adhoc

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7921, 0.6037, -0.3908, -0.0193, -0.0338, 0.9993, -0.0212, 0.7929, 0.6067, -0.3962, -0.0204, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1781 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.001 right_z=0.1782 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.4427, 10.2769, 2.0098, -0.0659, 0.1929, -0.0855, -0.4308, -1.388, 9.6889, 1.917, -0.0317, -0.0562, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f163d009e805cea8bdd4e2dbdd4c539b028c1775f8ec37927cc358975a259771",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e04ee75cc5f26f63322aca9190e0f5650ced9f853313dd3c4d3999144c81539",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0ee8a17e22104837f926f34b9eae7239801ec09de519da8b33921dabb281614",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqtF41iCoigs4H4ZAmSJhR1mNNw7tpshV2lGM65lJ7yrYIocGpASDhMC_0o9fjMgYS7gygMKqcGHbrLVYA5shYlnhkT6z_mQlYtZCGm_eGX8kWFMOZV3Uq6jvV25lkqndoMhNKulYeajAXCE1nHY0ZOJLeEFk0lNNx1QYLGXd9PjGoUkICSCLaUyLewGhgJPRiZdoKdjg3_E4ltqSJ95pDW_SNp77UG3b4KlxfvWBZ18J9aSg_ItufVIzguI-mGDLHPI_sh8gFZE0T6lMXgYp8RF2fJNae1uHhGQgWCCbqBNU89pFzzoxHwg5V9Q44QoJ_Uu-IA1o2R6z87q6AyTxqvkb3iwCPFNhB6SRYWpGAj7arYN4etGemwnTE6GODNq5bNrflzosYFUDqEyYVMIcUQDbMt22yDQRDt6pKvm23o79StaXfoGxT5rVkJbxvASXsi5eqRFkNIpvr30bdIaL10jcFA2GYUl4CiDiLV4Z6PHTEqPGbXWWQtm8ZO-p52IaTBXHHTPUIUG6wvuyaHPXOBCfd8r6IG6r6qfK3cIFP_4sO7mpu0ET-qoAX9TUiZel-6y4Ro0U_m8GQYJakvXYndd2LCeebzyEXz06Rt1KlJS0Cw3wcmn0zVH5o11l1oODXV6tFeoH42wRLPa3V40Ss5g5x-LD0k7Ra0gSZW4ovF5-kpt0wGrS1h_mScAlVyHPuaEymAsMNg42Ss8heZvKGV6LPjzqBlAzb-L6y4RMkIOG8nU-RGQ8U7DOsYJgZwOpwiWrCi7FhRjb2bqkGtZ70IvEaMRWXsqYLkIy9Ejy-PBUv5XE7s5ALsYhMdxSEWo1XvWa9e6AeunlDiGhW59yCIsl4uhADu_dsIapRRQxlodfl0aucF8ODBSrhi52HNiWUScnihyF6hyouhMLRPnT-wFGSZByqOLrieqAS1nqn4sk46y-STSrLDveUm9W4VkJh7FzgSlVU1Fvn5Duc9C-PUzHLcbPnr3byumyrmJu5VhGug2IOGac4NvIko3pr7hwDJpYYBDJnLf_Cr9puPIKpVsmFDjTyZk8_7MB8f8_J_VUJ9BixHjnatBPktbxlzeCzOaPVU3583Qr_tUWfpZJi768AHkAVzPmHqG7Pm-bSmgHvzXnUSze8rCuA39CS-wrJV4QLWZP_aQXPUedN3XpjmpFk4PWBpnJcB1e5pYCrXAU3ioRqRRxnlM1NojaDTbAjKI9aasFIRLB3Q42G1c4x1Pe9vu_y5Aaw_odvLgOgSP46D7OcYDJ1WsJB9_oRThHygP1ClTDTG9YOeBMYzhkjr4dnXuDgk5i7-pe5ZqeCShUx8xNO3qA35gmeOW6bRRTpqmhwptbIDsG14A26mZ33azaGsXxWiXR9Zmcu2pOzFmp2LP0su3fgCBI6OfS_Mk2HKtygb9T0V3UqXKH5xERTyigYV3whLHHx2fJx6MIn1vw03EZO6fdfPNMinkkvJdH859xeBWnz5eOT6MmcK4vg0eDhQ0nJbAqcsKf8YoheW8uqokAEykBMdT2yP4ayDQefUNqdR-MXR7PqH-98wKsXvDw6Oq8hr1jltgKtYOBjDxS2CWcXVDZjW1l1wztjmVCiVClYGKBax-odFM7Bm0oHg-MKiW21gFJtDBJV9C7Be9UMqdjTfnuDK9qKdAuAZIlSq-IFYFWNRgCtzQijV5bYUjUTAvkq65zxOWFw42L3Ag9_yPQquLRbXgteFrzmuHjEU6xgUywQnnLS5ySeKKE55mucv6X1Ulw6KK4Ne_vLUcMkkeLBrTN2XmQlsv5D6iGvoqb0rqPFXLF3feRLUZkK77_0yj6Ys5nHSpCg4kYxeqgGF5WXWtY-FQGgGsOuxOBuNwdOtc26QLPp5fQUwfWvU1tr2JA3PxHsVdSdk7ZzqMMkSFtmMepBydAEORl3ZlSBDV9iriwVcuR5EAOMeyekkd9yS-4EUwljWNLKXgwHXJYGEHq2pCXkcAr2W7Lk7SBkCIuXF8Uqc2KFaNwU1kezOWLo0LtAp5RRI8LWgmyUEL2ztM9XrvpxiXVfCRIfQT4K6O4rYIkvpzQ6ipwVsAQcyuW3LgJbw8LP_S8MLXY5dAsXCU9Vf8z1br_CMtqHiWZZGgeHx6nKLZgpNDVqwrH8LJs5VtW5UbL69dEqo-WMrgfLXp92YNBFNgFRdlbMk2fSBI3AiwEMPzRQsJqXgLg1F5LAJCC5exEcgipC-9tuSo_nfmP5HxXn4RNn5-6Wc-0pxg5DvakKqAABnuUSS3Sr7Nt3mN9CEYtym754-cPvvIoxhOfJJwyIwmTn-wj1j7xoWn7itehZpZpman3bQz8wsuQSdp4DWu5p-BwjMvZAWOjFGzyQAB_OT_lNL4I8kTkp33yL",
  "id": "rs_0fb51d8258ad0dd5016ab45e2fe2d887d090644b967f1ca786",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":-0.20,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"I see an open red-lined safe, a white toy to its left, a brown toy in front, and a yellow ball to its right. I’m positioning the left gripper above the white toy first.\"}",
  "call_id": "call_W6tr5Ufl0rXY9Gr3wnIlFhqd",
  "id": "fc_0fb51d8258ad0dd5016ab45e33d8ac87d09ea139cf447b5b56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_W6tr5Ufl0rXY9Gr3wnIlFhqd",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9241, 1.3407, 0.7864, -0.3351, -0.7025, -0.6407, 0.9993, -0.0238, 0.7986, 0.6147, -0.4328, -0.0208, -0.0162, 0.9995]\nstate[eef_state]: left_x=0.2921 left_y=-0.1915 left_z=0.1321 left_yaw=-0.0263 left_pitch=-0.0562 left_roll=0.0427 left_gripper=0.9993 right_x=0.2891 right_y=0.0004 right_z=0.1728 right_yaw=-0.0 right_pitch=-0.0343 right_roll=-0.0025 right_gripper=0.9995\nstate[joint_eff]: [-0.2803, -5.2444, 9.0188, 1.5556, -0.6178, -0.0317, -0.0904, -0.4581, -1.5658, 7.241, 1.9902, -0.0904, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cacfb0157bf6132a8c910ed10ea41deff4f74d571bb752f2f50a45ae4aff00d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:271238969bce9431d93f62f42f7b260fdd7f1a1a5324b241659f0057aad77398",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa0bf115cd3e7f43f323815f1effa4ba07bc6189ecb405ef58d65f6d545a2432",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7921, 0.6037, -0.3908, -0.0193, -0.0338, 0.9993, -0.0212, 0.7929, 0.6067, -0.3962, -0.0204, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1781 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.001 right_z=0.1782 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.4427, 10.2769, 2.0098, -0.0659, 0.1929, -0.0855, -0.4308, -1.388, 9.6889, 1.917, -0.0317, -0.0562, -0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9241, 1.3407, 0.7864, -0.3351, -0.7025, -0.6407, 0.9993, -0.0238, 0.7986, 0.6147, -0.4328, -0.0208, -0.0162, 0.9995]\nstate[eef_state]: left_x=0.2921 left_y=-0.1915 left_z=0.1321 left_yaw=-0.0263 left_pitch=-0.0562 left_roll=0.0427 left_gripper=0.9993 right_x=0.2891 right_y=0.0004 right_z=0.1728 right_yaw=-0.0 right_pitch=-0.0343 right_roll=-0.0025 right_gripper=0.9995\nstate[joint_eff]: [-0.2803, -5.2444, 9.0188, 1.5556, -0.6178, -0.0317, -0.0904, -0.4581, -1.5658, 7.241, 1.9902, -0.0904, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cacfb0157bf6132a8c910ed10ea41deff4f74d571bb752f2f50a45ae4aff00d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:271238969bce9431d93f62f42f7b260fdd7f1a1a5324b241659f0057aad77398",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa0bf115cd3e7f43f323815f1effa4ba07bc6189ecb405ef58d65f6d545a2432",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF47v7Dn7wsZ2xSFXbiL15t2i2s04BnDOXzTDR9KnnmduP9eMXke0nDkpMiTK-wjM6saKVO0Wy6xEm8BVWkQ0wL5yw85N9bpkYOmOWwEHQqtpCGXDRAhATJNzT5M8m0pkVyU0hbYcofdQefqMW0ALI5BVmMCxOkCTwpCCozI_QJpVu8o2INIgJ1nV7K9CkJ7JR7e5Tts1iY29pyBF7Brdt_tAZAIiGrgO31GQXXQyz8F9KmHzauNl5buBrUqHt4FBgTYEKhVpRXw5ErklpeVC2mpMfigj1nB2MEPx60Y4SkHSeS0dxT9_ZyGYEwo94oH37vmDDf7j9aT6kqLS1x8ciGGIIaPkSKB2HgCujqYZg7I6iNJxGqgErSxN0lr3zuaQM2ZFSxrEPDIzEoCros8Wk8TwDaohIRwRKsgl6yDa0kkHX0UvS2WpNxv1Aqhp68HLssyCdoUrn5gDJYfX7mH7hxbapUZ4RBEYGdqntvqYC3pRYGk7rFTpMxF7ULgt_7tHn-UwJce9DcylZnOqkijbuQy7KGDj6bFDhoncziIYHvElnhqFRpj8GY3PvW4w3jfjHpoocPygNYdmyjHlpbsanQUfxR6ax0KCpkIVq1Ly4Xa_auguheYWjvOyNsujH_6DDGk1on67IqbaqxKps-Stl9lCc8STgvh0l5KwFCZRahUoy7p5yNxIn1q1sXzvhUW6xYMptXLQmEBiT-5K_22k4ivgDK72lWi5D6GDmTAtl53TqnChddrrNW0OJuAzq2F6lGqcuwAYnkuz76GztDwZWZUOjSmqODQMbx0fozbQF7ITnl6za6OWl8v1kKChuVAbY2Il2y2W6RipP7EMyvuAciqe-glwshJtmjd8-Q-zYhn1JO8kIZcdBhK5vYmQpLUeAz8GI64GqVj-lwNCWGT7mZc3kLPqwdYgpKJzOs6zN4n3EAmzDM7JS6fE5vv_ZZpOFiK7nFYxGNuM1otxBlCQ7idBv8ZDHSTwtvz-vIPj2Ra7SFTjc3DZhm4mBwYNTJAEDdwt1W-6UgyHyveUwdDfm2BKcNwhBC2cN5R1YLwwfPAYuiCcjlZTiDYi-oQ9Sm_hrESZG0e5FfkVtwT-GbJPwByVZc62atDUPUIGo_6hls6-IsbnRwbPoCxaVYrVPm_hXR-ngm-bWGgRFqEySpkbtal64Dym5lmn_1K-IU724S18BDiiGY2gSIqSoi6QIQbXgG0B7Rhoc-V9qRlJ35qJEz_acQ5e6FF8SB-LYdpkCBb-ezDIw0axtjHrrn-7PZTrtlF6jBMg7kSD0AQM9zvw3jLqQMnDIqWhOcxkeUPHPBWRTHBDk1JV6tf_rIRBM5t8CXHUgtRPmoM8RJDK7F7-srjGiNNtgON061_eG-VOGBNZQiBGtvq4sDxYLZD1bexeYPEw4HAFRMIbAzAPv96NjiBym6kTaHxYE-7fCai63OBI7wAFe56t8yexRLcNiwQ4lbQKUCwLawB-XHYSLIIjbI-k77CjdnLkdfEemnK6XhyMcFh8zZ_VNjDCUbSLiid8M4x-ZnXxeJvLVmjRXA_wQAy27TWz4UCoB9tcNadyWSxoyXs48HLE_2nFvsmISi0BP6ykpCrvwG192SQSTTKVhtuzTP9fsjVK2iwBYuVANGjaAQb0vmZDglnioyfurzkh5WldYVt407S1xUW8zVNUVVO4mcSCdbur2sy6Hgg1MkCLzk=",
  "id": "rs_0fb51d8258ad0dd5016ab45e384db487d0897f2876456e1ec9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.17,\"left_z\":0.025},\"note\":\"The white toy is just left and ahead of the jaw center in the wrist view. I’m aligning over its body and lowering for a gentle grasp, clear of the safe’s rim.\"}",
  "call_id": "call_aW2F48LOltYnkWEOlQskcdRZ",
  "id": "fc_0fb51d8258ad0dd5016ab45e3a5f9c87d083c87a956549191e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aW2F48LOltYnkWEOlQskcdRZ",
  "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]: [-0.7792, 1.6215, 0.5423, 0.1864, -0.617, -0.5228, 0.9992, -0.0257, 0.8024, 0.6147, -0.4553, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3136 left_y=-0.161 left_z=0.0213 left_yaw=-0.0032 left_pitch=-0.1127 left_roll=0.0938 left_gripper=0.9992 right_x=0.2861 right_y=-0.0002 right_z=0.1673 right_yaw=-0.0009 right_pitch=-0.0606 right_roll=-0.0048 right_gripper=0.9995\nstate[joint_eff]: [0.4308, -5.4769, 4.6291, 1.536, -0.315, 0.1294, -0.022, -0.0752, -1.4154, 7.1453, 1.9512, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ca2b4b08e43815be8c23cc67c9abb93b02ddb87cf2b1d655a036b0d57985203",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcbaec29a2c1a6780d5cd9dd4141308169202a9dd7638025d8fcb34f5d92d44d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74b61195eec7b5bb501d6106b7d1d0f880ce01c7aaa260e68b393128a133098d",
      "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]: [-0.9241, 1.3407, 0.7864, -0.3351, -0.7025, -0.6407, 0.9993, -0.0238, 0.7986, 0.6147, -0.4328, -0.0208, -0.0162, 0.9995]\nstate[eef_state]: left_x=0.2921 left_y=-0.1915 left_z=0.1321 left_yaw=-0.0263 left_pitch=-0.0562 left_roll=0.0427 left_gripper=0.9993 right_x=0.2891 right_y=0.0004 right_z=0.1728 right_yaw=-0.0 right_pitch=-0.0343 right_roll=-0.0025 right_gripper=0.9995\nstate[joint_eff]: [-0.2803, -5.2444, 9.0188, 1.5556, -0.6178, -0.0317, -0.0904, -0.4581, -1.5658, 7.241, 1.9902, -0.0904, -0.0171, -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]: [-0.7792, 1.6215, 0.5423, 0.1864, -0.617, -0.5228, 0.9992, -0.0257, 0.8024, 0.6147, -0.4553, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3136 left_y=-0.161 left_z=0.0213 left_yaw=-0.0032 left_pitch=-0.1127 left_roll=0.0938 left_gripper=0.9992 right_x=0.2861 right_y=-0.0002 right_z=0.1673 right_yaw=-0.0009 right_pitch=-0.0606 right_roll=-0.0048 right_gripper=0.9995\nstate[joint_eff]: [0.4308, -5.4769, 4.6291, 1.536, -0.315, 0.1294, -0.022, -0.0752, -1.4154, 7.1453, 1.9512, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ca2b4b08e43815be8c23cc67c9abb93b02ddb87cf2b1d655a036b0d57985203",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcbaec29a2c1a6780d5cd9dd4141308169202a9dd7638025d8fcb34f5d92d44d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74b61195eec7b5bb501d6106b7d1d0f880ce01c7aaa260e68b393128a133098d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF5AYtFCQQ0lsEBa5WIQzXQpRerEU7rIfDYFIuTI_jWFpnrPbVlRKfZxwqx9PSC6tOpwouvoQphRpz1g5VR0nybm4dnSYtghLO0MviXJ3eAMvW6eixyVrZl_MjAqZp74bVwI8ZO0elYTMJzFqK50m2UqhWn9ctD31RdwS01pgJ2Au6aE7r1rLNys9hMmzEeIVIQeKyZb6otW37bB1ORc8XGK6tyiMtQ4X6mkA2Ydrm9moVnX0OJKg95GRjDqIIPvQVNyxYK5oOdcSYpkdyTy6TBXvxWHhV0AeK31WNuUlarsL_PEET-38lnZddQoyIbHJ-jymH5NUxNhX-NtMx3U3tNcGX1Hw7viXOs8h3p-SIh0vRIyArPDeXXUOkhiVb5E-dwj703DxEEr5DHNsQDXbbSNrkJ08ef8QVqgFfmuynCljKMau3GB3aD6EtYlAKNhNoNuXPgGXhEkkEWWL7ZRy7aEZBcTQLI5PjFfU0cNaVpw_q3nziDjN6SjbQJ2-dD7kIjIzFJ9cDZadQ_o2FUtIio09S-sYvs7q4lOzeV-H3ax9conCkbFBBlERf9ogppiKMElll2iW2Kc2GA4DDYkFFYAONuArB7Lwq9nlycr9CDDXVCkVnPBaup2uxAO-MpQnq5T5dpmBxJyJ1CVziSSRY8oX5WwGy_LAktjJvD1jB7vowfr-AjtSm9nlnbmTG8W-iIaLJIrrndHGJbpvV9uZO-_hhB_bstvj5Xvnq2Ef7p6tQHc1kbkp9YStGBDtb-XkaUaj6ZlnLv8OYESF96x2K2dvnA5xzfV4nXorg9ReO96-llEbxDml3D6NN8PTELZVIufuJDIJokBU3ueV658n9zgfk4lCRSpVRw3kxuh5gLll4noNh8ExOOcYj95EVeewF-PoHwKo92dWxbFHAD89i1ZLWD48CQzdxdlakbf6JqggZZKOumbREmtTJHKDtWl65sDOWmDYDtCN47UukXwdEDf5qEa52sUd7PjyQvXKiP9xTbcQzShGHM35O5E4IKSTmzLtQo7R83FcCVLsCyteGV60Ck5XghfWQWV2iWSzs8SxS7HXwW2aHuzzW8BLMX_1hLP8TmRM_tU4LJux-9MfNSr6Fpw2BzghyKmU7-Wnqca0sieMOPSlTEnJx0bJGx1lTqHKJFbLYpYSfpkzu32Rn5x9P2d2bWX4Lg67_EXgpnLB_6PhEC2coBFST0Wa2Ubg-tb6iXSKH0JU1I_oIP39jiiYJN5AU_8uVhhjJzitCXQMZv0N0fqR3T3dq03gZQ_7MuZMbu9reAibx7f0Tt-mqmKzco9Bt-zthKRX_zWSc0TTCoTdqLiKeFkPk3opksFRT57k9ZqvHifnYX-D3krFmaPVEl1bMZPHpU06f6T2AMC2YNzObIbCVoB0bX1IK04P7crbFt9mrLsekx8ErsJ1FqahKofqC7ZDHiDmsLYpKfwMu3mpjOKQaB4yx4IOeNaS_NgpPWC2xiDTiQjPZHxgLEGF63K5wNOAzJFFhAi9PhFk-IMzJeA1_YM1TpXorq7A_saVgzOxIbmp0ZbeYiePnDcFn3lNBi2zoPdAR3nuev5f4i7fYUCiAwjf2vVkO7_ZHNH_JdrtekmoT8IK-s-SzKjQbOJnwII1zWlfqOIFL6rdUJ-_IJIto8ZHVTVs05P5tnyD5zZ-HgwrhL5C0uCmyZRPNoaByC6lkfGX-x0fjAsCx6sxu9RBLP-_mm2YgiDwRojJG_wUzLDtz2U1cDhkuhgTw==",
  "id": "rs_0fb51d8258ad0dd5016ab45e3d5d0887d09d72a9833832f593",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.15,\"left_z\":0.02},\"note\":\"The toy’s body is still slightly ahead and left of the fingertips. I’m making a small table-height adjustment so the jaws surround its middle rather than its end.\"}",
  "call_id": "call_8rYXFYP6tvRUTg9OJKhPMipn",
  "id": "fc_0fb51d8258ad0dd5016ab45e3f9e7c87d0838167e6814906ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8rYXFYP6tvRUTg9OJKhPMipn",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6441, 1.7088, 0.601, 0.2478, -0.5533, -0.4374, 0.9992, -0.0257, 0.8043, 0.6147, -0.4759, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3484 left_y=-0.141 left_z=0.0142 left_yaw=0.0372 left_pitch=-0.1257 left_roll=0.101 left_gripper=0.9992 right_x=0.2831 right_y=-0.0002 right_z=0.1628 right_yaw=-0.0008 right_pitch=-0.0831 right_roll=-0.0042 right_gripper=0.9995\nstate[joint_eff]: [0.2667, -6.2291, 6.9538, 1.58, -0.1245, 0.1636, -0.0122, -0.0615, -1.3333, 7.159, 1.9853, -0.0562, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c79ca931e1298d966d24959d1128d95e5d60f6af29fc3ef1ded870bfb94e57e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f6b762aed59d7e1ba0e62738c6a774f0d0b1f80fb9044cbac36fbeca087577e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01ab6ecf4895489ce4f42a4fc1265c0bc890647f3840ce2d83bd07182fec99c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7921, 0.6037, -0.3908, -0.0193, -0.0338, 0.9993, -0.0212, 0.7929, 0.6067, -0.3962, -0.0204, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1781 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.001 right_z=0.1782 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.4427, 10.2769, 2.0098, -0.0659, 0.1929, -0.0855, -0.4308, -1.388, 9.6889, 1.917, -0.0317, -0.0562, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7792, 1.6215, 0.5423, 0.1864, -0.617, -0.5228, 0.9992, -0.0257, 0.8024, 0.6147, -0.4553, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3136 left_y=-0.161 left_z=0.0213 left_yaw=-0.0032 left_pitch=-0.1127 left_roll=0.0938 left_gripper=0.9992 right_x=0.2861 right_y=-0.0002 right_z=0.1673 right_yaw=-0.0009 right_pitch=-0.0606 right_roll=-0.0048 right_gripper=0.9995\nstate[joint_eff]: [0.4308, -5.4769, 4.6291, 1.536, -0.315, 0.1294, -0.022, -0.0752, -1.4154, 7.1453, 1.9512, -0.0464, -0.0366, -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]: [-0.6441, 1.7088, 0.601, 0.2478, -0.5533, -0.4374, 0.9992, -0.0257, 0.8043, 0.6147, -0.4759, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3484 left_y=-0.141 left_z=0.0142 left_yaw=0.0372 left_pitch=-0.1257 left_roll=0.101 left_gripper=0.9992 right_x=0.2831 right_y=-0.0002 right_z=0.1628 right_yaw=-0.0008 right_pitch=-0.0831 right_roll=-0.0042 right_gripper=0.9995\nstate[joint_eff]: [0.2667, -6.2291, 6.9538, 1.58, -0.1245, 0.1636, -0.0122, -0.0615, -1.3333, 7.159, 1.9853, -0.0562, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c79ca931e1298d966d24959d1128d95e5d60f6af29fc3ef1ded870bfb94e57e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f6b762aed59d7e1ba0e62738c6a774f0d0b1f80fb9044cbac36fbeca087577e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01ab6ecf4895489ce4f42a4fc1265c0bc890647f3840ce2d83bd07182fec99c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF5Drv84KcC4mObin38wQzx_rDrFkxChiyYwRekCDGo54VuwaCXEVlrGJ77dOUb7iTfE3d6bqByf1cF3pbhgxU4oIduRUxMn0v7KiLarM3QlchB28qsqvYcNmzEDRFKmj5j-kZJDSBNVzhmWGSlzp4nFu_MVqMRHAN-NSnhSisdFsoVt63lk2puwYIbH6wp4t8_UFdHIdY4ug_jZ-KtQXyDqC_GwFUySPhRmHs_UnPsPLpbOy3Oy0okUnRUQR_HSA5nWTqh72HM7lmOK5N0-B4wenMHAfjBg2xEQl8TUuNJ-qD-YZL0T2IF2k2l8mV56YVu-5EUQhLt-UM52pwIX91eUjMBfah14xspaEaTBVBvMkodjea0TQQU9GDmdz7wpD72qz7FxQ2yJCYppekQYlcYmHXX-iFCXfzqqWHY95kdr-EDVlVr-4MH9oME0IIcD0kAjOvLw-4KIss9dyICVyqy6KceSE7QgjuNLoa2zwD1_-rUON78f5PC1VbufpMJ3pAEk8a7gGC48t5lt7kMTTJ1SLkcv-d8ZVCd7E6Kq3xiJo3JhP2Py82k0ecMYvPK6Li_MlUYyLShve57twWjb_G8xizLFo0vYigygeckjkbH6BI-1UdeqWeqLTfWSXM0uvPRjXD76m6YYEYls6ofEpNe5PZUlXFckBuQRU7SrMh69RK3BYt5F6c3R-L_t91EJHbQ_N8cviflj0z3YYqBHzV2PF9x1kh7ybWBGKk6uStbYagjomUnseEdOJKpoe50RAX2vAasoT1NNtYDAs00cGDtnBkZSkpBoYd2j-HRgTA6s5THG1aeaF4UdQurZ3ctDsuj1r00pgISoIlqNiY0W2K-kgURP666tKHzFmt7NL7ndzsjRnHTg6V0kDDLXHMXBLKIPgZ6jmPeg9Otf9pyaZ2tVAaAD5YcLFfJbB0G0mTjV8vTz7nd8PEwPoYO9Ocr1s7bpajw05VA9ONWlXJOrK_PVhWn1hAQgP8TKkyPfg2ozKBFC5X0soIp2bMV5-XNUgsW1-7446oJDDwjP5U0zgGr-a0TZu3ZHR-5i2iCEN7vYpmybUhq8qMlPvXvPeTsUcBpUkAbZuxnujamHwAL9EVe5M88gJtzppj-K0t4whhOw9C0I7QNSUWVmriOw7Y_mMjsel5SSABoYifhHaKdjpPdzmChzaiZ1pJkRHRXmixw4sZtXuYMUq7Tk5-oqjOZ09vQL1R8-DxijctkSZFAvreDsng==",
  "id": "rs_0fb51d8258ad0dd5016ab45e423e2087d080bfe48fab56dedf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white toy is now centered between the fingertips. I’m closing the gripper around its body before testing the lift.\"}",
  "call_id": "call_CBQqWF1gHzMmEvbTpJYtLFxV",
  "id": "fc_0fb51d8258ad0dd5016ab45e42788887d0b0c527c1eb276490",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CBQqWF1gHzMmEvbTpJYtLFxV",
  "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]: [-0.6296, 1.7222, 0.617, 0.2646, -0.5346, -0.3977, 0.209, -0.0257, 0.8051, 0.6147, -0.4999, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3555 left_y=-0.1432 left_z=0.0157 left_yaw=0.0148 left_pitch=-0.1214 left_roll=0.1083 left_gripper=0.209 right_x=0.2794 right_y=-0.0001 right_z=0.1579 right_yaw=-0.0008 right_pitch=-0.1079 right_roll=-0.0036 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -6.8308, 6.2838, 1.4432, -0.1441, 0.0464, 0.9499, -0.1983, -1.306, 6.9265, 1.8486, -0.0269, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53405d50012bb10d559ab5a72a70ec74f20dde90de8a5a055d4792679a90329c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85d0370ed04b425d65a6c799dee5fbc851cd155aca461dc4ce54c5600c3a6b5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdc3e5bb3f160aff3b1ce000487acc3ee0478f15f29a664773cec1adc3195dda",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9241, 1.3407, 0.7864, -0.3351, -0.7025, -0.6407, 0.9993, -0.0238, 0.7986, 0.6147, -0.4328, -0.0208, -0.0162, 0.9995]\nstate[eef_state]: left_x=0.2921 left_y=-0.1915 left_z=0.1321 left_yaw=-0.0263 left_pitch=-0.0562 left_roll=0.0427 left_gripper=0.9993 right_x=0.2891 right_y=0.0004 right_z=0.1728 right_yaw=-0.0 right_pitch=-0.0343 right_roll=-0.0025 right_gripper=0.9995\nstate[joint_eff]: [-0.2803, -5.2444, 9.0188, 1.5556, -0.6178, -0.0317, -0.0904, -0.4581, -1.5658, 7.241, 1.9902, -0.0904, -0.0171, -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]: [-0.6441, 1.7088, 0.601, 0.2478, -0.5533, -0.4374, 0.9992, -0.0257, 0.8043, 0.6147, -0.4759, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3484 left_y=-0.141 left_z=0.0142 left_yaw=0.0372 left_pitch=-0.1257 left_roll=0.101 left_gripper=0.9992 right_x=0.2831 right_y=-0.0002 right_z=0.1628 right_yaw=-0.0008 right_pitch=-0.0831 right_roll=-0.0042 right_gripper=0.9995\nstate[joint_eff]: [0.2667, -6.2291, 6.9538, 1.58, -0.1245, 0.1636, -0.0122, -0.0615, -1.3333, 7.159, 1.9853, -0.0562, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6296, 1.7222, 0.617, 0.2646, -0.5346, -0.3977, 0.209, -0.0257, 0.8051, 0.6147, -0.4999, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3555 left_y=-0.1432 left_z=0.0157 left_yaw=0.0148 left_pitch=-0.1214 left_roll=0.1083 left_gripper=0.209 right_x=0.2794 right_y=-0.0001 right_z=0.1579 right_yaw=-0.0008 right_pitch=-0.1079 right_roll=-0.0036 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -6.8308, 6.2838, 1.4432, -0.1441, 0.0464, 0.9499, -0.1983, -1.306, 6.9265, 1.8486, -0.0269, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53405d50012bb10d559ab5a72a70ec74f20dde90de8a5a055d4792679a90329c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85d0370ed04b425d65a6c799dee5fbc851cd155aca461dc4ce54c5600c3a6b5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdc3e5bb3f160aff3b1ce000487acc3ee0478f15f29a664773cec1adc3195dda",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.085,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"The gripper has closed to about two centimeters rather than closing empty. I’m lifting the white toy a short distance to confirm it is secure, while restoring the idle arm’s parked height.\"}",
  "call_id": "call_UZY9AjF7yK2yxxMYB1dA0szC",
  "id": "fc_0fb51d8258ad0dd5016ab45e45a28487d08da0ed299a6436bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UZY9AjF7yK2yxxMYB1dA0szC",
  "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]: [-0.6292, 1.5455, 0.7139, -0.0212, -0.5346, -0.4053, 0.209, -0.0257, 0.8776, 0.6838, -0.5678, -0.02, -0.0189, 0.9995]\nstate[eef_state]: left_x=0.3533 left_y=-0.1414 left_z=0.0682 left_yaw=0.0203 left_pitch=-0.1306 left_roll=0.1098 left_gripper=0.209 right_x=0.282 right_y=-0.0001 right_z=0.1567 right_yaw=-0.0007 right_pitch=-0.1792 right_roll=-0.0015 right_gripper=0.9995\nstate[joint_eff]: [-0.0889, -7.8017, 8.2803, 1.4237, -0.2906, 0.0562, 0.7009, -0.1299, -1.5658, 9.6479, 1.8584, -0.0415, 0.0122, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ca8fcbd60102a5f8deb703aa8db2cee9e77673e33064a2a852c9133164257fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1252e888df48a3c5f74f8f5231172e60ce7007f51b463d8ed1931fd5df83c5ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d29728b3d7d6cdf7e261fe321d0e87e509077ffe56c66f64cd0d7b65df45fef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 10 changed as sent

message 18 changed as sent

message 21 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7792, 1.6215, 0.5423, 0.1864, -0.617, -0.5228, 0.9992, -0.0257, 0.8024, 0.6147, -0.4553, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3136 left_y=-0.161 left_z=0.0213 left_yaw=-0.0032 left_pitch=-0.1127 left_roll=0.0938 left_gripper=0.9992 right_x=0.2861 right_y=-0.0002 right_z=0.1673 right_yaw=-0.0009 right_pitch=-0.0606 right_roll=-0.0048 right_gripper=0.9995\nstate[joint_eff]: [0.4308, -5.4769, 4.6291, 1.536, -0.315, 0.1294, -0.022, -0.0752, -1.4154, 7.1453, 1.9512, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6296, 1.7222, 0.617, 0.2646, -0.5346, -0.3977, 0.209, -0.0257, 0.8051, 0.6147, -0.4999, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3555 left_y=-0.1432 left_z=0.0157 left_yaw=0.0148 left_pitch=-0.1214 left_roll=0.1083 left_gripper=0.209 right_x=0.2794 right_y=-0.0001 right_z=0.1579 right_yaw=-0.0008 right_pitch=-0.1079 right_roll=-0.0036 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -6.8308, 6.2838, 1.4432, -0.1441, 0.0464, 0.9499, -0.1983, -1.306, 6.9265, 1.8486, -0.0269, -0.0562, -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]: [-0.6292, 1.5455, 0.7139, -0.0212, -0.5346, -0.4053, 0.209, -0.0257, 0.8776, 0.6838, -0.5678, -0.02, -0.0189, 0.9995]\nstate[eef_state]: left_x=0.3533 left_y=-0.1414 left_z=0.0682 left_yaw=0.0203 left_pitch=-0.1306 left_roll=0.1098 left_gripper=0.209 right_x=0.282 right_y=-0.0001 right_z=0.1567 right_yaw=-0.0007 right_pitch=-0.1792 right_roll=-0.0015 right_gripper=0.9995\nstate[joint_eff]: [-0.0889, -7.8017, 8.2803, 1.4237, -0.2906, 0.0562, 0.7009, -0.1299, -1.5658, 9.6479, 1.8584, -0.0415, 0.0122, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ca8fcbd60102a5f8deb703aa8db2cee9e77673e33064a2a852c9133164257fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1252e888df48a3c5f74f8f5231172e60ce7007f51b463d8ed1931fd5df83c5ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d29728b3d7d6cdf7e261fe321d0e87e509077ffe56c66f64cd0d7b65df45fef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF5LIqgN4I3UMTquMk_oC_nt3F1zg2Qss4-YR-0SA4OBv8jZFUJdsHH7JQZjy5sdkmlhd5VbGyi4o8XnYKLUeVudk11pnMTB8iUrMcdaRwb0a4onbD0dl2J8MYuHfQlMjXBT4McQG53ihCDOZY_lh0ZGy76ColK2zWL20XzHFqhdHkQQPX615kuQKWmLezmnV5ozqkZaniLGOZupBt_gRZnWqcsT6RXs3GOj8oWNlZP6cDKEK5P3v0AbL0m2eTN-ujaUjBwmug8DaedtrmPCyQRe_JdR49nziynzXocdpgFEpuxbuxrlE4rksNxOzFm55HqNDQjrchJQNlrfCMEmlMRfPCrQ3c11IbfubRaMuEkb1G6JsJA_kdzC1TrZUXle93aHONGUMkih100Dviki3KaOtnxlx-3M8Tr9JDNwnV_-CU_vngcbSh0PeHiC_hCKb_NRgzHe4xxO-7AXnJJ9giPFlzjx34V2jy23GP9-J81r5oH6PljjIBa8flmRU7O08j9CHoOQQBba79a05paG3OpC6fCJYKzn4USJl6c-sVS4gKnLboTh67o-1Ip0bx69Vxm62x5zCa2fo0-W0UuvVFxNG4LiHfDroX3Hypdj3XHSbFSIn9k2cMRKDb9LnBr-83FlweHh665rvZ6CLerW_sq0LKHcxI4Za1xS1fGMLA20tqz1PadxgzFNLmDg-wHYJFVLRh7H-4Gp97WMEG4Ua2g0xQE9cUQQRL2ldoWI1I5a2kt6_YQ6DsKBUSuldJOzeKxrJXf-VnfMqdr7NpxkJIAeWe1dmUUmP7w_XCeG2go1gvuqk7QRNB8f7_ztWklGyG8qX3o44QC_fZNTf9dQJJjEJTQvoIR6KPN3iaaq4YFoJj_CqZ7kwtOVkQy3GeqDZs54_71Vd3Hqgsmm1QGt1skpNVRwG6R38fEjNGFSwLrgm08XVc58xEGCVCRnLKfINSI0xoE5nX9pK4YTmos5kxuoTZFghorHmfpneGypusUcjr9jNjaxRw52Kv8jXbN0n2SkZfInp49lkh6MMU1njdzhEr87kMHXcLQ8NSwpUX-au-kfJTauBCmbQK3y2vCb684lTu4xgglx3OyytDW4wO_y6b7Kv99tsGRiqTbhCQL6TfomL0ARj7_i_DXlq6yOSc52Zv_Ltqm5IMuOT7hZ99IiZ6fpntuPZN0TWFi77G_MngM6iBSUCteswefpXjAe3-UT0YM2wf7TU6-3rvYm7BuqIZGxBORm328b5q_H4HKuC4KUDaulC3hP-Y0RTm1jqw_SkqK6ndZAEyJmCU7NgSFCYLB9nV_fJyQpzwgmbuQ4gWTE37N1a32sSLABnCPHG3sGfwyWiRatDkSg5RzcDLXB6ATFMfJrhB52PWnqVUgSWR4jBVKbOMui-E3f-fX3_f_qDg9Yi-48rXKdTg0Ljdup3f2MZCT-FqyV4dzI8m2dXYb1xPex7_3OjbY5JZBHF2fMs8smJkmU9ia_YBlsZJ5h9zaF0mGqk1CGheZ8wKyN7PIRfrUhWCmyx4L8Gw2wicdIAuI7bwf67zOfPkwmfiKHDR9zmPrJ8ON3Z37gfdVAKIFQUAR0_XZPwPgjq4m8C2RdQKiLzLufX229vmBBJlh6FZ-3RACJA7TzcS0eh23VAmabI9NnAI9b_3GnyROB_k5h08fokspn_CSsA4zQ0YQ5xcaI5z7b-f5XeYGO5pL3LZ3Wx4FZjX7QYeaiLbvGS56aBhEHiIOQ1iQNhNYtrMxz_WlOSxX09yPi6AUxVEUkTOj4-RbhWmIf5BfKZhKdQwRA",
  "id": "rs_0fb51d8258ad0dd5016ab45e488e0487d0a1207f7f0aaf8cd4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.305,\"left_z\":0.2},\"note\":\"The white toy has lifted with the gripper. I’m carrying it above the center of the safe’s red-lined compartment, high enough to clear the rim.\"}",
  "call_id": "call_uPPIai6nUfhZMtprWscl5OGR",
  "id": "fc_0fb51d8258ad0dd5016ab45e4ac42887d082e7ff1a82d0cc58",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uPPIai6nUfhZMtprWscl5OGR",
  "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]: [-0.7994, 2.0827, 1.9175, -0.7769, -0.6224, -0.5781, 0.21, -0.0257, 0.8825, 0.6842, -0.6117, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.4434 left_y=-0.3032 left_z=0.1884 left_yaw=0.0151 left_pitch=-0.1412 left_roll=0.0898 left_gripper=0.21 right_x=0.2746 right_y=0.0001 right_z=0.1479 right_yaw=-0.0003 right_pitch=-0.2277 right_roll=-0.0005 right_gripper=0.9995\nstate[joint_eff]: [-0.5812, -11.9316, 8.2256, 0.9597, -0.5446, 0.0317, 0.4225, -0.0752, -2.0308, 6.7761, 1.9121, -0.0464, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d894e5eb17abec4bdfdd18b36e2ad54912026bd8c6ffa54e76cfb57f67262277",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6c189eabe8023eb8a9ed46116e0f649b60e668d0572f153fa9ada42a6222c7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04e15df68ae598499b0abcf0a531fe18f97e2f05d3aa7f2ebcc0a8923b165525",
      "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]: [-0.6441, 1.7088, 0.601, 0.2478, -0.5533, -0.4374, 0.9992, -0.0257, 0.8043, 0.6147, -0.4759, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3484 left_y=-0.141 left_z=0.0142 left_yaw=0.0372 left_pitch=-0.1257 left_roll=0.101 left_gripper=0.9992 right_x=0.2831 right_y=-0.0002 right_z=0.1628 right_yaw=-0.0008 right_pitch=-0.0831 right_roll=-0.0042 right_gripper=0.9995\nstate[joint_eff]: [0.2667, -6.2291, 6.9538, 1.58, -0.1245, 0.1636, -0.0122, -0.0615, -1.3333, 7.159, 1.9853, -0.0562, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6292, 1.5455, 0.7139, -0.0212, -0.5346, -0.4053, 0.209, -0.0257, 0.8776, 0.6838, -0.5678, -0.02, -0.0189, 0.9995]\nstate[eef_state]: left_x=0.3533 left_y=-0.1414 left_z=0.0682 left_yaw=0.0203 left_pitch=-0.1306 left_roll=0.1098 left_gripper=0.209 right_x=0.282 right_y=-0.0001 right_z=0.1567 right_yaw=-0.0007 right_pitch=-0.1792 right_roll=-0.0015 right_gripper=0.9995\nstate[joint_eff]: [-0.0889, -7.8017, 8.2803, 1.4237, -0.2906, 0.0562, 0.7009, -0.1299, -1.5658, 9.6479, 1.8584, -0.0415, 0.0122, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7994, 2.0827, 1.9175, -0.7769, -0.6224, -0.5781, 0.21, -0.0257, 0.8825, 0.6842, -0.6117, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.4434 left_y=-0.3032 left_z=0.1884 left_yaw=0.0151 left_pitch=-0.1412 left_roll=0.0898 left_gripper=0.21 right_x=0.2746 right_y=0.0001 right_z=0.1479 right_yaw=-0.0003 right_pitch=-0.2277 right_roll=-0.0005 right_gripper=0.9995\nstate[joint_eff]: [-0.5812, -11.9316, 8.2256, 0.9597, -0.5446, 0.0317, 0.4225, -0.0752, -2.0308, 6.7761, 1.9121, -0.0464, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d894e5eb17abec4bdfdd18b36e2ad54912026bd8c6ffa54e76cfb57f67262277",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6c189eabe8023eb8a9ed46116e0f649b60e668d0572f153fa9ada42a6222c7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04e15df68ae598499b0abcf0a531fe18f97e2f05d3aa7f2ebcc0a8923b165525",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF5RacszEVhB13UCBMbgVco-gXtNcSGVy3T8iz3VOkh2uvna0W-q35wXv1yqjnRn29Wg0caKOlJyDDQPiHpEU1kS0b8FwFiuFWvxAOigtrdxXny45vbSSaBFfxiwpsWDM_zaythzTfNggR1VfkiHg8vTgKdprIWqg1k61sO0Fv1NZWmZYMDDELIUqbc6g60GZtXuGvU10ajtL-j4gPnd0gavSNiVbQT1_pAGKkkhtLTtmVAD7i4NU0qU-1LrzEyZK9V7UshpcFrMVcG6tGcDE9jdTPRjuvDjAYfQi-mV3zaTPtX6C0eAzlWLdjKK9sUvZSbW8TVL8vp3Qua7LWcUAqCO2h8iVatB7x3apy41nDnwpk_idK5OHFXxt9by9nUiTi6FNarSOnq_gZ8HUg4Vb07aKKQZwlhXCOT4DE2vXwS_Ta1gg_p9tDNvVS8A-vvMMPRjMTchdFq93lUsES6Ocb-7Nxg9E3e8dmb-vVbQZf-kngz4cTYDTEmqe6dTB-kBtA6nYsfA0NtAkGxTgID5guWpDEicqzJ2HwaamwhsZIPw_guQZ8qGjQFDGP_8eJ1Hba5BoX7dVtG-eXIKrwSsKehX5oXn6px58FP7zIwpiXih1plCQzn59VXhjYAqXRel5sZ8YgrcK2XhX9gllON0Ig4Jyj1tIlrGcFQ7TibiJ4p9BYjMFN6pNkfqQp6mbQrU-1HuYJFiRW1P36gszRqFS2lYZJ7bgLsjklmz2wS_Hfclblky0EWGKSOYjlKsoRid5lJH7sOKDygJ3g_IZ_fUdmJB23tGln3sm6NynfL9sLtqJ7F4dZ8fPLkdEHu97m1QfyYdQZoTD-4YVhMOCUKYMqkemn-5wydVt66-pPUWB2ooRYqUno1zjTwYZxzaJTc6fdMxitbaQqSgy1brZ3rL2PFkOTZr7tnL23EoK1bsq1vjoLFMJEBFhJ5EKUoiuMpJ05nLwKTIAfDEXhFPJrDMLpJOG9Ciosj-J4kWkkxt4CONxy-KjSZWe1pLprXhnaf6sZzovSvTamZASqTdoSbFvqhpbU3ypmWrCOwaY58KE2Oboy37nLOcqIT4kokb97Fxch58HFK_SpTlrlrC9g1pTXW2hcKhXA5BNlHQV5R9s4gAHDHUAkAXLWWO4CUr4WY2T34U45AcPym9YJmj0sOvxmV5p1tsS2LZlZCKe9jz3dnjbI6vbxao8C7Ao9V4HrkN0uyYEAGVH1qZjg8GP5g57hocCVddjnXGEb-zCoZHZ8ODVnmYohr4nggGcncAHvAiHkC3nARU0Yqi1a3PrDB4ZAS46xVbyvsAitik1BUxAsRRPFmIOuah8oFLK0UhYU0AnoYxeryzCe-YXxIUKxaCwY4tFZkL4uN42YNPU8N2iJYrTL02vZA129kV08pwSYIGXWl-1PaCFnigqJou1Bup9IJl54JaE_-Or0O_Of9p4VKnTUVAKl7COALDvvgMUBiG9PT2YTB2DPVacPBVcBIv5MMclOy8nvFgQSfvtI4RB-13f2BmPelpCZ8mSSiVOFXPO99owkmfqk1rU_ZWGiGdX0YKGS8Ev1_BlgUU4K1FtUOGU9KkhTNtYfqXu64EiZA6YHWP4NDPvBVQcyaruJWaynuYDrfgqZIcirRpJOwHksSKspp-4VgG3y8EufcIC4MyNbDgRgDCbjVXAk-zrRGNuVj5YD39b8RhuTZdjb2s8Gun04-yPgQ8sVKB9WXFvRS5-Hb7tvF0yJ8FqDL5-5NJD3kXvJIpYZheuNbGaSt4m0TYf80=",
  "id": "rs_0fb51d8258ad0dd5016ab45e4e787087d08f33f2df59c23e8e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_z\":0.07},\"note\":\"The toy is suspended over the compartment with the lid still clear. I’m lowering it onto the lining, slightly toward the front to keep it away from the hinge.\"}",
  "call_id": "call_zhII9TzXqX1Ju28bsjYMGOB1",
  "id": "fc_0fb51d8258ad0dd5016ab45e508e9c87d08f0eebba5b5e6d6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zhII9TzXqX1Ju28bsjYMGOB1",
  "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]: [-0.8181, 2.1082, 1.5173, -0.4107, -0.6228, -0.5915, 0.2117, -0.0257, 0.8829, 0.6842, -0.635, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.4245 left_y=-0.2972 left_z=0.0724 left_yaw=0.0111 left_pitch=-0.1806 left_roll=0.1241 left_gripper=0.2117 right_x=0.2704 right_y=0.0002 right_z=0.1439 right_yaw=-0.0001 right_pitch=-0.2513 right_roll=0.0001 right_gripper=0.9995\nstate[joint_eff]: [-0.5949, -11.0291, 6.2974, 1.4725, -0.4322, -0.1099, 0.6129, -0.1299, -1.6615, 7.0085, 1.6972, -0.0611, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ae72fc0dfa5ec567f44ed89ce565e1c2f878d3c8534b24140cd688c9124a00e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4ebda792cec962e9fba59ce2f653f15ff1f4f93db21dbc13ef2b909ce910d20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e9cf4c3135c33715d65ab3e13bef10694c4a7229d9603738a667763e14b218f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 18 changed as sent

message 25 changed as sent

message 29 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6296, 1.7222, 0.617, 0.2646, -0.5346, -0.3977, 0.209, -0.0257, 0.8051, 0.6147, -0.4999, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3555 left_y=-0.1432 left_z=0.0157 left_yaw=0.0148 left_pitch=-0.1214 left_roll=0.1083 left_gripper=0.209 right_x=0.2794 right_y=-0.0001 right_z=0.1579 right_yaw=-0.0008 right_pitch=-0.1079 right_roll=-0.0036 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -6.8308, 6.2838, 1.4432, -0.1441, 0.0464, 0.9499, -0.1983, -1.306, 6.9265, 1.8486, -0.0269, -0.0562, -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]: [-0.7994, 2.0827, 1.9175, -0.7769, -0.6224, -0.5781, 0.21, -0.0257, 0.8825, 0.6842, -0.6117, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.4434 left_y=-0.3032 left_z=0.1884 left_yaw=0.0151 left_pitch=-0.1412 left_roll=0.0898 left_gripper=0.21 right_x=0.2746 right_y=0.0001 right_z=0.1479 right_yaw=-0.0003 right_pitch=-0.2277 right_roll=-0.0005 right_gripper=0.9995\nstate[joint_eff]: [-0.5812, -11.9316, 8.2256, 0.9597, -0.5446, 0.0317, 0.4225, -0.0752, -2.0308, 6.7761, 1.9121, -0.0464, -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]: [-0.8181, 2.1082, 1.5173, -0.4107, -0.6228, -0.5915, 0.2117, -0.0257, 0.8829, 0.6842, -0.635, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.4245 left_y=-0.2972 left_z=0.0724 left_yaw=0.0111 left_pitch=-0.1806 left_roll=0.1241 left_gripper=0.2117 right_x=0.2704 right_y=0.0002 right_z=0.1439 right_yaw=-0.0001 right_pitch=-0.2513 right_roll=0.0001 right_gripper=0.9995\nstate[joint_eff]: [-0.5949, -11.0291, 6.2974, 1.4725, -0.4322, -0.1099, 0.6129, -0.1299, -1.6615, 7.0085, 1.6972, -0.0611, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ae72fc0dfa5ec567f44ed89ce565e1c2f878d3c8534b24140cd688c9124a00e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4ebda792cec962e9fba59ce2f653f15ff1f4f93db21dbc13ef2b909ce910d20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e9cf4c3135c33715d65ab3e13bef10694c4a7229d9603738a667763e14b218f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The white toy is down inside the red-lined compartment. I’m releasing it before withdrawing the gripper.\"}",
  "call_id": "call_AwCbooEpDnBZblETwTdjiMqv",
  "id": "fc_0fb51d8258ad0dd5016ab45e53e5ec87d0bed7f63bcfc36709",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AwCbooEpDnBZblETwTdjiMqv",
  "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]: [-0.8185, 2.1281, 1.4975, -0.4118, -0.6209, -0.5999, 0.9955, -0.0257, 0.8829, 0.6842, -0.6575, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.4198 left_y=-0.2928 left_z=0.0556 left_yaw=0.0201 left_pitch=-0.2086 left_roll=0.1477 left_gripper=0.9955 right_x=0.2662 right_y=0.0003 right_z=0.1402 right_yaw=0.0 right_pitch=-0.2738 right_roll=0.0007 right_gripper=0.9995\nstate[joint_eff]: [-0.1709, -13.3949, 7.706, 1.1209, -0.359, 0.0513, -0.1441, -0.0342, -1.4017, 6.7624, 1.6728, -0.0513, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6f355daa556a2703d1b1772833025c68b6d5458b97ccf8a7bcf65443b00d4e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:908183668e54e93bfbbe56d1ff020157bb83b5048bac2aed47e297ee453a9e56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:447cc38f55ab46285dd70e0185853a916f6627fb8d79bbc107df4b2e3d398541",
      "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 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6292, 1.5455, 0.7139, -0.0212, -0.5346, -0.4053, 0.209, -0.0257, 0.8776, 0.6838, -0.5678, -0.02, -0.0189, 0.9995]\nstate[eef_state]: left_x=0.3533 left_y=-0.1414 left_z=0.0682 left_yaw=0.0203 left_pitch=-0.1306 left_roll=0.1098 left_gripper=0.209 right_x=0.282 right_y=-0.0001 right_z=0.1567 right_yaw=-0.0007 right_pitch=-0.1792 right_roll=-0.0015 right_gripper=0.9995\nstate[joint_eff]: [-0.0889, -7.8017, 8.2803, 1.4237, -0.2906, 0.0562, 0.7009, -0.1299, -1.5658, 9.6479, 1.8584, -0.0415, 0.0122, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8181, 2.1082, 1.5173, -0.4107, -0.6228, -0.5915, 0.2117, -0.0257, 0.8829, 0.6842, -0.635, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.4245 left_y=-0.2972 left_z=0.0724 left_yaw=0.0111 left_pitch=-0.1806 left_roll=0.1241 left_gripper=0.2117 right_x=0.2704 right_y=0.0002 right_z=0.1439 right_yaw=-0.0001 right_pitch=-0.2513 right_roll=0.0001 right_gripper=0.9995\nstate[joint_eff]: [-0.5949, -11.0291, 6.2974, 1.4725, -0.4322, -0.1099, 0.6129, -0.1299, -1.6615, 7.0085, 1.6972, -0.0611, -0.0562, -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]: [-0.8185, 2.1281, 1.4975, -0.4118, -0.6209, -0.5999, 0.9955, -0.0257, 0.8829, 0.6842, -0.6575, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.4198 left_y=-0.2928 left_z=0.0556 left_yaw=0.0201 left_pitch=-0.2086 left_roll=0.1477 left_gripper=0.9955 right_x=0.2662 right_y=0.0003 right_z=0.1402 right_yaw=0.0 right_pitch=-0.2738 right_roll=0.0007 right_gripper=0.9995\nstate[joint_eff]: [-0.1709, -13.3949, 7.706, 1.1209, -0.359, 0.0513, -0.1441, -0.0342, -1.4017, 6.7624, 1.6728, -0.0513, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6f355daa556a2703d1b1772833025c68b6d5458b97ccf8a7bcf65443b00d4e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:908183668e54e93bfbbe56d1ff020157bb83b5048bac2aed47e297ee453a9e56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:447cc38f55ab46285dd70e0185853a916f6627fb8d79bbc107df4b2e3d398541",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF5bPfK58D-FksMHPFmeOtiYoWt3mT6HFYYH9gUoybyQIcdqlCmDFiuQm_Bst-qrK-FTpIpq6KGDRNCUcyjGGRSAGbeM7EVit6ohDcjzFBgSeb6Y6l6xr6EHiUCqMQ-4X0tCtBxZ-lWzTAaufx2t-y3HQUFMNJADfR6D5XAG-kXyhOst6svVGXg9WfbQqmKWMKb4s6myQrLNgInY3ZomMBHhlACtz2EphnNSgF-5S5trQFuOaypfZO0BsDiODdGaauqzJwz-KT1h8nzpuwDaVQKqpqE3Bgfp1cFIfLQYRofrU9jz82kBQ0_VDOufCkyNa8Vj-WC5haYX6l0pM-B-YvOubSrsGnAHcO_x1RfuMBtbHHFtz92axANwIisvr8wobv64Cs_Cgpd-H1GyljST4mGMt9co3Wv9Y1_WEZNPBRi58m5Qfdz_W9GSPalRlr5HovsICID-1zm2a3ruIXFMjed11UIJOqf7YAqCN6wBVVvHhqpSxvz9jwWhlp03e0S5JLIou4NTYQdX9vFlM5FRrkJk66g5U9BEIBZZnSQxukzrlfng0LqHjjcpGnBXBItkrfe1UCzycZwNMIAdpKm407F_4195LVn9uEZA5rkiKvmjus7T1_K0PcPYr6WTYSf6vjrilFa1QD2zGHUWyDt-NBoSqLrmzEsz13w999kWGaQZxLhOKyuc6iOtR5bKSErHHuOdhD-961yy0jE74BMPIJjarPbb2C40fBQp8PInqrlv43PzymZkeR5n69oTOxkIAO5x9ykSPpWltdfWp2h3VpqNsHLmVwSwoRQXmlwIMBMc89EDfFf04HJ4DH-djSznwYj0BTWlBuBHQFZcp2cCQ1ilb_HbuMThuNFsNsAjTqbS_Y_Z1b43bzGULc8xvYm45CvQryYO1ZkR626YVSdwqFchJhG8DtGLqwzxyfVSLPEfqmj243wDakT4PUevGcik-G3txoxAgzriIq2C087-zCw40OJyTzkS4OyKYT3GVCWR0BoG90HSjkXZWE-ckSC_bl7H9xlOTQMXdXLdXuBL_JdQfARO5YYwec7OSItlhC1-3HF-tr_1Q-Qok3VUPlWhKaJvfbHRtQjrw3FUTTfyhCnVETkl_CRpcgh5fdo80vDw4Vc1dE8c5inMaw8FJucDJ2nx5owiKhR1vj3Fc_k-uaYWm5KL3LduehJz1mtTqdpBo4IIcMxzDN5ynh8_ltLskz1NLWvEW4sX8UCk8xhy3ThLi1ZT8LSBNr-x1fsWPnkyFHl7megmnD6EikirqSDPqygkdGKgiT6yGMLvHKVJVAgMh5qYfAoFuXwy2x9RnjscaLLwbSgxESVF7Vrt8hRVhUfPzehpAMfLIR9d-JMlwFp66HR0wbFGAbPsqMDY8YoBArJASk9nGem0SH-TyIcRaoFAs-oFfBF11jUQahvBplCpJs5HpkqefKYGiaQ3KZZvlI03khIp0JR2Q9h0Eynu763IRw9G1gusEH7SohJQ4CygWGuWz7gKzmH4jwc0Yshh4rLmHxoVlg6EC5z-c0a5OUyxxeAKkY5lYceEzKMyuAn0FhXxvo9keAg3PcLdlmMNZRAAIZqAJU4ecj_wq_EwOpfVcuFrSa3XZ0byosrUS13AH2qVMI7Fw7xVSCQm-619br1y77lyOv7VIf5a-i1Ze17xjvHVnE96RJIqrenuk-DpQg-UhUbUZjYnDnu9Y4_Os1E7lkttsMC9DaWQOg55yM7SKRVsP-ccayZukC3ym7YhF0X5E7Did475Fdf4GKkfV50TnGTakbd5LqPCDH1R5h9WVFFvtJvFZ1f4aM-RUAVzrlyzH2TSkYIB66V6yFUJHfJyf9gfMiaLn-OHFSVxB2O1scRzdJT_aT97D56iq3QKS1jradSUDcnR5q25p6KdfOjjrbzNxCKuy3iefF2gVJPJWNO_oJlk_brca8nbi6chng==",
  "id": "rs_0fb51d8258ad0dd5016ab45e57d40087d096321c9cd6258781",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.04,\"left_z\":0.22},\"note\":\"The white toy has been released inside the safe. I’m lifting and withdrawing the left arm to clear the compartment and make room for the right arm.\"}",
  "call_id": "call_1rB8fGbxHAMSlo0PBQkUDeow",
  "id": "fc_0fb51d8258ad0dd5016ab45e5aaaf087d09a62d1f2d88a3d28",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1rB8fGbxHAMSlo0PBQkUDeow",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3515, 1.0821, 1.0126, -0.7853, -0.3622, -0.21, 0.9969, -0.0257, 0.8864, 0.6842, -0.6765, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3036 left_y=-0.0409 left_z=0.2106 left_yaw=0.0575 left_pitch=-0.2122 left_roll=0.1421 left_gripper=0.9969 right_x=0.2627 right_y=0.0004 right_z=0.1363 right_yaw=0.0002 right_pitch=-0.2963 right_roll=0.0013 right_gripper=0.9995\nstate[joint_eff]: [0.1709, -3.4256, 8.6222, 1.5946, -0.1538, 0.1734, 0.1197, -0.0615, -1.8667, 6.735, 1.5946, -0.0366, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1a50a59ea5e1316bc1a83b4eddbb169ca77cddcd8e090bf4185e7bfc08f2a25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f57c39f238342d41b614b75f11e9bcc0384b78b88bacfbca964b885423f311d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d072807e62c80e57066cee2bee1969179ebd7dbdc5a68616edbf8e0e02101759",
      "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 32 changed as sent

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7994, 2.0827, 1.9175, -0.7769, -0.6224, -0.5781, 0.21, -0.0257, 0.8825, 0.6842, -0.6117, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.4434 left_y=-0.3032 left_z=0.1884 left_yaw=0.0151 left_pitch=-0.1412 left_roll=0.0898 left_gripper=0.21 right_x=0.2746 right_y=0.0001 right_z=0.1479 right_yaw=-0.0003 right_pitch=-0.2277 right_roll=-0.0005 right_gripper=0.9995\nstate[joint_eff]: [-0.5812, -11.9316, 8.2256, 0.9597, -0.5446, 0.0317, 0.4225, -0.0752, -2.0308, 6.7761, 1.9121, -0.0464, -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]: [-0.8185, 2.1281, 1.4975, -0.4118, -0.6209, -0.5999, 0.9955, -0.0257, 0.8829, 0.6842, -0.6575, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.4198 left_y=-0.2928 left_z=0.0556 left_yaw=0.0201 left_pitch=-0.2086 left_roll=0.1477 left_gripper=0.9955 right_x=0.2662 right_y=0.0003 right_z=0.1402 right_yaw=0.0 right_pitch=-0.2738 right_roll=0.0007 right_gripper=0.9995\nstate[joint_eff]: [-0.1709, -13.3949, 7.706, 1.1209, -0.359, 0.0513, -0.1441, -0.0342, -1.4017, 6.7624, 1.6728, -0.0513, -0.0024, -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]: [-0.3515, 1.0821, 1.0126, -0.7853, -0.3622, -0.21, 0.9969, -0.0257, 0.8864, 0.6842, -0.6765, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3036 left_y=-0.0409 left_z=0.2106 left_yaw=0.0575 left_pitch=-0.2122 left_roll=0.1421 left_gripper=0.9969 right_x=0.2627 right_y=0.0004 right_z=0.1363 right_yaw=0.0002 right_pitch=-0.2963 right_roll=0.0013 right_gripper=0.9995\nstate[joint_eff]: [0.1709, -3.4256, 8.6222, 1.5946, -0.1538, 0.1734, 0.1197, -0.0615, -1.8667, 6.735, 1.5946, -0.0366, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1a50a59ea5e1316bc1a83b4eddbb169ca77cddcd8e090bf4185e7bfc08f2a25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f57c39f238342d41b614b75f11e9bcc0384b78b88bacfbca964b885423f311d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d072807e62c80e57066cee2bee1969179ebd7dbdc5a68616edbf8e0e02101759",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF5hTZz2vxuLRLJd33GCyfKeAJqBoCr1XRc1R9YRIcXvOgtzqBK2kVUQtPQ6TKoA0DkBR5Bu2hhhGSrn9dq-LR_W4FVzo6LBRUzu5GZCRsoGc2XASrGrYK0BLOI1GjxSkcbmQumjx0kHcMQJqJZ-H3P-IUNJSMoNw86BQsviJc7KCztiGF5aKEh6uIhH55ukmIqBNF-xsChXvjw75_dIu63vMcf05qDdhpnmg9WAW2853j5oerqd9PBKWVZQgcKkFFD5V1I-5B4qdKKiUpkjP4-Ip4yCsgL-5ifQ_ApkdQv_OmMVR1j8kor-FXBhRbSDVHbAHCFC2zbxD-NIs5iZrctvapzIN-yGdPR4rRDoKZHTxiEibAzvfyNQZbjfnD9DGGwhLnXDDt5awTTfV-k0dbLqygvVIhZPc5eToiXVFoXnmWk4Usz2gGW3rqF0r6Z2E7n_9ULYpISMfjAIRniDznsQfhbvgCtdcBFogUTOUzfrzPT9F1BwrLFrKalvJktojNLktmhzvbz4QshojVfvd8zv2hw8dzs1v97nR2WvK_V-WRSIlfuQZJzjuGDzuCTCpP-6jwEZx4ckMBf61u8fam2lHyrHSkVJNnaDWQ6wKxWyb2p6P1wbVUsPDwbA1zBGfhl4aLgDKdCfuPmBM5laOj4iqxV1o5sP7qNxU9Wz0MrF4scS-REdj4AA7oKrHsQSZ52AeY5Ol8FZg1kTgL2Y7SgDR9jKmaRjmrmDJvmJz8aSz__QfpDc_5xOlTy3BCMkfU6gu2cWhcNLNpSgprQ8VM8Kl2bTy2e3zh3Fr9GdcKUVKa3z7_dfXoiYylGf0pv9W2QVAVISToavdEeB9D1F17oeSl-u_hrUTIQ4JRztlj4_b2fMLPH3tD8UKESVNtiFewX56fb-GrXQV9ADsAN_QNuSwMGSS5VUnGK0ntEQdqtsxN0tRZBipkqYUFXWBE4_wV1E7iY2JKahcf82JwSSzhvNSl4vAVtR-NJo_CVB4XjP3dpBnhE4cXLwyuLmAEEaqKfMpy3kfQpr7NfzEP7RZHw3ChPT534qoD8ie77P5upGsqMO9Xb_ZO5XigrPIANYDhNJXJz0ourGJHmqgowCILtPfw-_wQZH0JF8YR60m0Z4dtGZ-UFKGGvI41uCVcH4GasTd1ze3zfC2HmPsWpRXUm1gvf8ewFry8h83ufjT2MDKE0jucu3pDSNaj_oNBUCUEiQwQLcx_lWQS61plPXKj2OFGVb0QGnzZObt0zHRt9ZJbcgW1nVRtuoUVLengThjnmRzL95ZA4PhxkJQH8wxDwChuUZTRUU2pQar9ZFT0xix1zvZ8le2NG3QlfU1qMPp5TxMFxV_rs_-Z8u67ze8eDRLPeFsmA-7Tc8nsV0w0vqgPNhayqVhe2JkuJBLhDm83lONlNyR4ROPGso01H8gEnXKcjwclJTnGr7r0MA13tSB7tB2CDUWG01Xnj-Yex2qfGV",
  "id": "rs_0fb51d8258ad0dd5016ab45e5f692887d08631c8daf780a126",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.31,\"right_z\":0.17,\"right_gripper\":1},\"note\":\"The white toy is visibly inside, and the brown plush remains in front of the safe. I’m bringing the right gripper above the plush’s torso.\"}",
  "call_id": "call_U7qt9bf6KngS5p7DzFTg68hq",
  "id": "fc_0fb51d8258ad0dd5016ab45e60a07087d0aeb2b3981b330b5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_U7qt9bf6KngS5p7DzFTg68hq",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3519, 1.0843, 1.0138, -0.8093, -0.3531, -0.2138, 0.9971, 1.0836, 1.7397, 1.4723, -0.9642, 0.5686, 0.9325, 0.9996]\nstate[eef_state]: left_x=0.2997 left_y=-0.0412 left_z=0.2063 left_yaw=0.0542 left_pitch=-0.2378 left_roll=0.1431 left_gripper=0.9971 right_x=0.2631 right_y=0.3011 right_z=0.1591 right_yaw=0.0241 right_pitch=-0.3367 right_roll=-0.0395 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -3.1795, 6.5162, 1.5946, -0.3248, -0.0073, 0.0073, 0.2803, -7.9658, 8.5538, 0.8474, 0.5348, 0.2076, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6df275fbebdf16d9f2a2bed4389fa03bce84924ea5d4676f782181be6dfb8cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf88a350ceb8f13ac8fd7226f53dbb02ae2d8ef45d02fd5bac8d6ee33f0af85f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7c99c352f85c43156ef5c8448ccee3fc97f084e6594f0890cb1e8dafad43b18",
      "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 36 changed as sent

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8181, 2.1082, 1.5173, -0.4107, -0.6228, -0.5915, 0.2117, -0.0257, 0.8829, 0.6842, -0.635, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.4245 left_y=-0.2972 left_z=0.0724 left_yaw=0.0111 left_pitch=-0.1806 left_roll=0.1241 left_gripper=0.2117 right_x=0.2704 right_y=0.0002 right_z=0.1439 right_yaw=-0.0001 right_pitch=-0.2513 right_roll=0.0001 right_gripper=0.9995\nstate[joint_eff]: [-0.5949, -11.0291, 6.2974, 1.4725, -0.4322, -0.1099, 0.6129, -0.1299, -1.6615, 7.0085, 1.6972, -0.0611, -0.0562, -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]: [-0.3515, 1.0821, 1.0126, -0.7853, -0.3622, -0.21, 0.9969, -0.0257, 0.8864, 0.6842, -0.6765, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3036 left_y=-0.0409 left_z=0.2106 left_yaw=0.0575 left_pitch=-0.2122 left_roll=0.1421 left_gripper=0.9969 right_x=0.2627 right_y=0.0004 right_z=0.1363 right_yaw=0.0002 right_pitch=-0.2963 right_roll=0.0013 right_gripper=0.9995\nstate[joint_eff]: [0.1709, -3.4256, 8.6222, 1.5946, -0.1538, 0.1734, 0.1197, -0.0615, -1.8667, 6.735, 1.5946, -0.0366, -0.0659, -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]: [-0.3519, 1.0843, 1.0138, -0.8093, -0.3531, -0.2138, 0.9971, 1.0836, 1.7397, 1.4723, -0.9642, 0.5686, 0.9325, 0.9996]\nstate[eef_state]: left_x=0.2997 left_y=-0.0412 left_z=0.2063 left_yaw=0.0542 left_pitch=-0.2378 left_roll=0.1431 left_gripper=0.9971 right_x=0.2631 right_y=0.3011 right_z=0.1591 right_yaw=0.0241 right_pitch=-0.3367 right_roll=-0.0395 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -3.1795, 6.5162, 1.5946, -0.3248, -0.0073, 0.0073, 0.2803, -7.9658, 8.5538, 0.8474, 0.5348, 0.2076, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6df275fbebdf16d9f2a2bed4389fa03bce84924ea5d4676f782181be6dfb8cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf88a350ceb8f13ac8fd7226f53dbb02ae2d8ef45d02fd5bac8d6ee33f0af85f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7c99c352f85c43156ef5c8448ccee3fc97f084e6594f0890cb1e8dafad43b18",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF5n24r6pZ4ikJUZ8ER3I-NByXDJ3iU0eQ5VLwIgBUn4WqWOSsEULOg1ukvKOtQz5Mq7j9GJF1qIGbpZVUl89CXgwH1MMnRcgQN9q48i0Qk-vMGv35dZWPwHKO7OvdWKGzmujbC2YjpOUA_nmnL_xWGa8zCXDgdiI3RfXxcTb5bbyVw4R45OeqeB9x33zHTpoXfZtm1_GBBi3pNx-EDUao53uTg0Mlbgc3164PscNEcItpa4uivyv27vDmIiqXJx6RA7aHraolr3OLkPqjmt6cMBPF9ZlEELXZ2Gcb50y8Kucmfy21ptcMFUzQlaHy9ersEQskBu9Ym0_IovOTkITlOOfAPyDMqTJcfYQcfjsUaCZzaijI58NvaAR-tCeWIAzlkh9C0acpcGdta3AF-yc5bW0kX9I1Og8W2UwI6csz9Jz1nNh8YFd6y83j5KgnGQttndz7TCywkcXHCZSBNY6Dm-9ol9jYeiyYu3zaPMdocgPxBa0KloqgKhJrZdQCukhWiy2rZWlVpw0LM8hLuQu0IAPAV7HgDuGKW4zol1vig00Ssi9GprV7lFRZpxZpjD8sRWnPj8Wq8B8aLhXbF2rXGaV1opi3XsBpTvgKf3a7abdAKegIgGK46OAc0GD13B8SaimkkmjvRw-io8EYIft5aj919pdPotlsWRCvy5v5A6ElhnoUPtAz9WSIfCLLslYGcYaAe0425Lkm7r5Zf7BNd9sNHNo_nS5YW1JeadSUgsY0qbvSTIJMCRfNj25Z4MRaChs1szt5uEptfwpsV0rBFK4j2iemQ0ss0WqaqKBP2tJff7ht-gWpyGJEYVYTlBna6gxCWP2ZwVrwI_uy_VkYs5AMvPBNsAci9CFMzZSAGBkJRc2msE-qEtrapV0mc2-CsmSn9-Y3453i89_o9JBf5dtFfQTUym1grroOnT2S-ry6JIUSzU1URu-zdXYra4UejUjfeXyHBZUXr4P1YEay__jdC58Y8DcRkdhNt-sFNyCcUOVreuw2CMiy6gFdnPO6D1CtwLCE9O532k1w10THaiVNUHH3VTtJX9sbgBc7VMk9Xyss5myGbgb-wD5uCYUpoNxliegjI3LKifnBwR0BNF9UF6-JO662wTejGrmixgsqi0q-BdRxl5YYf5CPMZ2OfwCsoqWyOC013FLCDi3qnYCmZU5RREwBX5inDabaf-SenKqmGIE04mJSXAAMV7cbBLUujtkw_4SdQZWKrZnE5BvRdJHmllqHxqkD6-9esAngLfXtHerrAqnAqseqHFfNkvCtnLt6BhMgMv07IWBLKTS2cSo0u2uycPNgqaN6bhDNVUUsQhFi2eFAag_ap-pXQroZer_HMTyH7X9t01JDItpclX_N9hOkQJ2WMQ8M697XMrB62PDGldq0trm4gegYG9yGVSrgXEd86Ap_Gj5bVuC4LeFzrchzahOiHRhz_dKlFdelMgR0QPpzP-pUw6pEeRx6mleVJ16ryJCXh_bIorwacYzw9KQ2vd9IGG8VitozaOuleaFC0MW8F4bsevB97fDPiMss0DKzq2jIvzEO3ZPTzmoxyb1n4tU1CvMWH5CTPsyWjQz3GIzR8ieGD-GmUA",
  "id": "rs_0fb51d8258ad0dd5016ab45e65b32c87d08ccdff917fcf5fbd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.285,\"right_y\":0.30,\"right_z\":0.035},\"note\":\"The plush’s torso is nearly centered under the right gripper, with its head toward the front. I’m lowering around the narrower middle so the jaws can hold it without catching the safe.\"}",
  "call_id": "call_7wp3l7ffvsPtlCV4BnzMQARK",
  "id": "fc_0fb51d8258ad0dd5016ab45e66ee5087d097b5e0e2b85a067c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7wp3l7ffvsPtlCV4BnzMQARK",
  "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]: [-0.3519, 1.0843, 1.0138, -0.8165, -0.3523, -0.2146, 0.9971, 1.0302, 1.874, 1.1549, -0.532, 0.5404, 0.8791, 0.9995]\nstate[eef_state]: left_x=0.2984 left_y=-0.0408 left_z=0.2052 left_yaw=0.0547 left_pitch=-0.2446 left_roll=0.1449 left_gripper=0.9971 right_x=0.2767 right_y=0.2914 right_z=0.0375 right_yaw=0.0099 right_pitch=-0.3712 right_roll=-0.0767 right_gripper=0.9995\nstate[joint_eff]: [-0.1573, -3.0017, 6.5846, 1.4286, -0.232, -0.0073, -0.0122, -0.3214, -8.6359, 5.6547, 0.9792, 0.359, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e3aa39f0cce3fe5c78cf03c384d9a2007b981786ee8b418941ed39c84812ad1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3ff865d2f9707d7dd38a3b2f431a5f42a5630cdeacbeb1177b9015500a9d4bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:992c81f1a2ef890a543b61ac3d8414c5c2eb25f4470c7c0ecb78210ea76585fb",
      "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 32 changed as sent

message 40 changed as sent

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8185, 2.1281, 1.4975, -0.4118, -0.6209, -0.5999, 0.9955, -0.0257, 0.8829, 0.6842, -0.6575, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.4198 left_y=-0.2928 left_z=0.0556 left_yaw=0.0201 left_pitch=-0.2086 left_roll=0.1477 left_gripper=0.9955 right_x=0.2662 right_y=0.0003 right_z=0.1402 right_yaw=0.0 right_pitch=-0.2738 right_roll=0.0007 right_gripper=0.9995\nstate[joint_eff]: [-0.1709, -13.3949, 7.706, 1.1209, -0.359, 0.0513, -0.1441, -0.0342, -1.4017, 6.7624, 1.6728, -0.0513, -0.0024, -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]: [-0.3519, 1.0843, 1.0138, -0.8093, -0.3531, -0.2138, 0.9971, 1.0836, 1.7397, 1.4723, -0.9642, 0.5686, 0.9325, 0.9996]\nstate[eef_state]: left_x=0.2997 left_y=-0.0412 left_z=0.2063 left_yaw=0.0542 left_pitch=-0.2378 left_roll=0.1431 left_gripper=0.9971 right_x=0.2631 right_y=0.3011 right_z=0.1591 right_yaw=0.0241 right_pitch=-0.3367 right_roll=-0.0395 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -3.1795, 6.5162, 1.5946, -0.3248, -0.0073, 0.0073, 0.2803, -7.9658, 8.5538, 0.8474, 0.5348, 0.2076, -0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3519, 1.0843, 1.0138, -0.8165, -0.3523, -0.2146, 0.9971, 1.0302, 1.874, 1.1549, -0.532, 0.5404, 0.8791, 0.9995]\nstate[eef_state]: left_x=0.2984 left_y=-0.0408 left_z=0.2052 left_yaw=0.0547 left_pitch=-0.2446 left_roll=0.1449 left_gripper=0.9971 right_x=0.2767 right_y=0.2914 right_z=0.0375 right_yaw=0.0099 right_pitch=-0.3712 right_roll=-0.0767 right_gripper=0.9995\nstate[joint_eff]: [-0.1573, -3.0017, 6.5846, 1.4286, -0.232, -0.0073, -0.0122, -0.3214, -8.6359, 5.6547, 0.9792, 0.359, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e3aa39f0cce3fe5c78cf03c384d9a2007b981786ee8b418941ed39c84812ad1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3ff865d2f9707d7dd38a3b2f431a5f42a5630cdeacbeb1177b9015500a9d4bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:992c81f1a2ef890a543b61ac3d8414c5c2eb25f4470c7c0ecb78210ea76585fb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF5r9P5tul8VJAwfeRJfn1KyOnNjxMdCmJ44wlH9RIrlg6FOuC6dPJjf3xA2ZkKewT6yxbwWR05ilBcjbQoIsxKTC4DL1VZ18yvrAkuN15cOf2O0lsppI7X5UHII-7r4R_lf2DyGGTy38Wg71rEcAHWMiXnldN8BIaVsE8BtRGwyagpY6J6Z8wlwJsjCg30LdUuStN-Y29SWa7WmkuNLRsmTW7LiWm0HIXTBbzKCM8Ei7A8ENHmBDfrRgtJL_ZJtJ2JBnun09gvNUyb48qxN5Z3TKdeiGhE_RiRbe6xcjAiApOFngplVi1JD3p-O4_Fz1g7jkdeL4RCWTpHTgvgo8sjVpyTrmRwCP5SAdlxE65XWY-p9jDSGaDSY6tCLr6p9uVIIaWLv_yviK6SE6oPCiJPcE_m7SmmEqASFeudfRAiRfv4zGeY1_MaPFvxiI4YaykQBhrstgcgFDEoC8eSTjehgH73_uZzeqa8dFkYRCRilhDU7ZwwVss0wrjHBwikBDrBbEYhpRtkufX4H3krVeuV6aimEo_8R-ZFtg0BhsLKZVMJE7SpxM4CZ7w6Zm4jSW2z9iDGrNKgMy6sVeZkyol8OTzKlBZgmWW-PhZ7RigL4Xf_CkIOCV8VAQVVDiT0d_G7ByEQLF3QWZkNydhN3GDMml1HkfO7fQTBXZ96F1MmHkYCNRe5uPktLeBrktrv_4IkRgYGkM9Frx0Qc09RxdnBB82TkIfxFnDOM-CZt7f4EtXie4EuhzDtnBYSnKZNhaCPe8XhfCN-r2pDItzo0Ovyr5tXycTpfjnZkQ0QPzHrdyLT6dIuAVy5-VACiZVmwo4GFCuQNaTwa_2xtI17MSLYLkiMGHeAWvGPe1PvUv0G3NRI1ruUzLEAH5tVIVFhnblum6U6TaPgwQL-Pa89N5S95FdDt0_9BPc5qv5HK_BuKIqdFnaHWksUeD_4J1A9fHRRHiYGq4H1z2dBgAmuLJmsVCrKlOWDAwhyufCFbNp4Xi02rITrxUi7nGSVsfBdcVYfNjKKE0ZeJ-jHSnsJIzg7GLUxR36mTQExAFsZXM0YF3vHqwpeytyBkmE78hL6QtISHr7A-7ys-mVYA6LJ2G5dsei3nfehtsWOO9rQEcmwNYQta8hbiAxkgSSmbJ4Yd8tUNAUsZc3VqEIP8IYsU89g4ZNXB3jhTfrsWFMZZdFgYI9vPEvRbJt98KbMtVy4a6SNFxYJrsLG85fxU5ySKxJdZcUQNlIiV58cDrlHEq0u93rvr9qFw1DJTqdTYWMt_gRBUdzSC5DItg21r7vOPhrYiJja4r003LO8Rg5qVp9w5L-I=",
  "id": "rs_0fb51d8258ad0dd5016ab45e6a284c87d0955a882d1212b8d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open jaws now straddle the brown plush’s torso. I’m closing around the soft body to secure it for lifting.\"}",
  "call_id": "call_BtsBasajsknnNEA4lIVkBY1u",
  "id": "fc_0fb51d8258ad0dd5016ab45e6aa0a487d08372da4dcd1f7236",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BtsBasajsknnNEA4lIVkBY1u",
  "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]: [-0.3519, 1.0843, 1.0138, -0.8169, -0.3523, -0.2176, 0.9971, 1.0279, 1.8893, 1.1446, -0.5331, 0.5339, 0.8688, 0.0213]\nstate[eef_state]: left_x=0.2984 left_y=-0.0408 left_z=0.2052 left_yaw=0.0564 left_pitch=-0.2447 left_roll=0.1429 left_gripper=0.9971 right_x=0.2741 right_y=0.2872 right_z=0.0283 right_yaw=0.0079 right_pitch=-0.3909 right_roll=-0.1041 right_gripper=0.0213\nstate[joint_eff]: [-0.0068, -2.7829, 6.653, 1.3553, -0.2271, -0.0073, -0.0122, -0.0342, -10.2906, 6.3932, 0.7888, 0.3053, 0.105, 0.9206]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a767113915d3adceac60ba208adb940950deb5ffbb4b68cd9709884bed114bf4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fa1c82a6da44585aebe67b53c00afd0545196fcedda7d2322602dd17cdd42b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecb54d3ea9ea43958933b9560a21c8a991d26a5e6cd2d65b9c0065273ea2e32d",
      "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 36 changed as sent

message 44 changed as sent

message 48 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3515, 1.0821, 1.0126, -0.7853, -0.3622, -0.21, 0.9969, -0.0257, 0.8864, 0.6842, -0.6765, -0.02, -0.0193, 0.9995]\nstate[eef_state]: left_x=0.3036 left_y=-0.0409 left_z=0.2106 left_yaw=0.0575 left_pitch=-0.2122 left_roll=0.1421 left_gripper=0.9969 right_x=0.2627 right_y=0.0004 right_z=0.1363 right_yaw=0.0002 right_pitch=-0.2963 right_roll=0.0013 right_gripper=0.9995\nstate[joint_eff]: [0.1709, -3.4256, 8.6222, 1.5946, -0.1538, 0.1734, 0.1197, -0.0615, -1.8667, 6.735, 1.5946, -0.0366, -0.0659, -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]: [-0.3519, 1.0843, 1.0138, -0.8165, -0.3523, -0.2146, 0.9971, 1.0302, 1.874, 1.1549, -0.532, 0.5404, 0.8791, 0.9995]\nstate[eef_state]: left_x=0.2984 left_y=-0.0408 left_z=0.2052 left_yaw=0.0547 left_pitch=-0.2446 left_roll=0.1449 left_gripper=0.9971 right_x=0.2767 right_y=0.2914 right_z=0.0375 right_yaw=0.0099 right_pitch=-0.3712 right_roll=-0.0767 right_gripper=0.9995\nstate[joint_eff]: [-0.1573, -3.0017, 6.5846, 1.4286, -0.232, -0.0073, -0.0122, -0.3214, -8.6359, 5.6547, 0.9792, 0.359, -0.0806, -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]: [-0.3519, 1.0843, 1.0138, -0.8169, -0.3523, -0.2176, 0.9971, 1.0279, 1.8893, 1.1446, -0.5331, 0.5339, 0.8688, 0.0213]\nstate[eef_state]: left_x=0.2984 left_y=-0.0408 left_z=0.2052 left_yaw=0.0564 left_pitch=-0.2447 left_roll=0.1429 left_gripper=0.9971 right_x=0.2741 right_y=0.2872 right_z=0.0283 right_yaw=0.0079 right_pitch=-0.3909 right_roll=-0.1041 right_gripper=0.0213\nstate[joint_eff]: [-0.0068, -2.7829, 6.653, 1.3553, -0.2271, -0.0073, -0.0122, -0.0342, -10.2906, 6.3932, 0.7888, 0.3053, 0.105, 0.9206]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a767113915d3adceac60ba208adb940950deb5ffbb4b68cd9709884bed114bf4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fa1c82a6da44585aebe67b53c00afd0545196fcedda7d2322602dd17cdd42b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecb54d3ea9ea43958933b9560a21c8a991d26a5e6cd2d65b9c0065273ea2e32d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF5vSknYQf7GoetJqqKXDQN-YGap5RmLDLMN3-s5p8piJ21rIZQmr_95rspb2IfXsRf_d46lqHI8mTysNRlcEEW_yYzhJdRa8dREXUo_daMknISalzwGHlpivmOjEkNzf_GpXKB10W71XTa2Fx7VtCFI5i5BwaixM57GIEDLLZ0ZBkc_4K1_O5K_dqnnydPeRx9kEi5iAVZC-fKBncuvf2dGXJM3ZciuWpALpeVMjJYXeHLDy8VxmsnhoHdV9SXhF1SkQBRmYf0b-epa0Ltj7A-MQ0zMTgbbtfNxVduckn472prqLWhGtoov0KBOMg4DECNtzaD6htjoy6WOEFPInvXUOoadpUXntX5AMN5rvnAiRBqBtcmdZJpR63_HniGn0fT364QlFrLjG9xHbtNGw0LrPiwMFyBNbKkH8szkyO0oMInU4Y4wggrLDgO6wMBhBSeW4qyUHL3pBO8aCiivtKvFsjW89xy3vSUxF7fCs0Y-E5ReJ2qffsE4jj9dcxUzi5ZU0g85aY6AjnKuwJU7vjXbIcv-303ZY2mBmlgwXZfK1zsCJDADZ-WLwOu0ZLm3BqkCRsjLcbFVGD3GKygH0POG8zjcMPQw5fCmZb3IXcG5-ub-npUrCoiVMB8ccMQQ4LMjU0V8S299guEhpRCsd-kQUHB1adzsNxYQpVBplqwGcKix9drxBYip1PWbwI0Y7TyqVIDM_lOfADzAB1RqskrUknNMliEYzOq2N-mcoXeEPmsNSJa8FgxKxf0K7FvFLumdHmhN4Um3yrBaFdTuHe25O1fZDIE0QVD9Sw8_b07ZHJyEZkQSpR2YUiGA4SmiRAczY9NQcVja_RdQSv7AK4wHOvtjDCYvaLytiE9jmVa_Mb1DlGPQwper7JA4has3pbOmdYuZxLmvMBQXDseIvgMS-t4LUrvj9bYg7KnXpYjtnw1xic3boukOrfW3f511LocPcjzY9sbplG8kpv5-J3TQSBV_RCrjdHO-ECpBiH6L6wzeq5-h6Yy6-05-CeG2s3fZpzENKX6ZXs1ubFmns2s9pcZCR4cbVY9GWd3_yNwp2wkQLjPp0F0tEiIegazj6LB_ORpQZR7Jkv4RVGdkiFhiN42OAx6uTv9yhCftCdDX0g9gF7zG3i9S4KcziTeaiWaucTVZRC2KywGG7CI8d9iv6LcIJeUCsmhfKZ7vgCO8cXgqqcfbr683iCoh2YofaeDhmM-zhRJIrpB5gNRWCWQwQW2sEuW-ZqhovqNuPhbwtG6p4a5zX-cP1fWS26EDB6zXQQnNnsyMps5d9qjZ_Wprhk4ADsvTtEdLGuFuiPtWSIOKVdwKO7Ru91zY3z97NLzFqLCg7ppfXzRPHgXD0g1d3KyvXfAC3Gl1idXQO-qntyBOrHLn7R67cyOa4LOy3QfnE6GVOFzrpEfkp8bCTsGfUU3IpzyjbfkUzb7KIQdRHRWqoxiKf3Ign9YhU6KLhRF0",
  "id": "rs_0fb51d8258ad0dd5016ab45e6dacbc87d0ab3ccd81b4775e55",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.315,\"right_y\":0.275,\"right_z\":0.025},\"note\":\"The gripper reading indicates the first close missed the plush. Its body is farther ahead and to the right, so I’m reopening and shifting a few centimeters onto its middle.\"}",
  "call_id": "call_Btq9LewVBon1pwfCFVxWW5Yg",
  "id": "fc_0fb51d8258ad0dd5016ab45e6e6f0887d0bdc5e57ef650af45",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Btq9LewVBon1pwfCFVxWW5Yg",
  "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]: [-0.3519, 1.0843, 1.0138, -0.8204, -0.3519, -0.218, 0.9971, 0.9176, 1.9152, 1.1461, -0.4969, 0.49, 0.749, 0.9949]\nstate[eef_state]: left_x=0.2978 left_y=-0.0407 left_z=0.2046 left_yaw=0.0567 left_pitch=-0.2479 left_roll=0.1438 left_gripper=0.9971 right_x=0.303 right_y=0.2651 right_z=0.0179 right_yaw=-0.0037 right_pitch=-0.4265 right_roll=-0.1394 right_gripper=0.9949\nstate[joint_eff]: [-0.1846, -2.9333, 6.5983, 1.4139, -0.1783, -0.0122, -0.0122, -0.2803, -8.0479, 8.3897, 1.116, 0.3736, -0.022, -0.2418]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64c5089ce4ee4ff617088cf4678dd26345c4bc3d3895d5a1bcfb2188dde28a30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d83e499ae5d9431bdea3f16fdc1452cc79ad3774a7ef663631755b9859bace5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03d7c51700a21bb715580c7f9cfd6e6a618b9b05ea9d0500fa391589adc072b1",
      "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 40 changed as sent

message 48 changed as sent

message 52 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3519, 1.0843, 1.0138, -0.8093, -0.3531, -0.2138, 0.9971, 1.0836, 1.7397, 1.4723, -0.9642, 0.5686, 0.9325, 0.9996]\nstate[eef_state]: left_x=0.2997 left_y=-0.0412 left_z=0.2063 left_yaw=0.0542 left_pitch=-0.2378 left_roll=0.1431 left_gripper=0.9971 right_x=0.2631 right_y=0.3011 right_z=0.1591 right_yaw=0.0241 right_pitch=-0.3367 right_roll=-0.0395 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -3.1795, 6.5162, 1.5946, -0.3248, -0.0073, 0.0073, 0.2803, -7.9658, 8.5538, 0.8474, 0.5348, 0.2076, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3519, 1.0843, 1.0138, -0.8169, -0.3523, -0.2176, 0.9971, 1.0279, 1.8893, 1.1446, -0.5331, 0.5339, 0.8688, 0.0213]\nstate[eef_state]: left_x=0.2984 left_y=-0.0408 left_z=0.2052 left_yaw=0.0564 left_pitch=-0.2447 left_roll=0.1429 left_gripper=0.9971 right_x=0.2741 right_y=0.2872 right_z=0.0283 right_yaw=0.0079 right_pitch=-0.3909 right_roll=-0.1041 right_gripper=0.0213\nstate[joint_eff]: [-0.0068, -2.7829, 6.653, 1.3553, -0.2271, -0.0073, -0.0122, -0.0342, -10.2906, 6.3932, 0.7888, 0.3053, 0.105, 0.9206]\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]: [-0.3519, 1.0843, 1.0138, -0.8204, -0.3519, -0.218, 0.9971, 0.9176, 1.9152, 1.1461, -0.4969, 0.49, 0.749, 0.9949]\nstate[eef_state]: left_x=0.2978 left_y=-0.0407 left_z=0.2046 left_yaw=0.0567 left_pitch=-0.2479 left_roll=0.1438 left_gripper=0.9971 right_x=0.303 right_y=0.2651 right_z=0.0179 right_yaw=-0.0037 right_pitch=-0.4265 right_roll=-0.1394 right_gripper=0.9949\nstate[joint_eff]: [-0.1846, -2.9333, 6.5983, 1.4139, -0.1783, -0.0122, -0.0122, -0.2803, -8.0479, 8.3897, 1.116, 0.3736, -0.022, -0.2418]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64c5089ce4ee4ff617088cf4678dd26345c4bc3d3895d5a1bcfb2188dde28a30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d83e499ae5d9431bdea3f16fdc1452cc79ad3774a7ef663631755b9859bace5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03d7c51700a21bb715580c7f9cfd6e6a618b9b05ea9d0500fa391589adc072b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF5zxieJj3e-q94Milm4MbK6RZEXVKiZCMZhy8GLzBwwclQPGFRithkHrn9gl0Y_NVX4UHaXjn1__YnqaMjeMTL14ykyofBVGEd0OMI_j7UfYU6TWoOfrGlkj1EtfuKOWPNATL_v7469SIhWO-FklZmt6Oa5jPC3U2Y4A6VoJ-kRpoyZOWJLx9RNXTqxXsf3Tq9k1flJeGhCFjJ0sQstmdzXymAG2T2ZuKSZiCPUx_kkeoM218tfRFkzp4gXYC_dNMhwiH1m9Qfhf1TTWs4SK8ajDwMrFFaJmvxHjuJCENuBEnk0-fdNtjcc9rxM3AznBU9Fe2pZ_YLZQxQUpLDW0yvCgFpAMG3UcvOnjFoRxE2aEPSIAc6G8VO5SxptBDBP_CTybXTVWyBe5q7DoPfEduYxei9JhM9RO-hU4YP68Mj_kw_r3y1PM7A4DvRIsaP_TTAEDiY-AEd3tgMoU0pqVHTGc8SClv-2Pjkl3-cx8jlV3yvIN047V2gpVKLU2BCxv1caLcEbVMDaJJlt7hmLC_P3d6NZtMmNd5qRVmbLJ1yxB8Nb-3UPFb8pMkcPgbU5rnb8jhsVHE7W8-BDm5MLNo4EZHdUa2Zh94ISXk8YTAO2BGuPVlGyCJYwkMHR2dyTDkW6jOC2S_yCJj-wCvuhUA8QYqW9ufnzawfP0I_nh5rDCiJzoCH2zDb8QAY_jRPDM46VyFzJAbpWBqr6cPK6wsykd-FEsknNLlFqNyoZudvEmZBE69cs377saWlV4w0DVcEZSqF-m6HBvLztek11OqTqbwBQ16Rxa0_huqkcznuQaOASQo9B6yc93D7XkzF_OXNMU9KlTp6tPIHdlQ-SoeITmr_p4_L9i622-2whD-dNpSllJWUycJtr3H2MOnVTIYDOYnLlmifk06oSXRYIEnGNFSsv_6zmF5rmu81PPZ7BkRoeI12mBsVtnOSj__Vf9WnV6scyPfoLTfLEr49f-JRZKli6n2QrfzY_Oz6mEomxKQyRWIV-qrazto8wGmr-WGLlu6Gu9YCwfdtwORcsxLgDr1_pBTs2NHKn7GjfG3Q2KOMTFfJvX3OCJhD5iRYthKz80MZjAx5671_9BQXlNUXCW5AcZyILtvJ5Oi0RzmdAjbJMX6C2TJLftcB8GYnGhUFw-2kyOOvwKkZ1s3YmCFDfG8A5a_RMXE70u7cHDAdUzw_9qhqRhU5nHNGPBx_VyrYAjFmYZayB1aA7u6ncduTZLmdCL2t5Fm8UAmSV00ZCGg42BXj9wBaHf5S4rAgXurRN",
  "id": "rs_0fb51d8258ad0dd5016ab45e71dcd487d0b40e58b63af9cc95",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The plush’s body now fills the space between the jaws rather than sitting to one side. I’m trying the corrected grasp.\"}",
  "call_id": "call_PKk6CZsJmUtgURqQQKPmqGS0",
  "id": "fc_0fb51d8258ad0dd5016ab45e7255fc87d09e424fb1e84c9869",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PKk6CZsJmUtgURqQQKPmqGS0",
  "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]: [-0.3523, 1.0843, 1.0138, -0.8215, -0.3519, -0.218, 0.9971, 0.915, 1.9152, 1.1458, -0.4984, 0.4782, 0.7406, 0.0131]\nstate[eef_state]: left_x=0.2976 left_y=-0.0407 left_z=0.2045 left_yaw=0.0564 left_pitch=-0.249 left_roll=0.1443 left_gripper=0.9971 right_x=0.3021 right_y=0.2652 right_z=0.0167 right_yaw=0.0047 right_pitch=-0.4373 right_roll=-0.1384 right_gripper=0.0131\nstate[joint_eff]: [-0.1709, -2.7829, 6.5983, 1.37, -0.2027, -0.0317, -0.0171, 0.1162, -9.2786, 5.6684, 0.8376, 0.3492, 0.0513, 1.1941]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1bded70c3bbbcb02cf8050d0f6d21202b902c0480bcae383ed54c213eff875d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aced3b97995bb8670b35177d31de2734b3badf9686e4f9fbbae8d4dedf984b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9618ceed2f864c1b8f4bda2839dcf440b9f0c4acb71b9b5b7d4e6cc667e8192",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3519, 1.0843, 1.0138, -0.8165, -0.3523, -0.2146, 0.9971, 1.0302, 1.874, 1.1549, -0.532, 0.5404, 0.8791, 0.9995]\nstate[eef_state]: left_x=0.2984 left_y=-0.0408 left_z=0.2052 left_yaw=0.0547 left_pitch=-0.2446 left_roll=0.1449 left_gripper=0.9971 right_x=0.2767 right_y=0.2914 right_z=0.0375 right_yaw=0.0099 right_pitch=-0.3712 right_roll=-0.0767 right_gripper=0.9995\nstate[joint_eff]: [-0.1573, -3.0017, 6.5846, 1.4286, -0.232, -0.0073, -0.0122, -0.3214, -8.6359, 5.6547, 0.9792, 0.359, -0.0806, -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]: [-0.3519, 1.0843, 1.0138, -0.8204, -0.3519, -0.218, 0.9971, 0.9176, 1.9152, 1.1461, -0.4969, 0.49, 0.749, 0.9949]\nstate[eef_state]: left_x=0.2978 left_y=-0.0407 left_z=0.2046 left_yaw=0.0567 left_pitch=-0.2479 left_roll=0.1438 left_gripper=0.9971 right_x=0.303 right_y=0.2651 right_z=0.0179 right_yaw=-0.0037 right_pitch=-0.4265 right_roll=-0.1394 right_gripper=0.9949\nstate[joint_eff]: [-0.1846, -2.9333, 6.5983, 1.4139, -0.1783, -0.0122, -0.0122, -0.2803, -8.0479, 8.3897, 1.116, 0.3736, -0.022, -0.2418]\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]: [-0.3523, 1.0843, 1.0138, -0.8215, -0.3519, -0.218, 0.9971, 0.915, 1.9152, 1.1458, -0.4984, 0.4782, 0.7406, 0.0131]\nstate[eef_state]: left_x=0.2976 left_y=-0.0407 left_z=0.2045 left_yaw=0.0564 left_pitch=-0.249 left_roll=0.1443 left_gripper=0.9971 right_x=0.3021 right_y=0.2652 right_z=0.0167 right_yaw=0.0047 right_pitch=-0.4373 right_roll=-0.1384 right_gripper=0.0131\nstate[joint_eff]: [-0.1709, -2.7829, 6.5983, 1.37, -0.2027, -0.0317, -0.0171, 0.1162, -9.2786, 5.6684, 0.8376, 0.3492, 0.0513, 1.1941]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1bded70c3bbbcb02cf8050d0f6d21202b902c0480bcae383ed54c213eff875d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aced3b97995bb8670b35177d31de2734b3badf9686e4f9fbbae8d4dedf984b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9618ceed2f864c1b8f4bda2839dcf440b9f0c4acb71b9b5b7d4e6cc667e8192",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF57UR_xqtjWl1awm8dZohg5VW0JvJf0kq9WRn0MwO921eVfhWYpRUd6jrzdISnerUAvD8ifLun_iBv9VXeVKEjdG6qXejS7n3KrNxQlZ822Ehj0MCwLjvGyoIs4D--xsY_EqRcoWLz75pVUhVCrGgzRw2qFCn2P3DZ8YtDn4XPRhqFd1akvl0jWJ8s23FQ8Flsl0LoPqI8iuyOWgFwsCK7Ndcnr3SVWimym-00U972U4Tq1ivzIznBMesuxYYKrbchNF2ntZpZa5_aicVgEk2mpKUNJOpRRGMA2NVuLXJ0HFg5W9rT98K25u4ynR9OJWyiokt7bjQUy7MIKJuaRbN-epahfj6_IUNM_tGuwdXae0xDkG9idEAOjixMJDC8znPDns-gje1Y3B-bHnZ_JvuV6lJsf0z0MOKRmjQlWo-iIGqUyjdwlJE4qmK4ybrZPw3_oc3Ud6U-6xrXcGGycHBxzvDdrH8CvJu6oBLpsv0CrY4QPmlb4Fbxv-2Ysfedp77J7Pm6DK_PpVc1RwpEFGAjXry4SwjfVYGE-EH8d2n_qmEI6U3zpwG_bgdLkmfI_7gBbVVxHR7xHI2tJ-yusG_sD6YhVd0oL6WU8x7RuY9WN920AOB746YH34cmjIAFggKldS7JoTBRM-n92ExQSUZBPbtRCUZR9SRoh_WZ2cWzU0rIBUXT47O4NsWB6MDPsHDpRU8kWYqHjAcufVUX0t7hiM44KXn9m5WqnDWcpTSfrqio2JCDgP2Zgya7_-Baw3RQLEeOzvomcgbAGg49VtOLxRvAMTBofwNNeqNQV4etmS0KgCmgyc83r-tqvAFWXl_BRUd8KvV3JnOA-6IOmU9HgwYBh96jVqv2W6e6aEHcR1N8sEFdxjPN0tC0UWHzK1TLwg7JMeGTwLE0FqS00I1OKsqt2U7FdAdyHl4STHcImDqN-e6hmoFhrXObdUQPJifSXmQdKXxhnkjSMBzeCDKg5eeFjIHFptHD9VTxgn0fw0moKZoh5MRtkrcLaCodOihL-TlL6OcpaoPalYnK8EZgNMHQHr0Ia97sGpt4dXn0sXo6QJL-2Ka_uSAxw5QVbxfWB1myTW3Dfe_iENAZne9UY3tRAG7QwHvsg9z5xXL2xw52dFWsBiKWfR4NAL6iBvgDH7BEnNJEjmD-F-NcNRN1FnMp47lxD8mVSdHqYG7zHZBrNVgptKSzi-QubaRkX6XBupzKjSZvBEWSNLQEJxIqiscFAhFKvv8oYiL6Kw1XXR050bBvH_Q1l-wkFulrR2ALzxqzsGzHkCsJ2p48NrDT6HdAY8MJKTgQDJ0UAF5brUiFHWFdLxXL5LSQrIVPwMUzvhzNTKWgYUP1QhA8Zhr7a3QscZjSlP4_zUBRu8NFaSv2Jlp3BCtwQyhvFgvXK-yA-3ilC8EkW3FVUVUQBh0F52cnzVjDVhjP31pm9glSyxQatq4EgavghuUuPKAHpElAn9qwiyHgdC4XQCtaMLr3i7PyMthD-8-O_kWcuEqs5oHz6V2XoD4doAQk1T0o-5JkRAQ-3yyUMkp9tXRzNHnIbaDBc5pcaE6FT6TAcDY3leWa4DA-HY88ubHBN28MzPNh64b2GY5LQRFXDzCEvQLoGUGSvhG2x9u2EBCZ-yKimVUjwRfc9ot7qCqaYVCcto5PCaZtfM-xYV71QCzTTTP8Z1CcmuvqZ4wHmb88uw_B2aNGdNY3IyAVRgrGKFTpVuM7yd7apPszf6yn4J8sPbwCq5q32A0xkOcioADOfszJ-bW46dSec4DSaVrLlwtVIU0qIe0oOuX3YKNOJg6kCSasQSm0USn8fDodeWjZ-1fk8vJ9HHv2wdJVzGvdXmd5DR1ruJ109K7OPRvMBf-v81szNL3rvDmUaRSlx19Mi5vtnk5aM3TlpUVUI5cjgF9sZKFatqhtQNN87zCvccno7FwUPFnx92GALydNvNIOFqZcuF6QdBCGcZVdkZSZDWIQwq_mCm1W9R7vI3HOMnlo4rOeDwzq5Ga3_5RAuDLKLESisqLcrKjDZ27m9g7vInsuyrAgkekDMAHeTtlKoByaXfhblQ46-7rbsKq9UtYGc8d4NT7Z-fe2vkTJtXsrdctkOHPaTZ6NRmx7HMuvMjU0fYGvyPiuZN8cNx2aPbNKfRPFe90Tvf9aP3iwslgWAcDAk5xcvywEk2M5Rb_Hr915iDH6Q-KiV6hFsl_TonSPPrp3e72RNWuXI-xNq26KiFJ0ycje8TXggKIFh61_BGnLVtXCT6MSyBLeMWkYbpmHbzQ9ox_mwYJCMi6vr4xWjS8iZMVoIMfxJKo7uVuSN0mgaYnkgESbEZg7UQjiypzKIjL36IxRQvNw0GlflkFwzDMwcgXaxrUc_DWVcJsiIf-ka-is23KlvJtkCKwqXquYr5e7XdjxZi63T8TBsitbOJqzmbFRDsD0bMG6PwSTlsRWFgkt5_uCVa75rUCfeMIADfu-n0ybv2qN6aX8UNi6uCO_SxkKb0_Lk8UN4Fshokv4bAUrCTukE2UwqDc3r87oQqxHq5Aqdby0hm6bMjZ0d6I0Sc1NZt5biu90Veq_5LweECi8ZhTA0N4UOu9IWuuvmxXtQ2ME=",
  "id": "rs_0fb51d8258ad0dd5016ab45e75e93887d0987ea754b485b293",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.26,\"right_y\":0.06,\"right_z\":0.21,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The second close was also empty, so I won’t keep grasping blindly. I’m lifting the right arm away and restoring its tool angle to get a clear overhead view of the plush.\"}",
  "call_id": "call_biyZy3Vc7N8wGAZiyUskFRxp",
  "id": "fc_0fb51d8258ad0dd5016ab45e7a039087d0b84fd367c9234d24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_biyZy3Vc7N8wGAZiyUskFRxp",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3527, 1.0847, 1.0134, -0.8318, -0.3519, -0.2184, 0.9971, 0.4774, 0.7635, 0.7174, -0.6373, 0.4084, 0.3073, 0.997]\nstate[eef_state]: left_x=0.2957 left_y=-0.0401 left_z=0.2027 left_yaw=0.0574 left_pitch=-0.2591 left_roll=0.1485 left_gripper=0.9971 right_x=0.2588 right_y=0.0589 right_z=0.1967 right_yaw=-0.031 right_pitch=-0.0359 right_roll=-0.0057 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -2.7966, 6.612, 1.5116, -0.232, -0.0269, -0.0122, -0.1162, -0.7316, 8.0615, 1.9219, 0.232, -0.0317, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84b2a155b75d22907108425b497227ed2270bedc5afccf2ebb4aa7016630c4aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1fac56539aa14b4ea5e9c968ff297dfd00131f25bac1441d2c1ccf114264610",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97f24d54b345ac6bd75776b80a810858fdf553623ed61112285224b9a1e1bfb7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3519, 1.0843, 1.0138, -0.8169, -0.3523, -0.2176, 0.9971, 1.0279, 1.8893, 1.1446, -0.5331, 0.5339, 0.8688, 0.0213]\nstate[eef_state]: left_x=0.2984 left_y=-0.0408 left_z=0.2052 left_yaw=0.0564 left_pitch=-0.2447 left_roll=0.1429 left_gripper=0.9971 right_x=0.2741 right_y=0.2872 right_z=0.0283 right_yaw=0.0079 right_pitch=-0.3909 right_roll=-0.1041 right_gripper=0.0213\nstate[joint_eff]: [-0.0068, -2.7829, 6.653, 1.3553, -0.2271, -0.0073, -0.0122, -0.0342, -10.2906, 6.3932, 0.7888, 0.3053, 0.105, 0.9206]\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]: [-0.3523, 1.0843, 1.0138, -0.8215, -0.3519, -0.218, 0.9971, 0.915, 1.9152, 1.1458, -0.4984, 0.4782, 0.7406, 0.0131]\nstate[eef_state]: left_x=0.2976 left_y=-0.0407 left_z=0.2045 left_yaw=0.0564 left_pitch=-0.249 left_roll=0.1443 left_gripper=0.9971 right_x=0.3021 right_y=0.2652 right_z=0.0167 right_yaw=0.0047 right_pitch=-0.4373 right_roll=-0.1384 right_gripper=0.0131\nstate[joint_eff]: [-0.1709, -2.7829, 6.5983, 1.37, -0.2027, -0.0317, -0.0171, 0.1162, -9.2786, 5.6684, 0.8376, 0.3492, 0.0513, 1.1941]\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]: [-0.3527, 1.0847, 1.0134, -0.8318, -0.3519, -0.2184, 0.9971, 0.4774, 0.7635, 0.7174, -0.6373, 0.4084, 0.3073, 0.997]\nstate[eef_state]: left_x=0.2957 left_y=-0.0401 left_z=0.2027 left_yaw=0.0574 left_pitch=-0.2591 left_roll=0.1485 left_gripper=0.9971 right_x=0.2588 right_y=0.0589 right_z=0.1967 right_yaw=-0.031 right_pitch=-0.0359 right_roll=-0.0057 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -2.7966, 6.612, 1.5116, -0.232, -0.0269, -0.0122, -0.1162, -0.7316, 8.0615, 1.9219, 0.232, -0.0317, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84b2a155b75d22907108425b497227ed2270bedc5afccf2ebb4aa7016630c4aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1fac56539aa14b4ea5e9c968ff297dfd00131f25bac1441d2c1ccf114264610",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97f24d54b345ac6bd75776b80a810858fdf553623ed61112285224b9a1e1bfb7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0fb51d8258ad0dd5016ab45e7e76e487d0bd9bfb0e5a17cf0a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.33,\"left_z\":0.13,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1},\"note\":\"With the right arm clear, the plush’s torso is visibly closer to the front edge than the previous grasps. I’m approaching its middle with the left arm from the other side.\"}",
  "call_id": "call_e0VydpBilQwX4nA9iwGYC6Uu",
  "id": "fc_0fb51d8258ad0dd5016ab45e852d4c87d080520c63108b70a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_e0VydpBilQwX4nA9iwGYC6Uu",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2778, 1.824, 1.2671, -0.7174, -0.9127, -1.1858, 0.9984, 0.4767, 0.7696, 0.7139, -0.672, 0.392, 0.2928, 0.9986]\nstate[eef_state]: left_x=0.2464 left_y=-0.3203 left_z=0.1188 left_yaw=0.0461 left_pitch=-0.0461 left_roll=0.0304 left_gripper=0.9984 right_x=0.2538 right_y=0.0592 right_z=0.1869 right_yaw=-0.012 right_pitch=-0.08 right_roll=-0.0292 right_gripper=0.9986\nstate[joint_eff]: [-0.5675, -8.7316, 8.3624, 0.696, -0.8278, -0.0415, -0.1783, -0.0068, -1.265, 6.9949, 1.8926, 0.2564, 0.1392, 0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14df5c8ca15852d1d34f0ae51e96b66c87a29fdab4861552f1234be0af95637b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e07659994c2dc3db83f84fb07675ad6e13be259daf5056c130155600a74b871b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2df23159bb80c0c87905fc4bef90a2b5aef668da3a690caccbd90d8e40fbeeb4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3519, 1.0843, 1.0138, -0.8204, -0.3519, -0.218, 0.9971, 0.9176, 1.9152, 1.1461, -0.4969, 0.49, 0.749, 0.9949]\nstate[eef_state]: left_x=0.2978 left_y=-0.0407 left_z=0.2046 left_yaw=0.0567 left_pitch=-0.2479 left_roll=0.1438 left_gripper=0.9971 right_x=0.303 right_y=0.2651 right_z=0.0179 right_yaw=-0.0037 right_pitch=-0.4265 right_roll=-0.1394 right_gripper=0.9949\nstate[joint_eff]: [-0.1846, -2.9333, 6.5983, 1.4139, -0.1783, -0.0122, -0.0122, -0.2803, -8.0479, 8.3897, 1.116, 0.3736, -0.022, -0.2418]\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]: [-0.3527, 1.0847, 1.0134, -0.8318, -0.3519, -0.2184, 0.9971, 0.4774, 0.7635, 0.7174, -0.6373, 0.4084, 0.3073, 0.997]\nstate[eef_state]: left_x=0.2957 left_y=-0.0401 left_z=0.2027 left_yaw=0.0574 left_pitch=-0.2591 left_roll=0.1485 left_gripper=0.9971 right_x=0.2588 right_y=0.0589 right_z=0.1967 right_yaw=-0.031 right_pitch=-0.0359 right_roll=-0.0057 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -2.7966, 6.612, 1.5116, -0.232, -0.0269, -0.0122, -0.1162, -0.7316, 8.0615, 1.9219, 0.232, -0.0317, -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]: [-1.2778, 1.824, 1.2671, -0.7174, -0.9127, -1.1858, 0.9984, 0.4767, 0.7696, 0.7139, -0.672, 0.392, 0.2928, 0.9986]\nstate[eef_state]: left_x=0.2464 left_y=-0.3203 left_z=0.1188 left_yaw=0.0461 left_pitch=-0.0461 left_roll=0.0304 left_gripper=0.9984 right_x=0.2538 right_y=0.0592 right_z=0.1869 right_yaw=-0.012 right_pitch=-0.08 right_roll=-0.0292 right_gripper=0.9986\nstate[joint_eff]: [-0.5675, -8.7316, 8.3624, 0.696, -0.8278, -0.0415, -0.1783, -0.0068, -1.265, 6.9949, 1.8926, 0.2564, 0.1392, 0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14df5c8ca15852d1d34f0ae51e96b66c87a29fdab4861552f1234be0af95637b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e07659994c2dc3db83f84fb07675ad6e13be259daf5056c130155600a74b871b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2df23159bb80c0c87905fc4bef90a2b5aef668da3a690caccbd90d8e40fbeeb4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF6MF8rKXFKqnN-JFeaJBQGKB6E4LsbJcrKvXUxY6_dvyqUtqmirZVkc15s5kfHG9ydblESk23ulEbboQSwtZ-dpfk5KHfvRN2ch8NHrm9GAw8oqaYP9aLvQq1y3AFoekwMtpRvF57yZ-eXeb5ZV4_mtDHIml4RP7AxOtNVJwsTsffgbxvReX3xMZY30R31JyqJhuXBePfN2zpiLretrGoOqKNs9EZP1IZku0w_XUs8LtRDHiUKY_kSf5128jORm3aId6TWZL1olt4d-6tps7AN_3k6pcvrWIwFzJ44VzNH0bV5dKS1mjeRPND9qj227UZToR7_G6WYR45WPi7zZURsKwsqwTz4rEC4RfwduGQqDJ71BdUXFMvj--l1UWgqBzMhioWQ63jw0VVqAcTtK6TtAVT7SO5nC24WbzaEZObNtWlJlVZkvYa3ACMFTN6UQj-je35sDrWk8N1t32sZlpGmXOhTauOXZ_2OGnlMyG6sKVKoYCwUikqWAwAGNm6dPFWu3FYsJ_fd4hqrwpzmBhyL_Mfn8q-AfMdltn7UH4wLleCZGeL7Zev3Uiqf-h_2MOdN_mHpnJHCJuqpYLhznsTSMHRZEIGjLerMdC0ySDVcweDraolgqNt0Pxoyfvb6u9Z1Ro_oDcR8zv85det2iI3nJkOnVnHwcBdD1CVfWgI6V_2zQ1qaQEmlLoapLOftJXxoM-Cr53QeBjSFjSR-f0PKm1y97J-IEEgAFSrmEJf0Flt-GqztM4q8heeVNXdXFqJpbXiN9SZG-X8w1fAoZ6NgjUJvVzaXx3bSvlHRLg2GftcLMOkdWFBtJLCFqqzzSQ_8JF8aHDuftZ6EuxYc1YbMqJHsT1WLI10nNm4sn1GFo6Sf8J6ghwNK9MN4jO8gml5jqIGqNhUly86e7mdlGiTli4ElwBurS2tjZlnqsFnLwX3fbG0nVRSqUDlkim7XlEQf57EqgQwR5wuiWXJzcDRvPvTWINt-D6lguXwDOUR3nhXsDOC11TU7SZy9ZN-Ejr1tbLlqtzIP0psWH3-7iSYKFwDe3Gw3SyW2VzmkSHElifB0n5bsZy5NNlwTPurE9jDyvYCEdfFC26oEBSkJemwocPYiK-xPLJyjgvA1-x_K1CRqWFnUOPlJqx57eyxIUChyXabP_OBb62BUMmmQ3RLe3xZfqyhXHnqf6raplBLAwkTXdfi_lL2_jW4_41pUMQqGaaHbfr2dI0DhuAGezJI_ZabOXvuGKIbCNB-saTzgfdFOp9MsvPpY0czqGJvR6tc3LibWuBvxhUUYr0npdRsi4UM1KSp0o_Y1GMmsYVAyvNLBAvbE0JwWE-nTYOfExljLfkM8NMElxaoTLy8WW7i8UeW-6LAqH3TqWTUkVu-iXh2XSxm4LTsdfjidfbCsBoh3rYfNXoTpSTRXrpRQ7q67OYzMJT3pQRiBQuvv3eNZldJyxpxALuWbULBvzljuMinjM7hP0fTOSF1P7hTrylRSmMUc9KURAUc7m4iCBG9aPncMDJj2PecZUhVo95EGMFyWKp9XK0Yf9B9Y1zcXvpfTThaP8NAhJvD0vjrymF93qG6-lfcGtpczGiBeGI7-t-dsM",
  "id": "rs_0fb51d8258ad0dd5016ab45e8a053c87d0948a2c5332a3620f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.255,\"left_y\":-0.365,\"left_z\":0.025,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The left wrist view clearly shows the plush’s torso to the right of the jaw center. I’m shifting onto that torso and lowering with the tool kept upright.\"}",
  "call_id": "call_HpNpfVHYJihkjxlISpVFaVtf",
  "id": "fc_0fb51d8258ad0dd5016ab45e8bbcec87d0befdc9f0bb5ad4a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2907, 2.1021, 1.251, -0.4438, -0.944, -1.2098, 0.998, 0.4767, 0.7708, 0.7139, -0.7021, 0.3912, 0.2882, 0.9988]\nstate[eef_state]: left_x=0.2536 left_y=-0.3512 left_z=0.0279 left_yaw=0.0561 left_pitch=-0.0212 left_roll=0.0378 left_gripper=0.998 right_x=0.2497 right_y=0.0571 right_z=0.1815 right_yaw=-0.0102 right_pitch=-0.108 right_roll=-0.0471 right_gripper=0.9988\nstate[joint_eff]: [-0.8684, -9.265, 6.9812, 0.779, -0.4811, 0.0611, -0.0513, -0.0752, -0.8274, 6.9402, 1.8242, 0.1294, 0.0073, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67916858cae55d0b07af1d737875dc05f1a1bbd6e7becc5bdd9f8ea648f84eea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1073f2f7682d0a5ce96bcc334266c72069eeb018c1c9da671ac67e7a82acfa8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61e067f7ab46f8cc282d4156f39c42383a148c3d23c509abcebd0c933bc51341",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3523, 1.0843, 1.0138, -0.8215, -0.3519, -0.218, 0.9971, 0.915, 1.9152, 1.1458, -0.4984, 0.4782, 0.7406, 0.0131]\nstate[eef_state]: left_x=0.2976 left_y=-0.0407 left_z=0.2045 left_yaw=0.0564 left_pitch=-0.249 left_roll=0.1443 left_gripper=0.9971 right_x=0.3021 right_y=0.2652 right_z=0.0167 right_yaw=0.0047 right_pitch=-0.4373 right_roll=-0.1384 right_gripper=0.0131\nstate[joint_eff]: [-0.1709, -2.7829, 6.5983, 1.37, -0.2027, -0.0317, -0.0171, 0.1162, -9.2786, 5.6684, 0.8376, 0.3492, 0.0513, 1.1941]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2778, 1.824, 1.2671, -0.7174, -0.9127, -1.1858, 0.9984, 0.4767, 0.7696, 0.7139, -0.672, 0.392, 0.2928, 0.9986]\nstate[eef_state]: left_x=0.2464 left_y=-0.3203 left_z=0.1188 left_yaw=0.0461 left_pitch=-0.0461 left_roll=0.0304 left_gripper=0.9984 right_x=0.2538 right_y=0.0592 right_z=0.1869 right_yaw=-0.012 right_pitch=-0.08 right_roll=-0.0292 right_gripper=0.9986\nstate[joint_eff]: [-0.5675, -8.7316, 8.3624, 0.696, -0.8278, -0.0415, -0.1783, -0.0068, -1.265, 6.9949, 1.8926, 0.2564, 0.1392, 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]: [-1.2907, 2.1021, 1.251, -0.4438, -0.944, -1.2098, 0.998, 0.4767, 0.7708, 0.7139, -0.7021, 0.3912, 0.2882, 0.9988]\nstate[eef_state]: left_x=0.2536 left_y=-0.3512 left_z=0.0279 left_yaw=0.0561 left_pitch=-0.0212 left_roll=0.0378 left_gripper=0.998 right_x=0.2497 right_y=0.0571 right_z=0.1815 right_yaw=-0.0102 right_pitch=-0.108 right_roll=-0.0471 right_gripper=0.9988\nstate[joint_eff]: [-0.8684, -9.265, 6.9812, 0.779, -0.4811, 0.0611, -0.0513, -0.0752, -0.8274, 6.9402, 1.8242, 0.1294, 0.0073, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67916858cae55d0b07af1d737875dc05f1a1bbd6e7becc5bdd9f8ea648f84eea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1073f2f7682d0a5ce96bcc334266c72069eeb018c1c9da671ac67e7a82acfa8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61e067f7ab46f8cc282d4156f39c42383a148c3d23c509abcebd0c933bc51341",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF6QYv-omAT5xymeG5ijgFKLMJ5iZHtTp1YqaAW6ZDejo5dstFkid7uWJQMMJIYOZQVNkVPYOuZ9v9PhvhfjkaoFRTqLG2lB2zjUBCeTTeWIWsyEUXYHiQypox16Ax7ZszCfwQV5HiH8SPyV_bGjM9JPXCQTIW2_0V_j5ylC5duajFU2FfRQjyu33GHCVNQlXALVT6e-pyYJQoQxKuhnQhg4lsqMXLVO2I3Phb0mONcMxEpyRLpMXI00dHZ0NO3B47v1aT9qR77mMwsUfWeHvpl33EwD0jYiQNhDtf_Tx-KnBcAp_LhIA1abg0MXXMlThZaUiW9PQLAZV7ZnUAexv7IeWj0xD6BaGMKx8nBAkt2LWKMzDuNpqd2AmOND8qN28RtdQa8ynckuTmiM6XuuEs5L3zxwV7KHGqIKPsiCYM3E_92M38sEPi9xETacJDHQ1XaUDWNaYnIZ2Q97SyXmrcuavcVRAimVbtoRw6k8C9KbO1y2bX73BxIOLSf8sZ2lY6GRykXyVhQQ8WSwhOmBK1jCrjismMBBGEgEZHc2c9m1sKNOFu6Gy5HTwBuuG6UoQrLtiuDd_3eD5WmrG0C6fOqRkkg1C3_aWpr7E3SKoIZ8lkY-0R1rZBWL1NKYm-JrfSRQu-ildCDLlMz1BvutMm6B7miEOnXWIbSIBJkyz8Tjz_J0jt2yGL24aHpYTt_bi9iZch2rbgGcJqa6LRGHvd5rprqml9bBsAEM6UD1sAd9WEUdV-YcQK5o4ABQYb-EHXwOV4isQzhv0mVjxTNmWZoN1Kh-IBBuN6Sl5XdnDxvpIAZsfYpyZS1vWNzqIceQnDruUOoiONdyYDc3YSP88Rr2BoTxut0gJDg8N1Y3VCngNnvP50SB5WhMEHz_UhMDJUp3PIykijGIP8Bttus5VzNeo8j7PVNgEvvKWob_BRF1yy4j_z_zR-LK2OgAmshP5mVGC2cFKHIEaWdEKO9Q54eyp36SBeVroY93og_VUvjcL9eFfN8f7LOpGA7IdkorBBYzlYZTPubcQ3JkaZ6EqWy_NVkuYMPTH01WtPa1fgu9hVfqDZNlJLYb8hknnHpWEhmNOO7_WwzxlBedhSMVWS7FWVhJCqJBQm89uoGLacrT4bjMFEWosB399bdjZ-vqdvOx17MVOfaY1e4s4bzgFvQ-KmfcLizV8XWfy1VdSzJ0WHwOhtLlkxzzBmx1fmTsctw1WvTGJyOpWuj7RPmlLvMBz8RH_5CJpF9suGqUIlY_ESI=",
  "id": "rs_0fb51d8258ad0dd5016ab45e8eef4087d08beac6820e1ae9ef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaws surround the broad middle of the plush at table height. I’m closing on the torso now.\"}",
  "call_id": "call_MSYJ75McBEq7EQryI1C9qUJy",
  "id": "fc_0fb51d8258ad0dd5016ab45e8f2c7087d09f9fa9f598a94da0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MSYJ75McBEq7EQryI1C9qUJy",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2945, 2.1139, 1.251, -0.4305, -0.9737, -1.2137, 0.1091, 0.4767, 0.7708, 0.7139, -0.7246, 0.3908, 0.2882, 0.9988]\nstate[eef_state]: left_x=0.2552 left_y=-0.3513 left_z=0.0281 left_yaw=0.0625 left_pitch=0.0072 left_roll=0.0393 left_gripper=0.1091 right_x=0.2464 right_y=0.0555 right_z=0.1777 right_yaw=-0.0112 right_pitch=-0.128 right_roll=-0.0575 right_gripper=0.9988\nstate[joint_eff]: [0.294, -11.6308, 5.3538, 0.5885, -0.2173, 0.0073, 0.7204, -0.1846, -0.5812, 6.9675, 1.7314, 0.1148, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caacf24071f0e7111a7128ea602a840a9056b3840ecffe09080e9d0ba848fd6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ce81668db3570b1da5554b353df689b0d313d73de44a7fa5d6951e243de93d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c5d28764d9cab87171358fa715a4af15533e7c36c5d88fdc4ce8e95dd05d692",
      "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 68 changed as sent

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3527, 1.0847, 1.0134, -0.8318, -0.3519, -0.2184, 0.9971, 0.4774, 0.7635, 0.7174, -0.6373, 0.4084, 0.3073, 0.997]\nstate[eef_state]: left_x=0.2957 left_y=-0.0401 left_z=0.2027 left_yaw=0.0574 left_pitch=-0.2591 left_roll=0.1485 left_gripper=0.9971 right_x=0.2588 right_y=0.0589 right_z=0.1967 right_yaw=-0.031 right_pitch=-0.0359 right_roll=-0.0057 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -2.7966, 6.612, 1.5116, -0.232, -0.0269, -0.0122, -0.1162, -0.7316, 8.0615, 1.9219, 0.232, -0.0317, -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]: [-1.2907, 2.1021, 1.251, -0.4438, -0.944, -1.2098, 0.998, 0.4767, 0.7708, 0.7139, -0.7021, 0.3912, 0.2882, 0.9988]\nstate[eef_state]: left_x=0.2536 left_y=-0.3512 left_z=0.0279 left_yaw=0.0561 left_pitch=-0.0212 left_roll=0.0378 left_gripper=0.998 right_x=0.2497 right_y=0.0571 right_z=0.1815 right_yaw=-0.0102 right_pitch=-0.108 right_roll=-0.0471 right_gripper=0.9988\nstate[joint_eff]: [-0.8684, -9.265, 6.9812, 0.779, -0.4811, 0.0611, -0.0513, -0.0752, -0.8274, 6.9402, 1.8242, 0.1294, 0.0073, 0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2945, 2.1139, 1.251, -0.4305, -0.9737, -1.2137, 0.1091, 0.4767, 0.7708, 0.7139, -0.7246, 0.3908, 0.2882, 0.9988]\nstate[eef_state]: left_x=0.2552 left_y=-0.3513 left_z=0.0281 left_yaw=0.0625 left_pitch=0.0072 left_roll=0.0393 left_gripper=0.1091 right_x=0.2464 right_y=0.0555 right_z=0.1777 right_yaw=-0.0112 right_pitch=-0.128 right_roll=-0.0575 right_gripper=0.9988\nstate[joint_eff]: [0.294, -11.6308, 5.3538, 0.5885, -0.2173, 0.0073, 0.7204, -0.1846, -0.5812, 6.9675, 1.7314, 0.1148, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caacf24071f0e7111a7128ea602a840a9056b3840ecffe09080e9d0ba848fd6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ce81668db3570b1da5554b353df689b0d313d73de44a7fa5d6951e243de93d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c5d28764d9cab87171358fa715a4af15533e7c36c5d88fdc4ce8e95dd05d692",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.09,\"left_pitch\":0,\"left_roll\":0},\"note\":\"This grasp has stopped above the empty-gripper reading and the plush has drawn into the jaws. I’m lifting it a few centimeters to verify the hold.\"}",
  "call_id": "call_bSljbPuEvpRnySMkq8uLmjbr",
  "id": "fc_0fb51d8258ad0dd5016ab45e9325dc87d0ad71eb4be7aa0d51",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bSljbPuEvpRnySMkq8uLmjbr",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2945, 2.0312, 1.2816, -0.561, -0.9504, -1.2217, 0.1107, 0.4767, 0.7708, 0.7139, -0.7406, 0.3904, 0.2878, 0.9988]\nstate[eef_state]: left_x=0.2513 left_y=-0.3464 left_z=0.0587 left_yaw=0.0608 left_pitch=-0.0182 left_roll=0.0446 left_gripper=0.1107 right_x=0.244 right_y=0.0544 right_z=0.175 right_yaw=-0.0117 right_pitch=-0.1423 right_roll=-0.0651 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -12.9983, 8.4855, 0.8083, -0.5543, 0.0366, 0.1538, -0.1026, -0.7453, 6.8308, 1.619, 0.1197, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21cb68171655fba9722f3bf6f192969296581c44abba9627f9a7e7df084ecd76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6330367b0c66730f1af2431f102ae2ef6623d9a4caf5cb862884161105ae6b6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9eb2ded91b1c2ef9b0d76cc66ef22245dcd6220c596f16239cb16296bbb427e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 64 changed as sent

message 72 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]: [-1.2778, 1.824, 1.2671, -0.7174, -0.9127, -1.1858, 0.9984, 0.4767, 0.7696, 0.7139, -0.672, 0.392, 0.2928, 0.9986]\nstate[eef_state]: left_x=0.2464 left_y=-0.3203 left_z=0.1188 left_yaw=0.0461 left_pitch=-0.0461 left_roll=0.0304 left_gripper=0.9984 right_x=0.2538 right_y=0.0592 right_z=0.1869 right_yaw=-0.012 right_pitch=-0.08 right_roll=-0.0292 right_gripper=0.9986\nstate[joint_eff]: [-0.5675, -8.7316, 8.3624, 0.696, -0.8278, -0.0415, -0.1783, -0.0068, -1.265, 6.9949, 1.8926, 0.2564, 0.1392, 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]: [-1.2945, 2.1139, 1.251, -0.4305, -0.9737, -1.2137, 0.1091, 0.4767, 0.7708, 0.7139, -0.7246, 0.3908, 0.2882, 0.9988]\nstate[eef_state]: left_x=0.2552 left_y=-0.3513 left_z=0.0281 left_yaw=0.0625 left_pitch=0.0072 left_roll=0.0393 left_gripper=0.1091 right_x=0.2464 right_y=0.0555 right_z=0.1777 right_yaw=-0.0112 right_pitch=-0.128 right_roll=-0.0575 right_gripper=0.9988\nstate[joint_eff]: [0.294, -11.6308, 5.3538, 0.5885, -0.2173, 0.0073, 0.7204, -0.1846, -0.5812, 6.9675, 1.7314, 0.1148, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2945, 2.0312, 1.2816, -0.561, -0.9504, -1.2217, 0.1107, 0.4767, 0.7708, 0.7139, -0.7406, 0.3904, 0.2878, 0.9988]\nstate[eef_state]: left_x=0.2513 left_y=-0.3464 left_z=0.0587 left_yaw=0.0608 left_pitch=-0.0182 left_roll=0.0446 left_gripper=0.1107 right_x=0.244 right_y=0.0544 right_z=0.175 right_yaw=-0.0117 right_pitch=-0.1423 right_roll=-0.0651 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -12.9983, 8.4855, 0.8083, -0.5543, 0.0366, 0.1538, -0.1026, -0.7453, 6.8308, 1.619, 0.1197, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21cb68171655fba9722f3bf6f192969296581c44abba9627f9a7e7df084ecd76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6330367b0c66730f1af2431f102ae2ef6623d9a4caf5cb862884161105ae6b6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9eb2ded91b1c2ef9b0d76cc66ef22245dcd6220c596f16239cb16296bbb427e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF6XH_-fuJt6-yLY2ZZyT9QJkobTAECGeA2gkKsiQxXDxK-Vrsu5Evm37nW6k-3890biXCZVEiLmn2eoBPl5aNgEQLnG0e3PM_Ykzt0JuqOVvFyRu0baAZkysXdJhhUW5t-28psp1o-lvIlrujeGr_SUQyuJJ8fCrCT7A5ixcW4PjcDxdgB2IoNSaj5qkWCadVOUwyeTfjmw1hMdyo9_tPkrv4tPNHFYZYaz3cKH-8gt5kufwX43vR-ngOh_BO55JHs_GmJ8XiorAsipdlb-9mN398pzwt2rV-SgALLA92bitky9AXqNwUeHLabTjMyMHAjXgG-NPDvZaKz_ioRd33BCq_6NYaZkpZ5-F7dgybq1SJFgJVdq0hUvA4uUefaKS6jh7S_-sPh1E8XSkf2ek-4aHM3eg-g77f5mRArDXV6gyr4d2f2VDjxmwaAOghYxsiCIkWe6DVWZV98_CfTDsVDTyA39u943E9fSOXTyjbzndtNJb6HVrC21c3GvLnt51Z3Gua1F9a5aMDVDt9EPPGdJ_VOAxUgCmXkwqHjArJSFvtruoydtT6PVqSoy0WPN1DaHltztXliH-18GTaTrHdR6wx7KXLwZOeldJAbI8axgat3NJMh6RHugnV2RiMTWv17WOljYM46SQgD7j54cr69VYLUj5vndpsNaNhjQWpHDGNmepYqGaZFml--3-LLsdweJ_WSfkg11bMYulUUdnaDCcefiq6ykn8kbS_1h6HsIqsYggae7WX8ReWPbNNfZ6x-ElRFEqDZmFohBnKc3gWc5IXrS4KF7EHko5DtifRvyFBA6FoDDxUsXKnLLzFXl9Xs7AScoHCiPM0k3xOIxVMacdOH4PTZej4SEWjQXXNRg90Yrn7pFxrDwCa1qcCF9iwFCM9d1i87I-E0hfi_oaFVVyCvFWEIPj44oIAte1nc2Vou4JKUAWBCCdJEJG8n7skJiQlVTqH52-C4-0q0I8O96I8IdvLPvTfSMYoaLD89T3622kf5OGGj1wCCAitJapBoThzR28e6TwguHzsQ3dTiAeP3HdjsGq39Uq5w7lSZVdLpHLinY_fQEBs87Q-DNcL_bc3I5oRxXYizx1WCwtoDUqiyUfYEVyTHI6kP433LfJvhjudELwqpwhE_1OAXwSFNWXdPSrzSkMMIwRPajUEQFaXiQWjh4rlaaNZSnH_KUC3Ca50CRmTMg_YFegmNmVq9DjcHbaS5-Vf3imrlJGLRIn53g6HTsjZPATQyL1RRpupIUJjXPLR48USFagWJ6feYjLXJg3NUwWoTKHlHSYcaJiPzTDXggBqtxgMzJ2XFl5yShkhMO0Ja18V57YYIeFjCfLl6ewpCEuCYl7y5ZDAvYz1R5k6ce_dpPFEPrLjqAWaU=",
  "id": "rs_0fb51d8258ad0dd5016ab45e95d15487d0bd6459d6fc9baa7e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.345,\"left_z\":0.21,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The brown plush is moving with the left gripper. I’m carrying it over the safe, aiming beside the white toy and keeping its limbs above the rim.\"}",
  "call_id": "call_fBSr5MpveK7kSSXCuZlupi12",
  "id": "fc_0fb51d8258ad0dd5016ab45e9694b487d0864c8513ce8a0d2e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fBSr5MpveK7kSSXCuZlupi12",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9436, 2.0609, 1.8454, -0.6964, -0.7929, -0.7792, 0.1128, 0.4767, 0.7723, 0.7139, -0.7551, 0.3836, 0.2878, 0.9988]\nstate[eef_state]: left_x=0.4072 left_y=-0.3412 left_z=0.1978 left_yaw=0.0882 left_pitch=-0.0091 left_roll=-0.0119 left_gripper=0.1128 right_x=0.2417 right_y=0.0544 right_z=0.172 right_yaw=-0.0074 right_pitch=-0.1587 right_roll=-0.0682 right_gripper=0.9988\nstate[joint_eff]: [0.253, -10.7692, 9.1009, 1.1355, -0.3785, 0.232, 0.2125, -0.1299, -0.841, 6.6667, 1.6044, 0.1538, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6168e4f0d24b9197e04b82b0961f62ada4f876f697fc2350a5c75441ef65d852",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a546208bb17e70f85584cfee8494b01acd71269ec0b2a86b0f08e68a41efcc38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b220e30321588e1212ed5407154b7a914db5483fc6fb99432a28d9bfae4684dd",
      "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 68 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]: [-1.2907, 2.1021, 1.251, -0.4438, -0.944, -1.2098, 0.998, 0.4767, 0.7708, 0.7139, -0.7021, 0.3912, 0.2882, 0.9988]\nstate[eef_state]: left_x=0.2536 left_y=-0.3512 left_z=0.0279 left_yaw=0.0561 left_pitch=-0.0212 left_roll=0.0378 left_gripper=0.998 right_x=0.2497 right_y=0.0571 right_z=0.1815 right_yaw=-0.0102 right_pitch=-0.108 right_roll=-0.0471 right_gripper=0.9988\nstate[joint_eff]: [-0.8684, -9.265, 6.9812, 0.779, -0.4811, 0.0611, -0.0513, -0.0752, -0.8274, 6.9402, 1.8242, 0.1294, 0.0073, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2945, 2.0312, 1.2816, -0.561, -0.9504, -1.2217, 0.1107, 0.4767, 0.7708, 0.7139, -0.7406, 0.3904, 0.2878, 0.9988]\nstate[eef_state]: left_x=0.2513 left_y=-0.3464 left_z=0.0587 left_yaw=0.0608 left_pitch=-0.0182 left_roll=0.0446 left_gripper=0.1107 right_x=0.244 right_y=0.0544 right_z=0.175 right_yaw=-0.0117 right_pitch=-0.1423 right_roll=-0.0651 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -12.9983, 8.4855, 0.8083, -0.5543, 0.0366, 0.1538, -0.1026, -0.7453, 6.8308, 1.619, 0.1197, -0.0659, -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]: [-0.9436, 2.0609, 1.8454, -0.6964, -0.7929, -0.7792, 0.1128, 0.4767, 0.7723, 0.7139, -0.7551, 0.3836, 0.2878, 0.9988]\nstate[eef_state]: left_x=0.4072 left_y=-0.3412 left_z=0.1978 left_yaw=0.0882 left_pitch=-0.0091 left_roll=-0.0119 left_gripper=0.1128 right_x=0.2417 right_y=0.0544 right_z=0.172 right_yaw=-0.0074 right_pitch=-0.1587 right_roll=-0.0682 right_gripper=0.9988\nstate[joint_eff]: [0.253, -10.7692, 9.1009, 1.1355, -0.3785, 0.232, 0.2125, -0.1299, -0.841, 6.6667, 1.6044, 0.1538, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6168e4f0d24b9197e04b82b0961f62ada4f876f697fc2350a5c75441ef65d852",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a546208bb17e70f85584cfee8494b01acd71269ec0b2a86b0f08e68a41efcc38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b220e30321588e1212ed5407154b7a914db5483fc6fb99432a28d9bfae4684dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF6cdseB1vUqIhU6FEHa7lbBqBXSQEbLyv-BtE1HSfmZASMIqs0WWYXVzTDsQLb5myVd3TWjM3Fx34WrYnQq2WWdpXKObG2k6txPdXK1I1YffNRjmCL_4AOeO4bKubxcZZWs71W1bXSgUYETxMSh6ouRTcvsxebDngFYmDPWd5uODaTJFDLz_W4DhIR50b_FCl6a5FRYPT238vy8cJbTqBpcWr5qHbUdjhW2Jp0zqVcA-wJoC_SAM-LlhuX4za6gLxFZs6012otUXWhVlOzkEVA5teoa8eSY66JQTyrj3Topg3q5zTMXPDhJpKmUL6Nsh_x-wl9Fn5A0yYzJTAhb6wt7INYBRtlkj6ip3tJ6l3evb3peFprG-W3MAyqH7mAKs0N3ESrCWL9krAZoDZaB3CMKkDVa4lRtGG0mx8Z-TpbUfdFnpOs-gpp_lZ3eWyss5IMw-ArbZVEb0LKsiUAXAnAPnp4CjeBO7sPr0DQr-otsJ7C-dyA6phGV6wQGSIfBEBxsaiAsgtpA_B29-eunyctaBCOhHFQDtqhb1p4v6JeQzlcpzET73-jAx9Rs6vBAKDGa8hX4MZ_2YJQODlgeoi_L3n7JWOa0j_7qXU5G8VSGFTadDCPDxJA9eT3AOCZgq_HNLeG4QsIT-hEQyXT7nnxUQ2lpk8QXfYPv0aTtzYq27x04BbXYYjo0xY5XYFQnlztBWUgJoF18VQ-HPw_FEEKfeSIDPI6TKA0c7jv6mMObamzZf-L7PO2fcPKUmcwgfAKfk4XlvFwZZfeuhscssxvG0zy2zfajLsro-PpiV0wayG8vIOP97algXyPaCPHJl5m4bdKt2esvOkqxjW1A402mccENR1Bh7Bd8kirfWC8vNmRepEeW-VnxAdzZMKbh7YnT4XyN4kb4tsIqG0CULjjUhDV5X2i36qLng0l9JI6pTlpB5KaXePM_LliukW2btIJOVjlL3_HUx-M0uuZzpgncN6B5AKIJdlxXdv9pgzqFd8J8A8_pi4w2_Btk2H6vkzP_sjJ0esrs7A2JWHdPLBeEpPHLoZ2nG9PLHjyq1oJGZYY1tjUFvceN3U_zhonwLQO9yZgo4KLbq8qH8NEQMl9nmulAh_Kc60KSnbf_hAKp1YwMJiM2cWSS03fORZSdyKLKmw-FJcv78xRLAWbtcyeZ8QGoWUSA8qxhZCbdobVHwS4NaEKh2e3dty50syX5eBrhSKaN6Oei1JMCMRz6umxldMAQK3HEJ76Mm_asnWYtJsTSwbDPsP3aliWVQ1GEXg92fhRznyWNfLZTR1qYgpqQw691T78WuwRd5DyoleS75NYx_9zEQeUqVYLbydtb1arjztB6sXHo4T06QMgrVr_yM__JcgQqY5yLd6zNEXeyHhH6MrzV3vIP5izBKAfyVAmUUadsW9o05tETtHRxTxyY4cjipB4hIyzhrvUU-ZaG3n0PH3zxbsnElWpZ2c8Fjt3QJDYXozNdFXn-lg_0BbdJighW_DT8IBbaLaapJ9is1xp9ZxZTbQmsiIPB2wUonOvw1O2iBvXtH4j3XGoMTvM11_-lWr9wPHUZHrj93atnb8ha6a31JnwJ0ht_oOe-xGRo",
  "id": "rs_0fb51d8258ad0dd5016ab45e9a3cc087d0a6603a36a8c371e5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.29,\"left_z\":0.075,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The plush hangs slightly to the right of the grasp, so I’m shifting inward as I lower it. This should leave its body within the safe rather than over the rim.\"}",
  "call_id": "call_lfZjRFDzunHvq8FR9IjxThq6",
  "id": "fc_0fb51d8258ad0dd5016ab45e9ba68887d09ae83a5b89d3a0dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lfZjRFDzunHvq8FR9IjxThq6",
  "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]: [-0.8635, 2.0411, 1.3247, -0.1799, -0.746, -0.6868, 0.1149, 0.4767, 0.7746, 0.7139, -0.77, 0.3805, 0.2882, 0.9988]\nstate[eef_state]: left_x=0.4114 left_y=-0.2912 left_z=0.0758 left_yaw=0.088 left_pitch=-0.0322 left_roll=0.0311 left_gripper=0.1149 right_x=0.2394 right_y=0.0538 right_z=0.169 right_yaw=-0.0066 right_pitch=-0.175 right_roll=-0.074 right_gripper=0.9988\nstate[joint_eff]: [1.1282, -10.4821, 5.6821, 1.3358, -0.3199, 0.1587, 0.2125, -0.0752, -0.3487, 6.8171, 1.5946, 0.1978, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1a39c496da923b5c52291c089998c6cecde7c61d7ae2761046410efa96d85b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d594413a9d97a70a85b65ee7360141257479c368360cd6230c0036833e5dedf7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd4bbdb01dde32d335a7f35044dc9bfab8e39e954ccb1ec0491c6c673a7d34da",
      "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 72 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]: [-1.2945, 2.1139, 1.251, -0.4305, -0.9737, -1.2137, 0.1091, 0.4767, 0.7708, 0.7139, -0.7246, 0.3908, 0.2882, 0.9988]\nstate[eef_state]: left_x=0.2552 left_y=-0.3513 left_z=0.0281 left_yaw=0.0625 left_pitch=0.0072 left_roll=0.0393 left_gripper=0.1091 right_x=0.2464 right_y=0.0555 right_z=0.1777 right_yaw=-0.0112 right_pitch=-0.128 right_roll=-0.0575 right_gripper=0.9988\nstate[joint_eff]: [0.294, -11.6308, 5.3538, 0.5885, -0.2173, 0.0073, 0.7204, -0.1846, -0.5812, 6.9675, 1.7314, 0.1148, -0.0317, -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]: [-0.9436, 2.0609, 1.8454, -0.6964, -0.7929, -0.7792, 0.1128, 0.4767, 0.7723, 0.7139, -0.7551, 0.3836, 0.2878, 0.9988]\nstate[eef_state]: left_x=0.4072 left_y=-0.3412 left_z=0.1978 left_yaw=0.0882 left_pitch=-0.0091 left_roll=-0.0119 left_gripper=0.1128 right_x=0.2417 right_y=0.0544 right_z=0.172 right_yaw=-0.0074 right_pitch=-0.1587 right_roll=-0.0682 right_gripper=0.9988\nstate[joint_eff]: [0.253, -10.7692, 9.1009, 1.1355, -0.3785, 0.232, 0.2125, -0.1299, -0.841, 6.6667, 1.6044, 0.1538, -0.0611, -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]: [-0.8635, 2.0411, 1.3247, -0.1799, -0.746, -0.6868, 0.1149, 0.4767, 0.7746, 0.7139, -0.77, 0.3805, 0.2882, 0.9988]\nstate[eef_state]: left_x=0.4114 left_y=-0.2912 left_z=0.0758 left_yaw=0.088 left_pitch=-0.0322 left_roll=0.0311 left_gripper=0.1149 right_x=0.2394 right_y=0.0538 right_z=0.169 right_yaw=-0.0066 right_pitch=-0.175 right_roll=-0.074 right_gripper=0.9988\nstate[joint_eff]: [1.1282, -10.4821, 5.6821, 1.3358, -0.3199, 0.1587, 0.2125, -0.0752, -0.3487, 6.8171, 1.5946, 0.1978, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1a39c496da923b5c52291c089998c6cecde7c61d7ae2761046410efa96d85b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d594413a9d97a70a85b65ee7360141257479c368360cd6230c0036833e5dedf7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd4bbdb01dde32d335a7f35044dc9bfab8e39e954ccb1ec0491c6c673a7d34da",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The brown plush is resting in the compartment alongside the white toy. I’m opening the jaws to release it.\"}",
  "call_id": "call_yrC75K0CosyO6KzJfNvOvCl2",
  "id": "fc_0fb51d8258ad0dd5016ab45e9fcebc87d0b0e4c7be730b5c28",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yrC75K0CosyO6KzJfNvOvCl2",
  "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]: [-0.8631, 2.0422, 1.3079, -0.1806, -0.7479, -0.6937, 0.9952, 0.4767, 0.7746, 0.7139, -0.7906, 0.3763, 0.2878, 0.9988]\nstate[eef_state]: left_x=0.4085 left_y=-0.2871 left_z=0.0695 left_yaw=0.0939 left_pitch=-0.0416 left_roll=0.0416 left_gripper=0.9952 right_x=0.2361 right_y=0.0529 right_z=0.1656 right_yaw=-0.0048 right_pitch=-0.1947 right_roll=-0.0812 right_gripper=0.9988\nstate[joint_eff]: [-0.253, -11.0701, 7.5009, 1.2821, -0.359, 0.0171, -0.1099, -0.1299, -0.7043, 6.7624, 1.663, 0.1392, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bbcc2f82b32dca887469d89ba54eb2c6a525cb763a3242cfb5a730626d6554b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f63dc985d3e110af9680514a2db1bc98cc1ee98bd0e16a53e56fb0a8555cf07f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:056fec6c604b807c3db06b590fefe8b01661380a93a97af2b6c4b93fda5fb5e9",
      "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 86 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2945, 2.0312, 1.2816, -0.561, -0.9504, -1.2217, 0.1107, 0.4767, 0.7708, 0.7139, -0.7406, 0.3904, 0.2878, 0.9988]\nstate[eef_state]: left_x=0.2513 left_y=-0.3464 left_z=0.0587 left_yaw=0.0608 left_pitch=-0.0182 left_roll=0.0446 left_gripper=0.1107 right_x=0.244 right_y=0.0544 right_z=0.175 right_yaw=-0.0117 right_pitch=-0.1423 right_roll=-0.0651 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -12.9983, 8.4855, 0.8083, -0.5543, 0.0366, 0.1538, -0.1026, -0.7453, 6.8308, 1.619, 0.1197, -0.0659, -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]: [-0.8635, 2.0411, 1.3247, -0.1799, -0.746, -0.6868, 0.1149, 0.4767, 0.7746, 0.7139, -0.77, 0.3805, 0.2882, 0.9988]\nstate[eef_state]: left_x=0.4114 left_y=-0.2912 left_z=0.0758 left_yaw=0.088 left_pitch=-0.0322 left_roll=0.0311 left_gripper=0.1149 right_x=0.2394 right_y=0.0538 right_z=0.169 right_yaw=-0.0066 right_pitch=-0.175 right_roll=-0.074 right_gripper=0.9988\nstate[joint_eff]: [1.1282, -10.4821, 5.6821, 1.3358, -0.3199, 0.1587, 0.2125, -0.0752, -0.3487, 6.8171, 1.5946, 0.1978, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8631, 2.0422, 1.3079, -0.1806, -0.7479, -0.6937, 0.9952, 0.4767, 0.7746, 0.7139, -0.7906, 0.3763, 0.2878, 0.9988]\nstate[eef_state]: left_x=0.4085 left_y=-0.2871 left_z=0.0695 left_yaw=0.0939 left_pitch=-0.0416 left_roll=0.0416 left_gripper=0.9952 right_x=0.2361 right_y=0.0529 right_z=0.1656 right_yaw=-0.0048 right_pitch=-0.1947 right_roll=-0.0812 right_gripper=0.9988\nstate[joint_eff]: [-0.253, -11.0701, 7.5009, 1.2821, -0.359, 0.0171, -0.1099, -0.1299, -0.7043, 6.7624, 1.663, 0.1392, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bbcc2f82b32dca887469d89ba54eb2c6a525cb763a3242cfb5a730626d6554b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f63dc985d3e110af9680514a2db1bc98cc1ee98bd0e16a53e56fb0a8555cf07f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:056fec6c604b807c3db06b590fefe8b01661380a93a97af2b6c4b93fda5fb5e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF6kpbrz0sMl1BswGVXVTMTIPRf4lQHnROOBWxQPyIAQLgJOgrTriTKsIJX5ff4FGM1Jv86U3rwCAYnBvsm9HouDAOjC6Cwgm9731m9BJLMMjhspp5JiwugnK0NBm-68pazToqpzFmVgSWSC9rOFUKesUznftaAl_PKO5bia1WiA0-LB88plPYFUH-90Y8nCeboDAUYutdpZdV3JIi8CHlMdryBh6Wb5-Ku1WHvICfjx6rBu3l2ptgYU4rMii5BxSN84bEMuJipKoMU5LeMWPNtPmStKAxgyH5EO9sjf3OO-yeu1FSxXYHUokt7Ctnnj09nmU00UeEumYgK_Cv26qbAXywPmSdElI2nSzv0iorEa7SiAoXt4IPWxPpjV6jCrBVj53sak4DrZonqh7GwU7Hzi8hELWGAQCrQanjxz3QqR31OQj9yo18I_oAGP8BPGggJojfvXysn9lPj8mYcLd1-gn922tmMAB24KYDiGBWtL9eD7Re0iEY5OV7F45AQRcCTAffjEFu7025LWrbHAHKyWZvg4V0zC-ycv6LfHSDW-ma7NHPc_HvNw6Qd6b05IrN7vlM5UsJnCtGdH_zLZDX-iytRmHoNibOC1ZzF6SDhhfLTHEUWzyAUxQo3HbwRGTXmv_E5n4UZe3VUysz9CFsBrszGIINvg3vb37TAjeK-SR7vrRiCtwfqJLgxp4cHacqG6wCam2mSxOwxQ1Br6Bgcby9fLVEo3lIQfezym4gdu3uQnTWldGjsQo9kPg39y1aG9prC5YREX-TvOF-DyssaHm4-zmkdYvKVoG8bDXKAyx4lao7fBwqHZzWBlugnWiGCVuKkJcK4VmmCWLZcmInvIkPRef1DJlVUjhnXrCitcbT5UlntxN_G9u7XkF_8gcFQ5DkUTO06VKCR3P-ANWB7zYB3ZvFUjeRcRa4TMHnku7sG01vpmO-5yppwvdjoTRTKcVXphWNWmyF0d5CoOjBd5euaFqWB4igpQt0ZcaD0ko6G3Bbu4rnOsiPN_7uWpWJJWSLKmWDNmBH4gDwp8isMuX12wYt8N9LpiwRQb0kib3hRKl8jKihqbTzImBHoszyTtTwCAaD9CtWSDEfToVf7ZAi8lOY_EXdLqcYtk-QSwaxNR2Udw-t54pKEXOmct5wAqd4TFvo-K8-MTxMVOWf6-knT4lAUAO--neXqzeR9JpfOCxcL3a7WN0bVLSRuUbHs0U150Yf-Xr6OBmwJCnuBPvzOEf0t8qE1oFCLYcOQtblryTQAxXy-ob6Dz1_Xg3cdnneHE7X73GBurHFVXUydRn_8XW-iiiPqFyiDD1nDOcdwTsYjYr_AMZUYbndNuXEbVlB-JcYIplonZ_B-QQGERH5ZQ9QFecx3IfWpEoObudp6FHOCfxJzs5iwEsuVyAgHb03jRiMeep4s6EVF-TF84fZxuYk-ccw0HVnRs7hdnH7bT0bjZdZQxqyVTbCGJ2eUYyZpluWnqoA6nDrA56yBIqge0pEGs2U6Wt0OGX45RUwwFfClW9_r7ALX-Y3eo3Jk_PVG1kdvCzTICzeEmhITOxg==",
  "id": "rs_0fb51d8258ad0dd5016ab45ea28ef887d0adf7a0a0f60b8f3e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.035,\"left_z\":0.23,\"left_pitch\":0,\"left_roll\":0},\"note\":\"Both toys are now in the safe, though the plush’s soft limbs sit high near the rim. I’m clearing the left arm so the right can collect the remaining yellow ball.\"}",
  "call_id": "call_QHzFxDykQ7nlzLTIs2V4NZQ6",
  "id": "fc_0fb51d8258ad0dd5016ab45ea3baa487d08882f35c50f20ca9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QHzFxDykQ7nlzLTIs2V4NZQ6",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3553, 0.9222, 0.8299, -0.5518, -0.4072, -0.3161, 0.9963, 0.4767, 0.7784, 0.7132, -0.8143, 0.3759, 0.2878, 0.9988]\nstate[eef_state]: left_x=0.303 left_y=-0.034 left_z=0.2202 left_yaw=0.1384 left_pitch=-0.0049 left_roll=-0.0049 left_gripper=0.9963 right_x=0.2324 right_y=0.051 right_z=0.1608 right_yaw=-0.0073 right_pitch=-0.2198 right_roll=-0.0943 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -2.1949, 8.8547, 1.8291, -0.0366, 0.1587, 0.1001, -0.1162, -0.5265, 6.653, 1.5897, 0.0904, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7800c265e44036720028a7f6868125796f0afab03d402abe970d85340b19f065",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5791c8a003a3e69b57ae02350a3adfc3b84262f5b641383f113c71f633743eec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fe02ad10792ad4d39c78eb6b03128ea9d04526d21139ca114c0d58fbcfe1bbf",
      "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 86 changed as sent

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9436, 2.0609, 1.8454, -0.6964, -0.7929, -0.7792, 0.1128, 0.4767, 0.7723, 0.7139, -0.7551, 0.3836, 0.2878, 0.9988]\nstate[eef_state]: left_x=0.4072 left_y=-0.3412 left_z=0.1978 left_yaw=0.0882 left_pitch=-0.0091 left_roll=-0.0119 left_gripper=0.1128 right_x=0.2417 right_y=0.0544 right_z=0.172 right_yaw=-0.0074 right_pitch=-0.1587 right_roll=-0.0682 right_gripper=0.9988\nstate[joint_eff]: [0.253, -10.7692, 9.1009, 1.1355, -0.3785, 0.232, 0.2125, -0.1299, -0.841, 6.6667, 1.6044, 0.1538, -0.0611, -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]: [-0.8631, 2.0422, 1.3079, -0.1806, -0.7479, -0.6937, 0.9952, 0.4767, 0.7746, 0.7139, -0.7906, 0.3763, 0.2878, 0.9988]\nstate[eef_state]: left_x=0.4085 left_y=-0.2871 left_z=0.0695 left_yaw=0.0939 left_pitch=-0.0416 left_roll=0.0416 left_gripper=0.9952 right_x=0.2361 right_y=0.0529 right_z=0.1656 right_yaw=-0.0048 right_pitch=-0.1947 right_roll=-0.0812 right_gripper=0.9988\nstate[joint_eff]: [-0.253, -11.0701, 7.5009, 1.2821, -0.359, 0.0171, -0.1099, -0.1299, -0.7043, 6.7624, 1.663, 0.1392, -0.0464, -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]: [-0.3553, 0.9222, 0.8299, -0.5518, -0.4072, -0.3161, 0.9963, 0.4767, 0.7784, 0.7132, -0.8143, 0.3759, 0.2878, 0.9988]\nstate[eef_state]: left_x=0.303 left_y=-0.034 left_z=0.2202 left_yaw=0.1384 left_pitch=-0.0049 left_roll=-0.0049 left_gripper=0.9963 right_x=0.2324 right_y=0.051 right_z=0.1608 right_yaw=-0.0073 right_pitch=-0.2198 right_roll=-0.0943 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -2.1949, 8.8547, 1.8291, -0.0366, 0.1587, 0.1001, -0.1162, -0.5265, 6.653, 1.5897, 0.0904, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7800c265e44036720028a7f6868125796f0afab03d402abe970d85340b19f065",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5791c8a003a3e69b57ae02350a3adfc3b84262f5b641383f113c71f633743eec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fe02ad10792ad4d39c78eb6b03128ea9d04526d21139ca114c0d58fbcfe1bbf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF6szblOAeEEG2g1gDVW2DHojizYg4-R11M007rm3kXBGJtSSg_QqtfrUcl6rP5vf4ES5ITnnemZW4i1pAKUFSsjx2EPlXBQYL6HVxbuViNaNplYMfAy361BFCyq5xBfqUpdtGXBmGGg9LG1025_sELln_umz98uX5vv_sgrQNLrTtPFW1fyTNkMFBRZm2NBhnhAComHL0C-tkE5MuMHUiTbVNXH0GSKqvTsou1K3D9mUqHSyAeQlHWgMwXFfOPcntoA7jqvBs3uvzxi16WZCXottvJpBzPWkU9F583hSmskD6aiyx40_1z4wRobhHgnbiMiRQnAGc0EaP3UQkbI6uNwCub3oaOzKXDFhVzKfo_InKd3aNM450MRbAOC30_r13_HLRmWfSjmC8LceU0xIC1gVnuzOE6WkzzrO7PNM9qXkdjXsEJHNwaQp5B7UMUhmFI7GYa4ToIGqp2nIj4Lc6EnhLfPWxqqqyh_OAegGBTJr1WYzD5yY6zzNrK3zBnFbTu3qPb30AB5ZLgM2BLEl9R2Haef8hZ5l0tB1JoNQsAT3lwQO0rWpkF3H8MHcnHAybEWse57fNQFamGOyl1y21BRCCmuV2hTIC7-bqrqH930uusD1p69kmJZObW3lvqLoXU3BSBkFCl3vO2zGwI5IIdCf1YQdVUrYrV-2vCHWz1nnYDfTWQyzHKMQZ0dbsHWQKlXY_IvRgrmqcJRq0-V6grEgt_g81BewFwGpcUpoRtX0ZTNoYho-G8LiW-KEd44EV25s-wjTnyP_rlyUmuwcIuDkkBsVBbEpFXwb4G7TnkMO3v56vT79fueHtKlZXomIv5rs8GG0OjyjJ8Th5-OSRgHSUF3e1Z7Rau1lguZstxwXW1Qk94lXQJPuHiwlAfKodmFnUWxmXLWZhX1LFJ171_YFn-mA2GBPLYnTfggfwGLGOUZt-JDnguphm7uMhyXGWKfxNYzmsl7l7vJBxDjlV5wr57VWyIsSqqRze0v7SkK6P1zUZaFbdpwZ1kabQ22qYMM7xe3eyT8lJUfJNxfwPtrxBoKaw70G1JE6m6l7zU_YltLcadX9Zd5KoG4yS7A22UPAcXQ9im-T1xb_X4nPG51OOV1FLF3fwgHHsVvZmVkPTPbrQc3hvESQnPJ2_OqmNRlhdJJvtgCJxtXXfT81m0iY754s1yoVWYHj5q86dC6B8M7pgIK_38VkL37miTDalP1eGTIaZU0tjFoQZGXWX77K3PpqaTHxHtG9_BBdmf5EkplnQzllM3NyvDQKQojabAgIfTURlyoU-l4tVJ6oxqyPg32Dv8selzLfAOnN0281RJizsdGYZZeReNUPiv2bIWOVrNi5ybLtmIL_zQOeDVDrbHUWtfJ_etygsgDZrRjZ-iejoD_UnjvzqjgPi-eeSfuhVjXZoiKaIHbH2GlItJb2e_FG0tsRw_4no96N8vwTQwHDyF3Rle5vKyiOrhdMmH5EBPl2jfMdQzFISs9Qlaou70-hrkj9_-c7TVcZTz2MYG4-jsek3cuhV45leuKEJR9MqI0P9FwesZZyVf88PkKrtSmfK2C5qczUVLWp6-DOaVmyPeLNs1AAMrj5YYALJVnQf7Uab06sVLnN2yYQCQ_XFUMiDIXhSAl3xuxPbqrvdvSE2aBB2_V4yZkuyPJels2LVoWl2ySrrE2tv-_05OKjotUImvXk47ABKdaQCjeP2Ro9hZaxIbZCqsC0262CPRWn-cGz_moQNjOA_Qv8gDr90Ku17T10yhcD3eutMCNrCykNEDnNzdGoeGF214PXagmCqh4LIvz8uBvoQepwF_eXfVrIRSqHIoSQ7B3rdAtNJT2SV9rg52L_79xTDjo5fls1H_l0ChsLwNy9xAJ9ZZ0PwYrAro5C3Fsvkhoz1z6ogNklbdulukAnzf8Kpak9YemtRrdXH7aryVfc5whr9iwywsfgIUHwsb9K9bvt247g88=",
  "id": "rs_0fb51d8258ad0dd5016ab45ea89c5887d0afc22603119156a8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.51,\"right_y\":0.205,\"right_z\":0.15,\"right_pitch\":0.2,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The yellow ball remains just beyond the safe’s right side. I’m approaching it from the right with a slight forward tool tilt to reach past the rim.\"}",
  "call_id": "call_uok79BO8fdxy7efdlcVBvWXF",
  "id": "fc_0fb51d8258ad0dd5016ab45eaad6a087d08bc96859bcf80350",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uok79BO8fdxy7efdlcVBvWXF",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3546, 0.9276, 0.8295, -0.5812, -0.3973, -0.3191, 0.9965, 0.5255, 1.9106, 1.1843, 0.1947, 0.4747, 0.2176, 0.9989]\nstate[eef_state]: left_x=0.2995 left_y=-0.0342 left_z=0.2128 left_yaw=0.1332 left_pitch=-0.0387 left_roll=0.0038 left_gripper=0.9965 right_x=0.4946 right_y=0.1976 right_z=0.1281 right_yaw=0.0102 right_pitch=0.1141 right_roll=-0.0413 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -2.2085, 6.8718, 1.8632, -0.2564, -0.0122, 0.0024, 0.253, -10.0034, 8.4991, 2.0342, 0.1587, 0.022, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:325cb17b4df8389963fb7f2de0f2e4af9bcf3d8bd440aab2b07ffb042a5c5309",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3ce052a3a8325ae0cd4fc413d518ea894114b049733c7dbe55c7a771e7eb3dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c48b1bf49d3f459cba23b495e41f8b7ac7cd55340e0ec245e82b0d801dace23",
      "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 90 changed as sent

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8635, 2.0411, 1.3247, -0.1799, -0.746, -0.6868, 0.1149, 0.4767, 0.7746, 0.7139, -0.77, 0.3805, 0.2882, 0.9988]\nstate[eef_state]: left_x=0.4114 left_y=-0.2912 left_z=0.0758 left_yaw=0.088 left_pitch=-0.0322 left_roll=0.0311 left_gripper=0.1149 right_x=0.2394 right_y=0.0538 right_z=0.169 right_yaw=-0.0066 right_pitch=-0.175 right_roll=-0.074 right_gripper=0.9988\nstate[joint_eff]: [1.1282, -10.4821, 5.6821, 1.3358, -0.3199, 0.1587, 0.2125, -0.0752, -0.3487, 6.8171, 1.5946, 0.1978, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3553, 0.9222, 0.8299, -0.5518, -0.4072, -0.3161, 0.9963, 0.4767, 0.7784, 0.7132, -0.8143, 0.3759, 0.2878, 0.9988]\nstate[eef_state]: left_x=0.303 left_y=-0.034 left_z=0.2202 left_yaw=0.1384 left_pitch=-0.0049 left_roll=-0.0049 left_gripper=0.9963 right_x=0.2324 right_y=0.051 right_z=0.1608 right_yaw=-0.0073 right_pitch=-0.2198 right_roll=-0.0943 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -2.1949, 8.8547, 1.8291, -0.0366, 0.1587, 0.1001, -0.1162, -0.5265, 6.653, 1.5897, 0.0904, -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]: [-0.3546, 0.9276, 0.8295, -0.5812, -0.3973, -0.3191, 0.9965, 0.5255, 1.9106, 1.1843, 0.1947, 0.4747, 0.2176, 0.9989]\nstate[eef_state]: left_x=0.2995 left_y=-0.0342 left_z=0.2128 left_yaw=0.1332 left_pitch=-0.0387 left_roll=0.0038 left_gripper=0.9965 right_x=0.4946 right_y=0.1976 right_z=0.1281 right_yaw=0.0102 right_pitch=0.1141 right_roll=-0.0413 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -2.2085, 6.8718, 1.8632, -0.2564, -0.0122, 0.0024, 0.253, -10.0034, 8.4991, 2.0342, 0.1587, 0.022, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:325cb17b4df8389963fb7f2de0f2e4af9bcf3d8bd440aab2b07ffb042a5c5309",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3ce052a3a8325ae0cd4fc413d518ea894114b049733c7dbe55c7a771e7eb3dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c48b1bf49d3f459cba23b495e41f8b7ac7cd55340e0ec245e82b0d801dace23",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF6xpb_wclvMOpyMhRoF9pbpc7xf8YvOnsE0jomU2g8S29kUFZY_rmobx92by8yRpayJy_cZAtK_s-V48_ElK0VBQo-LHmnnuBPiGoazuCXIPdbbIhnJ_l6p-LIqaA6VUi59lr-VEG30h-Z9cCRW4tn__QI3MIVXWXQvdLqMqzwsxUFrgsyTSaG-bdaBVJHwZvqVImtZE3tXnSlANfngW9mBgZZfe7iuSGugjwdNL7GDEFgQoFdTkJ2BQrjQ_6EpN1TYsKT6tMZL5fmlMYsZ24SPqg3MJXK_HepmOrnAmckVvA5viNeHpLBl-HF9fQ0yeWmSgSUWGs8s7o-bVthXW-fJ4mME4gVA0ihkiszm8fHAm4G6Z6MJX40m5re_Ym5rxWNFT92odg8DZ5zABHX1uq12xwuyNZ1KjYIsOb6wuhV-SnED08EqvV-HP9O-ou6GXr6PuEI53s5z-diksqmOcRS9NtWuKj0q-OTY4P9K7m_nN6ld7KKjuwZ8i3WI3E2uNMJ6ULS8TyBWcEnDuP0fzBQcbtVBYX5g_5Keqf0TG2dW8Rz7ifSPolHvMhWAD0ZsTghXIWPtVhKWFk56rZ-td4-7t3QNXVX-ZrbFvOSNZ8KU3rDrZW_mJwnVMmQmgnjc0AxAauirSix-6U6ggNIw7tm3eT9fg-WS722QPAIhunRHRWGktMFcmPZNOb31DQpgXfUQpuKUZ50lZbnwpzkDA22Qrrvk8W_A1oi1FmDN2J-q1vyUSTFSzZAGfCzANxG7JrXCem1qQusX69sMst79ksqa44yKqZgs6MO-Ca07MMR1W7l26Y-GqO8e9-1B4K55Hh-pyWmoB_fM7fgDQrthXlXRYvRZ21nIwvhlxRijbHTYa2WO5RInUsWGfa1bmXbLjmaf1Xev5A9r-MlsfknlT11AEy8Vr_lgiXF2w25Qt7kIUBsotyovYmGuH5wpvDEN0NutwN0VkzVYgMUH6l3Iv1HFbLMITnDS8cjoOl2jnJ_A-goIE7gX6ctSUF3JdV5Ye2o95VmEQxILg7pIZZTkiXoSHlBwJnlQcw854SeqHhKlvvufHgGFXpr44B88lhTFGhnNU3GQnXgb8vrwhIEwIjBYReQw_-8Ykl5Aa0-_s6LTgMaG4KASfshvw9nTnXX8zguQl711gbR2HwcMmkBm_oxtuvv1rUCmH044HgoHHEw-YBj_JnbkRv1DQrut2_eO1a1skWNETz6Gsc3JUL1ts9mGqZHYpZ9kw-yGj4GLVRXVrUbF7XBGkHBnbg8EyMytn1kZEzHpuMoJUwgchaPCoMd1eKYqNkDnrTYbu66q3IY8cUSDs68LlQsLC21k6iifISzNWmkPbP36qyXFwB6u2tG1kjs0BRY8-3m8uptLIP8-wyKctkTukt5BO72qtjiVSEuDr6VAAUmfTvBenb5goRMdAu8ytREDQLMrQ6WW5eB3gJG7SEZNgdBBmRGB4hZ3K6N4WXbki1k603gAXLIq1eAcZeclHd3FaF2tyQMZYuDzBSU=",
  "id": "rs_0fb51d8258ad0dd5016ab45eaf7e4887d08c0f36652060f60c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.535,\"right_y\":0.18,\"right_z\":0.025,\"right_pitch\":0.25,\"right_roll\":0},\"note\":\"The ball is slightly right of the jaw center and close to the fingertips. I’m centering over it and lowering to grip around its equator rather than squeeze it sideways.\"}",
  "call_id": "call_iGqgGfgkQdIQCLiSoVm7Xyze",
  "id": "fc_0fb51d8258ad0dd5016ab45eb0defc87d084f827dd53fa7fa2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iGqgGfgkQdIQCLiSoVm7Xyze",
  "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]: [-0.3546, 0.9295, 0.8295, -0.5888, -0.3969, -0.3225, 0.9966, 0.4541, 2.2406, 1.1015, 0.7292, 0.4026, 0.1604, 0.9989]\nstate[eef_state]: left_x=0.2986 left_y=-0.0339 left_z=0.2109 left_yaw=0.135 left_pitch=-0.0472 left_roll=0.0053 left_gripper=0.9966 right_x=0.527 right_y=0.1842 right_z=0.029 right_yaw=0.0215 right_pitch=0.2068 right_roll=-0.0085 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -2.1402, 7.0222, 1.663, -0.2222, -0.0317, -0.0073, -0.9641, -9.2923, 6.3248, 1.0379, 0.3346, 0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79d5f6ddd9306fcde4972b62c4c3b0cad499d4860858070e2d1ebfaa5f062cb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5c1cd534a10b4fce715db9284f3756d231a582a07fedf9bf91374715209f63f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:000b3fdfc5056b6fe3ffee42c77c33c428524b5787461dfeaa27540a7177a536",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8631, 2.0422, 1.3079, -0.1806, -0.7479, -0.6937, 0.9952, 0.4767, 0.7746, 0.7139, -0.7906, 0.3763, 0.2878, 0.9988]\nstate[eef_state]: left_x=0.4085 left_y=-0.2871 left_z=0.0695 left_yaw=0.0939 left_pitch=-0.0416 left_roll=0.0416 left_gripper=0.9952 right_x=0.2361 right_y=0.0529 right_z=0.1656 right_yaw=-0.0048 right_pitch=-0.1947 right_roll=-0.0812 right_gripper=0.9988\nstate[joint_eff]: [-0.253, -11.0701, 7.5009, 1.2821, -0.359, 0.0171, -0.1099, -0.1299, -0.7043, 6.7624, 1.663, 0.1392, -0.0464, -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]: [-0.3546, 0.9276, 0.8295, -0.5812, -0.3973, -0.3191, 0.9965, 0.5255, 1.9106, 1.1843, 0.1947, 0.4747, 0.2176, 0.9989]\nstate[eef_state]: left_x=0.2995 left_y=-0.0342 left_z=0.2128 left_yaw=0.1332 left_pitch=-0.0387 left_roll=0.0038 left_gripper=0.9965 right_x=0.4946 right_y=0.1976 right_z=0.1281 right_yaw=0.0102 right_pitch=0.1141 right_roll=-0.0413 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -2.2085, 6.8718, 1.8632, -0.2564, -0.0122, 0.0024, 0.253, -10.0034, 8.4991, 2.0342, 0.1587, 0.022, -0.1245]",
      "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]: [-0.3546, 0.9295, 0.8295, -0.5888, -0.3969, -0.3225, 0.9966, 0.4541, 2.2406, 1.1015, 0.7292, 0.4026, 0.1604, 0.9989]\nstate[eef_state]: left_x=0.2986 left_y=-0.0339 left_z=0.2109 left_yaw=0.135 left_pitch=-0.0472 left_roll=0.0053 left_gripper=0.9966 right_x=0.527 right_y=0.1842 right_z=0.029 right_yaw=0.0215 right_pitch=0.2068 right_roll=-0.0085 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -2.1402, 7.0222, 1.663, -0.2222, -0.0317, -0.0073, -0.9641, -9.2923, 6.3248, 1.0379, 0.3346, 0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79d5f6ddd9306fcde4972b62c4c3b0cad499d4860858070e2d1ebfaa5f062cb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5c1cd534a10b4fce715db9284f3756d231a582a07fedf9bf91374715209f63f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:000b3fdfc5056b6fe3ffee42c77c33c428524b5787461dfeaa27540a7177a536",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF62O9ZYg7tuk0AXkmqBXSenNKYiC7Dz8kwSNUb46YJaiH3GoPuhbhXzZA7T0Dp2chvIyU7SJGDBpf4oJ5iTb4-mZH-dFR4kIMAdTBqvaQHgSEi-Vi_aeJPlDkma7QWVQd9pi8w7-YAjxvRrfgxoGKxaDbZTH9koMJrjg8cFahaLIMwkI3PYdL35Nt2PUhk7qz_Xxq1UQbVp5apvXVE5RNGIvaHGJooIxUng7ABXB12fjZvLFyIJ9qLak3cilAxfKXmNFQ1YY0x-VfRPxYbgjTCiRLXrunW-refbrqgrvQ7UfMOe4p_jrHLyp_l8XhBErdowuuB_TPL9NiwPqqSW7AZaMZilMvb_yCrvHilL9nBn4oucN8CDwkvisj6XP4wK4cJmCRC7yJ5w9mCbUmfenjAc-oQsEt36PnI8mPYIKnMVNViaL5r8oH020WVxeywWNh8CpZGZISJ8lcOWHOuuLtGHF1zqs7UhRPyxefVmv0ScM3LYJp9yBwPCMTDvEu2J_4bmLgCjt_leaFNYiGDHHqwLDyg_bRk0-H0jpX0KHNAi2oSIuqrrNgydtJ7HNRHmkEtzQL4rwR3yCIoRhEBeL62kCwhQS8j1OhgFtZ3B_J724eC0eUA03iBYmu3P-oV5Raix8g8DCGiEmI_szTbIy-BrFq3gWKGsI6T-970eSkXwBW4aygPTKD3GKGcw6z2GEI5Il_hfO8jNIW0WU4rk6Ss2saGRZAylYb2exkpc4hEURqs2MizPMhFq3CDsP5bqFkl1NX8Fgzcu-U3ZWQ_DtneERPRLZSkQXT3iFgw41HNW3Fqxv6Bp8WALT6l3Z8ZGqJoN54O5czTsABcuJW8cY4YTnqObt192pmI67EhcrPBWsWHGRjuERUZMgxtSFFjRp2_nQdFA7Zl7QkN9IMTN_IHsPJBSmstgQGtgDSW0-Y_Fta4cyUHyJbD2ymY4IUeG2390jZRtw9qNAo7y6tBY0-QQGt4zOgOSPDhU5u_ZhBeId8sPeSAX2hIZ-hZJPzbYfcsOSFplG89JptqZBFe_vg7CstGBlDxaZ6etWLHFbOPcqgpjehaopjlhToEFN0VRnfB4Dukzl20GaeyPPhpexyr-ZlvfpCnJPHxuLIJnNU4ESfcHPEC25a3dARUVzqqHco1kVE5nRivr2eps-84hn2qi6LOXmAQLu3mAN500_sXQklZ38WvYYG5-qt5UQwOftEBVrXqiGMT1Oa9_lnxOcNSinxbgzbv6FS0ChRLKkRImTFiAbqShdeUqXOlS9KbueAXwThsPHD5D6puP-dzbFs-d-muho67ITkBwGkRdzdTQn3HoV33vuSMUBFECME7iKpVQURG6iLmoaFFoREHohwN3Q0XKYl_G_WTvvVR4AAEsjMTWZ4hmWh9NNGdHcLLVbvnOY-EEO3sLn1EG0eJ4G-WRmw==",
  "id": "rs_0fb51d8258ad0dd5016ab45eb44a7c87d0a726abdf0716e75f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.35},\"note\":\"The ball is centered between the open jaws. I’m closing only to a ball-sized gap to avoid ejecting the rounded object.\"}",
  "call_id": "call_OcFCyUb8XZ9daD1JR7Fu5kej",
  "id": "fc_0fb51d8258ad0dd5016ab45eb55cac87d0b05bf980ab193471",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OcFCyUb8XZ9daD1JR7Fu5kej",
  "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]: [-0.3546, 0.9302, 0.8295, -0.5926, -0.3965, -0.3229, 0.9966, 0.4568, 2.2402, 1.1042, 0.7826, 0.4015, 0.1604, 0.514]\nstate[eef_state]: left_x=0.2981 left_y=-0.0338 left_z=0.21 left_yaw=0.135 left_pitch=-0.0513 left_roll=0.0069 left_gripper=0.9966 right_x=0.5314 right_y=0.1882 right_z=0.0418 right_yaw=0.0195 right_pitch=0.2578 right_roll=0.0163 right_gripper=0.514\nstate[joint_eff]: [-0.1573, -2.0581, 6.8171, 1.6044, -0.2222, -0.0415, -0.0073, -0.1846, -11.5897, 4.9299, 1.3211, 0.0366, -0.0269, 0.3248]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efddc8465352b6d863391e79ef2abb10e1b47dffd91b7459997279e9ed45f30a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aad4b0c5395277f6a3a6e7c8cf8bad1629bb933ed12ac3bebe3ba0cff10536ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ee1d9b31a2c1c86fb0ff8f6dedbaa316453858443023b6192f67b8ea226ffdd",
      "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 90 changed as sent

message 98 changed as sent

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3553, 0.9222, 0.8299, -0.5518, -0.4072, -0.3161, 0.9963, 0.4767, 0.7784, 0.7132, -0.8143, 0.3759, 0.2878, 0.9988]\nstate[eef_state]: left_x=0.303 left_y=-0.034 left_z=0.2202 left_yaw=0.1384 left_pitch=-0.0049 left_roll=-0.0049 left_gripper=0.9963 right_x=0.2324 right_y=0.051 right_z=0.1608 right_yaw=-0.0073 right_pitch=-0.2198 right_roll=-0.0943 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -2.1949, 8.8547, 1.8291, -0.0366, 0.1587, 0.1001, -0.1162, -0.5265, 6.653, 1.5897, 0.0904, -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]: [-0.3546, 0.9295, 0.8295, -0.5888, -0.3969, -0.3225, 0.9966, 0.4541, 2.2406, 1.1015, 0.7292, 0.4026, 0.1604, 0.9989]\nstate[eef_state]: left_x=0.2986 left_y=-0.0339 left_z=0.2109 left_yaw=0.135 left_pitch=-0.0472 left_roll=0.0053 left_gripper=0.9966 right_x=0.527 right_y=0.1842 right_z=0.029 right_yaw=0.0215 right_pitch=0.2068 right_roll=-0.0085 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -2.1402, 7.0222, 1.663, -0.2222, -0.0317, -0.0073, -0.9641, -9.2923, 6.3248, 1.0379, 0.3346, 0.1148, -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]: [-0.3546, 0.9302, 0.8295, -0.5926, -0.3965, -0.3229, 0.9966, 0.4568, 2.2402, 1.1042, 0.7826, 0.4015, 0.1604, 0.514]\nstate[eef_state]: left_x=0.2981 left_y=-0.0338 left_z=0.21 left_yaw=0.135 left_pitch=-0.0513 left_roll=0.0069 left_gripper=0.9966 right_x=0.5314 right_y=0.1882 right_z=0.0418 right_yaw=0.0195 right_pitch=0.2578 right_roll=0.0163 right_gripper=0.514\nstate[joint_eff]: [-0.1573, -2.0581, 6.8171, 1.6044, -0.2222, -0.0415, -0.0073, -0.1846, -11.5897, 4.9299, 1.3211, 0.0366, -0.0269, 0.3248]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efddc8465352b6d863391e79ef2abb10e1b47dffd91b7459997279e9ed45f30a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aad4b0c5395277f6a3a6e7c8cf8bad1629bb933ed12ac3bebe3ba0cff10536ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ee1d9b31a2c1c86fb0ff8f6dedbaa316453858443023b6192f67b8ea226ffdd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF66Kt1_ge5eB2TDpGCnCoEp02g60TJPHsQxXLEstkni84SG1HDTxbNbG1tSIqq2BX9-KOcBAW06FcIOhrTMExFpMUf5fYXGj7L_QC1AL6W8f1dbvfdwg9MgZnZnlO3bSVN9fDy_cIw0ah3lfEiQWfokL5RGMSnFezCJrRduL93wo_KZiItKUmVvXyu9YZ1MPAv9BsNAqCQZ-6j0KNvXeDlCy2CN59ykFLIUIljNEj3H1dgS5AQmqYhe_cRV41IsuMLJcKGcf6wj47Upjf4QqLSx-XTwYz_CzYFOCK7ARTXboblOoVSm3UJf2kYk0ag_74QpyAzW1DrsJ45ImnDnKjzGPhMvPYXZknktzrHvlcldWmc20yOc5giawF48O7mFUY_qwRGSFLl5-z_O1mX5wAQOCz1Uh_14UxQe-0TWsV5ZlUwCroXVe9UC6Aax-EwmUP3MYD2GgHYCzNgH6cf4q8RRgmCLZWazVAFKnBwPQ06j6xPXy2vj2Wrt9ipeWKZqr9xLsxjrYsGZfdRWuSsES5eG5EhqGCEU1Xfhs-qijpo7eFVIQzrvPCMhnkNY9LyklA6R-7RlwraiWbWtKPjA61WUVdByz-DzyHuKm_hF50IcEHVMBBUBer8qaAUMPtRtvH8URPOvWBCaBOKTeB8Qhf9gWuSU-ivl52ZdUajRBKgADfAixr8DtPNjKvVyPzhXgSAxKMpn9ms5vABaGPPyUkadnImuQsMhkWe3v0MMm_BWJfvgIFOn4eH0labEPATBVIJF8e-XjKd4HjwTUUXv9hqvEnIaHJz0-WnF0-0-IMzPjlAsDQ2QfDDW7M-73RgZq2pum5IAoQ4kB-zoeYHhqdOitSIbC7vxQLb2ERWCy0opFlfOQIFjhGAMWWskZpPSZJoYGn7LBpIoX-lcTHuWddtibaAZ5eggfuIQesjz9HCsFtdDcPkzzUfUP-y0EXVkRiUdhMSFJaicKxz2LJnKkAKHbYh7_S1fpTMrEsatQa58xhL7Te0iWNaOwa5dI0x8myP5unRoZYV4z8AptoVSKqKmsqOjZ5_zJA1owUj1KyEH4n8etAqCiLkm89sQO8EqMAf6t3C_AYXMu4lxdmlbnVCYdjQnaOW7wpPCJTrspzoMkUxHQFc77nCB0PLlZVtJoFkZD9EaBqsilVSeUxKjg-_7YdVGPWppVIfvmxKc7GQo9pHpt40f-mwYQ-rcwBHLJT1mMbZgsLfkMIOmNt0D1DZ8SUn_FE6olTlT6S5XcD8XsQMxtAySrsNUaphIJGiz5xyjRothbPYESecqOHiWUuIp5zZV-Or9LZL4_TOvsrcUXUkXPEbsI9XKnLhzAQ2RZ8rBxsRBiWXbbn9ioTHJ3jXT0A==",
  "id": "rs_0fb51d8258ad0dd5016ab45eb83a1087d099ffba5557745d00",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.1,\"right_pitch\":0.25,\"right_roll\":0},\"note\":\"The jaws have stopped at a roughly five-centimeter opening around the ball. I’m lifting it clear of the tabletop to verify it is held before moving into the safe.\"}",
  "call_id": "call_eivJfTcwxSK1uQbvDr50XgIl",
  "id": "fc_0fb51d8258ad0dd5016ab45eb8e61c87d0b4cb358470135dc9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eivJfTcwxSK1uQbvDr50XgIl",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3538, 0.9333, 0.8295, -0.6022, -0.3965, -0.3229, 0.997, 0.4606, 2.1258, 1.1118, 0.5972, 0.403, 0.1524, 0.5128]\nstate[eef_state]: left_x=0.2971 left_y=-0.0332 left_z=0.2074 left_yaw=0.1361 left_pitch=-0.0625 left_roll=0.0128 left_gripper=0.997 right_x=0.524 right_y=0.1867 right_z=0.0661 right_yaw=0.0327 right_pitch=0.2006 right_roll=-0.0192 right_gripper=0.5128\nstate[joint_eff]: [-0.2256, -2.2496, 6.9949, 1.7607, -0.2173, -0.0122, 0.022, -0.3761, -13.7368, 8.5675, 2.1758, 0.1294, -0.0269, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0903322fc8d3ff73af0b785ca8c44a1d122187e85431ba4f6cab321fdb6b0f0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9461a25450ca99e95f1b1f9de50238a617969f47e3961fb45b869b6e4f87c8ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9097a3333bb0858eb12d582fb286418b40d904e499b5f67c260a58a19e845814",
      "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 94 changed as sent

message 102 changed as sent

message 106 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3546, 0.9276, 0.8295, -0.5812, -0.3973, -0.3191, 0.9965, 0.5255, 1.9106, 1.1843, 0.1947, 0.4747, 0.2176, 0.9989]\nstate[eef_state]: left_x=0.2995 left_y=-0.0342 left_z=0.2128 left_yaw=0.1332 left_pitch=-0.0387 left_roll=0.0038 left_gripper=0.9965 right_x=0.4946 right_y=0.1976 right_z=0.1281 right_yaw=0.0102 right_pitch=0.1141 right_roll=-0.0413 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -2.2085, 6.8718, 1.8632, -0.2564, -0.0122, 0.0024, 0.253, -10.0034, 8.4991, 2.0342, 0.1587, 0.022, -0.1245]",
      "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]: [-0.3546, 0.9302, 0.8295, -0.5926, -0.3965, -0.3229, 0.9966, 0.4568, 2.2402, 1.1042, 0.7826, 0.4015, 0.1604, 0.514]\nstate[eef_state]: left_x=0.2981 left_y=-0.0338 left_z=0.21 left_yaw=0.135 left_pitch=-0.0513 left_roll=0.0069 left_gripper=0.9966 right_x=0.5314 right_y=0.1882 right_z=0.0418 right_yaw=0.0195 right_pitch=0.2578 right_roll=0.0163 right_gripper=0.514\nstate[joint_eff]: [-0.1573, -2.0581, 6.8171, 1.6044, -0.2222, -0.0415, -0.0073, -0.1846, -11.5897, 4.9299, 1.3211, 0.0366, -0.0269, 0.3248]",
      "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]: [-0.3538, 0.9333, 0.8295, -0.6022, -0.3965, -0.3229, 0.997, 0.4606, 2.1258, 1.1118, 0.5972, 0.403, 0.1524, 0.5128]\nstate[eef_state]: left_x=0.2971 left_y=-0.0332 left_z=0.2074 left_yaw=0.1361 left_pitch=-0.0625 left_roll=0.0128 left_gripper=0.997 right_x=0.524 right_y=0.1867 right_z=0.0661 right_yaw=0.0327 right_pitch=0.2006 right_roll=-0.0192 right_gripper=0.5128\nstate[joint_eff]: [-0.2256, -2.2496, 6.9949, 1.7607, -0.2173, -0.0122, 0.022, -0.3761, -13.7368, 8.5675, 2.1758, 0.1294, -0.0269, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0903322fc8d3ff73af0b785ca8c44a1d122187e85431ba4f6cab321fdb6b0f0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9461a25450ca99e95f1b1f9de50238a617969f47e3961fb45b869b6e4f87c8ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9097a3333bb0858eb12d582fb286418b40d904e499b5f67c260a58a19e845814",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF6-5VlJT5dPkicY7-siUb86xKGkSl4p8TLrXPmDfD6f6rFW3nL5WF_0vGUeeqTFis9uyeK7qdIV0RZWKAeiDbzqfSOCnZXZitp0i01E6AGc-KNkXL8LjGz-byZQsjO4a56N0dEXVvgvZ4-edpb-wBy1n8zx_UR13Zb336vA9lSujGAT9UvwgKiIi3QgooK6dhBY_hyWzQEqSAzxNrLh9nXEwEax6mG9IzJ3dSrDsB6-UXB9lNnrEY4G-jHv4QQ_adDtaVbRXTCkMRC0YMCI-LwBpYb5rUiGk2cEAeVs1rRq7adL17ucJIy4MA62c2Nxkr0Y5KfRxxBVaQlppTwaTW3H5GHgi_qUm9kEUI7XJGTfhlr5zTZ0707q2fVaIRJVti1mDMoRsqlQYVAdcPI3ndwmD3_1aMYP7G1Ls08nU05oAdKrVQaWwDCnfVBO-U-F_qk7XIR-nelw4zVX8E7hZ0Fgu5k_cwv9-MmPSJ73ToEgSLPsqN7ckbJh0qaa6yMO69sNeqmvpoiEI6Nb0D7qIJSL-Jz_EswCVRKVcCAivMJNNtKHiIKZ1D-_oXhS3HgLUg9Cxd60eNBfY0a46My3_yY3OgqhLziQXwOThF_qGtAdqnRBfg6N87zlX3Qt3S2RI8B3CrBquDsmA2ScRc54GHaU6w91cHf9CsSjwb4BXFOQqnSNlWMaWE5FZ3cwWNOtcOk2_ZCS3akgSH40JesdbQJHK-mSBXRlSxDAp6UjtX174mSAq1kwUYxScCSwgmJr-qmoLi9NaDufyPK2TSNcCKR75bqWbpytDWDjFkvzyJdVM7s_ArA8EhqzeaInMFEGDZ07V1_xvMEXd_ajTbhRcw8vdfrZHvmrbFgyBsLJo2x0ARk4fLnZ6mOXFxzJQhTXpFebffZrt-rfKJJ5L-TEJOK-28LvqWrz_hGykCT-n4z30Vt7OGFXObj4Uixodh_BjBksXckpU90pov-3A1G4C05Frsxj7n7d2yt36hcG9B01g3we5eGInkcUeOa3IYGzfS9v9cGVvAWhhffuCPRF_VdncyKEQzu9dO-CmjNjyKyAgy5HiW9TOoEXgAwGOEAqeHOnOCU94wfjJnQhAJm3y8R70SIJyPwHRqD_7wY0JfmXZnpu2wDnw10Dqk2w4K_KMpd4qvrSyaWx_8fbIclZSPMYdeK2WGh8p5QajEu1jX5CW7s_reXsu3TpKL5hSGW6qmVGAtzYGjdY5wBftuv7gq0qMZg8CpY_IVqWGwAqQDtLwg1qW5WsC7QXRtcaY5B1-Q6WGHE0ZOGd3lHfGclEdKKKB6NPeqYFjVdlRAAruJuf1ccnnunwbkg_79W8ut34Ixc1RF89dsctxkPlsk2HF3F4H3xiyZtmfWoWize8ykGhanwYPTduksUOymsoBYxQyCXEJaFcuKzhyVAx7wQRXp4BhLX4NMcvyqbug7kwkCarRFRcQXxgLLGUWzvzPql0iaqTtiiRqCp3aeUHvtvDuBSJkx0rk1QgbR4jvqqaAF4zxs_3W3Jb9h1s1qRK_9m-2lOjlWCy9huVo2Ku4fj-G12BZZcM1G85uZIr-rLdTxsEC9zOKWIoJSGHKb0FqaONMyqk5QGQKq_Lz3Eu2eiA0fThF_FRdNKs_ZQjkk7r99ePr3-K7ecRqdrHGEbzKyDi8nH40BJ9DBp4y2_S3uXtIefY23TM9PUQbUgIq1M0tCBJRPy5xUFnIoz1GYE4a-EibVo1JsZLh5r7I6oUmUI2aHRuRoPfU2zXlT_DiHC_uHRoVO5ff4R80y3ObT_YMZ9KT14obtRgN6taGqtavCktHMkW9TJ5QZjrXMZ0hBfQ3gUfg4s=",
  "id": "rs_0fb51d8258ad0dd5016ab45ebbcdd887d0a28b6d3940ab750a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.305,\"right_z\":0.22,\"right_pitch\":0.15,\"right_roll\":0},\"note\":\"The ball remains between the jaws after the short lift. I’m raising it above the rim and moving it over the safe’s remaining open space.\"}",
  "call_id": "call_dYgeKm9lXEbz4wCLoxYiM6z3",
  "id": "fc_0fb51d8258ad0dd5016ab45ebd8fc487d0a56b4b6a7dcb1d03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dYgeKm9lXEbz4wCLoxYiM6z3",
  "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]: [-0.3538, 0.9333, 0.8295, -0.6106, -0.3965, -0.3264, 0.9971, 0.7429, 1.9938, 1.5711, -0.1604, 0.5957, 0.3084, 0.5127]\nstate[eef_state]: left_x=0.2959 left_y=-0.0327 left_z=0.2059 left_yaw=0.1383 left_pitch=-0.0698 left_roll=0.0141 left_gripper=0.9971 right_x=0.4749 right_y=0.3065 right_z=0.188 right_yaw=0.0839 right_pitch=0.1085 right_roll=-0.0421 right_gripper=0.5127\nstate[joint_eff]: [-0.0205, -2.0034, 6.8308, 1.663, -0.2222, 0.0171, -0.0073, 0.1983, -12.6838, 9.6752, 2.0342, 0.4274, 0.2027, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecc35b1d644fb92ff1bd4a1cd6da4528bfee17b2e344d54591dec01d3c68b1ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1c4438137c6ef088bb168daea1659b76f52127aa0a42338078da8a1b3f903c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:446f25b5c0b1615066e17b8f8eeaeca5df323f2784843a61eb25725b514ff1ae",
      "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 98 changed as sent

message 106 changed as sent

message 110 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3546, 0.9295, 0.8295, -0.5888, -0.3969, -0.3225, 0.9966, 0.4541, 2.2406, 1.1015, 0.7292, 0.4026, 0.1604, 0.9989]\nstate[eef_state]: left_x=0.2986 left_y=-0.0339 left_z=0.2109 left_yaw=0.135 left_pitch=-0.0472 left_roll=0.0053 left_gripper=0.9966 right_x=0.527 right_y=0.1842 right_z=0.029 right_yaw=0.0215 right_pitch=0.2068 right_roll=-0.0085 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -2.1402, 7.0222, 1.663, -0.2222, -0.0317, -0.0073, -0.9641, -9.2923, 6.3248, 1.0379, 0.3346, 0.1148, -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]: [-0.3538, 0.9333, 0.8295, -0.6022, -0.3965, -0.3229, 0.997, 0.4606, 2.1258, 1.1118, 0.5972, 0.403, 0.1524, 0.5128]\nstate[eef_state]: left_x=0.2971 left_y=-0.0332 left_z=0.2074 left_yaw=0.1361 left_pitch=-0.0625 left_roll=0.0128 left_gripper=0.997 right_x=0.524 right_y=0.1867 right_z=0.0661 right_yaw=0.0327 right_pitch=0.2006 right_roll=-0.0192 right_gripper=0.5128\nstate[joint_eff]: [-0.2256, -2.2496, 6.9949, 1.7607, -0.2173, -0.0122, 0.022, -0.3761, -13.7368, 8.5675, 2.1758, 0.1294, -0.0269, -0.1343]\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]: [-0.3538, 0.9333, 0.8295, -0.6106, -0.3965, -0.3264, 0.9971, 0.7429, 1.9938, 1.5711, -0.1604, 0.5957, 0.3084, 0.5127]\nstate[eef_state]: left_x=0.2959 left_y=-0.0327 left_z=0.2059 left_yaw=0.1383 left_pitch=-0.0698 left_roll=0.0141 left_gripper=0.9971 right_x=0.4749 right_y=0.3065 right_z=0.188 right_yaw=0.0839 right_pitch=0.1085 right_roll=-0.0421 right_gripper=0.5127\nstate[joint_eff]: [-0.0205, -2.0034, 6.8308, 1.663, -0.2222, 0.0171, -0.0073, 0.1983, -12.6838, 9.6752, 2.0342, 0.4274, 0.2027, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecc35b1d644fb92ff1bd4a1cd6da4528bfee17b2e344d54591dec01d3c68b1ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1c4438137c6ef088bb168daea1659b76f52127aa0a42338078da8a1b3f903c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:446f25b5c0b1615066e17b8f8eeaeca5df323f2784843a61eb25725b514ff1ae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF7Jrej7h_3AkJbF_6mEaxVXjIIZM7ziIBwpuG-_F7XF6Qj83qyRcAHr7XP8wsxmD2cowJw4gsOY-uL6dXowDPu0xhATIWGKMXZvwDM3NpkHG6dDuFK_D06taxPgtX7mpx2Tf9Sjq69ViFYu-o_v0EKWahM6UurWH-QQ1kxMS2GMDhK8e6gtTyM8IbU7idOol2nBINXy3ttISF8mmad4NO51zumR_T6i2QyfyfZrWkh2GrkNBWdYexxFqlse1XtsrbExH9Sdxc0NhvmNCbz_WowztPVZJ-a-7GDTIMKsvdESeTm1sJ6g0lZW1YD6_pyqg5yyKYM2ypV06jcxlKO7if1Bo6CFDtC7ti9H5cQjUXR9_djDRAaLMVWll_mfrl2a2PeJ0QbwpaelUcvgZmXrLdDXdkncaRpfIYnuuomHESNjQqwV-AIRSiQU3sqynQzi1-QJPJ4I4oPYDBhBhhwYLmCrCUvq8Bds1td1G4RZdR7B5OwShush1eRt3pvlDAH_mxNpJxS2z87QqoRcl3oYgRRpAj4SGdaLNnUXy1Sq39--7JK2Az7yz-bCGporALFnk-jQToy8GVtjByPcN6RNhlw6f69jrVcPoggBNbjTOUJpqUlgwQ8huF6OCZDvWRYgy9eQ0Z8EYKgEuMlVU-q_k-tjRSmTr_iUXRA7oyxbsWG9Zp44pkqcNBcc5itIr63rIuYrgJ-NFyChZjT8kbMPW53BfhhlaOk02mQ5sFh23Fqz3bkrKIk7CniijZ8qcJ61NE_9CmZavbMmr0KG58mm7CG8EQboU-AdBBmhxiCZwn_QnOZRIzzxIy0MAjSfie12xwnBHK5FsIVzgGdZ3mtNvDenP8vdjUqX5WgHUUcFEqeDXYjal6jCBtrmBsv5A5eo7YRyicjPcsnDH3AQeR5ua409fvGCMpoNlPf6fMKbtEwBTWT3YrjEEkrpdUb_KWkzVWs6K0Wh0vE6VjK3M2Xo0kTmX4bMmSxvfeVMbJvxIDpyRmYJSpIDFXT-y8sqJd4a5UbdbNVTLMG-KfFYodJr6fW4Py8kmG8QAXGPsaZ1pDXY7sJh9DPw1oAKU8GD8F3Rutq_VS6B3_E80gage8MgWu1kgKYDG4MZ6jPb8886wqVaFBevc1VPMivnpnhx5cqonhHMmoeFOiC4flOthAPBsxpA4e2_3_hDl-1SuNB8UBC17sIoU1tDScO3NCN7w2R5J7_LALGWLFh0H-gPY9X8FgbEu7dRoHiwKe8GB9DrAPM8akOxnSeDsHh11USq4q2ZCAYT6nFGxM0MnoxB-75ONl22ePXRirs-DUIjzMptKyFctMBaw3U8lMXPBgqcqXW4UWpmZbSYmU2tvj13BSWVG3w1BP7pt6Nt_rqJ18AK9Ih87hE0_qMOsmaxfc1-YHKSU1uIVdXeIV2isT2jw1ImIsP3of6xBuE2vZtGhzfZIyOxrIZoDLsdzzEiuj50j9wjuLWclKHeOEfQux8ObGiaOVd0YXfcCWXmPbDNcL19bn1Cg2YV97M-Qe-DkpMKymtfz2V-HevU1aE3H5Txv4llRgeyHzAgj1Net9ctOX52s8no60BpNhP7zAP_T_OPKxYvbh1y0JRcC1owYwNfgd6kMciNiVFTj8a74Oy94_LHrUDTDadt2Gecj4536UGsI8WuG4Qy1Qip6DaxifG8WjzU-GzW4ZrEj61kQjHgRLgoDUtIeJZDwjRNpVq-9rJULtoi4AvfFMEbQC3jq6G47wVPzk7ta9g8W2TivlzBKChXdI5I_UI0baZb32sIb6dAs0h9bR5guU7esdezc7Y5_IKgt17BzuzwarYsoNYICOJaeeYHmLHIaIXMrqt34mbv0oEpI8hXPleOJf2wH36f6yObHKr-rJRbilomMxf_7gy6Ggsh0GPorucoJVGacsfQP-_xZQrAjWLh5llqz5cHrU5Unmr4SaM9hRf5Yj-EF2mlaUsvSjoASxTMTlAJ4I2ssnyKEqDkN88urqiIILcK13d-O5yBimRUu5Ws1BtQURW3xBBW_Yq487bgPMIJsQkHwg4RLkx0XadOap5TKDQdTf-p-NZPCrc2hOsMCsKeH_Aq99_dYbT0Q6Rot8pkRSgn0NUtl79PDmVb8Oc9C57EOTFGNc0-bk6_O0GUBWQsgyDIaOiM1rdZSAjGFN-VgF7uYXRpXNEzZ3A-jJEkAgc6f8nJkjd7HK6gGsiw4312E1TDRfZNjG7LG5g5zOSnueY1HNmfJczIaTbNhrgYcfwWLpwcyxmkFygLw1DxBqxxXwBFym5DyLMrfR_ha7vP_bH7oODy063mNgf1ZhuA-IFb8LPGzNcxU5-w7nV_5B9SKV1u_zH21_WdBeWJA8l9hFgCV4w6x---J45apIJRg2lrz0lWsH4FqKx9Bqlvit8bUM9l6Lc8hJe8g25bIciTlPvH3QMWRP8GMKGmFxEKbV1HGAgzKkUetfPXRUmX_TkoYZJh_onQEkwsVY37MKZIWts1Q30vf3WwsOb6QspvhY3zikH-oyaToKbtiL1ikCct3XRph-2zWM-tpFxtzbLB4B0SIZjzkftINEOQmscs71N8K20cME1NeooH_mkPgLdk9_-QkXDJgf_yhzYZnxblWpnaBi1hTbvrdjm7l3udYmcpSAbwccxrbG5vFw3eZhdt-rtjyf6EFsKiBFZqnQ3OQRhmfFe4iXMnRA5nVtg6yURWOXfBnecfn39Z026D-g09f-Xs1h-ZCzDDd_6skLwOlAQFIPJFzxrLaPatoLYpZcN6xNv3Jt0wdWjTa4FBtH9LOpqhHXGuv33fyxp4KQLf4mZmtdx6gDa6AANLhChZ5c4PyqsYe0XIt6o6KQMlA_ufjsPgD4FPCDAgF1LWQRaYceFNp8wI1hDVnys_8qZtZElz3zxpLL69vnKADZUlYlFLGypV7aT1ULsKEUFxEO1_4ZnOAr98VvYBcpfQYVagvX-_KpplVc6wLVqYx_NMxRVDoQtHznqhUetKVoY8f_8kJuuYBcBBVBlxwcEElaIM1O6mPWHlV6ddiJMyDdrgMvEWGvCeARpbXs7eJH1dqGkfvegy2BQ30mCKzU3GkCVusG2GDcgGU-D9UUNfiloIpYsc7DTlXVs3KW3uqYkH6MCwsuZ3aia2S8xO4izGmlAnFb3ef-_uWeH8dQBFRVNMEVvPWXXZIKNAy1kU0B9cdnK-mLhMMsnGbIAg_4bWqHoR-YjozHGVjn4eqcj0xIwtzTWnl9Z63JbT09a5CABUFfhPd-KdyNyYh-WXB7jFTTiCRIxDdDh-MANfSfvPFzr338HPo0IjJjkLKMpc1zkuNK1hTw-MxvbFYxfz7pLkq_2NmQ4AMvzcVbGKUNXeKwx6W6LLDO0Cfm6VM-gbYeEEJrQRmWDBS4GeZm4Bhscu9AZGsklW9kWKGhI0kCrt_JgZ-LKuZ4SWsYhJrgygPFzsI8Dqt0LEyxcjJJ_vOCEZsxC1yB_cf5ztdHorcZhwRpAUfxzBi5gZK3agmSVwkq8LpHA8I7ovsy48dcQMC19n2mssVRvesla5SMuHcCDbdLmzaBBCGRZzziuXIYHc_rn_Q0HN9DKWDcM8svQyCPUP5jPw3KcvP_JnkzlomGUJI6aU-eeLfn65W82WU_WmdS5kA0g-X9y_gdOGmYY-9pAQ7icosDzmZdbQuwncwwpVIIyqDHQSfDVHK8VbLeFUfyMB4MJHpu9rVRr5m_9tmJf4raT8fStaKEhcpUo44r7ybQg6Xpz4Kp365zdeVUqGBAtQB3y6xFkAa4LFhjAH8q88hU465o5fe1mHSmfYQQFcp30-y4loSvcyAu4Rg-sCCWWn-g7W1jjX_kC-7t0zdwNQz_567g9yUNHmG1Z5ow==",
  "id": "rs_0fb51d8258ad0dd5016ab45ec0e18487d089129b10a985d90b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.165,\"right_z\":0.13,\"right_gripper\":1,\"right_yaw\":1.2,\"right_pitch\":0.3,\"right_roll\":0},\"note\":\"The overhead view shows the ball stayed outside, so the previous hold was not secure. I’m returning with the jaws turned to approach along the ball’s front and back, away from the safe’s side wall.\"}",
  "call_id": "call_JeGfcaFBOiY1Xs2L2RWel5bl",
  "id": "fc_0fb51d8258ad0dd5016ab45ec8976c87d0b5cfece0713daee1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JeGfcaFBOiY1Xs2L2RWel5bl",
  "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]: [-0.3538, 0.936, 0.8295, -0.6312, -0.3965, -0.3267, 0.9971, 0.0238, 2.2627, 1.6447, 0.0334, -0.9405, -0.4896, 0.9977]\nstate[eef_state]: left_x=0.2931 left_y=-0.0317 left_z=0.2016 left_yaw=0.1393 left_pitch=-0.0903 left_roll=0.0248 left_gripper=0.9971 right_x=0.5646 right_y=0.1598 right_z=0.1263 right_yaw=1.0448 right_pitch=0.2509 right_roll=0.0008 right_gripper=0.9977\nstate[joint_eff]: [-0.0205, -1.935, 6.8034, 1.8144, -0.2222, -0.0171, -0.0122, -0.3624, -12.4513, 6.9265, 1.3846, -0.6862, 0.0122, 0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f1e4481707c06df4e83e070edd832e70fe94fd39455506a29628dbb44476fb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8db5ebec411f0395d6618a567287b69e99bacb99d6e103f8ee2f4a3bd234133b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caf19af869c2a66ebf3852cd925d6f4c734560173e96194876e42f8fb84bd277",
      "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 102 changed as sent

message 110 changed as sent

message 114 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3546, 0.9302, 0.8295, -0.5926, -0.3965, -0.3229, 0.9966, 0.4568, 2.2402, 1.1042, 0.7826, 0.4015, 0.1604, 0.514]\nstate[eef_state]: left_x=0.2981 left_y=-0.0338 left_z=0.21 left_yaw=0.135 left_pitch=-0.0513 left_roll=0.0069 left_gripper=0.9966 right_x=0.5314 right_y=0.1882 right_z=0.0418 right_yaw=0.0195 right_pitch=0.2578 right_roll=0.0163 right_gripper=0.514\nstate[joint_eff]: [-0.1573, -2.0581, 6.8171, 1.6044, -0.2222, -0.0415, -0.0073, -0.1846, -11.5897, 4.9299, 1.3211, 0.0366, -0.0269, 0.3248]",
      "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]: [-0.3538, 0.9333, 0.8295, -0.6106, -0.3965, -0.3264, 0.9971, 0.7429, 1.9938, 1.5711, -0.1604, 0.5957, 0.3084, 0.5127]\nstate[eef_state]: left_x=0.2959 left_y=-0.0327 left_z=0.2059 left_yaw=0.1383 left_pitch=-0.0698 left_roll=0.0141 left_gripper=0.9971 right_x=0.4749 right_y=0.3065 right_z=0.188 right_yaw=0.0839 right_pitch=0.1085 right_roll=-0.0421 right_gripper=0.5127\nstate[joint_eff]: [-0.0205, -2.0034, 6.8308, 1.663, -0.2222, 0.0171, -0.0073, 0.1983, -12.6838, 9.6752, 2.0342, 0.4274, 0.2027, -0.0269]",
      "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]: [-0.3538, 0.936, 0.8295, -0.6312, -0.3965, -0.3267, 0.9971, 0.0238, 2.2627, 1.6447, 0.0334, -0.9405, -0.4896, 0.9977]\nstate[eef_state]: left_x=0.2931 left_y=-0.0317 left_z=0.2016 left_yaw=0.1393 left_pitch=-0.0903 left_roll=0.0248 left_gripper=0.9971 right_x=0.5646 right_y=0.1598 right_z=0.1263 right_yaw=1.0448 right_pitch=0.2509 right_roll=0.0008 right_gripper=0.9977\nstate[joint_eff]: [-0.0205, -1.935, 6.8034, 1.8144, -0.2222, -0.0171, -0.0122, -0.3624, -12.4513, 6.9265, 1.3846, -0.6862, 0.0122, 0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f1e4481707c06df4e83e070edd832e70fe94fd39455506a29628dbb44476fb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8db5ebec411f0395d6618a567287b69e99bacb99d6e103f8ee2f4a3bd234133b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caf19af869c2a66ebf3852cd925d6f4c734560173e96194876e42f8fb84bd277",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF7SFCd_669TUCoDuGBCRjvmadp0DawF28rxuTI3e9Y9cxwo4uBSsLVJf_BHoQBNxZkIvoCKFe_tM1dRUs-j80hYGYwzIT1hCKxyMIpRur-dVbHiPM29fsSBEv1IAJ3Se3jwL-0yZJyF1zxbz769MzReLhkaBjAzCEn3aFIhGOJaUgYTOl_7yb4cHadDoEc0dp8lzMglWb9alZFzthzrV1UUFWBoeXZB0jP25IJbfu4j3mPZFBplMn8o0sixe8E1dfECvjzklyTXSRHbbAoaToyE7qH01dpnJCyLfj0EVTMyOxHM4DGCkfmuWLWZpIwb68627mj32dgOzhjJIedYqmaZ-qxnzp3jXkBH7gi-afkgzfG29206QhzeCKtj1zNO-f05_PnEVU1PtJ0LSaGH1gWlMSW_w9XErzoS2SGaV4RZOTzNwjuGvQrx1kgSgaU3xzlKfwyqejRFJVg11nUvnoGvbG--UoeZBPQ5Y5iAjqh0ZF3HkFZSKP_bU4oBD0CsuMHND3SFMh_Ane0MWLURWUPl1VCJmCZDg5lnJEC1bT7MYjUwr-PDj4EQRjBmJ5T67RnsFPmGq2I2Paj_-yuPWtQ6jcB34rmnOuvoDBSb96FltybRFSECecCtx1Rc42mbkhbpZ7Cqq1xzWUh3epc_dipWA0OrF9TcQWw-CMzkvnMZOv5P2Ux2Zf3rON9MVwRGQoKi2IY7xE5nZImIcHptltca9hjAwJ-X1qnu61DEon63FEP3pOI0C-oXxK_zbG5n-tpn4ezjEC9aThU82pDUkaVB2FAh4-JFqfjp-Khub_mTeKiVM9LAwZCeys4GjT13D2qDoIcAPDIwZdH-ZMWWVCi8BJgW2O0PpDvAaRjGk40E2oq2RkSd4lQFpOUhtU9agFgTaUvuPqAmLN_gf9PGLSmSUtTv59p8MN6lGfgzCJ5q2NyJP7m02nuFjfk6OMXXxoODKkFMkRnPTJEcq8jIjs9ArQ4Zy6mk3sKidlI4ZReZR1yFnXfwjFnkiByF51hJyYhmiRKbFUbsVwsE7F1pBvLN-ckkDCR-2KfdQH-oYuwtwLl09JBfzp6YFqPOBfy4BuHnJD3kMiaq6DMAAPorRKq_BisvG5QZQn7Lv8WYPBJ2VlrijVVoqZIpep9AmkHUCYBC7_7iRrmFXhsL3iulGXAlhx-qqiYa8PjwmjMt0pGsUxPuLCZVNY8jxX2DiyFHYRm3RxenqNqeUThpcOScwOQhFdZT1Z2N9-a8dSUkYxYsYVR-GUGAU2EATfq3Jwz-ioSzR3YsBdTtzmd2h9o9iYRx9NtPcU_-rBXqa_TCXiLM3YEVdaFOy-x1DTxcMNOI_qosIYOIcv-uNHPVovT2A-OHEiV4YcL2hUTLAYd5hVfzD2C5iF_p32SjvwYeI4uHETx71zLg3uJYCqPgXzgicPHJX9PJTvpS205iAZUW-7-HhkNNMA5b3a4KBGadV5JSh3LLZo1QgXdNo0P5ZY6GBR5JF-_-ociQPzkb1W15e42YdbYQtmAJDkQ1Cd63s1_u5951cdkBkfme39TuePMZll73sOPijEKz0HII-yxLpIukAd9SkrMjqxPdzEOkUtThdo0TyPsGpgDII3P7mCrLVpeTKCfEME7fAgFIEAIvDlpvSDTVc3aSW-SmbNRxKIrIufBW4ayKZJLjrBfoa-E1QgVn1em5dUI0ZJ1p1qFvfiFw7s927mvS7hNvmlwGaDGKiduhwzBWgvITb2SjqHua_lvkthEiAHuydHWx77pFi28h4c25f4M_Va19RkM2u998gcAJqI4bqA7RHQrIPIZdLB4ZNnAzV7MUO5qH5pM7j7v7QbENEa3tlxT8I2deXsyvji8KjxbYKWPopTh5z_DsCxIiK_SKvd4H_5Y8CSuX9f0L-JYGnjXO6Ir64MF0Y6FGKuAyHY1Qx8JcYlAgmdvEKyWZRNO_NYc5tFPSSP19b_0hVne-XG0aJBi8fXYLOZA-_xTItDgiKewc-9EBboeGoOb1qDBsBs5vWsMNzA8JtHqzU7nJ3tNzVhQ9cChRNCX_Y2bJxiIJTQysaYW5eP_UQwW-b1EWO-iHbhw5olYohT2OTm7Ys-Nl3-6JDiv2K3Tf1V5h",
  "id": "rs_0fb51d8258ad0dd5016ab45ecd0ca487d0803f5ddbbb3642d9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.185,\"right_z\":0.025,\"right_yaw\":1.2,\"right_pitch\":0.3,\"right_roll\":0},\"note\":\"The ball is just inside the rotated jaw opening, with the safe wall now off to the side. I’m lowering around it and making a small inward correction.\"}",
  "call_id": "call_CDLzUerD6TE05RKszPyud8Yw",
  "id": "fc_0fb51d8258ad0dd5016ab45ed0f17487d0bf020f8924ddfa8c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CDLzUerD6TE05RKszPyud8Yw",
  "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]: [-0.3538, 0.9371, 0.8291, -0.6384, -0.3965, -0.3267, 0.9971, 0.0448, 2.4771, 1.5986, 0.2165, -1.0382, -0.5495, 0.9988]\nstate[eef_state]: left_x=0.2921 left_y=-0.0313 left_z=0.1999 left_yaw=0.1397 left_pitch=-0.098 left_roll=0.029 left_gripper=0.9971 right_x=0.549 right_y=0.1805 right_z=0.0264 right_yaw=1.1541 right_pitch=0.2642 right_roll=0.0406 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -2.0581, 6.9812, 1.5995, -0.232, -0.022, -0.0171, -0.0479, -12.4786, 6.8581, 1.6874, -0.6667, -0.0904, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0545faf02c8cd04c4f7c4028c809b54e23c9fd00cd0f80b45fb09ec4c58b7cb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78549fb6b1445abfdb2dced7d366199a34754a9dbbbe7c6b3629c479412032c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0badda69522a407db97441ebde47e98c731d926220553faaa119c3fdbe0ef5c9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3538, 0.9333, 0.8295, -0.6022, -0.3965, -0.3229, 0.997, 0.4606, 2.1258, 1.1118, 0.5972, 0.403, 0.1524, 0.5128]\nstate[eef_state]: left_x=0.2971 left_y=-0.0332 left_z=0.2074 left_yaw=0.1361 left_pitch=-0.0625 left_roll=0.0128 left_gripper=0.997 right_x=0.524 right_y=0.1867 right_z=0.0661 right_yaw=0.0327 right_pitch=0.2006 right_roll=-0.0192 right_gripper=0.5128\nstate[joint_eff]: [-0.2256, -2.2496, 6.9949, 1.7607, -0.2173, -0.0122, 0.022, -0.3761, -13.7368, 8.5675, 2.1758, 0.1294, -0.0269, -0.1343]\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]: [-0.3538, 0.936, 0.8295, -0.6312, -0.3965, -0.3267, 0.9971, 0.0238, 2.2627, 1.6447, 0.0334, -0.9405, -0.4896, 0.9977]\nstate[eef_state]: left_x=0.2931 left_y=-0.0317 left_z=0.2016 left_yaw=0.1393 left_pitch=-0.0903 left_roll=0.0248 left_gripper=0.9971 right_x=0.5646 right_y=0.1598 right_z=0.1263 right_yaw=1.0448 right_pitch=0.2509 right_roll=0.0008 right_gripper=0.9977\nstate[joint_eff]: [-0.0205, -1.935, 6.8034, 1.8144, -0.2222, -0.0171, -0.0122, -0.3624, -12.4513, 6.9265, 1.3846, -0.6862, 0.0122, 0.0317]\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]: [-0.3538, 0.9371, 0.8291, -0.6384, -0.3965, -0.3267, 0.9971, 0.0448, 2.4771, 1.5986, 0.2165, -1.0382, -0.5495, 0.9988]\nstate[eef_state]: left_x=0.2921 left_y=-0.0313 left_z=0.1999 left_yaw=0.1397 left_pitch=-0.098 left_roll=0.029 left_gripper=0.9971 right_x=0.549 right_y=0.1805 right_z=0.0264 right_yaw=1.1541 right_pitch=0.2642 right_roll=0.0406 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -2.0581, 6.9812, 1.5995, -0.232, -0.022, -0.0171, -0.0479, -12.4786, 6.8581, 1.6874, -0.6667, -0.0904, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0545faf02c8cd04c4f7c4028c809b54e23c9fd00cd0f80b45fb09ec4c58b7cb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78549fb6b1445abfdb2dced7d366199a34754a9dbbbe7c6b3629c479412032c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0badda69522a407db97441ebde47e98c731d926220553faaa119c3fdbe0ef5c9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF7WhMonqWQfF5mqmKgKXksSG9PRgBJQsUAW9-2ZXfBloFpovzr5D3d3MP3wMt7WbFZoyhYgYQAUMCiXwKL7UPzlOBDD0GAHSI58W820fNDAuO0uIZY7Ye20VvZwuJ2ai-6BWZX3OnP6VFgUYTRCy3CpQ4N4M9lax-ha3J3fUbsEs_LCkWhldS7sTtOyxLFkBwgoGLeIjfGazeS1rmfNbD0rJuUxFCe9BEdo_pDDiLqrnGOcd5ysHLNgEYVK5nJeB3abyQ_WE61R7_kv-rNWR019F5YrwNfRIJnzK3upvE4kCodCGUT7pVZRjr6djFTsauKCFT5bTFp9tVYpBZhvl-B7MeJHUteFOSGU801_Q6tmwVARUxXkSlBUv-P_dwg8YwokDRM_ZNJg_m2NSd7TXBF4gT3Ls9uy0JrUCsq6wg24J2c7OZq1dmBh6SykClaCL6beEX1TM8y1wPJ2MCWXJcynkSv9zes1x0Y8rHnO51_m2PqqhTF9WXg5Uidz396utH-HWnfiSBZxy6xXvJRXLpHWg8aTkP6e3pVWxjsEag9baav0yOaZoUc6B2LtDlZJvEklbU0RyuTp1ogfSb7SQYdxU1Otr-DFz6qMAx7LBNk4puGJZSqJsOKRTPp05_k_EHm_deTQAH5fktYEhVUE4WDdkXAcT8HEjcjSuKE0gCT7Ih0I9vT3p-rmBOqKl-20c-3M0sEhjxtcKGhhSFCuu-JfY3BHjwVUNStWqDbTzzi3Il8Z0A8e5cnGrWgoGYksptiDOzaCK3iglrzTxIyLTUi84c70tw87E_3SUOi6_Lo5N1nzP30zHJKLTkxNufX1Rji8c_ZO1MecvvF62wX9oXpKIAr_yOe8Os_q55Wf2h_Sn4QCZFAZG92FdWNo_TjYO3vVAI8yzgPUGMaBrbxSiw6xaU6Z85TaQIS-KNbk6B2FXXuF9acrClb_xDgZUamli7yQ8UbxHENNpV2dEJAOMnnXwobptVr-c68buuyEMb6O8YsU_41WyZPNNPk3dE5GfLcK9XccyIEP44BbHOOcRil6uE7X0R_hyetdW6oxO3OXL_dbhA7Yu4y52n1PGlYRc8T2Ja-TbIdsXY2XMmy5UY1IerhEc8tynlsF_hBvWHl8ejoIluX4rPeWq-R_3t5-Q58OgFleksMTMfPZm_YvK4GX6_vA557yWV7YgS_Uj9coCcy4kYGnSRCHcW6JNia4-h-aj4EXXstTzyCryjKFLTq1Gk5zGvnUQtG1zpuV0nm0UvgRcdOoX8yLbRLkm7Ks3c1Ot5oatjrEcTszlewE6MB2LA==",
  "id": "rs_0fb51d8258ad0dd5016ab45ed4fa0487d08089f2250b7f87b0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The ball is centered at the fingertips with clearance along the rotated closing direction. I’m closing firmly enough to secure it for the transfer.\"}",
  "call_id": "call_XeNPXR6wRTS1RdHvp0vTnhls",
  "id": "fc_0fb51d8258ad0dd5016ab45ed564f887d08038d429296728dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XeNPXR6wRTS1RdHvp0vTnhls",
  "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]: [-0.3538, 0.9371, 0.8291, -0.638, -0.3965, -0.3267, 0.9971, 0.0448, 2.4989, 1.5986, 0.2157, -1.0401, -0.5495, 0.5407]\nstate[eef_state]: left_x=0.2922 left_y=-0.0314 left_z=0.2 left_yaw=0.1397 left_pitch=-0.0977 left_roll=0.0288 left_gripper=0.9971 right_x=0.5467 right_y=0.1806 right_z=0.0149 right_yaw=1.1501 right_pitch=0.2552 right_roll=0.062 right_gripper=0.5407\nstate[joint_eff]: [-0.1846, -1.8803, 6.8991, 1.5018, -0.232, -0.022, -0.0122, -0.0205, -15.5556, 5.8872, 1.3895, -0.3687, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61b1dd4b8ef1a983b2e0e6b10b349aa7ce4fbdd98d81f098665c6224824faea5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28cc913dbb7713f4ceb7b0a83d39bf561cd393729178acfb3f3039a25046c660",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd1b70c64236dd8cb0e0f915362e95e935c29bc5c56a30e8603812ad89acce39",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3538, 0.9333, 0.8295, -0.6106, -0.3965, -0.3264, 0.9971, 0.7429, 1.9938, 1.5711, -0.1604, 0.5957, 0.3084, 0.5127]\nstate[eef_state]: left_x=0.2959 left_y=-0.0327 left_z=0.2059 left_yaw=0.1383 left_pitch=-0.0698 left_roll=0.0141 left_gripper=0.9971 right_x=0.4749 right_y=0.3065 right_z=0.188 right_yaw=0.0839 right_pitch=0.1085 right_roll=-0.0421 right_gripper=0.5127\nstate[joint_eff]: [-0.0205, -2.0034, 6.8308, 1.663, -0.2222, 0.0171, -0.0073, 0.1983, -12.6838, 9.6752, 2.0342, 0.4274, 0.2027, -0.0269]",
      "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]: [-0.3538, 0.9371, 0.8291, -0.6384, -0.3965, -0.3267, 0.9971, 0.0448, 2.4771, 1.5986, 0.2165, -1.0382, -0.5495, 0.9988]\nstate[eef_state]: left_x=0.2921 left_y=-0.0313 left_z=0.1999 left_yaw=0.1397 left_pitch=-0.098 left_roll=0.029 left_gripper=0.9971 right_x=0.549 right_y=0.1805 right_z=0.0264 right_yaw=1.1541 right_pitch=0.2642 right_roll=0.0406 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -2.0581, 6.9812, 1.5995, -0.232, -0.022, -0.0171, -0.0479, -12.4786, 6.8581, 1.6874, -0.6667, -0.0904, 0.105]",
      "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]: [-0.3538, 0.9371, 0.8291, -0.638, -0.3965, -0.3267, 0.9971, 0.0448, 2.4989, 1.5986, 0.2157, -1.0401, -0.5495, 0.5407]\nstate[eef_state]: left_x=0.2922 left_y=-0.0314 left_z=0.2 left_yaw=0.1397 left_pitch=-0.0977 left_roll=0.0288 left_gripper=0.9971 right_x=0.5467 right_y=0.1806 right_z=0.0149 right_yaw=1.1501 right_pitch=0.2552 right_roll=0.062 right_gripper=0.5407\nstate[joint_eff]: [-0.1846, -1.8803, 6.8991, 1.5018, -0.232, -0.022, -0.0122, -0.0205, -15.5556, 5.8872, 1.3895, -0.3687, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61b1dd4b8ef1a983b2e0e6b10b349aa7ce4fbdd98d81f098665c6224824faea5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28cc913dbb7713f4ceb7b0a83d39bf561cd393729178acfb3f3039a25046c660",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd1b70c64236dd8cb0e0f915362e95e935c29bc5c56a30e8603812ad89acce39",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF7aRv9yn7K6TSVOOukRdXsCpQw6u_wGr9gsA0tJCNqX2MlXLDNb09x-vakaMjzTIlHZQ0gzrGZ-gOwLRmheckCf3on2zAnEssi9G9IyrvwXy_sLODaHfy9ru479eq-pHRJmJqW44IkRjX24qFTV5FwYPV0x3Ra0jVgV-dwa1fpMOqNvnYGROe6zVg3KaUlEybQcsNK5k6ETT8UxNrUDxq7EKgsd9aedhsythLhELqENcv_mYgewp8WijJETjtrCk1L9DdeX1JkKc86sYJTfeDLP6ygWzw67mClC7g-xjNlloYgXUphBuVXAcE--_5GR1ekgoBIgyNhezIrjF61kNIzB0UcsbAndGVQy4-OPH6ObVJlFamLh9i8JLE740zc8kk0PIAU1AbPvKO90eDJO7lJuC9offdOYUDxwM_u9Bw-GNdsdkOlR4Gwc2Q3EKu1WfArtl4KG1lY3_a-1v4rtNylAASr0uA9errtgrIYtnKYJxLAFBzyr7QVhzh7rth1IBxRljJ4lisFXgyov8fu1afcn4ugNH3Zc-uI6oRIJuW31lhxr6kBuTG1J_WPNc9hGnTsbuWbd78Knn861UM5xgp_bAaphjt_chsTdwe_Lnmkyx2hNuguePE_LtCSlDZuVOWPLws4Ui_c5T96d3fH8GszCh1XpK7h7GHYSYDCSBEqytMX6r4XkDh0wjN56BO7xmwyNeCdC-VqpIaJzhZW0gy9f9rbGCT8bLprK-qNh5-AX0w11fw7w0o5RewOLtj-tI6lnW2gBK-c693xipREoS7kc1umZVl_efmEBZhW4qikKgNtWxb9JBA94wLEj2TwW7F5uQXFp7vDHYtC0ir2jqADAdrkkZsuIXxo5GP16GGUJjarnlrzJ3q3vn6PhT6ZtaFlYDZ47rkXSk22J_6s7mExUm0vkY0qZ7wdIGmv2tgg6HdmDw5ylaEqsjlfJ5WqMZx2X8uaj3uEuU2UKt0osm_z9_yyU1Don7RkBMQgosjXp6doIwP7Vmp1dK8loQ4ANl2MA2s2OSmgdp41d3Ph5Vfk2GqOjGjXOQ00ijuK4ARUULOvXenrapXEziM9IQjqOBlS9ZLCvRGNe0R2LH3X3GeGzjUJuTMdgtOVYFs_q5IR7y_qP-9STtFHQZnmNSMv1XF4HnQTWxiqIoXAox69rnKCjN7f2GKdfnr_Xy4G-AdVJ-u2BNV2h5ojFT7B5rOL2g23Ie4RyFY_6OlX08rlYXydTUB69Ci46DqN4cMpYgIUHO6o=",
  "id": "rs_0fb51d8258ad0dd5016ab45ed8d79887d09fc8c37cfaff0952",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.1,\"right_pitch\":0.3,\"right_roll\":0},\"note\":\"The gripper now holds a roughly five-centimeter object after a full close. I’m checking the ball’s lift again before transporting it.\"}",
  "call_id": "call_5B7SyKtLjixAOWAj6YG9l0uW",
  "id": "fc_0fb51d8258ad0dd5016ab45ed95f4c87d0bc8ddfc5c8884eaa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5B7SyKtLjixAOWAj6YG9l0uW",
  "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]: [-0.3538, 0.9371, 0.8291, -0.6533, -0.3965, -0.3267, 0.9971, 0.0448, 2.3592, 1.5658, 0.1638, -1.0328, -0.5289, 0.5443]\nstate[eef_state]: left_x=0.2899 left_y=-0.0305 left_z=0.1974 left_yaw=0.1405 left_pitch=-0.1111 left_roll=0.0361 left_gripper=0.9971 right_x=0.5443 right_y=0.1799 right_z=0.0712 right_yaw=1.1465 right_pitch=0.2754 right_roll=0.0294 right_gripper=0.5443\nstate[joint_eff]: [-0.0068, -1.9624, 6.9949, 1.6777, -0.2271, -0.0562, -0.0122, -0.0889, -15.8701, 6.5299, 1.4628, -0.3297, 0.149, 0.9304]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a074e02700d399055c610fb2bd76067d134383cb77fc8f1e58961e4f718c55a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56acdf374383cafd2c0c359be6e28893c61d21657ab2f1ccc7ebefdedfff87e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0846b1cae6a0f5917dd7341d36950b595255e0c4bc6d8d75d568e65c8392d8f3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3538, 0.936, 0.8295, -0.6312, -0.3965, -0.3267, 0.9971, 0.0238, 2.2627, 1.6447, 0.0334, -0.9405, -0.4896, 0.9977]\nstate[eef_state]: left_x=0.2931 left_y=-0.0317 left_z=0.2016 left_yaw=0.1393 left_pitch=-0.0903 left_roll=0.0248 left_gripper=0.9971 right_x=0.5646 right_y=0.1598 right_z=0.1263 right_yaw=1.0448 right_pitch=0.2509 right_roll=0.0008 right_gripper=0.9977\nstate[joint_eff]: [-0.0205, -1.935, 6.8034, 1.8144, -0.2222, -0.0171, -0.0122, -0.3624, -12.4513, 6.9265, 1.3846, -0.6862, 0.0122, 0.0317]\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]: [-0.3538, 0.9371, 0.8291, -0.638, -0.3965, -0.3267, 0.9971, 0.0448, 2.4989, 1.5986, 0.2157, -1.0401, -0.5495, 0.5407]\nstate[eef_state]: left_x=0.2922 left_y=-0.0314 left_z=0.2 left_yaw=0.1397 left_pitch=-0.0977 left_roll=0.0288 left_gripper=0.9971 right_x=0.5467 right_y=0.1806 right_z=0.0149 right_yaw=1.1501 right_pitch=0.2552 right_roll=0.062 right_gripper=0.5407\nstate[joint_eff]: [-0.1846, -1.8803, 6.8991, 1.5018, -0.232, -0.022, -0.0122, -0.0205, -15.5556, 5.8872, 1.3895, -0.3687, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3538, 0.9371, 0.8291, -0.6533, -0.3965, -0.3267, 0.9971, 0.0448, 2.3592, 1.5658, 0.1638, -1.0328, -0.5289, 0.5443]\nstate[eef_state]: left_x=0.2899 left_y=-0.0305 left_z=0.1974 left_yaw=0.1405 left_pitch=-0.1111 left_roll=0.0361 left_gripper=0.9971 right_x=0.5443 right_y=0.1799 right_z=0.0712 right_yaw=1.1465 right_pitch=0.2754 right_roll=0.0294 right_gripper=0.5443\nstate[joint_eff]: [-0.0068, -1.9624, 6.9949, 1.6777, -0.2271, -0.0562, -0.0122, -0.0889, -15.8701, 6.5299, 1.4628, -0.3297, 0.149, 0.9304]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a074e02700d399055c610fb2bd76067d134383cb77fc8f1e58961e4f718c55a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56acdf374383cafd2c0c359be6e28893c61d21657ab2f1ccc7ebefdedfff87e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0846b1cae6a0f5917dd7341d36950b595255e0c4bc6d8d75d568e65c8392d8f3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF7g7NOf14MXKqmhf139EKfLbNAwJcEWZ6RyvNc8DzR8QSmKjPNeuJFulUjYFC6Fv4wEvC61R7kZTGudgrPmoe-f8VZr39ttr-LNwJlR8u1OoZAklTHMdEJR_ko-JGdIc-s6Gx4gTOPLtVmIrSTN1aDIqBKnC_L-uCv1rYgog7MAU78E2swLe2n8GOMdeloxXxezIZ3L3pFpChI3qC-2tTn4tHBQj4zBw9A1SniidOa60qO-czN66g-9PXR0_uldYWy3v7cjAncXaesavP_Yjllt0LaXgpP55BRtR7HIiGhCCL5Lhq4Z4KtyHQeqcjBv-5o4tjVXREdGCRhcS5zG1uOPTXLwmYT1iguUOUMO4C5mVZk1pojyJvDXt7aEmtGEPu65xYfXiqNMRUMYQ0YiroVHWoHTwHJKxSX34-bvyO4SHMHrLw0XDy8PySGJxASDuQVXZhqs_VLGfc7J5jKza4bWCi-xb9KyRAiBI-VxIZUPN5Go7bYxM1FGn_N-7ZipvDwD7Pl8JkOnaGArNEZ2kXYmgapDmVdSZYO6Y1eVT9aydQ9TGZo5h0hmfGZHVq0mL8T2Y6n0Okvr_7fV1zHgax_bxEhHqGpJuu_ploW2oqv3LxALG8qgjaLliJCMB_MsVJxiMd1TzNoXYHuen5UWGcgzznJjHxpe3pj3oWGVEs3M2tgbugeXDNwBzkG6_SIrlzlZjHiXgDRy9iX0pkUHf92ZdhqrGXRSVO6LOHR5HIRuscTuINrBDuSYXBcKo4dE5jJoX-eOrwiC0PCnidpuLHVMy4prT-xoI4nT0iqaxVkx9PvOixRkVYWuv_im7J6dCE8I8YgH7xVHyrGHxZg3fFHZ8K4S7H2bv129Rc78s6eD5pEud_qtZ5XLkG16K6btCibRf71zktTvJSawXRLnaYI9MPZwF6d5F3CwmburKRjPxG4fBVFbAp5GSDFiWJ6aYTiYyq98BKfHAP-SBKpWUmSL4fjMKhJvRMbDpuT0CKuQ-QMcIdfxZglVV8iOmZR4wuvwRiBHDcr6O1OgVzju_-aBHgpb7c650AmWgYHmwVHrcoSQgHXU3vBmWDQJ_5cXe_s43KT0adBMNeThX_B0cw3Hg3EIYUp4sArolTrK6jX9phJxizyPO6AnIoK4uCGa3HlO5uFBSj_72hx5EhO9Gg0qC-oaKyrq-luCdU_u_Ued970DkBkT9oD5IilOqCcTO53q4GPUobZ-2AeM_h6Coy_3EzL9XL29bP-8qi_qxQX8ex5Ot_cPt7MJGZxtG1wefe8uYJL57f5F6DOqU-iyLlKYB6NB1AL77IwnjD5_B3CXG1U3kRrCVPzMdhtwztSt6N0vNKiCrO_oItQkM6BKpTe6-ax-HXVXAv0HDzHM2bqA3BP6Tx_yQFE4b9lSJCKs3QvYnUJglFWgQih5zNvVw3gXKnp3lgN6m-Gqq6rfH4EBX5Tx5OrT5duBXGlgSga4j13-7RbnFv9n8Dvo8v1rVr6toj5QqmGZI83cbMcBeCJF653nTzcX5ftKUSsGmFBr-jE3JVSwoooPVVE1XhogYRVOVccI5P4pazTRQxfhf-3FRiQPJhacsicvse_cZfq7bPVBtOcfZNcNB6fnArEave_mM53aahNvYuc5YqK9pqgj7t2CRCAAfXRzp5GGIyLQWl_Wlacy7_-sGXH7L5M6f88fQ1lbjdB2ysS_GZg9-GYQLV8t82voFl7diowD9pYSs8_falJX8c5012zxOp_cTlD8_lqsaJl-C1yiiRAeJJUTXFW5CqTP9yHCGORmmXVPP-vOUzn6-CywKoN4dfy6jreFOwgGpx77a6iz5ezCD1OHwwk9BATjOjcHS9mTfkH2P82d8_Qj9UgfjYwOY-PbZRUiNWi6LqKEtRz7JMEFmBdH3w1kAw-jWy2bIcRk_JPnbunbSnbFjqFb0WeDafhn-bNOLr-5LUTS-hrIvm_7pAKSuKYdkhvLcoEQJi4cyY3lv65pGi3t4RIYTeJn8xSRC9acLA0QQIJr2gqiGUkGMohFZLXp9JWTSnKF1-FXcPl-O1spcCycKwgE76Oicis3n8ST8dmchXYulU96ssFx-9c1RynmPL2FQKcbqF6jg9s2vOmCGOsFjXDPN20ILd96ztmpud9jVUYM4FqNLQujSwmQgrw51z2gKlvTPLmeSPBSoMJhlP9lmzmR9Dv7hhC9fhUmEA==",
  "id": "rs_0fb51d8258ad0dd5016ab45edc6f4487d0b7c70e080b24bb70",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.3,\"right_z\":0.21,\"right_pitch\":0.3,\"right_roll\":0},\"note\":\"The yellow ball has visibly risen with the gripper this time. I’m carrying it over the rear half of the safe, leaving space above the toys near the front.\"}",
  "call_id": "call_EMZGKNOBeuIuUXLDwtdSWQhx",
  "id": "fc_0fb51d8258ad0dd5016ab45edff98887d0a051e399906951d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EMZGKNOBeuIuUXLDwtdSWQhx",
  "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]: [-0.3538, 0.9386, 0.8291, -0.6682, -0.3965, -0.3267, 0.9971, 0.3332, 1.9854, 1.4002, 0.1349, -0.799, -0.3161, 0.5475]\nstate[eef_state]: left_x=0.2877 left_y=-0.0297 left_z=0.1945 left_yaw=0.1414 left_pitch=-0.1256 left_roll=0.0439 left_gripper=0.9971 right_x=0.4657 right_y=0.299 right_z=0.1844 right_yaw=1.172 right_pitch=0.2736 right_roll=0.0168 right_gripper=0.5475\nstate[joint_eff]: [-0.1299, -2.0855, 6.7624, 1.6581, -0.1929, -0.0415, -0.0122, 0.1436, -13.8462, 7.2957, 1.6825, -0.0904, 0.1343, 0.6471]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30c7bcda6651a316749caf8681578ffd99e26e7eda065cd15b46e1e89e2e6ddb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2edc87ec6bf52797cc28cc27df4c9f412f05f3bbc9d8c494df9a5b1be35b51e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc9fc49f4bc188d8187aa21b07a6c50024feac510c268e5fbbf8ebd3aa4d4984",
      "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]: [-0.3538, 0.9371, 0.8291, -0.6384, -0.3965, -0.3267, 0.9971, 0.0448, 2.4771, 1.5986, 0.2165, -1.0382, -0.5495, 0.9988]\nstate[eef_state]: left_x=0.2921 left_y=-0.0313 left_z=0.1999 left_yaw=0.1397 left_pitch=-0.098 left_roll=0.029 left_gripper=0.9971 right_x=0.549 right_y=0.1805 right_z=0.0264 right_yaw=1.1541 right_pitch=0.2642 right_roll=0.0406 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -2.0581, 6.9812, 1.5995, -0.232, -0.022, -0.0171, -0.0479, -12.4786, 6.8581, 1.6874, -0.6667, -0.0904, 0.105]",
      "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]: [-0.3538, 0.9371, 0.8291, -0.6533, -0.3965, -0.3267, 0.9971, 0.0448, 2.3592, 1.5658, 0.1638, -1.0328, -0.5289, 0.5443]\nstate[eef_state]: left_x=0.2899 left_y=-0.0305 left_z=0.1974 left_yaw=0.1405 left_pitch=-0.1111 left_roll=0.0361 left_gripper=0.9971 right_x=0.5443 right_y=0.1799 right_z=0.0712 right_yaw=1.1465 right_pitch=0.2754 right_roll=0.0294 right_gripper=0.5443\nstate[joint_eff]: [-0.0068, -1.9624, 6.9949, 1.6777, -0.2271, -0.0562, -0.0122, -0.0889, -15.8701, 6.5299, 1.4628, -0.3297, 0.149, 0.9304]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.3538, 0.9386, 0.8291, -0.6682, -0.3965, -0.3267, 0.9971, 0.3332, 1.9854, 1.4002, 0.1349, -0.799, -0.3161, 0.5475]\nstate[eef_state]: left_x=0.2877 left_y=-0.0297 left_z=0.1945 left_yaw=0.1414 left_pitch=-0.1256 left_roll=0.0439 left_gripper=0.9971 right_x=0.4657 right_y=0.299 right_z=0.1844 right_yaw=1.172 right_pitch=0.2736 right_roll=0.0168 right_gripper=0.5475\nstate[joint_eff]: [-0.1299, -2.0855, 6.7624, 1.6581, -0.1929, -0.0415, -0.0122, 0.1436, -13.8462, 7.2957, 1.6825, -0.0904, 0.1343, 0.6471]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30c7bcda6651a316749caf8681578ffd99e26e7eda065cd15b46e1e89e2e6ddb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2edc87ec6bf52797cc28cc27df4c9f412f05f3bbc9d8c494df9a5b1be35b51e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc9fc49f4bc188d8187aa21b07a6c50024feac510c268e5fbbf8ebd3aa4d4984",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF7m67MjN56xB6bsfWjbBG45ZMbhIj_cMzNb-NaZEv1uhKHaDPNm1OffJV7PSRDlECjimdTQAKAXeZrNl-uyLgoEQb2AmYe5xNPi14v16jVyrRUZbGEYddcWIwcwAq6JPVwLKz_6a2xD6SHFMqr91vVTQKsmcT4ilCRYYQSa5St6jkkJ9Op9Otx0C5gnkfj_P0l1880mJhqEyAX8xgEQ-YB4ZP_Pc7c5zYcOzWBK4W8sR-QSBiZXZYr39Xs5-pHdD6EOE9bKX7-ygViLthNFxN_kfsZe_TXXMLHKSub0XMHgvGJX-uGTGO1ikJIsZIGh8Ct-ngbH_1egmH52OaGRjBU5U5fUbXbcFlfVcGe1PIyGIe3JNODCPSry1S_HybJaJM2loixwWmMYbjMzjk-dkzzrbTntBMhf2SsngNQjMKCjLqtFkWypHE_iatMl6pxeV2GUpGTSzVClu7m_ZYsGlsIdjt0scjUk77B-o0xlG-DL7q7pZGyhSd3IQ0KA6FKOSA2wnSiDwS0XJtXCMEUQDSuizBml2alIYItc0a9PGRFRIzmuXvZR-ta4no6XNR8kkOMu4fY-SKlB_jdVA7en_nH9D6tVffYK2AN-Ub2G2_hdZnzFJSdaxUfizLHOXqFgvN3YrDvVYUNk6Krol2TItdNwZWq3e3RMCMxBTcv_suuzpk7o15GFlQKPtXpQRD0OrOBz37YB0XBKIVWr15DCAx87S6sgE4PX29_PcEQSqHIEUpFLSVWcrvf4XsD5w97-gGEIg9elJCikO9hyaNvwLz8kktuyuPudHLQW_oEScnJILdjymRRzO4-IZKVUrc5-TU_WFEzSLtfyvP-DE6ZzI0PVLX_uk5IAE1wD65lohTCRJAGihwAsqFMzN4zQp9x4HBJ5R7wKTXcGaQdoC6bIAaNQOi7WXSYGgthfqCTBe-Fhfw571dDQHfq_SsU0Ea__7Y0da-0D8gIAo-GMJmmviEqBuH_TbQUj9iEorDkR9gVEmYk6Va_ZKYAtDRc5WZcGuQ70Yj-1cspO4ZIns-Ag58sf3QFim4YE7aG6FJRnnAs012m8q158thUYgK_ON-wr0i-uTjpi_7WVeh4GY3s_GJXzcBfu2mWs1E7SiBEW-H_zVwzQlyon2U2lhINTuJWNAJmyhqT4oR5cIzKEtO-jMDrHCYtaM9kqNYynZ5pPDQk2BVf1t015cb0ztOPgR9n6Lj7Dq3pkMZkgROsDZrvf3s3rI77ZMVeAyab_Q7Cdm-NK1ePTCnrUzYNxZ_SDqahsjOmvs6Ns2eurVOG7PJIhuoReTlNbffCC310VLPPccNgZlyNsyb0_OUNIqZlG-TZZfcPy813OR3pl-A89ru2Dkdk_QTNR-iDue58v5V8BAFZ2Pbs2rjN0MdyHehMnQCpoE1nsWo5Jzq7hdXqX6QprmJ3lArZkGRbIgoYdYFZ8lgcae-fTa7b1UGyttvbLjd05K2pOQvGQJGvlfnz2OdglxTzF5_Gy23ktNoTQn2iSbrGSedF7LZabpsEefQIWnHnq8VpZntunxbT7RrXmruXizOs1bwSzYFyq3rFaHdLBtuK6ftR4T--TYYZf566Qg7sM83YOf6gLiyTbR6u03exbOGapVsre0CjrfVvcFNCDS7EOVWtjpNP6AiKaVgNUhM5seLutwWsd1AUgGvqnz5Khkhtw_5cSfz_GMkzSaLpo6yaunHcEMO5XgX4zSYDdeET-kPt-5WR3IN8_mb7MG_c1H7kAjbQVr2jQ_2UtAlENo7mYXmWDOTJuYqjucyuM34u0_EEZlPlle2dt2YYjvCjWkHlPL62UUiIwXtE_xeQbY740URB41qAYf2DOUdbFoQBLSarc00EQhGMC4gTLlaUrkxcJQLEsvmR_hMYwVfeKwT8Gget-fVf901XPqaAcE6IX0RcxfWfelkGUKp0aes1Q289sow==",
  "id": "rs_0fb51d8258ad0dd5016ab45ee36ee087d0a6086f3d43a51d72",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.075,\"right_pitch\":0.3,\"right_roll\":0},\"note\":\"The ball is above the safe’s interior. I’m lowering it gently into the open space behind the plush.\"}",
  "call_id": "call_OHV3yTGFAVtw3s3z04HdEE6E",
  "id": "fc_0fb51d8258ad0dd5016ab45ee5ca8887d0877df867ef519d3c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OHV3yTGFAVtw3s3z04HdEE6E",
  "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]: [-0.3538, 0.9386, 0.8291, -0.6827, -0.3965, -0.3267, 0.9971, 0.3336, 2.1792, 1.2205, 0.4957, -0.7856, -0.3092, 0.5477]\nstate[eef_state]: left_x=0.2855 left_y=-0.0289 left_z=0.1921 left_yaw=0.1423 left_pitch=-0.1383 left_roll=0.0509 left_gripper=0.9971 right_x=0.4638 right_y=0.2968 right_z=0.0757 right_yaw=1.155 right_pitch=0.2607 right_roll=0.0291 right_gripper=0.5477\nstate[joint_eff]: [-0.0889, -1.8393, 6.7761, 1.5897, -0.232, -0.0122, -0.0122, -0.1573, -10.5504, 5.2718, 1.9121, -0.3443, 0.0366, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:236a416d1f7f33946b80c1062a423139e22d43d3b4732b36de50b19252ad78de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7aa3139b767dfd1a57d8ae78ab810dd944b7a1b6a069141f3cf27acac22155d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f6a491b265e4a5dae61ef491df1c3b3d186bf4e35df2911488e1f1d6fc2bc4f",
      "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]: [-0.3538, 0.9371, 0.8291, -0.638, -0.3965, -0.3267, 0.9971, 0.0448, 2.4989, 1.5986, 0.2157, -1.0401, -0.5495, 0.5407]\nstate[eef_state]: left_x=0.2922 left_y=-0.0314 left_z=0.2 left_yaw=0.1397 left_pitch=-0.0977 left_roll=0.0288 left_gripper=0.9971 right_x=0.5467 right_y=0.1806 right_z=0.0149 right_yaw=1.1501 right_pitch=0.2552 right_roll=0.062 right_gripper=0.5407\nstate[joint_eff]: [-0.1846, -1.8803, 6.8991, 1.5018, -0.232, -0.022, -0.0122, -0.0205, -15.5556, 5.8872, 1.3895, -0.3687, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3538, 0.9386, 0.8291, -0.6682, -0.3965, -0.3267, 0.9971, 0.3332, 1.9854, 1.4002, 0.1349, -0.799, -0.3161, 0.5475]\nstate[eef_state]: left_x=0.2877 left_y=-0.0297 left_z=0.1945 left_yaw=0.1414 left_pitch=-0.1256 left_roll=0.0439 left_gripper=0.9971 right_x=0.4657 right_y=0.299 right_z=0.1844 right_yaw=1.172 right_pitch=0.2736 right_roll=0.0168 right_gripper=0.5475\nstate[joint_eff]: [-0.1299, -2.0855, 6.7624, 1.6581, -0.1929, -0.0415, -0.0122, 0.1436, -13.8462, 7.2957, 1.6825, -0.0904, 0.1343, 0.6471]",
      "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]: [-0.3538, 0.9386, 0.8291, -0.6827, -0.3965, -0.3267, 0.9971, 0.3336, 2.1792, 1.2205, 0.4957, -0.7856, -0.3092, 0.5477]\nstate[eef_state]: left_x=0.2855 left_y=-0.0289 left_z=0.1921 left_yaw=0.1423 left_pitch=-0.1383 left_roll=0.0509 left_gripper=0.9971 right_x=0.4638 right_y=0.2968 right_z=0.0757 right_yaw=1.155 right_pitch=0.2607 right_roll=0.0291 right_gripper=0.5477\nstate[joint_eff]: [-0.0889, -1.8393, 6.7761, 1.5897, -0.232, -0.0122, -0.0122, -0.1573, -10.5504, 5.2718, 1.9121, -0.3443, 0.0366, 0.735]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:236a416d1f7f33946b80c1062a423139e22d43d3b4732b36de50b19252ad78de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7aa3139b767dfd1a57d8ae78ab810dd944b7a1b6a069141f3cf27acac22155d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f6a491b265e4a5dae61ef491df1c3b3d186bf4e35df2911488e1f1d6fc2bc4f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The ball is supported inside the safe next to the two toys. I’m releasing it before moving to the lid.\"}",
  "call_id": "call_wQl5cSIHf2Ffp3w5VXfhOD9n",
  "id": "fc_0fb51d8258ad0dd5016ab45eea810c87d0986eb1983fb439fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wQl5cSIHf2Ffp3w5VXfhOD9n",
  "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]: [-0.3538, 0.939, 0.8291, -0.691, -0.3965, -0.3267, 0.9971, 0.3325, 2.2013, 1.2079, 0.4934, -0.7815, -0.3126, 0.9949]\nstate[eef_state]: left_x=0.2842 left_y=-0.0284 left_z=0.1907 left_yaw=0.1429 left_pitch=-0.1461 left_roll=0.0551 left_gripper=0.9971 right_x=0.4605 right_y=0.2944 right_z=0.0592 right_yaw=1.1456 right_pitch=0.234 right_roll=0.0522 right_gripper=0.9949\nstate[joint_eff]: [-0.1162, -1.8667, 6.735, 1.5604, -0.2222, -0.0513, -0.0122, 0.0068, -13.3675, 6.7487, 1.6532, -0.2857, 0.0073, -0.2418]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2c6569d034cd44966313fea1bfcd1d5f2e1e1656a7543e3b2e28b1f34ccffeb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e59aa729ebfbc4237f8e63916ecd24ffaa31bcfcac6811316312852657d09e13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d65640e98c97cfd6e3ce887b068ac6e7c45af7e90514c8ee6f03223b91232718",
      "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 137 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3538, 0.9371, 0.8291, -0.6533, -0.3965, -0.3267, 0.9971, 0.0448, 2.3592, 1.5658, 0.1638, -1.0328, -0.5289, 0.5443]\nstate[eef_state]: left_x=0.2899 left_y=-0.0305 left_z=0.1974 left_yaw=0.1405 left_pitch=-0.1111 left_roll=0.0361 left_gripper=0.9971 right_x=0.5443 right_y=0.1799 right_z=0.0712 right_yaw=1.1465 right_pitch=0.2754 right_roll=0.0294 right_gripper=0.5443\nstate[joint_eff]: [-0.0068, -1.9624, 6.9949, 1.6777, -0.2271, -0.0562, -0.0122, -0.0889, -15.8701, 6.5299, 1.4628, -0.3297, 0.149, 0.9304]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.3538, 0.9386, 0.8291, -0.6827, -0.3965, -0.3267, 0.9971, 0.3336, 2.1792, 1.2205, 0.4957, -0.7856, -0.3092, 0.5477]\nstate[eef_state]: left_x=0.2855 left_y=-0.0289 left_z=0.1921 left_yaw=0.1423 left_pitch=-0.1383 left_roll=0.0509 left_gripper=0.9971 right_x=0.4638 right_y=0.2968 right_z=0.0757 right_yaw=1.155 right_pitch=0.2607 right_roll=0.0291 right_gripper=0.5477\nstate[joint_eff]: [-0.0889, -1.8393, 6.7761, 1.5897, -0.232, -0.0122, -0.0122, -0.1573, -10.5504, 5.2718, 1.9121, -0.3443, 0.0366, 0.735]\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]: [-0.3538, 0.939, 0.8291, -0.691, -0.3965, -0.3267, 0.9971, 0.3325, 2.2013, 1.2079, 0.4934, -0.7815, -0.3126, 0.9949]\nstate[eef_state]: left_x=0.2842 left_y=-0.0284 left_z=0.1907 left_yaw=0.1429 left_pitch=-0.1461 left_roll=0.0551 left_gripper=0.9971 right_x=0.4605 right_y=0.2944 right_z=0.0592 right_yaw=1.1456 right_pitch=0.234 right_roll=0.0522 right_gripper=0.9949\nstate[joint_eff]: [-0.1162, -1.8667, 6.735, 1.5604, -0.2222, -0.0513, -0.0122, 0.0068, -13.3675, 6.7487, 1.6532, -0.2857, 0.0073, -0.2418]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2c6569d034cd44966313fea1bfcd1d5f2e1e1656a7543e3b2e28b1f34ccffeb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e59aa729ebfbc4237f8e63916ecd24ffaa31bcfcac6811316312852657d09e13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d65640e98c97cfd6e3ce887b068ac6e7c45af7e90514c8ee6f03223b91232718",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF717-WHxr6G9o8nvqERK9PEWin0h8OdVDY_MkGFuNMyxHZ-XY67nVZJL2a7gZSVz-tkGBDG3qhOxFPm26Uy9W4_3sXVmu-OXsQI-juZlIAsWqhpIthkdM9iJc_B5TsowqsTZVE4sqA72mdyFeP9Fd8qypWWLQc6cyDPdEv7q40JlDEMB9DsST89Cctl2DxSsZMpFiYmwTwnp0V-DAlmtaxKhhnqCBH4siLMH5ZQfq9R9aUoz9SN4yjxyscMN8uY_9T85csLxMfpSEGLhzjw2I4yL0VKf9i3cz8mrT9GzClLqgktiEfO3lPM6tYMXCmIhFFat9FkbaJvV34PvElfvdzPugHBfkClTUGnIayIQt551vn4NmSfgzHmfSp_asnbtPto6sGd_bxQ2uYf03818RbOqnaYUvXE5-32FzioWlXCee5rUkb8T6tmAzzwUcwT1whLo2Q_xYVZy7W04ve0gHJpQXNeyTFUPvCAlSMfkZnDAuSbvwFhgL8FNwUoEE1y4FYAh03jQIf6yXFM2oSUB-xEE1ve_UpKKuEuX-pPHQdgZt_NIEtqEYh4XSdoPtTnMv74JcZItxwf9GqkHNIzbFfsnRmAKh3OPuNjZh8DtX-NWnDY1DthxHkb679LaIacDEmxPqdLv_QUqlDwEjQx3FhnvayUu4KrG_mw1aiPrQ5_Sr8sRZ2B50jINgcNUnaqzORS-3_hC6qci1Mta7nv2hMyChgSXOfJpvVVQVnbRXswoQJaXsMnYzHAJi20wnQhwV9d-G48qqII0tzUtq5oBjSPmiVkp14MJ7XMAyyEoZqKMM6W8vRmlF3hNHezBzlqpBRl2elrLN-GKlSueyF8JjNrcuBqLLCyiTJzxV-oGmoWytLH39PWC_-yr5YkkUay_Xl-u-PO-AhzEQUSTDG6MTQFSYAtQIrLTPmJgjWk0LzL9pXFaLAjhmCSV97XmuFk25ulsFOmf5e3vR9PyGRUH5Jk8QU_JqbX-zWVIbP6mVXasj-OFcibhidpcJBgDNntfgwKDRJLPvXEnryLwR0RO-AJNnUrfZzAapPyAPiXURrmPAlnBZUqEkYCR2Vy3lwAkvgcbe1_jIOcgzRMNsvkqtAUiqlJDkP8GCykkjZTgv6unlkqIcSQvwlRWU4Q4Kx0aY105m5RyDfIsQdcFZ8OUoOCHRkmL-XSNoDZHWhDGrcBQm8wsrmR-Th30drKqhpZA10K8Cvl9aevCFebfU5l7MtPLCk-DLzRIERJ7HFK6bRo53FkhS8gZzcCS12ikjFkGsvQdQCb6ax_FzmWWK2hINez8GiCzV6YctKU7tX6R6B_jN826DP49Kh-VQtSl-dFc9Unel7Iw05D-6OaZUQZX3NDcEQY8hmteuieF02UICkcBYFvqX8n7K_fzEABT_pUtHqRX9uEsopkJfNSBwxK2DlciMtYiO8MNvAQOHNWcEihHURNzx6Xys74JRTzVqjw4Ea59cZPt4KIFO6E_-VPykWY2vCXxxvD8ptmDUuRnQyR7pXghbRQLy2jZVELqV6v9MrFX4eIlKUrCGiay6Ej2wEtYi41diDhK5ipXowerrQ8TyeZkqr64xj1pOSyQLSAS-11PhJU-pHyiXMwVsqWASVSlzFqMmzd-Olcl4-LMnJqFczUOTUd_-v27R5uto58-NgPVMqgkkMUXxVk-Mf0IZgIDB7zNEqjE62Jdrza2Z0rPgrrMA5rPJOQxxCzAya6JOmChYGktb2QBN0Kz0C67Al00lWzOfiWJu9BPokMECGUmYtv8BiraYhxLDGOsm7jOKFhr3STB1Bp_lRDY9VsATLoan6OPtNkm-LEIwHAT6-HxCd4Gco3UUL5BAvf22g9r-WqI-YXtzDLsHZ7vsZ7b68vJu27ToO5WgrWoP0d0PmReGjIB22X4V6WRvW2vbCTYtFk62v3FxGvdOSvLVJCE9S5mBdXJTlUFlawOYdZHp-gagEbSzBuc7K6HhAfPWOnHSKUCyMZdiYyrrcyh3r--rmNlxFrvsWVtT_91GfNrlJYOlhdOJW2y0_nWH6C8-eNiFsZ9xt0Bp6m68hoZc-FBAHIrtUl4p5MFyN9zGI7SCpp0aiVahBbFXVrRSsEzlatPiPYg3KYitbMFYhVPU3y5fqtBpVGEWpStZ_QY1WbI7yGC3X2CzOHhCR4iYpBGrwnRWN-fRl1VxtIGPhrEg2szVl-lmilUZTNVUhFDrN3fYk_SFYMXJjT7T4Wcm3LPCBDcvfQhuu_-IDOvDKFUhtYq-Qg-MBGB8oOn6uIAQ2QaYUXxOyh_LXqswaL1et6xk9sTQcJ5vuFMHnIwvcX3yk5TnXxVDnBkklW9BIP7_oPvBMbeyEEF2BWK4gyB2x5TF_FymdkV09OtWMCYk9crbQAfLvFuum4uso-8CMXDsqiXIIXUQTgpvQyWE144nrBzxPKDNj33oqJ5v7E-K-m3GnvqwzHSNKUCiTwDD6XGqqtKm0EQE_bGeEq28-UeLfn_6wulh7Xro6py-Kt6nGF2AtOazd0DotUY_OQwpvkZaYibo7Ou8h-cszpAd03-gZWHokSpqYBU0UQg1p7ofj_P8A1eyN70o3zL93s9X9KM7ZhAkMNxHJcB90hW3WcDb9FwOahuDJe2INAaFFX2B5Fl4NWKs4P1iH3NwJpA25WU1t0vNFNBTKeoaYP_vAiy_ykzZdTUpTinBhURxluiQGLZ0a6s7xOMZMRe8BSpYmyPyZXhzJbN2gT26-MMc29Of9roRnAeTPixzoLaWC2fD0_o6Y6ac6gm5lAo9pGKtMLTVKUFwkIaLYg29k0S8Ly_6kmm5U7-vUroBgBKoLMfYLldUOdLpoPPAsvRxlY409dTb2wZ5uNJTHjZCns0tdRSjwFpvR9R3WTgDBWkgXKfvW2U_W2LlXJ1emi3D4kZ4GYrLRRT1A9BTAjwlHuevjQyHFff4klTzwjHV_SHKNyZnB84ajhLTDSwSYPRY-BZHCJuh4VtDMHD0h5-9ayHVa3eXr6OR9bmWWNWGb12_wpmAltPQneoiDfpnojdTGwSwYLutqC0f5Lt4C6a3nTU3igO-FVjNnBGOLFq6skZofdyddpLl52uJrBR0ENcjOpCQqyv6BISYOE4jIIRudAnt3hYpXevPv2aTHwAeRLx4iJf5zSnLetPKYkolroCGtHEvj5r4FILb_gNQY=",
  "id": "rs_0fb51d8258ad0dd5016ab45eedb62487d0a9127d8c82c7ca51",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.59,\"right_y\":0.35,\"right_z\":0.3,\"right_yaw\":0,\"right_pitch\":0.3,\"right_roll\":0,\"right_gripper\":0},\"note\":\"All three objects are now in the safe. I’m lifting the empty, closed gripper above the upright lid so I can fold it down without dragging across the contents.\"}",
  "call_id": "call_TgGhj51OcHihhPWQLfIzZYMf",
  "id": "fc_0fb51d8258ad0dd5016ab45ef43d2487d0886de1d86f0b200f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TgGhj51OcHihhPWQLfIzZYMf",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "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]: [-0.3538, 0.9424, 0.8291, -0.7025, -0.3965, -0.3267, 0.9971, 0.6861, 2.5031, 2.5462, -0.4194, 0.5312, 0.1711, 0.0116]\nstate[eef_state]: left_x=0.2826 left_y=-0.0278 left_z=0.1879 left_yaw=0.144 left_pitch=-0.1591 left_roll=0.0623 left_gripper=0.9971 right_x=0.5815 right_y=0.3651 right_z=0.2583 right_yaw=0.1351 right_pitch=0.2596 right_roll=-0.0265 right_gripper=0.0116\nstate[joint_eff]: [-0.1299, -2.2359, 6.8308, 1.5458, -0.1783, -0.0366, -0.0171, -0.2393, -14.4615, 8.1709, 1.5116, 0.3297, 0.2369, 0.8913]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43a87dfbd81f4f7c411789efbe5244be6e7a4b9e0004048d0d16f644a9b2a82d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78eb5903038dab92dca8fc59a3c1f355094469a4e4e1ff7a862c6e7e73b2a401",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b9fa878d277fe534415197b3264e70876f74901385db8b069605ab32de3d69f",
      "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 137 changed as sent

message 141 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3538, 0.9386, 0.8291, -0.6682, -0.3965, -0.3267, 0.9971, 0.3332, 1.9854, 1.4002, 0.1349, -0.799, -0.3161, 0.5475]\nstate[eef_state]: left_x=0.2877 left_y=-0.0297 left_z=0.1945 left_yaw=0.1414 left_pitch=-0.1256 left_roll=0.0439 left_gripper=0.9971 right_x=0.4657 right_y=0.299 right_z=0.1844 right_yaw=1.172 right_pitch=0.2736 right_roll=0.0168 right_gripper=0.5475\nstate[joint_eff]: [-0.1299, -2.0855, 6.7624, 1.6581, -0.1929, -0.0415, -0.0122, 0.1436, -13.8462, 7.2957, 1.6825, -0.0904, 0.1343, 0.6471]",
      "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]: [-0.3538, 0.939, 0.8291, -0.691, -0.3965, -0.3267, 0.9971, 0.3325, 2.2013, 1.2079, 0.4934, -0.7815, -0.3126, 0.9949]\nstate[eef_state]: left_x=0.2842 left_y=-0.0284 left_z=0.1907 left_yaw=0.1429 left_pitch=-0.1461 left_roll=0.0551 left_gripper=0.9971 right_x=0.4605 right_y=0.2944 right_z=0.0592 right_yaw=1.1456 right_pitch=0.234 right_roll=0.0522 right_gripper=0.9949\nstate[joint_eff]: [-0.1162, -1.8667, 6.735, 1.5604, -0.2222, -0.0513, -0.0122, 0.0068, -13.3675, 6.7487, 1.6532, -0.2857, 0.0073, -0.2418]",
      "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]: [-0.3538, 0.9424, 0.8291, -0.7025, -0.3965, -0.3267, 0.9971, 0.6861, 2.5031, 2.5462, -0.4194, 0.5312, 0.1711, 0.0116]\nstate[eef_state]: left_x=0.2826 left_y=-0.0278 left_z=0.1879 left_yaw=0.144 left_pitch=-0.1591 left_roll=0.0623 left_gripper=0.9971 right_x=0.5815 right_y=0.3651 right_z=0.2583 right_yaw=0.1351 right_pitch=0.2596 right_roll=-0.0265 right_gripper=0.0116\nstate[joint_eff]: [-0.1299, -2.2359, 6.8308, 1.5458, -0.1783, -0.0366, -0.0171, -0.2393, -14.4615, 8.1709, 1.5116, 0.3297, 0.2369, 0.8913]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43a87dfbd81f4f7c411789efbe5244be6e7a4b9e0004048d0d16f644a9b2a82d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78eb5903038dab92dca8fc59a3c1f355094469a4e4e1ff7a862c6e7e73b2a401",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b9fa878d277fe534415197b3264e70876f74901385db8b069605ab32de3d69f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0fb51d8258ad0dd5016ab45efb4a1087d0a335a4812911a925",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.6,\"right_y\":0.36,\"right_z\":0.19,\"right_pitch\":0.3,\"right_roll\":0},\"note\":\"The closed gripper is above the lid’s upper edge. I’m lowering onto that edge from behind to begin tipping the lid toward the compartment.\"}",
  "call_id": "call_EjyeTkwXUplkmsueh7lWu3dH",
  "id": "fc_0fb51d8258ad0dd5016ab45f00dc0c87d0831bb8e5c4a8dc1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EjyeTkwXUplkmsueh7lWu3dH",
  "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]: [-0.3538, 0.9428, 0.8291, -0.7132, -0.3962, -0.3267, 0.9971, 0.6567, 2.4702, 2.2265, -0.0986, 0.5217, 0.1635, 0.0129]\nstate[eef_state]: left_x=0.281 left_y=-0.0273 left_z=0.1861 left_yaw=0.1446 left_pitch=-0.169 left_roll=0.0674 left_gripper=0.9971 right_x=0.5976 right_y=0.354 right_z=0.2006 right_yaw=0.1133 right_pitch=0.2868 right_roll=-0.0127 right_gripper=0.0129\nstate[joint_eff]: [-0.0479, -2.0034, 6.7077, 1.58, -0.1929, -0.0659, -0.0171, -0.1299, -13.9419, 7.1863, 1.9463, -0.0269, -0.0708, 1.0183]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 411):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55a9d0848ae076c2e112b20889e30e67e9294c2ebfa551fef1fb0c5e96b2861d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 411):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bf6048f6e21d5c17afb6b9f0c358c87ba8c038e609fb474c29d69787cc06d3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 411):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c3a5473d82bf1eb93ae8d8a68bd4b535896894a75cfd8c13621c7361f6fbcc6",
      "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 141 changed as sent

message 145 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3538, 0.9386, 0.8291, -0.6827, -0.3965, -0.3267, 0.9971, 0.3336, 2.1792, 1.2205, 0.4957, -0.7856, -0.3092, 0.5477]\nstate[eef_state]: left_x=0.2855 left_y=-0.0289 left_z=0.1921 left_yaw=0.1423 left_pitch=-0.1383 left_roll=0.0509 left_gripper=0.9971 right_x=0.4638 right_y=0.2968 right_z=0.0757 right_yaw=1.155 right_pitch=0.2607 right_roll=0.0291 right_gripper=0.5477\nstate[joint_eff]: [-0.0889, -1.8393, 6.7761, 1.5897, -0.232, -0.0122, -0.0122, -0.1573, -10.5504, 5.2718, 1.9121, -0.3443, 0.0366, 0.735]\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]: [-0.3538, 0.9424, 0.8291, -0.7025, -0.3965, -0.3267, 0.9971, 0.6861, 2.5031, 2.5462, -0.4194, 0.5312, 0.1711, 0.0116]\nstate[eef_state]: left_x=0.2826 left_y=-0.0278 left_z=0.1879 left_yaw=0.144 left_pitch=-0.1591 left_roll=0.0623 left_gripper=0.9971 right_x=0.5815 right_y=0.3651 right_z=0.2583 right_yaw=0.1351 right_pitch=0.2596 right_roll=-0.0265 right_gripper=0.0116\nstate[joint_eff]: [-0.1299, -2.2359, 6.8308, 1.5458, -0.1783, -0.0366, -0.0171, -0.2393, -14.4615, 8.1709, 1.5116, 0.3297, 0.2369, 0.8913]",
      "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]: [-0.3538, 0.9428, 0.8291, -0.7132, -0.3962, -0.3267, 0.9971, 0.6567, 2.4702, 2.2265, -0.0986, 0.5217, 0.1635, 0.0129]\nstate[eef_state]: left_x=0.281 left_y=-0.0273 left_z=0.1861 left_yaw=0.1446 left_pitch=-0.169 left_roll=0.0674 left_gripper=0.9971 right_x=0.5976 right_y=0.354 right_z=0.2006 right_yaw=0.1133 right_pitch=0.2868 right_roll=-0.0127 right_gripper=0.0129\nstate[joint_eff]: [-0.0479, -2.0034, 6.7077, 1.58, -0.1929, -0.0659, -0.0171, -0.1299, -13.9419, 7.1863, 1.9463, -0.0269, -0.0708, 1.0183]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 411):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55a9d0848ae076c2e112b20889e30e67e9294c2ebfa551fef1fb0c5e96b2861d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 411):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bf6048f6e21d5c17afb6b9f0c358c87ba8c038e609fb474c29d69787cc06d3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 411):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c3a5473d82bf1eb93ae8d8a68bd4b535896894a75cfd8c13621c7361f6fbcc6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF8K17QL2O3iTc6apsagOB90ZCmeIY_8oZb-bsqh0Pf9146dAf9cOli3JZ0PyRmBCdTp32pdr-dKWWBen7_hFqQlx3fgo2YSkFgYciUysl_eBoUILG_BUqetwtsiHf2tbykwqmzQb7S1Ue_DUNtMMJgafo15N-2R_UbriAA2CsakPYT-yMexPHwfbzpuldGuuL3FToviBbAD6_VhJQawDuMeDFp9qnAh3MvQm7Vyij37ACOhng58oH_qATIQg1eXNiumIDJT2hDVc5A6t_rylevAY2iUmkd7R2XqabY-tAhmhw8Lk6htIq_9liklgZoqvBsiJHdbD-X1-WSa9FE_eiuLWjkUZRPv-_fJPOgp77cpPrb_XmIaGhwSpmviaBCjo4Tu_K4d4zf0Dm83SmeT1y3Q0jUjbsqN_kdbC2QSghBpZSR2HNeF8YqfBqzqeGAuouWtZhn9sne7FAnbIhbnRY7zKmnw8KAsha3Y4DRQHcxcweX92vMZ8_WXHv9WlA9tsy9CO-kTzWyg-lmSrYzreCRmTS93CS3NSwgyKLi35nxuhxhqk9_Y1o9pCgJxae6V9TpseMY5da5PpY2bFg0cTHBDCUf56UYy-oZH6_QiR8Pm6PndoemiL2KoALkHO15iI-f94oPSnB1KNKusbB-F6Jo6hFmdeRCiPUkN_QFPVKZ6aJAweXlLJ91G6FK6P1yXKO1yj1gor4HAm1pmmhHCEhGC253ZzYWTCLZwJUiRRwDfnFwne71g7OkbVXp4pqP23SKuHag6K2rBLG00vo5ILCKYkHY9jGOvLzSrlfUIb-bcFb3XRiTWfh_C0yCyBWIWeMxuCUAAn6FBnhdQZr9QF9dRBQkvLjNQgP09pfapqGTm3txqtvQ9c4K4gub-2qYR98YR6BN61sIQMTtsiger4cajn2f8H0J1RQIoaioQwAQMMqPqYk3CXY-L-kClbY5uDe4hLLqgJyL2T2tl_cQQTmA_kIY09z_SensdslaOpyvW_OnIyrFJs2fAcP7hA67jAKZ_3KQtJoasAc3N-HVjLosD511QgEd6yGCzVa6EzVuij8dat8O2QICTtPW9zSFl05JyKZUwsykMqxsuOlwTB0Zy1zAN3tLFoc9uVqeMm5dozUcYkoDrcWIgXEapnP09JfTcfH6aqgjnSjaPOWIE1EdcVkbW7rJ6NdzJ059tloXi2J84aiVx2Zrv5TfFMQZ8U1Ebz3ZUe8cTWYMUcfZfoMkVZn3I3Q-g7DZHPe-dqvqsGKhAUgOwOh-GcIA5fznZaObuaFTt3IYnmycFmy_x9wNPVHdPjjUTezpdLFJA8JDu1MCGv_u9N1Q4uzKYwIJ8BuYjSkSQhRAoy5pHHa1OQ78jIBpDbRAX1eoeOlkbGJhgSTG_9MuINsinghK4q5JDDcvzvWnwiW7EGdplISBNyIFkcyn-3TwZmQp1YNU3d8RoPlxw5mNh1EhvFOh-vXPoCAFCg0DcbE3YwvfXWxlwXRJSIMewTuNytbmkiWRDJgjWSBHI8o8CV_AE0Et0GiST9znalRk5R28HO6kUIfthEa58r2kikfl3l7kSY6iGl4IEhpWrvUwz_rIOekRAwT0QrHqNzhrjmAw8xFXyd0XWbmUSiHFNPZ7lnzQTz-GrhgqTzLyUkChZjqYoOSkVXJi7bSPwMeg8W-ZC6DNAqGS99r1541fsBv71Zl7Liw6oobeod0bwzW6EhazJ0pfTzSB8Z4T6-gntN1-pegpKYk6_k1xpOcjBAJAy-Ii2UZzC6C-WU14QcwBJ2xIp3VwOgWWCqS-dxVvF0eB6ig2b-fvwYS2T4J7edNkz69xZOGBbmOgvKqczc7vmxJnq0FRqs0t-VfruSMiP7-gdccTRHNB8c9esYQs9t6OiqqjpdjlAew2weyQ4M6r5WiiL4c4kDYr2GTfenwVaXS2YbW54dB-i1Rl832Ble2tVwqiPFrWENr9xGF7O-4qDDRRvZYJrzdgvjxU7Kbs1UUJnVzOk_hCxm6YAZhZTxNlEG_XTaVZE00hDYg2A4EsVmP2DgqrKPdNWp1eFx31OJiucLWTzvhIuapJzXgybL8TdeDyGwxyHScrCanDCyJ2A8UmiPRshuSKaPa3HDFEhRZ9cpDBwvb0b6GNVahFZ3nDbnxRO0KeB7JWalEhehFEHXgSZrMe_xegbXLMIcno2_VkMcLXaF3FlhioCxRqChrbcsi84qOzRsHh-4jzi19Q7bqs_WDWfM3Q3Y9Gc4nWJfEaSeXbGfs5-35OLkIMK0nboSz-YJ2DyDv8uFRQV14nRKNlSSrOZGk_w5pv-ANbBZ_yf4JQRcyRJ7Xc7IqPMaS_4ES4EsA90MUaxk8X42BAZW46ThMHCh96qEsTrALA3nG3iMbFpsLtZN8id6EKcOyV5OAKQGki9_tSI1xxDu7U6mQUuA3DBae75JXjQR2odlDwJiHJVwK1gqJx_65t4LaY0l3ZXHHa-qBh-cA7dkQQY_Fy7h2PgG4VCTueJPom3T5GdNVBTNtOWN1EhxNZ44HkJl87WWBigxYzDp8R4pkNriIe3VHbxWF07X5dy",
  "id": "rs_0fb51d8258ad0dd5016ab45f04396887d0844f829755ef6e75",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.35,\"right_z\":0.105,\"right_pitch\":0.3,\"right_roll\":0},\"note\":\"The gripper is in contact near the lid’s upper section. I’m sweeping it gently toward the front and downward to fold the lid over the contents.\"}",
  "call_id": "call_CxJa1MSI0pugrwCJh8blukrw",
  "id": "fc_0fb51d8258ad0dd5016ab45f09618487d0806004021efc3b6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CxJa1MSI0pugrwCJh8blukrw",
  "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]: [-0.3538, 0.9428, 0.8291, -0.7197, -0.3962, -0.3267, 0.9971, 0.6552, 2.4844, 2.1857, -0.0715, 0.4957, 0.1577, 0.0131]\nstate[eef_state]: left_x=0.2799 left_y=-0.0269 left_z=0.1851 left_yaw=0.1451 left_pitch=-0.1747 left_roll=0.0705 left_gripper=0.9971 right_x=0.5971 right_y=0.3574 right_z=0.1772 right_yaw=0.1411 right_pitch=0.2582 right_roll=-0.0249 right_gripper=0.0131\nstate[joint_eff]: [-0.0479, -1.9897, 6.7761, 1.4725, -0.2125, -0.0366, -0.0171, -0.0205, -15.1863, 8.1162, 2.1465, 0.0269, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10632d8d37bf5e0f8eec9631b3e6248d7f07c149fb31173d24bfce7ae20fb7e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5c8940c799aa71667133dd699c47676830569cd13601f7bf2380b9f94d68d2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d70f9ee935e2e405cf2a4cb7be4fd9a4b335f027ba47a5681bd3604872c29622",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 137 changed as sent

message 145 changed as sent

message 149 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3538, 0.939, 0.8291, -0.691, -0.3965, -0.3267, 0.9971, 0.3325, 2.2013, 1.2079, 0.4934, -0.7815, -0.3126, 0.9949]\nstate[eef_state]: left_x=0.2842 left_y=-0.0284 left_z=0.1907 left_yaw=0.1429 left_pitch=-0.1461 left_roll=0.0551 left_gripper=0.9971 right_x=0.4605 right_y=0.2944 right_z=0.0592 right_yaw=1.1456 right_pitch=0.234 right_roll=0.0522 right_gripper=0.9949\nstate[joint_eff]: [-0.1162, -1.8667, 6.735, 1.5604, -0.2222, -0.0513, -0.0122, 0.0068, -13.3675, 6.7487, 1.6532, -0.2857, 0.0073, -0.2418]",
      "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]: [-0.3538, 0.9428, 0.8291, -0.7132, -0.3962, -0.3267, 0.9971, 0.6567, 2.4702, 2.2265, -0.0986, 0.5217, 0.1635, 0.0129]\nstate[eef_state]: left_x=0.281 left_y=-0.0273 left_z=0.1861 left_yaw=0.1446 left_pitch=-0.169 left_roll=0.0674 left_gripper=0.9971 right_x=0.5976 right_y=0.354 right_z=0.2006 right_yaw=0.1133 right_pitch=0.2868 right_roll=-0.0127 right_gripper=0.0129\nstate[joint_eff]: [-0.0479, -2.0034, 6.7077, 1.58, -0.1929, -0.0659, -0.0171, -0.1299, -13.9419, 7.1863, 1.9463, -0.0269, -0.0708, 1.0183]\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]: [-0.3538, 0.9428, 0.8291, -0.7197, -0.3962, -0.3267, 0.9971, 0.6552, 2.4844, 2.1857, -0.0715, 0.4957, 0.1577, 0.0131]\nstate[eef_state]: left_x=0.2799 left_y=-0.0269 left_z=0.1851 left_yaw=0.1451 left_pitch=-0.1747 left_roll=0.0705 left_gripper=0.9971 right_x=0.5971 right_y=0.3574 right_z=0.1772 right_yaw=0.1411 right_pitch=0.2582 right_roll=-0.0249 right_gripper=0.0131\nstate[joint_eff]: [-0.0479, -1.9897, 6.7761, 1.4725, -0.2125, -0.0366, -0.0171, -0.0205, -15.1863, 8.1162, 2.1465, 0.0269, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10632d8d37bf5e0f8eec9631b3e6248d7f07c149fb31173d24bfce7ae20fb7e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5c8940c799aa71667133dd699c47676830569cd13601f7bf2380b9f94d68d2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 421):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d70f9ee935e2e405cf2a4cb7be4fd9a4b335f027ba47a5681bd3604872c29622",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtF8SQDkl-kWtybJWU_AKKrVxEph9lwwj-w-hwO04hP968FG5kcQ_idI5lgyUvGtwbAs8Nxpc07PSr8YNwBtSdE-EQLGOx-H4g696lLS15d5XV2BApzOZeusZozUV6DkaqIwMcPv_BGaKVc_oKcAubvKTIisLjQ6TOh2evz4Y7MUj3exiFSpubSBB4NAHre5yD7Pze4lixNl8OkgtuqXks1hxedYMnVyYyOUqA8I3MdVjvFd5EtpRZPev__osipZ3oW2qnWK9_V9cX2l9RVUgKYwQXSR0UwG0hNrAVIdjarxTWory3x8xKFpOFxpDTm6OSuu14XxaqvRw0RpA_Nr_3EsO9X5uB1jx20I8QcumfFUdpxTeda3p783ZsNFTlTia04V6WOY2X52xrbV6F3Ec_YadhKKqlxM33VG3djdtCQZdQBQq-L8lHhvV_5XH-cN-XRjrS7eg_85i7oxF2re3LgZOaTU-FbZcgnyNl9tN9bF67rrjLwgkdsv0pe-EzJMFM8heVRTsFWu5jqdQBXlzoFzzT0K5bkjL9ymvy8h4v24CneCFH0pK5rs-M8rJTEG9yf4FH0suoAEL2UGc_jO95VC88BbsugE7yHWskvA2vydHTOscoCFRYCRUj9SI9IJj_N9izr1Ep33iufoSs3Xo-VZeTzXivJkz2F3dZSW_h1bwyWAr4ZRFCfGi3jOMEK8EL-e_JnBEqhr9Sv00pa_Uc0KxPFGKh6TJXbyL8zoaINkXA5atlpjuKnSgXqKQbK7ByjYCUHAVDWp7Xr-ooFXCljAR_LuBqQjlwJNUlIGqjq1JPy5vcMQ3Z5rL7ChAumSaybWS7HcLSun1iDnXEApvhdNPD8Yq1m1qVPYrI-4cOCSnz88FUcIqc9Vxf_4V9zZmTWs-Yo9lT-wxEoFcs3umIZGHbTwd2TCkE5TRwy1_DBOD2kMZfZKOxtOw3I_hzpP3F_7hw-DmfdV0FhBYhZDPzZt_UB_Oe18alweqrQd45vrrWEEysXbGtWC0SP27ggIdNCkXOcEJ45Gi0mUuKijEfBaSqHmWJei7uEQ4sf0a16EoFWsF9TZcYlggcW9ZzKeghcHpHQzj5TlPWrdGm89S6oKhFTb_Bc-IwCJxniYgB9kYgo9EasgsxluOdokIH94Bi9E5rE7tisg_k2nv9GvECI_G1Ob9cQWIckyq1D5QV_rqLMCJLj2ags57ePOdDLB654PGGXyTQnY6-JmQJry22E7q0IpkhfGiPwd25-DXse1340OXPjiVNPJppDDfCv6Tfme3JYKJCjRyzn1jfvoSB0wYE4vBkWmSsQRxso7L94U33zMXCANgAWEET4mZh2XT0TiQwsDMf_-pVFfxP-nINFbp8mu1XjAsPZoaFZQqDFSnC0CdMa-n0-kS9Smu9NCHp6wZRuV4uMhVlUar_IdBLs1WlgCBw2ZUy3fjt06KLm7WYKGYMnZPGG1AX-UCEnRbTW_l7DCZRToDK6ydgBuKml_olymc9AckjksElpf-7ETqMLYGt5z5K7ei7zBrY6wmzvJuPMjrsixJVm-DGFifILAW0CHmdY6y7rP8O-R-aPrs4qWbhfqiaOAEjk_Fwwq1rTgsPh9EtshyXtslKas01dUxTaWkY_-AZO_1T1MeY4Tc4bzmXtyydpArgurChms-PBXr7BaGhTzS0BAmicLJlN7cEbHY2oSxLulmSSyJWE_gmgA3YMgOarIudrQPO5ze04AZDJiKrCFAp4aFlPM6KCCEJ0Dos0_rQ46hy6Kt2lS9UG3taMAAJ3v1LBodswsGN1I36Fi1c8i3jrrxYwgHGftUDwxFhW6xGJ7YlxXnOnDlntCCuIHbF8n0kMgf3EkWMXxNcpH_0wJ00zfZ4KRPiE3wGkzcZdCoe46kmLRGANlFzFVKHVBnmt_BL6KQd3lLjtj1Hq7_GBJoS6fMXFV_Jpceq1fdv6KbhjQxNkmhF36jrfi8UAMhDTKq6SyLwOJwjI6BkgDOd7WZSV-olhYGTSL22HtkRoodvN6BKhieuS8O0NLqaL9z5gVYW_H5SK-IxetklhOnTN1u__WnykALl3qdPLKOtFWp6pZbsBDhTgMfSNMuDAxvFpu9a3mg1A5A7vXCwyIQe4dJqaK0lboppmro6pa2qYMM3dFLfg0Zx06eRC-D6ads4L2H0_j_SfQzAfoPRI-iMt_5kHe9iJkPcQI3tZHNC7zQS32cIy0vJPb8TMczr0IsJrvSTsYdVB47YXFLbzQyMSvSksYRgbGaWDQ28_NH_HAcEWPWQQDJVW00TsGyAmaUhrDxpXlNQEndG-rBnR1QW1gOLQJZEV0FVF-7LA2ZiNXkfpTFlKqlcLSInCpCn1zZjcn6MK9NmiDLHCg7__jW0fu_iNee8sq1YJ7_BbGYd-r5ZRJgc-aNd62dkG5XiP1B034IrR1Ufuk4gJjYHtws_-HaLQNbe_iO8daDiObdODaXu2h_XY-3i6d9CoYfFskSN6rpyPjv8mAMoDAszdGqoBhMHTEziFS4quj49IyRYwt8_tCGDd-p3kojKsqlZJQlodiyHcjI3UaujF9M5mTuhN3dl10hFMBezznjWZwwFwu2UemqEdZl-1J7tv0mQHIl7CrZ3guufgKAtCJa5ye10SMkofFWLwDNuOwNqdzB0d1kjB16ecp7EosKJyw2sEOh3EeNcTesaKXD2bsWB8ZW3wrIdspBNApX2fofRvVWOAeeGPluj9jZAJiOv7E=",
  "id": "rs_0fb51d8258ad0dd5016ab45f0d35f087d0b2dcebbe64a17aeb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.24,\"right_z\":0.32,\"right_pitch\":0.3,\"right_roll\":0},\"note\":\"The lid did not rotate, and the arm stopped well short of the requested closing motion. I’m backing away rather than forcing the hinge or compressing the contents.\"}",
  "call_id": "call_GWf1TLEIderf8w3IgibtK61j",
  "id": "fc_0fb51d8258ad0dd5016ab45f11cc1087d0a243832862c40d94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GWf1TLEIderf8w3IgibtK61j",
  "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]: [-0.3538, 0.9474, 0.8291, -0.7269, -0.3962, -0.3267, 0.9971, 0.524, 2.0155, 1.8622, -0.1993, 0.363, 0.1055, 0.0131]\nstate[eef_state]: left_x=0.279 left_y=-0.0266 left_z=0.1828 left_yaw=0.1461 left_pitch=-0.1851 left_roll=0.0763 left_gripper=0.9971 right_x=0.5541 right_y=0.2519 right_z=0.2912 right_yaw=0.1507 right_pitch=0.2533 right_roll=-0.0245 right_gripper=0.0131\nstate[joint_eff]: [-0.0889, -2.359, 6.735, 1.5751, -0.2271, -0.0513, -0.0122, -1.1829, -14.0513, 7.1043, 2.3272, 0.1197, 0.0464, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 431):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f60c6e5df2b53898c3dfac27b6f7e14a0ba3037c0bd841725bbb7d198438bb67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 431):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fbb5a9f648ac91906a9d6b791c2d3c521c1c9f3af94d83b8b05e9642eec27c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 431):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0f089472538d1fdd2a8e7c1ce6524757e9be5e158c844934229d1deac68efc2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}