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, 0.6041, -0.3901, -0.0193, -0.0338, 0.9992, -0.0212, 0.794, 0.6075, -0.3962, -0.0193, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0015 left_z=0.1784 left_yaw=0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9992 right_x=0.293 right_y=0.0008 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, -1.3744, 10.1675, 1.9805, -0.0464, 0.1636, -0.0952, -0.335, -1.5795, 9.6479, 1.9365, -0.0659, 0.1587, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c482696dd8fbde5cf5d47a5c14629b96d5b8e39493669d89ed79a98e6ca0838",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1175d2e552c0b825a585f4af7d8c54b1c34be9643ac894af679939db4146ff70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec7199f682663528485d6d9d79da70aff251f76f8a941e936f76144cab54ce32",
      "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": "gAAAAABqtCh2seuws011g97ayfvx8JWOZu2krPcgo2qqdgFKiou2gN49U4kwzMRYDkNXz6cJh2DpqlwKaSyORto9Kr5I3im_58GMd0WA82kzFyXNwxSFU3s20S2qHTaIPED4yTguukSfcPgP2NBA5wooO2bXsjS-yQu8ckXJj8onpQtcOOxDR62D1OZgrlqs3no3OEbx9E3UhCJ59TVkVR4d2ZrwmeVw2aJ5AezlR6QopsVFEtOcyN2kmbOqoh-ts-siddzaMAigoTGts6VVu0aqW4d4exO6mSt5Pm6g2VH5gkkuqVUNBL8FJWK1L4wjE09TzgsrzJwXqnDWlUTWHUFkK5osX5vuYz2Y4yT1oCVe3uKir8YsOyqZqGzxWp8c1ILFerQ8ODde0etFaGffQ1_6NcrvVTHvnTegaAOcSWdHtC7KqgQ2Lr4vlwp0P5KxfjApxndB_g6eDmvQX0-NVOqLrMpNBHYV1ZuvUrKjDt9o7EZkGH-1V2PkRoFeZDV1PMEFVeH91ZlBPEhoxMAAfwHeArnJIPDmnyFE0wet3sN1KrKEr_avxtK3W8gY1WcojWTtDUTfLzYAK3Xs7JU8OBT4X28R0EM7unvBGs0pftGTF6YOxCzxMN_LEznVXK0tuDTbDNdjkHoihIPU1qjBIDlZXynKP0OJ_LZLmLAQY9Q9Vdf6PCRpfpu28lp_zYErKl6_uQUeFMXlJmdkusST0lqAAtjDgePLYHds8g21rg1oZKvlJhhzcqfMo-DzG4_yME_C9WEHH9g5MI24AVoZ8EV2QybK9Qz0Z-_NHytvqs1hYzsA1DYxE5xXJdC-7H9X94xe1RsAYMd_NlPTaVTlDmQauK8LIYGhgjMzkzYmQXEMyPhYAOr49G131OZGTXai-sCvkt_OPjqMnIl8Bx1QgrWLGkZvxB7sCmyG5WFi8l63FdR9NLPrxpZmNzVVmIwTOp1JkpgAzt0DoAXuTGRd84pqO_nQK4kaG5nO5OPy6F_V1YcOU2CTgABQ_b2fi0F561QYRvnGnxh0hjfYcpVNuoD25_jekTNUvFEIxAx-KpIQUi13W4EywBNToxmRxBlGbx9S5ZTYiNWqBOh6pHfZSTWNSTx42Dq6Kc12aR_OModaXPSMQIFYKopRh7PFGvRC3TrWHcqCdBUujIaqFURBwh-8jTJI518YzIdInaJwZhcpNYZDSLVQay5TmXPCmv_VlGsDl-TB2_wYMHscumdVRxoOdCBxt0y1bohQVq-ON85wNqZIr741xSfs-7oqI66JZwjptjeODuAZNEXuEFSCceH2pK2wOz8CgoJQeYjZcZIh0cQylDI55p2CKVp5AxBg7XlKBPHmygpBKvKstszzdNvmFLkBfEw-Vimxm4zNvV_rxexZBbYEePKDMkZAYe9DNuuCVersADWGb08J-GKpktiSDIiWd52FOZkJs40Jv67PC7vd15Px8BVtZyo268gFcZDfSPgui9N5S8JYFqnaALEZe29gu9gRENp65A_lVrsnwc0N-GLj3C8lC5fA-p_szbrJqse8gGw9ES0fKS9TbUm0CAK7iwsxHLF1xz8P30vK9nTrgjx4mITTRz4Rqw3AZGJdEcXKeZaYqrlxISwJpnPsIWLM8UfclGkI6GDOxouAVUoXUiGAcBUihjGUjDcGJMv95TzKRV309GjMFOsRwMQGQik9ZaBHAObTsFrbWhaTVAas6up2hWIJt55RhxrTiNBMn1vsZklz3KatmGvPbqEZ1eQE_envk5AnTTR2Ys1byi_lymsNzGbcuR9w4ySPA9Sg-GzsZsA3z6TFuOcS-orW2sxA2DnZQi3fRgFj5j1q5ju7YQjzDhDnKYrPMBbMjSPcZv7F-QC5liTyILx47YPKdom9A4Q6AamkRP9A-kom7VAYw3ogc6l6kIptzIXQEC1YjWIee5NNFGyQWc78VKVJXCz1Xs8JZittKs8AD5pMzkHH9mcZ_Ptwiwy1xskCQV461seDR4_btvceovNIp8mp1hRggTfIDcFcypptVYyfllnk7opsS3Oyuj7rB5uhw8A_tXj4VVNuZNStD_xz_XV34SPdOTDfRXj7aFZKWTjBhsrj2Vvl25FUGRelxHBiSzGKiLb-cSoHpI2tZSIuW6u98KduZ3-MbcLDJzU4I9kUWEVDFeRVXotP8eBg6-wUp0kKxm5uv7fEOctuOAkc-NzbvUkjeC0XUkz3b5onCpc4QbsqUcZFLuSsuUVY7CqcDJf81-S_tYOTDV1qvyTRGzXmBCVLpKh7iiML-bhMw0niYA4QNQ-UqZkLUeeo96eTNW7wMufLJW81dpBSB9mBxWEd0EfZabTyNA==",
  "id": "rs_090a2a85368c03b6016ab42871f85887d0b0efeca1c1ba4e60",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.205,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"I see an open red-lined safe, a yellow object on its right, and two plush toys in front and to the left. I’m moving the right gripper above the yellow object to pick it up first.\"}",
  "call_id": "call_nFX1bsPWQ410PW16JmBb56XO",
  "id": "fc_090a2a85368c03b6016ab428759b9c87d0a103b24d7ba9ba54",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nFX1bsPWQ410PW16JmBb56XO",
  "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]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.038, 0.9991, 0.6037, 1.7039, 1.1095, -0.1349, 0.4648, 0.3164, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0027 left_pitch=-0.0183 left_roll=-0.0031 left_gripper=0.9991 right_x=0.423 right_y=0.1999 right_z=0.1344 right_yaw=0.0341 right_pitch=-0.0558 right_roll=-0.0357 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.5521, 7.0085, 1.8584, -0.0611, 0.0024, -0.0171, 0.4171, -8.2803, 8.6769, 1.7753, 0.4371, 0.2515, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c85458fd211efedcbbeb7e294ad669a26488909be80ff3cbc062e560d7bf8af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ee7c7142305edcfdabc9ab9b2c8e6e2f2f52eff040a7c4045550c2c0a02662f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db1307c659b9c80d6cbed2c2ea54d08eab9bf05eec9049a147806f9a2a334666",
      "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, 0.6041, -0.3901, -0.0193, -0.0338, 0.9992, -0.0212, 0.794, 0.6075, -0.3962, -0.0193, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0015 left_z=0.1784 left_yaw=0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9992 right_x=0.293 right_y=0.0008 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, -1.3744, 10.1675, 1.9805, -0.0464, 0.1636, -0.0952, -0.335, -1.5795, 9.6479, 1.9365, -0.0659, 0.1587, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.038, 0.9991, 0.6037, 1.7039, 1.1095, -0.1349, 0.4648, 0.3164, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0027 left_pitch=-0.0183 left_roll=-0.0031 left_gripper=0.9991 right_x=0.423 right_y=0.1999 right_z=0.1344 right_yaw=0.0341 right_pitch=-0.0558 right_roll=-0.0357 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.5521, 7.0085, 1.8584, -0.0611, 0.0024, -0.0171, 0.4171, -8.2803, 8.6769, 1.7753, 0.4371, 0.2515, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c85458fd211efedcbbeb7e294ad669a26488909be80ff3cbc062e560d7bf8af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ee7c7142305edcfdabc9ab9b2c8e6e2f2f52eff040a7c4045550c2c0a02662f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db1307c659b9c80d6cbed2c2ea54d08eab9bf05eec9049a147806f9a2a334666",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCh9FaYQ8d0jZDXRf8HO9IpK0yx6ITLIHrgdC03W8BjDgJFvMKkWd1gdoFDhRJ0O82l8Y5FfcFKf4gjZR8Yd82RKnpescybFrzI72GzoxcyNitQhRPb7H5IdKXKyZ6RZGo0C1LDJGjBHT0ojDgymD6A49_VK6zS5M2AFkaO_sL5Eo6n5PTgleozE8fbuT_NMr9PJ5vjZVl-InXg5Io_pvaf6lF5ZJSTdSzpUb9GBVAsZq6sZE0u6OkkCBjUpcDTx4_OSbbj1cDngh0qcII7jvNsH4nUFFc9xlldE1-j8v9L6iE3w-Unx-ijLVBqo9LrKz0JUQ4-tOc9TzN9jMO_Nw-QnPwMwt4NyyHKePM1CINe_X8cAwe0TAeQIRWPBg7Gu6jfRLFC4P1SaAbBKB_hHqgYIQC6Vpp9R7V8T7HABUO09cdGANtR_53dmhgZTzCJ84pPi-0nbJjfEGWHE1Exdaf4QNenTyXhwwqeudeO1ZWNnmaSbQmDhDoCneTOgmdSYO2yPMitHkE-vPF5UQziOXUD_9WXJjTxobblP1owtrMT5V8IkVPVat532bUPCijFi7O_NhG3NWUqFP4TKVc5kVGhrtl2vnG1qwwtxjKAx5wr0TEpHY6M7EuhJJcZgeko95KuTYZsG1ELVWtPoVYVi0lxdzXUly2T_g83XkWwnxYYjFCtYZbrQ3VW80tdfBkNL1rha675TKwaPXKplRwD0cNKVlo2EBhJoVvG7RAYklCcczQVV1-v8FJ22sGbEDpCy-YXnU1wjtkikfOijlyGycWXQCfKCfKsX6XPLNATzH4_uRMHYUDxpwHykW2jXM6IBXei1F4GlBucNhg2xV-2u3RI8Qe0u9hi3r5FVYkKMfwuRw5J-sl3ANRb1v2C3oKT1Neni5APd-Tl8Dp-PUYiRSdYitHvTRR-5lX1QO9ZCvJNTEhh6Z6_-WLy2cEqJXl3u9KZVTTRwSU9rnVjJqOmijNojzN5-1nD5JCyxJTGudtlgGo_K7B4iRf5T7gNWtAfJk0sbp44bUl259SuvD8VvVma2GeaB3aBky0kz_96rvQJdw3_FnlyNOAPdCp1Ny90pqTP90ICD-Hx9AIDEUTQN4JTJm30kQO5m0uCbyNAZn0S3Ff5wD5IYjcbcy0SSYTMYCp8Fjk_KDFfQ2XU2Hj-FW7DolOaCKWUcEsvgHrsWn6Pb-EIr-XQ-yNxplpw6SlIaBIY0LmTpofPgJp46b10-QjkPmS0lqwW4zCujKrQAWpeswiGXXIsy5hiU1DpGAnkDCQhH8dpxersKVg7VQ71ukAy6Q8zT1CaKfrZF-GLVGw4EekvuN9v9DoL75hSlaiEmnXYSOn_x6UmynYuqjAgf1uxaK7hyjDjmGwlV6c73-05boacwu-E4sBipi5nsrgV6kACGzR6P0zyMZBpXFDSo3m3GBQKgMr1tjLd8QVL0yyUaAsRi3ibKRF6Km_iLnOqM4Mjut2-mq7mmSZi5ELpXs5DnxLbWnT9ZXIQ0Y5O0Mzmm_rB73F9cAMSvH82bcMariIHGkiaODaIzeZzlJkzQrz3UsbeApe8M-yZAFl2IN3XzswnLCc24gLo-x-JIOdg0bdHxACs59SUAGD8jur-9v9P2amxPDHZkqAOxUSXjHQMwR-grldreQFILgmg2vlg4MtulPN1DeZoKgssg2nhO21iJddLIwQKP3pcwa85U2QARSsy-MDoD-11-mY7FBYsanFGb6XSO-3J0xEJ71yx6ocfA2oUfZE2z-daLP2BlUNFOuHbaC6o5QwId3adw1b_dVybVx4s-iXr3dCwiB0Si21Bg6VauA05bjhxoWI681TVB1yR2zb381mjrlxc4fLCXuM2uiLEjdhzeNj6upvzGE_BYLbYvMnhgrc0_tgUCVCPmy1zZWLl-FsgSzxjQ02CYkvPOhyBDY7muEb_3uWpeUnEN6g==",
  "id": "rs_090a2a85368c03b6016ab4287a2f0487d0be2f3f89931f2cb0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.205,\"right_z\":0.035},\"note\":\"The yellow object is centered between the jaw columns but still ahead of the fingertips. I’m advancing a few centimeters and lowering to grasp its sides.\"}",
  "call_id": "call_L5dlV5yI5vUi0sHT0qW63prQ",
  "id": "fc_090a2a85368c03b6016ab4287cbd0087d0990ea01dcd6d20bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_L5dlV5yI5vUi0sHT0qW63prQ",
  "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]: [-0.0189, 0.7975, 0.6067, -0.4091, -0.0193, -0.038, 0.9991, 0.5659, 1.9862, 1.0573, 0.1413, 0.429, 0.2878, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0015 left_z=0.1743 left_yaw=0.0027 left_pitch=-0.0225 left_roll=-0.003 left_gripper=0.9991 right_x=0.4461 right_y=0.2006 right_z=0.0299 right_yaw=0.0374 right_pitch=-0.1192 right_roll=-0.0676 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -1.1282, 7.2, 1.7167, -0.0366, -0.0415, -0.0122, -0.7726, -9.2376, 6.2017, 1.8193, 0.1734, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de8218bc898358edccba623d8aae54a97f58ed0ef05b42d95944001996430ffd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7623399c44396df5b0c818c2f8d5aaf8358f62c8a67cad760ecd2295f3c5b2dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8851738cd684fb0488a5686a22f9f3a4f9320f3431f61585f69c2bd418b83fe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.038, 0.9991, 0.6037, 1.7039, 1.1095, -0.1349, 0.4648, 0.3164, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0027 left_pitch=-0.0183 left_roll=-0.0031 left_gripper=0.9991 right_x=0.423 right_y=0.1999 right_z=0.1344 right_yaw=0.0341 right_pitch=-0.0558 right_roll=-0.0357 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.5521, 7.0085, 1.8584, -0.0611, 0.0024, -0.0171, 0.4171, -8.2803, 8.6769, 1.7753, 0.4371, 0.2515, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4091, -0.0193, -0.038, 0.9991, 0.5659, 1.9862, 1.0573, 0.1413, 0.429, 0.2878, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0015 left_z=0.1743 left_yaw=0.0027 left_pitch=-0.0225 left_roll=-0.003 left_gripper=0.9991 right_x=0.4461 right_y=0.2006 right_z=0.0299 right_yaw=0.0374 right_pitch=-0.1192 right_roll=-0.0676 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -1.1282, 7.2, 1.7167, -0.0366, -0.0415, -0.0122, -0.7726, -9.2376, 6.2017, 1.8193, 0.1734, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de8218bc898358edccba623d8aae54a97f58ed0ef05b42d95944001996430ffd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7623399c44396df5b0c818c2f8d5aaf8358f62c8a67cad760ecd2295f3c5b2dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8851738cd684fb0488a5686a22f9f3a4f9320f3431f61585f69c2bd418b83fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCiCC3trq1iKCn2ggUPfsa0zk9shqXoGnOh7Tt4Sync_trAE56N8MHX9iLKq_v_qlGTekn4b0tWSlqfCPcDJ_5IoJDLeG3_TBPpcztTpxSQAWLe-vkrofTjyZn2sRqRIEImIyaW-K9BXGxeBeDGHgvuzkWfQQVlYlaBxU9a8n00v22lIRqwexkvO9Rve5EQ0RclxzfL-k1OIBBQD4r1NsFiEuFR8fjqnxpWhCmM6M906GjAj_R_VxIos5X-C05W-W8YHDqkGpfkbmCxQi0VuQU-OLd5pZHEwCceuq5C-HC6c8Bn3q9ChJoxtS0fb2lnjaiDS9wcHOGzcZofyqqN6WHH_uCsyC2UzAm-KQCheC6FwFjpPCLilOWN4bpVCXZRchog_elLIbP7wzolj3S8hCOLZ7XlEd8klMgO9QRLAnv4Lb3J_nbBAeccNB73hL_3K2sicxQWNy_PLBxUdYA3dZq0Usaoqx-yBSV7xAH0vbCNhEhw0Gg7QCDc2YcfyunrTo8IXYaz1MSDnsccOC1O6tmlyHRvOrE_KTS4Cfknf1YaL_EDZLLL5mlayfGUWgAu2tM6Jp5loUoXpWktCncJyh6FkiUtA9HlxeCYxvAMEvHU0cTmltghyNLwlTv7CGbwqMaKNRLzWhmU1V-2aRPBq3aJqoL4mvJUPjt3uCehpNfXVSHgK9aSQtXVbjRDzX3dWBn0iodxmXkP9ky4A8vlRwRHLwXjYqX0Q7CLsHY9Eyk0_7A3sMMjVbjzPVXKY0wvXI0AIm4VIMFZNDPMt7gGVOjj5qtrPVHLsBgU_s2qRKlR1RdzPjETEHV0zPD-5K1gA_0YY9_UbFDarwUP_BBXlT0XhCy7sbk1zrgXyAY93xubxKPLFCR34c1BG0ABBVjIs58jj4qqgV0bs3YVWjbcSPdSneWqeYsZh45QmEgBr2HPDMxSq-F-d4wHntuQk7hu_KYc3mQ7rk7G8Ckjt_NWBcYgJ4NZo-qm7vtRA7gaBvmvULedzRSOQYk2qjbuNwHn_4iJGXdxRIr7x77bkxOODMJqyGXQsQ2kKbkYyV6AhAhcvzEyHboL_OBjPVKncUAEfoCtSR3zCiyFHhMBb1UM8ngEshLcMHMt9RZtjJyzBgXd4Lwarr8U0cmLlKc-qzTZSGRH3yYaNgaXbWL0BoT3jM4xYXQPXSBTIJZ-HIX2-SswiW4HtumqN9gDk18lQjzGQQC8dFJnbsxMuo5_YTHO908oz8BfMWlobqdVuhStHLoroPV5dqmbDp0fG56fYHSm6N5EonYDEoAtH_8QZ3jAA6x0nlLb4rKpyd9iBKzgVROIrI6JNn-OOXR8pqtAeO7lmn9O88e8YnmrBGr9UiSrsx5RfqlLR800BhAj4UYyA5Z3_SL30GMKGiH208PbyZwVOEYJtyr8m3mgcJOUQepsvt2WdjmpQ8ykTtSqNYUEVrzBCumEfHUsLFKuQ_clMAhpYsoyjF769Op4_hq12n2tlfDbc96nYL-VbCWdTuL5CSZ8XgDZpBIE2BbOj9WnL_nK0hdjQgV_MxMDYgCSbZCClK91145i7yPPA_W1369RDm8rNgidzCijlqZPBxpFkKyRBtlH7wFaPNqQYJM_HvCqJFwbc3KXZzLCbUjJOx_p1rKztexdOrcd_ryBlOGwkvAXZ4104F_dkNfmud4oTg7QijZdtNJfpXV0mDg8ONAsz85SNWM8=",
  "id": "rs_090a2a85368c03b6016ab4287fbfa887d084ff1108c8fc6f5c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.19,\"right_z\":0.012},\"note\":\"The yellow object is slightly right of center and just beyond the fingertips. I’m making a small forward-and-right correction and lowering near the table before closing.\"}",
  "call_id": "call_6MwIbKz38aJKR0N5fm6tcdR5",
  "id": "fc_090a2a85368c03b6016ab4288169d887d0808a903bd012f356",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6MwIbKz38aJKR0N5fm6tcdR5",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "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]: [-0.0189, 0.7986, 0.6067, -0.4141, -0.0189, -0.0383, 0.9991, 0.5186, 2.072, 1.1114, 0.1799, 0.3782, 0.2512, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.173 left_yaw=0.0026 left_pitch=-0.0286 left_roll=-0.0034 left_gripper=0.9991 right_x=0.4673 right_y=0.1957 right_z=0.0124 right_yaw=0.0506 right_pitch=-0.1315 right_roll=-0.0607 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.265, 7.0085, 1.7558, -0.0269, -0.0024, -0.0073, -0.9641, -9.3197, 7.6239, 1.3602, 0.4029, -0.1783, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:605df0c9c45014aad6246cbc52f8b5c8b3f18e16aaeae8e19755c535d4968387",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca2bc620340da24d18eef682e1f4958c1f8095525f40416d17520fa27fc3f879",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18a3422f7ac8d5c3a2eca6c482673a3b7a9914de1defb0fa885d2241f0de3471",
      "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, 0.6041, -0.3901, -0.0193, -0.0338, 0.9992, -0.0212, 0.794, 0.6075, -0.3962, -0.0193, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0015 left_z=0.1784 left_yaw=0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9992 right_x=0.293 right_y=0.0008 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, -1.3744, 10.1675, 1.9805, -0.0464, 0.1636, -0.0952, -0.335, -1.5795, 9.6479, 1.9365, -0.0659, 0.1587, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4091, -0.0193, -0.038, 0.9991, 0.5659, 1.9862, 1.0573, 0.1413, 0.429, 0.2878, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0015 left_z=0.1743 left_yaw=0.0027 left_pitch=-0.0225 left_roll=-0.003 left_gripper=0.9991 right_x=0.4461 right_y=0.2006 right_z=0.0299 right_yaw=0.0374 right_pitch=-0.1192 right_roll=-0.0676 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -1.1282, 7.2, 1.7167, -0.0366, -0.0415, -0.0122, -0.7726, -9.2376, 6.2017, 1.8193, 0.1734, -0.0952, -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]: [-0.0189, 0.7986, 0.6067, -0.4141, -0.0189, -0.0383, 0.9991, 0.5186, 2.072, 1.1114, 0.1799, 0.3782, 0.2512, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.173 left_yaw=0.0026 left_pitch=-0.0286 left_roll=-0.0034 left_gripper=0.9991 right_x=0.4673 right_y=0.1957 right_z=0.0124 right_yaw=0.0506 right_pitch=-0.1315 right_roll=-0.0607 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.265, 7.0085, 1.7558, -0.0269, -0.0024, -0.0073, -0.9641, -9.3197, 7.6239, 1.3602, 0.4029, -0.1783, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:605df0c9c45014aad6246cbc52f8b5c8b3f18e16aaeae8e19755c535d4968387",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca2bc620340da24d18eef682e1f4958c1f8095525f40416d17520fa27fc3f879",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18a3422f7ac8d5c3a2eca6c482673a3b7a9914de1defb0fa885d2241f0de3471",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCiFrBJ9ioLwd2IKsy9FgS8Vvp8On4Z14JpvqxmewvL1nwqucsjvTDHb_aQLZJrH5s_Mr4e2q1bw1F5GI3ntldIjmX2ssEJb_vXNfYwm5hL0urhZkANxcUkRMxXl5ce3YYf2TM3Y78LbX_n11jI_SMeg2pZmBz4_5XyavRJRLVGCU4BtcuZgb72oPSsT_960GEMKBWY7GdkvBNc0e_63FE0UkNFaRNeSsqX-xUYjNIAj0eyQxVSCDgw8OP9GHJaYvmXx-Sk69wwZOAiY9X1ggoNyA0US2MGUxHaSAAIrus4rRiyjIMVlUxXAtLOjVSjlWg-0xzv3JrIEZ8UJXxCDYFsL1_MDQEZTnAlLZSiirC-0wvm9lux4WSkhdwT7gqVa-SjmUSXMY9plgw1cpP1QMj-_ZKHqrPxwnTNGbIKY4wHLX9-r-Kh8K2DMlxK_V6fjgH4gk696-oVspmOofntk7hngj5wUtIrQWlBnAyptwDIWFtsDAQNsFsxWbE3_3UUeBgJRKucgOr00f67txhLtRzYBPmx_NmiXgnsoJfPjHVnRmD7Y7yP0iCpBcmpnSk56QCnJ24uFj9k0_ctywL-yB1GTYoG4CB7C7dQ1U6lR6mF1KAtpogSQAVFSyzaFiqtYfvmPHLJCb18JKcFXfKnMTRhse8RgO7QFFYlgOVPS2iPTJjM8H4jYjWI9M5OoEjXWFWknnN0wLbfa_y-oUDM0gxeLmIG7bEdusk9dnauEHkf-9Z74tvZyKA0s9T19uKEdRPEBliHTy8yXGSOT3tg32jRiERpQ8E7vWFPp5BzkmwimYhYfoUyNB_ZSf4KwudSnneRMKUDurwkWr8IDze3Qc7-oucolz4IipsFsns3Z2YRft_v8Lu3QRJzgmzA95ZtonOG23KqfTZW9O0r9bFw58rIC1XFOjye__CGVyDA8BE03Y7x7vp9IZ0Hpb9E2Wcxu9wg_tBaAHEw7Ef1xas_screZMQHsGb8Z_njfpVsCS8Ic6NOL8Mfkq_DEPVVzgNlv9-HMCkfX3dqJMc2TzyfhCpeuhy5P5bWpCcrpv0z8T-lhj7VqeZy4mtBJ1rvEJ2WIhQ7YuN16QMdjnZbaR6pmczvWZKmHr0sAleeztz6gKk2r0P60d3tQfJ71NaHytvtcpLyzMGsvLDUyNIaSKln9KuuC2QnaImLg5xW_tn0aFDFN9Vdx77k_QiIZUU4JziEymRN2e7TI2WEI0mFFzBsLys3c8myqwDJlDyuaWZuPeOwfaSEvpT2eKYa_v36sRFNXE5sr",
  "id": "rs_090a2a85368c03b6016ab42884972c87d0a6a319d5308760b7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object now extends into the fingertip region and is between the open jaws. I’m closing the gripper to secure it.\"}",
  "call_id": "call_I12Ssew6o0pT9VX3GGmqvuwd",
  "id": "fc_090a2a85368c03b6016ab4288513d487d0a2cccc545b03d98a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I12Ssew6o0pT9VX3GGmqvuwd",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0193, -0.0383, 0.9991, 0.5018, 2.0857, 1.1316, 0.1825, 0.3466, 0.2359, 0.5244]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0029 left_pitch=-0.0423 left_roll=-0.0029 left_gripper=0.9991 right_x=0.4743 right_y=0.1959 right_z=0.012 right_yaw=0.0681 right_pitch=-0.1334 right_roll=-0.0481 right_gripper=0.5244\nstate[joint_eff]: [-0.0889, -1.2239, 6.9949, 1.8144, -0.0562, -0.0366, -0.0122, -0.6632, -9.6889, 6.6667, 1.5995, 0.3883, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f1ecd6203727056bfcc32951f02fb7784a14727def911dc3e4e3c786b22f7c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcacd13e27aa7b1fd0e8a0e366eee785b7f0d67227dd9e65783759bdcc240ad2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38c1277471831771a391e4ba84e6c68a84dc1db5473cfa75a2faf4dc2c27b126",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.038, 0.9991, 0.6037, 1.7039, 1.1095, -0.1349, 0.4648, 0.3164, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0027 left_pitch=-0.0183 left_roll=-0.0031 left_gripper=0.9991 right_x=0.423 right_y=0.1999 right_z=0.1344 right_yaw=0.0341 right_pitch=-0.0558 right_roll=-0.0357 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.5521, 7.0085, 1.8584, -0.0611, 0.0024, -0.0171, 0.4171, -8.2803, 8.6769, 1.7753, 0.4371, 0.2515, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4141, -0.0189, -0.0383, 0.9991, 0.5186, 2.072, 1.1114, 0.1799, 0.3782, 0.2512, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.173 left_yaw=0.0026 left_pitch=-0.0286 left_roll=-0.0034 left_gripper=0.9991 right_x=0.4673 right_y=0.1957 right_z=0.0124 right_yaw=0.0506 right_pitch=-0.1315 right_roll=-0.0607 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.265, 7.0085, 1.7558, -0.0269, -0.0024, -0.0073, -0.9641, -9.3197, 7.6239, 1.3602, 0.4029, -0.1783, -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]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0193, -0.0383, 0.9991, 0.5018, 2.0857, 1.1316, 0.1825, 0.3466, 0.2359, 0.5244]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0029 left_pitch=-0.0423 left_roll=-0.0029 left_gripper=0.9991 right_x=0.4743 right_y=0.1959 right_z=0.012 right_yaw=0.0681 right_pitch=-0.1334 right_roll=-0.0481 right_gripper=0.5244\nstate[joint_eff]: [-0.0889, -1.2239, 6.9949, 1.8144, -0.0562, -0.0366, -0.0122, -0.6632, -9.6889, 6.6667, 1.5995, 0.3883, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f1ecd6203727056bfcc32951f02fb7784a14727def911dc3e4e3c786b22f7c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcacd13e27aa7b1fd0e8a0e366eee785b7f0d67227dd9e65783759bdcc240ad2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38c1277471831771a391e4ba84e6c68a84dc1db5473cfa75a2faf4dc2c27b126",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCiJelgo_Q_IuW0PwR-Qxqa3_UjoJ7cU7ZsxrXHqDbOID3pHzycIWuaNMAtgpb4AqfiVG3keZkxA9TQgqo241jI1LWE6zO0LlQuUDq7NrcJNX6xKR7z4UyKrzxb4eyS56ZcNvf0O2g9Q1GyYYjbuNIHHNSIzmu_zWVGZGkljbt3kbolzY0_5o94_3KL1a6trzgLhVzKHpo5YJgb4lA-hS2ZtWLMnYGiRR_LfyndIBh15rI-7iLyM3PpPw-mV8heXFUFk7RlTdKiRvtoHvniTAmIwgyw4xn4a_zQUgI_MqrU8nsX2hjSRjmE5RxXuZW4usKTObgqK_TYBrQ2HnFc0KVXaeyHmjIfqjX17CvKN0pIkFTuQGmN8FDa6GsgJ4OP5-cdCqw58Hcm7FYdi4CGIHSiw3U1KJSu2tkmwrzAHQ0rLycokk1j5t1k03PTJqiEJ1FRc2IF9NsEoEKmNsqa70Ev4qWg6ks73AVtirTA14we7pUQqb1ctmBRVOoVjf8XGHfUZvN0tJG14vzGaKZc_6E3xi8hjcl5wxNVn9NVoUwqe6vdPzSVDi7R5wTmq777SquwNoBd1ITlSlVYg76Uh2oCohdRDxZa4bYfcX3oe8E_7mT0KAYEShL78u4_oU9EuUPBiJ0ZT-7zzG3CWxJDpHWqKeqJojfAc3j4OoIGSVbNp_9FwRfDTgRu-oaZ215MmGqiXSm_KGf9U4GZJ47haybo3JCCeZZ1EYqifyEF2F6uppcIHCe8ke6LzT39De4O-Fd5qG4_yFqiQ0tadQQhH_HDsUKtSNooyYBdCsU9E2Yv6CYGqYlN9u3exNXS4eecHOE_EIex8VJ7vvfbUaEaE3EzBHExZBFQ63VY5k6AGX-ONXhbJkmkL9Lr_wOjUqSGNWkHCg1wE_yrOHpO9u0OpgCgP1auCCX213n-GeapPjV9xaSdcP0MHmDHz4uVuqdgWFEvNIcl2R2RKPbflv_AlUqjejRJyW6QLHwTJ107e_Nqof-fpqvAGzRJkkDeUyF0UZzEar2u7-4H8OrsPw1M7lAbOkIoiONtbFU9K4PHkt0GJkBhJOMBgZSBtPL54SUZ_eYhQcKCM98vjZjIJrmXnLqtBhQVB8TEOpCSr6U6jqe3ThIy9JZEy1APJRjm0TdjBFkbHmh1QJmntwbqbtMNSYLUbv3dQF9npvIuzfzukrTqZKx_GJ8GLSs3D8IwjluEkmNnmUVVXDb4Ws0G5cEqXUe4nmM0wWwQ7dQ2XPt6pqUtKwY7Ps2pkmyawOwGAerXJ9E_s",
  "id": "rs_090a2a85368c03b6016ab428881bc487d0a6127610c9bc249f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The gripper stopped at about a five-centimeter opening, consistent with holding the yellow object. I’m lifting it a short distance to confirm the grasp and clear the safe’s rim.\"}",
  "call_id": "call_E5P8Y2A8k1r1OWlygpqn8pbY",
  "id": "fc_090a2a85368c03b6016ab428887c4887d099f98debdc229e09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_E5P8Y2A8k1r1OWlygpqn8pbY",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4355, -0.0189, -0.0383, 0.9991, 0.5026, 1.9831, 1.2079, -0.1043, 0.3363, 0.2337, 0.5279]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1687 left_yaw=0.0026 left_pitch=-0.05 left_roll=-0.003 left_gripper=0.9991 right_x=0.4591 right_y=0.1899 right_z=0.043 right_yaw=0.07 right_pitch=-0.2346 right_roll=-0.0889 right_gripper=0.5279\nstate[joint_eff]: [-0.0068, -1.2376, 6.9949, 1.7558, -0.0464, -0.0317, -0.0122, -0.0889, -14.3658, 9.5795, 2.0586, 0.1978, -0.0073, 0.8913]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a21a6a4494f40311606cef87f1a1ed7786fa2087be8f444d2221af9b38f9a390",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d1f82972da2310b44a4eef45744a6cfe1a2e993881c11389cafea6f89e4af9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6599d8279321d8d7db86619b722d1769f06dad058990662c7d0453494d407e7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4091, -0.0193, -0.038, 0.9991, 0.5659, 1.9862, 1.0573, 0.1413, 0.429, 0.2878, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0015 left_z=0.1743 left_yaw=0.0027 left_pitch=-0.0225 left_roll=-0.003 left_gripper=0.9991 right_x=0.4461 right_y=0.2006 right_z=0.0299 right_yaw=0.0374 right_pitch=-0.1192 right_roll=-0.0676 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -1.1282, 7.2, 1.7167, -0.0366, -0.0415, -0.0122, -0.7726, -9.2376, 6.2017, 1.8193, 0.1734, -0.0952, -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]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0193, -0.0383, 0.9991, 0.5018, 2.0857, 1.1316, 0.1825, 0.3466, 0.2359, 0.5244]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0029 left_pitch=-0.0423 left_roll=-0.0029 left_gripper=0.9991 right_x=0.4743 right_y=0.1959 right_z=0.012 right_yaw=0.0681 right_pitch=-0.1334 right_roll=-0.0481 right_gripper=0.5244\nstate[joint_eff]: [-0.0889, -1.2239, 6.9949, 1.8144, -0.0562, -0.0366, -0.0122, -0.6632, -9.6889, 6.6667, 1.5995, 0.3883, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4355, -0.0189, -0.0383, 0.9991, 0.5026, 1.9831, 1.2079, -0.1043, 0.3363, 0.2337, 0.5279]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1687 left_yaw=0.0026 left_pitch=-0.05 left_roll=-0.003 left_gripper=0.9991 right_x=0.4591 right_y=0.1899 right_z=0.043 right_yaw=0.07 right_pitch=-0.2346 right_roll=-0.0889 right_gripper=0.5279\nstate[joint_eff]: [-0.0068, -1.2376, 6.9949, 1.7558, -0.0464, -0.0317, -0.0122, -0.0889, -14.3658, 9.5795, 2.0586, 0.1978, -0.0073, 0.8913]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a21a6a4494f40311606cef87f1a1ed7786fa2087be8f444d2221af9b38f9a390",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d1f82972da2310b44a4eef45744a6cfe1a2e993881c11389cafea6f89e4af9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6599d8279321d8d7db86619b722d1769f06dad058990662c7d0453494d407e7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCiORXa8EwDQgMPt_xGgY5IqHm3rPexo8DF4Dd8DSK47dmLDPtGGuRJxfEoLfDS6n_GGwTodHCwehfl0oBSRBYXdpmZ7yDmoSI9cecRDnyg5wSCVHpSGN8phogD-T3fw03JTStWSzb4trcB6nFaDluakBc_0IZLxBxOq4wIMFUt-DYLc3lBAvSVJ35p3xTs_ZH58UNpvNV7nUo_qpP4vYdr5CqGo8g_fTCAefq92-Y7ZVf0WBBxsPWz1X-GgqtOalglh1J9rGuuwk8eY5Iew2daWBF-21jOUUYwGGo1pZ2SOpTTADuanWQgW3qu3RqGsIophkZq_iM1LNeynWf5c2EVk453D105iRffCmS3-Q-AEOwstJxA1ja8Tzkc1W83pv-jiD-_t88ybbhhkke0y4r9hTwDDYHN3ujMlL8uU9gpA5wjr3xNhAlV2h1Ix4va9-N2n7jhtOFvoOFEfHB5jDyldFT2UW_3mpzU3pv-EBSTSGzBN7Y5NsNy2mr7jTsEvBinxWsnTe9uoGS189nCZ8mwqPVMQfHT-6AVYqbbyWK2juq69baxEu-eyYJWHXsdobl-ibYS6u11trrswIQ4IftU5foF4Sk_qs4yHI3uxIQExytpxJK09ghFv6f7-1OfmdzVpnvn4YtsJ2gqJ6ejoTYY7OZD8UZBy0wOFOgWE0Jxlj-75W31e-PoD7rHr8k-wpsVqYz7de9JvsZGO-G7rM6GgGXFgygnmhyzzZtAGOwN9sT0HkF_uAIudCqdgZcNHavJHFtragY6G62hZo__Tnr4LknE4GPkrNvSt9jGfdDof_fV6as7GeoCPzUEASDBdlrMuOhkMqfZqB1YYLbR8-q7zioX_HaTZsiH9LiH3KxuuYTF6iDmRce8ADNmDQ4fuRc7YQU1elptxR2txn2A7uQfbQtGwLZvFO6n-0l_d1sgkwEJsTJRdxMpOW2ldl9mbLxb0oiHdV9YCwaxHo8M7o2m3Ct8UwqscWzN4Kg1xjmaHAmKq5U74VKShgFX4cWqapbs3VDtABLhcl69czMlw5_QsX2KA2w6evlvkRm4lrRn6ZmvOElaR6RPyKvqhyblFt5Tr-f4T-8WxfwXgZQiw7asggHjbqgMsFjAuROFHHeTBAxcUTlTOVjQqob8KCZFi6FiKeAfl7ZSs4hizriAm5F56FVKeCDTaIkpihCvFGSaAlYzYfa82SaGZn0M8bT2Gi6GDKXWuzeRwozquPoJgqUJghzkqZ8YsEtixf7UXwH230Nyzi3rH9oh7n4mUfujna4426Cet6aFeCaXEl0_IDqr6Nsmck_OEv8OLKBTsIZNPjfoFG_w5N9olinVK8PcPL0ijhxj1lfNhwyQJXNeTGy_hp5PVWFtzZG0zQUxETqxWgXDDvQX9OuvJjh1eCot012Xuz688xIV3T512no00c2uEshHUHl4lcLJClACDFpfDmyy3YZk4qWhe4VY6pGR2ntJRP2su_nbJG_jGetjPTFuxROpslwfNGuvu5Mh_2mpTW3flbfCOslAnyY1IfDTxmVh5ZnvfTvPw9jz6-voomQRR9O-a_xEHAXSP-KJD9Gj6gSk=",
  "id": "rs_090a2a85368c03b6016ab4288b2f6087d0af49fd5a91008f1c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_z\":0.20},\"note\":\"The yellow object remains fixed relative to the gripper, but the lift is lower than requested at this long reach. I’m drawing the arm back slightly while raising it for transport.\"}",
  "call_id": "call_JhiGZm67i0CZGfcDOzP5Pxw1",
  "id": "fc_090a2a85368c03b6016ab4288c880087d0b799c90d953b6e69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JhiGZm67i0CZGfcDOzP5Pxw1",
  "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]: [-0.0189, 0.7994, 0.6067, -0.4511, -0.0189, -0.0387, 0.9991, 0.5507, 1.7893, 1.4384, -0.7601, 0.3737, 0.2279, 0.528]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1653 left_yaw=0.0028 left_pitch=-0.0664 left_roll=-0.0029 left_gripper=0.9991 right_x=0.4 right_y=0.1741 right_z=0.1318 right_yaw=0.0553 right_pitch=-0.4284 right_roll=-0.2317 right_gripper=0.528\nstate[joint_eff]: [-0.0889, -1.2923, 6.9812, 1.8486, -0.0171, -0.0757, -0.0122, 0.4034, -14.4068, 11.4803, 2.3468, 0.1441, 0.4518, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06c3ff350d0cd29b80f52f4f9ae91da9a62c434beedafcb7ddf7b312d0c79d67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9004fe6fde199fcfb086f5227f3aa392b5747054c6b9a44e8856a8511cc453b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06729da29801f833fb9d48968f3c713c84cfb73e47217c600e42577cb8f74f65",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4141, -0.0189, -0.0383, 0.9991, 0.5186, 2.072, 1.1114, 0.1799, 0.3782, 0.2512, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.173 left_yaw=0.0026 left_pitch=-0.0286 left_roll=-0.0034 left_gripper=0.9991 right_x=0.4673 right_y=0.1957 right_z=0.0124 right_yaw=0.0506 right_pitch=-0.1315 right_roll=-0.0607 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.265, 7.0085, 1.7558, -0.0269, -0.0024, -0.0073, -0.9641, -9.3197, 7.6239, 1.3602, 0.4029, -0.1783, -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]: [-0.0189, 0.7986, 0.6067, -0.4355, -0.0189, -0.0383, 0.9991, 0.5026, 1.9831, 1.2079, -0.1043, 0.3363, 0.2337, 0.5279]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1687 left_yaw=0.0026 left_pitch=-0.05 left_roll=-0.003 left_gripper=0.9991 right_x=0.4591 right_y=0.1899 right_z=0.043 right_yaw=0.07 right_pitch=-0.2346 right_roll=-0.0889 right_gripper=0.5279\nstate[joint_eff]: [-0.0068, -1.2376, 6.9949, 1.7558, -0.0464, -0.0317, -0.0122, -0.0889, -14.3658, 9.5795, 2.0586, 0.1978, -0.0073, 0.8913]\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]: [-0.0189, 0.7994, 0.6067, -0.4511, -0.0189, -0.0387, 0.9991, 0.5507, 1.7893, 1.4384, -0.7601, 0.3737, 0.2279, 0.528]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1653 left_yaw=0.0028 left_pitch=-0.0664 left_roll=-0.0029 left_gripper=0.9991 right_x=0.4 right_y=0.1741 right_z=0.1318 right_yaw=0.0553 right_pitch=-0.4284 right_roll=-0.2317 right_gripper=0.528\nstate[joint_eff]: [-0.0889, -1.2923, 6.9812, 1.8486, -0.0171, -0.0757, -0.0122, 0.4034, -14.4068, 11.4803, 2.3468, 0.1441, 0.4518, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06c3ff350d0cd29b80f52f4f9ae91da9a62c434beedafcb7ddf7b312d0c79d67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9004fe6fde199fcfb086f5227f3aa392b5747054c6b9a44e8856a8511cc453b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06729da29801f833fb9d48968f3c713c84cfb73e47217c600e42577cb8f74f65",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCiT7L3iKpzgCMDVJYlufkiWegxyxbdcwYPGpIcCPVNO1Tu0szzjnJx1h3gQXLIwD4BkXnlUle66JM3JjgA0-HMCOWTTwsR1MEjZ563BsvVhE_Y1D40yyZRI4VvLU1fhv5tUsRffAiiS7JAAouFuPZCOLdrxsIe_R_1xg7i8uRnBBdUwqlAIbANCHF-leEmn-g3S8BQN3uywbhfrBLjhLBNxqCzMo34GVvKQZeFbnkNSMUM954UdenGoSplA17uXLkQQxRFncWpgKfhMR9tfmy2SL8hl_nzV-cavmrjDIEJVMpuU-HQmPLw04wnPZlOJHB_j8p4m74Pcxja3HNbfZvTaf8MgZZ_4JYjWk_DvIy6NsHl9TH-FE1hwzS3zbiLFx1PnWPMzDN46y1VGwcYGC3pPBc86oUS4cO-KdQTqQechM49UUHGKkMaJ7A4Wmz2mpk9QgBQJBCLfhC-AzfVDvblSKICE7Wm5xOWJLNLBe72vsXZiGCNfbp0l7cLLHj_QEWejr4S5vLsgwe0Q-ki9JGoM55aUg-ra1U_KndMiF6EEgHF7j9i4V5__2_PU_5WW-WFgAadwItIZa5maYYLuBTF_Ye8BYV31kTZ31AI-XnQl5zGqOnFNBDG-n_csfAIafhsPow09GkfGnwC2EluJ9cCV0pTfJy9s6MLt2fgguzeiqY7sxJwdyv09wKSQ03zDJOXDJdtBxfYtmPFzTAh7zSv6CBqz7FHvh7WeKycweBMZTyaYZl6ElTwTCl8j14aoiXh30ya4gCZmStmbt0A6p_7nIGrLYG_LmrMWeNs1LBjxm5_OYZX9p5rycuygxpmjcjdinujR1dAf2zyZaD4YuzB7Tf_-wByY8_fO70cLL_Hp8EZggt72kMzWrwJk9iuPIw1GSmMn-JdVJkeb7n_fB0XnMiVA9ypREhLoPDY90HSt7Dlh3b2y11wCtAikDR9LjsF0b5Bb0645JPpPT2000kHfJ3yQNSBSOPNQPP4oHjAsjhmYPi7O5_js7J2lJJ4CFowf3Eu_UKmYdgNjvln-1nR8Sw6Uqz753lLxdUwRGlO1LbLMpcKOfxwOueZXCE3Vf84s5ispHfAvPFHYBdWHCDEpa2teqrYTsZv5bPuNeflDUgtc_AdvZ3kGRmF6yv8eTXsQmdNLPw-x8ziKZaVxKk5xF_zM3auSEknMbUGU8OerMCDvzKnRF0a9fPZejukwYiwxl2_IfR12v8jyXgBBF3zZHyQxT5arD_sCiPXNsTiPpTquULxzupiw3VzTcVjh6lSy2wjGVBqUiL3kIYfxLbIxYaqJWaKBYQWk4mIHUeApPxmA-ArN3SAH90Ob2WgDQL7PpiuGusy4iE0iOfcbaR7GfsHhdYO_gcqCdR5JhGxy781DUFtpQmzy-UdSodKHYQ7ALAckSqannGINIKuIGs0-ub59xJ0MG9zrFVucCLPJh9r-IHUvyOynzPqr7tY1XwNLyBiwtgsG_1U_aWnlOgP_eNET3_LBVOnNG6YmOgLnJcxNRVbFKiEyrDXYyt7z7_PQXxB35EqkLE2nrfTpVaeoP-QNtrm6UBv23KMeVOURsJmEwQ4zVtfx4qDh2s-7cDZXG5f_6ZOle_fQD99fiZz-ZhVKF5nPxUKdLPNYaFKEOcHNSLg6HqHy40UEDk-yZukmMGNvysA_p8Cf6YOm1rCSsEeG5ZBcdhULGh-0CGDvpmxGUFlNu_IW03cUgxTTwRe4",
  "id": "rs_090a2a85368c03b6016ab42890ca5087d0b9dcfbb310e8e596",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.02},\"note\":\"The safe is lifting with the gripper, so the jaws have caught its rim rather than cleanly picking up the yellow object. I’m lowering everything back onto the table before releasing and changing the approach.\"}",
  "call_id": "call_hdAnaliQ0Qi2raiuSJjrgaIj",
  "id": "fc_090a2a85368c03b6016ab4289275b087d0a4dfd7d52d267a2e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hdAnaliQ0Qi2raiuSJjrgaIj",
  "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]: [-0.0189, 0.7994, 0.6067, -0.4583, -0.0189, -0.0387, 0.9991, 0.5507, 1.8915, 1.1625, -0.4046, 0.3431, 0.2283, 0.528]\nstate[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.1639 left_yaw=0.0028 left_pitch=-0.0736 left_roll=-0.0028 left_gripper=0.9991 right_x=0.3922 right_y=0.1753 right_z=0.03 right_yaw=0.0749 right_pitch=-0.4611 right_roll=-0.2161 right_gripper=0.528\nstate[joint_eff]: [-0.2667, -1.0325, 7.0496, 1.7216, -0.0513, -0.0415, -0.0122, 0.0342, -6.9538, 5.3128, 0.9158, 0.4078, -0.0708, 1.0085]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b03dbf5aaad59f3ca0d1a040c7467a619e6776a33acdd6e19442f8dadeaeee8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:314286df65a87f1221d75af14559fe231675b9c4fb5cefcc12c910f920836c54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fabaade8ba16cd018319c05140f3f53f98f935cd50b855c0c924057efce6174",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0193, -0.0383, 0.9991, 0.5018, 2.0857, 1.1316, 0.1825, 0.3466, 0.2359, 0.5244]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0029 left_pitch=-0.0423 left_roll=-0.0029 left_gripper=0.9991 right_x=0.4743 right_y=0.1959 right_z=0.012 right_yaw=0.0681 right_pitch=-0.1334 right_roll=-0.0481 right_gripper=0.5244\nstate[joint_eff]: [-0.0889, -1.2239, 6.9949, 1.8144, -0.0562, -0.0366, -0.0122, -0.6632, -9.6889, 6.6667, 1.5995, 0.3883, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4511, -0.0189, -0.0387, 0.9991, 0.5507, 1.7893, 1.4384, -0.7601, 0.3737, 0.2279, 0.528]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1653 left_yaw=0.0028 left_pitch=-0.0664 left_roll=-0.0029 left_gripper=0.9991 right_x=0.4 right_y=0.1741 right_z=0.1318 right_yaw=0.0553 right_pitch=-0.4284 right_roll=-0.2317 right_gripper=0.528\nstate[joint_eff]: [-0.0889, -1.2923, 6.9812, 1.8486, -0.0171, -0.0757, -0.0122, 0.4034, -14.4068, 11.4803, 2.3468, 0.1441, 0.4518, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4583, -0.0189, -0.0387, 0.9991, 0.5507, 1.8915, 1.1625, -0.4046, 0.3431, 0.2283, 0.528]\nstate[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.1639 left_yaw=0.0028 left_pitch=-0.0736 left_roll=-0.0028 left_gripper=0.9991 right_x=0.3922 right_y=0.1753 right_z=0.03 right_yaw=0.0749 right_pitch=-0.4611 right_roll=-0.2161 right_gripper=0.528\nstate[joint_eff]: [-0.2667, -1.0325, 7.0496, 1.7216, -0.0513, -0.0415, -0.0122, 0.0342, -6.9538, 5.3128, 0.9158, 0.4078, -0.0708, 1.0085]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b03dbf5aaad59f3ca0d1a040c7467a619e6776a33acdd6e19442f8dadeaeee8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:314286df65a87f1221d75af14559fe231675b9c4fb5cefcc12c910f920836c54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fabaade8ba16cd018319c05140f3f53f98f935cd50b855c0c924057efce6174",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The safe is back on the table. I’m opening the jaws to free its rim before moving to a different object.\"}",
  "call_id": "call_nxKPxfmFI031jXOLYg4iBJg0",
  "id": "fc_090a2a85368c03b6016ab4289688c887d0bb17925759a71f8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nxKPxfmFI031jXOLYg4iBJg0",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4606, -0.0193, -0.0387, 0.9991, 0.5484, 1.898, 1.1564, -0.3717, 0.355, 0.2276, 0.9946]\nstate[eef_state]: left_x=0.284 left_y=0.0016 left_z=0.1635 left_yaw=0.0032 left_pitch=-0.0759 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3972 right_y=0.1749 right_z=0.0294 right_yaw=0.0679 right_pitch=-0.4384 right_roll=-0.2168 right_gripper=0.9946\nstate[joint_eff]: [-0.1436, -1.0735, 6.9675, 1.6972, -0.0757, -0.0415, -0.0073, -0.0479, -10.0718, 6.3111, 0.735, 0.0464, -0.0562, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69e716cd73d96f62b181819abbe605896b561264c4c704acbc900baf1a9a8162",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d19a6410eede77e6f316b290b0c0247b62fcac938cfc977b2e47c5134f756084",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f01645de796636daca574cc5bc230a41d410057dbed8ec38006fb0b332686d18",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 22 changed as sent

message 30 changed as sent

message 33 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4355, -0.0189, -0.0383, 0.9991, 0.5026, 1.9831, 1.2079, -0.1043, 0.3363, 0.2337, 0.5279]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1687 left_yaw=0.0026 left_pitch=-0.05 left_roll=-0.003 left_gripper=0.9991 right_x=0.4591 right_y=0.1899 right_z=0.043 right_yaw=0.07 right_pitch=-0.2346 right_roll=-0.0889 right_gripper=0.5279\nstate[joint_eff]: [-0.0068, -1.2376, 6.9949, 1.7558, -0.0464, -0.0317, -0.0122, -0.0889, -14.3658, 9.5795, 2.0586, 0.1978, -0.0073, 0.8913]\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]: [-0.0189, 0.7994, 0.6067, -0.4583, -0.0189, -0.0387, 0.9991, 0.5507, 1.8915, 1.1625, -0.4046, 0.3431, 0.2283, 0.528]\nstate[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.1639 left_yaw=0.0028 left_pitch=-0.0736 left_roll=-0.0028 left_gripper=0.9991 right_x=0.3922 right_y=0.1753 right_z=0.03 right_yaw=0.0749 right_pitch=-0.4611 right_roll=-0.2161 right_gripper=0.528\nstate[joint_eff]: [-0.2667, -1.0325, 7.0496, 1.7216, -0.0513, -0.0415, -0.0122, 0.0342, -6.9538, 5.3128, 0.9158, 0.4078, -0.0708, 1.0085]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4606, -0.0193, -0.0387, 0.9991, 0.5484, 1.898, 1.1564, -0.3717, 0.355, 0.2276, 0.9946]\nstate[eef_state]: left_x=0.284 left_y=0.0016 left_z=0.1635 left_yaw=0.0032 left_pitch=-0.0759 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3972 right_y=0.1749 right_z=0.0294 right_yaw=0.0679 right_pitch=-0.4384 right_roll=-0.2168 right_gripper=0.9946\nstate[joint_eff]: [-0.1436, -1.0735, 6.9675, 1.6972, -0.0757, -0.0415, -0.0073, -0.0479, -10.0718, 6.3111, 0.735, 0.0464, -0.0562, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69e716cd73d96f62b181819abbe605896b561264c4c704acbc900baf1a9a8162",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d19a6410eede77e6f316b290b0c0247b62fcac938cfc977b2e47c5134f756084",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f01645de796636daca574cc5bc230a41d410057dbed8ec38006fb0b332686d18",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCidCdcPrCr9lWm0jQ7ZIirVW44-BdSpYCZv-_i6v7aLvMJBz5tkz8krVVdvVE3_h--NZBoANEIK0q43flJRuidRG_i4hplG7bNOE6Gzz0_AS7EanqxN-tFfd7r6XQXKt5CQeOWi5oGbxCxv_HctjktghFaMJqVn2vwAUloz7aLIz7cNjmGVgjXcXnQufvYLUWgAn8pe8by0wQjKqU2BnKjzPval3NUVcHSeuMU2jyHqXrKQxuTLFeDOzcdoq_IofMXgm3VQh6CopHloTQOdIDOsz8Miq295E3ChVYqrNEMxMnTVv0UEZEuXTwvEiL5L8tpK966EtNsF3PxJ6IycGTP6Ot19BYaUMcUpHiqfJDaq8zj7_zQG9EgwyQCDhybTTOa4WvzGolLxLMsgymMg-C4pi6CSeARzEmxSIKB7yeTCSxhW1FgTS5wO-ea2tMRyuQvwQlRl33FCGrnkgrjKgqo0MGM5oeGhg2J0lOhpKhhml2FF5byvZI9jczgBlz6MaanKbdsgHkC-1Azl8rgT7aNoRIM_nzkZGs39_P5chsHKfK1LVkgNqi6WZXPDcLHMJNLfv3Qdo8lXaB98uK9aN2lYlu87ruEy0jnRECMFIH85_o9W3Cko1jm_U3AoR85K2NDKTKpCE3mo5DB0rwCQ57Eoo3My9fFiGBfIVhkcx54raQGkk6AzxcsdjIL4baXOJikme3HD0YjqjjHTx8u88lPWelqsi7HZ0Hr0guErHxnVMrw1hQYBeLOnkOzQjphy3RPCcwPs7Afkgiokw9AvIXPGj6mqisNzddfY6kIqnhWi-PMeVZa3FdUSoQyHFw7YMpNoVIw2NUMJ-tfvgOk2ivgeBqGyUmmvc_ID58upjyeGD1xRx8UiF4xoW0DXBmpIVtN9raljpJ73m7SoLUkZMCfdX7R36aAZmGZTZno6NFn93YQJYW29hH2IWLJ3Rq8DT6JwsHWDa4pTcJO0qcQmxz81CT73wtVpTMsORGmEQDyIRFuwXS8Ea0ytWjxFUurfmr_vArVXVAlsgHNWTlk7PFuu1m_InDmbveakxy6ENqLSowUJro-FmMVo8doIhbQjXON0P3LKIZMPcEH7JWiYA2pRNNytzxMJAKYdfzX7rZRzPwZqQN_4xTKLb-iRn_Hksze1ShNgV2H_rU3bO9_U4LYLNOICteZcl-_GjsxWWKR-ufLvgbKaDyIUacmSBokRGXYd2Tnk55jXolqst40Ki_3Aq8BTg8BNdZ0qAGe7dsNQKGODXnQHSpHYkd-7TtvgwQAHsgCPXNZN75nRsnzJo3LtFnYR-GOeqJYu7jAIpV8SatoQLnDN91Fff8PlWY9X1esCprxisXrlRpo3MK1NTXvKKPqdGlZ-ArxUXh3V6wX5ySLxTWhKB1O0H-nZHU2gMKJMCoYsvCy1ENZgZx8q2TvGKIQF3M3pqk2QoI5KUPmRD8E82pVv56E-aDNZhtBkOWb2DymH8jfs-kWAH-hAIJwd7Wco3IsfUdimU0k9aQiQEAhxJmapWMMpDRAVrNscHrTTqSMfomg8eA6o1KEozwlG53gGQBy5GO6TcTvgy13XjHvxtAjzgtLXZ7_KDbsYx03N8ErW4ZAk_cD04zECwDL7W1y0emOza4ReoAvuxML77fotT98jDpGTvCnwOHASQ5T35i1rX0xNH6Lx7L2kPgQoYAsQLFfD-hXZBJ-uNTshmkK4_UiMGmKF74QRW7WNJXOJDvLWMkYB4oQyt8EgW2MbfcYgl5vz8zWaDNcqxsX0lwVyBTAM3qQADbMOm-5YoUFc51qgAYjarpQmQSHAyPwELDEd_XCKRSU6KffNXNLmw6YZrpypbY2ZuIg9jcmTKeoTLJiITE6ufPqwbMlVt458Vg==",
  "id": "rs_090a2a85368c03b6016ab428997e7c87d095fbd20ac2c42489",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.13,\"right_z\":0.15,\"right_yaw\":1.57,\"right_pitch\":0},\"note\":\"The yellow object is tight against the safe’s right edge. I’m lifting clear and turning the jaws to approach along that edge, so they won’t straddle the safe’s rim.\"}",
  "call_id": "call_Uu2v5cYbwoTvjs6FV6NXUEKo",
  "id": "fc_090a2a85368c03b6016ab4289c228087d080fe0bba0f7d9eab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Uu2v5cYbwoTvjs6FV6NXUEKo",
  "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]: [-0.0189, 0.8036, 0.6067, -0.477, -0.0189, -0.0387, 0.9991, -0.0441, 1.9999, 1.597, -0.8284, -0.8932, -1.4693, 0.9953]\nstate[eef_state]: left_x=0.2817 left_y=0.0016 left_z=0.1592 left_yaw=0.0029 left_pitch=-0.0965 left_roll=-0.0023 left_gripper=0.9991 right_x=0.4447 right_y=0.1217 right_z=0.1409 right_yaw=1.4288 right_pitch=-0.0698 right_roll=-0.2445 right_gripper=0.9953\nstate[joint_eff]: [-0.1299, -1.1692, 7.0222, 1.8974, -0.0366, -0.0611, -0.0122, -0.294, -10.359, 6.5026, 0.2955, -0.7595, -0.0952, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cd0258e20e695d5b356c0f8d6a68c83d8f0fc32ede824b8d9f958ddfd1002de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1ebaf6a1904094f67ab495c4b7954c03d473055b5d6f7db8139e454934547d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cba6d298004c9bce4558a5687db16ac3b9785ed21a55ba1b13780953bb7963b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 26 changed as sent

message 33 changed as sent

message 37 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4511, -0.0189, -0.0387, 0.9991, 0.5507, 1.7893, 1.4384, -0.7601, 0.3737, 0.2279, 0.528]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1653 left_yaw=0.0028 left_pitch=-0.0664 left_roll=-0.0029 left_gripper=0.9991 right_x=0.4 right_y=0.1741 right_z=0.1318 right_yaw=0.0553 right_pitch=-0.4284 right_roll=-0.2317 right_gripper=0.528\nstate[joint_eff]: [-0.0889, -1.2923, 6.9812, 1.8486, -0.0171, -0.0757, -0.0122, 0.4034, -14.4068, 11.4803, 2.3468, 0.1441, 0.4518, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4606, -0.0193, -0.0387, 0.9991, 0.5484, 1.898, 1.1564, -0.3717, 0.355, 0.2276, 0.9946]\nstate[eef_state]: left_x=0.284 left_y=0.0016 left_z=0.1635 left_yaw=0.0032 left_pitch=-0.0759 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3972 right_y=0.1749 right_z=0.0294 right_yaw=0.0679 right_pitch=-0.4384 right_roll=-0.2168 right_gripper=0.9946\nstate[joint_eff]: [-0.1436, -1.0735, 6.9675, 1.6972, -0.0757, -0.0415, -0.0073, -0.0479, -10.0718, 6.3111, 0.735, 0.0464, -0.0562, -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]: [-0.0189, 0.8036, 0.6067, -0.477, -0.0189, -0.0387, 0.9991, -0.0441, 1.9999, 1.597, -0.8284, -0.8932, -1.4693, 0.9953]\nstate[eef_state]: left_x=0.2817 left_y=0.0016 left_z=0.1592 left_yaw=0.0029 left_pitch=-0.0965 left_roll=-0.0023 left_gripper=0.9991 right_x=0.4447 right_y=0.1217 right_z=0.1409 right_yaw=1.4288 right_pitch=-0.0698 right_roll=-0.2445 right_gripper=0.9953\nstate[joint_eff]: [-0.1299, -1.1692, 7.0222, 1.8974, -0.0366, -0.0611, -0.0122, -0.294, -10.359, 6.5026, 0.2955, -0.7595, -0.0952, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cd0258e20e695d5b356c0f8d6a68c83d8f0fc32ede824b8d9f958ddfd1002de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1ebaf6a1904094f67ab495c4b7954c03d473055b5d6f7db8139e454934547d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cba6d298004c9bce4558a5687db16ac3b9785ed21a55ba1b13780953bb7963b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCiiEfaoe6-uDnEj22ryg--7RbnwGjMDvTRx7lQK4T-GFdig4oM-7M3kT55cwHrV9eTaxnVh9gp-DvydwWO3jLIPLwqDVy8Vjw0PMZLZppLSt0AngvoVFG9CFHJMYnG4qjw7YHio81hgJH1hTcuYGFjx7Mt4d2rVUM6XuPiqE-BFd4hmxWC3Jlh4t8oiq_nbyB2bi_xpkwkbH8Xilefu-NWQ6AKgG2e2wtepJiZVyebMYthHRlCNIUvVqfVoF7g_qC0QdQztCzP-C8hb1lpR7koW6cCeSmQQW_J5ezLTbz-IjalljF7Y2RXV0zM3d0ddMOljlyqNdrRVXUKLkmlOpnWB79gjeuubUlW1a_3Q_SFqLSzCIJPyVIEGE7sqIwJ7IPePxeC5be-n6yCmOH04c9H1WzRNB71ZvrfldQWoFIToLa3dz-OsgoAJCkqXsEkUHUrCUjpcCFf7BUrJiYjA90dKLc-2dvqViDPZ9dCY97tqZd8dNC-HxrwxYeqMzvACW-_8GylpeFoi85UqtcTzTv8qFdUsf_sCd2vSRt2xWG-tIAGZouSSZX-Xq6cg2ICvM8uoksshaHKmHqk_R3MWc9dj1IT0A4e49_jeiNIgxYOOPMBcEWCag-MO7xbfEnq_MuX1M7drvTcB6CCSLBVWaLXZa6JZYtr3lKHX25QFBTYkBU_wjY8xoFT-6zouY2uxeQOTaaH_4HCldP0xYqzmsvK5rKgDXl6hyAp3CfsckviTJSfyvNVYWv2DpFm-FOv_FSREc4vYn3qkMH29onjVefJhINghTUdb0DyZYO-H3xKSjYVJ_0K8Ra_RtmQVtOU3E3wg8qxmuTpIvrq4VF8ixljwFEhjy0WYcnAjtiPKaO0NQ4hOSAOPWlofVcPXccchowo8WlkK8bRVcnddmSvAqBba8lYM2LVw1Pl-NYsiPYhgdNCWKMurO2sdhuTQj-5olwFv54lvTZPUl1Ri43u0_az96nlUGcqF68rJ5VJ0NyWkBEozQb8dZGdtDfZj_v3SjruLkH3En58D1-LtVfW-dKDkKFE2k9Nx4ZTaE-jubrun6H8HaAFEwhwcKq4iaEhQAsP6mFqwLaJxtIUXtLL66UCIS6xIh_ceDu1cfiodlsqPB5Ky_QDeewx5faYp61TT0GxY1_9VABm4jaNZv4pm16G93bSvFz6bSrzByy7GUvNDJeJgNBeQkDFaGWYnVGQVn2JUByk0fwT_7y-r04UDwT1O2D3nmAoMpz-95FAGki-smjzemFCBUNI8BppbVVCtpoObx26vHld7sUhJRjgJdHnwZ7Gc0KvSzXvu-s7xo164k2ya68XLphWPXYUvZ-vUcL8UijxvIQ_Zr6_vMZsnuZwHj_ZpGHi1pjdG31epI6S37yO9y6zuhWFjfJS9TyWNpV-bb2KFeCOkMSsI5kJBsxdN5z3U-JVAVMHpcB0X_hd2QAZtYPXchP0QNuUOlMS97BqJ24rCW2GytAh8h15AuGtbukMC3sZ484YaiGpKktM4cNZkTV8URXnNI7KlTxaV7ojxzs_-FwL7UcOXdu7jZRnVK2rTYiF-KyJdV5q-2WXbjGM=",
  "id": "rs_090a2a85368c03b6016ab428a02d3487d08a56afb3d59f5e04",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.205,\"right_z\":0.025},\"note\":\"The safe is stable, and the yellow object is visible just outside its right wall. With the jaws turned parallel to that wall, I’m lowering over the object without enclosing the rim.\"}",
  "call_id": "call_5pLBpBirpaIQ47yIJDJjfr3C",
  "id": "fc_090a2a85368c03b6016ab428a1b34087d0940ef17ca3c1e7c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5pLBpBirpaIQ47yIJDJjfr3C",
  "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]: [-0.0189, 0.8032, 0.6067, -0.4808, -0.0189, -0.0387, 0.9991, 0.1459, 2.1403, 1.4021, -0.2974, -0.8639, -1.2232, 0.9954]\nstate[eef_state]: left_x=0.2811 left_y=0.0016 left_z=0.1585 left_yaw=0.0029 left_pitch=-0.0999 left_roll=-0.0022 left_gripper=0.9991 right_x=0.4531 right_y=0.206 right_z=0.055 right_yaw=1.4644 right_pitch=-0.0294 right_roll=-0.2433 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.1556, 7.2547, 1.6874, -0.0171, -0.0513, -0.0122, 0.294, -7.4325, 4.2735, 0.9353, 0.2076, -0.1832, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:068eb54bfd4938ebaef7f5e9b57b19a95b6f8526f7a6f84902c674c08ead6e3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e42485b711d1a0f1457876ca5f2905143e2b03d440980ea064eb16bc56743ffa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5be79901aa014d085a547d407067671b9e6a379e5560112ebc43518450c1d6de",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 30 changed as sent

message 37 changed as sent

message 41 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4583, -0.0189, -0.0387, 0.9991, 0.5507, 1.8915, 1.1625, -0.4046, 0.3431, 0.2283, 0.528]\nstate[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.1639 left_yaw=0.0028 left_pitch=-0.0736 left_roll=-0.0028 left_gripper=0.9991 right_x=0.3922 right_y=0.1753 right_z=0.03 right_yaw=0.0749 right_pitch=-0.4611 right_roll=-0.2161 right_gripper=0.528\nstate[joint_eff]: [-0.2667, -1.0325, 7.0496, 1.7216, -0.0513, -0.0415, -0.0122, 0.0342, -6.9538, 5.3128, 0.9158, 0.4078, -0.0708, 1.0085]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8036, 0.6067, -0.477, -0.0189, -0.0387, 0.9991, -0.0441, 1.9999, 1.597, -0.8284, -0.8932, -1.4693, 0.9953]\nstate[eef_state]: left_x=0.2817 left_y=0.0016 left_z=0.1592 left_yaw=0.0029 left_pitch=-0.0965 left_roll=-0.0023 left_gripper=0.9991 right_x=0.4447 right_y=0.1217 right_z=0.1409 right_yaw=1.4288 right_pitch=-0.0698 right_roll=-0.2445 right_gripper=0.9953\nstate[joint_eff]: [-0.1299, -1.1692, 7.0222, 1.8974, -0.0366, -0.0611, -0.0122, -0.294, -10.359, 6.5026, 0.2955, -0.7595, -0.0952, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4808, -0.0189, -0.0387, 0.9991, 0.1459, 2.1403, 1.4021, -0.2974, -0.8639, -1.2232, 0.9954]\nstate[eef_state]: left_x=0.2811 left_y=0.0016 left_z=0.1585 left_yaw=0.0029 left_pitch=-0.0999 left_roll=-0.0022 left_gripper=0.9991 right_x=0.4531 right_y=0.206 right_z=0.055 right_yaw=1.4644 right_pitch=-0.0294 right_roll=-0.2433 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.1556, 7.2547, 1.6874, -0.0171, -0.0513, -0.0122, 0.294, -7.4325, 4.2735, 0.9353, 0.2076, -0.1832, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:068eb54bfd4938ebaef7f5e9b57b19a95b6f8526f7a6f84902c674c08ead6e3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e42485b711d1a0f1457876ca5f2905143e2b03d440980ea064eb16bc56743ffa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5be79901aa014d085a547d407067671b9e6a379e5560112ebc43518450c1d6de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCimJ_cnzu6Rxkm6YXzAo0DMdLhe1VmZHmX_6QE6wnjdNJddJ1xGvqZfDrdWuFw1lyX0pq4eGk5qLb60aqJmO7C0_41xDL5EGgpJGoaVd7iXgBRl5V2cPfJOT_mLB82szqzY_4SJsrJIcOdgbMthmW00d-JpOqGiNgLSdOxYc4TrRkr8RZNrYPGWCQof6mU7O1-zOs1YWyDz1-S4YehBtA_6lkmGsoyJ4CG2iIHnANYZA1kTSmjEKU3UXRyanPMI4Qor44FgARsnc0ITUR_fowY-GUaDzX84LWsPnPktg2CAgDvAS4qNeeDtIRgfxCaiBVSzpgZHZp3cfREDZ9wz16t6kECV1pLpDE7S6FtCwJulf9I-dBisHNfR0MdJ9RkvTD5NVPd-o8QDVALuUTa_tPkTVWML2xrd6twLTajl69tA7YDmmQi5UahEjxI4V6Tt3n5mSIem7ec5_crx1bD_HTMbQGMQmYEwKJvd_SgFsL-GvYR3-urK2MH4S8A1C5fPEBg2ofSAcBSIzMC0Xa6qdhMiTmuq4vyNXSbmMVPFW2JvNGreK88FNMo9NE44LrxCQOl1YmVbnK4ODEuD1alWMfFWPgqZw3a7w38C4dBaz_9JVSSMgPEiUWGw-gkwTuDMoxj1JjtMjUJzqZY-3iNODFCtV8hezk8NeAvE-gg2hlprKFW_M1gqm1pfCxL-EmGn8FTone7j-ob6I-AvpVLr7j0p_L5_IgzE1M5Gygp8ra9ZxllfeA4_x6RtSHXI2IP_1sqS2W76_80QfmtT3psZ-1XjjCU0E8kuz4n5LgciKE6RTrAlMqwCXhy3m6hD0AldfC0bfBBbbNgO_1SeI8mqDd1qFoynSiWIE76UuMnbV-_YAwBmw50wNFAtQ0vgr3RgMkIwf85jLd08_dbMxQebd956JI8yBZC8TCXx74HQLFoCSsVXZLKQJozijqCqhP8EKYyPvKUJjDFCCYqK3YWwGv8ZG5d1NFSpUJvm6tBsgqcBd9_ZNUyHN5dHefWEHoxHzfxrWzvrAe3RQr5Uqq-zzWj5IKiAc_2EoJf6VMb-Wz8BcoJjKsXqkzzPkOdANFRJP4VCem62eUgxZXcd3Gy1wSqeKfqM-TpzUzGftVNM3rC6t_SSsS-QUg8R7GFhIVojYvkYhvoWYyA_U6ezZFGa36stlexxwL6lEANixD7r62igc8nC8YMYqOcNvXHYy38T6uE2qbJu1UOiFhih7rl5EU6sT8bz5j1H1ecL_V_s36ZACOr38HyqaxvH-s5LKTNiP34HvEmR3LjkhYXdy9TlhKEefmA0r64Xy5B5IAfecktvsbEIJiJtpJxxpfE8MGdEWPSK3RrrgRlQYNE4CchiUc_HIf88xZo2aFaWUT5BwHLPFDwnSROQk0FMrfY9VxsdF1NabbmTQmeedVCd9RxmntaxPtaX3SF-G7KME0fTI05UM0A=",
  "id": "rs_090a2a85368c03b6016ab428a4ba2887d09e4d5c831b87eb7d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.185,\"right_z\":0.018},\"note\":\"The descent stopped high beside the safe, indicating contact with its edge. I’m shifting two centimeters away from the wall before finishing the descent onto the yellow object.\"}",
  "call_id": "call_aOXcr4iSuvxPYtA0CR049cgL",
  "id": "fc_090a2a85368c03b6016ab428a5fc9887d0be0125bcfb77ba10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aOXcr4iSuvxPYtA0CR049cgL",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "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]: [-0.0189, 0.804, 0.6067, -0.4812, -0.0189, -0.0383, 0.9991, 0.1158, 2.1597, 1.3876, -0.2222, -0.9226, -1.2293, 0.9954]\nstate[eef_state]: left_x=0.2811 left_y=0.0016 left_z=0.1583 left_yaw=0.0027 left_pitch=-0.1011 left_roll=-0.0019 left_gripper=0.9991 right_x=0.4605 right_y=0.1989 right_z=0.0556 right_yaw=1.4685 right_pitch=0.0279 right_roll=-0.2768 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.2239, 7.0769, 1.6386, -0.0464, -0.0024, -0.0122, -0.7453, -7.2547, 3.9863, 0.9353, 0.3932, -0.4908, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86fa4c7fe808d948f641f469693e2842bc6a117025cb55480e1e740cb186a6df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3cb89cef45fb3a95be0c91d5713814ca4efb589fe411419667b1ea3fd981fac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3a38e9be7c09ddef12dc0f2846bd54fe0cf54a0f4e9b6bb75b04e675ef7ce9f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4606, -0.0193, -0.0387, 0.9991, 0.5484, 1.898, 1.1564, -0.3717, 0.355, 0.2276, 0.9946]\nstate[eef_state]: left_x=0.284 left_y=0.0016 left_z=0.1635 left_yaw=0.0032 left_pitch=-0.0759 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3972 right_y=0.1749 right_z=0.0294 right_yaw=0.0679 right_pitch=-0.4384 right_roll=-0.2168 right_gripper=0.9946\nstate[joint_eff]: [-0.1436, -1.0735, 6.9675, 1.6972, -0.0757, -0.0415, -0.0073, -0.0479, -10.0718, 6.3111, 0.735, 0.0464, -0.0562, -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]: [-0.0189, 0.8032, 0.6067, -0.4808, -0.0189, -0.0387, 0.9991, 0.1459, 2.1403, 1.4021, -0.2974, -0.8639, -1.2232, 0.9954]\nstate[eef_state]: left_x=0.2811 left_y=0.0016 left_z=0.1585 left_yaw=0.0029 left_pitch=-0.0999 left_roll=-0.0022 left_gripper=0.9991 right_x=0.4531 right_y=0.206 right_z=0.055 right_yaw=1.4644 right_pitch=-0.0294 right_roll=-0.2433 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.1556, 7.2547, 1.6874, -0.0171, -0.0513, -0.0122, 0.294, -7.4325, 4.2735, 0.9353, 0.2076, -0.1832, -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]: [-0.0189, 0.804, 0.6067, -0.4812, -0.0189, -0.0383, 0.9991, 0.1158, 2.1597, 1.3876, -0.2222, -0.9226, -1.2293, 0.9954]\nstate[eef_state]: left_x=0.2811 left_y=0.0016 left_z=0.1583 left_yaw=0.0027 left_pitch=-0.1011 left_roll=-0.0019 left_gripper=0.9991 right_x=0.4605 right_y=0.1989 right_z=0.0556 right_yaw=1.4685 right_pitch=0.0279 right_roll=-0.2768 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.2239, 7.0769, 1.6386, -0.0464, -0.0024, -0.0122, -0.7453, -7.2547, 3.9863, 0.9353, 0.3932, -0.4908, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86fa4c7fe808d948f641f469693e2842bc6a117025cb55480e1e740cb186a6df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3cb89cef45fb3a95be0c91d5713814ca4efb589fe411419667b1ea3fd981fac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3a38e9be7c09ddef12dc0f2846bd54fe0cf54a0f4e9b6bb75b04e675ef7ce9f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCisSsaH-Ioq6PTxsE9Mn-EtuxqhEXJ0sz6IthPivGAkhl5OkEupG_XZl7DrrSHFevXCkYatteg7KUeG_inRHVHwQFMqRWOeirUYYsxng4uajfULbmr_j-RHWh3hWY00hxTdYC2EPWoBpCEy1gcH0eGd86hH4iatb7Qa79g0n_2C5I3ZubrZIRQnU3crPy45TyUvzMJEtofXu6ULBJBSG9t9sxLkEZYlMVf9NamDSSmHuAoVwLByKHl4EdFDDFowQO7sWdDYAaoqOvFQa0hu0LTVP2gsOtljWQsK-XDRPg9r-cAi6VfhzlrscEY3u3aSNWPVdkhKa4vkjE7306zHtGX0J7_AayTRDoAVKXIFO9WPdGy7cEIoaXi5nX-fZ1ptByfRD1S2tDvQEV-az1rm12GaOsFAwyZf43dLNfOGibN-nXHNWUXG2-sKztxgAT5f-Z9LlEwDtyVTTG8Ix6Q7K09BNmE7fXYNFkOPRJD9n-HD4fJVy0zdAs-fjYZqBX5_4sDj-wLV4xA_wzpdKwt66JvFSSwAD981w_TUym91bYUqX_BoTiFL8M6Mb2Y4A9kim77hCvUBkUdbs1tvGacUIe-nTkwtMLrmrtcfIk01-6Bwg0-76H42I2se7FaCxKAt2TbrrKS7CCbV3YEq1bKsL-8ZdLF_rbGTVOpDvZISjOGJYcpbl96L11Xus-8aUHWSD9z7XjBwxTW9iP9UGwhPO6rLhFlRcmFCBdVV0fsYzHAfZon7Fil_A2Ezm86vYRzOYmI--xdexVFFMFO9mryISWLJW7_KMXGQat-gSnzNakq6cQWp6PI3Jh3oeYlEZlZLdo-o8VRIIz037E6iC3JnK80qorJ_Gm8ck0pOULD1YXE9jyd5p7nqg4B_d8o8KJbLmHeaKFkBSri-G3p1S8m_2bEe1DCUNhot5dlElq3gTCkuE6-F2ILejyMUKR5Cac7SfFqfH8V_MjgDy-NlZ8kJsmuhZS_jb__vODOEXssOXN7QWu97ZbfxfKi1buvKBktfX2cQ2qnykvw5kMz9IFSNPYSHMpWQ0fEql7GVnd7-aITHnPX5q3NLvyMqaing3Xxs4SWPIsJbr50QMDXOw3V8Mf3SCPTOLLhVyolu8Hbkj6MTdEZ5jUD0K9csHbAjAPGSxqY13cW4asfr7KjsLNrXakHJ7MJQqaRQl19BUpaLqHXoC8va3q0_nG72WjqAdGUrIM5P92NN55qJDBr8d_3Va0qF9N7SafrIOjc0N1S2ZSL1oq2Vn-2FlTWXH2e1SeRdXnteCA9gYY-6-hdU-JfwcP0y93p5wdKkLmEub67Lhwr2IQXVCChrPmosvmWeHHu7M1C96rXZsipda4rcTeEcox9xpGK6Dnsupf70Y4VUQdpDo-X3RjgA39WKvJMVTmSxrgHEP87cYHBTeArziqmOTtGOg4eXJBU2Fnb0NeFAcBEHy7YzREgJFG_ZA3wwjzyqQIFv1FR7fZoHf6SVa18TvgjK8GW13vEvekv7EQ6eMo-rz2Y0FIHn1PtubOxCNk5H46X6YMoPc5ax4-JoRFcDLCeoBrD5LhZEhZMzuxNVncUpaimn_k8JHZaseyVhtjeHwR0SRGobawvUc82n_8cpjyMRUg==",
  "id": "rs_090a2a85368c03b6016ab428a91e1087d094917edb3cafe741",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object is visible directly between the fingertips at the safe’s edge. I’m closing the jaws in the new orientation to test whether they can secure it without the rim.\"}",
  "call_id": "call_c9D5MXw0aCkpzDs0bwwlTKgr",
  "id": "fc_090a2a85368c03b6016ab428ab30b087d0b7bc63397052ed93",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c9D5MXw0aCkpzDs0bwwlTKgr",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4961, -0.0193, -0.0387, 0.9991, 0.0986, 2.1792, 1.3731, -0.2142, -0.9245, -1.2865, 0.0075]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1554 left_yaw=0.0032 left_pitch=-0.1159 left_roll=-0.0016 left_gripper=0.9991 right_x=0.4596 right_y=0.1908 right_z=0.0431 right_yaw=1.482 right_pitch=0.0154 right_roll=-0.2995 right_gripper=0.0075\nstate[joint_eff]: [-0.1983, -1.2239, 6.9538, 1.8193, -0.0611, -0.0317, -0.0122, -0.1299, -8.6085, 4.6427, 0.9011, -0.0904, -0.0659, 0.5348]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f1019fdb42c0555b644690d32bf2d290c5457ebe44c86ef51578b22a08d46ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb71d4e7d7cca15061b294ad76bd1d2fbdac1b4cb6f5777ad55024dadc3eddb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3318644a900b2e2a36fa134e5a401cc19404e9bf419ac12034b94d048a09e35d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8036, 0.6067, -0.477, -0.0189, -0.0387, 0.9991, -0.0441, 1.9999, 1.597, -0.8284, -0.8932, -1.4693, 0.9953]\nstate[eef_state]: left_x=0.2817 left_y=0.0016 left_z=0.1592 left_yaw=0.0029 left_pitch=-0.0965 left_roll=-0.0023 left_gripper=0.9991 right_x=0.4447 right_y=0.1217 right_z=0.1409 right_yaw=1.4288 right_pitch=-0.0698 right_roll=-0.2445 right_gripper=0.9953\nstate[joint_eff]: [-0.1299, -1.1692, 7.0222, 1.8974, -0.0366, -0.0611, -0.0122, -0.294, -10.359, 6.5026, 0.2955, -0.7595, -0.0952, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4812, -0.0189, -0.0383, 0.9991, 0.1158, 2.1597, 1.3876, -0.2222, -0.9226, -1.2293, 0.9954]\nstate[eef_state]: left_x=0.2811 left_y=0.0016 left_z=0.1583 left_yaw=0.0027 left_pitch=-0.1011 left_roll=-0.0019 left_gripper=0.9991 right_x=0.4605 right_y=0.1989 right_z=0.0556 right_yaw=1.4685 right_pitch=0.0279 right_roll=-0.2768 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.2239, 7.0769, 1.6386, -0.0464, -0.0024, -0.0122, -0.7453, -7.2547, 3.9863, 0.9353, 0.3932, -0.4908, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4961, -0.0193, -0.0387, 0.9991, 0.0986, 2.1792, 1.3731, -0.2142, -0.9245, -1.2865, 0.0075]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1554 left_yaw=0.0032 left_pitch=-0.1159 left_roll=-0.0016 left_gripper=0.9991 right_x=0.4596 right_y=0.1908 right_z=0.0431 right_yaw=1.482 right_pitch=0.0154 right_roll=-0.2995 right_gripper=0.0075\nstate[joint_eff]: [-0.1983, -1.2239, 6.9538, 1.8193, -0.0611, -0.0317, -0.0122, -0.1299, -8.6085, 4.6427, 0.9011, -0.0904, -0.0659, 0.5348]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f1019fdb42c0555b644690d32bf2d290c5457ebe44c86ef51578b22a08d46ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb71d4e7d7cca15061b294ad76bd1d2fbdac1b4cb6f5777ad55024dadc3eddb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3318644a900b2e2a36fa134e5a401cc19404e9bf419ac12034b94d048a09e35d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCizzx_M8kMW0RrDqYVbGEHJ5ZpdNCT2u48kKjPwM3-FtP9zXK0cVMcgKdBGD3Fu5OxGfG_S8LKszv_oqS-7p2XckqvrTHt3L1IbQarCcJLFcIMY6ErE5ol3BLZR9UFzFGgXQlhk-XXtFNTBFCHYIoobxPVXV7VS6tAPrNRfMGoIrFdN3R0lCkwGKCk2rlw1uQQjHN8rYP2A_8WmW8Mrkq0y79cKdVG2bhxfSOv1tI3RKLGclQMehJllYcANOftygWUnJ3JtyAhdfoOvIJbNe06xjhW_-d6qpnSAXvB69EklkqinNEXjl3FjEXdxHzvDQ5TBz3NHA3nCPCEjc96tmJEnlWpEJavW9fQOKyOfz23J8GHd4-ovVUiLwyOgSBjHi33sCFihhVoXsIw0HYTr-_--zy0clKdMiu_UNVg-2MZNGyp91go0wDNbXzoJOS-qAKLxybNaNC5a6qqHKi8n4w3hKDlnJP3fIrD8HvII79jbTsLTTloMMaYDBCowNm5kJpEzJFhPX_G7-n1Cd7kvWiTK4sOHvHsxTs5xk0_FyAA9yWiWzFygndUxYcKq9JW1ZzQ5ByOCpL2T4qAzUi7cn8BVkAFMJivxHGK_uoOkeLrRSctmmE5IolkMrEtvvRiEelSYwcaLUzKg2X8u-pqJI9DEbX_5M1fhaQYQfMJo9MMe8EzTF-iM4QMcQctaViFTh7dcVxDwQUamoJ9atg4-4JAdkbsFjiTWrZByV7MYGmurJiLyjHNiRvGobPs-DXK0f0a3HX9gIG-olx2ieslVsrGDnCHrOoklxCYUKoVHTBISaZhJzSH6xlV5WI47zIYyC4d5tFp1Ob1ajaMDcPRyl7l-rGeMl0Pm0hZgqe2J9YwKIvM6ynKP7BQsGGCzmjFg0leJxNHBJuG48kPWhZN84bGrvt4Lr2A8-AcZ6EQkQ5fumYnrzBmWqlPSF72y22Xtvf9-Lyz3ncdurkkVlykZbo8GqGo4YGBTtymnZclpjj-aVQOiqGa9ZUCklOuLRfIyZ2sQjo68LMfjg3I2L9gkoYWXQn3-fOJJgj4VmFDWrPY2eMoItaM7rtKmNf-W21C-T9mGtXprARJ8bg9--jfx5csELeV-A5fdak10bjBkHYvYJHwpONP065U84g05DsDodEBUu6N00LqO--iPdvrIoo2M8hVMxnnZdKdJX-D8Ls-GjWLjNt1l91DUmcLoyijc-0dqUpSzE0-1tJN3_k0k6sJT5p3nSj22D12WgpxlHNkOYOkeqaoDxXCGfttKa3Rl_Tp5yanfafStvADmyxfbN_LfiHmH9mt2OdFJNIF4lZ5X62wlE9TCnwg4LB6Z7HpCcQkfZiGRIRLFZfjica-db5UXcizar5mnkH0A9i5laD-kRdUwSsbJ1FfPeMQwgQEpLGeAbf6NSWD31tV1Mrvh_qRMyOG472T9Nkjk7z7V1gWmhRUlaP0sOzE2A4ShqI8x1XZZ6rYnUFEv-AXgbQ2CIAHLsIQ9T3txz7YAOjRNAB6ST7BKEL3aLd5ggEGW1VNFgMYoPKQ6IBh_yIZKL6CnZS6Kd4PJo9VbUCc-GImeY0H00DtPaFY1g1SjiiB3fBUjggNWoVyncIA8KaKkn6Bp01n6QjFli6gAH2jhZfBA5IN6UEKhdXWU14WRytjekFYDukI6UjzZViuQbCfxYxuYA7fdSff0dimsR81ngeAWfuiWyUTJoMqcAqvJxHFxX_BU2wCJMbfD-C5UYGmvift6infT5toDh7x3arOfhbusshjtOJVXp6R1zIsx0h2o6Uqrwd47PYk-pjIRhxNPi9fx2f9IoabJxnDCUDRR4e-r00XFLBfo-li0ZsaCdO9ZgfcpjBw9ZGQTuYhloYtn9l4FT2WjQf2QLqZUmIAn3GSl2geC3lnabvzeJ56UYTkM-lZMcicpGmZbttDeKyP9HWnOYyxzDGfl7DHgcztMI2Rf63oR3xWN4WD3ptsfcEAk44Q_dgCnokyC3Z4Rxf0sj-bgNb4w8g==",
  "id": "rs_090a2a85368c03b6016ab428ae60cc87d08b81327a5e1a254e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.19,\"right_yaw\":0,\"right_gripper\":1,\"left_x\":0.37,\"left_y\":-0.21,\"left_z\":0.15},\"note\":\"The closed jaws are empty, so I’m stopping this approach rather than repeating it. I’m parking the right arm clear and positioning the left arm above the white plush toy.\"}",
  "call_id": "call_8X38g6eM1gRf2sKlrhPY1mPZ",
  "id": "fc_090a2a85368c03b6016ab428b1ce3887d0884a633d61f754af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8X38g6eM1gRf2sKlrhPY1mPZ",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7345, 1.5703, 1.0565, -0.3836, -0.5224, -0.5552, 0.9991, 0.1566, 0.8536, 0.5842, -0.3294, 0.1951, -0.2615, 0.997]\nstate[eef_state]: left_x=0.3598 left_y=-0.2013 left_z=0.1335 left_yaw=-0.0066 left_pitch=-0.1672 left_roll=0.018 left_gripper=0.9991 right_x=0.3009 right_y=0.0165 right_z=0.1666 right_yaw=0.1218 right_pitch=-0.0342 right_roll=-0.3085 right_gripper=0.997\nstate[joint_eff]: [-0.5675, -7.1043, 9.1145, 1.5263, -0.5788, 0.105, -0.0122, 0.1573, -2.2359, 10.7556, 2.127, 0.1978, 0.188, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1a0b3bec4de8602aa104e96e5ae25a35974bd33f31c147a87305b10809e49bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c938e141a98575d5fcd3fb38d95c910fa6ae36ca020317eebd8a5ef7768de428",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41b6517a0098603d7abc1d75c9e6a343dae1677375555e7b74ad9cd015d271c4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4808, -0.0189, -0.0387, 0.9991, 0.1459, 2.1403, 1.4021, -0.2974, -0.8639, -1.2232, 0.9954]\nstate[eef_state]: left_x=0.2811 left_y=0.0016 left_z=0.1585 left_yaw=0.0029 left_pitch=-0.0999 left_roll=-0.0022 left_gripper=0.9991 right_x=0.4531 right_y=0.206 right_z=0.055 right_yaw=1.4644 right_pitch=-0.0294 right_roll=-0.2433 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.1556, 7.2547, 1.6874, -0.0171, -0.0513, -0.0122, 0.294, -7.4325, 4.2735, 0.9353, 0.2076, -0.1832, -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]: [-0.0189, 0.804, 0.6067, -0.4961, -0.0193, -0.0387, 0.9991, 0.0986, 2.1792, 1.3731, -0.2142, -0.9245, -1.2865, 0.0075]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1554 left_yaw=0.0032 left_pitch=-0.1159 left_roll=-0.0016 left_gripper=0.9991 right_x=0.4596 right_y=0.1908 right_z=0.0431 right_yaw=1.482 right_pitch=0.0154 right_roll=-0.2995 right_gripper=0.0075\nstate[joint_eff]: [-0.1983, -1.2239, 6.9538, 1.8193, -0.0611, -0.0317, -0.0122, -0.1299, -8.6085, 4.6427, 0.9011, -0.0904, -0.0659, 0.5348]\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]: [-0.7345, 1.5703, 1.0565, -0.3836, -0.5224, -0.5552, 0.9991, 0.1566, 0.8536, 0.5842, -0.3294, 0.1951, -0.2615, 0.997]\nstate[eef_state]: left_x=0.3598 left_y=-0.2013 left_z=0.1335 left_yaw=-0.0066 left_pitch=-0.1672 left_roll=0.018 left_gripper=0.9991 right_x=0.3009 right_y=0.0165 right_z=0.1666 right_yaw=0.1218 right_pitch=-0.0342 right_roll=-0.3085 right_gripper=0.997\nstate[joint_eff]: [-0.5675, -7.1043, 9.1145, 1.5263, -0.5788, 0.105, -0.0122, 0.1573, -2.2359, 10.7556, 2.127, 0.1978, 0.188, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1a0b3bec4de8602aa104e96e5ae25a35974bd33f31c147a87305b10809e49bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c938e141a98575d5fcd3fb38d95c910fa6ae36ca020317eebd8a5ef7768de428",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41b6517a0098603d7abc1d75c9e6a343dae1677375555e7b74ad9cd015d271c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCi5HtJE3sloK04-j-_kf_ugtA4gOyZzUr_AY1dIlfnVdeGK6Lrn0NCRwtIhe_U4BnIOAhIrNNAnmvAxlDdpbNLJ4TbTXZFVL_l8FFz80U23ql17PLRm2dDeRl6XMjRRvBs87HMFaXnusONzwJVN_bVBbc1nEJvt1EqzhFX4ME05EYmDkSc_l4a1Uxrzz34WiRUlyBViq3hWVNuuQGAJ5QpEcds3ZXK-tdgUFLpmkwDN0jAeEqMshwmK38OKOaTu3BTfe9fMMiLptvldNQJxvARopQH14z1tx4VDP9f0Je9Mmfn8SHsFbcRYDDiduuas3hLt4IiLPXHLIq7XImS_YEMhPC5ozh_Q8yfU1Wpw_NKqo43emM9dIKKcl6UFM2J-MQ6_3IX7naE5A-S5mPFcBQCc4SEOsGm48sChszNYEtLCPAme6PnBwLgBKbCh3zwO9qs4f3C9ASmw5umd5hQvrR6IBUfSLFcdUiWWuiBsn8gtBFHD0wWPp0ufEl--YAuxkFYSVp82KYNB8HjmDfxjCT81-m40aE7E_TM9h76TerX63a9oP1fUbP7-guT91PTQbDTFT3XlQlSqwCLTI_ZVv6N3cVdmkmzjVzq430Olq-YegbSOfm0bAjd8iWzQS0_Iml87HACWOSnjblNFrkBe2qQkW5Wxl6iPl4269gGWEfdOS9mBaz5dLfUDK6rKU2OrQng9LLK-6hb39h_am-C3PORJmUWw_S4btY4RXTM39dmZRaXO9gYm8pHV5wwbOxgkC-IpNalUXKLiMrXrV21gqoY0-myhX_SkB2nBEPgIwpqMcdUxmiMWwU1cpSNeWx-kURDfd105HCgvx8K7bPUyM4PIN8TdmI4F89jxwQnOe1h1pJ8PN5GLjKFGoUPJ2i6QlHv9GipABvjs3L_BKrF1x72P2-Vqe_X6PsYEwFlNw7lOKHHfyuTLEaBZTZvv4jem-tdyShA_hqFXsYjxPr3wBhmpHb1T29il0g4vNgnW2NUY5Ywe2koXbksv2P0Q3QZD6n-u8dBgpA61GL1AXHtiIKfPbCdI3dZzTv4VgnDiQvpNsavV1Edv13wvIQszM_WlOQLwa-abw7oHcI8bJfIPqz_2itn85PjxWhfdMc22DiuKh5XEbp2S75mnE9mrJqJa7Y6yrXUht1NOu-tCuWLQGfar676G-bF-XLmPX3P8k1sQCz5LR87Ajrtvbk6tPHwymRLRcHfmN5XRfAL1VRUSWOfCclb9MqHSUWqIhYDEKDXdWB5DVvNtGcArIsH0UKr2Q_2nLP0eusER_3usAAnHedl0kF8OgNzqYUd8fz1dAvWp2mPJiU8fpq7xhMF9DEKOO--ZJ2MYcT2bT-77mGfuhitWIQKWIoLUR-P38h2R4NDaze0sZScj0IwCixgj_tUlFCKhExm83aFmDw9gF_X6K3do2Nldgk0r6r6lzgcZL5pgJzhzsnAXra28DL6chgblErKTedLArdW294WJJSe6L4Hrjo89U6d1wb2yO5lrGK-PAEqDW31orkiaODXSRmIL8ntL5y7Tr0LwccybQ2t-0kUzDSNZ2HXaNRAqpgIiTMP-1HPyqHHMZmKvgBWQErFwwAg4R1iPdbNH9mYNYzPamM-Y143KJ88-WcgFEfO4f_UmgJ6vINbR_qQRVe7rViyglOKf",
  "id": "rs_090a2a85368c03b6016ab428b6b1e087d098d785bf1694c385",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.16,\"left_z\":0.025},\"note\":\"The white plush is to the left of the jaw center in the wrist view. I’m shifting toward its torso and lowering the open gripper around it.\"}",
  "call_id": "call_S5LJNPgY1uh8Cc5CLMXsbxex",
  "id": "fc_090a2a85368c03b6016ab428b86afc87d0879c16b86b5ff497",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_S5LJNPgY1uh8Cc5CLMXsbxex",
  "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]: [-0.6197, 1.6974, 0.7448, 0.0944, -0.4484, -0.4744, 0.9991, 0.1562, 0.8585, 0.5831, -0.3717, 0.1974, -0.2615, 0.9987]\nstate[eef_state]: left_x=0.3674 left_y=-0.1637 left_z=0.0357 left_yaw=0.0043 left_pitch=-0.1731 left_roll=0.0081 left_gripper=0.9991 right_x=0.295 right_y=0.015 right_z=0.1564 right_yaw=0.1194 right_pitch=-0.0825 right_roll=-0.3116 right_gripper=0.9987\nstate[joint_eff]: [1.0462, -5.3675, 4.4376, 1.0232, -0.2466, 0.2418, -0.0171, -0.0342, -1.9897, 7.2274, 2.0684, 0.022, -0.0269, 0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aabb595e3eb9d139c9f409f16991de7c00b803f423d72573e87ba437f480cc4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:590011a0b930655081e18a6844ea55ea5e0e28842da6d4912b57d42d4b8a2e5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d656d0a92e8555b0b84f888ba15b0c4ffc4f64be7b76d23ee8489d88d23e71b7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4812, -0.0189, -0.0383, 0.9991, 0.1158, 2.1597, 1.3876, -0.2222, -0.9226, -1.2293, 0.9954]\nstate[eef_state]: left_x=0.2811 left_y=0.0016 left_z=0.1583 left_yaw=0.0027 left_pitch=-0.1011 left_roll=-0.0019 left_gripper=0.9991 right_x=0.4605 right_y=0.1989 right_z=0.0556 right_yaw=1.4685 right_pitch=0.0279 right_roll=-0.2768 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -1.2239, 7.0769, 1.6386, -0.0464, -0.0024, -0.0122, -0.7453, -7.2547, 3.9863, 0.9353, 0.3932, -0.4908, -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]: [-0.7345, 1.5703, 1.0565, -0.3836, -0.5224, -0.5552, 0.9991, 0.1566, 0.8536, 0.5842, -0.3294, 0.1951, -0.2615, 0.997]\nstate[eef_state]: left_x=0.3598 left_y=-0.2013 left_z=0.1335 left_yaw=-0.0066 left_pitch=-0.1672 left_roll=0.018 left_gripper=0.9991 right_x=0.3009 right_y=0.0165 right_z=0.1666 right_yaw=0.1218 right_pitch=-0.0342 right_roll=-0.3085 right_gripper=0.997\nstate[joint_eff]: [-0.5675, -7.1043, 9.1145, 1.5263, -0.5788, 0.105, -0.0122, 0.1573, -2.2359, 10.7556, 2.127, 0.1978, 0.188, -0.022]",
      "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]: [-0.6197, 1.6974, 0.7448, 0.0944, -0.4484, -0.4744, 0.9991, 0.1562, 0.8585, 0.5831, -0.3717, 0.1974, -0.2615, 0.9987]\nstate[eef_state]: left_x=0.3674 left_y=-0.1637 left_z=0.0357 left_yaw=0.0043 left_pitch=-0.1731 left_roll=0.0081 left_gripper=0.9991 right_x=0.295 right_y=0.015 right_z=0.1564 right_yaw=0.1194 right_pitch=-0.0825 right_roll=-0.3116 right_gripper=0.9987\nstate[joint_eff]: [1.0462, -5.3675, 4.4376, 1.0232, -0.2466, 0.2418, -0.0171, -0.0342, -1.9897, 7.2274, 2.0684, 0.022, -0.0269, 0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aabb595e3eb9d139c9f409f16991de7c00b803f423d72573e87ba437f480cc4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:590011a0b930655081e18a6844ea55ea5e0e28842da6d4912b57d42d4b8a2e5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d656d0a92e8555b0b84f888ba15b0c4ffc4f64be7b76d23ee8489d88d23e71b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCi9fZ7Ikxg2WXK2yjhV6aY32ubFPS2anJRiHJxBTkg1qLjHtNrgh3zaRTYk4BLjO80k1qI6_UE4BkdrmCWtZvHPqnwzjgrqRscvcQZohJ1mIz9-Wq97VZFnbazLWThzRZufp47u67iYIhi9vrIzNksjr9upLWkNabsRt_QgnSmzHScfwlS0JL6olXIxajhuf3ZbQchClPlPwQIZzg6UoGYHx8WkoySbyH96Eu5zeg-Kd0K8yYcTF70jKgHLpy7ghPhlg5u7hVnyqJs9F_Y1wC213JgI07d5G6HWTBxaurX5vHjKvK-uLPFTwtH47KgAcpJXulKPkSSbo7GiKflVAridvHn7TEPB1ajLCvE9Td5wtY7nW6eVgCU-hSfCOopr_FygKjB2Yc7TZF_bMLX0Ffdzz4W9H2wS_oToX8a25tim92lkPa4aFd67beKeThP1Sy_imFRBzo9KWQT8lkQbE1d3iTERDvauvI-fR_PHfwo_fVfLjSj5dNwO58OX3t4HeLlIMEO2kb6LkWXcmVmcll8G4bT4qxCi9yYIru_uFgfUDCpxO6xrGTgMfhHCG0-qXCZRedBEyNyKBQjpbeljEg1O-6C73VWI8IvW3qQJxb_QXM_UY3inLat3lVzDbHse3Ykp9SSaC_EiyZZpVIJ7LPWhvZ86zfmcfg-v39Em7vAVqT7VHrPjhzGbs_LZ3-bX0zBaR7pSdyjGUaCoyB0PmX4Q2XQzlrhuaasMic3n7Q6GvGeEcc2raAqyPcBO9FWqqx996S7EpNWHDSunqMi2yelStQE9EO0RuZ4yhf_hXvc_q5yejHcES4OoGFbxOa3kalLwwXBGOhy8SO5BK92zMkCw4y8Al_kgUsPFdd47CVDBTtbL9hk5LpgVoIqUe0Y_iSfZ3dqiTUGyd9GqmttVSATj5GXS2CIKpXmXXkGJLc3RQm_VjnsDYqzfUZtuozYKbXcPF0QNApgn7SbSlLOdtwhBJRXTTOQENDOfrAD50d0S4H4WTBXVd2ua2u6P_yXavRa7jfgS_XATBP1HnIj4ZZ3WRHorbjUD3eNZCbC5l34nL9nYYaJIWwwpq1rTP7h5twHT7pjoAhX0V8kQ4l47KZFagDPJUOjGYaazvLrt50BASxSraSJubDh-PAW4Llm4XSPF8wMbkljBF9uATNMyjS4OkCx7ZcAt0RSlKwc6pNyEZfrFEc7QAIogHbhqa1jo1iMllxOeSchu-UYK37gvzwL4Ep-82bQGpI7_IQDZOj_6e4dalmBYmLXG_FXzSOs9pmdznRhNOWSbE_Tm3e88XLaE_tqKTBNustLQBYwCBCEORlP1AtUFKSiCZZ0tAld3ytbB4SZqnZ_MMP1fk9D11vzrhA==",
  "id": "rs_090a2a85368c03b6016ab428bbbee887d0b22a9b929b3910f0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.132,\"left_z\":0.012},\"note\":\"The white toy’s torso is at fingertip depth but remains slightly left of the jaw center. I’m making a small sideways correction to grasp the soft body rather than its head.\"}",
  "call_id": "call_lOjndbqG4OKeI4NAuuheCb0Y",
  "id": "fc_090a2a85368c03b6016ab428bc775c87d081e268a072a29d5b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lOjndbqG4OKeI4NAuuheCb0Y",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "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]: [-0.551, 1.7119, 0.6655, 0.2676, -0.3935, -0.4385, 0.999, 0.1562, 0.8585, 0.5831, -0.3878, 0.1978, -0.2619, 0.9988]\nstate[eef_state]: left_x=0.3763 left_y=-0.1475 left_z=0.0277 left_yaw=0.0038 left_pitch=-0.1292 left_roll=-0.0431 left_gripper=0.999 right_x=0.2927 right_y=0.0146 right_z=0.1533 right_yaw=0.1192 right_pitch=-0.0986 right_roll=-0.3127 right_gripper=0.9988\nstate[joint_eff]: [0.8684, -6.7077, 3.4803, 0.8425, -0.2173, 0.2711, -0.0171, -0.1983, -1.4017, 7.0085, 1.7753, 0.0464, -0.0317, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce86054a46945d26fc010ca261ecb66d98fff4b43418e31296fd5ac0fae3b926",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fc6ece2b0c4811b789f95aaa3783c95d545ff8ec54cb9748296b9ba29f09b29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5893ba5cb7146af719cdf3035dac86526deb62c2b66fac25c41a6e5051a00e19",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4961, -0.0193, -0.0387, 0.9991, 0.0986, 2.1792, 1.3731, -0.2142, -0.9245, -1.2865, 0.0075]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1554 left_yaw=0.0032 left_pitch=-0.1159 left_roll=-0.0016 left_gripper=0.9991 right_x=0.4596 right_y=0.1908 right_z=0.0431 right_yaw=1.482 right_pitch=0.0154 right_roll=-0.2995 right_gripper=0.0075\nstate[joint_eff]: [-0.1983, -1.2239, 6.9538, 1.8193, -0.0611, -0.0317, -0.0122, -0.1299, -8.6085, 4.6427, 0.9011, -0.0904, -0.0659, 0.5348]\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]: [-0.6197, 1.6974, 0.7448, 0.0944, -0.4484, -0.4744, 0.9991, 0.1562, 0.8585, 0.5831, -0.3717, 0.1974, -0.2615, 0.9987]\nstate[eef_state]: left_x=0.3674 left_y=-0.1637 left_z=0.0357 left_yaw=0.0043 left_pitch=-0.1731 left_roll=0.0081 left_gripper=0.9991 right_x=0.295 right_y=0.015 right_z=0.1564 right_yaw=0.1194 right_pitch=-0.0825 right_roll=-0.3116 right_gripper=0.9987\nstate[joint_eff]: [1.0462, -5.3675, 4.4376, 1.0232, -0.2466, 0.2418, -0.0171, -0.0342, -1.9897, 7.2274, 2.0684, 0.022, -0.0269, 0.1636]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.551, 1.7119, 0.6655, 0.2676, -0.3935, -0.4385, 0.999, 0.1562, 0.8585, 0.5831, -0.3878, 0.1978, -0.2619, 0.9988]\nstate[eef_state]: left_x=0.3763 left_y=-0.1475 left_z=0.0277 left_yaw=0.0038 left_pitch=-0.1292 left_roll=-0.0431 left_gripper=0.999 right_x=0.2927 right_y=0.0146 right_z=0.1533 right_yaw=0.1192 right_pitch=-0.0986 right_roll=-0.3127 right_gripper=0.9988\nstate[joint_eff]: [0.8684, -6.7077, 3.4803, 0.8425, -0.2173, 0.2711, -0.0171, -0.1983, -1.4017, 7.0085, 1.7753, 0.0464, -0.0317, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce86054a46945d26fc010ca261ecb66d98fff4b43418e31296fd5ac0fae3b926",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fc6ece2b0c4811b789f95aaa3783c95d545ff8ec54cb9748296b9ba29f09b29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5893ba5cb7146af719cdf3035dac86526deb62c2b66fac25c41a6e5051a00e19",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCjEeLSVoKN8QJ_wJdlXdn0gOYKpwBs9WyFX36KeiqR_U4P-JNpZ7dJCiYZo4wvw4u8nIlJqLybqfB4W8Vt4QYdoi1lLvYFPMakUQ3QS4VpUoWeiijf6FOZWls_1w9RVc0dSLC4Gi2KQtIMWF4B9hkE5b8GHQC_5KLLP0d2RdAV848bBm_TCTYQAwRGmXh5jY94dOEoJ880PVxeHbbyS37n9u4amxv9wPR2VF06AY-f6cxB0X9gLEOhk1HGTwYceJXbWub7IlRAGQDnbG6LZf-gsCEYaWJZEy_pnng58D6-pMNKMbDoncNzGcuk9fvfW25k056m3BNxu17oVDGxEGXzNLbgsbI7oUQ7QbrlmOjSl3gl7ailQ421eVWgSHXv5joQB1IoI8m9MACo4HvxEKOrWH7vm774GTZ94l3bbVqu-C3VxwrhbrXv_YqWjZ8JVKs1GnPyZ5XESeUUz-i0vmKWdBzrAIaw17AIg_AZ6UaTfXwEPzXgbTZaooE4UktlP5zNaN-GpAXcjbFnVrTozXRZap-K4sxCuyTQGMowmWL6Zwz3LkllyXCpUNSF27fNRyaklnzDKskoz4M7sqDoOfdfU2Kar77tNFSmOhLMz7pOW-S3tPcN3nrXRM_amOTjBPqDo8fsUDGm6A-P8cA5soTr2Ym07ro8ekSUQe49pggnGzxySZmEcHzTEGFItW1DVtqRvc2_wkskIPld3JhV_tQrNXboB6Eq6KGBuCGfebM9N5K-EKmpacFq0550XBd48BZwq8NzzHyLpyxVSCpZURykFDli_cnJzEyvLKu4yNK2od_zL1sYRpUC6YLB4AVBCTp-fda41HrD6cbMcP4SVEUA59J50SJSBTxFvVL-1uVGMkjzk1GfHyXHpNqlevG6DDa2ES09zqZs7VmwK85HzA4p8SiRgZHlN62wzR5NwOh6B9f10HfJqmobnhTXJWJlX4OXzKG1zcKFdG9bOTMu8thTLLYkd9KD7HVRQIhrRFxNQyoE4oBKiegFWtHDtyRKElBnymNIRQOD2RWuPKL-F_OJS2FzA6lNq682BTyc2IscyBU92Qz6FV-aDiuNvK6ymXLPTmVeKSP6Ikx9AnuO6R8rfhex9mIXoh7CHC5whJ0yW7CusdXNeVhmijAyXz7gY0cfc_nJI_FjKpkT9xsHTtwrUmfZoKCzQ8ocfAFMsOY43Nr3UEZdS1WPKfWUFzHg_jfKOq69CbHOaVglTXMH4YuyTA8A0MppWcFdGcrYbYlNGQYaIwV-uCfXo7ibHNgv8IxxeRwip0r028CQ0N1UHeJXiBT0kIh3zU_0jf72Okyr1caB1URJlFyNfU9VxMSRddPMTYlxBBzPM0DqT5t4zGiIRxQAwOyfznLqS9Bh7PKUBpU_5jN6PlU5y1Enp5Y0RWPK8zPFKeZGSHqZASzOZIfbpsFIRUFGHLEE4O2snRPj3fTO0y5ks0lYFSJkNx_QTihtzXmvvhsATdo7xc_qPXknZ-C_yE3uKFvTUhJcIHAvgtqNuMIuxRhRw4mxe3oIkZkXx06LNC8NoEtfMAPUTAyZg-8nM1cKYAhbQC-wtck72IyGNGks6_vBYcIz0WLsG94X0jqsEV9DzzruwpacO3vKDOmv_ajvD5m6fn27VScoQRLYMILi1IuJjdNzwIVwyVruXVgQGMJaUsqv2tlG1HG8LwUSSTHTutI4botNNioZx2sVfKyuBT-LerWihd8HvmidnrQO3KjY-qoBs0eghPJz7CrVgz4uK3qxw06foXkr0WRGCJJ-_aoaHnte70LgGVbti33Z7UeAjWhnQgjhjG-lQuy0nJiCutKy8bfY3D0vbcKx8LCur_njnuK5YX9a3CNvP3YhokzZzO3McIU19Ylv3_B0GE6sL0unBs8xy2x5Ps2HLO6PmaBe_VdbcEdFWkKxQoWZpNMue6lCLWFyHGpFysErMVhdE1_q4G2jD1-68yctT0QHf5WV0EpG8l-cKnT53jx43kwbR4n4kOdV0Z8fQFQ95iJzCE_SP7jhmw24PaRyS_XXxp-okY1aXTsVqcTEtNDeq0dpXglyMcGHuo2e_E0h6GkgflJvzNzxNN-PjrWOPNZTbhelU24lFIubYtB1wdKdLrILbDjuRiE75_4z7R6Jl347pE2LqfLFX2b7XfMs8PnXIC_iDsO9P6baYxZxf7Z4ZBkGhX6RuGLCs7zFaRLg3xeaoiQA6iEs6Zi41kt8QNt3juwXIkCEGIgmOD7RNiqmPtF5UiM8t1ftCby0DqkMZLPsUe2eG3_DyAG9sCf_-Y1eMyYKFd3yV-uazFFTwO0QrH-MdPDuYMbzKa8h38NqqyefnKvKT0ekJHdKwOHFPnsOL3kNxpdH3K6NrJ8Q9ihTkGdERHntgeQ9F2t6LocMGI_1qj_6lP3vBTBD87wMUo7HAYM5WClAOmTvvJaASiHwpB_VTIVtIoAWnBqPg-_WgTHj0fhLH0nreL2nTRojgHcF3NhBr5VGJtdVDukxIG48Y9XbRbsJe50BDT4jyozubV3e3kudr22N96HdUYODX2q503SrpsgbxVQElr4Hfw2EXXhQuAOLI9EOmRJ05KGmbzXHc3v_S0_VAeJ719M_25c-Pe7v9nY8Er1WFhunwdqJH8yd69L68EbSs_ctRNzQ0KrUgd3NRBcUUoUrZrqWJ-Dz7qeIVSTtGFthJP4Lw4cYS4_lmfoTt6T3Uih9vWfUd7XSnb9tY3Lz-jJA26_tw2VXZqr6bjUEdF5GqzVeQ",
  "id": "rs_090a2a85368c03b6016ab428bf7ed087d099585c68a2b47a72",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are down around the white toy’s body. I’m closing gently through the soft material, then I’ll verify that the toy lifts with the gripper.\"}",
  "call_id": "call_5ZBBKkljdfXJfafKsOxp3tQn",
  "id": "fc_090a2a85368c03b6016ab428c3987487d09c89a073ba94e7ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5ZBBKkljdfXJfafKsOxp3tQn",
  "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]: [-0.5255, 1.713, 0.6388, 0.2832, -0.3855, -0.4084, 0.0435, 0.1558, 0.8619, 0.5831, -0.4099, 0.1978, -0.2619, 0.9989]\nstate[eef_state]: left_x=0.3737 left_y=-0.1357 left_z=0.0204 left_yaw=0.0073 left_pitch=-0.1421 left_roll=-0.0186 left_gripper=0.0435 right_x=0.2895 right_y=0.014 right_z=0.1482 right_yaw=0.1187 right_pitch=-0.1241 right_roll=-0.3137 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -6.5709, 4.4786, 1.2479, -0.3346, -0.0611, 1.619, -0.3487, -1.935, 6.9538, 1.9121, 0.0317, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:010d1d51e826375d3f67a5b5733654a8dccae2ad393f220924fd725cca7be611",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25f3e6f0d33b05bba1e8dc2ddb7127bac3137590eea6d5740d0fb46bfc377dda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22d10989920b723aae5a919efbac1058199cfa2d1a6c620660d27365964876ce",
      "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 53 changed as sent

message 61 changed as sent

message 65 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7345, 1.5703, 1.0565, -0.3836, -0.5224, -0.5552, 0.9991, 0.1566, 0.8536, 0.5842, -0.3294, 0.1951, -0.2615, 0.997]\nstate[eef_state]: left_x=0.3598 left_y=-0.2013 left_z=0.1335 left_yaw=-0.0066 left_pitch=-0.1672 left_roll=0.018 left_gripper=0.9991 right_x=0.3009 right_y=0.0165 right_z=0.1666 right_yaw=0.1218 right_pitch=-0.0342 right_roll=-0.3085 right_gripper=0.997\nstate[joint_eff]: [-0.5675, -7.1043, 9.1145, 1.5263, -0.5788, 0.105, -0.0122, 0.1573, -2.2359, 10.7556, 2.127, 0.1978, 0.188, -0.022]",
      "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]: [-0.551, 1.7119, 0.6655, 0.2676, -0.3935, -0.4385, 0.999, 0.1562, 0.8585, 0.5831, -0.3878, 0.1978, -0.2619, 0.9988]\nstate[eef_state]: left_x=0.3763 left_y=-0.1475 left_z=0.0277 left_yaw=0.0038 left_pitch=-0.1292 left_roll=-0.0431 left_gripper=0.999 right_x=0.2927 right_y=0.0146 right_z=0.1533 right_yaw=0.1192 right_pitch=-0.0986 right_roll=-0.3127 right_gripper=0.9988\nstate[joint_eff]: [0.8684, -6.7077, 3.4803, 0.8425, -0.2173, 0.2711, -0.0171, -0.1983, -1.4017, 7.0085, 1.7753, 0.0464, -0.0317, 0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5255, 1.713, 0.6388, 0.2832, -0.3855, -0.4084, 0.0435, 0.1558, 0.8619, 0.5831, -0.4099, 0.1978, -0.2619, 0.9989]\nstate[eef_state]: left_x=0.3737 left_y=-0.1357 left_z=0.0204 left_yaw=0.0073 left_pitch=-0.1421 left_roll=-0.0186 left_gripper=0.0435 right_x=0.2895 right_y=0.014 right_z=0.1482 right_yaw=0.1187 right_pitch=-0.1241 right_roll=-0.3137 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -6.5709, 4.4786, 1.2479, -0.3346, -0.0611, 1.619, -0.3487, -1.935, 6.9538, 1.9121, 0.0317, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:010d1d51e826375d3f67a5b5733654a8dccae2ad393f220924fd725cca7be611",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25f3e6f0d33b05bba1e8dc2ddb7127bac3137590eea6d5740d0fb46bfc377dda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22d10989920b723aae5a919efbac1058199cfa2d1a6c620660d27365964876ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCjLx79UEExi966pmmljNBUI6gXGEgzOmjeGeD_u6RAdn2ucd3IkOn6an60hWsfCxqwlbphN96GF652zmHZR73DyD24HZfYavWE00Z-Uuw-8x9pMZ9gkJ2ePLXDnWR4gVsVWcsOqfIpnGMaV-7FsC4RpyYr0PaLbsDf3SmWK-vyVvDhl9sDRzIetWsyA0sgHUPYSfrN0L13HArFZeGmYWwL_15Siy6-qdu6FV1Q4GydOtgI9e2J7PHkT-cH2iYY0bcGAmi8F0g92IytP5Kx-ThwAQJG-fdZKV_pZdrTz5OJQi5a1nfQQgyVHwvoEERYdWCjhBAvrd9oygsgnav5odjvevJtcc1nBzggHGI0CF7YLDJXAGO3Jf-m_AcXwk-hH8Z1WwKyTYdjRzDbQBbhcFwXUme0WK-Z8vJ7i0H8WqMTmd1zgaCICm9jIEyJY8G3YGRA-trU8eXebEZchU8qVvHUQSBpGiKmfJ55-C1uTRKECMCdl5Eh6gJLcn4njJ0slkHX2Uk3gac7NWYgne79QHiWYn5ojbEdlNyRFe9fYLrqRoA0Py1cqGWQbhQNKV0WmyCMoNabQd5EHIOWt1A31goehfqlg5-NOl0IQwlhR2XSO71HoHxjemxMw1jf2DM_9ufaSspcTHzuMK2aN9J9JZxWu2TpVqbhLWxqrcuyNLKbKh5uxzrFzqnLiRsiPlIaWdeHIdQZNqoBt_5sI_zCqyKyVmHrLiLtHv0T-IIGVeh83lOWWUUVhZJADsF5SvgUvoCeb_D8VlDfyn9PuHlDQky8FdExsfGJWjfP9AM54hqyhCPIhV5CWHuubuyezgzIR3veuqy67A0MK-aGZwcRk6FX6ZSvjn8xXCw53zOq2rCk_NCrkM88ir4Res3hhUNe8W31fFoLYirp7A93fk-stsuuwHXTiWOgNZlktB7oxcSraWz4CVIlPZDuA3PkgHBRL_H2f6eezbwaN32UQ2MuynYWZXEpVXWcgPsk_TY2qTr2zXKqojA-6_WyXFngKwL9Oth0CbdBxYLNXd04K0mDoahXxHqmuYe5DcVNbxj6KqRFMkM-QYNAEf2lq9GQFggOIFEQqJ42FuJUb-WJfxY2TOKXhy8jBlb5JQfdrBnLK-sjZCLDG_ChAekgXIVsM07RuISDTVk5junRHbaKCYahtz8MqUasdm3nZ_qMqYiOFYW9V8g0s9fsFHjzINFHQ-rEJbEdeyRNYmBA8MP4CSLMHCBuwpO3lbI5LC24oPJ1NvBitJIfA0SCMQYsbDa1LiJkCi5IsDrNzbwyP1aym2zZfFv1b0xszdiBQwfs8fnCFteoiEFBtGfgRePMgAxFVzhWZcsyyIXOBckiijJoe0uOHzDmOrlq9RqDHqL7k0G6gaYY-Y2rBZApNcaOtRiBEvBcuuMhuFT_tIVsjKPLM68gPsvIGxd516D0p-0Ol6h0O6IRj4z2aJMM6NVMWfW9u5tk-qkQv0_K6lkYZS3FcleTn_fUnOF1fRCfYpN_XGSrgP1MK5_d7uoVmJyNlOkVjB317ladhLcNdreZBnyFqjqDUWwMJB2BRDsTbsW_OVxObsGI2NiQ_JZVcMRO_4YNA1wz3dr-j24MOPtlSGTN12uuMIFnL3gwwYK0WIs_Q8Uja9X3d2qxR_1UjHbBztsTrkstHuOqhtN0X7DD4hw59NFedZYQJGYC_vQ8L-e4JDbrCyQfev-GE1Cc3lRgRcPeouBKdV35J4apOhLC5uHyEAHqbitodH7-uqHs0BiBheoiZ7gQk-xPuociZJVxbsb5w3eISeZ8Y4btTKQw3nC8S2SVHyrIN7qJ7MPP-YV8KCdUWJNTv_rQ0eZOm643LpjDM0Bh6N5WaEUBkFFuXmo2OvwZfhLN2Fe1DR5Pt-AVe_YEhGAxF8nWAOgTdhn3wnJutO2XQFmVrEcPhOiS5tmRy3hitkxs4stezgB4tZFpuZU6poeYnB0M=",
  "id": "rs_090a2a85368c03b6016ab428c7890887d0be695b4e624724cf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.09,\"left_z\":0.055,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18,\"right_roll\":0,\"right_pitch\":0},\"note\":\"The opening is almost empty, and the white toy remains ahead and left of the grasp point. I’m reopening and moving farther toward the toy, while restoring the idle arm to its parked pose.\"}",
  "call_id": "call_8h5uYRVyNayZ928Q4fTT2i86",
  "id": "fc_090a2a85368c03b6016ab428c9db7487d090263af799e959bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8h5uYRVyNayZ928Q4fTT2i86",
  "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]: [-0.3145, 1.7138, 0.7849, 0.149, -0.2527, -0.2836, 0.9952, -0.1345, 0.8196, 0.5842, -0.44, -0.1646, -0.1967, 0.9989]\nstate[eef_state]: left_x=0.4178 left_y=-0.0857 left_z=0.0436 left_yaw=0.0412 left_pitch=-0.1718 left_roll=-0.0155 left_gripper=0.9952 right_x=0.2847 right_y=-0.0057 right_z=0.1536 right_yaw=0.0986 right_pitch=-0.0824 right_roll=-0.0363 right_gripper=0.9989\nstate[joint_eff]: [0.3077, -6.7487, 8.1436, 1.7118, 0.0562, 0.2955, -0.0952, -0.2393, -2.1675, 10.1265, 1.8877, -0.2076, 0.2515, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1200119e5dbf5617567ce2c09a13e33e9109f788d09ee396083c5654d6f929d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df4bc354018dc40a5bc3437c999a5eea7f6a5d1d1d9d6620ac0fdc3414df1bf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c261a1d1693e860f0ecf6ad437a2a59540429a586ac89434a8e87ec94a56d98",
      "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 57 changed as sent

message 65 changed as sent

message 69 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6197, 1.6974, 0.7448, 0.0944, -0.4484, -0.4744, 0.9991, 0.1562, 0.8585, 0.5831, -0.3717, 0.1974, -0.2615, 0.9987]\nstate[eef_state]: left_x=0.3674 left_y=-0.1637 left_z=0.0357 left_yaw=0.0043 left_pitch=-0.1731 left_roll=0.0081 left_gripper=0.9991 right_x=0.295 right_y=0.015 right_z=0.1564 right_yaw=0.1194 right_pitch=-0.0825 right_roll=-0.3116 right_gripper=0.9987\nstate[joint_eff]: [1.0462, -5.3675, 4.4376, 1.0232, -0.2466, 0.2418, -0.0171, -0.0342, -1.9897, 7.2274, 2.0684, 0.022, -0.0269, 0.1636]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5255, 1.713, 0.6388, 0.2832, -0.3855, -0.4084, 0.0435, 0.1558, 0.8619, 0.5831, -0.4099, 0.1978, -0.2619, 0.9989]\nstate[eef_state]: left_x=0.3737 left_y=-0.1357 left_z=0.0204 left_yaw=0.0073 left_pitch=-0.1421 left_roll=-0.0186 left_gripper=0.0435 right_x=0.2895 right_y=0.014 right_z=0.1482 right_yaw=0.1187 right_pitch=-0.1241 right_roll=-0.3137 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -6.5709, 4.4786, 1.2479, -0.3346, -0.0611, 1.619, -0.3487, -1.935, 6.9538, 1.9121, 0.0317, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3145, 1.7138, 0.7849, 0.149, -0.2527, -0.2836, 0.9952, -0.1345, 0.8196, 0.5842, -0.44, -0.1646, -0.1967, 0.9989]\nstate[eef_state]: left_x=0.4178 left_y=-0.0857 left_z=0.0436 left_yaw=0.0412 left_pitch=-0.1718 left_roll=-0.0155 left_gripper=0.9952 right_x=0.2847 right_y=-0.0057 right_z=0.1536 right_yaw=0.0986 right_pitch=-0.0824 right_roll=-0.0363 right_gripper=0.9989\nstate[joint_eff]: [0.3077, -6.7487, 8.1436, 1.7118, 0.0562, 0.2955, -0.0952, -0.2393, -2.1675, 10.1265, 1.8877, -0.2076, 0.2515, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1200119e5dbf5617567ce2c09a13e33e9109f788d09ee396083c5654d6f929d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df4bc354018dc40a5bc3437c999a5eea7f6a5d1d1d9d6620ac0fdc3414df1bf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c261a1d1693e860f0ecf6ad437a2a59540429a586ac89434a8e87ec94a56d98",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCjRfWCq9Sz17Bb6KDJvVd-m9HmPVBOh01gzoyYY7Z-rbSdIQgF6azd7fMQsQxXM7VoyAhn_ySxkzpvIM2jDoyHtWP7EvCYvAn6JXeh1P9_Zoy6Vv92Z91uYWFnqxSoO0YO8WXkRIlU2LPRo85PrUsUn44f4L1R3Cr-KpIf5T6P-emfzC3R3vvt9Wt1OyVLfpzZZjFEzx57zBzA9Jx3LoUC9P3d1YBSvPtqB_BhDJ8pNb39hfsd_95DniSB4NlfSDKbbjH4rcj09Rc6O7VyLcECaxzhShRAepQOQhuhz4O4HIW6TzaRmam-7eI9a51RR6hXbSyKHgHAT0N7zY-JHLFvXF0ha0W9c7qq0tB77VsX7Cgdw1bTJAYYmvvvb_DLHIEPAfpkQdAC8DpZTblEbeXmY8BfFJKVI03_Qi_4xdW0cq_afKNqhtSJ4MU-GPf_38iA9g-NOIVt6CFesctw7uuyn1_LDyeIygYUNaYRVm0ibITfpXLPnLPxcdkNY_fZnA3gags1E4__KF95fN8KklF8GQfCrZnM4Ngd0G5fyaaEVMb_j6TCEsYh-jJGSSkAOFaDetCwx_JGs0YWdTFeGqM2Cc-hn_5trxGWVUkeY9c2-8hzODGKmhqH4kEfhLJio-Om0jXPgp3l_BcCoBFPEtXxRmJIPWW0zJWINmd9Zxee-7RDtxAmUC5gihdI0WQ9mVlX92Iy9k5OQgbQKSHpnK3ke_07FigFl6PaWqYKNCX3hxdnHYP8ZGhP8ehsyUQl9uTpP9JHHemeed4J00i_8DFQYVE0MRH8VYg2MhJe2tu7bEoqIFYS7J7O1mwq6G9V_86PRHAYk6k_v_li1DLvcEymY4Xw0tGxWHK-zbTpC4u0XrVh50IQYXD0hSFXEkTeHKUEyLtTen03BOeIu7o6Vjz29yytvtSNdhBhaGgLr-WVeaTxlUYwmeF44blczrVQ3CMcQ6kS9BBQ4tjh6Yfy5O_oIIFu2dtXyBJ4jW1ujBIoUHzvawuGrIh_bAlfIhqgfK7oGlVsCPAszYrq9wJB-xDEt1UMsds9lepcySZpc4QBLekFbq-NctgMxNIjf64MsRmfV_yo_o_QA8Hn5WgPPSYc0gARVQ6ppZqW9hqK9HXQZkVYTkoYWLavVk-Ec55xm1hV7Z43NeTi8unVKF1f26q5DJcjZZxFJMYg6VjuDoxbMsVguyKq73wDxRoPQl85c1Tcb-K5sjCOUmxa-m5bZtOFaxr8VIXhzPcLC6bnQMO-o0dVofset8KOOlU1y6We9wOt1SuSSiFYr0TtJwYjx2wLAcyoafMK0QnmZWHutXoTVf3kGPd4LZ9MjiYTqK3iYDU9nSPXhy6DiPyNPY_VkjRp_nHO_TZDxEBnLb6bnl484Qu2rFAntiCXxlmacvaVpSnwh_6c5o-qOh51aJ6PRRH_jEt2Fw49dg6vu7-f7IoNXf0-ciJrMiFM6Ruq0TroVMEjcS3LN_AonJ61le29QnIOWK-jh-4_i8zvwSzweOzSRnbGz9gEYcEtbEDqeJm9yodghULll7pcUPL9wXfg6Ao9hEw==",
  "id": "rs_090a2a85368c03b6016ab428ce6fa487d0bfe9fd2287455f4b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.065,\"left_z\":0.005},\"note\":\"The white plush is now entering the fingertip region, with its body just left of center. I’m making the final small alignment and lowering to table level.\"}",
  "call_id": "call_zGRXfKMF1WlowmBw8wyX8scc",
  "id": "fc_090a2a85368c03b6016ab428d01f9487d0b413d8a727f2c2e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zGRXfKMF1WlowmBw8wyX8scc",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "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]: [-0.2535, 1.8385, 0.8165, 0.3088, -0.1867, -0.2657, 0.9963, -0.1368, 0.8234, 0.5835, -0.4557, -0.1764, -0.1936, 0.9989]\nstate[eef_state]: left_x=0.4479 left_y=-0.0784 left_z=0.0296 left_yaw=0.0344 left_pitch=-0.1223 left_roll=-0.0662 left_gripper=0.9963 right_x=0.2823 right_y=-0.0039 right_z=0.1495 right_yaw=0.1049 right_pitch=-0.1003 right_roll=-0.0219 right_gripper=0.9989\nstate[joint_eff]: [0.9231, -5.3538, 4.9436, 0.5153, -0.5201, 0.3785, 0.0952, -0.0068, -1.6615, 7.0222, 1.7949, -0.0562, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f74eddb60f3ecde1c0939880a5cbf3dabdfc8ca8c74ac40866da124eda4d8f4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24a2010663426cfc8fa1a4b0997baca9d296a02d215ab8da9f4effdec9288048",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2c76badb68f5332e3b5a3ac3cdb7a984a25b505d04935644292c3463b3c73ea",
      "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 61 changed as sent

message 69 changed as sent

message 73 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.551, 1.7119, 0.6655, 0.2676, -0.3935, -0.4385, 0.999, 0.1562, 0.8585, 0.5831, -0.3878, 0.1978, -0.2619, 0.9988]\nstate[eef_state]: left_x=0.3763 left_y=-0.1475 left_z=0.0277 left_yaw=0.0038 left_pitch=-0.1292 left_roll=-0.0431 left_gripper=0.999 right_x=0.2927 right_y=0.0146 right_z=0.1533 right_yaw=0.1192 right_pitch=-0.0986 right_roll=-0.3127 right_gripper=0.9988\nstate[joint_eff]: [0.8684, -6.7077, 3.4803, 0.8425, -0.2173, 0.2711, -0.0171, -0.1983, -1.4017, 7.0085, 1.7753, 0.0464, -0.0317, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3145, 1.7138, 0.7849, 0.149, -0.2527, -0.2836, 0.9952, -0.1345, 0.8196, 0.5842, -0.44, -0.1646, -0.1967, 0.9989]\nstate[eef_state]: left_x=0.4178 left_y=-0.0857 left_z=0.0436 left_yaw=0.0412 left_pitch=-0.1718 left_roll=-0.0155 left_gripper=0.9952 right_x=0.2847 right_y=-0.0057 right_z=0.1536 right_yaw=0.0986 right_pitch=-0.0824 right_roll=-0.0363 right_gripper=0.9989\nstate[joint_eff]: [0.3077, -6.7487, 8.1436, 1.7118, 0.0562, 0.2955, -0.0952, -0.2393, -2.1675, 10.1265, 1.8877, -0.2076, 0.2515, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2535, 1.8385, 0.8165, 0.3088, -0.1867, -0.2657, 0.9963, -0.1368, 0.8234, 0.5835, -0.4557, -0.1764, -0.1936, 0.9989]\nstate[eef_state]: left_x=0.4479 left_y=-0.0784 left_z=0.0296 left_yaw=0.0344 left_pitch=-0.1223 left_roll=-0.0662 left_gripper=0.9963 right_x=0.2823 right_y=-0.0039 right_z=0.1495 right_yaw=0.1049 right_pitch=-0.1003 right_roll=-0.0219 right_gripper=0.9989\nstate[joint_eff]: [0.9231, -5.3538, 4.9436, 0.5153, -0.5201, 0.3785, 0.0952, -0.0068, -1.6615, 7.0222, 1.7949, -0.0562, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f74eddb60f3ecde1c0939880a5cbf3dabdfc8ca8c74ac40866da124eda4d8f4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24a2010663426cfc8fa1a4b0997baca9d296a02d215ab8da9f4effdec9288048",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2c76badb68f5332e3b5a3ac3cdb7a984a25b505d04935644292c3463b3c73ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCjUVsc1RDA139wf0DU0Dp3q6niv7Yoi6DjzS13YeuWXmjhY2dUNSkgcbadpQvH1na-Fa8v0ypARpGKlDyqNv3vEJobzNwGQG7niiu3F6mSZQo8QU26C2hTodeXlhcP0n0_6J7YUTUmm24xiTZaKMzUYqHnmV-UiuKJVddMfcoGIh83VDE94tTuL8HmO9JRu2jMXBw0OZ0_roHV-gIVAoF7qWEVusuypjp6eeNKuQcvTTLEvmS9eLBz_saZjvK5CFbi0nOf-KCY9jB7fWiPIq6UnL3RyLm3DWlkc6EKdpF3SMpKPJw4i62hOpRvwo05e5I8wTbDlMpQbbpWFPpUEImsisMSH0sJI-mriHuKr5-Hx-PRpCOpiGywaI6YpDDwpFXxfwF8arCqH6Ha2a4iNrwJMkTVNT-pSfWtib0G7N8xX6gjH22anosKXwXVYpMwFWBWStW4SlVy7jNuqqypStlHghKbj2eOrt53dkBP-2J-ZMWY-Tn6pE7J5HcRhLpFw0Zj7KVuBeocQvGaH7ld8UkL8n2QjMJjmZaVz4RsPQ7fzQQeGzlZPz1E5CEbtVsH2HfdMEdIQsH6DlGkUe7smNo3EYPk7Un4tmDgg2qfIC8Y_YRHQvMAUDRmqpsCNt98f_wzlU2hkO4GLKh4qGW_0FoBk6aqIPmLNI_sPbd_sKMGwACDBH5gW9KzU8a74SW7WAg8iAzIzEYKYhWOj0GULoO9FOq8gnNJPlzATfnVbOcyR0SCJjHC-hIqvvrwOS7c0wfMfusGSFD87_tX55N5ihZS-Q_DWU31jWsEzONaeeRYdrPSOVFgvTcqnk6j4G6_tS04-CK89BL-5XtBCsd_G2wDh6t5D2SNhjzKA8aoFdJFbke7SMt_DgjGPI19gMJxKaAdMgIFs7F5okK92BKK2WfFjdoA1be1DCEoqRmsdZ2AybSKhQrRq0JTYnLg8r6q5-aaWp6tCSkYrAEXoNsg0dsE8hNCSsRUuvOu21hTaqHYuMJ83kLrBGLpNjyMWwY0SnS9TuLY3uwMfLlHIb5RhR03I0f7-uh-ho90s8ZKYdRDOid9V2qK2Hevd2FD5opm6-q9iBtsgjDm2-116e54Arm9mAIkMWbSNrFNH_dNeTtlRBB8v-IL7om2t-fAY1Zkyh-3NGiDDa6YPwYBZfqWql6yLFdW3Q6edtx-O8KKw_LbzAPjzmVsSCtdl5fUM4ZfPQMi1rnKP5nVPPHePlJei8-80YF_HK9S9ireVNzCBeK-pHGt4VZl8vpvXQq5F0DkZwHBuNd4X9TlkbFDMR7BhzcTqN6EJZ9RqtRu4WqRrIQ3u-UcbWhPeh1T1Anvk5HKhTvVSZoE9sI8mPlw-TzjkZVjJIw==",
  "id": "rs_090a2a85368c03b6016ab428d32a5c87d0911a2488e497edca",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white toy is now beneath the gripper rather than ahead in the camera view. I’m closing around its body for a second grasp attempt.\"}",
  "call_id": "call_i1NETHoipdazZ8vOKWNEuwGM",
  "id": "fc_090a2a85368c03b6016ab428d3d0cc87d09efb9456d3d68945",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i1NETHoipdazZ8vOKWNEuwGM",
  "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]: [-0.2333, 1.8683, 0.8242, 0.3832, -0.1833, -0.2363, 0.0098, -0.1368, 0.8238, 0.5831, -0.4778, -0.1738, -0.1982, 0.9989]\nstate[eef_state]: left_x=0.4606 left_y=-0.0727 left_z=0.0333 left_yaw=0.0343 left_pitch=-0.0717 left_roll=-0.0597 left_gripper=0.0098 right_x=0.2788 right_y=-0.0039 right_z=0.1451 right_yaw=0.1058 right_pitch=-0.123 right_roll=-0.0216 right_gripper=0.9989\nstate[joint_eff]: [0.5949, -6.2701, 4.6291, 1.0183, -0.0513, 0.1099, 0.779, -0.0752, -1.3607, 6.9675, 1.79, -0.1343, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01782b4e9461e0fdd0c1ac86d98b2cb75cdf20dc666280191eb48cdd516f47e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd84c8a6f9e210d0827e3d878d9090431eb4c95c551cc42027b35af5a8638c32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b68af1e61bad8c6aedf92a6998855a8fba967b88d105d25ccc6dedf3aca4f15f",
      "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 65 changed as sent

message 73 changed as sent

message 77 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5255, 1.713, 0.6388, 0.2832, -0.3855, -0.4084, 0.0435, 0.1558, 0.8619, 0.5831, -0.4099, 0.1978, -0.2619, 0.9989]\nstate[eef_state]: left_x=0.3737 left_y=-0.1357 left_z=0.0204 left_yaw=0.0073 left_pitch=-0.1421 left_roll=-0.0186 left_gripper=0.0435 right_x=0.2895 right_y=0.014 right_z=0.1482 right_yaw=0.1187 right_pitch=-0.1241 right_roll=-0.3137 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -6.5709, 4.4786, 1.2479, -0.3346, -0.0611, 1.619, -0.3487, -1.935, 6.9538, 1.9121, 0.0317, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2535, 1.8385, 0.8165, 0.3088, -0.1867, -0.2657, 0.9963, -0.1368, 0.8234, 0.5835, -0.4557, -0.1764, -0.1936, 0.9989]\nstate[eef_state]: left_x=0.4479 left_y=-0.0784 left_z=0.0296 left_yaw=0.0344 left_pitch=-0.1223 left_roll=-0.0662 left_gripper=0.9963 right_x=0.2823 right_y=-0.0039 right_z=0.1495 right_yaw=0.1049 right_pitch=-0.1003 right_roll=-0.0219 right_gripper=0.9989\nstate[joint_eff]: [0.9231, -5.3538, 4.9436, 0.5153, -0.5201, 0.3785, 0.0952, -0.0068, -1.6615, 7.0222, 1.7949, -0.0562, -0.0269, -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]: [-0.2333, 1.8683, 0.8242, 0.3832, -0.1833, -0.2363, 0.0098, -0.1368, 0.8238, 0.5831, -0.4778, -0.1738, -0.1982, 0.9989]\nstate[eef_state]: left_x=0.4606 left_y=-0.0727 left_z=0.0333 left_yaw=0.0343 left_pitch=-0.0717 left_roll=-0.0597 left_gripper=0.0098 right_x=0.2788 right_y=-0.0039 right_z=0.1451 right_yaw=0.1058 right_pitch=-0.123 right_roll=-0.0216 right_gripper=0.9989\nstate[joint_eff]: [0.5949, -6.2701, 4.6291, 1.0183, -0.0513, 0.1099, 0.779, -0.0752, -1.3607, 6.9675, 1.79, -0.1343, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01782b4e9461e0fdd0c1ac86d98b2cb75cdf20dc666280191eb48cdd516f47e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd84c8a6f9e210d0827e3d878d9090431eb4c95c551cc42027b35af5a8638c32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b68af1e61bad8c6aedf92a6998855a8fba967b88d105d25ccc6dedf3aca4f15f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCjgyQBpDnzUzv-2QjD9R3oJ2DPqoZ-bBRlDPMsvf8tMCG8bdId9adr1HY0HF85pbQasYp87Nm-ZMHWqJwaQDpxgnPaSd6-qvXkvwWdavt7qrVUj6RlmzCavyFM0lYvhwflCzvYNG0hmfOWiWCnwpW5WcvDPm2JKki3lHD0ce3g3jsTd7uLnWurrqtgAMXfeeZCBln6iJRAXQN3etl8v9TTzKUmEPmO3r_U1y0v1cY5Uv49hoPMu8Od4sxL8MVt3erxgAY9gbJiaSlL3MbG_UxOCK-OH4iTMcmLdJf1vmwR3fInqjO88zXfpALaoVVAGSVXOY-l6WBXWNu51ahI8gW2LFKpGH5c7gMxh0VXlNnWRcs_BArUY0eBhrSp7QokAebq4VnFa-9vUpAXDPJUwhqTHE_lABXuyiGfAQtCh8efCok4Y0UnxtxXpxJ9V94iwrcFCcKYT3KQvjHy1nl9cZiNMaQaTHqqdE78GIfAJ43IiTJZJ6IMkwOdxAEMlGDg4xCZbM_TaJl6-Ci0DniVYHhzABmJs9wrNSY7qudIleyJihWf_9-Ln3RMOqJ3WMgqXgjCu1HLqSOmjK7XAqnwj4Y2TiKSXHmtiY78-jqgYQT0-c6DeIGCnvON3qua6W4fghfReGVWXSKmG7xUi35T7AJwT7jtjjVdsXdfstytWRvTp04LNqC7f0pPWfN_LIcCCTHmZ9a3i70jCggEqs0o_XADEUN5EWQqvlX-dN5JqEzFYwfkx3EgxsvYnrYEIxt0tVIHax1qh-I4GAHyvq-XaEy3CRQ1Vg20gwFHdV-TEYIcJfGp1XzYdXFywfgsro0LTGgLJOs6x27MMUFdU3ANQlFIXJJVuLbN9agjK92a-Qd--uo6MO7-MB1BhbA_9gZ6Ma_7xaucbPE0fCHkxUCXjTLnAICjSBQtU8KmXIWvwfWFv1xxqVghgRUTf8FknGuAIYCPaCrXsmJ3YtR_IPIwFI6NgLm_jfQIeRAkzxp5pmZeW__i69YeZKTIjEMMaK5TMjF4AvJsb2JM7h7O4N5S-F3XZ__kiHMF6hEr3AzOBJ0h5bF0uw3XGeGDMTQJcja5zgAibKk-nOaGyDnBl2pQQ-9OWswrLEoia6BdMfvyweWAtBtY7SxF1Jjb4623sjV7z4W1Dlt_TWhTg061sN6wCweNaUr-OYuo04AbgYrVoIRRz9-5VD2qVo10DuHIEPrWYqzOI5yLBCoTiWM5hCkFobiNwCkA_NgvxoZ95ulhT4o-VHhzY3BFHUmbYtST3KAgCN0FDKwYAg04DcrZiHdqqBPexzFusfBEh2BU75HtWBw2jA7Be187iAeNPoOUvvy7DyGdXOk0etWBbypsn_xhgV7-MMKOz4o5xJJcUOF_gJkzuCvPXz6cMCW3TzaWDU7pczatrqBXWwV0yp9qxEo4zv27IojIT0Zt3rVysaKGj-x-K6JXKmmdWaiWcJAF87F9W7BFYvA07o5BbMD6DCrL0RvyoH3MwWXLrHGRELTOqSLNnIrvlGpidZgYm0CumYdetVKKYbsDnaexN6Dom_wiPkRXQXmleK_A8OOr80BbkpJrZv8CUZRi1-wtc6tNebzLK8BYiAv_TxFMeSuAbb6NZz09NCxQdMmYna4Qbq9jz_1PLb_w0J3OFdvG507LNiRX0R5uBx2FGXXEibfctDc2Ca-AHb4AFFtSf5FZoP1U4eSvUDYQ4XJw2R1zBT_cKSRpzsyNemt5dZKYb0VhbeatIdtTSBjHqJP2Lh66IzHmEiwVDfDEkTOHBQ1m-rKon72tkoiZSyxk1tdtEDWbNR2bpzlFVIuaCBZ-rBRXpZTqN1QofPC1WDmaxbQrYYOuqBb7ik6pruL102U_PUMFKxJq_K_81DsI6_z6-nb2-blCgxAfAXiZLIDT_NoOaRkP4C1vidu411wyV4-5sln1drRt9Xf46FB4myHZ-r8-yo323hgM1-y8RDOuRjm7D6AoyM-2hNYiBgTn8IhITG7nxQ6cX9HMZohgZqQfGp7YLjDr8Aaz0IG2PM_WRvxD914u8cuJfOm7yRD5K7UxRmgUfV5ydh3H0rt989Yifkf2NQM_gojc1UnWY-NBVFCYPOtdFxbnXvYtO0om02LEBZKtRQPjaR2RzuWohQ_KyAApIXtqQQDvvKd0NBs-3uf3wFs7AzNL7WfxvGv9DVx3thCTU3xSccdQMTfHiz4P1GXP8T31fTFoG77FHIXqv8GjNAQPvr8VtbxX0lWpbj68wtarLkUeOjvnJjwFv9WYeq8ldx6CDagwsUygHjUJaZTOe-RrPtYwKmXtaTdUDwGzoU03-gy8OjyWS1fuhImvbQYUEbKvJj-_o1tkUlimefoQUoEaqbAGr01SQ7QCf4dl3_cc5G7bI-Wx5G13gnTypJ5uu9MBwxYOAr-0kHRe-33p0mv1U-uClJCvFqLnxR5Q8RfV5Yy1CYDwm9v6lf5LzmicFWCzuEIb8ghgGGMcWP3MGy84leoJA1b-NSbfD00XS2MHtHS45Zz-YIxd7pQ3TxLzPaghcm0y1I6MVWz0KRhUN8Vz8XHRDRgVq8x6rxrNLblrR15uDg-qLitHCFSwKV3nSWMfnBT5IhTmhvh-EqZyzNZZnmoKdG4FYJLLg8qgiTljMEjd15BgQtoHoWuxVGHIER7srd2El6nDRRT4ZXuOWiGTzz1S3_WDAaSm0xfyCkelMM3JtRPr6xr5w00Zj24vZhjv0_EcVfZv285EsGL_SxBXTm8yMpWzeyxxXnomNCbX4Fzvq8pbBtTzor9NzlIIXXmS26JfnvHjQSkKlEcyNM7q58sI_Z3yDWkbC1x4CxzCVaR1ABskJSFc22iI2d-ES48IKvr5AFpFOmT0d6ATLglM2P_GLZmT6V8CtWj1u3WPN5QyG7rtwdt0B2CDffSHBPAAmOk_3G_Q6DlDoE6XrhB0qUZu5ep8tuZm4Si3R2HmdjjzCLsHTPERRE6HqvZ_3xxL-APSW6yzd1NbMDDsWEuXz7J3kUSuoWKetC9QWJt8aU-ljRJ91nVp1UrG4s-JkwamnzFDhTKAsysjdjRpLXGpJ8YQGoYbe7_3qZx-ZZn0gbmQseSC9BVRKc7AylPAsQ_jtfJDgmeyvMSlUNtvilTrVW16K61UAal1DQ6EM1xwUIBEoziYpQNej-IN_UExZqh2bi0jFAFcvkGTMIQ5gy62ell1wAijkwJcNXz4lX7yvf_KsIZvA31WcqMGABFOkgmwkthLdlsPATDOkeT3QlOJintA-3KIJ25rVVMA3M9zSdXXDyJHjFc2jJYf4kp0WDplxchEtDmMriRSU4rPkKADZ1WqSRrB0DwGyz1KfWrTHZu3r2aP-80ooh9w_6ORz2uC8d7UXVW2Nw63t74hQh_6sNdA-sgl5I7WvkBh454cEB24TLNKHpuAzJSCb61tarBqXQE9qwzdbrdFnkl_ooQ2Hzk22RiiSXuVAgsLetO4iSkl4bhzrr9fuoHtVPwMxYM9zhcUm7YkPOMFoWnm4-mslIZ-PXOpK9afQTw2zYH_p5vV1UtL8im1eEVqoEBwbVuoS5E5PsIurWsGXuBUCjq3VpJtyub8iCVzo2qMcn4ucZXT_t0NDLP6cIEI9U0b7HbmCwMlTLOsi-Hw7iSO2my67slbvzik-",
  "id": "rs_090a2a85368c03b6016ab428d6d1b087d088eadbdec6d0b183",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.2,\"left_gripper\":1,\"right_x\":0.53,\"right_y\":0.19,\"right_z\":0.14,\"right_pitch\":0.45},\"note\":\"The second white-toy grasp is empty, so I’m lifting away to reveal its position. The yellow object is farther forward than my earlier approach; I’m moving above it with a forward tilt to improve reach.\"}",
  "call_id": "call_MX9z5sa8FgrMWLSrp34jDyB1",
  "id": "fc_090a2a85368c03b6016ab428df112c87d0b45aa8d08918702c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MX9z5sa8FgrMWLSrp34jDyB1",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0296, 0.9062, 0.7345, -0.4896, -0.0372, -0.1333, 0.9975, 0.4419, 2.03, 1.0187, 0.7654, 0.3172, 0.0074, 0.9989]\nstate[eef_state]: left_x=0.3037 left_y=0.0012 left_z=0.1858 left_yaw=0.0593 left_pitch=-0.0848 left_roll=-0.0662 left_gripper=0.9975 right_x=0.5182 right_y=0.1882 right_z=0.1152 right_yaw=0.143 right_pitch=0.3486 right_roll=-0.0515 right_gripper=0.9989\nstate[joint_eff]: [0.4034, -2.0171, 9.9761, 1.8193, 0.0611, 0.1832, -0.0415, -0.0342, -10.3179, 7.1453, 2.2882, 0.1636, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ce97189afd5bed6fdbeefcf76a9fb11e0f2e65049a2414e2f2f366f7e6308a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d676571340571d92bd33ddf25812cb54c9ae9e968d6c9255ba87490e357c8a37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76a6c0b99d32043d416b3c083807c6983f9fca00a28c994681af01028479ff65",
      "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 69 changed as sent

message 77 changed as sent

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3145, 1.7138, 0.7849, 0.149, -0.2527, -0.2836, 0.9952, -0.1345, 0.8196, 0.5842, -0.44, -0.1646, -0.1967, 0.9989]\nstate[eef_state]: left_x=0.4178 left_y=-0.0857 left_z=0.0436 left_yaw=0.0412 left_pitch=-0.1718 left_roll=-0.0155 left_gripper=0.9952 right_x=0.2847 right_y=-0.0057 right_z=0.1536 right_yaw=0.0986 right_pitch=-0.0824 right_roll=-0.0363 right_gripper=0.9989\nstate[joint_eff]: [0.3077, -6.7487, 8.1436, 1.7118, 0.0562, 0.2955, -0.0952, -0.2393, -2.1675, 10.1265, 1.8877, -0.2076, 0.2515, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2333, 1.8683, 0.8242, 0.3832, -0.1833, -0.2363, 0.0098, -0.1368, 0.8238, 0.5831, -0.4778, -0.1738, -0.1982, 0.9989]\nstate[eef_state]: left_x=0.4606 left_y=-0.0727 left_z=0.0333 left_yaw=0.0343 left_pitch=-0.0717 left_roll=-0.0597 left_gripper=0.0098 right_x=0.2788 right_y=-0.0039 right_z=0.1451 right_yaw=0.1058 right_pitch=-0.123 right_roll=-0.0216 right_gripper=0.9989\nstate[joint_eff]: [0.5949, -6.2701, 4.6291, 1.0183, -0.0513, 0.1099, 0.779, -0.0752, -1.3607, 6.9675, 1.79, -0.1343, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0296, 0.9062, 0.7345, -0.4896, -0.0372, -0.1333, 0.9975, 0.4419, 2.03, 1.0187, 0.7654, 0.3172, 0.0074, 0.9989]\nstate[eef_state]: left_x=0.3037 left_y=0.0012 left_z=0.1858 left_yaw=0.0593 left_pitch=-0.0848 left_roll=-0.0662 left_gripper=0.9975 right_x=0.5182 right_y=0.1882 right_z=0.1152 right_yaw=0.143 right_pitch=0.3486 right_roll=-0.0515 right_gripper=0.9989\nstate[joint_eff]: [0.4034, -2.0171, 9.9761, 1.8193, 0.0611, 0.1832, -0.0415, -0.0342, -10.3179, 7.1453, 2.2882, 0.1636, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ce97189afd5bed6fdbeefcf76a9fb11e0f2e65049a2414e2f2f366f7e6308a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d676571340571d92bd33ddf25812cb54c9ae9e968d6c9255ba87490e357c8a37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76a6c0b99d32043d416b3c083807c6983f9fca00a28c994681af01028479ff65",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCjmz8-nVa6mEbo26lXqixaYXmCvO_NpojL8CDbAC3PZEXhnM4ZdTVJLqPrIE36fVwQq1sNBrtWkRV8Uh4lW2C0Zm2PgzH12q3c3ihNGF-DarcWlVpsN64ca-xSQhsXslJb1yokT78WkZibO38prHZquDFp889WNZLDbNrjatitaDH8q7XPm6wzHxwPSUfGEv16JrYrbz89cdphFaBkvxdHDC6oSx788KZdHRR6rNModuTVdV4uEPFd9Z_55ccH8-2qVtgVyEEk44Vx1rYLgDkvgbqPyYfz8WLVT1Rh3pqU7jwm2EdiMVtkwljxbT14gJ1q1M2qRV7L5oawd6A3u1jyXLIo3jxPt2CI1xwP914lDIp33DZ1c75d8REdA3X9wd0MoTvjcXV8mcBEmAgLJ8hHwXIgG5BfJxM3W9xxAcel0ijclA2OeojRPywwNluRXSILRBs8rzoFyfn5i3zS0eDt6FbxY63XsmSHxX06ZZNJrxahELD15UL-_kM8KCOT1NepGh_iwjw-n3bI2JDo60l5e13opaUUeSUDvoALAF63kRgws2daeu00FSuJPVSvb5WQD4rJQmZLcomQm4rQ1M2GCYqXHOzyEQCavZ2RblVM732H4JQ-Krtp2XqmRox-N9kNwmxxxWFK1JMPOECLnmM2WqqwDpN5MHJ9vjjNDun6dicPWzyZwhzI7k0ujEkY1UrZc8_4X5G72fLxtRGLN9wh_KY35pAdeRJjoFm7BCpAY0frALWssheiUsRQghjbCl_bLCYGE2i9fJhcR5s4FBykzjU3wKgeB9Uy4PjGkr04ISKc79JqJm_MMJKRvgUlm5V1KtskXgR2zywSdMmmXhabnhJOW36v0958LiGQk9-revVdKJ5RjkHmbQOTc_LyNhloJAleutmDGxMS_VkOVBy51tPBSA_HvsZRCKUhotN-jT1-WlEHBPQDr9gbemtougAJWqpZIX2JEZdBP0ZldRl8awy7qaCfQIEK9_8sbhXgGOrOh46jzrd9khMpbRPhR7Tm1t7QCunt-Yh6KgOiirqztw7AmE5VUk9IQF9eAbzs6kx0p9RwYpr2fstQ2aH_RQNOeFDGHqfeKzDgJFKrEAvA_YMbDDNO20fc_-T6i96BhMAi9cbdxw53L_bxNbQlEkFhXa2gin0h74h4ZuFCrG-nd4K2TOyydtA3w-lOuUvn5WHi5SrrEfarRvYQGRoNhrzFMvmHWINvQKvCw29-5DTFceg2q_PRel_grCnnw3RU064ejMIjFPbTPWKb_5fUzJ4KwJWy3XXPKkg9Fro1Mn2F0xk44RdNF9d-q_P1pl-QTyxLALVq-0WS3CUSf6a0uofbYvY-qN9i2OSbwW_FQI_h1rA==",
  "id": "rs_090a2a85368c03b6016ab428e4899087d0bf68898a97c7e955",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.02},\"note\":\"The right gripper is now directly above the yellow object and clear of the safe’s wall. I’m lowering in place with the forward tilt maintained.\"}",
  "call_id": "call_QO16dly07Hmp6hQ9eTfbDMuL",
  "id": "fc_090a2a85368c03b6016ab428e5769487d098f37833aa3373c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QO16dly07Hmp6hQ9eTfbDMuL",
  "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]: [-0.0257, 0.9104, 0.7395, -0.5301, -0.0299, -0.1356, 0.9977, 0.445, 2.2734, 1.0058, 1.1011, 0.3218, -0.0261, 0.9989]\nstate[eef_state]: left_x=0.2984 left_y=0.0012 left_z=0.179 left_yaw=0.0587 left_pitch=-0.1248 left_roll=-0.0691 left_gripper=0.9977 right_x=0.524 right_y=0.192 right_z=0.0584 right_yaw=0.1525 right_pitch=0.4238 right_roll=-0.063 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -2.2222, 6.5573, 2.0147, -0.1197, -0.0024, 0.0073, -0.1026, -6.8855, 4.3009, 0.7741, -0.0562, 0.4713, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37c49d847321045febaf6842952571eb7b2ee7d3492715da7062b2e69ec27e4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5620e4e03112bf623b7c4ba11f6d7a56b76a8f586036c60abf3114aac1788faa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1915d8cea613024edb9f268e4dfac445fe14e64773401acb6116732150ef8601",
      "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 73 changed as sent

message 81 changed as sent

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2535, 1.8385, 0.8165, 0.3088, -0.1867, -0.2657, 0.9963, -0.1368, 0.8234, 0.5835, -0.4557, -0.1764, -0.1936, 0.9989]\nstate[eef_state]: left_x=0.4479 left_y=-0.0784 left_z=0.0296 left_yaw=0.0344 left_pitch=-0.1223 left_roll=-0.0662 left_gripper=0.9963 right_x=0.2823 right_y=-0.0039 right_z=0.1495 right_yaw=0.1049 right_pitch=-0.1003 right_roll=-0.0219 right_gripper=0.9989\nstate[joint_eff]: [0.9231, -5.3538, 4.9436, 0.5153, -0.5201, 0.3785, 0.0952, -0.0068, -1.6615, 7.0222, 1.7949, -0.0562, -0.0269, -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]: [-0.0296, 0.9062, 0.7345, -0.4896, -0.0372, -0.1333, 0.9975, 0.4419, 2.03, 1.0187, 0.7654, 0.3172, 0.0074, 0.9989]\nstate[eef_state]: left_x=0.3037 left_y=0.0012 left_z=0.1858 left_yaw=0.0593 left_pitch=-0.0848 left_roll=-0.0662 left_gripper=0.9975 right_x=0.5182 right_y=0.1882 right_z=0.1152 right_yaw=0.143 right_pitch=0.3486 right_roll=-0.0515 right_gripper=0.9989\nstate[joint_eff]: [0.4034, -2.0171, 9.9761, 1.8193, 0.0611, 0.1832, -0.0415, -0.0342, -10.3179, 7.1453, 2.2882, 0.1636, -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]: [-0.0257, 0.9104, 0.7395, -0.5301, -0.0299, -0.1356, 0.9977, 0.445, 2.2734, 1.0058, 1.1011, 0.3218, -0.0261, 0.9989]\nstate[eef_state]: left_x=0.2984 left_y=0.0012 left_z=0.179 left_yaw=0.0587 left_pitch=-0.1248 left_roll=-0.0691 left_gripper=0.9977 right_x=0.524 right_y=0.192 right_z=0.0584 right_yaw=0.1525 right_pitch=0.4238 right_roll=-0.063 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -2.2222, 6.5573, 2.0147, -0.1197, -0.0024, 0.0073, -0.1026, -6.8855, 4.3009, 0.7741, -0.0562, 0.4713, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37c49d847321045febaf6842952571eb7b2ee7d3492715da7062b2e69ec27e4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5620e4e03112bf623b7c4ba11f6d7a56b76a8f586036c60abf3114aac1788faa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1915d8cea613024edb9f268e4dfac445fe14e64773401acb6116732150ef8601",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCjv9S2TFq2ZJjNzGP5S4NLz6KrsiQz0DHkUpVsYBtLn0t0UeCjO3NeV57O3f71RJWZxTMvpJPpNCAFnwmJHCrjgScPoyjEmXq-vqC4zvJ5dP-ZZ8ivnHAi5PaTRNTgrYZ9xExRsV3WYJpUCX4Td4cqeNrLBpHNgLBHPAVHc0kHHH6KHxK5AYV5wpKpeN8U_axggRbzeCqdgTotbk9AtsAHrwI5hgzBsbHosclEoLKA63qVDD_SufnYROACd2Ui5HWvOr7yY5huRLi_VAG6yubQGlEM2LP7CxOB44P8WaC8X7FwMCLRwQLssqibwKPianyqSv586QIS2QT_iXS9z39lyYVNBcz_esCkWwPLF2RH-QwIFAYYLfdV-EtKgghJaXXxk5RyT5XK4aqrWMB2gPMdnekfzlQOrHJ4q9X9jg4b2bJOiwdsxl64gS4WlMsKBTaqdTm7DJKdMX73EX93paoIv2rvnDXpY-8SGCwj2o5hFIfNTC9R16UA6yzQnVGV2lCrg4j6-I0axxVTcgW3mRWYiz_4oSEw-KKrAg_U-1gMtzdUyJuSNmNOaBtPlwSi38OwUicLK6Bd38HQK5czvdiF8GFdzgnqseg7skC5WW7JoVF9ilNlfFOu9Lwn-KgHSdQexoJpVZvumDxr00B9D1n0R06pmTNDMLRdImutsG6Isofhc4NRimi2RlD9ndJTJfEQ-mUIjKkL_8QL9EGdIyuU-eB5xaBsggHkowYqR_nEgZOL_R1jDrctYEO9dJ9zwmpI8rCsRi-XWlO97LMQ058fYF9OQVwM4NOqvi1XIPndwBPTtXF33sLYfsrUHOEUtE9IzvPQTqq-VHrpX5sSTwvy6QhIjleNJeUsZLQjfrUMY2Lm1Jyx3YYwSiAR4vzNSbQ_G-WO8SfC5-CXkkoH99Gxmh2kbO2bOF_BUEctC8EkagUmNlHcfkB-V5w4EYYWE4AiEbMbAyXJaFPY36Ow6Tfg4wW41EjKRwCfxd0pclJKZfKdWDgS2Fh2dXPJQQ6o6hkI_h57Z5XxQvqE-W_9ys5mqxvNRk3aHceIHqQg8RvQ1B2EV_lw-RLG70MD6c7rXzBjpLZe3cHHWu1ozBqpXvTJuRGO8Io18m5JrJhK3bIjSu3CviPAePejPV4JvSUHC2nzUxGDT4IaKbaiW1pUrtmWYBuwO0M9QHForw2rfoVvJeBawTWKXDDFhUVjkCDvvYhqjIY4ldkEel7yjZ_AOMcC2WzbUlR-HMqjWpQ_kDwDMpsphczo8Ew1AoIlX1GUO8PaNGKsrTS1zgBUleCvS8vkNdIFuBjvf5uuLc9S9gntgYkE4YcCyWA0dR9qFVyprSMItIE5DQ-qxlQbz50N6c6JlswRiQOQe5c-j1BdhDgy_DSsiEZS0RomGyiJnhZ4AbFDQDoNKBZciCfyR1xouRHzKp9jity6zhQ0mMQBWAL_WpMa97ShQrnBjWMmjFTWie4CzOJEXFbn6qD4yUpKPMQVSOHGr6v0xul7qDfRBZ_Ytx4xDFCIEJthTQmJOFcNCK2vTgB57MBD86XZyLnIG6ilTrwbnrm5TxpsI55wStgFmQU1wkpQZcmbEYZPiWTPxX541oT6EZ077AYSCLBzt5GnNr76D1rTQNPempf_vTgjY02FZr1VW1eTurMqY-ujoHBOpMqg8loM2VL7NjaGHVGbNUTpETkrmMSF4S8u9HnZOZ5cAKOgoCaKY-ajgLZVelin-2ZNuiI6TRVR0Cw73Ma30PIqyZJMU6FcRdpKpsJsi9a9BjHhZcfx4ZS98Cp_Pjx35Vc8x-Z8QuF-0N2KSbkCMr-47AW68dQFl4MnA9btA_xY9N9CPXY3D7gIr8eqKGBMJWKiNkdjgDd_3zyNGQDJQqe87d5X6dDUBQ5GK3jZb9ywH8Qgutnqxgk4EJ7JwpAGMXoEbeOmRnQ8IS5YFRcddfsjiHS3ZLEjiO0J8actdhHN7uGPv6NisS0oEqPm6jmIDQZsCcAsQ1mkmMUcMltOADNMcQ0aL5e7fEpH58bdr9L-JkMUQN42scJoa8oAtpH1S7Y2TmEyMhsWWDJVmWjn4DhbT8o4mTtSmglvqlo4TVD0DmVtj_B3vasiPiAYoS1FU-ZKZF4XhYODGBi1tkTwzuTknczYHpPqIzsRv5uvdXvEVAdR4WKgXu8yARTroMlI4mFwDT3jTOAXShfVOEqwM8OCnO6FE1wj3_lEEimzo2EB5tUFtdcuzxkWithsuyuYOlL825FxBZJAMwkZdNNpTds5ZqKhy_F_pJjUSvd8NB82Nl5h9chSj6dqtLPESL4ztUJPG1axBlbt2KJUoYzhjB-VKDr5z8OxJWwV68WjHUezkZxo0cVGMwLFjPs_cW58OyTBv4-E-UBalUlA7L__fe0qXoLiaRQaEtLh8X0YXLi5IbdWNqdS0nJWVoh6xxZzlEJBouR8AkldeAuTXmA_4_h5hYxvk6oTlTVBLF5lmWWmcrm5d9ktEDDVrxFk-K4rJy65yUB3KFJB0dPrTIElQow==",
  "id": "rs_090a2a85368c03b6016ab428e8688887d0a8220e132886497c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.145,\"right_z\":0.03,\"right_pitch\":0.6},\"note\":\"The yellow object is visible just forward and right of the fingertips. I’m correcting toward it and using the allowed forward tilt, since the arm is near its low-height reach limit.\"}",
  "call_id": "call_4cnobHmM1PIILhmi96nKtTHp",
  "id": "fc_090a2a85368c03b6016ab428ed944487d0b90b49e8e3c5db8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4cnobHmM1PIILhmi96nKtTHp",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.9108, 0.7395, -0.5407, -0.0296, -0.139, 0.9977, 0.3271, 2.4683, 1.0851, 1.5112, 0.2016, -0.1059, 0.9989]\nstate[eef_state]: left_x=0.2967 left_y=0.0012 left_z=0.1769 left_yaw=0.0603 left_pitch=-0.1359 left_roll=-0.071 left_gripper=0.9977 right_x=0.5524 right_y=0.1539 right_z=0.0785 right_yaw=0.1646 right_pitch=0.7068 right_roll=-0.0764 right_gripper=0.9989\nstate[joint_eff]: [-0.3761, -1.8667, 6.9128, 1.707, -0.0464, -0.0464, -0.0073, -0.8, -7.3368, 3.0564, 0.4908, 0.1294, 0.359, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3f432a190be3c19e57c1ad58d094bb403bbaa81c88863659e93ca70427c2a6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f7fe2eb069c2740cf76e732808c09ab7e08884de3197ed1fd1fa641666bee9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7f50635c02faf7ae437ee5465e54cbf455269336029d2e525a24af5a9ba45af",
      "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 77 changed as sent

message 85 changed as sent

message 89 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2333, 1.8683, 0.8242, 0.3832, -0.1833, -0.2363, 0.0098, -0.1368, 0.8238, 0.5831, -0.4778, -0.1738, -0.1982, 0.9989]\nstate[eef_state]: left_x=0.4606 left_y=-0.0727 left_z=0.0333 left_yaw=0.0343 left_pitch=-0.0717 left_roll=-0.0597 left_gripper=0.0098 right_x=0.2788 right_y=-0.0039 right_z=0.1451 right_yaw=0.1058 right_pitch=-0.123 right_roll=-0.0216 right_gripper=0.9989\nstate[joint_eff]: [0.5949, -6.2701, 4.6291, 1.0183, -0.0513, 0.1099, 0.779, -0.0752, -1.3607, 6.9675, 1.79, -0.1343, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.9104, 0.7395, -0.5301, -0.0299, -0.1356, 0.9977, 0.445, 2.2734, 1.0058, 1.1011, 0.3218, -0.0261, 0.9989]\nstate[eef_state]: left_x=0.2984 left_y=0.0012 left_z=0.179 left_yaw=0.0587 left_pitch=-0.1248 left_roll=-0.0691 left_gripper=0.9977 right_x=0.524 right_y=0.192 right_z=0.0584 right_yaw=0.1525 right_pitch=0.4238 right_roll=-0.063 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -2.2222, 6.5573, 2.0147, -0.1197, -0.0024, 0.0073, -0.1026, -6.8855, 4.3009, 0.7741, -0.0562, 0.4713, -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]: [-0.0257, 0.9108, 0.7395, -0.5407, -0.0296, -0.139, 0.9977, 0.3271, 2.4683, 1.0851, 1.5112, 0.2016, -0.1059, 0.9989]\nstate[eef_state]: left_x=0.2967 left_y=0.0012 left_z=0.1769 left_yaw=0.0603 left_pitch=-0.1359 left_roll=-0.071 left_gripper=0.9977 right_x=0.5524 right_y=0.1539 right_z=0.0785 right_yaw=0.1646 right_pitch=0.7068 right_roll=-0.0764 right_gripper=0.9989\nstate[joint_eff]: [-0.3761, -1.8667, 6.9128, 1.707, -0.0464, -0.0464, -0.0073, -0.8, -7.3368, 3.0564, 0.4908, 0.1294, 0.359, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3f432a190be3c19e57c1ad58d094bb403bbaa81c88863659e93ca70427c2a6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f7fe2eb069c2740cf76e732808c09ab7e08884de3197ed1fd1fa641666bee9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7f50635c02faf7ae437ee5465e54cbf455269336029d2e525a24af5a9ba45af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCj1fcBdIy_fTnA5fprS-AAbJTXZV2lWerskQpVXDPADi3VFQYfxGiDUcfCD-exRFEihEpX3UyPZJW2tE9a_c7RQUejt9OQelPs2B6ka5qBKUP9N1fYQQPIe8Tlv4VozpwXGIU3n9qoVm2cEUY5wTCbeevX_G-N-0fUW3T9e2ywF_jNmlD79mnhR5TuIxeha5GEIAVhoUn8MU_rpl4QSBWwxWY6YaTQloaiqi3zvziWJ9VXpPk1CSAgfeiFse7yrWybvmCGRUfoKANx8ctxfGXXzu4qrs0l4Bt7xa6cMAEZSFU6WAyv5sn2JOm8by3-345X5a4_-_AG5eQ9wfCVhyKDddMDQu3ZGkB0FGJYIN6CcVtIxEorB4nc_gLJmzC3b0Ehy0TtGuunQc3J9S8jkGNm3SsLMih4Sd4C4tms6gPLl_7hsw4brWHCNOInorsAUm__Rtp41M01G3R2hpQxXnXeKV1LlBAUrj1BDhOyWX5lM01muN22zC3xCSFUIDVh4HmYxfehvFVHBootBYO-hUnEwwv38xBuN9KlpfbHHNAIlbpWM3bnCK880gwcYEdFwdu15jqtkjMPcUiY9uk-sU39FEz1Uq2Udkkw4HrH19GNkTSqXPANbplck83jiZbUen0_4YWccvsLCP54G1arv4kTESCujh8-wqXNOa3fpTfGvvZTnceQlXByTcvYxH6e3ggnRp2Wejy3ukz6Co6s-VMvYfd4qKKvi7q90H8nEXtnJIrEIL6F6DulRNH_cKUbBPlZ6KPMnAWOqntGQEsUQ9PozQvvdpQnPjD1b_Kr31TRumPB8SnLvmL8gWihp6s8FTWHc7ueAzAZioCbUHnibbleOCTQ82YEKXByuqEZUYz5HsnORR6gEM7UqbXTh9zxOmVcfgHHDgEhG7I6-TlPSvUxanRyNs6DDtPGa1ose-5mTMv0SqwYaiPwoIYmjx8ozgUkNLvsCqMQy7uPKfIo26MGaBEWGiDaanFKlHRREXu0wgUbnHj0phTLeRuAhKjM1TsH5-cMaHTitT2Imbl8U0rLt_H5QZNhtAemXQpxonhNmZ0OCEtobvt724gaKZHwyUVdVdJfumjJ-qpAIgnsBeKCO7_5eYEHuG5KprHA9801FQ0zOkSL1xTW51h8tWn3DTEZ-4NbLT8ncTNj_ynZi3wlCssMAE-mcCRDbGR5NSQsATh5EjVHkRPP8xz_a6KrTXL1AxjXKMvA-Hnt37EUCWwS-Slfy64qOGSpk1PMvSixrmbSmBP793UXFUzmawxEINGbofFtUXcgbMMwIOiawrkVjhufh7mt3ZF-THwI263sSe7cwn0epamoQtVcFLk7qDxG7zX-jZduWKLzWV4Hskwr5bnn7B1kO8-Okbn6EoywGg8GsUy3Q563yrvqkbi3BwPsmXMERtnWlDLtps3h6L2FZuq94D6lvZuADIYFtsyv0vibeVX-thUgma8V6pxMy2kHvm3v6dxppfKclcl-vI_CUp3gowxpDj5q3TASWsT9lHPD7PERvBBztgxUzEU314-RLf6XLs69fTPXvg8hdQ9Qj8xMlQu5Yxi24x725D8BRhPooFLS7vjixjDUfAk0GBtEBPtxWF_zdXco-56OCZFwSp3n0MqeZUkOHnzY4XwA5NGeI31VATp5pWwFTJOaUx7sECygOOAc6pLAKHaTw-kRhMrmJDEWWuMP6y8nhVMWprFlmZPtNlbN8KQID07hwGQpHIZOesvC1DC-ijwPzA8fR6bJmDEp9iUk0DOSNo1tqGyjZy_wB2-M7FcUa_G_HZ4aYOiMfrKvI6whkvvDkmCObUCgpGoN2IFH2pkTBdTK7jJzS3aVIAFXIOQRL2Cqy5Cn0GmrGRr2l2e92jVUNN-iWF7UcD6zk2Ds4_cOLq0-ttN4H4UQ4MEtABnEI43xtmC9X93NLCRHFLx88upoGgxvrpJB8kHDQwwBlkxHd6E46aj_CmyN46yjSsrPxYXYnfQj86x5yQMIslQZXMu56yzOY4DVQJMpBa4IVDOWTP9r__socWQTpyXTDMTNImolzmwly5RMsww78ubUr2-l_umFbCjffnh-ea6CDo6YgUuiMnKfnpqnAyKe19ToGNvqVBoFX3oiFUCAy96GWJL93JghWoQ32usyeWMBSO4aOxgupHlcSDj9yzmh6ecQjrFwTyB1vALKvVQ0WbBTuUUmpw79m03i36RN4sxOprYGb9a10NzHN5eazaKY0FFDnJznfjRIA",
  "id": "rs_090a2a85368c03b6016ab428f1581087d0a098f555da27b405",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"left_x\":0.28,\"left_y\":-0.28,\"left_z\":0.14},\"note\":\"The yellow object remains beyond the arm’s low-height reach, so I’m backing away rather than forcing contact. I’m switching to the brown plush in front of the safe, where there is more room to grasp.\"}",
  "call_id": "call_NBMtwq9KdARlr6BEVdQOkQmT",
  "id": "fc_090a2a85368c03b6016ab428f4bcd087d08e62e4e42cf5a46b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NBMtwq9KdARlr6BEVdQOkQmT",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "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]: [-1.0916, 1.6295, 1.1309, -0.6334, -0.7155, -1.0267, 0.9977, -0.1192, 0.865, 0.6678, -0.371, -0.1707, -0.2214, 0.9989]\nstate[eef_state]: left_x=0.2746 left_y=-0.2694 left_z=0.1271 left_yaw=0.0516 left_pitch=-0.1755 left_roll=-0.042 left_gripper=0.9977 right_x=0.3085 right_y=-0.0031 right_z=0.1925 right_yaw=0.1318 right_pitch=0.0218 right_roll=-0.0789 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -7.1453, 8.7863, 1.0525, -0.6178, 0.0806, -0.0122, -0.1573, -2.2632, 9.5932, 1.9365, -0.2662, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15d80b1ce2bc188eb5f8969e4111a5d4ad2ef7d23f15cbf56ed6f2cbf7b1a68d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e69aa310f23e740cd44780e6523d2535d303db7e81489138820397c3444c041",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63d9ace1e98f907c30d0e893431ae824d0b45dffed2742e2332b1f5f6cd51e1d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0296, 0.9062, 0.7345, -0.4896, -0.0372, -0.1333, 0.9975, 0.4419, 2.03, 1.0187, 0.7654, 0.3172, 0.0074, 0.9989]\nstate[eef_state]: left_x=0.3037 left_y=0.0012 left_z=0.1858 left_yaw=0.0593 left_pitch=-0.0848 left_roll=-0.0662 left_gripper=0.9975 right_x=0.5182 right_y=0.1882 right_z=0.1152 right_yaw=0.143 right_pitch=0.3486 right_roll=-0.0515 right_gripper=0.9989\nstate[joint_eff]: [0.4034, -2.0171, 9.9761, 1.8193, 0.0611, 0.1832, -0.0415, -0.0342, -10.3179, 7.1453, 2.2882, 0.1636, -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]: [-0.0257, 0.9108, 0.7395, -0.5407, -0.0296, -0.139, 0.9977, 0.3271, 2.4683, 1.0851, 1.5112, 0.2016, -0.1059, 0.9989]\nstate[eef_state]: left_x=0.2967 left_y=0.0012 left_z=0.1769 left_yaw=0.0603 left_pitch=-0.1359 left_roll=-0.071 left_gripper=0.9977 right_x=0.5524 right_y=0.1539 right_z=0.0785 right_yaw=0.1646 right_pitch=0.7068 right_roll=-0.0764 right_gripper=0.9989\nstate[joint_eff]: [-0.3761, -1.8667, 6.9128, 1.707, -0.0464, -0.0464, -0.0073, -0.8, -7.3368, 3.0564, 0.4908, 0.1294, 0.359, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0916, 1.6295, 1.1309, -0.6334, -0.7155, -1.0267, 0.9977, -0.1192, 0.865, 0.6678, -0.371, -0.1707, -0.2214, 0.9989]\nstate[eef_state]: left_x=0.2746 left_y=-0.2694 left_z=0.1271 left_yaw=0.0516 left_pitch=-0.1755 left_roll=-0.042 left_gripper=0.9977 right_x=0.3085 right_y=-0.0031 right_z=0.1925 right_yaw=0.1318 right_pitch=0.0218 right_roll=-0.0789 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -7.1453, 8.7863, 1.0525, -0.6178, 0.0806, -0.0122, -0.1573, -2.2632, 9.5932, 1.9365, -0.2662, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15d80b1ce2bc188eb5f8969e4111a5d4ad2ef7d23f15cbf56ed6f2cbf7b1a68d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e69aa310f23e740cd44780e6523d2535d303db7e81489138820397c3444c041",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63d9ace1e98f907c30d0e893431ae824d0b45dffed2742e2332b1f5f6cd51e1d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCj8V80ZbTuc89bG7AulRya24QobqH1sT90MsVsFSNjhVfDaiBPcoCHwYUTraqpxJjPxCSSLEzHZNKTogzA2nbwwgaaX7_ZF9932MyYvBXAukRHZInSNY1MheEF1dS95Syr4iYvLgrQKfcVx8pEzXR4k_vyG0-88prdbHSersTks3iswfy8AXfeghuc0alyJfYs8KE2qhQGTJWmGwN6hqVOvej--rNrXb0kecn_KpFeKdNxq3EDtXm7l_iOHggBaWkox-o6_vSLWdhLWL249RcQivrERdNqZllAQ7jkdbPZozGzGIIemErB-9kgZPiRCwgm7UlQ4HtkRyTsJjp6pcFSslWbOHumVrEpfwB-oLJdKE_viBY2jRfNnNRULFUuJq5LmEc6CTqs3be_hqVsTMOx6Qg24vQzdfowOu5ok_8wxkiqFTzwJ1fMg1CcEPQiKX4rIbXbS-73D2lNUay5KpC1dtiN4vTf6iZdJWm8xvHjMt4JwE50xTmItlUm3ALnYvsVH-Swn6zRtuChVLd3_KnBsRKcMw1tgSsO-N5SU5PxRZAskm7rqvzblVYYX058DPibCm9GJM2neM65agE6jg3H0Cb1aVx-8f4ubZNU1t_8V69dXz_9cYh15ln3laGY9CREH4TZ-Yzw_v3sFZ1ESXEt2agH2JeeteVKqvCjs0_Wdf8ASEYgSUdTBf3UbliieWBEXf3tOUvBMotcDakwZJ6Vk7CHmnNDsy2Plbyg5pC7cn1yV8Eun8c3_XdMWbNK1Opp03MltTDbPGWnlMD9KOcTQQfMZZjgJ0qgVyqMikTpGLkcCMzHrOjQpNXRVbtpWw7oHGW6Kb93NJxiTVS21CJ2CXgm6sMRXxWwQdKoOe7coj1dXE-4Cv1bOOing62QoI_TQHnJGsXP7rOxyuQNz4pZ0l5NW22DlAKBT7rbukZ8glej0N0erPupjgiu86SAO340dG9JFIO1ikq7mWb_NDet2BtfmGmnR65L2omlmHPDZXNeMFDDbSUlWv3JBk_dlojaQZjUkeNbssiz4W4E3M-Cc9AfmCxuL-oRMyYDgrlKfXo3VFUxH7CoEPe-GI5hmWOnV7C1yDakvEFyzgH3-lyajt_rQVfZ8_1aRi055s07ZleUwIPWn6MzqoSunhoPobuZUCe8_y8vvePQn-2jPYl7gDAvJCIv10Yn2_l9QUqHHVjUoSt1oBkrtlkmbxgl7Xg5YLtbMoezGTvS-93UGfjPWq8lIdic3qyOqW_mEBNfXoeWPrFHcPy3o6lfUQGKsSIKQshlsgE-JB3_g7G9VJ0mnogd75dNqvVJhZi7CTleNKdMRgc_0BnE_YYJnXcRzOcvjHpOxDMZpjxxnuaMtTtdu5PFTfqGj5tJXIzbsVz4dWptD9ANsNua2ckpNq8NRt7RfEEmxN0tGaU8gBewxvxbwY9bB-1PxU-M28l0RkMvDoEC52MDE6d0yKCADB7vVV1q-OP7QYp-Sy8RpMohFo4Re3o-0g6uCZGfYXcKqKBw3u-yT8EUa1nLcFkHF6-dwaMTs",
  "id": "rs_090a2a85368c03b6016ab428fa0d6887d0aaa7a411888a5d9d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.31,\"left_z\":0.025},\"note\":\"The brown plush’s torso is below and slightly right of the jaw center. I’m lowering around its body with a small forward-and-right correction.\"}",
  "call_id": "call_dJdro1CgwuJF65kbavCJCVOX",
  "id": "fc_090a2a85368c03b6016ab428fb5cb487d0953dfce813dfed15",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dJdro1CgwuJF65kbavCJCVOX",
  "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]: [-1.0706, 1.9385, 1.1069, -0.3279, -0.7193, -1.0016, 0.9977, -0.1238, 0.8696, 0.6662, -0.4221, -0.1768, -0.2359, 0.9989]\nstate[eef_state]: left_x=0.2997 left_y=-0.2982 left_z=0.0318 left_yaw=0.065 left_pitch=-0.1836 left_roll=0.0035 left_gripper=0.9977 right_x=0.3017 right_y=-0.0026 right_z=0.1803 right_yaw=0.1404 right_pitch=-0.0333 right_roll=-0.073 right_gripper=0.9989\nstate[joint_eff]: [1.0325, -7.3915, 7.1453, 1.072, -0.2906, 0.1099, -0.0122, 0.0205, -2.0581, 7.1179, 2.2295, -0.022, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:389def8c32f15613b1cb01f8e7d8a96ee052520d8bb3b88f40398c6d759b8196",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56fed18cd4114579010fbc58950caf3dc67a49313ef5d2f230415f98d0352d42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebc958bca236bc2510634ce101f5427a538ff3080dedc212f389e09a99e2a7cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.9104, 0.7395, -0.5301, -0.0299, -0.1356, 0.9977, 0.445, 2.2734, 1.0058, 1.1011, 0.3218, -0.0261, 0.9989]\nstate[eef_state]: left_x=0.2984 left_y=0.0012 left_z=0.179 left_yaw=0.0587 left_pitch=-0.1248 left_roll=-0.0691 left_gripper=0.9977 right_x=0.524 right_y=0.192 right_z=0.0584 right_yaw=0.1525 right_pitch=0.4238 right_roll=-0.063 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -2.2222, 6.5573, 2.0147, -0.1197, -0.0024, 0.0073, -0.1026, -6.8855, 4.3009, 0.7741, -0.0562, 0.4713, -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]: [-1.0916, 1.6295, 1.1309, -0.6334, -0.7155, -1.0267, 0.9977, -0.1192, 0.865, 0.6678, -0.371, -0.1707, -0.2214, 0.9989]\nstate[eef_state]: left_x=0.2746 left_y=-0.2694 left_z=0.1271 left_yaw=0.0516 left_pitch=-0.1755 left_roll=-0.042 left_gripper=0.9977 right_x=0.3085 right_y=-0.0031 right_z=0.1925 right_yaw=0.1318 right_pitch=0.0218 right_roll=-0.0789 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -7.1453, 8.7863, 1.0525, -0.6178, 0.0806, -0.0122, -0.1573, -2.2632, 9.5932, 1.9365, -0.2662, -0.0659, -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]: [-1.0706, 1.9385, 1.1069, -0.3279, -0.7193, -1.0016, 0.9977, -0.1238, 0.8696, 0.6662, -0.4221, -0.1768, -0.2359, 0.9989]\nstate[eef_state]: left_x=0.2997 left_y=-0.2982 left_z=0.0318 left_yaw=0.065 left_pitch=-0.1836 left_roll=0.0035 left_gripper=0.9977 right_x=0.3017 right_y=-0.0026 right_z=0.1803 right_yaw=0.1404 right_pitch=-0.0333 right_roll=-0.073 right_gripper=0.9989\nstate[joint_eff]: [1.0325, -7.3915, 7.1453, 1.072, -0.2906, 0.1099, -0.0122, 0.0205, -2.0581, 7.1179, 2.2295, -0.022, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:389def8c32f15613b1cb01f8e7d8a96ee052520d8bb3b88f40398c6d759b8196",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56fed18cd4114579010fbc58950caf3dc67a49313ef5d2f230415f98d0352d42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebc958bca236bc2510634ce101f5427a538ff3080dedc212f389e09a99e2a7cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCkCa32XCdijNHcnPafXmOr-_YBAXihHWSj1HkEsO_8yzWUnOi4r17mivrYp_kjpaEDQ6c-SCP_sG0iUTLFmXInRy9ON-VfUUAYZPvqyK1wxIwuePXuUE-5jG0WuOKoWLS9M8Opul0MvegOi35--BXiGFmwSgRvQRmZB5_LqXE8MC-CLIxjCRYgE6nLgZVFYKD5DLykaU2pjCVAg86DdUEAmxW5tewIfwc9sMVhdopaRiPfqiJYwZMBHl1CxmcU3xOuAPskAQtT7jFhbSDkkQq_iZhrXASie2MW5Vnos4FT1LtOCJKMODE3y-OJrQ7uR2RmFw9JB98XEAERPfo4YsgXtoweiWbtyD32Uipns7hGOnyBVy5pgUUQu06bdmGGl0zwIWDj7svGFa24LfCCETKre3ILsdULD9h8WPp7eGBLHad5MJaEQofwNTAuVvtOjXiu_I9P2BP7t8g8MxUUBQsYujJo-TiCWRMfi1V84fTQsvb7RccQTzgQ3U2gjW4QTfeEHXtNqZVSn-bR4YGioFum6dwzlQz7UTpa-OuyDBaP0VnwVP3WbylyLApe3zXx31A7e89IAT33JUl5ibpi_JgWWbmtupZwihLme_XFyT2CCvAn8ayxOBbV2UifjX5d5e1gIbRa4cq4kNNnCiL6UwVM0DoczrO73jI7gXAZ3jReaOGjnmv401wMmph5N7UD5vmvSSHWcd_bQBGtRmr8FkKDocsYfPBwq12LfOsOc3CxlwBQ5COqCFz4FUGnlamYj8p9EtNCDWOSibkonoectCbAn07Nv3DzXXFIvydbgLWhZO6CIPNYC9nmimoGKU-m7PbAfV7IdoRoD27cU7iBBdEA9qreus2DM8cCk-5AABEHT9VyjziVkrnmcnzUy8E6qBYqG-uv0P8y6hlm4j-Nv51U_ZgCefhjk1vQFZ0CognFA6V6hI7H51vgnsHOUvmyaOp-Ueu0SHScfk-nYaYNInaxO1fuor1-sWnKh6tl8ymqsLsyjjER8-EHl74zPLw6Lw3uggeQTlOzAn6kvgSVcDmc7WrKQqXIkgHkpfIxVtfq7XGQ7Y8IA8JJhKzqp2QBwza59nAd8I_I1dnAf5QPZOY5Th_LAINDDjDVoDWlJ3gXfvsN0_VkFJFzKWOA5b_8dsdsFcs8eCOeXseK5fA5_sCGsM4t-m_NraRKGM5_k2QpUtMb2qfJBjMATz5zTxMS89q7NkZZ21UtW-f42DPV9_nFCAoo0qv9PvyCevnhf72bSfl6vOdpf9lNAlLDTXJk9OD-vyJSLOxMGKX-u0q1-Zdj-XCjjo8zw59j8TS7WOVFb2GYjRZejXBW6nrLxZRpqbaL3mY2ToqY7oJcQ-kaWApPVJbccsoq1LVQcRfdBC2jbyBHhUqtSlRm6jCH8onvIi27A6YmuI7vDlkvk0TSn-szl3aFWkPS4jxlImud540_TFpxzV-KwwBS1n6GmML40L9bGCX15wJ82CItGInsxNfHrfmOj_I0tQPTdUSNzlws2IPtUkoVF37msq7XzLf7m5Ceod7AB64vf1RQRGEUUV85tWKVwTec4B8_fV7zNO0YjJNyLGbOwXBqq_Z7mWtUsZr_cjVwjq7vYOczZOftkhwR5XNps0Wvk1rU_ookYJ5eUBlN9ymvCkQcqnyejlZuCMccntDe-fRsFVIiSDoHJcHa7GenDtiupSeWT_PzrjxUD2g3hPUsHKwqYe-PgyZ0ZlBbyzj6Vc-6zQI_7loeN_dbESg==",
  "id": "rs_090a2a85368c03b6016ab428ff077887d0a7381737de432a5b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown plush is beneath the open fingers at body height. I’m closing the gripper around it.\"}",
  "call_id": "call_DzOW63BskpiI3mhJqYl4vze1",
  "id": "fc_090a2a85368c03b6016ab42901317487d0ac09ac37aabccd6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DzOW63BskpiI3mhJqYl4vze1",
  "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]: [-1.0683, 1.9682, 1.1057, -0.3286, -0.7044, -1.0046, 0.0097, -0.1238, 0.8696, 0.6662, -0.4393, -0.1768, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.2974 left_y=-0.2963 left_z=0.0184 left_yaw=0.0678 left_pitch=-0.2094 left_roll=0.0246 left_gripper=0.0097 right_x=0.2992 right_y=-0.0023 right_z=0.177 right_yaw=0.1408 right_pitch=-0.0499 right_roll=-0.0689 right_gripper=0.9989\nstate[joint_eff]: [-0.2667, -12.041, 5.4085, 0.906, -0.5495, -0.0073, 0.8034, -0.0615, -1.7162, 6.9675, 1.8584, -0.105, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08b0f7091545ceb1cdd078424980a6c5535c8117a7f588893924f90bacf3cc77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75d8468cecfc851d85b515608b8d9dabd7bbfc81b7271b1c4ec246d5324b2462",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2797369a9da97ed2fdcb48da198114d69e31f104553b72e96bae776885c65d74",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0257, 0.9108, 0.7395, -0.5407, -0.0296, -0.139, 0.9977, 0.3271, 2.4683, 1.0851, 1.5112, 0.2016, -0.1059, 0.9989]\nstate[eef_state]: left_x=0.2967 left_y=0.0012 left_z=0.1769 left_yaw=0.0603 left_pitch=-0.1359 left_roll=-0.071 left_gripper=0.9977 right_x=0.5524 right_y=0.1539 right_z=0.0785 right_yaw=0.1646 right_pitch=0.7068 right_roll=-0.0764 right_gripper=0.9989\nstate[joint_eff]: [-0.3761, -1.8667, 6.9128, 1.707, -0.0464, -0.0464, -0.0073, -0.8, -7.3368, 3.0564, 0.4908, 0.1294, 0.359, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0706, 1.9385, 1.1069, -0.3279, -0.7193, -1.0016, 0.9977, -0.1238, 0.8696, 0.6662, -0.4221, -0.1768, -0.2359, 0.9989]\nstate[eef_state]: left_x=0.2997 left_y=-0.2982 left_z=0.0318 left_yaw=0.065 left_pitch=-0.1836 left_roll=0.0035 left_gripper=0.9977 right_x=0.3017 right_y=-0.0026 right_z=0.1803 right_yaw=0.1404 right_pitch=-0.0333 right_roll=-0.073 right_gripper=0.9989\nstate[joint_eff]: [1.0325, -7.3915, 7.1453, 1.072, -0.2906, 0.1099, -0.0122, 0.0205, -2.0581, 7.1179, 2.2295, -0.022, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0683, 1.9682, 1.1057, -0.3286, -0.7044, -1.0046, 0.0097, -0.1238, 0.8696, 0.6662, -0.4393, -0.1768, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.2974 left_y=-0.2963 left_z=0.0184 left_yaw=0.0678 left_pitch=-0.2094 left_roll=0.0246 left_gripper=0.0097 right_x=0.2992 right_y=-0.0023 right_z=0.177 right_yaw=0.1408 right_pitch=-0.0499 right_roll=-0.0689 right_gripper=0.9989\nstate[joint_eff]: [-0.2667, -12.041, 5.4085, 0.906, -0.5495, -0.0073, 0.8034, -0.0615, -1.7162, 6.9675, 1.8584, -0.105, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08b0f7091545ceb1cdd078424980a6c5535c8117a7f588893924f90bacf3cc77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75d8468cecfc851d85b515608b8d9dabd7bbfc81b7271b1c4ec246d5324b2462",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2797369a9da97ed2fdcb48da198114d69e31f104553b72e96bae776885c65d74",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCkIv-xol865jdw0QTeRquauAoJ2F_9I0sRkJOTlNFB6GSEll3vZSGTgqJXSJw3tR27uXXDO4UQtUhl-zo_4oo0CLWILOxD18ZxxpIwpNnpCSnH94eC7_BMm4V_vxyzmWg16d_V5gf3j44qZFss7zl4f_j4FiU3zIXU9xAwessu8n4IjqnDloiQvT0DHXQwjOa2XyRdv6FSDkdA-vkDKLjHx7z6Pv0kd7S76hpErFln8GCxJr55FtmDyzokgwjaISgmL5Tsy37OV0L9I7bmpQYR35TvAo0HnYsIQPXiqexOhnCiaSj0oG4BTxZb2_-UQ_YwQLHlvEFHBbBF2w0D1G8I8S-v-QE6BKKOo1RIZcxT0SpPwHEi9icpfksGYHx1FIiubtFzzHTRPf2DSrOrf3TuEwmURXsa5AbS47fKesCcv7p5zy1URBSb2RO6S2fFbZqysuhvMOTchMFg0qkHCJMCtpmPoaCtZgLfraOq_z-akkmEuOZLRR-qV8OMtouVtMNIovTcEglq9lG8m_SyqGNx7-xqa83fiuIdOgmbPfBVQFOkhOw6SVn8m7_2EvkdNhxOYAz2-uCowDCke_6tZBVG_xM4dMoJT38T2xWh7ltFENA6hConEzy4sPfsGesY7KT_yZDUzTt5VOvkkSTKLCSo5CgV01OIPYLfeqqo5c8xR56QSj1Malbbbsfz7taO0HSHwDEQQ77aaf7SWh0A1VI0kivGDuI6nywjTnwsUhUgXbibXHbdUzsJTToc3MEcMPwE-6tMomzMF2ZxY5qLANcHoXDjCZzOct6Rfjc1W6UxWe6WmVpauyyu3vh3BuiRBgCkTUhsosOohz6FSfHjg8YxNrrzA7rSxgcf6qcNhAMqKHocAOia_21oUwQv_9Vtk_KB-osW_M1BMfknFthltZTetNYXork7-FfozcGjhBX9Wdl8Jnl7OCOYHeQNkr8wC1X3P2X9lWopHDiPVnABYDyOIjUdhXSdaK4UqFiQrOvx8-OQJ72GSpM4NEHPT_rrLOq_VvJbnuTsgiTo57IRauV02QSzpzUs8E64iSEv5hfMDtuIvzo_KDZ6XuysQ23l8IDfHEq7ArFgXZCABOmxneT7tUWVrYxB20LXpQKq-83LvPssaGaeWGLm-MZPXktJUdRSHavEVfx96NHSMxZT2EDyB2agzx6286GGJLqapbdEt_aQgWGZLwB1ajRyLhyY1eF3mvhCcn2GQh1c50Ax-Tuwg7d_L2VPzYEZ_1AdHJEjvQEaN8xq5vgbAhd0HUlM1x-Kq6D-o0jt2AMydc0L0a1SF5cZK9_OyowWSCsAhst_vy5BhJ5fiPFuzKsS3i_fHWffpvSVCQvMipycHzDDxdA8o8fTUnRLey29cBZG3VL0yHEMHKQvKCD1DhuBO-p07DbpXVetaELq63jrM0S5xF8j9Rd4KbuYF7EJdOfXzZVl9tFV0LtqO4TsVzJldCMpJWWYIIPKWC8cWgFvL68TC-Oz94_Q2gRyBw0wIy9-T91tqJ6ft8YwzmGn_IsJHjC1HLc4V3tt9t5nXXIgNSCltayEyjw-MSoSlB6xXzS3ofyK1w3D9hlEie_1Dd0SY-dKdF3BF_5h5LBPmqJeLwCy2sFNsusPo-j1StLeaXDmrIeOuwCeJTs6CXf84td2hkikNkO-MS_MeMiXoHJ2ElpCkcXhYXyEInTQrD3HAzZp2yDgqpFikm9D6COvUTQYB1v-L5C8Q-eh4WstzKvWUgDeOn1bXkP38OpDoLsOEeeGR4COdZdaoTHw3vZOgIyQpAYxVE8gF9UN-oETKY7TcWrtP2-12PIRqN0Y878VvtZEdJXYhXIF7ZRFmzscYCNr4gl6NL4DnqGRPPG-2-qiU4msLNPJLub3zzxdJz8volvLsJlvdnfTeVBAQHGB57RjG4lxnCr6D",
  "id": "rs_090a2a85368c03b6016ab4290480b887d0b9c6e60f70e612f1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.255,\"left_y\":-0.25,\"left_z\":0.045,\"left_gripper\":1},\"note\":\"The jaws closed empty beside the brown plush. The overhead view shows its body closer to the base and left of the fingertips, so I’m reopening and correcting in those directions.\"}",
  "call_id": "call_nFHB4Shscg2vfOplxunmEm0l",
  "id": "fc_090a2a85368c03b6016ab42907474087d08c33c067bde9e24f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nFHB4Shscg2vfOplxunmEm0l",
  "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]: [-1.1137, 1.7481, 0.9104, -0.3973, -0.7044, -1.0588, 0.9951, -0.1238, 0.8696, 0.6662, -0.4549, -0.1772, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.257 left_y=-0.2552 left_z=0.0368 left_yaw=0.0616 left_pitch=-0.2262 left_roll=0.0269 left_gripper=0.9951 right_x=0.2969 right_y=-0.0019 right_z=0.1739 right_yaw=0.1413 right_pitch=-0.0649 right_roll=-0.0645 right_gripper=0.9989\nstate[joint_eff]: [-0.5949, -9.347, 5.0667, 0.9451, -0.5397, -0.0464, -0.0513, -0.3214, -1.6342, 6.9538, 1.7802, -0.1294, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:550117752d660c3599867888913c2eed1e0124946575aee592c0496edf939a19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2571cf3900cfadd16c9a44ee015d3668a8b072e29d51356b0bafefade21f37c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:521cd64d107e8ebe41eb16985bc7d290155e6c3d7116757e00d174b55888c1c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0916, 1.6295, 1.1309, -0.6334, -0.7155, -1.0267, 0.9977, -0.1192, 0.865, 0.6678, -0.371, -0.1707, -0.2214, 0.9989]\nstate[eef_state]: left_x=0.2746 left_y=-0.2694 left_z=0.1271 left_yaw=0.0516 left_pitch=-0.1755 left_roll=-0.042 left_gripper=0.9977 right_x=0.3085 right_y=-0.0031 right_z=0.1925 right_yaw=0.1318 right_pitch=0.0218 right_roll=-0.0789 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -7.1453, 8.7863, 1.0525, -0.6178, 0.0806, -0.0122, -0.1573, -2.2632, 9.5932, 1.9365, -0.2662, -0.0659, -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]: [-1.0683, 1.9682, 1.1057, -0.3286, -0.7044, -1.0046, 0.0097, -0.1238, 0.8696, 0.6662, -0.4393, -0.1768, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.2974 left_y=-0.2963 left_z=0.0184 left_yaw=0.0678 left_pitch=-0.2094 left_roll=0.0246 left_gripper=0.0097 right_x=0.2992 right_y=-0.0023 right_z=0.177 right_yaw=0.1408 right_pitch=-0.0499 right_roll=-0.0689 right_gripper=0.9989\nstate[joint_eff]: [-0.2667, -12.041, 5.4085, 0.906, -0.5495, -0.0073, 0.8034, -0.0615, -1.7162, 6.9675, 1.8584, -0.105, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1137, 1.7481, 0.9104, -0.3973, -0.7044, -1.0588, 0.9951, -0.1238, 0.8696, 0.6662, -0.4549, -0.1772, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.257 left_y=-0.2552 left_z=0.0368 left_yaw=0.0616 left_pitch=-0.2262 left_roll=0.0269 left_gripper=0.9951 right_x=0.2969 right_y=-0.0019 right_z=0.1739 right_yaw=0.1413 right_pitch=-0.0649 right_roll=-0.0645 right_gripper=0.9989\nstate[joint_eff]: [-0.5949, -9.347, 5.0667, 0.9451, -0.5397, -0.0464, -0.0513, -0.3214, -1.6342, 6.9538, 1.7802, -0.1294, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:550117752d660c3599867888913c2eed1e0124946575aee592c0496edf939a19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2571cf3900cfadd16c9a44ee015d3668a8b072e29d51356b0bafefade21f37c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:521cd64d107e8ebe41eb16985bc7d290155e6c3d7116757e00d174b55888c1c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCkLPtRcR1blQAA7xf0J2i_oh_x7yF_G7iPlYdngpEEBV_AcZlIJjIHDTdXpJ62VG2aZ7kwczAwFAe8pnGP5_DEUjB0Ez3kjHPW4zzF_2M0XCNIoGXABt64Zvkhfcjid23NHehD7yImQU0vQ1b4HCeelzUHnJxhDluMCud7rJw90CuVY4LtNmyYU9kbG0OL8-RZhw2vPak-hd_Qpq6ouJ2hpVNjmy84ODTLoOC-DlheFmnuFocuhIVKrTgrPfdpbLQ6wleJ8_z6kdiZc1tVo4QS-0vPMUgcobCdXwhFBtSG1b9xsZxiTL4WIanKK6kQJwmnvTqj-us8vY04MtswGqnr-fz4caxlDD1g81JifM8z8Wr1pwxSmB_jYX1FjQl4GltdIAjk-2ayzwT7MNeTpMHVgShYd_MWXZiAf86ATL2gj8MkMT4WdBeAqgKv2xxAMqbcd_YSG-ApYb8g_QPo6mmSKpKRJaatur2uKmzSywvIfWoNFCGaHc-kUJwTLXj8-uaJjVb_EV4NLBMefuMqLY5Sr2QT75n93SPWC8tGy6JdbQRUW_EN3iwFWSV81yZjMEAOj5IDdzHBGVWyx5EyUU6VIuLflD8RfDYmi1fCPm9Z7sRtfxRnw9whst8ftKMxg50jOGg1oTnHpRTbXm5HxUH-JOerj8AqU_GoiBHVI4GdJKXtUy_jmzUmo59zjBb8s1vY3cCB2Ob2tBPv1r9VsYXjJbGnxjpwU_bQoiqKUuCY1i3f3Q008ifX55g5BxGw4C2TyNyJGkZawwH8ytlQzIlOLUw7nXXe0ZswO6SmJ6oBhuu_ISm-mmFB2Yw_BLMOgQpwTjGfo_3dEJLmTHr9izri17bkYWiX5jsIU73pfYyZhJT0ho1mn5_Vd8u7nEfdpffGJ6vIGF2DBBOY-Fy6BEIESweV6WGgeHDJOSNrEd7fYXBDvX8uJU7Y1Bq_fBLLKD581jZq4_jxXiwlk9NJFvXMc36uv9-MoFwjtlo1ZimCw5xWOIXveab3ABYNtFVL96LuLsfVM6nQtOxeJaN_CEkkV43IYk7oY4YxZjR_sGgv5MgrsCTCtbvyDG4RFMygg_ziFECwKlO21-lNS1s-D-8tLp04iTRSYXeB9fELWqHNNktntn40mSMkwTKKALH_xbwMSC2GCFItHBluruSSsVQkQfebrS04IXwOA2G79ShxJxyRj7z1oXmJTCBlVxu1ImJ9u-v1nG2CDXI2cZoJ52THshvAD1vQ_FPnHCTiGDcHJHV8=",
  "id": "rs_090a2a85368c03b6016ab4290ab34087d0948f3484b9dffaca",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown plush’s torso is now centered between the fingers. I’m closing for the corrected grasp.\"}",
  "call_id": "call_mdkRoXQDoUhgLyRTuOzeH2hO",
  "id": "fc_090a2a85368c03b6016ab4290b026887d095993a5405831ff2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mdkRoXQDoUhgLyRTuOzeH2hO",
  "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]: [-1.1179, 1.7412, 0.9031, -0.4015, -0.7002, -1.0599, 0.01, -0.1238, 0.8696, 0.6662, -0.4557, -0.1772, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.2543 left_y=-0.2542 left_z=0.0363 left_yaw=0.0573 left_pitch=-0.2316 left_roll=0.0288 left_gripper=0.01 right_x=0.2968 right_y=-0.0019 right_z=0.1738 right_yaw=0.1413 right_pitch=-0.0656 right_roll=-0.0643 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -7.0906, 5.9419, 0.8327, -0.4567, -0.022, 0.7595, -0.1299, -1.5521, 6.9402, 1.6728, -0.1294, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d092be5b2115c9fc7ff6e9b84dc4a8ed97ae3dc03f2ad0422de35584dad3231",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8d94453cd23682a97d1779ba8c999049bcdec971eabca33f0e1d31cd38a5059",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c23ce82dbc5cf7d5d3bd802bd02090357adc3199f3232e0e7f336a18d0af5b8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0706, 1.9385, 1.1069, -0.3279, -0.7193, -1.0016, 0.9977, -0.1238, 0.8696, 0.6662, -0.4221, -0.1768, -0.2359, 0.9989]\nstate[eef_state]: left_x=0.2997 left_y=-0.2982 left_z=0.0318 left_yaw=0.065 left_pitch=-0.1836 left_roll=0.0035 left_gripper=0.9977 right_x=0.3017 right_y=-0.0026 right_z=0.1803 right_yaw=0.1404 right_pitch=-0.0333 right_roll=-0.073 right_gripper=0.9989\nstate[joint_eff]: [1.0325, -7.3915, 7.1453, 1.072, -0.2906, 0.1099, -0.0122, 0.0205, -2.0581, 7.1179, 2.2295, -0.022, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1137, 1.7481, 0.9104, -0.3973, -0.7044, -1.0588, 0.9951, -0.1238, 0.8696, 0.6662, -0.4549, -0.1772, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.257 left_y=-0.2552 left_z=0.0368 left_yaw=0.0616 left_pitch=-0.2262 left_roll=0.0269 left_gripper=0.9951 right_x=0.2969 right_y=-0.0019 right_z=0.1739 right_yaw=0.1413 right_pitch=-0.0649 right_roll=-0.0645 right_gripper=0.9989\nstate[joint_eff]: [-0.5949, -9.347, 5.0667, 0.9451, -0.5397, -0.0464, -0.0513, -0.3214, -1.6342, 6.9538, 1.7802, -0.1294, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1179, 1.7412, 0.9031, -0.4015, -0.7002, -1.0599, 0.01, -0.1238, 0.8696, 0.6662, -0.4557, -0.1772, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.2543 left_y=-0.2542 left_z=0.0363 left_yaw=0.0573 left_pitch=-0.2316 left_roll=0.0288 left_gripper=0.01 right_x=0.2968 right_y=-0.0019 right_z=0.1738 right_yaw=0.1413 right_pitch=-0.0656 right_roll=-0.0643 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -7.0906, 5.9419, 0.8327, -0.4567, -0.022, 0.7595, -0.1299, -1.5521, 6.9402, 1.6728, -0.1294, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d092be5b2115c9fc7ff6e9b84dc4a8ed97ae3dc03f2ad0422de35584dad3231",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8d94453cd23682a97d1779ba8c999049bcdec971eabca33f0e1d31cd38a5059",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c23ce82dbc5cf7d5d3bd802bd02090357adc3199f3232e0e7f336a18d0af5b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCkS520-FdlYMXGLrYHQWaLXKbsjOE5aj5qN3wZdAavAs1C27bhHZJNVYwX61cDa8eJsmiWxuvTxkq4Y2djyDaU1c2_FwLwOMCyBF3f_9lG1YtcHsUYXbhWPPfPYsFgmmhNLvwd_Ccu1YKnBLGseJ73OrYEFB5mLstAQj7XK0IV2YntMrL4-EnRRPUwVh-UKrCCuQ6oq_A32TpBh_iQsNVbCU8xlgL9F1IaCO1MOMATeC2juK7-Ansk4uCiSULAltXLO8oWnUpLLfatSK6fJyiTRpQUKWskRg0A4QAiScmLMLXEMxJidQJ6PQhe0uhtCpQS_ycOsTdCs3dncMmK_tbAD4q0rdV36AgBglm5RXfVHekyvxUpQYOnJFd307iplih-5aYm-gECxzoUvJxp8tK-ADczf4w7n-MUwfbhS_YFSiGBd_aucjrmkaRxOQu1l7cRYr4xLqoFjX5IB8EnZSZFz6HnG0FqKaLCuuGDiGDSRly7CuCSgmLZbUypv_kLaiK_iNnHR5-vyn-_tlndkL3gst3d7bnyMTe89BkUNugiKLts7l1wR5crCcI_HgRm9ocvJpkZsSughO7ECEUKOS12w8S6S__o3la7x4JcC1_lFiL7ngELB81p52Ga5lSrIH9keMmmwx__NvCrAEDDj39_eJZgdd2GhWEoNvyXbSi5haKY923BPsneGKDFW_hLaAHVCpQZoVx93FZx5bCIJij0NlLe5vuUSOiKWWLtEQ9kh4PCzYv0ep10XQDH2gP4JIRsCDb4-A-eIkrXg6kIk47G8z_qdxlH5rKrRAbp7DCp-HEZLQRUmRSxkrVig6ecCuoAd5GrJs5kBhFXDkcmRaLzvhudWSn0XxDOBUSoFIz111zgLkKDnEOlG2e_ufYti0X9MnZnIEoTpnUzhOfUQL9oyD2qggMhDghKQGy6SQxDx4r2Q2sFRQe0dO4Ku9F_VZyEKF_XH5jUonSIzAvntc8tCB2HGPqdLmBmSScfy_2nCJnW5O6B8CR_f6CnFY4Q7v119gUQuwJbhzvkhQ_Qp-7U_UvEw7CAWplgXs2VVObZwKZlzoe8AyB8HWcEu5Ht7K3moAsqKmy13KbxsbsIw9IY8RlP0h2NdNM07QvwfD-5NhkgYDEcPPJ7b7D__GVIvVDo1XxDEvW-xZXxnGyeU-YOgyDJT9zKYKgSScm2jW4MDh7oSs4hm88BKMfDA4__-IKX44eovCVvATcIrAJcEDIPmyqibSiuEzsN2G1xhLwrp78CdITpgDd4jROguoXkMC3cCLWMmZQKkFUmKbqcVMy5BnbE7D0sEP-zFkSizdLcl4nfkSmHQs8iCSEoYYokLxi94k-tD_y9naxWEVWh1I4JmUjWFGMcIJMdryIUklsvDdWTRweY6eMWdu7LKdBYGP77r_dhHT1TetR1iA38eU-Fwayt8ovVcgK-0Yh9AAgYvwyBK_TB8QRugemIm6vw4jU__aEiQg9D7pKlU35c43NZyvGJkdL7W0mwA4FNJXexoizrc2tiOcqtxo8Ae5D-UNTMnxvQ1UQ9rVeLUgG1K7d0yFO3QSFhrMUujPAPQ4p0rAmS-8ipAV1IYbwk-6eLP0xxdMj0dBJLmCJ289QvTDFPy3-NirDjICPDIsjgTSIHYOeXgMRruTAw_WiVSfuT2lZD7JuTRtLzf39Jn3Il1fEpoPUMA9F7KB__XFjro-L-Wap1G0WiWL4Zmb2DIppA2sZagIxk2GETmSn51gt47n0MH0kQE0EBQIucAhl2aHdCmMcCzaUqqMtn311dZtEXfRIdTKv70xzsnksbpEcsECnlYqet_3j1zr5Oz7DsYyn3hv1RQ-LOt2DB9S4bOwAI0qg2cUj9EPGwqdUY4HaSJHm3_stLbd4XbLV240CorKF7B_Nw-3nZ6-l6BybkHZFNn-xouSmwojWljOxznhaGZ3L3nvU4NapdPlTPvcE5AK1esefc6uapu2iyVp1VtlWSluE7IS7oukUnkAcBzr9m5afWSLllG9soEyy3tUwUBa1psu-QZb9uR1UuxAhiD9v_ExHsgTRCb_72bl-xM_0dyqXy3qfY4R0pIa4YIz9MCgMCjMPsHFPQe33X-HnOPgL8Esqr65WfLOL1FV9Q3gVDBGb72548sNzPpG7gjK-oEeWXba40xFrn3Zp6t7NGSg1TizfzeSL9b2wN6n6O-NpQK-ciy60BHUfr4xmheavYQjhUGzf6pw6zbq3LaI29ppUcj2EijvzrrYTou6vl1KeDslakfIw==",
  "id": "rs_090a2a85368c03b6016ab4290dfa5c87d0a8995d21544d70d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.24,\"left_z\":-0.008,\"left_gripper\":1},\"note\":\"The closed jaws are still empty and sitting above the flattened plush. I’m reopening and lowering to the table beside its body, slightly away from the safe’s handle.\"}",
  "call_id": "call_OGGjJAEDebaqZ1Dhwv2so2cb",
  "id": "fc_090a2a85368c03b6016ab42911bb2487d0a50c993c5506a975",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OGGjJAEDebaqZ1Dhwv2so2cb",
  "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]: [-1.1526, 1.8206, 0.8326, -0.2523, -0.7277, -1.1175, 0.995, -0.1238, 0.8696, 0.6662, -0.4778, -0.1772, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.2469 left_y=-0.2575 left_z=0.0054 left_yaw=0.066 left_pitch=-0.2071 left_roll=-0.002 left_gripper=0.995 right_x=0.2934 right_y=-0.0015 right_z=0.1695 right_yaw=0.1418 right_pitch=-0.087 right_roll=-0.0585 right_gripper=0.9989\nstate[joint_eff]: [-0.9778, -5.2991, 3.8496, 0.6716, -0.2418, 0.0122, -0.0757, -0.1299, -1.4564, 6.9265, 1.8291, -0.1148, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:296dc219027c812d2fc26107b5760ca3f6527cc63d708871a4b837f94bbe2531",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6a65996b995c721e3976f437d42c75698420aded1f22911e013c397f7bc4f5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ba7b9deb26789cf254f45f35cb1b91025d4aa65728abcccfd8f5b052e536588",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0683, 1.9682, 1.1057, -0.3286, -0.7044, -1.0046, 0.0097, -0.1238, 0.8696, 0.6662, -0.4393, -0.1768, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.2974 left_y=-0.2963 left_z=0.0184 left_yaw=0.0678 left_pitch=-0.2094 left_roll=0.0246 left_gripper=0.0097 right_x=0.2992 right_y=-0.0023 right_z=0.177 right_yaw=0.1408 right_pitch=-0.0499 right_roll=-0.0689 right_gripper=0.9989\nstate[joint_eff]: [-0.2667, -12.041, 5.4085, 0.906, -0.5495, -0.0073, 0.8034, -0.0615, -1.7162, 6.9675, 1.8584, -0.105, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1179, 1.7412, 0.9031, -0.4015, -0.7002, -1.0599, 0.01, -0.1238, 0.8696, 0.6662, -0.4557, -0.1772, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.2543 left_y=-0.2542 left_z=0.0363 left_yaw=0.0573 left_pitch=-0.2316 left_roll=0.0288 left_gripper=0.01 right_x=0.2968 right_y=-0.0019 right_z=0.1738 right_yaw=0.1413 right_pitch=-0.0656 right_roll=-0.0643 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -7.0906, 5.9419, 0.8327, -0.4567, -0.022, 0.7595, -0.1299, -1.5521, 6.9402, 1.6728, -0.1294, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1526, 1.8206, 0.8326, -0.2523, -0.7277, -1.1175, 0.995, -0.1238, 0.8696, 0.6662, -0.4778, -0.1772, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.2469 left_y=-0.2575 left_z=0.0054 left_yaw=0.066 left_pitch=-0.2071 left_roll=-0.002 left_gripper=0.995 right_x=0.2934 right_y=-0.0015 right_z=0.1695 right_yaw=0.1418 right_pitch=-0.087 right_roll=-0.0585 right_gripper=0.9989\nstate[joint_eff]: [-0.9778, -5.2991, 3.8496, 0.6716, -0.2418, 0.0122, -0.0757, -0.1299, -1.4564, 6.9265, 1.8291, -0.1148, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:296dc219027c812d2fc26107b5760ca3f6527cc63d708871a4b837f94bbe2531",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6a65996b995c721e3976f437d42c75698420aded1f22911e013c397f7bc4f5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ba7b9deb26789cf254f45f35cb1b91025d4aa65728abcccfd8f5b052e536588",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCkWeQWo9yzSiDJ4cuyOZi-XHvCJjt5d7_1ja1jRdZu45BMcav0iRVtgmSRUzfFMixJglPZMprdKNR9UGEMPQG_O2AcwFTfbLrEA33wQdWP43rIKwbWDWIl7DQXajhN49oNGm1tTpBDGQNeverxZ1s5eCRWutDlnLLEQV7iYzYQjgX5SPLPxWEJ_iIaxr3LA2j79-RPEVhldiBz3eq-GISiSBpS2G0m3ZdgtXU2_RpPQT4c5ZDTkS73jusl6KV4n7YcOlzwyG-I6rHqZEpvb8iY_nOwa-4w3wMwsIzHY-CMXfdUTAhy6gLX7aKRRaK7Q5u0SBmB5jo5ViE8eOfjeE70BTOABrFVh2dsul0scluvI35Xzv2AMYlH05722NgshqJkQZSw9x8U_gBBL3ym_IZk2VoVLcR0m1n5Ngs3MRwzijn5Sp-oM6424x4KvaimB-oKCsDhRoM_i7ZSaybPiHFHvrJc4FW9ghl57eJbMRs9shnDBMEprHp9iUMZXJ6qI61tXvx4ZnzeycCtUpUscwlkWdTerM1njzy8wG998bVBIomf0yVXRnpROXyB_LH43MCG9kP50EQHIdni5k1lX4DvyYsNVUqIny0PEvf9ZCtp5lq5rLjRV9dgSoOx3cykRGDuVoGWVS9AArV6LIbUtrG8UlQ4CnxrI5MUimMs1mjQaT2NzL6oStKM4gORwZI0QlsZZzGWcQYatcigfJi5Qs2E4tt94Z47UmPvHC0oH072Trgsh0GBQDFaV4kKCAuOEvc6FVOePbYAo4nJhbqCOMKGKXLjq5BXvkwi_Na4jnjsCHUA19wCLrDDKeTxNWOA_Qu6PQTk46o_jvO_AcfAl98r_QKOFP3uhnhfm_9C_MchCUV1-1l8WWNJjzKl82QKRpFg7vk7sa-JMO1bW-j6HvZmfps3hH2IGT-9a7C77gS647ws8aUl7GyrrRvRNTdDmWH_wqJpigWYpDePZCWScnj2ijF2gs2jap7MllI8OPQNjaSFkMLhQLCm_3swFXzmZQfgAuTft_F7enTr-8-of1CH1-_bnHTZXpSknbb5SKUs2VG_dV3OA4FJfZWTp0lm34i5qjnWAdfDFYRqU-vD3RsbqfJuynxZb_qYv-4G2r94A1Je6OjFdnj0UN7_9xrqev7f0hhZlacoBKA9uAtCKcbzTRje90Kd387YuYJsjZsAlDAm8AIKQVxWpliaQuAJyl9dcvxES0yT5cdldoE4Tm4eYfF5PvhNyjunTb8fRDooa8HEY_NQ7dpsVR1WJZHRlJEw8KZ7eHdDgyHB9ihymE1CsDA==",
  "id": "rs_090a2a85368c03b6016ab42915800487d0ae7281f7f1e08688",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingertips now reach down along the brown plush’s sides at table level. I’m closing around the body from this lower position.\"}",
  "call_id": "call_BFkWem8yDrXFkadWdgDpqNlb",
  "id": "fc_090a2a85368c03b6016ab42916092087d0808213ed18c0b3c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BFkWem8yDrXFkadWdgDpqNlb",
  "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]: [-1.1561, 1.8221, 0.8322, -0.2241, -0.7391, -1.1286, 0.0941, -0.1238, 0.8696, 0.6662, -0.4999, -0.1772, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.2493 left_y=-0.262 left_z=0.008 left_yaw=0.0683 left_pitch=-0.188 left_roll=-0.0315 left_gripper=0.0941 right_x=0.29 right_y=-0.0011 right_z=0.1654 right_yaw=0.1423 right_pitch=-0.1083 right_roll=-0.0527 right_gripper=0.9989\nstate[joint_eff]: [0.1709, -7.9932, 4.8615, 0.4811, -0.3346, 0.2271, 0.4322, -0.212, -1.4974, 7.0906, 1.8388, -0.1441, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a73ffddb44a3776ebdd03be988a8ef5924d2ff1e8b40cef6e32e75a8f2e3d8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6505fb976fe659564e4fabaf8e98334b4f7e1d65b8ac59bea10745b1c7a7f263",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:503fd922b73a1282f5f08ce7a9a973fad90a199207cfac52f75c3dba4473f346",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1137, 1.7481, 0.9104, -0.3973, -0.7044, -1.0588, 0.9951, -0.1238, 0.8696, 0.6662, -0.4549, -0.1772, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.257 left_y=-0.2552 left_z=0.0368 left_yaw=0.0616 left_pitch=-0.2262 left_roll=0.0269 left_gripper=0.9951 right_x=0.2969 right_y=-0.0019 right_z=0.1739 right_yaw=0.1413 right_pitch=-0.0649 right_roll=-0.0645 right_gripper=0.9989\nstate[joint_eff]: [-0.5949, -9.347, 5.0667, 0.9451, -0.5397, -0.0464, -0.0513, -0.3214, -1.6342, 6.9538, 1.7802, -0.1294, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1526, 1.8206, 0.8326, -0.2523, -0.7277, -1.1175, 0.995, -0.1238, 0.8696, 0.6662, -0.4778, -0.1772, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.2469 left_y=-0.2575 left_z=0.0054 left_yaw=0.066 left_pitch=-0.2071 left_roll=-0.002 left_gripper=0.995 right_x=0.2934 right_y=-0.0015 right_z=0.1695 right_yaw=0.1418 right_pitch=-0.087 right_roll=-0.0585 right_gripper=0.9989\nstate[joint_eff]: [-0.9778, -5.2991, 3.8496, 0.6716, -0.2418, 0.0122, -0.0757, -0.1299, -1.4564, 6.9265, 1.8291, -0.1148, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1561, 1.8221, 0.8322, -0.2241, -0.7391, -1.1286, 0.0941, -0.1238, 0.8696, 0.6662, -0.4999, -0.1772, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.2493 left_y=-0.262 left_z=0.008 left_yaw=0.0683 left_pitch=-0.188 left_roll=-0.0315 left_gripper=0.0941 right_x=0.29 right_y=-0.0011 right_z=0.1654 right_yaw=0.1423 right_pitch=-0.1083 right_roll=-0.0527 right_gripper=0.9989\nstate[joint_eff]: [0.1709, -7.9932, 4.8615, 0.4811, -0.3346, 0.2271, 0.4322, -0.212, -1.4974, 7.0906, 1.8388, -0.1441, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a73ffddb44a3776ebdd03be988a8ef5924d2ff1e8b40cef6e32e75a8f2e3d8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6505fb976fe659564e4fabaf8e98334b4f7e1d65b8ac59bea10745b1c7a7f263",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:503fd922b73a1282f5f08ce7a9a973fad90a199207cfac52f75c3dba4473f346",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCkaxPBtip_1PVGg9_NQghweqZF8Ch5Qwmg6TQjDCXUwqwyZIsWJGgyZ3jidET2MXiTrYxlXW5vdHHGi6hLN8L3NFT0-DbHTskStReLSensg1rYz-or1AJrmdpYPHQFgP2xTn7cm6BO1XJGB2n46b0kzVlQcxheyauHGo75neInmyMN67-u09uUXK8PyPLEh7ulFKfWFn8RnmfFnOINbCqMrow2Aq3kEpESkrHUc9iYcnR-Ig7o_JAkju1pb4I8XBNrh81n2OpwUabTLqity8v-7cdYdrqfbRPcpV3nW5AViwCx0bq2OsncmiWLGHzGRTvb2lYNnPQFYRz8l5Z8mKusiol5WXOOCOV8waBXpelp1RKhMO_7vjHUYCbxvH2kLbw1hi2tcd_6yfOyusHGQTmuBUNdLYFub5BjMcm1aag_GrrKm6ykxfqYC-y83Y8xm-ZKS0fTWTEmbQJTbbeTcOZfPUWvRIeXdqkBt5amy0aSR6gXtowtzWYqMBjEnV5p5FGTFEdfKoT2yNjuuqx6tMg-sIBDjc00bdlm09wZc6VOWqwFRB5m6HjtxMK6cweBU7a_6VSWC7SEhLArk-2hiNhIRl8oa45nUvla5Thj6y1ZKZQc0_z5o8uo7RBHD_oJMWR0FnkQxe4VmpKzleD6F_3d-j_-c_pmAG3gimq6ZlmquyF6KEFE_3DIr7lJSQNxg5GYGSVN86BdfDDt0nHOzJG1qprbFLaR92FeKg7GNjI7fexz4SxGjiMH5rJSpDU7X_bgqLa97BqyzH9HniaYevSFgYaq7G92UXC4LiXw_-tuep5wGyQVmvQj9jPjUT8fukGLas_AcrhXfTakZYGR515hF49rbdfd1aV82uhM7ZFOHKyQtGFipWGPABypkJ8m-LDi2hgDsvwLYMM--ayqq7Zs51G2CIIy7FLmLqmUws7sdwO95vH7Hn2a7HJRT_Xq1chpKoOLFkcdnYFx9FVFVJBMrSI1kvemSYAhzs0e6GlJZoXIWjdAe0NJtQSy089bAo85iv-jdDQEJo-GmMmvpl6PUWRxBcd2NBcf-FJWrTrVOdTMA0Ll6Q8r0ImsYKKkstlWz9zzYojR1eN-bBCNB7CdfqAWdik8x3ZE1GogsnL0h7gZTgzn1J5pxOckGDy8y8s5lZvR0vFQWCSpQl1w8Tlx_ZVWG5ZLLtyKK-8rZ7ZbDdZInxYhjl_PE2-fS6OzUyOCFIrg25s_5Q_1nARv1HzHzXg==",
  "id": "rs_090a2a85368c03b6016ab4291910e887d08ef1e8f29ea0f435",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The jaws stopped partly open on soft material rather than closing empty. I’m lifting a few centimeters to check that the brown plush comes up with them.\"}",
  "call_id": "call_EL3aCqLx6cbZvcegHrLSbkQ9",
  "id": "fc_090a2a85368c03b6016ab429193f0087d0976d0c5c1f90081f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EL3aCqLx6cbZvcegHrLSbkQ9",
  "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]: [-1.1564, 1.6756, 0.9588, -0.5167, -0.73, -1.1358, 0.0944, -0.1238, 0.8696, 0.6662, -0.5182, -0.1768, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.2474 left_y=-0.2609 left_z=0.0686 left_yaw=0.0719 left_pitch=-0.2027 left_roll=-0.0211 left_gripper=0.0944 right_x=0.2871 right_y=-0.0008 right_z=0.162 right_yaw=0.1426 right_pitch=-0.1261 right_roll=-0.0481 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -9.4017, 8.4034, 0.8181, -0.5201, 0.0317, 0.0269, -0.1983, -1.6479, 6.8991, 1.8584, -0.1245, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd79ff1b28e8d4ae299d29b1e3f57103a6e50bb54bad58f1b573b32383a4ab6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a94a3e46666f5cec363f61900e54514c4e44ca9b02387c95cb67199c44baaeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06af09ca4ea9e5a4f86fcda2240b0d19f517dbec880489540a9eee42966b7428",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1179, 1.7412, 0.9031, -0.4015, -0.7002, -1.0599, 0.01, -0.1238, 0.8696, 0.6662, -0.4557, -0.1772, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.2543 left_y=-0.2542 left_z=0.0363 left_yaw=0.0573 left_pitch=-0.2316 left_roll=0.0288 left_gripper=0.01 right_x=0.2968 right_y=-0.0019 right_z=0.1738 right_yaw=0.1413 right_pitch=-0.0656 right_roll=-0.0643 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -7.0906, 5.9419, 0.8327, -0.4567, -0.022, 0.7595, -0.1299, -1.5521, 6.9402, 1.6728, -0.1294, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1561, 1.8221, 0.8322, -0.2241, -0.7391, -1.1286, 0.0941, -0.1238, 0.8696, 0.6662, -0.4999, -0.1772, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.2493 left_y=-0.262 left_z=0.008 left_yaw=0.0683 left_pitch=-0.188 left_roll=-0.0315 left_gripper=0.0941 right_x=0.29 right_y=-0.0011 right_z=0.1654 right_yaw=0.1423 right_pitch=-0.1083 right_roll=-0.0527 right_gripper=0.9989\nstate[joint_eff]: [0.1709, -7.9932, 4.8615, 0.4811, -0.3346, 0.2271, 0.4322, -0.212, -1.4974, 7.0906, 1.8388, -0.1441, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1564, 1.6756, 0.9588, -0.5167, -0.73, -1.1358, 0.0944, -0.1238, 0.8696, 0.6662, -0.5182, -0.1768, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.2474 left_y=-0.2609 left_z=0.0686 left_yaw=0.0719 left_pitch=-0.2027 left_roll=-0.0211 left_gripper=0.0944 right_x=0.2871 right_y=-0.0008 right_z=0.162 right_yaw=0.1426 right_pitch=-0.1261 right_roll=-0.0481 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -9.4017, 8.4034, 0.8181, -0.5201, 0.0317, 0.0269, -0.1983, -1.6479, 6.8991, 1.8584, -0.1245, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd79ff1b28e8d4ae299d29b1e3f57103a6e50bb54bad58f1b573b32383a4ab6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a94a3e46666f5cec363f61900e54514c4e44ca9b02387c95cb67199c44baaeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06af09ca4ea9e5a4f86fcda2240b0d19f517dbec880489540a9eee42966b7428",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCkfZV1J0DhIVZR897OX8eyXeqUXl_4YTFticfsQ8TKaiE6OsLQ-tVuNgrRwB2OrYzgBXn0EeRm5B-jAOE9gJr4E2yDDPcR5LOLB_0KD1zeDs6L0y035h36JjH7oi2hqjg4cMEExPHV1pq8lFooQn668zNuZQDZBPJd1fFvCoIgIJ08hUFIpovLklzoiBsbux-yNrZTnpK1AySJNDWF7g1QWoN9cCDNifxogyEB1ygKfuQEanMxAew5S-dEYueg1Hy0lFxYgc_0XmnLaQVi89kVflS5ag5jzXtK-kt8THWjO_tUgvHZ3CKP-rNB63BwUfdrnX0AObb_Jde7wRBKvYAh2I7pOAx862QOneW2P3pD4D3byBKZyUTFhV0inPXaRwlPM0zlWRUeKSA9SVR7a3l4QPA1_x7kG2oQHAMBojgFxPCR4rREob7X0DkirzEkLvcmR8T7mGgwuDIZZLIGHDKbjtFMOBgI585J6ixjzg0HgPctFsi7OJ77JOLlZaCrN-cz-fx264Ac09a6_f7dmQGUXGTkxKFkdr6EoK2ZOT59suvaA7hmRDZrAn6VaOnWuzacf-Ag3DVkRlYcE4fEfWY55Vvewbr-maOfiFRUfHq_vv-MlMtPiT5D2-vd311LRxy2ZDre8Rc0K0epwi7JPXSxFremVABOy_9HnvOYXLTkq4zrEwwYUEOAvecjxChfJZUa-xGunPi9bQRIMyKozwYa8mdQqTE5Kh1fggnKZOVCcNAUCdmIhsNnTMpc_s6VQkdzQiyfTTgAyrHlOUzggtVYX6--MyG8Z2gTZj-Qxvrc8eUIpEkWpYoIAIbvvn0rnCvyixB9BSYqrmkFbbRArAStYX3OhdAxeLZWIarb-I9EYBskocH-Ws2RCFyX5PYU8BWGYmPViCNBS6P7_Y2Ia71o0iQioHvhrWkOOOfT_fpK9iwfc28uV_yl-AoEaQhHq1sBFIAK24efoQUl-pxzhCGeq-9Ebjj58JyrnmM4zdoR-T2XouDtZiWol61bDXW7BdSOXiWuXNY_Yly-nfBhaQfReWJT1QTDPixfARrPPamG5ZD6sfCqghuAVQwbUXaw1VNOxYkQm6bjRP84vjNnydvE4845ICKXyr1MPg2EmiEF1VSHHtVWHrwDqdh2-1AUqLeOqnG3vVpRN_659dsqoW8hblVg-QqnCaDs0ei3o6wymH6jMjgloSEXZCjBW-XUse2Q0NrYLXJVQMmAmQ1Th0c2Efg3l9a7_LVMliArH3PPgUhvl00WzOABp2ju6fJZ294qsDOy-EMDzfs_kmYFd7kouRljf-WED6x8D8xn1z1gpYMyMq8_2Y2V7FIPYifVWFzdGZpqWVTjyKG8P35PkMM2wzJhXFadBYRmHDufMM9SmWyccWPeoHLjMezhXUCoB6aggqo1AtxL4Fh7mVPLLeuKTrAgy7CSh7nMbuHWg9DQtwXrcdgsJFX3o6qtCiSMyg_Mc7X89aiGNCFFGnV4z1TF2e4iBB6CAbcB-nYKLYmXGGh74DkwmlvofU8UZdivu61rlPuJ37uZMQ3wAyFwVOy5W__CtWbQtH6VP35Cawa3SI_I7VBu1zhbti6vGCeR9-LXJBxKuvzpR2KuriNczKhDUhK62HGLm2jOF2RrcZQipnhd4EsiJVFvlRKfstBmhkAUt",
  "id": "rs_090a2a85368c03b6016ab4291d23a087d0970a31810a8b2dda",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.25,\"left_z\":0.2},\"note\":\"The brown plush lifted with the gripper. I’m raising it above the safe’s front wall and carrying it toward the open compartment.\"}",
  "call_id": "call_lyQDComYH43tYcgJfglfNNif",
  "id": "fc_090a2a85368c03b6016ab4291ed60487d08bd923870312f0b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lyQDComYH43tYcgJfglfNNif",
  "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]: [-0.7044, 1.9186, 1.7142, -0.7692, -0.5182, -0.6834, 0.0949, -0.1238, 0.8734, 0.6662, -0.5468, -0.1768, -0.2359, 0.9989]\nstate[eef_state]: left_x=0.4307 left_y=-0.2464 left_z=0.1845 left_yaw=0.1024 left_pitch=-0.2244 left_roll=-0.0241 left_gripper=0.0949 right_x=0.2826 right_y=-0.0002 right_z=0.1558 right_yaw=0.1436 right_pitch=-0.1573 right_roll=-0.0391 right_gripper=0.9989\nstate[joint_eff]: [0.212, -10.0171, 9.5795, 1.1013, -0.2271, 0.2369, 0.0464, -0.1162, -1.7436, 6.9949, 1.8535, -0.1294, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48e3da22f9c36e0d544f1baa28d7b716c983828d7bd6017264b14432a1fba724",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b14b247525bcb5aaaa5cd740c2af6397eb2bf48ea2a923161d7027a76dd51fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:004a90ea9744807de1d6e1aed5ba45182c8f3691002c6ebd433fad41222b8947",
      "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 113 changed as sent

message 121 changed as sent

message 125 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1526, 1.8206, 0.8326, -0.2523, -0.7277, -1.1175, 0.995, -0.1238, 0.8696, 0.6662, -0.4778, -0.1772, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.2469 left_y=-0.2575 left_z=0.0054 left_yaw=0.066 left_pitch=-0.2071 left_roll=-0.002 left_gripper=0.995 right_x=0.2934 right_y=-0.0015 right_z=0.1695 right_yaw=0.1418 right_pitch=-0.087 right_roll=-0.0585 right_gripper=0.9989\nstate[joint_eff]: [-0.9778, -5.2991, 3.8496, 0.6716, -0.2418, 0.0122, -0.0757, -0.1299, -1.4564, 6.9265, 1.8291, -0.1148, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1564, 1.6756, 0.9588, -0.5167, -0.73, -1.1358, 0.0944, -0.1238, 0.8696, 0.6662, -0.5182, -0.1768, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.2474 left_y=-0.2609 left_z=0.0686 left_yaw=0.0719 left_pitch=-0.2027 left_roll=-0.0211 left_gripper=0.0944 right_x=0.2871 right_y=-0.0008 right_z=0.162 right_yaw=0.1426 right_pitch=-0.1261 right_roll=-0.0481 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -9.4017, 8.4034, 0.8181, -0.5201, 0.0317, 0.0269, -0.1983, -1.6479, 6.8991, 1.8584, -0.1245, -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]: [-0.7044, 1.9186, 1.7142, -0.7692, -0.5182, -0.6834, 0.0949, -0.1238, 0.8734, 0.6662, -0.5468, -0.1768, -0.2359, 0.9989]\nstate[eef_state]: left_x=0.4307 left_y=-0.2464 left_z=0.1845 left_yaw=0.1024 left_pitch=-0.2244 left_roll=-0.0241 left_gripper=0.0949 right_x=0.2826 right_y=-0.0002 right_z=0.1558 right_yaw=0.1436 right_pitch=-0.1573 right_roll=-0.0391 right_gripper=0.9989\nstate[joint_eff]: [0.212, -10.0171, 9.5795, 1.1013, -0.2271, 0.2369, 0.0464, -0.1162, -1.7436, 6.9949, 1.8535, -0.1294, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48e3da22f9c36e0d544f1baa28d7b716c983828d7bd6017264b14432a1fba724",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b14b247525bcb5aaaa5cd740c2af6397eb2bf48ea2a923161d7027a76dd51fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:004a90ea9744807de1d6e1aed5ba45182c8f3691002c6ebd433fad41222b8947",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCkkjUBVgvRIiy1oe7-f6MWW6ehwkzt1ZRhstNKAodmb5-sftOHla1jew6q6SWmhEjJiw37cV3rQu8z7ZzKO5m8A0eO2trijhjlWIgWwYoaA4dbvkKRc-2hPmJ6HgaIZNijdkNv_RC3y94zsgatqf7OEbn4pKuZTEp382vLyRYqzFjVC3sHrHoCzn1COe6zX9k_ku6vU2o0cMqmdmXxfWHcWIjVbrM19jAW22D-YU-wZaF91AJRsHgbdsersDmEM52LefKg0z4FLdGgZLCcpbS6D_YAT1Is2aesNmdguOyRpUAc_wnC4WRyrw-iogaVqecUsBYfb_LIbMoHNs_qaUx-6XNbffZRK_88FhGm53XkB4unaOLARaC4j6aFuVj2osSISejUO98hfOMGzBT4DoCC4SrpCARLPXxrLWq46uFZ-hhLcdZubgT0YL1uG9oTAbmikvpdT-wkEAXB5SDQs7l175WkS0aC3FUl1LAFA9V0MShNEeb5NjAtAQY51rJ4_tKY9tpIfGtJxV2XcufEfQofuZ57KHSB0tUBejzQdoeGs-T8gBH0RlW3PQBKfBSHLpaA08HHF-aoeeTljB3PBk7mNJ4HocJnKDkdVjazOn6DZ5Oqx-fKuyXPdAkjEOxWxurMS7AF931opogjmm_aC04_maw_IJh4o5yVjNbutgQviQgd6ibOcUoDLWNpMxkPw2E3yhswDGIRkJTgEm5l6cZGj7SPX1ckrYglbFC7e7tjl_b1E69bVkR7VYFhyQN32G4DtWH0Pf3OEf470LgurbhCm1cczKDytDT259VvQHRFno8J9Y_PlT6geGVsfJXwqNk0Q0B72-qWms0pa30gkb93GMIHY-heKokirlQC5hYzB9p_9GgEowpvY9CtSHgFHC4Aoj7w-1i1nH31i7Sdzazinn90X_3oAe84FhhHbqE1uD9_OR4hfLM7W0qLHBr4ombKmPqlAnWgIsPJ9Nov65_CCjZVsMr_m2tiK7sbqf-w6B9Av12OmZfcHcoN3Y5X2iAt21OyhNDB2ScCDmGMyWt-vbA_7pHXoFary1MfnvjMJgGGajRzZL6U3na89L1bIefY-AMruvTRBYhFqr2-t1YhK0dN1ODHQQVp9fKQyBjT5Qvwlen2W5T0pxn9BMB5mJ9SVk2ZU0YRS8Xf3AvgdhvL-r3bY0_BstQtTftw8E95obCZD_0msGBIM4U-tXTB3Kj-H6xty_kF7ffWASlTusLsWXo3ONZNllQpj2R4Eqw25Niq7SrEOx8xw9VSces7D_1XtbOU0WLOVjc49sSaSSdbX-zL1fwvP5S-sZ4sbNIP4hYO7jkhGjT-ETNqbBt4fWXAeqEBVCS2Z5iSeYLD22IJuZhA-6_pDgKmi8oqgk-mfo26jY4GEDmWCVG5EdnPHEV4Qk7-vpstE7-LHduas-XfVJWiVd3nBIQjD-d7qjhXPYf4=",
  "id": "rs_090a2a85368c03b6016ab42922834487d0b0d3f6c6997bf004",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.10},\"note\":\"The brown plush is above the safe’s open compartment. I’m lowering it inside while keeping the grip until its body is supported.\"}",
  "call_id": "call_ClGSzWdxzcNZFAPaicFsie55",
  "id": "fc_090a2a85368c03b6016ab42923abd887d0ba948e4d9627f44a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ClGSzWdxzcNZFAPaicFsie55",
  "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]: [-0.7036, 1.9514, 1.446, -0.5289, -0.5117, -0.6823, 0.095, -0.1238, 0.8753, 0.6662, -0.569, -0.1768, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.4212 left_y=-0.2393 left_z=0.0985 left_yaw=0.1092 left_pitch=-0.2702 left_roll=0.0181 left_gripper=0.095 right_x=0.279 right_y=0.0002 right_z=0.1514 right_yaw=0.1449 right_pitch=-0.1805 right_roll=-0.033 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -9.8667, 6.7624, 1.5311, -0.315, -0.0269, -0.0024, -0.1026, -1.7846, 6.8444, 1.7558, -0.1392, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:230ebd963bbcab6725fb6b51b327c53ddb7398231c45d79e499b38c5b7f59b35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4346d00237884ce76bbeabccb22d2b53bc59ee8110ced30c1e29d447f443541",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:908c5fd0f4031193240ee0d7000965a0e42515238c7998fa6e439b7d5cf4e88a",
      "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 117 changed as sent

message 125 changed as sent

message 129 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1561, 1.8221, 0.8322, -0.2241, -0.7391, -1.1286, 0.0941, -0.1238, 0.8696, 0.6662, -0.4999, -0.1772, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.2493 left_y=-0.262 left_z=0.008 left_yaw=0.0683 left_pitch=-0.188 left_roll=-0.0315 left_gripper=0.0941 right_x=0.29 right_y=-0.0011 right_z=0.1654 right_yaw=0.1423 right_pitch=-0.1083 right_roll=-0.0527 right_gripper=0.9989\nstate[joint_eff]: [0.1709, -7.9932, 4.8615, 0.4811, -0.3346, 0.2271, 0.4322, -0.212, -1.4974, 7.0906, 1.8388, -0.1441, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7044, 1.9186, 1.7142, -0.7692, -0.5182, -0.6834, 0.0949, -0.1238, 0.8734, 0.6662, -0.5468, -0.1768, -0.2359, 0.9989]\nstate[eef_state]: left_x=0.4307 left_y=-0.2464 left_z=0.1845 left_yaw=0.1024 left_pitch=-0.2244 left_roll=-0.0241 left_gripper=0.0949 right_x=0.2826 right_y=-0.0002 right_z=0.1558 right_yaw=0.1436 right_pitch=-0.1573 right_roll=-0.0391 right_gripper=0.9989\nstate[joint_eff]: [0.212, -10.0171, 9.5795, 1.1013, -0.2271, 0.2369, 0.0464, -0.1162, -1.7436, 6.9949, 1.8535, -0.1294, 0.0073, -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]: [-0.7036, 1.9514, 1.446, -0.5289, -0.5117, -0.6823, 0.095, -0.1238, 0.8753, 0.6662, -0.569, -0.1768, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.4212 left_y=-0.2393 left_z=0.0985 left_yaw=0.1092 left_pitch=-0.2702 left_roll=0.0181 left_gripper=0.095 right_x=0.279 right_y=0.0002 right_z=0.1514 right_yaw=0.1449 right_pitch=-0.1805 right_roll=-0.033 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -9.8667, 6.7624, 1.5311, -0.315, -0.0269, -0.0024, -0.1026, -1.7846, 6.8444, 1.7558, -0.1392, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:230ebd963bbcab6725fb6b51b327c53ddb7398231c45d79e499b38c5b7f59b35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4346d00237884ce76bbeabccb22d2b53bc59ee8110ced30c1e29d447f443541",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:908c5fd0f4031193240ee0d7000965a0e42515238c7998fa6e439b7d5cf4e88a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCknysDoTPIj074SP6_uwFAzY9yI0A0KqHCgUfL2ZTEPSElTO0IodJf3gKi8Hd2mHRlwsVn2CUpWaGWwhoPOBhX7ufNm9M3RyNiy4qIyMGAjpUnOE-JYvh2eCzlhUqQt_gVJiJJbfHIKyxu-wNVp_EfNNQ5YyO8aN5FYf5-qoi04rrT_xGYRLeYpAS4X2ZHUxY1AHeW4zdrjuy02270qCwGMmNiY8y-Lh4lZReezrFb3gN9KXn5b1_LlhBQ_s5saHhLl-a-vyH4hMuEmpjR2z-fRPIsVvKPU8atN0I-Ble5QDC0xteLTu2aYrFDkKTBDT8hY1CIZ62NeStBbepgJyWpAA8LSAztpTSlfFzF86rVgMixRlWmVUAjAkQvh0tNpyKIGjR2FkhWwvNTZ1f0R2VzDXl_EgAcI88KOMki63lQqibu3TgJg7T6WK7qxNqngLJai4v8s6HgsHzWWZTQ5dZhP4m7RoyUuNkWrVhQXBTTyqxG4YLFLVZn_h2kE4s38E5lPh7JyOKy-qv1y9ZGAmimhNNoPBrCjGcYTkqKa7Rm9_X9CnHey6tl6wiH8GG-n0CmDjljT_FXl-RpKOFDCDUAbpM50CzstBQYOk70NIQEFQJeBlDqSfm5uHTBm0QWAVK0GFoTy4jnsO9xHdoJRWkXnfTnE2sVKzZlL5nP2DegIZOxHVU_kw53cN9lCjx2-RWKUsUnL3yobKLIeFaRV_ulR2iYhtNbUffafdNMlOTFelHHBE7WT-1358uOgk68JGQRc1Bubu4mp-RCBwyI7VCOPU7XNseOK2vzXOxjwfgUC3qCXYhoJHfjF8DJiDcYxu31eka2GPBmLVzrf9mqvW6Td0kGIoKpkLNwLLyCtYGpz5C7-zKQEI4FW0d135zaBHwB-SBfQZeWAAyZQpGiqxvgv_F67BHlAVPKNoZRg2Aw791H5gK7Jgx0muOHVLuhJKA2jOJnZE9ZMmKSRW4c9o38d8Ns2POB-3PCaPMVFglEqMV1Ur8wc0APM9yn5nPJ77ExaqIebRIZS023JQYjy1GIcWqM3ZnE7bagBzfe2pBlnCbLPygaiwyTsGoj7D7yNDVmSUSw9GHGXByp65Bf8cryvLiX6PeNrxV8hoZGiNMHNHboYlOzy_2UqC3-Vw2tca-vI_YnRcmQwYbC5xZbGo_j680GvV_4aUuPWKY0rGezbZjomAdTUzgV3tQDwICvR2ZPyOUBSzEil623v1SSjC-qNfRV7yybVx8yBJtsLjgUlELnezXoRcYZHu3n6txyVAy5Sa1JmbDpszFGTWB_t6xHZ-E_kQTt3PHcSsjLQDwB1rCrcFd85V4ofHpNmUQlKZz6Iw34LUSCqYxfJn4xK9HXEb7ca4v-zQVpvHqLPmg3g_PPxR9QGbo63DjD4QWI84gf24UvUOGiSCyhCwepvxUWh3uZBF12zbus5HyHgJXiuSfr8lCbAOV9WOPZsszCNeUUb59OfQXYoAutp9-wgRjjH2ynmEOxAv9-QwmslUyil87w=",
  "id": "rs_090a2a85368c03b6016ab429266f0087d09459fa70f7fdc53f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The brown plush is resting in the safe’s compartment. I’m opening the gripper to leave it there.\"}",
  "call_id": "call_MmnMyo4ToSyOvtJbnFhNBE53",
  "id": "fc_090a2a85368c03b6016ab42927410487d0a375288b2cb32390",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MmnMyo4ToSyOvtJbnFhNBE53",
  "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]: [-0.7036, 1.9659, 1.4311, -0.5377, -0.5117, -0.6891, 0.9966, -0.1238, 0.8753, 0.6662, -0.5945, -0.1768, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.4167 left_y=-0.2354 left_z=0.0857 left_yaw=0.1212 left_pitch=-0.2961 left_roll=0.0425 left_gripper=0.9966 right_x=0.2746 right_y=0.0008 right_z=0.147 right_yaw=0.1462 right_pitch=-0.2052 right_roll=-0.026 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -11.7538, 7.5009, 1.199, -0.3394, 0.0415, -0.1099, -0.1026, -1.306, 7.0632, 1.7607, -0.105, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbc08d7ffcb4e67975e1476aa87939e125bb1e15fb0aa251b3151303b7779f33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8892a1da99cff981ab2b7c781fb8ef4babad5fcbb054d983dd3dab08b20419ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71998a4aada7d40a3b6b87f9d471b59b4cb2c06ce5b4cb5b54463c83b6af6852",
      "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 121 changed as sent

message 129 changed as sent

message 133 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1564, 1.6756, 0.9588, -0.5167, -0.73, -1.1358, 0.0944, -0.1238, 0.8696, 0.6662, -0.5182, -0.1768, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.2474 left_y=-0.2609 left_z=0.0686 left_yaw=0.0719 left_pitch=-0.2027 left_roll=-0.0211 left_gripper=0.0944 right_x=0.2871 right_y=-0.0008 right_z=0.162 right_yaw=0.1426 right_pitch=-0.1261 right_roll=-0.0481 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -9.4017, 8.4034, 0.8181, -0.5201, 0.0317, 0.0269, -0.1983, -1.6479, 6.8991, 1.8584, -0.1245, -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]: [-0.7036, 1.9514, 1.446, -0.5289, -0.5117, -0.6823, 0.095, -0.1238, 0.8753, 0.6662, -0.569, -0.1768, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.4212 left_y=-0.2393 left_z=0.0985 left_yaw=0.1092 left_pitch=-0.2702 left_roll=0.0181 left_gripper=0.095 right_x=0.279 right_y=0.0002 right_z=0.1514 right_yaw=0.1449 right_pitch=-0.1805 right_roll=-0.033 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -9.8667, 6.7624, 1.5311, -0.315, -0.0269, -0.0024, -0.1026, -1.7846, 6.8444, 1.7558, -0.1392, -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]: [-0.7036, 1.9659, 1.4311, -0.5377, -0.5117, -0.6891, 0.9966, -0.1238, 0.8753, 0.6662, -0.5945, -0.1768, -0.2363, 0.9989]\nstate[eef_state]: left_x=0.4167 left_y=-0.2354 left_z=0.0857 left_yaw=0.1212 left_pitch=-0.2961 left_roll=0.0425 left_gripper=0.9966 right_x=0.2746 right_y=0.0008 right_z=0.147 right_yaw=0.1462 right_pitch=-0.2052 right_roll=-0.026 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -11.7538, 7.5009, 1.199, -0.3394, 0.0415, -0.1099, -0.1026, -1.306, 7.0632, 1.7607, -0.105, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbc08d7ffcb4e67975e1476aa87939e125bb1e15fb0aa251b3151303b7779f33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8892a1da99cff981ab2b7c781fb8ef4babad5fcbb054d983dd3dab08b20419ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71998a4aada7d40a3b6b87f9d471b59b4cb2c06ce5b4cb5b54463c83b6af6852",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCks1hf9RTMq2uE1-Hp_mNSh8akapqj6HTHtY74n_UgVkEANX_nZAbkrY3RpoablLDmUWJD2ZZ9tcy3SPNm0NccW80ZFzz_2GvvGYFz6b550jEHEqH0jJwg-z-aMA-koeISUhG9t58qQc8kiXMfozSgTpowaHFCAQ3UlbpFjZ728EXxdGma9UnzM1yeDvNw8cB93iVrWxrxoN1MvRXymMtvG4qv4pDi_ZIS9oA4VMSVD8z_5doQwveJZsVeTXZW-5IisolVZbF0MpyXX9Hl_uCfniEWecF78RF9ogf7I3kzrOFpue8KgUaol8wGLVuJLXgtrVfh82R7aeGHCExDwChRL9z-MqIZffD-PcK2aolJrQFSZLP0DbRhrdysIDj2Xrza6rlpqF7-f0Sv122kVRgvE6AxhEaT6pChVmBkVHBpr-HHfaPkymMdFjzVZYZJHyiFbkyUnlb4R6dNe9PKB57U1A0k7_m5gyDForvpfjQa8HsKhWFQ6nvBLkAilUA39iK61OJ6UdhiSCKic9fe82sIWlHbZyhwsXQL3KhAHV3BRj_AZ49GbUpbJCRVIMz7_H0b7CWcZvNJGQSmk83ITkRCcAG-MVLGrIUjBLLR1SZW-6SxiLYIf_fXA2jMSp-_ipyRWe9JMrrcDAV_zKma71uaBl-uZObvFqCTS1msGQf47x6kbm_i3duO5ybc2RVJif4VCIDCCmcZk_8WgZQq8hRIo5QOSGBUo2-8Obj0V_4qwF6_18PBNKjedacyqQ1n5SG4EKgO0tTAq_hGCpwSHixaOuCGdQWQXpCztOzKxdesdjeCgT04kgbjFxThTcp3H8Mv8IUvgpUJypSTFBI3sh_X-BGeBE_ikCsZ91ECbPrpH1btN1F0rw67g-wVWyYI7iWX_w6ySzA3Hm5bNFbFlbeh59qtAdP3oyG4V1W9Cpxw2MDXIMrxPdwn2JdhalxTR9xQdJYH5h9xAG_M7P845eZz6NtqdL3ES0qMFGfEYtZB_vjYq_bba-Zjq33lVzOqEWFnppqSPAYoevEIeX-JhuO3CPPKABkhGDZumXssOML52Vr2RAcnyCCR05TeRqxQM-cHB2QJmC714gp4Tf321cZXTucxOixBoSjtXtW74zSMM9TG0BlhAYPcYrJrKJtxX4NjDcGl6t8FrZrgbtbT5fu6gvnEBTyBDKcSrreXa8rlF99zwYpqP0UyZbywwWX7efkpILrC05mwpawdkUXRu84yZHWGtGaf8CYSJFC_U2n0uR6j0vqjPkSAiWqfZz2Ba0XEJb-YidMXS_oDo61Qwf3b47TvhcHmJSB-wMYZdGcwjmvGZxXTenK3hlj4-3ValVR9pORvxv86m8OluIcpq3xVRVQ==",
  "id": "rs_090a2a85368c03b6016ab4292a9ecc87d0b03d84a2d19f2e9d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The brown plush has been released into the safe, while the white toy and yellow object remain outside. I’m moving both arms clear to leave the scene stable and unobstructed.\"}",
  "call_id": "call_wu0zZRHkX6wPI8EkMNzQb0VG",
  "id": "fc_090a2a85368c03b6016ab4292b629487d089a9b1981cced48a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wu0zZRHkX6wPI8EkMNzQb0VG",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1394, 1.1049, 1.0122, -0.8093, -0.2161, -0.2298, 0.997, -0.1658, 0.8261, 0.6319, -0.469, -0.2527, -0.2234, 0.9989]\nstate[eef_state]: left_x=0.3042 left_y=-0.0008 left_z=0.1947 left_yaw=0.1648 left_pitch=-0.2966 left_roll=0.0367 left_gripper=0.997 right_x=0.2872 right_y=0.0004 right_z=0.1694 right_yaw=0.1546 right_pitch=-0.056 right_roll=-0.0083 right_gripper=0.9989\nstate[joint_eff]: [0.2393, -3.8359, 7.2957, 1.5653, -0.0269, 0.1441, 0.0317, -0.3624, -2.2085, 6.612, 2.1319, -0.2222, 0.2027, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3871e96d181f2208b4451244d366325150b2792b0f5c5339cae8890b5f6ab8d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7c4438ad538c864a10993ff37050d7ef6c206912a8234e47c09d4e0f70cf86b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:602a4b64348c19e5bd41bc9bdc6fe5ee55290b1e44c2608137a40db4bf773c41",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}