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]: [-0.0193, 0.7925, 0.6037, -0.3916, -0.0193, -0.0338, 0.9998, -0.02, 0.7948, 0.6079, -0.3958, -0.0193, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1778 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9998 right_x=0.2932 right_y=0.0011 right_z=0.1783 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.3607, 10.3316, 1.9658, -0.0708, 0.2222, -0.0366, -0.4718, -1.4974, 9.6889, 1.9072, -0.0513, 0.1148, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e354faf5e3cb12e5162bd0a071736f2596ad6c2babe53d393a33df3f57c65393",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd62cfbae6c4b5b582fd354f855ff7c6fb85cd7ef73123048b3d38f980ecb8da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7729bdfc01403352c470f3f612d8391424a5ef05ee5d3aaa7cf62b5c6a207449",
      "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": [],
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  "id": "rs_08c960ed07071122016ab49462c72487d0ac8e27d45ac8756c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.10,\"left_z\":0.13,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"The safe is open, with a white plush, a brown plush, and a small yellow object outside it. I’m positioning the left gripper over the white plush for the first pickup.\"}",
  "call_id": "call_CnMgTQcyo2E2Gczjmsy5Q3Mn",
  "id": "fc_08c960ed07071122016ab49467914087d0b661367f5c150a42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CnMgTQcyo2E2Gczjmsy5Q3Mn",
  "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]: [-0.6903, 0.9005, 0.4835, -0.321, -0.5137, -0.4137, 0.9998, -0.0238, 0.8005, 0.6151, -0.4328, -0.0189, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.2658 left_y=-0.1023 left_z=0.124 left_yaw=-0.0577 left_pitch=-0.0468 left_roll=0.0223 left_gripper=0.9998 right_x=0.2893 right_y=0.0 right_z=0.1725 right_yaw=-0.0032 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9995\nstate[joint_eff]: [0.0889, -2.0444, 6.6667, 1.7167, -0.4176, -0.0757, -0.0366, -0.5538, -1.5521, 7.0906, 2.044, -0.0855, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:784be4ab87b3863f72c224eadf453dd443666fbafcad408ed294783c177c88f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef8b09fb51a05d50d86326d73d48f6d25ebd31e3c1f71ec7282e186411afc808",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c043ef0a064bc3ed42a83112db81b8f5f1daf38ce4f985baeb236af05751796c",
      "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]: [-0.0193, 0.7925, 0.6037, -0.3916, -0.0193, -0.0338, 0.9998, -0.02, 0.7948, 0.6079, -0.3958, -0.0193, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1778 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9998 right_x=0.2932 right_y=0.0011 right_z=0.1783 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.3607, 10.3316, 1.9658, -0.0708, 0.2222, -0.0366, -0.4718, -1.4974, 9.6889, 1.9072, -0.0513, 0.1148, -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]: [-0.6903, 0.9005, 0.4835, -0.321, -0.5137, -0.4137, 0.9998, -0.0238, 0.8005, 0.6151, -0.4328, -0.0189, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.2658 left_y=-0.1023 left_z=0.124 left_yaw=-0.0577 left_pitch=-0.0468 left_roll=0.0223 left_gripper=0.9998 right_x=0.2893 right_y=0.0 right_z=0.1725 right_yaw=-0.0032 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9995\nstate[joint_eff]: [0.0889, -2.0444, 6.6667, 1.7167, -0.4176, -0.0757, -0.0366, -0.5538, -1.5521, 7.0906, 2.044, -0.0855, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:784be4ab87b3863f72c224eadf453dd443666fbafcad408ed294783c177c88f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef8b09fb51a05d50d86326d73d48f6d25ebd31e3c1f71ec7282e186411afc808",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c043ef0a064bc3ed42a83112db81b8f5f1daf38ce4f985baeb236af05751796c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJRuiBhrp9K4ypNsRRj0CF1VcNZV2uM_8LN3-K8TXw70g_J1uRfiXUSaFdov3EpYyI0gP8Y1dXCLUXS7AFyit9VYlojCDE2tSWFZPL5i3noyrpu6t2gCBuvMBZ8_LkCb5ZtAmwdNWkEtbN0nwt4RzWlpFqIuqlqadN8bXmfIcefICP9tBoYjfRwvf4FU9Z7L4sYywNZio2ePeqosOsy1oYzism4Zi4kw74LuqL-4oEeymUcFP1rasKD-9El-gGIYDrN9qpri2hJx_04EROadh4ljKivS_rN5PTJQ7KRQUu5zwvVWsa5ykDnJkEByQsJkDCYe3W18XkXzuNM0OJRfRY4DILCi-iM9lcjJ-39ZmUwfbEuzJRyveAU_C4aC8PNwhZBksJ9gOyee89qKNVBZnc9KyZPFD9wSyO_9cXRGeOshgLyAgGMT8_4P3C_g9voLdMdwpbvj328_WPx2irjpkY0uWPTkdh6AcMwh2kfZMolpFZoow4rzNplkw1Nfu8y_r7Z0GGQKhJQsD9THrd4nHIDt_gQe0KDMJiV1at4y6yEl23tQZb5qFJqVSNokohZPO_XQjVYeJqd8B0fPfmqeMrvx0R7QFMXtgrVP5UNjXdM12CyvcYfcB025m6APQQLdaa2R5ol6lBUnljw-8oqGag5mGuYH3h1kYTwJM-Bx-_aI27RPGQp8r_r7Yv4UwuCnZ_tv_IrFa269K4jlwB5_paLgdglBFeXldupole42C88m79djk5L3PMm_GgUKPeiSX_aek67IcXcHi9JbC_iwvFefUv6RRyPIjDKHF7Ne9yBE0Aacwot9Cyd4ncivfsZyWLox_v4X3Ccrop-UtLtUKI1cLngDzMRD58ha_VClhffbtZvVnfgdWzmVD9ykkCuTFikSTgz4O4nkaYCyE5q-sd5CR3DpoPFgq3B44S-NBW_RkAtSUQH6dszZiyjOO_ZwmujWqMMpSk16sS_NrLel0pXEduEm0CqQFoNfixF9DpwRmfl6xfybbHMujj7TmzTLbBDeCuMavk9zeBf7NSh9taOpPFtwxiUY6qm9KhYQ-keCIZd11kXeex2SWLz2qPtzKdZqV6vY88GILNxhqlRDMpuC0N_DWVp8GL0nHLmLiVCB9AyWht-fVBtB8dVeNtc16LG11EH-NM8QgNhksOz5yunjF4ELxyErDnhlI1-Wbj_-T9uE_g1w5nAfHJ4JKgyF6jVs48rjRGkqsO55fbl8C35unsdMAmfQXLQ-QevGcvnuzmBGJXAV9wfMzc62sRewVztaniTMB6WnWRqhQxu2n_lRhdPPR5E7ALc4pHc0sgHcJtFmCAeVSFYlybrdneUNOVBhDNHV8WbBQrxqm73uwVG-CbkWG7jWVWMF0ZJf6LOGW_59xuxR-4-HBOFzDtBMqozNGkYDrzZa3r4m7TMyYJRwKl1FWcT0Ub_gAWNm_t4HkJkOj_4kUobaFNi2ooJAIaf0FefJQ6Ygy8lRWoG3XG-DV38Lc4EWnziEIOCdDAlu93m-JZnviOlf3KfYef72MlMrhvYjFuMUTZNwvuNltS79gFHcprNWeXIDDIH0yw8IPp2nKh3x5Yggj92oX-lrZGsoVOs7w5XngbNH8qmNqMfF6dZ7NEqsClMt55MxlwT1W2aXUa81N_upm4AtcnDcu6G0yobwDKcttuctLaRx9PLk84bLoTaogbQ1ElyMAGsL0iDxjpuSqY9TrYPPaaLwxmJgXgyY0zrhLXJXr57lKmYrTIZOvdfYU1K5RTwmFl4MfF436KPLXZlyK6daGbUxKoHkqwPvH84_9QDVE_Rsk6IlDw==",
  "id": "rs_08c960ed07071122016ab4946b55b487d08a5ed96400b3c083",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.055,\"left_z\":0.045},\"note\":\"The white plush is visible just left of the jaw column, beside the safe. I’m correcting sideways and lowering toward its body while keeping clear of the safe’s rim.\"}",
  "call_id": "call_fhVQXqmIVNOfcjrxhSaUezDE",
  "id": "fc_08c960ed07071122016ab4946d2b6887d0a33b89126e3675b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fhVQXqmIVNOfcjrxhSaUezDE",
  "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]: [-0.3302, 1.203, 0.2623, 0.1711, -0.2806, -0.2111, 0.9996, -0.0238, 0.8043, 0.6151, -0.4553, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.2916 left_y=-0.0444 left_z=0.029 left_yaw=0.0077 left_pitch=-0.1541 left_roll=0.0537 left_gripper=0.9996 right_x=0.2862 right_y=0.0001 right_z=0.167 right_yaw=-0.0034 right_pitch=-0.0618 right_roll=0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -4.1504, 5.4085, 1.8388, -0.0317, 0.1197, -0.0366, -0.0752, -1.4017, 7.3094, 1.8779, -0.0659, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61441bc2c4db1e9303ac5d97161f1894fd57e27673d81ebbe5d9e8c4eefe4564",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd48d4568e0161bfc8d611b25d665292d2b37dd2c7e3fe858c61e7af08a2da1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93737327ef09e48cb98cf498766e71385eac15ea33e29e2d4504c4df7912d774",
      "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]: [-0.6903, 0.9005, 0.4835, -0.321, -0.5137, -0.4137, 0.9998, -0.0238, 0.8005, 0.6151, -0.4328, -0.0189, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.2658 left_y=-0.1023 left_z=0.124 left_yaw=-0.0577 left_pitch=-0.0468 left_roll=0.0223 left_gripper=0.9998 right_x=0.2893 right_y=0.0 right_z=0.1725 right_yaw=-0.0032 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9995\nstate[joint_eff]: [0.0889, -2.0444, 6.6667, 1.7167, -0.4176, -0.0757, -0.0366, -0.5538, -1.5521, 7.0906, 2.044, -0.0855, -0.0855, -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]: [-0.3302, 1.203, 0.2623, 0.1711, -0.2806, -0.2111, 0.9996, -0.0238, 0.8043, 0.6151, -0.4553, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.2916 left_y=-0.0444 left_z=0.029 left_yaw=0.0077 left_pitch=-0.1541 left_roll=0.0537 left_gripper=0.9996 right_x=0.2862 right_y=0.0001 right_z=0.167 right_yaw=-0.0034 right_pitch=-0.0618 right_roll=0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -4.1504, 5.4085, 1.8388, -0.0317, 0.1197, -0.0366, -0.0752, -1.4017, 7.3094, 1.8779, -0.0659, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61441bc2c4db1e9303ac5d97161f1894fd57e27673d81ebbe5d9e8c4eefe4564",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd48d4568e0161bfc8d611b25d665292d2b37dd2c7e3fe858c61e7af08a2da1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93737327ef09e48cb98cf498766e71385eac15ea33e29e2d4504c4df7912d774",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJRzMAiSlVLTF1NaPfpgdkYn5HYkrVcWgyj4JCqJGBeFIVSeroQulQyO83eOYV_CYoIAF3jB2B9tUh-lhhm_Z6W7DAEaipP7ml6HlFJQV4SDShbLk7GzGAk5TpP8bdswEyr_tXg1qvswOI_6Q3Khw77TE418J4Od4A0vZJQwrRwOgrzyqaMeyw6Anl9ECvyoRB3dh1U2HEA5Bq_8JhjNn4BAj4PEqyInS4HTejbaQ6J-ZzRQ8z0a7nQB0Bg_AYgnvh62t5vuJfPoS7vCuMzYdaE0vdWci97HHuRWBOSXe8A5UyAKDVEDQSBzvF_iJqn4IF1GiaCBrubvvnQSuBmN52Ab1_zm5-HgRP_iVZUS2WBfKEf_6NZA4xMbQL_MU5Kj2JZsei9PxcHOcl7rq6PX4ugsjWWA2FWTAkV5vhGY9xMP1lSGQVJJIkv0-esWLHjX9gykpMIBnlgFjuKGinqOMxdM-_aGOT3_PHZShUCQGhcUd0L-DHa01CBQPYZHhx_uddA4kon-uLSiMJjFrR07hXryyvVFpg0DeK8uAmE8s0OUsdFsL3byfbhSDC649r7wWmV_-UOT0-xweZcI2bixXWOU0yN1D2CjDpa2VNR48d6pThUHQrTleMb63vGCZNIzDgbyL8RhyphROauox0zQ3M5E5OSv0qYHpz_BCpB-fCWS8_4ieYw5DHOSKape0gkJZh-REvQ5hKHO9Vd5TzBhni8kEkufXu_snQauaDq2b81E7TJp1yV6RYV0L6crklOR4P7WEaweF9K1HZkfCK1Nuwmna-i5AF4SHm_famtFylAGTQ3g3rj-PLDiW9Gw2So6zQ7RuDo_YN4SjNfZgEFdzGBRzK-Fqg2HXs4XYeRTlcKxVUOD5QY7XfwHgqBMgkWKoxOySMQTYOkb6Y-g5YHShGvoNOIXW56GZY9WeukzUDAZFtCRwAI-Au0iolEL697EcErR6e0-9NmZQg82Ah2pg7wxQzSKvFzzNdFJ23v3IZVc6sbhBamL6WRXEY5cNCCuVCQgOiOoxWy-MklSTDm3U2VninuFR7_GMbfGa1tcXtDr_ahIjfVadr3eYco7WNfjlzaowX3i9sNJ4BtdkTAITVbXZSUA_gOkTi_Cw1_lewNw_i4o5DL43RZKkoGlnVkqApsF4nEXQ4BIH_If9IhUW74PvB_-Ha_xQEXGVlhdZGnvvJp7yhB3xabZZtHFF-YvWEa0l1zvwJM5sysNnz_sjUrg59fH-ESmNKm_EWk2-X8-7MRfTRaopl2anCIMyQZS5x_Tjl_n6JRWXrlpjB4maPV3Z-Kc25znE0nzdjZ92Yz__3vNTjICcSntv4SDn9epx1Mg6o7X-49980GDXVxsQ52cIQA-apVwvPhVGIT9PpLbYrvORteJRskxgGfIFP546N35PiFbicgialXqngJJp_xAZ0oTYwTNMFtCRbt4nq_ZMcQ1N7aCdX5lu_hG14TtQXXyisgaMowOTAL2ZqmTVwK81-1i7vo6tz1KYZMFwi0ObzywAUbBPdofJnKttxrfnR5_8Cx02U1FFIozPPttABqQaTzA_p9MnyW3cwK4WDIj7LShq-X3y_XK2ZaJ1H1T-wgt",
  "id": "rs_08c960ed07071122016ab49470812087d0b880ea63074b7737",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.055,\"left_z\":0.005},\"note\":\"The plush is centered between the jaws but its body is still forward of the fingertips. I’m advancing a few centimeters at table height to grasp its torso rather than its feet.\"}",
  "call_id": "call_5HmsY12fv51Ffz7VhuzfSCvX",
  "id": "fc_08c960ed07071122016ab494721b9487d085c4ae2e117dada3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5HmsY12fv51Ffz7VhuzfSCvX",
  "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]: [-0.2924, 1.5471, 0.4114, 0.4736, -0.268, -0.2146, 0.9992, -0.0235, 0.8097, 0.6151, -0.4797, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3604 left_y=-0.0559 left_z=0.0314 left_yaw=0.0333 left_pitch=-0.055 left_roll=0.0079 left_gripper=0.9992 right_x=0.2828 right_y=0.0003 right_z=0.1608 right_yaw=-0.0029 right_pitch=-0.0915 right_roll=0.0012 right_gripper=0.9995\nstate[joint_eff]: [0.1436, -2.7419, 4.5333, 0.6374, -0.0024, 0.2613, -0.0464, -0.1026, -1.4564, 6.9949, 1.9609, -0.0415, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:373e7964a811c3e583233949d27f19a84ca18bb799d62f153ca34659a1df5513",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d2e3a7388ce763db82263f3cf7139cd0ca3b7ff1b7a0b40c997c7f905fb9942",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb98d1d941bfa9b5dbb09a2aeb1b10fa4d6fb144371bb4df0f17a9a8d46df865",
      "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]: [-0.0193, 0.7925, 0.6037, -0.3916, -0.0193, -0.0338, 0.9998, -0.02, 0.7948, 0.6079, -0.3958, -0.0193, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1778 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9998 right_x=0.2932 right_y=0.0011 right_z=0.1783 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.3607, 10.3316, 1.9658, -0.0708, 0.2222, -0.0366, -0.4718, -1.4974, 9.6889, 1.9072, -0.0513, 0.1148, -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]: [-0.3302, 1.203, 0.2623, 0.1711, -0.2806, -0.2111, 0.9996, -0.0238, 0.8043, 0.6151, -0.4553, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.2916 left_y=-0.0444 left_z=0.029 left_yaw=0.0077 left_pitch=-0.1541 left_roll=0.0537 left_gripper=0.9996 right_x=0.2862 right_y=0.0001 right_z=0.167 right_yaw=-0.0034 right_pitch=-0.0618 right_roll=0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -4.1504, 5.4085, 1.8388, -0.0317, 0.1197, -0.0366, -0.0752, -1.4017, 7.3094, 1.8779, -0.0659, -0.022, -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]: [-0.2924, 1.5471, 0.4114, 0.4736, -0.268, -0.2146, 0.9992, -0.0235, 0.8097, 0.6151, -0.4797, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3604 left_y=-0.0559 left_z=0.0314 left_yaw=0.0333 left_pitch=-0.055 left_roll=0.0079 left_gripper=0.9992 right_x=0.2828 right_y=0.0003 right_z=0.1608 right_yaw=-0.0029 right_pitch=-0.0915 right_roll=0.0012 right_gripper=0.9995\nstate[joint_eff]: [0.1436, -2.7419, 4.5333, 0.6374, -0.0024, 0.2613, -0.0464, -0.1026, -1.4564, 6.9949, 1.9609, -0.0415, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:373e7964a811c3e583233949d27f19a84ca18bb799d62f153ca34659a1df5513",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d2e3a7388ce763db82263f3cf7139cd0ca3b7ff1b7a0b40c997c7f905fb9942",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb98d1d941bfa9b5dbb09a2aeb1b10fa4d6fb144371bb4df0f17a9a8d46df865",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJR2lEvPwNak9yNJqQxmnso5-uvprUbQ6E44ruuR_SNx1K8CXVaxsrR1JtRiTTUS8caExGcmwi_ZCxR4BgSjdOrdmO1A0dkfUQ8Cvaypnj1VXF87OSHT8B9cKJFcHyfzwkrNx6eUWYFAbojxkM8CQYuOFWaOrIpRN_2oy_rJEx4OyX5vtiyfPm2Ri5V4yadsxj9tZi-GdSQPAFAD4NbrK5zs7U7DR7Wtk9_F_B0EduXDoRUPYGbVXEOW0-UsZhA36__LhKARIFj0kntnhBO2bz2O67OGkB-qKR6NwINHJfBeQFc69XuvPCVm-EGg09yjj0pZOV6RPUn3nXUcKv9FNDDd45mMfUxFNd2GMkQ7j6_mgcEnZstLPMwJU198673aFis4XYFxiVJJShZa5fwe54DC7DViFW9Dkj2iTVjutQmOo4sXfMjpqa671EeRxygv0VFRu90c2rcBlqHGkUar13pPrSwIPP6TTsG12a_DoEQqMc3_Kle3wTE6i5UGtHfZDCcI7p0mj5jCpoHejbpUGlJvLJKdXP9o2aJ-xbB-S_m1CWSPcA-iSjLs8WeUSCPGCkj59KUBkxbzmRAZdsSB2bYWxgLn-mH_RDjl6ZDqIm_dXUWLMrQ8nV-7ng_nrVKl2W5iqiGBIozqvRHn1FVV29aqgsPX11w_EbyaK2uusBHcerdbC17moRmEHKHzR-c9ipU2J8lFo0f0ehT9pMBcIFlMBA5mOrhYfUoGpzfEW5ywLGfQ5537NjE1adn6dy_7keUulCXX1GfJWdcsg9DrtnMUmRBXODFvq9GD7gn9F_AyZBcHNRR5_Use4kDeu_g8xy6nq-1K9Ud-QadFSEyc-T5CvjqMYKEFgtxaxaOyYMMFr0J5-th7VTyorsobgoUO1SOLbiNvssW6f_jGiG54sR_E4RZoXEqvRmxHv2HzguyIxOpOlhWVHEGZKPrwztv-IseX8fZvGdDHE9YnUf-Ptr2uP05-tvWLDnYd4RpLWwtexClvtZXBO26cpBE_plFlLS_kXwG23sinipb7jV01W0LWdtrjYE1K6v4YG8h2ymxYl69ZU_G6-iOkU0lTUHpedFSFr7vRRTV6ccPJqq26tjtNDYuBDKHkaUdifwaVPKldHvgJc6jrNDuP3n7Mm3A_xyjmSe0by3fAczP-lyq5c09TAZi1RJ7LgPk1Sfgd4oas_QJGjZcJs9RBOJ75b5tAMyPlF7hlbc0PcJZisWER9sQ2scb-nTjTxuJRrbZK4An8HvQHxYgm9W4tutaRurJY7MdK6i044Efr186jBUpph67tsw==",
  "id": "rs_08c960ed07071122016ab49474e53887d0ac72502cf45b353f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white plush now lies between the fingertips, with the safe immediately to its right. I’m closing the gripper to secure the plush.\"}",
  "call_id": "call_BsvbWUoxv7QvXz7o2BtFpBMh",
  "id": "fc_08c960ed07071122016ab494753ffc87d0b17976ba86411c90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BsvbWUoxv7QvXz7o2BtFpBMh",
  "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]: [-0.2901, 1.5467, 0.4313, 0.3851, -0.2657, -0.2249, 0.1282, -0.0238, 0.8154, 0.6151, -0.5003, -0.0185, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.354 left_y=-0.0535 left_z=0.022 left_yaw=0.0413 left_pitch=-0.12 left_roll=0.0205 left_gripper=0.1282 right_x=0.2798 right_y=0.0002 right_z=0.1554 right_yaw=-0.0036 right_pitch=-0.1179 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -6.4752, 6.3111, 1.5702, -0.0611, -0.0073, 0.8181, -0.1436, -1.7573, 6.9128, 1.8632, -0.022, -0.0415, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47db4522e13a70ce66eaf9d467ffbd0481cece262d60268c830176c324409653",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca016887b7404e9d582be2ea0f1e06990ed78811f8adb388daf35d8f5e1ef552",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25ed3ae2e5130d65c492630b4529a78389a6aaa12c6ba0a029844f884d03b032",
      "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]: [-0.6903, 0.9005, 0.4835, -0.321, -0.5137, -0.4137, 0.9998, -0.0238, 0.8005, 0.6151, -0.4328, -0.0189, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.2658 left_y=-0.1023 left_z=0.124 left_yaw=-0.0577 left_pitch=-0.0468 left_roll=0.0223 left_gripper=0.9998 right_x=0.2893 right_y=0.0 right_z=0.1725 right_yaw=-0.0032 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9995\nstate[joint_eff]: [0.0889, -2.0444, 6.6667, 1.7167, -0.4176, -0.0757, -0.0366, -0.5538, -1.5521, 7.0906, 2.044, -0.0855, -0.0855, -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]: [-0.2924, 1.5471, 0.4114, 0.4736, -0.268, -0.2146, 0.9992, -0.0235, 0.8097, 0.6151, -0.4797, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3604 left_y=-0.0559 left_z=0.0314 left_yaw=0.0333 left_pitch=-0.055 left_roll=0.0079 left_gripper=0.9992 right_x=0.2828 right_y=0.0003 right_z=0.1608 right_yaw=-0.0029 right_pitch=-0.0915 right_roll=0.0012 right_gripper=0.9995\nstate[joint_eff]: [0.1436, -2.7419, 4.5333, 0.6374, -0.0024, 0.2613, -0.0464, -0.1026, -1.4564, 6.9949, 1.9609, -0.0415, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2901, 1.5467, 0.4313, 0.3851, -0.2657, -0.2249, 0.1282, -0.0238, 0.8154, 0.6151, -0.5003, -0.0185, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.354 left_y=-0.0535 left_z=0.022 left_yaw=0.0413 left_pitch=-0.12 left_roll=0.0205 left_gripper=0.1282 right_x=0.2798 right_y=0.0002 right_z=0.1554 right_yaw=-0.0036 right_pitch=-0.1179 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -6.4752, 6.3111, 1.5702, -0.0611, -0.0073, 0.8181, -0.1436, -1.7573, 6.9128, 1.8632, -0.022, -0.0415, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47db4522e13a70ce66eaf9d467ffbd0481cece262d60268c830176c324409653",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca016887b7404e9d582be2ea0f1e06990ed78811f8adb388daf35d8f5e1ef552",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25ed3ae2e5130d65c492630b4529a78389a6aaa12c6ba0a029844f884d03b032",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJR6bIIW1rycPKeu_td0H2i6WAXkGROVS7nlosEynGgubyk0tcFATsD6iwAUxLkV8k9WPL-d4aJefN4k3CCUxxB2StUX2m56BP46-IyUoUTY9oh6mtzJweKMC52K6UZ-3G2s_a_qkfz5JFGF32uJDLqaMNB3OuXXHVXsbJLbzuMLoD0mOe1bNpIQLIqLYc00Q7AfQXPt4APn9AzLRkvNjTr1ea1IrvZGjZsWYbkyOrVctFcueja2sJd0D82cATJbr_9lNR5dfHsxjb3clTqF9EZAHOHA2rQ69s6ejn2r0hg06HKkCqXK0XNgEO0nqJVQ2_fTSXEezWVkdCUiG0syqwutvZGMn3D2TjFHnbQrg9txU1mVoR-_Ga3BMFIGhuE-0KL1rnnIq57er3pXlN3lXGqV2LTtBiBCcDEDqfN5tns7rrCxR9gNZgPz9SynMafiRExupRv5yNxrbZMEfvufIcsPxDfSKPtIst4IF3VZjh5muOLR85GBwpuCERMlXZkd9kowMpOSmbauDY-4fxwYYV_o7FCaNUpPxO4dMCiTwIYzS2b74abjDkZQ-EXnQRSz9tTCZ_FAQg_6B-VOLFPWAd39VGE790vKUFPyLaJSyL8vDHshsuXB-_nxFoH0M2V8fkjLGMIL43Aet1KWvnely8Oy3vLQNPUxjHrt2v__JHrzDm80_wlmtpeqNYfV0N3W0Mt_gtErSzx-BskxwC9H_2_RYK6QNUTIcVGTiT2k4B6ZvEcnt8kkH9cLuqng8nYWSRPxlYRFlCkLf0XoU_iXYIq7-9m4xfTMMa7rW_bfrlrp-sRw53XMynx63ffFEcl-RqtFnppS7OEUaGW8-x3mK4qVSyPuDtUbZvQId18p3BYl5HD-m-I0buOwzskk7y3qBBl8E3b5BjmmKDLVFscqAnxHoHdtDM9s4fbDVSUI36oSvGr7SpiwdpbbHUHJmmslJgb37_BMWmE1gcJetIN25wctpcuHOECeEOI4RCUhd39PYHmhEAyrdRylOjDlh2Yo6kjL2JEfb3brQc7o1N3ij6jGuj_-vFBSFdSXBrzOgO4y0tCJx1CNhZK9i-K2T1vt9o53MLQw-0sohjY2aW3RgZQUf4AhCkceF2XZCbjk3sEQpCYNjZMEWBWd3bBKXvxdSVvjpaQeMdcRWnGCNgjV93VnBKfX1tNU6uFjrKnen6Z8GBnhJSJOnp9TkMXaBPaQhoO6oHNNxZ0nnU1miBU7GhpQRbgJjooTgAsj_139cS5mMaeyr0-VADu4iUjSLn9fHTFcA8x_2nfwQub6fwzplA6fhfyE-QsQl3tpucCq43KQin--5MGpI38AP8T2d-p6PIlz",
  "id": "rs_08c960ed07071122016ab4947856ec87d0ad36ebbd665d3139",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.055,\"left_z\":0.1,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"The gripper has closed around a nonzero thickness of the plush. I’m lifting it clear of the table to verify the hold before moving over the safe.\"}",
  "call_id": "call_mVNCVarUSJJj4vomghQ2jKjP",
  "id": "fc_08c960ed07071122016ab49478ef1c87d09c909d98956e3258",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mVNCVarUSJJj4vomghQ2jKjP",
  "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]: [-0.2958, 1.2968, 0.5686, 0.0109, -0.2672, -0.2409, 0.1307, -0.0238, 0.8852, 0.6975, -0.577, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.352 left_y=-0.0548 left_z=0.0899 left_yaw=0.0452 left_pitch=-0.1073 left_roll=0.0048 left_gripper=0.1307 right_x=0.2829 right_y=0.0002 right_z=0.1589 right_yaw=-0.0031 right_pitch=-0.1819 right_roll=0.0031 right_gripper=0.9995\nstate[joint_eff]: [-0.7316, -5.4085, 9.0598, 1.7216, -0.2027, 0.0464, 0.6813, -0.2803, -1.5111, 9.4427, 1.79, -0.0122, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7f2af9add53e1a7d4aebf98bd48e60f86317d5c0b8449787c15acc46cac5595",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5dafd7535f1c98b4d6c1a809f28b33535d6469d452a548b65f4b35ea82f3cbf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5e7eac464d23c6e807943bd1abb2719129be3ab8e31c8de1fa15f42cd4fda95",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3302, 1.203, 0.2623, 0.1711, -0.2806, -0.2111, 0.9996, -0.0238, 0.8043, 0.6151, -0.4553, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.2916 left_y=-0.0444 left_z=0.029 left_yaw=0.0077 left_pitch=-0.1541 left_roll=0.0537 left_gripper=0.9996 right_x=0.2862 right_y=0.0001 right_z=0.167 right_yaw=-0.0034 right_pitch=-0.0618 right_roll=0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -4.1504, 5.4085, 1.8388, -0.0317, 0.1197, -0.0366, -0.0752, -1.4017, 7.3094, 1.8779, -0.0659, -0.022, -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]: [-0.2901, 1.5467, 0.4313, 0.3851, -0.2657, -0.2249, 0.1282, -0.0238, 0.8154, 0.6151, -0.5003, -0.0185, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.354 left_y=-0.0535 left_z=0.022 left_yaw=0.0413 left_pitch=-0.12 left_roll=0.0205 left_gripper=0.1282 right_x=0.2798 right_y=0.0002 right_z=0.1554 right_yaw=-0.0036 right_pitch=-0.1179 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -6.4752, 6.3111, 1.5702, -0.0611, -0.0073, 0.8181, -0.1436, -1.7573, 6.9128, 1.8632, -0.022, -0.0415, -0.0073]\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]: [-0.2958, 1.2968, 0.5686, 0.0109, -0.2672, -0.2409, 0.1307, -0.0238, 0.8852, 0.6975, -0.577, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.352 left_y=-0.0548 left_z=0.0899 left_yaw=0.0452 left_pitch=-0.1073 left_roll=0.0048 left_gripper=0.1307 right_x=0.2829 right_y=0.0002 right_z=0.1589 right_yaw=-0.0031 right_pitch=-0.1819 right_roll=0.0031 right_gripper=0.9995\nstate[joint_eff]: [-0.7316, -5.4085, 9.0598, 1.7216, -0.2027, 0.0464, 0.6813, -0.2803, -1.5111, 9.4427, 1.79, -0.0122, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7f2af9add53e1a7d4aebf98bd48e60f86317d5c0b8449787c15acc46cac5595",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5dafd7535f1c98b4d6c1a809f28b33535d6469d452a548b65f4b35ea82f3cbf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5e7eac464d23c6e807943bd1abb2719129be3ab8e31c8de1fa15f42cd4fda95",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJR_FEnXAmIgdBbYToePiMgDRsi6Cqiuk0WQD45PPlhuYp2Da5hi2AvFeGK7I0q7Ivr6TnimcZSSU-iXTr_sMHkr9FI5U8NjNRoteo83MEmDFtlLVYoiZBu_GlOU2hTiZxqcLOLS4pibuTMikWxW9XSPXXBjVTguqAMK6SCVlAA9laFWMMI9nR4zdBfEhFtS61ku6FXyB1rv2-N_w3sTmtY5N74q1fHcjk2EptqXg8jg3cIpNLTzKdQR8K638aCOHDU4T1ks5qcePb3PTuw_8C0gAvYecMLxWeoV4JDN1N4qmTK0JWBQ1jM5Npd4IXAm2RdxU6WETnXZmeQn1wfxPbKNY5_-w5IpZWMmkwg2LaN38i6j3r6J7jkO_gYA6U9YPwzCRQpkqKh2IgM1hd-Gd2tdqWj2hx_l2YZOLUp2g-zSjyF_N5VAuLfx4hSXk5bO8ix8sEIBAKFtB6CrBZFmCmid6lxEd_G9YUOLEOtYxgElaLUdbrc_V8AN0bk8XyvpHveWPSK52xtXxVHB4MS8bq_tRmGveVxTPgvaQ5Gncnby0Nx91MJlAe3aqtYwG7_oW5zqj4zyrCwO5ImE7ZRLL76uPpV2WzrE71KuBvC5akqk05mwmK7ePD0tBgdVuwKEX2Mr_gttm5kW96oKpUa3gJV7ODiicWaAI7jqvDOt6vWqoSB01gHO1IuBiG1bO1TtqKsQlCJX3IEpBH8kDPeO6x6X7h8BeAbMEUPejfN5oMoZQzfyIIQkdE2w0NUju9kFfbtD3tYpeZmTgCylz2MWLEGYpFKP7ekjIxZsPxYmA3-Y92wagirzu3-cs5mcZB4i51nOtibPwaMJbGGhbyR1qa4vieTt7Y-iICzgmWaxjEyU6QVPc8MYnMQDBamsbnLLJuJI_rlID7lCYmn-o20zKJb91OXxwLDQNSdY4hj2yAqJ_J_DxC3KE4CJjXA36K81fvhQgZDlh3X23io4y0AbM6IV0cjk6b24hCXW_ERDLRYUa3QrtZnifRZH3ka7XgyO40hsRD4wD-eQMsPDQfGwBrjCBEQJ2HmgC9By9IN8mVuX-JdWePtLLGuAr0Xe3C0o4EKXQdlW7lQzK7idgb_gM2HPZf6qe7vOHihBbHwcQ2y7xiAQ2H6gh4iR0F1NJ_DZVJAFC1zQPh444Jirq3HSg7YxZojLSMzeNv0htYdEzU_6hSN2HS7hI2ehR925qEMmnRFFVYT5k-WiV6Ne8JnxSQovhloAkhVbcI_mG0JMzKdZUxDa5wt5D9bIQ-fWZ0UwIYbvj0EeL5-rAhTMBjJhQaQlEllatmIg8HtB00AcApmEpVqs8aBuctT36dDVR-LjpNyuN8qNw5E6xu-ij4So_ktjvnOA2sKKh-iSt08qfrjwdlp4DW2SPTWiEdOmbmezXh9XZS7Oyd0sVoE96GPkWc_6Ou2U0N5Awmy3_jZV3EOEplQuLwMsebc1YzYByqBveDxz3lnTRu3fS7b2jLzq9nmdg5J3mOPLtwuscfgLUchXtksK_UVOf8hpqC4Azr15XPlNwIGFrl-TRyvZzIdG_S74tLkTpZMIDX-BAxsvncCNRZKYC89VmHVq71Y9AURNAKrtg-XtLnGDqZpG5eh310oFZMlMALOElNTiXlKIiEjniXwWfso0ELHTLKtlU9uixRGtXqRDw1r6TdBNtjCMW8j0R9tJooQW_4nrCJiBIgu508WuhebzkXx14WpSbuKnX1syAeXcY3TTA9Zz17hCfsO_zvCRF50mfMscjTm2u7NMJ5uNaqiFF8MQFis60Z8zQcOU7VYCcp8Q5BOlqE_Dka3_nWPM2WPtRyAhIS05a_fvcbKsmloSmiZPAMQmiqd15uMRoqAmRNFMl3hbPtIAqKpcVw==",
  "id": "rs_08c960ed07071122016ab4947be27c87d0b26c719291577772",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.19,\"left_z\":0.19,\"left_pitch\":0},\"note\":\"The white plush has lifted with the gripper. I’m carrying it above the open red-lined compartment, high enough to clear the metal rim.\"}",
  "call_id": "call_pJtqRaLNQtgPjzkFAv4wMNvL",
  "id": "fc_08c960ed07071122016ab4947ea3d487d08eff1341d9f311a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pJtqRaLNQtgPjzkFAv4wMNvL",
  "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]: [-0.6125, 1.6444, 1.1873, -0.2871, -0.5198, -0.4309, 0.1313, -0.0238, 0.889, 0.6975, -0.6121, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4209 left_y=-0.1841 left_z=0.1699 left_yaw=0.0344 left_pitch=-0.049 left_roll=0.0153 left_gripper=0.1313 right_x=0.277 right_y=0.0003 right_z=0.1518 right_yaw=-0.0029 right_pitch=-0.2208 right_roll=0.004 right_gripper=0.9995\nstate[joint_eff]: [-0.3761, -8.1436, 9.2786, 1.5653, -0.4664, 0.0513, 0.6276, -0.1299, -1.9897, 7.0222, 1.873, -0.0855, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0639f5367d08d330ecce4a7da3b4d503a4112e07801250e22cccc79f3280bf4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62e64e3397c4d5a3c36ae8753882133ea3ab16bc31a6ef72910c97cb2870debc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:565714ff78d7042ace9bcc05b732127fa88cbb925c774778c27eba6fcb14fced",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2924, 1.5471, 0.4114, 0.4736, -0.268, -0.2146, 0.9992, -0.0235, 0.8097, 0.6151, -0.4797, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3604 left_y=-0.0559 left_z=0.0314 left_yaw=0.0333 left_pitch=-0.055 left_roll=0.0079 left_gripper=0.9992 right_x=0.2828 right_y=0.0003 right_z=0.1608 right_yaw=-0.0029 right_pitch=-0.0915 right_roll=0.0012 right_gripper=0.9995\nstate[joint_eff]: [0.1436, -2.7419, 4.5333, 0.6374, -0.0024, 0.2613, -0.0464, -0.1026, -1.4564, 6.9949, 1.9609, -0.0415, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2958, 1.2968, 0.5686, 0.0109, -0.2672, -0.2409, 0.1307, -0.0238, 0.8852, 0.6975, -0.577, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.352 left_y=-0.0548 left_z=0.0899 left_yaw=0.0452 left_pitch=-0.1073 left_roll=0.0048 left_gripper=0.1307 right_x=0.2829 right_y=0.0002 right_z=0.1589 right_yaw=-0.0031 right_pitch=-0.1819 right_roll=0.0031 right_gripper=0.9995\nstate[joint_eff]: [-0.7316, -5.4085, 9.0598, 1.7216, -0.2027, 0.0464, 0.6813, -0.2803, -1.5111, 9.4427, 1.79, -0.0122, -0.0611, -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]: [-0.6125, 1.6444, 1.1873, -0.2871, -0.5198, -0.4309, 0.1313, -0.0238, 0.889, 0.6975, -0.6121, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4209 left_y=-0.1841 left_z=0.1699 left_yaw=0.0344 left_pitch=-0.049 left_roll=0.0153 left_gripper=0.1313 right_x=0.277 right_y=0.0003 right_z=0.1518 right_yaw=-0.0029 right_pitch=-0.2208 right_roll=0.004 right_gripper=0.9995\nstate[joint_eff]: [-0.3761, -8.1436, 9.2786, 1.5653, -0.4664, 0.0513, 0.6276, -0.1299, -1.9897, 7.0222, 1.873, -0.0855, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0639f5367d08d330ecce4a7da3b4d503a4112e07801250e22cccc79f3280bf4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62e64e3397c4d5a3c36ae8753882133ea3ab16bc31a6ef72910c97cb2870debc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:565714ff78d7042ace9bcc05b732127fa88cbb925c774778c27eba6fcb14fced",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJSDS7WcDqMxVIIy3IuK7_qnwB0IqZnp4vJ9SNccMSgbGrSe4q_Ob2o6MYdqhfvm5Bdsrvb-37r_X1xo8xAAWyOPcIESa0wcH9O-cbCWrBle9IY7pDxKKSIErTeoYajK3H-0jiMjF7uf9xLcQerMvmi_AyANW11q_h9sm24qztL7LrQBS9pscCe6g2b-umUVXhBOiESLYWTX73FH6MuQ86QdsMMZ9vOx98D8ce5kovObSZlMuYZTrCeRnrQcIaEY75EU-YBAJrMU1N8jaoP-CF_l-xT4YV_bXCh0zRaaKR47ynvEN0pNh-k7182-IbkgmC12DSmzDTs7ZkIT9si7aFW9vEuNjtrGCeTWpwhjz0n4ZD6yjaujxlHVddQWflB6EGuCTb0QHuOqlAxMCeXnz6lbnh4P4xlBRDNQfIlUb5w71uMJAeEoJ4euJ9BuSAwdzIvnycLc28yllIsS5Yc-4Tp3B-xJYbawu9RD6T5XymHQTkmg5OlSAywdpVSl9ihYQa0g-uGcEhNMjciytxVwr_h716q-eTd-lS5UIQo8fL8SKl1AUrYhVJjV918IumOSqrgC9JBjS71qzW6buUfCCqEtwLteIAavXy3BkccTZ0U7Hz6vqXfKf5DRYtsjzMqKMcMmk2mruW1Wu3m02u9lxwuOlR8qEPLX9eEJEdq44qMRvIM7ddGXKPz_z4MunfPly-gevlIlq5MSRreEUnfIW-Vg7hZohxlXCHgUF8v-N5vPKxifT2qMkAPPnUsy9vtJTVc5koFNTr43IM6CWua65yVNq2T6fDZ6RFSnsHpFoKtpKssOJWGHY3q8noTnZsRX4OmWbjzh2y1xZsR2fvg81lIjw1_QldDXghzdFDQDwYpOf1md0ptfcmbak2RTzhY5Dl47onOo_lSH1z8Hy4rAxwAeg0fQGzrRNPWXHgYyxokeWINgMEvHDCnajvxnZEfYobwNn8ElyR1kutvIivNIXbkKTGhOGyFa6jeqv8pvXXGBNqYbqkDLlG9AqXxMlYtO5zctGa1yC4cUQ547OW2sD0ZIEahsTZesfp_Wy8SYUKvST6Jo06R4Rv3MRY6TBhWP5DZCzzVdKRsOpev1_NEl4ea4OW9c8eSd5PbhzzAOhFCPB-eT_KCeH-yCLXiFT4ASX7cPn2b7xyQNsNcS0V1aeeM6ab0DOABRmS7xaWZMXCUxdZV5Kkvx_Rbfv2YjxI_-YvV9H-cna_69q2nodQ0UfEXcw_qE7I3BGx0nO1qeGHRKXbI=",
  "id": "rs_08c960ed07071122016ab4948240f087d089e1cdc244db72c2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.19,\"left_z\":0.065},\"note\":\"The plush is suspended over the safe’s open compartment. I’m lowering it inside before opening the jaws.\"}",
  "call_id": "call_oc3pSjGH81JXcZOqmFx4aqHU",
  "id": "fc_08c960ed07071122016ab494828e5c87d08368bd2a03950756",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oc3pSjGH81JXcZOqmFx4aqHU",
  "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]: [-0.614, 1.8332, 0.9897, 0.036, -0.5171, -0.4324, 0.1331, -0.0235, 0.894, 0.6971, -0.6357, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4209 left_y=-0.1855 left_z=0.0624 left_yaw=0.0345 left_pitch=-0.1006 left_roll=0.0509 left_gripper=0.1331 right_x=0.2728 right_y=0.0005 right_z=0.1464 right_yaw=-0.0024 right_pitch=-0.2498 right_roll=0.0046 right_gripper=0.9995\nstate[joint_eff]: [0.1983, -8.1846, 5.7368, 1.7949, -0.2369, -0.0122, 0.6032, -0.0479, -2.0991, 6.8308, 1.6728, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cf01d0d5a6c1bbce4125837eeb743586905ac7fcb7378b4ef78845c2c222c0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8dacb5d73476a23bf48299fed69a264655c5a150ffddbf8956c727a3f892082",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daaaffd9391384a40b0c74048427ca302efe2a740d63f5e55d7a58a7f15a22ce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2901, 1.5467, 0.4313, 0.3851, -0.2657, -0.2249, 0.1282, -0.0238, 0.8154, 0.6151, -0.5003, -0.0185, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.354 left_y=-0.0535 left_z=0.022 left_yaw=0.0413 left_pitch=-0.12 left_roll=0.0205 left_gripper=0.1282 right_x=0.2798 right_y=0.0002 right_z=0.1554 right_yaw=-0.0036 right_pitch=-0.1179 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -6.4752, 6.3111, 1.5702, -0.0611, -0.0073, 0.8181, -0.1436, -1.7573, 6.9128, 1.8632, -0.022, -0.0415, -0.0073]\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]: [-0.6125, 1.6444, 1.1873, -0.2871, -0.5198, -0.4309, 0.1313, -0.0238, 0.889, 0.6975, -0.6121, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4209 left_y=-0.1841 left_z=0.1699 left_yaw=0.0344 left_pitch=-0.049 left_roll=0.0153 left_gripper=0.1313 right_x=0.277 right_y=0.0003 right_z=0.1518 right_yaw=-0.0029 right_pitch=-0.2208 right_roll=0.004 right_gripper=0.9995\nstate[joint_eff]: [-0.3761, -8.1436, 9.2786, 1.5653, -0.4664, 0.0513, 0.6276, -0.1299, -1.9897, 7.0222, 1.873, -0.0855, -0.0611, -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]: [-0.614, 1.8332, 0.9897, 0.036, -0.5171, -0.4324, 0.1331, -0.0235, 0.894, 0.6971, -0.6357, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4209 left_y=-0.1855 left_z=0.0624 left_yaw=0.0345 left_pitch=-0.1006 left_roll=0.0509 left_gripper=0.1331 right_x=0.2728 right_y=0.0005 right_z=0.1464 right_yaw=-0.0024 right_pitch=-0.2498 right_roll=0.0046 right_gripper=0.9995\nstate[joint_eff]: [0.1983, -8.1846, 5.7368, 1.7949, -0.2369, -0.0122, 0.6032, -0.0479, -2.0991, 6.8308, 1.6728, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cf01d0d5a6c1bbce4125837eeb743586905ac7fcb7378b4ef78845c2c222c0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8dacb5d73476a23bf48299fed69a264655c5a150ffddbf8956c727a3f892082",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daaaffd9391384a40b0c74048427ca302efe2a740d63f5e55d7a58a7f15a22ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The white plush is inside the red-lined safe. I’m releasing it onto the compartment floor.\"}",
  "call_id": "call_SBYTazA8BYWABzPLAZ5alYXS",
  "id": "fc_08c960ed07071122016ab4948595d087d088cbb0a2e2cad962",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SBYTazA8BYWABzPLAZ5alYXS",
  "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]: [-0.614, 1.8534, 0.9752, 0.0216, -0.5171, -0.4358, 0.9953, -0.0238, 0.894, 0.6971, -0.6575, -0.0185, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4143 left_y=-0.1808 left_z=0.0465 left_yaw=0.04 left_pitch=-0.1396 left_roll=0.0783 left_gripper=0.9953 right_x=0.2688 right_y=0.0004 right_z=0.1428 right_yaw=-0.0029 right_pitch=-0.2716 right_roll=0.0048 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, -10.6598, 6.8855, 1.5458, -0.2906, -0.022, -0.0855, -0.0068, -1.7026, 6.9812, 1.663, -0.0171, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c18bcf15cd8e303fb6eefd4425e79e0e2285cbbe66d9bfde147db7ba50b34201",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f48697def3ad1d89c64eb888f86abe00fbf2882d87164eff67d125a6495a2c47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2a61fad582c0d9d27cc97249c5dcaf11e446b6a41247bf750eb8cd6c76be34e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 22 changed as sent

message 30 changed as sent

message 33 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2958, 1.2968, 0.5686, 0.0109, -0.2672, -0.2409, 0.1307, -0.0238, 0.8852, 0.6975, -0.577, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.352 left_y=-0.0548 left_z=0.0899 left_yaw=0.0452 left_pitch=-0.1073 left_roll=0.0048 left_gripper=0.1307 right_x=0.2829 right_y=0.0002 right_z=0.1589 right_yaw=-0.0031 right_pitch=-0.1819 right_roll=0.0031 right_gripper=0.9995\nstate[joint_eff]: [-0.7316, -5.4085, 9.0598, 1.7216, -0.2027, 0.0464, 0.6813, -0.2803, -1.5111, 9.4427, 1.79, -0.0122, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.614, 1.8332, 0.9897, 0.036, -0.5171, -0.4324, 0.1331, -0.0235, 0.894, 0.6971, -0.6357, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4209 left_y=-0.1855 left_z=0.0624 left_yaw=0.0345 left_pitch=-0.1006 left_roll=0.0509 left_gripper=0.1331 right_x=0.2728 right_y=0.0005 right_z=0.1464 right_yaw=-0.0024 right_pitch=-0.2498 right_roll=0.0046 right_gripper=0.9995\nstate[joint_eff]: [0.1983, -8.1846, 5.7368, 1.7949, -0.2369, -0.0122, 0.6032, -0.0479, -2.0991, 6.8308, 1.6728, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.614, 1.8534, 0.9752, 0.0216, -0.5171, -0.4358, 0.9953, -0.0238, 0.894, 0.6971, -0.6575, -0.0185, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4143 left_y=-0.1808 left_z=0.0465 left_yaw=0.04 left_pitch=-0.1396 left_roll=0.0783 left_gripper=0.9953 right_x=0.2688 right_y=0.0004 right_z=0.1428 right_yaw=-0.0029 right_pitch=-0.2716 right_roll=0.0048 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, -10.6598, 6.8855, 1.5458, -0.2906, -0.022, -0.0855, -0.0068, -1.7026, 6.9812, 1.663, -0.0171, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c18bcf15cd8e303fb6eefd4425e79e0e2285cbbe66d9bfde147db7ba50b34201",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f48697def3ad1d89c64eb888f86abe00fbf2882d87164eff67d125a6495a2c47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2a61fad582c0d9d27cc97249c5dcaf11e446b6a41247bf750eb8cd6c76be34e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJSPlFttBNuvq3x47l-4sgmhmamXwMO2IW82x6lHu9z661-R1FI3eoDYw0O65N49DD5vsBlDtso4UaHZTCXvBhRQeU4OWyLM8jt6tiT8KmLY_MxKDJpOsRWzeUDNVNjUw0QzmjubKX4OwuMlzPIGCw09EWaSHxXgAR6bvQvJVPNl4zn-Im2lFwnOvNKvEtTCHPzVW5zqtk-ig_wl4qfFs-4Bw8fNuCbhN_h20DmnTxNINROJbx_7oVoFu_Wj391YUBCkqgp2RaW33CXc52J54W4ahCTmsaa8oFMyomypjphhXkpt9bsHuProdrNsrY3mdDHeR6bdWDShqbl_2R6zh59YoEwqQIIh7Gp5IwOSftQZy6JgaXScZwpCAkreP7EalFSPxK-u20Bjb0dC-Z4MIcFi8uXfGPe5hsreyxgmNJkt67SsPDvHTSfz29QYQjEYE9Ur8JrhA_y7kqHCjZN18sc6TOkpBq1QOXg0xiYzRV9EZ6qX0P5BA5dIGO_vqfinriOx9xpCoJNxWR7_oqNkg92_jAovS6Fyc7J_XuVgLfR66QX1PzqvZdrju0j1UYdn00vllsVMWpqngsZGRF1NSpOveIlsYCMizKcmY2GABmYuIKN7-pTBeWGflK_wNii5TPvepTJ0JvTITW2sCF4IWTEFllXybyMvs7VW3HSpxU3HKtS3zLFWln9V0r8gm-NJ7vILbVBdjUQAxFPFeeV4sHXkhkKrzupKeUhwNrEhAmdHTxt5w9oBthmZ0xJkE8xakcGvcXTU8i76yoovfQ9bGwy7199UdZtLUxOgekj2eJtxQjCEUvLQoNGkWhejotrYDIyEmoJDmDIkpCm4lRfc0xWd5j7SKKC-iF5euiETgv44uqxq-d0lf86Eq_LtEhG99Dp6gAD2FRHRXOJJGprmfasS06YU4XCBNztDnPBGDBTswRO1fxlwHw5oCNk1jzoCZyDY9kLhAY1Fex0Nd2Qa1dvvExvcq-s0ayK5oGDX9KReppR8tj1sZ5xurmZxtfw7WAugeXWlChUJAZWBEOYpNnQmowkK9DZnpcr3hNIx0jWHFLz8cT0pvjv2dOxcymT1-DHQ6BSN2h11VsS4mgtYMXUqbaL7DkS2Pvng4J93J7w6KI4mNhKnfEoAAOap637RWZ5567FixugF8LRxfHOZsVhhqUU5kEGaCaK6MzwYO8O8_tJx7jRSdx6dCf95wwiRu9UthUd1NYcpX1C9zGn8J9uOOJa5Pyl0ohqy-GNSbHvCyVlgHqmUgNs_3bqGdfuCnzyjxuSTozhIMKVErM5-Myp-wEITXrfN3tENJa9--OGE_DpIC0mT014SmXpSPt9M5Z5_pUU1kxl3h4MB_vqIgewpmeaDUUzaaLxIqD9ttuDggvgtRdFd0c26FmoqUxYZnRgmLcO8zui4_xg2Ygi2HtdqUXtcv4r7PcQ8qAE71mh63OWZWF8MpqzYv-se8OIiYezOwVHofeYfzRGYkiDS__wDBcWRpKSRgKXW0fNczYQJcM8zVT9K_IoGGDlHwSkP9Qc05JAfUd6iAMGg_yh6pO9ZYJGIJtNnm7EfVc1xrC2pzZ_h5BpMCzT18ENEUctESXgj_OUQ_yjhUq_3Qb1_G5gRKIeTgUOByMAk_XEOFRjJUkci2zuJMlOipvuiW1kcsYj26dGKZS0OM-ZvIxHq7LeLbRLFhDY159r-JZpbY9LR6K35No-2zUFGzy2o2OtT-zx8KXRKOWhpgtMBRJDvdTg_O4LNZbyDT9CImvVneMIBWR7tZK81djD8ItD7dH3T7TFWVX5RaRphOUFe1Z7H2_DNrvx6glQYUHlM-NLuvVznS9J_cN2UP7k1t6IfQiJOb5Lkev8hh6JR9ySaxhjWwskx61i_O3ocAVaJj_rCkPGF3kw97idTnfCsBkMt9lRSkGaD_eutxlVrj6RMkdvEEfK8CwGkh6HAaBtTpiWmUx8mlLHCPHl0wCbLDPBoaDHlDpu6ILXqkrnblrtE9KtRu7VPRYe5KdRcdBopRevUoURw0uPS3A60gGq0aiEJmyqYk_KUlSZEjQHejM8rdygMc4KL-5VRERI1hlz6vH8nAzvrRts57MN7MNuhFjLp7aXAOPp0ngGCs-5JTzEIeoClK_sXe0fHDM9aq3Xn-9HwiGMDg16hJ1uMMubRJ02L7YY2d2WdUV72zNYY_NLXiOm0UT6Kq7evU4sOsjveKJyjFkpq0jNhMiJ8I4InR_8uWVVL-s-A2yU1KISMBiOFUGpQiPNAtNH3BjNofBhHe3UpsAqKweeJGLH9iyoINFRukzEQRjt08nTlTXipW9JeyhgEkGxz01crbHk3ngbBcjlHhHoWviehVlIhcoBFQCAOz-SqF8P7YaIML-cfNO_4HGItB93W337uU4bu4ERH2q0odJb4-EjDt8bwcbeMorKyNtM-_g55yj0U0C1Hw70IUM58yFL9qUsShMbn7cD7DDNWKNVn8aixs7cd34C-zLYEQdKQn665oBj6cbXiE3_T6GM3qdbB0YjsSIoeuxuneIfKvsBUP8XH987U59KF69ezMf40_KFrKCmMHtb5tgZ8XOkyJZ6aTjJl_d-a4P5rvNS2qr-e4iA=",
  "id": "rs_08c960ed07071122016ab4948915c487d09c0deb25b4aed94a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.2,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0},\"note\":\"The white plush has been released. I’m lifting clear of the safe and restoring the idle arm to its parked height before the next pickup.\"}",
  "call_id": "call_dRUgwyOvbiNesz52uQKn3zc7",
  "id": "fc_08c960ed07071122016ab4948e80d887d092dd76426f60a396",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dRUgwyOvbiNesz52uQKn3zc7",
  "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]: [-0.614, 1.7042, 1.3449, -0.54, -0.5171, -0.4503, 0.9964, -0.0238, 0.815, 0.6971, -0.5663, -0.0196, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4159 left_y=-0.1819 left_z=0.1687 left_yaw=0.0521 left_pitch=-0.1726 left_roll=0.0939 left_gripper=0.9964 right_x=0.2807 right_y=0.0004 right_z=0.1791 right_yaw=-0.0026 right_pitch=-0.1014 right_roll=0.0019 right_gripper=0.9995\nstate[joint_eff]: [-0.0752, -11.7949, 9.2513, 1.37, -0.2613, 0.1294, 0.1001, -0.3487, -1.9624, 6.8991, 2.2979, -0.0708, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6659a6cb3afe7d516219da24b653a602b2d441960bd7b4025a5c1d1612b97797",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eaf3f789ee3a48e47c96140f2e67f64083257bff817553ea3c61960102f14eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0780e7f2b14e8e5fe44c6ef4033cbb22d49a1fdfa287840315c6f23860b81db",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 26 changed as sent

message 33 changed as sent

message 37 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6125, 1.6444, 1.1873, -0.2871, -0.5198, -0.4309, 0.1313, -0.0238, 0.889, 0.6975, -0.6121, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4209 left_y=-0.1841 left_z=0.1699 left_yaw=0.0344 left_pitch=-0.049 left_roll=0.0153 left_gripper=0.1313 right_x=0.277 right_y=0.0003 right_z=0.1518 right_yaw=-0.0029 right_pitch=-0.2208 right_roll=0.004 right_gripper=0.9995\nstate[joint_eff]: [-0.3761, -8.1436, 9.2786, 1.5653, -0.4664, 0.0513, 0.6276, -0.1299, -1.9897, 7.0222, 1.873, -0.0855, -0.0611, -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]: [-0.614, 1.8534, 0.9752, 0.0216, -0.5171, -0.4358, 0.9953, -0.0238, 0.894, 0.6971, -0.6575, -0.0185, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4143 left_y=-0.1808 left_z=0.0465 left_yaw=0.04 left_pitch=-0.1396 left_roll=0.0783 left_gripper=0.9953 right_x=0.2688 right_y=0.0004 right_z=0.1428 right_yaw=-0.0029 right_pitch=-0.2716 right_roll=0.0048 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, -10.6598, 6.8855, 1.5458, -0.2906, -0.022, -0.0855, -0.0068, -1.7026, 6.9812, 1.663, -0.0171, -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]: [-0.614, 1.7042, 1.3449, -0.54, -0.5171, -0.4503, 0.9964, -0.0238, 0.815, 0.6971, -0.5663, -0.0196, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4159 left_y=-0.1819 left_z=0.1687 left_yaw=0.0521 left_pitch=-0.1726 left_roll=0.0939 left_gripper=0.9964 right_x=0.2807 right_y=0.0004 right_z=0.1791 right_yaw=-0.0026 right_pitch=-0.1014 right_roll=0.0019 right_gripper=0.9995\nstate[joint_eff]: [-0.0752, -11.7949, 9.2513, 1.37, -0.2613, 0.1294, 0.1001, -0.3487, -1.9624, 6.8991, 2.2979, -0.0708, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6659a6cb3afe7d516219da24b653a602b2d441960bd7b4025a5c1d1612b97797",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eaf3f789ee3a48e47c96140f2e67f64083257bff817553ea3c61960102f14eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0780e7f2b14e8e5fe44c6ef4033cbb22d49a1fdfa287840315c6f23860b81db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJSTO-YSD93Sicvy9FqPcjBYuSmy8-jMv12wuz5TpA6SVuTCRThrC1ro6NEICskinj8HfIfxkqIBa5_lCIrGVoHV81k5cI6WDmRtnm8VbCvZoacV-1SmdmRoK8Takcg1KNGWLeNNRBRaQFzFqjTusBOn9qSjN-YySvlM230jw1O0_CxVg83XOt4Iu0VxQ-emjoyCqng-P5GnJ4HBcAgs0hgVbVCkU9-c4d4o9oHAjUhSD3SyQod3BPbAlsNjb8J6thF9z3SeR0FDrs_I5SSfsbfE_WC8dJAQfPmT3Ac3ObPa6o6rfOaHoH1ySi9fUw37AN61kwGCISCuYnh92claVWyZB00kPeUZpTb25vVxSm1gHOG6aJnOJRjaGFpm58M9eZo7_UJUurzGluVsKqcdiQEm5JOhIQOGjFjYg4uU7H3Cxw3R8bkreRO75R17a6I4PkZAPtLCAEy3YD-QNwXaRWqVaSraX-GtVMpdRA7wIsv3y_zhNMWZbiJFPATfMEGrE8xqfdsBkapuPhN1FhVYPojFtbDJqMy_j12pcmjZPkUHVQD_ZUL6BK50n7qizfAvr1DsOZpf62313-iA17URD6mdmSkmQ1mo30HD4-whyoNgeuChZLqaAoRfncZow8rPj2xi1lm5mGuqhcSbaQoqXB5dXF73rRAuSRbnEg89tcSxap179gjN5nO6lbvXeZGvfVIvr54NHbl3tZ5NRGjE0YL1sCbFhgvI4FmVk24Jp5dUo44VOsshd1uegi7rzP2PN8i9_RZV_UTQG3lFeYaLViBFiqBY2tqlcPlCFnF3zZRv5rMJg8He97e4IjPJd-OhWsqqya6uouga7BtQWPTdnc0RdAKulSW7J2gyitX4lQsWORAvs-Lg9Os4ok3g01ncV_uYDwz9mFdjtBafxlccf0UEzaGOlXKUztw1T6CvCISSkiWoqwgzv3uYaCxdRzlQ-sBDlvEkDwPCyviJgvvohHERC5eOy5JfJ1Sc3mzMds7F6-OOy6MAks2DPQB_nEGHj600KcWONXWq4aDj3G40Kheg2VmKxC3id6koE7cpv6pzp7j5I5SqfTWDc5z0s9q3FjltEQs7qYTcJscz8udOu24xm-LazBYWhIajVLCQm8xcOHzfoEvfG0XNFGu8TykKBNGpGqQfevZQS_-MvPKDgtC2ZZF4__VIODwnMcoYWGUrPQLvHMzslJRPyndBdkconGQlYW_2DTvrzDKCbS1cmC3utTp6LFNUfNABNNG9dTWbZxgVy1JAUoMmOY_PbnoDnNNg-XuL6W7Tgg2dzj5sqF2r_A==",
  "id": "rs_08c960ed07071122016ab49491dac487d0a72ff07086d09246",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.235,\"left_y\":-0.245,\"left_z\":0.13,\"left_pitch\":0},\"note\":\"The white plush is visibly resting inside the safe, and the brown plush remains in front of it. I’m moving above the brown plush with the jaws open.\"}",
  "call_id": "call_UOcaGqcWM329m3uGRyipg0tm",
  "id": "fc_08c960ed07071122016ab494928be887d0aedbdf66321f2c1d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UOcaGqcWM329m3uGRyipg0tm",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.24, 1.5585, 0.9928, -0.6571, -0.9119, -1.0424, 0.9965, -0.0238, 0.82, 0.6949, -0.5911, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2383 left_y=-0.2528 left_z=0.1279 left_yaw=0.0036 left_pitch=-0.0373 left_roll=0.0975 left_gripper=0.9965 right_x=0.2767 right_y=0.0009 right_z=0.1722 right_yaw=-0.0009 right_pitch=-0.1334 right_roll=0.0044 right_gripper=0.9995\nstate[joint_eff]: [-0.0479, -5.4769, 6.0376, 0.8132, -0.7155, -0.1929, 0.0024, -0.3761, -1.6615, 7.0632, 1.9414, -0.0269, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3784c7f27c4044ee4df0381d544b4fe397b3f9e38335da8c78fe29e839c3285",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:945455b392c9e1cff3c7fe61fb10da0fc999912aaa7b9b9ca2a02bb691503fea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7fd6ada39a56999c1b79c327eeddc7ccbfaf26bef0dc1082da0dce4101b7d82",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 30 changed as sent

message 37 changed as sent

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.614, 1.8332, 0.9897, 0.036, -0.5171, -0.4324, 0.1331, -0.0235, 0.894, 0.6971, -0.6357, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4209 left_y=-0.1855 left_z=0.0624 left_yaw=0.0345 left_pitch=-0.1006 left_roll=0.0509 left_gripper=0.1331 right_x=0.2728 right_y=0.0005 right_z=0.1464 right_yaw=-0.0024 right_pitch=-0.2498 right_roll=0.0046 right_gripper=0.9995\nstate[joint_eff]: [0.1983, -8.1846, 5.7368, 1.7949, -0.2369, -0.0122, 0.6032, -0.0479, -2.0991, 6.8308, 1.6728, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.614, 1.7042, 1.3449, -0.54, -0.5171, -0.4503, 0.9964, -0.0238, 0.815, 0.6971, -0.5663, -0.0196, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4159 left_y=-0.1819 left_z=0.1687 left_yaw=0.0521 left_pitch=-0.1726 left_roll=0.0939 left_gripper=0.9964 right_x=0.2807 right_y=0.0004 right_z=0.1791 right_yaw=-0.0026 right_pitch=-0.1014 right_roll=0.0019 right_gripper=0.9995\nstate[joint_eff]: [-0.0752, -11.7949, 9.2513, 1.37, -0.2613, 0.1294, 0.1001, -0.3487, -1.9624, 6.8991, 2.2979, -0.0708, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.24, 1.5585, 0.9928, -0.6571, -0.9119, -1.0424, 0.9965, -0.0238, 0.82, 0.6949, -0.5911, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2383 left_y=-0.2528 left_z=0.1279 left_yaw=0.0036 left_pitch=-0.0373 left_roll=0.0975 left_gripper=0.9965 right_x=0.2767 right_y=0.0009 right_z=0.1722 right_yaw=-0.0009 right_pitch=-0.1334 right_roll=0.0044 right_gripper=0.9995\nstate[joint_eff]: [-0.0479, -5.4769, 6.0376, 0.8132, -0.7155, -0.1929, 0.0024, -0.3761, -1.6615, 7.0632, 1.9414, -0.0269, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3784c7f27c4044ee4df0381d544b4fe397b3f9e38335da8c78fe29e839c3285",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:945455b392c9e1cff3c7fe61fb10da0fc999912aaa7b9b9ca2a02bb691503fea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7fd6ada39a56999c1b79c327eeddc7ccbfaf26bef0dc1082da0dce4101b7d82",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJSZ2NqbaTIPyS7vfm1vs1qb2km2pefPN8oFwsOBpQb_pVV-MgweStbgvjocpMclMK7z6voo-w1-3bpvV7wI8WfevOsiRNO1j2_8E3aWKKhgrAHvot-D4CeuFxeZkRnZ_O68S-m8_7wkOJNBZ3xxpJ8gS3YmEEzoXd5YS_fdilPagSyRZW2IWLF4AdMEF5gOTK7yxdoSXe9126bskbotqGKs27rwOOKdHMJgoGutXWGpF91WIAMAy6XO0gLZj6a3kZv6UyA4RFgAUawEJJiTTPE1ePlElwNxKLZzS79xSIBRM96C6GUNcRfW9IArFdudz0LEodRD5z7UWc32oPcd5eTI0Bj-O9ArATO6u50oZgg59Uuz9u1IuOoPmIrQoZrF_1ZyoSJr6wV6u0Z7QAsVav_Bcf0Gj4X_lGmBP8_VBOofbsRUlfC3Lr3JOWA27iG87CxTcq_45CiDSrduLGti-O68zCrtFkKuDLe1A5ddFFeAfz0mX2PvXGmQ_DC0QfD1f4RPtuNKDwSw--mmtOexT638H1alyfPSoam_X1QlwwIYB77n6YQuYJy0SZ8ptEwgtLkS6tJ94WQai8OkkDlHn-83s4v7moUrxEN17-5UP9sAlkq9s_PS8gMAr1QY40dct2Yz87_ASDCR6ELJPtb31qwyF3KY6zLmHiw6B8olgw_JtRQHWyJu8z-XE6Uo1U7DWlxx8CJhoTc8fpvv0mwPyL3Tji4WPY8XaK0FBr6YZXUbSu1LkWXNw_o-HR2VzwSs_qdGqepMpvIjEqf1bqNdVwMz3pxIcufguoyoshUE_cTBOfSj68SfffaPaItgPZG-czf3nWeZYNEYe8TWSzcWLdwWQCYfTMDlZKF-VoxS6RXAehQTuODFTa1wObgtXZ6uWx-NDrQKJU9_tZEuQQjTs6vuC0oa_ET_5AyK4ANj7pbgUgwi_rHjNtZm50m9ZpXditqyan_28GzZwW8MHp_2FyOAonQnLyJCq17gV0siYc9-RbOVedaYbc1ZBw_CRBsVbm7ephuHNfKknPE9WlszoE_QBscKabBrXtT0wH2DzHjYANEww18kOWsfFKVsdqmTD3pzUIUs6vKhVx4mad40i9LNzLk3YNGGjwlP5f9heeGNfgCwCFTywSns_MGwmHI7Xveq6tCknKhsEHlgydlQZLDbRo_dSCafMlzqlmOL5RukcWjMZasBqWXFTIBBBwyw3ZkBU__yQGV1q2R1_kCC4M8wO03-CrIgvFjeVQeLWYHuIWvHFoAaTk2yZL4SgVxBZMXWqkc0lYEhU1RwzgELm98N9dacfG1ZpWBnbWNdC-EkDk3sK0zWm7SdQ0AePGRpKU7S-NKsH4e5KGzwWfBXR4IBbvEETLNclAWOxri63XG_MFxTHEy0DFfFQeKZ_0WbjuiYg7B3rJyF2dseeKhO-N-anwM0p-PkVA86vuBqV6U6eYXpY-Niaz1vnnedd-STxdkdb-sRj4o2irvtY7tEY-b9DYnGIcxtqAefy3wAcmKIkOkRC_BwY4r_LZMNKEXgdORhsmT-kvMCa5rsqsBwhnG5ej7x68D7qGKFnrYKsV22qj1ITCryNy4XicTxtgz6gyGFTy7LdCbe-UNxVhbLTKFrvWF9fKLFIAF97GaRDZFvxDkrc0-zWYz3FJXbyi5YcbIXx-qkTDlQGw4KX9loJoTYHI6UgcZ3hvg04C86CPdKzwc=",
  "id": "rs_08c960ed07071122016ab49497071087d087bba5afbaaa338c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.245,\"left_y\":-0.235,\"left_z\":0.025},\"note\":\"The brown plush’s torso is centered at the bottom of the wrist view, directly beneath the open jaws. I’m lowering around its body for a secure grasp.\"}",
  "call_id": "call_uBylzoWZxRSCZ8JDmAVD6BCG",
  "id": "fc_08c960ed07071122016ab494988b6487d09bccee2fe2896f61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uBylzoWZxRSCZ8JDmAVD6BCG",
  "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]: [-1.2015, 1.7123, 0.7105, -0.226, -0.8982, -0.9909, 0.9966, -0.0238, 0.8238, 0.6945, -0.6128, -0.0223, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2406 left_y=-0.2289 left_z=0.0298 left_yaw=0.0094 left_pitch=-0.0546 left_roll=0.1397 left_gripper=0.9966 right_x=0.2733 right_y=0.001 right_z=0.167 right_yaw=-0.0004 right_pitch=-0.1594 right_roll=0.0053 right_gripper=0.9995\nstate[joint_eff]: [0.5538, -6.1333, 4.4786, 0.862, -0.4664, 0.0806, -0.0024, -0.2256, -1.4291, 6.8855, 1.7558, -0.022, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b39c592ea2387cff8c949f8aa1f0ec5ecb4e921902b117b1dfda0832f0be2f20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cb01837189a92665819a7598b89180c65168f22c4e2ce2d40abccaaf8f4616b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:580c865c97332c0e9da648384557ea6779da760013a8c961f17979385c20d2e7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.614, 1.8534, 0.9752, 0.0216, -0.5171, -0.4358, 0.9953, -0.0238, 0.894, 0.6971, -0.6575, -0.0185, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4143 left_y=-0.1808 left_z=0.0465 left_yaw=0.04 left_pitch=-0.1396 left_roll=0.0783 left_gripper=0.9953 right_x=0.2688 right_y=0.0004 right_z=0.1428 right_yaw=-0.0029 right_pitch=-0.2716 right_roll=0.0048 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, -10.6598, 6.8855, 1.5458, -0.2906, -0.022, -0.0855, -0.0068, -1.7026, 6.9812, 1.663, -0.0171, -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]: [-1.24, 1.5585, 0.9928, -0.6571, -0.9119, -1.0424, 0.9965, -0.0238, 0.82, 0.6949, -0.5911, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2383 left_y=-0.2528 left_z=0.1279 left_yaw=0.0036 left_pitch=-0.0373 left_roll=0.0975 left_gripper=0.9965 right_x=0.2767 right_y=0.0009 right_z=0.1722 right_yaw=-0.0009 right_pitch=-0.1334 right_roll=0.0044 right_gripper=0.9995\nstate[joint_eff]: [-0.0479, -5.4769, 6.0376, 0.8132, -0.7155, -0.1929, 0.0024, -0.3761, -1.6615, 7.0632, 1.9414, -0.0269, -0.0562, -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]: [-1.2015, 1.7123, 0.7105, -0.226, -0.8982, -0.9909, 0.9966, -0.0238, 0.8238, 0.6945, -0.6128, -0.0223, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2406 left_y=-0.2289 left_z=0.0298 left_yaw=0.0094 left_pitch=-0.0546 left_roll=0.1397 left_gripper=0.9966 right_x=0.2733 right_y=0.001 right_z=0.167 right_yaw=-0.0004 right_pitch=-0.1594 right_roll=0.0053 right_gripper=0.9995\nstate[joint_eff]: [0.5538, -6.1333, 4.4786, 0.862, -0.4664, 0.0806, -0.0024, -0.2256, -1.4291, 6.8855, 1.7558, -0.022, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b39c592ea2387cff8c949f8aa1f0ec5ecb4e921902b117b1dfda0832f0be2f20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cb01837189a92665819a7598b89180c65168f22c4e2ce2d40abccaaf8f4616b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:580c865c97332c0e9da648384557ea6779da760013a8c961f17979385c20d2e7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers straddle the brown plush’s torso at table level. I’m closing around the soft body.\"}",
  "call_id": "call_iomMoQGNlqqsfYY38CFcj1rD",
  "id": "fc_08c960ed07071122016ab4949bc6bc87d0b82ad94b44668779",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iomMoQGNlqqsfYY38CFcj1rD",
  "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]: [-1.1992, 1.7279, 0.701, -0.218, -0.8989, -0.9962, 0.0185, -0.0238, 0.8238, 0.6945, -0.635, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.24 left_y=-0.2252 left_z=0.0237 left_yaw=0.0158 left_pitch=-0.0595 left_roll=0.1517 left_gripper=0.0185 right_x=0.2696 right_y=0.001 right_z=0.163 right_yaw=-0.0007 right_pitch=-0.1815 right_roll=0.0055 right_gripper=0.9995\nstate[joint_eff]: [-0.5128, -8.0615, 5.3949, 0.7643, -0.4274, 0.022, 0.862, -0.3487, -1.0598, 6.8171, 1.7851, -0.0366, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bd79aef52603ba29ef5d03c5ac1b7d0680c6e6f59cfe441295762b16a61be58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d12af58f464b88fa570c76242c06705a142e830496f38ac708bb6273cd750be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb3738709ded4054dd8e4987cce1509746dd2cde608cfecec324d0a7e0c9b873",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 37 changed as sent

message 45 changed as sent

message 48 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.614, 1.7042, 1.3449, -0.54, -0.5171, -0.4503, 0.9964, -0.0238, 0.815, 0.6971, -0.5663, -0.0196, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4159 left_y=-0.1819 left_z=0.1687 left_yaw=0.0521 left_pitch=-0.1726 left_roll=0.0939 left_gripper=0.9964 right_x=0.2807 right_y=0.0004 right_z=0.1791 right_yaw=-0.0026 right_pitch=-0.1014 right_roll=0.0019 right_gripper=0.9995\nstate[joint_eff]: [-0.0752, -11.7949, 9.2513, 1.37, -0.2613, 0.1294, 0.1001, -0.3487, -1.9624, 6.8991, 2.2979, -0.0708, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2015, 1.7123, 0.7105, -0.226, -0.8982, -0.9909, 0.9966, -0.0238, 0.8238, 0.6945, -0.6128, -0.0223, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2406 left_y=-0.2289 left_z=0.0298 left_yaw=0.0094 left_pitch=-0.0546 left_roll=0.1397 left_gripper=0.9966 right_x=0.2733 right_y=0.001 right_z=0.167 right_yaw=-0.0004 right_pitch=-0.1594 right_roll=0.0053 right_gripper=0.9995\nstate[joint_eff]: [0.5538, -6.1333, 4.4786, 0.862, -0.4664, 0.0806, -0.0024, -0.2256, -1.4291, 6.8855, 1.7558, -0.022, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1992, 1.7279, 0.701, -0.218, -0.8989, -0.9962, 0.0185, -0.0238, 0.8238, 0.6945, -0.635, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.24 left_y=-0.2252 left_z=0.0237 left_yaw=0.0158 left_pitch=-0.0595 left_roll=0.1517 left_gripper=0.0185 right_x=0.2696 right_y=0.001 right_z=0.163 right_yaw=-0.0007 right_pitch=-0.1815 right_roll=0.0055 right_gripper=0.9995\nstate[joint_eff]: [-0.5128, -8.0615, 5.3949, 0.7643, -0.4274, 0.022, 0.862, -0.3487, -1.0598, 6.8171, 1.7851, -0.0366, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bd79aef52603ba29ef5d03c5ac1b7d0680c6e6f59cfe441295762b16a61be58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d12af58f464b88fa570c76242c06705a142e830496f38ac708bb6273cd750be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb3738709ded4054dd8e4987cce1509746dd2cde608cfecec324d0a7e0c9b873",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJShp_DSR2fKC2ne7HjA3Yk1dUp0Ll49-Y4w5X8mST7KCH1cwKbAS9ObqkKdhqD3k0km3ZIuZG4ne7_R28gaIukTNSIowv9Np9ty_4yk2QLm6w8xHMrH9SEwJM-sj8sOezNTVGS8VR-V2CIGaA2wt-_ykhTLs0j9aCLkAkvaV38MnZgHL-m7K8lKUhd_SiqL5h8lGmBDDrzgYTaAaE6qKONQCoA9r1TtuRR_ZqLUXzxTJj1-qoEIMW9DqpiW4FZo_IPuod3NfsCg26AFWCKoG6VqRGhASAypLYE2NqdWVr8VRSlzkO9AnqZjYdy0jDgtgEjvP3LnUmSBnTHmNvhHpYIlqosDFlPmxRO0Vx0WlckOhikM-DBPCvCOj3R0QV3vlYDzjIZquXnrxZ5mRDwtHJgqayVOw8kKJbM96vj1kzzp-TdRLPnnu2H-7BAnCV6PjrnplgA5nvuGI9gMP8glq1wiSoRkncNsqykhhcOtSc7ANjrSkN3qyuKFyA4bclZzT2ZSDHsZBdfcfWGMbmyTqBx7YdEbUPTS_DzH87j9c0IYaLff5z_3RaedYI0IfYta66fc-vh8cwHuu3DT0z_nptjcF-HQU_EOSU8_XcNOaQKHnOv4Bchp8n3EV-2OcS3e8ulZwvTiOfM5DVPI2cfF9DWCHGM1hAuIFT75oxAGL5iD6NRTN0jHI0KdlcOe4q19ZtleMp8boNDEJkRo7SUky4kaJ-0txMWxCxcuQx0o6ZUa1ACCgD4ghfHcfSsEu2WJKwAMJIIu-McfzQyYAnMVuOlXw0ESGmRoJemMWyua5UIcpuqZq0mTMU2w7LxaQgEbEcHLfPwgEwieG-XRgI9G1F57oAEloUZGsQmilVh2JQ-hQUyw7KFAgdh0T_Ucc_ZJN7Tsz9OjGKDxzCIROrnKxOvV3djgsQ6pi7FO7NDaBJMT_JUnkobxSmLXXo5TBF2vsyhmPc2OMZC-vx_rJoFVOktIL2OXYi2o2kAY9EnGhbudfzXSePIT9l9nESx5V0RrbObp4E32_dplyFZAeYe1WB2ONEAeLQGbaiC_HZNRUSxYyOBpDQT_T8_ofvuWtm2BdZamtiiEAKnqVLbQKfeM0Zzfky50Nxkh7Al8rNXsNVa0HD41oueSTRg70d3ls4rcMJxBUrv7CSrpBMFqMHPNmaBu3gzDZEh_56Di7DtGCXAtJ8HOfmZKWC_sgg5mOSTQuLgA4EJY7Kz6vkYbw6HNrOhnJwOetDkJ_hr6IBCOV_WWUx1DVcuYq5wNOW6LMMRW_6uI6UHV8BoR350ETsAqkHa-RZFmvX9mZtZHUMHxp0GWNwLmM6Mzb8HVGw2jw2cwg4ew8A0aI3e23LXg_15g4LNp-UTcqLVe--Yf1wNjefaSjcVFYQlGkv9OeZHL_XMisYFMAAjt9EPP2GMYqityhKd_P08gsZf_XnWunq-chPvaCLg7qAM0bzKON2UcqDn8mReLmNE3XQ68WbhU6pVjZCqR4T_uwhR8d9pFMBgdvPgMsvCJazazOAyfSOPYETX8cWd1CZsUCoa65cYqz7EqDZD4P3QG9S2fS0gQR4tUONo0TCNVU57ERpnDNE99reAbHfMjDZRmOAHwz_7PovmA5qvq9A==",
  "id": "rs_08c960ed07071122016ab4949ea7e487d085935ed8d4b4c02f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.285,\"left_y\":-0.25,\"left_z\":0.03},\"note\":\"The jaws closed nearly empty, so they missed the plush’s body. I’m reopening and moving forward toward the thicker torso for one corrected grasp.\"}",
  "call_id": "call_DeHfZ0PGqmUgMYlbQdREGdFg",
  "id": "fc_08c960ed07071122016ab494a075f487d08034841cbddc065d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DeHfZ0PGqmUgMYlbQdREGdFg",
  "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]: [-1.0966, 1.8179, 0.8158, -0.1619, -0.865, -0.8703, 0.9954, -0.0235, 0.8238, 0.6945, -0.6579, -0.0223, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2781 left_y=-0.2395 left_z=0.0244 left_yaw=0.0325 left_pitch=-0.0686 left_roll=0.1657 left_gripper=0.9954 right_x=0.2656 right_y=0.0013 right_z=0.159 right_yaw=0.0001 right_pitch=-0.2044 right_roll=0.0064 right_gripper=0.9995\nstate[joint_eff]: [0.4444, -6.7897, 7.3504, 1.0476, -0.4176, 0.1538, -0.1392, -0.0342, -1.2103, 6.8171, 1.7802, -0.0366, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c8c19b5c3de0d504ac7dc9590f3117e505a83edd74e364a486abe1056819e65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9c5569ad2569e0509878abc49e0e5fb76d953181d4fe0e162052252011f4860",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15bb32425f7b25628cd7a122f1fb4ba6ccf583bafc0e51ab06e0d4b665772da4",
      "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]: [-1.24, 1.5585, 0.9928, -0.6571, -0.9119, -1.0424, 0.9965, -0.0238, 0.82, 0.6949, -0.5911, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2383 left_y=-0.2528 left_z=0.1279 left_yaw=0.0036 left_pitch=-0.0373 left_roll=0.0975 left_gripper=0.9965 right_x=0.2767 right_y=0.0009 right_z=0.1722 right_yaw=-0.0009 right_pitch=-0.1334 right_roll=0.0044 right_gripper=0.9995\nstate[joint_eff]: [-0.0479, -5.4769, 6.0376, 0.8132, -0.7155, -0.1929, 0.0024, -0.3761, -1.6615, 7.0632, 1.9414, -0.0269, -0.0562, -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]: [-1.1992, 1.7279, 0.701, -0.218, -0.8989, -0.9962, 0.0185, -0.0238, 0.8238, 0.6945, -0.635, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.24 left_y=-0.2252 left_z=0.0237 left_yaw=0.0158 left_pitch=-0.0595 left_roll=0.1517 left_gripper=0.0185 right_x=0.2696 right_y=0.001 right_z=0.163 right_yaw=-0.0007 right_pitch=-0.1815 right_roll=0.0055 right_gripper=0.9995\nstate[joint_eff]: [-0.5128, -8.0615, 5.3949, 0.7643, -0.4274, 0.022, 0.862, -0.3487, -1.0598, 6.8171, 1.7851, -0.0366, -0.0415, -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]: [-1.0966, 1.8179, 0.8158, -0.1619, -0.865, -0.8703, 0.9954, -0.0235, 0.8238, 0.6945, -0.6579, -0.0223, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2781 left_y=-0.2395 left_z=0.0244 left_yaw=0.0325 left_pitch=-0.0686 left_roll=0.1657 left_gripper=0.9954 right_x=0.2656 right_y=0.0013 right_z=0.159 right_yaw=0.0001 right_pitch=-0.2044 right_roll=0.0064 right_gripper=0.9995\nstate[joint_eff]: [0.4444, -6.7897, 7.3504, 1.0476, -0.4176, 0.1538, -0.1392, -0.0342, -1.2103, 6.8171, 1.7802, -0.0366, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c8c19b5c3de0d504ac7dc9590f3117e505a83edd74e364a486abe1056819e65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9c5569ad2569e0509878abc49e0e5fb76d953181d4fe0e162052252011f4860",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15bb32425f7b25628cd7a122f1fb4ba6ccf583bafc0e51ab06e0d4b665772da4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJSlmTvxtxuKptS5oGWoww_yI23Xlov4prF2JZcT6M8gM0DSMDrhNSl-jNVcNAJhdl3G9CtoDHlf45OcVDqc--hNgnCTYkc82lF10qAin1q95RLBPuNrZprNJkDFNolUXdCvn75IbXRWTbayZJLKdeQVUiWPL-5cNh38wwunMFqOv-CZFXN7le_d-gVzmxYgKRnI9hfvsiYgGFZOKQk4NeamZKgPR3Wj1xGiLC9qk9FHPamxJkS4-H0hckmGHq2zXUSdgtKFN2G1ELTaDbcqHR42IHxEyIxu_UjHPTtBI8oAEToc60KGRP4C1yMmvn85kdzeqkUZLh8ELrl3JQdGGmhwJ4JAJGH9wSWAsVaz6hcwkjI5oueW3biZEFijfZtcUysUh6TtOKlPIh9Vkm59CjCpsD3pfjrTjFi-vjh4rgBOI5kdTpthpv5mnWs71AIFPgZ-Cc0O7j18Wsh_X2-hZzv3zIs7KBUBHYI2tY3coMlyokeq9i8s3ESSsS-XBFftG5SNwbAA4EsM8dlhrhqJBHDeBXHE11sQ4wK_Wx6IZW82rJPEsAYP0cXn8csyzvyRJ5VkB8htiGJ9wxbngdTLAp4k7l10nL9EGsg3yPVS4u998tsis_dVmqy2NGJXNjJ7qAlc4MuZCmY73MX1gU2HN-_1jyuJIhbMXBQic6IJ9XVlrThayIPsDPA85K4HOy3us4nDj9xC3BYXQMue5ganIjwPV7vCVb0c_G70R2a_1xt3gIQCEIqZEH_4GoVvsFEbHuUEmvxS_JAiQWZs_LkxnS_HpoiMFKNby6CXbv6JJNBw2yE9_fObWZBM4wZN_wEalf1INqNT2v8_axT8vLGpXpWGHaiPmS3-DNoSnciib45FHk8TVWqc-CR4S39k9aQvp1OtZIipP-RZy57bBGnhk6ude5JK1y-Sq1vXJ9DiOquiLdjRwuH3TdZxkui5zb-brVlNhTojzE5_LQq-XPKYZ7hZKxkGl1yQjiRaPjXEy6vVn8EOwwUw6w0CBZGJKHJ_eXjmOTqK06NqYDCvKUD0ix6OIFLmvLkCo2eq5ELe1Re7_2zYUqtzc3FMKcTs9eOzb2jcuh0yyGO4D2Hi8D22S25Za7QkkTQr0SVGNDA6yJJW3wqKAY0uw9u_dOkNfOcHZOqhLLDGBeToAKZxZaKElkSVZO1gN1DVaVdl4Kg1IPhH_qpy6wQtpj9dKursjpld-lkjXbuNbxO_Ibx216qOZ5nRzQ==",
  "id": "rs_08c960ed07071122016ab494a4a25c87d098f01a874e50707a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open fingertips are now around the brown plush’s thicker midsection. I’m closing again at this corrected position.\"}",
  "call_id": "call_UOPNhEy8AyqQzOqtPgjzxbrC",
  "id": "fc_08c960ed07071122016ab494a4de5c87d0bc6980e161795fd1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UOPNhEy8AyqQzOqtPgjzxbrC",
  "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]: [-1.0943, 1.8198, 0.8181, -0.1612, -0.8577, -0.8745, 0.0204, -0.0238, 0.8284, 0.6945, -0.6765, -0.0223, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2784 left_y=-0.2402 left_z=0.0235 left_yaw=0.0339 left_pitch=-0.0738 left_roll=0.1584 left_gripper=0.0204 right_x=0.2625 right_y=0.0013 right_z=0.1547 right_yaw=-0.0001 right_pitch=-0.2276 right_roll=0.0069 right_gripper=0.9995\nstate[joint_eff]: [-0.4171, -8.0205, 5.094, 0.9206, -0.5006, 0.0073, 0.8474, -0.1983, -1.6068, 6.7624, 1.707, -0.0562, -0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:995ef2f345871ad614b838d8309f527939c48b0e4b1ebf82c1a6fb47cce0aa87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cda9d02417c3da9433c40ddb2c2b64244a62ff076ae43ef7e50bde844c60f324",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ba27a77ff5ca66fc2a47998319baf557518cdad2282bc2ee7bf454b6b428c06",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 45 changed as sent

message 52 changed as sent

message 56 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2015, 1.7123, 0.7105, -0.226, -0.8982, -0.9909, 0.9966, -0.0238, 0.8238, 0.6945, -0.6128, -0.0223, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2406 left_y=-0.2289 left_z=0.0298 left_yaw=0.0094 left_pitch=-0.0546 left_roll=0.1397 left_gripper=0.9966 right_x=0.2733 right_y=0.001 right_z=0.167 right_yaw=-0.0004 right_pitch=-0.1594 right_roll=0.0053 right_gripper=0.9995\nstate[joint_eff]: [0.5538, -6.1333, 4.4786, 0.862, -0.4664, 0.0806, -0.0024, -0.2256, -1.4291, 6.8855, 1.7558, -0.022, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0966, 1.8179, 0.8158, -0.1619, -0.865, -0.8703, 0.9954, -0.0235, 0.8238, 0.6945, -0.6579, -0.0223, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2781 left_y=-0.2395 left_z=0.0244 left_yaw=0.0325 left_pitch=-0.0686 left_roll=0.1657 left_gripper=0.9954 right_x=0.2656 right_y=0.0013 right_z=0.159 right_yaw=0.0001 right_pitch=-0.2044 right_roll=0.0064 right_gripper=0.9995\nstate[joint_eff]: [0.4444, -6.7897, 7.3504, 1.0476, -0.4176, 0.1538, -0.1392, -0.0342, -1.2103, 6.8171, 1.7802, -0.0366, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0943, 1.8198, 0.8181, -0.1612, -0.8577, -0.8745, 0.0204, -0.0238, 0.8284, 0.6945, -0.6765, -0.0223, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2784 left_y=-0.2402 left_z=0.0235 left_yaw=0.0339 left_pitch=-0.0738 left_roll=0.1584 left_gripper=0.0204 right_x=0.2625 right_y=0.0013 right_z=0.1547 right_yaw=-0.0001 right_pitch=-0.2276 right_roll=0.0069 right_gripper=0.9995\nstate[joint_eff]: [-0.4171, -8.0205, 5.094, 0.9206, -0.5006, 0.0073, 0.8474, -0.1983, -1.6068, 6.7624, 1.707, -0.0562, -0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:995ef2f345871ad614b838d8309f527939c48b0e4b1ebf82c1a6fb47cce0aa87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cda9d02417c3da9433c40ddb2c2b64244a62ff076ae43ef7e50bde844c60f324",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ba27a77ff5ca66fc2a47998319baf557518cdad2282bc2ee7bf454b6b428c06",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJSscpk_NRrRJJPmK7BYPPn3pGGGCH_-0fqsXH6sgXCvxxOIsRN5PafvcXVwC29JNuGqQNsSPxno4S15kfcsDn9RJ3qcR_jQYJPHdV5fjV2YomZR_XHtokaGdHIBvscg6ZC7yjLdihgOHzKCWIUZDeC3fdwbC9xsk2jIcZpHSe5UTpSeQP9Cz5T5A7gaf4ioC_80URYK7jt1uOR3p3aeCz6jUviHo31WqFYyBoZMG-9rMeI63JduZbQtCzcTtfibY-62QlncNNnOxyj8GpcCfa1Q5265M_gcXBrwTnWDuuifrWH-O_fXxLZxYnxBHywhPsYIDziTmhybMiyj3_j8mvA659-C36e2m92fy6HY84qnGcB7aKw5Up6j1ybPGc9NlDj3Seaf1bw3jL1NSYITZ0YYVGFX9x_Zm6QVgeM3lQHyeAf139ULISl0bdTiIUx72AgaDXy2_qIRwjSVSLO_xvjltwUPAkvatapryP6Hpp4u0DQYvrNjWchXTpZeRSEPBaBonzkY4EO8UOK6bPdBwBJGttYbs0d3KZVx2VuHMZcYbvuRROP2iaVfH4KuMpH8VXgM3S3hXsvxS2IayIOvKMLnlDcyXNaTixcNTfYEurSvzLe57FR1U9UyKVye71LMJFTgbTvaT5lGB9ySh43BrkCpQgzr8S84GZBFrDgzeSyDMQn0UorwM3bNg0vrOBrtUCb9vFYesdYcuWe1PwqGSkkKBEGnii1QDWfsfp8SA6K0Q5h_6LOpBQuQBrow0x0YqSYVjWuXtN_-t9B3Fq3oOoUHmiv7K6ZMtxeiMAvStrNXGGA_J5SyeWxG-kmtS6ChOi77soJCr50YYzcDBPsPCFaeVzMivEp8cNkteYUCSckB0InswnBLm0E0Khw0GbIRty3co7D_p4m0K0b1jzIlcrEoOthH2pZ0PlF_H9f1aA9P-P5zoEZpWZQp137KG75CHRy0-2ogoCVG2nwPZ6iQFu3FKB-qk_gnMxAk8BFgfjOohGhAw7u2Y_vmb1BhDJACvNpVAJcFa04r4LSNb-LqN9uCgyOKnlRWlfqi8rPOmxu0xYQiqW7HMwbNdgQrmlZy9ycRLghFVkPNC2nUTJG3lGV82yP4TEmih9zwZE-zIrdBK3w4x34tQGj9I3NKEzNU7Nj0Zgu-uZ0JC418zGEMuGy6ggM5oM9hgg2B-IiMZw2ypGv5HZJrL3EiNd2oXpBrFlvscs5KQBV9IvQkS5ve5_3hHeDeYdrBW6_SmGhjNUUWJAQr7fhrEVUxR3Xl1WNEx-hnlsjv8K7T5MO-YiWvyHbEKhNnidaq5LmwdS9rqzQdy3VkkvB7ty_40THvEOBxOAdctDeyhzTwVaViT3E_rATU-ZBrK0FuK94TPeqA7GVMJz7UigetvMYjp753t2rDipv9yHmAOk5sxs4JN-4HygveC_mB5rNDSh1-LUOD0OOY2bYoeaetEPCa1i7x1QwKtAeuf5-VlB9CaOe9n1cJa3PNOlFyGHSndSY0Qu2N2hrPXozF5w4sUvXXQeNKlVcyruUkmTSTpf5JBlsbseMztylzz4Q1PfJTIms4dCYlHGCe0-lHlYgfHb96RUIFZOJ7WU80C9eBWC5kI87K6hwuC3kv5FG7JB1Vqjo9Kx1QiukwHZ9bq894w_lINAod6lzZHXFKtaBWPzBkKdItyWTjdLJyVBUt1wB6OWa6AIrCMUaxl5KPDPXZWgIXENOMVWAobwZjHRUrlnw9XoKVnlNDTrM7GHpS-1_w_cqvPb7ZIMNz3KDiCIEn5LdMzoqNEdtpOD_4TvO0v4FpQlCOWrcxzSQaqhhLCO9rvebWAC6U-sRL9_q0csv2HV6AUDYPIBE8yCaOcxWy0HDbjmRA9M9QNW-SaMmgOTHocq3HTeXN3z8pB4G2SrOTpFoo2Ns6tzUuQHyNMlATQpAe0WJ7hGQ5id2EPasqnmVTFN869GuJ0DJGSBc43v5p4yR0A7i0AdxtUXDQi0uYveDcaPk0yYjBZqwMURiEHv3M26zl9Z_Rpc7I2TpaVT3NCkzL_5z7wYJbFbRR7MXFxKn_Tp71fJzS5Vcup9qoID2blrMUb6p6lQ6zP1E9wV3qxTcUA7eq0vizMq1n5kVuQK3_w9IyAlboQV-BCDIRw0j-Cn80wZQju9y7Rdj422u2i1I64q0ngxcLyTgRWgk53eK1vqCHmCfR7YfU1dViQTxrDf6kMMZ-4Ym9stdLOkszV1MWsh5RDPoXya_2uIauWONphvwNSM8h7A7gguxZpB_ofH0NcQQgWIUGe7g=",
  "id": "rs_08c960ed07071122016ab494a8146887d0b725bfafe7072c3e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.15,\"left_gripper\":1,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The second close also reads empty, so I’m stopping the low-level retries. I’ll lift away to recheck the brown plush’s position in the overhead view before choosing a new approach.\"}",
  "call_id": "call_RgIEgfrPiZ4XUDrObz6b8PNs",
  "id": "fc_08c960ed07071122016ab494ab961087d08c7d284fcc564ce4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RgIEgfrPiZ4XUDrObz6b8PNs",
  "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]: [-1.0943, 1.5177, 0.9283, -0.4488, -0.8532, -0.8989, 0.9953, -0.0238, 0.8288, 0.6945, -0.7002, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2763 left_y=-0.2373 left_z=0.129 left_yaw=0.0396 left_pitch=-0.023 left_roll=0.0239 left_gripper=0.9953 right_x=0.2582 right_y=0.0013 right_z=0.1506 right_yaw=-0.0003 right_pitch=-0.2517 right_roll=0.0072 right_gripper=0.9995\nstate[joint_eff]: [-0.1299, -7.8154, 8.6769, 1.1648, -0.5006, 0.0562, -0.1392, -0.1026, -0.7726, 6.7624, 1.6825, -0.022, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb1fc8db07224e5d33272c2f00e883ebd122b0d4c0b6b9b4fc93bfe6ab792c8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1afffbb98f1915b4f4216e2113121a41fcd11702c64f394c3c76c1dc5b606777",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e86b151f9f3aab1aaeb5a0a27c34cadf92fab5c450852cb206dafeb73aff9c4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1992, 1.7279, 0.701, -0.218, -0.8989, -0.9962, 0.0185, -0.0238, 0.8238, 0.6945, -0.635, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.24 left_y=-0.2252 left_z=0.0237 left_yaw=0.0158 left_pitch=-0.0595 left_roll=0.1517 left_gripper=0.0185 right_x=0.2696 right_y=0.001 right_z=0.163 right_yaw=-0.0007 right_pitch=-0.1815 right_roll=0.0055 right_gripper=0.9995\nstate[joint_eff]: [-0.5128, -8.0615, 5.3949, 0.7643, -0.4274, 0.022, 0.862, -0.3487, -1.0598, 6.8171, 1.7851, -0.0366, -0.0415, -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]: [-1.0943, 1.8198, 0.8181, -0.1612, -0.8577, -0.8745, 0.0204, -0.0238, 0.8284, 0.6945, -0.6765, -0.0223, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2784 left_y=-0.2402 left_z=0.0235 left_yaw=0.0339 left_pitch=-0.0738 left_roll=0.1584 left_gripper=0.0204 right_x=0.2625 right_y=0.0013 right_z=0.1547 right_yaw=-0.0001 right_pitch=-0.2276 right_roll=0.0069 right_gripper=0.9995\nstate[joint_eff]: [-0.4171, -8.0205, 5.094, 0.9206, -0.5006, 0.0073, 0.8474, -0.1983, -1.6068, 6.7624, 1.707, -0.0562, -0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0943, 1.5177, 0.9283, -0.4488, -0.8532, -0.8989, 0.9953, -0.0238, 0.8288, 0.6945, -0.7002, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2763 left_y=-0.2373 left_z=0.129 left_yaw=0.0396 left_pitch=-0.023 left_roll=0.0239 left_gripper=0.9953 right_x=0.2582 right_y=0.0013 right_z=0.1506 right_yaw=-0.0003 right_pitch=-0.2517 right_roll=0.0072 right_gripper=0.9995\nstate[joint_eff]: [-0.1299, -7.8154, 8.6769, 1.1648, -0.5006, 0.0562, -0.1392, -0.1026, -0.7726, 6.7624, 1.6825, -0.022, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb1fc8db07224e5d33272c2f00e883ebd122b0d4c0b6b9b4fc93bfe6ab792c8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1afffbb98f1915b4f4216e2113121a41fcd11702c64f394c3c76c1dc5b606777",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e86b151f9f3aab1aaeb5a0a27c34cadf92fab5c450852cb206dafeb73aff9c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJSyo4u1Olf-qo7tdWJrx0b-ObEryu0WvL401QmXJWHq3N3xKipsCo8Fwg675APstdPAfOZKq67NkoKYzUMFKU2Qc2fUopLVGmm7o9VwOLEU45sTQRNO7rXAvDWKoeFTalIDbug4_Z4UlVbKy5AQ23tzTVD27tjChI1F1UmA0k6wFaR8bPFtZgHX6Ev0zHGYRDfXPOqAanEdKYFReQENZbhUFHP3Nmkwf76gZEoiJRmvVtEPvW0GvecIA67pKU5s8FJan4ZfaUp7fjJi7Lf71RFK-nqRmj-rr_QDbKJMpMhiPSib8ZsxP3MJJoA3k0ilPl5AZb5-v-HfNq4YPC3EXRCx8uVUjBUYWiBRAqSZI7eb4Fg4y74Ynk5kDL25xELULeH-ZxG3kJ86VQif_93A6zJzI01bvxNKJkBwhwPIj6VlognvkvP0wqEWq---EhMlFuM0gxU6QifO6obMdGmvEdg3b_Yi6Gcl8bwSyR4TO4_Jc8IIeCmUSLfOA6mKMKX2KH1CLydzuv8pB_8QuzSSbhlsKFy5Ze6Q1Xm5U7yXuVDHQWeGrld1jY3ET9NtEJBFlM4Q_aph9Hp5PCidKPtiZfsfOMEHOZ_hr7QEuQG7eUOjJ4jHFyuX-rXFEaJUy9MAxgsoBAvdlniBhEX5IbA7rfHbgwSA0DLRX1E92IcN_0M2pfV2fUrggu-7f52SywRdN_iQnB-vqv66r-a88fqG9MEPK4aHZnMlZc524SWXT8M4roLEMod3qyY9unOar8_15edYriYj3W-pnJ1DY_YUsQ7QEtsGgNtQ8PzO8OB6Ewule9s4jqLg-wCQRt6o7yofuSAe-JOIpToULqvbKbEO-wzfooI9lw8k_5is4GK1G5bj9avS13a__rVK0j_n8wYC5HxjDv5dys-fWNUMOJosSYEWlkSajEvfarWNSEIVC1NoAmfK-iC0eH90QG8aM_mM6Mz1S4Wd1Lmqa6tcf8yjWc6NXYg5cWxV2HfmE4ImFiXTOWV53nF-G1xiHuiPHI_22Zdn1VB7FvSlW8KYWm2aRPPeXgIJiJAs14XULusBQ0atx2y-IU6QUu1PPjL4o7VpGm25SG7pZlChNSMjKDCr1-xJP2jn6vHfsMzE9ecRSPEUbEiAEZSqenxUwVyvkeFTwWRMk-u_pQOP8VeO14q5sMr3raTL5EVQ1ZoGaxE1oz8GSq9RMNHkedLhN5US1RUSsHDryQP5Q6D4ONXJC2ZwbggUcbz_HbxOBtea5ToNwtMLahLb7N8POinjlPDeptUEubRoE0hBp4six2XAOinDG9oTgplSXyWciWbQpV5zgZHmf3sOMfcTt5qJVXBYGum6v78R_iPspRvjjP--If9mhGKI-EsniulM6MM3kgqDUt48_BXTBV0U-00xssU7cMbI4Nmd1Fl57giGQFKnl6XoZJlkSLL7nG5L4_80uk3E0MAnmEd-Klfzu3HDQ1Dkl5nF5ezosqUYO-sK14D27y1iBXMTkJkRfn5NQr9M-vX5eTn6oUmYjaWQej3aYhgvzbKO_gneIm4hp8ZeTaEKkql1WdlVRvDLinNj8dUwgghP-S42PXkY_Qip9MjI6NBpJpAIQLNDspAipqi7siCcVCzbfvDl0O67CsWw6-UmqbQsW-KyHEWgctN_ZKLWATuwgSoMpzxyjdI5OgTulLTpZtUh7Al29-mH1ndzJFMn-oT8Vn-oZ4uw2CaQrT-nntPpiTK80zZRhcmF-3aCTWfMMW30-AjEpZiWK3FVsiO38EITCsL6sQ4ZZU-0yG6rLgZQLRI2mCzX2EXutPpOi_gOhHB-MWSBYQ==",
  "id": "rs_08c960ed07071122016ab494af40f087d09bd3b6a55d793650",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.235,\"left_z\":-0.005,\"left_pitch\":0,\"left_roll\":0},\"note\":\"From above, the brown plush’s body lies closer to the safe than the earlier grasp points. I’m approaching that thicker section and lowering fully to table level so the jaws do not skim over its fur.\"}",
  "call_id": "call_8y8AkTWH6IZw0TdcDOoqbHbg",
  "id": "fc_08c960ed07071122016ab494b1757087d092c06a87bd6747d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8y8AkTWH6IZw0TdcDOoqbHbg",
  "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]: [-0.9657, 1.9011, 0.7315, 0.2882, -0.8127, -0.7628, 0.9964, -0.0238, 0.831, 0.6945, -0.7246, -0.0223, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3237 left_y=-0.2362 left_z=0.012 left_yaw=0.0699 left_pitch=0.0203 left_roll=-0.0164 left_gripper=0.9964 right_x=0.2538 right_y=0.0015 right_z=0.1461 right_yaw=0.0002 right_pitch=-0.2784 right_roll=0.0082 right_gripper=0.9995\nstate[joint_eff]: [1.0598, -5.9556, 3.2889, 0.5983, 0.0317, 0.3492, 0.1001, -0.1299, -1.3744, 6.7214, 1.6484, -0.0562, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72dbdcbb9f170fba402206e454ec0023bebef11f2763cf8c8b78d73c3da72216",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b6fb481556de0a74bde510e2de9d5073667c6a0fc78c3ca20619c92185b07fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:266f89a86d22bfcfde684e2c16bf8acdd53aee10dcb60a3feed78e079fb2f61c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0966, 1.8179, 0.8158, -0.1619, -0.865, -0.8703, 0.9954, -0.0235, 0.8238, 0.6945, -0.6579, -0.0223, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2781 left_y=-0.2395 left_z=0.0244 left_yaw=0.0325 left_pitch=-0.0686 left_roll=0.1657 left_gripper=0.9954 right_x=0.2656 right_y=0.0013 right_z=0.159 right_yaw=0.0001 right_pitch=-0.2044 right_roll=0.0064 right_gripper=0.9995\nstate[joint_eff]: [0.4444, -6.7897, 7.3504, 1.0476, -0.4176, 0.1538, -0.1392, -0.0342, -1.2103, 6.8171, 1.7802, -0.0366, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0943, 1.5177, 0.9283, -0.4488, -0.8532, -0.8989, 0.9953, -0.0238, 0.8288, 0.6945, -0.7002, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2763 left_y=-0.2373 left_z=0.129 left_yaw=0.0396 left_pitch=-0.023 left_roll=0.0239 left_gripper=0.9953 right_x=0.2582 right_y=0.0013 right_z=0.1506 right_yaw=-0.0003 right_pitch=-0.2517 right_roll=0.0072 right_gripper=0.9995\nstate[joint_eff]: [-0.1299, -7.8154, 8.6769, 1.1648, -0.5006, 0.0562, -0.1392, -0.1026, -0.7726, 6.7624, 1.6825, -0.022, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9657, 1.9011, 0.7315, 0.2882, -0.8127, -0.7628, 0.9964, -0.0238, 0.831, 0.6945, -0.7246, -0.0223, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3237 left_y=-0.2362 left_z=0.012 left_yaw=0.0699 left_pitch=0.0203 left_roll=-0.0164 left_gripper=0.9964 right_x=0.2538 right_y=0.0015 right_z=0.1461 right_yaw=0.0002 right_pitch=-0.2784 right_roll=0.0082 right_gripper=0.9995\nstate[joint_eff]: [1.0598, -5.9556, 3.2889, 0.5983, 0.0317, 0.3492, 0.1001, -0.1299, -1.3744, 6.7214, 1.6484, -0.0562, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72dbdcbb9f170fba402206e454ec0023bebef11f2763cf8c8b78d73c3da72216",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b6fb481556de0a74bde510e2de9d5073667c6a0fc78c3ca20619c92185b07fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:266f89a86d22bfcfde684e2c16bf8acdd53aee10dcb60a3feed78e079fb2f61c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers now reach down beside the plush’s torso, rather than above it. I’m closing at this newly measured position.\"}",
  "call_id": "call_VJ2ML1h75V1gXvybr1OZJxLe",
  "id": "fc_08c960ed07071122016ab494b544e887d0874ee7c28e2f435d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VJ2ML1h75V1gXvybr1OZJxLe",
  "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]: [-0.9691, 1.9011, 0.7284, 0.3439, -0.8345, -0.767, 0.1251, -0.0238, 0.8314, 0.6945, -0.7429, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3279 left_y=-0.24 left_z=0.0202 left_yaw=0.0846 left_pitch=0.0609 left_roll=-0.0573 left_gripper=0.1251 right_x=0.2504 right_y=0.0015 right_z=0.1431 right_yaw=-0.0 right_pitch=-0.2971 right_roll=0.0083 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -8.0615, 4.7658, 0.7839, -0.1734, 0.022, 0.8034, -0.1709, -1.1829, 6.9128, 1.5702, -0.0317, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2efc9f61a7f9cc8f1d0226ed09f9a27eec54486c7577a3902c3a47b998133d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb43a24601835601839e068fdf833417caf19c226190c4e798840f7d01cac471",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1745a1b815589016565a5fd1f49c80b5fd718da0b2550928bbd14a82d38657a6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 56 changed as sent

message 64 changed as sent

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0943, 1.8198, 0.8181, -0.1612, -0.8577, -0.8745, 0.0204, -0.0238, 0.8284, 0.6945, -0.6765, -0.0223, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2784 left_y=-0.2402 left_z=0.0235 left_yaw=0.0339 left_pitch=-0.0738 left_roll=0.1584 left_gripper=0.0204 right_x=0.2625 right_y=0.0013 right_z=0.1547 right_yaw=-0.0001 right_pitch=-0.2276 right_roll=0.0069 right_gripper=0.9995\nstate[joint_eff]: [-0.4171, -8.0205, 5.094, 0.9206, -0.5006, 0.0073, 0.8474, -0.1983, -1.6068, 6.7624, 1.707, -0.0562, -0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9657, 1.9011, 0.7315, 0.2882, -0.8127, -0.7628, 0.9964, -0.0238, 0.831, 0.6945, -0.7246, -0.0223, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3237 left_y=-0.2362 left_z=0.012 left_yaw=0.0699 left_pitch=0.0203 left_roll=-0.0164 left_gripper=0.9964 right_x=0.2538 right_y=0.0015 right_z=0.1461 right_yaw=0.0002 right_pitch=-0.2784 right_roll=0.0082 right_gripper=0.9995\nstate[joint_eff]: [1.0598, -5.9556, 3.2889, 0.5983, 0.0317, 0.3492, 0.1001, -0.1299, -1.3744, 6.7214, 1.6484, -0.0562, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9691, 1.9011, 0.7284, 0.3439, -0.8345, -0.767, 0.1251, -0.0238, 0.8314, 0.6945, -0.7429, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3279 left_y=-0.24 left_z=0.0202 left_yaw=0.0846 left_pitch=0.0609 left_roll=-0.0573 left_gripper=0.1251 right_x=0.2504 right_y=0.0015 right_z=0.1431 right_yaw=-0.0 right_pitch=-0.2971 right_roll=0.0083 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -8.0615, 4.7658, 0.7839, -0.1734, 0.022, 0.8034, -0.1709, -1.1829, 6.9128, 1.5702, -0.0317, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2efc9f61a7f9cc8f1d0226ed09f9a27eec54486c7577a3902c3a47b998133d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb43a24601835601839e068fdf833417caf19c226190c4e798840f7d01cac471",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1745a1b815589016565a5fd1f49c80b5fd718da0b2550928bbd14a82d38657a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJS5maBW8ydMJ8u4sDEmx-cjNNE3-XrOjub-FMttDjLy2hXWI8CIBL8ag8ObUATHt6nLn3zMw2J4awRkIZrIkPBfQy9LOc9J4SDXPMoqrmKRVzvdhNkbw32lxDH7W7EePnN44lLnbC5oiHszcPMjzDcFaymWj2is9irDUCx1V4hrlVhpOG2ZcqOMQ5cEp3PQSf1IJvWmjIo9kcUnXxd8SwZ9vYy9G3UV1BcXi1Ck5P0F75ZyQbhTAyiPN6Ti9BWhTATi-pk-2FaJ1uq9O_po4jw4BPaZzJNabIiTujRqiPY-0ni9HcBMn2RBdDkkxPbh1sWyYhem5G3SMQvIR-nH6MSagUChbhgGIdizcHJIkONi65QthabAvmBiXFuUVE5JZeOOAD5myplXpURIqzTww8sEsL3S8nmkBN5tkEAjg3S4pOXkuhZe6vte4ZvDiInqJ5b-kFpo2q23CXzUdEMDb3BZaZoKbu_WEB1QguSam8Eghk23cES85WPE4DwT3nzu9oPIPFgCzrRc6OFPlF2-6JeirKbYUO8F2Utk7fxThJz2waezwdGbL0xvHyC6-AmhFgDcxHHRB99gHByayDunEOQUIwPLeW612KRubvcdBpr5j6V9hGZZlcQsZwXTI8RjJ2RDsDEEDHpYydj9HigdzFKTZZqcGUHcuBFPCY2-9vQ_Moqj1WDCn4y0E-motv43pJqhvLR2MWMdypBFy2TlWbmr_yfycm-BVkar67sIrxxSmovvtKzy8YPbxZN4MFQ6NwojqpFdv5h6Izx7a7LbioDBpSgXbeN8JoXeq3_OpAVMRiNp0OoqpPMpm-Jop7EyfwLk5PYwUP1EmifHWL93te3pfC63kVe7oePk7xMj2TGzSfszGm6r_iBU5tsLe00hlVh9n2Uvn4vU486MaIfujmDJdXKeov41RQBnqpoXUZ2y5XBSy1vtCl2ttuB4HVQawWxmswu3l3YGO3IkS7cyXFgEdIMDNMobtyyd9mMbZG4Pakb9F9pGxLnvHOHgeyOxym06RmXSZEK5ck4O2-6N9bvgxgAUuY-FY5ZchRpiDOuILjZkyfAp19AOsYAUkeO3EqddQ9D0Z6LBIV0_k1XxwW7n6oPdopZ1_wtChktCHS3_pz8MGtjgN63FQp1vVUU4DOBV_xkdtV7qi9A9FCqFLUkykrXA2AW5W73Qo44XUlo9vAadeWucqFgiqzpxVyQno09X7WcIrhg_Y38CFHbZzTWz4UQ8uYyMAUOJgkeEvfQRD7_rTxo3CnjF8ZroJRdOeqg8YrP-VfbyQtoF5_7VjbfhJQ==",
  "id": "rs_08c960ed07071122016ab494b853cc87d083bedd0154ecd7a8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.105,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0},\"note\":\"This close retained a clear thickness of the brown plush. I’m lifting it to confirm the hold and raising the idle arm back to its parked pose.\"}",
  "call_id": "call_gUkktNclxacVzNenfMdfHVXr",
  "id": "fc_08c960ed07071122016ab494b8bed887d0a91c7387550ff0a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gUkktNclxacVzNenfMdfHVXr",
  "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]: [-0.9691, 1.6871, 0.8207, -0.0143, -0.8303, -0.7757, 0.1274, -0.0277, 0.815, 0.6945, -0.5655, -0.0265, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.323 left_y=-0.2338 left_z=0.0806 left_yaw=0.0846 left_pitch=0.0323 left_roll=-0.0213 left_gripper=0.1274 right_x=0.2805 right_y=0.0005 right_z=0.1781 right_yaw=-0.0007 right_pitch=-0.1032 right_roll=0.0063 right_gripper=0.9995\nstate[joint_eff]: [-0.253, -9.7573, 8.9094, 1.2967, -0.4274, 0.0562, 0.2369, -0.4034, -2.1128, 7.1316, 2.2051, -0.1538, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f8f9a0628b4cb491a5c017463f39e670434b81ff98186560d803904ec70f6e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a298e468b129890335fb67037ec94906c20c679fa086d2a1472d40c9d65dc512",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a6be2fd89ee21e1d382425b914dee1174989efc3deda9092369f5f3da6bfcf0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 60 changed as sent

message 67 changed as sent

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0943, 1.5177, 0.9283, -0.4488, -0.8532, -0.8989, 0.9953, -0.0238, 0.8288, 0.6945, -0.7002, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2763 left_y=-0.2373 left_z=0.129 left_yaw=0.0396 left_pitch=-0.023 left_roll=0.0239 left_gripper=0.9953 right_x=0.2582 right_y=0.0013 right_z=0.1506 right_yaw=-0.0003 right_pitch=-0.2517 right_roll=0.0072 right_gripper=0.9995\nstate[joint_eff]: [-0.1299, -7.8154, 8.6769, 1.1648, -0.5006, 0.0562, -0.1392, -0.1026, -0.7726, 6.7624, 1.6825, -0.022, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9691, 1.9011, 0.7284, 0.3439, -0.8345, -0.767, 0.1251, -0.0238, 0.8314, 0.6945, -0.7429, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3279 left_y=-0.24 left_z=0.0202 left_yaw=0.0846 left_pitch=0.0609 left_roll=-0.0573 left_gripper=0.1251 right_x=0.2504 right_y=0.0015 right_z=0.1431 right_yaw=-0.0 right_pitch=-0.2971 right_roll=0.0083 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -8.0615, 4.7658, 0.7839, -0.1734, 0.022, 0.8034, -0.1709, -1.1829, 6.9128, 1.5702, -0.0317, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9691, 1.6871, 0.8207, -0.0143, -0.8303, -0.7757, 0.1274, -0.0277, 0.815, 0.6945, -0.5655, -0.0265, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.323 left_y=-0.2338 left_z=0.0806 left_yaw=0.0846 left_pitch=0.0323 left_roll=-0.0213 left_gripper=0.1274 right_x=0.2805 right_y=0.0005 right_z=0.1781 right_yaw=-0.0007 right_pitch=-0.1032 right_roll=0.0063 right_gripper=0.9995\nstate[joint_eff]: [-0.253, -9.7573, 8.9094, 1.2967, -0.4274, 0.0562, 0.2369, -0.4034, -2.1128, 7.1316, 2.2051, -0.1538, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f8f9a0628b4cb491a5c017463f39e670434b81ff98186560d803904ec70f6e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a298e468b129890335fb67037ec94906c20c679fa086d2a1472d40c9d65dc512",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a6be2fd89ee21e1d382425b914dee1174989efc3deda9092369f5f3da6bfcf0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJS-DLCpTi51pRBjnQM3BTHAotzfOJuNTJVI_qcmfDM8HjmsLjIZpxfP0kSA-8gN5M6NunYmVRisH9cP1Du0beS7VQQKOqYURu8tL6yQbbVblKXY9cOFrJHdeEXwyXiH3vhid3Yr9_7Ggqr_dKuJJ3u_NYs9S5LXKEj4nZWNPeWhGeBBgNr3A3wvasA1IM3Se-RiUfM3DWwqWYRRwz1eYaFZ73OFVNpUogKHKgAjb8KmYh3VbMLwFFSdb00z8YKO15Z2cZn5I616LgJZSYzv-qaX0n5vHqgRvosLqoPDIFlG1cC0wme3Kk_iVATddEC8ePEN96L6-PqPfN4izMv3siGPj_K8jADjcZVBGvZGYgSbFaijSVlaDk6WfvmQhDz6Olp0QDAJZyD81PpyNKINoNsTOM8-RmqgviKnVUCIX7RZwgby5p6X7WqxmfGIjg8j1zXsYMzVfrn1bdJWisfTp6bhNWH7TFoJ6JUDCYHPFPc1ZKZznlIRPwbEk6lRmnrwmwnykZCnOriu755r5FJAiggS-pKNvJLpZWGf3MjHzogZheYn3TT_j9tg1l-RyW8iQ129UtdRd8ufrinKL7eOqo7Iyj81nHKwS6TZBzJUYqd2UNG4JKXpEQsjIDeNm8D6a457ol4sE0pW3dkshBk2UykQKWwQMLVthuaIjw7dWazxvWs0IBUZNcPrN8pPXS-fuLHSIWBbvv3C6P6nu6Az3Ig0OGzKZyCRuoEA_hRtZfMy8yp_s-zd8K7elIjqKfdN7aboYebf3fmcH3ILJ4MzbMqnTDKmp8hFMx7p9MjrlTVcfYIhYuGUdRNhONmVuSQIjPODb9KnggdjgJ10e5uAfp9nfj6ojSnAwhuLkhOs1FgfZygJFOKfpTzx3tlDBHFQoHK867COND6lz_SfAzKVw_JSj5sHscqSGDJ0bckDlYWS5KaK47KtLbSO6rgA34fIxPbm2QgXFjqujgCPARSSBaPe79Ah7mrtWwM3bRtkUlvmJmC1_dHx_Pa9izYWBnX9lYCAFFFdUYLn9fHuEuGIFZli7EMEAlhRACheaQct4Wohu5pK_AkCtTYLyrkPcDlD6BS_6WP0vb4TKpTEFmwjkacz1nQDnROXd6Esacn5MxxfOZQGuJkg9ZlFwLM_ol9UlNp9NWi3R0rdjdcz-lZXyx15iwKSRu7f1xmIy57wlt2xAB3l6ZH_OLGdac8gx-B5bH4VtnULXSAkP3S8qCTWK7o-uoxwNJX-US1WBQ0MBt0ReO7VGYGWXG-DfFrAxGhzuAjR6bW4WOQvO_A4Yz-QaY4-2avDD913vLPUO2ScrzAVSCUDj4ON5YNzpnoQgRwZuAd3qvf9NNPMepKKHVdUrVDY0hxnDz6Er3Tk80joxZLD7_RGoHVErs5aCLl9Brl-2fhHnm5ueZMyRVL7ihjcp-fiODge7IXP3cRAglf4KZQkY0eA06gjkq7nC7NzQeVCaavZomS51vKqfisjWh3TgaVlxjFbg46WjPOfTIaJeFXeV8PVefeDrx9lCrP1sSWXTHrMiFpWqj3uUUnv4nycZOB2DWUoVt0xyT-T48WvkxbVlwvCboRyIzNUBo8SIdR2mxRrNvpStk-09yPNVU5NmrydiwyuEFXyPT8xOVEcaoPERuyL2IBYnmaI6QjlDQflSjbGvgBBy6JKFIEXZAEsU4e0jWbDqXA_OQhfO0rTxNcxwUTufLE6ELgLL9l_T-_XkA38dEw6Ia-A7Cdlvs6IwCloSOebK2M74nLFW7Z3AG2uqOs=",
  "id": "rs_08c960ed07071122016ab494bbff8487d0bc44678893385649",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.19,\"left_z\":0.22,\"left_pitch\":0},\"note\":\"The brown plush has lifted with the jaws. I’m carrying it over the safe, allowing room for its dangling limbs to clear the front edge.\"}",
  "call_id": "call_8T4ihoRlFGnhFydby4xlwC2D",
  "id": "fc_08c960ed07071122016ab494bdd68087d0a32cb7689798a636",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8T4ihoRlFGnhFydby4xlwC2D",
  "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]: [-0.6022, 1.7119, 1.3838, -0.3828, -0.5701, -0.4992, 0.1304, -0.0296, 0.8177, 0.6926, -0.5903, -0.0261, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4469 left_y=-0.1871 left_z=0.2086 left_yaw=0.1198 left_pitch=-0.0023 left_roll=-0.0359 left_gripper=0.1304 right_x=0.2764 right_y=0.0 right_z=0.1719 right_yaw=-0.003 right_pitch=-0.1326 right_roll=0.0072 right_gripper=0.9995\nstate[joint_eff]: [0.2256, -8.1709, 9.0598, 1.58, -0.188, 0.2906, 0.3004, -0.0205, -1.4564, 7.2547, 1.7998, -0.0806, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83d66cddb4166250e0fa62bbd025b881f5f06e848e6b93af1909f0958c422034",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77a389628b5adb2b1b6af55a32ee725648bac0848fd167534172a78eb01b5077",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c93e7c3a040c631c51b139e56d4fe037de4e3a034dda5536545b0c6595bcdd29",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 64 changed as sent

message 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]: [-0.9657, 1.9011, 0.7315, 0.2882, -0.8127, -0.7628, 0.9964, -0.0238, 0.831, 0.6945, -0.7246, -0.0223, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3237 left_y=-0.2362 left_z=0.012 left_yaw=0.0699 left_pitch=0.0203 left_roll=-0.0164 left_gripper=0.9964 right_x=0.2538 right_y=0.0015 right_z=0.1461 right_yaw=0.0002 right_pitch=-0.2784 right_roll=0.0082 right_gripper=0.9995\nstate[joint_eff]: [1.0598, -5.9556, 3.2889, 0.5983, 0.0317, 0.3492, 0.1001, -0.1299, -1.3744, 6.7214, 1.6484, -0.0562, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9691, 1.6871, 0.8207, -0.0143, -0.8303, -0.7757, 0.1274, -0.0277, 0.815, 0.6945, -0.5655, -0.0265, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.323 left_y=-0.2338 left_z=0.0806 left_yaw=0.0846 left_pitch=0.0323 left_roll=-0.0213 left_gripper=0.1274 right_x=0.2805 right_y=0.0005 right_z=0.1781 right_yaw=-0.0007 right_pitch=-0.1032 right_roll=0.0063 right_gripper=0.9995\nstate[joint_eff]: [-0.253, -9.7573, 8.9094, 1.2967, -0.4274, 0.0562, 0.2369, -0.4034, -2.1128, 7.1316, 2.2051, -0.1538, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6022, 1.7119, 1.3838, -0.3828, -0.5701, -0.4992, 0.1304, -0.0296, 0.8177, 0.6926, -0.5903, -0.0261, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4469 left_y=-0.1871 left_z=0.2086 left_yaw=0.1198 left_pitch=-0.0023 left_roll=-0.0359 left_gripper=0.1304 right_x=0.2764 right_y=0.0 right_z=0.1719 right_yaw=-0.003 right_pitch=-0.1326 right_roll=0.0072 right_gripper=0.9995\nstate[joint_eff]: [0.2256, -8.1709, 9.0598, 1.58, -0.188, 0.2906, 0.3004, -0.0205, -1.4564, 7.2547, 1.7998, -0.0806, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83d66cddb4166250e0fa62bbd025b881f5f06e848e6b93af1909f0958c422034",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77a389628b5adb2b1b6af55a32ee725648bac0848fd167534172a78eb01b5077",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c93e7c3a040c631c51b139e56d4fe037de4e3a034dda5536545b0c6595bcdd29",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.19,\"left_z\":0.075},\"note\":\"The brown plush is above the compartment with its limbs clear of the rim. I’m lowering it onto the white plush inside the safe.\"}",
  "call_id": "call_I0xpdZBroyeMwRr52FP0zbnY",
  "id": "fc_08c960ed07071122016ab494c171ec87d09d2108b34d9f546e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I0xpdZBroyeMwRr52FP0zbnY",
  "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]: [-0.6006, 1.8954, 1.0843, 0.049, -0.5613, -0.4946, 0.1325, -0.0296, 0.8211, 0.6926, -0.6121, -0.0261, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4474 left_y=-0.1881 left_z=0.0744 left_yaw=0.113 left_pitch=-0.0446 left_roll=-0.0029 left_gripper=0.1325 right_x=0.273 right_y=0.0001 right_z=0.167 right_yaw=-0.0029 right_pitch=-0.1578 right_roll=0.0079 right_gripper=0.9995\nstate[joint_eff]: [0.3077, -9.0735, 5.6957, 1.5018, -0.2613, -0.022, 0.2076, -0.1983, -1.4427, 6.9538, 1.7851, -0.0415, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:835cf3f5cedd9d93a9b673497de75d38bd511c8aae483796aa1a0f976bdcef49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7549ebff9e1f5382eba7957e408bdbc2c5af356fae2b443ca8c985a1c7544e0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac9b371831c933a8e0e1c0a170d86d8b1d947e78baed2e2ef1213e11cf2435c1",
      "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 78 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9691, 1.9011, 0.7284, 0.3439, -0.8345, -0.767, 0.1251, -0.0238, 0.8314, 0.6945, -0.7429, -0.0219, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.3279 left_y=-0.24 left_z=0.0202 left_yaw=0.0846 left_pitch=0.0609 left_roll=-0.0573 left_gripper=0.1251 right_x=0.2504 right_y=0.0015 right_z=0.1431 right_yaw=-0.0 right_pitch=-0.2971 right_roll=0.0083 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -8.0615, 4.7658, 0.7839, -0.1734, 0.022, 0.8034, -0.1709, -1.1829, 6.9128, 1.5702, -0.0317, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6022, 1.7119, 1.3838, -0.3828, -0.5701, -0.4992, 0.1304, -0.0296, 0.8177, 0.6926, -0.5903, -0.0261, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4469 left_y=-0.1871 left_z=0.2086 left_yaw=0.1198 left_pitch=-0.0023 left_roll=-0.0359 left_gripper=0.1304 right_x=0.2764 right_y=0.0 right_z=0.1719 right_yaw=-0.003 right_pitch=-0.1326 right_roll=0.0072 right_gripper=0.9995\nstate[joint_eff]: [0.2256, -8.1709, 9.0598, 1.58, -0.188, 0.2906, 0.3004, -0.0205, -1.4564, 7.2547, 1.7998, -0.0806, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6006, 1.8954, 1.0843, 0.049, -0.5613, -0.4946, 0.1325, -0.0296, 0.8211, 0.6926, -0.6121, -0.0261, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4474 left_y=-0.1881 left_z=0.0744 left_yaw=0.113 left_pitch=-0.0446 left_roll=-0.0029 left_gripper=0.1325 right_x=0.273 right_y=0.0001 right_z=0.167 right_yaw=-0.0029 right_pitch=-0.1578 right_roll=0.0079 right_gripper=0.9995\nstate[joint_eff]: [0.3077, -9.0735, 5.6957, 1.5018, -0.2613, -0.022, 0.2076, -0.1983, -1.4427, 6.9538, 1.7851, -0.0415, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:835cf3f5cedd9d93a9b673497de75d38bd511c8aae483796aa1a0f976bdcef49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7549ebff9e1f5382eba7957e408bdbc2c5af356fae2b443ca8c985a1c7544e0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac9b371831c933a8e0e1c0a170d86d8b1d947e78baed2e2ef1213e11cf2435c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The brown plush is resting within the safe’s walls. I’m releasing it before withdrawing the gripper.\"}",
  "call_id": "call_vs2WD0jOcvoqNvaMSAwDbDK5",
  "id": "fc_08c960ed07071122016ab494c4e57887d082cca1e9f92a4074",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vs2WD0jOcvoqNvaMSAwDbDK5",
  "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]: [-0.6006, 1.9057, 1.074, 0.0502, -0.5636, -0.5018, 0.9953, -0.0296, 0.8238, 0.6918, -0.6346, -0.0261, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4447 left_y=-0.1859 left_z=0.0663 left_yaw=0.1193 left_pitch=-0.0582 left_roll=0.0052 left_gripper=0.9953 right_x=0.2693 right_y=0.0002 right_z=0.162 right_yaw=-0.0028 right_pitch=-0.1837 right_roll=0.0086 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -10.5778, 6.7761, 1.5311, -0.232, 0.0366, -0.1441, -0.0205, -1.4564, 6.9265, 1.7509, -0.0171, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f87f99bd23ca62c1e511c5ba6817db14a4b249e12fee02f254155341f3f6425",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0919b49416750a71e52a19c473f88f5178af4d5dc219f8d07df5539de46b7f10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce7ea36134055792d72233284bba99cfc2165981bb877ec33c79f0d2c0a74227",
      "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 78 changed as sent

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9691, 1.6871, 0.8207, -0.0143, -0.8303, -0.7757, 0.1274, -0.0277, 0.815, 0.6945, -0.5655, -0.0265, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.323 left_y=-0.2338 left_z=0.0806 left_yaw=0.0846 left_pitch=0.0323 left_roll=-0.0213 left_gripper=0.1274 right_x=0.2805 right_y=0.0005 right_z=0.1781 right_yaw=-0.0007 right_pitch=-0.1032 right_roll=0.0063 right_gripper=0.9995\nstate[joint_eff]: [-0.253, -9.7573, 8.9094, 1.2967, -0.4274, 0.0562, 0.2369, -0.4034, -2.1128, 7.1316, 2.2051, -0.1538, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6006, 1.8954, 1.0843, 0.049, -0.5613, -0.4946, 0.1325, -0.0296, 0.8211, 0.6926, -0.6121, -0.0261, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4474 left_y=-0.1881 left_z=0.0744 left_yaw=0.113 left_pitch=-0.0446 left_roll=-0.0029 left_gripper=0.1325 right_x=0.273 right_y=0.0001 right_z=0.167 right_yaw=-0.0029 right_pitch=-0.1578 right_roll=0.0079 right_gripper=0.9995\nstate[joint_eff]: [0.3077, -9.0735, 5.6957, 1.5018, -0.2613, -0.022, 0.2076, -0.1983, -1.4427, 6.9538, 1.7851, -0.0415, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6006, 1.9057, 1.074, 0.0502, -0.5636, -0.5018, 0.9953, -0.0296, 0.8238, 0.6918, -0.6346, -0.0261, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4447 left_y=-0.1859 left_z=0.0663 left_yaw=0.1193 left_pitch=-0.0582 left_roll=0.0052 left_gripper=0.9953 right_x=0.2693 right_y=0.0002 right_z=0.162 right_yaw=-0.0028 right_pitch=-0.1837 right_roll=0.0086 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -10.5778, 6.7761, 1.5311, -0.232, 0.0366, -0.1441, -0.0205, -1.4564, 6.9265, 1.7509, -0.0171, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f87f99bd23ca62c1e511c5ba6817db14a4b249e12fee02f254155341f3f6425",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0919b49416750a71e52a19c473f88f5178af4d5dc219f8d07df5539de46b7f10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce7ea36134055792d72233284bba99cfc2165981bb877ec33c79f0d2c0a74227",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJTMlXTeP7O7T5HDV90TJGOP2BkrgfjutwIEy6rDrW2qXuEvMlBWLj8ccYpkhWQo4YT_16dwWCvuc9hqYf7Wk4XCvWaVh8W9bXf0PzyLT-jRwDxjsFn-VLp7jcpMZ2eSzV8AF_Gt3RvY9vFXzpPyS7yGF5HLl_tjbrVY_6U2ZdZ1MkeZ1h_iEs8YE37-_QlGiuk9zjn6ApztWsgrlIqnhLdVc4DcsW8KfGQFerf3ddvsrdBLzxuQKtnN8ibaUBAQ1LAkQE8qTNZqh0nY6UXUTHQWwBs0AnS8hjfMPh1AG1-7Wa-PDGDnMzjY1l16hI3F44SLLg0tqw6C0-SlxgH-0RlPjLHOJerf5H8WRWo0mA7zLk3K2YRUUGPd8NUBYKzBfD6ZRefw4zQ0eunE3WO8cUwnxjDtG66KbEEFdiezlIV_jIurGFLrowM3dQlS7zcWFzS8MKVdZTteiXLYcXfu6TUIoCHYbax8Zp1jbbc6OYODyUsyNpPcI4HOc12NhjAveNXEoBpc3C0_ej7GzoCa7ux_bl6nLRrLV3sDPHuL5rFfpUzn5tfUgEOFSknmu2qBWWQgjlIddE339H_-qjaYFg6xReZUKDxcdTxSuTwAwvcqIGW5ozGyNa69AHFqkxkAGCPl4dJYaLSwz4JmN5uR0Hsl3cvLYglg453vMjopU9pPs2GmJGMh4jDcVROo8nsY7BXygUgSJtQyIRGtWaVVIbMwGXRqhv2RiFU_CUoBBcNbUZm7rYmtpuf0aNpvi0CfobZW5ztbWgp496UFWxNsT0QSADrppZLwbjSfH8FKxxwQj8ySq9KLEX6EGspzGv5a6SXbdWi2BCmrHCVYw3-h1Elv82pLolGYF9PZyV9NDEDkpnX2jCYcWiHE1YAezRUilYyydFjeZ5iqPMx_V3tZ1L_W0sdWP8AANM5FUhfCF95Agb_9iMIIcaGrtBVJDsYUvPVFfV4Jw8tSNbGOu1mC7Waf7TVfi5GTgrEJ05ioUf75wS9c5yUDNb3Wd1BCCLBL0eSb2-SdkI8RmeyStgqjZ87BKyGAKRhXhVhZEq8gr9BIdT2vpeIEMHeLY3wAlcK3Z0ShHVhKaRna0wYg1g2drx0Xwb1c7AtP3AIxegSXENBU7vJWI6Oki_Yd3DjO_ajq5ujs-HXjoNRkaIgq5vIulzPzQVcx2kbw32QJ4Q17xQhsdCS2WTEw998PDHOszyxBEbiPm9xu9lzcmQ5tENq79qXh9RIUFMNPHvaVJlVA58eL84H77tuBO1yKb8QXGOspvRviMY6V3l5x5h3nzoYzZKorURd2r9D6Lg3oT1RLZDxp4NXQRPtim65qZkADkubqysflLYzOlsjy8GIW4gs3l2-D4MlBf6ZJ8dH_glA4BhO3Itvem9q6rFVPMOkaghJa8vVbITBGOfnJZj-OVULBSKgwK_verii_YK-UhclQMUvQaxOEq_GeZeDXU3ZC5NWcSRNJ0rfBJM3z39usjpLwbAXO4_0meFuR0PrzOjkDUTPN0Y0IN87YQoAd-uQ7haLQ4MdbHEurgSzRZ81EzgzT3iNbLsd_0QfD-Luz4tic5BKyBUJbi5U1jyhyRLipQFfpYZU_isb01UeiErHQ4Q48f3lOqIrMJb2J91upFfl9M_Oq3uwGLb4fxhL2_WaJ0fXZVwlaJWNm5GXBvupwmuyHl50bCpFOLx7pKQVCn-ZxAjJptT-ydPS_Sc0Aiy8AOOhv_tGhPB29ywr9l2Y9csfCUn1QFXUpOAWaVyzDSmvBm03kHqB89IdwD0A38f_5H-D5IXVupS1TCTCIc9eUM8CSF56AnsDjWl36zCQUp7JJHeu3-jmTOQlWbHlID6DEITwJvZrgFOh0djASGlfB3kjY6bnDAXNDyobtjRY6UCD9LUU53ZpDgt43lv-28z8gIziKkY9f-l-hD-H18qXBdmOfZNReaEyCYjBrdLZgB8uWavfB165VgglrPc77cMzZXz7_v0Iw6NvkgCze01X3vz1wQ6KMBuB6UKSd1iMEV5sZvbCxP1vTRAaDOE_NcNAzHsSEAGK5aFYpPq6bDMC2CQIo6e5uoHJT3lRMsNwrEyA1FpO_3Eqe3ApEOJBP4Drv8tXCkdWwau8hsC8vtc8Rg_CUjD8zg4n0W76mDM6ZSpm_PQZVftw=",
  "id": "rs_08c960ed07071122016ab494c82fa887d08079909bfb30ccac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.23},\"note\":\"Both plush toys have been released inside the safe. I’m lifting straight up so the fingers clear the toys and rim before reaching for the yellow object.\"}",
  "call_id": "call_WZw5XdPxQDCAB94bIoHYDSGD",
  "id": "fc_08c960ed07071122016ab494cb64c487d0b2ba64fe27bf51ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WZw5XdPxQDCAB94bIoHYDSGD",
  "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]: [-0.6006, 1.7779, 1.4902, -0.5415, -0.564, -0.5106, 0.9964, -0.0296, 0.8246, 0.6888, -0.6571, -0.0257, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4468 left_y=-0.1873 left_z=0.1968 left_yaw=0.1268 left_pitch=-0.0937 left_roll=0.0301 left_gripper=0.9964 right_x=0.2649 right_y=0.0003 right_z=0.1565 right_yaw=-0.003 right_pitch=-0.21 right_roll=0.009 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -12.3145, 9.5521, 1.4676, -0.2711, 0.0708, 0.1001, -0.0615, -1.2923, 7.0632, 1.7265, -0.0464, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12ddb35a45c8f9e758ccd92a4fd36d3bee27d794e579d4132a0438ee78a3179a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:467446124b0c0d6fabcee8a97a80c0cf58d5765e4a1134a41df32474ae2800b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b88a96ebbba5e36eb656209ba112224f01f9576afef5706ff39293372d11d22",
      "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 81 changed as sent

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6022, 1.7119, 1.3838, -0.3828, -0.5701, -0.4992, 0.1304, -0.0296, 0.8177, 0.6926, -0.5903, -0.0261, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4469 left_y=-0.1871 left_z=0.2086 left_yaw=0.1198 left_pitch=-0.0023 left_roll=-0.0359 left_gripper=0.1304 right_x=0.2764 right_y=0.0 right_z=0.1719 right_yaw=-0.003 right_pitch=-0.1326 right_roll=0.0072 right_gripper=0.9995\nstate[joint_eff]: [0.2256, -8.1709, 9.0598, 1.58, -0.188, 0.2906, 0.3004, -0.0205, -1.4564, 7.2547, 1.7998, -0.0806, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6006, 1.9057, 1.074, 0.0502, -0.5636, -0.5018, 0.9953, -0.0296, 0.8238, 0.6918, -0.6346, -0.0261, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4447 left_y=-0.1859 left_z=0.0663 left_yaw=0.1193 left_pitch=-0.0582 left_roll=0.0052 left_gripper=0.9953 right_x=0.2693 right_y=0.0002 right_z=0.162 right_yaw=-0.0028 right_pitch=-0.1837 right_roll=0.0086 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -10.5778, 6.7761, 1.5311, -0.232, 0.0366, -0.1441, -0.0205, -1.4564, 6.9265, 1.7509, -0.0171, -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]: [-0.6006, 1.7779, 1.4902, -0.5415, -0.564, -0.5106, 0.9964, -0.0296, 0.8246, 0.6888, -0.6571, -0.0257, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4468 left_y=-0.1873 left_z=0.1968 left_yaw=0.1268 left_pitch=-0.0937 left_roll=0.0301 left_gripper=0.9964 right_x=0.2649 right_y=0.0003 right_z=0.1565 right_yaw=-0.003 right_pitch=-0.21 right_roll=0.009 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -12.3145, 9.5521, 1.4676, -0.2711, 0.0708, 0.1001, -0.0615, -1.2923, 7.0632, 1.7265, -0.0464, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12ddb35a45c8f9e758ccd92a4fd36d3bee27d794e579d4132a0438ee78a3179a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:467446124b0c0d6fabcee8a97a80c0cf58d5765e4a1134a41df32474ae2800b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b88a96ebbba5e36eb656209ba112224f01f9576afef5706ff39293372d11d22",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJTQUXhZYlgLRprBSRYGta33SwHbuDN2oGBZQmIIzDZ0MCDXa3jcYGWR81GkBI_VcrDWlkiJcSC8VM_Ss0NJ47lH5iBQJGKbwI7cRjrl16rpP3XfjkUTkQgT4NF4VLgo6rbz7FnZuVJ1mdb8sgRpGBa9wsOwYsaqdn3xhbmLhohz-pOdpoYZh3OiT2x5ARF-WKpK-F2cJ5IMEnsX4eNTq48GL_dabfqshLa5uQrW7JqgMb3yk7VyEjCHiQ99GfTBAI1egRF4A7w40dP746m1nl0y-VeJ5mAOXG--E93RankB99eDk716diwpxUQiBDIuU-fuLyou-U6eJhr30HCfoHHFD3nUZGu93rc-MtH2l8xthWT1xeuasEBRsdx1ah5y3CXmv26fr1BpZNRPNzbsGSRvs9Sr2JakF7_pah9UatHDEc-b8xYS6HYtyjKazx-Fsv86jruUp61v2xKyzMm62dXMjeqN4LvHbY3Sic8vuwhzShztHp6vzvpJGAwAZuQBeF0jjVI2e7DUTeXUQziDdA1KIuYjP8AVnuE3XW0AB3J8DU3SU1u3JMmPwUZTK5MhqzJyEcRwXq1Z3syMYbhw27Rfz9Gl4hZTUKxG_XJb8WAnAJMo51iBrBmh3RckWHDcX4KIIVIuKlL6pdi4hEH2oU2zZJIghVeRSduFuzeOMT2WDrXsWpVmxPSzulL7al77AcQu9wL_YVp2f4J2XopO9n8vAdachVRx2JsuKKapWRNG7b6VR368l8qRiXxhMP_YlYIdpQmHIGp2Qb3xcNrDz8BJZvOYjc33wICcPD1wQTKrsIC-UTyMQq1DdqDkUPgH0riXJzKuA4V4t2M4UXl4jQEXMcj2-HJYmllgOJImfwmEM9NlIV4ey_GtlQ0tioepkqtZOUzOZzO9G0yp--2gEFk8r_x-KMfi_G3sQqVp7va38U4K3qCenoRIj3srK1u-A2s4d9YLRCWApLW-75f9kwm_MdOhNj3Ockwel7_GwxemKdlsSOUzZxN2jBPuckSfcTOXicwhkoKgHY8nUQXSzB4UKTHhRMktzVJiCrdEz1vgckQfdPkweVnx6dgJO3kzfpfKW7f1MiybO9xptrnFFi_WQPb2JqDNlvKb_z-s4Ih_c4VD59WCA3qfkA5RH8YlZ8iQshT6r0ltOEunvwyRPGis2055CQ3IQ0MEpe3z2mzxdSOxSnZ-0I7vU_3KLDuJzg9cSPgH8GL9G7_Z-1mF2XhFHkR9fZGtS_WA6eJ3YL5sxrg3CH7xil6KwntBATIPPLmGpSR0fmFCfc8ugeO9r5svx8dTppzaw7qDR5JJecC580M=",
  "id": "rs_08c960ed07071122016ab494ceaca887d0955be0c05cb7fa0e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.46,\"right_y\":0.305,\"right_z\":0.15,\"right_pitch\":0,\"right_gripper\":1},\"note\":\"The safe contains both plush toys, and the yellow object remains just to its right. I’m parking the left arm away from the compartment while bringing the right arm above that last object.\"}",
  "call_id": "call_039rPcpkfTklT01cXHVBJnwD",
  "id": "fc_08c960ed07071122016ab494cf26c487d0934e6691c5661f8d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_039rPcpkfTklT01cXHVBJnwD",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1741, 0.823, 0.7078, -0.4896, -0.279, -0.2184, 0.9965, 0.7612, 2.0106, 1.5291, -0.3054, 0.5774, 0.4538, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0015 left_z=0.2008 left_yaw=0.1623 left_pitch=0.0012 left_roll=-0.0076 left_gripper=0.9965 right_x=0.4488 right_y=0.2994 right_z=0.1363 right_yaw=0.0323 right_pitch=-0.0528 right_roll=-0.0276 right_gripper=0.9996\nstate[joint_eff]: [0.253, -1.2513, 6.8991, 1.9072, -0.0171, 0.1392, 0.0073, 0.0479, -10.865, 8.6906, 1.6288, 0.4957, 0.2173, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10e0094df9dd2ff97d0bd812ca75414eeb36248667caa84f3ecfcfc535fa3e9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b5a9963914dda64f3969685389f97c3a1d2608cf92b2b7cb8f56185accc2325",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bdee1347b5b6ca90d632e4dd3c36e45e50020f6fbb2519389cfcb520712c0c4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 78 changed as sent

message 85 changed as sent

message 89 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6006, 1.8954, 1.0843, 0.049, -0.5613, -0.4946, 0.1325, -0.0296, 0.8211, 0.6926, -0.6121, -0.0261, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4474 left_y=-0.1881 left_z=0.0744 left_yaw=0.113 left_pitch=-0.0446 left_roll=-0.0029 left_gripper=0.1325 right_x=0.273 right_y=0.0001 right_z=0.167 right_yaw=-0.0029 right_pitch=-0.1578 right_roll=0.0079 right_gripper=0.9995\nstate[joint_eff]: [0.3077, -9.0735, 5.6957, 1.5018, -0.2613, -0.022, 0.2076, -0.1983, -1.4427, 6.9538, 1.7851, -0.0415, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6006, 1.7779, 1.4902, -0.5415, -0.564, -0.5106, 0.9964, -0.0296, 0.8246, 0.6888, -0.6571, -0.0257, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4468 left_y=-0.1873 left_z=0.1968 left_yaw=0.1268 left_pitch=-0.0937 left_roll=0.0301 left_gripper=0.9964 right_x=0.2649 right_y=0.0003 right_z=0.1565 right_yaw=-0.003 right_pitch=-0.21 right_roll=0.009 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -12.3145, 9.5521, 1.4676, -0.2711, 0.0708, 0.1001, -0.0615, -1.2923, 7.0632, 1.7265, -0.0464, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1741, 0.823, 0.7078, -0.4896, -0.279, -0.2184, 0.9965, 0.7612, 2.0106, 1.5291, -0.3054, 0.5774, 0.4538, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0015 left_z=0.2008 left_yaw=0.1623 left_pitch=0.0012 left_roll=-0.0076 left_gripper=0.9965 right_x=0.4488 right_y=0.2994 right_z=0.1363 right_yaw=0.0323 right_pitch=-0.0528 right_roll=-0.0276 right_gripper=0.9996\nstate[joint_eff]: [0.253, -1.2513, 6.8991, 1.9072, -0.0171, 0.1392, 0.0073, 0.0479, -10.865, 8.6906, 1.6288, 0.4957, 0.2173, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10e0094df9dd2ff97d0bd812ca75414eeb36248667caa84f3ecfcfc535fa3e9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b5a9963914dda64f3969685389f97c3a1d2608cf92b2b7cb8f56185accc2325",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bdee1347b5b6ca90d632e4dd3c36e45e50020f6fbb2519389cfcb520712c0c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJTWkix2kK7Fg8ibj9fuaHkFhre_OrQyEWIxrxhSo3ud7m2Q0FHgHOe9fY99IwbJGSxJozs_FO8QM8p6J3PQ7YwnyV--JMAF3smTT0UC1y0-o1cBiYRRRtxqHM75qITk_XFGrflwxgb1dUfD94jmEXyxcc3XbpEoRjlVFS2vFm0351XwdnyI1iQF-7pNf1DFIVgNeIN66ZFO6kvAI6NsDVG0Za-eF1RavzGIgWlX8G6olKeyNmwcePmlJ-7F-VlgRtCA8Gkk8ieJRom_p_O4PADJmKKR0ZMgeVygaEELmvKMsRaKnIAyk3z9rz1oErM5GZpEmGbgFthbrjYl_y9RM9_uq2X3b5DY-qyuxfIiW5-G9jBTUSNFY71B_CDqqHzVQjHXS0xvJiGzvWSrtmNqWMMSSxLIufHA3rVbsJV1nF7gme7b6bV7DyZAUSHstGfK6pVdmyC9Mn0Tw-IL0CuCXvchAT8ilVQF25lh5JMeQgfRsqE38z9RlliuxtVH9ZI283vAU75N9A9zzgWu0Grk7SD66buPcXuvzfcyVhkgwr2tZ1nrg_hJvf6RyCx0ThFPga-ez5QOqFUdZbbLTwyTkKobFlSg1BbCRNPG1aP0FmosAdq4aDGP-WWYDS5wjIRYolzdAzgN85nJIyO6JF2us98q-sGkM03QHdmHH-cRQRcRwtV3P40Is-HfZFCbFdDxPBCtgKfJSLNGgawssCwXkv5x4mqBqd3Le5HKHz1GGtQJhbiT3dMTm0YgERKaYRf9zS9wxiusxQj3zLNZTSVGhWkoFrWtJ7PqsQVVvu17VjdT3cTrm2XPwJbGBG6CYoOm_GgFbDoMhZMUVLNEvz-4pwW49NSw2a61CTAZa4WmlV8XevI-mokx7OOqqOoTaHRlCui9a12J2O6uTGZ7cHpGU6KCZN1Dmz4x6arLjhJhNYD2-MXnXXCcSN9oH0pllB6ZxeLjHSJNUnACCUC60cmjjq2s-Bz2r8AT5xcmEY0aWTpwvSHgphnYUC0E8NNj8U14cYp-iRTYD-DfwfWEkWPotWiWjtcxGyB8_QEwv0jOQiWxqRe4WOOGNjwruFbYKsGN-_G1NnHin7gm9AyTh9w2TfAZyZaUFiTDEp5uScPRbJKxZ8gvxetDtjxFaf_eFHPVSpTpznzFEg-r10yyMvR9O0riVtxRy3vv3ziaGmiFLqVmg0lrCwlHZSplZQ4Ct5G4Cmy80deiw1SexFwOTVZv4ZHK4_dWgLna91iHrqy-ckBnpJ1ibmqrLB_T1hljpC7_ZikSIQfUZ0MTz7yFq_OVBtVweYwP-glpZItVXY_GSfWmRv4QqvTRNGrBKAfeyUemy7gCYEDENHF98ObHEABQCarQ7uQJgKM7NJk2o9nIJeHfNqfp50DRed76IZ_mPC6T-XyLtp_m2R-dJH9WrjZCDfkFPjcJLaBFcNnIhuzySBMlQoSb0cZEHdmcvG1DMUcwKju8",
  "id": "rs_08c960ed07071122016ab494d4c5d887d0a12b3db5c407b529",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.27,\"right_z\":0.025},\"note\":\"The yellow object is visible to the right of the jaw column beside the safe. I’m shifting outward and lowering to center the fingers around its narrow body.\"}",
  "call_id": "call_cejPISPo1gDn8n3pc3IHefFY",
  "id": "fc_08c960ed07071122016ab494d5ea2087d0a9a91a702f149e2c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cejPISPo1gDn8n3pc3IHefFY",
  "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]: [-0.1715, 0.8291, 0.7044, -0.5095, -0.2665, -0.2184, 0.9966, 0.6689, 2.1654, 1.3415, 0.0391, 0.5266, 0.3813, 0.9995]\nstate[eef_state]: left_x=0.2904 left_y=0.0006 left_z=0.1934 left_yaw=0.1547 left_pitch=-0.0289 left_roll=-0.005 left_gripper=0.9966 right_x=0.4734 right_y=0.2656 right_z=0.0343 right_yaw=0.0177 right_pitch=-0.0757 right_roll=-0.0566 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -1.8393, 7.4872, 1.8877, -0.2906, -0.0513, -0.0024, -0.2803, -9.7709, 5.7094, 1.6386, -0.0317, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43bd7d9621e552538c345642c69f2508c814a6db15794b15e265c4f74acc9cfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc5f18eb972068178221da0e8b163fe13a7e4205c3637cc72939bf8de83a3a8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f44a09f6abbcd7a4e03069d1798e381349a4a78c1a46422fd2e5f41322481621",
      "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 81 changed as sent

message 89 changed as sent

message 93 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6006, 1.9057, 1.074, 0.0502, -0.5636, -0.5018, 0.9953, -0.0296, 0.8238, 0.6918, -0.6346, -0.0261, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4447 left_y=-0.1859 left_z=0.0663 left_yaw=0.1193 left_pitch=-0.0582 left_roll=0.0052 left_gripper=0.9953 right_x=0.2693 right_y=0.0002 right_z=0.162 right_yaw=-0.0028 right_pitch=-0.1837 right_roll=0.0086 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -10.5778, 6.7761, 1.5311, -0.232, 0.0366, -0.1441, -0.0205, -1.4564, 6.9265, 1.7509, -0.0171, -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]: [-0.1741, 0.823, 0.7078, -0.4896, -0.279, -0.2184, 0.9965, 0.7612, 2.0106, 1.5291, -0.3054, 0.5774, 0.4538, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0015 left_z=0.2008 left_yaw=0.1623 left_pitch=0.0012 left_roll=-0.0076 left_gripper=0.9965 right_x=0.4488 right_y=0.2994 right_z=0.1363 right_yaw=0.0323 right_pitch=-0.0528 right_roll=-0.0276 right_gripper=0.9996\nstate[joint_eff]: [0.253, -1.2513, 6.8991, 1.9072, -0.0171, 0.1392, 0.0073, 0.0479, -10.865, 8.6906, 1.6288, 0.4957, 0.2173, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 0.8291, 0.7044, -0.5095, -0.2665, -0.2184, 0.9966, 0.6689, 2.1654, 1.3415, 0.0391, 0.5266, 0.3813, 0.9995]\nstate[eef_state]: left_x=0.2904 left_y=0.0006 left_z=0.1934 left_yaw=0.1547 left_pitch=-0.0289 left_roll=-0.005 left_gripper=0.9966 right_x=0.4734 right_y=0.2656 right_z=0.0343 right_yaw=0.0177 right_pitch=-0.0757 right_roll=-0.0566 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -1.8393, 7.4872, 1.8877, -0.2906, -0.0513, -0.0024, -0.2803, -9.7709, 5.7094, 1.6386, -0.0317, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43bd7d9621e552538c345642c69f2508c814a6db15794b15e265c4f74acc9cfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc5f18eb972068178221da0e8b163fe13a7e4205c3637cc72939bf8de83a3a8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f44a09f6abbcd7a4e03069d1798e381349a4a78c1a46422fd2e5f41322481621",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJTd3xTK7mkUeTcazm9RA_R7uOoG09Wy67z4QZ_MgkmoqFPmVesZoVHCVSZAvGyFMZqAK_bzHkbf65DqVCU0VOf1BKYcuZQ8B-wUtZkIecWB7FYdHasAuvY1TdVwZhB-1olmgVv93_4SeW8TMqz5cg3ocE_UqrSKzvkYtwgVOkwzsobzgnO9wxZKPIS7_CTfNewIyjhTP0A3BrX6Plj-Mis6buTGOsnuSo3LiutF9KWCiPKQTMQ_KLE4MicQOqe8MI5_hdgq469TVXL6kDp7HEQ8pz1BhsaEmCP9Xu34J-7dyIPF_y654BQEo_BPF9QYF7LDtoQpetBiIZy3F0S1RzjyEY7wqPWrQTf7pq0whd6BZg8c1lSaTExphVFzs546XXjEORQDqcDnlupWbxTeuLUcvdNjRaW_JpiHkfP1SCdzIXKj0UuDvqWx4lxrXkwFrIG-dLobzqXJsVoXZjjTSv_UiujsX96f_PrZKrM1QSNGa4cnFXEX6wRqPT99Gkbr5dSU5ZsONSe4R2LaZYzKh9er3KhCHGZg3921TJcAJpz7IQTluhzmfGmxdOm8xA101yGeJsx5Kmtcvy-nYI-L_jEdrg3-ZGah-NQqHfrrpXZ_NY0BcsWuL4eHg3N87RwbHGHeGHCQOdOmKtT2HlmOP_g7Y-nwRzfJe5YLknTpllOJSSBBVcyvHay0R8_p_Arp_DKXx_-k8XtHgI67jcVCYdsA4148ajDRYUrYjYmsC5hxA-mjVROC9B-8bIAupCwBWK6v1O-NZrntvYYvkbJpruzC_OTO1Im5owQfhZamKeDqkfsHi5O4UFzj7Xlh5QSZIXi_052Sgzl0EMg1akwjUTQiNY6ESijFtit24AAJlUmq-ubsTEsi5lX6ni6P2xy3910zbf0bQ0u6G6tW2LiJhyCImdzkzxaCVoKmyn8vVNhx60cSjMVX4hluOvZRFkQsiVI2x6MiqjZY-izihUq4pAa2foYHH_CSFzhkdc-hEFaxpcGjtvWF_lYXXB3BbRIw-W04o4RLqohl7QwB1PVy_3rcP4SXj-DxYQZmwQK3OIOEzbTAODu8uPEVMKuxlk0Dja9r5fU7XJmlEh8z6hrNPkKbg9d2miVO7XVKlm2pKH3Dhala7QHLFjiI2tshrN881PNr06pE4aDscmXiSrSPQdYaqZtqD6r6BHkYcw8qcEkgnqXsxJaa2syqL2Ds8tzTHSlmYjqXfwexFxOjHQW74yM-cqx6SfRssmZixp63B7mUNXxE_WNW0x8lrcvJkKkC7zNsCollAgk5t8WmsyiK2a8fpTNTsn_qXx2EKfJdtGmRrL2GAk8n_BI3EiEf6z-wO9HeKsY6fFq3c1QlT4acpPRyCR4kLbhHA-wzUmCwyhcpxiw5f9aixrDkp1sM0yhiGRphzJAbEtNl3_5wdo5eD5vyd9eapTuwnXqXYsB0iVlTr1lAu437TAg1LrFNQ4Pr6VxqD04JXuwG0cEdzaQXv1VsV4CMJZpXp5Xh-FIcz5fM0o6FoC-p3KTsYUrRGsD0Giv2CKyp_s4MEN7hkjk7pQKnuPFR-15yOJRdBhDK0VpS-Lqj6irjamUwW1IHQ5kGmIONE8-IL-3L_vmFiByUuSa9spD_CWd6zaB0SCNnWUTULLN97I70VM2QWks_tKgSK2lgL9IT0JMDcv1f7bBckjdCln-SlH1Jsd28UH6xwi28jS1k8KFv7B8giXamMwO-r_8Rj-W3yl881MmiJ-iIBZQ6Pl0ptAQYlaF7_uwCsUakU2r9DJXz5UclU6GMVVoN1Sc2XP3NJx2Y3u9W3gwpc4eFu6GTXwWCUr4yD3s1-ljHSlW7IySk19Tb8cxeVwwYo63gAsyuZAXG-YhazjPNaljXhW5L8YuJly_xVGJIgSy4l6u-cgrbX2h5LxBIJz1V_1isVu7xoukf2CfQZwoNHS-cvPS7yccxRWEdmpjAuFMtCzlSISo3o0_qIA_-q6NbGaKf5YFonSeKqIX88IfzldYtQDJ4sbGuLD-Gmujxe1UXA060X70ntRdQ5gPu470WZgWZpVLyYj7snOtpYPea2CV0C28DtxOpNSxOaNcS_I6CsDM=",
  "id": "rs_08c960ed07071122016ab494d8dcb887d082114ee295aede66",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.245,\"right_z\":0.005},\"note\":\"The yellow object is nearly between the fingertips but remains slightly off-center. I’m making a small sideways correction and lowering before closing so it is less likely to slip out.\"}",
  "call_id": "call_K3fNx3SE89ZFYjTB5BzjtySZ",
  "id": "fc_08c960ed07071122016ab494dc4dc887d09cd14be5d825401e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_K3fNx3SE89ZFYjTB5BzjtySZ",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "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]: [-0.1715, 0.8303, 0.7044, -0.5133, -0.2661, -0.2214, 0.9966, 0.6456, 2.1887, 1.3113, 0.1265, 0.4862, 0.3599, 0.9995]\nstate[eef_state]: left_x=0.29 left_y=0.0006 left_z=0.1923 left_yaw=0.1561 left_pitch=-0.0337 left_roll=-0.0061 left_gripper=0.9966 right_x=0.4798 right_y=0.2626 right_z=0.0229 right_yaw=0.0383 right_pitch=-0.0652 right_roll=-0.0309 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -1.1692, 6.9538, 1.7753, -0.1734, -0.022, -0.0122, -1.812, -8.9915, 5.2171, 1.199, 0.4469, -0.2857, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fffcf9c51c53215421da07bea86b88f46638af1bf3411d282748999def5c683",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50d1c2ba0414b0e3bf5f3f6fd36b958e7190026af5dffd7a3adba6f98a370131",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85d97e858df022075b85c502793bb25fe15e50a46a65e2b6b74cf705ef9f51a8",
      "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 85 changed as sent

message 93 changed as sent

message 97 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6006, 1.7779, 1.4902, -0.5415, -0.564, -0.5106, 0.9964, -0.0296, 0.8246, 0.6888, -0.6571, -0.0257, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.4468 left_y=-0.1873 left_z=0.1968 left_yaw=0.1268 left_pitch=-0.0937 left_roll=0.0301 left_gripper=0.9964 right_x=0.2649 right_y=0.0003 right_z=0.1565 right_yaw=-0.003 right_pitch=-0.21 right_roll=0.009 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -12.3145, 9.5521, 1.4676, -0.2711, 0.0708, 0.1001, -0.0615, -1.2923, 7.0632, 1.7265, -0.0464, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 0.8291, 0.7044, -0.5095, -0.2665, -0.2184, 0.9966, 0.6689, 2.1654, 1.3415, 0.0391, 0.5266, 0.3813, 0.9995]\nstate[eef_state]: left_x=0.2904 left_y=0.0006 left_z=0.1934 left_yaw=0.1547 left_pitch=-0.0289 left_roll=-0.005 left_gripper=0.9966 right_x=0.4734 right_y=0.2656 right_z=0.0343 right_yaw=0.0177 right_pitch=-0.0757 right_roll=-0.0566 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -1.8393, 7.4872, 1.8877, -0.2906, -0.0513, -0.0024, -0.2803, -9.7709, 5.7094, 1.6386, -0.0317, 0.0024, -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]: [-0.1715, 0.8303, 0.7044, -0.5133, -0.2661, -0.2214, 0.9966, 0.6456, 2.1887, 1.3113, 0.1265, 0.4862, 0.3599, 0.9995]\nstate[eef_state]: left_x=0.29 left_y=0.0006 left_z=0.1923 left_yaw=0.1561 left_pitch=-0.0337 left_roll=-0.0061 left_gripper=0.9966 right_x=0.4798 right_y=0.2626 right_z=0.0229 right_yaw=0.0383 right_pitch=-0.0652 right_roll=-0.0309 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -1.1692, 6.9538, 1.7753, -0.1734, -0.022, -0.0122, -1.812, -8.9915, 5.2171, 1.199, 0.4469, -0.2857, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fffcf9c51c53215421da07bea86b88f46638af1bf3411d282748999def5c683",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50d1c2ba0414b0e3bf5f3f6fd36b958e7190026af5dffd7a3adba6f98a370131",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85d97e858df022075b85c502793bb25fe15e50a46a65e2b6b74cf705ef9f51a8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJThNdGFkTvunl3DqLZD3JoKl-wGaizZWzP-ONVDYj3DKEti-9iG-4c3TvuxVBLQbDc7NvHBkq3YfTHWk3uP19Abrg_qhA5uccHzc2WA7Ow9uhuy_Rn_GQLs-1TvGZ2bqCl29Fj5VmxbDNYwUw3gqGcMlWSRDpniCRljYbYaD_e9P1m3t9xWdgw44X1rHE2Im0qM396VBBKwRNHDqEvvXk2SigE7T_ZdvoossVrZBHmKhQRJJh7q8OpjwFwC5cHH-_JNX2anqgGFyZitEfbrrnvNCFcgide7l0my_L5lUfRJpUuOF6T2kUsu0WYPWmKwceWtmFmKBv01Va4HLBi5IkYoG-CyNRlFMDrbMpZKvrNz2MrG1iEDZJ6WuBzFizvukW4HufYq7ioSpuspw3XyUHVwiQuuM1x1VMPVzRAoD3qaUUhRLNdISdEqBkh-0vIPouxiArWxqyzH7hT0PMNEM29onGl7ZVj0lhBtDCZlHNbYBwU_GJrCJ4BtZiS6kCr2n5vYzrbsYZA3QKYAcJ50rhSYVIeuwdVIE-kpdoQ2UdKAXJDtT72DnLqX8vXU6Abw2bWuw9n0jaHAbLzBHqnSn7II7BqT_q0_Kzov106Gk1a4BbOaAwpokhvbn_FV2cv7o5GqabzBQf2tZXZn2aX3n33OFz6IYsCDGQmMCMT7Cxqqz6SDPiA_60P8Vz9oR8KkdJ9njoFdmbNtwQxyShWU9u1VP6TNyOBCCBJrqjhUz8if-2eENO9b055WTmm7WQ51VR_UPY2VDyBpNl6_V24ngaEfH-7E0VDW0Vh_oof-4zQpTIfSnZaae0GA_mZOoRLv3F71ilzJzRqu0gA5WmniMY8MqnyGJXgq11EHRGulRSTgflhuKN-jriD8o4yVWBVV1OTXR8WHSdtyvcqkkpBWcD25TZPd9Dy2gFjFAUSg4tJHwVW0LH2TixOn2Rq8QuAbodd1XoTf2DgATiD3NiC_sW4yw1MrgeabF_mdajPRTKL4KVQoplUMAEHFevMnmU83dtIvEkRAKucC8Z8kBtxbHYH_rs6O1UA-CPNO5rP9mawy0FAzjBiem-BF7aCWhXx42MLTRHZOqqAERhqhwPkb60diQFZP5Wz9Xfok_Vl974JztSwYVHC7N4dYlHIBb2HEJXWOFBeFfAwtFXrvobVT1Ai7w2kvBcmsaC9yaf1V-CZ7a5HGUSgnRvDtgaF5Xdf4S2N14rsgTkgSEhA_yNw797j0NMwqDxpWM7phWqwsp0mCulg_g4V6SWYTi1Nf1lOXytb1V2ZIDTwTlb9blCjLOhWYVA6tICcJoGsSAlCKXU3dQ5osBu6K6ywcabhAH4nIwN9NRCvZ8Uyn0v3LU02UnozKyiXgq_Ui1Nef_7wOymFtSf-e1NGNoQCfZqYM_mjFbOpXJYYYwL-ACKvJXDdZta7rkyIm9241yfbeG6Cwr8MvyMf319Hig-tkjHuoNSUwoXFdwX_o7gEeAd6ZDaHV65mv1TLxYewyxCjt8wr2lJ08vjMh5iU4TgxzIYBgPZlyWzUgiuBUGWPoK-LYEYWhxGpMacr1h4FnXuwxi8wwjpFs99wDie6VOJyYiaVWBx2fxeqofuXqmg-IsVB_FMwkgJ0w-IbIrTXdRKVq6Xyq6xq3rH0=",
  "id": "rs_08c960ed07071122016ab494debfd087d0a2093a9c0ba92a85",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.235,\"right_gripper\":0.25},\"note\":\"The yellow object is at fingertip height beside the open safe. I’m centering the grasp a little farther outward and closing gently around it rather than squeezing it flat.\"}",
  "call_id": "call_bjEnRF0SYE4tokWFg9rioOuY",
  "id": "fc_08c960ed07071122016ab494e0501487d0ad870705040ae8d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bjEnRF0SYE4tokWFg9rioOuY",
  "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]: [-0.1715, 0.8314, 0.7044, -0.5213, -0.2661, -0.2218, 0.9969, 0.6155, 2.2051, 1.2964, 0.1593, 0.4652, 0.3401, 0.5704]\nstate[eef_state]: left_x=0.2889 left_y=0.0007 left_z=0.1905 left_yaw=0.1564 left_pitch=-0.0424 left_roll=-0.0035 left_gripper=0.9969 right_x=0.4857 right_y=0.2508 right_z=0.0132 right_yaw=0.0353 right_pitch=-0.0723 right_roll=-0.0339 right_gripper=0.5704\nstate[joint_eff]: [-0.1846, -1.388, 7.0496, 1.7021, -0.1197, -0.0513, 0.0269, -0.1846, -10.6872, 5.2034, 1.5751, 0.3199, -0.0806, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53001632777dc196a55fe970f5530ec311c7415135116020d1e524991aca2f6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a76457041acf0889bf4285708bfec5c9b1fe678100071be3b8609bf6aed55c12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3febfffbb615d96c556c5844efcc37553d1c3ebed3b17ec7f15947a595c47e04",
      "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 89 changed as sent

message 97 changed as sent

message 101 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1741, 0.823, 0.7078, -0.4896, -0.279, -0.2184, 0.9965, 0.7612, 2.0106, 1.5291, -0.3054, 0.5774, 0.4538, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0015 left_z=0.2008 left_yaw=0.1623 left_pitch=0.0012 left_roll=-0.0076 left_gripper=0.9965 right_x=0.4488 right_y=0.2994 right_z=0.1363 right_yaw=0.0323 right_pitch=-0.0528 right_roll=-0.0276 right_gripper=0.9996\nstate[joint_eff]: [0.253, -1.2513, 6.8991, 1.9072, -0.0171, 0.1392, 0.0073, 0.0479, -10.865, 8.6906, 1.6288, 0.4957, 0.2173, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 0.8303, 0.7044, -0.5133, -0.2661, -0.2214, 0.9966, 0.6456, 2.1887, 1.3113, 0.1265, 0.4862, 0.3599, 0.9995]\nstate[eef_state]: left_x=0.29 left_y=0.0006 left_z=0.1923 left_yaw=0.1561 left_pitch=-0.0337 left_roll=-0.0061 left_gripper=0.9966 right_x=0.4798 right_y=0.2626 right_z=0.0229 right_yaw=0.0383 right_pitch=-0.0652 right_roll=-0.0309 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -1.1692, 6.9538, 1.7753, -0.1734, -0.022, -0.0122, -1.812, -8.9915, 5.2171, 1.199, 0.4469, -0.2857, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 0.8314, 0.7044, -0.5213, -0.2661, -0.2218, 0.9969, 0.6155, 2.2051, 1.2964, 0.1593, 0.4652, 0.3401, 0.5704]\nstate[eef_state]: left_x=0.2889 left_y=0.0007 left_z=0.1905 left_yaw=0.1564 left_pitch=-0.0424 left_roll=-0.0035 left_gripper=0.9969 right_x=0.4857 right_y=0.2508 right_z=0.0132 right_yaw=0.0353 right_pitch=-0.0723 right_roll=-0.0339 right_gripper=0.5704\nstate[joint_eff]: [-0.1846, -1.388, 7.0496, 1.7021, -0.1197, -0.0513, 0.0269, -0.1846, -10.6872, 5.2034, 1.5751, 0.3199, -0.0806, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53001632777dc196a55fe970f5530ec311c7415135116020d1e524991aca2f6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a76457041acf0889bf4285708bfec5c9b1fe678100071be3b8609bf6aed55c12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3febfffbb615d96c556c5844efcc37553d1c3ebed3b17ec7f15947a595c47e04",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJTkdoRig27BFm4Agj8fkw2L4LbKcNH_wavc2bNNPO3ea6HOZMDszRN9vzoZ9Hu3VMO2SWTMsjqAc9Ysn0Wn9ieSSVPlMJ7GOvrxXZVsVDHMpNJ1vzd6fpo0XW36yNfAulWxV4bxUFgC6XSjn5nSNfY745qSObQCwDVDRC71ZNkpdsY9A8IEaCeZz2GsRq5hH-0AWclIlqmLRG7iztbZovNe02F4MbgLzsOmh0ZJpyKZLED6lFJX73djch_m5qLnong6FpjTfodWjTgG5WrBJG4oaGkR3T-gARx698Z47mOUoh0xIo0mqs3cgrR-wTJzSUpczBB2yrXJGGPXf-Ami-8SlZakJgOZHEVzKaHf6MsMCFQJD3CT5b-jPsJqabFVJcKj8M8mNQWEAf_Ayg8x-VHiQhdrLigm_qU7Inbt3foDIcvymORedAxrjeojUptrGPJCn3Dcp7Lp5HqP9GNHKHm1iG4eJLe4pAXatFAnUa3SCAW1LyQRd4hoMX-0xnxcgcl2Teme-khqGnPUlE1ZE0wuddfFbXWEwyKRxbCN8qoKlEP8lheTYH_REOxlS3dTTe75X_nqVgJJpdyJUhfMJqfGJ7JAatwpPVTSq9SE4DbnINFEr_AQtVIShCkVSBKl6lK5lSZNjbZnDI6fAhZHA_SZ1eX-xzEn2_zdh_urEnPAQjellrP8f5-bPwuF02x0U0nPBpQgFRQxF7Supc1v9P0MvUAKkOr1-uHGBMmzSfox5pr_FpPwDk9QbI4AxaWPRp5vyT99AKQ7E3U-L0Lw7QK7lIQ9femp5ChNcyqUI39TU9SLrlcme1RwyLw3QpirkreFV1_wsj2Pjvqgo63DUGBPoE3wa8N1XR20z6l7M_QEp96ABykAJpfenlZJW7n7Sl1rV8O8DJOQ-6p9vIFNE1lIyofcUYIzdmlf4zUuQA7ehTlcbXGdiFTZX508Omg50yIvanBjg0454sNPvfnBwwGO5zp1DvgYx2rNzCSk6aSotPd5rgl3IqxAZh1adcY0rP4FcAO2ztnoFP-zI5cIkQ3epQ-GWc4ooh6-Yt3S1dGbdYqjUJtWPqBSfyzj_k4mPcuy8R6I1bgJ0Sj09_wdKfjRQ6hgrBOAERW0XFDFgA2v1QdrQekQO6IAVqMWutAEZ99dyWLCqbso-V485zvsIsbwGvpnK2vLKw2WYYkauJ-ZHbt-K199E_j-y-2i7at1jSTbbpnX4xPannsgZgcij8Snr-VAr7UVEtNHvHn7NWVKjjw=",
  "id": "rs_08c960ed07071122016ab494e370a487d0a4987b630b99fb91",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.095},\"note\":\"The jaws have stopped around a substantial width of the yellow object. I’m lifting it a short distance to verify that it is securely held.\"}",
  "call_id": "call_3DrLobVbH2Xz6A5LK8bd91Tm",
  "id": "fc_08c960ed07071122016ab494e3cc7887d0ab575c35dc8efe99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3DrLobVbH2Xz6A5LK8bd91Tm",
  "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]: [-0.1715, 0.8322, 0.7044, -0.5255, -0.2661, -0.2222, 0.9971, 0.6155, 2.1162, 1.3651, -0.1127, 0.4576, 0.3309, 0.5716]\nstate[eef_state]: left_x=0.2884 left_y=0.0008 left_z=0.1895 left_yaw=0.1567 left_pitch=-0.0471 left_roll=-0.0022 left_gripper=0.9971 right_x=0.472 right_y=0.2426 right_z=0.0407 right_yaw=0.0385 right_pitch=-0.1715 right_roll=-0.0993 right_gripper=0.5716\nstate[joint_eff]: [-0.1983, -1.388, 6.8991, 1.7363, -0.1538, -0.0708, -0.0024, -0.1983, -16.4171, 9.7026, 2.1661, 0.1978, 0.0855, 0.8962]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e359f4f0e2cc5dedf8fccd04d02c95b6277cb6d582b82cdddbca7282eae54ef7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:803f75135acd03a1764c47ad64c0977424850c7f1d0b02613af9c89c5501157e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76e52a48b19c75ff4d22be364c0e6407628de219f97f70a135bbf1ddce62844f",
      "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 93 changed as sent

message 101 changed as sent

message 105 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 0.8291, 0.7044, -0.5095, -0.2665, -0.2184, 0.9966, 0.6689, 2.1654, 1.3415, 0.0391, 0.5266, 0.3813, 0.9995]\nstate[eef_state]: left_x=0.2904 left_y=0.0006 left_z=0.1934 left_yaw=0.1547 left_pitch=-0.0289 left_roll=-0.005 left_gripper=0.9966 right_x=0.4734 right_y=0.2656 right_z=0.0343 right_yaw=0.0177 right_pitch=-0.0757 right_roll=-0.0566 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -1.8393, 7.4872, 1.8877, -0.2906, -0.0513, -0.0024, -0.2803, -9.7709, 5.7094, 1.6386, -0.0317, 0.0024, -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]: [-0.1715, 0.8314, 0.7044, -0.5213, -0.2661, -0.2218, 0.9969, 0.6155, 2.2051, 1.2964, 0.1593, 0.4652, 0.3401, 0.5704]\nstate[eef_state]: left_x=0.2889 left_y=0.0007 left_z=0.1905 left_yaw=0.1564 left_pitch=-0.0424 left_roll=-0.0035 left_gripper=0.9969 right_x=0.4857 right_y=0.2508 right_z=0.0132 right_yaw=0.0353 right_pitch=-0.0723 right_roll=-0.0339 right_gripper=0.5704\nstate[joint_eff]: [-0.1846, -1.388, 7.0496, 1.7021, -0.1197, -0.0513, 0.0269, -0.1846, -10.6872, 5.2034, 1.5751, 0.3199, -0.0806, 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]: [-0.1715, 0.8322, 0.7044, -0.5255, -0.2661, -0.2222, 0.9971, 0.6155, 2.1162, 1.3651, -0.1127, 0.4576, 0.3309, 0.5716]\nstate[eef_state]: left_x=0.2884 left_y=0.0008 left_z=0.1895 left_yaw=0.1567 left_pitch=-0.0471 left_roll=-0.0022 left_gripper=0.9971 right_x=0.472 right_y=0.2426 right_z=0.0407 right_yaw=0.0385 right_pitch=-0.1715 right_roll=-0.0993 right_gripper=0.5716\nstate[joint_eff]: [-0.1983, -1.388, 6.8991, 1.7363, -0.1538, -0.0708, -0.0024, -0.1983, -16.4171, 9.7026, 2.1661, 0.1978, 0.0855, 0.8962]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e359f4f0e2cc5dedf8fccd04d02c95b6277cb6d582b82cdddbca7282eae54ef7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:803f75135acd03a1764c47ad64c0977424850c7f1d0b02613af9c89c5501157e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76e52a48b19c75ff4d22be364c0e6407628de219f97f70a135bbf1ddce62844f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJTq5-ZG8tH4V5U2a9mAVkrn5vzE0hq1cnWghS2lb1DHX1fW1UDh4b_f5XzsmJhHMy1-1-kgi905uBA7cY43kjTkdaNitS1G4TWyHYAZwkc8uxnt_Z6sCX1KL8gCTnH5luSfaGvXCiMPfPPkMzXu1ekALhvfIdfEi8WT3IU_7H7bztSgDlNRzZVaPgUil1R113atxkTV2wcu-IEz2VE3NsoiYRxi0a5y6mUQQRHJmJubvzFEFl4_9ZhPEhb7xmBzQ0rZk1-NagA3L_UlFq4XMJuRfdUIBn7jfd6d6TnO3fXsJUkp8BQwPCk4CCe6l_Oxdy65NXIN7z8dczgl-frVEAvH7S9sCNZmViAEglRUs1qujv4MNAYMeiM9KeDJyLHmXf_fhvyIRgsp8bd673t996PYMA1O-MDDq7r5t6tWfH2CSqWe3Z2LRvOW5PWWGhEfpFQNvD5Rl_ijOEbCbXuqKvICwNo2RyoO3eSqviW9dTGLeGPkzw4GbI6dDtpwdAIyAT6sZixmTe-NbTBNN18Zr_WVIbatrRDxoFme7DQFLjqPv290n7VFogqkaasapY_NJUS9KwR0IcLRBVKlZPtabf41zt9fX91BBsazU3uJpnC7TTWlIB1pIrhhlp6IM-C05HEj4M35_4WH7O0kF_MU6iwEyorp_F7BQ533jqsZO_13zSzWnK0jiXckAXkl_1I_xjC67sBflxjeyu48Yzzfp2f9nQcyirP7TOLYPKWO6Rb-ybXKFYSn07Vk6ctXb8FdVGNIiOYOfFR_NBuPj9kropgAW7RA_ROt-tzfyNfSky9Czd3JQnR_LIw9Ep6d7IYTLOBExx-6lYiA4VnbJu8-UVmWl9LlxTR9Br8bFD0cgsRm7sdhJAaHn48W1belohNe8qvJd-PGnaaDqMAz4Z0Wh3WUtd_PIZHLMI47R4ZLQYv8qWYWxVO74bDEl5KuF8EimYgizm5KeCqMnT4cwum-wPqLWBl00r66kPnBsk95h3QHFzMLMeng42pkKo_b1HlNaUzmh8qAhzcRAjKnGz_xPEyuGdBUVhPus6-zwhH7byvtDD998D5dpxcyJdrYaoV0ViJ-WGYyxHEGCMhAh3giSBaLUYbA8HRCYH1xifT2NNiNiFm_PZVYR3wSbERwIATGIegrbBYfy4be72PPNBA-tQHGhqHiEiielfXq6OpJmfIRvwVjB51ePXtecph4VnZP6M5tTWge1v3VhYAsg8hVZr8S7mOsBxIQXDRENiiLs2rDma3d8xnBlIEdnkiqmhdnZaQPwmYE3Xj-QuL6wtCn4cUOi49bT6dphRqIx53oueqlrijvXk4Oq9zhDUzwHNANQOXzwLXsDHIht877KUVIiI7zqlzfubV92x9jvHwWJ8pCnByG1lOjOlJWqdGJcPLExCSpaRXIF3LDRSy40ElM9ZPPA8HrHjmS7EIdMreXCfh35GqOlk36Od_tNi3BJaLuVOFKD5rAvtJjiyJeSgg0fD3ZygzTnqiB0lHdsxL_oAeagvuwtGgWjeJ3ont64-6dZZnkw6MmpBW7JiOcKr9kwmIGBmUb-ZAEOPHSGwrw6-bhG8xy5iI0a2csAarTRKvWV1xqenl87JqhshnSNQYdljErmOnVKI97FZ6iQHgErnsKTm-A7Gk1Hx_R26pX24Eijlh7-1jHfuA85PO-Ky28OLG9uyXmfrQ6yXbcuPek5ILaNP0MhbP8m24qF5yQr9dzJ5HzQL09rAhyy9AstLmStshwTR_glWYonB9vQSuQ6uUuNvBa7C3QAG4T3L_J0JqJ4pGL2zNsBthPW7Itdz0Xh4LY-cyEdJetNajShLolQHUTH53skfLh7tpaft-pqu8dVSJfRBRsqRBF1UUfyLCtnKz80lOs43PTX1LlUNpGDQ3fzSTbfox--nGV6gVoUpTQA1FYgqbAsNgfUv2UZUveYcbP6u6Xk8klm7kA2-F85wPSVIvX1m_29PX8-mIb6bJv8kNhO1C1qhRfbgYg_87Op64oLDw7jARDrqHzmaCw7YCehOaLiwwgMlWzLo4TgFJXJd7BMIoJA9SPLZDhpp42FGnq-7Zd57thCYzq3QivVHUi6Fb28cKdnTjEp-RFlVsS6ZfLDt9tsHfy_lof-4M5TOB93A==",
  "id": "rs_08c960ed07071122016ab494e67b9c87d09be37b9dc486de41",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.39,\"right_z\":0.22,\"right_pitch\":0},\"note\":\"The yellow object remains aligned with the closed jaws, though the lift tracked short at this extended reach. I’m drawing the arm inward and raising it over the safe’s right side to improve clearance.\"}",
  "call_id": "call_F2NpioUFaHhnovdaOFzfb5v3",
  "id": "fc_08c960ed07071122016ab494e9585887d08a220f244c950140",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_F2NpioUFaHhnovdaOFzfb5v3",
  "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]: [-0.1715, 0.8322, 0.7044, -0.54, -0.2661, -0.2226, 0.9971, 0.9245, 2.3123, 2.196, -0.923, 0.7113, 0.4374, 0.5716]\nstate[eef_state]: left_x=0.2863 left_y=0.0012 left_z=0.1867 left_yaw=0.1572 left_pitch=-0.0608 left_roll=0.0022 left_gripper=0.9971 right_x=0.4216 right_y=0.3733 right_z=0.1622 right_yaw=0.095 right_pitch=-0.1595 right_roll=-0.2944 right_gripper=0.5716\nstate[joint_eff]: [-0.0205, -1.3607, 7.2547, 1.746, -0.1294, -0.0659, -0.0171, 0.1983, -15.4872, 10.7829, 2.3321, 0.4908, 0.8718, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ec61519fe2609f8d7cda618fa9fe0ba04a08dfd50c8002149faec6322a6d5f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:243cdbd93e4b9805f7e6f1cc0917b2cd6a7ac1ba9a7adfd85993f726e0519f12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4655ed1eadd7fbae36df5eed89ff5e1fcb0ac3737a2c84fa62c2620a65fa20fd",
      "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 97 changed as sent

message 105 changed as sent

message 109 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 0.8303, 0.7044, -0.5133, -0.2661, -0.2214, 0.9966, 0.6456, 2.1887, 1.3113, 0.1265, 0.4862, 0.3599, 0.9995]\nstate[eef_state]: left_x=0.29 left_y=0.0006 left_z=0.1923 left_yaw=0.1561 left_pitch=-0.0337 left_roll=-0.0061 left_gripper=0.9966 right_x=0.4798 right_y=0.2626 right_z=0.0229 right_yaw=0.0383 right_pitch=-0.0652 right_roll=-0.0309 right_gripper=0.9995\nstate[joint_eff]: [-0.1162, -1.1692, 6.9538, 1.7753, -0.1734, -0.022, -0.0122, -1.812, -8.9915, 5.2171, 1.199, 0.4469, -0.2857, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 0.8322, 0.7044, -0.5255, -0.2661, -0.2222, 0.9971, 0.6155, 2.1162, 1.3651, -0.1127, 0.4576, 0.3309, 0.5716]\nstate[eef_state]: left_x=0.2884 left_y=0.0008 left_z=0.1895 left_yaw=0.1567 left_pitch=-0.0471 left_roll=-0.0022 left_gripper=0.9971 right_x=0.472 right_y=0.2426 right_z=0.0407 right_yaw=0.0385 right_pitch=-0.1715 right_roll=-0.0993 right_gripper=0.5716\nstate[joint_eff]: [-0.1983, -1.388, 6.8991, 1.7363, -0.1538, -0.0708, -0.0024, -0.1983, -16.4171, 9.7026, 2.1661, 0.1978, 0.0855, 0.8962]\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]: [-0.1715, 0.8322, 0.7044, -0.54, -0.2661, -0.2226, 0.9971, 0.9245, 2.3123, 2.196, -0.923, 0.7113, 0.4374, 0.5716]\nstate[eef_state]: left_x=0.2863 left_y=0.0012 left_z=0.1867 left_yaw=0.1572 left_pitch=-0.0608 left_roll=0.0022 left_gripper=0.9971 right_x=0.4216 right_y=0.3733 right_z=0.1622 right_yaw=0.095 right_pitch=-0.1595 right_roll=-0.2944 right_gripper=0.5716\nstate[joint_eff]: [-0.0205, -1.3607, 7.2547, 1.746, -0.1294, -0.0659, -0.0171, 0.1983, -15.4872, 10.7829, 2.3321, 0.4908, 0.8718, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ec61519fe2609f8d7cda618fa9fe0ba04a08dfd50c8002149faec6322a6d5f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:243cdbd93e4b9805f7e6f1cc0917b2cd6a7ac1ba9a7adfd85993f726e0519f12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4655ed1eadd7fbae36df5eed89ff5e1fcb0ac3737a2c84fa62c2620a65fa20fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJTxGBeS98a7cNZJcuNhiFWtJrj7Lz6zhlZqn_GeCMwKKsVJlR5qkHe6GnbjXt4fKynGyAeTsZlgQU6NZ-tPeqonvWbMu8IKNX1D9M36Mvy2QKkXnlg0txfO00Gh-wo-cpLOJMruEcsx9JJZNi4nCige_8vCFM-tHuYJSsFi_4U7z8zlq7CBQC9fmSjw5zzrqC64t525fl2cpvmIeyxZUNT4mIuFKeQPiGAdj67K6OU_UlDBzV7-im9S5bGtXGf1BHTPwXmlAmimY4HSzKoILxVCiCWodo3c3gR_vrW9Sh9M8PfCw9ENdq7cBFZjqh62_UVTEFw8x2H7kJQk_4uUqNct4QAMkgX6wIO_R4rJLOooK4pErMzg2ocb8ejqO5Hjnu2GouJNuRxnn03X0CMmX2Y6XbXYdK7AwCNpugJ2tcLzMVZs8xyKuK7cTlGPH4sro_A2GFN5V8flxfaCdjEtx2iGypZUFZJQv2jxwgYvjyCgEofDj4R95j7Yeh9SJrN1e_bVN9PcTX-BwPw8WWdV7wucoa0SnM9gBOufbJToykKEKNTIIZaOYIsqyIYgXwOe8Zwkw9T7w91Tf59SbaCFBNMSifSfgxLrD0y3IkajbX76X484nSJiRrvLjMnUXunmLoCs_CYMkuStRt7gmWn0VnX0duLGoEl_TC0jQGPnASxlwto1ZlzSsAIdalz-UVYIzp9iwY1jvrq5o2dTocLNd2uIN6NYMFWMUMEz71gTkWofWv8LnW69SCS8rGCYFczJ2tIF5bKBqjVeYclmmfnPU9oEb0YRQD2e8CBNB8SN_LLh9lEkpWL1vjlEYsv5pa9vyUOlLhr8M992En874Mtv552_z5clCTVgD40mAWUrESgHFp_CXKFb2hApX-4XAFZz4DSt2Lky82m5t4tbqQkV9hBanCdPaAjoW8o_o6nCXPHoMWpL81MbinremjYUkHK74ncB4gP5mdy08nmLtYKiCpAHFbQSq9A-lB-THpy4ms9o-4KDX6ELDgEj1rxlnc6qTwBLkolDe3uqXYjWdUrKahAzA3T3SduzUcBh4ZFzwGRWvC-ZMBq126DZH4Mplff41Tg-8Vghgn18wXOh7-8BmjLilt-u8I8LlXAHnmhwy5X0Ql15onsJGYOxLm4s1ZxeFH_s6ds0KlF7o_XKg70fLiW1jjixRCjY252jE2ysLRMwWdWYg6a-HZ_o5XzadGvZRA1hSuufqKVc7FdRDexPb2Egrbe2qPlt3_as3e-hHOGoow5-YA9Ca5ek6LHZRQ8p-iiAqG95PLu8kQdgwOgKDJcyPWIOMrvFTFNkye78D9SOxym__k8HiD9kCiUuM0kVevlJHvkT0Sb4LNkZg5KT_m4yhvyEzhjkQOo3dF-xPzJ__vr7qaoKZK-icxIHnZPymB2MqlVfz0ZhHIc7RTpnENZEaaIQHAcyFgDcBM4y-S1GKyY7h1UvFnObG5_FOYwbgHjjOD2_zSd_WJOW3Qdsa_mbC5tTM_z9V95w783HWu7U-eazEjGVszrzCkH4tEH9aKmor62HuxuvWieFbOTwB3tSOxnpEduw0dFjHlBezuPav8vPzsFe70HFAkX0aGM8p42HI8K4pYlFFn4FzwkFY7w2zEgxT7jnNCFe3WEQWCQdk9Pbglg1r-DsSvMQewTviel8aGRtheh_bQiutMl9dtkskUNqAcTgXlTFcSHdbPbOma2c1HLL_LrMlurUmp-oHDoCaYq4oB1ZO9e2jpHfUGx3oUZF5xJBkciC0Q7Ngwn29NiwojYFC9eQRz5iiRIdBqKp2VMUs4tZ8glXaG_aD3O7sQg6OJd4MXtLiHBdgGqgWonekuUufE7OwutjRc3Kg3WgC8LjYkaIkQJpG60JGhqbylv4NYzXdlO6HzJTpmdEwklXUOKmR03h378wzNIBQuOfhLI-cahjBlEnmdjP0RVdvVGNvtr8G7ZqvcILyb4bieuWPsZx8D0leNZNTboqkWVicdJ9vsFzEnvanNLGNIYXSQcLUWPs0ArH_Md0GtIjCpkBlYQJXiUrx4V9IM3CUnysc6RYnlZYm6X5sVfoLeJfiHgXHG5UpIS7XPNRv20VKHtSbbZDaVVZHwFNoRQfgwDAVprzJOsKdFROC6sge4s19EcD_NgvXFdQWJCRhvO7z9ZezfwONlusng76fhEtgTMKFhiJwhlwgC0a6FGup2861EKvAL6poxYw_uRtLP8xBt5wLjJWkcWbn0An7p5LWsB97cwAoKGXSBRsTsURQ_m0fwde7t-sXHZsvzp1eSegFTAwhz47Zopc51k42wmtrxJyyXUOeKnBRhE6KndXeCxDur7-gOKYthB8Ir25FCXfBU86ceKttbgDuHLQtuhcfx6B",
  "id": "rs_08c960ed07071122016ab494ed7e8887d0b954dc94aafa3dc2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.02},\"note\":\"The safe has shifted and tilted with the right-hand motion, indicating that the grasp caught its rim as well. I’m lowering immediately to set the safe back on the table before releasing the interference.\"}",
  "call_id": "call_iZFhBHcUItTZh5WNEsOhJprg",
  "id": "fc_08c960ed07071122016ab494f0cc4c87d0a3ac5ac040ecb015",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iZFhBHcUItTZh5WNEsOhJprg",
  "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]: [-0.1715, 0.8322, 0.7044, -0.5556, -0.2661, -0.2249, 0.9971, 0.9318, 2.3058, 2.0724, -0.8948, 0.7101, 0.4149, 0.5723]\nstate[eef_state]: left_x=0.284 left_y=0.0016 left_z=0.1838 left_yaw=0.1588 left_pitch=-0.0756 left_roll=0.0055 left_gripper=0.9971 right_x=0.4096 right_y=0.3642 right_z=0.1253 right_yaw=0.1021 right_pitch=-0.2243 right_roll=-0.377 right_gripper=0.5723\nstate[joint_eff]: [-0.0752, -0.9504, 6.8581, 1.79, -0.1343, -0.0317, -0.0171, -0.3214, -15.4462, 8.335, 1.707, 0.5836, 0.0708, 0.0611]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47ff13cdabac532c875739755403289927ce22dfbda12226a2d643d381b3920c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b070ff507a8853ea1a99cfda825a184d4226c924a2cef15e5768e28f6848ab8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b36de9b8b5a44763372eeefb65625439000f9c5ce1635f646688d2fd79009761",
      "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 101 changed as sent

message 109 changed as sent

message 113 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 0.8314, 0.7044, -0.5213, -0.2661, -0.2218, 0.9969, 0.6155, 2.2051, 1.2964, 0.1593, 0.4652, 0.3401, 0.5704]\nstate[eef_state]: left_x=0.2889 left_y=0.0007 left_z=0.1905 left_yaw=0.1564 left_pitch=-0.0424 left_roll=-0.0035 left_gripper=0.9969 right_x=0.4857 right_y=0.2508 right_z=0.0132 right_yaw=0.0353 right_pitch=-0.0723 right_roll=-0.0339 right_gripper=0.5704\nstate[joint_eff]: [-0.1846, -1.388, 7.0496, 1.7021, -0.1197, -0.0513, 0.0269, -0.1846, -10.6872, 5.2034, 1.5751, 0.3199, -0.0806, 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]: [-0.1715, 0.8322, 0.7044, -0.54, -0.2661, -0.2226, 0.9971, 0.9245, 2.3123, 2.196, -0.923, 0.7113, 0.4374, 0.5716]\nstate[eef_state]: left_x=0.2863 left_y=0.0012 left_z=0.1867 left_yaw=0.1572 left_pitch=-0.0608 left_roll=0.0022 left_gripper=0.9971 right_x=0.4216 right_y=0.3733 right_z=0.1622 right_yaw=0.095 right_pitch=-0.1595 right_roll=-0.2944 right_gripper=0.5716\nstate[joint_eff]: [-0.0205, -1.3607, 7.2547, 1.746, -0.1294, -0.0659, -0.0171, 0.1983, -15.4872, 10.7829, 2.3321, 0.4908, 0.8718, 1.0281]\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]: [-0.1715, 0.8322, 0.7044, -0.5556, -0.2661, -0.2249, 0.9971, 0.9318, 2.3058, 2.0724, -0.8948, 0.7101, 0.4149, 0.5723]\nstate[eef_state]: left_x=0.284 left_y=0.0016 left_z=0.1838 left_yaw=0.1588 left_pitch=-0.0756 left_roll=0.0055 left_gripper=0.9971 right_x=0.4096 right_y=0.3642 right_z=0.1253 right_yaw=0.1021 right_pitch=-0.2243 right_roll=-0.377 right_gripper=0.5723\nstate[joint_eff]: [-0.0752, -0.9504, 6.8581, 1.79, -0.1343, -0.0317, -0.0171, -0.3214, -15.4462, 8.335, 1.707, 0.5836, 0.0708, 0.0611]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47ff13cdabac532c875739755403289927ce22dfbda12226a2d643d381b3920c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b070ff507a8853ea1a99cfda825a184d4226c924a2cef15e5768e28f6848ab8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b36de9b8b5a44763372eeefb65625439000f9c5ce1635f646688d2fd79009761",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_08c960ed07071122016ab494f4814887d0a26c9f208159a1f5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The safe is contacting the table again, but the brown plush has slipped outside during the tilt. I’m opening the right gripper to free the rim; both the brown plush and yellow object still need recovery.\"}",
  "call_id": "call_HjEXO4I5s6eaRzc7GysvXDli",
  "id": "fc_08c960ed07071122016ab494f90d2087d092a08770ef08663f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HjEXO4I5s6eaRzc7GysvXDli",
  "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]: [-0.1703, 0.836, 0.7044, -0.5632, -0.2657, -0.2253, 0.9971, 0.9321, 2.3058, 2.0716, -0.8986, 0.7059, 0.408, 0.9949]\nstate[eef_state]: left_x=0.2831 left_y=0.002 left_z=0.1814 left_yaw=0.1601 left_pitch=-0.0865 left_roll=0.0086 left_gripper=0.9971 right_x=0.4086 right_y=0.3641 right_z=0.1243 right_yaw=0.1077 right_pitch=-0.2316 right_roll=-0.3828 right_gripper=0.9949\nstate[joint_eff]: [-0.1162, -1.2923, 6.8444, 1.7021, -0.1343, -0.0317, -0.0122, -0.0479, -13.3128, 6.4068, 1.1551, 0.3346, 0.0171, -0.105]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d390102c0b83ab68354c829b63abece3a59768382391644bb49e7298446e080",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:810f7a5cfcae45e52f56cb8e3ab7f59e78d3a3bf5cd8d232443a59ef66c8737a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e139b8bafc64800e74c2aca1ff6c53645a9d22d2f9cc03cc900ca8217e3f3ba",
      "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 105 changed as sent

message 113 changed as sent

message 117 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 0.8322, 0.7044, -0.5255, -0.2661, -0.2222, 0.9971, 0.6155, 2.1162, 1.3651, -0.1127, 0.4576, 0.3309, 0.5716]\nstate[eef_state]: left_x=0.2884 left_y=0.0008 left_z=0.1895 left_yaw=0.1567 left_pitch=-0.0471 left_roll=-0.0022 left_gripper=0.9971 right_x=0.472 right_y=0.2426 right_z=0.0407 right_yaw=0.0385 right_pitch=-0.1715 right_roll=-0.0993 right_gripper=0.5716\nstate[joint_eff]: [-0.1983, -1.388, 6.8991, 1.7363, -0.1538, -0.0708, -0.0024, -0.1983, -16.4171, 9.7026, 2.1661, 0.1978, 0.0855, 0.8962]\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]: [-0.1715, 0.8322, 0.7044, -0.5556, -0.2661, -0.2249, 0.9971, 0.9318, 2.3058, 2.0724, -0.8948, 0.7101, 0.4149, 0.5723]\nstate[eef_state]: left_x=0.284 left_y=0.0016 left_z=0.1838 left_yaw=0.1588 left_pitch=-0.0756 left_roll=0.0055 left_gripper=0.9971 right_x=0.4096 right_y=0.3642 right_z=0.1253 right_yaw=0.1021 right_pitch=-0.2243 right_roll=-0.377 right_gripper=0.5723\nstate[joint_eff]: [-0.0752, -0.9504, 6.8581, 1.79, -0.1343, -0.0317, -0.0171, -0.3214, -15.4462, 8.335, 1.707, 0.5836, 0.0708, 0.0611]\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]: [-0.1703, 0.836, 0.7044, -0.5632, -0.2657, -0.2253, 0.9971, 0.9321, 2.3058, 2.0716, -0.8986, 0.7059, 0.408, 0.9949]\nstate[eef_state]: left_x=0.2831 left_y=0.002 left_z=0.1814 left_yaw=0.1601 left_pitch=-0.0865 left_roll=0.0086 left_gripper=0.9971 right_x=0.4086 right_y=0.3641 right_z=0.1243 right_yaw=0.1077 right_pitch=-0.2316 right_roll=-0.3828 right_gripper=0.9949\nstate[joint_eff]: [-0.1162, -1.2923, 6.8444, 1.7021, -0.1343, -0.0317, -0.0122, -0.0479, -13.3128, 6.4068, 1.1551, 0.3346, 0.0171, -0.105]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d390102c0b83ab68354c829b63abece3a59768382391644bb49e7298446e080",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:810f7a5cfcae45e52f56cb8e3ab7f59e78d3a3bf5cd8d232443a59ef66c8737a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e139b8bafc64800e74c2aca1ff6c53645a9d22d2f9cc03cc900ca8217e3f3ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJT_koIYEcxPkW6HC2V_vEsYEghomBVxQ5t2w4p67qmDfTYjaTpxx0wQY9qW8Lw8v2W-QpduLnRaqfLVEI-YflaYm4Wzir8YIhSCuDCsTXA4FMLbsah8jbsTLvYCaV71cen7HyOdvlM9b9HibbT5ylfAH0UgzexpLbFvfQhyInTUaRqZ-4QfmDpHTm1XP4Vf1DxKSsBZdfbvn23Eew9SJIGlOkTDeB-1GyrGjNRoLocvuz_3Hf_0g4qmz-FFvZy3J3L8HOV6mSvKnnsVdmcVyn21H7bcC3MoO47RVmLd5DYTx4TXc5H7-NtQ9lAN6xl4kA0PWgprQmlZqNZzvKsdViD7R0IrZns4BmAqkVRFlOkIagkxVkQoyYj-naphsjZPzXaf7oTrOMZ-9zopxYm8SVvuwDyp--X4W9aiMuC51pDKYVQmxTS196eqAkFmTQUZHINO0L_c_FyZ87Vo_1adP8D7_5ovqjDtgnsm-LeAprNQEYigRp1rqeMVMbXJ6glTjEUYv_DLOcX9-aPm4hVymbMNMFhgBl5r_Ci0kGI9kffWU-qjuxBUtjYF2deDq2B1noLr5oqJ_2waUDGwTxx3aeeV-bPr-E3zlqEICHpd4-gRHSg87p-5Y8ZFPtvbE3aQuCy16VhAOZX7EjmpcbCbUYnwCAP_WN_MVJA4rTD4Ib3AOGIAUsfGf55wBKA9s5bqJ3st6HfcMuLzoP8UrOWmaj3xMCE55sj7EiYp7ns6w5RGNqoPDpjmUllFlL41rc8n9eZufTK8jAoGXxHhpA8RRn5sQzqSShRJ0cAEUicGvxKU5aE2ohigRuY5f_PQc1_rthKS0NNSoN9fKzOasPounWsZ99t7P4hhsYUA-yQfYohGAr-IOBgIxls-Z7Z7srS0FhYyUB2lwovgjCjTpXUEOTptmt0IJP41HnXwYr79ARFvMiOWTu14rpo9g-XINI1qM-VGFfKoCF9JWZRBKI0cnjVk2iLp034xwAGrruAM68mUmpk0j8oDbsV-1Dgy7_PvN2Pl3ROaXjt54DOWuJ9OidG0JNA36XSJ9ZbfWegK9DelpcI00XUJUgV97QvBQxfwuXGttUZXLjSbXY5QTMCexzJ4a9B1u1cB9qgwKvnIX65khvLwGOXg7WSsULpjprmEdbey0tKO184FDn2wk_PYJj51SHn5jeaA6PwPRGF3X2r4yPEY-e77r1YwTOGJ2SxI6HCmEJxmfQAPOrpe8LVTw2mipmD3opGgQdaY-7VXw_d11aLGbrWQZld1if5AnLwQ77MfRTl-gkg1n1OuUJD1D9G1euqCQZ7p7w-LCAbZJOB70lXCQ97YHZWx3chbv4kBrrTMi9Nz4bW-eXDgoxcf74ljGuWAgvqpvMGfNqfMLhBYT55mj2ram12hr6m8oyoW_15EA3BHi9CBr19RzPsE-ASZXYmU3aaLj2k2lKXkDDUVoielKmMGVTg05H2dNrEUiL8av06KBDjnTMMtOV0UZDOdUJ2oQhZxwZStg2skyo95KHPA1J1o9IkKTx-JqdAMT_Q8HddYq8LEmdz5eO3OygJAQVDwyOnXzGWHQaRS7MpxnQqnxArO2L7egCf2826HYccql-_DDkmUfNibvqhYyAj0qDgfaJtdMKjJ-z-sTD_LNwBlWJcP3hi0IPXy5ivT4eUzGcdBdqxoyCmSMaJr7INMhg3tcxipfL5c_jDKP9w2CIZsA6SJFDp8LdAJtfyFfxOmK6Lqb_6EExeV7x8wkpu-7A==",
  "id": "rs_08c960ed07071122016ab494fc05c887d0a86559f907565c99",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.05,\"right_z\":0.22,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.355,\"left_y\":0.015,\"left_z\":0.005,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The safe has settled after releasing the rim, and the brown plush is now lying along its left side. I’m clearing the right arm and positioning the left fingertips around the displaced plush.\"}",
  "call_id": "call_it6wSQsJEh8t47SgJCepxKvX",
  "id": "fc_08c960ed07071122016ab494fe9db487d0aacbfb436d986c69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_it6wSQsJEh8t47SgJCepxKvX",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "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]: [-0.0692, 1.6569, 0.2878, 0.7879, -0.1974, -0.1699, 0.9971, 0.2203, 0.8917, 0.7967, -0.5156, 0.1421, 0.0654, 0.9966]\nstate[eef_state]: left_x=0.3559 left_y=0.0136 left_z=0.0136 left_yaw=0.1732 left_pitch=0.011 left_roll=-0.0174 left_gripper=0.9971 right_x=0.3019 right_y=0.0457 right_z=0.2136 right_yaw=0.0561 right_pitch=-0.021 right_roll=-0.0169 right_gripper=0.9966\nstate[joint_eff]: [0.6085, -3.1248, 3.9453, 0.9695, 0.0073, 0.232, -0.0122, -0.212, -2.0718, 6.9949, 2.0684, -0.0024, -0.105, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af6964f1f60a576cc8fe5bf2ee85cbf61b580b13d21119ad1b53457fc93d7652",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6856a0910d0b12d685dbaf09d4b8d96709c228cb1470b762bd4d8744cc4d43e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ddbe1fd06429c3e83c181ae1a20a6a372dce618fb5eac9398a9da12458de037",
      "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 109 changed as sent

message 117 changed as sent

message 121 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1715, 0.8322, 0.7044, -0.54, -0.2661, -0.2226, 0.9971, 0.9245, 2.3123, 2.196, -0.923, 0.7113, 0.4374, 0.5716]\nstate[eef_state]: left_x=0.2863 left_y=0.0012 left_z=0.1867 left_yaw=0.1572 left_pitch=-0.0608 left_roll=0.0022 left_gripper=0.9971 right_x=0.4216 right_y=0.3733 right_z=0.1622 right_yaw=0.095 right_pitch=-0.1595 right_roll=-0.2944 right_gripper=0.5716\nstate[joint_eff]: [-0.0205, -1.3607, 7.2547, 1.746, -0.1294, -0.0659, -0.0171, 0.1983, -15.4872, 10.7829, 2.3321, 0.4908, 0.8718, 1.0281]\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]: [-0.1703, 0.836, 0.7044, -0.5632, -0.2657, -0.2253, 0.9971, 0.9321, 2.3058, 2.0716, -0.8986, 0.7059, 0.408, 0.9949]\nstate[eef_state]: left_x=0.2831 left_y=0.002 left_z=0.1814 left_yaw=0.1601 left_pitch=-0.0865 left_roll=0.0086 left_gripper=0.9971 right_x=0.4086 right_y=0.3641 right_z=0.1243 right_yaw=0.1077 right_pitch=-0.2316 right_roll=-0.3828 right_gripper=0.9949\nstate[joint_eff]: [-0.1162, -1.2923, 6.8444, 1.7021, -0.1343, -0.0317, -0.0122, -0.0479, -13.3128, 6.4068, 1.1551, 0.3346, 0.0171, -0.105]\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]: [-0.0692, 1.6569, 0.2878, 0.7879, -0.1974, -0.1699, 0.9971, 0.2203, 0.8917, 0.7967, -0.5156, 0.1421, 0.0654, 0.9966]\nstate[eef_state]: left_x=0.3559 left_y=0.0136 left_z=0.0136 left_yaw=0.1732 left_pitch=0.011 left_roll=-0.0174 left_gripper=0.9971 right_x=0.3019 right_y=0.0457 right_z=0.2136 right_yaw=0.0561 right_pitch=-0.021 right_roll=-0.0169 right_gripper=0.9966\nstate[joint_eff]: [0.6085, -3.1248, 3.9453, 0.9695, 0.0073, 0.232, -0.0122, -0.212, -2.0718, 6.9949, 2.0684, -0.0024, -0.105, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af6964f1f60a576cc8fe5bf2ee85cbf61b580b13d21119ad1b53457fc93d7652",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6856a0910d0b12d685dbaf09d4b8d96709c228cb1470b762bd4d8744cc4d43e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ddbe1fd06429c3e83c181ae1a20a6a372dce618fb5eac9398a9da12458de037",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtJUJ3uwdiQi622J43bLpYSmKOswe7Y85HO-TBtnc5ahz0kx4xCqAYaLDPZN1N7pJAYgZyK-c8Ney00N6qJ7JTXxAuyQ1nSpKjUkaxYQxGNn9ydAltz7m92zgtcyViwtNF0gVayDcD77XFyS89W7qT80gDWyV0uaOn_wOpE8tbb6hQAJbZSse9d_rRnK-rncbs626BZM4B_cDM6V1HENYUK5rMzC-8YGBoirocCtpQqk9fPYwzcyP0n_r8Xowy1u36P6-2k-kULUEfpnRzxTiA6UkYdj_LzdI4ys46qcRS4Xm-wVZmBzffgoMp7LFyB8wJOBj3ysz1nuWXXKR4W2hVknPnxW1wilcuj7IG6Nfmdyd-6ZrSci9ib22snedztIXae5I3pJYIkQyXY0Ovp3KZDiRZ2UMQEVKTutkyhRqf9fRX_orhaNDSjsKpjHt3n4s1XyRq6t4eFq_0_Y68f9gL2e2jXybIZa5Po2HWzoBtvKpzHnG9qkKPRShlsUbrgvdKXvV7T13ti2D-b-ntyzIN0vv05P4CPBrolHjYNl4YgGivVH8gqunztinsA5x0xBTeS7g6jqf8cJgDtaFUA0IfGtjeoGcik2JqF-EkhggOLpxaymHVvjQxi_qd4AiyQoslInUIwSRPhOrE_gss6jCdRf9_la1G1vJD1EoFzhEyJ7PyTJPXJqK8LhpaVnrUn4dS3deq_bAa_bxfI5nyKacI9fiw8wfowYd9OrdiiPClUjHe3DiXdJa3yKe7TpMRFByecYw-EcSDf_6yuJJjsxWTuUOocU9-Ch0xhfTBEvJDFGg34qFXaK9YR90fno68F9t8FeJZreFqLpA50nxrixXVK1V3fu7h5oqOYNZSn-Z_4AwVy1YHknO42T-gfhebyBpLvzXbuP_hF-TlqTnDCJB4RI2_83VC33bMfBkIWnhM0hXmzB4VgC9s3bKyVSqqAy4R6lD7-NXOAKMxuDCPY2N3g1KpzJtsl2H-_SOmRWHI3cQxc74_GqA1EJIUpjOn0Hw5H-13rVqswl0ERm73cBkfXlwhDW-pZDuYzxnN9a2YTxpivax8zcRRS0KPbDcqq7uV8hESrtHWM1whFQO-q_Z8bU2OSMyN-e8sLtQ88pyhqGJDSbDNYBYWJSUIEhAzEHusE4sjksnrFj_0GHOUeMj8pIX-GgjK5D5-ZAWd71-JWOa_6-SLcs8H2QLLV1Wf3JjUXphwDihzGZ5sGdrU0cOcnUVEjulhR8v-IjvEFzJnlGPZe9VWwzk3C1fpv3zWEoD_KkCCyJB-NpxrNfWOTdA3N2_Wy7M6GuXeH1jZTg2TLUWjAcDUPFlxlQssZsUZqlnaLay8GjG0pTQ2Xqgvld1WcnqzlldX8l529hnMnjoZacUWT71vENRRh77BRREyojId6HJ1NSvVt3819Fnn8g1cnbVyNXAzxDFGzV97BJCmDimFsUN4ArMnxUZgzYIq5a2c0z1HtWNwcXHpAR4SKxnF1b0H4q9R46vjwWT4EVOhgnDvrx_Z5iLeBHm51VHwZSpCqydEeJ1h3BAEjLplQCZqTooQGWCqWu3pcASr3e8-I-uy6PlvsWyzb-555DgL-zSpMxO01E_dqP_f7P3cA2qflPscqRFPXIBfcrPJujhBcj5zSXdrWONlVKCTo8SYUT6j1YeNhN4DKdZtyCwLro_Id4dojv46hrhs-o01XS7IifP_1ajne_dzxwtL0-jpB_a_8SxrzIXnQSl-kJQiIIVpwCcsL4kR5JLyQb31omluBtH5GLqH8Za1YrzMETVYPUoRzT-PUMKX62JxeIVdIDWZu5pRMtYcQlmwKoA4qYF9CUk7pb5vM0qxqGpXzAG9SjNK2ihURtydPPXWpovGM_8GvzRpNY6-Pa4m9vsFutX0trUsl9J-OIf7krh6uVIdUMDlkTrPjqdzcFy2-n_14ksoCt8OR1s_6adtgnqKeR7WIBDHBvmlQ6rJ-xJ3vKNs2T_yXvQmj7QU31hhGuK9kzMXD6zXm0ClemddP5kdk71LkWtUb36Nz0B4x39mi28jg22l_0j94loBUpk1a7L9Mwgg8SgFzv747Q801xfGuWj-ixRbEU1VDi0zXRm7vGc6CKUBV-bhUVPVGXB2r5fkyTxcmdphNbcGxHIWvzEfyYxs-QFZQ8hDO-w45Yo89PfxF08O6efflLLXXiJxjGHpBP4gDzBftwsU00GX7n40aqU64Z9tZxEPQUQyAwmqfAIOMQLUc0jXulUVOIS1u-jrwuif71EplfzZxUoXVoOHhGX6Fpp-bvR9uzkHrrejkZNQS7kR43WkBlqHYU2wbCwTmnRAPRAd5dc-XAkg6K9oTZpVhlItoHkQDRjXMmc3M612ixatRy729rNmw6lA2Q062LceZxnm8Q9SxNRVS6h5TNUtob98fjOycRHW71NiN_FcXM1B4aUsRkBYJYNCPEJUGMz2fUmpIEk5sBl6XomdnkGaFPqUb4FyDsGpMf8K3iYZOkjyuczyJ0PqdGgbqvzHnXEWNOKYbIdx5cE6E-_tfIHTuOiLucSeIYgsp4wiI95Cdx-_BTZyQXLnO7r-eb0px5rTEgYOhZPgA-AEq087206etQOO8T8sC9uQyqBVbfoPEtRYJ7vNzzLvGgagkvqIp2dHu3NCRonH0d-x87WZyULC3kzfC0_4NW-PeBxqDfGLYOsjdLr",
  "id": "rs_08c960ed07071122016ab49503ed6487d0b2ec38d2c4927118",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The brown plush has ended up against the left fence, outside the left arm’s safe sideways reach, and the yellow object is still outside. I’m withdrawing both arms rather than risk dragging or tipping the safe again.\"}",
  "call_id": "call_oqKbnT6fRItLAoOpbxttF4AU",
  "id": "fc_08c960ed07071122016ab49508568c87d0a5932cb91c1416ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oqKbnT6fRItLAoOpbxttF4AU",
  "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]: [-0.1951, 0.8326, 0.654, -0.429, -0.2947, -0.2371, 0.9971, -0.0742, 0.8185, 0.7078, -0.5323, -0.091, -0.0772, 0.9968]\nstate[eef_state]: left_x=0.2957 left_y=-0.0025 left_z=0.1865 left_yaw=0.1643 left_pitch=0.0017 left_roll=-0.014 left_gripper=0.9971 right_x=0.2874 right_y=-0.0017 right_z=0.19 right_yaw=0.0347 right_pitch=-0.0573 right_roll=0.0028 right_gripper=0.9968\nstate[joint_eff]: [-0.3624, -2.2496, 9.5658, 1.7167, -0.2662, 0.0659, -0.0122, -0.2667, -1.8667, 6.5573, 2.127, -0.0611, -0.0708, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe91dafe9504811f4d9822b1d6e97c71934e4c3b1d51487642824ff638573402",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a080dbeb08960c8fd4475388c65f711771d8dc008e9351b282a9a78096c7e4c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38d46440695ae150cf8913ecbc9a927af599562591c27881d2bfac9bf0d975ee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}