K9HC4yQUz6xG-R7tH2CikD0rAkVP7vUuwLdPk5xfzP-h_cGIDKpxNxztbEUGkISeVLWvYvDINqhPIwAvP0oYF811WbdcEDuupoHZiq7bYxp5MfIvgR6atHhWv4UnoLnIky4O4WClaHekTyfF-Qy43C5MT14f2l46b-2wAubtaOgfjbBo7dgvpVqxxtN8XFDLKkiJB-xNHsDGEwfoTJhl-YHS2NQqwXWNLkXluJoLXTE7LFdf5TvbFqUvMRHDuyLsi6MlOtQcagFEqnQiSuWY2HGloYGgA_bYqtfcaH_p3J2smuAgoc5_Q54utocwez0NkPwT8VFbZFwAe4RmFKa_X4l67YP7S3RnETz6rE4TiDwpU0FSfFusrVWhJ5AF8zZtNBTNx3tGCRcwc0K9Zsg972ru2mSjWSKplAHcz1_wiiGL-3Wnrec8ZeU6SkaMRWLICWftk1ZolO1gSwl8FlQlcjt7QWC4xpveBLJsFZOC-ZINXIjI0SmysgbPcB4zZjWzgJeGgFw1xP6PmN58Sp53NINUW-lA8C6I0qr8hklFlblRv2LQihe0Z-R4iWBePA5B3SJD5Tb8RwmSg3kxQArmobuVdjG5aZZDztEVh4vrVsS49UaM1krXY9BZF5hmuQBFlTz9xas9P5qy8FO46NNKS2MT9Ycljdv6cZEJicQUDKT5ofrRM-1wr5fTgiFoz5CwttAemDT0oXN9U7zmiAP0oUN6LSi_8WMod6vBtLaG0kCF9-xIX1ViSECwOmuneYHZ7xxj8bzXgHBC1qfugnQ6Nb9JVEueqw96BuC09idALU3BuSr5L9YP331_RmSxAs07mtqZtKQL9rXnyu01uJLHvoR4TN_cEt67RtiBijKO9A6JxJZo6EezE0ee6UYIGS-g5M2qa7SFLC6YyjVFVxaYcuaSvS5SNtnjMc5Cf_L3OVLNw1VQAO5VaED72q-eB7nXgI8k9xRlSgdlKEBF39HiF_Zq5n2NIJ6SAiwKY7oXKcAQSZdSzTur1Yho0-cUXhRIdryIzuGmctXU_fmoFJY2OOx0NduTHALrqYHbvxoeVgt53wyFv6vPPowX75d-Gev3_DHe59QoACJTL7gnv9Cfzh2AKe29O_kfwVKiWmlSWItmhwUB6c5KCGJRyIcxmq713GbwqVIJL1LfVup6U5A_fLgJvXTCI99qOAi0c9vakzN0Qi92MnGi6boCQ5YlhpQk7sKO4zVs-O4HhhyOiU2s5XNACFUNcoqojXj1Q_jNAm0t4jxoD_4gFseAME_IdSk-XZvCHU96lMUltTOPahYo3QYzk79PnPvWHg0TjmXmgHv83Te2spEacIEv3yCWTBeKlvSurZdkD-YvE2xK6kBN0paYTMTXDPaYA9GQNjI3pSAh--ALro4ET6hQt0VuDHao3myufBF24zZPph2MX5oS0M3xamHSXtJKsYwFEvDOVr7TLDTuExnoKaCqfWC_O-DoYfiW0C5bm5X",
  "id": "rs_0c9facfef04a6c4d016ab4607c515887d08aacb2bd9ac1c840",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.04,\"left_z\":0.23,\"left_pitch\":0,\"right_x\":0.35,\"right_y\":0.25,\"right_z\":0.15,\"right_pitch\":0},\"note\":\"The white plush is released inside the safe. I’m withdrawing the left arm and bringing the right arm over the brown plush for the next pickup.\"}",
  "call_id": "call_qMF8ItKZjkIsXCEcs2W1qUd4",
  "id": "fc_0c9facfef04a6c4d016ab4607de60c87d0b91c86e717b5ed24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qMF8ItKZjkIsXCEcs2W1qUd4",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4095, 1.0386, 0.8703, -0.4843, -0.5201, -0.1623, 0.9963, 0.8719, 1.6024, 1.0233, -0.2829, 0.6544, 0.5514, 0.9996]\nstate[eef_state]: left_x=0.3255 left_y=-0.0417 left_z=0.2221 left_yaw=0.0902 left_pitch=0.0116 left_roll=0.1883 left_gripper=0.9963 right_x=0.3389 right_y=0.2417 right_z=0.1326 right_yaw=0.0351 right_pitch=-0.0648 right_roll=-0.0478 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -3.0154, 8.8957, 1.8046, -0.1587, 0.1685, 0.1001, 0.3077, -7.2547, 8.9094, 1.5702, 0.4713, 0.2369, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9045dd3359aab7d5b562e89adcb98f8e9a86e359324f0b78cf663582c177d6b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67097a71508d8a27b9ca74cb47c291d368dc6b32dae02f30ca875b38b9f725dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9888175702bd711edf9e505372171b2194b870c713dfffa2f2a01ee80234a2cd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 41 changed as sent

message 48 changed as sent

message 52 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7677, 2.0613, 1.6333, -0.165, -0.8291, -0.3458, 0.0359, -0.0277, 0.804, 0.6609, -0.6109, -0.0235, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.4882 left_y=-0.2852 left_z=0.1921 left_yaw=0.0732 left_pitch=0.1863 left_roll=0.1295 left_gripper=0.0359 right_x=0.2679 right_y=0.0003 right_z=0.1578 right_yaw=0.0013 right_pitch=-0.1715 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -11.3162, 9.3607, 1.4774, -0.5201, 0.0806, 1.0281, -0.0615, -1.3744, 7.2957, 1.9219, -0.022, -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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7746, 2.2517, 1.4311, 0.1265, -0.8276, -0.3534, 0.9952, -0.0277, 0.8097, 0.6598, -0.6571, -0.0235, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4815 left_y=-0.2842 left_z=0.0577 left_yaw=0.0579 left_pitch=0.1186 left_roll=0.1978 left_gripper=0.9952 right_x=0.2599 right_y=0.0005 right_z=0.1479 right_yaw=0.0014 right_pitch=-0.2245 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -14.653, 6.8034, 1.6093, -0.3248, -0.0171, -0.0513, -0.0342, -1.2239, 6.8718, 1.746, -0.0806, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4095, 1.0386, 0.8703, -0.4843, -0.5201, -0.1623, 0.9963, 0.8719, 1.6024, 1.0233, -0.2829, 0.6544, 0.5514, 0.9996]\nstate[eef_state]: left_x=0.3255 left_y=-0.0417 left_z=0.2221 left_yaw=0.0902 left_pitch=0.0116 left_roll=0.1883 left_gripper=0.9963 right_x=0.3389 right_y=0.2417 right_z=0.1326 right_yaw=0.0351 right_pitch=-0.0648 right_roll=-0.0478 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -3.0154, 8.8957, 1.8046, -0.1587, 0.1685, 0.1001, 0.3077, -7.2547, 8.9094, 1.5702, 0.4713, 0.2369, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9045dd3359aab7d5b562e89adcb98f8e9a86e359324f0b78cf663582c177d6b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67097a71508d8a27b9ca74cb47c291d368dc6b32dae02f30ca875b38b9f725dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9888175702bd711edf9e505372171b2194b870c713dfffa2f2a01ee80234a2cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGCG9B5SYoVldpV76WVcvtQtwjJaQruiWvVjS-pMdKMSq_u-ZeTJb8veR9MepplQ6gwKqv2sLX-tlm7Bwj20tTXOVtHK1MqEyxjUc2pEq_PTWYZBtLZ8AY95NQdwOUMhF5zafyObvyc1afOBK9bitROJPs1FoNE2_Mn0Dbcsqnmn0ySW-s0-9oOxmhnR8MiqSDGeZrIlFfwIbP3LdyF6VMv_iyN-yhqW169Ov2o2Rqmvq_A9_cgoAHoceX4UmZrBrmtvf6iNS8QNGqOJ6EGvZ96KwqP-wgwmisOni1h7qNqWguJ2gxYR5Q0yOJ4-cvwmSXFD021f8sZa99HbezhnKbZbf6fG0i7eKiT5k22R8YQhtMnyQpeSfn0iUdqsEQaKtNUOXvXHo8rLjokmstrloLDlhfkijrW2ZZuF2nns7AciOugAGsclbLlYvMZGcjITX3puTvG6iXgIPLEDhxT7APCaUbmI4exJBQXfvfknjCM8qcdZSM4-ERNAncINKMoRGltlRru6XuHquQPs4Zx_vtu2fGcavWNb235KOfqJngNjj_cc6ymL_L7jKznSSlQMeN5rHRLMviLi3AOrFCcXdJHuJNQo_5CeS-h45bha0e1m6fewaMwkLTuyXWIEZWd7UIS7KKkVBUanqlTzSm375MHnAupSu55pzbu37VEF78JSdCeKPf5pQwp9It-YQ70QiBGiRjlUWVaasRl7HEOYS3arltKjqd-GsMcU9YNE4CK0pFPc_ngzEYqg7akcbfeSlz9RUR3N6V1HR4zqSGp8sndUyvMaTdNDfv34cW4jy7CPEJyRQu6ZMfxNBU-MIZXWcE7rMfSehVfBAXhfN7-h26ADOiIDJdj_uJXQ6OmW9LGkIgb55atjw7dTopCHZ3739IzOILRLsi7l8XctMIJQn5Z0tHrCZBhIBZgcmzUrwH7Hn23P1zsjRvqdAflyydpDH7IaKh9ZfB1EtJOU5vUUPC4YHWF0cnaPUClA9LZ1M79ZoYQxvTdqJOGh4TovcqYJwxDw3yz1CGiuGGBOBXy_GMl_UY8XF_pUtbl8hSuf4Qj6UIPT2uAG7ekhGkfsNV0jOC5VxqQMrkb7w01TfRwHK6k5aWH2x_-Pi2vlxyU1rBMNBBlVd9RLFF7wz-yWcdjQWCHkVoWcpYLDmUamxr3D4uEkagiV2KpiNroAFn-z00Pj5tqOtBfIJO9fvM9VFjoqAZnN1N199I12mTM6nywWcFCdYs95tTX2_3vYedNBbHSKqYm05kXHH0mQVEQKQVjl4QjID5mxePqRUdN1iWQhI4vgeOOJekHtOY47998hOZD8M884eu_FE07q7KVW90tjdtIkxYlMofVNjSkd-W1nIYSrgK5fXuqnws0mdtkrISye4jSkF2leJ2NnfpjbSCSL3bQWFKvaGEoVRAVXceJ1XFtStljWmF19lyjuPSsWFNx9wqAaKiGFgGXbMm9wRhTC9ezRkLfIsgIsM26dmj78yzXkR_NS_KJ3k7tbIiuofcIIM1ZfGpkJeTekoljLAciC7VljseMs8zGIF8GkBxLslD0wsyQ8JHBTIIHWWgkgv0bd4e5hq7eiDnw7FO7C5dzl3rRTCNyb5EintcRCDtXKF1y5TqUbXc2KAI7FnOwKUDVSmjjmBZS4xfNZNbyESTmuspKcimgZ3DazlXSXYxEhla1MrRvVNdfM-cO_zTXM2uK3XpYnwmIuhoTcYKN8gQW32Wg_PeiZLP0f-xw3U8e_7Ak1ug==",
  "id": "rs_0c9facfef04a6c4d016ab46082a5a487d0bbc2221e3e2a3390",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.27,\"right_z\":0.025,\"right_pitch\":0.12},\"note\":\"The brown plush is directly below the right gripper, slightly left of the jaw center. I’m centering on its torso and lowering between its limbs.\"}",
  "call_id": "call_OEmkTcFBMkhTxW6ebpLlhGAa",
  "id": "fc_0c9facfef04a6c4d016ab46084ef8487d0add4211b0f1386eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OEmkTcFBMkhTxW6ebpLlhGAa",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4072, 1.0435, 0.87, -0.5167, -0.5098, -0.1654, 0.9964, 0.936, 1.9503, 0.8219, 0.3515, 0.7734, 0.5034, 0.9996]\nstate[eef_state]: left_x=0.3219 left_y=-0.0411 left_z=0.2143 left_yaw=0.0862 left_pitch=-0.0243 left_roll=0.1981 left_gripper=0.9964 right_x=0.3438 right_y=0.2648 right_z=0.0239 right_yaw=0.0443 right_pitch=0.0549 right_roll=-0.0797 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -3.3162, 6.8855, 1.8584, -0.2857, -0.0122, 0.0024, 0.1983, -7.4462, 3.9316, 1.2869, 0.3736, -0.232, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db4be70f225e10d6703b105158064ff627e4f9e4b02b35ad3a6138ddd56a2226",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be0ab77503671b9a66679d425a0995b104e89bbc30c293af7d098bad3abc1b1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:686a3dcd736f4fdb6c5e9c174a46c70ecc567daa328da9f6c838a9da6eb95c8b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 45 changed as sent

message 52 changed as sent

message 56 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7746, 2.2234, 1.4414, 0.1394, -0.8276, -0.3492, 0.0359, -0.0277, 0.807, 0.6609, -0.6315, -0.0235, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4854 left_y=-0.288 left_z=0.0782 left_yaw=0.0608 left_pitch=0.1528 left_roll=0.1631 left_gripper=0.0359 right_x=0.2645 right_y=0.0004 right_z=0.1534 right_yaw=0.0012 right_pitch=-0.1952 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -11.1521, 5.9419, 1.7998, -0.359, -0.0269, 1.0281, -0.0479, -0.8, 6.8444, 1.7509, -0.0317, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4095, 1.0386, 0.8703, -0.4843, -0.5201, -0.1623, 0.9963, 0.8719, 1.6024, 1.0233, -0.2829, 0.6544, 0.5514, 0.9996]\nstate[eef_state]: left_x=0.3255 left_y=-0.0417 left_z=0.2221 left_yaw=0.0902 left_pitch=0.0116 left_roll=0.1883 left_gripper=0.9963 right_x=0.3389 right_y=0.2417 right_z=0.1326 right_yaw=0.0351 right_pitch=-0.0648 right_roll=-0.0478 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -3.0154, 8.8957, 1.8046, -0.1587, 0.1685, 0.1001, 0.3077, -7.2547, 8.9094, 1.5702, 0.4713, 0.2369, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4072, 1.0435, 0.87, -0.5167, -0.5098, -0.1654, 0.9964, 0.936, 1.9503, 0.8219, 0.3515, 0.7734, 0.5034, 0.9996]\nstate[eef_state]: left_x=0.3219 left_y=-0.0411 left_z=0.2143 left_yaw=0.0862 left_pitch=-0.0243 left_roll=0.1981 left_gripper=0.9964 right_x=0.3438 right_y=0.2648 right_z=0.0239 right_yaw=0.0443 right_pitch=0.0549 right_roll=-0.0797 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -3.3162, 6.8855, 1.8584, -0.2857, -0.0122, 0.0024, 0.1983, -7.4462, 3.9316, 1.2869, 0.3736, -0.232, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db4be70f225e10d6703b105158064ff627e4f9e4b02b35ad3a6138ddd56a2226",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be0ab77503671b9a66679d425a0995b104e89bbc30c293af7d098bad3abc1b1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:686a3dcd736f4fdb6c5e9c174a46c70ecc567daa328da9f6c838a9da6eb95c8b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGCITo6vu3Moxdvtriz_LP5fVPOV4PHhRe4Q1-mPmc-K6CDsuxzTyePJ3MJAbr8d_2OzVn67Jbii348pCn1O5njZxVmGms-TDQXili0HnJYzYrWqSj41XRPA4JcrqHzYMVh0r7Qb1NJhSNk1RyWUvSXkX47N7163i-PEF8SHS7NJ9ns0iAv-C2wn2jp8dS_ihvl9Q_1PR7lLP48V_n6hWfVPEzLNaCaRszwK2uiVzgBPwLkHR5bn9wH2nY-JsnRey6dhT8ZHgAB9KKLpddcAOQaBy0iHriCRQZzqmHtp_LExWNHSwcTUK496OpDbymVsxyZ_bEon7YIBnMEgIViQCxxhEje3T53NQxqwQocJL02R8HQTfTy2EJho15zgQRYUFj18HlhGpxFmBei5Gd8Qz1rVlVH_aEhTh-d8rWlxOb07W1TMF5qpMjA8QqcwdVybe0dabbHiaetYhvRPX3hKdbBTbsNQ_n06gTvDJ8VLD-U3C5iv84ConrYzLodDSWh8R7KVJdsmvZPpQKYkUHMKBqZR8N5LV8tHINjQsKUgGeOLXgzkoTNBwFp7PDxwWvW4Y4iT09ab0HAe_YgDdtdGXs1MHWSJDOMjnKAGWrU5vwL7W5_DQ9utLdiO4Sr4WlrCFycQzrnW0IiHv4kCenBjyzWi4dOzD2_YjVLxm9kLMhaRZQDRvg2TKGbUGQ4njXpFnZVw76s6B4jEirNUORvZuHTjJxMzwLlhxScilYoTz3I4-39WvhgTGLD1UGsc2BKOFv1naiY2T8TWZYXosjJCVKqol3GyHJ9DZBcQ61WZDbVCuQiZSLjpL9qzB1-gunUx0q3e5gPBNNTRCgBrNXTMzGTMEbpxIlHn5RPnKAD-UpSaMu2mDCgw-GZ1Z0L849bWq0G_JMKg5YCJO8wijFeMsMw1TInb8ewJlBvzDsZscAtyRimg1WoK-g4-9O5bPXu8RT2WaIx0r4aniRmKQNB2b6jnUSzqwFztYX-F4Xdu7M7HvIIDd1Yena8oar92v4xIpUlUvIs_SVpv87MQRlgXUilJRttRY52DPTm6o-BDuPIS_bTEDRogMLNjm6xgL23a9lDawXI3g_FRH7ceYikp3d6o2HtJjtS_PZxeIaCB0z7QfwvW6nERuat3eDNZlNjH917p61Zyk4pxmlL28O3VByU9tLr7iOIJSHpYZyMUxZjwYeysBVengOtVVoZMK7iVzw8W7DlVeIOTlLenn7nWe_X8Yg==",
  "id": "rs_0c9facfef04a6c4d016ab460881c8487d0ad89b74ab3a72e13",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open fingers straddle the brown plush’s body. I’m closing around it for a short lift test.\"}",
  "call_id": "call_LPvHoiKqDK8GXNy1vn03Fhpg",
  "id": "fc_0c9facfef04a6c4d016ab460884c5c87d08749f100dd473857",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LPvHoiKqDK8GXNy1vn03Fhpg",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4072, 1.0435, 0.87, -0.5251, -0.5121, -0.1658, 0.9964, 0.936, 1.9652, 0.8181, 0.3767, 0.7708, 0.5014, 0.0142]\nstate[eef_state]: left_x=0.3208 left_y=-0.0402 left_z=0.213 left_yaw=0.0883 left_pitch=-0.0309 left_roll=0.2031 left_gripper=0.9964 right_x=0.3442 right_y=0.2658 right_z=0.0202 right_yaw=0.0469 right_pitch=0.0575 right_roll=-0.0751 right_gripper=0.0142\nstate[joint_eff]: [-0.0752, -2.9197, 6.9265, 1.6728, -0.188, -0.0366, -0.0122, -0.0342, -10.2085, 5.012, 1.1941, 0.2759, 0.0024, 0.8083]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d2676ab3180a482fdb5d8e58a6067e600b16c51fdfa5507943681dc31350416",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beb7e411d31ffa23344bddd5a4e3b5846b8c3cd0149cc54006f5b618536845df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c8d4c6add24d9cb38142331ba7a7d3c3f1d4008d52a8f90c60ea5368c651550",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7746, 2.2517, 1.4311, 0.1265, -0.8276, -0.3534, 0.9952, -0.0277, 0.8097, 0.6598, -0.6571, -0.0235, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4815 left_y=-0.2842 left_z=0.0577 left_yaw=0.0579 left_pitch=0.1186 left_roll=0.1978 left_gripper=0.9952 right_x=0.2599 right_y=0.0005 right_z=0.1479 right_yaw=0.0014 right_pitch=-0.2245 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -14.653, 6.8034, 1.6093, -0.3248, -0.0171, -0.0513, -0.0342, -1.2239, 6.8718, 1.746, -0.0806, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4072, 1.0435, 0.87, -0.5167, -0.5098, -0.1654, 0.9964, 0.936, 1.9503, 0.8219, 0.3515, 0.7734, 0.5034, 0.9996]\nstate[eef_state]: left_x=0.3219 left_y=-0.0411 left_z=0.2143 left_yaw=0.0862 left_pitch=-0.0243 left_roll=0.1981 left_gripper=0.9964 right_x=0.3438 right_y=0.2648 right_z=0.0239 right_yaw=0.0443 right_pitch=0.0549 right_roll=-0.0797 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -3.3162, 6.8855, 1.8584, -0.2857, -0.0122, 0.0024, 0.1983, -7.4462, 3.9316, 1.2869, 0.3736, -0.232, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4072, 1.0435, 0.87, -0.5251, -0.5121, -0.1658, 0.9964, 0.936, 1.9652, 0.8181, 0.3767, 0.7708, 0.5014, 0.0142]\nstate[eef_state]: left_x=0.3208 left_y=-0.0402 left_z=0.213 left_yaw=0.0883 left_pitch=-0.0309 left_roll=0.2031 left_gripper=0.9964 right_x=0.3442 right_y=0.2658 right_z=0.0202 right_yaw=0.0469 right_pitch=0.0575 right_roll=-0.0751 right_gripper=0.0142\nstate[joint_eff]: [-0.0752, -2.9197, 6.9265, 1.6728, -0.188, -0.0366, -0.0122, -0.0342, -10.2085, 5.012, 1.1941, 0.2759, 0.0024, 0.8083]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d2676ab3180a482fdb5d8e58a6067e600b16c51fdfa5507943681dc31350416",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beb7e411d31ffa23344bddd5a4e3b5846b8c3cd0149cc54006f5b618536845df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c8d4c6add24d9cb38142331ba7a7d3c3f1d4008d52a8f90c60ea5368c651550",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGCNrfwIllznByZ4B_n8bArhBeCwzyBd6hKG3dHVQhwVxMTjZH9z_GzYpm_bDhvxJyuB3-NZO2y8_kxgqHAyemvjMoNkLCQ5jATEHCAYTbnhKgXIrj1Hy_uVRgcckLaXlrqF2Y1Vpv5zRcANY9kgCM3SYOwS8vC_ukquJM0xeIKIOXJtALNi6w6hSH3L7ixaRP0Vp5PqwIYKG8ho9OdS20aMZpPLCqOwLSwP_gySwIpO1VUn8-xpbYW5xcHkoJaVI_pzdJJDnlTzfmKybW20AqUGG5Y8lTd_RR1mwjaVapF5g1gWECRURIpo4z0ugcPEMTyMp03ka3DJ312iayxixClT0U82shAi5_vp7EqksmdcHzwJjtGeW5Eg0v-MN53BWTR2FjubhN94TeoglVoZ25uf0bqD9pfxcduynqsancbJ8KKU4psjkfld7ND_zK7Jh8yPpXvIrGe5AxNUiJysf_xI7a6XxtvY0J7D87dcSAuCybCXfbLBaSuwCee0r_bBbolb_PFVfMA57BIGpLQvUDDaQ1jN60Bemrku1Mjbh3l2gEUDVYp48u9HhHBgxmKPjl2EdSLDA7NgoZmq_PdLT-PCM35FcfrPfbhhKMLavu5-WYekqP5EaU1MXdleqRhPd6FCfkq6ENw4aVRGG3yoOdn7YbE6XzfT5Y_fOfqqBGiQ_f3GkrKR6HoHV0dCGz1K2cQSivICTv5wKsZdQF3alrg6u-8JDZgZYDVCH_G_PYyA_aTX5DybHATCWXrpcPmrQ1hMj8oyd7kYSDvQLycuCDV1jIBI7HtB9WGX-dMHktJdlALafAqUzTxz_c6QP3JI39V8GYOjNZM0EveF19dYkNFQMZc00nPa9cCzwRT_MEqByLrvXu5X9QCE7MNf6cJMsFoqE2kJuwoyHqOO3znDSsp8ZYONRVs1bnTW-IDwOp0Qmo9KvDk4luOSxF0S8rTK9nyFf_aCr0Mgynzz_gjXiGZVuNqH61BBZPj1ZDATmV6Jt-KQBSPhopSS1lG8DeZWVpcif58_DXzyj9_zFtTZG3hmhrgxYvyJnCxkbNNOwbijP_JaUfBWm7i7uo161AdvcGKUD6g5E_vTmo4-wpevno2YGUX9bec6RmshzbUzTLZJKoc027fKrLF0t4c19Lk9TZsJN8KO-AkT--Uu0APEEgX_v3xeZ27DmhusR0KVBbag_5OkurQBwvlpk6CAR4Js1J6lLMe53rUZ0XTesVldGK3hWCvGDCAYu9nKMHUP1JcXncR8S3lMQNZsp6xETyl63zlFzvMkBp92NhVyICr6MBAJl09eZCqtfTVQ1wNrpyUjwUGJvG6DQRxq9eYmZ_hWmlPaUZ5Sq6uxZXSfWBnJ3y-94vOMd0vSvnHG96Jm4UHqZnoYtYCd4o3i1lqWukm9iiuPdtG1O66qqzYu_oGPa_YbrRP8XyV_LqX-J8NOLjFXgZNFChQ1V0D8o7Ou5vnreW1mNFfZ1ck6fodskwpNx0nnJXhsJt1yegzMqvuXmXcNHfiyBahvcbP-ZIlpqwEqpHiNqEyLREcKP0U27ZXRvVYmew==",
  "id": "rs_0c9facfef04a6c4d016ab4608b2fc887d09a5d51203ab685ed",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.39,\"right_y\":0.27,\"right_z\":0.035,\"right_pitch\":0.12},\"note\":\"The gripper reading indicates an empty close, with the plush’s main body still ahead of the tips. I’m reopening and shifting forward to grasp higher on the torso.\"}",
  "call_id": "call_U3UvLOr3O0iOEFRXs4uokpnf",
  "id": "fc_0c9facfef04a6c4d016ab4608c7c0c87d0977d0af2b1588516",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_U3UvLOr3O0iOEFRXs4uokpnf",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4068, 1.0435, 0.87, -0.5369, -0.5121, -0.1661, 0.9965, 0.86, 2.0197, 0.8829, 0.4065, 0.7254, 0.3836, 0.9947]\nstate[eef_state]: left_x=0.3193 left_y=-0.0394 left_z=0.2109 left_yaw=0.0891 left_pitch=-0.0413 left_roll=0.2084 left_gripper=0.9965 right_x=0.375 right_y=0.2615 right_z=0.018 right_yaw=0.066 right_pitch=0.0548 right_roll=-0.1266 right_gripper=0.9947\nstate[joint_eff]: [-0.0752, -2.906, 6.8991, 1.663, -0.2271, -0.0757, -0.0073, -0.7863, -8.6906, 7.6513, 2.0684, 0.4567, -0.0562, -0.232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5f57c4c7ac440d674c517fafc3a9dbd26056a02a8d0fc09f5b1fccc4afe8185",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce84ec002de17d696db6584f2b0d5b5ea4e1455e13ce6002ccbbee4315858630",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a32158ffa5481fbc2ee75ce238fe6bfe9838a0ada7ec5cfaf601d81933cb5862",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4095, 1.0386, 0.8703, -0.4843, -0.5201, -0.1623, 0.9963, 0.8719, 1.6024, 1.0233, -0.2829, 0.6544, 0.5514, 0.9996]\nstate[eef_state]: left_x=0.3255 left_y=-0.0417 left_z=0.2221 left_yaw=0.0902 left_pitch=0.0116 left_roll=0.1883 left_gripper=0.9963 right_x=0.3389 right_y=0.2417 right_z=0.1326 right_yaw=0.0351 right_pitch=-0.0648 right_roll=-0.0478 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -3.0154, 8.8957, 1.8046, -0.1587, 0.1685, 0.1001, 0.3077, -7.2547, 8.9094, 1.5702, 0.4713, 0.2369, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4072, 1.0435, 0.87, -0.5251, -0.5121, -0.1658, 0.9964, 0.936, 1.9652, 0.8181, 0.3767, 0.7708, 0.5014, 0.0142]\nstate[eef_state]: left_x=0.3208 left_y=-0.0402 left_z=0.213 left_yaw=0.0883 left_pitch=-0.0309 left_roll=0.2031 left_gripper=0.9964 right_x=0.3442 right_y=0.2658 right_z=0.0202 right_yaw=0.0469 right_pitch=0.0575 right_roll=-0.0751 right_gripper=0.0142\nstate[joint_eff]: [-0.0752, -2.9197, 6.9265, 1.6728, -0.188, -0.0366, -0.0122, -0.0342, -10.2085, 5.012, 1.1941, 0.2759, 0.0024, 0.8083]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4068, 1.0435, 0.87, -0.5369, -0.5121, -0.1661, 0.9965, 0.86, 2.0197, 0.8829, 0.4065, 0.7254, 0.3836, 0.9947]\nstate[eef_state]: left_x=0.3193 left_y=-0.0394 left_z=0.2109 left_yaw=0.0891 left_pitch=-0.0413 left_roll=0.2084 left_gripper=0.9965 right_x=0.375 right_y=0.2615 right_z=0.018 right_yaw=0.066 right_pitch=0.0548 right_roll=-0.1266 right_gripper=0.9947\nstate[joint_eff]: [-0.0752, -2.906, 6.8991, 1.663, -0.2271, -0.0757, -0.0073, -0.7863, -8.6906, 7.6513, 2.0684, 0.4567, -0.0562, -0.232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5f57c4c7ac440d674c517fafc3a9dbd26056a02a8d0fc09f5b1fccc4afe8185",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce84ec002de17d696db6584f2b0d5b5ea4e1455e13ce6002ccbbee4315858630",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a32158ffa5481fbc2ee75ce238fe6bfe9838a0ada7ec5cfaf601d81933cb5862",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown plush’s torso now sits deeper between the jaws. I’m closing again at this corrected position.\"}",
  "call_id": "call_H5yM90vBQbGjh9deY4Toc1Qb",
  "id": "fc_0c9facfef04a6c4d016ab4608fbfb887d0a54c38d7771dfbb2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_H5yM90vBQbGjh9deY4Toc1Qb",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4072, 1.0435, 0.87, -0.5446, -0.5121, -0.1665, 0.9969, 0.8577, 2.0235, 0.8841, 0.3985, 0.7181, 0.3752, 0.0371]\nstate[eef_state]: left_x=0.3182 left_y=-0.0391 left_z=0.2097 left_yaw=0.089 left_pitch=-0.048 left_roll=0.2117 left_gripper=0.9969 right_x=0.3746 right_y=0.2609 right_z=0.015 right_yaw=0.0738 right_pitch=0.0432 right_roll=-0.138 right_gripper=0.0371\nstate[joint_eff]: [-0.0479, -2.906, 6.8308, 1.5946, -0.2613, -0.0659, 0.0269, 0.0752, -9.6342, 4.6974, 1.5556, 0.3443, 0.1392, 0.9988]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4315fb85637bdb2af3b055b68c5e8a0053bf57d936530ac1267d3967e720af2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f911ef068f8a22c969f39691c471206a9cfd1c8bb47cff64885701d959694a80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3519b630943abf85b4c0d8f14c4f812de5f75074022c8bbedaab22fa5b646948",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 56 changed as sent

message 64 changed as sent

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4072, 1.0435, 0.87, -0.5167, -0.5098, -0.1654, 0.9964, 0.936, 1.9503, 0.8219, 0.3515, 0.7734, 0.5034, 0.9996]\nstate[eef_state]: left_x=0.3219 left_y=-0.0411 left_z=0.2143 left_yaw=0.0862 left_pitch=-0.0243 left_roll=0.1981 left_gripper=0.9964 right_x=0.3438 right_y=0.2648 right_z=0.0239 right_yaw=0.0443 right_pitch=0.0549 right_roll=-0.0797 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -3.3162, 6.8855, 1.8584, -0.2857, -0.0122, 0.0024, 0.1983, -7.4462, 3.9316, 1.2869, 0.3736, -0.232, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4068, 1.0435, 0.87, -0.5369, -0.5121, -0.1661, 0.9965, 0.86, 2.0197, 0.8829, 0.4065, 0.7254, 0.3836, 0.9947]\nstate[eef_state]: left_x=0.3193 left_y=-0.0394 left_z=0.2109 left_yaw=0.0891 left_pitch=-0.0413 left_roll=0.2084 left_gripper=0.9965 right_x=0.375 right_y=0.2615 right_z=0.018 right_yaw=0.066 right_pitch=0.0548 right_roll=-0.1266 right_gripper=0.9947\nstate[joint_eff]: [-0.0752, -2.906, 6.8991, 1.663, -0.2271, -0.0757, -0.0073, -0.7863, -8.6906, 7.6513, 2.0684, 0.4567, -0.0562, -0.232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4072, 1.0435, 0.87, -0.5446, -0.5121, -0.1665, 0.9969, 0.8577, 2.0235, 0.8841, 0.3985, 0.7181, 0.3752, 0.0371]\nstate[eef_state]: left_x=0.3182 left_y=-0.0391 left_z=0.2097 left_yaw=0.089 left_pitch=-0.048 left_roll=0.2117 left_gripper=0.9969 right_x=0.3746 right_y=0.2609 right_z=0.015 right_yaw=0.0738 right_pitch=0.0432 right_roll=-0.138 right_gripper=0.0371\nstate[joint_eff]: [-0.0479, -2.906, 6.8308, 1.5946, -0.2613, -0.0659, 0.0269, 0.0752, -9.6342, 4.6974, 1.5556, 0.3443, 0.1392, 0.9988]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4315fb85637bdb2af3b055b68c5e8a0053bf57d936530ac1267d3967e720af2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f911ef068f8a22c969f39691c471206a9cfd1c8bb47cff64885701d959694a80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3519b630943abf85b4c0d8f14c4f812de5f75074022c8bbedaab22fa5b646948",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.11,\"right_x\":0.39,\"right_y\":0.27},\"note\":\"The jaws appear to have caught a thin part of the plush, similar to the successful white-plush grasp. I’m lifting a few centimeters to verify that it is secure.\"}",
  "call_id": "call_TvSBJBC1k5KMF6NWXTKRhwc9",
  "id": "fc_0c9facfef04a6c4d016ab46092c10487d0a70c41a5dc6f40b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TvSBJBC1k5KMF6NWXTKRhwc9",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4068, 1.0435, 0.87, -0.5621, -0.5121, -0.1688, 0.9969, 0.8474, 1.8679, 1.0508, 0.0322, 0.6949, 0.3603, 0.0374]\nstate[eef_state]: left_x=0.3158 left_y=-0.0379 left_z=0.2067 left_yaw=0.0911 left_pitch=-0.0631 left_roll=0.2182 left_gripper=0.9969 right_x=0.3828 right_y=0.2681 right_z=0.0816 right_yaw=0.0889 right_pitch=-0.0007 right_roll=-0.1696 right_gripper=0.0374\nstate[joint_eff]: [-0.0205, -2.8923, 6.8308, 1.7265, -0.2466, -0.0366, -0.0073, -0.7043, -11.7128, 8.2803, 1.8828, 0.3639, -0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8e7367c4579f610e44cd3cdbd02a2a49ef9612295134e4d6d2db6f0bb34defa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61d2c50b23c8ff0fab51f6f01dbd2c630e7cf990ee3add3ef25fc9396bc13f49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a87087d48f4978ee2b5d7f6cd8e63f047114bb55bbfb16232d83ea515da8fe3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 60 changed as sent

message 67 changed as sent

message 70 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4072, 1.0435, 0.87, -0.5251, -0.5121, -0.1658, 0.9964, 0.936, 1.9652, 0.8181, 0.3767, 0.7708, 0.5014, 0.0142]\nstate[eef_state]: left_x=0.3208 left_y=-0.0402 left_z=0.213 left_yaw=0.0883 left_pitch=-0.0309 left_roll=0.2031 left_gripper=0.9964 right_x=0.3442 right_y=0.2658 right_z=0.0202 right_yaw=0.0469 right_pitch=0.0575 right_roll=-0.0751 right_gripper=0.0142\nstate[joint_eff]: [-0.0752, -2.9197, 6.9265, 1.6728, -0.188, -0.0366, -0.0122, -0.0342, -10.2085, 5.012, 1.1941, 0.2759, 0.0024, 0.8083]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4072, 1.0435, 0.87, -0.5446, -0.5121, -0.1665, 0.9969, 0.8577, 2.0235, 0.8841, 0.3985, 0.7181, 0.3752, 0.0371]\nstate[eef_state]: left_x=0.3182 left_y=-0.0391 left_z=0.2097 left_yaw=0.089 left_pitch=-0.048 left_roll=0.2117 left_gripper=0.9969 right_x=0.3746 right_y=0.2609 right_z=0.015 right_yaw=0.0738 right_pitch=0.0432 right_roll=-0.138 right_gripper=0.0371\nstate[joint_eff]: [-0.0479, -2.906, 6.8308, 1.5946, -0.2613, -0.0659, 0.0269, 0.0752, -9.6342, 4.6974, 1.5556, 0.3443, 0.1392, 0.9988]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4068, 1.0435, 0.87, -0.5621, -0.5121, -0.1688, 0.9969, 0.8474, 1.8679, 1.0508, 0.0322, 0.6949, 0.3603, 0.0374]\nstate[eef_state]: left_x=0.3158 left_y=-0.0379 left_z=0.2067 left_yaw=0.0911 left_pitch=-0.0631 left_roll=0.2182 left_gripper=0.9969 right_x=0.3828 right_y=0.2681 right_z=0.0816 right_yaw=0.0889 right_pitch=-0.0007 right_roll=-0.1696 right_gripper=0.0374\nstate[joint_eff]: [-0.0205, -2.8923, 6.8308, 1.7265, -0.2466, -0.0366, -0.0073, -0.7043, -11.7128, 8.2803, 1.8828, 0.3639, -0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8e7367c4579f610e44cd3cdbd02a2a49ef9612295134e4d6d2db6f0bb34defa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61d2c50b23c8ff0fab51f6f01dbd2c630e7cf990ee3add3ef25fc9396bc13f49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a87087d48f4978ee2b5d7f6cd8e63f047114bb55bbfb16232d83ea515da8fe3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGCZEXpXIhDo2T0USzu_U_SE6JDbCz5NcTkdjY5iH_mYl7Iuxg4s6cOq9yK28HzkYaVLbKdPlrzoCbn6s3XeyDNqVC96D8YdLL-OHcHK1z0uOqTDYEpU6npU1TkKiFL2BX6xRvL_-7W70Eni8xpH6Z_VlqMWTHO8cfBe5orCKAjC3AE8pMlzYNmr8Lcg_2A0lIwcLH0W3BDCUAzBOr49exaLwkcOV5Yr4jI4S7qbQ3PisTYrgB2SkkzJHyHJfvGqZzMUFelJy3zTJWeo2QSatc6yLBWEFgTG2S9Pd6vQSVxF3LB7yAfopFgjp2Ns4gluPkbTlNnZ6-ZDjH2GDL7OSTfjZ_gf5aYIZongVzwKfMmi6fEyZRErJeIxaoDpNIzdO4LYZ8wp79HYaVJqeq5F_bbLyUChfdoB1EOZLmblNeli5bATHzTxEJvXKBkiAo5oTcCeGGhHPrJ0zEKbL5QGGyqY1f8n8eX5U0-9FT4J9DOQLl-tO2Bs1mR0k-NPIwhfHFnhuuZyoOMaXL0EjvxayFNmyCFjH37J4TSOwwkO--Ewbej81wjJKQLTJ_PbdkWFZZ5zGIm2eNRvpN-PW0xyrvXlxdJm3_vi8GEbozH89h2FjDcvkmMeP29r2lKmUgvS2Yj4c9D2tewgpeU-TfKCgWg7tipgDaoimCPvx7OsYnTmu6nzBC7psPRUurKn4U5aOLugUALoexxTXYjAVWayKyJ0Yp3p5FL6Pnu8YXe7B1qWDHchK_Se4RY3ojQxCUODBk1dbjwIAK8K3wMlygoVQeTtn1SzEaneVCW8mQctnYtcB1KXcurKu9XYDVhHkyV7qIJzY2-bP-jFin31_hk7r9lMmCyIq2WJIf1421klY1zzmWmiOtWHeuVebgTZfJvZrpSK2Lb5KSWiPSEl5d1bJlF39fuwV9o4C8yWcL6s-L5XeCC8oP5Ug3keUw4ndkdoogINxkMUCFeNpjHmo6XtQ7Si1fOQb4_gMvJjDuqNb5bIY7kY6l8HTB9DYReqMPjU7H6kIZ9dwUGEnC6YpRaixNY95yxshM_0qMGak0pBRIusHQSdNwI4VsJBPJBfMovgeHj16v2JLXubzzBJlEE4Kxr6xk1wXTL5ZXQJlWqT1ETWUfKlgVUOQuFh8qU2Xw3uxb_tt_BgeL2rAqJdNnl7JrkmzXeN54f5OrxA9wvLCYCYKBe9NrAcMaAvrXuOH9aEDARJHy0R3oAPeM7i6B-rk55qQhFCTsRoQ6ccXMTpukYnrB0L9EWV3Q4FQRwZw1STKaP76thUPzkOmqcEDUI5zl7q_OJZuxKwYA1N3z6R9nEbTnr4TYV_57J3_uxZG7lK4oq3rIw2gY1V8rRB95FbjMbJfw==",
  "id": "rs_0c9facfef04a6c4d016ab460976b8c87d0bfc24b533dcc8560",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.495,\"right_y\":0.32,\"right_z\":0.235,\"right_pitch\":0.2},\"note\":\"The brown plush moved with the gripper during the lift. I’m bringing it above the safe’s right side, next to the white plush.\"}",
  "call_id": "call_0cfAw3bZNTx1mVsK6jyvhaA7",
  "id": "fc_0c9facfef04a6c4d016ab46098377487d0897a83532073bc4f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0cfAw3bZNTx1mVsK6jyvhaA7",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.0451, 0.87, -0.5816, -0.5121, -0.1692, 0.997, 0.7708, 2.0567, 1.7264, -0.2394, 0.6918, 0.1711, 0.0388]\nstate[eef_state]: left_x=0.3133 left_y=-0.0366 left_z=0.2031 left_yaw=0.0928 left_pitch=-0.0815 left_roll=0.228 left_gripper=0.997 right_x=0.4836 right_y=0.3176 right_z=0.2117 right_yaw=0.1076 right_pitch=0.1431 right_roll=-0.1929 right_gripper=0.0388\nstate[joint_eff]: [-0.253, -2.988, 6.7761, 1.6679, -0.2369, -0.0562, -0.0073, -0.7863, -11.4393, 9.2239, 1.873, 0.2955, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eca70fad5ad3ec0de50f7ffe26526fe6d857d1aaa3c72c6d7fdf1efabaf4683",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:500270390e1cf7f053e82d36784d6319a59da9a35f217f3c59319a20f6b2dab3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b22aae749fc520c84671ef5304aede009dc3dc605fbf507773998b7db41dcd5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 64 changed as sent

message 70 changed as sent

message 74 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4068, 1.0435, 0.87, -0.5369, -0.5121, -0.1661, 0.9965, 0.86, 2.0197, 0.8829, 0.4065, 0.7254, 0.3836, 0.9947]\nstate[eef_state]: left_x=0.3193 left_y=-0.0394 left_z=0.2109 left_yaw=0.0891 left_pitch=-0.0413 left_roll=0.2084 left_gripper=0.9965 right_x=0.375 right_y=0.2615 right_z=0.018 right_yaw=0.066 right_pitch=0.0548 right_roll=-0.1266 right_gripper=0.9947\nstate[joint_eff]: [-0.0752, -2.906, 6.8991, 1.663, -0.2271, -0.0757, -0.0073, -0.7863, -8.6906, 7.6513, 2.0684, 0.4567, -0.0562, -0.232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4068, 1.0435, 0.87, -0.5621, -0.5121, -0.1688, 0.9969, 0.8474, 1.8679, 1.0508, 0.0322, 0.6949, 0.3603, 0.0374]\nstate[eef_state]: left_x=0.3158 left_y=-0.0379 left_z=0.2067 left_yaw=0.0911 left_pitch=-0.0631 left_roll=0.2182 left_gripper=0.9969 right_x=0.3828 right_y=0.2681 right_z=0.0816 right_yaw=0.0889 right_pitch=-0.0007 right_roll=-0.1696 right_gripper=0.0374\nstate[joint_eff]: [-0.0205, -2.8923, 6.8308, 1.7265, -0.2466, -0.0366, -0.0073, -0.7043, -11.7128, 8.2803, 1.8828, 0.3639, -0.022, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.0451, 0.87, -0.5816, -0.5121, -0.1692, 0.997, 0.7708, 2.0567, 1.7264, -0.2394, 0.6918, 0.1711, 0.0388]\nstate[eef_state]: left_x=0.3133 left_y=-0.0366 left_z=0.2031 left_yaw=0.0928 left_pitch=-0.0815 left_roll=0.228 left_gripper=0.997 right_x=0.4836 right_y=0.3176 right_z=0.2117 right_yaw=0.1076 right_pitch=0.1431 right_roll=-0.1929 right_gripper=0.0388\nstate[joint_eff]: [-0.253, -2.988, 6.7761, 1.6679, -0.2369, -0.0562, -0.0073, -0.7863, -11.4393, 9.2239, 1.873, 0.2955, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eca70fad5ad3ec0de50f7ffe26526fe6d857d1aaa3c72c6d7fdf1efabaf4683",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:500270390e1cf7f053e82d36784d6319a59da9a35f217f3c59319a20f6b2dab3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b22aae749fc520c84671ef5304aede009dc3dc605fbf507773998b7db41dcd5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGCeT-8INBYx5MJrVGClcUmxR_mgjRBItqWiOnpiyfIk2qjejpuDBhOwGeVa1d9BlJC8a1pP9kwu582N_VT1_i-3-30XQrWRRAMUqcmZIF95MIYzH3GKK4fqsX8nTgQabXfxBaDWZcxk-elkN0iWZ8dxC-Kh0Fl9cG8UUB3Sufg9G-80pNRwwdjeTA4sNpZyb534mfOPt9qTCShlSJp0PBfv7Iew70skvu3Vuw4sC70wOPIuKb6umq9dvvTmswLPpMr8bPj22WQOhNgpo2NyInm6pMjafqvCna78wutZQnzrNWPLjIYL8F3yFU_v47hegKI-5OX4d7mx3Psuoa78cPFYZK5Mvuc-DWHeko20YoO576_1N9EUoFGB98pLxuKynb0U_5uoUf_pxFLdBlofr0EeXDr0MNCey-kGa-IAwYba1j63xSZB0ubPqsQ9bT14sc3_sFhuYr_l8JfGbx0ASW7cv5-HmERB-KIrWokgqX9aaST6x5vIiyOyqv-7QyjkDNAjUehPAbOOBJqH-rIKynwcq03Pk6DLE7CSDHG4I4gs34AGNNYINLBZdT6LJRHn6NWgfIspb85D_mMhifTpPFu9x-PxdrmYW2Mbs4EE5Fd6rumxDRCmFuyee2DaL7kt9FPbLlvqsTkkXGIzVeWE81obVSH-tyCBmQ5PTmlxshoqPpgZqtV7oCDq3j0LVdY4eozGOku973VCV5d71_VSg-exIC_oQJHX_QKsCxvidsbKiYUpleJWjV2Sf2i6I2-cIVsONbXRBAhoLD2b6glC7tbMa046djHxDr3wWxkdIbI7RtfcewUynkBgAvS1S0VLKdJ0KI72AnLzFJKv_3b6kx3MgCtjQMoPzaVz4j9WrItory67u3ztAD_WLI9Ccoj4Hk_wVEPQjwIt0bobF2yBlsnZ2eK6nZAkayfNtxTl1Web_iAHJ96TsA9Gq_rR8ks_lqcCoEc8TTKLYbwFMabVvlRTVQyd5h3CbNkSGTwnQAvYkeoDvGAkjOFIGIvx_CJ2EDPa8KpIcArl6qcGVj07twt9dG5HIv26TQXTnZTFVYOkI9BZJk1-k0oDsLXm9QMRIRSIuXuH0rAN5Hy_57zPG4pYP06LnUVYaikHTgDE1qBUF592DC_jrnGneUNMJnjZOnGncaxZktajnfHTsS1wqNrKSMrqjbrb0MXgL0ylfuzjSzRRFd_ozSkBRoOUpX9I5ICirWdVT24vhwdiCcVcXbExMWHtD7ptm3fjlkDmQE3WLmNpaEW0ktU6BECZONaU2-VbtpdYjMF38yYoz8h-ygjSJnh_1ibAZgnpvOPLvKfWcQJntvjkFyFJycsPsCdBh0jMbzOL5I2SzYUERZO3stAxn7MkWgxEKqRgiyI11A7QXUHx7dQNfB0AOXCaJstG0zrT7ketFdi3_090tFXp9GJ58L6zpME9v9EtrYMck2Q6MMBjMc1jrX1wzbi9roYoLmnZ8kwVw8eHZ3KWXW7-hQOLVNTmjnd8slPc3MV_nUhKhIPGiihjuaUCqgJ2RCdxUdjAlzf9NlmhG7zX9-SIAMLhvuwLawXdYBRDelHCiSB3KOexQMxgRG2dOO6m3iovgey90TOC8m-uXZU0PVu1mC1WFg==",
  "id": "rs_0c9facfef04a6c4d016ab4609bab7c87d082064a6b864cc396",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_y\":0.32,\"right_z\":0.105,\"right_pitch\":0.25},\"note\":\"The brown plush hangs below the fingers, so I’m moving it slightly farther into the compartment while lowering. This should keep its body from landing across the front rim.\"}",
  "call_id": "call_bc2T0uC6mAYpZSZ5XQnqRgyo",
  "id": "fc_0c9facfef04a6c4d016ab4609d479087d09d8e25d833d37b9b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bc2T0uC6mAYpZSZ5XQnqRgyo",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.0454, 0.87, -0.5884, -0.5121, -0.1692, 0.997, 0.7185, 2.2765, 1.5761, 0.1829, 0.6712, 0.078, 0.0394]\nstate[eef_state]: left_x=0.3123 left_y=-0.0362 left_z=0.2019 left_yaw=0.0931 left_pitch=-0.0879 left_roll=0.2315 left_gripper=0.997 right_x=0.5205 right_y=0.314 right_z=0.098 right_yaw=0.1174 right_pitch=0.1682 right_roll=-0.2386 right_gripper=0.0394\nstate[joint_eff]: [-0.1573, -2.7556, 6.8034, 1.5263, -0.2466, -0.0562, -0.0122, -0.3897, -11.8085, 6.4615, 2.0391, 0.1197, -0.0269, 0.9304]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d41cb2cc6c1867633f9c3d602ca9ea9626dcbe8ed9d2d6b3804a162467402d43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f164ddd111a906f07b85e8ce0dd74fc207cacd5d9c973cdd3ae2fbbfe25958ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f06c06853541970ee070a981d8e27786dce9a93318ec88cdd208361c1999585",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 67 changed as sent

message 74 changed as sent

message 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4072, 1.0435, 0.87, -0.5446, -0.5121, -0.1665, 0.9969, 0.8577, 2.0235, 0.8841, 0.3985, 0.7181, 0.3752, 0.0371]\nstate[eef_state]: left_x=0.3182 left_y=-0.0391 left_z=0.2097 left_yaw=0.089 left_pitch=-0.048 left_roll=0.2117 left_gripper=0.9969 right_x=0.3746 right_y=0.2609 right_z=0.015 right_yaw=0.0738 right_pitch=0.0432 right_roll=-0.138 right_gripper=0.0371\nstate[joint_eff]: [-0.0479, -2.906, 6.8308, 1.5946, -0.2613, -0.0659, 0.0269, 0.0752, -9.6342, 4.6974, 1.5556, 0.3443, 0.1392, 0.9988]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.0451, 0.87, -0.5816, -0.5121, -0.1692, 0.997, 0.7708, 2.0567, 1.7264, -0.2394, 0.6918, 0.1711, 0.0388]\nstate[eef_state]: left_x=0.3133 left_y=-0.0366 left_z=0.2031 left_yaw=0.0928 left_pitch=-0.0815 left_roll=0.228 left_gripper=0.997 right_x=0.4836 right_y=0.3176 right_z=0.2117 right_yaw=0.1076 right_pitch=0.1431 right_roll=-0.1929 right_gripper=0.0388\nstate[joint_eff]: [-0.253, -2.988, 6.7761, 1.6679, -0.2369, -0.0562, -0.0073, -0.7863, -11.4393, 9.2239, 1.873, 0.2955, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.0454, 0.87, -0.5884, -0.5121, -0.1692, 0.997, 0.7185, 2.2765, 1.5761, 0.1829, 0.6712, 0.078, 0.0394]\nstate[eef_state]: left_x=0.3123 left_y=-0.0362 left_z=0.2019 left_yaw=0.0931 left_pitch=-0.0879 left_roll=0.2315 left_gripper=0.997 right_x=0.5205 right_y=0.314 right_z=0.098 right_yaw=0.1174 right_pitch=0.1682 right_roll=-0.2386 right_gripper=0.0394\nstate[joint_eff]: [-0.1573, -2.7556, 6.8034, 1.5263, -0.2466, -0.0562, -0.0122, -0.3897, -11.8085, 6.4615, 2.0391, 0.1197, -0.0269, 0.9304]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d41cb2cc6c1867633f9c3d602ca9ea9626dcbe8ed9d2d6b3804a162467402d43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f164ddd111a906f07b85e8ce0dd74fc207cacd5d9c973cdd3ae2fbbfe25958ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f06c06853541970ee070a981d8e27786dce9a93318ec88cdd208361c1999585",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGChekB1QP50TAWilLlOnSL2RgjEVCogIfNA5NVotus-er38BAjXoDyt1dVJqF7N0mFaU3zkXS_PVHv4ldFIx_OTyFf5XfiwS-Q8IQRi5RyQn5734Tuox_I2gDhIwxu7bdIvnXbX7bK2y-ToJ_CdIdRKSgGM_huuPiCrKyZMhrOksHfu9ORNVRNL1Y1S-JA_aKqfU4leqk4oa_6VZzw_OjjbAbV1aAWiG9Fv8IsOkqf-L_kV-a9RU7RHI4KltALH0dEIWMFfmOClw6Xs9u7qlH2ntNJw9N5Xph5U5BR8YgCXFz2MHUWKa1mRp73dA6KTeslrkyPbjRrA8hjl4uLbg8cCjyyutgD4zWK7nbrFo14pkX2xAdHyykCz_mgdr_qZxatrwAleDCXw1tJMdSQ7h-sLuSI5MSRVpUadYCZaP3xt_mdCKC0Ochjxkdh4o57g_oCK0KBbGveziFRki0Xz9dt6kpe764qUqpK6ZoxOSpDwKY3Jo7OXVycVtiyZYdCb0_GOJ6lhtUr87GVwkm2DtfGv2Dop3jXnzA3EHm2O0mj-tGXc3MQSB23_ieXNTDGEiEUg1UxbtCR8U724jecjciXjUaeN7vc7_vFTh6K7GuX4zN4ytk15PBHbKqqBx7Lk8kZHVTdMYIokxObmJTQPfpZe_rmxpIGnDOzeZRzc6mV4ojaY40OTPz_v6P8jejwqRk-5d41dwoJ2e8f1jz2yBqYaKotRoTXCKlzumTEa2yL2U61GaM1JFgxGGa0gc0Easxfza3cMcjNbpqFlrkANaYFdGD8MV3rWHX88iCyK0kHdOCdI5nKxpTzL_gt-Se_EvSNDURO3ZGl75ctRChhc--hTQP81KR-5NYEv6m3z76m7qZh5hzdQ2R1iiItSD0iYH5Dh-PyhDo_vHLHlGFWIKGNdh8hT36UCoTOWXw12qa9AO2jEOUSrAlbsEmDIp6184x8MJG_MGKbR4Rm4AhDTv0Nz1SVLM-kDiip8x2UJSOCUzpn4RIZ9ObzprvsSrO0mVD-4TZGAAfzV6qhN3d7k5AGlOch66FR-kUeID_Qgg-Cnw8GXpeF4uZtVH_lzbm80veIKN32YrBWFWxSgVQqVBe8gzTau4RcaWqOgSl1oQYdj6JzIqlkrRHDNGn8qT-rMsvf9OaOhiBVLnTWgrJbITf6lYLe_HsY92a3iTWnSynu9qZnvT1SrLCcRGBI2xWsETHCPosvwIw4fIwBd4UYdK2VNzg==",
  "id": "rs_0c9facfef04a6c4d016ab460a0976087d08a04e27521959519",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The brown plush is lowered into the compartment beside the white one. I’m releasing it before moving on to the yellow object.\"}",
  "call_id": "call_B2JLKzDNU105l7qQuLwi8IdZ",
  "id": "fc_0c9facfef04a6c4d016ab460a0d58887d0bddcf39f0ae897c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_B2JLKzDNU105l7qQuLwi8IdZ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.0454, 0.87, -0.5896, -0.5121, -0.1692, 0.997, 0.7185, 2.302, 1.5684, 0.1658, 0.6693, 0.0711, 0.9946]\nstate[eef_state]: left_x=0.3122 left_y=-0.0361 left_z=0.2017 left_yaw=0.0931 left_pitch=-0.0889 left_roll=0.232 left_gripper=0.997 right_x=0.5173 right_y=0.3115 right_z=0.077 right_yaw=0.1268 right_pitch=0.125 right_roll=-0.2726 right_gripper=0.9946\nstate[joint_eff]: [-0.0068, -2.6598, 6.8034, 1.5214, -0.2613, -0.0806, -0.0122, -0.2256, -15.3504, 7.0906, 1.7314, 0.1685, 0.0464, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60fbb31510842a886de5622c173037dd987054091065bdc1f59fec8d11cbb733",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95552615f0009794ff03edf9b40935a7675859fd27a0d102793fc0f0099895e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6a1d3fb574b735af455b9e2eb79a3164e8ffd974a233c219b1623709dc11393",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4068, 1.0435, 0.87, -0.5621, -0.5121, -0.1688, 0.9969, 0.8474, 1.8679, 1.0508, 0.0322, 0.6949, 0.3603, 0.0374]\nstate[eef_state]: left_x=0.3158 left_y=-0.0379 left_z=0.2067 left_yaw=0.0911 left_pitch=-0.0631 left_roll=0.2182 left_gripper=0.9969 right_x=0.3828 right_y=0.2681 right_z=0.0816 right_yaw=0.0889 right_pitch=-0.0007 right_roll=-0.1696 right_gripper=0.0374\nstate[joint_eff]: [-0.0205, -2.8923, 6.8308, 1.7265, -0.2466, -0.0366, -0.0073, -0.7043, -11.7128, 8.2803, 1.8828, 0.3639, -0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.0454, 0.87, -0.5884, -0.5121, -0.1692, 0.997, 0.7185, 2.2765, 1.5761, 0.1829, 0.6712, 0.078, 0.0394]\nstate[eef_state]: left_x=0.3123 left_y=-0.0362 left_z=0.2019 left_yaw=0.0931 left_pitch=-0.0879 left_roll=0.2315 left_gripper=0.997 right_x=0.5205 right_y=0.314 right_z=0.098 right_yaw=0.1174 right_pitch=0.1682 right_roll=-0.2386 right_gripper=0.0394\nstate[joint_eff]: [-0.1573, -2.7556, 6.8034, 1.5263, -0.2466, -0.0562, -0.0122, -0.3897, -11.8085, 6.4615, 2.0391, 0.1197, -0.0269, 0.9304]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.0454, 0.87, -0.5896, -0.5121, -0.1692, 0.997, 0.7185, 2.302, 1.5684, 0.1658, 0.6693, 0.0711, 0.9946]\nstate[eef_state]: left_x=0.3122 left_y=-0.0361 left_z=0.2017 left_yaw=0.0931 left_pitch=-0.0889 left_roll=0.232 left_gripper=0.997 right_x=0.5173 right_y=0.3115 right_z=0.077 right_yaw=0.1268 right_pitch=0.125 right_roll=-0.2726 right_gripper=0.9946\nstate[joint_eff]: [-0.0068, -2.6598, 6.8034, 1.5214, -0.2613, -0.0806, -0.0122, -0.2256, -15.3504, 7.0906, 1.7314, 0.1685, 0.0464, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60fbb31510842a886de5622c173037dd987054091065bdc1f59fec8d11cbb733",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95552615f0009794ff03edf9b40935a7675859fd27a0d102793fc0f0099895e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6a1d3fb574b735af455b9e2eb79a3164e8ffd974a233c219b1623709dc11393",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGCnLDv5x51BBYLMgk4ylLj385s_-tXPaAmzUTbA-8IWozDp-E1nmiyUsL3Wmx1f8do1G6ZbFAgSQSPi9jz_0qtwwEcVDwX3gWGpJIMEvXuaYUKvXZAdXXpHjqD6k2V739FIZiwnYt-MIqz3aNb7MJBg4mheYvllW0cQbDvgfKvqwLMy6bvAMdmfhR1yxYzI11YiHT_iSWu3PzJ6XXl7s6uxuB2N0_54B5IFYCofhxKFr0MZ-yHuv2XnOa0broY51kYW7yRMidw56025bA2TjY01qBtWnkMmNveGrevqzFS4GAbRJw9ynrONpRrYlf9bRUYzU57wL4zkB1f42oQKH4EmsatvJYPmO1_wAsdQTYmRr8Omq-6TjCIv_V7RtCZGr_hDDesiCDixJNrGXpR_DZyTT38xxvFqR3f8TyeX1A8tDVK4tj2mS2l16f51n17uqnPVTpY_LIMbMjWfQQkVnBWgosmW8dNRBtRF5ra5Ck4JwwCR5GNhHHi051NwD8_3jHcw8j_wsr3GhWlzmBqckk7JHlLXJ8EwYj7NqsoygACU8svpKQB85L8h4H8GIX7j4pMVvut_FK0w_V5mYQhUN6av9qsLbYw8nYtJkYQ-5FMxY01qH7_2WYrzIYS3NKO65WDVmzyzi_twocMpni26fMU6LIgWJdS_gJX1fbQIxEQK3Dndk3xiEnawNO0oQN_aeP7-BpghaUXOYlZOu6VjhOSDUKjxH5Q76zWr2lkwenbp0GMihPLhuyMYeGG31WVSOoM4aYJKrHD-_JOkhHPaF5LDoi-RocHyCjY6ZCjjGsoXodXcZBZFXl8RTs8y7PojW3xC9kKr9mzhnJUWteJGvHtl1o5e4cfrjBMBHoxpqI4HocCKIVOSwu1cdMqRQrY-81qxS7w41gb36lEbr9JI5wkKDIJe6dDsF7B7KIhLuCzJtg57CD2mKahOWx-hDhvuwvdMeO4INuft9f_CdF7g4hH_yad_CfwesEHZ-lFoLCUO9pRtRMz09vSY4SRp0a1n0HMlRKV_iUqTbK7ontkGTTd0j6IvbqxP88Gibhw8KEm6cwSZNMgJ9PY8Bg5e8DFP9QqlLuxpSPJxouw7Yd9TmJzBgzcc4qcLqoud0QMGV67wox6qiT38bo6Vk8mfACSnSZyUVE6L_u4Axwxy09oKbCmBqmZjrOFKRgFdc-zJiDoxkVP5Cn7Toi3yJlLlOCbq28vZENlYsGRS1EjcYuN3xi5sok9uMy96yHJJwnSLY65pqBgHFclTcSL93Wi-ZEfVMfPgbK5FmCzG7SDN7qcF8BfO8PTsTohy_Tlub6B0iPEJPKQ_8bFrhb56pfoMcR0GsVSQuB1TnLQ1Ic87oHi_Z3zGAsHUFNqmriCigmn7jT4yMfjJr0nPNDiyw6ALAgqtrars7_RKXTg3fjFH-WoNzV39-vIhUWKEdS7Vnm7N0S07buOAe66TGeEgnWs3XwoA92ywpXcsznI-qMx6zl7Ny-Dv8JZqycCUd4QK69fwZkN34285qW5qNZN7gBY3fiQbF6jUH6llwqKUefxQoWiPJVaLfg==",
  "id": "rs_0c9facfef04a6c4d016ab460a438fc87d0aebb815ec6dfd55d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.57,\"right_y\":0.175,\"right_z\":0.2,\"right_pitch\":0.35},\"note\":\"Both plush objects are now in the safe; the small yellow object remains to its right. I’m lifting clear of the rim and approaching the yellow object from above.\"}",
  "call_id": "call_TSLk89mLE7OgQy1Rul84vtsz",
  "id": "fc_0c9facfef04a6c4d016ab460a5c2f887d0a1c807ebb344ec19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TSLk89mLE7OgQy1Rul84vtsz",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.0454, 0.87, -0.5926, -0.5121, -0.1692, 0.997, 0.4282, 2.0617, 1.3853, 0.3397, 0.4488, -0.1585, 0.9953]\nstate[eef_state]: left_x=0.3117 left_y=-0.0359 left_z=0.2012 left_yaw=0.0933 left_pitch=-0.0915 left_roll=0.2335 left_gripper=0.997 right_x=0.5668 right_y=0.1784 right_z=0.1627 right_yaw=0.1244 right_pitch=0.2559 right_roll=-0.2981 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -2.7145, 6.7897, 1.4921, -0.2759, -0.0366, -0.0171, -0.2803, -14.4068, 6.9812, 2.3761, 0.022, -0.0562, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8e7b89abf29cf423924d11faca0c3226c49ef0d753b5ad8937e2a3c135bacdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7a65401905ad585fc86ad7e3381cdf4f56870e4290a47cfab1ea62d6c88b874",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7053982eaf140fa81f583bebf0317af0eec880d3917ca67fe904b59a295d7cd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.0451, 0.87, -0.5816, -0.5121, -0.1692, 0.997, 0.7708, 2.0567, 1.7264, -0.2394, 0.6918, 0.1711, 0.0388]\nstate[eef_state]: left_x=0.3133 left_y=-0.0366 left_z=0.2031 left_yaw=0.0928 left_pitch=-0.0815 left_roll=0.228 left_gripper=0.997 right_x=0.4836 right_y=0.3176 right_z=0.2117 right_yaw=0.1076 right_pitch=0.1431 right_roll=-0.1929 right_gripper=0.0388\nstate[joint_eff]: [-0.253, -2.988, 6.7761, 1.6679, -0.2369, -0.0562, -0.0073, -0.7863, -11.4393, 9.2239, 1.873, 0.2955, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.0454, 0.87, -0.5896, -0.5121, -0.1692, 0.997, 0.7185, 2.302, 1.5684, 0.1658, 0.6693, 0.0711, 0.9946]\nstate[eef_state]: left_x=0.3122 left_y=-0.0361 left_z=0.2017 left_yaw=0.0931 left_pitch=-0.0889 left_roll=0.232 left_gripper=0.997 right_x=0.5173 right_y=0.3115 right_z=0.077 right_yaw=0.1268 right_pitch=0.125 right_roll=-0.2726 right_gripper=0.9946\nstate[joint_eff]: [-0.0068, -2.6598, 6.8034, 1.5214, -0.2613, -0.0806, -0.0122, -0.2256, -15.3504, 7.0906, 1.7314, 0.1685, 0.0464, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.0454, 0.87, -0.5926, -0.5121, -0.1692, 0.997, 0.4282, 2.0617, 1.3853, 0.3397, 0.4488, -0.1585, 0.9953]\nstate[eef_state]: left_x=0.3117 left_y=-0.0359 left_z=0.2012 left_yaw=0.0933 left_pitch=-0.0915 left_roll=0.2335 left_gripper=0.997 right_x=0.5668 right_y=0.1784 right_z=0.1627 right_yaw=0.1244 right_pitch=0.2559 right_roll=-0.2981 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -2.7145, 6.7897, 1.4921, -0.2759, -0.0366, -0.0171, -0.2803, -14.4068, 6.9812, 2.3761, 0.022, -0.0562, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8e7b89abf29cf423924d11faca0c3226c49ef0d753b5ad8937e2a3c135bacdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7a65401905ad585fc86ad7e3381cdf4f56870e4290a47cfab1ea62d6c88b874",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7053982eaf140fa81f583bebf0317af0eec880d3917ca67fe904b59a295d7cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGCtJaekRlbJJNmUQOoOcvRnAk0Lri7uGmXoM0iJSUVNgNGOA0-YwJu9n9wSs-fHX3mVOZdaTEPDpCfPJw5eF8R0VxcGNAXTN-83OKOAI2xjd6ZPkG2THbmQ2QIEtW2qCVm71iKoAGOlL1YEsctk_0Y2IE1V_qtthRClJXn8fW-8udvBbKr1zs-YsQY1cyc9768iGRl6NHLVT9o7nJPP5BVVjSusuCmXZEt_IBDgvHPd9cfM5c6MkRE6r4wtVITbNLCEPlLsx2Y7MNUyahJh9LKm02P1ImTQcsimgPsDH0TUUXHUNZG_KsSYd0H1pHZ6CJ7C248-u0PQMOasftWUhHkZkG-4_T6ivdgycQ0dVVAcsaBh5VnjvJlW1IfQUq1n41L0c_-tUuAhbUn_jqYCbanLKy0rwHh9t6YitOzONBnQ3M98yJgEIb-kaJqS9sjDbuG6BOXxISmDdy4y93xC54nzs7xjz9o9VGRPbUh0kpOKcc3lbpFlcpULgxsvorKkTVMJQaB0u41QXmWozrNUgZzhsd3DRmU5FIxucn94D0BZ3rdMCQOBR2um1m2VnXymyhBOOuKnkjnBSTWksPoQLXMtl2NYLdW2CI5baVdGH7Xxonyuh-1_cpGxoTeu7irAAlAMSvmajhXur16RAuZthvzD_q5-4StgehJUVx7e1UriRbE1F3_qlQ8OSDIad9T1f9_lRTnzZnRrvx_ogzLtLLTA40M_A2bDBGtWu_mGPVucdcepJ1RPZXJSJIrMLcCcSdVLnAamcsSaXD3wYk5R6fvaa8qjyspclHqxDqRWI1Guo4Br97VAp8rGuJqxcld6rgw3THHzLWVd5h9umvSCUkGHyiYzoIYUhduUm0IHj7XZ4HOAWIS3YiecVQ3QTXz5ZmnMxin7d5P42A0e0CWhcp-S_0ga0dn1Da40QSMxwfKtJusMWRCM8oR2ozE8WivLy68aeEbG07nddGqD44EuZ-i52Esnq24mwXp6wVqUy6ODJ509beXeJBs_ATdDsVsIkHWPKjuwaaAaO-gU6GiuxgGTPHPqyIZ-7Apj-oo9NS52LKYZXTPPxQ54I_f_YdZN1fGe_xOAwkw9gsV02xcGU8BLYAIEP9EgUuEmkyHiF6ZdLT0-tRlCmXJI6gkUTOC3uzjFZZRiyA2GC-zxs-XHClUWJT3QMLXFHnQLrcTXeS81PcyrAU0imkFp6aBvYyCZlPNEpykOUFCKssN2sTBJsET8RC6czav7a6Das7jFYV_uGxJ9Yy44hxKQIw7dy6qdSi2a1M-Zd0eqq3-fucjruj-ZtX5I3apyLZDLdS0mtt6chW5692sFRA5gVrcpwD97PvGGoW37XP6Nfnjv0R5s1MUthZM89sWGos5K6vV1mYnjQ8yZg1DgQ0xB6RmYgCdHl64U8ujSIw3kTBE1_XVHudWIdUHBLzLjCxBEiz2i39-ri04U2eH1w_QQxK02shPBXegOifNLox57qyAnFUylCMsMnt-L7fJV8xp9gOoCCaVWfryHQmc91XoIfvgR1RUIoW-MkcK8G8_sEQsyUf4a2_vIIk_qTtkMzj2RMww7KYq8jKTF158zvDbqJJq4f0BNLETnudmUwSEyiNSR-aTtEapBCF9WCGJo-XDRI3K39WLfzhEud_tsdyiwQGW9tbs1GlVxYPz_r8WFYPGkQ5_NQEdNy5JdiTwFp7ML_FZoABgp5w8RzRumIFWuEkqJktsK3IDZBQSz3mIQau4DkmgwIVSoAw==",
  "id": "rs_0c9facfef04a6c4d016ab460aa789887d0a037f1008eee41c2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.58,\"right_y\":0.15,\"right_z\":0.025,\"right_pitch\":0.5,\"right_roll\":0},\"note\":\"The yellow object is slightly right of the finger center in the wrist view. I’m shifting right and lowering with a forward tilt to reach it at the far side of the table.\"}",
  "call_id": "call_Ect4wjYbazybxv5Z8PwTZGPd",
  "id": "fc_0c9facfef04a6c4d016ab460ac990087d0819cf12b89ca665e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ect4wjYbazybxv5Z8PwTZGPd",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.0454, 0.87, -0.5938, -0.5121, -0.1688, 0.997, 0.318, 2.4451, 1.2068, 1.1912, 0.186, 0.0036, 0.9954]\nstate[eef_state]: left_x=0.3115 left_y=-0.0358 left_z=0.201 left_yaw=0.0931 left_pitch=-0.0926 left_roll=0.2343 left_gripper=0.997 right_x=0.5818 right_y=0.1609 right_z=0.0582 right_yaw=0.1283 right_pitch=0.5359 right_roll=0.0028 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -2.865, 6.9949, 1.4774, -0.2466, -0.0366, -0.0122, -1.4427, -8.4855, 4.4786, 0.4567, 0.3004, -0.3834, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50864d17a4483f152bc3a3a5157eb74b1543d9a046a7e95759face7e79ed0dfc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90f37a8209c86376c3e9054ed0f70783597d611483f9e17430fdf0c0f081e558",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8ed273de15b47067ee8fade7a54df3b6bf5335ee1b738e192c3e92d3a6ea0d8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.0454, 0.87, -0.5884, -0.5121, -0.1692, 0.997, 0.7185, 2.2765, 1.5761, 0.1829, 0.6712, 0.078, 0.0394]\nstate[eef_state]: left_x=0.3123 left_y=-0.0362 left_z=0.2019 left_yaw=0.0931 left_pitch=-0.0879 left_roll=0.2315 left_gripper=0.997 right_x=0.5205 right_y=0.314 right_z=0.098 right_yaw=0.1174 right_pitch=0.1682 right_roll=-0.2386 right_gripper=0.0394\nstate[joint_eff]: [-0.1573, -2.7556, 6.8034, 1.5263, -0.2466, -0.0562, -0.0122, -0.3897, -11.8085, 6.4615, 2.0391, 0.1197, -0.0269, 0.9304]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.0454, 0.87, -0.5926, -0.5121, -0.1692, 0.997, 0.4282, 2.0617, 1.3853, 0.3397, 0.4488, -0.1585, 0.9953]\nstate[eef_state]: left_x=0.3117 left_y=-0.0359 left_z=0.2012 left_yaw=0.0933 left_pitch=-0.0915 left_roll=0.2335 left_gripper=0.997 right_x=0.5668 right_y=0.1784 right_z=0.1627 right_yaw=0.1244 right_pitch=0.2559 right_roll=-0.2981 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -2.7145, 6.7897, 1.4921, -0.2759, -0.0366, -0.0171, -0.2803, -14.4068, 6.9812, 2.3761, 0.022, -0.0562, 0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.0454, 0.87, -0.5938, -0.5121, -0.1688, 0.997, 0.318, 2.4451, 1.2068, 1.1912, 0.186, 0.0036, 0.9954]\nstate[eef_state]: left_x=0.3115 left_y=-0.0358 left_z=0.201 left_yaw=0.0931 left_pitch=-0.0926 left_roll=0.2343 left_gripper=0.997 right_x=0.5818 right_y=0.1609 right_z=0.0582 right_yaw=0.1283 right_pitch=0.5359 right_roll=0.0028 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -2.865, 6.9949, 1.4774, -0.2466, -0.0366, -0.0122, -1.4427, -8.4855, 4.4786, 0.4567, 0.3004, -0.3834, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50864d17a4483f152bc3a3a5157eb74b1543d9a046a7e95759face7e79ed0dfc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90f37a8209c86376c3e9054ed0f70783597d611483f9e17430fdf0c0f081e558",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8ed273de15b47067ee8fade7a54df3b6bf5335ee1b738e192c3e92d3a6ea0d8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGCxbp5CCouqbGx7rrSq-jzKvvdAsQKH8aOBVgk_ywN14hGD_Au11Wrn9I240g9yPdpyszaeWr8fc_BKBRRrEQFutxTLmPgyz5ub5yy0MBjcIRl_cln6Y0hOCx7utV6bHZHKVsOdVcWfRS-ZvgDZmEcpPZw98F3svjZx64TOWjvvvu4qehQTtCJGZUdvxMFsCdHncM08eDitVb7GPy-4kqzFXhGKw3jRfG3-1Rw8baBOkPv6xw2JdSOPp8JTAq-g-Q4zxvja4XVReAeeEB3qbfrGQoVR-c3m8p58Kp0TeCgXxYgGDGvavevEWVkCLMZuphQZcwMN97cMfH0RPwe50L-iiMqLFqgJzHJbotQ9fY6MuWv5_qvpIYA7_BwSFnTFGaU6Pqb8o9TxWTatFiN3k1E5WsPg4jhwfvT6bSZ88PmDUB4rh1RtCgnx5Tgj8qudCPcuNWMBz11DboMyuQA2za9NeRB58fEQA54Nb32NPUxONd-XfNFIvFzUGNfwlj0TD3GaLYLqlFqDA2yQZOX6n0fwzax4GSv40jg_6qnzq4LoolQ01LyZvFSJW7g7cN0UoHXxxrshuxGkUZksJKFXfMTmIY8llSVq5vs4sCbVQHngS6XtaADI1qdYF9kcaGNVIafnPAfa_UQJSTz73EJzBBOuNbsKQtL3ZSFxTUW0_Mh_cm9oqUhfjhebS64RSugsRTLy62X_tZRd7poD2ULa9cgP6RWW44717DiN8wr4VtbbRTt43yOwXpPS86CIVQStfJ07ozY_v2bEkr3djesj4txT6eJsJbjUkYzRUjgQXvXEvlLlufbvjXNehNZ3cKI2cPFb2290287hy_VDRZseHDirOvkm5zMqRhBWxzmg6gNbOZk1PK3T19FMtr2M92pDEOMCQayZZEDTy_Ev2ZdK9KWNk2Fbu6LdPJRd0idJjkcWxHA1mdVzyd8XNWhK5mdbmjS7bN5SRvWD2l3W_-UDd_rXZ2kkSSuiBSX14jsMqtutNgG5kcasD32yS3IJ29LYinjeB_V4FNXxkF4JhGPxYx8_2LgQuonWJXYH6xaIsp9RIWdBiD-d6EbSXRy126uNH5B4JA7vymnbhUXJDlmBM8fpbK7xzz54QBPZE5lSEnCGthbzFfdEiILld8GzMZvpgIgdJJzpCkbaLLtQWte1-iksmROb5O8BOdPyrgPhGQSvy6AihCS7-gmpAAV-HzUSvOyi2o62fHNp6V1zF9eFtcDVWp6wwHNtxpkzmCz_LXeulrN0nQqfrkKgAnh76FSdeHaUab1QVGWgI-ekEjmh_-r6Hw==",
  "id": "rs_0c9facfef04a6c4d016ab460b0b1a487d085be8d3a5f84895d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The gripper is positioned over the yellow object and the descent has stopped above the table. I’m closing around it without pressing farther down.\"}",
  "call_id": "call_bkTiBRbntd31mkI7egnPOOnm",
  "id": "fc_0c9facfef04a6c4d016ab460b0ffc887d0a9a80c7be90917ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bkTiBRbntd31mkI7egnPOOnm",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.0454, 0.87, -0.6075, -0.5121, -0.1692, 0.997, 0.3195, 2.4519, 1.2118, 1.2293, 0.1711, 0.0044, 0.0087]\nstate[eef_state]: left_x=0.3096 left_y=-0.035 left_z=0.1988 left_yaw=0.094 left_pitch=-0.1046 left_roll=0.2406 left_gripper=0.997 right_x=0.5821 right_y=0.1647 right_z=0.0654 right_yaw=0.1398 right_pitch=0.5714 right_roll=0.012 right_gripper=0.0087\nstate[joint_eff]: [-0.0479, -2.8239, 6.7624, 1.5751, -0.2711, -0.0562, -0.0171, -0.4718, -13.1214, 4.3419, 1.5067, 0.149, -0.0611, 0.7009]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9edbdc4811d7be24e3c0e18550a2dbf301357d64526d04fa91217e93b680ca66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebea6f8459d5e0c09696bc6e4e0a051f677ddc95b767db7253c781edde1dd183",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83c63548d84116b2e812507f6319ffcc519f0a4cf6b0927c17cf4f22bafb8fa5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.0454, 0.87, -0.5896, -0.5121, -0.1692, 0.997, 0.7185, 2.302, 1.5684, 0.1658, 0.6693, 0.0711, 0.9946]\nstate[eef_state]: left_x=0.3122 left_y=-0.0361 left_z=0.2017 left_yaw=0.0931 left_pitch=-0.0889 left_roll=0.232 left_gripper=0.997 right_x=0.5173 right_y=0.3115 right_z=0.077 right_yaw=0.1268 right_pitch=0.125 right_roll=-0.2726 right_gripper=0.9946\nstate[joint_eff]: [-0.0068, -2.6598, 6.8034, 1.5214, -0.2613, -0.0806, -0.0122, -0.2256, -15.3504, 7.0906, 1.7314, 0.1685, 0.0464, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.0454, 0.87, -0.5938, -0.5121, -0.1688, 0.997, 0.318, 2.4451, 1.2068, 1.1912, 0.186, 0.0036, 0.9954]\nstate[eef_state]: left_x=0.3115 left_y=-0.0358 left_z=0.201 left_yaw=0.0931 left_pitch=-0.0926 left_roll=0.2343 left_gripper=0.997 right_x=0.5818 right_y=0.1609 right_z=0.0582 right_yaw=0.1283 right_pitch=0.5359 right_roll=0.0028 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -2.865, 6.9949, 1.4774, -0.2466, -0.0366, -0.0122, -1.4427, -8.4855, 4.4786, 0.4567, 0.3004, -0.3834, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.0454, 0.87, -0.6075, -0.5121, -0.1692, 0.997, 0.3195, 2.4519, 1.2118, 1.2293, 0.1711, 0.0044, 0.0087]\nstate[eef_state]: left_x=0.3096 left_y=-0.035 left_z=0.1988 left_yaw=0.094 left_pitch=-0.1046 left_roll=0.2406 left_gripper=0.997 right_x=0.5821 right_y=0.1647 right_z=0.0654 right_yaw=0.1398 right_pitch=0.5714 right_roll=0.012 right_gripper=0.0087\nstate[joint_eff]: [-0.0479, -2.8239, 6.7624, 1.5751, -0.2711, -0.0562, -0.0171, -0.4718, -13.1214, 4.3419, 1.5067, 0.149, -0.0611, 0.7009]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9edbdc4811d7be24e3c0e18550a2dbf301357d64526d04fa91217e93b680ca66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebea6f8459d5e0c09696bc6e4e0a051f677ddc95b767db7253c781edde1dd183",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83c63548d84116b2e812507f6319ffcc519f0a4cf6b0927c17cf4f22bafb8fa5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGC5oxRcBcWTcHtjJCkTaOPFqJNRXhcMNF-HdlhkW9YUrOF-tTgOQgkVfhmA2lkflZlYF1HfgjfVXpsIPvvQ22oiZHH_gXouDQ656I6XwT_oIjwHzu9pWqjWC0G2ZAGQUXTV5SeAyBvXcMW-42e-qd_XmPDmIUW-49eL_p_fPvOGCSYreI_YzCM6wkbdfA4bru-zUpwrmN3QCUo7vgByPe2YAfgt7MPgIpgllzn_UzT0UCAxuHYETbZMKqTLod9kTyzsNpclufcnFfUbZh476p4Y1eIb7ZQTjSz62-9EveKkpfZql-BHzYwVLYUL3P3oAD-7Ip66Sz1u7QM3JmSKRWc8mZcbXkSYU-9I3gy4yKYNgbvn1YxgPb9XbhwWguq-SRRoFqf2ZS2o7QYSuRYH03htcpwGT8Kb2MeozGLDCrGwWCNugEb_9pHhl42hOuk-lMnAlV49pOBGm1jO6iaidvdTR1iYAlsXLwH80bfRSqi7I3OJ9TcdB_Ws6zPpsOXA-boYm-qcXcdDVZySqX2-nrA5wj1L6f96Rd97j9MOOewo-JPH9KBjvisBR7Uk6BfJRAprnRrHWTij6Ryuj-msIddv33JWJhOqmg9PFBkuHgqEakUZCBqYbzDleFG5ASg-wmIx0oA7t5r7y3Iq8ThbVDuiXJdVhh9YklWi3O9PCdeECIWuuOTN4C1qjszEpxxBPleRj0bO6-zVXGeNRTd6OTS3bZidbWKCkT5K_egxtWVB4f9uXYsUg8T7xHt_5niVCHD2obiooASjWbAe8P-8L0fyYX4qEOLyuzXy9QfRKP6cP2_bhc_3e4TKfnil8oFgBnmsbrjb2evFsV7q1cL1uS1G6BXIqdVeAaVM7jMpHhxV3AA2xjZtLcQtiU4g1ZknEv0T_X9TdfOq_k3_yisbnzOTwgI2gWodL_VZYYWSya17UrxRl-IZ5uLSOuxRhlLI-uP6xxQ3yXgbNgKL-FTAI2I9Xh7Lfpx2SXaRh8R7gybel5HH1kaOlvxDGze2_v3AzZeN2cmXLdR6yCHSsimYk9XTw8ukwwXk-NHifsDQEg9DKlBF-mnuf4UpqEvV8cNQ2Ck6d_ew5KJSeugp-uXjU_Mmkx4y5c58MFFHRDJw0odrcgD23Uu4YaZtYVrhUaYzEM-WxJpECP9Nd2ndOoOyr9do8P5YwCTKv_v2UR36vmpVoN35kHAsrLkgLguDeHr89SuGHP4qyB1RRod0XN84W0miX-fNdod8us52clS3Yb3DKopfFE958JeJmCiGp-seGHKlN6b1TNIHRFA1FnjrmmEl0ldrr8AmXniuqaBYDIulDQYQVFx_G-KyG25g-gC2Oebj-LgR7osBsuEveWeP5gj7kS6AEE8RLbI3EAU7W5GtlXSAEUcU6sWfm3ksz-6e4YdpX6gdB7KZQSZs8NA5S9y8p5IQAnCzl_jkZ_GsFPYlHE5mgvNw8eO4dc7_psOj-csv6c08z7SnQhNi22O2MJxij4dv-lvHXf5D5WbG_QH3lbzT-CZ_Xnh47vla2L5w1czE4Yx1yoVoSxWdbPCVZ6f3VT3g634ZcUxmmC-yoCYRnnec2GaT0vxRif7JPf9alhDcsxwNrk_Tje01eyqi4gx5UoUwK9mKXreFsxX2-TTUCG1K_QB25c9C4KmGIBPunE9PI0pWiS67WUKGQ5IzkpY59mgAiR-h9vZTffNYJrNEXw93u4t1ppC703-yM7CPsougtfcBsckgKhVpWtXkzLk-MdhUb51g69H-qx0mDUZr1b6JCiukTy6MnQaldz1C4bJPEsfrOSfqSVslvmizU73d1GizUQ0z2HmQi55WGqbvedYqNaAfUQINEDDOEPyDDMBfpfZw05HyeYoWicMZRAT-KrMgEE6to4JzCMNqSxjXfmT4YIQR4-EAJVyGKNGZA81TeBP2L5dTDN3ZxUeKcAwRHVZsCQTly-XM7-zlLDd6SGeFPoOhLAteLzjM1YZEsen6iAXoPlUc9T9oluBLEMzBOVCSeZHI2FW9MC6X90K_I-DEC46pgKGBqg35wt9qYHfZcBZQeTK6QqUBQjjca-JR-_l1qg8j02ZUYtI3mINyM7NdUtRzTUFdplw9x85BKXiwwTzu37XqLyQFX7VTsBaKa7V1tbtCg6_8lZmfBG-NmdUJRE67P-y0m3BQPB3P7Iq_h_OW1oXcSDI7dANJxiH42mnB97VfhH76xNjm_QyJMBs=",
  "id": "rs_0c9facfef04a6c4d016ab460b3f26487d088efc34eafac3ddc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.585,\"right_y\":0.195,\"right_z\":0.01,\"right_pitch\":0.6},\"note\":\"That close was empty; a small yellow edge remains just left of the gripper in the overhead view. I’m reopening and correcting leftward, using the available forward tilt rather than forcing the descent.\"}",
  "call_id": "call_LNjq9p4vD89B97gUf4sorM5x",
  "id": "fc_0c9facfef04a6c4d016ab460b7bfbc87d0976638fa0e9903d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LNjq9p4vD89B97gUf4sorM5x",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.0512, 0.87, -0.6147, -0.5117, -0.1692, 0.997, 0.3683, 2.603, 1.3586, 1.4307, 0.218, 0.001, 0.9944]\nstate[eef_state]: left_x=0.3089 left_y=-0.0348 left_z=0.196 left_yaw=0.0944 left_pitch=-0.1161 left_roll=0.2467 left_gripper=0.997 right_x=0.5915 right_y=0.1912 right_z=0.0799 right_yaw=0.1068 right_pitch=0.7631 right_roll=0.0676 right_gripper=0.9944\nstate[joint_eff]: [-0.1846, -3.2068, 7.1179, 1.5214, -0.232, -0.0317, -0.0171, 1.1145, -6.9538, 3.6308, 0.7643, 0.0904, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e82e650d9ab72acc4b9aa0b3c3bad858fde2cfb5ef5ca0231b6cf4cb4f810eb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e898b24587afafcafa0698a7f6983e83602d7ee86922a9c6006116d3bd1aa1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4fdc8ee010d6f2e1c9db3cc725acd5ba8bb9e581024aea296b68196cf8ccbef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.0454, 0.87, -0.5926, -0.5121, -0.1692, 0.997, 0.4282, 2.0617, 1.3853, 0.3397, 0.4488, -0.1585, 0.9953]\nstate[eef_state]: left_x=0.3117 left_y=-0.0359 left_z=0.2012 left_yaw=0.0933 left_pitch=-0.0915 left_roll=0.2335 left_gripper=0.997 right_x=0.5668 right_y=0.1784 right_z=0.1627 right_yaw=0.1244 right_pitch=0.2559 right_roll=-0.2981 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -2.7145, 6.7897, 1.4921, -0.2759, -0.0366, -0.0171, -0.2803, -14.4068, 6.9812, 2.3761, 0.022, -0.0562, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.0454, 0.87, -0.6075, -0.5121, -0.1692, 0.997, 0.3195, 2.4519, 1.2118, 1.2293, 0.1711, 0.0044, 0.0087]\nstate[eef_state]: left_x=0.3096 left_y=-0.035 left_z=0.1988 left_yaw=0.094 left_pitch=-0.1046 left_roll=0.2406 left_gripper=0.997 right_x=0.5821 right_y=0.1647 right_z=0.0654 right_yaw=0.1398 right_pitch=0.5714 right_roll=0.012 right_gripper=0.0087\nstate[joint_eff]: [-0.0479, -2.8239, 6.7624, 1.5751, -0.2711, -0.0562, -0.0171, -0.4718, -13.1214, 4.3419, 1.5067, 0.149, -0.0611, 0.7009]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.0512, 0.87, -0.6147, -0.5117, -0.1692, 0.997, 0.3683, 2.603, 1.3586, 1.4307, 0.218, 0.001, 0.9944]\nstate[eef_state]: left_x=0.3089 left_y=-0.0348 left_z=0.196 left_yaw=0.0944 left_pitch=-0.1161 left_roll=0.2467 left_gripper=0.997 right_x=0.5915 right_y=0.1912 right_z=0.0799 right_yaw=0.1068 right_pitch=0.7631 right_roll=0.0676 right_gripper=0.9944\nstate[joint_eff]: [-0.1846, -3.2068, 7.1179, 1.5214, -0.232, -0.0317, -0.0171, 1.1145, -6.9538, 3.6308, 0.7643, 0.0904, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e82e650d9ab72acc4b9aa0b3c3bad858fde2cfb5ef5ca0231b6cf4cb4f810eb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e898b24587afafcafa0698a7f6983e83602d7ee86922a9c6006116d3bd1aa1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4fdc8ee010d6f2e1c9db3cc725acd5ba8bb9e581024aea296b68196cf8ccbef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGC9ieYlaYKB3yt0HFnyVoK1wbu4giIVgkbq9w7srBbd-5t0Bb1TV8_-uDp-eyrvf5zZvfBx4HFVv-t8k6U9gk5l8TyCifSLOJ3q9Zjn10XxMCzfxSKbU1gAdwDGgcAyRDXaRkuh1CTO5PnZDmpPnNnuvECSKuCSBk-jtZ1HF_jo8VDCBzN_V1R6mHbsqa77KNjZIVNh7_ZOU0koI2Rk3j5V6AV_TfUDrYIwU2l1gZzdiWjuW11TXPVpV0jVx_Y7xXZZ8R6JJ4lyn5aU95wBSuvC3B4dqyW8HVamX_kYRSJEajP-eWg1te-G5MaD_6y3qvlVSTEjDJAlwAvlQ9BB-LZUgz3PBiHBkfSxq-HQFgwrfGj6K3Vm7iuHzRjRKb33HVWD_cNi96xZ0jzLOBZ5MZNS9pwAa4ZydKRFg23Uw1XSqwx17dG7GHwE81HklSJVF7jy40z7GMW8zG5_ZiTsgTyIQ7Z2OXs6QqWdB6NtlO9L2GIlgokPu_hn5B0AEfksth2tl8hYZ8VqTZZ-kx64_WHI6KpxPnLl4xCgFpHNIW3vkaOJcDt-Ki_EUIJyWFIfE0jET5JMUPeAfbavOgxG4_d27lQrh9y4vnLO3V4KAxY2Q7q9DJ7rba7nFM0tivIPbLx0YwiECllhQ441vMOxcGwoOfFLI0EbntsMER84X_cU9E3o0F34b1HEHCd45vz670fpz8QLGFBKTUtbzFcx4nziNJpX8IFD4qCiCk22RcJsF3ltTVfJOiV80nP1BSzCFR_UyrW7UqFP1BAWcm4yHgCrBxAXb_WnFqO7nVAiW0sNwEoGoC6VwOtLhRU3VxIGJGxwIsC7XWCrWBYCmxfTX_iE583ibeT-l19_BTY4r4laLCfLayyMyuaCaG_KijDmJ3daML4bysEpAu7SdN9YqqPgEVrJ9RJHMabDqSX4nDMB6DSU41fRsADh20DItGApOjY1c3XdNZ5oeUehLFItEnUL5duDvGJ9nzjxNsox53ednHg9v83hxEa9GsCiuoyNl95lIbJtKlt84rhmzuqwAqxHJH1WKW3jO5gyzlyk39qIOC5mXBSMEnkQ8i0Mfn2_THT6LszAep9xcP_me4X0u678DW83JVw-I1YASdzr2DG3x0WeQbZuF_FrVtu2b4YbqjR4oDfeJ3E4x_jXNPa_orj0kgixzmCQd6_pM__IFLfd1461QhJ-fQ5DKbcikr5tD0qKMA9Z6GeR5wrY4SMbHs00Y5rRWSAiGthAC3J5t9crXkrX4A9AXqHsgk8bUI_w9NXDk8T4U7obG55NK1Q3U-6uQ4GWc83Z7ZOocL74oxRpsHI2q_5mBb33Hnw73dVHSNZSxuP2K5j2omp57ySe5p9RXVgerv1weyXFZ0kxWtUL22qTyVCZ3Xz5foNCg6t_TU0-Bxob0vI7O6_CkoS9nvoLNdjkWN4EQ2fpV9K7uNvemCq8ZBhBUX4iMje2UYgAkSRZ9Ha94U_0NfSx7cUvdMRD9bxbMT37WcCYghRTsoVS-UIzO88_YllqSovPSqHMwyRKuqeSqPO98EQQDq-lVTkm8E_evvD8ZlDKzLoxI9PLDlD1vEhmOe13kTudt59qdoJi-4YSu31S2US3CMgKjrKDKg==",
  "id": "rs_0c9facfef04a6c4d016ab460bb9e5487d09d3d967e79cf7536",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.05,\"right_z\":0.23,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The right arm is not tracking the low far-reach target, and the gripper obscures the yellow object. I’m pulling back to inspect its actual position and avoid pressing against the safe.\"}",
  "call_id": "call_4FlFvlDzmUJY8E88yaOpcvt0",
  "id": "fc_0c9facfef04a6c4d016ab460bcbe4887d0824575a5c6b9140b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4FlFvlDzmUJY8E88yaOpcvt0",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.0546, 0.87, -0.63, -0.5121, -0.1688, 0.9969, 0.102, 1.5852, 1.2232, -0.2436, -0.0013, -0.0078, 0.9953]\nstate[eef_state]: left_x=0.3069 left_y=-0.0338 left_z=0.1927 left_yaw=0.0956 left_pitch=-0.1324 left_roll=0.2562 left_gripper=0.9969 right_x=0.4743 right_y=0.0524 right_z=0.205 right_yaw=0.1016 right_pitch=-0.0234 right_roll=-0.0005 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -2.9744, 6.9128, 1.6093, -0.2418, -0.0415, -0.0171, -0.5538, -10.4274, 9.5932, 1.9707, -0.1099, -0.0611, 0.0855]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95497337f0c009bf7afdd55f67ddb9a4e08f9a11ce64d56309fd028ff7f5cb9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:246fc702b77346cc0c4bdc3e3de10c1ecdbe4570bc4fe550982d6139ddb8a296",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfa7348a1d0e387689d5c345f81488e9fb5d538af04a7a4c1d67a6d2e88e258d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}