adhoc

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6037, -0.3916, -0.0193, -0.033, 0.9997, -0.0212, 0.7948, 0.6079, -0.3958, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1777 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9997 right_x=0.2932 right_y=0.0009 right_z=0.1783 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -1.3607, 10.3726, 1.9707, -0.0708, 0.1783, -0.0464, -0.3214, -1.5248, 9.6889, 1.9072, -0.0611, 0.1001, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b669f2ba580e0f69e869bdb6801582f9b8aff46f038e9ae9c45732c8001c49f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1bbb27a2c18e95556ec8282bb50cd229e085aa8a4f96b3686def114bac68609",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adfc1a29df3ab9c960dbe8662116c963d6e1c355d210d0e178d459cfabe14caf",
      "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": "gAAAAABqtHOj8Gf8uDJzYK8cSEte_LROZeQ2q--i9egcXU7od1WMH6IhiLKgruozWnSrnmpNEEg0qz1owQ8vM-eM2VtT35_HRn8dj88yIr_MmN0uVpaGmJJDgy_SFU7gMbtQl4-sJAiuvYJe0DMqqCzk56_90KiOahY6dlnIqJRmGKIx4GQ0o_DMbsFikIvwtdH83gERiXQHeSCEUQqEjR_OYKh0k-aj4P4e2iTfFVftdkMmbwd5GBOpxMMwcgG6TvBSjQP_57CCtvFfaob6lbgCPHyYr0PuSr_khT-Le65cCQWgn1V5KVfAhxFsxjSpJKBgvFa6aHTtD3Icp_3ZtQltai1j01a_HiWvJYEUZwIlJMht1-3S9lgM_PcsFtGdSvOzx_VrP5dzu73TtcnV1uli0QZ_2h-UpvSGStxRstWvdsem11_Mb0yW4qERGzqUSGBGWsaX6sV1rUGgl7NCzeN3XTtTifGCSsqk0fu66phqGM5QINRZKNF-1PXSV-59H6aNz1qAZUVUErXnjCtkysZvHymtTxilV2XjqKl4YKPDZl2J3ILZRa0R5iWwJhgYGlBc_GZYPCqwWDs14D8APv8jJ7_ky6TvHjQFbrFtyblgg3PKu5T5HkpInpxGJ_sFZPTQO5FWDWZ8K-s28uL6vNqq8vRis-IwvMpsn-xZUxI9cuSLiSB43l6cctRWor111sWQV4BwA4cdzTPyYgeWIhzdR8rjHh9lLAXfLI6HaaiJ1BnW2nrUQhWkvaAmcEUgFqee482jDBKqnztQTzBOgwRmZFIbgn0T9_DuNmVWPCRpFKNAyn9QR0sVf4KEehaBN4VgXCh_btlNtTL9wr6Eb3fihYO7gwxLf1vpIU2cTkdLgVtsAazGMMdZJUe9OSXoX1B-sV0jR7xUdy36Fj0zhxq4qckk_7Fg9XEWd7MFEINacWqXXusA6j8zHkyN_pgRye3ENeLbqAbqh0e8M5dxiCRj2fOmhbfi1Yip7eLKCq1qiyh8Fpt_RrGjS9t_GPvrYjtwOox_uiaZwd_CORnU8ioB70bHF2yVj3sMjoHN0cfcHa3b-5URnyT-AzL3iwNMDDuS33KuixlFu5IPJw2meBxLQWciOoR0qNCEw1ylei2X7EvAol0VPfNdPOeaZjQF-4YpuYKdO7Q450TfKykq_q84-6a1AsxZSBVIyakX7KrcYzKKCjW1k4zKQ67yJCgha8wV_fcgGClPm2cNLoC2sGXcJuRZzwM2nCPB3Y-4Ye504ONv-Znyle3Hi6FgcAgYgtNAs4Heb-hGntkmjNJPoq5p2ECCjP2Xe6P8u5BMzZysqichx2wF9d8jq2u0YwBoBhSuibEbXMgA_9ub0zCRzfffcDmRobQ-23vVIOIb2MgwXG9akw2NOZgFcx-YxY5NdCo1t71FZUY-R59zGmubqMaAzldSBwB6etE3iZW5T6cunUkKVFPpXMKBs2VoP51Htwn_b7pGov75ZfiCKoMxI4U4szLtR-h-K3fo6ktPezDaXdCiIsPn1ulge59zEQrQU2GpztjZPyNhzNM31PjLtHwxqRUYqQIkwEnnbcdatF87luJsya3k-DNnFe7CRAnweurP1Sqk3bx1A_vefh7bpH9avk2YbeChRu4RA7bDxPQzVFrhllZgeBGxmE4ej8J9nrvucUjWChGArTVbChvT-2zrm2x4GF9CI6hKFSyI43PRJsnPrfms_NaQhJDgXEwXXfk_OulZrZDxejRHxrLHifq033Mx37NYR3G9J_rAtEzYrnV8AZnseZG3Vn3depHFBv5iUyic7xTDlsjoPlhCsX3joJ3OdfIORA7ChXP7NmD-OBPWThI0WETLAHFTzT2Qmx98V61he995lr6J-B0yLjBihuz1f9rKHHpP_5WdUkFDgfWTQONagIUA8IVd_3v0_0g6ozNcexBumfEKDZFuXO74_pKEuHEqiRDa6vdJ6dxLEhN6KCLAC-m2oE0wxib39BlKusPh2QXw9xE2pf31JbsqZu7aonqD5A==",
  "id": "rs_0d43f1177abfa961016ab4739f770887d08168307a7592884e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.235,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"I see an open red-lined safe with a pale plush toy, a brown plush toy, and a small yellow object outside it. I’m moving the left gripper above the pale toy for the first pickup.\"}",
  "call_id": "call_3Qp6t1aIXXHPdvQ5iMK11u8M",
  "id": "fc_0d43f1177abfa961016ab473a297a487d0a7c8e42e9a347f91",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3Qp6t1aIXXHPdvQ5iMK11u8M",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0, 1.4635, 0.8982, -0.3664, -0.7536, -0.7254, 0.9997, -0.0238, 0.7986, 0.6151, -0.4332, -0.02, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.2935 left_y=-0.2268 left_z=0.1344 left_yaw=-0.0207 left_pitch=-0.0458 left_roll=0.0317 left_gripper=0.9997 right_x=0.2891 right_y=0.0002 right_z=0.1729 right_yaw=-0.0022 right_pitch=-0.0339 right_roll=0.0001 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -6.2838, 9.3197, 1.3748, -0.7106, -0.0122, -0.0464, -0.6085, -1.5795, 7.2, 1.9756, -0.0708, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:786fd5601587b46dd6ed4c5a7027da12bf7cce0326dbc1ac6e9fc4bd35390940",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4742e1da59a6ceabebc6276cf28af09e2903669951acea0257d65b7a8cc04895",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:989d5783b1f1f58faea4842e857805c232e2c8b71a8b009a180d3f5cabada6c9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6037, -0.3916, -0.0193, -0.033, 0.9997, -0.0212, 0.7948, 0.6079, -0.3958, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1777 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9997 right_x=0.2932 right_y=0.0009 right_z=0.1783 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -1.3607, 10.3726, 1.9707, -0.0708, 0.1783, -0.0464, -0.3214, -1.5248, 9.6889, 1.9072, -0.0611, 0.1001, -0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0, 1.4635, 0.8982, -0.3664, -0.7536, -0.7254, 0.9997, -0.0238, 0.7986, 0.6151, -0.4332, -0.02, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.2935 left_y=-0.2268 left_z=0.1344 left_yaw=-0.0207 left_pitch=-0.0458 left_roll=0.0317 left_gripper=0.9997 right_x=0.2891 right_y=0.0002 right_z=0.1729 right_yaw=-0.0022 right_pitch=-0.0339 right_roll=0.0001 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -6.2838, 9.3197, 1.3748, -0.7106, -0.0122, -0.0464, -0.6085, -1.5795, 7.2, 1.9756, -0.0708, -0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:786fd5601587b46dd6ed4c5a7027da12bf7cce0326dbc1ac6e9fc4bd35390940",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4742e1da59a6ceabebc6276cf28af09e2903669951acea0257d65b7a8cc04895",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:989d5783b1f1f58faea4842e857805c232e2c8b71a8b009a180d3f5cabada6c9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHOp1XKChqOOe6_N72Td_RYVP4d4dsQazBsAc3d7Ry1KFxkbChUGrK7qpn7iExuVGmBUPdlNYtriAEEudOzFlF2M5V357d5wf0aKBPevh9LHx0zPfZKxAjNJX5f8g0CFXLEACECfLh7ncQsdLqIiO4tk8us-M2LB0H9loDRB2pm2S1KkTV79qyHFFr-zcm0V1OBHFcvbd2rD_Bw1FnXDLIOjhU-s8k2sBCRgZw_vK0qCMxBYUmODiQbR-3OrhKS2E5Qme6icSmHvUOZXbUvqfCvlWHta8jm5SBXw5y1JtKiRiTuxCbwnfXE-LBXoAGCwO3zokngB_3lwEkkx6KeKUWjVfImUKcGe2PNV5ccX75F42EY8zuKt7aF9DwBduuZJxHtpjvDu-_1Djve-E_dF5mNOPbSy_QtDMG2wQ_jbfvaYucd9Lav8ai49YqfS2dLyK0G_8513vBprn0oD83s69uoCoXPsr9B0EmXryUPX51mLghwlZLC5fY2m25bkW2phBljegSvQQK8ci_JABJ7Jk2_3CetZPS1OGMn9Gp2ep9tHiaLMXowRQSJJChLJNPFSrPM2H-nU3gVI0qYtCsdgQ0Msr-cqk4JA6yQI_DTvs2b8-NIqYTCX3T_8v5fFqg7aPYBR1sSgfkMbBagBswV_BnNz7F2n7CBnICQkPzMi67Hm3JuaPKukokpl50r5A41IWGDMfIThbYnKZIhelZnqTMpBbHyCvlO2hym2smIAGCqBZhx_2BbRDevsCiqi3e61bye1YKSpvt7Nu4gRgxbHDaOBZ_XTT5bXVWt0QCNbNmPULJv2BWdlrIen7TQUkRlGgS4VCj1KgF7ygTJsP6W_2qX2IZ45hAtuxCon3bW86kqxgY6RjoyFtZZy57JXklswksxVSQ9BMUDEPgpt2C3xfTRbR89pnFzPgUpw6JT0J2MrdSg6bUoAON3wqbLgSl1dr_EyPflxR4fOs53whjzCiIWXhajGDmvjOPng-DUm2fq7ovRIMCox2OG21qlPpJGJT2ZKwcF04HQ6z_oXzk2wtaQFmdGdpsxJXmyGG19Mu8BgIWGld9jJvTtFZ41Jj9qw_ub8n7PtOUsvt8ew5nZp_HU4d7h38hBQyfwTD04JJYx18Z68VHn78KaS4aBZLqyz8fzlvF8fZIs_qtpxcbwkq1XGTUspbv-ts4p9shYii0Gn3o5SxkNhwkqrXyg9Si5OChZJu5dinS1McCjJdUQ3vJCcvWnC_5xwfDtpiUtuHiYymPmA4iBQvFhWUFwOBj4f7QnCuNilhw6albRHsCeGPkbRsQ-WQIjeOva-_ePWvj9VuwJYgsioUD35DxvXU-4n6ZKKW0atcwHhVWP78eMTDaSqN0im4-Qyn2GIH49AuAJi6uvRhEoxxoMcVpPs9zy8Du8FetV6XBe9pBuYcTmIXrPvnAm5kl7ktK8wCKCK2sHdGKMoCpTFjrbFHnIwyBUXFpbfuqeaC1xrXPPVP1Y7IpwWec8cR5tRjPfnb4QVj_6D26E=",
  "id": "rs_0d43f1177abfa961016ab473a7147c87d09eeeb6ac31c06162",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.228,\"left_z\":0.025},\"note\":\"The pale toy is nearly centered between the left gripper’s jaws in the wrist view. I’m advancing slightly and lowering to grasp its body, clear of the safe’s rim.\"}",
  "call_id": "call_6x9QJsANSi96uyrPdfVqQWTU",
  "id": "fc_0d43f1177abfa961016ab473a87e9087d0a7f4889f716b2d66",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6x9QJsANSi96uyrPdfVqQWTU",
  "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]: [-0.9451, 1.7538, 0.7063, 0.094, -0.7212, -0.6731, 0.9996, -0.0238, 0.8024, 0.6151, -0.4564, -0.0204, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3082 left_y=-0.2212 left_z=0.0242 left_yaw=-0.0133 left_pitch=-0.0815 left_roll=0.0762 left_gripper=0.9996 right_x=0.286 right_y=0.0004 right_z=0.1673 right_yaw=-0.0021 right_pitch=-0.061 right_roll=0.0012 right_gripper=0.9995\nstate[joint_eff]: [0.4991, -7.3641, 4.6427, 1.3553, -0.2906, 0.0757, -0.0171, -0.0068, -1.4701, 7.2957, 1.9219, -0.0317, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de492dcdc3f95499f5fa7e5c4a115bb7ee2d7b5c8f8cf8309f9a054bad8b2938",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a6aa04e2611dadb1695caa34c8c0acebfcdf2911c92e8dc3f1b5807e4b480bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0859031b34983c32db785955cf57cf62881a41df5c9f6cc2ec880fd66d40fc7a",
      "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]: [-1.0, 1.4635, 0.8982, -0.3664, -0.7536, -0.7254, 0.9997, -0.0238, 0.7986, 0.6151, -0.4332, -0.02, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.2935 left_y=-0.2268 left_z=0.1344 left_yaw=-0.0207 left_pitch=-0.0458 left_roll=0.0317 left_gripper=0.9997 right_x=0.2891 right_y=0.0002 right_z=0.1729 right_yaw=-0.0022 right_pitch=-0.0339 right_roll=0.0001 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -6.2838, 9.3197, 1.3748, -0.7106, -0.0122, -0.0464, -0.6085, -1.5795, 7.2, 1.9756, -0.0708, -0.0904, -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]: [-0.9451, 1.7538, 0.7063, 0.094, -0.7212, -0.6731, 0.9996, -0.0238, 0.8024, 0.6151, -0.4564, -0.0204, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3082 left_y=-0.2212 left_z=0.0242 left_yaw=-0.0133 left_pitch=-0.0815 left_roll=0.0762 left_gripper=0.9996 right_x=0.286 right_y=0.0004 right_z=0.1673 right_yaw=-0.0021 right_pitch=-0.061 right_roll=0.0012 right_gripper=0.9995\nstate[joint_eff]: [0.4991, -7.3641, 4.6427, 1.3553, -0.2906, 0.0757, -0.0171, -0.0068, -1.4701, 7.2957, 1.9219, -0.0317, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de492dcdc3f95499f5fa7e5c4a115bb7ee2d7b5c8f8cf8309f9a054bad8b2938",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a6aa04e2611dadb1695caa34c8c0acebfcdf2911c92e8dc3f1b5807e4b480bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0859031b34983c32db785955cf57cf62881a41df5c9f6cc2ec880fd66d40fc7a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHOs8nqJ2PjgOEPs5old9XzCok0I6F5NY4AEXT4Fv23zYxs46Uq2nwizDzjaslIg2lPZXDL6d7KG9WZuUtrkeb40CKFKtk9gM408Q8MBbT3WqEUNJJQ9Xf5doRJF6fx4Yj7H5HksvhGG6_3kVvElsm5o34b-zZ26PKyZXzp5qsMLNKb8_CHgkdfxepwicQV2MFn8CdrIF1dF3hVUG4EBOl0V0Ro582kS_0jQItWs4aAIJlYwt6WvRBAaCD76OUw1VpuDXuUS8g9KxjpPibnarDIfFwkwpdPL2J3Wz42MwRxM6lBJKXvhy8YYgSYwEREfJZrW6il47K3D2Ug4k0t4mOT8v5QmZ1KduPpI2kJWXwID_u4882JR2qrTYDCIOUsYMFEC2vuYVbXsAjReMDLel2N3QYaoPNDlQOWlothdKgQSTy02K_ZE_VEUF1FhHHCbbcIFfNMH7-hrfCRMTGrga_Yj2ibCLalO9J0II8STZo356Roh4UpcbeoK573DraTixtWo4G_lQchH72FG7jyxcXQDA1SyanZqjejjAiZx5De7e-7CBdBh8y8WsEzSVGBWatzCVEwqxEWesDICslKe7WlXeIL5o0nSXR-QkZ1_1V0l0smNv0aizMlhKx3tmggrWwfyIRRUW-OvdIFW_CDCi4ykcN9QVOOkad7Oo5vgeOe829oaKmgpJGvdgn4kZ_j2S61TjCe0GMf_Wh-hOfHeGgOkKGRYU7dApiXx6S58Y4Z9wBViDyP3W2BQh9xrHFxDMckh-LZcw0LjPCcNU2eBWtTgLgjQ0u46wKUjyZWiyWjIcVqVZcehtZOTxdwDH5pqHJQnhemgE6rMdsolreCVmQ5j-eTn5uayrGOqy9DhoRb3wDeY1j1sPe2046GU-1MMV1FjbnnuAkyYZuBTBpOw1qpNp-7I3jhgWknwMvdfoCYZPVnYeT1LYC8O-MocEFnf4RAsJuJlUWCBrjN6OUYfyOJ8y5NMQqrpI5g2rrbxsk7r-u7P2o0YypNi6Ikuqev7ZSzHiesIOoKazqDtn5a_WLXbjBV316r6eDT_z-LmqWX0exAct7VHG7eLUQIaBgW4xHEYuNPA5VKLu_k-KwPb94WePgPFmrftYgyKl-PiVj9GP68aMlzYpgbn_YpvPrc8BNFhAPfmh0tpxLUZmcJYhULX02pmYg6s7csVHBXh3H8UXtrV8IvijaLOrugbyOgSLk1E7ZWauWdKwV0yd23Ckz7GUwMWD_pJ_GvK-dkAOfr-cni21-ZvkRhbRop-uzsi-8JYKqY3jg7Y0gqHDEGNT6RsgcyLZykFKERneY9wVE36gpik0aTKEwA7rmc-36XkVGK_-RS5QO_izHslCZz0nqh733a-IyIs_Fh2ef1UNuJbQjIYP_0sCIchGjSlZc_dmIJd",
  "id": "rs_0d43f1177abfa961016ab473ab551487d0a0ae103fcfd3f5b9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open jaws straddle the lower body of the pale toy at table level. I’m closing the gripper to secure it before lifting.\"}",
  "call_id": "call_e55Zsu9nbvv13NBfF0XbqXzt",
  "id": "fc_0d43f1177abfa961016ab473ac327c87d0b0047b443eb6908a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_e55Zsu9nbvv13NBfF0XbqXzt",
  "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]: [-0.9428, 1.7763, 0.6937, 0.0929, -0.717, -0.6788, 0.0398, -0.0238, 0.8024, 0.6151, -0.4786, -0.02, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.3044 left_y=-0.2156 left_z=0.0125 left_yaw=-0.0077 left_pitch=-0.1056 left_roll=0.0989 left_gripper=0.0398 right_x=0.2826 right_y=0.0004 right_z=0.1629 right_yaw=-0.0022 right_pitch=-0.0831 right_roll=0.0012 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -9.2103, 5.9692, 1.2283, -0.4127, 0.0269, 1.1013, -0.0752, -1.2376, 6.9538, 1.8535, -0.0806, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3492c9df7b45cd6b1017a143e9f6570797cad95a84e5d680575171c17a39dfb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:212c3f9cd28e85bffd66936d8ba8de6af4029db9442ae5cf344a655bd017284c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deecb4dfe2adc5ad1afb63c1037f024c29116d27100b5504aa974e30672df0d3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6037, -0.3916, -0.0193, -0.033, 0.9997, -0.0212, 0.7948, 0.6079, -0.3958, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1777 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9997 right_x=0.2932 right_y=0.0009 right_z=0.1783 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -1.3607, 10.3726, 1.9707, -0.0708, 0.1783, -0.0464, -0.3214, -1.5248, 9.6889, 1.9072, -0.0611, 0.1001, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9451, 1.7538, 0.7063, 0.094, -0.7212, -0.6731, 0.9996, -0.0238, 0.8024, 0.6151, -0.4564, -0.0204, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3082 left_y=-0.2212 left_z=0.0242 left_yaw=-0.0133 left_pitch=-0.0815 left_roll=0.0762 left_gripper=0.9996 right_x=0.286 right_y=0.0004 right_z=0.1673 right_yaw=-0.0021 right_pitch=-0.061 right_roll=0.0012 right_gripper=0.9995\nstate[joint_eff]: [0.4991, -7.3641, 4.6427, 1.3553, -0.2906, 0.0757, -0.0171, -0.0068, -1.4701, 7.2957, 1.9219, -0.0317, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9428, 1.7763, 0.6937, 0.0929, -0.717, -0.6788, 0.0398, -0.0238, 0.8024, 0.6151, -0.4786, -0.02, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.3044 left_y=-0.2156 left_z=0.0125 left_yaw=-0.0077 left_pitch=-0.1056 left_roll=0.0989 left_gripper=0.0398 right_x=0.2826 right_y=0.0004 right_z=0.1629 right_yaw=-0.0022 right_pitch=-0.0831 right_roll=0.0012 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -9.2103, 5.9692, 1.2283, -0.4127, 0.0269, 1.1013, -0.0752, -1.2376, 6.9538, 1.8535, -0.0806, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3492c9df7b45cd6b1017a143e9f6570797cad95a84e5d680575171c17a39dfb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:212c3f9cd28e85bffd66936d8ba8de6af4029db9442ae5cf344a655bd017284c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deecb4dfe2adc5ad1afb63c1037f024c29116d27100b5504aa974e30672df0d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHOwMdAuwzZ4hUu15F6YRg5qdHY52ziNmar_TgpSauGRK81iWWXjXxxgN_C2s0XL64_YDoTZ1v19Lo-xBd62cS5tqCoKdjRGDJZ8gmw0giJZAi5Zk4paL88Q3yUPm9oWDEX-NSQV5QjfaBQ32JIHZsinCTprnhl0rem2eVCtSRx53zS2kqYAdB9Kz1jxfq_qF_OkspLsVqW_FQvED0hpWYS7x-e1Jdpi117H_aJVoX-WRq7-jDJs2PEFrmrRP_rW_DDQ3mU2VMyHaaJ9q0V1QJaZJa5735Et8T64ydMd-ClEfs8XHlzqw550c6nIVC-MwqC2CgDIsbGS0Ggzc4F-5YS6cSFEg3RP9tGs9DXt00OETt6Y0xk20lRnXVcOJLIfl_wmQWRAA8FWOCZBrl01p7OR3AVmUQ7ifBGo1wYRmug2kFRF2TdotbHGOxJ-HxonUgdZHygf9DkSqbo1zIRyvLp3N7qdEJizpFFcKBYHRge_DsXpj3wiotEA-F3sFt5RrkGQ6sMKR1KndUtSXNLvJ5ElSfbOFcLpD8fugPSe-UD1iK43pRvcelWcSxtJpU09-2KfMNJMHx8vbFvPhU89q97mMdmZhF2k38puC2Dzd_FqLST0c6nZTCP7Gwtj5_YI8TY6i59ceTSqn0z7mqvTry3x_ObC0LH0NbJ-rUdnAvlcy2B2G0Zs5BR9xYN6rCOLlU-QbRNANTouA0GJV7UUabihr_WNKtS5m973Ozjy7L2CisosLtCek7c8L1u2w6q2UwIYyddA_xqgZnOkQGIJUWKR2igH5c4BZ0BoUGbgkNuG6VhEY9u-yOyFsGfxBi586S0DMGEXbcHKsYOwpjxJ0EzDueIp6q4nUhHFfmRBRTz1pVNg-5nfKIwLHULpsw99GYyuTDTy_l1cfJvEA4GCk3e1trK_fnio6kPXYeUdJWmCe2qOZ6OvXW8ccvP9UWnaY_7XReUllmU-ArTfPXJ9EAQhPZE_1komgYkdlCboEv6YIdlaAZneK7GZqLco2RGIPlsWLV9ZFmOujpg1gThZ2tMTSQz0yIiu3VdJRhbQmqKHNLaelVbb5h6S8wWL-gB5_r8P1QzSzXMOoESlIe74cHxTpifGH9IVLKCiv_ISlrc4fNUzu3mai6-zcp28P4kLCj1mOLcGQPYEdotyG4pSsAuu-CUodYo0GFa1G7hakr5bGYAab8aNWkOxEgBsH5A-PwoT4ipWxNuCLe38p2QgNSWfXzsgEK6-_Vy7Yl5Muv3szXlX7SPJrw0vfO6SLfW1gMfW",
  "id": "rs_0d43f1177abfa961016ab473af450487d0ab0643798d007c4c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.228,\"left_z\":0.09},\"note\":\"The gripper closed almost fully, so this may be only a narrow hold on the toy. I’m making a short test lift to check whether the pale toy follows.\"}",
  "call_id": "call_Gx3cofqMid9ULWJjgUFyFu3Y",
  "id": "fc_0d43f1177abfa961016ab473af939487d0a21ae05a5d5b3766",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Gx3cofqMid9ULWJjgUFyFu3Y",
  "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]: [-0.9417, 1.655, 0.8612, -0.2203, -0.7128, -0.6857, 0.0406, -0.0238, 0.8024, 0.6151, -0.5003, -0.02, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.3107 left_y=-0.2245 left_z=0.0696 left_yaw=-0.0031 left_pitch=-0.1225 left_roll=0.1113 left_gripper=0.0406 right_x=0.2793 right_y=0.0005 right_z=0.1587 right_yaw=-0.0021 right_pitch=-0.1049 right_roll=0.0016 right_gripper=0.9995\nstate[joint_eff]: [0.0615, -9.0325, 8.3624, 1.2674, -0.3492, 0.0952, 1.0281, -0.1573, -1.2239, 6.9402, 1.8388, -0.0464, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a75b76073a90023b14c3763a619639c3added8ffdb484a80eaa1df943e31a5b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a11928227763a8251722f4ce0e81a26fde4b39d1b1127b9d412eaea34cd8123",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0ca43edb66a4b01c2519cd0cc2a91239136e37ad21c5c20bd6597334703bf0f",
      "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]: [-1.0, 1.4635, 0.8982, -0.3664, -0.7536, -0.7254, 0.9997, -0.0238, 0.7986, 0.6151, -0.4332, -0.02, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.2935 left_y=-0.2268 left_z=0.1344 left_yaw=-0.0207 left_pitch=-0.0458 left_roll=0.0317 left_gripper=0.9997 right_x=0.2891 right_y=0.0002 right_z=0.1729 right_yaw=-0.0022 right_pitch=-0.0339 right_roll=0.0001 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -6.2838, 9.3197, 1.3748, -0.7106, -0.0122, -0.0464, -0.6085, -1.5795, 7.2, 1.9756, -0.0708, -0.0904, -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]: [-0.9428, 1.7763, 0.6937, 0.0929, -0.717, -0.6788, 0.0398, -0.0238, 0.8024, 0.6151, -0.4786, -0.02, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.3044 left_y=-0.2156 left_z=0.0125 left_yaw=-0.0077 left_pitch=-0.1056 left_roll=0.0989 left_gripper=0.0398 right_x=0.2826 right_y=0.0004 right_z=0.1629 right_yaw=-0.0022 right_pitch=-0.0831 right_roll=0.0012 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -9.2103, 5.9692, 1.2283, -0.4127, 0.0269, 1.1013, -0.0752, -1.2376, 6.9538, 1.8535, -0.0806, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9417, 1.655, 0.8612, -0.2203, -0.7128, -0.6857, 0.0406, -0.0238, 0.8024, 0.6151, -0.5003, -0.02, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.3107 left_y=-0.2245 left_z=0.0696 left_yaw=-0.0031 left_pitch=-0.1225 left_roll=0.1113 left_gripper=0.0406 right_x=0.2793 right_y=0.0005 right_z=0.1587 right_yaw=-0.0021 right_pitch=-0.1049 right_roll=0.0016 right_gripper=0.9995\nstate[joint_eff]: [0.0615, -9.0325, 8.3624, 1.2674, -0.3492, 0.0952, 1.0281, -0.1573, -1.2239, 6.9402, 1.8388, -0.0464, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a75b76073a90023b14c3763a619639c3added8ffdb484a80eaa1df943e31a5b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a11928227763a8251722f4ce0e81a26fde4b39d1b1127b9d412eaea34cd8123",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0ca43edb66a4b01c2519cd0cc2a91239136e37ad21c5c20bd6597334703bf0f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHO1XCsmF3E2N9uuXVYkUh92qPYAGteEldyDCE_b__QK8Id1rU9YGxJfoZFfIvLq97ZpyvPctnUPe1HDcL5E5KGTOiQcvvaHQpzwym7ivqhiVsILkZgTcvcQJO_Yt3kugBv8ajZ4f5QqSKc33wx25OfCZ0oHOKcdEgZZ0K33qbzzB1pYDvtiR8zAoiQCXNRFdumyC8HwMaeJbllN1Z4CaqqR7gSgt0c1QZxharfFax79MkADIXzz2jLZlumDb_6p_NkUpKChC2TlMMqAcYM9bS26VySlMvro_SiK8t1xWwKodiBXXEV75dZo5Vyl52EiokKgx-48jfQDQxtY_S9y3lP4zHvb9NB2-ZziA_d0h9Xg0pITMsYhZPsZ78N_twFz9qHsblKEKtPuH_f_TdtdqbSal9RU9Myk02Zp6cgdHwvkZouFzJ2v2dCIWBpNuh-kzDz2cPc1Ma3J5oW7Uci3QAUUJkbBskAPCcQHZH3Q8QR11XXpkZ9ufeMz9hUb_mi6DznOIf9paO5_kwvHxUwUvJOWc-bvWfrwg6OoRYwZnwFiYxkHRienHAwCJ_yUpLqBRQf-X7MIJUm0rekp6kz9hq9FukXwD4QBjiRL7A0ySrRHVHZKwS9tQAEhMmfkE6bOks_O3lb8BzcxJkI2Iq5GSR5qFNxxynMWJ76NRMPffDgZSXjHYoXInDVfdFnVSBHgAk_zr1kkcvUQ6P_m7E3M-Uyh2tgIvHbQgiByr2KX06cRCNVavvABHx2y1MYwP6cy8HFUu1s0Rksg1UJWwcnt34eIN5HWPfq6pUJ7P4oRRDxww-5AhNMVIObGCDxom66DL9qpCescHx99c-s3GAJ_fpxvH6p7bSWGEnWwodskf7HjxKP1kxATvvv5uh8utQrloM82kIlBbSAAljJlMZrlOmqIwVgGPoedQPOEn8ZLqCLV1bfu7H6dAPUufDFXVgfjyBUKhFT5quXIsSP_5mMY2Ux69iahvSh5ioreOPKOrT6z5IQzLjjCmhJqRwJleS6WmgN_fG4G1HDPMDPHhHnlkEF6LfkVoRdqhwNtmE99kqDhrVJRvpfhkMTLWq9cZVcSmDGXiWNybSp0DAVUhd53Zzyn9U7PavDuQEovTtWGRKC69NxKlovdhVahPIErZ0yZDRDFsT0U1ix-ZJ5EfIRiNBeuMiFD8cmWMIM7qnwkU3e9mlfqCiOJBlNzAjd-8QkmXijmKmeMYcArUe1uIjXmV2vUqphK1BiPGK4ilz_imUDJP34yVcjL8PHwLKaV1OveBcAsqKOeR5gpN6XpJO-8N-8T3J05VS725Ghk3VaCSjBlTlTaVgD60jcDAZjK3MRKV--Zu1fj2kMTAYIutjyCN4e54IE5QkNmyRVF-nXqwsZluWy1WOln5DOC4dS0jmTCClZafNOPin-bn_9wGua3GMhllcwZSEmuhaVcCPGkWcEUNhhUZ0vGRJF_gWZHJeWoqdFSGPckTZmQSAhv_gTYO3tp3TgIyImBLrK_J-mtK2GnajUn2Z8vUH5CNyOAJnMQC5FFsBmwcQiomQuSyVdzC2Agi6MibeDCOzTL0oFNnPCCKBVk253MJhxS3zKbntFoDA0SNHSAcl-TEBHLGv5fHP0RwfquA66qkswCgzmmiG8wopvQRjqfiv3NkDJcujO1MkTCieKZNj1PyAcFD8_O7WmpIuavwXUagndqezoodZNXbddnHOpvw4Vt6lec1y8jSkg_",
  "id": "rs_0d43f1177abfa961016ab473b2587c87d0852a74c9c1f13ae6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.22,\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"The pale toy rose with the gripper, confirming a hold near its end. I’m lifting it clear of the safe’s rim before moving it over the red compartment.\"}",
  "call_id": "call_7uDoeToVSjtDDAyaSkqnPK1v",
  "id": "fc_0d43f1177abfa961016ab473b493a887d0acf9b43b60eb9eb5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7uDoeToVSjtDDAyaSkqnPK1v",
  "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]: [-0.9417, 1.5406, 1.29, -0.7933, -0.6998, -0.6975, 0.045, -0.0238, 0.8764, 0.6872, -0.5682, -0.02, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.3111 left_y=-0.228 left_z=0.196 left_yaw=-0.0009 left_pitch=-0.1482 left_roll=0.1199 left_gripper=0.045 right_x=0.2824 right_y=0.0004 right_z=0.1584 right_yaw=-0.0019 right_pitch=-0.1747 right_roll=0.0032 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -8.8684, 8.6496, 1.243, -0.4762, 0.0904, 1.0281, -0.1436, -1.5248, 9.6068, 1.9072, -0.0366, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bbb2013eb96cd51c513fdffcbdd58cb2d52c108815d8be62431eaedab313e8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef76c5d981359e3269bc1e1783cf5dc1ee005b8a7faa9f67df1a1b4e75b0e81c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62ba903cfa6c17c4f1a0ac3389bfc631ea5203d83c98599b22230e66b2feabc9",
      "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]: [-0.9451, 1.7538, 0.7063, 0.094, -0.7212, -0.6731, 0.9996, -0.0238, 0.8024, 0.6151, -0.4564, -0.0204, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3082 left_y=-0.2212 left_z=0.0242 left_yaw=-0.0133 left_pitch=-0.0815 left_roll=0.0762 left_gripper=0.9996 right_x=0.286 right_y=0.0004 right_z=0.1673 right_yaw=-0.0021 right_pitch=-0.061 right_roll=0.0012 right_gripper=0.9995\nstate[joint_eff]: [0.4991, -7.3641, 4.6427, 1.3553, -0.2906, 0.0757, -0.0171, -0.0068, -1.4701, 7.2957, 1.9219, -0.0317, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9417, 1.655, 0.8612, -0.2203, -0.7128, -0.6857, 0.0406, -0.0238, 0.8024, 0.6151, -0.5003, -0.02, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.3107 left_y=-0.2245 left_z=0.0696 left_yaw=-0.0031 left_pitch=-0.1225 left_roll=0.1113 left_gripper=0.0406 right_x=0.2793 right_y=0.0005 right_z=0.1587 right_yaw=-0.0021 right_pitch=-0.1049 right_roll=0.0016 right_gripper=0.9995\nstate[joint_eff]: [0.0615, -9.0325, 8.3624, 1.2674, -0.3492, 0.0952, 1.0281, -0.1573, -1.2239, 6.9402, 1.8388, -0.0464, -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]: [-0.9417, 1.5406, 1.29, -0.7933, -0.6998, -0.6975, 0.045, -0.0238, 0.8764, 0.6872, -0.5682, -0.02, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.3111 left_y=-0.228 left_z=0.196 left_yaw=-0.0009 left_pitch=-0.1482 left_roll=0.1199 left_gripper=0.045 right_x=0.2824 right_y=0.0004 right_z=0.1584 right_yaw=-0.0019 right_pitch=-0.1747 right_roll=0.0032 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -8.8684, 8.6496, 1.243, -0.4762, 0.0904, 1.0281, -0.1436, -1.5248, 9.6068, 1.9072, -0.0366, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bbb2013eb96cd51c513fdffcbdd58cb2d52c108815d8be62431eaedab313e8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef76c5d981359e3269bc1e1783cf5dc1ee005b8a7faa9f67df1a1b4e75b0e81c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62ba903cfa6c17c4f1a0ac3389bfc631ea5203d83c98599b22230e66b2feabc9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHO96echPjVoiQpfpIZySujTOtfrJk6jlhmzex3HtcqAROlY02Q01qyMp7hCUPdHDDQ5SnYZEpw6EJ9_P1WPislZsoCunOEjFZ-CsUvar2k7eySkp9teZedH5JrRcq7Gy97BwpfcSl4H_c993XFrrwRi0U-5XIF1p9QYQSTp8FBin4HCFSeLF3rlOGFFiUi6CV0LBJD86TW_ehhBHyy8l3Yod4CZYjvULaK8qzybRvh3cDGEoKIzUqcfUwcrjyBkS2KWb0VGYgGFt1Br8JFqkOpL5NzzWy7Dra5QzTBF5IZWf63aNZcUWAnw3yh7ZKH0PtYDvMXeAcUCpVQDITZiuXOQnunQsC05gfr1QAT_5F9VQ3Zc9ODP8yHfbysKeTiLfOnCaT2aWPvK63zKRKRrbviWNOOu5Zhpunjmlb21c3V-bT9zA1rWSGdzrKoeRG2TI-FuKm3ZGP1amYasJZbo1XiLROd5134Zx5pmbgE1ng8cnDjDhqTkswMlayNpcHM28yK4PKfo9o3HZMAS39393KzTxjJKEl_0zv9yrSxg8k0PqfSoaIurOlnCJ-2ewBep7jfp6ybI_lFcT6Scxt3xWhYPkSWHpjBuUqlwkGo9nmrmLEDzfdSOP9Wxl0RLBkFeBo-gfdECZ9fFfXqeA5mtxfnwadi_QpsGmj2GQC-GWVypqPR9FlrPsP1M6Z1JrnNn6c8Vd39a9dSjykb-CDKnm1Ac_muogWbesnvb9eerd7YtGYF22PlhcM1IUpVrYHxQTxCOixPJwZYPazhlhRUjD1Pt33AoAOO5qOSUBqH5Ri66TpjoT0c_XkbTsyCpl0RDZE-4oW729QpeT-KxucB3LAbloyJS8LpaimsdNhb2vhOeng9gkLoEFJ43-zxYmz5lknnm3wu8ud_A8dvt8M9MiHusGJPh4GoRX0DLYJQm_7VFbbpbq84xfRa97Rkg2gw-Se9IxfM-F2KJBRNiAZO2alCt0g-UoqU_OhXET6-uk2VK0X0ZrYHufmDxzqt7PKcE6jLgPemQr_ZS3pFCHkBN-piXOr-wp4e4rsu4KsdYqOLdyX6rHGd50Vo7061buNzPd7v8EtqszamQ-XIQtrVC0TttREK03GVKdBZE8xT9GhkvJbi-Dgi9vjQQIYhHsBsTOGuLuBMqKnh-3wOswaBHIQ-PgdJLAaSxlb2jmn13WV2rpntEuDg0LLlals9zgR8CRDZGM0r9ybVJe2_va5RmGeRZGiNaE_MAMPWCDY7iMiSfHz4ugX-EWBhypQ7fSXu2cWZCuw0LN7Hf5RzDwl5BrEkBzCG5I8nifkiBdmXiDqr8STsZ-mzgP-2kph8tZcMKU0b8jD8iFaUY7YXzJO-WQatuA4lrJ_bLyikzRYdpFWkQ1q_k19XMGgY5RjB6y50CL8tH5Ms056-GNQcNpFP7xUbjYZFmSXBEhnKjaHetRlctzzj_h0EM20Kxm0Pw5YTrLRahxMB7RtoN0uX4VvkZHuy13Y0UgsV2GcQpLz76iEUeRGjrzMu5lIaqfs1zqd5kOlvkpf66hfp5C4fnDi55c4E6NpeB9TSi6KeAF2glmj8-R_UNwKg1uDgZ5kPfgmaMFmBqHPkTKvXuvi7CkhNf3yu_laWUWPPvxUBaDyW-Pm7KYfLjq9e4UbG8EL0fESTnoP3n7OeSdAIZE-fAAj0KbYi2jje0DkTlxor_s4E1ZidQBNGxKelbZr_vKBQYertQR9yBN91SecM4eQ8oFmio9kS-grfophWic_792ZLf-NNKtYEkjN7AeXKD67uHwmCMwrUmN0crwo-iUwhOi6bm6g4vuPxVudW_DeokphjxuxZ_Kgzt9f_L4G3B1aTVdYYzOVWWH6G37mzMXxi3AqleZRoTuHGPZ_Kxbv4ejysDR5M9ukFEA2tB-CMaiCrU-9giom4M7Rpknk952b6qv8Txvfn0dznE1RCqQboPDBLZ2_jxIzYpbMp98HtUy_Zm618BqET7oCuxbHgg1gzUttUvF7IAH06Tv8XF8AEgdqKCi_EE4ByQ7Rw6HZ_DN29ov1hl0Ze4McLO1Ph_lzpYSRdELbfzwpiWpQ9oiwbJ6Ewc7u9Lpz1EnWJ7AA9swv2_2Mx7tQZt",
  "id": "rs_0d43f1177abfa961016ab473b8566c87d096409c4c7faf52f4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.31,\"left_z\":0.22,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The pale toy remains held, extending forward from the fingertips. I’m positioning it over the safe so its body will land inside the red-lined tray rather than on the front rim.\"}",
  "call_id": "call_TH7ermUtVkqtfar2rGSOFzVx",
  "id": "fc_0d43f1177abfa961016ab473bc1cec87d09f68a3e2ed72f892",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TH7ermUtVkqtfar2rGSOFzVx",
  "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]: [-0.9024, 1.8568, 1.6005, -0.6464, -0.7002, -0.6582, 0.045, -0.0238, 0.881, 0.6868, -0.5987, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3858 left_y=-0.2991 left_z=0.2003 left_yaw=0.005 left_pitch=-0.0646 left_roll=0.0374 left_gripper=0.045 right_x=0.2773 right_y=0.0005 right_z=0.1516 right_yaw=-0.002 right_pitch=-0.2101 right_roll=0.0042 right_gripper=0.9995\nstate[joint_eff]: [0.4444, -9.7573, 9.388, 1.5702, -0.4811, 0.2759, 1.0281, -0.0752, -1.9761, 6.8718, 1.8291, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f0325de622c0b220bc9c4d6854d9d5980ca04caf5b063c9789805026731b9ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61f0c7e4b62f47939ef991bf1ad7bc6b93b380da94523f902374239e55008f09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d6de8ab53581fe2cc5deda136dc1ed2892d5cf420cdadf26926dbc6dca6fabe",
      "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]: [-0.9428, 1.7763, 0.6937, 0.0929, -0.717, -0.6788, 0.0398, -0.0238, 0.8024, 0.6151, -0.4786, -0.02, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.3044 left_y=-0.2156 left_z=0.0125 left_yaw=-0.0077 left_pitch=-0.1056 left_roll=0.0989 left_gripper=0.0398 right_x=0.2826 right_y=0.0004 right_z=0.1629 right_yaw=-0.0022 right_pitch=-0.0831 right_roll=0.0012 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -9.2103, 5.9692, 1.2283, -0.4127, 0.0269, 1.1013, -0.0752, -1.2376, 6.9538, 1.8535, -0.0806, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9417, 1.5406, 1.29, -0.7933, -0.6998, -0.6975, 0.045, -0.0238, 0.8764, 0.6872, -0.5682, -0.02, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.3111 left_y=-0.228 left_z=0.196 left_yaw=-0.0009 left_pitch=-0.1482 left_roll=0.1199 left_gripper=0.045 right_x=0.2824 right_y=0.0004 right_z=0.1584 right_yaw=-0.0019 right_pitch=-0.1747 right_roll=0.0032 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -8.8684, 8.6496, 1.243, -0.4762, 0.0904, 1.0281, -0.1436, -1.5248, 9.6068, 1.9072, -0.0366, -0.0806, -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]: [-0.9024, 1.8568, 1.6005, -0.6464, -0.7002, -0.6582, 0.045, -0.0238, 0.881, 0.6868, -0.5987, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3858 left_y=-0.2991 left_z=0.2003 left_yaw=0.005 left_pitch=-0.0646 left_roll=0.0374 left_gripper=0.045 right_x=0.2773 right_y=0.0005 right_z=0.1516 right_yaw=-0.002 right_pitch=-0.2101 right_roll=0.0042 right_gripper=0.9995\nstate[joint_eff]: [0.4444, -9.7573, 9.388, 1.5702, -0.4811, 0.2759, 1.0281, -0.0752, -1.9761, 6.8718, 1.8291, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f0325de622c0b220bc9c4d6854d9d5980ca04caf5b063c9789805026731b9ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61f0c7e4b62f47939ef991bf1ad7bc6b93b380da94523f902374239e55008f09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d6de8ab53581fe2cc5deda136dc1ed2892d5cf420cdadf26926dbc6dca6fabe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHPAzSeL7o1IasIx6Q8TjNB6n-POrD-luSVA2hCB7G4tXkSy2PsQqhMPkAsAI5G-VhOTvru0-6MhazWyj2AnnNF67JMhoBPEx7hPgsKyFJ3tbOUHgEdSG-7d2Ghc0cSZCh8fzvORwDFWFU_JZ-PWIII49A6di-VZsxPty7wMWC76x-z3jh5kxtpreVFUA-OwDZ2OWrqo-QS8AA7RZwa4_pFS-WSyGWN6twL7-TFSLOoef4SMboYrW15_UhU2icqCQoZ2dzDBKxqIPG-1L-dFcJqsBnwMDOKWlRixzIqTwXpbqLXVmA5Vk_lf5spscT3qr-wL1DF7klMvZJJULiuTDvwxYtxzrYTH6hADgdTeD1qU9wlqmqaZnwcsvdlNA113D1UHbbLF5wVWIcYjrbgynyMO19zVYSLViIWi2Y8q3SBcfJAfZOUzDMnlIH0gLTFZ2ptiqFlbiUZjPwcylwYyhOaMxoZmDmqlQDc4ll4gUikyT_YxgoPwwgU0Txy_H8YZasrFU_8DT2Oke0I1JOPhMRjxhF5iA-Tr34L_4aFeTt6Wa9-Vjc-2uxzKBKeTZ_SssNXh8s87GUSI2XYnlufcwnYUFHX5wdIGaMP_ROlEXB2ikvFiFNu9A7YEYTvtbUIAWKkqHbwMv2_B9ciTT_9LyS5k1g9yMcPsV7jdQ863IT5-VZ0wlvGnZhrHN11405Zzhmm6jsXeqnX0vjRlWnbMTZDuXl3l_d74JhztbxwKt3VHbdcxVCXVA5Wf75gpYBqjZt-QCsvKREqG1RlifyEjTEsE3FXUX62t1VmjQD0iiN4c9TKWO9oqO7kMB6ye1Wh8t_mqwZ8oxEwNF8PUXP6ZX-KKkz7T3y2iFVeEycs-KC9rLJqfCQ89eE1ttsu9AixRrks0nrVi9DQAu-du-fBvA30GBa7Ho-kgj6ZPg-e8ZyXoXGqKvaIjrznaDok6in6-Y43q05RM5er-gvCPO1Uddw3cEt8iBiraZwmmqUbGOhznYyaH8GJ-1AfW8iJXdjutOtx3TCNNBDtVE6vnbsDY-NxeqUI_Dim4FjVzjIOkKOrX6_xJaXf0X651YVIVCkpSPlsYiB0jtr3ioGMlFFOo2Q-uwX5r7UqOu311l20sZNBA-ZYZ3dLTRHbW8H9sNTYcSnPCZEghBWikD9F-3Vzen8OkKDf0BOWOQKh4E0Xel-dkqkp9h26V98RRjj796DGxNP_xssCeFQMf6J638S7VmMOqwy6xXwd5DYDU1eAcoMBk7Mf-Xw7OQJI_FeLh6e3j-TdFXnLaijVwVVxdkYDLOzAUxYBpDMmKylSB5bwsZB7Hfnw=",
  "id": "rs_0d43f1177abfa961016ab473bf521887d0bebd08dc16bb046a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.31,\"left_z\":0.075},\"note\":\"The pale toy is now above the safe’s open tray. I’m lowering it gently into the compartment while keeping the gripper closed.\"}",
  "call_id": "call_1tKo6OSz5F0FQAaKG0p36fyu",
  "id": "fc_0d43f1177abfa961016ab473bfd9c487d090905defa8a2ff19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1tKo6OSz5F0FQAaKG0p36fyu",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9005, 2.0178, 1.3415, -0.2714, -0.6918, -0.6548, 0.045, -0.0238, 0.8818, 0.6861, -0.6178, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3912 left_y=-0.3063 left_z=0.0762 left_yaw=0.0025 left_pitch=-0.0978 left_roll=0.0715 left_gripper=0.045 right_x=0.2738 right_y=0.0006 right_z=0.1479 right_yaw=-0.0019 right_pitch=-0.2307 right_roll=0.0047 right_gripper=0.9995\nstate[joint_eff]: [0.6632, -10.3453, 5.9282, 1.453, -0.3053, 0.0611, 1.0281, -0.0205, -1.6479, 6.8718, 1.6581, -0.0708, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bd616b6423341d2cb49367f3dfebc26ea3dc469e6340a4b8fefb4bf41c3d107",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d490d3564c91e5f13ab08ac206acc51b71526453d3a0ee25ec5f1c3f98387d81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:681c2a6b2b6c0073301bb324e6a93cc552dc68392b35109d7f31ab4df2cb7bdd",
      "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]: [-0.9417, 1.655, 0.8612, -0.2203, -0.7128, -0.6857, 0.0406, -0.0238, 0.8024, 0.6151, -0.5003, -0.02, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.3107 left_y=-0.2245 left_z=0.0696 left_yaw=-0.0031 left_pitch=-0.1225 left_roll=0.1113 left_gripper=0.0406 right_x=0.2793 right_y=0.0005 right_z=0.1587 right_yaw=-0.0021 right_pitch=-0.1049 right_roll=0.0016 right_gripper=0.9995\nstate[joint_eff]: [0.0615, -9.0325, 8.3624, 1.2674, -0.3492, 0.0952, 1.0281, -0.1573, -1.2239, 6.9402, 1.8388, -0.0464, -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]: [-0.9024, 1.8568, 1.6005, -0.6464, -0.7002, -0.6582, 0.045, -0.0238, 0.881, 0.6868, -0.5987, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3858 left_y=-0.2991 left_z=0.2003 left_yaw=0.005 left_pitch=-0.0646 left_roll=0.0374 left_gripper=0.045 right_x=0.2773 right_y=0.0005 right_z=0.1516 right_yaw=-0.002 right_pitch=-0.2101 right_roll=0.0042 right_gripper=0.9995\nstate[joint_eff]: [0.4444, -9.7573, 9.388, 1.5702, -0.4811, 0.2759, 1.0281, -0.0752, -1.9761, 6.8718, 1.8291, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9005, 2.0178, 1.3415, -0.2714, -0.6918, -0.6548, 0.045, -0.0238, 0.8818, 0.6861, -0.6178, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3912 left_y=-0.3063 left_z=0.0762 left_yaw=0.0025 left_pitch=-0.0978 left_roll=0.0715 left_gripper=0.045 right_x=0.2738 right_y=0.0006 right_z=0.1479 right_yaw=-0.0019 right_pitch=-0.2307 right_roll=0.0047 right_gripper=0.9995\nstate[joint_eff]: [0.6632, -10.3453, 5.9282, 1.453, -0.3053, 0.0611, 1.0281, -0.0205, -1.6479, 6.8718, 1.6581, -0.0708, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bd616b6423341d2cb49367f3dfebc26ea3dc469e6340a4b8fefb4bf41c3d107",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d490d3564c91e5f13ab08ac206acc51b71526453d3a0ee25ec5f1c3f98387d81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:681c2a6b2b6c0073301bb324e6a93cc552dc68392b35109d7f31ab4df2cb7bdd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The pale toy is resting inside the red tray with its body within the rim. I’m opening the gripper to release it.\"}",
  "call_id": "call_Assrz8EuwkPwKUccLIpXze1q",
  "id": "fc_0d43f1177abfa961016ab473c2e8a487d093b21be3156691fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Assrz8EuwkPwKUccLIpXze1q",
  "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]: [-0.8963, 2.0422, 1.3331, -0.2764, -0.6922, -0.6605, 0.9952, -0.0238, 0.8848, 0.6842, -0.6353, -0.0196, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.3898 left_y=-0.3013 left_z=0.0616 left_yaw=0.0133 left_pitch=-0.1206 left_roll=0.0971 left_gripper=0.9952 right_x=0.2704 right_y=0.0006 right_z=0.1434 right_yaw=-0.0019 right_pitch=-0.2532 right_roll=0.0047 right_gripper=0.9995\nstate[joint_eff]: [-0.6496, -12.6564, 6.694, 1.3016, -0.3541, 0.0269, -0.0317, -0.1299, -1.8803, 6.9128, 1.6142, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f45491d5bbd99d46310ca9fa1ede4ca8aae727a1a0a9af14964b3e53db95b0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a73494ad9f8452eb21b68a6ce443f225c1d985ea5e4115b7175ecf292ca9c0db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74147d35f309cadab37cd328276101c9c057d808a9d979d28163eba893dabd1d",
      "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]: [-0.9417, 1.5406, 1.29, -0.7933, -0.6998, -0.6975, 0.045, -0.0238, 0.8764, 0.6872, -0.5682, -0.02, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.3111 left_y=-0.228 left_z=0.196 left_yaw=-0.0009 left_pitch=-0.1482 left_roll=0.1199 left_gripper=0.045 right_x=0.2824 right_y=0.0004 right_z=0.1584 right_yaw=-0.0019 right_pitch=-0.1747 right_roll=0.0032 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -8.8684, 8.6496, 1.243, -0.4762, 0.0904, 1.0281, -0.1436, -1.5248, 9.6068, 1.9072, -0.0366, -0.0806, -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]: [-0.9005, 2.0178, 1.3415, -0.2714, -0.6918, -0.6548, 0.045, -0.0238, 0.8818, 0.6861, -0.6178, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3912 left_y=-0.3063 left_z=0.0762 left_yaw=0.0025 left_pitch=-0.0978 left_roll=0.0715 left_gripper=0.045 right_x=0.2738 right_y=0.0006 right_z=0.1479 right_yaw=-0.0019 right_pitch=-0.2307 right_roll=0.0047 right_gripper=0.9995\nstate[joint_eff]: [0.6632, -10.3453, 5.9282, 1.453, -0.3053, 0.0611, 1.0281, -0.0205, -1.6479, 6.8718, 1.6581, -0.0708, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8963, 2.0422, 1.3331, -0.2764, -0.6922, -0.6605, 0.9952, -0.0238, 0.8848, 0.6842, -0.6353, -0.0196, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.3898 left_y=-0.3013 left_z=0.0616 left_yaw=0.0133 left_pitch=-0.1206 left_roll=0.0971 left_gripper=0.9952 right_x=0.2704 right_y=0.0006 right_z=0.1434 right_yaw=-0.0019 right_pitch=-0.2532 right_roll=0.0047 right_gripper=0.9995\nstate[joint_eff]: [-0.6496, -12.6564, 6.694, 1.3016, -0.3541, 0.0269, -0.0317, -0.1299, -1.8803, 6.9128, 1.6142, -0.0269, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f45491d5bbd99d46310ca9fa1ede4ca8aae727a1a0a9af14964b3e53db95b0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a73494ad9f8452eb21b68a6ce443f225c1d985ea5e4115b7175ecf292ca9c0db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74147d35f309cadab37cd328276101c9c057d808a9d979d28163eba893dabd1d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHPI-FIabpFb6fVVgOO-CjkrBUXaqiOBlh-qYzR7CQp4Rv8SoaM5EpgDJh2kQcrIHgfTqRQc-vEZnGc5oXNq-ovLtLsdgLhOWN86sUov3TLYTCOMnWaUO0-UQMzLSJnzNZ2nvIa4Y0SpD32zZH-VgPIDens-D3RbwrDizW8qn2KONADwad3lGJHjhn_gWeo8stdlUdd8Zvlm3aVwlQ3Smn8pvWM5YcqLmZzIfstn7HilytWJb6vbswrf2fElvzx8BH7qXM8WiSd_WPp0q6LBy42VwUOeKzNlAylWgW7Hf707_LYiEgL9692cUZi3TCiORhxUGFD_rLRFSiFmeMdOdnZgD6RbhLyhDKMTAMSABIMoZRHKj6_29rG-zdnQFsOZ0lqNWc6PajIc_gDd4z_JeFJi7E6WVFt-mJ58sawPWaQj9qe6-T77wunOLZX-Ciyfh23rokGo1qqwQdOHJdbTnuehfFxzngHwfwdIZMMgqL-TyHmD_Ygr5xHriMuA7otCJ7i0hJGGypdPyTwReZArxLGUOCVPASjSxKcwUNnePQoYFL9sY2cKXzdObRnKJZBx_uOKnEG0TSvdS3meEsDS661vtU0AMku--wUw4SFrO0FjZnF46XLnDGFXeYYroCi9_4UpoeKhR5slzLeeqAtED6pyGQSiwwUL0Ldi5-OLqINXE5NoJeyrm0a-kK7LYBsed_Gh3glEFuQMFOrpubh616McYkG8rbqSn5Degx7imX9XgNoCelsxJU9hYeJt8BaK_ObBUuwoVHvWGWQBDDLe1e9-XEByvQzgbpqrFfNyfdS3D0k6c5bwzk9NCCk2vPok0ZtOmVXoqM1lprmiH35Tohq0TqFVmtV1ifC3EBTpOp8VAGL853EBT-8q6B6ek9ibT7NFmgZXI7lAWPXNNQjQrs9uQWaYTEiicESeyMCbOKg1vz9tX312jo2Uu-m3VJxLKmqJnePkgsgAt0fCdQaJzIq7GFDOib2I5YP7VBzqbXOLVtHwABJkej1iWSExKZIkHFH_NgAlDRhrrjbH8mM-P8Sd9S3Oj3zo1yobeJl5wibzdc5mpICqrYgrOgVIkTN25x8JpnMwIgKMQy81O4vN0LkVslX8_bd7YmbBNB7O9I67P_az5mAfa5cX9OTl3Bg6HPPXMx9hEpJMa-DI_5ScCi6XY_Nk74pRh20nBAE0VCdYkxy-1BV24xE1wfovwVc5kHSTuEd_Ytm8_6APnDbBhKjZH_qwSdddPjxAHaJ4EDhlxnnO1EBEWEBAlG3RLrdZhA-3CZ04x1mMrQEwDClrmJnGYNCXHueIi0IeF80sUkJW5zwrackbuszwn30wN0l_MYm99S5kZLhomJKkhZuQgIYcO_0V0JVBbfuX9HMi7h0uLS-_Zgu-hAIwYhkzi6YpfoAYH3NvitPkg3qqPPyuxT7GKI29TIM9Q6f-ZMn0oPV8TxYU2MI1pdu-2d69qyaZuA68rhk-_otABF-WIVg4g8UvUbIoBppEVcJQ2LtvFsaj8qauzEb3R2JV5eyEhMOoXD0mXp1ly0XsNd9bufqGtrA40FZ8ICEFZ4duHsFPwUfQAD7OdULSEQz24KELe9FaWrcACWexgs5pSQfbum98LxueS2kHYqQQCHGqPHq6uCZp1Ol0jVBtj9pModRucgA_Y8MM",
  "id": "rs_0d43f1177abfa961016ab473c5ece887d0b180727fa2355896",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.23,\"right_x\":0.305,\"right_y\":0.205,\"right_z\":0.16,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The pale toy has been released inside the safe. I’m lifting the left hand away and bringing the right hand above the brown plush toy for the next pickup.\"}",
  "call_id": "call_mbnFgHfFNhlCgi5XazJPPu2y",
  "id": "fc_0d43f1177abfa961016ab473c7ab3487d0ace9dda890124d2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mbnFgHfFNhlCgi5XazJPPu2y",
  "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]: [-0.8963, 1.9659, 1.8309, -0.8894, -0.6918, -0.675, 0.9963, 0.8906, 1.3502, 0.8379, -0.3706, 0.6621, 0.5594, 0.9996]\nstate[eef_state]: left_x=0.3903 left_y=-0.3019 left_z=0.2061 left_yaw=0.0251 left_pitch=-0.1437 left_roll=0.117 left_gripper=0.9963 right_x=0.2943 right_y=0.1969 right_z=0.1402 right_yaw=0.0393 right_pitch=-0.0736 right_roll=-0.0561 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -12.4239, 9.1419, 1.2479, -0.3785, 0.1001, 0.0952, 0.1299, -5.2171, 8.759, 1.536, 0.5446, 0.2418, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:751833e858cc4ff72f6a7db295b42f4bc8d93de14eba91cc8dc8c619362fcd0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3de567efb11efe38cba58e3e7d8b88c07d23304d615a8b32e148ed1a4936c01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50aa08740ec0379e447365084e2cc62edb48cb00edced01717537edd11170e76",
      "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]: [-0.9024, 1.8568, 1.6005, -0.6464, -0.7002, -0.6582, 0.045, -0.0238, 0.881, 0.6868, -0.5987, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3858 left_y=-0.2991 left_z=0.2003 left_yaw=0.005 left_pitch=-0.0646 left_roll=0.0374 left_gripper=0.045 right_x=0.2773 right_y=0.0005 right_z=0.1516 right_yaw=-0.002 right_pitch=-0.2101 right_roll=0.0042 right_gripper=0.9995\nstate[joint_eff]: [0.4444, -9.7573, 9.388, 1.5702, -0.4811, 0.2759, 1.0281, -0.0752, -1.9761, 6.8718, 1.8291, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8963, 2.0422, 1.3331, -0.2764, -0.6922, -0.6605, 0.9952, -0.0238, 0.8848, 0.6842, -0.6353, -0.0196, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.3898 left_y=-0.3013 left_z=0.0616 left_yaw=0.0133 left_pitch=-0.1206 left_roll=0.0971 left_gripper=0.9952 right_x=0.2704 right_y=0.0006 right_z=0.1434 right_yaw=-0.0019 right_pitch=-0.2532 right_roll=0.0047 right_gripper=0.9995\nstate[joint_eff]: [-0.6496, -12.6564, 6.694, 1.3016, -0.3541, 0.0269, -0.0317, -0.1299, -1.8803, 6.9128, 1.6142, -0.0269, -0.0659, -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]: [-0.8963, 1.9659, 1.8309, -0.8894, -0.6918, -0.675, 0.9963, 0.8906, 1.3502, 0.8379, -0.3706, 0.6621, 0.5594, 0.9996]\nstate[eef_state]: left_x=0.3903 left_y=-0.3019 left_z=0.2061 left_yaw=0.0251 left_pitch=-0.1437 left_roll=0.117 left_gripper=0.9963 right_x=0.2943 right_y=0.1969 right_z=0.1402 right_yaw=0.0393 right_pitch=-0.0736 right_roll=-0.0561 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -12.4239, 9.1419, 1.2479, -0.3785, 0.1001, 0.0952, 0.1299, -5.2171, 8.759, 1.536, 0.5446, 0.2418, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:751833e858cc4ff72f6a7db295b42f4bc8d93de14eba91cc8dc8c619362fcd0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3de567efb11efe38cba58e3e7d8b88c07d23304d615a8b32e148ed1a4936c01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50aa08740ec0379e447365084e2cc62edb48cb00edced01717537edd11170e76",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHPNcv7q7scBm2WSLU9t1cfzxZ947I31JiJk5pfGSw0eUQA8B7XxVET4C9a5ln9gIomM-AOKIJAcEPmRaWwlkYMrLzD-a1s_s5QkTbM_jG6r33DffQWKZJHDWZC1F2pOO8fUo8DWg7FTDoUw6CUckVrpITeDyzCoiYDlYsMlnA7o7aTHjKatr66b7-V3N3Suq49YHFa3hytutXeFde2ve8-3CaFZDG_Z1sGVRIOofPKWw2s_66qsg1O10Z-q1nE3eOKS8YClWFWo-y4AaraF48AoZOAgW2UfZANdzWUveS3dt7_eYF8nm40qlyfGVvNt1xeJNv0CncFcmd0HLNxPhv-BzeF-faItibDXOUCKwTwiYoYbC6yF1-S70gVdR6ECZf55_HCStEO0BSA54w9F-FDBuiZ21eD52faTxlGHYGA85iQg4wcXpMV_OzTy0jduhqzfsvc9Gw5uPQWmzrwYVRSuMtSxu_ok53dod9n-DBUSHpU6t1DCSvU6r6akR2dOL_I3dbdqbvsFRgnM-d0cmuFGpSRrldR3aTpg_QqAtr4uG6guutGcTLRfjTRlW9KXTmBmieZfqDezEay-DFfy4aL1OQ2uRT8sPWIyjHk6VNacYku3RgLwWDrZd9Fitw9aZviIm6tmNOgl-RziIQ70OKisiKhE26ZUc4ZQDu8Nds6ng2zB7RWAnXcZEzK7Kkya0gYa8-U4aGC7bpivemqYcHqJUZaJw5X3UJWSLS6IEoWH0_Gkn5IdfML7eK2BVfKzTOWZnG2IVf4SUbomkbSPflZuhW7svnxi1rJ_jGKHeVTyREl3brAwlHO-thQrQdq0eosG-g4Lrok4B7Veh1YjKc8Y-_4BTUVmCpmC6IWSr9Dg_leAKFiRXrkknytB5jlOPuet7CWXu4zTeIy3lAR7zImIXyfQsp7DA-gA47EWZxh6EQqNIp8ubhufaKTQ-BGHGZwek_oXHyZGM8tqOX-omg5WPANGx8czmMDyXLalhxgQp2hP2RkDJy-hFupoaDUSmRehAdo8BKM_wQYlHbun4gDI3j2PQ4P2KiblyTbzAWiHNERSYZakmoddtQxwkA4eZsJp_5Cvm0Lgo5pXmsifGelTJrnudVwRPZd0K_oAlxQgYz7O3KYNJdmP8KNWdRf0GWu7KDxD0MHZw3to0Gt9ak1XjCGZXkJoPOCLnSYc5BNNqe9A_Cg6sFNkMI7LnU7JH_cS35wHvc3AStL2YAHOQRBdmikW-FCca51fiUlyY5PJP3vFVcIX0Gdi0jii41dF8yHbfkXaEnexTujnmw-xT5MbqA==",
  "id": "rs_0d43f1177abfa961016ab473cc39d487d0979ad46a28e08dc4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.32,\"right_y\":0.205,\"right_z\":0.035},\"note\":\"The brown toy is centered in the right wrist view, and the pale toy is fully inside the safe. I’m parking the left arm and lowering the right jaws around the brown toy’s body.\"}",
  "call_id": "call_nY7HXUbr839T3myibok73BCV",
  "id": "fc_0d43f1177abfa961016ab473cc9dc487d08f1543eca71355b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nY7HXUbr839T3myibok73BCV",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8196, 0.7029, -0.4931, -0.1459, -0.1207, 0.9965, 0.8398, 1.6646, 0.6594, 0.1375, 0.6312, 0.5125, 0.9995]\nstate[eef_state]: left_x=0.2924 left_y=0.0046 left_z=0.1959 left_yaw=0.0886 left_pitch=-0.0225 left_roll=0.0006 left_gripper=0.9965 right_x=0.3181 right_y=0.204 right_z=0.038 right_yaw=0.0363 right_pitch=-0.0822 right_roll=-0.0659 right_gripper=0.9995\nstate[joint_eff]: [0.0068, -1.5385, 6.8855, 2.044, 0.0562, 0.1197, 0.0073, -0.5675, -5.5863, 4.5333, 1.5458, 0.1538, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eee1b58ba7bf21704e51e918703966fd6877e7ca09444fe20f144762d1d54a8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c8ce6bce149b2143659b5b80b9f56e418d8d96193cf4e7570916f94592c8fd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb809db800aff4a513287cd25fc9dee7f9fb463a812b8fee7801bf1adecf62b",
      "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]: [-0.9005, 2.0178, 1.3415, -0.2714, -0.6918, -0.6548, 0.045, -0.0238, 0.8818, 0.6861, -0.6178, -0.02, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3912 left_y=-0.3063 left_z=0.0762 left_yaw=0.0025 left_pitch=-0.0978 left_roll=0.0715 left_gripper=0.045 right_x=0.2738 right_y=0.0006 right_z=0.1479 right_yaw=-0.0019 right_pitch=-0.2307 right_roll=0.0047 right_gripper=0.9995\nstate[joint_eff]: [0.6632, -10.3453, 5.9282, 1.453, -0.3053, 0.0611, 1.0281, -0.0205, -1.6479, 6.8718, 1.6581, -0.0708, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8963, 1.9659, 1.8309, -0.8894, -0.6918, -0.675, 0.9963, 0.8906, 1.3502, 0.8379, -0.3706, 0.6621, 0.5594, 0.9996]\nstate[eef_state]: left_x=0.3903 left_y=-0.3019 left_z=0.2061 left_yaw=0.0251 left_pitch=-0.1437 left_roll=0.117 left_gripper=0.9963 right_x=0.2943 right_y=0.1969 right_z=0.1402 right_yaw=0.0393 right_pitch=-0.0736 right_roll=-0.0561 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -12.4239, 9.1419, 1.2479, -0.3785, 0.1001, 0.0952, 0.1299, -5.2171, 8.759, 1.536, 0.5446, 0.2418, -0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8196, 0.7029, -0.4931, -0.1459, -0.1207, 0.9965, 0.8398, 1.6646, 0.6594, 0.1375, 0.6312, 0.5125, 0.9995]\nstate[eef_state]: left_x=0.2924 left_y=0.0046 left_z=0.1959 left_yaw=0.0886 left_pitch=-0.0225 left_roll=0.0006 left_gripper=0.9965 right_x=0.3181 right_y=0.204 right_z=0.038 right_yaw=0.0363 right_pitch=-0.0822 right_roll=-0.0659 right_gripper=0.9995\nstate[joint_eff]: [0.0068, -1.5385, 6.8855, 2.044, 0.0562, 0.1197, 0.0073, -0.5675, -5.5863, 4.5333, 1.5458, 0.1538, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eee1b58ba7bf21704e51e918703966fd6877e7ca09444fe20f144762d1d54a8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c8ce6bce149b2143659b5b80b9f56e418d8d96193cf4e7570916f94592c8fd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb809db800aff4a513287cd25fc9dee7f9fb463a812b8fee7801bf1adecf62b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHPTgaMsgjTUdAufEUIcz6crYmW2EDcIYUXeNAHCNQxJAPsc-hVO9JwUCoLbt3dS7R02QLGRCOc-zNNmSfXifumJEURZpoWGHFSeLvDG4xxbl2_RcEd5V7mJI9ge40yxYkVOBmfpFMoPoqPlmLQOVoAYOqPv30U5vwyepPiwbvzAwtifkfwtK17X5jwSg5QA3_GaiLUqw5NYugsOnnbUdFhxlXzJ5idcCJg7bxfh8E6eTSUhShx4nl9_h_T03zFzIsSx79_eq7m8CXS1o67de81xaqbIpP9PVV43iYtlm5yYSA5W7jVhUClsM1AtBRlcgSNRBLcy8cVbzBGwIIIZMhod1r5PQ29g_yu1D351fXp-2OzvxKyoM9jkhlhwhGWc9DLgDjAi_u5ysW4woT_sxxwp09-R5rx12_rYst6aEWpqVmzquh-jVMAl6zyTbe_2pJNEFWl3NF9gkPPmEjZP7SgFWuszVI18WSACzYn7Oud4aCLjfa3YAxbknk5uockb1_IynSeplqwdvkkmGrEte-t0Tc56ZbVPmt08LlPjdPwnx03ZwGlbcYQOEwqkI7UCSBb8KpKQIO1dZyPOgZoM0MIzt3aooxJc6lehwqlDAD_iIkkdHUXdMkl0BwgaUJsmTBbQYszcDbKGndta_zt310i7erc28dHHtztT5UqaV1CNKIvMaR7xWlAMrMrcvqab91ECzoMc6jnL9HqcXI6x4jmcNkC_enYo2mI0zEz1uHZTQF5alOdhqx95okkYkzh6DNuEqcjsIl42TV2wJ6pcnyABgd8a5Xok-FtIgeJLSoChjvsH-2inrOf52R3Tr_ycScBOAn698VSyZYIec9babIZsZAA0uBS1ZonLoAnKsGxEMDKJyY5fjQeCft7LJ2v4h6bbwKs998V75Enuvotcqx2k2nEqBu32Lv62MQDQYXTTjcAanwIA-xFXyyTU1SZLEy4xCa92jbTibPcHBxKla2yIo2EWwxJzw86PMI1WOCbpZLEGB7JPDrPPZ4tgy1Jadw11QLqQPKniyUP16AH5Z2qJkShqXKR1fpUnwjXhqHe2OWPeLtJPhNcNMNnSM6o5j1hcBH2EZ5L3lbjouK65IRkGnfHiaqZuI_ZT7HzQzi3eQe5QzHmGYw8Fs-l7DmejEwbTPQzVPy2h_d99Yv4sqEqsSO1yvbup5RLGNQyeeew0U3NriX8W6rWJ0eZvaKGd5Nu3d8w5HFJRIYmfGSkyr_wPqVIyXN5Ua3coKmQw5Z-FhlWisqNNyy4AyVoThHe5kKPx",
  "id": "rs_0d43f1177abfa961016ab473d2030087d0a09d9e546d26acf9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right jaws are positioned around the brown toy’s midsection. I’m closing them to get a secure hold.\"}",
  "call_id": "call_xhlxHVubmrGrkSqQVq0ddWNY",
  "id": "fc_0d43f1177abfa961016ab473d2341087d083877b742f39dc2b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xhlxHVubmrGrkSqQVq0ddWNY",
  "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]: [-0.0845, 0.8246, 0.6979, -0.511, -0.136, -0.1204, 0.9969, 0.8383, 1.6684, 0.6533, 0.136, 0.6281, 0.5053, 0.0153]\nstate[eef_state]: left_x=0.2897 left_y=0.0031 left_z=0.1887 left_yaw=0.0803 left_pitch=-0.0509 left_roll=-0.0001 left_gripper=0.9969 right_x=0.3165 right_y=0.202 right_z=0.0343 right_yaw=0.0402 right_pitch=-0.0921 right_roll=-0.0782 right_gripper=0.0153\nstate[joint_eff]: [-0.1573, -1.7026, 7.5145, 1.8681, -0.2222, -0.0024, 0.0269, -0.0752, -7.0085, 5.9692, 1.2967, 0.2466, 0.0708, 0.7106]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac9e21988c88ee531ead97f80aefc18c6783029a23eaa3e8a85710d43cdbb871",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8295ab687cb67d140ff21b6b740d7522fe7ba6886f8ac02cab30577ef4eec91d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8206180e444ea8d986a7cd5ec2fa8c70687c02bf83ee4c7e78f28782cae915f8",
      "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]: [-0.8963, 2.0422, 1.3331, -0.2764, -0.6922, -0.6605, 0.9952, -0.0238, 0.8848, 0.6842, -0.6353, -0.0196, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.3898 left_y=-0.3013 left_z=0.0616 left_yaw=0.0133 left_pitch=-0.1206 left_roll=0.0971 left_gripper=0.9952 right_x=0.2704 right_y=0.0006 right_z=0.1434 right_yaw=-0.0019 right_pitch=-0.2532 right_roll=0.0047 right_gripper=0.9995\nstate[joint_eff]: [-0.6496, -12.6564, 6.694, 1.3016, -0.3541, 0.0269, -0.0317, -0.1299, -1.8803, 6.9128, 1.6142, -0.0269, -0.0659, -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]: [-0.0845, 0.8196, 0.7029, -0.4931, -0.1459, -0.1207, 0.9965, 0.8398, 1.6646, 0.6594, 0.1375, 0.6312, 0.5125, 0.9995]\nstate[eef_state]: left_x=0.2924 left_y=0.0046 left_z=0.1959 left_yaw=0.0886 left_pitch=-0.0225 left_roll=0.0006 left_gripper=0.9965 right_x=0.3181 right_y=0.204 right_z=0.038 right_yaw=0.0363 right_pitch=-0.0822 right_roll=-0.0659 right_gripper=0.9995\nstate[joint_eff]: [0.0068, -1.5385, 6.8855, 2.044, 0.0562, 0.1197, 0.0073, -0.5675, -5.5863, 4.5333, 1.5458, 0.1538, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8246, 0.6979, -0.511, -0.136, -0.1204, 0.9969, 0.8383, 1.6684, 0.6533, 0.136, 0.6281, 0.5053, 0.0153]\nstate[eef_state]: left_x=0.2897 left_y=0.0031 left_z=0.1887 left_yaw=0.0803 left_pitch=-0.0509 left_roll=-0.0001 left_gripper=0.9969 right_x=0.3165 right_y=0.202 right_z=0.0343 right_yaw=0.0402 right_pitch=-0.0921 right_roll=-0.0782 right_gripper=0.0153\nstate[joint_eff]: [-0.1573, -1.7026, 7.5145, 1.8681, -0.2222, -0.0024, 0.0269, -0.0752, -7.0085, 5.9692, 1.2967, 0.2466, 0.0708, 0.7106]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac9e21988c88ee531ead97f80aefc18c6783029a23eaa3e8a85710d43cdbb871",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8295ab687cb67d140ff21b6b740d7522fe7ba6886f8ac02cab30577ef4eec91d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8206180e444ea8d986a7cd5ec2fa8c70687c02bf83ee4c7e78f28782cae915f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHPXk54zoIAQMc2d1TMakIc0zGJCHDuMuCb6wrYGztsX6krEQ9qs5HNX-H7D90h1UTvgoPpEitHIpnN14J9ZknsaN6HKnQjZI5VwG31qyeBRpQFfZSXRdM-1rIBUoyFwMdnPvgIBjtf7uQqS_aMs-mZmibR14mrwuC36Xk1RDuFrrYJv1ycRmlWPeVnj2wcxslN9MIBsDnb3h2VjPk78Pcz1mHj4RM4w-Tq-6UpXjW_Cyw93tyduGY4vloIPadItKFAUz1W7iv4fosivB9HwrbqdqzRzJoJEgQ5M63dthO_yI4ZEFP5Jrwr3zYkv0343vJ3jYDwRCfplgwHVysVHjgZEmjnuCV3bFyw7zBhOoLR8cepJqWU4Xxt9LIXR5boyyl5WSZqfWEh4Q9iPtjFuSeeHKBJ1bEGzzNKsGq4tGFOcmM8nof1BL9B2fp-Zj5zwF-iDDZMMWaNqB5T7kk-q-RMGGbMrtZmfe9IzWJ_lKv93Vzx7nVkEnHuoQATKsZ8Vw7nI5PoyomrwfzBWf6j-orM-YuB4GtV0GgxugIeTt38DmI7INFM2p4i0QaF0RrFE04-pRwBZEJcNpZW3-xP5jFcCCDwnj18bfnlrl5jUG-LC5G126uvXqSKE8GzaBHsamIpB8FeQbJxEt97HPhh6k8xC4Ki7WUKLWWRQzSoFkyAhCxpM8hvA1iOUmhwv-BEcq4pq4M8CYCHdo8jEnh_QIxl33LL0ndVSiTG3OZz7OuxYJCi837g0PnFMZDJKQAVPIbqFkF1q98BlOF_khXhmdkLPmu8yAdwCBqRCuk8Cbtk2hDiWHMDKiITBw-X14gImi_vAzkGyOLYEivSY_3XK1LvP0Zh5nEMq2GCwg2Qn6V1GbnW6Pwv_9uUm4Dtrm_XP-O2EOjYYFj2lD4Z9AMk6Vn74WpgMPTYG_bKBvk3JJpl0ZXwlELuhXM9fLdpF-tFki-r9YSOlXoJKQsdG620cUFzXr5cSZAETP_mTlPTFrNHWMVgb6LtG6hSUjl3lvS6FucPLQ6mWA76u7luduxQ5zZ9hj5nXQo4-XiG5AoteDJY8pFxn_OoZtTuxco-DsXGxoCTknL4DM-jZ6yw_TRIJcBOi8LVDyrSfLwntSDIjqznMjczt-NLErQc8kt8EZA0VNIXoxXhVK7vXCmkUHkydvejBJMH6eE6qpU6u-1d15MftROyikB35QDjNhZTf6aOffsffjL6eS0T_YneAdNhcJ5SieZH8t23JGHP79FGcmqJ0fIqb8areNvUOibAc4G-Hjm1lzCQvNQE6pIrQ9ambfZdDdF4CIOwT03SupQUak5tVirvLAlUP93Ghog6b1_Uy6tGrCN83XfbBSNoyyUGEHzJKog-yxcWwe3HJTv68dHJMuoYn8HxzEQPkLIvD6DlssF0QTsbBacydM9I70Mq2pz6bxfkYg_jcMtFua9eJcAo4uSfaNRFyjaZU30lS-EOBIarbtdO-XhBZXk6nDtHHrFjwfJs1WWIsr0lCXPnOc95wQcW5uDyx_rEZUwQCOVVuTYLMIqIr4FetBOTy_XjIp3RFKmhDn9m_JhNvYO9yc7wk3ExV2l9fiyREKJ7SJHsQdcj8Iyn1MDsWdkkxkDzGNE3pJQ==",
  "id": "rs_0d43f1177abfa961016ab473d5362887d0b78285b45faa2dfa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.35,\"right_y\":0.18,\"right_z\":0.045},\"note\":\"The gripper reading indicates the first close was empty; the brown toy is slightly forward and to the right of the fingertips. I’m opening and shifting to center the jaws farther onto its body.\"}",
  "call_id": "call_HH39vkLbXGd7GILu4ktjJCjX",
  "id": "fc_0d43f1177abfa961016ab473d6a3f087d0b23ca677445ee1d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HH39vkLbXGd7GILu4ktjJCjX",
  "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]: [-0.0845, 0.8246, 0.6979, -0.5175, -0.1352, -0.1207, 0.9969, 0.7029, 1.668, 0.6556, 0.1486, 0.5373, 0.3908, 0.9945]\nstate[eef_state]: left_x=0.2888 left_y=0.003 left_z=0.1874 left_yaw=0.08 left_pitch=-0.0574 left_roll=0.0002 left_gripper=0.9969 right_x=0.3388 right_y=0.1732 right_z=0.0302 right_yaw=0.0333 right_pitch=-0.1329 right_roll=-0.1045 right_gripper=0.9945\nstate[joint_eff]: [-0.1299, -1.0735, 7.1179, 1.7021, -0.0904, -0.0659, -0.0073, -0.4034, -7.2821, 7.9385, 1.5311, 0.2076, -0.1538, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:834a672ccb07b9ada1d38016aff1ca5a9ec4424b22b70d061175b0bb0253c8d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cde04cb64483be870d03f016d07a51befab4f460984a125be5e255a4aef1101",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43278718628a99d5804b087bc1f41a361193101dfef04ecbc00a2c8343d90676",
      "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]: [-0.8963, 1.9659, 1.8309, -0.8894, -0.6918, -0.675, 0.9963, 0.8906, 1.3502, 0.8379, -0.3706, 0.6621, 0.5594, 0.9996]\nstate[eef_state]: left_x=0.3903 left_y=-0.3019 left_z=0.2061 left_yaw=0.0251 left_pitch=-0.1437 left_roll=0.117 left_gripper=0.9963 right_x=0.2943 right_y=0.1969 right_z=0.1402 right_yaw=0.0393 right_pitch=-0.0736 right_roll=-0.0561 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -12.4239, 9.1419, 1.2479, -0.3785, 0.1001, 0.0952, 0.1299, -5.2171, 8.759, 1.536, 0.5446, 0.2418, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8246, 0.6979, -0.511, -0.136, -0.1204, 0.9969, 0.8383, 1.6684, 0.6533, 0.136, 0.6281, 0.5053, 0.0153]\nstate[eef_state]: left_x=0.2897 left_y=0.0031 left_z=0.1887 left_yaw=0.0803 left_pitch=-0.0509 left_roll=-0.0001 left_gripper=0.9969 right_x=0.3165 right_y=0.202 right_z=0.0343 right_yaw=0.0402 right_pitch=-0.0921 right_roll=-0.0782 right_gripper=0.0153\nstate[joint_eff]: [-0.1573, -1.7026, 7.5145, 1.8681, -0.2222, -0.0024, 0.0269, -0.0752, -7.0085, 5.9692, 1.2967, 0.2466, 0.0708, 0.7106]\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]: [-0.0845, 0.8246, 0.6979, -0.5175, -0.1352, -0.1207, 0.9969, 0.7029, 1.668, 0.6556, 0.1486, 0.5373, 0.3908, 0.9945]\nstate[eef_state]: left_x=0.2888 left_y=0.003 left_z=0.1874 left_yaw=0.08 left_pitch=-0.0574 left_roll=0.0002 left_gripper=0.9969 right_x=0.3388 right_y=0.1732 right_z=0.0302 right_yaw=0.0333 right_pitch=-0.1329 right_roll=-0.1045 right_gripper=0.9945\nstate[joint_eff]: [-0.1299, -1.0735, 7.1179, 1.7021, -0.0904, -0.0659, -0.0073, -0.4034, -7.2821, 7.9385, 1.5311, 0.2076, -0.1538, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:834a672ccb07b9ada1d38016aff1ca5a9ec4424b22b70d061175b0bb0253c8d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cde04cb64483be870d03f016d07a51befab4f460984a125be5e255a4aef1101",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43278718628a99d5804b087bc1f41a361193101dfef04ecbc00a2c8343d90676",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHPdJB8aAHU3Mykoh6YX0384J9QRfRH--mCvib-S8c2Q1CUAiw4Rq8Wi1VDRBH3VJoolmK0FAJ9tqWxf1c9SDL9TDFDq0csZE3qFYk9bJOwj-ZUaVvdL3GeWPDcWpUW0LBG6iJVe1Iw7fkT5gFv2V6iGMqlX4sIXn7ugEwJPpjsrltK-Y8s80jc7x72QMeNG26lA1oMSbhWF_dXYy9o8dto-u2c_II2MSBEBCzpj1eaYbsaEFKYTPsqQwVmgfd5qywNcLO68Ql7yi1w0GRLXoXMMq8VXkpTkY-bEYWE8bkHEglY_26PTAHK46SUvV6AnurfDsyFk8bYonV1OlBF_fjiMKPBisCDbNQxRmXqXDPa_Fv0tzcXuUut-1-FsFT6miylMvNXrHZJopEtLF4HW1qCwSEQHZeYrdcPaQ_zEdaYJlAPou4j-rvNiDW6dxrb82T2Q-VfTJRIprPiIVGHKwObD3JhZePdywNvzIE8KEBkR8yOAusNS20g7nYbFjgG_QLunjp6GcMGe9dsOknR6UhnjHqZSBE7q31sr3wLzQOB-1NgdOK1bpfticKkbNY28Te_-PaPFNn0ooYqYq3QXSt4TAZsRK3o92bCSP4hQH1tBFegmM8bXvASGIr5mJmt4klF_JMyg5eka7agi5fUQMftFeK4JfdLT0TYlgA6eLYnJCnk1LbACd48Ac1sBefCmAt7VHMgtbaeKZwoZlT6zov5PUDIlo7G7BIFd6ht3HZ6yRca3XbN749tOdvRqLDkqpJ3QTQWDIxK9zfltzFB_YWYPQ2B0tIzntAASWiUC2QN9M0HVEdmQcMWoLqwYN1wiQz7vUHns4w3HaEOoGk1K6h7OAQ8FBllJS19UlzpjccU2SWYA4_Dnq-vKclTCX7ViLX5wFeZ_JAlOwxeJoucILQ_Xa6B_1_aAb7LBGebmLrTe4oK8pq4wNyyREWmoQngCUHxv8nX7j-VnpzOWErnshBR4azc5xzm0Jc--5NCLlSIJpVpf_WQIH8a19X3VU15esX4Cr9qikLjZWXj-4Bu5kggn0XPlVw7BIDWKt-mazJrzwJysj8_cW5a8Db8bNXnIZdenhXGv5MnBeuKjZY30Q6NklMSVsQBQMDvq4bKepDU6Vp3QLfQByQ5xF7w_Pd5bXtzgasnhD2lOgmJa8JetWulJaW52jE2T4J1m9Xf30WBDzM0Pm7fwXa5ra3OgCZWlcct4pzPDFLp3Xd2KCl4tmV4YsDx1ena29pXPAXP4vOOAcI-ugXJNspls2CISEZNY5uEINh9Lx1LOznfyZrP94WO5NQz-iaL73Zp8nNOQ9sNsw37DfP2YXkdvE945ILePMtlumHeQU2hqEE4Ch3g01PNrxe4dvRpC3gcOuPfuipiTdoRx-erk-rQrpP-5kQVoIBnWF5noeUItO2fwNc3BJ0px7nSkxDmga2lyejXZMRyxyftGRsrJ0FE2M3jjUlp04s7TQ8yhl7mLf4GBZ4Jd5mNTgjyFU77beaf10JQ32rnhhNKJGgO21KTYhJ7lteHEdtFncwkpPoreJrCsYOlJ0Q68YYFug6hasem8LUV-mvEB0WLsPx27AWzwfZHhRV1V_IRWNOUE6HpmcngpPs4DnZb58rMayuv3ofkVSn-LO39e3MRUbcupD53z7NwLflmwDNIgLjZHYVFkluj1ApENb_9PVa-zYKEYbI6WOjMPGuYMs5I=",
  "id": "rs_0d43f1177abfa961016ab473daab3c87d0a6b5e16c180bbaf0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.17,\"right_z\":0.025},\"note\":\"The toy’s thicker body is still just ahead of the jaw convergence point. I’m moving forward another small step before closing, rather than grasping only the trailing fabric.\"}",
  "call_id": "call_70DksTyeOG1GQquAymBNVRlX",
  "id": "fc_0d43f1177abfa961016ab473dc6ea087d08c2b717841314a5b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_70DksTyeOG1GQquAymBNVRlX",
  "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]: [-0.0845, 0.8268, 0.6979, -0.5217, -0.1352, -0.1207, 0.997, 0.6312, 1.7493, 0.7139, 0.1719, 0.4892, 0.3443, 0.9953]\nstate[eef_state]: left_x=0.2884 left_y=0.0031 left_z=0.1859 left_yaw=0.08 left_pitch=-0.0638 left_roll=0.0013 left_gripper=0.997 right_x=0.362 right_y=0.1662 right_z=0.0201 right_yaw=0.0229 right_pitch=-0.157 right_roll=-0.1097 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -1.1145, 7.2137, 1.7265, -0.0611, -0.0708, -0.0073, -0.212, -6.5573, 6.8991, 1.4725, 0.359, -0.1343, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be001d83a575f47eee1f04e91d1d6101ae53343e7c5e59521c8f87ee2e1430b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36db77f777fa568d243c5a6f02cb15d1b26d231c095fcf0f74f69f24e3ad57b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3af97a96f7285c1d095bcbb88df967587305544f3fea900641ab3f08bd0d08b3",
      "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]: [-0.0845, 0.8196, 0.7029, -0.4931, -0.1459, -0.1207, 0.9965, 0.8398, 1.6646, 0.6594, 0.1375, 0.6312, 0.5125, 0.9995]\nstate[eef_state]: left_x=0.2924 left_y=0.0046 left_z=0.1959 left_yaw=0.0886 left_pitch=-0.0225 left_roll=0.0006 left_gripper=0.9965 right_x=0.3181 right_y=0.204 right_z=0.038 right_yaw=0.0363 right_pitch=-0.0822 right_roll=-0.0659 right_gripper=0.9995\nstate[joint_eff]: [0.0068, -1.5385, 6.8855, 2.044, 0.0562, 0.1197, 0.0073, -0.5675, -5.5863, 4.5333, 1.5458, 0.1538, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8246, 0.6979, -0.5175, -0.1352, -0.1207, 0.9969, 0.7029, 1.668, 0.6556, 0.1486, 0.5373, 0.3908, 0.9945]\nstate[eef_state]: left_x=0.2888 left_y=0.003 left_z=0.1874 left_yaw=0.08 left_pitch=-0.0574 left_roll=0.0002 left_gripper=0.9969 right_x=0.3388 right_y=0.1732 right_z=0.0302 right_yaw=0.0333 right_pitch=-0.1329 right_roll=-0.1045 right_gripper=0.9945\nstate[joint_eff]: [-0.1299, -1.0735, 7.1179, 1.7021, -0.0904, -0.0659, -0.0073, -0.4034, -7.2821, 7.9385, 1.5311, 0.2076, -0.1538, -0.1929]\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]: [-0.0845, 0.8268, 0.6979, -0.5217, -0.1352, -0.1207, 0.997, 0.6312, 1.7493, 0.7139, 0.1719, 0.4892, 0.3443, 0.9953]\nstate[eef_state]: left_x=0.2884 left_y=0.0031 left_z=0.1859 left_yaw=0.08 left_pitch=-0.0638 left_roll=0.0013 left_gripper=0.997 right_x=0.362 right_y=0.1662 right_z=0.0201 right_yaw=0.0229 right_pitch=-0.157 right_roll=-0.1097 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -1.1145, 7.2137, 1.7265, -0.0611, -0.0708, -0.0073, -0.212, -6.5573, 6.8991, 1.4725, 0.359, -0.1343, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be001d83a575f47eee1f04e91d1d6101ae53343e7c5e59521c8f87ee2e1430b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36db77f777fa568d243c5a6f02cb15d1b26d231c095fcf0f74f69f24e3ad57b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3af97a96f7285c1d095bcbb88df967587305544f3fea900641ab3f08bd0d08b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws now straddle a broader part of the brown toy’s body. I’m closing for the second grasp attempt.\"}",
  "call_id": "call_kPPdymaj0ANHF9LbyyNYH5AG",
  "id": "fc_0d43f1177abfa961016ab473df003c87d0be59f578651ae3d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kPPdymaj0ANHF9LbyyNYH5AG",
  "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]: [-0.0845, 0.8303, 0.6979, -0.5362, -0.1352, -0.1207, 0.997, 0.6308, 1.7615, 0.7189, 0.1745, 0.4774, 0.3401, 0.0118]\nstate[eef_state]: left_x=0.2864 left_y=0.0032 left_z=0.1822 left_yaw=0.0803 left_pitch=-0.0815 left_roll=0.0042 left_gripper=0.997 right_x=0.3624 right_y=0.1686 right_z=0.0168 right_yaw=0.0333 right_pitch=-0.1661 right_roll=-0.108 right_gripper=0.0118\nstate[joint_eff]: [-0.1709, -1.4291, 7.0769, 1.8046, -0.0611, -0.0513, -0.0122, -0.3487, -8.3761, 4.8615, 1.3455, 0.3346, 0.0024, 1.0623]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66676066f9d5a09c129eddb62e15a27d4df0543c3e9a43c7b7d6b5707c96f06b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7ba057e4f5629ee2a8270acc124de4c4ffa8c589a9c3725bb64a3a365f08ec9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eff6e587f8285db30dfd864cdc15ce4bc42c6c0082bbf1419330ae6515ea633a",
      "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 56 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8246, 0.6979, -0.511, -0.136, -0.1204, 0.9969, 0.8383, 1.6684, 0.6533, 0.136, 0.6281, 0.5053, 0.0153]\nstate[eef_state]: left_x=0.2897 left_y=0.0031 left_z=0.1887 left_yaw=0.0803 left_pitch=-0.0509 left_roll=-0.0001 left_gripper=0.9969 right_x=0.3165 right_y=0.202 right_z=0.0343 right_yaw=0.0402 right_pitch=-0.0921 right_roll=-0.0782 right_gripper=0.0153\nstate[joint_eff]: [-0.1573, -1.7026, 7.5145, 1.8681, -0.2222, -0.0024, 0.0269, -0.0752, -7.0085, 5.9692, 1.2967, 0.2466, 0.0708, 0.7106]\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]: [-0.0845, 0.8268, 0.6979, -0.5217, -0.1352, -0.1207, 0.997, 0.6312, 1.7493, 0.7139, 0.1719, 0.4892, 0.3443, 0.9953]\nstate[eef_state]: left_x=0.2884 left_y=0.0031 left_z=0.1859 left_yaw=0.08 left_pitch=-0.0638 left_roll=0.0013 left_gripper=0.997 right_x=0.362 right_y=0.1662 right_z=0.0201 right_yaw=0.0229 right_pitch=-0.157 right_roll=-0.1097 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -1.1145, 7.2137, 1.7265, -0.0611, -0.0708, -0.0073, -0.212, -6.5573, 6.8991, 1.4725, 0.359, -0.1343, 0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8303, 0.6979, -0.5362, -0.1352, -0.1207, 0.997, 0.6308, 1.7615, 0.7189, 0.1745, 0.4774, 0.3401, 0.0118]\nstate[eef_state]: left_x=0.2864 left_y=0.0032 left_z=0.1822 left_yaw=0.0803 left_pitch=-0.0815 left_roll=0.0042 left_gripper=0.997 right_x=0.3624 right_y=0.1686 right_z=0.0168 right_yaw=0.0333 right_pitch=-0.1661 right_roll=-0.108 right_gripper=0.0118\nstate[joint_eff]: [-0.1709, -1.4291, 7.0769, 1.8046, -0.0611, -0.0513, -0.0122, -0.3487, -8.3761, 4.8615, 1.3455, 0.3346, 0.0024, 1.0623]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66676066f9d5a09c129eddb62e15a27d4df0543c3e9a43c7b7d6b5707c96f06b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7ba057e4f5629ee2a8270acc124de4c4ffa8c589a9c3725bb64a3a365f08ec9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eff6e587f8285db30dfd864cdc15ce4bc42c6c0082bbf1419330ae6515ea633a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHPnnCJvAs90e6UHCfdCJXjOHrmOsAUpwBF5i_-ZCR9D5IG93WSJlPzCQkt0Z2WgrzB3DTYkuDwnoQ5J5SedAVKz1Pi4pKwLnYtuqY_KlUmrEQ5xNAsHM8X80qyWB9f78jdg0UWcdeTYI-YyJb2XTVN4tO6wajn7VsNAmoPteBCAJyKT4eC5KdXRBfcK3XcxiaPXZXDsx9lbdwytfo1oir7sUECerc5RhlV3yBplGUj8-JI7_M2qdE8yVnujsp_sqiCopMP3A5w7jaaREi31dGy_LQfeq-TyeG0Tio9HFAlKhQmPdUZFWz17ck_PM0v0wt18kfx6gWC0CL04Wt4c-BAF3wptTXE0-gVf0Gs6iBKdt42wOqC4gLTOKtlYNQZFN57bwRIFRPXsR5l_1fGRR6YpyaVuDZfJMJQ7AoFLmFfQC5MhG7udRq3mwQPBmtOFOLWtUUL2UN0Y0pMuFj6___H6pewiWLe2EjVfd0y3cxQxGN3DMM1yaZZ-_PQi6mDGGWxTZ3wa74Wj7EnygBVm-QR9qzdo5y5KmaVNBg1E_UMOvhaViynk88H_pdSy8a-e6EO9G_VVv60odR2lpXJqps4RmW8tlXvQD-SMTjQyLLlvztQxzjZX6Q5SJ0ZzC7xwzqHk7VT3JlU417P9V0yA5oRPGUF9zy25pb0EZopA1RfbXro-lpiTHxS24340QcSu1c6uvFAZ0ldOIgiI7Vx6BkNVrp9KRrtQSAkGkFfAMMxu_EeaM9WhXHuUVxT4K-AbRDNvLCY3bhbdCg-rLJ9ontHxD41qlkCAcXTu23KaFBt6klT6zkXSleVY5nIxQaqgNltjnN0ORqLedq4Ninc9TiqPsM2sncUqMTiqmMb8bTJkT5lXaFvRUH-Be-uLof6_xupq7ZFK1dBi0n5zAdSYpftke_sRELY4oxI-m-LtB0G1vDTb80P1KblPtw2zKAmBhuc2N6O61JH69FKvUdin-O0tVIUgsPJL5jyVlPryooEtUjUXvewGRZZgjoOvryIngMx8w19Yp6FEY_p5sv6457KTKIoFQzggg-Fcp-DFa5-H0KuNYv5TjiPgUrtMoemLKzCyG00qXgNsI3OomEZIh72ntjY_ADrnWDj5m1WIPgYhMCou_8XEKWrM4G5pvD9WzWeSLsd_Bttnblihff_p6HQY5jVIr5hMCDm-FahJlRC8H28sLLKwcsUnNu1SLI1I_wfNoHpUzfsetiRf6Lw_g-XHCe9VFHiVB2GTqa_5D_QtGHqJOJHjg34Qa5j7c0gpLLF0VefQmzoSva-7EFxKScZ1yv94wT5ZbQUsUw0IrEVfvDBSD3_F1pxRfnErkBm2R2AmF5QKh0Rb_pwOKeV-A4ryhAHU0gpS8WYErQEcRVBFkh5cggt-pSkpebhZL_TgIUwoVLNDsSHgczO0N9so8J3o26RFDaMrKSOVcbfzfztVYM0mOeg7N9pAQMD4gmIJlbLm1RWEsYzS3ZC1SjKb8_q3VpSNZHj1DaA38uBiOdRy9rof0wAig-cLUR6kravyd1fXOxaS4S0lMp8t2-oBWd8HNxCCWpMCu-yeAxqt3U_F9RWmkAukiicEl3dEok0KoNHX3wdx3qqtcZcQO81kAqXZGgh8j2d6xc26foD7IZ8Ep1FDK_kR6V0zJgFyxkKznKmD31fkf0iiiIMjs9aGUhn9y1l3rCIy1MftfutNcyeAh0rNNPLdnVJe26C0Ko5Ofkc8g5Szug1mPCYRz-bJDQTrXoWJOvkOQWeUnH4K-W0c4HjpDLBXIxIPtGtUnwGXr9Xeu_1jnY1WhenYvHbkE-98B4FE-XLszzeNCNjxFGg0fWS3YfCYpbdzYKGZfwvOlliiDWbLT1z0jyUKWIJWSMVnWJUNIgR3Fo7M8TWMPHTPE0uLlx2Ng-BlWZ4mHJIfHL3LBtdf5Ua97TQZCZG64HDmFfoFCBvPxggfFHv3H-XWV8SD4OBSkH2acJDcA88ygUtSQGjLwztwDVS-jG1y4OZQKFRjBwplBRg1KqXWgl74X0_dth6dGV3pBiH4vEKaVopjJ277uQ4T4VxSivxoeUZrM0Gb6gKmcYJ30uSDnFZJNwYI5c6z_URvEJZVW1mzrk8-3wD0STl6rE71XBBaer-XuqJsQPThS5D-XKlh3tHgENW4TtFJGAF8-aoPp3B_RvuzmCTIfrfrzZHIghGlxjsA6Q9ydYeC_3x7z6_0LCySWH9tbY0fZ18ubuZwP4zbI3yZ-qrJZBnhrp7WmU5944XhrdFqomAxLV1PcTw4K9X1v2Q=",
  "id": "rs_0d43f1177abfa961016ab473e2066c87d0b2f1f25f3ea11778",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.205,\"right_z\":0.12,\"right_gripper\":1,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The second close was also empty. Comparing the overhead position with the wrist view shows the toy’s body is farther forward than estimated; I’m reopening and approaching above that newly measured position.\"}",
  "call_id": "call_4jCevYZ8c2ivgbWXVEtgB6OW",
  "id": "fc_0d43f1177abfa961016ab473e5d88c87d0b5cc9329c2012392",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4jCevYZ8c2ivgbWXVEtgB6OW",
  "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]: [-0.0845, 0.8303, 0.6979, -0.5396, -0.1352, -0.1207, 0.997, 0.6182, 1.7519, 0.9855, 0.0105, 0.469, 0.3206, 0.9945]\nstate[eef_state]: left_x=0.2859 left_y=0.0033 left_z=0.1816 left_yaw=0.0803 left_pitch=-0.0848 left_roll=0.0048 left_gripper=0.997 right_x=0.4121 right_y=0.1995 right_z=0.089 right_yaw=0.0455 right_pitch=-0.0767 right_roll=-0.0554 right_gripper=0.9945\nstate[joint_eff]: [-0.0342, -1.3197, 6.9402, 1.7314, -0.1245, -0.0562, -0.0122, -0.6496, -10.5915, 8.5128, 1.7656, 0.1343, 0.0562, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b321f3909d66af8c6e33e5a3970c64aea3ef37e3aeb98aa3f037fb6ace14524",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91c5ddb4cfdac536044b3892678c96dee93b979411c65904b4918c0b1e9cb2cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cdf16b5aa5fa925bfe61585e6005e24a883bbfb676b9c3c466a4526890f3b96",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 49 changed as sent

message 56 changed as sent

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8246, 0.6979, -0.5175, -0.1352, -0.1207, 0.9969, 0.7029, 1.668, 0.6556, 0.1486, 0.5373, 0.3908, 0.9945]\nstate[eef_state]: left_x=0.2888 left_y=0.003 left_z=0.1874 left_yaw=0.08 left_pitch=-0.0574 left_roll=0.0002 left_gripper=0.9969 right_x=0.3388 right_y=0.1732 right_z=0.0302 right_yaw=0.0333 right_pitch=-0.1329 right_roll=-0.1045 right_gripper=0.9945\nstate[joint_eff]: [-0.1299, -1.0735, 7.1179, 1.7021, -0.0904, -0.0659, -0.0073, -0.4034, -7.2821, 7.9385, 1.5311, 0.2076, -0.1538, -0.1929]\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]: [-0.0845, 0.8303, 0.6979, -0.5362, -0.1352, -0.1207, 0.997, 0.6308, 1.7615, 0.7189, 0.1745, 0.4774, 0.3401, 0.0118]\nstate[eef_state]: left_x=0.2864 left_y=0.0032 left_z=0.1822 left_yaw=0.0803 left_pitch=-0.0815 left_roll=0.0042 left_gripper=0.997 right_x=0.3624 right_y=0.1686 right_z=0.0168 right_yaw=0.0333 right_pitch=-0.1661 right_roll=-0.108 right_gripper=0.0118\nstate[joint_eff]: [-0.1709, -1.4291, 7.0769, 1.8046, -0.0611, -0.0513, -0.0122, -0.3487, -8.3761, 4.8615, 1.3455, 0.3346, 0.0024, 1.0623]",
      "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]: [-0.0845, 0.8303, 0.6979, -0.5396, -0.1352, -0.1207, 0.997, 0.6182, 1.7519, 0.9855, 0.0105, 0.469, 0.3206, 0.9945]\nstate[eef_state]: left_x=0.2859 left_y=0.0033 left_z=0.1816 left_yaw=0.0803 left_pitch=-0.0848 left_roll=0.0048 left_gripper=0.997 right_x=0.4121 right_y=0.1995 right_z=0.089 right_yaw=0.0455 right_pitch=-0.0767 right_roll=-0.0554 right_gripper=0.9945\nstate[joint_eff]: [-0.0342, -1.3197, 6.9402, 1.7314, -0.1245, -0.0562, -0.0122, -0.6496, -10.5915, 8.5128, 1.7656, 0.1343, 0.0562, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b321f3909d66af8c6e33e5a3970c64aea3ef37e3aeb98aa3f037fb6ace14524",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91c5ddb4cfdac536044b3892678c96dee93b979411c65904b4918c0b1e9cb2cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cdf16b5aa5fa925bfe61585e6005e24a883bbfb676b9c3c466a4526890f3b96",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHPsK7bYEBJ4nKadZKJhsgjmQRvlzQOXvuk0qivFO1jFv9GzSVyj75g8ii0wHt36Jf7gkiwupEKhBZKPweaGEf-WiJeTy_SM8-wR7_QU6rxb4M-L2HIHkjX1TKTtJ6mVKuQV8BXpKta8iO12fg1bBV75QH7A7h4oEXN5VvERihB9RtKT6WQqwHE7FENFiykpYTeNMXEHcKXXueLAkob8riqy3fveDCDNFUB7wLgisSuGtd6AuNvCmGQNBUAhJl0yfK36PwjLH2du_RP1Cv-s4pdbsskIIeiOTOE2f0LFKuWjpulgHLBmtxNIMXIIQoRGa6u9t7JNsNzj1dJ_iHPJKoqBLBaP9Z0k9lzPmHhIh5i_U_74eHCX7VZyip0y2wSSGL6SQSztJ3b5oUqqChsWQPi_0v0qzoXnBD6ofGXWRikkoRVe_FDpRgHlhdVDg-DnaT_bY_E-EO6oiu8TDMPJ02pW4HCKB6d_4O2sez66mG6JU10gmZh617HVzfg3JLfInq5gUm4ZdxecqkMomYBndbeaV8viMBWCeyCjCbKYNvPQ_v8v6--YZqoNDYyTK1L2aQ9l5Z1mH9t8Gjk1gnbJVnQWS8xTQEhZJjFqiZbPg2DBhyr5CFyEPsQLLPobKuvhQ-natbz5tH1yl2mh0nHtGMEzQ8WVF1Zvw69kBTw_0A9MlsbxKjsF4g1FpPG62HVX1EtzSaj1RErukXuzLfiQudkftA1K6eyfb5TGbabq_WBJwWxwVvnFEr1ZsEoohUb8rK3jqRj6bbVP3Uri0besXn9tzKHmKSE_zc_y1Y2DDIx8YnVw-kEcA4QHfO0WKQ4DBvf0JGqPbepQOGHAMUdCtv_U8zTUAXFbqkBfGxTLI7rh3QQR2sYX7x90SNxrqcwe_KOl8R7jMLLmblBMnBo0xe6Tfg95j8hPtOPDgZnL_ExFzhP4oZ3I5QyAl4tx2Sh7ekfmYNWnT32t4g_oNtnezn0Xfmlq7DafO2lne-gEybgQ8IK-6nIx3C6ybpX_MLUhphcMfW6B4hiYxrlGmC2_BBRDthnRPmEkmeeg44XMtO6EuBGcXJaJl5BekakJesi5a8M7h3h8D1d17QuP7uk393Qqf4MnKh0xrOWOFLK3lQUOrZ0cnSRlo0kEFs9KBONkkM9gmg3U-H8RLw5O3OK3gypPXDmguRNEiik6BJWxd-zNxxhW6_6S7v_x7WJYY4OG6Il0TZRwnmEIsBaBeV8aNuHLVCTo1-zdmAPLTV9ImMMU7ZJ3wGePF48ff9Imx0iUO7rL4iLOS-Mi6PRPiShe9CRSiQmCSLSke0ej-pDn9nVb4Utw6WoPYn2BMECGt5tHHCBeC4lTa8xn-1DqKazYk7cTXGrBXupqVa7-P5Xg14joAkkO-OSfqkufmBH0VxUrGLPLHHlKYyDL4jsume9GA-JSEg==",
  "id": "rs_0d43f1177abfa961016ab473ea317087d0b4d00d4465dffb51",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.205,\"right_z\":0.025},\"note\":\"The brown toy is now directly beneath the right fingertips rather than fully visible ahead of them. I’m descending vertically onto its body at this corrected position.\"}",
  "call_id": "call_BFpuwEoo8gvf2HIQyke9lMXY",
  "id": "fc_0d43f1177abfa961016ab473eb163087d0b828fdab0f3effc1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BFpuwEoo8gvf2HIQyke9lMXY",
  "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]: [-0.0845, 0.8322, 0.6979, -0.5465, -0.1352, -0.1207, 0.997, 0.6147, 1.9232, 0.9459, 0.2028, 0.4557, 0.318, 0.9953]\nstate[eef_state]: left_x=0.285 left_y=0.0034 left_z=0.1797 left_yaw=0.0804 left_pitch=-0.0935 left_roll=0.0062 left_gripper=0.997 right_x=0.4197 right_y=0.2055 right_z=0.0304 right_yaw=0.0529 right_pitch=-0.0976 right_roll=-0.0598 right_gripper=0.9953\nstate[joint_eff]: [0.0068, -1.4838, 6.8855, 1.7753, -0.105, -0.0806, -0.0122, -0.335, -7.8154, 5.2855, 1.2186, 0.2955, -0.0757, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b447fdf6363f9bab471eb632f0b70e3230558fa17cd8434cb6d1e5dde4defbba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d062c4e11634e01edb1f09bfb8fc8a6da8b53cbf3ecc5a1a976743fbe2679a6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e9d3fffe9ff316c5f88e2b8cdbd60ab5e87147f2d3dc755243f821b250e3237",
      "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 60 changed as sent

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8268, 0.6979, -0.5217, -0.1352, -0.1207, 0.997, 0.6312, 1.7493, 0.7139, 0.1719, 0.4892, 0.3443, 0.9953]\nstate[eef_state]: left_x=0.2884 left_y=0.0031 left_z=0.1859 left_yaw=0.08 left_pitch=-0.0638 left_roll=0.0013 left_gripper=0.997 right_x=0.362 right_y=0.1662 right_z=0.0201 right_yaw=0.0229 right_pitch=-0.157 right_roll=-0.1097 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -1.1145, 7.2137, 1.7265, -0.0611, -0.0708, -0.0073, -0.212, -6.5573, 6.8991, 1.4725, 0.359, -0.1343, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8303, 0.6979, -0.5396, -0.1352, -0.1207, 0.997, 0.6182, 1.7519, 0.9855, 0.0105, 0.469, 0.3206, 0.9945]\nstate[eef_state]: left_x=0.2859 left_y=0.0033 left_z=0.1816 left_yaw=0.0803 left_pitch=-0.0848 left_roll=0.0048 left_gripper=0.997 right_x=0.4121 right_y=0.1995 right_z=0.089 right_yaw=0.0455 right_pitch=-0.0767 right_roll=-0.0554 right_gripper=0.9945\nstate[joint_eff]: [-0.0342, -1.3197, 6.9402, 1.7314, -0.1245, -0.0562, -0.0122, -0.6496, -10.5915, 8.5128, 1.7656, 0.1343, 0.0562, -0.1978]\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]: [-0.0845, 0.8322, 0.6979, -0.5465, -0.1352, -0.1207, 0.997, 0.6147, 1.9232, 0.9459, 0.2028, 0.4557, 0.318, 0.9953]\nstate[eef_state]: left_x=0.285 left_y=0.0034 left_z=0.1797 left_yaw=0.0804 left_pitch=-0.0935 left_roll=0.0062 left_gripper=0.997 right_x=0.4197 right_y=0.2055 right_z=0.0304 right_yaw=0.0529 right_pitch=-0.0976 right_roll=-0.0598 right_gripper=0.9953\nstate[joint_eff]: [0.0068, -1.4838, 6.8855, 1.7753, -0.105, -0.0806, -0.0122, -0.335, -7.8154, 5.2855, 1.2186, 0.2955, -0.0757, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b447fdf6363f9bab471eb632f0b70e3230558fa17cd8434cb6d1e5dde4defbba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d062c4e11634e01edb1f09bfb8fc8a6da8b53cbf3ecc5a1a976743fbe2679a6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e9d3fffe9ff316c5f88e2b8cdbd60ab5e87147f2d3dc755243f821b250e3237",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The corrected descent places the jaws around the brown toy beneath the wrist camera’s view. I’m closing to secure this centered grasp.\"}",
  "call_id": "call_NZV29zBYCOR3zE3KIild5OjN",
  "id": "fc_0d43f1177abfa961016ab473efefa087d087deb658752a24d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NZV29zBYCOR3zE3KIild5OjN",
  "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]: [-0.0845, 0.8322, 0.6979, -0.5617, -0.1352, -0.1207, 0.997, 0.614, 1.9194, 0.944, 0.2379, 0.4816, 0.3134, 0.0116]\nstate[eef_state]: left_x=0.2826 left_y=0.0036 left_z=0.1769 left_yaw=0.0807 left_pitch=-0.1086 left_roll=0.0088 left_gripper=0.997 right_x=0.4252 right_y=0.204 right_z=0.0387 right_yaw=0.0362 right_pitch=-0.0569 right_roll=-0.0584 right_gripper=0.0116\nstate[joint_eff]: [-0.1709, -1.2239, 6.8718, 1.7411, -0.1099, -0.0073, -0.0122, -0.0342, -9.1282, 5.8872, 1.1941, -0.0855, 0.0317, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85585d6e133837967838c28ebf61c737339d265f0c5f23d606f51d2164b52f40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:395b5333ffa5bd5d2c993f3129044a21f5bbdcc78bef1a50c1af6222481821da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e09e102b0a2b06e5baf6bfe378f636609440d5f71586a633245507d99a121751",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 56 changed as sent

message 64 changed as sent

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8303, 0.6979, -0.5362, -0.1352, -0.1207, 0.997, 0.6308, 1.7615, 0.7189, 0.1745, 0.4774, 0.3401, 0.0118]\nstate[eef_state]: left_x=0.2864 left_y=0.0032 left_z=0.1822 left_yaw=0.0803 left_pitch=-0.0815 left_roll=0.0042 left_gripper=0.997 right_x=0.3624 right_y=0.1686 right_z=0.0168 right_yaw=0.0333 right_pitch=-0.1661 right_roll=-0.108 right_gripper=0.0118\nstate[joint_eff]: [-0.1709, -1.4291, 7.0769, 1.8046, -0.0611, -0.0513, -0.0122, -0.3487, -8.3761, 4.8615, 1.3455, 0.3346, 0.0024, 1.0623]",
      "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]: [-0.0845, 0.8322, 0.6979, -0.5465, -0.1352, -0.1207, 0.997, 0.6147, 1.9232, 0.9459, 0.2028, 0.4557, 0.318, 0.9953]\nstate[eef_state]: left_x=0.285 left_y=0.0034 left_z=0.1797 left_yaw=0.0804 left_pitch=-0.0935 left_roll=0.0062 left_gripper=0.997 right_x=0.4197 right_y=0.2055 right_z=0.0304 right_yaw=0.0529 right_pitch=-0.0976 right_roll=-0.0598 right_gripper=0.9953\nstate[joint_eff]: [0.0068, -1.4838, 6.8855, 1.7753, -0.105, -0.0806, -0.0122, -0.335, -7.8154, 5.2855, 1.2186, 0.2955, -0.0757, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8322, 0.6979, -0.5617, -0.1352, -0.1207, 0.997, 0.614, 1.9194, 0.944, 0.2379, 0.4816, 0.3134, 0.0116]\nstate[eef_state]: left_x=0.2826 left_y=0.0036 left_z=0.1769 left_yaw=0.0807 left_pitch=-0.1086 left_roll=0.0088 left_gripper=0.997 right_x=0.4252 right_y=0.204 right_z=0.0387 right_yaw=0.0362 right_pitch=-0.0569 right_roll=-0.0584 right_gripper=0.0116\nstate[joint_eff]: [-0.1709, -1.2239, 6.8718, 1.7411, -0.1099, -0.0073, -0.0122, -0.0342, -9.1282, 5.8872, 1.1941, -0.0855, 0.0317, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85585d6e133837967838c28ebf61c737339d265f0c5f23d606f51d2164b52f40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:395b5333ffa5bd5d2c993f3129044a21f5bbdcc78bef1a50c1af6222481821da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e09e102b0a2b06e5baf6bfe378f636609440d5f71586a633245507d99a121751",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0d43f1177abfa961016ab473f3738487d094f0067d1020e30c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.155,\"right_z\":0.04,\"right_gripper\":1},\"note\":\"The toy has shifted beside the right-hand jaws, and the close is empty again. Its body is now visible just to the right and behind the fingertips, so I’m recentering over that position with the jaws open.\"}",
  "call_id": "call_MQNBeiz5DDHUrHb5wQbbqfO5",
  "id": "fc_0d43f1177abfa961016ab473f715e887d0be9e7c85c9b1d69f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MQNBeiz5DDHUrHb5wQbbqfO5",
  "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]: [-0.0845, 0.8322, 0.6979, -0.5694, -0.1352, -0.1207, 0.997, 0.543, 1.771, 0.7277, 0.334, 0.4244, 0.268, 0.9947]\nstate[eef_state]: left_x=0.2814 left_y=0.0037 left_z=0.1754 left_yaw=0.0808 left_pitch=-0.1161 left_roll=0.01 left_gripper=0.997 right_x=0.398 right_y=0.1594 right_z=0.0389 right_yaw=0.0357 right_pitch=-0.0535 right_roll=-0.0479 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -1.347, 6.8855, 1.7363, -0.0855, -0.0464, -0.0122, -0.4308, -8.5949, 4.9299, 1.5507, 0.1294, -0.1099, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad27d2328ee3042ec5fdd2de14c6a56a57e3349aa409d29f768c0440945c0e98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d35d5d0da46e098eaf6ef7928dd3966960db171054beaf17a90d2e334bb7966d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94231eedc53aee986f00b68cce068246fb2e6cd3e7bce080b3a3d0bf4e4495e3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 60 changed as sent

message 67 changed as sent

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8303, 0.6979, -0.5396, -0.1352, -0.1207, 0.997, 0.6182, 1.7519, 0.9855, 0.0105, 0.469, 0.3206, 0.9945]\nstate[eef_state]: left_x=0.2859 left_y=0.0033 left_z=0.1816 left_yaw=0.0803 left_pitch=-0.0848 left_roll=0.0048 left_gripper=0.997 right_x=0.4121 right_y=0.1995 right_z=0.089 right_yaw=0.0455 right_pitch=-0.0767 right_roll=-0.0554 right_gripper=0.9945\nstate[joint_eff]: [-0.0342, -1.3197, 6.9402, 1.7314, -0.1245, -0.0562, -0.0122, -0.6496, -10.5915, 8.5128, 1.7656, 0.1343, 0.0562, -0.1978]\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]: [-0.0845, 0.8322, 0.6979, -0.5617, -0.1352, -0.1207, 0.997, 0.614, 1.9194, 0.944, 0.2379, 0.4816, 0.3134, 0.0116]\nstate[eef_state]: left_x=0.2826 left_y=0.0036 left_z=0.1769 left_yaw=0.0807 left_pitch=-0.1086 left_roll=0.0088 left_gripper=0.997 right_x=0.4252 right_y=0.204 right_z=0.0387 right_yaw=0.0362 right_pitch=-0.0569 right_roll=-0.0584 right_gripper=0.0116\nstate[joint_eff]: [-0.1709, -1.2239, 6.8718, 1.7411, -0.1099, -0.0073, -0.0122, -0.0342, -9.1282, 5.8872, 1.1941, -0.0855, 0.0317, 0.9988]",
      "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]: [-0.0845, 0.8322, 0.6979, -0.5694, -0.1352, -0.1207, 0.997, 0.543, 1.771, 0.7277, 0.334, 0.4244, 0.268, 0.9947]\nstate[eef_state]: left_x=0.2814 left_y=0.0037 left_z=0.1754 left_yaw=0.0808 left_pitch=-0.1161 left_roll=0.01 left_gripper=0.997 right_x=0.398 right_y=0.1594 right_z=0.0389 right_yaw=0.0357 right_pitch=-0.0535 right_roll=-0.0479 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -1.347, 6.8855, 1.7363, -0.0855, -0.0464, -0.0122, -0.4308, -8.5949, 4.9299, 1.5507, 0.1294, -0.1099, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad27d2328ee3042ec5fdd2de14c6a56a57e3349aa409d29f768c0440945c0e98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d35d5d0da46e098eaf6ef7928dd3966960db171054beaf17a90d2e334bb7966d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94231eedc53aee986f00b68cce068246fb2e6cd3e7bce080b3a3d0bf4e4495e3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHP8uB6pF1z7RiaDv4a2YUGlsQhJ0bX8HiP7i62BLIH6F-lQZPeJU9g-I1wmfxbR064s7fgJOQbeL_k6du5PKWwrhtQ0ALG54V3IEXDVjjU6DdM9TIZTYIweUAHK5N4WBxX5AFS14yvKBe85-BDUsEHqIpnNFfMhfc0v4MwYkLVDhXTyWlmduvneFeQ_zWfpc0kM7tmEVYb7ON8qLn0TTXR46QzH6wtmcCqnFZu1aUyiyIS1lS0XhUviNXPJSoDzrQTXTqVQieX-9RZthjeJ-8WFalEsARch4Hl6-0fzALoBoss44d3K8hyjtebnWuSvR2MIT5Den8KOcM7-z-vpu7uG-thcX3c2HqnZW0sBa2ct1SJPFTyS3cYHdBOgS0KboCYXX7W6hjHmjFTl7wsSWuS-7g9btONJ0HhU3MHGgUAhq-bHdbmPWOkinl8DyX5hMWdqcHxScQjukt5KSTJgb5oEKxN-5EIzrMH9MSl57On8k0JxCp2MbBYkTegREvw6tS1sOGDto_EHcuWAELdT5u8yhShKsziSvHvWdDbrTqAwtpikmcujUfm9SEqmXFsli4o8km9nM_-3wLNj62hyu_VbWli2cMR1upTxYynnRk6aC0iOaXFIfNWa3-kzo0M04pJhEBb_Eva_YFIrj0BC5hYeQWBikwpW3y7DHUlJvT4F6e6cuhGKRaYNjUuxDBeqnSZ34sdEy3Xn71fjrsO30ahJSj8lmgPpolUd1Al7tu1arnI9GP-fg96XSWH05inqWPmZg_XcCVwVnexN3IOgwblGNFxl3T7tPDqSIRB4ymu9tVPen7rt3A1WVZU9ekizmGi6tAa3wdEmeT89gJSta32SHw0PanWXUWrz72XJ62l-MQgG9EnM0tV686OBj0FElVO6gJTKTOGTyOgbxBVIRYebVOTDwm0b_b1IJbsKUnTcf2RCPsMivrxtD_Dhq5Ky2W6-0WPGE7tWUYBelihMiYIL4X-zR8BE3gEkuKYMEGi00gYmOtoJhLvMMcT7xl-R7hmq6pQNnPRX9xYXbX6x1FEPCJwquTxMJPaEa4Tzt12mlFm9e2mCGqyANEEtcopBMtiM_9KzU0U23MHUPTrGkZh4XXhkvZNb0RNTTaNJTvZz_k1oxbQ--fHhixsYtFTJXObk2IG3TXWBYZxnMqx44n3qG3k16AfkZNSsePkD-XhJo6pDgkmMkCmUpI9SeX5h5wsgNGe7hTcapIHiN658kcLpNLh2Pa_bA4O6dWNRwhOlAMF_eURHobkaZqZ6bmMrIMV4gtqUQhyL1T8N51uw0GYiNjtOgI3axOZdBD_W0Lxgtm3Otl_rLDhOsmLbBdiAfNc-Dm6GWNCFYa1i1XWHDa40Pg==",
  "id": "rs_0d43f1177abfa961016ab473fae83087d088dbbcf18f2a6ba3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown toy’s torso is now between the open jaws, with its ears visible just ahead of the grasp point. I’m closing around the torso.\"}",
  "call_id": "call_aXOVonoqb7FCl8BiJ1albUyH",
  "id": "fc_0d43f1177abfa961016ab473fba25c87d0b56402c719b0929b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aXOVonoqb7FCl8BiJ1albUyH",
  "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]: [-0.0845, 0.836, 0.6979, -0.5842, -0.1349, -0.1204, 0.997, 0.5426, 1.7653, 0.7197, 0.3225, 0.4213, 0.2619, 0.0121]\nstate[eef_state]: left_x=0.2793 left_y=0.0038 left_z=0.1717 left_yaw=0.0807 left_pitch=-0.1346 left_roll=0.0132 left_gripper=0.997 right_x=0.3945 right_y=0.1577 right_z=0.0362 right_yaw=0.0407 right_pitch=-0.0667 right_roll=-0.0577 right_gripper=0.0121\nstate[joint_eff]: [-0.0068, -1.6479, 6.8718, 1.7265, -0.0806, 0.0073, -0.0122, -0.0615, -7.3231, 5.9145, 1.7314, 0.2027, 0.0317, 1.0183]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4984f9f66f6aed0605f367fdf9e69745ab4b45183a7a7a358b71566503421d30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72bb190cc9fe8531b63912e52ff785be2f0192d3139011790e90fa22bf52f104",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bb8730ff111b908a3ddfc48e88fcd673fb2961e2880ab04755d2a287a53dad8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 64 changed as sent

message 71 changed as sent

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8322, 0.6979, -0.5465, -0.1352, -0.1207, 0.997, 0.6147, 1.9232, 0.9459, 0.2028, 0.4557, 0.318, 0.9953]\nstate[eef_state]: left_x=0.285 left_y=0.0034 left_z=0.1797 left_yaw=0.0804 left_pitch=-0.0935 left_roll=0.0062 left_gripper=0.997 right_x=0.4197 right_y=0.2055 right_z=0.0304 right_yaw=0.0529 right_pitch=-0.0976 right_roll=-0.0598 right_gripper=0.9953\nstate[joint_eff]: [0.0068, -1.4838, 6.8855, 1.7753, -0.105, -0.0806, -0.0122, -0.335, -7.8154, 5.2855, 1.2186, 0.2955, -0.0757, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8322, 0.6979, -0.5694, -0.1352, -0.1207, 0.997, 0.543, 1.771, 0.7277, 0.334, 0.4244, 0.268, 0.9947]\nstate[eef_state]: left_x=0.2814 left_y=0.0037 left_z=0.1754 left_yaw=0.0808 left_pitch=-0.1161 left_roll=0.01 left_gripper=0.997 right_x=0.398 right_y=0.1594 right_z=0.0389 right_yaw=0.0357 right_pitch=-0.0535 right_roll=-0.0479 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -1.347, 6.8855, 1.7363, -0.0855, -0.0464, -0.0122, -0.4308, -8.5949, 4.9299, 1.5507, 0.1294, -0.1099, -0.1832]\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]: [-0.0845, 0.836, 0.6979, -0.5842, -0.1349, -0.1204, 0.997, 0.5426, 1.7653, 0.7197, 0.3225, 0.4213, 0.2619, 0.0121]\nstate[eef_state]: left_x=0.2793 left_y=0.0038 left_z=0.1717 left_yaw=0.0807 left_pitch=-0.1346 left_roll=0.0132 left_gripper=0.997 right_x=0.3945 right_y=0.1577 right_z=0.0362 right_yaw=0.0407 right_pitch=-0.0667 right_roll=-0.0577 right_gripper=0.0121\nstate[joint_eff]: [-0.0068, -1.6479, 6.8718, 1.7265, -0.0806, 0.0073, -0.0122, -0.0615, -7.3231, 5.9145, 1.7314, 0.2027, 0.0317, 1.0183]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4984f9f66f6aed0605f367fdf9e69745ab4b45183a7a7a358b71566503421d30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72bb190cc9fe8531b63912e52ff785be2f0192d3139011790e90fa22bf52f104",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bb8730ff111b908a3ddfc48e88fcd673fb2961e2880ab04755d2a287a53dad8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQCF0Nn1keudbHfOpLu-D4T7v-M61Kj53CVs285sVVPD9a5njXkxOWtAAsiJmLMw0le_D4UiybmJn8T3rVaeh6hoZTHZtGQ6ebO7FP5Lm-TsJFFEmMRqBuBzdBHA0_-77fzJrK_cr1Oyn58cTpgu6MPasbxMPqJtTB3vSiHE35JEgZAmbKFXJVPgAX6NGSrFZQ3WiKGZCeGXMx4k2XrqhzZqjOYl2xm_wCO9UpRXIyjwqI-v31JujwBvOfvtqn9Fb2iDdvWFqc_t_ZLNJSbCsNuVgDWcn-sy0lWNOJ0yZrzgiiHU7Rq0K5BZSgFGM69JtmgQ9KyDsNUGTtD2-kSBBVpUKWhVzWl5n5jGn42ew_V63HDitR6GQMDoSQeulHrpYAK1tRXs8u3ZiTJzRf-cn8W9CJ9gnYhHnWasIQRhwYzOgs7tcgLvNOIYUXwgVQ8Dl6d1qDB9jWGpmHc_5gJWJpIUWzArqQa27-SBCqb16FDuSFoxa6A4yOCdSCLkBxBXa_0Q91rpG-pc5MpxWHTteuZ0LM0vygCWAp7dXBN_zfkSCKrZk61_DiVDk7Yp48BcqyuidNjNuuVCaMKmMb5j3br0cmjimz3sRx59YrcvUc8mNppufDUUERSMZSfFa9k-vN4HcrCFyP1O-LiI00kWUxzAYtAjNDZZ_kcXiyx7GE6_kT2wmi9YbwPABWStFoPFzy8KiAxIZ6pGVD_CKgzqGIJRBW_9fJEPxmdjlxexjVZMX9OINCJPTpy6u0a24pu6PpyNWlj-H19_3O95-XrV1RyKUK2MghstbNBSe9TQQOCpGrktHJsBUEdpbQqkNYv-lE1DmFFAd8Z45WaJqg05a969W-nrw05oGnI2RPDh82mh2gTvu0oZAHTvDFAn_3mQwwbxSaLQTDKya7juUGEP0HA0qPFnPHuSp0ldM_yUQAjqqWZnp6TZzTjeCX1-As08ZkUAOB0oWDyZwI5M65YDKuAFUiYy5x284514i1dqRit7MWWGwKVVg3Vi8VI7Y4oIjH70Hg22nMYHLGJMF3XAx26nk2HxG52C5ufmV45FZ6xim6f1rv5aB_W_7O1rZrXvtDS5PI-OoIipxCHdVf7yGMRfXHWV6SEFNwyCIHpvcRpVPBW_f5qhjoEqhvLOMpHRCO6VzYuph9Fma-_3BI-X-2qL9JTVSqqKAz5igyVHwypOrQ3HWxaAxg3Kgnd8hneJ9a_JGC1Bh54KT8JM03_wf79TI1RdSiUrecTWt_N7bLtJRuhaVpa9K1jWYZhEjXw7ecVA2H4m5e3h0Ct0mNlWp4cGt5MtGuBa-Enm4Yd36ymppqkVMGpoe1BnLkD02kvWNvGs7BIkqS1sYNLb5KNXpvFXgGxtuYc3S1d5hFDHNgHGK-CE1JIG_BGaNx6Wn74oMfyue_5qoGKydHiPderb97_OIQTDp8PR6KIDSmJsVUvDWVnT8WG-Uij3lGexElSfzPXUNb_rIKlLlgeBsdMLkrwU9T8a9QmiCqLIsHz0NGGQRWxGBv7sMawMJkuTiMt3YSpwkBYB-aZTKb2JTEkLzRGLmt54XVF-Y27q4j97tJvJsg6_ZZCUw_BMP0XTBzgGaF-4vR_f6fQvgFRByfeRQH3q8ad27UrnJ5F1LhKJc5epus=",
  "id": "rs_0d43f1177abfa961016ab473ff316887d0a9d285ded536d2b8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.155,\"right_z\":-0.01,\"right_gripper\":1},\"note\":\"The alignment is now correct, but the fingers have been closing above the flattened plush body. I’m opening and lowering to table level to reach underneath its sides.\"}",
  "call_id": "call_NYiDbiniqfA3Mdxq7KFRrQgK",
  "id": "fc_0d43f1177abfa961016ab47400c52487d0a9b25dfd14d8580b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NYiDbiniqfA3Mdxq7KFRrQgK",
  "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]: [-0.0845, 0.836, 0.6979, -0.5888, -0.1349, -0.1207, 0.997, 0.535, 1.9057, 0.6785, 0.5297, 0.4255, 0.2611, 0.9943]\nstate[eef_state]: left_x=0.2785 left_y=0.0038 left_z=0.1708 left_yaw=0.081 left_pitch=-0.1391 left_roll=0.0136 left_gripper=0.997 right_x=0.3992 right_y=0.156 right_z=0.0027 right_yaw=0.0309 right_pitch=-0.043 right_roll=-0.0483 right_gripper=0.9943\nstate[joint_eff]: [-0.0068, -1.3607, 6.9128, 1.6093, -0.1099, -0.0464, -0.0171, -0.3897, -5.9419, 3.6855, 1.3016, 0.1099, -0.0855, -0.0464]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:829531e1f853b656f1ec13813b5d710051cc17c2d0cd2fb82f560fbd19f4b818",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1e503802426a33a22372f8953781a5482cb3d99b57dd04d55fc854ddabd5700",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21bfa6122b0d409af5075593918784222ca3b232a36937fe8f7a08cb35c996f3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8322, 0.6979, -0.5617, -0.1352, -0.1207, 0.997, 0.614, 1.9194, 0.944, 0.2379, 0.4816, 0.3134, 0.0116]\nstate[eef_state]: left_x=0.2826 left_y=0.0036 left_z=0.1769 left_yaw=0.0807 left_pitch=-0.1086 left_roll=0.0088 left_gripper=0.997 right_x=0.4252 right_y=0.204 right_z=0.0387 right_yaw=0.0362 right_pitch=-0.0569 right_roll=-0.0584 right_gripper=0.0116\nstate[joint_eff]: [-0.1709, -1.2239, 6.8718, 1.7411, -0.1099, -0.0073, -0.0122, -0.0342, -9.1282, 5.8872, 1.1941, -0.0855, 0.0317, 0.9988]",
      "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]: [-0.0845, 0.836, 0.6979, -0.5842, -0.1349, -0.1204, 0.997, 0.5426, 1.7653, 0.7197, 0.3225, 0.4213, 0.2619, 0.0121]\nstate[eef_state]: left_x=0.2793 left_y=0.0038 left_z=0.1717 left_yaw=0.0807 left_pitch=-0.1346 left_roll=0.0132 left_gripper=0.997 right_x=0.3945 right_y=0.1577 right_z=0.0362 right_yaw=0.0407 right_pitch=-0.0667 right_roll=-0.0577 right_gripper=0.0121\nstate[joint_eff]: [-0.0068, -1.6479, 6.8718, 1.7265, -0.0806, 0.0073, -0.0122, -0.0615, -7.3231, 5.9145, 1.7314, 0.2027, 0.0317, 1.0183]\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]: [-0.0845, 0.836, 0.6979, -0.5888, -0.1349, -0.1207, 0.997, 0.535, 1.9057, 0.6785, 0.5297, 0.4255, 0.2611, 0.9943]\nstate[eef_state]: left_x=0.2785 left_y=0.0038 left_z=0.1708 left_yaw=0.081 left_pitch=-0.1391 left_roll=0.0136 left_gripper=0.997 right_x=0.3992 right_y=0.156 right_z=0.0027 right_yaw=0.0309 right_pitch=-0.043 right_roll=-0.0483 right_gripper=0.9943\nstate[joint_eff]: [-0.0068, -1.3607, 6.9128, 1.6093, -0.1099, -0.0464, -0.0171, -0.3897, -5.9419, 3.6855, 1.3016, 0.1099, -0.0855, -0.0464]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:829531e1f853b656f1ec13813b5d710051cc17c2d0cd2fb82f560fbd19f4b818",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1e503802426a33a22372f8953781a5482cb3d99b57dd04d55fc854ddabd5700",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21bfa6122b0d409af5075593918784222ca3b232a36937fe8f7a08cb35c996f3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQGfi8pohDSBm34z_mTFexMnsxEqk7lUfF3zZdu9MmnIWbGjBMfyYmUlOtaOJY-wvIMYX-bUNFg0EYBOgeafQVoWQe5lFZPcEq6B0q8_ceprFxvjDEI3rT4HSWE0iMdkSMtJjx1PO1RTQX0OylwMCaRdmDpmxLUMTF6zPXJM7vMWcLUFuzMln8QRgoq7ssMf4B6MshG4sW_BEFkaGQVDpNXxirkA06zlbHRW30FCJcQvE6vMahv0eDIjrzGhC1jCZIXPozjNtc6cHirX7XVtSkl3gXq8tTaNJaAWyiPgX3Aqecv9Zka3wiWM71Hbo2l5PTqbKH5NIsgLt9Mx5gdvMYQCHjyQO_2ngtZvVNsGNI2S9sOjGITOQM6wQ-DiV5BW7Lq1sQ4LMLUbPWZSj07O7ULdWMDCt7GuqlPK890018CTUjU4oqjP8bzB7t_zwX5eSMLCKERMhPYwN_X1HuEeqcwPOhCodWQwG8x9tr4C7kZ_X9jH0EgX2iuSwma9az4xqhwN58UNIbcqVXc9Gd3u5AK6xmjgz7rWlA73OrOsS4ypsufeuQDlFmQezCwv8Ix07QgKGG1d258DH95Vw-vIok2N6BWk6dCapPobPNDRGLE0SBrJma8lU_SeOBZCoh3m9B-XG6PWzSVWG3W6wVD64XGsfIVLdlzZUpAD-EPqKGC0nO4s60J2xYUsNhuAsfUwPmt2RCmN_5HI7s01HjkbX1v6Lxln_uCIcCd-0mc2oKwVg0UP-mh-uwmbocQWd7z7rig6XrmrKKwDPf1OjfiAS7ez-PhSzWXay9Rc8S2fGFGW-qdGkjJuYyP4eMhtoha8YFQpFhr32CNNH_Xx2XPbK4rt4E2LbFAEbgkPfnX2mZb0kVz813A_TtgC4AchKCyzXzaGifV6MJAV12CIRB-aQMHa0CYqkcshM_l9RBXX5-vViOLMlW_UBceXZc6qN3w7mzxDrPQV2fvSgkOJxwXlsiyJcQ4Xl8gH4dnvstRqyDnkOwjmbIrz5uTvOfgdJymYYrCf2rx8m2lsgjgGu23bVzTaN2ZV5y_wPndSvlFIIlkFhnVIM4AJ6yFu6WdLQMAI5tnDdmLkZvUoLFKZR2DVF8NnJ9o2mIXsJMjZwtoDYbvInqwBtlbZdlVrfvHEtkvJGXEWgphoMzbFmS1zx-XKjMJJvZEimbzBXFbU3HnDgJiar0yZydH_xybv-AjOsBesqP7EyDOkDtAGQwLYcoa36cxH81Arja54SIitvP-H7sixKHS_-00fQZn4FNgx6i7zOQ3LxzHPnQeI-E2HjF8aXT5-Q==",
  "id": "rs_0d43f1177abfa961016ab47404b5fc87d0a11be184846b05a8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips are now at table height on either side of the plush body. I’m closing at this lower height to capture the toy.\"}",
  "call_id": "call_KGRiEJKr231mFKdRVmEmYWVW",
  "id": "fc_0d43f1177abfa961016ab474054cf487d08381bbeb907e8f30",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KGRiEJKr231mFKdRVmEmYWVW",
  "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]: [-0.0845, 0.8387, 0.6979, -0.5926, -0.1352, -0.1207, 0.997, 0.5354, 1.9152, 0.6739, 0.5484, 0.421, 0.2619, 0.0381]\nstate[eef_state]: left_x=0.278 left_y=0.004 left_z=0.1695 left_yaw=0.0815 left_pitch=-0.1454 left_roll=0.015 left_gripper=0.997 right_x=0.399 right_y=0.1569 right_z=0.0005 right_yaw=0.0345 right_pitch=-0.0404 right_roll=-0.0429 right_gripper=0.0381\nstate[joint_eff]: [-0.0615, -1.5521, 6.8444, 1.5946, -0.1294, -0.0513, -0.0122, -0.0889, -9.0462, 4.9162, 1.4432, 0.2418, 0.0708, 1.116]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7bf34f03dcabcb68c72aa4435a299ffdad5be4155882944802611cd2d2d4cde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4552f99bd6ce72b543cdbeb0a36027ecc5eda364aa42af94670168917b560a44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5619ff6c4b5f71e89f8a08bba8c6336d14641f9d934011934b93e657f342d97",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8322, 0.6979, -0.5694, -0.1352, -0.1207, 0.997, 0.543, 1.771, 0.7277, 0.334, 0.4244, 0.268, 0.9947]\nstate[eef_state]: left_x=0.2814 left_y=0.0037 left_z=0.1754 left_yaw=0.0808 left_pitch=-0.1161 left_roll=0.01 left_gripper=0.997 right_x=0.398 right_y=0.1594 right_z=0.0389 right_yaw=0.0357 right_pitch=-0.0535 right_roll=-0.0479 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -1.347, 6.8855, 1.7363, -0.0855, -0.0464, -0.0122, -0.4308, -8.5949, 4.9299, 1.5507, 0.1294, -0.1099, -0.1832]\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]: [-0.0845, 0.836, 0.6979, -0.5888, -0.1349, -0.1207, 0.997, 0.535, 1.9057, 0.6785, 0.5297, 0.4255, 0.2611, 0.9943]\nstate[eef_state]: left_x=0.2785 left_y=0.0038 left_z=0.1708 left_yaw=0.081 left_pitch=-0.1391 left_roll=0.0136 left_gripper=0.997 right_x=0.3992 right_y=0.156 right_z=0.0027 right_yaw=0.0309 right_pitch=-0.043 right_roll=-0.0483 right_gripper=0.9943\nstate[joint_eff]: [-0.0068, -1.3607, 6.9128, 1.6093, -0.1099, -0.0464, -0.0171, -0.3897, -5.9419, 3.6855, 1.3016, 0.1099, -0.0855, -0.0464]\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]: [-0.0845, 0.8387, 0.6979, -0.5926, -0.1352, -0.1207, 0.997, 0.5354, 1.9152, 0.6739, 0.5484, 0.421, 0.2619, 0.0381]\nstate[eef_state]: left_x=0.278 left_y=0.004 left_z=0.1695 left_yaw=0.0815 left_pitch=-0.1454 left_roll=0.015 left_gripper=0.997 right_x=0.399 right_y=0.1569 right_z=0.0005 right_yaw=0.0345 right_pitch=-0.0404 right_roll=-0.0429 right_gripper=0.0381\nstate[joint_eff]: [-0.0615, -1.5521, 6.8444, 1.5946, -0.1294, -0.0513, -0.0122, -0.0889, -9.0462, 4.9162, 1.4432, 0.2418, 0.0708, 1.116]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7bf34f03dcabcb68c72aa4435a299ffdad5be4155882944802611cd2d2d4cde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4552f99bd6ce72b543cdbeb0a36027ecc5eda364aa42af94670168917b560a44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5619ff6c4b5f71e89f8a08bba8c6336d14641f9d934011934b93e657f342d97",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQMc6U_rcN2u5epSAu9hX40YNsVqIWLSykz43jnFJEMvVqjRXTKpIrx2rkxLVk7Snt0OlU5dAAVAEc1o-IhveCX3eCjKgj-bIJ4eACFxXYYfGqHo7MThRTLlAmnmH9iW_9Wpe3oyBPmpP0_rqydlQdeIdKMr4VzNZ1WeJnFNlX8VAVNhiQSmzXuqFTF4GkT3-Ehp9pIln1a0NbHilj6lEKeDzdU3Jc3PYPtKIlPWrslOUuK39LSEteSDuBrLFOTDYFBYum_2x4DfWiMiV8TcIfDaX5oJreKg7S6HMnGJRrE0bfYo2cNKHVOVDe0h_HoqgBSUlDoQww7ipOKi7SyWrcgeA_dZSPcHmz0NiKEUZ1uDeRh_I8c1536U6AC65ehCqcq9JvSdIz6xJ3zCitQdBDewWNaSMi9K0LGsMR39hogIU6T0sda8E6KyGFb6T9HfJsCmWtz4jAH2Wc0JdKobiX2gVDvvyONaOrT7uvb0a9MKWUedGveoMF38Sw4jACJ3kbjcQjWkhBiLMDwBeJ6F5bD4osMed19QSLWmzxM7qmWt5RxAJKQbZ6o-6YDUAWzNJLLjsR1O2QB6DoBYgnH4lRoIJG4s65brHrZ1tIS3Fx6YSQVW6cUjJHRXHw4UfaH43BG18zHvRdb4ISydfzyMqh-IxdfrSXcbqorglOKvjLOAmN6jRXIZ77E78TRQEbso33pkHegsZp-IDNVwT32lzNtGBv0ByOzC6f6QECN9QuyXwjTTa91xWw7R6KlHt780whvkeWXUKHG-dceMPRo5bmpt9eZv0u4jRghundIFhM7Ia1Bnsbw8sp097u_GMHfJCLIO1r3R-0az-si0oPRhjulcGYzB0RUqrWFu1vebDsVmCmVQgEzP9IU_JjdUq0N2wXTQJ5B2aVnMdbL4P0tEQhxoGtkYzm4O9vbBXAfUvxUCD6Wef5NnyLZshUdsoAvw3ZyrTR65tMd6z23MGz_iKTwBTunzauJHY4ILuSoT-JHGa2q06gShKOlM7gNP-1CSs7FYvFu0xCMM0ZworsHON63mn2ehrBNIJZjSpuGQdiSBFg7I1qewm-xcpYV1IwpXydiDkLH6OanQid8ocbu46SarhxvG_KaNiuX2ciGfnHaYYjM_nTTSgSIY9SJLFTA3_UDHmtlVllhupC5peIXiPZf1XMXmHdZLJI1GAWytSPLXa_nIxtqhbRPevdlGTbPR3mcliiZXAqtpZBp8JwcEJmHPF2TmeFztZqFIEW7DqCu-99HX6Yjeqzp8bYZOMYPiEF3fmT8Bt3GeacoUyAMUV_uyNdFaN2ry7YJF7k0JD6QH_gIMnOXVthemDVPmPtQh68aN2LhcVZioPBYhNxZ25SsRVXzMsfxahTL1fpSe-cFA3DyFws4_qRSs76M9rMq9NzYHG_8igJ8aiW0uCgPFDdmh0JQcXgfm5__e1TH544zo_dO_eybJCjdPprQ4ZotOada7gAj3Gh5yVoRZrGGn4guj9ePABIYfgmkJYGQbWeusSOx-r-Jzzqg20SZ7ihqEaqwtiiyNkwgy8hBC4iB6Q0-_gMfjxw4jI_xryzKa8tuIN5CpAvsf38MVGGAEK5Y2l5kt92WyYz6XFsXu8C8OhwSaC40OlCgHafnbEJtEeg6y6_nMI7F1FKMORIQi6IJe5DYKx_NdYS0JWjZfINMsLf1sWf1JZDmE2xqjzfnwiEJvUJsqeiZzKDgRuA4Cf-bBL0h7Fq638CGogUeuhx3fjciAqdyvgYneq14athGoUxzL9dYOoxppQCXg72JjgoDiQfyyuxWJ_hhu-rNBd-gyPDSxBAjomzgttwRJ87R-29NMBc=",
  "id": "rs_0d43f1177abfa961016ab47408bdb487d08b2afe25d538c1e4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.075},\"note\":\"The jaws have caught a narrow section of fabric at table height. I’m making a short lift to verify that the brown toy comes up with the gripper.\"}",
  "call_id": "call_02LRImI9w7y2rDtrfRNE1oyI",
  "id": "fc_0d43f1177abfa961016ab4740b707087d090ec5b3e529a8423",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_02LRImI9w7y2rDtrfRNE1oyI",
  "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]: [-0.0845, 0.8417, 0.6979, -0.6052, -0.1349, -0.1207, 0.997, 0.5369, 1.6993, 0.7376, 0.2516, 0.4099, 0.2611, 0.0396]\nstate[eef_state]: left_x=0.2761 left_y=0.004 left_z=0.1664 left_yaw=0.0816 left_pitch=-0.1609 left_roll=0.0173 left_gripper=0.997 right_x=0.3945 right_y=0.1571 right_z=0.0561 right_yaw=0.0448 right_pitch=-0.0589 right_roll=-0.0454 right_gripper=0.0396\nstate[joint_eff]: [-0.0068, -1.6479, 6.8308, 1.7558, -0.105, -0.0562, -0.0122, -0.4444, -8.8137, 8.1573, 1.8535, 0.2418, -0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1adfc1df359d64dfe0bcf66721d2684bd8b5a46cbd2880a2bf95d54bc8bcbf8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f8edf15d59b93284e6b81eb04489b620609b1b758e14963fc1704b4068d729f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3d82ea3f0e9684b81a9e2f1d518d6a163fc1bb7dd70199c1ae5bbe8f42a7565",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.836, 0.6979, -0.5842, -0.1349, -0.1204, 0.997, 0.5426, 1.7653, 0.7197, 0.3225, 0.4213, 0.2619, 0.0121]\nstate[eef_state]: left_x=0.2793 left_y=0.0038 left_z=0.1717 left_yaw=0.0807 left_pitch=-0.1346 left_roll=0.0132 left_gripper=0.997 right_x=0.3945 right_y=0.1577 right_z=0.0362 right_yaw=0.0407 right_pitch=-0.0667 right_roll=-0.0577 right_gripper=0.0121\nstate[joint_eff]: [-0.0068, -1.6479, 6.8718, 1.7265, -0.0806, 0.0073, -0.0122, -0.0615, -7.3231, 5.9145, 1.7314, 0.2027, 0.0317, 1.0183]\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]: [-0.0845, 0.8387, 0.6979, -0.5926, -0.1352, -0.1207, 0.997, 0.5354, 1.9152, 0.6739, 0.5484, 0.421, 0.2619, 0.0381]\nstate[eef_state]: left_x=0.278 left_y=0.004 left_z=0.1695 left_yaw=0.0815 left_pitch=-0.1454 left_roll=0.015 left_gripper=0.997 right_x=0.399 right_y=0.1569 right_z=0.0005 right_yaw=0.0345 right_pitch=-0.0404 right_roll=-0.0429 right_gripper=0.0381\nstate[joint_eff]: [-0.0615, -1.5521, 6.8444, 1.5946, -0.1294, -0.0513, -0.0122, -0.0889, -9.0462, 4.9162, 1.4432, 0.2418, 0.0708, 1.116]\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]: [-0.0845, 0.8417, 0.6979, -0.6052, -0.1349, -0.1207, 0.997, 0.5369, 1.6993, 0.7376, 0.2516, 0.4099, 0.2611, 0.0396]\nstate[eef_state]: left_x=0.2761 left_y=0.004 left_z=0.1664 left_yaw=0.0816 left_pitch=-0.1609 left_roll=0.0173 left_gripper=0.997 right_x=0.3945 right_y=0.1571 right_z=0.0561 right_yaw=0.0448 right_pitch=-0.0589 right_roll=-0.0454 right_gripper=0.0396\nstate[joint_eff]: [-0.0068, -1.6479, 6.8308, 1.7558, -0.105, -0.0562, -0.0122, -0.4444, -8.8137, 8.1573, 1.8535, 0.2418, -0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1adfc1df359d64dfe0bcf66721d2684bd8b5a46cbd2880a2bf95d54bc8bcbf8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f8edf15d59b93284e6b81eb04489b620609b1b758e14963fc1704b4068d729f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3d82ea3f0e9684b81a9e2f1d518d6a163fc1bb7dd70199c1ae5bbe8f42a7565",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQQOe38pqdOQRjNa1HffZhKoAa05Rep1iFuCrwo4xXhoCOvEK2nMj_SFzC4FrN67tiodJRN9AT8AMrqq8lLRr7Jfspl6uJuC6DxW6TLz-seZhHlaMxWJchgchPZuFrRTIANNFxJyvMrdrdqA1rMQuoPV5GJs26VBr74qKRCbsNZbOcZgvrXkpQNJBqsF9amJc_kcbN9U1sjeRtI4HmQ74WpScDpzL6jcsijcka77YUdhxvHW-a-G5xlVEBIMkfr_oIgwkRzi3XkPQv67gxgVX1gF4slr4EP9KKfxCsS-ekWrtAAPYRuuJLmvwPDeuuAqeAgAC5-bo_HbmuiMiifVHqvWxEPRpFddnLFmNRul6XtYT-8WsBz7SQ-VL22wpa75HHz5vo5EhitwzlbYsni-GLgN3SXr8XfihDMWdStg8GbFnxkBmv2ibb785SpF4U9u-ZvchX8xm69gBXZKmi9P3RuNJVHfxfGyznYWkvDvc_wawArqKpsVEL1EcLn-nDT-joGRgdnp4zFgZikgOUYWM6IPquD01qnKyb7bWorfg74m4mLCCtWeRsoWXIht69KwNr4XMYx8K7dttbd-MuRn2OGTOqYMMhyI-oNKXCMU3gKEjHr_5HSomIipqLoOnXP_lILuJfKOs6_qi3uKKdbKnspw9XRe4gI5Mq-b5GKIFtLoSdAtfUSj_QVFSXcgs_gLXOiDfXkQ_jQQvU97GhBp1jZYQqHwU0V7ui3r3qsmJdITRhiV8RGUGklL_T7p3bySbQBR3qm8ZIo3cJ1p9KdqGvoOh5qg9Y2PmWyDPYLA8NuSWKXTYdp6qIqs6vsf_VKuLYmdCvXRVHPwUWOeV5VzzHP79m3_aDAKnHpPDTb6uwJ_ICPJtzHlX6prn1j3QU0s_vi7TfTRyJLQoaZ4w10jf6cTpZ8A4BljHzI2f8glIKl9wlkJoP2K1GIJX9FB-biNBIu5AjoSwzCQMDbR52GX13SK_nMVB8x8dil-MeX6lWDodZ7BcY0wn0VKL0A87lREFVdsbpLh-LEpTEfUnm3UoHPFSoSK0pBmB_chwAsjjVLe8OqLELMHiul12G64pMIxz1JgAFBYuBmD1_YDxhnzE2uwlm0YpV2sUMp9wXFItPgrnRdk3kCrko04w8ag10P7L7Q3I4ikmuCbo6BMAQ5bGyRIxkXnt9_tB3y-EW9AyqzHzHhlPnEKsfv155HvIvtoTQAcL9my2tjyayoIhpL17bGf-1A-DnUAAr0EYYfVSUj4yfIcn1oEWacRNLJc--hjvJ4SMeGSD50PLNklUFB4HTM-xsL79l_XbkhhbhfrXirfPTPr06d2-ABbAyE2NTbQTcs1jGIAi5aqDf9XR9K8qQuLg0LvGdwCbGfzzEfNoU0aRPFO7AIEpr7i4SV3gQ_x2AngblPM0uZ2ZQ3Euf3vJq30jCEdBNcCsavqm3_-PlTA6A=",
  "id": "rs_0d43f1177abfa961016ab4740e57c087d0b584bc224b8d6145",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.24,\"left_x\":0.293,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The brown toy is following the fingertips by a thin fabric hold. I’m lifting it high enough to clear the safe’s rim and refreshing the parked left-arm pose.\"}",
  "call_id": "call_dqdjLKMwygl2OrJJIdbQ4VNY",
  "id": "fc_0d43f1177abfa961016ab4740f2a8887d09b290163b3fb0b9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dqdjLKMwygl2OrJJIdbQ4VNY",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1055, 0.8223, 0.6979, -0.5285, -0.1539, -0.1356, 0.997, 0.5369, 1.4864, 1.2358, -0.5079, 0.403, 0.2611, 0.0396]\nstate[eef_state]: left_x=0.287 left_y=0.0005 left_z=0.1861 left_yaw=0.0828 left_pitch=-0.064 left_roll=0.0009 left_gripper=0.997 right_x=0.3935 right_y=0.1578 right_z=0.2126 right_yaw=0.0484 right_pitch=-0.1038 right_roll=-0.0643 right_gripper=0.0396\nstate[joint_eff]: [-0.7453, -2.1812, 6.9402, 2.0977, -0.2027, 0.0073, -0.0122, -0.3214, -8.5128, 9.6068, 1.7656, 0.2222, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddc4d86541f621c67b76f52debb56a37bc7ff63637024f2a876cdc8bef827083",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fc4c04d51b06e211ea22efe0be6036b20cbdf121ef91f0bb5dacc13460aeb1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec4956302393ce2fab19ef15c1c17ba5ca0c323a089bd0e46d1e825e0b922aa6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.836, 0.6979, -0.5888, -0.1349, -0.1207, 0.997, 0.535, 1.9057, 0.6785, 0.5297, 0.4255, 0.2611, 0.9943]\nstate[eef_state]: left_x=0.2785 left_y=0.0038 left_z=0.1708 left_yaw=0.081 left_pitch=-0.1391 left_roll=0.0136 left_gripper=0.997 right_x=0.3992 right_y=0.156 right_z=0.0027 right_yaw=0.0309 right_pitch=-0.043 right_roll=-0.0483 right_gripper=0.9943\nstate[joint_eff]: [-0.0068, -1.3607, 6.9128, 1.6093, -0.1099, -0.0464, -0.0171, -0.3897, -5.9419, 3.6855, 1.3016, 0.1099, -0.0855, -0.0464]\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]: [-0.0845, 0.8417, 0.6979, -0.6052, -0.1349, -0.1207, 0.997, 0.5369, 1.6993, 0.7376, 0.2516, 0.4099, 0.2611, 0.0396]\nstate[eef_state]: left_x=0.2761 left_y=0.004 left_z=0.1664 left_yaw=0.0816 left_pitch=-0.1609 left_roll=0.0173 left_gripper=0.997 right_x=0.3945 right_y=0.1571 right_z=0.0561 right_yaw=0.0448 right_pitch=-0.0589 right_roll=-0.0454 right_gripper=0.0396\nstate[joint_eff]: [-0.0068, -1.6479, 6.8308, 1.7558, -0.105, -0.0562, -0.0122, -0.4444, -8.8137, 8.1573, 1.8535, 0.2418, -0.0269, 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]: [-0.1055, 0.8223, 0.6979, -0.5285, -0.1539, -0.1356, 0.997, 0.5369, 1.4864, 1.2358, -0.5079, 0.403, 0.2611, 0.0396]\nstate[eef_state]: left_x=0.287 left_y=0.0005 left_z=0.1861 left_yaw=0.0828 left_pitch=-0.064 left_roll=0.0009 left_gripper=0.997 right_x=0.3935 right_y=0.1578 right_z=0.2126 right_yaw=0.0484 right_pitch=-0.1038 right_roll=-0.0643 right_gripper=0.0396\nstate[joint_eff]: [-0.7453, -2.1812, 6.9402, 2.0977, -0.2027, 0.0073, -0.0122, -0.3214, -8.5128, 9.6068, 1.7656, 0.2222, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddc4d86541f621c67b76f52debb56a37bc7ff63637024f2a876cdc8bef827083",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fc4c04d51b06e211ea22efe0be6036b20cbdf121ef91f0bb5dacc13460aeb1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec4956302393ce2fab19ef15c1c17ba5ca0c323a089bd0e46d1e825e0b922aa6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQaxYB8r-nZgddZl3T3E1QJV9wlHh2ARjE6DCeq_9LvtLiNkqrfZ59tJ-XRmRmC1-PMJvojcH_-zmdrJa4GSJKpYWtj0_y5Ycn5y4T3IYiIEoROuGFhNOY6of-yyJzyCA_Vuz6rx-UsPseUzImH863B18D4FfVZYuXMKIfSl40YmZcJaHz3AN79dIF-7b-95DJN_usen6xh9SsBTZm_gaH4qGOtWRcm5hvvuzRIp67XMtxGezCl4Lt6J35eDEZZjwC6vmZhwUuGjd_kHx63vV56N_mBB4XB7qDjY5ZPjFmyeU9DubNVEoms0vO15lWHeunwlvgaxq9LnXyPTmCibLXWrHhG-05azM1M9dp4BzpbYzMXcNtvvFuMrHEzdZdrhs8pLz6xlBkR7A9ARApfgjc6wddOSlANWgg0X4J_tros6LdV_t64OrmLQzeSicF0GDQxV1AW8Zl-a4Fa4_CMIuN28CEsYWpPDn2eEk6OCgcQW2dGtsrqMGIAGcT5TO89IcrvULDu692HjtZ5j8tY4WTG9KBznCgeXpm2qxV-kGlFzX5yoOrARZPxQkDvvjOtL2b6jPXCFQN_OxBBkuq07xr8D-ZdHPTAuMf5mBTTh8EgYMmrQiL6J6mcr3CXYodIMpnNUilOkU8YDHRuPSTnwT-Dr_FsOx7dDZImq9HknhCc5WeKu4OdefqBHFk5dWLE_4jq3D1C5FdkXOM2B9PpyQhrv2YJP6llCRL8NB2IDjQJbRRH4_3aguLNKMFh2wOiiyz-kR06u1ZXWPrYbP2io3Zx1pgBbPeFf3ZcvS-G6Vbg20SP92nw-8iLi8Uvy214ALbuyHXksleQHJXjKoIHBJcgTSk-z1mNq7o_0vjI1LfXlYCNd2JlitSXeNA42SlLAgsWiCkUFfH2niRK8fpcheCK6tZBGtEpt4g3Atz4H5CDG5q32UuAqdcTeFaV1Xr3_LZLstD5mxbaVqGUVS5QINzr0yX8sBrRAQX1qigNohp-yKQ0bnCJOqRfNcgjkInLRIXaLgH6ujvZo4c5kg81ZM7jQWkiSKYvEHJxTauUrWwfnh6HW3FfwnExAIpo6bWOnSu_JO1Jsddxvg_DE7cDNEapT-DGVVexm6GcdkTmoUyZhhN7gxsad5MJ17vPpHA3Dkt0NEr_jnSrrRiYLVKpAWLLKno_-hf9Z18VcuWCB8KyTBqTndU5Vfk_da0yDJUhLsmQMj0wbOg9jUAIzqcwYsfBeiMHORZk0pOzCKuQNdC6Q7mV1IjG5iBEvlOfRu7orh6jxivw9ep-8Lwg37vaNyp120rupN74OUGtr2cmxnT-iTOu07qqe2NMytDQHkd6JboST5K8Q4SK_l9DdYL-jRdn5joIlTcRaEFchy_SqzkSCffMvSam695br-sFFvINB1qFRoQEloAw0MvbBUIJjJyQHrHDTkqnISIef6zQDxNQXDfu7lON7gSbKZCJ_5oaJWRBRWk781Uh2CT1AVz3SGUiKO46_r-icEICCCoyIcgMxINaIhR0zY6ij600FO2rWshQm8-iTRi7g-YppdZZatG8Ye0w2M5apKX70FlzqOy40E9d20GDKhRqv1wV-qHoXFUKJkkYYFmVLCXEY1sdn-fABdlii_taZifu9G6wrdA6NCbSuI_D1yYmzosNYOGQFXp0GuT54PanNRQYzhhl7W5XmoFggq6Q8iSd6VQJUxu3syOn_RXkfvmV9Zkzd4JfewJK4pd74Fu_xUlHGOh2U97_kv1DusAf_QyKt_nUMyDYnTXpKwzk4EhXeNlPY6PSymKzSt5Kn0fUbc786nWCiSip-ZNJJLhHvY0hB4egT2jSsK0VOZp4omaRRv7NqeWGh9SL1MkB_R2Mm6twvqv0Mrkitw02oq4sjZBXY4ne1CR77ZOnrTGGxN5Aq7Qcspb_tRh5pOkfFqAD438moKj91BLH6OW5IVFNXYYObH-qHFNJytcq0_PuidxmYoTG10gLB-cFlG1EimlticINIrW912QVM3bYm4rK7KId6EHabDZlT-3Dm-nfbXrg13BhCV-sywGqPFl7a-tP5MQ9Oc7GXAqMbB4Gi2LjMqwup7UC62VDHLn_SDh_yXv0rE5ff8HbaOlA1YUKU0l31MXMgEnBz3yM3ZbnyoxhTqg5bu-ya29FbbELXcP7ciJ0zSKigThaBFjBm9wx3KPd5YCMUiZV6wOEez0jkxnucAge-zNCqNnJgCkpLFdvl8iTpx5dDUGLAS640Uycw_7gl7XYqh46D30On47u9H9XFPew1r0dz_2f4nqI5DVYevg_hJ3ZMCVSTt_BS0MviiCuCA-AgK-YngHWyAHxn_QKUE1FtskR7qSFFouZ09WnAqw_sRJuPvnTpYavsXee84o69PAFynOd9Bq6Gs4krrPQQZSF7JJW1x_IZv18rB2wWdlU96mdME6gfbPhEXIjDooqFoU0ECakW0SJRvFe3F6LfSS7jLSK4wMx9PW3Z2cXdyCKVp3Fi6oJWLzX4BYE83d_sWlKt378GoOzmwUAYZlZr1REUYF1KLmR9knl_Fu8d_8QRybClnpHWrSluh5A4OcsTIjlccZuyWByoIym5og8hQFo_drgpE2l970gUCmkw5Nc27iYXqo48HhMSXAjrvo0HWlheMZZhHqT-8-Jz25GCzXUSWBPdcG88QP-ckhCLyZ68rhcW--cqCebeigcElTx7emox_PBR8YLkjnE55vZIYG6aBnU-GoACdGjDE8kihzvkq_8x_79vhrO",
  "id": "rs_0d43f1177abfa961016ab47412c68087d0b48b4dee77b19c06",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.315,\"right_z\":0.26,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The brown toy is clearly suspended from the right gripper. I’m moving it over the safe’s open tray, keeping its dangling body above the rim.\"}",
  "call_id": "call_VQo8kIv8sy06An6I51Bre2R8",
  "id": "fc_0d43f1177abfa961016ab47418da7c87d0acb23b63465599d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VQo8kIv8sy06An6I51Bre2R8",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1055, 0.8246, 0.6979, -0.54, -0.1539, -0.1394, 0.997, 0.7578, 2.0396, 1.9915, -0.7303, 0.5461, 0.3992, 0.0396]\nstate[eef_state]: left_x=0.2854 left_y=0.0006 left_z=0.1833 left_yaw=0.0851 left_pitch=-0.0775 left_roll=0.0005 left_gripper=0.997 right_x=0.456 right_y=0.3101 right_z=0.2406 right_yaw=0.0824 right_pitch=-0.0617 right_roll=-0.0495 right_gripper=0.0396\nstate[joint_eff]: [-0.3214, -1.4291, 6.8991, 1.7607, -0.0659, -0.0366, -0.0171, 0.1162, -11.3709, 8.9915, 1.5995, 0.4811, 0.2125, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9a4c1ea930efe7cbe677f6489503d58c32c80f505bbe1cb5159207d2505377d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:506339864968f8b62bb150e80ae837ec185a5e1f0b16d2a5ed75653204121fbd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec8d8a7e8846ff093404c2fe7bf148d5d308e0c9f1eb4c1099e23f0d3d6e124b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8387, 0.6979, -0.5926, -0.1352, -0.1207, 0.997, 0.5354, 1.9152, 0.6739, 0.5484, 0.421, 0.2619, 0.0381]\nstate[eef_state]: left_x=0.278 left_y=0.004 left_z=0.1695 left_yaw=0.0815 left_pitch=-0.1454 left_roll=0.015 left_gripper=0.997 right_x=0.399 right_y=0.1569 right_z=0.0005 right_yaw=0.0345 right_pitch=-0.0404 right_roll=-0.0429 right_gripper=0.0381\nstate[joint_eff]: [-0.0615, -1.5521, 6.8444, 1.5946, -0.1294, -0.0513, -0.0122, -0.0889, -9.0462, 4.9162, 1.4432, 0.2418, 0.0708, 1.116]\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]: [-0.1055, 0.8223, 0.6979, -0.5285, -0.1539, -0.1356, 0.997, 0.5369, 1.4864, 1.2358, -0.5079, 0.403, 0.2611, 0.0396]\nstate[eef_state]: left_x=0.287 left_y=0.0005 left_z=0.1861 left_yaw=0.0828 left_pitch=-0.064 left_roll=0.0009 left_gripper=0.997 right_x=0.3935 right_y=0.1578 right_z=0.2126 right_yaw=0.0484 right_pitch=-0.1038 right_roll=-0.0643 right_gripper=0.0396\nstate[joint_eff]: [-0.7453, -2.1812, 6.9402, 2.0977, -0.2027, 0.0073, -0.0122, -0.3214, -8.5128, 9.6068, 1.7656, 0.2222, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1055, 0.8246, 0.6979, -0.54, -0.1539, -0.1394, 0.997, 0.7578, 2.0396, 1.9915, -0.7303, 0.5461, 0.3992, 0.0396]\nstate[eef_state]: left_x=0.2854 left_y=0.0006 left_z=0.1833 left_yaw=0.0851 left_pitch=-0.0775 left_roll=0.0005 left_gripper=0.997 right_x=0.456 right_y=0.3101 right_z=0.2406 right_yaw=0.0824 right_pitch=-0.0617 right_roll=-0.0495 right_gripper=0.0396\nstate[joint_eff]: [-0.3214, -1.4291, 6.8991, 1.7607, -0.0659, -0.0366, -0.0171, 0.1162, -11.3709, 8.9915, 1.5995, 0.4811, 0.2125, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9a4c1ea930efe7cbe677f6489503d58c32c80f505bbe1cb5159207d2505377d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:506339864968f8b62bb150e80ae837ec185a5e1f0b16d2a5ed75653204121fbd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec8d8a7e8846ff093404c2fe7bf148d5d308e0c9f1eb4c1099e23f0d3d6e124b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQe6fS0bWMQKllFpS1JGW0BaMUjTUjuCv-lFRCu97qzegmfHL49dAonBRPEFdqGWs_oTIZ3Y-HhkyxQvZ37GebyMTANs-iXCL9WqoRtHc6wJ9ZsjsxnMPN-5ZwzUzYOwqKrVf3fzbNhA4BKZFq4XQKFJbdSQonkklcskyiy69l14yH6jCoM37_cOrKwk7tbJGrEogmYAgBl_jLT-563blLeeaAliFXazeAyGioPPI6hB0bStgbOHACKBVywlTVDLCiEzIV_dwruBNZi7Ly_hWjc93eOpp8oiaT1P-1KLVEJANcFHqqmQdwbLfV22OR931Fwx7D98nOmu-deMA0_CuKvTEKW010l2qfxwzRj_zFIB-hQW4A2sDPWfi9qJTVIAzBh5Z0V3bMGmqaFyp4yZw1mXufn1q9y0XJ4dUDg8IpDXbmLZh3LVyK7PFu04Kthe0upEWw0NbpQgNDVB9-eF3DRBmY52TWF9IK7tp4VUhmVLcd_FJGdEjUjAw6Krb1hBuX1aJj20I3fdrSK8bUAlFtDyfK2pmpZD7sVyvg19O0L3dZuf-2xM7T4KUBJRcgquZK4gbU9JbVfa1xkmwpfmVuWcQ5ULyh3C8mhvnnVSL9je8iTLZUEk1bCCVv-P76K0QmMHFG-heAJj8taK6ABm_Pyz5GpqXk4bjMUVp9YHWCDdzJkvJVKo_h2AZJEhYqFs9ZZSgPgSHUUt7Vwj5jjh7vOrIRVQdwseUPvEPYiliAsl56YVVye4NkOEK0euZAyYS-rKaM5ev7ks06q6iUSYwA-2DOuJb6zYrjcL76OU5DrMFO8rOWlU-NP7r1pQK3efS1nx2Sz2HwKdZRsNUCiRhTlNuJXGE1DaaoTPafZmqqcMQ7TWiVbnbqFH6b0tD5_xdaHd4Pwt8_SniftwgmAsPphgyYSWGlMmKNuRd4TiYfpJh3iY3JQ51aGvWBkwVREAra7__bAmYpveEyy2FU7a2IkcQEV3JzMY5juf5gMlAoTTEHC9EmKGyS9IOd-qW7GPYcVxQFNkMCfUXfiv9WaLNl4lWZUMdKd8iP9LoyawLb4infIeelEqjoAmSbRwHTTsO0K5_H-F9OlzNNDcSFX8AITxpxmKR1dfghAxCY5z7lRLWi0zyoztc5JUHHqCoWdPefb2A_t_thZE10BJ7Ayy60KjkPa30UXgYEM8sRKy0jI6SwYnUl0DXwyj0WjiOxcZ0rqfv5X_XVZKvufJAqV8wBmmA-dTvjWpG7FLjI3DQ2OvUNsjobBKWRhzHei2hunE2z38WZE5ipzFYcwM2ZAvufns9xCgvstHnUqBgnb0TYCvjFCME44NFmBbfS590bDBSYnPjJ7QgJbxjSot8F-Dr7ysbOT0Mo520Bim__DSWrwnAA=",
  "id": "rs_0d43f1177abfa961016ab4741d5ab887d0ac58b77f24598267",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.32,\"right_z\":0.11},\"note\":\"The brown toy is over the compartment but hangs toward the front rim. I’m lowering it while nudging slightly farther into the safe so the full body settles inside.\"}",
  "call_id": "call_CIBK8zy74t1YyfSUIsYcmatT",
  "id": "fc_0d43f1177abfa961016ab4741dffe887d0b28fd490434fb8d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CIBK8zy74t1YyfSUIsYcmatT",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1051, 0.8276, 0.6979, -0.5556, -0.1539, -0.1425, 0.997, 0.7277, 2.1658, 1.71, -0.3485, 0.5232, 0.374, 0.0404]\nstate[eef_state]: left_x=0.2832 left_y=0.001 left_z=0.1795 left_yaw=0.0875 left_pitch=-0.0958 left_roll=0.0017 left_gripper=0.997 right_x=0.4813 right_y=0.3153 right_z=0.1161 right_yaw=0.082 right_pitch=-0.0929 right_roll=-0.0725 right_gripper=0.0404\nstate[joint_eff]: [-0.3487, -1.306, 6.8991, 1.7802, -0.0757, 0.0024, -0.0122, -0.5402, -11.3709, 6.4752, 1.7216, 0.1587, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa180b5036d564078dfedd8693ed43234e9385715afdb1914191ee7590f59db2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66bbcce120acff1bae2f575ce4ca299fb9dd9d8dacc7869ad128be3655244b7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:469868e37ee79acf0d1459e7e2caae58798d84b8e075b6923898a4552bb7e53e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 0.8417, 0.6979, -0.6052, -0.1349, -0.1207, 0.997, 0.5369, 1.6993, 0.7376, 0.2516, 0.4099, 0.2611, 0.0396]\nstate[eef_state]: left_x=0.2761 left_y=0.004 left_z=0.1664 left_yaw=0.0816 left_pitch=-0.1609 left_roll=0.0173 left_gripper=0.997 right_x=0.3945 right_y=0.1571 right_z=0.0561 right_yaw=0.0448 right_pitch=-0.0589 right_roll=-0.0454 right_gripper=0.0396\nstate[joint_eff]: [-0.0068, -1.6479, 6.8308, 1.7558, -0.105, -0.0562, -0.0122, -0.4444, -8.8137, 8.1573, 1.8535, 0.2418, -0.0269, 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]: [-0.1055, 0.8246, 0.6979, -0.54, -0.1539, -0.1394, 0.997, 0.7578, 2.0396, 1.9915, -0.7303, 0.5461, 0.3992, 0.0396]\nstate[eef_state]: left_x=0.2854 left_y=0.0006 left_z=0.1833 left_yaw=0.0851 left_pitch=-0.0775 left_roll=0.0005 left_gripper=0.997 right_x=0.456 right_y=0.3101 right_z=0.2406 right_yaw=0.0824 right_pitch=-0.0617 right_roll=-0.0495 right_gripper=0.0396\nstate[joint_eff]: [-0.3214, -1.4291, 6.8991, 1.7607, -0.0659, -0.0366, -0.0171, 0.1162, -11.3709, 8.9915, 1.5995, 0.4811, 0.2125, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1051, 0.8276, 0.6979, -0.5556, -0.1539, -0.1425, 0.997, 0.7277, 2.1658, 1.71, -0.3485, 0.5232, 0.374, 0.0404]\nstate[eef_state]: left_x=0.2832 left_y=0.001 left_z=0.1795 left_yaw=0.0875 left_pitch=-0.0958 left_roll=0.0017 left_gripper=0.997 right_x=0.4813 right_y=0.3153 right_z=0.1161 right_yaw=0.082 right_pitch=-0.0929 right_roll=-0.0725 right_gripper=0.0404\nstate[joint_eff]: [-0.3487, -1.306, 6.8991, 1.7802, -0.0757, 0.0024, -0.0122, -0.5402, -11.3709, 6.4752, 1.7216, 0.1587, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa180b5036d564078dfedd8693ed43234e9385715afdb1914191ee7590f59db2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66bbcce120acff1bae2f575ce4ca299fb9dd9d8dacc7869ad128be3655244b7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:469868e37ee79acf0d1459e7e2caae58798d84b8e075b6923898a4552bb7e53e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQjk5ZIt0EvVQpi2QnyRJMZ1evmBA5Fjr26j1I6INhRiy_iQssn3TsOxrfDyemVrtNaZ4WKQJNoiKLqnUUhhUKtiYbSxV1FBET8UOZ0pIpHgqfidOfr5gBqLNycA6OUKdc-BKJ2sf570TeQLlpf5ZgsdYBcyoehskKO-anXIFpCGuS5XfWonOOoE2E2Z8JiKBcd_VVHfHN7OAaJy0er_zlf02TiKYpXgyxBw6NHWRsxLus-5VEs5VeYkc6cRbyPApQpSZA29y0W7oA_C-lv8nrjTH5o05QFlC0Nqs0rZe1UlS5lVWX7pOQv_xPFxXLIuOwys_Uk1bxm-dvSDYGQMaDKQixmZSnY3OMJDdTPU2QAhO1kQsJvgBjuOGfBPx6D7zKpVHlDkTDNq3VN1DcPnQ25R7zLhCVN26rCy2wPE8zBA4dZpFeLOl1PSHqjfLdKlfj7cFv7s1_TDKohJ4HyQ__PFT4rohV7OMFhX-O4p83xdjTwdDxubw_WMDNiiRCu_7_cdORFqennfhuEOnr-Lgr8ylZgj3AUuYxQtbGBh4kVc0ffMgmEy7SBAtxP_FY663ouToYQNKVBkBdDIYb9rooY8OkQy-rZUWqDDHPHuKVei3e5zBl-J9NY2r0zCegt_-swacc9-oqa8YgrkI_Fh_wVDtTI5WCBGYz6GYZwaT9vzixAKi_DBNcm9om8eFwaBKlU2ZFwoZMsVTdVV7Q0nznsaJ2dQibF9TkvtirXN6Fb8eXLIl-XpbNNT8pfy5rSAj1Yyet14dyS2EBmx6ON1fsAOSPfoRzvi5BJN6F1BJ7Mji3bIEzyWXnvQQ4Z8Pu6PQk0_7193WUUuhfsFFxlb4Hfnr0LY_C3ad3_lk2g8eqCE1zI_kmLzR5zDNe6om8YA2Ck3WEu5Xb-d6UDRG1LVkJnlbHCUhYwi3jg1SSszs0PS48tflaF6kS_WpamDn3jn8XCnr4F13dZ2nWlD5RcoRSkHWICxwhY5NdxvbXtcQu30fEPk1m4r7jitJLcHhJ7dwEE0XFg8g9Grepvq0mso7B2SUqchHuryMbv-t67w-zzOt4ack2749WJIf06ujr-NQQkLUuAml-Xu53vleRRvE4L7Z4O0C-mS_Z5rJIVpcQlco7KPzYMEvAUkLiUTE1r_YAjb6L0j-ySs1puzSsux9Q01k0jVYkPhD16YSaOvVa1Ny3GSTIQP1_mt4KmY9VTOsRyR8R5785In_QKnOf7BgLV1UeKUH0Zq_tg1wYCoFwOiKPZ3dYDCxUta9n42Vzj75o1SkPMg9TLcQQn2ZFlq0UIGxU8qw1g623llurA8ATqvzN-N99S9y2MmQBk8kru0lH1",
  "id": "rs_0d43f1177abfa961016ab474212c1c87d09905dd2b70a5b09c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The brown toy has been lowered into the red-lined compartment beside the pale toy. I’m releasing it inside the safe.\"}",
  "call_id": "call_IJcoEDEbLCBjTEtPfCQNX1r1",
  "id": "fc_0d43f1177abfa961016ab47421bd8487d083f91fcb85436513",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IJcoEDEbLCBjTEtPfCQNX1r1",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1051, 0.8303, 0.6979, -0.5629, -0.1539, -0.1432, 0.997, 0.725, 2.191, 1.6947, -0.3641, 0.5159, 0.3672, 0.9946]\nstate[eef_state]: left_x=0.2823 left_y=0.0011 left_z=0.1774 left_yaw=0.0881 left_pitch=-0.1055 left_roll=0.003 left_gripper=0.997 right_x=0.4771 right_y=0.3111 right_z=0.0935 right_yaw=0.0845 right_pitch=-0.1413 right_roll=-0.1073 right_gripper=0.9946\nstate[joint_eff]: [-0.212, -1.4017, 6.8718, 1.6923, -0.1197, -0.0464, -0.0171, -0.1709, -14.735, 7.9932, 1.5067, 0.2076, 0.022, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2a2e78d8f3fce1607d43e6789095877e62129f411eb09fe777e1ed2ef0b1bc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25b712c3bcc634e0d1c8c5aab64fe56c01cd3f339df0204d220dd4a8175e39ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44f962b1e760fbe53ddcbd6905daaad048a42f93c932e44179ecf5a46223fea7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1055, 0.8223, 0.6979, -0.5285, -0.1539, -0.1356, 0.997, 0.5369, 1.4864, 1.2358, -0.5079, 0.403, 0.2611, 0.0396]\nstate[eef_state]: left_x=0.287 left_y=0.0005 left_z=0.1861 left_yaw=0.0828 left_pitch=-0.064 left_roll=0.0009 left_gripper=0.997 right_x=0.3935 right_y=0.1578 right_z=0.2126 right_yaw=0.0484 right_pitch=-0.1038 right_roll=-0.0643 right_gripper=0.0396\nstate[joint_eff]: [-0.7453, -2.1812, 6.9402, 2.0977, -0.2027, 0.0073, -0.0122, -0.3214, -8.5128, 9.6068, 1.7656, 0.2222, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1051, 0.8276, 0.6979, -0.5556, -0.1539, -0.1425, 0.997, 0.7277, 2.1658, 1.71, -0.3485, 0.5232, 0.374, 0.0404]\nstate[eef_state]: left_x=0.2832 left_y=0.001 left_z=0.1795 left_yaw=0.0875 left_pitch=-0.0958 left_roll=0.0017 left_gripper=0.997 right_x=0.4813 right_y=0.3153 right_z=0.1161 right_yaw=0.082 right_pitch=-0.0929 right_roll=-0.0725 right_gripper=0.0404\nstate[joint_eff]: [-0.3487, -1.306, 6.8991, 1.7802, -0.0757, 0.0024, -0.0122, -0.5402, -11.3709, 6.4752, 1.7216, 0.1587, -0.0513, 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]: [-0.1051, 0.8303, 0.6979, -0.5629, -0.1539, -0.1432, 0.997, 0.725, 2.191, 1.6947, -0.3641, 0.5159, 0.3672, 0.9946]\nstate[eef_state]: left_x=0.2823 left_y=0.0011 left_z=0.1774 left_yaw=0.0881 left_pitch=-0.1055 left_roll=0.003 left_gripper=0.997 right_x=0.4771 right_y=0.3111 right_z=0.0935 right_yaw=0.0845 right_pitch=-0.1413 right_roll=-0.1073 right_gripper=0.9946\nstate[joint_eff]: [-0.212, -1.4017, 6.8718, 1.6923, -0.1197, -0.0464, -0.0171, -0.1709, -14.735, 7.9932, 1.5067, 0.2076, 0.022, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2a2e78d8f3fce1607d43e6789095877e62129f411eb09fe777e1ed2ef0b1bc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25b712c3bcc634e0d1c8c5aab64fe56c01cd3f339df0204d220dd4a8175e39ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44f962b1e760fbe53ddcbd6905daaad048a42f93c932e44179ecf5a46223fea7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQrFXxRqNC9zXLwqJnvZVnIjAiWbFX2iP46lue0_Gmx9Q4nqxVz2HvGt9ANbnRjRoIyfof06qnIfJPIRfqYDXq6VVs1D5mYo73QVZGJYANo4ysdmD--kWOwrrvL2wI-_9f6OISSXPsA72eUkFc70bkMqcpYLnM7eOoRUgr-PPRR7jeDXrSGIB-iRzOGrDz_eAPm77wZOg1Qw3R6mfoFEwlIWLpxMR0Zt6CVAbwszboYnSM_jiLBTMTmkkoJO40pd0jLuMhiHaADqxVF3VuFsgCTc04siinh4tuUEBJuEoX8aovHSRpDEUq4DFQMZR1azQVVBNAM2C90f9OTauggL6uMRnMfTXYWWAPP0jXbYuGKAsrh7wzb1brbA_PrOiVd1y7vdVB1_I6opaumft3fcOBw83dM7FSPjhPk77oO9SgZ8-iAQd_xWNoc9dzULG9qA_oy_vXefTMvRr-f5pPlyhqT2gK487rS96wG6-5DQXnjb-DFLd1ojlTKnymCLuXK-vbv17KvTt23iK39_Y_D0bkZk9zzMC87bGNANJXK7M6IikvmCa8GKjDviZhZZ7F47SDKufPuI-CDDhk_tiNGbWHH6fkhZhqM2m4Z4DIvdVVAoyrTJmXMhDTs3-h0HmbXBQWuohxahwtJAauVcAvPpkNCNUV5d6sBkOpwjg_o2ms6ggP2S-KGW_rOAziiW5znhlgmifpB66EiA9j2rFVHgMel4Uz3UFuO19sAOrUnDOo7bKJh-TMy2L0X1X6Sae3gqXBg3JEAv2VpwgTmM3sHJERRMmM3jN7iFK8b1GsAXW1jJNrxIe5loqAqi81UXwL6yLLMq35ztZM8SPZ2lFdwSZprR3EaD3_rWyrKCbsXkDGmPet5UiziUkrvhNk0HWc6_WN_pQw6SyH6opP0Bhtn8JSKhd3XKPiZF0_pA3BzoevUyh3VOAsO5ih4oUW3aQllaR6dwY8VJW9AyskRS4wsD9lvgr0RiCL7rcpUTseOofO3e5xPXwG9wx0YLyyGp9ZJCTW14yo2noBJWPjDxPdwmAEeGaq-Eawonn_I6dMnNP-Ou2UIaf2N1K2V5vCckLB_tPL2o9ULY6WeqDtRRMGlwr8IXo_JdcwiDVOewIC_ZlpdkAdtTxw3XWQ7yxR07cRrcm8fa-E7yOi0K9VqYy4Kze9TZbR6iPEA4aPBJMEaub14geA6jQ5G8X4g5DawxsKNKsaUZKobt45NKIFwEbq4UjjEGikVKiIFIFyW6nz6DhcWCkRDjAIlHGZwlGaidsh3z55LM26IhzgUL0MZaLubvVYFmvgpcur1_HhFD8YD_TdYFL4vzjysS6ePyFoKk0_1vNyfx4SiQgrIZbxSdxyHJkD-YEmNERkreBOhTYLuHksAVQAMvZyKc9VByoZWX4iZN7wqpQJnNqlxz-SBtJVau2IDLTQPxFvXE-s4-QSy0Gms-U2wxNC5fDlSLEQENDmM-YXID9qeEEJEt7dfeJM4fSS6f92etR6Rxu4a7LbdsdbvtWwvQe4pNPZEyQ0kSEC0yxC4QVDfvspsKJUXFRjzmKZqMGvtnzsh7nag-eHVLSyoJODLanSw6fyny7NgfJsUbhHhwl39g04B1sbIMU0xjbnj0tlaxVSmAgK5EfpamxXCsoeiTVgl1gh8lnWabmaliZh7JSqbUxsylAybhNO7pWJAHHQwEe-_1-XW1QSvB-Ughua2rrCDXx1jHZl9LEen3DzPARJIuR1xd7bfzc7hPLD_BxQoc4wMKKyIqjhkQAjc2IQUl20neRPvMwoO1pPoSISPFs8y3dJlGoL4pOczBFjAfK8C2LkWcHY5Q4vaZof4_Sh-mAdOd2dNViBK6jW2U94LzM6yCKktgIhaluO0pPXccJqZG0__ZpXSnrkv5cKKrgDSVGLO4XhdyCMBjbhHtDIbMzZg15r31zO34-yDqJtCsC7sVcQdXNLarpHcgnxUw5zAXbN1Xc7yYFZNFe8PXZ8thGGI9MXU_7KfCMg_9ZfQyCPtFyHDCG5gy7Of2qI98x-3MdmzuA3xtgQWqXJeAxKqaRq6VItXEksTHvbYCTvmlaiKjC2lNU9eET9qHwc05eCzdfNjm8e1w0yjGTYXrP8QLDiDSadbB-URUf5uMhaHRHdWExh3lybnDUz_-QfdVNacMSDYJZB_5vC-CJiWBH6hc-MatWidlefabSNGNRR8x5NWCjyHd2WN_worHGMGhVuKcdKOThr8o3L63egAMgVMWc7Mjs5dWbT6DMEVV59QVKPnQR0aZWSnjjN-ssd4f6LRwq5udoXRhZ9Y5LGPFT-meG8dtvLG17raVgoVC3tRX7wQcidmXaDIVX9gQBCoEDaAX4YVSIo4j-AjMG16yd2vpfca5bdKKV4oURvh82OeXB6mXBkwymV2SFaS2u603wo=",
  "id": "rs_0d43f1177abfa961016ab474256d6087d09c7c9dd1524a3fb2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.585,\"right_y\":0.16,\"right_z\":0.18,\"right_pitch\":0.3,\"right_roll\":0},\"note\":\"Both plush toys are now in the safe; the yellow object remains farther back on the table. I’m lifting clear and approaching it with the right arm, using a slight forward tilt for the longer reach.\"}",
  "call_id": "call_QoP0CUKzjZtKSC93gcRerH7b",
  "id": "fc_0d43f1177abfa961016ab47429ec0487d0a0e0954cb54cf7a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QoP0CUKzjZtKSC93gcRerH7b",
  "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]: [-0.1043, 0.8318, 0.6979, -0.5774, -0.1539, -0.1432, 0.997, 0.3412, 2.0773, 1.4014, 0.2569, 0.2523, 0.0624, 0.9953]\nstate[eef_state]: left_x=0.2801 left_y=0.0015 left_z=0.1743 left_yaw=0.0892 left_pitch=-0.1212 left_roll=0.0061 left_gripper=0.997 right_x=0.5763 right_y=0.1617 right_z=0.1384 right_yaw=0.0833 right_pitch=0.1773 right_roll=-0.033 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -1.4974, 6.8581, 1.7509, -0.1197, -0.0513, -0.0122, -0.2393, -14.2017, 7.3778, 2.2393, 0.1538, -0.0122, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd24426e8e2e473501b3e7412bc935dd28bcbdddebf1fd3f882fc6a35aba8c42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74c004c47a769c9eae9ba1718407f5a06c4ad7ec7365880f0b368cb31ec00fe7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fd36171b4b59a319f7cd5eba8c59abac10dfc3b6f9b8ddbb3d57eafeb51b177",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1055, 0.8246, 0.6979, -0.54, -0.1539, -0.1394, 0.997, 0.7578, 2.0396, 1.9915, -0.7303, 0.5461, 0.3992, 0.0396]\nstate[eef_state]: left_x=0.2854 left_y=0.0006 left_z=0.1833 left_yaw=0.0851 left_pitch=-0.0775 left_roll=0.0005 left_gripper=0.997 right_x=0.456 right_y=0.3101 right_z=0.2406 right_yaw=0.0824 right_pitch=-0.0617 right_roll=-0.0495 right_gripper=0.0396\nstate[joint_eff]: [-0.3214, -1.4291, 6.8991, 1.7607, -0.0659, -0.0366, -0.0171, 0.1162, -11.3709, 8.9915, 1.5995, 0.4811, 0.2125, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1051, 0.8303, 0.6979, -0.5629, -0.1539, -0.1432, 0.997, 0.725, 2.191, 1.6947, -0.3641, 0.5159, 0.3672, 0.9946]\nstate[eef_state]: left_x=0.2823 left_y=0.0011 left_z=0.1774 left_yaw=0.0881 left_pitch=-0.1055 left_roll=0.003 left_gripper=0.997 right_x=0.4771 right_y=0.3111 right_z=0.0935 right_yaw=0.0845 right_pitch=-0.1413 right_roll=-0.1073 right_gripper=0.9946\nstate[joint_eff]: [-0.212, -1.4017, 6.8718, 1.6923, -0.1197, -0.0464, -0.0171, -0.1709, -14.735, 7.9932, 1.5067, 0.2076, 0.022, -0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1043, 0.8318, 0.6979, -0.5774, -0.1539, -0.1432, 0.997, 0.3412, 2.0773, 1.4014, 0.2569, 0.2523, 0.0624, 0.9953]\nstate[eef_state]: left_x=0.2801 left_y=0.0015 left_z=0.1743 left_yaw=0.0892 left_pitch=-0.1212 left_roll=0.0061 left_gripper=0.997 right_x=0.5763 right_y=0.1617 right_z=0.1384 right_yaw=0.0833 right_pitch=0.1773 right_roll=-0.033 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -1.4974, 6.8581, 1.7509, -0.1197, -0.0513, -0.0122, -0.2393, -14.2017, 7.3778, 2.2393, 0.1538, -0.0122, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd24426e8e2e473501b3e7412bc935dd28bcbdddebf1fd3f882fc6a35aba8c42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74c004c47a769c9eae9ba1718407f5a06c4ad7ec7365880f0b368cb31ec00fe7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fd36171b4b59a319f7cd5eba8c59abac10dfc3b6f9b8ddbb3d57eafeb51b177",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQzkvCA_KV5OylTliqlpbx-rt2CmqkUhYaEDljJSHc70dzW0HA5RCp61uZVLkN8ApJEu35dM5IYZJZaXQY674qon9Wmm7eDx72WJp6-g3VCLuN7Mw-7tSAkp6N4UhSyHmcVZmZz6J9tItsw933-477GT8lnO1wWn_zpp0d0dEAwDfLHDFnhZoVK1k1hiRDTB1kxLT1Y_Su0j0hQhvnarsfno072hghpPlLwfBB7bnMbUHDJ4Jc--SbSEtIFVLa8OGkTR8j8VQAsq3aJxk9wwVUSZxMljOfdRlJ7NsnsXPVEuX2vtsF0te-H5mUBHHME8hAZYXuQD9qCJ2fh6W3ztnF5GsIPqcUwJ8Z6xNWsxHPPBBGV2A5r285s6ry0b1wYr-EBoRIF9LzTkDeO92bpa3j8bV8cJ4er3wA5J71rmYiLnxEowX3VdaDJFuvZDSP4ctnsbRute-aoejcH0MiDwytxLAy3vzVrsD1Vu_IaiW4m3rhAPos1B7qy11spB0osmm9c1pUb_3q41N7oYzd0LtsDqrlx3RsG_Uw3bhe0vTQ9ViP8lsb9hL9ru_-cOz_FK_JDZ0tDSQH5eNN7enIS8nmyYclPE1mB3AQtvY3kG1ceoP5s86XUiga-7R1NhOKmnIQMt7nTV4LJduOv5VLKlPs8fG4AUgHq3kQcckPc6jNcKXznLQUevyNzamkmLfFo9QuhzyqkNqQoMGqMTXB1IWUt8bNRntKvMCmugZb39vPj3HUD68nhzgxx7AiFx31zG9PcA7YqIjidp_kUwbFrbAGroQcnEo0knkLasmK-kpK2tBxlJGxoFzTMoVwhTvbfFdUpgsTJu4xeuSfuPXPspQfWANzuHUrSRPIYCi92ekP1y7MLCSLmWTCYEvQMlKs15PL3o9MVIgk7Kdri-dSSILCaTbYZBrdsKtumTy2ba3_p6U7rSToTeiZeTv18EsWe2A4e7IDDQufmblFsNY8IgKjYyfax6q3A5BihYo40UBasvEoCjA5I0KDKed5yi9ZyB6xVViIUx35H1Q73g_xlLwOceuJgh2xvr4GlfTudTxXLg1d-SUogJYRxgbL6Ms7WLf1Zx4WqVH_5CQVACcmh_TC2-mcFqDJm-oi10d2QzWJ4H94kJxPa6ePLNiAj-P9Qv7Ojy1rC8NNmnMIIMfbPS0_qQE5A4T5oy9_dMtULoHPGRsueKSan3lXkMXUjqeh5vXuDNfEFh3OP18rGqxHIKfiEeccGtT7b8vD8zs1ob-wGhHtvo-P6yl8_-t0ywviyllVRUubGmKAz3d3uC7h7NjPBE3hjt7M7muInvxpyAm_Xq8SsgVImIiOre5MPbYL07goqvaNUGqbDj9altWTFHRCLRLQLG2GBrOSCBYzusNtP8CEVpQLe_ru_lDj5rJe-bi7L60RwGRcOKlwhAgOSw0ncoQsxiyYDj1KJrBOMdK5j5pbW3M1dzo3yobhW5NqXX8zLIaAo67lSe7HAGx0swaQ90T5oopDMyokJoQdtk4cWZhyTRCfV2Fcgb9mvl21Bmd2dpHRCEOZw4_ElocY--1-Uj28f5wd5ZVVTLl9GQWl9NnTcwHyrt3TVlmiuQcDZRl6_Y2khCZ5kob1OEkVB7wV1yVSwaUgHRN2Jem-PX2-vBLNZWu5d-gwVqiaCmvjlsMN80NzoMPCSOLRshKEBQV-kBtyeUWYfkk6XUxFOeIj4Y6GrGiCkujZuH7OZb4p6bGBib36eFgUhs7rgwMSKoJH2Okau4CaOjsYsodk6AKwSrHDJtfpSJk5WOjEcRUx2kVNkohRC79wtHa4fDErv4l2xNl2W5F8_AnoECnj2Rwwakn90MoJIX68MN-KJBpST5839BFhiaK4mVjG4gGjSdE1NKYx42wXCGwoWxnGpE7Dd9mlrEvnixlBYBbi2D7U17buJXlbEhjIwvD8-kPQJ4BGpJHvx7OMdFNNveOH-rMegXQCXxEVcIFmGMvqP1IPAAIsnbz9KkaKN6Tz6xSLGSSfyrBGSMs0AH0kw_DOjySO51Z10zw4UwFBZ9oRoefAqvliUE7hk8-9RzRKB1rO0XljJK9nvhwZgq9itbgLunmnysSqv8dVD7_ZQyq4LIfRObL7-crW2bvy8fUEaH3H6T3d1QsLEuow-ehthnPifBvnZacP64vyivhka8qgkbMmnE9Wll3yZwbBE3LguteaompMSGgLeyUfKKpR6EflLZc1WdnBRdEHnNFfSpzu7xSmOl8Mm_2Xv8GhkDIQdGWCJ5_ThyQ==",
  "id": "rs_0d43f1177abfa961016ab4742ec16c87d091b4a7097ea7a150",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.6,\"right_y\":0.15,\"right_z\":0.035,\"right_pitch\":0.5},\"note\":\"The yellow object is close to the arm’s far reach and partly hidden by the gripper. I’m lowering at the forward workspace limit with additional tilt, checking that the fingers can actually reach it.\"}",
  "call_id": "call_ebqRKWvSxPo8DY2f0JaAgP77",
  "id": "fc_0d43f1177abfa961016ab474320e0487d08eda9bbb8ea895c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ebqRKWvSxPo8DY2f0JaAgP77",
  "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]: [-0.1043, 0.8318, 0.6979, -0.585, -0.1539, -0.1432, 0.997, 0.3096, 2.4931, 1.2839, 1.0351, 0.2379, -0.004, 0.9953]\nstate[eef_state]: left_x=0.2789 left_y=0.0016 left_z=0.1729 left_yaw=0.0894 left_pitch=-0.1287 left_roll=0.0076 left_gripper=0.997 right_x=0.5941 right_y=0.1501 right_z=0.0219 right_yaw=0.0849 right_pitch=0.4132 right_roll=-0.0342 right_gripper=0.9953\nstate[joint_eff]: [-0.1709, -1.3333, 6.8581, 1.6777, -0.1294, -0.0171, -0.0122, -0.4034, -11.6855, 6.4068, 1.6093, 0.1343, -0.232, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0581e598dcb02e5e709c1e0a93470c98441e20e274dede16d4c80352065c687e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aed20c803e215a97a603c7b7791a088bf5d7631b5f53e56918686433ea32301f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adbc34eea4fb8bdb7f7df3caaa31e9196a3e4c2888317dc3d4580c0e74b122af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1051, 0.8276, 0.6979, -0.5556, -0.1539, -0.1425, 0.997, 0.7277, 2.1658, 1.71, -0.3485, 0.5232, 0.374, 0.0404]\nstate[eef_state]: left_x=0.2832 left_y=0.001 left_z=0.1795 left_yaw=0.0875 left_pitch=-0.0958 left_roll=0.0017 left_gripper=0.997 right_x=0.4813 right_y=0.3153 right_z=0.1161 right_yaw=0.082 right_pitch=-0.0929 right_roll=-0.0725 right_gripper=0.0404\nstate[joint_eff]: [-0.3487, -1.306, 6.8991, 1.7802, -0.0757, 0.0024, -0.0122, -0.5402, -11.3709, 6.4752, 1.7216, 0.1587, -0.0513, 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]: [-0.1043, 0.8318, 0.6979, -0.5774, -0.1539, -0.1432, 0.997, 0.3412, 2.0773, 1.4014, 0.2569, 0.2523, 0.0624, 0.9953]\nstate[eef_state]: left_x=0.2801 left_y=0.0015 left_z=0.1743 left_yaw=0.0892 left_pitch=-0.1212 left_roll=0.0061 left_gripper=0.997 right_x=0.5763 right_y=0.1617 right_z=0.1384 right_yaw=0.0833 right_pitch=0.1773 right_roll=-0.033 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -1.4974, 6.8581, 1.7509, -0.1197, -0.0513, -0.0122, -0.2393, -14.2017, 7.3778, 2.2393, 0.1538, -0.0122, 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]: [-0.1043, 0.8318, 0.6979, -0.585, -0.1539, -0.1432, 0.997, 0.3096, 2.4931, 1.2839, 1.0351, 0.2379, -0.004, 0.9953]\nstate[eef_state]: left_x=0.2789 left_y=0.0016 left_z=0.1729 left_yaw=0.0894 left_pitch=-0.1287 left_roll=0.0076 left_gripper=0.997 right_x=0.5941 right_y=0.1501 right_z=0.0219 right_yaw=0.0849 right_pitch=0.4132 right_roll=-0.0342 right_gripper=0.9953\nstate[joint_eff]: [-0.1709, -1.3333, 6.8581, 1.6777, -0.1294, -0.0171, -0.0122, -0.4034, -11.6855, 6.4068, 1.6093, 0.1343, -0.232, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0581e598dcb02e5e709c1e0a93470c98441e20e274dede16d4c80352065c687e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aed20c803e215a97a603c7b7791a088bf5d7631b5f53e56918686433ea32301f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adbc34eea4fb8bdb7f7df3caaa31e9196a3e4c2888317dc3d4580c0e74b122af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQ5qzOZ_Rs_otgMzKMSZkAjroAzHlEM9qm5u6TwSK7woxo-yjhL5jeTbywQsHQDXuu9_rNr2UE0w1KZyMdaOn9rvSVB37Nnycs2-0WFo-PmfD4FzrtMy-W9H0mOAy1uLx4XByxPC72szHr9J_Dvnezo__r5gg6WSXmHk6lbLXQTwMfGyQ29EPEzWrcfOHRMyvnIEkZQ7i7e8j69U9NlXusTB016u3JBbbF6UJiwvCeeeqH0f1bUvwX6hwTNtX_NmMxFmtjNeL1z2AoHP-VFd9h9qYJILZoUjukG0nlRdbXEAHyBgUqv1Ak0kogetPf0QZl7V499BfI6gHMoKZ5qf3BH9qJa5ab6e8kZBFRfOTIpXP2fLD7TVsbOkW1cL1MvD4WamUtfOafy0qyacAFhb_cKt-yEp5t4WoKev30JaMXac_4XlDUULd1pFQQxiUksiplhlI6fs83naIm2qBHxV_G4RdDch2rR4Yj41KhadNFPVd2QRdR42YphDSiEMaP_1o4pXx46r4NjrE3hPZBpA7_13D3pxfSeLbWJAsw00w1SS0R1GARngG4hM-nwmYalTKkH5h2EmJWxM7V8uqDRoDxkMuy23uSV_FEB4KSb9cfsRzsDbG2e6_rgyn62RML7DGHFqRfu0sdzuAjPLQpex3JSXv6QyyOh91UZJc0HuCDd9qflclXZjntWGBmpKnH1S71RUP_OmCh58vljAMYGVXs_7vCy9EIvkclixtJgsAN-SlN9B4-bDRgRKJEEwLGlKJc8DaRugvBsegUfmgtcKZzABiACx8JKIOBJ4EvME38Zqqd9LBxErGF_WOiigKGvtqI2l6nxgEc5BPO61sYFsVf2WKVfrMmbYsv_AMdntsa_7TE0wTNCYv4etx0eSyvNJf77BL-NNRdT1-GkttvqyUvquNZJlpVhYMBcUK5SzSRPPoaUzh60ojHCmMVbrTRwjDDa8lzkNFDxDfA7JPKO04_BSyyUmQG44L50WHzMg_qct3TcdqaagvVibR-DhBD9A62zzhDwewk45wJhA_RELKl4aifqTQ4vb2KNXCrNXx-YqhMkA_aGd6lVP4ZvULV-ayEwLqhNojE6680kbesndyix6jzKbREUW_E2aj-qOM717nsbBPPjokj7-snIvNVnZGeJ9odH04x35lzb9QlwbRE26-Ys_CeiVb-66pyAmfP_1i8FkoV3GL1CzKdAm1Y-TBq5p9EnocP77TpM2KwxrLbkr-CBQarl5HBdv3nLRX8WPSvVHkZ45ziNvm1p_1oyWMDCyrSIWXi9JVaMfPbT_IqWufkGrCgjHTF-SLyTLCwLAO80MnStxulfNyBfMUyCeLJ489kp1N5RvHrmVbWULu2qvYuoc1X79nFD9GndmGZ4i3aV-mobWZFU5RSyxKJwJaROiaN4jm_DWiQGy9nMy1bfImQ2HjO8DlC6ODT_IUIWdVy3yisIYSLutPLuGzSq67cajh43cDIUslawGJHd-OyZTc-BGVRAMT4HOErhxq0CK_utk4XGh-nAEfTDRK5ICKe5xxfD8hMrTkFDzFDry1SgoEvgPYdDaVD9tFG6JnhDuF9wa2wL5Wdu4qfKrzTxR9j5Kw7DDD29xpsQVi734ihv3vrQjtXQ5OE6tlkWRwctPSObYZ-1uOn-Srm3F0qOJKv6uWh7c3Jhd__QwLBvvAMECxd8DnYcXI7-pH8B0Jz6uSO1kUwY-Ez_ksxZB-i1yQ4dypfocT2Xy85QcQgsR04GU7OvgYaMyPr0bCNMVX5YLUo=",
  "id": "rs_0d43f1177abfa961016ab4743692f087d0813c3492b2dd9f96",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.25},\"note\":\"The yellow object is centered directly between the jaw columns in the wrist view. I’m closing partway around it to avoid squeezing the rounded object out sideways.\"}",
  "call_id": "call_AZoRFgEEJuS9wNqtwoQyyU4f",
  "id": "fc_0d43f1177abfa961016ab4743882d887d0862fb42cd68a9bed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AZoRFgEEJuS9wNqtwoQyyU4f",
  "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]: [-0.1043, 0.8322, 0.6979, -0.5858, -0.1539, -0.1432, 0.997, 0.3073, 2.5065, 1.2884, 1.0554, 0.2375, -0.0002, 0.534]\nstate[eef_state]: left_x=0.2788 left_y=0.0016 left_z=0.1727 left_yaw=0.0894 left_pitch=-0.1299 left_roll=0.0078 left_gripper=0.997 right_x=0.5951 right_y=0.149 right_z=0.0205 right_yaw=0.0795 right_pitch=0.4244 right_roll=-0.0272 right_gripper=0.534\nstate[joint_eff]: [-0.3487, -1.2239, 6.8718, 1.5946, -0.105, -0.0611, -0.0122, 0.1299, -14.0513, 4.4376, 1.7021, -0.0464, -0.0855, 0.9792]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bfd2136359b3952103f928605365443acb32d53f90fa15f6d03f1656c28e2bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4969696ee5e07a67a18dc0f48d948c9b3a87843d3c07c3a09d024f646259170",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6c6250b18853f7ddfd7c70905ae6c98c0ae19a7d1732347361c64655def28ce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1051, 0.8303, 0.6979, -0.5629, -0.1539, -0.1432, 0.997, 0.725, 2.191, 1.6947, -0.3641, 0.5159, 0.3672, 0.9946]\nstate[eef_state]: left_x=0.2823 left_y=0.0011 left_z=0.1774 left_yaw=0.0881 left_pitch=-0.1055 left_roll=0.003 left_gripper=0.997 right_x=0.4771 right_y=0.3111 right_z=0.0935 right_yaw=0.0845 right_pitch=-0.1413 right_roll=-0.1073 right_gripper=0.9946\nstate[joint_eff]: [-0.212, -1.4017, 6.8718, 1.6923, -0.1197, -0.0464, -0.0171, -0.1709, -14.735, 7.9932, 1.5067, 0.2076, 0.022, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1043, 0.8318, 0.6979, -0.585, -0.1539, -0.1432, 0.997, 0.3096, 2.4931, 1.2839, 1.0351, 0.2379, -0.004, 0.9953]\nstate[eef_state]: left_x=0.2789 left_y=0.0016 left_z=0.1729 left_yaw=0.0894 left_pitch=-0.1287 left_roll=0.0076 left_gripper=0.997 right_x=0.5941 right_y=0.1501 right_z=0.0219 right_yaw=0.0849 right_pitch=0.4132 right_roll=-0.0342 right_gripper=0.9953\nstate[joint_eff]: [-0.1709, -1.3333, 6.8581, 1.6777, -0.1294, -0.0171, -0.0122, -0.4034, -11.6855, 6.4068, 1.6093, 0.1343, -0.232, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1043, 0.8322, 0.6979, -0.5858, -0.1539, -0.1432, 0.997, 0.3073, 2.5065, 1.2884, 1.0554, 0.2375, -0.0002, 0.534]\nstate[eef_state]: left_x=0.2788 left_y=0.0016 left_z=0.1727 left_yaw=0.0894 left_pitch=-0.1299 left_roll=0.0078 left_gripper=0.997 right_x=0.5951 right_y=0.149 right_z=0.0205 right_yaw=0.0795 right_pitch=0.4244 right_roll=-0.0272 right_gripper=0.534\nstate[joint_eff]: [-0.3487, -1.2239, 6.8718, 1.5946, -0.105, -0.0611, -0.0122, 0.1299, -14.0513, 4.4376, 1.7021, -0.0464, -0.0855, 0.9792]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bfd2136359b3952103f928605365443acb32d53f90fa15f6d03f1656c28e2bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4969696ee5e07a67a18dc0f48d948c9b3a87843d3c07c3a09d024f646259170",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6c6250b18853f7ddfd7c70905ae6c98c0ae19a7d1732347361c64655def28ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHQ-loVGNY7PVQDLejVyTnAYKqV4AoTfp0QCD_DzCDdDSytj-UgkbxgAWO3sudUrxAULaTSichtXiRo6MEM89v3wANx100BMdeI6cRfVN4_EaTmyarDxBH5WR6noxY4EbPBQeuBZe-pLd9cM-fx-kohLUjiUg-sNRee2M_eqWTxaBy8p-RQwlsb5aGDPEEWXRY9sol6K2ZwoIKL30apikPl3qshLQZL2WGvahYQhFv6OSX4eCly0ec4jKStnuYXDWt2sMer88qcIJa7AHV2QBAuxtSpgbIJrdjTVZMTdMQ59LOCdLRLzbRC2rK7mqTELdHmNUUnn4oiRXDrkxzYe0o83nB1HmBrakyv-Yk1gMjEgCUTQrpVq49uTMOqWUjUbx51KrAoCHt-ospUA1r_BclPxKvDNlvU1vACMMRqDXyY2h4fA_m2yjlKlmm9_bxbFWWSR9JmCurSiMhRJBA1ZkkYvGxvTglMwhdmhQtStpBrO_gtB-VQE3TFgYpoyRh60R1Y9J5fARjAjWTNbP0UiZp7pPfC_QS8oJh34Q1j8sVExD9g-0kNI_8za5YJUC0mQNFadnYwVn-zwwRSeOnXQ2i4Q4gWVRwAaWFAoAe33ZK6_qiKlU0NPvEyz27TzQXBw4MlrKHOLnUwWjUS3gdgVVIlKqts3SrpafbBfgWqZCb1mQ8icR88_8BWco0M1vvqQN97-RzsGT-uk7wZ2vJN9R9xnOKvllMuA_Qh9-2H1rluGLICwqPSxh79Z9z6YxkVJ6mtuYQJ2zy1IS7aouljr614ZveEzK8iBJzpsTpSuXKxOv6zxc_vyfBCfywehgmHwpwH5eCyfciWI4xhYqpn4G5Shk5a_pjIUQiFd_FSsg8Xa_WZvpFrfc8Jm_ysC-t4bYdh8wfeKY6589sjMlvzEHNUIEXKjQkAIVhen2YkXeRPCMvH7nWOhrVPixoEKnNwv04VMnCfJivL5uq5dOzVtKjJvjCwZe2ZNYKHCHoeHJGFmMSS_d_KGUpALWkxbvYquhIwCEMt99i0Zd53j_c5oqcGZeAVj7BM_5M81Dw3f-nnmHbiLxSTmJudZTCURs6IIPgl8H3ivfCViw9AcYkpvTZZiQncexi4-Aq2isvXk3eGkBtqdI9JmkALClvLOns43A6J7NqPrmOqTU_8JKwGiLpul8fAZ4Tw6p0LDSGyjH4M5IGM5ZO6pKLhOGBfwwQJgvhogrX49wiXQy7_PIjTp4_4CBA==",
  "id": "rs_0d43f1177abfa961016ab4743cd42c87d0be9468a58ba0091c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.59,\"right_z\":0.095},\"note\":\"The gripper stopped at about five centimeters wide, consistent with holding the yellow object. I’m lifting a short distance to verify the pickup.\"}",
  "call_id": "call_wClLT530kmUVwNJfEsghtiDT",
  "id": "fc_0d43f1177abfa961016ab4743d329487d0b6f4b0563e6ecd60",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wClLT530kmUVwNJfEsghtiDT",
  "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]: [-0.1043, 0.8341, 0.6979, -0.5884, -0.1539, -0.1432, 0.997, 0.308, 2.3299, 1.243, 0.8829, 0.2375, -0.0006, 0.5351]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1717 left_yaw=0.0895 left_pitch=-0.1343 left_roll=0.0087 left_gripper=0.997 right_x=0.5888 right_y=0.1475 right_z=0.0659 right_yaw=0.0844 right_pitch=0.3842 right_roll=-0.0376 right_gripper=0.5351\nstate[joint_eff]: [-0.1162, -1.0872, 6.8581, 1.6386, -0.1294, -0.0757, -0.0171, 0.0479, -14.8171, 5.5863, 1.9805, 0.0073, -0.0317, 0.0904]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27c74245819c03429abfbc2ed90a51c2678d3fa259e19c22bb6711d6533ee456",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0c67d2dc5b8f475d5cb15828596068697fc43b09fb148d1bfa274d771b60609",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43ab476b2d264dc6f190085e0863bfacce06ec3cf0383fa2fd1f1970ceec1603",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1043, 0.8318, 0.6979, -0.5774, -0.1539, -0.1432, 0.997, 0.3412, 2.0773, 1.4014, 0.2569, 0.2523, 0.0624, 0.9953]\nstate[eef_state]: left_x=0.2801 left_y=0.0015 left_z=0.1743 left_yaw=0.0892 left_pitch=-0.1212 left_roll=0.0061 left_gripper=0.997 right_x=0.5763 right_y=0.1617 right_z=0.1384 right_yaw=0.0833 right_pitch=0.1773 right_roll=-0.033 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -1.4974, 6.8581, 1.7509, -0.1197, -0.0513, -0.0122, -0.2393, -14.2017, 7.3778, 2.2393, 0.1538, -0.0122, 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]: [-0.1043, 0.8322, 0.6979, -0.5858, -0.1539, -0.1432, 0.997, 0.3073, 2.5065, 1.2884, 1.0554, 0.2375, -0.0002, 0.534]\nstate[eef_state]: left_x=0.2788 left_y=0.0016 left_z=0.1727 left_yaw=0.0894 left_pitch=-0.1299 left_roll=0.0078 left_gripper=0.997 right_x=0.5951 right_y=0.149 right_z=0.0205 right_yaw=0.0795 right_pitch=0.4244 right_roll=-0.0272 right_gripper=0.534\nstate[joint_eff]: [-0.3487, -1.2239, 6.8718, 1.5946, -0.105, -0.0611, -0.0122, 0.1299, -14.0513, 4.4376, 1.7021, -0.0464, -0.0855, 0.9792]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1043, 0.8341, 0.6979, -0.5884, -0.1539, -0.1432, 0.997, 0.308, 2.3299, 1.243, 0.8829, 0.2375, -0.0006, 0.5351]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1717 left_yaw=0.0895 left_pitch=-0.1343 left_roll=0.0087 left_gripper=0.997 right_x=0.5888 right_y=0.1475 right_z=0.0659 right_yaw=0.0844 right_pitch=0.3842 right_roll=-0.0376 right_gripper=0.5351\nstate[joint_eff]: [-0.1162, -1.0872, 6.8581, 1.6386, -0.1294, -0.0757, -0.0171, 0.0479, -14.8171, 5.5863, 1.9805, 0.0073, -0.0317, 0.0904]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27c74245819c03429abfbc2ed90a51c2678d3fa259e19c22bb6711d6533ee456",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0c67d2dc5b8f475d5cb15828596068697fc43b09fb148d1bfa274d771b60609",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43ab476b2d264dc6f190085e0863bfacce06ec3cf0383fa2fd1f1970ceec1603",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHRCRIAlg7UoMRW9zk8iPSA7X0ae_TFZKgiO6Uhwcd0J_3jW6iayF5n1ZsTzBWt6xUBImpb3XGPz4fyd6ONRysnI94qtTZ1oobwo35pEM9AZF7B5J3gtPhAaJGmiRmCjyLO5UAF6KWqvOkCLmZTWGMZ_ged9HBt7llLBDZ5nrxcRaiBHf5NU2c9P08FAUw5N50PqBhxlQOzn9kwHCBCV9VL2_kEZl-STFF60N8rDOwlymneqY15JUqD-lcX4m3JAnG3qoEzCJfNkKfqjcixZGMP8bdnDQ08Cts5mIgLgimRNqJZluCmbJLvz7E1IxDGf10_vfZA2tSUn1PGYhX5pdCoBS-ZBzaRhGkpSwVcb3_UNWZMkGz8rF5BDQpEJV5jg0PRNyEdNhOARUxk6w01V8pBwkn7IYSsDnlzxBEYJZlYeqrb6dqR5azX6Dkz7nG5amSuKbNHvL5sSidupneffstIbzXSHqbZkju0CgV-bCeAQQP0NrWyfoMXLe6QXQ32AUKf2N2sAzlYMBoHioNr8ca507Xqh4qqJtHtK1TuuN7f4ER6JVW91dNSIkgLLkkGRZChiXoGNBzk3iwg3lEWjBxStueaHp0fXsLl_qz8cSRXO1e0VhLgffNc2cvIS8xliSBl7UEvHbjMd5zu1cQGc-RHZOG--jy8dVLuFXi6X-iK3c_jfP9hvgBThcvfkyvk7uENdHuYUfprVTwBf8SEL5vOAvk_5_D3KcJFzWRPGPp2aF2ODGxaGa2cDK-Rf71FXagJEw6HVMBaePrtlVGVAxKbyasMWve2qY8t8DQpXkgoyRaccROK2TjGsAjWXh4_tOBhg0ozS23QYtGJU2ZrTYG11uqUWYbwPz9yy_mluYd5lA-TqmasQsrnAPTj3NrS7GYpZkYodt6P0oWuuDulPX8uMiWKlKhYk1UR74nRSW2HSbtkOpaZzLBPKDQQxzVnxItoEdvcALZlheHRfqn63CVY_9QZZ9YGzlP9G2jWohKs0xFqJdZtgTQzIs1cNWgfR2E1JbHv2g-UleEDXdmL24UX8nhKYs6g8VJMGBgFJRwDO0asSSbJ2cW8U-4We8ckDTlW-7b1fC6k4jCKuTalqpx1eMQ1LxeK9a--t7HApjW3yVAnT4nZ6SPhMTADE0Sg0pchKW8TGYd4hJWyqir0NTnSrnC2nrNoQLv-zSNsNDuukIh0XVxrOYF60Fkwo6NrYKcH5-1DP5inKrk8ugEPr17up2W2ZGJGfW7j9UQuywDCzm8bWmtsE8vaUUfi4wdLRhx8zZbPw1U8IGW77DzjBr17CpIT6JOqKgoJRGduMoLQJeFzbkrG3Kxe_MB1oSxYZhAzy6fOn1M4cWTPGrfErxrKQ2xwchWwrxeZ6aF2v4vSNtxd-js77WnEP2f51-whpsZqekM5Rs-YKuE5PrWQkt-59E34to7UDyG4AZ0loyfBoM6tfoy1tgsZS-Zm4f3aNecPIIPRnT5skcieOsJHhtDxb9_pRyk1i2aaKPqPp_OCES8vBIzjpZa2Dn0AgR81IynNS",
  "id": "rs_0d43f1177abfa961016ab4743fee5887d080a8cc7c8fb43d95",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.32,\"right_z\":0.23,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow object lifted with the gripper and is secure. I’m carrying it over the remaining space inside the safe, above the two plush toys.\"}",
  "call_id": "call_nM0qOc7exNbEDPOQ7rCAcoGX",
  "id": "fc_0d43f1177abfa961016ab474412ea087d0965f786031cce4d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nM0qOc7exNbEDPOQ7rCAcoGX",
  "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]: [-0.1043, 0.836, 0.6979, -0.6071, -0.1539, -0.1432, 0.997, 0.7147, 2.0937, 1.9415, -0.4789, 0.4885, 0.318, 0.5356]\nstate[eef_state]: left_x=0.2755 left_y=0.002 left_z=0.1678 left_yaw=0.0901 left_pitch=-0.1546 left_roll=0.0127 left_gripper=0.997 right_x=0.4944 right_y=0.324 right_z=0.2296 right_yaw=0.1297 right_pitch=0.0345 right_roll=0.0002 right_gripper=0.5356\nstate[joint_eff]: [-0.1846, -1.4838, 7.0359, 1.7411, -0.1001, -0.0073, -0.0122, 0.1983, -10.8786, 8.0205, 1.5214, 0.3492, 0.188, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9752d3be7daf60b03bccb765cf0a7d658185907447a8d1036a4fb849dd346db3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8059b3f24c62ef9c824be77b116ea212cc9d0a87754e8f8f34614ae05520c983",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04df6648424a29e90c76aed2dfc9712a7414e5bc8720447adbd84b71b66a90ec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1043, 0.8318, 0.6979, -0.585, -0.1539, -0.1432, 0.997, 0.3096, 2.4931, 1.2839, 1.0351, 0.2379, -0.004, 0.9953]\nstate[eef_state]: left_x=0.2789 left_y=0.0016 left_z=0.1729 left_yaw=0.0894 left_pitch=-0.1287 left_roll=0.0076 left_gripper=0.997 right_x=0.5941 right_y=0.1501 right_z=0.0219 right_yaw=0.0849 right_pitch=0.4132 right_roll=-0.0342 right_gripper=0.9953\nstate[joint_eff]: [-0.1709, -1.3333, 6.8581, 1.6777, -0.1294, -0.0171, -0.0122, -0.4034, -11.6855, 6.4068, 1.6093, 0.1343, -0.232, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1043, 0.8341, 0.6979, -0.5884, -0.1539, -0.1432, 0.997, 0.308, 2.3299, 1.243, 0.8829, 0.2375, -0.0006, 0.5351]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1717 left_yaw=0.0895 left_pitch=-0.1343 left_roll=0.0087 left_gripper=0.997 right_x=0.5888 right_y=0.1475 right_z=0.0659 right_yaw=0.0844 right_pitch=0.3842 right_roll=-0.0376 right_gripper=0.5351\nstate[joint_eff]: [-0.1162, -1.0872, 6.8581, 1.6386, -0.1294, -0.0757, -0.0171, 0.0479, -14.8171, 5.5863, 1.9805, 0.0073, -0.0317, 0.0904]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1043, 0.836, 0.6979, -0.6071, -0.1539, -0.1432, 0.997, 0.7147, 2.0937, 1.9415, -0.4789, 0.4885, 0.318, 0.5356]\nstate[eef_state]: left_x=0.2755 left_y=0.002 left_z=0.1678 left_yaw=0.0901 left_pitch=-0.1546 left_roll=0.0127 left_gripper=0.997 right_x=0.4944 right_y=0.324 right_z=0.2296 right_yaw=0.1297 right_pitch=0.0345 right_roll=0.0002 right_gripper=0.5356\nstate[joint_eff]: [-0.1846, -1.4838, 7.0359, 1.7411, -0.1001, -0.0073, -0.0122, 0.1983, -10.8786, 8.0205, 1.5214, 0.3492, 0.188, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9752d3be7daf60b03bccb765cf0a7d658185907447a8d1036a4fb849dd346db3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8059b3f24c62ef9c824be77b116ea212cc9d0a87754e8f8f34614ae05520c983",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04df6648424a29e90c76aed2dfc9712a7414e5bc8720447adbd84b71b66a90ec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHRIFXWcmosJuoT8QAVWaYhyc58Z-q7GYX8G2qVyUcQrt4RcDDN1oQK5diKOj5MwimZKOWe2w80i484Da6nL4_ogbZlYHrB7joQimzQFzAU4M1dcDyms2GiwME_cjXG4VDol--446COsKefFRJJiC66i2Corkzl1e8egTebQvcC12bkgJWSQUu39_51aD7VWQCW6KAJdkRkzcP_2kpN6pDs0HC1ZIStSjWCLuZZOUwEzOILwm2Bri3N1o14ILLVWMg9-Lyxp69PiarFc4DR0IXK3xhE-qSR9_f8sM9tsXMWd21pFRaORbx9t-sUx3WsMVSmXCYHH0Gm5MYqweQe2Dndf5WVx6Ij_l1hsyW4cyTK6ly9_aZNueaK_v4TIlvdgq9mMFAQ2ZSRLMsMXdMKk7uEProtcAwJxl_ZHiuKAEq_HmfmkefZl3dze1JZW_xwZjDBUQ0kYS7kMR_6NyNlLU9NieKF8Lxkr8LDBmXoPn-g9eLJ08R6lQXmZYhfs1IvE1qFEfNuXDEQwcKcMLw_uC6ee2ml5Yhaeqc9j6ifhXxGCBRGksmEmGzxZtVcyhholiAS32C4epa3964BVEku3hx7RCmJBbgVLjzCWy9xt_GFPz8qwiS4cldBIvVmUT3v8wi4WKIjisu1PaXct6mtSWYI4FIJm_kkZXu13d4a_SeiZmT4JVy960gIRtZEUfuyRyNb1XYwhOCOurTMBYYlxccEb2I5rtPGq7mGlmA21DRjERYSJ36qhNaes5OmZLCaxhirZIwgNrHgmrDoAY_S5gdxDp869Ag1I_nqoUlUXbFcqmLydcnLp_arFrFNa4YVuOHNcHFgir77kcrvNrt1t4ciu57q-1007NlBhvI0vz8p-vU3JzNjEguHWUfGGK4dXzIXeOy3v0eGL9DpLFBeEOMPalG9jfKVCcrt339IbED6g_t0-iWGXCQUd5HJd5G9q0xAqFJY_gRRxyVJ-KZ-RHzox3rCSkNxFofV-XZPL4k2Q-Oke1qyK4Hdy3aF88BvUFkNmN5Teydip70nHN2RXNIZXx32DObwYs8bw43YX6S6CUgE5OGef632faA9Wny1GSYMPLhsQmKnDqDaLJLxcU0LoyBtqM1jXPgoOgiN_47yFfOwgF0c3ot9wEbYRlchzZ0RoibHzWmBmXqAkSRSWuYQpmRwwQ-QyxI6dnGTgwezYZ5Tab9MBS8DFNplT7NDOhU0eewFv-suCnoJ9xm_3x4vpMF9YpaFRfByaPF8CLTl9nnReBrVnZQ8Zww8xGbmf2dXpA6bBBeiaSAptimHNbLOLKz2pNyetlh2AJ5Dprbopj2p340UNsk2RNaF0DRqUsdsaV8TAF678_CbarfNutTsIQqzGzhno53B_uerDpyrQs7XVhtFGXxkZY2OYXkcf5fHUrQr1LrjDm2dvoa6Ab1OWDz1-Gzl3ad-tf1jTY9TexzGBLwxZI-zXgwdDsDmFELne45ymY70LVWgoWKo0kL8IAf0WpbcgFlFTOinspyzvINRf5svVwkjx63Za4gOD-FfcGImXbvV3AAmgiP7EMuSNvjqVBf9VSfIJT78Hne8tLwZHVKhIjosuoG_5Bp55OPR_J091_TwBhBpfTDyfjJVUFxyv3huqi0zKRTsUOLgLg6ryqWnEBzV-I5jn08gGZjQX6RHe26jHo3EOAAfD-BGfnJF30HLP9wEt3cvdqhk5N6U=",
  "id": "rs_0d43f1177abfa961016ab47444e87487d0bf2acc4e51c74be8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.515,\"right_y\":0.285,\"right_z\":0.085},\"note\":\"There is room near the right side of the tray beside the plush toys. I’m lowering the yellow object into that space so it is not left on the rim.\"}",
  "call_id": "call_dsax3qiypf1SOUycfBVKrv3Q",
  "id": "fc_0d43f1177abfa961016ab4744710ac87d08bb3ffdd548f54c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dsax3qiypf1SOUycfBVKrv3Q",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1043, 0.8368, 0.6979, -0.6109, -0.1539, -0.1432, 0.997, 0.6254, 2.1487, 1.4693, 0.0116, 0.4168, 0.2623, 0.5358]\nstate[eef_state]: left_x=0.2749 left_y=0.002 left_z=0.167 left_yaw=0.0903 left_pitch=-0.1591 left_roll=0.0136 left_gripper=0.997 right_x=0.5055 right_y=0.2813 right_z=0.0826 right_yaw=0.1281 right_pitch=-0.0195 right_roll=-0.0282 right_gripper=0.5358\nstate[joint_eff]: [-0.1846, -1.2786, 7.0222, 1.6239, -0.0659, -0.0562, -0.0122, -0.4581, -11.0838, 7.0085, 2.0293, 0.0904, -0.0171, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3bb9f67b9fda29914a77fed1fa593e441fbcf4d000aea4f71ae4743f4ac622b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecb389a8cfef36cb04206eeaaf52cc3d8695c9a2246139fc7cd471850b048c6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8974c521ac179ebb96939497c1fae6a5067f535b3094c458983b9a9f884ed15",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1043, 0.8322, 0.6979, -0.5858, -0.1539, -0.1432, 0.997, 0.3073, 2.5065, 1.2884, 1.0554, 0.2375, -0.0002, 0.534]\nstate[eef_state]: left_x=0.2788 left_y=0.0016 left_z=0.1727 left_yaw=0.0894 left_pitch=-0.1299 left_roll=0.0078 left_gripper=0.997 right_x=0.5951 right_y=0.149 right_z=0.0205 right_yaw=0.0795 right_pitch=0.4244 right_roll=-0.0272 right_gripper=0.534\nstate[joint_eff]: [-0.3487, -1.2239, 6.8718, 1.5946, -0.105, -0.0611, -0.0122, 0.1299, -14.0513, 4.4376, 1.7021, -0.0464, -0.0855, 0.9792]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1043, 0.836, 0.6979, -0.6071, -0.1539, -0.1432, 0.997, 0.7147, 2.0937, 1.9415, -0.4789, 0.4885, 0.318, 0.5356]\nstate[eef_state]: left_x=0.2755 left_y=0.002 left_z=0.1678 left_yaw=0.0901 left_pitch=-0.1546 left_roll=0.0127 left_gripper=0.997 right_x=0.4944 right_y=0.324 right_z=0.2296 right_yaw=0.1297 right_pitch=0.0345 right_roll=0.0002 right_gripper=0.5356\nstate[joint_eff]: [-0.1846, -1.4838, 7.0359, 1.7411, -0.1001, -0.0073, -0.0122, 0.1983, -10.8786, 8.0205, 1.5214, 0.3492, 0.188, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1043, 0.8368, 0.6979, -0.6109, -0.1539, -0.1432, 0.997, 0.6254, 2.1487, 1.4693, 0.0116, 0.4168, 0.2623, 0.5358]\nstate[eef_state]: left_x=0.2749 left_y=0.002 left_z=0.167 left_yaw=0.0903 left_pitch=-0.1591 left_roll=0.0136 left_gripper=0.997 right_x=0.5055 right_y=0.2813 right_z=0.0826 right_yaw=0.1281 right_pitch=-0.0195 right_roll=-0.0282 right_gripper=0.5358\nstate[joint_eff]: [-0.1846, -1.2786, 7.0222, 1.6239, -0.0659, -0.0562, -0.0122, -0.4581, -11.0838, 7.0085, 2.0293, 0.0904, -0.0171, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3bb9f67b9fda29914a77fed1fa593e441fbcf4d000aea4f71ae4743f4ac622b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecb389a8cfef36cb04206eeaaf52cc3d8695c9a2246139fc7cd471850b048c6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8974c521ac179ebb96939497c1fae6a5067f535b3094c458983b9a9f884ed15",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow object is now down inside the tray next to the brown toy. I’m opening the gripper to release the last object.\"}",
  "call_id": "call_NiVUnPaYWvjPHkYTKI4WBD2S",
  "id": "fc_0d43f1177abfa961016ab4744a8e1887d0b381191ce27cd411",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NiVUnPaYWvjPHkYTKI4WBD2S",
  "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]: [-0.1043, 0.8368, 0.6979, -0.6147, -0.1539, -0.1429, 0.997, 0.6224, 2.1731, 1.4528, -0.0017, 0.4072, 0.2615, 0.9947]\nstate[eef_state]: left_x=0.2743 left_y=0.0021 left_z=0.1663 left_yaw=0.0902 left_pitch=-0.1628 left_roll=0.0146 left_gripper=0.997 right_x=0.5 right_y=0.277 right_z=0.0597 right_yaw=0.1318 right_pitch=-0.0701 right_roll=-0.0492 right_gripper=0.9947\nstate[joint_eff]: [-0.1436, -1.347, 6.8308, 1.5995, -0.1148, -0.0317, -0.0122, 0.1573, -14.2838, 7.788, 1.7167, 0.1636, -0.0464, -0.2466]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21d1e64294b9eaf4d5aa876ec774096116e91f6d768cf924c1d14253da786daa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8939eb4d19df7a4660d3f559758505d57bea5c7fc101ceed7ac679c3bee73176",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2d2afd8b5fa7cf30bd183388ec9b7f40075051e95425d27fc8505aef3a59f5e",
      "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 119 changed as sent

message 127 changed as sent

message 130 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1043, 0.8341, 0.6979, -0.5884, -0.1539, -0.1432, 0.997, 0.308, 2.3299, 1.243, 0.8829, 0.2375, -0.0006, 0.5351]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1717 left_yaw=0.0895 left_pitch=-0.1343 left_roll=0.0087 left_gripper=0.997 right_x=0.5888 right_y=0.1475 right_z=0.0659 right_yaw=0.0844 right_pitch=0.3842 right_roll=-0.0376 right_gripper=0.5351\nstate[joint_eff]: [-0.1162, -1.0872, 6.8581, 1.6386, -0.1294, -0.0757, -0.0171, 0.0479, -14.8171, 5.5863, 1.9805, 0.0073, -0.0317, 0.0904]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1043, 0.8368, 0.6979, -0.6109, -0.1539, -0.1432, 0.997, 0.6254, 2.1487, 1.4693, 0.0116, 0.4168, 0.2623, 0.5358]\nstate[eef_state]: left_x=0.2749 left_y=0.002 left_z=0.167 left_yaw=0.0903 left_pitch=-0.1591 left_roll=0.0136 left_gripper=0.997 right_x=0.5055 right_y=0.2813 right_z=0.0826 right_yaw=0.1281 right_pitch=-0.0195 right_roll=-0.0282 right_gripper=0.5358\nstate[joint_eff]: [-0.1846, -1.2786, 7.0222, 1.6239, -0.0659, -0.0562, -0.0122, -0.4581, -11.0838, 7.0085, 2.0293, 0.0904, -0.0171, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1043, 0.8368, 0.6979, -0.6147, -0.1539, -0.1429, 0.997, 0.6224, 2.1731, 1.4528, -0.0017, 0.4072, 0.2615, 0.9947]\nstate[eef_state]: left_x=0.2743 left_y=0.0021 left_z=0.1663 left_yaw=0.0902 left_pitch=-0.1628 left_roll=0.0146 left_gripper=0.997 right_x=0.5 right_y=0.277 right_z=0.0597 right_yaw=0.1318 right_pitch=-0.0701 right_roll=-0.0492 right_gripper=0.9947\nstate[joint_eff]: [-0.1436, -1.347, 6.8308, 1.5995, -0.1148, -0.0317, -0.0122, 0.1573, -14.2838, 7.788, 1.7167, 0.1636, -0.0464, -0.2466]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21d1e64294b9eaf4d5aa876ec774096116e91f6d768cf924c1d14253da786daa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8939eb4d19df7a4660d3f559758505d57bea5c7fc101ceed7ac679c3bee73176",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2d2afd8b5fa7cf30bd183388ec9b7f40075051e95425d27fc8505aef3a59f5e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHRVkc3CzqqeCZW-oTmRIX22bh8RhBA-NcvodBOH7AMkIJTp8VvuUpGyRfzE7_X65jzMIQLO50cXcm_9we-pgmpbhfNXCGSZdY4QSYm4okjCfSuSFfaZiIfs5j7EopDGQXtUscq8S0MM5SkJdPA2ioEvYocO9tnxz-3Q8Gt6-wsY97hIbiQvOCwGU4-LTjighABzGrzSpI23805DLxuDLKyxPRnDvrPPNC7RwConcjuVP9sP7UskYC6pvPjGmpM7RnFW5kawlZm1yeY30o7JQElrAlpUvdml-0kbGPRt-AZljREaJDdAlaNTIjBijxBMvpZsgeQp42nEY_OmDPgxCFulNdaRGF59JrQaGIKoMHzJ__ByzrYU8y1z8o9_K3gnlGU5wQdcahK9wyeDyotAhXzStl2wnwnmBbD7P8AxVwOzE7zD918eD5u7-J39LPnVdI7BsSJkS_hjufQGaeFAJ92G7vxi-MZ410ZxJYWEIcnJoY-KOVVHcbberltdEsagA5-jVq5S4jN2Hrlfbf_ZpQloK6dbsukO7c-YciRMcGg-2ft99w7M8v_hu83XyVAJhiX5da8IZp1DeGprwtRUrafoz_X7AF7KFIIrLFEHjpH2EkhUjaWMVZNwSjN6LKXkfXfeq0JxtqlVDQuEuFqG7FGVGO4zgKq70t-auldrmIQDTgO2Ma7RqeJKZT_UOy-LT2IwHoPyv9p5TB1RdM8EJ4PaBp5QmDDcW_JtEhCPBLDtd7T7JANg2uemyMJ20bd9iq0ZpDHsrinc_98vJ5lv75-0m04DCIKTv74B48qRQ9ZzYBdlmEbAfo2JEKdzBUkIYFrny1j7QHirlgvpEeGHjV7Bqe8gzgw5gCUco9Gb9LgDGAFthg2NflkhF9lnqvn5LaE27jJA5eWifu0iNEceqH2tzxguseIi2D9Id40mgL0rFrqgieHsMicD5SCxtnmCQxBxvEzGA5M1uZO4QIzeTn__3NzJt4Rrn368gNvOzogqt2th2_ucXSqnRBKv0upntZfquWWbSvLA3WL6ruRgdDeEd0kPyKTM95dDqv0of4bzuLMQY6nbIBb5jtpveOgWE6Uxo-ClCFrjeKlctXOKhutaegRtU43VLNbDHXTzGW3NbwXupCke2zWgCsW7KG1ipR45Cgx9E483thxwZ2FoJYvhKLWIMS-aSCFLN4w8m5ZCYRCHJbssvhoaZX-P8zpeDfh7RMBDn3w9UORHuagA_Pg8E3_FlJExleQZgFZfFBPxefnPZG6Ffu5BHkagk4MYniPB3aTaV9EonSo4i3L2CVxMI3ZBmKRy-clWCd9xLj_VN7y1ZVZT-pGSa34QABVZEJeh5mBFqN0S4wrqsizLw3w8UBpYVKtiP3dUti3aiCtCyE1ChvTv12kcMSA-6gdecrMQOUGCCvMDtxIeKfcvqgQtrci2TJKIVhjL8D-ce3cu1kNSiJK00WTomJAc57xQ_sa1E0yekqoPnyGcKFvcNPd9EiKNLx2xevdocski9zo1wdj212xMpOQXcQjYiMRYrSc96Yaf6WXqdLFJQm70nejF9hb6pNIk1rsNQzrQry8z_iYI8YCmBhKTXCZmD1kJAdO1PQM9hm9uI9wy6Q2c9_nIpIR4ga6NAnFByEMd1G76xE-Y6Z7RN-tzbKfgBaB8eSfyYPhQ11tVzDMaVYWghzU4a7ly2i7nrZ8nfGBDr7tUEK-qFuSID7qEiEDkX4zRgI4MOp94zebQTgy4_UuMl64rCaePs8Z7H48UwYKiyKJQG6xvtvlc6vic7INRIv6vRHntOOPNGa-CQt7i70oDDe1g1S7uX-gzXqRK_cZp_j6T_PEMkuKMUVvdT7IW0GpjfkJUijQlFwR0JMEes16PCZBZMVJl1LolckkfW29EmRapatSfeNNuDj9Cdf5Ycy668cBDw8w9MMZRJnsVA-oiYvl79BNtsbpeAL7AHrDsZprCVuULGHu7yHejEZCR86_OQ6bNo0r56OqI_rI2dBuO4Y-3454S4xOKNQVEyCNz5S2Wij66ThDiEjzOFAFhqtA9Eiz7iJ9u76g5MhxpNf6FflCGvTWJuYg31vlXWnApycvpfF3Mqa9KAsrq9XFKJscuNRfn29ybK8Wl5_P5pAVTlvT6qV11oM0ckn6FpVEKurVzLVzDfFQAJt53V-GpmnhM7zTkQAcL2K6bTf9kqFx6oSq0nIezTRuUdqrL7ZLIcWqET-gSAhlBfUIDKU3XlLl4mOT2eVR3Qarh5Mr2vfG-T7ZpyIVNIW4_rB2BGoyZL5xaRqSTeOJqH9_fNbFLhYysZIVMmZyHKjuTBexDUM_ZTWs03WK1W-NVSxhyJ9JvNlkK44B30byv9jWT9_pplt3b_t0JWw5KoU86w7JIZMCY6y6vU9UsBCf6Y6lKwFFURb3secPx12gCr73B_JLL8-AyzV49Psfnj9iwMgyN_LkZPAp_oHYt7TQjV-NL1LEZJW4e-QBW_3c_COtb4EW2XSApHmvTRFm4-EE1h6g47tSnNCR12UsDJYP8M_MeGr83W3v0ZgHzw825ydp82rJuSRWR2FJohuTLzz3kJ6hBLWxXvEcYBywyphwBCY9sMtdXaxIvviNqAfLSJ-VWguBAqlt3LpUvTyrIMSQ5k8kPBVF-f7dlTin2x8AVzuTIm7e8WBr1p-J-MF0J3JpOzAeQuCJu1ORmv6TNpi4UlfPdJ-SLrGlhEbhxldzQLGtYR4dYP7IGkYsvRg-B2Up4hj3secvtegjk0qPYPhk714wkBC0ksIHWUR29UV5KfInGEOIpJMZl7onSHlG8JXdBsj8jFMZ90cdgzmM7ZrROw1HorlW7xhPQbCsp86MeqbZAakYqWWsAoN2VWAyf-209fh4KvfiEtsxdwiLejyBxxvG8BGJc4G5o817p-jsZMBjMli_HA5dzWKdF9IhLtUx2uHZ1qmcJiluxfaZY6UF5WuEYFNfrKS6kkYsaZ9pOYIFYwI9UjhJWwDFS_cpYR06bmzPwWFFEpYRpXxn9xxdW6uAYQNkeoXSPHVd852_WtV9zMP9GSNv7tbp53qV1HylfZDdUaHp2v8AwSFHSlmIEiOi7twr5vf28W1_eG9AXillrMckJtHXlPJT4EcAfHyc6p7GSiEwvVsGnB4F1DagIZYsdlcU2LLWtrQZbffXYP-yRqdeuPy7WwyRh7Cm8kuibLQ-4DnSJaP7A0utWeDc817BqWzKCFanVxxVggNz_Xke4I0RM7VDHvHfSTsasbzFL48P5Li-mwrroCXFixuM9VVqbY51Iy0gBDZY_yYti_OEB3GWUGIhUK_R1EvX0_6F07UPQY917urPi",
  "id": "rs_0d43f1177abfa961016ab4744d72b087d0b9eeb030dccb5c5c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.293,\"right_y\":0,\"right_z\":0.23,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.535,\"left_y\":-0.225,\"left_z\":0.29,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"All three objects are inside the safe. I’m clearing the right arm and bringing the closed left gripper above the raised lid to fold it down.\"}",
  "call_id": "call_GbYPa7jFig1tbHRMEKK4nBNl",
  "id": "fc_0d43f1177abfa961016ab47454208887d0b01c6441f0345585",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GbYPa7jFig1tbHRMEKK4nBNl",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5545, 2.1494, 2.2795, -0.8349, -0.5175, -0.432, 0.0081, -0.1295, 0.8623, 0.7864, -0.5659, -0.1627, -0.1291, 0.9953]\nstate[eef_state]: left_x=0.5325 left_y=-0.2227 left_z=0.2796 left_yaw=0.0908 left_pitch=-0.0181 left_roll=-0.0111 left_gripper=0.0081 right_x=0.2947 right_y=-0.0059 right_z=0.2076 right_yaw=0.0677 right_pitch=-0.0494 right_roll=0.003 right_gripper=0.9953\nstate[joint_eff]: [-0.4034, -12.4786, 7.7744, 1.16, -0.4127, 0.1392, 0.7643, -0.1436, -1.894, 10.5231, 2.3028, -0.2857, -0.0464, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dde03fed0d66ca82245ad65d21fe9b555e0df71ec6cf76b140f08bf6a68ab3e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56a53087d8873999c16c3e0d1f088553212801e5059e6d325ede1dd5030a274a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bfd5c53373d692cad96ba762495a88dffe8940c4ed7cabe05719528babbde20",
      "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 123 changed as sent

message 130 changed as sent

message 134 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1043, 0.836, 0.6979, -0.6071, -0.1539, -0.1432, 0.997, 0.7147, 2.0937, 1.9415, -0.4789, 0.4885, 0.318, 0.5356]\nstate[eef_state]: left_x=0.2755 left_y=0.002 left_z=0.1678 left_yaw=0.0901 left_pitch=-0.1546 left_roll=0.0127 left_gripper=0.997 right_x=0.4944 right_y=0.324 right_z=0.2296 right_yaw=0.1297 right_pitch=0.0345 right_roll=0.0002 right_gripper=0.5356\nstate[joint_eff]: [-0.1846, -1.4838, 7.0359, 1.7411, -0.1001, -0.0073, -0.0122, 0.1983, -10.8786, 8.0205, 1.5214, 0.3492, 0.188, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1043, 0.8368, 0.6979, -0.6147, -0.1539, -0.1429, 0.997, 0.6224, 2.1731, 1.4528, -0.0017, 0.4072, 0.2615, 0.9947]\nstate[eef_state]: left_x=0.2743 left_y=0.0021 left_z=0.1663 left_yaw=0.0902 left_pitch=-0.1628 left_roll=0.0146 left_gripper=0.997 right_x=0.5 right_y=0.277 right_z=0.0597 right_yaw=0.1318 right_pitch=-0.0701 right_roll=-0.0492 right_gripper=0.9947\nstate[joint_eff]: [-0.1436, -1.347, 6.8308, 1.5995, -0.1148, -0.0317, -0.0122, 0.1573, -14.2838, 7.788, 1.7167, 0.1636, -0.0464, -0.2466]",
      "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]: [-0.5545, 2.1494, 2.2795, -0.8349, -0.5175, -0.432, 0.0081, -0.1295, 0.8623, 0.7864, -0.5659, -0.1627, -0.1291, 0.9953]\nstate[eef_state]: left_x=0.5325 left_y=-0.2227 left_z=0.2796 left_yaw=0.0908 left_pitch=-0.0181 left_roll=-0.0111 left_gripper=0.0081 right_x=0.2947 right_y=-0.0059 right_z=0.2076 right_yaw=0.0677 right_pitch=-0.0494 right_roll=0.003 right_gripper=0.9953\nstate[joint_eff]: [-0.4034, -12.4786, 7.7744, 1.16, -0.4127, 0.1392, 0.7643, -0.1436, -1.894, 10.5231, 2.3028, -0.2857, -0.0464, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dde03fed0d66ca82245ad65d21fe9b555e0df71ec6cf76b140f08bf6a68ab3e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56a53087d8873999c16c3e0d1f088553212801e5059e6d325ede1dd5030a274a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bfd5c53373d692cad96ba762495a88dffe8940c4ed7cabe05719528babbde20",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHRdvs_6WVk39Gl08WwGyaHPIu2ZlVvA6eW1m0B2XKtpGiAiktaAouYD8zgdhAYDwOzEmC5LH7px16D5Bn8Q7yCSKlfFUtwdZl8C0MqibWkA6kpE4uKhVhM5jzJZWLKiXf5ig7Miz8LFg7NGST0619G3pAJw0eYM7HhaBwEK5RwlKbsMDIMG-ejK7LEoz0UeyLPuKqTKxW1Uit1_FpzvmolTBOf5M4m1p-eE-hpIuAqbzQgXnmtMAJYAuB3Fu82Hkj3UXdP75GSWdU1geY-kNDb1AKFaUKBAqcH4rVh2naNo5QF1ihP6bm5YEaJp6b0r1kAEYTneOIOK1esPTDo0PYpRO_WZg8Mmsomum2a8M6ybMEfxnPYFUC1xXOSkuril_3uL0u3nlMZQP63jsfE0Eit_3J6XeK6paEUR2jm_QK46EksR_Kwvug9C7vqQnB4wRalB6OMfSN5vvlX5t8Ixf0F02wJhSwAK66DKniBIycdLJMLW6QaKnmo2LWR9wbn1MVj9ztTwDZD7dPXVVNLc9o-cEKUjIsOPWkITlzVFcT9nA0TwHN4hQRgLdkXhN6K-bJ05m6BcfFIeGRIjW1KcYO-7Xuh44BV2yAfZD-sAQfz2-IrbqlhaYFMTyvmrHK1htUP5Pm8QhRq2dao63EakoadthnLoSTL1c-GAUNAr48hu5Pl7o7AP3Dw_4Cd7baM6RhB96y6_OFL-w_jRto1hKLSS2NQsGCUG6CgsDIHCCWwQ0CLY6Et5M2ELpLrwdvEgsxlgeroB40g_eXN8W5GQxiYRiYYEysBFVkLnNesoT3l3vNplCxlD7Hru9nAlwXBIIr3p2QwMV3VEhSsIuw3jvKBlZeBqze7snbmQI0hSqbhh42_dzhs-8-DINdgeqF8-OsdK_xWHJQg2m_CDuBUYAPSWEhxf8nVe1UaI3cUa4GgQZD6RfJ9g3g6B8Yy_rxpCkRcUV9AZDp7bDQ91P_Sc-IGDm9PJyOvsQPo05y6MxuyEx94amL2bSyD6rXtSwxgH3KpWhwp66wcY9BLnb24D0-5gVHTHRUvp4DA4VkG-RvBZAfjk8q1D3YAubrXPVcXv1TJW472t_HVJkZzdd8Hrv7ek8rXJ53YrMXP0i1d9RCKHRcrMmsXLgCjJ0lD36lLCCgM8wlbk9GezbJxOiz81fhp8wVmTwGeDD7feHsgFFBX6FytkO7ADoxWBFH7wv8BB-h7jzbs2wlrnPDWa_V99giPIj1x8cSKpy8ZW3STYvvEQhelpcZGIcRkKnfQkT7olCf0B_50JQLNnRk1_EPKuYNr3TlaanW_TQcnAaHY9JtJ0Tmjxg0hxfg3Phe8Cw9Fim0V8utuw4A4X81qO7PAtVFLcDhLpcu1xx9PkE0PIziLJumlRPiFjHk5QTELeGE472UjrnRfv9S5x7ywIuGIgE9hkh3CAzDEIlkxxKAeq0B0S62pSr4L1BsdJp52fNrU0WxlExfRjrwmRx7nRRFt3ZR3uNz-ML8ni7yrGU7BHdgmppYNzgL3ZdYdS0z_NQ5Lt8YF5WvTG0t_97uxHbVRAqEe8uOtQNdkVlRAt9YgrhFk-NM3FRtPaSQab5YugRIGwXlCwY5WlPgRzrWWKhZfkhlrTteFjaq1Tny2j2ZSba6QQhcN5AfCxcghXFwuwJdn8oBWI3iC9TzMFD4GLtE_329Nl2sTPc3Z1IVJKDaOv0j8kub666H6AL4Cst5wIbtNJ0aJouwgKLHKrG8aWaGFiYSutbhGrjwzjYIS74z8dbQKBZQvJBxzmNz3WPmsXxfojPWDFklXaU5KVNzMJ-y98RZ7wHSafDrCVtGF5imeUQk-ox0G6zPwJ3Mcr70phbPls4B_QXJAaiTbtF_cvm007YodOHbOy8cihiWKnTyyH18kTuXugAkj7FyjDG3dvsx_iraz2TtPP4GluKyPdp878yqNEpubMc55-OFVdd8iWzQSzWzwFrImyPD0-BEi4VbuUszfh",
  "id": "rs_0d43f1177abfa961016ab474598ac087d08540e5717f2aa3f3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.55,\"left_y\":-0.25,\"left_z\":0.21},\"note\":\"The raised lid’s silver top edge is just ahead of the left fingertips. I’m lowering onto that edge, slightly toward its center, to start the closing motion.\"}",
  "call_id": "call_kbQXiT8LfiPbptQaEjWHtM7g",
  "id": "fc_0d43f1177abfa961016ab4745c467487d093313a86f8ba1370",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kbQXiT8LfiPbptQaEjWHtM7g",
  "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]: [-0.5785, 2.207, 2.1189, -0.6693, -0.5301, -0.4522, 0.0107, -0.1299, 0.8677, 0.7872, -0.6117, -0.1726, -0.1459, 0.9953]\nstate[eef_state]: left_x=0.5431 left_y=-0.2437 left_z=0.2098 left_yaw=0.0887 left_pitch=-0.0547 left_roll=0.0111 left_gripper=0.0107 right_x=0.2883 right_y=-0.0034 right_z=0.1979 right_yaw=0.0855 right_pitch=-0.0974 right_roll=0.006 right_gripper=0.9953\nstate[joint_eff]: [-0.4855, -11.453, 6.5436, 1.6093, -0.1929, 0.0073, 0.486, -0.0752, -1.9214, 7.0769, 2.083, -0.0317, 0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7277c64a54d6c8a0a6530d6b227940e6dde1673004ca16276b200daea3468962",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ad77972cd25ef1a6d957d0a7f2b1c1131656f844ede77c43c22944c1003bdf7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c1b8cffb33974b78f39272a86d47333a01720fded57ef11eff37e243346ea76",
      "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 127 changed as sent

message 134 changed as sent

message 138 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1043, 0.8368, 0.6979, -0.6109, -0.1539, -0.1432, 0.997, 0.6254, 2.1487, 1.4693, 0.0116, 0.4168, 0.2623, 0.5358]\nstate[eef_state]: left_x=0.2749 left_y=0.002 left_z=0.167 left_yaw=0.0903 left_pitch=-0.1591 left_roll=0.0136 left_gripper=0.997 right_x=0.5055 right_y=0.2813 right_z=0.0826 right_yaw=0.1281 right_pitch=-0.0195 right_roll=-0.0282 right_gripper=0.5358\nstate[joint_eff]: [-0.1846, -1.2786, 7.0222, 1.6239, -0.0659, -0.0562, -0.0122, -0.4581, -11.0838, 7.0085, 2.0293, 0.0904, -0.0171, -0.0024]",
      "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]: [-0.5545, 2.1494, 2.2795, -0.8349, -0.5175, -0.432, 0.0081, -0.1295, 0.8623, 0.7864, -0.5659, -0.1627, -0.1291, 0.9953]\nstate[eef_state]: left_x=0.5325 left_y=-0.2227 left_z=0.2796 left_yaw=0.0908 left_pitch=-0.0181 left_roll=-0.0111 left_gripper=0.0081 right_x=0.2947 right_y=-0.0059 right_z=0.2076 right_yaw=0.0677 right_pitch=-0.0494 right_roll=0.003 right_gripper=0.9953\nstate[joint_eff]: [-0.4034, -12.4786, 7.7744, 1.16, -0.4127, 0.1392, 0.7643, -0.1436, -1.894, 10.5231, 2.3028, -0.2857, -0.0464, 0.0464]",
      "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]: [-0.5785, 2.207, 2.1189, -0.6693, -0.5301, -0.4522, 0.0107, -0.1299, 0.8677, 0.7872, -0.6117, -0.1726, -0.1459, 0.9953]\nstate[eef_state]: left_x=0.5431 left_y=-0.2437 left_z=0.2098 left_yaw=0.0887 left_pitch=-0.0547 left_roll=0.0111 left_gripper=0.0107 right_x=0.2883 right_y=-0.0034 right_z=0.1979 right_yaw=0.0855 right_pitch=-0.0974 right_roll=0.006 right_gripper=0.9953\nstate[joint_eff]: [-0.4855, -11.453, 6.5436, 1.6093, -0.1929, 0.0073, 0.486, -0.0752, -1.9214, 7.0769, 2.083, -0.0317, 0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7277c64a54d6c8a0a6530d6b227940e6dde1673004ca16276b200daea3468962",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ad77972cd25ef1a6d957d0a7f2b1c1131656f844ede77c43c22944c1003bdf7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c1b8cffb33974b78f39272a86d47333a01720fded57ef11eff37e243346ea76",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHRh1yMbhxCxGiAg2zajU18peUHbj5hs_VURzdlOKwnE4JOENlCxqH87-N4lXILog_2dir6mWDj3Dj894ShpWnk79zIkNiSw1p2nGrZ0xeLRqLYbu6aNkbrXfX9AEuCu33AUzZ6Vacj_NrkafydJkn9CfroUVKhlTzzbIx-coNaF30X7ILSGokbdNTuhrYchdTdUy0yMNO0WecOgPw_nFM1QxiG7-befhBmotZJWjMba1aYjMOKYXTdZrTILzS3d2NmdVLGV9-xj-cH_QpR3RMKYmGtMPCqlBSlWWfy5EuXeAydQko9Sb71dyehYBLzT8GIKga14mohX7fKX1sz_pyh3p2nflHzK_3fk-xoh0y_fgBRmw-MW7kb2BdWtRvNb47mELr4lO9bHfGDb1QDms4tLlSodPxmTg2Xp7Bzaj4CaKEGudrEPeMDkbWgC7LlVbYZ2dpb8sULmkrgZuNbaT4dHi4Feo3xms6peFXF-wrePPB_tS6UGa2XT-aSgjZo7MvnxxFKqNikO5hSknOuctx5YsmQK55R-qsZvwR3y82d_6FBc2AbZLSRrv9XOwRWL4qRVo5DifaMIbboz59aCOxdsthQD_7JjB_VFBUvWp8b9tBu-mKa3BbOZx1qvDXqwan7YueRTeIeczPduIAhOlk5iGji8XRkc0PCBmz0E70tMEfkiE_ddiN76LkxJmNJDU8N5ikGaoz-fRqG3wX2qZFr5bNb50RwlK52Evv1P15-luzqWG3s9f57-JdoWbU5czSKbhb5ot7mIqyRAz6t6VGtOwD5FLil_yt5nJlvTOwnmmuR3IACq5DqJRArfslkebKl3cfsIxZMsVTKHyNXq5JBnvudUwQQcaj0D_XYx6Xgg3_oe7vTbaAmCR7L---o6SMLsA3-fH618urBkNp6XWY3gAn1bdL4l38dD17aNy0LFYYv0WG7hH001oQ_jlaAikQf1XbeO9O9QgFCfLX0NyGVKEpqi3GP4nkEzDwoGWxeRaQqbnFGWKXrTXz06WBRNbR20stW4weg2JNf2Om1Eq8E4wvJK6XqrM8q2ned6NaDJQ3zmkivsTFRmHlSShx8jEl6fSVz5I06K-2KJK-nGhNf7orJZomnGJFgO4od3RbMIHLV_Cb1Prl8lZpNshktD3O3EmpXXKdGxfi4wJV1xgo9P5RioerQ_2I4SzpLG_-xLzg263kTbRr9O9TWQf85xXsOkgFBKCK80qr9P1sSIrVfbFKhbKhfcUSHQ4Iz7re0XpQF-sFJlO8uW45s2G63CxMegDKNingFU6qKTJqrTVXglG4KVfmMcdXFs0zDHhLPz7Tc=",
  "id": "rs_0d43f1177abfa961016ab4745fb85887d097c356b04f4c8796",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.495,\"left_y\":-0.32,\"left_z\":0.14},\"note\":\"The left fingertips are against the lid’s upper edge. I’m sweeping inward and downward toward the tray to rotate the lid closed over the contents.\"}",
  "call_id": "call_PSvIbDefSPoXs2aCr0lOyafP",
  "id": "fc_0d43f1177abfa961016ab474605fd487d0bd53c59cb6910938",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PSvIbDefSPoXs2aCr0lOyafP",
  "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]: [-0.5823, 2.207, 2.1117, -0.6346, -0.5327, -0.4591, 0.0123, -0.1303, 0.868, 0.7853, -0.635, -0.173, -0.1471, 0.9953]\nstate[eef_state]: left_x=0.5459 left_y=-0.2478 left_z=0.2127 left_yaw=0.0899 left_pitch=-0.032 left_roll=-0.0101 left_gripper=0.0123 right_x=0.2845 right_y=-0.003 right_z=0.1926 right_yaw=0.0867 right_pitch=-0.1223 right_roll=0.0109 right_gripper=0.9953\nstate[joint_eff]: [-0.4444, -12.0547, 6.653, 1.7753, -0.3101, 0.0122, 0.1538, -0.0479, -1.5658, 7.0085, 1.8437, -0.1099, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d7fa349a493a744972aef8e0d8b59fce736f49a9eff967cee0283484d9e9bd7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c8674f46255f2419dc26e8165674718df1441d9636dbe2a84a48d45e084aec9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbcc0a7bad0881ca5b867291151f2ae813a5e5ce88ed5c86d5bb3160c436f272",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1043, 0.8368, 0.6979, -0.6147, -0.1539, -0.1429, 0.997, 0.6224, 2.1731, 1.4528, -0.0017, 0.4072, 0.2615, 0.9947]\nstate[eef_state]: left_x=0.2743 left_y=0.0021 left_z=0.1663 left_yaw=0.0902 left_pitch=-0.1628 left_roll=0.0146 left_gripper=0.997 right_x=0.5 right_y=0.277 right_z=0.0597 right_yaw=0.1318 right_pitch=-0.0701 right_roll=-0.0492 right_gripper=0.9947\nstate[joint_eff]: [-0.1436, -1.347, 6.8308, 1.5995, -0.1148, -0.0317, -0.0122, 0.1573, -14.2838, 7.788, 1.7167, 0.1636, -0.0464, -0.2466]",
      "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]: [-0.5785, 2.207, 2.1189, -0.6693, -0.5301, -0.4522, 0.0107, -0.1299, 0.8677, 0.7872, -0.6117, -0.1726, -0.1459, 0.9953]\nstate[eef_state]: left_x=0.5431 left_y=-0.2437 left_z=0.2098 left_yaw=0.0887 left_pitch=-0.0547 left_roll=0.0111 left_gripper=0.0107 right_x=0.2883 right_y=-0.0034 right_z=0.1979 right_yaw=0.0855 right_pitch=-0.0974 right_roll=0.006 right_gripper=0.9953\nstate[joint_eff]: [-0.4855, -11.453, 6.5436, 1.6093, -0.1929, 0.0073, 0.486, -0.0752, -1.9214, 7.0769, 2.083, -0.0317, 0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5823, 2.207, 2.1117, -0.6346, -0.5327, -0.4591, 0.0123, -0.1303, 0.868, 0.7853, -0.635, -0.173, -0.1471, 0.9953]\nstate[eef_state]: left_x=0.5459 left_y=-0.2478 left_z=0.2127 left_yaw=0.0899 left_pitch=-0.032 left_roll=-0.0101 left_gripper=0.0123 right_x=0.2845 right_y=-0.003 right_z=0.1926 right_yaw=0.0867 right_pitch=-0.1223 right_roll=0.0109 right_gripper=0.9953\nstate[joint_eff]: [-0.4444, -12.0547, 6.653, 1.7753, -0.3101, 0.0122, 0.1538, -0.0479, -1.5658, 7.0085, 1.8437, -0.1099, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d7fa349a493a744972aef8e0d8b59fce736f49a9eff967cee0283484d9e9bd7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c8674f46255f2419dc26e8165674718df1441d9636dbe2a84a48d45e084aec9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbcc0a7bad0881ca5b867291151f2ae813a5e5ce88ed5c86d5bb3160c436f272",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHRq52TGHteA05w5TishV5KG4PI2L3dhq8bf0bdjnT6N6rElprWXz0ek1VDakxBYt2icGwYZF9gVjFjDGe-Z8omVL25WPc2qvm0OYKCV0MH3IeiZTrqoBbCdRW6nSbDHJRpgj_Mk9xFOQf8ktRqEdHGxAOgKx2YIlfw7Jx6OLhQ4Ra24tMCs4LTMysg2Ozz75pJrhN1G07yPmcp1mjK4Zg6L2NJ3U9GKlIZqnPisrzjacKkvjg_VPiuxhsZ8DwNoMKXlmTzHrJVdJCQNX1UU4JRKBajuUkE2MhPRBnWkd5KpvyVgUEEyQV-HNyeECfv9mLkJskBM_QYbcaLckzDWWtauieVGuRI_JdYibOUp2kMFmBOO1m_2tG5evA3NVNvkk0OtpXZfM813tcgv5moKaOXDoftUz0y62MtDMvwS2qKlafgJ5YbaW5uRdZDiX2nV6F6yT-Ehkr6TTiJFSeNLV_PReZMLjbNCmraskGEhIbd2FUB-96JQ6CqQeN_bb2mnaWOfKSWRGl8lY3-u_ggmf4nO4T5_W4mdN03owGvZ5-ccCM4NWVETuH-J-wnySlfFYfVK1BZyseN9OXZI15YPhlun1oecph-dU7CpNjZSM-VCaADK8kfXgTlruPpFO1EiSOI-aezx22Y32iLWitD8vLyWWQoQAcAC-bL-FmpqKa63WaFxVWeCCIgUQ0EHF29_69a3WGLHi12-WNhWLBNQw8IBeo2Os1eoSPbOLkVK069xiLKdqyhQy1e6_ywpsUT7pydgARwrZw7jG9VJktRsPR3E1HbUYi_7pv6UiJwkyn2M9ob6DxOkkyM7-ZLc-fIzn2tMA_HF-a0rWuUqCJGyK1TZDBySatqZxMdARHiZVEduapePuHyi_hThYoMClBrgleor8_bjeQ-ydy0xceSyCvDO64caGYV9juARkEVwVFAJzEf9HLoOTPMiXzoPOIMTy2tXHRwnpArrKLjfQXRN8lIk0DkAVCn8rEN6Dqt9_U-sHkkXFBJEWAwulnt363a3fcvKVZW7xCC2s7VWlZga-YEw-7xmVTFnCE74kqmuTbAg18p7JVsHqbDXil1W3CSWAU_kToeeQeDSpIvkxChMKvqAjfpW1hVuscgBh3gYdihb5oKNmZkxCuDN_Cl-iVL6wgu72Vs9OQzwXM5DXyR9hP2V4VBVV6OD5GdIZZvBE-hN4-e1qCDH9mfozJ_dqcG5OHbS1WhOVbF_hX3vNTu1zer9jtGGIrmBRnp57YH9D-ONE9MBqVvf3HDtmRi0ff-eg6f3tbpRj2BRbwdRbkAx1mD2VPz6_A2W07MELMgnnxWkCpnhVKX2VuV1nXy0aq3gGS6eRHohlrBuIoa_PXTEJWLO2PInKipEGj4V4_7poE9u2LpJedFWUZ-7SWtuXM5NjyyoMmNOWu84UWP73Eyq_kkOYHhV-kTwM9oWPeZAg1lArpiatNNoWGm-p4L6kXq09QnE_wBI6WbDIAC7phRxYI9zxijt-pyVKXJ6KXhlIs1Y7iiXbp9jMNW0A2M1SylnmGJjN3mNbBRu0fHOwa2uWo8bu1Lba77j2BbZbel0AmzTrHWwqQbQpmp0To-9fKiYHYT0pAcGZcRtSDq7aM8HpZ70kJyfcCHpmd84fi-jdjo0FhQZaWNOtDF0VkRIoEpEBrhWYfcctv6coGhDNf-Lmul05BAeKykN63sEkYTgBdp0X8Nltn_ueUW70VbfI_0wop8ra4vSZ8a4Ej5uQZ91xQt_wMXcr3iyrmt2wCcIMpQG_tn6V0H_F3Bx_AiwAuIVeggF8ZsVT96hWqVKgLipJdJfwNc7YbC7g2uBgafIu2iSU6Zme46govUD6qHsDlE3Ybm-hRzaHeeDSB3P8_IRMAVScPdOV4-gYP2kqIWhX_du7sL29NJfsLVYE9bZrik9qb1fSCyVoSk5vO-gHbeFHrsY0fv0_2VlhuCvDLG40KbZmYApUE0UTdOyO9LEjpMWIMeTQ_IOq_tho3bZBjAoVcqgZ8GzmOZhKiXtpLEoIFyhnsgztA06-IZ55qS-YMi8b8qZP_RcuNnuCK6sEaZ5XcCRzEyWIKh5vVR6R4OuSorkQfSn3xIUTnX_tw6WVqxID1IOEfxT6E3uDZwgy85YGr1-zfBkCMxJK_QfAxJZVGo93prqtyMrxX0SlWEHCBtU_glGPhbgV1MWoIzEmj4Cc4OTC1tZdgwAmrvZaUS3BZGOkIPB7mjoq2aL8PE1Wf_gZaerfdkfKI5ZrsNm03GODBeHJ84Xk_y-2pSAbDhWlM5ySFb-3OHZtn16eJ58lL4rUXhdMktkaaVCwHMr1EpYLOpX9Wc-fcyhQ2Oj_V_OMOcgYDzZU08xqPdT9M_lI40mEx7ybUCV0R4kC0huITXyMLYP1VGOL4i9IoFk9ilHsdLiGqezdZesW8RPFEiQAKypRdXARRGla_M_qSLVb9INyMTZo-VAHOVbiB1j1z6UKkbVCq9Z3mUxOcxPKkWPkBtFloiI3X3ncHW32I5yQ3F6nr6UCj7rLN5FNvtfXjBlxOWf_MeKmKW5OxC_D9XYMnA7JJSuGdAwg6BulwDCJArKPC0LVWLeHDQkvZyWPhvq_4KAcw1DfoAND8DDOZfVA2FqqQKFGUrkZi8o5AGpzAn4Q_HNhkDPefMNPyGvprwVjIEMB7TXOMpIqeoHlnpuSDIFA3YPrf2-JaQShrrgU3FrN_sY68nNslyh--Y6TA5lTp13ldCZ2dw-JrPfp0xoe2aHvILUS1qy2XxAYPDNFN8jN7Hu-wYlU1r9nq2dPsXGfZTOkfkVygih0EuDHiXJRwrI63VRNcwmIuy_Y9JV8n6aS69-oHdD1bO4_h2uFEdCQYJxCeM=",
  "id": "rs_0d43f1177abfa961016ab47464534887d0aa79f99256105c45",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.535,\"left_y\":-0.285,\"left_z\":0.26},\"note\":\"The lid resisted the first downward sweep, and the arm stopped short rather than forcing it. I’m lifting slightly while moving inward to get the fingertips over the edge instead of pressing against its side.\"}",
  "call_id": "call_044L1frGzotAxDv7Ss2VyJt1",
  "id": "fc_0d43f1177abfa961016ab47469042087d096ffce1afa62001c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_044L1frGzotAxDv7Ss2VyJt1",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5823, 2.207, 2.1117, -0.6319, -0.5331, -0.4587, 0.0142, -0.1299, 0.8734, 0.7853, -0.6575, -0.1734, -0.1501, 0.9953]\nstate[eef_state]: left_x=0.5462 left_y=-0.2479 left_z=0.2132 left_yaw=0.0899 left_pitch=-0.0297 left_roll=-0.0112 left_gripper=0.0142 right_x=0.2813 right_y=-0.0024 right_z=0.1871 right_yaw=0.0899 right_pitch=-0.1494 right_roll=0.0149 right_gripper=0.9953\nstate[joint_eff]: [-0.4171, -12.0547, 6.5436, 1.746, -0.3004, 0.0513, 0.1734, -0.0479, -1.9624, 6.9949, 1.8144, -0.1099, 0.0171, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22cc3126fa4c98695ce3d56fb7114ae39e48b68121c62f46498af455fdd4cc15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8dd952c0927db42c2f8c207784ab1b56515620df6651fad8ddbd6c9d9d0cf91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48c541a720f882e9df198521450864f134f299772fccd22de4139a0adfc69543",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5545, 2.1494, 2.2795, -0.8349, -0.5175, -0.432, 0.0081, -0.1295, 0.8623, 0.7864, -0.5659, -0.1627, -0.1291, 0.9953]\nstate[eef_state]: left_x=0.5325 left_y=-0.2227 left_z=0.2796 left_yaw=0.0908 left_pitch=-0.0181 left_roll=-0.0111 left_gripper=0.0081 right_x=0.2947 right_y=-0.0059 right_z=0.2076 right_yaw=0.0677 right_pitch=-0.0494 right_roll=0.003 right_gripper=0.9953\nstate[joint_eff]: [-0.4034, -12.4786, 7.7744, 1.16, -0.4127, 0.1392, 0.7643, -0.1436, -1.894, 10.5231, 2.3028, -0.2857, -0.0464, 0.0464]",
      "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]: [-0.5823, 2.207, 2.1117, -0.6346, -0.5327, -0.4591, 0.0123, -0.1303, 0.868, 0.7853, -0.635, -0.173, -0.1471, 0.9953]\nstate[eef_state]: left_x=0.5459 left_y=-0.2478 left_z=0.2127 left_yaw=0.0899 left_pitch=-0.032 left_roll=-0.0101 left_gripper=0.0123 right_x=0.2845 right_y=-0.003 right_z=0.1926 right_yaw=0.0867 right_pitch=-0.1223 right_roll=0.0109 right_gripper=0.9953\nstate[joint_eff]: [-0.4444, -12.0547, 6.653, 1.7753, -0.3101, 0.0122, 0.1538, -0.0479, -1.5658, 7.0085, 1.8437, -0.1099, -0.0024, -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]: [-0.5823, 2.207, 2.1117, -0.6319, -0.5331, -0.4587, 0.0142, -0.1299, 0.8734, 0.7853, -0.6575, -0.1734, -0.1501, 0.9953]\nstate[eef_state]: left_x=0.5462 left_y=-0.2479 left_z=0.2132 left_yaw=0.0899 left_pitch=-0.0297 left_roll=-0.0112 left_gripper=0.0142 right_x=0.2813 right_y=-0.0024 right_z=0.1871 right_yaw=0.0899 right_pitch=-0.1494 right_roll=0.0149 right_gripper=0.9953\nstate[joint_eff]: [-0.4171, -12.0547, 6.5436, 1.746, -0.3004, 0.0513, 0.1734, -0.0479, -1.9624, 6.9949, 1.8144, -0.1099, 0.0171, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22cc3126fa4c98695ce3d56fb7114ae39e48b68121c62f46498af455fdd4cc15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8dd952c0927db42c2f8c207784ab1b56515620df6651fad8ddbd6c9d9d0cf91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48c541a720f882e9df198521450864f134f299772fccd22de4139a0adfc69543",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtHRvFNCaJeCHZYqa-G1JK5tf-r3Wr_-2sx5Y7C72ehhqQ9jqqjs3vHlWN4CGCdeC0i6UfVHs6Is-igMxBFMUX0l776XuT_tw1QRW8TfFUsbkVWs6Sg3u7gHY2rSXZC28aE-xHuMVvUGcd4DqR5p5qH1brjV4xmZqmR_-YTJ09OqdVuBgBHIQmK6tP04VUDhSa3h-FGYhz9egc4AsJIi0CdI7dU1PFb1h4Oit_F2HwAqsa2If3MSj-OJbAxAd0-QNjCIc_RGmQrf1OnKtT3hFEOiPbKtVvEr28Ke_1yYHCIYMAFBx9zAvHJv9JeFjuQi967gcMm1vTEWsaYRt9Fm2QqGHuXqB_2r-fOpCfTXX4iIFvXw2r7MsvrvOjBe3tdE5xdK1M9gmGwcTACmzUoDL5ylVNVEFXFNA50fZYcIUyFU_QR7Y7Yo9Se9FIAESi7dmTKvRfo4bATeENlDH7ZrUHAer6looiMC8Kdjlu7f6Ss0qcqPMPHcLyLb_xEfZaAmmR7HPWJgjIjtU62cC4uX7pPGNr6ZNVQSmrn7QR2ytxznA-xRtzw8UaqvODfTR3HfIRBPnkEn3W6WHhh1OW-oJmUSZF86dRLGEknh5OF3jZvrMEAsQnof6dlw8n1fmhrfOm_-D7_FO9ibqUNbfBxnbDxhPRhL0Uc5OrcMmnAwP4Gn8dTMk58PiQlLix_sWvqvFpg-yneJnXtM0kV9EVLCdNvhkhh4GHfxk2GvnqHKc6SApC_lqEwUiK4eAbUrXZoDj0DDZHG0UGuw2On9k4yTYyAvKV6vw01glUOp4E50VXpf_iuFbI4LAIV9P6SSCgj-e1LDRF9o4BrAcL0xmiB_k1Gt91Kh7HX0qye8LRftA2Qvp_NOgQWxXwoRgUdaq7VqmqyvN4V2f9CPl_jjT2x9Yl_U4K7ssqQC5nSpf9-px0yLXt0ntFilQhAY7EokC-1QDMu2CPI-Zhdvp1zOxrKIHGPEsNdN7Ku3yQ1HP23ktO0qmo2ZK39L17Q4VkOQhRZQsC6RKBkcZtyVf44vF-Mu1PFP1hZgTyBJ3J7-2La_-e5qVv6e-fHjTsZoaFzfatAHBlzP7a66Lltcz1UdZ9H_-LrrmzxlBUuYv-DQJlBLF16F6237-O5-k0tO07H1m-vWR40OLO7hvI95f2oOkMyV5oKhgstjix05A9hnF-VYclWTjTgs4v2j8KnLU9V58EVYZApnOIB9UHNlR0nJZ28oayO3Q6D3ca1kssJKMHXptQDRC7ppFzSz_LyOj7gQ-1N1vdQ8nTkmHLsw7gRgYSHTuYrCOIFqErfxUUCKhd0IyM3QmMpwck1B5Ul9A8DRWGcgeOXorc9WdVpB-eo1lCQQ6GPluMXnbRAek3PPCzCQ_cM0txoKmyTFbuwEu0yyS8DwtXMoUeuFv4ZCBnvOkjZVPGLlG-DRSysz7yhl-HepYBMzRPfbxcs1G7QA_MqOiXQ6tuPCxY9rKYIzhHoGcecTzQtnV-Ruxro-wqAH4KbLoE7lGoYxN33j5ZE_jpKz1pdf8Y4Wi-In9AmQbmsVPKnvj_xqwXlFYmeQ2-UWyhDCESTo2npOppv2a29f9Vbx09lvhwmVcjpt83vvzKiDEogBqwdoH__cqBheEBDeZ4p6KGXcfGHr42PoMjG_un9DsxpjCQc3VKp6KVnBgtSqMvfg9srz2Cw==",
  "id": "rs_0d43f1177abfa961016ab4746cc61887d0874df28e4c62b261",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.32,\"left_z\":0.14,\"left_pitch\":0.4,\"left_roll\":0},\"note\":\"The left arm is holding at its long-reach limit rather than following the lid motion. I’m adding forward tool tilt and shortening the reach so it can continue the inward closing sweep.\"}",
  "call_id": "call_GjfZJJME4zEI84VtXoQh4rhA",
  "id": "fc_0d43f1177abfa961016ab4746ea9b487d0a8623bf385d163ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GjfZJJME4zEI84VtXoQh4rhA",
  "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]: [-0.8272, 2.1551, 1.4704, 0.5011, -0.881, -0.2836, 0.0156, -0.1303, 0.8753, 0.7853, -0.6792, -0.1734, -0.1501, 0.9953]\nstate[eef_state]: left_x=0.4908 left_y=-0.3271 left_z=0.1906 left_yaw=0.1317 left_pitch=0.4595 left_roll=-0.1322 left_gripper=0.0156 right_x=0.2778 right_y=-0.002 right_z=0.1828 right_yaw=0.0904 right_pitch=-0.1725 right_roll=0.0202 right_gripper=0.9953\nstate[joint_eff]: [0.7316, -7.706, 4.0, 0.6325, -0.0073, 0.1294, 0.1392, -0.0752, -1.7026, 6.7761, 1.7265, -0.1392, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0a14fb0a1292fbdb4d86b474e8117febbc3c49ab0a3d638485d878730e869b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cf43401447320daf9862355407d59a75678cadde1f9b193236480f48503c2f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7d12399d105c51191f91e07fa15d89629b9b279a0c771b75471a8ccd68c6de6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-astra

effort

high

temperature

n/a

tool count

3

message 138 changed as sent

message 146 changed as sent

message 150 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5785, 2.207, 2.1189, -0.6693, -0.5301, -0.4522, 0.0107, -0.1299, 0.8677, 0.7872, -0.6117, -0.1726, -0.1459, 0.9953]\nstate[eef_state]: left_x=0.5431 left_y=-0.2437 left_z=0.2098 left_yaw=0.0887 left_pitch=-0.0547 left_roll=0.0111 left_gripper=0.0107 right_x=0.2883 right_y=-0.0034 right_z=0.1979 right_yaw=0.0855 right_pitch=-0.0974 right_roll=0.006 right_gripper=0.9953\nstate[joint_eff]: [-0.4855, -11.453, 6.5436, 1.6093, -0.1929, 0.0073, 0.486, -0.0752, -1.9214, 7.0769, 2.083, -0.0317, 0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5823, 2.207, 2.1117, -0.6319, -0.5331, -0.4587, 0.0142, -0.1299, 0.8734, 0.7853, -0.6575, -0.1734, -0.1501, 0.9953]\nstate[eef_state]: left_x=0.5462 left_y=-0.2479 left_z=0.2132 left_yaw=0.0899 left_pitch=-0.0297 left_roll=-0.0112 left_gripper=0.0142 right_x=0.2813 right_y=-0.0024 right_z=0.1871 right_yaw=0.0899 right_pitch=-0.1494 right_roll=0.0149 right_gripper=0.9953\nstate[joint_eff]: [-0.4171, -12.0547, 6.5436, 1.746, -0.3004, 0.0513, 0.1734, -0.0479, -1.9624, 6.9949, 1.8144, -0.1099, 0.0171, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8272, 2.1551, 1.4704, 0.5011, -0.881, -0.2836, 0.0156, -0.1303, 0.8753, 0.7853, -0.6792, -0.1734, -0.1501, 0.9953]\nstate[eef_state]: left_x=0.4908 left_y=-0.3271 left_z=0.1906 left_yaw=0.1317 left_pitch=0.4595 left_roll=-0.1322 left_gripper=0.0156 right_x=0.2778 right_y=-0.002 right_z=0.1828 right_yaw=0.0904 right_pitch=-0.1725 right_roll=0.0202 right_gripper=0.9953\nstate[joint_eff]: [0.7316, -7.706, 4.0, 0.6325, -0.0073, 0.1294, 0.1392, -0.0752, -1.7026, 6.7761, 1.7265, -0.1392, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0a14fb0a1292fbdb4d86b474e8117febbc3c49ab0a3d638485d878730e869b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cf43401447320daf9862355407d59a75678cadde1f9b193236480f48503c2f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7d12399d105c51191f91e07fa15d89629b9b279a0c771b75471a8ccd68c6de6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0d43f1177abfa961016ab47472c81487d0ad642a67f61f0d1d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.39,\"left_z\":0.065,\"left_pitch\":0.4,\"left_roll\":0},\"note\":\"The lid has started rotating inward and is now partly over the contents. I’m continuing the controlled inward-and-downward sweep to bring it onto the safe’s rim.\"}",
  "call_id": "call_XdcyQDNsnILj0N3JGOwQ9kEm",
  "id": "fc_0d43f1177abfa961016ab47475936887d0a98b5ee61607a274",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XdcyQDNsnILj0N3JGOwQ9kEm",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9825, 2.4535, 1.5639, 0.4843, -1.0557, -0.3614, 0.0164, -0.1303, 0.8803, 0.7853, -0.7017, -0.1734, -0.1505, 0.9953]\nstate[eef_state]: left_x=0.4468 left_y=-0.3864 left_z=0.0654 left_yaw=0.095 left_pitch=0.3843 left_roll=0.0188 left_gripper=0.0164 right_x=0.2742 right_y=-0.0016 right_z=0.1776 right_yaw=0.0917 right_pitch=-0.1993 right_roll=0.026 right_gripper=0.9953\nstate[joint_eff]: [-0.6632, -12.4376, 7.9795, 1.4042, -0.3834, -0.1538, 0.0708, -0.1026, -1.6752, 6.7487, 1.7509, -0.1441, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 409):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b021e7a06431cd51ff0597e976000c08f0dd0a252e00c5b25124cbae9b1a533",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 409):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19963aca61470bab5c5b22f73568f504ccde1c2b1277005508c54e62af82f398",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 409):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d333c7a5ef22b4a078fe3bedaa2ed05244d877790500f3d14dd08a29d2ffa46",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}