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, 0.7921, 0.6044, -0.3908, -0.0193, -0.0341, 0.9993, -0.02, 0.7925, 0.606, -0.3958, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0015 left_z=0.1784 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0012 right_z=0.178 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.3333, 10.2359, 1.9951, -0.1001, 0.1392, -0.0855, -0.4855, -1.2786, 9.7436, 1.917, -0.0415, -0.0464, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ae5ce7ef73eec26482dd39f0d7aa8804174bf653fb491ca0489ef27cd8ef591",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d564170c4fa5c9410df4658a946d3bac3d108a820037ea503ec3296124a88b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb4547e60dae51dfa944afc93f30fd48b2b684456bc6ed0e4f46a2be2b945ba3",
      "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": "gAAAAABqtGOzlgjwy8ep4dhOQhA0qUlgpA-NsDDXAVawsDOMxNvOZNKfyWhiPBldFS2RBp0-xeBX32BlRzJ8tu7Ju1grGt4f8gJ_ioFEIHV1-IZl47xIba430rEJ01x1Tv2dtMRYlXZyuQs927Wr9TNTC1bxxnXifAbqVrtBXfbezeJVL1z00ajuSHxaP6Z86qhfpEYq919NFW0dPQkjpA8sTHIkJU8LsEl_BJQeA5vVaYLAgKjYmANnBEryAUQZ4OtXFr-lWKWjESTW72tu0UI_1aHEUhOYx8YdwEp8J0WepOomuSINx2yn0UA_IPZrnDZN5P1Yw-y2h7hxywRal8sGQe3H_HlzhlWj78cDRDKvrtlqqQSapmtMIZl2tmNk04KMlfqTt0TSKokmxgORgrE5lfjlQSx25pI2El2c2xqpTzjwYCsNpNrUT95Uk-Jc2ntWya6qH0-O9NK59kdU1oc_DsNo7c-3XbxgzGMvkYWTCyKtokgtserjpkDN7RN230UHun3k7-a-WRGNQrL_MohXKK3hXIXWb9wTdRYd34B6lxlORQygj2lSo4VWv9H1ysArHbbcFlwhMi3IiQfSVVZNI1GSwxr1CTeIffi9qJR0zalkHWSnh0ut0lI2gNtrpSbqTmswrRA4PkPDyU3Q-2VR20MleEBQDhSVphgT0XvbuphhizI4_8xvPOfsu_BedG3szr63vDD3OEKGRvERfKAdFdQT17pcTFZ5GmpVhXWsVApm_eBWzdKuIfYl0aXVkT-f49N570_9GRkh_SuBgbz__-jJk5RnaHboqKUD7dS37asXLbOCvEmcCYAvH2asPS-m99hiVbHooDR0tY7Zm15U_YOtpnV4ecJ1FxylVPimDe6iO8e3lnTJdED-L65T25JMLetDBB2NSLixvrJwSbODN7ahaXUZCYLAIFR5xDO7m7no9wXz9ZlYMHK82vJ3trC9ZJv8-kD3O_SIte5e5W_6OigbucKC5DVyz1imrA5-50MigUHwA6ARb91-OiGIYpiWtwjYkjhr6oyOmFRJKT7OxeOpP3zE7K2i0pB69m3IbUja57KOLA9ipDqwKjnMBEoSYAnPR95tRM6uQ-ZoOct9NTWyXZ8bownStDTDP_X5TXohMSfrhOBBts9iE3CGgYx_VOyAdY9cX1AgMjmAjLdiEHyvr3D2SsX6t8pUrZdMYyW-k0-KclD6qzN_bNAMGHO3o-3FLys5IFExDzxIncLvkL-8pAOWpKUxzI1piZco-qmHgkB0yyFnrclY169-P1UsF2g665OgfC91bAgZZ2nQJWkrwTmxQNZXXQ0J59vPCWTlL7GNntejCmtaRAx4Zc_gWIbD6FMh0mROVxGYpQCziFQgtK8JhEHKLvQzFuzoTrk2UQFHQWosUwW03_bPf6rJJoaJ7CVjb0DIj7R00cYkjV9D0CQedbC6DGChv9kL47hIM3xFNCSVKucz3TNfPupU5m90kKjSlHUNB2sIDNO919DoKLFv-KUpAqF_QF97StIGEqWVCwZCy5iIV6XVQBU4PiPGk3iIPz0gcOXqz1hVgWB9zoU4umQxowuimBfXhHkYmxjl4rzC05i-PvFmvFmUfgW9aAOET5OE1BpUzqFJSLYyRZyczj8sfTGnFu-idXpwZOduD1x6vMFm8RnACLIZeYgGwQ-LYRVWUoXJpoYrXVs1PZIN-EFuxnBlu6JRyR_relPnGuOnQAHflmrMlcpcZLy64iYtPJt3yEyNPyPFNoSu2_PepmwHc1hw-4pS7Ebk7T4fMeFLjf7NjN6Qj5RVYt39zHxwm_dFVT3YblPXAbYT4-50EXX3iBX1w8_JmnGKO-AgyhxibpUjUB9Au7Duxy0cgiQfpy9C_nFwptQYhlRl-91_g8qUzTgyfiQN0L4Oo3Os4iY-2t6UZNB67clH4VhurD7ZofD0FUMqfK17Pr0mk3eg4dWPqboklLeES03Xkt67xo2greFZkqoLvLZd78sGLs5j6MRUZwnSAd2H_f-CQJdjm4OLnyGEHH1k_gTszAxzDV0KOpMTs57nRCXxOp3qpBJju28cWX-pfHcFG3jdC9L8RyUXpmvywDQoSLYxbhVbfH0=",
  "id": "rs_01ee134939f6a3ab016ab463aec94887d0ace6427b9c86acea",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.22,\"right_y\":0.25,\"right_z\":0.18,\"right_gripper\":1},\"note\":\"The safe is open, with a brown plush toy in front, a pale plush toy beside it, and a yellow object farther back. I am moving the right gripper above the brown toy to line up the first pickup.\"}",
  "call_id": "call_EhrjjCzic8gwAadyVNyuiioy",
  "id": "fc_01ee134939f6a3ab016ab463b1dacc87d0a0a04efe3ee836b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EhrjjCzic8gwAadyVNyuiioy",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "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]: [-0.0189, 0.7986, 0.6067, -0.4053, -0.0189, -0.038, 0.9992, 1.2625, 1.4063, 1.0161, -0.762, 0.8864, 0.9936, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0014 left_z=0.1747 left_yaw=0.0018 left_pitch=-0.0187 left_roll=-0.003 left_gripper=0.9992 right_x=0.218 right_y=0.2454 right_z=0.1688 right_yaw=0.0396 right_pitch=-0.0342 right_roll=-0.0463 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.7573, 6.8308, 1.8339, -0.0806, -0.0024, -0.0171, 0.1709, -5.4769, 8.1299, 0.8474, 0.7009, 0.1832, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5c03d67ea89ec59408c460bf9b202f266588b9e79c2fbe4892ad84c478554bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46559d9f767dda684217ce0a3812ebc38d2b45e6cb66d1bdc9927161e5e46874",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6730c084e96ee7f28559cc5c14773dbed05a75ac3a2fbe8437bfd0e19b09df94",
      "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, 0.7921, 0.6044, -0.3908, -0.0193, -0.0341, 0.9993, -0.02, 0.7925, 0.606, -0.3958, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0015 left_z=0.1784 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0012 right_z=0.178 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.3333, 10.2359, 1.9951, -0.1001, 0.1392, -0.0855, -0.4855, -1.2786, 9.7436, 1.917, -0.0415, -0.0464, -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]: [-0.0189, 0.7986, 0.6067, -0.4053, -0.0189, -0.038, 0.9992, 1.2625, 1.4063, 1.0161, -0.762, 0.8864, 0.9936, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0014 left_z=0.1747 left_yaw=0.0018 left_pitch=-0.0187 left_roll=-0.003 left_gripper=0.9992 right_x=0.218 right_y=0.2454 right_z=0.1688 right_yaw=0.0396 right_pitch=-0.0342 right_roll=-0.0463 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.7573, 6.8308, 1.8339, -0.0806, -0.0024, -0.0171, 0.1709, -5.4769, 8.1299, 0.8474, 0.7009, 0.1832, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5c03d67ea89ec59408c460bf9b202f266588b9e79c2fbe4892ad84c478554bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46559d9f767dda684217ce0a3812ebc38d2b45e6cb66d1bdc9927161e5e46874",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6730c084e96ee7f28559cc5c14773dbed05a75ac3a2fbe8437bfd0e19b09df94",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGO5eFyyRcJByj1K0UIsUVoWlRzUz2I5DMWM3OxT36yZ0b8WVSq--Vtv7oUjyF1U8DsagBfU49xqItYH_isJBprGteaAPTTmZ1zeRKG82myMKpIILn1WtmmRtsMdsbIoL6jrGvTGOaZXnSMg0vnHCGILZf2fAT3nsTZIf7Ezy0yx4SmQyVr89rtHSPLunX7J6ek1CxieMo7RhMq4Hech70bFvXteO6KuwHoBABO6gtNr-n3JCFj7kF9B8VXMwa2TPUEAxG5BhXN4jMng4T69uJIJtd2UYHgGYo7rtWpM9G9NA85q6hFhRtWFAnNzc1RDXj8gst9bq-dK5iyxIngXbcx3xyV6GH_uu1pXrmTN5C1TLIGm_EY4Ts23DnXa2UHM3IuYWAiRpSRcpHknBSFowMEGfD8Fj7N_SBAxfNhbGD0gZEnGpPjBqAkGt84aRtZZbJHU-O81LZVXgutha0mePHk4WECcOmXjVlajCWoMp2Zx8muJCr2WGPcrsvfkwIKgwtOIJ54DlNflNG5aTP1v_O2nliZ6LEYVq1AOlzKUQ7RIDg9t_VAqljyBJ2XI-cR6tYlPh6oRYn7QuoopkKAQXdJmXhemg5N1LvX6Bj5HhgkFzMZQXmStDtd-OBHM0jRVI7SCsVl45AYQy0oY6_ONP-TFNqEqfr1YPlrrS23CwEa1hAQVNmqW0C6JVfLAd4wzYniM_V7ZYeoH8XeZM4G9JqJ1mzTktixKQBUIElr7wSuqtyCJLwiPTDOHLUF5nb0JL_M98lutFefqLPkhIk140BE3Lt-Ht2PkuMtb8P14Z_I8_lHOVKAXV3uggzjew4AZQU8pDYQdiUFE8Bk4FbE-kf605Xk6tKkm0TOQbKbJvIhcPO34QIh6ubasljQ0hvX_pwaQWv1g8xVEKQWlZG4jv0PSYE4EboZYei-D1Wq62VwgUxW8lTWQ5ACjqqE0LZMzkqE1dW977rM8JD-nx7DWVOGO_NvpA702xlTQOrQHJ51xsBA1OG146im3p66i-aXZ-h7-XXrpULSoZm6JuQ_mueFtPXgz0FBqpqLywvWnu5i135Qykybi_SEyalAXzHABYoN_5XDBQiUh7dpNYOiJ8uUa3ihC_AY2ZH3-EFiwOi6SBrDkEmtLOdvEi9cbbg84IPvwaq3gV99qGmRflomj8W_BZDlmhus_xydDdJ8dBqFPrl49RoJ0JbdQxFGcbIl7xX6MkJ8H0EgQbjTsv08CdrOwyRygbEclV515ts57xFQjheEU78X_YTOeywJbvQD3R0B3ePWC8gcKrGRJa5b1EpY4NeQMHKpUeDmUjuah2MPa-o8RNL7zKLHMDV69RpohAgcHpoRqrAe0t_B3EGLkjATxI47a5nz5rorITzPtNmAeZwA-3vZnU1Vm7H0IofNsONBWUEnXZYm5A2FEFUJCIfQog4Jfkz6MUzJGXpeylBolRlJCiFEM2tslrvTwlsnIZOLi12r6PdN3bVUrnAuf9LEPtw5XuaAD_BNC1Ry7JRAem4GLPA-A1_UfOAjRzLvdXZh54unwUU2sda0FvYBjO_BNTcbDtYFOvH65JEhRbMKPLopdVB_tWgFHtvTFQKmUf-9foWDKB2Wi68ZfKcg_GLhERxREsCuw5OtfLT958CM9zNvvGFl-jmapcYwPTYrY1ynqCrKEzivv9kKgMw4oybUut0Mtd_eydm3iouC0yDY7EIU=",
  "id": "rs_01ee134939f6a3ab016ab463b6e00487d0a6801d8705a3cc62",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.24,\"right_y\":0.27,\"right_z\":0.035},\"note\":\"The brown toy is centered near the bottom of the right wrist view, just in front of the safe. I will lower the open jaws around its soft body, moving slightly forward and left to center the grasp.\"}",
  "call_id": "call_dnL2JZaZjHrRxHypPb4YlgFy",
  "id": "fc_01ee134939f6a3ab016ab463b89eac87d0af18789b17430779",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dnL2JZaZjHrRxHypPb4YlgFy",
  "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]: [-0.0189, 0.7994, 0.6067, -0.4129, -0.0193, -0.0383, 0.9992, 1.2194, 1.7313, 0.7742, -0.2085, 0.8608, 0.9379, 0.9995]\nstate[eef_state]: left_x=0.2909 left_y=0.0015 left_z=0.173 left_yaw=0.0023 left_pitch=-0.0271 left_roll=-0.0029 left_gripper=0.9992 right_x=0.2344 right_y=0.2605 right_z=0.0368 right_yaw=0.0371 right_pitch=-0.0629 right_roll=-0.0954 right_gripper=0.9995\nstate[joint_eff]: [-0.1573, -1.2376, 7.3368, 1.7851, -0.0806, -0.0415, -0.0122, -0.6632, -6.7761, 4.8068, 0.9206, 0.4225, -0.1734, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79fb975741236f66ae38251db3ee9b820a9c493d2149ed5a9927dce705f9e212",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:685e0aa3a162b616a156edc5febbb94d0e860336875cb4bbe35b85aa3dd0ed79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00959dc641dca8c47f0a6bd7b925174e25ac20608ba7c590e9083b196ed15758",
      "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]: [-0.0189, 0.7986, 0.6067, -0.4053, -0.0189, -0.038, 0.9992, 1.2625, 1.4063, 1.0161, -0.762, 0.8864, 0.9936, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0014 left_z=0.1747 left_yaw=0.0018 left_pitch=-0.0187 left_roll=-0.003 left_gripper=0.9992 right_x=0.218 right_y=0.2454 right_z=0.1688 right_yaw=0.0396 right_pitch=-0.0342 right_roll=-0.0463 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.7573, 6.8308, 1.8339, -0.0806, -0.0024, -0.0171, 0.1709, -5.4769, 8.1299, 0.8474, 0.7009, 0.1832, -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]: [-0.0189, 0.7994, 0.6067, -0.4129, -0.0193, -0.0383, 0.9992, 1.2194, 1.7313, 0.7742, -0.2085, 0.8608, 0.9379, 0.9995]\nstate[eef_state]: left_x=0.2909 left_y=0.0015 left_z=0.173 left_yaw=0.0023 left_pitch=-0.0271 left_roll=-0.0029 left_gripper=0.9992 right_x=0.2344 right_y=0.2605 right_z=0.0368 right_yaw=0.0371 right_pitch=-0.0629 right_roll=-0.0954 right_gripper=0.9995\nstate[joint_eff]: [-0.1573, -1.2376, 7.3368, 1.7851, -0.0806, -0.0415, -0.0122, -0.6632, -6.7761, 4.8068, 0.9206, 0.4225, -0.1734, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79fb975741236f66ae38251db3ee9b820a9c493d2149ed5a9927dce705f9e212",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:685e0aa3a162b616a156edc5febbb94d0e860336875cb4bbe35b85aa3dd0ed79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00959dc641dca8c47f0a6bd7b925174e25ac20608ba7c590e9083b196ed15758",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGO9E802uSV6z05kZZQtMv1LZx9tWjItsuklq24AqFH8DbcoCXNHHJqdA2Pd-HpGP-QIo8vwJLbubyR7SwFWfSxOA6I8JKqTIt-dCRDWSJjd7PTteXzlN-ru7NPNdcYoe_RRXeR6dnOCsvUlOEYfMTTUzzDZ27U0OiAfbaAFW86ZR24G2THZTgcWkT1xk7NOsPVY6HEgXt4Ox1y5_raXe99HrXTXh8MhH5wAzp52LisohHRbiNoKebpoZkgmKUOEiEq7Cr7TF6dsoZuGHdKySPr4iYACZtwXtq3YvoASz_GCKNa_ou2B8oeJJnGPK2K6ApA9Rn2_qVovzuVWwB-O2TgA-P_GUi3HsOqD8Grh6eJuK7jvt9avaCX_msQ3_JTWCqB7zfqYTJ3zQyH1CaSKex9g8PCw0_2Etgw1W5RWb_-PWO7T2fEPAK0R69X_GVuHhMVfOkZePQS80U6XWmwphuV8yFcdekHJwBNbO3D8yVMoGoA2brdFcwOawN-UPUfvalqILWKd8lUtwAf1jxW4jgm01J1o3XX5pyvVbWyzphzarxo_Syxm-dyn7g4lOtAt-RVK256U5Fxkc8mVUMGhFORTrzsl459DLakmbBgX2a71f8Ue65OAiRpwHRJCUReLUmrVvynyIy0Ig-HzyObxiO-YQuVJ_A9bxipjMlGLeqT70p_lo4sQleX3PcBAdditHEEWFou1y-GUUIxUvkWoqQirTjC-N3VahgTcd61c2I69q_XQ2_rQ208W8kJNWpvc0dAa1otUJx9Mjw6DTGCCvNPjbZxgPSkZM03MFw69Pmcrq8g3QBBydRFYgs7o_Ke92Fc6zm8cI6rRP5EJOy_A2XkmJE43oZBoGYhgu6tF4nbWL2MEUwBk_R4Cx6rbvwG4ur2S7nQeBeVYSk2HfBcpEzJA12BDKNVoQeA5Y-475_tm-ZnNRMjIgaCnaJd8G5ZQVEGc2jSxewrhjtGtc4Lk5Hr7w77zl67Kf3C2hekQGPz-ibidggAuEA4_Z7P_UuuuJhye-bUIS7A7AELPlryeLXtLuKD1y8AYBZusJ3GBZ-waGKUUU56Bmg8U9SWkKY7JuigS0ocxAFr3ntjHIP5cNv74OYBncBX94_fFr6REH_ZtkUYboUfZyLux9DOU3Y7V-f8xX7aHjWI2F8XWCiSgLxr6xjQuQ0g4Psfv6BJfAmT5GQ4fLI6O_pGCYClfQSjHpASGaayNIJpzGbGYuEmP4AuEkA4v3mSOgExxx1pY0tcft9o=",
  "id": "rs_01ee134939f6a3ab016ab463bc28dc87d0a5145c466ca2e768",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are down around the brown plush toy's body. I will close them to secure the toy before making a short test lift.\"}",
  "call_id": "call_SXF8SnFdrJAEEob6zQyi6KiU",
  "id": "fc_01ee134939f6a3ab016ab463bc87ec87d0942a74313be01261",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SXF8SnFdrJAEEob6zQyi6KiU",
  "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]: [-0.0189, 0.7994, 0.6067, -0.4278, -0.0189, -0.0383, 0.9992, 1.2179, 1.7466, 0.7673, -0.2073, 0.852, 0.9321, 0.0182]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.17 left_yaw=0.002 left_pitch=-0.0419 left_roll=-0.0028 left_gripper=0.9992 right_x=0.2328 right_y=0.2578 right_z=0.0294 right_yaw=0.0409 right_pitch=-0.0787 right_roll=-0.1163 right_gripper=0.0182\nstate[joint_eff]: [-0.0752, -1.265, 6.9949, 1.873, -0.0806, -0.0464, -0.0122, 0.0068, -8.4718, 5.6547, 0.8718, 0.4518, 0.0073, 0.8571]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b97092d0e2f0656b1f3a5767518c7dc1356cacaa66d23f79d5561b503600461",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a4dc0af4aad39d37917c6a8a9cc8dbe8b964b353dbf93d7b683e7652672cf44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ad00f3710216a4dfd335fc07628eb15afd200b959bacef986ebd7389116f71d",
      "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, 0.7921, 0.6044, -0.3908, -0.0193, -0.0341, 0.9993, -0.02, 0.7925, 0.606, -0.3958, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0015 left_z=0.1784 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0012 right_z=0.178 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.3333, 10.2359, 1.9951, -0.1001, 0.1392, -0.0855, -0.4855, -1.2786, 9.7436, 1.917, -0.0415, -0.0464, -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]: [-0.0189, 0.7994, 0.6067, -0.4129, -0.0193, -0.0383, 0.9992, 1.2194, 1.7313, 0.7742, -0.2085, 0.8608, 0.9379, 0.9995]\nstate[eef_state]: left_x=0.2909 left_y=0.0015 left_z=0.173 left_yaw=0.0023 left_pitch=-0.0271 left_roll=-0.0029 left_gripper=0.9992 right_x=0.2344 right_y=0.2605 right_z=0.0368 right_yaw=0.0371 right_pitch=-0.0629 right_roll=-0.0954 right_gripper=0.9995\nstate[joint_eff]: [-0.1573, -1.2376, 7.3368, 1.7851, -0.0806, -0.0415, -0.0122, -0.6632, -6.7761, 4.8068, 0.9206, 0.4225, -0.1734, -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]: [-0.0189, 0.7994, 0.6067, -0.4278, -0.0189, -0.0383, 0.9992, 1.2179, 1.7466, 0.7673, -0.2073, 0.852, 0.9321, 0.0182]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.17 left_yaw=0.002 left_pitch=-0.0419 left_roll=-0.0028 left_gripper=0.9992 right_x=0.2328 right_y=0.2578 right_z=0.0294 right_yaw=0.0409 right_pitch=-0.0787 right_roll=-0.1163 right_gripper=0.0182\nstate[joint_eff]: [-0.0752, -1.265, 6.9949, 1.873, -0.0806, -0.0464, -0.0122, 0.0068, -8.4718, 5.6547, 0.8718, 0.4518, 0.0073, 0.8571]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b97092d0e2f0656b1f3a5767518c7dc1356cacaa66d23f79d5561b503600461",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a4dc0af4aad39d37917c6a8a9cc8dbe8b964b353dbf93d7b683e7652672cf44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ad00f3710216a4dfd335fc07628eb15afd200b959bacef986ebd7389116f71d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGPC3WYERzQ8-jbTMyFym3NVs_5VHXOmFUubID4YCubZxEl1aQ6y5ruiEChe9xksWN4izoIZDyIzRSzRY922Y51JQo3nWj3SqdKQygP4EFNPxOiE9jAknuI5eAydzapYYx_9PGiy2X58wagPaWPrMgA16a76Lgxjgpo7sdZHozPpmQ2Ri4SL2WNxlhtjITqn6UY4fc-lslvesQ3755CcTM_-cjNUdjiLVTCFbDdw33acLe6I0Qm3SKGrXxwUuSAF4XYCRbB8PpTqjm0g6Shnp6Z6yR-kadyyCmPyP6L-LTP07ipTh5iuJKv_9buL3l-XIRUu-uNytFhGuPodbK_rhNn9YzLxDvAqI4njk_vZhPCEzRHVDyy447MwWZktBD9mYuAu634BWFiwdl3VPNIcbHgAhIKLi4tEO_7D6Vokm24nWYW7GdGOqNUxw2by__cktXAur31ETpo5dpNCzDTJhGUoYnBfWyxvdcQYsQtSmYZQyOU4WwAOU3Fl1Fu467ArYE3E5pgfNDlU-bF_QQvgmZSd6Zt_0ZDBmzam4eb45UM9fdvW12cdcb-G7Zs9U1qbD1u34Yy_9u7dcf9UPd1Br_abkMZkQGZqqwiO0NxLYjO4Xgy1vDNupY1O7kmUo75crQOrE_Z7WDFf9FzAXYF7RhSqXNxygBXM7_C9g8GcGeGEcnTGrIucw8MVu0f9QS1unCeSZzC79YpZ_yPlIcALfv7fRIhP2ZbpZmBFzZ_Yw89MjiYMSZrO4eTpO6z44naG9huE6OEpzFptgV4gxgVFrkQfmYrJ_JM2wvHQxJYat9zz_nHx9qHLbIYIu6sjlVhCCc5Zy4YZcePP_WyEoWcDmrlKAA8egP5xQpgUjjZvyo7G2U2Ri_YBYYLwyyGlS-vahBun9mMhBG3zZvSKmvYqWXnI_Ea1MWj8hDr8wpF5GUoi-vO_pHULaTVchgVa3OQwAZ6HNPT3fP1IICLw7xa3-eWcXPH-u6RM3SeKRtuuTQ4hbBPH9-nZGvT1o0lYLU1_I3_GrUOnJIUq5pbLRggKuln4t3bWA0LdR8HX9AOU-e9ERMnB7HPyGCAntvfZKMjSRHcOmVFfoL9T1zAbbOh34Q8A_r0XWEpcKyc5nLP4TvX9-asaootSeVp9TRoeTAXFSMFNFwgLsaKVZTi_ScGxn6VrfLjhdyKiUGmVl42ab9sfygi4AonnnvTiMS8QlS6B0vx_05Oner0Yj-w8Ue0E3wey3w0RzWrmG-A9GmYf8H7--Zn2195Ud6C9Hi1cp75q6T4cN56lI2_QkDY90baChDe8qTwIW6ly5PSTQcltWQqQHJqWuTO4KmrlbWNWO2C3GKRGTGIqrzIx-EhDREPViRXLWHCAgBfkwUgRymJmf8yzqQvB1l2563OI-v3BeSQhxestoRRB6-ELeLmyibUynzdxjlLHIhSv-a8YC3btWyV9pfzxKD5-TUTwgCbDD3cAzj9f10rsTwrvzztGly7JZEjBTfx86jKVf54c2jC17M969dqnCXIuImwigwwEGJ8w8ZYc4FLzUkV5ao6RFePLLNOwWQ==",
  "id": "rs_01ee134939f6a3ab016ab463bf93bc87d08f5df4ed22324655",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.25,\"right_z\":0.025,\"right_gripper\":1},\"note\":\"The gripper closed almost completely, so it did not capture the toy. The body is still ahead of the fingertips; I will reopen and advance a few centimetres for a better-centered grasp.\"}",
  "call_id": "call_gjuaGDru9K2NV4riBeQEWoz9",
  "id": "fc_01ee134939f6a3ab016ab463c148f087d085ba5229e757a0c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gjuaGDru9K2NV4riBeQEWoz9",
  "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]: [-0.0189, 0.7994, 0.6067, -0.4358, -0.0193, -0.0383, 0.9992, 1.0668, 1.7676, 0.7628, -0.062, 0.7773, 0.7403, 0.9946]\nstate[eef_state]: left_x=0.2877 left_y=0.0016 left_z=0.1684 left_yaw=0.0023 left_pitch=-0.05 left_roll=-0.0025 left_gripper=0.9992 right_x=0.2735 right_y=0.2469 right_z=0.0248 right_yaw=0.0395 right_pitch=-0.0973 right_roll=-0.1294 right_gripper=0.9946\nstate[joint_eff]: [-0.1436, -1.2376, 7.2, 1.7363, -0.0757, -0.0024, -0.0073, -0.5402, -5.8598, 5.053, 1.4286, 0.4713, 0.0513, -0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deee152079d525a064ef23e735ffef07bebdb0b46e6ae196d4ae3940427243ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55d87452d9d63f44f659fa33f0019090bf03470152011707518e32298b8e92cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd659dcea63901cc4361b24d55ed2f90f51ed9dc18b7a9958723892f925faca4",
      "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]: [-0.0189, 0.7986, 0.6067, -0.4053, -0.0189, -0.038, 0.9992, 1.2625, 1.4063, 1.0161, -0.762, 0.8864, 0.9936, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0014 left_z=0.1747 left_yaw=0.0018 left_pitch=-0.0187 left_roll=-0.003 left_gripper=0.9992 right_x=0.218 right_y=0.2454 right_z=0.1688 right_yaw=0.0396 right_pitch=-0.0342 right_roll=-0.0463 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.7573, 6.8308, 1.8339, -0.0806, -0.0024, -0.0171, 0.1709, -5.4769, 8.1299, 0.8474, 0.7009, 0.1832, -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]: [-0.0189, 0.7994, 0.6067, -0.4278, -0.0189, -0.0383, 0.9992, 1.2179, 1.7466, 0.7673, -0.2073, 0.852, 0.9321, 0.0182]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.17 left_yaw=0.002 left_pitch=-0.0419 left_roll=-0.0028 left_gripper=0.9992 right_x=0.2328 right_y=0.2578 right_z=0.0294 right_yaw=0.0409 right_pitch=-0.0787 right_roll=-0.1163 right_gripper=0.0182\nstate[joint_eff]: [-0.0752, -1.265, 6.9949, 1.873, -0.0806, -0.0464, -0.0122, 0.0068, -8.4718, 5.6547, 0.8718, 0.4518, 0.0073, 0.8571]\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]: [-0.0189, 0.7994, 0.6067, -0.4358, -0.0193, -0.0383, 0.9992, 1.0668, 1.7676, 0.7628, -0.062, 0.7773, 0.7403, 0.9946]\nstate[eef_state]: left_x=0.2877 left_y=0.0016 left_z=0.1684 left_yaw=0.0023 left_pitch=-0.05 left_roll=-0.0025 left_gripper=0.9992 right_x=0.2735 right_y=0.2469 right_z=0.0248 right_yaw=0.0395 right_pitch=-0.0973 right_roll=-0.1294 right_gripper=0.9946\nstate[joint_eff]: [-0.1436, -1.2376, 7.2, 1.7363, -0.0757, -0.0024, -0.0073, -0.5402, -5.8598, 5.053, 1.4286, 0.4713, 0.0513, -0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deee152079d525a064ef23e735ffef07bebdb0b46e6ae196d4ae3940427243ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55d87452d9d63f44f659fa33f0019090bf03470152011707518e32298b8e92cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd659dcea63901cc4361b24d55ed2f90f51ed9dc18b7a9958723892f925faca4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown toy now fills the space between the open jaws. I will close around its body at this new position.\"}",
  "call_id": "call_ZKifMYL3qqsS3ti5XhUC3Dsv",
  "id": "fc_01ee134939f6a3ab016ab463c4a92887d086bd7881face4437",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZKifMYL3qqsS3ti5XhUC3Dsv",
  "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]: [-0.0189, 0.7994, 0.6067, -0.4526, -0.0189, -0.0383, 0.9992, 1.0664, 1.7676, 0.7628, -0.0669, 0.7662, 0.733, 0.0159]\nstate[eef_state]: left_x=0.2852 left_y=0.0015 left_z=0.165 left_yaw=0.002 left_pitch=-0.0667 left_roll=-0.0023 left_gripper=0.9992 right_x=0.2723 right_y=0.2473 right_z=0.0231 right_yaw=0.0485 right_pitch=-0.1087 right_roll=-0.1342 right_gripper=0.0159\nstate[joint_eff]: [-0.0205, -1.0735, 7.1316, 1.8535, -0.0855, -0.0122, -0.0122, -0.3214, -7.3094, 5.0803, 1.1111, 0.4176, 0.0464, 0.8327]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b852d1bb17211c5bc4536909572ff4f724a147de381dad10372ded6aef6bd881",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27cf6de218e4525d35de3a4bf86f0e9fe3cd22d02f26049d06acd3a1b8c067d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c1c9200ba4e80d61fde65cf3c9e18513e96ca63a7bad135421fdf6d903a395d",
      "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 21 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4129, -0.0193, -0.0383, 0.9992, 1.2194, 1.7313, 0.7742, -0.2085, 0.8608, 0.9379, 0.9995]\nstate[eef_state]: left_x=0.2909 left_y=0.0015 left_z=0.173 left_yaw=0.0023 left_pitch=-0.0271 left_roll=-0.0029 left_gripper=0.9992 right_x=0.2344 right_y=0.2605 right_z=0.0368 right_yaw=0.0371 right_pitch=-0.0629 right_roll=-0.0954 right_gripper=0.9995\nstate[joint_eff]: [-0.1573, -1.2376, 7.3368, 1.7851, -0.0806, -0.0415, -0.0122, -0.6632, -6.7761, 4.8068, 0.9206, 0.4225, -0.1734, -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]: [-0.0189, 0.7994, 0.6067, -0.4358, -0.0193, -0.0383, 0.9992, 1.0668, 1.7676, 0.7628, -0.062, 0.7773, 0.7403, 0.9946]\nstate[eef_state]: left_x=0.2877 left_y=0.0016 left_z=0.1684 left_yaw=0.0023 left_pitch=-0.05 left_roll=-0.0025 left_gripper=0.9992 right_x=0.2735 right_y=0.2469 right_z=0.0248 right_yaw=0.0395 right_pitch=-0.0973 right_roll=-0.1294 right_gripper=0.9946\nstate[joint_eff]: [-0.1436, -1.2376, 7.2, 1.7363, -0.0757, -0.0024, -0.0073, -0.5402, -5.8598, 5.053, 1.4286, 0.4713, 0.0513, -0.0366]\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]: [-0.0189, 0.7994, 0.6067, -0.4526, -0.0189, -0.0383, 0.9992, 1.0664, 1.7676, 0.7628, -0.0669, 0.7662, 0.733, 0.0159]\nstate[eef_state]: left_x=0.2852 left_y=0.0015 left_z=0.165 left_yaw=0.002 left_pitch=-0.0667 left_roll=-0.0023 left_gripper=0.9992 right_x=0.2723 right_y=0.2473 right_z=0.0231 right_yaw=0.0485 right_pitch=-0.1087 right_roll=-0.1342 right_gripper=0.0159\nstate[joint_eff]: [-0.0205, -1.0735, 7.1316, 1.8535, -0.0855, -0.0122, -0.0122, -0.3214, -7.3094, 5.0803, 1.1111, 0.4176, 0.0464, 0.8327]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b852d1bb17211c5bc4536909572ff4f724a147de381dad10372ded6aef6bd881",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27cf6de218e4525d35de3a4bf86f0e9fe3cd22d02f26049d06acd3a1b8c067d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c1c9200ba4e80d61fde65cf3c9e18513e96ca63a7bad135421fdf6d903a395d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGPLxYOQIIC7NFXz5_aQmYJHAnwTjDGUanoMR7DzEdijj0YIkGIqGgnsD8dCaiW7ecXRw1_JEZu_hE556Ri5VbXvbel4ylMmzMnZ-NPrP3L7Tzobx_NqAyDwFud_HdIyz4OxdhklAtw0u6VPhcqTfmwTkeFFGI43kqJIVY923cv1L8ncJxWophrL8041c7yxOCyPFoPcvb03lGRh8VlrCbu2MgTJU-xC5CWx3FEjBsIzzvqtei_L09jqCd3WoBgMqunzckKJgU4DRYqXvW70eaovd9EPUfuiC_HU_zptCqYYyLXS6oNsd5VYGnuM4f2TaMfQK-1auR-xInssw7oVRf20zAhSJQo1bsg8Rsufdru8MQ1j5IIWMMrpT5iwJ7elS7uAgbAczvd43johljb0jNItv5BQCVIV48xBtqP_7nXN0biePG6gEJlwgB_C_eACKiSU4KGsCbqRTJb47fZBV_9bP8CKsroPadXV1UMsA-peWA1HiCIfntCR77nBOGwmuMqZbMNZ4v5_xHGbTFfePhol4RN6K6ZUy3pYGtryuWa-86w2IiAWVc6viS90lP1N6qTcLH9fCQi-1Hnb1L9toKAG56JxYpvLWm0QzeO5tbox1CDg2ffL6oNgUH0qB0tKj4t0J4aBmIMCHWHkw2N6yVWQVXMDlOvbKNXTnodphRtwoQ4Ba0a-rR8wNInYaw7xgdteHBUb-icf8g7AiBEOF9ubyTqWwLDFLoROMW5np1pE5fwxomnTsSCexvsT_JjwmqmbQOQa34L4GD4gYyaj3L3nDJH0G6dEWUxxK7aBasFZ4bfgU3nCJO94QYoWEcxHqluLOEfK5KLwvKVM_PLYaLFDCXH9T26de6v64gQnhDTNmKrSiH5cpQzW8I_L3n8C3uGB9HZWiMlLqLRrGedfrzGWMyv82tqsUExxUXgueeYh2cU-pLlzzQ_V1kdtCpsdELV9ouem0iaAxcLXf52r6NJ6KYJMC0X8kAHHKK6-gbolPBCe1UtAZmoOS98mBppMCvecRgMfGpHsLsEgz6Ceck10v68OI1ZJ5wi4_itcaCdCsjZ2kIQwFxvB-WQh3VJy_L1XH68LyayyKfwKpisp4WCIDGe6LKv-bhvUf48qfUfHriXmaZOgR6___ZDab0nBIk_KSbQWan-ogCBEXxkvor8uKLiOytyeArUVwa0BpXEkEEVxR-upIaphnX1V6qblV7eSmny4QV4AZH3kcSysUBVRQMn3zed72XKU6dJDy81ip_Kg5pcNp-qkKG1D63tyvr5g7qZ_7voRtJ3kZfBqDHOUapPa-5aVwzNiRwjDLT1V8i-VHVeUrkxJMqIZ7YsdcXtfaUT3_DkSFlO2qK10aO4ZxNAt0nlQpx2LHJ8T7npOUfw5Xxik9cpmHxEWpBa561EpbKPkmDMOMNtAdzTnPy23CpyuF4b2m-y3uZgEC6XkO0X2dFyDKNQB9clzeSYdwPo7PP2CwHidlDsX41YfYhBbI86F4AOhItGu3rqmxfcgBTkI3PRWCG8Mvt_R2JxnhCODImZnfpda6HDAp9LKqLpxV7FsP8_zUJwaJ4r0R5043wo8Wb6EFokoOv_uKr_SfqKqeaVXVyAPr9ZGSpkJbokasvAWOv-SzXuker6iXm9irVJFFIqgF2O8XGmE_mLJOkVb9qG2tFUxwi_qNJEKDcwF87kL4dR0nx3AjWlDU0JlAwzqiHPKpCyBelT3FjBXvOiv2WUguBWrGTOmy0PgxiufNZtfBveiCINrFe5ZGQdOhU49bhcCjsRbfEmr_XmCgaTRcpxFzcxYRgt9juac43Tk-FP2UtCOrQt5XOEFIYx5EAipYa62v7OkoHp_L7fb-pKthRi4KeECcW4SiJzEIxgj6n0T_PgpYvLx9hRCExHRJhzoJnnZcVAQXiFj1z41x0Sw",
  "id": "rs_01ee134939f6a3ab016ab463c7a5f887d08c437b69af31ab6e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.195,\"right_z\":0.12,\"right_gripper\":1,\"left_x\":0.293,\"left_y\":0,\"left_z\":0.18},\"note\":\"The second close was also empty. In the overhead view the brown toy is to the right of the gripper, so I will lift, shift over its center, and reopen rather than repeat the same grasp.\"}",
  "call_id": "call_p2YvhLWoa9cP14zoOiegAqwL",
  "id": "fc_01ee134939f6a3ab016ab463ca2c5087d08359e6ff729c3c62",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_p2YvhLWoa9cP14zoOiegAqwL",
  "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]: [-0.025, 0.8421, 0.6441, -0.5053, -0.02, -0.0536, 0.9992, 0.8551, 1.4666, 0.8112, -0.3195, 0.6495, 0.5133, 0.9947]\nstate[eef_state]: left_x=0.2846 left_y=0.0 left_z=0.1602 left_yaw=0.0054 left_pitch=-0.1247 left_roll=-0.0121 left_gripper=0.9992 right_x=0.3021 right_y=0.1901 right_z=0.0985 right_yaw=0.0365 right_pitch=-0.1466 right_roll=-0.1638 right_gripper=0.9947\nstate[joint_eff]: [-0.4718, -1.2103, 10.0308, 1.8779, -0.1343, 0.0366, -0.0122, -0.2256, -7.0222, 9.0462, 1.4579, 0.2271, -0.0269, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:254407a6320cf4899ce8860e59daf7f32cb0ccb6674661accc1872faf0f85e7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06447b9c5ce8aa62519d3df5150e769227a2c85c9bccdb040c960da8693d12ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43280d5c60e12a9d82a296db323e4fd9b19f60ad0300e5f2ccff10d22c2297bd",
      "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 21 changed as sent

message 25 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4278, -0.0189, -0.0383, 0.9992, 1.2179, 1.7466, 0.7673, -0.2073, 0.852, 0.9321, 0.0182]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.17 left_yaw=0.002 left_pitch=-0.0419 left_roll=-0.0028 left_gripper=0.9992 right_x=0.2328 right_y=0.2578 right_z=0.0294 right_yaw=0.0409 right_pitch=-0.0787 right_roll=-0.1163 right_gripper=0.0182\nstate[joint_eff]: [-0.0752, -1.265, 6.9949, 1.873, -0.0806, -0.0464, -0.0122, 0.0068, -8.4718, 5.6547, 0.8718, 0.4518, 0.0073, 0.8571]\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]: [-0.0189, 0.7994, 0.6067, -0.4526, -0.0189, -0.0383, 0.9992, 1.0664, 1.7676, 0.7628, -0.0669, 0.7662, 0.733, 0.0159]\nstate[eef_state]: left_x=0.2852 left_y=0.0015 left_z=0.165 left_yaw=0.002 left_pitch=-0.0667 left_roll=-0.0023 left_gripper=0.9992 right_x=0.2723 right_y=0.2473 right_z=0.0231 right_yaw=0.0485 right_pitch=-0.1087 right_roll=-0.1342 right_gripper=0.0159\nstate[joint_eff]: [-0.0205, -1.0735, 7.1316, 1.8535, -0.0855, -0.0122, -0.0122, -0.3214, -7.3094, 5.0803, 1.1111, 0.4176, 0.0464, 0.8327]\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]: [-0.025, 0.8421, 0.6441, -0.5053, -0.02, -0.0536, 0.9992, 0.8551, 1.4666, 0.8112, -0.3195, 0.6495, 0.5133, 0.9947]\nstate[eef_state]: left_x=0.2846 left_y=0.0 left_z=0.1602 left_yaw=0.0054 left_pitch=-0.1247 left_roll=-0.0121 left_gripper=0.9992 right_x=0.3021 right_y=0.1901 right_z=0.0985 right_yaw=0.0365 right_pitch=-0.1466 right_roll=-0.1638 right_gripper=0.9947\nstate[joint_eff]: [-0.4718, -1.2103, 10.0308, 1.8779, -0.1343, 0.0366, -0.0122, -0.2256, -7.0222, 9.0462, 1.4579, 0.2271, -0.0269, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:254407a6320cf4899ce8860e59daf7f32cb0ccb6674661accc1872faf0f85e7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06447b9c5ce8aa62519d3df5150e769227a2c85c9bccdb040c960da8693d12ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43280d5c60e12a9d82a296db323e4fd9b19f60ad0300e5f2ccff10d22c2297bd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGPSLAhyBWqXfyibLZEWYBj62ieEMKslvIbEczdKRoUFVcSsZ_tyHDK3_Yd41VFAZpRDzMqPAKXpbl3hP2Ctfl6bdVEyRed9WFU0qDawIrwWhwFStKtQLbvCxRNQjl_EnJdW6gFxSs5QPuoYLopAPUcFh9x3D-fO4xfm9r3o3zXrYNvYbw_Bp-JEjVtjU6QQZF3LIaOg_PD0ZNphO_cIVBzX38bc1uuxcQaIH5q1yOnTYgypRCa6qslokFpkeVMadG5ccmlcxmd8WZKKJ0jbooeeMe3lqaZcZSOowgQyfp7PhHKcLOVuMXS6dwnQaqGV79-QJDiYwmDHr4Cg8Oe3ck-BDcK1g4K4HYa_s1HamUFeEx_OQQx5NMcNF4KBlQTPS0nJHbgSJX3Y3FpeRLjtNmZM0KTyaQOL8tqX2nZNWelbfJB3X0lJ024kgdIggIm7VJBJZq1zbEGY3Rqc2lQJf40Ga0Oxy7OOh7jBIpLz0EP0QmjJI2FIuKnaohSXfkv7qfmZST2f_ioNuzHzPnFpNN7GdoFDbdHiXQkySAHw9WYdSVdwZC25fhfI-3E1LNxbekCPH8_b7wlBcQN05ataC_vTD3n9i7hqXfkTbIQRqVZXdqOaWQNMj_OD33k71xOjZ9zilu8UK02YuONg49Ww0BKZ-ejU4Qd4u2oGzJ9_9S_CPz0yZQ6sDELK1ed6V3l-kEotzt5MnaBcAQboDPXE8qXthMSSZDxghe34TLpCpQ2U4NEad_KUSQIzEwmKJXTMGTVJ_DVjtLkrXVvjM2x05R3mPs8vEnsNmPXm46LjdgJZ5p6TMNsIz4nburdX_VRWAGTaCG3d455KBTq-UAiBb6Hx7-ocEq_1zHqeWbv_q3HMHrGZlk7kcZS17AQ4W2qYaecnUCMZ-31FXtHpkvBLUZtg6xJ5T3Hv-2wK3v-8sgYh8lX8YwxVqLnhsQjCU_CLyyKAcJLRi9HzKCaM-NOlzXN_3HTNmWCACU7h1Cjltg2FB2JYk3ElyuG5SNJGds93iHUmbl5KSK1A9dZish6Fs0pOi4jAfkNz1RonAUQ7fss9BCaVT9tFNfvcTf580pJ80Rw320mAeVg_rt_S8ZPlkD5HIgnFayauEP2SvAoURzfoB7aHcwADNtdb3q3oON-7WcdYJoR3cvRh_QzyysaW0EFkbyJ8wDzmH80TAQjERUU3It89325j1SIzlNMsT-5G4WYG2Krr8mJxIGGXwTn-yrzff_-66ytnYXjcsn3oqo-tn58sDBkagcovj4Rfh-j3KLadrKTxdo4P5JlMep1rLl519Fjec9tI2scWo7EiXJIxxD53WFPmAnD0wF0zDHT-iRHODz5Qd0Je9QoSfsf-3ZbxJY3dztqHJBmUh8qrF5YsrqaTB9r0jTfYiOEn6KIyb_E6GSERrYZkGy8l-BK0LUDDRNNIXoc7Vc9ezJNvZiZtpHdXb8p-rQNvdJcPowghotHOzjgWWnPtZrucalT91obiUiqQGUm--JdU6AR_K2dugJSZvncoxBD6yl-wQvHS_xWbEbcCTzBM2usJiO2W5DcEwscv-1sq5iv705EE5OQjFD2O93oqzXDB9oD77FaMsWUJvBoPK_Rd6xV81AzYRJr97wxynBvM787I2qun6cHI2Zx9q16603LnRDW_Bi6sGrkPGLt7WpdwWGXVmGVC5goeiZgXx6TO9YLMppkn8r2jAfundmfeZ3U4J3WK9bJ5wdUorj2NGirQeAh0NIXXkUQFRMMidxEKvxmDzplrXhX6jmZxyfg8lYYkcFiTkQr8SgypZaKLFNxlfoSkAgh2S70kA5CBd-blFGhz_zXOuOUFJbK-gS2zAWFXNlsbxPjgx0fWQRshLulHODkRGyy3TOSDIvXteX8uvMuGq6qaNLR15BT06l1dznW5aCgpiLrlvr5EUr6sx6aLhFSPkj7NdL1xS9gyXukSE-Sq8sRBIB9-rZ_XGcAw83i30x18Qh8IMR-cPDeZRqWlzTqnswXaVdWtgg==",
  "id": "rs_01ee134939f6a3ab016ab463ce0c4087d09b536be46f7a7520",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.225,\"right_z\":0},\"note\":\"The raised wrist view shows the toy's body left of the jaw center and still ahead of the fingertips. I will shift toward the body and descend to table level so the jaws can get beneath the plush.\"}",
  "call_id": "call_cwzOS7OpMrJveumiM6CuBRfs",
  "id": "fc_01ee134939f6a3ab016ab463d12d9087d0b5d8e6443b8dbd7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cwzOS7OpMrJveumiM6CuBRfs",
  "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]: [-0.0254, 0.8471, 0.6437, -0.5186, -0.0219, -0.057, 0.9992, 0.8513, 1.8305, 0.8047, 0.075, 0.6788, 0.5087, 0.9953]\nstate[eef_state]: left_x=0.2826 left_y=0.0003 left_z=0.1562 left_yaw=0.0086 left_pitch=-0.1433 left_roll=-0.0128 left_gripper=0.9992 right_x=0.3356 right_y=0.2201 right_z=0.0199 right_yaw=0.0185 right_pitch=-0.1129 right_roll=-0.166 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.8393, 7.0906, 1.7167, -0.022, -0.0269, -0.0122, -0.4991, -4.7521, 5.094, 0.5885, -0.1001, -0.1197, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02754e88f240921558460d57751f446946485aedf2cd4c1a01f69380bfc33c3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90e87c69a1731b933bf1a855663278c8d1fc27fe222af487f0071f8edd1cb50c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f24c8f76638da7bde20bd5273eed59d6d646a67cda0ab4a8bd813678dcb95464",
      "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 25 changed as sent

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4358, -0.0193, -0.0383, 0.9992, 1.0668, 1.7676, 0.7628, -0.062, 0.7773, 0.7403, 0.9946]\nstate[eef_state]: left_x=0.2877 left_y=0.0016 left_z=0.1684 left_yaw=0.0023 left_pitch=-0.05 left_roll=-0.0025 left_gripper=0.9992 right_x=0.2735 right_y=0.2469 right_z=0.0248 right_yaw=0.0395 right_pitch=-0.0973 right_roll=-0.1294 right_gripper=0.9946\nstate[joint_eff]: [-0.1436, -1.2376, 7.2, 1.7363, -0.0757, -0.0024, -0.0073, -0.5402, -5.8598, 5.053, 1.4286, 0.4713, 0.0513, -0.0366]\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]: [-0.025, 0.8421, 0.6441, -0.5053, -0.02, -0.0536, 0.9992, 0.8551, 1.4666, 0.8112, -0.3195, 0.6495, 0.5133, 0.9947]\nstate[eef_state]: left_x=0.2846 left_y=0.0 left_z=0.1602 left_yaw=0.0054 left_pitch=-0.1247 left_roll=-0.0121 left_gripper=0.9992 right_x=0.3021 right_y=0.1901 right_z=0.0985 right_yaw=0.0365 right_pitch=-0.1466 right_roll=-0.1638 right_gripper=0.9947\nstate[joint_eff]: [-0.4718, -1.2103, 10.0308, 1.8779, -0.1343, 0.0366, -0.0122, -0.2256, -7.0222, 9.0462, 1.4579, 0.2271, -0.0269, -0.1148]\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]: [-0.0254, 0.8471, 0.6437, -0.5186, -0.0219, -0.057, 0.9992, 0.8513, 1.8305, 0.8047, 0.075, 0.6788, 0.5087, 0.9953]\nstate[eef_state]: left_x=0.2826 left_y=0.0003 left_z=0.1562 left_yaw=0.0086 left_pitch=-0.1433 left_roll=-0.0128 left_gripper=0.9992 right_x=0.3356 right_y=0.2201 right_z=0.0199 right_yaw=0.0185 right_pitch=-0.1129 right_roll=-0.166 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.8393, 7.0906, 1.7167, -0.022, -0.0269, -0.0122, -0.4991, -4.7521, 5.094, 0.5885, -0.1001, -0.1197, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02754e88f240921558460d57751f446946485aedf2cd4c1a01f69380bfc33c3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90e87c69a1731b933bf1a855663278c8d1fc27fe222af487f0071f8edd1cb50c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f24c8f76638da7bde20bd5273eed59d6d646a67cda0ab4a8bd813678dcb95464",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGPVCAs4sIvztZQ9poq5NGXx2SkJovMdoZ6tzB9c5Jn_ZBZ46n7KUCZ4wBfXM77LJn6zdr2Mhx8JSzuEkx3M7ANbDGRdeqiUH1BW78ttwFOQqsL2ph-70OuhK9tkrpwbMsGxWu1VDbNa9bBXqBLf2LjSpFkno4Cfx8_Mc12vOUQyApD9-biur8d2pj0rPEklS7tFoE-mLDNlp2sQoPxZMT2dSBVKqU4PDD_OIgsfHF-OfUfQCGAcmdRXD4s68Ah4oJnm98KPbD886B5jESI0_k6XVrZ3kjAbytqtpCZGgGfHw_QiP83Yj4JDzNniEg0E6SMUe114o-vJO0rdJyI9QpHj01aWIVikgAsPL6g2YiUMU59YlRX8pKsGV5gSlx9cAwkMcR_INg0D7YspbShbmkTrmsiTpx3LU6_63AFfsNGfKCcKBzEE6cVp_pg-OQ9lwZ282lhGFE5JFr9Xvxlf1u7SM3lyLmHM8YktShxIChpHVavQfCASo6QfKurtQ1ZGvsBI5Y14jZnO4IHL6stpq_RFvRIG96lu5P74JzwA2aPF2wkj63KTQtdfPVH8WJrZuoK-gYqXn8mcOe7np2e6ZQKhUjCC0eFtLwMwL8fs3JSetF-gHCcUWvE1Lmru9UvE56-VqVrSUDzZVK2H-uQDcly9Voc8D8auF6ssjpZw0m-4k5kh2bPaV2Ct5vX_1X4l08037AWJvlY1ubji7eu_1cy_gCmzvbolm4RGTiIkBHAGmTBJA4g-RqE8XXNr90HmEczuHJUSxqhQy_oKmIz4kc-lqLLFOThj5fkfmoQ6DJWVk7-mci77-iyZj0W8S9H1Aw5FwO_mB6S2E_D0oqC1EQYxtbkgE3s1Vs2gG898OcZGWwBuR4qWUqemcfNe3QNxrXj3yQMiiECfc2JRRYxKLtJyHIlwWG1OLJTHdq0PEw0K0lSx41BQGD-WG2gsgN-3mq8W6OtEE1F-AmdKT8nL0Rplr7iFNy1R85ZEmPCWEX5ZtrqLe6RgOBMNtQENTsNmRBVJnmWyoZUzzj_hW6gvfteM5puwogJDsYENmT1GHAMFiXEr3LyHyyH0nQZhrK4225coXgzhcJL7jZRtJi_ug6ZXCIwtThsG9mCdX-oCStqcYP5RFvAOK0rqw_1mei0Hi7s6_llvT3AOSE4S73b9UmDxCz6Mqk-x2UloiDVCMP1Ul2yC4XSUoyRhQikt2Nn83UkZ",
  "id": "rs_01ee134939f6a3ab016ab463d4363887d0a2d98eb08cad6e7c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open jaws now straddle the brown toy at table level. I will close around the body and check the remaining jaw opening.\"}",
  "call_id": "call_DqCJjeujLWElSJjd1hDPq02G",
  "id": "fc_01ee134939f6a3ab016ab463d4544c87d09efc7730a2041240",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DqCJjeujLWElSJjd1hDPq02G",
  "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]: [-0.0257, 0.8482, 0.6434, -0.5255, -0.0219, -0.0574, 0.9992, 0.8532, 1.8362, 0.8131, 0.1055, 0.6788, 0.503, 0.0344]\nstate[eef_state]: left_x=0.2815 left_y=0.0002 left_z=0.1545 left_yaw=0.0085 left_pitch=-0.1517 left_roll=-0.0128 left_gripper=0.9992 right_x=0.3401 right_y=0.2264 right_z=0.0241 right_yaw=0.0261 right_pitch=-0.091 right_roll=-0.1458 right_gripper=0.0344\nstate[joint_eff]: [0.0068, -1.5795, 6.9402, 1.6679, -0.0855, -0.0659, -0.0122, -0.2256, -8.7453, 4.5333, 0.9841, 0.2564, 0.0659, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37fb6e533b458b4e9dd1cc98439931fecbd9026272eac766dc6a11acf8c5cd5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1579416f3c9a8d4e9b2f7fcf4dc0de717fc37cb26d7004fbe724d06f029875eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc8589bfb5a940c92ce8ab1ae3a01e03d8cf98d418b484f1e8c0cf0e5c32e067",
      "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 21 changed as sent

message 29 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]: [-0.0189, 0.7994, 0.6067, -0.4526, -0.0189, -0.0383, 0.9992, 1.0664, 1.7676, 0.7628, -0.0669, 0.7662, 0.733, 0.0159]\nstate[eef_state]: left_x=0.2852 left_y=0.0015 left_z=0.165 left_yaw=0.002 left_pitch=-0.0667 left_roll=-0.0023 left_gripper=0.9992 right_x=0.2723 right_y=0.2473 right_z=0.0231 right_yaw=0.0485 right_pitch=-0.1087 right_roll=-0.1342 right_gripper=0.0159\nstate[joint_eff]: [-0.0205, -1.0735, 7.1316, 1.8535, -0.0855, -0.0122, -0.0122, -0.3214, -7.3094, 5.0803, 1.1111, 0.4176, 0.0464, 0.8327]\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]: [-0.0254, 0.8471, 0.6437, -0.5186, -0.0219, -0.057, 0.9992, 0.8513, 1.8305, 0.8047, 0.075, 0.6788, 0.5087, 0.9953]\nstate[eef_state]: left_x=0.2826 left_y=0.0003 left_z=0.1562 left_yaw=0.0086 left_pitch=-0.1433 left_roll=-0.0128 left_gripper=0.9992 right_x=0.3356 right_y=0.2201 right_z=0.0199 right_yaw=0.0185 right_pitch=-0.1129 right_roll=-0.166 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.8393, 7.0906, 1.7167, -0.022, -0.0269, -0.0122, -0.4991, -4.7521, 5.094, 0.5885, -0.1001, -0.1197, 0.0513]\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]: [-0.0257, 0.8482, 0.6434, -0.5255, -0.0219, -0.0574, 0.9992, 0.8532, 1.8362, 0.8131, 0.1055, 0.6788, 0.503, 0.0344]\nstate[eef_state]: left_x=0.2815 left_y=0.0002 left_z=0.1545 left_yaw=0.0085 left_pitch=-0.1517 left_roll=-0.0128 left_gripper=0.9992 right_x=0.3401 right_y=0.2264 right_z=0.0241 right_yaw=0.0261 right_pitch=-0.091 right_roll=-0.1458 right_gripper=0.0344\nstate[joint_eff]: [0.0068, -1.5795, 6.9402, 1.6679, -0.0855, -0.0659, -0.0122, -0.2256, -8.7453, 4.5333, 0.9841, 0.2564, 0.0659, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37fb6e533b458b4e9dd1cc98439931fecbd9026272eac766dc6a11acf8c5cd5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1579416f3c9a8d4e9b2f7fcf4dc0de717fc37cb26d7004fbe724d06f029875eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc8589bfb5a940c92ce8ab1ae3a01e03d8cf98d418b484f1e8c0cf0e5c32e067",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGPZgMVSY-VDADPuXQ8DbSp3TPkCDxeCg1vG-SLBVd5Yh7BXm0cshy-hFPZqagA_wuMBne8UEV7GGvQfZ4eARY4gaZ7282QNDuqnNu_pIYRf3HmRwYs-VgTzca_w1dpmp-SBAXt28PyOWUkFC7SbXEiD9_3ujYlPm7Ea0IMDfIPCaKkP391w1sZjE-LJFZCzRmGjkTZNzYYxHI68q9cyrrazIY1YcF9dard2BNjtHSVg16A4otJI5jv6wTHQlC2fRsMDdBL-VolulJ5Hji398pl-12x1i1OjtMnM1oUe4jF73fsSGj9FP72bkp-vw_GCjh-fhPleZhkEZMj4C-to9ESGBM6ifDg8F__WeryVHOFCXLcFVOFZffZCL6pqDroOlKIdFCaTKzl1VGdN04yH7DbVqX-uBUcSjwNT_aniSg6JKsWxFsftb0FNV0-iwxI6gZOCcABd_YoENQ-MOmopL4p3B1xviHBR9l2lkt4J7Yi8JKS_IdZHKXp5r4bJJzJuYR7AFTV-0Y8dwdjwo9NIECyh2aeKEmAgc6J1fIru2SgkCU8kS7QNuZo15gp3JLsW3YvsCbVemJElKu8wcmlL0v69HxPjkbHiY7n3SQ8sQZthR2Od7caKuSxt5h7qQzAsVp40L7SVMUQzk8qPpHZNQrHZyaQ-dNpL0ysBM-pTmZ0UjWSWnPQo7oOdHieeqvI566Yg7rjXSNFiq41IBDrJE546xCMJjK5LM-7SvcsYBQ5tRrs88txNRY6GFUhuq1YLozrUAGgjygh_HgTGF6cD-hoEcEEZr730RSPEEKlo51Yx9viqOlTkKel9mcqfikS45JAkjLhSRniIjJE_u_YnXDQq_KSzzI7R_xbPQtqYYX1O65mVAqDcrtKDN_Lv0s-i4g-PfTfwnhs8x0lUZeNcgEg3J6kkJDeDR1BKAQMBQxjhqo8qY6_GDN67TDJx21Sd04sr-D1ERSI9Yz2Kx95pnYm45q0ZWbT_0ECdKXtp_-exoybcEjCYO8b1pjoVaRMvBkEPlyv1D1vqTLRimmNPrikASBWpTKFEJMUOcqKZgTXf1-Tr4TEs70Q3MzQrxtLQp138pRudLwETKpz-hEV2FpMY9iC6wSA1sKuMK4qQGuvuaGgWPDpzTDR-TkNkJ0HO6KVRcHxEik2OvE3arHkuIXgVfI6GOv14HA8Kn7J-gKNfqJUwUAelRSzvRHcgB2PhhGNJLqgcOn4H2zE5TCKkwoGvHhtyT0Bv7kLyP-eG89kboO5-WWDg7H5XsQe0ZCLlFbhq3iZQzlRLbF61U6NZTjG6sx7D5Wut_8Aquk06QduSybfoz7n902ipGo9R29iSg9bkId0h_La9qBUHEEN0PtbaGA==",
  "id": "rs_01ee134939f6a3ab016ab463d822a487d0b9b8b4bc48e1c3bf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The jaws have closed to a very small gap, so the grasp is uncertain. I will make a short lift and use the overhead view to see whether the toy comes up with them.\"}",
  "call_id": "call_F3aKBbZXszQpVa15ZEKFN3JK",
  "id": "fc_01ee134939f6a3ab016ab463d8c8dc87d0b2e1c9aafa37f2a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_F3aKBbZXszQpVa15ZEKFN3JK",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "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]: [-0.0257, 0.849, 0.6434, -0.5365, -0.0219, -0.0574, 0.9992, 0.8539, 1.7073, 0.8917, -0.1493, 0.6609, 0.4969, 0.0371]\nstate[eef_state]: left_x=0.2796 left_y=0.0003 left_z=0.1523 left_yaw=0.0085 left_pitch=-0.1636 left_roll=-0.0124 left_gripper=0.9992 right_x=0.3332 right_y=0.2228 right_z=0.0642 right_yaw=0.0379 right_pitch=-0.1344 right_roll=-0.1754 right_gripper=0.0371\nstate[joint_eff]: [-0.1709, -1.3333, 6.8991, 1.6581, -0.0708, -0.0464, -0.0122, -0.4171, -9.5521, 8.6906, 1.619, 0.442, 0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd2b1a0f9f8d43779282f68d1ea438dae47ea3a31d3a9c10c458dcb1a71335ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0cb629b62a358c7d77002aa376947c05e5478005dcdb82324fb340de2707cc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d140a0acf283a280a5f1bc1c35f34cc0a811c67f6a51632110adf1e56e27548d",
      "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 25 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]: [-0.025, 0.8421, 0.6441, -0.5053, -0.02, -0.0536, 0.9992, 0.8551, 1.4666, 0.8112, -0.3195, 0.6495, 0.5133, 0.9947]\nstate[eef_state]: left_x=0.2846 left_y=0.0 left_z=0.1602 left_yaw=0.0054 left_pitch=-0.1247 left_roll=-0.0121 left_gripper=0.9992 right_x=0.3021 right_y=0.1901 right_z=0.0985 right_yaw=0.0365 right_pitch=-0.1466 right_roll=-0.1638 right_gripper=0.9947\nstate[joint_eff]: [-0.4718, -1.2103, 10.0308, 1.8779, -0.1343, 0.0366, -0.0122, -0.2256, -7.0222, 9.0462, 1.4579, 0.2271, -0.0269, -0.1148]\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]: [-0.0257, 0.8482, 0.6434, -0.5255, -0.0219, -0.0574, 0.9992, 0.8532, 1.8362, 0.8131, 0.1055, 0.6788, 0.503, 0.0344]\nstate[eef_state]: left_x=0.2815 left_y=0.0002 left_z=0.1545 left_yaw=0.0085 left_pitch=-0.1517 left_roll=-0.0128 left_gripper=0.9992 right_x=0.3401 right_y=0.2264 right_z=0.0241 right_yaw=0.0261 right_pitch=-0.091 right_roll=-0.1458 right_gripper=0.0344\nstate[joint_eff]: [0.0068, -1.5795, 6.9402, 1.6679, -0.0855, -0.0659, -0.0122, -0.2256, -8.7453, 4.5333, 0.9841, 0.2564, 0.0659, 0.9353]",
      "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]: [-0.0257, 0.849, 0.6434, -0.5365, -0.0219, -0.0574, 0.9992, 0.8539, 1.7073, 0.8917, -0.1493, 0.6609, 0.4969, 0.0371]\nstate[eef_state]: left_x=0.2796 left_y=0.0003 left_z=0.1523 left_yaw=0.0085 left_pitch=-0.1636 left_roll=-0.0124 left_gripper=0.9992 right_x=0.3332 right_y=0.2228 right_z=0.0642 right_yaw=0.0379 right_pitch=-0.1344 right_roll=-0.1754 right_gripper=0.0371\nstate[joint_eff]: [-0.1709, -1.3333, 6.8991, 1.6581, -0.0708, -0.0464, -0.0122, -0.4171, -9.5521, 8.6906, 1.619, 0.442, 0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd2b1a0f9f8d43779282f68d1ea438dae47ea3a31d3a9c10c458dcb1a71335ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0cb629b62a358c7d77002aa376947c05e5478005dcdb82324fb340de2707cc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d140a0acf283a280a5f1bc1c35f34cc0a811c67f6a51632110adf1e56e27548d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGPemjzZKAxaH0iiFISxfKENf69Ic3TPCYjnVYbvwcHukPH-bK9nqmNGDWG15qd9IOG25vxSnxCgoXYv2s0LT1tfF5C8HDewyncmwuAdCoDdpkI7yFG3cUO8OySK15606MDaVvhCWMSYMA2VscSe6gPE6OR8m9N-8f1D3lc4f-stLTDAyOaV5yGSMRfOeN6Q96LG5htjGYnPKarDhyFctlUZ2PGTcT7R5I6PTsgXbqtvSRYs5LrkK27wxICUqp_mVgfjdzD7pltsoiU68T6E723i-9irlcZH-m6xXxyTBrXaHbva9LAqXuVcI_2R6bdXqGtnO18Xi4Al_35VT0yaq8RufDWcTJKb2VbuMisXNHibg3dFa-oniy8XdHWHRW_DayiBCcLseoTR_ab7mHAfYY2sh0yvxbJa2dvOaYKGhSpF1f_iaAWx9pJX7HD46vfQbYM1A5fIWfmcSnLoUWxMuSSo0Ri5uzXIfEqNKvMdbmpmrQ3oiYKG237L2gl70HBpn3lPXkRt76Ah0mnCRlGT4sYcWYD6OSkercTerBETECBtJhG49ceXoSgrCoyw0EOoDJ4BrlX0NSy_OTsQOkII5dETdL7PXP0ca9ataWN6z_7amcRi-2hyGrDY9ieDas0fJy8smaFNZ8PKTtgCgxfVgBSCSlb3FjgUjSCBTnUQLd4w1AzmdkMGpunU4DUkI998qU08Rm25J6ae_dLrp8rTFnYWhXv4c9sKqRKb2OQfsxOIXR7UEEdKoTRcc9LEhyoCQnlewj8iJtbnlJ1qPA7MNVS7nLPsii3moRHeblHZzgpB33RpoxkcecAyPwIyb5z4o_hEjdcdQkSq9R9FIOsgVMjW9Yq705YgomeXY-qFg3BtDjQOFv4Kz1oge89BTwXFdlhVrGEeIO9_RyGuvYOOFv0AVslgmdq-ruBtlyMED52MDbH7NwplcjeI2agHedKHlHsh8vEXJmCDpmWPWVXhBsQeZ3s6SKPcoiI2DE983VmLFExOmioXYODDqLrqkmmknwlhNT2KLheE6v0pZi_EMYFUJ_jh5wOB_0wWYn3MWmkLgljolycFst7eYUQoVpIw056GTjjAwyvADdvsRy6NyCSI6iAUcNTZJU0F__c34R1yLMUpCOeYHGeer5WmmsISGkG-MZ4RIZ4WcNnub8cUI3oy0crdgGd8HCQeLp1mAs-Z97vNVZRClE0wZXjnwUDBmCfxLwP3ecz6SEPz5J8TWPkr9CCbuLDiYTlguzqv8oNfIbilx95Ypb8spaj52QwVsPeSCcbQrq7l7xVAZNtyBsvWfz3StR_WuCTLMEu1FPG_2KFKf2pDjj0ZHj0cpdBd5kOwjxslDKaYUQ29fowv4TNFjvt2bnyRQcWayhE8rnShh0nV15OMeC0qlJ6C7d3PqvlJoujtj9OPffJhi_Er_RXDL6e3gvabBAjLLb78aLT3xoGETeaGzokGNlkmW1Llu6aAOeXjNGTjjp2Dy1KP6HRf-Km4AlUo0gNgERCcm2KG8k21V3tSFYneQXvRLhQOTNa5O7hsHEK3clBgFCEC9B1aKDE8c-7Ftqjtv_TOzesTTlY6Yzw4r8nuBD6BJukM0CoMl5dXBHns8ilP5gr5CJ3iUCrIJ8M5rBWk_ZRxtzbgTf8vie86e885dklAcW20Gbllg3f6SsWRlG3lleZLiAcFlBkI09eztEQquso3NVdZF1-ilQ4iwsa83cw2jAZ7arQacOGyvea519fDtKtRLkTtbTU5hVVAHINuY2bf93g6IX3NFw07SI-Nv3hLTudaGM9FtW5Va8CpxwRfY87UhUZ7ogZrQXpIvT8khM1UoLyEhp173YbdoVRZsOIhKv5BoI7VR-zP5SE-JEMDY9yWWQG5-Yhgser-95SNlkJK4I2v9wH5YHZbGgRtugaVtHzgcqKa2nbZjQLAkg4n0tjcbZk2ZVutkQsO6YaTQJOTXpjf9cYnyzD7YOrvB3nF1nloyprk",
  "id": "rs_01ee134939f6a3ab016ab463db889087d09fba217fe6736fe9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.23},\"note\":\"The brown toy rose with the gripper during the test lift, despite the small jaw gap. I will lift it above the safe's rim before moving it into the compartment.\"}",
  "call_id": "call_1NRQ5xNzIFgBwgYlMCp6fM5W",
  "id": "fc_01ee134939f6a3ab016ab463ddf75c87d085c5f6ca3dff1135",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1NRQ5xNzIFgBwgYlMCp6fM5W",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "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]: [-0.0257, 0.8497, 0.643, -0.5503, -0.0219, -0.0574, 0.9992, 0.8539, 1.5787, 1.3712, -0.7963, 0.6392, 0.4965, 0.0385]\nstate[eef_state]: left_x=0.2773 left_y=0.0003 left_z=0.1494 left_yaw=0.0086 left_pitch=-0.1784 left_roll=-0.0119 left_gripper=0.9992 right_x=0.3316 right_y=0.2256 right_z=0.2056 right_yaw=0.0477 right_pitch=-0.1743 right_roll=-0.1917 right_gripper=0.0385\nstate[joint_eff]: [-0.3214, -1.5248, 6.8991, 1.707, -0.0611, -0.0611, -0.0122, -0.1026, -8.8274, 8.4991, 1.3993, 0.4371, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53b127a5ef16e42440d16adb004b88f6050de2c30ae7de5c0f23193f7d9b1429",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08caec1b62fab314e1dcf8038087a43244139aa762a5471a012445e3a013ee6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afb1744ec8225848339d00e6075616b7ed53ec2708c0db475a417a30bb151a00",
      "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 29 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]: [-0.0254, 0.8471, 0.6437, -0.5186, -0.0219, -0.057, 0.9992, 0.8513, 1.8305, 0.8047, 0.075, 0.6788, 0.5087, 0.9953]\nstate[eef_state]: left_x=0.2826 left_y=0.0003 left_z=0.1562 left_yaw=0.0086 left_pitch=-0.1433 left_roll=-0.0128 left_gripper=0.9992 right_x=0.3356 right_y=0.2201 right_z=0.0199 right_yaw=0.0185 right_pitch=-0.1129 right_roll=-0.166 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.8393, 7.0906, 1.7167, -0.022, -0.0269, -0.0122, -0.4991, -4.7521, 5.094, 0.5885, -0.1001, -0.1197, 0.0513]\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]: [-0.0257, 0.849, 0.6434, -0.5365, -0.0219, -0.0574, 0.9992, 0.8539, 1.7073, 0.8917, -0.1493, 0.6609, 0.4969, 0.0371]\nstate[eef_state]: left_x=0.2796 left_y=0.0003 left_z=0.1523 left_yaw=0.0085 left_pitch=-0.1636 left_roll=-0.0124 left_gripper=0.9992 right_x=0.3332 right_y=0.2228 right_z=0.0642 right_yaw=0.0379 right_pitch=-0.1344 right_roll=-0.1754 right_gripper=0.0371\nstate[joint_eff]: [-0.1709, -1.3333, 6.8991, 1.6581, -0.0708, -0.0464, -0.0122, -0.4171, -9.5521, 8.6906, 1.619, 0.442, 0.0317, 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]: [-0.0257, 0.8497, 0.643, -0.5503, -0.0219, -0.0574, 0.9992, 0.8539, 1.5787, 1.3712, -0.7963, 0.6392, 0.4965, 0.0385]\nstate[eef_state]: left_x=0.2773 left_y=0.0003 left_z=0.1494 left_yaw=0.0086 left_pitch=-0.1784 left_roll=-0.0119 left_gripper=0.9992 right_x=0.3316 right_y=0.2256 right_z=0.2056 right_yaw=0.0477 right_pitch=-0.1743 right_roll=-0.1917 right_gripper=0.0385\nstate[joint_eff]: [-0.3214, -1.5248, 6.8991, 1.707, -0.0611, -0.0611, -0.0122, -0.1026, -8.8274, 8.4991, 1.3993, 0.4371, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53b127a5ef16e42440d16adb004b88f6050de2c30ae7de5c0f23193f7d9b1429",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08caec1b62fab314e1dcf8038087a43244139aa762a5471a012445e3a013ee6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afb1744ec8225848339d00e6075616b7ed53ec2708c0db475a417a30bb151a00",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.33,\"right_z\":0.23},\"note\":\"The brown toy is suspended clear of the table. I will carry it left and forward over the red-lined safe compartment.\"}",
  "call_id": "call_TXGR4RThpTnmKhGvycHoqvNK",
  "id": "fc_01ee134939f6a3ab016ab463e14e9087d0846b0cdc826367d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TXGR4RThpTnmKhGvycHoqvNK",
  "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]: [-0.0257, 0.8539, 0.643, -0.5636, -0.0219, -0.0574, 0.9992, 0.8448, 2.1864, 2.2532, -1.0779, 0.6121, 0.477, 0.0411]\nstate[eef_state]: left_x=0.2752 left_y=0.0004 left_z=0.146 left_yaw=0.0088 left_pitch=-0.196 left_roll=-0.0113 left_gripper=0.9992 right_x=0.423 right_y=0.329 right_z=0.222 right_yaw=0.0658 right_pitch=-0.1977 right_roll=-0.1948 right_gripper=0.0411\nstate[joint_eff]: [-0.1983, -1.7162, 6.8581, 1.6337, -0.0464, -0.0513, -0.0122, -0.5538, -12.3419, 7.4188, 0.8962, 0.4225, 0.022, 0.7302]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fc3b84dec45e17a4e29d57351d7f8907b67efdf42582a99dfea3469ac5b5ab5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c06ea4c4578e8fb2919eebeeaff4c62b6a2f3b94d9ff2a376ab283d843c76b87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:107696b118549424493cdd6a9cf44bf3dd6319a17096f6809c95de8e6257de8b",
      "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 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8482, 0.6434, -0.5255, -0.0219, -0.0574, 0.9992, 0.8532, 1.8362, 0.8131, 0.1055, 0.6788, 0.503, 0.0344]\nstate[eef_state]: left_x=0.2815 left_y=0.0002 left_z=0.1545 left_yaw=0.0085 left_pitch=-0.1517 left_roll=-0.0128 left_gripper=0.9992 right_x=0.3401 right_y=0.2264 right_z=0.0241 right_yaw=0.0261 right_pitch=-0.091 right_roll=-0.1458 right_gripper=0.0344\nstate[joint_eff]: [0.0068, -1.5795, 6.9402, 1.6679, -0.0855, -0.0659, -0.0122, -0.2256, -8.7453, 4.5333, 0.9841, 0.2564, 0.0659, 0.9353]",
      "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]: [-0.0257, 0.8497, 0.643, -0.5503, -0.0219, -0.0574, 0.9992, 0.8539, 1.5787, 1.3712, -0.7963, 0.6392, 0.4965, 0.0385]\nstate[eef_state]: left_x=0.2773 left_y=0.0003 left_z=0.1494 left_yaw=0.0086 left_pitch=-0.1784 left_roll=-0.0119 left_gripper=0.9992 right_x=0.3316 right_y=0.2256 right_z=0.2056 right_yaw=0.0477 right_pitch=-0.1743 right_roll=-0.1917 right_gripper=0.0385\nstate[joint_eff]: [-0.3214, -1.5248, 6.8991, 1.707, -0.0611, -0.0611, -0.0122, -0.1026, -8.8274, 8.4991, 1.3993, 0.4371, -0.0317, 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]: [-0.0257, 0.8539, 0.643, -0.5636, -0.0219, -0.0574, 0.9992, 0.8448, 2.1864, 2.2532, -1.0779, 0.6121, 0.477, 0.0411]\nstate[eef_state]: left_x=0.2752 left_y=0.0004 left_z=0.146 left_yaw=0.0088 left_pitch=-0.196 left_roll=-0.0113 left_gripper=0.9992 right_x=0.423 right_y=0.329 right_z=0.222 right_yaw=0.0658 right_pitch=-0.1977 right_roll=-0.1948 right_gripper=0.0411\nstate[joint_eff]: [-0.1983, -1.7162, 6.8581, 1.6337, -0.0464, -0.0513, -0.0122, -0.5538, -12.3419, 7.4188, 0.8962, 0.4225, 0.022, 0.7302]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fc3b84dec45e17a4e29d57351d7f8907b67efdf42582a99dfea3469ac5b5ab5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c06ea4c4578e8fb2919eebeeaff4c62b6a2f3b94d9ff2a376ab283d843c76b87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:107696b118549424493cdd6a9cf44bf3dd6319a17096f6809c95de8e6257de8b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGPlAW1iSBub060p5VBWk-sNcHh1q9jEtesh2AbYbDw2VAUHQ4lxxWBgdbO3IYWIHzdRtyilXSjO6ZOlt-PacxaoXAOuBGj4fDwKIE_FqhgIqJowWktFjbMVwVc37t4usiMxc6AgnS9WveLVj45g1PMC1DSbwO2VgemsfX5Mh_Lw0g1jo3ZPmw1GZGRTfL7BFX1ajcExavFbyyPyBNmWyFCkLqh386_cj-BOgFTUhRN7BKAKA7u15TZYzlhDNMEP9_4KKIcgd7u19U1KlinQKY9c78btB3IBDlr5gqs5Fdw_wA7Jnt_fUmyXzzIqjmyAeg5gZE5x2iU7La9IvlVr-LHW5jbbJp0XSlAXzW7CiXdVN4DwBJf0oEBr1733hRGbFCPbgtOlkgPFG2O-leXd6zxkD3ui7HFjgPILqfPjKKCvtZ3xKOTaqbtlEnfrUloz4ZyS4VhFlFQXid--OUhqg7wVmnhIRQvFRpIxjI8UTvuv-RtKLFEYDNG8TmQ1S9WZyvE9evK92yLgsW-ydIgrhdDTO8q9NhokwlyqqiWE1TbY_rUCqO3z0tIX5SBqrBLWDUTCYqnyXb6BqYkieOwpmR3OJ89JC3AQCFEaUnDecwgTdlsLsHkqvYvKxP6lmQbPZWsQciwpNThCL1w-13ymOajB7wIIZ0cgdZXcVnOlFkt8JB5iMAfHwE3p5zzx6q2lLWtJe-xg_3XpSyItdFPqi_vyrAFE6upJr780Oo4aGF1WTvvlK_5ffyI5mkmDoIReyUvL6rIZB_UC1DQLO2geaB4Qdwr1R7uG2VovR5-wkRmByzQ-jziX85tf3kyOvthgAHF8MoONK0Mo3YdPgYHUimpI-qYcVL7rBj6FA2uLEkXPI1f76x442FVEob1Uf-2RbGEqZMYlhPl_kul8C20UHKYBsK7vr7IkxVjMkajF1FN1aalukvKWCFBq0WPEflwV1RxwH-hLRjLCOS1FvC6nTNFHtMNgIl2HtNhg0UN_Kgmqk7ZccAMRA_LL5EI6rlLWDgZVX_Aky30CtycKkRWQFmCXw7AWaYqoyOqUDFA4_UxmvtuvPpDlS2-OyLGIzBhuGlWxpmwUC-fI4PybP77_XaDNAnMSHfxq5gQCUes-COsKe-pi08BzDbX2ZfZry-AuVsgq4PqCHFvCq0x1ehoZD0wGc3H7-kOeciT5oh2SqJePOyT7B29Ct2k8ggiFnqStxpQL8_p3kGyMF4MLOjiKYoprX8W7ywfQ7qsJdPYQrX3oFE3S1Y4palElXFvVO7cHRLhB",
  "id": "rs_01ee134939f6a3ab016ab463e4587087d0a04d277db3eb7727",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The brown toy is above the safe's opening. I will lower it into the red compartment before releasing it.\"}",
  "call_id": "call_C1or20C9Bbc4FpmIFXBg33Y3",
  "id": "fc_01ee134939f6a3ab016ab463e4d4f087d09a0a3fd37396dfea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_C1or20C9Bbc4FpmIFXBg33Y3",
  "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]: [-0.0257, 0.8558, 0.643, -0.58, -0.0219, -0.0574, 0.9992, 0.8436, 2.1578, 1.7386, -0.6781, 0.6006, 0.474, 0.0441]\nstate[eef_state]: left_x=0.2724 left_y=0.0004 left_z=0.1426 left_yaw=0.0089 left_pitch=-0.2143 left_roll=-0.0107 left_gripper=0.9992 right_x=0.4128 right_y=0.3191 right_z=0.0949 right_yaw=0.0593 right_pitch=-0.2663 right_roll=-0.2521 right_gripper=0.0441\nstate[joint_eff]: [-0.1436, -1.388, 6.9538, 1.7167, -0.0855, -0.0415, -0.0122, -0.253, -12.6017, 7.159, 1.4628, 0.3883, 0.0024, 0.652]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90c4882207e67046666425b00748ee8d9e4b2a09cae5397711e23ca9b22afb8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ee646a83b2ee7c8cea8f3b35e8126d61841475e3baed32e6b50e1bf5a033df9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:550f718483a625fad0c0ee07d6922c90ca829cbd2bdf15ef43a69e4b72653eae",
      "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 44 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]: [-0.0257, 0.849, 0.6434, -0.5365, -0.0219, -0.0574, 0.9992, 0.8539, 1.7073, 0.8917, -0.1493, 0.6609, 0.4969, 0.0371]\nstate[eef_state]: left_x=0.2796 left_y=0.0003 left_z=0.1523 left_yaw=0.0085 left_pitch=-0.1636 left_roll=-0.0124 left_gripper=0.9992 right_x=0.3332 right_y=0.2228 right_z=0.0642 right_yaw=0.0379 right_pitch=-0.1344 right_roll=-0.1754 right_gripper=0.0371\nstate[joint_eff]: [-0.1709, -1.3333, 6.8991, 1.6581, -0.0708, -0.0464, -0.0122, -0.4171, -9.5521, 8.6906, 1.619, 0.442, 0.0317, 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]: [-0.0257, 0.8539, 0.643, -0.5636, -0.0219, -0.0574, 0.9992, 0.8448, 2.1864, 2.2532, -1.0779, 0.6121, 0.477, 0.0411]\nstate[eef_state]: left_x=0.2752 left_y=0.0004 left_z=0.146 left_yaw=0.0088 left_pitch=-0.196 left_roll=-0.0113 left_gripper=0.9992 right_x=0.423 right_y=0.329 right_z=0.222 right_yaw=0.0658 right_pitch=-0.1977 right_roll=-0.1948 right_gripper=0.0411\nstate[joint_eff]: [-0.1983, -1.7162, 6.8581, 1.6337, -0.0464, -0.0513, -0.0122, -0.5538, -12.3419, 7.4188, 0.8962, 0.4225, 0.022, 0.7302]",
      "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]: [-0.0257, 0.8558, 0.643, -0.58, -0.0219, -0.0574, 0.9992, 0.8436, 2.1578, 1.7386, -0.6781, 0.6006, 0.474, 0.0441]\nstate[eef_state]: left_x=0.2724 left_y=0.0004 left_z=0.1426 left_yaw=0.0089 left_pitch=-0.2143 left_roll=-0.0107 left_gripper=0.9992 right_x=0.4128 right_y=0.3191 right_z=0.0949 right_yaw=0.0593 right_pitch=-0.2663 right_roll=-0.2521 right_gripper=0.0441\nstate[joint_eff]: [-0.1436, -1.388, 6.9538, 1.7167, -0.0855, -0.0415, -0.0122, -0.253, -12.6017, 7.159, 1.4628, 0.3883, 0.0024, 0.652]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90c4882207e67046666425b00748ee8d9e4b2a09cae5397711e23ca9b22afb8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ee646a83b2ee7c8cea8f3b35e8126d61841475e3baed32e6b50e1bf5a033df9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:550f718483a625fad0c0ee07d6922c90ca829cbd2bdf15ef43a69e4b72653eae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGPqHCgZsQFDM5veXFuAm2TjIXBTEQ5V_HTqOjG-tNXDwdsUyna94h6HwCM7DEYkowzXloo3igwDBKwN8bRFhWb3uQA81prbRwc7G_HakN2n_Ua3Ic5vUXXHoXWLGf2-lP_6r0bbiSHd27LoDGgHVMhKtMiYOO8sY8GWLIkw2GYan8gmeGLewSnNASQjaAYtK9hcSkqrvMoBh-XB38xeHnne2SGgYKhw5t1XCaOMXzvaFbMbwC53uWM02xe18IK9lPpScrbVvM9Ng3N3opsI-q7OQXEfjflwgyzgWJQpN8VV3fk5veZqCwge8Qa_7W-6axBPeZG5HTWIHmxCo0vJzKIBh4M875iqS5mZQnlDCuOLQXuxbEaoITd3-AkDbY7qcIuUBhoQHHjoXxMXLTKeeCkHz6ezaI-KLX3cyADW_AuD5TvWcdyVIpJMCX-l0wtRPzbTOEJ-5yz2mWnm80_lp7FdcCqmUj1pHgN_PhxyxDoaHmlicT1nwXzzKLYA4q_d3p9sf1LT3xbEM5ZbiHs5JKcfNkKyOuFNb_EAprcOFBc5cDrowr9BRBFEPkQ7GI6mffeoXDuxZyAexXD7Cr9w3MMk2EHsHNBLnTAfn4JVe8a2GzXQhuHW8QoazVL7nu-kzj5udh2SxCnz4lZTfp5C_aONpVqFYFPFAtplxaclRjllLoxckUehPWPUQm4C6cP81BBHOWb6nvlhCWFwQwsY3UhicQePS1AZOfJWTUe_6cAHHFFEJVuq1tA7CgT0k9cRMC_0LTXKck07hy9YmCUipdRjEzuIzR67r64n63DQlXt5wiQUTGyeoJsl74M4WDAUamA9CS-NpMeHiFtVe9TioMi28WtfWVHyXgGbQSIQkaDbFwhjTOPK90rS1i8CJ0wZQHTKYT70e_ODqzlryspya8QY7REfricta3wLcKqvv5eje1winXcpS0KRFXR1BMEF5ZvTEP9UQQfcPp1JM7gEf-JMTd6Ztna_LKncyYn1dNU9j1I857A1ZI8puPUPBOxb3NE6yTHbGK-y-DPIcL1vqah7nwEzpz_9dAFtYPkQmpOEAzpfZGeoIv_-3CUPzaI1VJqWc2YnR3b6HFZXDVKbXqXl7-aPpP0AAcw-2vMv0lraHtUYHWCf8Pc6P1adyAkg4vYoJICDw8uo0fCah8-k2643IO_f006IKeB3umgsfY4Q9mX7qnv2UzWcaLKD_OI4oLIJ8rTHKVmrK-QrKp7chfhTENeL_5s3ZuEs9PWadNKLS7S9CNcBKM2-DnMZWUadfEHF2OVDRStzPisrJoN0DJqrp8nQ9PD5mil-9_5qeDOv1L4pzvQoOrUbvuv57xQN_BogMVF4fDjZxFx-zebtz-2dZZVHhsPVfgwwk8-Xp5PbMiGJLcZBy2v-YbVk9816p1shVINXAMj8UGuMVTEghHbXYYdhI9JdXff120B2VAJ4WbFDkMh94UTs0muG_NO2vv8iSnT_x-eSvv0vSXRFviyuprwFB-bh2A3b5Tjm5bybUbpmWrrGNLNNjUWIaC1mNXyD2Jnir04aYA-aBN0v7-A2ONVlkszKkl82ynl_dFyqe3MzVNpeAnUDPXLiDmyqS5uqnB5-3nuvz1Cf26liUsk9UZsnaIEXWkC8ykL0oCCBmQep39pkhoNpTeSobyGO7HucWiZAIvnDA6gFdg1GPCno-Q==",
  "id": "rs_01ee134939f6a3ab016ab463e76c1c87d0bb2da6a5fc1b1691",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.38,\"right_z\":0.115},\"note\":\"Part of the brown toy still projects over the safe's right edge. I will shift it farther into the compartment so it does not catch on the rim when released.\"}",
  "call_id": "call_CXdkgaY60FLv4KCKNhObk1pa",
  "id": "fc_01ee134939f6a3ab016ab463e946dc87d0a96c10bef5773f3e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CXdkgaY60FLv4KCKNhObk1pa",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "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]: [-0.0257, 0.86, 0.6422, -0.5888, -0.0219, -0.0574, 0.9992, 0.86, 2.5301, 2.4447, -1.005, 0.5877, 0.4744, 0.0449]\nstate[eef_state]: left_x=0.2708 left_y=0.0005 left_z=0.1398 left_yaw=0.009 left_pitch=-0.228 left_roll=-0.0102 left_gripper=0.9992 right_x=0.4536 right_y=0.3823 right_z=0.11 right_yaw=0.085 right_pitch=-0.2695 right_roll=-0.2384 right_gripper=0.0449\nstate[joint_eff]: [-0.2256, -1.8393, 7.0769, 1.5653, -0.0366, -0.0171, -0.0122, 0.1299, -14.2974, 7.3778, 0.6374, 0.442, 0.1636, 0.7253]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:664ad015ae126935cedd94dc17b466a7a4573465183fb256fde021df14896fe7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e3a7ed68171da0e1a9de85a45d47b0ecced2b38d72ce85dbca1864e7a32688c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:534a1c6e31d3b15f51efcc8a8ca0612546bb85172eba83e5d19f0979cefdfb0f",
      "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]: [-0.0257, 0.8497, 0.643, -0.5503, -0.0219, -0.0574, 0.9992, 0.8539, 1.5787, 1.3712, -0.7963, 0.6392, 0.4965, 0.0385]\nstate[eef_state]: left_x=0.2773 left_y=0.0003 left_z=0.1494 left_yaw=0.0086 left_pitch=-0.1784 left_roll=-0.0119 left_gripper=0.9992 right_x=0.3316 right_y=0.2256 right_z=0.2056 right_yaw=0.0477 right_pitch=-0.1743 right_roll=-0.1917 right_gripper=0.0385\nstate[joint_eff]: [-0.3214, -1.5248, 6.8991, 1.707, -0.0611, -0.0611, -0.0122, -0.1026, -8.8274, 8.4991, 1.3993, 0.4371, -0.0317, 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]: [-0.0257, 0.8558, 0.643, -0.58, -0.0219, -0.0574, 0.9992, 0.8436, 2.1578, 1.7386, -0.6781, 0.6006, 0.474, 0.0441]\nstate[eef_state]: left_x=0.2724 left_y=0.0004 left_z=0.1426 left_yaw=0.0089 left_pitch=-0.2143 left_roll=-0.0107 left_gripper=0.9992 right_x=0.4128 right_y=0.3191 right_z=0.0949 right_yaw=0.0593 right_pitch=-0.2663 right_roll=-0.2521 right_gripper=0.0441\nstate[joint_eff]: [-0.1436, -1.388, 6.9538, 1.7167, -0.0855, -0.0415, -0.0122, -0.253, -12.6017, 7.159, 1.4628, 0.3883, 0.0024, 0.652]",
      "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]: [-0.0257, 0.86, 0.6422, -0.5888, -0.0219, -0.0574, 0.9992, 0.86, 2.5301, 2.4447, -1.005, 0.5877, 0.4744, 0.0449]\nstate[eef_state]: left_x=0.2708 left_y=0.0005 left_z=0.1398 left_yaw=0.009 left_pitch=-0.228 left_roll=-0.0102 left_gripper=0.9992 right_x=0.4536 right_y=0.3823 right_z=0.11 right_yaw=0.085 right_pitch=-0.2695 right_roll=-0.2384 right_gripper=0.0449\nstate[joint_eff]: [-0.2256, -1.8393, 7.0769, 1.5653, -0.0366, -0.0171, -0.0122, 0.1299, -14.2974, 7.3778, 0.6374, 0.442, 0.1636, 0.7253]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:664ad015ae126935cedd94dc17b466a7a4573465183fb256fde021df14896fe7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e3a7ed68171da0e1a9de85a45d47b0ecced2b38d72ce85dbca1864e7a32688c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:534a1c6e31d3b15f51efcc8a8ca0612546bb85172eba83e5d19f0979cefdfb0f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The brown toy is now over the interior of the safe. I will open the jaws and let it settle into the compartment.\"}",
  "call_id": "call_BF5GCDcBQRCnF8l5M0Vv9xG7",
  "id": "fc_01ee134939f6a3ab016ab463ec725487d08f4f2388eea388a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BF5GCDcBQRCnF8l5M0Vv9xG7",
  "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]: [-0.0257, 0.8604, 0.6422, -0.5915, -0.0219, -0.0574, 0.9992, 0.8616, 2.5565, 2.4401, -1.034, 0.5827, 0.4679, 0.9948]\nstate[eef_state]: left_x=0.2703 left_y=0.0005 left_z=0.1392 left_yaw=0.009 left_pitch=-0.231 left_roll=-0.0101 left_gripper=0.9992 right_x=0.4482 right_y=0.3785 right_z=0.0905 right_yaw=0.0806 right_pitch=-0.3162 right_roll=-0.2833 right_gripper=0.9948\nstate[joint_eff]: [-0.2393, -1.5248, 6.8308, 1.536, -0.0562, -0.0611, -0.0122, -0.3214, -16.5949, 6.8991, 1.2527, 0.3004, 0.0659, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b06c938403b171d406cee316e8af3e3b91be972bc7a215932d3ea9de79f5f62c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcd6bb976c40d75e789d9de181e119929e8f842564b0df0dcc46339b2f92db38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c3baf393ec324960f2d4e2c123189852726f4d9236aab33c8ea6eff523799e6",
      "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 44 changed as sent

message 52 changed as sent

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8539, 0.643, -0.5636, -0.0219, -0.0574, 0.9992, 0.8448, 2.1864, 2.2532, -1.0779, 0.6121, 0.477, 0.0411]\nstate[eef_state]: left_x=0.2752 left_y=0.0004 left_z=0.146 left_yaw=0.0088 left_pitch=-0.196 left_roll=-0.0113 left_gripper=0.9992 right_x=0.423 right_y=0.329 right_z=0.222 right_yaw=0.0658 right_pitch=-0.1977 right_roll=-0.1948 right_gripper=0.0411\nstate[joint_eff]: [-0.1983, -1.7162, 6.8581, 1.6337, -0.0464, -0.0513, -0.0122, -0.5538, -12.3419, 7.4188, 0.8962, 0.4225, 0.022, 0.7302]",
      "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]: [-0.0257, 0.86, 0.6422, -0.5888, -0.0219, -0.0574, 0.9992, 0.86, 2.5301, 2.4447, -1.005, 0.5877, 0.4744, 0.0449]\nstate[eef_state]: left_x=0.2708 left_y=0.0005 left_z=0.1398 left_yaw=0.009 left_pitch=-0.228 left_roll=-0.0102 left_gripper=0.9992 right_x=0.4536 right_y=0.3823 right_z=0.11 right_yaw=0.085 right_pitch=-0.2695 right_roll=-0.2384 right_gripper=0.0449\nstate[joint_eff]: [-0.2256, -1.8393, 7.0769, 1.5653, -0.0366, -0.0171, -0.0122, 0.1299, -14.2974, 7.3778, 0.6374, 0.442, 0.1636, 0.7253]\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]: [-0.0257, 0.8604, 0.6422, -0.5915, -0.0219, -0.0574, 0.9992, 0.8616, 2.5565, 2.4401, -1.034, 0.5827, 0.4679, 0.9948]\nstate[eef_state]: left_x=0.2703 left_y=0.0005 left_z=0.1392 left_yaw=0.009 left_pitch=-0.231 left_roll=-0.0101 left_gripper=0.9992 right_x=0.4482 right_y=0.3785 right_z=0.0905 right_yaw=0.0806 right_pitch=-0.3162 right_roll=-0.2833 right_gripper=0.9948\nstate[joint_eff]: [-0.2393, -1.5248, 6.8308, 1.536, -0.0562, -0.0611, -0.0122, -0.3214, -16.5949, 6.8991, 1.2527, 0.3004, 0.0659, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b06c938403b171d406cee316e8af3e3b91be972bc7a215932d3ea9de79f5f62c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcd6bb976c40d75e789d9de181e119929e8f842564b0df0dcc46339b2f92db38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c3baf393ec324960f2d4e2c123189852726f4d9236aab33c8ea6eff523799e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGP1l_V9C4AsD_7nch1WimTIp4h4SPBK9OAiobaVjzg-xTOoNnoI5fnOLmAizIRDfFcp5jBxN97po6t4KvGAYhb4T7NfWIuyndtiNzfnaI1lJZxzh3iFtjKinabDqp8FAE-nuXImXfIMJW9iO_M8TLYVqi4fdH5MiFHbHbooSwIwcFT4S9Cm5gYi5paMhNH_CC5JQCPyyL5haxigh17PckebUmubQVOw50K-STRrd8XXbab1U4Oy-DIX8Pyfrj4Tvq4XRWYhfeCXQ-AKtyThUM7M67hDjCX84nxYKupPvViTWACTWC5ushqPmGNTUdFmrZ5WnydN6ZsL7CHupHHixZJUaUgiJJWaugFx4I39qytZ4JuIYBkihixJsgq39ZLww8Q4KrVsjLrUtvAlU7dUEqos2RcR-ethK1dJYsge8SMl9eQQ_wpKMq3PMmn8Ejz34uYtjUkEkIFT6mSq9kMR6qBZgWLdw67ejtpbbdhgvPaSHyH4ADgCJbXISJWGoRVrttUlFbmk-N8ht_abzymo-ubM6PPt51o8LwlrkTxHI8MEvg-oxb4l_xTWxVVz_18zYWJxdF5MQchKw7qmvFBF_Bq1BVtmkkujJpV5GBGezyHXOVE9K8ui0EWJpLMVtQxpjS0RKWa1r8v0OWXUX1Znu3LMEiUajFaGjdKffWscpKHEUNBhQyVppt3WQB_zCOmwQ6UJP5a-NJ43bLTGw-dgLQUQZvzhShcQ8YEH5K01vRyctr2ptmMZfluacrn2TEwPQ8V4mek7TkCIJ-owSo60a9zZp2RY2B0eDKWTPbA8iZs9LvT5FAUgdkRC9AXXzVKP6p2kDAJ3NDUNUeZt-myPn-07cQKtj_iOnP1VxxC9bzx3l3him6OlctR1_wHxoMtit-YrnVMkQXF7o93Rv3HeMDZdamhBhqGcSB8rRITY_2uLCk1O9BHKRh1HlGQkwBCwy_Hz57YwfKG3svHzFFopcvKSvzR7nJDmPmzmHBLenlN7HI8B8N841owyFxjX5KsNRroC8IBvKrx96Z-WZTuyXxoudgl0AHAjnxpAZK71MxCF2tyiYhpSNpiGcT-X4kPdIB3SSQr2rUYWNGBjAtr4tC95ST_Vj9RUSbNAfpHsw09z-oQl3wIYJba6kqr_nV3_tDoHWb7r9Qnb7MzBv1ywizVFm3R0_0M7BsymbvhC_0Oov2OCHF8QeF4aq-2FoEkgUNJhgNY8Amaa2Thdh4OLPKO_NYxBI3j5YnRQ_Yi3_kzRMNX1g1abIfh_yPeSB7yDU6-lq3FW3iHpSD5upMEchIEKy1TZnR4GVYlVO-t8sf0dSxkKBp4reOfwUmjM7BYAC9PPedOrowHkMiYAXdFV88qGReE4W3jTU2WuRfuVyna5es9rKzz0C7H_jQTmxRjxReGuUkyV5HEEhsTaW7YuYENVNi8XN9rxWknNLIR-9ttLNlRDmizU7owe9goaoIFbXxB4mitXfim2i5k-A26jusCRcdXuXk6IO71h5_7VbRJr6XwcyBfgDU8zZRQ1iOR_5SzeD7z7WxN3I5sXxVzOUoi0O4w3hEQTpWYOxhzKDVybzjNgBKWLhVZJ4Goq5wFMJ5FnCDzttTSbuOenEs9YqVf5vVxIPYqLiOZSXBw3lkAHfhjqzK-dIpVPryQJ62duQoI62a0CZlYKLX9YFj4HxaGxQJflqYaEhm2i0lbWCk7y2FmkyGcX6mv66EJUgVN0g24VU4-FuxO0YE3WvF-qgMX0Oucla3CH-KSoPmu95__wGv7xDVoqg54G8gfmM6vK4aIvBPLCDVFHE9pjjn0fV0VXavOR4N-XkqKEa0OLhjwkKqMasi8g6ceVsnaVwIpRCuCSCIRhMciN7ohAClRO4CcaJoVSa6mb0QyU5wDySLAMpl99f0J5uI07QOfbUvpoFhgkqGCZmFD9bislV_BRBQGTNG11pY8hIVwRQ4GXhGFZHznA3Syzc6rOeYRuzt3HqlkuEIKpQ_TlSqYCvTo2ABfnEhu0XdWAcEk5AhRAQxz5F6N2gVUMtTSi9ePk0CF4OgWC",
  "id": "rs_01ee134939f6a3ab016ab463f1233c87d09b1f3ad3ceca8642",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.25,\"left_x\":0.36,\"left_y\":-0.25,\"left_z\":0.17,\"left_gripper\":1},\"note\":\"The brown toy has settled inside the safe. I will clear the right arm and bring the left gripper above the pale toy beside the safe.\"}",
  "call_id": "call_1LjwMUvHhSk3V93gydsYystm",
  "id": "fc_01ee134939f6a3ab016ab463f46d6087d0b0c64c8a5db2ac94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1LjwMUvHhSk3V93gydsYystm",
  "output": [
    {
      "text": "executing move_to over 32 steps (3.2s)",
      "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]: [-0.8154, 1.6958, 1.3533, -0.7021, -0.5083, -0.704, 0.9993, 0.094, 1.1465, 1.2175, -0.9955, 0.1875, -0.1947, 0.9953]\nstate[eef_state]: left_x=0.3508 left_y=-0.2418 left_z=0.1542 left_yaw=0.009 left_pitch=-0.278 left_roll=0.0091 left_gripper=0.9993 right_x=0.2996 right_y=-0.0012 right_z=0.2355 right_yaw=0.0362 right_pitch=-0.3525 right_roll=-0.2852 right_gripper=0.9953\nstate[joint_eff]: [-0.3214, -7.8154, 9.5521, 1.2332, -0.4762, 0.0904, -0.0904, -0.1436, -4.1368, 8.4718, 1.58, 0.0415, -0.0464, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d880f4e37431785688a068eea1c73533506324c35803efe89f417dacb972ddc2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca4f123cadaee0252d2bb1568af27eb313e5dd73d5a6c3673c1c225af9c1369a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63a98c55e8b703712d0787ff89823183cb75710999c0eb4e2671a6c9154a8283",
      "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 55 changed as sent

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8558, 0.643, -0.58, -0.0219, -0.0574, 0.9992, 0.8436, 2.1578, 1.7386, -0.6781, 0.6006, 0.474, 0.0441]\nstate[eef_state]: left_x=0.2724 left_y=0.0004 left_z=0.1426 left_yaw=0.0089 left_pitch=-0.2143 left_roll=-0.0107 left_gripper=0.9992 right_x=0.4128 right_y=0.3191 right_z=0.0949 right_yaw=0.0593 right_pitch=-0.2663 right_roll=-0.2521 right_gripper=0.0441\nstate[joint_eff]: [-0.1436, -1.388, 6.9538, 1.7167, -0.0855, -0.0415, -0.0122, -0.253, -12.6017, 7.159, 1.4628, 0.3883, 0.0024, 0.652]",
      "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]: [-0.0257, 0.8604, 0.6422, -0.5915, -0.0219, -0.0574, 0.9992, 0.8616, 2.5565, 2.4401, -1.034, 0.5827, 0.4679, 0.9948]\nstate[eef_state]: left_x=0.2703 left_y=0.0005 left_z=0.1392 left_yaw=0.009 left_pitch=-0.231 left_roll=-0.0101 left_gripper=0.9992 right_x=0.4482 right_y=0.3785 right_z=0.0905 right_yaw=0.0806 right_pitch=-0.3162 right_roll=-0.2833 right_gripper=0.9948\nstate[joint_eff]: [-0.2393, -1.5248, 6.8308, 1.536, -0.0562, -0.0611, -0.0122, -0.3214, -16.5949, 6.8991, 1.2527, 0.3004, 0.0659, -0.1734]",
      "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]: [-0.8154, 1.6958, 1.3533, -0.7021, -0.5083, -0.704, 0.9993, 0.094, 1.1465, 1.2175, -0.9955, 0.1875, -0.1947, 0.9953]\nstate[eef_state]: left_x=0.3508 left_y=-0.2418 left_z=0.1542 left_yaw=0.009 left_pitch=-0.278 left_roll=0.0091 left_gripper=0.9993 right_x=0.2996 right_y=-0.0012 right_z=0.2355 right_yaw=0.0362 right_pitch=-0.3525 right_roll=-0.2852 right_gripper=0.9953\nstate[joint_eff]: [-0.3214, -7.8154, 9.5521, 1.2332, -0.4762, 0.0904, -0.0904, -0.1436, -4.1368, 8.4718, 1.58, 0.0415, -0.0464, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d880f4e37431785688a068eea1c73533506324c35803efe89f417dacb972ddc2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca4f123cadaee0252d2bb1568af27eb313e5dd73d5a6c3673c1c225af9c1369a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63a98c55e8b703712d0787ff89823183cb75710999c0eb4e2671a6c9154a8283",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGP-9NGPyS0a2iqonwWD1Q43KxcgRAvU3FtbhCZVujcJFJeLMaduS3k59gPNOabTcX4Sk62rH6lyr-v14w-g8-NTIBROSGpxjMMSX-yq3nAiVhTthaZdCFOo7iN88sk8xBKWyaIfa1-dV1GXEWjRA89ahxVtNrMGL1_XpbF-drsTQE3VCxUVpCcEz9LqoqQs8LiLVqgCQ3Cyi6keu2O9Jn0qMh9An0htApQhLfpHG-RpSoAjTcd78zxnaIB9K1u0ue1gGyPRAZUyGGu1G5ScOnbZWu9JszlEk2N1J_pKimNYec8G5HIhl-1e1LMHNvRw38IV5Lg9a7oGiCktLBzkdE-kVbooO4zr5wVDXeziarYDmSsyX1up4_eOr-yYSZT1g0pv9oNB_uCR24ZGc1oY9QK9DhNm9iZEOnRn1b97Rqir3cJEPGVlLS4yacgOTvOKN8__tVXK-130ZOWfvYVX8GOy8RulhS2p0x9gSLgZUjaDPwHY0HOERfZ13-8-ze-TuY-VRpGbrflZRrBSA7rtwm7I1kEdBhlhocnZVVUsnVUFCGflgUW5EMTO8CoJEpzf02EjH8TuubG_xXyR4AiYADNSUO8FgXc-3gESGwtJ9XQfa-F6BT5kJ07tng3RTduw3W_VfotV797-jMsZ9kMeFHOWScF1rhqXxsvf-DkrNZYYGptdsjtBIF0pyfyPPHPV7gUBD2KorGfy0SCCScH3GETT6ILzqz4rKUOaHb19mj3M5x3PXhY_VIVf7CfOf5RmpxKdLO-bzxSTqTvwAbZpeSU4On9ENbPevw22CxGkc-Nzk3ZSuciu2E_BaVuuXukRzdIu_UwQ4Nbc_Wi-WZ-ZH4dZZS1efrIFQ2RJm9qPUwTSVBAeqyoPcB-NrlIKcfktVrjPV4eb0pfU26TGF32kf6SoEabosbRsz0rMwKm_P6BgdmR8czpqb27Zdb8-uMEODpso_sV3XXudgJagd8dfifg2x7FV_5Cvd87tu6XJm7s07yCb6EIqXlmi0hOqpKf7ZjnzxQO59JXVkvJw_sjNNm6bmuxWWUw1PiaIs3I9mcB-xt7woVDzst5q_qnx3D5CozkSV5aH_osZYFNzAch1C1iSzkLSt2kcFR313t9hgHEvseWm6fM-rOjsuq1lHJOnpaX-sP1fobdX3RMhCbZ_4SYOi1-1IhDdh6IgOCH7i8qzTD3V5bvWlKoBI_IJrV1K365cheWYVwlKqtjUqHv0hoKrBzv3Kga5DIwkE1tLRz4y3syeQ2RHyIkk-RLZPC3ZCFngv5-oZdz1BAbFlMxKYjxoorqReZro20ZQUzVKm85W4_u-YxcB41kEJI1CoOZeJxfbgqGqJmYPY5i9uvIEoRa47Sp3aXTa8NUdOvAwHLObhZBzFcsxkD3T6Yccxj2WU4eQ8LbzpzR6xYYEb2V4yFWYUJr1EnMlQe-T7PDiFOoRKi1SJMAm9P6r4cdz3IsWorZONDjgFQlioRjIf2Fc1Eryv4C98rDRyUX0cbzYjAl9CD1W1CuNb9OKGg1A0Q7HHIbXVFbrogFNYuBuQ3HojGqkqltA7Np2pgKafUK2kjYDArQc94JlJm10x-VznfiCScF7LhoOv1XNmytzd1GsDUe37UEwr2Uhl16BR5IhTHm61ZqxI_CnG2-2Q4zBBnwThGuweZvrjJTDmeZa9T0Eftl_Kei1p45xGF7LvHPXCEja7AqnCSsxrjnjd3yzGVb5ZrpzUM_wzK80AQ4pkBZ3aIfWuPkeNR_44iCjzScob5GiPfbHSex9pFv1aSFLTCc9hczKjIAEevc12BduvhgB3azwvyaB-eDva8WVeV39VOt-abLEmj2oOIfgGtQuI0hTgo8UoMKLCtPjLF5HNLDzZmpbxqQowWWQyuhbtlgb80gZVYyygvcOXtQDNtaPNMBYd68D7odg0FEYyUgNP_Rgz8LB9SD0MyNB_G4l5-Wpuk9P-7Hbvnxqbz50SKHbHKtLbxJ2L8l-Wqh3VXc1B9RgU0Nej6xt7BE0019T6QwbACDp9P0DaHBmS-RDp_xsad_MLK-ETBVJsYrl45PmOWdqKQQrFpp0SuXBLppdtpf6cLj57gbJDJgDBDbvs2sSVCYWssvoZe4nEx1oygzOh9tbjH-CIg==",
  "id": "rs_01ee134939f6a3ab016ab463f9f15087d08de6b0f793b96f5a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.205,\"left_z\":0.005,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The pale toy is left of the jaw center in the wrist view. I will align over its body and lower to table level, while restoring the gripper's upright orientation.\"}",
  "call_id": "call_HWaZhcWhgeiVlwijaq0tmPw3",
  "id": "fc_01ee134939f6a3ab016ab463fcecb887d093f70dd9a86a5997",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HWaZhcWhgeiVlwijaq0tmPw3",
  "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]: [-0.7368, 1.9053, 0.7982, 0.4007, -0.5907, -0.535, 0.9991, 0.0944, 1.1484, 1.2171, -1.0183, 0.1761, -0.2096, 0.9953]\nstate[eef_state]: left_x=0.3906 left_y=-0.2167 left_z=0.0285 left_yaw=0.0197 left_pitch=0.0082 left_roll=-0.0588 left_gripper=0.9991 right_x=0.2954 right_y=0.0005 right_z=0.2312 right_yaw=0.0549 right_pitch=-0.3803 right_roll=-0.286 right_gripper=0.9953\nstate[joint_eff]: [1.6068, -5.2034, 2.9333, 0.1685, -0.1148, 0.4176, -0.0269, -0.1299, -3.3709, 6.4889, 1.6142, 0.1734, 0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fd6421bd913d843b6de8405fa59aa24b03f1e9d9b719728f1ece9bc65a13c01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b44e0f8c25e7083a2b6e7cfe8acca264a9a4301d7a0d4e76bf1b5ebe1745bf67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f8e9070468d47e689e2721fe904247dca29258b6569700def83844230b42710",
      "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 59 changed as sent

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.86, 0.6422, -0.5888, -0.0219, -0.0574, 0.9992, 0.86, 2.5301, 2.4447, -1.005, 0.5877, 0.4744, 0.0449]\nstate[eef_state]: left_x=0.2708 left_y=0.0005 left_z=0.1398 left_yaw=0.009 left_pitch=-0.228 left_roll=-0.0102 left_gripper=0.9992 right_x=0.4536 right_y=0.3823 right_z=0.11 right_yaw=0.085 right_pitch=-0.2695 right_roll=-0.2384 right_gripper=0.0449\nstate[joint_eff]: [-0.2256, -1.8393, 7.0769, 1.5653, -0.0366, -0.0171, -0.0122, 0.1299, -14.2974, 7.3778, 0.6374, 0.442, 0.1636, 0.7253]\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]: [-0.8154, 1.6958, 1.3533, -0.7021, -0.5083, -0.704, 0.9993, 0.094, 1.1465, 1.2175, -0.9955, 0.1875, -0.1947, 0.9953]\nstate[eef_state]: left_x=0.3508 left_y=-0.2418 left_z=0.1542 left_yaw=0.009 left_pitch=-0.278 left_roll=0.0091 left_gripper=0.9993 right_x=0.2996 right_y=-0.0012 right_z=0.2355 right_yaw=0.0362 right_pitch=-0.3525 right_roll=-0.2852 right_gripper=0.9953\nstate[joint_eff]: [-0.3214, -7.8154, 9.5521, 1.2332, -0.4762, 0.0904, -0.0904, -0.1436, -4.1368, 8.4718, 1.58, 0.0415, -0.0464, 0.0513]",
      "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]: [-0.7368, 1.9053, 0.7982, 0.4007, -0.5907, -0.535, 0.9991, 0.0944, 1.1484, 1.2171, -1.0183, 0.1761, -0.2096, 0.9953]\nstate[eef_state]: left_x=0.3906 left_y=-0.2167 left_z=0.0285 left_yaw=0.0197 left_pitch=0.0082 left_roll=-0.0588 left_gripper=0.9991 right_x=0.2954 right_y=0.0005 right_z=0.2312 right_yaw=0.0549 right_pitch=-0.3803 right_roll=-0.286 right_gripper=0.9953\nstate[joint_eff]: [1.6068, -5.2034, 2.9333, 0.1685, -0.1148, 0.4176, -0.0269, -0.1299, -3.3709, 6.4889, 1.6142, 0.1734, 0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fd6421bd913d843b6de8405fa59aa24b03f1e9d9b719728f1ece9bc65a13c01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b44e0f8c25e7083a2b6e7cfe8acca264a9a4301d7a0d4e76bf1b5ebe1745bf67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f8e9070468d47e689e2721fe904247dca29258b6569700def83844230b42710",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGQD-Hhdgf5o_uQT09oGW41lvsS9nFu-V_ec_tFTNsD-8iZpb8bJpyW9z9f2y2TOruKUAW3LmUyUWNjm_cS07d-oixJcToqEzUW3wORYKyyBvrgxMU1cePDPWgkT7SpQxxiUXV14e8U93rjLuhOc-z188HEAdWbUC4iRZJXCiGZvMXnOgyJ014-6gZX_2WEaTBcA8cLYV46_pJsp34yuO3hSr0JUK1RmrEi7YUhqQn4t5W53T9gj3ahgaLSn3g-wrZqZeO9EmF1L_-GVImj_u4v-J3qfaMlfuGwrZO2323fjFS0viDVnXvaVNohwhM0dGQV6s02C2vH-qVXCGQEvrSd2AsrHHDJ-r5HJO3RzYcRmd47ZkvRqNiek-DZ_ItpPikD1USkBPcSQPBtO1IwB-ao1SmToPVUsWlQnEVgDXmU2mYfqVypi7shRuCWB3UoBP47HNG_aoNso3GMn3aUFfIP8NWbW99RSx5qIfJ1MBahjdzFrghJaA4gb0aNCOyQRDkp8JPR2ihGKfZXwvQKtNALtkwvt-izI-O7ybdmzyJ5HAlRw-HSufMNZdYUCu4SNqxPLHm88zVK1l6sBZe4rdH0dBnkTw8RiAW3D_LwFn02-gNTlRCmyWY1Mf6m2viXMHYsd6qfYBw6L6h8oungdGNZqEcX8D_3wRto6diAq2q_zDaPXFoKe8UZp73ZQOlIbMtB5gBM6mMO3DIE6SPd_qibWshFbZVedA2KTPZczP4FwT9XzPRabCwDQl4xUtx6a-hV8Diz5zxJKtvnSmAanitns3Ly-PEFU9U9zNZLuLxxRoAyPT7HaUJPJgLJrPnErhOG3r44Aq7W5MNtSRYt3slSxZD4T6KLR334fYGPm5KW4M_uJjmya2B89oHXB31aiIiprTm8pO2WOxCb2nV0I5pylAPestXWy-PHN1cEAtPkQBL87TQ1G3h9-o6O3mYLxudD33_XnNNdGts2XeUjPvwHh_gjuwofZWb4pXCoPyFdFHenWO4YPc2FAqZuzdsdkLVjvgpB7QWhRxwa-T_GmheVo3zOrj_p_G09GqeEFz1w9yCTAfOqan6w3nGaKC_2UE-3N_vuDaN7u5t-XFV4mO1CzElGZuhQqJ6WmAB1OF4QUi-7R0zwGQPTAP5J8fKsvbhDzZuTIOlQKpI1fr1HbLXFaM6wPSUz0QTdQyTeyEmty2t_O6taMnG7pd1Bj40VZoil5_sd75V-1CBhx3JErfUj9cyoF6MFc5xDsYtqVet0cFUSWc5Nbt7MsJGvrd2H8nsaSRdS1c_lwDHzBbtPeYx6HAnCbKXNl5V5CBc1ETTTUc7Oe-Q_ryA38DmsgEJYn1KbifO2LhttwkNmSVFFMEiV9EdOPfaOZs01MZYuex9UcLfw9Qre8Di_qAj7M3cZzCCTxzZ8UkHwlzDyYEwwHr2I7j4e-ou6TW6f8bM23GKKqKo54QklrGNrtQ1NWt2MYd8-6p19kNoRgh80Zk9kyHgfWetsWBqR76A5HaPk3-qHwrtynRmo7ofDFcaFSUmHVapbsM0X1kj_g21HSA7DwJb5GRi4t9xlZKDoKypGtvl6xHbPjMuQMDLbeHQcppaUWCYCXP5keukbXBRIEiSTyASPucbXAqvRGU_iEsWrWivJv7syWQgtPjw_urkZZmZ8qruzn5BT-hB2HTKDYKt9lNXkfAg==",
  "id": "rs_01ee134939f6a3ab016ab46400942887d08ac260aabfe9b4d7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.165,\"left_z\":0.005,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The pale toy is still beside the left jaw rather than between the jaws. I will shift a few centimetres left and slightly forward to put its body inside the opening.\"}",
  "call_id": "call_v6XLDhjNblxGHYFLncpW6EEH",
  "id": "fc_01ee134939f6a3ab016ab464024f1c87d0a43715903d40e2ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_v6XLDhjNblxGHYFLncpW6EEH",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "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]: [-0.617, 1.9259, 0.7311, 0.5999, -0.5232, -0.432, 0.9991, 0.0944, 1.1492, 1.2171, -1.0359, 0.1787, -0.2104, 0.9953]\nstate[eef_state]: left_x=0.414 left_y=-0.1811 left_z=0.0288 left_yaw=0.0334 left_pitch=0.0701 left_roll=-0.0737 left_gripper=0.9991 right_x=0.292 right_y=-0.0003 right_z=0.2286 right_yaw=0.0526 right_pitch=-0.3987 right_roll=-0.2897 right_gripper=0.9953\nstate[joint_eff]: [0.9915, -7.1043, 3.0974, 1.033, -0.1001, 0.1441, -0.0073, -0.1709, -3.2889, 6.2974, 1.4481, 0.0269, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35648fa81724c7ca0d28495c634d0a5df3165a9d0caff457ab90419c2f194d50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e33ddd9841f101c481e17cc7401632dd1268001df432d3597dbd7e98bb4a1831",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ff695244c3f2d84200b350569a23bef6adccf9a6d7c1fe21d50a5b11d91809d",
      "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 55 changed as sent

message 63 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]: [-0.0257, 0.8604, 0.6422, -0.5915, -0.0219, -0.0574, 0.9992, 0.8616, 2.5565, 2.4401, -1.034, 0.5827, 0.4679, 0.9948]\nstate[eef_state]: left_x=0.2703 left_y=0.0005 left_z=0.1392 left_yaw=0.009 left_pitch=-0.231 left_roll=-0.0101 left_gripper=0.9992 right_x=0.4482 right_y=0.3785 right_z=0.0905 right_yaw=0.0806 right_pitch=-0.3162 right_roll=-0.2833 right_gripper=0.9948\nstate[joint_eff]: [-0.2393, -1.5248, 6.8308, 1.536, -0.0562, -0.0611, -0.0122, -0.3214, -16.5949, 6.8991, 1.2527, 0.3004, 0.0659, -0.1734]",
      "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]: [-0.7368, 1.9053, 0.7982, 0.4007, -0.5907, -0.535, 0.9991, 0.0944, 1.1484, 1.2171, -1.0183, 0.1761, -0.2096, 0.9953]\nstate[eef_state]: left_x=0.3906 left_y=-0.2167 left_z=0.0285 left_yaw=0.0197 left_pitch=0.0082 left_roll=-0.0588 left_gripper=0.9991 right_x=0.2954 right_y=0.0005 right_z=0.2312 right_yaw=0.0549 right_pitch=-0.3803 right_roll=-0.286 right_gripper=0.9953\nstate[joint_eff]: [1.6068, -5.2034, 2.9333, 0.1685, -0.1148, 0.4176, -0.0269, -0.1299, -3.3709, 6.4889, 1.6142, 0.1734, 0.1343, -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]: [-0.617, 1.9259, 0.7311, 0.5999, -0.5232, -0.432, 0.9991, 0.0944, 1.1492, 1.2171, -1.0359, 0.1787, -0.2104, 0.9953]\nstate[eef_state]: left_x=0.414 left_y=-0.1811 left_z=0.0288 left_yaw=0.0334 left_pitch=0.0701 left_roll=-0.0737 left_gripper=0.9991 right_x=0.292 right_y=-0.0003 right_z=0.2286 right_yaw=0.0526 right_pitch=-0.3987 right_roll=-0.2897 right_gripper=0.9953\nstate[joint_eff]: [0.9915, -7.1043, 3.0974, 1.033, -0.1001, 0.1441, -0.0073, -0.1709, -3.2889, 6.2974, 1.4481, 0.0269, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35648fa81724c7ca0d28495c634d0a5df3165a9d0caff457ab90419c2f194d50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e33ddd9841f101c481e17cc7401632dd1268001df432d3597dbd7e98bb4a1831",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ff695244c3f2d84200b350569a23bef6adccf9a6d7c1fe21d50a5b11d91809d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGQHQZ-5y4cRJt3PeDRsGxrtlIt3z_NIhN2ojx1ffIP3-KEOl-pl_CONxfSXaxi7pdlgRhW4B7ARRbsc4IK3yA6s2tQbMkPI2_WeoWYvSVE8Oh29-pzBIsYjojWNQ61dvSGNgpOBsMCBCtrH2nnjUAzyL5p2ubxLEK7CQDegQu1qHs5CB_yNknbsnauiHZUdF1lqDzXH2fNZR9pxOFL_vdEHvvyVTUjphkNRnmpuanEEQ8L4NlA2VLpUmwYDuZsWNkgj6r-asjp46UcsBIWauj1o-O4aNf4VCvqWM5YXo2k97uHhH42QpQn4UzrOEvfWYh7HSeYYb9j1xMFERAykSCfqBHSnOHD7RGJPvjSr_8zUO7quywY9PWPSdC2CerLMlnByjc5pMIooRZgsjCzOi1xXl0-g4msHujobYsNyIveg4oOWCQzFY0tniY37zQ_AQyMs1Dz3Y5Ke2diSmijoSy1DpQldc9gyxIApxfOLRto36tZF1MrebOaEceHa211O-xg-xQT9kQ5zEfuTUYaJCrawnDdjeZmppsq73iUR32Jm-nfUaZc0kMkUZ2nwHUA5cm_7uNUtEkJsPdjcuybgUZcrsuzDgQp4-1jW_n6EeDQ5ui5UcE_NKE1kXj9c8usfAIgGkXy10I2pxpIkKdRNDubC8pipwC4__gPuKHqbszX4twmCsEvIU82b1nZq1ZJs_63b5zfo8wVHu1-xtgKOBPJW9D-mpasJ6cu7hQpjA0_KuhQv1vbnBZKt9r7EDfV7DxrTUJQm3AkoGXxS6suRdCvjl2gRQ2WvS7-zwlA13Nx6GlrI57GRHZ68nVXLito0HE1-U7b1KVBQrLwHOaZ1vpKNIKwlno9849XhQcadpZKUNV60EjAj1swZK1qQ2r5kzteZGZSE9yfJNd9Yb17MXWwCuGGvjnzGsSdcEuTMkiulNuuH_gmQuNUb8othnSoXSNTuYyMWgmdbWz2ebn3AiceBM8zV-7hnb3LvlR5oMjXj631allNiIzGrkrmSAEaodTY427S0jgfOb5Mp7e6wxoV1IWIpY7sLjDiz1Mg2gVwEcW_x7aiEznDlYIepZReqE1B3IoOfmhnTQDtllAIxf3G_hUoGJXpGdNvXCCyLIJl825d1bQKFBSObLbS1zFTk8qnIYxuRJXmirKx-FAhQP_i4LGExIH6BKMnSe5hg9wYLw-tt3iOZDYr0nUpuBpxXZ-o5tko260R1J5D1Za91CDfR_hfBgHgtLHeJ9FgJdT9pNCIDOXXEGvnuIOC6jILaOoA8GcGy0TcuD20Lrkd5bf15TRWb3ouPKyvq2g1r1OPXIu4GI8YFXooGXE3ipR2p6K-5S_7plbV1FepOpWZVgTIhK60s0sd13p0IkHh2HUbUsPTFX5uU6jtwsEpfTQdAlau3a2-r0gx-EaEz1-uG4L1yAWvFRhHU1qIj3hoYc1pdVxSe5FjVoIzYq9bu1MFZ_eLeVsPbCaHnRvBvVnBRvnoZXkWKLjsbGacaS0pgN51jFs833Nfo4jbSJmdY2hmbH5qMlc9dyJpzFAZQ6HYu3ce6Yc18XvJKjD9Jc1SDfoY0XTU=",
  "id": "rs_01ee134939f6a3ab016ab464050a6887d0b9b1e65c5a21a72d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left gripper is positioned over the pale toy beside the safe. I will close the jaws and check whether they retain a meaningful gap.\"}",
  "call_id": "call_lFqp85jfZz7a3bCYGigt19xO",
  "id": "fc_01ee134939f6a3ab016ab46406a9ac87d09d11d196baa005b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lFqp85jfZz7a3bCYGigt19xO",
  "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]: [-0.5968, 1.932, 0.7044, 0.5488, -0.5117, -0.3969, 0.01, 0.0944, 1.1492, 1.2171, -1.0584, 0.1787, -0.2104, 0.9953]\nstate[eef_state]: left_x=0.4036 left_y=-0.1653 left_z=0.0079 left_yaw=0.0237 left_pitch=-0.0009 left_roll=0.0007 left_gripper=0.01 right_x=0.2874 right_y=-0.0007 right_z=0.2255 right_yaw=0.0521 right_pitch=-0.4212 right_roll=-0.2907 right_gripper=0.9953\nstate[joint_eff]: [0.0752, -7.2684, 4.4513, 1.7998, -0.1197, 0.0415, 0.8083, -0.1026, -3.2068, 6.3795, 1.4725, 0.0317, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee2aded170067e8ac1a4d1d2642f8592049cfc87e6b3da74aed7ca767ba5ca6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00c9d058d479a7111a92a88a6adc894ca9cfb0fa6e39e5d042ea4985c7db1760",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2801e850a293692441e249e454237388753e4e3d9b3eea1cb705c3a669bb6ba",
      "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 59 changed as sent

message 67 changed as sent

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8154, 1.6958, 1.3533, -0.7021, -0.5083, -0.704, 0.9993, 0.094, 1.1465, 1.2175, -0.9955, 0.1875, -0.1947, 0.9953]\nstate[eef_state]: left_x=0.3508 left_y=-0.2418 left_z=0.1542 left_yaw=0.009 left_pitch=-0.278 left_roll=0.0091 left_gripper=0.9993 right_x=0.2996 right_y=-0.0012 right_z=0.2355 right_yaw=0.0362 right_pitch=-0.3525 right_roll=-0.2852 right_gripper=0.9953\nstate[joint_eff]: [-0.3214, -7.8154, 9.5521, 1.2332, -0.4762, 0.0904, -0.0904, -0.1436, -4.1368, 8.4718, 1.58, 0.0415, -0.0464, 0.0513]",
      "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]: [-0.617, 1.9259, 0.7311, 0.5999, -0.5232, -0.432, 0.9991, 0.0944, 1.1492, 1.2171, -1.0359, 0.1787, -0.2104, 0.9953]\nstate[eef_state]: left_x=0.414 left_y=-0.1811 left_z=0.0288 left_yaw=0.0334 left_pitch=0.0701 left_roll=-0.0737 left_gripper=0.9991 right_x=0.292 right_y=-0.0003 right_z=0.2286 right_yaw=0.0526 right_pitch=-0.3987 right_roll=-0.2897 right_gripper=0.9953\nstate[joint_eff]: [0.9915, -7.1043, 3.0974, 1.033, -0.1001, 0.1441, -0.0073, -0.1709, -3.2889, 6.2974, 1.4481, 0.0269, -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]: [-0.5968, 1.932, 0.7044, 0.5488, -0.5117, -0.3969, 0.01, 0.0944, 1.1492, 1.2171, -1.0584, 0.1787, -0.2104, 0.9953]\nstate[eef_state]: left_x=0.4036 left_y=-0.1653 left_z=0.0079 left_yaw=0.0237 left_pitch=-0.0009 left_roll=0.0007 left_gripper=0.01 right_x=0.2874 right_y=-0.0007 right_z=0.2255 right_yaw=0.0521 right_pitch=-0.4212 right_roll=-0.2907 right_gripper=0.9953\nstate[joint_eff]: [0.0752, -7.2684, 4.4513, 1.7998, -0.1197, 0.0415, 0.8083, -0.1026, -3.2068, 6.3795, 1.4725, 0.0317, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee2aded170067e8ac1a4d1d2642f8592049cfc87e6b3da74aed7ca767ba5ca6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00c9d058d479a7111a92a88a6adc894ca9cfb0fa6e39e5d042ea4985c7db1760",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2801e850a293692441e249e454237388753e4e3d9b3eea1cb705c3a669bb6ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGQQkfk7LYDL9cyUjYgOd8mEvDQGtVOfR9bsMk9jk3d6ljDFG6kKGvnoB_t-NqukUKmcIX533ctzlhAAWj8PKxkUniKNZdm6YkqTWdCHv0zCu76FMFn8borNtX1FVP1DPoe3M_XyC354vI4yOA5ospWxBJvw9Hg_ugcO32x-Eh3Er-eB8xdKNjixABByFovyCzXL5wsYoEUIdUkRD1UJx8Lk48U30iFemMN3bnpbofZPAUkfjEOfK7GIMJfuLFcknP-GGsyl0WIUlO08O9QWZSLl-Q-cFVmIWqaCH6kA4wUK6_DUbMNU9bvZb3pIUIpvzMhGSoiALbv94JLeGS4F_eoMRKr5Zxppf-E_oH5vnWppUpIL_X1m0hRAJbGftyhPk4hJ7-yqkIl9z7X07KRVgUr9N3AhFjQEm01OatGADD9TPpGQtAIef_Xh1MqrR1SOczglmHgZRrN1i5L7pa8LHcnMp4jEwsFLgspJjmB2SHQvYNWkGSAMYrjdwEqtC1_gn7FzgzCeKmnSBF49seKHnBrEOBOE3jaOjfEW06sRAZjMYpJNWoBLVqR-mltrmYR30wTSTp718en5I7tX0ibkEP2VxiOW-z493QDM6aR5xL4yvd2dsIt0upV5tTSWIPzvRV8hMBWoAcUAo09BEZtadZ2s3H-XGF91QsSKjifdsTfQhG57IR8B9fl-Tv38PhnCjv__p9Oe5TUKb5S6p92MC6I_o1NgKZzOLfcKJnUI5jXnomTgYYnZJphgRIgvktTVWJ1-J6N5pvMcaK9hJ0xmzDI-T5PVgMJYi9UbfRUZG_Y59UarNrvEGsKCG43rBT1Csh6Kv7UMFHLJw7r214AV420v-v-B12NIfZH03UcFyoEjY1bmJIG6nh5nHI3Kfl9ZM3hFnWSOxj5ZeO2gh6gpDJ-KIkPYaO0V_mX43lgdkIhj5_n_Gur2CdJjEDvzoTYi1NbXnydeAWrM5um8VTOtaSXwi0BRq5FTAD1xfHLLrAU5NZGCHGcOf0gdikuSMlmNlpkrQ8TCPNIQKTnuelNvWyGQYFzZltMU7aelPeSFOlBycXfScHXzh-H4f4V4JXMiB20FfLM7efxP7X0GYWGPALcNGR5w2HDtxmLuwsNCXTBZqrhZ8mDkv6MIi7Cyf5iCWRqYgzQsJ7wnPp3Zcv4y8epMnS_rfjS2gXzfF1HFzISR43OX2rvxiAKTdMbqqojwOmpMN-v_IMoTqcUzl25eKNfLCRY7FoHyipD8i6GZVfBug_rV2Y7EAZBQ_HjsPCQpp0f_QnXcyKtEh1Dn-_7oSM7rfsN2ln3YXdzuXVIzw2BX2SFVyZjK7tdVS0NZHfLeVCM6IFNZQk5MaEj6Vt9zENZGLrL0e-tUWKLwuiEprBwn-vFGG9VybvBmwTzr-I_3hODlHsPzjwWA7tDdLHi_1o0uNWV7EBdpmq3qwOABizJGMooadahmLnGpsvE1gXsQnH_7Z7a19PofvRIVVYe3bFRrUhujdPmhV_C5MskuN69SJPimr0VO3EyGby_ne6RDjPKgNqXZByWhmvQNlMsMRjg1jgnFy8KfCtX8t74mH2e-CjuS3lbdul-SIIdSBqcvHGOEFqWEh6_kaWnhkhZWz_qVb_lbYtN53mx36zZ7C7ZTDQmOq2Vw5Cms7_1S0OQyWRTS6a5zZ6jQqhMptGaPi2honudEONN7qoAVdoDX9SIA19FZxpn80QnjksCtGOMkOEHp0PIZ7Gbx40lizO81Zibs_3NSZfmE8GRoBo7rqwd3t-pfoWrLyd5236c7Ul__UhUUq572kMXa3-ys53iXhIMDfreexB5GxlKBq6LCBy_KUDNqVIluhPxFSFvP8oI08jA9KmWEvhBbKJ2ybTiWJYLaz30nIwNbeJRjug3ek2CS9RefyOGFkXk1z0LgUQYr_tyUx-oH6LKmgZEcpVSoYvsIiqkl4nMUFvTSJ37P4JOs8fiTNvlXP_rosxPZAPAlcFh-4GPU_rLxOWXhpbGzamlexIsPC8mmHCYq-TciW5CbOEsfKnRrWqOrI06iClZdxbUZe0ASrU9cS8F_EQZFqrdsdMIPA32IQZVB4G5pPASc_E4QH0xGmUdsLgPu2ZyvCBYBB0WrYXYpRM9LQyHVos72SwAuQd8wZkBrGw-Nf5lFp1spUJlX4qpjh0-ukr-1C7TY1Turh7F-oYwBTo7lO3hP8pRVgx2pv7_QYWf1n0Bej235c3vMQH5afN31M5BAiovYJe_JE2iPqyz_i42KqQSdS5XME2jWClr5SY7qXWCk8WSLq7EKzD99ajUzal-XFUjkUeAguS-eAX_QJSIoJne0ZGH9RZDb02WrHs2HpZOutlI-BI9kHQpIST1uJhzWPLdQpHVOakOf_BgdYxnQbNSfQw==",
  "id": "rs_01ee134939f6a3ab016ab4640a5c3487d08e1304bfd7fbdecc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.095,\"left_z\":0.01,\"left_gripper\":1,\"left_pitch\":0,\"left_roll\":0},\"note\":\"That close was empty; the pale toy remains clearly to the left of the fingertips. I will reopen and shift directly over it, avoiding the safe's rim.\"}",
  "call_id": "call_tCilZ8WkUT7ThM70OJWNbUAQ",
  "id": "fc_01ee134939f6a3ab016ab4640ecfc087d08a5f0c392ad899e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tCilZ8WkUT7ThM70OJWNbUAQ",
  "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]: [-0.3679, 1.924, 0.6456, 0.6312, -0.3523, -0.271, 0.9951, 0.0944, 1.1557, 1.2121, -1.0798, 0.1787, -0.2104, 0.9953]\nstate[eef_state]: left_x=0.4223 left_y=-0.0936 left_z=0.0003 left_yaw=0.0567 left_pitch=-0.0232 left_roll=0.0045 left_gripper=0.9951 right_x=0.2831 right_y=-0.0011 right_z=0.2192 right_yaw=0.0515 right_pitch=-0.4539 right_roll=-0.2923 right_gripper=0.9953\nstate[joint_eff]: [0.2667, -10.1949, 3.7128, 1.8437, 0.0317, 0.1441, -0.0855, -0.1026, -3.7812, 6.9265, 1.453, 0.0415, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:874b2f06ffcee893fd7e64f55b432d951e8b94a8fdb90421f3d5fdfaa9efca55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2378a93d142732fbb8aabdda00c7f3ceb2441254e39579b43981f78005bdd195",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75e6ec6e629849051eb1d823e597876e182a866386297e5555f93ef38b9de457",
      "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 63 changed as sent

message 71 changed as sent

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7368, 1.9053, 0.7982, 0.4007, -0.5907, -0.535, 0.9991, 0.0944, 1.1484, 1.2171, -1.0183, 0.1761, -0.2096, 0.9953]\nstate[eef_state]: left_x=0.3906 left_y=-0.2167 left_z=0.0285 left_yaw=0.0197 left_pitch=0.0082 left_roll=-0.0588 left_gripper=0.9991 right_x=0.2954 right_y=0.0005 right_z=0.2312 right_yaw=0.0549 right_pitch=-0.3803 right_roll=-0.286 right_gripper=0.9953\nstate[joint_eff]: [1.6068, -5.2034, 2.9333, 0.1685, -0.1148, 0.4176, -0.0269, -0.1299, -3.3709, 6.4889, 1.6142, 0.1734, 0.1343, -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]: [-0.5968, 1.932, 0.7044, 0.5488, -0.5117, -0.3969, 0.01, 0.0944, 1.1492, 1.2171, -1.0584, 0.1787, -0.2104, 0.9953]\nstate[eef_state]: left_x=0.4036 left_y=-0.1653 left_z=0.0079 left_yaw=0.0237 left_pitch=-0.0009 left_roll=0.0007 left_gripper=0.01 right_x=0.2874 right_y=-0.0007 right_z=0.2255 right_yaw=0.0521 right_pitch=-0.4212 right_roll=-0.2907 right_gripper=0.9953\nstate[joint_eff]: [0.0752, -7.2684, 4.4513, 1.7998, -0.1197, 0.0415, 0.8083, -0.1026, -3.2068, 6.3795, 1.4725, 0.0317, -0.0757, -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]: [-0.3679, 1.924, 0.6456, 0.6312, -0.3523, -0.271, 0.9951, 0.0944, 1.1557, 1.2121, -1.0798, 0.1787, -0.2104, 0.9953]\nstate[eef_state]: left_x=0.4223 left_y=-0.0936 left_z=0.0003 left_yaw=0.0567 left_pitch=-0.0232 left_roll=0.0045 left_gripper=0.9951 right_x=0.2831 right_y=-0.0011 right_z=0.2192 right_yaw=0.0515 right_pitch=-0.4539 right_roll=-0.2923 right_gripper=0.9953\nstate[joint_eff]: [0.2667, -10.1949, 3.7128, 1.8437, 0.0317, 0.1441, -0.0855, -0.1026, -3.7812, 6.9265, 1.453, 0.0415, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:874b2f06ffcee893fd7e64f55b432d951e8b94a8fdb90421f3d5fdfaa9efca55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2378a93d142732fbb8aabdda00c7f3ceb2441254e39579b43981f78005bdd195",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75e6ec6e629849051eb1d823e597876e182a866386297e5555f93ef38b9de457",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGQVFXJud5I-JT98fhcaJqp_MY1-itYXHUnf45X2XBmjuiXK9JJ3GLq5rwDKXfrwzbxkUdX6LkFB18Y0bv7FPnhkja6Abk8oZP0aheYrcNG9GdmW-ZbAui4V4qUOdN5etSTqtgOLcbZYUHi2GHgCBP_Id0dDLPg0b0AEpp1yVOUeQsATZViyNKhlD86xtwB_C8Qq65_vE_ZBgquwNeZdiAURivE1WmnwCk3v-JBMtA0UpJTsetFuTreJuuo7BD4idx3VVcLLuFj89ebOA4P0xecPw69NmSikitwIkIytOztQVAPtZzaTbsShUZVbOpsQdjCBd2LGmAOvUas7hYbD6iL5wDjKM7Ba_9JVJWbk9XCiu5uu68hXJCpPE36Sf-MG86q55msjhnZqM-LCfDQGwM9T_pMeinI9iF2OWT6EeIFPGcIH1K3UdE6EK1nY7VzRvqnxgog1nF25432IsA6viuj9tsw5kQolOVgdWNgflNjoSCHp-n7h3yHc5nnJwx6E6DHvpfdpTsZ66z8MF5I0LeFyYQ7jxUb_7MPO3p8_n0m8BSeuI0Lw5xFJ9r_rTqPuc1IrVY9lAgz3jtRjaPyCaT1cyrYVXIpzTAp-LOYZJORTWj2r0gyd-h-3mDEqksZK7fBgGkAKhr1uIBQVSS_jtJ8E7vmVqFhIAiOirpLo-oS63f96Q3tBRNbWsm7AmQff1hnBgq6-_z7DE4lpZP1eSRykilXpn2HKdwPndo_3viNKaW36h2Xmvsh-puKwfPN5exoL3ly_0FNb-OGuEED-WIT2zrxYOTOjteRdNNFexg442oV2HjkkJ3JKXlioVricQmugrCPBy8dh21WvtGtRnou0_v178f21hU_9lADmPFv2Th5mKjV6DsQBlIazYVP4K_tQ_W5xD2iPB-JfExKWV9k9_0MZzq0f3PVdys3l0cJDwKExdeFuGlsklOnUXlptvTjF-3THosKKcY4v8dwbSLngA5V5Td9e8qu61N_LY8T5SEzERSyi07uNpu4mik0uPE71POiXP63kRLJ9-dGOqinb8uWQnaIXz3Maw3OVs5yulekQAgkS9UfI0yMsJJqXaBV5tPx8d4ugv9tHNAxjRITk_rkPiCsxdP5y9BALxCmxxL5jzuMtjuPQ_FPkz6QuDCuEFoxyEqUtWm-14zvcOvI2y6bNxUcIpdX8qtw1sDtiNJBN1w5JWJgvxZhQpUtxSjUD-5bX8mqD_lc5I3E7ttACzH_A1ef8lLKu0IgCne8s3tkenf499-Jkwum-2hDMBDAedGoCUUMHixE2CySn_0oI5rZDIlUDqKs8bxeH4fd_fTyhm9s01XaC30Gk0UI_6vbLmwDxzU8WPpnDm59pYf2TIw8i5LWkv2x6CqDBfMgX0ns4YlfqKKAshPfvg3vKsi_LTUL2XL3oEU2MGdbkvRY81tY5imBAksTG67fDYhfo89YHOtwwIsVHLzkcnGDTZjNurFOU45zgyjzOLM7a2ql7diMxxVQABZEFz3u2UinsxpimKPu0O9TsGdv2BfScvv74n_EbCOhv1H486eP_5X8_LMk6I7G5QIZlxfZdsgAc5e94xm-NF8qdu03K7WrC1lYs3p0qr1UBPkkNSsDpmrAlLeW5GaHxcThvXmG_hjloOKhzwl0ShK0LU7OxPqq1STZ9vZ6u7kSCVFMOfkh75ScuGUtYt0WiKFosBWk7jDUpXw7RuCehWnBe5cjwHlE1n31N",
  "id": "rs_01ee134939f6a3ab016ab4641262bc87d0a065c2ad25652595",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.04,\"left_z\":0.005,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The pale object is still near the outer jaw, now clearly visible at the lower-left of the wrist image. I will make one more lateral correction to center it between the fingertips.\"}",
  "call_id": "call_Obf2uAGm11q6dARylUck14dm",
  "id": "fc_01ee134939f6a3ab016ab46414146087d0a4eb486ffc1867c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Obf2uAGm11q6dARylUck14dm",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "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]: [-0.1932, 1.9224, 0.6395, 0.6563, -0.2459, -0.1932, 0.9963, 0.0944, 1.1557, 1.2114, -1.0843, 0.1787, -0.2104, 0.9954]\nstate[eef_state]: left_x=0.4346 left_y=-0.0376 left_z=0.0006 left_yaw=0.1016 left_pitch=-0.0266 left_roll=0.0021 left_gripper=0.9963 right_x=0.282 right_y=-0.0012 right_z=0.2183 right_yaw=0.0514 right_pitch=-0.4593 right_roll=-0.2925 right_gripper=0.9954\nstate[joint_eff]: [0.3214, -7.6103, 4.4513, 2.083, 0.1734, 0.2125, 0.1148, -0.1846, -3.2205, 6.5026, 1.2821, 0.0269, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afb08df0ae2875717be3f416b7f51247a1e4aaf715c9f84bc25a4245a30fa939",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45473ade05f061bf55f77765e1982ec891f2998b188cac36395ed04d387e2562",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:290a7465daaf1fea1f289a407f2f3097a13925fe0882eae57e48ba8c459d4182",
      "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 75 changed as sent

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.617, 1.9259, 0.7311, 0.5999, -0.5232, -0.432, 0.9991, 0.0944, 1.1492, 1.2171, -1.0359, 0.1787, -0.2104, 0.9953]\nstate[eef_state]: left_x=0.414 left_y=-0.1811 left_z=0.0288 left_yaw=0.0334 left_pitch=0.0701 left_roll=-0.0737 left_gripper=0.9991 right_x=0.292 right_y=-0.0003 right_z=0.2286 right_yaw=0.0526 right_pitch=-0.3987 right_roll=-0.2897 right_gripper=0.9953\nstate[joint_eff]: [0.9915, -7.1043, 3.0974, 1.033, -0.1001, 0.1441, -0.0073, -0.1709, -3.2889, 6.2974, 1.4481, 0.0269, -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]: [-0.3679, 1.924, 0.6456, 0.6312, -0.3523, -0.271, 0.9951, 0.0944, 1.1557, 1.2121, -1.0798, 0.1787, -0.2104, 0.9953]\nstate[eef_state]: left_x=0.4223 left_y=-0.0936 left_z=0.0003 left_yaw=0.0567 left_pitch=-0.0232 left_roll=0.0045 left_gripper=0.9951 right_x=0.2831 right_y=-0.0011 right_z=0.2192 right_yaw=0.0515 right_pitch=-0.4539 right_roll=-0.2923 right_gripper=0.9953\nstate[joint_eff]: [0.2667, -10.1949, 3.7128, 1.8437, 0.0317, 0.1441, -0.0855, -0.1026, -3.7812, 6.9265, 1.453, 0.0415, -0.0464, -0.0073]\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]: [-0.1932, 1.9224, 0.6395, 0.6563, -0.2459, -0.1932, 0.9963, 0.0944, 1.1557, 1.2114, -1.0843, 0.1787, -0.2104, 0.9954]\nstate[eef_state]: left_x=0.4346 left_y=-0.0376 left_z=0.0006 left_yaw=0.1016 left_pitch=-0.0266 left_roll=0.0021 left_gripper=0.9963 right_x=0.282 right_y=-0.0012 right_z=0.2183 right_yaw=0.0514 right_pitch=-0.4593 right_roll=-0.2925 right_gripper=0.9954\nstate[joint_eff]: [0.3214, -7.6103, 4.4513, 2.083, 0.1734, 0.2125, 0.1148, -0.1846, -3.2205, 6.5026, 1.2821, 0.0269, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afb08df0ae2875717be3f416b7f51247a1e4aaf715c9f84bc25a4245a30fa939",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45473ade05f061bf55f77765e1982ec891f2998b188cac36395ed04d387e2562",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:290a7465daaf1fea1f289a407f2f3097a13925fe0882eae57e48ba8c459d4182",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGQZnLiHYVafEDVIPgtthX3_f4oQhAl3Ubt7qG_cRsXrRLgt5PWGXITqv1R8ZXdOzdL0F5j2AsbzfgjQvomCzlSgz8y3ruvfvFHrl7zYOSZz-0uFGV4Yb5HgPZdFSQxRsZf0M4-wDpii7nOzjNttQ1vB6jCFoIo3nMj1nUWvelaV5J6c6K3rZN0tvM70nYMtjXYS7p3rpGo7sfRg2PG4b3f14aP1uBtyJEMuziZHlsYwf4cgO0bWiunT7HsfzEIinIk-YZCwo1b4E3Kr5FbfBZFKi0uR2T00Vpm6iVqXFdlbhePjisX3hPHaJuG_FjylobfhJIWz2b9YF54b8LHFkVJpeZhLnI4A0gagikaZihZb5gcuXm-zYNQ1otwZJKMXNcymDiJDXR3MtdEibgm8fEgMjtBDlb0uIoSY5jWX6Rx_wcGO-b1fzByQzo3WSg1uuz1KPyk3NW4P3jTX0zXm9_t1CzJX6ugaCvdSDDUJs7HzuhZyXZ_1DJAOMe7S3uvxGF-INchUtz0JUa_ufKpMcEJElH0KVxjEff04dJIw7ZPIQwhLplb-HR7ol0KlCxxLRZxt8TmqGkv4zkflSUXpCv4N5iRUJWBQUvXe5dkPFOrpnr3P46G0gw7HGaiJinK0L6CpKdIUNPjOe4Ybb46usd0V4c6xYAxB9nevXkR0t4YnjvHe9kHmG9Xx0EQcPZQnU45Kz1uuwMw9tI4TTNlMnUueRDnWy6BkdhyixHDRgeYhFo1Nm6HN5OwT1Wg9lQcnN6FEX-5_9lJbSdhuQeCdDrohMEamtvYCXSIr0MzLXNCkegNMmSqzY3Ac5hcSakMzCx7i6fZrzpiWqO5WlQI66qtOfg2rvEhY0xHKgfQ1efcxzLh2fEq7ucjdmd-qlSbwT7PkChWO4qB3kclhx6mMTgARhIdBNT0Z327P7m8Amp_z9KxuUXHXpX85z6OVJpIfPBKmdID3RoL0UdCSASL6c96J-tpZPD1s4Q3UBTnfH0-f7ATEk9mFaR3VDFX5drifQnhqkpSd1VCyrZPu73oyefmBPPYGHtUfFGFFM7_tgWFHSHisb3Ig84fdWXwtC5imCwk4ClpDoqEpoyGqUSZJiGeI-QkWKw-6k1lVb7f6grS_rIWPWsrbC7zvKJWgvbd2BtYnHx3iGireuhylm_RYx7hM2H1AbecyVZtx-9JWKd_yD8WxiR4VmPqANIWft5GNuBJRb4ivtdV2Y8EtjLIoZtjpQ458hG-26bjbWWHemYj8ZjUrvHfSzLvg0hTKtpf0i5z-clPAHBVBVZM0P2X23uKYR3NsmTt7ZfDjGg5J9oNkm5Z6ArPBN6M0CDVlGrYs3ueJUVi-swFZhCaUqlKMRrm6YSXAEKqdpS6OnN0v8DYGxVNywOVfCueQcak-e0XYuAwFT_Wku0wcTRI_hVUEmdvBYsipBX7fvJ-fQB8YkAJL25tLE8fi811elPjYCR0e4w08ucwja7p1-3buNE6vz7EFBJhFOue1HKpPm-yCgoqjR_KkSOVr_VINTvm_X34rSZhsrV2sOd7c51mBZEfW_PBHr4h3NVmEzoMltwpAA2JdSL64VN6JmVBQ4j5GuMH-EKVo_rss6m9g-5s2Lhr2jS6XEw==",
  "id": "rs_01ee134939f6a3ab016ab46416bc4487d0a0418d8af42389dc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":0.035,\"left_z\":0.09,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The outer finger is nudging the pale object sideways instead of surrounding it. I will lift clear and reposition above it before descending again.\"}",
  "call_id": "call_8WX4aj1YVcNZGOIzJ95oUvm4",
  "id": "fc_01ee134939f6a3ab016ab464182cb487d0b0d581cf7c93cab8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8WX4aj1YVcNZGOIzJ95oUvm4",
  "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]: [-0.1761, 1.9297, 0.6346, 0.6807, -0.2123, -0.1684, 0.9965, 0.0944, 1.1614, 1.2057, -1.1061, 0.1787, -0.2104, 0.9953]\nstate[eef_state]: left_x=0.4361 left_y=-0.0361 left_z=-0.0 left_yaw=0.0773 left_pitch=-0.0202 left_roll=0.0005 left_gripper=0.9965 right_x=0.2772 right_y=-0.0017 right_z=0.2121 right_yaw=0.0506 right_pitch=-0.4924 right_roll=-0.2941 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -8.335, 4.6427, 1.8388, 0.0024, 0.0757, 0.0073, -0.1436, -3.7128, 6.694, 1.4286, 0.0659, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a395936e24ae66d1b21d789ffe0dd3ca9bd6ded16f2fac23538115e10a3896bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88a784335972c76f93c6565731e025a65b31e122e90000fc69bc0242b5896a92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30b4ab109045a2a7704bd430a697a4f938111e277db7decc00a4a24863c0766c",
      "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 71 changed as sent

message 79 changed as sent

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5968, 1.932, 0.7044, 0.5488, -0.5117, -0.3969, 0.01, 0.0944, 1.1492, 1.2171, -1.0584, 0.1787, -0.2104, 0.9953]\nstate[eef_state]: left_x=0.4036 left_y=-0.1653 left_z=0.0079 left_yaw=0.0237 left_pitch=-0.0009 left_roll=0.0007 left_gripper=0.01 right_x=0.2874 right_y=-0.0007 right_z=0.2255 right_yaw=0.0521 right_pitch=-0.4212 right_roll=-0.2907 right_gripper=0.9953\nstate[joint_eff]: [0.0752, -7.2684, 4.4513, 1.7998, -0.1197, 0.0415, 0.8083, -0.1026, -3.2068, 6.3795, 1.4725, 0.0317, -0.0757, -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]: [-0.1932, 1.9224, 0.6395, 0.6563, -0.2459, -0.1932, 0.9963, 0.0944, 1.1557, 1.2114, -1.0843, 0.1787, -0.2104, 0.9954]\nstate[eef_state]: left_x=0.4346 left_y=-0.0376 left_z=0.0006 left_yaw=0.1016 left_pitch=-0.0266 left_roll=0.0021 left_gripper=0.9963 right_x=0.282 right_y=-0.0012 right_z=0.2183 right_yaw=0.0514 right_pitch=-0.4593 right_roll=-0.2925 right_gripper=0.9954\nstate[joint_eff]: [0.3214, -7.6103, 4.4513, 2.083, 0.1734, 0.2125, 0.1148, -0.1846, -3.2205, 6.5026, 1.2821, 0.0269, -0.0269, -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]: [-0.1761, 1.9297, 0.6346, 0.6807, -0.2123, -0.1684, 0.9965, 0.0944, 1.1614, 1.2057, -1.1061, 0.1787, -0.2104, 0.9953]\nstate[eef_state]: left_x=0.4361 left_y=-0.0361 left_z=-0.0 left_yaw=0.0773 left_pitch=-0.0202 left_roll=0.0005 left_gripper=0.9965 right_x=0.2772 right_y=-0.0017 right_z=0.2121 right_yaw=0.0506 right_pitch=-0.4924 right_roll=-0.2941 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -8.335, 4.6427, 1.8388, 0.0024, 0.0757, 0.0073, -0.1436, -3.7128, 6.694, 1.4286, 0.0659, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a395936e24ae66d1b21d789ffe0dd3ca9bd6ded16f2fac23538115e10a3896bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88a784335972c76f93c6565731e025a65b31e122e90000fc69bc0242b5896a92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30b4ab109045a2a7704bd430a697a4f938111e277db7decc00a4a24863c0766c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGQdQi4-q5iAVLJQq6XQ2NamwfVxy-MjUas_t74toILWRscGK8Yg9plG-3NWqjdTsNaRrs5HetDemyYcSSn_SAAVLCAj74JhWyYI__CTvrGA-JePx_Ctzij9MKHSwShoYIb_mfPJhWQtKv0jHC2d5a33Aw-r23wtP-dfqeQ8ev87-Rsb1dLkgtGbJsSGDvaYY03f3RPjtHH_lQeDnxURU3_5bH3gwOgRKM2YTpVB0FFvNietQUU7OCsRLS9rGP0ro8ksxG99gbMxw_DGBumM48pIh6PLLMHYfk_H-69NkLr6uGN8emLOMZGjBbY_rr36SuiwUt626tAKQXER7emyKLfbHUZovM4g_RbHuWwZK0mUruAxRCcu3dVWoSeI3Bjx-1kNkHTv-xFkxM3EU4Ay8EYQadlYTkdHU5PN4jLwUTmMpugI7KJN-iBn4MXdFR2b6V9CblS-Cf0nO1ZZXtg53L1tSFaFLu6I7QLciwreYW0-Hrq6NRggoeQBCvwPMdwr5K1MlxqvJ6vxdyp-xhwVtJJLi28JO5eng7ivEFZCJPJVhXbwIQByzFbobLXroVugsopGIiIfwV-a8FRzKItM2N7bNmUUfg10YFC39TdJGo3A75VKQ5HrLYDy1B8iit482TCj72d37diUiLzkcKtm0lVDfHql5mR3ipI60J9xkrMljCsUjBnfhH29rqMZ2TCaYLucSLrxdbZO52m9__iPxmiuuCtQQl5ANM526z9j0jO4IVHs8cuyysl3HsV3Flr6g1eaNt4e5OizYTLNuJtD--unwxoMtNYAvGhVP6wOvPmkRqv6vmCe31-lbUGoYQRE0GmXupVp3XHXGVibpL1dqnYa5tVM8fzS42XIMYLSjQj9TPUeNAR-Z4p6mGnzOdQ4yy-IAlIJT54aPhpY3EweGxWCiwziVeYBFTIIgTuZ5MxEI_R88neEpfFkObEFPThCHDVovZg3bfbyy41grA0EI4R0dRmVdtSutMyCcnhgiytTNNgYt77RJsaDbu5P6w4nO212rMCflcyfamB95lHvcA3uLZf7Wl6j2lzf60gBB38wogzNRs-BLYZo4PGUdDaKs68pI9SG-tezlNhYVRQNJJTI8d7MaMbworrJMFUbPaJLAUrqtreJgROOYFvlhrFp0SLhIA5jHvwMRkSPkKcL4rE61J7nTkOS-PlIBaaWhxyVq8xYbx9B2VmlZToaVf-VpNj3l7ut4_p6Upu1LvyTTqH0c6VenjLkNIj88n64mPpSUyc6e3_C8lG9WYe3gnCDqxhuD1XE7T2ryJhwgdF1dc1CjvRWfpCBeKsc6nA9XSM8Zy1ox7lUDg-5YRkN6qhoZ1wCJsi2h701BLP9F4p9nWgTmG8DHxdBN1cwMY7SsfVU25-VVYCshyoLj9-Yct8_wM86Dya90sI2_1KA_5XcqtfYSiEUv-JSe7qz2psHoBiMq4XypL91lFCrMyQt9G2bwKF1",
  "id": "rs_01ee134939f6a3ab016ab4641b26c087d0bf0cdbd6a9f56a5b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.035,\"left_z\":0.16,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The last command did not lift or shift the arm, so I will not repeat it. I will first retract and raise the gripper to clear the awkward table-level pose.\"}",
  "call_id": "call_5W8srkNhs6zcuadn0wsmL1G8",
  "id": "fc_01ee134939f6a3ab016ab4641c3b7c87d0802bdf51f123fe18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5W8srkNhs6zcuadn0wsmL1G8",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "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]: [-0.2291, 1.1992, 0.6437, -0.049, -0.2516, -0.1963, 0.9969, 0.0944, 1.1652, 1.2037, -1.132, 0.1787, -0.2104, 0.9953]\nstate[eef_state]: left_x=0.3638 left_y=-0.036 left_z=0.1429 left_yaw=0.072 left_pitch=-0.0045 left_roll=-0.0037 left_gripper=0.9969 right_x=0.2718 right_y=-0.0022 right_z=0.2075 right_yaw=0.0499 right_pitch=-0.5241 right_roll=-0.2957 right_gripper=0.9953\nstate[joint_eff]: [-0.7453, -5.2308, 9.7846, 1.9512, -0.2222, -0.0366, 0.0366, -0.0752, -3.5487, 6.3385, 1.3797, 0.0562, -0.0611, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5758d06969dd8df09c9e5d022fe9c32eda5e44b2fca4850296c18c4c0753942b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5aeab793f45480fd2ad2889bb21dc0c6edd0a71b566c32a6cdccc6c3ce3b162",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5ca063a67014a21195795e9979e966889364db34094dff0501a7d32c6583848",
      "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 75 changed as sent

message 83 changed as sent

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3679, 1.924, 0.6456, 0.6312, -0.3523, -0.271, 0.9951, 0.0944, 1.1557, 1.2121, -1.0798, 0.1787, -0.2104, 0.9953]\nstate[eef_state]: left_x=0.4223 left_y=-0.0936 left_z=0.0003 left_yaw=0.0567 left_pitch=-0.0232 left_roll=0.0045 left_gripper=0.9951 right_x=0.2831 right_y=-0.0011 right_z=0.2192 right_yaw=0.0515 right_pitch=-0.4539 right_roll=-0.2923 right_gripper=0.9953\nstate[joint_eff]: [0.2667, -10.1949, 3.7128, 1.8437, 0.0317, 0.1441, -0.0855, -0.1026, -3.7812, 6.9265, 1.453, 0.0415, -0.0464, -0.0073]\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]: [-0.1761, 1.9297, 0.6346, 0.6807, -0.2123, -0.1684, 0.9965, 0.0944, 1.1614, 1.2057, -1.1061, 0.1787, -0.2104, 0.9953]\nstate[eef_state]: left_x=0.4361 left_y=-0.0361 left_z=-0.0 left_yaw=0.0773 left_pitch=-0.0202 left_roll=0.0005 left_gripper=0.9965 right_x=0.2772 right_y=-0.0017 right_z=0.2121 right_yaw=0.0506 right_pitch=-0.4924 right_roll=-0.2941 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -8.335, 4.6427, 1.8388, 0.0024, 0.0757, 0.0073, -0.1436, -3.7128, 6.694, 1.4286, 0.0659, -0.0464, -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]: [-0.2291, 1.1992, 0.6437, -0.049, -0.2516, -0.1963, 0.9969, 0.0944, 1.1652, 1.2037, -1.132, 0.1787, -0.2104, 0.9953]\nstate[eef_state]: left_x=0.3638 left_y=-0.036 left_z=0.1429 left_yaw=0.072 left_pitch=-0.0045 left_roll=-0.0037 left_gripper=0.9969 right_x=0.2718 right_y=-0.0022 right_z=0.2075 right_yaw=0.0499 right_pitch=-0.5241 right_roll=-0.2957 right_gripper=0.9953\nstate[joint_eff]: [-0.7453, -5.2308, 9.7846, 1.9512, -0.2222, -0.0366, 0.0366, -0.0752, -3.5487, 6.3385, 1.3797, 0.0562, -0.0611, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5758d06969dd8df09c9e5d022fe9c32eda5e44b2fca4850296c18c4c0753942b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5aeab793f45480fd2ad2889bb21dc0c6edd0a71b566c32a6cdccc6c3ce3b162",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5ca063a67014a21195795e9979e966889364db34094dff0501a7d32c6583848",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGQk_FGNndWplj6tvimf8Ausk4cudF5Mz1QXe5OcBmBAFZFfaFhGr5tF_qHOxKUOCYgdWgpSWrrg5fjVGv1gb-lAjGHjuJj9fH1L7W0AH7Q13nqbSogFjnAW7jrT_3tpjDInQ90soRX7GnS9cYtdbheBqKFszrAhoJt0HvGQvnAh77EVg3I0-5YsjqQAmjwtu5rVxszkQO4EFqqojQvYrEEvjG6YFze_TtK0nBbE89beyj-we4CGtFkJV7cZdyWruFEACgdriSs65BDUyTdNdYvYpvkvUX5qGPunlRVmRF2GXlCyK6TajqrSGrs6eCZtVScPIag0eHo-jUYL1yWfey8MUbLZ0KPBHTmoMGeaHArGG_oDVDT904zGSYDx7IsExSCeMdodakgAIBKNeDclZJGggawhMtC89nS2j_WA4ph9gHh0nkS61g-LMJ51OQ8f3TYWAeSguW47WD8XCl2ZUO2pAoTob4JVqV9aFRBA6ZQ80g8qZ881r_73rCPj9og16SW7G0ytH7SUmBODYE-7ZNIN4U1lgVR3zwrvvVnrrft_t5WJzQjs6uCGQp0-CYYuGptIEjjt8AUOZoV13ITXW33pUXMXTTFpSuegeE5o_uc4BON4Zf-AE07-Ezg-7sLzb1MfljUyT28-gakFa_2FKn9EYvUr4tmPLbLlNnbFcsf7EaQD_9zUBfEvAt3RjBaAG8KimhHjSUGvkc9_Omy9CvNwmdNMz6KCqAbdJBQP3IsFrHWsHY1DWhfrsVqMClSlj0GEYWivGOIQ2m3YrENylmpK1IjM_L2_TntWTt5zp_YAGFjSGG_VNbAJL_7kc4g4ZF8L0RoAt4NVRu9yiHaksxN82Eo2ocKg-qSNg-Vl4LCpFVQQAlZxXnPzmYDjco0AOAmcTYy4vEJ5OUHCwhzQiSLEMYRj5WEfN6rF-46B8TbJ-mNrmGBBmdI8EXWAK47rtkVVNb4kOVcpNRpjtBIeATt6mpPu0XcePxwnehbqoiyIZmSZde4U6NtxFESmp98Xcp72ycXRfyASDaxeVxN1jCbrAoUHubS5PcXhGnq4KAsoiHtv2Fl94VaVJ57SMEQ3rfJ7KnqAMz0E3sJGjMm6zn1xRlwibKVApRazv4_jZWRvgxFq0IryjgzbqZvSLQCV9K9n_HuSo0vMTat9Q9Sb3GbpWg_kEVvLlnkQNJp-DYY2EOQsYrOW92tY-N1XL6h_T7pByeMYg1DiPpyVzuN8dWB1nhHve9biEfHxO48O7U1rBmAt7fnF_2TtLBbCl1ie4emDMhqYWNSa_6kotbDVVVf9hCkKfTXJu3M7mNwmzwVuN292C-lVW4DeWeDw95DNjZee-5BX2dn9rxz8tlKRt2KH5fGeyV3w-AOgR7xHWA_OUB_W86T-DI51FrZviEiqucvsVYqhJTKOdWJ_vL6dRpSiBfpBQqeSwvN9jwYRbubxy5oNrlVva-x-h9mgeIZ8K7CNfnV_00AhXvaiIkwLnj2EcbR3wkd-8DqmzULEzdcbYJQ-ixTR1NRfMg2kc5sBVAhzdfr3mhTssx4GwYCpRchn21CBrOT_sVqW_fLf-PmeeFhvibi7RVkYpKmnNKhP8Us8cms-xWhPYVr7GckhONI0YbvIFldS545TVLJ6r60ztOP-x2YkapEY9PbVAx9SqYjjqcGNToiq05_gBtK_b-JKLMOvZz-6ixIs_NHnnrGvPj3pqy1zUVWPoLsH9A0R_e-57NRg2xfU6zhVw3qf3DO2xLAZbx02pN1ihq7KIjQfq9TkNWncgvy6xLrbY5frVCsg3jqtvn6khYm3XxtngbJaPcf_50bd23dMPreuOLvKbRQ6Zz6nI126VOxI9yCjB-PrN5ky35q4uGxu2HUHwVH96_ff_oIKCF3htYvgKnR2CtjzdZz3DpvkLvK8H8JeUMgZ",
  "id": "rs_01ee134939f6a3ab016ab4641ffb9087d080d6334630b1a7fb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":0.015,\"left_z\":0.035,\"left_pitch\":0,\"left_roll\":0},\"note\":\"With the gripper raised, the pale cat-shaped toy is clearly visible ahead and to the left. I will approach its middle from above, rather than slide the fingers along the table.\"}",
  "call_id": "call_8NWlaG9KgSmcnyAUCZEua7io",
  "id": "fc_01ee134939f6a3ab016ab46422df4c87d0ae0919d598483121",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8NWlaG9KgSmcnyAUCZEua7io",
  "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]: [-0.0071, 1.7569, 0.6174, 0.4641, -0.1188, -0.0891, 0.9971, 0.0944, 1.1706, 1.2037, -1.1515, 0.1787, -0.2104, 0.9954]\nstate[eef_state]: left_x=0.4176 left_y=0.0216 left_z=0.0206 left_yaw=0.1257 left_pitch=-0.0916 left_roll=0.021 left_gripper=0.9971 right_x=0.268 right_y=-0.0026 right_z=0.204 right_yaw=0.0492 right_pitch=-0.5488 right_roll=-0.297 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -7.0496, 6.3932, 1.6581, 0.3932, 0.105, -0.0024, -0.1162, -3.6718, 6.2701, 1.243, 0.0952, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee23424a7381a03bb5597e6e4391ca965896e45618ccd9f1283f604bd7046247",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6e5406c04b0bae11a7d76d5b1919eea2ecfdf37022db6520d26c29cea6876f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef16a59846199d7a3d5098516ee255488ba3d026a0c810a1556668c0325654f5",
      "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 79 changed as sent

message 87 changed as sent

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1932, 1.9224, 0.6395, 0.6563, -0.2459, -0.1932, 0.9963, 0.0944, 1.1557, 1.2114, -1.0843, 0.1787, -0.2104, 0.9954]\nstate[eef_state]: left_x=0.4346 left_y=-0.0376 left_z=0.0006 left_yaw=0.1016 left_pitch=-0.0266 left_roll=0.0021 left_gripper=0.9963 right_x=0.282 right_y=-0.0012 right_z=0.2183 right_yaw=0.0514 right_pitch=-0.4593 right_roll=-0.2925 right_gripper=0.9954\nstate[joint_eff]: [0.3214, -7.6103, 4.4513, 2.083, 0.1734, 0.2125, 0.1148, -0.1846, -3.2205, 6.5026, 1.2821, 0.0269, -0.0269, -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]: [-0.2291, 1.1992, 0.6437, -0.049, -0.2516, -0.1963, 0.9969, 0.0944, 1.1652, 1.2037, -1.132, 0.1787, -0.2104, 0.9953]\nstate[eef_state]: left_x=0.3638 left_y=-0.036 left_z=0.1429 left_yaw=0.072 left_pitch=-0.0045 left_roll=-0.0037 left_gripper=0.9969 right_x=0.2718 right_y=-0.0022 right_z=0.2075 right_yaw=0.0499 right_pitch=-0.5241 right_roll=-0.2957 right_gripper=0.9953\nstate[joint_eff]: [-0.7453, -5.2308, 9.7846, 1.9512, -0.2222, -0.0366, 0.0366, -0.0752, -3.5487, 6.3385, 1.3797, 0.0562, -0.0611, -0.0073]\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]: [-0.0071, 1.7569, 0.6174, 0.4641, -0.1188, -0.0891, 0.9971, 0.0944, 1.1706, 1.2037, -1.1515, 0.1787, -0.2104, 0.9954]\nstate[eef_state]: left_x=0.4176 left_y=0.0216 left_z=0.0206 left_yaw=0.1257 left_pitch=-0.0916 left_roll=0.021 left_gripper=0.9971 right_x=0.268 right_y=-0.0026 right_z=0.204 right_yaw=0.0492 right_pitch=-0.5488 right_roll=-0.297 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -7.0496, 6.3932, 1.6581, 0.3932, 0.105, -0.0024, -0.1162, -3.6718, 6.2701, 1.243, 0.0952, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee23424a7381a03bb5597e6e4391ca965896e45618ccd9f1283f604bd7046247",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6e5406c04b0bae11a7d76d5b1919eea2ecfdf37022db6520d26c29cea6876f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef16a59846199d7a3d5098516ee255488ba3d026a0c810a1556668c0325654f5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGQpcANoKlwvQJXdwOh2iIVWQwIxOQvk2ZkCfw6YIfgTy0x9i-w-f64k54_lC2AYIr1vYnSWxjY0PZU9nurnbVxqe5EnrSf2TgLf4-duda9Zvg0bUHpKbypId8zBCflvg2yK2SfQbvxWeGGNcKtUe3J5u9PXUiZwCxr7HveOe7YU_VBsoMc5bOoGmdVFS6QzeM-CH_714R5GjsHaddQzXqlw5y1ynOlTvuFGBaHJjDMh1idzmVt5PKy7Jd07ZML2FwQsghz1XWGWkrCMcWfN94CCdSmKiSBrsowspjCvnS70TlFw-jfh7lF0UTXDkHVlCNBsi6dXa__sbfW420Z_rtd6jiWHcnMG1ftOESLMDdUSpwxsFiy1HlKmsberkWV0ioT8hAYA0xV25CGSuLum8PxFiR3qSyFkMXf55UIboTm64dchW3PvnnA3ZXN1oyIc8_CBnSDirUveLaJAiE8NfyUs-ROxyExy0IE_-IwtlTZh8PNiXtBHYRg__BGdmaw5bB3551dkmXJgBcNJq3WqmWimAHkBD3PIUMxeCGLKE-YYsgs6RHXobu5mQ-Tsar_AGTK3S23ZAvu2q4D08J6v1YxS_kwclUWCoYjzptL57qRJ6ErW3lpBcpbpNePsiG_cuthMlRb7hEsgPGJdpLeWLzEVvgJcVHRw6qI6-XfNbSuAzcEmx3EOY5aPu1Zv8OmX_6Qhwv1Bq8y6xFT4DR8BXbFHfbIJkEcybYfGL6J3RAuGWhULIvj5owGdhG0pgF515e9eVLDLKq_dAnbgYRTbSc3XNwzEfr8F-Swb0cvHbkBwRYqdA3LF1V8q_0rIq8-ho7_EjnuRFiX20R0Q9yUfPVUXh4pCbnj-1cSrF_79SGQvSmOMSmzwJQSvPPmG_cg6wUbK9HfR8HdsHOOJSsJKeghVMbSaxk_v5KhzD04hJKa8lI1XpnholSl43h4RgI3kBoqPDeOZj6tzqeCB6HqeDlVaeL36xBeHpGBqmSDb1VKucB1H3ZUuzLXVp_R53S3jbCwZt5UUyFf5izyaVa1NXAvHN355nSE1fYa7jT1vPBV104Z_ZlIq6SmDvSay0Tc1TqbCMQPMLMU8xl3ucbDL-FFqGSQdQt93iKx9yehJBaA9DP2VulWhXh0yTjhztOEeHUZwkEq3Y6tpWtWGaVa0S0m3nlO_FknSxM1h475XDcA8xX0uU97Mj4rw61ne8o5mr0VQMVZnsfmkXWrRe7LxobJemm-K6iEQAaTKiRuE0VS-2yMJghQ0l9Nw7Vt3m4ylpf6pWT7NHOodo4ZWzLW9280UspDDpdmZKFtImf2bPlVsHBWZHIn15IaxfIH1w3O_XlBlKohMVPB5fpwCcymg6r7FroMzF5EcZ3anERVadOFoUnCWaxoOgOVWowB5L9LC74CE4iXI1I2ygy3_qHpe-E_S3E7CDO3leKsITY4e2uVFnQQa6OdyC-fWJAVVG2VNxZO2t50MjgJrV1d2UpZFqfMe-0O3l2RadSYIvecz4mCptL9nRRyxR4c2MAx11JuOzY1TiuYkPLLsxxoZRHs9r8YT7K7xNMVNTaNybxybH7P-UyaXDQ0s5BnMWHgjKoiCug_xTQX4X8wytTno6G5y8srJ7vDeAGls9GwC6czcppglUeGanREM8Vi7zo97IpQUI3tqSm0b09qhVZBwfIcj6e6qhg==",
  "id": "rs_01ee134939f6a3ab016ab4642644c887d0905f46efee28f5de",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":0.035,\"left_z\":0.005,\"left_gripper\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The pale toy's body now lies between the open fingers. I will advance slightly and close around its middle.\"}",
  "call_id": "call_hVdBElJ2AMijayJ3DCbXCSBO",
  "id": "fc_01ee134939f6a3ab016ab46427f1d887d0b2f8e41337158dca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hVdBElJ2AMijayJ3DCbXCSBO",
  "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]: [0.0303, 1.9236, 0.6754, 0.7074, -0.1043, -0.0856, 0.2051, 0.0944, 1.1709, 1.2037, -1.1706, 0.1787, -0.2104, 0.9954]\nstate[eef_state]: left_x=0.4558 left_y=0.0358 left_z=0.0201 left_yaw=0.1486 left_pitch=0.0409 left_roll=-0.0012 left_gripper=0.2051 right_x=0.2639 right_y=-0.003 right_z=0.2019 right_yaw=0.0486 right_pitch=-0.5683 right_roll=-0.2981 right_gripper=0.9954\nstate[joint_eff]: [0.8, -5.7368, 5.8462, 1.3602, 0.2271, 0.1148, 0.8132, -0.0479, -3.1932, 6.4068, 1.2039, 0.0757, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ff00df0a4f1d3524ec7c5f385c0a4c11b58081e45e7ebbe85bf2b3ef1c770f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c3a4210a2d0e6b96fbbd2ade794348c4f900ec166676232898e18cd36bae01e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d997780737d7cad291e2aaec53b61a85dff8456e40ef10af876a0666fe61b1b1",
      "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 83 changed as sent

message 91 changed as sent

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1761, 1.9297, 0.6346, 0.6807, -0.2123, -0.1684, 0.9965, 0.0944, 1.1614, 1.2057, -1.1061, 0.1787, -0.2104, 0.9953]\nstate[eef_state]: left_x=0.4361 left_y=-0.0361 left_z=-0.0 left_yaw=0.0773 left_pitch=-0.0202 left_roll=0.0005 left_gripper=0.9965 right_x=0.2772 right_y=-0.0017 right_z=0.2121 right_yaw=0.0506 right_pitch=-0.4924 right_roll=-0.2941 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -8.335, 4.6427, 1.8388, 0.0024, 0.0757, 0.0073, -0.1436, -3.7128, 6.694, 1.4286, 0.0659, -0.0464, -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]: [-0.0071, 1.7569, 0.6174, 0.4641, -0.1188, -0.0891, 0.9971, 0.0944, 1.1706, 1.2037, -1.1515, 0.1787, -0.2104, 0.9954]\nstate[eef_state]: left_x=0.4176 left_y=0.0216 left_z=0.0206 left_yaw=0.1257 left_pitch=-0.0916 left_roll=0.021 left_gripper=0.9971 right_x=0.268 right_y=-0.0026 right_z=0.204 right_yaw=0.0492 right_pitch=-0.5488 right_roll=-0.297 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -7.0496, 6.3932, 1.6581, 0.3932, 0.105, -0.0024, -0.1162, -3.6718, 6.2701, 1.243, 0.0952, -0.0464, -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]: [0.0303, 1.9236, 0.6754, 0.7074, -0.1043, -0.0856, 0.2051, 0.0944, 1.1709, 1.2037, -1.1706, 0.1787, -0.2104, 0.9954]\nstate[eef_state]: left_x=0.4558 left_y=0.0358 left_z=0.0201 left_yaw=0.1486 left_pitch=0.0409 left_roll=-0.0012 left_gripper=0.2051 right_x=0.2639 right_y=-0.003 right_z=0.2019 right_yaw=0.0486 right_pitch=-0.5683 right_roll=-0.2981 right_gripper=0.9954\nstate[joint_eff]: [0.8, -5.7368, 5.8462, 1.3602, 0.2271, 0.1148, 0.8132, -0.0479, -3.1932, 6.4068, 1.2039, 0.0757, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ff00df0a4f1d3524ec7c5f385c0a4c11b58081e45e7ebbe85bf2b3ef1c770f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c3a4210a2d0e6b96fbbd2ade794348c4f900ec166676232898e18cd36bae01e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d997780737d7cad291e2aaec53b61a85dff8456e40ef10af876a0666fe61b1b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGQs8oCFZhsbi8aSvUa0kqZQUZ3noAXC31uUaFFR500aG89Hy9FfXtjcseQvyLxYnfYpsREbimKPVioD8otFHFyW9kjQEeMeONOhbQKEk4T2uEhT0JYpjIxzZSI2RRzvH2monC6r82bo5g0zuYuS8H6NB5saqhsjSKunxvWfqWqtp7QYgbzdFd32QtNN-OZ7xTgPpK7oYKpRDrG4NWcINi-B41kpQo9QzLABSN0pg5dZ7BraK-guaLlCGSnI7ticS3HFg6jWnpBtYa-sxeaFvI5dHwN8pvEVrO1FA3FZ6slwJrCZ5Tf7CMWv99MvzpGJNzb8cfVksjKPm9_DuiqT8bY0lUjpJpggw0xx4474GGtisdnKK5JfvYM0AWw2i5kg1dvKHe1_bkl4kmL-mNUTwyA_IEN4sTbn-4Mhl_wDMJHW1iY1p9Z4Eqg2Yv0zJdpg33W1fdvO2iFmWIoHOZ-1p5ezTQnpdaJGlsmC8FpMtd1gcnLx-rg_OV0lc1rX4wRfkqph8FSn_2eTaufG1AhJfmccnZprJWSL-Ba7RX2RD4N5dUgcn1PoJrL6efaMpkE_lcR17IHU3oN6AKPHeXu0WoMCz0d0jTcbs6STEd9taoR49_yyXBjqdWJMNRT5XKXrysk7R_cWfN0LnADajHPdpBTLWtZ9aFav2PjTfQcY7tNEy6wzCiOaWi91cX0wKKRqyyX4wl1Au1yBOLSmSl2sgAwoRQ-BPJxArlO5rbaTXizM68oD-eSVTDsvzHCd1GaaiGPN4dJPeZpTnWW1Voj9bChd7llqqJoW-7zv5LfURBiuR8BKJrs09Gq8txphxUYlxIJR6TlcpMMuX7Dr2S_GS6MQ0cHn8faLYrKPifIT-B0jjC3J2BDAopL6W2bqPpXIHLuFDlPzCt03DX1X9KV3LfmBiGhQDTFKAvnyVfvvcv9Ru7Sdm1x1FmuNmc72lt5G2vobC1BxZ8zvr8Foa9i18Ckypc8ha_5CqrDD2eKwLJ2gu1cd8Xf1-UYmI7kYknZ2t0zyRp7eN-n7Y0lTU6kmWVBe076yTYzYNzKr7HJOuHE34f3EKuB4xW0S8SrXtZVZyUoWD-ENghX1CLsm7PYpmYQmNzFUn5cDsLbRRJQZP083xMHjnsCTR3NFqVfUACqmV8NfP3wO3xYxo0uufIMTJ_pel8eQyhx6mv9hlUAeUFb6vTmynf6I-GGjnssPKOzsjVGkBptN_O_3TCRG0pkv1L42r6JgEsMjpM_XoCjUJbS6Rikrz2sI_qwOQKqQop2HHUhX",
  "id": "rs_01ee134939f6a3ab016ab4642b519087d0943ee0abc33c8e73",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.19,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The left jaws retain about a two-centimetre gap, indicating a grasp on the pale toy. I will lift it clear and restore the parked right arm's upright pose.\"}",
  "call_id": "call_WlV5dUk0vpvb7zJ8u6xXH9WG",
  "id": "fc_01ee134939f6a3ab016ab4642b9f0487d092c01ff8f1eb4f68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WlV5dUk0vpvb7zJ8u6xXH9WG",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "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]: [0.0334, 1.5532, 1.0225, -0.1261, -0.1017, -0.0978, 0.2081, -0.07, 0.8524, 0.7116, -0.5442, -0.0807, -0.0917, 0.9953]\nstate[eef_state]: left_x=0.4509 left_y=0.0366 left_z=0.1538 left_yaw=0.1564 left_pitch=-0.0744 left_roll=0.0011 left_gripper=0.2081 right_x=0.2885 right_y=-0.0024 right_z=0.1802 right_yaw=0.0452 right_pitch=-0.1002 right_roll=-0.0211 right_gripper=0.9953\nstate[joint_eff]: [-0.3624, -10.4684, 9.935, 1.8681, -0.0708, 0.0513, 0.3101, -0.4308, -2.2085, 7.5692, 2.1758, -0.1197, 0.188, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcad2d66ec7290240a10e1fec691b0d357d2824c89a4c18077f092acd37ac9eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71d77509b959bc7863900aa70585242648f7b1981ce9fbdb3eab81107b09dd53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37fa74cdd5c9084b5f8233b754e923c82a171789b4753957b8d12a3c9838353f",
      "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 87 changed as sent

message 95 changed as sent

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2291, 1.1992, 0.6437, -0.049, -0.2516, -0.1963, 0.9969, 0.0944, 1.1652, 1.2037, -1.132, 0.1787, -0.2104, 0.9953]\nstate[eef_state]: left_x=0.3638 left_y=-0.036 left_z=0.1429 left_yaw=0.072 left_pitch=-0.0045 left_roll=-0.0037 left_gripper=0.9969 right_x=0.2718 right_y=-0.0022 right_z=0.2075 right_yaw=0.0499 right_pitch=-0.5241 right_roll=-0.2957 right_gripper=0.9953\nstate[joint_eff]: [-0.7453, -5.2308, 9.7846, 1.9512, -0.2222, -0.0366, 0.0366, -0.0752, -3.5487, 6.3385, 1.3797, 0.0562, -0.0611, -0.0073]\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]: [0.0303, 1.9236, 0.6754, 0.7074, -0.1043, -0.0856, 0.2051, 0.0944, 1.1709, 1.2037, -1.1706, 0.1787, -0.2104, 0.9954]\nstate[eef_state]: left_x=0.4558 left_y=0.0358 left_z=0.0201 left_yaw=0.1486 left_pitch=0.0409 left_roll=-0.0012 left_gripper=0.2051 right_x=0.2639 right_y=-0.003 right_z=0.2019 right_yaw=0.0486 right_pitch=-0.5683 right_roll=-0.2981 right_gripper=0.9954\nstate[joint_eff]: [0.8, -5.7368, 5.8462, 1.3602, 0.2271, 0.1148, 0.8132, -0.0479, -3.1932, 6.4068, 1.2039, 0.0757, -0.0269, -0.0171]\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]: [0.0334, 1.5532, 1.0225, -0.1261, -0.1017, -0.0978, 0.2081, -0.07, 0.8524, 0.7116, -0.5442, -0.0807, -0.0917, 0.9953]\nstate[eef_state]: left_x=0.4509 left_y=0.0366 left_z=0.1538 left_yaw=0.1564 left_pitch=-0.0744 left_roll=0.0011 left_gripper=0.2081 right_x=0.2885 right_y=-0.0024 right_z=0.1802 right_yaw=0.0452 right_pitch=-0.1002 right_roll=-0.0211 right_gripper=0.9953\nstate[joint_eff]: [-0.3624, -10.4684, 9.935, 1.8681, -0.0708, 0.0513, 0.3101, -0.4308, -2.2085, 7.5692, 2.1758, -0.1197, 0.188, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcad2d66ec7290240a10e1fec691b0d357d2824c89a4c18077f092acd37ac9eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71d77509b959bc7863900aa70585242648f7b1981ce9fbdb3eab81107b09dd53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37fa74cdd5c9084b5f8233b754e923c82a171789b4753957b8d12a3c9838353f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGQysZg-UV352mKYrZF9sne_NNrOuWFn3Z8rThR4OAD7qFsWwzPkDDIJYKo_V8i86P096HLKWSKN6PnVExXmb138S2sYYxKo7HjZmA2yf2EKn3ewbziLgUngIMty9VkY-lzZp0KkfuN-Ob4v2jotUld51tRwMzHQWzmO5z_gLR9mL2lQ8R4VioK0rgcghFGk5mrk55TlhWMSTUjJaGBKW3DrvNfezSTBNPAHINxIQuGb9fcHeTKSi3LcUZbd-2zoy-JeKVsDIESGuhFexnxCONzmxumpSrm2tjOu-QpL8mLaFxEatvtgM5QK8_C7FJ1Vj22ECLeRdf25kpfIpEE9mJiu1g2BjE-zD7VCEJ8ac_514k0dsXnSfAslXoMySoV2J1H5hgcymEZu0qP14o7V9l1arlKZO4Xagr0hFN_fe1-T-oBUl7Yj-NvJxX6mdwPOZ4H2lC3qOLHoMkDy74udvmtbuMHFcephVvzPpuaFszao9qiqhk7NH_NaWttbe6g6-hdwpTg-BK9MhwsGKrNhH25QviXeVzsNQq5J3tF35u3b3YzMakZWAn-RCKfREhCoxha_Iufd-NiZVSPk-aaW26jm7s0C59_UupFB3f9IzdBiP-GT16qPsf50QGtAKK8ZeGCBqm_mRk1ocgk_DQsaj08VapK4Efc9OH9JmrwkHYE9eVVKOf2LGZa-zY3s6A8p3hN3VB5DnhMkSL3oTtLlbS06uerG56mituGbtdaR4rhA6-qPx8Ces_smrU6Jfw27b_NI9s07QsIvr8SoGa4cEZ-MBURREASqXJ9doxHagh6jHVFgzu803NXyItwf74KNlwr3aVDc8bZNbu8KK097_pH92gKLo19VfYtkyFgLXYsqKQFgyIadrd65PmuhN2CEyMHW-Qs-YEswpSgSbZ8wrUJUVUdR94xPnvuWsHpCCXyxhIyqSxeTJMGFr1c5oOOFa9nb8YzWMrCS3UxHpJdKuedSoezAgBiLAtarjjsVUpGIkzzAB-aglc0WKCf3y_mJdHJXv7SdJt1jmyPR3dX3OzhqSkYXsM4tXAO2WsNfRKcOSa0q3e1jczh6Vtoky3axMzBxqHRPsSueWdOjG0mrdRFlN1UMp1lHLziTbxFyOZ2uJDsjH7G9mmuAZif0SVFH2W42TBUvEN9oPmXVQJ1McDpa8Rkgb5Nq03nDS_G_Y6r81AZzU4iJLDBnhP5qrnX1Y6z06Pza-TT302SqNzNnre6zzp1BzvFUPnxV1koLbnP3zTIwofVP8eFuAeMAAeTnDE4fojs9vnlZQHD-t3_hWl6FJyVhS8uJuy8EaqGWJYjm4yhfj-A_y0EwA87tOZ8hj-kOeSu6OYi0CA__xLR_SwyGmXCQlrQ0brpADxQHs5wdIlCFwnychBq-ldjMapyRL9Th7FrOtrj_W8OYJLYP-NZeycWFioDia_KkYC2NAMBfGrsg9muEyhAh7lUAQR9vvtSfbwM8RQkwYX0QJEvVd0goY2eopnroknmVnXkYxEZ1_shgXfcYZyCB5BLCur21sHuQe8EnAs93fSypxE_edBw0oFq-eBCv7ihScVqulXINRfOeoa1zAIkpHAasUzLFDjm-",
  "id": "rs_01ee134939f6a3ab016ab4643003c487d0b19b9db2af41f802",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.53,\"left_y\":-0.22,\"left_z\":0.22,\"left_pitch\":0.15},\"note\":\"The pale toy lifted with the gripper, and the brown toy is visible inside the safe. I will carry the pale toy over the open compartment.\"}",
  "call_id": "call_HJfyLDM7RvKvGfjCpUOI8r50",
  "id": "fc_01ee134939f6a3ab016ab46431930887d08079d4d988641fc2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HJfyLDM7RvKvGfjCpUOI8r50",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "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]: [-0.5819, 2.0048, 1.644, -0.255, -0.6403, -0.3992, 0.2116, -0.0723, 0.8547, 0.701, -0.5674, -0.0872, -0.0933, 0.9953]\nstate[eef_state]: left_x=0.5231 left_y=-0.2136 left_z=0.199 left_yaw=0.1414 left_pitch=0.0965 left_roll=0.0203 left_gripper=0.2116 right_x=0.2835 right_y=-0.0015 right_z=0.1706 right_yaw=0.0497 right_pitch=-0.1357 right_roll=-0.0137 right_gripper=0.9953\nstate[joint_eff]: [-0.4308, -11.0974, 10.2359, 1.7265, -0.3883, 0.0317, 0.359, -0.1573, -1.6889, 7.8017, 1.7998, 0.0317, -0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22f52a96e59164cc5cf963c3f2cefe6202384026417c98328f10166b077acaef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86dc8fc8e4cb48b5cb05da0e5b7b746f3f7875876942ddb00eec789866099ff2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:058d5b7b16320a1b39b860ad52978a0d27f4a52cc914819e3d472d7913c763f8",
      "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 91 changed as sent

message 99 changed as sent

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0071, 1.7569, 0.6174, 0.4641, -0.1188, -0.0891, 0.9971, 0.0944, 1.1706, 1.2037, -1.1515, 0.1787, -0.2104, 0.9954]\nstate[eef_state]: left_x=0.4176 left_y=0.0216 left_z=0.0206 left_yaw=0.1257 left_pitch=-0.0916 left_roll=0.021 left_gripper=0.9971 right_x=0.268 right_y=-0.0026 right_z=0.204 right_yaw=0.0492 right_pitch=-0.5488 right_roll=-0.297 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -7.0496, 6.3932, 1.6581, 0.3932, 0.105, -0.0024, -0.1162, -3.6718, 6.2701, 1.243, 0.0952, -0.0464, -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]: [0.0334, 1.5532, 1.0225, -0.1261, -0.1017, -0.0978, 0.2081, -0.07, 0.8524, 0.7116, -0.5442, -0.0807, -0.0917, 0.9953]\nstate[eef_state]: left_x=0.4509 left_y=0.0366 left_z=0.1538 left_yaw=0.1564 left_pitch=-0.0744 left_roll=0.0011 left_gripper=0.2081 right_x=0.2885 right_y=-0.0024 right_z=0.1802 right_yaw=0.0452 right_pitch=-0.1002 right_roll=-0.0211 right_gripper=0.9953\nstate[joint_eff]: [-0.3624, -10.4684, 9.935, 1.8681, -0.0708, 0.0513, 0.3101, -0.4308, -2.2085, 7.5692, 2.1758, -0.1197, 0.188, -0.0171]\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]: [-0.5819, 2.0048, 1.644, -0.255, -0.6403, -0.3992, 0.2116, -0.0723, 0.8547, 0.701, -0.5674, -0.0872, -0.0933, 0.9953]\nstate[eef_state]: left_x=0.5231 left_y=-0.2136 left_z=0.199 left_yaw=0.1414 left_pitch=0.0965 left_roll=0.0203 left_gripper=0.2116 right_x=0.2835 right_y=-0.0015 right_z=0.1706 right_yaw=0.0497 right_pitch=-0.1357 right_roll=-0.0137 right_gripper=0.9953\nstate[joint_eff]: [-0.4308, -11.0974, 10.2359, 1.7265, -0.3883, 0.0317, 0.359, -0.1573, -1.6889, 7.8017, 1.7998, 0.0317, -0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22f52a96e59164cc5cf963c3f2cefe6202384026417c98328f10166b077acaef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86dc8fc8e4cb48b5cb05da0e5b7b746f3f7875876942ddb00eec789866099ff2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:058d5b7b16320a1b39b860ad52978a0d27f4a52cc914819e3d472d7913c763f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.12,\"left_gripper\":1,\"left_pitch\":0.15},\"note\":\"The pale toy is over the safe alongside the brown toy. I will lower it toward the compartment and release it.\"}",
  "call_id": "call_b2m4MwujCBCMH3RzORoVPZdT",
  "id": "fc_01ee134939f6a3ab016ab46436949087d0a5a9fe6c2e8fa0bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_b2m4MwujCBCMH3RzORoVPZdT",
  "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]: [-0.588, 2.0636, 1.4002, 0.062, -0.6521, -0.3752, 0.995, -0.0723, 0.8566, 0.7006, -0.5903, -0.0875, -0.0933, 0.9953]\nstate[eef_state]: left_x=0.5179 left_y=-0.2121 left_z=0.1221 left_yaw=0.1323 left_pitch=0.1114 left_roll=0.0373 left_gripper=0.995 right_x=0.2798 right_y=-0.0012 right_z=0.1658 right_yaw=0.0505 right_pitch=-0.1606 right_roll=-0.0104 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -9.7983, 6.4479, 1.9023, -0.398, 0.0024, -0.0806, 0.0615, -1.6479, 7.1043, 1.7802, -0.0904, -0.0269, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc59bcd5eb2a114d08b03d20bf56f9855a26d4bebf02a828700248f674e5b7b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e330130066d900628bf1656a3a4a802fb167b26963edcb0eeaee2334c6e41860",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02e4cfb2e9972e39a72828f15240ec740a8b55d81f3114eb0d53f360d2784c19",
      "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 95 changed as sent

message 103 changed as sent

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0303, 1.9236, 0.6754, 0.7074, -0.1043, -0.0856, 0.2051, 0.0944, 1.1709, 1.2037, -1.1706, 0.1787, -0.2104, 0.9954]\nstate[eef_state]: left_x=0.4558 left_y=0.0358 left_z=0.0201 left_yaw=0.1486 left_pitch=0.0409 left_roll=-0.0012 left_gripper=0.2051 right_x=0.2639 right_y=-0.003 right_z=0.2019 right_yaw=0.0486 right_pitch=-0.5683 right_roll=-0.2981 right_gripper=0.9954\nstate[joint_eff]: [0.8, -5.7368, 5.8462, 1.3602, 0.2271, 0.1148, 0.8132, -0.0479, -3.1932, 6.4068, 1.2039, 0.0757, -0.0269, -0.0171]\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]: [-0.5819, 2.0048, 1.644, -0.255, -0.6403, -0.3992, 0.2116, -0.0723, 0.8547, 0.701, -0.5674, -0.0872, -0.0933, 0.9953]\nstate[eef_state]: left_x=0.5231 left_y=-0.2136 left_z=0.199 left_yaw=0.1414 left_pitch=0.0965 left_roll=0.0203 left_gripper=0.2116 right_x=0.2835 right_y=-0.0015 right_z=0.1706 right_yaw=0.0497 right_pitch=-0.1357 right_roll=-0.0137 right_gripper=0.9953\nstate[joint_eff]: [-0.4308, -11.0974, 10.2359, 1.7265, -0.3883, 0.0317, 0.359, -0.1573, -1.6889, 7.8017, 1.7998, 0.0317, -0.0024, -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]: [-0.588, 2.0636, 1.4002, 0.062, -0.6521, -0.3752, 0.995, -0.0723, 0.8566, 0.7006, -0.5903, -0.0875, -0.0933, 0.9953]\nstate[eef_state]: left_x=0.5179 left_y=-0.2121 left_z=0.1221 left_yaw=0.1323 left_pitch=0.1114 left_roll=0.0373 left_gripper=0.995 right_x=0.2798 right_y=-0.0012 right_z=0.1658 right_yaw=0.0505 right_pitch=-0.1606 right_roll=-0.0104 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -9.7983, 6.4479, 1.9023, -0.398, 0.0024, -0.0806, 0.0615, -1.6479, 7.1043, 1.7802, -0.0904, -0.0269, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc59bcd5eb2a114d08b03d20bf56f9855a26d4bebf02a828700248f674e5b7b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e330130066d900628bf1656a3a4a802fb167b26963edcb0eeaee2334c6e41860",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02e4cfb2e9972e39a72828f15240ec740a8b55d81f3114eb0d53f360d2784c19",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGQ-BsAl6fF7tfTUsmAxjhhj96RGzGQwSWce6PcPCgpnAB80xOFaX02uXngXNFduFuJWT-WoW7AIhyI1P-Rd1Sle5wguEN_OH0F4EGjDoj5dfA2z-mV0_cikDwfq4sn5ukf3B7VCqdcYurPbjos0g509l-6STjnqLOD5N-gg9_CN3VvH2aXPrqNd01ftHr4ALmOERavtq3F-v_qo4u67W8PqT8mvNZnncUxAX3orfkOfpaoRE3Wm7skrOhCPSRmITQlQLoPsW0d5HPXq5q0LwUbzjJT0AZbYz6AtgBu6yu5OLiZ2s6TtFCYHdiu3jV9ItQzFFDIBq6t0Mnm6SJyYX6sE0MQNpLT-0tF8YV39YocJXVxHiwve93bcs0vnYgxROsujDodmdmSACGrRoeXeOeYV3zjU9ohKH66-1roBUmkrYFABgDxMm_3_ih6hFqHJJ0vmtCXd-0T2_J0PZItnB61hCPgW1r2YJZKfOIT3Fw_rbz5O3w7zJl426jAGvQUH8VPRKVyNxOWL-lmf3PKujXtpoZ8P1Z4t9gjRn2mIx6k98i78HdVLKSTJTDDi4lNhgoLcW6wd9Es7NOy1L68lf14VVhVs9MMLiZvLrOsMEN-_3-DFfD77SCV7CknX7Etg0v67z4stnKe1LmfUsu46ydf7wvgklFixUozqafSDK_rKnfOXg5wycbOBVDgJ38i4VYEYLcyqjrQ5rDgabJ71_h0KFHsVrONXw8sYFM2jMI8rLhaArsyT4F0Cr9G9gBpTsj98qFtJGj3vaizAyxBaMvcJSHAMxkMuqLT1pSBLmxkcx63z9a42kdag_Un35siD-gjdug11ECaD5W7xkIqdu_tc1e32ImgubWW4F4sdzTHAJuWmk8ISrCGwHH9QoaChQdLc02Hpbmxk1Wv7LXxarNsHhsF_aFdG0XwXzAHBlSKI1JK0gr7aO8tKsxS3Ztw8r8D15pisphy1GOwZ2UJA3Hmqpeb_8ZAAmF4XpgFVnSLSo0FmtpJ_XuglS9tcFlWDAcnrzt_LjEfBwAbw8CANkDgfJSMK7xEVWudMJxHkzEIBm-sRkZO9xVV6zeVcPCjPmJsrbxOT8f7Na3z4j-gkeU9Yval5ifdHecwFJxBfVaIA03Je7XthJtY1cjkTjhfINVCirKGAfxOEkaWYHbpR1nXwXg37kErqRfkPZrXGvi7U6FnZW7n_kO9wEDthjbyjtv7FGYKUTFlyWCSG8CFm-IOS6knY_CMSw-ylBhBF7N18P6v3F0HUeTH_27RB3teUMA-vieh0NzcRVhYW5NUccRQBQc4HcZAYjqziGzkAAlrCjd1FnzPWEKqp8ugWhm5fynL7Y_Fr6YnnsQ_fAxMjp-kZUUkguooqUmWq7vq-52cvIbdjvBNSdepug-nCb9pDikLv6hkSNSFDxxrD5JL9SWb_-JSVhkw986vFQU4FWK2v_XWPvclzK2zd-DEiqaaudI2UqtSH7x3GskybaadyJT1SsBqqryl88ZiwBOQEH159TEovenshkKhbvYuyAKvPzPHS3dOnPi2aiscmXJTwnvPuYNMzA1MnVzvgoG7Wbh5UEZXibS8j9VQ-VwnebQ8OxDKGSJRnNniQCug6tOsNi0FxgvJTd_Q6C0oJGlkHRU40k6sYYdgpInnK4znA7GGFynKdD0Iqmn6aSA6UUfNUM0zt3vurkO2GQoaFfUMy4P67GFjQsV0JofCXoQ7snWFbQYLgrsEwLS_l_wCaedXD1ogDp2BwltD29MFwABoKlyMmai78poBjqAMlihpxAgStc-Hk",
  "id": "rs_01ee134939f6a3ab016ab46439d12087d08f3b2502dc20cfd1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.22,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.52,\"right_y\":0.21,\"right_z\":0.17,\"right_pitch\":0.15,\"right_roll\":0},\"note\":\"The two plush toys are at the safe, with the pale toy close to the near rim. I will clear the left arm and position the right gripper above the remaining yellow object.\"}",
  "call_id": "call_SB7QtuUlXT2Sf2CaQRIgDo07",
  "id": "fc_01ee134939f6a3ab016ab4643d13e887d0addf1a4a65e7b194",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SB7QtuUlXT2Sf2CaQRIgDo07",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "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]: [-0.1749, 0.8875, 0.791, -0.4801, -0.297, -0.2234, 0.9963, 0.4984, 1.906, 1.3025, 0.0425, 0.3752, 0.1772, 0.9954]\nstate[eef_state]: left_x=0.3085 left_y=0.0016 left_z=0.2227 left_yaw=0.1785 left_pitch=0.03 left_roll=-0.0116 left_gripper=0.9963 right_x=0.5047 right_y=0.205 right_z=0.1471 right_yaw=0.0869 right_pitch=0.0639 right_roll=-0.043 right_gripper=0.9954\nstate[joint_eff]: [0.0615, -1.4974, 7.2821, 1.9756, 0.022, 0.0952, 0.1148, 0.3761, -10.5641, 8.4855, 2.0635, 0.3443, 0.1734, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8632aca1da769e32eb3c4855eb1ca16e580a36620022100a6add5749e1915ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6832b19b1ec8d77323df3fa3246a257f597907cb364de08a0a065cf5848fa8e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db39537460a075466c26ae582334cf33a478329db57127d61d22df64c2014221",
      "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 99 changed as sent

message 106 changed as sent

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0334, 1.5532, 1.0225, -0.1261, -0.1017, -0.0978, 0.2081, -0.07, 0.8524, 0.7116, -0.5442, -0.0807, -0.0917, 0.9953]\nstate[eef_state]: left_x=0.4509 left_y=0.0366 left_z=0.1538 left_yaw=0.1564 left_pitch=-0.0744 left_roll=0.0011 left_gripper=0.2081 right_x=0.2885 right_y=-0.0024 right_z=0.1802 right_yaw=0.0452 right_pitch=-0.1002 right_roll=-0.0211 right_gripper=0.9953\nstate[joint_eff]: [-0.3624, -10.4684, 9.935, 1.8681, -0.0708, 0.0513, 0.3101, -0.4308, -2.2085, 7.5692, 2.1758, -0.1197, 0.188, -0.0171]\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]: [-0.588, 2.0636, 1.4002, 0.062, -0.6521, -0.3752, 0.995, -0.0723, 0.8566, 0.7006, -0.5903, -0.0875, -0.0933, 0.9953]\nstate[eef_state]: left_x=0.5179 left_y=-0.2121 left_z=0.1221 left_yaw=0.1323 left_pitch=0.1114 left_roll=0.0373 left_gripper=0.995 right_x=0.2798 right_y=-0.0012 right_z=0.1658 right_yaw=0.0505 right_pitch=-0.1606 right_roll=-0.0104 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -9.7983, 6.4479, 1.9023, -0.398, 0.0024, -0.0806, 0.0615, -1.6479, 7.1043, 1.7802, -0.0904, -0.0269, -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]: [-0.1749, 0.8875, 0.791, -0.4801, -0.297, -0.2234, 0.9963, 0.4984, 1.906, 1.3025, 0.0425, 0.3752, 0.1772, 0.9954]\nstate[eef_state]: left_x=0.3085 left_y=0.0016 left_z=0.2227 left_yaw=0.1785 left_pitch=0.03 left_roll=-0.0116 left_gripper=0.9963 right_x=0.5047 right_y=0.205 right_z=0.1471 right_yaw=0.0869 right_pitch=0.0639 right_roll=-0.043 right_gripper=0.9954\nstate[joint_eff]: [0.0615, -1.4974, 7.2821, 1.9756, 0.022, 0.0952, 0.1148, 0.3761, -10.5641, 8.4855, 2.0635, 0.3443, 0.1734, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8632aca1da769e32eb3c4855eb1ca16e580a36620022100a6add5749e1915ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6832b19b1ec8d77323df3fa3246a257f597907cb364de08a0a065cf5848fa8e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db39537460a075466c26ae582334cf33a478329db57127d61d22df64c2014221",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGREMMCg23n6ISlYDwLCdHkaKTF4SQfC4OpgYdSG1irrkNSSIehcyuSmGvBLvbP4F7Ewq0mkSnjJP2cB3k0CCd3zkLvvdLoijdtqDZLfeLSUIpFEm5Ejbdhkuial_Im_DsR06UWtA_OTJe7zQVUEJSGNzo3eTiAn66IGS2vk046ZvmTyc-HpQ08KYz-MgazPuEdJszpy4DnmnZEFwDoDv8w3sXiGfYhFAbZ4a_TLU3UvTJKA2Kt30Sj_6Gjtj68pExBaGthU8tsHxetV7f7jzZcvG228i70V894WQ4r7i_OjpC1zwwZMUtslgVDUX1pIDK3t2-DKaW40nTs-2KSZP9vkb0xufCAVbhtC7i80xqpwtyeLaL5nEeDKb8W_wqaBTmZ9GLUm5pOGo4DOK50B0B1U-2tQcGWyVOgn9UAJvBN0-dwGwGLTxKXZO9jmxCa5xPHzK3ZdPWpAgRjhW2kTOt4pmkqtQwXhO8nPIXmwucEdwY9pLxhPJPNSs8xZygq00tj-lGqKzWZI2DZ_Syylxk3vd-WcT3eEs1ZBsaYA8AZ73axc1ZWDLTjVQNcm28B4JoWAAnih8RRLOd-O1Ctyv9OIf34IPUGuaaBq5sTiDZQvl15kHpMVKdCeFCNxN5ZsEGW_Ac4uDifA4F6sQPE_4J_ms3fn93RksWJ_KFYz4WL_ZhOLog8SZoCNBYwBaRdqMH4-awJ1I-7MQq1pf0l8cxam9xANgZ8L1luw2lyxhM9gbTPlbzk363e2l4ztLtWIek_R0k7NBlYZ5xZMsd8_N4rVJ1OSWZvOx_knBEbdyUAuoWz9vd7YUz40JPy6IQ7CWvLEWJMWa_QRVHF7Qx3GeHTKKR1CTczJXIeJfc46zIawlKl081hZ0ycHZJobkeAqR1S2cy_RqzSyP7CPqrHydxTDHjD05cmDXv8J3VHCZUuiAHYBKiheDbzK-1rvpCsYfHe2COEX0G8ItnOs-OMFwjv5fofC5Hc1IzbCQ5iWbNBtseRRZv0Vdj8PIWBgIPApj2TVkR-1GA_dgnCeOrdezpK1rRt-EUzZ3ALhcl2wg-WrxC-mck9kkqwFMuC-Ig6RXPmEs5DfGZitIx9lrd0iTTLVAfRq-pw7ae1MhUi2mpQcEtlzaRWO3WQ39lMOrU6PSZJnat1Qophg_P1LXOIPshz6wHTx44x08WiXQJXNKMk5r6td0qWhrIhamI-dc4412X2BDGTKJ87yXdyFiG2YxybLztP2sPQyHGQAwCeWv1IWW5F7CggCdkcsZtDlPu27-o5kI-VuO4aKGDjjwSUeBl0giw7zuwyuVkfWT6hZlUut58cmgcDSVAMDSe78zm_0L7cStzGZrbG0INJvbQ2YG3j3ducQfB3gHwBtWBgoT3_qkumERX_9cIvt7wb8_2TtoKKRVax3L--zolTX5K7A4-MZQlbew5YzcKZiAXtflMQ2q2_CkldlHVaDgoG-rDWchLML1avfw9H1AsULbBS5yeQBHWBUD6dxFtEQyK1Aa_8lk7wb4JsiYpWPgZARYwebuOWGqzpC__luXI-d39dvO4mD3nH64nmnYnDoLDCB46-G46YHa-qqTAgpJ204Rc1ruA6I6MOWMPjKyeNZVe6hUZnQriY_tfaK0tpRjH5mRdu4tUTjwjoD2aShEbXnIZFIe4Gu363MZO0Yo6ykvJQ4OV9MV-BIOYGlP_j4OAidd_kVDoMHw4wVrG15ItLSxotthzCqjWRcPAVUq2Ip0RfTVpbqcw==",
  "id": "rs_01ee134939f6a3ab016ab46441c2b887d0a65592b23bc6f23b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.545,\"right_y\":0.215,\"right_z\":0.02,\"right_pitch\":0.3,\"right_roll\":0},\"note\":\"The yellow object is centered in the right wrist view. I will lower around it with a slight forward tilt to reach its position beside the safe.\"}",
  "call_id": "call_wsMtZulSenLs3AnUpq2P62JZ",
  "id": "fc_01ee134939f6a3ab016ab46443d0e487d0ab67184f9412752b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wsMtZulSenLs3AnUpq2P62JZ",
  "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]: [-0.1753, 0.8936, 0.7906, -0.5163, -0.2855, -0.2253, 0.9964, 0.482, 2.3173, 1.1862, 0.8272, 0.3782, 0.1326, 0.9953]\nstate[eef_state]: left_x=0.3044 left_y=0.0003 left_z=0.2133 left_yaw=0.1696 left_pitch=-0.0124 left_roll=-0.0046 left_gripper=0.9964 right_x=0.5439 right_y=0.215 right_z=0.0398 right_yaw=0.0741 right_pitch=0.3003 right_roll=0.0179 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -2.2632, 7.1316, 2.0244, -0.2759, -0.0562, 0.0073, -0.4991, -9.4154, 5.5179, 0.7839, 0.0317, -0.2222, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb5c091e59afe5ccec5bdc171a476bc2568ef47e5173ddad6070eddd321d1059",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3da06bb2e23eaa6371993cef01e7a4502fc0b6808148029bd9cc9d385445517",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b669973dfafb903c149e410118987d915c5b4a64ed890edb09c67ab352f57f9",
      "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 103 changed as sent

message 110 changed as sent

message 114 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5819, 2.0048, 1.644, -0.255, -0.6403, -0.3992, 0.2116, -0.0723, 0.8547, 0.701, -0.5674, -0.0872, -0.0933, 0.9953]\nstate[eef_state]: left_x=0.5231 left_y=-0.2136 left_z=0.199 left_yaw=0.1414 left_pitch=0.0965 left_roll=0.0203 left_gripper=0.2116 right_x=0.2835 right_y=-0.0015 right_z=0.1706 right_yaw=0.0497 right_pitch=-0.1357 right_roll=-0.0137 right_gripper=0.9953\nstate[joint_eff]: [-0.4308, -11.0974, 10.2359, 1.7265, -0.3883, 0.0317, 0.359, -0.1573, -1.6889, 7.8017, 1.7998, 0.0317, -0.0024, -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]: [-0.1749, 0.8875, 0.791, -0.4801, -0.297, -0.2234, 0.9963, 0.4984, 1.906, 1.3025, 0.0425, 0.3752, 0.1772, 0.9954]\nstate[eef_state]: left_x=0.3085 left_y=0.0016 left_z=0.2227 left_yaw=0.1785 left_pitch=0.03 left_roll=-0.0116 left_gripper=0.9963 right_x=0.5047 right_y=0.205 right_z=0.1471 right_yaw=0.0869 right_pitch=0.0639 right_roll=-0.043 right_gripper=0.9954\nstate[joint_eff]: [0.0615, -1.4974, 7.2821, 1.9756, 0.022, 0.0952, 0.1148, 0.3761, -10.5641, 8.4855, 2.0635, 0.3443, 0.1734, -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]: [-0.1753, 0.8936, 0.7906, -0.5163, -0.2855, -0.2253, 0.9964, 0.482, 2.3173, 1.1862, 0.8272, 0.3782, 0.1326, 0.9953]\nstate[eef_state]: left_x=0.3044 left_y=0.0003 left_z=0.2133 left_yaw=0.1696 left_pitch=-0.0124 left_roll=-0.0046 left_gripper=0.9964 right_x=0.5439 right_y=0.215 right_z=0.0398 right_yaw=0.0741 right_pitch=0.3003 right_roll=0.0179 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -2.2632, 7.1316, 2.0244, -0.2759, -0.0562, 0.0073, -0.4991, -9.4154, 5.5179, 0.7839, 0.0317, -0.2222, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb5c091e59afe5ccec5bdc171a476bc2568ef47e5173ddad6070eddd321d1059",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3da06bb2e23eaa6371993cef01e7a4502fc0b6808148029bd9cc9d385445517",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b669973dfafb903c149e410118987d915c5b4a64ed890edb09c67ab352f57f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGRIJhFCP0aUiKoTBqQR_YMn6UUYJ94B1bkkmGGtLXBSDDFbR8fDOPax9chJm52C90o4aEgTwnChBbXjrt5gjgkcG_svk_C3mEt7mc3nB32vbmacWtB05qiAO9KtpUM4-CnD3bLWF0J2aoJu41Wh5BtjiRMbglr9IifZ7u_8zXkvQNFdDPSA79Bhejx-G9wJtGOyoJAGMKNKsHSl9aHNxCcJCNKHAV6UwsVgX0qqI2xaZ9l2RbAj3P5tmn1UMeIVRIcFR78K62rtgV7CyCV6WhRq4APwW1LocDqT1XzUxeXkvtipQ1kq0ry3WxLHiB8R5ikVU-dUPa827nfG5dlzPMJwcg57xO3_VXn4lJvci_TkuqBX3AdWhwJG7I2Nbf3ufY-RdRG7XzAm6hwGIHMq4zXoLBamLClqXvOQjoKr-ws2nl1HeqNpLb-u5irLSrS9h4CozXWoy3VTR8K2cMkyfq8QudJDXIYhJR7NOAjwRuukxICZtUpAOSGsKDsg5EHV2Kz27A6cOFm4kF4DUDXWFsXXbI9-qd6uTgZXAAN4ygE0PaBBtDAfWRwsjhyR-gHETkPDtkgK8Qju72WaePcpbXn6vAyUprEK1MiVvl8C6EMlcDgrWkwxjcDI6L8sU7oUgBfTPoaXfIrE_VoleOpC-sNG327zQ1wVBxL_upQ9KBrYUfbRQflRcu_skC8x3JAuGHTJno7gfNYlxBPkKpO7_KeaA1hFawyJC947PjQL7lY3Q_3Dq2YsQex5RllIFfRji8jE07xBCcZ-eZa-3K9PJpmrKpDPztFRvVSwbg1swyF4wFh8rll__UOdpYMa1kop30PMDRPvKpLYMnZ_5GIwLOECByav2r7LDZxwPcVsMRneqx2ScHumeOMFajjYb34IjFvUP6UXMUPMtFeP368gN_LO-5WwL3BT44SXFCTLhlbteSEru3zZ__TDe2cV9YPE8kQM4GOY5OrM2rPJKN9GeMMN86U-NjDwMni8x3GFx_j4JueswYeJqUna-ocemrP44DGK2RfAnNHQAh4Vyh7n7GC9BSxhIJAR9yXxhvWC508i0ukm3z0x-Yy_wz8vERM3GShqtmA0b9sMRurweTQPhgraXWqr7gSkAEQfZyHr10kTkYdVwIpyssvzzSv2oS07o4A4Gw9Wtiwk82TxVIhd8LuneUMke8c0yaEK7thsUzLeOmosI2b1ea6HyBQlQprp5FztR4h5H0egRXIxvrX5MAftEz0iW-SvYDNbtKNEvVZP9GL2vCrsGOfw9mT9pNFSy_6ea_Cm7vpKoaukayQKg4K1pxuRu827KVUwBOpUM3PNAe_I6x8yE5DwVvhqVTggyfefmUQ2dzJ_JYewair43k7y2gOe7eNVDK6stitMLgaXfgUjGP5WtMRMUrfCCX_GtjdB",
  "id": "rs_01ee134939f6a3ab016ab46447187c87d09d2484f1541474ec",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.565,\"right_y\":0.215,\"right_gripper\":0,\"right_pitch\":0.3},\"note\":\"The yellow object is between the fingertips at the bottom of the wrist view. I will advance slightly and close around it.\"}",
  "call_id": "call_44QDeSmc2AvLuPeCuuai6Qsz",
  "id": "fc_01ee134939f6a3ab016ab46447e38087d084f4f6e0473d2314",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_44QDeSmc2AvLuPeCuuai6Qsz",
  "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]: [-0.1753, 0.894, 0.7902, -0.5251, -0.2848, -0.2253, 0.9965, 0.4637, 2.3493, 1.2499, 0.77, 0.3546, 0.1307, 0.4448]\nstate[eef_state]: left_x=0.3032 left_y=0.0004 left_z=0.2113 left_yaw=0.1691 left_pitch=-0.0215 left_roll=-0.0018 left_gripper=0.9965 right_x=0.5566 right_y=0.2137 right_z=0.0329 right_yaw=0.0803 right_pitch=0.2739 right_roll=0.0128 right_gripper=0.4448\nstate[joint_eff]: [-0.3214, -1.853, 7.0906, 1.7265, -0.1685, -0.0464, -0.0073, -0.4581, -10.9744, 8.1436, 1.9219, 0.0464, -0.1197, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:788b94ee51b918769d4c595348386c63e82b41e2ecfdd9c59169945c101c2007",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:040b77641638c82731cdb2a31947aa667e0e1cc924a87837bc5eff0c35969a22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8a0e9d45cdd09b1d82fe4039d65c9a96eb2ad50af1b4406f0bac53fe4692e07",
      "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 106 changed as sent

message 114 changed as sent

message 118 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.588, 2.0636, 1.4002, 0.062, -0.6521, -0.3752, 0.995, -0.0723, 0.8566, 0.7006, -0.5903, -0.0875, -0.0933, 0.9953]\nstate[eef_state]: left_x=0.5179 left_y=-0.2121 left_z=0.1221 left_yaw=0.1323 left_pitch=0.1114 left_roll=0.0373 left_gripper=0.995 right_x=0.2798 right_y=-0.0012 right_z=0.1658 right_yaw=0.0505 right_pitch=-0.1606 right_roll=-0.0104 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -9.7983, 6.4479, 1.9023, -0.398, 0.0024, -0.0806, 0.0615, -1.6479, 7.1043, 1.7802, -0.0904, -0.0269, -0.0073]\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]: [-0.1753, 0.8936, 0.7906, -0.5163, -0.2855, -0.2253, 0.9964, 0.482, 2.3173, 1.1862, 0.8272, 0.3782, 0.1326, 0.9953]\nstate[eef_state]: left_x=0.3044 left_y=0.0003 left_z=0.2133 left_yaw=0.1696 left_pitch=-0.0124 left_roll=-0.0046 left_gripper=0.9964 right_x=0.5439 right_y=0.215 right_z=0.0398 right_yaw=0.0741 right_pitch=0.3003 right_roll=0.0179 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -2.2632, 7.1316, 2.0244, -0.2759, -0.0562, 0.0073, -0.4991, -9.4154, 5.5179, 0.7839, 0.0317, -0.2222, -0.0171]\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]: [-0.1753, 0.894, 0.7902, -0.5251, -0.2848, -0.2253, 0.9965, 0.4637, 2.3493, 1.2499, 0.77, 0.3546, 0.1307, 0.4448]\nstate[eef_state]: left_x=0.3032 left_y=0.0004 left_z=0.2113 left_yaw=0.1691 left_pitch=-0.0215 left_roll=-0.0018 left_gripper=0.9965 right_x=0.5566 right_y=0.2137 right_z=0.0329 right_yaw=0.0803 right_pitch=0.2739 right_roll=0.0128 right_gripper=0.4448\nstate[joint_eff]: [-0.3214, -1.853, 7.0906, 1.7265, -0.1685, -0.0464, -0.0073, -0.4581, -10.9744, 8.1436, 1.9219, 0.0464, -0.1197, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:788b94ee51b918769d4c595348386c63e82b41e2ecfdd9c59169945c101c2007",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:040b77641638c82731cdb2a31947aa667e0e1cc924a87837bc5eff0c35969a22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8a0e9d45cdd09b1d82fe4039d65c9a96eb2ad50af1b4406f0bac53fe4692e07",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGROsQeL8O89qufXXDSru_nUIKUCEdlnX6RhfbtniHyuXcIkK6YMqYr07IAWPaaWx_HKL2ybCRqaX_Y2nlAWP6ZJ0YMvweRIdGoAvmYR6Joe3LurciVXzppLurkw747exx0aJdZIR0KI1CDl71xExpFf6Pg0V14uzAZAigg5F3a_umvCILQGq-DN6Sk7hDQ-v_ve1MQRrwCAFTFkkDOP-4ICETrM-iPLcP5C_HncF0QKYGUWDm6G3T5R66suCGzYaALU4hjrHNwF8YY0EthbFW-J1kXJezf4qyU4Nzxk_1zxcVevZvSiD2tixazFNyeDw73-yYHMmCJy2yWrYQN3clguCXceIuwQJddCUDtrLD58kccwRaNIk3-pUKQF2T3T9HAl1ax09sxIYcY5SZpUjdyYhntvQni960mrFV9V37kxpqZWgK0uZzlbsTKJccfaff6QyLcZjKKoLFLyPS0TxUd_S_sjKSXzjY38iHIBQxQde4ANUSav2tezsMn__br87_CJVHpGusOlrV7BV_Pc4eXtrEESQ8S_-GZt9KoHmpmmX5COiFCoNA7KjbL68awjyfyzXvJ37Q5NgjvC9m0KsO_g_gOAKyRY5BJtdjeibvaOWv7Ppu5yUbs_qrQR0S_IbJnhhNjukzz__J-rQOWnbbcQh30HhdMzkBVetxDwc4iBHZvrc4Fp36DQkmvQv1iqkKTWfFiSG37SdOmhgFIjQ_EbcL2980MzU3cemC81B0z8o6cXZ1q_sFQa6xirEIeikYX1ORV5sPt5YybuF6xF-jHEsNer6jw2oHlwG0TP6Psb8s7rSmgkAMvTIgPo_PH9RQnQ8S8K669hD2qPxmocd1IKTH2OX98_j8jqb82PjXfeFn2gY4yXGcYHayUz_gd9IsOmPx5YlSZ4IClDxywXYc6c68Ppu5pCYFtVxql-ZFzExdVPSbIaud-ahnjjg16VdK93_yDCkWvNPMxZwhGnS_MDH8UbJtoRP6QblOsgUnSLT1X0m3StDSf1oKsTkhd1jNiXLZ49yFwCXrMmgAfeZl3AlHeqADwbtZI_H-V-phA5VH1Re5R5cOC0bc7uQGEvYWFYh26xJFnGVeanZuY2Zu5a1sC5wheAmq3PZothkT7wtzDyGGC3ok48RTnUqj-5ZHmNLRAI4Vd3XtcSf6txnRD2IyhR716B-UagJ2pbD9IdOR9WS851i33q1PON4G8AyCv9cTLl12DxQS_3P3MMUZqMLLkDPNfVUhoKBPJhr9Ow38az-lLSFSKpQ6KPOIsIi7fZPHNWUrA6JVWLB7YF7dEjsD8SewklhnXW6cWffm6kWOJtd6oxEcGuYeDOzGgS7RSEItSTy7uKCwDzmbOEklOQms_JuYu1bz7nMDjP3Eo0t-D1m8Yks5pMeKpgcmt-qYYQJ2BNxVEo7RaQ7MRKr8BoYfKHm9vl25eujFoQ8R-WdYWO7e27BilRY0BsfM8UGbANCGyAYBCh84D_QeidQZIOaE5pI0YXoSPcxem08dRmM7nh7CAbajR5hQ0bNtOr6KvG1VTVF-yPmD1QbgymEEbLRAq4IQrcOA45lTqoELCRMw-ybRmT-TsyZLt3ioyqb1H7FnQfmbY2M4cIs6pX1jeMvvCCP6urrqQajNJT-tXC0aa1eViuM4Epy5eHz7e7WaeoxLZEpQ_vGt0XgkJQew3wSCNoDRY26kABZgUAekBqVa651kVx-jQ37qrkZ97FCMUJYji8-184pM_b1GM8t3dbCVmKqLjPCTADjkN2VNYktfJiwfSjzK1lUgikaMOqh-yTSIV630tl2Rleg127idzdKY7Lxcp7XT7_b-ZwhmTRHBseJEjcXvqX9TDqNMwqgqZ_",
  "id": "rs_01ee134939f6a3ab016ab4644b857087d0b84cbca23ce985f8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.2,\"right_pitch\":0.3},\"note\":\"The gripper retains a substantial gap around the yellow object. I will lift it above the rim and confirm that it comes with the jaws.\"}",
  "call_id": "call_GOr2KkXQKgJn1DJZLzuFgjog",
  "id": "fc_01ee134939f6a3ab016ab4644d951887d0986d0465d25d2d0e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GOr2KkXQKgJn1DJZLzuFgjog",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "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]: [-0.1753, 0.894, 0.7902, -0.5396, -0.2848, -0.2253, 0.9965, 0.4644, 2.048, 1.388, 0.292, 0.3511, 0.12, 0.4475]\nstate[eef_state]: left_x=0.3011 left_y=0.0007 left_z=0.2085 left_yaw=0.1692 left_pitch=-0.0351 left_roll=0.0031 left_gripper=0.9965 right_x=0.5549 right_y=0.214 right_z=0.159 right_yaw=0.0937 right_pitch=0.2377 right_roll=-0.0112 right_gripper=0.4475\nstate[joint_eff]: [-0.0615, -1.6479, 6.8581, 1.7998, -0.1343, -0.0562, -0.0122, -0.2803, -14.7897, 9.2513, 2.0, 0.1148, -0.0513, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b90a84a2d518ec4df864d93a973cd7cea3003896e431a53861b1962a34c23901",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcb8379c121d0de7c7c456d0d7d9a480850cf2d54bf1fde8f971ce5cd07487ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:557c3dbf832551e9767cc36e877ed73d436af8bddd6fe8c56e4a316dfe808238",
      "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 110 changed as sent

message 118 changed as sent

message 122 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1749, 0.8875, 0.791, -0.4801, -0.297, -0.2234, 0.9963, 0.4984, 1.906, 1.3025, 0.0425, 0.3752, 0.1772, 0.9954]\nstate[eef_state]: left_x=0.3085 left_y=0.0016 left_z=0.2227 left_yaw=0.1785 left_pitch=0.03 left_roll=-0.0116 left_gripper=0.9963 right_x=0.5047 right_y=0.205 right_z=0.1471 right_yaw=0.0869 right_pitch=0.0639 right_roll=-0.043 right_gripper=0.9954\nstate[joint_eff]: [0.0615, -1.4974, 7.2821, 1.9756, 0.022, 0.0952, 0.1148, 0.3761, -10.5641, 8.4855, 2.0635, 0.3443, 0.1734, -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]: [-0.1753, 0.894, 0.7902, -0.5251, -0.2848, -0.2253, 0.9965, 0.4637, 2.3493, 1.2499, 0.77, 0.3546, 0.1307, 0.4448]\nstate[eef_state]: left_x=0.3032 left_y=0.0004 left_z=0.2113 left_yaw=0.1691 left_pitch=-0.0215 left_roll=-0.0018 left_gripper=0.9965 right_x=0.5566 right_y=0.2137 right_z=0.0329 right_yaw=0.0803 right_pitch=0.2739 right_roll=0.0128 right_gripper=0.4448\nstate[joint_eff]: [-0.3214, -1.853, 7.0906, 1.7265, -0.1685, -0.0464, -0.0073, -0.4581, -10.9744, 8.1436, 1.9219, 0.0464, -0.1197, 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]: [-0.1753, 0.894, 0.7902, -0.5396, -0.2848, -0.2253, 0.9965, 0.4644, 2.048, 1.388, 0.292, 0.3511, 0.12, 0.4475]\nstate[eef_state]: left_x=0.3011 left_y=0.0007 left_z=0.2085 left_yaw=0.1692 left_pitch=-0.0351 left_roll=0.0031 left_gripper=0.9965 right_x=0.5549 right_y=0.214 right_z=0.159 right_yaw=0.0937 right_pitch=0.2377 right_roll=-0.0112 right_gripper=0.4475\nstate[joint_eff]: [-0.0615, -1.6479, 6.8581, 1.7998, -0.1343, -0.0562, -0.0122, -0.2803, -14.7897, 9.2513, 2.0, 0.1148, -0.0513, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b90a84a2d518ec4df864d93a973cd7cea3003896e431a53861b1962a34c23901",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcb8379c121d0de7c7c456d0d7d9a480850cf2d54bf1fde8f971ce5cd07487ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:557c3dbf832551e9767cc36e877ed73d436af8bddd6fe8c56e4a316dfe808238",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGRX0dL8nPfLJud72jxxqXn5qCP4Q6_SQIPOKCkdYrLb7hR1oLgzXcoEhBNhfVzz3-x-0WGs790dzzORbsLOTSgcaWsr5utzTWwadcOq86lHzZ6J1wcAmOPFqwf0lDshouQefJTRsa1qKGS-hWyMzZHIgCxLaEvNh4jOIa-SYNbv202-H9alejSwV6jCweHYL3g0VPpJNutmBzXwakulxVP9sFAE8ZdR1MLzR0MRHHDR3cpzriQp4jQZvxB_wQx_ulYRUuw3YavWnACSHjNiLTPnYqL2uEo8z8S54Sut9T8odqYR_O59NWr9lOPaFvj8MHrQ6TDXmjobkChdVXI1vZiz5wNozFqNoCa937YVD4OJwReaiVeoziLjQU6clgHiNaIPKLpzv04CkBDCf2nQbOz7Z0jAYybq77_Pdavsii4VUjXyXsZo674diKGraIv3rV3mi3CCpE_8NHls11jJb3V7Nu3M2UZnDQfoR8at2AElr7bU_ZDzar-bcyFD7OsS9WCr36_Zg1klIszwuO9dbHPp2hGfD065f6HSFoc56RzRtsGbokyVNFjrSq0arHqxIMJOBm2TE1LOq8xZJYknKjeOSQqUXiW1qsBh_I8wlR3oHePNMha1RsxnGA9P1GU-qiVB2Cqa7RLOsnUe65pOLB_gkeuyIbzRGuJJlSArWbBndDhNelJJ_1hT99zwj6oLd70knPnhYsGO6VV6y4YCPAZ5KvzixUJNBrb5zNtLpy4fDxsOgHOyrXSZR8zflo7wU6XUSDWSFgpXCl6nc8I88MwuuF80KXzKz_NKkmRTXeGiqH_njqty0e1IzKoNsfUaHuuhYLJAcuRk4ZB0gb7BouZSvZ4Xm27gDLyxjTYG6g6rH_n1ahPpBUGeCX3q0c-ZD_64iPTNe9zsE4OEe-Dlt9B58sIrMtq0qUmTL8A5NmMfeX53nqAuzdYVNWzWoR_UpGmAWn-j4v19yrY30a0C3XUdf641TGm9sqKl6h0oZyri-CKNBmgmu-4ag6HXoDX5nQ8ozSIpeRKB4pCnYd60sGV7y4XiimxKWqSx0kDsY7S3KtpnSbrzv9IgmEgH_UAD4cBMRWjMtv4ku5Dr6dcq--SDyrAa-bW_8N2I3piaK1GnYCUi_jZgWUvrwwz73jMiUjd9lCUVSiCcALRJcmVLIdoy_EwHuYqSWb9rwSHt0Wp8WXveys9i_a0iaFW74RUIIL9hOUxlYAHnvMBOLhnEVybJVUc1Z-REVQj1Iq_qFgt9dPalSIR9QffOSbTZQINcWD7YHfWlemCfLc13H-ZMqYYdMU2vjMOzueVqVCy6AUcTexBOzENZIkzVWNb60HNITolYBrYSqxLQAgMRCOXSJqrhIwlz6ha18qFLq3bYYdWZKiMjD1m8GQ8aQ7ktBsKaGu7xvH2FSpjonidcPHflX3ZFIXmQYTgevQkS0M3AYjjcc_1UhJv9ssE-A6zA8CthLTvsu4227N1DEC9v4UQLnXw5Zsp-M1BTze-2w97_fTM666iL1DcsNiUOLogG0a34WQ3n3WD_Ca292RPM49oMo8_GIyHp3zD4XMAG_ynDvbAMJHjeiUYOuZosPOAx8BGKzgUMEIZq1PZ-KoKQDyR6TnYHQ_QC3LKZp-oJs3M8Pm27uIjzlRBsFcce3f6h0SGL26Va89EeBxsSVPAWGbpmKHY2A-XfxpGdaB5UKxpt68RwlOBogIBDxq1E-la4BndujfKgpyfm_Wk6R5h1hn3nf_DVYZiVuOrFkpyX-FRCueZ4uaAXHvxvRFyrwV5fCNzaGKA3uk8wn_6wlyLcnShXRsaczQEywzDTLdC8nuLg93-pYycWPAAJN_fqRDLyftV0YmySy3xXzRRuQCcggvC4GJQop0t8-D4iNKHdEg0AipcXyMrWJeDaVXhZ-4ySC6sIw8fi_y-Ib_ZroYaQlpo2__nM-vPFKcewTos7gB85C_htwqQBtf4MpK08v4A7zgTZNxFZ56w_8oIPyUiWWROrZtgteJDws1_dIxW2rrNUyJVfA7x-sAQgd3QmMgQYG-wPdh7ddzhGsThjv5UyC9NmbTTesi1T35EbowlLbjP3S_6U8JYk2lkYiAiB3qAAhTutxEHzC-4FBORQIgOo2HMt4nMY4x5tbIiRv5tqVuCQqUrT_8Bu2sVQN_zqf5B6ArCqRyBPb5ktCQNB-iQBnKoCNpz8UOkf_ZQQMCyWSIQyl2Z_Lmaz78x3DbhwQoUqI1LpDvxg9LSuqLch2cn25ySvaiuNC9NMOFShtRh9L3QkhrrfjYhD6aQsjGk18hILvxWtFKABWXGRtGe7ZefQvzT0A7I0Ktz2Jd3_Sk3f_4cL-Q3_MsEA1nnexlfD7t4B77tJvJgASL8tJvja3Cim2KSA1nGyU1wZLaOsUxtdkiQeyV-0eGx9YKRb_6dtXIIVkBS2VhYFNbLzAhHv_jU1-uymLq1hRNeipRKsZ473RqfUERsjcQRHjyhH8rGPrXde-D7AT05gOg21EZfxegZE9MzK19OqBEwRLgUDVbihjsPR1by9ruTmLRBGN1nvB1ZgEyoQeYz7bTNDVtE6xCJCou2GIDYI-dzPn__li8tq7JIo41xnSln1uPVk4u4IKnuhQLMtXk6V",
  "id": "rs_01ee134939f6a3ab016ab46451025887d0b798c1861fad1554",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.56,\"right_y\":0.355,\"right_z\":0.2,\"right_pitch\":0.3},\"note\":\"The yellow object lifted successfully. I will move it over the safe; the pale doll has fallen outside the near edge, so I will retrieve it next.\"}",
  "call_id": "call_ay1mYp61D0KpLDzCufk6YhNE",
  "id": "fc_01ee134939f6a3ab016ab4645632a487d0a622aafdf7fee732",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ay1mYp61D0KpLDzCufk6YhNE",
  "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]: [-0.1761, 0.8974, 0.7902, -0.5594, -0.2848, -0.2253, 0.9965, 0.704, 2.3119, 1.9141, 0.0078, 0.5537, 0.1619, 0.4475]\nstate[eef_state]: left_x=0.2986 left_y=0.0009 left_z=0.2038 left_yaw=0.1688 left_pitch=-0.057 left_roll=0.0109 left_gripper=0.9965 right_x=0.5543 right_y=0.3535 right_z=0.1836 right_yaw=0.1404 right_pitch=0.2523 right_roll=-0.0494 right_gripper=0.4475\nstate[joint_eff]: [0.0615, -2.0855, 6.9128, 1.7802, -0.105, -0.0415, -0.0122, -0.0068, -13.3402, 9.4017, 1.917, 0.3639, 0.1538, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b811835f0a285361de991b43300354c407de1e91581b1e03c3f33568c0a6d46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab0caa0527e6ec2799cbb82601b2d1572d597903b2fe214a89bbdc71d7822eae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45ca31ed20740c57b962e5b038bcbc86b7ab4a1749d417b1164cdbebfc68a35d",
      "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 114 changed as sent

message 122 changed as sent

message 126 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1753, 0.8936, 0.7906, -0.5163, -0.2855, -0.2253, 0.9964, 0.482, 2.3173, 1.1862, 0.8272, 0.3782, 0.1326, 0.9953]\nstate[eef_state]: left_x=0.3044 left_y=0.0003 left_z=0.2133 left_yaw=0.1696 left_pitch=-0.0124 left_roll=-0.0046 left_gripper=0.9964 right_x=0.5439 right_y=0.215 right_z=0.0398 right_yaw=0.0741 right_pitch=0.3003 right_roll=0.0179 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -2.2632, 7.1316, 2.0244, -0.2759, -0.0562, 0.0073, -0.4991, -9.4154, 5.5179, 0.7839, 0.0317, -0.2222, -0.0171]\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]: [-0.1753, 0.894, 0.7902, -0.5396, -0.2848, -0.2253, 0.9965, 0.4644, 2.048, 1.388, 0.292, 0.3511, 0.12, 0.4475]\nstate[eef_state]: left_x=0.3011 left_y=0.0007 left_z=0.2085 left_yaw=0.1692 left_pitch=-0.0351 left_roll=0.0031 left_gripper=0.9965 right_x=0.5549 right_y=0.214 right_z=0.159 right_yaw=0.0937 right_pitch=0.2377 right_roll=-0.0112 right_gripper=0.4475\nstate[joint_eff]: [-0.0615, -1.6479, 6.8581, 1.7998, -0.1343, -0.0562, -0.0122, -0.2803, -14.7897, 9.2513, 2.0, 0.1148, -0.0513, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.1761, 0.8974, 0.7902, -0.5594, -0.2848, -0.2253, 0.9965, 0.704, 2.3119, 1.9141, 0.0078, 0.5537, 0.1619, 0.4475]\nstate[eef_state]: left_x=0.2986 left_y=0.0009 left_z=0.2038 left_yaw=0.1688 left_pitch=-0.057 left_roll=0.0109 left_gripper=0.9965 right_x=0.5543 right_y=0.3535 right_z=0.1836 right_yaw=0.1404 right_pitch=0.2523 right_roll=-0.0494 right_gripper=0.4475\nstate[joint_eff]: [0.0615, -2.0855, 6.9128, 1.7802, -0.105, -0.0415, -0.0122, -0.0068, -13.3402, 9.4017, 1.917, 0.3639, 0.1538, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b811835f0a285361de991b43300354c407de1e91581b1e03c3f33568c0a6d46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab0caa0527e6ec2799cbb82601b2d1572d597903b2fe214a89bbdc71d7822eae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45ca31ed20740c57b962e5b038bcbc86b7ab4a1749d417b1164cdbebfc68a35d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09,\"right_gripper\":1,\"right_pitch\":0.3},\"note\":\"The yellow object is directly above the red compartment. I will lower it onto the contents and open the jaws to leave it inside.\"}",
  "call_id": "call_4KcBL7kyEPZ6fSeH7aXJ0jnO",
  "id": "fc_01ee134939f6a3ab016ab46459d35487d0bebf928281360124",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4KcBL7kyEPZ6fSeH7aXJ0jnO",
  "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]: [-0.1761, 0.8993, 0.7902, -0.5697, -0.2848, -0.2253, 0.9965, 0.7094, 2.4207, 1.7123, 0.3038, 0.5575, 0.1345, 0.9957]\nstate[eef_state]: left_x=0.2972 left_y=0.0012 left_z=0.2014 left_yaw=0.169 left_pitch=-0.0685 left_roll=0.0151 left_gripper=0.9965 right_x=0.5486 right_y=0.3525 right_z=0.086 right_yaw=0.16 right_pitch=0.2398 right_roll=-0.0853 right_gripper=0.9957\nstate[joint_eff]: [-0.0068, -1.9761, 6.8581, 1.7705, -0.1685, -0.0757, -0.0122, -0.294, -12.8068, 6.7077, 2.2002, 0.1929, -0.0415, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed307d716d42bfb42af73e8a4092ebd95aa83980a8ac9f625acc23f57439887f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:030defa4b530ed284d4fd72c0f31b44a952f7de943f6a97554fb928147f6ee7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3296eb28edb826b22f66a059313cf8aef07b166ede5fb8b2efb981b5ee5bbb47",
      "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 118 changed as sent

message 126 changed as sent

message 129 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1753, 0.894, 0.7902, -0.5251, -0.2848, -0.2253, 0.9965, 0.4637, 2.3493, 1.2499, 0.77, 0.3546, 0.1307, 0.4448]\nstate[eef_state]: left_x=0.3032 left_y=0.0004 left_z=0.2113 left_yaw=0.1691 left_pitch=-0.0215 left_roll=-0.0018 left_gripper=0.9965 right_x=0.5566 right_y=0.2137 right_z=0.0329 right_yaw=0.0803 right_pitch=0.2739 right_roll=0.0128 right_gripper=0.4448\nstate[joint_eff]: [-0.3214, -1.853, 7.0906, 1.7265, -0.1685, -0.0464, -0.0073, -0.4581, -10.9744, 8.1436, 1.9219, 0.0464, -0.1197, 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]: [-0.1761, 0.8974, 0.7902, -0.5594, -0.2848, -0.2253, 0.9965, 0.704, 2.3119, 1.9141, 0.0078, 0.5537, 0.1619, 0.4475]\nstate[eef_state]: left_x=0.2986 left_y=0.0009 left_z=0.2038 left_yaw=0.1688 left_pitch=-0.057 left_roll=0.0109 left_gripper=0.9965 right_x=0.5543 right_y=0.3535 right_z=0.1836 right_yaw=0.1404 right_pitch=0.2523 right_roll=-0.0494 right_gripper=0.4475\nstate[joint_eff]: [0.0615, -2.0855, 6.9128, 1.7802, -0.105, -0.0415, -0.0122, -0.0068, -13.3402, 9.4017, 1.917, 0.3639, 0.1538, 1.033]\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]: [-0.1761, 0.8993, 0.7902, -0.5697, -0.2848, -0.2253, 0.9965, 0.7094, 2.4207, 1.7123, 0.3038, 0.5575, 0.1345, 0.9957]\nstate[eef_state]: left_x=0.2972 left_y=0.0012 left_z=0.2014 left_yaw=0.169 left_pitch=-0.0685 left_roll=0.0151 left_gripper=0.9965 right_x=0.5486 right_y=0.3525 right_z=0.086 right_yaw=0.16 right_pitch=0.2398 right_roll=-0.0853 right_gripper=0.9957\nstate[joint_eff]: [-0.0068, -1.9761, 6.8581, 1.7705, -0.1685, -0.0757, -0.0122, -0.294, -12.8068, 6.7077, 2.2002, 0.1929, -0.0415, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed307d716d42bfb42af73e8a4092ebd95aa83980a8ac9f625acc23f57439887f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:030defa4b530ed284d4fd72c0f31b44a952f7de943f6a97554fb928147f6ee7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3296eb28edb826b22f66a059313cf8aef07b166ede5fb8b2efb981b5ee5bbb47",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGRilDy1qf0W1Ve9f2xDPScLewYkrRHwSuHDF1Rx4liiIpDiC0xWczVLEfiwvfBBwPnN24YBXFLFXFoXA4CU3XBklBP79u_efxTbgYm1Qwt3XRGleNVVbrqfcVcR3-tIapD65HVljCKCTwe2gjSj0fW-epIYoPg5mhEnG5m_VlXSazpMIzPPijlg2b83l-pxZNucO4M-aPbwTbrWFcX-aAnxn9u9AZ4ogSlM0GWeSRW9dFetAJbVhJLPpYRj-V2uy4GQ5H-mRBaZfb9nO_qSYhcEPvP2q4wOlrK4EbhXZZLM9yNWTEhjfSA8ctNO2YHSAYONwxGUTzA4n1yW2XmYmAhNIUikwVlQcN1pWubq7qqDAbYapmu9op4dWMcH0GN8SW2MoeutlJYcLUC6hg7Q6KdouaKt5pILpYOzKhM89OqGr-MfsWNuAQXNlmTIs9XpRXtOPSHCnAG57pK8WBopgWDknaZR2dGEusu38ZoUXBhEh3z-0A0FPjyn2K9vC8ibkxrIWzbysgAn2y9WwgnuLN6BbVpL4W53x0SMRTCbQWL9TjorI-sPFlf13I5Fqc-7xZ34Dv8Gw784hHrfSrVKkdxAndjgWfxzMJyh05_Lnlg2BR3yyiz17IdMHANIfNwRRhkDYgLNBBLzy6BIiz2tllx3GjW0yI-rWyuzSkeXzHgiviyhZCsTT1fkDxaFF5jsI550QlAuFOlHPBpQYj5sLA0TZrmNdZ8rZgUyAO4wJRlJxwcHEgBGSlqNTIbGsN1_PX2vaMSTvpy5mfdOIk-1OSX6QZvFiEHKnAuKTeXSsnKdhcVH5v4UofzoWu6F1Fpw-0jPbm9j8mOFT-HfHbjyEMlnqL8Hm3fFwwZFWUQ1mDQZ-bWx9DTekXRBNGiK-F5S3wp-RYrBdPemQ1t3FWSWi_iIQqpFHzdn2Ycvo_0nbCk2uZ-XJzFOCGI-fh7YnaK0JX3jvcDlfk6FC6T9HSgBhw35fMtIXvYr1c47zGwqloxB2P3GkM4fYJbqBgvMKDPQIoJn5k7yGPF4KyUoxtwBGM6Ylz7HJ5tizilzXcNnN3EPBVaiCcQsrFxZ5C3mvYKDEnOCONhGA9aijcZlR_7ddLauMSvLqwY1Z3kGN01Uyz-mEKpNRTlYwxYp4voeTuA2MmK7ysQ049hiRj7ZZCuQC8MvT3UMxXTMnjbytqcf-6O8TITpqTYnN342KhBiBPi_YcJP10eFBUzAPJv8f5vOmfcZ7UWhZNw0833CMnX4PDzQJAdUh5EyfMk83YjM9vRl6_zp54BL2vIdx0HjuHLJ5JZIjJgMrhVQ3G9xQeKmMIIUuuYOKOFTlS4zznU-loPAwxt94OUaMfbkepSm3jzRigdiQPwGgIRZT8_vVfX6-zWgPKlPhnboC0wS2uFzVVCG_dRUcjwjRVHiYX607q3462VIkmJX_tQYoev4-0CEaG-ZDEAkZ_gOPYZsQm6uFCN4dk8kb6GZ3OI6B5DhXfsUnbIXAE7-9k5AHNvis-tcLeO-62qsZRIaLmRGApBVQBllKGdwwaaGiufX-rpnGmLOHQx0DPcOOr77lFvpLpOQKxDWLMur8yK8mYUMSQUO8H8EvLU9O8VrnFHOAa19wDJT41XD1ElVKDsCaWjiYjAdCamkzmc9IBIPgr_l_BMSLIaN1o4UXTrnlJOsqTow-Pjs2QGyTZ0aYTQMRtOT4f1xk-x8YXORZnb4t8wbKsQQpYclKFPeVYxwnrggvi05vYfUlgIBaGE5kxIS_oJ6Kh5Urb6oY_WytfZleM2cxGCOaHXqUwD7Fy_8Ngx-WDa0vwSI3AaAFx2XaEgcNX2TjDWIwlXnuuz3UnBC01U-f34flhv_FpskM9wmGCLnO0Tpe_c_pVLJVf61YjWNe8UFbY59C2k0tyFr-mw6k4EVUQKecP9VkoYHOz4wVqRocTmvwi7LnPRXKn2zhArAvK7OcluDR55ltNKLwiyHvJtmWzJqbhOW5TN6n0mnmcXUdn5ThBN7K_bL2wpofGRBaAmwJ7Iq9uBpjcgEyES7qxlEtlCyfFthmWYpSz8ebOGy_x_1unGc-Z1gyuo85_4yws8LpwV_l86OTdmxEgtso1q4dJtt36BXeYKSwHfKnF_7DXPvW5vjmrBS3rx4EQ48EowmHpI5GtBpwtZRUYFUo18xXtCLBET23B62LZLhp6Z6FKmqvpsyDw9FOj7jHfsBBXJMJOTUbVv7Q-e9jar_zwRDWh9FR6L59JMS8S224R2L1Yqmv9Vk5ygGOMof4_r4i-AW7ALLLk-49b2CP_g8irS7fzCv3T9tYZz7AdQzqLTyGQwOl_GEnhZPEI7Kdmag9lnzaZqBHdU6Hht-Eem0mgPC05w7X068ZXQdnvXutT6gTgeMZNiuwkX-snzLmucr8DNP5C7uMlnVVnN9wCbMPdUo6NM0u-zupcBX",
  "id": "rs_01ee134939f6a3ab016ab4645cdb0487d08d819c1868067915",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.295,\"right_z\":0.045,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow object is inside the safe. The remaining pale object is lying just in front of the near rim; I will position the open right jaws around it for a recovery grasp.\"}",
  "call_id": "call_tQzvaxnjbRongcvyDAWJFehl",
  "id": "fc_01ee134939f6a3ab016ab4646134e487d0955457c5749aaf64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tQzvaxnjbRongcvyDAWJFehl",
  "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]: [-0.1761, 0.9051, 0.7898, -0.5846, -0.2848, -0.2253, 0.9965, 0.6979, 2.1715, 1.2716, 0.2432, 0.4549, 0.2821, 0.9968]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1969 left_yaw=0.1696 left_pitch=-0.0883 left_roll=0.0222 left_gripper=0.9965 right_x=0.4689 right_y=0.2966 right_z=0.0357 right_yaw=0.1659 right_pitch=0.0014 right_roll=-0.0376 right_gripper=0.9968\nstate[joint_eff]: [-0.0752, -2.1949, 6.8855, 1.7753, -0.149, -0.0611, -0.0073, -0.4581, -13.8051, 6.5299, 1.7998, 0.1245, 0.1441, 0.1001]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1c3e0e7a593e7cc33afa5c79016325ac423bbaa12be8014121b582f159bcd3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:549a0a0e04de579648f975f4cd2c4079f7c473a1d41d035bdedef9cf6135a154",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d48586e3daa530f2bc623c6c8d43d8fab52b509d6d5ce3bc99f681e6f4b51dc",
      "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 122 changed as sent

message 129 changed as sent

message 133 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1753, 0.894, 0.7902, -0.5396, -0.2848, -0.2253, 0.9965, 0.4644, 2.048, 1.388, 0.292, 0.3511, 0.12, 0.4475]\nstate[eef_state]: left_x=0.3011 left_y=0.0007 left_z=0.2085 left_yaw=0.1692 left_pitch=-0.0351 left_roll=0.0031 left_gripper=0.9965 right_x=0.5549 right_y=0.214 right_z=0.159 right_yaw=0.0937 right_pitch=0.2377 right_roll=-0.0112 right_gripper=0.4475\nstate[joint_eff]: [-0.0615, -1.6479, 6.8581, 1.7998, -0.1343, -0.0562, -0.0122, -0.2803, -14.7897, 9.2513, 2.0, 0.1148, -0.0513, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.1761, 0.8993, 0.7902, -0.5697, -0.2848, -0.2253, 0.9965, 0.7094, 2.4207, 1.7123, 0.3038, 0.5575, 0.1345, 0.9957]\nstate[eef_state]: left_x=0.2972 left_y=0.0012 left_z=0.2014 left_yaw=0.169 left_pitch=-0.0685 left_roll=0.0151 left_gripper=0.9965 right_x=0.5486 right_y=0.3525 right_z=0.086 right_yaw=0.16 right_pitch=0.2398 right_roll=-0.0853 right_gripper=0.9957\nstate[joint_eff]: [-0.0068, -1.9761, 6.8581, 1.7705, -0.1685, -0.0757, -0.0122, -0.294, -12.8068, 6.7077, 2.2002, 0.1929, -0.0415, -0.1832]",
      "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]: [-0.1761, 0.9051, 0.7898, -0.5846, -0.2848, -0.2253, 0.9965, 0.6979, 2.1715, 1.2716, 0.2432, 0.4549, 0.2821, 0.9968]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1969 left_yaw=0.1696 left_pitch=-0.0883 left_roll=0.0222 left_gripper=0.9965 right_x=0.4689 right_y=0.2966 right_z=0.0357 right_yaw=0.1659 right_pitch=0.0014 right_roll=-0.0376 right_gripper=0.9968\nstate[joint_eff]: [-0.0752, -2.1949, 6.8855, 1.7753, -0.149, -0.0611, -0.0073, -0.4581, -13.8051, 6.5299, 1.7998, 0.1245, 0.1441, 0.1001]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1c3e0e7a593e7cc33afa5c79016325ac423bbaa12be8014121b582f159bcd3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:549a0a0e04de579648f975f4cd2c4079f7c473a1d41d035bdedef9cf6135a154",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d48586e3daa530f2bc623c6c8d43d8fab52b509d6d5ce3bc99f681e6f4b51dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGRlH2ZVUUiJ_PT57WXnelV7t9jGohh7jbOJXdTepouZrdQyx3QP6S5REVYIfXmWGWZ0RH0cVviU6Ii56ZIC-jL9q8OCHSOJDxZA53bPgsT1CeGUghgSbuCe4vukMe_SI_OsVI2gxMRRAZGJlLTsMvXIBfkPcZXtOcHaYAHFo-Oak-swq94ip9gUIB9olmD0SvIaQLUx6AjkFXQBShi6ZeW2WZnBaT2P6tTRMLCXae0dcY6vfBbNHtJ1aerKFDazmCxFRuYi_wnwHZOZpJG7kHAsIK6vwNxLRCwiV23uUyG37ON3JRGnhbdOSsr7S9Be_OKchzin2NUIhDk0dRS3u6h2i2qS1l7YC8LDiXDEY-FHvI5pn02_X28sxQ6phkkT7QtEEfj87IZYcKzZr15ifC7XmgZlPLHWcTcvTznj0gxQfCSYMBMWMdH4bM417FiVQHGrSgQbwRkMfdnC6RPfdmXM4N_sUG577U3gHOWKjiJuori0AMU7KuvkMggICCs9Wmv8oVxPTQaJZ1cSLuaLXEGPl5qfmE_WcgM2_mUWjl8zgxDjbnCY9EuxDbAGWlSKeB6SgEaRzVJ2s5c_ljGtqjqsSAdHt5ZTnwUpJBSfHAXyZyIoR6Dd5_DmzPu4gXEdC-mPgkFWBb2rKJTuq05K3cYyV-kN_8oAPPVlfdTNWhGIvxGX2IeMJ1HESBE0runhIYl94V-Gzdyqw1lF8kC4wrYQgiCKYIht8SVARgCsD4Zw-6iWYf3iDRUmqas-3SFGB_EgYdz_XrwdRuew0NJL_7q99fsYh4uQMp7CVRjCcn7kY_WgMt-DjIaANm5zry4vQZhgcC8qkwvXnIlA0B7tBu8c8SROE02IrBP7lSXwKA_uTnM9P0VwzBIIX5gATRukaYeTk9VHJGAnLruDHSW4CsXiGLkbahM50jPO37_S4SbYMzYhIsvgzdyUs07GDf8IPxxAdOnRTWRnCzlgkdJF_ZhJRZn0rpbgx8SsO0INVeBLjuC-DCBQoj50pTiaCZ4thPuKuIGskz-xJrtL0zqkX_uL78_ZbSFbI-u4MEFg3S3kKVZd5lnmp2Z1SfAxvzg5UfZ-HfsWctagA2hcFsFPq6h1S6Ua1WNt14gP6Uzfcu-Y0pM-ySo0yuUbXz-1Y6bhzFWConXn2RHxL1IMkygtjhE9TIksr7riGDJNCrmMMIjIQ5I_nk90wVR2Tin8qVZIEPsMpw6r9D1i8SCVUCpFH3mrrG9tORsRZr716Pj5lPt-HaPcUGLmjayOIH_8laoUfmMEduHwYCMPV0iLLTvGkxLVgg==",
  "id": "rs_01ee134939f6a3ab016ab46464cc1887d0b6a51e3f4cf28edf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.295,\"right_z\":0.01,\"right_gripper\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The pale object is now between the fingertips just below the safe's front edge. I will lower slightly and close around it.\"}",
  "call_id": "call_WWkJM9s9CxpLZHtxDe8MlMk1",
  "id": "fc_01ee134939f6a3ab016ab46465298087d09313235f7561192f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WWkJM9s9CxpLZHtxDe8MlMk1",
  "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]: [-0.1761, 0.9054, 0.7898, -0.5858, -0.2848, -0.2253, 0.9965, 0.6716, 2.2257, 1.2839, 0.3027, 0.421, 0.2779, 0.2263]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1966 left_yaw=0.1697 left_pitch=-0.0897 left_roll=0.0227 left_gripper=0.9965 right_x=0.4805 right_y=0.2943 right_z=0.0207 right_yaw=0.1689 right_pitch=0.0064 right_roll=-0.0147 right_gripper=0.2263\nstate[joint_eff]: [-0.0205, -1.7573, 6.8581, 1.5897, -0.1587, -0.0366, -0.0122, -0.9094, -8.7726, 7.5419, 1.7509, -0.0317, 0.0757, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8357730dbb90b75d53bc957a00432221bcc411fb31e478d89428669c325594e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfd094dde35795fd62319706be8d970246d083d83a05be115c5eaea870f14f64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1370f6d9bea73ee0fda434b48707400c5d0608e1050f9d35250d8e63dd9738e",
      "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 126 changed as sent

message 133 changed as sent

message 137 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1761, 0.8974, 0.7902, -0.5594, -0.2848, -0.2253, 0.9965, 0.704, 2.3119, 1.9141, 0.0078, 0.5537, 0.1619, 0.4475]\nstate[eef_state]: left_x=0.2986 left_y=0.0009 left_z=0.2038 left_yaw=0.1688 left_pitch=-0.057 left_roll=0.0109 left_gripper=0.9965 right_x=0.5543 right_y=0.3535 right_z=0.1836 right_yaw=0.1404 right_pitch=0.2523 right_roll=-0.0494 right_gripper=0.4475\nstate[joint_eff]: [0.0615, -2.0855, 6.9128, 1.7802, -0.105, -0.0415, -0.0122, -0.0068, -13.3402, 9.4017, 1.917, 0.3639, 0.1538, 1.033]\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]: [-0.1761, 0.9051, 0.7898, -0.5846, -0.2848, -0.2253, 0.9965, 0.6979, 2.1715, 1.2716, 0.2432, 0.4549, 0.2821, 0.9968]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1969 left_yaw=0.1696 left_pitch=-0.0883 left_roll=0.0222 left_gripper=0.9965 right_x=0.4689 right_y=0.2966 right_z=0.0357 right_yaw=0.1659 right_pitch=0.0014 right_roll=-0.0376 right_gripper=0.9968\nstate[joint_eff]: [-0.0752, -2.1949, 6.8855, 1.7753, -0.149, -0.0611, -0.0073, -0.4581, -13.8051, 6.5299, 1.7998, 0.1245, 0.1441, 0.1001]\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]: [-0.1761, 0.9054, 0.7898, -0.5858, -0.2848, -0.2253, 0.9965, 0.6716, 2.2257, 1.2839, 0.3027, 0.421, 0.2779, 0.2263]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1966 left_yaw=0.1697 left_pitch=-0.0897 left_roll=0.0227 left_gripper=0.9965 right_x=0.4805 right_y=0.2943 right_z=0.0207 right_yaw=0.1689 right_pitch=0.0064 right_roll=-0.0147 right_gripper=0.2263\nstate[joint_eff]: [-0.0205, -1.7573, 6.8581, 1.5897, -0.1587, -0.0366, -0.0122, -0.9094, -8.7726, 7.5419, 1.7509, -0.0317, 0.0757, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8357730dbb90b75d53bc957a00432221bcc411fb31e478d89428669c325594e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfd094dde35795fd62319706be8d970246d083d83a05be115c5eaea870f14f64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 379):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1370f6d9bea73ee0fda434b48707400c5d0608e1050f9d35250d8e63dd9738e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGRrWcNNC7fhMjwJxPwzNIMAzpZ99EgqN-NXaKlDPMuBBywRH2jBk_dtFG-oB1u66_nRexocAFBrpNj0XX_HM2pc7ZZY8JCc7sCbT729FBaZ6P6TWZ_ZdAryAdxtEKQ8F-BR5RZQE9TXwXzQNXeM4LnddySWeyCghZYkOLaLv913lN4Wv_wyJw5z9VwDoiqcaeO0xaB9OOYBez98S9hwnvm7ItFSsxKHVwnJP5N61o2ksph3eR7b8HY1Y5SU1pPtTffMKT06Nzdi-KKCw7lKZ8kGhNey2ceFnw7tUbK6PjlgeylGytBoW95XI3NqHfzkjOZYb_HN-rOTVxpEa6yyLWQ5o-QfnXb2kmht9UhjjhFmLNqigylTTUzHVaH5zTEa0-f9RSnVVp2O47r6mxY-fWj--9tL9rTdJlfJw9zDaKiz0MqyPYrqS4BHEqAS6gBianBhgkm5HB9BnmSPoaPMXf-dhlLV8t0iHkROng4070IGKDua5vORQoBhoa6FNhPW5h_fStMbkjEDBxUaPOQ5kGGO0YpvUXJKrMZWOX92DK0ToT8qM8K4SI3Ivx0_iuyIsdeja6EnwOmNW6TjW4xQYb6wtpC0G2AW3ZcF4FmII-uANWV649_f7wPU4eMlIpkXPYaz5dBxNLDb8d8pqKT7PD2mSrPxTpQrZD6822rMPk0JK_Y5uhoQ_vfWMbsHEK5jQJrwWj3cM5Wes_CbpSX4wCoHFr8D-jVnPnL6hOE-ZihGuQWvQ2LfrmtjIPc73vYKCF54j0gUv7nMy5lfYEJIdjw8etWXQoQbmrkz4p8DYDJ5Vse0S0Vo2DmWUHc4TR603t7rtI0PYc2dearZ1TN72EwQu1n8DuzY6a5hffDvr8HUzD37NmRVfKVB1WKSvcQfDqsTYIfwheGNwLxYNyBTvF0oCHEjo6u62hqhXduZQNLvKYeG7DTmfwXfwr44bwpENgfAaQ3D6_Fb-UHFFrFNYcEPxctfc8a141lg6UfNIP4lfmpxsMSlQlz7HrR_aTpAoknrb2hokJigr8SoSY6jqPO0I1Il6VMtehI1WaeO3_3QsaMOBGJTfNddeVxTBqIHbffEk0pm3zg-WkLg8auEO_n-LKWUn5MyN3gLeRGZLakRsnOGMf-vbaE9PKJrVeLcWHoy8lKFnv5JHqo54dD49R03a_NT9DJ6WnqmcCh8PMNQJxdLfKMP-HJAlYcF-ngjsh8VudToJpQvvtsTgYllSeYGT-ePMxPq6-7GahtLsW2bPe5Nz-OL-NsjLhFxejeycwPvjizt_ht2KlnztdV2yK0Mcha9IX3kCBSozBdmTP4RUD91RkIvWhz1g016el36lIf0clR_0eoUwQcG80-yR86cVaw-C2TlT_7HTtFn3WVvsBl5iKMy0b9hPMU_PQNXCtQhoZIsJdMWuHU3okXrJVqwcpYE4uMkzN1R0Mk07s6gmKpw5IhWtZlM-ZT0F4geFrinTM83KcngIcfy-HQDYA8h5aS9tl9dfsGm5jNje92jxxRWbQsAoeDhMw14uRDpmzbHRXf7GHqvfMRtnXO9E3MhAmrpUXjsLMS38l3k9j0E25iYOPlpZvnIMCtj6wTTd6v-83ep-2O-22xSPj-X7GsTr6JAG7VSGtPCMCFvBVi57i35JHwX70usUyUqwMB-Kg07",
  "id": "rs_01ee134939f6a3ab016ab46468546487d0a2d7412735275151",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.56,\"right_y\":0.36,\"right_z\":0.22,\"right_pitch\":0.2,\"right_roll\":0},\"note\":\"The jaws retain a firm gap around the pale object. I will lift it steeply away from the front rim and move it farther into the safe than on the first placement.\"}",
  "call_id": "call_WS7obr3qCp9TvNLdJOVyc2cJ",
  "id": "fc_01ee134939f6a3ab016ab4646a08ac87d0b3a4e333d51389ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WS7obr3qCp9TvNLdJOVyc2cJ",
  "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]: [-0.1761, 0.91, 0.7898, -0.6071, -0.2848, -0.2253, 0.9965, 0.6861, 2.3165, 2.0869, -0.2226, 0.4553, 0.2096, 0.2296]\nstate[eef_state]: left_x=0.2924 left_y=0.002 left_z=0.1915 left_yaw=0.1706 left_pitch=-0.1141 left_roll=0.0316 left_gripper=0.9965 right_x=0.5555 right_y=0.3591 right_z=0.2088 right_yaw=0.1848 right_pitch=0.1789 right_roll=-0.0007 right_gripper=0.2296\nstate[joint_eff]: [-0.0068, -2.1812, 6.8444, 1.7802, -0.1734, -0.0611, -0.0073, -0.0752, -13.2718, 8.8547, 1.7851, 0.2515, -0.0366, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fab95069d47b60861a568d25480ab1a52d6abda646085bfb64379e07f4866815",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc3804e9a1c9c7d9b34ecfe5a020974afc572729e7ce1174e90cd2783894c155",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fa0d6254f7a57c07b0068b6e70c54c69a43a74c45007fa95c664ab9775f5eca",
      "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 129 changed as sent

message 137 changed as sent

message 141 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1761, 0.8993, 0.7902, -0.5697, -0.2848, -0.2253, 0.9965, 0.7094, 2.4207, 1.7123, 0.3038, 0.5575, 0.1345, 0.9957]\nstate[eef_state]: left_x=0.2972 left_y=0.0012 left_z=0.2014 left_yaw=0.169 left_pitch=-0.0685 left_roll=0.0151 left_gripper=0.9965 right_x=0.5486 right_y=0.3525 right_z=0.086 right_yaw=0.16 right_pitch=0.2398 right_roll=-0.0853 right_gripper=0.9957\nstate[joint_eff]: [-0.0068, -1.9761, 6.8581, 1.7705, -0.1685, -0.0757, -0.0122, -0.294, -12.8068, 6.7077, 2.2002, 0.1929, -0.0415, -0.1832]",
      "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]: [-0.1761, 0.9054, 0.7898, -0.5858, -0.2848, -0.2253, 0.9965, 0.6716, 2.2257, 1.2839, 0.3027, 0.421, 0.2779, 0.2263]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1966 left_yaw=0.1697 left_pitch=-0.0897 left_roll=0.0227 left_gripper=0.9965 right_x=0.4805 right_y=0.2943 right_z=0.0207 right_yaw=0.1689 right_pitch=0.0064 right_roll=-0.0147 right_gripper=0.2263\nstate[joint_eff]: [-0.0205, -1.7573, 6.8581, 1.5897, -0.1587, -0.0366, -0.0122, -0.9094, -8.7726, 7.5419, 1.7509, -0.0317, 0.0757, 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]: [-0.1761, 0.91, 0.7898, -0.6071, -0.2848, -0.2253, 0.9965, 0.6861, 2.3165, 2.0869, -0.2226, 0.4553, 0.2096, 0.2296]\nstate[eef_state]: left_x=0.2924 left_y=0.002 left_z=0.1915 left_yaw=0.1706 left_pitch=-0.1141 left_roll=0.0316 left_gripper=0.9965 right_x=0.5555 right_y=0.3591 right_z=0.2088 right_yaw=0.1848 right_pitch=0.1789 right_roll=-0.0007 right_gripper=0.2296\nstate[joint_eff]: [-0.0068, -2.1812, 6.8444, 1.7802, -0.1734, -0.0611, -0.0073, -0.0752, -13.2718, 8.8547, 1.7851, 0.2515, -0.0366, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fab95069d47b60861a568d25480ab1a52d6abda646085bfb64379e07f4866815",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc3804e9a1c9c7d9b34ecfe5a020974afc572729e7ce1174e90cd2783894c155",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fa0d6254f7a57c07b0068b6e70c54c69a43a74c45007fa95c664ab9775f5eca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGRvEaYkFIli3xIjNyG3MTB83p6LgnnCtzJDYYF-OXnCVW9A2OpFDCRmvwSmjn2IowdwhvKfFZGK9KkSJjEts36F53TIuC2Hv0aUcH4yzH9tqmqiUCLtMuHG1WLjJIYoNVTR-NGJw3_0t3SQ2XwG2c7orld045RlntfOVyON0p5Tcdrk0KM6IqRe-u3AfpcTu7RvT0DUK14omPm4eJOmBmwUITcXIyV0yTf-uNxQas_wF_zXoQ12e57CBKetmpupbixh4lUI1NbT-uVoR2_wC9mqNKhgZ-eTjgU4i71SiDowu2yxzfdQnHd1HIZVE_QZtPL1E8AzEFfA34_gUknpXXGyqAAz21hh8q8QBm68p5zXpdpYH11piSoQxMe9EzVjD7vavwJgVwAWygqOBrqxKxSxEmzTUcIDi-YAmkGJljdT8WF1eXv2lMwDAzUyuw1735iSlbEz6Ce1sB-jalRH0vWCxLFfxsetTtdkeTYm_sDB9qtT8TR3B_U12GBzfWGjrW7bbORHPCKS6LITpcgLk8DSmurjKCXURAiw3sWekUf4cbdwoaqE8UVW5slonXY7ZqJhXOD90Rh_3DQKjsgwY7sv7Zocn1yojtN7yGjqtquSKJoP_sgcPzRt27zjnnnElL6OjV1_duGGDnqatTbBN9tNdSuG_74raPYzXjG3aSIfcPmVwRFaxxBbVk-PwLVDfQSK42ZSAlOO6CSTPe0DNQFTPB5p1zUrPig1-RM9H69fnXERPKdkBn2Nx4Ey3wUQWDbGpLU9wZo54BRzfZGxiP4uq1dJd829niBdMVJ7VkQVRoiJo3e6jALXP3bcQBQYq_Vf6mC_dHDh8O8fcy7peOwNMlRksNTHSh8aE-k73_MgjdueIhn_BNjPMuzLxhz0onqKswdKvo4i21PFnoYtzQVk_j4_cT70BhVCPDnzvsNYAo7Q0MEvGojMI7Sz9hIwC6JrVzjfcUyAZhkPrYdgcCZ4NF6XyX2x1eSl6jDhCelyZFhQwnlfutYqukFzfrTtu9iMB6D_E-ei0GwbxZk2KSaSSGO80ubdXuX2qDlFwWzwSUuE7qUgw5NK8TFBaLGTBPN1sBeBopi-0mC_CP1F7nqBpLuujpujvv-r1pj7eEzKqSQ-DD2akAz4qNUphtVN-6QlxtR8x-OjYFs5DXR-9W1gMbnBdj1rT0WtLgr3hMWXRWbhsd9xGUrxlpI6AvfEaODQ1fYQstb0bhFjTb209ekSD7C7W6R8F0ihsC7udXDz0QJwGKm1-yuAvTjnIqqqbIBfUIA2GBOUNM1YGfLlllM431wOgqg18QSy3FMLyEleVbg=",
  "id": "rs_01ee134939f6a3ab016ab4646dd87887d0aa28f32ff48f61de",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.095,\"right_gripper\":1,\"right_pitch\":0.2},\"note\":\"The recovered pale object is suspended over the middle of the compartment. I will lower and release it among the brown and yellow objects.\"}",
  "call_id": "call_PmUuWe8jEEk3tRyH8SZhGwvq",
  "id": "fc_01ee134939f6a3ab016ab4646ea8a487d0be5661fd447473e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PmUuWe8jEEk3tRyH8SZhGwvq",
  "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]: [-0.1761, 0.9108, 0.7898, -0.6117, -0.2848, -0.2253, 0.9965, 0.6861, 2.3856, 1.7859, 0.1207, 0.4526, 0.1982, 0.9948]\nstate[eef_state]: left_x=0.2917 left_y=0.0022 left_z=0.1904 left_yaw=0.1708 left_pitch=-0.1191 left_roll=0.0334 left_gripper=0.9965 right_x=0.5508 right_y=0.3558 right_z=0.0991 right_yaw=0.1956 right_pitch=0.1548 right_roll=-0.0231 right_gripper=0.9948\nstate[joint_eff]: [-0.0342, -1.7846, 6.9538, 1.6093, -0.1392, -0.0269, -0.0073, -0.0752, -12.4786, 6.6803, 2.0342, 0.1343, -0.0415, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fae5f9355f4f687452ca58364789c1b004a83071c320bca39a3c992f2753e7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc3675445797d7d2160f6106c1b84385e40e8c3c0d985135d1e643fa9ac5f0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97ade5b347114432c986d7bc99d501ae1c5eeb9794bdc1c521c70957a8210653",
      "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 133 changed as sent

message 141 changed as sent

message 145 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1761, 0.9051, 0.7898, -0.5846, -0.2848, -0.2253, 0.9965, 0.6979, 2.1715, 1.2716, 0.2432, 0.4549, 0.2821, 0.9968]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1969 left_yaw=0.1696 left_pitch=-0.0883 left_roll=0.0222 left_gripper=0.9965 right_x=0.4689 right_y=0.2966 right_z=0.0357 right_yaw=0.1659 right_pitch=0.0014 right_roll=-0.0376 right_gripper=0.9968\nstate[joint_eff]: [-0.0752, -2.1949, 6.8855, 1.7753, -0.149, -0.0611, -0.0073, -0.4581, -13.8051, 6.5299, 1.7998, 0.1245, 0.1441, 0.1001]\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]: [-0.1761, 0.91, 0.7898, -0.6071, -0.2848, -0.2253, 0.9965, 0.6861, 2.3165, 2.0869, -0.2226, 0.4553, 0.2096, 0.2296]\nstate[eef_state]: left_x=0.2924 left_y=0.002 left_z=0.1915 left_yaw=0.1706 left_pitch=-0.1141 left_roll=0.0316 left_gripper=0.9965 right_x=0.5555 right_y=0.3591 right_z=0.2088 right_yaw=0.1848 right_pitch=0.1789 right_roll=-0.0007 right_gripper=0.2296\nstate[joint_eff]: [-0.0068, -2.1812, 6.8444, 1.7802, -0.1734, -0.0611, -0.0073, -0.0752, -13.2718, 8.8547, 1.7851, 0.2515, -0.0366, 1.0281]\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]: [-0.1761, 0.9108, 0.7898, -0.6117, -0.2848, -0.2253, 0.9965, 0.6861, 2.3856, 1.7859, 0.1207, 0.4526, 0.1982, 0.9948]\nstate[eef_state]: left_x=0.2917 left_y=0.0022 left_z=0.1904 left_yaw=0.1708 left_pitch=-0.1191 left_roll=0.0334 left_gripper=0.9965 right_x=0.5508 right_y=0.3558 right_z=0.0991 right_yaw=0.1956 right_pitch=0.1548 right_roll=-0.0231 right_gripper=0.9948\nstate[joint_eff]: [-0.0342, -1.7846, 6.9538, 1.6093, -0.1392, -0.0269, -0.0073, -0.0752, -12.4786, 6.6803, 2.0342, 0.1343, -0.0415, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fae5f9355f4f687452ca58364789c1b004a83071c320bca39a3c992f2753e7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc3675445797d7d2160f6106c1b84385e40e8c3c0d985135d1e643fa9ac5f0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97ade5b347114432c986d7bc99d501ae1c5eeb9794bdc1c521c70957a8210653",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtGR709c_NZjXerCgeETryriGrPsUT1l5x1dF8QpdciOSsuD4pCwOi_mIhGhn6vHgt5kJQZmdaSnOaDx5cbb8rMahU2ebvujCavSOo-wrY6qSFDTiLi06Qau7mSAYsd5f2VwQSVKUYQEYklJM5G9hzWN6q-k_4MmE7rrOQ-0xEUanlwq64pJSS6STtl96DlKEpzOhybdAEh50fRrmEBLSdEVSJOwWf708a5avG93nqcUxoF-tDJnADcetg-VeNQOK5R4o5q1CyoKrIxj5-FfhCZ1wjrkFw3qMhWyXfARQuBy6bLrxaxRENTIOv3UfzpOzGelRnVu3tEkYI2WSuf_JgoRlK0mts_Uq67aBevSwttt1S63SFLBQF4N_lX7uMex83w15-7HAiq8jTwddg598vgsJb0s0uJc1-dA_M-vHa9Fvrnb1H7tvqhj53XzDlvyhYqC6WkBYQT9xLS4We3o8wX-1L96bkv4iK-vuSWEr2zRtjMKQQiCmM4SfUQ6J5NNrkv3mwH3kp8JVnywLXLl2Lj-TANGbmyCua0wuWzy96qQLBMSvAJplgPQN9rcCSMzdzy5d2QMBwxbavk5JGxTNRCrRDHy6XDOgUjPogQHA9zBdwDbdb0sBisEcAMi5QwxJCYb24DHQxPkL2I6D3I1jhKtfTRifim85-KKp5KYkeYUMn8rDfAaAvm7he-SLvTAPr7LCnSUZ-V3FgWpwls3H7zXXsCXzTLwrHgTSujh4Xc2Ie1o6LjEy7355KJi-L25Xq4e6zarl8bCt9QX9ngHML_9JJHXZ-6U57Vj_qYJmAjd29En70_eJXd-LQlAKMIScovvNi84__1z4wV9ad8k0BO5JE_-6h6hMTYu-OtLLHJjUxRhY9Cb4mq9UBhSxQoHNGMhLAHUQEZ-XuV5bmpJul6xrdsUOru0tG7lC09xIfdVHHdIrYIkffgQ0TaKb58dypKgzSXUH4U84zB3mk0oPHgUC6XgXUE4YnhJVIW-SJIt3Dbq0eiHO39MvrhVyE7ndJDgAdKQbHcSDDWMkyDXj3027ZS_GUlip3beVyu7pWvLwVpCYfGe2tOZa7BZQT24tmls6tJxsPybwvY_XmHdTiD7kb48Ecp6wnK40-taYUs0tYUMxqrNYhuc96r7TnfH5Z8joP1-u8ERFz4yuUnuQ2MLnx-gh1FIz5014Z7padEsZVkNFhRG2DysrX5RmYu0s9Laq70_IZN16kYb5gWcWBZkyajuwlLZvOTmF_LmAIk11IwoZ4wHZRV3v_neDTMGIZGo-FKoOV8p_Mc8OzGoUZzmOAiSKKTjb3YcrVBGusrcD3zVG5xNLZnHLfWq6lwcyRiGWtUPT7ScpzGar00Hq5NZVBWgwacTGI-LbjXTUI5rLhoRKN8keHv9ZGfVtpfiAcIQrqaKVTGxLIOloS-vFSM2JNHIXwl94gFxXFDpBSLM71IxdQdDY1ftzZpg5SxPjz30ltxS5BSF-e1Q-QybTqEUSFPM3fMAn_TRskLLoKX6hDbgV_mgX1ajypB5Ol4-oYb021dPr4XCGtbZbIHvxsgUwb7XDA_dfCGeGe8wfWfOBMTn2zlQI3s-mN4ZCY05UMfcKHfPxEFX4m3ogZKsG3_Utxv8uEh17jSGRm31oPNVgIaq1KUGeLirn_QQQSAgphTdFTT7RiTEXqXAeKBeNFTjkCo19eHVv4gPGeAzODQh7K82WrSuiinB-NhPvjuLW6nwp-PWSEDGVkjmdUvEaC3sAQG_3LvghEcFRdPbPoJQw9mj6aKuSuLUApc1Kc8TSesMZPCmhrCcB9_DStdnGX5nCspwNxqYWK5TZ21AFQewDMSWBr4sGXPcoyi8sL2eaOrQHQ-bfMGC090JkqVYJchHApLATzSLkb1IgjA7gFsw3mREOFRIWGlvDDOapgPjdRypFzQ4ZHcD5PIVUTqM8AJEfodb7KBoV5gTcr6xZvLgUbJev6k8SOfqJLaitY_bT_7YJIvHjLrm8uRl5IqdQKnUD3bUAjVqPuodt6p6hcQ-PQZeUgk2NZsNjWt3FfpvERqx1CCyREx9Ywi1P7q6YDD4lp6p4RGkdDR6iJTsk-nN5xI8YSyTuHumW_z6ccOr4Am4JGZe99D32ssQpI_irtqY29vxrfO_uxShFforQlgoeKMla3UkHS8rDh2tzVgm8M-F90teUSw_jyvVwNwfayPH-OxPV2clzu59SRMfzO1i7Q-TegpobM-b4kfURZLrmHuYIbFFcvgp5ZNOWVwuJ9YK1s_5DjjfGGBeJEiPltSWGTUQHPigbuyMKCUCzIwgrb2PBikf49FIWJneZ6goPLzGLY23NRB3T0jurZeGSd03n6Cpw8x6uywvrWndK0d6tQNLP1rB9xWgCkyiQmwgxEB5p4CCTCkSYcFLu6zhBm9aMGuJEoteLnZPDN0Q6Ia79fbiYnhjc0pENYUCAODJ-ST-Uqidtm9tfTM3CJfuxtYiQPntXfDFDvE3OBa_x2PqgC8dyjlVg_8F8co5EtaUP4SO8BrBLVFySFE7gad70W-uxrLYTaOb6_dUhu1iyyrKYszSezQbge164SnAeV8JOu9ixn2aLAszU0lSZymbWp4zQA4OlHkE8FsvJZMSARurQhl6paojeRvUhs_-_ibpvjIKPg6s4TE1NNhYZjkj2cBGvQ9G82Cr8QmYTeQ9Dnk2e648Op9AfItF6gUm-q7EUxEl03s8MhNCu51D2CvaE2cYxs8pB4JaXsdD81qe5H_DJYcmhyLNdAqVZSY5E-Wi7aEzF0H4i3oM74kAnDztEys9VbJf5-DwbfQytQXbV1h1r3I8rFBGaKhA_TSx_jMVlPRhtLev6tJ99OdMWAPyEJ_VaCJMY5yUef5gONx9A77OmLz_a799nxuWFilZGOXfqTdKWSgOGgYFmeFpZMiadzoiyWCI35-Vbn_hJTLVLU5CZQMFOibiZfvrHT17cyEpPTDpyvU-GdpufBevhXJg0TZ67Tj1kVQkToUyl6tlZWiBN3jY-BDPg-AaZD5JKcukPkih0uMRr3IBaxpUlwHIgeiW_Uiq2ju3zrP2uwBbpTs4ygklTAiXO3F38vxr7lYLOVbMty5MdPo_X2C6COdkkAdmXd5H-SsRAlzrGyYKpUXaFGsIcufy4bdxkpmiMmw-Zt45rxvm1yP-zGceltOjx8AkHhJoOyWSbblBySPnf2KhPVRGxJvRBgfs873-utoSJ9LQegU0x-PlvCgQ3KWT_p0WewqkAru5OWuDHs78FAWpvE-cl7ZXaPd2t2gZP3_xL6rqktPTM7b4YDWV1TmQja5IYuLUvM8Qux1IqQcl1EWj8mz-Co6i4Np9doBqNwGsi9JmXQrB1Phxft5M2kWyMRFrarkZOIvveMJcXQvWdtbNLDeBKH5Y9oy5tWDgVR47LusChqACoTSQdWEyEKXBmK4V4pr6l3j3AoNbmEQPWoqAMmz7vqMzf5ub5H4g2QjZd24CNoZ2ZVgBgqFmtvAL7vqODpxW_sba1BEjb1s-U3uqkWLzjNIv7fM0GKV1sQ91z-QSIRSg0L5Maz4ktV9aAJ7s3nADTF6_9ZooKpnvS78SFZ7JS",
  "id": "rs_01ee134939f6a3ab016ab464725ba487d09a0875ba85e37dd9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.22,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.6,\"left_y\":-0.25,\"left_z\":0.28,\"left_pitch\":0.5,\"left_roll\":0,\"left_gripper\":0},\"note\":\"All three objects are now inside the open safe. I will clear the right arm and bring the closed left gripper to the upper lid to fold it down.\"}",
  "call_id": "call_kRRyNLJo401DcMcLjY5CQGp9",
  "id": "fc_01ee134939f6a3ab016ab4647a80e487d0b3d71d1dc12be861",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kRRyNLJo401DcMcLjY5CQGp9",
  "output": [
    {
      "text": "executing move_to over 30 steps (3.0s)",
      "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]: [-0.5835, 2.2436, 1.9129, 0.1581, -0.762, -0.1375, 0.0078, -0.1825, 0.8989, 0.7727, -0.5091, -0.2607, -0.1806, 0.9953]\nstate[eef_state]: left_x=0.5957 left_y=-0.2428 left_z=0.2619 left_yaw=0.1791 left_pitch=0.4538 left_roll=0.0062 left_gripper=0.0078 right_x=0.3041 right_y=-0.0062 right_z=0.2046 right_yaw=0.1304 right_pitch=-0.0285 right_roll=0.0054 right_gripper=0.9953\nstate[joint_eff]: [-0.6906, -13.4632, 8.9368, 1.7949, -0.1001, 0.2857, 0.7643, -0.0479, -2.4957, 10.1128, 1.8535, -0.2369, -0.0611, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 430):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea16d370cb561b141790a9d9550a9f7c1fb5a84f74f1ac2c4515c11b558bcb63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 430):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b30ad1dbaa1adabd62474597449ef73b071c23b14bb4bf9160256eb5c465553b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 430):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65fb124b0648c8fc3a7ba2ce6bdb3845c012f5d357a471c48afc6d0bacaff06e",
      "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 137 changed as sent

message 145 changed as sent

message 149 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1761, 0.9054, 0.7898, -0.5858, -0.2848, -0.2253, 0.9965, 0.6716, 2.2257, 1.2839, 0.3027, 0.421, 0.2779, 0.2263]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.1966 left_yaw=0.1697 left_pitch=-0.0897 left_roll=0.0227 left_gripper=0.9965 right_x=0.4805 right_y=0.2943 right_z=0.0207 right_yaw=0.1689 right_pitch=0.0064 right_roll=-0.0147 right_gripper=0.2263\nstate[joint_eff]: [-0.0205, -1.7573, 6.8581, 1.5897, -0.1587, -0.0366, -0.0122, -0.9094, -8.7726, 7.5419, 1.7509, -0.0317, 0.0757, 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]: [-0.1761, 0.9108, 0.7898, -0.6117, -0.2848, -0.2253, 0.9965, 0.6861, 2.3856, 1.7859, 0.1207, 0.4526, 0.1982, 0.9948]\nstate[eef_state]: left_x=0.2917 left_y=0.0022 left_z=0.1904 left_yaw=0.1708 left_pitch=-0.1191 left_roll=0.0334 left_gripper=0.9965 right_x=0.5508 right_y=0.3558 right_z=0.0991 right_yaw=0.1956 right_pitch=0.1548 right_roll=-0.0231 right_gripper=0.9948\nstate[joint_eff]: [-0.0342, -1.7846, 6.9538, 1.6093, -0.1392, -0.0269, -0.0073, -0.0752, -12.4786, 6.6803, 2.0342, 0.1343, -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]: [-0.5835, 2.2436, 1.9129, 0.1581, -0.762, -0.1375, 0.0078, -0.1825, 0.8989, 0.7727, -0.5091, -0.2607, -0.1806, 0.9953]\nstate[eef_state]: left_x=0.5957 left_y=-0.2428 left_z=0.2619 left_yaw=0.1791 left_pitch=0.4538 left_roll=0.0062 left_gripper=0.0078 right_x=0.3041 right_y=-0.0062 right_z=0.2046 right_yaw=0.1304 right_pitch=-0.0285 right_roll=0.0054 right_gripper=0.9953\nstate[joint_eff]: [-0.6906, -13.4632, 8.9368, 1.7949, -0.1001, 0.2857, 0.7643, -0.0479, -2.4957, 10.1128, 1.8535, -0.2369, -0.0611, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 430):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea16d370cb561b141790a9d9550a9f7c1fb5a84f74f1ac2c4515c11b558bcb63",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 430):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b30ad1dbaa1adabd62474597449ef73b071c23b14bb4bf9160256eb5c465553b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 430):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65fb124b0648c8fc3a7ba2ce6bdb3845c012f5d357a471c48afc6d0bacaff06e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_01ee134939f6a3ab016ab46480ada887d085f36dfccd2347c2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.6,\"left_y\":-0.21,\"left_z\":0.16,\"left_pitch\":-0.4,\"left_roll\":0},\"note\":\"The lid is at the far edge of the left arm's reach. I will tilt the gripper toward its upper edge and lower carefully to try to bring the lid forward and down.\"}",
  "call_id": "call_Fltz3CeL7NCZrEjkkKf7M5PP",
  "id": "fc_01ee134939f6a3ab016ab46489db4887d09b987a86c3073ef0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Fltz3CeL7NCZrEjkkKf7M5PP",
  "output": [
    {
      "text": "executing move_to over 29 steps (2.9s)",
      "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]: [-0.477, 2.7285, 2.9875, -1.2331, -0.4595, -0.511, 0.0077, -0.1825, 0.9016, 0.7719, -0.5594, -0.2657, -0.1913, 0.9954]\nstate[eef_state]: left_x=0.5809 left_y=-0.208 left_z=0.1499 left_yaw=0.1904 left_pitch=-0.2585 left_roll=0.0606 left_gripper=0.0077 right_x=0.2969 right_y=-0.004 right_z=0.1941 right_yaw=0.1412 right_pitch=-0.0785 right_roll=0.0165 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -14.5846, 8.3487, 1.3016, -0.2125, -0.0806, 0.4957, -0.212, -1.9624, 6.9675, 2.1123, -0.0855, 0.0366, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b7cf7d9c795cd622055d783f1869925f7a5e67cdceaf85b4968f87bc5ec22f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c478f9782ad8cf4727a5be5bd10b2086c7a073eaf996c748010f909d530de6c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 459):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da42086a5030bfb9c75716ba64ca14e27782fe010ef4194efe631cdc08bb543d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}