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, -0.3901, -0.0193, -0.0338, 0.9979, -0.0208, 0.7937, 0.6048, -0.3969, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1781 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9979 right_x=0.2926 right_y=0.0008 right_z=0.1769 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6906, -1.347, 10.3316, 2.0147, -0.0757, 0.1734, -0.2369, -0.4171, -1.4154, 9.9487, 1.9756, -0.0611, 0.0708, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7b88f97981da31a980a895a210b0bee8d4e9a080c662ae44ef6c1697995d7fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14ebf92ae0eea1cb1013049153abb9a71ba2be0faa09aa4ff504e14dc0e33251",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41adba7de9e83573a9bc64bb3810e4d724f83541af15d161f0678bc48a5d53a0",
      "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_040e5870d2e59baf016ab459218b9487d0927a0ee015cd7532",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.285,\"right_y\":0.23,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"I see an open red-lined safe, a brown plush toy, a smaller pale plush toy, and a yellow object. I’m positioning the right gripper over the brown toy for the first pickup.\"}",
  "call_id": "call_aNEwI3kl15UbQlSTSxaTiqDD",
  "id": "fc_040e5870d2e59baf016ab45927310487d0a0161ca315291815",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aNEwI3kl15UbQlSTSxaTiqDD",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6064, -0.4053, -0.0193, -0.038, 0.9974, 1.0069, 1.4109, 0.8661, -0.3862, 0.7467, 0.6678, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.175 left_yaw=0.0027 left_pitch=-0.0172 left_roll=-0.0031 left_gripper=0.9974 right_x=0.279 right_y=0.2233 right_z=0.1369 right_yaw=0.0397 right_pitch=-0.0446 right_roll=-0.0476 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.1556, 6.8308, 1.9658, -0.0757, -0.0073, -0.0611, 0.1846, -5.7094, 8.5265, 1.3797, 0.6471, 0.1685, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e534ce3789de3641ec6468f5bbb35fda6640debe91ca408377c078b0c0534be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56cb3440af0dd0b8a620e3114530c0dd593c671cc56cc4cedd52a0bcd5d54fae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c6bdfd54326ebf7850c65626c68acc6b58c843b9c326101af9e5af7e9af3ddd",
      "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, -0.3901, -0.0193, -0.0338, 0.9979, -0.0208, 0.7937, 0.6048, -0.3969, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1781 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9979 right_x=0.2926 right_y=0.0008 right_z=0.1769 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6906, -1.347, 10.3316, 2.0147, -0.0757, 0.1734, -0.2369, -0.4171, -1.4154, 9.9487, 1.9756, -0.0611, 0.0708, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6064, -0.4053, -0.0193, -0.038, 0.9974, 1.0069, 1.4109, 0.8661, -0.3862, 0.7467, 0.6678, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.175 left_yaw=0.0027 left_pitch=-0.0172 left_roll=-0.0031 left_gripper=0.9974 right_x=0.279 right_y=0.2233 right_z=0.1369 right_yaw=0.0397 right_pitch=-0.0446 right_roll=-0.0476 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.1556, 6.8308, 1.9658, -0.0757, -0.0073, -0.0611, 0.1846, -5.7094, 8.5265, 1.3797, 0.6471, 0.1685, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e534ce3789de3641ec6468f5bbb35fda6640debe91ca408377c078b0c0534be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56cb3440af0dd0b8a620e3114530c0dd593c671cc56cc4cedd52a0bcd5d54fae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c6bdfd54326ebf7850c65626c68acc6b58c843b9c326101af9e5af7e9af3ddd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFku_tetYHx4f2T_KtXeSZphKHZBme-BN3zRPj-RYsCY-yxU0psGekqoPSHvTnfi1MqbIEmyaOjYOabEoqI9pMkc7KIvcQ61MDWPu1EidqQuwq9c9c4n1F3Xg8-qkCFPsN79qu3r8BcDR5394piPf0LZEvGAr8Sd8K9nRIoDem4u2uh8fg7mYag9XUxAa5CdQa0aFPUC9hXTIzmjT_e7mF5Dwxfeebkp-ztXpOGV_kIz7JdRYTPB9MwaV7dnVgVOZ9XpDg7XrzYKMuz9lYJncwwVgcYA-YepHT60qjyzsUU6hBdFe746vDzdmZSRme4U2l-xW-MubAxKsIHAhMst9EQof4t_VldpP7MoSwsRZE6E0y60KWgKV026bPs6qcY2esVcrBeoLoW-WFYJVy1rDPOSYBqT38GF--afSzaoH6hV4kHLCmw0pCwiy9cFpW-oYNqbADS5ex2M5oAqPv6nSHLZiOxQqljhtDK6cgY2urYI_fuwdOTfvwh4rhoyp84ZEoFvPsmzj1bfN-WcsuZjEtDAfVHWsNPXT84gg8rj9ScOtHra8eV9z3WsaSmrZJn07mfECRwip2tvAcCk2BOHAIzI27t_5v4B8h0m27pF3NktkK5cTX8Huu0zHEOPuLKwqe7K1-cZPuGi1DURmvq14zrRdaArO6lN_RABJUA4Zi8pdBdhrTygBDhy-pSHGMmpZ8fJ1fax_6E94CBopMk64gNEwjhXzuc4cDGe6a8esUHkXYT-9Wq8GxZGzpvD3RV7JHj2VfM_JzuF1ppY9v44hpSbh3mUS9mFBAORJlWSkFs80jnjH6cqFbOBN8nqxnyQ56OveV3_QunTKcoLNr1D5jMTilfwldOYTEwSmQlVe9UZUZOefNYu_tgB0bXTAqf8Nqpj0PYzWY4cdHf5Dw9qYeXAvD_iLYqXT5R5LqdTox9Nho5O57TUrKbsCrCUJgc8hhjiFr8Sb5FJCrQn-yCa1tlSJO2KohERJdbdho7C3c0CjWAiMzsL_Qgrhx-HVqewUSP1-59T756cP1KtSkXeqwAEeHxEOX0wDrrSwWJK7cnV9aHVPKkIRFp2olmNq3knZCUFPSQ79JdCvi67GAnBSp-4MEAOcMQty_6oI0eIQmMt-7axrgfQfY1FdeEz_NLz-Dd_feGiJCaH8mQDNuFm3GcTZqfB5SAxpL9jrDD8ZHgknN1Rs4DmNgji_5bJcozYqUxMvtqjjxg-WX-6OoChg4bWcb-8uWmK1hPyVdZ_3h5Z-MUdVrkuvgx-gcyuFMM3eeBmuiQ_ENbasSc9AyzH9aoHrY8ZqIjGBS5pCrgcZ8hQtqANLyiymyxNoRwbvq7qvwFhBXm6HBqbJ10y8kRrKXZoq4N0Cj1uT9NK8A-q7gW2-uFKIiASItkTI8SMJEnJPFDAE_RNoHnkxUAfAWMUkFRG6gkRe3Lz-o35bcaKzpj3TM4IASh4rytpK6naM10-MMp8-Lc7-IJ9rWKW1cNpz7xbyqL1BBYMUFh5qvn5GrXpReoUSWddxUmTsGRFM9k-9a8R2ETFKWNAoYW6dmyn8NjSVm1hBC57qX67TfJVudV5NyKz52fUgUIFQKh8aQPnmla2Nfwt89_mKRQDKJC0HYG4-Otbv6Yn6iKgwheXbCeEtcMana_1bpIKuDxTEGdMSjB9tztQSFYwosO7V_A5bSpAC3dlLVstA3sNldWbrydeWMIfSPkIp_tqWEOfLgkYRTikMxjPibET1CvZUGGXdfQDF8knUZbrLcub2B1FtwjXos5PGYdL7vY5eghhApvXHm4xmO7Jm6AgVwBPmeXx3UjgGQ0G4tgsws9391YGQpLTt2RnygH6OIGdj3wWnxe9EtDPjhN5YdinVq1TcCcM6Au8-g==",
  "id": "rs_040e5870d2e59baf016ab4592b97ac87d0962d94e6e139e249",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.23,\"right_z\":0.045},\"note\":\"The brown toy is centered beneath the right gripper, with its torso near the fingertips. I’m lowering toward the torso to grasp it without catching the safe’s rim.\"}",
  "call_id": "call_v0Q9TJrbuGdUbIXN6BMseCjq",
  "id": "fc_040e5870d2e59baf016ab4592e06a887d09b7f04d52436fe7d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_v0Q9TJrbuGdUbIXN6BMseCjq",
  "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]: [-0.0189, 0.7986, 0.6064, -0.411, -0.0189, -0.0383, 0.9973, 0.9627, 1.6478, 0.7116, -0.0055, 0.7166, 0.6277, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0014 left_z=0.1734 left_yaw=0.0026 left_pitch=-0.0244 left_roll=-0.0035 left_gripper=0.9973 right_x=0.2943 right_y=0.2259 right_z=0.0493 right_yaw=0.0357 right_pitch=-0.0718 right_roll=-0.0742 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.3333, 7.0496, 1.7558, -0.0122, -0.0415, -0.0269, -0.6769, -6.3248, 4.2462, 1.2479, 0.3394, -0.1685, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a3abb5b4fea7b4d847d63643f37a9b615975e745fe3281f673773ee20dac95f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f16f09f7a9c802d5252a8d258ebc8431851ce2953e013118d7beb5c22a6ba57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4195f9c3b9c0dc3b0994a6538f814f1a75afe49bfa311dd760daac78fea30cc3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6064, -0.4053, -0.0193, -0.038, 0.9974, 1.0069, 1.4109, 0.8661, -0.3862, 0.7467, 0.6678, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.175 left_yaw=0.0027 left_pitch=-0.0172 left_roll=-0.0031 left_gripper=0.9974 right_x=0.279 right_y=0.2233 right_z=0.1369 right_yaw=0.0397 right_pitch=-0.0446 right_roll=-0.0476 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.1556, 6.8308, 1.9658, -0.0757, -0.0073, -0.0611, 0.1846, -5.7094, 8.5265, 1.3797, 0.6471, 0.1685, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.411, -0.0189, -0.0383, 0.9973, 0.9627, 1.6478, 0.7116, -0.0055, 0.7166, 0.6277, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0014 left_z=0.1734 left_yaw=0.0026 left_pitch=-0.0244 left_roll=-0.0035 left_gripper=0.9973 right_x=0.2943 right_y=0.2259 right_z=0.0493 right_yaw=0.0357 right_pitch=-0.0718 right_roll=-0.0742 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.3333, 7.0496, 1.7558, -0.0122, -0.0415, -0.0269, -0.6769, -6.3248, 4.2462, 1.2479, 0.3394, -0.1685, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a3abb5b4fea7b4d847d63643f37a9b615975e745fe3281f673773ee20dac95f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f16f09f7a9c802d5252a8d258ebc8431851ce2953e013118d7beb5c22a6ba57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4195f9c3b9c0dc3b0994a6538f814f1a75afe49bfa311dd760daac78fea30cc3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFkyLOcOZoaJc6hzKNxxx6yi0K4ot8-kkMcUF4HN9iDhAfQ-JCQAYnAA5PkFnL8tSDSOORwjxVx9pZL2lgoAwYYe2nxR2fzWMrKDYYHHvlEYmOSoHhL97uXuOaKuXxmyiWxG1muUDy6eUKq2VFzyTw6BI44yNZ1KqvBl2Wgcnzy69xhtfS0hr8qZjs-8hogG4xLsR5qQvB0Hvduanc4ZGAbcz7iWVPNUWa_sadQKyiD0wUuZuGehPA64NhPOO-wOGsj9FoFeJuWLRNgMkkYt0z-uvxDi_BtZj0Y7EE5CQBT_jDSl7Z0yMnd7cUlFPlVysHTqVLkoCApk49YLyN2EQ2HBUEvOjSXskNOG3EjZKb-7sAPbXHNvECIN8wswiu9dwnuY_5cgulnpQ7wzm4PU1Hilz2ZGmBkck_A778q_64Z_rCptGS79auMZwZSVDTUI6dnPLZLztZ9ExbCD9tu1bGdk1qNHVTuHvgjQ-eCYAQ8KIh-JDwiDA1BFk75SV6Qg1bSbbKx5fcTrIObvecNpZgP7s2MOI42QjSDLSiQcLTyZ4VEbMDPi-4TlNiSQBNY1YbimHRYrXX7U3nakbcA6cirS4qC0Ky0P8nMcxo0fVIAll7jXXPr8_-UxLPBswWX8gImtSOS9-52oE9e6BbQC9lnmqJtAmTSJpYI4fvuEBERkWIUFbu7Ha7nwlWcYV2deMAGqATBBz_2F5BeUZ7IHuzfFYdeAhOvL-p9CmZHDdRYd33cfABiHUvq0mOmbUvq-NhqyC9Q-yKkJa_4OFzMDA6bnEGAaNT_PVPas324YvEA-5uAXH0KUr4JtpH2HSGNaacprJ0VKsPYSA_u_P162WmGlnl3vuwWg6t_xMNvym34qDkcFed4-xg-ASvtYJ81nJYKViegaIUbLQG4o7VFl2QW8ZwycOJ4ZOcqhoWYBpD4AXhFkV4P6iVg9_MQ0m9F-LltGbsf-iBI66-Hh2Y_iThN-yrjN57CnXwDQ0bcnRs1S8MYhYmcEXmg7MOhCs_IjmEUN2J_ZbnDjzj7NLjEVjqVnEvgJvoO0fEwLD0oltfhYr7eVw4IggBNeIJRXIRB1y21ZvDhBm9Xc2zweztHSCkGtsMNT_0F9VQlEhyymx-6l5wnAvFkHwNhf0pnLFgAAV_ALoibSibrtcuw-crbmHmgu4ryM-Qtm6vEMDMxqR-mJWWs-faxEUrz_gZjoaysPtnE5nuPnJu4TCZMi4pROfukD7_Qf4AFo8oPvvZg9wWvYZXVKuceXiy6W19TGKslGhMPt",
  "id": "rs_040e5870d2e59baf016ab45930d4dc87d0beee4203c36d56b1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right jaws are down around the brown toy’s lower torso. I’m closing them to secure the plush before a short test lift.\"}",
  "call_id": "call_caFnvzVQQAclcrsjzCLXoSSE",
  "id": "fc_040e5870d2e59baf016ab45931404c87d0b063205c71090efa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4278, -0.0193, -0.0387, 0.9973, 0.9607, 1.668, 0.6979, -0.0105, 0.7097, 0.6212, 0.1127]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.17 left_yaw=0.0031 left_pitch=-0.0412 left_roll=-0.0032 left_gripper=0.9973 right_x=0.2903 right_y=0.2207 right_z=0.0371 right_yaw=0.039 right_pitch=-0.1 right_roll=-0.1071 right_gripper=0.1127\nstate[joint_eff]: [-0.0615, -1.2103, 7.0359, 1.8339, -0.0806, -0.0611, -0.0122, 0.1162, -8.294, 6.3111, 1.2967, 0.3687, 0.0317, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7729b0e32091addf7c9cfe0572d4ef7dfcfa07f5285f260c36907f570ef43b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:785641e494f848df19529399560a2650feae3357a6169df1ef3b18467ebd3de6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39224bc9501f1e486e7bf6c1592e344a69b33b87fd66799b1ca38360ed840e24",
      "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, -0.3901, -0.0193, -0.0338, 0.9979, -0.0208, 0.7937, 0.6048, -0.3969, -0.0189, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1781 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9979 right_x=0.2926 right_y=0.0008 right_z=0.1769 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6906, -1.347, 10.3316, 2.0147, -0.0757, 0.1734, -0.2369, -0.4171, -1.4154, 9.9487, 1.9756, -0.0611, 0.0708, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.411, -0.0189, -0.0383, 0.9973, 0.9627, 1.6478, 0.7116, -0.0055, 0.7166, 0.6277, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0014 left_z=0.1734 left_yaw=0.0026 left_pitch=-0.0244 left_roll=-0.0035 left_gripper=0.9973 right_x=0.2943 right_y=0.2259 right_z=0.0493 right_yaw=0.0357 right_pitch=-0.0718 right_roll=-0.0742 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.3333, 7.0496, 1.7558, -0.0122, -0.0415, -0.0269, -0.6769, -6.3248, 4.2462, 1.2479, 0.3394, -0.1685, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4278, -0.0193, -0.0387, 0.9973, 0.9607, 1.668, 0.6979, -0.0105, 0.7097, 0.6212, 0.1127]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.17 left_yaw=0.0031 left_pitch=-0.0412 left_roll=-0.0032 left_gripper=0.9973 right_x=0.2903 right_y=0.2207 right_z=0.0371 right_yaw=0.039 right_pitch=-0.1 right_roll=-0.1071 right_gripper=0.1127\nstate[joint_eff]: [-0.0615, -1.2103, 7.0359, 1.8339, -0.0806, -0.0611, -0.0122, 0.1162, -8.294, 6.3111, 1.2967, 0.3687, 0.0317, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7729b0e32091addf7c9cfe0572d4ef7dfcfa07f5285f260c36907f570ef43b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:785641e494f848df19529399560a2650feae3357a6169df1ef3b18467ebd3de6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39224bc9501f1e486e7bf6c1592e344a69b33b87fd66799b1ca38360ed840e24",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.11},\"note\":\"The gripper stopped at a nonempty opening, suggesting it has caught the plush. I’m lifting a few centimeters to check that the toy comes up with it.\"}",
  "call_id": "call_3FSEo6KkV4HCmk12I0HoHq53",
  "id": "fc_040e5870d2e59baf016ab45935010087d0b747efcb0f47c051",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3FSEo6KkV4HCmk12I0HoHq53",
  "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]: [-0.0189, 0.7986, 0.6064, -0.4355, -0.0189, -0.0387, 0.9973, 0.9607, 1.5257, 0.828, -0.2932, 0.6922, 0.6205, 0.1151]\nstate[eef_state]: left_x=0.2876 left_y=0.0015 left_z=0.1685 left_yaw=0.0028 left_pitch=-0.0488 left_roll=-0.0033 left_gripper=0.9973 right_x=0.2884 right_y=0.2221 right_z=0.0921 right_yaw=0.0491 right_pitch=-0.118 right_roll=-0.1069 right_gripper=0.1151\nstate[joint_eff]: [-0.0342, -1.0598, 7.1179, 1.7753, -0.0464, -0.0806, -0.0122, -0.212, -7.6786, 8.1709, 1.3407, 0.4322, -0.0073, 0.2418]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eebcfbe8fa252b8d9aa30efdd59a1e1d5f6028f857c309711bd9adf9343d6c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97c6f23c008a5ebb29dffdc9b7a64577a4f95a1009bb3a6a5c2b844d0851e975",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c434f6b06f76fa3b1568529d8df1d7b7fd5407692d21b32ca797b7e6bddb591d",
      "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 17 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6064, -0.4053, -0.0193, -0.038, 0.9974, 1.0069, 1.4109, 0.8661, -0.3862, 0.7467, 0.6678, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.175 left_yaw=0.0027 left_pitch=-0.0172 left_roll=-0.0031 left_gripper=0.9974 right_x=0.279 right_y=0.2233 right_z=0.1369 right_yaw=0.0397 right_pitch=-0.0446 right_roll=-0.0476 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.1556, 6.8308, 1.9658, -0.0757, -0.0073, -0.0611, 0.1846, -5.7094, 8.5265, 1.3797, 0.6471, 0.1685, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4278, -0.0193, -0.0387, 0.9973, 0.9607, 1.668, 0.6979, -0.0105, 0.7097, 0.6212, 0.1127]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.17 left_yaw=0.0031 left_pitch=-0.0412 left_roll=-0.0032 left_gripper=0.9973 right_x=0.2903 right_y=0.2207 right_z=0.0371 right_yaw=0.039 right_pitch=-0.1 right_roll=-0.1071 right_gripper=0.1127\nstate[joint_eff]: [-0.0615, -1.2103, 7.0359, 1.8339, -0.0806, -0.0611, -0.0122, 0.1162, -8.294, 6.3111, 1.2967, 0.3687, 0.0317, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4355, -0.0189, -0.0387, 0.9973, 0.9607, 1.5257, 0.828, -0.2932, 0.6922, 0.6205, 0.1151]\nstate[eef_state]: left_x=0.2876 left_y=0.0015 left_z=0.1685 left_yaw=0.0028 left_pitch=-0.0488 left_roll=-0.0033 left_gripper=0.9973 right_x=0.2884 right_y=0.2221 right_z=0.0921 right_yaw=0.0491 right_pitch=-0.118 right_roll=-0.1069 right_gripper=0.1151\nstate[joint_eff]: [-0.0342, -1.0598, 7.1179, 1.7753, -0.0464, -0.0806, -0.0122, -0.212, -7.6786, 8.1709, 1.3407, 0.4322, -0.0073, 0.2418]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eebcfbe8fa252b8d9aa30efdd59a1e1d5f6028f857c309711bd9adf9343d6c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97c6f23c008a5ebb29dffdc9b7a64577a4f95a1009bb3a6a5c2b844d0851e975",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c434f6b06f76fa3b1568529d8df1d7b7fd5407692d21b32ca797b7e6bddb591d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFk-j8aAihgep9Is-Zp-g6y0i1fim9a_5Yopi8NfBhZwxVtiskWhB12scW0Evl5tHLoGtbQfGocNaPB3qUJTOvbwPxa1wH74XLMjswm6zMKxh7YBucAVHL4c72Yq_kMxU3Q7NT9Owx1-JB9pIcNjcZCBXn6XdfxzG_w6kEwXQbUTO9cGC8GhlOJ7JxJOcHrHCx8UKbeNhIEMAj5G3q9r_koySLRv48WgDsTcQ7O16KBMEvjlxljWErxY030dKxAkueJL55MFh_pnZ-fciooSvjlvtyo5bUr7sM8B69IzROxsN8S6GJUEPo-Bkm0vMTj9ih36QW8YpmjEPIcQBSR80E9K-yor0r67mZPjgNmNxSNW2rAdKHQwrD7cBvupcYAynWyx-xkvRF9UT5R35hmuUcqdQ6I-_CtHJnYZ50iNHnVzLi_lG4FQzNmyIEVH0c3a-xMEo_nGJVdzRH7mH5AK1gkojADxcUSlVY8ehv5kRTfLNTEdbJgxc_zuCtO25M070FxPQJt85yevbuVKoZjwTkBvY7C6_igq8fwJ0oKtSW0YJ87cOC5GCm48UvxcoLxHwyfInGK6AETc26D__zNWX1d9aXNhnYYJS_choO5RMCPCDn3rP80h_Ims-MmuvVJYp4GPXLXpNIb8TQb5CA-I6e8xaIHnxi6vFbkELF5A6oqlAS1nsLptnpTxwOGbi5a8wicHOYA4Sgd5-zh0rRRKnM7Y4ejonh13kEP0-G9gAaYJmenlFk0lUIgQSZ9qB4bZufde7OlMw0Qwg7LI5OJNJuTwe33TnElUmRP1IoR4JLtL0GiS4U5L9SLvgYcr-NpT53pI5VRKFrCq7ZEvCKc_Ii1xR8HL3Pyrv88oc4NBHTRP0_9hINyoQACTyPeSp5egGgvX_j6KHIzJxOjQeVmNOz9cpZpiGQAwP8tFRVCDeY-fuCdTD7RgCNXhAR1lET8B7dHS1ZUeIOddy8uCDYrrXwHv8hScjZOfdopaC1JJ27FkaPbMlTsBwSYmFJNu_ogtgsnyn9psMxo0mKDPmLlkZhR-EjY1rCgNW11kkDsrXbU_j5rI6eUZ7h1lkzI_qtjs_ubolsNV_L_uAatdFJ2bbxJNfYm2zdd7FIrcXzRJ2ob67Tdzjrgj3j2e-eaSyU9VDaAmLEKvhQH6CJPv6lNBjrnBxnrEfi9k603ScLyVNLJ1sosKd8xLQpGwvIiOGgSN9FbUIEl48Ys96jy1vYbWsbsYzcOUpX3OMJOJeSfTlt19Z9l7QTzyA6meXRZbCBqAaxtB8v4yvkUmqrPz1aWQt11eCl1mn2yoecDv5AfmArY60T0YSiA15bcTN_UyK2Fgt41RxCvsM1d01-EgDFiljs0rtq0FuH4d8NxTz1kDfT5Ghc9BylwrmpIcpTO3kR0HBMlaTVNdSgTSoU1Ponf17Rm740IvVYdUNMI0kqSojeVfxKcbKwylCmfvYn1n8VApgvU0RvvbruP4RcPONfXX4nwTIvXCHgQ27sR5Q2IbfqR3Pv5i0z96ijPsgCpG8lYgubLGANP1rIoCTE0FiuVCgEgUrkY7Us8mA1VFIuHe8TXznnsrGMpvCWm4H_u1w20sdhmW8805vKaFDER3kIRWgyOjkRg1utSpCX0nmKRErrzBqKCkgyeXgaGTD-5j3_uIGhvh_nxQOMy-SB_mW4uaKYSYzZZqpq9Y7BTejqNbiZ98CChCiKfXfXgImWw0csBBKswLYCALaF_Ey-fA8Kxd0H_PUbemV3zjVj5mwVhGXEQJACDwkB9quc2jD7WxQ9V0ZZMKureZpjMUrBbUDBh6Xxm1ShLAZT9UzVXar8-eZeCD8w5NULCbr66TbsmkiaiwLGjEjaEXqHxWk7enLESwYyap2XbONQEdWuhBKHdjYOk_FYlijnjhCNzL5NNmWknNT1Z-CFf0qOF08uD5GNwcwBfGqCtPHC3wteWQTBnewWvLv1ON3wZMfLLD81tKm2Vl0Uhm3MY3yq6X6DC3OqHhL1vDyryJAlfw7Vv_cO1GPJW24GqnHwE96m8oBljOlbo0c8zwpCKIbbj3irjwUQT1bi-xov8nkpDI5mBrVX7ZbVdZL0BT2PG9fAQX2StJeUAFEj8oIOZbVl2ISLGpW49-o6N6k5WrBTv61CzbUQRCVj1USirL6CuvgwhHjHytIPhxhQskki8bBimqwN-EuQjdJopY9WU8XLE6mdiwZEWIqTyJonFtqcBLbUZfMEZ-rzlfbgivYkjoRT6-doN5fFqGwUbEbRdtDvcizcajn649D7WQsECKBeZ3GCWTlrji-JPQEboC",
  "id": "rs_040e5870d2e59baf016ab45937eb5887d09f8fecc256aca47b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.23,\"left_x\":0.293,\"left_y\":0,\"left_z\":0.18},\"note\":\"The brown toy moved with the gripper. I’m lifting it clear of the safe’s rim and refreshing the idle arm’s parked pose before carrying it over the opening.\"}",
  "call_id": "call_VaDM2M5sx9TXAJmA7gK6RuXD",
  "id": "fc_040e5870d2e59baf016ab4593d65e887d0b0a83028f8cfea3e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VaDM2M5sx9TXAJmA7gK6RuXD",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8307, 0.6273, -0.4774, -0.0196, -0.0498, 0.9973, 0.9615, 1.4494, 1.2556, -0.823, 0.6697, 0.6174, 0.118]\nstate[eef_state]: left_x=0.2859 left_y=-0.0003 left_z=0.1611 left_yaw=0.0027 left_pitch=-0.1018 left_roll=-0.0103 left_gripper=0.9973 right_x=0.2871 right_y=0.2261 right_z=0.2085 right_yaw=0.0625 right_pitch=-0.1491 right_roll=-0.118 right_gripper=0.118\nstate[joint_eff]: [-0.5265, -1.1966, 9.9487, 1.8095, -0.1099, 0.022, -0.0122, -0.4171, -7.2684, 8.7043, 1.2723, 0.5006, 0.0122, 0.2955]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56fa093516e73e6507df2a372b72647dbf55ba5e9144718dfe0fdb6c5120bb8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5271c661bb173846513a3aee8f70e7b49a1c6573eefec3e120f02329eb449da0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4719d46827be6acae19ce928cf8774b4315db937cdbddd0ddff3c84d1495bf9e",
      "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 17 changed as sent

message 21 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.411, -0.0189, -0.0383, 0.9973, 0.9627, 1.6478, 0.7116, -0.0055, 0.7166, 0.6277, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0014 left_z=0.1734 left_yaw=0.0026 left_pitch=-0.0244 left_roll=-0.0035 left_gripper=0.9973 right_x=0.2943 right_y=0.2259 right_z=0.0493 right_yaw=0.0357 right_pitch=-0.0718 right_roll=-0.0742 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.3333, 7.0496, 1.7558, -0.0122, -0.0415, -0.0269, -0.6769, -6.3248, 4.2462, 1.2479, 0.3394, -0.1685, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4355, -0.0189, -0.0387, 0.9973, 0.9607, 1.5257, 0.828, -0.2932, 0.6922, 0.6205, 0.1151]\nstate[eef_state]: left_x=0.2876 left_y=0.0015 left_z=0.1685 left_yaw=0.0028 left_pitch=-0.0488 left_roll=-0.0033 left_gripper=0.9973 right_x=0.2884 right_y=0.2221 right_z=0.0921 right_yaw=0.0491 right_pitch=-0.118 right_roll=-0.1069 right_gripper=0.1151\nstate[joint_eff]: [-0.0342, -1.0598, 7.1179, 1.7753, -0.0464, -0.0806, -0.0122, -0.212, -7.6786, 8.1709, 1.3407, 0.4322, -0.0073, 0.2418]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8307, 0.6273, -0.4774, -0.0196, -0.0498, 0.9973, 0.9615, 1.4494, 1.2556, -0.823, 0.6697, 0.6174, 0.118]\nstate[eef_state]: left_x=0.2859 left_y=-0.0003 left_z=0.1611 left_yaw=0.0027 left_pitch=-0.1018 left_roll=-0.0103 left_gripper=0.9973 right_x=0.2871 right_y=0.2261 right_z=0.2085 right_yaw=0.0625 right_pitch=-0.1491 right_roll=-0.118 right_gripper=0.118\nstate[joint_eff]: [-0.5265, -1.1966, 9.9487, 1.8095, -0.1099, 0.022, -0.0122, -0.4171, -7.2684, 8.7043, 1.2723, 0.5006, 0.0122, 0.2955]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56fa093516e73e6507df2a372b72647dbf55ba5e9144718dfe0fdb6c5120bb8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5271c661bb173846513a3aee8f70e7b49a1c6573eefec3e120f02329eb449da0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4719d46827be6acae19ce928cf8774b4315db937cdbddd0ddff3c84d1495bf9e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFlCdVqc0EWbhb7RwKv7PK8-XUTTmqEJDnmefvQeUPmh-43hxQj_O_tdYwI9haXmQVVXt8SFne1yDJOqVGyVOEaqbbtKz3_R3cw_E4RCcjIzg6ogJ0HBabwSLZwIn3BK8Sp8MTIfr4i6PJ1Z_mF68ZaAlAO-zSzwsoKw3rEPw923-_dGrDkmL9dnKLL_EUsZ317HI5JU5R_Se_UNhKl3owmrwy8tDFzXzbQB_crpYyRcPbr9iH5V93w2xf_9w-ER__SqdIogcyiHPYgKhSTn8mRlD8ushbXPwvR0OFMHIZYbF42FMcQXc__ceFThCYguJ0JqAwZ3jLPL_B_DyklKh5zFwBCkE82B2QngbcZ_W0H3801Hb05hgRSb_OAlB9lI0SrVKaGqpejuIVgYeUV3M3MdjTwjdbnFLhj3JG1nVkeev9ZkwqSRbCkeK9WOdeZsKjpVJDn4Fgvw-Sho4xMGiHykeaPIPFqO0PWyIeAwXdwoBm3TELEMhTR_y9B6_LswH1ZpluiWRVz1Gs-FH4sdn7n49zIropOYPIkbwNRQwcZP0wYOSQ4hSXrbAQBMDLkPsR-oEdeMxu2OZVhXSizgvQ-CSPh7r6u6kYK56LyZmf3zzsEK0n2iJ65KBMjt1Efm1Nf8adK29Jnw-Ws5N0GSVnY9BE9s5EUUCsJeiAfCf4yRwLrDqbdDT8Wr7UWrnQlB_cqUiEbLygb2Ai0X66N5XGmEnD_2eya_4FO0lBgEZXMD6o7eithPC2Rv6GnEBqvqyodfqTkljX_9ikuU7KdPjdkrAz0Js6NKH3Xx-JnRbaN8P_GJgw15cDqP28ze_Q528MLv44i382P-JN9rS6qgZS80sk_gQ_TqRxI2X0I5y_6puKiv7WqwVfG8wmofyLcFmA42drAV2DmalCUCW2b8__Z8PWP6UJRu2iQronQpeK_j-EBzCEEx9QLx_dviOW8Zi6ePaA5zLn8DlOjgUO_8bDwJUxEZGchnoaGeWQTWrM7IibXOcgeFsyo2pVR4UA60L9lvh0coJg66bZmBuCqqW8snHQS8wbVy7jF1xRY0q7Bn0iIcdLtbAOLdexsyXkrmYV-c6VxFcnuXtojxXCH94eQiFJg9fmbjww90iOvb7MGRlNrRUVDPLelkjVvPRFxWPt3utw6El_1JUmIdB_-CgAScUyS3vFvseicOaBS22bdpkTZO29nLFFg1GXLHfHNB2m80y-Di2sQChgyj87LN028Sbw7PRmH8AXWwOMwWq4mxAxhqKMCz519q7IGUQUsnLFbqZwADyplvTGtwcPV9ea3kWp3Zup4P_JLKvICiyHQGPummZzuOvlyyJO2FZTLNUaAvcx99rJcEbuBmIaV5SpXgZdBq9F9GH6tGQgEZ8E8_UCjXLxUpLdt9SuYVl6GiDZvO4qZOf-OyGW-bVLm1g7vlojklP9ukCZeiTuPuZE1FvUoBGLZsC2jlXWDpnPrwuqvEWyDNgYHrg5-HtjHLxJebuXP6pC1uoluu4kteXEQf1J3Vsy4KpXKS2wnwq2WTYKFp",
  "id": "rs_040e5870d2e59baf016ab45940af1887d0a451d739f4b07fe7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.325,\"right_z\":0.23},\"note\":\"The brown toy is held above table height, and the safe’s opening is forward and left of it. I’m carrying it over the red-lined compartment.\"}",
  "call_id": "call_QAnpgOrlhPhHE2tySeYJZk3Y",
  "id": "fc_040e5870d2e59baf016ab45942105c87d0908d5cc83fa3e5fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QAnpgOrlhPhHE2tySeYJZk3Y",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8349, 0.6273, -0.4992, -0.0219, -0.0536, 0.9973, 0.8494, 2.0674, 2.0392, -0.9657, 0.5861, 0.4961, 0.12]\nstate[eef_state]: left_x=0.2827 left_y=0.0002 left_z=0.1559 left_yaw=0.0069 left_pitch=-0.1277 left_roll=-0.011 left_gripper=0.9973 right_x=0.4081 right_y=0.3214 right_z=0.2152 right_yaw=0.0738 right_pitch=-0.1947 right_roll=-0.1424 right_gripper=0.12\nstate[joint_eff]: [-0.1846, -1.4974, 6.9538, 1.8388, -0.0611, 0.0269, -0.0122, -0.9094, -11.4803, 8.294, 1.2625, 0.3883, -0.0611, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2588025c5d9afbc6f215a5b9b7febf80d1a4f8dad132c754f9b27e3824e6453c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbfd69942d4930eb4653ea51e8d2c8627a643d51f89d1fefe472f35f9203541b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55cfd4bd0c53049c0f1ead57859352933faea0bf01ed20bb604699df7ab4b0f9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 14 changed as sent

message 21 changed as sent

message 25 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4278, -0.0193, -0.0387, 0.9973, 0.9607, 1.668, 0.6979, -0.0105, 0.7097, 0.6212, 0.1127]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.17 left_yaw=0.0031 left_pitch=-0.0412 left_roll=-0.0032 left_gripper=0.9973 right_x=0.2903 right_y=0.2207 right_z=0.0371 right_yaw=0.039 right_pitch=-0.1 right_roll=-0.1071 right_gripper=0.1127\nstate[joint_eff]: [-0.0615, -1.2103, 7.0359, 1.8339, -0.0806, -0.0611, -0.0122, 0.1162, -8.294, 6.3111, 1.2967, 0.3687, 0.0317, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8307, 0.6273, -0.4774, -0.0196, -0.0498, 0.9973, 0.9615, 1.4494, 1.2556, -0.823, 0.6697, 0.6174, 0.118]\nstate[eef_state]: left_x=0.2859 left_y=-0.0003 left_z=0.1611 left_yaw=0.0027 left_pitch=-0.1018 left_roll=-0.0103 left_gripper=0.9973 right_x=0.2871 right_y=0.2261 right_z=0.2085 right_yaw=0.0625 right_pitch=-0.1491 right_roll=-0.118 right_gripper=0.118\nstate[joint_eff]: [-0.5265, -1.1966, 9.9487, 1.8095, -0.1099, 0.022, -0.0122, -0.4171, -7.2684, 8.7043, 1.2723, 0.5006, 0.0122, 0.2955]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8349, 0.6273, -0.4992, -0.0219, -0.0536, 0.9973, 0.8494, 2.0674, 2.0392, -0.9657, 0.5861, 0.4961, 0.12]\nstate[eef_state]: left_x=0.2827 left_y=0.0002 left_z=0.1559 left_yaw=0.0069 left_pitch=-0.1277 left_roll=-0.011 left_gripper=0.9973 right_x=0.4081 right_y=0.3214 right_z=0.2152 right_yaw=0.0738 right_pitch=-0.1947 right_roll=-0.1424 right_gripper=0.12\nstate[joint_eff]: [-0.1846, -1.4974, 6.9538, 1.8388, -0.0611, 0.0269, -0.0122, -0.9094, -11.4803, 8.294, 1.2625, 0.3883, -0.0611, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2588025c5d9afbc6f215a5b9b7febf80d1a4f8dad132c754f9b27e3824e6453c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbfd69942d4930eb4653ea51e8d2c8627a643d51f89d1fefe472f35f9203541b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55cfd4bd0c53049c0f1ead57859352933faea0bf01ed20bb604699df7ab4b0f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFlJoKZdbS-v7vy9SeaILgWEAaAFSCdFkpzAE3z7t--rUtCilr2YWQLd6nN7rICCbKRE9_irvsbmxE6ZlBu2hbP6wZHc1dbpOeXldEZQn0CzZGIsKqSEbzByHkIf8ny96KRZec3xadGQT3MiKey7jnWI9TGtjxO1rf_GYwOonLDODYacL_DayJwazY9jOS6_uJ9HR77lRcMBqEmhVw-1sLN7Au17GaFuE1P1puHq4sKL5gI90YyZMRNuA7i4JYIvw-hlGzm2__97ytEdbFQk9Ku1FVIRN3pweENM_wx6g2MOzSAhZVZ5iacdASBDDh3WclIpjhFMHfNbiskSP1vuKM0Xn76sDMZbCK5sCD7GwA_Fj9pkq92XNaOop-kdoFtBlxuGlHJvfNDqHTdUo0WRvC5ELe22HmHmveBtbtJHoOcZpCj7jHNwnN_nSbzoIx6M3yvbyCruYTRI5PGNnxGtbsf57kHOVv7t6m-geZipTxpykcD8W5oE6c2sg9WpQ7gJWVkuYemLUbhBCcJGheeTwtWhVtxVU6adQ0IOsrwq3vn8XQVmig3iPh9MKf4IgFBbOLEf03VFG-PDKsQlfYOJcp05m0GZHlSDcvKPUSH_GJnjTplk8QVXN5OhynZqdyu8YdG1F0PtBQzx-8xFCAVrOgUvRU9KbCpHZ92HtgNKySwd_g3c9oKA2dqoDLgPPgvLK_JwPTsxZfGIECAxZU6eQoxjjLe_Y1wA6luP0yuJfHpP-GYOSkPco8q_ehRNyzWkhRykXY6l4EJum_PdJswePIYUIRmHvaK_Nc9wnLwofHLvKA6reXK0ey7RTnsR3o671aPShp9qAH4Fnh5x1H9EnkrDVnbd8FzOLE-jtULiMnk2e7Y1Q9l4KINFhHNpil1FTSQdKSimaI7IVpxnQcYA_5CE-D7GCtAV1-WypuEwFRABxhcVpjQEY1pWsomvRd01dZ_K_sNWxPOysZv-qRhDXWzjxMBqximEyirtzGVVo3erxFg1n0gpu7ifJhQ0AsjN7KhDoWO_JUfx8VkF1sr8OoZqohkVTtaAGT0D_S1_TXhmo6f0Mr5i6nIwLP1FP7gLQRbcWk6qFgrtgCQutDQEXVS4NEgIj7T3RhmxR0wOqZ7kUI0U5-SK5yPULbxBdiSrJX142h4Pv_3jp_e6KXHX8cLQIZ7Qf3gSeJ9w3OxXG3sRbvglhR3pZeqZxYd1_CMFdqN1h-h-Fj_1s_b0u4FtWFzIlJQTjbFevSrQtuBzq_yLze8aNnVlRjtw9S-FU9HtXIMgvbEwR9GYdu1nws23i4vBv9wft02h7Jb7TNU4e6oykRKFMXvSJz3-dHvm40IYMKeT2I_MIIbyLNJfFAtdKdpfAbB9jn-NcoYv0daoeNpgJARp6brTJtpnFwLVcDqP1Wx7ggAvYj2VJ1HqnNwkjZ7T6v2y2LzoeuGpLNsgZCfpEeRl2jk05H-lDgzZ2nKEZv54va_LIBX00OeMRRpBLvsRrE6ux0Y13mOjsMsXA7DClrEwRArTM9Pjnj2is0rt7dr1hpcplLYrqHYuwaRVEoay9-IH1Nq8_00-bjYYOKCVYFkwBE46RpXFwhTWuV67GdaHf7C9LHWXe8L1kfC6IxbZo6U-RXqBlj7jAQ3qDLf1cGJP1dYNl-Wlpt_9YwOrCL7Aou3SN9s2eLKleRLq68L7d5OABDxsjv03kN52Corg7bzimNk4JLVSafZfOfeVmk8UjlBn09NvLdTeFbKJXBEtyyShqMf8RzAkuxxRVtaQ_hLWH5yCMKfJ8eYIeGZuG4X5ugIitwsT7JRjqworhZQDCB6h6NlN4ed__OlRlhiZznlQoSMSIkjsBjkHOy_xn77V7AXq_gcmQK2N-Rd_ZmX7drWFSYeVlsLI3aD-lGtbvbQAA_hWh8J2bhD0qKCjFhw-GWbHYPfKqUSxfVCt4GlOpK1c7JqhEhBwWe8zsjqSFB3esZgVos5zNRjyq6IEwCizOmyr4LKozR1EB6lPEJx52fcj2tT-c8dJ8hkwGGAYkXEKFrMMj_20kezUE8ARgwUtkst1IHAq9CoOEUIWNGxt1w==",
  "id": "rs_040e5870d2e59baf016ab45945bea887d0977ada0da4d07a6a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.34,\"right_z\":0.065},\"note\":\"The toy extends forward from the grasp, so I’m lowering it into the compartment with the gripper toward the front edge. This should leave the head and body inside rather than against the lid.\"}",
  "call_id": "call_WDtAMSUrbTy9Kr0tTIl7wDV3",
  "id": "fc_040e5870d2e59baf016ab45948a74887d095a30dc4b3f2fe15",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WDtAMSUrbTy9Kr0tTIl7wDV3",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.836, 0.6273, -0.5144, -0.0219, -0.057, 0.9973, 0.9115, 2.1063, 1.5345, -0.5087, 0.5949, 0.5507, 0.1216]\nstate[eef_state]: left_x=0.2803 left_y=0.0002 left_z=0.1527 left_yaw=0.0088 left_pitch=-0.1441 left_roll=-0.013 left_gripper=0.9973 right_x=0.3787 right_y=0.3329 right_z=0.0662 right_yaw=0.0859 right_pitch=-0.245 right_roll=-0.1727 right_gripper=0.1216\nstate[joint_eff]: [-0.2803, -1.347, 6.9128, 1.7949, -0.0562, -0.0122, -0.0171, 0.4991, -10.7556, 6.5709, 1.2186, 0.5201, 0.1245, 0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee87356521d6406fa6c4870e499d4ed4a0cbf8d6cf809f0031df748db0d83563",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b120e6ad49260fb825d3cc6978ad6a71c17b71cd7b0b5e1854bddd0552d4830",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e41ad7d25b2bdde0a8931790cdf1cb2e5a6ef8129482dfeb20fb0b14603732bb",
      "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 17 changed as sent

message 25 changed as sent

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4355, -0.0189, -0.0387, 0.9973, 0.9607, 1.5257, 0.828, -0.2932, 0.6922, 0.6205, 0.1151]\nstate[eef_state]: left_x=0.2876 left_y=0.0015 left_z=0.1685 left_yaw=0.0028 left_pitch=-0.0488 left_roll=-0.0033 left_gripper=0.9973 right_x=0.2884 right_y=0.2221 right_z=0.0921 right_yaw=0.0491 right_pitch=-0.118 right_roll=-0.1069 right_gripper=0.1151\nstate[joint_eff]: [-0.0342, -1.0598, 7.1179, 1.7753, -0.0464, -0.0806, -0.0122, -0.212, -7.6786, 8.1709, 1.3407, 0.4322, -0.0073, 0.2418]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8349, 0.6273, -0.4992, -0.0219, -0.0536, 0.9973, 0.8494, 2.0674, 2.0392, -0.9657, 0.5861, 0.4961, 0.12]\nstate[eef_state]: left_x=0.2827 left_y=0.0002 left_z=0.1559 left_yaw=0.0069 left_pitch=-0.1277 left_roll=-0.011 left_gripper=0.9973 right_x=0.4081 right_y=0.3214 right_z=0.2152 right_yaw=0.0738 right_pitch=-0.1947 right_roll=-0.1424 right_gripper=0.12\nstate[joint_eff]: [-0.1846, -1.4974, 6.9538, 1.8388, -0.0611, 0.0269, -0.0122, -0.9094, -11.4803, 8.294, 1.2625, 0.3883, -0.0611, 0.1929]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.836, 0.6273, -0.5144, -0.0219, -0.057, 0.9973, 0.9115, 2.1063, 1.5345, -0.5087, 0.5949, 0.5507, 0.1216]\nstate[eef_state]: left_x=0.2803 left_y=0.0002 left_z=0.1527 left_yaw=0.0088 left_pitch=-0.1441 left_roll=-0.013 left_gripper=0.9973 right_x=0.3787 right_y=0.3329 right_z=0.0662 right_yaw=0.0859 right_pitch=-0.245 right_roll=-0.1727 right_gripper=0.1216\nstate[joint_eff]: [-0.2803, -1.347, 6.9128, 1.7949, -0.0562, -0.0122, -0.0171, 0.4991, -10.7556, 6.5709, 1.2186, 0.5201, 0.1245, 0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee87356521d6406fa6c4870e499d4ed4a0cbf8d6cf809f0031df748db0d83563",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b120e6ad49260fb825d3cc6978ad6a71c17b71cd7b0b5e1854bddd0552d4830",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e41ad7d25b2bdde0a8931790cdf1cb2e5a6ef8129482dfeb20fb0b14603732bb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFlNQpXW043EyUXXydPqBuoS_mGaos5mhfZsh6xYWm6yTrhNLF8AVUkjatvAHBsX6FRe6j39-eXhQMlJERpevSV4dIvQxjVHd3RNfrKwNkoAKOE9evohfLqPZw4nEkUjwRCw84GdSzF1WLrJpRiSM7wXnV_XbfHbD66x87e3INkHrI896sLTqmy5Wtnx-DIFpuBM8-TmkhBVYTD_PHD7xNPDHVSufSjqL4d3Sa56g2T45-icv_HT9hUBO6a4q29lQrcqRx_OFMkdGTw8Ah9fY-ry_vcfYO_Au1Q7lSqktLNmrWRgUqnAkpl_tZsCXx6YePwuh85706gMWSFXdW2hBmKlp3_JqLhlKuRCxPyw-2FZWNI9xeriwSFQ-6BLBJP0HSsb78e8E2wfiqlpUWFgSv2NaEbddotU9cw5ZyBCsVeb78K2D1n04d8w8Ypo9BDEjkfammK5q8t4sNj3oWoN5Rwq9jEqvfzfiH6k1G-854zgdPKbmXxqOnOfNGHQi2XOCK-Q6tmvZ19nVuuY_KU7EXAB-3YTZi9PaE6fzrQitjMGc9GJWf6z8M9pfA1H1WUQyYt0Ra-80bQXRUDHMxjQqAK9yrGydbSIkRzbmsiRgyk5FAasoWe7xyxXsr-a697NwQ2rbMdOD7a3UEVdBqx4rynO-mrq99sQB6YmnjT23JAQmilfWgI0fQktWTMzh8MLUi42dylqfqCoDxnpeFo79fiZOMJhuAJOZ5oMfQEVPS0DzPBRZdesxqbJ9OxvNQP5yMMI9nmYW5DFdt6NGmcefTtGPpQhUgA7ZEEanZi8_eCtRp1tYVLicjUmvbwAvObXfY2iye4TGIp4WyuA6rAiXpm-WD2g1NIrfOcM5all90iRIkJR62quvNwAao9MvzHKSKDO5_2uHWj5vXuTWzjYQnvwv6wg3e22xlDwP6suNKMhVP31eauvx6glA98pwbSiBh5_8ktFToCzzRCc49dTJUPdjhA_jb9rbyHfGABWqTNa3-9hPSy0cE6IFMsCYeCnECDMDYnojPSgCbKkP-35ThfuKLmn5buiwlPoDP3_CKLggMiKUQp4ePlDe0Brp7_Nf2cJLPvnk2f23Bh0Jc_j6c0hyliZmTtux5vRn4iDgUBBCWUIzZYG-sXWAtSaxZzzwFthowaDo-Im62IadNE2xNOadZpjpRfGJyCG8uTEdE4EaoC0YGMM6LTcVymNBXHoUu0x5-tEIXLuoDHFx5ES8BX470e2wGAg0CX1XkuvhhQK2EA=",
  "id": "rs_040e5870d2e59baf016ab4594cc0a087d09e20ee8c69efb11f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The brown toy is now resting in the red compartment. I’m opening the gripper to leave it inside.\"}",
  "call_id": "call_EU7zvAuSmRaks3uCSybyg8Xh",
  "id": "fc_040e5870d2e59baf016ab4594d1aec87d0aaa4f72ec11b4210",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EU7zvAuSmRaks3uCSybyg8Xh",
  "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]: [-0.0254, 0.836, 0.627, -0.5186, -0.0219, -0.0574, 0.9973, 0.915, 2.1136, 1.5257, -0.4995, 0.5858, 0.5449, 0.9946]\nstate[eef_state]: left_x=0.2795 left_y=0.0004 left_z=0.1518 left_yaw=0.0095 left_pitch=-0.1487 left_roll=-0.0132 left_gripper=0.9973 right_x=0.3761 right_y=0.3345 right_z=0.0599 right_yaw=0.097 right_pitch=-0.2561 right_roll=-0.1761 right_gripper=0.9946\nstate[joint_eff]: [0.0479, -1.2786, 7.2137, 1.6288, -0.0659, -0.0317, -0.0122, -0.4718, -12.3145, 7.0085, 0.9744, 0.3492, 0.0269, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21d41f0f1e4070f3c057ed5d6db2351029790f279c7545cebd8ef5a67c4bb55c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:057ca48a4445a3e8002553098c948b69bd918b37de088d8252eff8b956245e8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58c9ec9ffe2c989e7fc78a07d4b047954fb5044e7eb53c2bcd58e1f11b5eac23",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 21 changed as sent

message 29 changed as sent

message 33 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8307, 0.6273, -0.4774, -0.0196, -0.0498, 0.9973, 0.9615, 1.4494, 1.2556, -0.823, 0.6697, 0.6174, 0.118]\nstate[eef_state]: left_x=0.2859 left_y=-0.0003 left_z=0.1611 left_yaw=0.0027 left_pitch=-0.1018 left_roll=-0.0103 left_gripper=0.9973 right_x=0.2871 right_y=0.2261 right_z=0.2085 right_yaw=0.0625 right_pitch=-0.1491 right_roll=-0.118 right_gripper=0.118\nstate[joint_eff]: [-0.5265, -1.1966, 9.9487, 1.8095, -0.1099, 0.022, -0.0122, -0.4171, -7.2684, 8.7043, 1.2723, 0.5006, 0.0122, 0.2955]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.836, 0.6273, -0.5144, -0.0219, -0.057, 0.9973, 0.9115, 2.1063, 1.5345, -0.5087, 0.5949, 0.5507, 0.1216]\nstate[eef_state]: left_x=0.2803 left_y=0.0002 left_z=0.1527 left_yaw=0.0088 left_pitch=-0.1441 left_roll=-0.013 left_gripper=0.9973 right_x=0.3787 right_y=0.3329 right_z=0.0662 right_yaw=0.0859 right_pitch=-0.245 right_roll=-0.1727 right_gripper=0.1216\nstate[joint_eff]: [-0.2803, -1.347, 6.9128, 1.7949, -0.0562, -0.0122, -0.0171, 0.4991, -10.7556, 6.5709, 1.2186, 0.5201, 0.1245, 0.1636]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0254, 0.836, 0.627, -0.5186, -0.0219, -0.0574, 0.9973, 0.915, 2.1136, 1.5257, -0.4995, 0.5858, 0.5449, 0.9946]\nstate[eef_state]: left_x=0.2795 left_y=0.0004 left_z=0.1518 left_yaw=0.0095 left_pitch=-0.1487 left_roll=-0.0132 left_gripper=0.9973 right_x=0.3761 right_y=0.3345 right_z=0.0599 right_yaw=0.097 right_pitch=-0.2561 right_roll=-0.1761 right_gripper=0.9946\nstate[joint_eff]: [0.0479, -1.2786, 7.2137, 1.6288, -0.0659, -0.0317, -0.0122, -0.4718, -12.3145, 7.0085, 0.9744, 0.3492, 0.0269, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21d41f0f1e4070f3c057ed5d6db2351029790f279c7545cebd8ef5a67c4bb55c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:057ca48a4445a3e8002553098c948b69bd918b37de088d8252eff8b956245e8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58c9ec9ffe2c989e7fc78a07d4b047954fb5044e7eb53c2bcd58e1f11b5eac23",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFlUwL_hvRQwUZ2Ey5y3gdXdRfmeecPR4FaNb15Q5KgfLztHmTV6O9Gwjb71Z4qHwSXg60P-XnkXlsZAA8I3DFda-LBC8IT2XDvIrPSxMsUz7yAnRzimSq9f-Zm_ND0b5zsuPprAbDhbpmsunAhF7X1607lx8CDLbSOLGJj7PaCym-f_XtWjLzi_oS417Dq963WI0ajIpfdZHxYWBTIjO1BEdUuOVYQ6M2L6yzvcJvbx3dHtImUbBmZ7AcG8lobcf32dzgjGT3fMp6gO7o7CkLUWm-jG3NOzH3SftHjNqFdFDvosjVtQrI41QGvw687Xq9RAFqu9YKPQ2o_aL1AzX-NB8vC7AFo1e1h_L145Nff_pb4qJbmLSZh5nygwgJ79-0fS8m2vH_NF9VDwcaQ9Rn1L7Oh0sXggWv1onLP55H9qAzipH8EMj-uaz8dcGlvkhz2_M4LEnbN9lLZQzI_ZPNvYZhB_zoAXYkQyL3UK0vwrdydinjScjZQA8kQvl1e_4QapbmzizNztuheKC9JdugtSTMv__WCdw9JYe42WycQxsyPrHZsW1qwNQoL4L7Z0Us6MgJDe_3Mf2qo-BwT2z3UV1ZVqDZaqJQqEJPSQicfJr64mQk2PXI664VUMbC2kpA6Pyx1I8y0ezVxB_6BoCVVGNWG5f5tjWI2PIDLv5selWz9ldkfBHLG2TYO3-ToPac3gAtWeJpNFm-UHU-N2Q_KxsXw0BmGCbS8yEsCSjVrIB4DfLp19rh91qFInDsbjwOQulhyU1WXucqT7Ex3bBx_tKfJ7id1zewEqbTziE4WhfZ5uYFgAHqqHAfFUsdqfeoDjBte-Y29HFeMyjY1GhtCvHn0JEDaBxGrsxHaG1YvpdO-nM8972_9v2m6flGf1YQIL5MiYiurpjaS-opwS32WItLjbcfqh6UUejLm3PwjF1vHGmNEA4McTM4ElZRcImOe4eGq-Q_6wNY3JvhVFY1he3SA3MCfRdbDLz6jsAUaGvIkKthyBXkJ1i1qBKIiy5hftmC8bW2-hHVCmfrdQXXIQij_TdlMv6PuUAPYzmQGe-XWMYQCLAhPBrW-qCzpytoNoZ9gC_rUpMUYnK1hY0gkQBO95sV9a1SOvBc-nS2jrJlXsLfg-8E4wtWYoMPgMjGMf_Z7ESid0qsttKdeHznUI7HI9r73c_UmS4i_D1nLVJn0Yq8qJADA278t2kAxl2oOfQd3_rd0R3s0s0uV3L-cNSryZqSGd1-YbyP8BsntNyA1hMwIdfhr_Sa-XT-o3NNKOsqcCR5sxmh6FdE5sgcqWqCiXsAiwApUtynoF5wb36qc5YqmC7lh-uShzkmQ4GoEBFOb2Yz5y4e0cAVGiFDRdATP7owqkw8egLTm4xKQIl-U2-G9ZNhGMZM5xk1ncLPjI8CprykjdszXlnsdzMWUzD_eVx21tMk64CTm_Ele4K9FHOr_OWErDncxxNUh72Ooq0Qx7KzV7O03yFlvStWAbelGL4wsqBqmXvnapTOLHXHb2J0mlONiTp9DfrAkvtLl-UnUmLHaBtLndD9qCG3eTXrioOAeLSF_e29zTLBVBkg7CuDnSpCR5idl6DUgs8j91BC6ohueu5WgqMSJyMohGHTdd7QVd_DyDqvyiWIQqvh3ZSxNl2dgccq_AWDvyvrzAIIHm6JyeUFGufCAzHMqJOiUMdgi08RHQoVq5oDEULGzwccrYa_L3dWo2uK4YNgg4NaE5F80_3uxydK8JoZqabiCvfSNlR-F9Lh4zawqjtlTjjrGmhSEzjS7rSOox_T727yjPu_Lq5s1wWrFeG5TC60-yqFBOt2i35y3hk9znziP9OjZ2MYYIz_97W1Ku54PVkz31x5gJYg1nMyKZlAM__9nAOtIkZg9oMUGlsIKTumYQPtE3V67m3qlhCeOVNkYCejR6O1OogD7k3V_nhf8oLwv53JaRDQuV9SlbhH8hCM4lGDqe1e5__uPYCGn4z-NokGr6hSBDTlc-s3sr_c-cdnmbh475UgVbDok1qp5DeVJ8JrdXQ83pLYMr14efyxHI",
  "id": "rs_040e5870d2e59baf016ab4594fbde887d0a50ae4c542596657",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.05,\"right_z\":0.21,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.315,\"left_y\":-0.225,\"left_z\":0.15,\"left_gripper\":1,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The brown toy has been released in the safe; the pale plush and yellow object remain outside. I’m moving the right arm clear and bringing the left gripper above the pale plush.\"}",
  "call_id": "call_AHImSmS7xtSBhvBKoVRubhmt",
  "id": "fc_040e5870d2e59baf016ab45952d46487d087ff134237d96c68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AHImSmS7xtSBhvBKoVRubhmt",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9386, 1.4635, 0.8886, -0.3351, -0.7219, -0.6823, 0.9979, 0.2317, 0.8894, 0.7559, -0.4816, 0.1528, 0.083, 0.9954]\nstate[eef_state]: left_x=0.3065 left_y=-0.2148 left_z=0.1318 left_yaw=-0.0041 left_pitch=-0.056 left_roll=0.0349 left_gripper=0.9979 right_x=0.3017 right_y=0.0473 right_z=0.2029 right_yaw=0.0496 right_pitch=-0.0213 right_roll=-0.009 right_gripper=0.9954\nstate[joint_eff]: [-0.4581, -5.9145, 9.4291, 1.4969, -0.569, 0.0952, -0.2369, -0.2256, -2.2359, 7.1863, 2.0928, -0.0611, -0.0757, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d4d3dbf2ec8627bfe656ab2e265d74685e49219a611a726a653a9de4e89029e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55d160016d746239530ad6d237aa9b3dcdb69e90824753e332c6b36e11b3fcae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:045abb72508c82ebabf181d21136836a63ff69021ea062fa7cf91fffa6c45a6c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 25 changed as sent

message 33 changed as sent

message 37 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.8349, 0.6273, -0.4992, -0.0219, -0.0536, 0.9973, 0.8494, 2.0674, 2.0392, -0.9657, 0.5861, 0.4961, 0.12]\nstate[eef_state]: left_x=0.2827 left_y=0.0002 left_z=0.1559 left_yaw=0.0069 left_pitch=-0.1277 left_roll=-0.011 left_gripper=0.9973 right_x=0.4081 right_y=0.3214 right_z=0.2152 right_yaw=0.0738 right_pitch=-0.1947 right_roll=-0.1424 right_gripper=0.12\nstate[joint_eff]: [-0.1846, -1.4974, 6.9538, 1.8388, -0.0611, 0.0269, -0.0122, -0.9094, -11.4803, 8.294, 1.2625, 0.3883, -0.0611, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0254, 0.836, 0.627, -0.5186, -0.0219, -0.0574, 0.9973, 0.915, 2.1136, 1.5257, -0.4995, 0.5858, 0.5449, 0.9946]\nstate[eef_state]: left_x=0.2795 left_y=0.0004 left_z=0.1518 left_yaw=0.0095 left_pitch=-0.1487 left_roll=-0.0132 left_gripper=0.9973 right_x=0.3761 right_y=0.3345 right_z=0.0599 right_yaw=0.097 right_pitch=-0.2561 right_roll=-0.1761 right_gripper=0.9946\nstate[joint_eff]: [0.0479, -1.2786, 7.2137, 1.6288, -0.0659, -0.0317, -0.0122, -0.4718, -12.3145, 7.0085, 0.9744, 0.3492, 0.0269, -0.1929]",
      "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]: [-0.9386, 1.4635, 0.8886, -0.3351, -0.7219, -0.6823, 0.9979, 0.2317, 0.8894, 0.7559, -0.4816, 0.1528, 0.083, 0.9954]\nstate[eef_state]: left_x=0.3065 left_y=-0.2148 left_z=0.1318 left_yaw=-0.0041 left_pitch=-0.056 left_roll=0.0349 left_gripper=0.9979 right_x=0.3017 right_y=0.0473 right_z=0.2029 right_yaw=0.0496 right_pitch=-0.0213 right_roll=-0.009 right_gripper=0.9954\nstate[joint_eff]: [-0.4581, -5.9145, 9.4291, 1.4969, -0.569, 0.0952, -0.2369, -0.2256, -2.2359, 7.1863, 2.0928, -0.0611, -0.0757, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d4d3dbf2ec8627bfe656ab2e265d74685e49219a611a726a653a9de4e89029e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55d160016d746239530ad6d237aa9b3dcdb69e90824753e332c6b36e11b3fcae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:045abb72508c82ebabf181d21136836a63ff69021ea062fa7cf91fffa6c45a6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFlap3nBpy3Mxgb3GHK8hfEWZfEBaTYGhQkNy7BDk4F5pjcNtZrSBjIbkVuustPLR4bCi1kOUZ-H7p3uXbgoEIOneQ5KCj3eWcvfOjrSNmn7Sw9zMnjDiUvNVQoAu6ekWWKIc1hDMZER1h2T4kUHiOSL4L5JO4iJVRUW6CeSo5vFeiSvONpGgit0JSwhO1Y8L1cjc8BaM_hgY45HXYNnSpJbaJ1ZHSFJpbC_IMUqv8zWK7YSlf8kZyXa9J3QH3LNOiNeFD21gGudBljIWT4AaALtIWRIEB1cVJMrDe6eq86DWsTKxNBRk0Idxvdldx0e-FBlZpsAY83OILFd1Lz-clqfzI0pn0hZMOyBQwdKCwAjRpI9twS7syNONSzvtXcbqQ5MvlUMsxMGNs2AMGCBoe9kmk2vMw5RauxMm3Uw8M6WIlcHJ346z6-ZMP_Pz8s-sF973M23NsF0PhgUdOViB1wUZKmTdXVcp82ETI0sqs7NgOw6mM14CkLHLAhitqMWJ3pzwuTqImb2TiY05MNkhl5MznnFiJKM3-8ETKdkYVuXWEZOedDsXE1YebLy1ovq54CazEdFy8YSl2r9gusfNnU2fjJfJeW9v5gtXtzYJB_AtCz1rv9UER17ubHIoHpUPp1Xzonqetc9lWTeYoeQ01XzDCU2Rp7ySW2imjBRdagTUADag4aW9nKtTILjf-pR7wTOnhV5_3qe_kIdlUvAx4CVxI23dM09PAjfZbZ3mSza99JSyuz5XXl0ND36lhXd-nA9PeaFSa_4EBRVAedrtG-hdgSXxsP5SwlUB1nmJrdri8MCLZwQ_S-i9IDamPa_LxUcia79MW5ppUaaEEu6Xq1StpVmdzpXY_MYed-oLxa7J3xTXNAGbvHRpDlXOSYEKS3yC9ktxHsGRCBqd2ODQBrSjgqKGvcjvdh82qLQgDiCV_HiuS-9VAhHprseb54p0Q6erCMafROdeHKz43RsBgL6CpsE7Z8frta1NpzOSX1fEDqEdGdPoK6kBW8cam38ut-QyqoluXL3hAtwwlTPFQxZ_rkEcGAaDvtB-O16VAx9uL-oE5iY_0jtDes9alCMLPQwfkhVDkI4pO5SnuFYqYASeNNqWJVV4WjQAeB-ThcdfrHxzGXwbjnv1kN6Ql5mWYKW1nothAoJIhqekuSH4-ZSWam3AUo-Umj5qT0mg2Yyo5wk9DI86nwnrc9kRF_jobMPzZxWvPB1D6ewS9AxDKi9wP-lVQLVRrx3XbY94jxBc1wjhBiOXVk9HVfJO8QpG_0bFyvc3GuFprUTrgmrf0iDnffJl9ZF5xPq5_JW3MKfnPWGW3U7lSGWZjzRnlYeH9i8lP9eptQaHz_BJAKq9sF1gbTBTKusVJd2fgpVW22PXHnbO-fVCHxujQxXR-90nUHeBmzdP-YfKcQAB6l-NbDeTMJkEdSJdwl8N4qEe0t_E6KktgFaASYA09WC6WQYFJDisf94WtWuMhWdBeKGklBJThYRCbJUHjgqaxYtZApJJaCeDKp4I7AOEEp3qu8xaMGF",
  "id": "rs_040e5870d2e59baf016ab45957dc3887d0809f1e5cbe94ad4d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.22,\"left_z\":0.025},\"note\":\"The pale plush is lined up with the left jaw column. I’m advancing slightly and lowering around its body; the brown toy will also need to be tucked farther into the safe before closing.\"}",
  "call_id": "call_1CIc55CXfsASEPWKtUi49JSM",
  "id": "fc_040e5870d2e59baf016ab459590ca087d09de50c1870dd585e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1CIc55CXfsASEPWKtUi49JSM",
  "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]: [-0.8768, 1.7718, 0.738, 0.094, -0.6903, -0.6327, 0.9974, 0.2325, 0.8951, 0.7521, -0.506, 0.1417, 0.0643, 0.9954]\nstate[eef_state]: left_x=0.3267 left_y=-0.2112 left_z=0.0244 left_yaw=0.0121 left_pitch=-0.096 left_roll=0.0824 left_gripper=0.9974 right_x=0.298 right_y=0.0486 right_z=0.1945 right_yaw=0.0696 right_pitch=-0.056 right_roll=-0.0236 right_gripper=0.9954\nstate[joint_eff]: [0.3077, -7.4872, 4.4923, 1.6142, -0.2759, 0.0855, -0.0611, -0.1436, -2.2496, 7.2274, 1.8974, 0.1197, 0.149, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40483ac374372a8597be0f0e2d17a606033168cd09a5881f9a735cad89464e38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5256ae1c3b7d5880e9a309be4c635d971f48b8e52e7db1b794438753c9c6b739",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f09e1c3c68036225f0a868f4502822ba1c17d5d3cd1b5af5ae6ee0f28c32623",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 29 changed as sent

message 37 changed as sent

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.836, 0.6273, -0.5144, -0.0219, -0.057, 0.9973, 0.9115, 2.1063, 1.5345, -0.5087, 0.5949, 0.5507, 0.1216]\nstate[eef_state]: left_x=0.2803 left_y=0.0002 left_z=0.1527 left_yaw=0.0088 left_pitch=-0.1441 left_roll=-0.013 left_gripper=0.9973 right_x=0.3787 right_y=0.3329 right_z=0.0662 right_yaw=0.0859 right_pitch=-0.245 right_roll=-0.1727 right_gripper=0.1216\nstate[joint_eff]: [-0.2803, -1.347, 6.9128, 1.7949, -0.0562, -0.0122, -0.0171, 0.4991, -10.7556, 6.5709, 1.2186, 0.5201, 0.1245, 0.1636]",
      "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]: [-0.9386, 1.4635, 0.8886, -0.3351, -0.7219, -0.6823, 0.9979, 0.2317, 0.8894, 0.7559, -0.4816, 0.1528, 0.083, 0.9954]\nstate[eef_state]: left_x=0.3065 left_y=-0.2148 left_z=0.1318 left_yaw=-0.0041 left_pitch=-0.056 left_roll=0.0349 left_gripper=0.9979 right_x=0.3017 right_y=0.0473 right_z=0.2029 right_yaw=0.0496 right_pitch=-0.0213 right_roll=-0.009 right_gripper=0.9954\nstate[joint_eff]: [-0.4581, -5.9145, 9.4291, 1.4969, -0.569, 0.0952, -0.2369, -0.2256, -2.2359, 7.1863, 2.0928, -0.0611, -0.0757, 0.0659]",
      "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]: [-0.8768, 1.7718, 0.738, 0.094, -0.6903, -0.6327, 0.9974, 0.2325, 0.8951, 0.7521, -0.506, 0.1417, 0.0643, 0.9954]\nstate[eef_state]: left_x=0.3267 left_y=-0.2112 left_z=0.0244 left_yaw=0.0121 left_pitch=-0.096 left_roll=0.0824 left_gripper=0.9974 right_x=0.298 right_y=0.0486 right_z=0.1945 right_yaw=0.0696 right_pitch=-0.056 right_roll=-0.0236 right_gripper=0.9954\nstate[joint_eff]: [0.3077, -7.4872, 4.4923, 1.6142, -0.2759, 0.0855, -0.0611, -0.1436, -2.2496, 7.2274, 1.8974, 0.1197, 0.149, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40483ac374372a8597be0f0e2d17a606033168cd09a5881f9a735cad89464e38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5256ae1c3b7d5880e9a309be4c635d971f48b8e52e7db1b794438753c9c6b739",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f09e1c3c68036225f0a868f4502822ba1c17d5d3cd1b5af5ae6ee0f28c32623",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFleUlCGGqWRB268X0WtJhQduYnG6fGl7CeoK2dhsGE0HIUMrcvRfG72Fus9YKDN7-UnLoi9PTLY17FB5jXH_4H7OfZ76_04OhzeU2E83ef-NC6A9IOF6LvKoG4crfrrsZgPabsxF0t0IyUaJ3YsNPu2Ph8_QNbsgDsjmA8BwiH4ery--6Ey2SzEv1OLlzqWcGpmvCYCqEdyW-kl-WaVtYoc2uo8ThDiz42LXBq1GPD-GEs6W1G0po5dTmDLnJ_JjjeIxDv0Cf-grhLp-2Lkcugw1m5AhyPopElkQH6T9Ml5xtmNul_1MorqPwGmpPp3VJfEXRTKtolPfY9Or3P3pRcan5GOaKjYjWW5S8a9lsCVo9G32CQThyQ0LvY2oGg_gDLqSuy_HDq1He8Wh6WyEv60oX8ne2qlkr9wE_2I6Bj5MVIO-wkBcghMFsriVeKsy2CvjJrg10Ba95gO4nW2lzBIpfgOZowE2qsyo7NxKx3aU8MTxBQLiFnHBPW0JfgYxHnfTR7CRnkRcbTrqm-uc4KqN2URn7_E_H03pMPjsWnMP9nChjDUYXRZXDUH36PqHdhDjG4bxAyEhcyeIFcFh0DV3rXkR2CE_SqgMd3jUcgIlw1Vc-GFUeljb8nQCE2FC5ulKuAMWYOla1-FkVg_eUHoZ_jy6woAwqtOYuBCUM6673KBtO5QwAiefX4g_j8ROQl65xUvvs0jgWG8NSJ4BrIuW5PnD84vT4hfOMAw26JyU0-LAj_PCOpAFnU3YJ6fHhhwFyv_2Tha7NKxzQpJkDbLoIl2I_mjPJSy1zbuvTNAR3OUJ6fW8yhiNsJxpcTYY6KRXel-NtsXJ-2ykLjLlWSQhXeDVKE2sx-D7-52V3oFiaoDt6gSIdbuj-c8kwE3lkKhJAFeLe7AHyJmLQdGJXr1sy-oveL80qScRXrd4ww56qkcncwoNT3majq1CfR9BdCfUOmPTBR2zeFUFh2dfLz7Kiwc0n5PiwbNzhj6g_3ngngioz7KFodUmQlSGcn7G1bhpu2ktB8BS9qZXq-m1TaHV6fAvRnkKi-T_u4tvZbh4LIL6SNBDHnBPRIYIMiBtixStErSxD3-hf5iyvSYLmN6_woD-ZesfDFJ5_Us1LIGNSrSFQWM546gLNjzR5CShyxawFU6R4zVA1FDT07NVpk8uz-04kX6_h9QnREn5OJ3r4ECyU6ztG5ykXlTu92884QRdyHOSNkczBlmw6qrBFa3jJjTIuh5XcgJh7vw6gErVbnmKH3r7O6SNuEBCJeO9fP9R4GP5tnlJWOFI-oG7uPKST7087cpoKYEY5tKh_i3abGdpfZgKtvUMQlrGuGhcio3ez-p9FjeYcKX7Q9PZdmnkMkEzZgrOGcTA5iZJkS_HhIxkWm97fRpX4Z3kFiI28YKLQu-jn6qteaODpR9M93_gxWAI9w6PvfBkpLhNA2BbIlS2zc4r7DAIgeHZTs16a3PBhgZajdaA-H330roQmL--rD7itMjHoSkwtRVlqHR4MbaEXQunDdou6zqLFV9rMbbf6zobPKJc8djX0xNylQbi9u02b2EbgC0Qj6hxZXlGVwByKe2iiNiNeJ_p_0oVLTS_gBeKTyaHgJIr0JxOm34bzYa0xjlm0AesywYIng12AM=",
  "id": "rs_040e5870d2e59baf016ab4595c20ac87d0b1de13a071f54cdb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.205,\"left_z\":0.025},\"note\":\"The close-up shows the pale toy is still forward of the fingertips and slightly left of center. I’m shifting the open jaws over its torso rather than closing on the end of a leg.\"}",
  "call_id": "call_P4NgpTRXtcCmVQL1Dvsohk2Z",
  "id": "fc_040e5870d2e59baf016ab4595d940487d0bedde0ca91e3a602",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_P4NgpTRXtcCmVQL1Dvsohk2Z",
  "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]: [-0.7483, 1.8534, 0.8154, 0.1272, -0.635, -0.543, 0.9973, 0.2325, 0.8963, 0.7517, -0.5346, 0.1379, 0.0654, 0.9954]\nstate[eef_state]: left_x=0.3668 left_y=-0.1927 left_z=0.0174 left_yaw=0.0529 left_pitch=-0.1145 left_roll=0.101 left_gripper=0.9973 right_x=0.2938 right_y=0.0483 right_z=0.1885 right_yaw=0.0718 right_pitch=-0.0861 right_roll=-0.0252 right_gripper=0.9954\nstate[joint_eff]: [0.4034, -7.3641, 7.747, 1.5507, -0.0757, 0.1832, -0.0269, -0.3077, -1.7983, 6.9675, 1.9707, 0.0904, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15efc46d5fb87d16574985f5f85d82229ff3c22df5c89558f62666c6de42cfd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cae7e15948bb970ed4fbd406fa029aa54bef51dd4a58db81ce96c6b185938ccb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e06606b6f1a22603d95a1fbeab2188e60a6e03920291f9a16c8c3391c3c22a22",
      "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]: [-0.0254, 0.836, 0.627, -0.5186, -0.0219, -0.0574, 0.9973, 0.915, 2.1136, 1.5257, -0.4995, 0.5858, 0.5449, 0.9946]\nstate[eef_state]: left_x=0.2795 left_y=0.0004 left_z=0.1518 left_yaw=0.0095 left_pitch=-0.1487 left_roll=-0.0132 left_gripper=0.9973 right_x=0.3761 right_y=0.3345 right_z=0.0599 right_yaw=0.097 right_pitch=-0.2561 right_roll=-0.1761 right_gripper=0.9946\nstate[joint_eff]: [0.0479, -1.2786, 7.2137, 1.6288, -0.0659, -0.0317, -0.0122, -0.4718, -12.3145, 7.0085, 0.9744, 0.3492, 0.0269, -0.1929]",
      "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]: [-0.8768, 1.7718, 0.738, 0.094, -0.6903, -0.6327, 0.9974, 0.2325, 0.8951, 0.7521, -0.506, 0.1417, 0.0643, 0.9954]\nstate[eef_state]: left_x=0.3267 left_y=-0.2112 left_z=0.0244 left_yaw=0.0121 left_pitch=-0.096 left_roll=0.0824 left_gripper=0.9974 right_x=0.298 right_y=0.0486 right_z=0.1945 right_yaw=0.0696 right_pitch=-0.056 right_roll=-0.0236 right_gripper=0.9954\nstate[joint_eff]: [0.3077, -7.4872, 4.4923, 1.6142, -0.2759, 0.0855, -0.0611, -0.1436, -2.2496, 7.2274, 1.8974, 0.1197, 0.149, -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]: [-0.7483, 1.8534, 0.8154, 0.1272, -0.635, -0.543, 0.9973, 0.2325, 0.8963, 0.7517, -0.5346, 0.1379, 0.0654, 0.9954]\nstate[eef_state]: left_x=0.3668 left_y=-0.1927 left_z=0.0174 left_yaw=0.0529 left_pitch=-0.1145 left_roll=0.101 left_gripper=0.9973 right_x=0.2938 right_y=0.0483 right_z=0.1885 right_yaw=0.0718 right_pitch=-0.0861 right_roll=-0.0252 right_gripper=0.9954\nstate[joint_eff]: [0.4034, -7.3641, 7.747, 1.5507, -0.0757, 0.1832, -0.0269, -0.3077, -1.7983, 6.9675, 1.9707, 0.0904, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15efc46d5fb87d16574985f5f85d82229ff3c22df5c89558f62666c6de42cfd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cae7e15948bb970ed4fbd406fa029aa54bef51dd4a58db81ce96c6b185938ccb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e06606b6f1a22603d95a1fbeab2188e60a6e03920291f9a16c8c3391c3c22a22",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFlifXqlOdRMMcOS4dg6eOL4O0KVvQV5sD4ev4SWvV5z5uabldP2nBXF9R8rF7RwCvvWIKl_IqG5a2NqlQJlIOM5Wy5Qz9-5ytX9ZKH8OZMZ22qlExB4uH071jJF5A9Ffxx0ERxmDkgv31LmnF58AEGjX7RJDIbFPeuf6HPKezs7LDKjMPdUTK_NjnyXeKzBN7dfFx3rEaIXN37Ty0lbmKBCjWwNzUO_eHl94Pb01lB75-H0Qe10_MyRMXRE107dI9iAdgm1I9_PKw8U50HNy4Enbkm3BIfiVK9o4-WWn9zLSNFUlO83uLI2yzUGBZ0CYd5PwvBiwhIdR-lZjybiMC51STCqXWLdDoxAyBUHilsO4bSZQ6eAq8mNEQLVFWEv8iqF0UgEKm0EdcyB2fGqVPcZa_GnxDifOPn3Tr3rsnA7ta23IQMEEfYqFqv-opUTx8v0ZVYAn5aA2g0Vm_WUFq3gFOXUw3LawX_IcsxSkcGm3ojrsfLClouqcpFf4q6y5RKUziduF9-5Iqr-PAPyP9hHudE7FUcfZKjVcBr0HwwO6-XIPbxIjUDIfVvQLMZUvtZvWcxWsRO4QkUlH61Xz3CvbM-bofSs_FWP1L7WKbXTSAu45APJWhI4onIBDvBvAfRqYgN3HY7nYFZ8zckwp30wGt9OxQpgAbU4VwwYdc0FkeLXAgkxEY4DbtF5fuXpkw-BAxqF1MR0VLqOjzkjJPQFV5ylFs555df88OQOpWVI2JQ6tEcJCKmHk9cDbWsBTkajg07G0RLrM7s4L3WRJ7D4m66exf0MMTAcHD2fWrVwv86S8Ek0ga6P8cd12GQpggX4J0dBn4zHjb0Ril5efXsAUp0Bdu5rrMsaFwEzDX5zYT6IydOdW5EFyYYbb1vLQZwHnTdO5qv_WvISkea0BMeGix44y8_D2Ers0_8Ml7e_OrftXPLDvPCHikqnDdhyBmnNVAUMbHPGh6SUgriMZYNt-bviEN4PrSjhTFSMArys5HUUx9eZL6yA9vM_uiyNkClBMulsJeuoMrzKbw54NGlxgS98QlR3HaFZ5JrZTvQHC3iDa6aIiqszLtlk2zY9ADZ2nJ5t5gysFRepGxmRCROb8xCqDMRJ-y6GnQKrk1M3Mvk1IgYfhZzdTRkvTLip4O_R2xHrhH1GfwF8n3CrEUtrkHVQ_08ThQ9U-7hDbYISCi5z3hiAq_acobR4MIWeP6XVoIYc5fNHDRiWWQhkXommJDuhy5PtAfzk1hRQ_8m9K1gmbfn850-lS5jEp-mMOIS4",
  "id": "rs_040e5870d2e59baf016ab45961179c87d0b01fbb04df138311",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The pale toy’s torso now lies between the jaws, clear of the safe wall. I’m closing the left gripper around it.\"}",
  "call_id": "call_0nf9mA9yBnGwu83tuJ5WXmzE",
  "id": "fc_040e5870d2e59baf016ab45961739087d0bea9c99bc06913aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0nf9mA9yBnGwu83tuJ5WXmzE",
  "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]: [-0.7372, 1.8668, 0.8261, 0.1497, -0.6178, -0.5079, 0.131, 0.2325, 0.9005, 0.7475, -0.5678, 0.1375, 0.0597, 0.9954]\nstate[eef_state]: left_x=0.3727 left_y=-0.1954 left_z=0.0171 left_yaw=0.0314 left_pitch=-0.1121 left_roll=0.1045 left_gripper=0.131 right_x=0.2884 right_y=0.0471 right_z=0.1793 right_yaw=0.0746 right_pitch=-0.1273 right_roll=-0.036 right_gripper=0.9954\nstate[joint_eff]: [-0.3761, -8.2256, 7.5145, 1.3993, -0.188, 0.0806, 0.9451, -0.0479, -2.1265, 7.2137, 1.9072, -0.022, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7300acc95459db553b3d7ac2358fb6c0c7b52ccdf35b88621c66a2c3b78cea16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a52b0c292c5d6fe2fa3f1f953b1f8a263ac9f433c135a1c31dd81370a9dc2b4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb3b89eff4f6357a23d1ab0afd54516ecc774e60893b3f9549555c24396c4ec7",
      "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 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9386, 1.4635, 0.8886, -0.3351, -0.7219, -0.6823, 0.9979, 0.2317, 0.8894, 0.7559, -0.4816, 0.1528, 0.083, 0.9954]\nstate[eef_state]: left_x=0.3065 left_y=-0.2148 left_z=0.1318 left_yaw=-0.0041 left_pitch=-0.056 left_roll=0.0349 left_gripper=0.9979 right_x=0.3017 right_y=0.0473 right_z=0.2029 right_yaw=0.0496 right_pitch=-0.0213 right_roll=-0.009 right_gripper=0.9954\nstate[joint_eff]: [-0.4581, -5.9145, 9.4291, 1.4969, -0.569, 0.0952, -0.2369, -0.2256, -2.2359, 7.1863, 2.0928, -0.0611, -0.0757, 0.0659]",
      "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]: [-0.7483, 1.8534, 0.8154, 0.1272, -0.635, -0.543, 0.9973, 0.2325, 0.8963, 0.7517, -0.5346, 0.1379, 0.0654, 0.9954]\nstate[eef_state]: left_x=0.3668 left_y=-0.1927 left_z=0.0174 left_yaw=0.0529 left_pitch=-0.1145 left_roll=0.101 left_gripper=0.9973 right_x=0.2938 right_y=0.0483 right_z=0.1885 right_yaw=0.0718 right_pitch=-0.0861 right_roll=-0.0252 right_gripper=0.9954\nstate[joint_eff]: [0.4034, -7.3641, 7.747, 1.5507, -0.0757, 0.1832, -0.0269, -0.3077, -1.7983, 6.9675, 1.9707, 0.0904, -0.0562, -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]: [-0.7372, 1.8668, 0.8261, 0.1497, -0.6178, -0.5079, 0.131, 0.2325, 0.9005, 0.7475, -0.5678, 0.1375, 0.0597, 0.9954]\nstate[eef_state]: left_x=0.3727 left_y=-0.1954 left_z=0.0171 left_yaw=0.0314 left_pitch=-0.1121 left_roll=0.1045 left_gripper=0.131 right_x=0.2884 right_y=0.0471 right_z=0.1793 right_yaw=0.0746 right_pitch=-0.1273 right_roll=-0.036 right_gripper=0.9954\nstate[joint_eff]: [-0.3761, -8.2256, 7.5145, 1.3993, -0.188, 0.0806, 0.9451, -0.0479, -2.1265, 7.2137, 1.9072, -0.022, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7300acc95459db553b3d7ac2358fb6c0c7b52ccdf35b88621c66a2c3b78cea16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a52b0c292c5d6fe2fa3f1f953b1f8a263ac9f433c135a1c31dd81370a9dc2b4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb3b89eff4f6357a23d1ab0afd54516ecc774e60893b3f9549555c24396c4ec7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.095},\"note\":\"The left gripper has a nonempty opening around the pale plush. I’m making a short lift to verify that it is securely held.\"}",
  "call_id": "call_w20nbrqgwoBKktIugwmh2EzR",
  "id": "fc_040e5870d2e59baf016ab45964cfac87d0b346ca680b66048d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_w20nbrqgwoBKktIugwmh2EzR",
  "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]: [-0.7372, 1.7142, 0.923, -0.144, -0.617, -0.5209, 0.1313, 0.2325, 0.9005, 0.7471, -0.5991, 0.1375, 0.0593, 0.9954]\nstate[eef_state]: left_x=0.3671 left_y=-0.1904 left_z=0.069 left_yaw=0.042 left_pitch=-0.1433 left_roll=0.1253 left_gripper=0.1313 right_x=0.2833 right_y=0.0459 right_z=0.1734 right_yaw=0.0741 right_pitch=-0.1586 right_roll=-0.0414 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -10.1949, 8.8274, 1.5409, -0.3394, 0.0855, 0.442, -0.1709, -1.6479, 6.8991, 1.8437, -0.0122, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c4b3cc187c91e4629fa398d0cf9e20fd94ede683670a754216855282b252e24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:853505733ead5b49802d4077e9815fb3c46c2df0b4482e7f2f7396334e6d8e77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f6302d29430a8e485e2956554c7bd1b53dbf1f94071afb659f642fc40323385",
      "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 49 changed as sent

message 52 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8768, 1.7718, 0.738, 0.094, -0.6903, -0.6327, 0.9974, 0.2325, 0.8951, 0.7521, -0.506, 0.1417, 0.0643, 0.9954]\nstate[eef_state]: left_x=0.3267 left_y=-0.2112 left_z=0.0244 left_yaw=0.0121 left_pitch=-0.096 left_roll=0.0824 left_gripper=0.9974 right_x=0.298 right_y=0.0486 right_z=0.1945 right_yaw=0.0696 right_pitch=-0.056 right_roll=-0.0236 right_gripper=0.9954\nstate[joint_eff]: [0.3077, -7.4872, 4.4923, 1.6142, -0.2759, 0.0855, -0.0611, -0.1436, -2.2496, 7.2274, 1.8974, 0.1197, 0.149, -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]: [-0.7372, 1.8668, 0.8261, 0.1497, -0.6178, -0.5079, 0.131, 0.2325, 0.9005, 0.7475, -0.5678, 0.1375, 0.0597, 0.9954]\nstate[eef_state]: left_x=0.3727 left_y=-0.1954 left_z=0.0171 left_yaw=0.0314 left_pitch=-0.1121 left_roll=0.1045 left_gripper=0.131 right_x=0.2884 right_y=0.0471 right_z=0.1793 right_yaw=0.0746 right_pitch=-0.1273 right_roll=-0.036 right_gripper=0.9954\nstate[joint_eff]: [-0.3761, -8.2256, 7.5145, 1.3993, -0.188, 0.0806, 0.9451, -0.0479, -2.1265, 7.2137, 1.9072, -0.022, 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]: [-0.7372, 1.7142, 0.923, -0.144, -0.617, -0.5209, 0.1313, 0.2325, 0.9005, 0.7471, -0.5991, 0.1375, 0.0593, 0.9954]\nstate[eef_state]: left_x=0.3671 left_y=-0.1904 left_z=0.069 left_yaw=0.042 left_pitch=-0.1433 left_roll=0.1253 left_gripper=0.1313 right_x=0.2833 right_y=0.0459 right_z=0.1734 right_yaw=0.0741 right_pitch=-0.1586 right_roll=-0.0414 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -10.1949, 8.8274, 1.5409, -0.3394, 0.0855, 0.442, -0.1709, -1.6479, 6.8991, 1.8437, -0.0122, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c4b3cc187c91e4629fa398d0cf9e20fd94ede683670a754216855282b252e24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:853505733ead5b49802d4077e9815fb3c46c2df0b4482e7f2f7396334e6d8e77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f6302d29430a8e485e2956554c7bd1b53dbf1f94071afb659f642fc40323385",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFluPNWnMJzdv4d1AlJwHjfwrydrjf79ksvljXKIwE9LKf4cnrcqRG2pPhrfHSSE1FOjCrRFs8m2AZaZwJPJ3yj3Jr-g78QTF4VNto_9I-vmnDJa7ZrNhpSP1d6FaHuo3_CmSd7VvAr6cYeVDuXI-ipgMP5iYZLWFdp5dVl6xxqdL_apqs_9lN9a7XNkEZPqZqF4M1B6ESgREdGXj1rnTzlrXvwikXfC0hsMLWARCkEykYq15l0vRVEjl2S55oZIVmL0NorF_JSaLWmG6AhOLRbH08KSoPXMypZfpN6z8yfIqyUc5yFIv47yzSlTOojGCH2jnKIY6sW27ZKZCvl3QOfy6kWsYsrg4TV-yqLJpgjBY4AYitAN-K9X_e810V2mZmcu2nXWCKtDtV7gg9I-H7LeegA305q-2W_btW02qRQ3BetrB0Z9_NBTZ46F4hHUnzPDOyVRJU5AqAd6qUMj7m2uxcTfC0WyrIROLzAn6IAMDnxedhYHs2k3v1XfB0toQXEz-S7G1gLbBxIk8l4IXdfJfYO_tWqFdpyF7takqaUKe3w1bZ6iSWDjiIB1i0Otc0bNRerJcE9FJLM3-4aaldXDSuKmIOKxE_qiJZj0xS2yHtZdiLXo1NMbmFMRZ3XfndmJJX-AYSQWJBe8qjA9yFZtD5-JPrbs8HR5w22fpDhxjdf6yojHSXGxTIilfZ9k0OZh9k_dOkFWjzVUn5TnJfneVRMDHpQ560hTmG3GTMRCyYAmKLeHTM27ugIQfUly2M8OW1IiQf_PLiQEfvT4Jx39U1p4VDQTtED3WZvOkqv1tpjcalzxwXseH_dCzTfBEqOM_2JGH9N4ZaECFhpq4qP0qWguzsvqK1I_RjVFKwmJYnS3Kizdcy0Q5KY9q4d6SR0vgdNyf42HhCXpiGK-JG8Ou7Bc9WGxlwvL4CHl-JBW4fg4iHUwsjjxL8x8xAw1me0XqOu6TDR38Xbkj5JNtWwjAnh6Xmtko9NiuwjUHYeLtbZodo2nTCjTX0hc6miAQTNEvCM8pbVjLPFYRt265qC6q8ZK5qiGCdkcuNphWgme4ehmLubOqyRpRVLpBN5y9vBnzrTExVN7hXc9oxKMKbV8qH24_sVA6e6lw8k-f-3WJIJWE73wJJW8EUz0tIwgk53fId0JYhJCvMm4YoySJcnqnSVrdDePIxY_vK-jPGv5IA1y1O_Pbl3XRBLuMp54tvokiKXt4jMGt0ChE16qFd5RbfliZJ3GEkcHXeGIWUyHisy-xNEf0DTf-pLJoM5EuUWdHpAnq47OBZvluk95TXlwJtWgUeaPaLpQ5lHCd014adPu_WqbKWvpuWtfKpD7i4j5U9K2tC6oweI_POHJrOj_L-okwG49tz0nl-TXJXQ9UeYe_zx_E3XDNN7rF6MF4ngonNYPiNdmqTm5ghF4S5P4xLI6aWf96kzq00jWJ3uJEpnDDd_l6IRnczS5pgHH8EfUVvCyQHW3pmrgxCEdLyONQtChD2FGjSMLlyxdWwv_T0BLt6AodQC1GZAP1wWG6a6tpq13eKBVrqJnkT0YI49HZR5A6rfclQ131NYzBVKlagyYVVOJDbxkdSNL4T4Kei7HRNbjYi5-YXxZLpfyapBW7ZPxGKolJ9PBwCh4H2vlu2vJ0Jn88Ok_laKwAKjoFxpEU_eJ3hoRszNpI_MLYQEtcecLEVLLe5hLoxoMxAd9aqDqEpcXlIPnspenv0pXKPRNEaCrfNQTG8_uH0qB-GYp3aNoNULc3qgI353uSL5iYCW1fwCmMx0RySneNt_vHp8bdP-HQg2fCu96vgZhNwY5nYpQxHn3vvnpbyBCg4pWnpYRI7qtW0NqoWrt55umI54qVyCbnCGUMLz9OpSuSsD2GisbVvqJBMq97aVnPAYuCilyF6p-7dbcoT4CwF95xQiavfUitUcz_EWvZI-PQgf1cHJvo3Exhf7DUQWm57l31D0RW0soZUBJUXKiMVQSzpvo4DBzKEhIfJrvDg-WBKM1xO5ElS5PCNL4iVPah9ik5UW9j8uvuf3-1Tki66nsH2S0hQ5w2EY-a1N7GYASUDIap4htgyrGQkmvjxPbJsOJ1i9kapc_mXVh1PkO8v8nVHiMy7dLwNiaOZRIoNd-fm57U1Qopn9Uqtf7UgYs-qOm4L6ngb50D90DCR5IfFchDOI8APhv10zyXL6j5AcD-j4rNevB94YPzSCytPIiChdX00kjIPji1yGb2KTs0DSvi5kqwSLoNjAa7_Aa1asFMQYP4oRN6NzkC_L_TZVP6DMUrPgGGB7GHuekmZTyIjqZDfX-54joGXZlyWE8EilFpozuDLZA2P_oJA3oEa3urpuj4FRu3kTOucJ0TcOqUXF0zkEd31S64ogQ0QG4SdLtiergVIGaJQZfAdwBxJgJs2lpJ9mWCiNuT5gZSX5EpsdeOYW70H6mUr4HfRNICcPjJN4DQCxXK3hKFwVd-BH1k3NGvnKaj_oI5uoQkhaOkwmQR9RdvdaoZi_wUMNbs9gf3-egYAdFKgXPgB85sfIFUoo82v9isAj4uuKUg4C1UdjqoHHRLYFU_SqfEmc3ibJbCw_lDSg0HM8JJ1x8bFOgC34yVsby0J9JGRsWKBgEBjxkZI1tqspIxf9Uyan1K7ROMaPScJfmWMKpUYyz6428TYK9Br3r17w9PuivfpqYqmxp7p5jgGj2JevIx1BR4WO1qHjS5Lj_QdLSEW0RX3Ie_x2AQl5hr4ORcCjXitwKfCD9VnlvTtF4N0L04P_hro5se5ZTuMOlBySorh6jxlWS1Kj_radXc2FTheJz1NWwdRrOUKGwSLuIKbQ1G1T3UPKSutpOdP0Rc0iBYjGN3yEXg0O5XdEE8ctbb0kE_TezXaCfRKLDFU1aPGbQVYZ6A5Cs-5Zt3LP0btgq5sSBECmH_jZOUZIGSdkpxqVBImNh1NCwWtZps62W4bTo7Z5pVbK0LkHr--pvkiTGrHT4UK1g9c0hU7wReEHRS4J7c99MeaV8TYF4tTHMEy0sjYQfvgW7787TBYgueS3FYxsNLK8z6Vtjl1A1blNn3rnJn9oTp4ED2XiS6w_P7mIQMsbgayjN84TOIQ==",
  "id": "rs_040e5870d2e59baf016ab45967535c87d0ac47c0abe09cb7c6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.295,\"left_z\":0.23,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The pale plush lifted with the jaws. I’m raising it over the safe’s left half while parking the right arm away from the working area.\"}",
  "call_id": "call_yhkrej35zn39ws2wSGzi38Yj",
  "id": "fc_040e5870d2e59baf016ab4596dd66487d09689ccba1111bbff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yhkrej35zn39ws2wSGzi38Yj",
  "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]: [-0.7982, 2.0903, 2.0502, -0.9108, -0.6357, -0.5961, 0.131, -0.0902, 0.8124, 0.6243, -0.4755, -0.1108, -0.0982, 0.9955]\nstate[eef_state]: left_x=0.4417 left_y=-0.2978 left_z=0.2187 left_yaw=0.0362 left_pitch=-0.1386 left_roll=0.0901 left_gripper=0.131 right_x=0.2849 right_y=-0.0026 right_z=0.1656 right_yaw=0.0475 right_pitch=-0.0732 right_roll=0.0009 right_gripper=0.9955\nstate[joint_eff]: [-0.4308, -11.9726, 7.8291, 0.779, -0.4713, 0.0806, 0.8669, -0.2393, -1.7436, 7.3094, 2.0879, -0.1099, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8197839cb23882a09bda6e61c80f04f83088cf4dfe442c2692318086556c6916",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9263610c81b16fb106fa678abbf40448b1a3047938ceddf73a55a5020658b97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4641e9ed9199a5aecfd7c36324e50d4ba74e7e37a8b16eeb87c5f048e9ea3e0e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 45 changed as sent

message 52 changed as sent

message 56 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7483, 1.8534, 0.8154, 0.1272, -0.635, -0.543, 0.9973, 0.2325, 0.8963, 0.7517, -0.5346, 0.1379, 0.0654, 0.9954]\nstate[eef_state]: left_x=0.3668 left_y=-0.1927 left_z=0.0174 left_yaw=0.0529 left_pitch=-0.1145 left_roll=0.101 left_gripper=0.9973 right_x=0.2938 right_y=0.0483 right_z=0.1885 right_yaw=0.0718 right_pitch=-0.0861 right_roll=-0.0252 right_gripper=0.9954\nstate[joint_eff]: [0.4034, -7.3641, 7.747, 1.5507, -0.0757, 0.1832, -0.0269, -0.3077, -1.7983, 6.9675, 1.9707, 0.0904, -0.0562, -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]: [-0.7372, 1.7142, 0.923, -0.144, -0.617, -0.5209, 0.1313, 0.2325, 0.9005, 0.7471, -0.5991, 0.1375, 0.0593, 0.9954]\nstate[eef_state]: left_x=0.3671 left_y=-0.1904 left_z=0.069 left_yaw=0.042 left_pitch=-0.1433 left_roll=0.1253 left_gripper=0.1313 right_x=0.2833 right_y=0.0459 right_z=0.1734 right_yaw=0.0741 right_pitch=-0.1586 right_roll=-0.0414 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -10.1949, 8.8274, 1.5409, -0.3394, 0.0855, 0.442, -0.1709, -1.6479, 6.8991, 1.8437, -0.0122, -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]: [-0.7982, 2.0903, 2.0502, -0.9108, -0.6357, -0.5961, 0.131, -0.0902, 0.8124, 0.6243, -0.4755, -0.1108, -0.0982, 0.9955]\nstate[eef_state]: left_x=0.4417 left_y=-0.2978 left_z=0.2187 left_yaw=0.0362 left_pitch=-0.1386 left_roll=0.0901 left_gripper=0.131 right_x=0.2849 right_y=-0.0026 right_z=0.1656 right_yaw=0.0475 right_pitch=-0.0732 right_roll=0.0009 right_gripper=0.9955\nstate[joint_eff]: [-0.4308, -11.9726, 7.8291, 0.779, -0.4713, 0.0806, 0.8669, -0.2393, -1.7436, 7.3094, 2.0879, -0.1099, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8197839cb23882a09bda6e61c80f04f83088cf4dfe442c2692318086556c6916",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9263610c81b16fb106fa678abbf40448b1a3047938ceddf73a55a5020658b97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4641e9ed9199a5aecfd7c36324e50d4ba74e7e37a8b16eeb87c5f048e9ea3e0e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFlzStL15w_cnpvM-Yu9F1gPucCqbVsXrNUDzOHr-rLLAIo8ZuU0qZU7c2uPhhsa_cNBX51-y0WhuC_NFeXBmLAGrAKZEHFen-b8UgV58bVX_OPysx627cSMNcqJWNmMTKtIij7fSZRmV8XLyJ-NuCS0v2vulPWkSXdhPeErbC_eeDmV2GLxpgHE0hKyY6x38Cny06sieHyTm7LGZoKusiTtPonkZB97RkmYswgxoGriHFQlo5uzOeYiT5vNIoUdep_ydQMCpeDXfsfPKxcdBHoDHtBdSAE1mtldRw37RV_U3-Vmexjk-rFU_Ao-gXQEN4twKBFa_rA_X7RNtaxr6e8LL8OepdWAUWUwXDNLTBc59YS0_vVV3xTPchvvdKXcNuirAjT9W74BQTb38EjUFMHqJqwNiRQZjagB5OB4dMPLAKq4Mc9EkpjKSUdhCQesHV5LTozD5MCYmhfYzbZUvgNQsvPtRJWw3-hnC5erIf-caMr5hOwFoY0vLCuHipd3UVvqXHf7D5EFyvgtAukqOUqtvtBmgIVRAaS7Sj2d_s3Q3Lh9ZT3CCZ1qtBID__r8hbqpBH8DqOlA6iG-ROQN4enVaNxszBSBYYmVJmVcHaKoy7VjSLVgqCTt4fizmROzwifG0cFbVGY4qvFn__adQG8r7cJKvNjAo3ughQgWAzOIgikyTluD_SbsDQVVzoEJbmJOCIx-Uf2EDbhaXrqILxZO8SgzOS8HDRoEQMRhybfc3JalIrgd085Cco5Y87wHzbStvrKhqg4by0PYpecptFIG-OUS9Yuhq0rkztZmw5JR0CYdgtqch5R8dWLvEQmZ2pjTMQ0pesCLg0bQvOGy7KXhpInMsNDXzHkL-1nqRFlkx2GSVqD6ZR5peQdPhq6mR8le18phMicEacov3WhkKF7yPRFGygFyy5wNXJ8z2r5VRCbU2uVTKmMc8RAH5nh9aWeRnoeyf71nhIeZCGFtYNaoHCAb026AbBJPy8IgJ3mukwWsPj4iMUCWJVVXfCuTAB9Zdz6AjcBMHNczDIG9LWFImKAmSbfXwnkzpYJNwQgGepbnPBo9xNP-1n1bxmZYkzkFlx-1JQrhOYnQ1ZaDr_S74UYAIuLUtvAPs3lB2Hx_wjY3lPu5g2pvLYQcrvElVJufTYufjzoi4DG-A3Uef0yCjL8u5vXRYxuI7uH_MK8xQp_dPJBfqjcuHtjCbaNVAtK3eGlM7jJoHAcaTBXALlrOESQ8f_0nvEqdKMXpR40aEg7UA6-mYBo75HuTgnYYNW7X7wdbHB-8iUzVGJpbjZBhLkGcdMR4FZYaLmAnjZAFN0yxnQdfhbEiDhjhoFUqf5H2Lz0DflQkAR32gEdw1Kkyag==",
  "id": "rs_040e5870d2e59baf016ab459717f8087d08dec258b7b7b1ae3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.305,\"left_z\":0.065},\"note\":\"The pale toy is above the safe’s open compartment. I’m lowering it onto the red lining, keeping it away from the right edge where the brown toy is protruding.\"}",
  "call_id": "call_rO51nAn6hXOoFcT61jRZ4v4W",
  "id": "fc_040e5870d2e59baf016ab45972457887d08e00cf032af730f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rO51nAn6hXOoFcT61jRZ4v4W",
  "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]: [-0.7933, 2.1868, 1.623, -0.4232, -0.6235, -0.5907, 0.1306, -0.0929, 0.8162, 0.6167, -0.4957, -0.1242, -0.1081, 0.9955]\nstate[eef_state]: left_x=0.4474 left_y=-0.3024 left_z=0.0693 left_yaw=0.0345 left_pitch=-0.1707 left_roll=0.1144 left_gripper=0.1306 right_x=0.2809 right_y=-0.0006 right_z=0.1576 right_yaw=0.0619 right_pitch=-0.1032 right_roll=0.006 right_gripper=0.9955\nstate[joint_eff]: [0.5538, -12.1094, 6.1197, 1.3553, -0.3541, -0.0122, 0.5836, -0.0068, -1.6068, 7.5282, 1.8046, 0.0366, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a646790963fce104db37e91aef8f97ce7b7dc1af2a745dd798df6d4cc471cedf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0cc9c594be3a4c78b62608a6726af9b957812240b6cef43d2bfa2a6364324cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d94860a8186ea18f8cb226e0f1085274e221955f4e415a649c329c9c512eb423",
      "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 49 changed as sent

message 56 changed as sent

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7372, 1.8668, 0.8261, 0.1497, -0.6178, -0.5079, 0.131, 0.2325, 0.9005, 0.7475, -0.5678, 0.1375, 0.0597, 0.9954]\nstate[eef_state]: left_x=0.3727 left_y=-0.1954 left_z=0.0171 left_yaw=0.0314 left_pitch=-0.1121 left_roll=0.1045 left_gripper=0.131 right_x=0.2884 right_y=0.0471 right_z=0.1793 right_yaw=0.0746 right_pitch=-0.1273 right_roll=-0.036 right_gripper=0.9954\nstate[joint_eff]: [-0.3761, -8.2256, 7.5145, 1.3993, -0.188, 0.0806, 0.9451, -0.0479, -2.1265, 7.2137, 1.9072, -0.022, 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]: [-0.7982, 2.0903, 2.0502, -0.9108, -0.6357, -0.5961, 0.131, -0.0902, 0.8124, 0.6243, -0.4755, -0.1108, -0.0982, 0.9955]\nstate[eef_state]: left_x=0.4417 left_y=-0.2978 left_z=0.2187 left_yaw=0.0362 left_pitch=-0.1386 left_roll=0.0901 left_gripper=0.131 right_x=0.2849 right_y=-0.0026 right_z=0.1656 right_yaw=0.0475 right_pitch=-0.0732 right_roll=0.0009 right_gripper=0.9955\nstate[joint_eff]: [-0.4308, -11.9726, 7.8291, 0.779, -0.4713, 0.0806, 0.8669, -0.2393, -1.7436, 7.3094, 2.0879, -0.1099, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7933, 2.1868, 1.623, -0.4232, -0.6235, -0.5907, 0.1306, -0.0929, 0.8162, 0.6167, -0.4957, -0.1242, -0.1081, 0.9955]\nstate[eef_state]: left_x=0.4474 left_y=-0.3024 left_z=0.0693 left_yaw=0.0345 left_pitch=-0.1707 left_roll=0.1144 left_gripper=0.1306 right_x=0.2809 right_y=-0.0006 right_z=0.1576 right_yaw=0.0619 right_pitch=-0.1032 right_roll=0.006 right_gripper=0.9955\nstate[joint_eff]: [0.5538, -12.1094, 6.1197, 1.3553, -0.3541, -0.0122, 0.5836, -0.0068, -1.6068, 7.5282, 1.8046, 0.0366, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a646790963fce104db37e91aef8f97ce7b7dc1af2a745dd798df6d4cc471cedf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0cc9c594be3a4c78b62608a6726af9b957812240b6cef43d2bfa2a6364324cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d94860a8186ea18f8cb226e0f1085274e221955f4e415a649c329c9c512eb423",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The pale plush is down on the lining within the safe. I’m releasing it there.\"}",
  "call_id": "call_K6Qf2RzfrDyTxgt2ErM58vk9",
  "id": "fc_040e5870d2e59baf016ab45975d33087d0970808cbc48d7058",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_K6Qf2RzfrDyTxgt2ErM58vk9",
  "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]: [-0.7914, 2.2089, 1.6032, -0.4271, -0.6209, -0.5926, 0.9956, -0.0929, 0.8173, 0.6167, -0.4999, -0.1211, -0.1055, 0.9955]\nstate[eef_state]: left_x=0.4428 left_y=-0.2968 left_z=0.0504 left_yaw=0.0421 left_pitch=-0.2031 left_roll=0.1458 left_gripper=0.9956 right_x=0.2803 right_y=-0.0011 right_z=0.1564 right_yaw=0.058 right_pitch=-0.1088 right_roll=0.007 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -14.0376, 7.788, 1.2088, -0.3639, -0.0513, -0.0757, -0.0205, -1.3607, 6.9538, 1.7118, -0.1197, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca8261e24131750761dfe8a47491ddff36cef934bd41c4c46aefbf4d850232ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c3ea178c73ccb5b0b7e96a5a704aa0ab5b46ac99c2cc7953e616ef0d928a240",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7af792c84e24db6263a22f03682b7cd66ef6704068ca6ba262b0973d81ccb00",
      "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 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7372, 1.7142, 0.923, -0.144, -0.617, -0.5209, 0.1313, 0.2325, 0.9005, 0.7471, -0.5991, 0.1375, 0.0593, 0.9954]\nstate[eef_state]: left_x=0.3671 left_y=-0.1904 left_z=0.069 left_yaw=0.042 left_pitch=-0.1433 left_roll=0.1253 left_gripper=0.1313 right_x=0.2833 right_y=0.0459 right_z=0.1734 right_yaw=0.0741 right_pitch=-0.1586 right_roll=-0.0414 right_gripper=0.9954\nstate[joint_eff]: [-0.1983, -10.1949, 8.8274, 1.5409, -0.3394, 0.0855, 0.442, -0.1709, -1.6479, 6.8991, 1.8437, -0.0122, -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]: [-0.7933, 2.1868, 1.623, -0.4232, -0.6235, -0.5907, 0.1306, -0.0929, 0.8162, 0.6167, -0.4957, -0.1242, -0.1081, 0.9955]\nstate[eef_state]: left_x=0.4474 left_y=-0.3024 left_z=0.0693 left_yaw=0.0345 left_pitch=-0.1707 left_roll=0.1144 left_gripper=0.1306 right_x=0.2809 right_y=-0.0006 right_z=0.1576 right_yaw=0.0619 right_pitch=-0.1032 right_roll=0.006 right_gripper=0.9955\nstate[joint_eff]: [0.5538, -12.1094, 6.1197, 1.3553, -0.3541, -0.0122, 0.5836, -0.0068, -1.6068, 7.5282, 1.8046, 0.0366, 0.0513, -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]: [-0.7914, 2.2089, 1.6032, -0.4271, -0.6209, -0.5926, 0.9956, -0.0929, 0.8173, 0.6167, -0.4999, -0.1211, -0.1055, 0.9955]\nstate[eef_state]: left_x=0.4428 left_y=-0.2968 left_z=0.0504 left_yaw=0.0421 left_pitch=-0.2031 left_roll=0.1458 left_gripper=0.9956 right_x=0.2803 right_y=-0.0011 right_z=0.1564 right_yaw=0.058 right_pitch=-0.1088 right_roll=0.007 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -14.0376, 7.788, 1.2088, -0.3639, -0.0513, -0.0757, -0.0205, -1.3607, 6.9538, 1.7118, -0.1197, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca8261e24131750761dfe8a47491ddff36cef934bd41c4c46aefbf4d850232ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c3ea178c73ccb5b0b7e96a5a704aa0ab5b46ac99c2cc7953e616ef0d928a240",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7af792c84e24db6263a22f03682b7cd66ef6704068ca6ba262b0973d81ccb00",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFl7K1nZx2eHMhVHUuFQyh81YE09TPUGgBNba7VH7kHP6A6Mb6EXQXtpXxoQ7T-oROmT3xQEGuky2VLrneg9e11bXmlBiVGLOA3jhRv9jhIBbmJP6LGMdUBdkcAIk_Wp0St15EkNlU-TCAodXw8bIHzUkLY8QTE1IRlloKnHjVrCnXAH2ZV4a1Cn_Q9qm0b0jUaQJp4GdXXktLJruAl7OXiHW2nwTXjqk6N5CkMnzTpmVwaEfYafjPj6Shsse1CSINvGkVa8D9-D_P7f86d3cnS3J4sdbhzAHMAbRSlwUYNIJ2zi7RAQWfyd8s8T37Dha2e-S_bUooDqAVJlVQMZ2f23QIIidY1uWSLziYyG1zpWx_jSHNCwIufazsDv97pSVj9BHbcRtz6cUgzW_cbQMFxmaGd-pQlC-KrWqktWphnekB_kuhv4vLAlCwHl1lMvkghy_dWsPX3-K5cm3CMFCxnOFUW1DffSyPzW-aIv3HhKfetyYxvp3J80-_TARzX10aM9QsnV3TtCm96EV7mWrwIM_snyg8sznzXAp9JD9TAz61CsJpA7UXQmLRQ5fe60caKO_iYoQ197H3Y3RN2cTjEkdpVGAQor2F56nA58FwMzVQXhqV7Oa3xZ2hqp_Z5iJf2gRffCXy2wmd4DAMUyf9AQMM94XrGok5PZaoD55MxjymW2dkbBFQkSPe_aQ9ffKnDb8ppuK87mwtfUNwkweCpxEfVmyrWeRRr9iFUQddUqlA-DhOBxpysp300QPfRm_Jb-Sw__kgqW4Dso2E5pKnPvHH2aQY-f7UaPDL7y7qjQ5DQqJwYeIZBTXWIU7Av8j67REnP19t8cjXGWiwdx-Y1KevY-p7lcIoUHMwGRkTPdTYe236uq1_coekPhDisrqiTZs1IkW1GTirTeGaLvfkLFvrlP92SOhpMmRgIp-73AeE2qwIICFD1MDGvRuCKD9ILlGcAfj24jQ2P-GYFcgraU91gvYfmJfvzV6nbJ6AI2YrQHJMwwf-vhJqCc896Oip6VpRbJPW5qEf0ZsigwvCs2-HlazK-oH3bicMjMZLGpWz4-20EZkMPFI0pyPPVLusOx3fkGleDXF0iE_xpkep9yTRt9GInL9KSQ0nGdc3Guv1wxXJVpGYp_9Dh6zH2MCi3SKli0Zb80u8nj7bN2IGn9sH9m2P0R0zO9UISsxc9xnU3urowtI8lcNU3RCkvxvK50jVj3HobiUKZASkbFR6g8LHMUlQ72owQimh-i8kLvnPG73JaYrvc0NBgUAxQRfuGzhym2BDupThjkhayQtPIIPTzq3FmMbbvQs9wzZ-DinNwnv7QEzXyqPNLeTQmp12RNilnhy1gy1EuA9y_ZHuLsVyo355lbiCyAfryPAvtS3Ha-9qBZS01dSQpbyjAPS_DpZI2fStlMbD1JFNT8xOZHHoPZLHWZeAZ2mZ3I6qLG_caWZy-wXseJAT_vv2sZZZFM3sSzkFHOVSlObnXJEYBYZkhKoybAxX89XeVGQkSjAgH-hFFBBDyUkyU8llScIj-YWiQDOkDZlZHmopJV3yy_yHFeswx-HyrxSCz9ovIsN7I=",
  "id": "rs_040e5870d2e59baf016ab45978d0c087d0a0110b51cab31d09",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":0,\"left_z\":0.19,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.52,\"right_y\":0.17,\"right_z\":0.15,\"right_gripper\":1,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The pale plush is released inside. I’m clearing the left arm and approaching the yellow object beside the safe with the right gripper.\"}",
  "call_id": "call_wueXPfBPIygeimELPh4ORDaF",
  "id": "fc_040e5870d2e59baf016ab4597a4a2087d0ab6143cd9eb1e62b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wueXPfBPIygeimELPh4ORDaF",
  "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]: [-0.0963, 0.8158, 0.654, -0.4213, -0.1677, -0.1352, 0.9958, 0.3977, 1.8935, 1.3334, -0.1116, 0.255, 0.1516, 0.999]\nstate[eef_state]: left_x=0.2964 left_y=0.0046 left_z=0.1897 left_yaw=0.1024 left_pitch=0.0049 left_roll=-0.0037 left_gripper=0.9958 right_x=0.5063 right_y=0.1682 right_z=0.1333 right_yaw=0.0926 right_pitch=-0.0607 right_roll=-0.0265 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -1.3333, 6.9128, 1.9414, 0.0806, 0.1538, 0.0122, -0.0752, -9.9897, 8.9915, 1.9756, 0.2955, 0.2222, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0717bb9ea37ffbf36ce03013301da8f33247cfc8bfe2acef40f85bf2b660eedd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4fea2938ccb68123cc7ce2510ee51ab90ad513c3f6466d557c302c3ec5114f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:507a6f6e901be6c9811e9d4a4a4477eb635d7ad9366146ab4446a07a441bc09a",
      "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 63 changed as sent

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7982, 2.0903, 2.0502, -0.9108, -0.6357, -0.5961, 0.131, -0.0902, 0.8124, 0.6243, -0.4755, -0.1108, -0.0982, 0.9955]\nstate[eef_state]: left_x=0.4417 left_y=-0.2978 left_z=0.2187 left_yaw=0.0362 left_pitch=-0.1386 left_roll=0.0901 left_gripper=0.131 right_x=0.2849 right_y=-0.0026 right_z=0.1656 right_yaw=0.0475 right_pitch=-0.0732 right_roll=0.0009 right_gripper=0.9955\nstate[joint_eff]: [-0.4308, -11.9726, 7.8291, 0.779, -0.4713, 0.0806, 0.8669, -0.2393, -1.7436, 7.3094, 2.0879, -0.1099, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7914, 2.2089, 1.6032, -0.4271, -0.6209, -0.5926, 0.9956, -0.0929, 0.8173, 0.6167, -0.4999, -0.1211, -0.1055, 0.9955]\nstate[eef_state]: left_x=0.4428 left_y=-0.2968 left_z=0.0504 left_yaw=0.0421 left_pitch=-0.2031 left_roll=0.1458 left_gripper=0.9956 right_x=0.2803 right_y=-0.0011 right_z=0.1564 right_yaw=0.058 right_pitch=-0.1088 right_roll=0.007 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -14.0376, 7.788, 1.2088, -0.3639, -0.0513, -0.0757, -0.0205, -1.3607, 6.9538, 1.7118, -0.1197, -0.0708, -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]: [-0.0963, 0.8158, 0.654, -0.4213, -0.1677, -0.1352, 0.9958, 0.3977, 1.8935, 1.3334, -0.1116, 0.255, 0.1516, 0.999]\nstate[eef_state]: left_x=0.2964 left_y=0.0046 left_z=0.1897 left_yaw=0.1024 left_pitch=0.0049 left_roll=-0.0037 left_gripper=0.9958 right_x=0.5063 right_y=0.1682 right_z=0.1333 right_yaw=0.0926 right_pitch=-0.0607 right_roll=-0.0265 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -1.3333, 6.9128, 1.9414, 0.0806, 0.1538, 0.0122, -0.0752, -9.9897, 8.9915, 1.9756, 0.2955, 0.2222, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0717bb9ea37ffbf36ce03013301da8f33247cfc8bfe2acef40f85bf2b660eedd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4fea2938ccb68123cc7ce2510ee51ab90ad513c3f6466d557c302c3ec5114f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:507a6f6e901be6c9811e9d4a4a4477eb635d7ad9366146ab4446a07a441bc09a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmCCdeps7mt26jgXsmlbO-BmrcGsmpqm2pJFmgshsaF2sO9ikS2nS8NrMpRW7L8Jv17ln8-t-d1_VRe33I2TrO9hY5tgVvROgn5AoiVjv3jGw_W0_YEdh_ea-aVJSLrwXZbDQ-Sy6PUedz417_T0Fz7_QylqmnA1DZmeA840cEXDInxSa1h4-LPclgxJSLrgrCsZoUu_kRmWiaSxYhhi_HBDOp9cvzzUsh8OXAHCqX0k8e8vDLyAEvyWbaX7BTJiYa5HEiKUrk7fbqwC9yUCm1FzT8rBLoIHQf_f8tYJTSfroNAwgYM7qVxV4qSzk9JXjF5eJkKiRIEY7s1JOZ5-zwWdjiYkZPsLmvKGkMxYlS7GQfayWRGkUZ24aZJ9XT6bHLJEDhZoHqMDsEdec44tB-Q4QkjgRoj0-4Zh64PGLnta625SNSz2slbM6bEUjlNcVEtaoc8B2a0Ii7kklVgHIimgmEmANZYPmM06XAJkpgDINGpirVyhytneJIjZZgr4NXrrcPoTYheNHMi2dLDynd2_xWTC5IuuBHYHa14Gtt11qVdpvqK6Pr1FpjwGc7n7kvzOBRq7gVRVlJ409A28_hRh5_X75b5z3uwGpM4iPhFznGLpWMh5fmsGtEe4dw75bDwIyHXNRQ3w63uY1fk-sEvUbc-qSkqspHfb2npwNqjZAFAuPsGLzKF8xUR-Pvh8nFeqwFJCWXM28qbmU44y0rrsW8bmMEAGhpBrR9NAnZ-TZifYSFH1BG57tNPwbgIZmXOCKgWrrgEX0U7Tm_UwbFJykJh5aXavqR65vJvo4IkTPTtpRL6mwoRqQL_g10dBCyYwiWaliMTx_H0BCM39SHZoidpMIMnjNCvk6-3tDhHvPfBJLHejDDRhxOcn08mPIdbMB-R0fRYrJPFvTJYKXUsj4uP2wv9ua4kZA-pW4O4aASwjbR4M9jK-0iFNle0qot55BJCSNhcRlniOmmrRH9B5Fsd2cNiLB_7TOzyirjVw7lJIE8rZPXtmJ4KMtUraEcTM_q6ubXTRl2nwlVh7-B3Z2O4VuR9fOeSlPoveSEj2jY_wPIHNU3iZrvK8IHLLrT3FTdzvVpRDKsyzevNpRihbilYoLTzIh-pIHah19YPINgHlrU_UPEwhSQjHQYiC0zSjQOCa93KvZi_jeG40-hH9QmeD2T3-RtkTSL4g6q2ji4lTCfhr-shR2zq87HakA21YvlGA7pT3aEOhTUiRJVs7E6fyvdJGAzjpR1lmwEb_4kxebten066Oj3Rz-qxQGGJ4et25WV5D-O0GBtSnEaQN021gQteqj5Oo9U85I1k3yylOSTC-audQTJZg0Um2PZvHepkcJLVFURilUAy1BJkVwNMQfwKZOe3lY3_UoDxcy-2aFtUrgWOdxpMRk64WdTONnRiS60YrmQU1371M-ZLtZaUpIKcfso1sQzihvdVnmrO1lbuZUmPhmFBpCZLKj12QkgpN1gephPpzjeqxYzoPeCK3CyjUNobZgO1_sOzM3h-_6SGmxyMFIs201_V4MPebvDc2EVbpqVZyIdk9qKQaeu3RHYsv7OAQYorjcY5QnsvbNCIeC8IxyoW0tWI84U1",
  "id": "rs_040e5870d2e59baf016ab4597fee8487d0b8a7dfd4f33d5be8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.535,\"right_y\":0.145,\"right_z\":0.035},\"note\":\"The yellow object is visible just right of the jaw column. I’m centering over it and descending for a gentle grasp across its narrower width.\"}",
  "call_id": "call_EQMIzu3pQ7hk3zRp1ViVedqT",
  "id": "fc_040e5870d2e59baf016ab4598163a487d0a71b926d2f04602d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EQMIzu3pQ7hk3zRp1ViVedqT",
  "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]: [-0.0967, 0.8207, 0.654, -0.4503, -0.1543, -0.136, 0.9958, 0.3237, 2.1071, 1.2442, 0.1368, 0.2008, 0.1089, 0.999]\nstate[eef_state]: left_x=0.2929 left_y=0.0025 left_z=0.1823 left_yaw=0.0914 left_pitch=-0.0299 left_roll=-0.0052 left_gripper=0.9958 right_x=0.5236 right_y=0.1423 right_z=0.0305 right_yaw=0.0856 right_pitch=-0.1233 right_roll=-0.0409 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -1.7709, 7.0496, 1.9609, -0.1832, -0.0415, -0.0073, -0.4991, -10.4957, 5.8872, 1.956, 0.0073, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1075ff3fc58c6901c778cf4a42757d4baf3b54ec83edbb61c2f80c702ec859f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c67fef1bac59d8c16c1722a46c15480c811de8a00f7e468988bd0357c137ea5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51f0e3f9df12ab62b76b78e2b0088c6bc5848fe3c9d5344d96066590491d9157",
      "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]: [-0.7933, 2.1868, 1.623, -0.4232, -0.6235, -0.5907, 0.1306, -0.0929, 0.8162, 0.6167, -0.4957, -0.1242, -0.1081, 0.9955]\nstate[eef_state]: left_x=0.4474 left_y=-0.3024 left_z=0.0693 left_yaw=0.0345 left_pitch=-0.1707 left_roll=0.1144 left_gripper=0.1306 right_x=0.2809 right_y=-0.0006 right_z=0.1576 right_yaw=0.0619 right_pitch=-0.1032 right_roll=0.006 right_gripper=0.9955\nstate[joint_eff]: [0.5538, -12.1094, 6.1197, 1.3553, -0.3541, -0.0122, 0.5836, -0.0068, -1.6068, 7.5282, 1.8046, 0.0366, 0.0513, -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]: [-0.0963, 0.8158, 0.654, -0.4213, -0.1677, -0.1352, 0.9958, 0.3977, 1.8935, 1.3334, -0.1116, 0.255, 0.1516, 0.999]\nstate[eef_state]: left_x=0.2964 left_y=0.0046 left_z=0.1897 left_yaw=0.1024 left_pitch=0.0049 left_roll=-0.0037 left_gripper=0.9958 right_x=0.5063 right_y=0.1682 right_z=0.1333 right_yaw=0.0926 right_pitch=-0.0607 right_roll=-0.0265 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -1.3333, 6.9128, 1.9414, 0.0806, 0.1538, 0.0122, -0.0752, -9.9897, 8.9915, 1.9756, 0.2955, 0.2222, -0.1197]",
      "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]: [-0.0967, 0.8207, 0.654, -0.4503, -0.1543, -0.136, 0.9958, 0.3237, 2.1071, 1.2442, 0.1368, 0.2008, 0.1089, 0.999]\nstate[eef_state]: left_x=0.2929 left_y=0.0025 left_z=0.1823 left_yaw=0.0914 left_pitch=-0.0299 left_roll=-0.0052 left_gripper=0.9958 right_x=0.5236 right_y=0.1423 right_z=0.0305 right_yaw=0.0856 right_pitch=-0.1233 right_roll=-0.0409 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -1.7709, 7.0496, 1.9609, -0.1832, -0.0415, -0.0073, -0.4991, -10.4957, 5.8872, 1.956, 0.0073, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1075ff3fc58c6901c778cf4a42757d4baf3b54ec83edbb61c2f80c702ec859f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c67fef1bac59d8c16c1722a46c15480c811de8a00f7e468988bd0357c137ea5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51f0e3f9df12ab62b76b78e2b0088c6bc5848fe3c9d5344d96066590491d9157",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmHWC068VvBDIJDzRdfD0A9DuSszmwTPPKWaopcaXqoKZkwtSWifk-yuGLE1hAcUwPTO_LAIXgLt-_LucN5rDSJk3ZFSumbhuBRu_siHAFfd_iqHuw1VGX-FQlLBvz7PKMdYqMxrhWa_AJLcOC3BcyVBKT7BDlhyA0ScFgIT3awMKlUeKDRZBSwusvLntw4cpAgAfd9xGTPJt6RuBj8SctyXSy6bsrsuxNM-aCWc9SSEVvK-VNCZkxBn3USx5lQ1Qj97Ml2TveU6-tAnEtkKSZttfmEJ10ZQYzX1D8_v-QBLZKuiFXYmvp3zeMLVfygvmeZPkiYmUsajs1qFRS1iv6LXmvuvM-EcA7C1xPzkHB8fGQfu-xLABOVcwYRoipqrW1rBg5dlFhGtJd3YCA6TzKIuDQbQPHP_I69BANfWcurqt9MxLbwBGlcDMqFTjQy9eIYPaq7ov7_BzLr_HRL2oXcMqbArpIGtordhmrZ5YOb8anYsGaQFlSP2vsGTzcB-IJWo51HWbee1heA_BEQH2lDWOGcH-5p_6h-ALsOyF1Ns-t7Snv0AnJbwAdQZu6YdzOZyFUnryKiVQzIPgr8VBuy4Jv12JikdaE5N6apgzfEbgjtfsvQUQrA_ohQ01V9YA4--0cR3ZW3Zfzqq-TxCsNGjPZu-9diMnZ33IAww_-oZOJlnCdjP_5WmEkumhIGFW4aoLUZ0NITiB5Hy9PCrxejiHJD9r4EAfRQQn1NoBUgSNXKEP84HlXwunjX4kZk588GXMLmgK3REJ8QIjiX_pbEx2huepmJ9Gg0lj13tZambsuzYX8BMmpexpI4UUbBrH2kgUp66F-tK7V1Vh1NIJBEucjwFUJgr1otKvSoePWSkaPJVv9u7R4hlbKUOMM6S_eabO-QQccN2ZAHbn4YaAf6-_K6oYj5IQV_9kGu7uduT-cx1mUUvfMnJrMHweBfLBtJZvejcspYrU0xMhAB02U_JqoTaTR-77y-64DuQxA0xQ-HksK40pzua1QdqtbxB-7a8_M3qyRCslrQQ50SBOF_1oG9e1_IcA780EmAyngRfqSZxclVkfJT2qUXL4kER38VgFi-4LevPtHaHCF_tsGZ40YVjP4462eyplmM6a6tc_2BQZNHIfRRW_1CO6unDjgME2hNBT9WVeImL_Cogit5N1SFhiHIaveC4P3F9SvTowNGHc4IAKWPMrJTF1US65TrrNZp_WEdEJYgewjcp64XCqIXZ5eqD_ZXrOXEhGfW80DaisXhleq85fd7Yc7eFLSWBSGhVT2TJsQCM2C39ckGYhI7UIH7UX1Y5GykP_zxy7Bon0Xj9crFyc_knx_l1kPDaJ-lvCr-6_7AFwNP5CMUzZ-bEFRalbTyhFntyD_fnpJBmOAPAEi1l9vVIOxQR_drP4Og4KlU0jRlNjj5yowBJ1TX1k46vMZKev0XLz9JOaGwWpf7c1L6LrF9-zybLP_9a1h2u8DGozHd5d2W-0zASzwrmCkVhkgP0dGZXIiHedTotyx-vTCYWZsuvOJvKnA3cevsBTRrJfpD9XQTierbNXlDPoImLf5zLMKpC3LOcq7r4sKRBaK-aO4FvkEO69QAXTg0OU84rQZ-YHCwOhq_fWqVL5wciPedWyJXoaRJPJBdFONgHyANThXhJgD0Gx6TvXbSTcyI4j7ap4e66wdxZe0PBOWn7OAF-z62ZbqDXD4RrDXv91Fxm-pMAMm3zRWtDmJLMT1a3smFVmZ_gNrASpnFsx1HjhjbvD-ldFpkrXDWcNsi8ZrdEIRoh2-oYv5eVMpQ7pv6uoetoIbaF3xKCPDPiWzKH1xy30a7cUtLuKBz832YtFWMsBZwDw4oA85oW4F3xCahOKXcyHQGXcm52Q==",
  "id": "rs_040e5870d2e59baf016ab45984d66087d09843ec3dcf802e00",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.125,\"right_gripper\":0.35},\"note\":\"The yellow object is between the open fingertips but still a little right of center. I’m making a small lateral correction and closing only partway to avoid squeezing it out sideways.\"}",
  "call_id": "call_2UULnzQhYpNtH9yEDvZ31zHM",
  "id": "fc_040e5870d2e59baf016ab45986db2487d0ada14ca01b877643",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2UULnzQhYpNtH9yEDvZ31zHM",
  "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]: [-0.0967, 0.8207, 0.654, -0.458, -0.1539, -0.1394, 0.9958, 0.2947, 2.1185, 1.2247, 0.1524, 0.1566, 0.078, 0.5314]\nstate[eef_state]: left_x=0.2918 left_y=0.0025 left_z=0.1808 left_yaw=0.093 left_pitch=-0.0374 left_roll=-0.0068 left_gripper=0.9958 right_x=0.522 right_y=0.1334 right_z=0.019 right_yaw=0.1102 right_pitch=-0.1451 right_roll=-0.0384 right_gripper=0.5314\nstate[joint_eff]: [-0.1162, -1.265, 6.9675, 1.7411, -0.1245, -0.0171, -0.0122, -1.0188, -13.5316, 5.4496, 1.5604, 0.1392, -0.022, 0.6618]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0ff3aaad497f507d4ddfab998fdb6300a52c30b0caa719020a9a0129dd2fe22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c029c68c266bfa7d8078e7dc4b23ccb54dca059599a976fd0f8077911a5acc50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0467e5facf1d1d5fce28df11c9215cfd8a11d97c2ceec9b5d9da158aa1a5a236",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7914, 2.2089, 1.6032, -0.4271, -0.6209, -0.5926, 0.9956, -0.0929, 0.8173, 0.6167, -0.4999, -0.1211, -0.1055, 0.9955]\nstate[eef_state]: left_x=0.4428 left_y=-0.2968 left_z=0.0504 left_yaw=0.0421 left_pitch=-0.2031 left_roll=0.1458 left_gripper=0.9956 right_x=0.2803 right_y=-0.0011 right_z=0.1564 right_yaw=0.058 right_pitch=-0.1088 right_roll=0.007 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -14.0376, 7.788, 1.2088, -0.3639, -0.0513, -0.0757, -0.0205, -1.3607, 6.9538, 1.7118, -0.1197, -0.0708, -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]: [-0.0967, 0.8207, 0.654, -0.4503, -0.1543, -0.136, 0.9958, 0.3237, 2.1071, 1.2442, 0.1368, 0.2008, 0.1089, 0.999]\nstate[eef_state]: left_x=0.2929 left_y=0.0025 left_z=0.1823 left_yaw=0.0914 left_pitch=-0.0299 left_roll=-0.0052 left_gripper=0.9958 right_x=0.5236 right_y=0.1423 right_z=0.0305 right_yaw=0.0856 right_pitch=-0.1233 right_roll=-0.0409 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -1.7709, 7.0496, 1.9609, -0.1832, -0.0415, -0.0073, -0.4991, -10.4957, 5.8872, 1.956, 0.0073, -0.0513, -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]: [-0.0967, 0.8207, 0.654, -0.458, -0.1539, -0.1394, 0.9958, 0.2947, 2.1185, 1.2247, 0.1524, 0.1566, 0.078, 0.5314]\nstate[eef_state]: left_x=0.2918 left_y=0.0025 left_z=0.1808 left_yaw=0.093 left_pitch=-0.0374 left_roll=-0.0068 left_gripper=0.9958 right_x=0.522 right_y=0.1334 right_z=0.019 right_yaw=0.1102 right_pitch=-0.1451 right_roll=-0.0384 right_gripper=0.5314\nstate[joint_eff]: [-0.1162, -1.265, 6.9675, 1.7411, -0.1245, -0.0171, -0.0122, -1.0188, -13.5316, 5.4496, 1.5604, 0.1392, -0.022, 0.6618]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0ff3aaad497f507d4ddfab998fdb6300a52c30b0caa719020a9a0129dd2fe22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c029c68c266bfa7d8078e7dc4b23ccb54dca059599a976fd0f8077911a5acc50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0467e5facf1d1d5fce28df11c9215cfd8a11d97c2ceec9b5d9da158aa1a5a236",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmLu9wK9xgK-zqkIk9I58RFzVpNyAOu7YNM7ItRJ4j2x1pEjSkI8OC54uFIlaLtbTfwCD5iPrBavzb4cNhO2dNCttXPfs2sManvG4W25tqahoyBbL-NlHjAzzrli86aT41-PsgiFpIskmGlGIOluxESeZSLNWoHTEPdfF-StklYFcAzXF54tnzT48qhWFcyPbK4SPmqTBlyGyzzKlz-Sj60S_OKpHA2M6vz2Iae-5Y93t26SPWfbjEiSEY4BPKVssGl7qDjEV7xcckJ3QHV1963YKqmVd9J1r2FGDx0OYiz9vBUYfMDL2b8IdenIJUD7dQ9Pxzxv-FlxZ7G0C_v3u6FawRzsYhp10lotUdepyVCGIcVPV1ZfvHVpcze6ZSIt3KenI4vp6C9yg32gwQ5c3OOhTHJShG4nEq1o6KuntITYt7sRCRSGd8ng8fhmapwngMI3SZQGB6-JPojTa_N_cjIt8zjnLA-1OFTyGE7jrFIhLivEQOJFlvJQ2jmhDcmPD2Z6OfjStN0HPPQStjnLKu4rqBF7h5bDs1fJVY13PeGfLkhh0HuGgAD2OMiPw-pHDXB9JKK1_cMpc9YpRmnaUlI_ueGF5VwGpvM9v-BeJi4V0QRs1fDJrq9uYfAnvze4H-efSZqNTrUEv-fAFkdJ_WGKUYxPmM7I6yAR86dEjDI7xrDBtNdtL1wl9P7zNjTLSyNO8DV7mlC3D7ECKfZNVfBRUPBhEtUD_i-9tLikf_hkAPg7kamJlz5dzFKyksIB0BdijLE9eZ-5ZuDcwAwi7Hw_dC4o45M39xqCeedE-6xAeUfhzK40HP8MH_7-TQQsgHliqb7CY8e3M4lzvtBUXor0DvqaHOpePfDhjW5mJIVWWB_mnGxw_gCKffmq98Wzgqw7nHQCQiRqpq_lv9vlt-DKdDeCgBsmFKPHOBC26gMJV_dFp4DyW0It-HZEfcalIvjV3kIVY45xJdIQ6SToWPrrHgnh3vB5Eg-faCea0HbyvBdkUFjULxhHoCiFa9u3jz-hsqaLCb8AOyXgj6AM2PMxYF1H6hWLwN8W89NcnuC24Vs3KzwGuKVqIfGHVYRhRLzi_GIOAC2Q5k2bpaHtw9mKl7LLls9hPqmQGZjrzFi9IWX7mfZAciIgYacHJrMD_MpEDOj9WpAI9o3t36jmj14ohLJA4yfZdPqgz-rI16YO_DQLMqWeDtSQYULbSl6I0yUIR5cxpcIr37ahTHUIOx2vwHSsd6GOvaw6v-S2l5jLcCGjWNgYYd6dqVRga02UsWE8aPyyAaSfbe9xNq1GDxmrEqIekOO1gl_m74l-dRHzhb0w97ay4FbyxdWMZhFcOHXrOyue3psJAuIoRmgxUxDhgNd81mPohs2v7Ixe7x9Tp4=",
  "id": "rs_040e5870d2e59baf016ab45989caa887d0bee0899be21695be",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.095},\"note\":\"The gripper has stopped around the yellow object at roughly a five-centimeter opening. I’m test-lifting it straight up before moving toward the safe.\"}",
  "call_id": "call_LLBJeLT5youde6tz5n5d4Jqk",
  "id": "fc_040e5870d2e59baf016ab4598a52d487d0b42c75296a43e14b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LLBJeLT5youde6tz5n5d4Jqk",
  "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]: [-0.0967, 0.8207, 0.654, -0.4583, -0.1539, -0.1425, 0.9958, 0.2932, 2.0495, 1.2934, -0.1184, 0.1574, 0.0704, 0.5322]\nstate[eef_state]: left_x=0.2917 left_y=0.0025 left_z=0.1807 left_yaw=0.0947 left_pitch=-0.0378 left_roll=-0.0092 left_gripper=0.9958 right_x=0.5028 right_y=0.1266 right_z=0.0344 right_yaw=0.1071 right_pitch=-0.2761 right_roll=-0.0694 right_gripper=0.5322\nstate[joint_eff]: [-0.335, -1.347, 6.9812, 1.6777, -0.1294, -0.022, -0.0171, 0.0479, -16.2803, 9.9624, 2.1026, 0.0269, 0.022, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c14cd200f5657ae6f768bb3608a927d4c2cca0ce6cd194f55f6c2b5d7e454efc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c745feec0e45b49d859901f1c02fbd3a9f539657a3f6a88a0afd7903edf79dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28ecea3047d16aa2bd0b3dbd3371ba599f0048c900faf4df0cac78c7f98005bb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0963, 0.8158, 0.654, -0.4213, -0.1677, -0.1352, 0.9958, 0.3977, 1.8935, 1.3334, -0.1116, 0.255, 0.1516, 0.999]\nstate[eef_state]: left_x=0.2964 left_y=0.0046 left_z=0.1897 left_yaw=0.1024 left_pitch=0.0049 left_roll=-0.0037 left_gripper=0.9958 right_x=0.5063 right_y=0.1682 right_z=0.1333 right_yaw=0.0926 right_pitch=-0.0607 right_roll=-0.0265 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -1.3333, 6.9128, 1.9414, 0.0806, 0.1538, 0.0122, -0.0752, -9.9897, 8.9915, 1.9756, 0.2955, 0.2222, -0.1197]",
      "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]: [-0.0967, 0.8207, 0.654, -0.458, -0.1539, -0.1394, 0.9958, 0.2947, 2.1185, 1.2247, 0.1524, 0.1566, 0.078, 0.5314]\nstate[eef_state]: left_x=0.2918 left_y=0.0025 left_z=0.1808 left_yaw=0.093 left_pitch=-0.0374 left_roll=-0.0068 left_gripper=0.9958 right_x=0.522 right_y=0.1334 right_z=0.019 right_yaw=0.1102 right_pitch=-0.1451 right_roll=-0.0384 right_gripper=0.5314\nstate[joint_eff]: [-0.1162, -1.265, 6.9675, 1.7411, -0.1245, -0.0171, -0.0122, -1.0188, -13.5316, 5.4496, 1.5604, 0.1392, -0.022, 0.6618]\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]: [-0.0967, 0.8207, 0.654, -0.4583, -0.1539, -0.1425, 0.9958, 0.2932, 2.0495, 1.2934, -0.1184, 0.1574, 0.0704, 0.5322]\nstate[eef_state]: left_x=0.2917 left_y=0.0025 left_z=0.1807 left_yaw=0.0947 left_pitch=-0.0378 left_roll=-0.0092 left_gripper=0.9958 right_x=0.5028 right_y=0.1266 right_z=0.0344 right_yaw=0.1071 right_pitch=-0.2761 right_roll=-0.0694 right_gripper=0.5322\nstate[joint_eff]: [-0.335, -1.347, 6.9812, 1.6777, -0.1294, -0.022, -0.0171, 0.0479, -16.2803, 9.9624, 2.1026, 0.0269, 0.022, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c14cd200f5657ae6f768bb3608a927d4c2cca0ce6cd194f55f6c2b5d7e454efc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c745feec0e45b49d859901f1c02fbd3a9f539657a3f6a88a0afd7903edf79dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28ecea3047d16aa2bd0b3dbd3371ba599f0048c900faf4df0cac78c7f98005bb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmPujO7-NYuQ0A9qsIjJor5wH0lnUwODqX9SuBqaf-0W4nQCJR8cJ8Wg8N0re9F3xSwgWK45FCbSFgcHlHoEwJAqxlbbORki3E5V-4GG59wqAZ-RYK02MOi4xgD1_O-3lswYQV0QnT-SHBTZURDObG5L1LmxL-V_cGEtaPvpXq9UBXwXGOP0TsuqQFHaSwoq88CS6dmmxdzPcZqhPmrDU-zGJ1WLckWXSkP-pA7FvYH_RQEx9W2I1hAki1mwTnPBoUnRdrkYtKONlrdQdfP2EDcMSTz2JXGWIPIhzIbtlRHcpNOcqjSGnFjFceDo8zaLAVuRsLkM2uxqQt3XtSdKtV_caKq3tGEfSuJ-km7rW0yja5quRcnTHzGBYKyXmMNMbzfz_OuKtvIyHR1G38IZHLjV5Sini8zzGRCDTjvyA4T7P8FSh2tEgHiHTZG4hWjzoZFCUnLbo49kmTfXrHMl0y7Cmv-MS5rKGE-2-2Z-59dZBXoTf6ftHPdLdCIFvY7CbX9YnS3rS7sEA1SxKVxmvekx4h1UHkXQql4I9FOR8F5zCdLZcSro872yxYpqb0zO-e5bB6Jgzla76cGLG4lsmwhHewHFUszUf_ERHsesbAGzSuPS8Vbm_ppl2XyLBGX_8Ffj7ALRKgTh2kg-gvEwc7xZcI79GXmNUBIZ4YRKJ87upuWwqDMyFp2Ewm9r9zSP4zphoz_hC3kJJCSncBkZsjLAu79KG3MaTKAdXZim71CmwCgvd1M0t6nbpUNe08T-kMa-mvYnrlhZTv2-5Or4DoL3qiu794HcoU4LLD_XNscrl4YbtqJd70HLkYhIdIS5mVX0DAIj0vaODzjpnwMMdveJkM-XG9sQhD5R2jmG_In6Zh92XR8McVO_vLOyacgMdAT8YpWbvQjtNlnA_nKnpdxPRNtNlII2xmFOgksaBrIdnpMidXlMvULkt61-moGGrRiHvn6h4MHKY_nIhfo01S7uJUsug72HmXUJy4hqPucP_EeJe2jyu3RnNinSsEmWdP-5td_v8RzQsVwdB601p4RECfwOqTqUl3KtuWauainu1PQ9xO2m_MMLua01PCRG5tmgeuw1YBEwgscJwZaXVpUhbETPO-EX5d9klbAqtFdWxxBLDPOuXcd066y3oRND0AKprBwxWf9mS5o5v4O_-fEDVmjyTqY6P0m6CeCAT1eQACzlAfbbASysiTRDZrX5Kf1UcuP1T2RxxnMIjNRgV2cfyYA8YRDNsfViuGp9bOMmFdrWm9koANuSMRZMeZXh3PsWX-wCLZddn1qZl3Lq73aVp1fZoXIauXqgOAICTuwmdR10DOkz4f2oVnVcZ-P2bWooqGSwMzUDdWcseJ55eVxH8ufYv8N4xxhK94qA-hAHwbJMXbPHZcJAHJlcWlnO3LvhrNBNJr9EfJakQ_T_NH2IivX1Rq72myRtNktAA2QsCi-MyXEEXUAJK2PT0o4c3khtvCaBIoM_8vWYnlRG-bxWEVIQHAh4RR8yTpyzCluaEv4hTvXaPLM_VhHZNaI9gtn",
  "id": "rs_040e5870d2e59baf016ab4598cdbc487d092e8ae42af33a24d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.10,\"right_z\":0.19,\"right_pitch\":0.15,\"right_roll\":0},\"note\":\"The lift did not reach its requested height, and the left jaw is very close to the safe’s side. I’m moving slightly away from the wall while lifting to free the grasp safely.\"}",
  "call_id": "call_nuV3ZN2MSYR4z3tGG0GGIFmf",
  "id": "fc_040e5870d2e59baf016ab4598e291487d0b5f902841609269a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nuV3ZN2MSYR4z3tGG0GGIFmf",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "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]: [-0.0967, 0.8246, 0.654, -0.477, -0.1539, -0.1432, 0.9958, 0.2329, 1.7519, 1.0901, -0.0551, 0.1524, -0.0128, 0.5364]\nstate[eef_state]: left_x=0.2893 left_y=0.0028 left_z=0.176 left_yaw=0.0953 left_pitch=-0.0599 left_roll=-0.0056 left_gripper=0.9958 right_x=0.4746 right_y=0.0887 right_z=0.1078 right_yaw=0.1029 right_pitch=-0.1247 right_roll=-0.1006 right_gripper=0.5364\nstate[joint_eff]: [-0.1983, -1.1692, 6.9675, 1.8535, -0.1001, -0.0464, -0.0073, -0.6906, -14.4342, 8.3487, 3.2747, -0.3834, 0.4567, 0.4274]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f6f25717475012b2e9d35661c79eb49c7a5ad39568495d24c7ea0d44e01f3ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d12dd123e03f30f1d59c1bc867c8656e89b9e60d7e754117785410a8793008ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f9d25feeb3b104e863facba31c28c756b43cb4411bed96f26e6cf86d9fdeb8f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0967, 0.8207, 0.654, -0.4503, -0.1543, -0.136, 0.9958, 0.3237, 2.1071, 1.2442, 0.1368, 0.2008, 0.1089, 0.999]\nstate[eef_state]: left_x=0.2929 left_y=0.0025 left_z=0.1823 left_yaw=0.0914 left_pitch=-0.0299 left_roll=-0.0052 left_gripper=0.9958 right_x=0.5236 right_y=0.1423 right_z=0.0305 right_yaw=0.0856 right_pitch=-0.1233 right_roll=-0.0409 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -1.7709, 7.0496, 1.9609, -0.1832, -0.0415, -0.0073, -0.4991, -10.4957, 5.8872, 1.956, 0.0073, -0.0513, -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]: [-0.0967, 0.8207, 0.654, -0.4583, -0.1539, -0.1425, 0.9958, 0.2932, 2.0495, 1.2934, -0.1184, 0.1574, 0.0704, 0.5322]\nstate[eef_state]: left_x=0.2917 left_y=0.0025 left_z=0.1807 left_yaw=0.0947 left_pitch=-0.0378 left_roll=-0.0092 left_gripper=0.9958 right_x=0.5028 right_y=0.1266 right_z=0.0344 right_yaw=0.1071 right_pitch=-0.2761 right_roll=-0.0694 right_gripper=0.5322\nstate[joint_eff]: [-0.335, -1.347, 6.9812, 1.6777, -0.1294, -0.022, -0.0171, 0.0479, -16.2803, 9.9624, 2.1026, 0.0269, 0.022, 0.0757]\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]: [-0.0967, 0.8246, 0.654, -0.477, -0.1539, -0.1432, 0.9958, 0.2329, 1.7519, 1.0901, -0.0551, 0.1524, -0.0128, 0.5364]\nstate[eef_state]: left_x=0.2893 left_y=0.0028 left_z=0.176 left_yaw=0.0953 left_pitch=-0.0599 left_roll=-0.0056 left_gripper=0.9958 right_x=0.4746 right_y=0.0887 right_z=0.1078 right_yaw=0.1029 right_pitch=-0.1247 right_roll=-0.1006 right_gripper=0.5364\nstate[joint_eff]: [-0.1983, -1.1692, 6.9675, 1.8535, -0.1001, -0.0464, -0.0073, -0.6906, -14.4342, 8.3487, 3.2747, -0.3834, 0.4567, 0.4274]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f6f25717475012b2e9d35661c79eb49c7a5ad39568495d24c7ea0d44e01f3ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d12dd123e03f30f1d59c1bc867c8656e89b9e60d7e754117785410a8793008ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f9d25feeb3b104e863facba31c28c756b43cb4411bed96f26e6cf86d9fdeb8f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmWQata6fSwUmtYA0yf9HPYAwrjcYTDPA2cbgatbgieVNBYxmgSbkN0VSiKuVvjU5_dqUO-1Ko1S_4tMdf3B6VY8sUtmEiZ7n0Uj_WM-Zq5EcUng4d6ELEXkwfsi7DdOyNR8HVlwzJE7AidB8E4z56Tu6S6w7CzIa3kVejJBNZ-gT4qYMNHml_5zsycrMlu8MZ3thY3WO7mcqQkONLWQW3TZREkUIiNaSNzl_x2hAMYzjvPsPG1CDWuxzYIQ2d50j0MgKI6KbDDnHsxLxf02dSCKm9nyfD4fBI4w8hvzaOq3Ikzu9uEVNr-Dz39p9rilXIWSKuhxlkS0rkN1Ss07w_A4gWPie4jVHk0gVvoxG0Gpy70k0k5xFi4aDPF4C6hth5DT0VmgAvqiFKYtDp7o5kBd9h86pS1p8I4kRjez-YXr7cTfNyqQ8gisZcVt_99Z6lHbvkomlY-ETY_M4WBunxZMh_F2pJNR8CvYSs7e_Bvoj4B1c4L5lt_RMKWx6dzZmgiF0_gnnxT52dHq2HazSI02b2RwRn06-QomeUlJ8mkBJJo-4c8Sy43SVMvM2eHzKFXz1s-SkWrZ5AseVLp1E9P3I0xze9XgeEeqguLBS34RusNKUfn77lxtR7KS4q2cbRgRUo_tpzr2GxMavtzPTST5WQ6oM20bHn5lPyMuYC1jbKiPtExywaHcws0ajft_4PUOJ6sd7dJvAu4TINAYl1nUdCiaxiBrSS-IrFeigiXFXU3om18vrViOWcJv8KNQw4NO4utBQPu7wXbvEQfLH_U_0kDRGadRMC8NIVB5cJPpTsIEODGDQXzL2RP4MtGGb4N8w05BeEkKgFT9mv0c_eIskycu6I4kQuVdEMQ8MP6WU7eMbydZmQHQXo9Nrz98n8RQUoEDm6F1_T3C96hviW0XOCQIRf6tO6zqqTLY9frttyfo4YH6Sjzmdr8Kd78TiT_YIa3g57m0P_c0u4aabHhheO8kCAO3YnaoHfLeJ2nW6E-A26r5pOm5_aYt7EALgopVyXzI1W50VWxXzYH0qJhmuctA_Cv4xc34t8rTISW2cfvLEwPqe0t1JmJFtRPY6_KW_o0WXl9vQACQDjzf-REk1Z4OzM-UcHK4vsS9Y0I-j26O7fdDJw0sKaj4MFUO_xhvM6hvN_DGVmceKeagXbyvlqwvbK9LP3PTexbNgHOZgOaG0fwrwGT0GEjz8c1pYQpj3mzcjsTFIvjKnjULcj_SfVSOTX0aprjaRRmlfvMUouxm8inxIvKtyHHx12bN9zKaXUnULToDqY-CPcZ1BEFU9SrDl_BqifbGvGQ78e6pvBabCE9ulKirpq8HEZY5pdmQSOMh_iTDrwvAwjIL-9GF2fT5ByegO8O1n4IczUXc6qsChL5W_jIRi7vdzZoRCDuCBseS5OSOS8xDxlLOn0rrYYDibpxmr-Tx8RaNkM-1OtR-QWfU0dTTJGoCeLictSVvEsvPRdov-_GcVO6FWLAHZhwqAW0j_1dKQ7qgH8VLuiTYQJEB3ZrgbNdwfRjXzAAUhzFPCi1K8l2BQz-bh0XpdUXrvddfNnJKeZKampXheuVTdw02nVACYBadtjfd3FVw6rfXPbnpknZQCPZ0HIq1JyInEfZsQ84Tt2FKJYAnrimlOoXY5uyT6gUbO5kL1G3YR_VXtWv_XpN1IFUfaHMu1eHDRivwlUl5MO_c9Qfvyz2fsislv7YwKLZNvPDXhu_6xVepQGgePO8N5_Asw9MRCSNvbMH4UgdeUjNGt2-Itd1v5da0R2G-EOspE7ZtHS0C6_oCzKHAbqXpr4Is4l4xpAmuVgI3dPv24co_JGAzsB-rb63KK3o0d3Xn-Iy2Gunx28xI9QTVeUWz8JaW_CaZDAwOjvL8lbMSwcJ4V1nitMTZZRc5xOm79QagCJE8KzcaCVMlI9nrRbmPPyvMtk9iIiYipl0ZPLwMJlGnH4IPN34VAhb8_0d07SKsn3TNfw-jyBJUdWHPyb7ZALWimNEyw==",
  "id": "rs_040e5870d2e59baf016ab45992433487d0886870e154be0f6b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.04,\"right_gripper\":1},\"note\":\"The safe moved with the attempted lift, so the grasp has also caught its rim. I’m setting everything down and opening the jaws before retrying with the jaws turned away from the wall.\"}",
  "call_id": "call_Q4pjRfBKXkTfrBm9tSPR58Dt",
  "id": "fc_040e5870d2e59baf016ab4599530ac87d0a9c2e1157b3d3746",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Q4pjRfBKXkTfrBm9tSPR58Dt",
  "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]: [-0.0967, 0.8288, 0.6537, -0.4862, -0.1539, -0.1429, 0.9958, 0.234, 1.8652, 0.9607, 0.1562, 0.1513, -0.0227, 0.9948]\nstate[eef_state]: left_x=0.2881 left_y=0.0029 left_z=0.1729 left_yaw=0.0953 left_pitch=-0.0733 left_roll=-0.0026 left_gripper=0.9958 right_x=0.467 right_y=0.0877 right_z=0.0428 right_yaw=0.11 right_pitch=-0.1564 right_roll=-0.1113 right_gripper=0.9948\nstate[joint_eff]: [-0.1846, -1.7162, 7.159, 1.8193, -0.0806, -0.0171, -0.0122, -0.2803, -9.2103, 5.7641, 1.8632, 0.1245, 0.0464, -0.0611]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:742c7a092b7f4df89befebca6a105a8ef90d01e71ebdd4cbc4d114de43292b98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:050ecc7b6ffa316a9f1376fc80a77ce10539070c229dbcae8a5cba4a1c72a6c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1731190cde86520916a783a17d109146122d16d3e81e239a796ae77b47173311",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0967, 0.8207, 0.654, -0.458, -0.1539, -0.1394, 0.9958, 0.2947, 2.1185, 1.2247, 0.1524, 0.1566, 0.078, 0.5314]\nstate[eef_state]: left_x=0.2918 left_y=0.0025 left_z=0.1808 left_yaw=0.093 left_pitch=-0.0374 left_roll=-0.0068 left_gripper=0.9958 right_x=0.522 right_y=0.1334 right_z=0.019 right_yaw=0.1102 right_pitch=-0.1451 right_roll=-0.0384 right_gripper=0.5314\nstate[joint_eff]: [-0.1162, -1.265, 6.9675, 1.7411, -0.1245, -0.0171, -0.0122, -1.0188, -13.5316, 5.4496, 1.5604, 0.1392, -0.022, 0.6618]\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]: [-0.0967, 0.8246, 0.654, -0.477, -0.1539, -0.1432, 0.9958, 0.2329, 1.7519, 1.0901, -0.0551, 0.1524, -0.0128, 0.5364]\nstate[eef_state]: left_x=0.2893 left_y=0.0028 left_z=0.176 left_yaw=0.0953 left_pitch=-0.0599 left_roll=-0.0056 left_gripper=0.9958 right_x=0.4746 right_y=0.0887 right_z=0.1078 right_yaw=0.1029 right_pitch=-0.1247 right_roll=-0.1006 right_gripper=0.5364\nstate[joint_eff]: [-0.1983, -1.1692, 6.9675, 1.8535, -0.1001, -0.0464, -0.0073, -0.6906, -14.4342, 8.3487, 3.2747, -0.3834, 0.4567, 0.4274]\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]: [-0.0967, 0.8288, 0.6537, -0.4862, -0.1539, -0.1429, 0.9958, 0.234, 1.8652, 0.9607, 0.1562, 0.1513, -0.0227, 0.9948]\nstate[eef_state]: left_x=0.2881 left_y=0.0029 left_z=0.1729 left_yaw=0.0953 left_pitch=-0.0733 left_roll=-0.0026 left_gripper=0.9958 right_x=0.467 right_y=0.0877 right_z=0.0428 right_yaw=0.11 right_pitch=-0.1564 right_roll=-0.1113 right_gripper=0.9948\nstate[joint_eff]: [-0.1846, -1.7162, 7.159, 1.8193, -0.0806, -0.0171, -0.0122, -0.2803, -9.2103, 5.7641, 1.8632, 0.1245, 0.0464, -0.0611]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:742c7a092b7f4df89befebca6a105a8ef90d01e71ebdd4cbc4d114de43292b98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:050ecc7b6ffa316a9f1376fc80a77ce10539070c229dbcae8a5cba4a1c72a6c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1731190cde86520916a783a17d109146122d16d3e81e239a796ae77b47173311",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmdpkIwJ23Zu84S-aLmSXmDIB3wQN9WxgcTbes3-vURZsXSJcn-ICgzWS-Op14SmjAyPyvQ1oasCPG_SH7ShFQ_RAAw817kLXt3rXMsza0iGMafD-doUPmVerOnQFGJzj1tnld4khc_8w3Ogh0T2smSzPz9Tc771aTDrSjKKlcdnSuL9TAdXgQpl5k3tX3mksHy3L7PJiImIc4qBRkmOdeWsVBkb9TJP70GNDgKxCU2DBUTNAtwhOJ55B3FgJMJsbeA7XrIHXgTvzTlz9m04G5g8gTTPLRBBKqNkNHbHLEqrOxLMu0DPy2sWO7lxFnipmY_mXNC0QnLqpmM2NnjT3wVi3R_-6sARG59X5yBzXyRiFEnnK5mX8IRSNj_6Xbz1AjlPRQup8JXUUgGgsfwuIxO0Vjt5oAHY6OElMMgO3fWBExjxIuYtlDcp5WfVNn-nJkY7WS1x9eCWUagazKN9E8t_IkAPSo4oJcyq3E5cfob8R9nOfGiPVwcW887ZzDVfMUxJAmsEFtOjV7HEOHG03Ciab7-_8PxRW5C6kMKv9LpSIe6hj-YM8heuztOg6uWXA1jzIoeIJB6YK1dHfH08O2hGOEw0LOMVwXB_sCEdgVtC0aoBlBmE5eeE5iIoA2DV3mJiwl_ol87gzOXkGjiQAVsA2SEvrCK1v2lERyGF257oomwFnZhT32a_5KKgY5AKemXpv-AseMjmW-m_6c5Br0FzwUeLjUx0M_NDfVkjLl9pHbXxBcZdJuMMXHqJAviYDTir59TcMwMN7YgpIu5flBxMjz0W-aUwxrHUe3BS2hGya_lM_GRMlFZJ7RY7_t1NpBm8N-lIrrK2BrJlc9IIh7y4Nsq0fTUJd0UtVi8GJ0ThD0XfU3twP8EfnR8RbFN2buzNOKaFDpxJxuDvrY_W8zMdAAkGmQhhBfRHiy9pA92emSPB8lHxLSeQ8zkSMbxfLM-_6eKO_smgA73hq1hWxqiilT9zIzglxhWSvSDt4ysIwHU1kYrkFSIg69wb4nI7mf55sWG45H7M_5JekW90J7D9hX2ur_G8vcBCuNJCogleeY_2YKQPgYywoGQ9EJfyQNiTuMR1dClFIANlg9YSKMD3FDtHPhbUaQJN-5Gl6BktOkvlvcOIVWCu2NECCpf04Z2_SjepXnMahybFOq8KbmI0nXXsbclCCuVSt_KpDtYJGZuwPAtTOGjkw_8kF280-WSzLwkjXuzS-3Ld6w2VnXsgnEDcolAOmAfq3DtmmRaAQuwUdnBi_czRAucdTSZ4278YoKSdvNWCy2ApMvLKvMXjsMXYPnhFlX5KzovHJi3N9PxwDNGpOucXlndiVmUXI7mNAdnxmFgMDxIFPl69I2fyTH9r7QhsjtGwjr9Qt1KwaLhA4qGwzeH7hf7eylQ1NXmZ_SKaB7BREdeMBTiyTPeR6Iyvc4zR_y85Uoa6I3zo_GGMzrxkXrfeq1JrORx-HAQRuhedCML-ey6eP1oIS82cn3OiZZSujB4gAGcVsLeyGU=",
  "id": "rs_040e5870d2e59baf016ab4599af4e887d0a5cfaf228164eb01",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.535,\"right_y\":0.035,\"right_z\":0.15,\"right_yaw\":1.57,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow object is free and now sits farther right of the safe. I’m approaching from above with the jaws rotated so neither fingertip needs to slip along the safe wall.\"}",
  "call_id": "call_p5uHVYMFUATMZ1OpfMhq5uL5",
  "id": "fc_040e5870d2e59baf016ab4599c258087d093b92335f312c0a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_p5uHVYMFUATMZ1OpfMhq5uL5",
  "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]: [-0.0967, 0.8345, 0.6537, -0.5106, -0.1535, -0.1432, 0.9958, -0.1894, 2.6312, 2.257, -1.0363, -0.8982, -1.4948, 0.9954]\nstate[eef_state]: left_x=0.2847 left_y=0.0031 left_z=0.1667 left_yaw=0.0957 left_pitch=-0.103 left_roll=0.0026 left_gripper=0.9958 right_x=0.5462 right_y=0.0396 right_z=0.0296 right_yaw=1.3165 right_pitch=-0.0795 right_roll=-0.0907 right_gripper=0.9954\nstate[joint_eff]: [0.0205, -1.5248, 7.2547, 1.9414, -0.0952, -0.0611, -0.0171, 2.7419, -21.641, 11.9179, 0.5983, -1.2039, -0.1392, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c086d515e1033c4cd530159269d11c87d5ed108ebc522c1db0008c6c07ce3c2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01dcb3ee510507e4794829ce1c9131e284c090c0225c4c80a1d89c63b19b1b6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:350adf13d6c79c03497839eb65d27dedf670618e2e61b86df77148ea7b35a654",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0967, 0.8207, 0.654, -0.4583, -0.1539, -0.1425, 0.9958, 0.2932, 2.0495, 1.2934, -0.1184, 0.1574, 0.0704, 0.5322]\nstate[eef_state]: left_x=0.2917 left_y=0.0025 left_z=0.1807 left_yaw=0.0947 left_pitch=-0.0378 left_roll=-0.0092 left_gripper=0.9958 right_x=0.5028 right_y=0.1266 right_z=0.0344 right_yaw=0.1071 right_pitch=-0.2761 right_roll=-0.0694 right_gripper=0.5322\nstate[joint_eff]: [-0.335, -1.347, 6.9812, 1.6777, -0.1294, -0.022, -0.0171, 0.0479, -16.2803, 9.9624, 2.1026, 0.0269, 0.022, 0.0757]\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]: [-0.0967, 0.8288, 0.6537, -0.4862, -0.1539, -0.1429, 0.9958, 0.234, 1.8652, 0.9607, 0.1562, 0.1513, -0.0227, 0.9948]\nstate[eef_state]: left_x=0.2881 left_y=0.0029 left_z=0.1729 left_yaw=0.0953 left_pitch=-0.0733 left_roll=-0.0026 left_gripper=0.9958 right_x=0.467 right_y=0.0877 right_z=0.0428 right_yaw=0.11 right_pitch=-0.1564 right_roll=-0.1113 right_gripper=0.9948\nstate[joint_eff]: [-0.1846, -1.7162, 7.159, 1.8193, -0.0806, -0.0171, -0.0122, -0.2803, -9.2103, 5.7641, 1.8632, 0.1245, 0.0464, -0.0611]\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]: [-0.0967, 0.8345, 0.6537, -0.5106, -0.1535, -0.1432, 0.9958, -0.1894, 2.6312, 2.257, -1.0363, -0.8982, -1.4948, 0.9954]\nstate[eef_state]: left_x=0.2847 left_y=0.0031 left_z=0.1667 left_yaw=0.0957 left_pitch=-0.103 left_roll=0.0026 left_gripper=0.9958 right_x=0.5462 right_y=0.0396 right_z=0.0296 right_yaw=1.3165 right_pitch=-0.0795 right_roll=-0.0907 right_gripper=0.9954\nstate[joint_eff]: [0.0205, -1.5248, 7.2547, 1.9414, -0.0952, -0.0611, -0.0171, 2.7419, -21.641, 11.9179, 0.5983, -1.2039, -0.1392, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c086d515e1033c4cd530159269d11c87d5ed108ebc522c1db0008c6c07ce3c2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01dcb3ee510507e4794829ce1c9131e284c090c0225c4c80a1d89c63b19b1b6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:350adf13d6c79c03497839eb65d27dedf670618e2e61b86df77148ea7b35a654",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmh5yifIKIfBBzFIVEnwBjj6TVH6znUi7Ya7QEWN1898QKT0EjrCfUiy-Hj0UNms50yacTWGibbo-kuCU8Bw5w3OEnTRot-eG7zQF3q3WUraAs0rk1zAujnFzazcDzWwfe7AukxpMupgm7_KAeGlKMhX5RGMI2q6HqYXAKuoFK-RkT0sNKT6hN0neB68KBjP4MYhlAzGQ4gopnzL9ejdBPOdqbFBzoLPAxj7wrx77go2Ng7gFW6qBWeggC8IJjr9B9vniufCSaazwYdLSqqKvsmy2jlfG-PQOBSBufeNKVaIq3PG7kvmPAO8VCoQyBEtM4wref-dpVWbxuBc4Jweduumg_AM8lDgoO3q0c4dv38sXk_bnzWf8uBphO7lr6uTEqZCHp6Kof5GMSUr0p6MY9WyhpKqYyGa9pHYRmdeIBzaedon85D4GIEbAQxoed6SYOTsEhqhY1ehoB-cvV2g7jCh3GjycG-QldPM2zw4XIzT-ZMwQDHwlup_4NRzHTz_ZkHt5aacBsOei4nd430fe-Nj84hsVCqT26qPyL3ILPAP5MSGf3yvRZKSNcHBZ9SxTIrlcM11eVQjbiuTl87BTy37PEfx2xjTh5v-us6yG3b-i7O7IBUjRqi5aU0QQJQziuFsZfMPmpCXS1sMWAaax3OVnZwKI9raSLnSEIagJt-4-QWrWEIj4V20zY1hZKk9a_SZm8OkU3m4oas7WucmNZXWlNehfxiMOqS2f_azzzwJGrhbo3PAKL_OzXPlbG7KtsWXZZjno2GdvZda2_AhiE_4gH1w5M0uv273Hxy2Xew9tzRv-q91IGIz7__BeYxn3KVBGPRgzpnx2idd-BiVdE6nZkOZnibY4U_1znAVmYhWUQkmdeWA-X5Ubpg5irlyk8oY2_6wPp4CSJu3BXfk2fjQHgW_-_sBZuHloZonrT5FlZzAXkmWoRYR9fQ6Vwt4IslY0cPzTuslQmM657Hkfp7EEPacG8X-wA9DrQcmHM_jKq0RddnkClW6kjxw5cP00Nq_8jg4Z6hI3QqJt1oxvk8YIUr2tCaHD1SFWUES-nR4Vw7SFHezWng2EEdUAdXYFjKZSHAyef6_atRgWaQchzMK0JbLy5DL-KnsJdSMx3MYEQrpzj-Gxb8tX8yATWsGNvK5bOSjOzbKRaZDQUVMdKUB-LBz5P0dYD_ThV4aXfsFWOeXTj5EzwmjPB7h_2Db7lSA5Ywne4bYrN_5wZ-qkFOYLrF2Ab9JtMXYdiJ5JKFXo0QGXPzaq1ReZYLT5WUyo38FF5mclIqZyxItrCsl3hABQtkL6_4FX_daM1lletH0fylT9xneslFkvrtJfNyMz7lZy822Ge5Gdms3JT09Jhrxq5EjC7RxXtfOjrROR9xr_UyN8rIzHhwVnAKeTxahoTcJ4o1lfZCGSxBVcQYiTWkH_qhyzpNTHs9f0ZgPfyUGMfhMYslkLCrXw5NLIcD0XI6Ju3QYTcVWaUhMUKbR1UliZlmmMY23kA83SISAIkRbGKQDync7kh1V6JGRAgisdXv",
  "id": "rs_040e5870d2e59baf016ab459a0094887d0950cd81ac804dd5c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.35},\"note\":\"The rotated gripper is down over the yellow object, now separated from the safe. I’m making a gentle partial close to pick up just that object.\"}",
  "call_id": "call_zUgGnCykmNTYpVrMnoALB5EQ",
  "id": "fc_040e5870d2e59baf016ab459a1003887d08cd5489bfe6cb66d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zUgGnCykmNTYpVrMnoALB5EQ",
  "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]: [-0.0967, 0.8368, 0.6533, -0.5209, -0.1535, -0.1429, 0.9958, -0.1955, 2.6652, 2.5549, -1.4166, -0.9024, -1.5543, 0.3538]\nstate[eef_state]: left_x=0.2832 left_y=0.0033 left_z=0.164 left_yaw=0.0957 left_pitch=-0.1157 left_roll=0.0054 left_gripper=0.9958 right_x=0.5303 right_y=0.04 right_z=0.0866 right_yaw=1.3533 right_pitch=-0.0821 right_roll=-0.0208 right_gripper=0.3538\nstate[joint_eff]: [-0.1846, -1.4838, 6.9402, 1.6972, -0.1343, -0.0366, -0.0171, -0.0615, -13.6957, 7.6103, 0.2759, -0.6325, 0.0904, 0.1294]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8a0063dcc6d108ad233ef570211839e4d2082e995a2f72a41de81cd7e6c8556",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e2b96754f27df835e1d8b8273935e32c3321bbbfe51c24404a644d486c3a262",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bce2d82eb27d0d0aa28dc5e81043b07956c3fcc5a012330492db20c0e19f6671",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0967, 0.8246, 0.654, -0.477, -0.1539, -0.1432, 0.9958, 0.2329, 1.7519, 1.0901, -0.0551, 0.1524, -0.0128, 0.5364]\nstate[eef_state]: left_x=0.2893 left_y=0.0028 left_z=0.176 left_yaw=0.0953 left_pitch=-0.0599 left_roll=-0.0056 left_gripper=0.9958 right_x=0.4746 right_y=0.0887 right_z=0.1078 right_yaw=0.1029 right_pitch=-0.1247 right_roll=-0.1006 right_gripper=0.5364\nstate[joint_eff]: [-0.1983, -1.1692, 6.9675, 1.8535, -0.1001, -0.0464, -0.0073, -0.6906, -14.4342, 8.3487, 3.2747, -0.3834, 0.4567, 0.4274]\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]: [-0.0967, 0.8345, 0.6537, -0.5106, -0.1535, -0.1432, 0.9958, -0.1894, 2.6312, 2.257, -1.0363, -0.8982, -1.4948, 0.9954]\nstate[eef_state]: left_x=0.2847 left_y=0.0031 left_z=0.1667 left_yaw=0.0957 left_pitch=-0.103 left_roll=0.0026 left_gripper=0.9958 right_x=0.5462 right_y=0.0396 right_z=0.0296 right_yaw=1.3165 right_pitch=-0.0795 right_roll=-0.0907 right_gripper=0.9954\nstate[joint_eff]: [0.0205, -1.5248, 7.2547, 1.9414, -0.0952, -0.0611, -0.0171, 2.7419, -21.641, 11.9179, 0.5983, -1.2039, -0.1392, 0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0967, 0.8368, 0.6533, -0.5209, -0.1535, -0.1429, 0.9958, -0.1955, 2.6652, 2.5549, -1.4166, -0.9024, -1.5543, 0.3538]\nstate[eef_state]: left_x=0.2832 left_y=0.0033 left_z=0.164 left_yaw=0.0957 left_pitch=-0.1157 left_roll=0.0054 left_gripper=0.9958 right_x=0.5303 right_y=0.04 right_z=0.0866 right_yaw=1.3533 right_pitch=-0.0821 right_roll=-0.0208 right_gripper=0.3538\nstate[joint_eff]: [-0.1846, -1.4838, 6.9402, 1.6972, -0.1343, -0.0366, -0.0171, -0.0615, -13.6957, 7.6103, 0.2759, -0.6325, 0.0904, 0.1294]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8a0063dcc6d108ad233ef570211839e4d2082e995a2f72a41de81cd7e6c8556",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e2b96754f27df835e1d8b8273935e32c3321bbbfe51c24404a644d486c3a262",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bce2d82eb27d0d0aa28dc5e81043b07956c3fcc5a012330492db20c0e19f6671",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmoY3EuUTnBJdphCYM2m4l3rmmP6gBiCMzvGgyvz29Vwd80OzI8BDQUv7j9eO3Xz2-PCWpBMqk3PvEwj2vcX2-1z3zX4q713Xy2di5FXbEqkBZiEQcakWZJwI3p_THiM3xwW3Mh55Mf4yDOYghhRh1FdnyNHFvFG0gd2WJKlFENoPJKqq7zTX6MOMw-1Ts9ymHx6pswMhDPzpqNwtMe5ijz2Gk7YEcQZSeMilKDo0skNTZg_giVH-X71SrbbUgJldN17LEZIdoo2P22cTmDt1F3unYGfjw1bhh1koD9XpY6QuGypkfNVsDyLcxvYRMFGCBIb7yd6jsFY-SNG8yrqcKGRkeCPhRr1Owa5VVjiXHPu0l2Mt1JJaNw7uaaCCiY0gQdoVMCmqDdwxWd7bTaVDti5f8GXJURDr9h6t_xpjImwn25N0GFktLqoIgdvWqlncsIiFVzwP8Lo2fVycyUbn9oPUNGH-fOiyuvCHigmoGtk6Ce3Rwoz5iUdkiRemmvHzqZgzSg8CmnOHRa2FUpFGfS8hDRsx_sPObsnE3vSv5EVWk5bwovB3-UQNYOYJx4Og55SIokXiNyNtWtxkGhg6A1hplvrYwgdVBoqBFgG7G7uYVOaU4_bHW2q7ZiXGOrGmmuNizrrOTosKlsSsNHUVhXc9dQ0r5LhvpnkOjtck6G6IMv62F9z0HSnlQ4YljnC1pjyk3ytHTPY9Q2nNfpj4HlQ3XasYhmBoEx10FkVeLbKSZQhDRxphbmc6_nMWYZIqjbI7oedlGJShxLpCYlRS_EqfW36JDkHfINyCdcmpDet4LYSd8KP1tpsYP_B4Sb2WtVdcrQiCssXbqjJzjO2HImaytIg-96em1yeC521-zKNDk9NzgXJwddtLnr3VhGovAtpSH5_RWlNwuHx8Sh4UT858AMJUs0K269Ub7zBGL1D3u3570vSj0b4jQ6J6pUjEtVt4owBULSgtc0_cHzt-rswK7NL9DapJBU0_9SmRrnNv2XiTCuOkBfUuBq3r1M3GxBkUa5F_13euUlCmgf9uSQTtO0NCIWhkPdwNo4xf2NStTZH3UTK6jqHOaw3OvX1m7X0G7NjanVFYsYPU_wEiprGNG6vxATac-XcMNfkIf2jZxaS3ZRfui60lEhEl87nCa6lCyIJ7m91gK31q-os95NtE9xNycVEAybuGvXWYDGNy6ftLSLVIbhtx3PsjNd5Wj3lzaMSM6RmWx2MwZssiGnaTyBeMfsICMFWBw8Ua8moGEVh52UWpSLV6AlKNIwsRGgEPUL8VOvfrCZEJiDmBMZmTqASuvg4oZ8jrGVV5RJOTN9WA9TIUGHhLJ2qkkTOx80hyU60tvC1HvFUl-uNtLrSm4kgoOY56JFCfo8zPTsivjIqszTlveitpJkvK0bGuFIhb4N7prsZDsCWIvji4x_1X_ezLEJKh5BGuhCAoFjrU8pcyCBo5QiqEuYbsEevcv7Fr1OAqneRR0qvrv07ZZ0lLU-CtvFtuqeFTPxvbzUiECbp3Utnq_0TnsJS53e2TzqaFcJm16IGXHK3TpWqXACzgJv30Ib4FYGWWKFYbcCqq5qMpBVXMeLLZDqk_xC9MWMswI2LsbF404r8V9_CHCmQ5syMuPHQ-dnmbio6fFRS9QMDUa4WrlqOiVdPSlV_hXhYFcXlXFgVUxvcNXilE3GDOveiNbcjPO8SPU3UxCR-vcNxSHCTQnbOcCHBzG81GC5sOK1ttnavj0ldzgxN0WJix3HEjhOjXPoSiX3tAPbs84_EQWrEMoKoaiucAoWlMWIBhPVppWFm0Fbrfh8Z5b0Os73VYR6X7KvRamyWGs1-T-l6c-a6tfkoAWls7ooFKTl-y4BrxWN-4AMKeVmAZblbCKTAyodM1jpoDkiMWeoomALaZR1HrC4W5wbSZ-lvRI9",
  "id": "rs_040e5870d2e59baf016ab459a4643c87d0be79398e2212890e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.555,\"right_y\":0.09,\"right_z\":0.025,\"right_gripper\":1},\"note\":\"The yellow object remained on the table and is visible ahead of the fingertips. I’m opening and repositioning directly over it for one more pickup attempt.\"}",
  "call_id": "call_cU1CnH7Wc7kSRwWFOH1snVh1",
  "id": "fc_040e5870d2e59baf016ab459a739e487d0bcc69b7423f125d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cU1CnH7Wc7kSRwWFOH1snVh1",
  "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]: [-0.0971, 0.8387, 0.6533, -0.5335, -0.1535, -0.1432, 0.9958, -0.1177, 2.7007, 2.4363, -1.2266, -0.8875, -1.4475, 0.9952]\nstate[eef_state]: left_x=0.2812 left_y=0.0034 left_z=0.1612 left_yaw=0.0959 left_pitch=-0.1299 left_roll=0.0079 left_gripper=0.9958 right_x=0.5381 right_y=0.0779 right_z=0.0377 right_yaw=1.3677 right_pitch=-0.0954 right_roll=0.0262 right_gripper=0.9952\nstate[joint_eff]: [-0.1573, -1.4154, 7.1179, 1.6874, -0.0952, -0.0659, -0.0171, 0.1983, -14.2838, 6.3658, 0.3394, -0.6325, 0.0513, -0.2418]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78a88f55e82171ff2372f00c2a4e84bd2aaa50fb64f11715a26152048dfef0cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3df1fbb7bf321ae366dcd58d979c05d141d17adb2ce10d0bcb12504716aee571",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:006f638dd17e9672b58cc142e0ebf82014c0dbae16b7772c913504645531144c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0967, 0.8288, 0.6537, -0.4862, -0.1539, -0.1429, 0.9958, 0.234, 1.8652, 0.9607, 0.1562, 0.1513, -0.0227, 0.9948]\nstate[eef_state]: left_x=0.2881 left_y=0.0029 left_z=0.1729 left_yaw=0.0953 left_pitch=-0.0733 left_roll=-0.0026 left_gripper=0.9958 right_x=0.467 right_y=0.0877 right_z=0.0428 right_yaw=0.11 right_pitch=-0.1564 right_roll=-0.1113 right_gripper=0.9948\nstate[joint_eff]: [-0.1846, -1.7162, 7.159, 1.8193, -0.0806, -0.0171, -0.0122, -0.2803, -9.2103, 5.7641, 1.8632, 0.1245, 0.0464, -0.0611]\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]: [-0.0967, 0.8368, 0.6533, -0.5209, -0.1535, -0.1429, 0.9958, -0.1955, 2.6652, 2.5549, -1.4166, -0.9024, -1.5543, 0.3538]\nstate[eef_state]: left_x=0.2832 left_y=0.0033 left_z=0.164 left_yaw=0.0957 left_pitch=-0.1157 left_roll=0.0054 left_gripper=0.9958 right_x=0.5303 right_y=0.04 right_z=0.0866 right_yaw=1.3533 right_pitch=-0.0821 right_roll=-0.0208 right_gripper=0.3538\nstate[joint_eff]: [-0.1846, -1.4838, 6.9402, 1.6972, -0.1343, -0.0366, -0.0171, -0.0615, -13.6957, 7.6103, 0.2759, -0.6325, 0.0904, 0.1294]\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]: [-0.0971, 0.8387, 0.6533, -0.5335, -0.1535, -0.1432, 0.9958, -0.1177, 2.7007, 2.4363, -1.2266, -0.8875, -1.4475, 0.9952]\nstate[eef_state]: left_x=0.2812 left_y=0.0034 left_z=0.1612 left_yaw=0.0959 left_pitch=-0.1299 left_roll=0.0079 left_gripper=0.9958 right_x=0.5381 right_y=0.0779 right_z=0.0377 right_yaw=1.3677 right_pitch=-0.0954 right_roll=0.0262 right_gripper=0.9952\nstate[joint_eff]: [-0.1573, -1.4154, 7.1179, 1.6874, -0.0952, -0.0659, -0.0171, 0.1983, -14.2838, 6.3658, 0.3394, -0.6325, 0.0513, -0.2418]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78a88f55e82171ff2372f00c2a4e84bd2aaa50fb64f11715a26152048dfef0cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3df1fbb7bf321ae366dcd58d979c05d141d17adb2ce10d0bcb12504716aee571",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:006f638dd17e9672b58cc142e0ebf82014c0dbae16b7772c913504645531144c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFmtj3tddHzwlZ642dv5BKKXFpFzbUrERXLQa4yS49QVE6FtR1qqbqezQO_BR0Qng08OMJqnoHaCLIP3u9g2Z_sRuNJfWAu2KbUlPcxYkabgJ3RhWKpxuAmYE23m63z2WA7tsNh2c4dO2bjGzqlhPy-3_vuiQl_Lr-MoC5iyIDWV1O-ts-pSF4A8gsbCCH8lIKzzB_UiOwqUSHhQVJO5idQx0uO4fxgL4pmVT13mPkDZmlmunLJ689GdDxcWXyHea4fS3sHhAJui8sAOPh861PrbRP6-4Cy8edfj4iCPfejszDoUpr3_l8yeaZrm-j8rSwEXDK9Ye5wgIP-WNPLcgh6xdgd-9kvLjWwdYgiNyU_6Gg0WlLcw9anDE4AdKUOPoZ7dpi98rs2augq6FYPK7ycAGwdjxG77q-XluTkLRMLW_ZzjmQ4W5sETSn-FDF2N4Iyw9DekH9AEskwzOKwxFHI_drG9xI6NZCPCNWlNUhCXzD0QHjwM8HQU8DHZSuS7152W1dg92i5O3eFz8kkZj9SC79UlCHQblwKBljNZIv6anYdP1T4Xb0ZRTaaNISOFa4P1A3qwnbAfwAKGsJTiTuVZx51nvpBpE4vWeji3V0GxWFSisoR2z0Y4Ax3OUvbDlkfJxNRmKCVYdFBV_XU63xVekCzvjhVwDW5ZR03KEU0TREHjJ6vnn6Hd4g-T3HMYaUgdhTT0pldORObco07Zxnp3HVV5czpCg8HgVZbeKwjLgA_XtR7kliplfyMn2FIKwll5hikKHFJh1DXaNUdSG9fFRKebi5i4Dh57Jr1Vb94sPkxSkFGf9PwX0pIX2p8zTQc9u6fF7rkCRgZ1MaQbqvCrEXFrxQtMS2Lgnw6Yzlb9aHbIkxPLv8gtA0oZlYnKdDZqIGVfoKeoBS9o8f8SkbUIhxkM3qsvlK6LPhdIyGZfpqRvcdpkxWOs_FgUJmWnssPL22JdMW62va1MXIx7KuIGVc_ZCpSdsfEPBbxQp5s6RQBc63_df_-xI4DuTHk1TjRvUFs6LzWtUU_EyUUvRE8LVhYxpU_lov3REOEgf-QpjpDGf8Ywhkpa7Gg2rQ0AKJELiYhTDkjdImLwUWXE6c5ZRgKXHp3WHa6A2aYgYGdaxo-awlJACLbVRKQZuaSf5TglnQ7U4bGNidmmxBbDrTZXuLIfK6k5JKN_w-P63el_-SwyVkvHeirbyCk2HxDJkiufmW4IvIc7aJB5lFV_w3R1HZji5OErMiJTWvjGwrJAvGUbJdouzMIeJZCPCP9xgnnA4jtJS1CXACAT5OUqlbuO2-4zqMBIAFtaFQPeN_TlzrfnCZOskF8li6u11fayBKPQzCJlja8c9097FYzhoixSOi1imS7A4Wh3Zn9iwFtbG23smAkXigxjzNF29jZ4AJSWGI5L1uB6UApc_HX_6-Ex-0t9Ug0mZWuURf8kn5nEH6aFu0a00_9pvApWvPZV--LMwQyoirQoNStsJq5XKjx-NXwndxriUA8bJLnS6YqWJg3aTvpxoZyJAheh_lZAmmEJkhVuqYW9eP9Pex9-qNWxskcmC7tr9ljBn_5RiuQeo4k6ElEsfKwgZ5ujMjwTRqJcB-8rcFs4E1XxIMp38-GmIA==",
  "id": "rs_040e5870d2e59baf016ab459aac1c087d099c6994cd6c367aa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.525,\"right_y\":0.105,\"right_z\":0.025,\"right_gripper\":0.2},\"note\":\"The yellow object is now immediately between the fingertip ends, slightly off-center. I’m making a small correction and closing around it, keeping the jaws clear of the rim.\"}",
  "call_id": "call_2z8nmrZDjY0cbdgQOAr3Fqh2",
  "id": "fc_040e5870d2e59baf016ab459ac3eb887d0a07f3f6b94045cab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2z8nmrZDjY0cbdgQOAr3Fqh2",
  "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]: [-0.0967, 0.8425, 0.6533, -0.5407, -0.1535, -0.1432, 0.9958, -0.0708, 2.6148, 2.1654, -1.029, -0.8787, -1.3853, 0.4464]\nstate[eef_state]: left_x=0.2803 left_y=0.0036 left_z=0.1589 left_yaw=0.0966 left_pitch=-0.1408 left_roll=0.0101 left_gripper=0.9958 right_x=0.5202 right_y=0.1031 right_z=0.0105 right_yaw=1.378 right_pitch=-0.1044 right_roll=0.0611 right_gripper=0.4464\nstate[joint_eff]: [-0.1983, -1.7436, 6.9128, 1.6679, -0.1245, -0.0269, -0.0122, 0.253, -16.841, 5.5179, 0.5201, -0.5006, 0.0952, 1.033]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7719fbebe4526efc658a77fd9717c05015506615b34ae5a5702ce14c065af7c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f6a0b865e4805a83e785e56cd07cffb26a19ea1368dc583f5043d7a1d7c469e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5070534f9e29c8d022c49e49eafa6e949c702b3110e62509fe8c8803f18a27fe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0967, 0.8345, 0.6537, -0.5106, -0.1535, -0.1432, 0.9958, -0.1894, 2.6312, 2.257, -1.0363, -0.8982, -1.4948, 0.9954]\nstate[eef_state]: left_x=0.2847 left_y=0.0031 left_z=0.1667 left_yaw=0.0957 left_pitch=-0.103 left_roll=0.0026 left_gripper=0.9958 right_x=0.5462 right_y=0.0396 right_z=0.0296 right_yaw=1.3165 right_pitch=-0.0795 right_roll=-0.0907 right_gripper=0.9954\nstate[joint_eff]: [0.0205, -1.5248, 7.2547, 1.9414, -0.0952, -0.0611, -0.0171, 2.7419, -21.641, 11.9179, 0.5983, -1.2039, -0.1392, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0971, 0.8387, 0.6533, -0.5335, -0.1535, -0.1432, 0.9958, -0.1177, 2.7007, 2.4363, -1.2266, -0.8875, -1.4475, 0.9952]\nstate[eef_state]: left_x=0.2812 left_y=0.0034 left_z=0.1612 left_yaw=0.0959 left_pitch=-0.1299 left_roll=0.0079 left_gripper=0.9958 right_x=0.5381 right_y=0.0779 right_z=0.0377 right_yaw=1.3677 right_pitch=-0.0954 right_roll=0.0262 right_gripper=0.9952\nstate[joint_eff]: [-0.1573, -1.4154, 7.1179, 1.6874, -0.0952, -0.0659, -0.0171, 0.1983, -14.2838, 6.3658, 0.3394, -0.6325, 0.0513, -0.2418]\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]: [-0.0967, 0.8425, 0.6533, -0.5407, -0.1535, -0.1432, 0.9958, -0.0708, 2.6148, 2.1654, -1.029, -0.8787, -1.3853, 0.4464]\nstate[eef_state]: left_x=0.2803 left_y=0.0036 left_z=0.1589 left_yaw=0.0966 left_pitch=-0.1408 left_roll=0.0101 left_gripper=0.9958 right_x=0.5202 right_y=0.1031 right_z=0.0105 right_yaw=1.378 right_pitch=-0.1044 right_roll=0.0611 right_gripper=0.4464\nstate[joint_eff]: [-0.1983, -1.7436, 6.9128, 1.6679, -0.1245, -0.0269, -0.0122, 0.253, -16.841, 5.5179, 0.5201, -0.5006, 0.0952, 1.033]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7719fbebe4526efc658a77fd9717c05015506615b34ae5a5702ce14c065af7c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f6a0b865e4805a83e785e56cd07cffb26a19ea1368dc583f5043d7a1d7c469e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5070534f9e29c8d022c49e49eafa6e949c702b3110e62509fe8c8803f18a27fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmw_rA4HQDNHWjyU2JjMA1qnOgKT5ys6hmn2_54iLs_qkLbCLBEMjJbPu_T3v8kt673TX_KGfduT6YOu2gjObhnaJQTUxeNDy_-xg6JCKuxUub_bL2sFbulg3Jn0mQTQBKsslTuyaczISrMfrS4_GQQy7i0meZeRFFAQKcbACEzhuSJkYzN0QvaHFogqBD5Pb6B4gKwDLQdXZKaZT5bXNmA8TVAi0Ml-E9NgwlSKgL7YH9jTJ6YSzYE-YdhPyIdaB_8lBULWL8_LcqUlmbi3hTudsHRDexSxD4Vxi3NYNCkfzoz85YJJZMYl97pObO3BfVtyv58Bp4U6PAct9q9YFhIwp_VK3P0VxlgvwrMzDm3Kx7mhKO4yuuyi-D8T0NSP3fMZEoI5JMPqtl9YxPSHhtajsrYbCSceNCrtigBBrSw0WG7meaWQ4NELklsseWlLRPQQAaoj7kaxTqgrJWyARTAlY7jKpqC2qy7jSQvWtrKxApx4zpJSlbPWV9uu1G_rdKiJ_CwAx3bqtzKTAhr3_lRNIu1oltRWGrvJGEnT8b15Exp6KccfY-UitEARRLFRbqUFutEZNvruMkUUGPpsP_-PoCmSnxEIAMdT_7zqOVg2oSismNZ2L9n0iltApKUyahFfE_qZSR1eEWuLgd66KPeUIY13KZueprNpebQS5fOsl09xoIJSY7sL2EjcTVXh7XRiJ6draRxpI4nQI1Aq5m4pnvY_DaGnrSD9VxYugRKloVXOky30_un_k7a-3b4Olt_238e651VR2fCSUgcWzKKkRxBhSmLMOBPGgOuVj7mYF1zgRl3ToijOw0LM4GGwduMX1ENnfWJF6L7yVBFZIKBECBchNjWMe5EjyORn5JXL1dQt_CY9TYtmxCMMQPsvJzeyHJmx3buYZCG7NiJiheZ8IwYyd1QgOcfSTsgOPFczs4jC4cr-EuHt3tR0GX_hhLSKt4PzFq7xPON87mvZ8J3LSKsx624OE3djtBU2mYrPNrEXGjxf7P3Zf05_EJhnWDuMOADiBstJhkEROAzrrPYCPYVD9YiqELaZM5m6rmmlVPnYV9eEphbJq4N-ud_pTsh5OoNF-pVCcQ8uxS1NTW3fo8KBu7-LH5ojoq2HD_vKysFCESYBj0RfCOu72RD65edlne6inTdXxxFhCYnmzN-BK3WPaXuulX2_SleQC8NW9MT8ouF83v29CG-krGU4jhQGXHMt1nNZyyI5QR5WINuv0vxkMuhtwUk8lHDPVufGCPropEQLj83iC8Cx1cpq3r_N4cbDyHivL9kEWZAC4QiKunDbCJhWDQbA1Xb4Z9VyVc=",
  "id": "rs_040e5870d2e59baf016ab459af56e887d0bcd6aa489b0e8aac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.51,\"right_y\":0.075,\"right_z\":0.13},\"note\":\"The jaws have closed around the yellow object at a nonempty width. I’m lifting slightly outward from the safe so the object can clear its side.\"}",
  "call_id": "call_B00fMQAaxzmHiw2EMkjv2GTs",
  "id": "fc_040e5870d2e59baf016ab459afec7487d0bd0b164f00ed9949",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_B00fMQAaxzmHiw2EMkjv2GTs",
  "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]: [-0.0967, 0.8433, 0.6533, -0.5587, -0.1535, -0.1432, 0.9958, -0.1211, 2.6049, 2.5839, -1.4662, -0.8719, -1.467, 0.4489]\nstate[eef_state]: left_x=0.2773 left_y=0.0038 left_z=0.1554 left_yaw=0.0971 left_pitch=-0.1591 left_roll=0.0137 left_gripper=0.9958 right_x=0.5213 right_y=0.0764 right_z=0.1189 right_yaw=1.3733 right_pitch=-0.1104 right_roll=0.006 right_gripper=0.4489\nstate[joint_eff]: [0.0205, -1.5385, 6.8718, 1.7656, -0.1099, -0.0708, -0.0073, -0.7043, -13.5043, 6.653, 0.105, -0.5592, -0.0171, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25f7924b55e92c010f2be4bd4b3300ad795228ab482a40e2f79b5356c8cea79e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef16ee5b6ca8a7b73597df7b46a94e15f61aa9a3b222b40a9ab3468592d2caa5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15240f3f4ce695ccae3e15c59697c2747dd097450a4f276f98f5d626581690a1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0967, 0.8368, 0.6533, -0.5209, -0.1535, -0.1429, 0.9958, -0.1955, 2.6652, 2.5549, -1.4166, -0.9024, -1.5543, 0.3538]\nstate[eef_state]: left_x=0.2832 left_y=0.0033 left_z=0.164 left_yaw=0.0957 left_pitch=-0.1157 left_roll=0.0054 left_gripper=0.9958 right_x=0.5303 right_y=0.04 right_z=0.0866 right_yaw=1.3533 right_pitch=-0.0821 right_roll=-0.0208 right_gripper=0.3538\nstate[joint_eff]: [-0.1846, -1.4838, 6.9402, 1.6972, -0.1343, -0.0366, -0.0171, -0.0615, -13.6957, 7.6103, 0.2759, -0.6325, 0.0904, 0.1294]\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]: [-0.0967, 0.8425, 0.6533, -0.5407, -0.1535, -0.1432, 0.9958, -0.0708, 2.6148, 2.1654, -1.029, -0.8787, -1.3853, 0.4464]\nstate[eef_state]: left_x=0.2803 left_y=0.0036 left_z=0.1589 left_yaw=0.0966 left_pitch=-0.1408 left_roll=0.0101 left_gripper=0.9958 right_x=0.5202 right_y=0.1031 right_z=0.0105 right_yaw=1.378 right_pitch=-0.1044 right_roll=0.0611 right_gripper=0.4464\nstate[joint_eff]: [-0.1983, -1.7436, 6.9128, 1.6679, -0.1245, -0.0269, -0.0122, 0.253, -16.841, 5.5179, 0.5201, -0.5006, 0.0952, 1.033]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "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]: [-0.0967, 0.8433, 0.6533, -0.5587, -0.1535, -0.1432, 0.9958, -0.1211, 2.6049, 2.5839, -1.4662, -0.8719, -1.467, 0.4489]\nstate[eef_state]: left_x=0.2773 left_y=0.0038 left_z=0.1554 left_yaw=0.0971 left_pitch=-0.1591 left_roll=0.0137 left_gripper=0.9958 right_x=0.5213 right_y=0.0764 right_z=0.1189 right_yaw=1.3733 right_pitch=-0.1104 right_roll=0.006 right_gripper=0.4489\nstate[joint_eff]: [0.0205, -1.5385, 6.8718, 1.7656, -0.1099, -0.0708, -0.0073, -0.7043, -13.5043, 6.653, 0.105, -0.5592, -0.0171, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25f7924b55e92c010f2be4bd4b3300ad795228ab482a40e2f79b5356c8cea79e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef16ee5b6ca8a7b73597df7b46a94e15f61aa9a3b222b40a9ab3468592d2caa5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15240f3f4ce695ccae3e15c59697c2747dd097450a4f276f98f5d626581690a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFm0bmtsxPkiMRbQaVJn2IGZn7huSklJjR9yBXH1Rd6yECjZ9MCLcX2f1MQEgdno2DD2GEgJyqp5k4ixh47YeUa52hQAJ6mp1wftewScyEyY9V7zZuOtXuBRvMgbgcjXjbp9mwp0Bx5kZBwU1EKo9UA3tPLwnVlBCnMs_u0hay_zKKxkq7IxpRBMU7KRrqiIYG8YzJNJSsCdxP3aw375e1RT8mEQtdxCmr8aJQSZbbb84y29yOt8711HFO9gBB9GxBO2UpfRujwunmqF-Lj6AeqD5qabWk40MydCXtM4NiY7vmag2GwROmF3Yvqc9d_-HduY9V3c35mXmlGcSMDGQmY-tQsFtwLpzl-F45LYOmORxXhheFctOoTYohIlXqQ7VUyrMqvsjLgNhDsv-T1gUW6BdHPCxwsjbx7tp4FtLdfzHNYNwecA2J6PPJ8L6-2_-h5-_g_4EdwZaO01mfNahPW6VjwIZVpEfeCgEkxktQQqRaQH_c3sPZpzqTFRVsa0nI0QQGPYRE9iwfZTpU6yHqLMn-l18FhlP8h5vDm0U7fuf1i3i7RfgtY3-BvLjkjRY13wLJEBZtfUpglV4kRE9Vwhl2sMVZ8r27e7BKipLGH1ckby2PtuT8-s-g0SZwMxj_9cnW2ORiWsr5DJxWPaECPR3sW4gA1jyu6MagcdsRTH0g50rAv_eoVdQSDA6umPfgZBXi_Ao-xWHnwR8YC6Qt-qMKqOslfaOL3j1gkdqAhYoYf0Lz6roF7fECeNcP8ihe1NaQYE1SRFLpMZVf4ImT2D7u08ClJuwBqWDT0jwgGZfz_qvN6wwNcuWQRYAQP0WNCOMtK7AoJ6-guU4zDkJoPrK-NQ03o14Gh0fVqXuKw1ivP4371ukU8eXiHieci9Ni0EUBv26ba_PExfTkH-4ute24foK0jCJ15blV9k9pTGxgTtHXT6l-2WDPBh8WqTI6R28L_SROiVKS6Q4EZdNkynaY8K3hNuHnsLo55oC3OQbjXxBE1N4hs1M71ED0TOid7MkFyyreHFLBNgnkAxloZLJgRkc3XnsA2vYDLKCbSU9ytVzSbWCD_ws-0WSAeaS324ZnUK8n7EkX0GOGVbZiC_5xVUfVkp-eNhmPm-Q6D9gdedkmKaHwSv3QC436aH3p0ARqU8caj_zWdip8hr_U-JiIxueggRnBTGMZAzGe5pKe1UCm_P6i5s6_Za7OZ0sJrHWPSSrsunnUVhH41b8ax7-CgpgzldCeKBN55mPe-ztMY8ejv_dDG2KdGEIWtBBR8UbzI9JFh5jlTfy_90Gd_ukQDvdqIpf0kHucLPgi_e-7Poj_xmGzVccMMXvPHNu5X_lQ4UU8U4WPuovCcGWuUHHlpD6MdpcLZx5yYsKfDlhLjN9jWfN-Fr_ugeBowxqjoPNB6GXxwrUYuEJP7rFKVV7rIx6y3iJmAZtktaPRpjWPiBbqjTIl2NmyyMIiwMfCiML6lTuL5Gm0BM2lz1b6Jtzbu_Noi2Lo1I4ojMWI9puWSxM5Hkr6L_1eQPRMcYBM28bHaASrl_kBX6doA6Abz3mA==",
  "id": "rs_040e5870d2e59baf016ab459b2d78087d0abeafa4a36461fe8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.245,\"right_z\":0.22},\"note\":\"The yellow object is visibly lifted and the safe stayed on the table. I’m carrying it over the open space beside the pale plush.\"}",
  "call_id": "call_K8uZRfb75gj08doFYORwDwRo",
  "id": "fc_040e5870d2e59baf016ab459b4054487d0919374c179507e5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_K8uZRfb75gj08doFYORwDwRo",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "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]: [-0.0967, 0.8471, 0.6533, -0.5705, -0.1535, -0.1432, 0.9958, 0.2379, 2.2059, 2.1708, -1.1419, -0.7696, -0.9993, 0.4489]\nstate[eef_state]: left_x=0.2755 left_y=0.004 left_z=0.1524 left_yaw=0.0976 left_pitch=-0.1745 left_roll=0.0168 left_gripper=0.9958 right_x=0.4552 right_y=0.2405 right_z=0.1942 right_yaw=1.4038 right_pitch=-0.14 right_roll=0.0349 right_gripper=0.4489\nstate[joint_eff]: [0.1299, -1.4974, 7.0222, 1.707, -0.0904, -0.0464, -0.0073, 0.3214, -15.1043, 7.6786, 1.0672, -0.4664, 0.1294, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64655330516ae7a64081905a7c6afdd46c6e5a108810af084a4d6049a1570841",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9579d56d74a1fc7d6a26ec9024d222732942471b7f89b90581fa2a56f8c101d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94937746955695fb37e1c6e7b97ad5d9f0f7f6ba6c9637efed39f6eb9e5cdec6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0971, 0.8387, 0.6533, -0.5335, -0.1535, -0.1432, 0.9958, -0.1177, 2.7007, 2.4363, -1.2266, -0.8875, -1.4475, 0.9952]\nstate[eef_state]: left_x=0.2812 left_y=0.0034 left_z=0.1612 left_yaw=0.0959 left_pitch=-0.1299 left_roll=0.0079 left_gripper=0.9958 right_x=0.5381 right_y=0.0779 right_z=0.0377 right_yaw=1.3677 right_pitch=-0.0954 right_roll=0.0262 right_gripper=0.9952\nstate[joint_eff]: [-0.1573, -1.4154, 7.1179, 1.6874, -0.0952, -0.0659, -0.0171, 0.1983, -14.2838, 6.3658, 0.3394, -0.6325, 0.0513, -0.2418]\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]: [-0.0967, 0.8433, 0.6533, -0.5587, -0.1535, -0.1432, 0.9958, -0.1211, 2.6049, 2.5839, -1.4662, -0.8719, -1.467, 0.4489]\nstate[eef_state]: left_x=0.2773 left_y=0.0038 left_z=0.1554 left_yaw=0.0971 left_pitch=-0.1591 left_roll=0.0137 left_gripper=0.9958 right_x=0.5213 right_y=0.0764 right_z=0.1189 right_yaw=1.3733 right_pitch=-0.1104 right_roll=0.006 right_gripper=0.4489\nstate[joint_eff]: [0.0205, -1.5385, 6.8718, 1.7656, -0.1099, -0.0708, -0.0073, -0.7043, -13.5043, 6.653, 0.105, -0.5592, -0.0171, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0967, 0.8471, 0.6533, -0.5705, -0.1535, -0.1432, 0.9958, 0.2379, 2.2059, 2.1708, -1.1419, -0.7696, -0.9993, 0.4489]\nstate[eef_state]: left_x=0.2755 left_y=0.004 left_z=0.1524 left_yaw=0.0976 left_pitch=-0.1745 left_roll=0.0168 left_gripper=0.9958 right_x=0.4552 right_y=0.2405 right_z=0.1942 right_yaw=1.4038 right_pitch=-0.14 right_roll=0.0349 right_gripper=0.4489\nstate[joint_eff]: [0.1299, -1.4974, 7.0222, 1.707, -0.0904, -0.0464, -0.0073, 0.3214, -15.1043, 7.6786, 1.0672, -0.4664, 0.1294, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64655330516ae7a64081905a7c6afdd46c6e5a108810af084a4d6049a1570841",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9579d56d74a1fc7d6a26ec9024d222732942471b7f89b90581fa2a56f8c101d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94937746955695fb37e1c6e7b97ad5d9f0f7f6ba6c9637efed39f6eb9e5cdec6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFm6HIapqZvr45MyzWQPQ33m8je2MfKJd_dM5amJsjQ6Bsvot4FCQ7QPJmaps-nnmeoXo6todNiPgPtSgZzfZn-dcVrtl5rsDA-1k4hahsNclSAf-s1X3oAxX5zCpVqlHbEb10YBX7KIB0Hah26Wxer6Rb61vTtGmcho8isPXJlEy5D_gETxcM2qHmgxIlMVmD_wtypft4SKqhxTur8kGcTNz5HI0pNMduoIcIUm8xqmdtonCevJ1qmSIC9OhUyGuWLIQZDJjd8bFEkODt4MYUWidSGQZgUk92vrM5kx5487blpfZgUQxP7ZeCZyqFqcRj4g1z0ZhQzB9eddMxf0r0WQBWunCHDef4kduOyXpzQtIq1Cis_bFVUZw5QTwDbiB9yBfAqv9o3ahwxny3oVVs6MTlEq58Sadp6zohFxAojp1JlrUldg2JGTLk2WzxV-X5ZishiVOmiguKqJxiDi-GYOymIz4jOXhVB0kZ2H_AwAc5GDdyuCPZyrzctTKyTemfq1iRCMAxpsRXgQh0bfdt1aJ6Qn1Fc0iuyUd9RvGv5ikknkwm9ZomkcvPUXbF4vGxAicK85rlPdKw68rxPFSxEKhNbR9R_ytKkSUZDGzPiWHmK1U-1-x-OgKr39yiy0AUIG7LbeaXKTDpffvn1vgqNucB2zJTZxi__UjQUjs2BIlalraHAufkI_IYeQl2KdmhLwJRH23gMBopiI7zB09aVdIr_lLoYKjUn4P8encA9VPBuRdhX_Nxsa0LT2fAPfhOkEFuBumvWMNscm4wvUQq48NbaithtwvFBvTrT9Ll6F_aovFYkNOAfTH3QyDXYoVRpu2CwiEq0cHXomWNWQnWsX93Xn-PvuchCB2ik51BIkcRd5LrKl1cZ_BPOG6oUFg6ro8_CnM5QYKhoqIcjHXMUXpe2iX4qJu_Zd1wdlsl6zdJMTmBCCSKiQRhDVAwcnc20sA_Nft883t6MfKamnkh74RomAicBXvLYYSUig5prs5_h2v-QlJ6znlDeVkA5Eib00tWYzuVywG7ol-ZnVQ2un1_o8m9y5hPpQ9FgtPjccdZrfwaJ4VBznIJevLO2-2xq82qr8AwVemA5E2nD1QXZGTm00lhfLNM9Lc6EepksiMznB3_zJfokGQMu-8dPsu-pxqmPdUgkr2DpZ8JKJYoH2v8RUsl72PI5Ih3CVRbPPe5ucQNd5g9iS-8VubZAT9E8RLGhKW4CGPfyCK8-NLlhsYvFDDapJJKUnCVPYSMO_elGOTooBoNefStKgpc7r6IHT37qfjUARyHZbh48_7c5RoQKFfAsbmHyEHRz4y4vI2rKgspOsb-ofqCM3TLG2uLj7ud-vpJdBDBA0Dc2PknNYGd6XwRtF8NAe5INRAiM4MtQJ-wNUY_gT0l9IFZNbHEnWVBEoMVWk3obAkQ7SZundJys9D9M9kJ9svyZq5O-yrRESUAtlF3mJ1901CoioByLRaTP4obgXk2ATzkgNT6LPCaGhhfCi3xSdGlvFEB1aHiVwAG2dMogFUFJI4SAG8S1yKr8zr9oziwS5PA9hlecY1hpyCV9fhvDZXYAUE1Ipxfgsv7UmZc92plySmsl_DvIlwVNzyxvzEVR8cVT7Mf3DcgpnrP0_fJRAnA2bOgyeNbX2tbdrpNOHeZOZqzuq8U5oo0ZyvwVvdvopYXJr-2hzSPsBwMhkc7b_n6PoDIDUJu6f8PKaSWXjWfq-uGy-kSjVNm2KTmois2OpUSWcajyqJYVqTVVAygwaabfKoma7sF2hRLuTmQtGgbcjcThOi4gVYiaa1kGChOrA7W3R27PGYAukbWf2I4BDyfuQGasa-hyrwAUiOwlEu4Kr6HM6_xJ9JOIBkuYG5TOZQJRDvDJu1bi9AyrZV_o2R8dFgyuMC10-KHJLzNjAQhMRHMGjp5wusGnaRsUPc7-TP1X3s1h--xkGtlA41h3t0Nq8vBdm4AouJfmXKeT1WzGc7XZ5CiQlv4lOCPOx94pJt9IuZPMwtg==",
  "id": "rs_040e5870d2e59baf016ab459b7c49487d08d77ed69c644ddd2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.065},\"note\":\"The yellow object is above the safe’s right-hand interior. I’m lowering it onto the lining before opening the jaws.\"}",
  "call_id": "call_WBgsnPAo7WODPpvpt4aHIals",
  "id": "fc_040e5870d2e59baf016ab459b9f79487d08b9bc342476dab0e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WBgsnPAo7WODPpvpt4aHIals",
  "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]: [-0.0971, 0.849, 0.6533, -0.585, -0.1535, -0.1432, 0.9958, 0.2401, 2.2082, 1.7096, -0.7124, -0.7559, -0.9943, 0.4502]\nstate[eef_state]: left_x=0.2731 left_y=0.0041 left_z=0.1493 left_yaw=0.0978 left_pitch=-0.1906 left_roll=0.02 left_gripper=0.9958 right_x=0.4471 right_y=0.2379 right_z=0.0739 right_yaw=1.4023 right_pitch=-0.1653 right_roll=0.065 right_gripper=0.4502\nstate[joint_eff]: [-0.1709, -1.5932, 7.0632, 1.6923, -0.0855, -0.0659, -0.0073, -0.2256, -10.5915, 6.2838, 1.0281, -0.5299, -0.0904, 1.0134]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e6a25193eb4078576b85278b5303decb0d4ca0cc3843ed6c1938187298b00d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2178c56c0d05674ea2689ef181274bf3c02ea33ce7ca621696e6b671708b463f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f00e0461c8406f0901691b4ad3863b2d5410ba00c721c084706d288aa56dcd38",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0967, 0.8425, 0.6533, -0.5407, -0.1535, -0.1432, 0.9958, -0.0708, 2.6148, 2.1654, -1.029, -0.8787, -1.3853, 0.4464]\nstate[eef_state]: left_x=0.2803 left_y=0.0036 left_z=0.1589 left_yaw=0.0966 left_pitch=-0.1408 left_roll=0.0101 left_gripper=0.9958 right_x=0.5202 right_y=0.1031 right_z=0.0105 right_yaw=1.378 right_pitch=-0.1044 right_roll=0.0611 right_gripper=0.4464\nstate[joint_eff]: [-0.1983, -1.7436, 6.9128, 1.6679, -0.1245, -0.0269, -0.0122, 0.253, -16.841, 5.5179, 0.5201, -0.5006, 0.0952, 1.033]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "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]: [-0.0967, 0.8471, 0.6533, -0.5705, -0.1535, -0.1432, 0.9958, 0.2379, 2.2059, 2.1708, -1.1419, -0.7696, -0.9993, 0.4489]\nstate[eef_state]: left_x=0.2755 left_y=0.004 left_z=0.1524 left_yaw=0.0976 left_pitch=-0.1745 left_roll=0.0168 left_gripper=0.9958 right_x=0.4552 right_y=0.2405 right_z=0.1942 right_yaw=1.4038 right_pitch=-0.14 right_roll=0.0349 right_gripper=0.4489\nstate[joint_eff]: [0.1299, -1.4974, 7.0222, 1.707, -0.0904, -0.0464, -0.0073, 0.3214, -15.1043, 7.6786, 1.0672, -0.4664, 0.1294, 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]: [-0.0971, 0.849, 0.6533, -0.585, -0.1535, -0.1432, 0.9958, 0.2401, 2.2082, 1.7096, -0.7124, -0.7559, -0.9943, 0.4502]\nstate[eef_state]: left_x=0.2731 left_y=0.0041 left_z=0.1493 left_yaw=0.0978 left_pitch=-0.1906 left_roll=0.02 left_gripper=0.9958 right_x=0.4471 right_y=0.2379 right_z=0.0739 right_yaw=1.4023 right_pitch=-0.1653 right_roll=0.065 right_gripper=0.4502\nstate[joint_eff]: [-0.1709, -1.5932, 7.0632, 1.6923, -0.0855, -0.0659, -0.0073, -0.2256, -10.5915, 6.2838, 1.0281, -0.5299, -0.0904, 1.0134]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e6a25193eb4078576b85278b5303decb0d4ca0cc3843ed6c1938187298b00d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2178c56c0d05674ea2689ef181274bf3c02ea33ce7ca621696e6b671708b463f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f00e0461c8406f0901691b4ad3863b2d5410ba00c721c084706d288aa56dcd38",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow object is down inside the compartment beside the pale plush. I’m releasing it, then I’ll reposition the brown toy that is still outside the front-right edge.\"}",
  "call_id": "call_eJ08afW4oxdA0j7zY5ZeB8Do",
  "id": "fc_040e5870d2e59baf016ab459be203087d08728f818d6474209",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eJ08afW4oxdA0j7zY5ZeB8Do",
  "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]: [-0.0971, 0.849, 0.6533, -0.5858, -0.1535, -0.1432, 0.9958, 0.2401, 2.233, 1.6939, -0.709, -0.7509, -0.9943, 0.995]\nstate[eef_state]: left_x=0.273 left_y=0.0042 left_z=0.1492 left_yaw=0.0979 left_pitch=-0.1913 left_roll=0.0201 left_gripper=0.9958 right_x=0.443 right_y=0.2363 right_z=0.0572 right_yaw=1.4063 right_pitch=-0.1842 right_roll=0.0977 right_gripper=0.995\nstate[joint_eff]: [-0.2256, -1.4427, 6.8444, 1.5311, -0.0952, -0.0611, -0.0073, -0.1709, -14.4342, 7.241, 0.7888, -0.4811, -0.0024, -0.2515]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3b394a51290abcf963c4916f994734ef4b8fb19a724f3eaa90a2092355b3b90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3113602b439554dcc190a0da30fbbcfed880d59eb973c6f10ccb1583546fbae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a87fcd40c07fc11f6ba327bbd934be40068a903d1ccfa46a14adbc712752d51",
      "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 107 changed as sent

message 115 changed as sent

message 118 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0967, 0.8433, 0.6533, -0.5587, -0.1535, -0.1432, 0.9958, -0.1211, 2.6049, 2.5839, -1.4662, -0.8719, -1.467, 0.4489]\nstate[eef_state]: left_x=0.2773 left_y=0.0038 left_z=0.1554 left_yaw=0.0971 left_pitch=-0.1591 left_roll=0.0137 left_gripper=0.9958 right_x=0.5213 right_y=0.0764 right_z=0.1189 right_yaw=1.3733 right_pitch=-0.1104 right_roll=0.006 right_gripper=0.4489\nstate[joint_eff]: [0.0205, -1.5385, 6.8718, 1.7656, -0.1099, -0.0708, -0.0073, -0.7043, -13.5043, 6.653, 0.105, -0.5592, -0.0171, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0971, 0.849, 0.6533, -0.585, -0.1535, -0.1432, 0.9958, 0.2401, 2.2082, 1.7096, -0.7124, -0.7559, -0.9943, 0.4502]\nstate[eef_state]: left_x=0.2731 left_y=0.0041 left_z=0.1493 left_yaw=0.0978 left_pitch=-0.1906 left_roll=0.02 left_gripper=0.9958 right_x=0.4471 right_y=0.2379 right_z=0.0739 right_yaw=1.4023 right_pitch=-0.1653 right_roll=0.065 right_gripper=0.4502\nstate[joint_eff]: [-0.1709, -1.5932, 7.0632, 1.6923, -0.0855, -0.0659, -0.0073, -0.2256, -10.5915, 6.2838, 1.0281, -0.5299, -0.0904, 1.0134]\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]: [-0.0971, 0.849, 0.6533, -0.5858, -0.1535, -0.1432, 0.9958, 0.2401, 2.233, 1.6939, -0.709, -0.7509, -0.9943, 0.995]\nstate[eef_state]: left_x=0.273 left_y=0.0042 left_z=0.1492 left_yaw=0.0979 left_pitch=-0.1913 left_roll=0.0201 left_gripper=0.9958 right_x=0.443 right_y=0.2363 right_z=0.0572 right_yaw=1.4063 right_pitch=-0.1842 right_roll=0.0977 right_gripper=0.995\nstate[joint_eff]: [-0.2256, -1.4427, 6.8444, 1.5311, -0.0952, -0.0611, -0.0073, -0.1709, -14.4342, 7.241, 0.7888, -0.4811, -0.0024, -0.2515]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3b394a51290abcf963c4916f994734ef4b8fb19a724f3eaa90a2092355b3b90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3113602b439554dcc190a0da30fbbcfed880d59eb973c6f10ccb1583546fbae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a87fcd40c07fc11f6ba327bbd934be40068a903d1ccfa46a14adbc712752d51",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFnESCK0d-JNO8nn0kfUYacwRLJkt7AbvNXekB8K5H_rYvpAIjGRlBl8fJrXxqCDGVWslPnQCHTlfttCPCVkKX-whahxK_ZKSAMksvdlCvKGeLv86X57-_KRCxlXvSt9-hlGqjX54ByNEMEV4pY_phpxzGdSuJgG-auWCBpv4T5dMHHtoMEGoiOeyuemwT6vHt8IMJ6rBBA0Dtw6kuMlw6LQ78a6TKUUg0lk4ga5yU4Se99JHjpMPeyFQcxjDs2bGOdpbQzYJaYuv8dbY01_Qe0WApGZmU6hWDr5dpBoEtSJZ6Ywx0banC3p11ESyDQEeBaiSURcWoXzgTjbgZCBfkRrm_7aMJMDBe0onFTOupRPvD5fPDEvmqzp_tXMyBlZzpqwe_e_abjwATI3-ukkWbc4sAg70LmVy4FMbD7i9BmJYMnL7CrggnWlNT2OkepAUP7jfKtTu9BwEZ4uHMiKyCeAbmaRdLC8b4W-aTvM0lK1gJ-R4qm7PrNGgDEdlp7Sxn32A86uxaFvFDBQX6AXuCx_-1L8J9xg4M24KeQmZgO2X-G3QTMZn2HnVSuT0IakJp4_sIMLCafTA6JYUgXxfVWSUwbaQTg1u0GDnmddB_YZNaIDCgJHBB8BP7C3IVvaUcjAYeDnsk7uZ_7CSGFNrvHPpuWxWMKmGaKamdkWfJKWOhQ6BbsFnjdBdJLRF502GnCxUwv7A-bavgDLv_0vNULZooamSTV_JxVA7qSJcuHnPvMqehPxGEL4S5tsOm9RoTA6PIlKYshmLSapfcVh83W93WbkCbhjeMY3f61X79keJicPcq-8iX88b94EvTy5Qrsqkgs-CgJ3dpZ0gP8L0boHjQP_PUo4PT3X06bO7VQ5sqir5o6uCbkqAN3Nfodx72nHeP0CntgRrgf6yOGBkvC9L41gyE76EgqvyNqT67oN1QNC6HJD-MDy7Uip9a8zecriTEMniIVYmvJkuEOC37DBN6389Q7IP5hcIIk2EzCjLh3ZIdTMqAT3nijYYy4KMmlYI6Tx6P9C342CUlLO8W1huAATJJ4L6Oiw08svWEQQcMYtaNKUbAI-mZwz0DL0iT0zyhUzIxXSXgT1wcGFJxYlsx4IIn3Imp12Sh3fnpnxIqcxZndka7upeC1ySJSbYnAJ2i4NlSYjpkHxm0d6WhB68jxh6i0wWX6HHXE7tPEjaURcTDPzRr3y-LMjaJLTJDHcEUxdtEQ1_HY8Et-yk6xMZqiNsCbqd6Q3BOSoXcxM__0U9MuYro8Iu9To305thwxmkiATLoSQfUoO_5BvBTL0l-OXcCTosjWE95y-Pab7x9oxyyoX1PFCJvu3u6VCCligEUG2BdoffbpBriKMzUoERYzfs1bJJR2yVO33tUQaBnU2jxtvj1uHJbZ1aZzNhWgOTgoNaAmLdScbmnPKOquoLxtum02aKOYu4rHDwzC0LFs=",
  "id": "rs_040e5870d2e59baf016ab459c1b40087d0a20cbc41628afad2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.2,\"right_z\":0.15,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.293,\"left_y\":0,\"left_z\":0.18},\"note\":\"The yellow and pale objects are visibly inside the safe. The brown toy is lying outside, so I’m approaching its middle for a more secure pickup and deeper placement.\"}",
  "call_id": "call_7QJMcdPxskBJfTBmS0NGoReM",
  "id": "fc_040e5870d2e59baf016ab459c295d087d0b7012c1fa15c35a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7QJMcdPxskBJfTBmS0NGoReM",
  "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]: [-0.1051, 0.9512, 0.7712, -0.6605, -0.1539, -0.1616, 0.9958, 0.8135, 1.3991, 0.8055, -0.1547, 0.4355, 0.342, 0.9955]\nstate[eef_state]: left_x=0.2834 left_y=0.0009 left_z=0.16 left_yaw=0.1031 left_pitch=-0.2489 left_roll=0.0194 left_gripper=0.9958 right_x=0.3128 right_y=0.2277 right_z=0.1283 right_yaw=0.256 right_pitch=-0.0792 right_roll=-0.0144 right_gripper=0.9955\nstate[joint_eff]: [-0.6769, -1.7983, 9.6752, 1.6484, -0.2076, 0.0269, -0.0073, -0.0615, -5.5726, 9.5111, 1.7411, 0.3101, 0.1343, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc06b14395a9d598b33e367dc1e2a07b40c5f02797c487c7181335095760d787",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bef8e34ea58c72371aa168a6cdb34469323fa6c5415c5dd2a8e940bc7b04ab11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:375f197ba706f5c9ccd95aaf166e892db2661f0b8ea454eccd38d8bfeae4b24e",
      "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 111 changed as sent

message 118 changed as sent

message 122 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0967, 0.8471, 0.6533, -0.5705, -0.1535, -0.1432, 0.9958, 0.2379, 2.2059, 2.1708, -1.1419, -0.7696, -0.9993, 0.4489]\nstate[eef_state]: left_x=0.2755 left_y=0.004 left_z=0.1524 left_yaw=0.0976 left_pitch=-0.1745 left_roll=0.0168 left_gripper=0.9958 right_x=0.4552 right_y=0.2405 right_z=0.1942 right_yaw=1.4038 right_pitch=-0.14 right_roll=0.0349 right_gripper=0.4489\nstate[joint_eff]: [0.1299, -1.4974, 7.0222, 1.707, -0.0904, -0.0464, -0.0073, 0.3214, -15.1043, 7.6786, 1.0672, -0.4664, 0.1294, 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]: [-0.0971, 0.849, 0.6533, -0.5858, -0.1535, -0.1432, 0.9958, 0.2401, 2.233, 1.6939, -0.709, -0.7509, -0.9943, 0.995]\nstate[eef_state]: left_x=0.273 left_y=0.0042 left_z=0.1492 left_yaw=0.0979 left_pitch=-0.1913 left_roll=0.0201 left_gripper=0.9958 right_x=0.443 right_y=0.2363 right_z=0.0572 right_yaw=1.4063 right_pitch=-0.1842 right_roll=0.0977 right_gripper=0.995\nstate[joint_eff]: [-0.2256, -1.4427, 6.8444, 1.5311, -0.0952, -0.0611, -0.0073, -0.1709, -14.4342, 7.241, 0.7888, -0.4811, -0.0024, -0.2515]",
      "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]: [-0.1051, 0.9512, 0.7712, -0.6605, -0.1539, -0.1616, 0.9958, 0.8135, 1.3991, 0.8055, -0.1547, 0.4355, 0.342, 0.9955]\nstate[eef_state]: left_x=0.2834 left_y=0.0009 left_z=0.16 left_yaw=0.1031 left_pitch=-0.2489 left_roll=0.0194 left_gripper=0.9958 right_x=0.3128 right_y=0.2277 right_z=0.1283 right_yaw=0.256 right_pitch=-0.0792 right_roll=-0.0144 right_gripper=0.9955\nstate[joint_eff]: [-0.6769, -1.7983, 9.6752, 1.6484, -0.2076, 0.0269, -0.0073, -0.0615, -5.5726, 9.5111, 1.7411, 0.3101, 0.1343, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc06b14395a9d598b33e367dc1e2a07b40c5f02797c487c7181335095760d787",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bef8e34ea58c72371aa168a6cdb34469323fa6c5415c5dd2a8e940bc7b04ab11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:375f197ba706f5c9ccd95aaf166e892db2661f0b8ea454eccd38d8bfeae4b24e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFnJoPPqDTQ-xm9CWJs2nIqBQFJNJVz4T887xod-VOyyBgT_XjIRO-UcS0Fufxg5nx2-IdQszBJVYmlvdNp2wUkSU4wYScv6OuG-fwjcSe67DX1SvcBHQ8Mc1UF8sg6bVbuSoj57w2Q-kc1QS7niGmIqYIJkcrA5SohpVVXHR8dpOEFGGVKspfISQSoWZbn6qk5Z2ErIej4jTRlMuEa894izYpfCVACAK9HWnTciOBZFB-Eoxq0AdYT4zhFQjW_Sb22wAHTa9nbFH2B8w-wIDy9Cru_KLrkvBFfQXyyFraK4Gx5zU4lGyZR2uFqGA8UjLJ8LjchR3blImUKjk-FBVcjcF1nPtYa-I3cPua1m1N4ESUtr13c_D-xblB1lJQpvt5LUDpT5KxjzLnE27ql-ayjvh3e5ROXzo3gBaI7SmHs55zAa--pmtWd-rx8hKJQ37SFxMcQfC7qJzStfWZWcX8Am5guGuPc5Htf-CZnjlEudZ71fWzRI4KIawDgj_L4DwehMkp7CZK7hJyt07F5Qpu9i8VUjQCpni6TXlcPH-XrUwbuvBkWQY6F8N2O0Kk2AiuQ5dzP1889DF8QNK8VrOTUGCj-G1b36aq95D5_wq8lcWOuyx3W0GA6hjiz0cAcXcgRWqPb62fOVg1vuic6LKd9JLoKvhZbWDTU45KQB8Ija-GANaT4M9llBJeTvhpfqaDc0NoxC1n-IISsCNR9wh9U6yLv9Il4s71pWnA-vdqu01nFLVNWBaPqrKsEg2AM0u2QQiHFDk63kVcHAXvnarYcTwKmddH312mTYVHpbQqtOuSj2ZUBRPUZ0B6S_LSn1SSGEkmsv378xv9cXwyIiK0cu5iZe-KL0CjFPFBRxoWxeRcQdbkNJ_eujev8RuZHG2E0Uq21ZuslB-g_cARapnPmOQ4FR-WvicrNY-MdrnQVLdDrxJRLAi9r_toQTeTk76lF0MD6Q2Whl6nsunsY0tGjNYyczSGuaw5ofO2H0nXLXKMT4qIw0V7WgOERAvPf5xI_cnHz5ZP_BIl9xX0xITAGZ7j1qKx9LWICMZEKITk9vCJp8SMGwxHN_o00d301EEXGYlPLG2EGdYenPaXn1O7imLSbnSPxBV-BaYOgebhIivdj1a5AXVcCwwRN8wLEWOLrr8VNxHi8CAaSoSRu9nrSKSASntEf4drKwBLY3nkCK9A-VRel8mStznSTrVkV8LUEuOUwhFrere8L5TySSSM8_QJveVQKhwBzdUpSEkzJY0giFrslce7zIqgQmIimnHzlLzClG5Ap9kOXsLpqR_ZPm31SlACCpgagPfYhW14qXDtyJVTlUo_kdz2bUm06Hfdb0qwOSH0TmyVXbEUNQ2hncTiCz3VQB_4NY1_CutqAD1MtiJ_eQkriv5ctjVxgGDvL8N4t3VB4bj2fMguxciu9JgyqByre1f6fBr61gnyI3HlMFd2gSJC3lL36k83hITwh54xjmdBtw0dLpJpx4VdkN6GxRF6yQOfL59lHxEzZVE8fArIE0qx29UFDphVQboryod2ZqK66Rs5pymEr0iZX9Eg==",
  "id": "rs_040e5870d2e59baf016ab459c7439887d0b1273de775f17d48",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.145,\"right_z\":0.035,\"right_yaw\":0},\"note\":\"The brown toy’s body is to the right of the fingertips. I’m centering on the torso and lowering the jaws, rather than catching a dangling limb again.\"}",
  "call_id": "call_KCOdBaemhtLiadZxGjJgZRpI",
  "id": "fc_040e5870d2e59baf016ab459c8a16487d0903404408ad5def8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KCOdBaemhtLiadZxGjJgZRpI",
  "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]: [-0.1051, 0.9539, 0.7769, -0.6765, -0.1539, -0.1619, 0.9958, 0.6144, 1.5829, 0.5571, 0.178, 0.4572, 0.3733, 0.9955]\nstate[eef_state]: left_x=0.2815 left_y=0.0011 left_z=0.159 left_yaw=0.104 left_pitch=-0.2616 left_roll=0.022 left_gripper=0.9958 right_x=0.3312 right_y=0.1426 right_z=0.0263 right_yaw=0.0164 right_pitch=-0.1535 right_roll=-0.0582 right_gripper=0.9955\nstate[joint_eff]: [-0.3487, -2.2906, 6.5299, 1.6093, -0.1148, -0.0171, -0.0122, -0.1709, -5.9692, 5.641, 1.7509, 0.2613, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff3d75a1d1acc7d99ac2923ea47d2fbcb7cb451335788083017623c5ab601526",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:571667b89c6f0acc84a559cc151efe6386980700ced0853ccc43a34aa9a08981",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26dbc61660bce930e71f79049cae798a410453054f5a2992eaff833d5a49f3d4",
      "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 115 changed as sent

message 122 changed as sent

message 126 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0971, 0.849, 0.6533, -0.585, -0.1535, -0.1432, 0.9958, 0.2401, 2.2082, 1.7096, -0.7124, -0.7559, -0.9943, 0.4502]\nstate[eef_state]: left_x=0.2731 left_y=0.0041 left_z=0.1493 left_yaw=0.0978 left_pitch=-0.1906 left_roll=0.02 left_gripper=0.9958 right_x=0.4471 right_y=0.2379 right_z=0.0739 right_yaw=1.4023 right_pitch=-0.1653 right_roll=0.065 right_gripper=0.4502\nstate[joint_eff]: [-0.1709, -1.5932, 7.0632, 1.6923, -0.0855, -0.0659, -0.0073, -0.2256, -10.5915, 6.2838, 1.0281, -0.5299, -0.0904, 1.0134]\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]: [-0.1051, 0.9512, 0.7712, -0.6605, -0.1539, -0.1616, 0.9958, 0.8135, 1.3991, 0.8055, -0.1547, 0.4355, 0.342, 0.9955]\nstate[eef_state]: left_x=0.2834 left_y=0.0009 left_z=0.16 left_yaw=0.1031 left_pitch=-0.2489 left_roll=0.0194 left_gripper=0.9958 right_x=0.3128 right_y=0.2277 right_z=0.1283 right_yaw=0.256 right_pitch=-0.0792 right_roll=-0.0144 right_gripper=0.9955\nstate[joint_eff]: [-0.6769, -1.7983, 9.6752, 1.6484, -0.2076, 0.0269, -0.0073, -0.0615, -5.5726, 9.5111, 1.7411, 0.3101, 0.1343, 0.0366]",
      "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]: [-0.1051, 0.9539, 0.7769, -0.6765, -0.1539, -0.1619, 0.9958, 0.6144, 1.5829, 0.5571, 0.178, 0.4572, 0.3733, 0.9955]\nstate[eef_state]: left_x=0.2815 left_y=0.0011 left_z=0.159 left_yaw=0.104 left_pitch=-0.2616 left_roll=0.022 left_gripper=0.9958 right_x=0.3312 right_y=0.1426 right_z=0.0263 right_yaw=0.0164 right_pitch=-0.1535 right_roll=-0.0582 right_gripper=0.9955\nstate[joint_eff]: [-0.3487, -2.2906, 6.5299, 1.6093, -0.1148, -0.0171, -0.0122, -0.1709, -5.9692, 5.641, 1.7509, 0.2613, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff3d75a1d1acc7d99ac2923ea47d2fbcb7cb451335788083017623c5ab601526",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:571667b89c6f0acc84a559cc151efe6386980700ced0853ccc43a34aa9a08981",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26dbc61660bce930e71f79049cae798a410453054f5a2992eaff833d5a49f3d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFnNijIecaR5yx2stqAwwtmR5Kp4_pgW3r7o2hcolDgcWluXJgng240OgwDcu8JipZEjouQVUrgPuLH5CLp4DZyI8-ffYkVJrp3TYPPnpsKNxJGYgNhx3nAnvsAsSV0CiBTHzoDSlfMzHqdQthtHRRsdhW4ljWq5mw-aS31OUiLh2lMxBmEaKu-UC645-1PmwNVYKv4nMd47Gkz8zsjQL6pb6Xl8SRjmcjlcUixvOCbI6az2tB1k3bfVkkvHMTQNqA1_3Qvg_xG8fyxGsww0MgowX7T-_orPqZ6rq3_e95wkHj9o-68K5Ne70Ew_bvjd0ZLyz1WiF0ARLHniSsagsDLIQuIWpQMiEA9gdKN7hBiLsu5DI_ss45SLeSGHklO6lr7xjOGyziEmL0LLGwOEtr1Xbs3IiZLpPUbo1vAGTqtUcjoSA8_dSXg7LfvcXTqkGMHzLmaYGyoe6mGiIEQ4gMUyVVhT0eUUcXY_4xxXEufewkjiscY5UF-2EhQd86t9I5FL3dek53SScu06jECaV6MRv93-4Expz5JvRYoXQSRvCRSNiyt5gDNxpigdty6jetoYKNlSEgASl_YekgzaWWxUut6B5w1LYhyMmqoEdVPhmeXDCRwKd1pXgz5xiA5QSQpX88EmFTqFUj2l3m-sbPKDVKrl9kYGsUN9gDXaAfbcO7NBd-sKB9lTr9yUWuTPnu1lz9hucDOywbQJVoCD85NL7r8B8TCM2TY62Dv3-5aM7z2R2CEENL_FwvH6HqL_Tzn0ynnQuAY6JOVvlcDzmqO6lpwm6-CDEN5LI9BCHY8vQdXSX-zzvU9L9dzOT4WSncFm3ku8eprqeiXUuJ6Qewu88gmoG5O74j6ZAoHGFkXGEIze_zbO4bwAzcfLWeJ_OcOuQ-TfdDNVwbxiEPlrbil2v0XFO2wZIiYjPkATydK1o4bn0igJ0-_o6rYCurNuPwR8zSIEdEvEFyP6IARcc3orlLaFMv-0jTLHxP3_4eLiEpQG8ZQ25iohXoAkweS0hYh6y0h_94MtmTk97a8ksflnLRmlQmYf6aGK0wuSy0Tda_Qk2pPh1ZYDNOcmiUgo3zLXrm6r-ywTjwgoBldfJnx6kN2LeJqzGbvUl0v5aMhIDvebeB-LXEt5MFpvFJLWSVYpCoWRXiuuWyZN-YHRvxNyWOSGYnPYQoKBDUOqw9PLL73fewG-DXRu0e8gG_tXOKmZRELO7Dp5et0fl8EjJTUImZKEDH_TCUvJ8lNXLkxgsJUtpPqsyVmZBsHRzNhG45ISkw2jSf3CLajWFPWcspKonA==",
  "id": "rs_040e5870d2e59baf016ab459cc079487d096e634da803bf7a5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown toy’s torso fills the gap between the fingertips. I’m closing around its middle to keep the limbs from hanging outside during placement.\"}",
  "call_id": "call_6svTU4CCmj3SEBzu2QL3zo79",
  "id": "fc_040e5870d2e59baf016ab459cc402487d087199e9ac7033d1d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6svTU4CCmj3SEBzu2QL3zo79",
  "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]: [-0.1051, 0.9539, 0.7769, -0.6899, -0.1535, -0.1658, 0.9958, 0.6102, 1.5951, 0.5449, 0.1799, 0.4507, 0.3676, 0.033]\nstate[eef_state]: left_x=0.2791 left_y=0.0013 left_z=0.1569 left_yaw=0.1066 left_pitch=-0.2747 left_roll=0.0219 left_gripper=0.9958 right_x=0.3273 right_y=0.1393 right_z=0.0182 right_yaw=0.0182 right_pitch=-0.1751 right_roll=-0.0711 right_gripper=0.033\nstate[joint_eff]: [-0.1162, -2.1265, 6.7487, 1.5849, -0.1197, -0.0366, -0.0171, 0.2393, -7.0085, 6.1197, 1.37, 0.2076, 0.1148, 1.199]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f95eb0a57a8f496ca9e263f7409fdaaf013236bf9df31d9c8c8af5dbc57eaf1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b00b9a798bd2053cb92c6de351ecdeac7c27a130cc92c1ebba0df8cbed48f513",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8157a5eeacf0b9841a30fc9e4fb09b575a5ad61441a147687593d7e08558288c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0971, 0.849, 0.6533, -0.5858, -0.1535, -0.1432, 0.9958, 0.2401, 2.233, 1.6939, -0.709, -0.7509, -0.9943, 0.995]\nstate[eef_state]: left_x=0.273 left_y=0.0042 left_z=0.1492 left_yaw=0.0979 left_pitch=-0.1913 left_roll=0.0201 left_gripper=0.9958 right_x=0.443 right_y=0.2363 right_z=0.0572 right_yaw=1.4063 right_pitch=-0.1842 right_roll=0.0977 right_gripper=0.995\nstate[joint_eff]: [-0.2256, -1.4427, 6.8444, 1.5311, -0.0952, -0.0611, -0.0073, -0.1709, -14.4342, 7.241, 0.7888, -0.4811, -0.0024, -0.2515]",
      "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]: [-0.1051, 0.9539, 0.7769, -0.6765, -0.1539, -0.1619, 0.9958, 0.6144, 1.5829, 0.5571, 0.178, 0.4572, 0.3733, 0.9955]\nstate[eef_state]: left_x=0.2815 left_y=0.0011 left_z=0.159 left_yaw=0.104 left_pitch=-0.2616 left_roll=0.022 left_gripper=0.9958 right_x=0.3312 right_y=0.1426 right_z=0.0263 right_yaw=0.0164 right_pitch=-0.1535 right_roll=-0.0582 right_gripper=0.9955\nstate[joint_eff]: [-0.3487, -2.2906, 6.5299, 1.6093, -0.1148, -0.0171, -0.0122, -0.1709, -5.9692, 5.641, 1.7509, 0.2613, 0.0073, -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]: [-0.1051, 0.9539, 0.7769, -0.6899, -0.1535, -0.1658, 0.9958, 0.6102, 1.5951, 0.5449, 0.1799, 0.4507, 0.3676, 0.033]\nstate[eef_state]: left_x=0.2791 left_y=0.0013 left_z=0.1569 left_yaw=0.1066 left_pitch=-0.2747 left_roll=0.0219 left_gripper=0.9958 right_x=0.3273 right_y=0.1393 right_z=0.0182 right_yaw=0.0182 right_pitch=-0.1751 right_roll=-0.0711 right_gripper=0.033\nstate[joint_eff]: [-0.1162, -2.1265, 6.7487, 1.5849, -0.1197, -0.0366, -0.0171, 0.2393, -7.0085, 6.1197, 1.37, 0.2076, 0.1148, 1.199]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f95eb0a57a8f496ca9e263f7409fdaaf013236bf9df31d9c8c8af5dbc57eaf1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b00b9a798bd2053cb92c6de351ecdeac7c27a130cc92c1ebba0df8cbed48f513",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8157a5eeacf0b9841a30fc9e4fb09b575a5ad61441a147687593d7e08558288c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFnT0_whns-bxc8UvL1zT__hArSRs4LSOPLUFuBygEblNcY_4tQjCcQdaON8BrqVR8ZodtZm4yBRZ6VoUC8yc7kA1lkM3NUPfaFMlxA5N9mgMj74OWtJ1bS7pQQu4DqOkJIouGz3xGibblUJZxFyFaujzeDJSnmEvYJ5NSTvWpyRCcQz1sgUkpx-oKPvGxOw2qx7oatuXhYs_KiMU4mxHXrcxJ89GwPzi4aV6XvIifCC-i1fxAvyPFUY-ChZe1dKwAhc710NpXdHLKUQHzro1ymDMLrMYLHnBx43-AxOUm8ov-Qlihg6RajVIn2mawRkft0Q46KcPz1fBioSnGCvdemdb7mgzBfh0ciW8673i9-JrDzV2GwB3Z5XvrssL0pePHfGxkAPwrrQbG-cyredxajIoEJLVxxTfbKjoZGYlsFzYAq8mPyRA_qOt18Nx2jD838Xo59NSIFoZsssWukXrHT_nyVINNuqbZDbkozaPaC_rELR-XqkSaFx68qRixcFyKzAMCqHRbtu3Nl6omidyIwB4945v2kfgMSACffz2A5JC_NIf3YYKP6nf7FDEmxchhkD5bOwyt70gEHaMwIyo4eTGBzBA5C316QLBHmki-Qsu2SUVmumYc3q47UekyVwxuMfylYzJNVyWwqzXZrPoj0rOeJvhnuctVGbAQKPNioZgKalrg0WLVr3SQOGCOeVmpi-f425WRMvvpUNlzeMUJ9tENNHUT8iM93ww5JnnX09IlwDnpcXGxCCkW0Mw9xM6XXdKqxlIBHbiTzUehqI0YNgOpOlYUuyJaGnMSUfVx-xLTExXPRW62HEsF98acaZ5qr6FqA4mDhZenD0VVYPfI-hAX51hrqapVsSIYJ8Z1b6IsZjQSDhbZpGpQWguRNqMVsHCuE7IK5nIEZZiDimxOIc5uUBR2RkPn0bvQwmGman3z1GiByhXlpkxCl4PhFjyWwZxF9evZHWC_bjh_CiNC36zqY4jC8QydhG0AgjRrt7rXv-83ju0tyjs7cRgypUH_DSeRh48zRCDf1dgCyZWc3EZvYH_QDZJUiZgXFcj7Rz5xCpgzIzXxEoycP735abMdAZVOVOheQ7r0Sd9a5RgTIW_TkLM1_O-GBaFcbH36zbsmiZC8JUf5Uc-WBd8SK5SiMBVB_VQZZoGEuFxLvjr6DUo917UmOfPfFR3IxA6n--whkvjPDXzVcex1cN42jfuMo5_9wqUEWu2KoB2aPY2R-nhf6wDmmCklwvkuXo2JUV4tGvutUtY7XrqTXukXtGl8ewZ-nm_RvDGqJuI5_13lWkLO7qnX-FKuosKBYfG8ZKvGqzEhxZ37tNiF0IkhPMS8zjqLSTElZWsz1fqC_S7qAgFT5J4Wm4TNhlvNCsxrDCi07Oc8Pf35ySr4gAr56kfjbxmxieMwGRbxPQV4flNGliqRG7iezfxgW__cwudyGnYJwqJaWzgf5dODt9TSn0VIEHWMSzU-ulS_jEwj6i5M6pWbrIezaaJQkUpjBdloS3VbNgrj9cl0JL5onubsdOLHIgHl0UKm_E41ncBn8DLfE_V2NJ_EcaARpZ7r2IPYpaduqJ4epT222BX1Vg83rpic9MShMwYniFvYVLXWvFK5VqnNFc7djrQiTsyxVJm5QwvqJ_44YV03FTgDT8E7DXQRlZUtCBndUFcwyjdfBkFQeukvAKIzpaUsV0n7j77n6i8OExug-sJwZHxgmPpklnqsoVmpO2OdPuZIbJGhVjHUwVMQM-u89dlgP82976DIkQgoDP5fHGLTeL3Q3GxKpI-jq1tOKauFVYySA6lUPeFtnOl2bSKf7lsRoQio0EK4evc6VSrkyoPRKTX75VCipSWdNUN5PNjs7-W-6jnwpkUhqquGx_nHOhCewy-w2Ca6sh3v92MhmiW7Mz7JrFuHORpnw5D6TXfmnU4N238XEnbJUbjkS4Ag1ERGOgBd0nHAhuICT_p2-PHbNTTr1004zTytVzz0Bi9pIPryQNpzEQFjqMoSUn8URd8FrI7wOVTNeiccB_8Du0cOvXhE_ZdcOkN5C97I7yBvBmUBtqBhnSTzeIfwLcX8ZANBjDQ3U4DX3VVMCw4-CYPSiNp3o8rzM9_P4XKFSeDy9IKbuQ7kw7bjbU5avAt_h_XII6GU0tfiBIzbjtHgV-wqM3z_z6Cy2TZGLnPJm4tZAzTlWLcfxOYqQ48TMSjwroV1aa5XPXQvldWHcQKwkP1ff8TB7Zv8NYEXW_OH8871LDnzhiRQn9Ro-pyLyTxjnZDb2m6o3B9NzUGeCB3Kh_FLahtf7rzs29l82Sm2OkT_B5MQiEhnVj64miygFj0BZl3y4wRfJJYAAhxYx-cegZ5ka26-ZzwzJpMBCeFnpf30M92AwIb20LDUsPDqb0qydTRMRkYpB2HpFKIek=",
  "id": "rs_040e5870d2e59baf016ab459cf7b9087d0a5afefc50d4f53c7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.145,\"right_z\":0.035,\"right_gripper\":1},\"note\":\"The gripper nearly closed empty, so it was still behind the body. I’m reopening and advancing onto the thicker torso visible in the close-up.\"}",
  "call_id": "call_qp0mIMcA1Wnvlp4vw0IOmxCA",
  "id": "fc_040e5870d2e59baf016ab459d2a1b487d0aa4b803b4a3d2624",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qp0mIMcA1Wnvlp4vw0IOmxCA",
  "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]: [-0.1051, 0.9592, 0.7769, -0.6975, -0.1535, -0.1658, 0.9958, 0.4881, 1.7664, 0.7982, 0.0624, 0.3683, 0.2653, 0.9946]\nstate[eef_state]: left_x=0.2779 left_y=0.0015 left_z=0.1543 left_yaw=0.1074 left_pitch=-0.2874 left_roll=0.0248 left_gripper=0.9958 right_x=0.3855 right_y=0.1367 right_z=0.0184 right_yaw=0.0136 right_pitch=-0.243 right_roll=-0.1065 right_gripper=0.9946\nstate[joint_eff]: [-0.3077, -2.3726, 6.7214, 1.4579, -0.1392, -0.0269, -0.0122, -0.4581, -7.0496, 7.8564, 1.873, 0.2076, 0.1148, -0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e272b2de621fe1527803f3c5bee48b3f6571ceb047fad425396670c4fa69e608",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acea62b88d087942da89683b33ef955ef2a006374bc703c4d64b122c593700b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e97ab0e057dc051ced4ae3d3d0bc2613809dc07cd9c853b0ff9046bf460b8e68",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1051, 0.9512, 0.7712, -0.6605, -0.1539, -0.1616, 0.9958, 0.8135, 1.3991, 0.8055, -0.1547, 0.4355, 0.342, 0.9955]\nstate[eef_state]: left_x=0.2834 left_y=0.0009 left_z=0.16 left_yaw=0.1031 left_pitch=-0.2489 left_roll=0.0194 left_gripper=0.9958 right_x=0.3128 right_y=0.2277 right_z=0.1283 right_yaw=0.256 right_pitch=-0.0792 right_roll=-0.0144 right_gripper=0.9955\nstate[joint_eff]: [-0.6769, -1.7983, 9.6752, 1.6484, -0.2076, 0.0269, -0.0073, -0.0615, -5.5726, 9.5111, 1.7411, 0.3101, 0.1343, 0.0366]",
      "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]: [-0.1051, 0.9539, 0.7769, -0.6899, -0.1535, -0.1658, 0.9958, 0.6102, 1.5951, 0.5449, 0.1799, 0.4507, 0.3676, 0.033]\nstate[eef_state]: left_x=0.2791 left_y=0.0013 left_z=0.1569 left_yaw=0.1066 left_pitch=-0.2747 left_roll=0.0219 left_gripper=0.9958 right_x=0.3273 right_y=0.1393 right_z=0.0182 right_yaw=0.0182 right_pitch=-0.1751 right_roll=-0.0711 right_gripper=0.033\nstate[joint_eff]: [-0.1162, -2.1265, 6.7487, 1.5849, -0.1197, -0.0366, -0.0171, 0.2393, -7.0085, 6.1197, 1.37, 0.2076, 0.1148, 1.199]\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]: [-0.1051, 0.9592, 0.7769, -0.6975, -0.1535, -0.1658, 0.9958, 0.4881, 1.7664, 0.7982, 0.0624, 0.3683, 0.2653, 0.9946]\nstate[eef_state]: left_x=0.2779 left_y=0.0015 left_z=0.1543 left_yaw=0.1074 left_pitch=-0.2874 left_roll=0.0248 left_gripper=0.9958 right_x=0.3855 right_y=0.1367 right_z=0.0184 right_yaw=0.0136 right_pitch=-0.243 right_roll=-0.1065 right_gripper=0.9946\nstate[joint_eff]: [-0.3077, -2.3726, 6.7214, 1.4579, -0.1392, -0.0269, -0.0122, -0.4581, -7.0496, 7.8564, 1.873, 0.2076, 0.1148, -0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e272b2de621fe1527803f3c5bee48b3f6571ceb047fad425396670c4fa69e608",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acea62b88d087942da89683b33ef955ef2a006374bc703c4d64b122c593700b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e97ab0e057dc051ced4ae3d3d0bc2613809dc07cd9c853b0ff9046bf460b8e68",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFnXuB4dPFIcjoT1kpoHmWU2Els-zGz8aO5tKWzTQK1jEKpGPMPTUTqjG4-6rwI33GYE0QND_Y47W4F8hezkaPAH-wJQqyMIM6j7V2go5WmXkC2Z7188kGQtek8HSfMYEjmHxxxdGP-4Z-ysxDx9wX21sHkTjN2s6v84zEiVxBLFMk91u9nDrgAPiTmvZsnLh2s5h8F58rb4FXOxQJIMaJZWoDvO4P2Z6fBbzube4P3vte4bMRK2B38ujgWBnHdwkdEySV8Z_dAjLkw3pFHRgxLWjwv4V_jjhpRinQckQ2b9y1RN8QWQWuGLZfcBbLf9AYN7vzT4ehslfQZNZBhkyIJmp1Z00HeqZ5z15KUzKPI2eDSX-UmrUC743dB_JSdPS-ZfzumOPa2hj1IiHeUIGmOm7OECOfJuVBdERHZeiYvZGu62PI7WK-XzgrXRljV_-TLbLvWu03G2kw_7fFVVm0ds7L2KavQmHlwIrV_MMe111n61xRKJAPSoKQMqDTWLuM4O8EFqQGejmhpfhdfNdKPhtdshYUe5uHkmBnU2GzGEmbJP2usDtGEjfP4C4xgk69rogoh3m9da1XPP7KsB23uY4C5nC1js4yecmDSRU-MNRx0E-Cn91AN4l9NVMj1EfGl8kdymKGSs9OAvl6R_cf59gZFU6TDxdEXVnKRiFW6zBAWaO-jC1_vfg7EIOE5dfS0cFY_c0NYdu145hRzecioHA0geBep5xk7CAX32VLA7j6-Y6joWRWMpZNXQd6m8E9JHwCgOfHH5rsn9aNewgEmUNd9nQIF8Np0htIFR1NfS-qGojrICQ4TXacqdDncWvi4hMrhXHe9Lq4HUZbhJEOQAE1xtOym7XpUJPuBkCUeh1ytAeM7h9Bg3sStAsRoE7iH4s1ncyudyTHLpjBhXc9AREf9ZQnauL5sOSYlljuBfRb9fcQosr0aqyiT0g4E7A9bchtl89rJBRMszsvFAxxPvYkkENCblCSIAS7OjS0uQBzK7NqyiUKXojCbdI6jNyXOFWVqs8cNYwGuXkUMBAjUttoNfhCAKYjYqR0K3AKTho7-HUI9IdzzeqPK1qCgsUsL_8eGkQd1G3VsdfZJ9mOydOmcq5JsjvTlC0lanPkmlJpYrbCyr4bncKwJUY21J1P8dzQNgQj3tSibNLnLUZ410GzYgcrnZqpcqBd-xLgOm6flyfo1Kw7RZ52xc0w1uGj3gNJCYyAhWP1bV3q4iP3XYqmWbPUpg-rnhIZR9kooTuGj9NuYH5YuRRFlTCktC8IucIVsUonWoDxUDiekVSFMJNstqzUaHYm0kN4cxsDrsE7s=",
  "id": "rs_040e5870d2e59baf016ab459d5bd9887d0a718e35f342009aa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips now straddle the brown toy’s body rather than empty space behind it. I’m closing for the corrected grasp.\"}",
  "call_id": "call_Epq79BuuNOd2EjLjArK7UWiv",
  "id": "fc_040e5870d2e59baf016ab459d6458c87d0852636979798f3dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Epq79BuuNOd2EjLjArK7UWiv",
  "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]: [-0.1043, 0.9604, 0.7769, -0.7052, -0.1535, -0.1661, 0.9958, 0.4885, 1.771, 0.8021, 0.0383, 0.3687, 0.2623, 0.0448]\nstate[eef_state]: left_x=0.2765 left_y=0.0018 left_z=0.1528 left_yaw=0.1089 left_pitch=-0.2959 left_roll=0.0265 left_gripper=0.9958 right_x=0.3823 right_y=0.1351 right_z=0.0145 right_yaw=0.0124 right_pitch=-0.2651 right_roll=-0.1206 right_gripper=0.0448\nstate[joint_eff]: [-0.2256, -2.2222, 6.735, 1.4921, -0.105, -0.0269, -0.0073, -0.294, -8.2256, 5.1761, 1.5311, 0.1441, -0.0269, 0.8816]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74817c10c28e338a1d8dd36c447ba961341b9cd8588b69ec25be090e50442297",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fd2223c3da158dd01d4b5db35915eeb51dee661c77b1894f5b291bceca56a0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9de3be94049831c825cca1d12c334699fdb9e5d5bdad3328fd24e420d5ab0d1c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1051, 0.9539, 0.7769, -0.6765, -0.1539, -0.1619, 0.9958, 0.6144, 1.5829, 0.5571, 0.178, 0.4572, 0.3733, 0.9955]\nstate[eef_state]: left_x=0.2815 left_y=0.0011 left_z=0.159 left_yaw=0.104 left_pitch=-0.2616 left_roll=0.022 left_gripper=0.9958 right_x=0.3312 right_y=0.1426 right_z=0.0263 right_yaw=0.0164 right_pitch=-0.1535 right_roll=-0.0582 right_gripper=0.9955\nstate[joint_eff]: [-0.3487, -2.2906, 6.5299, 1.6093, -0.1148, -0.0171, -0.0122, -0.1709, -5.9692, 5.641, 1.7509, 0.2613, 0.0073, -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]: [-0.1051, 0.9592, 0.7769, -0.6975, -0.1535, -0.1658, 0.9958, 0.4881, 1.7664, 0.7982, 0.0624, 0.3683, 0.2653, 0.9946]\nstate[eef_state]: left_x=0.2779 left_y=0.0015 left_z=0.1543 left_yaw=0.1074 left_pitch=-0.2874 left_roll=0.0248 left_gripper=0.9958 right_x=0.3855 right_y=0.1367 right_z=0.0184 right_yaw=0.0136 right_pitch=-0.243 right_roll=-0.1065 right_gripper=0.9946\nstate[joint_eff]: [-0.3077, -2.3726, 6.7214, 1.4579, -0.1392, -0.0269, -0.0122, -0.4581, -7.0496, 7.8564, 1.873, 0.2076, 0.1148, -0.0855]\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]: [-0.1043, 0.9604, 0.7769, -0.7052, -0.1535, -0.1661, 0.9958, 0.4885, 1.771, 0.8021, 0.0383, 0.3687, 0.2623, 0.0448]\nstate[eef_state]: left_x=0.2765 left_y=0.0018 left_z=0.1528 left_yaw=0.1089 left_pitch=-0.2959 left_roll=0.0265 left_gripper=0.9958 right_x=0.3823 right_y=0.1351 right_z=0.0145 right_yaw=0.0124 right_pitch=-0.2651 right_roll=-0.1206 right_gripper=0.0448\nstate[joint_eff]: [-0.2256, -2.2222, 6.735, 1.4921, -0.105, -0.0269, -0.0073, -0.294, -8.2256, 5.1761, 1.5311, 0.1441, -0.0269, 0.8816]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74817c10c28e338a1d8dd36c447ba961341b9cd8588b69ec25be090e50442297",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fd2223c3da158dd01d4b5db35915eeb51dee661c77b1894f5b291bceca56a0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9de3be94049831c825cca1d12c334699fdb9e5d5bdad3328fd24e420d5ab0d1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFnb60NS6AXKcn3DDkOMOnUbanug_Yk9lh3hz40w7fNRlU07n3N3AgzK605_p-sN5fW6B_dCDbWZ8EHNIkFpLoZMsZd6HppAupLuUAQUpA3FJj5Xw63rN2fnoM8WjnKQD1Hx9PLaaZGy7IbcuFTuHLp_58BKjbePSioCZ8Jr1g9dBsDy18uO-FpZd1Lh-FM0A8is8cWISz6nc3J_EBw0Ei8VS9sAQwb51Kfywl6BJyuyb87Cr9qyUvXSSpyN4j179bUHJr483CIoeNNdMlZCY4Yri59RmIARV2QgszviqrjvESIpDWsbY_XTaZ2Wk_IwcBwfGrdW4doktsfD8OEEFlT1QvrqqoRDQmxKzeNz6Lgp3OcWQBzvDXEWf47V9RQeuVztkd7803LLMyEMmRh4GOguRkb_seLaMC8_5b4TzuzaqrqjDL_yZ-Dobh9d58X6GZZQpzaQAHbYa1zLKks9T0sDNVJr3yIKtMW6Ms1sq-pE8N6Atr14NDJFrM6LXwv2EjbJgH4Uffbh1nSB3HnEU8pj70efVnFUi0mLv4DagYcUOLHam57XtCFEu1cE-e48YMjLLtdTQhu5rgD4XdEKPr_0y0oM43nokuQINPw6Avb3W8guKB9CbplJWUuwq2QRPC4UR1BSlMBInDO6CFMfP2bvo3fTICettdiV4qr3DHZmRYfIXZ78b9kDi3MBnmeXvQa17Ss2ZSwk4QkOh2YktraEZF0N0EpN43Y8PA-DKtrS8Ak9YCdilFJtmeKIdmAyiIXXFKzoOhYnsrc4ByGYReRnBaI3RY0B8OqDS2MCxKEbJNGUv7dRSi_AdkHb2wekd16QAo2rDskcNUHsn82rT4oyT4Si2HPe8TgVJe4fDGVsZX21zydiEc1EtVZXofKTQRwlR4H1Lx00lzh2zG-mfMgqXLYe_3uOKOZaw-BYpe5p6OfpTrgy5bcj5WYR0OsIIrDk1gc_rCdgY5J38FJX7FMG19pgwMcBXBrlm9kR94ATPBl13cM3aqn7hLN7hOo9SkV16Vw1LKoUY4lBRDhZ5oMIKz1URXyvozlN3pDdqCis-PwVroCVRYOct3PIVXVuiaOls852B47Ednpx5CXSFCh8PvgAv5A1IJG1FyTrOLLYCN90rTg8RHPqUJq3R74qdyB_X3O_cfL_wjtDsbWDnC2lHyyHbGzN79QGpAMtPY-P3ZYhiJdxlykq0sZ_8rNI8Pb53mWQawK0sC6oEBfXPrFfILVr-rCLz1VWSQmg7ub6sfc=",
  "id": "rs_040e5870d2e59baf016ab459d9965887d09c3fe5cc675048be",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.29,\"right_z\":0.23,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The brown toy has drawn into the jaws and the opening is just above the empty-grasp range. I’m lifting it upward and inward over the safe, watching whether the body follows.\"}",
  "call_id": "call_TPX9lzdJ7apMYdnXdrBS8Ew9",
  "id": "fc_040e5870d2e59baf016ab459d9fc5887d0a8b40f4cbe6d2c81",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TPX9lzdJ7apMYdnXdrBS8Ew9",
  "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]: [-0.1043, 0.9611, 0.7769, -0.7197, -0.1535, -0.1661, 0.9958, 0.7326, 1.9499, 1.7344, -0.5522, 0.5465, 0.4122, 0.0475]\nstate[eef_state]: left_x=0.2737 left_y=0.0021 left_z=0.1504 left_yaw=0.1099 left_pitch=-0.3108 left_roll=0.0299 left_gripper=0.9958 right_x=0.4522 right_y=0.2882 right_z=0.2101 right_yaw=0.0508 right_pitch=-0.0499 right_roll=-0.0319 right_gripper=0.0475\nstate[joint_eff]: [-0.2256, -2.1675, 6.7077, 1.5018, -0.0806, -0.0562, -0.0171, 0.0752, -10.6188, 8.4855, 1.6386, 0.3883, 0.2466, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc0967269ea00751a94a6e2b2b278553a5fa7d9bb0a0fbc0bb7f3f78189f4ac4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30e9fa36d7b819c8aec2df19bf39bdfd968e59d44638dfd11ff4d198c613e988",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ec002621e6e8617adf008e5fe5002be8a02858adea7fc2fb4bb766d08d22752",
      "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 130 changed as sent

message 138 changed as sent

message 142 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1051, 0.9539, 0.7769, -0.6899, -0.1535, -0.1658, 0.9958, 0.6102, 1.5951, 0.5449, 0.1799, 0.4507, 0.3676, 0.033]\nstate[eef_state]: left_x=0.2791 left_y=0.0013 left_z=0.1569 left_yaw=0.1066 left_pitch=-0.2747 left_roll=0.0219 left_gripper=0.9958 right_x=0.3273 right_y=0.1393 right_z=0.0182 right_yaw=0.0182 right_pitch=-0.1751 right_roll=-0.0711 right_gripper=0.033\nstate[joint_eff]: [-0.1162, -2.1265, 6.7487, 1.5849, -0.1197, -0.0366, -0.0171, 0.2393, -7.0085, 6.1197, 1.37, 0.2076, 0.1148, 1.199]\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]: [-0.1043, 0.9604, 0.7769, -0.7052, -0.1535, -0.1661, 0.9958, 0.4885, 1.771, 0.8021, 0.0383, 0.3687, 0.2623, 0.0448]\nstate[eef_state]: left_x=0.2765 left_y=0.0018 left_z=0.1528 left_yaw=0.1089 left_pitch=-0.2959 left_roll=0.0265 left_gripper=0.9958 right_x=0.3823 right_y=0.1351 right_z=0.0145 right_yaw=0.0124 right_pitch=-0.2651 right_roll=-0.1206 right_gripper=0.0448\nstate[joint_eff]: [-0.2256, -2.2222, 6.735, 1.4921, -0.105, -0.0269, -0.0073, -0.294, -8.2256, 5.1761, 1.5311, 0.1441, -0.0269, 0.8816]\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]: [-0.1043, 0.9611, 0.7769, -0.7197, -0.1535, -0.1661, 0.9958, 0.7326, 1.9499, 1.7344, -0.5522, 0.5465, 0.4122, 0.0475]\nstate[eef_state]: left_x=0.2737 left_y=0.0021 left_z=0.1504 left_yaw=0.1099 left_pitch=-0.3108 left_roll=0.0299 left_gripper=0.9958 right_x=0.4522 right_y=0.2882 right_z=0.2101 right_yaw=0.0508 right_pitch=-0.0499 right_roll=-0.0319 right_gripper=0.0475\nstate[joint_eff]: [-0.2256, -2.1675, 6.7077, 1.5018, -0.0806, -0.0562, -0.0171, 0.0752, -10.6188, 8.4855, 1.6386, 0.3883, 0.2466, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc0967269ea00751a94a6e2b2b278553a5fa7d9bb0a0fbc0bb7f3f78189f4ac4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30e9fa36d7b819c8aec2df19bf39bdfd968e59d44638dfd11ff4d198c613e988",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ec002621e6e8617adf008e5fe5002be8a02858adea7fc2fb4bb766d08d22752",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFniiz7E4tQJaXxQgvP3J1u5ibtQN9enEcGLYKRqN3IQBsP95MiD8dVOn63bdw4qLSuBcGJqeuNMGQ9y23AjdjoLx17grE87UHnWCSt0weUpGZmzXIASgDLB6ReOvo0dUL_kUc4Vq3E0LC6efvbavW7BV3pxwDao3DqekeX5Wy4rjq1SehnTXXSyLP7n8j5wBMDekT1dqoDAnEEpFE4RdrgagS7l-wnf_ev9fkzJugbM8nYGFT0RsatGkB0-o_ae8IaTteCN5Kf1JKVyaYw9y8oJPPC27AgA83SsDCBa4vG3DR0EGYlfWuv88SmX_ONF35y2K0z2x_OL6AEmYVsMCpj6mE9JRAlBJ9joZrymg0-2dm34K1WGQ6K5TZT5f7IxuOZqT-M_GtAVTOfZB2m1bta9xnD4SmvzifhFH4Mp9sNzW_SxOoR17MybxkQ78V2W9oOFd0zgb8gAUvVHZPJm1gcHleGYaq11z6f0-YJWue-xQnVVZykOSBw4UAkVr3LhCZCSpwAA6YZ4L3FjzG0XVVa9wQVUirvlmTMXfCIAAx9oCB9zN_9QVxiJP_19q3p1I5_ghGPJTaze3VMgQ2eMl-1bl5wpAovmUUiAlMc-gtHsiUEBwqi0vfNnRwyhjI8oBmQDRDqoTLWtmZEJpRM6gLWJ2AMpKJpWPDQQp_NlLDSvQbrzecKXw1lHoHfVIXB_M_BvF28PoQkeC8oBR9ZhC8w7rh685F3hbwRHRZA29s2pZqCwc3a72tkArtbx-SKvsaAlHUYTz6x9aplY_fYbGymDljTCyLi1ylTtyu8gPm80BFBl1YL2Hv9zrXaaTxt4taNsatqEwAca4wNv7R2MiqBh_zFM4h8oPQaj0eF4PaOr7-PtxHSOvVBSf9BxwcAfjqDm61MgeChlS7nPJnLOohzM6ajTOlRAQ0RjYtf5LZl-MwdD_KmuN8BTpoXtTkZYzvT88p-mqxpIvi25beK56Y0LeI1Pl5k9lkIp1wRQbimjq2f_xw4Jr7y8cVCTVVBkPqyWNcQxi-yS2XVAPFwRnA3185Cn_JJtjhEPpenfTCuhXeCIrc4GLYafMpoFZ5S1BmbSB8l2O4m9dL7JfO_NtMZW2Hzq6ojvA3SI0GhSIvwSwE_OiCbIxqt2hk-wKB9VvoZIuFAz_QnRyR4n0ap9pdFVDHBPArQbLil-I6Y0LRD0vEOSGxTgVSbH7mECHqmdjtPW64knTd-MzRpp-TZB9iQSuPTpWwEMbi_FF0TsRbz_jbE4bnBCrFRKwEhQGckvgPQO8uk_U3YFAUX1ujAvVDVRHFCzhWLMQd9xBYydRDhXPn0t3zBIlVPfMIdW110lCSFMc_Ug5MZdHHgwc7vzQ_vwdwWo-z2CeKroCDb3LKmvmTXg8uP78FFKPQ5j7HTbjnv7IxjLEkoE4bjC6VFvXuFAT4dbQ7hAE3R0Njs0h0x5gIiYlUBJeaKdFzGCrYrU1JMsfHfTZ9MVBWNKrCITscWdAzpdlaY3SZMM7roPDB0w3WHK-apzUh8Va5IIQ3_6or6sMRhv6nKcfjvP_1CDZkSe_iLjZ0iRlqy_9a75biIRBF-0whOwCVm2_qrzyDM7ATDPOFP8omBSD77onXq9OyWLd1r03oVhwvWTBfiIjdkYQOKKB7NVQemqf2v_leUJB-ifPP2AFHDJqWNnZkhPpWxCzSwQJNgA9Chk1NDIHzyrlTjbuLptt1kByC-OtyU24s6WDNe0RVln4BgBhJWL288pzmsOZeS3PD8vIxG97kWthvt0MtGUiFSfwzZzIKfwU4v3-xbcc6R_jtjzKSTfYvUNzReTwfd4-jnKv2bONqfbKSwuQC0SttXWTZCoHK9I-zUP",
  "id": "rs_040e5870d2e59baf016ab459df395887d0b77c8f6cbe191f1e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.275,\"right_z\":0.08,\"right_gripper\":1},\"note\":\"The brown toy lifted successfully and is now over the safe’s center. I’m lowering and releasing it well inside the rim, alongside the other two objects.\"}",
  "call_id": "call_E9bYp2bOFpaUg1ZhZQcHgYaM",
  "id": "fc_040e5870d2e59baf016ab459e1660087d08294c512071365be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_E9bYp2bOFpaUg1ZhZQcHgYaM",
  "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]: [-0.1043, 0.9611, 0.7769, -0.7238, -0.1535, -0.1661, 0.9958, 0.6704, 2.0796, 1.4235, -0.1379, 0.4976, 0.3637, 0.9947]\nstate[eef_state]: left_x=0.2729 left_y=0.0022 left_z=0.1498 left_yaw=0.1102 left_pitch=-0.3149 left_roll=0.0308 left_gripper=0.9958 right_x=0.4712 right_y=0.2706 right_z=0.0801 right_yaw=0.051 right_pitch=-0.0928 right_roll=-0.059 right_gripper=0.9947\nstate[joint_eff]: [-0.0342, -1.8667, 6.6803, 1.3993, -0.1392, -0.0415, -0.0073, -0.335, -10.4684, 6.4889, 1.619, 0.2711, 0.0317, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a6da4f15bb3040b9ee58050147b478560a6420950d24226f9b2c1f10d48c9ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4578a4875f238e6fa2ea0fd0dbc73111de99ee35de1b90d8a6b4a31d40b7e2b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:065befb0edb55a9875654ffa2f6e659c00c0315e762be1f256a30eee5f391b09",
      "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 134 changed as sent

message 142 changed as sent

message 146 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1051, 0.9592, 0.7769, -0.6975, -0.1535, -0.1658, 0.9958, 0.4881, 1.7664, 0.7982, 0.0624, 0.3683, 0.2653, 0.9946]\nstate[eef_state]: left_x=0.2779 left_y=0.0015 left_z=0.1543 left_yaw=0.1074 left_pitch=-0.2874 left_roll=0.0248 left_gripper=0.9958 right_x=0.3855 right_y=0.1367 right_z=0.0184 right_yaw=0.0136 right_pitch=-0.243 right_roll=-0.1065 right_gripper=0.9946\nstate[joint_eff]: [-0.3077, -2.3726, 6.7214, 1.4579, -0.1392, -0.0269, -0.0122, -0.4581, -7.0496, 7.8564, 1.873, 0.2076, 0.1148, -0.0855]\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]: [-0.1043, 0.9611, 0.7769, -0.7197, -0.1535, -0.1661, 0.9958, 0.7326, 1.9499, 1.7344, -0.5522, 0.5465, 0.4122, 0.0475]\nstate[eef_state]: left_x=0.2737 left_y=0.0021 left_z=0.1504 left_yaw=0.1099 left_pitch=-0.3108 left_roll=0.0299 left_gripper=0.9958 right_x=0.4522 right_y=0.2882 right_z=0.2101 right_yaw=0.0508 right_pitch=-0.0499 right_roll=-0.0319 right_gripper=0.0475\nstate[joint_eff]: [-0.2256, -2.1675, 6.7077, 1.5018, -0.0806, -0.0562, -0.0171, 0.0752, -10.6188, 8.4855, 1.6386, 0.3883, 0.2466, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1043, 0.9611, 0.7769, -0.7238, -0.1535, -0.1661, 0.9958, 0.6704, 2.0796, 1.4235, -0.1379, 0.4976, 0.3637, 0.9947]\nstate[eef_state]: left_x=0.2729 left_y=0.0022 left_z=0.1498 left_yaw=0.1102 left_pitch=-0.3149 left_roll=0.0308 left_gripper=0.9958 right_x=0.4712 right_y=0.2706 right_z=0.0801 right_yaw=0.051 right_pitch=-0.0928 right_roll=-0.059 right_gripper=0.9947\nstate[joint_eff]: [-0.0342, -1.8667, 6.6803, 1.3993, -0.1392, -0.0415, -0.0073, -0.335, -10.4684, 6.4889, 1.619, 0.2711, 0.0317, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a6da4f15bb3040b9ee58050147b478560a6420950d24226f9b2c1f10d48c9ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4578a4875f238e6fa2ea0fd0dbc73111de99ee35de1b90d8a6b4a31d40b7e2b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:065befb0edb55a9875654ffa2f6e659c00c0315e762be1f256a30eee5f391b09",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFnsQMDONlEhoVCIW5tKkmPvdO0pmTRDv2hGWCTfoYmdUz4GxpHe429ant2rcPKgNJ-CqJDsFBEIm36ZSp5q1kg3_UYN2VNE7YabWmZHTi7DVHhkiAPAhHTUpQHda0itzD0D2ZLabFPCIclB_6lin3kY4rR9KIdT1FDBUGPk7N1aBuTz2hhL9aM9nxQnK6CrjMRxcluImLulXUdNLoyYweAABiIl6QH5Rg3-N-hkFwjO8i98sF2xeGfi6d8qCTHFnH9VuAY4paWxD2nZlM1jechGCasc5012PjSx7Rk8eY4lgA0Ua29db2_aL8QADIEAfl-n6jl2LZP0a_wOCTg-cQ0qn2SICRWhV_jxVirRbxKPq8VKk-VFmC8jNpLAE5W3fkNOoCTaPXEIQdxE8OV7hvGIZs1BGGyi9-LJqCsK2ot3MzjzcJ1-bURuCrAl_hN3JDXO2LOtGoe-miX3TuB2zp7odH7imWEfhjdEp1avmCVApUxQBwART0BQ4I4Q5sa9BaD_dEKFzsfmqC5RO_VKU74gPcgnoxQ74KPzfA47bbWtm4CsKjgGcVhsmuzDTmjIPbYpC9V0o9Ivxl8pQYFDWHvGS50c1vuG1AyEULJDGkzHM--W_YKPsfk0pA6HYTxcLOOKQ4BkguaTbrM0jaZZk8gTMALEMpg5ptyio1RsNwB-sjsticK8MjtyhEXRUNkdQEgqsJcuOCLSw80QiAlZMUnMrernfmIYgUsExqCJ5H81MhANDpV4fCzGLCzSgErS1O7hscNjTqYo-95FEHTHGmcY2W6A1CjeYDVwxuzQdF8MS6WwA9MCgYradtHtB7vRTqGRScwhUuK0bcpjQJftZsfG-efVNPjc27u4YhrQ9BXmMn8mT4sP4nbWu292lrDWnGIzLm9cufn4qx4ksojVGctRB9NG_nPl5w1OFdhW6zLU17zvmoxGI4-Ga7_I49wIqsU4jgJSTfTCcs4amV63kAYNJS6R-8lfy5N9XpW8VCHbgLHKWyWrI9rL2f4Vqxv9Y3eo8h10ijbYIe1xbxbHqCtnwZTLJWnbDyMK9ATzWEA4OlRqC67cyrZ6xoiwphNJQpv23k8IZQFSzh4J0mMB8fguyOSvMzfpNJ7Wg-ZsdFzLuKY4uVbsZd_EI5ZUkCVjX2yHC86XWgdnY-X8ZL9UHSYn9ROBGBQmkbSxK3CBP26W3D34Ubk0GU1Hkaij60L-kQQrR9fAY2WhfBBs5HCYdfhbCQ5vfva1u8swcFLTnWRAXh576rBOscyAf4mf1JAcOcE2FjKf9hZdbLbXy_zbBUTf3zsV1MYFO4bacg0LL3FuARlxyh7YLPfqzJBjOzsrVtEFkiJEQWWwU5wW89jye6-oO9LQvbFwNNQcqrSvSuWy78CM4rMerpgqpW2_1MrVJ0CJ4vka2EPsvkR00NDKqlIHmNR_Hu-rWeY5bPnCqMsKqhrL1y8rpZJ3bXlJMEpEKc6QJVW9XbRoyiNXuuy_1TVMU1NBuAyEUUiHb4N9yTMU9U6-Cyj-fzT0HiflCaFzBTUmIZiNXtKJFAQcS_zjNoCeSlxwt5gsmq4ncQsTc8YMIFGr1d_olGtXkcV4cUNsTPJGGAmTXvqMMf14DjxA8IMrmwDhIoVnoIZaVpEFO3h6dbpkKNJ4RaJBqU0UlU5JLb61okfKedSzi5YUGzHIdEEzZPCgxCv_c6jR-YEH2d4FLeqSRDGDF-02W_t6PaQxfN6KEjOdH-c_ZaYZiU4jMFDkjiRsOzQC1lIQGVTOvSR2CEnttbJy9mHeQ_w4YbHMsc_9zDuX2qkKf_5iX834dzcK8SKpijzuXZ4pp3qyuO2NoxiK_E9r79F2OpGI7yH9a_O-sL_Ndj7tx1wEGgWLRDMHLC3iGgTY5Gsz--laqA_XDiwjo2GR6RQk4guFYdSwi74jGl7n3S66AqQJ81AshGvF32eN6QosAbCcA7UxDIX2hLiA4jfnIXlvOLlNx2ezhGdHfpk6axw3FNcr_P-YrJrqi9mitZM5lK1r8s8APT8-aXcngNbJ0si0QcgLhF0GIscT6LVoTKSg-niJthK2Y8TPiL-KrqgsFtZtTg7_3mKo5ZUMSvPMzVbMISn-41UmDjXBRcCpK0-OjgyXoywd4I1Np2jUStXfrSTTIzcaj24iJ8oBouA05-byXtpDT0Uo-_S07rE23fgPIcVoGHIG3TPnSmrvgzJdw8VaKVB2W_HmSvfZnPm5m0i3ceyhTfIIASJuyt9VqNrq1g-5S-_C_rH19gvVKJFjdCITQwxnGGaPMMADTAX-HSLB1b6q8U5rfjb66feru_xb9pfUEHdXYXtosJRXAZjPyyAvWCsoVdV5mIk8Y6z0xy6rSAoIMpTFj6EC4ffnztpJO1g8l1A6nSP3jQ9AkrWSby5v3h0fOwivj8ZcWpzmwU6NaVm88JIqYMLBXt-63lDTz12p3TxyX1ffR3ugkCfeRh9Q-AP6N1b9phuWu-HAa0hdsqBFXuXySAGLng3NDb3N27mXMwr1NTxDhdq4xwtkRbH5oKHdrRZ9Asu2IrPT1t7-Gx7rhllNqzK9LWjXeZNxi30aZj881E2cgBeb8gss5ZbTFXXKTKOfQzXyw4zyC5EO6OuGevyNK5bHDuFu-g4noQrqTARE0IjKXfK-TvHSfJ9BioEi-PdwzgNsjlsB3OB_H-1Q0I9OsEPJCAUXHCUZY9HuW2TLrGtebP1R5E69FjOYHzjL3NaOx0nEWOe50_R5BOj6bWL466UdoWnEr24YlBthN1yHh2fF6UvcoroVz7p4O0Iy0igLXOCuVx6wy2PyNPT9HDCfUa0au6lSvyOJnBd1bd8SWlt47VtJ29uI1WPJSRG10IqjAAJu7OyiA-ES0PNCFWRrg70BdrtFX0dmFuslQloYHMrxpVuA0y-u6T228LhEksgOx0y7yaqD_4E2FJ-F6c1IeZ23c46A4hFoUIcH18JS2uYiAqlMIwc6F6h0RZgDA2FGa9n383ggIg6-jIy20Kgm4On1O3gTJ-Dt4gvG02FM0MwFUNoeCDqsjVSjMgvMqf65qTT3NYpcbrqYUpx5k3hcszoG51UVuG4Pdve3INPMjs9rJt13QXh02LWG9jaAm1JZS0itEpY8HPF8KI68UF4UMeKlghEWHKc4lJOQhyeaH9QnlrL3Xihv0Ln_tn5-_jH72CY=",
  "id": "rs_040e5870d2e59baf016ab459e50fd887d0b8f4ce16d06697f7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.59,\"right_y\":0.29,\"right_z\":0.29,\"right_pitch\":0.3,\"right_gripper\":0},\"note\":\"The brown toy is in the compartment, though some soft limbs are close to the front rim. I’m moving the closed gripper above the lid’s upper edge to start bringing the lid forward.\"}",
  "call_id": "call_GF2VfXbOazFR1MgOpxAMYa3W",
  "id": "fc_040e5870d2e59baf016ab459eb3d6087d0b8156b398953892a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GF2VfXbOazFR1MgOpxAMYa3W",
  "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]: [-0.1043, 0.963, 0.7769, -0.7422, -0.1535, -0.1661, 0.9958, 0.5999, 2.2879, 2.2112, -0.3561, 0.5312, 0.12, 0.0184]\nstate[eef_state]: left_x=0.2695 left_y=0.0026 left_z=0.1466 left_yaw=0.1117 left_pitch=-0.3347 left_roll=0.0353 left_gripper=0.9958 right_x=0.5804 right_y=0.2929 right_z=0.259 right_yaw=0.0782 right_pitch=0.2134 right_roll=-0.0918 right_gripper=0.0184\nstate[joint_eff]: [-0.1709, -2.2085, 6.7077, 1.4969, -0.0757, -0.022, -0.0073, -0.759, -13.1077, 8.9368, 2.21, 0.1929, -0.0464, 0.7985]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afd21bd6af724569b8dda64024e71c6c315b3c7d042a13ca902d10ceb3b6c256",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3258cbf3ac8a2563f13c387c192632cd8c127b562de9b9c4cd57fd3e74e3422",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc8abff80b6d63de74c78f950fbe0e4ca5acd5a3fdd957d96c446744ba5d86f",
      "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 138 changed as sent

message 146 changed as sent

message 150 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1043, 0.9604, 0.7769, -0.7052, -0.1535, -0.1661, 0.9958, 0.4885, 1.771, 0.8021, 0.0383, 0.3687, 0.2623, 0.0448]\nstate[eef_state]: left_x=0.2765 left_y=0.0018 left_z=0.1528 left_yaw=0.1089 left_pitch=-0.2959 left_roll=0.0265 left_gripper=0.9958 right_x=0.3823 right_y=0.1351 right_z=0.0145 right_yaw=0.0124 right_pitch=-0.2651 right_roll=-0.1206 right_gripper=0.0448\nstate[joint_eff]: [-0.2256, -2.2222, 6.735, 1.4921, -0.105, -0.0269, -0.0073, -0.294, -8.2256, 5.1761, 1.5311, 0.1441, -0.0269, 0.8816]\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]: [-0.1043, 0.9611, 0.7769, -0.7238, -0.1535, -0.1661, 0.9958, 0.6704, 2.0796, 1.4235, -0.1379, 0.4976, 0.3637, 0.9947]\nstate[eef_state]: left_x=0.2729 left_y=0.0022 left_z=0.1498 left_yaw=0.1102 left_pitch=-0.3149 left_roll=0.0308 left_gripper=0.9958 right_x=0.4712 right_y=0.2706 right_z=0.0801 right_yaw=0.051 right_pitch=-0.0928 right_roll=-0.059 right_gripper=0.9947\nstate[joint_eff]: [-0.0342, -1.8667, 6.6803, 1.3993, -0.1392, -0.0415, -0.0073, -0.335, -10.4684, 6.4889, 1.619, 0.2711, 0.0317, 0.0708]\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]: [-0.1043, 0.963, 0.7769, -0.7422, -0.1535, -0.1661, 0.9958, 0.5999, 2.2879, 2.2112, -0.3561, 0.5312, 0.12, 0.0184]\nstate[eef_state]: left_x=0.2695 left_y=0.0026 left_z=0.1466 left_yaw=0.1117 left_pitch=-0.3347 left_roll=0.0353 left_gripper=0.9958 right_x=0.5804 right_y=0.2929 right_z=0.259 right_yaw=0.0782 right_pitch=0.2134 right_roll=-0.0918 right_gripper=0.0184\nstate[joint_eff]: [-0.1709, -2.2085, 6.7077, 1.4969, -0.0757, -0.022, -0.0073, -0.759, -13.1077, 8.9368, 2.21, 0.1929, -0.0464, 0.7985]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afd21bd6af724569b8dda64024e71c6c315b3c7d042a13ca902d10ceb3b6c256",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3258cbf3ac8a2563f13c387c192632cd8c127b562de9b9c4cd57fd3e74e3422",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc8abff80b6d63de74c78f950fbe0e4ca5acd5a3fdd957d96c446744ba5d86f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFn6O8bdmxNvVHPDTmrzQG4dib8aq0SlUClmD1EvT0iuu7__gbxHSY0NrGSY-V4d-9jJSceFWJy_7cXARh8LnBVUq_bPN8EGmRE7YoanxOda-ZhJ8glU4fKOCs3tF-gLIeXk7wENoJodRBIcnNjjpfwiKKJSdqn1ToEPhttnbx8d87TC7Qo0uzzPh44mPe7dT3gcXbwAfGlvZW9kWz2O9Nmm05NkxqzbHCs5m8SCBcgutXh9s1jDu_BuRp_VyoKAOSs4K3vo0LvQ1d3Lk8dtDFZDXZZG_PQm7ubx78ICDZB3N-wN8lFq9sSmNksSHgG-qj2ZmV05_ixpHlUo7Cp1y0PcEiVduzjIz79aSNQ1pd_NjcQj4u8OoR8l1RptU44SWuzZW9yZfK9Z36vlalPzCRIsOtzmG9BNYun38A0d3DQghO67tADiDO2jAturZ_pMMVGaVyd607yETfbqj8_hAOvR05HzUtGWdG000mMtb0a6GWEUgHW1zYIAYhUPVsjiJiuKed7w-nRTJLJnHe5_otshPU4fj5VNveb41Idu9lrgGyvSvIMfZDR6fRiQLUnn3aCBjMVDlNTcu6Ec5Nnn3-20onp5f2hrtgU9Xy26yURoojHcyZbFZXorgZgG0rm4bfHLFqdtnydb3Q5J5Hbvi9SxSOwM-WQdxqsyeFL6gBmf-TPLne8KalVDyNROE9EHc03Y-JNaJq2n10NBAlhEjxKKqrD6ptiFIf2LST2R9tMB1oweg52tVvnyCi5tlQ-pblIDVZZcJA01MPsCMu2bgiOTVBK_J6IHVDkiQL4XCQdA_uvovdE6N02AlMTj12DrCjTqymmFgfCWSSZt4yPtYetXNUaQIqB-LSjnyxDTAM2NdU3Ouu7Gm9YeOGCSn9HDhaCCxjrOmbD0hTpNQVhMbH-yZulUOGv_cIGbdkdL_JDubIpJeDdw3DwFnBEBUDuqfQWNGjQsRn7i-pQsgI7CZbraFNKnDOzpBQlo7FxdthiTrEINM6q2G75FIqWvczaj2PFXS-6qgjFxQV4_Av_gHl4IeaBq-znQNNEYHQWRjk5H8Rvpuxx6ljYFFRCqggiApazI3faZPbbXUMGlC6qk1eApQD2TPcBc-fxydVYeYPSXufYKKqid8Broffcf0Aj2iJowJSV5yCYPk4I0R2-JZSiDd0ZsMU1GDbEnOahxdI1wXgDrojsERhxKL6EaKSSASxGsF8KfIyxtDJk8wm_kKOqHH9LP6bs4tV6T0SOGz0imYkA2T9QtJ6VPSrJ9rh_e8SRajBYm6Wjg20KxsAXFckvlv9wjMvAZdBC8oc-Qq2EUL-hda6YI6qeEsI4ImPx4utk5tGgY4xT7L-sz4Xptsyk6r8b9GV-muWARIh-tHn2ISh_IewtZlyaQhQbfboNHU5Cuz7FSO7_fRmjk2hruq3SE7AmZjxjuIuZUBvHKositpMlmsDksAj3n1WnfHox5BAKRu6aaGr8yhvQU1UheN8bhigoZ1N74IMGIYPSVbhB37VDetPWxur1wMDT_P28rLIXVkF_VXtDS3swoaDT22Mj08rwaPGvfVOpwHYTEjzu6uqPtWHIsNQk4VKL3cCBHqIj06GGEi6BbrxXypzoxtGQZ2zQiXDYkyRM-wBh4mQIr_x3mqJzrLSMwMBgFBPcnffvOr4BhRBJFfrqX2JyYk5otRhrzGiPUBO962VbM9zde1esQPoLZagb9MlVk_eRuTiwkMvFVd9RaPseqy4IcaPXP3LEJ18eyF_51kkndLvsZ3_-jmWIiFxtnZOE0AewcLwPG31p4aT878Yeu95_-98pF4NGpuPZpt2hGl0n4SuRsvoAqa5BT7Rwk2pCwhHYSxOyDnjUdu8Jzz-C_e5UVxlON2nEh5ZdJux_ZWyo84_v-VUA7b6_85Gh8Oo90hLYP6P9q-Yu2kXlkVVrqLhCQrg8oIjtOWaEf_Eai4cj32ozpKXcmTDhwD6N_DC3MwlRsywkjIfOMCRbgu4tokMeeTfpChaVKcBZOT8vBNh16ul7K9NbjuXBX-bVRPE46Nhql9bxLKHIFOirK8Mdao2cPRYAyRaTY2W14Px9pSmEfVxZpfh_LNvhjzFBqx4cPnt-f3btyf-WV-HMoPNY7Z2gNhE5zuD069UXWX-K466qCSOh756cwXIQwupO8JlG-czNLAQZX3ieQBNUqrXA4pqzliJ62eODWmjD-ZGPFyVtd6VBw5HAxG5tSdarcUj9B_BsPUB6dhNK8SNYkptVeQ1HOQr6AIYbX-1lxUGOdm9JRH8CextAWxZo8L2ljS0a-waIngWIVJdHp4GLQUXmumdATSYCftZUdwV0sgKrSwG5iOX0Sz3PG1f097LHzb5Tzq42HyCQaxOkCRB9IjaC0taLl_5JqzJ7Mf7PT0JjHS2BSBP2UrLurErkm7MQXlzI_V1dttg8cR8B_IsqukoBQUz5Y1-LdJ51ld0_xkBtEGUe8YFjICeR6HFNPUm9iXvykSNiXs1Q7y5JMwKKNMytE9X6Zm5vhipNwJ80w2qSKENMRkOlw5z47TM5gEl_e07uvPJwZCnBRCiHH1tg7sWwPx54z99rP299tMFX1pBEfcfv_pQF2gE9NJnuLvqiiD5C2iIfAEccgJ-xW54qihZJdOFKIZhyBIcWB9Eq5yztBfIRn9TnCJ5ErYIdvHV08WkofMRoomrnWT7Vu8b_tiG-JoICxxwfezFbJ3yu6vSQKOvO8kVZbui-jjzHw0hNgYFZ6sij0rswZTxbMFXPEWAA0seoWZCVKWz0fTNf30LZ8osQWSSgQnKbiTj6M19QEvB98-f0jkP4PibtHSpcXBOzqK1bppWC87DZDNDrmtbkJ-Sin_NQF5RVi-lhBclPK01cST9JG93d5uBM9p6seW_Ez1-uM3nUoac24kRqQQJv9Qa5IAGrWbZKimsKWWsjwjsfw9F_mTuM3PKwTSqXJHi9d71MYpUc3Axg-ePml2yA5Dbl8zt5xrbjVZUSeBv-EwKIMGCpIW1XetfXC_i4Czodt_TGEqnPtBIkd0gzzI-mYTxWGLFevseh0hD_ZBnci6xF1I6o52mBSt9uFsd-Q7wquNi3PQEpAZwIpU-BghxDldHm7Vs9GF17kq0TLSSzZm5XG6K1b8PSnHSe2gesArwNPq5UcExSX4jFeTkLU6DU8pbQvoJcUM3XAh6wR1sSfgRcyYtx6N_AgT-heEDYXo7N7tn249ak0XpNZrHOWnElGPnC74KjIPiUI5Xfwd8tPnRhh5n3LDViW_AD8s3jENBx39N5ZCElRSUaMq4342lId4HWpwo3r8PcDc31--I1qPfwp16tWmreOaT6ftd-y1xwWx4duUEPDvCPiOS4kIvFmqzi6dJQP2k9vK5lqI89kbx0ghhjBIZsMFadb87DefTnLUiRsQ-FEXWF8povOKc-EJL4OSU3Zh2WWVdFTN0vGq055A6l13_rOH9YX3YjM0z_nvhkFrPZOlgQzSYmfggpxSwMRFmeqnkvXvbE2iBg101j8vaopVKvtGRCQj921Z5g8E1FisPJpz6_ssKmUoHyOdPMybn3JD6dbu0IyvsIBCOGwu-GT3EGfX8dAEJw05PDqiQE5Qrt-yz57huc4LjMjW25vW0E_ZCnemTOxCSivE807SYqY6U-2-9IcXZ-L2KgRNsQH2jck62nS1vHHQnUB54mOxgEZvjeIVaT_wbojg1PFkHbjJlLw4fgCV197efQXQxBgSBmEdhNUlEyBj9ahTNhq4ArFUEBaSSs8UD5mmgMi_N3H7MI03Vkti7hHeAew2xSFJkhRLHgVB3qKe1Ce3DQwO06X-9HwRx97nitPF6mMK9UFMebuiXFVVgQpiMS5cg1c75pIyUNgaTqIxGwP37kPxkbfBWg=",
  "id": "rs_040e5870d2e59baf016ab459f05b9c87d09ef5695bf94bf41c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.29,\"right_z\":0.09,\"right_pitch\":0.15},\"note\":\"The gripper is positioned at the lid’s upper edge. I’m making a controlled forward-and-down motion to bring the lid toward the compartment, checking whether the plush limbs prevent closure.\"}",
  "call_id": "call_RWNE2ucPEm9hXKItlf88k5uf",
  "id": "fc_040e5870d2e59baf016ab459f978fc87d08f8c0fc636dbf0b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RWNE2ucPEm9hXKItlf88k5uf",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1043, 0.9668, 0.7769, -0.749, -0.1535, -0.1661, 0.9958, 0.7918, 2.0174, 1.1599, 0.2596, 0.6762, 0.2539, 0.0194]\nstate[eef_state]: left_x=0.2682 left_y=0.0027 left_z=0.1447 left_yaw=0.1125 left_pitch=-0.3451 left_roll=0.0378 left_gripper=0.9958 right_x=0.4356 right_y=0.2889 right_z=0.0872 right_yaw=0.0948 right_pitch=0.1267 right_roll=-0.1227 right_gripper=0.0194\nstate[joint_eff]: [-0.1983, -2.0444, 7.1043, 1.4139, -0.149, -0.0659, -0.0171, 0.6769, -11.0564, 5.4769, 1.3651, 0.2027, 0.105, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ed48f88768751714c107710645c8e4408d5282b56515296ab23e6395b2de248",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a6e9a7b9a4914fba24d2fe61c931d5be9d48daad68c106145c20155d6e78089",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 395):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c885ae66551118b474df567cb4c198b9c123e4ff9a6d3512f8421b6b7638761",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}